Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 170 * 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 170 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 170 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 150218,121600,-7422.6572,-11226.0879,0,4138.0,0,53.5,0.0,0.0,0,0.0 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 346.38 MHEAD_RNG_PITCHd_Wd 304.4,21604,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 2.9 D_GRID 990

GPS2 150218,121600,-7422.6572,-11226.0879,0,4138.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 355.3,1.027418,4 _24V_AH 12.24,74.072

FINISH2 354.2 _10V_AH 12.27,0.000

RAFOS_CLK 421 FG_AHR_24Vo 0.000

RAFOS 0,1518706886,15.032778,15.023889,148,60,54,49,49,49,449,211,158,137,223,187 FG_AHR_10Vo 0.000

RAFOS_FIX -7420.880371,-11227.534180,150218,151512,3,135,0.31 MEM 280052

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 29994,913

TT8_MAMPS 0.041195,0.278628 CAP_FILE_SIZE 117008,0

HUMID 47.83 CFSIZE 1024409600,1000308736

INTERNAL_PRESSURE 7.62882 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 13.70 SOUNDSPEED 1457.5

XPDR_PINGS 0 GPS 150218,151512,-7420.880,-11227.534,0,4134.7,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 357.6,9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 283 14.98 nil 0 0 0.00

Roll_motor 82 1403 1416.76 nil 0 0 0.00

VBD_pump_during_apogee 749 2350 21575.72 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 11714 6 886.51

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 45 420 231.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8950 2 253.68

TT8_Active 790 12 119.05

TT8_Sampling 1938 31 754.83

TT8_CF8 102 45 56.61

TT8_Kalman 0 0 0.00

Analog_circuits 1505 10 188.43

GPS_charging 0 0 0.00

Compass 1308 7 120.25

RAFOS 720 1 13.25

Transponder 320 30 118.06

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

346.5 9.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

353.4 16.50 9000.00 0.0 0.00 0.00 16.50 0.0 1.01 1.00

987.8 16.90 9000.00 0.0 0.01 0.30 16.90 970.9 0.00 1.00

973.0 17.20 9000.00 0.0 0.00 0.80 17.20 0.0 -0.02 1.00

966.0 25.60 9000.00 0.0 -0.34 0.59 25.60 0.0 -1.20 1.00

958.9 15.40 9000.00 0.0 0.13 0.03 15.40 943.5 1.44 1.00

418.3 71.50 9000.00 0.0 -0.09 0.97 71.50 0.0 -0.10 1.00

411.2 64.10 9000.00 0.0 -0.10 0.98 64.10 347.1 1.04 1.00

404.2 56.90 56.90 347.3 1.03 1.00 56.90 347.3 1.03 1.00

397.0 49.40 49.50 347.5 1.04 1.00 49.40 347.6 1.04 1.00

390.0 42.00 42.00 348.0 1.05 1.00 42.00 348.0 1.06 1.00

383.4 35.20 35.20 348.2 1.04 1.00 35.20 348.2 1.03 1.00

376.8 28.70 28.60 348.2 1.02 1.00 28.70 348.1 0.98 1.00

370.8 22.20 22.30 348.5 1.03 1.00 22.20 348.6 1.08 1.00

364.8 16.30 16.20 348.6 1.02 1.00 16.30 348.5 0.98 1.00

357.6 9.30 9.30 348.3 0.98 1.00 9.30 348.3 0.97 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 2709 2482 2819 2603 0.0 0.0 0 12 0.00 0.05 -2.08 0.045 16390 0.000 1.403 2708 2498 3325 3464 3186 0 0 0 0 0 0 15.07 13.31 15.05

14 -0.88 -146.0 2708 2498 3463 3192 0.0 0.0 0 21 0.90 2.53 0.00 0.000 4612 0.120 0.114 2416 1089 3327 3460 3194 0 0 0 0 0 0 14.74 14.71 14.83

