Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 322 * 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 322 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 32 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 16 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 32 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 16 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 322 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 16.38 MHEAD_RNG_PITCHd_Wd 45.9,77576,-21.4,-11.628,-26.45,1932

_SM_ANGLEo -17.4 D_GRID 1000

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

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20140915081648.761480,3,552,21,0240,0150,100,00,00,01,03,1,000,000,2,5,1,0,150,7.1,3.7,-100,-0.7,-01,0.1,27,900,0025*1B _24V_AH 12.77,104.287

FREEZE 8.16,-1.419,-1.442,2,9,0 _10V_AH 12.65,0.000

FINISH1 8.2,1.021188,352 FG_AHR_24Vo 0.000

FINISH2 7.9 FG_AHR_10Vo 0.000

RAFOS_CLK 186 MEM 191924

RAFOS_FIX 7345.218750,-14322.191406,140914,040438,3,255,0.08 DATA_FILE_SIZE 26727,810

IRIDIUM_FIX 7257.42,-14347.65,130914,052906 CAP_FILE_SIZE 125427,0

TT8_MAMPS 0.043442,0.043442 CFSIZE 2097872896,2024243200

HUMID 50.00 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.65191 INTR 0,12740.39,0x2378b6,5,5

TCM_TEMP 12.90 SOUNDSPEED 1449.5

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

SC_FREEKB 3877568

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 263 14.11 nil 0 0 0.00

Roll_motor 33 161 69.26 nil 0 0 0.00

VBD_pump_during_apogee 585 1674 12510.44 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 12817 16 2628.59

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 10505 2 306.98

TT8_Active 570 8 63.04

TT8_Sampling 1658 28 591.58

TT8_CF8 150 35 67.81

TT8_Kalman 0 0 0.00

Analog_circuits 1221 10 154.55

GPS_charging 0 0 0.00

Compass 1213 0 11.52

RAFOS 1496 48 908.37

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 2675 1775 1708 0.0 0.0 0 30 0.00 0.00 -12.55 0.000 16386 0.000 0.000 2675 2674 2508 2560 2457 0 0 0 0 0 0 28.83 28.83 28.83

32 -0.70 -145.9 2676 2675 2562 2458 18.6 0.0 1 58 0.90 0.00 -19.12 0.000 20998 0.070 0.000 2352 2675 3782 3836 3728 0 0 0 0 0 0 14.38 28.83 14.63

360 -0.67 -145.9 2353 2675 3837 3731 96.3 -17.8 35 360 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2674 3783 3836 3730 0 0 0 0 0 0 28.83 28.83 28.83

658 -0.67 -145.9 2353 2675 3837 3731 144.3 -15.4 65 659 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2674 3783 3836 3730 0 0 0 0 0 0 28.83 28.83 28.83

958 -0.67 -145.9 2353 2676 3838 3731 188.6 -14.7 95 959 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2675 3783 3837 3730 0 0 0 0 0 0 28.83 28.83 28.83

1258 -0.67 -145.9 2353 2675 3837 3731 230.8 -12.3 125 1259 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2674 3784 3837 3731 0 0 0 0 0 0 28.83 28.83 28.83

1578 -0.67 -145.9 2353 2675 3837 3731 268.6 -11.8 147 1579 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2675 3783 3836 3731 0 0 0 0 0 0 28.83 28.83 28.83

1878 -0.70 -145.9 2353 2675 3837 3732 301.3 -10.5 157 1879 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2675 3783 3836 3731 0 0 0 0 0 0 28.83 28.83 28.83

2178 -0.73 -145.9 2352 2675 3837 3731 331.7 -9.8 167 2183 0.00 2.03 0.00 0.000 260 0.000 0.124 2347 3793 3783 3836 3731 0 0 0 0 0 0 28.83 14.44 28.83

