Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 497 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 497 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 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 31 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 20 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 350 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 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2782 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 0 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 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 0.059999999 PITCH_MIN 225 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2800 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

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 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 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 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 4320

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 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 223 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 4 INT_PRESSURE_YINT 0.25 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2782 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 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 5

DIVE 497 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 31 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 20 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 5 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 -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 080918,143937,-7402.3413,-11304.9229,0,1001.0,0,53.2,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.239

_CALLS 3 TGT_NAME hold6

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 13.93 MHEAD_RNG_PITCHd_Wd 45.4,20528,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -10.5 D_GRID 990

GPS2 080918,143937,-7402.3413,-11304.9229,0,1001.0,0,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 9.21,-1.845,-1.879,2,94,0 ALTIM_BOTTOM_PING 608.6,20.9

FINISH1 9.2,1.027463,2 _24V_AH 11.55,176.287

FINISH2 9.0 _10V_AH 11.76,0.000

RAFOS_CLK 371 FG_AHR_24Vo 0.000

RAFOS 0,1536429675,18.032778,18.020834,59,59,54,50,50,47,135,204,149,192,119,216 FG_AHR_10Vo 0.000

RAFOS_FIX -7402.925781,-11249.238281,080918,181824,1,2,0.63 MEM 280788

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 DATA_FILE_SIZE 13432,396

TT8_MAMPS 0.040446,0.256158 CAP_FILE_SIZE 75737,0

HUMID 50.94 CFSIZE 1024409600,961134592

INTERNAL_PRESSURE 8.19952 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 11.80 SOUNDSPEED 1444.8

XPDR_PINGS 0 GPS 080918,181424,-7402.926,-11249.238,0,2002.0,0,53.2,0.0,0.0,0,0.0

ALTIM_TOP_PING 8.4,9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 270 16.53 nil 0 0 0.00

Roll_motor 87 175 178.73 nil 0 0 0.00

VBD_pump_during_apogee 396 2991 13690.47 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 9342 2 291.33

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 24 420 116.42 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7855 2 213.41

TT8_Active 508 13 82.59

TT8_Sampling 923 34 377.70

TT8_CF8 146 52 90.70

TT8_Kalman 0 0 0.00

Analog_circuits 880 10 112.89

GPS_charging 0 0 0.00

Compass 572 7 50.44

RAFOS 480 1 8.47

Transponder 168 30 59.30

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

18.8 20.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

29.9 31.80 9000.00 0.0 0.00 0.00 31.80 0.0 1.04 1.00

540.1 73.90 9000.00 0.0 0.09 0.97 73.90 0.0 0.08 1.00

583.5 46.60 9000.00 0.0 0.05 0.52 46.60 630.1 -0.63 1.00

596.1 32.70 9000.00 0.0 -0.71 0.99 32.70 628.8 -1.10 1.00

608.6 21.20 20.90 629.5 -1.01 1.00 21.20 629.8 -0.92 1.00

618.8 17.20 9000.00 0.0 -0.70 0.96 17.20 636.0 -0.39 1.00

625.6 9.20 9000.00 0.0 -0.68 0.91 9.20 634.8 -1.18 1.00

611.8 33.90 9000.00 0.0 -1.79 0.96 33.90 0.0 -1.79 1.00

52.0 54.80 9000.00 0.0 -0.06 0.73 54.80 0.0 -0.04 1.00

40.8 43.50 9000.00 0.0 -0.03 0.69 43.50 -2.7 1.01 1.00

29.7 30.70 31.00 -1.3 1.08 1.00 30.70 -1.0 1.15 1.00

18.5 19.60 19.30 -0.8 1.08 1.00 19.60 -1.1 0.99 1.00

8.4 8.90 9.00 -0.6 1.02 1.00 8.90 -0.5 1.06 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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -1.06 -107.1 2791 2308 2818 2755 0.0 0.0 0 20 0.00 0.00 -7.97 0.013 16390 0.000 0.000 2791 2307 3221 3248 3194 0 0 0 0 0 0 15.07 12.75 15.07

23 -1.06 -107.1 2793 2308 3251 3195 0.0 0.0 0 29 0.98 2.55 0.00 0.000 4356 0.074 0.109 2439 3711 3221 3248 3194 0 0 0 0 0 0 14.67 14.51 14.72

