Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 164 * 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 164 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 31 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 27 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 164 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 31 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 27 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 170218,121600,-7422.4126,-11221.0908,0,4076.0,0,53.3,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.000,-11212.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 375.08 MHEAD_RNG_PITCHd_Wd 318.0,21557,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -1.7 D_GRID 990

GPS2 170218,121600,-7422.4126,-11221.0908,0,4076.0,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 365.7,1.027444,3 _24V_AH 13.04,68.928

FINISH2 364.7 _10V_AH 12.96,0.000

RAFOS_CLK 377 FG_AHR_24Vo 0.000

RAFOS 0,1518879679,15.032778,15.021944,69,62,56,54,54,51,209,471,153,140,194,120 FG_AHR_10Vo 0.000

RAFOS_FIX -7419.884277,-11212.621094,170218,151512,2,86,0.59 MEM 280072

IRIDIUM_FIX -7412.42,-11208.63,140218,203555 DATA_FILE_SIZE 30036,869

TT8_MAMPS 0.03745,0.289114 CAP_FILE_SIZE 115334,0

HUMID 49.33 CFSIZE 1024409600,1000783872

INTERNAL_PRESSURE 8.23859 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.60 INTR 0,7176.89,0x214568,1,24

XPDR_PINGS 0 SOUNDSPEED 1457.3

ALTIM_TOP_PING 368.8,9.6 GPS 170218,151512,-7419.884,-11212.621,0,3086.0,0,53.3,0.0,0.0,0,0.0

ALTIM_BOTTOM_PING 939.0,13.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 275 16.34 nil 0 0 0.00

Roll_motor 99 159 206.51 nil 0 0 0.00

VBD_pump_during_apogee 720 1406 13217.21 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 10084 6 810.67

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 42 420 230.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7436 2 222.64

TT8_Active 791 13 141.75

TT8_Sampling 1848 34 833.48

TT8_CF8 100 52 68.82

TT8_Kalman 0 0 0.00

Analog_circuits 1482 10 209.36

GPS_charging 0 0 0.00

Compass 1245 7 120.92

RAFOS 720 1 14.00

Transponder 298 30 116.17

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

901.3 58.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

924.1 29.60 9000.00 0.0 0.00 0.00 29.60 953.7 -1.27 1.00

931.5 19.70 9000.00 0.0 -1.28 1.00 19.70 951.2 -1.34 1.00

939.0 14.40 13.70 952.7 -1.02 0.97 14.40 953.4 -0.71 1.00

944.9 41.70 9000.00 0.0 1.55 0.51 41.70 0.0 4.63 1.00

938.8 30.30 9000.00 0.0 3.24 0.65 30.30 908.5 1.87 1.00

932.6 35.10 9000.00 0.0 0.52 0.32 35.10 0.0 -0.77 1.00

926.5 26.80 9000.00 0.0 0.28 0.17 26.80 899.7 1.36 1.00

919.4 30.00 9000.00 0.0 0.37 0.34 30.00 0.0 -0.45 1.00

911.4 32.40 9000.00 0.0 -0.37 0.99 32.40 0.0 -0.30 1.00

432.7 75.30 9000.00 0.0 -0.09 1.00 75.30 0.0 -0.09 1.00

426.6 69.30 9000.00 0.0 -0.08 0.98 69.30 357.3 0.98 1.00

407.0 48.90 48.90 358.1 1.04 1.00 48.90 358.1 1.04 1.00

394.4 36.20 36.10 358.3 1.03 1.00 36.20 358.2 1.01 1.00

387.8 29.00 29.20 358.6 1.03 1.00 29.00 358.8 1.09 1.00

381.4 22.40 22.30 359.1 1.06 1.00 22.40 359.0 1.03 1.00

375.1 16.00 15.90 359.2 1.03 1.00 16.00 359.1 1.02 1.00

368.8 9.60 9.60 359.2 1.02 1.00 9.60 359.2 1.02 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 -0.93 -146.0 2803 2311 2818 2754 0.0 0.0 0 11 0.00 0.00 -2.10 0.045 16390 0.000 0.000 2804 2311 3398 3422 3374 0 0 0 0 0 0 15.08 13.51 15.07

