Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 307 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_C 6.0000002e-06 ROLL_MAX 3841 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 4 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 5

DIVE 307 ESCAPE_HEADING 120 C_ROLL_DIVE 2550 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1030 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 21 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 601.23029 R_STBD_OVSHOOT 14 XPDR_VALID 4

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 5 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.93000001

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 9 VBD_MIN 500 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 DEVICE1 -1

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2951 DEVICE2 -1

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE4 -1

T_DIVE 330 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 400 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 20 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_BATHY -2 T_RSLEEP 2 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 2 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 300 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 350 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 225 AH0_10V 0 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3900 MINV_24V 12 SIM_PITCH 0

MAX_BUOY 150 C_PITCH 2550 MINV_10V 12 SEABIRD_T_G 0.0042903274

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00062837056

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 FG_AHR_24V 0 SEABIRD_T_I 2.3004332e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_T_J 2.3253908e-06

RHO 1.0275 P_OVSHOOT_WITHG 0 PRESSURE_YINT -50.214073 SEABIRD_C_G -9.879467

MASS 52059 PITCH_GAIN 13 PRESSURE_SLOPE 0.0001163556 SEABIRD_C_H 1.1201456

MASS_COMP 0 PITCH_TIMEOUT 15 AD7714Ch0Gain 128 SEABIRD_C_I -0.00035123606

NAV_MODE 0 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00012622437

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4 SC_PROFILE 3.0

HD_A 0.0043000001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 300 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SEABIRD_T_J 2.3253908e-06

AH0_10V 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 SIM_PITCH 0

AH0_24V 350 D_SURF 3 PITCH_AD_RATE 175 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_CNV 0.0046000001 SM_CC 601.23029

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 13 STROBE 0

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_MAX 3900 SURFACE_URGENCY 10

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PULSE 5 FG_AHR_24V 0 PITCH_MIN 225 SURFACE_URGENCY_TRY 5

ALTIM_SENSITIVITY 1 FILEMGR 2 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 6000

APOGEE_PITCH -5 HD_A 0.0043000001 PRESSURE_SLOPE 0.0001163556 TGT_DEFAULT_LON -5500

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -50.214073 T_ABORT 1440

CALL_TRIES 3 HD_C 6.0000002e-06 PROTOCOL 9 T_BOOST 5

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 330

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 3

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.1 RAFOS_DEVICE 32 T_GPS_ALMANAC 0

COMM_SEQ 0 ID 193 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 400

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0.93000001 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2550 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 ROLL_AD_RATE 300 T_WATCHDOG 10

C_ROLL_DIVE 2550 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2951 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX 3

DBDW 0 MASS 52059 ROLL_MAX 3841 USE_BATHY -2

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 2

DEVICE1 -1 MAX_BUOY 150 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_PORT_OVSHOOT 21 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 14 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 0 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 307 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1030 N_DIVES 0 SEABIRD_C_G -9.879467 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_FILEKB 4 SEABIRD_C_H 1.1201456 VBD_TIMEOUT 720

D_CALL 3 N_GPS 20 SEABIRD_C_I -0.00035123606 W_ADJ_DBAND 0

D_FINISH 9 N_NOCOMM 6 SEABIRD_C_J 0.00012622437 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_G 0.0042903274 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 48 SEABIRD_T_H 0.00062837056 XPDR_VALID 4

D_OFFGRID 300 PHONE_SUPPLY -2 SEABIRD_T_I 2.3004332e-05

Pre-dive calculations and measurements:

GPS1 300115,041933,6644.111,-6008.169,0,3088.3,0,-32.6 SPEED_LIMITS 0.173,0.262

_CALLS 3 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 5.46 MHEAD_RNG_PITCHd_Wd 109.0,148724,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -2.6 D_GRID 572

GPS2 300115,041933,6644.111,-6008.169,0,3088.3,0,-32.6

Post-dive calculations and measurements:

FREEZE 7.77,-1.798,-1.764,3,42,0 SC_FREEKB 7671840

FINISH1 7.8,1.025847,82 _24V_AH 12.49,76.731

FINISH2 5.6 _10V_AH 12.86,0.000

RAFOS_CLK 532 FG_AHR_24Vo 0.000

RAFOS 0,1422604873,8.033334,8.020278,63,59,50,50,49,48,205,187,91,163,146,175 FG_AHR_10Vo 0.000

RAFOS_FIX 6644.111328,-6008.168945,300115,040433,3,88,0.40 MEM 271092

IRIDIUM_FIX 6625.71,-5725.81,220115,144240 DATA_FILE_SIZE 23367,649

TT8_MAMPS 0.025466,0.025466 CAP_FILE_SIZE 110897,0

HUMID 48.50 CFSIZE 260034560,230113280

INTERNAL_PRESSURE 8.47912 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 12.30 INTR 0,10981.01,0x23769e,5,5

