Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 675 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.0042300001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0085000005 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 675 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 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 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 42 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 3

D_BOOST 110 SM_CC 399.91037 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 400 FILEMGR 2 VBD_MIN 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 3492 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 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 -5 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 0 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 20 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 2775 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 0 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 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 399.91037

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 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 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 0.0042300001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0085000005 PITCH_W_DBAND 0.5 T_ABORT 1440

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 350

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 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 390

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 2775 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 0 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3492 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 675 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 42 VBD_PUMP_AD_RATE_APOGEE 1

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 400 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 500 NAV_MODE 0 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 500 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 151218,061528,-7411.9082,-11228.0283,0,4116.0,0,53.4,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.239

_CALLS 1 TGT_NAME ip2

_XMS_NAKs 0 TGT_LATLONG -7414.250,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 395.06 MHEAD_RNG_PITCHd_Wd 139.5,4449,-22.0,-9.429,-23.99,1338

_SM_ANGLEo 4.9 D_GRID 990

GPS2 151218,061528,-7411.9082,-11228.0283,0,4116.0,0,53.4,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 399.01,-1.521,-2.176,2,2,0 _24V_AH 10.84,213.061

FINISH1 399.0,1.027511,-1 _10V_AH 11.34,0.000

FINISH2 397.3 FG_AHR_24Vo 0.000

RAFOS_CLK 451 FG_AHR_10Vo 0.000

RAFOS 0,1544864461,9.032354,9.016945,165,62,58,57,54,54,550,213,201,159,128,138 MEM 279900

RAFOS_FIX -7412.992188,-11222.774414,151218,090940,2,149,0.31 DATA_FILE_SIZE 26664,829

IRIDIUM_FIX -7410.85,-11223.24,141218,223050 CAP_FILE_SIZE 110609,0

TT8_MAMPS 0.038948,0.435169 CFSIZE 1024409600,940408832

HUMID 50.74 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.93895 SOUNDSPEED 1455.2

TCM_TEMP 13.20 GPS 151218,091440,-7412.992,-11222.774,0,3149.0,0,53.4,0.0,0.0,0,0.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 322 18.90 nil 0 0 0.00

Roll_motor 85 88 81.81 nil 0 0 0.00

VBD_pump_during_apogee 277 3096 9322.80 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 11016 9 1152.34

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 41 420 190.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8650 2 226.60

TT8_Active 390 10 48.08

TT8_Sampling 1806 30 621.61

TT8_CF8 256 51 149.03

TT8_Kalman 0 0 0.00

Analog_circuits 1008 10 115.47

GPS_charging 0 0 0.00

Compass 1189 6 90.95

RAFOS 720 1 12.25

Transponder 309 30 105.26

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

961.0 53.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

974.6 40.30 9000.00 0.0 0.00 0.00 40.30 1014.9 -0.96 1.00

989.4 31.30 9000.00 0.0 -0.78 0.98 31.30 1020.7 -0.61 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

13 -1.10 -82.3 2780 2797 3536 3537 0.0 0.0 0 15 0.00 0.00 -1.25 0.072 16390 0.000 0.000 2780 2795 3839 3834 3845 0 0 0 0 0 0 14.83 12.69 14.73

19 -1.10 -82.3 2780 2796 3844 3853 0.0 0.0 0 25 1.15 2.40 0.00 0.000 4612 0.138 0.045 2423 1387 3848 3843 3854 0 0 0 0 0 0 14.20 14.38 14.31

66 -1.13 -107.1 2423 1386 3851 3857 397.2 -5.7 9 73 0.00 2.55 -0.35 0.265 17446 0.000 0.063 2417 2815 3940 3936 3945 0 0 0 0 0 0 14.51 14.38 14.56

371 -1.13 -107.1 2423 2815 3947 3954 423.8 -9.3 40 376 0.00 2.00 0.00 0.000 260 0.000 0.087 2419 3916 3950 3946 3954 0 0 0 0 0 0 14.86 14.28 14.85

