Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 478 * 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 478 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 33 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 22 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 478 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 33 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 22 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 060918,121600,-7407.3975,-11243.1299,0,4119.0,0,53.2,0.0,0.0,0,0.0 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 12.52 MHEAD_RNG_PITCHd_Wd 220.2,12627,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -7.0 D_GRID 990

GPS2 060918,121600,-7407.3975,-11243.1299,0,4119.0,0,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 9.72,-1.872,-1.873,2,75,0 ALTIM_BOTTOM_PING 590.6,17.1

FINISH1 9.7,1.027381,6 _24V_AH 11.74,170.752

FINISH2 10.1 _10V_AH 11.93,0.000

RAFOS_CLK 361 FG_AHR_24Vo 0.000

RAFOS 0,1536246069,15.032778,15.019167,140,57,56,56,53,49,573,130,204,186,157,228 FG_AHR_10Vo 0.000

RAFOS_FIX -7406.048340,-11249.215820,060918,151504,2,114,0.37 MEM 280816

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 DATA_FILE_SIZE 13461,406

TT8_MAMPS 0.039697,0.26215 CAP_FILE_SIZE 78230,0

HUMID 50.23 CFSIZE 1024409600,963035136

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

TCM_TEMP 12.00 SOUNDSPEED 1446.3

XPDR_PINGS 1 GPS 060918,151304,-7406.048,-11249.216,0,3114.0,0,53.2,0.0,0.0,0,0.0

ALTIM_TOP_PING 14.2,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 292 18.32 nil 0 0 0.00

Roll_motor 91 156 169.15 nil 0 0 0.00

VBD_pump_during_apogee 414 2975 14481.81 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 9434 2 302.47

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 23 420 115.87 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7885 2 217.30

TT8_Active 549 13 90.60

TT8_Sampling 943 34 391.76

TT8_CF8 146 52 92.17

TT8_Kalman 0 0 0.00

Analog_circuits 924 10 120.27

GPS_charging 0 0 0.00

Compass 586 7 52.40

RAFOS 480 1 8.59

Transponder 165 30 59.12

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

14.0 16.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

24.9 31.80 9000.00 0.0 0.00 0.00 31.80 0.0 1.42 1.00

566.2 41.00 9000.00 0.0 0.03 0.63 41.00 0.0 0.02 1.00

578.4 30.00 9000.00 0.0 0.01 0.12 30.00 608.4 -0.90 1.00

590.6 16.80 17.10 607.7 -0.99 1.00 16.80 607.4 -1.08 1.00

600.5 11.20 10.20 0.0 -0.86 0.97 11.20 0.0 -0.57 1.00

590.1 26.70 9000.00 0.0 -1.08 0.65 26.70 0.0 -1.49 1.00

109.2 113.80 9000.00 0.0 -0.20 0.99 113.80 0.0 -0.18 1.00

87.7 91.20 9000.00 0.0 -0.15 0.92 91.20 -3.5 1.05 1.00

77.3 80.50 80.40 -3.1 1.04 1.00 80.50 -3.2 1.03 1.00

34.8 38.20 38.20 -3.4 1.00 1.00 38.20 -3.4 1.00 1.00

14.2 15.70 16.30 -2.1 1.02 1.00 15.70 -1.5 1.09 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 2805 2303 2793 2724 0.0 0.0 0 22 0.00 0.00 -9.82 0.011 16390 0.000 0.000 2803 2304 3222 3248 3196 0 0 0 0 0 0 15.07 12.86 15.06

24 -1.06 -107.1 2804 2305 3251 3197 0.0 0.0 0 31 1.00 2.55 0.00 0.000 4356 0.058 0.104 2432 3714 3222 3248 3196 0 0 0 0 0 0 14.70 14.52 14.71

218 -1.06 -107.1 2432 3714 3248 3196 53.1 -21.0 28 225 0.00 2.47 0.00 0.000 1030 0.000 0.041 2432 2289 3221 3248 3195 0 0 0 0 0 0 14.72 14.67 14.75

583 -1.06 -107.1 2433 2288 3250 3195 125.5 -19.4 44 589 0.00 2.53 0.00 0.000 516 0.000 0.070 2432 898 3221 3248 3195 0 0 0 0 0 0 15.05 14.45 15.08

