Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 145 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 145 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 20 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 12 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 100 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 10 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 10 LOITER_W_DBAND 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 20 PITCH_MIN 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53445 PITCH_MAXERRORS 1 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031257649 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 10

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 145 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 20 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 12 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 8 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 120218,085740,-7418.4561,-11227.4512,0,1001.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7438.000,-11235.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 345.69 MHEAD_RNG_PITCHd_Wd 132.4,36384,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 3.6 D_GRID 990

GPS2 120218,085740,-7418.4561,-11227.4512,0,1001.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 376.0,1.027435,3 _24V_AH 13.10,64.601

FINISH2 375.0 _10V_AH 12.47,0.000

RAFOS_CLK 411 FG_AHR_24Vo 0.000

RAFOS 0,1518436860,12.032778,12.016666,173,61,59,56,54,52,596,183,212,165,222,155 FG_AHR_10Vo 0.000

RAFOS_FIX -7420.408691,-11229.937500,120218,121200,3,151,0.32 MEM 280004

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 33344,989

TT8_MAMPS 0.039697,0.292859 CAP_FILE_SIZE 123256,0

HUMID 48.07 CFSIZE 1024409600,1003126784

INTERNAL_PRESSURE 7.62882 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.80 SOUNDSPEED 1458.5

XPDR_PINGS 0 GPS 120218,121600,-7420.409,-11229.938,0,4151.3,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 387.5,18.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 270 15.61 nil 0 0 0.00

Roll_motor 101 223 295.85 nil 0 0 0.00

VBD_pump_during_apogee 1046 1402 19226.80 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 11545 2 439.65

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 45 420 251.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8420 2 242.55

TT8_Active 1048 12 160.44

TT8_Sampling 2049 31 811.38

TT8_CF8 92 45 51.98

TT8_Kalman 0 0 0.00

Analog_circuits 1861 10 236.80

GPS_charging 0 0 0.00

Compass 1415 7 132.18

RAFOS 720 1 13.47

Transponder 325 30 121.91

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

358.7 18.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

365.7 26.50 9000.00 0.0 0.00 0.00 26.50 0.0 1.09 1.00

993.7 23.50 9000.00 0.0 0.00 0.02 23.50 1017.2 -0.00 1.00

987.4 15.60 9000.00 0.0 -0.01 0.50 15.60 971.8 1.25 1.00

975.0 16.50 9000.00 0.0 0.31 0.48 16.50 0.0 -0.07 1.00

968.1 32.20 9000.00 0.0 -0.76 0.64 32.20 0.0 -2.28 1.00

961.8 24.40 9000.00 0.0 -0.63 0.28 24.40 937.4 1.24 1.00

449.0 82.10 9000.00 0.0 -0.10 0.98 82.10 0.0 -0.11 1.00

442.7 75.60 9000.00 0.0 -0.11 0.99 75.60 367.1 1.03 1.00

435.6 68.30 68.30 367.3 1.03 1.00 68.30 367.3 1.03 1.00

428.6 61.10 61.10 367.5 1.02 1.00 61.10 367.5 1.03 1.00

414.7 46.40 46.50 368.2 1.05 1.00 46.40 368.3 1.06 1.00

408.6 40.00 39.90 368.7 1.06 1.00 40.00 368.6 1.05 1.00

401.5 32.70 32.60 368.9 1.04 1.00 32.70 368.8 1.03 1.00

394.5 25.40 25.40 369.1 1.03 1.00 25.40 369.1 1.04 1.00

387.5 18.10 18.10 369.4 1.04 1.00 18.10 369.4 1.04 1.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -0.88 -146.0 2706 2491 2823 2602 0.0 0.0 0 11 0.00 0.00 -2.05 0.048 16390 0.000 0.000 2706 2490 3330 3465 3195 0 0 0 0 0 0 15.09 13.51 15.10

12 -0.88 -146.0 2707 2490 3465 3197 0.0 0.0 0 19 0.88 2.53 0.00 0.000 4612 0.116 0.121 2416 1085 3331 3461 3201 0 0 0 0 0 0 14.81 14.77 14.88

