Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 251 * 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 251 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 37 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 -5023.6465 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 -5023.6465

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 37 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 251 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 030914,083844,7438.946,-14220.536,4,0.8,24,24.0 SPEED_LIMITS 0.166,0.234

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14510.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 14.68 MHEAD_RNG_PITCHd_Wd 172.3,353001,-21.4,-11.628,-26.45,1932

_SM_ANGLEo -17.7 D_GRID 1000

GPS2 030914,083844,7438.946,-14220.536,4,0.8,24,24.0

Post-dive calculations and measurements:

FREEZE 8.80,-1.354,-1.440,2,6,0 _24V_AH 12.75,81.869

FINISH1 8.8,1.021152,354 _10V_AH 12.65,0.000

FINISH2 8.6 FG_AHR_24Vo 0.000

RAFOS_CLK 492 FG_AHR_10Vo 0.000

RAFOS_FIX 7432.994629,-14251.763672,010914,161620,2,255,0.35 MEM 230568

IRIDIUM_FIX 7342.54,-14304.59,010914,195555 DATA_FILE_SIZE 30044,873

TT8_MAMPS 0.044191,0.044191 CAP_FILE_SIZE 137960,0

HUMID 49.56 CFSIZE 2097872896,2038071296

INTERNAL_PRESSURE 8.64215 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.90 SOUNDSPEED 1449.6

XPDR_PINGS 0 GPS 030914,083844,7438.946,-14220.536,4,0.8,24,24.0

SC_FREEKB 3909408

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 298 16.45 nil 0 0 0.00

Roll_motor 66 147 124.43 nil 0 0 0.00

VBD_pump_during_apogee 615 1700 13345.09 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 12787 16 2769.95

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 10278 2 300.35

TT8_Active 660 8 72.97

TT8_Sampling 1778 28 634.62

TT8_CF8 137 35 61.86

TT8_Kalman 0 0 0.00

Analog_circuits 1363 10 172.48

GPS_charging 0 0 0.00

Compass 1302 0 12.36

RAFOS 1476 48 896.23

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.70 -145.9 2676 2683 1790 1701 0.0 0.0 0 30 0.00 0.00 -12.30 0.000 16386 0.000 0.000 2674 2682 2445 2504 2386 0 0 0 0 0 0 28.83 28.83 28.83

32 -0.70 -145.9 2676 2683 2505 2387 16.3 0.0 1 61 0.90 2.03 -21.40 0.000 20740 0.073 0.148 2344 3795 3784 3839 3729 0 0 0 0 0 0 14.38 14.36 14.64

286 -0.64 -145.9 2346 3796 3840 3733 85.6 -21.1 52 292 0.10 1.92 0.00 0.000 3078 0.288 0.067 2371 2672 3786 3840 3732 0 0 0 0 0 0 14.19 14.42 28.83

591 -0.64 -145.9 2371 2673 3840 3733 136.1 -15.7 83 596 0.00 2.05 0.00 0.000 260 0.000 0.119 2363 3787 3786 3840 3732 0 0 0 0 0 0 28.83 14.37 28.83

751 -0.64 -145.9 2363 3787 3840 3733 162.1 -16.3 115 756 0.00 1.90 0.00 0.000 1030 0.000 0.070 2363 2679 3786 3840 3732 0 0 0 0 0 0 28.83 14.49 28.83

1061 -0.64 -145.9 2363 2679 3841 3732 207.1 -14.2 147 1066 0.00 2.38 0.00 0.000 516 0.000 0.084 2363 1274 3786 3840 3732 0 0 0 0 0 0 28.83 14.49 28.83

1111 -0.66 -145.9 2363 1274 3840 3733 213.8 -13.6 157 1116 0.00 2.50 0.00 0.000 1030 0.000 0.106 2361 2685 3786 3840 3732 0 0 0 0 0 0 28.83 14.46 28.83