417 -1.13 -107.1 2420 3916 3947 3954 428.4 -10.2 49 424 0.00 1.90 0.00 0.000 1030 0.000 0.047 2419 2790 3950 3946 3954 0 0 0 0 0 0 14.57 14.50 14.60

722 -1.13 -107.1 2419 2791 3947 3955 456.0 -8.6 80 727 0.00 2.42 0.00 0.000 516 0.000 0.046 2419 1390 3951 3947 3955 0 0 0 0 0 0 14.90 14.38 14.90

753 -1.13 -107.1 2420 1390 3949 3955 458.7 -8.9 86 758 0.00 2.55 0.00 0.000 1030 0.000 0.063 2417 2814 3951 3947 3955 0 0 0 0 0 0 14.41 14.28 14.46

1064 -1.13 -107.1 2417 2814 3947 3956 485.4 -8.6 118 1064 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2814 3951 3947 3956 0 0 0 0 0 0 14.91 14.91 14.93

1363 -1.13 -107.1 2417 2814 3948 3955 511.0 -8.4 148 1368 0.00 2.50 0.00 0.000 516 0.000 0.046 2417 1391 3951 3947 3956 0 0 0 0 0 0 14.92 14.21 14.92

1405 -1.13 -107.1 2418 1390 3949 3956 514.5 -8.7 156 1410 0.00 2.55 0.00 0.000 1030 0.000 0.063 2413 2813 3951 3947 3956 0 0 0 0 0 0 14.45 14.31 14.50

1716 -1.13 -107.1 2412 2813 3949 3956 541.9 -8.8 188 1717 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2813 3951 3947 3955 0 0 0 0 0 0 14.90 14.90 14.90

2016 -1.13 -107.1 2411 2814 3948 3957 568.2 -9.0 218 2021 0.00 2.47 0.00 0.000 516 0.000 0.047 2412 1394 3951 3947 3955 0 0 0 0 0 0 14.86 14.34 14.86

2051 -1.13 -107.1 2413 1394 3949 3956 571.5 -8.8 225 2058 0.00 2.55 0.00 0.000 1030 0.000 0.065 2411 2814 3951 3947 3955 0 0 0 0 0 0 14.45 14.31 14.48

2356 -1.13 -107.1 2409 2818 3948 3956 599.8 -9.2 256 2362 0.00 2.03 0.00 0.000 260 0.000 0.087 2407 3919 3951 3947 3956 0 0 0 0 0 0 14.90 14.22 14.90

2387 -1.13 -107.1 2407 3919 3948 3956 602.7 -9.9 262 2393 0.00 1.92 0.00 0.000 1030 0.000 0.047 2407 2793 3951 3947 3956 0 0 0 0 0 0 14.52 14.45 14.54

2698 -1.13 -107.1 2407 2794 3948 3956 630.2 -8.8 294 2699 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2793 3951 3947 3955 0 0 0 0 0 0 14.91 14.92 14.92

2998 -1.13 -107.1 2407 2793 3948 3954 656.3 -8.6 324 3003 0.00 2.45 0.00 0.000 516 0.000 0.046 2407 1391 3950 3947 3954 0 0 0 0 0 0 14.92 14.33 14.92

3044 -1.13 -107.1 2407 1391 3948 3953 660.4 -8.8 333 3051 0.00 2.58 0.00 0.000 1030 0.000 0.063 2400 2807 3950 3947 3954 0 0 0 0 0 0 14.31 14.17 14.35

3349 -1.13 -107.1 2400 2807 3949 3952 687.5 -8.6 364 3354 0.00 2.50 0.00 0.000 516 0.000 0.047 2400 1387 3950 3947 3953 0 0 0 0 0 0 14.92 14.33 14.92

3380 -1.13 -107.1 2401 1387 3948 3952 690.2 -8.5 370 3385 0.00 2.55 0.00 0.000 1030 0.000 0.065 2397 2803 3948 3947 3950 0 0 0 0 0 0 14.42 14.28 14.46

