Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 160 * 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 160 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 20 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 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 160 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 20 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 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 140218,091440,-7435.3877,-11233.1143,0,4134.7,0,53.5,0.0,0.0,0,0.0 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 374.15 MHEAD_RNG_PITCHd_Wd 310.0,45249,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 3.3 D_GRID 990

GPS2 140218,091440,-7435.3877,-11233.1143,0,4134.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 388.4,1.027471,1 _24V_AH 12.28,70.176

FINISH2 387.3 _10V_AH 12.31,0.000

RAFOS_CLK 402 FG_AHR_24Vo 0.000

RAFOS 0,1518609663,12.032778,12.017500,147,61,60,60,56,55,661,212,232,134,146,165 FG_AHR_10Vo 0.000

RAFOS_FIX -7433.649902,-11236.041992,140218,121200,3,128,0.32 MEM 280052

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 30019,901

TT8_MAMPS 0.040446,0.253162 CAP_FILE_SIZE 116685,0

HUMID 47.87 CFSIZE 1024409600,1001488384

INTERNAL_PRESSURE 7.61906 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 13.70 SOUNDSPEED 1458.4

XPDR_PINGS 0 GPS 140218,121600,-7433.650,-11236.042,0,4128.3,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 396.0,14.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 260 14.05 nil 0 0 0.00

Roll_motor 90 1416 1576.26 nil 0 0 0.00

VBD_pump_during_apogee 664 2314 18876.14 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 11114 6 842.63

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 44 420 226.93 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8481 2 241.18

TT8_Active 696 12 105.23

TT8_Sampling 1904 31 743.94

TT8_CF8 97 45 54.08

TT8_Kalman 0 0 0.00

Analog_circuits 1421 10 178.44

GPS_charging 0 0 0.00

Compass 1291 7 119.03

RAFOS 720 1 13.29

Transponder 313 30 115.93

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

387.1 17.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

393.6 24.60 9000.00 0.0 0.00 0.00 24.60 0.0 1.06 1.00

400.1 31.50 31.50 0.0 1.06 1.00 31.50 0.0 1.06 1.00

980.7 19.60 9000.00 0.0 -0.01 0.65 19.60 0.0 -0.02 1.00

974.1 18.50 9000.00 0.0 -0.02 0.99 18.50 955.6 0.17 1.00

967.7 19.10 9000.00 0.0 0.04 0.23 19.10 0.0 -0.09 1.00

961.4 21.50 9000.00 0.0 -0.24 0.89 21.50 0.0 -0.38 1.00

954.9 13.50 9000.00 0.0 0.44 0.47 13.50 941.4 1.23 1.00

947.7 16.10 9000.00 0.0 0.38 0.41 16.10 0.0 -0.36 1.00

458.1 78.50 9000.00 0.0 -0.13 1.00 78.50 0.0 -0.13 1.00

452.1 72.30 9000.00 0.0 -0.12 0.99 72.30 379.8 1.03 1.00

445.0 64.80 64.80 380.2 1.04 1.00 64.80 380.2 1.06 1.00

437.8 57.50 57.50 380.3 1.03 1.00 57.50 380.3 1.01 1.00

430.8 50.40 50.40 380.4 1.01 1.00 50.40 380.4 1.01 1.00

416.8 35.80 35.80 381.0 1.04 1.00 35.80 381.0 1.04 1.00

409.9 28.80 28.70 381.2 1.04 1.00 28.80 381.1 1.01 1.00

402.9 21.50 21.50 381.4 1.03 1.00 21.50 381.4 1.04 1.00

396.0 14.40 14.30 381.7 1.04 1.00 14.40 381.6 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 2706 2483 2835 2615 0.0 0.0 0 12 0.00 0.05 -1.95 0.048 16390 0.000 1.417 2706 2496 3326 3465 3187 0 0 0 0 0 0 15.07 13.36 15.06

13 -0.88 -146.0 2707 2496 3465 3192 0.0 0.0 0 20 0.88 2.55 0.00 0.000 4612 0.122 0.114 2421 1078 3327 3460 3195 0 0 0 0 0 0 14.75 14.72 14.83

