Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 340 * 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 340 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 -5802.3716 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 -5802.3716

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 340 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 170914,011422,7357.010,-14133.164,4,0.8,24,24.1 SPEED_LIMITS 0.166,0.234

_CALLS 1 TGT_NAME 7

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14400.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 16.04 MHEAD_RNG_PITCHd_Wd 192.9,132171,-21.4,-11.628,-26.45,1932

_SM_ANGLEo -15.8 D_GRID 1000

GPS2 170914,011422,7357.010,-14133.164,4,0.8,24,24.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,0,20140918000503.209331,3,1101,12,0135,0150,100,00,00,03,05,1,005,196,0,5,1,0,150,9.2,2.4,-100,0.6,-01,0.1,18,900,0025*02 SC_FREEKB 3869504

FREEZE 8.81,-1.433,-1.449,2,7,0 _24V_AH 12.71,109.654

FINISH1 8.8,1.021287,347 _10V_AH 12.59,0.000

FINISH2 8.0 FG_AHR_24Vo 0.000

RAFOS_CLK 570 FG_AHR_10Vo 0.000

MODEM 5,1410998703,74.59180,-142.93201,62.209,90093.8 MEM 182732

RAFOS_FIX 7345.218750,-14322.191406,140914,040438,3,255,0.08 DATA_FILE_SIZE 30034,833

IRIDIUM_FIX 7304.81,-14327.81,130914,235149 CAP_FILE_SIZE 130113,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2020868096

HUMID 49.48 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.65191 INTR 0,12635.78,0x2378b6,5,5

TCM_TEMP 13.00 SOUNDSPEED 1449.2

XPDR_PINGS 0 GPS 170914,011422,7357.010,-14133.164,4,0.8,24,24.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 292 17.22 nil 0 0 0.00

Roll_motor 43 144 80.35 nil 0 0 0.00

VBD_pump_during_apogee 622 1714 13556.39 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 12726 16 2703.61

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 10314 2 299.97

TT8_Active 619 8 68.08

TT8_Sampling 1706 28 606.02

TT8_CF8 157 35 70.68

TT8_Kalman 0 0 0.00

Analog_circuits 1289 10 162.31

GPS_charging 0 0 0.00

Compass 1253 0 11.84

RAFOS 1419 48 857.53

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 2675 2686 1827 1742 0.0 0.0 0 30 0.00 0.00 -12.55 0.000 16386 0.000 0.000 2674 2685 2529 2579 2480 0 0 0 0 0 0 28.83 28.83 28.83

32 -0.70 -145.9 2675 2686 2581 2480 17.8 0.0 1 57 0.90 2.08 -19.25 0.000 20740 0.067 0.145 2340 3789 3784 3837 3731 0 0 0 0 0 0 14.38 14.29 14.62

192 -0.62 -145.9 2347 3791 3838 3734 65.6 -25.3 33 197 0.20 1.90 0.00 0.000 3078 0.293 0.072 2384 2678 3785 3837 3733 0 0 0 0 0 0 14.09 14.38 28.83

502 -0.62 -145.9 2385 2678 3839 3733 116.6 -14.3 65 506 0.00 2.05 0.00 0.000 260 0.000 0.121 2376 3794 3784 3837 3732 0 0 0 0 0 0 28.83 14.28 28.83

546 -0.62 -145.9 2377 3795 3838 3734 123.4 -14.9 74 553 0.00 1.95 0.00 0.000 1030 0.000 0.073 2376 2680 3785 3837 3733 0 0 0 0 0 0 28.83 14.37 28.83

852 -0.62 -145.9 2377 2681 3840 3733 165.0 -13.7 105 852 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2680 3785 3837 3733 0 0 0 0 0 0 28.83 28.83 28.83

1152 -0.65 -145.9 2377 2681 3839 3733 204.2 -11.9 135 1153 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2680 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