13 -0.93 -146.0 2803 2311 3421 3376 0.0 0.0 0 15 0.93 0.00 0.00 0.000 4102 0.109 0.000 2495 2311 3399 3422 3376 0 0 0 0 0 0 14.82 14.97 14.95

309 -0.93 -146.0 2495 2311 3421 3375 413.3 -14.1 30 315 0.00 2.58 0.00 0.000 516 0.000 0.084 2495 892 3398 3421 3375 0 0 0 0 0 0 15.09 14.75 15.12

339 -0.93 -146.0 2495 890 3421 3375 417.6 -14.6 36 346 0.00 2.50 0.00 0.000 1030 0.000 0.074 2485 2290 3397 3421 3374 0 0 0 0 0 0 14.86 14.79 14.90

650 -0.93 -146.0 2484 2290 3421 3375 461.2 -14.1 68 650 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2290 3397 3421 3374 0 0 0 0 0 0 15.09 15.12 15.11

950 -0.93 -146.0 2486 2290 3423 3375 503.1 -14.1 98 955 0.00 2.53 0.00 0.000 516 0.000 0.083 2485 894 3397 3421 3374 0 0 0 0 0 0 15.09 14.75 15.11

984 -0.93 -146.0 2483 894 3420 3374 508.2 -14.4 105 992 0.00 2.53 0.00 0.000 1030 0.000 0.073 2475 2300 3397 3421 3374 0 0 0 0 0 0 14.85 14.78 14.90

1290 -0.93 -146.0 2470 2301 3421 3374 551.3 -14.2 136 1295 0.00 2.50 0.00 0.000 516 0.000 0.080 2474 891 3397 3421 3373 0 0 0 0 0 0 15.09 14.77 15.11

1330 -0.93 -146.0 2474 891 3421 3374 557.1 -14.3 144 1336 0.10 2.55 0.00 0.000 3078 0.275 0.074 2504 2309 3397 3421 3373 0 0 0 0 0 0 14.61 14.78 14.86

1640 -0.93 -146.0 2505 2310 3423 3374 596.5 -12.9 176 1646 0.00 2.55 0.00 0.000 516 0.000 0.081 2504 898 3399 3421 3378 0 0 0 0 0 0 15.09 14.75 15.11

1685 -0.93 -146.0 2503 898 3421 3373 602.5 -13.4 185 1693 0.00 2.53 0.00 0.000 1030 0.000 0.076 2503 2300 3397 3421 3373 0 0 0 0 0 0 14.85 14.77 14.89

1990 -0.93 -146.0 2502 2299 3420 3373 640.3 -12.1 216 1991 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2300 3396 3421 3372 0 0 0 0 0 0 15.11 15.14 15.13

2290 -0.93 -146.0 2502 2299 3421 3373 677.8 -12.6 246 2296 0.00 2.53 0.00 0.000 516 0.000 0.082 2503 878 3396 3421 3371 0 0 0 0 0 0 15.11 14.77 15.14

2351 -0.93 -146.0 2502 879 3421 3372 685.5 -12.7 258 2356 0.00 2.50 0.00 0.000 1030 0.000 0.073 2492 2305 3397 3422 3372 0 0 0 0 0 0 14.93 14.81 14.96

2681 -0.93 -146.0 2493 2306 3421 3372 727.6 -12.7 278 2686 0.00 2.50 0.00 0.000 516 0.000 0.080 2492 895 3396 3421 3371 0 0 0 0 0 0 15.07 14.78 15.09

2710 -0.93 -146.0 2493 895 3426 3372 731.6 -13.9 284 2716 0.00 2.53 0.00 0.000 1030 0.000 0.077 2488 2300 3396 3421 3371 0 0 0 0 0 0 14.86 14.78 14.89

3101 -0.93 -146.0 2493 2301 3424 3372 781.2 -12.2 302 3106 0.00 2.58 0.00 0.000 260 0.000 0.107 2478 3729 3396 3421 3371 0 0 0 0 0 0 15.07 14.78 15.10