54 -0.88 -146.0 2421 1078 3455 3201 377.2 -8.4 8 60 0.00 2.72 0.00 0.000 1030 0.000 0.126 2412 2538 3327 3453 3201 0 0 0 0 0 0 14.88 14.70 14.95

364 -0.88 -146.0 2413 2538 3448 3207 409.7 -10.6 40 370 0.00 2.38 0.00 0.000 260 0.000 0.155 2402 3756 3326 3446 3206 0 0 0 0 0 0 15.08 14.65 15.11

459 -0.88 -146.0 2403 3756 3445 3206 420.6 -11.3 59 466 0.00 2.30 0.00 0.000 1030 0.000 0.099 2403 2489 3326 3444 3209 0 0 0 0 0 0 14.83 14.76 14.90

764 -0.88 -146.0 2404 2488 3445 3209 454.5 -10.9 90 765 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2489 3326 3443 3209 0 0 0 0 0 0 15.07 15.10 15.10

1064 -0.88 -146.0 2403 2489 3443 3210 486.7 -10.8 120 1065 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2488 3326 3443 3209 0 0 0 0 0 0 15.09 15.12 15.11

1364 -0.88 -146.0 2404 2488 3443 3210 519.7 -11.0 150 1370 0.00 2.45 0.00 0.000 260 0.000 0.153 2394 3753 3326 3443 3209 0 0 0 0 0 0 15.08 14.64 15.11

1434 -0.88 -146.0 2394 3753 3440 3213 527.9 -11.8 164 1440 0.00 2.28 0.00 0.000 1030 0.000 0.097 2393 2497 3325 3439 3211 0 0 0 0 0 0 14.81 14.74 14.86

1744 -0.88 -146.0 2394 2498 3440 3212 563.0 -11.3 196 1745 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2497 3325 3439 3212 0 0 0 0 0 0 15.08 15.11 15.10

2044 -0.88 -146.0 2394 2497 3440 3212 596.2 -10.8 226 2050 0.00 2.45 0.00 0.000 260 0.000 0.155 2384 3752 3325 3438 3212 0 0 0 0 0 0 15.07 14.62 15.10

2074 -0.88 -146.0 2385 3753 3438 3213 599.7 -12.1 232 2080 0.10 2.28 0.00 0.000 3078 0.256 0.096 2411 2497 3325 3438 3212 0 0 0 0 0 0 14.52 14.74 14.70

2384 -0.88 -146.0 2412 2496 3439 3213 631.1 -9.9 264 2385 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2496 3325 3438 3212 0 0 0 0 0 0 15.09 15.12 15.11

2684 -0.88 -146.0 2412 2497 3438 3213 661.0 -9.8 294 2690 0.00 2.45 0.00 0.000 260 0.000 0.155 2403 3754 3324 3437 3212 0 0 0 0 0 0 15.10 14.63 15.13

2719 -0.88 -146.0 2404 3754 3438 3212 664.7 -10.7 301 2727 0.00 2.28 0.00 0.000 1030 0.000 0.098 2403 2499 3324 3437 3212 0 0 0 0 0 0 14.82 14.75 14.86

3024 -0.88 -146.0 2404 2499 3438 3212 695.9 -10.2 332 3025 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2499 3324 3437 3212 0 0 0 0 0 0 15.10 15.13 15.13

3345 -0.88 -146.0 2403 2499 3438 3213 728.7 -10.3 346 3346 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2499 3325 3437 3213 0 0 0 0 0 0 15.11 15.14 15.14

3706 -0.88 -146.0 2403 2498 3438 3212 765.0 -9.9 358 3711 0.00 2.40 0.00 0.000 260 0.000 0.155 2394 3754 3324 3437 3212 0 0 0 0 0 0 15.07 14.68 15.11

