Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 154 * 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 154 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 154 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 130218,151512,-7433.9902,-11235.6289,0,4139.0,0,53.5,0.0,0.0,0,0.0 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 384.82 MHEAD_RNG_PITCHd_Wd 124.1,7432,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 2.1 D_GRID 990

GPS2 130218,151512,-7433.9902,-11235.6289,0,4139.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 416.9,1.027515,-1 _24V_AH 12.28,68.075

FINISH2 415.8 _10V_AH 12.31,0.000

RAFOS_CLK 379 FG_AHR_24Vo 0.000

RAFOS 0,1518544860,18.032778,18.016666,152,55,54,51,50,49,697,197,187,125,160,146 FG_AHR_10Vo 0.000

RAFOS_FIX -7435.475098,-11236.831055,130218,181832,3,139,0.26 MEM 280052

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 29995,873

TT8_MAMPS 0.040446,0.264397 CAP_FILE_SIZE 111724,0

HUMID 47.91 CFSIZE 1024409600,1002143744

INTERNAL_PRESSURE 7.63859 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 13.90 SOUNDSPEED 1459.1

XPDR_PINGS 1 GPS 130218,181632,-7435.475,-11236.831,0,4139.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 424.6,13.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 263 14.30 nil 0 0 0.00

Roll_motor 82 259 263.77 nil 0 0 0.00

VBD_pump_during_apogee 700 2356 20260.41 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 10590 2 385.32

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 43 420 221.78 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8032 2 228.41

TT8_Active 701 12 105.99

TT8_Sampling 1832 31 715.95

TT8_CF8 89 45 49.70

TT8_Kalman 0 0 0.00

Analog_circuits 1421 10 178.54

GPS_charging 0 0 0.00

Compass 1250 7 115.32

RAFOS 720 1 13.29

Transponder 303 30 112.15

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

392.1 9.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

398.8 15.50 9000.00 0.0 0.00 0.00 15.50 0.0 0.97 1.00

412.9 30.50 30.40 0.0 1.04 1.00 30.50 0.0 1.06 1.00

992.9 15.50 9000.00 0.0 -0.01 0.23 15.50 0.0 -0.03 1.00

986.5 22.10 9000.00 0.0 -0.02 0.81 22.10 0.0 -1.03 1.00

980.1 20.10 9000.00 0.0 -0.36 0.46 20.10 960.0 0.31 1.00

973.7 27.80 9000.00 0.0 -0.44 0.50 27.80 0.0 -1.20 1.00

967.6 18.00 9000.00 0.0 0.16 0.04 18.00 949.6 1.61 1.00

961.2 35.90 9000.00 0.0 -0.66 0.21 35.90 0.0 -2.80 1.00

954.5 22.70 9000.00 0.0 -0.33 0.06 22.70 931.8 1.97 1.00

490.5 81.50 9000.00 0.0 -0.11 0.95 81.50 0.0 -0.13 1.00

483.9 74.80 9000.00 0.0 -0.12 0.99 74.80 409.1 1.02 1.00

477.3 67.80 67.90 409.4 1.04 1.00 67.80 409.5 1.06 1.00

464.0 54.00 54.00 410.0 1.04 1.00 54.00 410.0 1.04 1.00

450.7 40.40 40.30 410.4 1.03 1.00 40.40 410.3 1.02 1.00

444.1 33.60 33.60 410.5 1.03 1.00 33.60 410.5 1.03 1.00

437.5 26.90 26.90 410.6 1.03 1.00 26.90 410.6 1.02 1.00

431.1 20.30 20.30 410.8 1.02 1.00 20.30 410.8 1.03 1.00

424.6 13.60 13.60 411.0 1.03 1.00 13.60 411.0 1.03 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.88 -146.0 2700 2497 2829 2607 0.0 0.0 0 12 0.00 0.00 -1.95 0.049 16390 0.000 0.000 2699 2496 3327 3467 3188 0 0 0 0 0 0 15.08 13.39 15.08

