Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 882 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.0042300001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0085000005 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 882 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 23 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 13 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 3

D_BOOST 110 SM_CC 399.91037 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 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 3492 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 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 65 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 9.3000002 RAFOS_PEAK_OFFSET 0 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 13 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 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2775 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

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 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 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 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-06

ALTIM_FREQUENCY 13 EXEC_N 13 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 65 PITCH_ADJ_GAIN 0 SM_CC 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 9.3000002 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031300001 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 3910 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0042300001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0085000005 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 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 221 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 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2775 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 0 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3492 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 5

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 -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 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 882 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 23 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 13 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 7 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 -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 190119,091440,-7437.8408,-11236.8154,0,4139.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.239

_CALLS 1 TGT_NAME insideC0

_XMS_NAKs 0 TGT_LATLONG -7438.000,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 403.11 MHEAD_RNG_PITCHd_Wd 41.6,3358,-28.8,-9.429,-30.53,764

_SM_ANGLEo 4.9 D_GRID 990

GPS2 190119,091440,-7437.8408,-11236.8154,0,4139.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 420.6,1.027502,-0 _24V_AH 9.99,282.713

FINISH2 417.6 _10V_AH 10.36,0.000

RAFOS_CLK 2424 FG_AHR_24Vo 0.000

RAFOS 0,1547899258,12.032354,12.016111,167,70,68,56,52,51,700,203,216,154,184,115 FG_AHR_10Vo 0.000

RAFOS_FIX -7437.263184,-11229.571289,190119,121236,2,163,0.35 MEM 278824

IRIDIUM_FIX -7415.88,-11304.63,160119,112744 DATA_FILE_SIZE 26689,840

TT8_MAMPS 0.049434,0.274883 CAP_FILE_SIZE 110486,0

HUMID 51.26 CFSIZE 1024409600,914407424

INTERNAL_PRESSURE 7.92918 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 13.40 SOUNDSPEED 1456.9

XPDR_PINGS 0 GPS 190119,120936,-7437.263,-11229.571,0,3163.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 424.5,10.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 304 28.14 nil 0 0 0.00

Roll_motor 105 84 88.84 nil 0 0 0.00

VBD_pump_during_apogee 295 3102 9173.67 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 10294 6 673.07

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 44 420 184.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7906 2 189.23

TT8_Active 379 10 42.79

TT8_Sampling 1799 30 565.71

TT8_CF8 313 51 166.50

TT8_Kalman 0 0 0.00

Analog_circuits 1019 10 106.70

GPS_charging 0 0 0.00

Compass 1203 6 84.06

RAFOS 720 1 11.19

Transponder 339 30 105.67

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

990.3 25.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

485.6 73.90 9000.00 0.0 0.00 0.00 73.90 0.0 -0.10 1.00

477.9 66.00 9000.00 0.0 -0.09 0.97 66.00 411.9 1.03 1.00

462.4 50.00 50.00 412.4 1.03 1.00 50.00 412.4 1.03 1.00

454.8 42.20 42.20 412.6 1.03 1.00 42.20 412.6 1.03 1.00

447.2 34.20 34.30 412.9 1.04 1.00 34.20 413.0 1.05 1.00

439.7 26.70 26.60 413.1 1.03 1.00 26.70 413.0 1.00 1.00

432.1 18.50 18.60 413.5 1.04 1.00 18.50 413.6 1.08 1.00

424.5 10.70 10.60 413.9 1.05 1.00 10.70 413.8 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

11 -1.37 -46.9 2781 2803 3535 3531 0.0 0.0 0 13 0.00 0.00 -0.70 0.100 16390 0.000 0.000 2780 2802 3696 3695 3698 0 0 0 0 0 0 11.35 10.60 11.31

17 -1.37 -46.9 2781 2803 3701 3704 0.0 0.0 0 24 1.83 2.72 0.00 0.000 4356 0.123 0.083 2341 3916 3701 3700 3703 0 0 0 0 0 0 11.13 11.16 11.24

