Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 263 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 263 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 20 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 25 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 14 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 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 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 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 210 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

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 53445 PITCH_MAXERRORS 3 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 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 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 20 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-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 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031257649 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 3890 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 3 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 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 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 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 222 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 -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2715 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 53445 ROLL_MAX 3750 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 263 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 25 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 14 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 8 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 -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 280218,091440,-7413.0513,-11229.3262,0,4107.7,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7412.000,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 274.38 MHEAD_RNG_PITCHd_Wd 296.6,1977,-40.6,-9.429,-45.00,527

_SM_ANGLEo 0.9 D_GRID 990

GPS2 280218,091440,-7413.0513,-11229.3262,0,4107.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 278.20,-1.364,-2.080,2,42,0 _24V_AH 12.19,108.439

FINISH1 278.2,1.027431,3 _10V_AH 12.39,0.000

FINISH2 275.4 FG_AHR_24Vo 0.000

RAFOS_CLK 393 FG_AHR_10Vo 0.000

RAFOS 0,1519830069,15.032778,15.019167,137,61,55,53,53,50,517,181,199,154,125,209 MEM 279804

RAFOS_FIX -7411.424805,-11230.424805,280218,151548,2,106,0.14 DATA_FILE_SIZE 39970,1234

IRIDIUM_FIX -7432.96,-11836.63,220218,182008 CAP_FILE_SIZE 129138,0

TT8_MAMPS 0.04494,0.286118 CFSIZE 1024409600,989577216

HUMID 47.51 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.60929 SOUNDSPEED 1456.1

TCM_TEMP 13.80 GPS 280218,150848,-7411.425,-11230.425,0,3105.5,0,53.5,0.0,0.0,0,0.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 430 53.95 nil 0 0 0.00

Roll_motor 87 163 175.07 nil 0 0 0.00

VBD_pump_during_apogee 226 3034 8376.29 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 10864 3 410.41

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 36 420 185.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8003 2 229.08

TT8_Active 318 12 48.46

TT8_Sampling 2475 31 973.54

TT8_CF8 137 45 77.08

TT8_Kalman 0 0 0.00

Analog_circuits 1198 10 151.53

GPS_charging 0 0 0.00

Compass 1762 7 163.58

RAFOS 720 1 13.38

Transponder 264 30 98.22

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

739.1 19.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

726.0 16.10 9000.00 0.0 0.00 0.00 16.10 709.9 0.22 1.00

719.8 28.40 9000.00 0.0 -0.37 0.33 28.40 0.0 -1.98 1.00

713.3 33.00 9000.00 0.0 -1.32 0.93 33.00 0.0 -0.71 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 -1.88 -32.5 2706 2502 2823 2618 0.0 0.0 0 11 0.00 0.00 -0.57 0.160 16390 0.000 0.000 2706 2501 2860 2971 2749 0 0 0 0 0 0 15.04 13.12 14.99

13 -1.88 -32.5 2706 2502 2972 2753 0.0 0.0 0 16 1.83 0.00 0.00 0.000 4102 0.080 0.000 2084 2502 2862 2971 2753 0 0 0 0 0 0 14.77 14.90 14.88

311 -1.88 -32.5 2084 2502 2964 2764 299.3 -8.8 30 316 0.00 2.38 0.00 0.000 260 0.000 0.140 2073 3757 2862 2962 2763 0 0 0 0 0 0 15.05 14.63 15.07

386 -1.88 -32.5 2074 3758 2961 2766 306.1 -9.0 45 394 0.00 2.28 0.00 0.000 1030 0.000 0.088 2073 2497 2862 2961 2764 0 0 0 0 0 0 14.78 14.72 14.83

691 -1.88 -32.5 2074 2497 2962 2765 331.3 -7.7 76 696 0.00 2.58 0.00 0.000 516 0.000 0.100 2073 1077 2862 2960 2765 0 0 0 0 0 0 15.12 14.70 15.15

