Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 155 * 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 155 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 16 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 13 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 155 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 16 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 13 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 130218,181632,-7435.4751,-11236.8311,0,4139.0,0,53.5,0.0,0.0,0,0.0 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 415.53 MHEAD_RNG_PITCHd_Wd 115.6,4761,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 2.2 D_GRID 990

GPS2 130218,181632,-7435.4751,-11236.8311,0,4139.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 415.7,1.027527,-1 ALTIM_BOTTOM_PING 879.8,13.7

FINISH2 414.7 _24V_AH 13.10,68.449

RAFOS_CLK 322 _10V_AH 12.50,0.000

RAFOS 0,1518555667,21.032778,21.018612,144,59,59,57,57,56,669,188,126,215,146,169 FG_AHR_24Vo 0.000

RAFOS_FIX -7436.857910,-11236.021484,130218,212144,3,140,0.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 MEM 280004

TT8_MAMPS 0.041944,0.290612 DATA_FILE_SIZE 26758,772

HUMID 47.87 CAP_FILE_SIZE 98962,0

INTERNAL_PRESSURE 7.63859 CFSIZE 1024409600,1002045440

TCM_TEMP 13.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 1 SOUNDSPEED 1458.6

ALTIM_TOP_PING 414.7,6.2 GPS 130218,211544,-7436.858,-11236.021,0,4139.7,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 289 16.00 nil 0 0 0.00

Roll_motor 69 264 240.21 nil 0 0 0.00

VBD_pump_during_apogee 963 1314 16583.35 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 8871 2 347.58

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 34 420 189.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6307 2 182.13