13 -0.88 -146.0 2700 2497 3466 3193 0.0 0.0 0 20 0.85 2.55 0.00 0.000 4612 0.112 0.119 2415 1078 3328 3462 3195 0 0 0 0 0 0 14.78 14.73 14.85

54 -0.88 -146.0 2415 1079 3457 3202 388.5 -8.6 8 59 0.00 2.70 0.00 0.000 1030 0.000 0.128 2406 2505 3328 3455 3202 0 0 0 0 0 0 14.81 14.69 14.87

364 -0.88 -146.0 2406 2506 3449 3210 423.4 -11.6 40 369 0.00 2.42 0.00 0.000 260 0.000 0.155 2397 3754 3328 3449 3208 0 0 0 0 0 0 15.11 14.67 15.14

404 -0.88 -146.0 2397 3755 3446 3211 428.4 -12.5 48 409 0.00 2.30 0.00 0.000 1030 0.000 0.102 2397 2488 3327 3445 3210 0 0 0 0 0 0 14.85 14.76 14.90

714 -0.88 -146.0 2398 2489 3446 3211 464.7 -11.6 80 714 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 2488 3327 3445 3210 0 0 0 0 0 0 15.11 15.14 15.14

1014 -0.88 -146.0 2397 2488 3446 3210 499.5 -11.8 110 1019 0.00 2.45 0.00 0.000 260 0.000 0.155 2387 3750 3327 3444 3211 0 0 0 0 0 0 15.11 14.67 15.19

1059 -0.88 -146.0 2388 3750 3443 3213 504.9 -12.3 119 1066 0.00 2.28 0.00 0.000 1030 0.000 0.100 2387 2496 3327 3442 3213 0 0 0 0 0 0 14.85 14.77 14.90

1364 -0.88 -146.0 2387 2496 3443 3214 540.7 -11.5 150 1370 0.00 2.42 0.00 0.000 260 0.000 0.155 2378 3746 3327 3442 3213 0 0 0 0 0 0 15.12 14.66 15.14

1398 -0.88 -146.0 2379 3746 3442 3213 544.9 -12.5 157 1407 0.12 2.28 0.00 0.000 3078 0.255 0.099 2412 2490 3327 3441 3213 0 0 0 0 0 0 14.57 14.78 14.73

1704 -0.88 -146.0 2413 2490 3442 3214 576.3 -10.1 188 1705 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2490 3327 3441 3213 0 0 0 0 0 0 15.12 15.14 15.14

2004 -0.88 -146.0 2413 2490 3442 3213 606.6 -10.2 218 2004 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2490 3327 3441 3213 0 0 0 0 0 0 15.12 15.15 15.14

2304 -0.88 -146.0 2412 2490 3442 3214 637.6 -10.5 248 2310 0.00 2.45 0.00 0.000 260 0.000 0.155 2404 3751 3327 3440 3214 0 0 0 0 0 0 15.13 14.66 15.15

2349 -0.88 -146.0 2404 3752 3440 3214 642.6 -11.5 257 2357 0.00 2.28 0.00 0.000 1030 0.000 0.099 2404 2496 3326 3439 3213 0 0 0 0 0 0 14.83 14.78 14.89

2654 -0.88 -146.0 2404 2498 3440 3214 675.2 -10.3 288 2655 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2497 3326 3439 3214 0 0 0 0 0 0 15.13 15.16 15.15

2964 -0.88 -146.0 2404 2497 3440 3214 706.9 -10.1 315 2965 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2497 3326 3439 3213 0 0 0 0 0 0 15.12 15.16 15.15

3324 -0.88 -146.0 2404 2497 3440 3214 743.3 -10.1 327 3330 0.00 2.40 0.00 0.000 260 0.000 0.155 2394 3755 3326 3439 3214 0 0 0 0 0 0 15.13 14.69 15.16