721 -1.88 -32.5 2074 1079 2961 2766 333.7 -8.0 82 727 0.17 2.65 0.00 0.000 3078 0.418 0.112 2093 2514 2862 2960 2765 0 0 0 0 0 0 14.26 14.66 14.75

1032 -1.90 -43.6 2093 2512 2961 2765 356.8 -7.3 114 1037 0.00 2.38 -0.17 0.529 16676 0.000 0.164 2084 3760 2912 3010 2815 0 0 0 0 0 0 15.11 13.01 14.85

1262 -1.90 -43.6 2084 3761 3009 2816 380.7 -10.8 160 1268 0.00 2.25 0.00 0.000 1030 0.000 0.087 2084 2490 2913 3008 2818 0 0 0 0 0 0 14.88 14.76 14.93

1572 -1.90 -43.6 2084 2489 3009 2819 411.3 -9.9 192 1573 0.00 0.00 0.00 0.000 6 0.000 0.000 2084 2490 2913 3008 2818 0 0 0 0 0 0 15.13 15.16 15.16

1872 -1.90 -43.6 2084 2490 3009 2818 439.5 -8.9 222 1878 0.00 2.40 0.00 0.000 260 0.000 0.140 2075 3750 2913 3008 2818 0 0 0 0 0 0 15.14 14.61 15.16

1937 -1.90 -43.6 2075 3750 3009 2818 445.4 -8.9 235 1944 0.00 2.28 0.00 0.000 1030 0.000 0.087 2075 2491 2912 3007 2818 0 0 0 0 0 0 14.78 14.71 14.83

2242 -1.90 -43.6 2075 2497 3008 2819 471.5 -8.5 266 2249 0.00 2.40 0.00 0.000 260 0.000 0.139 2065 3753 2912 3007 2818 0 0 0 0 0 0 15.14 14.61 15.16

2378 -1.90 -43.6 2065 3754 3008 2819 483.5 -8.9 293 2386 0.00 2.28 0.00 0.000 1030 0.000 0.088 2065 2496 2912 3007 2818 0 0 0 0 0 0 14.73 14.66 14.77

2683 -1.91 -55.4 2065 2497 3007 2819 507.1 -7.1 324 2689 0.00 2.40 0.00 0.000 292 0.000 0.141 2055 3760 2912 3007 2818 0 0 0 0 0 0 15.13 14.59 15.16

2733 -1.91 -55.4 2056 3759 3008 2818 510.8 -7.7 334 2739 0.15 2.25 0.00 0.000 3078 0.421 0.089 2080 2492 2912 3007 2817 0 0 0 0 0 0 14.21 14.74 14.66

3044 -1.93 -71.7 2080 2492 3008 2818 531.0 -6.3 366 3049 0.00 2.40 0.00 0.000 292 0.000 0.141 2071 3753 2912 3007 2818 0 0 0 0 0 0 15.13 14.59 15.15

3154 -1.95 -85.1 2071 3754 3007 2819 538.1 -6.8 388 3159 0.00 2.22 0.00 0.000 1062 0.000 0.088 2071 2497 2912 3006 2818 0 0 0 0 0 0 14.86 14.73 14.90

3464 -1.97 -104.7 2071 2497 3007 2819 556.9 -5.6 420 3469 0.00 2.58 0.00 0.000 548 0.000 0.100 2070 1079 2912 3006 2818 0 0 0 0 0 0 15.14 14.66 15.16

3580 -2.00 -124.1 2071 1080 3007 2818 563.4 -5.7 443 3586 0.00 2.65 0.00 0.000 1062 0.000 0.114 2063 2505 2912 3006 2818 0 0 0 0 0 0 14.81 14.61 14.86

3884 -2.02 -143.0 2061 2506 3007 2819 580.8 -5.8 474 3889 0.00 2.38 0.00 0.000 292 0.000 0.140 2051 3759 2912 3006 2818 0 0 0 0 0 0 15.14 14.57 15.16

