Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 976 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 976 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 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 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 25 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 11 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 6

D_BOOST 110 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 900 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2575 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1.5 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -7 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 10029665 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 0.059999999 PITCH_MIN 225 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2870 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 7 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 7 SEABIRD_C_G -9.8995104

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

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 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 10029665 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 4320

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 420

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.25 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2870 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2575 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

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 -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 5

DIVE 976 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 25 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 7 R_STBD_OVSHOOT 11 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 7 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 5 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 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 010319,080130,-7408.1362,-11313.9609,23,0.9,23,53.8,0.3,115.4,10,3.4 SPEED_LIMITS 0.100,0.239

_CALLS 1 TGT_NAME WMM0a

_XMS_NAKs 0 TGT_LATLONG -7408.900,-11254.810

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.94 MHEAD_RNG_PITCHd_Wd 36.2,9773,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -67.4 D_GRID 990

GPS2 010319,081315,-7408.1392,-11313.9268,2,0.8,3,53.8,0.4,238.3,12,8.6

Post-dive calculations and measurements:

FREEZE 0.03,-1.718,-0.975,2,1,0 _24V_AH 10.15,324.893

FINISH1 0.0,1.014391,0 _10V_AH 10.11,0.000

FINISH2 0.1 FG_AHR_24Vo 0.000

RAFOS_CLK 395 FG_AHR_10Vo 0.000

RAFOS 0,1551430859,9.032778,9.016389,81,65,62,56,55,55,628,174,192,229,138,216 MEM 280040

RAFOS_FIX -7406.019043,-11255.945312,010319,090948,3,98,2.61 DATA_FILE_SIZE 16731,489

IRIDIUM_FIX -7404.65,-11313.97,010319,034428 CAP_FILE_SIZE 88344,0

TT8_MAMPS 0.045689,0.248668 CFSIZE 1024409600,909295616

HUMID 51.85 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.20929 INTR 0,7790.49,0x234cda,1,24

TCM_TEMP 12.10 SOUNDSPEED 1446.2

XPDR_PINGS 1 CURRENT 0.000,0.00,1

ALTIM_TOP_PING 11.4,11.7 GPS 010319,081315,-7408.139,-11313.927,2,0.8,3,53.8,0.4,238.3,12,8.6

ALTIM_BOTTOM_PING 558.6,10.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 402 93.02 nil 0 0 0.00

Roll_motor 118 136 164.53 nil 0 0 0.00

VBD_pump_during_apogee 407 2809 11615.45 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 10415 6 727.19

Iridium_during_xfer 387 248 977.62 nil 0 0 0.00

Transponder_ping 24 420 102.31 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 10 0.52

TT8 0 0 0.00

LPSleep 8520 2 198.99

TT8_Active 623 13 87.12

TT8_Sampling 1432 34 503.93

TT8_CF8 470 52 250.78

TT8_Kalman 0 0 0.00

Analog_circuits 1456 10 160.47

GPS_charging 0 0 0.00

Compass 705 7 53.40

RAFOS 720 1 10.92

Transponder 173 30 52.77

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

10.5 13.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

21.2 22.50 9000.00 0.0 0.00 0.00 22.50 0.0 0.89 1.00

32.3 34.70 34.30 0.0 1.00 1.00 34.70 0.0 1.10 1.00

529.2 40.40 9000.00 0.0 0.02 0.57 40.40 0.0 0.01 1.00

543.4 25.40 9000.00 0.0 0.00 0.03 25.40 568.8 -1.06 1.00

558.6 10.90 10.70 569.3 -1.00 1.00 10.90 569.5 -0.95 1.00

111.9 116.30 9000.00 0.0 -0.22 0.99 116.30 0.0 -0.24 1.00

55.9 58.00 9000.00 0.0 -0.15 0.60 58.00 -2.1 1.04 1.00

44.3 45.90 45.90 -1.6 1.04 1.00 45.90 -1.6 1.04 1.00

33.8 34.60 34.60 -0.8 1.06 1.00 34.60 -0.8 1.08 1.00

23.3 24.00 23.90 -0.6 1.04 1.00 24.00 -0.7 1.01 1.00

11.4 11.60 11.70 -0.3 1.03 1.00 11.60 -0.2 1.04 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

