Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 565 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.00184 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0133 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 565 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 37 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 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 3

D_BOOST 110 SM_CC 300 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 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 150 COMM_SEQ 0 C_VBD 3600 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.25119999 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 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 0.079999998 PITCH_MIN 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2730 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

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 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-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 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031300001 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 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 4320

CALL_WAIT 45 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.079999998 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 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 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2730 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3600 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 -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 565 MAXI_24V 2 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 37 VBD_PUMP_AD_RATE_APOGEE 1

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 7 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 400 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 150 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 251118,153230,-7406.8418,-11312.4795,23,0.8,23,53.8,0.6,294.2,12,3.5 SPEED_LIMITS 0.100,0.187

_CALLS 1 TGT_NAME hold

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.56 MHEAD_RNG_PITCHd_Wd 32.0,24641,-21.3,-10.000,-28.20,1570

_SM_ANGLEo -65.7 D_GRID 990

GPS2 251118,154325,-7406.7598,-11312.4131,3,0.9,5,53.8,0.5,50.9,11,4.3

Post-dive calculations and measurements:

FREEZE -0.35,-1.501,-1.020,2,1,0 ALTIM_BOTTOM_PING 515.7,12.0

FINISH1 -0.4,1.015070,0 _24V_AH 11.39,181.499

FINISH2 -0.4 _10V_AH 11.75,0.000

RAFOS_CLK 373 FG_AHR_24Vo 0.000

RAFOS 0,1543168864,18.032778,18.017778,100,79,61,60,59,55,620,224,142,195,119,691 FG_AHR_10Vo 0.000

RAFOS_FIX -7355.936523,-11218.617188,251118,181808,2,86,3.87 MEM 279860

IRIDIUM_FIX -7406.55,-11317.07,251118,125735 DATA_FILE_SIZE 13446,428

TT8_MAMPS 0.041944,0.217959 CAP_FILE_SIZE 81804,0

HUMID 49.33 CFSIZE 1024409600,953876480

INTERNAL_PRESSURE 7.89012 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.10 SOUNDSPEED 1445.9

XPDR_PINGS 2 CURRENT 0.000,0.00,1

ALTIM_TOP_PING 20.4,20.9 GPS 251118,154325,-7406.760,-11312.413,3,0.9,5,53.8,0.5,50.9,11,4.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 439 77.65 nil 0 0 0.00

Roll_motor 77 93 82.15 nil 0 0 0.00

VBD_pump_during_apogee 273 2921 9086.92 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 9153 3 323.50

Iridium_during_xfer 411 213 999.33 nil 0 0 0.00

Transponder_ping 21 420 104.05 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 8 0.74

TT8 0 0 0.00

LPSleep 7580 2 205.74

TT8_Active 527 10 67.33

TT8_Sampling 1364 30 486.77

TT8_CF8 329 51 198.87

TT8_Kalman 0 0 0.00

Analog_circuits 1324 10 157.20

GPS_charging 0 0 0.00

Compass 618 6 49.01

RAFOS 720 1 12.69

Transponder 147 30 52.12

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

10.7 12.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.7 23.10 9000.00 0.0 0.00 0.00 23.10 0.0 1.02 1.00

