Takeoff and Landing Distance Measurement: an Evaluation of Laser Altimetry for the Collection of Absolute Aircraft Altitude

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Takeoff and Landing Distance Measurement: An Evaluation of Laser Altimetry for the Collection of Absolute Aircraft Altitude

Christopher John Kennedy

Bachelor of Science Aerospace Engineering Florida Institute of Technology

A thesis submitted to the College of Engineering at

Florida Institute of Technology

in partial fulfillment of the requirements for the degree of

Master of Science in Flight Test Engineering

Melbourne, Florida May 2017 We the undersigned committee hereby recommend that the attached document be accepted as fulfilling in part the requirements for the degree of Master of Science in Flight Test Engineering

Takeoff and Landing Distance Measurement: An Evaluation of Laser Altimetry for the Collection of Absolute Aircraft Altitude

A thesis by Christopher John Kennedy

______Brian A. Kish, Ph.D. Assistant Professor and Chair, Flight Test Engineering Mechanical and Aerospace Engineering

______Ralph D. Kimberlin, Ph.D. Professor Mechanical and Aerospace Engineering

______Stephen K. Cusick, J.D. Associate Professor College of Aeronautics

______Hamid Hefazi, Ph.D. Professor and Department Head Mechanical and Aerospace Engineering

Abstract

Takeoff and Landing Distance Measurement: An Evaluation of Laser Altimetry for the Collection of Absolute Aircraft Altitude

Christopher John Kennedy

Advisor: Brian A. Kish, Ph.D.

The measurement of takeoff and landing distance during flight testing of general aviation aircraft requires the accurate measurement of aircraft position over the ground and altitude up to 50 feet above surface elevation. Current methods of evaluating takeoff and landing distances include cinetheodolites, laser and radar trackers, and Differential Global Positioning Systems (DGPS). The use of laser altimetry to range altitude above the ground originated with military and agricultural aircraft. The AgLaser laser module was an infrared laser ranging unit designed for agricultural aircraft to gauge optimal spray height above a field. The AgLaser system has a stated accuracy of 2.0 inches and a maximum range of 500 feet. [1] By integrating the AgLaser system into the Flight Test Data Acquisition System designed at Florida Institute of Technology, the ability exists to measure takeoff and landing distance more accurately than currently acceptable methods. The integration of the laser module and the instrumentation unit occurred across an RS-232 serial connection and a modified LabVIEW interface. Through a series of ground and flight tests conducted at Florida Institute of Technology and Valkaria Airport (X59), the integrated system was validated. Data from this research can be presented to the Federal Aviation Administration for consideration as an accurate, cost- effective means of measuring takeoff and landing distances for aircraft certification per 14 CFR Part 23.

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Table of Contents List of Figures ...... vi List of Tables ...... viii List of Equations ...... ix List of Abbreviations ...... x List of Symbols ...... xi Acknowledgements...... xii Dedication ...... xiii Chapter 1 Introduction ...... 1 1.1 Background ...... 1 1.2 Motivation ...... 7 1.3 Objectives ...... 8 Chapter 2 Test Methods ...... 10 2.1 Test Aircraft ...... 10 2.2 Data Collection System ...... 12 2.3 Ground Testing ...... 18 2.4 Data Collection Procedure ...... 19 2.5 Data reduction ...... 24 Chapter 3 Results ...... 25 3.1 Ground Test Overview ...... 25 3.2 Flight Overview ...... 27 3.3 Takeoff Distance ...... 28 3.4 Landing Distance ...... 35 Chapter 4 Analysis ...... 42 4.1 Vertical Accuracy ...... 42 4.2 Takeoff Distance ...... 43 4.3 Landing Distance ...... 45 4.4 Factors of Data Variation ...... 46 Chapter 5 Conclusions ...... 48 5.1 Conclusions ...... 48 iv

5.2 Recommendations for Future Testing...... 49 References ...... 51 Appendix A Advisory Circular 23-8C, Subpart B, Section 2 ...... 53 Appendix B Advisory Circular 23-8C, Subpart B, Section 2 ...... 57 Appendix C LabVIEW Code for Laser Module Input...... 64 Appendix D Test Plans ...... 66 Appendix E Weight and Balance ...... 68 Appendix F Ground Data ...... 69 Appendix G Flight Data Sample ...... 72 Appendix H SSMG-11 [12] ...... 90

List of Figures

Figure 1. 14 CFR Part 23.53 Takeoff Performance [3] ...... 2 Figure 2. 14 CFR Part 23.75 Landing Distance [3] ...... 3 Figure 3. Takeoff Distance [4] ...... 5 Figure 4. Landing Distance [4] ...... 5 Figure 5. Variation of Force with Distance [4] ...... 6 Figure 6. Test Aircraft: Piper Warrior II N618FT ...... 10 Figure 8. RS-232 Signal Cable Installed in Right Wing ...... 11 Figure 7. AG Laser Installation on Test Aircraft ...... 11 Figure 9. AgLaser: Laser Altimeter Module ...... 12 Figure 10. Florida Tech Data Acquisition System ...... 13 Figure 11. Florida Tech Data Acquisition System: Internal ...... 13 Figure 12. LACM: User Interface ...... 14 Figure 13. LACM: Internal View ...... 14 Figure 14. MIP GPS and IMU Interface ...... 16 Figure 15. LabVIEW Serial Port Setup ...... 17 Figure 16. LabVIEW Tablet GUI: Laser Altitude ...... 17 Figure 17. Theodolite Video Output ...... 19 Figure 18. Theodolite App Viewing Box ...... 20 Figure 19. Brunton Lensatic Compass ...... 20 Figure 20. Valkaria Airport Layout and Test Position ...... 21 Figure 21. Laser Calibration Data ...... 25 Figure 22. Measurement Error vs. Distance ...... 26 Figure 23. Takeoff Run 1 ...... 30 Figure 24. Takeoff Run 2 ...... 31 Figure 25. Takeoff Run 3 ...... 32 Figure 26. Takeoff Run 4 ...... 33 Figure 27. Takeoff Run 5 ...... 34 Figure 28. Landing Run 1 ...... 36 Figure 29. Landing Run 2 ...... 37 Figure 30. Landing Run 3 ...... 38 Figure 31. Landing Run 4 ...... 39 Figure 32. Landing Run 5 ...... 40 Figure 33. Aircraft GPS Position ...... 41 Figure 34. Altitude Waveform Processing ...... 64 Figure 35. Data Collection Loop ...... 64 Figure 36. Data Recording Loop ...... 65 Figure 37. Warrior II Weight and Balance [9] ...... 68 Figure 38. Current vs. Volts ...... 69 Figure 39. Resistance vs. Volts ...... 70 vi

Figure 40. Power vs. Volts ...... 70

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List of Tables

Table 1. Weather Data April 5, 2017 [12] ...... 27 Table 2. Takeoff Distances ...... 28 Table 3. Landing Data ...... 35 Table 4. Altitude Determination Equipment Accuracies [1] [10] [13] [6] ...... 42 Table 5. Electrical Testing Results ...... 69 Table 6. Laser Ground Calibration Test Data...... 71 Table 7. Takeoff 3 Data ...... 72 Table 8. Landing 3 Data ...... 79

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List of Equations

Equation 1. Corrected Laser Altitude ...... 24 Equation 2. Theodolite Observed Height Computation ...... 24

List of Abbreviations

AC Advisory Circular AGL Above Ground Level CFR Code of Federal Regulations CG Center of Gravity DAS Data Acquisition System DGPS Differential GPS FAA Federal Aviation Administration FIT Florida Institute of Technology FT Feet GPS Global Positioning System IMU Inertial Measurement Unit KIAS Knots Indicated Airspeed LACM Laser Altimeter Control Module MPH Miles Per Hour POH Pilot Operating Handbook VFR Visual Flight Rules

List of Symbols

HCorrected Corrected AGL Altitude H Uncorrected Laser Altitude

H0 Laser Slant Height to Datum θ Aircraft Pitch Angle

θ0 Installed Instrument Pitch Angle δ Azimuth Angle

δ0 Perpendicular Azimuth Angle from Observation Point φ Aircraft Roll Angle

φ0 Installed Instrument Roll Angle X Horizontal Distance between Observation Point and Runway Centerline

SA Air Distance

SG Ground Distance

DV Vertical Position Accuracy

DH Horizontal Position Accuracy

Acknowledgements

The following academic pursuit would not have been possible without the support of Dr. Kish, Dr. Kimberlin, and the Flight Test Department at Florida Tech. They have provided an environment to learn and experiment with flight test engineering that is paralleled by very few universities around the world. I am truly grateful for the opportunities offered by this program and I look forward to observing growth and development in the flight test program at Florida Tech. It is the start of a new world class program in flight test engineering.

I would also like to thank the Florida Tech Machine Shop, Florida Tech Makerspace, and the Harris Design Center for their equipment support and lab space during the development phase of this endeavor. These resources proved invaluable for this research and I am extremely grateful.

I would like to thank the airport managers of Valkaria Airport for their support during planning and testing of this exercise. In addition, I would like to extend my sincere thanks to Dr. Stephen Cusick for donating his time to be a member of this thesis committee. I would like to thank FIT Aviation, LLC. Maintenance Hangar for their expeditious work to ensure the aircraft was suitable for testing. Lastly, I would like to thank the ground observers for their hours of volunteered time to this research.

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Dedication

I would like to dedicate this work to my family and friends, without whom the world would not shine as bright. To my parents, Terry and Clare, thank you for your unending love and support through all these years. You taught me the values of a strong work ethic and patience required to chase my dreams. To my uncle, Kevin, thank you for teaching me hands on skills and technical knowledge, inspiring me from a young age. To the rest of my family and friends, thank you for supporting my endeavors and for making the last five years, some of the most memorable years of my life. I look forward to making more memories with you all!

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Chapter 1 Introduction

1.1 Background

The measurement of takeoff and landing distance of an aircraft is required for aircraft certification in the United States under Title 14 of the Code of Federal Regulations [2]. 14 CFR Part 23 is applicable to general aviation aircraft with nine or less passengers and have a maximum certificated takeoff weight not to exceed 12,500 lbs., or commuter category aircraft weighing 19,000 lbs. or less and capable of holding no more than 19 passengers. Takeoff and landing distance measurement are critical demonstrated tests due to their pertinence in safe and successful operation of the aircraft. Information furnished to the pilot through a Pilot’s Operating Handbook (POH) includes minimum takeoff and landing distance, including ground roll and distance to clear a 50 foot obstacle for all altitude, temperature, weight, and wind conditions within the operational limitations of the aircraft. The regulations set forth in 14 CFR 23.53 Takeoff Performance define the required aircraft configuration to conduct takeoff distance testing and are listed in Figure 1.

§23.53 Takeoff performance.

(a) For normal, utility, and acrobatic category airplanes, the takeoff distance must be determined in accordance with paragraph (b) of this section, using speeds determined in accordance with §23.51 (a) and (b).

(b) For normal, utility, and acrobatic category airplanes, the distance required to takeoff and climb to a height of 50 feet above the takeoff surface must be determined for each weight, altitude, and temperature within the operational limits established for takeoff with—

(1) Takeoff power on each engine;

(2) Wing flaps in the takeoff position(s); and

(3) Landing gear extended.

(c) For normal, utility, and acrobatic category multiengine jets of more than 6,000 pounds maximum weight and commuter category airplanes, takeoff performance, as required by §§23.55 through 23.59, must be determined with the operating engine(s) within approved operating limitations.

Figure 1. 14 CFR Part 23.53 Takeoff Performance [3]

14 CFR 23.75 Landing Distance sets forth the required conditions to demonstrate landing distance over a 50 foot obstacle. A steady 3° approach to 50 feet in landing configuration is required, followed by a maintained final configuration throughout the maneuver. Specific information in 14 CFR 23.75 is listed in Figure 2.

§23.75 Landing distance.

The horizontal distance necessary to land and come to a complete stop from a point 50 feet above the landing surface must be determined, for standard temperatures at each weight and altitude within the operational limits established for landing, as follows:

(a) A steady approach at not less than VREF, determined in accordance with §23.73 (a), (b), or (c), as appropriate, must be maintained down to the 50 foot height and—

(1) The steady approach must be at a gradient of descent not greater than 5.2 percent (3 degrees) down to the 50-foot height.

(2) In addition, an applicant may demonstrate by tests that a maximum steady approach gradient steeper than 5.2 percent, down to the 50-foot height, is safe. The gradient must be established as an operating limitation and the information necessary to display the gradient must be available to the pilot by an appropriate instrument.

(b) A constant configuration must be maintained throughout the maneuver.

(c) The landing must be made without excessive vertical acceleration or tendency to bounce, nose over, ground loop, porpoise, or water loop.

Figure 2. 14 CFR Part 23.75 Landing Distance [3]

Additional information on suggested methods for takeoff and landing distance are provided by the Federal Aviation Administration (FAA) through Advisory Circular (AC) 23-8C, titled “Flight Test Guide for Certification of Part 23 Aircraft”. Per AC 23-8C, the takeoff distance can be determined by either a continuous maneuver or the sum of the acceleration and climb segments independently gathered. Landing distance over a 50 foot obstacle is a continuous maneuver conducted at the maximum landing weight. Both takeoff and landing measurement have

3 recommended procedures which include the collection of horizontal and vertical path of the aircraft by either a data acquisition unit or human observers. In addition, takeoff measurement instrumentation may include a device to measure height above the runway, described as highly desirable in AC 23-8C. Takeoff distance and landing distance must be corrected for wind conditions, nonstandard atmospheric conditions, runway slope, and nonstandard weights.

