Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 216 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.00184 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0133 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 216 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 40 ALTIM_FREQUENCY 13

D_TGT 450 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 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 3

D_BOOST 110 SM_CC 300 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 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 150 COMM_SEQ 0 C_VBD 3400 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 4 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 4 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 8 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 170 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 200 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 2 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 1 RAFOS_DEVICE 32

USE_BATHY -3 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 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 2730 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 125 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 2 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 450 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 10 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

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 4

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 4

ALTIM_TOP_TURN_MARGIN 0 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 0.00184 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 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 170

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 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 200

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 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2730 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3400 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -3

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 1 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 216 MAXI_24V 2 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 40 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 10 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 400 NAV_MODE 2 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 150 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 280218,042749,-7406.2124,-11254.2402,32,1.1,32,53.6,0.2,0.0,9,3.8 SPEED_LIMITS 0.088,0.188

_CALLS 1 TGT_NAME hold

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.77 MHEAD_RNG_PITCHd_Wd 43.5,15429,-16.7,-8.824,-25.14,1966

_SM_ANGLEo -61.7 D_GRID 634

GPS2 280218,043346,-7406.1631,-11254.3057,3,1.1,3,53.6,0.2,0.0,9,9.6

Post-dive calculations and measurements:

FREEZE 3.59,-1.805,-1.864,2,1,0 _24V_AH 12.39,74.048

FINISH1 3.6,1.027317,9 _10V_AH 12.55,0.000

FINISH2 2.7 FG_AHR_24Vo 0.000

RAFOS_CLK 353 FG_AHR_10Vo 0.000

RAFOS 0,1519797664,6.032778,6.017778,137,67,58,57,56,55,582,218,195,151,133,161 MEM 280104

RAFOS_FIX -7407.458496,-11244.800781,280218,060628,3,113,0.88 DATA_FILE_SIZE 26708,824

IRIDIUM_FIX -7406.86,-11259.54,280218,015229 CAP_FILE_SIZE 102086,0

TT8_MAMPS 0.03745,0.244923 CFSIZE 1024409600,995786752

HUMID 48.11 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.87058 SOUNDSPEED 1445.1

TCM_TEMP 12.90 CURRENT 0.618,124.16,1

XPDR_PINGS 0 GPS 280218,061528,-7407.458,-11244.801,0,4112.7,0,53.6,0.0,0.0,0,0.0

ALTIM_TOP_PING 12.8,13.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 459 87.87 nil 0 0 0.00

Roll_motor 68 115 97.40 nil 0 0 0.00

VBD_pump_during_apogee 235 2477 7232.31 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 8749 6 750.24

Iridium_during_xfer 232 201 579.39 nil 0 0 0.00

Transponder_ping 21 420 110.58 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 8 0.55

TT8 0 0 0.00

LPSleep 6594 2 191.18

TT8_Active 434 10 59.24

TT8_Sampling 1937 30 737.90

TT8_CF8 158 51 102.06

TT8_Kalman 0 0 0.00

Analog_circuits 1292 10 163.83

GPS_charging 0 0 0.00

Compass 1182 6 100.05

RAFOS 720 1 13.55

Transponder 152 30 57.41

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

10.3 11.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.7 22.00 9000.00 0.0 0.00 0.00 22.00 0.0 1.02 1.00

30.8 32.70 32.70 0.0 1.04 1.00 32.70 0.0 1.06 1.00

52.3 55.30 55.30 0.0 1.05 1.00 55.30 0.0 1.05 1.00

94.2 98.80 98.80 0.0 1.04 1.00 98.80 0.0 1.04 1.00

451.8 36.60 9000.00 0.0 -0.10 0.44 36.60 488.4 -0.17 1.00

128.4 133.40 9000.00 0.0 -0.22 0.81 133.40 0.0 -0.30 1.00

97.2 101.10 9000.00 0.0 -0.23 0.84 101.10 -3.9 1.04 1.00

86.8 90.30 90.30 -3.5 1.04 1.00 90.30 -3.5 1.04 1.00

76.3 79.20 79.20 -2.9 1.05 1.00 79.20 -2.9 1.06 1.00

66.1 68.60 68.50 -2.4 1.05 1.00 68.60 -2.5 1.04 1.00

55.4 57.70 57.60 -2.2 1.03 1.00 57.70 -2.3 1.02 1.00

44.5 46.40 46.50 -2.0 1.02 1.00 46.40 -1.9 1.04 1.00

34.4 35.50 35.60 -1.2 1.06 1.00 35.50 -1.1 1.08 1.00

24.0 24.60 24.50 -0.5 1.06 1.00 24.60 -0.6 1.05 1.00

12.8 13.10 13.10 -0.3 1.04 1.00 13.10 -0.3 1.03 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 -0.91 -121.7 185 2809 2232 2126 0.0 0.0 0 122 0.00 0.00 -108.82 0.003 16390 0.000 0.000 185 2809 3890 3901 3879 0 0 0 0 0 0 14.60 12.86 14.60

