Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 98 * 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 98 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 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 27 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 25 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 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 15 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 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 15 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 15 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 30 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 10 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 400 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 400 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 225 CF8_MAXERRORS 2 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 8 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 15

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 30

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 15

ALTIM_TOP_TURN_MARGIN 10 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 15

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 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 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 10

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 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 400 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 400 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 1

DIVE 98 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 27 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 25 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 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 080218,181424,-7412.5337,-11211.2285,0,4114.3,0,53.4,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7420.000,-11215.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 342.91 MHEAD_RNG_PITCHd_Wd 134.4,13956,-16.5,-9.429,-19.22,2384

_SM_ANGLEo 0.9 D_GRID 990

GPS2 080218,181424,-7412.5337,-11211.2285,0,4114.3,0,53.4,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 360.1,1.027482,1 _24V_AH 12.95,47.265

FINISH2 358.9 _10V_AH 12.56,0.000

RAFOS_CLK 387 FG_AHR_24Vo 0.000

RAFOS 0,1518123669,21.033333,21.019167,134,69,57,54,54,53,502,209,218,199,184,174 FG_AHR_10Vo 0.000

RAFOS_FIX -7413.958008,-11209.995117,080218,212144,3,130,0.25 MEM 280256

IRIDIUM_FIX -7410.50,-11205.65,080218,140223 DATA_FILE_SIZE 33376,936

TT8_MAMPS 0.038948,0.285369 CAP_FILE_SIZE 109112,0

HUMID 48.81 CFSIZE 1024409600,1008173056

INTERNAL_PRESSURE 8.23859 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.50 SOUNDSPEED 1458.2

XPDR_PINGS 0 GPS 080218,211544,-7413.958,-11209.995,0,4129.7,0,53.4,0.0,0.0,0,0.0

ALTIM_TOP_PING 360.1,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 291 16.80 nil 0 0 0.00

Roll_motor 79 163 168.12 nil 0 0 0.00

VBD_pump_during_apogee 754 1469 14350.23 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 10659 6 854.57

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 33 420 180.85 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7954 2 230.79

TT8_Active 771 13 133.99

TT8_Sampling 1918 34 838.11

TT8_CF8 76 52 50.77

TT8_Kalman 0 0 0.00

Analog_circuits 1514 10 207.34

GPS_charging 0 0 0.00

Compass 1340 7 126.09

RAFOS 720 1 13.56

Transponder 234 30 88.47

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

352.0 18.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

360.4 26.70 9000.00 0.0 0.00 0.00 26.70 0.0 1.01 1.00

903.0 27.50 9000.00 0.0 0.01 0.33 27.50 0.0 0.00 1.00

913.3 20.10 9000.00 0.0 -0.01 0.19 20.10 933.4 -0.72 1.00

922.0 18.00 9000.00 0.0 -0.51 0.94 18.00 940.0 -0.24 1.00

930.3 12.40 9000.00 0.0 -0.45 0.93 12.40 942.7 -0.67 1.00

928.3 17.00 9000.00 0.0 -0.54 0.63 17.00 0.0 -2.30 1.00

919.9 19.60 9000.00 0.0 -0.58 0.77 19.60 0.0 -0.31 1.00

903.7 26.90 9000.00 0.0 -0.41 0.99 26.90 0.0 -0.45 1.00

419.1 71.50 9000.00 0.0 -0.10 0.99 71.50 0.0 -0.09 1.00

410.8 62.80 9000.00 0.0 -0.08 0.96 62.80 348.0 1.05 1.00

402.4 54.00 54.00 348.4 1.04 1.00 54.00 348.4 1.05 1.00

394.2 45.80 45.70 348.5 1.02 1.00 45.80 348.4 1.00 1.00

385.0 35.80 36.00 349.0 1.04 1.00 35.80 349.2 1.09 1.00

376.7 27.10 27.10 349.6 1.07 1.00 27.10 349.6 1.05 1.00

368.4 18.40 18.40 350.0 1.05 1.00 18.40 350.0 1.05 1.00

360.1 9.40 9.50 350.6 1.06 1.00 9.40 350.7 1.08 1.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.93 -146.0 2802 2319 2823 2757 0.0 0.0 0 12 0.00 0.00 -2.12 0.044 16390 0.000 0.000 2803 2318 3392 3420 3364 0 0 0 0 0 0 15.07 13.75 15.07

