Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 169 * 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 169 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 169 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 150218,091440,-7424.2998,-11225.5908,0,4112.0,0,53.5,0.0,0.0,0,0.0 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 364.90 MHEAD_RNG_PITCHd_Wd 304.1,24654,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 1.5 D_GRID 990

GPS2 150218,091440,-7424.2998,-11225.5908,0,4112.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 348.2,1.027403,5 _24V_AH 13.15,73.687

FINISH2 347.1 _10V_AH 12.44,0.000

RAFOS_CLK 433 FG_AHR_24Vo 0.000

RAFOS 0,1518696086,12.032778,12.023889,138,61,57,55,51,50,456,152,230,188,169,197 FG_AHR_10Vo 0.000

RAFOS_FIX -7422.657227,-11226.087891,150218,121200,3,138,0.28 MEM 280004

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 33425,938

TT8_MAMPS 0.040446,0.587216 CAP_FILE_SIZE 116647,0

HUMID 48.14 CFSIZE 1024409600,1000407040

INTERNAL_PRESSURE 7.60929 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.70 INTR 0,7237.88,0x234cd8,1,24

XPDR_PINGS 0 SOUNDSPEED 1458.1

ALTIM_TOP_PING 372.5,30.9 GPS 150218,121600,-7422.657,-11226.088,0,4138.0,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 267 14.79 nil 0 0 0.00

Roll_motor 68 221 200.42 nil 0 0 0.00

VBD_pump_during_apogee 979 1269 16352.00 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 11729 6 937.14

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 43 420 241.63 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8778 2 252.26

TT8_Active 955 12 145.90

TT8_Sampling 1968 31 777.27

TT8_CF8 101 45 56.84

TT8_Kalman 0 0 0.00

Analog_circuits 1708 10 216.80

GPS_charging 0 0 0.00

Compass 1343 7 125.18

RAFOS 720 1 13.44

Transponder 309 30 115.41

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

371.7 13.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

378.0 19.60 9000.00 0.0 0.00 0.00 19.60 0.0 1.05 1.00

991.2 24.30 9000.00 0.0 0.01 0.67 24.30 966.9 0.01 1.00

985.1 20.70 9000.00 0.0 0.00 0.48 20.70 964.4 0.59 1.00

978.4 15.50 9000.00 0.0 0.68 0.99 15.50 962.9 0.78 1.00

972.1 24.50 9000.00 0.0 -0.28 0.16 24.50 0.0 -1.43 1.00

965.8 17.90 9000.00 0.0 -0.19 0.06 17.90 947.9 1.05 1.00

959.1 17.80 9000.00 0.0 0.51 0.74 17.80 941.3 0.01 1.00

420.5 79.90 9000.00 0.0 -0.11 1.00 79.90 0.0 -0.12 1.00

413.4 73.20 9000.00 0.0 -0.11 0.99 73.20 340.2 0.94 1.00

406.4 65.10 65.30 341.1 1.05 1.00 65.10 341.3 1.16 1.00

393.1 51.60 51.40 341.7 1.06 1.00 51.60 341.5 1.02 1.00

386.3 44.60 44.60 341.7 1.02 1.00 44.60 341.7 1.03 1.00

379.4 37.70 37.60 341.8 1.01 1.00 37.70 341.7 1.00 1.00

372.5 31.00 30.90 341.6 0.98 1.00 31.00 341.5 0.97 1.00

358.6 21.00 9000.00 0.0 0.79 0.99 21.00 337.6 0.72 1.00

351.6 14.30 9000.00 0.0 0.79 0.99 14.30 337.3 0.96 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 2700 2504 2825 2606 0.0 0.0 0 11 0.00 0.00 -2.00 0.050 16390 0.000 0.000 2700 2503 3331 3471 3192 0 0 0 0 0 0 15.08 13.35 15.06

13 -0.88 -146.0 2700 2504 3471 3197 0.0 0.0 0 19 0.85 2.38 0.00 0.000 4356 0.109 0.154 2416 3754 3332 3464 3201 0 0 0 0 0 0 14.76 14.64 14.84

53 -0.88 -146.0 2416 3755 3458 3210 368.0 -8.9 8 59 0.00 2.30 0.00 0.000 1030 0.000 0.099 2415 2493 3333 3458 3209 0 0 0 0 0 0 14.83 14.74 14.87

