Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 678 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.0042300001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0085000005 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 678 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 41 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 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 3

D_BOOST 110 SM_CC 399.91037 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 400 FILEMGR 2 VBD_MIN 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 3492 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 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 0 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 20 PITCH_MIN 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2775 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

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 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031300001 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0042300001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0085000005 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2775 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 0 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3492 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 -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 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 678 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 41 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 23 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 400 MISSION 7 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 -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 151218,151512,-7413.7637,-11233.2910,0,4133.0,0,53.4,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.239

_CALLS 1 TGT_NAME ip2

_XMS_NAKs 0 TGT_LATLONG -7414.250,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 395.99 MHEAD_RNG_PITCHd_Wd 65.1,1885,-43.8,-9.429,-45.00,333

_SM_ANGLEo 5.0 D_GRID 990

GPS2 151218,151512,-7413.7637,-11233.2910,0,4133.0,0,53.4,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 399.74,-0.924,-2.178,2,5,0 _24V_AH 11.60,213.877

FINISH1 399.7,1.027512,-1 _10V_AH 12.02,0.000

FINISH2 395.6 FG_AHR_24Vo 0.000

RAFOS_CLK 436 FG_AHR_10Vo 0.000

RAFOS 0,1544896859,18.032354,18.016388,139,61,61,56,53,53,577,215,142,226,184,159 MEM 279804

RAFOS_FIX -7414.073730,-11234.786133,151218,181824,3,138,0.09 DATA_FILE_SIZE 36624,1128

IRIDIUM_FIX -7410.85,-11223.24,141218,223050 CAP_FILE_SIZE 121010,0

TT8_MAMPS 0.03745,0.572985 CFSIZE 1024409600,940015616

HUMID 49.64 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.95848 SOUNDSPEED 1457.7

TCM_TEMP 13.50 GPS 151218,181424,-7414.074,-11234.786,0,4137.7,0,53.4,0.0,0.0,0,0.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 358 43.19 nil 0 0 0.00

Roll_motor 91 97 103.56 nil 0 0 0.00

VBD_pump_during_apogee 175 3092 6294.06 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 10881 9 1220.04

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 32 420 157.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8140 2 226.03

TT8_Active 273 10 35.80

TT8_Sampling 2282 30 832.68

TT8_CF8 271 51 167.25

TT8_Kalman 0 0 0.00

Analog_circuits 1098 10 133.33

GPS_charging 0 0 0.00

Compass 1610 6 130.51

RAFOS 720 1 12.98

Transponder 234 30 84.62

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

846.2 35.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

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

13 -2.02 -20.4 2780 2795 3536 3536 0.0 0.0 0 14 0.00 0.00 -0.25 0.351 16390 0.000 0.000 2779 2794 3586 3584 3589 0 0 0 0 0 0 14.84 12.69 14.57

18 -2.02 -20.4 2780 2795 3589 3592 0.0 0.0 0 24 2.00 2.05 0.00 0.000 4356 0.112 0.086 2121 3917 3589 3589 3589 0 0 0 0 0 0 14.35 14.33 14.52

215 -2.03 -27.1 2121 3918 3597 3586 408.8 -7.4 39 222 0.00 1.90 -0.10 0.925 17446 0.000 0.038 2121 2773 3615 3621 3610 0 0 0 0 0 0 14.59 14.54 14.07

520 -2.03 -27.1 2122 2772 3626 3614 431.3 -7.5 70 525 0.00 2.05 0.00 0.000 260 0.000 0.075 2117 3923 3619 3624 3614 0 0 0 0 0 0 14.91 14.34 14.92

736 -2.03 -27.1 2117 3924 3625 3615 448.4 -7.5 113 742 0.00 1.88 0.00 0.000 1030 0.000 0.040 2116 2786 3619 3625 3614 0 0 0 0 0 0 14.57 14.52 14.60

1041 -2.04 -35.7 2117 2786 3626 3615 470.3 -6.8 144 1046 0.00 2.03 -0.10 0.925 16676 0.000 0.098 2114 3919 3651 3656 3646 0 0 0 0 0 0 14.87 12.86 14.14

1122 -2.04 -35.7 2114 3919 3660 3647 477.2 -9.5 160 1127 0.00 1.88 0.00 0.000 1030 0.000 0.038 2114 2787 3653 3659 3648 0 0 0 0 0 0 14.58 14.52 14.61

