Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 163 * 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 163 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 15 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 12 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 163 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 15 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 12 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 140218,151512,-7432.5576,-11235.3887,0,4125.3,0,53.5,0.0,0.0,0,0.0 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 396.31 MHEAD_RNG_PITCHd_Wd 312.1,40113,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 2.1 D_GRID 990

GPS2 140218,151512,-7432.5576,-11235.3887,0,4125.3,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 399.1,1.027486,1 _24V_AH 12.29,71.291

FINISH2 398.4 _10V_AH 12.31,0.000

RAFOS_CLK 390 FG_AHR_24Vo 0.000

RAFOS 0,1518631272,18.032778,18.020000,121,74,57,55,53,51,592,222,210,135,193,377 FG_AHR_10Vo 0.000

RAFOS_FIX -7431.347656,-11231.701172,140218,181824,3,134,0.27 MEM 280004

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 26780,814

TT8_MAMPS 0.041944,0.493591 CAP_FILE_SIZE 105621,0

HUMID 48.34 CFSIZE 1024409600,1001177088

INTERNAL_PRESSURE 7.63859 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 13.80 SOUNDSPEED 1458.8

XPDR_PINGS 0 GPS 140218,181424,-7431.348,-11231.701,0,4134.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 404.7,11.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 278 14.63 nil 0 0 0.00

Roll_motor 54 168 112.73 nil 0 0 0.00

VBD_pump_during_apogee 712 2322 20342.61 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 10653 6 801.66

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 42 420 218.09 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8241 2 234.36

TT8_Active 665 12 100.48

TT8_Sampling 1725 31 674.01

TT8_CF8 87 45 48.75

TT8_Kalman 0 0 0.00

Analog_circuits 1332 10 167.27

GPS_charging 0 0 0.00

Compass 1167 7 107.66

RAFOS 720 1 13.29

Transponder 301 30 111.31

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

991.1 16.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

984.9 34.50 9000.00 0.0 0.00 0.00 34.50 0.0 -2.87 1.00

978.6 15.60 9000.00 0.0 0.09 0.00 15.60 963.0 3.00 1.00

972.4 18.90 9000.00 0.0 1.26 0.60 18.90 0.0 -0.53 1.00

966.3 22.90 9000.00 0.0 -0.60 1.00 22.90 0.0 -0.66 1.00

959.9 16.90 9000.00 0.0 0.17 0.12 16.90 943.0 0.94 1.00

953.2 17.90 9000.00 0.0 0.38 0.60 17.90 0.0 -0.15 1.00

946.0 20.90 9000.00 0.0 -0.29 0.94 20.90 0.0 -0.42 1.00

471.2 80.20 9000.00 0.0 -0.13 1.00 80.20 0.0 -0.12 1.00

464.6 73.30 9000.00 0.0 -0.12 0.99 73.30 391.3 1.05 1.00

458.0 66.40 66.40 391.6 1.04 1.00 66.40 391.6 1.05 1.00

451.4 59.70 59.60 391.8 1.03 1.00 59.70 391.7 1.02 1.00

444.7 53.00 53.00 391.7 1.01 1.00 53.00 391.7 1.00 1.00

438.1 46.10 46.20 391.9 1.02 1.00 46.10 392.0 1.05 1.00

431.5 39.30 39.30 392.2 1.03 1.00 39.30 392.2 1.03 1.00

425.3 33.30 33.20 392.1 1.01 1.00 33.30 392.0 0.97 1.00

418.3 26.20 26.20 392.1 1.00 1.00 26.20 392.1 1.01 1.00

411.5 18.70 18.90 392.6 1.05 1.00 18.70 392.8 1.10 1.00

404.7 11.80 11.70 393.0 1.06 1.00 11.80 392.9 1.01 1.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.88 -146.0 2702 2512 2847 2622 0.0 0.0 0 12 0.00 0.00 -1.88 0.050 16390 0.000 0.000 2701 2511 3330 3469 3192 0 0 0 0 0 0 15.09 13.44 15.08

