Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 676 * 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 676 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 46 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 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 676 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 46 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 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 151218,091440,-7412.9922,-11222.7744,0,3149.0,0,53.4,0.0,0.0,0,0.0 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 394.93 MHEAD_RNG_PITCHd_Wd 183.9,4318,-22.7,-9.429,-24.64,1256

_SM_ANGLEo 4.1 D_GRID 990

GPS2 151218,091440,-7412.9922,-11222.7744,0,3149.0,0,53.4,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 398.78,-0.957,-2.178,2,3,0 _24V_AH 10.88,213.368

FINISH1 398.8,1.027516,-1 _10V_AH 11.27,0.000

FINISH2 397.5 FG_AHR_24Vo 0.000

RAFOS_CLK 435 FG_AHR_10Vo 0.000

RAFOS 0,1544875286,12.032354,12.023889,161,67,60,54,52,51,422,216,151,207,165,131 MEM 279804

RAFOS_FIX -7453.109375,-11240.441406,151218,121236,2,123,7.13 DATA_FILE_SIZE 26748,835

IRIDIUM_FIX -7410.85,-11223.24,141218,223050 CAP_FILE_SIZE 110149,0

TT8_MAMPS 0.038948,0.258405 CFSIZE 1024409600,940294144

HUMID 50.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.95848 SOUNDSPEED 1456.5

TCM_TEMP 13.50 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 5 319 19.57 nil 0 0 0.00

Roll_motor 81 90 80.07 nil 0 0 0.00

VBD_pump_during_apogee 276 3096 9326.03 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 10763 9 1133.31

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 41 420 190.78 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8414 2 219.06

TT8_Active 364 10 44.68

TT8_Sampling 1821 30 623.00

TT8_CF8 249 51 144.03

TT8_Kalman 0 0 0.00

Analog_circuits 993 10 113.09

GPS_charging 0 0 0.00

Compass 1197 6 90.93

RAFOS 720 1 12.17

Transponder 309 30 104.80

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

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 -1.13 -77.3 2782 2814 3533 3535 0.0 0.0 0 15 0.00 0.00 -1.17 0.076 16390 0.000 0.000 2781 2813 3818 3813 3823 0 0 0 0 0 0 14.83 12.67 14.73

18 -1.13 -77.3 2782 2814 3820 3831 0.0 0.0 0 25 1.17 2.42 0.00 0.000 4612 0.142 0.046 2417 1386 3827 3821 3833 0 0 0 0 0 0 14.17 14.39 14.29

66 -1.16 -107.1 2418 1387 3829 3836 397.1 -5.6 9 73 0.00 2.55 -0.43 0.219 17446 0.000 0.063 2413 2814 3938 3934 3943 0 0 0 0 0 0 14.50 14.38 14.55

371 -1.16 -107.1 2413 2815 3943 3954 424.4 -9.5 40 376 0.00 2.45 0.00 0.000 516 0.000 0.047 2412 1393 3948 3943 3953 0 0 0 0 0 0 14.87 14.37 14.88

412 -1.16 -107.1 2413 1393 3943 3953 428.2 -9.5 48 417 0.00 2.53 0.00 0.000 1030 0.000 0.064 2411 2810 3948 3944 3953 0 0 0 0 0 0 14.50 14.36 14.55

722 -1.16 -107.1 2411 2811 3945 3953 457.0 -9.0 80 723 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2810 3948 3944 3953 0 0 0 0 0 0 14.92 14.92 14.92

1023 -1.16 -107.1 2412 2810 3946 3953 484.4 -9.1 110 1024 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2811 3948 3944 3953 0 0 0 0 0 0 14.79 14.79 14.79

1322 -1.16 -107.1 2411 2810 3945 3953 511.3 -9.1 140 1327 0.00 2.45 0.00 0.000 516 0.000 0.046 2411 1394 3949 3945 3953 0 0 0 0 0 0 14.92 14.15 14.92

1403 -1.16 -107.1 2411 1395 3945 3955 518.5 -8.8 156 1408 0.00 2.53 0.00 0.000 1030 0.000 0.065 2408 2802 3948 3944 3953 0 0 0 0 0 0 14.45 14.31 14.50

