Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 238 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 ESCAPE_HEADING 180 C_ROLL_CLIMB 3050 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 238 FIX_MISSING_TIMEOUT 3 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 7100 ROLL_TIMEOUT 15 XPDR_VALID 2

D_SURF 2 TGT_DEFAULT_LON -14430 R_PORT_OVSHOOT 35 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 658.87579 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.44999999

D_ABORT 800 N_FILEKB 8 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 9 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 1.75 N_NOCOMM 6 C_VBD 3186 DEVICE4 -1

D_SAFE 500 NOCOMM_ACTION 161 VBD_DBAND 2 DEVICE5 -1

D_CALL 3 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 5 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 1

SURFACE_URGENCY_TRY 10 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 20 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 215 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 250 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -5022.3872 PITCH_W_GAIN 0 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 1 RAFOS_PEAK_OFFSET 1 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.1 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0043931045

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063259818

T_WATCHDOG 10 PITCH_MIN 212 MINV_10V 11 SEABIRD_T_I 2.5708419e-05

RELAUNCH 1 PITCH_MAX 3894 FG_AHR_10V 0 SEABIRD_T_J 3.1590957e-06

APOGEE_PITCH -5 C_PITCH 2590 FG_AHR_24V 0 SEABIRD_C_G -9.8238754

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1280942

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -84.212708 SEABIRD_C_I -0.0016420757

GLIDE_SLOPE 35 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001160319 SEABIRD_C_J 0.00020143802

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 36 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54305 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.0099999998 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HD_A 0.0023000001 ROLL_MIN 200 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.014 ROLL_MAX 3790 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 1e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2680 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 750 PITCH_GAIN 36 SURFACE_URGENCY_FORCE 20

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3894 SURFACE_URGENCY_TRY 10

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 212 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 TGT_DEFAULT_LAT 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 3 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 35 PRESSURE_SLOPE 0.0001160319 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -84.212708 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0023000001 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.014 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 1e-06 P_OVSHOOT_WITHG 0 T_ABORT 1440

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 3 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 215

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1 T_GPS 3

CAPUPLOAD 0 ID 198 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -5022.3872

COMM_SEQ 0 INT_PRESSURE_YINT -0.44999999 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_MISSION 250

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 360

COMPASS_USE 4 LOGGERDEVICE2 71 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_DEG 40 T_TURN 225

C_PITCH 2590 LOGGERDEVICE4 -1 ROLL_MAX 3790 T_TURN_SAMPINT -5

C_ROLL_CLIMB 3050 LOGGERS 1 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2680 MASS 54305 ROLL_MIN 200 UNCOM_BLEED 60

C_VBD 3186 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 35 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 17 USE_ICE 1

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 5 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 0 SEABIRD_C_G -9.8238754 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1280942 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0016420757 VBD_MIN 500

DIVE 238 N_FILEKB 8 SEABIRD_C_J 0.00020143802 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 N_GPS -20 SEABIRD_T_G 0.0043931045 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00063259818 VBD_TIMEOUT 720

D_CALL 3 N_NOSURFACE 0 SEABIRD_T_I 2.5708419e-05 W_ADJ_DBAND 0

D_FINISH 9 PHONE_DEVICE 49 SEABIRD_T_J 3.1590957e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.0099999998 SM_CC 658.87579

D_PITCH 1.75 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 500 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 010914,200702,7427.344,-14305.143,5,0.8,25,23.7 SPEED_LIMITS 0.166,0.234

_CALLS 1 TGT_NAME 6

_XMS_NAKs 0 TGT_LATLONG 7435.000,-14230.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 15.15 MHEAD_RNG_PITCHd_Wd 27.0,22370,-21.4,-11.628,-26.45,1932

_SM_ANGLEo -17.5 D_GRID 1000

GPS2 010914,200702,7427.344,-14305.143,5,0.8,25,23.7

Post-dive calculations and measurements:

