Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 251 * 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 251 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 20 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 20 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 16 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 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 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 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 210 CF8_MAXERRORS 20 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 3 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 20 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 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 3 SURFACE_URGENCY_TRY 100

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 0

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 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 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 120

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 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 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 5

DIVE 251 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 20 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 16 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 260218,211544,-7430.1528,-11224.9463,0,4124.7,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7412.000,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 398.42 MHEAD_RNG_PITCHd_Wd 302.1,33716,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 2.3 D_GRID 990

GPS2 260218,211544,-7430.1528,-11224.9463,0,4124.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 374.8,1.027446,3 _24V_AH 12.10,104.403

FINISH2 373.6 _10V_AH 12.32,0.000

RAFOS_CLK 407 FG_AHR_24Vo 0.000

RAFOS 0,1519689667,0.032778,0.018611,138,58,56,55,55,53,603,179,221,156,191,207 FG_AHR_10Vo 0.000

RAFOS_FIX -7428.938965,-11228.147461,270218,000056,3,106,0.26 MEM 279804

IRIDIUM_FIX -7432.96,-11836.63,220218,182008 DATA_FILE_SIZE 30032,923

TT8_MAMPS 0.041195,0.288365 CAP_FILE_SIZE 116235,0

HUMID 47.51 CFSIZE 1024409600,990887936

INTERNAL_PRESSURE 7.61906 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.80 SOUNDSPEED 1458.1

XPDR_PINGS 1 GPS 270218,001456,-7428.939,-11228.147,0,4105.7,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 382.9,14.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 293 16.00 nil 0 0 0.00

Roll_motor 89 254 275.57 nil 0 0 0.00

VBD_pump_during_apogee 352 3105 13259.21 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 11353 2 405.93

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 42 420 215.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8935 2 254.29

TT8_Active 439 12 66.48

TT8_Sampling 1947 31 761.72

TT8_CF8 121 45 67.88

TT8_Kalman 0 0 0.00

Analog_circuits 1131 10 142.24

GPS_charging 0 0 0.00

Compass 1323 7 122.11

RAFOS 720 1 13.31

Transponder 300 30 110.90

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

404.4 10.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

410.7 16.80 9000.00 0.0 0.00 0.00 16.80 0.0 0.97 1.00

416.8 22.80 22.80 0.0 0.98 1.00 22.80 0.0 0.98 1.00

423.6 29.90 29.80 0.0 1.01 1.00 29.90 0.0 1.04 1.00

991.7 22.80 9000.00 0.0 -0.01 0.24 22.80 0.0 -0.01 1.00

985.2 18.40 9000.00 0.0 -0.02 0.85 18.40 966.8 0.68 1.00

979.2 20.80 9000.00 0.0 0.17 0.23 20.80 0.0 -0.40 1.00

450.7 84.90 9000.00 0.0 -0.12 1.00 84.90 0.0 -0.12 1.00

443.6 77.40 9000.00 0.0 -0.11 0.99 77.40 366.2 1.06 1.00

436.5 70.00 70.00 366.5 1.05 1.00 70.00 366.5 1.04 1.00

429.5 62.80 62.70 366.8 1.04 1.00 62.80 366.7 1.03 1.00

422.8 55.90 55.90 366.9 1.03 1.00 55.90 366.9 1.03 1.00

416.0 48.60 48.60 367.4 1.06 1.00 48.60 367.4 1.07 1.00

409.9 42.50 42.40 367.5 1.04 1.00 42.50 367.4 1.00 1.00

403.8 35.90 36.00 367.8 1.04 1.00 35.90 367.9 1.08 1.00

396.7 28.70 28.60 368.1 1.04 1.00 28.70 368.0 1.01 1.00

389.5 21.10 21.20 368.3 1.03 1.00 21.10 368.4 1.06 1.00

382.9 14.30 14.20 368.7 1.05 1.00 14.30 368.6 1.03 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

