Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 201 * 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 201 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 6

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 36 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 25 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 400 FILEMGR 2 VBD_MIN 500 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 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 1.5 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 -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 20 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 150 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 6 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 1440

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 350

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 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 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 0.25 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 -5

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 201 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 36 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 25 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 400 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 220218,130409,-7411.6704,-11246.1309,24,0.9,24,53.7,0.1,0.0,11,9.5 SPEED_LIMITS 0.094,0.270

_CALLS 2 TGT_NAME ip2

_XMS_NAKs 0 TGT_LATLONG -7414.000,-11248.200

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 1.09 MHEAD_RNG_PITCHd_Wd 139.8,4473,-21.5,-9.429,-23.88,1421

_SM_ANGLEo -61.8 D_GRID 990

GPS2 220218,131223,-7411.6509,-11246.1289,3,0.8,5,53.7,0.2,350.1,11,5.6

Post-dive calculations and measurements:

FREEZE 399.69,-1.225,-2.178,2,1,0 ALTIM_BOTTOM_PING 825.8,14.8

FINISH1 399.7,1.027522,-1 _24V_AH 12.20,81.336

FINISH2 398.2 _10V_AH 12.22,0.000

RAFOS_CLK 301 FG_AHR_24Vo 0.000

RAFOS 0,1519311665,15.032778,15.018056,109,62,59,59,59,59,574,204,195,137,215,162 FG_AHR_10Vo 0.000

RAFOS_FIX -7412.258789,-11247.906250,220218,151512,3,116,0.20 MEM 279944

IRIDIUM_FIX -7413.09,-11243.88,220218,093243 DATA_FILE_SIZE 26731,800

TT8_MAMPS 0.039697,0.32207 CAP_FILE_SIZE 113481,0

HUMID 48.62 CFSIZE 1024409600,996507648

INTERNAL_PRESSURE 8.24835 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.60 SOUNDSPEED 1453.1

XPDR_PINGS 0 GPS 220218,151512,-7412.259,-11247.906,0,4116.3,0,53.7,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 413 77.24 nil 0 0 0.00

Roll_motor 79 178 173.04 nil 0 0 0.00

VBD_pump_during_apogee 348 3102 13198.97 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 8276 10 1107.91

Iridium_during_xfer 324 192 759.99 nil 0 0 0.00

Transponder_ping 45 420 231.86 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 10 0.84

TT8 0 0 0.00

LPSleep 6041 2 170.53

TT8_Active 522 13 88.25

TT8_Sampling 2060 34 875.94

TT8_CF8 153 52 98.92

TT8_Kalman 0 0 0.00

Analog_circuits 1475 10 196.52

GPS_charging 0 0 0.00

Compass 1148 7 105.15

RAFOS 720 1 13.20

Transponder 324 30 118.93

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

12.6 13.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.1 21.00 9000.00 0.0 0.00 0.00 21.00 0.0 1.01 1.00

26.9 27.90 27.90 0.0 1.02 1.00 27.90 0.0 1.01 1.00

41.3 43.70 43.70 0.0 1.08 1.00 43.70 0.0 1.10 1.00

48.9 51.30 51.50 0.0 1.07 1.00 51.30 0.0 1.00 1.00

759.9 56.10 9000.00 0.0 0.01 0.64 56.10 0.0 0.01 1.00

776.1 44.90 9000.00 0.0 0.00 0.01 44.90 821.0 -0.69 1.00

784.3 40.00 9000.00 0.0 -0.67 1.00 40.00 824.3 -0.60 1.00

792.4 39.80 9000.00 0.0 -0.31 0.77 39.80 832.2 -0.02 1.00

800.6 42.20 9000.00 0.0 0.14 0.72 42.20 0.0 0.29 1.00

809.1 35.20 9000.00 0.0 -0.28 0.43 35.20 844.3 -0.82 1.00

817.4 23.20 24.00 841.4 -1.14 0.98 23.20 840.6 -1.45 1.00

825.8 15.50 14.80 840.6 -1.18 0.98 15.50 841.3 -0.92 1.00

829.6 22.90 9000.00 0.0 -0.17 0.06 22.90 806.7 1.95 1.00

822.7 22.60 9000.00 0.0 0.12 0.01 22.60 800.1 0.04 1.00

816.6 23.70 9000.00 0.0 -0.06 0.47 23.70 0.0 -0.18 1.00

806.0 32.20 9000.00 0.0 -0.60 0.93 32.20 0.0 -0.80 1.00

796.4 37.50 9000.00 0.0 -0.68 0.99 37.50 0.0 -0.55 1.00

776.4 39.80 9000.00 0.0 -0.24 0.84 39.80 0.0 -0.11 1.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -1.08 -87.0 213 2309 1377 1287 0.0 0.0 0 114 0.00 0.00 -102.55 0.002 16390 0.000 0.000 213 2309 3137 3133 3142 0 0 0 0 0 0 14.80 13.21 14.83