FREEZE 8.99,-1.358,-1.443,2,3,0 _24V_AH 12.81,77.945

FINISH1 9.0,1.021190,352 _10V_AH 12.78,0.000

FINISH2 8.9 FG_AHR_24Vo 0.000

RAFOS_CLK 686 FG_AHR_10Vo 0.000

RAFOS_FIX 7432.994629,-14251.763672,010914,161620,2,255,0.35 MEM 237288

IRIDIUM_FIX 7319.74,-14432.29,290814,185220 DATA_FILE_SIZE 30075,837

TT8_MAMPS 0.044191,0.044191 CAP_FILE_SIZE 131995,0

HUMID 50.23 CFSIZE 2097872896,2040561664

INTERNAL_PRESSURE 8.65191 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.90 INTR 0,12676.24,0x2378b6,5,5

XPDR_PINGS 0 SOUNDSPEED 1449.3

SC_FREEKB 3915232 GPS 010914,200702,7427.344,-14305.143,5,0.8,25,23.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 297 16.39 nil 0 0 0.00

Roll_motor 42 126 67.91 nil 0 0 0.00

VBD_pump_during_apogee 525 1792 12069.80 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 12755 16 2752.00

Iridium_during_xfer 0 0 0.00 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 10438 2 308.16

TT8_Active 543 8 60.65

TT8_Sampling 1715 28 618.19

TT8_CF8 125 35 57.12

TT8_Kalman 0 0 0.00

Analog_circuits 1202 10 153.62

GPS_charging 0 0 0.00

Compass 1250 0 11.98

RAFOS 1498 48 918.93

Transponder 0 5 0.03

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.70 -145.9 2676 2677 1795 1716 0.0 0.0 0 29 0.00 0.00 -11.93 0.000 16386 0.000 0.000 2675 2677 2453 2512 2394 0 0 0 0 0 0 28.83 28.83 28.83

31 -0.70 -145.9 2676 2677 2516 2395 17.2 0.0 1 58 0.90 0.00 -20.73 0.000 20998 0.072 0.000 2351 2676 3781 3836 3727 0 0 0 0 0 0 14.40 28.83 14.64

358 -0.67 -145.9 2353 2677 3837 3730 96.9 -19.1 36 362 0.00 2.03 0.00 0.000 260 0.000 0.123 2347 3792 3782 3836 3729 0 0 0 0 0 0 28.83 14.40 28.83

458 -0.63 -145.9 2348 3792 3837 3730 116.3 -18.7 56 463 0.15 1.88 0.00 0.000 3078 0.298 0.073 2379 2676 3783 3836 3730 0 0 0 0 0 0 14.26 14.48 28.83

768 -0.63 -145.9 2380 2676 3838 3730 161.6 -14.0 88 768 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2676 3782 3836 3729 0 0 0 0 0 0 28.83 28.83 28.83

1068 -0.63 -145.9 2380 2676 3837 3730 201.5 -12.4 118 1068 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2676 3783 3836 3730 0 0 0 0 0 0 28.83 28.83 28.83

1368 -0.66 -145.9 2380 2676 3838 3730 238.2 -11.2 148 1369 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2676 3786 3836 3737 0 0 0 0 0 0 28.83 28.83 28.83

1688 -0.69 -145.9 2379 2676 3837 3730 271.1 -9.8 166 1689 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2676 3783 3836 3730 0 0 0 0 0 0 28.83 28.83 28.83

1988 -0.73 -145.9 2380 2676 3837 3730 299.9 -9.4 176 1993 0.00 2.00 0.00 0.000 260 0.000 0.126 2374 3787 3783 3836 3730 0 0 0 0 0 0 28.83 14.54 28.83

2038 -0.76 -145.9 2375 3788 3837 3730 305.0 -10.3 186 2043 0.00 1.85 0.00 0.000 1030 0.000 0.076 2374 2680 3782 3836 3729 0 0 0 0 0 0 28.83 14.66 28.83

2348 -0.80 -145.9 2374 2680 3836 3729 334.1 -9.4 198 2349 0.15 0.00 0.00 0.000 4102 0.132 0.000 2315 2679 3782 3836 3729 0 0 0 0 0 0 14.59 28.83 28.83

2648 -0.80 -145.9 2315 2680 3836 3729 370.2 -12.0 208 2648 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 2684 3782 3836 3728 0 0 0 0 0 0 28.83 28.83 28.83

2948 -0.80 -145.9 2315 2679 3837 3729 405.5 -11.8 218 2949 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 2679 3782 3836 3729 0 0 0 0 0 0 28.83 28.83 28.83

