Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 155 * 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 155 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 41 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 21 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 155 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 41 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 21 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 160218,091440,-7414.5542,-11213.9092,0,4162.3,0,53.3,0.0,0.0,0,0.0 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 357.47 MHEAD_RNG_PITCHd_Wd 128.0,23056,-16.5,-9.429,-19.22,2384

_SM_ANGLEo 0.6 D_GRID 990

GPS2 160218,091440,-7414.5542,-11213.9092,0,4162.3,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 365.9,1.027477,1 _24V_AH 13.05,65.943

FINISH2 364.5 _10V_AH 12.46,0.000

RAFOS_CLK 376 FG_AHR_24Vo 0.000

RAFOS 0,1518782461,12.032778,12.016945,126,62,61,59,57,56,559,208,146,157,187,130 FG_AHR_10Vo 0.000

RAFOS_FIX -7416.621094,-11213.935547,160218,121200,3,140,0.35 MEM 280048

IRIDIUM_FIX -7412.42,-11208.63,140218,203555 DATA_FILE_SIZE 33354,953

TT8_MAMPS 0.039697,0.231441 CAP_FILE_SIZE 121943,0

HUMID 49.48 CFSIZE 1024409600,1001783296

INTERNAL_PRESSURE 8.25812 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.70 SOUNDSPEED 1457.3

XPDR_PINGS 0 GPS 160218,121600,-7416.621,-11213.936,0,4139.7,0,53.3,0.0,0.0,0,0.0

ALTIM_TOP_PING 371.2,12.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 269 16.34 nil 0 0 0.00

Roll_motor 116 1410 2149.26 nil 0 0 0.00

VBD_pump_during_apogee 732 1365 13051.89 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 10263 5 717.21

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 43 420 235.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7425 2 213.73

TT8_Active 817 13 140.78

TT8_Sampling 1986 34 861.20

TT8_CF8 101 52 66.94

TT8_Kalman 0 0 0.00

Analog_circuits 1578 10 214.42

GPS_charging 0 0 0.00

Compass 1363 7 127.28

RAFOS 720 1 13.46

Transponder 306 30 114.50

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

377.4 26.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

888.8 47.30 9000.00 0.0 0.00 0.00 47.30 0.0 0.04 1.00

895.6 39.60 9000.00 0.0 0.03 0.87 39.60 935.2 -1.13 1.00

904.8 19.50 9000.00 0.0 -1.77 0.98 19.50 924.3 -2.18 1.00

911.2 14.80 9000.00 0.0 -1.63 0.94 14.80 926.0 -0.73 1.00

919.1 14.20 9000.00 0.0 -0.36 0.79 14.20 933.3 -0.08 1.00

926.8 11.50 9000.00 0.0 -0.21 0.88 11.50 938.3 -0.35 1.00

931.4 11.70 9000.00 0.0 -0.21 0.81 11.70 919.7 0.04 1.00

925.1 16.40 9000.00 0.0 -0.57 0.45 16.40 0.0 -0.75 1.00

918.6 21.50 9000.00 0.0 -0.76 1.00 21.50 0.0 -0.78 1.00

912.4 35.10 9000.00 0.0 -1.46 0.92 35.10 0.0 -2.19 1.00

905.9 26.40 9000.00 0.0 -0.37 0.12 26.40 879.5 1.34 1.00

453.8 97.40 9000.00 0.0 -0.15 0.98 97.40 0.0 -0.16 1.00

440.6 83.90 9000.00 0.0 -0.14 0.96 83.90 356.7 1.02 1.00

433.9 77.00 77.00 356.9 1.02 1.00 77.00 356.9 1.03 1.00

419.8 62.40 62.40 357.4 1.04 1.00 62.40 357.4 1.04 1.00

413.0 55.80 55.60 357.4 1.02 1.00 55.80 357.2 0.97 1.00

406.1 48.80 48.90 357.2 0.99 1.00 48.80 357.3 1.01 1.00

399.3 41.40 41.40 357.9 1.05 1.00 41.40 357.9 1.09 1.00

392.2 34.20 34.10 358.1 1.05 1.00 34.20 358.0 1.01 1.00

385.2 26.60 26.70 358.5 1.04 1.00 26.60 358.6 1.09 1.00

378.1 19.30 19.30 358.8 1.06 1.00 19.30 358.8 1.03 1.00

371.2 12.00 12.00 359.2 1.05 1.00 12.00 359.2 1.06 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 7 begin dive