3349 -0.88 -146.0 2395 3756 3440 3214 745.8 -9.8 332 3357 0.00 2.28 0.00 0.000 1030 0.000 0.099 2394 2499 3326 3438 3214 0 0 0 0 0 0 14.85 14.77 14.90

3715 -0.88 -146.0 2394 2499 3440 3214 783.4 -10.2 345 3716 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2499 3325 3438 3213 0 0 0 0 0 0 15.09 15.12 15.11

4074 -0.88 -146.0 2394 2499 3437 3214 820.0 -10.3 357 4081 0.00 2.42 0.00 0.000 260 0.000 0.156 2385 3749 3326 3438 3214 0 0 0 0 0 0 15.14 14.66 15.17

4115 -0.88 -146.0 2385 3749 3439 3214 824.5 -11.1 365 4122 0.10 2.28 0.00 0.000 3078 0.263 0.098 2412 2492 3326 3439 3214 0 0 0 0 0 0 14.54 14.78 14.73

4496 -0.88 -146.0 2412 2493 3439 3214 860.6 -9.4 381 4497 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2492 3326 3438 3214 0 0 0 0 0 0 15.14 15.16 15.16

4856 -0.88 -146.0 2412 2493 3438 3215 894.2 -9.3 393 4857 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2492 3325 3438 3213 0 0 0 0 0 0 15.14 15.17 15.16

5216 -0.88 -146.0 2412 2493 3439 3215 927.2 -9.1 405 5223 0.00 2.40 0.00 0.000 260 0.000 0.154 2403 3755 3326 3438 3214 0 0 0 0 0 0 15.14 14.69 15.17

5247 -0.88 -146.0 2404 3756 3439 3214 930.2 -6.9 411 5253 0.00 2.30 0.00 0.000 1062 0.000 0.098 2404 2485 3326 3438 3214 0 0 0 0 0 0 14.85 14.78 14.90

5638 -0.88 -146.0 2404 2487 3439 3215 966.6 -9.2 429 5638 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2486 3326 3437 3216 0 0 0 0 0 0 15.14 15.16 15.16

5906 end dive: TARGET_DEPTH_EXCEEDED

state 5906 begin apogee

5910 -0.23 0.0 2404 2184 3438 3216 993.0 -9.7 438 6138 0.82 0.05 220.57 2.356 10246 0.230 0.259 2627 2200 2714 2766 2662 0 0 0 0 1 0 14.61 13.34 12.28

6139 end apogee: CONTROL_FINISHED_OK

state 6139 begin climb

6141 0.88 146.0 2628 2200 2770 2662 998.9 0.0 445 6636 1.23 2.85 479.65 1.304 10756 0.132 0.125 2992 795 2115 2147 2084 0 0 0 0 0 0 13.45 13.58 13.07

6675 0.88 146.0 2993 796 2141 2081 946.1 12.5 547 6681 0.00 2.78 0.00 0.000 1030 0.000 0.112 2993 2206 2109 2140 2079 0 0 0 0 0 0 13.93 13.81 13.95

7066 0.88 146.0 2992 2207 2139 2072 891.5 14.3 565 7071 0.00 2.72 0.00 0.000 260 0.000 0.146 2993 3618 2104 2138 2071 0 0 0 0 0 0 14.70 14.42 14.73

7096 0.88 146.0 2993 3618 2139 2071 886.5 17.2 571 7101 0.00 2.60 0.00 0.000 1030 0.000 0.099 3003 2199 2104 2138 2071 0 0 0 0 0 0 14.62 14.50 14.64

7485 0.88 146.0 3004 2197 2138 2069 829.1 14.7 589 7493 0.00 2.62 0.00 0.000 516 0.000 0.129 3014 786 2103 2137 2069 0 0 0 0 0 0 14.95 14.62 14.97

