Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 865 * 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 865 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 27 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 14 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 5 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 65 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 9.3000002 RAFOS_PEAK_OFFSET 0 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 13 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 13 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 65 PITCH_ADJ_GAIN 0 SM_CC 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 9.3000002 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 5

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 865 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 27 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 14 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 160119,181424,-7412.1611,-11231.0352,0,4116.7,0,53.5,0.0,0.0,0,0.0 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 396.35 MHEAD_RNG_PITCHd_Wd 118.9,3904,-25.0,-9.429,-26.89,1022

_SM_ANGLEo 4.1 D_GRID 990

GPS2 160119,181424,-7412.1611,-11231.0352,0,4116.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 399.51,-1.132,-2.176,2,2,0 _24V_AH 9.99,276.305

FINISH1 399.5,1.027492,0 _10V_AH 10.29,0.000

FINISH2 397.1 FG_AHR_24Vo 0.000

RAFOS_CLK 455 FG_AHR_10Vo 0.000

RAFOS 0,1547672485,21.032354,21.023611,157,63,59,56,56,53,424,162,204,136,180,121 MEM 278872

RAFOS_FIX -7413.133789,-11228.891602,160119,212144,3,137,0.19 DATA_FILE_SIZE 30058,873

IRIDIUM_FIX -7415.88,-11304.63,160119,112744 CAP_FILE_SIZE 109539,0

TT8_MAMPS 0.044191,0.282373 CFSIZE 1024409600,916570112

HUMID 50.86 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 7.94871 SOUNDSPEED 1457.0

TCM_TEMP 13.40 GPS 160119,211544,-7413.134,-11228.892,0,4137.0,0,53.5,0.0,0.0,0,0.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 316 24.76 nil 0 0 0.00

Roll_motor 98 87 86.21 nil 0 0 0.00

VBD_pump_during_apogee 326 3102 10114.44 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 10949 6 717.54

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 41 420 173.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8447 2 200.81

TT8_Active 412 10 46.11

TT8_Sampling 1866 30 582.88

TT8_CF8 320 51 169.18

TT8_Kalman 0 0 0.00

Analog_circuits 1061 10 110.32

GPS_charging 0 0 0.00

Compass 1250 6 86.76

RAFOS 720 1 11.11

Transponder 306 30 94.51

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

404.1 89.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

11 -1.22 -62.8 2779 2809 3533 3532 0.0 0.0 0 13 0.00 0.00 -0.98 0.076 16390 0.000 0.000 2779 2808 3761 3758 3765 0 0 0 0 0 0 11.34 10.60 11.32

17 -1.22 -62.8 2779 2809 3766 3771 0.0 0.0 0 24 1.67 2.62 0.00 0.000 4356 0.133 0.085 2389 3910 3769 3766 3772 0 0 0 0 0 0 11.12 11.14 11.19

80 -1.24 -83.9 2390 3911 3773 3774 400.2 -7.3 12 85 0.00 2.53 -0.30 0.228 17446 0.000 0.044 2390 2799 3843 3841 3846 0 0 0 0 0 0 11.24 11.19 11.26

393 -1.24 -83.9 2390 2801 3850 3858 428.0 -8.9 44 398 0.00 3.25 0.00 0.000 516 0.000 0.046 2390 1390 3853 3849 3857 0 0 0 0 0 0 11.34 11.17 11.34

444 -1.24 -83.9 2390 1389 3851 3857 432.8 -9.1 54 449 0.00 3.38 0.00 0.000 1030 0.000 0.060 2380 2807 3853 3849 3857 0 0 0 0 0 0 11.24 11.17 11.25

756 -1.24 -83.9 2380 2807 3852 3858 461.5 -9.2 86 756 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2807 3853 3850 3857 0 0 0 0 0 0 11.36 11.36 11.36

1056 -1.24 -83.9 2380 2807 3852 3858 489.5 -9.2 116 1061 0.00 3.30 0.00 0.000 516 0.000 0.045 2380 1386 3854 3850 3858 0 0 0 0 0 0 11.36 11.17 11.36

1117 -1.24 -83.9 2380 1385 3851 3858 495.1 -9.0 128 1122 0.00 3.38 0.00 0.000 1030 0.000 0.059 2371 2805 3854 3851 3858 0 0 0 0 0 0 11.24 11.17 11.25

