Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 479 * 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 479 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 21 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 479 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 21 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 060918,151304,-7406.0483,-11249.2158,0,3114.0,0,53.2,0.0,0.0,0,0.0 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 16.82 MHEAD_RNG_PITCHd_Wd 206.3,9682,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -5.6 D_GRID 990

GPS2 060918,151304,-7406.0483,-11249.2158,0,3114.0,0,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 8.49,-1.872,-1.873,2,76,0 _24V_AH 11.61,171.112

FINISH1 8.5,1.027386,6 _10V_AH 11.84,0.000

FINISH2 8.2 FG_AHR_24Vo 0.000

RAFOS_CLK 396 FG_AHR_10Vo 0.000

RAFOS 0,1536256878,18.032778,18.021667,101,61,56,55,55,54,536,218,203,181,121,158 MEM 280788

RAFOS_FIX -7408.932617,-11259.783203,060918,181808,2,105,0.71 DATA_FILE_SIZE 16754,473

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 CAP_FILE_SIZE 84553,0

TT8_MAMPS 0.041195,0.266644 CFSIZE 1024409600,962904064

HUMID 51.33 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.21906 SOUNDSPEED 1446.8

TCM_TEMP 12.00 GPS 060918,181008,-7408.933,-11259.783,0,3105.0,0,53.2,0.0,0.0,0,0.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 270 17.17 nil 0 0 0.00

Roll_motor 101 104 122.87 nil 0 0 0.00

VBD_pump_during_apogee 395 3030 13911.14 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 10251 2 321.22

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 25 420 123.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8587 2 234.87

TT8_Active 525 13 85.94

TT8_Sampling 1065 34 439.06

TT8_CF8 153 52 96.17

TT8_Kalman 0 0 0.00

Analog_circuits 960 10 123.91

GPS_charging 0 0 0.00

Compass 681 7 60.40

RAFOS 480 1 8.52

Transponder 178 30 63.39

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

17.8 20.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

627.4 31.20 9000.00 0.0 0.00 0.00 31.20 0.0 0.02 1.00

639.6 12.80 9000.00 0.0 0.00 0.01 12.80 652.4 -1.51 1.00

636.0 19.30 9000.00 0.0 -1.49 1.00 19.30 0.0 -1.81 1.00

623.7 25.20 9000.00 0.0 -0.70 0.89 25.20 0.0 -0.48 1.00

28.0 29.80 9000.00 0.0 -0.01 0.70 29.80 0.0 -0.01 1.00

15.4 16.30 9000.00 0.0 0.00 0.04 16.30 -0.9 1.07 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 2801 2311 2792 2725 0.0 0.0 0 21 0.00 0.00 -8.45 0.013 16390 0.000 0.000 2801 2310 3221 3248 3194 0 0 0 0 0 0 15.05 12.69 15.03

24 -1.06 -107.1 2801 2311 3248 3195 0.0 0.0 0 30 1.00 2.55 0.00 0.000 4356 0.067 0.104 2440 3721 3221 3248 3194 0 0 0 0 0 0 14.64 14.46 14.69

259 -1.06 -107.1 2441 3722 3249 3194 59.3 -20.4 34 267 0.00 2.47 0.00 0.000 1030 0.000 0.043 2440 2291 3220 3247 3193 0 0 0 0 0 0 14.71 14.67 14.75

612 -1.06 -107.1 2441 2291 3249 3194 131.9 -20.9 48 617 0.00 2.62 0.00 0.000 260 0.000 0.100 2424 3709 3219 3247 3192 0 0 0 0 0 0 15.05 14.49 15.07

652 -1.06 -107.1 2430 3710 3249 3192 140.8 -21.9 54 660 0.10 2.45 0.00 0.000 3078 0.267 0.043 2453 2286 3220 3247 3193 0 0 0 0 0 0 14.17 14.66 14.36

1044 -1.06 -107.1 2453 2287 3247 3193 216.5 -18.8 68 1050 0.00 2.50 0.00 0.000 516 0.000 0.070 2453 903 3219 3247 3192 0 0 0 0 0 0 15.05 14.45 15.08

