Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 284 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.00184 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0133 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 284 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 39 ALTIM_FREQUENCY 13

D_TGT 750 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 24 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 3

D_BOOST 110 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 150 COMM_SEQ 0 C_VBD 3600 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 300 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -7 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 2 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 10011800 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 6 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 0.079999998 PITCH_MIN 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2730 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 0

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 750 N_NOCOMM 0 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

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

ALTIM_FREQUENCY 13 EXEC_N 6 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 2 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 10011800 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031300001 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 4320

CALL_WAIT 45 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 300

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.079999998 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 420

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_YINT 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2730 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3600 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 284 MAXI_24V 2 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 39 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 24 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 7 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 400 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 150 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 190418,181424,-7349.0781,-11247.8193,0,3113.0,0,53.4,0.0,0.0,0,0.0 SPEED_LIMITS 0.083,0.174

_CALLS 3 TGT_NAME hold5

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 10.03 MHEAD_RNG_PITCHd_Wd 103.9,29972,-17.0,-8.333,-25.60,1830

_SM_ANGLEo 1.3 D_GRID 750

GPS2 190418,181424,-7349.0781,-11247.8193,0,3113.0,0,53.4,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 7.88,-1.881,-1.871,2,63,0 ALTIM_BOTTOM_PING 575.9,8.4

FINISH1 7.9,1.027373,6 _24V_AH 11.95,92.149

FINISH2 7.0 _10V_AH 12.32,0.000

RAFOS_CLK 506 FG_AHR_24Vo 0.000

RAFOS 0,1524182510,0.032778,0.030556,111,65,59,57,52,52,360,216,1155,170,202,186 FG_AHR_10Vo 0.000

RAFOS_FIX -7357.359375,-11152.669922,200418,000032,2,112,1.51 MEM 280700

IRIDIUM_FIX -7402.95,-11228.77,030318,170928 DATA_FILE_SIZE 13449,476

TT8_MAMPS 0.03745,0.182007 CAP_FILE_SIZE 86189,0

HUMID 49.05 CFSIZE 1024409600,987840512

INTERNAL_PRESSURE 7.89012 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.90 SOUNDSPEED 1446.1

XPDR_PINGS 2 GPS 200418,000832,-7357.359,-11152.670,0,3112.5,0,53.4,0.0,0.0,0,0.0

ALTIM_TOP_PING 7.2,7.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 274 14.52 nil 0 0 0.00

Roll_motor 79 94 90.66 nil 0 0 0.00

VBD_pump_during_apogee 231 3021 8365.76 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 11934 2 309.18

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 25 420 126.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 10456 2 297.59

TT8_Active 412 10 55.18

TT8_Sampling 1080 30 404.01

TT8_CF8 104 51 66.06

TT8_Kalman 0 0 0.00

Analog_circuits 802 10 99.84

GPS_charging 0 0 0.00

Compass 685 6 56.95

RAFOS 720 1 13.31

Transponder 171 30 63.52

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

10.1 10.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.7 21.90 9000.00 0.0 0.00 0.00 21.90 0.0 1.06 1.00

