Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 967 * 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 967 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 15 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 2575 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 3 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 10029665 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 2870 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 7 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 7 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 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 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 2575 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

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 967 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 7 R_STBD_OVSHOOT 15 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 7 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 280219,053525,-7407.8682,-11314.5869,16,1.2,33,53.8,0.3,105.6,11,3.9 SPEED_LIMITS 0.100,0.239

_CALLS 1 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11325.000

_XMS_TOUTs 0 TGT_RADIUS 1200.000

_SM_DEPTHo 0.66 MHEAD_RNG_PITCHd_Wd 194.7,5450,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -61.8 D_GRID 990

GPS2 280219,054358,-7407.8657,-11314.3252,2,1.0,4,53.8,0.4,87.4,11,4.0

Post-dive calculations and measurements:

FREEZE 3.67,-1.793,-1.851,2,1,0 _24V_AH 10.22,321.903

FINISH1 3.7,1.027129,19 _10V_AH 10.15,0.000

FINISH2 2.2 FG_AHR_24Vo 0.000

RAFOS_CLK 345 FG_AHR_10Vo 0.000

RAFOS 0,1551333663,6.032778,6.017500,109,62,58,57,57,56,638,213,168,132,200,186 MEM 279928

RAFOS_FIX -7406.332031,-11307.141602,280219,060628,3,109,2.45 DATA_FILE_SIZE 16769,470

IRIDIUM_FIX -7408.77,-11302.62,280219,023508 CAP_FILE_SIZE 84486,0

TT8_MAMPS 0.046438,0.274134 CFSIZE 1024409600,910229504

HUMID 52.28 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.21906 SOUNDSPEED 1447.4

TCM_TEMP 12.10 CURRENT 3.630,53.57,1

XPDR_PINGS 0 GPS 280219,061528,-7406.332,-11307.142,0,4109.3,0,53.8,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 401 93.07 nil 0 0 0.00

Roll_motor 131 143 193.87 nil 0 0 0.00

VBD_pump_during_apogee 408 2752 11494.72 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 9149 7 661.35

Iridium_during_xfer 272 231 642.34 nil 0 0 0.00

Transponder_ping 20 420 87.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 10 0.64

TT8 0 0 0.00

LPSleep 7293 2 171.02

TT8_Active 645 13 90.59

TT8_Sampling 1281 34 452.40

TT8_CF8 415 52 222.75

TT8_Kalman 0 0 0.00

Analog_circuits 1347 10 149.12

GPS_charging 0 0 0.00

Compass 678 7 51.57

RAFOS 720 1 10.96

Transponder 147 30 44.82

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

10.7 13.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

32.3 34.20 9000.00 0.0 0.00 0.00 34.20 0.0 0.98 1.00

42.8 45.30 45.00 0.0 1.00 1.00 45.30 0.0 1.06 1.00

56.2 59.80 59.70 0.0 1.07 1.00 59.80 0.0 1.08 1.00

490.6 34.30 9000.00 0.0 -0.04 0.65 34.30 524.9 -0.06 1.00

506.1 14.70 9000.00 0.0 -0.08 0.84 14.70 520.8 -1.26 1.00

497.8 23.70 9000.00 0.0 -1.25 0.99 23.70 0.0 -1.08 1.00

486.7 28.70 9000.00 0.0 -0.70 0.94 28.70 0.0 -0.45 1.00

464.8 41.40 9000.00 0.0 -0.54 1.00 41.40 0.0 -0.58 1.00

32.5 32.80 9000.00 0.0 0.00 0.02 32.80 -0.3 0.02 1.00

22.1 23.30 9000.00 0.0 0.03 0.74 23.30 -1.2 0.91 1.00

11.9 17.40 9000.00 0.0 0.75 0.99 17.40 -5.5 0.58 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

12 -1.06 -107.1 215 2310 1177 1088 0.0 0.0 0 123 0.00 0.00 -104.43 0.002 16390 0.000 0.000 215 2311 3012 3017 3008 0 0 0 0 0 0 11.48 10.72 11.50

128 -1.06 -107.1 215 2312 3017 3009 3.9 -3.5 4 153 17.30 3.50 0.00 0.000 2308 0.402 0.092 2515 3714 3013 3020 3007 0 0 0 0 0 0 11.12 11.25 11.32