2228 -0.73 -145.9 2348 3788 3838 3731 337.1 -10.7 177 2233 0.00 1.92 0.00 0.000 1030 0.000 0.071 2347 2676 3783 3836 3730 0 0 0 0 0 0 28.83 14.54 28.83

2540 -0.75 -145.9 2347 2676 3837 3729 368.0 -9.8 189 2540 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2676 3783 3836 3730 0 0 0 0 0 0 28.83 28.83 28.83

2838 -0.79 -145.9 2348 2676 3837 3730 397.6 -9.9 199 2839 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2676 3783 3836 3730 0 0 0 0 0 0 28.83 28.83 28.83

3138 -0.82 -145.9 2348 2676 3838 3730 427.4 -9.9 209 3143 0.00 2.03 0.00 0.000 260 0.000 0.123 2348 3793 3783 3836 3730 0 0 0 0 0 0 28.83 14.45 28.83

3203 -0.84 -145.9 2348 3794 3838 3733 434.1 -10.5 222 3208 0.00 1.88 0.00 0.000 1030 0.000 0.070 2347 2676 3783 3836 3730 0 0 0 0 0 0 28.83 14.59 28.83

3530 -0.87 -145.9 2349 2677 3837 3731 465.9 -9.7 237 3531 0.12 0.00 0.00 0.000 4102 0.155 0.000 2299 2676 3783 3836 3730 0 0 0 0 0 0 14.59 28.83 28.83

3828 -0.87 -145.9 2300 2676 3838 3730 500.7 -11.7 247 3829 0.00 0.00 0.00 0.000 6 0.000 0.000 2299 2676 3783 3836 3730 0 0 0 0 0 0 28.83 28.83 28.83

4128 -0.87 -145.9 2299 2676 3838 3730 535.3 -11.5 257 4129 0.00 0.00 0.00 0.000 6 0.000 0.000 2299 2676 3783 3836 3730 0 0 0 0 0 0 28.83 28.83 28.83

4428 -0.87 -145.9 2299 2676 3838 3730 569.7 -11.4 267 4429 0.00 0.00 0.00 0.000 6 0.000 0.000 2299 2676 3783 3836 3730 0 0 0 0 0 0 28.83 28.83 28.83

4728 -0.87 -145.9 2299 2676 3837 3731 603.9 -11.5 277 4729 0.00 0.00 0.00 0.000 6 0.000 0.000 2299 2676 3783 3836 3730 0 0 0 0 0 0 28.83 28.83 28.83

5028 -0.87 -145.9 2300 2676 3838 3731 638.2 -11.4 287 5029 0.00 0.00 0.00 0.000 6 0.000 0.000 2299 2676 3784 3836 3732 0 0 0 0 0 0 28.83 28.83 28.83

5328 -0.87 -145.9 2299 2676 3837 3732 672.2 -11.2 297 5333 0.00 2.00 0.00 0.000 260 0.000 0.119 2291 3789 3784 3836 3732 0 0 0 0 0 0 28.83 14.47 28.83

5368 -0.85 -145.9 2292 3789 3837 3733 677.2 -12.7 305 5373 0.00 1.90 0.00 0.000 1030 0.000 0.069 2291 2652 3784 3836 3732 0 0 0 0 0 0 28.83 14.60 28.83

5690 -0.85 -145.9 2292 2653 3837 3732 714.3 -11.5 319 5691 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2652 3784 3837 3732 0 0 0 0 0 0 28.83 28.83 28.83

5988 -0.85 -145.9 2292 2653 3837 3733 748.6 -11.5 329 5989 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 2652 3784 3836 3732 0 0 0 0 0 0 28.83 28.83 28.83

6016 end dive: TARGET_DEPTH_EXCEEDED

state 6016 begin apogee

6021 -0.14 0.0 2293 3058 3837 3733 752.1 -11.4 330 6214 0.95 0.00 190.40 1.400 10246 0.263 0.000 2538 3055 3186 3290 3082 0 0 0 0 0 0 14.26 28.83 13.29