1433 -2.04 -35.7 2114 2788 3661 3649 504.7 -8.4 192 1438 0.00 2.38 0.00 0.000 516 0.000 0.041 2114 1404 3654 3659 3649 0 0 0 0 0 0 14.92 14.33 14.92

1566 -2.04 -35.7 2114 1405 3661 3650 515.6 -8.3 218 1572 0.00 2.45 0.00 0.000 1030 0.000 0.056 2112 2802 3654 3660 3649 0 0 0 0 0 0 14.40 14.34 14.44

1878 -2.04 -35.7 2112 2803 3660 3650 540.9 -8.1 250 1879 0.00 0.00 0.00 0.000 6 0.000 0.000 2112 2802 3654 3660 3649 0 0 0 0 0 0 14.92 14.92 14.92

2178 -2.04 -35.7 2112 2803 3661 3650 564.9 -7.8 280 2183 0.00 1.98 0.00 0.000 260 0.000 0.076 2110 3916 3654 3659 3649 0 0 0 0 0 0 14.92 14.22 14.92

2234 -2.04 -35.7 2110 3916 3661 3649 569.5 -8.2 291 2240 0.00 1.88 0.00 0.000 1030 0.000 0.040 2110 2795 3654 3660 3648 0 0 0 0 0 0 14.52 14.44 14.54

2540 -2.04 -42.3 2111 2795 3661 3649 592.7 -7.4 322 2545 0.00 2.38 0.00 0.000 548 0.000 0.042 2109 1404 3654 3660 3649 0 0 0 0 0 0 14.78 14.39 14.78

2674 -2.06 -51.7 2111 1404 3661 3649 602.0 -6.5 348 2679 0.00 2.50 0.00 0.000 1062 0.000 0.054 2102 2813 3654 3660 3649 0 0 0 0 0 0 14.35 14.23 14.38

2985 -2.07 -59.2 2102 2814 3661 3650 623.7 -7.1 380 2986 0.00 0.00 0.00 0.000 38 0.000 0.000 2102 2813 3654 3660 3648 0 0 0 0 0 0 14.76 14.76 14.76

3285 -2.08 -69.0 2102 2813 3661 3648 643.4 -6.4 410 3289 0.00 1.95 0.00 0.000 292 0.000 0.076 2097 3909 3653 3660 3647 0 0 0 0 0 0 14.86 14.28 14.87

3435 -2.09 -77.2 2097 3910 3659 3648 653.3 -6.9 440 3440 0.00 1.88 0.00 0.000 1062 0.000 0.040 2097 2787 3653 3660 3647 0 0 0 0 0 0 14.52 14.45 14.54

3746 -2.10 -89.7 2098 2787 3661 3647 671.9 -5.6 472 3751 0.00 2.38 0.00 0.000 548 0.000 0.041 2097 1396 3653 3660 3647 0 0 0 0 0 0 14.86 14.35 14.86

3837 -2.12 -103.5 2098 1396 3661 3647 676.8 -5.2 490 3842 0.00 2.47 0.00 0.000 1062 0.000 0.054 2088 2806 3653 3660 3647 0 0 0 0 0 0 14.47 14.34 14.50

4148 -2.12 -107.1 2088 2807 3661 3648 693.5 -5.1 522 4149 0.00 0.00 0.00 0.000 38 0.000 0.000 2088 2805 3653 3659 3647 0 0 0 0 0 0 14.91 14.91 14.91

4460 -2.12 -107.1 2088 2807 3660 3647 709.2 -5.0 541 4461 0.00 0.00 0.00 0.000 38 0.000 0.000 2088 2806 3653 3660 3646 0 0 0 0 0 0 14.83 14.83 14.83

4819 -2.12 -107.1 2088 2807 3660 3647 727.1 -4.8 553 4825 0.00 1.98 0.00 0.000 292 0.000 0.075 2080 3917 3653 3660 3646 0 0 0 0 0 0 14.75 14.25 14.75

4896 -2.12 -107.1 2081 3918 3660 3648 731.0 -5.2 568 4900 0.00 1.90 0.00 0.000 1062 0.000 0.039 2081 2784 3652 3660 3645 0 0 0 0 0 0 14.50 14.44 14.52