202 -1.06 -107.1 2441 3711 3249 3195 58.9 -24.9 26 209 0.00 2.47 0.00 0.000 1030 0.000 0.046 2442 2278 3220 3248 3193 0 0 0 0 0 0 14.69 14.64 14.72

555 -1.06 -107.1 2441 2277 3247 3194 130.3 -19.6 40 560 0.00 2.45 0.00 0.000 516 0.000 0.072 2442 896 3220 3248 3193 0 0 0 0 0 0 15.07 14.57 15.09

623 -1.06 -107.1 2441 897 3247 3193 144.2 -19.8 50 630 0.10 2.58 0.00 0.000 3078 0.259 0.070 2456 2304 3220 3248 3193 0 0 0 0 0 0 14.19 14.50 14.37

1016 -1.06 -107.1 2455 2304 3248 3193 218.8 -19.1 64 1021 0.00 2.50 0.00 0.000 516 0.000 0.070 2456 902 3220 3248 3193 0 0 0 0 0 0 15.08 14.55 15.09

1042 -1.06 -107.1 2455 903 3247 3194 224.3 -20.0 68 1050 0.00 2.58 0.00 0.000 1030 0.000 0.071 2447 2308 3220 3247 3193 0 0 0 0 0 0 14.57 14.47 14.63

1437 -1.06 -107.1 2448 2309 3249 3194 301.8 -19.7 79 1438 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2308 3220 3247 3193 0 0 0 0 0 0 15.08 15.10 15.10

1786 -1.06 -107.1 2447 2309 3247 3193 370.2 -19.6 84 1792 0.00 2.55 0.00 0.000 516 0.000 0.070 2447 908 3219 3247 3192 0 0 0 0 0 0 15.07 14.49 15.09

1848 -1.06 -107.1 2447 908 3247 3193 382.3 -19.2 93 1856 0.00 2.55 0.00 0.000 1030 0.000 0.069 2437 2301 3220 3247 3193 0 0 0 0 0 0 14.62 14.53 14.69

2205 -1.06 -107.1 2438 2302 3249 3193 451.4 -19.3 99 2206 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2300 3219 3247 3192 0 0 0 0 0 0 15.06 15.09 15.08

2555 -1.06 -107.1 2437 2302 3248 3193 518.4 -19.2 104 2562 0.00 2.55 0.00 0.000 516 0.000 0.071 2436 903 3220 3248 3192 0 0 0 0 0 0 15.07 14.46 15.09

2625 -1.06 -107.1 2436 904 3247 3193 532.2 -19.6 114 2632 0.10 2.58 0.00 0.000 3078 0.270 0.070 2451 2309 3220 3247 3193 0 0 0 0 0 0 14.16 14.54 14.35

3045 -1.06 -107.1 2451 2310 3247 3193 608.6 -18.0 129 3052 0.00 2.58 0.00 0.000 516 0.000 0.071 2451 899 3220 3248 3193 0 0 0 0 0 0 15.05 14.45 15.08

3072 -1.06 -107.1 2451 900 3247 3193 613.7 -18.5 133 3080 0.00 2.58 0.00 0.000 1030 0.000 0.071 2446 2305 3220 3247 3193 0 0 0 0 0 0 14.59 14.51 14.66

3105 end dive: BOTTOM_OBSTACLE_DETECTED

state 3105 begin apogee

3111 -0.23 0.0 2447 2075 3247 3194 620.0 -18.0 138 3232 1.05 0.08 117.85 2.992 10246 0.236 0.176 2723 2117 2783 2816 2750 0 0 0 0 0 0 14.21 13.62 12.27

3233 end apogee: CONTROL_FINISHED_OK

state 3233 begin climb

3236 1.06 107.1 2723 2117 2815 2750 625.6 0.0 139 3378 1.45 2.95 133.00 2.886 10756 0.151 0.082 3136 726 2342 2386 2299 0 0 0 0 0 0 13.65 12.95 11.60

