Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 866 * 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 866 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 866 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 160119,211544,-7413.1338,-11228.8916,0,4137.0,0,53.5,0.0,0.0,0,0.0 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 396.21 MHEAD_RNG_PITCHd_Wd 141.6,2142,-41.5,-9.429,-42.75,368

_SM_ANGLEo 4.3 D_GRID 990

GPS2 160119,211544,-7413.1338,-11228.8916,0,4137.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 397.61,-1.007,-2.175,2,3,0 _24V_AH 10.05,276.577

FINISH1 397.6,1.027499,0 _10V_AH 10.30,0.000

FINISH2 392.3 FG_AHR_24Vo 0.000

RAFOS_CLK 485 FG_AHR_10Vo 0.000

RAFOS 0,1547683268,0.032355,0.018889,122,69,57,55,55,54,520,206,151,133,165,177 MEM 278824

RAFOS_FIX -7414.078125,-11228.299805,170119,000056,3,116,0.17 DATA_FILE_SIZE 40009,1162

IRIDIUM_FIX -7415.88,-11304.63,160119,112744 CAP_FILE_SIZE 128262,0

TT8_MAMPS 0.04494,0.287616 CFSIZE 1024409600,916422656

HUMID 50.74 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 7.93895 SOUNDSPEED 1458.0

TCM_TEMP 13.50 GPS 170119,001456,-7414.078,-11228.300,0,4116.3,0,53.5,0.0,0.0,0,0.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 333 46.01 nil 0 0 0.00

Roll_motor 120 99 120.86 nil 0 0 0.00

VBD_pump_during_apogee 239 3062 7363.94 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 11853 6 779.18

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 33 420 139.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8938 2 212.67

TT8_Active 331 10 37.16

TT8_Sampling 2330 30 728.39

TT8_CF8 347 51 183.87

TT8_Kalman 0 0 0.00

Analog_circuits 1181 10 122.91

GPS_charging 0 0 0.00

Compass 1659 6 115.20

RAFOS 720 1 11.12

Transponder 250 30 77.54

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

10 -1.92 -22.6 2781 2802 3528 3528 0.0 0.0 0 12 0.00 0.00 -0.32 0.216 16390 0.000 0.000 2781 2801 3596 3595 3598 0 0 0 0 0 0 11.34 10.60 11.28

16 -1.92 -22.6 2781 2802 3598 3602 0.0 0.0 0 29 2.55 3.28 0.00 0.000 4612 0.113 0.044 2157 1392 3597 3600 3595 0 0 0 0 0 0 11.15 11.17 11.24

146 -1.93 -33.3 2157 1393 3606 3598 403.6 -6.4 25 154 0.00 3.35 -0.17 0.390 17446 0.000 0.052 2153 2810 3641 3645 3638 0 0 0 0 0 0 11.23 11.17 11.24

451 -1.93 -33.3 2154 2810 3652 3642 430.3 -9.3 56 456 0.00 2.62 0.00 0.000 260 0.000 0.074 2148 3916 3646 3651 3642 0 0 0 0 0 0 11.35 11.16 11.34

548 -1.93 -33.3 2149 3916 3652 3642 439.9 -10.2 75 554 0.00 2.53 0.00 0.000 1030 0.000 0.040 2148 2793 3647 3652 3642 0 0 0 0 0 0 11.25 11.21 11.26

853 -1.93 -33.3 2148 2794 3652 3643 467.4 -8.5 106 858 0.00 3.20 0.00 0.000 516 0.000 0.042 2148 1396 3647 3651 3643 0 0 0 0 0 0 11.36 11.18 11.36

889 -1.93 -33.3 2149 1396 3652 3643 470.6 -8.6 113 896 0.00 3.33 0.00 0.000 1030 0.000 0.051 2141 2808 3647 3651 3643 0 0 0 0 0 0 11.24 11.17 11.26

1194 -1.93 -33.3 2141 2809 3652 3644 496.8 -8.4 144 1195 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2809 3647 3651 3643 0 0 0 0 0 0 11.36 11.35 11.36

1494 -1.93 -33.3 2141 2810 3651 3644 520.8 -7.9 174 1495 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2809 3647 3651 3643 0 0 0 0 0 0 11.36 11.36 11.36

1794 -1.93 -33.3 2141 2809 3650 3644 544.4 -7.7 204 1795 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2808 3647 3651 3643 0 0 0 0 0 0 11.36 11.36 11.35