3248 -0.80 -145.9 2316 2680 3837 3730 440.3 -11.7 228 3248 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 2679 3782 3836 3729 0 0 0 0 0 0 28.83 28.83 28.83

3548 -0.80 -145.9 2316 2679 3836 3730 475.0 -11.6 238 3548 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 2679 3782 3836 3729 0 0 0 0 0 0 28.83 28.83 28.83

3848 -0.80 -145.9 2316 2679 3837 3730 509.7 -11.6 248 3848 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 2679 3782 3836 3729 0 0 0 0 0 0 28.83 28.83 28.83

4148 -0.80 -145.9 2316 2680 3837 3730 544.1 -11.5 258 4149 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 2679 3782 3836 3729 0 0 0 0 0 0 28.83 28.83 28.83

4448 -0.80 -145.9 2315 2679 3837 3730 577.6 -11.2 268 4448 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 2679 3785 3841 3730 0 0 0 0 0 0 28.83 28.83 28.83

4748 -0.80 -145.9 2316 2680 3837 3731 610.7 -11.0 278 4748 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 2679 3783 3836 3730 0 0 0 0 0 0 28.83 28.83 28.83

5048 -0.80 -145.9 2315 2679 3838 3731 643.4 -10.9 288 5053 0.00 1.98 0.00 0.000 260 0.000 0.121 2306 3787 3783 3836 3731 0 0 0 0 0 0 28.83 14.60 28.83

5087 -0.80 -145.9 2307 3789 3837 3731 648.1 -12.0 296 5093 0.00 1.90 0.00 0.000 1030 0.000 0.071 2306 2676 3783 3836 3731 0 0 0 0 0 0 28.83 14.66 28.83

5409 -0.80 -145.9 2308 2677 3837 3732 684.2 -11.1 310 5410 0.00 0.00 0.00 0.000 6 0.000 0.000 2306 2676 3783 3836 3730 0 0 0 0 0 0 28.83 28.83 28.83

5708 -0.80 -145.9 2307 2676 3837 3732 717.6 -11.1 320 5708 0.00 0.00 0.00 0.000 6 0.000 0.000 2306 2676 3783 3836 3731 0 0 0 0 0 0 28.83 28.83 28.83

6006 end dive: TARGET_DEPTH_EXCEEDED

state 6006 begin apogee

6010 -0.14 0.0 2311 3057 3838 3732 751.0 -11.1 330 6143 0.88 0.00 130.38 1.792 10246 0.264 0.000 2535 3057 3185 3285 3085 0 0 0 0 0 0 14.45 28.83 13.26

6144 end apogee: CONTROL_FINISHED_OK

state 6144 begin climb

6146 0.70 145.9 2536 3058 3279 3077 754.0 0.0 334 6281 0.93 1.42 125.95 1.769 10500 0.175 0.114 2803 3787 2584 2667 2502 0 0 0 0 0 0 13.87 13.42 12.81

6325 0.66 145.9 2804 3787 2659 2495 738.0 14.3 363 6331 0.00 1.35 0.00 0.000 1030 0.000 0.071 2808 3054 2576 2658 2495 0 0 0 0 0 0 28.83 13.66 28.83

6641 0.66 145.9 2809 3054 2659 2494 696.6 13.1 376 6642 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 3054 2576 2658 2494 0 0 0 0 0 0 28.83 28.83 28.83

6940 0.66 145.9 2809 3053 2659 2494 657.6 13.0 386 6941 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 3054 2575 2657 2494 0 0 0 0 0 0 28.83 28.83 28.83

7240 0.66 145.9 2809 3054 2659 2494 619.0 12.8 396 7241 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 3054 2575 2657 2493 0 0 0 0 0 0 28.83 28.83 28.83

7540 0.66 145.9 2809 3054 2659 2493 580.2 13.0 406 7545 0.00 1.35 0.00 0.000 260 0.000 0.119 2808 3785 2575 2657 2493 0 0 0 0 0 0 28.83 14.52 28.83

7631 0.62 145.9 2809 3784 2659 2493 567.6 14.4 424 7636 0.00 1.27 0.00 0.000 1030 0.000 0.074 2813 3041 2575 2657 2493 0 0 0 0 0 0 28.83 14.61 28.83

