Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 657 * 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 657 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 33 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 22 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 2560 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 10029665 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 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 2870 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 2 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 6 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 2 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 10029665 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 2870 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 2560 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 657 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 33 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 22 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 2 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 301118,184100,-7403.8301,-11259.8945,27,0.8,27,53.6,0.4,308.3,10,4.1 SPEED_LIMITS 0.100,0.239

_CALLS 1 TGT_NAME hold

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.59 MHEAD_RNG_PITCHd_Wd 73.8,17826,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -64.6 D_GRID 990

GPS2 301118,185811,-7403.6582,-11300.0400,2,0.9,3,53.6,0.2,6.3,9,7.1

Post-dive calculations and measurements:

FREEZE -0.19,-1.354,-0.987,2,1,0 ALTIM_BOTTOM_PING 557.7,10.7

FINISH1 -0.2,1.014571,0 _24V_AH 11.24,220.966

FINISH2 -0.3 _10V_AH 11.46,0.000

RAFOS_CLK 360 FG_AHR_24Vo 0.000

RAFOS 0,1543611701,21.032778,21.028055,99,65,62,55,54,54,409,232,210,180,221,131 FG_AHR_10Vo 0.000

RAFOS_FIX -7404.158203,-11251.062500,301118,212144,3,95,0.56 MEM 280072

IRIDIUM_FIX -7405.46,-11306.76,301118,152729 DATA_FILE_SIZE 16771,447

TT8_MAMPS 0.038948,0.253162 CAP_FILE_SIZE 88866,0

HUMID 50.23 CFSIZE 1024409600,944734208

INTERNAL_PRESSURE 8.20929 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.10 SOUNDSPEED 1446.3

XPDR_PINGS 0 CURRENT 0.329,83.80,1

ALTIM_TOP_PING 15.2,15.3 GPS 301118,211544,-7404.158,-11251.062,0,4095.0,0,53.6,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 417 74.65 nil 0 0 0.00

Roll_motor 95 154 165.75 nil 0 0 0.00

VBD_pump_during_apogee 367 2934 12129.95 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 9761 6 746.71

Iridium_during_xfer 652 218 1604.26 nil 0 0 0.00

Transponder_ping 22 420 106.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 10 0.59

TT8 0 0 0.00

LPSleep 8009 2 212.04

TT8_Active 614 13 97.36

TT8_Sampling 1609 34 641.83

TT8_CF8 528 52 319.84

TT8_Kalman 0 0 0.00

Analog_circuits 1690 10 211.12

GPS_charging 0 0 0.00

Compass 646 7 55.46

RAFOS 720 1 12.38

Transponder 159 30 54.86

Altimeter Analysis:

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

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

10.6 11.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

21.8 23.10 9000.00 0.0 0.00 0.00 23.10 0.0 1.00 1.00

34.9 37.80 37.60 0.0 1.07 1.00 37.80 0.0 1.12 1.00

46.6 49.30 49.60 0.0 1.05 1.00 49.30 0.0 0.98 1.00

530.5 33.30 9000.00 0.0 -0.02 0.49 33.30 563.8 -0.03 1.00

544.4 19.70 9000.00 0.0 -0.05 0.81 19.70 564.1 -0.98 1.00

557.7 11.60 10.70 568.4 -0.80 0.98 11.60 569.3 -0.61 1.00

552.0 11.80 9000.00 0.0 -0.63 0.83 11.80 0.0 -0.04 1.00

539.7 23.10 9000.00 0.0 -0.69 0.91 23.10 0.0 -0.92 1.00

85.1 88.40 9000.00 0.0 -0.15 0.99 88.40 0.0 -0.14 1.00

74.9 77.90 9000.00 0.0 -0.13 0.97 77.90 -3.0 1.03 1.00

62.1 65.90 65.70 -3.6 0.98 1.00 65.90 -3.8 0.94 1.00

50.7 52.60 53.00 -2.3 1.04 1.00 52.60 -1.9 1.17 1.00

38.9 41.70 41.30 -2.4 1.04 1.00 41.70 -2.8 0.92 1.00

27.0 28.00 28.40 -1.4 1.04 1.00 28.00 -1.0 1.15 1.00

15.2 15.50 15.30 -0.1 1.11 1.00 15.50 -0.3 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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

