Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 159 * 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 159 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 159 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 140218,031408,-7438.5176,-11237.2998,0,4141.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.000,-11227.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 390.25 MHEAD_RNG_PITCHd_Wd 312.0,51193,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 2.3 D_GRID 990

GPS2 140218,031408,-7438.5176,-11237.2998,0,4141.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 376.1,1.027449,3 _24V_AH 13.08,69.806

FINISH2 374.9 _10V_AH 12.48,0.000

RAFOS_CLK 411 FG_AHR_24Vo 0.000

RAFOS 1,1518588421,6.133333,6.116944,122,58,55,51,51,49,698,202,161,227,149,116 FG_AHR_10Vo 0.000

RAFOS_FIX -7435.387695,-11233.114258,140218,090940,3,135,0.28 MEM 280004

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 33342,944

TT8_MAMPS 0.040446,0.291361 CAP_FILE_SIZE 116675,0

HUMID 48.26 CFSIZE 1024409600,1001586688

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

TCM_TEMP 13.80 SOUNDSPEED 1459.1

XPDR_PINGS 0 GPS 140218,091440,-7435.388,-11233.114,0,4134.7,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 382.5,12.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 288 16.88 nil 0 0 0.00

Roll_motor 84 1390 1529.04 nil 0 0 0.00

VBD_pump_during_apogee 1066 1279 17850.88 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 11328 5 873.61

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 43 420 237.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8287 2 238.92

TT8_Active 1040 12 159.34

TT8_Sampling 1965 31 778.64

TT8_CF8 98 45 55.32

TT8_Kalman 0 0 0.00

Analog_circuits 1816 10 231.21

GPS_charging 0 0 0.00

Compass 1351 7 126.34

RAFOS 960 1 17.97

Transponder 307 30 115.05

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

396.5 11.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

402.7 17.80 9000.00 0.0 0.00 0.00 17.80 0.0 1.06 1.00

409.2 24.00 24.10 0.0 1.00 1.00 24.00 0.0 0.95 1.00

993.2 25.50 9000.00 0.0 0.01 0.44 25.50 967.7 0.00 1.00

987.2 12.90 9000.00 0.0 -0.01 0.15 12.90 974.3 2.10 1.00

981.2 21.70 9000.00 0.0 0.32 0.09 21.70 0.0 -1.47 1.00

975.2 15.40 9000.00 0.0 -0.21 0.07 15.40 959.8 1.05 1.00

968.9 22.70 9000.00 0.0 -0.09 0.02 22.70 0.0 -1.16 1.00

962.8 15.80 9000.00 0.0 -0.04 0.00 15.80 947.0 1.13 1.00

955.9 26.70 9000.00 0.0 -0.34 0.16 26.70 0.0 -1.58 1.00

441.8 73.90 9000.00 0.0 -0.10 0.97 73.90 0.0 -0.09 1.00

428.4 60.00 9000.00 0.0 -0.08 0.91 60.00 368.4 1.04 1.00

421.7 52.90 52.90 368.8 1.04 1.00 52.90 368.8 1.06 1.00

415.1 46.40 46.30 368.8 1.02 1.00 46.40 368.7 0.98 1.00

408.5 39.50 39.60 368.9 1.01 1.00 39.50 369.0 1.05 1.00

401.8 32.20 32.30 369.5 1.07 1.00 32.20 369.6 1.09 1.00

395.3 25.50 25.40 369.9 1.06 1.00 25.50 369.8 1.03 1.00

388.9 18.90 18.90 370.0 1.03 1.00 18.90 370.0 1.03 1.00

382.5 12.30 12.30 370.2 1.04 1.00 12.30 370.2 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -0.88 -146.0 2704 2519 2831 2608 0.0 0.0 0 11 0.00 0.05 -1.92 0.049 16390 0.000 1.390 2703 2496 3326 3466 3187 0 0 0 0 0 0 15.07 13.37 15.06