1452 -0.68 -145.9 2377 2680 3839 3733 238.9 -10.7 165 1457 0.00 2.42 0.00 0.000 516 0.000 0.084 2376 1269 3785 3837 3733 0 0 0 0 0 0 28.83 14.45 28.83

1507 -0.72 -145.9 2377 1270 3839 3734 244.6 -10.4 176 1513 0.00 2.55 0.00 0.000 1030 0.000 0.107 2374 2681 3785 3838 3733 0 0 0 0 0 0 28.83 14.33 28.83

1833 -0.76 -145.9 2375 2680 3838 3734 278.2 -10.1 191 1834 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2681 3785 3837 3733 0 0 0 0 0 0 28.83 28.83 28.83

2132 -0.81 -145.9 2374 2679 3839 3733 308.0 -9.9 201 2137 0.15 2.00 0.00 0.000 4356 0.132 0.120 2304 3787 3787 3837 3737 0 0 0 0 0 0 14.46 14.42 28.83

2224 -0.81 -145.9 2305 3787 3838 3733 320.3 -14.4 219 2228 0.00 1.88 0.00 0.000 1030 0.000 0.075 2304 2677 3785 3837 3733 0 0 0 0 0 0 28.83 14.54 28.83

2554 -0.81 -145.9 2305 2676 3838 3733 362.0 -12.1 235 2555 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2676 3785 3837 3733 0 0 0 0 0 0 28.83 28.83 28.83

2853 -0.81 -145.9 2305 2677 3839 3732 398.5 -12.2 245 2854 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2676 3785 3837 3733 0 0 0 0 0 0 28.83 28.83 28.83

3153 -0.81 -145.9 2304 2677 3839 3740 434.6 -11.9 255 3158 0.00 2.03 0.00 0.000 260 0.000 0.125 2304 3796 3785 3837 3733 0 0 0 0 0 0 28.83 14.43 28.83

3208 -0.81 -145.9 2305 3793 3838 3734 441.7 -13.1 266 3214 0.00 1.92 0.00 0.000 1030 0.000 0.074 2304 2679 3785 3837 3733 0 0 0 0 0 0 28.83 14.52 28.83

3513 -0.81 -145.9 2305 2679 3839 3733 478.2 -11.9 277 3514 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2679 3785 3837 3733 0 0 0 0 0 0 28.83 28.83 28.83

3813 -0.81 -145.9 2305 2679 3838 3734 513.5 -11.7 287 3814 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2679 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

4114 -0.81 -145.9 2305 2679 3838 3733 548.5 -11.7 297 4115 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2684 3789 3842 3736 0 0 0 0 0 0 28.83 28.83 28.83

4413 -0.81 -145.9 2305 2679 3838 3734 583.7 -11.7 307 4414 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2679 3785 3837 3733 0 0 0 0 0 0 28.83 28.83 28.83

4713 -0.81 -145.9 2304 2679 3839 3733 619.1 -11.8 317 4714 0.00 0.00 0.00 0.000 6 0.000 0.000 2307 2679 3785 3837 3733 0 0 0 0 0 0 28.83 28.83 28.83

5013 -0.81 -145.9 2304 2680 3838 3734 654.0 -11.6 327 5014 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2679 3785 3837 3733 0 0 0 0 0 0 28.83 28.83 28.83

5313 -0.81 -145.9 2305 2680 3838 3734 688.7 -11.5 337 5314 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2679 3785 3837 3733 0 0 0 0 0 0 28.83 28.83 28.83

5613 -0.81 -145.9 2305 2679 3845 3734 722.9 -11.3 347 5614 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2679 3786 3838 3734 0 0 0 0 0 0 28.83 28.83 28.83

5881 end dive: TARGET_DEPTH_EXCEEDED

state 5881 begin apogee

5886 -0.14 0.0 2305 3051 3838 3734 752.9 -11.0 356 6083 0.90 0.00 192.98 1.430 10246 0.257 0.000 2538 3051 3183 3289 3077 0 0 0 0 0 0 14.18 28.83 13.21

