Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 154 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 154 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 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 25 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 26 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 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 15 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2782 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 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 400 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 400 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 225 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2800 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

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 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-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 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 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 3880 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 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 15

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 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 223 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 0.25 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2782 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 400 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 400 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 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 1

DIVE 154 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 25 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 26 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 5 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 -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 160218,061528,-7413.4146,-11212.4365,0,4094.0,0,53.3,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7427.000,-11215.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 344.51 MHEAD_RNG_PITCHd_Wd 129.6,25192,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -1.2 D_GRID 990

GPS2 160218,061528,-7413.4146,-11212.4365,0,4094.0,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 358.3,1.027483,1 ALTIM_BOTTOM_PING 840.9,17.1

FINISH2 357.3 _24V_AH 13.09,65.613

RAFOS_CLK 325 _10V_AH 12.60,0.000

RAFOS 0,1518771661,9.032778,9.016945,156,62,60,59,50,49,545,211,198,161,231,117 FG_AHR_24Vo 0.000

RAFOS_FIX -7414.554199,-11213.909180,160218,090940,3,162,0.21 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7412.42,-11208.63,140218,203555 MEM 280072

TT8_MAMPS 0.038948,0.279377 DATA_FILE_SIZE 30017,838

HUMID 49.25 CAP_FILE_SIZE 106571,0

INTERNAL_PRESSURE 8.25812 CFSIZE 1024409600,1001914368

TCM_TEMP 12.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1455.7

ALTIM_TOP_PING 365.8,13.8 GPS 160218,091440,-7414.554,-11213.909,0,4162.3,0,53.3,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 273 16.53 nil 0 0 0.00

Roll_motor 99 143 187.55 nil 0 0 0.00

VBD_pump_during_apogee 635 1386 11523.50 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 8784 5 643.67

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 37 420 204.79 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6270 2 182.50

TT8_Active 723 13 126.02

TT8_Sampling 1765 34 774.06

TT8_CF8 90 52 60.16

TT8_Kalman 0 0 0.00

Analog_circuits 1378 10 189.39

GPS_charging 0 0 0.00

Compass 1201 7 113.35

RAFOS 720 1 13.61

Transponder 266 30 100.57

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

364.6 26.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

806.1 57.00 9000.00 0.0 0.00 0.00 57.00 0.0 0.07 1.00

812.8 51.30 9000.00 0.0 0.06 0.96 51.30 864.1 -0.85 1.00

826.3 31.50 9000.00 0.0 -1.29 0.98 31.50 857.8 -1.47 1.00

832.6 23.50 9000.00 0.0 -1.42 1.00 23.50 856.1 -1.27 1.00

840.9 17.60 17.10 858.0 -0.93 0.97 17.60 858.5 -0.71 1.00

849.0 16.40 9000.00 0.0 -0.44 0.89 16.40 865.4 -0.15 1.00

851.4 15.80 9000.00 0.0 -0.17 0.99 15.80 867.2 -0.25 1.00

424.4 74.70 9000.00 0.0 -0.14 1.00 74.70 0.0 -0.14 1.00

418.0 67.80 9000.00 0.0 -0.13 0.99 67.80 350.2 1.08 1.00

411.6 61.20 61.20 350.4 1.05 1.00 61.20 350.4 1.03 1.00

399.0 47.90 47.90 351.1 1.05 1.00 47.90 351.1 1.06 1.00

392.9 41.40 41.40 351.5 1.06 1.00 41.40 351.5 1.07 1.00

385.9 34.10 34.10 351.8 1.05 1.00 34.10 351.8 1.04 1.00

379.0 27.40 27.30 351.7 1.01 1.00 27.40 351.6 0.97 1.00

372.3 20.00 20.10 352.2 1.04 1.00 20.00 352.3 1.10 1.00

365.8 14.00 13.80 352.0 1.02 1.00 14.00 351.8 0.92 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 -0.93 -146.0 2797 2296 2826 2762 0.0 0.0 0 11 0.00 0.00 -2.15 0.047 16390 0.000 0.000 2797 2296 3391 3416 3366 0 0 0 0 0 0 15.09 13.52 15.07