116 -1.16 -146.0 215 2309 3136 3143 2.5 -2.0 10 141 10.62 2.62 -7.75 0.016 18724 0.413 0.130 2410 3713 3382 3391 3374 0 0 0 0 0 0 14.21 13.33 14.45

175 -1.16 -146.0 2410 3713 3392 3369 13.5 -19.2 21 183 0.00 2.47 0.00 0.000 1030 0.000 0.050 2410 2301 3380 3393 3368 0 0 0 0 0 0 14.63 14.59 14.66

480 -1.16 -146.0 2410 2301 3393 3369 69.5 -18.8 52 487 0.00 2.53 0.00 0.000 516 0.000 0.082 2410 891 3378 3389 3368 0 0 0 0 0 0 14.95 14.57 14.97

552 -1.16 -146.0 2412 891 3395 3369 82.7 -18.5 66 557 0.00 2.53 0.00 0.000 1030 0.000 0.079 2402 2300 3380 3393 3368 0 0 0 0 0 0 14.76 14.62 14.79

861 -1.16 -146.0 2402 2301 3392 3369 140.8 -18.6 98 870 0.00 2.60 0.00 0.000 260 0.000 0.109 2391 3719 3382 3397 3368 0 0 0 0 0 0 15.00 14.60 15.03

884 -1.16 -146.0 2390 3720 3393 3369 145.2 -19.5 102 890 0.17 2.50 0.00 0.000 3078 0.297 0.050 2428 2263 3382 3397 3367 0 0 0 0 0 0 14.40 14.64 14.70

1195 -1.16 -146.0 2427 2259 3393 3368 197.8 -16.9 134 1195 0.00 0.00 0.00 0.000 6 0.000 0.000 2428 2262 3380 3393 3368 0 0 0 0 0 0 15.02 15.04 15.04

1495 -1.16 -146.0 2427 2262 3392 3369 251.5 -18.5 164 1495 0.00 0.00 0.00 0.000 6 0.000 0.000 2428 2260 3380 3393 3368 0 0 0 0 0 0 15.02 15.05 15.05

1795 -1.16 -146.0 2427 2262 3393 3369 304.7 -16.3 194 1800 0.00 2.67 0.00 0.000 260 0.000 0.108 2418 3716 3380 3393 3368 0 0 0 0 0 0 15.05 14.64 15.07

1819 -1.16 -146.0 2420 3717 3392 3369 309.0 -17.6 199 1828 0.00 2.45 0.00 0.000 1030 0.000 0.049 2419 2302 3381 3394 3368 0 0 0 0 0 0 14.78 14.72 14.81

2125 -1.16 -146.0 2418 2302 3393 3368 360.5 -16.6 230 2130 0.00 2.53 0.00 0.000 516 0.000 0.079 2419 888 3380 3393 3368 0 0 0 0 0 0 15.04 14.66 15.07

2149 -1.16 -146.0 2420 888 3395 3369 364.9 -16.7 235 2157 0.00 2.58 0.00 0.000 1030 0.000 0.074 2408 2308 3381 3394 3368 0 0 0 0 0 0 14.73 14.66 14.78

2455 -1.16 -146.0 2407 2309 3393 3368 411.7 -15.2 266 2461 0.00 2.62 0.00 0.000 260 0.000 0.109 2396 3718 3380 3393 3368 0 0 0 0 0 0 15.04 14.60 15.07

2475 -1.16 -146.0 2398 3720 3396 3369 414.9 -16.2 270 2481 0.15 2.47 0.00 0.000 3078 0.299 0.049 2427 2259 3381 3394 3368 0 0 0 0 0 0 14.44 14.73 14.73

2785 -1.16 -146.0 2427 2258 3393 3368 465.1 -16.6 302 2786 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 2258 3381 3394 3368 0 0 0 0 0 0 15.06 15.09 15.08