3130 -0.93 -146.0 2479 3730 3422 3372 785.3 -15.0 308 3136 0.00 2.47 0.00 0.000 1030 0.000 0.047 2478 2282 3395 3420 3371 0 0 0 0 0 0 14.89 14.84 14.92

3522 -0.93 -146.0 2477 2281 3420 3372 835.1 -12.6 326 3522 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2280 3395 3420 3371 0 0 0 0 0 0 15.08 15.11 15.10

3882 -0.93 -146.0 2479 2281 3422 3372 878.5 -12.1 338 3887 0.00 2.45 0.00 0.000 516 0.000 0.082 2477 895 3396 3421 3371 0 0 0 0 0 0 15.09 14.78 15.11

3906 -0.93 -146.0 2477 895 3420 3372 881.8 -12.1 343 3913 0.00 2.55 0.00 0.000 1030 0.000 0.078 2475 2309 3396 3421 3371 0 0 0 0 0 0 14.87 14.78 14.91

4272 -0.93 -146.0 2475 2310 3420 3371 928.0 -12.6 356 4273 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2309 3395 3420 3371 0 0 0 0 0 0 15.14 15.16 15.16

4390 end dive: BOTTOM_OBSTACLE_DETECTED

state 4390 begin apogee

4394 -0.23 0.0 2477 2062 3422 3372 942.6 -12.3 360 4815 0.90 0.10 417.75 1.294 10246 0.230 0.159 2722 2122 2782 2817 2748 0 0 0 0 0 0 14.62 13.66 13.16

4817 end apogee: CONTROL_FINISHED_OK

state 4817 begin climb

4819 0.93 146.0 2724 2122 2815 2744 946.4 0.0 374 5134 1.30 2.83 302.73 1.407 11012 0.144 0.094 3105 732 2181 2227 2136 0 0 0 0 0 0 13.66 13.52 13.04

5148 0.93 146.0 3107 733 2223 2135 918.3 13.0 430 5154 0.00 2.62 0.00 0.000 1030 0.000 0.063 3106 2097 2177 2221 2133 0 0 0 0 0 0 13.76 13.66 13.78

5538 0.93 146.0 3107 2098 2216 2126 873.5 11.3 448 5544 0.00 2.62 0.00 0.000 260 0.000 0.099 3106 3514 2169 2214 2125 0 0 0 0 0 0 14.62 14.37 14.66

5603 0.93 146.0 3107 3516 2215 2126 865.2 12.8 461 5610 0.00 2.45 0.00 0.000 1030 0.000 0.050 3115 2132 2169 2213 2125 0 0 0 0 0 0 14.51 14.46 14.54

5990 0.93 146.0 3114 2134 2210 2125 818.8 12.4 478 5991 0.00 0.00 0.00 0.000 6 0.000 0.000 3115 2132 2167 2210 2124 0 0 0 0 0 0 14.87 14.90 14.90

6351 0.93 146.0 3115 2132 2211 2125 776.4 11.9 490 6356 0.00 2.53 0.00 0.000 260 0.000 0.100 3115 3520 2166 2209 2124 0 0 0 0 0 0 14.97 14.69 14.98

6380 0.93 146.0 3114 3520 2209 2125 772.3 12.1 496 6386 0.00 2.47 0.00 0.000 1030 0.000 0.052 3125 2092 2165 2207 2124 0 0 0 0 0 0 14.81 14.76 14.84

6771 0.93 146.0 3132 2093 2210 2125 723.3 12.3 514 6776 0.00 2.58 0.00 0.000 260 0.000 0.098 3125 3517 2166 2208 2124 0 0 0 0 0 0 15.02 14.75 15.04

6805 0.93 146.0 3125 3519 2208 2124 718.6 13.7 521 6812 0.12 2.45 0.00 0.000 5126 0.243 0.050 3099 2100 2165 2207 2123 0 0 0 0 0 0 14.66 14.81 14.79

7172 0.93 146.0 3098 2100 2207 2123 678.0 11.2 550 7177 0.00 2.55 0.00 0.000 260 0.000 0.098 3098 3520 2165 2207 2123 0 0 0 0 0 0 15.09 14.77 15.11