12 -1.06 -107.1 208 2312 1157 1069 0.0 0.0 0 126 0.00 0.00 -108.60 0.002 16390 0.000 0.000 210 2311 2995 3000 2991 0 0 0 0 0 0 14.94 13.53 14.97

129 -1.06 -107.1 211 2311 3002 2992 2.8 -2.4 4 146 11.57 2.58 0.00 0.000 2308 0.418 0.097 2519 3718 2996 3002 2990 0 0 0 0 0 0 14.07 14.51 14.51

275 -1.06 -107.1 2518 3719 3007 2985 27.9 -15.0 25 281 0.00 2.45 0.00 0.000 1030 0.000 0.044 2519 2283 2997 3008 2986 0 0 0 0 0 0 14.76 14.69 14.78

632 -1.06 -107.1 2519 2283 3010 2984 78.6 -14.5 40 637 0.00 2.47 0.00 0.000 516 0.000 0.069 2519 903 2996 3010 2983 0 0 0 0 0 0 15.11 14.31 15.11

672 -1.06 -107.1 2519 904 3009 2984 84.5 -14.5 46 678 0.00 2.55 0.00 0.000 1030 0.000 0.066 2509 2299 2996 3010 2983 0 0 0 0 0 0 14.46 14.38 14.53

1022 -1.06 -107.1 2510 2300 3013 2984 139.3 -15.6 60 1028 0.00 2.70 0.00 0.000 260 0.000 0.107 2498 3711 2996 3010 2982 0 0 0 0 0 0 15.14 14.00 15.16

1057 -1.06 -107.1 2497 3710 3010 2983 145.0 -16.9 65 1064 0.10 2.47 0.00 0.000 3078 0.274 0.043 2522 2286 2996 3011 2982 0 0 0 0 0 0 13.98 14.53 14.17

1414 -1.06 -107.1 2523 2287 3012 2984 190.4 -12.0 80 1415 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2285 2996 3012 2981 0 0 0 0 0 0 15.11 15.14 15.13

1779 -1.06 -107.1 2523 2286 3013 2983 238.4 -13.4 88 1780 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2286 2999 3015 2983 0 0 0 0 0 0 14.95 14.97 14.97

2115 -1.06 -107.1 2522 2286 3013 2982 287.3 -14.4 94 2120 0.00 2.50 0.00 0.000 516 0.000 0.067 2522 912 3000 3012 2988 0 0 0 0 0 0 14.92 14.30 14.95

2149 -1.06 -107.1 2523 913 3014 2981 292.1 -13.7 99 2155 0.00 2.55 0.00 0.000 1030 0.000 0.063 2513 2305 2997 3012 2982 0 0 0 0 0 0 14.38 14.31 14.45

2506 -1.06 -107.1 2514 2306 3012 2981 337.8 -12.6 108 2507 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2305 2996 3012 2981 0 0 0 0 0 0 15.12 15.15 15.14

2842 -1.06 -107.1 2513 2306 3013 2982 376.8 -11.5 114 2848 0.00 2.58 0.00 0.000 516 0.000 0.067 2514 916 2996 3013 2980 0 0 0 0 0 0 15.13 13.97 15.15

2877 -1.06 -107.1 2513 917 3012 2981 381.0 -12.6 119 2883 0.00 2.55 0.00 0.000 1030 0.000 0.061 2507 2310 2997 3013 2981 0 0 0 0 0 0 14.35 14.27 14.42