13 -0.88 -146.0 2704 2497 3466 3192 0.0 0.0 0 15 0.90 0.00 0.00 0.000 4102 0.118 0.000 2412 2496 3327 3463 3192 0 0 0 0 0 0 14.78 14.95 14.92

309 -0.88 -146.0 2412 2498 3449 3208 419.9 -10.7 30 310 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2496 3328 3449 3207 0 0 0 0 0 0 15.08 15.11 15.11

609 -0.88 -146.0 2412 2497 3447 3209 451.7 -10.8 60 615 0.00 2.45 0.00 0.000 260 0.000 0.160 2403 3747 3327 3446 3208 0 0 0 0 0 0 15.10 14.65 15.13

679 -0.88 -146.0 2404 3747 3443 3210 459.6 -11.5 74 686 0.00 2.28 0.00 0.000 1030 0.000 0.095 2403 2487 3327 3444 3210 0 0 0 0 0 0 14.84 14.77 14.88

990 -0.88 -146.0 2404 2487 3444 3210 494.9 -11.1 106 996 0.00 2.45 0.00 0.000 260 0.000 0.155 2395 3746 3326 3443 3210 0 0 0 0 0 0 15.11 14.66 15.14

1020 -0.88 -146.0 2395 3747 3443 3212 498.5 -12.3 112 1026 0.00 2.28 0.00 0.000 1030 0.000 0.096 2394 2487 3326 3442 3211 0 0 0 0 0 0 14.85 14.78 14.90

1330 -0.88 -146.0 2394 2488 3443 3211 533.0 -10.8 144 1336 0.00 2.45 0.00 0.000 260 0.000 0.154 2385 3750 3326 3442 3211 0 0 0 0 0 0 15.12 14.66 15.15

1365 -0.88 -146.0 2385 3750 3442 3212 537.1 -11.8 151 1373 0.10 2.28 0.00 0.000 3078 0.259 0.096 2412 2491 3326 3441 3212 0 0 0 0 0 0 14.56 14.77 14.73

1671 -0.88 -146.0 2412 2491 3442 3212 567.4 -9.7 182 1672 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2491 3326 3441 3212 0 0 0 0 0 0 15.07 15.09 15.09

1970 -0.88 -146.0 2413 2491 3441 3211 596.0 -9.5 212 1976 0.00 2.40 0.00 0.000 260 0.000 0.154 2404 3756 3326 3440 3212 0 0 0 0 0 0 15.13 14.69 15.16

2010 -0.88 -146.0 2404 3754 3440 3214 600.0 -10.3 220 2017 0.00 2.28 0.00 0.000 1030 0.000 0.097 2404 2494 3325 3439 3212 0 0 0 0 0 0 14.85 14.78 14.89

2321 -0.88 -146.0 2404 2495 3440 3213 631.1 -10.0 252 2322 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2494 3325 3439 3212 0 0 0 0 0 0 15.12 15.15 15.15

2622 -0.88 -146.0 2404 2498 3440 3213 661.6 -10.4 282 2627 0.00 2.40 0.00 0.000 260 0.000 0.155 2395 3757 3325 3439 3212 0 0 0 0 0 0 15.12 14.68 15.14

2656 -0.88 -146.0 2395 3757 3439 3212 665.5 -11.4 289 2664 0.00 2.30 0.00 0.000 1030 0.000 0.096 2395 2489 3325 3438 3212 0 0 0 0 0 0 14.85 14.77 14.88

2961 -0.88 -146.0 2395 2489 3440 3212 698.6 -10.9 320 2962 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2489 3325 3438 3212 0 0 0 0 0 0 15.12 15.14 15.15

3282 -0.88 -146.0 2395 2490 3439 3214 732.7 -10.6 332 3287 0.00 2.40 0.00 0.000 260 0.000 0.153 2386 3753 3325 3438 3213 0 0 0 0 0 0 15.12 14.69 15.15