639 -1.06 -107.1 2432 898 3248 3195 136.0 -18.8 52 645 0.17 2.50 0.00 0.000 3078 0.293 0.067 2458 2301 3221 3248 3195 0 0 0 0 0 0 14.19 14.54 14.53

1003 -1.06 -107.1 2457 2301 3250 3195 201.8 -18.6 68 1009 0.00 2.60 0.00 0.000 260 0.000 0.100 2449 3715 3221 3249 3194 0 0 0 0 0 0 15.06 14.49 15.08

1051 -1.06 -107.1 2450 3715 3250 3195 210.6 -18.0 75 1058 0.00 2.45 0.00 0.000 1030 0.000 0.044 2448 2296 3221 3248 3194 0 0 0 0 0 0 14.73 14.71 14.77

1423 -1.06 -107.1 2450 2296 3250 3194 280.8 -19.0 83 1429 0.00 2.50 0.00 0.000 516 0.000 0.071 2449 892 3220 3248 3193 0 0 0 0 0 0 15.06 14.50 15.09

1492 -1.06 -107.1 2448 893 3248 3194 294.4 -19.7 93 1500 0.00 2.55 0.00 0.000 1030 0.000 0.067 2438 2302 3220 3248 3193 0 0 0 0 0 0 14.58 14.50 14.65

1915 -1.06 -107.1 2438 2302 3248 3193 375.4 -19.4 108 1920 0.00 2.62 0.00 0.000 260 0.000 0.105 2427 3723 3220 3248 3193 0 0 0 0 0 0 15.06 14.47 15.08

1969 -1.06 -107.1 2429 3724 3250 3194 386.5 -20.2 116 1975 0.10 2.47 0.00 0.000 3078 0.264 0.043 2452 2293 3220 3248 3193 0 0 0 0 0 0 14.16 14.65 14.33

2335 -1.06 -107.1 2453 2293 3250 3194 452.1 -17.9 123 2340 0.00 2.47 0.00 0.000 516 0.000 0.070 2452 903 3220 3248 3192 0 0 0 0 0 0 15.05 14.50 15.08

2381 -1.06 -107.1 2453 905 3251 3194 461.0 -18.2 130 2388 0.00 2.55 0.00 0.000 1030 0.000 0.068 2444 2308 3220 3248 3193 0 0 0 0 0 0 14.58 14.50 14.65

2753 -1.06 -107.1 2446 2308 3250 3194 529.0 -18.4 138 2754 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 2308 3221 3249 3193 0 0 0 0 0 0 15.05 15.07 15.07

3103 -1.06 -107.1 2446 2309 3250 3194 590.6 -17.6 143 3109 0.00 2.58 0.00 0.000 516 0.000 0.070 2445 896 3220 3248 3193 0 0 0 0 0 0 15.05 14.40 15.07

3130 -1.06 -107.1 2445 898 3250 3194 595.8 -18.4 147 3137 0.00 2.55 0.00 0.000 1030 0.000 0.065 2434 2308 3220 3248 3193 0 0 0 0 0 0 14.58 14.49 14.64

3142 end dive: BOTTOM_OBSTACLE_DETECTED

state 3142 begin apogee

3148 -0.23 0.0 2435 2064 3250 3194 598.2 -17.9 149 3268 1.12 0.10 117.70 2.975 10246 0.241 0.157 2725 2124 2780 2814 2747 0 0 0 0 0 0 14.20 13.69 12.34

3269 end apogee: CONTROL_FINISHED_OK

state 3269 begin climb

3272 1.06 107.1 2726 2125 2816 2747 603.6 0.0 150 3413 1.45 2.88 129.82 2.861 10756 0.154 0.081 3144 726 2343 2387 2299 0 0 0 0 0 0 13.69 13.06 11.74

3495 1.14 177.1 3145 726 2380 2295 598.5 5.6 181 3587 0.00 2.60 84.82 2.811 9254 0.000 0.053 3144 2099 2059 2122 1996 0 0 0 0 0 0 13.72 13.66 11.81