13 -0.88 -146.0 2702 2512 3469 3196 0.0 0.0 0 15 0.90 0.00 0.00 0.000 4102 0.115 0.000 2408 2512 3329 3467 3192 0 0 0 0 0 0 14.83 14.98 14.95

310 -0.88 -146.0 2408 2511 3454 3211 427.0 -10.9 30 316 0.00 2.60 0.00 0.000 516 0.000 0.114 2408 1085 3332 3453 3211 0 0 0 0 0 0 15.11 14.76 15.14

335 -0.88 -146.0 2408 1086 3452 3213 429.8 -11.5 35 342 0.00 2.70 0.00 0.000 1030 0.000 0.127 2398 2509 3331 3451 3212 0 0 0 0 0 0 14.83 14.71 14.89

640 -0.88 -146.0 2399 2510 3450 3212 464.4 -11.1 66 641 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2510 3331 3450 3213 0 0 0 0 0 0 15.12 15.16 15.16

940 -0.88 -146.0 2399 2510 3450 3213 497.7 -11.2 96 941 0.00 0.00 0.00 0.000 6 0.000 0.000 2399 2514 3331 3449 3213 0 0 0 0 0 0 15.13 15.16 15.16

1240 -0.88 -146.0 2399 2510 3449 3214 530.5 -10.7 126 1246 0.00 2.40 0.00 0.000 260 0.000 0.151 2389 3756 3330 3447 3213 0 0 0 0 0 0 15.14 14.71 15.16

1276 -0.88 -146.0 2390 3756 3446 3215 534.5 -11.7 133 1284 0.00 2.25 0.00 0.000 1030 0.000 0.097 2389 2481 3330 3445 3215 0 0 0 0 0 0 14.95 14.83 14.97

1581 -0.88 -146.0 2389 2481 3446 3215 568.9 -11.3 164 1586 0.00 2.53 0.00 0.000 516 0.000 0.112 2388 1085 3330 3445 3215 0 0 0 0 0 0 15.12 14.76 15.15

1605 -0.88 -146.0 2389 1086 3446 3215 571.8 -11.7 169 1614 0.12 2.67 0.00 0.000 3078 0.278 0.125 2412 2501 3330 3445 3215 0 0 0 0 0 0 14.56 14.71 14.73

1910 -0.88 -146.0 2411 2502 3445 3216 603.3 -10.2 200 1911 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2501 3329 3443 3215 0 0 0 0 0 0 15.13 15.17 15.15

2210 -0.88 -146.0 2412 2501 3446 3215 633.5 -10.1 230 2211 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2501 3329 3444 3215 0 0 0 0 0 0 15.13 15.16 15.15

2511 -0.88 -146.0 2413 2501 3445 3215 663.5 -10.1 260 2512 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2501 3329 3444 3215 0 0 0 0 0 0 15.07 15.10 15.09

2811 -0.88 -146.0 2412 2501 3444 3216 694.0 -10.3 290 2816 0.00 2.38 0.00 0.000 260 0.000 0.155 2403 3753 3329 3443 3215 0 0 0 0 0 0 15.08 14.70 15.10

2851 -0.88 -146.0 2403 3754 3443 3217 698.4 -11.1 298 2856 0.00 2.28 0.00 0.000 1030 0.000 0.098 2403 2496 3329 3442 3216 0 0 0 0 0 0 14.85 14.78 14.90

3172 -0.88 -146.0 2403 2497 3443 3217 731.1 -10.2 311 3173 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2495 3329 3443 3216 0 0 0 0 0 0 15.08 15.11 15.10

3531 -0.88 -146.0 2403 2496 3444 3216 767.2 -9.9 323 3536 0.00 2.58 0.00 0.000 516 0.000 0.113 2403 1078 3328 3441 3216 0 0 0 0 0 0 15.14 14.73 15.16

3550 -0.88 -146.0 2403 1079 3443 3217 769.4 -10.7 327 3556 0.00 2.70 0.00 0.000 1030 0.000 0.125 2393 2505 3329 3442 3216 0 0 0 0 0 0 14.81 14.70 14.87

