Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 140 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 140 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 19 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 11 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 100 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 10 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 400 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 10 LOITER_W_DBAND 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 20 PITCH_MIN 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

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 53445 PITCH_MAXERRORS 1 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031257649 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 10

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 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 1

DIVE 140 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 19 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 11 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 400 MISSION 8 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 110218,181424,-7411.5557,-11228.0693,0,4113.7,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME ip2

_XMS_NAKs 0 TGT_LATLONG -7414.250,-11228.500

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 397.56 MHEAD_RNG_PITCHd_Wd 129.0,4995,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 4.0 D_GRID 990

GPS2 110218,181424,-7411.5557,-11228.0693,0,4113.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 399.37,-1.023,-2.174,2,2,0 _24V_AH 13.01,62.651

FINISH1 399.4,1.027459,2 _10V_AH 12.49,0.000

FINISH2 398.4 FG_AHR_24Vo 0.000

RAFOS_CLK 394 FG_AHR_10Vo 0.000

RAFOS 0,1518393659,0.032778,0.016389,184,67,59,58,58,56,573,214,194,180,163,223 MEM 280052

RAFOS_FIX -7414.831055,-11226.824219,120218,000056,3,136,0.28 DATA_FILE_SIZE 30026,912

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 CAP_FILE_SIZE 115092,0

TT8_MAMPS 0.040446,0.286867 CFSIZE 1024409600,1003667456

HUMID 48.03 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.63859 SOUNDSPEED 1459.0

TCM_TEMP 13.80 GPS 120218,001456,-7414.831,-11226.824,0,4135.7,0,53.5,0.0,0.0,0,0.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 257 14.71 nil 0 0 0.00

Roll_motor 93 223 272.82 nil 0 0 0.00

VBD_pump_during_apogee 1051 1334 18262.23 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 11056 5 719.34

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 42 420 230.86 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8067 2 232.76

TT8_Active 1049 12 160.80

TT8_Sampling 1909 31 757.10

TT8_CF8 95 45 53.69

TT8_Kalman 0 0 0.00

Analog_circuits 1806 10 230.17

GPS_charging 0 0 0.00

Compass 1306 7 122.18

RAFOS 720 1 13.49

Transponder 304 30 114.21

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

959.8 72.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

991.8 15.30 9000.00 0.0 0.00 0.00 15.30 0.0 -1.77 1.00

985.3 15.40 9000.00 0.0 -1.90 0.96 15.40 0.0 -0.02 1.00

979.0 13.40 9000.00 0.0 0.15 0.72 13.40 965.6 0.32 1.00

972.9 13.80 9000.00 0.0 0.13 0.61 13.80 0.0 -0.07 1.00

966.9 17.30 9000.00 0.0 -0.32 0.81 17.30 0.0 -0.58 1.00

960.7 20.60 9000.00 0.0 -0.56 1.00 20.60 0.0 -0.53 1.00

954.4 18.40 9000.00 0.0 -0.08 0.09 18.40 936.0 0.35 1.00

Guidance and control:

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -0.88 -146.0 2706 2489 2844 2619 0.0 0.0 0 11 0.00 0.00 -1.88 0.050 16390 0.000 0.000 2706 2488 3329 3461 3197 0 0 0 0 0 0 15.07 13.44 15.04

12 -0.88 -146.0 2706 2488 3459 3201 0.0 0.0 0 19 0.88 2.53 0.00 0.000 4612 0.118 0.121 2418 1084 3329 3454 3205 0 0 0 0 0 0 14.76 14.72 14.85

83 -0.88 -146.0 2417 1085 3446 3214 403.6 -9.2 14 89 0.00 2.70 0.00 0.000 1030 0.000 0.129 2411 2504 3329 3446 3213 0 0 0 0 0 0 14.92 14.69 14.95