TT8_Active 936 12 143.70

TT8_Sampling 1611 31 639.22

TT8_CF8 81 45 46.25

TT8_Kalman 0 0 0.00

Analog_circuits 1583 10 201.94

GPS_charging 0 0 0.00

Compass 1107 7 103.68

RAFOS 720 1 13.50

Transponder 238 30 89.55

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

422.1 11.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

428.7 18.50 9000.00 0.0 0.00 0.00 18.50 0.0 1.00 1.00

435.3 25.40 25.40 0.0 1.03 1.00 25.40 0.0 1.05 1.00

442.0 32.20 32.20 0.0 1.03 1.00 32.20 0.0 1.01 1.00

846.7 35.70 9000.00 0.0 0.02 0.59 35.70 0.0 0.01 1.00

854.4 28.60 9000.00 0.0 0.00 0.00 28.60 883.0 -0.92 1.00

862.7 30.50 9000.00 0.0 -0.32 0.48 30.50 0.0 0.23 1.00

870.9 22.60 9000.00 0.0 -0.37 0.54 22.60 893.5 -0.96 1.00

879.8 13.70 13.70 893.5 -0.98 1.00 13.70 893.5 -1.00 1.00

885.7 12.70 9000.00 0.0 -0.70 0.91 12.70 0.0 -0.17 1.00

879.1 12.00 9000.00 0.0 0.00 0.00 12.00 867.1 0.11 1.00

872.5 11.40 9000.00 0.0 0.10 1.00 11.40 861.1 0.09 1.00

866.0 11.90 9000.00 0.0 0.00 0.00 11.90 0.0 -0.08 1.00

859.4 9.30 9000.00 0.0 0.16 0.55 9.30 850.1 0.39 1.00

846.6 14.40 9000.00 0.0 -0.17 0.41 14.40 0.0 -0.40 1.00

840.5 15.10 9000.00 0.0 -0.32 0.96 15.10 0.0 -0.11 1.00

834.5 20.30 9000.00 0.0 -0.49 0.84 20.30 0.0 -0.87 1.00

486.4 78.60 9000.00 0.0 -0.17 1.00 78.60 0.0 -0.17 1.00

479.9 72.10 9000.00 0.0 -0.16 0.99 72.10 407.8 1.00 1.00

473.6 65.50 65.60 408.0 1.02 1.00 65.50 408.1 1.05 1.00

467.4 57.30 57.60 409.8 1.17 0.99 57.30 410.1 1.32 1.00

460.6 49.80 49.60 411.0 1.20 1.00 49.80 410.8 1.10 1.00

454.1 43.60 43.40 410.7 1.04 1.00 43.60 410.5 0.95 1.00

447.5 36.50 36.60 410.9 1.02 1.00 36.50 411.0 1.08 1.00

440.8 29.70 29.60 411.2 1.04 1.00 29.70 411.1 1.01 1.00

434.2 23.00 23.00 411.2 1.02 1.00 23.00 411.2 1.02 1.00

427.5 16.30 16.30 411.2 1.00 1.00 16.30 411.2 1.00 1.00

420.9 11.80 11.50 409.4 0.84 0.99 11.80 409.1 0.68 1.00

414.7 6.00 6.20 408.5 0.81 0.99 6.00 408.7 0.94 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 2511 2846 2620 0.0 0.0 0 12 0.00 0.00 -1.83 0.051 16390 0.000 0.000 2699 2510 3327 3466 3188 0 0 0 0 0 0 15.09 13.42 15.09

13 -0.88 -146.0 2700 2511 3465 3192 0.0 0.0 0 15 0.88 0.00 0.00 0.000 4102 0.112 0.000 2413 2511 3328 3463 3193 0 0 0 0 0 0 14.79 15.00 14.94

310 -0.88 -146.0 2413 2511 3450 3207 446.3 -10.8 30 316 0.00 2.40 0.00 0.000 260 0.000 0.155 2405 3753 3327 3448 3207 0 0 0 0 0 0 15.12 14.70 15.15

340 -0.88 -146.0 2405 3753 3446 3209 449.6 -11.5 36 346 0.00 2.28 0.00 0.000 1030 0.000 0.097 2404 2487 3327 3445 3209 0 0 0 0 0 0 14.88 14.80 14.91

650 -0.88 -146.0 2405 2487 3445 3209 483.1 -10.8 68 651 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2487 3327 3445 3209 0 0 0 0 0 0 15.13 15.16 15.15

950 -0.88 -146.0 2405 2488 3445 3210 516.2 -10.9 98 956 0.00 2.42 0.00 0.000 260 0.000 0.154 2395 3745 3326 3444 3209 0 0 0 0 0 0 15.13 14.69 15.16

990 -0.88 -146.0 2395 3745 3442 3212 520.8 -11.7 106 996 0.00 2.25 0.00 0.000 1030 0.000 0.096 2396 2495 3327 3442 3212 0 0 0 0 0 0 14.88 14.81 14.92

1300 -0.88 -146.0 2396 2496 3442 3212 555.9 -11.1 138 1301 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2495 3327 3442 3212 0 0 0 0 0 0 15.14 15.16 15.16

1600 -0.88 -146.0 2396 2496 3442 3212 588.6 -10.9 168 1606 0.00 2.42 0.00 0.000 260 0.000 0.155 2386 3750 3326 3441 3212 0 0 0 0 0 0 15.14 14.69 15.17

1630 -0.88 -146.0 2386 3750 3441 3212 592.1 -11.8 174 1637 0.10 2.28 0.00 0.000 3078 0.260 0.096 2413 2488 3325 3439 3212 0 0 0 0 0 0 14.59 14.81 14.76

1941 -0.88 -146.0 2413 2489 3441 3214 623.5 -10.0 206 1942 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 2488 3326 3439 3213 0 0 0 0 0 0 15.14 15.17 15.16

2242 -0.88 -146.0 2413 2489 3440 3213 653.2 -9.9 236 2243 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 2488 3326 3439 3213 0 0 0 0 0 0 15.09 15.12 15.11

2541 -0.88 -146.0 2413 2489 3440 3214 683.3 -10.0 266 2547 0.00 2.45 0.00 0.000 260 0.000 0.154 2405 3753 3325 3438 3213 0 0 0 0 0 0 15.14 14.69 15.17

2576 -0.88 -146.0 2405 3754 3439 3214 687.1 -10.8 273 2584 0.00 2.28 0.00 0.000 1030 0.000 0.096 2405 2492 3325 3437 3213 0 0 0 0 0 0 14.86 14.80 14.90

2881 -0.88 -146.0 2405 2493 3438 3214 718.0 -9.9 292 2882 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2493 3325 3438 3213 0 0 0 0 0 0 15.15 15.17 15.16

3241 -0.88 -146.0 2405 2493 3438 3214 752.4 -9.5 304 3248 0.00 2.42 0.00 0.000 260 0.000 0.153 2403 3746 3325 3437 3213 0 0 0 0 0 0 15.16 14.69 15.18