9 -0.88 -146.0 2707 2494 2839 2618 0.0 0.0 0 12 0.00 0.00 -1.90 0.050 16390 0.000 0.000 2706 2494 3326 3466 3186 0 0 0 0 0 0 15.10 13.08 15.09

14 -0.88 -146.0 2707 2494 3466 3193 0.0 0.0 0 20 0.88 2.53 0.00 0.000 4612 0.116 0.109 2421 1084 3330 3462 3198 0 0 0 0 0 0 14.69 14.66 14.78

204 -0.88 -146.0 2422 1084 3453 3210 414.0 -9.4 38 210 0.00 2.65 0.00 0.000 1030 0.000 0.122 2413 2500 3331 3452 3210 0 0 0 0 0 0 14.84 14.64 14.91

515 -0.88 -146.0 2413 2500 3450 3214 443.9 -9.8 70 520 0.00 2.60 0.00 0.000 516 0.000 0.106 2413 1077 3331 3449 3214 0 0 0 0 0 0 15.07 14.69 15.10

745 -0.88 -146.0 2413 1077 3450 3214 466.9 -9.7 116 751 0.00 2.70 0.00 0.000 1030 0.000 0.121 2404 2517 3331 3449 3214 0 0 0 0 0 0 14.83 14.62 14.90

1055 -0.88 -146.0 2404 2517 3448 3214 498.1 -10.3 148 1056 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2517 3330 3446 3215 0 0 0 0 0 0 15.14 15.16 15.16

1355 -0.88 -146.0 2405 2517 3447 3215 526.7 -9.2 178 1356 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2517 3330 3446 3215 0 0 0 0 0 0 15.15 15.18 15.17

1655 -0.88 -146.0 2404 2518 3446 3216 554.8 -9.6 208 1656 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2516 3329 3445 3214 0 0 0 0 0 0 15.15 15.18 15.17

1955 -0.88 -146.0 2405 2518 3446 3216 583.4 -9.5 238 1956 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2517 3330 3445 3215 0 0 0 0 0 0 15.15 15.18 15.17

2255 -0.88 -146.0 2405 2517 3446 3214 612.3 -9.7 268 2261 0.00 2.60 0.00 0.000 516 0.000 0.102 2404 1088 3329 3444 3215 0 0 0 0 0 0 15.14 14.66 15.16

2285 -0.88 -146.0 2404 1089 3445 3216 615.2 -10.2 274 2291 0.00 2.65 0.00 0.000 1030 0.000 0.119 2396 2505 3330 3445 3215 0 0 0 0 0 0 14.82 14.62 14.88

2595 -0.88 -146.0 2396 2506 3445 3216 645.8 -9.7 306 2596 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2505 3329 3444 3215 0 0 0 0 0 0 15.13 15.16 15.16

2896 -0.88 -146.0 2396 2505 3444 3215 674.4 -9.4 336 2897 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2505 3329 3444 3215 0 0 0 0 0 0 15.08 15.11 15.10

3205 -0.88 -146.0 2396 2506 3444 3216 703.5 -9.3 365 3206 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2505 3329 3443 3215 0 0 0 0 0 0 15.14 15.17 15.16

3565 -0.88 -146.0 2396 2505 3444 3216 736.6 -9.1 377 3572 0.00 2.58 0.00 0.000 516 0.000 0.101 2396 1084 3329 3443 3216 0 0 0 0 0 0 15.15 14.65 15.18

3596 -0.88 -146.0 2396 1084 3443 3217 739.6 -9.3 383 3602 0.15 2.65 0.00 0.000 3078 0.294 0.119 2417 2505 3329 3443 3215 0 0 0 0 0 0 14.42 14.61 14.73

3986 -0.88 -146.0 2418 2505 3443 3217 771.7 -8.2 401 3987 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2505 3329 3442 3216 0 0 0 0 0 0 15.15 15.18 15.17

4347 -0.88 -146.0 2417 2505 3444 3216 801.6 -8.3 413 4347 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2505 3329 3442 3216 0 0 0 0 0 0 15.15 15.19 15.18