125 -0.91 -121.7 186 2809 3902 3879 2.7 -3.4 11 142 12.02 1.95 0.00 0.000 2340 0.460 0.079 2423 3914 3898 3903 3893 0 0 0 0 0 0 13.94 14.33 14.26

316 -0.91 -121.7 2423 3915 3905 3903 28.0 -13.3 49 323 0.00 1.90 0.00 0.000 1030 0.000 0.049 2422 2796 3903 3903 3903 0 0 0 0 0 0 14.47 14.44 14.50

627 -0.91 -121.7 2423 2797 3904 3906 62.0 -11.3 81 628 0.00 0.00 0.00 0.000 6 0.000 0.000 2423 2797 3904 3903 3906 0 0 0 0 0 0 14.76 14.76 14.76

928 -0.91 -121.7 2423 2798 3903 3908 94.2 -10.8 111 933 0.00 2.00 0.00 0.000 260 0.000 0.093 2419 3917 3905 3903 3907 0 0 0 0 0 0 14.73 14.42 14.73

977 -0.91 -121.7 2419 3917 3903 3909 100.0 -11.8 121 984 0.00 1.90 0.00 0.000 1030 0.000 0.051 2419 2795 3905 3903 3907 0 0 0 0 0 0 14.55 14.52 14.57

1288 -0.91 -121.7 2420 2796 3900 3909 133.4 -10.0 153 1289 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2795 3905 3904 3907 0 0 0 0 0 0 14.81 14.81 14.81

1588 -0.91 -121.7 2420 2796 3903 3909 163.8 -10.0 183 1589 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2795 3905 3902 3908 0 0 0 0 0 0 14.83 14.83 14.83

1888 -0.91 -121.7 2420 2795 3905 3909 193.7 -9.8 213 1889 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2795 3905 3903 3907 0 0 0 0 0 0 14.83 14.83 14.82

2188 -0.91 -121.7 2420 2796 3904 3909 224.1 -10.0 243 2189 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2795 3906 3904 3908 0 0 0 0 0 0 14.84 14.84 14.84

2488 -0.91 -121.7 2420 2795 3905 3908 253.1 -9.4 273 2494 0.00 2.40 0.00 0.000 516 0.000 0.052 2420 1371 3905 3903 3907 0 0 0 0 0 0 14.85 14.49 14.85

2518 -0.91 -121.7 2422 1372 3904 3910 255.9 -9.4 279 2524 0.00 2.53 0.00 0.000 1030 0.000 0.070 2419 2815 3905 3903 3908 0 0 0 0 0 0 14.62 14.48 14.65

2828 -0.91 -121.7 2420 2815 3905 3908 286.0 -10.0 311 2829 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2814 3905 3903 3908 0 0 0 0 0 0 14.84 14.84 14.84

3140 -0.91 -121.7 2420 2815 3905 3908 316.1 -9.6 334 3145 0.00 2.40 0.00 0.000 516 0.000 0.051 2419 1392 3905 3903 3908 0 0 0 0 0 0 14.81 14.52 14.81

3184 -0.91 -121.7 2419 1397 3904 3909 320.5 -9.3 343 3190 0.00 2.53 0.00 0.000 1030 0.000 0.070 2419 2806 3905 3903 3908 0 0 0 0 0 0 14.54 14.46 14.57

3502 -0.91 -121.7 2420 2806 3905 3908 350.1 -9.2 361 3502 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2806 3905 3903 3908 0 0 0 0 0 0 14.81 14.81 14.81

3800 -0.91 -121.7 2420 2807 3904 3909 377.0 -8.8 376 3805 0.00 2.40 0.00 0.000 516 0.000 0.052 2419 1394 3905 3903 3908 0 0 0 0 0 0 14.86 14.52 14.87