3939 -2.02 -146.0 2052 3755 3006 2819 584.1 -6.0 485 3947 0.00 2.30 0.00 0.000 1062 0.000 0.089 2051 2466 2912 3006 2818 0 0 0 0 0 0 14.85 14.70 14.89

4244 -2.02 -146.0 2051 2467 3006 2819 601.1 -5.6 516 4245 0.00 0.00 0.00 0.000 38 0.000 0.000 2051 2466 2912 3006 2819 0 0 0 0 0 0 15.14 15.16 15.16

4544 -2.02 -146.0 2051 2467 3005 2819 617.5 -5.4 546 4545 0.00 0.00 0.00 0.000 38 0.000 0.000 2051 2466 2912 3006 2818 0 0 0 0 0 0 15.14 15.17 15.16

4844 -2.02 -146.0 2052 2466 3007 2818 632.5 -4.7 576 4849 0.00 2.45 0.00 0.000 292 0.000 0.139 2042 3754 2911 3005 2818 0 0 0 0 0 0 15.14 14.57 15.17

5024 -2.02 -146.0 2042 3755 3006 2820 641.2 -4.8 612 5029 0.00 2.25 0.00 0.000 1062 0.000 0.086 2041 2488 2911 3005 2818 0 0 0 0 0 0 14.85 14.71 14.89

5335 -2.02 -146.0 2042 2488 3007 2818 654.6 -4.1 644 5340 0.00 2.42 0.00 0.000 292 0.000 0.139 2032 3759 2911 3006 2817 0 0 0 0 0 0 15.07 14.57 15.09

5385 -2.02 -146.0 2033 3761 3006 2819 656.7 -4.4 654 5390 0.00 2.28 0.00 0.000 1062 0.000 0.087 2032 2483 2911 3005 2818 0 0 0 0 0 0 14.85 14.73 14.88

5695 -2.02 -146.0 2033 2483 3007 2819 669.5 -4.4 686 5695 0.00 0.00 0.00 0.000 38 0.000 0.000 2032 2483 2912 3005 2819 0 0 0 0 0 0 15.14 15.16 15.16

5994 -2.02 -146.0 2033 2483 3006 2819 680.7 -3.7 716 5995 0.00 0.00 0.00 0.000 38 0.000 0.000 2032 2483 2912 3005 2819 0 0 0 0 0 0 15.14 15.17 15.16

6295 -2.02 -146.0 2032 2484 3006 2820 691.4 -3.3 746 6300 0.00 2.42 0.00 0.000 292 0.000 0.141 2023 3753 2912 3006 2819 0 0 0 0 0 0 15.14 14.55 15.16

6524 -2.02 -146.0 2023 3753 3007 2819 699.3 -3.2 792 6530 0.00 2.25 0.00 0.000 1062 0.000 0.086 2022 2489 2912 3005 2819 0 0 0 0 0 0 14.83 14.70 14.88

6855 -2.02 -146.0 2023 2489 3007 2820 708.4 -2.6 806 6855 0.00 0.00 0.00 0.000 38 0.000 0.000 2023 2489 2912 3005 2819 0 0 0 0 0 0 15.14 15.17 15.16

7216 -2.02 -146.0 2023 2490 3006 2821 716.8 -2.2 818 7221 0.00 2.40 0.00 0.000 292 0.000 0.138 2013 3750 2912 3005 2819 0 0 0 0 0 0 15.08 14.55 15.10

7445 -2.02 -146.0 2014 3751 3006 2821 721.1 -1.8 864 7451 0.20 2.28 0.00 0.000 3110 0.431 0.084 2046 2491 2912 3005 2820 0 0 0 0 0 0 14.04 14.66 14.55