33.4 34.90 34.90 0.0 1.04 1.00 34.90 0.0 1.02 1.00

45.6 47.90 47.80 0.0 1.05 1.00 47.90 0.0 1.07 1.00

56.0 58.80 58.80 0.0 1.06 1.00 58.80 0.0 1.05 1.00

90.4 94.90 94.90 0.0 1.05 1.00 94.90 0.0 1.05 1.00

113.6 118.70 118.80 0.0 1.04 1.00 118.70 0.0 1.03 1.00

549.8 36.50 9000.00 0.0 -0.15 0.89 36.50 586.3 -0.19 1.00

562.4 21.30 9000.00 0.0 -0.20 0.99 21.30 583.7 -1.21 1.00

575.9 9.10 8.40 584.3 -1.05 0.99 9.10 585.0 -0.90 1.00

577.4 9.50 8.70 586.1 -0.84 0.99 0.00 0.0 0.00 0.00

562.0 23.60 23.50 0.0 -0.97 0.99 23.60 0.0 -0.92 1.00

550.6 40.70 39.30 0.0 -1.15 0.98 40.70 0.0 -1.50 1.00

184.5 191.50 9000.00 0.0 -0.43 1.00 191.50 0.0 -0.41 1.00

118.0 122.40 9000.00 0.0 -0.26 0.66 122.40 -4.4 1.04 1.00

106.3 110.70 110.50 -4.2 1.03 1.00 110.70 -4.4 1.00 1.00

95.0 98.60 98.80 -3.8 1.03 1.00 98.60 -3.6 1.07 1.00

84.5 87.60 87.60 -3.1 1.06 1.00 87.60 -3.1 1.05 1.00

72.9 75.80 75.70 -2.8 1.03 1.00 75.80 -2.9 1.02 1.00

61.6 64.20 64.20 -2.6 1.02 1.00 64.20 -2.6 1.03 1.00

51.4 53.50 53.50 -2.1 1.03 1.00 53.50 -2.1 1.05 1.00

40.7 42.00 42.00 -1.3 1.07 1.00 42.00 -1.3 1.07 1.00

28.2 29.10 29.00 -0.8 1.05 1.00 29.10 -0.9 1.03 1.00

17.9 18.20 18.20 -0.3 1.04 1.00 18.20 -0.3 1.06 1.00

7.2 7.30 7.20 0.0 1.04 1.00 7.30 -0.1 1.02 1.00

Guidance and control:

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.91 -107.1 2739 2789 3594 3600 0.0 0.0 0 21 0.00 0.00 -10.68 0.011 16390 0.000 0.000 2738 2788 3962 3954 3971 0 0 0 0 0 0 14.82 12.96 14.76

23 -0.91 -107.1 2740 2788 3958 3976 0.0 0.0 0 29 0.95 2.35 0.00 0.000 4612 0.126 0.049 2435 1385 3967 3959 3975 0 0 0 0 0 0 14.28 14.44 14.40

104 -0.91 -107.1 2435 1385 3965 3980 15.4 -7.9 12 111 0.00 2.58 0.00 0.000 1030 0.000 0.068 2435 2809 3972 3964 3980 0 0 0 0 0 0 14.51 14.36 14.56

469 -0.91 -107.1 2436 2810 3966 3980 54.5 -10.5 28 475 0.00 2.03 0.00 0.000 260 0.000 0.092 2433 3912 3972 3965 3980 0 0 0 0 0 0 14.87 14.23 14.87

637 -0.91 -107.1 2433 3912 3966 3981 72.9 -11.5 52 643 0.00 1.92 0.00 0.000 1030 0.000 0.048 2433 2785 3972 3965 3980 0 0 0 0 0 0 14.52 14.45 14.51

1002 -0.91 -107.1 2433 2786 3966 3982 113.6 -11.3 68 1007 0.00 2.38 0.00 0.000 516 0.000 0.049 2433 1392 3973 3965 3981 0 0 0 0 0 0 14.78 14.38 14.78

1049 -0.91 -107.1 2433 1392 3966 3981 119.4 -12.1 75 1057 0.00 2.58 0.00 0.000 1030 0.000 0.068 2432 2813 3973 3965 3981 0 0 0 0 0 0 14.49 14.34 14.54

1393 -0.91 -107.1 2432 2813 3966 3981 158.5 -12.1 88 1399 0.00 2.03 0.00 0.000 260 0.000 0.093 2426 3913 3973 3966 3981 0 0 0 0 0 0 14.77 14.22 14.77

1441 -0.91 -107.1 2428 3913 3966 3981 165.1 -13.5 95 1449 0.00 1.95 0.00 0.000 1030 0.000 0.048 2428 2784 3973 3965 3981 0 0 0 0 0 0 14.57 14.50 14.59

1814 -0.91 -107.1 2428 2785 3966 3982 210.5 -13.7 108 1815 0.00 0.00 0.00 0.000 6 0.000 0.000 2428 2784 3973 3965 3981 0 0 0 0 0 0 14.78 14.82 14.77

2149 -0.91 -107.1 2428 2784 3967 3981 250.0 -10.4 114 2150 0.00 0.00 0.00 0.000 6 0.000 0.000 2428 2784 3973 3965 3981 0 0 0 0 0 0 14.78 14.78 14.77

2485 -0.91 -107.1 2428 2784 3966 3981 284.2 -10.2 120 2486 0.00 0.00 0.00 0.000 6 0.000 0.000 2428 2784 3972 3965 3980 0 0 0 0 0 0 14.78 14.78 14.78

2821 -0.91 -107.1 2428 2785 3966 3982 319.6 -10.6 126 2822 0.00 0.00 0.00 0.000 6 0.000 0.000 2428 2784 3973 3965 3981 0 0 0 0 0 0 14.78 14.78 14.77