3829 -0.91 -121.7 2419 1394 3904 3909 379.6 -8.7 382 3835 0.00 2.53 0.00 0.000 1030 0.000 0.070 2417 2810 3906 3904 3908 0 0 0 0 0 0 14.54 14.46 14.58

4140 -0.91 -121.7 2418 2810 3905 3908 406.2 -8.5 399 4145 0.00 1.95 0.00 0.000 260 0.000 0.093 2415 3920 3905 3903 3908 0 0 0 0 0 0 14.86 14.46 14.86

4195 -0.91 -121.7 2415 3919 3904 3908 411.3 -9.5 410 4201 0.00 1.90 0.00 0.000 1030 0.000 0.050 2415 2801 3905 3903 3908 0 0 0 0 0 0 14.60 14.56 14.62

4500 -0.91 -121.7 2416 2801 3905 3908 438.4 -8.8 426 4505 0.00 2.35 0.00 0.000 516 0.000 0.051 2415 1398 3905 3903 3908 0 0 0 0 0 0 14.88 14.53 14.88

4540 -0.91 -121.7 2415 1398 3904 3907 442.1 -9.3 434 4546 0.00 2.50 0.00 0.000 1030 0.000 0.070 2415 2806 3905 3903 3908 0 0 0 0 0 0 14.54 14.46 14.59

4639 end dive: TARGET_DEPTH_EXCEEDED

state 4639 begin apogee

4643 -0.23 0.0 2415 2536 3904 3909 450.9 -8.8 442 4765 0.90 0.00 119.72 2.477 10246 0.248 0.000 2652 2535 3399 3403 3395 0 0 0 0 0 0 14.23 13.71 12.76

4766 end apogee: CONTROL_FINISHED_OK

state 4766 begin climb

4768 0.91 121.7 2653 2536 3402 3393 453.1 0.0 448 4888 1.25 0.00 115.93 2.366 10758 0.158 0.000 3016 2534 2914 2920 2909 0 0 0 0 0 0 13.64 13.27 12.39

5181 0.91 121.7 3016 2536 2906 2896 411.0 11.8 484 5186 0.00 2.55 0.00 0.000 260 0.000 0.095 3016 3911 2900 2906 2895 0 0 0 0 0 0 14.33 14.02 14.33

5206 0.91 121.7 3017 3912 2908 2895 407.6 13.3 489 5213 0.00 2.38 0.00 0.000 1030 0.000 0.057 3027 2549 2900 2906 2895 0 0 0 0 0 0 14.19 14.12 14.21

5523 0.91 121.7 3027 2550 2902 2895 367.8 12.5 507 5524 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2549 2898 2903 2894 0 0 0 0 0 0 14.62 14.62 14.62

5822 0.91 121.7 3027 2549 2905 2895 332.1 11.7 522 5828 0.00 2.45 0.00 0.000 516 0.000 0.067 3037 1138 2899 2905 2894 0 0 0 0 0 0 14.73 14.39 14.72

5847 0.91 121.7 3037 1139 2905 2894 329.2 11.3 527 5853 0.00 2.53 0.00 0.000 1030 0.000 0.070 3037 2554 2899 2905 2893 0 0 0 0 0 0 14.47 14.39 14.57

6152 0.91 121.7 3038 2554 2906 2893 292.2 12.5 547 6158 0.00 2.45 0.00 0.000 260 0.000 0.097 3037 3915 2899 2905 2893 0 0 0 0 0 0 14.78 14.43 14.78

6193 0.91 121.7 3037 3917 2906 2894 286.5 14.4 555 6198 0.00 2.30 0.00 0.000 1030 0.000 0.057 3047 2545 2899 2905 2893 0 0 0 0 0 0 14.56 14.52 14.59

6502 0.91 121.7 3048 2545 2906 2894 247.5 12.3 587 6503 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 2544 2899 2905 2894 0 0 0 0 0 0 14.83 14.83 14.83

6803 0.91 121.7 3048 2546 2907 2894 211.6 11.2 617 6809 0.00 2.40 0.00 0.000 516 0.000 0.067 3058 1151 2899 2906 2893 0 0 0 0 0 0 14.81 14.49 14.80

6833 0.91 121.7 3058 1151 2907 2893 208.1 11.0 623 6839 0.15 2.47 0.00 0.000 5126 0.281 0.071 3025 2574 2898 2904 2893 0 0 0 0 0 0 14.27 14.50 14.59