6215 end apogee: CONTROL_FINISHED_OK

state 6215 begin climb

6217 0.70 145.9 2539 3058 3286 3076 756.7 0.0 336 6353 0.93 1.48 126.85 1.675 10500 0.167 0.115 2808 3785 2583 2670 2496 0 0 0 0 0 0 13.81 13.40 12.77

6434 0.66 145.9 2808 3785 2660 2487 736.0 14.6 382 6439 0.00 1.33 0.00 0.000 1030 0.000 0.070 2813 3058 2572 2658 2487 0 0 0 0 0 0 28.83 13.74 28.83

6744 0.66 145.9 2814 3058 2659 2487 695.5 13.0 394 6744 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 3058 2572 2658 2487 0 0 0 0 0 0 28.83 28.83 28.83

7044 0.66 145.9 2814 3058 2659 2488 656.5 13.0 404 7045 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 3058 2572 2658 2487 0 0 0 0 0 0 28.83 28.83 28.83

7344 0.66 145.9 2812 3059 2658 2488 618.0 12.9 414 7344 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 3058 2572 2658 2487 0 0 0 0 0 0 28.83 28.83 28.83

7644 0.66 145.9 2814 3058 2659 2487 579.3 12.9 424 7645 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 3058 2572 2658 2487 0 0 0 0 0 0 28.83 28.83 28.83

7944 0.66 145.9 2814 3059 2658 2488 540.6 12.9 434 7944 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 3058 2572 2658 2487 0 0 0 0 0 0 28.83 28.83 28.83

8244 0.66 145.9 2814 3059 2658 2488 502.2 12.7 444 8244 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 3058 2572 2657 2487 0 0 0 0 0 0 28.83 28.83 28.83

8544 0.66 145.9 2814 3058 2657 2488 464.1 12.6 454 8544 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 3058 2572 2657 2487 0 0 0 0 0 0 28.83 28.83 28.83

8844 0.66 145.9 2814 3059 2657 2488 427.0 12.3 464 8844 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 3058 2572 2657 2487 0 0 0 0 0 0 28.83 28.83 28.83

9144 0.66 145.9 2814 3058 2659 2487 390.6 12.1 474 9144 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 3058 2572 2657 2487 0 0 0 0 0 0 28.83 28.83 28.83

9444 0.66 145.9 2814 3058 2659 2487 353.8 12.1 484 9444 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 3058 2572 2657 2487 0 0 0 0 0 0 28.83 28.83 28.83

9744 0.67 156.8 2814 3059 2658 2488 319.7 11.0 494 9748 0.00 0.00 2.92 0.750 8198 0.000 0.000 2813 3058 2546 2634 2459 0 0 0 0 0 0 28.83 28.83 13.76

10044 0.67 156.8 2814 3058 2660 2470 284.4 11.8 504 10047 0.00 0.00 2.35 0.498 8198 0.000 0.000 2813 3058 2544 2635 2454 0 0 0 0 0 0 28.83 28.83 13.74

10344 0.67 164.4 2814 3059 2658 2463 251.6 11.2 514 10364 0.00 2.45 13.25 1.144 8708 0.000 0.076 2824 1647 2508 2597 2419 0 0 0 0 0 0 28.83 14.51 13.94

10399 0.69 191.9 2825 1648 2590 2417 245.6 10.2 525 10429 0.00 2.50 24.33 1.107 9222 0.000 0.103 2823 3049 2395 2483 2307 0 0 0 0 0 0 28.83 14.40 13.84

10734 0.72 231.2 2824 3050 2469 2298 211.8 9.5 562 10769 0.00 0.00 33.35 1.063 8454 0.000 0.000 2823 3050 2244 2328 2160 0 0 0 0 0 0 28.83 28.83 13.80