7961 0.62 145.9 2814 3042 2659 2493 524.6 12.9 440 7962 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 3042 2575 2657 2493 0 0 0 0 0 0 28.83 28.83 28.83

8261 0.60 145.9 2814 3042 2658 2493 486.0 12.9 450 8262 0.12 0.00 0.00 0.000 4102 0.298 0.000 2787 3041 2575 2657 2493 0 0 0 0 0 0 14.47 28.83 28.83

8561 0.60 147.8 2788 3042 2658 2494 451.2 11.5 460 8561 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 3042 2575 2657 2493 0 0 0 0 0 0 28.83 28.83 28.83

8860 0.61 153.2 2787 3042 2658 2493 416.9 11.3 470 8866 0.00 1.33 1.35 0.239 8452 0.000 0.116 2787 3787 2562 2648 2477 0 0 0 0 0 0 28.83 14.62 14.54

8935 0.61 153.2 2788 3788 2667 2480 407.6 12.4 485 8941 0.00 1.25 1.40 0.219 9222 0.000 0.074 2792 3050 2560 2647 2473 0 0 0 0 0 0 28.83 14.69 14.54

9252 0.61 160.8 2793 3050 2670 2476 372.0 11.2 498 9266 0.00 0.00 12.80 1.347 8198 0.000 0.000 2792 3050 2529 2617 2442 0 0 0 0 0 0 28.83 28.83 14.01

9551 0.61 167.1 2793 3051 2602 2432 338.1 11.3 508 9553 0.00 0.00 1.38 0.236 8198 0.000 0.000 2792 3050 2503 2588 2418 0 0 0 0 0 0 28.83 28.83 14.52

9851 0.62 174.5 2793 3050 2612 2418 304.8 11.2 518 9864 0.00 0.00 12.43 1.271 8198 0.000 0.000 2792 3055 2474 2563 2385 0 0 0 0 0 0 28.83 28.83 14.00

10151 0.64 198.3 2793 3050 2548 2374 272.2 10.4 528 10176 0.00 2.38 20.98 1.241 8708 0.000 0.075 2802 1650 2369 2454 2285 0 0 0 0 0 0 28.83 14.51 13.92

10222 0.69 223.6 2804 1649 2444 2283 265.0 10.3 542 10251 0.00 2.47 22.20 1.226 9222 0.000 0.105 2802 3049 2266 2347 2185 0 0 0 0 0 0 28.83 14.48 13.85

10551 0.72 238.9 2803 3050 2334 2177 226.9 10.8 574 10565 0.00 0.00 12.62 1.194 8198 0.000 0.000 2802 3049 2212 2292 2132 0 0 0 0 0 0 28.83 28.83 13.88

10862 0.79 285.6 2803 3050 2276 2119 196.5 9.1 605 10906 0.12 0.00 41.42 1.158 10758 0.142 0.000 2863 3050 2021 2098 1945 0 0 0 0 0 0 14.52 28.83 13.80

11201 0.79 285.6 2864 3049 2076 1926 153.5 12.3 642 11206 0.00 2.40 0.00 0.000 516 0.000 0.078 2871 1648 2000 2075 1926 0 0 0 0 0 0 28.83 14.45 28.83

11236 0.79 288.6 2872 1649 2075 1926 149.4 11.5 649 11242 0.00 2.50 0.00 0.000 1030 0.000 0.106 2871 3053 2001 2075 1927 0 0 0 0 0 0 28.83 14.44 28.83

11541 0.79 288.6 2871 3053 2075 1931 112.5 11.8 680 11542 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 3054 1999 2073 1925 0 0 0 0 0 0 28.83 28.83 28.83

11841 0.81 308.7 2869 3053 2073 1926 79.9 10.6 710 11857 0.00 2.47 9.02 0.370 8708 0.000 0.078 2879 1646 1934 2016 1853 0 0 0 0 0 0 28.83 14.42 14.16

11887 0.87 351.2 2880 1646 2033 1853 75.4 9.4 719 11917 0.00 2.53 24.98 0.391 9222 0.000 0.106 2880 3057 1756 1825 1687 0 0 0 0 0 0 28.83 14.40 14.12

