Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 326 * 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 326 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 -5801.1099 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 -5801.1099

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 326 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,-14322.191,181,99.0,181,23.4 SPEED_LIMITS 0.166,0.234

_CALLS 3 TGT_NAME 6

_XMS_NAKs 0 TGT_LATLONG 7400.000,-14100.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 16.94 MHEAD_RNG_PITCHd_Wd 45.9,77576,-21.4,-11.628,-26.45,1932

_SM_ANGLEo -16.4 D_GRID 1000

GPS2 140914,040738,7345.219,-14322.191,181,99.0,181,23.4

Post-dive calculations and measurements:

MODEM_MSG CACST,6,0,20140915201657.586690,3,233,17,0144,0150,100,00,00,01,03,1,014,000,0,5,1,0,150,9.4,6.2,-100,-3.2,-01,0.4,24,900,0025*1D SC_FREEKB 3875776

FREEZE 7.97,-1.414,-1.429,2,13,0 _24V_AH 12.81,105.468

FINISH1 8.0,1.020994,363 _10V_AH 12.72,0.000

FINISH2 7.3 FG_AHR_24Vo 0.000

RAFOS_CLK 817 FG_AHR_10Vo 0.000

MODEM 5,1410811479,74.32460,-141.48840,38.855,56281.7 MEM 189896

RAFOS_FIX 7345.218750,-14322.191406,140914,040438,3,255,0.08 DATA_FILE_SIZE 26750,810

IRIDIUM_FIX 7304.81,-14327.81,130914,235149 CAP_FILE_SIZE 126492,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2023489536

HUMID 48.70 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.64215 INTR 0,12612.32,0x2378b6,5,5

TCM_TEMP 12.90 SOUNDSPEED 1448.9

XPDR_PINGS 0 GPS 140914,040738,7345.219,-14322.191,181,99.0,181,23.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 289 16.90 nil 0 0 0.00

Roll_motor 40 136 70.17 nil 0 0 0.00

VBD_pump_during_apogee 590 1715 12980.36 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 12704 16 2689.57

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 10352 2 304.19

TT8_Active 610 8 67.83

TT8_Sampling 1663 28 596.65

TT8_CF8 150 35 68.36

TT8_Kalman 0 0 0.00

Analog_circuits 1252 10 159.36

GPS_charging 0 0 0.00

Compass 1206 0 11.51

RAFOS 1495 48 912.79

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 2665 2684 1826 1712 0.0 0.0 0 30 0.00 0.00 -11.80 0.000 16386 0.000 0.000 2664 2683 2506 2570 2443 0 0 0 0 0 0 28.83 28.83 28.83

32 -0.70 -145.9 2664 2683 2572 2444 19.5 0.0 1 56 0.88 2.00 -18.85 0.000 20740 0.067 0.137 2339 3788 3782 3838 3726 0 0 0 0 0 0 14.30 14.28 14.61

292 -0.64 -145.9 2340 3788 3834 3729 88.8 -23.1 51 297 0.17 1.90 0.00 0.000 3078 0.290 0.070 2377 2670 3782 3837 3728 0 0 0 0 0 0 14.04 14.27 28.83

602 -0.64 -145.9 2377 2669 3839 3729 138.5 -14.5 83 606 0.00 2.08 0.00 0.000 260 0.000 0.121 2374 3794 3783 3838 3729 0 0 0 0 0 0 28.83 14.25 28.83

782 -0.64 -145.9 2375 3796 3838 3730 165.0 -13.9 119 786 0.00 1.95 0.00 0.000 1030 0.000 0.070 2374 2650 3783 3837 3729 0 0 0 0 0 0 28.83 14.33 28.83

1092 -0.66 -145.9 2375 2649 3839 3730 206.0 -13.0 151 1093 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2649 3784 3838 3730 0 0 0 0 0 0 28.83 28.83 28.83

1392 -0.69 -145.9 2375 2649 3839 3730 240.8 -10.1 181 1393 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2648 3783 3837 3729 0 0 0 0 0 0 28.83 28.83 28.83