31.3 34.60 34.50 0.0 1.05 1.00 34.60 0.0 1.08 1.00

42.4 45.00 45.20 0.0 1.01 1.00 45.00 0.0 0.94 1.00

84.6 90.10 90.00 0.0 1.05 1.00 90.10 0.0 1.07 1.00

474.4 45.30 9000.00 0.0 -0.05 0.17 45.30 519.7 -0.11 1.00

490.6 32.80 9000.00 0.0 -0.13 0.97 32.80 523.4 -0.77 1.00

500.8 25.40 9000.00 0.0 -0.76 1.00 25.40 526.2 -0.73 1.00

515.7 11.70 12.00 527.7 -0.85 1.00 11.70 527.4 -0.92 1.00

525.5 21.60 9000.00 0.0 -0.21 0.14 21.60 503.9 1.01 1.00

512.9 31.30 9000.00 0.0 -0.29 0.04 31.30 0.0 -0.77 1.00

98.0 102.20 9000.00 0.0 -0.18 0.99 102.20 0.0 -0.17 1.00

87.4 91.40 9000.00 0.0 -0.16 0.97 91.40 -4.0 1.02 1.00

74.5 78.40 78.40 -3.9 1.02 1.00 78.40 -3.9 1.01 1.00

63.1 65.80 66.00 -2.9 1.06 1.00 65.80 -2.7 1.11 1.00

51.8 54.30 54.20 -2.4 1.06 1.00 54.30 -2.5 1.02 1.00

41.3 42.90 43.10 -1.8 1.05 1.00 42.90 -1.6 1.09 1.00

30.9 32.40 32.20 -1.3 1.06 1.00 32.40 -1.5 1.01 1.00

20.4 20.80 20.90 -0.5 1.06 1.00 20.80 -0.4 1.10 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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

12 -1.10 -107.1 190 2791 2422 2322 0.0 0.0 0 112 0.00 0.00 -98.30 0.003 16390 0.000 0.000 190 2790 3963 3975 3952 0 0 0 0 0 0 14.72 12.39 14.72

115 -1.10 -107.1 190 2791 3977 3955 1.9 -2.4 3 131 11.52 2.08 0.00 0.000 2308 0.439 0.076 2363 3917 3969 3977 3962 0 0 0 0 0 0 13.74 14.34 14.29

354 -1.10 -107.1 2363 3918 3977 3970 49.8 -18.0 38 361 0.00 1.98 0.00 0.000 1030 0.000 0.042 2363 2768 3972 3976 3969 0 0 0 0 0 0 14.57 14.54 14.58

697 -1.10 -107.1 2364 2768 3977 3970 108.0 -16.7 51 706 0.00 2.12 0.00 0.000 260 0.000 0.087 2360 3910 3973 3976 3970 0 0 0 0 0 0 14.92 14.26 14.92

762 -1.10 -107.1 2361 3911 3976 3972 119.2 -17.7 60 767 0.00 1.90 0.00 0.000 1030 0.000 0.044 2361 2803 3973 3976 3970 0 0 0 0 0 0 14.52 14.48 14.54

1120 -1.10 -107.1 2360 2802 3977 3971 177.9 -15.8 75 1125 0.00 2.42 0.00 0.000 516 0.000 0.049 2361 1397 3973 3976 3971 0 0 0 0 0 0 14.92 14.42 14.92

1167 -1.10 -107.1 2361 1396 3977 3970 185.8 -15.9 82 1174 0.00 2.55 0.00 0.000 1030 0.000 0.064 2359 2806 3972 3976 3969 0 0 0 0 0 0 14.41 14.33 14.46

1539 -1.10 -107.1 2360 2807 3976 3973 244.4 -15.6 91 1540 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 2806 3973 3976 3971 0 0 0 0 0 0 14.85 14.85 14.85

1875 -1.10 -107.1 2360 2806 3977 3971 295.1 -14.8 97 1881 0.00 2.03 0.00 0.000 260 0.000 0.086 2360 3905 3973 3976 3971 0 0 0 0 0 0 14.85 14.26 14.86

1930 -1.10 -107.1 2359 3905 3977 3971 304.0 -16.2 105 1937 0.00 1.92 0.00 0.000 1030 0.000 0.045 2358 2790 3973 3976 3971 0 0 0 0 0 0 14.61 14.57 14.62

2322 -1.10 -107.1 2358 2792 3982 3972 367.1 -16.0 119 2329 0.00 2.45 0.00 0.000 516 0.000 0.048 2358 1400 3973 3976 3971 0 0 0 0 0 0 14.94 14.35 14.95