394 -0.88 -146.0 2410 2504 3442 3218 437.1 -10.9 46 399 0.00 2.38 0.00 0.000 260 0.000 0.153 2401 3754 3328 3441 3216 0 0 0 0 0 0 15.05 14.71 15.08

427 -0.88 -146.0 2401 3755 3439 3219 441.2 -12.0 53 436 0.00 2.30 0.00 0.000 1030 0.000 0.103 2401 2490 3328 3438 3218 0 0 0 0 0 0 14.82 14.75 14.86

733 -0.88 -146.0 2401 2490 3439 3218 475.3 -11.1 84 739 0.00 2.47 0.00 0.000 260 0.000 0.156 2391 3757 3328 3438 3218 0 0 0 0 0 0 15.10 14.68 15.12

763 -0.88 -146.0 2392 3758 3437 3221 478.9 -12.4 90 769 0.00 2.30 0.00 0.000 1030 0.000 0.103 2392 2494 3328 3436 3220 0 0 0 0 0 0 14.82 14.74 14.87

1073 -0.88 -146.0 2392 2495 3437 3221 515.0 -11.7 122 1079 0.00 2.45 0.00 0.000 260 0.000 0.155 2382 3756 3328 3436 3220 0 0 0 0 0 0 15.09 14.67 15.12

1118 -0.88 -146.0 2384 3756 3436 3221 520.5 -12.4 131 1125 0.10 2.30 0.00 0.000 3078 0.257 0.103 2411 2492 3327 3435 3220 0 0 0 0 0 0 14.56 14.74 14.73

1423 -0.88 -146.0 2411 2493 3436 3222 552.2 -10.3 162 1424 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2492 3328 3435 3221 0 0 0 0 0 0 15.10 15.13 15.13

1723 -0.88 -146.0 2411 2492 3436 3221 583.8 -10.6 192 1729 0.00 2.45 0.00 0.000 260 0.000 0.155 2401 3751 3327 3434 3221 0 0 0 0 0 0 15.11 14.67 15.13

1768 -0.88 -146.0 2402 3753 3435 3222 588.8 -11.3 201 1776 0.00 2.28 0.00 0.000 1030 0.000 0.103 2402 2498 3331 3434 3229 0 0 0 0 0 0 14.82 14.74 14.86

2073 -0.88 -146.0 2399 2499 3435 3222 621.4 -10.7 232 2073 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2498 3327 3434 3221 0 0 0 0 0 0 15.11 15.14 15.13

2373 -0.88 -146.0 2402 2498 3435 3221 652.9 -10.4 262 2374 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2498 3327 3434 3221 0 0 0 0 0 0 15.11 15.14 15.14

2673 -0.88 -146.0 2402 2499 3434 3222 684.5 -10.5 292 2679 0.00 2.45 0.00 0.000 260 0.000 0.156 2393 3758 3327 3434 3221 0 0 0 0 0 0 15.11 14.67 15.14

2728 -0.88 -146.0 2394 3758 3435 3221 690.6 -11.3 303 2735 0.00 2.28 0.00 0.000 1030 0.000 0.101 2393 2503 3327 3433 3221 0 0 0 0 0 0 14.83 14.76 14.88

3034 -0.88 -146.0 2393 2504 3435 3221 723.4 -10.7 320 3034 0.00 0.00 0.00 0.000 6 0.000 0.000 2393 2503 3327 3433 3221 0 0 0 0 0 0 15.07 15.10 15.09

3395 -0.88 -146.0 2393 2503 3434 3221 761.0 -10.3 332 3400 0.00 2.40 0.00 0.000 260 0.000 0.156 2385 3763 3327 3434 3221 0 0 0 0 0 0 15.08 14.71 15.11

3438 -0.88 -146.0 2385 3763 3434 3222 766.1 -11.4 341 3446 0.10 2.30 0.00 0.000 3078 0.257 0.100 2412 2493 3327 3433 3221 0 0 0 0 0 0 14.59 14.78 14.76