81 -1.39 -64.5 2341 3917 3706 3704 406.9 -7.1 12 86 0.00 2.55 -0.28 0.249 17446 0.000 0.043 2341 2791 3774 3779 3770 0 0 0 0 0 0 11.26 11.21 11.26

393 -1.39 -64.5 2341 2792 3778 3780 435.4 -9.1 44 398 0.00 3.25 0.00 0.000 516 0.000 0.045 2341 1383 3782 3778 3786 0 0 0 0 0 0 11.35 11.18 11.35

528 -1.39 -64.5 2341 1384 3780 3780 447.6 -9.3 70 534 0.00 3.38 0.00 0.000 1030 0.000 0.057 2331 2805 3778 3778 3778 0 0 0 0 0 0 11.22 11.17 11.23

841 -1.39 -64.5 2332 2805 3779 3781 477.5 -9.5 102 842 0.00 0.00 0.00 0.000 6 0.000 0.000 2331 2805 3779 3779 3779 0 0 0 0 0 0 11.36 11.36 11.36

1141 -1.39 -64.5 2331 2806 3780 3783 505.9 -9.3 132 1146 0.00 3.30 0.00 0.000 516 0.000 0.044 2332 1382 3779 3779 3780 0 0 0 0 0 0 11.36 11.18 11.36

1203 -1.39 -64.5 2332 1382 3781 3779 511.6 -9.2 144 1208 0.00 3.40 0.00 0.000 1030 0.000 0.058 2329 2811 3780 3780 3780 0 0 0 0 0 0 11.25 11.18 11.26

1515 -1.39 -64.5 2329 2812 3780 3781 540.0 -9.0 176 1515 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2810 3779 3779 3779 0 0 0 0 0 0 11.36 11.37 11.37

1815 -1.39 -64.5 2330 2811 3780 3780 566.9 -9.1 206 1820 0.00 3.30 0.00 0.000 516 0.000 0.044 2329 1391 3780 3780 3780 0 0 0 0 0 0 11.37 11.18 11.36

1871 -1.39 -64.5 2329 1392 3780 3780 572.0 -8.9 217 1878 0.00 3.35 0.00 0.000 1030 0.000 0.057 2321 2804 3779 3779 3780 0 0 0 0 0 0 11.25 11.18 11.26

2176 -1.39 -64.5 2321 2805 3780 3781 599.5 -8.9 248 2177 0.00 0.00 0.00 0.000 6 0.000 0.000 2321 2805 3779 3779 3780 0 0 0 0 0 0 11.36 11.36 11.36

2476 -1.39 -64.5 2321 2805 3780 3779 626.1 -8.8 278 2482 0.00 3.30 0.00 0.000 516 0.000 0.043 2321 1388 3778 3779 3778 0 0 0 0 0 0 11.36 11.19 11.36

2518 -1.39 -64.5 2322 1388 3780 3779 629.8 -8.6 286 2523 0.00 3.38 0.00 0.000 1030 0.000 0.057 2313 2806 3778 3779 3778 0 0 0 0 0 0 11.25 11.18 11.26

2830 -1.39 -64.5 2314 2806 3781 3778 657.0 -8.8 318 2835 0.00 2.65 0.00 0.000 260 0.000 0.079 2308 3912 3778 3779 3777 0 0 0 0 0 0 11.37 11.17 11.37

2861 -1.39 -64.5 2308 3913 3780 3778 659.8 -9.4 324 2866 0.00 2.53 0.00 0.000 1030 0.000 0.044 2308 2798 3778 3779 3777 0 0 0 0 0 0 11.27 11.21 11.26

3173 -1.39 -64.5 2308 2799 3781 3778 686.8 -8.5 356 3178 0.00 3.25 0.00 0.000 516 0.000 0.044 2308 1384 3777 3779 3776 0 0 0 0 0 0 11.37 11.18 11.37