49 -0.88 -146.0 2416 1089 3455 3200 349.0 -8.1 7 57 0.00 2.67 0.00 0.000 1030 0.000 0.126 2407 2502 3326 3453 3200 0 0 0 0 0 0 14.77 14.66 14.84

355 -0.88 -146.0 2408 2502 3447 3208 382.2 -11.5 38 360 0.00 2.42 0.00 0.000 260 0.000 0.153 2398 3753 3326 3446 3207 0 0 0 0 0 0 15.09 14.63 15.12

465 -0.88 -146.0 2398 3754 3444 3210 395.8 -12.3 60 471 0.00 2.25 0.00 0.000 1030 0.000 0.097 2398 2489 3326 3443 3209 0 0 0 0 0 0 14.90 14.77 14.93

775 -0.88 -146.0 2398 2490 3444 3212 431.5 -11.2 92 775 0.00 0.00 0.00 0.000 6 0.000 0.000 2399 2490 3326 3443 3209 0 0 0 0 0 0 15.08 15.11 15.11

1075 -0.88 -146.0 2398 2490 3443 3209 464.9 -11.0 122 1075 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2490 3325 3442 3209 0 0 0 0 0 0 15.08 15.11 15.11

1375 -0.88 -146.0 2398 2490 3442 3210 497.9 -10.8 152 1376 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2490 3323 3438 3209 0 0 0 0 0 0 15.08 15.11 15.11

1675 -0.88 -146.0 2398 2490 3442 3210 530.1 -10.7 182 1680 0.00 2.45 0.00 0.000 260 0.000 0.153 2389 3746 3325 3440 3210 0 0 0 0 0 0 15.09 14.61 15.11

1705 -0.88 -146.0 2389 3746 3440 3212 533.5 -11.8 188 1710 0.00 2.28 0.00 0.000 1030 0.000 0.096 2389 2494 3324 3438 3211 0 0 0 0 0 0 14.81 14.73 14.85

2015 -0.88 -146.0 2389 2494 3439 3212 568.5 -11.4 220 2015 0.00 0.00 0.00 0.000 6 0.000 0.000 2389 2494 3324 3438 3211 0 0 0 0 0 0 15.08 15.11 15.11

2315 -0.88 -146.0 2390 2495 3439 3212 601.9 -11.0 250 2320 0.00 2.45 0.00 0.000 260 0.000 0.154 2380 3753 3324 3438 3211 0 0 0 0 0 0 15.09 14.60 15.11

2355 -0.88 -146.0 2380 3754 3438 3213 606.6 -11.8 258 2361 0.12 2.28 0.00 0.000 3078 0.259 0.096 2413 2498 3324 3437 3212 0 0 0 0 0 0 14.50 14.73 14.67

2665 -0.88 -146.0 2414 2499 3438 3212 635.9 -9.3 290 2666 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 2498 3324 3437 3212 0 0 0 0 0 0 15.09 15.12 15.11

2965 -0.88 -146.0 2413 2498 3438 3212 664.4 -9.6 320 2966 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 2498 3325 3438 3212 0 0 0 0 0 0 15.08 15.11 15.11

3265 -0.88 -146.0 2413 2499 3438 3213 692.9 -9.4 350 3271 0.00 2.58 0.00 0.000 516 0.000 0.112 2413 1088 3324 3437 3212 0 0 0 0 0 0 15.09 14.67 15.12

3290 -0.88 -146.0 2413 1088 3438 3212 695.3 -10.1 355 3297 0.00 2.70 0.00 0.000 1030 0.000 0.125 2404 2509 3324 3437 3212 0 0 0 0 0 0 14.74 14.62 14.81

3615 -0.88 -146.0 2404 2510 3437 3213 726.5 -9.5 370 3616 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2509 3324 3437 3212 0 0 0 0 0 0 15.10 15.13 15.12

3975 -0.88 -146.0 2404 2510 3438 3214 760.3 -9.3 382 3976 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2509 3324 3437 3212 0 0 0 0 0 0 15.11 15.14 15.14