3815 -0.88 -146.0 2412 2494 3434 3221 802.5 -9.7 356 3815 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2493 3327 3433 3221 0 0 0 0 0 0 15.13 15.16 15.16

4175 -0.88 -146.0 2413 2494 3434 3221 838.0 -9.8 368 4181 0.00 2.45 0.00 0.000 260 0.000 0.156 2403 3756 3327 3433 3221 0 0 0 0 0 0 15.14 14.66 15.16

4214 -0.88 -146.0 2404 3756 3433 3221 842.1 -10.5 376 4221 0.00 2.30 0.00 0.000 1030 0.000 0.102 2404 2487 3327 3433 3221 0 0 0 0 0 0 14.86 14.78 14.90

4595 -0.88 -146.0 2404 2488 3434 3222 879.8 -9.7 392 4596 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2487 3327 3433 3221 0 0 0 0 0 0 15.13 15.16 15.15

4955 -0.88 -146.0 2404 2487 3434 3222 913.8 -9.4 404 4955 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2487 3327 3433 3221 0 0 0 0 0 0 15.14 15.17 15.16

5315 -0.88 -146.0 2404 2487 3434 3221 947.9 -9.5 416 5320 0.00 2.45 0.00 0.000 260 0.000 0.155 2395 3754 3327 3433 3221 0 0 0 0 0 0 15.14 14.68 15.17

5345 -0.88 -146.0 2396 3754 3434 3221 950.9 -7.5 422 5352 0.00 2.28 0.00 0.000 1030 0.000 0.099 2395 2496 3326 3432 3221 0 0 0 0 0 0 14.86 14.78 14.91

5736 -0.88 -146.0 2395 2496 3434 3222 988.7 -9.5 440 5736 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2496 3327 3433 3221 0 0 0 0 0 0 15.14 15.17 15.16

5764 end dive: TARGET_DEPTH_EXCEEDED

state 5764 begin apogee

5768 -0.23 0.0 2395 2183 3434 3222 991.7 -9.4 441 6370 0.85 0.08 598.05 1.151 10246 0.226 0.223 2628 2209 2715 2773 2658 0 0 0 0 0 0 14.64 13.64 13.23

6372 end apogee: CONTROL_FINISHED_OK

state 6372 begin climb

6373 0.88 146.0 2629 2209 2771 2656 1000.2 0.0 461 6840 1.17 3.00 453.48 1.335 10500 0.131 0.145 2977 3617 2115 2154 2076 0 0 0 0 0 0 13.70 13.55 13.01

6964 0.88 146.0 2978 3618 2134 2053 935.3 14.3 576 6970 0.00 2.67 0.00 0.000 1030 0.000 0.099 2988 2203 2092 2133 2052 0 0 0 0 0 0 14.15 14.05 14.18

7349 0.88 146.0 2988 2202 2132 2049 883.5 13.4 593 7355 0.00 2.67 0.00 0.000 516 0.000 0.132 2999 783 2089 2130 2048 0 0 0 0 0 0 14.77 14.47 14.80

7399 0.88 146.0 2999 783 2130 2049 876.6 13.9 603 7405 0.00 2.70 0.00 0.000 1030 0.000 0.116 2999 2209 2088 2129 2048 0 0 0 0 0 0 14.59 14.50 14.63

7770 0.88 146.0 2999 2211 2130 2047 823.9 14.2 617 7771 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 2209 2087 2129 2046 0 0 0 0 0 0 14.91 14.95 14.93

8130 0.88 146.0 2999 2210 2129 2045 773.0 13.9 629 8135 0.00 2.65 0.00 0.000 516 0.000 0.129 3009 782 2086 2128 2045 0 0 0 0 0 0 14.99 14.71 15.02

8149 0.88 146.0 3010 783 2129 2045 770.0 14.2 633 8155 0.00 2.65 0.00 0.000 1030 0.000 0.115 3009 2208 2086 2128 2045 0 0 0 0 0 0 14.80 14.71 14.85

