Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 395 * 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 395 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 34 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 63 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 110 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 900 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 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 330 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1.5 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -7 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 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 0.059999999 PITCH_MIN 225 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 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 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 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 10 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 4320

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 420

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.25 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 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 395 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 34 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 63 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 5 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 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 120718,142800,-7404.0581,-11203.3018,30,1.2,30,53.0,0.3,0.0,7,6.3 SPEED_LIMITS 0.100,0.239

_CALLS 2 TGT_NAME E0

_XMS_NAKs 0 TGT_LATLONG -7409.500,-11159.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.91 MHEAD_RNG_PITCHd_Wd 116.5,10394,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -62.6 D_GRID 990

GPS2 120718,145008,-7403.9819,-11202.7520,2,1.8,4,53.0,0.2,0.0,6,5.9

Post-dive calculations and measurements:

FREEZE 9.85,-1.863,-1.873,2,1,0 ALTIM_TOP_PING 14.8,14.7

FINISH1 9.9,1.027373,6 _24V_AH 11.85,145.979

FINISH2 8.9 _10V_AH 12.00,0.000

RAFOS_CLK 356 FG_AHR_24Vo 0.000

RAFOS 0,1531407661,15.032778,15.016945,94,75,63,60,58,56,572,157,842,218,200,190 FG_AHR_10Vo 0.000

RAFOS_FIX -7406.348633,-11205.990234,120718,151548,2,104,4.20 MEM 280684

IRIDIUM_FIX -7408.59,-11202.69,120718,143355 DATA_FILE_SIZE 13455,410

TT8_MAMPS 0.039697,0.249417 CAP_FILE_SIZE 88696,0

HUMID 50.15 CFSIZE 1024409600,972406784

INTERNAL_PRESSURE 8.21906 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.30 SOUNDSPEED 1449.1

XPDR_PINGS 3 GPS 120718,145008,-7403.982,-11202.752,2,1.8,4,53.0,0.2,0.0,6,5.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 390 68.44 nil 0 0 0.00

Roll_motor 87 153 158.78 nil 0 0 0.00

VBD_pump_during_apogee 383 3000 13621.59 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 9672 2 314.61

Iridium_during_xfer 868 221 2282.69 nil 0 0 0.00

Transponder_ping 25 420 128.16 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 10 0.98

TT8 0 0 0.00

LPSleep 8088 2 224.20

TT8_Active 625 13 103.77

TT8_Sampling 1798 34 750.75

TT8_CF8 396 52 250.88

TT8_Kalman 0 0 0.00

Analog_circuits 1888 10 247.04

GPS_charging 0 0 0.00

Compass 593 7 53.33

RAFOS 480 1 8.64

Transponder 181 30 65.25

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

13.3 14.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

24.2 25.60 9000.00 0.0 0.00 0.00 25.60 0.0 1.04 1.00

611.4 27.30 9000.00 0.0 0.01 0.38 27.30 0.0 0.00 1.00

622.0 13.90 9000.00 0.0 -0.01 0.17 13.90 635.9 -1.26 1.00

618.9 12.80 9000.00 0.0 -1.38 0.88 12.80 606.1 0.35 1.00

608.7 12.20 9000.00 0.0 0.11 0.77 12.20 596.5 0.06 1.00

598.5 16.90 9000.00 0.0 -0.20 0.65 16.90 0.0 -0.46 1.00

587.3 22.50 9000.00 0.0 -0.48 1.00 22.50 0.0 -0.50 1.00

570.3 26.50 9000.00 0.0 -0.33 0.95 26.50 0.0 -0.24 1.00

553.5 33.60 9000.00 0.0 -0.33 0.97 33.60 0.0 -0.42 1.00

52.4 54.40 9000.00 0.0 -0.05 0.95 54.40 0.0 -0.04 1.00

40.1 41.10 9000.00 0.0 -0.03 0.58 41.10 -1.0 1.08 1.00

27.2 27.70 27.60 -0.4 1.06 1.00 27.70 -0.5 1.04 1.00

14.8 14.70 14.70 0.1 1.04 1.00 14.70 0.1 1.05 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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

10 -1.06 -107.1 213 2333 994 769 0.0 0.0 0 142 0.00 0.00 -130.52 0.002 16390 0.000 0.000 213 2333 3219 3220 3219 0 0 0 0 0 0 14.87 12.69 14.90