2357 -1.10 -107.1 2358 1401 3976 3972 372.7 -16.0 124 2364 0.00 2.55 0.00 0.000 1030 0.000 0.063 2357 2809 3973 3976 3971 0 0 0 0 0 0 14.40 14.31 14.45

2714 -1.10 -107.1 2358 2809 3977 3971 429.6 -16.3 133 2722 0.00 2.03 0.00 0.000 260 0.000 0.086 2357 3920 3973 3976 3971 0 0 0 0 0 0 14.94 14.26 14.94

2798 -1.10 -107.1 2358 3916 3977 3971 443.8 -16.8 145 2805 0.00 1.95 0.00 0.000 1030 0.000 0.046 2357 2792 3973 3976 3971 0 0 0 0 0 0 14.62 14.56 14.64

3162 -1.10 -107.1 2358 2793 3978 3972 498.7 -14.6 155 3168 0.00 2.08 0.00 0.000 260 0.000 0.086 2357 3912 3974 3977 3971 0 0 0 0 0 0 14.94 14.24 14.94

3197 -1.10 -107.1 2357 3914 3976 3972 504.2 -15.9 160 3203 0.00 1.95 0.00 0.000 1030 0.000 0.046 2357 2788 3973 3975 3971 0 0 0 0 0 0 14.59 14.55 14.59

3327 end dive: BOTTOM_OBSTACLE_DETECTED

state 3327 begin apogee

3334 -0.23 0.0 2358 2538 3976 3972 524.0 -14.8 165 3447 1.17 0.00 109.80 2.922 10246 0.259 0.000 2654 2537 3599 3607 3592 0 0 0 0 0 0 13.83 13.60 12.14

3448 end apogee: CONTROL_FINISHED_OK

state 3448 begin climb

3451 1.10 107.1 2655 2538 3607 3592 529.9 0.0 167 3584 1.45 0.00 127.47 2.858 10758 0.154 0.000 3075 2537 3174 3186 3162 0 0 0 0 0 0 13.58 12.80 11.39

3947 1.14 107.1 3076 2537 3176 3150 494.7 8.1 197 3948 0.00 0.00 0.00 0.000 70 0.000 0.000 3075 2537 3162 3175 3150 0 0 0 0 0 0 14.66 14.69 14.69

4283 1.18 140.6 3076 2537 3175 3150 468.4 7.8 203 4325 0.00 2.58 35.80 2.793 8484 0.000 0.092 3078 3912 3038 3055 3021 0 0 0 0 0 0 14.88 14.18 12.71

4360 1.18 140.6 3075 3913 3055 3019 461.4 10.4 214 4366 0.00 2.40 0.00 0.000 1030 0.000 0.050 3085 2552 3035 3053 3017 0 0 0 0 0 0 14.38 14.34 14.40

4731 1.19 140.6 3084 2553 3049 3016 426.3 9.4 225 4732 0.00 0.00 0.00 0.000 70 0.000 0.000 3085 2553 3031 3048 3014 0 0 0 0 0 0 14.88 14.88 14.88

5067 1.19 140.6 3085 2554 3048 3014 392.5 10.1 231 5073 0.00 2.53 0.00 0.000 260 0.000 0.093 3085 3911 3030 3047 3013 0 0 0 0 0 0 14.93 14.38 14.92

5102 1.19 140.6 3085 3911 3049 3013 388.7 10.9 236 5109 0.00 2.38 0.00 0.000 1030 0.000 0.050 3094 2540 3030 3048 3013 0 0 0 0 0 0 14.60 14.57 14.63

5460 1.20 140.6 3095 2542 3049 3014 355.2 9.3 245 5466 0.00 2.42 0.00 0.000 580 0.000 0.060 3105 1149 3030 3047 3013 0 0 0 0 0 0 14.88 14.46 14.89

5522 1.21 140.6 3105 1149 3049 3012 349.4 9.4 254 5528 0.00 2.53 0.00 0.000 1094 0.000 0.067 3106 2553 3029 3047 3012 0 0 0 0 0 0 14.50 14.42 14.56