3985 1.18 210.4 3145 2100 2114 1984 560.2 7.9 206 4023 0.12 0.00 36.85 2.781 10278 0.137 0.000 3193 2099 1926 1988 1865 0 0 0 0 0 0 14.55 14.16 12.85

4336 1.18 210.4 3192 2100 1981 1853 522.8 10.9 211 4336 0.00 0.00 0.00 0.000 6 0.000 0.000 3193 2099 1917 1982 1852 0 0 0 0 0 0 14.95 14.97 14.97

4685 1.18 210.4 3194 2100 1982 1852 482.7 11.4 216 4686 0.00 0.00 0.00 0.000 6 0.000 0.000 3193 2099 1915 1980 1851 0 0 0 0 0 0 15.11 15.13 15.13

5036 1.18 210.4 3194 2100 1981 1852 445.0 10.8 221 5043 0.00 2.53 0.00 0.000 516 0.000 0.086 3194 723 1915 1979 1851 0 0 0 0 0 0 15.07 14.59 15.10

5063 1.18 210.4 3195 723 1981 1851 442.0 10.6 225 5070 0.00 2.42 0.00 0.000 1030 0.000 0.054 3194 2110 1914 1979 1850 0 0 0 0 0 0 14.78 14.71 14.83

5456 1.18 210.4 3195 2111 1979 1850 400.7 10.4 236 5462 0.00 2.50 0.00 0.000 516 0.000 0.085 3195 728 1914 1979 1849 0 0 0 0 0 0 15.09 14.63 15.12

5490 1.19 210.4 3196 729 1981 1850 397.4 9.4 241 5498 0.00 2.40 0.00 0.000 1094 0.000 0.056 3196 2098 1914 1979 1849 0 0 0 0 0 0 14.76 14.70 14.82

5876 1.19 210.4 3194 2098 1978 1848 357.3 10.4 251 5877 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2097 1912 1979 1846 0 0 0 0 0 0 15.09 15.13 15.12

6225 1.19 210.4 3196 2098 1980 1848 321.5 10.2 256 6226 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2098 1913 1979 1848 0 0 0 0 0 0 15.16 15.19 15.19

6576 1.19 210.4 3196 2098 1980 1849 285.0 10.6 261 6582 0.00 2.47 0.00 0.000 516 0.000 0.086 3195 732 1913 1978 1848 0 0 0 0 0 0 15.10 14.59 15.13

6617 1.19 210.4 3194 732 1977 1848 280.5 10.7 267 6623 0.00 2.42 0.00 0.000 1030 0.000 0.054 3195 2112 1912 1978 1846 0 0 0 0 0 0 14.74 14.68 14.79

6996 1.19 210.4 3196 2113 1979 1847 240.7 10.4 276 7001 0.00 2.58 0.00 0.000 260 0.000 0.097 3195 3502 1912 1977 1847 0 0 0 0 0 0 15.08 14.52 15.10

7037 1.19 210.4 3195 3503 1978 1848 235.9 11.6 282 7044 0.00 2.38 0.00 0.000 1030 0.000 0.044 3195 2128 1912 1977 1847 0 0 0 0 0 0 14.74 14.68 14.76

7416 1.19 210.4 3194 2129 1977 1847 196.7 10.3 291 7422 0.00 2.62 0.00 0.000 516 0.000 0.088 3195 706 1912 1977 1847 0 0 0 0 0 0 15.09 14.50 15.11

7492 1.21 210.4 3195 706 1977 1848 189.5 9.0 302 7500 0.00 2.45 0.00 0.000 1094 0.000 0.055 3195 2100 1911 1976 1847 0 0 0 0 0 0 14.71 14.64 14.76

7835 1.21 210.4 3195 2101 1974 1847 154.8 9.7 315 7841 0.00 2.60 0.00 0.000 260 0.000 0.096 3195 3508 1910 1976 1845 0 0 0 0 0 0 15.19 14.50 15.21

7905 1.21 210.4 3194 3514 1975 1847 147.1 11.9 325 7913 0.00 2.45 0.00 0.000 1030 0.000 0.044 3201 2095 1910 1975 1846 0 0 0 0 0 0 14.72 14.66 14.77