1694 -0.73 -145.9 2375 2650 3838 3730 270.7 -9.7 197 1698 0.00 2.08 0.00 0.000 260 0.000 0.123 2374 3786 3783 3837 3729 0 0 0 0 0 0 28.83 14.34 28.83

1748 -0.76 -145.9 2373 3786 3838 3730 276.4 -10.0 208 1754 0.00 1.85 0.00 0.000 1030 0.000 0.071 2374 2680 3783 3838 3729 0 0 0 0 0 0 28.83 14.49 28.83

2055 -0.81 -145.9 2375 2680 3839 3730 306.4 -9.4 219 2060 0.12 2.03 0.00 0.000 4356 0.148 0.120 2315 3787 3783 3838 3729 0 0 0 0 0 0 14.51 14.39 28.83

2120 -0.81 -145.9 2316 3788 3839 3729 314.8 -13.4 232 2125 0.00 1.92 0.00 0.000 1030 0.000 0.070 2315 2676 3783 3837 3729 0 0 0 0 0 0 28.83 14.50 28.83

2446 -0.81 -145.9 2316 2677 3838 3730 354.8 -12.0 247 2447 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 2676 3783 3837 3729 0 0 0 0 0 0 28.83 28.83 28.83

2745 -0.81 -145.9 2317 2677 3845 3730 389.6 -11.5 257 2746 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 2676 3783 3838 3729 0 0 0 0 0 0 28.83 28.83 28.83

3045 -0.81 -145.9 2316 2676 3838 3729 424.0 -11.5 267 3046 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 2676 3783 3838 3729 0 0 0 0 0 0 28.83 28.83 28.83

3345 -0.81 -145.9 2316 2676 3839 3729 458.4 -11.5 277 3346 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 2676 3783 3838 3729 0 0 0 0 0 0 28.83 28.83 28.83

3645 -0.81 -145.9 2317 2677 3839 3730 492.7 -11.4 287 3646 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 2676 3781 3834 3729 0 0 0 0 0 0 28.83 28.83 28.83

3945 -0.81 -145.9 2317 2677 3838 3730 526.4 -11.2 297 3946 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 2676 3783 3838 3729 0 0 0 0 0 0 28.83 28.83 28.83

4245 -0.81 -145.9 2317 2677 3838 3730 559.2 -10.8 307 4246 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 2676 3784 3838 3730 0 0 0 0 0 0 28.83 28.83 28.83

4545 -0.81 -145.9 2317 2682 3838 3731 591.6 -10.8 317 4546 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 2676 3784 3838 3730 0 0 0 0 0 0 28.83 28.83 28.83

4845 -0.81 -145.9 2316 2676 3839 3731 623.5 -10.6 327 4846 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 2676 3783 3837 3730 0 0 0 0 0 0 28.83 28.83 28.83

5145 -0.81 -145.9 2316 2677 3838 3732 654.9 -10.4 337 5150 0.00 2.03 0.00 0.000 260 0.000 0.117 2307 3796 3784 3838 3730 0 0 0 0 0 0 28.83 14.46 28.83

5185 -0.81 -145.9 2308 3797 3838 3731 659.5 -11.7 345 5190 0.00 1.92 0.00 0.000 1030 0.000 0.068 2307 2676 3787 3844 3730 0 0 0 0 0 0 28.83 14.56 28.83

5506 -0.81 -145.9 2308 2677 3838 3732 694.4 -11.0 359 5507 0.00 0.00 0.00 0.000 6 0.000 0.000 2307 2676 3784 3838 3731 0 0 0 0 0 0 28.83 28.83 28.83

5805 -0.81 -145.9 2308 2677 3838 3732 727.1 -10.9 369 5806 0.00 0.00 0.00 0.000 6 0.000 0.000 2307 2676 3784 3838 3731 0 0 0 0 0 0 28.83 28.83 28.83