3224 -1.39 -64.5 2308 1384 3780 3778 691.2 -8.4 366 3229 0.00 3.38 0.00 0.000 1030 0.000 0.057 2299 2809 3778 3779 3777 0 0 0 0 0 0 11.25 11.18 11.26

3550 -1.39 -64.5 2299 2810 3780 3778 718.1 -8.3 385 3556 0.00 2.65 0.00 0.000 260 0.000 0.077 2290 3918 3779 3781 3777 0 0 0 0 0 0 11.36 11.17 11.36

3622 -1.39 -64.5 2290 3918 3780 3777 725.1 -9.3 399 3628 0.20 2.55 0.00 0.000 3078 0.295 0.044 2320 2795 3778 3779 3777 0 0 0 0 0 0 11.05 11.21 11.23

4004 -1.39 -64.5 2320 2795 3780 3776 754.8 -7.7 415 4009 0.00 3.22 0.00 0.000 516 0.000 0.044 2320 1390 3777 3779 3776 0 0 0 0 0 0 11.37 11.19 11.38

4091 -1.39 -64.5 2320 1390 3781 3776 761.5 -7.8 432 4097 0.00 3.38 0.00 0.000 1030 0.000 0.057 2311 2810 3779 3779 3780 0 0 0 0 0 0 11.26 11.18 11.26

4456 -1.39 -64.5 2311 2811 3780 3777 789.6 -7.6 445 4456 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2810 3777 3779 3775 0 0 0 0 0 0 11.36 11.37 11.37

4816 -1.41 -80.7 2311 2811 3780 3776 816.7 -7.3 457 4822 0.00 2.65 0.00 0.000 292 0.000 0.080 2308 3916 3777 3779 3776 0 0 0 0 0 0 11.37 11.17 11.39

5014 -1.41 -80.7 2308 3917 3780 3777 832.2 -7.7 496 5019 0.00 2.55 0.00 0.000 1030 0.000 0.043 2308 2792 3777 3779 3775 0 0 0 0 0 0 11.26 11.22 11.27

5394 -1.43 -100.4 2308 2793 3780 3777 858.7 -6.8 511 5395 0.00 0.00 0.00 0.000 38 0.000 0.000 2305 2792 3777 3779 3775 0 0 0 0 0 0 11.37 11.37 11.37

5751 -1.44 -107.1 2307 2793 3779 3776 884.2 -7.1 523 5756 0.00 2.72 0.00 0.000 292 0.000 0.079 2301 3917 3777 3779 3775 0 0 0 0 0 0 11.37 11.17 11.40

5818 -1.44 -107.1 2301 3918 3780 3777 889.5 -7.8 536 5822 0.00 2.55 0.00 0.000 1030 0.000 0.044 2301 2790 3777 3779 3775 0 0 0 0 0 0 11.26 11.23 11.27

6207 -1.44 -107.1 2301 2792 3781 3776 917.5 -7.2 553 6213 0.00 3.22 0.00 0.000 548 0.000 0.043 2301 1383 3777 3779 3776 0 0 0 0 0 0 11.37 11.19 11.37

6295 -1.44 -107.1 2302 1383 3781 3775 923.9 -6.9 570 6302 0.00 3.38 0.00 0.000 1062 0.000 0.057 2289 2811 3777 3779 3775 0 0 0 0 0 0 11.26 11.19 11.26

6663 -1.44 -107.1 2290 2811 3780 3776 950.2 -7.2 583 6664 0.00 0.00 0.00 0.000 38 0.000 0.000 2289 2811 3777 3779 3775 0 0 0 0 0 0 11.36 11.37 11.36

7020 -1.44 -107.1 2289 2812 3780 3777 975.7 -7.0 595 7025 0.00 3.30 0.00 0.000 548 0.000 0.042 2289 1380 3777 3779 3775 0 0 0 0 0 0 11.37 11.19 11.38