145 -1.06 -107.1 214 2334 3222 3220 1.7 -0.9 4 157 10.73 0.00 0.00 0.000 2054 0.391 0.000 2455 2331 3219 3223 3216 0 0 0 0 0 0 14.08 14.60 14.49

489 -1.06 -107.1 2454 2332 3235 3205 71.8 -19.2 17 495 0.00 2.62 0.00 0.000 516 0.000 0.081 2455 895 3220 3236 3205 0 0 0 0 0 0 15.04 14.45 15.06

529 -1.06 -107.1 2456 895 3237 3205 80.1 -19.8 23 536 0.00 2.50 0.00 0.000 1030 0.000 0.070 2446 2264 3220 3236 3204 0 0 0 0 0 0 14.67 14.52 14.72

879 -1.06 -107.1 2446 2264 3236 3205 150.6 -20.7 37 887 0.00 2.50 0.00 0.000 516 0.000 0.079 2446 900 3220 3236 3204 0 0 0 0 0 0 15.09 14.38 15.11

921 -1.06 -107.1 2447 900 3238 3203 159.4 -21.0 43 928 0.00 2.58 0.00 0.000 1030 0.000 0.070 2435 2318 3219 3236 3203 0 0 0 0 0 0 14.57 14.49 14.63

1274 -1.06 -107.1 2434 2318 3236 3204 228.9 -19.4 54 1275 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2318 3219 3236 3203 0 0 0 0 0 0 15.02 15.04 15.04

1622 -1.06 -107.1 2436 2318 3238 3206 293.5 -18.4 59 1628 0.00 2.65 0.00 0.000 260 0.000 0.108 2424 3722 3222 3236 3209 0 0 0 0 0 0 15.02 14.27 15.04

1663 -1.06 -107.1 2426 3723 3238 3203 301.5 -19.2 65 1671 0.12 2.53 0.00 0.000 3078 0.263 0.044 2456 2281 3219 3236 3203 0 0 0 0 0 0 14.11 14.64 14.30

2043 -1.06 -107.1 2458 2282 3238 3203 365.3 -16.7 74 2044 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2281 3219 3236 3202 0 0 0 0 0 0 15.02 15.04 15.04

2392 -1.06 -107.1 2457 2283 3239 3203 425.1 -17.5 79 2393 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2282 3219 3237 3202 0 0 0 0 0 0 15.02 15.05 15.04

2742 -1.06 -107.1 2454 2282 3238 3203 483.0 -16.3 84 2748 0.00 2.72 0.00 0.000 260 0.000 0.106 2447 3711 3219 3237 3202 0 0 0 0 0 0 15.02 14.23 15.04

2818 -1.06 -107.1 2448 3711 3239 3202 496.4 -17.8 95 2825 0.00 2.47 0.00 0.000 1030 0.000 0.044 2447 2296 3218 3234 3202 0 0 0 0 0 0 14.76 14.68 14.81

3233 -1.06 -107.1 2448 2296 3240 3202 565.9 -16.7 109 3239 0.00 2.53 0.00 0.000 516 0.000 0.080 2447 906 3220 3238 3202 0 0 0 0 0 0 15.02 14.39 15.04

3280 -1.06 -107.1 2446 905 3238 3202 574.3 -17.0 116 3287 0.00 2.58 0.00 0.000 1030 0.000 0.070 2436 2316 3220 3238 3202 0 0 0 0 0 0 14.53 14.46 14.59

3654 -1.06 -107.1 2437 2315 3240 3202 632.1 -15.1 124 3659 0.00 2.62 0.00 0.000 260 0.000 0.106 2425 3726 3218 3236 3201 0 0 0 0 0 0 15.02 14.38 15.04

3679 -1.06 -107.1 2428 3727 3240 3202 632.0 0.1 128 3686 0.12 2.50 0.00 0.000 3110 0.211 0.044 2459 2283 3219 3238 3201 0 0 0 0 0 0 14.15 14.58 14.31

3859 end dive: NO_VERTICAL_VELOCITY

state 3859 begin apogee

3864 -0.23 0.0 2461 2069 3241 3202 632.2 0.0 136 3988 0.85 0.10 120.90 3.000 10246 0.119 0.153 2727 2129 2782 2818 2747 0 0 0 0 0 0 14.40 13.64 12.31