13 -0.93 -146.0 2799 2297 3418 3368 0.0 0.0 0 15 0.93 0.00 0.00 0.000 4102 0.112 0.000 2492 2296 3391 3416 3367 0 0 0 0 0 0 14.82 14.97 14.95

309 -0.93 -146.0 2491 2297 3416 3367 382.3 -13.5 30 310 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2296 3391 3416 3366 0 0 0 0 0 0 15.11 15.14 15.14

609 -0.93 -146.0 2492 2297 3416 3366 420.4 -12.7 60 615 0.00 2.55 0.00 0.000 516 0.000 0.086 2491 893 3390 3416 3365 0 0 0 0 0 0 15.11 14.76 15.14

634 -0.93 -146.0 2491 894 3416 3366 423.8 -13.4 65 642 0.00 2.53 0.00 0.000 1030 0.000 0.081 2481 2296 3391 3417 3365 0 0 0 0 0 0 14.87 14.79 14.91

939 -0.93 -146.0 2481 2297 3416 3366 464.4 -13.6 96 945 0.00 2.55 0.00 0.000 516 0.000 0.085 2482 891 3390 3416 3365 0 0 0 0 0 0 15.11 14.76 15.14

984 -0.93 -146.0 2484 892 3418 3366 470.8 -14.2 105 992 0.00 2.55 0.00 0.000 1030 0.000 0.080 2471 2307 3390 3416 3365 0 0 0 0 0 0 14.86 14.78 14.90

1289 -0.93 -146.0 2471 2308 3416 3365 512.4 -13.4 136 1295 0.00 2.60 0.00 0.000 260 0.000 0.116 2461 3710 3390 3416 3364 0 0 0 0 0 0 15.11 14.73 15.13

1334 -0.93 -146.0 2462 3710 3418 3365 519.0 -14.7 145 1343 0.12 2.45 0.00 0.000 3078 0.249 0.052 2495 2282 3390 3416 3364 0 0 0 0 0 0 14.62 14.84 14.78

1640 -0.93 -146.0 2494 2282 3416 3365 555.4 -11.3 176 1645 0.00 2.45 0.00 0.000 516 0.000 0.086 2495 894 3390 3416 3364 0 0 0 0 0 0 15.06 14.78 15.09

1700 -0.93 -146.0 2494 894 3417 3364 562.6 -12.2 188 1705 0.00 2.50 0.00 0.000 1030 0.000 0.080 2486 2307 3389 3416 3363 0 0 0 0 0 0 14.93 14.80 15.00

2009 -0.93 -146.0 2486 2308 3416 3364 600.8 -12.2 220 2010 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2306 3389 3416 3363 0 0 0 0 0 0 15.11 15.14 15.14

2310 -0.93 -146.0 2484 2307 3417 3364 638.1 -12.7 250 2315 0.00 2.58 0.00 0.000 260 0.000 0.116 2474 3721 3389 3416 3363 0 0 0 0 0 0 15.05 14.76 15.08

2339 -0.93 -146.0 2476 3722 3416 3365 642.2 -13.5 256 2345 0.00 2.45 0.00 0.000 1030 0.000 0.053 2476 2302 3389 3416 3363 0 0 0 0 0 0 14.88 14.83 14.90

2650 -0.93 -146.0 2478 2299 3418 3364 683.5 -13.3 288 2655 0.00 2.50 0.00 0.000 516 0.000 0.083 2476 889 3389 3416 3363 0 0 0 0 0 0 15.09 14.76 15.11

2709 -0.93 -146.0 2475 889 3416 3363 692.0 -13.7 300 2715 0.00 2.55 0.00 0.000 1030 0.000 0.083 2474 2298 3389 3416 3362 0 0 0 0 0 0 14.84 14.75 14.88

