Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 279 * 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 279 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 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 25 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 14 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 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 900 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2900 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.24529999 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 330 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 1.5 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 3974133 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 0.059999999 PITCH_MIN 210 CF8_MAXERRORS 20 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 110 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 3 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 0

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 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 3974133 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 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 3 SURFACE_URGENCY_TRY 100

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 4320

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 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 -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

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 2900 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 -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 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 5

DIVE 279 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 25 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 14 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 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 040318,121600,-7408.5850,-11251.1484,0,4107.7,0,53.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.191

_CALLS 3 TGT_NAME WM0_2

_XMS_NAKs 0 TGT_LATLONG -7408.900,-11254.810

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 4.34 MHEAD_RNG_PITCHd_Wd 198.8,1942,-40.7,-10.000,-45.00,543

_SM_ANGLEo -2.0 D_GRID 990

GPS2 040318,121600,-7408.5850,-11251.1484,0,4107.7,0,53.7,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 8.12,-1.810,-1.869,2,3,0 ALTIM_TOP_PING 6.2,7.3

FINISH1 8.1,1.027331,9 _24V_AH 12.35,112.921

FINISH2 6.1 _10V_AH 12.93,0.000

RAFOS_CLK 352 FG_AHR_24Vo 0.000

RAFOS 0,1520175664,15.032778,15.017777,97,70,59,58,56,53,597,193,216,138,174,156 FG_AHR_10Vo 0.000

RAFOS_FIX -7408.681641,-11250.609375,040318,151512,3,116,0.03 MEM 278948

IRIDIUM_FIX -7410.38,-11248.11,040318,071030 DATA_FILE_SIZE 6794,336

TT8_MAMPS 0.041944,0.257656 CAP_FILE_SIZE 75653,0

HUMID 47.99 CFSIZE 1024409600,987938816

INTERNAL_PRESSURE 7.57023 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.50 SOUNDSPEED 1449.2

XPDR_PINGS 1 GPS 040318,151512,-7408.682,-11250.609,0,4116.3,0,53.7,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 390 46.74 nil 0 0 0.00

Roll_motor 84 135 141.47 nil 0 0 0.00

VBD_pump_during_apogee 138 3037 5184.48 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 9145 1 225.77

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 28 420 149.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7961 2 237.81

TT8_Active 325 12 51.61

TT8_Sampling 836 31 343.18

TT8_CF8 96 45 56.68

TT8_Kalman 0 0 0.00

Analog_circuits 620 10 81.81

GPS_charging 0 0 0.00

Compass 487 7 47.23

RAFOS 720 1 13.96

Transponder 200 30 77.88

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

14.9 17.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

47.4 50.60 9000.00 0.0 0.00 0.00 50.60 0.0 1.03 1.00

673.4 54.50 9000.00 0.0 0.03 0.38 54.50 0.0 0.01 1.00

683.8 44.20 9000.00 0.0 0.00 0.02 44.20 728.0 -0.99 1.00

694.3 27.60 9000.00 0.0 -1.29 0.98 27.60 721.9 -1.58 1.00

708.4 12.30 9000.00 0.0 -1.29 0.99 12.30 720.7 -1.09 1.00

717.9 32.50 9000.00 0.0 0.11 0.01 32.50 685.4 2.13 1.00

698.5 20.00 9000.00 0.0 0.64 0.37 20.00 678.5 0.64 1.00

686.8 40.80 9000.00 0.0 -0.17 0.07 40.80 0.0 -1.78 1.00

107.3 112.10 9000.00 0.0 -0.14 0.96 112.10 0.0 -0.12 1.00

95.5 100.10 9000.00 0.0 -0.11 0.97 100.10 -4.6 1.02 1.00

73.5 76.40 76.50 -3.0 1.06 1.00 76.40 -2.9 1.08 1.00

62.9 66.60 66.10 -3.2 1.04 1.00 66.60 -3.7 0.92 1.00

49.9 51.80 52.20 -2.3 1.05 1.00 51.80 -1.9 1.14 1.00

39.0 40.60 40.40 -1.4 1.08 1.00 40.60 -1.6 1.03 1.00

28.0 28.80 28.90 -0.9 1.05 1.00 28.80 -0.8 1.07 1.00

16.2 16.90 16.80 -0.6 1.04 1.00 16.90 -0.7 1.01 1.00

6.2 7.50 7.30 -1.1 0.98 1.00 7.50 -1.3 0.94 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 -1.89 -35.5 2710 2506 2955 2787 0.0 0.0 0 16 0.00 0.00 -5.85 0.017 16390 0.000 0.000 2709 2506 3046 3144 2948 0 0 0 0 0 0 15.07 13.09 15.06

