Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 209 * 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 209 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 3 R_PORT_OVSHOOT 31 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 24 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 110 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 220 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 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 4 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 1.5 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 5 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 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 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 20 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 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

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 0

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 20 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 120

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 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 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 5

DIVE 209 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 31 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 24 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 220 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 230218,061528,-7416.8984,-11244.0850,0,4151.7,0,53.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 2 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7424.000,-11300.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 320.39 MHEAD_RNG_PITCHd_Wd 157.4,15356,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -1.0 D_GRID 990

GPS2 230218,061528,-7416.8984,-11244.0850,0,4151.7,0,53.7,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 299.8,1.027393,5 ALTIM_BOTTOM_PING 749.2,11.0

FINISH2 298.9 _24V_AH 12.31,83.704

RAFOS_CLK 280 _10V_AH 12.31,0.000

RAFOS 0,1519376459,9.032778,9.016389,112,64,57,56,55,55,612,146,214,116,157,202 FG_AHR_24Vo 0.000

RAFOS_FIX -7417.958984,-11245.722656,230218,090940,3,124,0.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7413.09,-11243.88,220218,093243 MEM 280040

TT8_MAMPS 0.040446,0.631407 DATA_FILE_SIZE 26684,806

HUMID 48.70 CAP_FILE_SIZE 101338,0

INTERNAL_PRESSURE 8.23859 CFSIZE 1024409600,995557376

TCM_TEMP 12.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1455.1

ALTIM_TOP_PING 304.8,12.0 GPS 230218,091440,-7417.959,-11245.723,0,4124.3,0,53.7,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 270 15.13 nil 0 0 0.00

Roll_motor 93 153 177.31 nil 0 0 0.00

VBD_pump_during_apogee 342 3076 12957.87 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 7726 11 1058.45

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 33 420 171.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 5550 2 157.83

TT8_Active 438 13 74.61

TT8_Sampling 1703 34 729.49

TT8_CF8 102 52 66.84

TT8_Kalman 0 0 0.00

Analog_circuits 1055 10 141.68

GPS_charging 0 0 0.00

Compass 1156 7 106.60

RAFOS 720 1 13.29

Transponder 238 30 88.19

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

327.1 8.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

333.2 14.00 9000.00 0.0 0.00 0.00 14.00 0.0 0.93 1.00

339.3 20.50 20.40 0.0 1.00 1.00 20.50 0.0 1.07 1.00

715.1 48.00 9000.00 0.0 0.08 0.97 48.00 0.0 0.07 1.00

722.2 39.30 9000.00 0.0 0.06 0.90 39.30 761.5 -1.23 1.00

728.8 33.50 33.10 761.9 -1.07 0.99 33.50 762.3 -0.88 1.00

735.4 25.90 26.10 761.5 -1.02 1.00 25.90 761.3 -1.15 1.00

742.9 17.40 17.40 760.3 -1.14 1.00 17.40 760.3 -1.13 1.00

749.2 11.20 11.00 760.2 -1.06 1.00 11.20 760.4 -0.98 1.00

753.9 12.80 9000.00 0.0 -0.45 0.60 12.80 0.0 0.34 1.00

747.4 15.90 9000.00 0.0 -0.32 0.20 15.90 0.0 -0.48 1.00

741.1 24.00 23.10 0.0 -0.87 0.94 24.00 0.0 -1.29 1.00

734.8 27.30 28.10 0.0 -0.90 0.95 27.30 0.0 -0.52 1.00

364.3 79.50 9000.00 0.0 -0.14 1.00 79.50 0.0 -0.14 1.00

344.1 57.80 9000.00 0.0 -0.11 0.79 57.80 286.3 1.07 1.00

331.0 42.30 42.60 288.4 1.11 1.00 42.30 288.7 1.18 1.00

324.3 34.20 34.20 290.1 1.19 1.00 34.20 290.1 1.21 1.00

317.6 26.40 26.40 291.2 1.18 1.00 26.40 291.2 1.16 1.00

310.9 18.80 18.80 292.1 1.15 1.00 18.80 292.1 1.13 1.00

304.8 12.00 12.00 292.8 1.13 1.00 12.00 292.8 1.11 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 2808 2306 2786 2713 0.0 0.0 0 12 0.00 0.00 -2.38 0.039 16390 0.000 0.000 2806 2305 3391 3414 3368 0 0 0 0 0 0 15.06 13.43 15.06

