Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 99 * 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 99 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 29 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 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 99 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 29 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 23 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 080218,211544,-7413.9580,-11209.9951,0,4129.7,0,53.4,0.0,0.0,0,0.0 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 359.22 MHEAD_RNG_PITCHd_Wd 139.2,11466,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -0.1 D_GRID 990

GPS2 080218,211544,-7413.9580,-11209.9951,0,4129.7,0,53.4,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 370.8,1.027490,1 ALTIM_BOTTOM_PING 859.9,22.8

FINISH2 369.8 _24V_AH 13.05,47.592

RAFOS_CLK 334 _10V_AH 12.58,0.000

RAFOS 0,1518134487,0.033333,0.024167,120,65,62,56,55,50,418,200,182,121,211,191 FG_AHR_24Vo 0.000

RAFOS_FIX -7415.889648,-11209.555664,090218,000056,3,117,0.33 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7410.50,-11205.65,080218,140223 MEM 280228

TT8_MAMPS 0.040446,0.230692 DATA_FILE_SIZE 26750,794

HUMID 48.58 CAP_FILE_SIZE 96470,0

INTERNAL_PRESSURE 8.24835 CFSIZE 1024409600,1008107520

TCM_TEMP 12.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1457.8

ALTIM_TOP_PING 373.0,12.2 GPS 090218,001456,-7415.890,-11209.556,0,4117.0,0,53.4,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 284 16.80 nil 0 0 0.00

Roll_motor 76 184 185.20 nil 0 0 0.00

VBD_pump_during_apogee 754 1315 12951.13 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 9170 6 747.09

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 29 420 160.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6676 2 194.02

TT8_Active 834 13 145.02

TT8_Sampling 1656 34 725.07

TT8_CF8 68 52 45.18

TT8_Kalman 0 0 0.00

Analog_circuits 1442 10 197.79

GPS_charging 0 0 0.00

Compass 1138 7 107.31

RAFOS 720 1 13.59

Transponder 205 30 77.46

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

359.6 9.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

368.5 18.90 9000.00 0.0 0.00 0.00 18.90 0.0 1.06 1.00

385.5 36.20 36.30 0.0 1.03 1.00 36.20 0.0 1.02 1.00

830.7 50.20 9000.00 0.0 0.05 0.72 50.20 0.0 0.03 1.00

851.5 25.30 9000.00 0.0 0.00 0.00 25.30 876.8 -1.20 1.00

859.9 26.30 22.80 882.7 -0.89 0.90 26.30 0.0 0.12 1.00

868.0 18.00 9000.00 0.0 -0.44 0.64 18.00 886.0 -1.02 1.00

876.3 13.90 9000.00 0.0 -0.76 0.96 13.90 890.2 -0.49 1.00

879.0 13.80 9000.00 0.0 -0.41 0.94 13.80 892.8 -0.04 1.00

433.7 76.30 9000.00 0.0 -0.14 1.00 76.30 0.0 -0.14 1.00

424.9 67.30 9000.00 0.0 -0.13 0.98 67.30 357.6 1.02 1.00

416.0 57.50 57.70 358.3 1.05 1.00 57.50 358.5 1.10 1.00

407.0 48.30 48.20 358.8 1.06 1.00 48.30 358.7 1.02 1.00

398.6 38.70 38.90 359.7 1.08 1.00 38.70 359.9 1.14 1.00

390.0 30.10 29.90 360.1 1.07 1.00 30.10 359.9 1.00 1.00

381.1 20.70 20.80 360.3 1.03 1.00 20.70 360.4 1.06 1.00

373.0 12.10 12.20 360.8 1.06 1.00 12.10 360.9 1.06 1.00

Guidance and control:

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -0.93 -146.0 2804 2316 2832 2768 0.0 0.0 0 11 0.00 0.00 -2.05 0.046 16390 0.000 0.000 2802 2316 3392 3418 3366 0 0 0 0 0 0 15.07 13.76 15.08

12 -0.93 -146.0 2804 2316 3420 3368 0.0 0.0 0 14 0.95 0.00 0.00 0.000 4102 0.119 0.000 2492 2316 3392 3418 3367 0 0 0 0 0 0 14.85 14.98 14.96