8257 1.23 210.4 3194 2095 1975 1846 114.3 9.4 339 8262 0.00 2.62 0.00 0.000 324 0.000 0.097 3195 3519 1910 1975 1846 0 0 0 0 0 0 15.17 14.54 15.20

8311 1.23 210.4 3194 3519 1975 1847 108.5 10.7 347 8318 0.00 2.47 0.00 0.000 1030 0.000 0.045 3195 2095 1910 1975 1846 0 0 0 0 0 0 14.69 14.63 14.73

8677 1.24 210.4 3195 2096 1975 1846 74.5 9.1 363 8682 0.00 2.55 0.00 0.000 580 0.000 0.090 3195 694 1910 1975 1846 0 0 0 0 0 0 15.16 14.52 15.19

8696 1.24 210.4 3196 695 1977 1843 72.5 9.8 366 8704 0.00 2.47 0.00 0.000 1030 0.000 0.059 3195 2102 1910 1975 1846 0 0 0 0 0 0 14.66 14.59 14.72

9039 1.33 278.3 3194 2102 1975 1846 43.1 5.8 379 9090 0.00 2.65 45.42 0.353 8484 0.000 0.098 3195 3509 1643 1709 1577 0 0 0 0 0 0 15.17 14.54 14.12

9117 1.33 278.3 3196 3511 1710 1575 34.8 11.4 390 9124 0.00 2.47 0.00 0.000 1030 0.000 0.046 3195 2093 1641 1708 1574 0 0 0 0 0 0 14.66 14.60 14.71

9373 end climb: FINISH_DEPTH_REACHED

state 9373 begin subsurface finish

9378 0.01 6.0 3195 2092 1704 1567 9.7 8.7 400 9419 1.35 2.58 -30.10 0.005 20996 0.177 0.106 2801 695 2760 2793 2727 0 0 0 0 0 0 14.29 12.74 14.45

9419 end subsurface finish: CONTROL_FINISHED_OK

state 9419 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	478	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	33	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	22	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	060918,121600,-7407.3975,-11243.1299,0,4119.0,0,53.2,0.0,0.0,0,0.0	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	12.52	MHEAD_RNG_PITCHd_Wd	220.2,12627,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-7.0	D_GRID	990
GPS2	060918,121600,-7407.3975,-11243.1299,0,4119.0,0,53.2,0.0,0.0,0,0.0

FREEZE	9.72,-1.872,-1.873,2,75,0	ALTIM_BOTTOM_PING	590.6,17.1
FINISH1	9.7,1.027381,6	_24V_AH	11.74,170.752
FINISH2	10.1	_10V_AH	11.93,0.000
RAFOS_CLK	361	FG_AHR_24Vo	0.000
RAFOS	0,1536246069,15.032778,15.019167,140,57,56,56,53,49,573,130,204,186,157,228	FG_AHR_10Vo	0.000
RAFOS_FIX	-7406.048340,-11249.215820,060918,151504,2,114,0.37	MEM	280816
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	DATA_FILE_SIZE	13461,406
TT8_MAMPS	0.039697,0.26215	CAP_FILE_SIZE	78230,0
HUMID	50.23	CFSIZE	1024409600,963035136
INTERNAL_PRESSURE	8.21906	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.00	SOUNDSPEED	1446.3
XPDR_PINGS	1	GPS	060918,151304,-7406.048,-11249.216,0,3114.0,0,53.2,0.0,0.0,0,0.0
ALTIM_TOP_PING	14.2,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	292	18.32	nil	0	0	0.00
Roll_motor	91	156	169.15	nil	0	0	0.00
VBD_pump_during_apogee	414	2975	14481.81	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	9434	2	302.47
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	23	420	115.87	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7885	2	217.30
TT8_Active	549	13	90.60
TT8_Sampling	943	34	391.76
TT8_CF8	146	52	92.17
TT8_Kalman	0	0	0.00
Analog_circuits	924	10	120.27
GPS_charging	0	0	0.00
Compass	586	7	52.40
RAFOS	480	1	8.59
Transponder	165	30	59.12