13 -0.93 -146.0 2804 2318 3421 3366 0.0 0.0 0 15 0.95 0.00 0.00 0.000 4102 0.124 0.000 2495 2319 3391 3419 3364 0 0 0 0 0 0 14.83 14.97 14.95

309 -0.93 -146.0 2495 2320 3418 3365 375.7 -11.5 30 315 0.00 2.60 0.00 0.000 516 0.000 0.089 2494 887 3390 3417 3364 0 0 0 0 0 0 15.09 14.81 15.11

354 -0.93 -146.0 2494 887 3417 3365 381.1 -12.1 39 361 0.00 2.53 0.00 0.000 1030 0.000 0.080 2489 2292 3390 3417 3364 0 0 0 0 0 0 14.90 14.83 14.93

659 -0.93 -146.0 2490 2293 3419 3365 417.5 -11.9 70 660 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2292 3390 3417 3364 0 0 0 0 0 0 15.09 15.12 15.12

959 -0.93 -146.0 2490 2293 3419 3365 452.5 -11.3 100 960 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2292 3390 3417 3364 0 0 0 0 0 0 15.09 15.13 15.12

1260 -0.93 -146.0 2488 2293 3416 3364 486.8 -11.2 130 1261 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2292 3390 3416 3364 0 0 0 0 0 0 15.07 15.11 15.09

1559 -0.93 -146.0 2490 2293 3418 3364 520.5 -11.1 160 1560 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2292 3389 3415 3363 0 0 0 0 0 0 15.10 15.14 15.13

1859 -0.93 -146.0 2488 2292 3416 3364 553.8 -11.4 190 1860 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2292 3390 3417 3363 0 0 0 0 0 0 15.11 15.14 15.13

2159 -0.93 -146.0 2490 2293 3418 3364 587.3 -11.2 220 2160 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2292 3389 3416 3363 0 0 0 0 0 0 15.11 15.14 15.14

2460 -0.93 -146.0 2490 2293 3418 3363 620.6 -11.2 250 2461 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2292 3389 3416 3363 0 0 0 0 0 0 15.08 15.11 15.11

2759 -0.93 -146.0 2488 2292 3416 3364 653.5 -10.8 280 2760 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2292 3390 3417 3363 0 0 0 0 0 0 15.11 15.14 15.14

3059 -0.93 -146.0 2488 2293 3416 3364 685.1 -10.4 310 3065 0.00 2.62 0.00 0.000 260 0.000 0.116 2479 3718 3389 3416 3362 0 0 0 0 0 0 15.11 14.83 15.14

3095 -0.93 -146.0 2480 3719 3418 3364 689.0 -11.4 317 3103 0.00 2.40 0.00 0.000 1030 0.000 0.054 2479 2289 3389 3415 3363 0 0 0 0 0 0 14.99 14.91 15.00

3409 -0.93 -146.0 2481 2289 3418 3364 724.1 -11.1 335 3415 0.00 2.50 0.00 0.000 516 0.000 0.088 2479 896 3389 3416 3363 0 0 0 0 0 0 15.11 14.82 15.14

3439 -0.93 -146.0 2480 896 3418 3364 727.4 -11.1 341 3446 0.00 2.55 0.00 0.000 1030 0.000 0.083 2476 2309 3389 3416 3363 0 0 0 0 0 0 14.92 14.84 14.95