6084 end apogee: CONTROL_FINISHED_OK

state 6084 begin climb

6086 0.70 145.9 2539 3052 3287 3075 758.1 0.0 362 6222 0.93 1.45 128.82 1.714 10500 0.167 0.114 2806 3791 2582 2669 2496 0 0 0 0 0 0 13.75 13.35 12.71

6342 0.66 145.9 2806 3792 2660 2487 732.6 13.7 416 6347 0.00 1.35 0.00 0.000 1030 0.000 0.073 2811 3053 2572 2658 2487 0 0 0 0 0 0 28.83 13.80 28.83

6673 0.66 145.9 2811 3054 2659 2487 690.2 12.8 432 6674 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 3054 2572 2658 2487 0 0 0 0 0 0 28.83 28.83 28.83

6972 0.66 145.9 2811 3054 2659 2485 652.0 12.7 442 6973 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 3054 2572 2658 2486 0 0 0 0 0 0 28.83 28.83 28.83

7272 0.66 145.9 2812 3054 2658 2487 613.8 12.7 452 7273 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 3054 2572 2658 2486 0 0 0 0 0 0 28.83 28.83 28.83

7572 0.66 145.9 2812 3054 2659 2487 575.3 12.9 462 7573 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 3054 2572 2658 2486 0 0 0 0 0 0 28.83 28.83 28.83

7872 0.66 145.9 2812 3054 2659 2486 536.4 12.9 472 7873 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 3054 2572 2658 2486 0 0 0 0 0 0 28.83 28.83 28.83

8172 0.66 145.9 2812 3054 2659 2486 498.3 12.7 482 8173 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 3053 2572 2658 2486 0 0 0 0 0 0 28.83 28.83 28.83

8472 0.66 145.9 2812 3054 2659 2487 460.7 12.5 492 8473 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 3054 2571 2657 2486 0 0 0 0 0 0 28.83 28.83 28.83

8772 0.66 145.9 2812 3054 2659 2486 423.6 12.4 502 8773 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 3054 2572 2658 2486 0 0 0 0 0 0 28.83 28.83 28.83

9072 0.66 145.9 2812 3054 2658 2486 386.5 12.3 512 9073 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 3054 2572 2658 2486 0 0 0 0 0 0 28.83 28.83 28.83

9372 0.66 148.0 2812 3054 2659 2486 350.9 11.5 522 9373 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 3053 2571 2657 2486 0 0 0 0 0 0 28.83 28.83 28.83

9672 0.67 161.2 2812 3055 2658 2487 317.4 10.9 532 9685 0.00 0.00 12.27 1.261 8198 0.000 0.000 2811 3053 2529 2617 2441 0 0 0 0 0 0 28.83 28.83 13.97

9972 0.68 165.9 2812 3054 2600 2429 283.7 11.4 542 9973 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 3054 2516 2603 2429 0 0 0 0 0 0 28.83 28.83 28.83

10272 0.68 174.3 2811 3054 2605 2428 249.5 11.2 552 10285 0.00 0.00 11.95 1.191 8198 0.000 0.000 2811 3054 2475 2565 2385 0 0 0 0 0 0 28.83 28.83 13.96

10583 0.74 253.8 2812 3055 2553 2374 219.4 7.4 583 10658 0.00 2.45 69.07 1.110 8708 0.000 0.075 2821 1640 2139 2222 2056 0 0 0 0 0 0 28.83 14.27 13.75

10688 0.81 290.2 2822 1640 2211 2059 210.2 9.7 597 10724 0.00 2.55 31.35 1.095 9222 0.000 0.104 2821 3050 2000 2076 1924 0 0 0 0 0 0 28.83 14.18 13.67

11023 0.87 312.5 2820 3050 2056 1905 174.6 10.4 634 11049 0.15 2.45 19.92 1.071 10756 0.129 0.080 2894 1634 1907 1981 1833 0 0 0 0 0 0 14.42 14.36 13.83