7143 0.91 121.7 3024 2574 2906 2894 174.5 11.0 655 7149 0.00 2.38 0.00 0.000 260 0.000 0.094 3025 3910 2899 2906 2893 0 0 0 0 0 0 14.85 14.49 14.85

7168 0.91 121.7 3026 3913 2908 2893 171.4 12.4 660 7175 0.00 2.35 0.00 0.000 1030 0.000 0.056 3035 2539 2899 2906 2893 0 0 0 0 0 0 14.62 14.56 14.63

7473 0.91 121.7 3034 2539 2907 2893 137.2 11.0 691 7474 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2539 2899 2905 2893 0 0 0 0 0 0 14.87 14.86 14.86

7773 0.91 121.7 3035 2540 2907 2894 105.3 10.9 721 7780 0.00 2.40 0.00 0.000 516 0.000 0.066 3045 1147 2899 2906 2893 0 0 0 0 0 0 14.88 14.50 14.88

7799 0.91 121.7 3046 1147 2907 2893 102.4 10.8 726 7806 0.00 2.50 0.00 0.000 1030 0.000 0.071 3045 2555 2899 2906 2893 0 0 0 0 0 0 14.58 14.50 14.62

8104 0.91 121.7 3045 2555 2907 2893 67.4 11.4 757 8111 0.00 2.42 0.00 0.000 260 0.000 0.097 3045 3914 2899 2906 2893 0 0 0 0 0 0 14.87 14.49 14.87

8130 0.91 121.7 3045 3914 2908 2893 64.0 13.2 762 8137 0.10 2.35 0.00 0.000 5126 0.278 0.057 3015 2543 2900 2907 2893 0 0 0 0 0 0 14.25 14.57 14.59

8435 0.91 121.7 3016 2543 2908 2893 31.4 10.3 793 8436 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2543 2899 2906 2893 0 0 0 0 0 0 14.87 14.87 14.87

8694 end climb: FINISH_DEPTH_REACHED

state 8694 begin subsurface finish

8698 0.01 9.3 3016 2544 2907 2894 3.6 9.9 819 8730 1.00 2.45 -23.58 0.006 20740 0.220 0.116 2737 3911 3369 3363 3375 0 0 0 0 0 0 14.32 12.90 14.60

8730 end subsurface finish: CONTROL_FINISHED_OK

state 8730 begin surface

ID	221	HD_A	0.00184	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0133	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	216	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	40	ALTIM_FREQUENCY	13
D_TGT	450	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	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	3
D_BOOST	110	SM_CC	300	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	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	150	COMM_SEQ	0	C_VBD	3400	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	4	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	4	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	8	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	170	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	200	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	2	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	1	RAFOS_DEVICE	32
USE_BATHY	-3	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	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	2730	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	125	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	2	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	280218,042749,-7406.2124,-11254.2402,32,1.1,32,53.6,0.2,0.0,9,3.8	SPEED_LIMITS	0.088,0.188
_CALLS	1	TGT_NAME	hold
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.77	MHEAD_RNG_PITCHd_Wd	43.5,15429,-16.7,-8.824,-25.14,1966
_SM_ANGLEo	-61.7	D_GRID	634
GPS2	280218,043346,-7406.1631,-11254.3057,3,1.1,3,53.6,0.2,0.0,9,9.6

FREEZE	3.59,-1.805,-1.864,2,1,0	_24V_AH	12.39,74.048
FINISH1	3.6,1.027317,9	_10V_AH	12.55,0.000
FINISH2	2.7	FG_AHR_24Vo	0.000
RAFOS_CLK	353	FG_AHR_10Vo	0.000
RAFOS	0,1519797664,6.032778,6.017778,137,67,58,57,56,55,582,218,195,151,133,161	MEM	280104
RAFOS_FIX	-7407.458496,-11244.800781,280218,060628,3,113,0.88	DATA_FILE_SIZE	26708,824
IRIDIUM_FIX	-7406.86,-11259.54,280218,015229	CAP_FILE_SIZE	102086,0
TT8_MAMPS	0.03745,0.244923	CFSIZE	1024409600,995786752
HUMID	48.11	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.87058	SOUNDSPEED	1445.1
TCM_TEMP	12.90	CURRENT	0.618,124.16,1
XPDR_PINGS	0	GPS	280218,061528,-7407.458,-11244.801,0,4112.7,0,53.6,0.0,0.0,0,0.0
ALTIM_TOP_PING	12.8,13.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	459	87.87	nil	0	0	0.00
Roll_motor	68	115	97.40	nil	0	0	0.00
VBD_pump_during_apogee	235	2477	7232.31	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	8749	6	750.24
Iridium_during_xfer	232	201	579.39	nil	0	0	0.00
Transponder_ping	21	420	110.58	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	8	0.55
TT8	0	0	0.00
LPSleep	6594	2	191.18
TT8_Active	434	10	59.24
TT8_Sampling	1937	30	737.90
TT8_CF8	158	51	102.06
TT8_Kalman	0	0	0.00
Analog_circuits	1292	10	163.83
GPS_charging	0	0	0.00
Compass	1182	6	100.05
RAFOS	720	1	13.55
Transponder	152	30	57.41