6013 end dive: TARGET_DEPTH_EXCEEDED

state 6013 begin apogee

6018 -0.14 0.0 2306 3056 3839 3732 750.1 -10.9 376 6150 0.90 0.00 129.60 1.715 10246 0.256 0.000 2539 3054 3186 3291 3082 0 0 0 0 0 0 14.21 28.83 13.25

6151 end apogee: CONTROL_FINISHED_OK

state 6151 begin climb

6153 0.70 145.9 2540 3055 3286 3074 752.9 0.0 380 6286 0.90 0.00 127.18 1.694 10502 0.164 0.000 2805 3054 2584 2674 2495 0 0 0 0 0 0 13.89 28.83 12.81

6585 0.70 145.9 2806 3056 2663 2488 706.7 12.3 405 6586 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 3053 2575 2663 2487 0 0 0 0 0 0 28.83 28.83 28.83

6885 0.70 145.9 2806 3055 2664 2487 669.1 12.6 415 6885 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 3054 2574 2662 2487 0 0 0 0 0 0 28.83 28.83 28.83

7185 0.70 145.9 2806 3055 2663 2487 631.9 12.3 425 7190 0.00 1.35 0.00 0.000 260 0.000 0.117 2805 3783 2574 2663 2486 0 0 0 0 0 0 28.83 14.38 28.83

7245 0.66 145.9 2805 3783 2663 2486 623.7 13.6 437 7250 0.00 1.27 0.00 0.000 1030 0.000 0.071 2810 3046 2574 2662 2486 0 0 0 0 0 0 28.83 14.50 28.83

7576 0.66 145.9 2811 3047 2664 2486 581.6 12.7 453 7577 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 3045 2574 2662 2486 0 0 0 0 0 0 28.83 28.83 28.83

7875 0.66 145.9 2810 3046 2664 2486 543.8 12.6 463 7876 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 3046 2574 2663 2486 0 0 0 0 0 0 28.83 28.83 28.83

8175 0.66 145.9 2810 3046 2664 2486 505.6 12.6 473 8175 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 3046 2574 2662 2486 0 0 0 0 0 0 28.83 28.83 28.83

8475 0.66 145.9 2810 3046 2664 2486 467.9 12.5 483 8476 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 3046 2574 2662 2486 0 0 0 0 0 0 28.83 28.83 28.83

8775 0.66 145.9 2811 3046 2664 2486 431.2 12.2 493 8776 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 3046 2574 2662 2486 0 0 0 0 0 0 28.83 28.83 28.83

9075 0.66 145.9 2811 3046 2663 2487 394.5 12.2 503 9075 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 3046 2574 2662 2486 0 0 0 0 0 0 28.83 28.83 28.83

9375 0.66 145.9 2811 3046 2663 2487 357.6 12.3 513 9376 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 3046 2574 2662 2486 0 0 0 0 0 0 28.83 28.83 28.83

9675 0.67 148.8 2811 3046 2663 2487 322.5 11.5 523 9676 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 3046 2574 2662 2486 0 0 0 0 0 0 28.83 28.83 28.83

9975 0.67 151.3 2811 3046 2663 2486 288.3 11.5 533 9976 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 3046 2574 2662 2486 0 0 0 0 0 0 28.83 28.83 28.83

10275 0.69 179.4 2811 3047 2663 2487 256.6 10.1 543 10306 0.00 0.00 28.58 1.154 8198 0.000 0.000 2810 3046 2448 2540 2356 0 0 0 0 0 0 28.83 28.83 13.98

10605 0.71 213.3 2810 3046 2527 2347 223.8 9.8 570 10636 0.00 0.00 28.98 1.111 8198 0.000 0.000 2810 3046 2312 2399 2225 0 0 0 0 0 0 28.83 28.83 13.89

10936 0.78 269.2 2811 3046 2383 2214 192.6 8.7 603 10990 0.00 2.42 48.78 1.054 8708 0.000 0.073 2820 1645 2080 2163 1997 0 0 0 0 0 0 28.83 14.26 13.79