3085 -1.16 -146.0 2429 2259 3396 3369 511.8 -14.5 332 3086 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 2257 3381 3394 3368 0 0 0 0 0 0 15.06 15.09 15.09

3385 -1.16 -146.0 2426 2257 3392 3368 554.5 -14.5 362 3391 0.00 2.70 0.00 0.000 260 0.000 0.107 2418 3726 3381 3394 3368 0 0 0 0 0 0 15.07 14.65 15.09

3425 -1.16 -146.0 2418 3726 3393 3368 560.9 -16.3 370 3431 0.00 2.47 0.00 0.000 1030 0.000 0.048 2418 2270 3383 3394 3372 0 0 0 0 0 0 14.87 14.76 14.89

3736 -1.16 -146.0 2419 2270 3399 3369 608.2 -15.1 402 3741 0.00 2.42 0.00 0.000 516 0.000 0.080 2418 901 3381 3394 3368 0 0 0 0 0 0 15.01 14.66 15.03

3770 -1.16 -146.0 2419 902 3396 3368 613.5 -14.9 409 3778 0.00 2.55 0.00 0.000 1030 0.000 0.075 2407 2311 3381 3394 3368 0 0 0 0 0 0 14.73 14.66 14.80

4076 -1.16 -146.0 2413 2312 3394 3368 660.6 -15.3 440 4076 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2311 3381 3395 3368 0 0 0 0 0 0 15.08 15.11 15.11

4396 -1.16 -146.0 2404 2312 3397 3368 709.4 -15.1 468 4401 0.00 2.53 0.00 0.000 516 0.000 0.080 2407 897 3381 3395 3367 0 0 0 0 0 0 15.07 14.66 15.09

4426 -1.16 -146.0 2409 897 3397 3369 714.1 -16.8 474 4432 0.15 2.50 0.00 0.000 3078 0.316 0.074 2427 2308 3381 3395 3368 0 0 0 0 0 0 14.45 14.70 14.74

4817 -1.16 -146.0 2428 2314 3398 3368 768.1 -13.6 492 4818 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 2308 3382 3396 3368 0 0 0 0 0 0 15.03 15.05 15.05

5178 -1.16 -146.0 2426 2309 3396 3368 817.4 -13.9 504 5178 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 2308 3382 3396 3368 0 0 0 0 0 0 15.04 15.07 15.06

5295 end dive: BOTTOM_OBSTACLE_DETECTED

state 5295 begin apogee

5299 -0.23 0.0 2428 2077 3398 3369 833.8 -13.7 508 5469 1.08 0.08 166.43 3.103 10246 0.233 0.178 2721 2117 2781 2813 2749 0 0 0 0 0 0 14.51 13.31 12.31

5470 end apogee: CONTROL_FINISHED_OK

state 5470 begin climb

5472 1.16 146.0 2721 2118 2813 2749 838.7 0.0 513 5665 1.58 2.88 182.25 3.088 10756 0.138 0.090 3180 728 2184 2230 2139 0 0 0 0 0 0 13.35 13.19 12.20

5710 1.16 146.0 3180 729 2226 2136 812.6 16.3 559 5716 0.00 2.62 0.00 0.000 1030 0.000 0.061 3180 2094 2179 2224 2135 0 0 0 0 0 0 13.69 13.64 13.71

6080 1.16 146.0 3183 2095 2216 2130 751.1 16.8 573 6086 0.00 2.65 0.00 0.000 260 0.000 0.099 3180 3520 2172 2215 2129 0 0 0 0 0 0 14.57 14.32 14.62

6120 1.16 146.0 3182 3521 2216 2130 744.1 18.3 581 6127 0.00 2.47 0.00 0.000 1030 0.000 0.050 3191 2129 2171 2214 2129 0 0 0 0 0 0 14.45 14.40 14.47

6491 1.16 146.0 3190 2130 2210 2129 680.6 17.2 604 6497 0.00 2.62 0.00 0.000 516 0.000 0.094 3201 689 2169 2210 2128 0 0 0 0 0 0 14.88 14.58 14.90

6566 1.16 146.0 3201 689 2208 2129 667.7 16.7 619 6573 0.00 2.53 0.00 0.000 1030 0.000 0.063 3202 2102 2168 2208 2128 0 0 0 0 0 0 14.68 14.62 14.78

6871 1.16 146.0 3203 2103 2210 2129 615.3 17.3 650 6872 0.00 0.00 0.00 0.000 6 0.000 0.000 3202 2102 2168 2208 2128 0 0 0 0 0 0 14.96 15.00 14.99