12 -1.06 -107.1 215 2311 1174 1090 0.0 0.0 0 113 0.00 0.00 -100.43 0.002 16390 0.000 0.000 215 2310 3013 3021 3005 0 0 0 0 0 0 11.47 10.71 11.49

118 -1.06 -107.1 216 2311 3023 3006 1.7 -1.2 3 141 17.42 3.40 0.00 0.000 2564 0.402 0.063 2522 890 3014 3023 3005 0 0 0 0 0 0 11.10 11.26 11.30

316 -1.06 -107.1 2522 891 3026 3004 40.2 -16.0 32 321 0.00 3.38 0.00 0.000 1030 0.000 0.060 2513 2302 3013 3024 3002 0 0 0 0 0 0 11.38 11.30 11.40

676 -1.06 -107.1 2513 2303 3027 3000 97.9 -16.1 47 681 0.00 3.35 0.00 0.000 516 0.000 0.062 2513 896 3014 3028 3001 0 0 0 0 0 0 11.49 11.29 11.50

744 -1.06 -107.1 2514 897 3030 3003 109.7 -16.3 57 750 0.00 3.35 0.00 0.000 1030 0.000 0.060 2503 2305 3013 3027 2999 0 0 0 0 0 0 11.38 11.30 11.40

1094 -1.06 -107.1 2504 2306 3030 3000 163.1 -15.8 71 1101 0.00 3.33 0.00 0.000 516 0.000 0.060 2502 899 3011 3028 2994 0 0 0 0 0 0 11.50 11.29 11.52

1231 -1.06 -107.1 2502 900 3029 2999 185.5 -17.1 90 1238 0.22 3.35 0.00 0.000 3078 0.265 0.059 2526 2308 3013 3028 2998 0 0 0 0 0 0 11.20 11.29 11.36

1570 -1.06 -107.1 2526 2308 3029 2998 236.1 -14.5 99 1576 0.00 3.35 0.00 0.000 516 0.000 0.060 2527 891 3013 3029 2997 0 0 0 0 0 0 11.51 11.31 11.52

1612 -1.06 -107.1 2528 892 3031 2998 242.2 -14.2 105 1618 0.00 3.35 0.00 0.000 1030 0.000 0.058 2518 2304 3013 3029 2997 0 0 0 0 0 0 11.38 11.31 11.41

1962 -1.06 -107.1 2519 2305 3031 2998 292.0 -14.3 113 1963 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2304 3013 3030 2997 0 0 0 0 0 0 11.51 11.52 11.52

2298 -1.06 -107.1 2519 2305 3032 2998 336.9 -13.4 119 2304 0.00 3.35 0.00 0.000 516 0.000 0.060 2518 892 3013 3030 2997 0 0 0 0 0 0 11.51 11.31 11.52

2417 -1.06 -107.1 2518 893 3032 2996 353.4 -13.8 136 2423 0.00 3.33 0.00 0.000 1030 0.000 0.055 2507 2304 3012 3030 2995 0 0 0 0 0 0 11.40 11.32 11.41

2802 -1.06 -107.1 2508 2306 3031 2997 408.1 -14.3 149 2808 0.00 3.35 0.00 0.000 516 0.000 0.060 2507 888 3013 3030 2996 0 0 0 0 0 0 11.51 11.29 11.52

2879 -1.06 -107.1 2508 889 3032 2997 419.2 -14.2 160 2885 0.20 3.33 0.00 0.000 3078 0.265 0.059 2527 2301 3013 3030 2996 0 0 0 0 0 0 11.21 11.32 11.37