11036 0.87 327.7 2820 1645 2151 1995 183.8 8.5 618 11091 0.15 2.53 50.58 1.025 11270 0.127 0.102 2889 3050 1850 1923 1778 0 0 0 0 0 0 14.32 14.22 13.68

11396 0.87 327.7 2890 3051 1899 1758 131.8 14.0 660 11397 0.00 0.00 0.00 0.000 6 0.000 0.000 2889 3050 1827 1898 1757 0 0 0 0 0 0 28.83 28.83 28.83

11696 0.87 327.7 2890 3050 1897 1756 91.7 12.7 690 11697 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 3050 1825 1897 1754 0 0 0 0 0 0 28.83 28.83 28.83

11997 0.92 369.3 2890 3051 1898 1753 60.3 9.4 720 12022 0.00 2.47 18.65 0.347 8708 0.000 0.075 2899 1651 1686 1763 1609 0 0 0 0 0 0 28.83 14.28 14.10

12042 1.05 502.2 2901 1652 1776 1611 57.8 4.6 729 12123 0.00 2.53 74.70 0.344 9222 0.000 0.102 2899 3054 1139 1181 1098 0 0 0 0 0 0 28.83 14.29 14.02

12429 1.20 593.3 2901 3055 1200 1099 27.1 6.8 776 12491 0.22 2.50 52.15 0.254 11012 0.107 0.076 3005 1642 768 774 763 0 0 0 0 0 0 14.33 14.23 14.08

12535 1.28 648.1 3006 1643 787 764 17.3 8.7 795 12572 0.00 2.55 31.62 0.224 9222 0.000 0.102 3005 3053 543 542 544 0 0 0 0 0 0 28.83 14.21 14.10

12610 end climb: FINISH_DEPTH_REACHED

state 12610 begin subsurface finish

12615 0.25 362.5 3006 3054 549 545 8.0 13.3 806 12652 1.20 0.00 -31.38 0.000 20486 0.223 0.000 2677 3055 1710 1761 1660 0 0 0 0 0 0 14.08 28.83 14.49

12653 end subsurface finish: CONTROL_FINISHED_OK

state 12653 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	326	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	-5801.1099	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,-14322.191,181,99.0,181,23.4	SPEED_LIMITS	0.166,0.234
_CALLS	3	TGT_NAME	6
_XMS_NAKs	0	TGT_LATLONG	7400.000,-14100.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	16.94	MHEAD_RNG_PITCHd_Wd	45.9,77576,-21.4,-11.628,-26.45,1932
_SM_ANGLEo	-16.4	D_GRID	1000
GPS2	140914,040738,7345.219,-14322.191,181,99.0,181,23.4