272 -1.06 -107.1 2516 3714 3025 3003 35.1 -18.3 25 278 0.00 3.22 0.00 0.000 1030 0.000 0.037 2515 2301 3013 3024 3003 0 0 0 0 0 0 11.40 11.36 11.42

632 -1.06 -107.1 2516 2301 3027 3002 92.3 -16.0 40 639 0.00 3.30 0.00 0.000 516 0.000 0.062 2515 902 3013 3025 3001 0 0 0 0 0 0 11.50 11.29 11.52

702 -1.06 -107.1 2515 902 3025 3001 104.1 -16.2 50 707 0.00 3.35 0.00 0.000 1030 0.000 0.060 2503 2298 3013 3026 3000 0 0 0 0 0 0 11.35 11.28 11.37

1055 -1.06 -107.1 2504 2299 3026 3001 162.4 -17.5 64 1056 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2298 3013 3026 3000 0 0 0 0 0 0 11.50 11.52 11.52

1390 -1.06 -107.1 2506 2299 3028 3001 213.4 -15.7 75 1395 0.00 3.35 0.00 0.000 516 0.000 0.061 2505 891 3012 3026 2999 0 0 0 0 0 0 11.49 11.31 11.51

1493 -1.06 -107.1 2506 893 3029 3000 230.5 -15.9 90 1500 0.20 3.38 0.00 0.000 3078 0.262 0.057 2523 2302 3013 3027 2999 0 0 0 0 0 0 11.21 11.32 11.38

1836 -1.06 -107.1 2523 2303 3025 2999 281.8 -14.9 97 1842 0.00 3.35 0.00 0.000 516 0.000 0.061 2523 894 3012 3027 2998 0 0 0 0 0 0 11.50 11.31 11.52

1906 -1.06 -107.1 2525 892 3030 2999 292.4 -15.0 107 1911 0.00 3.40 0.00 0.000 1030 0.000 0.058 2515 2310 3013 3028 2998 0 0 0 0 0 0 11.40 11.31 11.41

2287 -1.06 -107.1 2515 2311 3027 2998 346.7 -14.2 119 2292 0.00 3.35 0.00 0.000 516 0.000 0.060 2515 899 3012 3028 2997 0 0 0 0 0 0 11.50 11.31 11.51

2376 -1.06 -107.1 2515 900 3027 2998 359.3 -13.5 132 2383 0.00 3.33 0.00 0.000 1030 0.000 0.057 2504 2299 3012 3028 2997 0 0 0 0 0 0 11.35 11.26 11.37

2734 -1.06 -107.1 2507 2300 3030 2998 407.2 -13.4 141 2740 0.00 3.38 0.00 0.000 516 0.000 0.060 2504 891 3012 3028 2997 0 0 0 0 0 0 11.50 11.31 11.52

2782 -1.06 -107.1 2504 891 3028 2998 414.1 -14.3 148 2789 0.20 3.33 0.00 0.000 3078 0.262 0.057 2524 2303 3013 3029 2997 0 0 0 0 0 0 11.22 11.33 11.38

3125 -1.06 -107.1 2525 2303 3031 2998 459.4 -13.1 155 3131 0.00 3.53 0.00 0.000 260 0.000 0.099 2515 3717 3013 3029 2997 0 0 0 0 0 0 11.52 11.30 11.53

3153 -1.06 -107.1 2514 3718 3028 2996 463.2 -13.8 159 3159 0.00 3.25 0.00 0.000 1030 0.000 0.041 2521 2293 3012 3029 2996 0 0 0 0 0 0 11.42 11.37 11.43

3517 -1.06 -107.1 2515 2292 3030 2998 514.0 -13.9 169 3524 0.00 3.30 0.00 0.000 516 0.000 0.061 2515 891 3013 3030 2997 0 0 0 0 0 0 11.52 11.32 11.53

3755 -1.06 -107.1 2514 893 3030 2996 521.0 -1.0 203 3761 0.00 3.30 0.00 0.000 1062 0.000 0.051 2510 2313 3013 3030 2996 0 0 0 0 0 0 11.41 11.34 11.43

3961 end dive: NO_VERTICAL_VELOCITY

state 3961 begin apogee

3970 -0.23 0.0 2512 2080 3033 2996 522.7 0.0 212 4136 1.20 0.08 162.10 2.752 10246 0.108 0.144 2797 2109 2577 2609 2546 0 0 0 0 0 0 11.31 11.12 10.22