XPDR_PINGS 3 SOUNDSPEED 1451.1

ALTIM_TOP_PING 19.8,17.8 GPS 300115,041933,6644.111,-6008.169,0,3088.3,0,-32.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 338 24.92 nil 0 0 0.00

Roll_motor 88 146 161.88 nil 0 0 0.00

VBD_pump_during_apogee 462 2222 12850.03 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 11041 6 933.87

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 5.25 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1398 11 206.24

LPSleep 7918 2 235.22

TT8_Active 597 11 88.14

TT8_Sampling 1049 30 417.64

TT8_CF8 169 36 79.09

TT8_Kalman 0 0 0.00

Analog_circuits 1172 11 165.85

GPS_charging 0 0 0.00

Compass 972 6 75.02

RAFOS 2520 1 48.61

Transponder 4 30 1.71

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

16 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -1.60 -146.0 2577 2558 2631 2606 0.0 0.0 0 33 0.00 0.00 -11.55 0.000 16386 0.000 0.000 2577 2558 2861 2865 2857 0 0 0 0 0 0 28.83 28.83 28.83

36 -1.60 -146.0 2577 2558 2865 2858 4.0 0.0 1 73 1.12 0.00 -30.23 0.000 20742 0.120 0.000 2200 2559 3548 3536 3560 0 0 0 0 0 0 14.49 28.83 14.77

373 -1.55 -146.0 2200 2558 3543 3561 49.0 -14.5 30 374 0.00 0.00 0.00 0.000 6 0.000 0.000 2199 2559 3551 3543 3560 0 0 0 0 0 0 28.83 28.83 28.83

675 -1.51 -146.0 2200 2559 3543 3560 90.6 -13.7 45 676 0.00 0.00 0.00 0.000 6 0.000 0.000 2200 2559 3551 3543 3560 0 0 0 0 0 0 28.83 28.83 28.83

975 -1.48 -146.0 2200 2559 3543 3560 132.2 -13.8 60 981 0.12 2.47 0.00 0.000 2308 0.323 0.145 2220 3839 3552 3543 3561 0 0 0 0 0 0 14.35 14.50 28.83

1074 -1.48 -146.0 2221 3839 3543 3560 145.9 -13.0 79 1080 0.00 2.22 0.00 0.000 1030 0.000 0.064 2221 2544 3551 3543 3560 0 0 0 0 0 0 28.83 14.62 28.83

1379 -1.48 -146.0 2221 2544 3543 3560 179.5 -9.9 95 1384 0.00 2.42 0.00 0.000 516 0.000 0.096 2221 1147 3552 3543 3561 0 0 0 0 0 0 28.83 14.55 28.83

1431 -1.48 -146.0 2220 1147 3543 3560 185.4 -11.5 105 1436 0.00 2.58 0.00 0.000 1030 0.000 0.119 2214 2559 3551 3543 3559 0 0 0 0 0 0 28.83 14.53 28.83

1744 -1.48 -146.0 2213 2559 3543 3559 221.4 -11.2 122 1749 0.00 2.42 0.00 0.000 260 0.000 0.143 2204 3838 3551 3543 3559 0 0 0 0 0 0 28.83 14.51 28.83

1787 -1.48 -146.0 2203 3837 3543 3559 226.3 -11.8 130 1794 0.10 2.20 0.00 0.000 3078 0.305 0.062 2223 2547 3551 3543 3559 0 0 0 0 0 0 14.39 14.63 28.83

2122 -1.48 -146.0 2223 2547 3545 3559 260.5 -10.4 148 2127 0.00 2.42 0.00 0.000 516 0.000 0.096 2229 1150 3551 3543 3559 0 0 0 0 0 0 28.83 14.56 28.83

2169 -1.48 -146.0 2223 1150 3543 3558 265.8 -10.9 157 2174 0.00 2.58 0.00 0.000 1030 0.000 0.119 2216 2555 3551 3543 3559 0 0 0 0 0 0 28.83 14.55 28.83

2489 -1.48 -146.0 2216 2555 3542 3559 297.0 -9.5 170 2495 0.00 2.47 0.00 0.000 516 0.000 0.097 2216 1139 3550 3543 3558 0 0 0 0 0 0 28.83 14.57 28.83