11066 0.77 269.6 2824 3051 2306 2144 177.9 9.6 597 11105 0.00 0.00 33.78 1.021 8198 0.000 0.000 2824 3050 2076 2157 1995 0 0 0 0 0 0 28.83 28.83 13.77

11406 0.83 307.5 2825 3051 2146 1987 145.5 9.6 631 11445 0.00 2.45 32.78 0.992 8708 0.000 0.078 2834 1647 1923 1998 1849 0 0 0 0 0 0 28.83 14.29 13.81

11507 0.91 344.8 2834 1645 1986 1846 135.9 9.6 651 11548 0.15 2.53 32.83 0.968 11270 0.129 0.103 2900 3049 1771 1837 1706 0 0 0 0 0 0 14.35 14.28 13.71

11846 0.91 344.8 2901 3049 1823 1699 89.6 12.3 689 11847 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 3048 1757 1822 1692 0 0 0 0 0 0 28.83 28.83 28.83

12146 0.97 385.5 2901 3048 1823 1689 55.0 9.5 719 12172 0.00 2.50 19.20 0.330 8708 0.000 0.078 2908 1646 1620 1693 1548 0 0 0 0 0 0 28.83 14.31 14.07

12353 1.11 512.9 2909 1645 1711 1548 43.9 4.9 759 12434 0.12 2.53 73.00 0.302 11270 0.142 0.103 2962 3052 1097 1133 1062 0 0 0 0 0 0 14.35 14.28 14.05

12738 end climb: FINISH_DEPTH_REACHED

state 12738 begin subsurface finish

12742 0.25 352.4 2963 3049 1156 1057 8.2 8.8 806 12765 1.02 1.40 -17.05 0.000 20740 0.205 0.161 2673 3783 1752 1785 1720 0 0 0 0 0 0 14.15 14.20 14.54

12766 end subsurface finish: CONTROL_FINISHED_OK

state 12766 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	322	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	32	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	16	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	16.38	MHEAD_RNG_PITCHd_Wd	45.9,77576,-21.4,-11.628,-26.45,1932
_SM_ANGLEo	-17.4	D_GRID	1000
GPS2	140914,040738,7345.219,-14322.191,0,3255.0,0,23.4

MODEM_MSG	CACST,6,1,20140915081648.761480,3,552,21,0240,0150,100,00,00,01,03,1,000,000,2,5,1,0,150,7.1,3.7,-100,-0.7,-01,0.1,27,900,0025*1B	_24V_AH	12.77,104.287
FREEZE	8.16,-1.419,-1.442,2,9,0	_10V_AH	12.65,0.000
FINISH1	8.2,1.021188,352	FG_AHR_24Vo	0.000
FINISH2	7.9	FG_AHR_10Vo	0.000
RAFOS_CLK	186	MEM	191924
RAFOS_FIX	7345.218750,-14322.191406,140914,040438,3,255,0.08	DATA_FILE_SIZE	26727,810
IRIDIUM_FIX	7257.42,-14347.65,130914,052906	CAP_FILE_SIZE	125427,0
TT8_MAMPS	0.043442,0.043442	CFSIZE	2097872896,2024243200
HUMID	50.00	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.65191	INTR	0,12740.39,0x2378b6,5,5
TCM_TEMP	12.90	SOUNDSPEED	1449.5
XPDR_PINGS	0	GPS	140914,040738,7345.219,-14322.191,0,3255.0,0,23.4
SC_FREEKB	3877568