1431 -0.66 -145.9 2362 2685 3841 3732 253.8 -11.7 188 1432 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2685 3786 3840 3732 0 0 0 0 0 0 28.83 28.83 28.83

1731 -0.69 -145.9 2362 2685 3841 3732 287.4 -11.1 198 1736 0.00 1.98 0.00 0.000 260 0.000 0.122 2361 3790 3785 3839 3732 0 0 0 0 0 0 28.83 14.49 28.83

1776 -0.69 -145.9 2362 3791 3840 3733 292.5 -11.6 207 1781 0.00 1.88 0.00 0.000 1030 0.000 0.070 2361 2684 3786 3840 3732 0 0 0 0 0 0 28.83 14.62 28.83

2092 -0.72 -145.9 2362 2685 3840 3732 325.9 -10.5 220 2093 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2684 3786 3840 3732 0 0 0 0 0 0 28.83 28.83 28.83

2391 -0.75 -145.9 2362 2685 3840 3733 356.3 -10.1 230 2396 0.00 1.98 0.00 0.000 260 0.000 0.123 2361 3787 3785 3839 3732 0 0 0 0 0 0 28.83 14.52 28.83

2431 -0.77 -145.9 2362 3788 3840 3733 360.6 -10.8 238 2436 0.00 1.90 0.00 0.000 1030 0.000 0.070 2361 2675 3786 3840 3732 0 0 0 0 0 0 28.83 14.62 28.83

2752 -0.81 -145.9 2361 2675 3841 3732 391.7 -9.6 252 2753 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2675 3785 3840 3731 0 0 0 0 0 0 28.83 28.83 28.83

3051 -0.84 -145.9 2361 2674 3841 3732 420.3 -9.5 262 3056 0.12 2.03 0.00 0.000 4356 0.158 0.122 2304 3787 3786 3841 3731 0 0 0 0 0 0 14.67 14.53 28.83

3132 -0.82 -145.9 2305 3788 3841 3732 430.4 -13.6 278 3137 0.00 1.85 0.00 0.000 1030 0.000 0.070 2304 2672 3786 3840 3732 0 0 0 0 0 0 28.83 14.68 28.83

3441 -0.82 -145.9 2305 2673 3840 3733 468.4 -12.2 290 3442 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2672 3785 3840 3730 0 0 0 0 0 0 28.83 28.83 28.83

3741 -0.82 -145.9 2305 2672 3840 3732 504.8 -12.0 300 3742 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2672 3785 3839 3732 0 0 0 0 0 0 28.83 28.83 28.83

4041 -0.82 -145.9 2305 2671 3840 3733 540.7 -11.9 310 4042 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2672 3786 3840 3732 0 0 0 0 0 0 28.83 28.83 28.83

4341 -0.82 -145.9 2305 2672 3841 3732 576.0 -11.8 320 4342 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2669 3786 3840 3732 0 0 0 0 0 0 28.83 28.83 28.83

4641 -0.82 -145.9 2305 2672 3841 3738 611.1 -11.7 330 4642 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2672 3789 3845 3733 0 0 0 0 0 0 28.83 28.83 28.83

4941 -0.82 -145.9 2305 2672 3841 3733 646.2 -11.7 340 4946 0.00 2.03 0.00 0.000 260 0.000 0.118 2296 3787 3786 3840 3733 0 0 0 0 0 0 28.83 14.59 28.83

4981 -0.80 -145.9 2296 3788 3841 3733 651.3 -12.8 348 4987 0.10 1.88 0.00 0.000 3078 0.298 0.072 2321 2680 3786 3839 3733 0 0 0 0 0 0 14.40 14.69 28.83

5301 -0.80 -145.9 2328 2681 3839 3734 685.7 -10.6 362 5302 0.00 0.00 0.00 0.000 6 0.000 0.000 2322 2680 3786 3839 3733 0 0 0 0 0 0 28.83 28.83 28.83