7061 -1.44 -107.1 2290 1380 3781 3776 979.1 -6.9 603 7067 0.17 3.38 0.00 0.000 3110 0.304 0.057 2304 2809 3777 3778 3776 0 0 0 0 0 0 11.05 11.18 11.22

7259 end dive: TARGET_DEPTH_EXCEEDED

state 7259 begin apogee

7268 -0.23 0.0 2305 2538 3780 3777 991.8 -6.5 613 7395 2.10 0.00 123.22 3.091 10246 0.252 0.000 2693 2538 3492 3499 3486 0 0 0 0 0 0 11.08 11.02 9.99

7396 end apogee: CONTROL_FINISHED_OK

state 7396 begin climb

7400 1.44 107.1 2694 2539 3499 3486 993.3 0.0 617 7588 2.25 3.45 172.73 3.103 10500 0.103 0.084 3233 3903 3064 3084 3044 0 0 0 0 0 0 11.06 11.03 9.99

7605 1.44 107.1 3233 3903 3084 3044 963.1 22.6 644 7610 0.00 3.12 0.00 0.000 1030 0.000 0.046 3243 2549 3062 3083 3042 0 0 0 0 0 0 11.18 11.14 11.19

7998 1.44 107.1 3243 2550 3076 3037 878.1 21.8 662 7999 0.00 0.00 0.00 0.000 6 0.000 0.000 3242 2550 3056 3076 3036 0 0 0 0 0 0 11.32 11.31 11.31

8357 1.44 107.1 3243 2551 3076 3037 802.3 20.7 674 8364 0.00 3.25 0.00 0.000 516 0.000 0.057 3253 1149 3055 3075 3035 0 0 0 0 0 0 11.34 11.13 11.34

8380 1.44 107.1 3254 1149 3076 3033 797.4 21.1 678 8386 0.00 3.35 0.00 0.000 1030 0.000 0.060 3253 2553 3054 3075 3034 0 0 0 0 0 0 11.21 11.14 11.22

8753 1.44 107.1 3253 2554 3076 3035 719.0 21.1 692 8754 0.00 0.00 0.00 0.000 6 0.000 0.000 3253 2552 3054 3075 3034 0 0 0 0 0 0 11.33 11.33 11.33

9113 1.44 107.1 3254 2553 3076 3035 644.3 20.6 720 9114 0.00 0.00 0.00 0.000 6 0.000 0.000 3253 2552 3055 3075 3035 0 0 0 0 0 0 11.33 11.33 11.33

9413 1.44 107.1 3254 2553 3077 3036 583.4 20.1 750 9414 0.00 0.00 0.00 0.000 6 0.000 0.000 3252 2552 3055 3075 3035 0 0 0 0 0 0 11.33 11.34 11.34

9712 1.44 107.1 3254 2553 3077 3036 523.4 19.8 780 9719 0.00 3.33 0.00 0.000 516 0.000 0.057 3263 1144 3056 3075 3037 0 0 0 0 0 0 11.36 11.14 11.36

9745 1.44 107.1 3263 1144 3076 3037 517.1 19.8 786 9752 0.00 3.30 0.00 0.000 1030 0.000 0.060 3263 2557 3056 3075 3037 0 0 0 0 0 0 11.22 11.15 11.24

10058 1.44 107.1 3264 2557 3077 3037 456.7 19.0 818 10059 0.00 0.00 0.00 0.000 6 0.000 0.000 3263 2557 3056 3075 3037 0 0 0 0 0 0 11.36 11.36 11.36

10245 end climb: SURFACE_OBSTACLE_DETECTED

state 10245 begin subsurface finish

10253 -0.00 -0.1 3264 2558 3076 3038 420.6 19.2 837 10271 2.70 3.38 -7.25 0.024 20996 0.283 0.067 2779 1147 3520 3526 3515 0 0 0 0 1 0 11.05 10.60 11.22