363 -0.88 -146.0 2416 2494 3454 3215 400.3 -10.6 40 369 0.00 2.60 0.00 0.000 516 0.000 0.117 2416 1081 3334 3454 3214 0 0 0 0 0 0 15.09 14.69 15.12

408 -0.88 -146.0 2416 1082 3453 3215 405.2 -10.6 49 416 0.00 2.70 0.00 0.000 1030 0.000 0.128 2406 2504 3333 3452 3214 0 0 0 0 0 0 14.78 14.67 14.84

713 -0.88 -146.0 2407 2504 3452 3215 438.3 -10.7 80 719 0.00 2.42 0.00 0.000 260 0.000 0.153 2397 3751 3332 3451 3214 0 0 0 0 0 0 15.09 14.63 15.12

743 -0.88 -146.0 2398 3751 3450 3216 441.7 -11.3 86 750 0.00 2.28 0.00 0.000 1030 0.000 0.099 2398 2498 3333 3449 3217 0 0 0 0 0 0 14.80 14.73 14.85

1054 -0.88 -146.0 2402 2498 3450 3217 476.1 -10.8 118 1060 0.00 2.40 0.00 0.000 260 0.000 0.156 2388 3749 3332 3449 3216 0 0 0 0 0 0 15.11 14.66 15.13

1089 -0.88 -146.0 2388 3750 3449 3218 480.2 -11.9 125 1097 0.00 2.28 0.00 0.000 1030 0.000 0.098 2387 2495 3332 3447 3217 0 0 0 0 0 0 14.83 14.75 14.87

1394 -0.88 -146.0 2388 2495 3448 3217 515.0 -11.5 156 1395 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2495 3332 3448 3217 0 0 0 0 0 0 15.11 15.14 15.13

1694 -0.88 -146.0 2386 2496 3447 3218 548.8 -11.3 186 1701 0.00 2.45 0.00 0.000 260 0.000 0.154 2379 3753 3331 3446 3217 0 0 0 0 0 0 15.11 14.64 15.14

1765 -0.88 -146.0 2378 3753 3446 3218 557.5 -12.3 200 1771 0.12 2.28 0.00 0.000 3078 0.252 0.097 2413 2496 3331 3445 3217 0 0 0 0 0 0 14.54 14.76 14.71

2075 -0.88 -146.0 2412 2497 3441 3219 588.8 -9.9 232 2076 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2496 3331 3445 3217 0 0 0 0 0 0 15.11 15.14 15.14

2376 -0.88 -146.0 2413 2497 3446 3219 618.7 -9.8 262 2381 0.00 2.45 0.00 0.000 260 0.000 0.155 2404 3753 3331 3445 3217 0 0 0 0 0 0 15.12 14.63 15.14

2416 -0.88 -146.0 2404 3754 3445 3219 622.9 -10.9 270 2421 0.00 2.30 0.00 0.000 1030 0.000 0.099 2399 2490 3331 3445 3218 0 0 0 0 0 0 14.82 14.74 14.87

2726 -0.88 -146.0 2404 2491 3445 3219 654.6 -10.1 302 2726 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2490 3331 3445 3218 0 0 0 0 0 0 15.11 15.14 15.14

3025 -0.88 -146.0 2404 2491 3445 3219 684.2 -9.8 332 3032 0.00 2.45 0.00 0.000 260 0.000 0.155 2395 3744 3331 3444 3218 0 0 0 0 0 0 15.12 14.63 15.14

3066 -0.88 -146.0 2395 3745 3445 3219 688.5 -10.6 340 3072 0.00 2.28 0.00 0.000 1030 0.000 0.097 2395 2492 3331 3444 3218 0 0 0 0 0 0 14.83 14.74 14.87

3397 -0.88 -146.0 2395 2493 3446 3218 722.2 -10.2 360 3403 0.00 2.42 0.00 0.000 260 0.000 0.155 2386 3758 3331 3444 3218 0 0 0 0 0 0 15.07 14.65 15.09

3427 -0.88 -146.0 2386 3758 3445 3218 725.5 -12.4 366 3433 0.10 2.30 0.00 0.000 3078 0.268 0.097 2412 2492 3331 3444 3218 0 0 0 0 0 0 14.51 14.74 14.69

