Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 285 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 180 C_ROLL_CLIMB 2740 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 285 FIX_MISSING_TIMEOUT 4 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 48 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 676.53741 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.75

D_ABORT 800 N_FILEKB 8 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 ROLL_ADJ_GAIN 1.5 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0.050000001 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 3258 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 5 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 10 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 20 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 -5906.5635 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 0 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.050000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044209026

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00065043929

T_WATCHDOG 10 PITCH_MIN 208 MINV_10V 11 SEABIRD_T_I 2.5803243e-05

RELAUNCH 1 PITCH_MAX 3896 FG_AHR_10V 0 SEABIRD_T_J 3.1106315e-06

APOGEE_PITCH -5 C_PITCH 2895 FG_AHR_24V 0 SEABIRD_C_G -9.7475271

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1204907

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -73.350418 SEABIRD_C_I -0.00083350006

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001164176 SEABIRD_C_J 0.00013962483

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 38 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54281 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 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 10 TM_LOGSAMPLE 0.0

HD_A 0.0043000001 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3787 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 4.3e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2760 ALTIM_PING_DELTA 20

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 750 PITCH_GAIN 38 SURFACE_URGENCY_FORCE 10

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3896 SURFACE_URGENCY_TRY 5

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 10 FERRY_MAX 45 PITCH_MIN 208 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 20 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 4 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001164176 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -73.350418 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0043000001 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 4.3e-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 0.050000001 RAFOS_PEAK_OFFSET 0 T_GPS 3

CAPUPLOAD 0 ID 196 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -5906.5635

COMM_SEQ 0 INT_PRESSURE_YINT 0.75 ROLL_ADJ_DBAND 0.050000001 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 1.5 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 2895 LOGGERDEVICE4 -1 ROLL_MAX 3787 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2740 LOGGERS 1 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2760 MASS 54281 ROLL_MIN 218 UNCOM_BLEED 20

C_VBD 3258 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 48 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 28 USE_ICE 1

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 7 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 -9.7475271 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1204907 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.00083350006 VBD_MIN 500

DIVE 285 N_FILEKB 8 SEABIRD_C_J 0.00013962483 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 N_GPS -20 SEABIRD_T_G 0.0044209026 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00065043929 VBD_TIMEOUT 720

D_CALL 3 N_NOSURFACE 0 SEABIRD_T_I 2.5803243e-05 W_ADJ_DBAND 0

D_FINISH 9 PHONE_DEVICE 49 SEABIRD_T_J 3.1106315e-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 SM_CC 676.53741

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 050914,070812,7413.364,-14324.530,36,0.7,56,23.6 SPEED_LIMITS 0.201,0.252

_CALLS 1 TGT_NAME 6

_XMS_NAKs 0 TGT_LATLONG 7435.000,-14230.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.70 MHEAD_RNG_PITCHd_Wd 10.2,48272,-22.3,-11.628,-24.76,1933

_SM_ANGLEo -76.2 D_GRID 1000

GPS2 050914,071858,7413.344,-14324.560,5,0.8,26,23.6

Post-dive calculations and measurements:

FREEZE 6.60,-1.393,-1.443,2,1,0 _24V_AH 12.62,87.590

FINISH1 6.6,1.021211,351 _10V_AH 12.74,0.000

FINISH2 6.4 FG_AHR_24Vo 0.000

RAFOS_CLK 486 FG_AHR_10Vo 0.000

RAFOS_FIX 7324.021484,-14457.928711,260814,121206,2,255,0.38 MEM 199600

IRIDIUM_FIX 7327.28,-14323.58,050914,001152 DATA_FILE_SIZE 26774,792

TT8_MAMPS 0.043442,0.043442 CAP_FILE_SIZE 132100,0

HUMID 44.92 CFSIZE 2097872896,2036858880

INTERNAL_PRESSURE 8.67999 ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 INTR 2,12110.27,0x2378b6,5,5

XPDR_PINGS 8 SOUNDSPEED 1448.5

SC_FREEKB 3810944 GPS 050914,071858,7413.344,-14324.560,5,0.8,26,23.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 400 77.15 nil 0 0 0.00