5274 -2.12 -107.1 2081 2785 3661 3646 749.5 -4.8 583 5279 0.00 2.03 0.00 0.000 292 0.000 0.073 2073 3915 3654 3659 3649 0 0 0 0 0 0 14.83 14.23 14.84

5373 -2.12 -107.1 2073 3915 3654 3646 754.2 -4.0 602 5378 0.00 1.88 0.00 0.000 1062 0.000 0.039 2073 2785 3652 3660 3645 0 0 0 0 0 0 14.44 14.44 14.44

5762 -2.12 -107.1 2074 2785 3661 3646 770.9 -4.2 619 5767 0.00 2.38 0.00 0.000 548 0.000 0.040 2072 1391 3652 3660 3645 0 0 0 0 0 0 14.76 14.35 14.77

5911 -2.12 -107.1 2073 1393 3660 3646 776.8 -4.0 648 5920 0.00 2.50 0.00 0.000 1062 0.000 0.054 2071 2810 3653 3660 3646 0 0 0 0 0 0 14.42 14.31 14.46

6274 -2.12 -107.1 2074 2807 3662 3646 790.4 -3.6 661 6280 0.00 1.98 0.00 0.000 292 0.000 0.073 2063 3910 3653 3660 3646 0 0 0 0 0 0 14.76 14.11 14.76

6505 -2.12 -107.1 2062 3911 3661 3646 798.8 -3.2 707 6511 0.15 1.88 0.00 0.000 3110 0.350 0.040 2091 2791 3652 3660 3645 0 0 0 0 0 0 13.67 14.42 14.12

6880 -2.12 -107.1 2091 2792 3661 3646 809.5 -2.6 721 6886 0.00 2.00 0.00 0.000 292 0.000 0.073 2082 3910 3653 3660 3646 0 0 0 0 0 0 14.73 14.22 14.74

7112 -2.12 -107.1 2083 3910 3661 3646 815.9 -2.7 767 7117 0.00 1.85 0.00 0.000 1062 0.000 0.039 2083 2797 3653 3660 3646 0 0 0 0 0 0 14.50 14.45 14.52

7483 -2.12 -107.1 2082 2798 3660 3648 824.4 -2.1 781 7489 0.00 2.00 0.00 0.000 292 0.000 0.073 2074 3913 3653 3660 3646 0 0 0 0 0 0 14.87 14.14 14.87

7715 -2.12 -107.1 2074 3914 3660 3646 829.9 -1.3 827 7720 0.00 1.90 0.00 0.000 1062 0.000 0.039 2081 2785 3653 3661 3645 0 0 0 0 0 0 14.50 14.43 14.51

8086 -2.12 -107.1 2081 2787 3660 3647 837.4 -1.8 841 8092 0.00 2.03 0.00 0.000 292 0.000 0.073 2072 3916 3652 3659 3646 0 0 0 0 0 0 14.86 14.21 14.87

8317 -2.12 -107.1 2072 3917 3660 3647 841.7 -1.9 887 8322 0.00 1.88 0.00 0.000 1062 0.000 0.040 2076 2791 3653 3660 3646 0 0 0 0 0 0 14.50 14.43 14.51

8688 -2.12 -107.1 2076 2792 3661 3641 847.6 -1.6 901 8694 0.00 2.00 0.00 0.000 292 0.000 0.072 2068 3907 3652 3659 3646 0 0 0 0 0 0 14.88 14.21 14.88

8920 -2.12 -107.1 2068 3908 3661 3646 851.2 -1.6 947 8925 0.00 1.88 0.00 0.000 1062 0.000 0.039 2067 2782 3653 3660 3646 0 0 0 0 0 0 14.50 14.44 14.52

9137 end dive: NO_VERTICAL_VELOCITY

state 9137 begin apogee

9145 -0.23 0.0 2066 2537 3661 3646 853.0 0.0 956 9202 2.75 0.00 48.92 3.032 10246 0.323 0.000 2696 2538 3491 3497 3486 0 0 0 0 0 0 13.79 13.97 12.58

9203 end apogee: CONTROL_FINISHED_OK

state 9203 begin climb

9206 2.12 107.1 2697 2538 3498 3486 853.0 0.0 958 9347 2.38 2.83 126.55 3.092 10500 0.106 0.086 3458 3896 3064 3085 3043 0 0 0 0 0 0 14.07 12.97 11.60

