Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 292 * 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 292 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 57 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 21 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 -6274.3643 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 -6274.3643

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 57 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 21 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 292 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 050914,211346,7418.154,-14310.700,181,99.0,181,23.7 SPEED_LIMITS 0.201,0.252

_CALLS 3 TGT_NAME 6

_XMS_NAKs 0 TGT_LATLONG 7435.000,-14230.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 17.49 MHEAD_RNG_PITCHd_Wd 9.0,37080,-22.3,-11.628,-24.76,1933

_SM_ANGLEo -20.6 D_GRID 1000

GPS2 050914,211346,7418.154,-14310.700,181,99.0,181,23.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,0,20140906080425.489241,3,1762,02,0346,0150,217,04,04,05,04,1,005,000,0,5,1,0,150,8.2,4.2,-100,-1.2,-01,-0.4,27,900,0025*0A SC_FREEKB 3807808

FREEZE 8.95,-1.406,-1.448,2,4,0 _24V_AH 12.62,89.810

FINISH1 9.0,1.021270,348 _10V_AH 12.73,0.000

FINISH2 9.0 FG_AHR_24Vo 0.000

RAFOS_CLK 559 FG_AHR_10Vo 0.000

MODEM 5,1409990665,74.54300,-142.01280,265.489,384702.5 MEM 196036

RAFOS_FIX 7324.021484,-14457.928711,260814,121206,2,255,0.38 DATA_FILE_SIZE 26714,782

IRIDIUM_FIX 7334.88,-14309.39,050914,210726 CAP_FILE_SIZE 121270,0

TT8_MAMPS 0.043442,0.043442 CFSIZE 2097872896,2035646464

HUMID 45.03 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.67999 INTR 1,5320.09,0x2378b6,2,5

TCM_TEMP 13.20 SOUNDSPEED 1449.0

XPDR_PINGS 7 GPS 050914,211346,7418.154,-14310.700,181,99.0,181,23.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 265 11.89 nil 0 0 0.00

Roll_motor 41 124 65.15 nil 0 0 0.00

VBD_pump_during_apogee 562 2018 14333.75 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 12060 17 2678.67

Iridium_during_xfer 0 0 0.00 TMICL 0 0 0.00

Transponder_ping 1 420 9.28 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 9835 2 289.22

TT8_Active 552 9 66.62

TT8_Sampling 1592 28 586.92

TT8_CF8 143 35 65.08

TT8_Kalman 0 0 0.00

Analog_circuits 1195 10 152.14

GPS_charging 0 0 0.00

Compass 1175 0 11.22

RAFOS 1490 48 910.45

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 2975 2744 1901 1793 0.0 0.0 0 32 0.00 0.00 -14.85 0.000 16386 0.000 0.000 2975 2744 2841 2901 2782 0 0 0 0 0 0 28.83 28.83 28.83

35 -0.69 -145.9 2976 2745 2902 2784 20.0 0.0 1 55 0.90 1.92 -14.25 0.000 20740 0.067 0.125 2650 3794 3857 3923 3791 0 0 0 0 0 0 14.33 14.28 14.54

279 -0.69 -145.9 2650 3795 3925 3797 92.5 -23.3 50 286 0.00 1.73 0.00 0.000 1030 0.000 0.051 2649 2757 3859 3923 3796 0 0 0 0 0 0 28.83 14.35 28.83

585 -0.69 -145.9 2650 2757 3924 3796 156.0 -19.5 81 585 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2757 3859 3923 3796 0 0 0 0 0 0 28.83 28.83 28.83

889 -0.69 -145.9 2650 2757 3924 3797 213.0 -18.0 111 890 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2756 3859 3923 3795 0 0 0 0 0 0 28.83 28.83 28.83

1209 -0.69 -145.9 2650 2758 3924 3796 264.9 -15.4 137 1210 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2756 3859 3923 3795 0 0 0 0 0 0 28.83 28.83 28.83

1509 -0.69 -145.9 2650 2757 3924 3795 308.4 -14.3 147 1510 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2757 3859 3923 3796 0 0 0 0 0 0 28.83 28.83 28.83

1809 -0.69 -145.9 2650 2757 3923 3795 349.6 -13.7 157 1810 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2757 3859 3923 3795 0 0 0 0 0 0 28.83 28.83 28.83

2110 -0.69 -145.9 2650 2758 3924 3797 389.6 -13.1 167 2110 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2757 3859 3923 3795 0 0 0 0 0 0 28.83 28.83 28.83