309 -0.93 -146.0 2493 2317 3419 3367 392.9 -12.3 30 310 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2316 3391 3417 3366 0 0 0 0 0 0 15.09 15.12 15.12

609 -0.93 -146.0 2491 2319 3417 3366 428.3 -11.5 60 610 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 2316 3391 3417 3366 0 0 0 0 0 0 15.10 15.13 15.13

909 -0.93 -146.0 2493 2317 3419 3366 462.4 -11.9 90 915 0.00 2.60 0.00 0.000 516 0.000 0.090 2492 887 3391 3417 3365 0 0 0 0 0 0 15.11 14.82 15.14

965 -0.93 -146.0 2491 887 3416 3365 469.3 -12.3 101 973 0.00 2.50 0.00 0.000 1030 0.000 0.083 2489 2296 3391 3417 3365 0 0 0 0 0 0 14.97 14.85 15.00

1269 -0.93 -146.0 2489 2296 3417 3365 505.7 -11.8 132 1275 0.00 2.60 0.00 0.000 260 0.000 0.115 2480 3714 3391 3417 3365 0 0 0 0 0 0 15.11 14.83 15.13

1294 -0.93 -146.0 2480 3714 3417 3365 508.8 -13.0 137 1302 0.00 2.45 0.00 0.000 1030 0.000 0.054 2480 2282 3390 3417 3364 0 0 0 0 0 0 14.93 14.88 14.96

1600 -0.93 -146.0 2481 2282 3418 3365 544.7 -12.1 168 1601 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2282 3390 3417 3364 0 0 0 0 0 0 15.07 15.10 15.09

1899 -0.93 -146.0 2481 2282 3419 3360 581.3 -11.9 198 1905 0.00 2.62 0.00 0.000 260 0.000 0.115 2473 3725 3390 3417 3364 0 0 0 0 0 0 15.11 14.83 15.14

1924 -0.93 -146.0 2474 3725 3419 3365 584.4 -13.0 203 1932 0.00 2.42 0.00 0.000 1030 0.000 0.053 2473 2303 3390 3417 3364 0 0 0 0 0 0 14.94 14.90 14.96

2230 -0.93 -146.0 2474 2304 3419 3365 621.6 -12.1 234 2235 0.00 2.47 0.00 0.000 516 0.000 0.086 2473 894 3389 3416 3363 0 0 0 0 0 0 15.07 14.84 15.09

2254 -0.93 -146.0 2472 894 3416 3365 624.7 -12.8 239 2262 0.12 2.53 0.00 0.000 3078 0.259 0.080 2497 2304 3390 3416 3364 0 0 0 0 0 0 14.72 14.85 14.86

2559 -0.93 -146.0 2498 2304 3418 3364 658.5 -10.8 270 2560 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2304 3390 3416 3364 0 0 0 0 0 0 15.11 15.14 15.16

2860 -0.93 -146.0 2498 2304 3418 3365 691.4 -11.2 300 2865 0.00 2.55 0.00 0.000 260 0.000 0.113 2488 3725 3390 3417 3363 0 0 0 0 0 0 15.07 14.83 15.10

2899 -0.93 -146.0 2487 3725 3416 3364 696.3 -12.3 308 2905 0.00 2.45 0.00 0.000 1030 0.000 0.051 2488 2288 3389 3416 3363 0 0 0 0 0 0 14.94 14.89 14.97

3210 -0.93 -146.0 2488 2288 3418 3365 732.1 -11.0 322 3211 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2287 3390 3416 3364 0 0 0 0 0 0 15.11 15.14 15.13

3569 -0.93 -146.0 2487 2288 3416 3364 767.1 -9.4 334 3576 0.00 2.50 0.00 0.000 516 0.000 0.086 2488 892 3390 3417 3363 0 0 0 0 0 0 15.12 14.83 15.14

