Glider dive log

SOSCEx 27Sep18 * SG573 * Dive index * Mission links * Dive 22 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_C 9.8500004e-06 C_ROLL_DIVE 1987 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 23 HEADING 125 C_ROLL_CLIMB 1987 ALTIM_TOP_TURN_MARGIN 0

DIVE 22 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 37 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 39 ALTIM_PULSE 3

D_TGT 600 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 2

D_ABORT 1050 SM_CC 532.59473 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 5 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT -0.85000002

D_FINISH 10 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2812 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 2 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_DIVE 200 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 215 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 240 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_LOITER 0 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 17

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 310 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 139 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3926 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2490 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0043368991

MAX_BUOY 150 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00062533951

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.3700677e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.5956786e-06

SPEED_FACTOR 1 PITCH_GAIN 27 PHONE_SUPPLY 2 SEABIRD_C_G -9.9432478

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -167.59918 SEABIRD_C_H 1.1588655

MASS 52619 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.00010902 SEABIRD_C_I -0.0013646155

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00018066024

NAV_MODE 0 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 167 COMPASS_USE 4 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3807 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 3 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 310 D_TGT 600 PITCH_AD_RATE 125 SM_CC 532.59473

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 27 STROBE 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_MAX 3926 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 139 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4743.3999

APOGEE_PITCH -5 HD_B 0.0101 PRESSURE_SLOPE 0.00010902 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -167.59918 T_ABORT 240

CALL_TRIES 5 HEADING 125 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 200

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 ID 573 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 215

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.85000002 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 4 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2490 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1987 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1987 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2812 MASS 52619 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3807 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 167 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 37 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 39 VBD_MAX 3960

DEVICE5 -1 MISSION 23 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 600

DIVE 22 NAV_MODE 0 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 NOCOMM_ACTION 259 SEABIRD_C_G -9.9432478 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 5 N_DIVES 0 SEABIRD_C_H 1.1588655 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0013646155 W_ADJ_DBAND 0

D_FINISH 10 N_GPS 100840 SEABIRD_C_J 0.00018066024 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_G 0.0043368991 XPDR_INHIBIT 90

D_NO_BLEED 29 N_NOSURFACE 2 SEABIRD_T_H 0.00062533951 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.3700677e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.5956786e-06

Pre-dive calculations and measurements:

GPS1 061018,135835,-2945.6289,3144.6160,21,1.1,22,-24.7,0.8,204.1,9,8.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -2952.193,3154.503

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.01 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -64.2 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 061018,141006,-2945.9988,3144.3015,17,0.7,18,-24.8,1.0,214.2,12,9.7 MHEAD_RNG_PITCHd_Wd 149.8,20000,-18.3,-10.000,-21.04,2236

SPEED_LIMITS 0.173,0.260 D_GRID 600

Post-dive calculations and measurements:

FINISH1 9.4,1.024174,166 _24V_AH 13.84,52.591

FINISH2 7.7 _10V_AH 13.80,0.000

IRIDIUM_FIX -2930.19,3145.07,061018,124232 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.957222 FG_AHR_10Vo 0.000

HUMID 55.11 MEM 339744

INTERNAL_PRESSURE 9.25781 DATA_FILE_SIZE 23460,688

TCM_TEMP 25.20 CAP_FILE_SIZE 136559,0

XPDR_PINGS 0 CFSIZE 1023623168,1018249216

ALTIM_TOP_PING 19.5,19.2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 220.7,6.9 GPS 061018,141006,-2945.999,3144.302,17,0.7,18,-24.8,1.0,214.2,12,9.7

SC_FREEKB 3911360

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 286 63.55 nil 0 0 0.00

Roll_motor 109 94 142.31 nil 0 0 0.00

VBD_pump_during_apogee 294 1207 4911.93 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 24 32 11.24 nil 0 0 0.00

Iridium_during_connect 19 160 42.83 SciCon 3813 33 1760.21

Iridium_during_xfer 442 223 1366.92 nil 0 0 0.00

Transponder_ping 4 420 23.25 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 23 6.36

TT8 1491 8 176.41

LPSleep 644 2 19.47

TT8_Active 508 8 60.13

TT8_Sampling 1658 28 641.93

TT8_CF8 148 41 84.97

TT8_Kalman 0 0 0.00

Analog_circuits 1164 12 199.30

GPS_charging 0 0 0.00

Compass 1034 17 246.08

RAFOS 0 0 0.00

Transponder 28 30 11.91

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.86 -146.0 98 1982 618 640 0.0 0.0 0 104 0.00 0.00 -82.18 0.000 16386 0.000 0.000 92 1983 2962 2979 2945 0 0 0 0 0 0 15.12 28.83 15.13

107 -0.86 -146.0 92 1983 2979 2945 3.2 -6.5 15 137 11.90 2.35 -8.55 0.000 18948 0.285 0.086 2203 586 3409 3452 3366 0 0 0 0 0 0 14.73 13.84 14.88