3712 -1.13 -107.1 2399 2803 3948 3953 719.1 -8.8 390 3712 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2803 3950 3947 3953 0 0 0 0 0 0 14.74 14.75 14.74

4072 -1.13 -107.1 2398 2804 3947 3954 749.9 -8.6 402 4073 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2803 3950 3947 3953 0 0 0 0 0 0 14.75 14.75 14.75

4432 -1.13 -107.1 2398 2804 3948 3954 780.3 -8.1 414 4437 0.00 2.47 0.00 0.000 516 0.000 0.046 2398 1389 3950 3947 3953 0 0 0 0 0 0 14.74 14.31 14.74

4468 -1.13 -107.1 2398 1389 3948 3954 783.4 -8.5 421 4474 0.00 2.58 0.00 0.000 1030 0.000 0.064 2398 2814 3950 3947 3953 0 0 0 0 0 0 14.34 14.18 14.40

4857 -1.13 -107.1 2398 2814 3946 3953 815.0 -8.0 438 4858 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2814 3950 3947 3953 0 0 0 0 0 0 14.85 14.85 14.85

5214 -1.13 -107.1 2398 2814 3948 3952 843.8 -8.1 450 5215 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2814 3950 3947 3953 0 0 0 0 0 0 14.88 14.88 14.88

5574 -1.13 -107.1 2398 2815 3947 3954 872.5 -7.7 462 5579 0.00 2.50 0.00 0.000 516 0.000 0.046 2398 1385 3948 3947 3949 0 0 0 0 0 0 14.88 14.27 14.88

5640 -1.13 -107.1 2399 1385 3948 3952 877.7 -6.9 475 5645 0.00 2.58 0.00 0.000 1062 0.000 0.065 2397 2809 3950 3947 3953 0 0 0 0 0 0 14.35 14.22 14.40

6029 -1.13 -107.1 2398 2810 3948 3953 907.1 -7.8 492 6033 0.00 2.47 0.00 0.000 516 0.000 0.046 2398 1397 3949 3946 3952 0 0 0 0 0 0 14.86 14.28 14.86

6069 -1.13 -107.1 2398 1397 3948 3953 910.5 -9.1 500 6074 0.00 2.55 0.00 0.000 1030 0.000 0.064 2393 2807 3950 3947 3953 0 0 0 0 0 0 14.38 14.23 14.42

6452 -1.13 -107.1 2390 2805 3948 3953 941.7 -8.2 516 6453 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2807 3950 3947 3953 0 0 0 0 0 0 14.88 14.88 14.88

6810 -1.13 -107.1 2394 2808 3947 3954 970.5 -7.8 528 6816 0.00 2.50 0.00 0.000 516 0.000 0.045 2394 1390 3950 3947 3953 0 0 0 0 0 0 14.88 14.26 14.87

6881 -1.13 -107.1 2394 1391 3948 3954 976.1 -7.7 542 6886 0.00 2.58 0.00 0.000 1030 0.000 0.063 2385 2816 3950 3947 3953 0 0 0 0 0 0 14.37 14.22 14.41

7079 end dive: TARGET_DEPTH_EXCEEDED

state 7079 begin apogee

7086 -0.23 0.0 2386 2533 3948 3954 991.9 -7.8 552 7225 1.20 0.00 135.90 3.096 10246 0.232 0.000 2699 2532 3492 3498 3486 0 0 0 0 0 0 13.81 13.14 11.74

7226 end apogee: CONTROL_FINISHED_OK

state 7226 begin climb

7229 1.13 107.1 2700 2532 3499 3486 993.6 0.0 556 7374 1.48 0.00 141.82 3.097 10246 0.109 0.000 3138 2531 3066 3077 3055 0 0 0 0 0 0 13.19 12.26 10.84

7712 1.13 107.1 3138 2531 3066 3044 921.4 16.4 573 7713 0.00 0.00 0.00 0.000 6 0.000 0.000 3138 2531 3055 3067 3044 0 0 0 0 0 0 14.54 14.54 14.55