11063 0.87 312.5 2895 1634 1975 1826 169.3 13.4 642 11068 0.00 2.55 0.00 0.000 1030 0.000 0.104 2894 3050 1901 1972 1830 0 0 0 0 0 0 28.83 14.31 28.83

11373 0.87 312.5 2895 3051 1968 1826 124.8 14.0 674 11374 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 3050 1896 1968 1825 0 0 0 0 0 0 28.83 28.83 28.83

11674 0.87 323.7 2895 3050 1975 1824 86.9 11.0 704 11678 0.00 0.00 3.67 0.252 8198 0.000 0.000 2894 3050 1867 1940 1794 0 0 0 0 0 0 28.83 28.83 13.93

11975 0.92 397.1 2895 3050 1972 1802 58.2 7.7 734 12025 0.00 0.00 43.30 0.343 8454 0.000 0.000 2894 3050 1570 1641 1500 0 0 0 0 0 0 28.83 28.83 14.07

12324 1.05 486.6 2895 3050 1659 1500 34.6 6.9 773 12385 0.00 2.50 52.22 0.278 8708 0.000 0.078 2904 1647 1206 1263 1149 0 0 0 0 0 0 28.83 14.25 14.08

12505 1.23 586.6 2904 1648 1280 1150 21.0 6.3 809 12567 0.25 2.55 56.58 0.234 11270 0.116 0.106 2990 3052 794 798 790 0 0 0 0 0 0 14.28 14.22 14.07

12633 end climb: FINISH_DEPTH_REACHED

state 12633 begin subsurface finish

12638 0.24 347.2 2991 3053 816 790 8.8 11.2 828 12671 1.15 2.47 -25.33 0.000 20996 0.215 0.101 2674 1638 1773 1814 1732 0 0 0 0 0 0 14.09 14.24 14.50

12671 end subsurface finish: CONTROL_FINISHED_OK

state 12671 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	340	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	-5802.3716	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	170914,011422,7357.010,-14133.164,4,0.8,24,24.1	SPEED_LIMITS	0.166,0.234
_CALLS	1	TGT_NAME	7
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14400.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	16.04	MHEAD_RNG_PITCHd_Wd	192.9,132171,-21.4,-11.628,-26.45,1932
_SM_ANGLEo	-15.8	D_GRID	1000
GPS2	170914,011422,7357.010,-14133.164,4,0.8,24,24.1