3255 -1.06 -107.1 2526 2302 3030 2997 464.6 -11.9 171 3260 0.00 3.33 0.00 0.000 516 0.000 0.060 2527 897 3013 3030 2996 0 0 0 0 0 0 11.49 11.31 11.51

3316 -1.06 -107.1 2526 897 3030 2996 473.0 -12.8 180 3321 0.00 3.33 0.00 0.000 1030 0.000 0.057 2518 2301 3013 3030 2996 0 0 0 0 0 0 11.40 11.31 11.42

3704 -1.06 -107.1 2519 2302 3033 2996 522.0 -12.7 193 3705 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2301 3013 3031 2996 0 0 0 0 0 0 11.50 11.52 11.52

4033 end dive: BOTTOM_OBSTACLE_DETECTED

state 4033 begin apogee

4042 -0.23 0.0 2520 2074 3033 2997 565.7 -13.2 199 4212 1.40 0.10 166.18 2.810 10246 0.226 0.137 2789 2118 2575 2606 2544 0 0 0 0 0 0 11.21 11.12 10.15

4213 end apogee: CONTROL_FINISHED_OK

state 4213 begin climb

4217 1.06 107.1 2789 2119 2605 2545 570.7 0.0 202 4394 1.75 0.00 168.43 2.726 10502 0.122 0.000 3202 2118 2138 2174 2102 0 0 0 0 0 0 11.19 11.10 10.18

4709 1.08 107.1 3203 2119 2168 2090 536.7 9.0 232 4715 0.00 3.42 0.00 0.000 324 0.000 0.095 3202 3502 2127 2166 2089 0 0 0 0 0 0 11.46 11.24 11.48

4744 1.09 107.1 3201 3502 2164 2090 533.5 9.1 237 4750 0.00 3.17 0.00 0.000 1094 0.000 0.039 3210 2111 2127 2166 2089 0 0 0 0 0 0 11.36 11.31 11.38

5101 1.12 107.1 3210 2111 2162 2088 502.3 8.9 246 5106 0.00 3.47 0.00 0.000 324 0.000 0.093 3211 3502 2125 2162 2088 0 0 0 0 0 0 11.48 11.26 11.50

5136 1.12 107.1 3212 3502 2162 2088 498.9 9.7 251 5141 0.00 3.22 0.00 0.000 1030 0.000 0.041 3221 2091 2125 2162 2088 0 0 0 0 0 0 11.38 11.32 11.40

5494 1.12 107.1 3220 2092 2160 2095 464.9 9.7 260 5495 0.00 0.00 0.00 0.000 6 0.000 0.000 3221 2091 2124 2160 2088 0 0 0 0 0 0 11.47 11.49 11.49

5830 1.12 107.1 3221 2092 2160 2088 432.5 9.6 266 5835 0.00 3.58 0.00 0.000 260 0.000 0.092 3221 3506 2120 2158 2083 0 0 0 0 0 0 11.48 11.28 11.50

5899 1.12 107.1 3219 3507 2158 2087 425.1 10.8 276 5904 0.00 3.25 0.00 0.000 1030 0.000 0.039 3230 2091 2122 2159 2086 0 0 0 0 0 0 11.39 11.33 11.40

6278 1.12 107.1 3230 2092 2157 2086 387.2 10.1 288 6279 0.00 0.00 0.00 0.000 6 0.000 0.000 3234 2091 2122 2158 2086 0 0 0 0 0 0 11.48 11.50 11.50

6614 1.12 107.1 3227 2092 2159 2086 352.9 10.2 294 6619 0.00 3.53 0.00 0.000 260 0.000 0.090 3231 3505 2121 2157 2086 0 0 0 0 0 0 11.50 11.28 11.52

6648 1.12 107.1 3232 3506 2159 2086 349.0 10.9 299 6653 0.00 3.22 0.00 0.000 1030 0.000 0.039 3241 2099 2121 2157 2086 0 0 0 0 0 0 11.40 11.33 11.41