8075 1.13 107.1 3138 2532 3065 3044 862.3 16.2 585 8084 0.00 2.50 0.00 0.000 260 0.000 0.087 3138 3910 3054 3065 3043 0 0 0 0 0 0 14.90 14.32 14.86

8099 1.13 107.1 3137 3911 3065 3044 857.3 17.9 589 8105 0.00 2.33 0.00 0.000 1030 0.000 0.047 3147 2536 3055 3065 3045 0 0 0 0 0 0 14.65 14.58 14.67

8471 1.13 107.1 3148 2537 3065 3042 796.0 16.4 603 8479 0.00 2.42 0.00 0.000 516 0.000 0.060 3158 1150 3057 3064 3050 0 0 0 0 0 0 14.92 14.44 14.92

8495 1.13 107.1 3158 1151 3064 3042 792.0 16.7 607 8500 0.00 2.50 0.00 0.000 1030 0.000 0.064 3158 2555 3052 3063 3042 0 0 0 0 0 0 14.52 14.38 14.55

8869 1.13 107.1 3158 2556 3064 3042 728.9 17.3 621 8869 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 2555 3052 3063 3041 0 0 0 0 0 0 14.89 14.89 14.89

9226 1.13 107.1 3158 2556 3063 3042 668.9 16.0 645 9227 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 2555 3052 3063 3041 0 0 0 0 0 0 14.90 14.90 14.91

9526 1.13 107.1 3158 2556 3063 3042 620.6 16.0 675 9531 0.00 2.47 0.00 0.000 516 0.000 0.060 3167 1159 3052 3063 3041 0 0 0 0 0 0 14.90 14.38 14.90

9552 1.13 107.1 3168 1160 3064 3041 616.5 15.8 680 9558 0.00 2.47 0.00 0.000 1030 0.000 0.063 3168 2555 3051 3062 3041 0 0 0 0 0 0 14.54 14.40 14.59

9858 1.13 107.1 3168 2555 3064 3041 567.8 15.8 711 9859 0.00 0.00 0.00 0.000 6 0.000 0.000 3168 2555 3050 3063 3038 0 0 0 0 0 0 14.82 14.82 14.82

10158 1.13 107.1 3168 2555 3064 3039 520.2 15.7 741 10159 0.00 0.00 0.00 0.000 6 0.000 0.000 3166 2555 3052 3063 3041 0 0 0 0 0 0 14.90 14.89 14.89

10458 1.13 107.1 3168 2556 3063 3042 473.1 15.4 771 10463 0.00 2.47 0.00 0.000 260 0.000 0.089 3168 3913 3052 3063 3041 0 0 0 0 0 0 14.78 14.31 14.78

10484 1.13 107.1 3168 3913 3064 3041 468.6 16.7 776 10490 0.17 2.33 0.00 0.000 5126 0.323 0.048 3143 2545 3052 3063 3041 0 0 0 0 0 0 13.88 14.46 14.32

10789 1.13 107.1 3143 2546 3064 3042 425.3 13.8 807 10795 0.00 2.45 0.00 0.000 516 0.000 0.060 3153 1144 3052 3063 3041 0 0 0 0 0 0 14.92 14.26 14.92

10811 1.13 107.1 3152 1144 3064 3042 422.3 13.2 811 10816 0.00 2.53 0.00 0.000 1030 0.000 0.063 3152 2566 3051 3063 3040 0 0 0 0 0 0 14.52 14.38 14.57

10971 end climb: FINISH_DEPTH_REACHED

state 10971 begin subsurface finish

10978 -0.00 -0.6 3153 2568 3064 3042 399.0 14.6 828 10988 1.40 0.00 -1.83 0.060 20486 0.246 0.000 2780 2566 3522 3522 3522 0 0 0 0 0 0 13.95 12.77 14.19

