Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 351 * 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 351 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 15 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 -6169.3325 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 -6169.3325

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 15 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 351 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 190914,120405,7336.426,-14240.137,0,2255.0,0,24.1 SPEED_LIMITS 0.166,0.234

_CALLS 3 TGT_NAME 7

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14400.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 13.66 MHEAD_RNG_PITCHd_Wd 188.6,80131,-21.4,-11.628,-26.45,1932

_SM_ANGLEo -18.4 D_GRID 1000

GPS2 190914,120405,7336.426,-14240.137,0,2255.0,0,24.1

Post-dive calculations and measurements:

FREEZE 8.58,-1.438,-1.432,2,18,0 _24V_AH 12.80,112.982

FINISH1 8.6,1.021031,361 _10V_AH 12.67,0.000

FINISH2 8.5 FG_AHR_24Vo 0.000

RAFOS_CLK 714 FG_AHR_10Vo 0.000

RAFOS_FIX 7336.426270,-14240.136719,190914,121205,2,255,0.24 MEM 177136

IRIDIUM_FIX 7319.74,-14132.60,170914,010249 DATA_FILE_SIZE 26721,810

TT8_MAMPS 0.043442,0.043442 CAP_FILE_SIZE 128124,0

HUMID 50.55 CFSIZE 2097872896,2018705408

INTERNAL_PRESSURE 8.64215 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.90 INTR 1,12765.08,0x2378b6,5,5

XPDR_PINGS 0 SOUNDSPEED 1449.0

SC_FREEKB 3864576 GPS 190914,120405,7336.426,-14240.137,0,2255.0,0,24.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 279 15.59 nil 0 0 0.00

Roll_motor 40 139 72.80 nil 0 0 0.00

VBD_pump_during_apogee 549 1722 12114.72 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 12853 15 2582.45

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 10557 2 308.98

TT8_Active 549 8 60.83

TT8_Sampling 1660 28 593.12

TT8_CF8 158 35 71.74

TT8_Kalman 0 0 0.00

Analog_circuits 1206 10 152.86

GPS_charging 0 0 0.00

Compass 1222 0 11.62

RAFOS 1489 48 905.55

Transponder 0 5 0.03

Guidance and control:

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.70 -145.9 2678 2680 1749 1669 0.0 0.0 0 30 0.00 0.00 -11.90 0.000 16386 0.000 0.000 2677 2680 2371 2428 2315 0 0 0 0 0 0 28.83 28.83 28.83

32 -0.70 -145.9 2678 2681 2431 2316 15.9 0.0 1 62 0.90 2.03 -22.62 0.000 20740 0.072 0.139 2347 3794 3782 3836 3729 0 0 0 0 0 0 14.32 14.29 14.63

286 -0.65 -145.9 2348 3795 3837 3732 85.5 -21.4 52 293 0.08 1.95 0.00 0.000 3078 0.280 0.071 2367 2676 3784 3836 3732 0 0 0 0 0 0 14.08 14.35 28.83

592 -0.65 -145.9 2367 2676 3838 3732 136.0 -15.4 83 596 0.00 2.05 0.00 0.000 260 0.000 0.122 2361 3795 3783 3835 3732 0 0 0 0 0 0 28.83 14.34 28.83

656 -0.65 -145.9 2361 3795 3838 3733 146.7 -16.1 96 662 0.00 1.92 0.00 0.000 1030 0.000 0.072 2361 2684 3784 3836 3732 0 0 0 0 0 0 28.83 14.38 28.83

962 -0.65 -145.9 2361 2684 3838 3732 191.9 -14.6 127 962 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2685 3784 3837 3732 0 0 0 0 0 0 28.83 28.83 28.83

1262 -0.65 -145.9 2361 2684 3837 3732 232.4 -12.9 157 1262 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2684 3784 3837 3732 0 0 0 0 0 0 28.83 28.83 28.83

1582 -0.68 -145.9 2361 2684 3838 3732 270.3 -10.9 177 1586 0.00 2.03 0.00 0.000 260 0.000 0.125 2361 3790 3784 3837 3732 0 0 0 0 0 0 28.83 14.39 28.83