9383 2.12 107.1 3458 3896 3083 3039 815.8 32.6 991 9388 0.00 2.53 0.00 0.000 1030 0.000 0.050 3467 2556 3060 3081 3039 0 0 0 0 0 0 13.43 13.35 13.44

9760 2.12 107.1 3468 2556 3075 3032 701.3 30.2 1006 9765 0.00 2.47 0.00 0.000 516 0.000 0.063 3478 1147 3052 3073 3032 0 0 0 0 0 0 14.78 14.38 14.79

9801 2.12 107.1 3479 1148 3074 3032 689.1 28.9 1014 9807 0.00 2.47 0.00 0.000 1030 0.000 0.067 3478 2551 3052 3073 3032 0 0 0 0 0 0 14.51 14.43 14.55

10113 2.12 107.1 3478 2553 3073 3032 596.0 29.5 1046 10118 0.00 2.50 0.00 0.000 516 0.000 0.063 3488 1141 3051 3072 3031 0 0 0 0 0 0 14.89 14.45 14.91

10175 2.12 107.1 3488 1141 3073 3032 578.4 28.9 1058 10180 0.17 2.53 0.00 0.000 5126 0.358 0.067 3456 2569 3051 3072 3031 0 0 0 0 0 0 13.94 14.42 14.42

10486 2.12 107.1 3457 2570 3073 3032 491.0 27.5 1090 10492 0.00 2.50 0.00 0.000 516 0.000 0.067 3471 1152 3051 3072 3031 0 0 0 0 0 0 14.92 14.38 14.92

10508 2.12 107.1 3467 1152 3073 3031 484.7 28.1 1094 10513 0.00 2.50 0.00 0.000 1030 0.000 0.067 3467 2555 3051 3071 3031 0 0 0 0 0 0 14.59 14.47 14.64

10818 end climb: FINISH_DEPTH_REACHED

state 10820 begin subsurface finish

10827 -0.00 -0.6 3467 2556 3073 3033 399.7 26.5 1126 10839 2.95 2.50 -1.88 0.048 20996 0.338 0.079 2788 1145 3517 3520 3515 0 0 0 0 0 0 14.00 13.04 14.45

10839 end subsurface finish: CONTROL_FINISHED_OK

state 10839 begin surface

ID	221	HD_A	0.0042300001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0085000005	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	678	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	41	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	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	3
D_BOOST	110	SM_CC	399.91037	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	400	FILEMGR	2	VBD_MIN	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	3492	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	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	0	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	20	PITCH_MIN	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2775	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
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	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	883

GPS1	151218,151512,-7413.7637,-11233.2910,0,4133.0,0,53.4,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.239
_CALLS	1	TGT_NAME	ip2
_XMS_NAKs	0	TGT_LATLONG	-7414.250,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	395.99	MHEAD_RNG_PITCHd_Wd	65.1,1885,-43.8,-9.429,-45.00,333
_SM_ANGLEo	5.0	D_GRID	990
GPS2	151218,151512,-7413.7637,-11233.2910,0,4133.0,0,53.4,0.0,0.0,0,0.0

FREEZE	399.74,-0.924,-2.178,2,5,0	_24V_AH	11.60,213.877
FINISH1	399.7,1.027512,-1	_10V_AH	12.02,0.000
FINISH2	395.6	FG_AHR_24Vo	0.000
RAFOS_CLK	436	FG_AHR_10Vo	0.000
RAFOS	0,1544896859,18.032354,18.016388,139,61,61,56,53,53,577,215,142,226,184,159	MEM	279804
RAFOS_FIX	-7414.073730,-11234.786133,151218,181824,3,138,0.09	DATA_FILE_SIZE	36624,1128
IRIDIUM_FIX	-7410.85,-11223.24,141218,223050	CAP_FILE_SIZE	121010,0
TT8_MAMPS	0.03745,0.572985	CFSIZE	1024409600,940015616
HUMID	49.64	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.95848	SOUNDSPEED	1457.7
TCM_TEMP	13.50	GPS	151218,181424,-7414.074,-11234.786,0,4137.7,0,53.4,0.0,0.0,0,0.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	358	43.19	nil	0	0	0.00
Roll_motor	91	97	103.56	nil	0	0	0.00
VBD_pump_during_apogee	175	3092	6294.06	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	10881	9	1220.04
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	32	420	157.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8140	2	226.03
TT8_Active	273	10	35.80
TT8_Sampling	2282	30	832.68
TT8_CF8	271	51	167.25
TT8_Kalman	0	0	0.00
Analog_circuits	1098	10	133.33
GPS_charging	0	0	0.00
Compass	1610	6	130.51
RAFOS	720	1	12.98
Transponder	234	30	84.62