9 -0.93 -146.0 2806 2277 2825 2763 0.0 0.0 0 12 0.00 0.05 -2.12 0.045 16390 0.000 1.411 2807 2301 3398 3423 3373 0 0 0 0 0 0 15.07 13.53 15.06

14 -0.93 -146.0 2807 2301 3423 3374 0.0 0.0 0 22 0.95 0.00 0.00 0.000 4102 0.121 0.000 2497 2300 3398 3423 3374 0 0 0 0 0 0 14.80 14.96 14.93

319 -0.93 -146.0 2496 2301 3423 3374 393.7 -12.7 31 325 0.00 2.53 0.00 0.000 516 0.000 0.087 2497 908 3398 3423 3373 0 0 0 0 0 0 15.09 14.74 15.11

404 -0.93 -146.0 2497 909 3423 3374 404.9 -12.9 48 411 0.00 2.53 0.00 0.000 1030 0.000 0.080 2488 2302 3398 3423 3373 0 0 0 0 0 0 14.85 14.78 14.90

709 -0.93 -146.0 2489 2303 3425 3373 446.1 -13.5 79 715 0.00 2.55 0.00 0.000 516 0.000 0.086 2487 901 3397 3423 3372 0 0 0 0 0 0 15.11 14.74 15.13

744 -0.93 -146.0 2489 900 3425 3373 451.0 -14.0 86 751 0.00 2.53 0.00 0.000 1030 0.000 0.080 2477 2305 3397 3423 3372 0 0 0 0 0 0 14.85 14.78 14.90

1049 -0.93 -146.0 2477 2305 3423 3372 493.9 -13.8 117 1056 0.00 2.62 0.00 0.000 260 0.000 0.112 2467 3724 3397 3423 3371 0 0 0 0 0 0 15.11 14.74 15.14

1076 -0.93 -146.0 2466 3725 3422 3372 497.6 -14.4 122 1083 0.15 2.40 0.00 0.000 3078 0.263 0.052 2500 2302 3396 3422 3371 0 0 0 0 0 0 14.66 14.87 14.90

1381 -0.93 -146.0 2499 2301 3425 3371 535.3 -12.0 153 1387 0.00 2.47 0.00 0.000 516 0.000 0.083 2500 897 3396 3423 3370 0 0 0 0 0 0 15.06 14.78 15.08

1482 -0.93 -146.0 2500 897 3423 3372 547.3 -12.2 173 1488 0.00 2.47 0.00 0.000 1030 0.000 0.077 2491 2305 3396 3423 3370 0 0 0 0 0 0 14.90 14.78 14.92

1792 -0.93 -146.0 2492 2305 3424 3368 583.6 -12.3 205 1793 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 2305 3396 3423 3370 0 0 0 0 0 0 15.11 15.14 15.14

2092 -0.93 -146.0 2490 2305 3423 3370 619.2 -12.1 235 2098 0.00 2.55 0.00 0.000 516 0.000 0.084 2491 894 3395 3422 3369 0 0 0 0 0 0 15.11 14.75 15.14

2127 -0.93 -146.0 2490 894 3422 3370 623.7 -12.9 242 2134 0.00 2.55 0.00 0.000 1030 0.000 0.082 2488 2306 3396 3423 3370 0 0 0 0 0 0 14.85 14.78 14.90

2432 -0.93 -146.0 2489 2308 3425 3370 662.5 -12.6 273 2439 0.00 2.55 0.00 0.000 516 0.000 0.083 2488 894 3396 3423 3369 0 0 0 0 0 0 15.11 14.73 15.14

2478 -0.93 -146.0 2487 894 3422 3369 668.5 -13.0 282 2485 0.00 2.53 0.00 0.000 1030 0.000 0.076 2479 2301 3395 3423 3368 0 0 0 0 0 0 14.85 14.78 14.90

2803 -0.93 -146.0 2480 2302 3425 3370 707.8 -11.6 311 2804 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2301 3396 3423 3369 0 0 0 0 0 0 15.12 15.15 15.14

3164 -0.93 -146.0 2478 2302 3422 3369 751.1 -12.1 323 3169 0.00 2.50 0.00 0.000 516 0.000 0.084 2478 890 3396 3423 3369 0 0 0 0 0 0 15.13 14.79 15.16