1429 -1.24 -83.9 2370 2805 3852 3858 523.2 -9.2 160 1429 0.00 0.00 0.00 0.000 6 0.000 0.000 2371 2804 3854 3850 3858 0 0 0 0 0 0 11.36 11.36 11.36

1730 -1.24 -83.9 2371 2805 3851 3859 550.9 -9.1 190 1735 0.00 3.28 0.00 0.000 516 0.000 0.044 2371 1392 3854 3851 3858 0 0 0 0 0 0 11.34 11.17 11.35

1801 -1.24 -83.9 2371 1393 3852 3857 557.4 -8.8 204 1806 0.00 3.38 0.00 0.000 1030 0.000 0.060 2369 2811 3854 3851 3857 0 0 0 0 0 0 11.23 11.15 11.24

2113 -1.24 -83.9 2371 2811 3852 3857 584.5 -8.5 236 2114 0.00 0.00 0.00 0.000 6 0.000 0.000 2371 2811 3854 3851 3857 0 0 0 0 0 0 11.36 11.36 11.36

2413 -1.24 -83.9 2370 2811 3852 3858 610.4 -8.6 266 2414 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 2811 3854 3851 3857 0 0 0 0 0 0 11.36 11.36 11.36

2713 -1.24 -83.9 2371 2811 3852 3859 636.2 -8.5 296 2718 0.00 3.30 0.00 0.000 516 0.000 0.044 2370 1389 3854 3851 3857 0 0 0 0 0 0 11.36 11.17 11.36

2770 -1.24 -83.9 2371 1391 3851 3858 641.2 -8.6 307 2776 0.00 3.40 0.00 0.000 1030 0.000 0.059 2367 2811 3854 3851 3857 0 0 0 0 0 0 11.24 11.17 11.25

3075 -1.24 -83.9 2367 2812 3851 3858 667.1 -8.4 338 3076 0.00 0.00 0.00 0.000 6 0.000 0.000 2367 2811 3854 3851 3857 0 0 0 0 0 0 11.36 11.36 11.36

3375 -1.24 -83.9 2367 2811 3852 3857 692.3 -8.2 368 3376 0.00 0.00 0.00 0.000 6 0.000 0.000 2367 2811 3854 3851 3857 0 0 0 0 0 0 11.36 11.36 11.36

3689 -1.24 -83.9 2367 2812 3851 3858 718.0 -8.2 385 3695 0.00 3.30 0.00 0.000 516 0.000 0.044 2367 1388 3853 3851 3856 0 0 0 0 0 0 11.35 11.16 11.36

3737 -1.24 -83.9 2367 1389 3852 3856 722.2 -8.3 394 3742 0.00 3.38 0.00 0.000 1030 0.000 0.059 2359 2806 3853 3851 3856 0 0 0 0 0 0 11.24 11.17 11.26

4116 -1.24 -83.9 2358 2807 3851 3858 752.7 -8.1 409 4122 0.00 3.28 0.00 0.000 516 0.000 0.044 2359 1391 3853 3851 3856 0 0 0 0 0 0 11.36 11.17 11.35

4159 -1.24 -83.9 2359 1393 3851 3857 756.5 -8.2 417 4165 0.00 3.38 0.00 0.000 1030 0.000 0.060 2358 2810 3853 3850 3856 0 0 0 0 0 0 11.24 11.17 11.26

4541 -1.24 -83.9 2358 2811 3851 3857 786.6 -8.0 433 4547 0.00 3.30 0.00 0.000 516 0.000 0.044 2358 1385 3853 3851 3856 0 0 0 0 0 0 11.36 11.17 11.36

4609 -1.24 -83.9 2358 1385 3851 3857 792.0 -7.9 446 4614 0.00 3.38 0.00 0.000 1030 0.000 0.060 2357 2801 3853 3851 3856 0 0 0 0 0 0 11.24 11.17 11.26

4996 -1.24 -83.9 2358 2801 3852 3856 823.0 -7.9 463 4997 0.00 0.00 0.00 0.000 6 0.000 0.000 2357 2801 3852 3851 3853 0 0 0 0 0 0 11.35 11.35 11.35