3411 1.15 185.6 3142 726 2380 2297 623.8 5.1 163 3517 0.00 2.72 98.25 2.836 9254 0.000 0.054 3136 2098 2023 2086 1960 0 0 0 0 0 0 13.36 13.30 11.55

3874 1.20 227.9 3137 2099 2079 1948 591.1 7.4 184 3930 0.17 2.80 47.08 2.813 10532 0.112 0.102 3204 3516 1851 1918 1785 0 0 0 0 0 0 14.42 13.97 12.60

3994 1.20 227.9 3205 3517 1917 1783 577.8 12.5 201 4000 0.00 2.50 0.00 0.000 1030 0.000 0.047 3206 2115 1848 1915 1782 0 0 0 0 0 0 14.31 14.21 14.33

4364 1.20 227.9 3206 2116 1913 1780 534.0 11.9 209 4371 0.00 2.58 0.00 0.000 516 0.000 0.090 3206 693 1844 1910 1779 0 0 0 0 0 0 14.97 14.57 15.00

4419 1.20 227.9 3205 694 1909 1779 527.3 11.9 217 4427 0.00 2.50 0.00 0.000 1030 0.000 0.059 3206 2103 1843 1910 1777 0 0 0 0 0 0 14.71 14.64 14.76

4784 1.20 227.9 3207 2104 1910 1777 485.2 11.6 224 4790 0.00 2.60 0.00 0.000 260 0.000 0.102 3206 3525 1842 1908 1776 0 0 0 0 0 0 15.07 14.61 15.09

4825 1.20 227.9 3207 3525 1910 1776 480.1 12.3 230 4832 0.00 2.50 0.00 0.000 1030 0.000 0.048 3205 2090 1842 1908 1776 0 0 0 0 0 0 14.78 14.71 14.83

5204 1.20 227.9 3207 2090 1909 1776 438.8 11.0 239 5210 0.00 2.58 0.00 0.000 516 0.000 0.091 3206 692 1841 1907 1775 0 0 0 0 0 0 15.09 14.57 15.11

5231 1.20 227.9 3205 692 1906 1776 435.8 10.7 243 5238 0.00 2.50 0.00 0.000 1030 0.000 0.059 3206 2105 1840 1906 1775 0 0 0 0 0 0 14.76 14.69 14.82

5625 1.20 227.9 3205 2106 1906 1776 394.0 11.0 254 5630 0.00 2.58 0.00 0.000 260 0.000 0.103 3205 3513 1840 1906 1775 0 0 0 0 0 0 15.10 14.62 15.12

5651 1.20 227.9 3207 3513 1908 1776 390.7 12.0 258 5658 0.00 2.47 0.00 0.000 1030 0.000 0.048 3201 2091 1840 1906 1775 0 0 0 0 0 0 14.78 14.73 14.83

6044 1.20 227.9 3207 2091 1908 1776 347.2 11.0 269 6045 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 2090 1840 1906 1775 0 0 0 0 0 0 15.10 15.13 15.13

6394 1.20 227.9 3207 2091 1907 1776 310.4 10.6 274 6400 0.00 2.55 0.00 0.000 516 0.000 0.091 3206 704 1839 1904 1774 0 0 0 0 0 0 15.17 14.54 15.19

6435 1.20 227.9 3205 704 1905 1774 305.9 10.5 280 6442 0.00 2.47 0.00 0.000 1030 0.000 0.058 3205 2109 1840 1905 1775 0 0 0 0 0 0 14.74 14.67 14.80

6814 1.20 227.9 3205 2109 1904 1774 266.8 10.3 289 6821 0.00 2.62 0.00 0.000 260 0.000 0.103 3206 3513 1839 1905 1774 0 0 0 0 0 0 15.10 14.52 15.12

6855 1.20 227.9 3207 3514 1911 1775 262.0 11.5 295 6862 0.00 2.47 0.00 0.000 1030 0.000 0.047 3206 2090 1839 1904 1774 0 0 0 0 0 0 14.73 14.69 14.81

7234 1.20 227.9 3207 2092 1907 1775 220.7 11.1 304 7240 0.00 2.53 0.00 0.000 516 0.000 0.090 3206 694 1839 1904 1774 0 0 0 0 0 0 15.09 14.57 15.12