		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
10.3	11.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.7	22.00	9000.00	0.0	0.00	0.00	22.00	0.0	1.02	1.00
30.8	32.70	32.70	0.0	1.04	1.00	32.70	0.0	1.06	1.00
52.3	55.30	55.30	0.0	1.05	1.00	55.30	0.0	1.05	1.00
94.2	98.80	98.80	0.0	1.04	1.00	98.80	0.0	1.04	1.00
451.8	36.60	9000.00	0.0	-0.10	0.44	36.60	488.4	-0.17	1.00

128.4	133.40	9000.00	0.0	-0.22	0.81	133.40	0.0	-0.30	1.00
97.2	101.10	9000.00	0.0	-0.23	0.84	101.10	-3.9	1.04	1.00
86.8	90.30	90.30	-3.5	1.04	1.00	90.30	-3.5	1.04	1.00
76.3	79.20	79.20	-2.9	1.05	1.00	79.20	-2.9	1.06	1.00
66.1	68.60	68.50	-2.4	1.05	1.00	68.60	-2.5	1.04	1.00
55.4	57.70	57.60	-2.2	1.03	1.00	57.70	-2.3	1.02	1.00
44.5	46.40	46.50	-2.0	1.02	1.00	46.40	-1.9	1.04	1.00
34.4	35.50	35.60	-1.2	1.06	1.00	35.50	-1.1	1.08	1.00
24.0	24.60	24.50	-0.5	1.06	1.00	24.60	-0.6	1.05	1.00
12.8	13.10	13.10	-0.3	1.04	1.00	13.10	-0.3	1.03	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	-0.91	-121.7	185	2809	2232	2126	0.0	0.0	0	122	0.00	0.00	-108.82	0.003	16390	0.000	0.000	185	2809	3890	3901	3879	0	0	0	0	0	0	14.60	12.86	14.60
125	-0.91	-121.7	186	2809	3902	3879	2.7	-3.4	11	142	12.02	1.95	0.00	0.000	2340	0.460	0.079	2423	3914	3898	3903	3893	0	0	0	0	0	0	13.94	14.33	14.26
316	-0.91	-121.7	2423	3915	3905	3903	28.0	-13.3	49	323	0.00	1.90	0.00	0.000	1030	0.000	0.049	2422	2796	3903	3903	3903	0	0	0	0	0	0	14.47	14.44	14.50
627	-0.91	-121.7	2423	2797	3904	3906	62.0	-11.3	81	628	0.00	0.00	0.00	0.000	6	0.000	0.000	2423	2797	3904	3903	3906	0	0	0	0	0	0	14.76	14.76	14.76
928	-0.91	-121.7	2423	2798	3903	3908	94.2	-10.8	111	933	0.00	2.00	0.00	0.000	260	0.000	0.093	2419	3917	3905	3903	3907	0	0	0	0	0	0	14.73	14.42	14.73
977	-0.91	-121.7	2419	3917	3903	3909	100.0	-11.8	121	984	0.00	1.90	0.00	0.000	1030	0.000	0.051	2419	2795	3905	3903	3907	0	0	0	0	0	0	14.55	14.52	14.57
1288	-0.91	-121.7	2420	2796	3900	3909	133.4	-10.0	153	1289	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2795	3905	3904	3907	0	0	0	0	0	0	14.81	14.81	14.81
1588	-0.91	-121.7	2420	2796	3903	3909	163.8	-10.0	183	1589	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2795	3905	3902	3908	0	0	0	0	0	0	14.83	14.83	14.83
1888	-0.91	-121.7	2420	2795	3905	3909	193.7	-9.8	213	1889	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2795	3905	3903	3907	0	0	0	0	0	0	14.83	14.83	14.82
2188	-0.91	-121.7	2420	2796	3904	3909	224.1	-10.0	243	2189	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2795	3906	3904	3908	0	0	0	0	0	0	14.84	14.84	14.84
2488	-0.91	-121.7	2420	2795	3905	3908	253.1	-9.4	273	2494	0.00	2.40	0.00	0.000	516	0.000	0.052	2420	1371	3905	3903	3907	0	0	0	0	0	0	14.85	14.49	14.85