4706 -0.88 -146.0 2417 2506 3443 3217 830.8 -8.0 425 4707 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2505 3329 3442 3216 0 0 0 0 0 0 15.16 15.21 15.18

5066 -0.88 -146.0 2418 2505 3443 3216 858.9 -7.7 437 5073 0.00 2.58 0.00 0.000 516 0.000 0.102 2417 1087 3329 3442 3217 0 0 0 0 0 0 15.16 14.64 15.19

5118 -0.88 -146.0 2418 1088 3443 3217 862.7 -8.1 447 5123 0.00 2.65 0.00 0.000 1030 0.000 0.119 2409 2506 3329 3442 3217 0 0 0 0 0 0 14.81 14.59 14.87

5488 -0.88 -146.0 2410 2506 3444 3217 892.7 -8.1 461 5494 0.00 2.40 0.00 0.000 260 0.000 0.150 2400 3754 3329 3442 3217 0 0 0 0 0 0 15.09 14.55 15.11

5518 -0.88 -146.0 2400 3755 3440 3219 895.1 -5.1 467 5524 0.00 2.25 0.00 0.000 1062 0.000 0.092 2400 2493 3328 3439 3218 0 0 0 0 0 0 14.85 14.71 14.90

5909 -0.88 -146.0 2400 2494 3440 3220 929.4 -8.8 485 5915 0.00 2.58 0.00 0.000 516 0.000 0.104 2400 1079 3329 3440 3218 0 0 0 0 0 0 15.14 14.63 15.16

5960 -0.88 -146.0 2401 1079 3441 3218 934.0 -9.2 495 5965 0.00 2.67 0.00 0.000 1030 0.000 0.119 2391 2510 3328 3439 3218 0 0 0 0 0 0 14.80 14.58 14.85

6330 -0.88 -146.0 2392 2510 3440 3218 967.5 -9.1 509 6330 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2510 3329 3440 3219 0 0 0 0 0 0 15.16 15.19 15.19

6598 end dive: TARGET_DEPTH_EXCEEDED

state 6598 begin apogee

6603 -0.23 0.0 2392 2185 3440 3220 991.3 -8.8 518 6782 0.88 0.05 171.55 3.104 10246 0.233 0.255 2624 2200 2711 2765 2657 0 0 0 0 0 0 14.41 13.28 12.13

6783 end apogee: CONTROL_FINISHED_OK

state 6783 begin climb

6785 0.88 146.0 2624 2200 2765 2657 993.8 0.0 524 6976 1.27 3.10 181.35 3.105 10500 0.138 0.139 2982 3619 2113 2153 2074 0 0 0 0 0 0 13.43 13.27 12.10

7005 0.88 146.0 2983 3620 2152 2070 970.2 15.0 561 7012 0.00 2.78 0.00 0.000 1030 0.000 0.091 2993 2203 2110 2152 2068 0 0 0 0 0 0 13.73 13.63 13.76

7397 0.88 146.0 2993 2202 2146 2060 914.9 14.2 579 7402 0.00 2.67 0.00 0.000 516 0.000 0.118 3004 778 2101 2145 2058 0 0 0 0 0 0 14.76 14.46 14.78

7446 0.88 146.0 3003 778 2144 2059 907.2 14.5 589 7453 0.00 2.65 0.00 0.000 1030 0.000 0.106 3003 2216 2100 2143 2058 0 0 0 0 0 0 14.66 14.52 14.71

7818 0.88 146.0 3004 2217 2144 2057 852.0 14.9 603 7823 0.00 2.65 0.00 0.000 516 0.000 0.117 3014 783 2099 2142 2057 0 0 0 0 0 0 15.03 14.65 15.05

7848 0.88 146.0 3015 784 2143 2057 847.5 18.0 609 7855 0.15 2.60 0.00 0.000 5126 0.232 0.106 2980 2208 2099 2142 2057 0 0 0 0 0 0 14.58 14.66 14.81

8240 0.88 146.0 2981 2209 2143 2055 795.1 13.4 627 8245 0.00 2.67 0.00 0.000 260 0.000 0.142 2980 3616 2098 2142 2055 0 0 0 0 0 0 15.05 14.67 15.07