7276 1.20 227.9 3205 695 1904 1774 216.0 10.9 310 7282 0.00 2.50 0.00 0.000 1030 0.000 0.059 3205 2109 1839 1904 1774 0 0 0 0 0 0 14.71 14.63 14.76

7639 1.20 227.9 3207 2110 1907 1775 176.1 10.9 323 7640 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 2109 1839 1904 1774 0 0 0 0 0 0 15.19 15.22 15.21

7975 1.20 227.9 3207 2110 1906 1774 140.3 10.5 335 7976 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 2109 1838 1904 1773 0 0 0 0 0 0 15.20 15.23 15.23

8312 1.20 227.9 3205 2109 1903 1774 104.0 10.6 347 8313 0.00 0.00 0.00 0.000 6 0.000 0.000 3212 2109 1838 1904 1773 0 0 0 0 0 0 15.18 15.20 15.20

8647 1.20 227.9 3207 2110 1906 1774 70.4 9.6 359 8648 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 2109 1838 1904 1773 0 0 0 0 0 0 15.18 15.19 15.21

8984 1.20 227.9 3207 2109 1903 1774 40.8 10.1 371 8990 0.00 2.62 0.00 0.000 516 0.000 0.091 3205 703 1838 1904 1773 0 0 0 0 0 0 15.09 14.46 15.11

9053 1.22 227.9 3207 704 1905 1774 33.9 9.5 381 9061 0.00 2.47 0.00 0.000 1094 0.000 0.060 3205 2104 1838 1904 1773 0 0 0 0 0 0 14.68 14.60 14.73

9289 end climb: FINISH_DEPTH_REACHED

state 9289 begin subsurface finish

9295 0.00 1.9 3206 2105 1903 1772 9.2 11.3 391 9328 1.45 2.60 -26.67 0.005 20996 0.213 0.099 2801 698 2777 2811 2744 0 0 0 0 0 0 14.23 12.48 14.42

9328 end subsurface finish: CONTROL_FINISHED_OK

state 9328 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	497	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	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	31	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	20	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	350	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	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2782	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	0	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	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	0.059999999	PITCH_MIN	225	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2800	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
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	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	080918,143937,-7402.3413,-11304.9229,0,1001.0,0,53.2,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.239
_CALLS	3	TGT_NAME	hold6
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	13.93	MHEAD_RNG_PITCHd_Wd	45.4,20528,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-10.5	D_GRID	990
GPS2	080918,143937,-7402.3413,-11304.9229,0,1001.0,0,53.2,0.0,0.0,0,0.0

FREEZE	9.21,-1.845,-1.879,2,94,0	ALTIM_BOTTOM_PING	608.6,20.9
FINISH1	9.2,1.027463,2	_24V_AH	11.55,176.287
FINISH2	9.0	_10V_AH	11.76,0.000
RAFOS_CLK	371	FG_AHR_24Vo	0.000
RAFOS	0,1536429675,18.032778,18.020834,59,59,54,50,50,47,135,204,149,192,119,216	FG_AHR_10Vo	0.000
RAFOS_FIX	-7402.925781,-11249.238281,080918,181824,1,2,0.63	MEM	280788
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	DATA_FILE_SIZE	13432,396
TT8_MAMPS	0.040446,0.256158	CAP_FILE_SIZE	75737,0
HUMID	50.94	CFSIZE	1024409600,961134592
INTERNAL_PRESSURE	8.19952	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	11.80	SOUNDSPEED	1444.8
XPDR_PINGS	0	GPS	080918,181424,-7402.926,-11249.238,0,2002.0,0,53.2,0.0,0.0,0,0.0
ALTIM_TOP_PING	8.4,9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	270	16.53	nil	0	0	0.00
Roll_motor	87	175	178.73	nil	0	0	0.00
VBD_pump_during_apogee	396	2991	13690.47	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	9342	2	291.33
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	24	420	116.42	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7855	2	213.41
TT8_Active	508	13	82.59
TT8_Sampling	923	34	377.70
TT8_CF8	146	52	90.70
TT8_Kalman	0	0	0.00
Analog_circuits	880	10	112.89
GPS_charging	0	0	0.00
Compass	572	7	50.44
RAFOS	480	1	8.47
Transponder	168	30	59.30