3292 -0.88 -146.0 2396 3746 3438 3213 757.5 -10.3 314 3297 0.00 2.25 0.00 0.000 1030 0.000 0.096 2396 2498 3325 3437 3213 0 0 0 0 0 0 14.86 14.80 14.91

3662 -0.88 -146.0 2396 2498 3438 3213 794.2 -9.6 328 3668 0.00 2.38 0.00 0.000 260 0.000 0.155 2386 3749 3325 3437 3213 0 0 0 0 0 0 15.14 14.71 15.17

3701 -0.88 -146.0 2387 3749 3438 3213 798.4 -10.8 336 3708 0.00 2.25 0.00 0.000 1030 0.000 0.096 2386 2498 3325 3437 3213 0 0 0 0 0 0 14.86 14.79 14.90

4082 -0.88 -146.0 2387 2498 3438 3211 838.1 -10.3 352 4084 0.12 0.00 0.00 0.000 2054 0.289 0.000 2412 2498 3325 3438 3213 0 0 0 0 0 0 14.62 14.94 14.87

4443 -0.88 -146.0 2412 2499 3438 3213 870.9 -9.4 364 4444 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2498 3325 3437 3213 0 0 0 0 0 0 15.11 15.14 15.13

4590 end dive: BOTTOM_OBSTACLE_DETECTED

state 4590 begin apogee

4594 -0.23 0.0 2412 2184 3438 3214 885.7 -9.6 369 5143 0.77 0.05 545.35 1.154 10246 0.225 0.265 2625 2200 2716 2773 2659 0 0 0 0 0 0 14.63 13.66 13.24

5145 end apogee: CONTROL_FINISHED_OK

state 5145 begin climb

5147 0.88 146.0 2626 2200 2771 2657 896.1 0.0 387 5580 1.20 2.90 417.85 1.314 11012 0.129 0.125 2991 792 2116 2148 2085 0 0 0 0 0 0 13.73 13.60 13.10

5734 0.88 146.0 2991 792 2135 2074 832.5 13.4 501 5740 0.00 2.75 0.00 0.000 1030 0.000 0.112 2991 2202 2103 2133 2073 0 0 0 0 0 0 14.17 14.09 14.22

6125 0.88 146.0 2991 2202 2134 2068 779.3 13.7 519 6126 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2202 2100 2133 2067 0 0 0 0 0 0 14.79 14.82 14.82

6486 0.88 146.0 2991 2201 2133 2067 730.3 13.7 531 6487 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2202 2099 2132 2066 0 0 0 0 0 0 14.94 14.97 14.97

6844 0.88 146.0 2991 2202 2133 2065 682.2 13.2 551 6845 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2202 2098 2132 2065 0 0 0 0 0 0 15.04 15.07 15.07

7144 0.88 146.0 2991 2203 2132 2065 642.8 13.3 581 7150 0.00 2.65 0.00 0.000 260 0.000 0.142 2991 3616 2098 2132 2064 0 0 0 0 0 0 15.07 14.72 15.09

7164 0.88 146.0 2991 3616 2132 2064 639.9 14.3 585 7171 0.00 2.58 0.00 0.000 1030 0.000 0.099 3001 2202 2097 2131 2064 0 0 0 0 0 0 14.84 14.76 14.95

7475 0.88 146.0 3002 2200 2132 2064 597.2 13.6 617 7481 0.00 2.62 0.00 0.000 516 0.000 0.129 3013 776 2096 2130 2063 0 0 0 0 0 0 15.08 14.73 15.11

7500 0.88 146.0 3013 777 2131 2064 593.7 13.1 622 7507 0.00 2.65 0.00 0.000 1030 0.000 0.114 3012 2208 2096 2128 2064 0 0 0 0 0 0 14.81 14.73 14.88

7805 0.88 146.0 3013 2209 2131 2064 550.8 14.3 653 7812 0.00 2.70 0.00 0.000 260 0.000 0.145 3013 3617 2096 2130 2063 0 0 0 0 0 0 15.09 14.71 15.11

7827 0.88 146.0 3012 3617 2131 2063 547.6 15.5 657 7833 0.12 2.60 0.00 0.000 5126 0.232 0.101 2989 2190 2096 2130 2063 0 0 0 0 0 0 14.64 14.76 14.80