2518	-0.91	-121.7	2422	1372	3904	3910	255.9	-9.4	279	2524	0.00	2.53	0.00	0.000	1030	0.000	0.070	2419	2815	3905	3903	3908	0	0	0	0	0	0	14.62	14.48	14.65
2828	-0.91	-121.7	2420	2815	3905	3908	286.0	-10.0	311	2829	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2814	3905	3903	3908	0	0	0	0	0	0	14.84	14.84	14.84
3140	-0.91	-121.7	2420	2815	3905	3908	316.1	-9.6	334	3145	0.00	2.40	0.00	0.000	516	0.000	0.051	2419	1392	3905	3903	3908	0	0	0	0	0	0	14.81	14.52	14.81
3184	-0.91	-121.7	2419	1397	3904	3909	320.5	-9.3	343	3190	0.00	2.53	0.00	0.000	1030	0.000	0.070	2419	2806	3905	3903	3908	0	0	0	0	0	0	14.54	14.46	14.57
3502	-0.91	-121.7	2420	2806	3905	3908	350.1	-9.2	361	3502	0.00	0.00	0.00	0.000	6	0.000	0.000	2419	2806	3905	3903	3908	0	0	0	0	0	0	14.81	14.81	14.81
3800	-0.91	-121.7	2420	2807	3904	3909	377.0	-8.8	376	3805	0.00	2.40	0.00	0.000	516	0.000	0.052	2419	1394	3905	3903	3908	0	0	0	0	0	0	14.86	14.52	14.87
3829	-0.91	-121.7	2419	1394	3904	3909	379.6	-8.7	382	3835	0.00	2.53	0.00	0.000	1030	0.000	0.070	2417	2810	3906	3904	3908	0	0	0	0	0	0	14.54	14.46	14.58
4140	-0.91	-121.7	2418	2810	3905	3908	406.2	-8.5	399	4145	0.00	1.95	0.00	0.000	260	0.000	0.093	2415	3920	3905	3903	3908	0	0	0	0	0	0	14.86	14.46	14.86
4195	-0.91	-121.7	2415	3919	3904	3908	411.3	-9.5	410	4201	0.00	1.90	0.00	0.000	1030	0.000	0.050	2415	2801	3905	3903	3908	0	0	0	0	0	0	14.60	14.56	14.62
4500	-0.91	-121.7	2416	2801	3905	3908	438.4	-8.8	426	4505	0.00	2.35	0.00	0.000	516	0.000	0.051	2415	1398	3905	3903	3908	0	0	0	0	0	0	14.88	14.53	14.88
4540	-0.91	-121.7	2415	1398	3904	3907	442.1	-9.3	434	4546	0.00	2.50	0.00	0.000	1030	0.000	0.070	2415	2806	3905	3903	3908	0	0	0	0	0	0	14.54	14.46	14.59
4639	end dive: TARGET_DEPTH_EXCEEDED
state	4639	begin apogee
4643	-0.23	0.0	2415	2536	3904	3909	450.9	-8.8	442	4765	0.90	0.00	119.72	2.477	10246	0.248	0.000	2652	2535	3399	3403	3395	0	0	0	0	0	0	14.23	13.71	12.76
4766	end apogee: CONTROL_FINISHED_OK
state	4766	begin climb
4768	0.91	121.7	2653	2536	3402	3393	453.1	0.0	448	4888	1.25	0.00	115.93	2.366	10758	0.158	0.000	3016	2534	2914	2920	2909	0	0	0	0	0	0	13.64	13.27	12.39
5181	0.91	121.7	3016	2536	2906	2896	411.0	11.8	484	5186	0.00	2.55	0.00	0.000	260	0.000	0.095	3016	3911	2900	2906	2895	0	0	0	0	0	0	14.33	14.02	14.33
5206	0.91	121.7	3017	3912	2908	2895	407.6	13.3	489	5213	0.00	2.38	0.00	0.000	1030	0.000	0.057	3027	2549	2900	2906	2895	0	0	0	0	0	0	14.19	14.12	14.21
5523	0.91	121.7	3027	2550	2902	2895	367.8	12.5	507	5524	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2549	2898	2903	2894	0	0	0	0	0	0	14.62	14.62	14.62