3750 -0.88 -146.0 2394 3755 3438 3213 769.8 -10.5 367 3756 0.00 2.28 0.00 0.000 1030 0.000 0.097 2394 2497 3324 3437 3212 0 0 0 0 0 0 14.83 14.76 14.88

4125 -0.88 -146.0 2394 2497 3437 3213 807.1 -10.1 382 4131 0.00 2.45 0.00 0.000 260 0.000 0.154 2385 3751 3324 3437 3212 0 0 0 0 0 0 15.13 14.63 15.16

4155 -0.88 -146.0 2385 3757 3436 3214 810.3 -9.4 388 4162 0.10 2.28 0.00 0.000 3078 0.260 0.097 2412 2499 3325 3437 3213 0 0 0 0 0 0 14.53 14.75 14.71

4546 -0.88 -146.0 2413 2499 3437 3213 845.5 -8.9 406 4552 0.00 2.42 0.00 0.000 260 0.000 0.155 2405 3747 3325 3437 3213 0 0 0 0 0 0 15.13 14.64 15.15

4581 -0.88 -146.0 2404 3748 3437 3214 848.9 -9.9 413 4589 0.00 2.25 0.00 0.000 1030 0.000 0.097 2404 2499 3324 3436 3213 0 0 0 0 0 0 14.83 14.76 14.88

4968 -0.88 -146.0 2404 2500 3437 3214 884.6 -9.2 430 4969 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2499 3324 3436 3213 0 0 0 0 0 0 15.12 15.15 15.14

5329 -0.88 -146.0 2404 2499 3437 3213 916.9 -8.8 442 5329 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2499 3325 3437 3213 0 0 0 0 0 0 15.12 15.15 15.15

5689 -0.88 -146.0 2404 2500 3437 3214 948.0 -7.8 454 5689 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2499 3324 3436 3213 0 0 0 0 0 0 15.13 15.16 15.15

6049 -0.88 -146.0 2404 2499 3438 3213 978.0 -8.2 466 6054 0.00 2.42 0.00 0.000 260 0.000 0.155 2394 3748 3324 3436 3213 0 0 0 0 0 0 15.13 14.62 15.15

6078 -0.88 -146.0 2395 3749 3437 3214 981.1 -8.5 472 6084 0.00 2.25 0.00 0.000 1030 0.000 0.095 2395 2498 3324 3436 3213 0 0 0 0 0 0 14.82 14.74 14.87

6197 end dive: TARGET_DEPTH_EXCEEDED

state 6197 begin apogee

6201 -0.23 0.0 2396 2186 3437 3213 992.3 -9.8 481 6426 0.85 0.05 217.12 2.315 10246 0.235 0.262 2623 2200 2713 2767 2660 0 0 0 0 1 0 14.56 13.35 12.28

6427 end apogee: CONTROL_FINISHED_OK

state 6427 begin climb

6429 0.88 146.0 2624 2200 2770 2660 993.9 0.0 488 6883 1.23 0.00 446.90 1.348 10758 0.137 0.000 2976 2200 2120 2151 2089 0 0 0 0 0 0 13.45 13.62 13.03

7219 0.88 146.0 2976 2200 2128 2062 901.3 12.8 575 7220 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2200 2094 2127 2061 0 0 0 0 0 0 14.61 14.64 14.63

7580 0.88 146.0 2976 2200 2127 2059 854.1 13.3 587 7585 0.00 2.72 0.00 0.000 260 0.000 0.143 2975 3630 2092 2126 2059 0 0 0 0 0 0 14.87 14.57 14.90

7604 0.88 146.0 2977 3630 2127 2059 850.2 15.7 592 7611 0.00 2.62 0.00 0.000 1030 0.000 0.098 2987 2206 2091 2125 2058 0 0 0 0 0 0 14.69 14.62 14.73

7970 0.88 146.0 2987 2205 2125 2058 800.3 13.6 605 7976 0.00 2.65 0.00 0.000 516 0.000 0.129 2997 773 2091 2125 2057 0 0 0 0 0 0 15.01 14.68 15.03