7005 1.13 107.1 3242 2099 2158 2087 314.1 9.5 308 7006 0.00 0.00 0.00 0.000 70 0.000 0.000 3241 2098 2120 2156 2085 0 0 0 0 0 0 11.50 11.52 11.52

7341 1.16 107.1 3242 2099 2157 2087 285.3 8.4 314 7347 0.00 3.47 0.00 0.000 324 0.000 0.093 3241 3504 2120 2155 2086 0 0 0 0 0 0 11.50 11.29 11.52

7418 1.16 107.1 3241 3505 2156 2085 277.8 10.0 325 7424 0.00 3.22 0.00 0.000 1030 0.000 0.037 3251 2095 2120 2155 2085 0 0 0 0 0 0 11.40 11.34 11.43

7790 1.16 107.1 3251 2096 2155 2086 241.9 9.6 336 7800 0.00 3.40 0.00 0.000 516 0.000 0.080 3262 687 2119 2154 2085 0 0 0 0 0 0 11.49 11.29 11.51

7836 1.16 107.1 3263 688 2154 2086 237.3 9.9 342 7841 0.00 3.25 0.00 0.000 1030 0.000 0.051 3262 2097 2119 2153 2085 0 0 0 0 0 0 11.40 11.33 11.42

8186 1.16 107.1 3263 2098 2155 2086 203.4 9.8 350 8191 0.00 3.53 0.00 0.000 260 0.000 0.093 3262 3513 2119 2153 2085 0 0 0 0 0 0 11.51 11.29 11.52

8241 1.16 107.1 3262 3513 2153 2086 197.4 11.2 358 8247 0.17 3.25 0.00 0.000 5126 0.259 0.041 3247 2089 2119 2153 2085 0 0 0 0 0 0 11.22 11.34 11.38

8609 1.20 107.1 3247 2089 2152 2085 166.3 8.1 374 8614 0.00 3.42 0.00 0.000 580 0.000 0.080 3256 686 2119 2153 2085 0 0 0 0 0 0 11.50 11.30 11.52

8677 1.23 107.1 3255 687 2151 2085 160.2 8.6 384 8683 0.00 3.28 0.00 0.000 1094 0.000 0.049 3255 2107 2118 2151 2085 0 0 0 0 0 0 11.40 11.33 11.43

9028 1.29 160.1 3257 2108 2154 2086 135.7 6.7 398 9112 0.00 3.60 72.68 2.375 8484 0.000 0.096 3255 3513 1922 1960 1885 0 0 0 0 0 0 11.51 11.16 10.32

9246 1.29 160.1 3256 3514 1959 1881 111.9 12.3 429 9253 0.00 3.25 0.00 0.000 1030 0.000 0.039 3266 2093 1918 1957 1880 0 0 0 0 0 0 11.38 11.32 11.39

9588 1.29 160.1 3266 2093 1956 1877 76.2 9.9 442 9588 0.00 0.00 0.00 0.000 6 0.000 0.000 3266 2093 1916 1956 1877 0 0 0 0 0 0 11.50 11.51 11.51

9924 1.29 160.1 3267 2093 1958 1876 41.6 10.2 454 9929 0.00 3.55 0.00 0.000 260 0.000 0.093 3266 3512 1915 1955 1875 0 0 0 0 0 0 11.50 11.28 11.51

10008 1.29 160.1 3267 3513 1957 1876 32.2 11.3 466 10013 0.00 3.25 0.00 0.000 1030 0.000 0.038 3277 2093 1915 1955 1875 0 0 0 0 0 0 11.40 11.34 11.40

10316 end climb: FINISH_DEPTH_REACHED

state 10316 begin subsurface finish

10325 0.00 0.0 3277 2093 1954 1872 0.0 10.3 480 10378 1.60 3.60 -45.58 0.003 21252 0.076 0.107 2863 3513 2576 2622 2530 0 0 0 0 0 0 11.33 10.94 11.36