1714 -1.16 -107.1 2409 2804 3945 3955 545.8 -9.0 188 1719 0.00 2.03 0.00 0.000 260 0.000 0.086 2400 3914 3949 3945 3953 0 0 0 0 0 0 14.95 14.12 14.92

1789 -1.16 -107.1 2401 3914 3946 3953 553.3 -10.1 203 1796 0.00 1.90 0.00 0.000 1030 0.000 0.047 2400 2788 3949 3945 3953 0 0 0 0 0 0 14.54 14.48 14.60

2095 -1.16 -107.1 2401 2788 3946 3953 581.4 -9.2 234 2100 0.00 2.42 0.00 0.000 516 0.000 0.046 2400 1387 3948 3944 3953 0 0 0 0 0 0 14.91 14.36 14.91

2136 -1.16 -107.1 2401 1388 3946 3953 585.2 -9.4 242 2141 0.00 2.55 0.00 0.000 1030 0.000 0.064 2398 2806 3948 3944 3953 0 0 0 0 0 0 14.45 14.31 14.50

2447 -1.16 -107.1 2399 2806 3945 3953 612.8 -8.5 274 2447 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2806 3948 3944 3953 0 0 0 0 0 0 14.88 14.88 14.88

2746 -1.16 -107.1 2399 2806 3946 3952 638.9 -8.8 304 2747 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2806 3948 3944 3952 0 0 0 0 0 0 14.88 14.88 14.88

3048 -1.16 -107.1 2399 2806 3945 3951 665.8 -9.0 334 3053 0.00 2.45 0.00 0.000 516 0.000 0.046 2398 1395 3948 3945 3951 0 0 0 0 0 0 14.76 14.26 14.76

3093 -1.16 -107.1 2399 1394 3945 3948 670.0 -9.0 343 3100 0.00 2.55 0.00 0.000 1030 0.000 0.064 2397 2803 3947 3944 3950 0 0 0 0 0 0 14.22 14.07 14.28

3400 -1.16 -107.1 2398 2805 3945 3953 696.5 -8.7 374 3405 0.00 2.03 0.00 0.000 260 0.000 0.086 2392 3922 3947 3944 3951 0 0 0 0 0 0 14.76 14.21 14.76

3461 -1.16 -107.1 2391 3922 3945 3952 702.6 -11.3 386 3466 0.00 1.90 0.00 0.000 1030 0.000 0.046 2392 2791 3947 3944 3950 0 0 0 0 0 0 14.50 14.46 14.55

3855 -1.16 -107.1 2392 2793 3945 3948 737.0 -8.7 404 3860 0.00 2.40 0.00 0.000 516 0.000 0.046 2392 1398 3947 3944 3951 0 0 0 0 0 0 14.87 14.33 14.87

3895 -1.16 -107.1 2392 1398 3945 3950 740.9 -8.6 412 3900 0.00 2.53 0.00 0.000 1030 0.000 0.063 2384 2804 3947 3944 3950 0 0 0 0 0 0 14.42 14.28 14.47

4279 -1.16 -107.1 2384 2807 3944 3951 774.5 -8.8 428 4280 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2805 3947 3944 3950 0 0 0 0 0 0 14.86 14.85 14.85

4636 -1.16 -107.1 2384 2807 3944 3952 805.4 -8.6 440 4637 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2806 3947 3944 3950 0 0 0 0 0 0 14.88 14.88 14.88

4996 -1.16 -107.1 2384 2806 3944 3951 836.2 -8.5 452 4997 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2806 3947 3944 3950 0 0 0 0 0 0 14.88 14.88 14.88

5356 -1.16 -107.1 2385 2807 3945 3952 866.8 -8.5 464 5361 0.00 2.47 0.00 0.000 516 0.000 0.044 2384 1391 3947 3944 3950 0 0 0 0 0 0 14.88 14.29 14.88

5412 -1.16 -107.1 2384 1392 3945 3951 871.1 -8.2 475 5418 0.00 2.58 0.00 0.000 1030 0.000 0.063 2384 2812 3947 3944 3950 0 0 0 0 0 0 14.38 14.24 14.42

5777 -1.16 -107.1 2384 2813 3945 3952 902.1 -8.6 488 5778 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2812 3950 3950 3951 0 0 0 0 0 0 14.88 14.88 14.88