8137 0.88 146.0 2989 2189 2131 2063 508.1 12.4 689 8143 0.00 2.60 0.00 0.000 516 0.000 0.129 2998 780 2096 2130 2063 0 0 0 0 0 0 15.09 14.74 15.11

8162 0.88 146.0 2998 781 2130 2063 505.0 12.3 694 8169 0.00 2.65 0.00 0.000 1030 0.000 0.116 2998 2235 2096 2130 2063 0 0 0 0 0 0 14.91 14.75 14.95

8467 0.88 146.0 2998 2235 2130 2062 466.1 12.6 725 8473 0.00 2.62 0.00 0.000 260 0.000 0.146 2998 3622 2096 2130 2062 0 0 0 0 0 0 15.09 14.73 15.12

8492 0.88 146.0 2998 3623 2130 2064 462.6 13.9 730 8499 0.00 2.60 0.00 0.000 1030 0.000 0.102 3009 2200 2096 2130 2063 0 0 0 0 0 0 14.85 14.76 14.90

8797 0.88 146.0 3009 2200 2130 2063 422.2 13.2 761 8803 0.00 2.62 0.00 0.000 516 0.000 0.130 3020 780 2096 2130 2062 0 0 0 0 0 0 15.10 14.74 15.14

8832 0.88 146.0 3020 781 2130 2062 417.6 13.1 768 8840 0.10 2.65 0.00 0.000 5126 0.221 0.116 2978 2209 2095 2129 2062 0 0 0 0 0 0 14.67 14.73 14.90

8846 end climb: SURFACE_OBSTACLE_DETECTED

state 8846 begin subsurface finish

8849 -0.00 -1.3 2979 2210 2130 2062 415.7 12.8 770 8862 0.93 2.72 -2.05 0.056 20740 0.194 0.172 2704 3616 2735 2851 2620 0 0 0 0 0 0 14.66 13.43 14.80

8863 end subsurface finish: CONTROL_FINISHED_OK

state 8863 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	155	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	16	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	13	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	130218,181632,-7435.4751,-11236.8311,0,4139.0,0,53.5,0.0,0.0,0,0.0	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	415.53	MHEAD_RNG_PITCHd_Wd	115.6,4761,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	2.2	D_GRID	990
GPS2	130218,181632,-7435.4751,-11236.8311,0,4139.0,0,53.5,0.0,0.0,0,0.0

FINISH1	415.7,1.027527,-1	ALTIM_BOTTOM_PING	879.8,13.7
FINISH2	414.7	_24V_AH	13.10,68.449
RAFOS_CLK	322	_10V_AH	12.50,0.000
RAFOS	0,1518555667,21.032778,21.018612,144,59,59,57,57,56,669,188,126,215,146,169	FG_AHR_24Vo	0.000
RAFOS_FIX	-7436.857910,-11236.021484,130218,212144,3,140,0.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	MEM	280004
TT8_MAMPS	0.041944,0.290612	DATA_FILE_SIZE	26758,772
HUMID	47.87	CAP_FILE_SIZE	98962,0
INTERNAL_PRESSURE	7.63859	CFSIZE	1024409600,1002045440
TCM_TEMP	13.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	1	SOUNDSPEED	1458.6
ALTIM_TOP_PING	414.7,6.2	GPS	130218,211544,-7436.858,-11236.021,0,4139.7,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	289	16.00	nil	0	0	0.00
Roll_motor	69	264	240.21	nil	0	0	0.00
VBD_pump_during_apogee	963	1314	16583.35	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	8871	2	347.58
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	34	420	189.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6307	2	182.13
TT8_Active	936	12	143.70
TT8_Sampling	1611	31	639.22
TT8_CF8	81	45	46.25
TT8_Kalman	0	0	0.00
Analog_circuits	1583	10	201.94
GPS_charging	0	0	0.00
Compass	1107	7	103.68
RAFOS	720	1	13.50
Transponder	238	30	89.55