2094 -1.94 -41.6 2141 2809 3651 3644 566.4 -7.1 234 2100 0.00 3.28 0.00 0.000 548 0.000 0.041 2141 1388 3647 3651 3643 0 0 0 0 0 0 11.36 11.18 11.36

2146 -1.95 -50.7 2141 1388 3653 3643 570.0 -6.9 244 2151 0.00 3.33 0.00 0.000 1062 0.000 0.052 2133 2803 3646 3651 3642 0 0 0 0 0 0 11.23 11.17 11.24

2458 -1.96 -59.4 2133 2804 3652 3644 591.5 -7.0 276 2458 0.00 0.00 0.00 0.000 38 0.000 0.000 2133 2803 3644 3651 3638 0 0 0 0 0 0 11.36 11.36 11.36

2758 -1.97 -70.2 2135 2803 3652 3642 611.6 -6.4 306 2764 0.00 3.20 0.00 0.000 548 0.000 0.041 2134 1386 3646 3651 3642 0 0 0 0 0 0 11.36 11.17 11.36

2821 -1.99 -81.9 2135 1387 3651 3643 615.5 -6.2 318 2826 0.00 3.35 0.00 0.000 1062 0.000 0.052 2133 2809 3646 3651 3641 0 0 0 0 0 0 11.23 11.17 11.24

3133 -2.00 -95.0 2134 2810 3652 3643 634.3 -5.8 350 3138 0.00 2.62 0.00 0.000 292 0.000 0.072 2125 3916 3646 3651 3641 0 0 0 0 0 0 11.36 11.17 11.36

3194 -2.02 -105.6 2125 3916 3652 3640 638.2 -6.5 362 3199 0.00 2.53 0.00 0.000 1062 0.000 0.040 2130 2794 3646 3652 3640 0 0 0 0 0 0 11.25 11.21 11.26

3506 -2.02 -107.1 2131 2794 3652 3641 656.0 -5.6 394 3506 0.00 0.00 0.00 0.000 38 0.000 0.000 2130 2793 3646 3651 3641 0 0 0 0 0 0 11.36 11.36 11.36

3806 -2.02 -107.1 2130 2794 3652 3641 672.0 -5.0 424 3811 0.00 3.22 0.00 0.000 548 0.000 0.041 2131 1386 3645 3651 3640 0 0 0 0 0 0 11.35 11.17 11.35

3915 -2.02 -107.1 2131 1386 3652 3640 677.4 -4.9 445 3923 0.00 3.35 0.00 0.000 1062 0.000 0.051 2125 2807 3645 3650 3640 0 0 0 0 0 0 11.24 11.18 11.26

4220 -2.02 -107.1 2125 2807 3651 3642 692.8 -5.0 476 4220 0.00 0.00 0.00 0.000 38 0.000 0.000 2124 2807 3645 3651 3640 0 0 0 0 0 0 11.35 11.35 11.35

4523 -2.02 -107.1 2124 2808 3652 3640 707.5 -4.8 496 4528 0.00 2.62 0.00 0.000 292 0.000 0.071 2116 3917 3646 3652 3640 0 0 0 0 0 0 11.36 11.17 11.36

4675 -2.02 -107.1 2117 3917 3652 3639 715.6 -5.5 526 4680 0.00 2.53 0.00 0.000 1062 0.000 0.041 2117 2797 3645 3651 3639 0 0 0 0 0 0 11.25 11.21 11.26

5070 -2.02 -107.1 2118 2799 3652 3640 734.6 -4.8 544 5075 0.00 3.22 0.00 0.000 548 0.000 0.041 2116 1383 3645 3651 3639 0 0 0 0 0 0 11.36 11.19 11.36

5211 -2.02 -107.1 2117 1383 3652 3639 741.5 -4.7 572 5217 0.00 3.35 0.00 0.000 1062 0.000 0.051 2109 2811 3645 3652 3639 0 0 0 0 0 0 11.24 11.18 11.25

5583 -2.02 -107.1 2109 2812 3652 3640 757.9 -4.3 586 5588 0.00 2.60 0.00 0.000 292 0.000 0.071 2101 3911 3645 3651 3639 0 0 0 0 0 0 11.36 11.17 11.36