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	263	14.11	nil	0	0	0.00
Roll_motor	33	161	69.26	nil	0	0	0.00
VBD_pump_during_apogee	585	1674	12510.44	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	12817	16	2628.59
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	10505	2	306.98
TT8_Active	570	8	63.04
TT8_Sampling	1658	28	591.58
TT8_CF8	150	35	67.81
TT8_Kalman	0	0	0.00
Analog_circuits	1221	10	154.55
GPS_charging	0	0	0.00
Compass	1213	0	11.52
RAFOS	1496	48	908.37
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	2675	1775	1708	0.0	0.0	0	30	0.00	0.00	-12.55	0.000	16386	0.000	0.000	2675	2674	2508	2560	2457	0	0	0	0	0	0	28.83	28.83	28.83
32	-0.70	-145.9	2676	2675	2562	2458	18.6	0.0	1	58	0.90	0.00	-19.12	0.000	20998	0.070	0.000	2352	2675	3782	3836	3728	0	0	0	0	0	0	14.38	28.83	14.63
360	-0.67	-145.9	2353	2675	3837	3731	96.3	-17.8	35	360	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2674	3783	3836	3730	0	0	0	0	0	0	28.83	28.83	28.83
658	-0.67	-145.9	2353	2675	3837	3731	144.3	-15.4	65	659	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2674	3783	3836	3730	0	0	0	0	0	0	28.83	28.83	28.83
958	-0.67	-145.9	2353	2676	3838	3731	188.6	-14.7	95	959	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2675	3783	3837	3730	0	0	0	0	0	0	28.83	28.83	28.83
1258	-0.67	-145.9	2353	2675	3837	3731	230.8	-12.3	125	1259	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2674	3784	3837	3731	0	0	0	0	0	0	28.83	28.83	28.83
1578	-0.67	-145.9	2353	2675	3837	3731	268.6	-11.8	147	1579	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2675	3783	3836	3731	0	0	0	0	0	0	28.83	28.83	28.83
1878	-0.70	-145.9	2353	2675	3837	3732	301.3	-10.5	157	1879	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2675	3783	3836	3731	0	0	0	0	0	0	28.83	28.83	28.83
2178	-0.73	-145.9	2352	2675	3837	3731	331.7	-9.8	167	2183	0.00	2.03	0.00	0.000	260	0.000	0.124	2347	3793	3783	3836	3731	0	0	0	0	0	0	28.83	14.44	28.83
2228	-0.73	-145.9	2348	3788	3838	3731	337.1	-10.7	177	2233	0.00	1.92	0.00	0.000	1030	0.000	0.071	2347	2676	3783	3836	3730	0	0	0	0	0	0	28.83	14.54	28.83
2540	-0.75	-145.9	2347	2676	3837	3729	368.0	-9.8	189	2540	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2676	3783	3836	3730	0	0	0	0	0	0	28.83	28.83	28.83
2838	-0.79	-145.9	2348	2676	3837	3730	397.6	-9.9	199	2839	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2676	3783	3836	3730	0	0	0	0	0	0	28.83	28.83	28.83
3138	-0.82	-145.9	2348	2676	3838	3730	427.4	-9.9	209	3143	0.00	2.03	0.00	0.000	260	0.000	0.123	2348	3793	3783	3836	3730	0	0	0	0	0	0	28.83	14.45	28.83
3203	-0.84	-145.9	2348	3794	3838	3733	434.1	-10.5	222	3208	0.00	1.88	0.00	0.000	1030	0.000	0.070	2347	2676	3783	3836	3730	0	0	0	0	0	0	28.83	14.59	28.83
3530	-0.87	-145.9	2349	2677	3837	3731	465.9	-9.7	237	3531	0.12	0.00	0.00	0.000	4102	0.155	0.000	2299	2676	3783	3836	3730	0	0	0	0	0	0	14.59	28.83	28.83