5601 -0.80 -145.9 2323 2681 3841 3734 717.4 -10.6 372 5602 0.00 0.00 0.00 0.000 6 0.000 0.000 2322 2680 3786 3839 3733 0 0 0 0 0 0 28.83 28.83 28.83

5902 -0.80 -145.9 2322 2680 3841 3733 748.8 -10.4 382 5902 0.00 0.00 0.00 0.000 6 0.000 0.000 2322 2680 3786 3839 3733 0 0 0 0 0 0 28.83 28.83 28.83

5929 end dive: TARGET_DEPTH_EXCEEDED

state 5929 begin apogee

5934 -0.14 0.0 2321 3060 3841 3734 752.0 -10.4 383 6124 0.82 0.00 186.73 1.419 10246 0.259 0.000 2537 3059 3186 3280 3093 0 0 0 0 0 0 14.33 28.83 13.28

6125 end apogee: CONTROL_FINISHED_OK

state 6125 begin climb

6127 0.70 145.9 2538 3060 3277 3091 756.5 0.0 389 6263 0.93 0.00 126.95 1.701 10502 0.174 0.000 2804 3059 2583 2659 2508 0 0 0 0 0 0 13.78 28.83 12.75

6561 0.70 145.9 2803 3059 2651 2499 708.8 12.8 419 6566 0.00 1.40 0.00 0.000 260 0.000 0.119 2803 3789 2575 2650 2500 0 0 0 0 0 0 28.83 14.00 28.83

6622 0.66 145.9 2804 3789 2650 2500 700.5 13.6 431 6626 0.00 1.30 0.00 0.000 1030 0.000 0.075 2808 3060 2575 2650 2500 0 0 0 0 0 0 28.83 14.14 28.83

6951 0.66 145.9 2809 3060 2650 2500 657.8 12.9 447 6952 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 3059 2574 2650 2499 0 0 0 0 0 0 28.83 28.83 28.83

7251 0.66 145.9 2809 3060 2650 2500 619.5 12.7 457 7252 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 3060 2574 2650 2499 0 0 0 0 0 0 28.83 28.83 28.83

7551 0.66 145.9 2809 3060 2650 2500 581.3 12.7 467 7556 0.00 1.35 0.00 0.000 260 0.000 0.119 2808 3786 2574 2650 2499 0 0 0 0 0 0 28.83 14.52 28.83

7616 0.62 145.9 2809 3786 2650 2500 572.2 14.3 480 7621 0.00 1.27 0.00 0.000 1030 0.000 0.074 2813 3041 2573 2649 2498 0 0 0 0 0 0 28.83 14.61 28.83

7943 0.60 145.9 2815 3042 2650 2500 530.0 12.9 495 7943 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 3042 2574 2649 2499 0 0 0 0 0 0 28.83 28.83 28.83

8241 0.58 145.9 2814 3042 2650 2499 490.9 13.0 505 8247 0.15 1.38 0.00 0.000 4356 0.284 0.119 2780 3787 2574 2650 2499 0 0 0 0 0 0 14.45 14.58 28.83

8286 0.58 145.9 2781 3787 2651 2499 485.1 12.5 514 8291 0.00 1.25 0.00 0.000 1030 0.000 0.074 2786 3054 2574 2649 2499 0 0 0 0 0 0 28.83 14.67 28.83

8602 0.58 149.4 2786 3054 2651 2499 448.8 11.4 527 8603 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 3054 2574 2650 2499 0 0 0 0 0 0 28.83 28.83 28.83

8901 0.59 154.3 2786 3054 2651 2499 414.8 11.4 537 8904 0.00 0.00 1.67 0.236 8198 0.000 0.000 2786 3054 2557 2634 2480 0 0 0 0 0 0 28.83 28.83 14.52

9201 0.59 162.0 2785 3054 2666 2479 381.0 11.2 547 9216 0.00 0.00 13.70 1.304 8198 0.000 0.000 2785 3054 2524 2606 2443 0 0 0 0 0 0 28.83 28.83 14.03