		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
422.1	11.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
428.7	18.50	9000.00	0.0	0.00	0.00	18.50	0.0	1.00	1.00
435.3	25.40	25.40	0.0	1.03	1.00	25.40	0.0	1.05	1.00
442.0	32.20	32.20	0.0	1.03	1.00	32.20	0.0	1.01	1.00
846.7	35.70	9000.00	0.0	0.02	0.59	35.70	0.0	0.01	1.00
854.4	28.60	9000.00	0.0	0.00	0.00	28.60	883.0	-0.92	1.00
862.7	30.50	9000.00	0.0	-0.32	0.48	30.50	0.0	0.23	1.00
870.9	22.60	9000.00	0.0	-0.37	0.54	22.60	893.5	-0.96	1.00
879.8	13.70	13.70	893.5	-0.98	1.00	13.70	893.5	-1.00	1.00

885.7	12.70	9000.00	0.0	-0.70	0.91	12.70	0.0	-0.17	1.00
879.1	12.00	9000.00	0.0	0.00	0.00	12.00	867.1	0.11	1.00
872.5	11.40	9000.00	0.0	0.10	1.00	11.40	861.1	0.09	1.00
866.0	11.90	9000.00	0.0	0.00	0.00	11.90	0.0	-0.08	1.00
859.4	9.30	9000.00	0.0	0.16	0.55	9.30	850.1	0.39	1.00
846.6	14.40	9000.00	0.0	-0.17	0.41	14.40	0.0	-0.40	1.00
840.5	15.10	9000.00	0.0	-0.32	0.96	15.10	0.0	-0.11	1.00
834.5	20.30	9000.00	0.0	-0.49	0.84	20.30	0.0	-0.87	1.00
486.4	78.60	9000.00	0.0	-0.17	1.00	78.60	0.0	-0.17	1.00
479.9	72.10	9000.00	0.0	-0.16	0.99	72.10	407.8	1.00	1.00
473.6	65.50	65.60	408.0	1.02	1.00	65.50	408.1	1.05	1.00
467.4	57.30	57.60	409.8	1.17	0.99	57.30	410.1	1.32	1.00
460.6	49.80	49.60	411.0	1.20	1.00	49.80	410.8	1.10	1.00
454.1	43.60	43.40	410.7	1.04	1.00	43.60	410.5	0.95	1.00
447.5	36.50	36.60	410.9	1.02	1.00	36.50	411.0	1.08	1.00
440.8	29.70	29.60	411.2	1.04	1.00	29.70	411.1	1.01	1.00
434.2	23.00	23.00	411.2	1.02	1.00	23.00	411.2	1.02	1.00
427.5	16.30	16.30	411.2	1.00	1.00	16.30	411.2	1.00	1.00
420.9	11.80	11.50	409.4	0.84	0.99	11.80	409.1	0.68	1.00
414.7	6.00	6.20	408.5	0.81	0.99	6.00	408.7	0.94	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	2511	2846	2620	0.0	0.0	0	12	0.00	0.00	-1.83	0.051	16390	0.000	0.000	2699	2510	3327	3466	3188	0	0	0	0	0	0	15.09	13.42	15.09
13	-0.88	-146.0	2700	2511	3465	3192	0.0	0.0	0	15	0.88	0.00	0.00	0.000	4102	0.112	0.000	2413	2511	3328	3463	3193	0	0	0	0	0	0	14.79	15.00	14.94
310	-0.88	-146.0	2413	2511	3450	3207	446.3	-10.8	30	316	0.00	2.40	0.00	0.000	260	0.000	0.155	2405	3753	3327	3448	3207	0	0	0	0	0	0	15.12	14.70	15.15
340	-0.88	-146.0	2405	3753	3446	3209	449.6	-11.5	36	346	0.00	2.28	0.00	0.000	1030	0.000	0.097	2404	2487	3327	3445	3209	0	0	0	0	0	0	14.88	14.80	14.91
650	-0.88	-146.0	2405	2487	3445	3209	483.1	-10.8	68	651	0.00	0.00	0.00	0.000	6	0.000	0.000	2405	2487	3327	3445	3209	0	0	0	0	0	0	15.13	15.16	15.15
950	-0.88	-146.0	2405	2488	3445	3210	516.2	-10.9	98	956	0.00	2.42	0.00	0.000	260	0.000	0.154	2395	3745	3326	3444	3209	0	0	0	0	0	0	15.13	14.69	15.16
990	-0.88	-146.0	2395	3745	3442	3212	520.8	-11.7	106	996	0.00	2.25	0.00	0.000	1030	0.000	0.096	2396	2495	3327	3442	3212	0	0	0	0	0	0	14.88	14.81	14.92