2532 -1.48 -146.0 2216 1139 3543 3558 301.3 -9.5 178 2537 0.00 2.58 0.00 0.000 1030 0.000 0.119 2209 2549 3550 3543 3558 0 0 0 0 0 0 28.83 14.54 28.83

2856 -1.48 -146.0 2209 2550 3544 3558 332.7 -10.2 192 2862 0.00 2.45 0.00 0.000 516 0.000 0.098 2209 1148 3550 3543 3558 0 0 0 0 0 0 28.83 14.57 28.83

2884 -1.48 -146.0 2209 1148 3543 3558 335.8 -10.4 197 2891 0.10 2.58 0.00 0.000 3078 0.338 0.119 2221 2559 3550 3542 3558 0 0 0 0 0 0 14.38 14.55 28.83

3191 -1.51 -146.0 2221 2560 3550 3558 363.4 -8.9 208 3197 0.00 2.42 0.00 0.000 260 0.000 0.143 2212 3840 3550 3543 3558 0 0 0 0 0 0 28.83 14.51 28.83

3260 -1.51 -146.0 2213 3841 3543 3558 370.1 -9.1 221 3265 0.00 2.20 0.00 0.000 1030 0.000 0.062 2213 2552 3550 3543 3558 0 0 0 0 0 0 28.83 14.66 28.83

3589 -1.51 -146.0 2213 2552 3543 3558 400.0 -9.0 236 3591 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2552 3550 3543 3558 0 0 0 0 0 0 28.83 28.83 28.83

3889 -1.51 -146.0 2213 2552 3543 3558 428.2 -9.5 246 3890 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2552 3550 3543 3558 0 0 0 0 0 0 28.83 28.83 28.83

4188 -1.51 -146.0 2213 2552 3544 3558 456.1 -9.1 256 4189 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2552 3550 3544 3557 0 0 0 0 0 0 28.83 28.83 28.83

4489 -1.51 -146.0 2213 2552 3544 3558 482.6 -8.8 266 4490 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2552 3550 3544 3557 0 0 0 0 0 0 28.83 28.83 28.83

4789 -1.53 -146.0 2213 2552 3545 3558 508.9 -8.6 276 4790 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2552 3551 3545 3558 0 0 0 0 0 0 28.83 28.83 28.83

5089 -1.55 -146.0 2219 2552 3545 3554 534.8 -8.5 286 5090 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2552 3552 3546 3558 0 0 0 0 0 0 28.83 28.83 28.83

5390 -1.57 -146.0 2213 2552 3546 3558 560.0 -8.4 296 5391 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2552 3552 3547 3558 0 0 0 0 0 0 28.83 28.83 28.83

5536 end dive: TARGET_DEPTH_EXCEEDED

state 5536 begin apogee

5541 -0.38 0.0 2213 2400 3547 3558 572.5 -8.2 301 5705 0.93 0.00 154.65 2.222 10246 0.254 0.000 2466 2399 2951 2969 2933 0 0 0 0 1 0 14.40 28.83 12.93

5706 end apogee: CONTROL_FINISHED_OK

state 5707 begin climb

5709 1.60 146.0 2466 2399 2969 2939 576.1 0.0 306 5887 1.45 0.00 168.40 2.125 10758 0.159 0.000 2899 2399 2355 2401 2309 0 0 0 0 1 0 13.66 28.83 12.49

6170 1.60 146.0 2899 2399 2398 2305 530.4 11.7 327 6175 0.00 2.62 0.00 0.000 516 0.000 0.117 2908 1001 2352 2399 2305 0 0 0 0 0 0 28.83 13.96 28.83

6197 1.60 146.0 2908 1001 2394 2305 526.8 11.9 332 6204 0.00 2.65 0.00 0.000 1030 0.000 0.122 2908 2399 2351 2398 2304 0 0 0 0 0 0 28.83 13.99 28.83

6505 1.57 146.0 2908 2398 2397 2303 489.8 12.3 343 6511 0.00 2.75 0.00 0.000 260 0.000 0.145 2908 3812 2351 2398 2304 0 0 0 0 0 0 28.83 14.23 28.83

6539 1.50 146.0 2908 3812 2396 2304 485.2 13.7 349 6545 0.17 2.50 0.00 0.000 5126 0.279 0.076 2878 2407 2347 2391 2304 0 0 0 0 0 0 14.17 14.33 28.83