5356 -1.24 -83.9 2357 2803 3851 3857 851.0 -7.6 475 5362 0.00 3.28 0.00 0.000 516 0.000 0.044 2357 1387 3853 3850 3856 0 0 0 0 0 0 11.33 11.18 11.35

5453 -1.24 -83.9 2357 1388 3851 3857 858.4 -7.5 494 5458 0.00 3.38 0.00 0.000 1030 0.000 0.060 2352 2806 3853 3851 3856 0 0 0 0 0 0 11.24 11.17 11.26

5843 -1.24 -83.9 2352 2807 3851 3857 887.5 -7.5 511 5844 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2806 3853 3851 3856 0 0 0 0 0 0 11.36 11.36 11.36

6201 -1.27 -107.1 2352 2806 3852 3856 912.3 -6.5 523 6206 0.00 3.28 0.00 0.000 548 0.000 0.044 2352 1389 3853 3851 3855 0 0 0 0 0 0 11.36 11.18 11.36

6336 -1.27 -107.1 2353 1388 3852 3856 921.0 -6.9 549 6342 0.00 3.38 0.00 0.000 1062 0.000 0.060 2351 2805 3853 3851 3856 0 0 0 0 0 0 11.24 11.17 11.26

6722 -1.27 -107.1 2350 2806 3851 3857 948.0 -7.1 565 6728 0.00 3.28 0.00 0.000 548 0.000 0.044 2351 1387 3853 3851 3856 0 0 0 0 0 0 11.36 11.18 11.36

6754 -1.27 -107.1 2351 1388 3851 3857 950.4 -2.6 571 6759 0.00 3.38 0.00 0.000 1062 0.000 0.060 2351 2806 3853 3851 3856 0 0 0 0 0 0 11.24 11.17 11.26

7149 -1.27 -107.1 2352 2806 3851 3856 977.7 -7.1 589 7150 0.00 0.00 0.00 0.000 38 0.000 0.000 2351 2806 3853 3851 3856 0 0 0 0 0 0 11.36 11.36 11.36

7322 end dive: TARGET_DEPTH_EXCEEDED

state 7322 begin apogee

7331 -0.23 0.0 2352 2549 3852 3857 990.7 -7.2 595 7487 1.80 0.00 153.02 3.099 10246 0.238 0.000 2693 2548 3492 3498 3487 0 0 0 0 0 0 11.07 11.02 9.99

7488 end apogee: CONTROL_FINISHED_OK

state 7488 begin climb

7492 1.27 107.1 2693 2548 3498 3488 992.1 0.0 600 7670 2.00 0.00 173.27 3.103 10758 0.106 0.000 3173 2548 3064 3076 3053 0 0 0 0 0 0 11.05 11.02 10.01

8016 1.27 107.1 3174 2548 3068 3045 906.5 18.0 628 8022 0.00 3.30 0.00 0.000 260 0.000 0.086 3173 3907 3054 3064 3045 0 0 0 0 0 0 11.32 11.11 11.32

8058 1.27 107.1 3173 3910 3069 3044 897.6 21.3 636 8063 0.00 3.15 0.00 0.000 1030 0.000 0.047 3183 2542 3055 3067 3044 0 0 0 0 0 0 11.21 11.17 11.22

8440 1.27 107.1 3183 2543 3066 3044 827.8 18.0 652 8446 0.00 3.38 0.00 0.000 260 0.000 0.086 3183 3909 3054 3066 3043 0 0 0 0 0 0 11.33 11.11 11.33

8473 1.27 107.1 3184 3910 3067 3043 821.2 23.3 658 8479 0.00 3.12 0.00 0.000 1030 0.000 0.047 3193 2550 3053 3066 3040 0 0 0 0 0 0 11.18 11.15 11.19

8866 1.27 107.1 3193 2551 3066 3044 748.7 18.4 676 8866 0.00 0.00 0.00 0.000 6 0.000 0.000 3193 2550 3054 3065 3043 0 0 0 0 0 0 11.34 11.34 11.35

9226 1.27 107.1 3194 2550 3066 3043 683.3 17.7 694 9227 0.00 0.00 0.00 0.000 6 0.000 0.000 3193 2550 3054 3065 3043 0 0 0 0 0 0 11.34 11.34 11.34