2409 -0.69 -145.9 2646 2758 3919 3795 428.2 -12.8 177 2414 0.00 2.35 0.00 0.000 516 0.000 0.067 2649 1362 3859 3923 3796 0 0 0 0 0 0 28.83 14.42 28.83

2460 -0.69 -145.9 2650 1368 3924 3796 434.3 -11.8 187 2465 0.12 2.47 0.00 0.000 3078 0.265 0.097 2666 2755 3859 3923 3795 0 0 0 0 0 0 14.23 14.38 28.83

2771 -0.69 -145.9 2666 2755 3924 3795 470.1 -11.5 199 2772 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2755 3859 3923 3795 0 0 0 0 0 0 28.83 28.83 28.83

3070 -0.69 -145.9 2667 2756 3924 3796 504.2 -11.3 209 3071 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2755 3859 3923 3796 0 0 0 0 0 0 28.83 28.83 28.83

3370 -0.69 -145.9 2666 2754 3924 3796 537.6 -11.1 219 3370 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2755 3859 3923 3795 0 0 0 0 0 0 28.83 28.83 28.83

3670 -0.69 -145.9 2666 2755 3924 3796 570.8 -11.2 229 3671 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2755 3859 3923 3796 0 0 0 0 0 0 28.83 28.83 28.83

3970 -0.69 -145.9 2666 2755 3923 3795 604.4 -11.2 239 3970 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2755 3858 3922 3795 0 0 0 0 0 0 28.83 28.83 28.83

4270 -0.69 -145.9 2666 2756 3924 3796 638.0 -11.2 249 4270 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2755 3859 3923 3796 0 0 0 0 0 0 28.83 28.83 28.83

4570 -0.69 -145.9 2666 2755 3924 3796 671.2 -11.0 259 4570 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2755 3859 3923 3795 0 0 0 0 0 0 28.83 28.83 28.83

4870 -0.69 -145.9 2666 2755 3924 3797 704.0 -10.9 269 4871 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2755 3859 3923 3796 0 0 0 0 0 0 28.83 28.83 28.83

5170 -0.69 -145.9 2666 2755 3924 3796 736.5 -10.8 279 5171 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2755 3859 3923 3795 0 0 0 0 0 0 28.83 28.83 28.83

5318 end dive: TARGET_DEPTH_EXCEEDED

state 5318 begin apogee

5322 -0.13 0.0 2666 2754 3924 3796 752.4 -10.7 284 5452 0.68 0.00 126.97 2.019 10244 0.216 0.000 2847 2754 3257 3278 3237 0 0 0 0 0 0 14.23 28.83 13.07

5453 end apogee: CONTROL_FINISHED_OK

state 5453 begin climb

5454 0.69 145.9 2848 2755 3273 3233 755.9 0.0 288 5586 0.88 0.00 125.28 1.857 11270 0.121 0.000 3114 2755 2658 2663 2654 0 0 0 0 0 0 13.76 28.83 12.62

5891 0.69 145.9 3115 2755 2663 2646 710.9 13.2 328 5896 0.00 2.45 0.00 0.000 516 0.000 0.064 3125 1349 2654 2662 2646 0 0 0 0 0 0 28.83 14.04 28.83

5921 0.69 145.9 3126 1349 2663 2647 707.0 12.1 334 5926 0.00 2.53 0.00 0.000 1030 0.000 0.089 3125 2741 2654 2662 2646 0 0 0 0 0 0 28.83 14.05 28.83

6252 0.69 145.9 3126 2742 2663 2646 661.7 13.8 350 6253 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2741 2653 2662 2645 0 0 0 0 0 0 28.83 28.83 28.83

6551 0.69 145.9 3126 2742 2663 2646 620.7 13.7 360 6556 0.00 1.85 0.00 0.000 260 0.000 0.096 3125 3773 2654 2663 2645 0 0 0 0 0 0 28.83 14.35 28.83

6586 0.69 145.9 3126 3774 2663 2645 615.2 16.2 367 6591 0.00 1.70 0.00 0.000 1030 0.000 0.048 3132 2733 2653 2663 2644 0 0 0 0 0 0 28.83 14.45 28.83

6912 0.69 145.9 3133 2734 2663 2645 569.8 14.0 382 6913 0.00 0.00 0.00 0.000 6 0.000 0.000 3130 2733 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

