Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 407 * 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 407 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 26 ALTIM_FREQUENCY 13

D_TGT 990 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 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 407 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 26 VBD_PUMP_AD_RATE_APOGEE 1.5

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 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 140718,091440,-7407.4214,-11256.2666,0,4154.0,0,53.6,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.239

_CALLS 3 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7407.000,-11308.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 13.31 MHEAD_RNG_PITCHd_Wd 223.9,5998,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -7.3 D_GRID 990

GPS2 140718,091440,-7407.4214,-11256.2666,0,4154.0,0,53.6,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 8.56,-1.829,-1.870,2,4,0 ALTIM_BOTTOM_PING 703.2,16.6

FINISH1 8.6,1.027350,8 _24V_AH 11.78,150.384

FINISH2 8.9 _10V_AH 11.95,0.000

RAFOS_CLK 381 FG_AHR_24Vo 0.000

RAFOS 0,1531569694,12.032778,12.026111,120,58,58,57,54,52,463,201,167,145,214,181 FG_AHR_10Vo 0.000

RAFOS_FIX -7407.101074,-11301.980469,140718,121200,3,111,0.27 MEM 280760

IRIDIUM_FIX -7409.27,-11237.80,130718,233415 DATA_FILE_SIZE 13467,410

TT8_MAMPS 0.039697,0.273385 CAP_FILE_SIZE 85502,0

HUMID 50.31 CFSIZE 1024409600,971161600

INTERNAL_PRESSURE 8.22882 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.30 SOUNDSPEED 1450.0

XPDR_PINGS 0 GPS 140718,121600,-7407.101,-11301.980,0,4110.7,0,53.6,0.0,0.0,0,0.0

ALTIM_TOP_PING 8.6,8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 274 19.49 nil 0 0 0.00

Roll_motor 97 153 176.27 nil 0 0 0.00

VBD_pump_during_apogee 632 3040 22671.43 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 10118 2 321.69

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 31 420 153.38 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8313 2 229.48

TT8_Active 764 13 126.23

TT8_Sampling 974 34 405.26

TT8_CF8 144 52 91.12

TT8_Kalman 0 0 0.00

Analog_circuits 1171 10 152.60

GPS_charging 0 0 0.00

Compass 592 7 53.06

RAFOS 720 1 12.91

Transponder 229 30 82.16

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

14.8 15.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

36.0 38.40 9000.00 0.0 0.00 0.00 38.40 0.0 1.07 1.00

680.6 44.90 9000.00 0.0 0.03 0.48 44.90 0.0 0.01 1.00

692.0 29.60 9000.00 0.0 0.00 0.01 29.60 721.6 -1.34 1.00

703.2 17.00 16.60 719.8 -1.23 1.00 17.00 720.2 -1.13 1.00

706.1 14.70 14.40 0.0 -1.08 1.00 14.70 0.0 -0.79 1.00

694.2 25.20 25.20 0.0 -0.89 1.00 25.20 0.0 -0.88 1.00

684.0 37.90 37.20 0.0 -1.05 0.99 37.90 0.0 -1.25 1.00

174.6 181.30 9000.00 0.0 -0.29 1.00 181.30 0.0 -0.28 1.00

76.0 78.90 9000.00 0.0 -0.14 0.37 78.90 -2.9 1.04 1.00

42.2 44.90 44.50 -2.3 1.03 1.00 44.90 -2.7 1.01 1.00

31.0 31.40 32.20 -1.2 1.04 1.00 31.40 -0.4 1.21 1.00

19.0 19.10 18.80 0.2 1.12 1.00 19.10 -0.1 1.02 1.00

8.6 9.00 8.90 -0.3 1.00 1.00 9.00 -0.4 0.97 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

11 -1.06 -107.1 2796 2302 2787 2718 0.0 0.0 0 22 0.00 0.00 -9.52 0.011 16390 0.000 0.000 2794 2301 3221 3248 3195 0 0 0 0 0 0 15.09 12.59 15.07

24 -1.06 -107.1 2794 2302 3249 3196 0.0 0.0 0 31 0.98 2.55 0.00 0.000 4356 0.067 0.101 2439 3712 3222 3248 3196 0 0 0 0 0 0 14.69 14.51 14.73