58 -0.88 -146.0 2418 1086 3454 3209 349.5 -8.8 9 66 0.00 2.67 0.00 0.000 1030 0.000 0.129 2410 2498 3330 3453 3208 0 0 0 0 0 0 14.85 14.73 14.90

363 -0.88 -146.0 2410 2499 3448 3214 384.2 -11.3 40 369 0.00 2.42 0.00 0.000 260 0.000 0.157 2400 3751 3330 3447 3213 0 0 0 0 0 0 15.11 14.72 15.14

443 -0.88 -146.0 2401 3752 3445 3216 393.9 -12.6 56 449 0.00 2.28 0.00 0.000 1030 0.000 0.099 2401 2494 3330 3445 3215 0 0 0 0 0 0 14.88 14.81 14.92

753 -0.88 -146.0 2401 2495 3445 3216 429.9 -11.6 88 754 0.00 0.00 0.00 0.000 6 0.000 0.000 2401 2494 3329 3444 3215 0 0 0 0 0 0 15.11 15.14 15.14

1053 -0.88 -146.0 2401 2495 3444 3216 465.1 -11.6 118 1059 0.00 2.45 0.00 0.000 260 0.000 0.155 2391 3754 3329 3443 3215 0 0 0 0 0 0 15.12 14.72 15.14

1128 -0.88 -146.0 2392 3754 3442 3217 474.5 -12.5 133 1136 0.00 2.30 0.00 0.000 1030 0.000 0.101 2391 2487 3328 3441 3216 0 0 0 0 0 0 14.88 14.81 14.95

1433 -0.88 -146.0 2392 2487 3442 3216 510.9 -11.8 164 1434 0.00 0.00 0.00 0.000 6 0.000 0.000 2391 2487 3328 3440 3217 0 0 0 0 0 0 15.11 15.15 15.14

1733 -0.88 -146.0 2391 2488 3441 3218 546.3 -11.7 194 1739 0.00 2.42 0.00 0.000 260 0.000 0.155 2382 3763 3328 3440 3216 0 0 0 0 0 0 15.12 14.73 15.15

1783 -0.88 -146.0 2383 3763 3439 3217 552.5 -12.5 204 1789 0.10 2.30 0.00 0.000 3078 0.267 0.099 2414 2494 3328 3439 3217 0 0 0 0 0 0 14.62 14.81 14.78

2093 -0.88 -146.0 2409 2493 3440 3217 585.5 -10.4 236 2099 0.00 2.45 0.00 0.000 260 0.000 0.155 2400 3756 3326 3435 3217 0 0 0 0 0 0 15.13 14.71 15.14

2123 -0.88 -146.0 2400 3756 3439 3218 588.9 -11.6 242 2129 0.00 2.30 0.00 0.000 1030 0.000 0.102 2400 2488 3327 3438 3217 0 0 0 0 0 0 14.88 14.80 14.92

2433 -0.88 -146.0 2400 2488 3439 3217 622.2 -10.8 274 2434 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2488 3327 3438 3217 0 0 0 0 0 0 15.12 15.14 15.14

2733 -0.88 -146.0 2400 2489 3439 3217 654.1 -10.7 304 2739 0.00 2.45 0.00 0.000 260 0.000 0.154 2391 3755 3327 3438 3217 0 0 0 0 0 0 15.12 14.70 15.14

2778 -0.88 -146.0 2391 3756 3438 3218 659.1 -11.5 313 2786 0.00 2.30 0.00 0.000 1030 0.000 0.099 2391 2488 3327 3437 3217 0 0 0 0 0 0 14.87 14.80 14.91

3083 -0.88 -146.0 2391 2489 3438 3218 692.5 -10.8 344 3089 0.00 2.45 0.00 0.000 260 0.000 0.154 2382 3754 3327 3437 3217 0 0 0 0 0 0 15.12 14.69 15.15

3123 -0.88 -146.0 2386 3755 3438 3218 697.2 -12.0 352 3129 0.10 2.30 0.00 0.000 3078 0.271 0.099 2409 2483 3327 3437 3217 0 0 0 0 0 0 14.59 14.80 14.76

3453 -0.88 -146.0 2409 2484 3438 3219 731.0 -10.1 366 3459 0.00 2.45 0.00 0.000 260 0.000 0.155 2400 3750 3326 3437 3216 0 0 0 0 0 0 15.14 14.70 15.16