3228 -0.93 -146.0 2477 889 3423 3369 758.7 -12.2 336 3234 0.00 2.55 0.00 0.000 1030 0.000 0.079 2475 2308 3394 3421 3368 0 0 0 0 0 0 14.86 14.79 14.91

3614 -0.93 -146.0 2474 2309 3423 3369 803.3 -11.4 353 3620 0.00 2.50 0.00 0.000 516 0.000 0.084 2475 898 3395 3423 3368 0 0 0 0 0 0 15.09 14.77 15.11

3644 -0.93 -146.0 2474 898 3422 3369 807.0 -10.1 359 3651 0.10 2.53 0.00 0.000 3078 0.269 0.080 2494 2300 3395 3423 3368 0 0 0 0 0 0 14.62 14.79 14.77

4036 -0.93 -146.0 2494 2301 3423 3369 848.1 -10.8 377 4042 0.00 2.47 0.00 0.000 516 0.000 0.083 2495 899 3395 3423 3368 0 0 0 0 0 0 15.08 14.79 15.11

4066 -0.93 -146.0 2494 900 3422 3369 851.8 -9.9 383 4072 0.00 2.53 0.00 0.000 1030 0.000 0.076 2486 2308 3395 3422 3368 0 0 0 0 0 0 14.87 14.80 14.90

4458 -0.93 -146.0 2487 2309 3425 3369 895.6 -11.5 401 4458 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2308 3395 3423 3368 0 0 0 0 0 0 15.09 15.12 15.12

4817 -0.93 -146.0 2486 2308 3422 3369 937.0 -11.9 413 4823 0.00 2.55 0.00 0.000 260 0.000 0.112 2480 3717 3395 3423 3368 0 0 0 0 0 0 15.13 14.78 15.15

4971 end dive: NO_VERTICAL_VELOCITY

state 4971 begin apogee

4977 -0.23 0.0 2482 2087 3425 3369 937.0 0.0 444 5395 0.80 0.00 411.40 1.278 10246 0.151 0.000 2726 2084 2779 2818 2740 0 0 0 0 0 0 14.76 13.74 13.21

5396 end apogee: CONTROL_FINISHED_OK

state 5397 begin climb

5398 0.93 146.0 2728 2086 2819 2739 935.6 0.0 458 5731 1.25 2.75 321.02 1.366 10756 0.129 0.098 3111 709 2182 2226 2139 0 0 0 0 0 0 13.71 13.52 13.05

5800 0.93 146.0 3110 709 2216 2134 895.1 12.7 536 5806 0.00 2.65 0.00 0.000 1030 0.000 0.066 3109 2106 2174 2217 2132 0 0 0 0 0 0 13.91 13.85 13.93

6190 0.93 146.0 3110 2107 2212 2127 842.2 13.1 554 6196 0.00 2.62 0.00 0.000 260 0.000 0.103 3111 3520 2169 2212 2126 0 0 0 0 0 0 14.67 14.40 14.69

6250 0.93 146.0 3112 3521 2213 2127 833.8 14.4 566 6259 0.00 2.50 0.00 0.000 1030 0.000 0.052 3123 2107 2168 2211 2126 0 0 0 0 0 0 14.54 14.50 14.57

6643 0.93 146.0 3122 2108 2211 2125 782.0 12.8 584 6649 0.00 2.62 0.00 0.000 260 0.000 0.103 3121 3542 2166 2209 2124 0 0 0 0 0 0 14.92 14.64 14.95

6673 0.93 146.0 3121 3542 2208 2125 778.1 13.4 590 6680 0.10 2.53 0.00 0.000 5126 0.247 0.054 3089 2097 2166 2208 2124 0 0 0 0 0 0 14.55 14.69 14.76

7064 0.93 146.0 3090 2098 2210 2124 735.0 11.7 608 7070 0.00 2.62 0.00 0.000 260 0.000 0.103 3089 3520 2166 2208 2124 0 0 0 0 0 0 15.01 14.70 15.04

7099 0.93 146.0 3090 3521 2210 2125 730.5 13.0 615 7105 0.00 2.47 0.00 0.000 1030 0.000 0.054 3097 2066 2166 2208 2124 0 0 0 0 0 0 14.88 14.78 14.90