		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
18.8	20.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
29.9	31.80	9000.00	0.0	0.00	0.00	31.80	0.0	1.04	1.00
540.1	73.90	9000.00	0.0	0.09	0.97	73.90	0.0	0.08	1.00
583.5	46.60	9000.00	0.0	0.05	0.52	46.60	630.1	-0.63	1.00
596.1	32.70	9000.00	0.0	-0.71	0.99	32.70	628.8	-1.10	1.00
608.6	21.20	20.90	629.5	-1.01	1.00	21.20	629.8	-0.92	1.00
618.8	17.20	9000.00	0.0	-0.70	0.96	17.20	636.0	-0.39	1.00
625.6	9.20	9000.00	0.0	-0.68	0.91	9.20	634.8	-1.18	1.00

611.8	33.90	9000.00	0.0	-1.79	0.96	33.90	0.0	-1.79	1.00
52.0	54.80	9000.00	0.0	-0.06	0.73	54.80	0.0	-0.04	1.00
40.8	43.50	9000.00	0.0	-0.03	0.69	43.50	-2.7	1.01	1.00
29.7	30.70	31.00	-1.3	1.08	1.00	30.70	-1.0	1.15	1.00
18.5	19.60	19.30	-0.8	1.08	1.00	19.60	-1.1	0.99	1.00
8.4	8.90	9.00	-0.6	1.02	1.00	8.90	-0.5	1.06	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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-1.06	-107.1	2791	2308	2818	2755	0.0	0.0	0	20	0.00	0.00	-7.97	0.013	16390	0.000	0.000	2791	2307	3221	3248	3194	0	0	0	0	0	0	15.07	12.75	15.07
23	-1.06	-107.1	2793	2308	3251	3195	0.0	0.0	0	29	0.98	2.55	0.00	0.000	4356	0.074	0.109	2439	3711	3221	3248	3194	0	0	0	0	0	0	14.67	14.51	14.72
202	-1.06	-107.1	2441	3711	3249	3195	58.9	-24.9	26	209	0.00	2.47	0.00	0.000	1030	0.000	0.046	2442	2278	3220	3248	3193	0	0	0	0	0	0	14.69	14.64	14.72
555	-1.06	-107.1	2441	2277	3247	3194	130.3	-19.6	40	560	0.00	2.45	0.00	0.000	516	0.000	0.072	2442	896	3220	3248	3193	0	0	0	0	0	0	15.07	14.57	15.09
623	-1.06	-107.1	2441	897	3247	3193	144.2	-19.8	50	630	0.10	2.58	0.00	0.000	3078	0.259	0.070	2456	2304	3220	3248	3193	0	0	0	0	0	0	14.19	14.50	14.37
1016	-1.06	-107.1	2455	2304	3248	3193	218.8	-19.1	64	1021	0.00	2.50	0.00	0.000	516	0.000	0.070	2456	902	3220	3248	3193	0	0	0	0	0	0	15.08	14.55	15.09
1042	-1.06	-107.1	2455	903	3247	3194	224.3	-20.0	68	1050	0.00	2.58	0.00	0.000	1030	0.000	0.071	2447	2308	3220	3247	3193	0	0	0	0	0	0	14.57	14.47	14.63
1437	-1.06	-107.1	2448	2309	3249	3194	301.8	-19.7	79	1438	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	2308	3220	3247	3193	0	0	0	0	0	0	15.08	15.10	15.10
1786	-1.06	-107.1	2447	2309	3247	3193	370.2	-19.6	84	1792	0.00	2.55	0.00	0.000	516	0.000	0.070	2447	908	3219	3247	3192	0	0	0	0	0	0	15.07	14.49	15.09
1848	-1.06	-107.1	2447	908	3247	3193	382.3	-19.2	93	1856	0.00	2.55	0.00	0.000	1030	0.000	0.069	2437	2301	3220	3247	3193	0	0	0	0	0	0	14.62	14.53	14.69