3488 -0.88 -146.0 2400 3749 3438 3218 734.9 -11.0 373 3495 0.00 2.28 0.00 0.000 1030 0.000 0.099 2400 2494 3327 3437 3218 0 0 0 0 0 0 14.88 14.80 14.91

3874 -0.88 -146.0 2400 2495 3438 3218 774.9 -10.5 390 3880 0.00 2.45 0.00 0.000 260 0.000 0.155 2390 3759 3327 3437 3218 0 0 0 0 0 0 15.13 14.70 15.16

3909 -0.88 -146.0 2391 3758 3438 3217 779.0 -11.4 397 3916 0.00 2.30 0.00 0.000 1030 0.000 0.100 2391 2488 3327 3437 3218 0 0 0 0 0 0 14.88 14.80 14.91

4295 -0.88 -146.0 2391 2489 3439 3219 820.8 -10.9 414 4296 0.00 0.00 0.00 0.000 6 0.000 0.000 2391 2488 3327 3437 3218 0 0 0 0 0 0 15.14 15.16 15.16

4657 -0.88 -146.0 2391 2489 3438 3219 859.4 -10.6 426 4662 0.00 2.42 0.00 0.000 260 0.000 0.154 2383 3762 3327 3437 3218 0 0 0 0 0 0 15.13 14.72 15.16

4726 -0.88 -146.0 2382 3764 3437 3219 867.2 -11.4 440 4732 0.10 2.30 0.00 0.000 3078 0.268 0.099 2409 2494 3327 3437 3218 0 0 0 0 0 0 14.59 14.80 14.76

5106 -0.88 -146.0 2408 2494 3437 3218 903.7 -9.5 456 5107 0.00 0.00 0.00 0.000 6 0.000 0.000 2409 2493 3327 3437 3218 0 0 0 0 0 0 15.13 15.16 15.15

5466 -0.88 -146.0 2410 2494 3438 3218 937.7 -9.3 468 5467 0.00 0.00 0.00 0.000 6 0.000 0.000 2409 2493 3327 3437 3218 0 0 0 0 0 0 15.13 15.16 15.16

5826 -0.88 -146.0 2409 2495 3438 3219 970.5 -9.0 480 5827 0.00 0.00 0.00 0.000 6 0.000 0.000 2409 2493 3327 3437 3218 0 0 0 0 0 0 15.14 15.17 15.16

6065 end dive: TARGET_DEPTH_EXCEEDED

state 6066 begin apogee

6069 -0.23 0.0 2410 2180 3437 3219 991.9 -9.0 488 6656 0.77 0.08 580.95 1.158 10246 0.226 0.223 2622 2207 2714 2773 2656 0 0 0 0 0 0 14.66 13.65 13.24

6657 end apogee: CONTROL_FINISHED_OK

state 6657 begin climb

6658 0.88 146.0 2622 2207 2771 2658 1004.1 0.0 507 7140 1.20 2.97 465.73 1.402 10500 0.134 0.144 2976 3614 2115 2149 2082 0 0 0 0 0 0 13.72 13.58 13.10

7284 0.88 146.0 2976 3615 2143 2072 934.6 14.1 634 7290 0.00 2.70 0.00 0.000 1030 0.000 0.097 2986 2206 2106 2142 2071 0 0 0 0 0 0 14.17 14.10 14.21

7669 0.88 146.0 2986 2204 2141 2066 882.7 13.6 651 7675 0.00 2.67 0.00 0.000 516 0.000 0.129 2996 779 2103 2140 2066 0 0 0 0 0 0 14.81 14.52 14.83

7704 0.88 146.0 2997 780 2139 2067 877.6 13.8 658 7710 0.00 2.67 0.00 0.000 1030 0.000 0.116 2997 2198 2104 2139 2070 0 0 0 0 0 0 14.62 14.53 14.66

8090 0.88 146.0 2998 2198 2139 2065 823.5 14.0 675 8091 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2198 2099 2135 2064 0 0 0 0 0 0 14.94 14.97 14.97

8451 0.88 146.0 2997 2198 2139 2063 773.6 13.7 687 8452 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2198 2100 2138 2063 0 0 0 0 0 0 15.01 15.04 15.04