9526 1.27 107.1 3194 2550 3066 3043 630.0 17.8 724 9532 0.00 3.35 0.00 0.000 260 0.000 0.087 3193 3908 3054 3065 3043 0 0 0 0 0 0 11.35 11.13 11.34

9583 1.27 107.1 3194 3908 3066 3043 618.6 20.1 735 9590 0.00 3.15 0.00 0.000 1030 0.000 0.047 3204 2538 3054 3065 3043 0 0 0 0 0 0 11.24 11.19 11.25

9889 1.27 107.1 3205 2539 3065 3042 564.2 17.7 766 9889 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2539 3053 3065 3042 0 0 0 0 0 0 11.34 11.34 11.34

10189 1.27 107.1 3204 2539 3066 3042 511.8 17.1 796 10195 0.00 3.35 0.00 0.000 260 0.000 0.086 3203 3906 3053 3065 3042 0 0 0 0 0 0 11.34 11.12 11.34

10237 1.27 107.1 3204 3906 3067 3043 502.9 19.0 805 10244 0.20 3.12 0.00 0.000 5126 0.317 0.047 3187 2546 3053 3065 3042 0 0 0 0 0 0 11.02 11.19 11.21

10543 1.27 107.1 3187 2546 3066 3042 453.8 15.9 836 10543 0.00 0.00 0.00 0.000 6 0.000 0.000 3186 2545 3053 3065 3042 0 0 0 0 0 0 11.33 11.34 11.34

10842 1.27 107.1 3187 2546 3066 3044 407.2 15.4 866 10843 0.00 0.00 0.00 0.000 6 0.000 0.000 3186 2546 3053 3065 3042 0 0 0 0 0 0 11.36 11.36 11.35

10888 end climb: FINISH_DEPTH_REACHED

state 10888 begin subsurface finish

10897 0.00 0.4 3187 2546 3068 3042 399.5 15.4 871 10912 2.15 0.00 -7.32 0.023 20486 0.264 0.000 2781 2546 3514 3515 3514 0 0 0 0 1 0 11.06 10.74 11.22

10913 end subsurface finish: CONTROL_FINISHED_OK

state 10913 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	865	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	27	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	14	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	5	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	65	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	9.3000002	RAFOS_PEAK_OFFSET	0	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	13	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	160119,181424,-7412.1611,-11231.0352,0,4116.7,0,53.5,0.0,0.0,0,0.0	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	396.35	MHEAD_RNG_PITCHd_Wd	118.9,3904,-25.0,-9.429,-26.89,1022
_SM_ANGLEo	4.1	D_GRID	990
GPS2	160119,181424,-7412.1611,-11231.0352,0,4116.7,0,53.5,0.0,0.0,0,0.0

FREEZE	399.51,-1.132,-2.176,2,2,0	_24V_AH	9.99,276.305
FINISH1	399.5,1.027492,0	_10V_AH	10.29,0.000
FINISH2	397.1	FG_AHR_24Vo	0.000
RAFOS_CLK	455	FG_AHR_10Vo	0.000
RAFOS	0,1547672485,21.032354,21.023611,157,63,59,56,56,53,424,162,204,136,180,121	MEM	278872
RAFOS_FIX	-7413.133789,-11228.891602,160119,212144,3,137,0.19	DATA_FILE_SIZE	30058,873
IRIDIUM_FIX	-7415.88,-11304.63,160119,112744	CAP_FILE_SIZE	109539,0
TT8_MAMPS	0.044191,0.282373	CFSIZE	1024409600,916570112
HUMID	50.86	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	7.94871	SOUNDSPEED	1457.0
TCM_TEMP	13.40	GPS	160119,211544,-7413.134,-11228.892,0,4137.0,0,53.5,0.0,0.0,0,0.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	316	24.76	nil	0	0	0.00
Roll_motor	98	87	86.21	nil	0	0	0.00
VBD_pump_during_apogee	326	3102	10114.44	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	10949	6	717.54
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	41	420	173.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8447	2	200.81
TT8_Active	412	10	46.11
TT8_Sampling	1866	30	582.88
TT8_CF8	320	51	169.18
TT8_Kalman	0	0	0.00
Analog_circuits	1061	10	110.32
GPS_charging	0	0	0.00
Compass	1250	6	86.76
RAFOS	720	1	11.11
Transponder	306	30	94.51