3312 -0.88 -146.0 2386 3753 3439 3213 736.1 -12.5 338 3318 0.12 2.22 0.00 0.000 3078 0.288 0.097 2412 2495 3325 3438 3213 0 0 0 0 0 0 14.58 14.81 14.85

3702 -0.88 -146.0 2412 2495 3439 3213 772.9 -9.4 356 3702 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2495 3325 3438 3213 0 0 0 0 0 0 15.13 15.16 15.16

4062 -0.88 -146.0 2412 2496 3438 3214 807.1 -9.5 368 4067 0.00 2.40 0.00 0.000 260 0.000 0.154 2403 3754 3325 3437 3213 0 0 0 0 0 0 15.14 14.68 15.16

4101 -0.88 -146.0 2403 3755 3438 3214 811.0 -10.1 376 4108 0.00 2.28 0.00 0.000 1030 0.000 0.097 2403 2496 3325 3437 3213 0 0 0 0 0 0 14.84 14.76 14.88

4482 -0.88 -146.0 2404 2495 3438 3213 847.4 -9.4 392 4483 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2495 3325 3437 3213 0 0 0 0 0 0 15.13 15.16 15.16

4842 -0.88 -146.0 2404 2495 3438 3213 880.7 -9.2 404 4847 0.00 2.45 0.00 0.000 260 0.000 0.155 2394 3778 3322 3437 3208 0 0 0 0 0 0 15.16 14.67 15.16

4881 -0.88 -146.0 2394 3778 3438 3213 884.5 -7.8 412 4887 0.00 2.33 0.00 0.000 1030 0.000 0.097 2394 2493 3325 3438 3213 0 0 0 0 0 0 14.85 14.77 14.89

5262 -0.88 -146.0 2394 2493 3438 3213 921.9 -10.0 428 5263 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2492 3325 3437 3213 0 0 0 0 0 0 15.13 15.16 15.16

5622 -0.88 -146.0 2394 2492 3438 3214 958.1 -9.9 440 5623 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2493 3325 3437 3213 0 0 0 0 0 0 15.14 15.16 15.16

5980 end dive: TARGET_DEPTH_EXCEEDED

state 5980 begin apogee

5984 -0.23 0.0 2394 2192 3438 3213 993.0 -9.6 452 6595 0.85 0.00 606.67 1.037 10246 0.233 0.000 2623 2191 2716 2773 2659 0 0 0 0 0 0 14.59 13.80 13.28

6597 end apogee: CONTROL_FINISHED_OK

state 6597 begin climb

6598 0.88 146.0 2624 2192 2772 2657 1003.1 0.0 472 7072 1.20 2.83 460.30 1.279 11012 0.126 0.122 2993 792 2115 2146 2085 0 0 0 0 0 0 13.76 13.54 13.08

7266 0.88 146.0 2993 792 2129 2071 926.3 13.9 605 7273 0.00 2.72 0.00 0.000 1030 0.000 0.112 2993 2197 2099 2128 2071 0 0 0 0 0 0 14.23 14.14 14.32

7653 0.88 146.0 2994 2196 2129 2070 871.1 14.3 622 7658 0.00 2.72 0.00 0.000 260 0.000 0.143 2993 3620 2097 2128 2066 0 0 0 0 0 0 14.84 14.53 14.87

7673 0.88 146.0 2993 3621 2129 2067 868.0 14.4 626 7678 0.00 2.58 0.00 0.000 1030 0.000 0.099 3004 2205 2097 2128 2066 0 0 0 0 0 0 14.71 14.59 14.73

8044 0.88 146.0 3004 2205 2128 2065 813.0 15.0 640 8049 0.00 2.65 0.00 0.000 516 0.000 0.129 3015 778 2095 2126 2064 0 0 0 0 0 0 14.95 14.66 14.97

8069 0.88 146.0 3015 779 2127 2065 809.1 14.4 645 8077 0.15 2.62 0.00 0.000 5126 0.249 0.115 2982 2211 2095 2127 2064 0 0 0 0 0 0 14.58 14.67 14.81