8015 0.88 146.0 2997 773 2124 2058 793.7 13.7 614 8021 0.00 2.67 0.00 0.000 1030 0.000 0.114 2997 2211 2090 2123 2057 0 0 0 0 0 0 14.77 14.67 14.88

8391 0.88 146.0 2997 2212 2124 2057 741.3 14.0 629 8392 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2211 2089 2123 2056 0 0 0 0 0 0 15.02 15.05 15.05

8750 0.88 146.0 2998 2211 2124 2055 691.8 13.6 645 8751 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2211 2089 2123 2055 0 0 0 0 0 0 15.09 15.11 15.11

9050 0.88 146.0 2998 2211 2124 2055 651.0 13.6 675 9056 0.00 2.65 0.00 0.000 516 0.000 0.125 3008 776 2088 2123 2054 0 0 0 0 0 0 15.09 14.74 15.11

9075 0.88 146.0 3008 777 2123 2055 647.5 13.3 680 9082 0.00 2.65 0.00 0.000 1030 0.000 0.112 3008 2211 2088 2122 2054 0 0 0 0 0 0 14.83 14.74 14.89

9380 0.88 146.0 3008 2213 2123 2055 604.2 14.0 711 9387 0.00 2.65 0.00 0.000 260 0.000 0.144 3008 3620 2088 2122 2054 0 0 0 0 0 0 15.10 14.73 15.12

9401 0.88 146.0 3008 3621 2122 2055 601.0 15.0 715 9407 0.08 2.60 0.00 0.000 5126 0.248 0.100 2985 2197 2088 2122 2054 0 0 0 0 0 0 14.65 14.77 14.90

9711 0.88 146.0 2986 2195 2123 2051 561.5 12.6 747 9717 0.00 2.62 0.00 0.000 516 0.000 0.129 2995 773 2087 2122 2052 0 0 0 0 0 0 15.09 14.71 15.13

9761 0.88 146.0 2995 774 2122 2054 554.9 13.2 757 9768 0.00 2.65 0.00 0.000 1030 0.000 0.113 2995 2203 2087 2121 2053 0 0 0 0 0 0 14.79 14.73 14.84

10072 0.88 146.0 2996 2203 2122 2053 514.2 13.3 789 10079 0.00 2.67 0.00 0.000 260 0.000 0.145 2995 3618 2087 2121 2053 0 0 0 0 0 0 15.09 14.71 15.12

10093 0.88 146.0 3000 3618 2122 2053 511.1 14.2 793 10100 0.00 2.60 0.00 0.000 1030 0.000 0.102 3006 2196 2087 2122 2053 0 0 0 0 0 0 14.84 14.76 14.89

10404 0.88 146.0 3006 2199 2122 2053 468.8 13.3 825 10410 0.00 2.62 0.00 0.000 516 0.000 0.130 3016 772 2086 2121 2052 0 0 0 0 0 0 15.09 14.73 15.13

10445 0.88 146.0 3017 775 2122 2052 463.3 13.5 833 10452 0.15 2.60 0.00 0.000 5126 0.236 0.115 2981 2202 2086 2121 2052 0 0 0 0 0 0 14.66 14.75 14.90

10756 0.88 146.0 2981 2204 2121 2053 426.1 11.8 865 10757 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 2203 2086 2120 2052 0 0 0 0 0 0 15.11 15.14 15.14

11056 0.88 146.0 2981 2203 2122 2052 391.5 11.2 895 11062 0.00 2.67 0.00 0.000 260 0.000 0.146 2981 3617 2089 2126 2052 0 0 0 0 0 0 15.11 14.72 15.14

11079 end climb: SURFACE_OBSTACLE_DETECTED

state 11079 begin subsurface finish

11086 0.00 1.5 2991 2189 2122 2052 388.4 12.2 900 11094 1.02 2.67 -2.12 0.044 20996 0.209 0.153 2709 783 2720 2834 2606 0 0 0 0 0 0 14.66 13.35 14.90