The recommended procedure for gathering takeoff and landing distance data is to conduct at least six takeoffs to 50 feet and six landings to a full stop to provide a statistical sampling for reduction. The critical weight and center of gravity (CG) must be applied during this testing, often the forward CG limitation at maximum gross weight, or maximum landing weight for landing distance data. Appendix A and Appendix B include the applicable sections of AC 23-8C with respect to takeoff and landing distance measurement and evaluation.

Takeoff and landing distances are divided into two segments, ground distance and air distance. Ground distance, SG, is the portion of a takeoff or landing during which the aircraft is in contact with the ground. During takeoff this includes the distance from when the aircraft begins motion to the moment the landing gear lift off the runway surface. The air distance , SA, is the ground distance from the time the landing gear lift off the surface until the aircraft clears a given obstacle height. In aircraft certified under Part 23, this height over an obstacle is defined as 50 feet.

Figure 3. Takeoff Distance [4] During landing operations, the air distance is the ground distance covered by the aircraft from a height 50 feet above the landing surface until touchdown, including the landing flare. The ground distance during landing is defined by the distance required from the moment the aircraft touches down on the landing surface until full stop is achieved. During certification testing, the landing is conducted using maximum braking effort.

Figure 4. Landing Distance [4]

The analytical calculation of takeoff and landing distances is difficult due to the constantly changing variables throughout the maneuver. As the aircraft begins to accelerate, wheels are subject to rolling friction from their interaction with the ground and the weight of the aircraft. As the aircraft velocity increases, lift and aerodynamic drag are produced, reducing the weight on the wheels and decreasing the excess power. As the aircraft is rotated, angle of attack increases, increasing aerodynamic drag while the rolling friction becomes zero. In the rotation, the aircraft is performing a maneuver at greater than 1G, which increases loading on the wings. The aircraft is subject to the transition from flight in ground effect to flight out of ground effect, increasing drag while the aircraft is climbing toward obstacle height. During the landing, the variables involved are similar with the addition of braking force after touchdown to decelerate the aircraft to a full stop. The variation of these variables during a takeoff are shown below in figure 5.

Figure 5. Variation of Force with Distance [4] While analytical models can predict the theoretical takeoff and landing distances of an aircraft, the addition of human variables, such as pilot input requires flight testing to verify the actual takeoff and landing distances and to show compliance with applicable FAA regulations.

1.2 Motivation

The measurement of takeoff and landing distance is often a costly test for a flight test certification program due to the instrumentation required, number of observers, and maneuvers required. While the FAA suggests a minimum of six takeoff and six landing maneuvers, more are often conducted due to variability in the conditions during a given maneuver. Wind, runway slope, aircraft weight, air density, air temperature, pilot technique, and runway surface condition all add complexity to the collection and reduction of accurate takeoff and landing distances [4]. Cinetheodolites and differential GPS are currently used during most takeoff and landing certification efforts today. A cinetheodolite is a tool which collects video imagery and position information from a known ground position to determine horizontal and vertical position over the ground. The system consists of bearings which measure azimuth and elevation angles from the ground system to the target [5]. Differential GPS (DGPS) is a global positioning system augmented with ground stations to increase overall system accuracy to 1.5 meters, with a vertical accuracy of 3.4 meters [6]. The DGPS requires a specialized receiver to be installed in the test vehicle and a ground station within line of sight of the test area. According to Kenneth Germann, Israel Aircraft Industries performed an evaluation of DGPS against the FAA approved Del- Norte Transponder System, which demonstrated that DGPS, with improved vertical accuracy, could be used to certify takeoff and landing performance. [7] The associated costs of these systems are high due to equipment costs and, in the case of cinetheodolites, location availability [7]. These methods also suffer from increased errors in vertical accuracy when subjected to accelerated maneuvers such as takeoff and landing. While these methods are acceptable to satisfy the requirements of 14CFR 23.53 and 14 CFR 23.75, direct measurement of aircraft altitude above the ground would provide greater vertical accuracy. Current methods of direct measurement of aircraft

7 altitude above ground level include calibrated barometric altimeters, radar altimeters, and laser altimeters. Sensitive barometric altimeters require calibration prior to flight test and are prone to fluctuations in atmospheric pressure that may occur during a flight test. Radar and laser altimeters measure the time of a pulse of electromagnetic energy transmitted from the module to reflect off the surface and return. While radar altimeters provide enhanced cloud penetration and range, they require greater power at a higher cost than a laser altimeter. By enhancing GPS position with altitude measurement from the aircraft, the regulations on takeoff and landing distance can be satisfied while reducing the overall cost of data collection and reduction.

1.3 Objectives

An examination of current flight test evaluation methods for the determination of takeoff and landing distance measurement demonstrated an attempt to move away from ground stations where possible to reduce cost in a lengthy development and certification process. Through improvements in GPS coverage and accuracy as the GPS satellite constellation is expanded and improved [8], the need for independent horizontal measurements has been reduced. However, affordable direct vertical measurement with similar or better resolution than DGPS, specifically through the use of laser altimetry, have not breached the civil flight test industry. Since takeoff and landing testing is normally conducted on dry, paved runways in visual flight rules (VFR) conditions at low altitudes, the use of a laser altimeter to collect above ground level (AGL) altitude is a feasible alternative, when coupled with GPS, to current ground based data collection methods to satisfy FAA regulations in accordance with 14 CFR 23.53 and 14 CFR 23.75.

The objectives of the research conducted at Florida Institute of Technology were to determine a method to integrate a laser altimeter with an existing Flight Test Data

Acquisition System (DAS) and evaluate system performance as compared to traditional ground based methods of takeoff and landing distance measurement. The main objectives of instrument integration with the DAS were to power the laser altimeter solely through the DAS, independent of the test aircraft electrical subsystem and to integrate the instrument into the DAS LabVIEW software for synchronized data collection with GPS position and aircraft pitch and roll angles. The primary mission of the flight evaluation was to compare direct altitude and position data collection with ground based measurements to evaluate installed system performance against traditional methods for determining takeoff and landing distances. The ultimate goal of this research was to explore a cost effective means of evaluating takeoff and landing distance for continued flight test education at Florida Institute of Technology.

Chapter 2 Test Methods

2.1 Test Aircraft

Data collection was conducted using a PA28-161 Warrior II aircraft manufactured by Piper Aircraft Inc. in Vero Beach, Florida. The aircraft was a single engine, four place, low wing aircraft with a maximum gross weight of 2440 pounds and a center of gravity (CG) range of 83 to 93 inches aft of datum. The landing gear was a fixed tricycle configuration with nose wheel steering and differential brakes on the main landing gear. The aircraft was powered by a Lycoming O-320 engine capable of producing 160 horsepower at 2700 RPM. The aircraft was equipped with manual plain flaps which, in the landing configuration, extended to 40° [9]. Pictured below is the test aircraft, N618FT, on the ramp of FIT Aviation, LLC at Melbourne International Airport (KMLB).

Figure 6. Test Aircraft: Piper Warrior II N618FT All aircraft limitations during testing were per the pilot’s operating handbook (POH) (VB-1180) and all testing was conducted within the weight and CG limitations of the aircraft. The aircraft had an experimental type certificate for the

purpose of Research and Development. Modifications to the aircraft for takeoff and landing distance testing included installing a new inspection plate with a modified aperture to accommodate the AgLaser module and a wire installed from the AgLaser module through the wing into the cabin. The replaced inspection plate is 45 inches outboard of the aircraft centerline forward of the main spar, inboard of the right main landing gear. The installed angles of the altimeter were 4° Pitch Up and 6° Roll Left due to the airfoil shape and dihedral of the wing. These were factored in to data reduction during post flight analysis. Images of installations are included below.

Figure 8. AG Laser Installation on Test Aircraft Figure 7. RS-232 Signal Cable Installed in Right Wing

2.2 Data Collection System

The AgLaser Module was a GaAs Laser Diode infrared laser distance finder which operated at a wavelength of 905 nm. The passive range of the instrument was 150 m with an accuracy of 5 cm. The measurements were taken at a 9 Hz sampling rate. The AgLaser had an operating temperature range of -10°C to 60°C and was water resistant to IP67 standards. The casing was made of black anodized aluminum and was a Class 1 eye safe system. The instrument measured 108 mm x 64 mm x 41 mm with a weight of 328 g, pictured in Figure 9. The communications interface was RS-232 serial communication with transmit, receive, signal ground, positive power, and negative power [1].

Figure 9. AgLaser: Laser Altimeter Module The Florida Tech Flight Test Data Acquisition System provided GPS, Inertial Measurement Unit (IMU), and data recording capabilities through LabVIEW. The DAS used an Intel NUC PC with 120 GB MLC internal solid state drive and a NI USB-6212 M Series Screw Terminal DAQ. IMU and GPS data was provided by a LORD Microstrain 3DM-GX3-35 with GPS. A Wi-Fi router transmitted collected data to a tablet onboard the aircraft for real time parameter monitoring. The Florida

Tech DAS is pictured in Figures 10 and 11. The DAS was modified by adding an auxiliary power connector at the screw terminal between the batteries and voltage regulator. This modification enabled the laser to use DAS power for test operations.

Figure 10. Florida Tech Data Acquisition System

Figure 11. Florida Tech Data Acquisition System: Internal

An external Laser Altimeter Control Module (LACM) was designed to regulate power to the laser altimeter and provide a connection point for the wires between the DAS and the AgLaser altimeter module. The power wires from the DAS to the laser altimeter and RS-232 wiring to the laser altimeter flow into the LACM, while a USB connection for the DAS flows out of the LACM. The LACM contains a single NKK S821 2 pole switch and a single one amp fuse. The fuse was designed to protect the laser module against battery surges in excess of its operational capacity. The switch regulated power to the altimeter and was used to cut power to the system without the manual separation of the auxiliary power wire. Data transfer was accomplished in the LACM through a DB-9 connection and DB-9 to USB converter by Gearmo. The laser altimeter was continuously transmitting data while power was ON. An internal image of the LACM can be seen below.

Figure 12. LACM: User Interface Figure 13. LACM: Internal View

The software was LabVIEW based with a parameter collection loop gathering data from the IMU and GPS on one serial input, COM3, while collecting laser altimeter data from a second serial input, COM4. COM3 operated at 115200 Baud and set the collection size to the bytes at port. COM4 operated at 9600 Baud, per the AgLaser Technical Manual [1], and read 10 bytes, or one distance measurement,

14 per loop. The result of the laser altimeter data was a string terminated by the termination character, \n. The resulting string was fed through a spreadsheet to array function to produce a 1-D array of altimeter measurements. This was then processed through an array to element function to produce a 32 bit single element which could be read in a waveform diagram. The subsequent waveform diagram was used as the value reference for a shared variable, known as “laser alt” and a local variable used to record the values with time in a .csv file. The variable “laser alt” was transformed into an engineering string for processing into a text file with other flight information, including GPS coordinates, GPS velocity, aircraft angles, and axial accelerations. LabVIEW software modifications are included in Appendix C LabVIEW Code Modifications.

DAS Setup Procedure:

The following procedure was required to turn on the DAS, initialize the laser altimeter, and begin data collection.

1. Connect monitor through HDMI port on DAS exterior, also connect LACM USB and a mouse to the DAS. 2. Connect LACM auxiliary power cord to the auxiliary power output on the DAS. 3. Install two 20 V DeWalt Lithium Ion Batteries on DAS. 4. Depress the “System Power” button on the top surface of the DAS. The green ring around the button will illuminate and the DAS will begin startup. 5. Once the DAS starts up, it will begin Rev14.vi. Close this file. 6. Click the MIP icon on the taskbar and right click the IMU/GPS device. Under device settings change the gravity correction factor to 1 second. Return to the MIP main page and right click the device. Select 3D attitude

and realign UP and North. Return to the gravity correction factor and set to 1000 seconds. This step reduces drift in the angles of the IMU. The interface is displayed below in Figure 14.

Figure 14. MIP GPS and IMU Interface 7. Turn LACM ON. Open Rev14_ALT_1.vi. 8. Under tools, open Measurement and Automation Explorer. Under devices, select COM4 and open a VISA Test Panel. Test that the instrument is able to receive 10 bytes with 9600 Baud and select “Read” The output is the distance from the laser module to the ground in meters. Close the VISA Test Panel. 9. Ensure Baud and COM are 9600 and COM4 respectively for the upper serial input prior to running. The Serial Inputs are shown in Figure 15.

Figure 15. LabVIEW Serial Port Setup 10. Run the code and check for proper laser altimeter measurement. The displays have a slight lag due to the increased processing power required for the second serial connection. 11. Turn on Tablet and ensure device is connected to network “FTE_Plane”. 12. Open LabVIEW Monitor and select play. Ensure variables are displaying as expected. The flight test tablet display is shown below in Figure 16.

Figure 16. LabVIEW Tablet GUI: Laser Altitude 13. Disconnect monitor and mouse from DAS. 14. Select Record when data is to be recorded in a .csv file. 15. To turn DAS off, depress “GPS Fix” button until all lights flash. 16. Turn OFF LACM. Then, depress “System Power”

2.3 Ground Testing

Prior to flight testing, a series of ground tests were required to determine the compatibility of the AgLaser system and the Florida Tech DAS. Two main subsystems were integrated during these tests, power and serial communications. The DAS is powered by two DeWalt Lithium Ion batteries capable of producing 20 volts with a capacitance of 4.0 Amp Hours each. The AgLaser altimeter required a voltage between 10 and 28 volts of DC power. Incremental voltage measurements of internal resistance were conducted from 10- 24 V using a laboratory DC power supply. The results, shown in Appendix F, indicated that the AgLaser had an estimated power requirement of 2.8 Watts, within the available power for the DAS in its current configuration. Based on this testing, an auxiliary power connection was added to the DAS through an existing hole near the right battery. The wires were connected to the DAS via a screw module prior to the voltage regulator, which led to the DAS computer power supply.