8811 0.88 146.0 2998 2198 2138 2063 725.4 13.4 699 8816 0.00 2.62 0.00 0.000 516 0.000 0.128 3007 780 2100 2137 2063 0 0 0 0 0 0 15.05 14.75 15.08

8835 0.88 146.0 3008 781 2137 2064 721.9 13.7 704 8842 0.00 2.65 0.00 0.000 1030 0.000 0.115 3008 2236 2099 2137 2062 0 0 0 0 0 0 14.92 14.77 14.96

9200 0.88 146.0 3008 2237 2137 2063 670.2 14.2 731 9201 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2235 2099 2137 2062 0 0 0 0 0 0 15.11 15.14 15.13

9500 0.88 146.0 3008 2236 2138 2062 627.6 14.2 761 9507 0.00 2.67 0.00 0.000 516 0.000 0.128 3019 782 2099 2136 2062 0 0 0 0 0 0 15.11 14.78 15.14

9541 0.88 146.0 3019 782 2137 2061 621.8 14.1 769 9548 0.10 2.62 0.00 0.000 5126 0.220 0.114 2977 2206 2099 2136 2062 0 0 0 0 0 0 14.71 14.78 14.93

9853 0.88 146.0 2977 2207 2137 2062 584.0 11.8 801 9859 0.00 2.65 0.00 0.000 260 0.000 0.146 2977 3616 2098 2136 2061 0 0 0 0 0 0 15.08 14.77 15.11

9883 0.88 146.0 2977 3616 2137 2062 580.0 13.4 807 9889 0.00 2.60 0.00 0.000 1030 0.000 0.102 2987 2188 2099 2136 2062 0 0 0 0 0 0 14.88 14.80 14.92

10193 0.88 146.0 2987 2187 2137 2062 541.9 12.3 839 10199 0.00 2.62 0.00 0.000 516 0.000 0.130 2997 760 2098 2136 2061 0 0 0 0 0 0 15.11 14.76 15.14

10233 0.88 146.0 2997 761 2136 2063 536.8 12.7 847 10239 0.00 2.67 0.00 0.000 1030 0.000 0.116 2997 2206 2098 2136 2061 0 0 0 0 0 0 14.85 14.77 14.92

10543 0.88 146.0 2997 2207 2137 2061 496.9 12.8 879 10549 0.00 2.67 0.00 0.000 260 0.000 0.147 2997 3626 2098 2135 2061 0 0 0 0 0 0 15.11 14.76 15.14

10568 0.88 146.0 2997 3626 2136 2061 493.4 14.1 884 10575 0.00 2.60 0.00 0.000 1030 0.000 0.102 3006 2199 2098 2135 2061 0 0 0 0 0 0 14.87 14.80 14.92

10873 0.88 146.0 3009 2197 2136 2061 453.0 13.0 915 10879 0.00 2.62 0.00 0.000 516 0.000 0.132 3019 777 2098 2135 2061 0 0 0 0 0 0 15.11 14.76 15.14

10904 0.88 146.0 3019 777 2136 2061 449.0 13.5 921 10910 0.15 2.62 0.00 0.000 5126 0.240 0.117 2983 2216 2098 2135 2061 0 0 0 0 0 0 14.71 14.78 14.93

11214 0.88 146.0 2983 2216 2136 2060 412.4 11.8 953 11221 0.00 2.65 0.00 0.000 260 0.000 0.147 2986 3623 2097 2135 2060 0 0 0 0 0 0 15.13 14.76 15.16

11240 0.88 146.0 2984 3623 2135 2061 409.1 12.9 958 11249 0.00 2.60 0.00 0.000 1030 0.000 0.104 2993 2195 2097 2135 2060 0 0 0 0 0 0 14.87 14.79 14.92

11524 end climb: SURFACE_OBSTACLE_DETECTED

state 11524 begin subsurface finish

11527 0.00 3.3 2994 2195 2135 2061 376.0 11.3 987 11538 1.00 2.65 -2.10 0.054 20996 0.210 0.154 2713 792 2721 2835 2607 0 0 0 0 0 0 14.67 13.45 14.86