1113 -1.06 -107.1 2455 904 3249 3193 229.1 -17.4 78 1120 0.00 2.53 0.00 0.000 1030 0.000 0.068 2445 2298 3219 3247 3192 0 0 0 0 0 0 14.59 14.51 14.66

1536 -1.06 -107.1 2444 2299 3247 3193 310.6 -19.8 93 1542 0.00 2.62 0.00 0.000 260 0.000 0.104 2434 3722 3219 3247 3192 0 0 0 0 0 0 15.06 14.47 15.08

1603 -1.06 -107.1 2435 3723 3249 3193 325.0 -20.8 103 1610 0.00 2.47 0.00 0.000 1030 0.000 0.043 2434 2293 3219 3247 3192 0 0 0 0 0 0 14.68 14.62 14.71

2026 -1.06 -107.1 2435 2293 3249 3192 405.8 -19.0 118 2031 0.00 2.47 0.00 0.000 516 0.000 0.070 2434 902 3219 3247 3192 0 0 0 0 0 0 15.05 14.50 15.07

2149 -1.06 -107.1 2435 903 3249 3193 429.0 -18.1 136 2156 0.12 2.53 0.00 0.000 3078 0.270 0.064 2454 2304 3219 3247 3192 0 0 0 0 0 0 14.10 14.51 14.31

2514 -1.06 -107.1 2453 2304 3247 3192 491.9 -17.3 143 2515 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2304 3219 3247 3192 0 0 0 0 0 0 15.05 15.08 15.07

2864 -1.06 -107.1 2453 2304 3247 3192 552.3 -17.2 148 2870 0.00 2.58 0.00 0.000 516 0.000 0.070 2454 893 3219 3247 3192 0 0 0 0 0 0 15.05 14.40 15.07

2891 -1.06 -107.1 2453 899 3247 3192 557.2 -17.6 152 2898 0.00 2.55 0.00 0.000 1030 0.000 0.065 2445 2306 3219 3247 3192 0 0 0 0 0 0 14.57 14.50 14.64

3286 -1.06 -107.1 2444 2305 3247 3192 627.4 -18.1 163 3287 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2302 3219 3247 3192 0 0 0 0 0 0 15.04 15.07 15.07

3634 -1.06 -107.1 2445 2307 3247 3192 652.3 -3.7 168 3640 0.00 2.55 0.00 0.000 548 0.000 0.067 2445 902 3219 3247 3191 0 0 0 0 0 0 15.19 14.43 15.22

3757 end dive: NO_VERTICAL_VELOCITY

state 3757 begin apogee

3765 -0.23 0.0 2446 2116 3249 3192 652.3 0.0 186 3887 0.90 0.00 120.10 3.030 10246 0.105 0.000 2733 2115 2780 2815 2746 0 0 0 0 0 0 14.46 13.62 12.25

3888 end apogee: CONTROL_FINISHED_OK

state 3888 begin climb

3891 1.06 107.1 2734 2116 2814 2746 652.2 0.0 187 4036 1.30 2.95 132.32 2.929 10500 0.093 0.094 3139 3508 2342 2386 2298 0 0 0 0 0 0 13.69 13.00 11.64

4070 1.16 189.3 3138 3508 2384 2295 649.8 4.9 220 4177 0.00 2.70 102.22 2.878 9254 0.000 0.044 3148 2096 2011 2074 1948 0 0 0 0 0 0 13.46 13.42 11.61

4533 1.17 189.3 3148 2096 2064 1934 610.0 9.4 241 4540 0.00 2.58 0.00 0.000 580 0.000 0.088 3148 703 1998 2064 1933 0 0 0 0 0 0 14.69 14.32 14.71

4588 1.18 189.3 3149 703 2065 1933 604.7 9.5 249 4596 0.00 2.47 0.00 0.000 1094 0.000 0.054 3148 2096 1997 2063 1932 0 0 0 0 0 0 14.54 14.50 14.58

4953 1.19 189.3 3148 2096 2064 1932 570.7 9.3 256 4959 0.12 2.58 0.00 0.000 2372 0.136 0.096 3200 3518 1997 2062 1932 0 0 0 0 0 0 14.75 14.60 14.85