3989 end apogee: CONTROL_FINISHED_OK

state 3989 begin climb

3992 1.06 107.1 2728 2130 2820 2747 632.2 0.0 137 4135 1.35 0.00 134.73 2.893 10502 0.117 0.000 3136 2129 2343 2386 2301 0 0 0 0 0 0 13.66 12.86 11.85

4497 1.15 182.0 3137 2130 2371 2298 611.4 5.3 172 4588 0.00 2.75 84.95 2.860 8484 0.000 0.101 3136 3500 2038 2094 1983 0 0 0 0 0 0 14.68 13.58 12.32

4657 1.19 218.0 3137 3501 2091 1978 599.7 7.8 195 4708 0.12 2.53 42.55 2.782 11302 0.083 0.044 3191 2137 1891 1956 1826 0 0 0 0 0 0 13.88 13.87 12.19

5057 1.19 218.0 3189 2138 1948 1813 553.5 12.1 207 5058 0.00 0.00 0.00 0.000 6 0.000 0.000 3191 2138 1880 1948 1813 0 0 0 0 0 0 14.69 14.71 14.71

5407 1.19 218.0 3190 2138 1945 1811 507.0 13.5 212 5415 0.00 2.55 0.00 0.000 260 0.000 0.099 3191 3499 1878 1945 1811 0 0 0 0 0 0 15.02 14.53 15.04

5441 1.19 218.0 3190 3499 1945 1811 501.7 15.2 217 5449 0.00 2.47 0.00 0.000 1030 0.000 0.047 3195 2095 1877 1944 1811 0 0 0 0 0 0 14.78 14.68 14.83

5827 1.19 218.0 3196 2095 1942 1811 449.2 13.5 227 5828 0.00 0.00 0.00 0.000 6 0.000 0.000 3196 2095 1876 1943 1810 0 0 0 0 0 0 15.03 15.06 15.06

6178 1.19 218.0 3196 2095 1941 1810 400.3 14.1 232 6183 0.00 2.62 0.00 0.000 260 0.000 0.098 3197 3502 1875 1941 1810 0 0 0 0 0 0 15.04 14.57 15.07

6204 1.19 218.0 3198 3502 1943 1811 396.2 14.6 236 6211 0.00 2.47 0.00 0.000 1030 0.000 0.049 3206 2086 1875 1941 1810 0 0 0 0 0 0 14.76 14.71 14.81

6596 1.19 218.0 3205 2087 1941 1810 345.5 12.4 247 6603 0.00 2.62 0.00 0.000 260 0.000 0.098 3206 3497 1875 1940 1810 0 0 0 0 0 0 15.14 14.57 15.17

6681 1.19 218.0 3206 3496 1939 1810 334.5 13.4 259 6688 0.10 2.45 0.00 0.000 5126 0.246 0.047 3185 2085 1875 1940 1810 0 0 0 0 0 0 14.39 14.71 14.55

7089 1.19 218.0 3188 2086 1939 1810 288.9 11.2 272 7094 0.00 2.55 0.00 0.000 516 0.000 0.099 3191 697 1874 1939 1809 0 0 0 0 0 0 15.08 14.57 15.11

7142 1.19 218.0 3192 699 1939 1810 282.4 11.7 280 7150 0.00 2.50 0.00 0.000 1030 0.000 0.061 3191 2102 1873 1938 1809 0 0 0 0 0 0 14.81 14.69 14.85

7507 1.19 218.0 3191 2102 1938 1809 238.7 12.2 287 7514 0.00 2.62 0.00 0.000 260 0.000 0.099 3191 3514 1873 1938 1809 0 0 0 0 0 0 15.07 14.55 15.10

7591 1.19 218.0 3192 3515 1939 1810 228.3 12.2 299 7598 0.00 2.47 0.00 0.000 1030 0.000 0.048 3191 2095 1873 1938 1809 0 0 0 0 0 0 14.72 14.65 14.76

7956 1.19 218.0 3192 2096 1946 1809 190.0 10.6 312 7961 0.00 2.62 0.00 0.000 516 0.000 0.099 3191 689 1873 1938 1808 0 0 0 0 0 0 15.07 14.49 15.10

7982 1.19 218.0 3192 690 1939 1809 186.9 10.8 316 7990 0.00 2.50 0.00 0.000 1030 0.000 0.061 3191 2104 1872 1937 1808 0 0 0 0 0 0 14.71 14.64 14.77