7816 -2.02 -146.0 2047 2491 3007 2821 726.6 -1.3 878 7821 0.00 2.40 0.00 0.000 292 0.000 0.138 2038 3756 2912 3005 2820 0 0 0 0 0 0 15.14 14.54 15.17

8045 -2.02 -146.0 2038 3756 3007 2821 729.3 -1.1 924 8051 0.00 2.25 0.00 0.000 1062 0.000 0.086 2038 2490 2912 3005 2820 0 0 0 0 0 0 14.82 14.68 14.86

8416 -2.02 -146.0 2038 2491 3007 2820 733.5 -1.4 938 8421 0.00 2.40 0.00 0.000 292 0.000 0.138 2028 3751 2912 3005 2820 0 0 0 0 0 0 15.14 14.54 15.16

8645 -2.02 -146.0 2028 3752 3006 2821 737.5 -1.7 984 8651 0.00 2.25 0.00 0.000 1062 0.000 0.084 2028 2479 2913 3006 2820 0 0 0 0 0 0 14.82 14.68 14.86

9016 -2.02 -146.0 2029 2479 3006 2820 742.8 -1.2 998 9021 0.00 2.45 0.00 0.000 292 0.000 0.140 2020 3758 2913 3005 2821 0 0 0 0 0 0 15.14 14.53 15.16

9245 -2.02 -146.0 2020 3758 3007 2820 745.1 -0.8 1044 9251 0.00 2.28 0.00 0.000 1062 0.000 0.086 2020 2500 2912 3005 2820 0 0 0 0 0 0 14.84 14.64 14.88

9314 end dive: NO_VERTICAL_VELOCITY

state 9314 begin apogee

9319 -0.23 0.0 2021 2186 3006 2821 745.6 0.0 1048 9378 2.80 0.00 52.83 3.035 10246 0.377 0.000 2619 2185 2709 2788 2630 0 0 0 0 0 0 14.18 14.27 13.01

9379 end apogee: CONTROL_FINISHED_OK

state 9379 begin climb

9381 2.02 146.0 2620 2185 2789 2633 744.5 0.0 1050 9566 2.38 2.88 173.60 2.996 10756 0.135 0.109 3355 801 2113 2145 2082 0 0 0 0 0 0 14.25 13.29 12.19

9746 2.02 146.0 3355 801 2139 2073 642.2 34.5 1120 9752 0.00 2.67 0.00 0.000 1030 0.000 0.099 3355 2209 2106 2138 2074 0 0 0 0 0 0 14.19 14.06 14.23

10056 2.02 146.0 3355 2209 2138 2068 535.3 34.4 1152 10061 0.00 2.62 0.00 0.000 516 0.000 0.109 3365 793 2102 2137 2067 0 0 0 0 0 0 14.83 14.49 14.86

10076 2.02 146.0 3366 793 2138 2068 528.4 34.8 1156 10082 0.00 2.60 0.00 0.000 1030 0.000 0.101 3365 2215 2102 2136 2068 0 0 0 0 0 0 14.65 14.50 14.70

10388 2.02 146.0 3366 2215 2137 2066 421.6 33.9 1188 10389 0.00 0.00 0.00 0.000 6 0.000 0.000 3365 2215 2101 2136 2066 0 0 0 0 0 0 14.96 15.00 14.99

10688 2.02 146.0 3365 2215 2137 2065 325.1 31.7 1218 10689 0.00 0.00 0.00 0.000 6 0.000 0.000 3365 2215 2099 2135 2064 0 0 0 0 0 0 15.01 15.04 15.04

10835 end climb: FINISH_DEPTH_REACHED

state 10835 begin subsurface finish

10839 0.00 3.5 3366 2216 2136 2064 278.2 31.5 1233 10849 2.75 0.00 -2.58 0.037 20486 0.318 0.000 2702 2216 2717 2822 2613 0 0 0 0 0 0 14.37 13.19 14.72