4137 end apogee: CONTROL_FINISHED_OK

state 4137 begin climb

4141 1.06 107.1 2799 2110 2611 2547 523.0 0.0 215 4319 1.58 3.42 165.10 2.664 11012 0.057 0.073 3227 711 2140 2179 2102 0 0 0 0 0 0 11.25 11.00 10.24

4340 1.12 160.7 3228 711 2177 2103 515.1 6.7 237 4430 0.00 3.22 81.43 2.612 9254 0.000 0.048 3226 2099 1920 1966 1874 0 0 0 0 0 0 11.33 11.26 10.23

4809 1.12 160.7 3227 2101 1956 1861 469.1 10.4 262 4814 0.00 3.40 0.00 0.000 516 0.000 0.077 3235 707 1910 1959 1861 0 0 0 0 0 0 11.47 11.24 11.48

4858 1.12 160.7 3234 707 1957 1860 464.1 10.1 269 4865 0.00 3.22 0.00 0.000 1030 0.000 0.049 3235 2107 1909 1958 1860 0 0 0 0 0 0 11.36 11.29 11.38

5202 1.12 160.7 3236 2103 1958 1859 428.5 10.5 276 5207 0.00 3.50 0.00 0.000 260 0.000 0.094 3235 3514 1907 1956 1859 0 0 0 0 0 0 11.48 11.26 11.49

5278 1.12 160.7 3236 3514 1958 1859 419.6 11.5 287 5283 0.00 3.22 0.00 0.000 1030 0.000 0.041 3245 2117 1907 1956 1859 0 0 0 0 0 0 11.38 11.31 11.40

5650 1.12 160.7 3245 2117 1954 1859 377.0 11.6 298 5651 0.00 0.00 0.00 0.000 6 0.000 0.000 3245 2118 1906 1954 1858 0 0 0 0 0 0 11.47 11.50 11.50

5986 1.12 160.7 3246 2118 1961 1859 336.7 12.0 304 5991 0.00 3.45 0.00 0.000 516 0.000 0.078 3256 696 1905 1953 1858 0 0 0 0 0 0 11.48 11.29 11.50

6013 1.12 160.7 3257 697 1956 1859 333.3 12.3 308 6018 0.00 3.25 0.00 0.000 1030 0.000 0.051 3256 2101 1905 1953 1858 0 0 0 0 0 0 11.38 11.31 11.40

6377 1.12 160.7 3255 2102 1953 1858 286.7 12.8 318 6382 0.00 3.53 0.00 0.000 260 0.000 0.093 3256 3519 1905 1953 1858 0 0 0 0 0 0 11.50 11.31 11.51

6419 1.12 160.7 3257 3520 1954 1858 281.3 13.2 324 6425 0.20 3.25 0.00 0.000 5126 0.251 0.041 3235 2100 1903 1953 1853 0 0 0 0 0 0 11.22 11.33 11.38

6770 1.12 160.7 3236 2100 1955 1858 242.2 10.9 332 6775 0.00 3.45 0.00 0.000 516 0.000 0.080 3243 689 1902 1953 1852 0 0 0 0 0 0 11.49 11.29 11.50

6825 1.12 160.7 3245 689 1957 1857 236.0 11.2 340 6831 0.00 3.30 0.00 0.000 1030 0.000 0.051 3243 2108 1903 1951 1856 0 0 0 0 0 0 11.40 11.32 11.41

7192 1.12 160.7 3243 2108 1951 1857 193.5 11.9 354 7200 0.00 3.38 0.00 0.000 260 0.000 0.094 3243 3516 1903 1951 1856 0 0 0 0 0 0 11.50 11.29 11.54

7264 1.12 160.7 3242 3517 1951 1857 184.5 12.0 364 7269 0.00 3.25 0.00 0.000 1030 0.000 0.040 3254 2097 1903 1951 1856 0 0 0 0 0 0 11.38 11.33 11.40

7613 1.12 160.7 3255 2098 1953 1856 147.0 10.5 378 7619 0.00 3.60 0.00 0.000 260 0.000 0.095 3255 3517 1903 1950 1856 0 0 0 0 0 0 11.50 11.29 11.52