11539 end subsurface finish: CONTROL_FINISHED_OK

state 11539 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	145	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	20	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	12	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	100	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	10	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	10	LOITER_W_DBAND	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	20	PITCH_MIN	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53445	PITCH_MAXERRORS	1	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	883

GPS1	120218,085740,-7418.4561,-11227.4512,0,1001.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7438.000,-11235.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	345.69	MHEAD_RNG_PITCHd_Wd	132.4,36384,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	3.6	D_GRID	990
GPS2	120218,085740,-7418.4561,-11227.4512,0,1001.0,0,53.5,0.0,0.0,0,0.0

FINISH1	376.0,1.027435,3	_24V_AH	13.10,64.601
FINISH2	375.0	_10V_AH	12.47,0.000
RAFOS_CLK	411	FG_AHR_24Vo	0.000
RAFOS	0,1518436860,12.032778,12.016666,173,61,59,56,54,52,596,183,212,165,222,155	FG_AHR_10Vo	0.000
RAFOS_FIX	-7420.408691,-11229.937500,120218,121200,3,151,0.32	MEM	280004
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	33344,989
TT8_MAMPS	0.039697,0.292859	CAP_FILE_SIZE	123256,0
HUMID	48.07	CFSIZE	1024409600,1003126784
INTERNAL_PRESSURE	7.62882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.80	SOUNDSPEED	1458.5
XPDR_PINGS	0	GPS	120218,121600,-7420.409,-11229.938,0,4151.3,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	387.5,18.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	270	15.61	nil	0	0	0.00
Roll_motor	101	223	295.85	nil	0	0	0.00
VBD_pump_during_apogee	1046	1402	19226.80	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	11545	2	439.65
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	45	420	251.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8420	2	242.55
TT8_Active	1048	12	160.44
TT8_Sampling	2049	31	811.38
TT8_CF8	92	45	51.98
TT8_Kalman	0	0	0.00
Analog_circuits	1861	10	236.80
GPS_charging	0	0	0.00
Compass	1415	7	132.18
RAFOS	720	1	13.47
Transponder	325	30	121.91

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
358.7	18.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
365.7	26.50	9000.00	0.0	0.00	0.00	26.50	0.0	1.09	1.00
993.7	23.50	9000.00	0.0	0.00	0.02	23.50	1017.2	-0.00	1.00