Roll_motor 44 100 57.00 nil 0 0 0.00

VBD_pump_during_apogee 555 2011 14096.34 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 12203 17 2730.14

Iridium_during_xfer 425 177 952.25 TMICL 0 0 0.00

Transponder_ping 2 420 10.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.30

TT8 0 0 0.00

LPSleep 9882 2 290.84

TT8_Active 632 9 76.29

TT8_Sampling 2045 28 754.30

TT8_CF8 236 35 107.58

TT8_Kalman 0 0 0.00

Analog_circuits 1717 10 218.77

GPS_charging 0 0 0.00

Compass 1184 0 11.31

RAFOS 1493 48 913.00

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 -0.69 -145.9 206 2770 437 547 0.0 0.0 0 90 0.00 0.00 -71.78 0.000 16386 0.000 0.000 204 2769 2215 2226 2205 0 0 0 0 0 0 28.83 28.83 28.83

92 -0.69 -145.9 205 2770 2227 2207 3.0 -2.7 7 142 12.25 2.50 -31.70 0.000 18948 0.401 0.091 2665 1361 3853 3919 3788 0 0 0 0 0 0 13.94 14.22 14.45

366 -0.69 -145.9 2665 1360 3920 3797 80.3 -21.8 62 373 0.00 2.55 0.00 0.000 1030 0.000 0.098 2656 2754 3857 3919 3796 0 0 0 0 0 0 28.83 14.23 28.83

671 -0.69 -145.9 2658 2753 3919 3796 145.4 -20.4 93 676 0.00 2.35 0.00 0.000 516 0.000 0.063 2656 1365 3858 3920 3796 0 0 0 0 0 0 28.83 14.37 28.83

701 -0.69 -145.9 2657 1365 3921 3796 151.1 -19.7 99 707 0.12 2.50 0.00 0.000 3078 0.281 0.095 2669 2766 3858 3920 3796 0 0 0 0 0 0 14.18 14.35 28.83

1011 -0.69 -145.9 2670 2767 3920 3797 205.0 -17.0 131 1012 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2766 3858 3920 3796 0 0 0 0 0 0 28.83 28.83 28.83

1311 -0.69 -145.9 2670 2767 3920 3797 251.1 -14.3 161 1316 0.00 1.83 0.00 0.000 260 0.000 0.101 2663 3780 3858 3920 3796 0 0 0 0 0 0 28.83 14.32 28.83

1346 -0.69 -145.9 2664 3780 3921 3796 256.4 -15.7 168 1351 0.00 1.70 0.00 0.000 1030 0.000 0.054 2663 2756 3857 3919 3796 0 0 0 0 0 0 28.83 14.48 28.83

1673 -0.69 -145.9 2664 2756 3921 3796 302.5 -13.7 183 1674 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2756 3857 3919 3796 0 0 0 0 0 0 28.83 28.83 28.83

1971 -0.69 -145.9 2664 2756 3921 3796 341.9 -12.9 193 1976 0.00 2.33 0.00 0.000 516 0.000 0.066 2663 1369 3857 3919 3796 0 0 0 0 0 0 28.83 14.50 28.83

1991 -0.69 -145.9 2664 1369 3921 3796 344.6 -13.3 197 1997 0.00 2.50 0.00 0.000 1030 0.000 0.097 2652 2758 3857 3919 3796 0 0 0 0 0 0 28.83 14.44 28.83

2301 -0.69 -145.9 2652 2758 3926 3796 385.1 -13.1 209 2302 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2758 3857 3919 3796 0 0 0 0 0 0 28.83 28.83 28.83

2603 -0.69 -145.9 2653 2759 3920 3797 423.7 -12.8 219 2603 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2758 3858 3920 3796 0 0 0 0 0 0 28.83 28.83 28.83

2901 -0.69 -145.9 2653 2759 3920 3797 462.3 -12.9 229 2902 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2758 3857 3919 3796 0 0 0 0 0 0 28.83 28.83 28.83