14 -0.93 -146.0 2808 2306 3417 3369 0.0 0.0 0 20 0.93 2.50 0.00 0.000 4356 0.111 0.103 2497 3715 3394 3420 3368 0 0 0 0 0 0 14.73 14.75 14.80

64 -0.93 -146.0 2496 3715 3412 3369 323.9 -8.8 10 70 0.00 2.45 0.00 0.000 1030 0.000 0.047 2498 2298 3390 3412 3368 0 0 0 0 0 0 14.86 14.81 14.95

374 -0.93 -146.0 2498 2295 3412 3369 362.2 -12.6 42 380 0.00 2.47 0.00 0.000 516 0.000 0.079 2497 891 3390 3412 3368 0 0 0 0 0 0 15.09 14.75 15.11

414 -0.93 -146.0 2498 891 3414 3369 367.4 -13.0 50 420 0.00 2.50 0.00 0.000 1030 0.000 0.071 2488 2312 3390 3412 3368 0 0 0 0 0 0 14.90 14.76 14.94

724 -0.93 -146.0 2487 2313 3412 3368 406.0 -12.6 82 730 0.00 2.60 0.00 0.000 260 0.000 0.109 2480 3713 3389 3412 3367 0 0 0 0 0 0 15.09 14.71 15.11

790 -0.93 -146.0 2480 3714 3412 3368 414.9 -13.6 95 797 0.00 2.40 0.00 0.000 1030 0.000 0.047 2480 2284 3389 3412 3367 0 0 0 0 0 0 14.93 14.85 14.96

1095 -0.93 -146.0 2480 2284 3412 3367 455.0 -12.9 126 1101 0.00 2.62 0.00 0.000 260 0.000 0.107 2471 3723 3389 3412 3367 0 0 0 0 0 0 15.04 14.73 15.07

1130 -0.93 -146.0 2471 3722 3413 3367 459.8 -13.8 133 1138 0.10 2.45 0.00 0.000 3078 0.237 0.047 2511 2286 3389 3412 3366 0 0 0 0 0 0 14.59 14.82 14.87

1435 -0.93 -146.0 2512 2288 3414 3366 494.0 -11.3 164 1444 0.00 2.45 0.00 0.000 516 0.000 0.078 2511 900 3388 3411 3365 0 0 0 0 0 0 15.09 14.74 15.12

1458 -0.93 -146.0 2511 900 3412 3366 496.7 -12.1 168 1464 0.00 2.53 0.00 0.000 1030 0.000 0.072 2502 2307 3389 3412 3366 0 0 0 0 0 0 14.92 14.74 14.95

1768 -0.93 -146.0 2504 2309 3414 3367 530.5 -10.9 200 1774 0.00 2.55 0.00 0.000 260 0.000 0.106 2491 3718 3389 3412 3366 0 0 0 0 0 0 15.10 14.74 15.13

1803 -0.93 -146.0 2491 3718 3412 3366 534.7 -12.3 207 1810 0.00 2.42 0.00 0.000 1030 0.000 0.046 2491 2302 3388 3412 3365 0 0 0 0 0 0 14.77 14.72 14.81

2108 -0.93 -146.0 2491 2302 3412 3366 570.8 -12.3 238 2114 0.00 2.47 0.00 0.000 516 0.000 0.076 2491 889 3388 3412 3365 0 0 0 0 0 0 15.10 14.76 15.13

2138 -0.93 -146.0 2491 890 3412 3366 574.5 -13.2 244 2144 0.00 2.53 0.00 0.000 1030 0.000 0.074 2489 2319 3388 3412 3365 0 0 0 0 0 0 14.90 14.76 14.93

2448 -0.93 -146.0 2490 2320 3414 3366 610.6 -11.5 276 2454 0.00 2.55 0.00 0.000 260 0.000 0.110 2485 3723 3388 3412 3365 0 0 0 0 0 0 15.11 14.71 15.13

2473 -0.93 -146.0 2485 3724 3412 3366 613.6 -12.6 281 2481 0.00 2.45 0.00 0.000 1030 0.000 0.047 2485 2291 3388 3412 3365 0 0 0 0 0 0 14.85 14.81 14.95

2778 -0.93 -146.0 2485 2292 3412 3365 649.8 -11.7 312 2779 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2291 3388 3412 3365 0 0 0 0 0 0 15.11 15.14 15.13

