Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 80 * 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 80 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 10

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 8

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 15 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 12 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 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 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 330 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 360 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 60 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 0.15000001 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 30 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 8 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 10 GLIDE_SLOPE 30 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 330

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 0.15000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 360

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 60

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 80 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 15 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 12 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 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 040218,121600,-7413.8438,-11226.2842,0,4136.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.173,0.220

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7420.000,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 334.80 MHEAD_RNG_PITCHd_Wd 135.7,11552,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 2.5 D_GRID 990

GPS2 040218,121600,-7413.8438,-11226.2842,0,4136.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 348.5,1.027438,3 _24V_AH 12.19,40.818

FINISH2 347.4 _10V_AH 12.42,0.000

RAFOS_CLK 377 FG_AHR_24Vo 0.000

RAFOS 0,1517756460,15.032778,15.016666,127,62,60,56,54,54,572,195,173,159,216,228 FG_AHR_10Vo 0.000

RAFOS_FIX -7415.483887,-11228.175781,040218,151512,3,108,0.30 MEM 279940

IRIDIUM_FIX -7410.06,-11230.52,040218,063513 DATA_FILE_SIZE 30046,905

TT8_MAMPS 0.040446,0.290612 CAP_FILE_SIZE 116345,0

HUMID 47.32 CFSIZE 1024409600,1010302976

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

TCM_TEMP 13.70 SOUNDSPEED 1457.6

XPDR_PINGS 0 GPS 040218,151512,-7415.484,-11228.176,0,4108.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 353.6,14.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 281 16.56 nil 0 0 0.00

Roll_motor 115 172 241.71 nil 0 0 0.00

VBD_pump_during_apogee 334 3103 12653.23 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 10445 6 782.15

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 36 420 188.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8058 2 231.19

TT8_Active 477 12 72.74

TT8_Sampling 1899 31 748.94

TT8_CF8 73 45 41.07

TT8_Kalman 0 0 0.00

Analog_circuits 1171 10 148.41

GPS_charging 0 0 0.00

Compass 1296 7 120.59

RAFOS 720 1 13.41

Transponder 261 30 97.45

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

335.3 9.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

351.4 26.70 9000.00 0.0 0.00 0.00 26.70 0.0 1.06 1.00

992.3 21.60 9000.00 0.0 0.01 0.06 21.60 1013.9 -0.01 1.00

984.1 14.10 9000.00 0.0 -0.01 0.65 14.10 970.0 0.91 1.00

404.6 67.60 9000.00 0.0 -0.09 0.98 67.60 0.0 -0.09 1.00

387.4 49.50 9000.00 0.0 -0.07 0.87 49.50 337.9 1.05 1.00

378.9 40.50 40.50 338.4 1.05 1.00 40.50 338.4 1.06 1.00

370.2 31.60 31.60 338.6 1.04 1.00 31.60 338.6 1.02 1.00

362.0 23.10 23.10 338.9 1.04 1.00 23.10 338.9 1.04 1.00

353.6 14.40 14.40 339.2 1.04 1.00 14.40 339.2 1.04 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

7 -0.94 -146.0 2712 2512 2833 2605 0.0 0.0 0 10 0.00 0.00 -2.08 0.045 16390 0.000 0.000 2712 2511 3324 3454 3195 0 0 0 0 0 0 15.07 13.71 15.08

12 -0.94 -146.0 2712 2511 3453 3198 0.0 0.0 0 18 0.95 2.30 0.00 0.000 4356 0.113 0.150 2396 3763 3324 3446 3202 0 0 0 0 0 0 14.83 14.77 14.90

98 -0.94 -146.0 2397 3763 3437 3213 343.4 -11.8 17 106 0.00 2.28 0.00 0.000 1030 0.000 0.101 2397 2480 3324 3436 3213 0 0 0 0 0 0 14.95 14.84 14.97

402 -0.94 -146.0 2397 2481 3435 3215 381.3 -12.6 48 403 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2480 3324 3434 3214 0 0 0 0 0 0 15.09 15.12 15.10

702 -0.94 -146.0 2397 2481 3433 3215 418.2 -12.3 78 708 0.00 2.45 0.00 0.000 260 0.000 0.153 2388 3751 3324 3433 3215 0 0 0 0 0 0 15.10 14.77 15.12