1300	-0.88	-146.0	2396	2496	3442	3212	555.9	-11.1	138	1301	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2495	3327	3442	3212	0	0	0	0	0	0	15.14	15.16	15.16
1600	-0.88	-146.0	2396	2496	3442	3212	588.6	-10.9	168	1606	0.00	2.42	0.00	0.000	260	0.000	0.155	2386	3750	3326	3441	3212	0	0	0	0	0	0	15.14	14.69	15.17
1630	-0.88	-146.0	2386	3750	3441	3212	592.1	-11.8	174	1637	0.10	2.28	0.00	0.000	3078	0.260	0.096	2413	2488	3325	3439	3212	0	0	0	0	0	0	14.59	14.81	14.76
1941	-0.88	-146.0	2413	2489	3441	3214	623.5	-10.0	206	1942	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	2488	3326	3439	3213	0	0	0	0	0	0	15.14	15.17	15.16
2242	-0.88	-146.0	2413	2489	3440	3213	653.2	-9.9	236	2243	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	2488	3326	3439	3213	0	0	0	0	0	0	15.09	15.12	15.11
2541	-0.88	-146.0	2413	2489	3440	3214	683.3	-10.0	266	2547	0.00	2.45	0.00	0.000	260	0.000	0.154	2405	3753	3325	3438	3213	0	0	0	0	0	0	15.14	14.69	15.17
2576	-0.88	-146.0	2405	3754	3439	3214	687.1	-10.8	273	2584	0.00	2.28	0.00	0.000	1030	0.000	0.096	2405	2492	3325	3437	3213	0	0	0	0	0	0	14.86	14.80	14.90
2881	-0.88	-146.0	2405	2493	3438	3214	718.0	-9.9	292	2882	0.00	0.00	0.00	0.000	6	0.000	0.000	2405	2493	3325	3438	3213	0	0	0	0	0	0	15.15	15.17	15.16
3241	-0.88	-146.0	2405	2493	3438	3214	752.4	-9.5	304	3248	0.00	2.42	0.00	0.000	260	0.000	0.153	2403	3746	3325	3437	3213	0	0	0	0	0	0	15.16	14.69	15.18
3292	-0.88	-146.0	2396	3746	3438	3213	757.5	-10.3	314	3297	0.00	2.25	0.00	0.000	1030	0.000	0.096	2396	2498	3325	3437	3213	0	0	0	0	0	0	14.86	14.80	14.91
3662	-0.88	-146.0	2396	2498	3438	3213	794.2	-9.6	328	3668	0.00	2.38	0.00	0.000	260	0.000	0.155	2386	3749	3325	3437	3213	0	0	0	0	0	0	15.14	14.71	15.17
3701	-0.88	-146.0	2387	3749	3438	3213	798.4	-10.8	336	3708	0.00	2.25	0.00	0.000	1030	0.000	0.096	2386	2498	3325	3437	3213	0	0	0	0	0	0	14.86	14.79	14.90
4082	-0.88	-146.0	2387	2498	3438	3211	838.1	-10.3	352	4084	0.12	0.00	0.00	0.000	2054	0.289	0.000	2412	2498	3325	3438	3213	0	0	0	0	0	0	14.62	14.94	14.87
4443	-0.88	-146.0	2412	2499	3438	3213	870.9	-9.4	364	4444	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2498	3325	3437	3213	0	0	0	0	0	0	15.11	15.14	15.13
4590	end dive: BOTTOM_OBSTACLE_DETECTED
state	4590	begin apogee
4594	-0.23	0.0	2412	2184	3438	3214	885.7	-9.6	369	5143	0.77	0.05	545.35	1.154	10246	0.225	0.265	2625	2200	2716	2773	2659	0	0	0	0	0	0	14.63	13.66	13.24
5145	end apogee: CONTROL_FINISHED_OK
state	5145	begin climb
5147	0.88	146.0	2626	2200	2771	2657	896.1	0.0	387	5580	1.20	2.90	417.85	1.314	11012	0.129	0.125	2991	792	2116	2148	2085	0	0	0	0	0	0	13.73	13.60	13.10