6873 1.50 146.0 2878 2408 2397 2303 448.0 11.0 365 6879 0.00 2.53 0.00 0.000 516 0.000 0.109 2887 990 2349 2396 2303 0 0 0 0 0 0 28.83 14.40 28.83

6931 1.50 146.0 2887 989 2394 2303 441.7 10.9 376 6937 0.00 2.58 0.00 0.000 1030 0.000 0.116 2887 2406 2349 2395 2303 0 0 0 0 0 0 28.83 14.42 28.83

7238 1.50 146.0 2887 2406 2395 2303 407.7 11.3 387 7239 0.00 0.00 0.00 0.000 6 0.000 0.000 2889 2406 2349 2395 2303 0 0 0 0 0 0 28.83 28.83 28.83

7538 1.50 146.0 2887 2406 2395 2303 372.8 11.7 397 7539 0.00 0.00 0.00 0.000 6 0.000 0.000 2888 2406 2348 2395 2302 0 0 0 0 0 0 28.83 28.83 28.83

7837 1.50 146.0 2887 2406 2395 2302 338.4 11.2 407 7842 0.00 2.50 0.00 0.000 516 0.000 0.106 2897 993 2348 2395 2302 0 0 0 0 0 0 28.83 14.53 28.83

7880 1.50 146.0 2897 993 2395 2302 333.5 11.2 415 7885 0.00 2.58 0.00 0.000 1030 0.000 0.116 2898 2403 2348 2395 2302 0 0 0 0 0 0 28.83 14.52 28.83

8204 1.50 146.0 2897 2401 2395 2302 296.9 11.3 429 8210 0.00 2.70 0.00 0.000 260 0.000 0.146 2896 3809 2348 2395 2302 0 0 0 0 0 0 28.83 14.51 28.83

8238 1.46 146.0 2897 3809 2395 2303 292.7 13.0 435 8244 0.17 2.47 0.00 0.000 5126 0.275 0.075 2865 2391 2348 2395 2302 0 0 0 0 0 0 14.42 14.59 28.83

8572 1.51 161.2 2865 2391 2395 2302 260.0 9.3 451 8602 0.00 2.55 18.25 1.219 8708 0.000 0.106 2875 988 2295 2336 2255 0 0 0 0 1 0 28.83 14.52 14.04

8661 1.55 173.2 2874 989 2341 2260 251.9 9.4 468 8694 0.00 2.58 18.05 1.191 9222 0.000 0.117 2874 2400 2247 2286 2208 0 0 0 0 1 0 28.83 14.47 13.97

8995 1.61 193.8 2874 2400 2286 2209 220.4 9.1 490 9034 0.10 0.00 26.62 1.392 10246 0.170 0.000 2918 2400 2162 2200 2124 0 0 0 0 1 0 14.54 28.83 13.64

9335 1.61 193.8 2917 2400 2200 2124 181.6 11.7 507 9340 0.00 2.53 0.00 0.000 516 0.000 0.106 2926 984 2162 2200 2124 0 0 0 0 0 0 28.83 14.43 28.83

9409 1.61 193.8 2927 983 2200 2124 173.4 11.4 521 9415 0.12 2.58 0.00 0.000 5126 0.287 0.116 2900 2400 2162 2200 2124 0 0 0 0 0 0 14.33 14.44 28.83

9723 1.66 215.3 2900 2400 2200 2123 142.6 9.0 538 9762 0.00 2.58 25.48 1.331 8708 0.000 0.106 2909 997 2075 2114 2036 0 0 0 0 1 0 28.83 14.39 13.69

9817 1.71 217.8 2909 997 2116 2038 133.7 9.9 556 9828 0.00 2.58 2.65 0.797 9222 0.000 0.116 2909 2402 2065 2104 2026 0 0 0 0 0 0 28.83 14.38 13.59

10126 1.77 236.5 2908 2403 2103 2030 103.5 9.1 573 10170 0.10 2.55 31.35 1.086 10756 0.169 0.103 2956 988 1976 2018 1934 0 0 0 0 1 0 14.52 14.33 13.62

10212 1.77 236.5 2956 992 2020 1928 93.8 12.2 590 10217 0.00 2.60 0.00 0.000 1030 0.000 0.115 2956 2405 1974 2020 1928 0 0 0 0 0 0 28.83 14.35 28.83

10530 1.77 236.5 2956 2405 2020 1923 55.5 12.7 608 10536 0.10 2.53 0.00 0.000 4612 0.304 0.103 2945 993 1971 2020 1923 0 0 0 0 0 0 14.35 14.44 28.83