7206 0.93 146.0 3098 3526 2207 2123 673.8 12.4 557 7214 0.00 2.47 0.00 0.000 1030 0.000 0.050 3106 2086 2165 2207 2123 0 0 0 0 0 0 14.85 14.81 14.90

7511 0.93 146.0 3106 2088 2207 2124 639.6 11.1 588 7512 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2087 2165 2207 2123 0 0 0 0 0 0 15.09 15.13 15.12

7811 0.93 146.0 3107 2088 2208 2124 605.1 11.5 618 7817 0.00 2.58 0.00 0.000 260 0.000 0.099 3106 3518 2164 2206 2123 0 0 0 0 0 0 15.11 14.78 15.14

7837 0.93 146.0 3108 3519 2208 2124 602.0 12.2 623 7844 0.00 2.42 0.00 0.000 1030 0.000 0.050 3112 2085 2164 2206 2123 0 0 0 0 0 0 14.96 14.87 14.98

8141 0.93 146.0 3112 2085 2208 2124 567.7 11.1 654 8147 0.00 2.58 0.00 0.000 260 0.000 0.098 3112 3514 2164 2205 2123 0 0 0 0 0 0 15.11 14.78 15.14

8166 0.93 146.0 3111 3514 2205 2123 564.7 12.5 659 8173 0.00 2.45 0.00 0.000 1030 0.000 0.050 3122 2094 2164 2205 2123 0 0 0 0 0 0 14.87 14.82 14.91

8471 0.93 146.0 3121 2093 2205 2124 530.4 11.0 690 8477 0.00 2.55 0.00 0.000 260 0.000 0.096 3122 3516 2168 2213 2123 0 0 0 0 0 0 15.12 14.79 15.15

8496 0.93 146.0 3122 3516 2205 2124 527.4 12.5 695 8504 0.10 2.45 0.00 0.000 5126 0.240 0.050 3104 2094 2164 2205 2123 0 0 0 0 0 0 14.65 14.85 14.80

8801 0.93 146.0 3105 2095 2207 2124 495.7 10.2 726 8802 0.00 0.00 0.00 0.000 6 0.000 0.000 3103 2093 2163 2204 2123 0 0 0 0 0 0 15.12 15.15 15.15

9101 0.93 146.0 3103 2094 2204 2124 465.6 10.1 756 9107 0.00 2.58 0.00 0.000 260 0.000 0.096 3099 3505 2163 2204 2123 0 0 0 0 0 0 15.13 14.76 15.16

9146 0.93 146.0 3104 3505 2206 2124 460.7 11.0 765 9155 0.00 2.42 0.00 0.000 1030 0.000 0.050 3106 2092 2163 2204 2123 0 0 0 0 0 0 14.88 14.83 14.91

9451 0.93 146.0 3106 2093 2205 2122 430.8 9.6 796 9457 0.00 2.58 0.00 0.000 260 0.000 0.096 3107 3530 2163 2204 2123 0 0 0 0 0 0 15.13 14.78 15.16

9486 0.93 146.0 3106 3530 2204 2123 427.1 10.7 803 9495 0.00 2.47 0.00 0.000 1030 0.000 0.049 3116 2088 2163 2204 2122 0 0 0 0 0 0 14.88 14.82 14.91

9791 0.93 146.0 3115 2088 2204 2123 395.6 10.4 834 9797 0.00 2.58 0.00 0.000 260 0.000 0.097 3116 3518 2162 2204 2120 0 0 0 0 0 0 15.13 14.78 15.16

9831 0.93 146.0 3115 3519 2203 2123 391.1 11.5 842 9837 0.00 2.45 0.00 0.000 1030 0.000 0.050 3126 2097 2163 2204 2122 0 0 0 0 0 0 14.89 14.83 14.91

10070 end climb: SURFACE_OBSTACLE_DETECTED

state 10070 begin subsurface finish

10074 0.00 2.8 3127 2098 2206 2123 365.7 10.5 867 10085 1.10 2.62 -2.25 0.052 20740 0.210 0.122 2805 3517 2792 2823 2761 0 0 0 0 0 0 14.69 13.51 14.82