5910 1.22 140.6 3106 2553 3049 3012 312.4 9.5 267 5911 0.00 0.00 0.00 0.000 70 0.000 0.000 3105 2552 3030 3048 3012 0 0 0 0 0 0 14.89 14.89 14.89

6244 1.22 140.6 3106 2553 3049 3012 279.2 9.9 273 6250 0.00 2.53 0.00 0.000 260 0.000 0.093 3105 3910 3029 3047 3011 0 0 0 0 0 0 14.89 14.33 14.89

6327 1.22 140.6 3104 3911 3045 3014 270.1 10.9 285 6334 0.00 2.38 0.00 0.000 1030 0.000 0.049 3116 2543 3030 3048 3012 0 0 0 0 0 0 14.60 14.55 14.62

6692 1.24 140.6 3116 2544 3048 3014 236.2 9.3 295 6697 0.00 2.53 0.00 0.000 324 0.000 0.092 3116 3917 3030 3047 3013 0 0 0 0 0 0 14.89 14.38 14.89

6726 1.24 140.6 3116 3917 3049 3012 232.5 10.6 300 6732 0.00 2.40 0.00 0.000 1030 0.000 0.050 3126 2534 3030 3048 3013 0 0 0 0 0 0 14.60 14.56 14.62

7083 1.26 140.6 3126 2536 3048 3014 199.6 9.0 309 7090 0.00 2.58 0.00 0.000 324 0.000 0.092 3126 3914 3030 3048 3012 0 0 0 0 0 0 14.96 14.31 14.96

7125 1.26 140.6 3126 3915 3048 3013 195.3 10.5 315 7131 0.00 2.38 0.00 0.000 1030 0.000 0.050 3137 2550 3030 3048 3013 0 0 0 0 0 0 14.56 14.54 14.61

7479 1.28 140.6 3137 2551 3048 3013 162.9 9.1 329 7479 0.00 0.00 0.00 0.000 70 0.000 0.000 3136 2550 3030 3048 3012 0 0 0 0 0 0 14.88 14.88 14.88

7812 1.28 140.6 3133 2550 3049 3013 131.0 9.7 341 7818 0.00 2.45 0.00 0.000 516 0.000 0.060 3147 1153 3029 3047 3012 0 0 0 0 0 0 14.88 14.40 14.88

7846 1.28 140.6 3147 1154 3048 3014 127.6 9.6 346 7852 0.00 2.53 0.00 0.000 1030 0.000 0.066 3147 2551 3030 3048 3012 0 0 0 0 0 0 14.45 14.37 14.50

8203 1.28 140.6 3147 2552 3049 3014 92.6 9.7 361 8210 0.00 2.53 0.00 0.000 260 0.000 0.093 3147 3906 3030 3048 3012 0 0 0 0 0 0 14.95 14.27 14.95

8322 1.28 140.6 3147 3907 3049 3014 79.6 11.4 378 8328 0.00 2.38 0.00 0.000 1030 0.000 0.050 3157 2546 3030 3048 3012 0 0 0 0 0 0 14.54 14.50 14.56

8679 1.28 140.6 3157 2545 3049 3012 42.9 10.5 393 8686 0.00 2.55 0.00 0.000 260 0.000 0.092 3156 3905 3030 3048 3012 0 0 0 0 0 0 14.93 14.25 14.93

8807 1.28 140.6 3157 3905 3048 3014 28.5 11.7 411 8812 0.00 2.35 0.00 0.000 1030 0.000 0.051 3167 2535 3030 3048 3013 0 0 0 0 0 0 14.62 14.54 14.65

9071 end climb: FINISH_DEPTH_REACHED

state 9071 begin subsurface finish

9077 0.00 0.0 3168 2536 3049 3011 -0.4 10.5 422 9134 1.38 2.50 -48.22 0.004 20996 0.116 0.081 2728 1150 3602 3601 3603 0 0 0 0 0 0 14.27 12.30 14.49