		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

404.1	89.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00

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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
11	-1.22	-62.8	2779	2809	3533	3532	0.0	0.0	0	13	0.00	0.00	-0.98	0.076	16390	0.000	0.000	2779	2808	3761	3758	3765	0	0	0	0	0	0	11.34	10.60	11.32
17	-1.22	-62.8	2779	2809	3766	3771	0.0	0.0	0	24	1.67	2.62	0.00	0.000	4356	0.133	0.085	2389	3910	3769	3766	3772	0	0	0	0	0	0	11.12	11.14	11.19
80	-1.24	-83.9	2390	3911	3773	3774	400.2	-7.3	12	85	0.00	2.53	-0.30	0.228	17446	0.000	0.044	2390	2799	3843	3841	3846	0	0	0	0	0	0	11.24	11.19	11.26
393	-1.24	-83.9	2390	2801	3850	3858	428.0	-8.9	44	398	0.00	3.25	0.00	0.000	516	0.000	0.046	2390	1390	3853	3849	3857	0	0	0	0	0	0	11.34	11.17	11.34
444	-1.24	-83.9	2390	1389	3851	3857	432.8	-9.1	54	449	0.00	3.38	0.00	0.000	1030	0.000	0.060	2380	2807	3853	3849	3857	0	0	0	0	0	0	11.24	11.17	11.25
756	-1.24	-83.9	2380	2807	3852	3858	461.5	-9.2	86	756	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2807	3853	3850	3857	0	0	0	0	0	0	11.36	11.36	11.36
1056	-1.24	-83.9	2380	2807	3852	3858	489.5	-9.2	116	1061	0.00	3.30	0.00	0.000	516	0.000	0.045	2380	1386	3854	3850	3858	0	0	0	0	0	0	11.36	11.17	11.36
1117	-1.24	-83.9	2380	1385	3851	3858	495.1	-9.0	128	1122	0.00	3.38	0.00	0.000	1030	0.000	0.059	2371	2805	3854	3851	3858	0	0	0	0	0	0	11.24	11.17	11.25
1429	-1.24	-83.9	2370	2805	3852	3858	523.2	-9.2	160	1429	0.00	0.00	0.00	0.000	6	0.000	0.000	2371	2804	3854	3850	3858	0	0	0	0	0	0	11.36	11.36	11.36
1730	-1.24	-83.9	2371	2805	3851	3859	550.9	-9.1	190	1735	0.00	3.28	0.00	0.000	516	0.000	0.044	2371	1392	3854	3851	3858	0	0	0	0	0	0	11.34	11.17	11.35
1801	-1.24	-83.9	2371	1393	3852	3857	557.4	-8.8	204	1806	0.00	3.38	0.00	0.000	1030	0.000	0.060	2369	2811	3854	3851	3857	0	0	0	0	0	0	11.23	11.15	11.24
2113	-1.24	-83.9	2371	2811	3852	3857	584.5	-8.5	236	2114	0.00	0.00	0.00	0.000	6	0.000	0.000	2371	2811	3854	3851	3857	0	0	0	0	0	0	11.36	11.36	11.36
2413	-1.24	-83.9	2370	2811	3852	3858	610.4	-8.6	266	2414	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	2811	3854	3851	3857	0	0	0	0	0	0	11.36	11.36	11.36
2713	-1.24	-83.9	2371	2811	3852	3859	636.2	-8.5	296	2718	0.00	3.30	0.00	0.000	516	0.000	0.044	2370	1389	3854	3851	3857	0	0	0	0	0	0	11.36	11.17	11.36
2770	-1.24	-83.9	2371	1391	3851	3858	641.2	-8.6	307	2776	0.00	3.40	0.00	0.000	1030	0.000	0.059	2367	2811	3854	3851	3857	0	0	0	0	0	0	11.24	11.17	11.25
3075	-1.24	-83.9	2367	2812	3851	3858	667.1	-8.4	338	3076	0.00	0.00	0.00	0.000	6	0.000	0.000	2367	2811	3854	3851	3857	0	0	0	0	0	0	11.36	11.36	11.36