		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

846.2	35.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00

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
13	-2.02	-20.4	2780	2795	3536	3536	0.0	0.0	0	14	0.00	0.00	-0.25	0.351	16390	0.000	0.000	2779	2794	3586	3584	3589	0	0	0	0	0	0	14.84	12.69	14.57
18	-2.02	-20.4	2780	2795	3589	3592	0.0	0.0	0	24	2.00	2.05	0.00	0.000	4356	0.112	0.086	2121	3917	3589	3589	3589	0	0	0	0	0	0	14.35	14.33	14.52
215	-2.03	-27.1	2121	3918	3597	3586	408.8	-7.4	39	222	0.00	1.90	-0.10	0.925	17446	0.000	0.038	2121	2773	3615	3621	3610	0	0	0	0	0	0	14.59	14.54	14.07
520	-2.03	-27.1	2122	2772	3626	3614	431.3	-7.5	70	525	0.00	2.05	0.00	0.000	260	0.000	0.075	2117	3923	3619	3624	3614	0	0	0	0	0	0	14.91	14.34	14.92
736	-2.03	-27.1	2117	3924	3625	3615	448.4	-7.5	113	742	0.00	1.88	0.00	0.000	1030	0.000	0.040	2116	2786	3619	3625	3614	0	0	0	0	0	0	14.57	14.52	14.60
1041	-2.04	-35.7	2117	2786	3626	3615	470.3	-6.8	144	1046	0.00	2.03	-0.10	0.925	16676	0.000	0.098	2114	3919	3651	3656	3646	0	0	0	0	0	0	14.87	12.86	14.14
1122	-2.04	-35.7	2114	3919	3660	3647	477.2	-9.5	160	1127	0.00	1.88	0.00	0.000	1030	0.000	0.038	2114	2787	3653	3659	3648	0	0	0	0	0	0	14.58	14.52	14.61
1433	-2.04	-35.7	2114	2788	3661	3649	504.7	-8.4	192	1438	0.00	2.38	0.00	0.000	516	0.000	0.041	2114	1404	3654	3659	3649	0	0	0	0	0	0	14.92	14.33	14.92
1566	-2.04	-35.7	2114	1405	3661	3650	515.6	-8.3	218	1572	0.00	2.45	0.00	0.000	1030	0.000	0.056	2112	2802	3654	3660	3649	0	0	0	0	0	0	14.40	14.34	14.44
1878	-2.04	-35.7	2112	2803	3660	3650	540.9	-8.1	250	1879	0.00	0.00	0.00	0.000	6	0.000	0.000	2112	2802	3654	3660	3649	0	0	0	0	0	0	14.92	14.92	14.92
2178	-2.04	-35.7	2112	2803	3661	3650	564.9	-7.8	280	2183	0.00	1.98	0.00	0.000	260	0.000	0.076	2110	3916	3654	3659	3649	0	0	0	0	0	0	14.92	14.22	14.92
2234	-2.04	-35.7	2110	3916	3661	3649	569.5	-8.2	291	2240	0.00	1.88	0.00	0.000	1030	0.000	0.040	2110	2795	3654	3660	3648	0	0	0	0	0	0	14.52	14.44	14.54
2540	-2.04	-42.3	2111	2795	3661	3649	592.7	-7.4	322	2545	0.00	2.38	0.00	0.000	548	0.000	0.042	2109	1404	3654	3660	3649	0	0	0	0	0	0	14.78	14.39	14.78
2674	-2.06	-51.7	2111	1404	3661	3649	602.0	-6.5	348	2679	0.00	2.50	0.00	0.000	1062	0.000	0.054	2102	2813	3654	3660	3649	0	0	0	0	0	0	14.35	14.23	14.38
2985	-2.07	-59.2	2102	2814	3661	3650	623.7	-7.1	380	2986	0.00	0.00	0.00	0.000	38	0.000	0.000	2102	2813	3654	3660	3648	0	0	0	0	0	0	14.76	14.76	14.76
3285	-2.08	-69.0	2102	2813	3661	3648	643.4	-6.4	410	3289	0.00	1.95	0.00	0.000	292	0.000	0.076	2097	3909	3653	3660	3647	0	0	0	0	0	0	14.86	14.28	14.87