747 -0.94 -146.0 2388 3752 3431 3218 424.1 -13.3 87 754 0.00 2.28 0.00 0.000 1030 0.000 0.099 2388 2488 3323 3430 3217 0 0 0 0 0 0 14.91 14.85 14.95

1052 -0.94 -146.0 2388 2489 3431 3218 462.3 -12.3 118 1058 0.00 2.42 0.00 0.000 260 0.000 0.152 2379 3749 3323 3430 3217 0 0 0 0 0 0 15.10 14.76 15.13

1102 -0.94 -146.0 2379 3749 3430 3219 468.9 -13.2 128 1108 0.00 2.25 0.00 0.000 1030 0.000 0.099 2379 2497 3323 3429 3218 0 0 0 0 0 0 14.91 14.85 14.95

1412 -0.94 -146.0 2379 2497 3427 3218 509.5 -12.9 160 1418 0.00 2.60 0.00 0.000 516 0.000 0.116 2379 1085 3323 3429 3218 0 0 0 0 0 0 15.10 14.78 15.13

1437 -0.94 -146.0 2380 1085 3430 3218 512.8 -13.3 165 1445 0.00 2.67 0.00 0.000 1030 0.000 0.127 2370 2505 3323 3429 3218 0 0 0 0 0 0 14.87 14.78 14.91

1742 -0.94 -146.0 2370 2506 3430 3219 553.5 -13.6 196 1748 0.00 2.38 0.00 0.000 260 0.000 0.148 2360 3754 3323 3429 3218 0 0 0 0 0 0 15.10 14.76 15.13

1797 -0.94 -146.0 2361 3755 3429 3219 561.4 -14.3 207 1805 0.12 2.28 0.00 0.000 3078 0.271 0.099 2393 2488 3324 3429 3219 0 0 0 0 0 0 14.71 14.85 14.83

2102 -0.94 -146.0 2394 2489 3430 3220 598.2 -12.1 238 2108 0.00 2.42 0.00 0.000 260 0.000 0.151 2385 3752 3324 3428 3220 0 0 0 0 0 0 15.10 14.77 15.13

2157 -0.94 -146.0 2385 3753 3430 3220 605.3 -12.8 249 2166 0.00 2.28 0.00 0.000 1030 0.000 0.099 2385 2490 3324 3428 3220 0 0 0 0 0 0 14.91 14.85 14.94

2462 -0.94 -146.0 2385 2491 3430 3225 642.5 -12.2 280 2468 0.00 2.42 0.00 0.000 260 0.000 0.151 2376 3754 3324 3428 3221 0 0 0 0 0 0 15.10 14.76 15.13

2512 -0.94 -146.0 2376 3755 3429 3222 648.9 -13.0 290 2518 0.00 2.28 0.00 0.000 1030 0.000 0.099 2376 2494 3324 3428 3221 0 0 0 0 0 0 14.88 14.81 14.92

2822 -0.94 -146.0 2377 2495 3429 3222 687.5 -12.1 322 2828 0.00 2.40 0.00 0.000 260 0.000 0.151 2367 3747 3329 3437 3221 0 0 0 0 0 0 15.11 14.76 15.12

2862 -0.94 -146.0 2364 3748 3429 3222 692.6 -13.0 330 2868 0.10 2.25 0.00 0.000 3078 0.275 0.099 2393 2497 3324 3428 3221 0 0 0 0 0 0 14.67 14.83 14.83

3173 -0.94 -146.0 2393 2498 3428 3223 727.4 -11.2 346 3178 0.00 2.38 0.00 0.000 260 0.000 0.154 2385 3757 3325 3428 3222 0 0 0 0 0 0 15.07 14.79 15.10

3217 -0.94 -146.0 2385 3758 3429 3223 733.0 -12.0 355 3223 0.00 2.28 0.00 0.000 1030 0.000 0.100 2385 2497 3325 3428 3222 0 0 0 0 0 0 14.91 14.84 14.95

3593 -0.94 -146.0 2385 2498 3429 3225 776.2 -11.7 370 3598 0.00 2.38 0.00 0.000 260 0.000 0.153 2376 3758 3326 3428 3224 0 0 0 0 0 0 15.11 14.80 15.14