7211 0.69 145.9 3133 2734 2663 2645 528.4 13.8 392 7216 0.00 1.85 0.00 0.000 260 0.000 0.098 3133 3789 2653 2662 2644 0 0 0 0 0 0 28.83 14.46 28.83

7221 0.69 145.9 3133 3790 2663 2645 526.9 13.9 394 7226 0.00 1.70 0.00 0.000 1030 0.000 0.050 3140 2747 2650 2662 2639 0 0 0 0 0 0 28.83 14.54 28.83

7542 0.69 145.9 3141 2747 2663 2645 482.1 13.9 408 7543 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2747 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

7841 0.69 145.9 3141 2747 2663 2650 440.7 13.8 418 7842 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2747 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

8141 0.69 145.9 3141 2747 2663 2644 400.1 13.4 428 8142 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2747 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

8441 0.69 145.9 3141 2747 2663 2643 359.9 13.5 438 8442 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2747 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

8741 0.69 145.9 3141 2748 2664 2647 321.2 12.6 448 8742 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2747 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

9041 0.69 145.9 3141 2747 2664 2644 284.9 11.8 458 9042 0.00 0.00 0.00 0.000 6 0.000 0.000 3139 2747 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

9341 0.70 159.3 3141 2747 2665 2644 251.1 10.9 468 9357 0.00 2.40 12.10 1.330 8708 0.000 0.064 3152 1348 2602 2608 2597 0 0 0 0 0 0 28.83 14.57 13.91

9433 0.72 195.6 3152 1349 2606 2596 242.4 9.7 486 9468 0.00 2.45 30.17 1.292 9222 0.000 0.091 3151 2749 2458 2459 2458 0 0 0 0 0 0 28.83 14.47 13.75

9773 0.74 221.9 3152 2750 2457 2449 206.0 10.2 524 9798 0.00 0.00 22.25 1.301 8454 0.000 0.000 3151 2749 2349 2348 2350 0 0 0 0 0 0 28.83 28.83 13.71

10104 0.76 248.1 3152 2750 2348 2346 172.5 10.2 559 10128 0.00 0.00 22.90 1.294 8198 0.000 0.000 3151 2753 2245 2245 2246 0 0 0 0 0 0 28.83 28.83 13.68

10424 0.78 279.5 3152 2755 2242 2235 139.6 10.0 591 10455 0.00 2.45 27.12 1.275 8708 0.000 0.064 3161 1358 2113 2115 2112 0 0 0 0 0 0 28.83 14.28 13.64

10501 0.81 320.6 3162 1357 2113 2110 132.4 9.4 606 10541 0.00 2.45 35.10 1.323 9222 0.000 0.091 3161 2735 1950 1946 1954 0 0 0 0 0 0 28.83 14.24 13.52

10846 0.83 340.3 3162 2734 1944 1938 94.1 10.6 645 10857 0.00 0.00 8.12 0.469 8198 0.000 0.000 3161 2734 1870 1871 1869 0 0 0 0 0 0 28.83 28.83 13.89

11156 0.86 394.2 3162 2735 1880 1870 63.7 8.8 676 11187 0.00 0.00 24.98 0.379 8198 0.000 0.000 3161 2734 1650 1654 1646 0 0 0 0 0 0 28.83 28.83 13.98

11487 0.97 542.7 3162 2735 1664 1638 44.2 3.7 709 11558 0.12 1.95 66.57 0.316 10500 0.127 0.099 3217 3786 1043 1052 1035 0 0 0 0 0 0 14.30 14.17 13.99

11579 0.99 573.6 3217 3786 1052 1035 36.9 10.0 727 11601 0.00 1.75 13.98 0.301 9222 0.000 0.050 3220 2749 918 920 917 0 0 0 0 0 0 28.83 14.22 13.97

11901 1.06 677.7 3222 2750 918 910 13.3 6.1 761 11955 0.00 2.47 47.05 0.236 8708 0.000 0.068 3220 1351 498 448 549 0 0 0 0 0 0 28.83 14.19 14.06

11964 end climb: FINISH_DEPTH_REACHED

state 11964 begin subsurface finish

11972 0.24 348.0 3221 2738 449 549 9.0 6.8 774 12010 0.85 2.40 -30.73 0.000 20996 0.167 0.087 2976 1348 1842 1895 1789 0 0 0 0 0 0 14.09 14.21 14.43