3157 -0.91 -107.1 2428 2785 3966 3982 351.2 -9.4 132 3163 0.00 2.42 0.00 0.000 516 0.000 0.050 2428 1395 3973 3966 3981 0 0 0 0 0 0 14.77 14.28 14.77

3198 -0.91 -107.1 2428 1396 3966 3982 355.2 -9.6 138 3205 0.00 2.58 0.00 0.000 1030 0.000 0.069 2427 2812 3973 3965 3981 0 0 0 0 0 0 14.47 14.33 14.53

3548 -0.91 -107.1 2428 2813 3966 3982 388.8 -9.7 146 3549 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 2812 3973 3965 3982 0 0 0 0 0 0 14.88 14.88 14.88

3884 -0.91 -107.1 2428 2813 3965 3982 419.6 -9.2 152 3885 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 2812 3973 3965 3981 0 0 0 0 0 0 14.91 14.91 14.91

4220 -0.91 -107.1 2428 2812 3967 3981 451.1 -9.4 158 4227 0.00 2.50 0.00 0.000 516 0.000 0.050 2428 1389 3973 3965 3981 0 0 0 0 0 0 14.89 14.33 14.88

4339 -0.91 -107.1 2428 1391 3966 3982 461.9 -8.5 175 4346 0.00 2.58 0.00 0.000 1030 0.000 0.070 2427 2804 3973 3965 3981 0 0 0 0 0 0 14.45 14.30 14.50

4725 -0.91 -107.1 2427 2804 3966 3982 494.7 -8.5 188 4726 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 2803 3973 3965 3981 0 0 0 0 0 0 14.76 14.76 14.77

5061 -0.91 -107.1 2428 2803 3967 3982 521.8 -8.1 194 5062 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 2803 3973 3965 3981 0 0 0 0 0 0 14.76 14.76 14.76

5397 -0.91 -107.1 2427 2805 3966 3983 549.8 -8.3 200 5398 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 2803 3973 3965 3981 0 0 0 0 0 0 14.76 14.76 14.76

5731 end dive: BOTTOM_OBSTACLE_DETECTED

state 5731 begin apogee

5736 -0.23 0.0 2428 2534 3967 3984 575.9 -7.9 206 5846 0.85 0.00 107.25 3.022 10246 0.230 0.000 2651 2533 3599 3600 3598 0 0 0 0 0 0 13.97 13.42 12.35

5847 end apogee: CONTROL_FINISHED_OK

state 5847 begin climb

5849 0.91 107.1 2652 2533 3602 3599 578.0 0.0 208 5978 1.27 0.00 124.43 2.937 10502 0.146 0.000 3017 2533 3171 3178 3165 0 0 0 0 0 0 13.54 13.12 11.95

6348 0.91 107.1 3017 2533 3167 3153 533.0 10.5 224 6355 0.00 2.62 0.00 0.000 260 0.000 0.092 3017 3915 3159 3166 3153 0 0 0 0 0 0 14.45 14.07 14.45

6376 0.91 107.1 3017 3915 3167 3153 529.6 12.1 228 6383 0.00 2.45 0.00 0.000 1030 0.000 0.053 3027 2537 3159 3166 3153 0 0 0 0 0 0 14.29 14.23 14.31

6741 0.91 107.1 3028 2537 3165 3151 489.5 11.1 238 6742 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 2538 3157 3163 3151 0 0 0 0 0 0 14.66 14.66 14.66

7077 0.91 107.1 3030 2538 3165 3151 454.2 10.4 244 7083 0.00 2.55 0.00 0.000 260 0.000 0.095 3027 3912 3157 3164 3150 0 0 0 0 0 0 14.73 14.30 14.73

7097 0.91 107.1 3028 3912 3165 3150 451.7 11.1 247 7104 0.00 2.40 0.00 0.000 1030 0.000 0.052 3038 2532 3156 3164 3149 0 0 0 0 0 0 14.55 14.50 14.59

7468 0.91 107.1 3036 2533 3164 3152 412.9 10.4 258 7475 0.00 2.47 0.00 0.000 516 0.000 0.065 3046 1147 3157 3164 3150 0 0 0 0 0 0 14.85 14.38 14.85

7580 0.91 107.1 3046 1147 3165 3150 401.9 9.7 274 7588 0.00 2.55 0.00 0.000 1030 0.000 0.068 3046 2565 3157 3164 3150 0 0 0 0 0 0 14.55 14.40 14.59