10554 1.77 236.5 2945 993 2020 1923 52.9 10.9 612 10559 0.00 2.55 0.00 0.000 1030 0.000 0.115 2945 2400 1971 2019 1923 0 0 0 0 0 0 28.83 14.44 28.83

10867 1.81 267.1 2945 2400 2020 1920 18.8 8.6 633 10887 0.00 0.00 17.50 0.206 8198 0.000 0.000 2945 2400 1860 1909 1811 0 0 0 0 0 0 28.83 28.83 14.40

10976 end climb: FINISH_DEPTH_REACHED

state 10977 begin subsurface finish

10984 0.10 81.6 2945 2400 1908 1816 7.8 11.0 644 11018 1.30 0.00 -30.67 0.000 20998 0.241 0.000 2578 2400 2618 2632 2605 0 0 0 0 0 0 14.35 28.83 14.76

11019 end subsurface finish: CONTROL_FINISHED_OK

state 11020 begin surface

ID	193	HD_C	6.0000002e-06	ROLL_MAX	3841	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	4	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	5
DIVE	307	ESCAPE_HEADING	120	C_ROLL_DIVE	2550	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1030	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	21	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	601.23029	R_STBD_OVSHOOT	14	XPDR_VALID	4
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	5	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.93000001
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	9	VBD_MIN	500	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	DEVICE1	-1
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2951	DEVICE2	-1
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE4	-1
T_DIVE	330	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	400	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	20	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_BATHY	-2	T_RSLEEP	2	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	2	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.1	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	300	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	32
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	350	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	225	AH0_10V	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3900	MINV_24V	12	SIM_PITCH	0
MAX_BUOY	150	C_PITCH	2550	MINV_10V	12	SEABIRD_T_G	0.0042903274
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00062837056
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	FG_AHR_24V	0	SEABIRD_T_I	2.3004332e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_T_J	2.3253908e-06
RHO	1.0275	P_OVSHOOT_WITHG	0	PRESSURE_YINT	-50.214073	SEABIRD_C_G	-9.879467
MASS	52059	PITCH_GAIN	13	PRESSURE_SLOPE	0.0001163556	SEABIRD_C_H	1.1201456
MASS_COMP	0	PITCH_TIMEOUT	15	AD7714Ch0Gain	128	SEABIRD_C_I	-0.00035123606
NAV_MODE	0	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00012622437
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4	SC_PROFILE	3.0
HD_A	0.0043000001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	300	ALTIM_TOP_PING_RANGE	20

GPS1	300115,041933,6644.111,-6008.169,0,3088.3,0,-32.6	SPEED_LIMITS	0.173,0.262
_CALLS	3	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	5.46	MHEAD_RNG_PITCHd_Wd	109.0,148724,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-2.6	D_GRID	572
GPS2	300115,041933,6644.111,-6008.169,0,3088.3,0,-32.6

FREEZE	7.77,-1.798,-1.764,3,42,0	SC_FREEKB	7671840
FINISH1	7.8,1.025847,82	_24V_AH	12.49,76.731
FINISH2	5.6	_10V_AH	12.86,0.000
RAFOS_CLK	532	FG_AHR_24Vo	0.000
RAFOS	0,1422604873,8.033334,8.020278,63,59,50,50,49,48,205,187,91,163,146,175	FG_AHR_10Vo	0.000
RAFOS_FIX	6644.111328,-6008.168945,300115,040433,3,88,0.40	MEM	271092
IRIDIUM_FIX	6625.71,-5725.81,220115,144240	DATA_FILE_SIZE	23367,649
TT8_MAMPS	0.025466,0.025466	CAP_FILE_SIZE	110897,0
HUMID	48.50	CFSIZE	260034560,230113280
INTERNAL_PRESSURE	8.47912	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	12.30	INTR	0,10981.01,0x23769e,5,5
XPDR_PINGS	3	SOUNDSPEED	1451.1
ALTIM_TOP_PING	19.8,17.8	GPS	300115,041933,6644.111,-6008.169,0,3088.3,0,-32.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	338	24.92	nil	0	0	0.00
Roll_motor	88	146	161.88	nil	0	0	0.00
VBD_pump_during_apogee	462	2222	12850.03	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	11041	6	933.87
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	5.25	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1398	11	206.24
LPSleep	7918	2	235.22
TT8_Active	597	11	88.14
TT8_Sampling	1049	30	417.64
TT8_CF8	169	36	79.09
TT8_Kalman	0	0	0.00
Analog_circuits	1172	11	165.85
GPS_charging	0	0	0.00
Compass	972	6	75.02
RAFOS	2520	1	48.61
Transponder	4	30	1.71