7464 0.93 146.0 3098 2067 2209 2124 686.9 12.4 638 7470 0.00 2.67 0.00 0.000 260 0.000 0.102 3097 3516 2165 2207 2124 0 0 0 0 0 0 15.05 14.76 15.08

7505 0.93 146.0 3098 3516 2209 2124 681.4 13.8 646 7511 0.00 2.45 0.00 0.000 1030 0.000 0.053 3107 2101 2165 2207 2124 0 0 0 0 0 0 14.87 14.81 14.89

7815 0.93 146.0 3107 2098 2206 2124 643.5 11.0 678 7820 0.00 2.55 0.00 0.000 516 0.000 0.103 3118 688 2164 2206 2123 0 0 0 0 0 0 15.08 14.77 15.11

7829 0.93 146.0 3119 688 2207 2124 641.9 10.7 681 7838 0.00 2.53 0.00 0.000 1030 0.000 0.068 3118 2118 2164 2205 2123 0 0 0 0 0 0 14.86 14.81 14.90

8135 0.93 146.0 3119 2118 2207 2126 609.0 11.1 712 8140 0.00 2.55 0.00 0.000 260 0.000 0.103 3118 3512 2164 2205 2123 0 0 0 0 0 0 15.09 14.77 15.12

8214 0.93 146.0 3119 3511 2202 2124 598.9 12.9 728 8220 0.00 2.45 0.00 0.000 1030 0.000 0.053 3126 2094 2164 2206 2123 0 0 0 0 0 0 14.88 14.84 14.91

8525 0.93 146.0 3128 2094 2207 2124 561.8 12.4 760 8530 0.00 2.58 0.00 0.000 516 0.000 0.100 3138 686 2164 2205 2123 0 0 0 0 0 0 15.11 14.77 15.13

8549 0.93 146.0 3137 686 2204 2124 558.6 12.3 765 8558 0.12 2.50 0.00 0.000 5126 0.240 0.067 3101 2111 2163 2204 2123 0 0 0 0 0 0 14.66 14.81 14.82

8855 0.93 146.0 3101 2111 2206 2124 524.7 11.1 796 8860 0.00 2.55 0.00 0.000 260 0.000 0.103 3101 3509 2166 2204 2129 0 0 0 0 0 0 15.11 14.78 15.14

8929 0.93 146.0 3102 3510 2206 2124 515.4 12.4 811 8937 0.00 2.45 0.00 0.000 1030 0.000 0.053 3109 2090 2163 2204 2123 0 0 0 0 0 0 14.89 14.84 14.93

9235 0.93 146.0 3109 2090 2204 2123 481.9 11.0 842 9240 0.00 2.58 0.00 0.000 260 0.000 0.101 3109 3516 2166 2204 2129 0 0 0 0 0 0 15.11 14.80 15.14

9269 0.93 146.0 3109 3516 2204 2123 477.7 12.2 849 9277 0.00 2.45 0.00 0.000 1030 0.000 0.052 3120 2093 2163 2204 2122 0 0 0 0 0 0 14.90 14.83 14.92

9575 0.93 146.0 3120 2093 2203 2123 442.4 11.3 880 9580 0.00 2.60 0.00 0.000 260 0.000 0.100 3120 3534 2163 2203 2123 0 0 0 0 0 0 15.12 14.80 15.15

9609 0.93 146.0 3127 3533 2205 2123 438.0 12.7 887 9617 0.00 2.47 0.00 0.000 1030 0.000 0.052 3129 2099 2162 2203 2122 0 0 0 0 0 0 14.90 14.84 14.93

9915 0.93 146.0 3130 2100 2205 2123 402.7 11.4 918 9915 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2100 2163 2205 2122 0 0 0 0 0 0 15.12 15.15 15.18

10215 0.93 146.0 3128 2100 2204 2122 367.7 11.5 948 10220 0.00 2.58 0.00 0.000 260 0.000 0.101 3129 3528 2162 2203 2121 0 0 0 0 0 0 15.13 14.80 15.15

10228 end climb: SURFACE_OBSTACLE_DETECTED

state 10228 begin subsurface finish

10235 0.00 1.2 3140 2087 2205 2123 365.9 11.8 951 10247 1.17 2.65 -2.20 0.054 20740 0.221 0.125 2801 3513 2794 2826 2762 0 0 0 0 0 0 14.68 13.54 14.82

