Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 317 * 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 317 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 36 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 -5436.165 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 -5436.165

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 36 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 317 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 140914,040738,7345.219,-14322.191,0,3255.0,0,23.4 SPEED_LIMITS 0.166,0.234

_CALLS 1 TGT_NAME 6

_XMS_NAKs 0 TGT_LATLONG 7400.000,-14100.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 14.71 MHEAD_RNG_PITCHd_Wd 45.9,77576,-21.4,-11.628,-26.45,1932

_SM_ANGLEo -16.9 D_GRID 1000

GPS2 140914,040738,7345.219,-14322.191,0,3255.0,0,23.4

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20140914121641.743818,3,149,15,0163,0150,100,00,00,01,04,-1,-01,-01,1,3,0,0,150,4.1,1.0,-100,2.0,-01,0.0,27,900,0025*15 _24V_AH 12.38,102.839

FREEZE 8.43,-1.406,-1.440,2,4,0 _10V_AH 12.93,0.000

FINISH1 8.4,1.021149,354 FG_AHR_24Vo 0.000

FINISH2 7.5 FG_AHR_10Vo 0.000

RAFOS_CLK 614 MEM 194452

RAFOS_FIX 7345.218750,-14322.191406,140914,040438,3,255,0.08 DATA_FILE_SIZE 30056,851

IRIDIUM_FIX 7257.42,-14347.65,130914,052906 CAP_FILE_SIZE 130304,0

TT8_MAMPS 0.043442,0.043442 CFSIZE 2097872896,2025160704

HUMID 50.15 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.66168 INTR 0,12669.50,0x2378b6,5,5

TCM_TEMP 12.90 SOUNDSPEED 1448.6

XPDR_PINGS 0 GPS 140914,040738,7345.219,-14322.191,0,3255.0,0,23.4

SC_FREEKB 3879808

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 283 15.46 nil 0 0 0.00

Roll_motor 45 157 88.18 nil 0 0 0.00

VBD_pump_during_apogee 520 1720 11095.50 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 12738 17 2715.22

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 10387 2 310.25

TT8_Active 542 8 61.27

TT8_Sampling 1731 28 631.37

TT8_CF8 152 35 70.41

TT8_Kalman 0 0 0.00

Analog_circuits 1207 10 156.10

GPS_charging 0 0 0.00

Compass 1279 0 12.41

RAFOS 1470 48 912.34

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

17 -0.70 -145.9 2678 2688 1789 1708 0.0 0.0 0 30 0.00 0.00 -12.25 0.000 16386 0.000 0.000 2677 2688 2451 2510 2393 0 0 0 0 0 0 28.83 28.83 28.83

32 -0.70 -145.9 2678 2688 2512 2393 16.7 0.0 1 61 0.90 2.00 -21.08 0.000 20740 0.070 0.145 2346 3787 3784 3838 3731 0 0 0 0 0 0 14.34 14.30 14.62

286 -0.65 -145.9 2347 3789 3839 3735 84.9 -21.1 52 293 0.10 1.92 0.00 0.000 3078 0.284 0.069 2372 2679 3785 3838 3733 0 0 0 0 0 0 14.09 14.35 28.83

591 -0.65 -145.9 2372 2679 3839 3733 133.7 -15.2 83 592 0.00 0.00 0.00 0.000 6 0.000 0.000 2371 2679 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

891 -0.65 -145.9 2372 2679 3839 3734 176.4 -13.8 113 892 0.00 0.00 0.00 0.000 6 0.000 0.000 2371 2678 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

1191 -0.67 -145.9 2372 2679 3840 3733 216.1 -12.5 143 1196 0.00 2.03 0.00 0.000 260 0.000 0.121 2364 3793 3785 3838 3733 0 0 0 0 0 0 28.83 14.41 28.83

1231 -0.67 -145.9 2365 3794 3839 3733 221.5 -13.3 151 1236 0.00 1.92 0.00 0.000 1030 0.000 0.070 2364 2679 3785 3838 3733 0 0 0 0 0 0 28.83 14.45 28.83