10989 end subsurface finish: CONTROL_FINISHED_OK

state 10989 begin surface

ID	221	HD_A	0.0042300001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0085000005	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	675	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	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	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	42	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	3
D_BOOST	110	SM_CC	399.91037	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	400	FILEMGR	2	VBD_MIN	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	3492	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	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	-5	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	0	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	20	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	2775	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	0	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	151218,061528,-7411.9082,-11228.0283,0,4116.0,0,53.4,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.239
_CALLS	1	TGT_NAME	ip2
_XMS_NAKs	0	TGT_LATLONG	-7414.250,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	395.06	MHEAD_RNG_PITCHd_Wd	139.5,4449,-22.0,-9.429,-23.99,1338
_SM_ANGLEo	4.9	D_GRID	990
GPS2	151218,061528,-7411.9082,-11228.0283,0,4116.0,0,53.4,0.0,0.0,0,0.0

FREEZE	399.01,-1.521,-2.176,2,2,0	_24V_AH	10.84,213.061
FINISH1	399.0,1.027511,-1	_10V_AH	11.34,0.000
FINISH2	397.3	FG_AHR_24Vo	0.000
RAFOS_CLK	451	FG_AHR_10Vo	0.000
RAFOS	0,1544864461,9.032354,9.016945,165,62,58,57,54,54,550,213,201,159,128,138	MEM	279900
RAFOS_FIX	-7412.992188,-11222.774414,151218,090940,2,149,0.31	DATA_FILE_SIZE	26664,829
IRIDIUM_FIX	-7410.85,-11223.24,141218,223050	CAP_FILE_SIZE	110609,0
TT8_MAMPS	0.038948,0.435169	CFSIZE	1024409600,940408832
HUMID	50.74	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.93895	SOUNDSPEED	1455.2
TCM_TEMP	13.20	GPS	151218,091440,-7412.992,-11222.774,0,3149.0,0,53.4,0.0,0.0,0,0.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	322	18.90	nil	0	0	0.00
Roll_motor	85	88	81.81	nil	0	0	0.00
VBD_pump_during_apogee	277	3096	9322.80	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	11016	9	1152.34
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	41	420	190.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8650	2	226.60
TT8_Active	390	10	48.08
TT8_Sampling	1806	30	621.61
TT8_CF8	256	51	149.03
TT8_Kalman	0	0	0.00
Analog_circuits	1008	10	115.47
GPS_charging	0	0	0.00
Compass	1189	6	90.95
RAFOS	720	1	12.25
Transponder	309	30	105.26