4335 -0.88 -146.0 2405 2514 3438 3213 793.9 -9.2 394 4341 0.00 2.60 0.00 0.000 516 0.000 0.110 2404 1079 3325 3437 3213 0 0 0 0 0 0 15.11 14.69 15.14

4365 -0.88 -146.0 2405 1080 3438 3212 796.9 -7.9 400 4372 0.00 2.67 0.00 0.000 1030 0.000 0.123 2395 2517 3324 3437 3212 0 0 0 0 0 0 14.85 14.66 14.90

4756 -0.88 -146.0 2395 2518 3438 3214 835.4 -9.8 418 4757 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2517 3325 3437 3213 0 0 0 0 0 0 15.12 15.15 15.14

5116 -0.88 -146.0 2395 2518 3438 3213 871.4 -9.9 430 5117 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2517 3324 3437 3212 0 0 0 0 0 0 15.12 15.16 15.15

5476 -0.88 -146.0 2395 2518 3437 3214 906.8 -9.9 442 5482 0.00 2.60 0.00 0.000 516 0.000 0.109 2395 1088 3325 3437 3213 0 0 0 0 0 0 15.13 14.70 15.16

5526 -0.88 -146.0 2395 1089 3437 3214 911.9 -10.2 452 5532 0.08 2.67 0.00 0.000 3078 0.283 0.122 2412 2504 3323 3433 3213 0 0 0 0 0 0 14.49 14.63 14.80

5897 -0.88 -146.0 2413 2505 3438 3213 945.2 -8.8 466 5898 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2505 3325 3437 3213 0 0 0 0 0 0 15.12 15.15 15.14

6256 -0.88 -146.0 2412 2505 3438 3213 978.0 -9.2 478 6257 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2505 3325 3437 3213 0 0 0 0 0 0 15.13 15.16 15.16

6405 end dive: TARGET_DEPTH_EXCEEDED

state 6405 begin apogee

6409 -0.23 0.0 2413 2195 3438 3213 992.0 -9.2 483 6640 0.77 0.00 222.77 2.351 10246 0.227 0.000 2621 2195 2713 2766 2660 0 0 0 0 1 0 14.55 13.41 12.24

6641 end apogee: CONTROL_FINISHED_OK

state 6641 begin climb

6642 0.88 146.0 2622 2195 2768 2660 998.2 0.0 490 7176 1.25 0.00 527.05 1.189 10758 0.140 0.000 2976 2194 2120 2152 2088 0 0 0 0 0 0 13.42 13.69 13.18

7516 0.88 146.0 2977 2195 2134 2066 899.1 13.1 560 7517 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2195 2099 2133 2066 0 0 0 0 0 0 14.66 14.69 14.69

7877 0.88 146.0 2976 2194 2133 2064 852.5 12.8 572 7878 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2194 2097 2131 2064 0 0 0 0 0 0 14.90 14.93 14.93

8237 0.88 146.0 2976 2195 2131 2063 807.4 12.6 584 8238 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2194 2097 2131 2063 0 0 0 0 0 0 15.01 15.03 15.03

8597 0.88 146.0 2976 2195 2131 2063 761.6 12.9 596 8602 0.00 2.60 0.00 0.000 516 0.000 0.126 2986 788 2096 2130 2062 0 0 0 0 0 0 15.06 14.71 15.09

8617 0.88 146.0 2990 789 2130 2063 758.9 12.9 600 8622 0.00 2.60 0.00 0.000 1030 0.000 0.112 2986 2215 2096 2130 2062 0 0 0 0 0 0 14.88 14.73 14.92

8988 0.88 146.0 2987 2214 2130 2062 708.6 13.5 614 8993 0.00 2.65 0.00 0.000 260 0.000 0.143 2986 3620 2095 2129 2061 0 0 0 0 0 0 15.05 14.72 15.08