3201 -0.69 -145.9 2653 2759 3920 3797 500.5 -12.8 239 3202 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2758 3858 3920 3796 0 0 0 0 0 0 28.83 28.83 28.83

3501 -0.69 -145.9 2653 2759 3920 3797 538.3 -12.5 249 3502 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2758 3857 3919 3796 0 0 0 0 0 0 28.83 28.83 28.83

3801 -0.69 -145.9 2652 2758 3921 3796 575.8 -12.5 259 3802 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2758 3858 3920 3796 0 0 0 0 0 0 28.83 28.83 28.83

4101 -0.69 -145.9 2653 2759 3920 3797 612.9 -12.4 269 4102 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2758 3858 3920 3796 0 0 0 0 0 0 28.83 28.83 28.83

4401 -0.69 -145.9 2652 2759 3920 3797 649.3 -12.1 279 4402 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2758 3857 3919 3796 0 0 0 0 0 0 28.83 28.83 28.83

4701 -0.69 -145.9 2653 2758 3921 3796 685.9 -12.2 289 4702 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2758 3858 3920 3797 0 0 0 0 0 0 28.83 28.83 28.83

5001 -0.69 -145.9 2653 2758 3921 3796 722.3 -12.1 299 5002 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2758 3858 3920 3797 0 0 0 0 0 0 28.83 28.83 28.83

5239 end dive: TARGET_DEPTH_EXCEEDED

state 5239 begin apogee

5244 -0.13 0.0 2653 2758 3921 3797 751.2 -11.9 307 5374 0.73 0.00 127.10 2.012 10244 0.223 0.000 2845 2758 3257 3278 3237 0 0 0 0 0 0 14.32 28.83 13.07

5375 end apogee: CONTROL_FINISHED_OK

state 5375 begin climb

5377 0.69 145.9 2846 2758 3274 3234 754.9 0.0 311 5508 0.88 0.00 125.95 1.857 11270 0.121 0.000 3112 2758 2663 2669 2657 0 0 0 0 0 0 13.76 28.83 12.62

5813 0.69 145.9 3113 2758 2664 2642 710.4 13.1 351 5814 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2758 2652 2662 2642 0 0 0 0 0 0 28.83 28.83 28.83

6113 0.69 145.9 3113 2758 2664 2642 671.4 13.1 361 6114 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2758 2652 2663 2641 0 0 0 0 0 0 28.83 28.83 28.83

6413 0.69 145.9 3113 2758 2664 2641 632.7 12.9 371 6414 0.00 0.00 0.00 0.000 6 0.000 0.000 3119 2758 2651 2662 2641 0 0 0 0 0 0 28.83 28.83 28.83

6713 0.69 145.9 3113 2759 2663 2641 594.1 12.9 381 6714 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2758 2651 2662 2641 0 0 0 0 0 0 28.83 28.83 28.83

7013 0.69 145.9 3113 2759 2663 2641 556.0 12.7 391 7014 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2758 2651 2662 2641 0 0 0 0 0 0 28.83 28.83 28.83

7313 0.69 145.9 3113 2758 2664 2641 518.5 12.5 401 7314 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2758 2652 2663 2641 0 0 0 0 0 0 28.83 28.83 28.83

7613 0.69 145.9 3113 2758 2663 2641 481.6 12.2 411 7614 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2758 2652 2663 2641 0 0 0 0 0 0 28.83 28.83 28.83

7913 0.69 145.9 3113 2759 2664 2641 444.9 12.0 421 7918 0.00 1.80 0.00 0.000 260 0.000 0.098 3112 3793 2652 2663 2641 0 0 0 0 0 0 28.83 14.52 28.83

7943 0.69 145.9 3113 3793 2664 2641 440.7 14.2 427 7948 0.00 1.73 0.00 0.000 1030 0.000 0.050 3120 2735 2652 2663 2641 0 0 0 0 0 0 28.83 14.59 28.83