5029 1.19 189.3 3200 3518 2061 1931 561.5 12.6 267 5037 0.00 2.47 0.00 0.000 1030 0.000 0.046 3207 2089 1996 2061 1931 0 0 0 0 0 0 14.76 14.71 14.79

5445 1.19 189.3 3207 2089 2061 1928 512.8 11.8 281 5445 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 2089 1995 2060 1931 0 0 0 0 0 0 15.07 15.11 15.10

5792 1.19 189.3 3208 2090 2061 1931 471.8 11.7 286 5799 0.00 2.62 0.00 0.000 260 0.000 0.094 3207 3511 1994 2059 1930 0 0 0 0 0 0 15.16 14.59 15.18

5820 1.19 189.3 3208 3512 2059 1931 468.3 12.7 290 5827 0.10 2.45 0.00 0.000 5126 0.238 0.044 3189 2090 1992 2059 1926 0 0 0 0 0 0 14.40 14.72 14.58

6213 1.19 189.3 3188 2089 2058 1930 425.6 10.9 301 6219 0.00 2.55 0.00 0.000 516 0.000 0.090 3194 706 1993 2058 1929 0 0 0 0 0 0 15.09 14.54 15.11

6261 1.19 189.3 3190 707 2059 1930 420.2 11.0 308 6268 0.00 2.45 0.00 0.000 1030 0.000 0.055 3189 2109 1993 2057 1929 0 0 0 0 0 0 14.75 14.69 14.80

6633 1.19 189.3 3189 2109 2055 1929 379.7 10.8 316 6639 0.00 2.60 0.00 0.000 260 0.000 0.099 3189 3505 1993 2057 1929 0 0 0 0 0 0 15.08 14.53 15.11

6660 1.19 189.3 3190 3506 2059 1930 376.4 11.9 320 6667 0.00 2.45 0.00 0.000 1030 0.000 0.046 3189 2093 1992 2057 1928 0 0 0 0 0 0 14.76 14.69 14.81

7053 1.19 189.3 3188 2094 2056 1929 334.8 10.4 331 7059 0.00 2.65 0.00 0.000 260 0.000 0.096 3189 3510 1991 2055 1928 0 0 0 0 0 0 15.08 14.52 15.11

7101 1.19 189.3 3188 3510 2056 1929 329.8 10.7 338 7108 0.00 2.45 0.00 0.000 1030 0.000 0.045 3189 2098 1992 2056 1928 0 0 0 0 0 0 14.75 14.68 14.78

7473 1.23 189.3 3188 2099 2056 1929 297.5 8.5 346 7479 0.00 2.58 0.00 0.000 580 0.000 0.090 3189 704 1992 2056 1928 0 0 0 0 0 0 15.07 14.48 15.09

7500 1.27 228.7 3190 705 2057 1929 295.3 7.5 350 7549 0.00 2.47 40.78 2.668 9254 0.000 0.057 3189 2110 1848 1912 1784 0 0 0 0 0 0 14.70 14.63 13.11

7962 1.31 228.7 3190 2111 1908 1778 256.9 8.2 371 7963 0.00 0.00 0.00 0.000 70 0.000 0.000 3189 2110 1841 1906 1777 0 0 0 0 0 0 15.06 15.09 15.09

8313 1.33 228.7 3190 2111 1906 1777 225.7 8.9 376 8319 0.15 2.55 0.00 0.000 2372 0.125 0.099 3250 3512 1840 1905 1775 0 0 0 0 0 0 14.78 14.57 14.90

8368 1.33 228.7 3249 3512 1905 1777 218.7 13.2 384 8375 0.12 2.45 0.00 0.000 5126 0.235 0.045 3226 2092 1840 1905 1776 0 0 0 0 0 0 14.34 14.69 14.52

8734 1.33 228.7 3226 2093 1904 1776 178.3 11.2 394 8739 0.00 2.53 0.00 0.000 516 0.000 0.088 3233 699 1839 1904 1775 0 0 0 0 0 0 15.14 14.51 15.16