3830 -0.93 -146.0 2477 2310 3418 3364 772.2 -10.9 359 3837 0.00 2.58 0.00 0.000 260 0.000 0.112 2468 3718 3389 3415 3363 0 0 0 0 0 0 15.11 14.81 15.14

3867 -0.93 -146.0 2469 3718 3417 3364 776.8 -13.1 366 3873 0.15 2.40 0.00 0.000 3078 0.263 0.052 2503 2283 3389 3416 3363 0 0 0 0 0 0 14.73 14.91 14.93

4252 -0.93 -146.0 2503 2283 3418 3364 817.0 -10.0 383 4258 0.00 2.47 0.00 0.000 516 0.000 0.086 2502 901 3389 3415 3363 0 0 0 0 0 0 15.11 14.82 15.14

4301 -0.93 -146.0 2503 903 3417 3363 821.9 -9.8 393 4312 0.00 2.53 0.00 0.000 1030 0.000 0.082 2502 2304 3389 3415 3363 0 0 0 0 0 0 14.92 14.84 14.94

4676 -0.93 -146.0 2503 2305 3417 3364 857.4 -10.1 407 4677 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2304 3390 3416 3365 0 0 0 0 0 0 15.11 15.14 15.14

5036 -0.93 -146.0 2502 2305 3414 3363 891.3 -10.0 419 5037 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2304 3389 3415 3363 0 0 0 0 0 0 15.12 15.15 15.14

5396 -0.93 -146.0 2502 2304 3416 3363 927.8 -9.6 431 5402 0.00 2.60 0.00 0.000 260 0.000 0.116 2494 3722 3388 3415 3362 0 0 0 0 0 0 15.12 14.83 15.15

5430 -0.93 -146.0 2496 3723 3417 3364 931.4 -10.3 438 5437 0.00 2.42 0.00 0.000 1030 0.000 0.051 2494 2296 3389 3415 3363 0 0 0 0 0 0 14.96 14.92 14.98

5724 end dive: NO_VERTICAL_VELOCITY

state 5725 begin apogee

5728 -0.23 0.0 2496 2062 3417 3362 936.2 0.0 452 6130 0.75 0.10 397.90 1.294 10246 0.139 0.164 2730 2120 2781 2816 2747 0 0 0 0 0 0 14.85 13.74 13.26

6131 end apogee: CONTROL_FINISHED_OK

state 6131 begin climb

6132 0.93 146.0 2731 2120 2811 2744 936.5 0.0 465 6501 1.23 2.78 356.15 1.470 11012 0.134 0.100 3097 3502 2183 2225 2141 0 0 0 0 0 0 13.74 13.40 12.95

6674 0.93 146.0 3095 3502 2214 2132 872.4 15.6 572 6682 0.00 2.50 0.00 0.000 1030 0.000 0.050 3107 2130 2172 2214 2131 0 0 0 0 0 0 14.09 14.04 14.12

7040 0.93 146.0 3105 2128 2208 2130 820.6 13.8 585 7046 0.00 2.67 0.00 0.000 516 0.000 0.103 3117 685 2168 2208 2129 0 0 0 0 0 0 14.66 14.42 14.68

7065 0.93 146.0 3116 685 2209 2128 817.1 13.8 590 7073 0.00 2.55 0.00 0.000 1030 0.000 0.069 3117 2092 2168 2208 2128 0 0 0 0 0 0 14.52 14.46 14.54

7430 0.93 146.0 3118 2093 2208 2129 771.8 12.5 603 7437 0.00 2.58 0.00 0.000 260 0.000 0.104 3117 3512 2167 2207 2128 0 0 0 0 0 0 14.86 14.62 14.88

7506 0.93 146.0 3116 3514 2207 2129 761.3 14.2 618 7513 0.00 2.47 0.00 0.000 1030 0.000 0.054 3127 2097 2167 2207 2128 0 0 0 0 0 0 14.71 14.65 14.73