8433 0.88 146.0 2983 2211 2128 2063 760.7 13.0 658 8439 0.00 2.67 0.00 0.000 260 0.000 0.145 2982 3628 2095 2127 2063 0 0 0 0 0 0 15.04 14.70 15.07

8478 0.88 146.0 2982 3630 2128 2064 754.3 14.6 667 8484 0.00 2.62 0.00 0.000 1030 0.000 0.101 2991 2196 2092 2121 2063 0 0 0 0 0 0 14.81 14.74 14.92

8853 0.88 146.0 2992 2195 2128 2063 703.5 13.5 682 8859 0.00 2.60 0.00 0.000 516 0.000 0.129 3002 786 2094 2127 2062 0 0 0 0 0 0 15.08 14.73 15.11

8903 0.88 146.0 3003 787 2127 2063 696.6 14.0 692 8909 0.00 2.65 0.00 0.000 1030 0.000 0.116 3003 2212 2094 2126 2062 0 0 0 0 0 0 14.83 14.73 14.88

9214 0.88 146.0 3003 2212 2127 2062 653.1 13.8 724 9220 0.00 2.65 0.00 0.000 260 0.000 0.145 3002 3616 2094 2127 2062 0 0 0 0 0 0 15.04 14.73 15.07

9239 0.88 146.0 3006 3616 2127 2062 649.2 15.4 729 9247 0.10 2.60 0.00 0.000 5126 0.247 0.101 2986 2192 2094 2126 2062 0 0 0 0 0 0 14.63 14.76 14.78

9544 0.88 146.0 2986 2190 2127 2061 609.6 12.9 760 9550 0.00 2.60 0.00 0.000 516 0.000 0.130 2995 782 2094 2127 2061 0 0 0 0 0 0 15.10 14.73 15.12

9569 0.88 146.0 2995 783 2127 2062 606.3 13.0 765 9577 0.00 2.65 0.00 0.000 1030 0.000 0.115 2995 2208 2093 2126 2061 0 0 0 0 0 0 14.83 14.73 14.88

9874 0.88 146.0 2996 2214 2127 2061 566.0 13.2 796 9875 0.00 0.00 0.00 0.000 6 0.000 0.000 2995 2208 2092 2126 2059 0 0 0 0 0 0 15.10 15.13 15.13

10174 0.88 146.0 2996 2208 2127 2060 526.1 13.4 826 10180 0.00 2.67 0.00 0.000 260 0.000 0.146 2995 3623 2093 2126 2060 0 0 0 0 0 0 15.11 14.73 15.14

10204 0.88 146.0 2995 3624 2127 2061 521.8 15.0 832 10210 0.00 2.60 0.00 0.000 1030 0.000 0.102 3006 2199 2093 2126 2060 0 0 0 0 0 0 14.85 14.76 14.90

10514 0.88 146.0 3006 2197 2127 2060 479.3 13.6 864 10515 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2197 2093 2126 2060 0 0 0 0 0 0 15.10 15.14 15.14

10814 0.88 146.0 3006 2196 2127 2061 439.1 13.5 894 10815 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2197 2092 2126 2059 0 0 0 0 0 0 15.11 15.14 15.13

11114 0.88 146.0 3007 2197 2127 2059 399.1 13.3 924 11115 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2197 2092 2126 2059 0 0 0 0 0 0 15.10 15.13 15.13

11294 end climb: SURFACE_OBSTACLE_DETECTED

state 11294 begin subsurface finish

11297 0.00 2.6 3006 2197 2127 2060 376.1 12.8 942 11308 1.05 2.78 -2.15 0.054 20740 0.211 0.170 2706 3621 2725 2839 2611 0 0 0 0 0 0 14.62 13.36 14.78