7648 1.12 160.7 3255 3519 1952 1857 143.0 11.4 383 7654 0.20 3.30 0.00 0.000 5126 0.253 0.041 3233 2092 1903 1951 1856 0 0 0 0 0 0 11.23 11.34 11.38

8010 1.15 160.7 3234 2092 1956 1856 110.2 8.8 398 8015 0.00 3.58 0.00 0.000 324 0.000 0.091 3232 3515 1903 1951 1855 0 0 0 0 0 0 11.50 11.29 11.51

8092 1.16 160.7 3234 3518 1953 1856 101.9 9.5 410 8098 0.00 3.25 0.00 0.000 1094 0.000 0.038 3241 2095 1903 1950 1856 0 0 0 0 0 0 11.41 11.35 11.43

8460 1.16 160.7 3242 2096 1952 1856 68.6 9.8 426 8466 0.00 3.55 0.00 0.000 260 0.000 0.093 3241 3518 1902 1950 1855 0 0 0 0 0 0 11.50 11.30 11.52

8493 1.16 160.7 3242 3518 1952 1856 64.5 11.4 431 8499 0.00 3.28 0.00 0.000 1030 0.000 0.041 3252 2094 1903 1951 1856 0 0 0 0 0 0 11.39 11.35 11.40

8851 1.16 160.7 3251 2095 1950 1863 26.4 10.6 446 8856 0.00 3.45 0.00 0.000 516 0.000 0.081 3262 686 1903 1951 1855 0 0 0 0 0 0 11.51 11.29 11.53

8906 1.16 160.7 3263 687 1951 1855 20.6 10.2 454 8912 0.00 3.30 0.00 0.000 1030 0.000 0.054 3262 2109 1902 1950 1855 0 0 0 0 0 0 11.40 11.33 11.42

9071 end climb: FINISH_DEPTH_REACHED

state 9071 begin subsurface finish

9081 0.02 18.8 3262 2110 1948 1852 3.7 10.0 463 9123 1.80 3.50 -35.38 0.006 20740 0.199 0.109 2878 3511 2498 2545 2452 0 0 0 0 1 0 11.26 10.95 11.39

9124 end subsurface finish: CONTROL_FINISHED_OK

state 9124 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	967	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	15	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	2575	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	3	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	10029665	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	2870	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	7	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	7	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	280219,053525,-7407.8682,-11314.5869,16,1.2,33,53.8,0.3,105.6,11,3.9	SPEED_LIMITS	0.100,0.239
_CALLS	1	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11325.000
_XMS_TOUTs	0	TGT_RADIUS	1200.000
_SM_DEPTHo	0.66	MHEAD_RNG_PITCHd_Wd	194.7,5450,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-61.8	D_GRID	990
GPS2	280219,054358,-7407.8657,-11314.3252,2,1.0,4,53.8,0.4,87.4,11,4.0

FREEZE	3.67,-1.793,-1.851,2,1,0	_24V_AH	10.22,321.903
FINISH1	3.7,1.027129,19	_10V_AH	10.15,0.000
FINISH2	2.2	FG_AHR_24Vo	0.000
RAFOS_CLK	345	FG_AHR_10Vo	0.000
RAFOS	0,1551333663,6.032778,6.017500,109,62,58,57,57,56,638,213,168,132,200,186	MEM	279928
RAFOS_FIX	-7406.332031,-11307.141602,280219,060628,3,109,2.45	DATA_FILE_SIZE	16769,470
IRIDIUM_FIX	-7408.77,-11302.62,280219,023508	CAP_FILE_SIZE	84486,0
TT8_MAMPS	0.046438,0.274134	CFSIZE	1024409600,910229504
HUMID	52.28	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.21906	SOUNDSPEED	1447.4
TCM_TEMP	12.10	CURRENT	3.630,53.57,1
XPDR_PINGS	0	GPS	280219,061528,-7406.332,-11307.142,0,4109.3,0,53.8,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	401	93.07	nil	0	0	0.00
Roll_motor	131	143	193.87	nil	0	0	0.00
VBD_pump_during_apogee	408	2752	11494.72	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	9149	7	661.35
Iridium_during_xfer	272	231	642.34	nil	0	0	0.00
Transponder_ping	20	420	87.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	10	0.64
TT8	0	0	0.00
LPSleep	7293	2	171.02
TT8_Active	645	13	90.59
TT8_Sampling	1281	34	452.40
TT8_CF8	415	52	222.75
TT8_Kalman	0	0	0.00
Analog_circuits	1347	10	149.12
GPS_charging	0	0	0.00
Compass	678	7	51.57
RAFOS	720	1	10.96
Transponder	147	30	44.82