1637 -0.68 -145.9 2362 3791 3837 3733 276.4 -11.3 188 1643 0.00 1.90 0.00 0.000 1030 0.000 0.073 2361 2672 3784 3836 3732 0 0 0 0 0 0 28.83 14.53 28.83

1942 -0.71 -145.9 2361 2672 3837 3732 307.2 -9.5 199 1946 0.00 2.08 0.00 0.000 260 0.000 0.125 2365 3796 3783 3836 3731 0 0 0 0 0 0 28.83 14.33 28.83

2012 -0.74 -145.9 2362 3797 3837 3732 313.9 -9.5 213 2016 0.00 1.90 0.00 0.000 1030 0.000 0.073 2361 2679 3783 3836 3731 0 0 0 0 0 0 28.83 14.45 28.83

2334 -0.78 -145.9 2361 2679 3837 3731 344.1 -9.6 227 2334 0.00 0.00 0.00 0.000 6 0.000 0.000 2366 2679 3784 3837 3731 0 0 0 0 0 0 28.83 28.83 28.83

2632 -0.82 -145.9 2361 2679 3837 3738 372.6 -9.5 237 2633 0.12 0.00 0.00 0.000 4102 0.154 0.000 2312 2679 3783 3836 3731 0 0 0 0 0 0 14.40 28.83 28.83

2932 -0.82 -145.9 2312 2679 3838 3736 406.9 -11.5 247 2933 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2679 3783 3836 3731 0 0 0 0 0 0 28.83 28.83 28.83

3232 -0.82 -145.9 2313 2680 3837 3731 441.3 -11.5 257 3233 0.00 0.00 0.00 0.000 6 0.000 0.000 2312 2679 3784 3837 3731 0 0 0 0 0 0 28.83 28.83 28.83

3532 -0.82 -145.9 2312 2679 3838 3731 475.4 -11.5 267 3533 0.00 0.00 0.00 0.000 6 0.000 0.000 2312 2679 3783 3836 3731 0 0 0 0 0 0 28.83 28.83 28.83

3832 -0.82 -145.9 2312 2679 3838 3731 509.9 -11.5 277 3833 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2679 3783 3836 3731 0 0 0 0 0 0 28.83 28.83 28.83

4132 -0.82 -145.9 2312 2679 3838 3731 544.4 -11.5 287 4133 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2678 3784 3836 3732 0 0 0 0 0 0 28.83 28.83 28.83

4432 -0.82 -145.9 2312 2679 3838 3732 578.0 -11.2 297 4433 0.00 0.00 0.00 0.000 6 0.000 0.000 2312 2682 3787 3836 3739 0 0 0 0 0 0 28.83 28.83 28.83

4732 -0.82 -145.9 2313 2679 3837 3733 611.1 -10.9 307 4733 0.00 0.00 0.00 0.000 6 0.000 0.000 2312 2679 3784 3836 3732 0 0 0 0 0 0 28.83 28.83 28.83

5032 -0.82 -145.9 2313 2680 3837 3734 643.3 -10.8 317 5033 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2679 3785 3837 3733 0 0 0 0 0 0 28.83 28.83 28.83

5332 -0.82 -145.9 2313 2680 3837 3734 674.8 -10.3 327 5333 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2679 3784 3836 3733 0 0 0 0 0 0 28.83 28.83 28.83

5632 -0.82 -145.9 2313 2680 3838 3734 706.4 -10.5 337 5633 0.00 0.00 0.00 0.000 6 0.000 0.000 2310 2678 3785 3837 3733 0 0 0 0 0 0 28.83 28.83 28.83

5932 -0.82 -145.9 2313 2679 3837 3734 737.7 -10.5 347 5933 0.00 0.00 0.00 0.000 6 0.000 0.000 2312 2679 3785 3837 3733 0 0 0 0 0 0 28.83 28.83 28.83

6049 end dive: TARGET_DEPTH_EXCEEDED

state 6050 begin apogee

6055 -0.14 0.0 2310 3056 3837 3734 750.4 -10.5 351 6187 0.88 0.00 130.20 1.722 10246 0.265 0.000 2535 3057 3185 3282 3088 0 0 0 0 0 0 14.22 28.83 13.23