18 -1.89 -35.5 2709 2506 3146 2948 0.0 0.0 0 21 1.83 0.00 0.00 0.000 4102 0.063 0.000 2064 2506 3046 3144 2948 0 0 0 0 0 0 14.78 14.90 14.86

347 -1.89 -35.5 2064 2506 3141 2955 63.9 -19.5 12 354 0.00 2.65 0.00 0.000 516 0.000 0.099 2064 1081 3048 3140 2956 0 0 0 0 0 0 15.14 14.57 15.16

432 -1.89 -35.5 2064 1082 3141 2957 80.8 -20.4 24 438 0.15 2.70 0.00 0.000 3078 0.390 0.110 2084 2506 3047 3140 2955 0 0 0 0 0 0 14.02 14.49 14.33

795 -1.89 -35.5 2085 2506 3141 2956 152.4 -19.8 40 795 0.00 0.00 0.00 0.000 6 0.000 0.000 2084 2506 3048 3140 2956 0 0 0 0 0 0 15.14 15.17 15.17

1161 -1.89 -35.5 2084 2505 3141 2957 222.0 -18.7 51 1161 0.00 0.00 0.00 0.000 6 0.000 0.000 2084 2506 3048 3140 2956 0 0 0 0 0 0 15.06 15.09 15.09

1495 -1.89 -35.5 2085 2506 3141 2956 284.1 -18.1 57 1495 0.00 0.00 0.00 0.000 6 0.000 0.000 2084 2506 3048 3140 2956 0 0 0 0 0 0 15.15 15.18 15.17

1832 -1.89 -35.5 2084 2507 3141 2957 341.9 -16.8 63 1838 0.00 2.62 0.00 0.000 516 0.000 0.096 2084 1092 3048 3140 2956 0 0 0 0 0 0 15.06 14.50 15.09

1873 -1.89 -35.5 2085 1092 3139 2956 349.2 -17.3 69 1881 0.00 2.67 0.00 0.000 1030 0.000 0.105 2074 2503 3048 3140 2956 0 0 0 0 0 0 14.73 14.54 14.78

2223 -1.89 -35.5 2074 2503 3141 2957 408.3 -16.6 77 2232 0.00 2.42 0.00 0.000 260 0.000 0.135 2065 3748 3048 3140 2957 0 0 0 0 0 0 15.14 14.48 15.18

2271 -1.89 -35.5 2065 3750 3140 2957 416.8 -17.9 84 2280 0.00 2.28 0.00 0.000 1030 0.000 0.080 2064 2492 3048 3140 2957 0 0 0 0 0 0 14.81 14.69 14.85

2615 -1.89 -35.5 2065 2492 3141 2957 472.7 -15.8 91 2622 0.00 2.47 0.00 0.000 260 0.000 0.135 2055 3758 3048 3140 2957 0 0 0 0 0 0 15.15 14.47 15.17

2679 -1.89 -35.5 2056 3758 3140 2957 483.1 -16.4 100 2685 0.15 2.28 0.00 0.000 3078 0.388 0.081 2086 2498 3048 3140 2957 0 0 0 0 0 0 14.00 14.60 14.29

3064 -1.89 -35.5 2087 2498 3141 2957 540.0 -14.4 113 3065 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 2498 3048 3140 2957 0 0 0 0 0 0 15.13 15.16 15.16

3400 -1.89 -35.5 2086 2499 3140 2959 586.5 -13.9 119 3401 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 2498 3049 3140 2958 0 0 0 0 0 0 15.14 15.16 15.16

3735 -1.89 -35.5 2086 2499 3141 2960 630.8 -13.1 125 3743 0.00 2.62 0.00 0.000 516 0.000 0.093 2086 1081 3049 3140 2958 0 0 0 0 0 0 15.15 14.54 15.18

3763 -1.89 -35.5 2086 1082 3141 2960 634.5 -13.2 129 3771 0.00 2.67 0.00 0.000 1030 0.000 0.106 2076 2500 3049 3139 2959 0 0 0 0 0 0 14.57 14.45 14.64