1562 -0.69 -145.9 2365 2679 3840 3733 260.3 -11.0 179 1566 0.00 2.03 0.00 0.000 260 0.000 0.123 2361 3790 3785 3838 3733 0 0 0 0 0 0 28.83 14.42 28.83

1653 -0.71 -145.9 2361 3791 3840 3733 270.8 -11.1 197 1658 0.00 1.88 0.00 0.000 1030 0.000 0.070 2361 2676 3784 3838 3731 0 0 0 0 0 0 28.83 14.56 28.83

1984 -0.75 -145.9 2362 2676 3840 3733 304.9 -10.2 213 1985 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2676 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

2283 -0.78 -145.9 2362 2676 3839 3732 334.2 -9.6 223 2284 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2676 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

2583 -0.82 -145.9 2362 2677 3839 3734 362.6 -9.4 233 2588 0.12 2.03 0.00 0.000 4356 0.157 0.118 2305 3790 3785 3837 3733 0 0 0 0 0 0 14.54 14.47 28.83

2657 -0.82 -145.9 2305 3791 3839 3733 372.1 -13.2 248 2662 0.00 1.90 0.00 0.000 1030 0.000 0.070 2305 2683 3785 3838 3733 0 0 0 0 0 0 28.83 14.55 28.83

2972 -0.82 -145.9 2307 2684 3839 3734 410.0 -11.8 261 2973 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2683 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

3274 -0.82 -145.9 2306 2683 3840 3733 445.6 -11.9 271 3275 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2682 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

3572 -0.82 -145.9 2308 2683 3839 3734 481.0 -11.9 281 3573 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2683 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

3873 -0.82 -145.9 2306 2684 3839 3730 516.2 -11.7 291 3873 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2683 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

4173 -0.82 -145.9 2306 2683 3840 3732 551.4 -11.8 301 4173 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2683 3786 3840 3733 0 0 0 0 0 0 28.83 28.83 28.83

4473 -0.82 -145.9 2305 2683 3839 3733 586.2 -11.5 311 4474 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2683 3786 3838 3734 0 0 0 0 0 0 28.83 28.83 28.83

4774 -0.82 -145.9 2306 2683 3839 3734 620.9 -11.5 321 4775 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2682 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

5073 -0.82 -145.9 2305 2683 3840 3734 655.1 -11.4 331 5073 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2683 3786 3839 3733 0 0 0 0 0 0 28.83 28.83 28.83

5373 -0.82 -145.9 2306 2683 3840 3734 688.8 -11.2 341 5373 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2683 3786 3838 3734 0 0 0 0 0 0 28.83 28.83 28.83

5673 -0.82 -145.9 2306 2683 3840 3734 722.3 -11.1 351 5674 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2683 3786 3838 3734 0 0 0 0 0 0 28.83 28.83 28.83

5940 end dive: TARGET_DEPTH_EXCEEDED

state 5940 begin apogee

5946 -0.14 0.0 2303 3063 3839 3735 751.9 -11.0 360 6079 0.90 0.00 130.05 1.720 10246 0.260 0.000 2537 3062 3182 3282 3082 0 0 0 0 0 0 14.26 28.83 13.24

6080 end apogee: CONTROL_FINISHED_OK

state 6080 begin climb

6082 0.70 145.9 2538 3063 3278 3078 754.9 0.0 364 6214 0.95 0.00 126.43 1.686 10502 0.169 0.000 2808 3066 2585 2668 2502 0 0 0 0 0 0 13.87 28.83 12.83

6512 0.70 145.9 2808 3060 2657 2494 707.2 12.9 389 6513 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 3062 2575 2656 2494 0 0 0 0 0 0 28.83 28.83 28.83

6812 0.70 145.9 2808 3062 2657 2494 668.9 12.8 399 6813 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 3062 2574 2656 2493 0 0 0 0 0 0 28.83 28.83 28.83