3435	-2.09	-77.2	2097	3910	3659	3648	653.3	-6.9	440	3440	0.00	1.88	0.00	0.000	1062	0.000	0.040	2097	2787	3653	3660	3647	0	0	0	0	0	0	14.52	14.45	14.54
3746	-2.10	-89.7	2098	2787	3661	3647	671.9	-5.6	472	3751	0.00	2.38	0.00	0.000	548	0.000	0.041	2097	1396	3653	3660	3647	0	0	0	0	0	0	14.86	14.35	14.86
3837	-2.12	-103.5	2098	1396	3661	3647	676.8	-5.2	490	3842	0.00	2.47	0.00	0.000	1062	0.000	0.054	2088	2806	3653	3660	3647	0	0	0	0	0	0	14.47	14.34	14.50
4148	-2.12	-107.1	2088	2807	3661	3648	693.5	-5.1	522	4149	0.00	0.00	0.00	0.000	38	0.000	0.000	2088	2805	3653	3659	3647	0	0	0	0	0	0	14.91	14.91	14.91
4460	-2.12	-107.1	2088	2807	3660	3647	709.2	-5.0	541	4461	0.00	0.00	0.00	0.000	38	0.000	0.000	2088	2806	3653	3660	3646	0	0	0	0	0	0	14.83	14.83	14.83
4819	-2.12	-107.1	2088	2807	3660	3647	727.1	-4.8	553	4825	0.00	1.98	0.00	0.000	292	0.000	0.075	2080	3917	3653	3660	3646	0	0	0	0	0	0	14.75	14.25	14.75
4896	-2.12	-107.1	2081	3918	3660	3648	731.0	-5.2	568	4900	0.00	1.90	0.00	0.000	1062	0.000	0.039	2081	2784	3652	3660	3645	0	0	0	0	0	0	14.50	14.44	14.52
5274	-2.12	-107.1	2081	2785	3661	3646	749.5	-4.8	583	5279	0.00	2.03	0.00	0.000	292	0.000	0.073	2073	3915	3654	3659	3649	0	0	0	0	0	0	14.83	14.23	14.84
5373	-2.12	-107.1	2073	3915	3654	3646	754.2	-4.0	602	5378	0.00	1.88	0.00	0.000	1062	0.000	0.039	2073	2785	3652	3660	3645	0	0	0	0	0	0	14.44	14.44	14.44
5762	-2.12	-107.1	2074	2785	3661	3646	770.9	-4.2	619	5767	0.00	2.38	0.00	0.000	548	0.000	0.040	2072	1391	3652	3660	3645	0	0	0	0	0	0	14.76	14.35	14.77
5911	-2.12	-107.1	2073	1393	3660	3646	776.8	-4.0	648	5920	0.00	2.50	0.00	0.000	1062	0.000	0.054	2071	2810	3653	3660	3646	0	0	0	0	0	0	14.42	14.31	14.46
6274	-2.12	-107.1	2074	2807	3662	3646	790.4	-3.6	661	6280	0.00	1.98	0.00	0.000	292	0.000	0.073	2063	3910	3653	3660	3646	0	0	0	0	0	0	14.76	14.11	14.76
6505	-2.12	-107.1	2062	3911	3661	3646	798.8	-3.2	707	6511	0.15	1.88	0.00	0.000	3110	0.350	0.040	2091	2791	3652	3660	3645	0	0	0	0	0	0	13.67	14.42	14.12
6880	-2.12	-107.1	2091	2792	3661	3646	809.5	-2.6	721	6886	0.00	2.00	0.00	0.000	292	0.000	0.073	2082	3910	3653	3660	3646	0	0	0	0	0	0	14.73	14.22	14.74
7112	-2.12	-107.1	2083	3910	3661	3646	815.9	-2.7	767	7117	0.00	1.85	0.00	0.000	1062	0.000	0.039	2083	2797	3653	3660	3646	0	0	0	0	0	0	14.50	14.45	14.52
7483	-2.12	-107.1	2082	2798	3660	3648	824.4	-2.1	781	7489	0.00	2.00	0.00	0.000	292	0.000	0.073	2074	3913	3653	3660	3646	0	0	0	0	0	0	14.87	14.14	14.87