9007 0.88 146.0 2987 3621 2130 2063 705.6 15.0 618 9013 0.00 2.60 0.00 0.000 1030 0.000 0.100 2997 2196 2095 2130 2061 0 0 0 0 0 0 14.84 14.76 14.88

9377 0.88 146.0 2997 2194 2130 2062 653.8 13.8 654 9383 0.00 2.62 0.00 0.000 516 0.000 0.128 3007 775 2095 2129 2061 0 0 0 0 0 0 15.08 14.72 15.11

9432 0.88 146.0 3008 775 2129 2061 646.1 14.0 665 9442 0.00 2.60 0.00 0.000 1030 0.000 0.112 3008 2204 2094 2128 2061 0 0 0 0 0 0 14.89 14.73 14.93

9738 0.88 146.0 3007 2205 2130 2062 602.6 14.2 696 9739 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 2204 2094 2128 2061 0 0 0 0 0 0 15.04 15.07 15.07

10038 0.88 146.0 3008 2204 2129 2060 560.4 14.0 726 10043 0.00 2.62 0.00 0.000 516 0.000 0.126 3018 780 2094 2128 2060 0 0 0 0 0 0 15.05 14.72 15.08

10067 0.88 146.0 3018 780 2129 2062 556.1 13.9 732 10074 0.12 2.65 0.00 0.000 5126 0.216 0.114 2983 2204 2094 2128 2060 0 0 0 0 0 0 14.62 14.71 14.76

10378 0.88 146.0 2983 2205 2128 2061 517.9 12.0 764 10384 0.00 2.67 0.00 0.000 260 0.000 0.145 2983 3616 2092 2124 2060 0 0 0 0 0 0 15.10 14.71 15.13

10403 0.88 146.0 2983 3616 2128 2060 514.6 13.3 769 10410 0.00 2.60 0.00 0.000 1030 0.000 0.100 2993 2166 2093 2127 2060 0 0 0 0 0 0 14.90 14.76 14.95

10708 0.88 146.0 2993 2165 2128 2060 476.1 12.5 800 10714 0.00 2.55 0.00 0.000 516 0.000 0.129 3003 782 2093 2127 2060 0 0 0 0 0 0 15.11 14.71 15.14

10738 0.88 146.0 3003 782 2128 2060 472.2 13.1 806 10744 0.00 2.65 0.00 0.000 1030 0.000 0.115 3003 2208 2093 2127 2060 0 0 0 0 0 0 14.93 14.71 14.97

11049 0.88 146.0 3003 2209 2128 2061 432.1 12.8 838 11054 0.00 2.67 0.00 0.000 260 0.000 0.146 3002 3621 2093 2127 2059 0 0 0 0 0 0 15.06 14.70 15.09

11088 0.88 146.0 3003 3623 2128 2061 426.2 14.9 846 11095 0.08 2.62 0.00 0.000 5126 0.243 0.102 2985 2191 2093 2127 2060 0 0 0 0 0 0 14.62 14.73 14.88

11399 0.88 146.0 2986 2189 2128 2060 388.8 11.7 878 11405 0.00 2.60 0.00 0.000 516 0.000 0.130 2995 785 2093 2127 2059 0 0 0 0 0 0 15.12 14.71 15.14

11445 0.88 146.0 2995 786 2128 2061 383.4 12.0 887 11452 0.00 2.60 0.00 0.000 1030 0.000 0.116 2995 2206 2093 2127 2059 0 0 0 0 0 0 14.88 14.73 14.91

11678 end climb: SURFACE_OBSTACLE_DETECTED

state 11678 begin subsurface finish

11681 0.01 4.2 2995 2205 2128 2060 355.3 11.9 911 11694 1.00 2.75 -2.17 0.052 20740 0.202 0.171 2705 3620 2713 2825 2602 0 0 0 0 0 0 14.61 13.29 14.76