		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
961.0	53.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
974.6	40.30	9000.00	0.0	0.00	0.00	40.30	1014.9	-0.96	1.00
989.4	31.30	9000.00	0.0	-0.78	0.98	31.30	1020.7	-0.61	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
13	-1.10	-82.3	2780	2797	3536	3537	0.0	0.0	0	15	0.00	0.00	-1.25	0.072	16390	0.000	0.000	2780	2795	3839	3834	3845	0	0	0	0	0	0	14.83	12.69	14.73
19	-1.10	-82.3	2780	2796	3844	3853	0.0	0.0	0	25	1.15	2.40	0.00	0.000	4612	0.138	0.045	2423	1387	3848	3843	3854	0	0	0	0	0	0	14.20	14.38	14.31
66	-1.13	-107.1	2423	1386	3851	3857	397.2	-5.7	9	73	0.00	2.55	-0.35	0.265	17446	0.000	0.063	2417	2815	3940	3936	3945	0	0	0	0	0	0	14.51	14.38	14.56
371	-1.13	-107.1	2423	2815	3947	3954	423.8	-9.3	40	376	0.00	2.00	0.00	0.000	260	0.000	0.087	2419	3916	3950	3946	3954	0	0	0	0	0	0	14.86	14.28	14.85
417	-1.13	-107.1	2420	3916	3947	3954	428.4	-10.2	49	424	0.00	1.90	0.00	0.000	1030	0.000	0.047	2419	2790	3950	3946	3954	0	0	0	0	0	0	14.57	14.50	14.60
722	-1.13	-107.1	2419	2791	3947	3955	456.0	-8.6	80	727	0.00	2.42	0.00	0.000	516	0.000	0.046	2419	1390	3951	3947	3955	0	0	0	0	0	0	14.90	14.38	14.90
753	-1.13	-107.1	2420	1390	3949	3955	458.7	-8.9	86	758	0.00	2.55	0.00	0.000	1030	0.000	0.063	2417	2814	3951	3947	3955	0	0	0	0	0	0	14.41	14.28	14.46
1064	-1.13	-107.1	2417	2814	3947	3956	485.4	-8.6	118	1064	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2814	3951	3947	3956	0	0	0	0	0	0	14.91	14.91	14.93
1363	-1.13	-107.1	2417	2814	3948	3955	511.0	-8.4	148	1368	0.00	2.50	0.00	0.000	516	0.000	0.046	2417	1391	3951	3947	3956	0	0	0	0	0	0	14.92	14.21	14.92
1405	-1.13	-107.1	2418	1390	3949	3956	514.5	-8.7	156	1410	0.00	2.55	0.00	0.000	1030	0.000	0.063	2413	2813	3951	3947	3956	0	0	0	0	0	0	14.45	14.31	14.50
1716	-1.13	-107.1	2412	2813	3949	3956	541.9	-8.8	188	1717	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2813	3951	3947	3955	0	0	0	0	0	0	14.90	14.90	14.90
2016	-1.13	-107.1	2411	2814	3948	3957	568.2	-9.0	218	2021	0.00	2.47	0.00	0.000	516	0.000	0.047	2412	1394	3951	3947	3955	0	0	0	0	0	0	14.86	14.34	14.86
2051	-1.13	-107.1	2413	1394	3949	3956	571.5	-8.8	225	2058	0.00	2.55	0.00	0.000	1030	0.000	0.065	2411	2814	3951	3947	3955	0	0	0	0	0	0	14.45	14.31	14.48
2356	-1.13	-107.1	2409	2818	3948	3956	599.8	-9.2	256	2362	0.00	2.03	0.00	0.000	260	0.000	0.087	2407	3919	3951	3947	3956	0	0	0	0	0	0	14.90	14.22	14.90
2387	-1.13	-107.1	2407	3919	3948	3956	602.7	-9.9	262	2393	0.00	1.92	0.00	0.000	1030	0.000	0.047	2407	2793	3951	3947	3956	0	0	0	0	0	0	14.52	14.45	14.54
2698	-1.13	-107.1	2407	2794	3948	3956	630.2	-8.8	294	2699	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2793	3951	3947	3955	0	0	0	0	0	0	14.91	14.92	14.92