12222 1.02 507.0 2881 3058 1848 1688 48.4 3.3 756 12315 0.12 1.33 85.65 0.320 10500 0.144 0.119 2936 3787 1120 1156 1085 0 0 0 0 0 0 14.45 14.23 14.08

12505 1.08 547.5 2938 3788 1170 1086 21.0 9.5 812 12531 0.00 1.27 23.12 0.240 9222 0.000 0.074 2941 3051 955 986 925 0 0 0 0 0 0 28.83 14.37 14.19

12674 end climb: FINISH_DEPTH_REACHED

state 12674 begin subsurface finish

12678 0.25 352.3 2942 3052 1005 924 9.0 7.0 832 12705 0.93 2.42 -19.48 0.000 20996 0.207 0.103 2677 1647 1752 1789 1715 0 0 0 0 0 0 14.23 14.34 14.58

12706 end subsurface finish: CONTROL_FINISHED_OK

state 12706 begin surface

ID	198	ESCAPE_HEADING	180	C_ROLL_CLIMB	3050	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	238	FIX_MISSING_TIMEOUT	3	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	7100	ROLL_TIMEOUT	15	XPDR_VALID	2
D_SURF	2	TGT_DEFAULT_LON	-14430	R_PORT_OVSHOOT	35	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	658.87579	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.44999999
D_ABORT	800	N_FILEKB	8	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	9	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	1.75	N_NOCOMM	6	C_VBD	3186	DEVICE4	-1
D_SAFE	500	NOCOMM_ACTION	161	VBD_DBAND	2	DEVICE5	-1
D_CALL	3	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	5	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	1
SURFACE_URGENCY_TRY	10	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	20	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	215	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	250	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-5022.3872	PITCH_W_GAIN	0	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	1	RAFOS_PEAK_OFFSET	1	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.1	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0043931045
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063259818
T_WATCHDOG	10	PITCH_MIN	212	MINV_10V	11	SEABIRD_T_I	2.5708419e-05
RELAUNCH	1	PITCH_MAX	3894	FG_AHR_10V	0	SEABIRD_T_J	3.1590957e-06
APOGEE_PITCH	-5	C_PITCH	2590	FG_AHR_24V	0	SEABIRD_C_G	-9.8238754
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1280942
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-84.212708	SEABIRD_C_I	-0.0016420757
GLIDE_SLOPE	35	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001160319	SEABIRD_C_J	0.00020143802
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	36	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54305	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.0099999998	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HD_A	0.0023000001	ROLL_MIN	200	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.014	ROLL_MAX	3790	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	1e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2680	ALTIM_PING_DELTA	5

GPS1	010914,200702,7427.344,-14305.143,5,0.8,25,23.7	SPEED_LIMITS	0.166,0.234
_CALLS	1	TGT_NAME	6
_XMS_NAKs	0	TGT_LATLONG	7435.000,-14230.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	15.15	MHEAD_RNG_PITCHd_Wd	27.0,22370,-21.4,-11.628,-26.45,1932
_SM_ANGLEo	-17.5	D_GRID	1000
GPS2	010914,200702,7427.344,-14305.143,5,0.8,25,23.7

FREEZE	8.99,-1.358,-1.443,2,3,0	_24V_AH	12.81,77.945
FINISH1	9.0,1.021190,352	_10V_AH	12.78,0.000
FINISH2	8.9	FG_AHR_24Vo	0.000
RAFOS_CLK	686	FG_AHR_10Vo	0.000
RAFOS_FIX	7432.994629,-14251.763672,010914,161620,2,255,0.35	MEM	237288
IRIDIUM_FIX	7319.74,-14432.29,290814,185220	DATA_FILE_SIZE	30075,837
TT8_MAMPS	0.044191,0.044191	CAP_FILE_SIZE	131995,0
HUMID	50.23	CFSIZE	2097872896,2040561664
INTERNAL_PRESSURE	8.65191	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.90	INTR	0,12676.24,0x2378b6,5,5
XPDR_PINGS	0	SOUNDSPEED	1449.3
SC_FREEKB	3915232	GPS	010914,200702,7427.344,-14305.143,5,0.8,25,23.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	297	16.39	nil	0	0	0.00
Roll_motor	42	126	67.91	nil	0	0	0.00
VBD_pump_during_apogee	525	1792	12069.80	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	12755	16	2752.00
Iridium_during_xfer	0	0	0.00	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	10438	2	308.16
TT8_Active	543	8	60.65
TT8_Sampling	1715	28	618.19
TT8_CF8	125	35	57.12
TT8_Kalman	0	0	0.00
Analog_circuits	1202	10	153.62
GPS_charging	0	0	0.00
Compass	1250	0	11.98
RAFOS	1498	48	918.93
Transponder	0	5	0.03