7171 1.16 146.0 3203 2103 2209 2129 564.2 17.2 680 7177 0.00 2.55 0.00 0.000 260 0.000 0.099 3202 3514 2167 2206 2128 0 0 0 0 0 0 15.02 14.70 15.04

7192 1.16 146.0 3201 3515 2206 2124 560.7 17.4 684 7198 0.17 2.42 0.00 0.000 5126 0.307 0.051 3175 2089 2167 2206 2128 0 0 0 0 0 0 14.52 14.76 14.81

7502 1.16 146.0 3177 2090 2207 2129 512.8 14.8 716 7508 0.00 2.53 0.00 0.000 516 0.000 0.095 3185 686 2166 2205 2128 0 0 0 0 0 0 15.04 14.71 15.06

7537 1.16 146.0 3186 687 2207 2129 507.5 15.6 723 7544 0.00 2.53 0.00 0.000 1030 0.000 0.064 3184 2109 2165 2205 2125 0 0 0 0 0 0 14.81 14.73 14.84

7842 1.16 146.0 3184 2109 2204 2128 460.5 15.4 754 7848 0.00 2.53 0.00 0.000 260 0.000 0.101 3185 3510 2166 2204 2128 0 0 0 0 0 0 15.04 14.72 15.07

7877 1.16 146.0 3184 3511 2204 2128 454.6 17.1 761 7884 0.00 2.45 0.00 0.000 1030 0.000 0.049 3195 2094 2165 2204 2127 0 0 0 0 0 0 14.81 14.77 14.87

8183 1.16 146.0 3196 2095 2206 2129 408.6 14.7 792 8184 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2094 2166 2204 2128 0 0 0 0 0 0 15.01 15.04 15.04

8241 end climb: FINISH_DEPTH_REACHED

state 8241 begin subsurface finish

8245 -0.00 -1.1 3195 2095 2203 2128 399.7 14.8 798 8257 1.40 2.62 -2.17 0.051 20740 0.243 0.122 2807 3507 2806 2837 2775 0 0 0 0 0 0 14.56 13.42 14.72

8258 end subsurface finish: CONTROL_FINISHED_OK

state 8258 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	201	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	6
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	36	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	25	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	400	FILEMGR	2	VBD_MIN	500	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	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	1.5	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	-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	20	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	150	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	220218,130409,-7411.6704,-11246.1309,24,0.9,24,53.7,0.1,0.0,11,9.5	SPEED_LIMITS	0.094,0.270
_CALLS	2	TGT_NAME	ip2
_XMS_NAKs	0	TGT_LATLONG	-7414.000,-11248.200
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	1.09	MHEAD_RNG_PITCHd_Wd	139.8,4473,-21.5,-9.429,-23.88,1421
_SM_ANGLEo	-61.8	D_GRID	990
GPS2	220218,131223,-7411.6509,-11246.1289,3,0.8,5,53.7,0.2,350.1,11,5.6

FREEZE	399.69,-1.225,-2.178,2,1,0	ALTIM_BOTTOM_PING	825.8,14.8
FINISH1	399.7,1.027522,-1	_24V_AH	12.20,81.336
FINISH2	398.2	_10V_AH	12.22,0.000
RAFOS_CLK	301	FG_AHR_24Vo	0.000
RAFOS	0,1519311665,15.032778,15.018056,109,62,59,59,59,59,574,204,195,137,215,162	FG_AHR_10Vo	0.000
RAFOS_FIX	-7412.258789,-11247.906250,220218,151512,3,116,0.20	MEM	279944
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	DATA_FILE_SIZE	26731,800
TT8_MAMPS	0.039697,0.32207	CAP_FILE_SIZE	113481,0
HUMID	48.62	CFSIZE	1024409600,996507648
INTERNAL_PRESSURE	8.24835	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.60	SOUNDSPEED	1453.1
XPDR_PINGS	0	GPS	220218,151512,-7412.259,-11247.906,0,4116.3,0,53.7,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	413	77.24	nil	0	0	0.00
Roll_motor	79	178	173.04	nil	0	0	0.00
VBD_pump_during_apogee	348	3102	13198.97	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	8276	10	1107.91
Iridium_during_xfer	324	192	759.99	nil	0	0	0.00
Transponder_ping	45	420	231.86	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	10	0.84
TT8	0	0	0.00
LPSleep	6041	2	170.53
TT8_Active	522	13	88.25
TT8_Sampling	2060	34	875.94
TT8_CF8	153	52	98.92
TT8_Kalman	0	0	0.00
Analog_circuits	1475	10	196.52
GPS_charging	0	0	0.00
Compass	1148	7	105.15
RAFOS	720	1	13.20
Transponder	324	30	118.93