3234 -1.06 -107.1 2503 2311 3013 2981 426.9 -13.0 128 3235 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2310 2996 3013 2980 0 0 0 0 0 0 15.08 15.11 15.10

3570 -1.06 -107.1 2503 2310 3015 2981 470.3 -12.8 134 3571 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2310 2996 3012 2980 0 0 0 0 0 0 15.07 15.09 15.09

3906 -1.06 -107.1 2502 2311 3013 2981 515.6 -13.6 140 3912 0.00 2.60 0.00 0.000 516 0.000 0.067 2503 908 2996 3013 2980 0 0 0 0 0 0 15.08 14.14 15.10

3941 -1.06 -107.1 2502 909 3013 2980 520.4 -13.9 145 3948 0.12 2.58 0.00 0.000 3078 0.266 0.063 2523 2304 2997 3015 2980 0 0 0 0 0 0 13.78 14.23 13.98

4298 end dive: BOTTOM_OBSTACLE_DETECTED

state 4298 begin apogee

4305 -0.23 0.0 2523 2063 3015 2979 562.5 -11.3 154 4427 0.95 0.10 118.90 2.935 10246 0.161 0.155 2799 2122 2559 2590 2528 0 0 0 0 0 0 14.09 13.63 12.38

4428 end apogee: CONTROL_FINISHED_OK

state 4428 begin climb

4431 1.06 107.1 2801 2123 2591 2528 562.4 0.0 156 4574 1.42 2.95 133.23 2.809 10756 0.170 0.075 3201 740 2121 2165 2077 0 0 0 0 0 0 13.64 12.74 11.41

4650 1.17 198.5 3201 741 2158 2070 557.0 4.3 190 4775 0.12 2.62 115.62 2.752 11302 0.081 0.050 3256 2093 1748 1802 1694 0 0 0 0 0 0 13.31 13.29 11.24

5141 1.17 198.5 3255 2094 1798 1682 509.0 10.9 218 5147 0.00 2.70 0.00 0.000 260 0.000 0.100 3256 3507 1738 1796 1681 0 0 0 0 0 0 14.76 14.26 14.78

5231 1.17 198.5 3255 3507 1795 1681 497.3 12.9 231 5238 0.00 2.40 0.00 0.000 1030 0.000 0.043 3264 2133 1738 1795 1681 0 0 0 0 0 0 14.59 14.54 14.63

5588 1.17 198.5 3265 2135 1795 1681 454.1 12.1 240 5595 0.00 2.62 0.00 0.000 516 0.000 0.084 3275 704 1736 1793 1680 0 0 0 0 0 0 15.08 14.47 15.10

5651 1.17 198.5 3275 706 1792 1679 446.5 12.0 249 5659 0.10 2.47 0.00 0.000 5126 0.241 0.057 3249 2105 1735 1792 1678 0 0 0 0 0 0 14.28 14.60 14.46

6037 1.17 198.5 3249 2105 1792 1678 402.1 11.6 262 6043 0.00 2.62 0.00 0.000 260 0.000 0.102 3249 3500 1734 1792 1677 0 0 0 0 0 0 15.09 14.42 15.14

6092 1.17 198.5 3248 3501 1792 1678 395.0 12.8 270 6099 0.00 2.45 0.00 0.000 1030 0.000 0.045 3256 2093 1734 1792 1677 0 0 0 0 0 0 14.66 14.59 14.70

6488 1.17 198.5 3255 2093 1792 1678 350.2 11.5 284 6493 0.00 2.55 0.00 0.000 516 0.000 0.086 3265 691 1734 1791 1677 0 0 0 0 0 0 15.02 14.47 15.04

6513 1.17 198.5 3264 691 1791 1677 347.1 11.0 288 6519 0.00 2.50 0.00 0.000 1030 0.000 0.060 3265 2097 1734 1791 1677 0 0 0 0 0 0 14.57 14.51 14.64