8774 1.33 228.7 3235 700 1906 1776 173.4 11.8 400 8781 0.00 2.47 0.00 0.000 1030 0.000 0.058 3233 2107 1839 1904 1775 0 0 0 0 0 0 14.65 14.58 14.70

9124 1.33 228.7 3234 2108 1906 1776 130.8 12.3 414 9131 0.00 2.60 0.00 0.000 260 0.000 0.096 3233 3516 1839 1904 1775 0 0 0 0 0 0 15.19 14.52 15.21

9174 1.33 228.7 3233 3517 1903 1775 123.8 14.5 421 9182 0.00 2.47 0.00 0.000 1030 0.000 0.047 3233 2093 1839 1904 1774 0 0 0 0 0 0 14.64 14.58 14.70

9516 1.33 228.7 3235 2094 1905 1775 81.8 11.3 434 9523 0.00 2.62 0.00 0.000 260 0.000 0.093 3233 3507 1838 1903 1774 0 0 0 0 0 0 15.16 14.52 15.19

9586 1.33 228.7 3233 3503 1903 1775 72.8 12.9 444 9593 0.00 2.45 0.00 0.000 1030 0.000 0.046 3237 2097 1838 1903 1774 0 0 0 0 0 0 14.72 14.66 14.77

9936 1.33 228.7 3232 2099 1904 1775 34.0 10.6 458 9937 0.00 0.00 0.00 0.000 6 0.000 0.000 3233 2096 1839 1904 1774 0 0 0 0 0 0 15.14 15.19 15.19

10186 end climb: FINISH_DEPTH_REACHED

state 10186 begin subsurface finish

10192 0.01 5.8 3233 2096 1903 1774 8.5 9.0 467 10229 1.55 2.60 -27.70 0.005 20996 0.212 0.100 2802 676 2760 2794 2726 0 0 0 0 0 0 14.25 12.72 14.42

10230 end subsurface finish: CONTROL_FINISHED_OK

state 10230 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	479	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	21	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	060918,151304,-7406.0483,-11249.2158,0,3114.0,0,53.2,0.0,0.0,0,0.0	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	16.82	MHEAD_RNG_PITCHd_Wd	206.3,9682,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-5.6	D_GRID	990
GPS2	060918,151304,-7406.0483,-11249.2158,0,3114.0,0,53.2,0.0,0.0,0,0.0

FREEZE	8.49,-1.872,-1.873,2,76,0	_24V_AH	11.61,171.112
FINISH1	8.5,1.027386,6	_10V_AH	11.84,0.000
FINISH2	8.2	FG_AHR_24Vo	0.000
RAFOS_CLK	396	FG_AHR_10Vo	0.000
RAFOS	0,1536256878,18.032778,18.021667,101,61,56,55,55,54,536,218,203,181,121,158	MEM	280788
RAFOS_FIX	-7408.932617,-11259.783203,060918,181808,2,105,0.71	DATA_FILE_SIZE	16754,473
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	CAP_FILE_SIZE	84553,0
TT8_MAMPS	0.041195,0.266644	CFSIZE	1024409600,962904064
HUMID	51.33	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.21906	SOUNDSPEED	1446.8
TCM_TEMP	12.00	GPS	060918,181008,-7408.933,-11259.783,0,3105.0,0,53.2,0.0,0.0,0,0.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	270	17.17	nil	0	0	0.00
Roll_motor	101	104	122.87	nil	0	0	0.00
VBD_pump_during_apogee	395	3030	13911.14	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	10251	2	321.22
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	25	420	123.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8587	2	234.87
TT8_Active	525	13	85.94
TT8_Sampling	1065	34	439.06
TT8_CF8	153	52	96.17
TT8_Kalman	0	0	0.00
Analog_circuits	960	10	123.91
GPS_charging	0	0	0.00
Compass	681	7	60.40
RAFOS	480	1	8.52
Transponder	178	30	63.39

		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
17.8	20.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
627.4	31.20	9000.00	0.0	0.00	0.00	31.20	0.0	0.02	1.00
639.6	12.80	9000.00	0.0	0.00	0.01	12.80	652.4	-1.51	1.00