3921 -0.88 -146.0 2393 2505 3443 3216 806.5 -10.1 341 3922 0.00 0.00 0.00 0.000 6 0.000 0.000 2393 2505 3329 3442 3216 0 0 0 0 0 0 15.14 15.16 15.16

4281 -0.88 -146.0 2393 2506 3442 3217 842.5 -9.9 353 4287 0.00 2.40 0.00 0.000 260 0.000 0.152 2384 3749 3329 3442 3216 0 0 0 0 0 0 15.14 14.67 15.17

4336 -0.88 -146.0 2385 3749 3443 3216 848.5 -11.0 364 4344 0.10 2.25 0.00 0.000 3078 0.262 0.096 2411 2503 3328 3441 3216 0 0 0 0 0 0 14.57 14.78 14.74

4702 -0.88 -146.0 2411 2502 3443 3217 882.4 -9.2 377 4703 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2503 3329 3442 3216 0 0 0 0 0 0 15.14 15.16 15.16

5062 -0.88 -146.0 2411 2503 3442 3217 915.3 -9.1 389 5062 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2502 3329 3441 3217 0 0 0 0 0 0 15.15 15.17 15.17

5421 -0.88 -146.0 2411 2503 3442 3217 947.9 -8.9 401 5422 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2503 3329 3442 3216 0 0 0 0 0 0 15.15 15.18 15.17

5781 -0.88 -146.0 2405 2502 3443 3217 979.9 -8.9 413 5782 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2503 3328 3441 3216 0 0 0 0 0 0 15.15 15.19 15.18

5900 end dive: TARGET_DEPTH_EXCEEDED

state 5900 begin apogee

5904 -0.23 0.0 2412 2188 3442 3216 990.6 -8.9 417 6130 0.77 0.00 218.52 2.323 10246 0.228 0.000 2622 2187 2714 2767 2661 0 0 0 0 1 0 14.62 13.45 12.29

6131 end apogee: CONTROL_FINISHED_OK

state 6131 begin climb

6132 0.88 146.0 2623 2188 2768 2660 996.0 0.0 424 6635 1.25 0.00 494.15 1.238 10758 0.138 0.000 2980 2188 2119 2151 2088 0 0 0 0 0 0 13.45 13.68 13.14

6982 0.88 146.0 2981 2188 2138 2071 897.1 13.6 528 6983 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 2185 2103 2137 2070 0 0 0 0 0 0 14.64 14.66 14.66

7343 0.88 146.0 2981 2188 2137 2069 848.1 13.6 540 7344 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 2188 2102 2136 2069 0 0 0 0 0 0 14.88 14.91 14.91

7703 0.88 146.0 2981 2188 2137 2067 799.5 13.5 552 7708 0.00 2.60 0.00 0.000 516 0.000 0.126 2991 789 2101 2135 2067 0 0 0 0 0 0 14.97 14.68 15.00

7722 0.88 146.0 2990 789 2136 2068 796.3 15.4 556 7728 0.00 2.65 0.00 0.000 1030 0.000 0.114 2991 2211 2101 2135 2067 0 0 0 0 0 0 14.76 14.67 14.81

8092 0.88 146.0 2991 2212 2136 2067 745.5 13.7 570 8093 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2211 2099 2135 2063 0 0 0 0 0 0 15.04 15.07 15.07

8452 0.88 146.0 2991 2212 2136 2066 695.8 13.7 584 8458 0.00 2.62 0.00 0.000 516 0.000 0.126 3001 788 2100 2135 2066 0 0 0 0 0 0 15.07 14.73 15.09

8477 0.88 146.0 3002 788 2136 2066 692.3 14.6 589 8485 0.00 2.62 0.00 0.000 1030 0.000 0.115 3001 2202 2101 2134 2069 0 0 0 0 0 0 14.82 14.73 14.88

8782 0.88 146.0 3002 2202 2135 2065 648.7 14.3 620 8783 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2202 2099 2134 2065 0 0 0 0 0 0 15.07 15.10 15.10