11694 end subsurface finish: CONTROL_FINISHED_OK

state 11694 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	170	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	150218,121600,-7422.6572,-11226.0879,0,4138.0,0,53.5,0.0,0.0,0,0.0	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	346.38	MHEAD_RNG_PITCHd_Wd	304.4,21604,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	2.9	D_GRID	990
GPS2	150218,121600,-7422.6572,-11226.0879,0,4138.0,0,53.5,0.0,0.0,0,0.0

FINISH1	355.3,1.027418,4	_24V_AH	12.24,74.072
FINISH2	354.2	_10V_AH	12.27,0.000
RAFOS_CLK	421	FG_AHR_24Vo	0.000
RAFOS	0,1518706886,15.032778,15.023889,148,60,54,49,49,49,449,211,158,137,223,187	FG_AHR_10Vo	0.000
RAFOS_FIX	-7420.880371,-11227.534180,150218,151512,3,135,0.31	MEM	280052
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	29994,913
TT8_MAMPS	0.041195,0.278628	CAP_FILE_SIZE	117008,0
HUMID	47.83	CFSIZE	1024409600,1000308736
INTERNAL_PRESSURE	7.62882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.70	SOUNDSPEED	1457.5
XPDR_PINGS	0	GPS	150218,151512,-7420.880,-11227.534,0,4134.7,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	357.6,9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	283	14.98	nil	0	0	0.00
Roll_motor	82	1403	1416.76	nil	0	0	0.00
VBD_pump_during_apogee	749	2350	21575.72	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	11714	6	886.51
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	45	420	231.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8950	2	253.68
TT8_Active	790	12	119.05
TT8_Sampling	1938	31	754.83
TT8_CF8	102	45	56.61
TT8_Kalman	0	0	0.00
Analog_circuits	1505	10	188.43
GPS_charging	0	0	0.00
Compass	1308	7	120.25
RAFOS	720	1	13.25
Transponder	320	30	118.06

		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
346.5	9.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
353.4	16.50	9000.00	0.0	0.00	0.00	16.50	0.0	1.01	1.00