224 -1.06 -107.1 2436 3712 3245 3196 49.4 -18.8 29 232 0.00 2.50 0.00 0.000 1030 0.000 0.041 2439 2274 3220 3246 3195 0 0 0 0 0 0 14.83 14.73 14.86

581 -1.06 -107.1 2438 2274 3245 3196 118.4 -19.3 44 589 0.00 2.50 0.00 0.000 516 0.000 0.073 2439 899 3220 3246 3195 0 0 0 0 0 0 15.16 14.50 15.19

610 -1.06 -107.1 2438 899 3246 3196 123.8 -19.5 48 617 0.10 2.55 0.00 0.000 3078 0.269 0.068 2450 2302 3220 3246 3195 0 0 0 0 0 0 14.21 14.54 14.40

974 -1.06 -107.1 2453 2303 3246 3195 189.7 -18.2 64 975 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2302 3220 3246 3194 0 0 0 0 0 0 15.07 15.09 15.09

1310 -1.06 -107.1 2454 2303 3249 3194 250.6 -18.0 70 1317 0.00 2.62 0.00 0.000 260 0.000 0.100 2444 3712 3220 3246 3194 0 0 0 0 0 0 15.07 14.48 15.09

1358 -1.06 -107.1 2444 3714 3247 3194 259.8 -19.1 77 1368 0.00 2.47 0.00 0.000 1030 0.000 0.041 2444 2295 3220 3246 3194 0 0 0 0 0 0 14.85 14.76 14.88

1731 -1.06 -107.1 2445 2296 3248 3195 326.4 -17.8 85 1737 0.00 2.53 0.00 0.000 516 0.000 0.075 2444 889 3219 3246 3193 0 0 0 0 0 0 15.07 14.54 15.09

1778 -1.06 -107.1 2445 890 3248 3193 335.5 -18.7 92 1787 0.00 2.58 0.00 0.000 1030 0.000 0.064 2433 2322 3219 3246 3193 0 0 0 0 0 0 14.64 14.57 14.71

2151 -1.06 -107.1 2434 2323 3248 3194 403.3 -18.1 100 2157 0.00 2.60 0.00 0.000 516 0.000 0.074 2433 902 3220 3247 3193 0 0 0 0 0 0 15.07 14.46 15.09

2192 -1.06 -107.1 2434 903 3248 3194 410.9 -18.2 106 2199 0.12 2.53 0.00 0.000 3078 0.269 0.066 2453 2298 3219 3246 3193 0 0 0 0 0 0 14.16 14.57 14.35

2572 -1.06 -107.1 2455 2300 3248 3194 473.4 -16.4 115 2573 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2299 3219 3246 3193 0 0 0 0 0 0 15.07 15.09 15.09

2921 -1.06 -107.1 2453 2299 3246 3193 530.5 -16.2 120 2927 0.00 2.65 0.00 0.000 260 0.000 0.102 2445 3718 3219 3246 3192 0 0 0 0 0 0 15.07 14.45 15.09

2940 -1.06 -107.1 2446 3718 3248 3193 534.0 -16.0 123 2948 0.00 2.47 0.00 0.000 1030 0.000 0.041 2441 2296 3219 3246 3192 0 0 0 0 0 0 14.83 14.75 14.87

3342 -1.06 -107.1 2444 2295 3246 3193 598.9 -16.2 135 3347 0.00 2.50 0.00 0.000 516 0.000 0.075 2445 900 3219 3246 3192 0 0 0 0 0 0 15.07 14.50 15.09

3395 -1.06 -107.1 2444 900 3246 3193 608.1 -16.4 143 3406 0.00 2.55 0.00 0.000 1030 0.000 0.063 2434 2308 3220 3247 3193 0 0 0 0 0 0 14.70 14.59 14.75

3762 -1.06 -107.1 2433 2309 3247 3194 669.1 -16.7 150 3763 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 2308 3219 3245 3193 0 0 0 0 0 0 15.06 15.09 15.08

4040 end dive: BOTTOM_OBSTACLE_DETECTED

state 4040 begin apogee

4046 -0.23 0.0 2439 2064 3248 3194 714.9 -16.3 154 4170 1.10 0.10 121.57 3.041 10246 0.236 0.153 2723 2125 2781 2816 2746 0 0 0 0 0 0 14.18 13.60 12.24