Complete system ground testing was conducted at Florida Institute of Technology prior to flight testing. Cones were set up at intervals of 1 foot from 0 to 10 feet and from 10 feet to 50 feet in 5 foot increments from a vertical wall. The AgLaser was positioned horizontally above each cone, and the indicated distance was recorded. The results of this calibration can be seen in Chapter 3.

A genuine Piper Aircraft inspection plate was modified to allow mounting of the AgLaser through its original mount, an inspection plate designed for an Air Tractor aircraft. The original plate was trimmed to fit within the central screws of the Piper inspection plate. A rectangular plate was cut from the center of the Piper inspection plate to accommodate the mounting bracket and 3/16th inch holes were drilled to fasten the AgLaser plate to the Piper inspection Plate. The final product can be seen in Figure 7. A fitting check of the AgLaser altimeter and its inspection plate mount

18 was conducted. After conclusion of these ground tests, the system was assessed as flight ready by the author.

2.4 Data Collection Procedure

The collection of takeoff and landing distance measurement parameters from both ground based and flight based methods was the primary test objective. The experimental layout at Valkaria Regional Airport (X59) can be seen in Figure 19. Valkaria Airport is located 10 nm south of Melbourne International Airport. X59 has two runways, 10-28 and 14-32. Both runways are paved, 4000 feet x 75 feet with PAPI visual approach indicators. Runway 14 was used for all takeoff and landing flight tests. Required ground instrumentation is listed and described below.

Theodolite App for iPhone: Published by Hunter Research and Technology, provided video recording of elevation, azimuth, and GPS data from the iPhone 5S. System accuracy for this test was 0.1° in Elevation, 10° in Azimuth and 17 feet for GPS position [10]. A screen capture of recorded data is shown in Figure 17. A viewing box was also made to accommodate the iPhone 5S and increase recording stability during data collection. The viewing box is seen in Figure 18.

Figure 17. Theodolite Video Output

Figure 18. Theodolite App Viewing Box

Brunton Lensatic Compass: One compass was used in this experiment by the secondary ground observer. The compass was liquid filled to damp oscillations in azimuth and had a stated 2° magnetic resolution.

Figure 19. Brunton Lensatic Compass The ground setup began with determining the test runway. The test runway was determined by traffic and wind conditions at the beginning of the test. Cones were placed off the side of the runway at 100 ft. intervals from the beginning of the

20 aiming point markers to the end of the aiming point markers for the opposing runway. At Valkaria Airport, this is approximately 2000 feet. The observers, both compass and theodolite, were located 308 feet from the runway centerline adjacent to taxiway A, as shown in Figure 20.

Figure 20. Valkaria Airport Layout and Test Position After DAS initialization, the aircraft was taxied to the upper edge of the runway number markings and held in position while maximum power was applied. The flight test engineer began a record and the ground coordinator collected heading to the aircraft and began tracking the aircraft through the theodolite. After brake release, the aircraft accelerated through the marked zone and the pilot began a rotation at 55 KIAS [9]. Observers noted their heading to the aircraft when the

21 main landing gear left the ground and captured theodolite video for each takeoff and landing, using the base of the aircraft as the reference marker.

A level flyby of the aircraft over the centerline of the runway at 50 ft. indicated by the aircraft barometric altimeter was conducted once prior to the first landing. The theodolite operator recorded the flyby for post flight processing.

The pilot then entered a 3° approach in landing configuration, the flight test engineer indicated 50 ft. from the laser altimeter and the heading to the aircraft was recorded. The observers indicated their heading to the aircraft when its main landing gear touched down, and again when the aircraft came to a complete stop. The theodolite recorded the landing for post flight processing. The aircraft was then taxied back to the runway threshold and the takeoff and landing sequence was repeated.

The collected data included:

1. GPS position of each ground based observer 2. Magnetic Heading for each event from each observer 3. Theodolite video recording for each maneuver. 4. Time 5. DAS GPS Coordinates 6. Laser Altitude (feet) 7. Aircraft Pitch Angle 8. Aircraft Roll Angle 9. Aircraft GPS ground velocity

All DAS data were recorded at 4 Hz.

All testing was performed on a dry, paved runway in VFR conditions with winds within the crosswind limitations of the aircraft in accordance with the POH. This was critical to reduce the number of variables and their influence on the collected data.

2.5 Data reduction

The collected data were reduced to retrieve corrected laser altitude and distance, in feet, from GPS coordinates. The raw laser altitude was corrected to account for aircraft orientation, distance of instrument from aircraft centerline, installed angle from ground, and height above the reference plane, set to the base of the landing gear. The laser correction equation is shown below.

Equation 1. Corrected Laser Altitude

퐻퐶표푟푟푒푐푡푒푑 = (퐻 ∗ cos(휃 + 휃0)) ∗ cos(휑 + 휑0) − 3.75 ∗ sin(휑) − 퐻0

The distance between GPS coordinates was calculated to retrieve the distance in feet. The equations relied on the WGS-84 model of the Earth and assumed a flat Earth due to the relatively small length being measured. The resulting error of this method with the stated assumptions is approximately 16 inches per mile [11]. The equations used are shown in Appendix H.

The theodolite observed height was calculated by determining the azimuth and elevation difference from the observed point and using trigonometry to find height through the following equations. The resulting height was then corrected for observed elevation of the surface and target difference of the sighting reticle from the aircraft base to the reference datum at the base of the landing gear. These values were compared to the recorded height at the same location to determine difference between observed and recorded altitude values. Observed height computation equation is shown below.

Equation 2. Theodolite Observed Height Computation

푋 ∗ tan(휃) 퐻 = ( ) − 퐻0 − 퐻푒푙 cos(훿 − 훿0)

Chapter 3 Results

3.1 Ground Test Overview

Ground testing, including electrical range testing and laser calibration were conducted at Florida Institute of Technology. The electrical testing provided a baseline power requirement for the laser altimeter module for integration into the Florida Tech DAS. The measured power requirement was 2.8 Watts, well within the available power of the DAS power supply. See Appendix F for additional ground test results. Laser calibration was conducted prior to flight testing in accordance with test matrix 17-001 in Appendix D. Shown below are the results of the laser calibration test, including error indicating the maximum deviation was 0.7 feet, shown in Figure 22.

Laser Calibration 60

20 Observed Observed (feet) Distance 10

0 0 10 20 30 40 50 60 Measured Distance (feet)

Recorded Distance (ft.) Standard

Figure 21. Laser Calibration Data

Figure 22. Measurement Error vs. Distance

3.2 Flight Overview

All flights were conducted at Valkaria Airport (X59). The testing was conducted by flight test pilot Ralph Kimberlin and flight test engineers Christopher Kennedy and Brian Kish. Ground measurements were conducted by Christopher Kennedy and Warren Pittore.

The following table shows the corrected laser altitude with respect to observed altitude from the theodolite. All headings are magnetic heading with local variation included. Wind conditions on April 5, 2017 at Valkaria Airport are shown below.

Table 1. Weather Data April 5, 2017 [12]

Time Temperature (°F) Pressure (in Hg) Wind

11:53 AM 87.1 30.00 S at 12.7 mph 12:53 PM 89.1 29.98 SW at 11.5 mph

The experiment provided five takeoff and five landing points with the laser altimeter installed. The following charts show aircraft corrected laser altitude, ground velocity, and ground distance with respect to elapsed time.

3.3 Takeoff Distance

Table 2. Takeoff Distances

Maneuver Laser Observed Difference (ft.) SG (ft.) SA Height (ft.) Height (ft.) (ft.) Takeoff 1 51.03 47.16 3.87 - 550 Takeoff 2 51.84 50.02 1.82 - - Takeoff 3 49.40 49.36 0.04 820 665 Takeoff 4 51.60 50.99 0.61 831 824 Takeoff 5 51.33 50.04 1.29 - 777

The observed and recorded takeoff parameters are displayed above. The altitude comparison was the primary evaluation for these tests. During takeoff testing, the maximum difference between observed aircraft height and recorded height from the AgLaser was 3.87 feet with an average difference of 1.53 feet. This accuracy fell within the accuracy of DGPS vertical distance measurement. Takeoffs were within 100 feet of published takeoff distances in the POH.

Takeoff Run 1 was conducted prior to the observers reaching their targets observation point. However, altitude from the corrected point demonstrated good trending with time. The difference in observed and recorded height can be accounted for by instability of the theodolite during the first run. Several GPS lags were noted during this maneuver, indicated by the flat points in distance and velocity, while the altitude continued to operate nominally.

Takeoff 2 was conducted with observers at the observation point and the theodolite stabilized on the target. The aircraft transited the observation point and climbed through 50 feet. The GPS position suffered a similar lag to Takeoff 1, while altitude continued to increase as anticipated.

Takeoff 3 was the first takeoff which indicated good GPS data with minimal signal delay. An acceleration of the aircraft with a continuous increase in takeoff distance was observed, as was the increase in altitude after aircraft lift off. The aircraft then demonstrated a constant ground speed as it climbed through 50 feet.

Takeoff 4 produced a similar result as Takeoff 3. All measured parameters had good trending with time with minimal GPS lagging. Altitude performed as expected and had good correlation to recorded theodolite data.

Takeoff 5 experienced good trending of GPS data, but had a single anomalous spike during the air phase of the takeoff maneuver. A strong correlation was observed between laser altitude and observed theodolite altitude.

Takeoff Run 1 100 1400 90

1200 80

70 1000 60 800 50 Distance

Velocity Distance Distance (ft) 600 40 Altitude 30 400 Altitude (ft), Velocity(MPH) 20 200 10

0 0 60 65 70 75 80 85 90 Time (seconds)

Figure 23. Takeoff Run 1

Takeoff Run 2 80

1400 70

1200 60

1000 50

800 40 Distance

31 Velocity

Distance Distance (ft) 600

30 Altitude Altitude (ft), Velocity(MPH) 400 20

200 10

0 0 930 932 934 936 938 940 942 944 Time (seconds)

Figure 24. Takeoff Run 2

Takeoff Run 3 5000 90

4500 80

4000 70

3500 60 3000 50 2500 Distance 40 Height Distance Distance (ft) 2000 32 Velocity 30

1500 Altitude (ft), Velocity(MPH) 20 1000

500 10

0 0 1490 1492 1494 1496 1498 1500 1502 1504 1506 1508 1510 Time ( seconds)

Figure 25. Takeoff Run 3

Takeoff Run 4 4000 90

3500 80

70 3000

60 2500

50 2000 Distance

33 40 Height Distance Distance (ft) 1500 Velocity

30 Altitude (ft), Velocity(MPH) 1000 20

500 10

0 0 2060 2065 2070 2075 2080 2085 2090 Time ( seconds)

Figure 26. Takeoff Run 4

Takeoff Run 5 90 1400 80

1200 70

1000 60

50 800 Distance

40 Height Distance Distance (ft) 34 600

Velocity 30

400 Altitude (ft), Velocity(MPH) 20

200 10

0 0 2680 2682 2684 2686 2688 2690 2692 2694 2696 2698 2700 Time ( seconds)

Figure 27. Takeoff Run 5

3.4 Landing Distance

Table 3. Landing Data

Maneuver Laser Height (ft.) SG (ft.) SA (ft.) Landing 1 51.02 1355 1836 Landing 2 50.86 1229 2179 Landing 3 51.41 899 1933 Landing 4 50.69 1060 1731 Landing 5 50.32 2050 1175

Five landings were conducted at Valkaria Airport. The table above shows the corrected laser altitude of the aircraft and the air and ground distances for each maneuver. Observed elevations were not calculated due to the high viewing angle from the observation point to the point where the aircraft was 50 feet above the surface. The observed elevations had excessive scattering due to small differences at high angles outside the azimuth resolution of the theodolite while recording the 50 ft. points. The overall system operated as expected during landings, as shown in the following figures.

Landing 1 through Landing 5 exhibited good correlation with GPS position and velocity to the observed aircraft. The recorded altitude followed the expected trend as the aircraft transitioned from the air to ground phases of the landing through the flare. A slight balloon of the aircraft occurred in Landing 1 due to excess airspeed during the flare. This is noted by the aircraft holding above the runway surface as airspeed was bled off. While some scatter was evident above 100 feet in Landing 2 and Landing 4, altitude and GPS data were consistent with the maneuvers executed. The landing maneuvers are shown in the following figures.