9502 0.59 166.8 2786 3054 2591 2432 346.7 11.4 557 9506 0.00 2.35 0.00 0.000 516 0.000 0.075 2795 1649 2510 2590 2431 0 0 0 0 0 0 28.83 14.60 28.83

9531 0.63 184.5 2796 1649 2592 2431 343.4 10.7 563 9557 0.00 2.47 19.95 1.251 9222 0.000 0.103 2795 3059 2428 2508 2348 0 0 0 0 0 0 28.83 14.59 13.96

9861 0.63 184.5 2795 3059 2499 2337 304.1 11.8 579 9862 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 3059 2414 2491 2338 0 0 0 0 0 0 28.83 28.83 28.83

10161 0.64 194.0 2796 3059 2491 2339 270.4 11.1 589 10165 0.00 0.00 2.28 0.464 8198 0.000 0.000 2795 3059 2394 2472 2317 0 0 0 0 0 0 28.83 28.83 13.80

10461 0.66 228.4 2795 3059 2505 2317 239.5 9.8 605 10503 0.00 2.42 36.38 1.127 8708 0.000 0.073 2806 1638 2246 2320 2172 0 0 0 0 0 0 28.83 14.45 13.93

10539 0.73 262.3 2806 1638 2311 2168 232.0 9.8 620 10575 0.00 2.53 29.73 1.109 9222 0.000 0.103 2805 3057 2109 2182 2037 0 0 0 0 0 0 28.83 14.37 13.79

10873 0.79 294.3 2806 3057 2165 2022 197.0 9.9 657 10905 0.12 2.50 27.10 1.086 10756 0.141 0.076 2867 1648 1977 2045 1909 0 0 0 0 0 0 14.50 14.36 13.84

10941 0.79 294.3 2869 1648 2033 1907 188.9 12.3 670 10947 0.00 2.53 0.00 0.000 1030 0.000 0.103 2867 3055 1971 2032 1911 0 0 0 0 0 0 28.83 14.34 28.83

11245 0.79 294.3 2868 3056 2029 1901 148.1 12.7 701 11246 0.00 0.00 0.00 0.000 6 0.000 0.000 2867 3055 1964 2028 1900 0 0 0 0 0 0 28.83 28.83 28.83

11545 0.79 298.0 2868 3056 2029 1900 111.4 11.4 731 11546 0.00 0.00 0.00 0.000 6 0.000 0.000 2867 3055 1963 2028 1899 0 0 0 0 0 0 28.83 28.83 28.83

11845 0.81 328.4 2869 3056 2028 1899 78.4 10.0 761 11867 0.00 2.42 15.23 0.396 8708 0.000 0.076 2876 1642 1855 1929 1781 0 0 0 0 0 0 28.83 14.41 14.14

11903 0.88 367.8 2877 1643 1947 1782 73.0 9.5 772 11932 0.00 2.53 23.50 0.387 9222 0.000 0.106 2876 3051 1690 1753 1627 0 0 0 0 0 0 28.83 14.38 14.10

12237 1.04 509.7 2877 3051 1777 1628 45.8 4.1 809 12319 0.15 0.00 79.28 0.317 10502 0.130 0.000 2941 3051 1108 1143 1073 0 0 0 0 0 0 14.44 28.83 14.10

12617 1.16 606.9 2942 3052 1164 1076 14.5 6.5 850 12678 0.00 2.47 53.00 0.226 8708 0.000 0.078 2945 1655 713 712 715 0 0 0 0 0 0 28.83 14.28 14.19

12698 end climb: FINISH_DEPTH_REACHED

state 12698 begin subsurface finish

12705 0.25 354.3 2946 3050 725 717 8.8 7.1 866 12738 0.93 2.47 -25.73 0.000 20996 0.189 0.097 2676 1645 1744 1788 1701 0 0 0 0 0 0 14.20 14.29 14.54