9134 end subsurface finish: CONTROL_FINISHED_OK

state 9134 begin surface

ID	221	HD_A	0.00184	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0133	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	565	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	37	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	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	3
D_BOOST	110	SM_CC	300	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	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	150	COMM_SEQ	0	C_VBD	3600	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.25119999	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	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	0.079999998	PITCH_MIN	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2730	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
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	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	883

GPS1	251118,153230,-7406.8418,-11312.4795,23,0.8,23,53.8,0.6,294.2,12,3.5	SPEED_LIMITS	0.100,0.187
_CALLS	1	TGT_NAME	hold
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.56	MHEAD_RNG_PITCHd_Wd	32.0,24641,-21.3,-10.000,-28.20,1570
_SM_ANGLEo	-65.7	D_GRID	990
GPS2	251118,154325,-7406.7598,-11312.4131,3,0.9,5,53.8,0.5,50.9,11,4.3

FREEZE	-0.35,-1.501,-1.020,2,1,0	ALTIM_BOTTOM_PING	515.7,12.0
FINISH1	-0.4,1.015070,0	_24V_AH	11.39,181.499
FINISH2	-0.4	_10V_AH	11.75,0.000
RAFOS_CLK	373	FG_AHR_24Vo	0.000
RAFOS	0,1543168864,18.032778,18.017778,100,79,61,60,59,55,620,224,142,195,119,691	FG_AHR_10Vo	0.000
RAFOS_FIX	-7355.936523,-11218.617188,251118,181808,2,86,3.87	MEM	279860
IRIDIUM_FIX	-7406.55,-11317.07,251118,125735	DATA_FILE_SIZE	13446,428
TT8_MAMPS	0.041944,0.217959	CAP_FILE_SIZE	81804,0
HUMID	49.33	CFSIZE	1024409600,953876480
INTERNAL_PRESSURE	7.89012	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.10	SOUNDSPEED	1445.9
XPDR_PINGS	2	CURRENT	0.000,0.00,1
ALTIM_TOP_PING	20.4,20.9	GPS	251118,154325,-7406.760,-11312.413,3,0.9,5,53.8,0.5,50.9,11,4.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	439	77.65	nil	0	0	0.00
Roll_motor	77	93	82.15	nil	0	0	0.00
VBD_pump_during_apogee	273	2921	9086.92	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	9153	3	323.50
Iridium_during_xfer	411	213	999.33	nil	0	0	0.00
Transponder_ping	21	420	104.05	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	8	0.74
TT8	0	0	0.00
LPSleep	7580	2	205.74
TT8_Active	527	10	67.33
TT8_Sampling	1364	30	486.77
TT8_CF8	329	51	198.87
TT8_Kalman	0	0	0.00
Analog_circuits	1324	10	157.20
GPS_charging	0	0	0.00
Compass	618	6	49.01
RAFOS	720	1	12.69
Transponder	147	30	52.12

		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
10.7	12.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.7	23.10	9000.00	0.0	0.00	0.00	23.10	0.0	1.02	1.00
31.3	34.60	34.50	0.0	1.05	1.00	34.60	0.0	1.08	1.00
42.4	45.00	45.20	0.0	1.01	1.00	45.00	0.0	0.94	1.00
84.6	90.10	90.00	0.0	1.05	1.00	90.10	0.0	1.07	1.00
474.4	45.30	9000.00	0.0	-0.05	0.17	45.30	519.7	-0.11	1.00
490.6	32.80	9000.00	0.0	-0.13	0.97	32.80	523.4	-0.77	1.00
500.8	25.40	9000.00	0.0	-0.76	1.00	25.40	526.2	-0.73	1.00
515.7	11.70	12.00	527.7	-0.85	1.00	11.70	527.4	-0.92	1.00