987.8	16.90	9000.00	0.0	0.01	0.30	16.90	970.9	0.00	1.00
973.0	17.20	9000.00	0.0	0.00	0.80	17.20	0.0	-0.02	1.00
966.0	25.60	9000.00	0.0	-0.34	0.59	25.60	0.0	-1.20	1.00
958.9	15.40	9000.00	0.0	0.13	0.03	15.40	943.5	1.44	1.00
418.3	71.50	9000.00	0.0	-0.09	0.97	71.50	0.0	-0.10	1.00
411.2	64.10	9000.00	0.0	-0.10	0.98	64.10	347.1	1.04	1.00
404.2	56.90	56.90	347.3	1.03	1.00	56.90	347.3	1.03	1.00
397.0	49.40	49.50	347.5	1.04	1.00	49.40	347.6	1.04	1.00
390.0	42.00	42.00	348.0	1.05	1.00	42.00	348.0	1.06	1.00
383.4	35.20	35.20	348.2	1.04	1.00	35.20	348.2	1.03	1.00
376.8	28.70	28.60	348.2	1.02	1.00	28.70	348.1	0.98	1.00
370.8	22.20	22.30	348.5	1.03	1.00	22.20	348.6	1.08	1.00
364.8	16.30	16.20	348.6	1.02	1.00	16.30	348.5	0.98	1.00
357.6	9.30	9.30	348.3	0.98	1.00	9.30	348.3	0.97	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	2709	2482	2819	2603	0.0	0.0	0	12	0.00	0.05	-2.08	0.045	16390	0.000	1.403	2708	2498	3325	3464	3186	0	0	0	0	0	0	15.07	13.31	15.05
14	-0.88	-146.0	2708	2498	3463	3192	0.0	0.0	0	21	0.90	2.53	0.00	0.000	4612	0.120	0.114	2416	1089	3327	3460	3194	0	0	0	0	0	0	14.74	14.71	14.83
49	-0.88	-146.0	2416	1089	3455	3200	349.0	-8.1	7	57	0.00	2.67	0.00	0.000	1030	0.000	0.126	2407	2502	3326	3453	3200	0	0	0	0	0	0	14.77	14.66	14.84
355	-0.88	-146.0	2408	2502	3447	3208	382.2	-11.5	38	360	0.00	2.42	0.00	0.000	260	0.000	0.153	2398	3753	3326	3446	3207	0	0	0	0	0	0	15.09	14.63	15.12
465	-0.88	-146.0	2398	3754	3444	3210	395.8	-12.3	60	471	0.00	2.25	0.00	0.000	1030	0.000	0.097	2398	2489	3326	3443	3209	0	0	0	0	0	0	14.90	14.77	14.93
775	-0.88	-146.0	2398	2490	3444	3212	431.5	-11.2	92	775	0.00	0.00	0.00	0.000	6	0.000	0.000	2399	2490	3326	3443	3209	0	0	0	0	0	0	15.08	15.11	15.11
1075	-0.88	-146.0	2398	2490	3443	3209	464.9	-11.0	122	1075	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2490	3325	3442	3209	0	0	0	0	0	0	15.08	15.11	15.11
1375	-0.88	-146.0	2398	2490	3442	3210	497.9	-10.8	152	1376	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2490	3323	3438	3209	0	0	0	0	0	0	15.08	15.11	15.11
1675	-0.88	-146.0	2398	2490	3442	3210	530.1	-10.7	182	1680	0.00	2.45	0.00	0.000	260	0.000	0.153	2389	3746	3325	3440	3210	0	0	0	0	0	0	15.09	14.61	15.11
1705	-0.88	-146.0	2389	3746	3440	3212	533.5	-11.8	188	1710	0.00	2.28	0.00	0.000	1030	0.000	0.096	2389	2494	3324	3438	3211	0	0	0	0	0	0	14.81	14.73	14.85
2015	-0.88	-146.0	2389	2494	3439	3212	568.5	-11.4	220	2015	0.00	0.00	0.00	0.000	6	0.000	0.000	2389	2494	3324	3438	3211	0	0	0	0	0	0	15.08	15.11	15.11
2315	-0.88	-146.0	2390	2495	3439	3212	601.9	-11.0	250	2320	0.00	2.45	0.00	0.000	260	0.000	0.154	2380	3753	3324	3438	3211	0	0	0	0	0	0	15.09	14.60	15.11
2355	-0.88	-146.0	2380	3754	3438	3213	606.6	-11.8	258	2361	0.12	2.28	0.00	0.000	3078	0.259	0.096	2413	2498	3324	3437	3212	0	0	0	0	0	0	14.50	14.73	14.67
2665	-0.88	-146.0	2414	2499	3438	3212	635.9	-9.3	290	2666	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	2498	3324	3437	3212	0	0	0	0	0	0	15.09	15.12	15.11