3589 -0.93 -146.0 2489 893 3419 3364 769.3 -11.1 338 3595 0.00 2.53 0.00 0.000 1030 0.000 0.080 2478 2300 3389 3416 3363 0 0 0 0 0 0 14.91 14.85 14.96

3960 -0.93 -146.0 2479 2301 3419 3364 811.8 -12.0 352 3966 0.00 2.55 0.00 0.000 260 0.000 0.114 2473 3716 3390 3417 3363 0 0 0 0 0 0 15.11 14.84 15.14

4024 -0.93 -146.0 2472 3717 3416 3362 820.3 -14.1 365 4031 0.00 2.42 0.00 0.000 1030 0.000 0.050 2473 2293 3389 3416 3363 0 0 0 0 0 0 14.95 14.90 14.96

4411 -0.93 -146.0 2474 2294 3418 3364 868.0 -13.8 382 4412 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 2293 3389 3416 3363 0 0 0 0 0 0 15.08 15.11 15.11

4470 end dive: BOTTOM_OBSTACLE_DETECTED

state 4470 begin apogee

4474 -0.23 0.0 2475 2071 3413 3364 876.3 -13.6 384 4883 0.90 0.08 405.40 1.278 10246 0.222 0.184 2725 2111 2781 2816 2746 0 0 0 0 0 0 14.76 13.74 13.35

4885 end apogee: CONTROL_FINISHED_OK

state 4885 begin climb

4886 0.93 146.0 2727 2112 2816 2745 903.7 0.0 397 5243 1.25 2.78 349.27 1.315 11012 0.132 0.098 3099 3507 2184 2226 2142 0 0 0 0 0 0 13.77 13.45 13.05

5312 0.93 146.0 3099 3506 2217 2133 869.9 15.1 442 5319 0.00 2.55 0.00 0.000 1030 0.000 0.050 3109 2128 2175 2217 2133 0 0 0 0 0 0 13.88 13.84 13.89

5703 0.93 146.0 3108 2127 2209 2129 815.5 12.4 460 5710 0.00 2.72 0.00 0.000 516 0.000 0.102 3120 689 2169 2210 2128 0 0 0 0 0 0 14.61 14.37 14.64

5763 0.93 146.0 3121 690 2210 2136 808.9 10.6 472 5770 0.00 2.58 0.00 0.000 1030 0.000 0.071 3120 2101 2168 2208 2128 0 0 0 0 0 0 14.50 14.44 14.53

6154 0.93 146.0 3120 2100 2207 2128 755.8 14.0 490 6161 0.00 2.62 0.00 0.000 260 0.000 0.106 3120 3518 2167 2207 2127 0 0 0 0 0 0 14.86 14.64 14.89

6185 0.93 146.0 3119 3518 2205 2128 751.7 13.6 496 6191 0.15 2.45 0.00 0.000 5126 0.285 0.054 3098 2085 2167 2207 2127 0 0 0 0 0 0 14.54 14.68 14.73

6575 0.93 146.0 3099 2086 2208 2128 702.0 12.2 514 6582 0.00 2.65 0.00 0.000 260 0.000 0.104 3098 3519 2165 2205 2126 0 0 0 0 0 0 14.97 14.71 15.00

6636 0.93 146.0 3098 3519 2207 2127 693.8 13.8 526 6643 0.00 2.47 0.00 0.000 1030 0.000 0.054 3107 2088 2166 2206 2126 0 0 0 0 0 0 14.81 14.77 14.85

6946 0.93 146.0 3107 2088 2205 2127 651.5 13.5 558 6947 0.00 0.00 0.00 0.000 6 0.000 0.000 3107 2088 2165 2205 2125 0 0 0 0 0 0 15.02 15.04 15.04

7246 0.93 146.0 3108 2088 2206 2126 612.4 12.7 588 7256 0.00 2.62 0.00 0.000 260 0.000 0.103 3107 3514 2164 2204 2125 0 0 0 0 0 0 15.04 14.78 15.07

7289 0.93 146.0 3107 3515 2204 2126 606.6 14.0 596 7296 0.00 2.45 0.00 0.000 1030 0.000 0.054 3118 2094 2165 2204 2126 0 0 0 0 0 0 14.86 14.82 14.89