10379 end subsurface finish: CONTROL_FINISHED_OK

state 10379 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	976	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	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	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	25	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	11	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	6
D_BOOST	110	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	900	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2575	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1.5	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-7	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	10029665	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	0.059999999	PITCH_MIN	225	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2870	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	7	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	7	SEABIRD_C_G	-9.8995104
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
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	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	010319,080130,-7408.1362,-11313.9609,23,0.9,23,53.8,0.3,115.4,10,3.4	SPEED_LIMITS	0.100,0.239
_CALLS	1	TGT_NAME	WMM0a
_XMS_NAKs	0	TGT_LATLONG	-7408.900,-11254.810
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.94	MHEAD_RNG_PITCHd_Wd	36.2,9773,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-67.4	D_GRID	990
GPS2	010319,081315,-7408.1392,-11313.9268,2,0.8,3,53.8,0.4,238.3,12,8.6

FREEZE	0.03,-1.718,-0.975,2,1,0	_24V_AH	10.15,324.893
FINISH1	0.0,1.014391,0	_10V_AH	10.11,0.000
FINISH2	0.1	FG_AHR_24Vo	0.000
RAFOS_CLK	395	FG_AHR_10Vo	0.000
RAFOS	0,1551430859,9.032778,9.016389,81,65,62,56,55,55,628,174,192,229,138,216	MEM	280040
RAFOS_FIX	-7406.019043,-11255.945312,010319,090948,3,98,2.61	DATA_FILE_SIZE	16731,489
IRIDIUM_FIX	-7404.65,-11313.97,010319,034428	CAP_FILE_SIZE	88344,0
TT8_MAMPS	0.045689,0.248668	CFSIZE	1024409600,909295616
HUMID	51.85	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.20929	INTR	0,7790.49,0x234cda,1,24
TCM_TEMP	12.10	SOUNDSPEED	1446.2
XPDR_PINGS	1	CURRENT	0.000,0.00,1
ALTIM_TOP_PING	11.4,11.7	GPS	010319,081315,-7408.139,-11313.927,2,0.8,3,53.8,0.4,238.3,12,8.6
ALTIM_BOTTOM_PING	558.6,10.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	402	93.02	nil	0	0	0.00
Roll_motor	118	136	164.53	nil	0	0	0.00
VBD_pump_during_apogee	407	2809	11615.45	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	10415	6	727.19
Iridium_during_xfer	387	248	977.62	nil	0	0	0.00
Transponder_ping	24	420	102.31	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	10	0.52
TT8	0	0	0.00
LPSleep	8520	2	198.99
TT8_Active	623	13	87.12
TT8_Sampling	1432	34	503.93
TT8_CF8	470	52	250.78
TT8_Kalman	0	0	0.00
Analog_circuits	1456	10	160.47
GPS_charging	0	0	0.00
Compass	705	7	53.40
RAFOS	720	1	10.92
Transponder	173	30	52.77

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
10.5	13.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
21.2	22.50	9000.00	0.0	0.00	0.00	22.50	0.0	0.89	1.00
32.3	34.70	34.30	0.0	1.00	1.00	34.70	0.0	1.10	1.00
529.2	40.40	9000.00	0.0	0.02	0.57	40.40	0.0	0.01	1.00
543.4	25.40	9000.00	0.0	0.00	0.03	25.40	568.8	-1.06	1.00
558.6	10.90	10.70	569.3	-1.00	1.00	10.90	569.5	-0.95	1.00