6188 end apogee: CONTROL_FINISHED_OK

state 6189 begin climb

6191 0.70 145.9 2536 3056 3275 3082 753.4 0.0 355 6323 0.93 0.00 126.07 1.695 10502 0.168 0.000 2805 3056 2587 2667 2508 0 0 0 0 0 0 13.87 28.83 12.80

6629 0.70 145.9 2806 3057 2655 2500 706.5 12.4 395 6630 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 3056 2576 2654 2499 0 0 0 0 0 0 28.83 28.83 28.83

6929 0.70 145.9 2806 3057 2662 2500 669.3 12.4 405 6930 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 3056 2576 2654 2499 0 0 0 0 0 0 28.83 28.83 28.83

7229 0.70 145.9 2806 3057 2656 2499 632.5 12.3 415 7230 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 3056 2576 2654 2499 0 0 0 0 0 0 28.83 28.83 28.83

7529 0.70 145.9 2806 3056 2655 2499 596.5 11.9 425 7530 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 3057 2578 2658 2499 0 0 0 0 0 0 28.83 28.83 28.83

7829 0.70 145.9 2806 3057 2656 2498 560.9 11.8 435 7830 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 3056 2576 2654 2499 0 0 0 0 0 0 28.83 28.83 28.83

8129 0.70 145.9 2807 3055 2655 2498 525.2 11.9 445 8130 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 3055 2576 2654 2499 0 0 0 0 0 0 28.83 28.83 28.83

8429 0.70 145.9 2806 3057 2656 2495 489.7 11.7 455 8430 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 3057 2575 2653 2498 0 0 0 0 0 0 28.83 28.83 28.83

8729 0.70 145.9 2806 3057 2655 2499 454.0 12.0 465 8730 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 3057 2576 2654 2498 0 0 0 0 0 0 28.83 28.83 28.83

9029 0.70 145.9 2806 3057 2655 2500 418.2 11.9 475 9030 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 3056 2576 2654 2498 0 0 0 0 0 0 28.83 28.83 28.83

9329 0.70 145.9 2806 3057 2655 2499 382.9 11.7 485 9330 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 3056 2576 2654 2498 0 0 0 0 0 0 28.83 28.83 28.83

9629 0.70 145.9 2806 3057 2657 2500 347.5 11.8 495 9634 0.00 2.42 0.00 0.000 516 0.000 0.076 2816 1644 2576 2654 2498 0 0 0 0 0 0 28.83 14.53 28.83

9654 0.71 158.3 2817 1644 2655 2499 344.7 11.0 500 9669 0.00 2.50 10.20 1.282 9222 0.000 0.103 2816 3053 2538 2618 2459 0 0 0 0 0 0 28.83 14.48 13.94

9989 0.71 158.3 2817 3053 2611 2451 304.0 11.8 517 9994 0.00 2.40 0.00 0.000 516 0.000 0.076 2825 1650 2530 2610 2451 0 0 0 0 0 0 28.83 14.49 28.83

10024 0.72 176.7 2826 1650 2611 2452 300.1 10.6 524 10050 0.00 2.50 16.77 1.227 9222 0.000 0.103 2825 3053 2457 2539 2376 0 0 0 0 0 0 28.83 14.45 13.93

10349 0.72 176.7 2831 3054 2532 2373 260.5 12.3 539 10350 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 3052 2452 2531 2373 0 0 0 0 0 0 28.83 28.83 28.83

10649 0.75 228.3 2826 3054 2532 2373 227.5 8.9 563 10700 0.00 0.00 44.65 1.118 8198 0.000 0.000 2825 3053 2245 2321 2170 0 0 0 0 0 0 28.83 28.83 13.88

11001 0.78 262.8 2826 3053 2312 2163 190.0 9.8 598 11035 0.00 2.45 30.10 1.091 8708 0.000 0.074 2834 1639 2106 2181 2032 0 0 0 0 0 0 28.83 14.37 13.83

11082 0.84 293.0 2834 1639 2171 2031 182.0 10.0 614 11116 0.00 2.55 26.80 1.077 9222 0.000 0.103 2834 3055 1982 2052 1913 0 0 0 0 0 0 28.83 14.22 13.73