7882 0.93 146.0 3127 2098 2205 2130 709.4 13.2 633 7883 0.00 0.00 0.00 0.000 6 0.000 0.000 3127 2097 2166 2205 2128 0 0 0 0 0 0 14.97 15.00 15.00

8243 0.93 146.0 3128 2098 2207 2129 660.8 14.6 663 8248 0.00 2.58 0.00 0.000 260 0.000 0.104 3127 3516 2168 2209 2128 0 0 0 0 0 0 14.99 14.77 15.02

8291 0.93 146.0 3128 3516 2206 2128 652.8 15.7 673 8299 0.12 2.45 0.00 0.000 5126 0.262 0.054 3104 2098 2165 2204 2127 0 0 0 0 0 0 14.67 14.81 14.81

8603 0.93 146.0 3104 2100 2206 2127 613.5 12.1 705 8609 0.00 2.60 0.00 0.000 260 0.000 0.103 3103 3513 2165 2204 2127 0 0 0 0 0 0 15.04 14.78 15.07

8633 0.93 146.0 3104 3514 2206 2128 609.6 13.4 711 8640 0.00 2.45 0.00 0.000 1030 0.000 0.055 3112 2092 2165 2204 2127 0 0 0 0 0 0 14.88 14.83 14.91

8944 0.93 146.0 3113 2092 2205 2128 570.8 12.6 743 8950 0.00 2.62 0.00 0.000 260 0.000 0.104 3112 3517 2165 2204 2127 0 0 0 0 0 0 15.05 14.80 15.08

8974 0.93 146.0 3112 3517 2203 2128 566.6 14.2 749 8981 0.00 2.45 0.00 0.000 1030 0.000 0.054 3123 2097 2165 2203 2127 0 0 0 0 0 0 14.90 14.83 14.91

9285 0.93 146.0 3122 2097 2203 2127 525.1 13.3 781 9286 0.00 0.00 0.00 0.000 6 0.000 0.000 3123 2097 2165 2203 2127 0 0 0 0 0 0 15.07 15.09 15.09

9586 0.93 146.0 3124 2098 2205 2128 486.2 13.1 811 9591 0.00 2.55 0.00 0.000 260 0.000 0.103 3123 3512 2164 2201 2127 0 0 0 0 0 0 15.05 14.81 15.07

9646 0.93 146.0 3124 3512 2205 2129 477.6 14.5 823 9651 0.15 2.40 0.00 0.000 5126 0.291 0.052 3100 2087 2165 2203 2127 0 0 0 0 0 0 14.71 14.84 14.91

9955 0.93 146.0 3100 2088 2202 2126 440.4 11.9 855 9961 0.00 2.55 0.00 0.000 516 0.000 0.104 3109 692 2164 2203 2126 0 0 0 0 0 0 15.09 14.81 15.11

9980 0.93 146.0 3110 692 2204 2127 437.4 11.6 860 9987 0.00 2.50 0.00 0.000 1030 0.000 0.070 3109 2110 2164 2202 2126 0 0 0 0 0 0 14.94 14.85 14.94

10285 0.93 146.0 3111 2111 2202 2126 401.2 11.9 891 10291 0.00 2.55 0.00 0.000 260 0.000 0.105 3109 3510 2164 2202 2126 0 0 0 0 0 0 15.09 14.83 15.11

10365 0.93 146.0 3107 3511 2202 2126 391.0 12.8 907 10371 0.00 2.42 0.00 0.000 1030 0.000 0.054 3119 2101 2164 2202 2126 0 0 0 0 0 0 14.92 14.88 14.95

10625 end climb: SURFACE_OBSTACLE_DETECTED

state 10625 begin subsurface finish

10628 0.00 0.9 3119 2102 2208 2126 360.1 12.0 934 10640 1.10 2.60 -2.25 0.051 20996 0.222 0.129 2802 689 2799 2831 2768 0 0 0 0 0 0 14.75 13.79 14.87