111.9	116.30	9000.00	0.0	-0.22	0.99	116.30	0.0	-0.24	1.00
55.9	58.00	9000.00	0.0	-0.15	0.60	58.00	-2.1	1.04	1.00
44.3	45.90	45.90	-1.6	1.04	1.00	45.90	-1.6	1.04	1.00
33.8	34.60	34.60	-0.8	1.06	1.00	34.60	-0.8	1.08	1.00
23.3	24.00	23.90	-0.6	1.04	1.00	24.00	-0.7	1.01	1.00
11.4	11.60	11.70	-0.3	1.03	1.00	11.60	-0.2	1.04	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
12	-1.06	-107.1	215	2311	1174	1090	0.0	0.0	0	113	0.00	0.00	-100.43	0.002	16390	0.000	0.000	215	2310	3013	3021	3005	0	0	0	0	0	0	11.47	10.71	11.49
118	-1.06	-107.1	216	2311	3023	3006	1.7	-1.2	3	141	17.42	3.40	0.00	0.000	2564	0.402	0.063	2522	890	3014	3023	3005	0	0	0	0	0	0	11.10	11.26	11.30
316	-1.06	-107.1	2522	891	3026	3004	40.2	-16.0	32	321	0.00	3.38	0.00	0.000	1030	0.000	0.060	2513	2302	3013	3024	3002	0	0	0	0	0	0	11.38	11.30	11.40
676	-1.06	-107.1	2513	2303	3027	3000	97.9	-16.1	47	681	0.00	3.35	0.00	0.000	516	0.000	0.062	2513	896	3014	3028	3001	0	0	0	0	0	0	11.49	11.29	11.50
744	-1.06	-107.1	2514	897	3030	3003	109.7	-16.3	57	750	0.00	3.35	0.00	0.000	1030	0.000	0.060	2503	2305	3013	3027	2999	0	0	0	0	0	0	11.38	11.30	11.40
1094	-1.06	-107.1	2504	2306	3030	3000	163.1	-15.8	71	1101	0.00	3.33	0.00	0.000	516	0.000	0.060	2502	899	3011	3028	2994	0	0	0	0	0	0	11.50	11.29	11.52
1231	-1.06	-107.1	2502	900	3029	2999	185.5	-17.1	90	1238	0.22	3.35	0.00	0.000	3078	0.265	0.059	2526	2308	3013	3028	2998	0	0	0	0	0	0	11.20	11.29	11.36
1570	-1.06	-107.1	2526	2308	3029	2998	236.1	-14.5	99	1576	0.00	3.35	0.00	0.000	516	0.000	0.060	2527	891	3013	3029	2997	0	0	0	0	0	0	11.51	11.31	11.52
1612	-1.06	-107.1	2528	892	3031	2998	242.2	-14.2	105	1618	0.00	3.35	0.00	0.000	1030	0.000	0.058	2518	2304	3013	3029	2997	0	0	0	0	0	0	11.38	11.31	11.41
1962	-1.06	-107.1	2519	2305	3031	2998	292.0	-14.3	113	1963	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2304	3013	3030	2997	0	0	0	0	0	0	11.51	11.52	11.52
2298	-1.06	-107.1	2519	2305	3032	2998	336.9	-13.4	119	2304	0.00	3.35	0.00	0.000	516	0.000	0.060	2518	892	3013	3030	2997	0	0	0	0	0	0	11.51	11.31	11.52
2417	-1.06	-107.1	2518	893	3032	2996	353.4	-13.8	136	2423	0.00	3.33	0.00	0.000	1030	0.000	0.055	2507	2304	3012	3030	2995	0	0	0	0	0	0	11.40	11.32	11.41
2802	-1.06	-107.1	2508	2306	3031	2997	408.1	-14.3	149	2808	0.00	3.35	0.00	0.000	516	0.000	0.060	2507	888	3013	3030	2996	0	0	0	0	0	0	11.51	11.29	11.52
2879	-1.06	-107.1	2508	889	3032	2997	419.2	-14.2	160	2885	0.20	3.33	0.00	0.000	3078	0.265	0.059	2527	2301	3013	3030	2996	0	0	0	0	0	0	11.21	11.32	11.37