3667 -0.94 -146.0 2376 3759 3429 3225 785.5 -12.2 385 3674 0.00 2.28 0.00 0.000 1030 0.000 0.099 2376 2496 3326 3428 3224 0 0 0 0 0 0 14.92 14.85 14.95

4045 -0.94 -146.0 2377 2496 3429 3225 828.9 -11.7 400 4050 0.00 2.38 0.00 0.000 260 0.000 0.151 2367 3758 3326 3428 3225 0 0 0 0 0 0 15.11 14.81 15.11

4078 -0.94 -146.0 2367 3759 3429 3225 833.2 -12.5 407 4085 0.10 2.28 0.00 0.000 3078 0.278 0.099 2393 2496 3327 3428 3226 0 0 0 0 0 0 14.70 14.85 14.85

4464 -0.94 -146.0 2392 2496 3429 3226 875.3 -10.8 424 4470 0.00 2.40 0.00 0.000 260 0.000 0.151 2385 3751 3327 3428 3227 0 0 0 0 0 0 15.12 14.79 15.14

4518 -0.94 -146.0 2385 3752 3429 3227 881.6 -11.6 435 4526 0.00 2.25 0.00 0.000 1030 0.000 0.098 2385 2496 3327 3428 3226 0 0 0 0 0 0 14.92 14.85 14.96

4884 -0.94 -146.0 2385 2497 3429 3228 922.1 -11.2 448 4890 0.00 2.40 0.00 0.000 260 0.000 0.151 2376 3750 3327 3428 3227 0 0 0 0 0 0 15.11 14.78 15.15

4933 -0.94 -146.0 2377 3750 3430 3228 928.0 -11.6 458 4940 0.00 2.28 0.00 0.000 1030 0.000 0.098 2377 2489 3327 3428 3227 0 0 0 0 0 0 14.92 14.85 14.96

5304 -0.94 -146.0 2378 2488 3430 3229 970.5 -11.4 472 5310 0.00 2.40 0.00 0.000 260 0.000 0.151 2367 3766 3328 3428 3228 0 0 0 0 0 0 15.12 14.81 15.15

5359 -0.94 -146.0 2367 3766 3429 3230 977.8 -12.2 483 5366 0.10 2.30 0.00 0.000 3078 0.277 0.098 2393 2489 3329 3429 3229 0 0 0 0 0 0 14.71 14.85 14.85

5483 end dive: TARGET_DEPTH_EXCEEDED

state 5483 begin apogee

5487 -0.23 0.0 2394 2189 3430 3229 990.3 -9.9 488 5651 0.85 0.00 161.65 3.103 10246 0.235 0.000 2626 2189 2713 2764 2662 0 0 0 0 0 0 14.73 13.47 12.35

5652 end apogee: CONTROL_FINISHED_OK

state 5652 begin climb

5653 0.94 146.0 2628 2190 2764 2661 994.4 0.0 493 5835 1.27 2.92 172.80 3.104 10756 0.139 0.132 3004 798 2116 2151 2081 0 0 0 0 0 0 13.47 13.27 12.19

5869 0.94 146.0 3004 799 2148 2076 973.3 14.0 535 5875 0.00 2.85 0.00 0.000 1030 0.000 0.115 3004 2202 2111 2147 2075 0 0 0 0 0 0 13.71 13.64 13.78

6259 0.94 146.0 3001 2202 2147 2062 916.9 14.5 553 6265 0.00 2.80 0.00 0.000 260 0.000 0.145 3004 3619 2104 2146 2062 0 0 0 0 0 0 14.64 14.38 14.67

6285 0.94 146.0 3005 3620 2146 2063 912.7 16.1 558 6293 0.00 2.62 0.00 0.000 1030 0.000 0.102 3014 2197 2103 2145 2062 0 0 0 0 0 0 14.54 14.43 14.57

6651 0.94 146.0 3014 2198 2146 2061 857.8 15.1 571 6656 0.00 2.65 0.00 0.000 516 0.000 0.132 3025 786 2102 2145 2060 0 0 0 0 0 0 14.83 14.60 14.86