6137 -1.16 -107.1 2384 2813 3945 3951 932.2 -7.9 500 6142 0.00 2.00 0.00 0.000 260 0.000 0.086 2377 3912 3947 3944 3950 0 0 0 0 0 0 14.88 14.15 14.88

6192 -1.16 -107.1 2377 3912 3945 3952 937.0 -8.9 511 6199 0.00 1.90 0.00 0.000 1030 0.000 0.046 2377 2793 3947 3944 3950 0 0 0 0 0 0 14.46 14.39 14.49

6557 -1.16 -107.1 2378 2793 3946 3950 967.7 -8.2 524 6562 0.00 2.42 0.00 0.000 516 0.000 0.045 2377 1396 3947 3944 3950 0 0 0 0 0 0 14.90 14.20 14.90

6608 -1.16 -107.1 2376 1396 3944 3952 971.7 -8.2 534 6613 0.00 2.55 0.00 0.000 1030 0.000 0.063 2374 2812 3947 3944 3950 0 0 0 0 0 0 14.39 14.25 14.44

6857 end dive: TARGET_DEPTH_EXCEEDED

state 6857 begin apogee

6864 -0.23 0.0 2376 2541 3946 3951 992.6 -8.3 544 7002 1.25 0.00 135.27 3.096 10246 0.233 0.000 2700 2541 3491 3498 3485 0 0 0 0 0 0 13.81 13.15 11.76

7003 end apogee: CONTROL_FINISHED_OK

state 7003 begin climb

7007 1.16 107.1 2701 2541 3498 3485 994.5 0.0 548 7152 1.50 0.00 141.52 3.097 10758 0.109 0.000 3148 2540 3065 3077 3053 0 0 0 0 0 0 13.21 12.26 10.88

7525 1.16 107.1 3149 2540 3068 3043 916.1 16.4 576 7526 0.00 0.00 0.00 0.000 6 0.000 0.000 3148 2541 3055 3067 3043 0 0 0 0 0 0 14.66 14.67 14.67

7888 1.16 107.1 3148 2542 3066 3042 856.3 16.6 588 7894 0.00 2.47 0.00 0.000 260 0.000 0.087 3148 3913 3053 3066 3041 0 0 0 0 0 0 14.88 14.40 14.88

7914 1.16 107.1 3149 3913 3067 3041 851.0 18.5 593 7921 0.00 2.30 0.00 0.000 1030 0.000 0.048 3158 2546 3052 3064 3041 0 0 0 0 0 0 14.66 14.59 14.68

8282 1.16 107.1 3159 2547 3066 3040 788.8 17.1 606 8288 0.00 2.45 0.00 0.000 516 0.000 0.060 3168 1150 3052 3065 3039 0 0 0 0 0 0 14.88 14.43 14.89

8299 1.16 107.1 3169 1150 3066 3039 785.5 17.2 609 8305 0.00 2.47 0.00 0.000 1030 0.000 0.064 3169 2553 3051 3064 3039 0 0 0 0 0 0 14.60 14.47 14.64

8675 1.16 107.1 3169 2552 3065 3039 721.8 17.2 624 8680 0.00 2.47 0.00 0.000 260 0.000 0.089 3169 3916 3051 3064 3039 0 0 0 0 0 0 14.91 14.38 14.92

8696 1.16 107.1 3170 3915 3066 3039 718.1 17.9 628 8701 0.00 2.33 0.00 0.000 1030 0.000 0.048 3179 2537 3052 3065 3039 0 0 0 0 0 0 14.64 14.57 14.69

9067 1.16 107.1 3179 2537 3066 3038 654.4 17.3 658 9068 0.15 0.00 0.00 0.000 4102 0.319 0.000 3149 2537 3051 3064 3038 0 0 0 0 0 0 13.97 14.45 14.38

9367 1.16 107.1 3149 2538 3065 3039 607.7 15.6 688 9372 0.00 2.50 0.00 0.000 260 0.000 0.088 3149 3910 3051 3064 3038 0 0 0 0 0 0 14.92 14.35 14.92