11095 end subsurface finish: CONTROL_FINISHED_OK

state 11095 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	160	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	20	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	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	140218,091440,-7435.3877,-11233.1143,0,4134.7,0,53.5,0.0,0.0,0,0.0	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	374.15	MHEAD_RNG_PITCHd_Wd	310.0,45249,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	3.3	D_GRID	990
GPS2	140218,091440,-7435.3877,-11233.1143,0,4134.7,0,53.5,0.0,0.0,0,0.0

FINISH1	388.4,1.027471,1	_24V_AH	12.28,70.176
FINISH2	387.3	_10V_AH	12.31,0.000
RAFOS_CLK	402	FG_AHR_24Vo	0.000
RAFOS	0,1518609663,12.032778,12.017500,147,61,60,60,56,55,661,212,232,134,146,165	FG_AHR_10Vo	0.000
RAFOS_FIX	-7433.649902,-11236.041992,140218,121200,3,128,0.32	MEM	280052
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	30019,901
TT8_MAMPS	0.040446,0.253162	CAP_FILE_SIZE	116685,0
HUMID	47.87	CFSIZE	1024409600,1001488384
INTERNAL_PRESSURE	7.61906	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.70	SOUNDSPEED	1458.4
XPDR_PINGS	0	GPS	140218,121600,-7433.650,-11236.042,0,4128.3,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	396.0,14.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	260	14.05	nil	0	0	0.00
Roll_motor	90	1416	1576.26	nil	0	0	0.00
VBD_pump_during_apogee	664	2314	18876.14	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	11114	6	842.63
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	44	420	226.93	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8481	2	241.18
TT8_Active	696	12	105.23
TT8_Sampling	1904	31	743.94
TT8_CF8	97	45	54.08
TT8_Kalman	0	0	0.00
Analog_circuits	1421	10	178.44
GPS_charging	0	0	0.00
Compass	1291	7	119.03
RAFOS	720	1	13.29
Transponder	313	30	115.93

		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
387.1	17.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
393.6	24.60	9000.00	0.0	0.00	0.00	24.60	0.0	1.06	1.00
400.1	31.50	31.50	0.0	1.06	1.00	31.50	0.0	1.06	1.00