5775 -2.02 -107.1 2101 3912 3652 3638 766.3 -4.4 624 5780 0.00 2.53 0.00 0.000 1062 0.000 0.040 2101 2792 3644 3651 3638 0 0 0 0 0 0 11.26 11.21 11.26

6157 -2.02 -107.1 2101 2792 3652 3637 781.6 -3.8 640 6162 0.00 3.20 0.00 0.000 548 0.000 0.040 2101 1385 3644 3651 3638 0 0 0 0 0 0 11.36 11.19 11.36

6203 -2.02 -107.1 2102 1386 3655 3638 783.3 -3.6 649 6210 0.22 3.33 0.00 0.000 3110 0.321 0.049 2121 2809 3644 3651 3638 0 0 0 0 0 0 11.03 11.19 11.21

6585 -2.02 -107.1 2122 2808 3653 3638 796.1 -3.4 664 6590 0.00 2.60 0.00 0.000 292 0.000 0.071 2113 3907 3644 3651 3638 0 0 0 0 0 0 11.36 11.17 11.36

6817 -2.02 -107.1 2114 3907 3652 3638 803.5 -3.0 710 6822 0.00 2.50 0.00 0.000 1062 0.000 0.040 2114 2798 3644 3651 3638 0 0 0 0 0 0 11.24 11.20 11.26

7189 -2.02 -107.1 2116 2799 3651 3639 814.0 -2.8 724 7195 0.00 3.22 0.00 0.000 548 0.000 0.041 2113 1381 3644 3651 3638 0 0 0 0 0 0 11.35 11.19 11.35

7421 -2.02 -107.1 2114 1382 3652 3639 819.7 -2.4 770 7426 0.00 3.35 0.00 0.000 1062 0.000 0.052 2108 2808 3648 3658 3638 0 0 0 0 0 0 11.24 11.18 11.26

7793 -2.02 -107.1 2109 2807 3651 3638 828.5 -2.2 784 7798 0.00 3.25 0.00 0.000 548 0.000 0.040 2109 1389 3644 3651 3638 0 0 0 0 0 0 11.36 11.19 11.36

7913 -2.02 -107.1 2109 1390 3652 3638 830.7 -1.4 807 7920 0.00 3.33 0.00 0.000 1062 0.000 0.050 2098 2812 3644 3651 3638 0 0 0 0 0 0 11.24 11.18 11.23

8275 -2.02 -107.1 2099 2809 3652 3638 837.2 -1.5 820 8280 0.00 3.25 0.00 0.000 548 0.000 0.040 2098 1391 3644 3651 3638 0 0 0 0 0 0 11.36 11.19 11.36

8507 -2.02 -107.1 2099 1390 3652 3638 840.8 -1.6 866 8512 0.25 3.33 0.00 0.000 3110 0.327 0.050 2122 2813 3644 3651 3638 0 0 0 0 0 0 11.03 11.19 11.22

8879 -2.02 -107.1 2122 2813 3652 3638 845.9 -1.3 880 8884 0.00 3.28 0.00 0.000 548 0.000 0.040 2122 1382 3645 3651 3639 0 0 0 0 0 0 11.36 11.19 11.36

9004 -2.02 -107.1 2119 1383 3652 3640 847.4 -1.3 904 9009 0.00 3.35 0.00 0.000 1062 0.000 0.051 2113 2807 3645 3651 3639 0 0 0 0 0 0 11.25 11.18 11.26

9396 -2.02 -107.1 2113 2808 3652 3639 851.8 -1.0 922 9401 0.00 2.62 0.00 0.000 292 0.000 0.073 2107 3916 3645 3651 3639 0 0 0 0 0 0 11.36 11.17 11.36

9628 -2.02 -107.1 2108 3916 3654 3639 854.2 -1.2 968 9633 0.00 2.55 0.00 0.000 1062 0.000 0.041 2107 2794 3644 3650 3639 0 0 0 0 0 0 11.25 11.21 11.26

9996 end dive: NO_VERTICAL_VELOCITY

state 9997 begin apogee

10005 -0.23 0.0 2108 2541 3651 3640 857.9 0.0 982 10078 3.58 0.00 67.47 3.053 10246 0.314 0.000 2692 2541 3492 3497 3487 0 0 0 0 0 0 11.05 11.03 10.05