5734	0.88	146.0	2991	792	2135	2074	832.5	13.4	501	5740	0.00	2.75	0.00	0.000	1030	0.000	0.112	2991	2202	2103	2133	2073	0	0	0	0	0	0	14.17	14.09	14.22
6125	0.88	146.0	2991	2202	2134	2068	779.3	13.7	519	6126	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2202	2100	2133	2067	0	0	0	0	0	0	14.79	14.82	14.82
6486	0.88	146.0	2991	2201	2133	2067	730.3	13.7	531	6487	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2202	2099	2132	2066	0	0	0	0	0	0	14.94	14.97	14.97
6844	0.88	146.0	2991	2202	2133	2065	682.2	13.2	551	6845	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2202	2098	2132	2065	0	0	0	0	0	0	15.04	15.07	15.07
7144	0.88	146.0	2991	2203	2132	2065	642.8	13.3	581	7150	0.00	2.65	0.00	0.000	260	0.000	0.142	2991	3616	2098	2132	2064	0	0	0	0	0	0	15.07	14.72	15.09
7164	0.88	146.0	2991	3616	2132	2064	639.9	14.3	585	7171	0.00	2.58	0.00	0.000	1030	0.000	0.099	3001	2202	2097	2131	2064	0	0	0	0	0	0	14.84	14.76	14.95
7475	0.88	146.0	3002	2200	2132	2064	597.2	13.6	617	7481	0.00	2.62	0.00	0.000	516	0.000	0.129	3013	776	2096	2130	2063	0	0	0	0	0	0	15.08	14.73	15.11
7500	0.88	146.0	3013	777	2131	2064	593.7	13.1	622	7507	0.00	2.65	0.00	0.000	1030	0.000	0.114	3012	2208	2096	2128	2064	0	0	0	0	0	0	14.81	14.73	14.88
7805	0.88	146.0	3013	2209	2131	2064	550.8	14.3	653	7812	0.00	2.70	0.00	0.000	260	0.000	0.145	3013	3617	2096	2130	2063	0	0	0	0	0	0	15.09	14.71	15.11
7827	0.88	146.0	3012	3617	2131	2063	547.6	15.5	657	7833	0.12	2.60	0.00	0.000	5126	0.232	0.101	2989	2190	2096	2130	2063	0	0	0	0	0	0	14.64	14.76	14.80
8137	0.88	146.0	2989	2189	2131	2063	508.1	12.4	689	8143	0.00	2.60	0.00	0.000	516	0.000	0.129	2998	780	2096	2130	2063	0	0	0	0	0	0	15.09	14.74	15.11
8162	0.88	146.0	2998	781	2130	2063	505.0	12.3	694	8169	0.00	2.65	0.00	0.000	1030	0.000	0.116	2998	2235	2096	2130	2063	0	0	0	0	0	0	14.91	14.75	14.95
8467	0.88	146.0	2998	2235	2130	2062	466.1	12.6	725	8473	0.00	2.62	0.00	0.000	260	0.000	0.146	2998	3622	2096	2130	2062	0	0	0	0	0	0	15.09	14.73	15.12
8492	0.88	146.0	2998	3623	2130	2064	462.6	13.9	730	8499	0.00	2.60	0.00	0.000	1030	0.000	0.102	3009	2200	2096	2130	2063	0	0	0	0	0	0	14.85	14.76	14.90
8797	0.88	146.0	3009	2200	2130	2063	422.2	13.2	761	8803	0.00	2.62	0.00	0.000	516	0.000	0.130	3020	780	2096	2130	2062	0	0	0	0	0	0	15.10	14.74	15.14
8832	0.88	146.0	3020	781	2130	2062	417.6	13.1	768	8840	0.10	2.65	0.00	0.000	5126	0.221	0.116	2978	2209	2095	2129	2062	0	0	0	0	0	0	14.67	14.73	14.90
8846	end climb: SURFACE_OBSTACLE_DETECTED
state	8846	begin subsurface finish
8849	-0.00	-1.3	2979	2210	2130	2062	415.7	12.8	770	8862	0.93	2.72	-2.05	0.056	20740	0.194	0.172	2704	3616	2735	2851	2620	0	0	0	0	0	0	14.66	13.43	14.80
8863	end subsurface finish: CONTROL_FINISHED_OK
state	8863	begin surface