3040 -0.93 -146.0 2474 2298 3416 3363 733.6 -12.3 316 3045 0.00 2.50 0.00 0.000 516 0.000 0.085 2474 894 3389 3416 3362 0 0 0 0 0 0 15.05 14.76 15.07

3074 -0.93 -146.0 2475 894 3418 3363 738.0 -12.4 323 3081 0.10 2.55 0.00 0.000 3078 0.273 0.085 2497 2301 3389 3416 3362 0 0 0 0 0 0 14.59 14.76 14.92

3460 -0.93 -146.0 2498 2300 3418 3363 781.3 -12.5 340 3466 0.00 2.50 0.00 0.000 516 0.000 0.086 2497 893 3389 3416 3362 0 0 0 0 0 0 15.12 14.78 15.15

3499 -0.93 -146.0 2496 894 3415 3362 786.2 -12.2 348 3506 0.00 2.55 0.00 0.000 1030 0.000 0.080 2489 2308 3389 3416 3362 0 0 0 0 0 0 14.85 14.76 14.90

3880 -0.93 -146.0 2488 2309 3416 3363 829.5 -11.2 364 3886 0.00 2.58 0.00 0.000 516 0.000 0.086 2488 888 3389 3416 3362 0 0 0 0 0 0 15.14 14.75 15.16

3930 -0.93 -146.0 2490 889 3418 3362 835.6 -12.4 374 3936 0.00 2.55 0.00 0.000 1030 0.000 0.080 2478 2301 3390 3419 3362 0 0 0 0 0 0 14.85 14.78 14.90

4030 end dive: BOTTOM_OBSTACLE_DETECTED

state 4030 begin apogee

4033 -0.23 0.0 2478 2056 3417 3362 849.0 -13.1 379 4350 0.88 0.12 312.27 1.386 10246 0.227 0.144 2720 2131 2781 2821 2742 0 0 0 0 0 0 14.66 13.85 13.33

4351 end apogee: CONTROL_FINISHED_OK

state 4351 begin climb

4353 0.93 146.0 2721 2132 2820 2739 863.6 0.0 389 4689 1.27 2.78 322.80 1.343 11012 0.144 0.102 3095 3499 2183 2227 2139 0 0 0 0 0 0 13.82 13.54 13.09

4713 0.93 146.0 3096 3499 2226 2137 837.2 13.2 440 4719 0.00 2.55 0.00 0.000 1030 0.000 0.053 3105 2117 2180 2224 2136 0 0 0 0 0 0 13.83 13.76 13.85

5083 0.93 146.0 3105 2117 2216 2130 789.4 12.9 454 5084 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2117 2173 2216 2130 0 0 0 0 0 0 14.62 14.64 14.64

5444 0.93 146.0 3104 2117 2213 2129 744.9 12.5 466 5450 0.00 2.55 0.00 0.000 260 0.000 0.104 3105 3503 2171 2214 2128 0 0 0 0 0 0 14.86 14.58 14.88

5479 0.93 146.0 3106 3504 2218 2129 740.1 13.5 473 5485 0.00 2.47 0.00 0.000 1030 0.000 0.055 3115 2091 2171 2214 2128 0 0 0 0 0 0 14.69 14.64 14.76

5844 0.93 146.0 3114 2091 2212 2128 692.9 12.4 492 5850 0.00 2.60 0.00 0.000 260 0.000 0.103 3116 3490 2167 2208 2127 0 0 0 0 0 0 14.98 14.67 15.02

5974 0.93 146.0 3115 3491 2211 2128 675.4 13.2 518 5981 0.00 2.42 0.00 0.000 1030 0.000 0.053 3126 2095 2169 2211 2127 0 0 0 0 0 0 14.81 14.76 14.84