8346 1.19 218.0 3193 2110 1940 1809 145.8 11.5 332 8353 0.00 2.62 0.00 0.000 260 0.000 0.102 3191 3518 1872 1937 1808 0 0 0 0 0 0 15.17 14.50 15.20

8395 1.19 218.0 3192 3515 1946 1809 139.7 12.6 339 8404 0.00 2.50 0.00 0.000 1030 0.000 0.048 3191 2080 1872 1936 1808 0 0 0 0 0 0 14.72 14.66 14.76

8739 1.19 218.0 3191 2081 1937 1808 103.1 10.4 352 8745 0.00 2.67 0.00 0.000 260 0.000 0.099 3191 3510 1872 1937 1808 0 0 0 0 0 0 15.16 14.48 15.18

8822 1.19 218.0 3190 3510 1936 1808 93.6 11.6 364 8830 0.00 2.50 0.00 0.000 1030 0.000 0.048 3191 2077 1872 1936 1808 0 0 0 0 0 0 14.71 14.66 14.76

9187 1.19 218.0 3191 2078 1936 1808 57.6 9.6 380 9193 0.00 2.67 0.00 0.000 260 0.000 0.096 3191 3506 1871 1936 1807 0 0 0 0 0 0 15.16 14.50 15.19

9242 1.19 218.0 3191 3506 1936 1808 51.6 11.0 388 9249 0.00 2.50 0.00 0.000 1030 0.000 0.048 3191 2078 1871 1936 1807 0 0 0 0 0 0 14.70 14.64 14.74

9608 1.19 218.0 3191 2079 1936 1808 11.5 11.2 404 9613 0.00 2.65 0.00 0.000 260 0.000 0.100 3191 3513 1872 1937 1807 0 0 0 0 0 0 15.15 14.50 15.18

9619 end climb: FINISH_DEPTH_REACHED

state 9619 begin subsurface finish

9626 0.01 6.5 3191 2095 1936 1808 9.9 11.5 406 9654 1.38 0.00 -24.77 0.006 20742 0.204 0.000 2802 2095 2758 2788 2728 0 0 0 0 0 0 14.26 12.74 14.43

9655 end subsurface finish: CONTROL_FINISHED_OK

state 9655 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	395	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	34	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	63	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	110	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	900	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	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	330	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1.5	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-7	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	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	0.059999999	PITCH_MIN	225	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	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	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	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	120718,142800,-7404.0581,-11203.3018,30,1.2,30,53.0,0.3,0.0,7,6.3	SPEED_LIMITS	0.100,0.239
_CALLS	2	TGT_NAME	E0
_XMS_NAKs	0	TGT_LATLONG	-7409.500,-11159.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.91	MHEAD_RNG_PITCHd_Wd	116.5,10394,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-62.6	D_GRID	990
GPS2	120718,145008,-7403.9819,-11202.7520,2,1.8,4,53.0,0.2,0.0,6,5.9

FREEZE	9.85,-1.863,-1.873,2,1,0	ALTIM_TOP_PING	14.8,14.7
FINISH1	9.9,1.027373,6	_24V_AH	11.85,145.979
FINISH2	8.9	_10V_AH	12.00,0.000
RAFOS_CLK	356	FG_AHR_24Vo	0.000
RAFOS	0,1531407661,15.032778,15.016945,94,75,63,60,58,56,572,157,842,218,200,190	FG_AHR_10Vo	0.000
RAFOS_FIX	-7406.348633,-11205.990234,120718,151548,2,104,4.20	MEM	280684
IRIDIUM_FIX	-7408.59,-11202.69,120718,143355	DATA_FILE_SIZE	13455,410
TT8_MAMPS	0.039697,0.249417	CAP_FILE_SIZE	88696,0
HUMID	50.15	CFSIZE	1024409600,972406784
INTERNAL_PRESSURE	8.21906	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.30	SOUNDSPEED	1449.1
XPDR_PINGS	3	GPS	120718,145008,-7403.982,-11202.752,2,1.8,4,53.0,0.2,0.0,6,5.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	390	68.44	nil	0	0	0.00
Roll_motor	87	153	158.78	nil	0	0	0.00
VBD_pump_during_apogee	383	3000	13621.59	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	9672	2	314.61
Iridium_during_xfer	868	221	2282.69	nil	0	0	0.00
Transponder_ping	25	420	128.16	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	10	0.98
TT8	0	0	0.00
LPSleep	8088	2	224.20
TT8_Active	625	13	103.77
TT8_Sampling	1798	34	750.75
TT8_CF8	396	52	250.88
TT8_Kalman	0	0	0.00
Analog_circuits	1888	10	247.04
GPS_charging	0	0	0.00
Compass	593	7	53.33
RAFOS	480	1	8.64
Transponder	181	30	65.25