189 -0.86 -146.0 2203 586 3453 3366 20.7 -15.1 30 196 0.00 2.30 0.00 0.000 3078 0.000 0.048 2198 1988 3409 3453 3366 0 0 0 0 0 0 14.97 14.89 14.98

259 -0.86 -146.0 2200 1988 3448 3366 31.5 -15.5 43 265 0.00 2.35 0.00 0.000 2308 0.000 0.069 2200 3396 3409 3453 3366 0 0 0 0 0 0 15.18 14.88 15.18

327 -0.86 -146.0 2199 3396 3453 3366 42.2 -15.1 56 334 0.00 2.30 0.00 0.000 3078 0.000 0.040 2200 1981 3409 3453 3365 0 0 0 0 0 0 15.08 14.99 15.09

397 -0.86 -146.0 2200 1981 3457 3366 53.0 -16.3 69 403 0.00 0.00 0.00 0.000 2054 0.000 0.000 2200 1981 3409 3453 3366 0 0 0 0 0 0 15.21 15.21 15.21

464 -0.86 -146.0 2199 1981 3453 3366 64.5 -16.5 82 471 0.00 2.38 0.00 0.000 2308 0.000 0.066 2193 3391 3409 3453 3366 0 0 0 0 0 0 15.21 14.92 15.21

503 -0.86 -146.0 2193 3391 3453 3366 70.9 -16.0 89 510 0.08 2.28 0.00 0.000 3078 0.280 0.041 2210 1981 3409 3453 3366 0 0 0 0 0 0 14.88 15.01 15.04

574 -0.86 -146.0 2209 1980 3453 3366 81.8 -15.6 102 580 0.00 0.00 0.00 0.000 2054 0.000 0.000 2210 1980 3407 3449 3366 0 0 0 0 0 0 15.22 15.23 15.23

641 -0.86 -146.0 2210 1980 3461 3365 92.2 -15.0 115 648 0.00 2.38 0.00 0.000 2308 0.000 0.067 2202 3393 3409 3453 3366 0 0 0 0 0 0 15.23 14.99 15.23

664 -0.86 -146.0 2202 3393 3453 3369 95.9 -15.3 119 671 0.00 2.30 0.00 0.000 3078 0.000 0.041 2202 1980 3409 3453 3366 0 0 0 0 0 0 15.03 14.96 15.04

734 -0.86 -146.0 2201 1979 3453 3366 107.2 -16.3 132 740 0.00 2.33 0.00 0.000 2564 0.000 0.070 2202 582 3409 3453 3366 0 0 0 0 0 0 15.23 14.92 15.23

757 -0.86 -146.0 2202 584 3453 3366 111.4 -18.7 136 763 0.00 2.28 0.00 0.000 3078 0.000 0.048 2200 1988 3409 3453 3366 0 0 0 0 0 0 15.11 15.02 15.13

826 -0.86 -146.0 2199 1988 3453 3366 121.3 -14.8 149 832 0.00 2.35 0.00 0.000 2308 0.000 0.071 2200 3394 3409 3453 3366 0 0 0 0 0 0 15.24 14.98 15.24

910 -0.86 -146.0 2200 3394 3452 3365 130.7 -10.1 165 916 0.00 2.28 0.00 0.000 3078 0.000 0.040 2200 1983 3409 3453 3366 0 0 0 0 0 0 15.05 14.95 15.07

979 -0.86 -146.0 2200 1981 3453 3366 138.3 -11.1 178 985 0.00 2.33 0.00 0.000 2564 0.000 0.067 2200 574 3409 3453 3366 0 0 0 0 0 0 15.24 14.93 15.24

1007 -0.86 -146.0 2200 575 3451 3366 141.7 -12.5 183 1014 0.00 2.30 0.00 0.000 3078 0.000 0.048 2200 1996 3409 3453 3366 0 0 0 0 0 0 15.12 15.03 15.13

1078 -0.86 -146.0 2200 1996 3453 3366 149.1 -11.5 196 1085 0.00 2.33 0.00 0.000 2308 0.000 0.070 2200 3394 3409 3453 3366 0 0 0 0 0 0 15.23 15.00 15.24

1127 -0.86 -146.0 2200 3394 3453 3366 155.5 -11.7 205 1134 0.00 2.28 0.00 0.000 3078 0.000 0.039 2200 1983 3409 3453 3366 0 0 0 0 0 0 15.13 15.04 15.14

1197 -0.86 -146.0 2200 1983 3453 3366 163.7 -12.4 218 1203 0.00 0.00 0.00 0.000 2054 0.000 0.000 2200 1983 3409 3453 3366 0 0 0 0 0 0 15.24 15.25 15.25

1266 -0.86 -146.0 2200 1983 3453 3366 173.1 -13.2 231 1273 0.00 2.33 0.00 0.000 2564 0.000 0.067 2200 580 3409 3453 3366 0 0 0 0 0 0 15.25 15.00 15.26