10641 end subsurface finish: CONTROL_FINISHED_OK

state 10641 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	98	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	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	27	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	25	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	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	15	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	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	15	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	15	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	30	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	10	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	400	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	400	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	225	CF8_MAXERRORS	2	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	080218,181424,-7412.5337,-11211.2285,0,4114.3,0,53.4,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7420.000,-11215.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	342.91	MHEAD_RNG_PITCHd_Wd	134.4,13956,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	0.9	D_GRID	990
GPS2	080218,181424,-7412.5337,-11211.2285,0,4114.3,0,53.4,0.0,0.0,0,0.0

FINISH1	360.1,1.027482,1	_24V_AH	12.95,47.265
FINISH2	358.9	_10V_AH	12.56,0.000
RAFOS_CLK	387	FG_AHR_24Vo	0.000
RAFOS	0,1518123669,21.033333,21.019167,134,69,57,54,54,53,502,209,218,199,184,174	FG_AHR_10Vo	0.000
RAFOS_FIX	-7413.958008,-11209.995117,080218,212144,3,130,0.25	MEM	280256
IRIDIUM_FIX	-7410.50,-11205.65,080218,140223	DATA_FILE_SIZE	33376,936
TT8_MAMPS	0.038948,0.285369	CAP_FILE_SIZE	109112,0
HUMID	48.81	CFSIZE	1024409600,1008173056
INTERNAL_PRESSURE	8.23859	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.50	SOUNDSPEED	1458.2
XPDR_PINGS	0	GPS	080218,211544,-7413.958,-11209.995,0,4129.7,0,53.4,0.0,0.0,0,0.0
ALTIM_TOP_PING	360.1,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	291	16.80	nil	0	0	0.00
Roll_motor	79	163	168.12	nil	0	0	0.00
VBD_pump_during_apogee	754	1469	14350.23	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	10659	6	854.57
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	33	420	180.85	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7954	2	230.79
TT8_Active	771	13	133.99
TT8_Sampling	1918	34	838.11
TT8_CF8	76	52	50.77
TT8_Kalman	0	0	0.00
Analog_circuits	1514	10	207.34
GPS_charging	0	0	0.00
Compass	1340	7	126.09
RAFOS	720	1	13.56
Transponder	234	30	88.47

		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
352.0	18.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
360.4	26.70	9000.00	0.0	0.00	0.00	26.70	0.0	1.01	1.00
903.0	27.50	9000.00	0.0	0.01	0.33	27.50	0.0	0.00	1.00
913.3	20.10	9000.00	0.0	-0.01	0.19	20.10	933.4	-0.72	1.00
922.0	18.00	9000.00	0.0	-0.51	0.94	18.00	940.0	-0.24	1.00
930.3	12.40	9000.00	0.0	-0.45	0.93	12.40	942.7	-0.67	1.00