7113 0.70 145.9 2809 3063 2664 2494 630.7 12.6 409 7113 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 3062 2574 2656 2493 0 0 0 0 0 0 28.83 28.83 28.83

7412 0.70 145.9 2809 3063 2656 2493 593.4 12.4 419 7413 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 3062 2574 2656 2492 0 0 0 0 0 0 28.83 28.83 28.83

7713 0.70 145.9 2809 3063 2656 2493 556.6 12.3 429 7714 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 3062 2574 2655 2493 0 0 0 0 0 0 28.83 28.83 28.83

8013 0.70 145.9 2809 3062 2657 2493 519.6 12.3 439 8017 0.00 2.42 0.00 0.000 516 0.000 0.073 2818 1647 2574 2655 2493 0 0 0 0 0 0 28.83 14.51 28.83

8043 0.70 154.9 2819 1648 2657 2494 516.1 11.1 445 8052 0.00 2.50 2.12 0.379 9222 0.000 0.102 2819 3054 2558 2645 2471 0 0 0 0 0 0 28.83 14.53 13.63

8372 0.70 154.9 2819 3055 2669 2473 474.0 12.7 461 8376 0.00 0.00 2.17 0.415 8198 0.000 0.000 2819 3054 2553 2640 2466 0 0 0 0 0 0 28.83 28.83 13.64

8673 0.68 154.9 2820 3055 2668 2471 435.8 12.7 471 8676 0.00 0.00 1.77 0.229 8198 0.000 0.000 2818 3054 2554 2642 2467 0 0 0 0 0 0 28.83 28.83 14.35

8973 0.68 154.9 2820 3055 2669 2471 398.0 12.6 481 8976 0.00 0.00 2.00 0.227 8198 0.000 0.000 2819 3054 2553 2641 2465 0 0 0 0 0 0 28.83 28.83 12.38

9273 0.68 154.9 2819 3054 2669 2470 360.3 12.6 491 9278 0.00 1.38 1.90 0.228 8452 0.000 0.115 2818 3794 2555 2646 2464 0 0 0 0 0 0 28.83 14.53 14.34

9338 0.64 154.9 2820 3795 2668 2471 351.4 14.0 504 9343 0.00 1.27 1.70 0.214 9222 0.000 0.070 2824 3044 2553 2642 2465 0 0 0 0 0 0 28.83 14.60 14.39

9663 0.64 154.9 2825 3048 2669 2471 310.5 12.4 519 9666 0.00 0.00 1.95 0.227 8198 0.000 0.000 2824 3047 2553 2642 2464 0 0 0 0 0 0 28.83 28.83 14.33

9963 0.64 154.9 2825 3047 2670 2470 274.7 11.8 529 9966 0.00 0.00 1.98 0.226 8198 0.000 0.000 2825 2874 2552 2642 2463 0 0 0 0 0 0 28.83 28.83 14.38

10265 0.66 176.1 2827 2846 2670 2470 242.5 10.5 543 10295 0.00 1.75 24.77 1.126 8452 0.000 0.115 2825 3787 2458 2547 2369 0 0 0 0 0 0 28.83 14.52 13.97

10471 0.64 190.7 2826 3787 2538 2365 218.8 10.8 584 10487 0.10 1.25 12.27 1.102 13318 0.256 0.071 2803 3060 2404 2491 2318 0 0 0 0 0 0 14.23 14.50 13.90

10785 0.72 260.2 2804 3060 2478 2310 192.2 7.9 617 10850 0.00 2.45 60.38 1.037 8708 0.000 0.073 2813 1644 2115 2193 2038 0 0 0 0 0 0 28.83 14.28 13.77

10956 0.81 308.3 2814 1643 2181 2035 177.4 9.1 651 11006 0.12 2.53 41.30 1.015 11270 0.143 0.102 2868 3048 1920 1989 1852 0 0 0 0 0 0 14.32 14.26 13.71