9082 0.88 146.0 3001 2203 2135 2066 607.2 13.8 650 9088 0.00 2.60 0.00 0.000 516 0.000 0.125 3011 791 2099 2134 2065 0 0 0 0 0 0 15.08 14.73 15.11

9112 0.88 146.0 3012 792 2134 2066 602.9 14.5 656 9118 0.00 2.62 0.00 0.000 1030 0.000 0.115 3012 2208 2099 2133 2065 0 0 0 0 0 0 14.93 14.73 14.96

9422 0.88 146.0 3012 2208 2134 2065 559.0 14.0 688 9423 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2206 2099 2133 2065 0 0 0 0 0 0 15.09 15.12 15.12

9722 0.88 146.0 3012 2209 2134 2066 516.9 14.0 718 9723 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2208 2099 2133 2065 0 0 0 0 0 0 15.09 15.11 15.11

10022 0.88 146.0 3012 2210 2134 2065 475.3 13.7 748 10023 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2208 2098 2133 2064 0 0 0 0 0 0 15.09 15.13 15.13

10322 0.88 146.0 3012 2208 2134 2064 435.5 13.2 778 10328 0.00 2.62 0.00 0.000 516 0.000 0.125 3022 782 2098 2133 2064 0 0 0 0 0 0 15.09 14.73 15.12

10353 0.88 146.0 3022 783 2134 2065 431.5 13.7 784 10358 0.17 2.60 0.00 0.000 5126 0.231 0.115 2980 2213 2098 2133 2063 0 0 0 0 0 0 14.69 14.76 14.90

10631 end climb: SURFACE_OBSTACLE_DETECTED

state 10631 begin subsurface finish

10635 0.00 0.7 2981 2213 2134 2064 399.1 11.2 813 10643 0.95 2.65 -2.05 0.056 20740 0.198 0.168 2701 3612 2726 2840 2612 0 0 0 0 0 0 14.66 13.95 14.80

10643 end subsurface finish: CONTROL_FINISHED_OK

state 10643 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	163	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	15	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	12	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	140218,151512,-7432.5576,-11235.3887,0,4125.3,0,53.5,0.0,0.0,0,0.0	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	396.31	MHEAD_RNG_PITCHd_Wd	312.1,40113,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	2.1	D_GRID	990
GPS2	140218,151512,-7432.5576,-11235.3887,0,4125.3,0,53.5,0.0,0.0,0,0.0

FINISH1	399.1,1.027486,1	_24V_AH	12.29,71.291
FINISH2	398.4	_10V_AH	12.31,0.000
RAFOS_CLK	390	FG_AHR_24Vo	0.000
RAFOS	0,1518631272,18.032778,18.020000,121,74,57,55,53,51,592,222,210,135,193,377	FG_AHR_10Vo	0.000
RAFOS_FIX	-7431.347656,-11231.701172,140218,181824,3,134,0.27	MEM	280004
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	26780,814
TT8_MAMPS	0.041944,0.493591	CAP_FILE_SIZE	105621,0
HUMID	48.34	CFSIZE	1024409600,1001177088
INTERNAL_PRESSURE	7.63859	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.80	SOUNDSPEED	1458.8
XPDR_PINGS	0	GPS	140218,181424,-7431.348,-11231.701,0,4134.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	404.7,11.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	278	14.63	nil	0	0	0.00
Roll_motor	54	168	112.73	nil	0	0	0.00
VBD_pump_during_apogee	712	2322	20342.61	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	10653	6	801.66
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	42	420	218.09	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8241	2	234.36
TT8_Active	665	12	100.48
TT8_Sampling	1725	31	674.01
TT8_CF8	87	45	48.75
TT8_Kalman	0	0	0.00
Analog_circuits	1332	10	167.27
GPS_charging	0	0	0.00
Compass	1167	7	107.66
RAFOS	720	1	13.29
Transponder	301	30	111.31