		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
14.0	16.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
24.9	31.80	9000.00	0.0	0.00	0.00	31.80	0.0	1.42	1.00
566.2	41.00	9000.00	0.0	0.03	0.63	41.00	0.0	0.02	1.00
578.4	30.00	9000.00	0.0	0.01	0.12	30.00	608.4	-0.90	1.00
590.6	16.80	17.10	607.7	-0.99	1.00	16.80	607.4	-1.08	1.00

600.5	11.20	10.20	0.0	-0.86	0.97	11.20	0.0	-0.57	1.00
590.1	26.70	9000.00	0.0	-1.08	0.65	26.70	0.0	-1.49	1.00
109.2	113.80	9000.00	0.0	-0.20	0.99	113.80	0.0	-0.18	1.00
87.7	91.20	9000.00	0.0	-0.15	0.92	91.20	-3.5	1.05	1.00
77.3	80.50	80.40	-3.1	1.04	1.00	80.50	-3.2	1.03	1.00
34.8	38.20	38.20	-3.4	1.00	1.00	38.20	-3.4	1.00	1.00
14.2	15.70	16.30	-2.1	1.02	1.00	15.70	-1.5	1.09	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	2805	2303	2793	2724	0.0	0.0	0	22	0.00	0.00	-9.82	0.011	16390	0.000	0.000	2803	2304	3222	3248	3196	0	0	0	0	0	0	15.07	12.86	15.06
24	-1.06	-107.1	2804	2305	3251	3197	0.0	0.0	0	31	1.00	2.55	0.00	0.000	4356	0.058	0.104	2432	3714	3222	3248	3196	0	0	0	0	0	0	14.70	14.52	14.71
218	-1.06	-107.1	2432	3714	3248	3196	53.1	-21.0	28	225	0.00	2.47	0.00	0.000	1030	0.000	0.041	2432	2289	3221	3248	3195	0	0	0	0	0	0	14.72	14.67	14.75
583	-1.06	-107.1	2433	2288	3250	3195	125.5	-19.4	44	589	0.00	2.53	0.00	0.000	516	0.000	0.070	2432	898	3221	3248	3195	0	0	0	0	0	0	15.05	14.45	15.08
639	-1.06	-107.1	2432	898	3248	3195	136.0	-18.8	52	645	0.17	2.50	0.00	0.000	3078	0.293	0.067	2458	2301	3221	3248	3195	0	0	0	0	0	0	14.19	14.54	14.53
1003	-1.06	-107.1	2457	2301	3250	3195	201.8	-18.6	68	1009	0.00	2.60	0.00	0.000	260	0.000	0.100	2449	3715	3221	3249	3194	0	0	0	0	0	0	15.06	14.49	15.08
1051	-1.06	-107.1	2450	3715	3250	3195	210.6	-18.0	75	1058	0.00	2.45	0.00	0.000	1030	0.000	0.044	2448	2296	3221	3248	3194	0	0	0	0	0	0	14.73	14.71	14.77
1423	-1.06	-107.1	2450	2296	3250	3194	280.8	-19.0	83	1429	0.00	2.50	0.00	0.000	516	0.000	0.071	2449	892	3220	3248	3193	0	0	0	0	0	0	15.06	14.50	15.09
1492	-1.06	-107.1	2448	893	3248	3194	294.4	-19.7	93	1500	0.00	2.55	0.00	0.000	1030	0.000	0.067	2438	2302	3220	3248	3193	0	0	0	0	0	0	14.58	14.50	14.65
1915	-1.06	-107.1	2438	2302	3248	3193	375.4	-19.4	108	1920	0.00	2.62	0.00	0.000	260	0.000	0.105	2427	3723	3220	3248	3193	0	0	0	0	0	0	15.06	14.47	15.08
1969	-1.06	-107.1	2429	3724	3250	3194	386.5	-20.2	116	1975	0.10	2.47	0.00	0.000	3078	0.264	0.043	2452	2293	3220	3248	3193	0	0	0	0	0	0	14.16	14.65	14.33
2335	-1.06	-107.1	2453	2293	3250	3194	452.1	-17.9	123	2340	0.00	2.47	0.00	0.000	516	0.000	0.070	2452	903	3220	3248	3192	0	0	0	0	0	0	15.05	14.50	15.08