Landing Run 1 3500 90

80 3000

70 2500 60

2000 50 Distance

1500 40 Height Distance Distance (ft) Velocity 30

1000 Altitude (ft), Velocity(MPH) 20

500 10

0 0 675 680 685 690 695 700 705 710 715 720 725 730 Time ( seconds)

Figure 28. Landing Run 1

Landing Run 2 6000 90

80 5000 70

4000 60

50 3000 Distance

40 Height Distance Distance (ft) Velocity

2000 30 Altitude (ft), Velocity(MPH)

20 1000 10

0 0 1210 1215 1220 1225 1230 1235 1240 1245 1250 1255 1260 Time ( seconds)

Figure 29. Landing Run 2

Landing Run 3 6000 90

80 5000 70

4000 60

50 3000 Distance

38 40 Height

Distance Distance (ft) Velocity

2000 30 Altitude (ft), Velocity(MPH) 20 1000 10

0 0 1780 1785 1790 1795 1800 1805 1810 1815 1820 1825 1830 Time ( seconds)

Figure 30. Landing Run 3

Landing Run 4

6000 90

80 5000 70

4000 60

50 3000 Distance

39 40

Height Distance Distance (ft) Velocity

2000 30 Altitude (ft), Velocity(MPH)

20 1000 10

0 0 2370 2375 2380 2385 2390 2395 2400 2405 2410 2415 2420 Time ( seconds)

Figure 31. Landing Run 4

Landing Run 5 4500 90

4000 80

3500 70

3000 60

2500 50 Distance 2000 40

40 Height Distance Distance (ft) Velocity

1500 30 Altitude (ft), Velocity(MPH) 1000 20

500 10

0 0 2980 2985 2990 2995 3000 3005 3010 3015 3020 Time ( seconds)

Figure 32. Landing Run 5

Below is the aircraft position with respect to the geographic area. The path over the runway was used to validate the collected GPS position data. At the time of the flight, accuracy was observed to be 17 feet. [13]

Figure 33. Aircraft GPS Position

Chapter 4 Analysis

4.1 Vertical Accuracy

The difference between the observed and recorded altitude data demonstrated altitude accuracy within 4 feet with an average accuracy of 1.53 ft. The observed data required distance from azimuth difference from the perpendicular observation heading. Additional corrections to the observed data included removing the runway observed elevation and target reticle correction from the base of the aircraft to the wheel height, from which corrected laser altitude is obtained. The table below shows the difference in accuracies of instrumentation and common methods of measuring absolute altitude. A theodolite is capable of 0.01° in azimuth and elevation, but vertical and horizontal accuracy are related to range to the target. The AgLaser was capable of direct distance measurement accurate to 2.0 inches.

Table 4. Altitude Determination Equipment Accuracies [1] [10] [13] [6]

Azimuth Elevation DV DH Theodolite 0.01° 0.01° - - Theodolite App 10° 0.1° 10 ft. 17 ft. AgLaser - - 2.0 in - Brunton 2° - - - Compass DGPS - - 11 ft. 5 ft.

4.2 Takeoff Distance

The takeoff and landing data were correlated with theodolite video by the elapsed time from the start of DAS recording. The distance measurements were calculated using a formula to reduce GPS coordinates to distance referencing an initial start point. The initial start point for all takeoff runs was the GPS coordinate corresponding to the top of the runway numbers at runway centerline. Landing distance was calculated using the difference of the 50 ft. point, touch down point, and stop point. The reference position is a recorded point on the final approach where the aircraft is approximately 100 ft. above ground level. Ground velocity was calculated using the Pythagorean Theorem to determine overall ground velocity from X and Y components recorded by the DAS GPS. Corrected laser altitude in feet was corrected pitch and roll angles of the aircraft, the installed angle from center of the laser aircraft, the distance of the laser from aircraft centerline, and the apparent height of the laser above the reference plane of the wheels. These were plotted against elapsed time to provide a time history of each maneuver.

While the overall system maintained time integrity as observed by the correlation of the elapsed time and actual time of the test, the GPS data reduced system sampling frequency to approximately 0.5 to 1 Hz during two takeoffs. The laser altitude sampling continued to collect data at the specified 4 Hz sampling rate. During all other maneuvers, collected GPS data remained dynamic with a minimum sampling frequency of 2 Hz observed. The most likely cause for this observation is a rise in computer processing power required for the parallel processing of serial ports in the LabVIEW software. While the laser altimeter was collecting 10 bits per collection cycle, the GPS IMU data required a larger data stream to intake all parameters from the GPS IMU. The addition of the processing steps to include the laser altimeter data led to an increase in processing power during the data collection cycle, which could have reduced the DAS sampling to

43 accommodate for the reduction in processing power. The lagging in the system described above had a direct effect on the recorded data as GPS data remained stagnant while all other parameters were collected at the anticipated sampling rate.

4.3 Landing Distance

Observed landing distance demonstrated a large scatter due to theodolite azimuth accuracy at increased distances. While most takeoffs reached 50 feet very close to the observation point, the 50 ft. point during landing occurred toward the runway threshold, approximately 2000 feet away. The observation point, being 308 feet from the runway centerline, required large angular changes to observe the aircraft at the runway threshold. As the magnetic compass could not determine elevation, compass azimuth was not recorded for the 50 ft. points. The accuracy of the theodolite azimuth at the time of the testing was ±10°. At the high azimuth differential indicated by the recorded 50 ft. height, azimuth observation at the same elevation rises rapidly, as seen by the variance of observed height from the theodolite. However, the ground roll portion of the landing maneuvers were measureable due to the magnetic compass and reduced azimuth differential from the observation point.

4.4 Factors of Data Variation

The aircraft angles were affected by the IMU as a built in gravity correction factor changed the reference gravity vector to account for average position during a specified time period. During setup, the IMU correction factor is reduced to allow the system to lock onto the gravity vector and orient UP and North. The gravity correction factor is then reset to the longest time allowable to the system, 1000 seconds, to reduced correction and minimize drift during testing. However, as the test extended past 1000 seconds, the IMU corrected to an averaged gravity position at least three times during the test. This caused collected angles in roll to be damped and indicate lower values than anticipated. While the pitch and roll angles affected the corrected laser altitude, the changes of these angles were not large during the observed periods over the runway. Because these corrections were small angles, the error associated with IMU drift was effectively mitigated by correlating observed aircraft behavior with recorded data.

The ground observations relied on a hand held measurement device, which introduced variation in observation due to the steadiness of the operator. To reduce induced variations on the theodolite, a supporting sighting box was constructed. The box framed the iPhone 5S 9 inches from the observer’s eyes. This allowed the observer to operate the theodolite in a manner similar to binoculars with an improved grip to stabilize elevation angle. While the sighting box provided improved stability for the theodolite, the observer lost the ability to quickly glance away from the screen to acquire the target prior to focusing on the screen. This resulted in an offset of azimuth and elevation while the target was acquired on screen. This sighting error was minimized during the data collection periods and occurred mostly at distant observations during final approach prior to the aircraft reaching 50 feet above the runway.

When compared to classical measurement methods, such as the cinetheodolite and differential GPS, the system accuracy of the Florida Tech DAS and the AgLaser altimeter system is within the accuracy of DGPS and comparable to the accuracy of a ground based theodolite system. By this comparison, the AgLaser with the Florida Tech DAS provided a suitable means of measuring takeoff and landing data for educational use and certification use under AC 23-8C.

Chapter 5 Conclusions

5.1 Conclusions

The AgLaser, coupled with the Florida Tech DAS, provided the ability to record and measure takeoff and landing distance in accordance with AC 23-8C to satisfy the requirements set forth in 14 CFR 23.53 and 14 CFR 23.75. The AgLaser, coupled with the GPS data from the Florida Tech DAS, provided data within the vertical error range of differential GPS, one of the current methods approved for gathering takeoff and landing performance data for FAA certification. The overall data acquisition system provided an in-flight observer with real time GPS and altitude data while recording the parameters for post flight processing. The collected data demonstrated good correlation to the ground based theodolite data, validating the installed AgLaser system during both takeoff and landing maneuvers. Through the use of laser altimetry to determine the absolute altitude of aircraft during takeoff and landing performance testing, increased vertical accuracy can be achieved. This increase in accuracy, coupled with the reduction in required ground support, can reduce the overall cost of collecting takeoff and landing performance data in support of aircraft development and certification test programs.

5.2 Recommendations for Future Testing

During the course of this research, improvement potential became apparent, primarily in the optimization of the LabVIEW software in the DAS. The coding must be optimized to reduce the delays responsible for occasional GPS parameter lagging during test operations. By cataloguing the software and streamlining the parallel serial port integration, an improved response and data resolution can be achieved.

The setup process for the DAS required a monitor, mouse, and keyboard. The addition of the laser altimeter system eliminates one available USB port, requiring the operator to share a USB port between the mouse and keyboard. The procurement of a 2 port USB hub would reduce the possibility of unintentionally disconnecting the LACM from the DAS during setup. The monitor could also be replaced by the display tablet through the Wi-Fi router from the DAS by using a 3rd party application, eliminating the need for an independent mouse, keyboard, and monitor.

The IMU gravity correction factor changes required during setup and through test operation add complexity to the setup and immediate functionality of the DAS. Future research should examine the ability to automate this process during internal start up, similar to the initialization of the GoPro cameras upon system start. An executable startup file featuring the gravity vector initialization prior to LabVIEW setup and initialization could decrease startup time and eliminate the need for interaction with the DAS beyond the depression of the “System Power” button.

Any future modifications to the box that may not be required during all phases of testing should be made as modular devices, such as the LACM. This allows them to be interchangeable and used only when required. This would reduce the power

49 loading on the DAS from external instrumentation and improve data collection efficiency by reducing the number of unnecessary parameters.

During takeoff and landing distance measurement testing, ground observations with the sighting box worked well to mitigate elevation error. However, a tripod base could improve azimuth stability and reduce target variation while recording the maneuvers. This would require a separate mount to adapt the device to the standard tripod mount. Observer ability to track the target may be affected by increased glare due to the removal of the sighting box. Additionally, a greater number of observers capable of measuring heading or elevation would increase distance resolution as more observers reduce the errors associated with a single observation point.

References

[1] "Wunderground Archives," [Online]. Available: http://www.wunderground.com/history/airport/KMLB/2017/4/5/DailyHisto ry.html?req_city=Melbourne+International&req_state=FL&req_statename =Florida&reqdb.zip=32919&reqdb.magic=4&reqdb.wmo=99999. [Accessed 9 April 2017].

[2] J. D. Anderson, Aircraft Performance and Design, New York: McGraw Hill, 1999.

[3] J. D. Anderson, Introduction to Flight, New York: McGraw-Hill, 2012.

[4] R. D. Kimberlin, Flight Testing of Fixed Wing Aircraft, Reston, Virginia: American Institute of Aeronautics and Astronautics, 2003.

[5] D. Ward, T. Strganac and R. Niewoehner, Introduction to Flight Test Engineering, Dubuque: Kendall/Hunt Publishing Company, 2006.

[6] R. E. McShea, Test and Evaluation of Aircraft Avionics and Weapons Systems, Raleigh: SciTech Publishing, 2010.

[7] Federal Aviation Administration, "Advisory Circular 23-8C: Flight Test Guide for Certification of Part 23 Airplanes," [Online]. Available: https://www.faa.gov/documentLibrary/media/Advisory_Circular/AC%202 3-8C.pdf. [Accessed 17 March 2017].

[8] Federal Aviation Administration, Pilot's Handbook of Aeronautical Knowledge, Oklahoma City: United States Department of Transportation, 2008.

[9] United States Navy, Aerodynamics for Naval Aviators, Washington DC: US Government, 1960.

[10] AgLasers, LLC, Agricultural Laser Altimeter System, Rancho Cucamunga, 2007.

[11] Hunter Research and Technologies, "Theodolite for iPhone," [Online]. Available: http://hunter.pairsite.com/theodolite/. [Accessed 10 February 2017].

[12] Lodestone Wireless, "GPS Diagnostic," [Online]. Available: http://www.lodestonewireless.com/gps-diagnostic.html. [Accessed 29 March 2017].

[13] United States Government, "GPS Accuracy," [Online]. Available: http://www.gps.gov/systems/gps/performance/accuracy/. [Accessed 14 March 2017].

[14] K. P. Germann, "Flight Test Evaluation of a Differential Global Positioning System Sensor in Runway Performance Testing," Mississippi State University, 1998.

[15] United States Government, "Electronic Code of Federal Regulations," [Online]. Available: https://www.ecfr.gov/cgi-bin/text- idx?tpl=/ecfrbrowse/Title14/14cfr23_main_02.tpl. [Accessed 14 March 2017].

[16] C. C.G. and D. Clay, "Site Specific Management Guidlines: The Earth Model- Calculating Field Size and Distances between Points Using GPS Coordinates," [Online]. Available: www.ipni.net/publication/ssmg.nsf/0/.../$FILE/SSMG-11.pdf. [Accessed 26 March 2017].

[17] Piper Aircraft Corporation, Warrior II PA-28-161 Pilot Operating Handbook, Vero Beach, 1982.

Appendix A Advisory Circular 23-8C, Subpart B, Section 2

Appendix B Advisory Circular 23-8C, Subpart B, Section 2

Appendix C LabVIEW Code for Laser Module Input

Figure 34. Altitude Waveform Processing

Figure 35. Data Collection Loop

Figure 36. Data Recording Loop

Appendix D Test Plans Test Risk Test Title Regulations Test Objective Number 17-101 MEDIUM Laser Altimeter Evaluation 14 CFR 23.53 To determine error within the installed laser and Takeoff and Landing 14 CFR 23.75 altimeter system and to collect takeoff and Distance Measurement AC 23-8C landing distance Test Procedures Pass/Fail Criteria 1. Fly over runway centerline at 50 ft. AGL indicated. The laser distance error must be within ±5 feet of the actual distance. 2. Perform a normal takeoff from a full stop. 3. Perform a normal landing to a full stop. 4. During each takeoff and landing, record heading of

66 50 ft. point, wheel contact, and start or finish of the

maneuver. 5. Repeat test points 02 and 03 until sufficient data has been collected.