525.5	21.60	9000.00	0.0	-0.21	0.14	21.60	503.9	1.01	1.00
512.9	31.30	9000.00	0.0	-0.29	0.04	31.30	0.0	-0.77	1.00
98.0	102.20	9000.00	0.0	-0.18	0.99	102.20	0.0	-0.17	1.00
87.4	91.40	9000.00	0.0	-0.16	0.97	91.40	-4.0	1.02	1.00
74.5	78.40	78.40	-3.9	1.02	1.00	78.40	-3.9	1.01	1.00
63.1	65.80	66.00	-2.9	1.06	1.00	65.80	-2.7	1.11	1.00
51.8	54.30	54.20	-2.4	1.06	1.00	54.30	-2.5	1.02	1.00
41.3	42.90	43.10	-1.8	1.05	1.00	42.90	-1.6	1.09	1.00
30.9	32.40	32.20	-1.3	1.06	1.00	32.40	-1.5	1.01	1.00
20.4	20.80	20.90	-0.5	1.06	1.00	20.80	-0.4	1.10	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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
12	-1.10	-107.1	190	2791	2422	2322	0.0	0.0	0	112	0.00	0.00	-98.30	0.003	16390	0.000	0.000	190	2790	3963	3975	3952	0	0	0	0	0	0	14.72	12.39	14.72
115	-1.10	-107.1	190	2791	3977	3955	1.9	-2.4	3	131	11.52	2.08	0.00	0.000	2308	0.439	0.076	2363	3917	3969	3977	3962	0	0	0	0	0	0	13.74	14.34	14.29
354	-1.10	-107.1	2363	3918	3977	3970	49.8	-18.0	38	361	0.00	1.98	0.00	0.000	1030	0.000	0.042	2363	2768	3972	3976	3969	0	0	0	0	0	0	14.57	14.54	14.58
697	-1.10	-107.1	2364	2768	3977	3970	108.0	-16.7	51	706	0.00	2.12	0.00	0.000	260	0.000	0.087	2360	3910	3973	3976	3970	0	0	0	0	0	0	14.92	14.26	14.92
762	-1.10	-107.1	2361	3911	3976	3972	119.2	-17.7	60	767	0.00	1.90	0.00	0.000	1030	0.000	0.044	2361	2803	3973	3976	3970	0	0	0	0	0	0	14.52	14.48	14.54
1120	-1.10	-107.1	2360	2802	3977	3971	177.9	-15.8	75	1125	0.00	2.42	0.00	0.000	516	0.000	0.049	2361	1397	3973	3976	3971	0	0	0	0	0	0	14.92	14.42	14.92
1167	-1.10	-107.1	2361	1396	3977	3970	185.8	-15.9	82	1174	0.00	2.55	0.00	0.000	1030	0.000	0.064	2359	2806	3972	3976	3969	0	0	0	0	0	0	14.41	14.33	14.46
1539	-1.10	-107.1	2360	2807	3976	3973	244.4	-15.6	91	1540	0.00	0.00	0.00	0.000	6	0.000	0.000	2359	2806	3973	3976	3971	0	0	0	0	0	0	14.85	14.85	14.85
1875	-1.10	-107.1	2360	2806	3977	3971	295.1	-14.8	97	1881	0.00	2.03	0.00	0.000	260	0.000	0.086	2360	3905	3973	3976	3971	0	0	0	0	0	0	14.85	14.26	14.86
1930	-1.10	-107.1	2359	3905	3977	3971	304.0	-16.2	105	1937	0.00	1.92	0.00	0.000	1030	0.000	0.045	2358	2790	3973	3976	3971	0	0	0	0	0	0	14.61	14.57	14.62
2322	-1.10	-107.1	2358	2792	3982	3972	367.1	-16.0	119	2329	0.00	2.45	0.00	0.000	516	0.000	0.048	2358	1400	3973	3976	3971	0	0	0	0	0	0	14.94	14.35	14.95