3255	-1.06	-107.1	2526	2302	3030	2997	464.6	-11.9	171	3260	0.00	3.33	0.00	0.000	516	0.000	0.060	2527	897	3013	3030	2996	0	0	0	0	0	0	11.49	11.31	11.51
3316	-1.06	-107.1	2526	897	3030	2996	473.0	-12.8	180	3321	0.00	3.33	0.00	0.000	1030	0.000	0.057	2518	2301	3013	3030	2996	0	0	0	0	0	0	11.40	11.31	11.42
3704	-1.06	-107.1	2519	2302	3033	2996	522.0	-12.7	193	3705	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2301	3013	3031	2996	0	0	0	0	0	0	11.50	11.52	11.52
4033	end dive: BOTTOM_OBSTACLE_DETECTED
state	4033	begin apogee
4042	-0.23	0.0	2520	2074	3033	2997	565.7	-13.2	199	4212	1.40	0.10	166.18	2.810	10246	0.226	0.137	2789	2118	2575	2606	2544	0	0	0	0	0	0	11.21	11.12	10.15
4213	end apogee: CONTROL_FINISHED_OK
state	4213	begin climb
4217	1.06	107.1	2789	2119	2605	2545	570.7	0.0	202	4394	1.75	0.00	168.43	2.726	10502	0.122	0.000	3202	2118	2138	2174	2102	0	0	0	0	0	0	11.19	11.10	10.18
4709	1.08	107.1	3203	2119	2168	2090	536.7	9.0	232	4715	0.00	3.42	0.00	0.000	324	0.000	0.095	3202	3502	2127	2166	2089	0	0	0	0	0	0	11.46	11.24	11.48
4744	1.09	107.1	3201	3502	2164	2090	533.5	9.1	237	4750	0.00	3.17	0.00	0.000	1094	0.000	0.039	3210	2111	2127	2166	2089	0	0	0	0	0	0	11.36	11.31	11.38
5101	1.12	107.1	3210	2111	2162	2088	502.3	8.9	246	5106	0.00	3.47	0.00	0.000	324	0.000	0.093	3211	3502	2125	2162	2088	0	0	0	0	0	0	11.48	11.26	11.50
5136	1.12	107.1	3212	3502	2162	2088	498.9	9.7	251	5141	0.00	3.22	0.00	0.000	1030	0.000	0.041	3221	2091	2125	2162	2088	0	0	0	0	0	0	11.38	11.32	11.40
5494	1.12	107.1	3220	2092	2160	2095	464.9	9.7	260	5495	0.00	0.00	0.00	0.000	6	0.000	0.000	3221	2091	2124	2160	2088	0	0	0	0	0	0	11.47	11.49	11.49
5830	1.12	107.1	3221	2092	2160	2088	432.5	9.6	266	5835	0.00	3.58	0.00	0.000	260	0.000	0.092	3221	3506	2120	2158	2083	0	0	0	0	0	0	11.48	11.28	11.50
5899	1.12	107.1	3219	3507	2158	2087	425.1	10.8	276	5904	0.00	3.25	0.00	0.000	1030	0.000	0.039	3230	2091	2122	2159	2086	0	0	0	0	0	0	11.39	11.33	11.40
6278	1.12	107.1	3230	2092	2157	2086	387.2	10.1	288	6279	0.00	0.00	0.00	0.000	6	0.000	0.000	3234	2091	2122	2158	2086	0	0	0	0	0	0	11.48	11.50	11.50
6614	1.12	107.1	3227	2092	2159	2086	352.9	10.2	294	6619	0.00	3.53	0.00	0.000	260	0.000	0.090	3231	3505	2121	2157	2086	0	0	0	0	0	0	11.50	11.28	11.52
6648	1.12	107.1	3232	3506	2159	2086	349.0	10.9	299	6653	0.00	3.22	0.00	0.000	1030	0.000	0.039	3241	2099	2121	2157	2086	0	0	0	0	0	0	11.40	11.33	11.41