8264 0.88 146.0 2980 3616 2142 2056 791.4 14.6 632 8272 0.00 2.60 0.00 0.000 1030 0.000 0.095 2989 2193 2098 2142 2055 0 0 0 0 0 0 14.81 14.73 14.86

8631 0.88 146.0 2990 2191 2143 2053 741.0 13.7 645 8637 0.00 2.60 0.00 0.000 516 0.000 0.122 3000 782 2097 2141 2053 0 0 0 0 0 0 15.11 14.71 15.14

8681 0.88 146.0 3001 782 2142 2053 733.9 14.4 655 8687 0.00 2.60 0.00 0.000 1030 0.000 0.109 3000 2212 2096 2140 2053 0 0 0 0 0 0 14.90 14.73 14.95

9051 0.88 146.0 3001 2212 2141 2053 681.5 14.2 677 9052 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2212 2096 2140 2053 0 0 0 0 0 0 15.14 15.16 15.16

9351 0.88 146.0 3001 2212 2141 2052 638.4 14.4 707 9357 0.00 2.65 0.00 0.000 516 0.000 0.119 3011 776 2096 2140 2053 0 0 0 0 0 0 15.14 14.71 15.17

9371 0.88 146.0 3011 776 2135 2052 635.5 14.7 711 9378 0.00 2.60 0.00 0.000 1030 0.000 0.107 3011 2209 2096 2140 2052 0 0 0 0 0 0 14.90 14.71 14.95

9682 0.88 146.0 3011 2211 2140 2053 589.5 14.7 743 9683 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2210 2096 2140 2052 0 0 0 0 0 0 15.14 15.16 15.16

9982 0.88 146.0 3009 2210 2141 2052 545.8 14.7 773 9983 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2210 2096 2140 2052 0 0 0 0 0 0 15.14 15.17 15.16

10282 0.88 146.0 3011 2211 2140 2053 503.2 14.0 803 10288 0.00 2.65 0.00 0.000 516 0.000 0.118 3021 776 2096 2140 2052 0 0 0 0 0 0 15.14 14.70 15.16

10313 0.88 146.0 3022 776 2140 2052 499.0 14.3 809 10321 0.17 2.60 0.00 0.000 5126 0.231 0.106 2980 2210 2095 2139 2052 0 0 0 0 0 0 14.61 14.71 14.87

10625 0.88 146.0 2980 2211 2140 2051 461.3 12.1 841 10626 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2211 2095 2138 2052 0 0 0 0 0 0 15.15 15.18 15.17

10925 0.88 146.0 2980 2211 2139 2052 426.0 11.8 871 10931 0.00 2.67 0.00 0.000 260 0.000 0.141 2980 3617 2095 2139 2052 0 0 0 0 0 0 15.15 14.65 15.16

10951 0.88 146.0 2980 3618 2139 2053 422.8 12.7 876 10957 0.00 2.58 0.00 0.000 1030 0.000 0.094 2989 2184 2095 2139 2052 0 0 0 0 0 0 14.90 14.76 14.95

11255 0.88 146.0 2989 2181 2139 2052 385.9 12.2 907 11261 0.00 2.60 0.00 0.000 516 0.000 0.120 2999 778 2094 2138 2051 0 0 0 0 0 0 15.15 14.67 15.17

11295 0.88 146.0 3000 778 2139 2052 381.0 12.5 915 11301 0.00 2.60 0.00 0.000 1030 0.000 0.108 2999 2207 2095 2138 2052 0 0 0 0 0 0 14.90 14.69 14.93

11343 end climb: SURFACE_OBSTACLE_DETECTED

state 11343 begin subsurface finish

11348 0.00 2.8 3000 2207 2139 2052 374.8 12.7 921 11360 1.00 2.75 -2.17 0.053 20740 0.194 0.167 2708 3613 2728 2841 2615 0 0 0 0 0 0 14.52 13.07 14.70