10085 end subsurface finish: CONTROL_FINISHED_OK

state 10085 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	164	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	31	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	27	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	170218,121600,-7422.4126,-11221.0908,0,4076.0,0,53.3,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.000,-11212.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	375.08	MHEAD_RNG_PITCHd_Wd	318.0,21557,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-1.7	D_GRID	990
GPS2	170218,121600,-7422.4126,-11221.0908,0,4076.0,0,53.3,0.0,0.0,0,0.0

FINISH1	365.7,1.027444,3	_24V_AH	13.04,68.928
FINISH2	364.7	_10V_AH	12.96,0.000
RAFOS_CLK	377	FG_AHR_24Vo	0.000
RAFOS	0,1518879679,15.032778,15.021944,69,62,56,54,54,51,209,471,153,140,194,120	FG_AHR_10Vo	0.000
RAFOS_FIX	-7419.884277,-11212.621094,170218,151512,2,86,0.59	MEM	280072
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	DATA_FILE_SIZE	30036,869
TT8_MAMPS	0.03745,0.289114	CAP_FILE_SIZE	115334,0
HUMID	49.33	CFSIZE	1024409600,1000783872
INTERNAL_PRESSURE	8.23859	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.60	INTR	0,7176.89,0x214568,1,24
XPDR_PINGS	0	SOUNDSPEED	1457.3
ALTIM_TOP_PING	368.8,9.6	GPS	170218,151512,-7419.884,-11212.621,0,3086.0,0,53.3,0.0,0.0,0,0.0
ALTIM_BOTTOM_PING	939.0,13.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	275	16.34	nil	0	0	0.00
Roll_motor	99	159	206.51	nil	0	0	0.00
VBD_pump_during_apogee	720	1406	13217.21	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	10084	6	810.67
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	42	420	230.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7436	2	222.64
TT8_Active	791	13	141.75
TT8_Sampling	1848	34	833.48
TT8_CF8	100	52	68.82
TT8_Kalman	0	0	0.00
Analog_circuits	1482	10	209.36
GPS_charging	0	0	0.00
Compass	1245	7	120.92
RAFOS	720	1	14.00
Transponder	298	30	116.17

		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
901.3	58.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
924.1	29.60	9000.00	0.0	0.00	0.00	29.60	953.7	-1.27	1.00
931.5	19.70	9000.00	0.0	-1.28	1.00	19.70	951.2	-1.34	1.00
939.0	14.40	13.70	952.7	-1.02	0.97	14.40	953.4	-0.71	1.00
944.9	41.70	9000.00	0.0	1.55	0.51	41.70	0.0	4.63	1.00