10850 end subsurface finish: CONTROL_FINISHED_OK

state 10850 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	263	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	20	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	25	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	14	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	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	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	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	210	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
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	53445	PITCH_MAXERRORS	3	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	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	3750	ALTIM_PING_FIT	883

GPS1	280218,091440,-7413.0513,-11229.3262,0,4107.7,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7412.000,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	274.38	MHEAD_RNG_PITCHd_Wd	296.6,1977,-40.6,-9.429,-45.00,527
_SM_ANGLEo	0.9	D_GRID	990
GPS2	280218,091440,-7413.0513,-11229.3262,0,4107.7,0,53.5,0.0,0.0,0,0.0

FREEZE	278.20,-1.364,-2.080,2,42,0	_24V_AH	12.19,108.439
FINISH1	278.2,1.027431,3	_10V_AH	12.39,0.000
FINISH2	275.4	FG_AHR_24Vo	0.000
RAFOS_CLK	393	FG_AHR_10Vo	0.000
RAFOS	0,1519830069,15.032778,15.019167,137,61,55,53,53,50,517,181,199,154,125,209	MEM	279804
RAFOS_FIX	-7411.424805,-11230.424805,280218,151548,2,106,0.14	DATA_FILE_SIZE	39970,1234
IRIDIUM_FIX	-7432.96,-11836.63,220218,182008	CAP_FILE_SIZE	129138,0
TT8_MAMPS	0.04494,0.286118	CFSIZE	1024409600,989577216
HUMID	47.51	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.60929	SOUNDSPEED	1456.1
TCM_TEMP	13.80	GPS	280218,150848,-7411.425,-11230.425,0,3105.5,0,53.5,0.0,0.0,0,0.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	430	53.95	nil	0	0	0.00
Roll_motor	87	163	175.07	nil	0	0	0.00
VBD_pump_during_apogee	226	3034	8376.29	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	10864	3	410.41
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	36	420	185.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8003	2	229.08
TT8_Active	318	12	48.46
TT8_Sampling	2475	31	973.54
TT8_CF8	137	45	77.08
TT8_Kalman	0	0	0.00
Analog_circuits	1198	10	151.53
GPS_charging	0	0	0.00
Compass	1762	7	163.58
RAFOS	720	1	13.38
Transponder	264	30	98.22