7601 0.93 146.0 3119 2095 2206 2126 566.8 12.7 628 7602 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2094 2164 2204 2125 0 0 0 0 0 0 15.03 15.07 15.06

7900 0.93 146.0 3117 2095 2203 2126 529.3 12.7 658 7907 0.00 2.60 0.00 0.000 260 0.000 0.100 3117 3518 2164 2203 2125 0 0 0 0 0 0 15.07 14.79 15.10

7935 0.93 146.0 3119 3519 2205 2126 524.2 14.2 665 7944 0.00 2.45 0.00 0.000 1030 0.000 0.053 3128 2090 2164 2203 2125 0 0 0 0 0 0 14.90 14.86 14.94

8241 0.93 146.0 3129 2091 2205 2126 484.2 13.1 696 8241 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2090 2164 2203 2125 0 0 0 0 0 0 15.08 15.11 15.11

8541 0.93 146.0 3128 2090 2202 2125 445.5 12.9 726 8542 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2090 2164 2203 2125 0 0 0 0 0 0 15.09 15.11 15.11

8841 0.93 146.0 3129 2091 2204 2125 407.0 12.8 756 8847 0.00 2.55 0.00 0.000 260 0.000 0.101 3128 3515 2164 2203 2125 0 0 0 0 0 0 15.07 14.85 15.10

8895 0.93 146.0 3127 3515 2202 2125 399.1 14.4 767 8907 0.12 2.45 0.00 0.000 5126 0.260 0.053 3104 2087 2163 2202 2124 0 0 0 0 0 0 14.73 14.88 14.87

9140 end climb: SURFACE_OBSTACLE_DETECTED

state 9140 begin subsurface finish

9143 0.00 0.5 3104 2087 2202 2124 370.8 11.3 792 9154 1.02 2.55 -2.22 0.053 20996 0.216 0.127 2807 697 2802 2834 2771 0 0 0 0 0 0 14.76 13.77 14.88

9155 end subsurface finish: CONTROL_FINISHED_OK

state 9155 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	99	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	29	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	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	080218,211544,-7413.9580,-11209.9951,0,4129.7,0,53.4,0.0,0.0,0,0.0	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	359.22	MHEAD_RNG_PITCHd_Wd	139.2,11466,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-0.1	D_GRID	990
GPS2	080218,211544,-7413.9580,-11209.9951,0,4129.7,0,53.4,0.0,0.0,0,0.0

FINISH1	370.8,1.027490,1	ALTIM_BOTTOM_PING	859.9,22.8
FINISH2	369.8	_24V_AH	13.05,47.592
RAFOS_CLK	334	_10V_AH	12.58,0.000
RAFOS	0,1518134487,0.033333,0.024167,120,65,62,56,55,50,418,200,182,121,211,191	FG_AHR_24Vo	0.000
RAFOS_FIX	-7415.889648,-11209.555664,090218,000056,3,117,0.33	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7410.50,-11205.65,080218,140223	MEM	280228
TT8_MAMPS	0.040446,0.230692	DATA_FILE_SIZE	26750,794
HUMID	48.58	CAP_FILE_SIZE	96470,0
INTERNAL_PRESSURE	8.24835	CFSIZE	1024409600,1008107520
TCM_TEMP	12.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1457.8
ALTIM_TOP_PING	373.0,12.2	GPS	090218,001456,-7415.890,-11209.556,0,4117.0,0,53.4,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	284	16.80	nil	0	0	0.00
Roll_motor	76	184	185.20	nil	0	0	0.00
VBD_pump_during_apogee	754	1315	12951.13	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	9170	6	747.09
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	29	420	160.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6676	2	194.02
TT8_Active	834	13	145.02
TT8_Sampling	1656	34	725.07
TT8_CF8	68	52	45.18
TT8_Kalman	0	0	0.00
Analog_circuits	1442	10	197.79
GPS_charging	0	0	0.00
Compass	1138	7	107.31
RAFOS	720	1	13.59
Transponder	205	30	77.46