3818 -0.88 -146.0 2412 2492 3445 3218 762.6 -9.3 384 3819 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2492 3331 3444 3218 0 0 0 0 0 0 15.07 15.09 15.09

4178 -0.88 -146.0 2413 2493 3445 3219 796.2 -9.3 396 4179 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2492 3331 3444 3218 0 0 0 0 0 0 15.07 15.10 15.10

4539 -0.88 -146.0 2412 2492 3445 3218 830.8 -9.6 408 4540 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2492 3331 3444 3218 0 0 0 0 0 0 15.09 15.12 15.11

4899 -0.88 -146.0 2412 2492 3445 3218 864.6 -9.4 420 4900 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2492 3331 3444 3218 0 0 0 0 0 0 15.09 15.11 15.11

5259 -0.88 -146.0 2413 2492 3445 3218 897.5 -9.0 432 5260 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2492 3331 3444 3218 0 0 0 0 0 0 15.09 15.12 15.11

5618 -0.88 -146.0 2412 2493 3445 3219 929.6 -8.9 444 5619 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2492 3331 3444 3218 0 0 0 0 0 0 15.07 15.11 15.10

5978 -0.88 -146.0 2413 2492 3445 3218 961.5 -8.9 456 5979 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2492 3331 3444 3218 0 0 0 0 0 0 15.08 15.11 15.10

6306 end dive: TARGET_DEPTH_EXCEEDED

state 6306 begin apogee

6310 -0.23 0.0 2412 2192 3445 3218 990.7 -8.7 467 6893 0.77 0.00 580.22 1.131 10246 0.226 0.000 2623 2192 2716 2773 2659 0 0 0 0 0 0 14.57 13.76 13.22

6894 end apogee: CONTROL_FINISHED_OK

state 6894 begin climb

6896 0.88 146.0 2621 2193 2771 2659 998.5 0.0 486 7311 1.20 2.80 399.58 1.269 11012 0.123 0.123 2991 796 2116 2146 2086 0 0 0 0 0 0 13.72 13.63 13.15

7481 0.88 146.0 2991 797 2135 2076 929.9 14.1 598 7486 0.00 2.70 0.00 0.000 1030 0.000 0.111 2991 2210 2105 2134 2076 0 0 0 0 0 0 14.26 14.14 14.29

7851 0.88 146.0 2991 2210 2134 2070 878.2 14.0 612 7852 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2210 2100 2134 2067 0 0 0 0 0 0 14.83 14.85 14.85

8211 0.88 146.0 2989 2210 2134 2068 827.7 14.0 624 8216 0.00 2.65 0.00 0.000 516 0.000 0.123 3002 785 2100 2133 2068 0 0 0 0 0 0 14.97 14.64 15.00

8245 0.88 146.0 3002 786 2133 2069 822.6 14.3 631 8252 0.00 2.65 0.00 0.000 1030 0.000 0.112 3002 2205 2100 2132 2068 0 0 0 0 0 0 14.73 14.64 14.78

8632 0.88 146.0 3002 2206 2133 2068 766.9 14.4 648 8633 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2205 2099 2132 2067 0 0 0 0 0 0 15.00 15.04 15.03

8993 0.88 146.0 3002 2205 2133 2066 715.0 14.4 660 8998 0.00 2.62 0.00 0.000 516 0.000 0.124 3012 785 2098 2132 2065 0 0 0 0 0 0 15.04 14.73 15.07

9017 0.88 146.0 3013 786 2132 2066 711.3 14.3 665 9024 0.00 2.62 0.00 0.000 1030 0.000 0.112 3012 2199 2098 2131 2066 0 0 0 0 0 0 14.82 14.73 14.87

9382 0.88 146.0 3013 2200 2132 2067 657.2 14.9 696 9383 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2200 2098 2131 2066 0 0 0 0 0 0 15.11 15.14 15.14

9682 0.88 146.0 3013 2200 2132 2065 613.1 14.8 726 9683 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2200 2098 2131 2065 0 0 0 0 0 0 15.11 15.15 15.14

9982 0.88 146.0 3012 2200 2132 2066 569.8 14.2 756 9983 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2200 2098 2131 2065 0 0 0 0 0 0 15.12 15.15 15.15