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.70	-145.9	2676	2677	1795	1716	0.0	0.0	0	29	0.00	0.00	-11.93	0.000	16386	0.000	0.000	2675	2677	2453	2512	2394	0	0	0	0	0	0	28.83	28.83	28.83
31	-0.70	-145.9	2676	2677	2516	2395	17.2	0.0	1	58	0.90	0.00	-20.73	0.000	20998	0.072	0.000	2351	2676	3781	3836	3727	0	0	0	0	0	0	14.40	28.83	14.64
358	-0.67	-145.9	2353	2677	3837	3730	96.9	-19.1	36	362	0.00	2.03	0.00	0.000	260	0.000	0.123	2347	3792	3782	3836	3729	0	0	0	0	0	0	28.83	14.40	28.83
458	-0.63	-145.9	2348	3792	3837	3730	116.3	-18.7	56	463	0.15	1.88	0.00	0.000	3078	0.298	0.073	2379	2676	3783	3836	3730	0	0	0	0	0	0	14.26	14.48	28.83
768	-0.63	-145.9	2380	2676	3838	3730	161.6	-14.0	88	768	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2676	3782	3836	3729	0	0	0	0	0	0	28.83	28.83	28.83
1068	-0.63	-145.9	2380	2676	3837	3730	201.5	-12.4	118	1068	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2676	3783	3836	3730	0	0	0	0	0	0	28.83	28.83	28.83
1368	-0.66	-145.9	2380	2676	3838	3730	238.2	-11.2	148	1369	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2676	3786	3836	3737	0	0	0	0	0	0	28.83	28.83	28.83
1688	-0.69	-145.9	2379	2676	3837	3730	271.1	-9.8	166	1689	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2676	3783	3836	3730	0	0	0	0	0	0	28.83	28.83	28.83
1988	-0.73	-145.9	2380	2676	3837	3730	299.9	-9.4	176	1993	0.00	2.00	0.00	0.000	260	0.000	0.126	2374	3787	3783	3836	3730	0	0	0	0	0	0	28.83	14.54	28.83
2038	-0.76	-145.9	2375	3788	3837	3730	305.0	-10.3	186	2043	0.00	1.85	0.00	0.000	1030	0.000	0.076	2374	2680	3782	3836	3729	0	0	0	0	0	0	28.83	14.66	28.83
2348	-0.80	-145.9	2374	2680	3836	3729	334.1	-9.4	198	2349	0.15	0.00	0.00	0.000	4102	0.132	0.000	2315	2679	3782	3836	3729	0	0	0	0	0	0	14.59	28.83	28.83
2648	-0.80	-145.9	2315	2680	3836	3729	370.2	-12.0	208	2648	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	2684	3782	3836	3728	0	0	0	0	0	0	28.83	28.83	28.83
2948	-0.80	-145.9	2315	2679	3837	3729	405.5	-11.8	218	2949	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	2679	3782	3836	3729	0	0	0	0	0	0	28.83	28.83	28.83
3248	-0.80	-145.9	2316	2680	3837	3730	440.3	-11.7	228	3248	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	2679	3782	3836	3729	0	0	0	0	0	0	28.83	28.83	28.83
3548	-0.80	-145.9	2316	2679	3836	3730	475.0	-11.6	238	3548	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	2679	3782	3836	3729	0	0	0	0	0	0	28.83	28.83	28.83
3848	-0.80	-145.9	2316	2679	3837	3730	509.7	-11.6	248	3848	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	2679	3782	3836	3729	0	0	0	0	0	0	28.83	28.83	28.83
4148	-0.80	-145.9	2316	2680	3837	3730	544.1	-11.5	258	4149	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	2679	3782	3836	3729	0	0	0	0	0	0	28.83	28.83	28.83