12739 end subsurface finish: CONTROL_FINISHED_OK

state 12739 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	251	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	37	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	-5023.6465	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	030914,083844,7438.946,-14220.536,4,0.8,24,24.0	SPEED_LIMITS	0.166,0.234
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14510.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	14.68	MHEAD_RNG_PITCHd_Wd	172.3,353001,-21.4,-11.628,-26.45,1932
_SM_ANGLEo	-17.7	D_GRID	1000
GPS2	030914,083844,7438.946,-14220.536,4,0.8,24,24.0

FREEZE	8.80,-1.354,-1.440,2,6,0	_24V_AH	12.75,81.869
FINISH1	8.8,1.021152,354	_10V_AH	12.65,0.000
FINISH2	8.6	FG_AHR_24Vo	0.000
RAFOS_CLK	492	FG_AHR_10Vo	0.000
RAFOS_FIX	7432.994629,-14251.763672,010914,161620,2,255,0.35	MEM	230568
IRIDIUM_FIX	7342.54,-14304.59,010914,195555	DATA_FILE_SIZE	30044,873
TT8_MAMPS	0.044191,0.044191	CAP_FILE_SIZE	137960,0
HUMID	49.56	CFSIZE	2097872896,2038071296
INTERNAL_PRESSURE	8.64215	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.90	SOUNDSPEED	1449.6
XPDR_PINGS	0	GPS	030914,083844,7438.946,-14220.536,4,0.8,24,24.0
SC_FREEKB	3909408