		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
10.7	13.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
32.3	34.20	9000.00	0.0	0.00	0.00	34.20	0.0	0.98	1.00
42.8	45.30	45.00	0.0	1.00	1.00	45.30	0.0	1.06	1.00
56.2	59.80	59.70	0.0	1.07	1.00	59.80	0.0	1.08	1.00
490.6	34.30	9000.00	0.0	-0.04	0.65	34.30	524.9	-0.06	1.00
506.1	14.70	9000.00	0.0	-0.08	0.84	14.70	520.8	-1.26	1.00

497.8	23.70	9000.00	0.0	-1.25	0.99	23.70	0.0	-1.08	1.00
486.7	28.70	9000.00	0.0	-0.70	0.94	28.70	0.0	-0.45	1.00
464.8	41.40	9000.00	0.0	-0.54	1.00	41.40	0.0	-0.58	1.00
32.5	32.80	9000.00	0.0	0.00	0.02	32.80	-0.3	0.02	1.00
22.1	23.30	9000.00	0.0	0.03	0.74	23.30	-1.2	0.91	1.00
11.9	17.40	9000.00	0.0	0.75	0.99	17.40	-5.5	0.58	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
12	-1.06	-107.1	215	2310	1177	1088	0.0	0.0	0	123	0.00	0.00	-104.43	0.002	16390	0.000	0.000	215	2311	3012	3017	3008	0	0	0	0	0	0	11.48	10.72	11.50
128	-1.06	-107.1	215	2312	3017	3009	3.9	-3.5	4	153	17.30	3.50	0.00	0.000	2308	0.402	0.092	2515	3714	3013	3020	3007	0	0	0	0	0	0	11.12	11.25	11.32
272	-1.06	-107.1	2516	3714	3025	3003	35.1	-18.3	25	278	0.00	3.22	0.00	0.000	1030	0.000	0.037	2515	2301	3013	3024	3003	0	0	0	0	0	0	11.40	11.36	11.42
632	-1.06	-107.1	2516	2301	3027	3002	92.3	-16.0	40	639	0.00	3.30	0.00	0.000	516	0.000	0.062	2515	902	3013	3025	3001	0	0	0	0	0	0	11.50	11.29	11.52
702	-1.06	-107.1	2515	902	3025	3001	104.1	-16.2	50	707	0.00	3.35	0.00	0.000	1030	0.000	0.060	2503	2298	3013	3026	3000	0	0	0	0	0	0	11.35	11.28	11.37
1055	-1.06	-107.1	2504	2299	3026	3001	162.4	-17.5	64	1056	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2298	3013	3026	3000	0	0	0	0	0	0	11.50	11.52	11.52
1390	-1.06	-107.1	2506	2299	3028	3001	213.4	-15.7	75	1395	0.00	3.35	0.00	0.000	516	0.000	0.061	2505	891	3012	3026	2999	0	0	0	0	0	0	11.49	11.31	11.51
1493	-1.06	-107.1	2506	893	3029	3000	230.5	-15.9	90	1500	0.20	3.38	0.00	0.000	3078	0.262	0.057	2523	2302	3013	3027	2999	0	0	0	0	0	0	11.21	11.32	11.38
1836	-1.06	-107.1	2523	2303	3025	2999	281.8	-14.9	97	1842	0.00	3.35	0.00	0.000	516	0.000	0.061	2523	894	3012	3027	2998	0	0	0	0	0	0	11.50	11.31	11.52
1906	-1.06	-107.1	2525	892	3030	2999	292.4	-15.0	107	1911	0.00	3.40	0.00	0.000	1030	0.000	0.058	2515	2310	3013	3028	2998	0	0	0	0	0	0	11.40	11.31	11.41
2287	-1.06	-107.1	2515	2311	3027	2998	346.7	-14.2	119	2292	0.00	3.35	0.00	0.000	516	0.000	0.060	2515	899	3012	3028	2997	0	0	0	0	0	0	11.50	11.31	11.51