10282 0.88 146.0 3012 2204 2132 2066 526.9 13.9 786 10283 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2199 2098 2131 2065 0 0 0 0 0 0 15.13 15.16 15.16

10582 0.88 146.0 3013 2199 2132 2064 485.3 13.7 816 10583 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2199 2097 2131 2064 0 0 0 0 0 0 15.13 15.16 15.16

10882 0.88 146.0 3013 2199 2132 2063 444.2 13.5 846 10888 0.00 2.60 0.00 0.000 516 0.000 0.123 3023 788 2097 2131 2064 0 0 0 0 0 0 15.14 14.74 15.16

10932 0.88 146.0 3023 788 2132 2064 437.3 13.8 856 10938 0.17 2.62 0.00 0.000 5126 0.233 0.111 2981 2234 2096 2130 2063 0 0 0 0 0 0 14.67 14.75 14.91

11243 0.88 146.0 2981 2234 2131 2063 400.6 11.6 888 11252 0.00 2.60 0.00 0.000 260 0.000 0.145 2981 3616 2097 2130 2064 0 0 0 0 0 0 15.13 14.71 15.16

11266 0.88 146.0 2982 3616 2131 2064 397.8 12.3 892 11272 0.00 2.58 0.00 0.000 1030 0.000 0.098 2990 2180 2097 2130 2064 0 0 0 0 0 0 14.92 14.78 14.97

11576 0.88 146.0 2990 2180 2131 2065 362.1 11.6 924 11577 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 2179 2097 2130 2064 0 0 0 0 0 0 15.10 15.13 15.13

11694 end climb: SURFACE_OBSTACLE_DETECTED

state 11694 begin subsurface finish

11698 0.01 4.9 2991 2208 2131 2063 348.2 11.6 936 11709 0.98 2.72 -2.17 0.052 20740 0.202 0.169 2707 3610 2711 2822 2600 0 0 0 0 0 0 14.61 13.28 14.76

11710 end subsurface finish: CONTROL_FINISHED_OK

state 11710 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	169	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	150218,091440,-7424.2998,-11225.5908,0,4112.0,0,53.5,0.0,0.0,0,0.0	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	364.90	MHEAD_RNG_PITCHd_Wd	304.1,24654,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	1.5	D_GRID	990
GPS2	150218,091440,-7424.2998,-11225.5908,0,4112.0,0,53.5,0.0,0.0,0,0.0

FINISH1	348.2,1.027403,5	_24V_AH	13.15,73.687
FINISH2	347.1	_10V_AH	12.44,0.000
RAFOS_CLK	433	FG_AHR_24Vo	0.000
RAFOS	0,1518696086,12.032778,12.023889,138,61,57,55,51,50,456,152,230,188,169,197	FG_AHR_10Vo	0.000
RAFOS_FIX	-7422.657227,-11226.087891,150218,121200,3,138,0.28	MEM	280004
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	33425,938
TT8_MAMPS	0.040446,0.587216	CAP_FILE_SIZE	116647,0
HUMID	48.14	CFSIZE	1024409600,1000407040
INTERNAL_PRESSURE	7.60929	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.70	INTR	0,7237.88,0x234cd8,1,24
XPDR_PINGS	0	SOUNDSPEED	1458.1
ALTIM_TOP_PING	372.5,30.9	GPS	150218,121600,-7422.657,-11226.088,0,4138.0,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	267	14.79	nil	0	0	0.00
Roll_motor	68	221	200.42	nil	0	0	0.00
VBD_pump_during_apogee	979	1269	16352.00	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	11729	6	937.14
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	43	420	241.63	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8778	2	252.26
TT8_Active	955	12	145.90
TT8_Sampling	1968	31	777.27
TT8_CF8	101	45	56.84
TT8_Kalman	0	0	0.00
Analog_circuits	1708	10	216.80
GPS_charging	0	0	0.00
Compass	1343	7	125.18
RAFOS	720	1	13.44
Transponder	309	30	115.41

		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
371.7	13.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
378.0	19.60	9000.00	0.0	0.00	0.00	19.60	0.0	1.05	1.00