6285 0.93 146.0 3125 2092 2209 2128 636.2 12.8 550 6291 0.00 2.60 0.00 0.000 260 0.000 0.104 3126 3500 2168 2210 2127 0 0 0 0 0 0 15.04 14.72 15.07

6345 0.93 146.0 3125 3500 2210 2128 627.8 14.0 562 6353 0.12 2.45 0.00 0.000 5126 0.243 0.054 3095 2097 2168 2210 2127 0 0 0 0 0 0 14.61 14.78 14.76

6657 0.93 146.0 3098 2092 2210 2127 591.7 10.9 594 6663 0.00 2.55 0.00 0.000 260 0.000 0.103 3100 3496 2167 2209 2126 0 0 0 0 0 0 15.07 14.76 15.09

6687 0.93 146.0 3099 3496 2209 2127 588.1 12.1 600 6693 0.00 2.45 0.00 0.000 1030 0.000 0.054 3108 2083 2167 2209 2126 0 0 0 0 0 0 14.87 14.81 14.90

6997 0.93 146.0 3108 2083 2209 2127 553.3 10.8 632 7003 0.00 2.50 0.00 0.000 516 0.000 0.103 3118 694 2167 2208 2126 0 0 0 0 0 0 15.08 14.77 15.11

7028 0.93 146.0 3120 695 2210 2128 550.0 11.2 638 7034 0.00 2.45 0.00 0.000 1030 0.000 0.071 3118 2103 2167 2208 2126 0 0 0 0 0 0 14.92 14.81 14.95

7338 0.93 146.0 3118 2104 2208 2127 513.7 12.0 670 7345 0.00 2.60 0.00 0.000 260 0.000 0.107 3118 3515 2167 2208 2127 0 0 0 0 0 0 15.08 14.76 15.11

7439 0.93 146.0 3118 3515 2208 2127 500.6 13.3 690 7446 0.00 2.45 0.00 0.000 1030 0.000 0.054 3127 2085 2167 2208 2126 0 0 0 0 0 0 14.93 14.83 14.97

7750 0.93 146.0 3128 2085 2210 2126 465.5 11.3 722 7757 0.00 2.60 0.00 0.000 260 0.000 0.103 3127 3520 2166 2208 2125 0 0 0 0 0 0 15.10 14.76 15.12

7791 0.93 146.0 3128 3521 2209 2126 460.4 12.4 730 7798 0.12 2.47 0.00 0.000 5126 0.249 0.054 3101 2091 2166 2207 2125 0 0 0 0 0 0 14.64 14.81 14.92

8102 0.93 146.0 3099 2091 2209 2125 428.8 10.2 762 8108 0.00 2.62 0.00 0.000 260 0.000 0.103 3101 3538 2166 2208 2125 0 0 0 0 0 0 15.09 14.78 15.12

8132 0.93 146.0 3102 3538 2209 2126 425.5 10.9 768 8138 0.00 2.50 0.00 0.000 1030 0.000 0.054 3110 2100 2170 2215 2125 0 0 0 0 0 0 14.88 14.83 14.91

8443 0.93 146.0 3110 2100 2209 2126 392.9 10.2 800 8448 0.00 2.58 0.00 0.000 260 0.000 0.103 3110 3521 2166 2207 2125 0 0 0 0 0 0 15.06 14.78 15.08

8487 0.93 146.0 3109 3522 2207 2125 387.6 12.2 809 8495 0.00 2.47 0.00 0.000 1030 0.000 0.053 3120 2094 2166 2207 2125 0 0 0 0 0 0 14.88 14.83 14.91

8751 end climb: SURFACE_OBSTACLE_DETECTED

state 8751 begin subsurface finish

8755 0.00 0.8 3120 2095 2207 2125 358.3 10.7 836 8766 1.08 2.60 -2.28 0.052 20740 0.209 0.127 2807 3518 2794 2827 2762 0 0 0 0 0 0 14.66 13.52 14.81