3078 -0.93 -146.0 2486 2292 3414 3365 685.8 -11.6 342 3084 0.00 2.45 0.00 0.000 516 0.000 0.076 2485 895 3388 3412 3365 0 0 0 0 0 0 15.10 14.74 15.13

3108 -0.93 -146.0 2484 896 3412 3365 689.5 -11.6 348 3114 0.00 2.53 0.00 0.000 1030 0.000 0.070 2475 2335 3388 3412 3365 0 0 0 0 0 0 14.90 14.76 14.92

3439 -0.93 -146.0 2476 2336 3414 3365 728.8 -11.4 366 3444 0.00 2.50 0.00 0.000 260 0.000 0.106 2465 3722 3391 3412 3371 0 0 0 0 0 0 15.07 14.73 15.09

3478 -0.93 -146.0 2466 3723 3414 3366 733.9 -12.9 374 3484 0.08 2.45 0.00 0.000 3078 0.241 0.047 2499 2283 3388 3412 3365 0 0 0 0 0 0 14.59 14.83 14.83

3648 end dive: BOTTOM_OBSTACLE_DETECTED

state 3648 begin apogee

3652 -0.23 0.0 2501 2066 3411 3365 752.5 -10.7 383 3820 0.80 0.10 164.40 3.076 10246 0.216 0.154 2723 2125 2781 2819 2743 0 0 0 0 0 0 14.62 13.40 12.43

3821 end apogee: CONTROL_FINISHED_OK

state 3821 begin climb

3822 0.93 146.0 2723 2126 2819 2743 756.4 0.0 388 4008 1.30 2.88 177.80 2.980 10756 0.135 0.089 3109 736 2184 2236 2132 0 0 0 0 0 0 13.43 13.27 12.31

4043 0.93 146.0 3108 737 2229 2130 738.8 12.0 430 4048 0.00 2.58 0.00 0.000 1030 0.000 0.060 3109 2099 2179 2229 2129 0 0 0 0 0 0 13.71 13.63 13.73

4413 0.93 146.0 3110 2101 2222 2123 691.7 12.7 450 4418 0.00 2.62 0.00 0.000 260 0.000 0.096 3109 3521 2171 2221 2122 0 0 0 0 0 0 14.62 14.36 14.64

4443 0.93 146.0 3110 3521 2220 2122 687.7 12.6 456 4448 0.00 2.47 0.00 0.000 1030 0.000 0.048 3119 2123 2171 2220 2122 0 0 0 0 0 0 14.48 14.43 14.51

4753 0.93 146.0 3120 2123 2219 2120 647.1 13.1 488 4758 0.00 2.60 0.00 0.000 516 0.000 0.095 3128 693 2169 2217 2121 0 0 0 0 0 0 14.87 14.59 14.90

4783 0.93 146.0 3129 694 2218 2122 643.2 12.7 494 4789 0.00 2.47 0.00 0.000 1030 0.000 0.062 3128 2109 2168 2216 2121 0 0 0 0 0 0 14.75 14.65 14.78

5093 0.93 146.0 3127 2109 2213 2121 602.2 13.2 526 5099 0.00 2.58 0.00 0.000 260 0.000 0.099 3128 3514 2168 2215 2121 0 0 0 0 0 0 14.97 14.68 14.99

5128 0.93 146.0 3127 3511 2214 2122 597.0 14.7 533 5136 0.17 2.42 0.00 0.000 5126 0.270 0.049 3097 2087 2167 2214 2121 0 0 0 0 0 0 14.58 14.76 14.81

5433 0.93 146.0 3104 2088 2216 2121 561.1 11.4 564 5439 0.00 2.50 0.00 0.000 516 0.000 0.096 3106 694 2166 2213 2120 0 0 0 0 0 0 15.01 14.72 15.04

5458 0.93 146.0 3107 695 2215 2121 558.2 11.7 569 5466 0.00 2.45 0.00 0.000 1030 0.000 0.061 3105 2113 2166 2213 2120 0 0 0 0 0 0 14.88 14.78 14.90

5763 0.93 146.0 3107 2114 2214 2120 521.5 12.4 600 5764 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2113 2166 2212 2120 0 0 0 0 0 0 15.05 15.08 15.08

6063 0.93 146.0 3106 2114 2213 2121 484.5 12.1 630 6064 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2113 2165 2211 2120 0 0 0 0 0 0 15.06 15.09 15.09