991.2	24.30	9000.00	0.0	0.01	0.67	24.30	966.9	0.01	1.00
985.1	20.70	9000.00	0.0	0.00	0.48	20.70	964.4	0.59	1.00
978.4	15.50	9000.00	0.0	0.68	0.99	15.50	962.9	0.78	1.00
972.1	24.50	9000.00	0.0	-0.28	0.16	24.50	0.0	-1.43	1.00
965.8	17.90	9000.00	0.0	-0.19	0.06	17.90	947.9	1.05	1.00
959.1	17.80	9000.00	0.0	0.51	0.74	17.80	941.3	0.01	1.00
420.5	79.90	9000.00	0.0	-0.11	1.00	79.90	0.0	-0.12	1.00
413.4	73.20	9000.00	0.0	-0.11	0.99	73.20	340.2	0.94	1.00
406.4	65.10	65.30	341.1	1.05	1.00	65.10	341.3	1.16	1.00
393.1	51.60	51.40	341.7	1.06	1.00	51.60	341.5	1.02	1.00
386.3	44.60	44.60	341.7	1.02	1.00	44.60	341.7	1.03	1.00
379.4	37.70	37.60	341.8	1.01	1.00	37.70	341.7	1.00	1.00
372.5	31.00	30.90	341.6	0.98	1.00	31.00	341.5	0.97	1.00
358.6	21.00	9000.00	0.0	0.79	0.99	21.00	337.6	0.72	1.00
351.6	14.30	9000.00	0.0	0.79	0.99	14.30	337.3	0.96	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	2700	2504	2825	2606	0.0	0.0	0	11	0.00	0.00	-2.00	0.050	16390	0.000	0.000	2700	2503	3331	3471	3192	0	0	0	0	0	0	15.08	13.35	15.06
13	-0.88	-146.0	2700	2504	3471	3197	0.0	0.0	0	19	0.85	2.38	0.00	0.000	4356	0.109	0.154	2416	3754	3332	3464	3201	0	0	0	0	0	0	14.76	14.64	14.84
53	-0.88	-146.0	2416	3755	3458	3210	368.0	-8.9	8	59	0.00	2.30	0.00	0.000	1030	0.000	0.099	2415	2493	3333	3458	3209	0	0	0	0	0	0	14.83	14.74	14.87
363	-0.88	-146.0	2416	2494	3454	3215	400.3	-10.6	40	369	0.00	2.60	0.00	0.000	516	0.000	0.117	2416	1081	3334	3454	3214	0	0	0	0	0	0	15.09	14.69	15.12
408	-0.88	-146.0	2416	1082	3453	3215	405.2	-10.6	49	416	0.00	2.70	0.00	0.000	1030	0.000	0.128	2406	2504	3333	3452	3214	0	0	0	0	0	0	14.78	14.67	14.84
713	-0.88	-146.0	2407	2504	3452	3215	438.3	-10.7	80	719	0.00	2.42	0.00	0.000	260	0.000	0.153	2397	3751	3332	3451	3214	0	0	0	0	0	0	15.09	14.63	15.12
743	-0.88	-146.0	2398	3751	3450	3216	441.7	-11.3	86	750	0.00	2.28	0.00	0.000	1030	0.000	0.099	2398	2498	3333	3449	3217	0	0	0	0	0	0	14.80	14.73	14.85
1054	-0.88	-146.0	2402	2498	3450	3217	476.1	-10.8	118	1060	0.00	2.40	0.00	0.000	260	0.000	0.156	2388	3749	3332	3449	3216	0	0	0	0	0	0	15.11	14.66	15.13
1089	-0.88	-146.0	2388	3750	3449	3218	480.2	-11.9	125	1097	0.00	2.28	0.00	0.000	1030	0.000	0.098	2387	2495	3332	3447	3217	0	0	0	0	0	0	14.83	14.75	14.87
1394	-0.88	-146.0	2388	2495	3448	3217	515.0	-11.5	156	1395	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2495	3332	3448	3217	0	0	0	0	0	0	15.11	15.14	15.13
1694	-0.88	-146.0	2386	2496	3447	3218	548.8	-11.3	186	1701	0.00	2.45	0.00	0.000	260	0.000	0.154	2379	3753	3331	3446	3217	0	0	0	0	0	0	15.11	14.64	15.14
1765	-0.88	-146.0	2378	3753	3446	3218	557.5	-12.3	200	1771	0.12	2.28	0.00	0.000	3078	0.252	0.097	2413	2496	3331	3445	3217	0	0	0	0	0	0	14.54	14.76	14.71
2075	-0.88	-146.0	2412	2497	3441	3219	588.8	-9.9	232	2076	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2496	3331	3445	3217	0	0	0	0	0	0	15.11	15.14	15.14