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
16	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-1.60	-146.0	2577	2558	2631	2606	0.0	0.0	0	33	0.00	0.00	-11.55	0.000	16386	0.000	0.000	2577	2558	2861	2865	2857	0	0	0	0	0	0	28.83	28.83	28.83
36	-1.60	-146.0	2577	2558	2865	2858	4.0	0.0	1	73	1.12	0.00	-30.23	0.000	20742	0.120	0.000	2200	2559	3548	3536	3560	0	0	0	0	0	0	14.49	28.83	14.77
373	-1.55	-146.0	2200	2558	3543	3561	49.0	-14.5	30	374	0.00	0.00	0.00	0.000	6	0.000	0.000	2199	2559	3551	3543	3560	0	0	0	0	0	0	28.83	28.83	28.83
675	-1.51	-146.0	2200	2559	3543	3560	90.6	-13.7	45	676	0.00	0.00	0.00	0.000	6	0.000	0.000	2200	2559	3551	3543	3560	0	0	0	0	0	0	28.83	28.83	28.83
975	-1.48	-146.0	2200	2559	3543	3560	132.2	-13.8	60	981	0.12	2.47	0.00	0.000	2308	0.323	0.145	2220	3839	3552	3543	3561	0	0	0	0	0	0	14.35	14.50	28.83
1074	-1.48	-146.0	2221	3839	3543	3560	145.9	-13.0	79	1080	0.00	2.22	0.00	0.000	1030	0.000	0.064	2221	2544	3551	3543	3560	0	0	0	0	0	0	28.83	14.62	28.83
1379	-1.48	-146.0	2221	2544	3543	3560	179.5	-9.9	95	1384	0.00	2.42	0.00	0.000	516	0.000	0.096	2221	1147	3552	3543	3561	0	0	0	0	0	0	28.83	14.55	28.83
1431	-1.48	-146.0	2220	1147	3543	3560	185.4	-11.5	105	1436	0.00	2.58	0.00	0.000	1030	0.000	0.119	2214	2559	3551	3543	3559	0	0	0	0	0	0	28.83	14.53	28.83
1744	-1.48	-146.0	2213	2559	3543	3559	221.4	-11.2	122	1749	0.00	2.42	0.00	0.000	260	0.000	0.143	2204	3838	3551	3543	3559	0	0	0	0	0	0	28.83	14.51	28.83
1787	-1.48	-146.0	2203	3837	3543	3559	226.3	-11.8	130	1794	0.10	2.20	0.00	0.000	3078	0.305	0.062	2223	2547	3551	3543	3559	0	0	0	0	0	0	14.39	14.63	28.83
2122	-1.48	-146.0	2223	2547	3545	3559	260.5	-10.4	148	2127	0.00	2.42	0.00	0.000	516	0.000	0.096	2229	1150	3551	3543	3559	0	0	0	0	0	0	28.83	14.56	28.83
2169	-1.48	-146.0	2223	1150	3543	3558	265.8	-10.9	157	2174	0.00	2.58	0.00	0.000	1030	0.000	0.119	2216	2555	3551	3543	3559	0	0	0	0	0	0	28.83	14.55	28.83
2489	-1.48	-146.0	2216	2555	3542	3559	297.0	-9.5	170	2495	0.00	2.47	0.00	0.000	516	0.000	0.097	2216	1139	3550	3543	3558	0	0	0	0	0	0	28.83	14.57	28.83
2532	-1.48	-146.0	2216	1139	3543	3558	301.3	-9.5	178	2537	0.00	2.58	0.00	0.000	1030	0.000	0.119	2209	2549	3550	3543	3558	0	0	0	0	0	0	28.83	14.54	28.83
2856	-1.48	-146.0	2209	2550	3544	3558	332.7	-10.2	192	2862	0.00	2.45	0.00	0.000	516	0.000	0.098	2209	1148	3550	3543	3558	0	0	0	0	0	0	28.83	14.57	28.83
2884	-1.48	-146.0	2209	1148	3543	3558	335.8	-10.4	197	2891	0.10	2.58	0.00	0.000	3078	0.338	0.119	2221	2559	3550	3542	3558	0	0	0	0	0	0	14.38	14.55	28.83
3191	-1.51	-146.0	2221	2560	3550	3558	363.4	-8.9	208	3197	0.00	2.42	0.00	0.000	260	0.000	0.143	2212	3840	3550	3543	3558	0	0	0	0	0	0	28.83	14.51	28.83
3260	-1.51	-146.0	2213	3841	3543	3558	370.1	-9.1	221	3265	0.00	2.20	0.00	0.000	1030	0.000	0.062	2213	2552	3550	3543	3558	0	0	0	0	0	0	28.83	14.66	28.83