		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
12.6	13.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.1	21.00	9000.00	0.0	0.00	0.00	21.00	0.0	1.01	1.00
26.9	27.90	27.90	0.0	1.02	1.00	27.90	0.0	1.01	1.00
41.3	43.70	43.70	0.0	1.08	1.00	43.70	0.0	1.10	1.00
48.9	51.30	51.50	0.0	1.07	1.00	51.30	0.0	1.00	1.00
759.9	56.10	9000.00	0.0	0.01	0.64	56.10	0.0	0.01	1.00
776.1	44.90	9000.00	0.0	0.00	0.01	44.90	821.0	-0.69	1.00
784.3	40.00	9000.00	0.0	-0.67	1.00	40.00	824.3	-0.60	1.00
792.4	39.80	9000.00	0.0	-0.31	0.77	39.80	832.2	-0.02	1.00
800.6	42.20	9000.00	0.0	0.14	0.72	42.20	0.0	0.29	1.00
809.1	35.20	9000.00	0.0	-0.28	0.43	35.20	844.3	-0.82	1.00
817.4	23.20	24.00	841.4	-1.14	0.98	23.20	840.6	-1.45	1.00
825.8	15.50	14.80	840.6	-1.18	0.98	15.50	841.3	-0.92	1.00

829.6	22.90	9000.00	0.0	-0.17	0.06	22.90	806.7	1.95	1.00
822.7	22.60	9000.00	0.0	0.12	0.01	22.60	800.1	0.04	1.00
816.6	23.70	9000.00	0.0	-0.06	0.47	23.70	0.0	-0.18	1.00
806.0	32.20	9000.00	0.0	-0.60	0.93	32.20	0.0	-0.80	1.00
796.4	37.50	9000.00	0.0	-0.68	0.99	37.50	0.0	-0.55	1.00
776.4	39.80	9000.00	0.0	-0.24	0.84	39.80	0.0	-0.11	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-1.08	-87.0	213	2309	1377	1287	0.0	0.0	0	114	0.00	0.00	-102.55	0.002	16390	0.000	0.000	213	2309	3137	3133	3142	0	0	0	0	0	0	14.80	13.21	14.83
116	-1.16	-146.0	215	2309	3136	3143	2.5	-2.0	10	141	10.62	2.62	-7.75	0.016	18724	0.413	0.130	2410	3713	3382	3391	3374	0	0	0	0	0	0	14.21	13.33	14.45
175	-1.16	-146.0	2410	3713	3392	3369	13.5	-19.2	21	183	0.00	2.47	0.00	0.000	1030	0.000	0.050	2410	2301	3380	3393	3368	0	0	0	0	0	0	14.63	14.59	14.66
480	-1.16	-146.0	2410	2301	3393	3369	69.5	-18.8	52	487	0.00	2.53	0.00	0.000	516	0.000	0.082	2410	891	3378	3389	3368	0	0	0	0	0	0	14.95	14.57	14.97
552	-1.16	-146.0	2412	891	3395	3369	82.7	-18.5	66	557	0.00	2.53	0.00	0.000	1030	0.000	0.079	2402	2300	3380	3393	3368	0	0	0	0	0	0	14.76	14.62	14.79
861	-1.16	-146.0	2402	2301	3392	3369	140.8	-18.6	98	870	0.00	2.60	0.00	0.000	260	0.000	0.109	2391	3719	3382	3397	3368	0	0	0	0	0	0	15.00	14.60	15.03
884	-1.16	-146.0	2390	3720	3393	3369	145.2	-19.5	102	890	0.17	2.50	0.00	0.000	3078	0.297	0.050	2428	2263	3382	3397	3367	0	0	0	0	0	0	14.40	14.64	14.70
1195	-1.16	-146.0	2427	2259	3393	3368	197.8	-16.9	134	1195	0.00	0.00	0.00	0.000	6	0.000	0.000	2428	2262	3380	3393	3368	0	0	0	0	0	0	15.02	15.04	15.04
1495	-1.16	-146.0	2427	2262	3392	3369	251.5	-18.5	164	1495	0.00	0.00	0.00	0.000	6	0.000	0.000	2428	2260	3380	3393	3368	0	0	0	0	0	0	15.02	15.05	15.05
1795	-1.16	-146.0	2427	2262	3393	3369	304.7	-16.3	194	1800	0.00	2.67	0.00	0.000	260	0.000	0.108	2418	3716	3380	3393	3368	0	0	0	0	0	0	15.05	14.64	15.07