8520 0.88 146.0 3010 2208 2129 2044 716.7 14.1 647 8526 0.00 2.65 0.00 0.000 260 0.000 0.145 3009 3616 2086 2128 2044 0 0 0 0 0 0 15.07 14.73 15.09

8540 0.88 146.0 3010 3616 2129 2044 713.8 14.5 651 8546 0.10 2.60 0.00 0.000 5126 0.243 0.102 2980 2192 2085 2126 2044 0 0 0 0 0 0 14.65 14.76 14.89

8910 0.88 146.0 2980 2192 2128 2043 667.9 12.8 681 8916 0.00 2.62 0.00 0.000 516 0.000 0.132 2989 770 2084 2127 2042 0 0 0 0 0 0 15.08 14.75 15.11

8945 0.88 146.0 2990 770 2128 2042 663.3 13.2 688 8953 0.00 2.67 0.00 0.000 1030 0.000 0.116 2990 2210 2084 2127 2042 0 0 0 0 0 0 14.84 14.74 14.89

9251 0.88 146.0 2990 2210 2128 2043 624.1 12.5 719 9256 0.00 2.65 0.00 0.000 260 0.000 0.146 2990 3617 2084 2127 2042 0 0 0 0 0 0 15.04 14.74 15.07

9285 0.88 146.0 2990 3616 2128 2042 619.3 14.0 726 9293 0.00 2.60 0.00 0.000 1030 0.000 0.103 3000 2195 2088 2127 2050 0 0 0 0 0 0 14.85 14.78 14.90

9590 0.88 146.0 3000 2195 2128 2042 578.9 13.4 757 9596 0.00 2.65 0.00 0.000 516 0.000 0.132 3011 760 2084 2127 2042 0 0 0 0 0 0 15.09 14.74 15.12

9630 0.88 146.0 3011 760 2127 2042 573.4 13.9 765 9636 0.00 2.67 0.00 0.000 1030 0.000 0.117 3011 2201 2084 2127 2042 0 0 0 0 0 0 14.84 14.75 14.90

9940 0.88 146.0 3011 2202 2127 2043 531.3 13.0 797 9946 0.00 2.67 0.00 0.000 260 0.000 0.147 3011 3619 2083 2126 2041 0 0 0 0 0 0 15.10 14.74 15.12

9970 0.88 146.0 3012 3619 2127 2042 526.9 15.0 803 9976 0.17 2.60 0.00 0.000 5126 0.255 0.104 2982 2172 2084 2126 2042 0 0 0 0 0 0 14.66 14.78 14.90

10280 0.88 146.0 2982 2169 2127 2041 489.6 11.7 835 10286 0.00 2.75 0.00 0.000 260 0.000 0.148 2982 3619 2083 2126 2041 0 0 0 0 0 0 15.11 14.73 15.13

10295 0.88 146.0 2982 3620 2127 2042 487.7 12.4 838 10304 0.00 2.60 0.00 0.000 1030 0.000 0.103 2991 2193 2083 2126 2041 0 0 0 0 0 0 14.85 14.78 14.90

10600 0.88 146.0 2992 2192 2127 2042 450.3 12.1 869 10601 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2192 2083 2126 2041 0 0 0 0 0 0 15.10 15.13 15.13

10900 0.88 146.0 2992 2191 2127 2040 413.4 12.0 899 10901 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2192 2083 2126 2040 0 0 0 0 0 0 15.10 15.14 15.14

11019 end climb: FINISH_DEPTH_REACHED

state 11019 begin subsurface finish

11023 0.00 2.1 2992 2192 2127 2038 399.4 11.9 911 11032 1.02 0.00 -2.15 0.043 20486 0.204 0.000 2698 2190 2721 2837 2606 0 0 0 0 0 0 14.66 13.50 14.90