980.7	19.60	9000.00	0.0	-0.01	0.65	19.60	0.0	-0.02	1.00
974.1	18.50	9000.00	0.0	-0.02	0.99	18.50	955.6	0.17	1.00
967.7	19.10	9000.00	0.0	0.04	0.23	19.10	0.0	-0.09	1.00
961.4	21.50	9000.00	0.0	-0.24	0.89	21.50	0.0	-0.38	1.00
954.9	13.50	9000.00	0.0	0.44	0.47	13.50	941.4	1.23	1.00
947.7	16.10	9000.00	0.0	0.38	0.41	16.10	0.0	-0.36	1.00
458.1	78.50	9000.00	0.0	-0.13	1.00	78.50	0.0	-0.13	1.00
452.1	72.30	9000.00	0.0	-0.12	0.99	72.30	379.8	1.03	1.00
445.0	64.80	64.80	380.2	1.04	1.00	64.80	380.2	1.06	1.00
437.8	57.50	57.50	380.3	1.03	1.00	57.50	380.3	1.01	1.00
430.8	50.40	50.40	380.4	1.01	1.00	50.40	380.4	1.01	1.00
416.8	35.80	35.80	381.0	1.04	1.00	35.80	381.0	1.04	1.00
409.9	28.80	28.70	381.2	1.04	1.00	28.80	381.1	1.01	1.00
402.9	21.50	21.50	381.4	1.03	1.00	21.50	381.4	1.04	1.00
396.0	14.40	14.30	381.7	1.04	1.00	14.40	381.6	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	2706	2483	2835	2615	0.0	0.0	0	12	0.00	0.05	-1.95	0.048	16390	0.000	1.417	2706	2496	3326	3465	3187	0	0	0	0	0	0	15.07	13.36	15.06
13	-0.88	-146.0	2707	2496	3465	3192	0.0	0.0	0	20	0.88	2.55	0.00	0.000	4612	0.122	0.114	2421	1078	3327	3460	3195	0	0	0	0	0	0	14.75	14.72	14.83
54	-0.88	-146.0	2421	1078	3455	3201	377.2	-8.4	8	60	0.00	2.72	0.00	0.000	1030	0.000	0.126	2412	2538	3327	3453	3201	0	0	0	0	0	0	14.88	14.70	14.95
364	-0.88	-146.0	2413	2538	3448	3207	409.7	-10.6	40	370	0.00	2.38	0.00	0.000	260	0.000	0.155	2402	3756	3326	3446	3206	0	0	0	0	0	0	15.08	14.65	15.11
459	-0.88	-146.0	2403	3756	3445	3206	420.6	-11.3	59	466	0.00	2.30	0.00	0.000	1030	0.000	0.099	2403	2489	3326	3444	3209	0	0	0	0	0	0	14.83	14.76	14.90
764	-0.88	-146.0	2404	2488	3445	3209	454.5	-10.9	90	765	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2489	3326	3443	3209	0	0	0	0	0	0	15.07	15.10	15.10
1064	-0.88	-146.0	2403	2489	3443	3210	486.7	-10.8	120	1065	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2488	3326	3443	3209	0	0	0	0	0	0	15.09	15.12	15.11
1364	-0.88	-146.0	2404	2488	3443	3210	519.7	-11.0	150	1370	0.00	2.45	0.00	0.000	260	0.000	0.153	2394	3753	3326	3443	3209	0	0	0	0	0	0	15.08	14.64	15.11
1434	-0.88	-146.0	2394	3753	3440	3213	527.9	-11.8	164	1440	0.00	2.28	0.00	0.000	1030	0.000	0.097	2393	2497	3325	3439	3211	0	0	0	0	0	0	14.81	14.74	14.86
1744	-0.88	-146.0	2394	2498	3440	3212	563.0	-11.3	196	1745	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2497	3325	3439	3212	0	0	0	0	0	0	15.08	15.11	15.10
2044	-0.88	-146.0	2394	2497	3440	3212	596.2	-10.8	226	2050	0.00	2.45	0.00	0.000	260	0.000	0.155	2384	3752	3325	3438	3212	0	0	0	0	0	0	15.07	14.62	15.10
2074	-0.88	-146.0	2385	3753	3438	3213	599.7	-12.1	232	2080	0.10	2.28	0.00	0.000	3078	0.256	0.096	2411	2497	3325	3438	3212	0	0	0	0	0	0	14.52	14.74	14.70
2384	-0.88	-146.0	2412	2496	3439	3213	631.1	-9.9	264	2385	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2496	3325	3438	3212	0	0	0	0	0	0	15.09	15.12	15.11