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	298	16.45	nil	0	0	0.00
Roll_motor	66	147	124.43	nil	0	0	0.00
VBD_pump_during_apogee	615	1700	13345.09	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	12787	16	2769.95
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	10278	2	300.35
TT8_Active	660	8	72.97
TT8_Sampling	1778	28	634.62
TT8_CF8	137	35	61.86
TT8_Kalman	0	0	0.00
Analog_circuits	1363	10	172.48
GPS_charging	0	0	0.00
Compass	1302	0	12.36
RAFOS	1476	48	896.23
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.70	-145.9	2676	2683	1790	1701	0.0	0.0	0	30	0.00	0.00	-12.30	0.000	16386	0.000	0.000	2674	2682	2445	2504	2386	0	0	0	0	0	0	28.83	28.83	28.83
32	-0.70	-145.9	2676	2683	2505	2387	16.3	0.0	1	61	0.90	2.03	-21.40	0.000	20740	0.073	0.148	2344	3795	3784	3839	3729	0	0	0	0	0	0	14.38	14.36	14.64
286	-0.64	-145.9	2346	3796	3840	3733	85.6	-21.1	52	292	0.10	1.92	0.00	0.000	3078	0.288	0.067	2371	2672	3786	3840	3732	0	0	0	0	0	0	14.19	14.42	28.83
591	-0.64	-145.9	2371	2673	3840	3733	136.1	-15.7	83	596	0.00	2.05	0.00	0.000	260	0.000	0.119	2363	3787	3786	3840	3732	0	0	0	0	0	0	28.83	14.37	28.83
751	-0.64	-145.9	2363	3787	3840	3733	162.1	-16.3	115	756	0.00	1.90	0.00	0.000	1030	0.000	0.070	2363	2679	3786	3840	3732	0	0	0	0	0	0	28.83	14.49	28.83
1061	-0.64	-145.9	2363	2679	3841	3732	207.1	-14.2	147	1066	0.00	2.38	0.00	0.000	516	0.000	0.084	2363	1274	3786	3840	3732	0	0	0	0	0	0	28.83	14.49	28.83
1111	-0.66	-145.9	2363	1274	3840	3733	213.8	-13.6	157	1116	0.00	2.50	0.00	0.000	1030	0.000	0.106	2361	2685	3786	3840	3732	0	0	0	0	0	0	28.83	14.46	28.83
1431	-0.66	-145.9	2362	2685	3841	3732	253.8	-11.7	188	1432	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2685	3786	3840	3732	0	0	0	0	0	0	28.83	28.83	28.83
1731	-0.69	-145.9	2362	2685	3841	3732	287.4	-11.1	198	1736	0.00	1.98	0.00	0.000	260	0.000	0.122	2361	3790	3785	3839	3732	0	0	0	0	0	0	28.83	14.49	28.83
1776	-0.69	-145.9	2362	3791	3840	3733	292.5	-11.6	207	1781	0.00	1.88	0.00	0.000	1030	0.000	0.070	2361	2684	3786	3840	3732	0	0	0	0	0	0	28.83	14.62	28.83
2092	-0.72	-145.9	2362	2685	3840	3732	325.9	-10.5	220	2093	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2684	3786	3840	3732	0	0	0	0	0	0	28.83	28.83	28.83
2391	-0.75	-145.9	2362	2685	3840	3733	356.3	-10.1	230	2396	0.00	1.98	0.00	0.000	260	0.000	0.123	2361	3787	3785	3839	3732	0	0	0	0	0	0	28.83	14.52	28.83
2431	-0.77	-145.9	2362	3788	3840	3733	360.6	-10.8	238	2436	0.00	1.90	0.00	0.000	1030	0.000	0.070	2361	2675	3786	3840	3732	0	0	0	0	0	0	28.83	14.62	28.83
2752	-0.81	-145.9	2361	2675	3841	3732	391.7	-9.6	252	2753	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2675	3785	3840	3731	0	0	0	0	0	0	28.83	28.83	28.83
3051	-0.84	-145.9	2361	2674	3841	3732	420.3	-9.5	262	3056	0.12	2.03	0.00	0.000	4356	0.158	0.122	2304	3787	3786	3841	3731	0	0	0	0	0	0	14.67	14.53	28.83
3132	-0.82	-145.9	2305	3788	3841	3732	430.4	-13.6	278	3137	0.00	1.85	0.00	0.000	1030	0.000	0.070	2304	2672	3786	3840	3732	0	0	0	0	0	0	28.83	14.68	28.83
3441	-0.82	-145.9	2305	2673	3840	3733	468.4	-12.2	290	3442	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2672	3785	3840	3730	0	0	0	0	0	0	28.83	28.83	28.83