8274 0.69 145.9 3121 2735 2664 2642 399.7 12.3 443 8275 0.00 0.00 0.00 0.000 6 0.000 0.000 3120 2735 2652 2663 2641 0 0 0 0 0 0 28.83 28.83 28.83

8573 0.69 145.9 3121 2735 2664 2641 362.6 12.4 453 8578 0.00 1.88 0.00 0.000 260 0.000 0.097 3120 3812 2651 2662 2641 0 0 0 0 0 0 28.83 14.50 28.83

8593 0.69 145.9 3121 3813 2664 2641 359.9 13.4 457 8598 0.00 1.75 0.00 0.000 1030 0.000 0.050 3127 2743 2652 2663 2641 0 0 0 0 0 0 28.83 14.59 28.83

8903 0.69 145.9 3130 2743 2661 2641 321.9 12.2 469 8904 0.00 0.00 0.00 0.000 6 0.000 0.000 3127 2742 2652 2663 2641 0 0 0 0 0 0 28.83 28.83 28.83

9203 0.69 151.4 3127 2744 2664 2645 286.7 11.3 479 9209 0.00 1.83 1.35 0.275 8452 0.000 0.094 3127 3796 2640 2654 2627 0 0 0 0 0 0 28.83 14.52 14.21

9243 0.69 151.4 3128 3797 2665 2635 281.6 13.1 487 9249 0.00 1.73 0.85 0.269 9222 0.000 0.050 3134 2737 2640 2655 2626 0 0 0 0 0 0 28.83 14.59 14.29

9565 0.72 188.1 3136 2737 2673 2631 248.2 9.7 501 9605 0.00 2.35 34.30 1.312 8708 0.000 0.062 3146 1348 2482 2491 2474 0 0 0 0 0 0 28.83 14.38 13.79

9650 0.74 215.1 3147 1349 2490 2479 239.4 10.2 518 9677 0.00 2.47 23.08 1.367 9222 0.000 0.091 3146 2751 2380 2382 2378 0 0 0 0 0 0 28.83 14.31 13.66

9976 0.75 226.9 3146 2751 2378 2367 202.5 11.0 553 9988 0.00 0.00 10.12 1.330 8198 0.000 0.000 3146 2751 2334 2337 2332 0 0 0 0 0 0 28.83 28.83 13.73

10285 0.77 266.8 3146 2751 2334 2324 171.2 9.5 584 10326 0.00 0.00 34.95 1.287 8198 0.000 0.000 3145 2751 2164 2166 2162 0 0 0 0 0 0 28.83 28.83 13.64

10626 0.80 297.8 3147 2752 2167 2155 135.7 10.0 618 10656 0.00 0.00 26.75 1.267 8198 0.000 0.000 3146 2751 2038 2042 2035 0 0 0 0 0 0 28.83 28.83 13.65

10957 0.81 323.4 3146 2751 2042 2025 101.8 10.3 651 10977 0.00 0.00 19.15 1.208 8198 0.000 0.000 3145 2750 1938 1939 1937 0 0 0 0 0 0 28.83 28.83 13.69

11276 0.86 387.0 3146 2751 1934 1925 72.1 8.2 683 11311 0.00 2.45 27.80 0.403 8708 0.000 0.069 3151 1363 1679 1684 1675 0 0 0 0 0 0 28.83 14.21 13.97

11336 0.90 452.2 3151 1362 1686 1675 67.0 8.2 692 11372 0.12 2.45 29.60 0.387 11270 0.125 0.091 3204 2740 1414 1428 1401 0 0 0 0 0 0 14.26 14.21 13.94

11677 0.96 534.7 3204 2740 1431 1385 35.6 7.2 730 11719 0.00 1.92 36.90 0.293 8452 0.000 0.098 3204 3781 1076 1088 1065 0 0 0 0 0 0 28.83 14.18 14.02

11739 1.01 603.0 3206 3784 1088 1066 30.9 8.0 742 11775 0.00 1.75 31.38 0.296 9222 0.000 0.050 3210 2741 797 790 805 0 0 0 0 0 0 28.83 14.25 13.96