12011 end subsurface finish: CONTROL_FINISHED_OK

state 12011 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	292	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	57	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	21	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	-6274.3643	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	050914,211346,7418.154,-14310.700,181,99.0,181,23.7	SPEED_LIMITS	0.201,0.252
_CALLS	3	TGT_NAME	6
_XMS_NAKs	0	TGT_LATLONG	7435.000,-14230.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	17.49	MHEAD_RNG_PITCHd_Wd	9.0,37080,-22.3,-11.628,-24.76,1933
_SM_ANGLEo	-20.6	D_GRID	1000
GPS2	050914,211346,7418.154,-14310.700,181,99.0,181,23.7

MODEM_MSG	CACST,6,0,20140906080425.489241,3,1762,02,0346,0150,217,04,04,05,04,1,005,000,0,5,1,0,150,8.2,4.2,-100,-1.2,-01,-0.4,27,900,0025*0A	SC_FREEKB	3807808
FREEZE	8.95,-1.406,-1.448,2,4,0	_24V_AH	12.62,89.810
FINISH1	9.0,1.021270,348	_10V_AH	12.73,0.000
FINISH2	9.0	FG_AHR_24Vo	0.000
RAFOS_CLK	559	FG_AHR_10Vo	0.000
MODEM	5,1409990665,74.54300,-142.01280,265.489,384702.5	MEM	196036
RAFOS_FIX	7324.021484,-14457.928711,260814,121206,2,255,0.38	DATA_FILE_SIZE	26714,782
IRIDIUM_FIX	7334.88,-14309.39,050914,210726	CAP_FILE_SIZE	121270,0
TT8_MAMPS	0.043442,0.043442	CFSIZE	2097872896,2035646464
HUMID	45.03	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.67999	INTR	1,5320.09,0x2378b6,2,5
TCM_TEMP	13.20	SOUNDSPEED	1449.0
XPDR_PINGS	7	GPS	050914,211346,7418.154,-14310.700,181,99.0,181,23.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	265	11.89	nil	0	0	0.00
Roll_motor	41	124	65.15	nil	0	0	0.00
VBD_pump_during_apogee	562	2018	14333.75	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	12060	17	2678.67
Iridium_during_xfer	0	0	0.00	TMICL	0	0	0.00
Transponder_ping	1	420	9.28	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	9835	2	289.22
TT8_Active	552	9	66.62
TT8_Sampling	1592	28	586.92
TT8_CF8	143	35	65.08
TT8_Kalman	0	0	0.00
Analog_circuits	1195	10	152.14
GPS_charging	0	0	0.00
Compass	1175	0	11.22
RAFOS	1490	48	910.45
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	2975	2744	1901	1793	0.0	0.0	0	32	0.00	0.00	-14.85	0.000	16386	0.000	0.000	2975	2744	2841	2901	2782	0	0	0	0	0	0	28.83	28.83	28.83
35	-0.69	-145.9	2976	2745	2902	2784	20.0	0.0	1	55	0.90	1.92	-14.25	0.000	20740	0.067	0.125	2650	3794	3857	3923	3791	0	0	0	0	0	0	14.33	14.28	14.54
279	-0.69	-145.9	2650	3795	3925	3797	92.5	-23.3	50	286	0.00	1.73	0.00	0.000	1030	0.000	0.051	2649	2757	3859	3923	3796	0	0	0	0	0	0	28.83	14.35	28.83
585	-0.69	-145.9	2650	2757	3924	3796	156.0	-19.5	81	585	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2757	3859	3923	3796	0	0	0	0	0	0	28.83	28.83	28.83
889	-0.69	-145.9	2650	2757	3924	3797	213.0	-18.0	111	890	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2756	3859	3923	3795	0	0	0	0	0	0	28.83	28.83	28.83
1209	-0.69	-145.9	2650	2758	3924	3796	264.9	-15.4	137	1210	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2756	3859	3923	3795	0	0	0	0	0	0	28.83	28.83	28.83
1509	-0.69	-145.9	2650	2757	3924	3795	308.4	-14.3	147	1510	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2757	3859	3923	3796	0	0	0	0	0	0	28.83	28.83	28.83
1809	-0.69	-145.9	2650	2757	3923	3795	349.6	-13.7	157	1810	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2757	3859	3923	3795	0	0	0	0	0	0	28.83	28.83	28.83