11033 end subsurface finish: CONTROL_FINISHED_OK

state 11033 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	140	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	19	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	11	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	100	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	10	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	400	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	10	LOITER_W_DBAND	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	20	PITCH_MIN	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
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	53445	PITCH_MAXERRORS	1	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	883

GPS1	110218,181424,-7411.5557,-11228.0693,0,4113.7,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	ip2
_XMS_NAKs	0	TGT_LATLONG	-7414.250,-11228.500
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	397.56	MHEAD_RNG_PITCHd_Wd	129.0,4995,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	4.0	D_GRID	990
GPS2	110218,181424,-7411.5557,-11228.0693,0,4113.7,0,53.5,0.0,0.0,0,0.0

FREEZE	399.37,-1.023,-2.174,2,2,0	_24V_AH	13.01,62.651
FINISH1	399.4,1.027459,2	_10V_AH	12.49,0.000
FINISH2	398.4	FG_AHR_24Vo	0.000
RAFOS_CLK	394	FG_AHR_10Vo	0.000
RAFOS	0,1518393659,0.032778,0.016389,184,67,59,58,58,56,573,214,194,180,163,223	MEM	280052
RAFOS_FIX	-7414.831055,-11226.824219,120218,000056,3,136,0.28	DATA_FILE_SIZE	30026,912
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	CAP_FILE_SIZE	115092,0
TT8_MAMPS	0.040446,0.286867	CFSIZE	1024409600,1003667456
HUMID	48.03	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.63859	SOUNDSPEED	1459.0
TCM_TEMP	13.80	GPS	120218,001456,-7414.831,-11226.824,0,4135.7,0,53.5,0.0,0.0,0,0.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	257	14.71	nil	0	0	0.00
Roll_motor	93	223	272.82	nil	0	0	0.00
VBD_pump_during_apogee	1051	1334	18262.23	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	11056	5	719.34
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	42	420	230.86	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8067	2	232.76
TT8_Active	1049	12	160.80
TT8_Sampling	1909	31	757.10
TT8_CF8	95	45	53.69
TT8_Kalman	0	0	0.00
Analog_circuits	1806	10	230.17
GPS_charging	0	0	0.00
Compass	1306	7	122.18
RAFOS	720	1	13.49
Transponder	304	30	114.21

		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
959.8	72.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00