1819	-1.16	-146.0	2420	3717	3392	3369	309.0	-17.6	199	1828	0.00	2.45	0.00	0.000	1030	0.000	0.049	2419	2302	3381	3394	3368	0	0	0	0	0	0	14.78	14.72	14.81
2125	-1.16	-146.0	2418	2302	3393	3368	360.5	-16.6	230	2130	0.00	2.53	0.00	0.000	516	0.000	0.079	2419	888	3380	3393	3368	0	0	0	0	0	0	15.04	14.66	15.07
2149	-1.16	-146.0	2420	888	3395	3369	364.9	-16.7	235	2157	0.00	2.58	0.00	0.000	1030	0.000	0.074	2408	2308	3381	3394	3368	0	0	0	0	0	0	14.73	14.66	14.78
2455	-1.16	-146.0	2407	2309	3393	3368	411.7	-15.2	266	2461	0.00	2.62	0.00	0.000	260	0.000	0.109	2396	3718	3380	3393	3368	0	0	0	0	0	0	15.04	14.60	15.07
2475	-1.16	-146.0	2398	3720	3396	3369	414.9	-16.2	270	2481	0.15	2.47	0.00	0.000	3078	0.299	0.049	2427	2259	3381	3394	3368	0	0	0	0	0	0	14.44	14.73	14.73
2785	-1.16	-146.0	2427	2258	3393	3368	465.1	-16.6	302	2786	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	2258	3381	3394	3368	0	0	0	0	0	0	15.06	15.09	15.08
3085	-1.16	-146.0	2429	2259	3396	3369	511.8	-14.5	332	3086	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	2257	3381	3394	3368	0	0	0	0	0	0	15.06	15.09	15.09
3385	-1.16	-146.0	2426	2257	3392	3368	554.5	-14.5	362	3391	0.00	2.70	0.00	0.000	260	0.000	0.107	2418	3726	3381	3394	3368	0	0	0	0	0	0	15.07	14.65	15.09
3425	-1.16	-146.0	2418	3726	3393	3368	560.9	-16.3	370	3431	0.00	2.47	0.00	0.000	1030	0.000	0.048	2418	2270	3383	3394	3372	0	0	0	0	0	0	14.87	14.76	14.89
3736	-1.16	-146.0	2419	2270	3399	3369	608.2	-15.1	402	3741	0.00	2.42	0.00	0.000	516	0.000	0.080	2418	901	3381	3394	3368	0	0	0	0	0	0	15.01	14.66	15.03
3770	-1.16	-146.0	2419	902	3396	3368	613.5	-14.9	409	3778	0.00	2.55	0.00	0.000	1030	0.000	0.075	2407	2311	3381	3394	3368	0	0	0	0	0	0	14.73	14.66	14.80
4076	-1.16	-146.0	2413	2312	3394	3368	660.6	-15.3	440	4076	0.00	0.00	0.00	0.000	6	0.000	0.000	2407	2311	3381	3395	3368	0	0	0	0	0	0	15.08	15.11	15.11
4396	-1.16	-146.0	2404	2312	3397	3368	709.4	-15.1	468	4401	0.00	2.53	0.00	0.000	516	0.000	0.080	2407	897	3381	3395	3367	0	0	0	0	0	0	15.07	14.66	15.09
4426	-1.16	-146.0	2409	897	3397	3369	714.1	-16.8	474	4432	0.15	2.50	0.00	0.000	3078	0.316	0.074	2427	2308	3381	3395	3368	0	0	0	0	0	0	14.45	14.70	14.74
4817	-1.16	-146.0	2428	2314	3398	3368	768.1	-13.6	492	4818	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	2308	3382	3396	3368	0	0	0	0	0	0	15.03	15.05	15.05
5178	-1.16	-146.0	2426	2309	3396	3368	817.4	-13.9	504	5178	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	2308	3382	3396	3368	0	0	0	0	0	0	15.04	15.07	15.06
5295	end dive: BOTTOM_OBSTACLE_DETECTED
state	5295	begin apogee