10272 end subsurface finish: CONTROL_FINISHED_OK

state 10272 begin surface

ID	221	HD_A	0.0042300001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0085000005	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	882	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	23	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	13	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	3
D_BOOST	110	SM_CC	399.91037	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	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	3492	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	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	65	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	9.3000002	RAFOS_PEAK_OFFSET	0	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	13	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	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2775	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
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	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	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	3910	ALTIM_PING_FIT	883

GPS1	190119,091440,-7437.8408,-11236.8154,0,4139.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.239
_CALLS	1	TGT_NAME	insideC0
_XMS_NAKs	0	TGT_LATLONG	-7438.000,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	403.11	MHEAD_RNG_PITCHd_Wd	41.6,3358,-28.8,-9.429,-30.53,764
_SM_ANGLEo	4.9	D_GRID	990
GPS2	190119,091440,-7437.8408,-11236.8154,0,4139.0,0,53.5,0.0,0.0,0,0.0

FINISH1	420.6,1.027502,-0	_24V_AH	9.99,282.713
FINISH2	417.6	_10V_AH	10.36,0.000
RAFOS_CLK	2424	FG_AHR_24Vo	0.000
RAFOS	0,1547899258,12.032354,12.016111,167,70,68,56,52,51,700,203,216,154,184,115	FG_AHR_10Vo	0.000
RAFOS_FIX	-7437.263184,-11229.571289,190119,121236,2,163,0.35	MEM	278824
IRIDIUM_FIX	-7415.88,-11304.63,160119,112744	DATA_FILE_SIZE	26689,840
TT8_MAMPS	0.049434,0.274883	CAP_FILE_SIZE	110486,0
HUMID	51.26	CFSIZE	1024409600,914407424
INTERNAL_PRESSURE	7.92918	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.40	SOUNDSPEED	1456.9
XPDR_PINGS	0	GPS	190119,120936,-7437.263,-11229.571,0,3163.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	424.5,10.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	304	28.14	nil	0	0	0.00
Roll_motor	105	84	88.84	nil	0	0	0.00
VBD_pump_during_apogee	295	3102	9173.67	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	10294	6	673.07
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	44	420	184.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7906	2	189.23
TT8_Active	379	10	42.79
TT8_Sampling	1799	30	565.71
TT8_CF8	313	51	166.50
TT8_Kalman	0	0	0.00
Analog_circuits	1019	10	106.70
GPS_charging	0	0	0.00
Compass	1203	6	84.06
RAFOS	720	1	11.19
Transponder	339	30	105.67