938.8	30.30	9000.00	0.0	3.24	0.65	30.30	908.5	1.87	1.00
932.6	35.10	9000.00	0.0	0.52	0.32	35.10	0.0	-0.77	1.00
926.5	26.80	9000.00	0.0	0.28	0.17	26.80	899.7	1.36	1.00
919.4	30.00	9000.00	0.0	0.37	0.34	30.00	0.0	-0.45	1.00
911.4	32.40	9000.00	0.0	-0.37	0.99	32.40	0.0	-0.30	1.00
432.7	75.30	9000.00	0.0	-0.09	1.00	75.30	0.0	-0.09	1.00
426.6	69.30	9000.00	0.0	-0.08	0.98	69.30	357.3	0.98	1.00
407.0	48.90	48.90	358.1	1.04	1.00	48.90	358.1	1.04	1.00
394.4	36.20	36.10	358.3	1.03	1.00	36.20	358.2	1.01	1.00
387.8	29.00	29.20	358.6	1.03	1.00	29.00	358.8	1.09	1.00
381.4	22.40	22.30	359.1	1.06	1.00	22.40	359.0	1.03	1.00
375.1	16.00	15.90	359.2	1.03	1.00	16.00	359.1	1.02	1.00
368.8	9.60	9.60	359.2	1.02	1.00	9.60	359.2	1.02	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	-0.93	-146.0	2803	2311	2818	2754	0.0	0.0	0	11	0.00	0.00	-2.10	0.045	16390	0.000	0.000	2804	2311	3398	3422	3374	0	0	0	0	0	0	15.08	13.51	15.07
13	-0.93	-146.0	2803	2311	3421	3376	0.0	0.0	0	15	0.93	0.00	0.00	0.000	4102	0.109	0.000	2495	2311	3399	3422	3376	0	0	0	0	0	0	14.82	14.97	14.95
309	-0.93	-146.0	2495	2311	3421	3375	413.3	-14.1	30	315	0.00	2.58	0.00	0.000	516	0.000	0.084	2495	892	3398	3421	3375	0	0	0	0	0	0	15.09	14.75	15.12
339	-0.93	-146.0	2495	890	3421	3375	417.6	-14.6	36	346	0.00	2.50	0.00	0.000	1030	0.000	0.074	2485	2290	3397	3421	3374	0	0	0	0	0	0	14.86	14.79	14.90
650	-0.93	-146.0	2484	2290	3421	3375	461.2	-14.1	68	650	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2290	3397	3421	3374	0	0	0	0	0	0	15.09	15.12	15.11
950	-0.93	-146.0	2486	2290	3423	3375	503.1	-14.1	98	955	0.00	2.53	0.00	0.000	516	0.000	0.083	2485	894	3397	3421	3374	0	0	0	0	0	0	15.09	14.75	15.11
984	-0.93	-146.0	2483	894	3420	3374	508.2	-14.4	105	992	0.00	2.53	0.00	0.000	1030	0.000	0.073	2475	2300	3397	3421	3374	0	0	0	0	0	0	14.85	14.78	14.90
1290	-0.93	-146.0	2470	2301	3421	3374	551.3	-14.2	136	1295	0.00	2.50	0.00	0.000	516	0.000	0.080	2474	891	3397	3421	3373	0	0	0	0	0	0	15.09	14.77	15.11
1330	-0.93	-146.0	2474	891	3421	3374	557.1	-14.3	144	1336	0.10	2.55	0.00	0.000	3078	0.275	0.074	2504	2309	3397	3421	3373	0	0	0	0	0	0	14.61	14.78	14.86
1640	-0.93	-146.0	2505	2310	3423	3374	596.5	-12.9	176	1646	0.00	2.55	0.00	0.000	516	0.000	0.081	2504	898	3399	3421	3378	0	0	0	0	0	0	15.09	14.75	15.11
1685	-0.93	-146.0	2503	898	3421	3373	602.5	-13.4	185	1693	0.00	2.53	0.00	0.000	1030	0.000	0.076	2503	2300	3397	3421	3373	0	0	0	0	0	0	14.85	14.77	14.89
1990	-0.93	-146.0	2502	2299	3420	3373	640.3	-12.1	216	1991	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2300	3396	3421	3372	0	0	0	0	0	0	15.11	15.14	15.13
2290	-0.93	-146.0	2502	2299	3421	3373	677.8	-12.6	246	2296	0.00	2.53	0.00	0.000	516	0.000	0.082	2503	878	3396	3421	3371	0	0	0	0	0	0	15.11	14.77	15.14
2351	-0.93	-146.0	2502	879	3421	3372	685.5	-12.7	258	2356	0.00	2.50	0.00	0.000	1030	0.000	0.073	2492	2305	3397	3422	3372	0	0	0	0	0	0	14.93	14.81	14.96