1285 -0.86 -146.0 2198 580 3453 3366 175.8 -14.7 234 1292 0.08 2.30 0.00 0.000 3078 0.280 0.047 2211 1990 3409 3453 3366 0 0 0 0 0 0 14.85 14.97 15.02

1354 -0.86 -146.0 2211 1990 3453 3366 184.8 -13.1 247 1360 0.00 2.33 0.00 0.000 2308 0.000 0.070 2206 3392 3409 3453 3366 0 0 0 0 0 0 15.24 14.92 15.24

1407 -0.86 -146.0 2206 3392 3453 3366 191.6 -11.7 257 1414 0.00 2.30 0.00 0.000 3078 0.000 0.040 2206 1975 3409 3453 3366 0 0 0 0 0 0 15.12 15.02 15.14

1477 -0.86 -146.0 2206 1975 3453 3366 199.5 -12.1 270 1483 0.00 0.00 0.00 0.000 2054 0.000 0.000 2206 1975 3409 3453 3366 0 0 0 0 0 0 15.24 15.24 15.24

1545 -0.86 -146.0 2205 1975 3453 3366 208.0 -11.9 283 1552 0.00 0.00 0.00 0.000 2054 0.000 0.000 2206 1975 3409 3453 3366 0 0 0 0 0 0 15.25 15.24 15.26

1616 -0.86 -146.0 2206 1975 3453 3365 215.8 -11.3 296 1623 0.00 2.30 0.00 0.000 2564 0.000 0.068 2206 585 3409 3453 3366 0 0 0 0 0 0 15.26 15.00 15.26

1640 -0.86 -146.0 2205 585 3453 3366 218.6 -11.5 300 1646 0.00 2.28 0.00 0.000 3078 0.000 0.048 2206 1987 3409 3453 3366 0 0 0 0 0 0 15.06 14.97 15.09

1661 end dive: BOTTOM_OBSTACLE_DETECTED

state 1661 begin apogee

1665 -0.19 0.0 2206 1988 3453 3366 220.7 -11.3 303 1782 1.05 0.00 107.53 1.207 10246 0.149 0.000 2422 1988 2811 2845 2778 0 0 0 0 0 0 14.92 14.54 14.15

1783 end apogee: CONTROL_FINISHED_OK

state 1783 begin climb

1785 0.86 146.0 2423 1988 2845 2778 224.9 0.0 324 1907 1.55 2.42 109.82 1.193 10756 0.060 0.064 2787 589 2214 2254 2174 0 0 0 0 0 0 14.68 14.52 14.07

1929 0.86 151.5 2787 589 2249 2174 221.6 9.7 349 1943 0.08 2.33 5.50 0.902 13318 0.286 0.044 2773 1996 2193 2232 2154 0 0 0 0 0 0 14.57 14.67 14.15

2005 0.86 151.5 2773 1996 2230 2152 212.5 11.9 363 2011 0.00 2.35 0.00 0.000 4356 0.000 0.064 2773 3393 2190 2230 2151 0 0 0 0 0 0 14.97 14.76 14.97

2048 0.86 151.5 2770 3394 2230 2152 207.3 13.2 371 2054 0.00 2.30 0.00 0.000 5126 0.000 0.042 2781 1994 2190 2229 2151 0 0 0 0 0 0 14.92 14.83 14.94

2117 0.86 151.5 2780 1994 2230 2150 198.1 12.8 384 2124 0.00 2.40 0.00 0.000 4612 0.000 0.070 2791 567 2189 2229 2150 0 0 0 0 0 0 15.09 14.86 15.09

2191 0.86 151.5 2790 567 2228 2150 189.5 11.7 398 2199 0.10 2.33 0.00 0.000 5126 0.265 0.044 2771 1998 2189 2228 2150 0 0 0 0 0 0 14.79 14.92 14.94

2260 0.87 161.3 2771 1998 2227 2150 182.5 9.5 411 2279 0.00 2.35 8.75 1.017 8452 0.000 0.066 2771 3388 2153 2192 2114 0 0 0 0 0 0 15.14 14.90 14.41

2301 0.87 161.3 2770 3388 2191 2113 178.4 10.2 418 2308 0.00 2.30 0.00 0.000 5126 0.000 0.042 2778 1981 2152 2191 2113 0 0 0 0 0 0 14.96 14.88 14.97

2371 0.92 196.0 2779 1981 2191 2116 172.3 8.4 431 2405 0.00 2.38 28.08 1.127 10500 0.000 0.063 2779 3390 2013 2056 1970 0 0 0 0 0 0 15.15 14.72 14.33

2412 0.93 209.4 2779 3390 2054 1964 168.4 9.4 438 2430 0.00 2.33 11.90 1.037 9222 0.000 0.044 2787 1978 1956 2004 1909 0 0 0 0 0 0 14.91 14.84 14.33

2492 0.93 209.4 2787 1978 2001 1904 159.2 12.3 453 2499 0.00 2.35 0.00 0.000 516 0.000 0.072 2787 576 1952 2000 1905 0 0 0 0 0 0 15.05 14.83 15.06