987.4	15.60	9000.00	0.0	-0.01	0.50	15.60	971.8	1.25	1.00
975.0	16.50	9000.00	0.0	0.31	0.48	16.50	0.0	-0.07	1.00
968.1	32.20	9000.00	0.0	-0.76	0.64	32.20	0.0	-2.28	1.00
961.8	24.40	9000.00	0.0	-0.63	0.28	24.40	937.4	1.24	1.00
449.0	82.10	9000.00	0.0	-0.10	0.98	82.10	0.0	-0.11	1.00
442.7	75.60	9000.00	0.0	-0.11	0.99	75.60	367.1	1.03	1.00
435.6	68.30	68.30	367.3	1.03	1.00	68.30	367.3	1.03	1.00
428.6	61.10	61.10	367.5	1.02	1.00	61.10	367.5	1.03	1.00
414.7	46.40	46.50	368.2	1.05	1.00	46.40	368.3	1.06	1.00
408.6	40.00	39.90	368.7	1.06	1.00	40.00	368.6	1.05	1.00
401.5	32.70	32.60	368.9	1.04	1.00	32.70	368.8	1.03	1.00
394.5	25.40	25.40	369.1	1.03	1.00	25.40	369.1	1.04	1.00
387.5	18.10	18.10	369.4	1.04	1.00	18.10	369.4	1.04	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-0.88	-146.0	2706	2491	2823	2602	0.0	0.0	0	11	0.00	0.00	-2.05	0.048	16390	0.000	0.000	2706	2490	3330	3465	3195	0	0	0	0	0	0	15.09	13.51	15.10
12	-0.88	-146.0	2707	2490	3465	3197	0.0	0.0	0	19	0.88	2.53	0.00	0.000	4612	0.116	0.121	2416	1085	3331	3461	3201	0	0	0	0	0	0	14.81	14.77	14.88
58	-0.88	-146.0	2418	1086	3454	3209	349.5	-8.8	9	66	0.00	2.67	0.00	0.000	1030	0.000	0.129	2410	2498	3330	3453	3208	0	0	0	0	0	0	14.85	14.73	14.90
363	-0.88	-146.0	2410	2499	3448	3214	384.2	-11.3	40	369	0.00	2.42	0.00	0.000	260	0.000	0.157	2400	3751	3330	3447	3213	0	0	0	0	0	0	15.11	14.72	15.14
443	-0.88	-146.0	2401	3752	3445	3216	393.9	-12.6	56	449	0.00	2.28	0.00	0.000	1030	0.000	0.099	2401	2494	3330	3445	3215	0	0	0	0	0	0	14.88	14.81	14.92
753	-0.88	-146.0	2401	2495	3445	3216	429.9	-11.6	88	754	0.00	0.00	0.00	0.000	6	0.000	0.000	2401	2494	3329	3444	3215	0	0	0	0	0	0	15.11	15.14	15.14
1053	-0.88	-146.0	2401	2495	3444	3216	465.1	-11.6	118	1059	0.00	2.45	0.00	0.000	260	0.000	0.155	2391	3754	3329	3443	3215	0	0	0	0	0	0	15.12	14.72	15.14
1128	-0.88	-146.0	2392	3754	3442	3217	474.5	-12.5	133	1136	0.00	2.30	0.00	0.000	1030	0.000	0.101	2391	2487	3328	3441	3216	0	0	0	0	0	0	14.88	14.81	14.95
1433	-0.88	-146.0	2392	2487	3442	3216	510.9	-11.8	164	1434	0.00	0.00	0.00	0.000	6	0.000	0.000	2391	2487	3328	3440	3217	0	0	0	0	0	0	15.11	15.15	15.14
1733	-0.88	-146.0	2391	2488	3441	3218	546.3	-11.7	194	1739	0.00	2.42	0.00	0.000	260	0.000	0.155	2382	3763	3328	3440	3216	0	0	0	0	0	0	15.12	14.73	15.15
1783	-0.88	-146.0	2383	3763	3439	3217	552.5	-12.5	204	1789	0.10	2.30	0.00	0.000	3078	0.267	0.099	2414	2494	3328	3439	3217	0	0	0	0	0	0	14.62	14.81	14.78
2093	-0.88	-146.0	2409	2493	3440	3217	585.5	-10.4	236	2099	0.00	2.45	0.00	0.000	260	0.000	0.155	2400	3756	3326	3435	3217	0	0	0	0	0	0	15.13	14.71	15.14
2123	-0.88	-146.0	2400	3756	3439	3218	588.9	-11.6	242	2129	0.00	2.30	0.00	0.000	1030	0.000	0.102	2400	2488	3327	3438	3217	0	0	0	0	0	0	14.88	14.80	14.92
2433	-0.88	-146.0	2400	2488	3439	3217	622.2	-10.8	274	2434	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	2488	3327	3438	3217	0	0	0	0	0	0	15.12	15.14	15.14