2681	-0.93	-146.0	2493	2306	3421	3372	727.6	-12.7	278	2686	0.00	2.50	0.00	0.000	516	0.000	0.080	2492	895	3396	3421	3371	0	0	0	0	0	0	15.07	14.78	15.09
2710	-0.93	-146.0	2493	895	3426	3372	731.6	-13.9	284	2716	0.00	2.53	0.00	0.000	1030	0.000	0.077	2488	2300	3396	3421	3371	0	0	0	0	0	0	14.86	14.78	14.89
3101	-0.93	-146.0	2493	2301	3424	3372	781.2	-12.2	302	3106	0.00	2.58	0.00	0.000	260	0.000	0.107	2478	3729	3396	3421	3371	0	0	0	0	0	0	15.07	14.78	15.10
3130	-0.93	-146.0	2479	3730	3422	3372	785.3	-15.0	308	3136	0.00	2.47	0.00	0.000	1030	0.000	0.047	2478	2282	3395	3420	3371	0	0	0	0	0	0	14.89	14.84	14.92
3522	-0.93	-146.0	2477	2281	3420	3372	835.1	-12.6	326	3522	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2280	3395	3420	3371	0	0	0	0	0	0	15.08	15.11	15.10
3882	-0.93	-146.0	2479	2281	3422	3372	878.5	-12.1	338	3887	0.00	2.45	0.00	0.000	516	0.000	0.082	2477	895	3396	3421	3371	0	0	0	0	0	0	15.09	14.78	15.11
3906	-0.93	-146.0	2477	895	3420	3372	881.8	-12.1	343	3913	0.00	2.55	0.00	0.000	1030	0.000	0.078	2475	2309	3396	3421	3371	0	0	0	0	0	0	14.87	14.78	14.91
4272	-0.93	-146.0	2475	2310	3420	3371	928.0	-12.6	356	4273	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2309	3395	3420	3371	0	0	0	0	0	0	15.14	15.16	15.16
4390	end dive: BOTTOM_OBSTACLE_DETECTED
state	4390	begin apogee
4394	-0.23	0.0	2477	2062	3422	3372	942.6	-12.3	360	4815	0.90	0.10	417.75	1.294	10246	0.230	0.159	2722	2122	2782	2817	2748	0	0	0	0	0	0	14.62	13.66	13.16
4817	end apogee: CONTROL_FINISHED_OK
state	4817	begin climb
4819	0.93	146.0	2724	2122	2815	2744	946.4	0.0	374	5134	1.30	2.83	302.73	1.407	11012	0.144	0.094	3105	732	2181	2227	2136	0	0	0	0	0	0	13.66	13.52	13.04
5148	0.93	146.0	3107	733	2223	2135	918.3	13.0	430	5154	0.00	2.62	0.00	0.000	1030	0.000	0.063	3106	2097	2177	2221	2133	0	0	0	0	0	0	13.76	13.66	13.78
5538	0.93	146.0	3107	2098	2216	2126	873.5	11.3	448	5544	0.00	2.62	0.00	0.000	260	0.000	0.099	3106	3514	2169	2214	2125	0	0	0	0	0	0	14.62	14.37	14.66
5603	0.93	146.0	3107	3516	2215	2126	865.2	12.8	461	5610	0.00	2.45	0.00	0.000	1030	0.000	0.050	3115	2132	2169	2213	2125	0	0	0	0	0	0	14.51	14.46	14.54
5990	0.93	146.0	3114	2134	2210	2125	818.8	12.4	478	5991	0.00	0.00	0.00	0.000	6	0.000	0.000	3115	2132	2167	2210	2124	0	0	0	0	0	0	14.87	14.90	14.90
6351	0.93	146.0	3115	2132	2211	2125	776.4	11.9	490	6356	0.00	2.53	0.00	0.000	260	0.000	0.100	3115	3520	2166	2209	2124	0	0	0	0	0	0	14.97	14.69	14.98
6380	0.93	146.0	3114	3520	2209	2125	772.3	12.1	496	6386	0.00	2.47	0.00	0.000	1030	0.000	0.052	3125	2092	2165	2207	2124	0	0	0	0	0	0	14.81	14.76	14.84
6771	0.93	146.0	3132	2093	2210	2125	723.3	12.3	514	6776	0.00	2.58	0.00	0.000	260	0.000	0.098	3125	3517	2166	2208	2124	0	0	0	0	0	0	15.02	14.75	15.04