2527 0.93 209.4 2786 576 1999 1905 154.9 12.3 459 2534 0.00 2.30 0.00 0.000 1030 0.000 0.044 2788 1990 1951 1998 1905 0 0 0 0 0 0 14.97 14.90 14.98

2597 0.93 209.4 2787 1986 1998 1904 145.6 13.2 472 2603 0.00 2.35 0.00 0.000 260 0.000 0.067 2787 3386 1951 1998 1904 0 0 0 0 0 0 15.12 14.88 15.12

2670 0.93 209.4 2787 3386 1998 1904 135.0 14.1 486 2677 0.00 2.30 0.00 0.000 1030 0.000 0.045 2788 1980 1950 1996 1904 0 0 0 0 0 0 14.97 14.90 14.98

2740 0.93 209.4 2787 1980 1998 1903 126.3 12.7 499 2746 0.00 2.33 0.00 0.000 516 0.000 0.072 2787 583 1950 1997 1903 0 0 0 0 0 0 15.17 14.94 15.18

2773 0.93 209.4 2787 583 1997 1903 121.8 13.6 505 2780 0.00 2.28 0.00 0.000 1030 0.000 0.044 2788 1992 1950 1997 1903 0 0 0 0 0 0 15.06 14.99 15.07

2843 0.93 209.4 2787 1992 1997 1903 113.6 10.8 518 2849 0.00 2.35 0.00 0.000 260 0.000 0.066 2787 3399 1950 1996 1904 0 0 0 0 0 0 15.19 14.97 15.19

2861 0.93 209.4 2787 3398 1996 1903 111.5 10.4 521 2868 0.00 2.30 0.00 0.000 5126 0.000 0.044 2797 1983 1949 1996 1903 0 0 0 0 0 0 15.05 14.96 15.06

2931 0.93 209.4 2797 1982 1996 1903 104.1 10.9 534 2937 0.00 0.00 0.00 0.000 4102 0.000 0.000 2797 1982 1949 1996 1902 0 0 0 0 0 0 15.20 15.20 15.21

2999 0.93 209.4 2796 1983 1996 1902 97.2 10.4 547 3004 0.00 0.00 0.00 0.000 4102 0.000 0.000 2802 1983 1949 1996 1902 0 0 0 0 0 0 15.21 15.21 15.21

3066 0.95 226.3 2797 1982 1996 1902 90.3 9.2 560 3084 0.00 0.00 13.25 0.985 8198 0.000 0.000 2797 1983 1888 1936 1841 0 0 0 0 0 0 15.21 14.97 14.49

3148 0.97 235.8 2796 1982 1933 1839 83.0 9.6 575 3160 0.00 0.00 9.18 0.963 8198 0.000 0.000 2797 1982 1849 1897 1802 0 0 0 0 0 0 15.18 14.95 14.47

3223 0.97 235.8 2797 1983 1895 1797 75.2 10.7 589 3229 0.00 2.35 0.00 0.000 260 0.000 0.066 2795 3388 1846 1895 1797 0 0 0 0 0 0 15.15 14.94 15.15

3241 0.97 235.8 2796 3388 1895 1797 72.9 11.3 592 3248 0.00 2.30 0.00 0.000 1030 0.000 0.045 2797 1987 1845 1895 1796 0 0 0 0 0 0 15.02 14.94 15.03

3311 0.97 235.8 2797 1985 1894 1796 65.4 11.0 605 3317 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 1985 1845 1894 1796 0 0 0 0 0 0 15.18 15.18 15.18

3378 0.97 235.8 2797 1985 1894 1796 57.8 11.8 618 3385 0.00 2.33 0.00 0.000 260 0.000 0.064 2798 3388 1844 1893 1796 0 0 0 0 0 0 15.19 14.97 15.20

3397 0.97 235.8 2797 3389 1893 1796 55.1 14.4 621 3404 0.00 2.33 0.00 0.000 5126 0.000 0.044 2807 1974 1845 1894 1796 0 0 0 0 0 0 15.09 14.99 15.09

3467 0.97 235.8 2807 1974 1893 1796 46.1 13.0 634 3472 0.00 0.00 0.00 0.000 4102 0.000 0.000 2807 1974 1844 1893 1796 0 0 0 0 0 0 15.21 15.21 15.21

3534 0.97 235.8 2807 1974 1893 1795 37.3 13.2 647 3540 0.00 0.00 0.00 0.000 4102 0.000 0.000 2807 1974 1844 1893 1796 0 0 0 0 0 0 15.21 15.23 15.21

3602 0.97 235.8 2807 1974 1893 1795 27.9 13.0 660 3609 0.00 2.38 0.00 0.000 4356 0.000 0.065 2807 3387 1844 1893 1796 0 0 0 0 0 0 15.22 14.99 15.23

3726 0.97 235.8 2807 3387 1892 1796 11.2 14.5 684 3733 0.00 2.28 0.00 0.000 5126 0.000 0.044 2807 1988 1843 1892 1795 0 0 0 0 0 0 15.08 14.99 15.09