928.3	17.00	9000.00	0.0	-0.54	0.63	17.00	0.0	-2.30	1.00
919.9	19.60	9000.00	0.0	-0.58	0.77	19.60	0.0	-0.31	1.00
903.7	26.90	9000.00	0.0	-0.41	0.99	26.90	0.0	-0.45	1.00
419.1	71.50	9000.00	0.0	-0.10	0.99	71.50	0.0	-0.09	1.00
410.8	62.80	9000.00	0.0	-0.08	0.96	62.80	348.0	1.05	1.00
402.4	54.00	54.00	348.4	1.04	1.00	54.00	348.4	1.05	1.00
394.2	45.80	45.70	348.5	1.02	1.00	45.80	348.4	1.00	1.00
385.0	35.80	36.00	349.0	1.04	1.00	35.80	349.2	1.09	1.00
376.7	27.10	27.10	349.6	1.07	1.00	27.10	349.6	1.05	1.00
368.4	18.40	18.40	350.0	1.05	1.00	18.40	350.0	1.05	1.00
360.1	9.40	9.50	350.6	1.06	1.00	9.40	350.7	1.08	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.93	-146.0	2802	2319	2823	2757	0.0	0.0	0	12	0.00	0.00	-2.12	0.044	16390	0.000	0.000	2803	2318	3392	3420	3364	0	0	0	0	0	0	15.07	13.75	15.07
13	-0.93	-146.0	2804	2318	3421	3366	0.0	0.0	0	15	0.95	0.00	0.00	0.000	4102	0.124	0.000	2495	2319	3391	3419	3364	0	0	0	0	0	0	14.83	14.97	14.95
309	-0.93	-146.0	2495	2320	3418	3365	375.7	-11.5	30	315	0.00	2.60	0.00	0.000	516	0.000	0.089	2494	887	3390	3417	3364	0	0	0	0	0	0	15.09	14.81	15.11
354	-0.93	-146.0	2494	887	3417	3365	381.1	-12.1	39	361	0.00	2.53	0.00	0.000	1030	0.000	0.080	2489	2292	3390	3417	3364	0	0	0	0	0	0	14.90	14.83	14.93
659	-0.93	-146.0	2490	2293	3419	3365	417.5	-11.9	70	660	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2292	3390	3417	3364	0	0	0	0	0	0	15.09	15.12	15.12
959	-0.93	-146.0	2490	2293	3419	3365	452.5	-11.3	100	960	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2292	3390	3417	3364	0	0	0	0	0	0	15.09	15.13	15.12
1260	-0.93	-146.0	2488	2293	3416	3364	486.8	-11.2	130	1261	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2292	3390	3416	3364	0	0	0	0	0	0	15.07	15.11	15.09
1559	-0.93	-146.0	2490	2293	3418	3364	520.5	-11.1	160	1560	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2292	3389	3415	3363	0	0	0	0	0	0	15.10	15.14	15.13
1859	-0.93	-146.0	2488	2292	3416	3364	553.8	-11.4	190	1860	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2292	3390	3417	3363	0	0	0	0	0	0	15.11	15.14	15.13
2159	-0.93	-146.0	2490	2293	3418	3364	587.3	-11.2	220	2160	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2292	3389	3416	3363	0	0	0	0	0	0	15.11	15.14	15.14
2460	-0.93	-146.0	2490	2293	3418	3363	620.6	-11.2	250	2461	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2292	3389	3416	3363	0	0	0	0	0	0	15.08	15.11	15.11
2759	-0.93	-146.0	2488	2292	3416	3364	653.5	-10.8	280	2760	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2292	3390	3417	3363	0	0	0	0	0	0	15.11	15.14	15.14
3059	-0.93	-146.0	2488	2293	3416	3364	685.1	-10.4	310	3065	0.00	2.62	0.00	0.000	260	0.000	0.116	2479	3718	3389	3416	3362	0	0	0	0	0	0	15.11	14.83	15.14