7974 0.91 107.1 3046 2565 3165 3150 361.8 10.2 288 7979 0.00 2.47 0.00 0.000 516 0.000 0.064 3054 1148 3156 3164 3149 0 0 0 0 0 0 14.80 14.39 14.80

8035 0.91 107.1 3055 1148 3165 3151 355.6 9.5 297 8044 0.15 2.53 0.00 0.000 5126 0.275 0.068 3022 2551 3156 3163 3150 0 0 0 0 0 0 14.10 14.42 14.47

8422 0.91 107.1 3022 2552 3164 3151 322.8 8.5 310 8427 0.00 2.45 0.00 0.000 516 0.000 0.063 3032 1146 3157 3164 3150 0 0 0 0 0 0 14.81 14.39 14.81

8504 0.91 107.1 3032 1146 3165 3150 315.6 8.6 322 8511 0.00 2.55 0.00 0.000 1030 0.000 0.068 3032 2564 3157 3164 3150 0 0 0 0 0 0 14.57 14.42 14.61

8869 0.91 107.1 3032 2565 3164 3154 284.0 8.7 332 8875 0.00 2.47 0.00 0.000 260 0.000 0.093 3032 3904 3156 3164 3148 0 0 0 0 0 0 14.81 14.31 14.81

8931 0.91 107.1 3032 3905 3165 3151 277.6 10.3 341 8939 0.00 2.38 0.00 0.000 1030 0.000 0.053 3042 2535 3156 3163 3150 0 0 0 0 0 0 14.62 14.54 14.64

9317 0.91 107.1 3043 2536 3164 3151 240.6 9.8 354 9318 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2535 3156 3163 3150 0 0 0 0 0 0 14.82 14.81 14.81

9653 0.91 107.1 3043 2535 3165 3150 207.4 9.8 360 9654 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2535 3156 3163 3150 0 0 0 0 0 0 14.81 14.81 14.81

9988 0.91 107.1 3042 2536 3164 3151 177.7 8.1 370 9989 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 2535 3156 3163 3150 0 0 0 0 0 0 14.92 14.92 14.92

10325 0.93 107.1 3043 2536 3164 3154 151.7 7.3 382 10331 0.00 2.55 0.00 0.000 324 0.000 0.094 3042 3909 3156 3162 3150 0 0 0 0 0 0 14.81 14.28 14.81

10359 0.93 107.1 3048 3909 3164 3149 148.8 8.9 387 10366 0.00 2.38 0.00 0.000 1030 0.000 0.053 3051 2541 3156 3162 3150 0 0 0 0 0 0 14.61 14.53 14.64

10716 0.93 107.1 3050 2542 3164 3151 119.0 8.5 402 10723 0.00 2.47 0.00 0.000 516 0.000 0.064 3060 1155 3156 3163 3150 0 0 0 0 0 0 14.91 14.35 14.90

10765 0.94 107.1 3060 1155 3164 3149 115.3 7.6 409 10774 0.00 2.53 0.00 0.000 1094 0.000 0.068 3060 2556 3155 3162 3149 0 0 0 0 0 0 14.53 14.39 14.58

11109 0.94 107.1 3060 2556 3165 3149 87.4 8.9 422 11115 0.00 2.50 0.00 0.000 260 0.000 0.094 3060 3904 3155 3162 3149 0 0 0 0 0 0 14.88 14.24 14.88

11185 0.94 107.1 3060 3904 3163 3148 79.1 10.9 433 11194 0.00 2.38 0.00 0.000 1030 0.000 0.054 3061 2543 3155 3162 3149 0 0 0 0 0 0 14.58 14.50 14.62

11529 0.94 107.1 3062 2543 3163 3149 46.5 8.6 446 11535 0.00 2.47 0.00 0.000 516 0.000 0.067 3061 1155 3155 3162 3148 0 0 0 0 0 0 14.88 14.25 14.88

11619 0.94 107.1 3061 1156 3162 3149 38.1 9.4 459 11626 0.00 2.53 0.00 0.000 1030 0.000 0.068 3061 2555 3155 3162 3148 0 0 0 0 0 0 14.51 14.37 14.56

11948 end climb: FINISH_DEPTH_REACHED

state 11948 begin subsurface finish

11952 0.01 6.4 3062 2556 3163 3149 7.9 8.9 473 11970 1.20 0.00 -14.80 0.010 20998 0.239 0.000 2745 2555 3578 3576 3581 0 0 0 0 0 0 13.97 12.83 14.21