6877 1.17 198.5 3264 2097 1791 1677 304.6 12.0 298 6883 0.00 2.67 0.00 0.000 260 0.000 0.103 3265 3512 1734 1791 1677 0 0 0 0 0 0 15.12 14.36 15.14

6906 1.17 198.5 3266 3513 1793 1677 300.8 13.3 302 6911 0.00 2.45 0.00 0.000 1030 0.000 0.045 3275 2087 1734 1791 1677 0 0 0 0 0 0 14.74 14.63 14.79

7269 1.17 198.5 3274 2088 1790 1677 255.0 12.6 312 7275 0.00 2.70 0.00 0.000 260 0.000 0.099 3274 3506 1733 1791 1676 0 0 0 0 0 0 15.11 14.34 15.14

7298 1.17 198.5 3276 3507 1793 1677 251.3 13.1 316 7304 0.17 2.45 0.00 0.000 5126 0.284 0.045 3247 2084 1733 1791 1676 0 0 0 0 0 0 14.14 14.62 14.52

7665 1.17 198.5 3248 2084 1792 1677 212.2 10.6 326 7670 0.00 2.55 0.00 0.000 516 0.000 0.086 3255 694 1733 1790 1676 0 0 0 0 0 0 15.00 14.40 15.03

7718 1.17 198.5 3255 695 1788 1677 205.9 11.1 334 7724 0.00 2.53 0.00 0.000 1030 0.000 0.058 3255 2103 1732 1790 1675 0 0 0 0 0 0 14.52 14.44 14.58

8084 1.17 198.5 3256 2103 1792 1676 167.3 10.7 353 8090 0.00 2.65 0.00 0.000 260 0.000 0.101 3255 3515 1732 1789 1675 0 0 0 0 0 0 15.00 14.29 15.02

8151 1.17 198.5 3255 3516 1789 1675 159.0 12.0 363 8158 0.00 2.50 0.00 0.000 1030 0.000 0.046 3263 2094 1732 1790 1675 0 0 0 0 0 0 14.56 14.50 14.59

8502 1.17 198.5 3265 2094 1790 1683 119.7 11.1 377 8510 0.00 2.60 0.00 0.000 516 0.000 0.086 3274 702 1732 1789 1675 0 0 0 0 0 0 15.09 14.28 15.11

8543 1.17 198.5 3274 701 1789 1675 115.0 11.4 383 8550 0.10 2.50 0.00 0.000 5126 0.236 0.058 3248 2103 1730 1789 1671 0 0 0 0 0 0 14.02 14.42 14.19

8896 1.17 198.5 3246 2104 1789 1674 79.4 10.1 397 8902 0.00 2.65 0.00 0.000 260 0.000 0.100 3248 3513 1731 1789 1674 0 0 0 0 0 0 15.07 14.35 15.09

8942 1.17 198.5 3249 3514 1790 1675 74.1 11.0 404 8950 0.00 2.50 0.00 0.000 1030 0.000 0.045 3256 2094 1731 1789 1673 0 0 0 0 0 0 14.53 14.47 14.58

9289 1.17 198.5 3257 2093 1790 1675 38.9 10.5 417 9295 0.00 2.58 0.00 0.000 516 0.000 0.088 3261 689 1731 1788 1674 0 0 0 0 0 0 14.97 14.33 15.00

9315 1.17 198.5 3262 690 1790 1674 35.8 10.4 421 9322 0.00 2.55 0.00 0.000 1030 0.000 0.059 3262 2103 1731 1788 1674 0 0 0 0 0 0 14.47 14.40 14.53

9651 end climb: FINISH_DEPTH_REACHED

state 9651 begin subsurface finish

9658 0.00 0.0 3261 2104 1788 1673 -0.2 10.8 436 9728 1.23 2.62 -60.53 0.003 20740 0.112 0.112 2869 3506 2562 2604 2520 0 0 0 0 0 0 14.33 12.80 14.42