2965	-0.88	-146.0	2413	2498	3438	3212	664.4	-9.6	320	2966	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	2498	3325	3438	3212	0	0	0	0	0	0	15.08	15.11	15.11
3265	-0.88	-146.0	2413	2499	3438	3213	692.9	-9.4	350	3271	0.00	2.58	0.00	0.000	516	0.000	0.112	2413	1088	3324	3437	3212	0	0	0	0	0	0	15.09	14.67	15.12
3290	-0.88	-146.0	2413	1088	3438	3212	695.3	-10.1	355	3297	0.00	2.70	0.00	0.000	1030	0.000	0.125	2404	2509	3324	3437	3212	0	0	0	0	0	0	14.74	14.62	14.81
3615	-0.88	-146.0	2404	2510	3437	3213	726.5	-9.5	370	3616	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2509	3324	3437	3212	0	0	0	0	0	0	15.10	15.13	15.12
3975	-0.88	-146.0	2404	2510	3438	3214	760.3	-9.3	382	3976	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2509	3324	3437	3212	0	0	0	0	0	0	15.11	15.14	15.14
4335	-0.88	-146.0	2405	2514	3438	3213	793.9	-9.2	394	4341	0.00	2.60	0.00	0.000	516	0.000	0.110	2404	1079	3325	3437	3213	0	0	0	0	0	0	15.11	14.69	15.14
4365	-0.88	-146.0	2405	1080	3438	3212	796.9	-7.9	400	4372	0.00	2.67	0.00	0.000	1030	0.000	0.123	2395	2517	3324	3437	3212	0	0	0	0	0	0	14.85	14.66	14.90
4756	-0.88	-146.0	2395	2518	3438	3214	835.4	-9.8	418	4757	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2517	3325	3437	3213	0	0	0	0	0	0	15.12	15.15	15.14
5116	-0.88	-146.0	2395	2518	3438	3213	871.4	-9.9	430	5117	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2517	3324	3437	3212	0	0	0	0	0	0	15.12	15.16	15.15
5476	-0.88	-146.0	2395	2518	3437	3214	906.8	-9.9	442	5482	0.00	2.60	0.00	0.000	516	0.000	0.109	2395	1088	3325	3437	3213	0	0	0	0	0	0	15.13	14.70	15.16
5526	-0.88	-146.0	2395	1089	3437	3214	911.9	-10.2	452	5532	0.08	2.67	0.00	0.000	3078	0.283	0.122	2412	2504	3323	3433	3213	0	0	0	0	0	0	14.49	14.63	14.80
5897	-0.88	-146.0	2413	2505	3438	3213	945.2	-8.8	466	5898	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2505	3325	3437	3213	0	0	0	0	0	0	15.12	15.15	15.14
6256	-0.88	-146.0	2412	2505	3438	3213	978.0	-9.2	478	6257	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2505	3325	3437	3213	0	0	0	0	0	0	15.13	15.16	15.16
6405	end dive: TARGET_DEPTH_EXCEEDED
state	6405	begin apogee
6409	-0.23	0.0	2413	2195	3438	3213	992.0	-9.2	483	6640	0.77	0.00	222.77	2.351	10246	0.227	0.000	2621	2195	2713	2766	2660	0	0	0	0	1	0	14.55	13.41	12.24
6641	end apogee: CONTROL_FINISHED_OK
state	6641	begin climb
6642	0.88	146.0	2622	2195	2768	2660	998.2	0.0	490	7176	1.25	0.00	527.05	1.189	10758	0.140	0.000	2976	2194	2120	2152	2088	0	0	0	0	0	0	13.42	13.69	13.18
7516	0.88	146.0	2977	2195	2134	2066	899.1	13.1	560	7517	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2195	2099	2133	2066	0	0	0	0	0	0	14.66	14.69	14.69
7877	0.88	146.0	2976	2194	2133	2064	852.5	12.8	572	7878	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2194	2097	2131	2064	0	0	0	0	0	0	14.90	14.93	14.93
8237	0.88	146.0	2976	2195	2131	2063	807.4	12.6	584	8238	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2194	2097	2131	2063	0	0	0	0	0	0	15.01	15.03	15.03