10247 end subsurface finish: CONTROL_FINISHED_OK

state 10247 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	155	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	41	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	21	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	160218,091440,-7414.5542,-11213.9092,0,4162.3,0,53.3,0.0,0.0,0,0.0	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	357.47	MHEAD_RNG_PITCHd_Wd	128.0,23056,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	0.6	D_GRID	990
GPS2	160218,091440,-7414.5542,-11213.9092,0,4162.3,0,53.3,0.0,0.0,0,0.0

FINISH1	365.9,1.027477,1	_24V_AH	13.05,65.943
FINISH2	364.5	_10V_AH	12.46,0.000
RAFOS_CLK	376	FG_AHR_24Vo	0.000
RAFOS	0,1518782461,12.032778,12.016945,126,62,61,59,57,56,559,208,146,157,187,130	FG_AHR_10Vo	0.000
RAFOS_FIX	-7416.621094,-11213.935547,160218,121200,3,140,0.35	MEM	280048
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	DATA_FILE_SIZE	33354,953
TT8_MAMPS	0.039697,0.231441	CAP_FILE_SIZE	121943,0
HUMID	49.48	CFSIZE	1024409600,1001783296
INTERNAL_PRESSURE	8.25812	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.70	SOUNDSPEED	1457.3
XPDR_PINGS	0	GPS	160218,121600,-7416.621,-11213.936,0,4139.7,0,53.3,0.0,0.0,0,0.0
ALTIM_TOP_PING	371.2,12.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	269	16.34	nil	0	0	0.00
Roll_motor	116	1410	2149.26	nil	0	0	0.00
VBD_pump_during_apogee	732	1365	13051.89	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	10263	5	717.21
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	43	420	235.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7425	2	213.73
TT8_Active	817	13	140.78
TT8_Sampling	1986	34	861.20
TT8_CF8	101	52	66.94
TT8_Kalman	0	0	0.00
Analog_circuits	1578	10	214.42
GPS_charging	0	0	0.00
Compass	1363	7	127.28
RAFOS	720	1	13.46
Transponder	306	30	114.50

		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
377.4	26.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
888.8	47.30	9000.00	0.0	0.00	0.00	47.30	0.0	0.04	1.00
895.6	39.60	9000.00	0.0	0.03	0.87	39.60	935.2	-1.13	1.00
904.8	19.50	9000.00	0.0	-1.77	0.98	19.50	924.3	-2.18	1.00
911.2	14.80	9000.00	0.0	-1.63	0.94	14.80	926.0	-0.73	1.00
919.1	14.20	9000.00	0.0	-0.36	0.79	14.20	933.3	-0.08	1.00
926.8	11.50	9000.00	0.0	-0.21	0.88	11.50	938.3	-0.35	1.00