7715	-2.12	-107.1	2074	3914	3660	3646	829.9	-1.3	827	7720	0.00	1.90	0.00	0.000	1062	0.000	0.039	2081	2785	3653	3661	3645	0	0	0	0	0	0	14.50	14.43	14.51
8086	-2.12	-107.1	2081	2787	3660	3647	837.4	-1.8	841	8092	0.00	2.03	0.00	0.000	292	0.000	0.073	2072	3916	3652	3659	3646	0	0	0	0	0	0	14.86	14.21	14.87
8317	-2.12	-107.1	2072	3917	3660	3647	841.7	-1.9	887	8322	0.00	1.88	0.00	0.000	1062	0.000	0.040	2076	2791	3653	3660	3646	0	0	0	0	0	0	14.50	14.43	14.51
8688	-2.12	-107.1	2076	2792	3661	3641	847.6	-1.6	901	8694	0.00	2.00	0.00	0.000	292	0.000	0.072	2068	3907	3652	3659	3646	0	0	0	0	0	0	14.88	14.21	14.88
8920	-2.12	-107.1	2068	3908	3661	3646	851.2	-1.6	947	8925	0.00	1.88	0.00	0.000	1062	0.000	0.039	2067	2782	3653	3660	3646	0	0	0	0	0	0	14.50	14.44	14.52
9137	end dive: NO_VERTICAL_VELOCITY
state	9137	begin apogee
9145	-0.23	0.0	2066	2537	3661	3646	853.0	0.0	956	9202	2.75	0.00	48.92	3.032	10246	0.323	0.000	2696	2538	3491	3497	3486	0	0	0	0	0	0	13.79	13.97	12.58
9203	end apogee: CONTROL_FINISHED_OK
state	9203	begin climb
9206	2.12	107.1	2697	2538	3498	3486	853.0	0.0	958	9347	2.38	2.83	126.55	3.092	10500	0.106	0.086	3458	3896	3064	3085	3043	0	0	0	0	0	0	14.07	12.97	11.60
9383	2.12	107.1	3458	3896	3083	3039	815.8	32.6	991	9388	0.00	2.53	0.00	0.000	1030	0.000	0.050	3467	2556	3060	3081	3039	0	0	0	0	0	0	13.43	13.35	13.44
9760	2.12	107.1	3468	2556	3075	3032	701.3	30.2	1006	9765	0.00	2.47	0.00	0.000	516	0.000	0.063	3478	1147	3052	3073	3032	0	0	0	0	0	0	14.78	14.38	14.79
9801	2.12	107.1	3479	1148	3074	3032	689.1	28.9	1014	9807	0.00	2.47	0.00	0.000	1030	0.000	0.067	3478	2551	3052	3073	3032	0	0	0	0	0	0	14.51	14.43	14.55
10113	2.12	107.1	3478	2553	3073	3032	596.0	29.5	1046	10118	0.00	2.50	0.00	0.000	516	0.000	0.063	3488	1141	3051	3072	3031	0	0	0	0	0	0	14.89	14.45	14.91
10175	2.12	107.1	3488	1141	3073	3032	578.4	28.9	1058	10180	0.17	2.53	0.00	0.000	5126	0.358	0.067	3456	2569	3051	3072	3031	0	0	0	0	0	0	13.94	14.42	14.42
10486	2.12	107.1	3457	2570	3073	3032	491.0	27.5	1090	10492	0.00	2.50	0.00	0.000	516	0.000	0.067	3471	1152	3051	3072	3031	0	0	0	0	0	0	14.92	14.38	14.92
10508	2.12	107.1	3467	1152	3073	3031	484.7	28.1	1094	10513	0.00	2.50	0.00	0.000	1030	0.000	0.067	3467	2555	3051	3071	3031	0	0	0	0	0	0	14.59	14.47	14.64
10818	end climb: FINISH_DEPTH_REACHED
state	10820	begin subsurface finish
10827	-0.00	-0.6	3467	2556	3073	3033	399.7	26.5	1126	10839	2.95	2.50	-1.88	0.048	20996	0.338	0.079	2788	1145	3517	3520	3515	0	0	0	0	0	0	14.00	13.04	14.45
10839	end subsurface finish: CONTROL_FINISHED_OK
state	10839	begin surface