6695 0.94 146.0 3026 786 2145 2059 851.0 15.1 580 6701 0.00 2.67 0.00 0.000 1030 0.000 0.116 3025 2211 2101 2144 2059 0 0 0 0 0 0 14.69 14.64 14.73

7070 0.94 146.0 3026 2211 2146 2058 792.9 15.2 595 7076 0.00 2.65 0.00 0.000 516 0.000 0.132 3036 783 2101 2144 2058 0 0 0 0 0 0 14.94 14.71 14.97

7094 0.94 146.0 3036 782 2145 2058 789.1 16.1 600 7102 0.12 2.65 0.00 0.000 5126 0.250 0.116 3002 2207 2101 2144 2058 0 0 0 0 0 0 14.63 14.71 14.76

7460 0.94 146.0 3002 2207 2145 2056 738.4 14.0 613 7460 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2207 2100 2144 2056 0 0 0 0 0 0 15.02 15.05 15.05

7820 0.94 146.0 3002 2207 2145 2055 688.3 13.9 629 7820 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2207 2099 2144 2055 0 0 0 0 0 0 15.05 15.08 15.07

8120 0.94 146.0 3002 2208 2145 2055 648.0 13.1 659 8120 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2207 2099 2144 2054 0 0 0 0 0 0 15.06 15.09 15.09

8420 0.94 146.0 3002 2207 2145 2053 609.0 13.0 689 8420 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2207 2099 2145 2053 0 0 0 0 0 0 15.06 15.10 15.10

8720 0.94 146.0 3003 2207 2145 2052 570.1 13.1 719 8720 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2207 2098 2144 2052 0 0 0 0 0 0 15.09 15.11 15.11

9020 0.94 146.0 3003 2206 2144 2053 531.2 13.0 749 9026 0.00 2.65 0.00 0.000 260 0.000 0.144 3002 3621 2098 2144 2052 0 0 0 0 0 0 15.06 14.81 15.09

9040 0.94 146.0 3003 3622 2145 2052 528.4 14.0 753 9046 0.00 2.60 0.00 0.000 1030 0.000 0.102 3013 2193 2097 2143 2052 0 0 0 0 0 0 14.90 14.83 14.94

9350 0.94 146.0 3012 2192 2144 2052 487.0 12.9 785 9356 0.00 2.65 0.00 0.000 516 0.000 0.132 3023 777 2098 2144 2052 0 0 0 0 0 0 15.09 14.81 15.11

9370 0.94 146.0 3023 779 2144 2053 484.4 12.9 789 9376 0.00 2.62 0.00 0.000 1030 0.000 0.117 3023 2200 2097 2143 2052 0 0 0 0 0 0 14.90 14.82 14.94

9680 0.94 146.0 3023 2200 2144 2052 441.5 13.9 821 9680 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2200 2097 2143 2052 0 0 0 0 0 0 15.09 15.12 15.11

9980 0.94 146.0 3023 2201 2144 2053 400.5 13.5 851 9986 0.00 2.65 0.00 0.000 260 0.000 0.147 3022 3617 2097 2143 2052 0 0 0 0 0 0 15.09 14.81 15.11

10011 0.94 146.0 3023 3617 2144 2053 396.2 15.0 857 10016 0.15 2.55 0.00 0.000 5126 0.282 0.103 3000 2190 2097 2143 2052 0 0 0 0 0 0 14.76 14.84 14.95

10320 0.94 146.0 3000 2188 2144 2053 358.5 11.6 889 10326 0.00 2.62 0.00 0.000 516 0.000 0.132 3009 786 2097 2143 2051 0 0 0 0 0 0 15.10 14.81 15.13

10360 0.94 146.0 3009 787 2144 2053 354.1 10.6 897 10368 0.00 2.62 0.00 0.000 1030 0.000 0.117 3009 2205 2097 2143 2051 0 0 0 0 0 0 14.90 14.81 14.97

10411 end climb: SURFACE_OBSTACLE_DETECTED

state 10411 begin subsurface finish

10414 0.00 3.1 3010 2205 2144 2052 348.5 11.2 903 10425 1.05 2.70 -2.17 0.053 20740 0.215 0.172 2706 3610 2719 2837 2601 0 0 0 0 0 0 14.75 13.74 14.88