4172 end apogee: CONTROL_FINISHED_OK

state 4172 begin climb

4174 1.06 107.1 2723 2126 2815 2746 716.4 0.0 155 4313 1.45 0.00 136.05 2.952 10246 0.150 0.000 3133 2126 2343 2387 2300 0 0 0 0 0 0 13.59 13.06 11.78

4601 1.23 247.0 3134 2126 2375 2289 713.3 1.3 162 4779 0.20 2.83 169.50 2.933 10532 0.105 0.088 3209 3503 1774 1850 1698 0 0 0 0 0 0 14.26 12.86 11.83

4784 1.31 317.4 3210 3503 1851 1698 705.4 5.6 188 4875 0.00 2.67 85.93 2.846 9254 0.000 0.041 3209 2119 1486 1574 1398 0 0 0 0 0 0 13.33 13.29 11.84

5233 1.37 359.3 3210 2120 1567 1387 673.5 7.4 207 5283 0.00 2.80 45.85 2.857 8740 0.000 0.089 3209 692 1316 1406 1226 0 0 0 0 0 0 14.64 13.94 12.64

5344 1.41 393.1 3208 692 1402 1221 664.8 7.9 223 5388 0.10 2.55 39.40 2.817 11302 0.104 0.046 3257 2099 1178 1272 1084 0 0 0 0 0 0 14.09 14.12 12.45

5786 1.45 393.1 3251 2099 1270 1073 629.0 8.0 241 5793 0.00 2.55 0.00 0.000 324 0.000 0.090 3251 3508 1169 1267 1072 0 0 0 0 0 0 14.87 14.54 14.86

5800 1.49 425.2 3250 3509 1267 1073 627.9 8.0 243 5842 0.00 2.47 34.60 2.836 9254 0.000 0.044 3251 2093 1046 1145 947 0 0 0 0 0 0 14.65 14.59 12.95

6208 1.51 425.2 3252 2094 1143 941 591.2 9.0 256 6213 0.00 2.47 0.00 0.000 580 0.000 0.092 3253 697 1040 1141 940 0 0 0 0 0 0 14.97 14.64 15.00

6226 1.53 425.2 3254 698 1143 941 589.4 8.9 259 6234 0.10 2.45 0.00 0.000 3142 0.087 0.051 3305 2104 1040 1141 939 0 0 0 0 0 0 14.69 14.71 14.74

6628 1.53 425.2 3307 2105 1142 941 531.2 15.4 271 6633 0.00 2.55 0.00 0.000 516 0.000 0.092 3316 700 1039 1139 940 0 0 0 0 0 0 15.07 14.70 15.09

6667 1.53 425.2 3315 700 1138 938 524.6 15.9 277 6675 0.00 2.47 0.00 0.000 1030 0.000 0.055 3316 2107 1039 1139 939 0 0 0 0 0 0 14.90 14.79 14.93

7048 1.53 425.2 3315 2105 1138 940 460.6 17.1 286 7049 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 2107 1036 1133 939 0 0 0 0 0 0 15.10 15.13 15.13

7396 1.53 425.2 3317 2108 1140 940 400.8 17.1 291 7402 0.00 2.60 0.00 0.000 516 0.000 0.092 3326 698 1038 1138 938 0 0 0 0 0 0 15.11 14.68 15.14

7451 1.53 425.2 3327 699 1139 938 391.0 17.5 299 7462 0.12 2.47 0.00 0.000 5126 0.262 0.054 3294 2110 1037 1136 938 0 0 0 0 0 0 14.57 14.82 14.71

7819 1.53 425.2 3293 2111 1136 939 335.6 15.0 306 7824 0.00 2.58 0.00 0.000 516 0.000 0.095 3299 687 1037 1136 938 0 0 0 0 0 0 15.13 14.71 15.15

7852 1.53 425.2 3300 688 1138 939 330.6 14.7 311 7859 0.00 2.50 0.00 0.000 1030 0.000 0.056 3299 2111 1036 1136 937 0 0 0 0 0 0 14.91 14.82 14.95

8239 1.53 425.2 3298 2112 1136 938 272.8 15.0 321 8245 0.00 2.58 0.00 0.000 516 0.000 0.093 3306 694 1036 1136 937 0 0 0 0 0 0 15.13 14.64 15.16

8278 1.53 425.2 3305 695 1135 938 266.6 14.9 327 8286 0.00 2.50 0.00 0.000 1030 0.000 0.058 3306 2113 1036 1135 937 0 0 0 0 0 0 14.92 14.81 14.95