9402 1.16 107.1 3150 3911 3066 3039 601.4 18.2 695 9409 0.00 2.33 0.00 0.000 1030 0.000 0.047 3159 2536 3051 3064 3038 0 0 0 0 0 0 14.62 14.55 14.65

9708 1.16 107.1 3159 2536 3066 3039 552.9 15.7 726 9713 0.00 2.42 0.00 0.000 516 0.000 0.060 3169 1158 3051 3064 3038 0 0 0 0 0 0 14.82 14.37 14.82

9734 1.16 107.1 3169 1159 3064 3039 548.8 15.5 731 9740 0.00 2.47 0.00 0.000 1030 0.000 0.065 3169 2554 3051 3064 3038 0 0 0 0 0 0 14.54 14.40 14.59

10039 1.16 107.1 3169 2556 3065 3039 501.4 15.6 762 10044 0.00 2.47 0.00 0.000 260 0.000 0.090 3169 3912 3051 3064 3038 0 0 0 0 0 0 14.92 14.11 14.93

10080 1.16 107.1 3169 3912 3065 3039 494.3 17.9 770 10085 0.00 2.33 0.00 0.000 1030 0.000 0.049 3179 2544 3053 3064 3042 0 0 0 0 0 0 14.52 14.45 14.55

10392 1.16 107.1 3179 2546 3065 3039 444.4 16.3 802 10393 0.15 0.00 0.00 0.000 4102 0.320 0.000 3149 2545 3051 3064 3038 0 0 0 0 0 0 13.81 14.27 14.19

10691 1.16 107.1 3150 2545 3065 3038 401.5 13.6 832 10692 0.00 0.00 0.00 0.000 6 0.000 0.000 3149 2545 3051 3064 3039 0 0 0 0 0 0 14.92 14.92 14.92

10708 end climb: FINISH_DEPTH_REACHED

state 10708 begin subsurface finish

10715 -0.00 -0.8 3151 2545 3065 3038 398.8 13.6 834 10722 1.40 0.00 -1.85 0.058 20486 0.246 0.000 2777 2545 3521 3521 3521 0 0 0 0 0 0 13.95 12.73 14.19

10722 end subsurface finish: CONTROL_FINISHED_OK

state 10723 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	676	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	46	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	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	151218,091440,-7412.9922,-11222.7744,0,3149.0,0,53.4,0.0,0.0,0,0.0	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	394.93	MHEAD_RNG_PITCHd_Wd	183.9,4318,-22.7,-9.429,-24.64,1256
_SM_ANGLEo	4.1	D_GRID	990
GPS2	151218,091440,-7412.9922,-11222.7744,0,3149.0,0,53.4,0.0,0.0,0,0.0

FREEZE	398.78,-0.957,-2.178,2,3,0	_24V_AH	10.88,213.368
FINISH1	398.8,1.027516,-1	_10V_AH	11.27,0.000
FINISH2	397.5	FG_AHR_24Vo	0.000
RAFOS_CLK	435	FG_AHR_10Vo	0.000
RAFOS	0,1544875286,12.032354,12.023889,161,67,60,54,52,51,422,216,151,207,165,131	MEM	279804
RAFOS_FIX	-7453.109375,-11240.441406,151218,121236,2,123,7.13	DATA_FILE_SIZE	26748,835
IRIDIUM_FIX	-7410.85,-11223.24,141218,223050	CAP_FILE_SIZE	110149,0
TT8_MAMPS	0.038948,0.258405	CFSIZE	1024409600,940294144
HUMID	50.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.95848	SOUNDSPEED	1456.5
TCM_TEMP	13.50	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	319	19.57	nil	0	0	0.00
Roll_motor	81	90	80.07	nil	0	0	0.00
VBD_pump_during_apogee	276	3096	9326.03	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	10763	9	1133.31
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	41	420	190.78	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8414	2	219.06
TT8_Active	364	10	44.68
TT8_Sampling	1821	30	623.00
TT8_CF8	249	51	144.03
TT8_Kalman	0	0	0.00
Analog_circuits	993	10	113.09
GPS_charging	0	0	0.00
Compass	1197	6	90.93
RAFOS	720	1	12.17
Transponder	309	30	104.80