		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

990.3	25.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
485.6	73.90	9000.00	0.0	0.00	0.00	73.90	0.0	-0.10	1.00
477.9	66.00	9000.00	0.0	-0.09	0.97	66.00	411.9	1.03	1.00
462.4	50.00	50.00	412.4	1.03	1.00	50.00	412.4	1.03	1.00
454.8	42.20	42.20	412.6	1.03	1.00	42.20	412.6	1.03	1.00
447.2	34.20	34.30	412.9	1.04	1.00	34.20	413.0	1.05	1.00
439.7	26.70	26.60	413.1	1.03	1.00	26.70	413.0	1.00	1.00
432.1	18.50	18.60	413.5	1.04	1.00	18.50	413.6	1.08	1.00
424.5	10.70	10.60	413.9	1.05	1.00	10.70	413.8	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
11	-1.37	-46.9	2781	2803	3535	3531	0.0	0.0	0	13	0.00	0.00	-0.70	0.100	16390	0.000	0.000	2780	2802	3696	3695	3698	0	0	0	0	0	0	11.35	10.60	11.31
17	-1.37	-46.9	2781	2803	3701	3704	0.0	0.0	0	24	1.83	2.72	0.00	0.000	4356	0.123	0.083	2341	3916	3701	3700	3703	0	0	0	0	0	0	11.13	11.16	11.24
81	-1.39	-64.5	2341	3917	3706	3704	406.9	-7.1	12	86	0.00	2.55	-0.28	0.249	17446	0.000	0.043	2341	2791	3774	3779	3770	0	0	0	0	0	0	11.26	11.21	11.26
393	-1.39	-64.5	2341	2792	3778	3780	435.4	-9.1	44	398	0.00	3.25	0.00	0.000	516	0.000	0.045	2341	1383	3782	3778	3786	0	0	0	0	0	0	11.35	11.18	11.35
528	-1.39	-64.5	2341	1384	3780	3780	447.6	-9.3	70	534	0.00	3.38	0.00	0.000	1030	0.000	0.057	2331	2805	3778	3778	3778	0	0	0	0	0	0	11.22	11.17	11.23
841	-1.39	-64.5	2332	2805	3779	3781	477.5	-9.5	102	842	0.00	0.00	0.00	0.000	6	0.000	0.000	2331	2805	3779	3779	3779	0	0	0	0	0	0	11.36	11.36	11.36
1141	-1.39	-64.5	2331	2806	3780	3783	505.9	-9.3	132	1146	0.00	3.30	0.00	0.000	516	0.000	0.044	2332	1382	3779	3779	3780	0	0	0	0	0	0	11.36	11.18	11.36
1203	-1.39	-64.5	2332	1382	3781	3779	511.6	-9.2	144	1208	0.00	3.40	0.00	0.000	1030	0.000	0.058	2329	2811	3780	3780	3780	0	0	0	0	0	0	11.25	11.18	11.26
1515	-1.39	-64.5	2329	2812	3780	3781	540.0	-9.0	176	1515	0.00	0.00	0.00	0.000	6	0.000	0.000	2329	2810	3779	3779	3779	0	0	0	0	0	0	11.36	11.37	11.37
1815	-1.39	-64.5	2330	2811	3780	3780	566.9	-9.1	206	1820	0.00	3.30	0.00	0.000	516	0.000	0.044	2329	1391	3780	3780	3780	0	0	0	0	0	0	11.37	11.18	11.36
1871	-1.39	-64.5	2329	1392	3780	3780	572.0	-8.9	217	1878	0.00	3.35	0.00	0.000	1030	0.000	0.057	2321	2804	3779	3779	3780	0	0	0	0	0	0	11.25	11.18	11.26
2176	-1.39	-64.5	2321	2805	3780	3781	599.5	-8.9	248	2177	0.00	0.00	0.00	0.000	6	0.000	0.000	2321	2805	3779	3779	3780	0	0	0	0	0	0	11.36	11.36	11.36
2476	-1.39	-64.5	2321	2805	3780	3779	626.1	-8.8	278	2482	0.00	3.30	0.00	0.000	516	0.000	0.043	2321	1388	3778	3779	3778	0	0	0	0	0	0	11.36	11.19	11.36