2376	-1.06	-107.1	2515	900	3027	2998	359.3	-13.5	132	2383	0.00	3.33	0.00	0.000	1030	0.000	0.057	2504	2299	3012	3028	2997	0	0	0	0	0	0	11.35	11.26	11.37
2734	-1.06	-107.1	2507	2300	3030	2998	407.2	-13.4	141	2740	0.00	3.38	0.00	0.000	516	0.000	0.060	2504	891	3012	3028	2997	0	0	0	0	0	0	11.50	11.31	11.52
2782	-1.06	-107.1	2504	891	3028	2998	414.1	-14.3	148	2789	0.20	3.33	0.00	0.000	3078	0.262	0.057	2524	2303	3013	3029	2997	0	0	0	0	0	0	11.22	11.33	11.38
3125	-1.06	-107.1	2525	2303	3031	2998	459.4	-13.1	155	3131	0.00	3.53	0.00	0.000	260	0.000	0.099	2515	3717	3013	3029	2997	0	0	0	0	0	0	11.52	11.30	11.53
3153	-1.06	-107.1	2514	3718	3028	2996	463.2	-13.8	159	3159	0.00	3.25	0.00	0.000	1030	0.000	0.041	2521	2293	3012	3029	2996	0	0	0	0	0	0	11.42	11.37	11.43
3517	-1.06	-107.1	2515	2292	3030	2998	514.0	-13.9	169	3524	0.00	3.30	0.00	0.000	516	0.000	0.061	2515	891	3013	3030	2997	0	0	0	0	0	0	11.52	11.32	11.53
3755	-1.06	-107.1	2514	893	3030	2996	521.0	-1.0	203	3761	0.00	3.30	0.00	0.000	1062	0.000	0.051	2510	2313	3013	3030	2996	0	0	0	0	0	0	11.41	11.34	11.43
3961	end dive: NO_VERTICAL_VELOCITY
state	3961	begin apogee
3970	-0.23	0.0	2512	2080	3033	2996	522.7	0.0	212	4136	1.20	0.08	162.10	2.752	10246	0.108	0.144	2797	2109	2577	2609	2546	0	0	0	0	0	0	11.31	11.12	10.22
4137	end apogee: CONTROL_FINISHED_OK
state	4137	begin climb
4141	1.06	107.1	2799	2110	2611	2547	523.0	0.0	215	4319	1.58	3.42	165.10	2.664	11012	0.057	0.073	3227	711	2140	2179	2102	0	0	0	0	0	0	11.25	11.00	10.24
4340	1.12	160.7	3228	711	2177	2103	515.1	6.7	237	4430	0.00	3.22	81.43	2.612	9254	0.000	0.048	3226	2099	1920	1966	1874	0	0	0	0	0	0	11.33	11.26	10.23
4809	1.12	160.7	3227	2101	1956	1861	469.1	10.4	262	4814	0.00	3.40	0.00	0.000	516	0.000	0.077	3235	707	1910	1959	1861	0	0	0	0	0	0	11.47	11.24	11.48
4858	1.12	160.7	3234	707	1957	1860	464.1	10.1	269	4865	0.00	3.22	0.00	0.000	1030	0.000	0.049	3235	2107	1909	1958	1860	0	0	0	0	0	0	11.36	11.29	11.38
5202	1.12	160.7	3236	2103	1958	1859	428.5	10.5	276	5207	0.00	3.50	0.00	0.000	260	0.000	0.094	3235	3514	1907	1956	1859	0	0	0	0	0	0	11.48	11.26	11.49
5278	1.12	160.7	3236	3514	1958	1859	419.6	11.5	287	5283	0.00	3.22	0.00	0.000	1030	0.000	0.041	3245	2117	1907	1956	1859	0	0	0	0	0	0	11.38	11.31	11.40
5650	1.12	160.7	3245	2117	1954	1859	377.0	11.6	298	5651	0.00	0.00	0.00	0.000	6	0.000	0.000	3245	2118	1906	1954	1858	0	0	0	0	0	0	11.47	11.50	11.50
5986	1.12	160.7	3246	2118	1961	1859	336.7	12.0	304	5991	0.00	3.45	0.00	0.000	516	0.000	0.078	3256	696	1905	1953	1858	0	0	0	0	0	0	11.48	11.29	11.50