3738 end climb: FINISH_DEPTH_REACHED

state 3738 begin subsurface finish

3743 0.20 166.3 2807 1988 1892 1795 9.4 14.4 686 3757 1.23 2.40 -6.47 0.000 20996 0.171 0.094 2561 583 2136 2193 2080 0 0 0 0 0 0 14.90 13.91 15.00

3758 end subsurface finish: CONTROL_FINISHED_OK

state 3758 begin surface

ID	573	HD_C	9.8500004e-06	C_ROLL_DIVE	1987	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	23	HEADING	125	C_ROLL_CLIMB	1987	ALTIM_TOP_TURN_MARGIN	0
DIVE	22	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	37	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	39	ALTIM_PULSE	3
D_TGT	600	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	2
D_ABORT	1050	SM_CC	532.59473	ROLL_MAXERRORS	1	XPDR_VALID	2
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	5	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	600	INT_PRESSURE_YINT	-0.85000002
D_FINISH	10	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2812	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE2	-1
SURFACE_URGENCY	0	N_NOSURFACE	2	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_DIVE	200	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	215	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	240	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_LOITER	0	T_RSLEEP	2	DBDW	0	COMPASS_DEVICE	17
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	310	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	139	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3926	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2490	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0043368991
MAX_BUOY	150	PITCH_CNV	0.003125763	MAXI_10V	2	SEABIRD_T_H	0.00062533951
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.3700677e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.5956786e-06
SPEED_FACTOR	1	PITCH_GAIN	27	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9432478
RHO	1.0275	PITCH_TIMEOUT	25	PRESSURE_YINT	-167.59918	SEABIRD_C_H	1.1588655
MASS	52619	PITCH_AD_RATE	125	PRESSURE_SLOPE	0.00010902	SEABIRD_C_I	-0.0013646155
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00018066024
NAV_MODE	0	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	167	COMPASS_USE	4	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3807	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	20

GPS1	061018,135835,-2945.6289,3144.6160,21,1.1,22,-24.7,0.8,204.1,9,8.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-2952.193,3154.503
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.01	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-64.2	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	061018,141006,-2945.9988,3144.3015,17,0.7,18,-24.8,1.0,214.2,12,9.7	MHEAD_RNG_PITCHd_Wd	149.8,20000,-18.3,-10.000,-21.04,2236
SPEED_LIMITS	0.173,0.260	D_GRID	600

FINISH1	9.4,1.024174,166	_24V_AH	13.84,52.591
FINISH2	7.7	_10V_AH	13.80,0.000
IRIDIUM_FIX	-2930.19,3145.07,061018,124232	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.957222	FG_AHR_10Vo	0.000
HUMID	55.11	MEM	339744
INTERNAL_PRESSURE	9.25781	DATA_FILE_SIZE	23460,688
TCM_TEMP	25.20	CAP_FILE_SIZE	136559,0
XPDR_PINGS	0	CFSIZE	1023623168,1018249216
ALTIM_TOP_PING	19.5,19.2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	220.7,6.9	GPS	061018,141006,-2945.999,3144.302,17,0.7,18,-24.8,1.0,214.2,12,9.7
SC_FREEKB	3911360

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	286	63.55	nil	0	0	0.00
Roll_motor	109	94	142.31	nil	0	0	0.00
VBD_pump_during_apogee	294	1207	4911.93	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	24	32	11.24	nil	0	0	0.00
Iridium_during_connect	19	160	42.83	SciCon	3813	33	1760.21
Iridium_during_xfer	442	223	1366.92	nil	0	0	0.00
Transponder_ping	4	420	23.25	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	23	6.36
TT8	1491	8	176.41
LPSleep	644	2	19.47
TT8_Active	508	8	60.13
TT8_Sampling	1658	28	641.93
TT8_CF8	148	41	84.97
TT8_Kalman	0	0	0.00
Analog_circuits	1164	12	199.30
GPS_charging	0	0	0.00
Compass	1034	17	246.08
RAFOS	0	0	0.00
Transponder	28	30	11.91