991.8	15.30	9000.00	0.0	0.00	0.00	15.30	0.0	-1.77	1.00
985.3	15.40	9000.00	0.0	-1.90	0.96	15.40	0.0	-0.02	1.00
979.0	13.40	9000.00	0.0	0.15	0.72	13.40	965.6	0.32	1.00
972.9	13.80	9000.00	0.0	0.13	0.61	13.80	0.0	-0.07	1.00
966.9	17.30	9000.00	0.0	-0.32	0.81	17.30	0.0	-0.58	1.00
960.7	20.60	9000.00	0.0	-0.56	1.00	20.60	0.0	-0.53	1.00
954.4	18.40	9000.00	0.0	-0.08	0.09	18.40	936.0	0.35	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-0.88	-146.0	2706	2489	2844	2619	0.0	0.0	0	11	0.00	0.00	-1.88	0.050	16390	0.000	0.000	2706	2488	3329	3461	3197	0	0	0	0	0	0	15.07	13.44	15.04
12	-0.88	-146.0	2706	2488	3459	3201	0.0	0.0	0	19	0.88	2.53	0.00	0.000	4612	0.118	0.121	2418	1084	3329	3454	3205	0	0	0	0	0	0	14.76	14.72	14.85
83	-0.88	-146.0	2417	1085	3446	3214	403.6	-9.2	14	89	0.00	2.70	0.00	0.000	1030	0.000	0.129	2411	2504	3329	3446	3213	0	0	0	0	0	0	14.92	14.69	14.95
394	-0.88	-146.0	2410	2504	3442	3218	437.1	-10.9	46	399	0.00	2.38	0.00	0.000	260	0.000	0.153	2401	3754	3328	3441	3216	0	0	0	0	0	0	15.05	14.71	15.08
427	-0.88	-146.0	2401	3755	3439	3219	441.2	-12.0	53	436	0.00	2.30	0.00	0.000	1030	0.000	0.103	2401	2490	3328	3438	3218	0	0	0	0	0	0	14.82	14.75	14.86
733	-0.88	-146.0	2401	2490	3439	3218	475.3	-11.1	84	739	0.00	2.47	0.00	0.000	260	0.000	0.156	2391	3757	3328	3438	3218	0	0	0	0	0	0	15.10	14.68	15.12
763	-0.88	-146.0	2392	3758	3437	3221	478.9	-12.4	90	769	0.00	2.30	0.00	0.000	1030	0.000	0.103	2392	2494	3328	3436	3220	0	0	0	0	0	0	14.82	14.74	14.87
1073	-0.88	-146.0	2392	2495	3437	3221	515.0	-11.7	122	1079	0.00	2.45	0.00	0.000	260	0.000	0.155	2382	3756	3328	3436	3220	0	0	0	0	0	0	15.09	14.67	15.12
1118	-0.88	-146.0	2384	3756	3436	3221	520.5	-12.4	131	1125	0.10	2.30	0.00	0.000	3078	0.257	0.103	2411	2492	3327	3435	3220	0	0	0	0	0	0	14.56	14.74	14.73
1423	-0.88	-146.0	2411	2493	3436	3222	552.2	-10.3	162	1424	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2492	3328	3435	3221	0	0	0	0	0	0	15.10	15.13	15.13
1723	-0.88	-146.0	2411	2492	3436	3221	583.8	-10.6	192	1729	0.00	2.45	0.00	0.000	260	0.000	0.155	2401	3751	3327	3434	3221	0	0	0	0	0	0	15.11	14.67	15.13
1768	-0.88	-146.0	2402	3753	3435	3222	588.8	-11.3	201	1776	0.00	2.28	0.00	0.000	1030	0.000	0.103	2402	2498	3331	3434	3229	0	0	0	0	0	0	14.82	14.74	14.86
2073	-0.88	-146.0	2399	2499	3435	3222	621.4	-10.7	232	2073	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	2498	3327	3434	3221	0	0	0	0	0	0	15.11	15.14	15.13
2373	-0.88	-146.0	2402	2498	3435	3221	652.9	-10.4	262	2374	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	2498	3327	3434	3221	0	0	0	0	0	0	15.11	15.14	15.14
2673	-0.88	-146.0	2402	2499	3434	3222	684.5	-10.5	292	2679	0.00	2.45	0.00	0.000	260	0.000	0.156	2393	3758	3327	3434	3221	0	0	0	0	0	0	15.11	14.67	15.14