11309 end subsurface finish: CONTROL_FINISHED_OK

state 11309 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	159	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	140218,031408,-7438.5176,-11237.2998,0,4141.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.000,-11227.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	390.25	MHEAD_RNG_PITCHd_Wd	312.0,51193,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	2.3	D_GRID	990
GPS2	140218,031408,-7438.5176,-11237.2998,0,4141.0,0,53.5,0.0,0.0,0,0.0

FINISH1	376.1,1.027449,3	_24V_AH	13.08,69.806
FINISH2	374.9	_10V_AH	12.48,0.000
RAFOS_CLK	411	FG_AHR_24Vo	0.000
RAFOS	1,1518588421,6.133333,6.116944,122,58,55,51,51,49,698,202,161,227,149,116	FG_AHR_10Vo	0.000
RAFOS_FIX	-7435.387695,-11233.114258,140218,090940,3,135,0.28	MEM	280004
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	33342,944
TT8_MAMPS	0.040446,0.291361	CAP_FILE_SIZE	116675,0
HUMID	48.26	CFSIZE	1024409600,1001586688
INTERNAL_PRESSURE	7.62882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.80	SOUNDSPEED	1459.1
XPDR_PINGS	0	GPS	140218,091440,-7435.388,-11233.114,0,4134.7,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	382.5,12.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	288	16.88	nil	0	0	0.00
Roll_motor	84	1390	1529.04	nil	0	0	0.00
VBD_pump_during_apogee	1066	1279	17850.88	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	11328	5	873.61
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	43	420	237.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8287	2	238.92
TT8_Active	1040	12	159.34
TT8_Sampling	1965	31	778.64
TT8_CF8	98	45	55.32
TT8_Kalman	0	0	0.00
Analog_circuits	1816	10	231.21
GPS_charging	0	0	0.00
Compass	1351	7	126.34
RAFOS	960	1	17.97
Transponder	307	30	115.05

		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
396.5	11.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
402.7	17.80	9000.00	0.0	0.00	0.00	17.80	0.0	1.06	1.00
409.2	24.00	24.10	0.0	1.00	1.00	24.00	0.0	0.95	1.00