6363 0.93 146.0 3105 2114 2210 2121 448.8 11.6 660 6364 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2113 2165 2210 2120 0 0 0 0 0 0 15.06 15.09 15.09

6663 0.93 146.0 3105 2114 2209 2120 415.0 11.2 690 6669 0.00 2.53 0.00 0.000 260 0.000 0.101 3105 3517 2164 2209 2120 0 0 0 0 0 0 15.07 14.76 15.09

6689 0.93 146.0 3105 3517 2209 2121 411.9 12.3 695 6695 0.00 2.42 0.00 0.000 1030 0.000 0.050 3115 2087 2165 2210 2120 0 0 0 0 0 0 14.92 14.83 14.95

6993 0.93 146.0 3117 2087 2210 2121 376.7 11.6 726 6994 0.00 0.00 0.00 0.000 6 0.000 0.000 3115 2086 2164 2209 2120 0 0 0 0 0 0 15.07 15.09 15.09

7293 0.93 146.0 3116 2087 2210 2121 343.0 11.0 756 7299 0.00 2.58 0.00 0.000 260 0.000 0.099 3116 3510 2164 2208 2120 0 0 0 0 0 0 15.07 14.76 15.10

7338 0.93 146.0 3117 3511 2210 2120 337.4 12.6 765 7346 0.00 2.45 0.00 0.000 1030 0.000 0.049 3125 2092 2164 2208 2120 0 0 0 0 0 0 14.86 14.81 14.89

7643 0.93 146.0 3125 2093 2207 2121 303.9 9.3 796 7649 0.00 2.50 0.00 0.000 516 0.000 0.096 3133 697 2164 2208 2120 0 0 0 0 0 0 15.07 14.76 15.10

7686 end climb: SURFACE_OBSTACLE_DETECTED

state 7687 begin subsurface finish

7693 0.01 5.4 3134 2114 2207 2121 299.8 9.4 805 7702 1.17 0.00 -2.42 0.038 20486 0.216 0.000 2802 2113 2773 2807 2740 0 0 0 0 0 0 14.63 13.47 14.87

7702 end subsurface finish: CONTROL_FINISHED_OK

state 7702 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	209	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	3	R_PORT_OVSHOOT	31	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	24	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	110	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	220	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	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	4	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	1.5	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	5	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	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	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	20	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	230218,061528,-7416.8984,-11244.0850,0,4151.7,0,53.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	2	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7424.000,-11300.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	320.39	MHEAD_RNG_PITCHd_Wd	157.4,15356,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-1.0	D_GRID	990
GPS2	230218,061528,-7416.8984,-11244.0850,0,4151.7,0,53.7,0.0,0.0,0,0.0

FINISH1	299.8,1.027393,5	ALTIM_BOTTOM_PING	749.2,11.0
FINISH2	298.9	_24V_AH	12.31,83.704
RAFOS_CLK	280	_10V_AH	12.31,0.000
RAFOS	0,1519376459,9.032778,9.016389,112,64,57,56,55,55,612,146,214,116,157,202	FG_AHR_24Vo	0.000
RAFOS_FIX	-7417.958984,-11245.722656,230218,090940,3,124,0.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	MEM	280040
TT8_MAMPS	0.040446,0.631407	DATA_FILE_SIZE	26684,806
HUMID	48.70	CAP_FILE_SIZE	101338,0
INTERNAL_PRESSURE	8.23859	CFSIZE	1024409600,995557376
TCM_TEMP	12.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1455.1
ALTIM_TOP_PING	304.8,12.0	GPS	230218,091440,-7417.959,-11245.723,0,4124.3,0,53.7,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	270	15.13	nil	0	0	0.00
Roll_motor	93	153	177.31	nil	0	0	0.00
VBD_pump_during_apogee	342	3076	12957.87	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	7726	11	1058.45
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	33	420	171.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	5550	2	157.83
TT8_Active	438	13	74.61
TT8_Sampling	1703	34	729.49
TT8_CF8	102	52	66.84
TT8_Kalman	0	0	0.00
Analog_circuits	1055	10	141.68
GPS_charging	0	0	0.00
Compass	1156	7	106.60
RAFOS	720	1	13.29
Transponder	238	30	88.19