		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

739.1	19.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
726.0	16.10	9000.00	0.0	0.00	0.00	16.10	709.9	0.22	1.00
719.8	28.40	9000.00	0.0	-0.37	0.33	28.40	0.0	-1.98	1.00
713.3	33.00	9000.00	0.0	-1.32	0.93	33.00	0.0	-0.71	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	-1.88	-32.5	2706	2502	2823	2618	0.0	0.0	0	11	0.00	0.00	-0.57	0.160	16390	0.000	0.000	2706	2501	2860	2971	2749	0	0	0	0	0	0	15.04	13.12	14.99
13	-1.88	-32.5	2706	2502	2972	2753	0.0	0.0	0	16	1.83	0.00	0.00	0.000	4102	0.080	0.000	2084	2502	2862	2971	2753	0	0	0	0	0	0	14.77	14.90	14.88
311	-1.88	-32.5	2084	2502	2964	2764	299.3	-8.8	30	316	0.00	2.38	0.00	0.000	260	0.000	0.140	2073	3757	2862	2962	2763	0	0	0	0	0	0	15.05	14.63	15.07
386	-1.88	-32.5	2074	3758	2961	2766	306.1	-9.0	45	394	0.00	2.28	0.00	0.000	1030	0.000	0.088	2073	2497	2862	2961	2764	0	0	0	0	0	0	14.78	14.72	14.83
691	-1.88	-32.5	2074	2497	2962	2765	331.3	-7.7	76	696	0.00	2.58	0.00	0.000	516	0.000	0.100	2073	1077	2862	2960	2765	0	0	0	0	0	0	15.12	14.70	15.15
721	-1.88	-32.5	2074	1079	2961	2766	333.7	-8.0	82	727	0.17	2.65	0.00	0.000	3078	0.418	0.112	2093	2514	2862	2960	2765	0	0	0	0	0	0	14.26	14.66	14.75
1032	-1.90	-43.6	2093	2512	2961	2765	356.8	-7.3	114	1037	0.00	2.38	-0.17	0.529	16676	0.000	0.164	2084	3760	2912	3010	2815	0	0	0	0	0	0	15.11	13.01	14.85
1262	-1.90	-43.6	2084	3761	3009	2816	380.7	-10.8	160	1268	0.00	2.25	0.00	0.000	1030	0.000	0.087	2084	2490	2913	3008	2818	0	0	0	0	0	0	14.88	14.76	14.93
1572	-1.90	-43.6	2084	2489	3009	2819	411.3	-9.9	192	1573	0.00	0.00	0.00	0.000	6	0.000	0.000	2084	2490	2913	3008	2818	0	0	0	0	0	0	15.13	15.16	15.16
1872	-1.90	-43.6	2084	2490	3009	2818	439.5	-8.9	222	1878	0.00	2.40	0.00	0.000	260	0.000	0.140	2075	3750	2913	3008	2818	0	0	0	0	0	0	15.14	14.61	15.16
1937	-1.90	-43.6	2075	3750	3009	2818	445.4	-8.9	235	1944	0.00	2.28	0.00	0.000	1030	0.000	0.087	2075	2491	2912	3007	2818	0	0	0	0	0	0	14.78	14.71	14.83
2242	-1.90	-43.6	2075	2497	3008	2819	471.5	-8.5	266	2249	0.00	2.40	0.00	0.000	260	0.000	0.139	2065	3753	2912	3007	2818	0	0	0	0	0	0	15.14	14.61	15.16
2378	-1.90	-43.6	2065	3754	3008	2819	483.5	-8.9	293	2386	0.00	2.28	0.00	0.000	1030	0.000	0.088	2065	2496	2912	3007	2818	0	0	0	0	0	0	14.73	14.66	14.77
2683	-1.91	-55.4	2065	2497	3007	2819	507.1	-7.1	324	2689	0.00	2.40	0.00	0.000	292	0.000	0.141	2055	3760	2912	3007	2818	0	0	0	0	0	0	15.13	14.59	15.16
2733	-1.91	-55.4	2056	3759	3008	2818	510.8	-7.7	334	2739	0.15	2.25	0.00	0.000	3078	0.421	0.089	2080	2492	2912	3007	2817	0	0	0	0	0	0	14.21	14.74	14.66