		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
359.6	9.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
368.5	18.90	9000.00	0.0	0.00	0.00	18.90	0.0	1.06	1.00
385.5	36.20	36.30	0.0	1.03	1.00	36.20	0.0	1.02	1.00
830.7	50.20	9000.00	0.0	0.05	0.72	50.20	0.0	0.03	1.00
851.5	25.30	9000.00	0.0	0.00	0.00	25.30	876.8	-1.20	1.00
859.9	26.30	22.80	882.7	-0.89	0.90	26.30	0.0	0.12	1.00
868.0	18.00	9000.00	0.0	-0.44	0.64	18.00	886.0	-1.02	1.00
876.3	13.90	9000.00	0.0	-0.76	0.96	13.90	890.2	-0.49	1.00
879.0	13.80	9000.00	0.0	-0.41	0.94	13.80	892.8	-0.04	1.00

433.7	76.30	9000.00	0.0	-0.14	1.00	76.30	0.0	-0.14	1.00
424.9	67.30	9000.00	0.0	-0.13	0.98	67.30	357.6	1.02	1.00
416.0	57.50	57.70	358.3	1.05	1.00	57.50	358.5	1.10	1.00
407.0	48.30	48.20	358.8	1.06	1.00	48.30	358.7	1.02	1.00
398.6	38.70	38.90	359.7	1.08	1.00	38.70	359.9	1.14	1.00
390.0	30.10	29.90	360.1	1.07	1.00	30.10	359.9	1.00	1.00
381.1	20.70	20.80	360.3	1.03	1.00	20.70	360.4	1.06	1.00
373.0	12.10	12.20	360.8	1.06	1.00	12.10	360.9	1.06	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-0.93	-146.0	2804	2316	2832	2768	0.0	0.0	0	11	0.00	0.00	-2.05	0.046	16390	0.000	0.000	2802	2316	3392	3418	3366	0	0	0	0	0	0	15.07	13.76	15.08
12	-0.93	-146.0	2804	2316	3420	3368	0.0	0.0	0	14	0.95	0.00	0.00	0.000	4102	0.119	0.000	2492	2316	3392	3418	3367	0	0	0	0	0	0	14.85	14.98	14.96
309	-0.93	-146.0	2493	2317	3419	3367	392.9	-12.3	30	310	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2316	3391	3417	3366	0	0	0	0	0	0	15.09	15.12	15.12
609	-0.93	-146.0	2491	2319	3417	3366	428.3	-11.5	60	610	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	2316	3391	3417	3366	0	0	0	0	0	0	15.10	15.13	15.13
909	-0.93	-146.0	2493	2317	3419	3366	462.4	-11.9	90	915	0.00	2.60	0.00	0.000	516	0.000	0.090	2492	887	3391	3417	3365	0	0	0	0	0	0	15.11	14.82	15.14
965	-0.93	-146.0	2491	887	3416	3365	469.3	-12.3	101	973	0.00	2.50	0.00	0.000	1030	0.000	0.083	2489	2296	3391	3417	3365	0	0	0	0	0	0	14.97	14.85	15.00
1269	-0.93	-146.0	2489	2296	3417	3365	505.7	-11.8	132	1275	0.00	2.60	0.00	0.000	260	0.000	0.115	2480	3714	3391	3417	3365	0	0	0	0	0	0	15.11	14.83	15.13
1294	-0.93	-146.0	2480	3714	3417	3365	508.8	-13.0	137	1302	0.00	2.45	0.00	0.000	1030	0.000	0.054	2480	2282	3390	3417	3364	0	0	0	0	0	0	14.93	14.88	14.96
1600	-0.93	-146.0	2481	2282	3418	3365	544.7	-12.1	168	1601	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2282	3390	3417	3364	0	0	0	0	0	0	15.07	15.10	15.09
1899	-0.93	-146.0	2481	2282	3419	3360	581.3	-11.9	198	1905	0.00	2.62	0.00	0.000	260	0.000	0.115	2473	3725	3390	3417	3364	0	0	0	0	0	0	15.11	14.83	15.14