10426 end subsurface finish: CONTROL_FINISHED_OK

state 10426 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	80	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	10
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	8
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	15	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	12	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	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	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	330	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	360	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	60	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	0.15000001	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	30	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	040218,121600,-7413.8438,-11226.2842,0,4136.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.173,0.220
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7420.000,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	334.80	MHEAD_RNG_PITCHd_Wd	135.7,11552,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	2.5	D_GRID	990
GPS2	040218,121600,-7413.8438,-11226.2842,0,4136.0,0,53.5,0.0,0.0,0,0.0

FINISH1	348.5,1.027438,3	_24V_AH	12.19,40.818
FINISH2	347.4	_10V_AH	12.42,0.000
RAFOS_CLK	377	FG_AHR_24Vo	0.000
RAFOS	0,1517756460,15.032778,15.016666,127,62,60,56,54,54,572,195,173,159,216,228	FG_AHR_10Vo	0.000
RAFOS_FIX	-7415.483887,-11228.175781,040218,151512,3,108,0.30	MEM	279940
IRIDIUM_FIX	-7410.06,-11230.52,040218,063513	DATA_FILE_SIZE	30046,905
TT8_MAMPS	0.040446,0.290612	CAP_FILE_SIZE	116345,0
HUMID	47.32	CFSIZE	1024409600,1010302976
INTERNAL_PRESSURE	7.61906	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.70	SOUNDSPEED	1457.6
XPDR_PINGS	0	GPS	040218,151512,-7415.484,-11228.176,0,4108.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	353.6,14.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	281	16.56	nil	0	0	0.00
Roll_motor	115	172	241.71	nil	0	0	0.00
VBD_pump_during_apogee	334	3103	12653.23	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	10445	6	782.15
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	36	420	188.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8058	2	231.19
TT8_Active	477	12	72.74
TT8_Sampling	1899	31	748.94
TT8_CF8	73	45	41.07
TT8_Kalman	0	0	0.00
Analog_circuits	1171	10	148.41
GPS_charging	0	0	0.00
Compass	1296	7	120.59
RAFOS	720	1	13.41
Transponder	261	30	97.45

		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
335.3	9.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
351.4	26.70	9000.00	0.0	0.00	0.00	26.70	0.0	1.06	1.00
992.3	21.60	9000.00	0.0	0.01	0.06	21.60	1013.9	-0.01	1.00