		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

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	-1.13	-77.3	2782	2814	3533	3535	0.0	0.0	0	15	0.00	0.00	-1.17	0.076	16390	0.000	0.000	2781	2813	3818	3813	3823	0	0	0	0	0	0	14.83	12.67	14.73
18	-1.13	-77.3	2782	2814	3820	3831	0.0	0.0	0	25	1.17	2.42	0.00	0.000	4612	0.142	0.046	2417	1386	3827	3821	3833	0	0	0	0	0	0	14.17	14.39	14.29
66	-1.16	-107.1	2418	1387	3829	3836	397.1	-5.6	9	73	0.00	2.55	-0.43	0.219	17446	0.000	0.063	2413	2814	3938	3934	3943	0	0	0	0	0	0	14.50	14.38	14.55
371	-1.16	-107.1	2413	2815	3943	3954	424.4	-9.5	40	376	0.00	2.45	0.00	0.000	516	0.000	0.047	2412	1393	3948	3943	3953	0	0	0	0	0	0	14.87	14.37	14.88
412	-1.16	-107.1	2413	1393	3943	3953	428.2	-9.5	48	417	0.00	2.53	0.00	0.000	1030	0.000	0.064	2411	2810	3948	3944	3953	0	0	0	0	0	0	14.50	14.36	14.55
722	-1.16	-107.1	2411	2811	3945	3953	457.0	-9.0	80	723	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2810	3948	3944	3953	0	0	0	0	0	0	14.92	14.92	14.92
1023	-1.16	-107.1	2412	2810	3946	3953	484.4	-9.1	110	1024	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2811	3948	3944	3953	0	0	0	0	0	0	14.79	14.79	14.79
1322	-1.16	-107.1	2411	2810	3945	3953	511.3	-9.1	140	1327	0.00	2.45	0.00	0.000	516	0.000	0.046	2411	1394	3949	3945	3953	0	0	0	0	0	0	14.92	14.15	14.92
1403	-1.16	-107.1	2411	1395	3945	3955	518.5	-8.8	156	1408	0.00	2.53	0.00	0.000	1030	0.000	0.065	2408	2802	3948	3944	3953	0	0	0	0	0	0	14.45	14.31	14.50
1714	-1.16	-107.1	2409	2804	3945	3955	545.8	-9.0	188	1719	0.00	2.03	0.00	0.000	260	0.000	0.086	2400	3914	3949	3945	3953	0	0	0	0	0	0	14.95	14.12	14.92
1789	-1.16	-107.1	2401	3914	3946	3953	553.3	-10.1	203	1796	0.00	1.90	0.00	0.000	1030	0.000	0.047	2400	2788	3949	3945	3953	0	0	0	0	0	0	14.54	14.48	14.60
2095	-1.16	-107.1	2401	2788	3946	3953	581.4	-9.2	234	2100	0.00	2.42	0.00	0.000	516	0.000	0.046	2400	1387	3948	3944	3953	0	0	0	0	0	0	14.91	14.36	14.91
2136	-1.16	-107.1	2401	1388	3946	3953	585.2	-9.4	242	2141	0.00	2.55	0.00	0.000	1030	0.000	0.064	2398	2806	3948	3944	3953	0	0	0	0	0	0	14.45	14.31	14.50
2447	-1.16	-107.1	2399	2806	3945	3953	612.8	-8.5	274	2447	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2806	3948	3944	3953	0	0	0	0	0	0	14.88	14.88	14.88
2746	-1.16	-107.1	2399	2806	3946	3952	638.9	-8.8	304	2747	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2806	3948	3944	3952	0	0	0	0	0	0	14.88	14.88	14.88
3048	-1.16	-107.1	2399	2806	3945	3951	665.8	-9.0	334	3053	0.00	2.45	0.00	0.000	516	0.000	0.046	2398	1395	3948	3945	3951	0	0	0	0	0	0	14.76	14.26	14.76
3093	-1.16	-107.1	2399	1394	3945	3948	670.0	-9.0	343	3100	0.00	2.55	0.00	0.000	1030	0.000	0.064	2397	2803	3947	3944	3950	0	0	0	0	0	0	14.22	14.07	14.28