4127 -1.89 -35.5 2076 2501 3140 2960 680.3 -12.4 139 4134 0.00 2.62 0.00 0.000 516 0.000 0.092 2076 1082 3047 3140 2955 0 0 0 0 0 0 15.15 14.56 15.17

4254 -1.89 -35.5 2076 1081 3140 2959 696.1 -12.6 157 4261 0.00 2.70 0.00 0.000 1030 0.000 0.105 2066 2509 3049 3140 2958 0 0 0 0 0 0 14.58 14.45 14.64

4631 -1.95 -84.4 2066 2510 3142 2960 717.7 -0.8 169 4631 0.00 0.00 0.00 0.000 38 0.000 0.000 2066 2509 3049 3140 2959 0 0 0 0 0 0 15.17 15.22 15.19

4797 end dive: NO_VERTICAL_VELOCITY

state 4797 begin apogee

4801 -0.23 0.0 2067 2195 3142 2959 717.6 0.0 172 4846 2.38 0.00 40.62 3.012 10246 0.325 0.000 2616 2194 2899 2975 2823 0 0 0 0 0 0 14.17 14.40 13.12

4847 end apogee: CONTROL_FINISHED_OK

state 4847 begin climb

4849 1.95 84.4 2620 2195 2973 2821 717.6 0.0 172 4950 2.28 0.00 97.60 3.037 10246 0.135 0.000 3325 2194 2555 2607 2503 0 0 0 0 0 0 14.36 13.52 12.35

5247 1.95 84.4 3325 2194 2595 2489 652.0 20.7 180 5254 0.00 2.67 0.00 0.000 516 0.000 0.102 3335 790 2541 2594 2488 0 0 0 0 0 0 14.59 14.22 14.62

5289 1.95 84.4 3336 789 2593 2489 643.1 21.5 186 5297 0.00 2.67 0.00 0.000 1030 0.000 0.091 3335 2214 2540 2593 2487 0 0 0 0 0 0 14.47 14.33 14.52

5641 1.95 84.4 3335 2215 2591 2484 568.4 21.2 194 5646 0.00 2.62 0.00 0.000 516 0.000 0.103 3346 779 2536 2590 2483 0 0 0 0 0 0 14.91 14.52 14.94

5667 1.95 84.4 3346 779 2592 2483 562.6 20.7 198 5674 0.00 2.65 0.00 0.000 1030 0.000 0.093 3346 2212 2537 2590 2484 0 0 0 0 0 0 14.71 14.55 14.76

6033 1.95 84.4 3346 2211 2591 2482 487.6 20.5 208 6033 0.00 0.00 0.00 0.000 6 0.000 0.000 3346 2211 2535 2589 2482 0 0 0 0 0 0 15.00 15.02 15.02

6368 1.95 84.4 3346 2212 2590 2482 421.9 19.5 214 6374 0.00 2.62 0.00 0.000 516 0.000 0.102 3357 793 2535 2589 2481 0 0 0 0 0 0 15.02 14.57 15.05

6416 1.95 84.4 3357 794 2590 2483 412.5 19.5 221 6427 0.00 2.60 0.00 0.000 1030 0.000 0.091 3357 2207 2535 2589 2481 0 0 0 0 0 0 14.79 14.64 14.85

6761 1.95 84.4 3357 2207 2590 2481 348.5 18.4 228 6761 0.00 0.00 0.00 0.000 6 0.000 0.000 3357 2207 2535 2589 2481 0 0 0 0 0 0 15.04 15.08 15.07

7095 1.95 84.4 3357 2207 2589 2482 290.3 17.2 234 7103 0.00 2.65 0.00 0.000 516 0.000 0.100 3367 779 2535 2589 2481 0 0 0 0 0 0 15.12 14.63 15.16

7136 1.95 84.4 3367 780 2590 2482 283.5 16.0 240 7144 0.20 2.62 0.00 0.000 5126 0.352 0.092 3329 2208 2535 2589 2481 0 0 0 0 0 0 14.21 14.64 14.66

7487 1.95 84.4 3329 2208 2590 2480 229.7 15.3 248 7494 0.00 2.65 0.00 0.000 516 0.000 0.102 3338 782 2534 2589 2479 0 0 0 0 0 0 15.14 14.62 15.16

7535 1.95 84.4 3339 782 2590 2480 222.7 14.1 255 7544 0.00 2.62 0.00 0.000 1030 0.000 0.093 3338 2212 2534 2589 2480 0 0 0 0 0 0 14.81 14.64 14.87