636.0	19.30	9000.00	0.0	-1.49	1.00	19.30	0.0	-1.81	1.00
623.7	25.20	9000.00	0.0	-0.70	0.89	25.20	0.0	-0.48	1.00
28.0	29.80	9000.00	0.0	-0.01	0.70	29.80	0.0	-0.01	1.00
15.4	16.30	9000.00	0.0	0.00	0.04	16.30	-0.9	1.07	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	2801	2311	2792	2725	0.0	0.0	0	21	0.00	0.00	-8.45	0.013	16390	0.000	0.000	2801	2310	3221	3248	3194	0	0	0	0	0	0	15.05	12.69	15.03
24	-1.06	-107.1	2801	2311	3248	3195	0.0	0.0	0	30	1.00	2.55	0.00	0.000	4356	0.067	0.104	2440	3721	3221	3248	3194	0	0	0	0	0	0	14.64	14.46	14.69
259	-1.06	-107.1	2441	3722	3249	3194	59.3	-20.4	34	267	0.00	2.47	0.00	0.000	1030	0.000	0.043	2440	2291	3220	3247	3193	0	0	0	0	0	0	14.71	14.67	14.75
612	-1.06	-107.1	2441	2291	3249	3194	131.9	-20.9	48	617	0.00	2.62	0.00	0.000	260	0.000	0.100	2424	3709	3219	3247	3192	0	0	0	0	0	0	15.05	14.49	15.07
652	-1.06	-107.1	2430	3710	3249	3192	140.8	-21.9	54	660	0.10	2.45	0.00	0.000	3078	0.267	0.043	2453	2286	3220	3247	3193	0	0	0	0	0	0	14.17	14.66	14.36
1044	-1.06	-107.1	2453	2287	3247	3193	216.5	-18.8	68	1050	0.00	2.50	0.00	0.000	516	0.000	0.070	2453	903	3219	3247	3192	0	0	0	0	0	0	15.05	14.45	15.08
1113	-1.06	-107.1	2455	904	3249	3193	229.1	-17.4	78	1120	0.00	2.53	0.00	0.000	1030	0.000	0.068	2445	2298	3219	3247	3192	0	0	0	0	0	0	14.59	14.51	14.66
1536	-1.06	-107.1	2444	2299	3247	3193	310.6	-19.8	93	1542	0.00	2.62	0.00	0.000	260	0.000	0.104	2434	3722	3219	3247	3192	0	0	0	0	0	0	15.06	14.47	15.08
1603	-1.06	-107.1	2435	3723	3249	3193	325.0	-20.8	103	1610	0.00	2.47	0.00	0.000	1030	0.000	0.043	2434	2293	3219	3247	3192	0	0	0	0	0	0	14.68	14.62	14.71
2026	-1.06	-107.1	2435	2293	3249	3192	405.8	-19.0	118	2031	0.00	2.47	0.00	0.000	516	0.000	0.070	2434	902	3219	3247	3192	0	0	0	0	0	0	15.05	14.50	15.07
2149	-1.06	-107.1	2435	903	3249	3193	429.0	-18.1	136	2156	0.12	2.53	0.00	0.000	3078	0.270	0.064	2454	2304	3219	3247	3192	0	0	0	0	0	0	14.10	14.51	14.31
2514	-1.06	-107.1	2453	2304	3247	3192	491.9	-17.3	143	2515	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2304	3219	3247	3192	0	0	0	0	0	0	15.05	15.08	15.07
2864	-1.06	-107.1	2453	2304	3247	3192	552.3	-17.2	148	2870	0.00	2.58	0.00	0.000	516	0.000	0.070	2454	893	3219	3247	3192	0	0	0	0	0	0	15.05	14.40	15.07
2891	-1.06	-107.1	2453	899	3247	3192	557.2	-17.6	152	2898	0.00	2.55	0.00	0.000	1030	0.000	0.065	2445	2306	3219	3247	3192	0	0	0	0	0	0	14.57	14.50	14.64