2518	-1.39	-64.5	2322	1388	3780	3779	629.8	-8.6	286	2523	0.00	3.38	0.00	0.000	1030	0.000	0.057	2313	2806	3778	3779	3778	0	0	0	0	0	0	11.25	11.18	11.26
2830	-1.39	-64.5	2314	2806	3781	3778	657.0	-8.8	318	2835	0.00	2.65	0.00	0.000	260	0.000	0.079	2308	3912	3778	3779	3777	0	0	0	0	0	0	11.37	11.17	11.37
2861	-1.39	-64.5	2308	3913	3780	3778	659.8	-9.4	324	2866	0.00	2.53	0.00	0.000	1030	0.000	0.044	2308	2798	3778	3779	3777	0	0	0	0	0	0	11.27	11.21	11.26
3173	-1.39	-64.5	2308	2799	3781	3778	686.8	-8.5	356	3178	0.00	3.25	0.00	0.000	516	0.000	0.044	2308	1384	3777	3779	3776	0	0	0	0	0	0	11.37	11.18	11.37
3224	-1.39	-64.5	2308	1384	3780	3778	691.2	-8.4	366	3229	0.00	3.38	0.00	0.000	1030	0.000	0.057	2299	2809	3778	3779	3777	0	0	0	0	0	0	11.25	11.18	11.26
3550	-1.39	-64.5	2299	2810	3780	3778	718.1	-8.3	385	3556	0.00	2.65	0.00	0.000	260	0.000	0.077	2290	3918	3779	3781	3777	0	0	0	0	0	0	11.36	11.17	11.36
3622	-1.39	-64.5	2290	3918	3780	3777	725.1	-9.3	399	3628	0.20	2.55	0.00	0.000	3078	0.295	0.044	2320	2795	3778	3779	3777	0	0	0	0	0	0	11.05	11.21	11.23
4004	-1.39	-64.5	2320	2795	3780	3776	754.8	-7.7	415	4009	0.00	3.22	0.00	0.000	516	0.000	0.044	2320	1390	3777	3779	3776	0	0	0	0	0	0	11.37	11.19	11.38
4091	-1.39	-64.5	2320	1390	3781	3776	761.5	-7.8	432	4097	0.00	3.38	0.00	0.000	1030	0.000	0.057	2311	2810	3779	3779	3780	0	0	0	0	0	0	11.26	11.18	11.26
4456	-1.39	-64.5	2311	2811	3780	3777	789.6	-7.6	445	4456	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2810	3777	3779	3775	0	0	0	0	0	0	11.36	11.37	11.37
4816	-1.41	-80.7	2311	2811	3780	3776	816.7	-7.3	457	4822	0.00	2.65	0.00	0.000	292	0.000	0.080	2308	3916	3777	3779	3776	0	0	0	0	0	0	11.37	11.17	11.39
5014	-1.41	-80.7	2308	3917	3780	3777	832.2	-7.7	496	5019	0.00	2.55	0.00	0.000	1030	0.000	0.043	2308	2792	3777	3779	3775	0	0	0	0	0	0	11.26	11.22	11.27
5394	-1.43	-100.4	2308	2793	3780	3777	858.7	-6.8	511	5395	0.00	0.00	0.00	0.000	38	0.000	0.000	2305	2792	3777	3779	3775	0	0	0	0	0	0	11.37	11.37	11.37
5751	-1.44	-107.1	2307	2793	3779	3776	884.2	-7.1	523	5756	0.00	2.72	0.00	0.000	292	0.000	0.079	2301	3917	3777	3779	3775	0	0	0	0	0	0	11.37	11.17	11.40
5818	-1.44	-107.1	2301	3918	3780	3777	889.5	-7.8	536	5822	0.00	2.55	0.00	0.000	1030	0.000	0.044	2301	2790	3777	3779	3775	0	0	0	0	0	0	11.26	11.23	11.27
6207	-1.44	-107.1	2301	2792	3781	3776	917.5	-7.2	553	6213	0.00	3.22	0.00	0.000	548	0.000	0.043	2301	1383	3777	3779	3776	0	0	0	0	0	0	11.37	11.19	11.37
6295	-1.44	-107.1	2302	1383	3781	3775	923.9	-6.9	570	6302	0.00	3.38	0.00	0.000	1062	0.000	0.057	2289	2811	3777	3779	3775	0	0	0	0	0	0	11.26	11.19	11.26
6663	-1.44	-107.1	2290	2811	3780	3776	950.2	-7.2	583	6664	0.00	0.00	0.00	0.000	38	0.000	0.000	2289	2811	3777	3779	3775	0	0	0	0	0	0	11.36	11.37	11.36