4448	-0.80	-145.9	2315	2679	3837	3730	577.6	-11.2	268	4448	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	2679	3785	3841	3730	0	0	0	0	0	0	28.83	28.83	28.83
4748	-0.80	-145.9	2316	2680	3837	3731	610.7	-11.0	278	4748	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	2679	3783	3836	3730	0	0	0	0	0	0	28.83	28.83	28.83
5048	-0.80	-145.9	2315	2679	3838	3731	643.4	-10.9	288	5053	0.00	1.98	0.00	0.000	260	0.000	0.121	2306	3787	3783	3836	3731	0	0	0	0	0	0	28.83	14.60	28.83
5087	-0.80	-145.9	2307	3789	3837	3731	648.1	-12.0	296	5093	0.00	1.90	0.00	0.000	1030	0.000	0.071	2306	2676	3783	3836	3731	0	0	0	0	0	0	28.83	14.66	28.83
5409	-0.80	-145.9	2308	2677	3837	3732	684.2	-11.1	310	5410	0.00	0.00	0.00	0.000	6	0.000	0.000	2306	2676	3783	3836	3730	0	0	0	0	0	0	28.83	28.83	28.83
5708	-0.80	-145.9	2307	2676	3837	3732	717.6	-11.1	320	5708	0.00	0.00	0.00	0.000	6	0.000	0.000	2306	2676	3783	3836	3731	0	0	0	0	0	0	28.83	28.83	28.83
6006	end dive: TARGET_DEPTH_EXCEEDED
state	6006	begin apogee
6010	-0.14	0.0	2311	3057	3838	3732	751.0	-11.1	330	6143	0.88	0.00	130.38	1.792	10246	0.264	0.000	2535	3057	3185	3285	3085	0	0	0	0	0	0	14.45	28.83	13.26
6144	end apogee: CONTROL_FINISHED_OK
state	6144	begin climb
6146	0.70	145.9	2536	3058	3279	3077	754.0	0.0	334	6281	0.93	1.42	125.95	1.769	10500	0.175	0.114	2803	3787	2584	2667	2502	0	0	0	0	0	0	13.87	13.42	12.81
6325	0.66	145.9	2804	3787	2659	2495	738.0	14.3	363	6331	0.00	1.35	0.00	0.000	1030	0.000	0.071	2808	3054	2576	2658	2495	0	0	0	0	0	0	28.83	13.66	28.83
6641	0.66	145.9	2809	3054	2659	2494	696.6	13.1	376	6642	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	3054	2576	2658	2494	0	0	0	0	0	0	28.83	28.83	28.83
6940	0.66	145.9	2809	3053	2659	2494	657.6	13.0	386	6941	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	3054	2575	2657	2494	0	0	0	0	0	0	28.83	28.83	28.83
7240	0.66	145.9	2809	3054	2659	2494	619.0	12.8	396	7241	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	3054	2575	2657	2493	0	0	0	0	0	0	28.83	28.83	28.83
7540	0.66	145.9	2809	3054	2659	2493	580.2	13.0	406	7545	0.00	1.35	0.00	0.000	260	0.000	0.119	2808	3785	2575	2657	2493	0	0	0	0	0	0	28.83	14.52	28.83
7631	0.62	145.9	2809	3784	2659	2493	567.6	14.4	424	7636	0.00	1.27	0.00	0.000	1030	0.000	0.074	2813	3041	2575	2657	2493	0	0	0	0	0	0	28.83	14.61	28.83
7961	0.62	145.9	2814	3042	2659	2493	524.6	12.9	440	7962	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	3042	2575	2657	2493	0	0	0	0	0	0	28.83	28.83	28.83
8261	0.60	145.9	2814	3042	2658	2493	486.0	12.9	450	8262	0.12	0.00	0.00	0.000	4102	0.298	0.000	2787	3041	2575	2657	2493	0	0	0	0	0	0	14.47	28.83	28.83
8561	0.60	147.8	2788	3042	2658	2494	451.2	11.5	460	8561	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	3042	2575	2657	2493	0	0	0	0	0	0	28.83	28.83	28.83