7521 0.88 146.0 3016 786 2138 2069 823.4 15.2 596 7528 0.10 2.67 0.00 0.000 5126 0.226 0.117 2986 2210 2102 2136 2069 0 0 0 0 0 0 14.55 14.62 14.69

7908 0.88 146.0 2986 2210 2138 2067 771.4 13.5 613 7913 0.00 2.65 0.00 0.000 260 0.000 0.145 2986 3614 2101 2136 2067 0 0 0 0 0 0 14.98 14.69 15.01

7947 0.88 146.0 2986 3614 2136 2068 765.8 14.3 621 7954 0.00 2.60 0.00 0.000 1030 0.000 0.101 2996 2195 2101 2137 2066 0 0 0 0 0 0 14.80 14.72 14.84

8329 0.88 146.0 2996 2195 2137 2068 713.5 13.9 637 8334 0.00 2.62 0.00 0.000 516 0.000 0.130 3006 776 2101 2136 2066 0 0 0 0 0 0 15.03 14.73 15.05

8363 0.88 146.0 3007 776 2136 2066 708.7 14.0 644 8369 0.00 2.65 0.00 0.000 1030 0.000 0.116 3006 2207 2101 2135 2067 0 0 0 0 0 0 14.81 14.73 14.87

8728 0.88 146.0 3007 2207 2136 2067 657.9 13.8 679 8734 0.00 2.67 0.00 0.000 260 0.000 0.145 3006 3623 2100 2135 2066 0 0 0 0 0 0 15.08 14.73 15.11

8753 0.88 146.0 3006 3624 2136 2067 654.2 14.8 684 8760 0.10 2.62 0.00 0.000 5126 0.236 0.102 2990 2187 2100 2135 2066 0 0 0 0 0 0 14.64 14.76 14.78

9058 0.88 146.0 2990 2187 2136 2066 615.1 12.7 715 9059 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2186 2100 2135 2066 0 0 0 0 0 0 15.09 15.12 15.12

9358 0.88 146.0 2990 2185 2136 2065 577.1 12.4 745 9364 0.00 2.62 0.00 0.000 516 0.000 0.130 3000 763 2100 2135 2065 0 0 0 0 0 0 15.10 14.73 15.13

9378 0.88 146.0 3000 763 2136 2066 574.6 12.5 749 9384 0.00 2.67 0.00 0.000 1030 0.000 0.116 3000 2207 2099 2134 2065 0 0 0 0 0 0 14.95 14.74 14.98

9688 0.88 146.0 3000 2207 2136 2065 533.8 13.0 781 9694 0.00 2.67 0.00 0.000 260 0.000 0.147 2999 3622 2100 2135 2065 0 0 0 0 0 0 15.10 14.73 15.13

9714 0.88 146.0 3000 3622 2135 2066 530.2 14.0 786 9721 0.00 2.58 0.00 0.000 1030 0.000 0.102 3010 2187 2099 2134 2065 0 0 0 0 0 0 14.92 14.79 14.97

10018 0.88 146.0 3011 2186 2135 2065 489.1 13.2 817 10019 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 2187 2099 2134 2065 0 0 0 0 0 0 15.11 15.13 15.13

10318 0.88 146.0 3011 2187 2136 2065 449.4 13.0 847 10319 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 2187 2099 2134 2065 0 0 0 0 0 0 15.11 15.14 15.14

10567 end climb: SURFACE_OBSTACLE_DETECTED

state 10567 begin subsurface finish

10570 -0.00 -0.8 3011 2188 2135 2066 416.9 12.9 872 10580 1.10 0.00 -2.10 0.044 20486 0.209 0.000 2699 2185 2732 2847 2617 0 0 0 0 0 0 14.69 13.46 14.92