3589	-1.51	-146.0	2213	2552	3543	3558	400.0	-9.0	236	3591	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2552	3550	3543	3558	0	0	0	0	0	0	28.83	28.83	28.83
3889	-1.51	-146.0	2213	2552	3543	3558	428.2	-9.5	246	3890	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2552	3550	3543	3558	0	0	0	0	0	0	28.83	28.83	28.83
4188	-1.51	-146.0	2213	2552	3544	3558	456.1	-9.1	256	4189	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2552	3550	3544	3557	0	0	0	0	0	0	28.83	28.83	28.83
4489	-1.51	-146.0	2213	2552	3544	3558	482.6	-8.8	266	4490	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2552	3550	3544	3557	0	0	0	0	0	0	28.83	28.83	28.83
4789	-1.53	-146.0	2213	2552	3545	3558	508.9	-8.6	276	4790	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2552	3551	3545	3558	0	0	0	0	0	0	28.83	28.83	28.83
5089	-1.55	-146.0	2219	2552	3545	3554	534.8	-8.5	286	5090	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2552	3552	3546	3558	0	0	0	0	0	0	28.83	28.83	28.83
5390	-1.57	-146.0	2213	2552	3546	3558	560.0	-8.4	296	5391	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2552	3552	3547	3558	0	0	0	0	0	0	28.83	28.83	28.83
5536	end dive: TARGET_DEPTH_EXCEEDED
state	5536	begin apogee
5541	-0.38	0.0	2213	2400	3547	3558	572.5	-8.2	301	5705	0.93	0.00	154.65	2.222	10246	0.254	0.000	2466	2399	2951	2969	2933	0	0	0	0	1	0	14.40	28.83	12.93
5706	end apogee: CONTROL_FINISHED_OK
state	5707	begin climb
5709	1.60	146.0	2466	2399	2969	2939	576.1	0.0	306	5887	1.45	0.00	168.40	2.125	10758	0.159	0.000	2899	2399	2355	2401	2309	0	0	0	0	1	0	13.66	28.83	12.49
6170	1.60	146.0	2899	2399	2398	2305	530.4	11.7	327	6175	0.00	2.62	0.00	0.000	516	0.000	0.117	2908	1001	2352	2399	2305	0	0	0	0	0	0	28.83	13.96	28.83
6197	1.60	146.0	2908	1001	2394	2305	526.8	11.9	332	6204	0.00	2.65	0.00	0.000	1030	0.000	0.122	2908	2399	2351	2398	2304	0	0	0	0	0	0	28.83	13.99	28.83
6505	1.57	146.0	2908	2398	2397	2303	489.8	12.3	343	6511	0.00	2.75	0.00	0.000	260	0.000	0.145	2908	3812	2351	2398	2304	0	0	0	0	0	0	28.83	14.23	28.83
6539	1.50	146.0	2908	3812	2396	2304	485.2	13.7	349	6545	0.17	2.50	0.00	0.000	5126	0.279	0.076	2878	2407	2347	2391	2304	0	0	0	0	0	0	14.17	14.33	28.83
6873	1.50	146.0	2878	2408	2397	2303	448.0	11.0	365	6879	0.00	2.53	0.00	0.000	516	0.000	0.109	2887	990	2349	2396	2303	0	0	0	0	0	0	28.83	14.40	28.83
6931	1.50	146.0	2887	989	2394	2303	441.7	10.9	376	6937	0.00	2.58	0.00	0.000	1030	0.000	0.116	2887	2406	2349	2395	2303	0	0	0	0	0	0	28.83	14.42	28.83
7238	1.50	146.0	2887	2406	2395	2303	407.7	11.3	387	7239	0.00	0.00	0.00	0.000	6	0.000	0.000	2889	2406	2349	2395	2303	0	0	0	0	0	0	28.83	28.83	28.83
7538	1.50	146.0	2887	2406	2395	2303	372.8	11.7	397	7539	0.00	0.00	0.00	0.000	6	0.000	0.000	2888	2406	2348	2395	2302	0	0	0	0	0	0	28.83	28.83	28.83