12080 1.09 722.4 3211 2741 789 798 7.8 5.3 780 12108 0.12 0.00 25.90 0.220 10754 0.129 0.000 3268 2740 564 529 599 0 0 0 0 0 0 14.29 28.83 28.83

12108 end climb: FINISH_DEPTH_REACHED

state 12108 begin subsurface finish

12113 0.25 351.0 3269 2740 530 600 6.6 5.3 784 12155 1.02 2.38 -34.33 0.000 20996 0.195 0.084 2983 1351 1829 1883 1775 0 0 0 0 0 0 14.11 14.23 14.46

12155 end subsurface finish: CONTROL_FINISHED_OK

state 12155 begin surface

ID	196	ESCAPE_HEADING	180	C_ROLL_CLIMB	2740	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	285	FIX_MISSING_TIMEOUT	4	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	48	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	676.53741	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.75
D_ABORT	800	N_FILEKB	8	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	ROLL_ADJ_GAIN	1.5	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0.050000001	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	3258	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	5	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	10	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	20	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	-5906.5635	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	0	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.050000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044209026
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00065043929
T_WATCHDOG	10	PITCH_MIN	208	MINV_10V	11	SEABIRD_T_I	2.5803243e-05
RELAUNCH	1	PITCH_MAX	3896	FG_AHR_10V	0	SEABIRD_T_J	3.1106315e-06
APOGEE_PITCH	-5	C_PITCH	2895	FG_AHR_24V	0	SEABIRD_C_G	-9.7475271
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1204907
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-73.350418	SEABIRD_C_I	-0.00083350006
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001164176	SEABIRD_C_J	0.00013962483
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	38	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54281	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	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	10	TM_LOGSAMPLE	0.0
HD_A	0.0043000001	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3787	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	4.3e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2760	ALTIM_PING_DELTA	20

GPS1	050914,070812,7413.364,-14324.530,36,0.7,56,23.6	SPEED_LIMITS	0.201,0.252
_CALLS	1	TGT_NAME	6
_XMS_NAKs	0	TGT_LATLONG	7435.000,-14230.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.70	MHEAD_RNG_PITCHd_Wd	10.2,48272,-22.3,-11.628,-24.76,1933
_SM_ANGLEo	-76.2	D_GRID	1000
GPS2	050914,071858,7413.344,-14324.560,5,0.8,26,23.6