6805	0.93	146.0	3125	3519	2208	2124	718.6	13.7	521	6812	0.12	2.45	0.00	0.000	5126	0.243	0.050	3099	2100	2165	2207	2123	0	0	0	0	0	0	14.66	14.81	14.79
7172	0.93	146.0	3098	2100	2207	2123	678.0	11.2	550	7177	0.00	2.55	0.00	0.000	260	0.000	0.098	3098	3520	2165	2207	2123	0	0	0	0	0	0	15.09	14.77	15.11
7206	0.93	146.0	3098	3526	2207	2123	673.8	12.4	557	7214	0.00	2.47	0.00	0.000	1030	0.000	0.050	3106	2086	2165	2207	2123	0	0	0	0	0	0	14.85	14.81	14.90
7511	0.93	146.0	3106	2088	2207	2124	639.6	11.1	588	7512	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2087	2165	2207	2123	0	0	0	0	0	0	15.09	15.13	15.12
7811	0.93	146.0	3107	2088	2208	2124	605.1	11.5	618	7817	0.00	2.58	0.00	0.000	260	0.000	0.099	3106	3518	2164	2206	2123	0	0	0	0	0	0	15.11	14.78	15.14
7837	0.93	146.0	3108	3519	2208	2124	602.0	12.2	623	7844	0.00	2.42	0.00	0.000	1030	0.000	0.050	3112	2085	2164	2206	2123	0	0	0	0	0	0	14.96	14.87	14.98
8141	0.93	146.0	3112	2085	2208	2124	567.7	11.1	654	8147	0.00	2.58	0.00	0.000	260	0.000	0.098	3112	3514	2164	2205	2123	0	0	0	0	0	0	15.11	14.78	15.14
8166	0.93	146.0	3111	3514	2205	2123	564.7	12.5	659	8173	0.00	2.45	0.00	0.000	1030	0.000	0.050	3122	2094	2164	2205	2123	0	0	0	0	0	0	14.87	14.82	14.91
8471	0.93	146.0	3121	2093	2205	2124	530.4	11.0	690	8477	0.00	2.55	0.00	0.000	260	0.000	0.096	3122	3516	2168	2213	2123	0	0	0	0	0	0	15.12	14.79	15.15
8496	0.93	146.0	3122	3516	2205	2124	527.4	12.5	695	8504	0.10	2.45	0.00	0.000	5126	0.240	0.050	3104	2094	2164	2205	2123	0	0	0	0	0	0	14.65	14.85	14.80
8801	0.93	146.0	3105	2095	2207	2124	495.7	10.2	726	8802	0.00	0.00	0.00	0.000	6	0.000	0.000	3103	2093	2163	2204	2123	0	0	0	0	0	0	15.12	15.15	15.15
9101	0.93	146.0	3103	2094	2204	2124	465.6	10.1	756	9107	0.00	2.58	0.00	0.000	260	0.000	0.096	3099	3505	2163	2204	2123	0	0	0	0	0	0	15.13	14.76	15.16
9146	0.93	146.0	3104	3505	2206	2124	460.7	11.0	765	9155	0.00	2.42	0.00	0.000	1030	0.000	0.050	3106	2092	2163	2204	2123	0	0	0	0	0	0	14.88	14.83	14.91
9451	0.93	146.0	3106	2093	2205	2122	430.8	9.6	796	9457	0.00	2.58	0.00	0.000	260	0.000	0.096	3107	3530	2163	2204	2123	0	0	0	0	0	0	15.13	14.78	15.16
9486	0.93	146.0	3106	3530	2204	2123	427.1	10.7	803	9495	0.00	2.47	0.00	0.000	1030	0.000	0.049	3116	2088	2163	2204	2122	0	0	0	0	0	0	14.88	14.82	14.91
9791	0.93	146.0	3115	2088	2204	2123	395.6	10.4	834	9797	0.00	2.58	0.00	0.000	260	0.000	0.097	3116	3518	2162	2204	2120	0	0	0	0	0	0	15.13	14.78	15.16
9831	0.93	146.0	3115	3519	2203	2123	391.1	11.5	842	9837	0.00	2.45	0.00	0.000	1030	0.000	0.050	3126	2097	2163	2204	2122	0	0	0	0	0	0	14.89	14.83	14.91
10070	end climb: SURFACE_OBSTACLE_DETECTED
state	10070	begin subsurface finish
10074	0.00	2.8	3127	2098	2206	2123	365.7	10.5	867	10085	1.10	2.62	-2.25	0.052	20740	0.210	0.122	2805	3517	2792	2823	2761	0	0	0	0	0	0	14.69	13.51	14.82
10085	end subsurface finish: CONTROL_FINISHED_OK
state	10085	begin surface