993.2	25.50	9000.00	0.0	0.01	0.44	25.50	967.7	0.00	1.00
987.2	12.90	9000.00	0.0	-0.01	0.15	12.90	974.3	2.10	1.00
981.2	21.70	9000.00	0.0	0.32	0.09	21.70	0.0	-1.47	1.00
975.2	15.40	9000.00	0.0	-0.21	0.07	15.40	959.8	1.05	1.00
968.9	22.70	9000.00	0.0	-0.09	0.02	22.70	0.0	-1.16	1.00
962.8	15.80	9000.00	0.0	-0.04	0.00	15.80	947.0	1.13	1.00
955.9	26.70	9000.00	0.0	-0.34	0.16	26.70	0.0	-1.58	1.00
441.8	73.90	9000.00	0.0	-0.10	0.97	73.90	0.0	-0.09	1.00
428.4	60.00	9000.00	0.0	-0.08	0.91	60.00	368.4	1.04	1.00
421.7	52.90	52.90	368.8	1.04	1.00	52.90	368.8	1.06	1.00
415.1	46.40	46.30	368.8	1.02	1.00	46.40	368.7	0.98	1.00
408.5	39.50	39.60	368.9	1.01	1.00	39.50	369.0	1.05	1.00
401.8	32.20	32.30	369.5	1.07	1.00	32.20	369.6	1.09	1.00
395.3	25.50	25.40	369.9	1.06	1.00	25.50	369.8	1.03	1.00
388.9	18.90	18.90	370.0	1.03	1.00	18.90	370.0	1.03	1.00
382.5	12.30	12.30	370.2	1.04	1.00	12.30	370.2	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-0.88	-146.0	2704	2519	2831	2608	0.0	0.0	0	11	0.00	0.05	-1.92	0.049	16390	0.000	1.390	2703	2496	3326	3466	3187	0	0	0	0	0	0	15.07	13.37	15.06
13	-0.88	-146.0	2704	2497	3466	3192	0.0	0.0	0	15	0.90	0.00	0.00	0.000	4102	0.118	0.000	2412	2496	3327	3463	3192	0	0	0	0	0	0	14.78	14.95	14.92
309	-0.88	-146.0	2412	2498	3449	3208	419.9	-10.7	30	310	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2496	3328	3449	3207	0	0	0	0	0	0	15.08	15.11	15.11
609	-0.88	-146.0	2412	2497	3447	3209	451.7	-10.8	60	615	0.00	2.45	0.00	0.000	260	0.000	0.160	2403	3747	3327	3446	3208	0	0	0	0	0	0	15.10	14.65	15.13
679	-0.88	-146.0	2404	3747	3443	3210	459.6	-11.5	74	686	0.00	2.28	0.00	0.000	1030	0.000	0.095	2403	2487	3327	3444	3210	0	0	0	0	0	0	14.84	14.77	14.88
990	-0.88	-146.0	2404	2487	3444	3210	494.9	-11.1	106	996	0.00	2.45	0.00	0.000	260	0.000	0.155	2395	3746	3326	3443	3210	0	0	0	0	0	0	15.11	14.66	15.14
1020	-0.88	-146.0	2395	3747	3443	3212	498.5	-12.3	112	1026	0.00	2.28	0.00	0.000	1030	0.000	0.096	2394	2487	3326	3442	3211	0	0	0	0	0	0	14.85	14.78	14.90
1330	-0.88	-146.0	2394	2488	3443	3211	533.0	-10.8	144	1336	0.00	2.45	0.00	0.000	260	0.000	0.154	2385	3750	3326	3442	3211	0	0	0	0	0	0	15.12	14.66	15.15
1365	-0.88	-146.0	2385	3750	3442	3212	537.1	-11.8	151	1373	0.10	2.28	0.00	0.000	3078	0.259	0.096	2412	2491	3326	3441	3212	0	0	0	0	0	0	14.56	14.77	14.73
1671	-0.88	-146.0	2412	2491	3442	3212	567.4	-9.7	182	1672	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2491	3326	3441	3212	0	0	0	0	0	0	15.07	15.09	15.09
1970	-0.88	-146.0	2413	2491	3441	3211	596.0	-9.5	212	1976	0.00	2.40	0.00	0.000	260	0.000	0.154	2404	3756	3326	3440	3212	0	0	0	0	0	0	15.13	14.69	15.16
2010	-0.88	-146.0	2404	3754	3440	3214	600.0	-10.3	220	2017	0.00	2.28	0.00	0.000	1030	0.000	0.097	2404	2494	3325	3439	3212	0	0	0	0	0	0	14.85	14.78	14.89
2321	-0.88	-146.0	2404	2495	3440	3213	631.1	-10.0	252	2322	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2494	3325	3439	3212	0	0	0	0	0	0	15.12	15.15	15.15