FREEZE	6.60,-1.393,-1.443,2,1,0	_24V_AH	12.62,87.590
FINISH1	6.6,1.021211,351	_10V_AH	12.74,0.000
FINISH2	6.4	FG_AHR_24Vo	0.000
RAFOS_CLK	486	FG_AHR_10Vo	0.000
RAFOS_FIX	7324.021484,-14457.928711,260814,121206,2,255,0.38	MEM	199600
IRIDIUM_FIX	7327.28,-14323.58,050914,001152	DATA_FILE_SIZE	26774,792
TT8_MAMPS	0.043442,0.043442	CAP_FILE_SIZE	132100,0
HUMID	44.92	CFSIZE	2097872896,2036858880
INTERNAL_PRESSURE	8.67999	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	INTR	2,12110.27,0x2378b6,5,5
XPDR_PINGS	8	SOUNDSPEED	1448.5
SC_FREEKB	3810944	GPS	050914,071858,7413.344,-14324.560,5,0.8,26,23.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	400	77.15	nil	0	0	0.00
Roll_motor	44	100	57.00	nil	0	0	0.00
VBD_pump_during_apogee	555	2011	14096.34	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	12203	17	2730.14
Iridium_during_xfer	425	177	952.25	TMICL	0	0	0.00
Transponder_ping	2	420	10.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.30
TT8	0	0	0.00
LPSleep	9882	2	290.84
TT8_Active	632	9	76.29
TT8_Sampling	2045	28	754.30
TT8_CF8	236	35	107.58
TT8_Kalman	0	0	0.00
Analog_circuits	1717	10	218.77
GPS_charging	0	0	0.00
Compass	1184	0	11.31
RAFOS	1493	48	913.00
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	-0.69	-145.9	206	2770	437	547	0.0	0.0	0	90	0.00	0.00	-71.78	0.000	16386	0.000	0.000	204	2769	2215	2226	2205	0	0	0	0	0	0	28.83	28.83	28.83
92	-0.69	-145.9	205	2770	2227	2207	3.0	-2.7	7	142	12.25	2.50	-31.70	0.000	18948	0.401	0.091	2665	1361	3853	3919	3788	0	0	0	0	0	0	13.94	14.22	14.45
366	-0.69	-145.9	2665	1360	3920	3797	80.3	-21.8	62	373	0.00	2.55	0.00	0.000	1030	0.000	0.098	2656	2754	3857	3919	3796	0	0	0	0	0	0	28.83	14.23	28.83
671	-0.69	-145.9	2658	2753	3919	3796	145.4	-20.4	93	676	0.00	2.35	0.00	0.000	516	0.000	0.063	2656	1365	3858	3920	3796	0	0	0	0	0	0	28.83	14.37	28.83
701	-0.69	-145.9	2657	1365	3921	3796	151.1	-19.7	99	707	0.12	2.50	0.00	0.000	3078	0.281	0.095	2669	2766	3858	3920	3796	0	0	0	0	0	0	14.18	14.35	28.83
1011	-0.69	-145.9	2670	2767	3920	3797	205.0	-17.0	131	1012	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2766	3858	3920	3796	0	0	0	0	0	0	28.83	28.83	28.83
1311	-0.69	-145.9	2670	2767	3920	3797	251.1	-14.3	161	1316	0.00	1.83	0.00	0.000	260	0.000	0.101	2663	3780	3858	3920	3796	0	0	0	0	0	0	28.83	14.32	28.83
1346	-0.69	-145.9	2664	3780	3921	3796	256.4	-15.7	168	1351	0.00	1.70	0.00	0.000	1030	0.000	0.054	2663	2756	3857	3919	3796	0	0	0	0	0	0	28.83	14.48	28.83
1673	-0.69	-145.9	2664	2756	3921	3796	302.5	-13.7	183	1674	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2756	3857	3919	3796	0	0	0	0	0	0	28.83	28.83	28.83
1971	-0.69	-145.9	2664	2756	3921	3796	341.9	-12.9	193	1976	0.00	2.33	0.00	0.000	516	0.000	0.066	2663	1369	3857	3919	3796	0	0	0	0	0	0	28.83	14.50	28.83
1991	-0.69	-145.9	2664	1369	3921	3796	344.6	-13.3	197	1997	0.00	2.50	0.00	0.000	1030	0.000	0.097	2652	2758	3857	3919	3796	0	0	0	0	0	0	28.83	14.44	28.83
2301	-0.69	-145.9	2652	2758	3926	3796	385.1	-13.1	209	2302	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2758	3857	3919	3796	0	0	0	0	0	0	28.83	28.83	28.83