7837	1.50	146.0	2887	2406	2395	2302	338.4	11.2	407	7842	0.00	2.50	0.00	0.000	516	0.000	0.106	2897	993	2348	2395	2302	0	0	0	0	0	0	28.83	14.53	28.83
7880	1.50	146.0	2897	993	2395	2302	333.5	11.2	415	7885	0.00	2.58	0.00	0.000	1030	0.000	0.116	2898	2403	2348	2395	2302	0	0	0	0	0	0	28.83	14.52	28.83
8204	1.50	146.0	2897	2401	2395	2302	296.9	11.3	429	8210	0.00	2.70	0.00	0.000	260	0.000	0.146	2896	3809	2348	2395	2302	0	0	0	0	0	0	28.83	14.51	28.83
8238	1.46	146.0	2897	3809	2395	2303	292.7	13.0	435	8244	0.17	2.47	0.00	0.000	5126	0.275	0.075	2865	2391	2348	2395	2302	0	0	0	0	0	0	14.42	14.59	28.83
8572	1.51	161.2	2865	2391	2395	2302	260.0	9.3	451	8602	0.00	2.55	18.25	1.219	8708	0.000	0.106	2875	988	2295	2336	2255	0	0	0	0	1	0	28.83	14.52	14.04
8661	1.55	173.2	2874	989	2341	2260	251.9	9.4	468	8694	0.00	2.58	18.05	1.191	9222	0.000	0.117	2874	2400	2247	2286	2208	0	0	0	0	1	0	28.83	14.47	13.97
8995	1.61	193.8	2874	2400	2286	2209	220.4	9.1	490	9034	0.10	0.00	26.62	1.392	10246	0.170	0.000	2918	2400	2162	2200	2124	0	0	0	0	1	0	14.54	28.83	13.64
9335	1.61	193.8	2917	2400	2200	2124	181.6	11.7	507	9340	0.00	2.53	0.00	0.000	516	0.000	0.106	2926	984	2162	2200	2124	0	0	0	0	0	0	28.83	14.43	28.83
9409	1.61	193.8	2927	983	2200	2124	173.4	11.4	521	9415	0.12	2.58	0.00	0.000	5126	0.287	0.116	2900	2400	2162	2200	2124	0	0	0	0	0	0	14.33	14.44	28.83
9723	1.66	215.3	2900	2400	2200	2123	142.6	9.0	538	9762	0.00	2.58	25.48	1.331	8708	0.000	0.106	2909	997	2075	2114	2036	0	0	0	0	1	0	28.83	14.39	13.69
9817	1.71	217.8	2909	997	2116	2038	133.7	9.9	556	9828	0.00	2.58	2.65	0.797	9222	0.000	0.116	2909	2402	2065	2104	2026	0	0	0	0	0	0	28.83	14.38	13.59
10126	1.77	236.5	2908	2403	2103	2030	103.5	9.1	573	10170	0.10	2.55	31.35	1.086	10756	0.169	0.103	2956	988	1976	2018	1934	0	0	0	0	1	0	14.52	14.33	13.62
10212	1.77	236.5	2956	992	2020	1928	93.8	12.2	590	10217	0.00	2.60	0.00	0.000	1030	0.000	0.115	2956	2405	1974	2020	1928	0	0	0	0	0	0	28.83	14.35	28.83
10530	1.77	236.5	2956	2405	2020	1923	55.5	12.7	608	10536	0.10	2.53	0.00	0.000	4612	0.304	0.103	2945	993	1971	2020	1923	0	0	0	0	0	0	14.35	14.44	28.83
10554	1.77	236.5	2945	993	2020	1923	52.9	10.9	612	10559	0.00	2.55	0.00	0.000	1030	0.000	0.115	2945	2400	1971	2019	1923	0	0	0	0	0	0	28.83	14.44	28.83
10867	1.81	267.1	2945	2400	2020	1920	18.8	8.6	633	10887	0.00	0.00	17.50	0.206	8198	0.000	0.000	2945	2400	1860	1909	1811	0	0	0	0	0	0	28.83	28.83	14.40
10976	end climb: FINISH_DEPTH_REACHED
state	10977	begin subsurface finish
10984	0.10	81.6	2945	2400	1908	1816	7.8	11.0	644	11018	1.30	0.00	-30.67	0.000	20998	0.241	0.000	2578	2400	2618	2632	2605	0	0	0	0	0	0	14.35	28.83	14.76
11019	end subsurface finish: CONTROL_FINISHED_OK
state	11020	begin surface