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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.86	-146.0	98	1982	618	640	0.0	0.0	0	104	0.00	0.00	-82.18	0.000	16386	0.000	0.000	92	1983	2962	2979	2945	0	0	0	0	0	0	15.12	28.83	15.13
107	-0.86	-146.0	92	1983	2979	2945	3.2	-6.5	15	137	11.90	2.35	-8.55	0.000	18948	0.285	0.086	2203	586	3409	3452	3366	0	0	0	0	0	0	14.73	13.84	14.88
189	-0.86	-146.0	2203	586	3453	3366	20.7	-15.1	30	196	0.00	2.30	0.00	0.000	3078	0.000	0.048	2198	1988	3409	3453	3366	0	0	0	0	0	0	14.97	14.89	14.98
259	-0.86	-146.0	2200	1988	3448	3366	31.5	-15.5	43	265	0.00	2.35	0.00	0.000	2308	0.000	0.069	2200	3396	3409	3453	3366	0	0	0	0	0	0	15.18	14.88	15.18
327	-0.86	-146.0	2199	3396	3453	3366	42.2	-15.1	56	334	0.00	2.30	0.00	0.000	3078	0.000	0.040	2200	1981	3409	3453	3365	0	0	0	0	0	0	15.08	14.99	15.09
397	-0.86	-146.0	2200	1981	3457	3366	53.0	-16.3	69	403	0.00	0.00	0.00	0.000	2054	0.000	0.000	2200	1981	3409	3453	3366	0	0	0	0	0	0	15.21	15.21	15.21
464	-0.86	-146.0	2199	1981	3453	3366	64.5	-16.5	82	471	0.00	2.38	0.00	0.000	2308	0.000	0.066	2193	3391	3409	3453	3366	0	0	0	0	0	0	15.21	14.92	15.21
503	-0.86	-146.0	2193	3391	3453	3366	70.9	-16.0	89	510	0.08	2.28	0.00	0.000	3078	0.280	0.041	2210	1981	3409	3453	3366	0	0	0	0	0	0	14.88	15.01	15.04
574	-0.86	-146.0	2209	1980	3453	3366	81.8	-15.6	102	580	0.00	0.00	0.00	0.000	2054	0.000	0.000	2210	1980	3407	3449	3366	0	0	0	0	0	0	15.22	15.23	15.23
641	-0.86	-146.0	2210	1980	3461	3365	92.2	-15.0	115	648	0.00	2.38	0.00	0.000	2308	0.000	0.067	2202	3393	3409	3453	3366	0	0	0	0	0	0	15.23	14.99	15.23
664	-0.86	-146.0	2202	3393	3453	3369	95.9	-15.3	119	671	0.00	2.30	0.00	0.000	3078	0.000	0.041	2202	1980	3409	3453	3366	0	0	0	0	0	0	15.03	14.96	15.04
734	-0.86	-146.0	2201	1979	3453	3366	107.2	-16.3	132	740	0.00	2.33	0.00	0.000	2564	0.000	0.070	2202	582	3409	3453	3366	0	0	0	0	0	0	15.23	14.92	15.23
757	-0.86	-146.0	2202	584	3453	3366	111.4	-18.7	136	763	0.00	2.28	0.00	0.000	3078	0.000	0.048	2200	1988	3409	3453	3366	0	0	0	0	0	0	15.11	15.02	15.13
826	-0.86	-146.0	2199	1988	3453	3366	121.3	-14.8	149	832	0.00	2.35	0.00	0.000	2308	0.000	0.071	2200	3394	3409	3453	3366	0	0	0	0	0	0	15.24	14.98	15.24
910	-0.86	-146.0	2200	3394	3452	3365	130.7	-10.1	165	916	0.00	2.28	0.00	0.000	3078	0.000	0.040	2200	1983	3409	3453	3366	0	0	0	0	0	0	15.05	14.95	15.07
979	-0.86	-146.0	2200	1981	3453	3366	138.3	-11.1	178	985	0.00	2.33	0.00	0.000	2564	0.000	0.067	2200	574	3409	3453	3366	0	0	0	0	0	0	15.24	14.93	15.24
1007	-0.86	-146.0	2200	575	3451	3366	141.7	-12.5	183	1014	0.00	2.30	0.00	0.000	3078	0.000	0.048	2200	1996	3409	3453	3366	0	0	0	0	0	0	15.12	15.03	15.13
1078	-0.86	-146.0	2200	1996	3453	3366	149.1	-11.5	196	1085	0.00	2.33	0.00	0.000	2308	0.000	0.070	2200	3394	3409	3453	3366	0	0	0	0	0	0	15.23	15.00	15.24
1127	-0.86	-146.0	2200	3394	3453	3366	155.5	-11.7	205	1134	0.00	2.28	0.00	0.000	3078	0.000	0.039	2200	1983	3409	3453	3366	0	0	0	0	0	0	15.13	15.04	15.14
1197	-0.86	-146.0	2200	1983	3453	3366	163.7	-12.4	218	1203	0.00	0.00	0.00	0.000	2054	0.000	0.000	2200	1983	3409	3453	3366	0	0	0	0	0	0	15.24	15.25	15.25
1266	-0.86	-146.0	2200	1983	3453	3366	173.1	-13.2	231	1273	0.00	2.33	0.00	0.000	2564	0.000	0.067	2200	580	3409	3453	3366	0	0	0	0	0	0	15.25	15.00	15.26