1924	-0.93	-146.0	2474	3725	3419	3365	584.4	-13.0	203	1932	0.00	2.42	0.00	0.000	1030	0.000	0.053	2473	2303	3390	3417	3364	0	0	0	0	0	0	14.94	14.90	14.96
2230	-0.93	-146.0	2474	2304	3419	3365	621.6	-12.1	234	2235	0.00	2.47	0.00	0.000	516	0.000	0.086	2473	894	3389	3416	3363	0	0	0	0	0	0	15.07	14.84	15.09
2254	-0.93	-146.0	2472	894	3416	3365	624.7	-12.8	239	2262	0.12	2.53	0.00	0.000	3078	0.259	0.080	2497	2304	3390	3416	3364	0	0	0	0	0	0	14.72	14.85	14.86
2559	-0.93	-146.0	2498	2304	3418	3364	658.5	-10.8	270	2560	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2304	3390	3416	3364	0	0	0	0	0	0	15.11	15.14	15.16
2860	-0.93	-146.0	2498	2304	3418	3365	691.4	-11.2	300	2865	0.00	2.55	0.00	0.000	260	0.000	0.113	2488	3725	3390	3417	3363	0	0	0	0	0	0	15.07	14.83	15.10
2899	-0.93	-146.0	2487	3725	3416	3364	696.3	-12.3	308	2905	0.00	2.45	0.00	0.000	1030	0.000	0.051	2488	2288	3389	3416	3363	0	0	0	0	0	0	14.94	14.89	14.97
3210	-0.93	-146.0	2488	2288	3418	3365	732.1	-11.0	322	3211	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2287	3390	3416	3364	0	0	0	0	0	0	15.11	15.14	15.13
3569	-0.93	-146.0	2487	2288	3416	3364	767.1	-9.4	334	3576	0.00	2.50	0.00	0.000	516	0.000	0.086	2488	892	3390	3417	3363	0	0	0	0	0	0	15.12	14.83	15.14
3589	-0.93	-146.0	2489	893	3419	3364	769.3	-11.1	338	3595	0.00	2.53	0.00	0.000	1030	0.000	0.080	2478	2300	3389	3416	3363	0	0	0	0	0	0	14.91	14.85	14.96
3960	-0.93	-146.0	2479	2301	3419	3364	811.8	-12.0	352	3966	0.00	2.55	0.00	0.000	260	0.000	0.114	2473	3716	3390	3417	3363	0	0	0	0	0	0	15.11	14.84	15.14
4024	-0.93	-146.0	2472	3717	3416	3362	820.3	-14.1	365	4031	0.00	2.42	0.00	0.000	1030	0.000	0.050	2473	2293	3389	3416	3363	0	0	0	0	0	0	14.95	14.90	14.96
4411	-0.93	-146.0	2474	2294	3418	3364	868.0	-13.8	382	4412	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	2293	3389	3416	3363	0	0	0	0	0	0	15.08	15.11	15.11
4470	end dive: BOTTOM_OBSTACLE_DETECTED
state	4470	begin apogee
4474	-0.23	0.0	2475	2071	3413	3364	876.3	-13.6	384	4883	0.90	0.08	405.40	1.278	10246	0.222	0.184	2725	2111	2781	2816	2746	0	0	0	0	0	0	14.76	13.74	13.35
4885	end apogee: CONTROL_FINISHED_OK
state	4885	begin climb
4886	0.93	146.0	2727	2112	2816	2745	903.7	0.0	397	5243	1.25	2.78	349.27	1.315	11012	0.132	0.098	3099	3507	2184	2226	2142	0	0	0	0	0	0	13.77	13.45	13.05
5312	0.93	146.0	3099	3506	2217	2133	869.9	15.1	442	5319	0.00	2.55	0.00	0.000	1030	0.000	0.050	3109	2128	2175	2217	2133	0	0	0	0	0	0	13.88	13.84	13.89
5703	0.93	146.0	3108	2127	2209	2129	815.5	12.4	460	5710	0.00	2.72	0.00	0.000	516	0.000	0.102	3120	689	2169	2210	2128	0	0	0	0	0	0	14.61	14.37	14.64