9728 end subsurface finish: CONTROL_FINISHED_OK

state 9728 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	657	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	33	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	22	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	2560	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	10029665	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	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	2870	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	2	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	301118,184100,-7403.8301,-11259.8945,27,0.8,27,53.6,0.4,308.3,10,4.1	SPEED_LIMITS	0.100,0.239
_CALLS	1	TGT_NAME	hold
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.59	MHEAD_RNG_PITCHd_Wd	73.8,17826,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-64.6	D_GRID	990
GPS2	301118,185811,-7403.6582,-11300.0400,2,0.9,3,53.6,0.2,6.3,9,7.1

FREEZE	-0.19,-1.354,-0.987,2,1,0	ALTIM_BOTTOM_PING	557.7,10.7
FINISH1	-0.2,1.014571,0	_24V_AH	11.24,220.966
FINISH2	-0.3	_10V_AH	11.46,0.000
RAFOS_CLK	360	FG_AHR_24Vo	0.000
RAFOS	0,1543611701,21.032778,21.028055,99,65,62,55,54,54,409,232,210,180,221,131	FG_AHR_10Vo	0.000
RAFOS_FIX	-7404.158203,-11251.062500,301118,212144,3,95,0.56	MEM	280072
IRIDIUM_FIX	-7405.46,-11306.76,301118,152729	DATA_FILE_SIZE	16771,447
TT8_MAMPS	0.038948,0.253162	CAP_FILE_SIZE	88866,0
HUMID	50.23	CFSIZE	1024409600,944734208
INTERNAL_PRESSURE	8.20929	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.10	SOUNDSPEED	1446.3
XPDR_PINGS	0	CURRENT	0.329,83.80,1
ALTIM_TOP_PING	15.2,15.3	GPS	301118,211544,-7404.158,-11251.062,0,4095.0,0,53.6,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	417	74.65	nil	0	0	0.00
Roll_motor	95	154	165.75	nil	0	0	0.00
VBD_pump_during_apogee	367	2934	12129.95	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	9761	6	746.71
Iridium_during_xfer	652	218	1604.26	nil	0	0	0.00
Transponder_ping	22	420	106.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	10	0.59
TT8	0	0	0.00
LPSleep	8009	2	212.04
TT8_Active	614	13	97.36
TT8_Sampling	1609	34	641.83
TT8_CF8	528	52	319.84
TT8_Kalman	0	0	0.00
Analog_circuits	1690	10	211.12
GPS_charging	0	0	0.00
Compass	646	7	55.46
RAFOS	720	1	12.38
Transponder	159	30	54.86

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
10.6	11.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
21.8	23.10	9000.00	0.0	0.00	0.00	23.10	0.0	1.00	1.00
34.9	37.80	37.60	0.0	1.07	1.00	37.80	0.0	1.12	1.00
46.6	49.30	49.60	0.0	1.05	1.00	49.30	0.0	0.98	1.00
530.5	33.30	9000.00	0.0	-0.02	0.49	33.30	563.8	-0.03	1.00
544.4	19.70	9000.00	0.0	-0.05	0.81	19.70	564.1	-0.98	1.00
557.7	11.60	10.70	568.4	-0.80	0.98	11.60	569.3	-0.61	1.00