10079 end apogee: CONTROL_FINISHED_OK

state 10079 begin climb

10083 2.02 107.1 2693 2541 3498 3488 857.9 0.0 984 10266 2.97 3.33 171.80 3.062 10756 0.099 0.060 3435 1151 3064 3081 3047 0 0 0 0 0 0 11.08 10.93 10.06

10343 2.02 107.1 3435 1152 3077 3042 804.3 27.8 1033 10351 0.00 3.38 0.00 0.000 1030 0.000 0.063 3435 2553 3058 3076 3041 0 0 0 0 0 0 11.14 11.10 11.17

10733 2.02 107.1 3435 2555 3071 3038 692.5 28.5 1050 10739 0.00 3.33 0.00 0.000 260 0.000 0.083 3436 3917 3053 3070 3037 0 0 0 0 0 0 11.31 11.12 11.31

10756 2.02 107.1 3435 3917 3072 3038 685.7 29.7 1054 10761 0.00 3.15 0.00 0.000 1030 0.000 0.048 3445 2551 3054 3071 3037 0 0 0 0 0 0 11.22 11.16 11.21

11068 2.02 107.1 3446 2551 3071 3037 595.8 28.5 1086 11069 0.00 0.00 0.00 0.000 6 0.000 0.000 3445 2551 3053 3070 3037 0 0 0 0 0 0 11.33 11.33 11.33

11368 2.02 107.1 3446 2552 3069 3038 512.0 27.6 1116 11369 0.00 0.00 0.00 0.000 6 0.000 0.000 3445 2551 3053 3070 3037 0 0 0 0 0 0 11.34 11.34 11.34

11668 2.02 107.1 3446 2551 3071 3037 431.7 26.2 1146 11669 0.00 0.00 0.00 0.000 6 0.000 0.000 3445 2551 3053 3070 3037 0 0 0 0 0 0 11.34 11.34 11.34

11798 end climb: FINISH_DEPTH_REACHED

state 11798 begin subsurface finish

11807 0.00 0.0 3446 2551 3071 3037 397.6 26.1 1159 11825 4.15 3.38 -7.38 0.023 20740 0.334 0.099 2782 3917 3522 3524 3521 0 0 0 0 1 0 11.02 10.58 11.21

11826 end subsurface finish: CONTROL_FINISHED_OK

state 11826 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	866	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	160119,211544,-7413.1338,-11228.8916,0,4137.0,0,53.5,0.0,0.0,0,0.0	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	396.21	MHEAD_RNG_PITCHd_Wd	141.6,2142,-41.5,-9.429,-42.75,368
_SM_ANGLEo	4.3	D_GRID	990
GPS2	160119,211544,-7413.1338,-11228.8916,0,4137.0,0,53.5,0.0,0.0,0,0.0

FREEZE	397.61,-1.007,-2.175,2,3,0	_24V_AH	10.05,276.577
FINISH1	397.6,1.027499,0	_10V_AH	10.30,0.000
FINISH2	392.3	FG_AHR_24Vo	0.000
RAFOS_CLK	485	FG_AHR_10Vo	0.000
RAFOS	0,1547683268,0.032355,0.018889,122,69,57,55,55,54,520,206,151,133,165,177	MEM	278824
RAFOS_FIX	-7414.078125,-11228.299805,170119,000056,3,116,0.17	DATA_FILE_SIZE	40009,1162
IRIDIUM_FIX	-7415.88,-11304.63,160119,112744	CAP_FILE_SIZE	128262,0
TT8_MAMPS	0.04494,0.287616	CFSIZE	1024409600,916422656
HUMID	50.74	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	7.93895	SOUNDSPEED	1458.0
TCM_TEMP	13.50	GPS	170119,001456,-7414.078,-11228.300,0,4116.3,0,53.5,0.0,0.0,0,0.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	333	46.01	nil	0	0	0.00
Roll_motor	120	99	120.86	nil	0	0	0.00
VBD_pump_during_apogee	239	3062	7363.94	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	11853	6	779.18
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	33	420	139.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8938	2	212.67
TT8_Active	331	10	37.16
TT8_Sampling	2330	30	728.39
TT8_CF8	347	51	183.87
TT8_Kalman	0	0	0.00
Analog_circuits	1181	10	122.91
GPS_charging	0	0	0.00
Compass	1659	6	115.20
RAFOS	720	1	11.12
Transponder	250	30	77.54