7879 1.95 84.4 3338 2212 2589 2481 175.2 13.6 265 7887 0.00 2.65 0.00 0.000 516 0.000 0.103 3348 783 2534 2589 2480 0 0 0 0 0 0 15.07 14.55 15.09

7949 1.95 84.4 3348 784 2589 2481 165.9 13.0 275 7957 0.00 2.62 0.00 0.000 1030 0.000 0.093 3348 2210 2534 2589 2480 0 0 0 0 0 0 14.79 14.62 14.88

8301 1.95 84.4 3348 2211 2589 2481 118.7 13.7 289 8307 0.00 2.60 0.00 0.000 516 0.000 0.103 3359 785 2536 2593 2480 0 0 0 0 0 0 15.07 14.60 15.09

8327 1.95 84.4 3358 786 2589 2481 114.9 13.7 293 8336 0.15 2.62 0.00 0.000 5126 0.360 0.093 3327 2214 2534 2588 2480 0 0 0 0 0 0 14.16 14.63 14.42

8691 1.95 84.4 3327 2215 2589 2480 66.0 13.2 309 8699 0.00 2.67 0.00 0.000 260 0.000 0.122 3327 3614 2533 2588 2479 0 0 0 0 0 0 15.14 14.55 15.17

8726 1.95 84.4 3328 3615 2588 2480 60.8 14.9 314 8733 0.00 2.58 0.00 0.000 1030 0.000 0.081 3337 2195 2533 2588 2479 0 0 0 0 0 0 14.82 14.68 14.87

9083 1.95 84.4 3337 2195 2588 2480 12.1 14.2 329 9091 0.00 2.62 0.00 0.000 516 0.000 0.105 3348 792 2533 2587 2479 0 0 0 0 0 0 15.14 14.58 15.17

9109 end climb: FINISH_DEPTH_REACHED

state 9109 begin subsurface finish

9116 0.01 8.5 3349 2211 2588 2480 8.1 14.2 333 9136 2.58 2.67 -9.82 0.010 20996 0.307 0.134 2709 793 2869 2957 2781 0 0 0 0 0 0 14.26 13.14 14.69

9137 end subsurface finish: CONTROL_FINISHED_OK

state 9137 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	279	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	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	25	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	14	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	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	900	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2900	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.24529999	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	330	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	1.5	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	3974133	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	0.059999999	PITCH_MIN	210	CF8_MAXERRORS	20	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	110	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	3	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	0
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	883

GPS1	040318,121600,-7408.5850,-11251.1484,0,4107.7,0,53.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.191
_CALLS	3	TGT_NAME	WM0_2
_XMS_NAKs	0	TGT_LATLONG	-7408.900,-11254.810
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	4.34	MHEAD_RNG_PITCHd_Wd	198.8,1942,-40.7,-10.000,-45.00,543
_SM_ANGLEo	-2.0	D_GRID	990
GPS2	040318,121600,-7408.5850,-11251.1484,0,4107.7,0,53.7,0.0,0.0,0,0.0

FREEZE	8.12,-1.810,-1.869,2,3,0	ALTIM_TOP_PING	6.2,7.3
FINISH1	8.1,1.027331,9	_24V_AH	12.35,112.921
FINISH2	6.1	_10V_AH	12.93,0.000
RAFOS_CLK	352	FG_AHR_24Vo	0.000
RAFOS	0,1520175664,15.032778,15.017777,97,70,59,58,56,53,597,193,216,138,174,156	FG_AHR_10Vo	0.000
RAFOS_FIX	-7408.681641,-11250.609375,040318,151512,3,116,0.03	MEM	278948
IRIDIUM_FIX	-7410.38,-11248.11,040318,071030	DATA_FILE_SIZE	6794,336
TT8_MAMPS	0.041944,0.257656	CAP_FILE_SIZE	75653,0
HUMID	47.99	CFSIZE	1024409600,987938816
INTERNAL_PRESSURE	7.57023	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.50	SOUNDSPEED	1449.2
XPDR_PINGS	1	GPS	040318,151512,-7408.682,-11250.609,0,4116.3,0,53.7,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	390	46.74	nil	0	0	0.00
Roll_motor	84	135	141.47	nil	0	0	0.00
VBD_pump_during_apogee	138	3037	5184.48	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	9145	1	225.77
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	28	420	149.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7961	2	237.81
TT8_Active	325	12	51.61
TT8_Sampling	836	31	343.18
TT8_CF8	96	45	56.68
TT8_Kalman	0	0	0.00
Analog_circuits	620	10	81.81
GPS_charging	0	0	0.00
Compass	487	7	47.23
RAFOS	720	1	13.96
Transponder	200	30	77.88