11360 end subsurface finish: CONTROL_FINISHED_OK

state 11360 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	251	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	20	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	20	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	16	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	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	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	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	210	CF8_MAXERRORS	20	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	3	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	260218,211544,-7430.1528,-11224.9463,0,4124.7,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7412.000,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	398.42	MHEAD_RNG_PITCHd_Wd	302.1,33716,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	2.3	D_GRID	990
GPS2	260218,211544,-7430.1528,-11224.9463,0,4124.7,0,53.5,0.0,0.0,0,0.0

FINISH1	374.8,1.027446,3	_24V_AH	12.10,104.403
FINISH2	373.6	_10V_AH	12.32,0.000
RAFOS_CLK	407	FG_AHR_24Vo	0.000
RAFOS	0,1519689667,0.032778,0.018611,138,58,56,55,55,53,603,179,221,156,191,207	FG_AHR_10Vo	0.000
RAFOS_FIX	-7428.938965,-11228.147461,270218,000056,3,106,0.26	MEM	279804
IRIDIUM_FIX	-7432.96,-11836.63,220218,182008	DATA_FILE_SIZE	30032,923
TT8_MAMPS	0.041195,0.288365	CAP_FILE_SIZE	116235,0
HUMID	47.51	CFSIZE	1024409600,990887936
INTERNAL_PRESSURE	7.61906	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.80	SOUNDSPEED	1458.1
XPDR_PINGS	1	GPS	270218,001456,-7428.939,-11228.147,0,4105.7,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	382.9,14.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	293	16.00	nil	0	0	0.00
Roll_motor	89	254	275.57	nil	0	0	0.00
VBD_pump_during_apogee	352	3105	13259.21	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	11353	2	405.93
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	42	420	215.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8935	2	254.29
TT8_Active	439	12	66.48
TT8_Sampling	1947	31	761.72
TT8_CF8	121	45	67.88
TT8_Kalman	0	0	0.00
Analog_circuits	1131	10	142.24
GPS_charging	0	0	0.00
Compass	1323	7	122.11
RAFOS	720	1	13.31
Transponder	300	30	110.90

		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
404.4	10.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
410.7	16.80	9000.00	0.0	0.00	0.00	16.80	0.0	0.97	1.00
416.8	22.80	22.80	0.0	0.98	1.00	22.80	0.0	0.98	1.00
423.6	29.90	29.80	0.0	1.01	1.00	29.90	0.0	1.04	1.00