Test Point Flight Conditions Aircraft Test Conditions Configuration Airspeed(KIAS) Altitude(Feet AGL) Power Flaps

01 1.5 VS1(75) 50 PFLF 0° 50 foot indicated level flyby

02 Static 0 MCP 0° Perform Normal Takeoff

03 1.5VS1(75) 50 IDLE 40° Perform Normal Landing

Test Number Risk Test Title Regulations Test Objective 17-001 LOW Laser Altimeter Ground Calibration AC 23-8C To determine error within the uninstalled laser altimeter Test Procedures Pass/Fail Criteria 1. On a level surface, mount a target perpendicular to the The laser distance error must be within ±1.0 feet of the actual surface. distance. 2. In increments of 1 foot, record the indicated distance up to 10 feet. 3. From 10 ft. to 50 ft., record the indicated distance in 5 foot increments. Test Point Ground Conditions Test Conditions Distance (feet) 01 1 02 2

67 03 3

04 4 05 5 06 6 07 7 08 8 09 9 10 10 11 15 12 20 13 25 14 30 15 35 16 40 17 45 18 50

Appendix E Weight and Balance

N618FT Weight and Balance 2700 2600 2500 2400 2300 2200 2100 2000 1900 1800 1700

1600 Gross Gross Weight (pounds) 1500 1400 1300 1200 1100 82 84 86 88 90 92 94 C.G. (Inches Aft of Datum)

Figure 37. Warrior II Weight and Balance [9]

Appendix F Ground Data

Table 5. Electrical Testing Results

Voltage (V) Current (mA) R (Ohms) Power (Watts) 10 258 38.75 2.58 12 216 55.55 2.59 15 175 85.71 2.62 18 150 120 2.7 21 134 156.71 2.81 24 123 195.12 2.95 27 115 234.78 3.10

Current vs. Voltage 450 400 350 300 250 Display 200 Altimeter

Current (mA) 150 100 Delta 50 0 0 5 10 15 20 25 30 Volts (DC)

Figure 38. Current vs. Volts

Resistance vs. Voltage 250

200

150 Display 100 Altimeter

Resistance Resistance (Ohms) Delta 50

0 0 5 10 15 20 25 30 Volts (DC)

Figure 39. Resistance vs. Volts

Power vs, Voltage 6

3 Display

Power Power (W) 2 Altimeter

0 0 5 10 15 20 25 30 Volts (DC)

Figure 40. Power vs. Volts

Table 6. Laser Ground Calibration Test Data.

Measured Distance (ft.) Recorded Distance (ft.) Difference (ft.) 1 1.25 0.25 2 2.25 0.25 3 3.18 0.18 4 4.16 0.16 5 5.38 0.38 6 6.07 0.07 7 7.40 0.40 8 8.20 0.20 9 9.35 0.35 10 10.30 0.30 15 15.45 0.45 20 20.28 0.28 25 25.30 0.30 30 30.38 0.38 35 35.60 0.60 40 40.45 0.45 45 45.70 0.70 50 50.40 0.40

Appendix G Flight Data Sample

Table 7. Takeoff 3 Data

Roll Pitch Latitude Longitude Ground Laser Ground Time (s) Velocity Altitude Distance (deg) (deg) (deg) (deg) (mph) (ft.) (ft.) 1470.00 0.77 -0.31 27.9661 -80.5611 3.65 -0.19 0 1470.25 0.88 0.66 27.9661 -80.5611 3.65 -0.22 0 1470.50 1.13 -0.93 27.9661 -80.5611 3.65 -0.17 0 1470.75 1.13 -0.93 27.9661 -80.5611 3.65 -0.17 0 1471.00 1.13 -0.93 27.96609 -80.5611 3.15 -0.20 5 1471.25 1.04 -0.79 27.96609 -80.5611 3.15 -0.14 5 1471.50 1.23 -0.65 27.96608 -80.5611 2.10 -0.13 9 1471.75 0.96 0.99 27.96608 -80.5611 2.10 -0.15 9 1472.00 0.96 0.99 27.96608 -80.5611 1.85 -0.22 9 1472.25 0.96 0.99 27.96608 -80.5611 1.85 -0.18 9 1472.50 0.96 0.99 27.96608 -80.5611 1.77 -0.15 10 1472.75 1.35 1.04 27.96608 -80.5611 1.77 -0.12 10 1473.00 1.35 1.04 27.96608 -80.5611 1.77 -0.12 10 1473.25 1.35 1.04 27.96607 -80.561 1.79 -0.16 11 1473.50 1.01 1.00 27.96607 -80.561 1.74 -0.15 12 1473.75 1.01 1.00 27.96607 -80.561 1.74 -0.15 12 1474.00 1.01 1.00 27.96607 -80.561 1.74 -0.18 12 1474.25 1.31 1.09 27.96607 -80.561 1.74 -0.16 12 1474.50 1.31 1.09 27.96607 -80.561 1.67 -0.16 14 1474.75 1.31 1.09 27.96607 -80.561 1.67 -0.19 14 1475.00 1.31 1.09 27.96607 -80.561 1.67 -0.19 14 1475.25 1.15 -0.32 27.96607 -80.561 1.67 -0.13 14 1475.50 1.15 -0.32 27.96607 -80.561 1.67 -0.20 14 1475.75 1.06 0.09 27.96607 -80.561 1.67 -0.21 14 1476.00 1.06 0.09 27.96607 -80.561 1.67 -0.21 14 1476.25 1.06 0.09 27.96607 -80.561 1.67 -0.21 14 1476.50 1.06 0.09 27.96607 -80.561 1.67 -0.24 14 1476.75 1.24 -0.69 27.96607 -80.561 1.67 -0.22 14

Roll Pitch Latitude Longitude Ground Laser Ground Time (s) Velocity Altitude Distance (deg) (deg) (deg) (deg) (mph) (ft.) (ft.) 1477.00 1.24 -0.69 27.96606 -80.561 0.78 -0.22 16 1477.25 1.24 -0.69 27.96606 -80.561 0.78 -0.22 16 1477.50 1.05 -0.09 27.96606 -80.561 0.78 -0.17 16 1477.75 1.05 -0.09 27.96606 -80.561 0.49 -0.21 16 1478.00 1.05 -0.09 27.96606 -80.561 0.49 -0.21 16 1478.25 1.05 -0.09 27.96606 -80.561 0.49 -0.17 16 1478.50 1.05 -0.09 27.96606 -80.561 0.49 -0.21 16 1478.75 1.38 1.11 27.96606 -80.561 0.49 -0.19 16 1479.00 1.38 1.11 27.96606 -80.561 0.49 -0.19 16 1479.25 1.38 1.11 27.96606 -80.561 0.49 -0.19 16 1479.50 1.38 1.11 27.96606 -80.561 0.17 -0.19 17 1479.75 1.07 1.25 27.96606 -80.561 0.17 -0.21 17 1480.00 1.07 1.25 27.96606 -80.561 0.17 -0.18 17 1480.25 1.07 1.25 27.96606 -80.561 0.17 -0.18 17 1480.50 1.07 1.25 27.96606 -80.561 0.17 -0.18 17 1480.75 1.07 1.25 27.96606 -80.561 0.18 -0.18 17 1481.00 1.07 1.25 27.96606 -80.561 0.18 -0.21 17 1481.25 1.07 1.25 27.96606 -80.561 0.16 -0.21 17 1481.50 1.07 1.25 27.96606 -80.561 0.16 -0.24 17 1481.75 1.07 1.25 27.96606 -80.561 0.13 -0.14 17 1482.00 1.07 1.25 27.96606 -80.561 0.13 -0.18 17 1482.25 1.07 1.25 27.96606 -80.561 0.13 -0.18 17 1482.50 1.07 1.25 27.96606 -80.561 0.13 -0.21 17 1482.75 1.17 1.54 27.96606 -80.561 0.13 -0.17 17 1483.00 1.17 1.54 27.96606 -80.561 0.13 -0.10 17 1483.25 1.13 1.73 27.96606 -80.561 0.13 -0.14 17 1483.50 1.13 1.73 27.96606 -80.561 0.13 -0.14 17 1483.75 1.13 1.73 27.96606 -80.561 0.13 -0.14 17 1484.00 1.13 1.73 27.96606 -80.561 0.13 -0.14 17 1484.25 1.13 1.73 27.96606 -80.561 0.05 -0.17 17 1484.50 1.13 1.73 27.96606 -80.561 0.05 -0.17 17 1484.75 1.13 1.73 27.96606 -80.561 0.05 -0.14 17

Roll Pitch Latitude Longitude Ground Laser Ground Time (s) Velocity Altitude Distance (deg) (deg) (deg) (deg) (mph) (ft.) (ft.) 1485.00 1.15 1.55 27.96606 -80.561 0.05 -0.14 17 1485.25 1.15 1.55 27.96606 -80.561 0.05 -0.14 17 1485.50 1.15 1.55 27.96606 -80.561 0.04 -0.14 17 1485.75 1.15 1.55 27.96606 -80.561 0.04 -0.17 17 1486.00 1.15 1.55 27.96606 -80.561 0.04 -0.14 17 1486.25 1.15 1.55 27.96606 -80.561 0.04 -0.17 17 1486.50 1.15 1.55 27.96606 -80.561 0.02 -0.17 16 1486.75 1.15 1.55 27.96606 -80.561 0.02 0.15 16 1487.00 1.15 1.55 27.96606 -80.561 0.02 -0.01 16 1487.25 1.15 1.55 27.96606 -80.561 0.02 -0.11 16 1487.50 1.18 1.62 27.96606 -80.561 0.02 -0.10 16 1487.75 1.18 1.62 27.96606 -80.561 0.02 -0.10 16 1488.00 1.18 1.62 27.96606 -80.561 0.02 -0.07 16 1488.25 1.18 1.62 27.96606 -80.561 0.02 -0.17 16 1488.50 1.13 1.48 27.96606 -80.561 0.02 -0.07 16 1488.75 1.13 1.48 27.96606 -80.561 0.02 -0.07 16 1489.00 1.13 1.48 27.96606 -80.561 0.02 -0.24 16 1489.25 1.13 1.48 27.96606 -80.561 0.08 -0.07 17 1489.50 1.13 1.48 27.96606 -80.561 0.08 -0.07 17 1489.75 0.98 1.55 27.96606 -80.561 0.08 -0.09 17 1490.00 0.98 1.55 27.96606 -80.561 0.08 0.21 17 1490.25 0.98 1.55 27.96606 -80.561 0.08 0.21 17 1490.50 0.98 1.55 27.96606 -80.561 0.06 0.18 17 1490.75 0.98 1.55 27.96606 -80.561 0.12 0.18 17 1491.00 0.98 1.55 27.96606 -80.561 0.12 0.14 17 1491.25 0.98 1.55 27.96606 -80.561 0.97 -0.15 17 1491.50 1.16 11.36 27.96605 -80.561 3.82 -0.17 20 1491.75 0.24 12.04 27.96605 -80.561 3.82 -0.24 20 1492.00 0.24 12.04 27.96605 -80.561 3.82 -0.24 20 1492.25 -0.23 12.16 27.96602 -80.561 9.14 -0.24 33 1492.50 0.19 11.92 27.96602 -80.561 9.14 -0.18 33 1492.75 -0.10 11.28 27.96602 -80.561 9.14 -0.19 33

Roll Pitch Latitude Longitude Ground Laser Ground Time (s) Velocity Altitude Distance (deg) (deg) (deg) (deg) (mph) (ft.) (ft.) 1493.00 0.43 11.92 27.96602 -80.561 9.14 -0.16 33 1493.25 0.43 11.92 27.96602 -80.561 9.14 -0.10 33 1493.50 0.43 11.92 27.96599 -80.561 13.17 -0.10 50 1493.75 0.43 11.92 27.96599 -80.561 13.17 -0.10 50 1494.00 -0.12 11.68 27.96594 -80.5609 17.15 -0.14 73 1494.25 -0.12 11.68 27.96594 -80.5609 17.15 -0.10 73 1494.50 0.22 11.64 27.9659 -80.5609 20.12 -0.08 94 1494.75 0.39 11.34 27.96587 -80.5609 22.18 0.09 110 1495.00 0.83 11.65 27.96581 -80.5608 25.06 -0.04 137 1495.25 0.83 11.65 27.96581 -80.5608 25.06 -0.04 137 1495.50 0.29 11.41 27.96577 -80.5608 26.98 -0.14 156 1495.75 0.29 11.41 27.96577 -80.5608 26.98 -0.04 156 1496.00 0.29 11.41 27.96573 -80.5607 28.95 -0.04 177 1496.25 0.29 11.41 27.96573 -80.5607 28.95 -0.04 177 1496.50 -0.01 11.39 27.96573 -80.5607 28.95 -0.13 177 1496.75 0.46 11.18 27.96573 -80.5607 28.95 -0.03 177 1497.00 0.46 11.18 27.96561 -80.5606 33.60 -0.03 235 1497.25 0.46 11.18 27.96561 -80.5606 33.60 -0.03 235 1497.50 0.46 11.18 27.96561 -80.5606 33.60 -0.03 235 1497.75 1.28 10.61 27.96553 -80.5605 36.35 0.04 274 1498.00 1.28 10.61 27.96553 -80.5605 36.35 0.00 274 1498.25 -0.11 10.62 27.96544 -80.5604 39.12 -0.09 316 1498.50 -0.11 10.62 27.96544 -80.5604 39.12 -0.06 316 1498.75 0.14 10.35 27.96538 -80.5604 40.87 -0.01 346 1499.00 0.61 10.54 27.96538 -80.5604 40.87 0.21 346 1499.25 0.96 9.53 27.96538 -80.5604 40.87 0.25 346 1499.50 0.96 9.53 27.96538 -80.5604 40.87 0.15 346 1499.75 0.75 9.50 27.96522 -80.5602 45.27 0.14 426 1500.00 0.57 9.22 27.96522 -80.5602 45.27 0.16 426 1500.25 1.22 9.28 27.96522 -80.5602 45.27 0.33 426 1500.50 1.22 9.28 27.96522 -80.5602 45.27 0.33 426 1500.75 1.22 9.28 27.96522 -80.5602 45.27 0.46 426