		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
14.9	17.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
47.4	50.60	9000.00	0.0	0.00	0.00	50.60	0.0	1.03	1.00
673.4	54.50	9000.00	0.0	0.03	0.38	54.50	0.0	0.01	1.00
683.8	44.20	9000.00	0.0	0.00	0.02	44.20	728.0	-0.99	1.00
694.3	27.60	9000.00	0.0	-1.29	0.98	27.60	721.9	-1.58	1.00
708.4	12.30	9000.00	0.0	-1.29	0.99	12.30	720.7	-1.09	1.00

717.9	32.50	9000.00	0.0	0.11	0.01	32.50	685.4	2.13	1.00
698.5	20.00	9000.00	0.0	0.64	0.37	20.00	678.5	0.64	1.00
686.8	40.80	9000.00	0.0	-0.17	0.07	40.80	0.0	-1.78	1.00
107.3	112.10	9000.00	0.0	-0.14	0.96	112.10	0.0	-0.12	1.00
95.5	100.10	9000.00	0.0	-0.11	0.97	100.10	-4.6	1.02	1.00
73.5	76.40	76.50	-3.0	1.06	1.00	76.40	-2.9	1.08	1.00
62.9	66.60	66.10	-3.2	1.04	1.00	66.60	-3.7	0.92	1.00
49.9	51.80	52.20	-2.3	1.05	1.00	51.80	-1.9	1.14	1.00
39.0	40.60	40.40	-1.4	1.08	1.00	40.60	-1.6	1.03	1.00
28.0	28.80	28.90	-0.9	1.05	1.00	28.80	-0.8	1.07	1.00
16.2	16.90	16.80	-0.6	1.04	1.00	16.90	-0.7	1.01	1.00
6.2	7.50	7.30	-1.1	0.98	1.00	7.50	-1.3	0.94	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	-1.89	-35.5	2710	2506	2955	2787	0.0	0.0	0	16	0.00	0.00	-5.85	0.017	16390	0.000	0.000	2709	2506	3046	3144	2948	0	0	0	0	0	0	15.07	13.09	15.06
18	-1.89	-35.5	2709	2506	3146	2948	0.0	0.0	0	21	1.83	0.00	0.00	0.000	4102	0.063	0.000	2064	2506	3046	3144	2948	0	0	0	0	0	0	14.78	14.90	14.86
347	-1.89	-35.5	2064	2506	3141	2955	63.9	-19.5	12	354	0.00	2.65	0.00	0.000	516	0.000	0.099	2064	1081	3048	3140	2956	0	0	0	0	0	0	15.14	14.57	15.16
432	-1.89	-35.5	2064	1082	3141	2957	80.8	-20.4	24	438	0.15	2.70	0.00	0.000	3078	0.390	0.110	2084	2506	3047	3140	2955	0	0	0	0	0	0	14.02	14.49	14.33
795	-1.89	-35.5	2085	2506	3141	2956	152.4	-19.8	40	795	0.00	0.00	0.00	0.000	6	0.000	0.000	2084	2506	3048	3140	2956	0	0	0	0	0	0	15.14	15.17	15.17
1161	-1.89	-35.5	2084	2505	3141	2957	222.0	-18.7	51	1161	0.00	0.00	0.00	0.000	6	0.000	0.000	2084	2506	3048	3140	2956	0	0	0	0	0	0	15.06	15.09	15.09
1495	-1.89	-35.5	2085	2506	3141	2956	284.1	-18.1	57	1495	0.00	0.00	0.00	0.000	6	0.000	0.000	2084	2506	3048	3140	2956	0	0	0	0	0	0	15.15	15.18	15.17
1832	-1.89	-35.5	2084	2507	3141	2957	341.9	-16.8	63	1838	0.00	2.62	0.00	0.000	516	0.000	0.096	2084	1092	3048	3140	2956	0	0	0	0	0	0	15.06	14.50	15.09
1873	-1.89	-35.5	2085	1092	3139	2956	349.2	-17.3	69	1881	0.00	2.67	0.00	0.000	1030	0.000	0.105	2074	2503	3048	3140	2956	0	0	0	0	0	0	14.73	14.54	14.78
2223	-1.89	-35.5	2074	2503	3141	2957	408.3	-16.6	77	2232	0.00	2.42	0.00	0.000	260	0.000	0.135	2065	3748	3048	3140	2957	0	0	0	0	0	0	15.14	14.48	15.18