991.7	22.80	9000.00	0.0	-0.01	0.24	22.80	0.0	-0.01	1.00
985.2	18.40	9000.00	0.0	-0.02	0.85	18.40	966.8	0.68	1.00
979.2	20.80	9000.00	0.0	0.17	0.23	20.80	0.0	-0.40	1.00
450.7	84.90	9000.00	0.0	-0.12	1.00	84.90	0.0	-0.12	1.00
443.6	77.40	9000.00	0.0	-0.11	0.99	77.40	366.2	1.06	1.00
436.5	70.00	70.00	366.5	1.05	1.00	70.00	366.5	1.04	1.00
429.5	62.80	62.70	366.8	1.04	1.00	62.80	366.7	1.03	1.00
422.8	55.90	55.90	366.9	1.03	1.00	55.90	366.9	1.03	1.00
416.0	48.60	48.60	367.4	1.06	1.00	48.60	367.4	1.07	1.00
409.9	42.50	42.40	367.5	1.04	1.00	42.50	367.4	1.00	1.00
403.8	35.90	36.00	367.8	1.04	1.00	35.90	367.9	1.08	1.00
396.7	28.70	28.60	368.1	1.04	1.00	28.70	368.0	1.01	1.00
389.5	21.10	21.20	368.3	1.03	1.00	21.10	368.4	1.06	1.00
382.9	14.30	14.20	368.7	1.05	1.00	14.30	368.6	1.03	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
9	-0.88	-146.0	2707	2494	2839	2618	0.0	0.0	0	12	0.00	0.00	-1.90	0.050	16390	0.000	0.000	2706	2494	3326	3466	3186	0	0	0	0	0	0	15.10	13.08	15.09
14	-0.88	-146.0	2707	2494	3466	3193	0.0	0.0	0	20	0.88	2.53	0.00	0.000	4612	0.116	0.109	2421	1084	3330	3462	3198	0	0	0	0	0	0	14.69	14.66	14.78
204	-0.88	-146.0	2422	1084	3453	3210	414.0	-9.4	38	210	0.00	2.65	0.00	0.000	1030	0.000	0.122	2413	2500	3331	3452	3210	0	0	0	0	0	0	14.84	14.64	14.91
515	-0.88	-146.0	2413	2500	3450	3214	443.9	-9.8	70	520	0.00	2.60	0.00	0.000	516	0.000	0.106	2413	1077	3331	3449	3214	0	0	0	0	0	0	15.07	14.69	15.10
745	-0.88	-146.0	2413	1077	3450	3214	466.9	-9.7	116	751	0.00	2.70	0.00	0.000	1030	0.000	0.121	2404	2517	3331	3449	3214	0	0	0	0	0	0	14.83	14.62	14.90
1055	-0.88	-146.0	2404	2517	3448	3214	498.1	-10.3	148	1056	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2517	3330	3446	3215	0	0	0	0	0	0	15.14	15.16	15.16
1355	-0.88	-146.0	2405	2517	3447	3215	526.7	-9.2	178	1356	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2517	3330	3446	3215	0	0	0	0	0	0	15.15	15.18	15.17
1655	-0.88	-146.0	2404	2518	3446	3216	554.8	-9.6	208	1656	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2516	3329	3445	3214	0	0	0	0	0	0	15.15	15.18	15.17
1955	-0.88	-146.0	2405	2518	3446	3216	583.4	-9.5	238	1956	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2517	3330	3445	3215	0	0	0	0	0	0	15.15	15.18	15.17
2255	-0.88	-146.0	2405	2517	3446	3214	612.3	-9.7	268	2261	0.00	2.60	0.00	0.000	516	0.000	0.102	2404	1088	3329	3444	3215	0	0	0	0	0	0	15.14	14.66	15.16
2285	-0.88	-146.0	2404	1089	3445	3216	615.2	-10.2	274	2291	0.00	2.65	0.00	0.000	1030	0.000	0.119	2396	2505	3330	3445	3215	0	0	0	0	0	0	14.82	14.62	14.88
2595	-0.88	-146.0	2396	2506	3445	3216	645.8	-9.7	306	2596	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2505	3329	3444	3215	0	0	0	0	0	0	15.13	15.16	15.16
2896	-0.88	-146.0	2396	2505	3444	3215	674.4	-9.4	336	2897	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2505	3329	3444	3215	0	0	0	0	0	0	15.08	15.11	15.10