8658 1.53 425.2 3307 2114 1137 938 209.5 15.1 336 8664 0.00 2.58 0.00 0.000 516 0.000 0.093 3315 689 1040 1143 937 0 0 0 0 0 0 15.14 14.68 15.16

8706 1.53 425.2 3316 689 1137 938 201.7 16.1 343 8713 0.00 2.47 0.00 0.000 1030 0.000 0.057 3315 2103 1036 1135 937 0 0 0 0 0 0 14.83 14.77 14.88

9063 1.53 425.2 3316 2104 1137 938 142.7 16.0 358 9070 0.00 2.60 0.00 0.000 516 0.000 0.093 3325 691 1036 1135 937 0 0 0 0 0 0 15.19 14.64 15.21

9083 1.53 425.2 3323 692 1134 937 139.3 15.9 361 9093 0.12 2.50 0.00 0.000 5126 0.275 0.056 3294 2111 1036 1135 937 0 0 0 0 0 0 14.51 14.80 14.67

9428 1.53 425.2 3295 2112 1136 938 89.2 15.9 374 9434 0.00 2.58 0.00 0.000 516 0.000 0.094 3294 698 1036 1135 937 0 0 0 0 0 0 15.17 14.66 15.19

9468 1.53 425.2 3293 699 1134 937 85.0 10.3 380 9476 0.00 2.47 0.00 0.000 1030 0.000 0.055 3294 2107 1035 1134 937 0 0 0 0 0 0 14.92 14.80 14.96

9820 1.53 425.2 3292 2107 1133 937 38.3 12.5 394 9821 0.00 0.00 0.00 0.000 6 0.000 0.000 3294 2107 1035 1134 936 0 0 0 0 0 0 15.17 15.21 15.20

10042 end climb: FINISH_DEPTH_REACHED

state 10042 begin subsurface finish

10047 0.01 7.6 3295 2108 1135 937 8.6 13.0 402 10103 1.62 2.60 -48.03 0.003 20996 0.189 0.103 2802 695 2753 2784 2723 0 0 0 0 0 0 14.53 12.76 14.81

10103 end subsurface finish: CONTROL_FINISHED_OK

state 10103 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	407	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	26	ALTIM_FREQUENCY	13
D_TGT	990	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	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	140718,091440,-7407.4214,-11256.2666,0,4154.0,0,53.6,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.239
_CALLS	3	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7407.000,-11308.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	13.31	MHEAD_RNG_PITCHd_Wd	223.9,5998,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-7.3	D_GRID	990
GPS2	140718,091440,-7407.4214,-11256.2666,0,4154.0,0,53.6,0.0,0.0,0,0.0

FREEZE	8.56,-1.829,-1.870,2,4,0	ALTIM_BOTTOM_PING	703.2,16.6
FINISH1	8.6,1.027350,8	_24V_AH	11.78,150.384
FINISH2	8.9	_10V_AH	11.95,0.000
RAFOS_CLK	381	FG_AHR_24Vo	0.000
RAFOS	0,1531569694,12.032778,12.026111,120,58,58,57,54,52,463,201,167,145,214,181	FG_AHR_10Vo	0.000
RAFOS_FIX	-7407.101074,-11301.980469,140718,121200,3,111,0.27	MEM	280760
IRIDIUM_FIX	-7409.27,-11237.80,130718,233415	DATA_FILE_SIZE	13467,410
TT8_MAMPS	0.039697,0.273385	CAP_FILE_SIZE	85502,0
HUMID	50.31	CFSIZE	1024409600,971161600
INTERNAL_PRESSURE	8.22882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.30	SOUNDSPEED	1450.0
XPDR_PINGS	0	GPS	140718,121600,-7407.101,-11301.980,0,4110.7,0,53.6,0.0,0.0,0,0.0
ALTIM_TOP_PING	8.6,8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	274	19.49	nil	0	0	0.00
Roll_motor	97	153	176.27	nil	0	0	0.00
VBD_pump_during_apogee	632	3040	22671.43	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	10118	2	321.69
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	31	420	153.38	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8313	2	229.48
TT8_Active	764	13	126.23
TT8_Sampling	974	34	405.26
TT8_CF8	144	52	91.12
TT8_Kalman	0	0	0.00
Analog_circuits	1171	10	152.60
GPS_charging	0	0	0.00
Compass	592	7	53.06
RAFOS	720	1	12.91
Transponder	229	30	82.16