2357	-1.10	-107.1	2358	1401	3976	3972	372.7	-16.0	124	2364	0.00	2.55	0.00	0.000	1030	0.000	0.063	2357	2809	3973	3976	3971	0	0	0	0	0	0	14.40	14.31	14.45
2714	-1.10	-107.1	2358	2809	3977	3971	429.6	-16.3	133	2722	0.00	2.03	0.00	0.000	260	0.000	0.086	2357	3920	3973	3976	3971	0	0	0	0	0	0	14.94	14.26	14.94
2798	-1.10	-107.1	2358	3916	3977	3971	443.8	-16.8	145	2805	0.00	1.95	0.00	0.000	1030	0.000	0.046	2357	2792	3973	3976	3971	0	0	0	0	0	0	14.62	14.56	14.64
3162	-1.10	-107.1	2358	2793	3978	3972	498.7	-14.6	155	3168	0.00	2.08	0.00	0.000	260	0.000	0.086	2357	3912	3974	3977	3971	0	0	0	0	0	0	14.94	14.24	14.94
3197	-1.10	-107.1	2357	3914	3976	3972	504.2	-15.9	160	3203	0.00	1.95	0.00	0.000	1030	0.000	0.046	2357	2788	3973	3975	3971	0	0	0	0	0	0	14.59	14.55	14.59
3327	end dive: BOTTOM_OBSTACLE_DETECTED
state	3327	begin apogee
3334	-0.23	0.0	2358	2538	3976	3972	524.0	-14.8	165	3447	1.17	0.00	109.80	2.922	10246	0.259	0.000	2654	2537	3599	3607	3592	0	0	0	0	0	0	13.83	13.60	12.14
3448	end apogee: CONTROL_FINISHED_OK
state	3448	begin climb
3451	1.10	107.1	2655	2538	3607	3592	529.9	0.0	167	3584	1.45	0.00	127.47	2.858	10758	0.154	0.000	3075	2537	3174	3186	3162	0	0	0	0	0	0	13.58	12.80	11.39
3947	1.14	107.1	3076	2537	3176	3150	494.7	8.1	197	3948	0.00	0.00	0.00	0.000	70	0.000	0.000	3075	2537	3162	3175	3150	0	0	0	0	0	0	14.66	14.69	14.69
4283	1.18	140.6	3076	2537	3175	3150	468.4	7.8	203	4325	0.00	2.58	35.80	2.793	8484	0.000	0.092	3078	3912	3038	3055	3021	0	0	0	0	0	0	14.88	14.18	12.71
4360	1.18	140.6	3075	3913	3055	3019	461.4	10.4	214	4366	0.00	2.40	0.00	0.000	1030	0.000	0.050	3085	2552	3035	3053	3017	0	0	0	0	0	0	14.38	14.34	14.40
4731	1.19	140.6	3084	2553	3049	3016	426.3	9.4	225	4732	0.00	0.00	0.00	0.000	70	0.000	0.000	3085	2553	3031	3048	3014	0	0	0	0	0	0	14.88	14.88	14.88
5067	1.19	140.6	3085	2554	3048	3014	392.5	10.1	231	5073	0.00	2.53	0.00	0.000	260	0.000	0.093	3085	3911	3030	3047	3013	0	0	0	0	0	0	14.93	14.38	14.92
5102	1.19	140.6	3085	3911	3049	3013	388.7	10.9	236	5109	0.00	2.38	0.00	0.000	1030	0.000	0.050	3094	2540	3030	3048	3013	0	0	0	0	0	0	14.60	14.57	14.63
5460	1.20	140.6	3095	2542	3049	3014	355.2	9.3	245	5466	0.00	2.42	0.00	0.000	580	0.000	0.060	3105	1149	3030	3047	3013	0	0	0	0	0	0	14.88	14.46	14.89
5522	1.21	140.6	3105	1149	3049	3012	349.4	9.4	254	5528	0.00	2.53	0.00	0.000	1094	0.000	0.067	3106	2553	3029	3047	3012	0	0	0	0	0	0	14.50	14.42	14.56