2376	-0.88	-146.0	2413	2497	3446	3219	618.7	-9.8	262	2381	0.00	2.45	0.00	0.000	260	0.000	0.155	2404	3753	3331	3445	3217	0	0	0	0	0	0	15.12	14.63	15.14
2416	-0.88	-146.0	2404	3754	3445	3219	622.9	-10.9	270	2421	0.00	2.30	0.00	0.000	1030	0.000	0.099	2399	2490	3331	3445	3218	0	0	0	0	0	0	14.82	14.74	14.87
2726	-0.88	-146.0	2404	2491	3445	3219	654.6	-10.1	302	2726	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2490	3331	3445	3218	0	0	0	0	0	0	15.11	15.14	15.14
3025	-0.88	-146.0	2404	2491	3445	3219	684.2	-9.8	332	3032	0.00	2.45	0.00	0.000	260	0.000	0.155	2395	3744	3331	3444	3218	0	0	0	0	0	0	15.12	14.63	15.14
3066	-0.88	-146.0	2395	3745	3445	3219	688.5	-10.6	340	3072	0.00	2.28	0.00	0.000	1030	0.000	0.097	2395	2492	3331	3444	3218	0	0	0	0	0	0	14.83	14.74	14.87
3397	-0.88	-146.0	2395	2493	3446	3218	722.2	-10.2	360	3403	0.00	2.42	0.00	0.000	260	0.000	0.155	2386	3758	3331	3444	3218	0	0	0	0	0	0	15.07	14.65	15.09
3427	-0.88	-146.0	2386	3758	3445	3218	725.5	-12.4	366	3433	0.10	2.30	0.00	0.000	3078	0.268	0.097	2412	2492	3331	3444	3218	0	0	0	0	0	0	14.51	14.74	14.69
3818	-0.88	-146.0	2412	2492	3445	3218	762.6	-9.3	384	3819	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2492	3331	3444	3218	0	0	0	0	0	0	15.07	15.09	15.09
4178	-0.88	-146.0	2413	2493	3445	3219	796.2	-9.3	396	4179	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2492	3331	3444	3218	0	0	0	0	0	0	15.07	15.10	15.10
4539	-0.88	-146.0	2412	2492	3445	3218	830.8	-9.6	408	4540	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2492	3331	3444	3218	0	0	0	0	0	0	15.09	15.12	15.11
4899	-0.88	-146.0	2412	2492	3445	3218	864.6	-9.4	420	4900	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2492	3331	3444	3218	0	0	0	0	0	0	15.09	15.11	15.11
5259	-0.88	-146.0	2413	2492	3445	3218	897.5	-9.0	432	5260	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2492	3331	3444	3218	0	0	0	0	0	0	15.09	15.12	15.11
5618	-0.88	-146.0	2412	2493	3445	3219	929.6	-8.9	444	5619	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2492	3331	3444	3218	0	0	0	0	0	0	15.07	15.11	15.10
5978	-0.88	-146.0	2413	2492	3445	3218	961.5	-8.9	456	5979	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2492	3331	3444	3218	0	0	0	0	0	0	15.08	15.11	15.10
6306	end dive: TARGET_DEPTH_EXCEEDED
state	6306	begin apogee
6310	-0.23	0.0	2412	2192	3445	3218	990.7	-8.7	467	6893	0.77	0.00	580.22	1.131	10246	0.226	0.000	2623	2192	2716	2773	2659	0	0	0	0	0	0	14.57	13.76	13.22
6894	end apogee: CONTROL_FINISHED_OK
state	6894	begin climb
6896	0.88	146.0	2621	2193	2771	2659	998.5	0.0	486	7311	1.20	2.80	399.58	1.269	11012	0.123	0.123	2991	796	2116	2146	2086	0	0	0	0	0	0	13.72	13.63	13.15
7481	0.88	146.0	2991	797	2135	2076	929.9	14.1	598	7486	0.00	2.70	0.00	0.000	1030	0.000	0.111	2991	2210	2105	2134	2076	0	0	0	0	0	0	14.26	14.14	14.29