3205	-0.88	-146.0	2396	2506	3444	3216	703.5	-9.3	365	3206	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2505	3329	3443	3215	0	0	0	0	0	0	15.14	15.17	15.16
3565	-0.88	-146.0	2396	2505	3444	3216	736.6	-9.1	377	3572	0.00	2.58	0.00	0.000	516	0.000	0.101	2396	1084	3329	3443	3216	0	0	0	0	0	0	15.15	14.65	15.18
3596	-0.88	-146.0	2396	1084	3443	3217	739.6	-9.3	383	3602	0.15	2.65	0.00	0.000	3078	0.294	0.119	2417	2505	3329	3443	3215	0	0	0	0	0	0	14.42	14.61	14.73
3986	-0.88	-146.0	2418	2505	3443	3217	771.7	-8.2	401	3987	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	2505	3329	3442	3216	0	0	0	0	0	0	15.15	15.18	15.17
4347	-0.88	-146.0	2417	2505	3444	3216	801.6	-8.3	413	4347	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	2505	3329	3442	3216	0	0	0	0	0	0	15.15	15.19	15.18
4706	-0.88	-146.0	2417	2506	3443	3217	830.8	-8.0	425	4707	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	2505	3329	3442	3216	0	0	0	0	0	0	15.16	15.21	15.18
5066	-0.88	-146.0	2418	2505	3443	3216	858.9	-7.7	437	5073	0.00	2.58	0.00	0.000	516	0.000	0.102	2417	1087	3329	3442	3217	0	0	0	0	0	0	15.16	14.64	15.19
5118	-0.88	-146.0	2418	1088	3443	3217	862.7	-8.1	447	5123	0.00	2.65	0.00	0.000	1030	0.000	0.119	2409	2506	3329	3442	3217	0	0	0	0	0	0	14.81	14.59	14.87
5488	-0.88	-146.0	2410	2506	3444	3217	892.7	-8.1	461	5494	0.00	2.40	0.00	0.000	260	0.000	0.150	2400	3754	3329	3442	3217	0	0	0	0	0	0	15.09	14.55	15.11
5518	-0.88	-146.0	2400	3755	3440	3219	895.1	-5.1	467	5524	0.00	2.25	0.00	0.000	1062	0.000	0.092	2400	2493	3328	3439	3218	0	0	0	0	0	0	14.85	14.71	14.90
5909	-0.88	-146.0	2400	2494	3440	3220	929.4	-8.8	485	5915	0.00	2.58	0.00	0.000	516	0.000	0.104	2400	1079	3329	3440	3218	0	0	0	0	0	0	15.14	14.63	15.16
5960	-0.88	-146.0	2401	1079	3441	3218	934.0	-9.2	495	5965	0.00	2.67	0.00	0.000	1030	0.000	0.119	2391	2510	3328	3439	3218	0	0	0	0	0	0	14.80	14.58	14.85
6330	-0.88	-146.0	2392	2510	3440	3218	967.5	-9.1	509	6330	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2510	3329	3440	3219	0	0	0	0	0	0	15.16	15.19	15.19
6598	end dive: TARGET_DEPTH_EXCEEDED
state	6598	begin apogee
6603	-0.23	0.0	2392	2185	3440	3220	991.3	-8.8	518	6782	0.88	0.05	171.55	3.104	10246	0.233	0.255	2624	2200	2711	2765	2657	0	0	0	0	0	0	14.41	13.28	12.13
6783	end apogee: CONTROL_FINISHED_OK
state	6783	begin climb
6785	0.88	146.0	2624	2200	2765	2657	993.8	0.0	524	6976	1.27	3.10	181.35	3.105	10500	0.138	0.139	2982	3619	2113	2153	2074	0	0	0	0	0	0	13.43	13.27	12.10
7005	0.88	146.0	2983	3620	2152	2070	970.2	15.0	561	7012	0.00	2.78	0.00	0.000	1030	0.000	0.091	2993	2203	2110	2152	2068	0	0	0	0	0	0	13.73	13.63	13.76
7397	0.88	146.0	2993	2202	2146	2060	914.9	14.2	579	7402	0.00	2.67	0.00	0.000	516	0.000	0.118	3004	778	2101	2145	2058	0	0	0	0	0	0	14.76	14.46	14.78
7446	0.88	146.0	3003	778	2144	2059	907.2	14.5	589	7453	0.00	2.65	0.00	0.000	1030	0.000	0.106	3003	2216	2100	2143	2058	0	0	0	0	0	0	14.66	14.52	14.71
7818	0.88	146.0	3004	2217	2144	2057	852.0	14.9	603	7823	0.00	2.65	0.00	0.000	516	0.000	0.117	3014	783	2099	2142	2057	0	0	0	0	0	0	15.03	14.65	15.05