10580 end subsurface finish: CONTROL_FINISHED_OK

state 10580 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	154	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	130218,151512,-7433.9902,-11235.6289,0,4139.0,0,53.5,0.0,0.0,0,0.0	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	384.82	MHEAD_RNG_PITCHd_Wd	124.1,7432,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	2.1	D_GRID	990
GPS2	130218,151512,-7433.9902,-11235.6289,0,4139.0,0,53.5,0.0,0.0,0,0.0

FINISH1	416.9,1.027515,-1	_24V_AH	12.28,68.075
FINISH2	415.8	_10V_AH	12.31,0.000
RAFOS_CLK	379	FG_AHR_24Vo	0.000
RAFOS	0,1518544860,18.032778,18.016666,152,55,54,51,50,49,697,197,187,125,160,146	FG_AHR_10Vo	0.000
RAFOS_FIX	-7435.475098,-11236.831055,130218,181832,3,139,0.26	MEM	280052
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	29995,873
TT8_MAMPS	0.040446,0.264397	CAP_FILE_SIZE	111724,0
HUMID	47.91	CFSIZE	1024409600,1002143744
INTERNAL_PRESSURE	7.63859	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.90	SOUNDSPEED	1459.1
XPDR_PINGS	1	GPS	130218,181632,-7435.475,-11236.831,0,4139.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	424.6,13.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	263	14.30	nil	0	0	0.00
Roll_motor	82	259	263.77	nil	0	0	0.00
VBD_pump_during_apogee	700	2356	20260.41	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	10590	2	385.32
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	43	420	221.78	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8032	2	228.41
TT8_Active	701	12	105.99
TT8_Sampling	1832	31	715.95
TT8_CF8	89	45	49.70
TT8_Kalman	0	0	0.00
Analog_circuits	1421	10	178.54
GPS_charging	0	0	0.00
Compass	1250	7	115.32
RAFOS	720	1	13.29
Transponder	303	30	112.15

		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
392.1	9.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
398.8	15.50	9000.00	0.0	0.00	0.00	15.50	0.0	0.97	1.00
412.9	30.50	30.40	0.0	1.04	1.00	30.50	0.0	1.06	1.00