2271	-1.89	-35.5	2065	3750	3140	2957	416.8	-17.9	84	2280	0.00	2.28	0.00	0.000	1030	0.000	0.080	2064	2492	3048	3140	2957	0	0	0	0	0	0	14.81	14.69	14.85
2615	-1.89	-35.5	2065	2492	3141	2957	472.7	-15.8	91	2622	0.00	2.47	0.00	0.000	260	0.000	0.135	2055	3758	3048	3140	2957	0	0	0	0	0	0	15.15	14.47	15.17
2679	-1.89	-35.5	2056	3758	3140	2957	483.1	-16.4	100	2685	0.15	2.28	0.00	0.000	3078	0.388	0.081	2086	2498	3048	3140	2957	0	0	0	0	0	0	14.00	14.60	14.29
3064	-1.89	-35.5	2087	2498	3141	2957	540.0	-14.4	113	3065	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	2498	3048	3140	2957	0	0	0	0	0	0	15.13	15.16	15.16
3400	-1.89	-35.5	2086	2499	3140	2959	586.5	-13.9	119	3401	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	2498	3049	3140	2958	0	0	0	0	0	0	15.14	15.16	15.16
3735	-1.89	-35.5	2086	2499	3141	2960	630.8	-13.1	125	3743	0.00	2.62	0.00	0.000	516	0.000	0.093	2086	1081	3049	3140	2958	0	0	0	0	0	0	15.15	14.54	15.18
3763	-1.89	-35.5	2086	1082	3141	2960	634.5	-13.2	129	3771	0.00	2.67	0.00	0.000	1030	0.000	0.106	2076	2500	3049	3139	2959	0	0	0	0	0	0	14.57	14.45	14.64
4127	-1.89	-35.5	2076	2501	3140	2960	680.3	-12.4	139	4134	0.00	2.62	0.00	0.000	516	0.000	0.092	2076	1082	3047	3140	2955	0	0	0	0	0	0	15.15	14.56	15.17
4254	-1.89	-35.5	2076	1081	3140	2959	696.1	-12.6	157	4261	0.00	2.70	0.00	0.000	1030	0.000	0.105	2066	2509	3049	3140	2958	0	0	0	0	0	0	14.58	14.45	14.64
4631	-1.95	-84.4	2066	2510	3142	2960	717.7	-0.8	169	4631	0.00	0.00	0.00	0.000	38	0.000	0.000	2066	2509	3049	3140	2959	0	0	0	0	0	0	15.17	15.22	15.19
4797	end dive: NO_VERTICAL_VELOCITY
state	4797	begin apogee
4801	-0.23	0.0	2067	2195	3142	2959	717.6	0.0	172	4846	2.38	0.00	40.62	3.012	10246	0.325	0.000	2616	2194	2899	2975	2823	0	0	0	0	0	0	14.17	14.40	13.12
4847	end apogee: CONTROL_FINISHED_OK
state	4847	begin climb
4849	1.95	84.4	2620	2195	2973	2821	717.6	0.0	172	4950	2.28	0.00	97.60	3.037	10246	0.135	0.000	3325	2194	2555	2607	2503	0	0	0	0	0	0	14.36	13.52	12.35
5247	1.95	84.4	3325	2194	2595	2489	652.0	20.7	180	5254	0.00	2.67	0.00	0.000	516	0.000	0.102	3335	790	2541	2594	2488	0	0	0	0	0	0	14.59	14.22	14.62
5289	1.95	84.4	3336	789	2593	2489	643.1	21.5	186	5297	0.00	2.67	0.00	0.000	1030	0.000	0.091	3335	2214	2540	2593	2487	0	0	0	0	0	0	14.47	14.33	14.52
5641	1.95	84.4	3335	2215	2591	2484	568.4	21.2	194	5646	0.00	2.62	0.00	0.000	516	0.000	0.103	3346	779	2536	2590	2483	0	0	0	0	0	0	14.91	14.52	14.94
5667	1.95	84.4	3346	779	2592	2483	562.6	20.7	198	5674	0.00	2.65	0.00	0.000	1030	0.000	0.093	3346	2212	2537	2590	2484	0	0	0	0	0	0	14.71	14.55	14.76