984.1	14.10	9000.00	0.0	-0.01	0.65	14.10	970.0	0.91	1.00
404.6	67.60	9000.00	0.0	-0.09	0.98	67.60	0.0	-0.09	1.00
387.4	49.50	9000.00	0.0	-0.07	0.87	49.50	337.9	1.05	1.00
378.9	40.50	40.50	338.4	1.05	1.00	40.50	338.4	1.06	1.00
370.2	31.60	31.60	338.6	1.04	1.00	31.60	338.6	1.02	1.00
362.0	23.10	23.10	338.9	1.04	1.00	23.10	338.9	1.04	1.00
353.6	14.40	14.40	339.2	1.04	1.00	14.40	339.2	1.04	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
7	-0.94	-146.0	2712	2512	2833	2605	0.0	0.0	0	10	0.00	0.00	-2.08	0.045	16390	0.000	0.000	2712	2511	3324	3454	3195	0	0	0	0	0	0	15.07	13.71	15.08
12	-0.94	-146.0	2712	2511	3453	3198	0.0	0.0	0	18	0.95	2.30	0.00	0.000	4356	0.113	0.150	2396	3763	3324	3446	3202	0	0	0	0	0	0	14.83	14.77	14.90
98	-0.94	-146.0	2397	3763	3437	3213	343.4	-11.8	17	106	0.00	2.28	0.00	0.000	1030	0.000	0.101	2397	2480	3324	3436	3213	0	0	0	0	0	0	14.95	14.84	14.97
402	-0.94	-146.0	2397	2481	3435	3215	381.3	-12.6	48	403	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2480	3324	3434	3214	0	0	0	0	0	0	15.09	15.12	15.10
702	-0.94	-146.0	2397	2481	3433	3215	418.2	-12.3	78	708	0.00	2.45	0.00	0.000	260	0.000	0.153	2388	3751	3324	3433	3215	0	0	0	0	0	0	15.10	14.77	15.12
747	-0.94	-146.0	2388	3752	3431	3218	424.1	-13.3	87	754	0.00	2.28	0.00	0.000	1030	0.000	0.099	2388	2488	3323	3430	3217	0	0	0	0	0	0	14.91	14.85	14.95
1052	-0.94	-146.0	2388	2489	3431	3218	462.3	-12.3	118	1058	0.00	2.42	0.00	0.000	260	0.000	0.152	2379	3749	3323	3430	3217	0	0	0	0	0	0	15.10	14.76	15.13
1102	-0.94	-146.0	2379	3749	3430	3219	468.9	-13.2	128	1108	0.00	2.25	0.00	0.000	1030	0.000	0.099	2379	2497	3323	3429	3218	0	0	0	0	0	0	14.91	14.85	14.95
1412	-0.94	-146.0	2379	2497	3427	3218	509.5	-12.9	160	1418	0.00	2.60	0.00	0.000	516	0.000	0.116	2379	1085	3323	3429	3218	0	0	0	0	0	0	15.10	14.78	15.13
1437	-0.94	-146.0	2380	1085	3430	3218	512.8	-13.3	165	1445	0.00	2.67	0.00	0.000	1030	0.000	0.127	2370	2505	3323	3429	3218	0	0	0	0	0	0	14.87	14.78	14.91
1742	-0.94	-146.0	2370	2506	3430	3219	553.5	-13.6	196	1748	0.00	2.38	0.00	0.000	260	0.000	0.148	2360	3754	3323	3429	3218	0	0	0	0	0	0	15.10	14.76	15.13
1797	-0.94	-146.0	2361	3755	3429	3219	561.4	-14.3	207	1805	0.12	2.28	0.00	0.000	3078	0.271	0.099	2393	2488	3324	3429	3219	0	0	0	0	0	0	14.71	14.85	14.83
2102	-0.94	-146.0	2394	2489	3430	3220	598.2	-12.1	238	2108	0.00	2.42	0.00	0.000	260	0.000	0.151	2385	3752	3324	3428	3220	0	0	0	0	0	0	15.10	14.77	15.13
2157	-0.94	-146.0	2385	3753	3430	3220	605.3	-12.8	249	2166	0.00	2.28	0.00	0.000	1030	0.000	0.099	2385	2490	3324	3428	3220	0	0	0	0	0	0	14.91	14.85	14.94
2462	-0.94	-146.0	2385	2491	3430	3225	642.5	-12.2	280	2468	0.00	2.42	0.00	0.000	260	0.000	0.151	2376	3754	3324	3428	3221	0	0	0	0	0	0	15.10	14.76	15.13
2512	-0.94	-146.0	2376	3755	3429	3222	648.9	-13.0	290	2518	0.00	2.28	0.00	0.000	1030	0.000	0.099	2376	2494	3324	3428	3221	0	0	0	0	0	0	14.88	14.81	14.92
2822	-0.94	-146.0	2377	2495	3429	3222	687.5	-12.1	322	2828	0.00	2.40	0.00	0.000	260	0.000	0.151	2367	3747	3329	3437	3221	0	0	0	0	0	0	15.11	14.76	15.12