2205	-1.06	-107.1	2438	2302	3249	3193	451.4	-19.3	99	2206	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	2300	3219	3247	3192	0	0	0	0	0	0	15.06	15.09	15.08
2555	-1.06	-107.1	2437	2302	3248	3193	518.4	-19.2	104	2562	0.00	2.55	0.00	0.000	516	0.000	0.071	2436	903	3220	3248	3192	0	0	0	0	0	0	15.07	14.46	15.09
2625	-1.06	-107.1	2436	904	3247	3193	532.2	-19.6	114	2632	0.10	2.58	0.00	0.000	3078	0.270	0.070	2451	2309	3220	3247	3193	0	0	0	0	0	0	14.16	14.54	14.35
3045	-1.06	-107.1	2451	2310	3247	3193	608.6	-18.0	129	3052	0.00	2.58	0.00	0.000	516	0.000	0.071	2451	899	3220	3248	3193	0	0	0	0	0	0	15.05	14.45	15.08
3072	-1.06	-107.1	2451	900	3247	3193	613.7	-18.5	133	3080	0.00	2.58	0.00	0.000	1030	0.000	0.071	2446	2305	3220	3247	3193	0	0	0	0	0	0	14.59	14.51	14.66
3105	end dive: BOTTOM_OBSTACLE_DETECTED
state	3105	begin apogee
3111	-0.23	0.0	2447	2075	3247	3194	620.0	-18.0	138	3232	1.05	0.08	117.85	2.992	10246	0.236	0.176	2723	2117	2783	2816	2750	0	0	0	0	0	0	14.21	13.62	12.27
3233	end apogee: CONTROL_FINISHED_OK
state	3233	begin climb
3236	1.06	107.1	2723	2117	2815	2750	625.6	0.0	139	3378	1.45	2.95	133.00	2.886	10756	0.151	0.082	3136	726	2342	2386	2299	0	0	0	0	0	0	13.65	12.95	11.60
3411	1.15	185.6	3142	726	2380	2297	623.8	5.1	163	3517	0.00	2.72	98.25	2.836	9254	0.000	0.054	3136	2098	2023	2086	1960	0	0	0	0	0	0	13.36	13.30	11.55
3874	1.20	227.9	3137	2099	2079	1948	591.1	7.4	184	3930	0.17	2.80	47.08	2.813	10532	0.112	0.102	3204	3516	1851	1918	1785	0	0	0	0	0	0	14.42	13.97	12.60
3994	1.20	227.9	3205	3517	1917	1783	577.8	12.5	201	4000	0.00	2.50	0.00	0.000	1030	0.000	0.047	3206	2115	1848	1915	1782	0	0	0	0	0	0	14.31	14.21	14.33
4364	1.20	227.9	3206	2116	1913	1780	534.0	11.9	209	4371	0.00	2.58	0.00	0.000	516	0.000	0.090	3206	693	1844	1910	1779	0	0	0	0	0	0	14.97	14.57	15.00
4419	1.20	227.9	3205	694	1909	1779	527.3	11.9	217	4427	0.00	2.50	0.00	0.000	1030	0.000	0.059	3206	2103	1843	1910	1777	0	0	0	0	0	0	14.71	14.64	14.76
4784	1.20	227.9	3207	2104	1910	1777	485.2	11.6	224	4790	0.00	2.60	0.00	0.000	260	0.000	0.102	3206	3525	1842	1908	1776	0	0	0	0	0	0	15.07	14.61	15.09
4825	1.20	227.9	3207	3525	1910	1776	480.1	12.3	230	4832	0.00	2.50	0.00	0.000	1030	0.000	0.048	3205	2090	1842	1908	1776	0	0	0	0	0	0	14.78	14.71	14.83
5204	1.20	227.9	3207	2090	1909	1776	438.8	11.0	239	5210	0.00	2.58	0.00	0.000	516	0.000	0.091	3206	692	1841	1907	1775	0	0	0	0	0	0	15.09	14.57	15.11
5231	1.20	227.9	3205	692	1906	1776	435.8	10.7	243	5238	0.00	2.50	0.00	0.000	1030	0.000	0.059	3206	2105	1840	1906	1775	0	0	0	0	0	0	14.76	14.69	14.82