5910	1.22	140.6	3106	2553	3049	3012	312.4	9.5	267	5911	0.00	0.00	0.00	0.000	70	0.000	0.000	3105	2552	3030	3048	3012	0	0	0	0	0	0	14.89	14.89	14.89
6244	1.22	140.6	3106	2553	3049	3012	279.2	9.9	273	6250	0.00	2.53	0.00	0.000	260	0.000	0.093	3105	3910	3029	3047	3011	0	0	0	0	0	0	14.89	14.33	14.89
6327	1.22	140.6	3104	3911	3045	3014	270.1	10.9	285	6334	0.00	2.38	0.00	0.000	1030	0.000	0.049	3116	2543	3030	3048	3012	0	0	0	0	0	0	14.60	14.55	14.62
6692	1.24	140.6	3116	2544	3048	3014	236.2	9.3	295	6697	0.00	2.53	0.00	0.000	324	0.000	0.092	3116	3917	3030	3047	3013	0	0	0	0	0	0	14.89	14.38	14.89
6726	1.24	140.6	3116	3917	3049	3012	232.5	10.6	300	6732	0.00	2.40	0.00	0.000	1030	0.000	0.050	3126	2534	3030	3048	3013	0	0	0	0	0	0	14.60	14.56	14.62
7083	1.26	140.6	3126	2536	3048	3014	199.6	9.0	309	7090	0.00	2.58	0.00	0.000	324	0.000	0.092	3126	3914	3030	3048	3012	0	0	0	0	0	0	14.96	14.31	14.96
7125	1.26	140.6	3126	3915	3048	3013	195.3	10.5	315	7131	0.00	2.38	0.00	0.000	1030	0.000	0.050	3137	2550	3030	3048	3013	0	0	0	0	0	0	14.56	14.54	14.61
7479	1.28	140.6	3137	2551	3048	3013	162.9	9.1	329	7479	0.00	0.00	0.00	0.000	70	0.000	0.000	3136	2550	3030	3048	3012	0	0	0	0	0	0	14.88	14.88	14.88
7812	1.28	140.6	3133	2550	3049	3013	131.0	9.7	341	7818	0.00	2.45	0.00	0.000	516	0.000	0.060	3147	1153	3029	3047	3012	0	0	0	0	0	0	14.88	14.40	14.88
7846	1.28	140.6	3147	1154	3048	3014	127.6	9.6	346	7852	0.00	2.53	0.00	0.000	1030	0.000	0.066	3147	2551	3030	3048	3012	0	0	0	0	0	0	14.45	14.37	14.50
8203	1.28	140.6	3147	2552	3049	3014	92.6	9.7	361	8210	0.00	2.53	0.00	0.000	260	0.000	0.093	3147	3906	3030	3048	3012	0	0	0	0	0	0	14.95	14.27	14.95
8322	1.28	140.6	3147	3907	3049	3014	79.6	11.4	378	8328	0.00	2.38	0.00	0.000	1030	0.000	0.050	3157	2546	3030	3048	3012	0	0	0	0	0	0	14.54	14.50	14.56
8679	1.28	140.6	3157	2545	3049	3012	42.9	10.5	393	8686	0.00	2.55	0.00	0.000	260	0.000	0.092	3156	3905	3030	3048	3012	0	0	0	0	0	0	14.93	14.25	14.93
8807	1.28	140.6	3157	3905	3048	3014	28.5	11.7	411	8812	0.00	2.35	0.00	0.000	1030	0.000	0.051	3167	2535	3030	3048	3013	0	0	0	0	0	0	14.62	14.54	14.65
9071	end climb: FINISH_DEPTH_REACHED
state	9071	begin subsurface finish
9077	0.00	0.0	3168	2536	3049	3011	-0.4	10.5	422	9134	1.38	2.50	-48.22	0.004	20996	0.116	0.081	2728	1150	3602	3601	3603	0	0	0	0	0	0	14.27	12.30	14.49
9134	end subsurface finish: CONTROL_FINISHED_OK
state	9134	begin surface