2728	-0.88	-146.0	2394	3758	3435	3221	690.6	-11.3	303	2735	0.00	2.28	0.00	0.000	1030	0.000	0.101	2393	2503	3327	3433	3221	0	0	0	0	0	0	14.83	14.76	14.88
3034	-0.88	-146.0	2393	2504	3435	3221	723.4	-10.7	320	3034	0.00	0.00	0.00	0.000	6	0.000	0.000	2393	2503	3327	3433	3221	0	0	0	0	0	0	15.07	15.10	15.09
3395	-0.88	-146.0	2393	2503	3434	3221	761.0	-10.3	332	3400	0.00	2.40	0.00	0.000	260	0.000	0.156	2385	3763	3327	3434	3221	0	0	0	0	0	0	15.08	14.71	15.11
3438	-0.88	-146.0	2385	3763	3434	3222	766.1	-11.4	341	3446	0.10	2.30	0.00	0.000	3078	0.257	0.100	2412	2493	3327	3433	3221	0	0	0	0	0	0	14.59	14.78	14.76
3815	-0.88	-146.0	2412	2494	3434	3221	802.5	-9.7	356	3815	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2493	3327	3433	3221	0	0	0	0	0	0	15.13	15.16	15.16
4175	-0.88	-146.0	2413	2494	3434	3221	838.0	-9.8	368	4181	0.00	2.45	0.00	0.000	260	0.000	0.156	2403	3756	3327	3433	3221	0	0	0	0	0	0	15.14	14.66	15.16
4214	-0.88	-146.0	2404	3756	3433	3221	842.1	-10.5	376	4221	0.00	2.30	0.00	0.000	1030	0.000	0.102	2404	2487	3327	3433	3221	0	0	0	0	0	0	14.86	14.78	14.90
4595	-0.88	-146.0	2404	2488	3434	3222	879.8	-9.7	392	4596	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2487	3327	3433	3221	0	0	0	0	0	0	15.13	15.16	15.15
4955	-0.88	-146.0	2404	2487	3434	3222	913.8	-9.4	404	4955	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2487	3327	3433	3221	0	0	0	0	0	0	15.14	15.17	15.16
5315	-0.88	-146.0	2404	2487	3434	3221	947.9	-9.5	416	5320	0.00	2.45	0.00	0.000	260	0.000	0.155	2395	3754	3327	3433	3221	0	0	0	0	0	0	15.14	14.68	15.17
5345	-0.88	-146.0	2396	3754	3434	3221	950.9	-7.5	422	5352	0.00	2.28	0.00	0.000	1030	0.000	0.099	2395	2496	3326	3432	3221	0	0	0	0	0	0	14.86	14.78	14.91
5736	-0.88	-146.0	2395	2496	3434	3222	988.7	-9.5	440	5736	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2496	3327	3433	3221	0	0	0	0	0	0	15.14	15.17	15.16
5764	end dive: TARGET_DEPTH_EXCEEDED
state	5764	begin apogee
5768	-0.23	0.0	2395	2183	3434	3222	991.7	-9.4	441	6370	0.85	0.08	598.05	1.151	10246	0.226	0.223	2628	2209	2715	2773	2658	0	0	0	0	0	0	14.64	13.64	13.23
6372	end apogee: CONTROL_FINISHED_OK
state	6372	begin climb
6373	0.88	146.0	2629	2209	2771	2656	1000.2	0.0	461	6840	1.17	3.00	453.48	1.335	10500	0.131	0.145	2977	3617	2115	2154	2076	0	0	0	0	0	0	13.70	13.55	13.01
6964	0.88	146.0	2978	3618	2134	2053	935.3	14.3	576	6970	0.00	2.67	0.00	0.000	1030	0.000	0.099	2988	2203	2092	2133	2052	0	0	0	0	0	0	14.15	14.05	14.18
7349	0.88	146.0	2988	2202	2132	2049	883.5	13.4	593	7355	0.00	2.67	0.00	0.000	516	0.000	0.132	2999	783	2089	2130	2048	0	0	0	0	0	0	14.77	14.47	14.80
7399	0.88	146.0	2999	783	2130	2049	876.6	13.9	603	7405	0.00	2.70	0.00	0.000	1030	0.000	0.116	2999	2209	2088	2129	2048	0	0	0	0	0	0	14.59	14.50	14.63
7770	0.88	146.0	2999	2211	2130	2047	823.9	14.2	617	7771	0.00	0.00	0.00	0.000	6	0.000	0.000	2999	2209	2087	2129	2046	0	0	0	0	0	0	14.91	14.95	14.93