		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

991.1	16.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
984.9	34.50	9000.00	0.0	0.00	0.00	34.50	0.0	-2.87	1.00
978.6	15.60	9000.00	0.0	0.09	0.00	15.60	963.0	3.00	1.00
972.4	18.90	9000.00	0.0	1.26	0.60	18.90	0.0	-0.53	1.00
966.3	22.90	9000.00	0.0	-0.60	1.00	22.90	0.0	-0.66	1.00
959.9	16.90	9000.00	0.0	0.17	0.12	16.90	943.0	0.94	1.00
953.2	17.90	9000.00	0.0	0.38	0.60	17.90	0.0	-0.15	1.00
946.0	20.90	9000.00	0.0	-0.29	0.94	20.90	0.0	-0.42	1.00
471.2	80.20	9000.00	0.0	-0.13	1.00	80.20	0.0	-0.12	1.00
464.6	73.30	9000.00	0.0	-0.12	0.99	73.30	391.3	1.05	1.00
458.0	66.40	66.40	391.6	1.04	1.00	66.40	391.6	1.05	1.00
451.4	59.70	59.60	391.8	1.03	1.00	59.70	391.7	1.02	1.00
444.7	53.00	53.00	391.7	1.01	1.00	53.00	391.7	1.00	1.00
438.1	46.10	46.20	391.9	1.02	1.00	46.10	392.0	1.05	1.00
431.5	39.30	39.30	392.2	1.03	1.00	39.30	392.2	1.03	1.00
425.3	33.30	33.20	392.1	1.01	1.00	33.30	392.0	0.97	1.00
418.3	26.20	26.20	392.1	1.00	1.00	26.20	392.1	1.01	1.00
411.5	18.70	18.90	392.6	1.05	1.00	18.70	392.8	1.10	1.00
404.7	11.80	11.70	393.0	1.06	1.00	11.80	392.9	1.01	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.88	-146.0	2702	2512	2847	2622	0.0	0.0	0	12	0.00	0.00	-1.88	0.050	16390	0.000	0.000	2701	2511	3330	3469	3192	0	0	0	0	0	0	15.09	13.44	15.08
13	-0.88	-146.0	2702	2512	3469	3196	0.0	0.0	0	15	0.90	0.00	0.00	0.000	4102	0.115	0.000	2408	2512	3329	3467	3192	0	0	0	0	0	0	14.83	14.98	14.95
310	-0.88	-146.0	2408	2511	3454	3211	427.0	-10.9	30	316	0.00	2.60	0.00	0.000	516	0.000	0.114	2408	1085	3332	3453	3211	0	0	0	0	0	0	15.11	14.76	15.14
335	-0.88	-146.0	2408	1086	3452	3213	429.8	-11.5	35	342	0.00	2.70	0.00	0.000	1030	0.000	0.127	2398	2509	3331	3451	3212	0	0	0	0	0	0	14.83	14.71	14.89
640	-0.88	-146.0	2399	2510	3450	3212	464.4	-11.1	66	641	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2510	3331	3450	3213	0	0	0	0	0	0	15.12	15.16	15.16
940	-0.88	-146.0	2399	2510	3450	3213	497.7	-11.2	96	941	0.00	0.00	0.00	0.000	6	0.000	0.000	2399	2514	3331	3449	3213	0	0	0	0	0	0	15.13	15.16	15.16
1240	-0.88	-146.0	2399	2510	3449	3214	530.5	-10.7	126	1246	0.00	2.40	0.00	0.000	260	0.000	0.151	2389	3756	3330	3447	3213	0	0	0	0	0	0	15.14	14.71	15.16
1276	-0.88	-146.0	2390	3756	3446	3215	534.5	-11.7	133	1284	0.00	2.25	0.00	0.000	1030	0.000	0.097	2389	2481	3330	3445	3215	0	0	0	0	0	0	14.95	14.83	14.97
1581	-0.88	-146.0	2389	2481	3446	3215	568.9	-11.3	164	1586	0.00	2.53	0.00	0.000	516	0.000	0.112	2388	1085	3330	3445	3215	0	0	0	0	0	0	15.12	14.76	15.15
1605	-0.88	-146.0	2389	1086	3446	3215	571.8	-11.7	169	1614	0.12	2.67	0.00	0.000	3078	0.278	0.125	2412	2501	3330	3445	3215	0	0	0	0	0	0	14.56	14.71	14.73