8860	0.61	153.2	2787	3042	2658	2493	416.9	11.3	470	8866	0.00	1.33	1.35	0.239	8452	0.000	0.116	2787	3787	2562	2648	2477	0	0	0	0	0	0	28.83	14.62	14.54
8935	0.61	153.2	2788	3788	2667	2480	407.6	12.4	485	8941	0.00	1.25	1.40	0.219	9222	0.000	0.074	2792	3050	2560	2647	2473	0	0	0	0	0	0	28.83	14.69	14.54
9252	0.61	160.8	2793	3050	2670	2476	372.0	11.2	498	9266	0.00	0.00	12.80	1.347	8198	0.000	0.000	2792	3050	2529	2617	2442	0	0	0	0	0	0	28.83	28.83	14.01
9551	0.61	167.1	2793	3051	2602	2432	338.1	11.3	508	9553	0.00	0.00	1.38	0.236	8198	0.000	0.000	2792	3050	2503	2588	2418	0	0	0	0	0	0	28.83	28.83	14.52
9851	0.62	174.5	2793	3050	2612	2418	304.8	11.2	518	9864	0.00	0.00	12.43	1.271	8198	0.000	0.000	2792	3055	2474	2563	2385	0	0	0	0	0	0	28.83	28.83	14.00
10151	0.64	198.3	2793	3050	2548	2374	272.2	10.4	528	10176	0.00	2.38	20.98	1.241	8708	0.000	0.075	2802	1650	2369	2454	2285	0	0	0	0	0	0	28.83	14.51	13.92
10222	0.69	223.6	2804	1649	2444	2283	265.0	10.3	542	10251	0.00	2.47	22.20	1.226	9222	0.000	0.105	2802	3049	2266	2347	2185	0	0	0	0	0	0	28.83	14.48	13.85
10551	0.72	238.9	2803	3050	2334	2177	226.9	10.8	574	10565	0.00	0.00	12.62	1.194	8198	0.000	0.000	2802	3049	2212	2292	2132	0	0	0	0	0	0	28.83	28.83	13.88
10862	0.79	285.6	2803	3050	2276	2119	196.5	9.1	605	10906	0.12	0.00	41.42	1.158	10758	0.142	0.000	2863	3050	2021	2098	1945	0	0	0	0	0	0	14.52	28.83	13.80
11201	0.79	285.6	2864	3049	2076	1926	153.5	12.3	642	11206	0.00	2.40	0.00	0.000	516	0.000	0.078	2871	1648	2000	2075	1926	0	0	0	0	0	0	28.83	14.45	28.83
11236	0.79	288.6	2872	1649	2075	1926	149.4	11.5	649	11242	0.00	2.50	0.00	0.000	1030	0.000	0.106	2871	3053	2001	2075	1927	0	0	0	0	0	0	28.83	14.44	28.83
11541	0.79	288.6	2871	3053	2075	1931	112.5	11.8	680	11542	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	3054	1999	2073	1925	0	0	0	0	0	0	28.83	28.83	28.83
11841	0.81	308.7	2869	3053	2073	1926	79.9	10.6	710	11857	0.00	2.47	9.02	0.370	8708	0.000	0.078	2879	1646	1934	2016	1853	0	0	0	0	0	0	28.83	14.42	14.16
11887	0.87	351.2	2880	1646	2033	1853	75.4	9.4	719	11917	0.00	2.53	24.98	0.391	9222	0.000	0.106	2880	3057	1756	1825	1687	0	0	0	0	0	0	28.83	14.40	14.12
12222	1.02	507.0	2881	3058	1848	1688	48.4	3.3	756	12315	0.12	1.33	85.65	0.320	10500	0.144	0.119	2936	3787	1120	1156	1085	0	0	0	0	0	0	14.45	14.23	14.08
12505	1.08	547.5	2938	3788	1170	1086	21.0	9.5	812	12531	0.00	1.27	23.12	0.240	9222	0.000	0.074	2941	3051	955	986	925	0	0	0	0	0	0	28.83	14.37	14.19
12674	end climb: FINISH_DEPTH_REACHED
state	12674	begin subsurface finish
12678	0.25	352.3	2942	3052	1005	924	9.0	7.0	832	12705	0.93	2.42	-19.48	0.000	20996	0.207	0.103	2677	1647	1752	1789	1715	0	0	0	0	0	0	14.23	14.34	14.58
12706	end subsurface finish: CONTROL_FINISHED_OK
state	12706	begin surface