931.4	11.70	9000.00	0.0	-0.21	0.81	11.70	919.7	0.04	1.00
925.1	16.40	9000.00	0.0	-0.57	0.45	16.40	0.0	-0.75	1.00
918.6	21.50	9000.00	0.0	-0.76	1.00	21.50	0.0	-0.78	1.00
912.4	35.10	9000.00	0.0	-1.46	0.92	35.10	0.0	-2.19	1.00
905.9	26.40	9000.00	0.0	-0.37	0.12	26.40	879.5	1.34	1.00
453.8	97.40	9000.00	0.0	-0.15	0.98	97.40	0.0	-0.16	1.00
440.6	83.90	9000.00	0.0	-0.14	0.96	83.90	356.7	1.02	1.00
433.9	77.00	77.00	356.9	1.02	1.00	77.00	356.9	1.03	1.00
419.8	62.40	62.40	357.4	1.04	1.00	62.40	357.4	1.04	1.00
413.0	55.80	55.60	357.4	1.02	1.00	55.80	357.2	0.97	1.00
406.1	48.80	48.90	357.2	0.99	1.00	48.80	357.3	1.01	1.00
399.3	41.40	41.40	357.9	1.05	1.00	41.40	357.9	1.09	1.00
392.2	34.20	34.10	358.1	1.05	1.00	34.20	358.0	1.01	1.00
385.2	26.60	26.70	358.5	1.04	1.00	26.60	358.6	1.09	1.00
378.1	19.30	19.30	358.8	1.06	1.00	19.30	358.8	1.03	1.00
371.2	12.00	12.00	359.2	1.05	1.00	12.00	359.2	1.06	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	7	begin dive
9	-0.93	-146.0	2806	2277	2825	2763	0.0	0.0	0	12	0.00	0.05	-2.12	0.045	16390	0.000	1.411	2807	2301	3398	3423	3373	0	0	0	0	0	0	15.07	13.53	15.06
14	-0.93	-146.0	2807	2301	3423	3374	0.0	0.0	0	22	0.95	0.00	0.00	0.000	4102	0.121	0.000	2497	2300	3398	3423	3374	0	0	0	0	0	0	14.80	14.96	14.93
319	-0.93	-146.0	2496	2301	3423	3374	393.7	-12.7	31	325	0.00	2.53	0.00	0.000	516	0.000	0.087	2497	908	3398	3423	3373	0	0	0	0	0	0	15.09	14.74	15.11
404	-0.93	-146.0	2497	909	3423	3374	404.9	-12.9	48	411	0.00	2.53	0.00	0.000	1030	0.000	0.080	2488	2302	3398	3423	3373	0	0	0	0	0	0	14.85	14.78	14.90
709	-0.93	-146.0	2489	2303	3425	3373	446.1	-13.5	79	715	0.00	2.55	0.00	0.000	516	0.000	0.086	2487	901	3397	3423	3372	0	0	0	0	0	0	15.11	14.74	15.13
744	-0.93	-146.0	2489	900	3425	3373	451.0	-14.0	86	751	0.00	2.53	0.00	0.000	1030	0.000	0.080	2477	2305	3397	3423	3372	0	0	0	0	0	0	14.85	14.78	14.90
1049	-0.93	-146.0	2477	2305	3423	3372	493.9	-13.8	117	1056	0.00	2.62	0.00	0.000	260	0.000	0.112	2467	3724	3397	3423	3371	0	0	0	0	0	0	15.11	14.74	15.14
1076	-0.93	-146.0	2466	3725	3422	3372	497.6	-14.4	122	1083	0.15	2.40	0.00	0.000	3078	0.263	0.052	2500	2302	3396	3422	3371	0	0	0	0	0	0	14.66	14.87	14.90
1381	-0.93	-146.0	2499	2301	3425	3371	535.3	-12.0	153	1387	0.00	2.47	0.00	0.000	516	0.000	0.083	2500	897	3396	3423	3370	0	0	0	0	0	0	15.06	14.78	15.08
1482	-0.93	-146.0	2500	897	3423	3372	547.3	-12.2	173	1488	0.00	2.47	0.00	0.000	1030	0.000	0.077	2491	2305	3396	3423	3370	0	0	0	0	0	0	14.90	14.78	14.92
1792	-0.93	-146.0	2492	2305	3424	3368	583.6	-12.3	205	1793	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	2305	3396	3423	3370	0	0	0	0	0	0	15.11	15.14	15.14
2092	-0.93	-146.0	2490	2305	3423	3370	619.2	-12.1	235	2098	0.00	2.55	0.00	0.000	516	0.000	0.084	2491	894	3395	3422	3369	0	0	0	0	0	0	15.11	14.75	15.14
2127	-0.93	-146.0	2490	894	3422	3370	623.7	-12.9	242	2134	0.00	2.55	0.00	0.000	1030	0.000	0.082	2488	2306	3396	3423	3370	0	0	0	0	0	0	14.85	14.78	14.90