1285	-0.86	-146.0	2198	580	3453	3366	175.8	-14.7	234	1292	0.08	2.30	0.00	0.000	3078	0.280	0.047	2211	1990	3409	3453	3366	0	0	0	0	0	0	14.85	14.97	15.02
1354	-0.86	-146.0	2211	1990	3453	3366	184.8	-13.1	247	1360	0.00	2.33	0.00	0.000	2308	0.000	0.070	2206	3392	3409	3453	3366	0	0	0	0	0	0	15.24	14.92	15.24
1407	-0.86	-146.0	2206	3392	3453	3366	191.6	-11.7	257	1414	0.00	2.30	0.00	0.000	3078	0.000	0.040	2206	1975	3409	3453	3366	0	0	0	0	0	0	15.12	15.02	15.14
1477	-0.86	-146.0	2206	1975	3453	3366	199.5	-12.1	270	1483	0.00	0.00	0.00	0.000	2054	0.000	0.000	2206	1975	3409	3453	3366	0	0	0	0	0	0	15.24	15.24	15.24
1545	-0.86	-146.0	2205	1975	3453	3366	208.0	-11.9	283	1552	0.00	0.00	0.00	0.000	2054	0.000	0.000	2206	1975	3409	3453	3366	0	0	0	0	0	0	15.25	15.24	15.26
1616	-0.86	-146.0	2206	1975	3453	3365	215.8	-11.3	296	1623	0.00	2.30	0.00	0.000	2564	0.000	0.068	2206	585	3409	3453	3366	0	0	0	0	0	0	15.26	15.00	15.26
1640	-0.86	-146.0	2205	585	3453	3366	218.6	-11.5	300	1646	0.00	2.28	0.00	0.000	3078	0.000	0.048	2206	1987	3409	3453	3366	0	0	0	0	0	0	15.06	14.97	15.09
1661	end dive: BOTTOM_OBSTACLE_DETECTED
state	1661	begin apogee
1665	-0.19	0.0	2206	1988	3453	3366	220.7	-11.3	303	1782	1.05	0.00	107.53	1.207	10246	0.149	0.000	2422	1988	2811	2845	2778	0	0	0	0	0	0	14.92	14.54	14.15
1783	end apogee: CONTROL_FINISHED_OK
state	1783	begin climb
1785	0.86	146.0	2423	1988	2845	2778	224.9	0.0	324	1907	1.55	2.42	109.82	1.193	10756	0.060	0.064	2787	589	2214	2254	2174	0	0	0	0	0	0	14.68	14.52	14.07
1929	0.86	151.5	2787	589	2249	2174	221.6	9.7	349	1943	0.08	2.33	5.50	0.902	13318	0.286	0.044	2773	1996	2193	2232	2154	0	0	0	0	0	0	14.57	14.67	14.15
2005	0.86	151.5	2773	1996	2230	2152	212.5	11.9	363	2011	0.00	2.35	0.00	0.000	4356	0.000	0.064	2773	3393	2190	2230	2151	0	0	0	0	0	0	14.97	14.76	14.97
2048	0.86	151.5	2770	3394	2230	2152	207.3	13.2	371	2054	0.00	2.30	0.00	0.000	5126	0.000	0.042	2781	1994	2190	2229	2151	0	0	0	0	0	0	14.92	14.83	14.94
2117	0.86	151.5	2780	1994	2230	2150	198.1	12.8	384	2124	0.00	2.40	0.00	0.000	4612	0.000	0.070	2791	567	2189	2229	2150	0	0	0	0	0	0	15.09	14.86	15.09
2191	0.86	151.5	2790	567	2228	2150	189.5	11.7	398	2199	0.10	2.33	0.00	0.000	5126	0.265	0.044	2771	1998	2189	2228	2150	0	0	0	0	0	0	14.79	14.92	14.94
2260	0.87	161.3	2771	1998	2227	2150	182.5	9.5	411	2279	0.00	2.35	8.75	1.017	8452	0.000	0.066	2771	3388	2153	2192	2114	0	0	0	0	0	0	15.14	14.90	14.41
2301	0.87	161.3	2770	3388	2191	2113	178.4	10.2	418	2308	0.00	2.30	0.00	0.000	5126	0.000	0.042	2778	1981	2152	2191	2113	0	0	0	0	0	0	14.96	14.88	14.97
2371	0.92	196.0	2779	1981	2191	2116	172.3	8.4	431	2405	0.00	2.38	28.08	1.127	10500	0.000	0.063	2779	3390	2013	2056	1970	0	0	0	0	0	0	15.15	14.72	14.33
2412	0.93	209.4	2779	3390	2054	1964	168.4	9.4	438	2430	0.00	2.33	11.90	1.037	9222	0.000	0.044	2787	1978	1956	2004	1909	0	0	0	0	0	0	14.91	14.84	14.33
2492	0.93	209.4	2787	1978	2001	1904	159.2	12.3	453	2499	0.00	2.35	0.00	0.000	516	0.000	0.072	2787	576	1952	2000	1905	0	0	0	0	0	0	15.05	14.83	15.06
2527	0.93	209.4	2786	576	1999	1905	154.9	12.3	459	2534	0.00	2.30	0.00	0.000	1030	0.000	0.044	2788	1990	1951	1998	1905	0	0	0	0	0	0	14.97	14.90	14.98