3044	-1.93	-71.7	2080	2492	3008	2818	531.0	-6.3	366	3049	0.00	2.40	0.00	0.000	292	0.000	0.141	2071	3753	2912	3007	2818	0	0	0	0	0	0	15.13	14.59	15.15
3154	-1.95	-85.1	2071	3754	3007	2819	538.1	-6.8	388	3159	0.00	2.22	0.00	0.000	1062	0.000	0.088	2071	2497	2912	3006	2818	0	0	0	0	0	0	14.86	14.73	14.90
3464	-1.97	-104.7	2071	2497	3007	2819	556.9	-5.6	420	3469	0.00	2.58	0.00	0.000	548	0.000	0.100	2070	1079	2912	3006	2818	0	0	0	0	0	0	15.14	14.66	15.16
3580	-2.00	-124.1	2071	1080	3007	2818	563.4	-5.7	443	3586	0.00	2.65	0.00	0.000	1062	0.000	0.114	2063	2505	2912	3006	2818	0	0	0	0	0	0	14.81	14.61	14.86
3884	-2.02	-143.0	2061	2506	3007	2819	580.8	-5.8	474	3889	0.00	2.38	0.00	0.000	292	0.000	0.140	2051	3759	2912	3006	2818	0	0	0	0	0	0	15.14	14.57	15.16
3939	-2.02	-146.0	2052	3755	3006	2819	584.1	-6.0	485	3947	0.00	2.30	0.00	0.000	1062	0.000	0.089	2051	2466	2912	3006	2818	0	0	0	0	0	0	14.85	14.70	14.89
4244	-2.02	-146.0	2051	2467	3006	2819	601.1	-5.6	516	4245	0.00	0.00	0.00	0.000	38	0.000	0.000	2051	2466	2912	3006	2819	0	0	0	0	0	0	15.14	15.16	15.16
4544	-2.02	-146.0	2051	2467	3005	2819	617.5	-5.4	546	4545	0.00	0.00	0.00	0.000	38	0.000	0.000	2051	2466	2912	3006	2818	0	0	0	0	0	0	15.14	15.17	15.16
4844	-2.02	-146.0	2052	2466	3007	2818	632.5	-4.7	576	4849	0.00	2.45	0.00	0.000	292	0.000	0.139	2042	3754	2911	3005	2818	0	0	0	0	0	0	15.14	14.57	15.17
5024	-2.02	-146.0	2042	3755	3006	2820	641.2	-4.8	612	5029	0.00	2.25	0.00	0.000	1062	0.000	0.086	2041	2488	2911	3005	2818	0	0	0	0	0	0	14.85	14.71	14.89
5335	-2.02	-146.0	2042	2488	3007	2818	654.6	-4.1	644	5340	0.00	2.42	0.00	0.000	292	0.000	0.139	2032	3759	2911	3006	2817	0	0	0	0	0	0	15.07	14.57	15.09
5385	-2.02	-146.0	2033	3761	3006	2819	656.7	-4.4	654	5390	0.00	2.28	0.00	0.000	1062	0.000	0.087	2032	2483	2911	3005	2818	0	0	0	0	0	0	14.85	14.73	14.88
5695	-2.02	-146.0	2033	2483	3007	2819	669.5	-4.4	686	5695	0.00	0.00	0.00	0.000	38	0.000	0.000	2032	2483	2912	3005	2819	0	0	0	0	0	0	15.14	15.16	15.16
5994	-2.02	-146.0	2033	2483	3006	2819	680.7	-3.7	716	5995	0.00	0.00	0.00	0.000	38	0.000	0.000	2032	2483	2912	3005	2819	0	0	0	0	0	0	15.14	15.17	15.16
6295	-2.02	-146.0	2032	2484	3006	2820	691.4	-3.3	746	6300	0.00	2.42	0.00	0.000	292	0.000	0.141	2023	3753	2912	3006	2819	0	0	0	0	0	0	15.14	14.55	15.16
6524	-2.02	-146.0	2023	3753	3007	2819	699.3	-3.2	792	6530	0.00	2.25	0.00	0.000	1062	0.000	0.086	2022	2489	2912	3005	2819	0	0	0	0	0	0	14.83	14.70	14.88
6855	-2.02	-146.0	2023	2489	3007	2820	708.4	-2.6	806	6855	0.00	0.00	0.00	0.000	38	0.000	0.000	2023	2489	2912	3005	2819	0	0	0	0	0	0	15.14	15.17	15.16
7216	-2.02	-146.0	2023	2490	3006	2821	716.8	-2.2	818	7221	0.00	2.40	0.00	0.000	292	0.000	0.138	2013	3750	2912	3005	2819	0	0	0	0	0	0	15.08	14.55	15.10