3400	-1.16	-107.1	2398	2805	3945	3953	696.5	-8.7	374	3405	0.00	2.03	0.00	0.000	260	0.000	0.086	2392	3922	3947	3944	3951	0	0	0	0	0	0	14.76	14.21	14.76
3461	-1.16	-107.1	2391	3922	3945	3952	702.6	-11.3	386	3466	0.00	1.90	0.00	0.000	1030	0.000	0.046	2392	2791	3947	3944	3950	0	0	0	0	0	0	14.50	14.46	14.55
3855	-1.16	-107.1	2392	2793	3945	3948	737.0	-8.7	404	3860	0.00	2.40	0.00	0.000	516	0.000	0.046	2392	1398	3947	3944	3951	0	0	0	0	0	0	14.87	14.33	14.87
3895	-1.16	-107.1	2392	1398	3945	3950	740.9	-8.6	412	3900	0.00	2.53	0.00	0.000	1030	0.000	0.063	2384	2804	3947	3944	3950	0	0	0	0	0	0	14.42	14.28	14.47
4279	-1.16	-107.1	2384	2807	3944	3951	774.5	-8.8	428	4280	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2805	3947	3944	3950	0	0	0	0	0	0	14.86	14.85	14.85
4636	-1.16	-107.1	2384	2807	3944	3952	805.4	-8.6	440	4637	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2806	3947	3944	3950	0	0	0	0	0	0	14.88	14.88	14.88
4996	-1.16	-107.1	2384	2806	3944	3951	836.2	-8.5	452	4997	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2806	3947	3944	3950	0	0	0	0	0	0	14.88	14.88	14.88
5356	-1.16	-107.1	2385	2807	3945	3952	866.8	-8.5	464	5361	0.00	2.47	0.00	0.000	516	0.000	0.044	2384	1391	3947	3944	3950	0	0	0	0	0	0	14.88	14.29	14.88
5412	-1.16	-107.1	2384	1392	3945	3951	871.1	-8.2	475	5418	0.00	2.58	0.00	0.000	1030	0.000	0.063	2384	2812	3947	3944	3950	0	0	0	0	0	0	14.38	14.24	14.42
5777	-1.16	-107.1	2384	2813	3945	3952	902.1	-8.6	488	5778	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2812	3950	3950	3951	0	0	0	0	0	0	14.88	14.88	14.88
6137	-1.16	-107.1	2384	2813	3945	3951	932.2	-7.9	500	6142	0.00	2.00	0.00	0.000	260	0.000	0.086	2377	3912	3947	3944	3950	0	0	0	0	0	0	14.88	14.15	14.88
6192	-1.16	-107.1	2377	3912	3945	3952	937.0	-8.9	511	6199	0.00	1.90	0.00	0.000	1030	0.000	0.046	2377	2793	3947	3944	3950	0	0	0	0	0	0	14.46	14.39	14.49
6557	-1.16	-107.1	2378	2793	3946	3950	967.7	-8.2	524	6562	0.00	2.42	0.00	0.000	516	0.000	0.045	2377	1396	3947	3944	3950	0	0	0	0	0	0	14.90	14.20	14.90
6608	-1.16	-107.1	2376	1396	3944	3952	971.7	-8.2	534	6613	0.00	2.55	0.00	0.000	1030	0.000	0.063	2374	2812	3947	3944	3950	0	0	0	0	0	0	14.39	14.25	14.44
6857	end dive: TARGET_DEPTH_EXCEEDED
state	6857	begin apogee
6864	-0.23	0.0	2376	2541	3946	3951	992.6	-8.3	544	7002	1.25	0.00	135.27	3.096	10246	0.233	0.000	2700	2541	3491	3498	3485	0	0	0	0	0	0	13.81	13.15	11.76
7003	end apogee: CONTROL_FINISHED_OK
state	7003	begin climb
7007	1.16	107.1	2701	2541	3498	3485	994.5	0.0	548	7152	1.50	0.00	141.52	3.097	10758	0.109	0.000	3148	2540	3065	3077	3053	0	0	0	0	0	0	13.21	12.26	10.88