		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
13.3	14.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
24.2	25.60	9000.00	0.0	0.00	0.00	25.60	0.0	1.04	1.00
611.4	27.30	9000.00	0.0	0.01	0.38	27.30	0.0	0.00	1.00
622.0	13.90	9000.00	0.0	-0.01	0.17	13.90	635.9	-1.26	1.00

618.9	12.80	9000.00	0.0	-1.38	0.88	12.80	606.1	0.35	1.00
608.7	12.20	9000.00	0.0	0.11	0.77	12.20	596.5	0.06	1.00
598.5	16.90	9000.00	0.0	-0.20	0.65	16.90	0.0	-0.46	1.00
587.3	22.50	9000.00	0.0	-0.48	1.00	22.50	0.0	-0.50	1.00
570.3	26.50	9000.00	0.0	-0.33	0.95	26.50	0.0	-0.24	1.00
553.5	33.60	9000.00	0.0	-0.33	0.97	33.60	0.0	-0.42	1.00
52.4	54.40	9000.00	0.0	-0.05	0.95	54.40	0.0	-0.04	1.00
40.1	41.10	9000.00	0.0	-0.03	0.58	41.10	-1.0	1.08	1.00
27.2	27.70	27.60	-0.4	1.06	1.00	27.70	-0.5	1.04	1.00
14.8	14.70	14.70	0.1	1.04	1.00	14.70	0.1	1.05	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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
10	-1.06	-107.1	213	2333	994	769	0.0	0.0	0	142	0.00	0.00	-130.52	0.002	16390	0.000	0.000	213	2333	3219	3220	3219	0	0	0	0	0	0	14.87	12.69	14.90
145	-1.06	-107.1	214	2334	3222	3220	1.7	-0.9	4	157	10.73	0.00	0.00	0.000	2054	0.391	0.000	2455	2331	3219	3223	3216	0	0	0	0	0	0	14.08	14.60	14.49
489	-1.06	-107.1	2454	2332	3235	3205	71.8	-19.2	17	495	0.00	2.62	0.00	0.000	516	0.000	0.081	2455	895	3220	3236	3205	0	0	0	0	0	0	15.04	14.45	15.06
529	-1.06	-107.1	2456	895	3237	3205	80.1	-19.8	23	536	0.00	2.50	0.00	0.000	1030	0.000	0.070	2446	2264	3220	3236	3204	0	0	0	0	0	0	14.67	14.52	14.72
879	-1.06	-107.1	2446	2264	3236	3205	150.6	-20.7	37	887	0.00	2.50	0.00	0.000	516	0.000	0.079	2446	900	3220	3236	3204	0	0	0	0	0	0	15.09	14.38	15.11
921	-1.06	-107.1	2447	900	3238	3203	159.4	-21.0	43	928	0.00	2.58	0.00	0.000	1030	0.000	0.070	2435	2318	3219	3236	3203	0	0	0	0	0	0	14.57	14.49	14.63
1274	-1.06	-107.1	2434	2318	3236	3204	228.9	-19.4	54	1275	0.00	0.00	0.00	0.000	6	0.000	0.000	2436	2318	3219	3236	3203	0	0	0	0	0	0	15.02	15.04	15.04
1622	-1.06	-107.1	2436	2318	3238	3206	293.5	-18.4	59	1628	0.00	2.65	0.00	0.000	260	0.000	0.108	2424	3722	3222	3236	3209	0	0	0	0	0	0	15.02	14.27	15.04
1663	-1.06	-107.1	2426	3723	3238	3203	301.5	-19.2	65	1671	0.12	2.53	0.00	0.000	3078	0.263	0.044	2456	2281	3219	3236	3203	0	0	0	0	0	0	14.11	14.64	14.30
2043	-1.06	-107.1	2458	2282	3238	3203	365.3	-16.7	74	2044	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2281	3219	3236	3202	0	0	0	0	0	0	15.02	15.04	15.04
2392	-1.06	-107.1	2457	2283	3239	3203	425.1	-17.5	79	2393	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2282	3219	3237	3202	0	0	0	0	0	0	15.02	15.05	15.04