2684	-0.88	-146.0	2412	2497	3438	3213	661.0	-9.8	294	2690	0.00	2.45	0.00	0.000	260	0.000	0.155	2403	3754	3324	3437	3212	0	0	0	0	0	0	15.10	14.63	15.13
2719	-0.88	-146.0	2404	3754	3438	3212	664.7	-10.7	301	2727	0.00	2.28	0.00	0.000	1030	0.000	0.098	2403	2499	3324	3437	3212	0	0	0	0	0	0	14.82	14.75	14.86
3024	-0.88	-146.0	2404	2499	3438	3212	695.9	-10.2	332	3025	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2499	3324	3437	3212	0	0	0	0	0	0	15.10	15.13	15.13
3345	-0.88	-146.0	2403	2499	3438	3213	728.7	-10.3	346	3346	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2499	3325	3437	3213	0	0	0	0	0	0	15.11	15.14	15.14
3706	-0.88	-146.0	2403	2498	3438	3212	765.0	-9.9	358	3711	0.00	2.40	0.00	0.000	260	0.000	0.155	2394	3754	3324	3437	3212	0	0	0	0	0	0	15.07	14.68	15.11
3750	-0.88	-146.0	2394	3755	3438	3213	769.8	-10.5	367	3756	0.00	2.28	0.00	0.000	1030	0.000	0.097	2394	2497	3324	3437	3212	0	0	0	0	0	0	14.83	14.76	14.88
4125	-0.88	-146.0	2394	2497	3437	3213	807.1	-10.1	382	4131	0.00	2.45	0.00	0.000	260	0.000	0.154	2385	3751	3324	3437	3212	0	0	0	0	0	0	15.13	14.63	15.16
4155	-0.88	-146.0	2385	3757	3436	3214	810.3	-9.4	388	4162	0.10	2.28	0.00	0.000	3078	0.260	0.097	2412	2499	3325	3437	3213	0	0	0	0	0	0	14.53	14.75	14.71
4546	-0.88	-146.0	2413	2499	3437	3213	845.5	-8.9	406	4552	0.00	2.42	0.00	0.000	260	0.000	0.155	2405	3747	3325	3437	3213	0	0	0	0	0	0	15.13	14.64	15.15
4581	-0.88	-146.0	2404	3748	3437	3214	848.9	-9.9	413	4589	0.00	2.25	0.00	0.000	1030	0.000	0.097	2404	2499	3324	3436	3213	0	0	0	0	0	0	14.83	14.76	14.88
4968	-0.88	-146.0	2404	2500	3437	3214	884.6	-9.2	430	4969	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2499	3324	3436	3213	0	0	0	0	0	0	15.12	15.15	15.14
5329	-0.88	-146.0	2404	2499	3437	3213	916.9	-8.8	442	5329	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2499	3325	3437	3213	0	0	0	0	0	0	15.12	15.15	15.15
5689	-0.88	-146.0	2404	2500	3437	3214	948.0	-7.8	454	5689	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2499	3324	3436	3213	0	0	0	0	0	0	15.13	15.16	15.15
6049	-0.88	-146.0	2404	2499	3438	3213	978.0	-8.2	466	6054	0.00	2.42	0.00	0.000	260	0.000	0.155	2394	3748	3324	3436	3213	0	0	0	0	0	0	15.13	14.62	15.15
6078	-0.88	-146.0	2395	3749	3437	3214	981.1	-8.5	472	6084	0.00	2.25	0.00	0.000	1030	0.000	0.095	2395	2498	3324	3436	3213	0	0	0	0	0	0	14.82	14.74	14.87
6197	end dive: TARGET_DEPTH_EXCEEDED
state	6197	begin apogee
6201	-0.23	0.0	2396	2186	3437	3213	992.3	-9.8	481	6426	0.85	0.05	217.12	2.315	10246	0.235	0.262	2623	2200	2713	2767	2660	0	0	0	0	1	0	14.56	13.35	12.28
6427	end apogee: CONTROL_FINISHED_OK
state	6427	begin climb
6429	0.88	146.0	2624	2200	2770	2660	993.9	0.0	488	6883	1.23	0.00	446.90	1.348	10758	0.137	0.000	2976	2200	2120	2151	2089	0	0	0	0	0	0	13.45	13.62	13.03
7219	0.88	146.0	2976	2200	2128	2062	901.3	12.8	575	7220	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2200	2094	2127	2061	0	0	0	0	0	0	14.61	14.64	14.63
7580	0.88	146.0	2976	2200	2127	2059	854.1	13.3	587	7585	0.00	2.72	0.00	0.000	260	0.000	0.143	2975	3630	2092	2126	2059	0	0	0	0	0	0	14.87	14.57	14.90