		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
14.8	15.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
36.0	38.40	9000.00	0.0	0.00	0.00	38.40	0.0	1.07	1.00
680.6	44.90	9000.00	0.0	0.03	0.48	44.90	0.0	0.01	1.00
692.0	29.60	9000.00	0.0	0.00	0.01	29.60	721.6	-1.34	1.00
703.2	17.00	16.60	719.8	-1.23	1.00	17.00	720.2	-1.13	1.00

706.1	14.70	14.40	0.0	-1.08	1.00	14.70	0.0	-0.79	1.00
694.2	25.20	25.20	0.0	-0.89	1.00	25.20	0.0	-0.88	1.00
684.0	37.90	37.20	0.0	-1.05	0.99	37.90	0.0	-1.25	1.00
174.6	181.30	9000.00	0.0	-0.29	1.00	181.30	0.0	-0.28	1.00
76.0	78.90	9000.00	0.0	-0.14	0.37	78.90	-2.9	1.04	1.00
42.2	44.90	44.50	-2.3	1.03	1.00	44.90	-2.7	1.01	1.00
31.0	31.40	32.20	-1.2	1.04	1.00	31.40	-0.4	1.21	1.00
19.0	19.10	18.80	0.2	1.12	1.00	19.10	-0.1	1.02	1.00
8.6	9.00	8.90	-0.3	1.00	1.00	9.00	-0.4	0.97	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
11	-1.06	-107.1	2796	2302	2787	2718	0.0	0.0	0	22	0.00	0.00	-9.52	0.011	16390	0.000	0.000	2794	2301	3221	3248	3195	0	0	0	0	0	0	15.09	12.59	15.07
24	-1.06	-107.1	2794	2302	3249	3196	0.0	0.0	0	31	0.98	2.55	0.00	0.000	4356	0.067	0.101	2439	3712	3222	3248	3196	0	0	0	0	0	0	14.69	14.51	14.73
224	-1.06	-107.1	2436	3712	3245	3196	49.4	-18.8	29	232	0.00	2.50	0.00	0.000	1030	0.000	0.041	2439	2274	3220	3246	3195	0	0	0	0	0	0	14.83	14.73	14.86
581	-1.06	-107.1	2438	2274	3245	3196	118.4	-19.3	44	589	0.00	2.50	0.00	0.000	516	0.000	0.073	2439	899	3220	3246	3195	0	0	0	0	0	0	15.16	14.50	15.19
610	-1.06	-107.1	2438	899	3246	3196	123.8	-19.5	48	617	0.10	2.55	0.00	0.000	3078	0.269	0.068	2450	2302	3220	3246	3195	0	0	0	0	0	0	14.21	14.54	14.40
974	-1.06	-107.1	2453	2303	3246	3195	189.7	-18.2	64	975	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2302	3220	3246	3194	0	0	0	0	0	0	15.07	15.09	15.09
1310	-1.06	-107.1	2454	2303	3249	3194	250.6	-18.0	70	1317	0.00	2.62	0.00	0.000	260	0.000	0.100	2444	3712	3220	3246	3194	0	0	0	0	0	0	15.07	14.48	15.09
1358	-1.06	-107.1	2444	3714	3247	3194	259.8	-19.1	77	1368	0.00	2.47	0.00	0.000	1030	0.000	0.041	2444	2295	3220	3246	3194	0	0	0	0	0	0	14.85	14.76	14.88
1731	-1.06	-107.1	2445	2296	3248	3195	326.4	-17.8	85	1737	0.00	2.53	0.00	0.000	516	0.000	0.075	2444	889	3219	3246	3193	0	0	0	0	0	0	15.07	14.54	15.09
1778	-1.06	-107.1	2445	890	3248	3193	335.5	-18.7	92	1787	0.00	2.58	0.00	0.000	1030	0.000	0.064	2433	2322	3219	3246	3193	0	0	0	0	0	0	14.64	14.57	14.71
2151	-1.06	-107.1	2434	2323	3248	3194	403.3	-18.1	100	2157	0.00	2.60	0.00	0.000	516	0.000	0.074	2433	902	3220	3247	3193	0	0	0	0	0	0	15.07	14.46	15.09
2192	-1.06	-107.1	2434	903	3248	3194	410.9	-18.2	106	2199	0.12	2.53	0.00	0.000	3078	0.269	0.066	2453	2298	3219	3246	3193	0	0	0	0	0	0	14.16	14.57	14.35