3286	-1.06	-107.1	2444	2305	3247	3192	627.4	-18.1	163	3287	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2302	3219	3247	3192	0	0	0	0	0	0	15.04	15.07	15.07
3634	-1.06	-107.1	2445	2307	3247	3192	652.3	-3.7	168	3640	0.00	2.55	0.00	0.000	548	0.000	0.067	2445	902	3219	3247	3191	0	0	0	0	0	0	15.19	14.43	15.22
3757	end dive: NO_VERTICAL_VELOCITY
state	3757	begin apogee
3765	-0.23	0.0	2446	2116	3249	3192	652.3	0.0	186	3887	0.90	0.00	120.10	3.030	10246	0.105	0.000	2733	2115	2780	2815	2746	0	0	0	0	0	0	14.46	13.62	12.25
3888	end apogee: CONTROL_FINISHED_OK
state	3888	begin climb
3891	1.06	107.1	2734	2116	2814	2746	652.2	0.0	187	4036	1.30	2.95	132.32	2.929	10500	0.093	0.094	3139	3508	2342	2386	2298	0	0	0	0	0	0	13.69	13.00	11.64
4070	1.16	189.3	3138	3508	2384	2295	649.8	4.9	220	4177	0.00	2.70	102.22	2.878	9254	0.000	0.044	3148	2096	2011	2074	1948	0	0	0	0	0	0	13.46	13.42	11.61
4533	1.17	189.3	3148	2096	2064	1934	610.0	9.4	241	4540	0.00	2.58	0.00	0.000	580	0.000	0.088	3148	703	1998	2064	1933	0	0	0	0	0	0	14.69	14.32	14.71
4588	1.18	189.3	3149	703	2065	1933	604.7	9.5	249	4596	0.00	2.47	0.00	0.000	1094	0.000	0.054	3148	2096	1997	2063	1932	0	0	0	0	0	0	14.54	14.50	14.58
4953	1.19	189.3	3148	2096	2064	1932	570.7	9.3	256	4959	0.12	2.58	0.00	0.000	2372	0.136	0.096	3200	3518	1997	2062	1932	0	0	0	0	0	0	14.75	14.60	14.85
5029	1.19	189.3	3200	3518	2061	1931	561.5	12.6	267	5037	0.00	2.47	0.00	0.000	1030	0.000	0.046	3207	2089	1996	2061	1931	0	0	0	0	0	0	14.76	14.71	14.79
5445	1.19	189.3	3207	2089	2061	1928	512.8	11.8	281	5445	0.00	0.00	0.00	0.000	6	0.000	0.000	3207	2089	1995	2060	1931	0	0	0	0	0	0	15.07	15.11	15.10
5792	1.19	189.3	3208	2090	2061	1931	471.8	11.7	286	5799	0.00	2.62	0.00	0.000	260	0.000	0.094	3207	3511	1994	2059	1930	0	0	0	0	0	0	15.16	14.59	15.18
5820	1.19	189.3	3208	3512	2059	1931	468.3	12.7	290	5827	0.10	2.45	0.00	0.000	5126	0.238	0.044	3189	2090	1992	2059	1926	0	0	0	0	0	0	14.40	14.72	14.58
6213	1.19	189.3	3188	2089	2058	1930	425.6	10.9	301	6219	0.00	2.55	0.00	0.000	516	0.000	0.090	3194	706	1993	2058	1929	0	0	0	0	0	0	15.09	14.54	15.11
6261	1.19	189.3	3190	707	2059	1930	420.2	11.0	308	6268	0.00	2.45	0.00	0.000	1030	0.000	0.055	3189	2109	1993	2057	1929	0	0	0	0	0	0	14.75	14.69	14.80
6633	1.19	189.3	3189	2109	2055	1929	379.7	10.8	316	6639	0.00	2.60	0.00	0.000	260	0.000	0.099	3189	3505	1993	2057	1929	0	0	0	0	0	0	15.08	14.53	15.11
6660	1.19	189.3	3190	3506	2059	1930	376.4	11.9	320	6667	0.00	2.45	0.00	0.000	1030	0.000	0.046	3189	2093	1992	2057	1928	0	0	0	0	0	0	14.76	14.69	14.81