11305 0.81 308.3 2868 3048 1980 1840 133.2 12.6 691 11310 0.00 2.42 0.00 0.000 516 0.000 0.077 2875 1640 1909 1979 1840 0 0 0 0 0 0 28.83 14.33 28.83

11346 0.84 311.1 2875 1642 1980 1840 128.6 11.5 699 11351 0.00 2.53 0.00 0.000 1030 0.000 0.102 2875 3056 1909 1979 1840 0 0 0 0 0 0 28.83 14.34 28.83

11655 0.86 332.2 2875 3056 1979 1838 91.6 10.5 731 11667 0.00 0.00 9.68 0.396 8198 0.000 0.000 2875 3056 1835 1907 1763 0 0 0 0 0 0 28.83 28.83 14.01

11967 0.91 362.0 2876 3057 1934 1766 60.0 10.0 762 11988 0.00 0.00 19.23 0.340 8710 0.000 0.000 2875 3056 1710 1779 1641 0 0 0 0 0 0 28.83 28.83 14.07

12287 1.05 484.5 2876 3056 1806 1642 41.4 5.1 796 12367 0.17 2.50 70.10 0.295 10756 0.116 0.076 2958 1647 1215 1264 1166 0 0 0 0 0 0 14.38 14.27 14.09

12438 1.11 501.8 2959 1648 1278 1167 27.6 10.7 822 12454 0.00 2.55 11.12 0.256 9222 0.000 0.104 2958 3054 1141 1184 1098 0 0 0 0 0 0 28.83 14.23 14.07

12667 end climb: FINISH_DEPTH_REACHED

state 12667 begin subsurface finish

12672 0.25 354.4 2960 3055 1208 1099 8.4 9.1 847 12695 1.02 1.33 -15.82 0.000 20740 0.216 0.158 2673 3786 1742 1778 1707 0 0 0 0 0 0 14.09 14.24 14.55

12695 end subsurface finish: CONTROL_FINISHED_OK

state 12695 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	317	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	36	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	-5436.165	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	140914,040738,7345.219,-14322.191,0,3255.0,0,23.4	SPEED_LIMITS	0.166,0.234
_CALLS	1	TGT_NAME	6
_XMS_NAKs	0	TGT_LATLONG	7400.000,-14100.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	14.71	MHEAD_RNG_PITCHd_Wd	45.9,77576,-21.4,-11.628,-26.45,1932
_SM_ANGLEo	-16.9	D_GRID	1000
GPS2	140914,040738,7345.219,-14322.191,0,3255.0,0,23.4

MODEM_MSG	CACST,6,1,20140914121641.743818,3,149,15,0163,0150,100,00,00,01,04,-1,-01,-01,1,3,0,0,150,4.1,1.0,-100,2.0,-01,0.0,27,900,0025*15	_24V_AH	12.38,102.839
FREEZE	8.43,-1.406,-1.440,2,4,0	_10V_AH	12.93,0.000
FINISH1	8.4,1.021149,354	FG_AHR_24Vo	0.000
FINISH2	7.5	FG_AHR_10Vo	0.000
RAFOS_CLK	614	MEM	194452
RAFOS_FIX	7345.218750,-14322.191406,140914,040438,3,255,0.08	DATA_FILE_SIZE	30056,851
IRIDIUM_FIX	7257.42,-14347.65,130914,052906	CAP_FILE_SIZE	130304,0
TT8_MAMPS	0.043442,0.043442	CFSIZE	2097872896,2025160704
HUMID	50.15	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.66168	INTR	0,12669.50,0x2378b6,5,5
TCM_TEMP	12.90	SOUNDSPEED	1448.6
XPDR_PINGS	0	GPS	140914,040738,7345.219,-14322.191,0,3255.0,0,23.4
SC_FREEKB	3879808