2110	-0.69	-145.9	2650	2758	3924	3797	389.6	-13.1	167	2110	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2757	3859	3923	3795	0	0	0	0	0	0	28.83	28.83	28.83
2409	-0.69	-145.9	2646	2758	3919	3795	428.2	-12.8	177	2414	0.00	2.35	0.00	0.000	516	0.000	0.067	2649	1362	3859	3923	3796	0	0	0	0	0	0	28.83	14.42	28.83
2460	-0.69	-145.9	2650	1368	3924	3796	434.3	-11.8	187	2465	0.12	2.47	0.00	0.000	3078	0.265	0.097	2666	2755	3859	3923	3795	0	0	0	0	0	0	14.23	14.38	28.83
2771	-0.69	-145.9	2666	2755	3924	3795	470.1	-11.5	199	2772	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2755	3859	3923	3795	0	0	0	0	0	0	28.83	28.83	28.83
3070	-0.69	-145.9	2667	2756	3924	3796	504.2	-11.3	209	3071	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2755	3859	3923	3796	0	0	0	0	0	0	28.83	28.83	28.83
3370	-0.69	-145.9	2666	2754	3924	3796	537.6	-11.1	219	3370	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2755	3859	3923	3795	0	0	0	0	0	0	28.83	28.83	28.83
3670	-0.69	-145.9	2666	2755	3924	3796	570.8	-11.2	229	3671	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2755	3859	3923	3796	0	0	0	0	0	0	28.83	28.83	28.83
3970	-0.69	-145.9	2666	2755	3923	3795	604.4	-11.2	239	3970	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2755	3858	3922	3795	0	0	0	0	0	0	28.83	28.83	28.83
4270	-0.69	-145.9	2666	2756	3924	3796	638.0	-11.2	249	4270	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2755	3859	3923	3796	0	0	0	0	0	0	28.83	28.83	28.83
4570	-0.69	-145.9	2666	2755	3924	3796	671.2	-11.0	259	4570	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2755	3859	3923	3795	0	0	0	0	0	0	28.83	28.83	28.83
4870	-0.69	-145.9	2666	2755	3924	3797	704.0	-10.9	269	4871	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2755	3859	3923	3796	0	0	0	0	0	0	28.83	28.83	28.83
5170	-0.69	-145.9	2666	2755	3924	3796	736.5	-10.8	279	5171	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2755	3859	3923	3795	0	0	0	0	0	0	28.83	28.83	28.83
5318	end dive: TARGET_DEPTH_EXCEEDED
state	5318	begin apogee
5322	-0.13	0.0	2666	2754	3924	3796	752.4	-10.7	284	5452	0.68	0.00	126.97	2.019	10244	0.216	0.000	2847	2754	3257	3278	3237	0	0	0	0	0	0	14.23	28.83	13.07
5453	end apogee: CONTROL_FINISHED_OK
state	5453	begin climb
5454	0.69	145.9	2848	2755	3273	3233	755.9	0.0	288	5586	0.88	0.00	125.28	1.857	11270	0.121	0.000	3114	2755	2658	2663	2654	0	0	0	0	0	0	13.76	28.83	12.62
5891	0.69	145.9	3115	2755	2663	2646	710.9	13.2	328	5896	0.00	2.45	0.00	0.000	516	0.000	0.064	3125	1349	2654	2662	2646	0	0	0	0	0	0	28.83	14.04	28.83
5921	0.69	145.9	3126	1349	2663	2647	707.0	12.1	334	5926	0.00	2.53	0.00	0.000	1030	0.000	0.089	3125	2741	2654	2662	2646	0	0	0	0	0	0	28.83	14.05	28.83
6252	0.69	145.9	3126	2742	2663	2646	661.7	13.8	350	6253	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2741	2653	2662	2645	0	0	0	0	0	0	28.83	28.83	28.83
6551	0.69	145.9	3126	2742	2663	2646	620.7	13.7	360	6556	0.00	1.85	0.00	0.000	260	0.000	0.096	3125	3773	2654	2663	2645	0	0	0	0	0	0	28.83	14.35	28.83
6586	0.69	145.9	3126	3774	2663	2645	615.2	16.2	367	6591	0.00	1.70	0.00	0.000	1030	0.000	0.048	3132	2733	2653	2663	2644	0	0	0	0	0	0	28.83	14.45	28.83
6912	0.69	145.9	3133	2734	2663	2645	569.8	14.0	382	6913	0.00	0.00	0.00	0.000	6	0.000	0.000	3130	2733	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