2432	-0.93	-146.0	2489	2308	3425	3370	662.5	-12.6	273	2439	0.00	2.55	0.00	0.000	516	0.000	0.083	2488	894	3396	3423	3369	0	0	0	0	0	0	15.11	14.73	15.14
2478	-0.93	-146.0	2487	894	3422	3369	668.5	-13.0	282	2485	0.00	2.53	0.00	0.000	1030	0.000	0.076	2479	2301	3395	3423	3368	0	0	0	0	0	0	14.85	14.78	14.90
2803	-0.93	-146.0	2480	2302	3425	3370	707.8	-11.6	311	2804	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2301	3396	3423	3369	0	0	0	0	0	0	15.12	15.15	15.14
3164	-0.93	-146.0	2478	2302	3422	3369	751.1	-12.1	323	3169	0.00	2.50	0.00	0.000	516	0.000	0.084	2478	890	3396	3423	3369	0	0	0	0	0	0	15.13	14.79	15.16
3228	-0.93	-146.0	2477	889	3423	3369	758.7	-12.2	336	3234	0.00	2.55	0.00	0.000	1030	0.000	0.079	2475	2308	3394	3421	3368	0	0	0	0	0	0	14.86	14.79	14.91
3614	-0.93	-146.0	2474	2309	3423	3369	803.3	-11.4	353	3620	0.00	2.50	0.00	0.000	516	0.000	0.084	2475	898	3395	3423	3368	0	0	0	0	0	0	15.09	14.77	15.11
3644	-0.93	-146.0	2474	898	3422	3369	807.0	-10.1	359	3651	0.10	2.53	0.00	0.000	3078	0.269	0.080	2494	2300	3395	3423	3368	0	0	0	0	0	0	14.62	14.79	14.77
4036	-0.93	-146.0	2494	2301	3423	3369	848.1	-10.8	377	4042	0.00	2.47	0.00	0.000	516	0.000	0.083	2495	899	3395	3423	3368	0	0	0	0	0	0	15.08	14.79	15.11
4066	-0.93	-146.0	2494	900	3422	3369	851.8	-9.9	383	4072	0.00	2.53	0.00	0.000	1030	0.000	0.076	2486	2308	3395	3422	3368	0	0	0	0	0	0	14.87	14.80	14.90
4458	-0.93	-146.0	2487	2309	3425	3369	895.6	-11.5	401	4458	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2308	3395	3423	3368	0	0	0	0	0	0	15.09	15.12	15.12
4817	-0.93	-146.0	2486	2308	3422	3369	937.0	-11.9	413	4823	0.00	2.55	0.00	0.000	260	0.000	0.112	2480	3717	3395	3423	3368	0	0	0	0	0	0	15.13	14.78	15.15
4971	end dive: NO_VERTICAL_VELOCITY
state	4971	begin apogee
4977	-0.23	0.0	2482	2087	3425	3369	937.0	0.0	444	5395	0.80	0.00	411.40	1.278	10246	0.151	0.000	2726	2084	2779	2818	2740	0	0	0	0	0	0	14.76	13.74	13.21
5396	end apogee: CONTROL_FINISHED_OK
state	5397	begin climb
5398	0.93	146.0	2728	2086	2819	2739	935.6	0.0	458	5731	1.25	2.75	321.02	1.366	10756	0.129	0.098	3111	709	2182	2226	2139	0	0	0	0	0	0	13.71	13.52	13.05
5800	0.93	146.0	3110	709	2216	2134	895.1	12.7	536	5806	0.00	2.65	0.00	0.000	1030	0.000	0.066	3109	2106	2174	2217	2132	0	0	0	0	0	0	13.91	13.85	13.93
6190	0.93	146.0	3110	2107	2212	2127	842.2	13.1	554	6196	0.00	2.62	0.00	0.000	260	0.000	0.103	3111	3520	2169	2212	2126	0	0	0	0	0	0	14.67	14.40	14.69
6250	0.93	146.0	3112	3521	2213	2127	833.8	14.4	566	6259	0.00	2.50	0.00	0.000	1030	0.000	0.052	3123	2107	2168	2211	2126	0	0	0	0	0	0	14.54	14.50	14.57
6643	0.93	146.0	3122	2108	2211	2125	782.0	12.8	584	6649	0.00	2.62	0.00	0.000	260	0.000	0.103	3121	3542	2166	2209	2124	0	0	0	0	0	0	14.92	14.64	14.95
6673	0.93	146.0	3121	3542	2208	2125	778.1	13.4	590	6680	0.10	2.53	0.00	0.000	5126	0.247	0.054	3089	2097	2166	2208	2124	0	0	0	0	0	0	14.55	14.69	14.76
7064	0.93	146.0	3090	2098	2210	2124	735.0	11.7	608	7070	0.00	2.62	0.00	0.000	260	0.000	0.103	3089	3520	2166	2208	2124	0	0	0	0	0	0	15.01	14.70	15.04