11970 end subsurface finish: CONTROL_FINISHED_OK

state 11971 begin surface

ID	221	HD_A	0.00184	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0133	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	284	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	39	ALTIM_FREQUENCY	13
D_TGT	750	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	24	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	3
D_BOOST	110	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	150	COMM_SEQ	0	C_VBD	3600	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	300	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-7	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	2	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	10011800	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	6	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	0.079999998	PITCH_MIN	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2730	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	0
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	883

GPS1	190418,181424,-7349.0781,-11247.8193,0,3113.0,0,53.4,0.0,0.0,0,0.0	SPEED_LIMITS	0.083,0.174
_CALLS	3	TGT_NAME	hold5
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	10.03	MHEAD_RNG_PITCHd_Wd	103.9,29972,-17.0,-8.333,-25.60,1830
_SM_ANGLEo	1.3	D_GRID	750
GPS2	190418,181424,-7349.0781,-11247.8193,0,3113.0,0,53.4,0.0,0.0,0,0.0

FREEZE	7.88,-1.881,-1.871,2,63,0	ALTIM_BOTTOM_PING	575.9,8.4
FINISH1	7.9,1.027373,6	_24V_AH	11.95,92.149
FINISH2	7.0	_10V_AH	12.32,0.000
RAFOS_CLK	506	FG_AHR_24Vo	0.000
RAFOS	0,1524182510,0.032778,0.030556,111,65,59,57,52,52,360,216,1155,170,202,186	FG_AHR_10Vo	0.000
RAFOS_FIX	-7357.359375,-11152.669922,200418,000032,2,112,1.51	MEM	280700
IRIDIUM_FIX	-7402.95,-11228.77,030318,170928	DATA_FILE_SIZE	13449,476
TT8_MAMPS	0.03745,0.182007	CAP_FILE_SIZE	86189,0
HUMID	49.05	CFSIZE	1024409600,987840512
INTERNAL_PRESSURE	7.89012	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.90	SOUNDSPEED	1446.1
XPDR_PINGS	2	GPS	200418,000832,-7357.359,-11152.670,0,3112.5,0,53.4,0.0,0.0,0,0.0
ALTIM_TOP_PING	7.2,7.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	274	14.52	nil	0	0	0.00
Roll_motor	79	94	90.66	nil	0	0	0.00
VBD_pump_during_apogee	231	3021	8365.76	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	11934	2	309.18
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	25	420	126.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	10456	2	297.59
TT8_Active	412	10	55.18
TT8_Sampling	1080	30	404.01
TT8_CF8	104	51	66.06
TT8_Kalman	0	0	0.00
Analog_circuits	802	10	99.84
GPS_charging	0	0	0.00
Compass	685	6	56.95
RAFOS	720	1	13.31
Transponder	171	30	63.52

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
10.1	10.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.7	21.90	9000.00	0.0	0.00	0.00	21.90	0.0	1.06	1.00
33.4	34.90	34.90	0.0	1.04	1.00	34.90	0.0	1.02	1.00
45.6	47.90	47.80	0.0	1.05	1.00	47.90	0.0	1.07	1.00
56.0	58.80	58.80	0.0	1.06	1.00	58.80	0.0	1.05	1.00
90.4	94.90	94.90	0.0	1.05	1.00	94.90	0.0	1.05	1.00
113.6	118.70	118.80	0.0	1.04	1.00	118.70	0.0	1.03	1.00
549.8	36.50	9000.00	0.0	-0.15	0.89	36.50	586.3	-0.19	1.00
562.4	21.30	9000.00	0.0	-0.20	0.99	21.30	583.7	-1.21	1.00
575.9	9.10	8.40	584.3	-1.05	0.99	9.10	585.0	-0.90	1.00
577.4	9.50	8.70	586.1	-0.84	0.99	0.00	0.0	0.00	0.00