1910	-0.88	-146.0	2411	2502	3445	3216	603.3	-10.2	200	1911	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2501	3329	3443	3215	0	0	0	0	0	0	15.13	15.17	15.15
2210	-0.88	-146.0	2412	2501	3446	3215	633.5	-10.1	230	2211	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2501	3329	3444	3215	0	0	0	0	0	0	15.13	15.16	15.15
2511	-0.88	-146.0	2413	2501	3445	3215	663.5	-10.1	260	2512	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2501	3329	3444	3215	0	0	0	0	0	0	15.07	15.10	15.09
2811	-0.88	-146.0	2412	2501	3444	3216	694.0	-10.3	290	2816	0.00	2.38	0.00	0.000	260	0.000	0.155	2403	3753	3329	3443	3215	0	0	0	0	0	0	15.08	14.70	15.10
2851	-0.88	-146.0	2403	3754	3443	3217	698.4	-11.1	298	2856	0.00	2.28	0.00	0.000	1030	0.000	0.098	2403	2496	3329	3442	3216	0	0	0	0	0	0	14.85	14.78	14.90
3172	-0.88	-146.0	2403	2497	3443	3217	731.1	-10.2	311	3173	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2495	3329	3443	3216	0	0	0	0	0	0	15.08	15.11	15.10
3531	-0.88	-146.0	2403	2496	3444	3216	767.2	-9.9	323	3536	0.00	2.58	0.00	0.000	516	0.000	0.113	2403	1078	3328	3441	3216	0	0	0	0	0	0	15.14	14.73	15.16
3550	-0.88	-146.0	2403	1079	3443	3217	769.4	-10.7	327	3556	0.00	2.70	0.00	0.000	1030	0.000	0.125	2393	2505	3329	3442	3216	0	0	0	0	0	0	14.81	14.70	14.87
3921	-0.88	-146.0	2393	2505	3443	3216	806.5	-10.1	341	3922	0.00	0.00	0.00	0.000	6	0.000	0.000	2393	2505	3329	3442	3216	0	0	0	0	0	0	15.14	15.16	15.16
4281	-0.88	-146.0	2393	2506	3442	3217	842.5	-9.9	353	4287	0.00	2.40	0.00	0.000	260	0.000	0.152	2384	3749	3329	3442	3216	0	0	0	0	0	0	15.14	14.67	15.17
4336	-0.88	-146.0	2385	3749	3443	3216	848.5	-11.0	364	4344	0.10	2.25	0.00	0.000	3078	0.262	0.096	2411	2503	3328	3441	3216	0	0	0	0	0	0	14.57	14.78	14.74
4702	-0.88	-146.0	2411	2502	3443	3217	882.4	-9.2	377	4703	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2503	3329	3442	3216	0	0	0	0	0	0	15.14	15.16	15.16
5062	-0.88	-146.0	2411	2503	3442	3217	915.3	-9.1	389	5062	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2502	3329	3441	3217	0	0	0	0	0	0	15.15	15.17	15.17
5421	-0.88	-146.0	2411	2503	3442	3217	947.9	-8.9	401	5422	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2503	3329	3442	3216	0	0	0	0	0	0	15.15	15.18	15.17
5781	-0.88	-146.0	2405	2502	3443	3217	979.9	-8.9	413	5782	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2503	3328	3441	3216	0	0	0	0	0	0	15.15	15.19	15.18
5900	end dive: TARGET_DEPTH_EXCEEDED
state	5900	begin apogee
5904	-0.23	0.0	2412	2188	3442	3216	990.6	-8.9	417	6130	0.77	0.00	218.52	2.323	10246	0.228	0.000	2622	2187	2714	2767	2661	0	0	0	0	1	0	14.62	13.45	12.29
6131	end apogee: CONTROL_FINISHED_OK
state	6131	begin climb
6132	0.88	146.0	2623	2188	2768	2660	996.0	0.0	424	6635	1.25	0.00	494.15	1.238	10758	0.138	0.000	2980	2188	2119	2151	2088	0	0	0	0	0	0	13.45	13.68	13.14