Roll Pitch Latitude Longitude Ground Laser Ground Time (s) Velocity Altitude Distance (deg) (deg) (deg) (deg) (mph) (ft.) (ft.) 1501.00 0.01 9.01 27.96522 -80.5602 45.27 0.18 426 1501.25 -0.65 8.49 27.96493 -80.5599 51.88 0.21 570 1501.50 0.46 8.96 27.96493 -80.5599 51.88 0.28 570 1501.75 0.46 8.96 27.96485 -80.5598 53.43 0.31 609 1502.00 0.46 8.96 27.96472 -80.5597 55.79 0.28 669 1502.25 1.91 8.21 27.9646 -80.5596 58.06 0.48 732 1502.50 2.11 8.18 27.9646 -80.5596 58.06 0.50 732 1502.75 2.11 8.18 27.9646 -80.5596 58.06 0.53 732 1503.00 1.36 7.92 27.96451 -80.5595 59.48 0.64 776 1503.25 1.36 7.92 27.96442 -80.5594 61.01 1.44 820 1503.50 1.36 7.92 27.96437 -80.5593 61.70 1.44 843 1503.75 1.36 7.92 27.96437 -80.5593 61.70 2.56 843 1504.00 1.36 7.92 27.96432 -80.5593 62.47 3.81 866 1504.25 1.36 7.92 27.96432 -80.5593 62.47 6.18 866 1504.50 1.36 7.92 27.96432 -80.5593 62.47 8.96 866 1504.75 -1.90 6.40 27.96432 -80.5593 62.47 8.73 866 1505.00 -1.90 6.40 27.96413 -80.5591 65.20 12.12 960 1505.25 -0.78 7.21 27.96393 -80.5589 67.79 15.90 1058 1505.50 -0.78 7.21 27.96388 -80.5588 68.45 20.02 1083 1505.75 0.39 8.98 27.96388 -80.5588 68.45 20.00 1083 1506.00 0.39 8.98 27.96388 -80.5588 68.45 24.52 1083 1506.25 -0.06 9.49 27.96388 -80.5588 68.45 28.63 1083 1506.50 -0.08 9.39 27.96357 -80.5585 72.10 32.80 1239 1506.75 -2.53 10.20 27.96346 -80.5584 73.32 32.33 1292 1507.00 -2.53 10.20 27.96346 -80.5584 73.32 36.57 1292 1507.25 -1.09 9.30 27.96346 -80.5584 73.32 41.07 1292 1507.50 0.15 9.85 27.96324 -80.5582 75.44 45.44 1402 1507.75 0.10 9.33 27.96306 -80.558 75.94 49.41 1485 1508.00 0.10 9.33 27.96306 -80.558 75.94 49.41 1485 1508.25 0.10 9.33 27.96306 -80.558 75.94 53.22 1485 1508.50 -1.08 8.82 27.96306 -80.558 75.94 56.65 1485 1508.75 -1.08 8.67 27.96306 -80.558 75.94 59.96 1485

Roll Pitch Latitude Longitude Ground Laser Ground Time (s) Velocity Altitude Distance (deg) (deg) (deg) (deg) (mph) (ft.) (ft.) 1509.00 -1.08 8.67 27.96306 -80.558 75.94 59.96 1485 1509.25 -1.08 8.67 27.96284 -80.5578 75.91 62.94 1597 1509.50 -0.68 8.40 27.96284 -80.5578 75.91 65.89 1597 1509.75 -0.13 8.00 27.96284 -80.5578 75.91 68.78 1597 1510.00 -0.13 8.00 27.96272 -80.5576 75.62 68.78 1652 1510.25 -0.13 8.00 27.96272 -80.5576 75.62 71.27 1652 1510.50 -0.13 8.00 27.96272 -80.5576 75.62 73.38 1652 1510.75 -0.13 8.00 27.96272 -80.5576 75.62 75.77 1652 1511.00 -0.13 8.00 27.96261 -80.5575 75.52 75.77 1708 1511.25 -0.13 8.00 27.96261 -80.5575 75.52 77.97 1708 1511.50 -0.08 8.58 27.96261 -80.5575 75.52 79.56 1708 1511.75 -0.08 8.58 27.96255 -80.5575 75.36 80.99 1735 1512.00 -0.08 8.58 27.96255 -80.5575 75.36 82.24 1735 1512.25 -0.08 8.58 27.96255 -80.5575 75.36 82.24 1735 1512.50 -0.08 8.58 27.96255 -80.5575 75.36 82.90 1735 1512.75 -0.08 8.58 27.96255 -80.5575 75.36 84.05 1735 1513.00 -0.45 8.12 27.96255 -80.5575 75.36 85.39 1735 1513.25 -0.45 8.12 27.96255 -80.5575 75.36 85.39 1735 1513.50 -0.45 8.12 27.96255 -80.5575 75.36 86.64 1735 1513.75 0.24 8.62 27.96211 -80.557 74.56 87.99 1955 1514.00 -0.12 8.33 27.96211 -80.557 74.56 89.54 1955 1514.25 -0.12 8.33 27.96188 -80.5568 74.70 89.54 2064 1514.50 -0.12 8.33 27.96188 -80.5568 74.70 91.23 2064 1514.75 -0.12 8.33 27.96183 -80.5567 74.84 92.70 2091 1515.00 0.40 8.37 27.9616 -80.5565 75.50 94.53 2201 1515.25 -0.69 7.83 27.96149 -80.5564 76.02 94.45 2257 1515.50 -0.69 7.83 27.96149 -80.5564 76.02 96.08 2257 1515.75 -0.69 7.83 27.96149 -80.5564 76.02 97.77 2257 1516.00 -1.29 8.59 27.96149 -80.5564 76.02 99.25 2257 1516.25 -1.29 8.59 27.96126 -80.5561 77.79 101.28 2370 1516.50 -1.29 8.59 27.96126 -80.5561 77.79 101.28 2370 1516.75 -0.05 7.99 27.96126 -80.5561 77.79 104.77 2370

Roll Pitch Latitude Longitude Ground Laser Ground Time (s) Velocity Altitude Distance (deg) (deg) (deg) (deg) (mph) (ft.) (ft.) 1517.00 0.91 8.11 27.96126 -80.5561 77.79 108.45 2370 1517.25 0.36 7.44 27.96079 -80.5557 80.60 112.16 2604 1517.50 0.36 7.44 27.96079 -80.5557 80.60 112.16 2604 1517.75 0.11 6.99 27.96079 -80.5557 80.60 115.87 2604 1518.00 -0.14 7.04 27.9605 -80.5553 81.64 119.48 2753 1518.25 -0.23 7.94 27.96032 -80.5551 82.11 123.03 2843 1518.50 -0.23 7.94 27.96032 -80.5551 82.11 123.03 2843 1518.75 -0.23 7.94 27.96032 -80.5551 82.11 127.08 2843 1519.00 -0.23 7.94 27.96008 -80.5549 82.66 131.36 2964 1519.25 0.04 6.37 27.96008 -80.5549 82.66 136.85 2964 1519.50 2.70 5.39 27.96008 -80.5549 82.66 137.97 2964 1519.75 2.70 5.39 27.96008 -80.5549 82.66 142.33 2964 1520.00 2.40 5.64 27.96008 -80.5549 82.66 146.64 2964 1520.25 2.40 5.64 27.95958 -80.5544 82.28 150.68 3206 1520.50 1.43 5.20 27.95952 -80.5543 82.08 154.47 3236 1520.75 1.43 5.20 27.95952 -80.5543 82.08 154.47 3236 1521.00 0.92 5.31 27.95934 -80.5541 81.56 157.82 3326 1521.25 0.92 5.31 27.95927 -80.5541 81.50 161.36 3356 1521.50 0.92 5.31 27.95927 -80.5541 81.50 164.88 3356 1521.75 0.92 5.31 27.95927 -80.5541 81.50 164.88 3356 1522.00 0.92 5.31 27.95927 -80.5541 81.50 168.27 3356 1522.25 1.12 4.81 27.95927 -80.5541 81.50 171.89 3356 1522.50 1.55 4.84 27.95897 -80.5538 80.69 175.31 3505 1522.75 1.55 4.84 27.95897 -80.5538 80.69 175.31 3505 1523.00 1.55 4.84 27.95897 -80.5538 80.69 178.25 3505 1523.25 2.30 6.69 27.95897 -80.5538 80.69 180.17 3505 1523.50 2.42 7.82 27.95897 -80.5538 80.69 181.90 3505 1523.75 1.63 8.43 27.95854 -80.5533 80.85 181.25 3711 1524.00 1.63 8.43 27.95854 -80.5533 80.85 181.54 3711 1524.25 -0.94 8.68 27.95854 -80.5533 80.85 180.44 3711 1524.50 -0.94 8.68 27.95841 -80.5532 81.78 180.35 3771 1524.75 -1.15 8.19 27.95829 -80.5531 82.41 180.46 3832

Roll Pitch Latitude Longitude Ground Laser Ground Time (s) Velocity Altitude Distance (deg) (deg) (deg) (deg) (mph) (ft.) (ft.) 1525.00 -1.15 8.19 27.95829 -80.5531 82.41 180.46 3832 1525.25 -1.15 8.19 27.95829 -80.5531 82.41 180.72 3832 1525.50 -1.15 8.19 27.95829 -80.5531 82.41 181.29 3832 1525.75 -1.15 8.19 27.95822 -80.553 82.80 181.80 3862 1526.00 -1.15 8.19 27.95822 -80.553 82.80 181.80 3862 1526.25 -1.15 8.19 27.95816 -80.553 83.20 181.90 3893 1526.50 -1.15 8.19 27.9579 -80.5527 84.78 182.44 4017 1526.75 0.56 8.41 27.95777 -80.5526 85.37 184.31 4079 1527.00 0.28 7.69 27.95777 -80.5526 85.37 184.71 4079 1527.25 0.28 7.69 27.95777 -80.5526 85.37 185.86 4079 1527.50 0.28 7.69 27.95764 -80.5525 86.12 186.56 4142 1527.75 0.41 7.35 27.95764 -80.5525 86.12 187.92 4142 1528.00 0.48 7.91 27.95764 -80.5525 86.12 187.57 4142 1528.25 0.48 7.91 27.95764 -80.5525 86.12 188.31 4142 1528.50 1.79 8.00 27.95764 -80.5525 86.12 191.13 4142 1528.75 2.26 7.97 27.9573 -80.5522 87.79 195.49 4302 1529.00 2.26 7.97 27.95716 -80.552 88.45 320265.33 4367 1529.25 2.26 7.97 27.95716 -80.552 88.45 320265.33 4367 1529.50 1.30 7.67 27.95709 -80.552 88.70 320217.78 4399 1529.75 0.83 7.69 27.95709 -80.552 88.70 319973.78 4399 1530.00 0.83 7.69 27.95702 -80.5519 88.95 319973.78 4432

Table 8. Landing 3 Data

Roll Pitch Latitude Longitude Ground Laser Distance Time (s) Velocity Altitude (deg) (deg) (deg) (deg) (ft.) (mph) (ft.) 1770.00 1.63 -2.75 27.97081 -80.5656 85.35 199.67 0 1770.25 0.73 -3.20 27.97067 -80.5655 85.78 326660.54 63 1770.50 -0.23 -3.32 27.97067 -80.5655 85.78 197.11 63

Roll Pitch Latitude Longitude Ground Laser Distance Time (s) Velocity Altitude (ft.) (deg) (deg) (deg) (deg) (mph) (ft.) 1770.75 -1.58 -3.49 27.97045 -80.5654 86.43 196.46 158 1771.00 -1.58 -3.49 27.97045 -80.5654 86.43 325205.00 158 1771.25 -1.58 -3.49 27.97038 -80.5653 86.67 185.15 190 1771.50 0.84 -3.79 27.97038 -80.5653 86.67 184.82 190 1771.75 1.52 -3.78 27.97017 -80.5651 87.09 176.42 285 1772.00 1.52 -3.78 27.97017 -80.5651 87.09 176.42 285 1772.25 1.23 -3.48 27.97017 -80.5651 87.09 177.11 285 1772.50 1.23 -3.48 27.97017 -80.5651 87.09 171.32 285 1772.75 1.23 -3.48 27.9699 -80.5649 87.52 326932.92 414 1773.00 1.23 -3.48 27.9699 -80.5649 87.52 326932.92 414 1773.25 0.89 -3.96 27.9699 -80.5649 87.52 167.00 414 1773.50 0.89 -3.96 27.9699 -80.5649 87.52 159.94 414 1773.75 0.60 -4.51 27.9699 -80.5649 87.52 326613.06 414 1774.00 -0.44 -4.40 27.9699 -80.5649 87.52 326004.59 414 1774.25 -0.44 -4.40 27.9699 -80.5649 87.52 156.18 414 1774.50 -0.44 -4.40 27.96956 -80.5646 87.27 152.59 574 1774.75 -0.44 -4.40 27.9695 -80.5645 87.17 145.58 606 1775.00 0.18 -3.97 27.9693 -80.5643 86.83 142.93 702 1775.25 0.18 -3.97 27.9693 -80.5643 86.83 142.93 702 1775.50 2.84 -4.88 27.96923 -80.5642 86.75 145.68 733 1775.75 2.57 -4.36 27.96923 -80.5642 86.75 141.74 733 1776.00 1.95 -4.12 27.96904 -80.564 86.36 140.32 829 1776.25 2.70 -3.88 27.96904 -80.564 86.36 140.49 829 1776.50 2.70 -3.88 27.96897 -80.564 86.18 135.71 860 1776.75 3.02 -4.13 27.96897 -80.564 86.18 327637.86 860 1777.00 3.02 -4.13 27.96891 -80.5639 86.19 130.60 892 1777.25 3.02 -4.13 27.96891 -80.5639 86.19 130.60 892 1777.50 3.02 -4.13 27.96891 -80.5639 86.19 137.02 892 1777.75 3.02 -4.13 27.96891 -80.5639 86.19 327637.86 892 1778.00 3.02 -4.13 27.96871 -80.5637 85.88 124.73 986 1778.25 3.02 -4.13 27.96865 -80.5636 85.56 132.36 1018 1778.50 0.43 -4.77 27.96865 -80.5636 85.56 131.73 1018