552.0	11.80	9000.00	0.0	-0.63	0.83	11.80	0.0	-0.04	1.00
539.7	23.10	9000.00	0.0	-0.69	0.91	23.10	0.0	-0.92	1.00
85.1	88.40	9000.00	0.0	-0.15	0.99	88.40	0.0	-0.14	1.00
74.9	77.90	9000.00	0.0	-0.13	0.97	77.90	-3.0	1.03	1.00
62.1	65.90	65.70	-3.6	0.98	1.00	65.90	-3.8	0.94	1.00
50.7	52.60	53.00	-2.3	1.04	1.00	52.60	-1.9	1.17	1.00
38.9	41.70	41.30	-2.4	1.04	1.00	41.70	-2.8	0.92	1.00
27.0	28.00	28.40	-1.4	1.04	1.00	28.00	-1.0	1.15	1.00
15.2	15.50	15.30	-0.1	1.11	1.00	15.50	-0.3	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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
12	-1.06	-107.1	208	2312	1157	1069	0.0	0.0	0	126	0.00	0.00	-108.60	0.002	16390	0.000	0.000	210	2311	2995	3000	2991	0	0	0	0	0	0	14.94	13.53	14.97
129	-1.06	-107.1	211	2311	3002	2992	2.8	-2.4	4	146	11.57	2.58	0.00	0.000	2308	0.418	0.097	2519	3718	2996	3002	2990	0	0	0	0	0	0	14.07	14.51	14.51
275	-1.06	-107.1	2518	3719	3007	2985	27.9	-15.0	25	281	0.00	2.45	0.00	0.000	1030	0.000	0.044	2519	2283	2997	3008	2986	0	0	0	0	0	0	14.76	14.69	14.78
632	-1.06	-107.1	2519	2283	3010	2984	78.6	-14.5	40	637	0.00	2.47	0.00	0.000	516	0.000	0.069	2519	903	2996	3010	2983	0	0	0	0	0	0	15.11	14.31	15.11
672	-1.06	-107.1	2519	904	3009	2984	84.5	-14.5	46	678	0.00	2.55	0.00	0.000	1030	0.000	0.066	2509	2299	2996	3010	2983	0	0	0	0	0	0	14.46	14.38	14.53
1022	-1.06	-107.1	2510	2300	3013	2984	139.3	-15.6	60	1028	0.00	2.70	0.00	0.000	260	0.000	0.107	2498	3711	2996	3010	2982	0	0	0	0	0	0	15.14	14.00	15.16
1057	-1.06	-107.1	2497	3710	3010	2983	145.0	-16.9	65	1064	0.10	2.47	0.00	0.000	3078	0.274	0.043	2522	2286	2996	3011	2982	0	0	0	0	0	0	13.98	14.53	14.17
1414	-1.06	-107.1	2523	2287	3012	2984	190.4	-12.0	80	1415	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2285	2996	3012	2981	0	0	0	0	0	0	15.11	15.14	15.13
1779	-1.06	-107.1	2523	2286	3013	2983	238.4	-13.4	88	1780	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2286	2999	3015	2983	0	0	0	0	0	0	14.95	14.97	14.97
2115	-1.06	-107.1	2522	2286	3013	2982	287.3	-14.4	94	2120	0.00	2.50	0.00	0.000	516	0.000	0.067	2522	912	3000	3012	2988	0	0	0	0	0	0	14.92	14.30	14.95
2149	-1.06	-107.1	2523	913	3014	2981	292.1	-13.7	99	2155	0.00	2.55	0.00	0.000	1030	0.000	0.063	2513	2305	2997	3012	2982	0	0	0	0	0	0	14.38	14.31	14.45
2506	-1.06	-107.1	2514	2306	3012	2981	337.8	-12.6	108	2507	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2305	2996	3012	2981	0	0	0	0	0	0	15.12	15.15	15.14
2842	-1.06	-107.1	2513	2306	3013	2982	376.8	-11.5	114	2848	0.00	2.58	0.00	0.000	516	0.000	0.067	2514	916	2996	3013	2980	0	0	0	0	0	0	15.13	13.97	15.15