8597	0.88	146.0	2976	2195	2131	2063	761.6	12.9	596	8602	0.00	2.60	0.00	0.000	516	0.000	0.126	2986	788	2096	2130	2062	0	0	0	0	0	0	15.06	14.71	15.09
8617	0.88	146.0	2990	789	2130	2063	758.9	12.9	600	8622	0.00	2.60	0.00	0.000	1030	0.000	0.112	2986	2215	2096	2130	2062	0	0	0	0	0	0	14.88	14.73	14.92
8988	0.88	146.0	2987	2214	2130	2062	708.6	13.5	614	8993	0.00	2.65	0.00	0.000	260	0.000	0.143	2986	3620	2095	2129	2061	0	0	0	0	0	0	15.05	14.72	15.08
9007	0.88	146.0	2987	3621	2130	2063	705.6	15.0	618	9013	0.00	2.60	0.00	0.000	1030	0.000	0.100	2997	2196	2095	2130	2061	0	0	0	0	0	0	14.84	14.76	14.88
9377	0.88	146.0	2997	2194	2130	2062	653.8	13.8	654	9383	0.00	2.62	0.00	0.000	516	0.000	0.128	3007	775	2095	2129	2061	0	0	0	0	0	0	15.08	14.72	15.11
9432	0.88	146.0	3008	775	2129	2061	646.1	14.0	665	9442	0.00	2.60	0.00	0.000	1030	0.000	0.112	3008	2204	2094	2128	2061	0	0	0	0	0	0	14.89	14.73	14.93
9738	0.88	146.0	3007	2205	2130	2062	602.6	14.2	696	9739	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	2204	2094	2128	2061	0	0	0	0	0	0	15.04	15.07	15.07
10038	0.88	146.0	3008	2204	2129	2060	560.4	14.0	726	10043	0.00	2.62	0.00	0.000	516	0.000	0.126	3018	780	2094	2128	2060	0	0	0	0	0	0	15.05	14.72	15.08
10067	0.88	146.0	3018	780	2129	2062	556.1	13.9	732	10074	0.12	2.65	0.00	0.000	5126	0.216	0.114	2983	2204	2094	2128	2060	0	0	0	0	0	0	14.62	14.71	14.76
10378	0.88	146.0	2983	2205	2128	2061	517.9	12.0	764	10384	0.00	2.67	0.00	0.000	260	0.000	0.145	2983	3616	2092	2124	2060	0	0	0	0	0	0	15.10	14.71	15.13
10403	0.88	146.0	2983	3616	2128	2060	514.6	13.3	769	10410	0.00	2.60	0.00	0.000	1030	0.000	0.100	2993	2166	2093	2127	2060	0	0	0	0	0	0	14.90	14.76	14.95
10708	0.88	146.0	2993	2165	2128	2060	476.1	12.5	800	10714	0.00	2.55	0.00	0.000	516	0.000	0.129	3003	782	2093	2127	2060	0	0	0	0	0	0	15.11	14.71	15.14
10738	0.88	146.0	3003	782	2128	2060	472.2	13.1	806	10744	0.00	2.65	0.00	0.000	1030	0.000	0.115	3003	2208	2093	2127	2060	0	0	0	0	0	0	14.93	14.71	14.97
11049	0.88	146.0	3003	2209	2128	2061	432.1	12.8	838	11054	0.00	2.67	0.00	0.000	260	0.000	0.146	3002	3621	2093	2127	2059	0	0	0	0	0	0	15.06	14.70	15.09
11088	0.88	146.0	3003	3623	2128	2061	426.2	14.9	846	11095	0.08	2.62	0.00	0.000	5126	0.243	0.102	2985	2191	2093	2127	2060	0	0	0	0	0	0	14.62	14.73	14.88
11399	0.88	146.0	2986	2189	2128	2060	388.8	11.7	878	11405	0.00	2.60	0.00	0.000	516	0.000	0.130	2995	785	2093	2127	2059	0	0	0	0	0	0	15.12	14.71	15.14
11445	0.88	146.0	2995	786	2128	2061	383.4	12.0	887	11452	0.00	2.60	0.00	0.000	1030	0.000	0.116	2995	2206	2093	2127	2059	0	0	0	0	0	0	14.88	14.73	14.91
11678	end climb: SURFACE_OBSTACLE_DETECTED
state	11678	begin subsurface finish
11681	0.01	4.2	2995	2205	2128	2060	355.3	11.9	911	11694	1.00	2.75	-2.17	0.052	20740	0.202	0.171	2705	3620	2713	2825	2602	0	0	0	0	0	0	14.61	13.29	14.76
11694	end subsurface finish: CONTROL_FINISHED_OK
state	11694	begin surface