MODEM_MSG	CACST,6,0,20140915201657.586690,3,233,17,0144,0150,100,00,00,01,03,1,014,000,0,5,1,0,150,9.4,6.2,-100,-3.2,-01,0.4,24,900,0025*1D	SC_FREEKB	3875776
FREEZE	7.97,-1.414,-1.429,2,13,0	_24V_AH	12.81,105.468
FINISH1	8.0,1.020994,363	_10V_AH	12.72,0.000
FINISH2	7.3	FG_AHR_24Vo	0.000
RAFOS_CLK	817	FG_AHR_10Vo	0.000
MODEM	5,1410811479,74.32460,-141.48840,38.855,56281.7	MEM	189896
RAFOS_FIX	7345.218750,-14322.191406,140914,040438,3,255,0.08	DATA_FILE_SIZE	26750,810
IRIDIUM_FIX	7304.81,-14327.81,130914,235149	CAP_FILE_SIZE	126492,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2023489536
HUMID	48.70	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.64215	INTR	0,12612.32,0x2378b6,5,5
TCM_TEMP	12.90	SOUNDSPEED	1448.9
XPDR_PINGS	0	GPS	140914,040738,7345.219,-14322.191,181,99.0,181,23.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	289	16.90	nil	0	0	0.00
Roll_motor	40	136	70.17	nil	0	0	0.00
VBD_pump_during_apogee	590	1715	12980.36	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	12704	16	2689.57
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	10352	2	304.19
TT8_Active	610	8	67.83
TT8_Sampling	1663	28	596.65
TT8_CF8	150	35	68.36
TT8_Kalman	0	0	0.00
Analog_circuits	1252	10	159.36
GPS_charging	0	0	0.00
Compass	1206	0	11.51
RAFOS	1495	48	912.79
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	2665	2684	1826	1712	0.0	0.0	0	30	0.00	0.00	-11.80	0.000	16386	0.000	0.000	2664	2683	2506	2570	2443	0	0	0	0	0	0	28.83	28.83	28.83
32	-0.70	-145.9	2664	2683	2572	2444	19.5	0.0	1	56	0.88	2.00	-18.85	0.000	20740	0.067	0.137	2339	3788	3782	3838	3726	0	0	0	0	0	0	14.30	14.28	14.61
292	-0.64	-145.9	2340	3788	3834	3729	88.8	-23.1	51	297	0.17	1.90	0.00	0.000	3078	0.290	0.070	2377	2670	3782	3837	3728	0	0	0	0	0	0	14.04	14.27	28.83
602	-0.64	-145.9	2377	2669	3839	3729	138.5	-14.5	83	606	0.00	2.08	0.00	0.000	260	0.000	0.121	2374	3794	3783	3838	3729	0	0	0	0	0	0	28.83	14.25	28.83
782	-0.64	-145.9	2375	3796	3838	3730	165.0	-13.9	119	786	0.00	1.95	0.00	0.000	1030	0.000	0.070	2374	2650	3783	3837	3729	0	0	0	0	0	0	28.83	14.33	28.83
1092	-0.66	-145.9	2375	2649	3839	3730	206.0	-13.0	151	1093	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2649	3784	3838	3730	0	0	0	0	0	0	28.83	28.83	28.83
1392	-0.69	-145.9	2375	2649	3839	3730	240.8	-10.1	181	1393	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2648	3783	3837	3729	0	0	0	0	0	0	28.83	28.83	28.83
1694	-0.73	-145.9	2375	2650	3838	3730	270.7	-9.7	197	1698	0.00	2.08	0.00	0.000	260	0.000	0.123	2374	3786	3783	3837	3729	0	0	0	0	0	0	28.83	14.34	28.83
1748	-0.76	-145.9	2373	3786	3838	3730	276.4	-10.0	208	1754	0.00	1.85	0.00	0.000	1030	0.000	0.071	2374	2680	3783	3838	3729	0	0	0	0	0	0	28.83	14.49	28.83
2055	-0.81	-145.9	2375	2680	3839	3730	306.4	-9.4	219	2060	0.12	2.03	0.00	0.000	4356	0.148	0.120	2315	3787	3783	3838	3729	0	0	0	0	0	0	14.51	14.39	28.83
2120	-0.81	-145.9	2316	3788	3839	3729	314.8	-13.4	232	2125	0.00	1.92	0.00	0.000	1030	0.000	0.070	2315	2676	3783	3837	3729	0	0	0	0	0	0	28.83	14.50	28.83
2446	-0.81	-145.9	2316	2677	3838	3730	354.8	-12.0	247	2447	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	2676	3783	3837	3729	0	0	0	0	0	0	28.83	28.83	28.83