5625	1.20	227.9	3205	2106	1906	1776	394.0	11.0	254	5630	0.00	2.58	0.00	0.000	260	0.000	0.103	3205	3513	1840	1906	1775	0	0	0	0	0	0	15.10	14.62	15.12
5651	1.20	227.9	3207	3513	1908	1776	390.7	12.0	258	5658	0.00	2.47	0.00	0.000	1030	0.000	0.048	3201	2091	1840	1906	1775	0	0	0	0	0	0	14.78	14.73	14.83
6044	1.20	227.9	3207	2091	1908	1776	347.2	11.0	269	6045	0.00	0.00	0.00	0.000	6	0.000	0.000	3206	2090	1840	1906	1775	0	0	0	0	0	0	15.10	15.13	15.13
6394	1.20	227.9	3207	2091	1907	1776	310.4	10.6	274	6400	0.00	2.55	0.00	0.000	516	0.000	0.091	3206	704	1839	1904	1774	0	0	0	0	0	0	15.17	14.54	15.19
6435	1.20	227.9	3205	704	1905	1774	305.9	10.5	280	6442	0.00	2.47	0.00	0.000	1030	0.000	0.058	3205	2109	1840	1905	1775	0	0	0	0	0	0	14.74	14.67	14.80
6814	1.20	227.9	3205	2109	1904	1774	266.8	10.3	289	6821	0.00	2.62	0.00	0.000	260	0.000	0.103	3206	3513	1839	1905	1774	0	0	0	0	0	0	15.10	14.52	15.12
6855	1.20	227.9	3207	3514	1911	1775	262.0	11.5	295	6862	0.00	2.47	0.00	0.000	1030	0.000	0.047	3206	2090	1839	1904	1774	0	0	0	0	0	0	14.73	14.69	14.81
7234	1.20	227.9	3207	2092	1907	1775	220.7	11.1	304	7240	0.00	2.53	0.00	0.000	516	0.000	0.090	3206	694	1839	1904	1774	0	0	0	0	0	0	15.09	14.57	15.12
7276	1.20	227.9	3205	695	1904	1774	216.0	10.9	310	7282	0.00	2.50	0.00	0.000	1030	0.000	0.059	3205	2109	1839	1904	1774	0	0	0	0	0	0	14.71	14.63	14.76
7639	1.20	227.9	3207	2110	1907	1775	176.1	10.9	323	7640	0.00	0.00	0.00	0.000	6	0.000	0.000	3206	2109	1839	1904	1774	0	0	0	0	0	0	15.19	15.22	15.21
7975	1.20	227.9	3207	2110	1906	1774	140.3	10.5	335	7976	0.00	0.00	0.00	0.000	6	0.000	0.000	3206	2109	1838	1904	1773	0	0	0	0	0	0	15.20	15.23	15.23
8312	1.20	227.9	3205	2109	1903	1774	104.0	10.6	347	8313	0.00	0.00	0.00	0.000	6	0.000	0.000	3212	2109	1838	1904	1773	0	0	0	0	0	0	15.18	15.20	15.20
8647	1.20	227.9	3207	2110	1906	1774	70.4	9.6	359	8648	0.00	0.00	0.00	0.000	6	0.000	0.000	3206	2109	1838	1904	1773	0	0	0	0	0	0	15.18	15.19	15.21
8984	1.20	227.9	3207	2109	1903	1774	40.8	10.1	371	8990	0.00	2.62	0.00	0.000	516	0.000	0.091	3205	703	1838	1904	1773	0	0	0	0	0	0	15.09	14.46	15.11
9053	1.22	227.9	3207	704	1905	1774	33.9	9.5	381	9061	0.00	2.47	0.00	0.000	1094	0.000	0.060	3205	2104	1838	1904	1773	0	0	0	0	0	0	14.68	14.60	14.73
9289	end climb: FINISH_DEPTH_REACHED
state	9289	begin subsurface finish
9295	0.00	1.9	3206	2105	1903	1772	9.2	11.3	391	9328	1.45	2.60	-26.67	0.005	20996	0.213	0.099	2801	698	2777	2811	2744	0	0	0	0	0	0	14.23	12.48	14.42
9328	end subsurface finish: CONTROL_FINISHED_OK
state	9328	begin surface