2622	-0.88	-146.0	2404	2498	3440	3213	661.6	-10.4	282	2627	0.00	2.40	0.00	0.000	260	0.000	0.155	2395	3757	3325	3439	3212	0	0	0	0	0	0	15.12	14.68	15.14
2656	-0.88	-146.0	2395	3757	3439	3212	665.5	-11.4	289	2664	0.00	2.30	0.00	0.000	1030	0.000	0.096	2395	2489	3325	3438	3212	0	0	0	0	0	0	14.85	14.77	14.88
2961	-0.88	-146.0	2395	2489	3440	3212	698.6	-10.9	320	2962	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2489	3325	3438	3212	0	0	0	0	0	0	15.12	15.14	15.15
3282	-0.88	-146.0	2395	2490	3439	3214	732.7	-10.6	332	3287	0.00	2.40	0.00	0.000	260	0.000	0.153	2386	3753	3325	3438	3213	0	0	0	0	0	0	15.12	14.69	15.15
3312	-0.88	-146.0	2386	3753	3439	3213	736.1	-12.5	338	3318	0.12	2.22	0.00	0.000	3078	0.288	0.097	2412	2495	3325	3438	3213	0	0	0	0	0	0	14.58	14.81	14.85
3702	-0.88	-146.0	2412	2495	3439	3213	772.9	-9.4	356	3702	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2495	3325	3438	3213	0	0	0	0	0	0	15.13	15.16	15.16
4062	-0.88	-146.0	2412	2496	3438	3214	807.1	-9.5	368	4067	0.00	2.40	0.00	0.000	260	0.000	0.154	2403	3754	3325	3437	3213	0	0	0	0	0	0	15.14	14.68	15.16
4101	-0.88	-146.0	2403	3755	3438	3214	811.0	-10.1	376	4108	0.00	2.28	0.00	0.000	1030	0.000	0.097	2403	2496	3325	3437	3213	0	0	0	0	0	0	14.84	14.76	14.88
4482	-0.88	-146.0	2404	2495	3438	3213	847.4	-9.4	392	4483	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2495	3325	3437	3213	0	0	0	0	0	0	15.13	15.16	15.16
4842	-0.88	-146.0	2404	2495	3438	3213	880.7	-9.2	404	4847	0.00	2.45	0.00	0.000	260	0.000	0.155	2394	3778	3322	3437	3208	0	0	0	0	0	0	15.16	14.67	15.16
4881	-0.88	-146.0	2394	3778	3438	3213	884.5	-7.8	412	4887	0.00	2.33	0.00	0.000	1030	0.000	0.097	2394	2493	3325	3438	3213	0	0	0	0	0	0	14.85	14.77	14.89
5262	-0.88	-146.0	2394	2493	3438	3213	921.9	-10.0	428	5263	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2492	3325	3437	3213	0	0	0	0	0	0	15.13	15.16	15.16
5622	-0.88	-146.0	2394	2492	3438	3214	958.1	-9.9	440	5623	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2493	3325	3437	3213	0	0	0	0	0	0	15.14	15.16	15.16
5980	end dive: TARGET_DEPTH_EXCEEDED
state	5980	begin apogee
5984	-0.23	0.0	2394	2192	3438	3213	993.0	-9.6	452	6595	0.85	0.00	606.67	1.037	10246	0.233	0.000	2623	2191	2716	2773	2659	0	0	0	0	0	0	14.59	13.80	13.28
6597	end apogee: CONTROL_FINISHED_OK
state	6597	begin climb
6598	0.88	146.0	2624	2192	2772	2657	1003.1	0.0	472	7072	1.20	2.83	460.30	1.279	11012	0.126	0.122	2993	792	2115	2146	2085	0	0	0	0	0	0	13.76	13.54	13.08
7266	0.88	146.0	2993	792	2129	2071	926.3	13.9	605	7273	0.00	2.72	0.00	0.000	1030	0.000	0.112	2993	2197	2099	2128	2071	0	0	0	0	0	0	14.23	14.14	14.32
7653	0.88	146.0	2994	2196	2129	2070	871.1	14.3	622	7658	0.00	2.72	0.00	0.000	260	0.000	0.143	2993	3620	2097	2128	2066	0	0	0	0	0	0	14.84	14.53	14.87