2597	0.93	209.4	2787	1986	1998	1904	145.6	13.2	472	2603	0.00	2.35	0.00	0.000	260	0.000	0.067	2787	3386	1951	1998	1904	0	0	0	0	0	0	15.12	14.88	15.12
2670	0.93	209.4	2787	3386	1998	1904	135.0	14.1	486	2677	0.00	2.30	0.00	0.000	1030	0.000	0.045	2788	1980	1950	1996	1904	0	0	0	0	0	0	14.97	14.90	14.98
2740	0.93	209.4	2787	1980	1998	1903	126.3	12.7	499	2746	0.00	2.33	0.00	0.000	516	0.000	0.072	2787	583	1950	1997	1903	0	0	0	0	0	0	15.17	14.94	15.18
2773	0.93	209.4	2787	583	1997	1903	121.8	13.6	505	2780	0.00	2.28	0.00	0.000	1030	0.000	0.044	2788	1992	1950	1997	1903	0	0	0	0	0	0	15.06	14.99	15.07
2843	0.93	209.4	2787	1992	1997	1903	113.6	10.8	518	2849	0.00	2.35	0.00	0.000	260	0.000	0.066	2787	3399	1950	1996	1904	0	0	0	0	0	0	15.19	14.97	15.19
2861	0.93	209.4	2787	3398	1996	1903	111.5	10.4	521	2868	0.00	2.30	0.00	0.000	5126	0.000	0.044	2797	1983	1949	1996	1903	0	0	0	0	0	0	15.05	14.96	15.06
2931	0.93	209.4	2797	1982	1996	1903	104.1	10.9	534	2937	0.00	0.00	0.00	0.000	4102	0.000	0.000	2797	1982	1949	1996	1902	0	0	0	0	0	0	15.20	15.20	15.21
2999	0.93	209.4	2796	1983	1996	1902	97.2	10.4	547	3004	0.00	0.00	0.00	0.000	4102	0.000	0.000	2802	1983	1949	1996	1902	0	0	0	0	0	0	15.21	15.21	15.21
3066	0.95	226.3	2797	1982	1996	1902	90.3	9.2	560	3084	0.00	0.00	13.25	0.985	8198	0.000	0.000	2797	1983	1888	1936	1841	0	0	0	0	0	0	15.21	14.97	14.49
3148	0.97	235.8	2796	1982	1933	1839	83.0	9.6	575	3160	0.00	0.00	9.18	0.963	8198	0.000	0.000	2797	1982	1849	1897	1802	0	0	0	0	0	0	15.18	14.95	14.47
3223	0.97	235.8	2797	1983	1895	1797	75.2	10.7	589	3229	0.00	2.35	0.00	0.000	260	0.000	0.066	2795	3388	1846	1895	1797	0	0	0	0	0	0	15.15	14.94	15.15
3241	0.97	235.8	2796	3388	1895	1797	72.9	11.3	592	3248	0.00	2.30	0.00	0.000	1030	0.000	0.045	2797	1987	1845	1895	1796	0	0	0	0	0	0	15.02	14.94	15.03
3311	0.97	235.8	2797	1985	1894	1796	65.4	11.0	605	3317	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	1985	1845	1894	1796	0	0	0	0	0	0	15.18	15.18	15.18
3378	0.97	235.8	2797	1985	1894	1796	57.8	11.8	618	3385	0.00	2.33	0.00	0.000	260	0.000	0.064	2798	3388	1844	1893	1796	0	0	0	0	0	0	15.19	14.97	15.20
3397	0.97	235.8	2797	3389	1893	1796	55.1	14.4	621	3404	0.00	2.33	0.00	0.000	5126	0.000	0.044	2807	1974	1845	1894	1796	0	0	0	0	0	0	15.09	14.99	15.09
3467	0.97	235.8	2807	1974	1893	1796	46.1	13.0	634	3472	0.00	0.00	0.00	0.000	4102	0.000	0.000	2807	1974	1844	1893	1796	0	0	0	0	0	0	15.21	15.21	15.21
3534	0.97	235.8	2807	1974	1893	1795	37.3	13.2	647	3540	0.00	0.00	0.00	0.000	4102	0.000	0.000	2807	1974	1844	1893	1796	0	0	0	0	0	0	15.21	15.23	15.21
3602	0.97	235.8	2807	1974	1893	1795	27.9	13.0	660	3609	0.00	2.38	0.00	0.000	4356	0.000	0.065	2807	3387	1844	1893	1796	0	0	0	0	0	0	15.22	14.99	15.23
3726	0.97	235.8	2807	3387	1892	1796	11.2	14.5	684	3733	0.00	2.28	0.00	0.000	5126	0.000	0.044	2807	1988	1843	1892	1795	0	0	0	0	0	0	15.08	14.99	15.09
3738	end climb: FINISH_DEPTH_REACHED
state	3738	begin subsurface finish
3743	0.20	166.3	2807	1988	1892	1795	9.4	14.4	686	3757	1.23	2.40	-6.47	0.000	20996	0.171	0.094	2561	583	2136	2193	2080	0	0	0	0	0	0	14.90	13.91	15.00
3758	end subsurface finish: CONTROL_FINISHED_OK
state	3758	begin surface