6982	0.88	146.0	2981	2188	2138	2071	897.1	13.6	528	6983	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	2185	2103	2137	2070	0	0	0	0	0	0	14.64	14.66	14.66
7343	0.88	146.0	2981	2188	2137	2069	848.1	13.6	540	7344	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	2188	2102	2136	2069	0	0	0	0	0	0	14.88	14.91	14.91
7703	0.88	146.0	2981	2188	2137	2067	799.5	13.5	552	7708	0.00	2.60	0.00	0.000	516	0.000	0.126	2991	789	2101	2135	2067	0	0	0	0	0	0	14.97	14.68	15.00
7722	0.88	146.0	2990	789	2136	2068	796.3	15.4	556	7728	0.00	2.65	0.00	0.000	1030	0.000	0.114	2991	2211	2101	2135	2067	0	0	0	0	0	0	14.76	14.67	14.81
8092	0.88	146.0	2991	2212	2136	2067	745.5	13.7	570	8093	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2211	2099	2135	2063	0	0	0	0	0	0	15.04	15.07	15.07
8452	0.88	146.0	2991	2212	2136	2066	695.8	13.7	584	8458	0.00	2.62	0.00	0.000	516	0.000	0.126	3001	788	2100	2135	2066	0	0	0	0	0	0	15.07	14.73	15.09
8477	0.88	146.0	3002	788	2136	2066	692.3	14.6	589	8485	0.00	2.62	0.00	0.000	1030	0.000	0.115	3001	2202	2101	2134	2069	0	0	0	0	0	0	14.82	14.73	14.88
8782	0.88	146.0	3002	2202	2135	2065	648.7	14.3	620	8783	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	2202	2099	2134	2065	0	0	0	0	0	0	15.07	15.10	15.10
9082	0.88	146.0	3001	2203	2135	2066	607.2	13.8	650	9088	0.00	2.60	0.00	0.000	516	0.000	0.125	3011	791	2099	2134	2065	0	0	0	0	0	0	15.08	14.73	15.11
9112	0.88	146.0	3012	792	2134	2066	602.9	14.5	656	9118	0.00	2.62	0.00	0.000	1030	0.000	0.115	3012	2208	2099	2133	2065	0	0	0	0	0	0	14.93	14.73	14.96
9422	0.88	146.0	3012	2208	2134	2065	559.0	14.0	688	9423	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2206	2099	2133	2065	0	0	0	0	0	0	15.09	15.12	15.12
9722	0.88	146.0	3012	2209	2134	2066	516.9	14.0	718	9723	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2208	2099	2133	2065	0	0	0	0	0	0	15.09	15.11	15.11
10022	0.88	146.0	3012	2210	2134	2065	475.3	13.7	748	10023	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2208	2098	2133	2064	0	0	0	0	0	0	15.09	15.13	15.13
10322	0.88	146.0	3012	2208	2134	2064	435.5	13.2	778	10328	0.00	2.62	0.00	0.000	516	0.000	0.125	3022	782	2098	2133	2064	0	0	0	0	0	0	15.09	14.73	15.12
10353	0.88	146.0	3022	783	2134	2065	431.5	13.7	784	10358	0.17	2.60	0.00	0.000	5126	0.231	0.115	2980	2213	2098	2133	2063	0	0	0	0	0	0	14.69	14.76	14.90
10631	end climb: SURFACE_OBSTACLE_DETECTED
state	10631	begin subsurface finish
10635	0.00	0.7	2981	2213	2134	2064	399.1	11.2	813	10643	0.95	2.65	-2.05	0.056	20740	0.198	0.168	2701	3612	2726	2840	2612	0	0	0	0	0	0	14.66	13.95	14.80
10643	end subsurface finish: CONTROL_FINISHED_OK
state	10643	begin surface