7525	1.16	107.1	3149	2540	3068	3043	916.1	16.4	576	7526	0.00	0.00	0.00	0.000	6	0.000	0.000	3148	2541	3055	3067	3043	0	0	0	0	0	0	14.66	14.67	14.67
7888	1.16	107.1	3148	2542	3066	3042	856.3	16.6	588	7894	0.00	2.47	0.00	0.000	260	0.000	0.087	3148	3913	3053	3066	3041	0	0	0	0	0	0	14.88	14.40	14.88
7914	1.16	107.1	3149	3913	3067	3041	851.0	18.5	593	7921	0.00	2.30	0.00	0.000	1030	0.000	0.048	3158	2546	3052	3064	3041	0	0	0	0	0	0	14.66	14.59	14.68
8282	1.16	107.1	3159	2547	3066	3040	788.8	17.1	606	8288	0.00	2.45	0.00	0.000	516	0.000	0.060	3168	1150	3052	3065	3039	0	0	0	0	0	0	14.88	14.43	14.89
8299	1.16	107.1	3169	1150	3066	3039	785.5	17.2	609	8305	0.00	2.47	0.00	0.000	1030	0.000	0.064	3169	2553	3051	3064	3039	0	0	0	0	0	0	14.60	14.47	14.64
8675	1.16	107.1	3169	2552	3065	3039	721.8	17.2	624	8680	0.00	2.47	0.00	0.000	260	0.000	0.089	3169	3916	3051	3064	3039	0	0	0	0	0	0	14.91	14.38	14.92
8696	1.16	107.1	3170	3915	3066	3039	718.1	17.9	628	8701	0.00	2.33	0.00	0.000	1030	0.000	0.048	3179	2537	3052	3065	3039	0	0	0	0	0	0	14.64	14.57	14.69
9067	1.16	107.1	3179	2537	3066	3038	654.4	17.3	658	9068	0.15	0.00	0.00	0.000	4102	0.319	0.000	3149	2537	3051	3064	3038	0	0	0	0	0	0	13.97	14.45	14.38
9367	1.16	107.1	3149	2538	3065	3039	607.7	15.6	688	9372	0.00	2.50	0.00	0.000	260	0.000	0.088	3149	3910	3051	3064	3038	0	0	0	0	0	0	14.92	14.35	14.92
9402	1.16	107.1	3150	3911	3066	3039	601.4	18.2	695	9409	0.00	2.33	0.00	0.000	1030	0.000	0.047	3159	2536	3051	3064	3038	0	0	0	0	0	0	14.62	14.55	14.65
9708	1.16	107.1	3159	2536	3066	3039	552.9	15.7	726	9713	0.00	2.42	0.00	0.000	516	0.000	0.060	3169	1158	3051	3064	3038	0	0	0	0	0	0	14.82	14.37	14.82
9734	1.16	107.1	3169	1159	3064	3039	548.8	15.5	731	9740	0.00	2.47	0.00	0.000	1030	0.000	0.065	3169	2554	3051	3064	3038	0	0	0	0	0	0	14.54	14.40	14.59
10039	1.16	107.1	3169	2556	3065	3039	501.4	15.6	762	10044	0.00	2.47	0.00	0.000	260	0.000	0.090	3169	3912	3051	3064	3038	0	0	0	0	0	0	14.92	14.11	14.93
10080	1.16	107.1	3169	3912	3065	3039	494.3	17.9	770	10085	0.00	2.33	0.00	0.000	1030	0.000	0.049	3179	2544	3053	3064	3042	0	0	0	0	0	0	14.52	14.45	14.55
10392	1.16	107.1	3179	2546	3065	3039	444.4	16.3	802	10393	0.15	0.00	0.00	0.000	4102	0.320	0.000	3149	2545	3051	3064	3038	0	0	0	0	0	0	13.81	14.27	14.19
10691	1.16	107.1	3150	2545	3065	3038	401.5	13.6	832	10692	0.00	0.00	0.00	0.000	6	0.000	0.000	3149	2545	3051	3064	3039	0	0	0	0	0	0	14.92	14.92	14.92
10708	end climb: FINISH_DEPTH_REACHED
state	10708	begin subsurface finish
10715	-0.00	-0.8	3151	2545	3065	3038	398.8	13.6	834	10722	1.40	0.00	-1.85	0.058	20486	0.246	0.000	2777	2545	3521	3521	3521	0	0	0	0	0	0	13.95	12.73	14.19
10722	end subsurface finish: CONTROL_FINISHED_OK
state	10723	begin surface