5822	0.91	121.7	3027	2549	2905	2895	332.1	11.7	522	5828	0.00	2.45	0.00	0.000	516	0.000	0.067	3037	1138	2899	2905	2894	0	0	0	0	0	0	14.73	14.39	14.72
5847	0.91	121.7	3037	1139	2905	2894	329.2	11.3	527	5853	0.00	2.53	0.00	0.000	1030	0.000	0.070	3037	2554	2899	2905	2893	0	0	0	0	0	0	14.47	14.39	14.57
6152	0.91	121.7	3038	2554	2906	2893	292.2	12.5	547	6158	0.00	2.45	0.00	0.000	260	0.000	0.097	3037	3915	2899	2905	2893	0	0	0	0	0	0	14.78	14.43	14.78
6193	0.91	121.7	3037	3917	2906	2894	286.5	14.4	555	6198	0.00	2.30	0.00	0.000	1030	0.000	0.057	3047	2545	2899	2905	2893	0	0	0	0	0	0	14.56	14.52	14.59
6502	0.91	121.7	3048	2545	2906	2894	247.5	12.3	587	6503	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	2544	2899	2905	2894	0	0	0	0	0	0	14.83	14.83	14.83
6803	0.91	121.7	3048	2546	2907	2894	211.6	11.2	617	6809	0.00	2.40	0.00	0.000	516	0.000	0.067	3058	1151	2899	2906	2893	0	0	0	0	0	0	14.81	14.49	14.80
6833	0.91	121.7	3058	1151	2907	2893	208.1	11.0	623	6839	0.15	2.47	0.00	0.000	5126	0.281	0.071	3025	2574	2898	2904	2893	0	0	0	0	0	0	14.27	14.50	14.59
7143	0.91	121.7	3024	2574	2906	2894	174.5	11.0	655	7149	0.00	2.38	0.00	0.000	260	0.000	0.094	3025	3910	2899	2906	2893	0	0	0	0	0	0	14.85	14.49	14.85
7168	0.91	121.7	3026	3913	2908	2893	171.4	12.4	660	7175	0.00	2.35	0.00	0.000	1030	0.000	0.056	3035	2539	2899	2906	2893	0	0	0	0	0	0	14.62	14.56	14.63
7473	0.91	121.7	3034	2539	2907	2893	137.2	11.0	691	7474	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2539	2899	2905	2893	0	0	0	0	0	0	14.87	14.86	14.86
7773	0.91	121.7	3035	2540	2907	2894	105.3	10.9	721	7780	0.00	2.40	0.00	0.000	516	0.000	0.066	3045	1147	2899	2906	2893	0	0	0	0	0	0	14.88	14.50	14.88
7799	0.91	121.7	3046	1147	2907	2893	102.4	10.8	726	7806	0.00	2.50	0.00	0.000	1030	0.000	0.071	3045	2555	2899	2906	2893	0	0	0	0	0	0	14.58	14.50	14.62
8104	0.91	121.7	3045	2555	2907	2893	67.4	11.4	757	8111	0.00	2.42	0.00	0.000	260	0.000	0.097	3045	3914	2899	2906	2893	0	0	0	0	0	0	14.87	14.49	14.87
8130	0.91	121.7	3045	3914	2908	2893	64.0	13.2	762	8137	0.10	2.35	0.00	0.000	5126	0.278	0.057	3015	2543	2900	2907	2893	0	0	0	0	0	0	14.25	14.57	14.59
8435	0.91	121.7	3016	2543	2908	2893	31.4	10.3	793	8436	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2543	2899	2906	2893	0	0	0	0	0	0	14.87	14.87	14.87
8694	end climb: FINISH_DEPTH_REACHED
state	8694	begin subsurface finish
8698	0.01	9.3	3016	2544	2907	2894	3.6	9.9	819	8730	1.00	2.45	-23.58	0.006	20740	0.220	0.116	2737	3911	3369	3363	3375	0	0	0	0	0	0	14.32	12.90	14.60
8730	end subsurface finish: CONTROL_FINISHED_OK
state	8730	begin surface