5299	-0.23	0.0	2428	2077	3398	3369	833.8	-13.7	508	5469	1.08	0.08	166.43	3.103	10246	0.233	0.178	2721	2117	2781	2813	2749	0	0	0	0	0	0	14.51	13.31	12.31
5470	end apogee: CONTROL_FINISHED_OK
state	5470	begin climb
5472	1.16	146.0	2721	2118	2813	2749	838.7	0.0	513	5665	1.58	2.88	182.25	3.088	10756	0.138	0.090	3180	728	2184	2230	2139	0	0	0	0	0	0	13.35	13.19	12.20
5710	1.16	146.0	3180	729	2226	2136	812.6	16.3	559	5716	0.00	2.62	0.00	0.000	1030	0.000	0.061	3180	2094	2179	2224	2135	0	0	0	0	0	0	13.69	13.64	13.71
6080	1.16	146.0	3183	2095	2216	2130	751.1	16.8	573	6086	0.00	2.65	0.00	0.000	260	0.000	0.099	3180	3520	2172	2215	2129	0	0	0	0	0	0	14.57	14.32	14.62
6120	1.16	146.0	3182	3521	2216	2130	744.1	18.3	581	6127	0.00	2.47	0.00	0.000	1030	0.000	0.050	3191	2129	2171	2214	2129	0	0	0	0	0	0	14.45	14.40	14.47
6491	1.16	146.0	3190	2130	2210	2129	680.6	17.2	604	6497	0.00	2.62	0.00	0.000	516	0.000	0.094	3201	689	2169	2210	2128	0	0	0	0	0	0	14.88	14.58	14.90
6566	1.16	146.0	3201	689	2208	2129	667.7	16.7	619	6573	0.00	2.53	0.00	0.000	1030	0.000	0.063	3202	2102	2168	2208	2128	0	0	0	0	0	0	14.68	14.62	14.78
6871	1.16	146.0	3203	2103	2210	2129	615.3	17.3	650	6872	0.00	0.00	0.00	0.000	6	0.000	0.000	3202	2102	2168	2208	2128	0	0	0	0	0	0	14.96	15.00	14.99
7171	1.16	146.0	3203	2103	2209	2129	564.2	17.2	680	7177	0.00	2.55	0.00	0.000	260	0.000	0.099	3202	3514	2167	2206	2128	0	0	0	0	0	0	15.02	14.70	15.04
7192	1.16	146.0	3201	3515	2206	2124	560.7	17.4	684	7198	0.17	2.42	0.00	0.000	5126	0.307	0.051	3175	2089	2167	2206	2128	0	0	0	0	0	0	14.52	14.76	14.81
7502	1.16	146.0	3177	2090	2207	2129	512.8	14.8	716	7508	0.00	2.53	0.00	0.000	516	0.000	0.095	3185	686	2166	2205	2128	0	0	0	0	0	0	15.04	14.71	15.06
7537	1.16	146.0	3186	687	2207	2129	507.5	15.6	723	7544	0.00	2.53	0.00	0.000	1030	0.000	0.064	3184	2109	2165	2205	2125	0	0	0	0	0	0	14.81	14.73	14.84
7842	1.16	146.0	3184	2109	2204	2128	460.5	15.4	754	7848	0.00	2.53	0.00	0.000	260	0.000	0.101	3185	3510	2166	2204	2128	0	0	0	0	0	0	15.04	14.72	15.07
7877	1.16	146.0	3184	3511	2204	2128	454.6	17.1	761	7884	0.00	2.45	0.00	0.000	1030	0.000	0.049	3195	2094	2165	2204	2127	0	0	0	0	0	0	14.81	14.77	14.87
8183	1.16	146.0	3196	2095	2206	2129	408.6	14.7	792	8184	0.00	0.00	0.00	0.000	6	0.000	0.000	3195	2094	2166	2204	2128	0	0	0	0	0	0	15.01	15.04	15.04
8241	end climb: FINISH_DEPTH_REACHED
state	8241	begin subsurface finish
8245	-0.00	-1.1	3195	2095	2203	2128	399.7	14.8	798	8257	1.40	2.62	-2.17	0.051	20740	0.243	0.122	2807	3507	2806	2837	2775	0	0	0	0	0	0	14.56	13.42	14.72
8258	end subsurface finish: CONTROL_FINISHED_OK
state	8258	begin surface