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	283	15.46	nil	0	0	0.00
Roll_motor	45	157	88.18	nil	0	0	0.00
VBD_pump_during_apogee	520	1720	11095.50	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	12738	17	2715.22
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	10387	2	310.25
TT8_Active	542	8	61.27
TT8_Sampling	1731	28	631.37
TT8_CF8	152	35	70.41
TT8_Kalman	0	0	0.00
Analog_circuits	1207	10	156.10
GPS_charging	0	0	0.00
Compass	1279	0	12.41
RAFOS	1470	48	912.34
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
17	-0.70	-145.9	2678	2688	1789	1708	0.0	0.0	0	30	0.00	0.00	-12.25	0.000	16386	0.000	0.000	2677	2688	2451	2510	2393	0	0	0	0	0	0	28.83	28.83	28.83
32	-0.70	-145.9	2678	2688	2512	2393	16.7	0.0	1	61	0.90	2.00	-21.08	0.000	20740	0.070	0.145	2346	3787	3784	3838	3731	0	0	0	0	0	0	14.34	14.30	14.62
286	-0.65	-145.9	2347	3789	3839	3735	84.9	-21.1	52	293	0.10	1.92	0.00	0.000	3078	0.284	0.069	2372	2679	3785	3838	3733	0	0	0	0	0	0	14.09	14.35	28.83
591	-0.65	-145.9	2372	2679	3839	3733	133.7	-15.2	83	592	0.00	0.00	0.00	0.000	6	0.000	0.000	2371	2679	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
891	-0.65	-145.9	2372	2679	3839	3734	176.4	-13.8	113	892	0.00	0.00	0.00	0.000	6	0.000	0.000	2371	2678	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
1191	-0.67	-145.9	2372	2679	3840	3733	216.1	-12.5	143	1196	0.00	2.03	0.00	0.000	260	0.000	0.121	2364	3793	3785	3838	3733	0	0	0	0	0	0	28.83	14.41	28.83
1231	-0.67	-145.9	2365	3794	3839	3733	221.5	-13.3	151	1236	0.00	1.92	0.00	0.000	1030	0.000	0.070	2364	2679	3785	3838	3733	0	0	0	0	0	0	28.83	14.45	28.83
1562	-0.69	-145.9	2365	2679	3840	3733	260.3	-11.0	179	1566	0.00	2.03	0.00	0.000	260	0.000	0.123	2361	3790	3785	3838	3733	0	0	0	0	0	0	28.83	14.42	28.83
1653	-0.71	-145.9	2361	3791	3840	3733	270.8	-11.1	197	1658	0.00	1.88	0.00	0.000	1030	0.000	0.070	2361	2676	3784	3838	3731	0	0	0	0	0	0	28.83	14.56	28.83
1984	-0.75	-145.9	2362	2676	3840	3733	304.9	-10.2	213	1985	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2676	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
2283	-0.78	-145.9	2362	2676	3839	3732	334.2	-9.6	223	2284	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2676	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
2583	-0.82	-145.9	2362	2677	3839	3734	362.6	-9.4	233	2588	0.12	2.03	0.00	0.000	4356	0.157	0.118	2305	3790	3785	3837	3733	0	0	0	0	0	0	14.54	14.47	28.83
2657	-0.82	-145.9	2305	3791	3839	3733	372.1	-13.2	248	2662	0.00	1.90	0.00	0.000	1030	0.000	0.070	2305	2683	3785	3838	3733	0	0	0	0	0	0	28.83	14.55	28.83
2972	-0.82	-145.9	2307	2684	3839	3734	410.0	-11.8	261	2973	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2683	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
3274	-0.82	-145.9	2306	2683	3840	3733	445.6	-11.9	271	3275	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2682	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