3741	-0.82	-145.9	2305	2672	3840	3732	504.8	-12.0	300	3742	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2672	3785	3839	3732	0	0	0	0	0	0	28.83	28.83	28.83
4041	-0.82	-145.9	2305	2671	3840	3733	540.7	-11.9	310	4042	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2672	3786	3840	3732	0	0	0	0	0	0	28.83	28.83	28.83
4341	-0.82	-145.9	2305	2672	3841	3732	576.0	-11.8	320	4342	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2669	3786	3840	3732	0	0	0	0	0	0	28.83	28.83	28.83
4641	-0.82	-145.9	2305	2672	3841	3738	611.1	-11.7	330	4642	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2672	3789	3845	3733	0	0	0	0	0	0	28.83	28.83	28.83
4941	-0.82	-145.9	2305	2672	3841	3733	646.2	-11.7	340	4946	0.00	2.03	0.00	0.000	260	0.000	0.118	2296	3787	3786	3840	3733	0	0	0	0	0	0	28.83	14.59	28.83
4981	-0.80	-145.9	2296	3788	3841	3733	651.3	-12.8	348	4987	0.10	1.88	0.00	0.000	3078	0.298	0.072	2321	2680	3786	3839	3733	0	0	0	0	0	0	14.40	14.69	28.83
5301	-0.80	-145.9	2328	2681	3839	3734	685.7	-10.6	362	5302	0.00	0.00	0.00	0.000	6	0.000	0.000	2322	2680	3786	3839	3733	0	0	0	0	0	0	28.83	28.83	28.83
5601	-0.80	-145.9	2323	2681	3841	3734	717.4	-10.6	372	5602	0.00	0.00	0.00	0.000	6	0.000	0.000	2322	2680	3786	3839	3733	0	0	0	0	0	0	28.83	28.83	28.83
5902	-0.80	-145.9	2322	2680	3841	3733	748.8	-10.4	382	5902	0.00	0.00	0.00	0.000	6	0.000	0.000	2322	2680	3786	3839	3733	0	0	0	0	0	0	28.83	28.83	28.83
5929	end dive: TARGET_DEPTH_EXCEEDED
state	5929	begin apogee
5934	-0.14	0.0	2321	3060	3841	3734	752.0	-10.4	383	6124	0.82	0.00	186.73	1.419	10246	0.259	0.000	2537	3059	3186	3280	3093	0	0	0	0	0	0	14.33	28.83	13.28
6125	end apogee: CONTROL_FINISHED_OK
state	6125	begin climb
6127	0.70	145.9	2538	3060	3277	3091	756.5	0.0	389	6263	0.93	0.00	126.95	1.701	10502	0.174	0.000	2804	3059	2583	2659	2508	0	0	0	0	0	0	13.78	28.83	12.75
6561	0.70	145.9	2803	3059	2651	2499	708.8	12.8	419	6566	0.00	1.40	0.00	0.000	260	0.000	0.119	2803	3789	2575	2650	2500	0	0	0	0	0	0	28.83	14.00	28.83
6622	0.66	145.9	2804	3789	2650	2500	700.5	13.6	431	6626	0.00	1.30	0.00	0.000	1030	0.000	0.075	2808	3060	2575	2650	2500	0	0	0	0	0	0	28.83	14.14	28.83
6951	0.66	145.9	2809	3060	2650	2500	657.8	12.9	447	6952	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	3059	2574	2650	2499	0	0	0	0	0	0	28.83	28.83	28.83
7251	0.66	145.9	2809	3060	2650	2500	619.5	12.7	457	7252	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	3060	2574	2650	2499	0	0	0	0	0	0	28.83	28.83	28.83
7551	0.66	145.9	2809	3060	2650	2500	581.3	12.7	467	7556	0.00	1.35	0.00	0.000	260	0.000	0.119	2808	3786	2574	2650	2499	0	0	0	0	0	0	28.83	14.52	28.83
7616	0.62	145.9	2809	3786	2650	2500	572.2	14.3	480	7621	0.00	1.27	0.00	0.000	1030	0.000	0.074	2813	3041	2573	2649	2498	0	0	0	0	0	0	28.83	14.61	28.83
7943	0.60	145.9	2815	3042	2650	2500	530.0	12.9	495	7943	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	3042	2574	2649	2499	0	0	0	0	0	0	28.83	28.83	28.83
8241	0.58	145.9	2814	3042	2650	2499	490.9	13.0	505	8247	0.15	1.38	0.00	0.000	4356	0.284	0.119	2780	3787	2574	2650	2499	0	0	0	0	0	0	14.45	14.58	28.83