7005	1.13	107.1	3242	2099	2158	2087	314.1	9.5	308	7006	0.00	0.00	0.00	0.000	70	0.000	0.000	3241	2098	2120	2156	2085	0	0	0	0	0	0	11.50	11.52	11.52
7341	1.16	107.1	3242	2099	2157	2087	285.3	8.4	314	7347	0.00	3.47	0.00	0.000	324	0.000	0.093	3241	3504	2120	2155	2086	0	0	0	0	0	0	11.50	11.29	11.52
7418	1.16	107.1	3241	3505	2156	2085	277.8	10.0	325	7424	0.00	3.22	0.00	0.000	1030	0.000	0.037	3251	2095	2120	2155	2085	0	0	0	0	0	0	11.40	11.34	11.43
7790	1.16	107.1	3251	2096	2155	2086	241.9	9.6	336	7800	0.00	3.40	0.00	0.000	516	0.000	0.080	3262	687	2119	2154	2085	0	0	0	0	0	0	11.49	11.29	11.51
7836	1.16	107.1	3263	688	2154	2086	237.3	9.9	342	7841	0.00	3.25	0.00	0.000	1030	0.000	0.051	3262	2097	2119	2153	2085	0	0	0	0	0	0	11.40	11.33	11.42
8186	1.16	107.1	3263	2098	2155	2086	203.4	9.8	350	8191	0.00	3.53	0.00	0.000	260	0.000	0.093	3262	3513	2119	2153	2085	0	0	0	0	0	0	11.51	11.29	11.52
8241	1.16	107.1	3262	3513	2153	2086	197.4	11.2	358	8247	0.17	3.25	0.00	0.000	5126	0.259	0.041	3247	2089	2119	2153	2085	0	0	0	0	0	0	11.22	11.34	11.38
8609	1.20	107.1	3247	2089	2152	2085	166.3	8.1	374	8614	0.00	3.42	0.00	0.000	580	0.000	0.080	3256	686	2119	2153	2085	0	0	0	0	0	0	11.50	11.30	11.52
8677	1.23	107.1	3255	687	2151	2085	160.2	8.6	384	8683	0.00	3.28	0.00	0.000	1094	0.000	0.049	3255	2107	2118	2151	2085	0	0	0	0	0	0	11.40	11.33	11.43
9028	1.29	160.1	3257	2108	2154	2086	135.7	6.7	398	9112	0.00	3.60	72.68	2.375	8484	0.000	0.096	3255	3513	1922	1960	1885	0	0	0	0	0	0	11.51	11.16	10.32
9246	1.29	160.1	3256	3514	1959	1881	111.9	12.3	429	9253	0.00	3.25	0.00	0.000	1030	0.000	0.039	3266	2093	1918	1957	1880	0	0	0	0	0	0	11.38	11.32	11.39
9588	1.29	160.1	3266	2093	1956	1877	76.2	9.9	442	9588	0.00	0.00	0.00	0.000	6	0.000	0.000	3266	2093	1916	1956	1877	0	0	0	0	0	0	11.50	11.51	11.51
9924	1.29	160.1	3267	2093	1958	1876	41.6	10.2	454	9929	0.00	3.55	0.00	0.000	260	0.000	0.093	3266	3512	1915	1955	1875	0	0	0	0	0	0	11.50	11.28	11.51
10008	1.29	160.1	3267	3513	1957	1876	32.2	11.3	466	10013	0.00	3.25	0.00	0.000	1030	0.000	0.038	3277	2093	1915	1955	1875	0	0	0	0	0	0	11.40	11.34	11.40
10316	end climb: FINISH_DEPTH_REACHED
state	10316	begin subsurface finish
10325	0.00	0.0	3277	2093	1954	1872	0.0	10.3	480	10378	1.60	3.60	-45.58	0.003	21252	0.076	0.107	2863	3513	2576	2622	2530	0	0	0	0	0	0	11.33	10.94	11.36
10379	end subsurface finish: CONTROL_FINISHED_OK
state	10379	begin surface