2733	-0.88	-146.0	2400	2489	3439	3217	654.1	-10.7	304	2739	0.00	2.45	0.00	0.000	260	0.000	0.154	2391	3755	3327	3438	3217	0	0	0	0	0	0	15.12	14.70	15.14
2778	-0.88	-146.0	2391	3756	3438	3218	659.1	-11.5	313	2786	0.00	2.30	0.00	0.000	1030	0.000	0.099	2391	2488	3327	3437	3217	0	0	0	0	0	0	14.87	14.80	14.91
3083	-0.88	-146.0	2391	2489	3438	3218	692.5	-10.8	344	3089	0.00	2.45	0.00	0.000	260	0.000	0.154	2382	3754	3327	3437	3217	0	0	0	0	0	0	15.12	14.69	15.15
3123	-0.88	-146.0	2386	3755	3438	3218	697.2	-12.0	352	3129	0.10	2.30	0.00	0.000	3078	0.271	0.099	2409	2483	3327	3437	3217	0	0	0	0	0	0	14.59	14.80	14.76
3453	-0.88	-146.0	2409	2484	3438	3219	731.0	-10.1	366	3459	0.00	2.45	0.00	0.000	260	0.000	0.155	2400	3750	3326	3437	3216	0	0	0	0	0	0	15.14	14.70	15.16
3488	-0.88	-146.0	2400	3749	3438	3218	734.9	-11.0	373	3495	0.00	2.28	0.00	0.000	1030	0.000	0.099	2400	2494	3327	3437	3218	0	0	0	0	0	0	14.88	14.80	14.91
3874	-0.88	-146.0	2400	2495	3438	3218	774.9	-10.5	390	3880	0.00	2.45	0.00	0.000	260	0.000	0.155	2390	3759	3327	3437	3218	0	0	0	0	0	0	15.13	14.70	15.16
3909	-0.88	-146.0	2391	3758	3438	3217	779.0	-11.4	397	3916	0.00	2.30	0.00	0.000	1030	0.000	0.100	2391	2488	3327	3437	3218	0	0	0	0	0	0	14.88	14.80	14.91
4295	-0.88	-146.0	2391	2489	3439	3219	820.8	-10.9	414	4296	0.00	0.00	0.00	0.000	6	0.000	0.000	2391	2488	3327	3437	3218	0	0	0	0	0	0	15.14	15.16	15.16
4657	-0.88	-146.0	2391	2489	3438	3219	859.4	-10.6	426	4662	0.00	2.42	0.00	0.000	260	0.000	0.154	2383	3762	3327	3437	3218	0	0	0	0	0	0	15.13	14.72	15.16
4726	-0.88	-146.0	2382	3764	3437	3219	867.2	-11.4	440	4732	0.10	2.30	0.00	0.000	3078	0.268	0.099	2409	2494	3327	3437	3218	0	0	0	0	0	0	14.59	14.80	14.76
5106	-0.88	-146.0	2408	2494	3437	3218	903.7	-9.5	456	5107	0.00	0.00	0.00	0.000	6	0.000	0.000	2409	2493	3327	3437	3218	0	0	0	0	0	0	15.13	15.16	15.15
5466	-0.88	-146.0	2410	2494	3438	3218	937.7	-9.3	468	5467	0.00	0.00	0.00	0.000	6	0.000	0.000	2409	2493	3327	3437	3218	0	0	0	0	0	0	15.13	15.16	15.16
5826	-0.88	-146.0	2409	2495	3438	3219	970.5	-9.0	480	5827	0.00	0.00	0.00	0.000	6	0.000	0.000	2409	2493	3327	3437	3218	0	0	0	0	0	0	15.14	15.17	15.16
6065	end dive: TARGET_DEPTH_EXCEEDED
state	6066	begin apogee
6069	-0.23	0.0	2410	2180	3437	3219	991.9	-9.0	488	6656	0.77	0.08	580.95	1.158	10246	0.226	0.223	2622	2207	2714	2773	2656	0	0	0	0	0	0	14.66	13.65	13.24
6657	end apogee: CONTROL_FINISHED_OK
state	6657	begin climb
6658	0.88	146.0	2622	2207	2771	2658	1004.1	0.0	507	7140	1.20	2.97	465.73	1.402	10500	0.134	0.144	2976	3614	2115	2149	2082	0	0	0	0	0	0	13.72	13.58	13.10
7284	0.88	146.0	2976	3615	2143	2072	934.6	14.1	634	7290	0.00	2.70	0.00	0.000	1030	0.000	0.097	2986	2206	2106	2142	2071	0	0	0	0	0	0	14.17	14.10	14.21
7669	0.88	146.0	2986	2204	2141	2066	882.7	13.6	651	7675	0.00	2.67	0.00	0.000	516	0.000	0.129	2996	779	2103	2140	2066	0	0	0	0	0	0	14.81	14.52	14.83
7704	0.88	146.0	2997	780	2139	2067	877.6	13.8	658	7710	0.00	2.67	0.00	0.000	1030	0.000	0.116	2997	2198	2104	2139	2070	0	0	0	0	0	0	14.62	14.53	14.66