3572	-0.82	-145.9	2308	2683	3839	3734	481.0	-11.9	281	3573	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2683	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
3873	-0.82	-145.9	2306	2684	3839	3730	516.2	-11.7	291	3873	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2683	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
4173	-0.82	-145.9	2306	2683	3840	3732	551.4	-11.8	301	4173	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2683	3786	3840	3733	0	0	0	0	0	0	28.83	28.83	28.83
4473	-0.82	-145.9	2305	2683	3839	3733	586.2	-11.5	311	4474	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2683	3786	3838	3734	0	0	0	0	0	0	28.83	28.83	28.83
4774	-0.82	-145.9	2306	2683	3839	3734	620.9	-11.5	321	4775	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2682	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
5073	-0.82	-145.9	2305	2683	3840	3734	655.1	-11.4	331	5073	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2683	3786	3839	3733	0	0	0	0	0	0	28.83	28.83	28.83
5373	-0.82	-145.9	2306	2683	3840	3734	688.8	-11.2	341	5373	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2683	3786	3838	3734	0	0	0	0	0	0	28.83	28.83	28.83
5673	-0.82	-145.9	2306	2683	3840	3734	722.3	-11.1	351	5674	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2683	3786	3838	3734	0	0	0	0	0	0	28.83	28.83	28.83
5940	end dive: TARGET_DEPTH_EXCEEDED
state	5940	begin apogee
5946	-0.14	0.0	2303	3063	3839	3735	751.9	-11.0	360	6079	0.90	0.00	130.05	1.720	10246	0.260	0.000	2537	3062	3182	3282	3082	0	0	0	0	0	0	14.26	28.83	13.24
6080	end apogee: CONTROL_FINISHED_OK
state	6080	begin climb
6082	0.70	145.9	2538	3063	3278	3078	754.9	0.0	364	6214	0.95	0.00	126.43	1.686	10502	0.169	0.000	2808	3066	2585	2668	2502	0	0	0	0	0	0	13.87	28.83	12.83
6512	0.70	145.9	2808	3060	2657	2494	707.2	12.9	389	6513	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	3062	2575	2656	2494	0	0	0	0	0	0	28.83	28.83	28.83
6812	0.70	145.9	2808	3062	2657	2494	668.9	12.8	399	6813	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	3062	2574	2656	2493	0	0	0	0	0	0	28.83	28.83	28.83
7113	0.70	145.9	2809	3063	2664	2494	630.7	12.6	409	7113	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	3062	2574	2656	2493	0	0	0	0	0	0	28.83	28.83	28.83
7412	0.70	145.9	2809	3063	2656	2493	593.4	12.4	419	7413	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	3062	2574	2656	2492	0	0	0	0	0	0	28.83	28.83	28.83
7713	0.70	145.9	2809	3063	2656	2493	556.6	12.3	429	7714	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	3062	2574	2655	2493	0	0	0	0	0	0	28.83	28.83	28.83
8013	0.70	145.9	2809	3062	2657	2493	519.6	12.3	439	8017	0.00	2.42	0.00	0.000	516	0.000	0.073	2818	1647	2574	2655	2493	0	0	0	0	0	0	28.83	14.51	28.83
8043	0.70	154.9	2819	1648	2657	2494	516.1	11.1	445	8052	0.00	2.50	2.12	0.379	9222	0.000	0.102	2819	3054	2558	2645	2471	0	0	0	0	0	0	28.83	14.53	13.63