8766 end subsurface finish: CONTROL_FINISHED_OK

state 8766 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	154	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	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	25	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	26	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	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	15	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2782	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	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	400	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	400	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	225	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2800	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
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	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	160218,061528,-7413.4146,-11212.4365,0,4094.0,0,53.3,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7427.000,-11215.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	344.51	MHEAD_RNG_PITCHd_Wd	129.6,25192,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-1.2	D_GRID	990
GPS2	160218,061528,-7413.4146,-11212.4365,0,4094.0,0,53.3,0.0,0.0,0,0.0

FINISH1	358.3,1.027483,1	ALTIM_BOTTOM_PING	840.9,17.1
FINISH2	357.3	_24V_AH	13.09,65.613
RAFOS_CLK	325	_10V_AH	12.60,0.000
RAFOS	0,1518771661,9.032778,9.016945,156,62,60,59,50,49,545,211,198,161,231,117	FG_AHR_24Vo	0.000
RAFOS_FIX	-7414.554199,-11213.909180,160218,090940,3,162,0.21	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	MEM	280072
TT8_MAMPS	0.038948,0.279377	DATA_FILE_SIZE	30017,838
HUMID	49.25	CAP_FILE_SIZE	106571,0
INTERNAL_PRESSURE	8.25812	CFSIZE	1024409600,1001914368
TCM_TEMP	12.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1455.7
ALTIM_TOP_PING	365.8,13.8	GPS	160218,091440,-7414.554,-11213.909,0,4162.3,0,53.3,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	273	16.53	nil	0	0	0.00
Roll_motor	99	143	187.55	nil	0	0	0.00
VBD_pump_during_apogee	635	1386	11523.50	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	8784	5	643.67
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	37	420	204.79	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6270	2	182.50
TT8_Active	723	13	126.02
TT8_Sampling	1765	34	774.06
TT8_CF8	90	52	60.16
TT8_Kalman	0	0	0.00
Analog_circuits	1378	10	189.39
GPS_charging	0	0	0.00
Compass	1201	7	113.35
RAFOS	720	1	13.61
Transponder	266	30	100.57

		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
364.6	26.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
806.1	57.00	9000.00	0.0	0.00	0.00	57.00	0.0	0.07	1.00
812.8	51.30	9000.00	0.0	0.06	0.96	51.30	864.1	-0.85	1.00
826.3	31.50	9000.00	0.0	-1.29	0.98	31.50	857.8	-1.47	1.00
832.6	23.50	9000.00	0.0	-1.42	1.00	23.50	856.1	-1.27	1.00
840.9	17.60	17.10	858.0	-0.93	0.97	17.60	858.5	-0.71	1.00
849.0	16.40	9000.00	0.0	-0.44	0.89	16.40	865.4	-0.15	1.00
851.4	15.80	9000.00	0.0	-0.17	0.99	15.80	867.2	-0.25	1.00