2998	-1.13	-107.1	2407	2793	3948	3954	656.3	-8.6	324	3003	0.00	2.45	0.00	0.000	516	0.000	0.046	2407	1391	3950	3947	3954	0	0	0	0	0	0	14.92	14.33	14.92
3044	-1.13	-107.1	2407	1391	3948	3953	660.4	-8.8	333	3051	0.00	2.58	0.00	0.000	1030	0.000	0.063	2400	2807	3950	3947	3954	0	0	0	0	0	0	14.31	14.17	14.35
3349	-1.13	-107.1	2400	2807	3949	3952	687.5	-8.6	364	3354	0.00	2.50	0.00	0.000	516	0.000	0.047	2400	1387	3950	3947	3953	0	0	0	0	0	0	14.92	14.33	14.92
3380	-1.13	-107.1	2401	1387	3948	3952	690.2	-8.5	370	3385	0.00	2.55	0.00	0.000	1030	0.000	0.065	2397	2803	3948	3947	3950	0	0	0	0	0	0	14.42	14.28	14.46
3712	-1.13	-107.1	2399	2803	3948	3953	719.1	-8.8	390	3712	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2803	3950	3947	3953	0	0	0	0	0	0	14.74	14.75	14.74
4072	-1.13	-107.1	2398	2804	3947	3954	749.9	-8.6	402	4073	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2803	3950	3947	3953	0	0	0	0	0	0	14.75	14.75	14.75
4432	-1.13	-107.1	2398	2804	3948	3954	780.3	-8.1	414	4437	0.00	2.47	0.00	0.000	516	0.000	0.046	2398	1389	3950	3947	3953	0	0	0	0	0	0	14.74	14.31	14.74
4468	-1.13	-107.1	2398	1389	3948	3954	783.4	-8.5	421	4474	0.00	2.58	0.00	0.000	1030	0.000	0.064	2398	2814	3950	3947	3953	0	0	0	0	0	0	14.34	14.18	14.40
4857	-1.13	-107.1	2398	2814	3946	3953	815.0	-8.0	438	4858	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2814	3950	3947	3953	0	0	0	0	0	0	14.85	14.85	14.85
5214	-1.13	-107.1	2398	2814	3948	3952	843.8	-8.1	450	5215	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2814	3950	3947	3953	0	0	0	0	0	0	14.88	14.88	14.88
5574	-1.13	-107.1	2398	2815	3947	3954	872.5	-7.7	462	5579	0.00	2.50	0.00	0.000	516	0.000	0.046	2398	1385	3948	3947	3949	0	0	0	0	0	0	14.88	14.27	14.88
5640	-1.13	-107.1	2399	1385	3948	3952	877.7	-6.9	475	5645	0.00	2.58	0.00	0.000	1062	0.000	0.065	2397	2809	3950	3947	3953	0	0	0	0	0	0	14.35	14.22	14.40
6029	-1.13	-107.1	2398	2810	3948	3953	907.1	-7.8	492	6033	0.00	2.47	0.00	0.000	516	0.000	0.046	2398	1397	3949	3946	3952	0	0	0	0	0	0	14.86	14.28	14.86
6069	-1.13	-107.1	2398	1397	3948	3953	910.5	-9.1	500	6074	0.00	2.55	0.00	0.000	1030	0.000	0.064	2393	2807	3950	3947	3953	0	0	0	0	0	0	14.38	14.23	14.42
6452	-1.13	-107.1	2390	2805	3948	3953	941.7	-8.2	516	6453	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2807	3950	3947	3953	0	0	0	0	0	0	14.88	14.88	14.88
6810	-1.13	-107.1	2394	2808	3947	3954	970.5	-7.8	528	6816	0.00	2.50	0.00	0.000	516	0.000	0.045	2394	1390	3950	3947	3953	0	0	0	0	0	0	14.88	14.26	14.87
6881	-1.13	-107.1	2394	1391	3948	3954	976.1	-7.7	542	6886	0.00	2.58	0.00	0.000	1030	0.000	0.063	2385	2816	3950	3947	3953	0	0	0	0	0	0	14.37	14.22	14.41
7079	end dive: TARGET_DEPTH_EXCEEDED
state	7079	begin apogee
7086	-0.23	0.0	2386	2533	3948	3954	991.9	-7.8	552	7225	1.20	0.00	135.90	3.096	10246	0.232	0.000	2699	2532	3492	3498	3486	0	0	0	0	0	0	13.81	13.14	11.74