562.0	23.60	23.50	0.0	-0.97	0.99	23.60	0.0	-0.92	1.00
550.6	40.70	39.30	0.0	-1.15	0.98	40.70	0.0	-1.50	1.00
184.5	191.50	9000.00	0.0	-0.43	1.00	191.50	0.0	-0.41	1.00
118.0	122.40	9000.00	0.0	-0.26	0.66	122.40	-4.4	1.04	1.00
106.3	110.70	110.50	-4.2	1.03	1.00	110.70	-4.4	1.00	1.00
95.0	98.60	98.80	-3.8	1.03	1.00	98.60	-3.6	1.07	1.00
84.5	87.60	87.60	-3.1	1.06	1.00	87.60	-3.1	1.05	1.00
72.9	75.80	75.70	-2.8	1.03	1.00	75.80	-2.9	1.02	1.00
61.6	64.20	64.20	-2.6	1.02	1.00	64.20	-2.6	1.03	1.00
51.4	53.50	53.50	-2.1	1.03	1.00	53.50	-2.1	1.05	1.00
40.7	42.00	42.00	-1.3	1.07	1.00	42.00	-1.3	1.07	1.00
28.2	29.10	29.00	-0.8	1.05	1.00	29.10	-0.9	1.03	1.00
17.9	18.20	18.20	-0.3	1.04	1.00	18.20	-0.3	1.06	1.00
7.2	7.30	7.20	0.0	1.04	1.00	7.30	-0.1	1.02	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.91	-107.1	2739	2789	3594	3600	0.0	0.0	0	21	0.00	0.00	-10.68	0.011	16390	0.000	0.000	2738	2788	3962	3954	3971	0	0	0	0	0	0	14.82	12.96	14.76
23	-0.91	-107.1	2740	2788	3958	3976	0.0	0.0	0	29	0.95	2.35	0.00	0.000	4612	0.126	0.049	2435	1385	3967	3959	3975	0	0	0	0	0	0	14.28	14.44	14.40
104	-0.91	-107.1	2435	1385	3965	3980	15.4	-7.9	12	111	0.00	2.58	0.00	0.000	1030	0.000	0.068	2435	2809	3972	3964	3980	0	0	0	0	0	0	14.51	14.36	14.56
469	-0.91	-107.1	2436	2810	3966	3980	54.5	-10.5	28	475	0.00	2.03	0.00	0.000	260	0.000	0.092	2433	3912	3972	3965	3980	0	0	0	0	0	0	14.87	14.23	14.87
637	-0.91	-107.1	2433	3912	3966	3981	72.9	-11.5	52	643	0.00	1.92	0.00	0.000	1030	0.000	0.048	2433	2785	3972	3965	3980	0	0	0	0	0	0	14.52	14.45	14.51
1002	-0.91	-107.1	2433	2786	3966	3982	113.6	-11.3	68	1007	0.00	2.38	0.00	0.000	516	0.000	0.049	2433	1392	3973	3965	3981	0	0	0	0	0	0	14.78	14.38	14.78
1049	-0.91	-107.1	2433	1392	3966	3981	119.4	-12.1	75	1057	0.00	2.58	0.00	0.000	1030	0.000	0.068	2432	2813	3973	3965	3981	0	0	0	0	0	0	14.49	14.34	14.54
1393	-0.91	-107.1	2432	2813	3966	3981	158.5	-12.1	88	1399	0.00	2.03	0.00	0.000	260	0.000	0.093	2426	3913	3973	3966	3981	0	0	0	0	0	0	14.77	14.22	14.77
1441	-0.91	-107.1	2428	3913	3966	3981	165.1	-13.5	95	1449	0.00	1.95	0.00	0.000	1030	0.000	0.048	2428	2784	3973	3965	3981	0	0	0	0	0	0	14.57	14.50	14.59
1814	-0.91	-107.1	2428	2785	3966	3982	210.5	-13.7	108	1815	0.00	0.00	0.00	0.000	6	0.000	0.000	2428	2784	3973	3965	3981	0	0	0	0	0	0	14.78	14.82	14.77
2149	-0.91	-107.1	2428	2784	3967	3981	250.0	-10.4	114	2150	0.00	0.00	0.00	0.000	6	0.000	0.000	2428	2784	3973	3965	3981	0	0	0	0	0	0	14.78	14.78	14.77
2485	-0.91	-107.1	2428	2784	3966	3981	284.2	-10.2	120	2486	0.00	0.00	0.00	0.000	6	0.000	0.000	2428	2784	3972	3965	3980	0	0	0	0	0	0	14.78	14.78	14.78
2821	-0.91	-107.1	2428	2785	3966	3982	319.6	-10.6	126	2822	0.00	0.00	0.00	0.000	6	0.000	0.000	2428	2784	3973	3965	3981	0	0	0	0	0	0	14.78	14.78	14.77
3157	-0.91	-107.1	2428	2785	3966	3982	351.2	-9.4	132	3163	0.00	2.42	0.00	0.000	516	0.000	0.050	2428	1395	3973	3966	3981	0	0	0	0	0	0	14.77	14.28	14.77