424.4	74.70	9000.00	0.0	-0.14	1.00	74.70	0.0	-0.14	1.00
418.0	67.80	9000.00	0.0	-0.13	0.99	67.80	350.2	1.08	1.00
411.6	61.20	61.20	350.4	1.05	1.00	61.20	350.4	1.03	1.00
399.0	47.90	47.90	351.1	1.05	1.00	47.90	351.1	1.06	1.00
392.9	41.40	41.40	351.5	1.06	1.00	41.40	351.5	1.07	1.00
385.9	34.10	34.10	351.8	1.05	1.00	34.10	351.8	1.04	1.00
379.0	27.40	27.30	351.7	1.01	1.00	27.40	351.6	0.97	1.00
372.3	20.00	20.10	352.2	1.04	1.00	20.00	352.3	1.10	1.00
365.8	14.00	13.80	352.0	1.02	1.00	14.00	351.8	0.92	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	-0.93	-146.0	2797	2296	2826	2762	0.0	0.0	0	11	0.00	0.00	-2.15	0.047	16390	0.000	0.000	2797	2296	3391	3416	3366	0	0	0	0	0	0	15.09	13.52	15.07
13	-0.93	-146.0	2799	2297	3418	3368	0.0	0.0	0	15	0.93	0.00	0.00	0.000	4102	0.112	0.000	2492	2296	3391	3416	3367	0	0	0	0	0	0	14.82	14.97	14.95
309	-0.93	-146.0	2491	2297	3416	3367	382.3	-13.5	30	310	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2296	3391	3416	3366	0	0	0	0	0	0	15.11	15.14	15.14
609	-0.93	-146.0	2492	2297	3416	3366	420.4	-12.7	60	615	0.00	2.55	0.00	0.000	516	0.000	0.086	2491	893	3390	3416	3365	0	0	0	0	0	0	15.11	14.76	15.14
634	-0.93	-146.0	2491	894	3416	3366	423.8	-13.4	65	642	0.00	2.53	0.00	0.000	1030	0.000	0.081	2481	2296	3391	3417	3365	0	0	0	0	0	0	14.87	14.79	14.91
939	-0.93	-146.0	2481	2297	3416	3366	464.4	-13.6	96	945	0.00	2.55	0.00	0.000	516	0.000	0.085	2482	891	3390	3416	3365	0	0	0	0	0	0	15.11	14.76	15.14
984	-0.93	-146.0	2484	892	3418	3366	470.8	-14.2	105	992	0.00	2.55	0.00	0.000	1030	0.000	0.080	2471	2307	3390	3416	3365	0	0	0	0	0	0	14.86	14.78	14.90
1289	-0.93	-146.0	2471	2308	3416	3365	512.4	-13.4	136	1295	0.00	2.60	0.00	0.000	260	0.000	0.116	2461	3710	3390	3416	3364	0	0	0	0	0	0	15.11	14.73	15.13
1334	-0.93	-146.0	2462	3710	3418	3365	519.0	-14.7	145	1343	0.12	2.45	0.00	0.000	3078	0.249	0.052	2495	2282	3390	3416	3364	0	0	0	0	0	0	14.62	14.84	14.78
1640	-0.93	-146.0	2494	2282	3416	3365	555.4	-11.3	176	1645	0.00	2.45	0.00	0.000	516	0.000	0.086	2495	894	3390	3416	3364	0	0	0	0	0	0	15.06	14.78	15.09
1700	-0.93	-146.0	2494	894	3417	3364	562.6	-12.2	188	1705	0.00	2.50	0.00	0.000	1030	0.000	0.080	2486	2307	3389	3416	3363	0	0	0	0	0	0	14.93	14.80	15.00
2009	-0.93	-146.0	2486	2308	3416	3364	600.8	-12.2	220	2010	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2306	3389	3416	3363	0	0	0	0	0	0	15.11	15.14	15.14
2310	-0.93	-146.0	2484	2307	3417	3364	638.1	-12.7	250	2315	0.00	2.58	0.00	0.000	260	0.000	0.116	2474	3721	3389	3416	3363	0	0	0	0	0	0	15.05	14.76	15.08