7053	1.19	189.3	3188	2094	2056	1929	334.8	10.4	331	7059	0.00	2.65	0.00	0.000	260	0.000	0.096	3189	3510	1991	2055	1928	0	0	0	0	0	0	15.08	14.52	15.11
7101	1.19	189.3	3188	3510	2056	1929	329.8	10.7	338	7108	0.00	2.45	0.00	0.000	1030	0.000	0.045	3189	2098	1992	2056	1928	0	0	0	0	0	0	14.75	14.68	14.78
7473	1.23	189.3	3188	2099	2056	1929	297.5	8.5	346	7479	0.00	2.58	0.00	0.000	580	0.000	0.090	3189	704	1992	2056	1928	0	0	0	0	0	0	15.07	14.48	15.09
7500	1.27	228.7	3190	705	2057	1929	295.3	7.5	350	7549	0.00	2.47	40.78	2.668	9254	0.000	0.057	3189	2110	1848	1912	1784	0	0	0	0	0	0	14.70	14.63	13.11
7962	1.31	228.7	3190	2111	1908	1778	256.9	8.2	371	7963	0.00	0.00	0.00	0.000	70	0.000	0.000	3189	2110	1841	1906	1777	0	0	0	0	0	0	15.06	15.09	15.09
8313	1.33	228.7	3190	2111	1906	1777	225.7	8.9	376	8319	0.15	2.55	0.00	0.000	2372	0.125	0.099	3250	3512	1840	1905	1775	0	0	0	0	0	0	14.78	14.57	14.90
8368	1.33	228.7	3249	3512	1905	1777	218.7	13.2	384	8375	0.12	2.45	0.00	0.000	5126	0.235	0.045	3226	2092	1840	1905	1776	0	0	0	0	0	0	14.34	14.69	14.52
8734	1.33	228.7	3226	2093	1904	1776	178.3	11.2	394	8739	0.00	2.53	0.00	0.000	516	0.000	0.088	3233	699	1839	1904	1775	0	0	0	0	0	0	15.14	14.51	15.16
8774	1.33	228.7	3235	700	1906	1776	173.4	11.8	400	8781	0.00	2.47	0.00	0.000	1030	0.000	0.058	3233	2107	1839	1904	1775	0	0	0	0	0	0	14.65	14.58	14.70
9124	1.33	228.7	3234	2108	1906	1776	130.8	12.3	414	9131	0.00	2.60	0.00	0.000	260	0.000	0.096	3233	3516	1839	1904	1775	0	0	0	0	0	0	15.19	14.52	15.21
9174	1.33	228.7	3233	3517	1903	1775	123.8	14.5	421	9182	0.00	2.47	0.00	0.000	1030	0.000	0.047	3233	2093	1839	1904	1774	0	0	0	0	0	0	14.64	14.58	14.70
9516	1.33	228.7	3235	2094	1905	1775	81.8	11.3	434	9523	0.00	2.62	0.00	0.000	260	0.000	0.093	3233	3507	1838	1903	1774	0	0	0	0	0	0	15.16	14.52	15.19
9586	1.33	228.7	3233	3503	1903	1775	72.8	12.9	444	9593	0.00	2.45	0.00	0.000	1030	0.000	0.046	3237	2097	1838	1903	1774	0	0	0	0	0	0	14.72	14.66	14.77
9936	1.33	228.7	3232	2099	1904	1775	34.0	10.6	458	9937	0.00	0.00	0.00	0.000	6	0.000	0.000	3233	2096	1839	1904	1774	0	0	0	0	0	0	15.14	15.19	15.19
10186	end climb: FINISH_DEPTH_REACHED
state	10186	begin subsurface finish
10192	0.01	5.8	3233	2096	1903	1774	8.5	9.0	467	10229	1.55	2.60	-27.70	0.005	20996	0.212	0.100	2802	676	2760	2794	2726	0	0	0	0	0	0	14.25	12.72	14.42
10230	end subsurface finish: CONTROL_FINISHED_OK
state	10230	begin surface