2381	-1.06	-107.1	2453	905	3251	3194	461.0	-18.2	130	2388	0.00	2.55	0.00	0.000	1030	0.000	0.068	2444	2308	3220	3248	3193	0	0	0	0	0	0	14.58	14.50	14.65
2753	-1.06	-107.1	2446	2308	3250	3194	529.0	-18.4	138	2754	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	2308	3221	3249	3193	0	0	0	0	0	0	15.05	15.07	15.07
3103	-1.06	-107.1	2446	2309	3250	3194	590.6	-17.6	143	3109	0.00	2.58	0.00	0.000	516	0.000	0.070	2445	896	3220	3248	3193	0	0	0	0	0	0	15.05	14.40	15.07
3130	-1.06	-107.1	2445	898	3250	3194	595.8	-18.4	147	3137	0.00	2.55	0.00	0.000	1030	0.000	0.065	2434	2308	3220	3248	3193	0	0	0	0	0	0	14.58	14.49	14.64
3142	end dive: BOTTOM_OBSTACLE_DETECTED
state	3142	begin apogee
3148	-0.23	0.0	2435	2064	3250	3194	598.2	-17.9	149	3268	1.12	0.10	117.70	2.975	10246	0.241	0.157	2725	2124	2780	2814	2747	0	0	0	0	0	0	14.20	13.69	12.34
3269	end apogee: CONTROL_FINISHED_OK
state	3269	begin climb
3272	1.06	107.1	2726	2125	2816	2747	603.6	0.0	150	3413	1.45	2.88	129.82	2.861	10756	0.154	0.081	3144	726	2343	2387	2299	0	0	0	0	0	0	13.69	13.06	11.74
3495	1.14	177.1	3145	726	2380	2295	598.5	5.6	181	3587	0.00	2.60	84.82	2.811	9254	0.000	0.053	3144	2099	2059	2122	1996	0	0	0	0	0	0	13.72	13.66	11.81
3985	1.18	210.4	3145	2100	2114	1984	560.2	7.9	206	4023	0.12	0.00	36.85	2.781	10278	0.137	0.000	3193	2099	1926	1988	1865	0	0	0	0	0	0	14.55	14.16	12.85
4336	1.18	210.4	3192	2100	1981	1853	522.8	10.9	211	4336	0.00	0.00	0.00	0.000	6	0.000	0.000	3193	2099	1917	1982	1852	0	0	0	0	0	0	14.95	14.97	14.97
4685	1.18	210.4	3194	2100	1982	1852	482.7	11.4	216	4686	0.00	0.00	0.00	0.000	6	0.000	0.000	3193	2099	1915	1980	1851	0	0	0	0	0	0	15.11	15.13	15.13
5036	1.18	210.4	3194	2100	1981	1852	445.0	10.8	221	5043	0.00	2.53	0.00	0.000	516	0.000	0.086	3194	723	1915	1979	1851	0	0	0	0	0	0	15.07	14.59	15.10
5063	1.18	210.4	3195	723	1981	1851	442.0	10.6	225	5070	0.00	2.42	0.00	0.000	1030	0.000	0.054	3194	2110	1914	1979	1850	0	0	0	0	0	0	14.78	14.71	14.83
5456	1.18	210.4	3195	2111	1979	1850	400.7	10.4	236	5462	0.00	2.50	0.00	0.000	516	0.000	0.085	3195	728	1914	1979	1849	0	0	0	0	0	0	15.09	14.63	15.12
5490	1.19	210.4	3196	729	1981	1850	397.4	9.4	241	5498	0.00	2.40	0.00	0.000	1094	0.000	0.056	3196	2098	1914	1979	1849	0	0	0	0	0	0	14.76	14.70	14.82
5876	1.19	210.4	3194	2098	1978	1848	357.3	10.4	251	5877	0.00	0.00	0.00	0.000	6	0.000	0.000	3195	2097	1912	1979	1846	0	0	0	0	0	0	15.09	15.13	15.12