992.9	15.50	9000.00	0.0	-0.01	0.23	15.50	0.0	-0.03	1.00
986.5	22.10	9000.00	0.0	-0.02	0.81	22.10	0.0	-1.03	1.00
980.1	20.10	9000.00	0.0	-0.36	0.46	20.10	960.0	0.31	1.00
973.7	27.80	9000.00	0.0	-0.44	0.50	27.80	0.0	-1.20	1.00
967.6	18.00	9000.00	0.0	0.16	0.04	18.00	949.6	1.61	1.00
961.2	35.90	9000.00	0.0	-0.66	0.21	35.90	0.0	-2.80	1.00
954.5	22.70	9000.00	0.0	-0.33	0.06	22.70	931.8	1.97	1.00
490.5	81.50	9000.00	0.0	-0.11	0.95	81.50	0.0	-0.13	1.00
483.9	74.80	9000.00	0.0	-0.12	0.99	74.80	409.1	1.02	1.00
477.3	67.80	67.90	409.4	1.04	1.00	67.80	409.5	1.06	1.00
464.0	54.00	54.00	410.0	1.04	1.00	54.00	410.0	1.04	1.00
450.7	40.40	40.30	410.4	1.03	1.00	40.40	410.3	1.02	1.00
444.1	33.60	33.60	410.5	1.03	1.00	33.60	410.5	1.03	1.00
437.5	26.90	26.90	410.6	1.03	1.00	26.90	410.6	1.02	1.00
431.1	20.30	20.30	410.8	1.02	1.00	20.30	410.8	1.03	1.00
424.6	13.60	13.60	411.0	1.03	1.00	13.60	411.0	1.03	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.88	-146.0	2700	2497	2829	2607	0.0	0.0	0	12	0.00	0.00	-1.95	0.049	16390	0.000	0.000	2699	2496	3327	3467	3188	0	0	0	0	0	0	15.08	13.39	15.08
13	-0.88	-146.0	2700	2497	3466	3193	0.0	0.0	0	20	0.85	2.55	0.00	0.000	4612	0.112	0.119	2415	1078	3328	3462	3195	0	0	0	0	0	0	14.78	14.73	14.85
54	-0.88	-146.0	2415	1079	3457	3202	388.5	-8.6	8	59	0.00	2.70	0.00	0.000	1030	0.000	0.128	2406	2505	3328	3455	3202	0	0	0	0	0	0	14.81	14.69	14.87
364	-0.88	-146.0	2406	2506	3449	3210	423.4	-11.6	40	369	0.00	2.42	0.00	0.000	260	0.000	0.155	2397	3754	3328	3449	3208	0	0	0	0	0	0	15.11	14.67	15.14
404	-0.88	-146.0	2397	3755	3446	3211	428.4	-12.5	48	409	0.00	2.30	0.00	0.000	1030	0.000	0.102	2397	2488	3327	3445	3210	0	0	0	0	0	0	14.85	14.76	14.90
714	-0.88	-146.0	2398	2489	3446	3211	464.7	-11.6	80	714	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	2488	3327	3445	3210	0	0	0	0	0	0	15.11	15.14	15.14
1014	-0.88	-146.0	2397	2488	3446	3210	499.5	-11.8	110	1019	0.00	2.45	0.00	0.000	260	0.000	0.155	2387	3750	3327	3444	3211	0	0	0	0	0	0	15.11	14.67	15.19
1059	-0.88	-146.0	2388	3750	3443	3213	504.9	-12.3	119	1066	0.00	2.28	0.00	0.000	1030	0.000	0.100	2387	2496	3327	3442	3213	0	0	0	0	0	0	14.85	14.77	14.90
1364	-0.88	-146.0	2387	2496	3443	3214	540.7	-11.5	150	1370	0.00	2.42	0.00	0.000	260	0.000	0.155	2378	3746	3327	3442	3213	0	0	0	0	0	0	15.12	14.66	15.14
1398	-0.88	-146.0	2379	3746	3442	3213	544.9	-12.5	157	1407	0.12	2.28	0.00	0.000	3078	0.255	0.099	2412	2490	3327	3441	3213	0	0	0	0	0	0	14.57	14.78	14.73
1704	-0.88	-146.0	2413	2490	3442	3214	576.3	-10.1	188	1705	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2490	3327	3441	3213	0	0	0	0	0	0	15.12	15.14	15.14
2004	-0.88	-146.0	2413	2490	3442	3213	606.6	-10.2	218	2004	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2490	3327	3441	3213	0	0	0	0	0	0	15.12	15.15	15.14