2745	-0.81	-145.9	2317	2677	3845	3730	389.6	-11.5	257	2746	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	2676	3783	3838	3729	0	0	0	0	0	0	28.83	28.83	28.83
3045	-0.81	-145.9	2316	2676	3838	3729	424.0	-11.5	267	3046	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	2676	3783	3838	3729	0	0	0	0	0	0	28.83	28.83	28.83
3345	-0.81	-145.9	2316	2676	3839	3729	458.4	-11.5	277	3346	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	2676	3783	3838	3729	0	0	0	0	0	0	28.83	28.83	28.83
3645	-0.81	-145.9	2317	2677	3839	3730	492.7	-11.4	287	3646	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	2676	3781	3834	3729	0	0	0	0	0	0	28.83	28.83	28.83
3945	-0.81	-145.9	2317	2677	3838	3730	526.4	-11.2	297	3946	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	2676	3783	3838	3729	0	0	0	0	0	0	28.83	28.83	28.83
4245	-0.81	-145.9	2317	2677	3838	3730	559.2	-10.8	307	4246	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	2676	3784	3838	3730	0	0	0	0	0	0	28.83	28.83	28.83
4545	-0.81	-145.9	2317	2682	3838	3731	591.6	-10.8	317	4546	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	2676	3784	3838	3730	0	0	0	0	0	0	28.83	28.83	28.83
4845	-0.81	-145.9	2316	2676	3839	3731	623.5	-10.6	327	4846	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	2676	3783	3837	3730	0	0	0	0	0	0	28.83	28.83	28.83
5145	-0.81	-145.9	2316	2677	3838	3732	654.9	-10.4	337	5150	0.00	2.03	0.00	0.000	260	0.000	0.117	2307	3796	3784	3838	3730	0	0	0	0	0	0	28.83	14.46	28.83
5185	-0.81	-145.9	2308	3797	3838	3731	659.5	-11.7	345	5190	0.00	1.92	0.00	0.000	1030	0.000	0.068	2307	2676	3787	3844	3730	0	0	0	0	0	0	28.83	14.56	28.83
5506	-0.81	-145.9	2308	2677	3838	3732	694.4	-11.0	359	5507	0.00	0.00	0.00	0.000	6	0.000	0.000	2307	2676	3784	3838	3731	0	0	0	0	0	0	28.83	28.83	28.83
5805	-0.81	-145.9	2308	2677	3838	3732	727.1	-10.9	369	5806	0.00	0.00	0.00	0.000	6	0.000	0.000	2307	2676	3784	3838	3731	0	0	0	0	0	0	28.83	28.83	28.83
6013	end dive: TARGET_DEPTH_EXCEEDED
state	6013	begin apogee
6018	-0.14	0.0	2306	3056	3839	3732	750.1	-10.9	376	6150	0.90	0.00	129.60	1.715	10246	0.256	0.000	2539	3054	3186	3291	3082	0	0	0	0	0	0	14.21	28.83	13.25
6151	end apogee: CONTROL_FINISHED_OK
state	6151	begin climb
6153	0.70	145.9	2540	3055	3286	3074	752.9	0.0	380	6286	0.90	0.00	127.18	1.694	10502	0.164	0.000	2805	3054	2584	2674	2495	0	0	0	0	0	0	13.89	28.83	12.81
6585	0.70	145.9	2806	3056	2663	2488	706.7	12.3	405	6586	0.00	0.00	0.00	0.000	6	0.000	0.000	2801	3053	2575	2663	2487	0	0	0	0	0	0	28.83	28.83	28.83
6885	0.70	145.9	2806	3055	2664	2487	669.1	12.6	415	6885	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	3054	2574	2662	2487	0	0	0	0	0	0	28.83	28.83	28.83
7185	0.70	145.9	2806	3055	2663	2487	631.9	12.3	425	7190	0.00	1.35	0.00	0.000	260	0.000	0.117	2805	3783	2574	2663	2486	0	0	0	0	0	0	28.83	14.38	28.83
7245	0.66	145.9	2805	3783	2663	2486	623.7	13.6	437	7250	0.00	1.27	0.00	0.000	1030	0.000	0.071	2810	3046	2574	2662	2486	0	0	0	0	0	0	28.83	14.50	28.83
7576	0.66	145.9	2811	3047	2664	2486	581.6	12.7	453	7577	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	3045	2574	2662	2486	0	0	0	0	0	0	28.83	28.83	28.83