3198	-0.91	-107.1	2428	1396	3966	3982	355.2	-9.6	138	3205	0.00	2.58	0.00	0.000	1030	0.000	0.069	2427	2812	3973	3965	3981	0	0	0	0	0	0	14.47	14.33	14.53
3548	-0.91	-107.1	2428	2813	3966	3982	388.8	-9.7	146	3549	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	2812	3973	3965	3982	0	0	0	0	0	0	14.88	14.88	14.88
3884	-0.91	-107.1	2428	2813	3965	3982	419.6	-9.2	152	3885	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	2812	3973	3965	3981	0	0	0	0	0	0	14.91	14.91	14.91
4220	-0.91	-107.1	2428	2812	3967	3981	451.1	-9.4	158	4227	0.00	2.50	0.00	0.000	516	0.000	0.050	2428	1389	3973	3965	3981	0	0	0	0	0	0	14.89	14.33	14.88
4339	-0.91	-107.1	2428	1391	3966	3982	461.9	-8.5	175	4346	0.00	2.58	0.00	0.000	1030	0.000	0.070	2427	2804	3973	3965	3981	0	0	0	0	0	0	14.45	14.30	14.50
4725	-0.91	-107.1	2427	2804	3966	3982	494.7	-8.5	188	4726	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	2803	3973	3965	3981	0	0	0	0	0	0	14.76	14.76	14.77
5061	-0.91	-107.1	2428	2803	3967	3982	521.8	-8.1	194	5062	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	2803	3973	3965	3981	0	0	0	0	0	0	14.76	14.76	14.76
5397	-0.91	-107.1	2427	2805	3966	3983	549.8	-8.3	200	5398	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	2803	3973	3965	3981	0	0	0	0	0	0	14.76	14.76	14.76
5731	end dive: BOTTOM_OBSTACLE_DETECTED
state	5731	begin apogee
5736	-0.23	0.0	2428	2534	3967	3984	575.9	-7.9	206	5846	0.85	0.00	107.25	3.022	10246	0.230	0.000	2651	2533	3599	3600	3598	0	0	0	0	0	0	13.97	13.42	12.35
5847	end apogee: CONTROL_FINISHED_OK
state	5847	begin climb
5849	0.91	107.1	2652	2533	3602	3599	578.0	0.0	208	5978	1.27	0.00	124.43	2.937	10502	0.146	0.000	3017	2533	3171	3178	3165	0	0	0	0	0	0	13.54	13.12	11.95
6348	0.91	107.1	3017	2533	3167	3153	533.0	10.5	224	6355	0.00	2.62	0.00	0.000	260	0.000	0.092	3017	3915	3159	3166	3153	0	0	0	0	0	0	14.45	14.07	14.45
6376	0.91	107.1	3017	3915	3167	3153	529.6	12.1	228	6383	0.00	2.45	0.00	0.000	1030	0.000	0.053	3027	2537	3159	3166	3153	0	0	0	0	0	0	14.29	14.23	14.31
6741	0.91	107.1	3028	2537	3165	3151	489.5	11.1	238	6742	0.00	0.00	0.00	0.000	6	0.000	0.000	3028	2538	3157	3163	3151	0	0	0	0	0	0	14.66	14.66	14.66
7077	0.91	107.1	3030	2538	3165	3151	454.2	10.4	244	7083	0.00	2.55	0.00	0.000	260	0.000	0.095	3027	3912	3157	3164	3150	0	0	0	0	0	0	14.73	14.30	14.73
7097	0.91	107.1	3028	3912	3165	3150	451.7	11.1	247	7104	0.00	2.40	0.00	0.000	1030	0.000	0.052	3038	2532	3156	3164	3149	0	0	0	0	0	0	14.55	14.50	14.59
7468	0.91	107.1	3036	2533	3164	3152	412.9	10.4	258	7475	0.00	2.47	0.00	0.000	516	0.000	0.065	3046	1147	3157	3164	3150	0	0	0	0	0	0	14.85	14.38	14.85
7580	0.91	107.1	3046	1147	3165	3150	401.9	9.7	274	7588	0.00	2.55	0.00	0.000	1030	0.000	0.068	3046	2565	3157	3164	3150	0	0	0	0	0	0	14.55	14.40	14.59