2304	-0.88	-146.0	2412	2490	3442	3214	637.6	-10.5	248	2310	0.00	2.45	0.00	0.000	260	0.000	0.155	2404	3751	3327	3440	3214	0	0	0	0	0	0	15.13	14.66	15.15
2349	-0.88	-146.0	2404	3752	3440	3214	642.6	-11.5	257	2357	0.00	2.28	0.00	0.000	1030	0.000	0.099	2404	2496	3326	3439	3213	0	0	0	0	0	0	14.83	14.78	14.89
2654	-0.88	-146.0	2404	2498	3440	3214	675.2	-10.3	288	2655	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2497	3326	3439	3214	0	0	0	0	0	0	15.13	15.16	15.15
2964	-0.88	-146.0	2404	2497	3440	3214	706.9	-10.1	315	2965	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2497	3326	3439	3213	0	0	0	0	0	0	15.12	15.16	15.15
3324	-0.88	-146.0	2404	2497	3440	3214	743.3	-10.1	327	3330	0.00	2.40	0.00	0.000	260	0.000	0.155	2394	3755	3326	3439	3214	0	0	0	0	0	0	15.13	14.69	15.16
3349	-0.88	-146.0	2395	3756	3440	3214	745.8	-9.8	332	3357	0.00	2.28	0.00	0.000	1030	0.000	0.099	2394	2499	3326	3438	3214	0	0	0	0	0	0	14.85	14.77	14.90
3715	-0.88	-146.0	2394	2499	3440	3214	783.4	-10.2	345	3716	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2499	3325	3438	3213	0	0	0	0	0	0	15.09	15.12	15.11
4074	-0.88	-146.0	2394	2499	3437	3214	820.0	-10.3	357	4081	0.00	2.42	0.00	0.000	260	0.000	0.156	2385	3749	3326	3438	3214	0	0	0	0	0	0	15.14	14.66	15.17
4115	-0.88	-146.0	2385	3749	3439	3214	824.5	-11.1	365	4122	0.10	2.28	0.00	0.000	3078	0.263	0.098	2412	2492	3326	3439	3214	0	0	0	0	0	0	14.54	14.78	14.73
4496	-0.88	-146.0	2412	2493	3439	3214	860.6	-9.4	381	4497	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2492	3326	3438	3214	0	0	0	0	0	0	15.14	15.16	15.16
4856	-0.88	-146.0	2412	2493	3438	3215	894.2	-9.3	393	4857	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2492	3325	3438	3213	0	0	0	0	0	0	15.14	15.17	15.16
5216	-0.88	-146.0	2412	2493	3439	3215	927.2	-9.1	405	5223	0.00	2.40	0.00	0.000	260	0.000	0.154	2403	3755	3326	3438	3214	0	0	0	0	0	0	15.14	14.69	15.17
5247	-0.88	-146.0	2404	3756	3439	3214	930.2	-6.9	411	5253	0.00	2.30	0.00	0.000	1062	0.000	0.098	2404	2485	3326	3438	3214	0	0	0	0	0	0	14.85	14.78	14.90
5638	-0.88	-146.0	2404	2487	3439	3215	966.6	-9.2	429	5638	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2486	3326	3437	3216	0	0	0	0	0	0	15.14	15.16	15.16
5906	end dive: TARGET_DEPTH_EXCEEDED
state	5906	begin apogee
5910	-0.23	0.0	2404	2184	3438	3216	993.0	-9.7	438	6138	0.82	0.05	220.57	2.356	10246	0.230	0.259	2627	2200	2714	2766	2662	0	0	0	0	1	0	14.61	13.34	12.28
6139	end apogee: CONTROL_FINISHED_OK
state	6139	begin climb
6141	0.88	146.0	2628	2200	2770	2662	998.9	0.0	445	6636	1.23	2.85	479.65	1.304	10756	0.132	0.125	2992	795	2115	2147	2084	0	0	0	0	0	0	13.45	13.58	13.07
6675	0.88	146.0	2993	796	2141	2081	946.1	12.5	547	6681	0.00	2.78	0.00	0.000	1030	0.000	0.112	2993	2206	2109	2140	2079	0	0	0	0	0	0	13.93	13.81	13.95