		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
327.1	8.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
333.2	14.00	9000.00	0.0	0.00	0.00	14.00	0.0	0.93	1.00
339.3	20.50	20.40	0.0	1.00	1.00	20.50	0.0	1.07	1.00
715.1	48.00	9000.00	0.0	0.08	0.97	48.00	0.0	0.07	1.00
722.2	39.30	9000.00	0.0	0.06	0.90	39.30	761.5	-1.23	1.00
728.8	33.50	33.10	761.9	-1.07	0.99	33.50	762.3	-0.88	1.00
735.4	25.90	26.10	761.5	-1.02	1.00	25.90	761.3	-1.15	1.00
742.9	17.40	17.40	760.3	-1.14	1.00	17.40	760.3	-1.13	1.00
749.2	11.20	11.00	760.2	-1.06	1.00	11.20	760.4	-0.98	1.00
753.9	12.80	9000.00	0.0	-0.45	0.60	12.80	0.0	0.34	1.00

747.4	15.90	9000.00	0.0	-0.32	0.20	15.90	0.0	-0.48	1.00
741.1	24.00	23.10	0.0	-0.87	0.94	24.00	0.0	-1.29	1.00
734.8	27.30	28.10	0.0	-0.90	0.95	27.30	0.0	-0.52	1.00
364.3	79.50	9000.00	0.0	-0.14	1.00	79.50	0.0	-0.14	1.00
344.1	57.80	9000.00	0.0	-0.11	0.79	57.80	286.3	1.07	1.00
331.0	42.30	42.60	288.4	1.11	1.00	42.30	288.7	1.18	1.00
324.3	34.20	34.20	290.1	1.19	1.00	34.20	290.1	1.21	1.00
317.6	26.40	26.40	291.2	1.18	1.00	26.40	291.2	1.16	1.00
310.9	18.80	18.80	292.1	1.15	1.00	18.80	292.1	1.13	1.00
304.8	12.00	12.00	292.8	1.13	1.00	12.00	292.8	1.11	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	2808	2306	2786	2713	0.0	0.0	0	12	0.00	0.00	-2.38	0.039	16390	0.000	0.000	2806	2305	3391	3414	3368	0	0	0	0	0	0	15.06	13.43	15.06
14	-0.93	-146.0	2808	2306	3417	3369	0.0	0.0	0	20	0.93	2.50	0.00	0.000	4356	0.111	0.103	2497	3715	3394	3420	3368	0	0	0	0	0	0	14.73	14.75	14.80
64	-0.93	-146.0	2496	3715	3412	3369	323.9	-8.8	10	70	0.00	2.45	0.00	0.000	1030	0.000	0.047	2498	2298	3390	3412	3368	0	0	0	0	0	0	14.86	14.81	14.95
374	-0.93	-146.0	2498	2295	3412	3369	362.2	-12.6	42	380	0.00	2.47	0.00	0.000	516	0.000	0.079	2497	891	3390	3412	3368	0	0	0	0	0	0	15.09	14.75	15.11
414	-0.93	-146.0	2498	891	3414	3369	367.4	-13.0	50	420	0.00	2.50	0.00	0.000	1030	0.000	0.071	2488	2312	3390	3412	3368	0	0	0	0	0	0	14.90	14.76	14.94
724	-0.93	-146.0	2487	2313	3412	3368	406.0	-12.6	82	730	0.00	2.60	0.00	0.000	260	0.000	0.109	2480	3713	3389	3412	3367	0	0	0	0	0	0	15.09	14.71	15.11
790	-0.93	-146.0	2480	3714	3412	3368	414.9	-13.6	95	797	0.00	2.40	0.00	0.000	1030	0.000	0.047	2480	2284	3389	3412	3367	0	0	0	0	0	0	14.93	14.85	14.96
1095	-0.93	-146.0	2480	2284	3412	3367	455.0	-12.9	126	1101	0.00	2.62	0.00	0.000	260	0.000	0.107	2471	3723	3389	3412	3367	0	0	0	0	0	0	15.04	14.73	15.07
1130	-0.93	-146.0	2471	3722	3413	3367	459.8	-13.8	133	1138	0.10	2.45	0.00	0.000	3078	0.237	0.047	2511	2286	3389	3412	3366	0	0	0	0	0	0	14.59	14.82	14.87
1435	-0.93	-146.0	2512	2288	3414	3366	494.0	-11.3	164	1444	0.00	2.45	0.00	0.000	516	0.000	0.078	2511	900	3388	3411	3365	0	0	0	0	0	0	15.09	14.74	15.12