2877	-1.06	-107.1	2513	917	3012	2981	381.0	-12.6	119	2883	0.00	2.55	0.00	0.000	1030	0.000	0.061	2507	2310	2997	3013	2981	0	0	0	0	0	0	14.35	14.27	14.42
3234	-1.06	-107.1	2503	2311	3013	2981	426.9	-13.0	128	3235	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2310	2996	3013	2980	0	0	0	0	0	0	15.08	15.11	15.10
3570	-1.06	-107.1	2503	2310	3015	2981	470.3	-12.8	134	3571	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2310	2996	3012	2980	0	0	0	0	0	0	15.07	15.09	15.09
3906	-1.06	-107.1	2502	2311	3013	2981	515.6	-13.6	140	3912	0.00	2.60	0.00	0.000	516	0.000	0.067	2503	908	2996	3013	2980	0	0	0	0	0	0	15.08	14.14	15.10
3941	-1.06	-107.1	2502	909	3013	2980	520.4	-13.9	145	3948	0.12	2.58	0.00	0.000	3078	0.266	0.063	2523	2304	2997	3015	2980	0	0	0	0	0	0	13.78	14.23	13.98
4298	end dive: BOTTOM_OBSTACLE_DETECTED
state	4298	begin apogee
4305	-0.23	0.0	2523	2063	3015	2979	562.5	-11.3	154	4427	0.95	0.10	118.90	2.935	10246	0.161	0.155	2799	2122	2559	2590	2528	0	0	0	0	0	0	14.09	13.63	12.38
4428	end apogee: CONTROL_FINISHED_OK
state	4428	begin climb
4431	1.06	107.1	2801	2123	2591	2528	562.4	0.0	156	4574	1.42	2.95	133.23	2.809	10756	0.170	0.075	3201	740	2121	2165	2077	0	0	0	0	0	0	13.64	12.74	11.41
4650	1.17	198.5	3201	741	2158	2070	557.0	4.3	190	4775	0.12	2.62	115.62	2.752	11302	0.081	0.050	3256	2093	1748	1802	1694	0	0	0	0	0	0	13.31	13.29	11.24
5141	1.17	198.5	3255	2094	1798	1682	509.0	10.9	218	5147	0.00	2.70	0.00	0.000	260	0.000	0.100	3256	3507	1738	1796	1681	0	0	0	0	0	0	14.76	14.26	14.78
5231	1.17	198.5	3255	3507	1795	1681	497.3	12.9	231	5238	0.00	2.40	0.00	0.000	1030	0.000	0.043	3264	2133	1738	1795	1681	0	0	0	0	0	0	14.59	14.54	14.63
5588	1.17	198.5	3265	2135	1795	1681	454.1	12.1	240	5595	0.00	2.62	0.00	0.000	516	0.000	0.084	3275	704	1736	1793	1680	0	0	0	0	0	0	15.08	14.47	15.10
5651	1.17	198.5	3275	706	1792	1679	446.5	12.0	249	5659	0.10	2.47	0.00	0.000	5126	0.241	0.057	3249	2105	1735	1792	1678	0	0	0	0	0	0	14.28	14.60	14.46
6037	1.17	198.5	3249	2105	1792	1678	402.1	11.6	262	6043	0.00	2.62	0.00	0.000	260	0.000	0.102	3249	3500	1734	1792	1677	0	0	0	0	0	0	15.09	14.42	15.14
6092	1.17	198.5	3248	3501	1792	1678	395.0	12.8	270	6099	0.00	2.45	0.00	0.000	1030	0.000	0.045	3256	2093	1734	1792	1677	0	0	0	0	0	0	14.66	14.59	14.70
6488	1.17	198.5	3255	2093	1792	1678	350.2	11.5	284	6493	0.00	2.55	0.00	0.000	516	0.000	0.086	3265	691	1734	1791	1677	0	0	0	0	0	0	15.02	14.47	15.04