		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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
10	-1.92	-22.6	2781	2802	3528	3528	0.0	0.0	0	12	0.00	0.00	-0.32	0.216	16390	0.000	0.000	2781	2801	3596	3595	3598	0	0	0	0	0	0	11.34	10.60	11.28
16	-1.92	-22.6	2781	2802	3598	3602	0.0	0.0	0	29	2.55	3.28	0.00	0.000	4612	0.113	0.044	2157	1392	3597	3600	3595	0	0	0	0	0	0	11.15	11.17	11.24
146	-1.93	-33.3	2157	1393	3606	3598	403.6	-6.4	25	154	0.00	3.35	-0.17	0.390	17446	0.000	0.052	2153	2810	3641	3645	3638	0	0	0	0	0	0	11.23	11.17	11.24
451	-1.93	-33.3	2154	2810	3652	3642	430.3	-9.3	56	456	0.00	2.62	0.00	0.000	260	0.000	0.074	2148	3916	3646	3651	3642	0	0	0	0	0	0	11.35	11.16	11.34
548	-1.93	-33.3	2149	3916	3652	3642	439.9	-10.2	75	554	0.00	2.53	0.00	0.000	1030	0.000	0.040	2148	2793	3647	3652	3642	0	0	0	0	0	0	11.25	11.21	11.26
853	-1.93	-33.3	2148	2794	3652	3643	467.4	-8.5	106	858	0.00	3.20	0.00	0.000	516	0.000	0.042	2148	1396	3647	3651	3643	0	0	0	0	0	0	11.36	11.18	11.36
889	-1.93	-33.3	2149	1396	3652	3643	470.6	-8.6	113	896	0.00	3.33	0.00	0.000	1030	0.000	0.051	2141	2808	3647	3651	3643	0	0	0	0	0	0	11.24	11.17	11.26
1194	-1.93	-33.3	2141	2809	3652	3644	496.8	-8.4	144	1195	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2809	3647	3651	3643	0	0	0	0	0	0	11.36	11.35	11.36
1494	-1.93	-33.3	2141	2810	3651	3644	520.8	-7.9	174	1495	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2809	3647	3651	3643	0	0	0	0	0	0	11.36	11.36	11.36
1794	-1.93	-33.3	2141	2809	3650	3644	544.4	-7.7	204	1795	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2808	3647	3651	3643	0	0	0	0	0	0	11.36	11.36	11.35
2094	-1.94	-41.6	2141	2809	3651	3644	566.4	-7.1	234	2100	0.00	3.28	0.00	0.000	548	0.000	0.041	2141	1388	3647	3651	3643	0	0	0	0	0	0	11.36	11.18	11.36
2146	-1.95	-50.7	2141	1388	3653	3643	570.0	-6.9	244	2151	0.00	3.33	0.00	0.000	1062	0.000	0.052	2133	2803	3646	3651	3642	0	0	0	0	0	0	11.23	11.17	11.24
2458	-1.96	-59.4	2133	2804	3652	3644	591.5	-7.0	276	2458	0.00	0.00	0.00	0.000	38	0.000	0.000	2133	2803	3644	3651	3638	0	0	0	0	0	0	11.36	11.36	11.36
2758	-1.97	-70.2	2135	2803	3652	3642	611.6	-6.4	306	2764	0.00	3.20	0.00	0.000	548	0.000	0.041	2134	1386	3646	3651	3642	0	0	0	0	0	0	11.36	11.17	11.36
2821	-1.99	-81.9	2135	1387	3651	3643	615.5	-6.2	318	2826	0.00	3.35	0.00	0.000	1062	0.000	0.052	2133	2809	3646	3651	3641	0	0	0	0	0	0	11.23	11.17	11.24
3133	-2.00	-95.0	2134	2810	3652	3643	634.3	-5.8	350	3138	0.00	2.62	0.00	0.000	292	0.000	0.072	2125	3916	3646	3651	3641	0	0	0	0	0	0	11.36	11.17	11.36
3194	-2.02	-105.6	2125	3916	3652	3640	638.2	-6.5	362	3199	0.00	2.53	0.00	0.000	1062	0.000	0.040	2130	2794	3646	3652	3640	0	0	0	0	0	0	11.25	11.21	11.26