1458	-0.93	-146.0	2511	900	3412	3366	496.7	-12.1	168	1464	0.00	2.53	0.00	0.000	1030	0.000	0.072	2502	2307	3389	3412	3366	0	0	0	0	0	0	14.92	14.74	14.95
1768	-0.93	-146.0	2504	2309	3414	3367	530.5	-10.9	200	1774	0.00	2.55	0.00	0.000	260	0.000	0.106	2491	3718	3389	3412	3366	0	0	0	0	0	0	15.10	14.74	15.13
1803	-0.93	-146.0	2491	3718	3412	3366	534.7	-12.3	207	1810	0.00	2.42	0.00	0.000	1030	0.000	0.046	2491	2302	3388	3412	3365	0	0	0	0	0	0	14.77	14.72	14.81
2108	-0.93	-146.0	2491	2302	3412	3366	570.8	-12.3	238	2114	0.00	2.47	0.00	0.000	516	0.000	0.076	2491	889	3388	3412	3365	0	0	0	0	0	0	15.10	14.76	15.13
2138	-0.93	-146.0	2491	890	3412	3366	574.5	-13.2	244	2144	0.00	2.53	0.00	0.000	1030	0.000	0.074	2489	2319	3388	3412	3365	0	0	0	0	0	0	14.90	14.76	14.93
2448	-0.93	-146.0	2490	2320	3414	3366	610.6	-11.5	276	2454	0.00	2.55	0.00	0.000	260	0.000	0.110	2485	3723	3388	3412	3365	0	0	0	0	0	0	15.11	14.71	15.13
2473	-0.93	-146.0	2485	3724	3412	3366	613.6	-12.6	281	2481	0.00	2.45	0.00	0.000	1030	0.000	0.047	2485	2291	3388	3412	3365	0	0	0	0	0	0	14.85	14.81	14.95
2778	-0.93	-146.0	2485	2292	3412	3365	649.8	-11.7	312	2779	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2291	3388	3412	3365	0	0	0	0	0	0	15.11	15.14	15.13
3078	-0.93	-146.0	2486	2292	3414	3365	685.8	-11.6	342	3084	0.00	2.45	0.00	0.000	516	0.000	0.076	2485	895	3388	3412	3365	0	0	0	0	0	0	15.10	14.74	15.13
3108	-0.93	-146.0	2484	896	3412	3365	689.5	-11.6	348	3114	0.00	2.53	0.00	0.000	1030	0.000	0.070	2475	2335	3388	3412	3365	0	0	0	0	0	0	14.90	14.76	14.92
3439	-0.93	-146.0	2476	2336	3414	3365	728.8	-11.4	366	3444	0.00	2.50	0.00	0.000	260	0.000	0.106	2465	3722	3391	3412	3371	0	0	0	0	0	0	15.07	14.73	15.09
3478	-0.93	-146.0	2466	3723	3414	3366	733.9	-12.9	374	3484	0.08	2.45	0.00	0.000	3078	0.241	0.047	2499	2283	3388	3412	3365	0	0	0	0	0	0	14.59	14.83	14.83
3648	end dive: BOTTOM_OBSTACLE_DETECTED
state	3648	begin apogee
3652	-0.23	0.0	2501	2066	3411	3365	752.5	-10.7	383	3820	0.80	0.10	164.40	3.076	10246	0.216	0.154	2723	2125	2781	2819	2743	0	0	0	0	0	0	14.62	13.40	12.43
3821	end apogee: CONTROL_FINISHED_OK
state	3821	begin climb
3822	0.93	146.0	2723	2126	2819	2743	756.4	0.0	388	4008	1.30	2.88	177.80	2.980	10756	0.135	0.089	3109	736	2184	2236	2132	0	0	0	0	0	0	13.43	13.27	12.31
4043	0.93	146.0	3108	737	2229	2130	738.8	12.0	430	4048	0.00	2.58	0.00	0.000	1030	0.000	0.060	3109	2099	2179	2229	2129	0	0	0	0	0	0	13.71	13.63	13.73
4413	0.93	146.0	3110	2101	2222	2123	691.7	12.7	450	4418	0.00	2.62	0.00	0.000	260	0.000	0.096	3109	3521	2171	2221	2122	0	0	0	0	0	0	14.62	14.36	14.64