3828	-0.87	-145.9	2300	2676	3838	3730	500.7	-11.7	247	3829	0.00	0.00	0.00	0.000	6	0.000	0.000	2299	2676	3783	3836	3730	0	0	0	0	0	0	28.83	28.83	28.83
4128	-0.87	-145.9	2299	2676	3838	3730	535.3	-11.5	257	4129	0.00	0.00	0.00	0.000	6	0.000	0.000	2299	2676	3783	3836	3730	0	0	0	0	0	0	28.83	28.83	28.83
4428	-0.87	-145.9	2299	2676	3838	3730	569.7	-11.4	267	4429	0.00	0.00	0.00	0.000	6	0.000	0.000	2299	2676	3783	3836	3730	0	0	0	0	0	0	28.83	28.83	28.83
4728	-0.87	-145.9	2299	2676	3837	3731	603.9	-11.5	277	4729	0.00	0.00	0.00	0.000	6	0.000	0.000	2299	2676	3783	3836	3730	0	0	0	0	0	0	28.83	28.83	28.83
5028	-0.87	-145.9	2300	2676	3838	3731	638.2	-11.4	287	5029	0.00	0.00	0.00	0.000	6	0.000	0.000	2299	2676	3784	3836	3732	0	0	0	0	0	0	28.83	28.83	28.83
5328	-0.87	-145.9	2299	2676	3837	3732	672.2	-11.2	297	5333	0.00	2.00	0.00	0.000	260	0.000	0.119	2291	3789	3784	3836	3732	0	0	0	0	0	0	28.83	14.47	28.83
5368	-0.85	-145.9	2292	3789	3837	3733	677.2	-12.7	305	5373	0.00	1.90	0.00	0.000	1030	0.000	0.069	2291	2652	3784	3836	3732	0	0	0	0	0	0	28.83	14.60	28.83
5690	-0.85	-145.9	2292	2653	3837	3732	714.3	-11.5	319	5691	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2652	3784	3837	3732	0	0	0	0	0	0	28.83	28.83	28.83
5988	-0.85	-145.9	2292	2653	3837	3733	748.6	-11.5	329	5989	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	2652	3784	3836	3732	0	0	0	0	0	0	28.83	28.83	28.83
6016	end dive: TARGET_DEPTH_EXCEEDED
state	6016	begin apogee
6021	-0.14	0.0	2293	3058	3837	3733	752.1	-11.4	330	6214	0.95	0.00	190.40	1.400	10246	0.263	0.000	2538	3055	3186	3290	3082	0	0	0	0	0	0	14.26	28.83	13.29
6215	end apogee: CONTROL_FINISHED_OK
state	6215	begin climb
6217	0.70	145.9	2539	3058	3286	3076	756.7	0.0	336	6353	0.93	1.48	126.85	1.675	10500	0.167	0.115	2808	3785	2583	2670	2496	0	0	0	0	0	0	13.81	13.40	12.77
6434	0.66	145.9	2808	3785	2660	2487	736.0	14.6	382	6439	0.00	1.33	0.00	0.000	1030	0.000	0.070	2813	3058	2572	2658	2487	0	0	0	0	0	0	28.83	13.74	28.83
6744	0.66	145.9	2814	3058	2659	2487	695.5	13.0	394	6744	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	3058	2572	2658	2487	0	0	0	0	0	0	28.83	28.83	28.83
7044	0.66	145.9	2814	3058	2659	2488	656.5	13.0	404	7045	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	3058	2572	2658	2487	0	0	0	0	0	0	28.83	28.83	28.83
7344	0.66	145.9	2812	3059	2658	2488	618.0	12.9	414	7344	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	3058	2572	2658	2487	0	0	0	0	0	0	28.83	28.83	28.83
7644	0.66	145.9	2814	3058	2659	2487	579.3	12.9	424	7645	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	3058	2572	2658	2487	0	0	0	0	0	0	28.83	28.83	28.83
7944	0.66	145.9	2814	3059	2658	2488	540.6	12.9	434	7944	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	3058	2572	2658	2487	0	0	0	0	0	0	28.83	28.83	28.83