8286	0.58	145.9	2781	3787	2651	2499	485.1	12.5	514	8291	0.00	1.25	0.00	0.000	1030	0.000	0.074	2786	3054	2574	2649	2499	0	0	0	0	0	0	28.83	14.67	28.83
8602	0.58	149.4	2786	3054	2651	2499	448.8	11.4	527	8603	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	3054	2574	2650	2499	0	0	0	0	0	0	28.83	28.83	28.83
8901	0.59	154.3	2786	3054	2651	2499	414.8	11.4	537	8904	0.00	0.00	1.67	0.236	8198	0.000	0.000	2786	3054	2557	2634	2480	0	0	0	0	0	0	28.83	28.83	14.52
9201	0.59	162.0	2785	3054	2666	2479	381.0	11.2	547	9216	0.00	0.00	13.70	1.304	8198	0.000	0.000	2785	3054	2524	2606	2443	0	0	0	0	0	0	28.83	28.83	14.03
9502	0.59	166.8	2786	3054	2591	2432	346.7	11.4	557	9506	0.00	2.35	0.00	0.000	516	0.000	0.075	2795	1649	2510	2590	2431	0	0	0	0	0	0	28.83	14.60	28.83
9531	0.63	184.5	2796	1649	2592	2431	343.4	10.7	563	9557	0.00	2.47	19.95	1.251	9222	0.000	0.103	2795	3059	2428	2508	2348	0	0	0	0	0	0	28.83	14.59	13.96
9861	0.63	184.5	2795	3059	2499	2337	304.1	11.8	579	9862	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	3059	2414	2491	2338	0	0	0	0	0	0	28.83	28.83	28.83
10161	0.64	194.0	2796	3059	2491	2339	270.4	11.1	589	10165	0.00	0.00	2.28	0.464	8198	0.000	0.000	2795	3059	2394	2472	2317	0	0	0	0	0	0	28.83	28.83	13.80
10461	0.66	228.4	2795	3059	2505	2317	239.5	9.8	605	10503	0.00	2.42	36.38	1.127	8708	0.000	0.073	2806	1638	2246	2320	2172	0	0	0	0	0	0	28.83	14.45	13.93
10539	0.73	262.3	2806	1638	2311	2168	232.0	9.8	620	10575	0.00	2.53	29.73	1.109	9222	0.000	0.103	2805	3057	2109	2182	2037	0	0	0	0	0	0	28.83	14.37	13.79
10873	0.79	294.3	2806	3057	2165	2022	197.0	9.9	657	10905	0.12	2.50	27.10	1.086	10756	0.141	0.076	2867	1648	1977	2045	1909	0	0	0	0	0	0	14.50	14.36	13.84
10941	0.79	294.3	2869	1648	2033	1907	188.9	12.3	670	10947	0.00	2.53	0.00	0.000	1030	0.000	0.103	2867	3055	1971	2032	1911	0	0	0	0	0	0	28.83	14.34	28.83
11245	0.79	294.3	2868	3056	2029	1901	148.1	12.7	701	11246	0.00	0.00	0.00	0.000	6	0.000	0.000	2867	3055	1964	2028	1900	0	0	0	0	0	0	28.83	28.83	28.83
11545	0.79	298.0	2868	3056	2029	1900	111.4	11.4	731	11546	0.00	0.00	0.00	0.000	6	0.000	0.000	2867	3055	1963	2028	1899	0	0	0	0	0	0	28.83	28.83	28.83
11845	0.81	328.4	2869	3056	2028	1899	78.4	10.0	761	11867	0.00	2.42	15.23	0.396	8708	0.000	0.076	2876	1642	1855	1929	1781	0	0	0	0	0	0	28.83	14.41	14.14
11903	0.88	367.8	2877	1643	1947	1782	73.0	9.5	772	11932	0.00	2.53	23.50	0.387	9222	0.000	0.106	2876	3051	1690	1753	1627	0	0	0	0	0	0	28.83	14.38	14.10
12237	1.04	509.7	2877	3051	1777	1628	45.8	4.1	809	12319	0.15	0.00	79.28	0.317	10502	0.130	0.000	2941	3051	1108	1143	1073	0	0	0	0	0	0	14.44	28.83	14.10
12617	1.16	606.9	2942	3052	1164	1076	14.5	6.5	850	12678	0.00	2.47	53.00	0.226	8708	0.000	0.078	2945	1655	713	712	715	0	0	0	0	0	0	28.83	14.28	14.19
12698	end climb: FINISH_DEPTH_REACHED
state	12698	begin subsurface finish
12705	0.25	354.3	2946	3050	725	717	8.8	7.1	866	12738	0.93	2.47	-25.73	0.000	20996	0.189	0.097	2676	1645	1744	1788	1701	0	0	0	0	0	0	14.20	14.29	14.54
12739	end subsurface finish: CONTROL_FINISHED_OK
state	12739	begin surface