7211	0.69	145.9	3133	2734	2663	2645	528.4	13.8	392	7216	0.00	1.85	0.00	0.000	260	0.000	0.098	3133	3789	2653	2662	2644	0	0	0	0	0	0	28.83	14.46	28.83
7221	0.69	145.9	3133	3790	2663	2645	526.9	13.9	394	7226	0.00	1.70	0.00	0.000	1030	0.000	0.050	3140	2747	2650	2662	2639	0	0	0	0	0	0	28.83	14.54	28.83
7542	0.69	145.9	3141	2747	2663	2645	482.1	13.9	408	7543	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2747	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
7841	0.69	145.9	3141	2747	2663	2650	440.7	13.8	418	7842	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2747	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
8141	0.69	145.9	3141	2747	2663	2644	400.1	13.4	428	8142	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2747	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
8441	0.69	145.9	3141	2747	2663	2643	359.9	13.5	438	8442	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2747	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
8741	0.69	145.9	3141	2748	2664	2647	321.2	12.6	448	8742	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2747	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
9041	0.69	145.9	3141	2747	2664	2644	284.9	11.8	458	9042	0.00	0.00	0.00	0.000	6	0.000	0.000	3139	2747	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
9341	0.70	159.3	3141	2747	2665	2644	251.1	10.9	468	9357	0.00	2.40	12.10	1.330	8708	0.000	0.064	3152	1348	2602	2608	2597	0	0	0	0	0	0	28.83	14.57	13.91
9433	0.72	195.6	3152	1349	2606	2596	242.4	9.7	486	9468	0.00	2.45	30.17	1.292	9222	0.000	0.091	3151	2749	2458	2459	2458	0	0	0	0	0	0	28.83	14.47	13.75
9773	0.74	221.9	3152	2750	2457	2449	206.0	10.2	524	9798	0.00	0.00	22.25	1.301	8454	0.000	0.000	3151	2749	2349	2348	2350	0	0	0	0	0	0	28.83	28.83	13.71
10104	0.76	248.1	3152	2750	2348	2346	172.5	10.2	559	10128	0.00	0.00	22.90	1.294	8198	0.000	0.000	3151	2753	2245	2245	2246	0	0	0	0	0	0	28.83	28.83	13.68
10424	0.78	279.5	3152	2755	2242	2235	139.6	10.0	591	10455	0.00	2.45	27.12	1.275	8708	0.000	0.064	3161	1358	2113	2115	2112	0	0	0	0	0	0	28.83	14.28	13.64
10501	0.81	320.6	3162	1357	2113	2110	132.4	9.4	606	10541	0.00	2.45	35.10	1.323	9222	0.000	0.091	3161	2735	1950	1946	1954	0	0	0	0	0	0	28.83	14.24	13.52
10846	0.83	340.3	3162	2734	1944	1938	94.1	10.6	645	10857	0.00	0.00	8.12	0.469	8198	0.000	0.000	3161	2734	1870	1871	1869	0	0	0	0	0	0	28.83	28.83	13.89
11156	0.86	394.2	3162	2735	1880	1870	63.7	8.8	676	11187	0.00	0.00	24.98	0.379	8198	0.000	0.000	3161	2734	1650	1654	1646	0	0	0	0	0	0	28.83	28.83	13.98
11487	0.97	542.7	3162	2735	1664	1638	44.2	3.7	709	11558	0.12	1.95	66.57	0.316	10500	0.127	0.099	3217	3786	1043	1052	1035	0	0	0	0	0	0	14.30	14.17	13.99
11579	0.99	573.6	3217	3786	1052	1035	36.9	10.0	727	11601	0.00	1.75	13.98	0.301	9222	0.000	0.050	3220	2749	918	920	917	0	0	0	0	0	0	28.83	14.22	13.97
11901	1.06	677.7	3222	2750	918	910	13.3	6.1	761	11955	0.00	2.47	47.05	0.236	8708	0.000	0.068	3220	1351	498	448	549	0	0	0	0	0	0	28.83	14.19	14.06
11964	end climb: FINISH_DEPTH_REACHED
state	11964	begin subsurface finish
11972	0.24	348.0	3221	2738	449	549	9.0	6.8	774	12010	0.85	2.40	-30.73	0.000	20996	0.167	0.087	2976	1348	1842	1895	1789	0	0	0	0	0	0	14.09	14.21	14.43
12011	end subsurface finish: CONTROL_FINISHED_OK
state	12011	begin surface