2572	-1.06	-107.1	2455	2300	3248	3194	473.4	-16.4	115	2573	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2299	3219	3246	3193	0	0	0	0	0	0	15.07	15.09	15.09
2921	-1.06	-107.1	2453	2299	3246	3193	530.5	-16.2	120	2927	0.00	2.65	0.00	0.000	260	0.000	0.102	2445	3718	3219	3246	3192	0	0	0	0	0	0	15.07	14.45	15.09
2940	-1.06	-107.1	2446	3718	3248	3193	534.0	-16.0	123	2948	0.00	2.47	0.00	0.000	1030	0.000	0.041	2441	2296	3219	3246	3192	0	0	0	0	0	0	14.83	14.75	14.87
3342	-1.06	-107.1	2444	2295	3246	3193	598.9	-16.2	135	3347	0.00	2.50	0.00	0.000	516	0.000	0.075	2445	900	3219	3246	3192	0	0	0	0	0	0	15.07	14.50	15.09
3395	-1.06	-107.1	2444	900	3246	3193	608.1	-16.4	143	3406	0.00	2.55	0.00	0.000	1030	0.000	0.063	2434	2308	3220	3247	3193	0	0	0	0	0	0	14.70	14.59	14.75
3762	-1.06	-107.1	2433	2309	3247	3194	669.1	-16.7	150	3763	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	2308	3219	3245	3193	0	0	0	0	0	0	15.06	15.09	15.08
4040	end dive: BOTTOM_OBSTACLE_DETECTED
state	4040	begin apogee
4046	-0.23	0.0	2439	2064	3248	3194	714.9	-16.3	154	4170	1.10	0.10	121.57	3.041	10246	0.236	0.153	2723	2125	2781	2816	2746	0	0	0	0	0	0	14.18	13.60	12.24
4172	end apogee: CONTROL_FINISHED_OK
state	4172	begin climb
4174	1.06	107.1	2723	2126	2815	2746	716.4	0.0	155	4313	1.45	0.00	136.05	2.952	10246	0.150	0.000	3133	2126	2343	2387	2300	0	0	0	0	0	0	13.59	13.06	11.78
4601	1.23	247.0	3134	2126	2375	2289	713.3	1.3	162	4779	0.20	2.83	169.50	2.933	10532	0.105	0.088	3209	3503	1774	1850	1698	0	0	0	0	0	0	14.26	12.86	11.83
4784	1.31	317.4	3210	3503	1851	1698	705.4	5.6	188	4875	0.00	2.67	85.93	2.846	9254	0.000	0.041	3209	2119	1486	1574	1398	0	0	0	0	0	0	13.33	13.29	11.84
5233	1.37	359.3	3210	2120	1567	1387	673.5	7.4	207	5283	0.00	2.80	45.85	2.857	8740	0.000	0.089	3209	692	1316	1406	1226	0	0	0	0	0	0	14.64	13.94	12.64
5344	1.41	393.1	3208	692	1402	1221	664.8	7.9	223	5388	0.10	2.55	39.40	2.817	11302	0.104	0.046	3257	2099	1178	1272	1084	0	0	0	0	0	0	14.09	14.12	12.45
5786	1.45	393.1	3251	2099	1270	1073	629.0	8.0	241	5793	0.00	2.55	0.00	0.000	324	0.000	0.090	3251	3508	1169	1267	1072	0	0	0	0	0	0	14.87	14.54	14.86
5800	1.49	425.2	3250	3509	1267	1073	627.9	8.0	243	5842	0.00	2.47	34.60	2.836	9254	0.000	0.044	3251	2093	1046	1145	947	0	0	0	0	0	0	14.65	14.59	12.95
6208	1.51	425.2	3252	2094	1143	941	591.2	9.0	256	6213	0.00	2.47	0.00	0.000	580	0.000	0.092	3253	697	1040	1141	940	0	0	0	0	0	0	14.97	14.64	15.00
6226	1.53	425.2	3254	698	1143	941	589.4	8.9	259	6234	0.10	2.45	0.00	0.000	3142	0.087	0.051	3305	2104	1040	1141	939	0	0	0	0	0	0	14.69	14.71	14.74