MODEM_MSG	CACST,6,0,20140918000503.209331,3,1101,12,0135,0150,100,00,00,03,05,1,005,196,0,5,1,0,150,9.2,2.4,-100,0.6,-01,0.1,18,900,0025*02	SC_FREEKB	3869504
FREEZE	8.81,-1.433,-1.449,2,7,0	_24V_AH	12.71,109.654
FINISH1	8.8,1.021287,347	_10V_AH	12.59,0.000
FINISH2	8.0	FG_AHR_24Vo	0.000
RAFOS_CLK	570	FG_AHR_10Vo	0.000
MODEM	5,1410998703,74.59180,-142.93201,62.209,90093.8	MEM	182732
RAFOS_FIX	7345.218750,-14322.191406,140914,040438,3,255,0.08	DATA_FILE_SIZE	30034,833
IRIDIUM_FIX	7304.81,-14327.81,130914,235149	CAP_FILE_SIZE	130113,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2020868096
HUMID	49.48	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.65191	INTR	0,12635.78,0x2378b6,5,5
TCM_TEMP	13.00	SOUNDSPEED	1449.2
XPDR_PINGS	0	GPS	170914,011422,7357.010,-14133.164,4,0.8,24,24.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	292	17.22	nil	0	0	0.00
Roll_motor	43	144	80.35	nil	0	0	0.00
VBD_pump_during_apogee	622	1714	13556.39	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	12726	16	2703.61
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	10314	2	299.97
TT8_Active	619	8	68.08
TT8_Sampling	1706	28	606.02
TT8_CF8	157	35	70.68
TT8_Kalman	0	0	0.00
Analog_circuits	1289	10	162.31
GPS_charging	0	0	0.00
Compass	1253	0	11.84
RAFOS	1419	48	857.53
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	2675	2686	1827	1742	0.0	0.0	0	30	0.00	0.00	-12.55	0.000	16386	0.000	0.000	2674	2685	2529	2579	2480	0	0	0	0	0	0	28.83	28.83	28.83
32	-0.70	-145.9	2675	2686	2581	2480	17.8	0.0	1	57	0.90	2.08	-19.25	0.000	20740	0.067	0.145	2340	3789	3784	3837	3731	0	0	0	0	0	0	14.38	14.29	14.62
192	-0.62	-145.9	2347	3791	3838	3734	65.6	-25.3	33	197	0.20	1.90	0.00	0.000	3078	0.293	0.072	2384	2678	3785	3837	3733	0	0	0	0	0	0	14.09	14.38	28.83
502	-0.62	-145.9	2385	2678	3839	3733	116.6	-14.3	65	506	0.00	2.05	0.00	0.000	260	0.000	0.121	2376	3794	3784	3837	3732	0	0	0	0	0	0	28.83	14.28	28.83
546	-0.62	-145.9	2377	3795	3838	3734	123.4	-14.9	74	553	0.00	1.95	0.00	0.000	1030	0.000	0.073	2376	2680	3785	3837	3733	0	0	0	0	0	0	28.83	14.37	28.83
852	-0.62	-145.9	2377	2681	3840	3733	165.0	-13.7	105	852	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2680	3785	3837	3733	0	0	0	0	0	0	28.83	28.83	28.83
1152	-0.65	-145.9	2377	2681	3839	3733	204.2	-11.9	135	1153	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2680	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
1452	-0.68	-145.9	2377	2680	3839	3733	238.9	-10.7	165	1457	0.00	2.42	0.00	0.000	516	0.000	0.084	2376	1269	3785	3837	3733	0	0	0	0	0	0	28.83	14.45	28.83
1507	-0.72	-145.9	2377	1270	3839	3734	244.6	-10.4	176	1513	0.00	2.55	0.00	0.000	1030	0.000	0.107	2374	2681	3785	3838	3733	0	0	0	0	0	0	28.83	14.33	28.83
1833	-0.76	-145.9	2375	2680	3838	3734	278.2	-10.1	191	1834	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2681	3785	3837	3733	0	0	0	0	0	0	28.83	28.83	28.83
2132	-0.81	-145.9	2374	2679	3839	3733	308.0	-9.9	201	2137	0.15	2.00	0.00	0.000	4356	0.132	0.120	2304	3787	3787	3837	3737	0	0	0	0	0	0	14.46	14.42	28.83
2224	-0.81	-145.9	2305	3787	3838	3733	320.3	-14.4	219	2228	0.00	1.88	0.00	0.000	1030	0.000	0.075	2304	2677	3785	3837	3733	0	0	0	0	0	0	28.83	14.54	28.83