7875	0.66	145.9	2810	3046	2664	2486	543.8	12.6	463	7876	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	3046	2574	2663	2486	0	0	0	0	0	0	28.83	28.83	28.83
8175	0.66	145.9	2810	3046	2664	2486	505.6	12.6	473	8175	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	3046	2574	2662	2486	0	0	0	0	0	0	28.83	28.83	28.83
8475	0.66	145.9	2810	3046	2664	2486	467.9	12.5	483	8476	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	3046	2574	2662	2486	0	0	0	0	0	0	28.83	28.83	28.83
8775	0.66	145.9	2811	3046	2664	2486	431.2	12.2	493	8776	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	3046	2574	2662	2486	0	0	0	0	0	0	28.83	28.83	28.83
9075	0.66	145.9	2811	3046	2663	2487	394.5	12.2	503	9075	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	3046	2574	2662	2486	0	0	0	0	0	0	28.83	28.83	28.83
9375	0.66	145.9	2811	3046	2663	2487	357.6	12.3	513	9376	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	3046	2574	2662	2486	0	0	0	0	0	0	28.83	28.83	28.83
9675	0.67	148.8	2811	3046	2663	2487	322.5	11.5	523	9676	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	3046	2574	2662	2486	0	0	0	0	0	0	28.83	28.83	28.83
9975	0.67	151.3	2811	3046	2663	2486	288.3	11.5	533	9976	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	3046	2574	2662	2486	0	0	0	0	0	0	28.83	28.83	28.83
10275	0.69	179.4	2811	3047	2663	2487	256.6	10.1	543	10306	0.00	0.00	28.58	1.154	8198	0.000	0.000	2810	3046	2448	2540	2356	0	0	0	0	0	0	28.83	28.83	13.98
10605	0.71	213.3	2810	3046	2527	2347	223.8	9.8	570	10636	0.00	0.00	28.98	1.111	8198	0.000	0.000	2810	3046	2312	2399	2225	0	0	0	0	0	0	28.83	28.83	13.89
10936	0.78	269.2	2811	3046	2383	2214	192.6	8.7	603	10990	0.00	2.42	48.78	1.054	8708	0.000	0.073	2820	1645	2080	2163	1997	0	0	0	0	0	0	28.83	14.26	13.79
11036	0.87	327.7	2820	1645	2151	1995	183.8	8.5	618	11091	0.15	2.53	50.58	1.025	11270	0.127	0.102	2889	3050	1850	1923	1778	0	0	0	0	0	0	14.32	14.22	13.68
11396	0.87	327.7	2890	3051	1899	1758	131.8	14.0	660	11397	0.00	0.00	0.00	0.000	6	0.000	0.000	2889	3050	1827	1898	1757	0	0	0	0	0	0	28.83	28.83	28.83
11696	0.87	327.7	2890	3050	1897	1756	91.7	12.7	690	11697	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	3050	1825	1897	1754	0	0	0	0	0	0	28.83	28.83	28.83
11997	0.92	369.3	2890	3051	1898	1753	60.3	9.4	720	12022	0.00	2.47	18.65	0.347	8708	0.000	0.075	2899	1651	1686	1763	1609	0	0	0	0	0	0	28.83	14.28	14.10
12042	1.05	502.2	2901	1652	1776	1611	57.8	4.6	729	12123	0.00	2.53	74.70	0.344	9222	0.000	0.102	2899	3054	1139	1181	1098	0	0	0	0	0	0	28.83	14.29	14.02
12429	1.20	593.3	2901	3055	1200	1099	27.1	6.8	776	12491	0.22	2.50	52.15	0.254	11012	0.107	0.076	3005	1642	768	774	763	0	0	0	0	0	0	14.33	14.23	14.08
12535	1.28	648.1	3006	1643	787	764	17.3	8.7	795	12572	0.00	2.55	31.62	0.224	9222	0.000	0.102	3005	3053	543	542	544	0	0	0	0	0	0	28.83	14.21	14.10
12610	end climb: FINISH_DEPTH_REACHED
state	12610	begin subsurface finish
12615	0.25	362.5	3006	3054	549	545	8.0	13.3	806	12652	1.20	0.00	-31.38	0.000	20486	0.223	0.000	2677	3055	1710	1761	1660	0	0	0	0	0	0	14.08	28.83	14.49
12653	end subsurface finish: CONTROL_FINISHED_OK
state	12653	begin surface