5763	0.93	146.0	3121	690	2210	2136	808.9	10.6	472	5770	0.00	2.58	0.00	0.000	1030	0.000	0.071	3120	2101	2168	2208	2128	0	0	0	0	0	0	14.50	14.44	14.53
6154	0.93	146.0	3120	2100	2207	2128	755.8	14.0	490	6161	0.00	2.62	0.00	0.000	260	0.000	0.106	3120	3518	2167	2207	2127	0	0	0	0	0	0	14.86	14.64	14.89
6185	0.93	146.0	3119	3518	2205	2128	751.7	13.6	496	6191	0.15	2.45	0.00	0.000	5126	0.285	0.054	3098	2085	2167	2207	2127	0	0	0	0	0	0	14.54	14.68	14.73
6575	0.93	146.0	3099	2086	2208	2128	702.0	12.2	514	6582	0.00	2.65	0.00	0.000	260	0.000	0.104	3098	3519	2165	2205	2126	0	0	0	0	0	0	14.97	14.71	15.00
6636	0.93	146.0	3098	3519	2207	2127	693.8	13.8	526	6643	0.00	2.47	0.00	0.000	1030	0.000	0.054	3107	2088	2166	2206	2126	0	0	0	0	0	0	14.81	14.77	14.85
6946	0.93	146.0	3107	2088	2205	2127	651.5	13.5	558	6947	0.00	0.00	0.00	0.000	6	0.000	0.000	3107	2088	2165	2205	2125	0	0	0	0	0	0	15.02	15.04	15.04
7246	0.93	146.0	3108	2088	2206	2126	612.4	12.7	588	7256	0.00	2.62	0.00	0.000	260	0.000	0.103	3107	3514	2164	2204	2125	0	0	0	0	0	0	15.04	14.78	15.07
7289	0.93	146.0	3107	3515	2204	2126	606.6	14.0	596	7296	0.00	2.45	0.00	0.000	1030	0.000	0.054	3118	2094	2165	2204	2126	0	0	0	0	0	0	14.86	14.82	14.89
7601	0.93	146.0	3119	2095	2206	2126	566.8	12.7	628	7602	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2094	2164	2204	2125	0	0	0	0	0	0	15.03	15.07	15.06
7900	0.93	146.0	3117	2095	2203	2126	529.3	12.7	658	7907	0.00	2.60	0.00	0.000	260	0.000	0.100	3117	3518	2164	2203	2125	0	0	0	0	0	0	15.07	14.79	15.10
7935	0.93	146.0	3119	3519	2205	2126	524.2	14.2	665	7944	0.00	2.45	0.00	0.000	1030	0.000	0.053	3128	2090	2164	2203	2125	0	0	0	0	0	0	14.90	14.86	14.94
8241	0.93	146.0	3129	2091	2205	2126	484.2	13.1	696	8241	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2090	2164	2203	2125	0	0	0	0	0	0	15.08	15.11	15.11
8541	0.93	146.0	3128	2090	2202	2125	445.5	12.9	726	8542	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2090	2164	2203	2125	0	0	0	0	0	0	15.09	15.11	15.11
8841	0.93	146.0	3129	2091	2204	2125	407.0	12.8	756	8847	0.00	2.55	0.00	0.000	260	0.000	0.101	3128	3515	2164	2203	2125	0	0	0	0	0	0	15.07	14.85	15.10
8895	0.93	146.0	3127	3515	2202	2125	399.1	14.4	767	8907	0.12	2.45	0.00	0.000	5126	0.260	0.053	3104	2087	2163	2202	2124	0	0	0	0	0	0	14.73	14.88	14.87
9140	end climb: SURFACE_OBSTACLE_DETECTED
state	9140	begin subsurface finish
9143	0.00	0.5	3104	2087	2202	2124	370.8	11.3	792	9154	1.02	2.55	-2.22	0.053	20996	0.216	0.127	2807	697	2802	2834	2771	0	0	0	0	0	0	14.76	13.77	14.88
9155	end subsurface finish: CONTROL_FINISHED_OK
state	9155	begin surface