11421 0.90 326.2 2834 3055 2039 1902 146.8 9.9 652 11453 0.15 0.00 28.80 1.045 10246 0.130 0.000 2899 3055 1852 1917 1787 0 0 0 0 0 0 14.45 28.83 13.82

11752 0.90 326.2 2899 3056 1899 1774 100.4 13.5 685 11753 0.00 0.00 0.00 0.000 6 0.000 0.000 2898 3055 1835 1898 1773 0 0 0 0 0 0 28.83 28.83 28.83

12051 0.90 329.0 2899 3055 1899 1773 63.0 11.5 715 12052 0.00 0.00 0.00 0.000 6 0.000 0.000 2898 3055 1835 1898 1772 0 0 0 0 0 0 28.83 28.83 28.83

12351 1.05 491.4 2899 3060 1898 1771 46.5 3.0 745 12446 0.00 2.50 88.18 0.312 8708 0.000 0.077 2904 1650 1185 1227 1143 0 0 0 0 0 0 28.83 14.23 14.04

12498 1.19 575.9 2904 1650 1240 1143 37.7 7.1 772 12554 0.20 2.55 47.85 0.283 11270 0.114 0.106 2980 3051 840 844 836 0 0 0 0 0 0 14.28 14.20 14.00

12763 end climb: FINISH_DEPTH_REACHED

state 12763 begin subsurface finish

12768 0.25 360.5 2985 3051 856 836 8.6 9.7 804 12800 1.10 2.50 -22.67 0.000 20996 0.204 0.099 2675 1649 1720 1758 1682 0 0 0 0 0 0 14.09 14.18 14.52

12801 end subsurface finish: CONTROL_FINISHED_OK

state 12801 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	351	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	15	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	-6169.3325	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	190914,120405,7336.426,-14240.137,0,2255.0,0,24.1	SPEED_LIMITS	0.166,0.234
_CALLS	3	TGT_NAME	7
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14400.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	13.66	MHEAD_RNG_PITCHd_Wd	188.6,80131,-21.4,-11.628,-26.45,1932
_SM_ANGLEo	-18.4	D_GRID	1000
GPS2	190914,120405,7336.426,-14240.137,0,2255.0,0,24.1