6225	1.19	210.4	3196	2098	1980	1848	321.5	10.2	256	6226	0.00	0.00	0.00	0.000	6	0.000	0.000	3195	2098	1913	1979	1848	0	0	0	0	0	0	15.16	15.19	15.19
6576	1.19	210.4	3196	2098	1980	1849	285.0	10.6	261	6582	0.00	2.47	0.00	0.000	516	0.000	0.086	3195	732	1913	1978	1848	0	0	0	0	0	0	15.10	14.59	15.13
6617	1.19	210.4	3194	732	1977	1848	280.5	10.7	267	6623	0.00	2.42	0.00	0.000	1030	0.000	0.054	3195	2112	1912	1978	1846	0	0	0	0	0	0	14.74	14.68	14.79
6996	1.19	210.4	3196	2113	1979	1847	240.7	10.4	276	7001	0.00	2.58	0.00	0.000	260	0.000	0.097	3195	3502	1912	1977	1847	0	0	0	0	0	0	15.08	14.52	15.10
7037	1.19	210.4	3195	3503	1978	1848	235.9	11.6	282	7044	0.00	2.38	0.00	0.000	1030	0.000	0.044	3195	2128	1912	1977	1847	0	0	0	0	0	0	14.74	14.68	14.76
7416	1.19	210.4	3194	2129	1977	1847	196.7	10.3	291	7422	0.00	2.62	0.00	0.000	516	0.000	0.088	3195	706	1912	1977	1847	0	0	0	0	0	0	15.09	14.50	15.11
7492	1.21	210.4	3195	706	1977	1848	189.5	9.0	302	7500	0.00	2.45	0.00	0.000	1094	0.000	0.055	3195	2100	1911	1976	1847	0	0	0	0	0	0	14.71	14.64	14.76
7835	1.21	210.4	3195	2101	1974	1847	154.8	9.7	315	7841	0.00	2.60	0.00	0.000	260	0.000	0.096	3195	3508	1910	1976	1845	0	0	0	0	0	0	15.19	14.50	15.21
7905	1.21	210.4	3194	3514	1975	1847	147.1	11.9	325	7913	0.00	2.45	0.00	0.000	1030	0.000	0.044	3201	2095	1910	1975	1846	0	0	0	0	0	0	14.72	14.66	14.77
8257	1.23	210.4	3194	2095	1975	1846	114.3	9.4	339	8262	0.00	2.62	0.00	0.000	324	0.000	0.097	3195	3519	1910	1975	1846	0	0	0	0	0	0	15.17	14.54	15.20
8311	1.23	210.4	3194	3519	1975	1847	108.5	10.7	347	8318	0.00	2.47	0.00	0.000	1030	0.000	0.045	3195	2095	1910	1975	1846	0	0	0	0	0	0	14.69	14.63	14.73
8677	1.24	210.4	3195	2096	1975	1846	74.5	9.1	363	8682	0.00	2.55	0.00	0.000	580	0.000	0.090	3195	694	1910	1975	1846	0	0	0	0	0	0	15.16	14.52	15.19
8696	1.24	210.4	3196	695	1977	1843	72.5	9.8	366	8704	0.00	2.47	0.00	0.000	1030	0.000	0.059	3195	2102	1910	1975	1846	0	0	0	0	0	0	14.66	14.59	14.72
9039	1.33	278.3	3194	2102	1975	1846	43.1	5.8	379	9090	0.00	2.65	45.42	0.353	8484	0.000	0.098	3195	3509	1643	1709	1577	0	0	0	0	0	0	15.17	14.54	14.12
9117	1.33	278.3	3196	3511	1710	1575	34.8	11.4	390	9124	0.00	2.47	0.00	0.000	1030	0.000	0.046	3195	2093	1641	1708	1574	0	0	0	0	0	0	14.66	14.60	14.71
9373	end climb: FINISH_DEPTH_REACHED
state	9373	begin subsurface finish
9378	0.01	6.0	3195	2092	1704	1567	9.7	8.7	400	9419	1.35	2.58	-30.10	0.005	20996	0.177	0.106	2801	695	2760	2793	2727	0	0	0	0	0	0	14.29	12.74	14.45
9419	end subsurface finish: CONTROL_FINISHED_OK
state	9419	begin surface