7099	0.93	146.0	3090	3521	2210	2125	730.5	13.0	615	7105	0.00	2.47	0.00	0.000	1030	0.000	0.054	3097	2066	2166	2208	2124	0	0	0	0	0	0	14.88	14.78	14.90
7464	0.93	146.0	3098	2067	2209	2124	686.9	12.4	638	7470	0.00	2.67	0.00	0.000	260	0.000	0.102	3097	3516	2165	2207	2124	0	0	0	0	0	0	15.05	14.76	15.08
7505	0.93	146.0	3098	3516	2209	2124	681.4	13.8	646	7511	0.00	2.45	0.00	0.000	1030	0.000	0.053	3107	2101	2165	2207	2124	0	0	0	0	0	0	14.87	14.81	14.89
7815	0.93	146.0	3107	2098	2206	2124	643.5	11.0	678	7820	0.00	2.55	0.00	0.000	516	0.000	0.103	3118	688	2164	2206	2123	0	0	0	0	0	0	15.08	14.77	15.11
7829	0.93	146.0	3119	688	2207	2124	641.9	10.7	681	7838	0.00	2.53	0.00	0.000	1030	0.000	0.068	3118	2118	2164	2205	2123	0	0	0	0	0	0	14.86	14.81	14.90
8135	0.93	146.0	3119	2118	2207	2126	609.0	11.1	712	8140	0.00	2.55	0.00	0.000	260	0.000	0.103	3118	3512	2164	2205	2123	0	0	0	0	0	0	15.09	14.77	15.12
8214	0.93	146.0	3119	3511	2202	2124	598.9	12.9	728	8220	0.00	2.45	0.00	0.000	1030	0.000	0.053	3126	2094	2164	2206	2123	0	0	0	0	0	0	14.88	14.84	14.91
8525	0.93	146.0	3128	2094	2207	2124	561.8	12.4	760	8530	0.00	2.58	0.00	0.000	516	0.000	0.100	3138	686	2164	2205	2123	0	0	0	0	0	0	15.11	14.77	15.13
8549	0.93	146.0	3137	686	2204	2124	558.6	12.3	765	8558	0.12	2.50	0.00	0.000	5126	0.240	0.067	3101	2111	2163	2204	2123	0	0	0	0	0	0	14.66	14.81	14.82
8855	0.93	146.0	3101	2111	2206	2124	524.7	11.1	796	8860	0.00	2.55	0.00	0.000	260	0.000	0.103	3101	3509	2166	2204	2129	0	0	0	0	0	0	15.11	14.78	15.14
8929	0.93	146.0	3102	3510	2206	2124	515.4	12.4	811	8937	0.00	2.45	0.00	0.000	1030	0.000	0.053	3109	2090	2163	2204	2123	0	0	0	0	0	0	14.89	14.84	14.93
9235	0.93	146.0	3109	2090	2204	2123	481.9	11.0	842	9240	0.00	2.58	0.00	0.000	260	0.000	0.101	3109	3516	2166	2204	2129	0	0	0	0	0	0	15.11	14.80	15.14
9269	0.93	146.0	3109	3516	2204	2123	477.7	12.2	849	9277	0.00	2.45	0.00	0.000	1030	0.000	0.052	3120	2093	2163	2204	2122	0	0	0	0	0	0	14.90	14.83	14.92
9575	0.93	146.0	3120	2093	2203	2123	442.4	11.3	880	9580	0.00	2.60	0.00	0.000	260	0.000	0.100	3120	3534	2163	2203	2123	0	0	0	0	0	0	15.12	14.80	15.15
9609	0.93	146.0	3127	3533	2205	2123	438.0	12.7	887	9617	0.00	2.47	0.00	0.000	1030	0.000	0.052	3129	2099	2162	2203	2122	0	0	0	0	0	0	14.90	14.84	14.93
9915	0.93	146.0	3130	2100	2205	2123	402.7	11.4	918	9915	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2100	2163	2205	2122	0	0	0	0	0	0	15.12	15.15	15.18
10215	0.93	146.0	3128	2100	2204	2122	367.7	11.5	948	10220	0.00	2.58	0.00	0.000	260	0.000	0.101	3129	3528	2162	2203	2121	0	0	0	0	0	0	15.13	14.80	15.15
10228	end climb: SURFACE_OBSTACLE_DETECTED
state	10228	begin subsurface finish
10235	0.00	1.2	3140	2087	2205	2123	365.9	11.8	951	10247	1.17	2.65	-2.20	0.054	20740	0.221	0.125	2801	3513	2794	2826	2762	0	0	0	0	0	0	14.68	13.54	14.82
10247	end subsurface finish: CONTROL_FINISHED_OK
state	10247	begin surface