2603	-0.69	-145.9	2653	2759	3920	3797	423.7	-12.8	219	2603	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2758	3858	3920	3796	0	0	0	0	0	0	28.83	28.83	28.83
2901	-0.69	-145.9	2653	2759	3920	3797	462.3	-12.9	229	2902	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2758	3857	3919	3796	0	0	0	0	0	0	28.83	28.83	28.83
3201	-0.69	-145.9	2653	2759	3920	3797	500.5	-12.8	239	3202	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2758	3858	3920	3796	0	0	0	0	0	0	28.83	28.83	28.83
3501	-0.69	-145.9	2653	2759	3920	3797	538.3	-12.5	249	3502	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2758	3857	3919	3796	0	0	0	0	0	0	28.83	28.83	28.83
3801	-0.69	-145.9	2652	2758	3921	3796	575.8	-12.5	259	3802	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2758	3858	3920	3796	0	0	0	0	0	0	28.83	28.83	28.83
4101	-0.69	-145.9	2653	2759	3920	3797	612.9	-12.4	269	4102	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2758	3858	3920	3796	0	0	0	0	0	0	28.83	28.83	28.83
4401	-0.69	-145.9	2652	2759	3920	3797	649.3	-12.1	279	4402	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2758	3857	3919	3796	0	0	0	0	0	0	28.83	28.83	28.83
4701	-0.69	-145.9	2653	2758	3921	3796	685.9	-12.2	289	4702	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2758	3858	3920	3797	0	0	0	0	0	0	28.83	28.83	28.83
5001	-0.69	-145.9	2653	2758	3921	3796	722.3	-12.1	299	5002	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2758	3858	3920	3797	0	0	0	0	0	0	28.83	28.83	28.83
5239	end dive: TARGET_DEPTH_EXCEEDED
state	5239	begin apogee
5244	-0.13	0.0	2653	2758	3921	3797	751.2	-11.9	307	5374	0.73	0.00	127.10	2.012	10244	0.223	0.000	2845	2758	3257	3278	3237	0	0	0	0	0	0	14.32	28.83	13.07
5375	end apogee: CONTROL_FINISHED_OK
state	5375	begin climb
5377	0.69	145.9	2846	2758	3274	3234	754.9	0.0	311	5508	0.88	0.00	125.95	1.857	11270	0.121	0.000	3112	2758	2663	2669	2657	0	0	0	0	0	0	13.76	28.83	12.62
5813	0.69	145.9	3113	2758	2664	2642	710.4	13.1	351	5814	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2758	2652	2662	2642	0	0	0	0	0	0	28.83	28.83	28.83
6113	0.69	145.9	3113	2758	2664	2642	671.4	13.1	361	6114	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2758	2652	2663	2641	0	0	0	0	0	0	28.83	28.83	28.83
6413	0.69	145.9	3113	2758	2664	2641	632.7	12.9	371	6414	0.00	0.00	0.00	0.000	6	0.000	0.000	3119	2758	2651	2662	2641	0	0	0	0	0	0	28.83	28.83	28.83
6713	0.69	145.9	3113	2759	2663	2641	594.1	12.9	381	6714	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2758	2651	2662	2641	0	0	0	0	0	0	28.83	28.83	28.83
7013	0.69	145.9	3113	2759	2663	2641	556.0	12.7	391	7014	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2758	2651	2662	2641	0	0	0	0	0	0	28.83	28.83	28.83
7313	0.69	145.9	3113	2758	2664	2641	518.5	12.5	401	7314	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2758	2652	2663	2641	0	0	0	0	0	0	28.83	28.83	28.83
7613	0.69	145.9	3113	2758	2663	2641	481.6	12.2	411	7614	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2758	2652	2663	2641	0	0	0	0	0	0	28.83	28.83	28.83