7673	0.88	146.0	2993	3621	2129	2067	868.0	14.4	626	7678	0.00	2.58	0.00	0.000	1030	0.000	0.099	3004	2205	2097	2128	2066	0	0	0	0	0	0	14.71	14.59	14.73
8044	0.88	146.0	3004	2205	2128	2065	813.0	15.0	640	8049	0.00	2.65	0.00	0.000	516	0.000	0.129	3015	778	2095	2126	2064	0	0	0	0	0	0	14.95	14.66	14.97
8069	0.88	146.0	3015	779	2127	2065	809.1	14.4	645	8077	0.15	2.62	0.00	0.000	5126	0.249	0.115	2982	2211	2095	2127	2064	0	0	0	0	0	0	14.58	14.67	14.81
8433	0.88	146.0	2983	2211	2128	2063	760.7	13.0	658	8439	0.00	2.67	0.00	0.000	260	0.000	0.145	2982	3628	2095	2127	2063	0	0	0	0	0	0	15.04	14.70	15.07
8478	0.88	146.0	2982	3630	2128	2064	754.3	14.6	667	8484	0.00	2.62	0.00	0.000	1030	0.000	0.101	2991	2196	2092	2121	2063	0	0	0	0	0	0	14.81	14.74	14.92
8853	0.88	146.0	2992	2195	2128	2063	703.5	13.5	682	8859	0.00	2.60	0.00	0.000	516	0.000	0.129	3002	786	2094	2127	2062	0	0	0	0	0	0	15.08	14.73	15.11
8903	0.88	146.0	3003	787	2127	2063	696.6	14.0	692	8909	0.00	2.65	0.00	0.000	1030	0.000	0.116	3003	2212	2094	2126	2062	0	0	0	0	0	0	14.83	14.73	14.88
9214	0.88	146.0	3003	2212	2127	2062	653.1	13.8	724	9220	0.00	2.65	0.00	0.000	260	0.000	0.145	3002	3616	2094	2127	2062	0	0	0	0	0	0	15.04	14.73	15.07
9239	0.88	146.0	3006	3616	2127	2062	649.2	15.4	729	9247	0.10	2.60	0.00	0.000	5126	0.247	0.101	2986	2192	2094	2126	2062	0	0	0	0	0	0	14.63	14.76	14.78
9544	0.88	146.0	2986	2190	2127	2061	609.6	12.9	760	9550	0.00	2.60	0.00	0.000	516	0.000	0.130	2995	782	2094	2127	2061	0	0	0	0	0	0	15.10	14.73	15.12
9569	0.88	146.0	2995	783	2127	2062	606.3	13.0	765	9577	0.00	2.65	0.00	0.000	1030	0.000	0.115	2995	2208	2093	2126	2061	0	0	0	0	0	0	14.83	14.73	14.88
9874	0.88	146.0	2996	2214	2127	2061	566.0	13.2	796	9875	0.00	0.00	0.00	0.000	6	0.000	0.000	2995	2208	2092	2126	2059	0	0	0	0	0	0	15.10	15.13	15.13
10174	0.88	146.0	2996	2208	2127	2060	526.1	13.4	826	10180	0.00	2.67	0.00	0.000	260	0.000	0.146	2995	3623	2093	2126	2060	0	0	0	0	0	0	15.11	14.73	15.14
10204	0.88	146.0	2995	3624	2127	2061	521.8	15.0	832	10210	0.00	2.60	0.00	0.000	1030	0.000	0.102	3006	2199	2093	2126	2060	0	0	0	0	0	0	14.85	14.76	14.90
10514	0.88	146.0	3006	2197	2127	2060	479.3	13.6	864	10515	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2197	2093	2126	2060	0	0	0	0	0	0	15.10	15.14	15.14
10814	0.88	146.0	3006	2196	2127	2061	439.1	13.5	894	10815	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2197	2092	2126	2059	0	0	0	0	0	0	15.11	15.14	15.13
11114	0.88	146.0	3007	2197	2127	2059	399.1	13.3	924	11115	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	2197	2092	2126	2059	0	0	0	0	0	0	15.10	15.13	15.13
11294	end climb: SURFACE_OBSTACLE_DETECTED
state	11294	begin subsurface finish
11297	0.00	2.6	3006	2197	2127	2060	376.1	12.8	942	11308	1.05	2.78	-2.15	0.054	20740	0.211	0.170	2706	3621	2725	2839	2611	0	0	0	0	0	0	14.62	13.36	14.78
11309	end subsurface finish: CONTROL_FINISHED_OK
state	11309	begin surface