7445	-2.02	-146.0	2014	3751	3006	2821	721.1	-1.8	864	7451	0.20	2.28	0.00	0.000	3110	0.431	0.084	2046	2491	2912	3005	2820	0	0	0	0	0	0	14.04	14.66	14.55
7816	-2.02	-146.0	2047	2491	3007	2821	726.6	-1.3	878	7821	0.00	2.40	0.00	0.000	292	0.000	0.138	2038	3756	2912	3005	2820	0	0	0	0	0	0	15.14	14.54	15.17
8045	-2.02	-146.0	2038	3756	3007	2821	729.3	-1.1	924	8051	0.00	2.25	0.00	0.000	1062	0.000	0.086	2038	2490	2912	3005	2820	0	0	0	0	0	0	14.82	14.68	14.86
8416	-2.02	-146.0	2038	2491	3007	2820	733.5	-1.4	938	8421	0.00	2.40	0.00	0.000	292	0.000	0.138	2028	3751	2912	3005	2820	0	0	0	0	0	0	15.14	14.54	15.16
8645	-2.02	-146.0	2028	3752	3006	2821	737.5	-1.7	984	8651	0.00	2.25	0.00	0.000	1062	0.000	0.084	2028	2479	2913	3006	2820	0	0	0	0	0	0	14.82	14.68	14.86
9016	-2.02	-146.0	2029	2479	3006	2820	742.8	-1.2	998	9021	0.00	2.45	0.00	0.000	292	0.000	0.140	2020	3758	2913	3005	2821	0	0	0	0	0	0	15.14	14.53	15.16
9245	-2.02	-146.0	2020	3758	3007	2820	745.1	-0.8	1044	9251	0.00	2.28	0.00	0.000	1062	0.000	0.086	2020	2500	2912	3005	2820	0	0	0	0	0	0	14.84	14.64	14.88
9314	end dive: NO_VERTICAL_VELOCITY
state	9314	begin apogee
9319	-0.23	0.0	2021	2186	3006	2821	745.6	0.0	1048	9378	2.80	0.00	52.83	3.035	10246	0.377	0.000	2619	2185	2709	2788	2630	0	0	0	0	0	0	14.18	14.27	13.01
9379	end apogee: CONTROL_FINISHED_OK
state	9379	begin climb
9381	2.02	146.0	2620	2185	2789	2633	744.5	0.0	1050	9566	2.38	2.88	173.60	2.996	10756	0.135	0.109	3355	801	2113	2145	2082	0	0	0	0	0	0	14.25	13.29	12.19
9746	2.02	146.0	3355	801	2139	2073	642.2	34.5	1120	9752	0.00	2.67	0.00	0.000	1030	0.000	0.099	3355	2209	2106	2138	2074	0	0	0	0	0	0	14.19	14.06	14.23
10056	2.02	146.0	3355	2209	2138	2068	535.3	34.4	1152	10061	0.00	2.62	0.00	0.000	516	0.000	0.109	3365	793	2102	2137	2067	0	0	0	0	0	0	14.83	14.49	14.86
10076	2.02	146.0	3366	793	2138	2068	528.4	34.8	1156	10082	0.00	2.60	0.00	0.000	1030	0.000	0.101	3365	2215	2102	2136	2068	0	0	0	0	0	0	14.65	14.50	14.70
10388	2.02	146.0	3366	2215	2137	2066	421.6	33.9	1188	10389	0.00	0.00	0.00	0.000	6	0.000	0.000	3365	2215	2101	2136	2066	0	0	0	0	0	0	14.96	15.00	14.99
10688	2.02	146.0	3365	2215	2137	2065	325.1	31.7	1218	10689	0.00	0.00	0.00	0.000	6	0.000	0.000	3365	2215	2099	2135	2064	0	0	0	0	0	0	15.01	15.04	15.04
10835	end climb: FINISH_DEPTH_REACHED
state	10835	begin subsurface finish
10839	0.00	3.5	3366	2216	2136	2064	278.2	31.5	1233	10849	2.75	0.00	-2.58	0.037	20486	0.318	0.000	2702	2216	2717	2822	2613	0	0	0	0	0	0	14.37	13.19	14.72
10850	end subsurface finish: CONTROL_FINISHED_OK
state	10850	begin surface