6513	1.17	198.5	3264	691	1791	1677	347.1	11.0	288	6519	0.00	2.50	0.00	0.000	1030	0.000	0.060	3265	2097	1734	1791	1677	0	0	0	0	0	0	14.57	14.51	14.64
6877	1.17	198.5	3264	2097	1791	1677	304.6	12.0	298	6883	0.00	2.67	0.00	0.000	260	0.000	0.103	3265	3512	1734	1791	1677	0	0	0	0	0	0	15.12	14.36	15.14
6906	1.17	198.5	3266	3513	1793	1677	300.8	13.3	302	6911	0.00	2.45	0.00	0.000	1030	0.000	0.045	3275	2087	1734	1791	1677	0	0	0	0	0	0	14.74	14.63	14.79
7269	1.17	198.5	3274	2088	1790	1677	255.0	12.6	312	7275	0.00	2.70	0.00	0.000	260	0.000	0.099	3274	3506	1733	1791	1676	0	0	0	0	0	0	15.11	14.34	15.14
7298	1.17	198.5	3276	3507	1793	1677	251.3	13.1	316	7304	0.17	2.45	0.00	0.000	5126	0.284	0.045	3247	2084	1733	1791	1676	0	0	0	0	0	0	14.14	14.62	14.52
7665	1.17	198.5	3248	2084	1792	1677	212.2	10.6	326	7670	0.00	2.55	0.00	0.000	516	0.000	0.086	3255	694	1733	1790	1676	0	0	0	0	0	0	15.00	14.40	15.03
7718	1.17	198.5	3255	695	1788	1677	205.9	11.1	334	7724	0.00	2.53	0.00	0.000	1030	0.000	0.058	3255	2103	1732	1790	1675	0	0	0	0	0	0	14.52	14.44	14.58
8084	1.17	198.5	3256	2103	1792	1676	167.3	10.7	353	8090	0.00	2.65	0.00	0.000	260	0.000	0.101	3255	3515	1732	1789	1675	0	0	0	0	0	0	15.00	14.29	15.02
8151	1.17	198.5	3255	3516	1789	1675	159.0	12.0	363	8158	0.00	2.50	0.00	0.000	1030	0.000	0.046	3263	2094	1732	1790	1675	0	0	0	0	0	0	14.56	14.50	14.59
8502	1.17	198.5	3265	2094	1790	1683	119.7	11.1	377	8510	0.00	2.60	0.00	0.000	516	0.000	0.086	3274	702	1732	1789	1675	0	0	0	0	0	0	15.09	14.28	15.11
8543	1.17	198.5	3274	701	1789	1675	115.0	11.4	383	8550	0.10	2.50	0.00	0.000	5126	0.236	0.058	3248	2103	1730	1789	1671	0	0	0	0	0	0	14.02	14.42	14.19
8896	1.17	198.5	3246	2104	1789	1674	79.4	10.1	397	8902	0.00	2.65	0.00	0.000	260	0.000	0.100	3248	3513	1731	1789	1674	0	0	0	0	0	0	15.07	14.35	15.09
8942	1.17	198.5	3249	3514	1790	1675	74.1	11.0	404	8950	0.00	2.50	0.00	0.000	1030	0.000	0.045	3256	2094	1731	1789	1673	0	0	0	0	0	0	14.53	14.47	14.58
9289	1.17	198.5	3257	2093	1790	1675	38.9	10.5	417	9295	0.00	2.58	0.00	0.000	516	0.000	0.088	3261	689	1731	1788	1674	0	0	0	0	0	0	14.97	14.33	15.00
9315	1.17	198.5	3262	690	1790	1674	35.8	10.4	421	9322	0.00	2.55	0.00	0.000	1030	0.000	0.059	3262	2103	1731	1788	1674	0	0	0	0	0	0	14.47	14.40	14.53
9651	end climb: FINISH_DEPTH_REACHED
state	9651	begin subsurface finish
9658	0.00	0.0	3261	2104	1788	1673	-0.2	10.8	436	9728	1.23	2.62	-60.53	0.003	20740	0.112	0.112	2869	3506	2562	2604	2520	0	0	0	0	0	0	14.33	12.80	14.42
9728	end subsurface finish: CONTROL_FINISHED_OK
state	9728	begin surface