2554	-0.81	-145.9	2305	2676	3838	3733	362.0	-12.1	235	2555	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2676	3785	3837	3733	0	0	0	0	0	0	28.83	28.83	28.83
2853	-0.81	-145.9	2305	2677	3839	3732	398.5	-12.2	245	2854	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2676	3785	3837	3733	0	0	0	0	0	0	28.83	28.83	28.83
3153	-0.81	-145.9	2304	2677	3839	3740	434.6	-11.9	255	3158	0.00	2.03	0.00	0.000	260	0.000	0.125	2304	3796	3785	3837	3733	0	0	0	0	0	0	28.83	14.43	28.83
3208	-0.81	-145.9	2305	3793	3838	3734	441.7	-13.1	266	3214	0.00	1.92	0.00	0.000	1030	0.000	0.074	2304	2679	3785	3837	3733	0	0	0	0	0	0	28.83	14.52	28.83
3513	-0.81	-145.9	2305	2679	3839	3733	478.2	-11.9	277	3514	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2679	3785	3837	3733	0	0	0	0	0	0	28.83	28.83	28.83
3813	-0.81	-145.9	2305	2679	3838	3734	513.5	-11.7	287	3814	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2679	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
4114	-0.81	-145.9	2305	2679	3838	3733	548.5	-11.7	297	4115	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2684	3789	3842	3736	0	0	0	0	0	0	28.83	28.83	28.83
4413	-0.81	-145.9	2305	2679	3838	3734	583.7	-11.7	307	4414	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2679	3785	3837	3733	0	0	0	0	0	0	28.83	28.83	28.83
4713	-0.81	-145.9	2304	2679	3839	3733	619.1	-11.8	317	4714	0.00	0.00	0.00	0.000	6	0.000	0.000	2307	2679	3785	3837	3733	0	0	0	0	0	0	28.83	28.83	28.83
5013	-0.81	-145.9	2304	2680	3838	3734	654.0	-11.6	327	5014	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2679	3785	3837	3733	0	0	0	0	0	0	28.83	28.83	28.83
5313	-0.81	-145.9	2305	2680	3838	3734	688.7	-11.5	337	5314	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2679	3785	3837	3733	0	0	0	0	0	0	28.83	28.83	28.83
5613	-0.81	-145.9	2305	2679	3845	3734	722.9	-11.3	347	5614	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2679	3786	3838	3734	0	0	0	0	0	0	28.83	28.83	28.83
5881	end dive: TARGET_DEPTH_EXCEEDED
state	5881	begin apogee
5886	-0.14	0.0	2305	3051	3838	3734	752.9	-11.0	356	6083	0.90	0.00	192.98	1.430	10246	0.257	0.000	2538	3051	3183	3289	3077	0	0	0	0	0	0	14.18	28.83	13.21
6084	end apogee: CONTROL_FINISHED_OK
state	6084	begin climb
6086	0.70	145.9	2539	3052	3287	3075	758.1	0.0	362	6222	0.93	1.45	128.82	1.714	10500	0.167	0.114	2806	3791	2582	2669	2496	0	0	0	0	0	0	13.75	13.35	12.71
6342	0.66	145.9	2806	3792	2660	2487	732.6	13.7	416	6347	0.00	1.35	0.00	0.000	1030	0.000	0.073	2811	3053	2572	2658	2487	0	0	0	0	0	0	28.83	13.80	28.83
6673	0.66	145.9	2811	3054	2659	2487	690.2	12.8	432	6674	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	3054	2572	2658	2487	0	0	0	0	0	0	28.83	28.83	28.83
6972	0.66	145.9	2811	3054	2659	2485	652.0	12.7	442	6973	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	3054	2572	2658	2486	0	0	0	0	0	0	28.83	28.83	28.83
7272	0.66	145.9	2812	3054	2658	2487	613.8	12.7	452	7273	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	3054	2572	2658	2486	0	0	0	0	0	0	28.83	28.83	28.83
7572	0.66	145.9	2812	3054	2659	2487	575.3	12.9	462	7573	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	3054	2572	2658	2486	0	0	0	0	0	0	28.83	28.83	28.83