8372	0.70	154.9	2819	3055	2669	2473	474.0	12.7	461	8376	0.00	0.00	2.17	0.415	8198	0.000	0.000	2819	3054	2553	2640	2466	0	0	0	0	0	0	28.83	28.83	13.64
8673	0.68	154.9	2820	3055	2668	2471	435.8	12.7	471	8676	0.00	0.00	1.77	0.229	8198	0.000	0.000	2818	3054	2554	2642	2467	0	0	0	0	0	0	28.83	28.83	14.35
8973	0.68	154.9	2820	3055	2669	2471	398.0	12.6	481	8976	0.00	0.00	2.00	0.227	8198	0.000	0.000	2819	3054	2553	2641	2465	0	0	0	0	0	0	28.83	28.83	12.38
9273	0.68	154.9	2819	3054	2669	2470	360.3	12.6	491	9278	0.00	1.38	1.90	0.228	8452	0.000	0.115	2818	3794	2555	2646	2464	0	0	0	0	0	0	28.83	14.53	14.34
9338	0.64	154.9	2820	3795	2668	2471	351.4	14.0	504	9343	0.00	1.27	1.70	0.214	9222	0.000	0.070	2824	3044	2553	2642	2465	0	0	0	0	0	0	28.83	14.60	14.39
9663	0.64	154.9	2825	3048	2669	2471	310.5	12.4	519	9666	0.00	0.00	1.95	0.227	8198	0.000	0.000	2824	3047	2553	2642	2464	0	0	0	0	0	0	28.83	28.83	14.33
9963	0.64	154.9	2825	3047	2670	2470	274.7	11.8	529	9966	0.00	0.00	1.98	0.226	8198	0.000	0.000	2825	2874	2552	2642	2463	0	0	0	0	0	0	28.83	28.83	14.38
10265	0.66	176.1	2827	2846	2670	2470	242.5	10.5	543	10295	0.00	1.75	24.77	1.126	8452	0.000	0.115	2825	3787	2458	2547	2369	0	0	0	0	0	0	28.83	14.52	13.97
10471	0.64	190.7	2826	3787	2538	2365	218.8	10.8	584	10487	0.10	1.25	12.27	1.102	13318	0.256	0.071	2803	3060	2404	2491	2318	0	0	0	0	0	0	14.23	14.50	13.90
10785	0.72	260.2	2804	3060	2478	2310	192.2	7.9	617	10850	0.00	2.45	60.38	1.037	8708	0.000	0.073	2813	1644	2115	2193	2038	0	0	0	0	0	0	28.83	14.28	13.77
10956	0.81	308.3	2814	1643	2181	2035	177.4	9.1	651	11006	0.12	2.53	41.30	1.015	11270	0.143	0.102	2868	3048	1920	1989	1852	0	0	0	0	0	0	14.32	14.26	13.71
11305	0.81	308.3	2868	3048	1980	1840	133.2	12.6	691	11310	0.00	2.42	0.00	0.000	516	0.000	0.077	2875	1640	1909	1979	1840	0	0	0	0	0	0	28.83	14.33	28.83
11346	0.84	311.1	2875	1642	1980	1840	128.6	11.5	699	11351	0.00	2.53	0.00	0.000	1030	0.000	0.102	2875	3056	1909	1979	1840	0	0	0	0	0	0	28.83	14.34	28.83
11655	0.86	332.2	2875	3056	1979	1838	91.6	10.5	731	11667	0.00	0.00	9.68	0.396	8198	0.000	0.000	2875	3056	1835	1907	1763	0	0	0	0	0	0	28.83	28.83	14.01
11967	0.91	362.0	2876	3057	1934	1766	60.0	10.0	762	11988	0.00	0.00	19.23	0.340	8710	0.000	0.000	2875	3056	1710	1779	1641	0	0	0	0	0	0	28.83	28.83	14.07
12287	1.05	484.5	2876	3056	1806	1642	41.4	5.1	796	12367	0.17	2.50	70.10	0.295	10756	0.116	0.076	2958	1647	1215	1264	1166	0	0	0	0	0	0	14.38	14.27	14.09
12438	1.11	501.8	2959	1648	1278	1167	27.6	10.7	822	12454	0.00	2.55	11.12	0.256	9222	0.000	0.104	2958	3054	1141	1184	1098	0	0	0	0	0	0	28.83	14.23	14.07
12667	end climb: FINISH_DEPTH_REACHED
state	12667	begin subsurface finish
12672	0.25	354.4	2960	3055	1208	1099	8.4	9.1	847	12695	1.02	1.33	-15.82	0.000	20740	0.216	0.158	2673	3786	1742	1778	1707	0	0	0	0	0	0	14.09	14.24	14.55
12695	end subsurface finish: CONTROL_FINISHED_OK
state	12695	begin surface