2742	-1.06	-107.1	2454	2282	3238	3203	483.0	-16.3	84	2748	0.00	2.72	0.00	0.000	260	0.000	0.106	2447	3711	3219	3237	3202	0	0	0	0	0	0	15.02	14.23	15.04
2818	-1.06	-107.1	2448	3711	3239	3202	496.4	-17.8	95	2825	0.00	2.47	0.00	0.000	1030	0.000	0.044	2447	2296	3218	3234	3202	0	0	0	0	0	0	14.76	14.68	14.81
3233	-1.06	-107.1	2448	2296	3240	3202	565.9	-16.7	109	3239	0.00	2.53	0.00	0.000	516	0.000	0.080	2447	906	3220	3238	3202	0	0	0	0	0	0	15.02	14.39	15.04
3280	-1.06	-107.1	2446	905	3238	3202	574.3	-17.0	116	3287	0.00	2.58	0.00	0.000	1030	0.000	0.070	2436	2316	3220	3238	3202	0	0	0	0	0	0	14.53	14.46	14.59
3654	-1.06	-107.1	2437	2315	3240	3202	632.1	-15.1	124	3659	0.00	2.62	0.00	0.000	260	0.000	0.106	2425	3726	3218	3236	3201	0	0	0	0	0	0	15.02	14.38	15.04
3679	-1.06	-107.1	2428	3727	3240	3202	632.0	0.1	128	3686	0.12	2.50	0.00	0.000	3110	0.211	0.044	2459	2283	3219	3238	3201	0	0	0	0	0	0	14.15	14.58	14.31
3859	end dive: NO_VERTICAL_VELOCITY
state	3859	begin apogee
3864	-0.23	0.0	2461	2069	3241	3202	632.2	0.0	136	3988	0.85	0.10	120.90	3.000	10246	0.119	0.153	2727	2129	2782	2818	2747	0	0	0	0	0	0	14.40	13.64	12.31
3989	end apogee: CONTROL_FINISHED_OK
state	3989	begin climb
3992	1.06	107.1	2728	2130	2820	2747	632.2	0.0	137	4135	1.35	0.00	134.73	2.893	10502	0.117	0.000	3136	2129	2343	2386	2301	0	0	0	0	0	0	13.66	12.86	11.85
4497	1.15	182.0	3137	2130	2371	2298	611.4	5.3	172	4588	0.00	2.75	84.95	2.860	8484	0.000	0.101	3136	3500	2038	2094	1983	0	0	0	0	0	0	14.68	13.58	12.32
4657	1.19	218.0	3137	3501	2091	1978	599.7	7.8	195	4708	0.12	2.53	42.55	2.782	11302	0.083	0.044	3191	2137	1891	1956	1826	0	0	0	0	0	0	13.88	13.87	12.19
5057	1.19	218.0	3189	2138	1948	1813	553.5	12.1	207	5058	0.00	0.00	0.00	0.000	6	0.000	0.000	3191	2138	1880	1948	1813	0	0	0	0	0	0	14.69	14.71	14.71
5407	1.19	218.0	3190	2138	1945	1811	507.0	13.5	212	5415	0.00	2.55	0.00	0.000	260	0.000	0.099	3191	3499	1878	1945	1811	0	0	0	0	0	0	15.02	14.53	15.04
5441	1.19	218.0	3190	3499	1945	1811	501.7	15.2	217	5449	0.00	2.47	0.00	0.000	1030	0.000	0.047	3195	2095	1877	1944	1811	0	0	0	0	0	0	14.78	14.68	14.83
5827	1.19	218.0	3196	2095	1942	1811	449.2	13.5	227	5828	0.00	0.00	0.00	0.000	6	0.000	0.000	3196	2095	1876	1943	1810	0	0	0	0	0	0	15.03	15.06	15.06
6178	1.19	218.0	3196	2095	1941	1810	400.3	14.1	232	6183	0.00	2.62	0.00	0.000	260	0.000	0.098	3197	3502	1875	1941	1810	0	0	0	0	0	0	15.04	14.57	15.07
6204	1.19	218.0	3198	3502	1943	1811	396.2	14.6	236	6211	0.00	2.47	0.00	0.000	1030	0.000	0.049	3206	2086	1875	1941	1810	0	0	0	0	0	0	14.76	14.71	14.81