7226	end apogee: CONTROL_FINISHED_OK
state	7226	begin climb
7229	1.13	107.1	2700	2532	3499	3486	993.6	0.0	556	7374	1.48	0.00	141.82	3.097	10246	0.109	0.000	3138	2531	3066	3077	3055	0	0	0	0	0	0	13.19	12.26	10.84
7712	1.13	107.1	3138	2531	3066	3044	921.4	16.4	573	7713	0.00	0.00	0.00	0.000	6	0.000	0.000	3138	2531	3055	3067	3044	0	0	0	0	0	0	14.54	14.54	14.55
8075	1.13	107.1	3138	2532	3065	3044	862.3	16.2	585	8084	0.00	2.50	0.00	0.000	260	0.000	0.087	3138	3910	3054	3065	3043	0	0	0	0	0	0	14.90	14.32	14.86
8099	1.13	107.1	3137	3911	3065	3044	857.3	17.9	589	8105	0.00	2.33	0.00	0.000	1030	0.000	0.047	3147	2536	3055	3065	3045	0	0	0	0	0	0	14.65	14.58	14.67
8471	1.13	107.1	3148	2537	3065	3042	796.0	16.4	603	8479	0.00	2.42	0.00	0.000	516	0.000	0.060	3158	1150	3057	3064	3050	0	0	0	0	0	0	14.92	14.44	14.92
8495	1.13	107.1	3158	1151	3064	3042	792.0	16.7	607	8500	0.00	2.50	0.00	0.000	1030	0.000	0.064	3158	2555	3052	3063	3042	0	0	0	0	0	0	14.52	14.38	14.55
8869	1.13	107.1	3158	2556	3064	3042	728.9	17.3	621	8869	0.00	0.00	0.00	0.000	6	0.000	0.000	3158	2555	3052	3063	3041	0	0	0	0	0	0	14.89	14.89	14.89
9226	1.13	107.1	3158	2556	3063	3042	668.9	16.0	645	9227	0.00	0.00	0.00	0.000	6	0.000	0.000	3158	2555	3052	3063	3041	0	0	0	0	0	0	14.90	14.90	14.91
9526	1.13	107.1	3158	2556	3063	3042	620.6	16.0	675	9531	0.00	2.47	0.00	0.000	516	0.000	0.060	3167	1159	3052	3063	3041	0	0	0	0	0	0	14.90	14.38	14.90
9552	1.13	107.1	3168	1160	3064	3041	616.5	15.8	680	9558	0.00	2.47	0.00	0.000	1030	0.000	0.063	3168	2555	3051	3062	3041	0	0	0	0	0	0	14.54	14.40	14.59
9858	1.13	107.1	3168	2555	3064	3041	567.8	15.8	711	9859	0.00	0.00	0.00	0.000	6	0.000	0.000	3168	2555	3050	3063	3038	0	0	0	0	0	0	14.82	14.82	14.82
10158	1.13	107.1	3168	2555	3064	3039	520.2	15.7	741	10159	0.00	0.00	0.00	0.000	6	0.000	0.000	3166	2555	3052	3063	3041	0	0	0	0	0	0	14.90	14.89	14.89
10458	1.13	107.1	3168	2556	3063	3042	473.1	15.4	771	10463	0.00	2.47	0.00	0.000	260	0.000	0.089	3168	3913	3052	3063	3041	0	0	0	0	0	0	14.78	14.31	14.78
10484	1.13	107.1	3168	3913	3064	3041	468.6	16.7	776	10490	0.17	2.33	0.00	0.000	5126	0.323	0.048	3143	2545	3052	3063	3041	0	0	0	0	0	0	13.88	14.46	14.32
10789	1.13	107.1	3143	2546	3064	3042	425.3	13.8	807	10795	0.00	2.45	0.00	0.000	516	0.000	0.060	3153	1144	3052	3063	3041	0	0	0	0	0	0	14.92	14.26	14.92
10811	1.13	107.1	3152	1144	3064	3042	422.3	13.2	811	10816	0.00	2.53	0.00	0.000	1030	0.000	0.063	3152	2566	3051	3063	3040	0	0	0	0	0	0	14.52	14.38	14.57
10971	end climb: FINISH_DEPTH_REACHED
state	10971	begin subsurface finish
10978	-0.00	-0.6	3153	2568	3064	3042	399.0	14.6	828	10988	1.40	0.00	-1.83	0.060	20486	0.246	0.000	2780	2566	3522	3522	3522	0	0	0	0	0	0	13.95	12.77	14.19
10989	end subsurface finish: CONTROL_FINISHED_OK
state	10989	begin surface