7872	0.66	145.9	2812	3054	2659	2486	536.4	12.9	472	7873	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	3054	2572	2658	2486	0	0	0	0	0	0	28.83	28.83	28.83
8172	0.66	145.9	2812	3054	2659	2486	498.3	12.7	482	8173	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	3053	2572	2658	2486	0	0	0	0	0	0	28.83	28.83	28.83
8472	0.66	145.9	2812	3054	2659	2487	460.7	12.5	492	8473	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	3054	2571	2657	2486	0	0	0	0	0	0	28.83	28.83	28.83
8772	0.66	145.9	2812	3054	2659	2486	423.6	12.4	502	8773	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	3054	2572	2658	2486	0	0	0	0	0	0	28.83	28.83	28.83
9072	0.66	145.9	2812	3054	2658	2486	386.5	12.3	512	9073	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	3054	2572	2658	2486	0	0	0	0	0	0	28.83	28.83	28.83
9372	0.66	148.0	2812	3054	2659	2486	350.9	11.5	522	9373	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	3053	2571	2657	2486	0	0	0	0	0	0	28.83	28.83	28.83
9672	0.67	161.2	2812	3055	2658	2487	317.4	10.9	532	9685	0.00	0.00	12.27	1.261	8198	0.000	0.000	2811	3053	2529	2617	2441	0	0	0	0	0	0	28.83	28.83	13.97
9972	0.68	165.9	2812	3054	2600	2429	283.7	11.4	542	9973	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	3054	2516	2603	2429	0	0	0	0	0	0	28.83	28.83	28.83
10272	0.68	174.3	2811	3054	2605	2428	249.5	11.2	552	10285	0.00	0.00	11.95	1.191	8198	0.000	0.000	2811	3054	2475	2565	2385	0	0	0	0	0	0	28.83	28.83	13.96
10583	0.74	253.8	2812	3055	2553	2374	219.4	7.4	583	10658	0.00	2.45	69.07	1.110	8708	0.000	0.075	2821	1640	2139	2222	2056	0	0	0	0	0	0	28.83	14.27	13.75
10688	0.81	290.2	2822	1640	2211	2059	210.2	9.7	597	10724	0.00	2.55	31.35	1.095	9222	0.000	0.104	2821	3050	2000	2076	1924	0	0	0	0	0	0	28.83	14.18	13.67
11023	0.87	312.5	2820	3050	2056	1905	174.6	10.4	634	11049	0.15	2.45	19.92	1.071	10756	0.129	0.080	2894	1634	1907	1981	1833	0	0	0	0	0	0	14.42	14.36	13.83
11063	0.87	312.5	2895	1634	1975	1826	169.3	13.4	642	11068	0.00	2.55	0.00	0.000	1030	0.000	0.104	2894	3050	1901	1972	1830	0	0	0	0	0	0	28.83	14.31	28.83
11373	0.87	312.5	2895	3051	1968	1826	124.8	14.0	674	11374	0.00	0.00	0.00	0.000	6	0.000	0.000	2894	3050	1896	1968	1825	0	0	0	0	0	0	28.83	28.83	28.83
11674	0.87	323.7	2895	3050	1975	1824	86.9	11.0	704	11678	0.00	0.00	3.67	0.252	8198	0.000	0.000	2894	3050	1867	1940	1794	0	0	0	0	0	0	28.83	28.83	13.93
11975	0.92	397.1	2895	3050	1972	1802	58.2	7.7	734	12025	0.00	0.00	43.30	0.343	8454	0.000	0.000	2894	3050	1570	1641	1500	0	0	0	0	0	0	28.83	28.83	14.07
12324	1.05	486.6	2895	3050	1659	1500	34.6	6.9	773	12385	0.00	2.50	52.22	0.278	8708	0.000	0.078	2904	1647	1206	1263	1149	0	0	0	0	0	0	28.83	14.25	14.08
12505	1.23	586.6	2904	1648	1280	1150	21.0	6.3	809	12567	0.25	2.55	56.58	0.234	11270	0.116	0.106	2990	3052	794	798	790	0	0	0	0	0	0	14.28	14.22	14.07
12633	end climb: FINISH_DEPTH_REACHED
state	12633	begin subsurface finish
12638	0.24	347.2	2991	3053	816	790	8.8	11.2	828	12671	1.15	2.47	-25.33	0.000	20996	0.215	0.101	2674	1638	1773	1814	1732	0	0	0	0	0	0	14.09	14.24	14.50
12671	end subsurface finish: CONTROL_FINISHED_OK
state	12671	begin surface