8244	0.66	145.9	2814	3059	2658	2488	502.2	12.7	444	8244	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	3058	2572	2657	2487	0	0	0	0	0	0	28.83	28.83	28.83
8544	0.66	145.9	2814	3058	2657	2488	464.1	12.6	454	8544	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	3058	2572	2657	2487	0	0	0	0	0	0	28.83	28.83	28.83
8844	0.66	145.9	2814	3059	2657	2488	427.0	12.3	464	8844	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	3058	2572	2657	2487	0	0	0	0	0	0	28.83	28.83	28.83
9144	0.66	145.9	2814	3058	2659	2487	390.6	12.1	474	9144	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	3058	2572	2657	2487	0	0	0	0	0	0	28.83	28.83	28.83
9444	0.66	145.9	2814	3058	2659	2487	353.8	12.1	484	9444	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	3058	2572	2657	2487	0	0	0	0	0	0	28.83	28.83	28.83
9744	0.67	156.8	2814	3059	2658	2488	319.7	11.0	494	9748	0.00	0.00	2.92	0.750	8198	0.000	0.000	2813	3058	2546	2634	2459	0	0	0	0	0	0	28.83	28.83	13.76
10044	0.67	156.8	2814	3058	2660	2470	284.4	11.8	504	10047	0.00	0.00	2.35	0.498	8198	0.000	0.000	2813	3058	2544	2635	2454	0	0	0	0	0	0	28.83	28.83	13.74
10344	0.67	164.4	2814	3059	2658	2463	251.6	11.2	514	10364	0.00	2.45	13.25	1.144	8708	0.000	0.076	2824	1647	2508	2597	2419	0	0	0	0	0	0	28.83	14.51	13.94
10399	0.69	191.9	2825	1648	2590	2417	245.6	10.2	525	10429	0.00	2.50	24.33	1.107	9222	0.000	0.103	2823	3049	2395	2483	2307	0	0	0	0	0	0	28.83	14.40	13.84
10734	0.72	231.2	2824	3050	2469	2298	211.8	9.5	562	10769	0.00	0.00	33.35	1.063	8454	0.000	0.000	2823	3050	2244	2328	2160	0	0	0	0	0	0	28.83	28.83	13.80
11066	0.77	269.6	2824	3051	2306	2144	177.9	9.6	597	11105	0.00	0.00	33.78	1.021	8198	0.000	0.000	2824	3050	2076	2157	1995	0	0	0	0	0	0	28.83	28.83	13.77
11406	0.83	307.5	2825	3051	2146	1987	145.5	9.6	631	11445	0.00	2.45	32.78	0.992	8708	0.000	0.078	2834	1647	1923	1998	1849	0	0	0	0	0	0	28.83	14.29	13.81
11507	0.91	344.8	2834	1645	1986	1846	135.9	9.6	651	11548	0.15	2.53	32.83	0.968	11270	0.129	0.103	2900	3049	1771	1837	1706	0	0	0	0	0	0	14.35	14.28	13.71
11846	0.91	344.8	2901	3049	1823	1699	89.6	12.3	689	11847	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	3048	1757	1822	1692	0	0	0	0	0	0	28.83	28.83	28.83
12146	0.97	385.5	2901	3048	1823	1689	55.0	9.5	719	12172	0.00	2.50	19.20	0.330	8708	0.000	0.078	2908	1646	1620	1693	1548	0	0	0	0	0	0	28.83	14.31	14.07
12353	1.11	512.9	2909	1645	1711	1548	43.9	4.9	759	12434	0.12	2.53	73.00	0.302	11270	0.142	0.103	2962	3052	1097	1133	1062	0	0	0	0	0	0	14.35	14.28	14.05
12738	end climb: FINISH_DEPTH_REACHED
state	12738	begin subsurface finish
12742	0.25	352.4	2963	3049	1156	1057	8.2	8.8	806	12765	1.02	1.40	-17.05	0.000	20740	0.205	0.161	2673	3783	1752	1785	1720	0	0	0	0	0	0	14.15	14.20	14.54
12766	end subsurface finish: CONTROL_FINISHED_OK
state	12766	begin surface