3375	-1.24	-83.9	2367	2811	3852	3857	692.3	-8.2	368	3376	0.00	0.00	0.00	0.000	6	0.000	0.000	2367	2811	3854	3851	3857	0	0	0	0	0	0	11.36	11.36	11.36
3689	-1.24	-83.9	2367	2812	3851	3858	718.0	-8.2	385	3695	0.00	3.30	0.00	0.000	516	0.000	0.044	2367	1388	3853	3851	3856	0	0	0	0	0	0	11.35	11.16	11.36
3737	-1.24	-83.9	2367	1389	3852	3856	722.2	-8.3	394	3742	0.00	3.38	0.00	0.000	1030	0.000	0.059	2359	2806	3853	3851	3856	0	0	0	0	0	0	11.24	11.17	11.26
4116	-1.24	-83.9	2358	2807	3851	3858	752.7	-8.1	409	4122	0.00	3.28	0.00	0.000	516	0.000	0.044	2359	1391	3853	3851	3856	0	0	0	0	0	0	11.36	11.17	11.35
4159	-1.24	-83.9	2359	1393	3851	3857	756.5	-8.2	417	4165	0.00	3.38	0.00	0.000	1030	0.000	0.060	2358	2810	3853	3850	3856	0	0	0	0	0	0	11.24	11.17	11.26
4541	-1.24	-83.9	2358	2811	3851	3857	786.6	-8.0	433	4547	0.00	3.30	0.00	0.000	516	0.000	0.044	2358	1385	3853	3851	3856	0	0	0	0	0	0	11.36	11.17	11.36
4609	-1.24	-83.9	2358	1385	3851	3857	792.0	-7.9	446	4614	0.00	3.38	0.00	0.000	1030	0.000	0.060	2357	2801	3853	3851	3856	0	0	0	0	0	0	11.24	11.17	11.26
4996	-1.24	-83.9	2358	2801	3852	3856	823.0	-7.9	463	4997	0.00	0.00	0.00	0.000	6	0.000	0.000	2357	2801	3852	3851	3853	0	0	0	0	0	0	11.35	11.35	11.35
5356	-1.24	-83.9	2357	2803	3851	3857	851.0	-7.6	475	5362	0.00	3.28	0.00	0.000	516	0.000	0.044	2357	1387	3853	3850	3856	0	0	0	0	0	0	11.33	11.18	11.35
5453	-1.24	-83.9	2357	1388	3851	3857	858.4	-7.5	494	5458	0.00	3.38	0.00	0.000	1030	0.000	0.060	2352	2806	3853	3851	3856	0	0	0	0	0	0	11.24	11.17	11.26
5843	-1.24	-83.9	2352	2807	3851	3857	887.5	-7.5	511	5844	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2806	3853	3851	3856	0	0	0	0	0	0	11.36	11.36	11.36
6201	-1.27	-107.1	2352	2806	3852	3856	912.3	-6.5	523	6206	0.00	3.28	0.00	0.000	548	0.000	0.044	2352	1389	3853	3851	3855	0	0	0	0	0	0	11.36	11.18	11.36
6336	-1.27	-107.1	2353	1388	3852	3856	921.0	-6.9	549	6342	0.00	3.38	0.00	0.000	1062	0.000	0.060	2351	2805	3853	3851	3856	0	0	0	0	0	0	11.24	11.17	11.26
6722	-1.27	-107.1	2350	2806	3851	3857	948.0	-7.1	565	6728	0.00	3.28	0.00	0.000	548	0.000	0.044	2351	1387	3853	3851	3856	0	0	0	0	0	0	11.36	11.18	11.36
6754	-1.27	-107.1	2351	1388	3851	3857	950.4	-2.6	571	6759	0.00	3.38	0.00	0.000	1062	0.000	0.060	2351	2806	3853	3851	3856	0	0	0	0	0	0	11.24	11.17	11.26
7149	-1.27	-107.1	2352	2806	3851	3856	977.7	-7.1	589	7150	0.00	0.00	0.00	0.000	38	0.000	0.000	2351	2806	3853	3851	3856	0	0	0	0	0	0	11.36	11.36	11.36
7322	end dive: TARGET_DEPTH_EXCEEDED
state	7322	begin apogee