7851	0.88	146.0	2991	2210	2134	2070	878.2	14.0	612	7852	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2210	2100	2134	2067	0	0	0	0	0	0	14.83	14.85	14.85
8211	0.88	146.0	2989	2210	2134	2068	827.7	14.0	624	8216	0.00	2.65	0.00	0.000	516	0.000	0.123	3002	785	2100	2133	2068	0	0	0	0	0	0	14.97	14.64	15.00
8245	0.88	146.0	3002	786	2133	2069	822.6	14.3	631	8252	0.00	2.65	0.00	0.000	1030	0.000	0.112	3002	2205	2100	2132	2068	0	0	0	0	0	0	14.73	14.64	14.78
8632	0.88	146.0	3002	2206	2133	2068	766.9	14.4	648	8633	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2205	2099	2132	2067	0	0	0	0	0	0	15.00	15.04	15.03
8993	0.88	146.0	3002	2205	2133	2066	715.0	14.4	660	8998	0.00	2.62	0.00	0.000	516	0.000	0.124	3012	785	2098	2132	2065	0	0	0	0	0	0	15.04	14.73	15.07
9017	0.88	146.0	3013	786	2132	2066	711.3	14.3	665	9024	0.00	2.62	0.00	0.000	1030	0.000	0.112	3012	2199	2098	2131	2066	0	0	0	0	0	0	14.82	14.73	14.87
9382	0.88	146.0	3013	2200	2132	2067	657.2	14.9	696	9383	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2200	2098	2131	2066	0	0	0	0	0	0	15.11	15.14	15.14
9682	0.88	146.0	3013	2200	2132	2065	613.1	14.8	726	9683	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2200	2098	2131	2065	0	0	0	0	0	0	15.11	15.15	15.14
9982	0.88	146.0	3012	2200	2132	2066	569.8	14.2	756	9983	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2200	2098	2131	2065	0	0	0	0	0	0	15.12	15.15	15.15
10282	0.88	146.0	3012	2204	2132	2066	526.9	13.9	786	10283	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2199	2098	2131	2065	0	0	0	0	0	0	15.13	15.16	15.16
10582	0.88	146.0	3013	2199	2132	2064	485.3	13.7	816	10583	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2199	2097	2131	2064	0	0	0	0	0	0	15.13	15.16	15.16
10882	0.88	146.0	3013	2199	2132	2063	444.2	13.5	846	10888	0.00	2.60	0.00	0.000	516	0.000	0.123	3023	788	2097	2131	2064	0	0	0	0	0	0	15.14	14.74	15.16
10932	0.88	146.0	3023	788	2132	2064	437.3	13.8	856	10938	0.17	2.62	0.00	0.000	5126	0.233	0.111	2981	2234	2096	2130	2063	0	0	0	0	0	0	14.67	14.75	14.91
11243	0.88	146.0	2981	2234	2131	2063	400.6	11.6	888	11252	0.00	2.60	0.00	0.000	260	0.000	0.145	2981	3616	2097	2130	2064	0	0	0	0	0	0	15.13	14.71	15.16
11266	0.88	146.0	2982	3616	2131	2064	397.8	12.3	892	11272	0.00	2.58	0.00	0.000	1030	0.000	0.098	2990	2180	2097	2130	2064	0	0	0	0	0	0	14.92	14.78	14.97
11576	0.88	146.0	2990	2180	2131	2065	362.1	11.6	924	11577	0.00	0.00	0.00	0.000	6	0.000	0.000	2990	2179	2097	2130	2064	0	0	0	0	0	0	15.10	15.13	15.13
11694	end climb: SURFACE_OBSTACLE_DETECTED
state	11694	begin subsurface finish
11698	0.01	4.9	2991	2208	2131	2063	348.2	11.6	936	11709	0.98	2.72	-2.17	0.052	20740	0.202	0.169	2707	3610	2711	2822	2600	0	0	0	0	0	0	14.61	13.28	14.76
11710	end subsurface finish: CONTROL_FINISHED_OK
state	11710	begin surface