Roll Pitch Latitude Longitude Ground Laser Distance Time (s) Velocity Altitude (ft.) (deg) (deg) (deg) (deg) (mph) (ft.) 1778.75 0.43 -4.77 27.96858 -80.5636 85.40 134.31 1049 1779.00 0.57 -5.34 27.96858 -80.5636 85.40 133.61 1049 1779.25 -0.42 -4.29 27.96821 -80.5632 84.71 326017.47 1236 1779.50 1.07 -4.57 27.96821 -80.5632 84.71 326851.83 1236 1779.75 1.07 -4.57 27.96821 -80.5632 84.71 326851.83 1236 1780.00 1.07 -4.57 27.96814 -80.5631 84.54 111.68 1267 1780.25 1.07 -4.57 27.96814 -80.5631 84.54 107.86 1267 1780.50 2.67 -5.61 27.96802 -80.563 84.29 95.41 1329 1780.75 2.67 -5.61 27.96802 -80.563 84.29 95.41 1329 1781.00 2.67 -5.61 27.96784 -80.5628 83.48 107.03 1421 1781.25 1.56 -4.92 27.96784 -80.5628 83.48 327054.43 1421 1781.50 -0.05 -4.61 27.96784 -80.5628 83.48 102.00 1421 1781.75 -0.05 -4.61 27.96784 -80.5628 83.48 102.00 1421 1782.00 -0.05 -4.61 27.96784 -80.5628 83.48 104.94 1421 1782.25 -0.52 -4.48 27.96784 -80.5628 83.48 103.54 1421 1782.50 -0.52 -4.48 27.96747 -80.5624 82.34 92.55 1603 1782.75 1.43 -4.28 27.96747 -80.5624 82.34 93.00 1603 1783.00 1.43 -4.28 27.96747 -80.5624 82.34 91.43 1603 1783.25 3.34 -3.79 27.96747 -80.5624 82.34 89.88 1603 1783.50 3.15 -2.29 27.96722 -80.5622 81.35 85.30 1723 1783.75 3.15 -2.29 27.96722 -80.5622 81.35 86.34 1723 1784.00 3.00 -2.40 27.96722 -80.5622 81.35 86.33 1723 1784.25 3.00 -2.40 27.96722 -80.5622 81.35 83.22 1723 1784.50 1.61 -2.96 27.96697 -80.5619 82.30 79.18 1843 1784.75 0.24 -3.28 27.96697 -80.5619 82.30 75.60 1843 1785.00 -0.34 -2.39 27.96697 -80.5619 82.30 75.45 1843 1785.25 -0.34 -2.39 27.96697 -80.5619 82.30 72.13 1843 1785.50 -0.34 -2.39 27.96697 -80.5619 82.30 68.44 1843 1785.75 -1.49 -2.32 27.9666 -80.5615 82.02 64.52 2024 1786.00 0.02 -1.81 27.96654 -80.5615 82.28 64.81 2054 1786.25 0.02 -1.81 27.96654 -80.5615 82.28 62.69 2054 1786.50 0.96 -1.35 27.96647 -80.5614 82.54 59.50 2085

Roll Pitch Latitude Longitude Ground Laser Distance Time (s) Velocity Altitude (ft.) (deg) (deg) (deg) (deg) (mph) (ft.) 1786.75 -0.24 -1.03 27.96647 -80.5614 82.54 55.70 2085 1787.00 1.05 -1.52 27.96647 -80.5614 82.54 53.39 2085 1787.25 1.05 -1.52 27.96647 -80.5614 82.54 53.39 2085 1787.50 1.57 -1.05 27.96647 -80.5614 82.54 51.41 2085 1787.75 1.57 -1.05 27.96622 -80.5612 82.93 48.96 2206 1788.00 1.57 -1.05 27.96616 -80.5611 82.91 47.10 2236 1788.25 1.57 -1.05 27.96616 -80.5611 82.91 47.10 2236 1788.50 0.29 -1.10 27.96604 -80.561 82.40 45.32 2297 1788.75 0.29 -1.10 27.96597 -80.5609 82.29 43.95 2327 1789.00 0.61 -2.82 27.96579 -80.5607 82.28 42.45 2417 1789.25 0.58 -2.57 27.96579 -80.5607 82.28 42.44 2417 1789.50 0.58 -2.57 27.96572 -80.5607 82.19 40.84 2447 1789.75 -0.09 -2.66 27.96566 -80.5606 82.24 39.09 2478 1790.00 -0.63 -2.51 27.96566 -80.5606 82.24 37.51 2478 1790.25 -0.63 -2.51 27.96554 -80.5605 82.14 37.51 2538 1790.50 -0.63 -2.51 27.96554 -80.5605 82.14 36.30 2538 1790.75 -0.63 -2.51 27.96548 -80.5604 81.94 35.22 2568 1791.00 2.14 -3.08 27.96548 -80.5604 81.94 33.58 2568 1791.25 0.26 -2.83 27.96548 -80.5604 81.94 31.14 2568 1791.50 0.26 -2.83 27.96548 -80.5604 81.94 31.14 2568 1791.75 -1.03 -2.58 27.96548 -80.5604 81.94 28.59 2568 1792.00 -0.99 -2.48 27.96548 -80.5604 81.94 26.51 2568 1792.25 -0.68 -1.76 27.96548 -80.5604 81.94 24.29 2568 1792.50 -0.68 -1.76 27.96548 -80.5604 81.94 24.29 2568 1792.75 -0.26 -1.14 27.96548 -80.5604 81.94 22.67 2568 1793.00 -0.03 -2.56 27.96548 -80.5604 81.94 21.12 2568 1793.25 0.82 -3.18 27.96548 -80.5604 81.94 19.81 2568 1793.50 0.59 -3.79 27.96548 -80.5604 81.94 19.79 2568 1793.75 0.59 -3.79 27.96469 -80.5596 80.97 17.76 2957 1794.00 0.59 -3.79 27.96463 -80.5596 80.79 16.23 2986 1794.25 0.59 -3.79 27.96457 -80.5595 80.26 15.02 3016 1794.50 1.50 -4.79 27.96457 -80.5595 80.26 15.10 3016

Roll Pitch Latitude Longitude Ground Laser Distance Time (s) Velocity Altitude (ft.) (deg) (deg) (deg) (deg) (mph) (ft.) 1794.75 1.50 -4.79 27.96457 -80.5595 80.26 13.92 3016 1795.00 2.84 -4.67 27.96457 -80.5595 80.26 12.43 3016 1795.25 1.61 -3.93 27.96433 -80.5593 78.85 10.89 3132 1795.50 0.24 -3.50 27.96421 -80.5591 77.97 10.78 3190 1795.75 0.24 -3.50 27.96421 -80.5591 77.97 9.63 3190 1796.00 0.08 -3.63 27.96421 -80.5591 77.97 8.61 3190 1796.25 0.08 -3.63 27.96415 -80.5591 77.36 8.12 3218 1796.50 0.08 -3.63 27.96415 -80.5591 77.36 7.73 3218 1796.75 0.63 -4.26 27.96415 -80.5591 77.36 7.77 3218 1797.00 0.63 -4.26 27.96415 -80.5591 77.36 7.35 3218 1797.25 0.99 -4.42 27.96386 -80.5588 75.27 7.18 3358 1797.50 1.58 -4.53 27.96375 -80.5587 74.17 6.93 3412 1797.75 1.58 -4.53 27.96375 -80.5587 74.17 6.93 3412 1798.00 1.58 -4.53 27.96375 -80.5587 74.17 6.61 3412 1798.25 0.39 -3.75 27.96375 -80.5587 74.17 5.92 3412 1798.50 -0.07 -3.92 27.96375 -80.5587 74.17 5.20 3412 1798.75 -0.12 -3.34 27.96375 -80.5587 74.17 5.20 3412 1799.00 -0.12 -3.34 27.96375 -80.5587 74.17 4.51 3412 1799.25 -0.23 -2.86 27.96375 -80.5587 74.17 4.01 3412 1799.50 -0.23 -2.86 27.96375 -80.5587 74.17 3.33 3412 1799.75 -0.22 -1.88 27.96327 -80.5582 69.77 2.87 3649 1800.00 -0.22 -1.88 27.96327 -80.5582 69.77 2.87 3649 1800.25 0.36 -1.75 27.96322 -80.5581 69.44 2.46 3674 1800.50 -0.27 -1.54 27.96317 -80.5581 68.90 1.73 3700 1800.75 -0.51 -0.73 27.96317 -80.5581 68.90 0.99 3700 1801.00 -0.51 -0.73 27.96317 -80.5581 68.90 0.99 3700 1801.25 -0.78 -0.85 27.96317 -80.5581 68.90 0.12 3700 1801.50 2.94 -5.19 27.96317 -80.5581 68.90 0.45 3700 1801.75 0.80 -5.29 27.96286 -80.5578 66.67 0.37 3848 1802.00 1.45 -2.47 27.96286 -80.5578 66.67 0.41 3848 1802.25 1.45 -2.47 27.96282 -80.5577 65.65 0.38 3872 1802.50 0.62 -2.87 27.96282 -80.5577 65.65 0.29 3872

Roll Pitch Latitude Longitude Ground Laser Distance Time (s) Velocity Altitude (ft.) (deg) (deg) (deg) (deg) (mph) (ft.) 1802.75 0.62 -2.87 27.96282 -80.5577 65.65 0.29 3872 1803.00 0.77 -2.07 27.96267 -80.5576 64.77 0.30 3943 1803.25 0.77 -2.07 27.96267 -80.5576 64.77 0.37 3943 1803.50 0.77 -2.07 27.96267 -80.5576 64.77 0.40 3943 1803.75 0.77 -2.07 27.96257 -80.5575 63.45 0.33 3990 1804.00 0.77 -2.07 27.96253 -80.5574 62.98 0.40 4013 1804.25 0.77 -2.07 27.96253 -80.5574 62.98 0.40 4013 1804.50 0.77 -2.07 27.96243 -80.5573 62.02 0.30 4059 1804.75 3.48 -2.89 27.96243 -80.5573 62.02 0.52 4059 1805.00 3.48 -2.89 27.96243 -80.5573 62.02 0.52 4059 1805.25 1.49 -2.61 27.96243 -80.5573 62.02 0.38 4059 1805.50 1.49 -2.61 27.96243 -80.5573 62.02 0.32 4059 1805.75 -0.58 -2.69 27.96225 -80.5572 60.09 0.17 4148 1806.00 -0.58 -2.69 27.9622 -80.5571 59.55 0.11 4170 1806.25 -0.58 -2.69 27.9622 -80.5571 59.55 0.11 4170 1806.50 -0.58 -2.69 27.9622 -80.5571 59.55 0.17 4170 1806.75 -0.56 -2.04 27.9622 -80.5571 59.55 0.11 4170 1807.00 0.52 -2.29 27.9622 -80.5571 59.55 0.19 4170 1807.25 0.52 -2.29 27.96203 -80.5569 57.82 0.19 4255 1807.50 0.52 -2.29 27.96203 -80.5569 57.82 0.19 4255 1807.75 0.52 -2.29 27.96203 -80.5569 57.82 0.19 4255 1808.00 0.52 -2.29 27.96198 -80.5569 57.31 0.15 4276 1808.25 -1.18 -4.95 27.96198 -80.5569 57.31 0.04 4276 1808.50 -1.18 -4.95 27.96198 -80.5569 57.31 0.07 4276 1808.75 -1.18 -4.95 27.96186 -80.5568 55.67 0.07 4338 1809.00 -1.18 -4.95 27.96186 -80.5568 55.67 0.07 4338 1809.25 -1.18 -4.95 27.96186 -80.5568 55.67 0.07 4338 1809.50 -1.18 -4.95 27.96186 -80.5568 55.67 0.07 4338 1809.75 -1.18 -4.95 27.9617 -80.5566 53.03 0.10 4417 1810.00 1.29 -5.09 27.9617 -80.5566 53.03 0.21 4417 1810.25 1.29 -5.09 27.96162 -80.5565 51.74 0.27 4455 1810.50 1.29 -5.09 27.96155 -80.5564 50.23 0.27 4492