3095	-0.93	-146.0	2480	3719	3418	3364	689.0	-11.4	317	3103	0.00	2.40	0.00	0.000	1030	0.000	0.054	2479	2289	3389	3415	3363	0	0	0	0	0	0	14.99	14.91	15.00
3409	-0.93	-146.0	2481	2289	3418	3364	724.1	-11.1	335	3415	0.00	2.50	0.00	0.000	516	0.000	0.088	2479	896	3389	3416	3363	0	0	0	0	0	0	15.11	14.82	15.14
3439	-0.93	-146.0	2480	896	3418	3364	727.4	-11.1	341	3446	0.00	2.55	0.00	0.000	1030	0.000	0.083	2476	2309	3389	3416	3363	0	0	0	0	0	0	14.92	14.84	14.95
3830	-0.93	-146.0	2477	2310	3418	3364	772.2	-10.9	359	3837	0.00	2.58	0.00	0.000	260	0.000	0.112	2468	3718	3389	3415	3363	0	0	0	0	0	0	15.11	14.81	15.14
3867	-0.93	-146.0	2469	3718	3417	3364	776.8	-13.1	366	3873	0.15	2.40	0.00	0.000	3078	0.263	0.052	2503	2283	3389	3416	3363	0	0	0	0	0	0	14.73	14.91	14.93
4252	-0.93	-146.0	2503	2283	3418	3364	817.0	-10.0	383	4258	0.00	2.47	0.00	0.000	516	0.000	0.086	2502	901	3389	3415	3363	0	0	0	0	0	0	15.11	14.82	15.14
4301	-0.93	-146.0	2503	903	3417	3363	821.9	-9.8	393	4312	0.00	2.53	0.00	0.000	1030	0.000	0.082	2502	2304	3389	3415	3363	0	0	0	0	0	0	14.92	14.84	14.94
4676	-0.93	-146.0	2503	2305	3417	3364	857.4	-10.1	407	4677	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2304	3390	3416	3365	0	0	0	0	0	0	15.11	15.14	15.14
5036	-0.93	-146.0	2502	2305	3414	3363	891.3	-10.0	419	5037	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2304	3389	3415	3363	0	0	0	0	0	0	15.12	15.15	15.14
5396	-0.93	-146.0	2502	2304	3416	3363	927.8	-9.6	431	5402	0.00	2.60	0.00	0.000	260	0.000	0.116	2494	3722	3388	3415	3362	0	0	0	0	0	0	15.12	14.83	15.15
5430	-0.93	-146.0	2496	3723	3417	3364	931.4	-10.3	438	5437	0.00	2.42	0.00	0.000	1030	0.000	0.051	2494	2296	3389	3415	3363	0	0	0	0	0	0	14.96	14.92	14.98
5724	end dive: NO_VERTICAL_VELOCITY
state	5725	begin apogee
5728	-0.23	0.0	2496	2062	3417	3362	936.2	0.0	452	6130	0.75	0.10	397.90	1.294	10246	0.139	0.164	2730	2120	2781	2816	2747	0	0	0	0	0	0	14.85	13.74	13.26
6131	end apogee: CONTROL_FINISHED_OK
state	6131	begin climb
6132	0.93	146.0	2731	2120	2811	2744	936.5	0.0	465	6501	1.23	2.78	356.15	1.470	11012	0.134	0.100	3097	3502	2183	2225	2141	0	0	0	0	0	0	13.74	13.40	12.95
6674	0.93	146.0	3095	3502	2214	2132	872.4	15.6	572	6682	0.00	2.50	0.00	0.000	1030	0.000	0.050	3107	2130	2172	2214	2131	0	0	0	0	0	0	14.09	14.04	14.12
7040	0.93	146.0	3105	2128	2208	2130	820.6	13.8	585	7046	0.00	2.67	0.00	0.000	516	0.000	0.103	3117	685	2168	2208	2129	0	0	0	0	0	0	14.66	14.42	14.68
7065	0.93	146.0	3116	685	2209	2128	817.1	13.8	590	7073	0.00	2.55	0.00	0.000	1030	0.000	0.069	3117	2092	2168	2208	2128	0	0	0	0	0	0	14.52	14.46	14.54