7604	0.88	146.0	2977	3630	2127	2059	850.2	15.7	592	7611	0.00	2.62	0.00	0.000	1030	0.000	0.098	2987	2206	2091	2125	2058	0	0	0	0	0	0	14.69	14.62	14.73
7970	0.88	146.0	2987	2205	2125	2058	800.3	13.6	605	7976	0.00	2.65	0.00	0.000	516	0.000	0.129	2997	773	2091	2125	2057	0	0	0	0	0	0	15.01	14.68	15.03
8015	0.88	146.0	2997	773	2124	2058	793.7	13.7	614	8021	0.00	2.67	0.00	0.000	1030	0.000	0.114	2997	2211	2090	2123	2057	0	0	0	0	0	0	14.77	14.67	14.88
8391	0.88	146.0	2997	2212	2124	2057	741.3	14.0	629	8392	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2211	2089	2123	2056	0	0	0	0	0	0	15.02	15.05	15.05
8750	0.88	146.0	2998	2211	2124	2055	691.8	13.6	645	8751	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2211	2089	2123	2055	0	0	0	0	0	0	15.09	15.11	15.11
9050	0.88	146.0	2998	2211	2124	2055	651.0	13.6	675	9056	0.00	2.65	0.00	0.000	516	0.000	0.125	3008	776	2088	2123	2054	0	0	0	0	0	0	15.09	14.74	15.11
9075	0.88	146.0	3008	777	2123	2055	647.5	13.3	680	9082	0.00	2.65	0.00	0.000	1030	0.000	0.112	3008	2211	2088	2122	2054	0	0	0	0	0	0	14.83	14.74	14.89
9380	0.88	146.0	3008	2213	2123	2055	604.2	14.0	711	9387	0.00	2.65	0.00	0.000	260	0.000	0.144	3008	3620	2088	2122	2054	0	0	0	0	0	0	15.10	14.73	15.12
9401	0.88	146.0	3008	3621	2122	2055	601.0	15.0	715	9407	0.08	2.60	0.00	0.000	5126	0.248	0.100	2985	2197	2088	2122	2054	0	0	0	0	0	0	14.65	14.77	14.90
9711	0.88	146.0	2986	2195	2123	2051	561.5	12.6	747	9717	0.00	2.62	0.00	0.000	516	0.000	0.129	2995	773	2087	2122	2052	0	0	0	0	0	0	15.09	14.71	15.13
9761	0.88	146.0	2995	774	2122	2054	554.9	13.2	757	9768	0.00	2.65	0.00	0.000	1030	0.000	0.113	2995	2203	2087	2121	2053	0	0	0	0	0	0	14.79	14.73	14.84
10072	0.88	146.0	2996	2203	2122	2053	514.2	13.3	789	10079	0.00	2.67	0.00	0.000	260	0.000	0.145	2995	3618	2087	2121	2053	0	0	0	0	0	0	15.09	14.71	15.12
10093	0.88	146.0	3000	3618	2122	2053	511.1	14.2	793	10100	0.00	2.60	0.00	0.000	1030	0.000	0.102	3006	2196	2087	2122	2053	0	0	0	0	0	0	14.84	14.76	14.89
10404	0.88	146.0	3006	2199	2122	2053	468.8	13.3	825	10410	0.00	2.62	0.00	0.000	516	0.000	0.130	3016	772	2086	2121	2052	0	0	0	0	0	0	15.09	14.73	15.13
10445	0.88	146.0	3017	775	2122	2052	463.3	13.5	833	10452	0.15	2.60	0.00	0.000	5126	0.236	0.115	2981	2202	2086	2121	2052	0	0	0	0	0	0	14.66	14.75	14.90
10756	0.88	146.0	2981	2204	2121	2053	426.1	11.8	865	10757	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	2203	2086	2120	2052	0	0	0	0	0	0	15.11	15.14	15.14
11056	0.88	146.0	2981	2203	2122	2052	391.5	11.2	895	11062	0.00	2.67	0.00	0.000	260	0.000	0.146	2981	3617	2089	2126	2052	0	0	0	0	0	0	15.11	14.72	15.14
11079	end climb: SURFACE_OBSTACLE_DETECTED
state	11079	begin subsurface finish
11086	0.00	1.5	2991	2189	2122	2052	388.4	12.2	900	11094	1.02	2.67	-2.12	0.044	20996	0.209	0.153	2709	783	2720	2834	2606	0	0	0	0	0	0	14.66	13.35	14.90
11095	end subsurface finish: CONTROL_FINISHED_OK
state	11095	begin surface