8130	0.88	146.0	2999	2210	2129	2045	773.0	13.9	629	8135	0.00	2.65	0.00	0.000	516	0.000	0.129	3009	782	2086	2128	2045	0	0	0	0	0	0	14.99	14.71	15.02
8149	0.88	146.0	3010	783	2129	2045	770.0	14.2	633	8155	0.00	2.65	0.00	0.000	1030	0.000	0.115	3009	2208	2086	2128	2045	0	0	0	0	0	0	14.80	14.71	14.85
8520	0.88	146.0	3010	2208	2129	2044	716.7	14.1	647	8526	0.00	2.65	0.00	0.000	260	0.000	0.145	3009	3616	2086	2128	2044	0	0	0	0	0	0	15.07	14.73	15.09
8540	0.88	146.0	3010	3616	2129	2044	713.8	14.5	651	8546	0.10	2.60	0.00	0.000	5126	0.243	0.102	2980	2192	2085	2126	2044	0	0	0	0	0	0	14.65	14.76	14.89
8910	0.88	146.0	2980	2192	2128	2043	667.9	12.8	681	8916	0.00	2.62	0.00	0.000	516	0.000	0.132	2989	770	2084	2127	2042	0	0	0	0	0	0	15.08	14.75	15.11
8945	0.88	146.0	2990	770	2128	2042	663.3	13.2	688	8953	0.00	2.67	0.00	0.000	1030	0.000	0.116	2990	2210	2084	2127	2042	0	0	0	0	0	0	14.84	14.74	14.89
9251	0.88	146.0	2990	2210	2128	2043	624.1	12.5	719	9256	0.00	2.65	0.00	0.000	260	0.000	0.146	2990	3617	2084	2127	2042	0	0	0	0	0	0	15.04	14.74	15.07
9285	0.88	146.0	2990	3616	2128	2042	619.3	14.0	726	9293	0.00	2.60	0.00	0.000	1030	0.000	0.103	3000	2195	2088	2127	2050	0	0	0	0	0	0	14.85	14.78	14.90
9590	0.88	146.0	3000	2195	2128	2042	578.9	13.4	757	9596	0.00	2.65	0.00	0.000	516	0.000	0.132	3011	760	2084	2127	2042	0	0	0	0	0	0	15.09	14.74	15.12
9630	0.88	146.0	3011	760	2127	2042	573.4	13.9	765	9636	0.00	2.67	0.00	0.000	1030	0.000	0.117	3011	2201	2084	2127	2042	0	0	0	0	0	0	14.84	14.75	14.90
9940	0.88	146.0	3011	2202	2127	2043	531.3	13.0	797	9946	0.00	2.67	0.00	0.000	260	0.000	0.147	3011	3619	2083	2126	2041	0	0	0	0	0	0	15.10	14.74	15.12
9970	0.88	146.0	3012	3619	2127	2042	526.9	15.0	803	9976	0.17	2.60	0.00	0.000	5126	0.255	0.104	2982	2172	2084	2126	2042	0	0	0	0	0	0	14.66	14.78	14.90
10280	0.88	146.0	2982	2169	2127	2041	489.6	11.7	835	10286	0.00	2.75	0.00	0.000	260	0.000	0.148	2982	3619	2083	2126	2041	0	0	0	0	0	0	15.11	14.73	15.13
10295	0.88	146.0	2982	3620	2127	2042	487.7	12.4	838	10304	0.00	2.60	0.00	0.000	1030	0.000	0.103	2991	2193	2083	2126	2041	0	0	0	0	0	0	14.85	14.78	14.90
10600	0.88	146.0	2992	2192	2127	2042	450.3	12.1	869	10601	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2192	2083	2126	2041	0	0	0	0	0	0	15.10	15.13	15.13
10900	0.88	146.0	2992	2191	2127	2040	413.4	12.0	899	10901	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2192	2083	2126	2040	0	0	0	0	0	0	15.10	15.14	15.14
11019	end climb: FINISH_DEPTH_REACHED
state	11019	begin subsurface finish
11023	0.00	2.1	2992	2192	2127	2038	399.4	11.9	911	11032	1.02	0.00	-2.15	0.043	20486	0.204	0.000	2698	2190	2721	2837	2606	0	0	0	0	0	0	14.66	13.50	14.90
11033	end subsurface finish: CONTROL_FINISHED_OK
state	11033	begin surface