8090	0.88	146.0	2998	2198	2139	2065	823.5	14.0	675	8091	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2198	2099	2135	2064	0	0	0	0	0	0	14.94	14.97	14.97
8451	0.88	146.0	2997	2198	2139	2063	773.6	13.7	687	8452	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2198	2100	2138	2063	0	0	0	0	0	0	15.01	15.04	15.04
8811	0.88	146.0	2998	2198	2138	2063	725.4	13.4	699	8816	0.00	2.62	0.00	0.000	516	0.000	0.128	3007	780	2100	2137	2063	0	0	0	0	0	0	15.05	14.75	15.08
8835	0.88	146.0	3008	781	2137	2064	721.9	13.7	704	8842	0.00	2.65	0.00	0.000	1030	0.000	0.115	3008	2236	2099	2137	2062	0	0	0	0	0	0	14.92	14.77	14.96
9200	0.88	146.0	3008	2237	2137	2063	670.2	14.2	731	9201	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2235	2099	2137	2062	0	0	0	0	0	0	15.11	15.14	15.13
9500	0.88	146.0	3008	2236	2138	2062	627.6	14.2	761	9507	0.00	2.67	0.00	0.000	516	0.000	0.128	3019	782	2099	2136	2062	0	0	0	0	0	0	15.11	14.78	15.14
9541	0.88	146.0	3019	782	2137	2061	621.8	14.1	769	9548	0.10	2.62	0.00	0.000	5126	0.220	0.114	2977	2206	2099	2136	2062	0	0	0	0	0	0	14.71	14.78	14.93
9853	0.88	146.0	2977	2207	2137	2062	584.0	11.8	801	9859	0.00	2.65	0.00	0.000	260	0.000	0.146	2977	3616	2098	2136	2061	0	0	0	0	0	0	15.08	14.77	15.11
9883	0.88	146.0	2977	3616	2137	2062	580.0	13.4	807	9889	0.00	2.60	0.00	0.000	1030	0.000	0.102	2987	2188	2099	2136	2062	0	0	0	0	0	0	14.88	14.80	14.92
10193	0.88	146.0	2987	2187	2137	2062	541.9	12.3	839	10199	0.00	2.62	0.00	0.000	516	0.000	0.130	2997	760	2098	2136	2061	0	0	0	0	0	0	15.11	14.76	15.14
10233	0.88	146.0	2997	761	2136	2063	536.8	12.7	847	10239	0.00	2.67	0.00	0.000	1030	0.000	0.116	2997	2206	2098	2136	2061	0	0	0	0	0	0	14.85	14.77	14.92
10543	0.88	146.0	2997	2207	2137	2061	496.9	12.8	879	10549	0.00	2.67	0.00	0.000	260	0.000	0.147	2997	3626	2098	2135	2061	0	0	0	0	0	0	15.11	14.76	15.14
10568	0.88	146.0	2997	3626	2136	2061	493.4	14.1	884	10575	0.00	2.60	0.00	0.000	1030	0.000	0.102	3006	2199	2098	2135	2061	0	0	0	0	0	0	14.87	14.80	14.92
10873	0.88	146.0	3009	2197	2136	2061	453.0	13.0	915	10879	0.00	2.62	0.00	0.000	516	0.000	0.132	3019	777	2098	2135	2061	0	0	0	0	0	0	15.11	14.76	15.14
10904	0.88	146.0	3019	777	2136	2061	449.0	13.5	921	10910	0.15	2.62	0.00	0.000	5126	0.240	0.117	2983	2216	2098	2135	2061	0	0	0	0	0	0	14.71	14.78	14.93
11214	0.88	146.0	2983	2216	2136	2060	412.4	11.8	953	11221	0.00	2.65	0.00	0.000	260	0.000	0.147	2986	3623	2097	2135	2060	0	0	0	0	0	0	15.13	14.76	15.16
11240	0.88	146.0	2984	3623	2135	2061	409.1	12.9	958	11249	0.00	2.60	0.00	0.000	1030	0.000	0.104	2993	2195	2097	2135	2060	0	0	0	0	0	0	14.87	14.79	14.92
11524	end climb: SURFACE_OBSTACLE_DETECTED
state	11524	begin subsurface finish
11527	0.00	3.3	2994	2195	2135	2061	376.0	11.3	987	11538	1.00	2.65	-2.10	0.054	20996	0.210	0.154	2713	792	2721	2835	2607	0	0	0	0	0	0	14.67	13.45	14.86
11539	end subsurface finish: CONTROL_FINISHED_OK
state	11539	begin surface