FREEZE	8.58,-1.438,-1.432,2,18,0	_24V_AH	12.80,112.982
FINISH1	8.6,1.021031,361	_10V_AH	12.67,0.000
FINISH2	8.5	FG_AHR_24Vo	0.000
RAFOS_CLK	714	FG_AHR_10Vo	0.000
RAFOS_FIX	7336.426270,-14240.136719,190914,121205,2,255,0.24	MEM	177136
IRIDIUM_FIX	7319.74,-14132.60,170914,010249	DATA_FILE_SIZE	26721,810
TT8_MAMPS	0.043442,0.043442	CAP_FILE_SIZE	128124,0
HUMID	50.55	CFSIZE	2097872896,2018705408
INTERNAL_PRESSURE	8.64215	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.90	INTR	1,12765.08,0x2378b6,5,5
XPDR_PINGS	0	SOUNDSPEED	1449.0
SC_FREEKB	3864576	GPS	190914,120405,7336.426,-14240.137,0,2255.0,0,24.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	279	15.59	nil	0	0	0.00
Roll_motor	40	139	72.80	nil	0	0	0.00
VBD_pump_during_apogee	549	1722	12114.72	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	12853	15	2582.45
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	10557	2	308.98
TT8_Active	549	8	60.83
TT8_Sampling	1660	28	593.12
TT8_CF8	158	35	71.74
TT8_Kalman	0	0	0.00
Analog_circuits	1206	10	152.86
GPS_charging	0	0	0.00
Compass	1222	0	11.62
RAFOS	1489	48	905.55
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.70	-145.9	2678	2680	1749	1669	0.0	0.0	0	30	0.00	0.00	-11.90	0.000	16386	0.000	0.000	2677	2680	2371	2428	2315	0	0	0	0	0	0	28.83	28.83	28.83
32	-0.70	-145.9	2678	2681	2431	2316	15.9	0.0	1	62	0.90	2.03	-22.62	0.000	20740	0.072	0.139	2347	3794	3782	3836	3729	0	0	0	0	0	0	14.32	14.29	14.63
286	-0.65	-145.9	2348	3795	3837	3732	85.5	-21.4	52	293	0.08	1.95	0.00	0.000	3078	0.280	0.071	2367	2676	3784	3836	3732	0	0	0	0	0	0	14.08	14.35	28.83
592	-0.65	-145.9	2367	2676	3838	3732	136.0	-15.4	83	596	0.00	2.05	0.00	0.000	260	0.000	0.122	2361	3795	3783	3835	3732	0	0	0	0	0	0	28.83	14.34	28.83
656	-0.65	-145.9	2361	3795	3838	3733	146.7	-16.1	96	662	0.00	1.92	0.00	0.000	1030	0.000	0.072	2361	2684	3784	3836	3732	0	0	0	0	0	0	28.83	14.38	28.83
962	-0.65	-145.9	2361	2684	3838	3732	191.9	-14.6	127	962	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2685	3784	3837	3732	0	0	0	0	0	0	28.83	28.83	28.83
1262	-0.65	-145.9	2361	2684	3837	3732	232.4	-12.9	157	1262	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2684	3784	3837	3732	0	0	0	0	0	0	28.83	28.83	28.83
1582	-0.68	-145.9	2361	2684	3838	3732	270.3	-10.9	177	1586	0.00	2.03	0.00	0.000	260	0.000	0.125	2361	3790	3784	3837	3732	0	0	0	0	0	0	28.83	14.39	28.83
1637	-0.68	-145.9	2362	3791	3837	3733	276.4	-11.3	188	1643	0.00	1.90	0.00	0.000	1030	0.000	0.073	2361	2672	3784	3836	3732	0	0	0	0	0	0	28.83	14.53	28.83
1942	-0.71	-145.9	2361	2672	3837	3732	307.2	-9.5	199	1946	0.00	2.08	0.00	0.000	260	0.000	0.125	2365	3796	3783	3836	3731	0	0	0	0	0	0	28.83	14.33	28.83
2012	-0.74	-145.9	2362	3797	3837	3732	313.9	-9.5	213	2016	0.00	1.90	0.00	0.000	1030	0.000	0.073	2361	2679	3783	3836	3731	0	0	0	0	0	0	28.83	14.45	28.83
2334	-0.78	-145.9	2361	2679	3837	3731	344.1	-9.6	227	2334	0.00	0.00	0.00	0.000	6	0.000	0.000	2366	2679	3784	3837	3731	0	0	0	0	0	0	28.83	28.83	28.83
2632	-0.82	-145.9	2361	2679	3837	3738	372.6	-9.5	237	2633	0.12	0.00	0.00	0.000	4102	0.154	0.000	2312	2679	3783	3836	3731	0	0	0	0	0	0	14.40	28.83	28.83
2932	-0.82	-145.9	2312	2679	3838	3736	406.9	-11.5	247	2933	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2679	3783	3836	3731	0	0	0	0	0	0	28.83	28.83	28.83
3232	-0.82	-145.9	2313	2680	3837	3731	441.3	-11.5	257	3233	0.00	0.00	0.00	0.000	6	0.000	0.000	2312	2679	3784	3837	3731	0	0	0	0	0	0	28.83	28.83	28.83
3532	-0.82	-145.9	2312	2679	3838	3731	475.4	-11.5	267	3533	0.00	0.00	0.00	0.000	6	0.000	0.000	2312	2679	3783	3836	3731	0	0	0	0	0	0	28.83	28.83	28.83