2862	-0.94	-146.0	2364	3748	3429	3222	692.6	-13.0	330	2868	0.10	2.25	0.00	0.000	3078	0.275	0.099	2393	2497	3324	3428	3221	0	0	0	0	0	0	14.67	14.83	14.83
3173	-0.94	-146.0	2393	2498	3428	3223	727.4	-11.2	346	3178	0.00	2.38	0.00	0.000	260	0.000	0.154	2385	3757	3325	3428	3222	0	0	0	0	0	0	15.07	14.79	15.10
3217	-0.94	-146.0	2385	3758	3429	3223	733.0	-12.0	355	3223	0.00	2.28	0.00	0.000	1030	0.000	0.100	2385	2497	3325	3428	3222	0	0	0	0	0	0	14.91	14.84	14.95
3593	-0.94	-146.0	2385	2498	3429	3225	776.2	-11.7	370	3598	0.00	2.38	0.00	0.000	260	0.000	0.153	2376	3758	3326	3428	3224	0	0	0	0	0	0	15.11	14.80	15.14
3667	-0.94	-146.0	2376	3759	3429	3225	785.5	-12.2	385	3674	0.00	2.28	0.00	0.000	1030	0.000	0.099	2376	2496	3326	3428	3224	0	0	0	0	0	0	14.92	14.85	14.95
4045	-0.94	-146.0	2377	2496	3429	3225	828.9	-11.7	400	4050	0.00	2.38	0.00	0.000	260	0.000	0.151	2367	3758	3326	3428	3225	0	0	0	0	0	0	15.11	14.81	15.11
4078	-0.94	-146.0	2367	3759	3429	3225	833.2	-12.5	407	4085	0.10	2.28	0.00	0.000	3078	0.278	0.099	2393	2496	3327	3428	3226	0	0	0	0	0	0	14.70	14.85	14.85
4464	-0.94	-146.0	2392	2496	3429	3226	875.3	-10.8	424	4470	0.00	2.40	0.00	0.000	260	0.000	0.151	2385	3751	3327	3428	3227	0	0	0	0	0	0	15.12	14.79	15.14
4518	-0.94	-146.0	2385	3752	3429	3227	881.6	-11.6	435	4526	0.00	2.25	0.00	0.000	1030	0.000	0.098	2385	2496	3327	3428	3226	0	0	0	0	0	0	14.92	14.85	14.96
4884	-0.94	-146.0	2385	2497	3429	3228	922.1	-11.2	448	4890	0.00	2.40	0.00	0.000	260	0.000	0.151	2376	3750	3327	3428	3227	0	0	0	0	0	0	15.11	14.78	15.15
4933	-0.94	-146.0	2377	3750	3430	3228	928.0	-11.6	458	4940	0.00	2.28	0.00	0.000	1030	0.000	0.098	2377	2489	3327	3428	3227	0	0	0	0	0	0	14.92	14.85	14.96
5304	-0.94	-146.0	2378	2488	3430	3229	970.5	-11.4	472	5310	0.00	2.40	0.00	0.000	260	0.000	0.151	2367	3766	3328	3428	3228	0	0	0	0	0	0	15.12	14.81	15.15
5359	-0.94	-146.0	2367	3766	3429	3230	977.8	-12.2	483	5366	0.10	2.30	0.00	0.000	3078	0.277	0.098	2393	2489	3329	3429	3229	0	0	0	0	0	0	14.71	14.85	14.85
5483	end dive: TARGET_DEPTH_EXCEEDED
state	5483	begin apogee
5487	-0.23	0.0	2394	2189	3430	3229	990.3	-9.9	488	5651	0.85	0.00	161.65	3.103	10246	0.235	0.000	2626	2189	2713	2764	2662	0	0	0	0	0	0	14.73	13.47	12.35
5652	end apogee: CONTROL_FINISHED_OK
state	5652	begin climb
5653	0.94	146.0	2628	2190	2764	2661	994.4	0.0	493	5835	1.27	2.92	172.80	3.104	10756	0.139	0.132	3004	798	2116	2151	2081	0	0	0	0	0	0	13.47	13.27	12.19
5869	0.94	146.0	3004	799	2148	2076	973.3	14.0	535	5875	0.00	2.85	0.00	0.000	1030	0.000	0.115	3004	2202	2111	2147	2075	0	0	0	0	0	0	13.71	13.64	13.78
6259	0.94	146.0	3001	2202	2147	2062	916.9	14.5	553	6265	0.00	2.80	0.00	0.000	260	0.000	0.145	3004	3619	2104	2146	2062	0	0	0	0	0	0	14.64	14.38	14.67
6285	0.94	146.0	3005	3620	2146	2063	912.7	16.1	558	6293	0.00	2.62	0.00	0.000	1030	0.000	0.102	3014	2197	2103	2145	2062	0	0	0	0	0	0	14.54	14.43	14.57
6651	0.94	146.0	3014	2198	2146	2061	857.8	15.1	571	6656	0.00	2.65	0.00	0.000	516	0.000	0.132	3025	786	2102	2145	2060	0	0	0	0	0	0	14.83	14.60	14.86