7020	-1.44	-107.1	2289	2812	3780	3777	975.7	-7.0	595	7025	0.00	3.30	0.00	0.000	548	0.000	0.042	2289	1380	3777	3779	3775	0	0	0	0	0	0	11.37	11.19	11.38
7061	-1.44	-107.1	2290	1380	3781	3776	979.1	-6.9	603	7067	0.17	3.38	0.00	0.000	3110	0.304	0.057	2304	2809	3777	3778	3776	0	0	0	0	0	0	11.05	11.18	11.22
7259	end dive: TARGET_DEPTH_EXCEEDED
state	7259	begin apogee
7268	-0.23	0.0	2305	2538	3780	3777	991.8	-6.5	613	7395	2.10	0.00	123.22	3.091	10246	0.252	0.000	2693	2538	3492	3499	3486	0	0	0	0	0	0	11.08	11.02	9.99
7396	end apogee: CONTROL_FINISHED_OK
state	7396	begin climb
7400	1.44	107.1	2694	2539	3499	3486	993.3	0.0	617	7588	2.25	3.45	172.73	3.103	10500	0.103	0.084	3233	3903	3064	3084	3044	0	0	0	0	0	0	11.06	11.03	9.99
7605	1.44	107.1	3233	3903	3084	3044	963.1	22.6	644	7610	0.00	3.12	0.00	0.000	1030	0.000	0.046	3243	2549	3062	3083	3042	0	0	0	0	0	0	11.18	11.14	11.19
7998	1.44	107.1	3243	2550	3076	3037	878.1	21.8	662	7999	0.00	0.00	0.00	0.000	6	0.000	0.000	3242	2550	3056	3076	3036	0	0	0	0	0	0	11.32	11.31	11.31
8357	1.44	107.1	3243	2551	3076	3037	802.3	20.7	674	8364	0.00	3.25	0.00	0.000	516	0.000	0.057	3253	1149	3055	3075	3035	0	0	0	0	0	0	11.34	11.13	11.34
8380	1.44	107.1	3254	1149	3076	3033	797.4	21.1	678	8386	0.00	3.35	0.00	0.000	1030	0.000	0.060	3253	2553	3054	3075	3034	0	0	0	0	0	0	11.21	11.14	11.22
8753	1.44	107.1	3253	2554	3076	3035	719.0	21.1	692	8754	0.00	0.00	0.00	0.000	6	0.000	0.000	3253	2552	3054	3075	3034	0	0	0	0	0	0	11.33	11.33	11.33
9113	1.44	107.1	3254	2553	3076	3035	644.3	20.6	720	9114	0.00	0.00	0.00	0.000	6	0.000	0.000	3253	2552	3055	3075	3035	0	0	0	0	0	0	11.33	11.33	11.33
9413	1.44	107.1	3254	2553	3077	3036	583.4	20.1	750	9414	0.00	0.00	0.00	0.000	6	0.000	0.000	3252	2552	3055	3075	3035	0	0	0	0	0	0	11.33	11.34	11.34
9712	1.44	107.1	3254	2553	3077	3036	523.4	19.8	780	9719	0.00	3.33	0.00	0.000	516	0.000	0.057	3263	1144	3056	3075	3037	0	0	0	0	0	0	11.36	11.14	11.36
9745	1.44	107.1	3263	1144	3076	3037	517.1	19.8	786	9752	0.00	3.30	0.00	0.000	1030	0.000	0.060	3263	2557	3056	3075	3037	0	0	0	0	0	0	11.22	11.15	11.24
10058	1.44	107.1	3264	2557	3077	3037	456.7	19.0	818	10059	0.00	0.00	0.00	0.000	6	0.000	0.000	3263	2557	3056	3075	3037	0	0	0	0	0	0	11.36	11.36	11.36
10245	end climb: SURFACE_OBSTACLE_DETECTED
state	10245	begin subsurface finish
10253	-0.00	-0.1	3264	2558	3076	3038	420.6	19.2	837	10271	2.70	3.38	-7.25	0.024	20996	0.283	0.067	2779	1147	3520	3526	3515	0	0	0	0	1	0	11.05	10.60	11.22
10272	end subsurface finish: CONTROL_FINISHED_OK
state	10272	begin surface