6596	1.19	218.0	3205	2087	1941	1810	345.5	12.4	247	6603	0.00	2.62	0.00	0.000	260	0.000	0.098	3206	3497	1875	1940	1810	0	0	0	0	0	0	15.14	14.57	15.17
6681	1.19	218.0	3206	3496	1939	1810	334.5	13.4	259	6688	0.10	2.45	0.00	0.000	5126	0.246	0.047	3185	2085	1875	1940	1810	0	0	0	0	0	0	14.39	14.71	14.55
7089	1.19	218.0	3188	2086	1939	1810	288.9	11.2	272	7094	0.00	2.55	0.00	0.000	516	0.000	0.099	3191	697	1874	1939	1809	0	0	0	0	0	0	15.08	14.57	15.11
7142	1.19	218.0	3192	699	1939	1810	282.4	11.7	280	7150	0.00	2.50	0.00	0.000	1030	0.000	0.061	3191	2102	1873	1938	1809	0	0	0	0	0	0	14.81	14.69	14.85
7507	1.19	218.0	3191	2102	1938	1809	238.7	12.2	287	7514	0.00	2.62	0.00	0.000	260	0.000	0.099	3191	3514	1873	1938	1809	0	0	0	0	0	0	15.07	14.55	15.10
7591	1.19	218.0	3192	3515	1939	1810	228.3	12.2	299	7598	0.00	2.47	0.00	0.000	1030	0.000	0.048	3191	2095	1873	1938	1809	0	0	0	0	0	0	14.72	14.65	14.76
7956	1.19	218.0	3192	2096	1946	1809	190.0	10.6	312	7961	0.00	2.62	0.00	0.000	516	0.000	0.099	3191	689	1873	1938	1808	0	0	0	0	0	0	15.07	14.49	15.10
7982	1.19	218.0	3192	690	1939	1809	186.9	10.8	316	7990	0.00	2.50	0.00	0.000	1030	0.000	0.061	3191	2104	1872	1937	1808	0	0	0	0	0	0	14.71	14.64	14.77
8346	1.19	218.0	3193	2110	1940	1809	145.8	11.5	332	8353	0.00	2.62	0.00	0.000	260	0.000	0.102	3191	3518	1872	1937	1808	0	0	0	0	0	0	15.17	14.50	15.20
8395	1.19	218.0	3192	3515	1946	1809	139.7	12.6	339	8404	0.00	2.50	0.00	0.000	1030	0.000	0.048	3191	2080	1872	1936	1808	0	0	0	0	0	0	14.72	14.66	14.76
8739	1.19	218.0	3191	2081	1937	1808	103.1	10.4	352	8745	0.00	2.67	0.00	0.000	260	0.000	0.099	3191	3510	1872	1937	1808	0	0	0	0	0	0	15.16	14.48	15.18
8822	1.19	218.0	3190	3510	1936	1808	93.6	11.6	364	8830	0.00	2.50	0.00	0.000	1030	0.000	0.048	3191	2077	1872	1936	1808	0	0	0	0	0	0	14.71	14.66	14.76
9187	1.19	218.0	3191	2078	1936	1808	57.6	9.6	380	9193	0.00	2.67	0.00	0.000	260	0.000	0.096	3191	3506	1871	1936	1807	0	0	0	0	0	0	15.16	14.50	15.19
9242	1.19	218.0	3191	3506	1936	1808	51.6	11.0	388	9249	0.00	2.50	0.00	0.000	1030	0.000	0.048	3191	2078	1871	1936	1807	0	0	0	0	0	0	14.70	14.64	14.74
9608	1.19	218.0	3191	2079	1936	1808	11.5	11.2	404	9613	0.00	2.65	0.00	0.000	260	0.000	0.100	3191	3513	1872	1937	1807	0	0	0	0	0	0	15.15	14.50	15.18
9619	end climb: FINISH_DEPTH_REACHED
state	9619	begin subsurface finish
9626	0.01	6.5	3191	2095	1936	1808	9.9	11.5	406	9654	1.38	0.00	-24.77	0.006	20742	0.204	0.000	2802	2095	2758	2788	2728	0	0	0	0	0	0	14.26	12.74	14.43
9655	end subsurface finish: CONTROL_FINISHED_OK
state	9655	begin surface