6628	1.53	425.2	3307	2105	1142	941	531.2	15.4	271	6633	0.00	2.55	0.00	0.000	516	0.000	0.092	3316	700	1039	1139	940	0	0	0	0	0	0	15.07	14.70	15.09
6667	1.53	425.2	3315	700	1138	938	524.6	15.9	277	6675	0.00	2.47	0.00	0.000	1030	0.000	0.055	3316	2107	1039	1139	939	0	0	0	0	0	0	14.90	14.79	14.93
7048	1.53	425.2	3315	2105	1138	940	460.6	17.1	286	7049	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	2107	1036	1133	939	0	0	0	0	0	0	15.10	15.13	15.13
7396	1.53	425.2	3317	2108	1140	940	400.8	17.1	291	7402	0.00	2.60	0.00	0.000	516	0.000	0.092	3326	698	1038	1138	938	0	0	0	0	0	0	15.11	14.68	15.14
7451	1.53	425.2	3327	699	1139	938	391.0	17.5	299	7462	0.12	2.47	0.00	0.000	5126	0.262	0.054	3294	2110	1037	1136	938	0	0	0	0	0	0	14.57	14.82	14.71
7819	1.53	425.2	3293	2111	1136	939	335.6	15.0	306	7824	0.00	2.58	0.00	0.000	516	0.000	0.095	3299	687	1037	1136	938	0	0	0	0	0	0	15.13	14.71	15.15
7852	1.53	425.2	3300	688	1138	939	330.6	14.7	311	7859	0.00	2.50	0.00	0.000	1030	0.000	0.056	3299	2111	1036	1136	937	0	0	0	0	0	0	14.91	14.82	14.95
8239	1.53	425.2	3298	2112	1136	938	272.8	15.0	321	8245	0.00	2.58	0.00	0.000	516	0.000	0.093	3306	694	1036	1136	937	0	0	0	0	0	0	15.13	14.64	15.16
8278	1.53	425.2	3305	695	1135	938	266.6	14.9	327	8286	0.00	2.50	0.00	0.000	1030	0.000	0.058	3306	2113	1036	1135	937	0	0	0	0	0	0	14.92	14.81	14.95
8658	1.53	425.2	3307	2114	1137	938	209.5	15.1	336	8664	0.00	2.58	0.00	0.000	516	0.000	0.093	3315	689	1040	1143	937	0	0	0	0	0	0	15.14	14.68	15.16
8706	1.53	425.2	3316	689	1137	938	201.7	16.1	343	8713	0.00	2.47	0.00	0.000	1030	0.000	0.057	3315	2103	1036	1135	937	0	0	0	0	0	0	14.83	14.77	14.88
9063	1.53	425.2	3316	2104	1137	938	142.7	16.0	358	9070	0.00	2.60	0.00	0.000	516	0.000	0.093	3325	691	1036	1135	937	0	0	0	0	0	0	15.19	14.64	15.21
9083	1.53	425.2	3323	692	1134	937	139.3	15.9	361	9093	0.12	2.50	0.00	0.000	5126	0.275	0.056	3294	2111	1036	1135	937	0	0	0	0	0	0	14.51	14.80	14.67
9428	1.53	425.2	3295	2112	1136	938	89.2	15.9	374	9434	0.00	2.58	0.00	0.000	516	0.000	0.094	3294	698	1036	1135	937	0	0	0	0	0	0	15.17	14.66	15.19
9468	1.53	425.2	3293	699	1134	937	85.0	10.3	380	9476	0.00	2.47	0.00	0.000	1030	0.000	0.055	3294	2107	1035	1134	937	0	0	0	0	0	0	14.92	14.80	14.96
9820	1.53	425.2	3292	2107	1133	937	38.3	12.5	394	9821	0.00	0.00	0.00	0.000	6	0.000	0.000	3294	2107	1035	1134	936	0	0	0	0	0	0	15.17	15.21	15.20
10042	end climb: FINISH_DEPTH_REACHED
state	10042	begin subsurface finish
10047	0.01	7.6	3295	2108	1135	937	8.6	13.0	402	10103	1.62	2.60	-48.03	0.003	20996	0.189	0.103	2802	695	2753	2784	2723	0	0	0	0	0	0	14.53	12.76	14.81
10103	end subsurface finish: CONTROL_FINISHED_OK
state	10103	begin surface