3506	-2.02	-107.1	2131	2794	3652	3641	656.0	-5.6	394	3506	0.00	0.00	0.00	0.000	38	0.000	0.000	2130	2793	3646	3651	3641	0	0	0	0	0	0	11.36	11.36	11.36
3806	-2.02	-107.1	2130	2794	3652	3641	672.0	-5.0	424	3811	0.00	3.22	0.00	0.000	548	0.000	0.041	2131	1386	3645	3651	3640	0	0	0	0	0	0	11.35	11.17	11.35
3915	-2.02	-107.1	2131	1386	3652	3640	677.4	-4.9	445	3923	0.00	3.35	0.00	0.000	1062	0.000	0.051	2125	2807	3645	3650	3640	0	0	0	0	0	0	11.24	11.18	11.26
4220	-2.02	-107.1	2125	2807	3651	3642	692.8	-5.0	476	4220	0.00	0.00	0.00	0.000	38	0.000	0.000	2124	2807	3645	3651	3640	0	0	0	0	0	0	11.35	11.35	11.35
4523	-2.02	-107.1	2124	2808	3652	3640	707.5	-4.8	496	4528	0.00	2.62	0.00	0.000	292	0.000	0.071	2116	3917	3646	3652	3640	0	0	0	0	0	0	11.36	11.17	11.36
4675	-2.02	-107.1	2117	3917	3652	3639	715.6	-5.5	526	4680	0.00	2.53	0.00	0.000	1062	0.000	0.041	2117	2797	3645	3651	3639	0	0	0	0	0	0	11.25	11.21	11.26
5070	-2.02	-107.1	2118	2799	3652	3640	734.6	-4.8	544	5075	0.00	3.22	0.00	0.000	548	0.000	0.041	2116	1383	3645	3651	3639	0	0	0	0	0	0	11.36	11.19	11.36
5211	-2.02	-107.1	2117	1383	3652	3639	741.5	-4.7	572	5217	0.00	3.35	0.00	0.000	1062	0.000	0.051	2109	2811	3645	3652	3639	0	0	0	0	0	0	11.24	11.18	11.25
5583	-2.02	-107.1	2109	2812	3652	3640	757.9	-4.3	586	5588	0.00	2.60	0.00	0.000	292	0.000	0.071	2101	3911	3645	3651	3639	0	0	0	0	0	0	11.36	11.17	11.36
5775	-2.02	-107.1	2101	3912	3652	3638	766.3	-4.4	624	5780	0.00	2.53	0.00	0.000	1062	0.000	0.040	2101	2792	3644	3651	3638	0	0	0	0	0	0	11.26	11.21	11.26
6157	-2.02	-107.1	2101	2792	3652	3637	781.6	-3.8	640	6162	0.00	3.20	0.00	0.000	548	0.000	0.040	2101	1385	3644	3651	3638	0	0	0	0	0	0	11.36	11.19	11.36
6203	-2.02	-107.1	2102	1386	3655	3638	783.3	-3.6	649	6210	0.22	3.33	0.00	0.000	3110	0.321	0.049	2121	2809	3644	3651	3638	0	0	0	0	0	0	11.03	11.19	11.21
6585	-2.02	-107.1	2122	2808	3653	3638	796.1	-3.4	664	6590	0.00	2.60	0.00	0.000	292	0.000	0.071	2113	3907	3644	3651	3638	0	0	0	0	0	0	11.36	11.17	11.36
6817	-2.02	-107.1	2114	3907	3652	3638	803.5	-3.0	710	6822	0.00	2.50	0.00	0.000	1062	0.000	0.040	2114	2798	3644	3651	3638	0	0	0	0	0	0	11.24	11.20	11.26
7189	-2.02	-107.1	2116	2799	3651	3639	814.0	-2.8	724	7195	0.00	3.22	0.00	0.000	548	0.000	0.041	2113	1381	3644	3651	3638	0	0	0	0	0	0	11.35	11.19	11.35
7421	-2.02	-107.1	2114	1382	3652	3639	819.7	-2.4	770	7426	0.00	3.35	0.00	0.000	1062	0.000	0.052	2108	2808	3648	3658	3638	0	0	0	0	0	0	11.24	11.18	11.26
7793	-2.02	-107.1	2109	2807	3651	3638	828.5	-2.2	784	7798	0.00	3.25	0.00	0.000	548	0.000	0.040	2109	1389	3644	3651	3638	0	0	0	0	0	0	11.36	11.19	11.36