6033	1.95	84.4	3346	2211	2591	2482	487.6	20.5	208	6033	0.00	0.00	0.00	0.000	6	0.000	0.000	3346	2211	2535	2589	2482	0	0	0	0	0	0	15.00	15.02	15.02
6368	1.95	84.4	3346	2212	2590	2482	421.9	19.5	214	6374	0.00	2.62	0.00	0.000	516	0.000	0.102	3357	793	2535	2589	2481	0	0	0	0	0	0	15.02	14.57	15.05
6416	1.95	84.4	3357	794	2590	2483	412.5	19.5	221	6427	0.00	2.60	0.00	0.000	1030	0.000	0.091	3357	2207	2535	2589	2481	0	0	0	0	0	0	14.79	14.64	14.85
6761	1.95	84.4	3357	2207	2590	2481	348.5	18.4	228	6761	0.00	0.00	0.00	0.000	6	0.000	0.000	3357	2207	2535	2589	2481	0	0	0	0	0	0	15.04	15.08	15.07
7095	1.95	84.4	3357	2207	2589	2482	290.3	17.2	234	7103	0.00	2.65	0.00	0.000	516	0.000	0.100	3367	779	2535	2589	2481	0	0	0	0	0	0	15.12	14.63	15.16
7136	1.95	84.4	3367	780	2590	2482	283.5	16.0	240	7144	0.20	2.62	0.00	0.000	5126	0.352	0.092	3329	2208	2535	2589	2481	0	0	0	0	0	0	14.21	14.64	14.66
7487	1.95	84.4	3329	2208	2590	2480	229.7	15.3	248	7494	0.00	2.65	0.00	0.000	516	0.000	0.102	3338	782	2534	2589	2479	0	0	0	0	0	0	15.14	14.62	15.16
7535	1.95	84.4	3339	782	2590	2480	222.7	14.1	255	7544	0.00	2.62	0.00	0.000	1030	0.000	0.093	3338	2212	2534	2589	2480	0	0	0	0	0	0	14.81	14.64	14.87
7879	1.95	84.4	3338	2212	2589	2481	175.2	13.6	265	7887	0.00	2.65	0.00	0.000	516	0.000	0.103	3348	783	2534	2589	2480	0	0	0	0	0	0	15.07	14.55	15.09
7949	1.95	84.4	3348	784	2589	2481	165.9	13.0	275	7957	0.00	2.62	0.00	0.000	1030	0.000	0.093	3348	2210	2534	2589	2480	0	0	0	0	0	0	14.79	14.62	14.88
8301	1.95	84.4	3348	2211	2589	2481	118.7	13.7	289	8307	0.00	2.60	0.00	0.000	516	0.000	0.103	3359	785	2536	2593	2480	0	0	0	0	0	0	15.07	14.60	15.09
8327	1.95	84.4	3358	786	2589	2481	114.9	13.7	293	8336	0.15	2.62	0.00	0.000	5126	0.360	0.093	3327	2214	2534	2588	2480	0	0	0	0	0	0	14.16	14.63	14.42
8691	1.95	84.4	3327	2215	2589	2480	66.0	13.2	309	8699	0.00	2.67	0.00	0.000	260	0.000	0.122	3327	3614	2533	2588	2479	0	0	0	0	0	0	15.14	14.55	15.17
8726	1.95	84.4	3328	3615	2588	2480	60.8	14.9	314	8733	0.00	2.58	0.00	0.000	1030	0.000	0.081	3337	2195	2533	2588	2479	0	0	0	0	0	0	14.82	14.68	14.87
9083	1.95	84.4	3337	2195	2588	2480	12.1	14.2	329	9091	0.00	2.62	0.00	0.000	516	0.000	0.105	3348	792	2533	2587	2479	0	0	0	0	0	0	15.14	14.58	15.17
9109	end climb: FINISH_DEPTH_REACHED
state	9109	begin subsurface finish
9116	0.01	8.5	3349	2211	2588	2480	8.1	14.2	333	9136	2.58	2.67	-9.82	0.010	20996	0.307	0.134	2709	793	2869	2957	2781	0	0	0	0	0	0	14.26	13.14	14.69
9137	end subsurface finish: CONTROL_FINISHED_OK
state	9137	begin surface