2339	-0.93	-146.0	2476	3722	3416	3365	642.2	-13.5	256	2345	0.00	2.45	0.00	0.000	1030	0.000	0.053	2476	2302	3389	3416	3363	0	0	0	0	0	0	14.88	14.83	14.90
2650	-0.93	-146.0	2478	2299	3418	3364	683.5	-13.3	288	2655	0.00	2.50	0.00	0.000	516	0.000	0.083	2476	889	3389	3416	3363	0	0	0	0	0	0	15.09	14.76	15.11
2709	-0.93	-146.0	2475	889	3416	3363	692.0	-13.7	300	2715	0.00	2.55	0.00	0.000	1030	0.000	0.083	2474	2298	3389	3416	3362	0	0	0	0	0	0	14.84	14.75	14.88
3040	-0.93	-146.0	2474	2298	3416	3363	733.6	-12.3	316	3045	0.00	2.50	0.00	0.000	516	0.000	0.085	2474	894	3389	3416	3362	0	0	0	0	0	0	15.05	14.76	15.07
3074	-0.93	-146.0	2475	894	3418	3363	738.0	-12.4	323	3081	0.10	2.55	0.00	0.000	3078	0.273	0.085	2497	2301	3389	3416	3362	0	0	0	0	0	0	14.59	14.76	14.92
3460	-0.93	-146.0	2498	2300	3418	3363	781.3	-12.5	340	3466	0.00	2.50	0.00	0.000	516	0.000	0.086	2497	893	3389	3416	3362	0	0	0	0	0	0	15.12	14.78	15.15
3499	-0.93	-146.0	2496	894	3415	3362	786.2	-12.2	348	3506	0.00	2.55	0.00	0.000	1030	0.000	0.080	2489	2308	3389	3416	3362	0	0	0	0	0	0	14.85	14.76	14.90
3880	-0.93	-146.0	2488	2309	3416	3363	829.5	-11.2	364	3886	0.00	2.58	0.00	0.000	516	0.000	0.086	2488	888	3389	3416	3362	0	0	0	0	0	0	15.14	14.75	15.16
3930	-0.93	-146.0	2490	889	3418	3362	835.6	-12.4	374	3936	0.00	2.55	0.00	0.000	1030	0.000	0.080	2478	2301	3390	3419	3362	0	0	0	0	0	0	14.85	14.78	14.90
4030	end dive: BOTTOM_OBSTACLE_DETECTED
state	4030	begin apogee
4033	-0.23	0.0	2478	2056	3417	3362	849.0	-13.1	379	4350	0.88	0.12	312.27	1.386	10246	0.227	0.144	2720	2131	2781	2821	2742	0	0	0	0	0	0	14.66	13.85	13.33
4351	end apogee: CONTROL_FINISHED_OK
state	4351	begin climb
4353	0.93	146.0	2721	2132	2820	2739	863.6	0.0	389	4689	1.27	2.78	322.80	1.343	11012	0.144	0.102	3095	3499	2183	2227	2139	0	0	0	0	0	0	13.82	13.54	13.09
4713	0.93	146.0	3096	3499	2226	2137	837.2	13.2	440	4719	0.00	2.55	0.00	0.000	1030	0.000	0.053	3105	2117	2180	2224	2136	0	0	0	0	0	0	13.83	13.76	13.85
5083	0.93	146.0	3105	2117	2216	2130	789.4	12.9	454	5084	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	2117	2173	2216	2130	0	0	0	0	0	0	14.62	14.64	14.64
5444	0.93	146.0	3104	2117	2213	2129	744.9	12.5	466	5450	0.00	2.55	0.00	0.000	260	0.000	0.104	3105	3503	2171	2214	2128	0	0	0	0	0	0	14.86	14.58	14.88
5479	0.93	146.0	3106	3504	2218	2129	740.1	13.5	473	5485	0.00	2.47	0.00	0.000	1030	0.000	0.055	3115	2091	2171	2214	2128	0	0	0	0	0	0	14.69	14.64	14.76
5844	0.93	146.0	3114	2091	2212	2128	692.9	12.4	492	5850	0.00	2.60	0.00	0.000	260	0.000	0.103	3116	3490	2167	2208	2127	0	0	0	0	0	0	14.98	14.67	15.02