7913	0.69	145.9	3113	2759	2664	2641	444.9	12.0	421	7918	0.00	1.80	0.00	0.000	260	0.000	0.098	3112	3793	2652	2663	2641	0	0	0	0	0	0	28.83	14.52	28.83
7943	0.69	145.9	3113	3793	2664	2641	440.7	14.2	427	7948	0.00	1.73	0.00	0.000	1030	0.000	0.050	3120	2735	2652	2663	2641	0	0	0	0	0	0	28.83	14.59	28.83
8274	0.69	145.9	3121	2735	2664	2642	399.7	12.3	443	8275	0.00	0.00	0.00	0.000	6	0.000	0.000	3120	2735	2652	2663	2641	0	0	0	0	0	0	28.83	28.83	28.83
8573	0.69	145.9	3121	2735	2664	2641	362.6	12.4	453	8578	0.00	1.88	0.00	0.000	260	0.000	0.097	3120	3812	2651	2662	2641	0	0	0	0	0	0	28.83	14.50	28.83
8593	0.69	145.9	3121	3813	2664	2641	359.9	13.4	457	8598	0.00	1.75	0.00	0.000	1030	0.000	0.050	3127	2743	2652	2663	2641	0	0	0	0	0	0	28.83	14.59	28.83
8903	0.69	145.9	3130	2743	2661	2641	321.9	12.2	469	8904	0.00	0.00	0.00	0.000	6	0.000	0.000	3127	2742	2652	2663	2641	0	0	0	0	0	0	28.83	28.83	28.83
9203	0.69	151.4	3127	2744	2664	2645	286.7	11.3	479	9209	0.00	1.83	1.35	0.275	8452	0.000	0.094	3127	3796	2640	2654	2627	0	0	0	0	0	0	28.83	14.52	14.21
9243	0.69	151.4	3128	3797	2665	2635	281.6	13.1	487	9249	0.00	1.73	0.85	0.269	9222	0.000	0.050	3134	2737	2640	2655	2626	0	0	0	0	0	0	28.83	14.59	14.29
9565	0.72	188.1	3136	2737	2673	2631	248.2	9.7	501	9605	0.00	2.35	34.30	1.312	8708	0.000	0.062	3146	1348	2482	2491	2474	0	0	0	0	0	0	28.83	14.38	13.79
9650	0.74	215.1	3147	1349	2490	2479	239.4	10.2	518	9677	0.00	2.47	23.08	1.367	9222	0.000	0.091	3146	2751	2380	2382	2378	0	0	0	0	0	0	28.83	14.31	13.66
9976	0.75	226.9	3146	2751	2378	2367	202.5	11.0	553	9988	0.00	0.00	10.12	1.330	8198	0.000	0.000	3146	2751	2334	2337	2332	0	0	0	0	0	0	28.83	28.83	13.73
10285	0.77	266.8	3146	2751	2334	2324	171.2	9.5	584	10326	0.00	0.00	34.95	1.287	8198	0.000	0.000	3145	2751	2164	2166	2162	0	0	0	0	0	0	28.83	28.83	13.64
10626	0.80	297.8	3147	2752	2167	2155	135.7	10.0	618	10656	0.00	0.00	26.75	1.267	8198	0.000	0.000	3146	2751	2038	2042	2035	0	0	0	0	0	0	28.83	28.83	13.65
10957	0.81	323.4	3146	2751	2042	2025	101.8	10.3	651	10977	0.00	0.00	19.15	1.208	8198	0.000	0.000	3145	2750	1938	1939	1937	0	0	0	0	0	0	28.83	28.83	13.69
11276	0.86	387.0	3146	2751	1934	1925	72.1	8.2	683	11311	0.00	2.45	27.80	0.403	8708	0.000	0.069	3151	1363	1679	1684	1675	0	0	0	0	0	0	28.83	14.21	13.97
11336	0.90	452.2	3151	1362	1686	1675	67.0	8.2	692	11372	0.12	2.45	29.60	0.387	11270	0.125	0.091	3204	2740	1414	1428	1401	0	0	0	0	0	0	14.26	14.21	13.94
11677	0.96	534.7	3204	2740	1431	1385	35.6	7.2	730	11719	0.00	1.92	36.90	0.293	8452	0.000	0.098	3204	3781	1076	1088	1065	0	0	0	0	0	0	28.83	14.18	14.02
11739	1.01	603.0	3206	3784	1088	1066	30.9	8.0	742	11775	0.00	1.75	31.38	0.296	9222	0.000	0.050	3210	2741	797	790	805	0	0	0	0	0	0	28.83	14.25	13.96
12080	1.09	722.4	3211	2741	789	798	7.8	5.3	780	12108	0.12	0.00	25.90	0.220	10754	0.129	0.000	3268	2740	564	529	599	0	0	0	0	0	0	14.29	28.83	28.83
12108	end climb: FINISH_DEPTH_REACHED
state	12108	begin subsurface finish
12113	0.25	351.0	3269	2740	530	600	6.6	5.3	784	12155	1.02	2.38	-34.33	0.000	20996	0.195	0.084	2983	1351	1829	1883	1775	0	0	0	0	0	0	14.11	14.23	14.46
12155	end subsurface finish: CONTROL_FINISHED_OK
state	12155	begin surface