6695	0.94	146.0	3026	786	2145	2059	851.0	15.1	580	6701	0.00	2.67	0.00	0.000	1030	0.000	0.116	3025	2211	2101	2144	2059	0	0	0	0	0	0	14.69	14.64	14.73
7070	0.94	146.0	3026	2211	2146	2058	792.9	15.2	595	7076	0.00	2.65	0.00	0.000	516	0.000	0.132	3036	783	2101	2144	2058	0	0	0	0	0	0	14.94	14.71	14.97
7094	0.94	146.0	3036	782	2145	2058	789.1	16.1	600	7102	0.12	2.65	0.00	0.000	5126	0.250	0.116	3002	2207	2101	2144	2058	0	0	0	0	0	0	14.63	14.71	14.76
7460	0.94	146.0	3002	2207	2145	2056	738.4	14.0	613	7460	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2207	2100	2144	2056	0	0	0	0	0	0	15.02	15.05	15.05
7820	0.94	146.0	3002	2207	2145	2055	688.3	13.9	629	7820	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2207	2099	2144	2055	0	0	0	0	0	0	15.05	15.08	15.07
8120	0.94	146.0	3002	2208	2145	2055	648.0	13.1	659	8120	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2207	2099	2144	2054	0	0	0	0	0	0	15.06	15.09	15.09
8420	0.94	146.0	3002	2207	2145	2053	609.0	13.0	689	8420	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2207	2099	2145	2053	0	0	0	0	0	0	15.06	15.10	15.10
8720	0.94	146.0	3003	2207	2145	2052	570.1	13.1	719	8720	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2207	2098	2144	2052	0	0	0	0	0	0	15.09	15.11	15.11
9020	0.94	146.0	3003	2206	2144	2053	531.2	13.0	749	9026	0.00	2.65	0.00	0.000	260	0.000	0.144	3002	3621	2098	2144	2052	0	0	0	0	0	0	15.06	14.81	15.09
9040	0.94	146.0	3003	3622	2145	2052	528.4	14.0	753	9046	0.00	2.60	0.00	0.000	1030	0.000	0.102	3013	2193	2097	2143	2052	0	0	0	0	0	0	14.90	14.83	14.94
9350	0.94	146.0	3012	2192	2144	2052	487.0	12.9	785	9356	0.00	2.65	0.00	0.000	516	0.000	0.132	3023	777	2098	2144	2052	0	0	0	0	0	0	15.09	14.81	15.11
9370	0.94	146.0	3023	779	2144	2053	484.4	12.9	789	9376	0.00	2.62	0.00	0.000	1030	0.000	0.117	3023	2200	2097	2143	2052	0	0	0	0	0	0	14.90	14.82	14.94
9680	0.94	146.0	3023	2200	2144	2052	441.5	13.9	821	9680	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2200	2097	2143	2052	0	0	0	0	0	0	15.09	15.12	15.11
9980	0.94	146.0	3023	2201	2144	2053	400.5	13.5	851	9986	0.00	2.65	0.00	0.000	260	0.000	0.147	3022	3617	2097	2143	2052	0	0	0	0	0	0	15.09	14.81	15.11
10011	0.94	146.0	3023	3617	2144	2053	396.2	15.0	857	10016	0.15	2.55	0.00	0.000	5126	0.282	0.103	3000	2190	2097	2143	2052	0	0	0	0	0	0	14.76	14.84	14.95
10320	0.94	146.0	3000	2188	2144	2053	358.5	11.6	889	10326	0.00	2.62	0.00	0.000	516	0.000	0.132	3009	786	2097	2143	2051	0	0	0	0	0	0	15.10	14.81	15.13
10360	0.94	146.0	3009	787	2144	2053	354.1	10.6	897	10368	0.00	2.62	0.00	0.000	1030	0.000	0.117	3009	2205	2097	2143	2051	0	0	0	0	0	0	14.90	14.81	14.97
10411	end climb: SURFACE_OBSTACLE_DETECTED
state	10411	begin subsurface finish
10414	0.00	3.1	3010	2205	2144	2052	348.5	11.2	903	10425	1.05	2.70	-2.17	0.053	20740	0.215	0.172	2706	3610	2719	2837	2601	0	0	0	0	0	0	14.75	13.74	14.88
10426	end subsurface finish: CONTROL_FINISHED_OK
state	10426	begin surface