7331	-0.23	0.0	2352	2549	3852	3857	990.7	-7.2	595	7487	1.80	0.00	153.02	3.099	10246	0.238	0.000	2693	2548	3492	3498	3487	0	0	0	0	0	0	11.07	11.02	9.99
7488	end apogee: CONTROL_FINISHED_OK
state	7488	begin climb
7492	1.27	107.1	2693	2548	3498	3488	992.1	0.0	600	7670	2.00	0.00	173.27	3.103	10758	0.106	0.000	3173	2548	3064	3076	3053	0	0	0	0	0	0	11.05	11.02	10.01
8016	1.27	107.1	3174	2548	3068	3045	906.5	18.0	628	8022	0.00	3.30	0.00	0.000	260	0.000	0.086	3173	3907	3054	3064	3045	0	0	0	0	0	0	11.32	11.11	11.32
8058	1.27	107.1	3173	3910	3069	3044	897.6	21.3	636	8063	0.00	3.15	0.00	0.000	1030	0.000	0.047	3183	2542	3055	3067	3044	0	0	0	0	0	0	11.21	11.17	11.22
8440	1.27	107.1	3183	2543	3066	3044	827.8	18.0	652	8446	0.00	3.38	0.00	0.000	260	0.000	0.086	3183	3909	3054	3066	3043	0	0	0	0	0	0	11.33	11.11	11.33
8473	1.27	107.1	3184	3910	3067	3043	821.2	23.3	658	8479	0.00	3.12	0.00	0.000	1030	0.000	0.047	3193	2550	3053	3066	3040	0	0	0	0	0	0	11.18	11.15	11.19
8866	1.27	107.1	3193	2551	3066	3044	748.7	18.4	676	8866	0.00	0.00	0.00	0.000	6	0.000	0.000	3193	2550	3054	3065	3043	0	0	0	0	0	0	11.34	11.34	11.35
9226	1.27	107.1	3194	2550	3066	3043	683.3	17.7	694	9227	0.00	0.00	0.00	0.000	6	0.000	0.000	3193	2550	3054	3065	3043	0	0	0	0	0	0	11.34	11.34	11.34
9526	1.27	107.1	3194	2550	3066	3043	630.0	17.8	724	9532	0.00	3.35	0.00	0.000	260	0.000	0.087	3193	3908	3054	3065	3043	0	0	0	0	0	0	11.35	11.13	11.34
9583	1.27	107.1	3194	3908	3066	3043	618.6	20.1	735	9590	0.00	3.15	0.00	0.000	1030	0.000	0.047	3204	2538	3054	3065	3043	0	0	0	0	0	0	11.24	11.19	11.25
9889	1.27	107.1	3205	2539	3065	3042	564.2	17.7	766	9889	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2539	3053	3065	3042	0	0	0	0	0	0	11.34	11.34	11.34
10189	1.27	107.1	3204	2539	3066	3042	511.8	17.1	796	10195	0.00	3.35	0.00	0.000	260	0.000	0.086	3203	3906	3053	3065	3042	0	0	0	0	0	0	11.34	11.12	11.34
10237	1.27	107.1	3204	3906	3067	3043	502.9	19.0	805	10244	0.20	3.12	0.00	0.000	5126	0.317	0.047	3187	2546	3053	3065	3042	0	0	0	0	0	0	11.02	11.19	11.21
10543	1.27	107.1	3187	2546	3066	3042	453.8	15.9	836	10543	0.00	0.00	0.00	0.000	6	0.000	0.000	3186	2545	3053	3065	3042	0	0	0	0	0	0	11.33	11.34	11.34
10842	1.27	107.1	3187	2546	3066	3044	407.2	15.4	866	10843	0.00	0.00	0.00	0.000	6	0.000	0.000	3186	2546	3053	3065	3042	0	0	0	0	0	0	11.36	11.36	11.35
10888	end climb: FINISH_DEPTH_REACHED
state	10888	begin subsurface finish
10897	0.00	0.4	3187	2546	3068	3042	399.5	15.4	871	10912	2.15	0.00	-7.32	0.023	20486	0.264	0.000	2781	2546	3514	3515	3514	0	0	0	0	1	0	11.06	10.74	11.22
10913	end subsurface finish: CONTROL_FINISHED_OK
state	10913	begin surface