Roll Pitch Latitude Longitude Ground Laser Distance Time (s) Velocity Altitude (ft.) (deg) (deg) (deg) (deg) (mph) (ft.) 1810.75 1.29 -5.09 27.96155 -80.5564 50.23 0.27 4492 1811.00 1.78 -5.59 27.9614 -80.5563 47.15 0.27 4563 1811.25 1.95 -5.25 27.9614 -80.5563 47.15 0.25 4563 1811.50 1.95 -5.25 27.96137 -80.5563 46.38 0.25 4580 1811.75 1.95 -5.25 27.96137 -80.5563 46.38 0.28 4580 1812.00 1.95 -5.25 27.96133 -80.5562 45.58 0.28 4596 1812.25 2.39 -5.60 27.96133 -80.5562 45.58 0.25 4596 1812.50 1.75 -5.30 27.96133 -80.5562 45.58 0.27 4596 1812.75 1.75 -5.30 27.96133 -80.5562 45.58 0.27 4596 1813.00 0.01 -5.80 27.96133 -80.5562 45.58 0.15 4596 1813.25 -0.26 -6.11 27.96133 -80.5562 45.58 0.13 4596 1813.50 -0.26 -6.11 27.96111 -80.556 40.23 0.03 4705 1813.75 -0.26 -6.11 27.96111 -80.556 40.23 0.03 4705 1814.00 -0.26 -6.11 27.96111 -80.556 40.23 0.20 4705 1814.25 -0.26 -6.11 27.96106 -80.5559 38.60 0.16 4734 1814.50 0.97 -7.02 27.961 -80.5559 36.91 0.18 4761 1814.75 1.34 -6.96 27.961 -80.5559 36.91 0.21 4761 1815.00 1.34 -6.96 27.961 -80.5559 36.91 0.17 4761 1815.25 2.07 -6.69 27.9609 -80.5558 33.74 0.26 4812 1815.50 2.07 -6.69 27.96087 -80.5557 32.98 0.23 4824 1815.75 2.07 -6.69 27.96083 -80.5557 31.53 0.23 4847 1816.00 2.07 -6.69 27.96083 -80.5557 31.53 0.23 4847 1816.25 2.59 -7.69 27.96083 -80.5557 31.53 0.23 4847 1816.50 2.59 -7.69 27.96078 -80.5556 30.02 0.29 4870 1816.75 2.38 -8.32 27.96074 -80.5556 28.42 0.21 4891 1817.00 2.38 -8.32 27.96074 -80.5556 28.42 0.21 4891 1817.25 2.38 -8.32 27.9607 -80.5556 26.68 0.24 4911 1817.50 2.38 -8.32 27.9607 -80.5556 26.68 0.28 4911 1817.75 2.99 -9.22 27.96066 -80.5555 24.88 0.28 4929 1818.00 3.26 -9.10 27.96066 -80.5555 24.88 0.30 4929 1818.25 3.26 -9.10 27.96066 -80.5555 24.88 0.33 4929 1818.50 3.22 -8.77 27.96066 -80.5555 24.88 0.36 4929

Roll Pitch Latitude Longitude Ground Laser Distance Time (s) Velocity Altitude (ft.) (deg) (deg) (deg) (deg) (mph) (ft.) 1818.75 2.75 -8.51 27.96066 -80.5555 24.88 0.23 4929 1819.00 1.23 -8.41 27.96055 -80.5554 19.08 0.13 4984 1819.25 1.23 -8.41 27.96055 -80.5554 19.08 0.16 4984 1819.50 0.90 -8.29 27.96053 -80.5554 18.19 0.11 4991 1819.75 0.57 -8.13 27.96052 -80.5554 17.43 0.12 4997 1820.00 0.57 -8.13 27.96052 -80.5554 17.43 0.12 4997 1820.25 0.57 -8.13 27.96052 -80.5554 17.43 0.09 4997 1820.50 0.57 -8.13 27.96052 -80.5554 17.43 0.12 4997 1820.75 0.80 -7.91 27.96052 -80.5554 17.43 0.10 4997 1821.00 0.80 -7.91 27.96046 -80.5553 12.90 0.14 5030 1821.25 0.80 -7.91 27.96046 -80.5553 12.90 0.14 5030 1821.50 2.43 -7.25 27.96046 -80.5553 12.90 0.28 5030 1821.75 2.69 -7.33 27.96044 -80.5553 11.70 0.27 5039 1822.00 2.18 -7.91 27.96044 -80.5553 11.70 0.23 5039 1822.25 2.18 -7.91 27.96044 -80.5553 11.70 0.23 5039 1822.50 2.18 -7.91 27.96042 -80.5553 10.33 0.23 5047 1822.75 2.18 -7.91 27.96041 -80.5553 9.65 0.17 5050 1823.00 1.12 -8.79 27.9604 -80.5553 7.32 0.15 5059 1823.25 1.12 -8.79 27.9604 -80.5553 7.32 0.15 5059 1823.50 1.12 -8.79 27.9604 -80.5553 7.32 0.15 5059 1823.75 1.12 -8.79 27.96039 -80.5552 6.66 0.15 5061 1824.00 1.12 -8.79 27.96039 -80.5552 5.81 0.12 5064 1824.25 1.12 -8.79 27.96038 -80.5552 5.03 0.12 5065 1824.50 1.12 -8.79 27.96038 -80.5552 5.03 0.12 5065 1824.75 1.37 -8.45 27.96038 -80.5552 3.46 0.14 5068 1825.00 1.42 -7.79 27.96038 -80.5552 3.46 0.15 5068 1825.25 1.42 -7.79 27.96038 -80.5552 3.46 0.11 5068 1825.50 1.42 -7.79 27.96038 -80.5552 3.46 0.11 5068 1825.75 1.42 -7.79 27.96037 -80.5552 0.81 0.15 5071 1826.00 0.95 -3.42 27.96037 -80.5552 0.26 0.09 5071 1826.25 0.95 -3.42 27.96037 -80.5552 0.26 0.09 5071 1826.50 0.95 -3.42 27.96037 -80.5552 0.26 0.09 5071

Roll Pitch Latitude Longitude Ground Laser Distance Time (s) Velocity Altitude (ft.) (deg) (deg) (deg) (deg) (mph) (ft.) 1826.75 0.95 -3.42 27.96037 -80.5552 0.10 0.09 5071 1827.00 0.95 -3.42 27.96037 -80.5552 0.10 0.09 5071 1827.25 0.95 -3.42 27.96037 -80.5552 0.10 0.09 5071 1827.50 0.95 -3.42 27.96037 -80.5552 0.04 0.09 5071 1827.75 0.95 -3.42 27.96037 -80.5552 0.04 0.09 5071 1828.00 0.95 -3.42 27.96037 -80.5552 0.04 0.15 5071 1828.25 0.73 -0.43 27.96037 -80.5552 0.04 0.10 5071 1828.50 0.73 -0.43 27.96037 -80.5552 0.04 0.10 5071 1828.75 0.73 -0.43 27.96037 -80.5552 0.04 0.07 5071 1829.00 0.73 -0.43 27.96037 -80.5552 0.04 0.13 5071 1829.25 0.91 -0.79 27.96037 -80.5552 0.04 0.08 5071 1829.50 0.91 -0.79 27.96037 -80.5552 0.04 0.05 5071 1829.75 0.91 -0.79 27.96037 -80.5552 0.04 0.05 5071 1830.00 0.91 -0.79 27.96037 -80.5552 0.00 0.11 5071 1830.25 0.91 -0.79 27.96037 -80.5552 0.00 0.15 5071 1830.50 1.25 -0.87 27.96037 -80.5552 0.00 0.10 5071 1830.75 1.25 -0.87 27.96037 -80.5552 0.00 0.10 5071 1831.00 1.25 -0.87 27.96037 -80.5552 0.00 0.14 5071 1831.25 1.25 -0.87 27.96037 -80.5552 0.00 0.14 5071 1831.50 1.03 -0.54 27.96037 -80.5552 0.00 0.12 5071 1831.75 1.03 -0.54 27.96037 -80.5552 0.03 0.12 5071 1832.00 1.03 -0.54 27.96037 -80.5552 0.03 0.09 5071 1832.25 1.03 -0.54 27.96037 -80.5552 0.03 0.12 5071 1832.50 1.03 -0.54 27.96037 -80.5552 0.03 0.12 5071 1832.75 1.03 -0.54 27.96037 -80.5552 0.00 0.12 5071 1833.00 1.03 -0.54 27.96037 -80.5552 0.00 0.12 5071 1833.25 1.03 -0.54 27.96037 -80.5552 0.00 0.09 5071 1833.50 1.03 -0.54 27.96037 -80.5552 0.04 0.15 5071 1833.75 1.03 -0.54 27.96037 -80.5552 0.04 0.12 5071 1834.00 1.03 -0.54 27.96037 -80.5552 0.04 0.12 5071 1834.25 1.03 -0.54 27.96037 -80.5552 0.02 0.09 5071 1834.50 0.97 -0.48 27.96037 -80.5552 0.02 0.12 5071

Roll Pitch Latitude Longitude Ground Laser Distance Time (s) Velocity Altitude (ft.) (deg) (deg) (deg) (deg) (mph) (ft.) 1834.75 0.97 -0.48 27.96037 -80.5552 0.02 0.12 5071 1835.00 1.04 -0.44 27.96037 -80.5552 0.02 0.12 5071 1835.25 1.04 -0.44 27.96037 -80.5552 0.11 0.12 5071 1835.50 1.04 -0.44 27.96037 -80.5552 0.11 0.09 5071 1835.75 1.24 -1.13 27.96037 -80.5552 0.11 0.10 5071 1836.00 1.24 -1.13 27.96037 -80.5552 0.11 0.10 5071 1836.25 1.24 -1.13 27.96037 -80.5552 0.11 0.14 5071 1836.50 1.04 -0.95 27.96037 -80.5552 0.11 0.15 5071 1836.75 1.08 -0.74 27.96037 -80.5552 0.11 0.12 5071 1837.00 0.99 -0.83 27.96037 -80.5552 0.11 0.09 5071 1837.25 0.99 -0.83 27.96037 -80.5552 0.11 0.09 5071 1837.50 0.99 -0.83 27.96037 -80.5552 0.02 0.12 5071 1837.75 0.99 -0.83 27.96037 -80.5552 0.02 0.12 5071 1838.00 0.99 -0.83 27.96037 -80.5552 0.02 0.12 5071 1838.25 0.99 -0.83 27.96037 -80.5552 0.02 0.12 5071 1838.50 0.99 -0.83 27.96037 -80.5552 0.08 0.12 5071 1838.75 0.99 -0.83 27.96037 -80.5552 0.08 0.12 5071 1839.00 0.99 -0.83 27.96037 -80.5552 0.06 0.09 5071 1839.25 0.99 -0.83 27.96037 -80.5552 0.06 0.09 5071 1839.50 0.99 -0.83 27.96037 -80.5552 0.06 0.09 5071 1839.75 0.99 -0.83 -0.00587 ######## 0.06 0.09 #NUM! 1840.00 0.99 -0.83 -0.00587 ######## 0.06 0.12 #NUM! 1840.25 0.99 -0.83 27.96037 -80.5552 0.06 0.12 5071 1840.50 0.99 -0.83 27.96037 -80.5552 0.06 0.09 5071 1840.75 1.19 -0.89 27.96037 -80.5552 0.06 0.16 5071 1841.00 1.19 -0.89 27.96037 -80.5552 0.06 0.13 5071 1841.25 1.19 -0.89 27.96037 -80.5552 0.06 0.13 5071 1841.50 1.19 -0.89 27.96037 -80.5552 0.06 0.16 5071 1841.75 1.19 -0.89 27.96037 -80.5552 0.06 0.20 5071 1842.00 1.19 -0.89 27.96037 -80.5552 0.06 0.13 5071 1842.25 1.19 -0.89 27.96037 -80.5552 0.05 0.16 5071 1842.50 0.83 -0.55 27.96037 -80.5552 0.05 0.14 5071

Roll Pitch Latitude Longitude Ground Laser Distance Time (s) Velocity Altitude (ft.) (deg) (deg) (deg) (deg) (mph) (ft.) 1842.75 0.83 -0.55 27.96037 -80.5552 0.05 0.14 5071 1843.00 0.83 -0.55 27.96037 -80.5552 0.05 0.14 5071 1843.25 0.83 -0.55 27.96037 -80.5552 0.09 0.11 5071 1843.50 0.83 -0.55 27.96037 -80.5552 0.09 0.11 5071 1843.75 0.83 -0.55 27.96037 -80.5552 0.04 0.11 5071 1844.00 0.99 -0.76 27.96037 -80.5552 0.04 0.18 5071 1844.25 0.99 -0.76 27.96037 -80.5552 0.04 0.15 5071 1844.50 0.88 -0.47 27.96037 -80.5552 0.00 0.14 5071 1844.75 0.88 -0.47 27.96037 -80.5552 0.00 0.18 5071 1845.00 0.88 -0.47 27.96037 -80.5552 0.00 0.14 5071 1845.25 0.88 -0.47 27.96037 -80.5552 0.02 0.11 5071 1845.50 0.88 -0.47 27.96037 -80.5552 0.02 0.11 5071 1845.75 0.88 -0.47 27.96037 -80.5552 0.02 0.14 5071 1846.00 0.88 -0.47 27.96037 -80.5552 0.00 0.18 5071 1846.25 0.88 -0.47 27.96037 -80.5552 0.00 0.18 5071 1846.50 1.03 -0.60 27.96037 -80.5552 0.00 0.12 5071 1846.75 1.03 -0.60 27.96037 -80.5552 0.00 0.12 5071 1847.00 1.03 -0.60 27.96037 -80.5552 0.00 0.15 5071 1847.25 1.03 -0.60 27.96037 -80.5552 0.00 0.19 5071 1847.50 1.03 -0.60 27.96037 -80.5552 0.00 0.15 5071 1847.75 1.03 -0.60 27.96037 -80.5552 0.00 0.15 5071 1848.00 1.03 -0.60 27.96037 -80.5552 0.00 0.22 5071 1848.25 1.03 -0.60 27.96037 -80.5552 0.00 0.12 5071 1848.50 0.93 -0.65 27.96037 -80.5552 0.00 0.15 5071 1848.75 0.93 -0.65 27.96037 -80.5552 0.00 0.15 5071 1849.00 0.93 -0.65 27.96037 -80.5552 0.00 0.11 5071 1849.25 1.10 -0.73 27.96037 -80.5552 0.00 0.13 5071 1849.50 1.10 -0.73 27.96037 -80.5552 0.00 0.13 5071 1849.75 1.10 -0.73 27.96037 -80.5552 0.00 0.13 5071 1850.00 1.10 -0.73 27.96037 -80.5552 0.00 0.16 5071

Appendix H SSMG-11 [12]