4443	0.93	146.0	3110	3521	2220	2122	687.7	12.6	456	4448	0.00	2.47	0.00	0.000	1030	0.000	0.048	3119	2123	2171	2220	2122	0	0	0	0	0	0	14.48	14.43	14.51
4753	0.93	146.0	3120	2123	2219	2120	647.1	13.1	488	4758	0.00	2.60	0.00	0.000	516	0.000	0.095	3128	693	2169	2217	2121	0	0	0	0	0	0	14.87	14.59	14.90
4783	0.93	146.0	3129	694	2218	2122	643.2	12.7	494	4789	0.00	2.47	0.00	0.000	1030	0.000	0.062	3128	2109	2168	2216	2121	0	0	0	0	0	0	14.75	14.65	14.78
5093	0.93	146.0	3127	2109	2213	2121	602.2	13.2	526	5099	0.00	2.58	0.00	0.000	260	0.000	0.099	3128	3514	2168	2215	2121	0	0	0	0	0	0	14.97	14.68	14.99
5128	0.93	146.0	3127	3511	2214	2122	597.0	14.7	533	5136	0.17	2.42	0.00	0.000	5126	0.270	0.049	3097	2087	2167	2214	2121	0	0	0	0	0	0	14.58	14.76	14.81
5433	0.93	146.0	3104	2088	2216	2121	561.1	11.4	564	5439	0.00	2.50	0.00	0.000	516	0.000	0.096	3106	694	2166	2213	2120	0	0	0	0	0	0	15.01	14.72	15.04
5458	0.93	146.0	3107	695	2215	2121	558.2	11.7	569	5466	0.00	2.45	0.00	0.000	1030	0.000	0.061	3105	2113	2166	2213	2120	0	0	0	0	0	0	14.88	14.78	14.90
5763	0.93	146.0	3107	2114	2214	2120	521.5	12.4	600	5764	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	2113	2166	2212	2120	0	0	0	0	0	0	15.05	15.08	15.08
6063	0.93	146.0	3106	2114	2213	2121	484.5	12.1	630	6064	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	2113	2165	2211	2120	0	0	0	0	0	0	15.06	15.09	15.09
6363	0.93	146.0	3105	2114	2210	2121	448.8	11.6	660	6364	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	2113	2165	2210	2120	0	0	0	0	0	0	15.06	15.09	15.09
6663	0.93	146.0	3105	2114	2209	2120	415.0	11.2	690	6669	0.00	2.53	0.00	0.000	260	0.000	0.101	3105	3517	2164	2209	2120	0	0	0	0	0	0	15.07	14.76	15.09
6689	0.93	146.0	3105	3517	2209	2121	411.9	12.3	695	6695	0.00	2.42	0.00	0.000	1030	0.000	0.050	3115	2087	2165	2210	2120	0	0	0	0	0	0	14.92	14.83	14.95
6993	0.93	146.0	3117	2087	2210	2121	376.7	11.6	726	6994	0.00	0.00	0.00	0.000	6	0.000	0.000	3115	2086	2164	2209	2120	0	0	0	0	0	0	15.07	15.09	15.09
7293	0.93	146.0	3116	2087	2210	2121	343.0	11.0	756	7299	0.00	2.58	0.00	0.000	260	0.000	0.099	3116	3510	2164	2208	2120	0	0	0	0	0	0	15.07	14.76	15.10
7338	0.93	146.0	3117	3511	2210	2120	337.4	12.6	765	7346	0.00	2.45	0.00	0.000	1030	0.000	0.049	3125	2092	2164	2208	2120	0	0	0	0	0	0	14.86	14.81	14.89
7643	0.93	146.0	3125	2093	2207	2121	303.9	9.3	796	7649	0.00	2.50	0.00	0.000	516	0.000	0.096	3133	697	2164	2208	2120	0	0	0	0	0	0	15.07	14.76	15.10
7686	end climb: SURFACE_OBSTACLE_DETECTED
state	7687	begin subsurface finish
7693	0.01	5.4	3134	2114	2207	2121	299.8	9.4	805	7702	1.17	0.00	-2.42	0.038	20486	0.216	0.000	2802	2113	2773	2807	2740	0	0	0	0	0	0	14.63	13.47	14.87
7702	end subsurface finish: CONTROL_FINISHED_OK
state	7702	begin surface