7974	0.91	107.1	3046	2565	3165	3150	361.8	10.2	288	7979	0.00	2.47	0.00	0.000	516	0.000	0.064	3054	1148	3156	3164	3149	0	0	0	0	0	0	14.80	14.39	14.80
8035	0.91	107.1	3055	1148	3165	3151	355.6	9.5	297	8044	0.15	2.53	0.00	0.000	5126	0.275	0.068	3022	2551	3156	3163	3150	0	0	0	0	0	0	14.10	14.42	14.47
8422	0.91	107.1	3022	2552	3164	3151	322.8	8.5	310	8427	0.00	2.45	0.00	0.000	516	0.000	0.063	3032	1146	3157	3164	3150	0	0	0	0	0	0	14.81	14.39	14.81
8504	0.91	107.1	3032	1146	3165	3150	315.6	8.6	322	8511	0.00	2.55	0.00	0.000	1030	0.000	0.068	3032	2564	3157	3164	3150	0	0	0	0	0	0	14.57	14.42	14.61
8869	0.91	107.1	3032	2565	3164	3154	284.0	8.7	332	8875	0.00	2.47	0.00	0.000	260	0.000	0.093	3032	3904	3156	3164	3148	0	0	0	0	0	0	14.81	14.31	14.81
8931	0.91	107.1	3032	3905	3165	3151	277.6	10.3	341	8939	0.00	2.38	0.00	0.000	1030	0.000	0.053	3042	2535	3156	3163	3150	0	0	0	0	0	0	14.62	14.54	14.64
9317	0.91	107.1	3043	2536	3164	3151	240.6	9.8	354	9318	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2535	3156	3163	3150	0	0	0	0	0	0	14.82	14.81	14.81
9653	0.91	107.1	3043	2535	3165	3150	207.4	9.8	360	9654	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2535	3156	3163	3150	0	0	0	0	0	0	14.81	14.81	14.81
9988	0.91	107.1	3042	2536	3164	3151	177.7	8.1	370	9989	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	2535	3156	3163	3150	0	0	0	0	0	0	14.92	14.92	14.92
10325	0.93	107.1	3043	2536	3164	3154	151.7	7.3	382	10331	0.00	2.55	0.00	0.000	324	0.000	0.094	3042	3909	3156	3162	3150	0	0	0	0	0	0	14.81	14.28	14.81
10359	0.93	107.1	3048	3909	3164	3149	148.8	8.9	387	10366	0.00	2.38	0.00	0.000	1030	0.000	0.053	3051	2541	3156	3162	3150	0	0	0	0	0	0	14.61	14.53	14.64
10716	0.93	107.1	3050	2542	3164	3151	119.0	8.5	402	10723	0.00	2.47	0.00	0.000	516	0.000	0.064	3060	1155	3156	3163	3150	0	0	0	0	0	0	14.91	14.35	14.90
10765	0.94	107.1	3060	1155	3164	3149	115.3	7.6	409	10774	0.00	2.53	0.00	0.000	1094	0.000	0.068	3060	2556	3155	3162	3149	0	0	0	0	0	0	14.53	14.39	14.58
11109	0.94	107.1	3060	2556	3165	3149	87.4	8.9	422	11115	0.00	2.50	0.00	0.000	260	0.000	0.094	3060	3904	3155	3162	3149	0	0	0	0	0	0	14.88	14.24	14.88
11185	0.94	107.1	3060	3904	3163	3148	79.1	10.9	433	11194	0.00	2.38	0.00	0.000	1030	0.000	0.054	3061	2543	3155	3162	3149	0	0	0	0	0	0	14.58	14.50	14.62
11529	0.94	107.1	3062	2543	3163	3149	46.5	8.6	446	11535	0.00	2.47	0.00	0.000	516	0.000	0.067	3061	1155	3155	3162	3148	0	0	0	0	0	0	14.88	14.25	14.88
11619	0.94	107.1	3061	1156	3162	3149	38.1	9.4	459	11626	0.00	2.53	0.00	0.000	1030	0.000	0.068	3061	2555	3155	3162	3148	0	0	0	0	0	0	14.51	14.37	14.56
11948	end climb: FINISH_DEPTH_REACHED
state	11948	begin subsurface finish
11952	0.01	6.4	3062	2556	3163	3149	7.9	8.9	473	11970	1.20	0.00	-14.80	0.010	20998	0.239	0.000	2745	2555	3578	3576	3581	0	0	0	0	0	0	13.97	12.83	14.21
11970	end subsurface finish: CONTROL_FINISHED_OK
state	11971	begin surface