7430	0.93	146.0	3118	2093	2208	2129	771.8	12.5	603	7437	0.00	2.58	0.00	0.000	260	0.000	0.104	3117	3512	2167	2207	2128	0	0	0	0	0	0	14.86	14.62	14.88
7506	0.93	146.0	3116	3514	2207	2129	761.3	14.2	618	7513	0.00	2.47	0.00	0.000	1030	0.000	0.054	3127	2097	2167	2207	2128	0	0	0	0	0	0	14.71	14.65	14.73
7882	0.93	146.0	3127	2098	2205	2130	709.4	13.2	633	7883	0.00	0.00	0.00	0.000	6	0.000	0.000	3127	2097	2166	2205	2128	0	0	0	0	0	0	14.97	15.00	15.00
8243	0.93	146.0	3128	2098	2207	2129	660.8	14.6	663	8248	0.00	2.58	0.00	0.000	260	0.000	0.104	3127	3516	2168	2209	2128	0	0	0	0	0	0	14.99	14.77	15.02
8291	0.93	146.0	3128	3516	2206	2128	652.8	15.7	673	8299	0.12	2.45	0.00	0.000	5126	0.262	0.054	3104	2098	2165	2204	2127	0	0	0	0	0	0	14.67	14.81	14.81
8603	0.93	146.0	3104	2100	2206	2127	613.5	12.1	705	8609	0.00	2.60	0.00	0.000	260	0.000	0.103	3103	3513	2165	2204	2127	0	0	0	0	0	0	15.04	14.78	15.07
8633	0.93	146.0	3104	3514	2206	2128	609.6	13.4	711	8640	0.00	2.45	0.00	0.000	1030	0.000	0.055	3112	2092	2165	2204	2127	0	0	0	0	0	0	14.88	14.83	14.91
8944	0.93	146.0	3113	2092	2205	2128	570.8	12.6	743	8950	0.00	2.62	0.00	0.000	260	0.000	0.104	3112	3517	2165	2204	2127	0	0	0	0	0	0	15.05	14.80	15.08
8974	0.93	146.0	3112	3517	2203	2128	566.6	14.2	749	8981	0.00	2.45	0.00	0.000	1030	0.000	0.054	3123	2097	2165	2203	2127	0	0	0	0	0	0	14.90	14.83	14.91
9285	0.93	146.0	3122	2097	2203	2127	525.1	13.3	781	9286	0.00	0.00	0.00	0.000	6	0.000	0.000	3123	2097	2165	2203	2127	0	0	0	0	0	0	15.07	15.09	15.09
9586	0.93	146.0	3124	2098	2205	2128	486.2	13.1	811	9591	0.00	2.55	0.00	0.000	260	0.000	0.103	3123	3512	2164	2201	2127	0	0	0	0	0	0	15.05	14.81	15.07
9646	0.93	146.0	3124	3512	2205	2129	477.6	14.5	823	9651	0.15	2.40	0.00	0.000	5126	0.291	0.052	3100	2087	2165	2203	2127	0	0	0	0	0	0	14.71	14.84	14.91
9955	0.93	146.0	3100	2088	2202	2126	440.4	11.9	855	9961	0.00	2.55	0.00	0.000	516	0.000	0.104	3109	692	2164	2203	2126	0	0	0	0	0	0	15.09	14.81	15.11
9980	0.93	146.0	3110	692	2204	2127	437.4	11.6	860	9987	0.00	2.50	0.00	0.000	1030	0.000	0.070	3109	2110	2164	2202	2126	0	0	0	0	0	0	14.94	14.85	14.94
10285	0.93	146.0	3111	2111	2202	2126	401.2	11.9	891	10291	0.00	2.55	0.00	0.000	260	0.000	0.105	3109	3510	2164	2202	2126	0	0	0	0	0	0	15.09	14.83	15.11
10365	0.93	146.0	3107	3511	2202	2126	391.0	12.8	907	10371	0.00	2.42	0.00	0.000	1030	0.000	0.054	3119	2101	2164	2202	2126	0	0	0	0	0	0	14.92	14.88	14.95
10625	end climb: SURFACE_OBSTACLE_DETECTED
state	10625	begin subsurface finish
10628	0.00	0.9	3119	2102	2208	2126	360.1	12.0	934	10640	1.10	2.60	-2.25	0.051	20996	0.222	0.129	2802	689	2799	2831	2768	0	0	0	0	0	0	14.75	13.79	14.87
10641	end subsurface finish: CONTROL_FINISHED_OK
state	10641	begin surface