7913	-2.02	-107.1	2109	1390	3652	3638	830.7	-1.4	807	7920	0.00	3.33	0.00	0.000	1062	0.000	0.050	2098	2812	3644	3651	3638	0	0	0	0	0	0	11.24	11.18	11.23
8275	-2.02	-107.1	2099	2809	3652	3638	837.2	-1.5	820	8280	0.00	3.25	0.00	0.000	548	0.000	0.040	2098	1391	3644	3651	3638	0	0	0	0	0	0	11.36	11.19	11.36
8507	-2.02	-107.1	2099	1390	3652	3638	840.8	-1.6	866	8512	0.25	3.33	0.00	0.000	3110	0.327	0.050	2122	2813	3644	3651	3638	0	0	0	0	0	0	11.03	11.19	11.22
8879	-2.02	-107.1	2122	2813	3652	3638	845.9	-1.3	880	8884	0.00	3.28	0.00	0.000	548	0.000	0.040	2122	1382	3645	3651	3639	0	0	0	0	0	0	11.36	11.19	11.36
9004	-2.02	-107.1	2119	1383	3652	3640	847.4	-1.3	904	9009	0.00	3.35	0.00	0.000	1062	0.000	0.051	2113	2807	3645	3651	3639	0	0	0	0	0	0	11.25	11.18	11.26
9396	-2.02	-107.1	2113	2808	3652	3639	851.8	-1.0	922	9401	0.00	2.62	0.00	0.000	292	0.000	0.073	2107	3916	3645	3651	3639	0	0	0	0	0	0	11.36	11.17	11.36
9628	-2.02	-107.1	2108	3916	3654	3639	854.2	-1.2	968	9633	0.00	2.55	0.00	0.000	1062	0.000	0.041	2107	2794	3644	3650	3639	0	0	0	0	0	0	11.25	11.21	11.26
9996	end dive: NO_VERTICAL_VELOCITY
state	9997	begin apogee
10005	-0.23	0.0	2108	2541	3651	3640	857.9	0.0	982	10078	3.58	0.00	67.47	3.053	10246	0.314	0.000	2692	2541	3492	3497	3487	0	0	0	0	0	0	11.05	11.03	10.05
10079	end apogee: CONTROL_FINISHED_OK
state	10079	begin climb
10083	2.02	107.1	2693	2541	3498	3488	857.9	0.0	984	10266	2.97	3.33	171.80	3.062	10756	0.099	0.060	3435	1151	3064	3081	3047	0	0	0	0	0	0	11.08	10.93	10.06
10343	2.02	107.1	3435	1152	3077	3042	804.3	27.8	1033	10351	0.00	3.38	0.00	0.000	1030	0.000	0.063	3435	2553	3058	3076	3041	0	0	0	0	0	0	11.14	11.10	11.17
10733	2.02	107.1	3435	2555	3071	3038	692.5	28.5	1050	10739	0.00	3.33	0.00	0.000	260	0.000	0.083	3436	3917	3053	3070	3037	0	0	0	0	0	0	11.31	11.12	11.31
10756	2.02	107.1	3435	3917	3072	3038	685.7	29.7	1054	10761	0.00	3.15	0.00	0.000	1030	0.000	0.048	3445	2551	3054	3071	3037	0	0	0	0	0	0	11.22	11.16	11.21
11068	2.02	107.1	3446	2551	3071	3037	595.8	28.5	1086	11069	0.00	0.00	0.00	0.000	6	0.000	0.000	3445	2551	3053	3070	3037	0	0	0	0	0	0	11.33	11.33	11.33
11368	2.02	107.1	3446	2552	3069	3038	512.0	27.6	1116	11369	0.00	0.00	0.00	0.000	6	0.000	0.000	3445	2551	3053	3070	3037	0	0	0	0	0	0	11.34	11.34	11.34
11668	2.02	107.1	3446	2551	3071	3037	431.7	26.2	1146	11669	0.00	0.00	0.00	0.000	6	0.000	0.000	3445	2551	3053	3070	3037	0	0	0	0	0	0	11.34	11.34	11.34
11798	end climb: FINISH_DEPTH_REACHED
state	11798	begin subsurface finish
11807	0.00	0.0	3446	2551	3071	3037	397.6	26.1	1159	11825	4.15	3.38	-7.38	0.023	20740	0.334	0.099	2782	3917	3522	3524	3521	0	0	0	0	1	0	11.02	10.58	11.21
11826	end subsurface finish: CONTROL_FINISHED_OK
state	11826	begin surface