7066	0.88	146.0	2992	2207	2139	2072	891.5	14.3	565	7071	0.00	2.72	0.00	0.000	260	0.000	0.146	2993	3618	2104	2138	2071	0	0	0	0	0	0	14.70	14.42	14.73
7096	0.88	146.0	2993	3618	2139	2071	886.5	17.2	571	7101	0.00	2.60	0.00	0.000	1030	0.000	0.099	3003	2199	2104	2138	2071	0	0	0	0	0	0	14.62	14.50	14.64
7485	0.88	146.0	3004	2197	2138	2069	829.1	14.7	589	7493	0.00	2.62	0.00	0.000	516	0.000	0.129	3014	786	2103	2137	2069	0	0	0	0	0	0	14.95	14.62	14.97
7521	0.88	146.0	3016	786	2138	2069	823.4	15.2	596	7528	0.10	2.67	0.00	0.000	5126	0.226	0.117	2986	2210	2102	2136	2069	0	0	0	0	0	0	14.55	14.62	14.69
7908	0.88	146.0	2986	2210	2138	2067	771.4	13.5	613	7913	0.00	2.65	0.00	0.000	260	0.000	0.145	2986	3614	2101	2136	2067	0	0	0	0	0	0	14.98	14.69	15.01
7947	0.88	146.0	2986	3614	2136	2068	765.8	14.3	621	7954	0.00	2.60	0.00	0.000	1030	0.000	0.101	2996	2195	2101	2137	2066	0	0	0	0	0	0	14.80	14.72	14.84
8329	0.88	146.0	2996	2195	2137	2068	713.5	13.9	637	8334	0.00	2.62	0.00	0.000	516	0.000	0.130	3006	776	2101	2136	2066	0	0	0	0	0	0	15.03	14.73	15.05
8363	0.88	146.0	3007	776	2136	2066	708.7	14.0	644	8369	0.00	2.65	0.00	0.000	1030	0.000	0.116	3006	2207	2101	2135	2067	0	0	0	0	0	0	14.81	14.73	14.87
8728	0.88	146.0	3007	2207	2136	2067	657.9	13.8	679	8734	0.00	2.67	0.00	0.000	260	0.000	0.145	3006	3623	2100	2135	2066	0	0	0	0	0	0	15.08	14.73	15.11
8753	0.88	146.0	3006	3624	2136	2067	654.2	14.8	684	8760	0.10	2.62	0.00	0.000	5126	0.236	0.102	2990	2187	2100	2135	2066	0	0	0	0	0	0	14.64	14.76	14.78
9058	0.88	146.0	2990	2187	2136	2066	615.1	12.7	715	9059	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2186	2100	2135	2066	0	0	0	0	0	0	15.09	15.12	15.12
9358	0.88	146.0	2990	2185	2136	2065	577.1	12.4	745	9364	0.00	2.62	0.00	0.000	516	0.000	0.130	3000	763	2100	2135	2065	0	0	0	0	0	0	15.10	14.73	15.13
9378	0.88	146.0	3000	763	2136	2066	574.6	12.5	749	9384	0.00	2.67	0.00	0.000	1030	0.000	0.116	3000	2207	2099	2134	2065	0	0	0	0	0	0	14.95	14.74	14.98
9688	0.88	146.0	3000	2207	2136	2065	533.8	13.0	781	9694	0.00	2.67	0.00	0.000	260	0.000	0.147	2999	3622	2100	2135	2065	0	0	0	0	0	0	15.10	14.73	15.13
9714	0.88	146.0	3000	3622	2135	2066	530.2	14.0	786	9721	0.00	2.58	0.00	0.000	1030	0.000	0.102	3010	2187	2099	2134	2065	0	0	0	0	0	0	14.92	14.79	14.97
10018	0.88	146.0	3011	2186	2135	2065	489.1	13.2	817	10019	0.00	0.00	0.00	0.000	6	0.000	0.000	3010	2187	2099	2134	2065	0	0	0	0	0	0	15.11	15.13	15.13
10318	0.88	146.0	3011	2187	2136	2065	449.4	13.0	847	10319	0.00	0.00	0.00	0.000	6	0.000	0.000	3010	2187	2099	2134	2065	0	0	0	0	0	0	15.11	15.14	15.14
10567	end climb: SURFACE_OBSTACLE_DETECTED
state	10567	begin subsurface finish
10570	-0.00	-0.8	3011	2188	2135	2066	416.9	12.9	872	10580	1.10	0.00	-2.10	0.044	20486	0.209	0.000	2699	2185	2732	2847	2617	0	0	0	0	0	0	14.69	13.46	14.92
10580	end subsurface finish: CONTROL_FINISHED_OK
state	10580	begin surface