7848	0.88	146.0	3015	784	2143	2057	847.5	18.0	609	7855	0.15	2.60	0.00	0.000	5126	0.232	0.106	2980	2208	2099	2142	2057	0	0	0	0	0	0	14.58	14.66	14.81
8240	0.88	146.0	2981	2209	2143	2055	795.1	13.4	627	8245	0.00	2.67	0.00	0.000	260	0.000	0.142	2980	3616	2098	2142	2055	0	0	0	0	0	0	15.05	14.67	15.07
8264	0.88	146.0	2980	3616	2142	2056	791.4	14.6	632	8272	0.00	2.60	0.00	0.000	1030	0.000	0.095	2989	2193	2098	2142	2055	0	0	0	0	0	0	14.81	14.73	14.86
8631	0.88	146.0	2990	2191	2143	2053	741.0	13.7	645	8637	0.00	2.60	0.00	0.000	516	0.000	0.122	3000	782	2097	2141	2053	0	0	0	0	0	0	15.11	14.71	15.14
8681	0.88	146.0	3001	782	2142	2053	733.9	14.4	655	8687	0.00	2.60	0.00	0.000	1030	0.000	0.109	3000	2212	2096	2140	2053	0	0	0	0	0	0	14.90	14.73	14.95
9051	0.88	146.0	3001	2212	2141	2053	681.5	14.2	677	9052	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	2212	2096	2140	2053	0	0	0	0	0	0	15.14	15.16	15.16
9351	0.88	146.0	3001	2212	2141	2052	638.4	14.4	707	9357	0.00	2.65	0.00	0.000	516	0.000	0.119	3011	776	2096	2140	2053	0	0	0	0	0	0	15.14	14.71	15.17
9371	0.88	146.0	3011	776	2135	2052	635.5	14.7	711	9378	0.00	2.60	0.00	0.000	1030	0.000	0.107	3011	2209	2096	2140	2052	0	0	0	0	0	0	14.90	14.71	14.95
9682	0.88	146.0	3011	2211	2140	2053	589.5	14.7	743	9683	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2210	2096	2140	2052	0	0	0	0	0	0	15.14	15.16	15.16
9982	0.88	146.0	3009	2210	2141	2052	545.8	14.7	773	9983	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2210	2096	2140	2052	0	0	0	0	0	0	15.14	15.17	15.16
10282	0.88	146.0	3011	2211	2140	2053	503.2	14.0	803	10288	0.00	2.65	0.00	0.000	516	0.000	0.118	3021	776	2096	2140	2052	0	0	0	0	0	0	15.14	14.70	15.16
10313	0.88	146.0	3022	776	2140	2052	499.0	14.3	809	10321	0.17	2.60	0.00	0.000	5126	0.231	0.106	2980	2210	2095	2139	2052	0	0	0	0	0	0	14.61	14.71	14.87
10625	0.88	146.0	2980	2211	2140	2051	461.3	12.1	841	10626	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2211	2095	2138	2052	0	0	0	0	0	0	15.15	15.18	15.17
10925	0.88	146.0	2980	2211	2139	2052	426.0	11.8	871	10931	0.00	2.67	0.00	0.000	260	0.000	0.141	2980	3617	2095	2139	2052	0	0	0	0	0	0	15.15	14.65	15.16
10951	0.88	146.0	2980	3618	2139	2053	422.8	12.7	876	10957	0.00	2.58	0.00	0.000	1030	0.000	0.094	2989	2184	2095	2139	2052	0	0	0	0	0	0	14.90	14.76	14.95
11255	0.88	146.0	2989	2181	2139	2052	385.9	12.2	907	11261	0.00	2.60	0.00	0.000	516	0.000	0.120	2999	778	2094	2138	2051	0	0	0	0	0	0	15.15	14.67	15.17
11295	0.88	146.0	3000	778	2139	2052	381.0	12.5	915	11301	0.00	2.60	0.00	0.000	1030	0.000	0.108	2999	2207	2095	2138	2052	0	0	0	0	0	0	14.90	14.69	14.93
11343	end climb: SURFACE_OBSTACLE_DETECTED
state	11343	begin subsurface finish
11348	0.00	2.8	3000	2207	2139	2052	374.8	12.7	921	11360	1.00	2.75	-2.17	0.053	20740	0.194	0.167	2708	3613	2728	2841	2615	0	0	0	0	0	0	14.52	13.07	14.70
11360	end subsurface finish: CONTROL_FINISHED_OK
state	11360	begin surface