5974	0.93	146.0	3115	3491	2211	2128	675.4	13.2	518	5981	0.00	2.42	0.00	0.000	1030	0.000	0.053	3126	2095	2169	2211	2127	0	0	0	0	0	0	14.81	14.76	14.84
6285	0.93	146.0	3125	2092	2209	2128	636.2	12.8	550	6291	0.00	2.60	0.00	0.000	260	0.000	0.104	3126	3500	2168	2210	2127	0	0	0	0	0	0	15.04	14.72	15.07
6345	0.93	146.0	3125	3500	2210	2128	627.8	14.0	562	6353	0.12	2.45	0.00	0.000	5126	0.243	0.054	3095	2097	2168	2210	2127	0	0	0	0	0	0	14.61	14.78	14.76
6657	0.93	146.0	3098	2092	2210	2127	591.7	10.9	594	6663	0.00	2.55	0.00	0.000	260	0.000	0.103	3100	3496	2167	2209	2126	0	0	0	0	0	0	15.07	14.76	15.09
6687	0.93	146.0	3099	3496	2209	2127	588.1	12.1	600	6693	0.00	2.45	0.00	0.000	1030	0.000	0.054	3108	2083	2167	2209	2126	0	0	0	0	0	0	14.87	14.81	14.90
6997	0.93	146.0	3108	2083	2209	2127	553.3	10.8	632	7003	0.00	2.50	0.00	0.000	516	0.000	0.103	3118	694	2167	2208	2126	0	0	0	0	0	0	15.08	14.77	15.11
7028	0.93	146.0	3120	695	2210	2128	550.0	11.2	638	7034	0.00	2.45	0.00	0.000	1030	0.000	0.071	3118	2103	2167	2208	2126	0	0	0	0	0	0	14.92	14.81	14.95
7338	0.93	146.0	3118	2104	2208	2127	513.7	12.0	670	7345	0.00	2.60	0.00	0.000	260	0.000	0.107	3118	3515	2167	2208	2127	0	0	0	0	0	0	15.08	14.76	15.11
7439	0.93	146.0	3118	3515	2208	2127	500.6	13.3	690	7446	0.00	2.45	0.00	0.000	1030	0.000	0.054	3127	2085	2167	2208	2126	0	0	0	0	0	0	14.93	14.83	14.97
7750	0.93	146.0	3128	2085	2210	2126	465.5	11.3	722	7757	0.00	2.60	0.00	0.000	260	0.000	0.103	3127	3520	2166	2208	2125	0	0	0	0	0	0	15.10	14.76	15.12
7791	0.93	146.0	3128	3521	2209	2126	460.4	12.4	730	7798	0.12	2.47	0.00	0.000	5126	0.249	0.054	3101	2091	2166	2207	2125	0	0	0	0	0	0	14.64	14.81	14.92
8102	0.93	146.0	3099	2091	2209	2125	428.8	10.2	762	8108	0.00	2.62	0.00	0.000	260	0.000	0.103	3101	3538	2166	2208	2125	0	0	0	0	0	0	15.09	14.78	15.12
8132	0.93	146.0	3102	3538	2209	2126	425.5	10.9	768	8138	0.00	2.50	0.00	0.000	1030	0.000	0.054	3110	2100	2170	2215	2125	0	0	0	0	0	0	14.88	14.83	14.91
8443	0.93	146.0	3110	2100	2209	2126	392.9	10.2	800	8448	0.00	2.58	0.00	0.000	260	0.000	0.103	3110	3521	2166	2207	2125	0	0	0	0	0	0	15.06	14.78	15.08
8487	0.93	146.0	3109	3522	2207	2125	387.6	12.2	809	8495	0.00	2.47	0.00	0.000	1030	0.000	0.053	3120	2094	2166	2207	2125	0	0	0	0	0	0	14.88	14.83	14.91
8751	end climb: SURFACE_OBSTACLE_DETECTED
state	8751	begin subsurface finish
8755	0.00	0.8	3120	2095	2207	2125	358.3	10.7	836	8766	1.08	2.60	-2.28	0.052	20740	0.209	0.127	2807	3518	2794	2827	2762	0	0	0	0	0	0	14.66	13.52	14.81
8766	end subsurface finish: CONTROL_FINISHED_OK
state	8766	begin surface