6013	1.12	160.7	3257	697	1956	1859	333.3	12.3	308	6018	0.00	3.25	0.00	0.000	1030	0.000	0.051	3256	2101	1905	1953	1858	0	0	0	0	0	0	11.38	11.31	11.40
6377	1.12	160.7	3255	2102	1953	1858	286.7	12.8	318	6382	0.00	3.53	0.00	0.000	260	0.000	0.093	3256	3519	1905	1953	1858	0	0	0	0	0	0	11.50	11.31	11.51
6419	1.12	160.7	3257	3520	1954	1858	281.3	13.2	324	6425	0.20	3.25	0.00	0.000	5126	0.251	0.041	3235	2100	1903	1953	1853	0	0	0	0	0	0	11.22	11.33	11.38
6770	1.12	160.7	3236	2100	1955	1858	242.2	10.9	332	6775	0.00	3.45	0.00	0.000	516	0.000	0.080	3243	689	1902	1953	1852	0	0	0	0	0	0	11.49	11.29	11.50
6825	1.12	160.7	3245	689	1957	1857	236.0	11.2	340	6831	0.00	3.30	0.00	0.000	1030	0.000	0.051	3243	2108	1903	1951	1856	0	0	0	0	0	0	11.40	11.32	11.41
7192	1.12	160.7	3243	2108	1951	1857	193.5	11.9	354	7200	0.00	3.38	0.00	0.000	260	0.000	0.094	3243	3516	1903	1951	1856	0	0	0	0	0	0	11.50	11.29	11.54
7264	1.12	160.7	3242	3517	1951	1857	184.5	12.0	364	7269	0.00	3.25	0.00	0.000	1030	0.000	0.040	3254	2097	1903	1951	1856	0	0	0	0	0	0	11.38	11.33	11.40
7613	1.12	160.7	3255	2098	1953	1856	147.0	10.5	378	7619	0.00	3.60	0.00	0.000	260	0.000	0.095	3255	3517	1903	1950	1856	0	0	0	0	0	0	11.50	11.29	11.52
7648	1.12	160.7	3255	3519	1952	1857	143.0	11.4	383	7654	0.20	3.30	0.00	0.000	5126	0.253	0.041	3233	2092	1903	1951	1856	0	0	0	0	0	0	11.23	11.34	11.38
8010	1.15	160.7	3234	2092	1956	1856	110.2	8.8	398	8015	0.00	3.58	0.00	0.000	324	0.000	0.091	3232	3515	1903	1951	1855	0	0	0	0	0	0	11.50	11.29	11.51
8092	1.16	160.7	3234	3518	1953	1856	101.9	9.5	410	8098	0.00	3.25	0.00	0.000	1094	0.000	0.038	3241	2095	1903	1950	1856	0	0	0	0	0	0	11.41	11.35	11.43
8460	1.16	160.7	3242	2096	1952	1856	68.6	9.8	426	8466	0.00	3.55	0.00	0.000	260	0.000	0.093	3241	3518	1902	1950	1855	0	0	0	0	0	0	11.50	11.30	11.52
8493	1.16	160.7	3242	3518	1952	1856	64.5	11.4	431	8499	0.00	3.28	0.00	0.000	1030	0.000	0.041	3252	2094	1903	1951	1856	0	0	0	0	0	0	11.39	11.35	11.40
8851	1.16	160.7	3251	2095	1950	1863	26.4	10.6	446	8856	0.00	3.45	0.00	0.000	516	0.000	0.081	3262	686	1903	1951	1855	0	0	0	0	0	0	11.51	11.29	11.53
8906	1.16	160.7	3263	687	1951	1855	20.6	10.2	454	8912	0.00	3.30	0.00	0.000	1030	0.000	0.054	3262	2109	1902	1950	1855	0	0	0	0	0	0	11.40	11.33	11.42
9071	end climb: FINISH_DEPTH_REACHED
state	9071	begin subsurface finish
9081	0.02	18.8	3262	2110	1948	1852	3.7	10.0	463	9123	1.80	3.50	-35.38	0.006	20740	0.199	0.109	2878	3511	2498	2545	2452	0	0	0	0	1	0	11.26	10.95	11.39
9124	end subsurface finish: CONTROL_FINISHED_OK
state	9124	begin surface