3832	-0.82	-145.9	2312	2679	3838	3731	509.9	-11.5	277	3833	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2679	3783	3836	3731	0	0	0	0	0	0	28.83	28.83	28.83
4132	-0.82	-145.9	2312	2679	3838	3731	544.4	-11.5	287	4133	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2678	3784	3836	3732	0	0	0	0	0	0	28.83	28.83	28.83
4432	-0.82	-145.9	2312	2679	3838	3732	578.0	-11.2	297	4433	0.00	0.00	0.00	0.000	6	0.000	0.000	2312	2682	3787	3836	3739	0	0	0	0	0	0	28.83	28.83	28.83
4732	-0.82	-145.9	2313	2679	3837	3733	611.1	-10.9	307	4733	0.00	0.00	0.00	0.000	6	0.000	0.000	2312	2679	3784	3836	3732	0	0	0	0	0	0	28.83	28.83	28.83
5032	-0.82	-145.9	2313	2680	3837	3734	643.3	-10.8	317	5033	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2679	3785	3837	3733	0	0	0	0	0	0	28.83	28.83	28.83
5332	-0.82	-145.9	2313	2680	3837	3734	674.8	-10.3	327	5333	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2679	3784	3836	3733	0	0	0	0	0	0	28.83	28.83	28.83
5632	-0.82	-145.9	2313	2680	3838	3734	706.4	-10.5	337	5633	0.00	0.00	0.00	0.000	6	0.000	0.000	2310	2678	3785	3837	3733	0	0	0	0	0	0	28.83	28.83	28.83
5932	-0.82	-145.9	2313	2679	3837	3734	737.7	-10.5	347	5933	0.00	0.00	0.00	0.000	6	0.000	0.000	2312	2679	3785	3837	3733	0	0	0	0	0	0	28.83	28.83	28.83
6049	end dive: TARGET_DEPTH_EXCEEDED
state	6050	begin apogee
6055	-0.14	0.0	2310	3056	3837	3734	750.4	-10.5	351	6187	0.88	0.00	130.20	1.722	10246	0.265	0.000	2535	3057	3185	3282	3088	0	0	0	0	0	0	14.22	28.83	13.23
6188	end apogee: CONTROL_FINISHED_OK
state	6189	begin climb
6191	0.70	145.9	2536	3056	3275	3082	753.4	0.0	355	6323	0.93	0.00	126.07	1.695	10502	0.168	0.000	2805	3056	2587	2667	2508	0	0	0	0	0	0	13.87	28.83	12.80
6629	0.70	145.9	2806	3057	2655	2500	706.5	12.4	395	6630	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	3056	2576	2654	2499	0	0	0	0	0	0	28.83	28.83	28.83
6929	0.70	145.9	2806	3057	2662	2500	669.3	12.4	405	6930	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	3056	2576	2654	2499	0	0	0	0	0	0	28.83	28.83	28.83
7229	0.70	145.9	2806	3057	2656	2499	632.5	12.3	415	7230	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	3056	2576	2654	2499	0	0	0	0	0	0	28.83	28.83	28.83
7529	0.70	145.9	2806	3056	2655	2499	596.5	11.9	425	7530	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	3057	2578	2658	2499	0	0	0	0	0	0	28.83	28.83	28.83
7829	0.70	145.9	2806	3057	2656	2498	560.9	11.8	435	7830	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	3056	2576	2654	2499	0	0	0	0	0	0	28.83	28.83	28.83
8129	0.70	145.9	2807	3055	2655	2498	525.2	11.9	445	8130	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	3055	2576	2654	2499	0	0	0	0	0	0	28.83	28.83	28.83
8429	0.70	145.9	2806	3057	2656	2495	489.7	11.7	455	8430	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	3057	2575	2653	2498	0	0	0	0	0	0	28.83	28.83	28.83
8729	0.70	145.9	2806	3057	2655	2499	454.0	12.0	465	8730	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	3057	2576	2654	2498	0	0	0	0	0	0	28.83	28.83	28.83
9029	0.70	145.9	2806	3057	2655	2500	418.2	11.9	475	9030	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	3056	2576	2654	2498	0	0	0	0	0	0	28.83	28.83	28.83
9329	0.70	145.9	2806	3057	2655	2499	382.9	11.7	485	9330	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	3056	2576	2654	2498	0	0	0	0	0	0	28.83	28.83	28.83
9629	0.70	145.9	2806	3057	2657	2500	347.5	11.8	495	9634	0.00	2.42	0.00	0.000	516	0.000	0.076	2816	1644	2576	2654	2498	0	0	0	0	0	0	28.83	14.53	28.83
9654	0.71	158.3	2817	1644	2655	2499	344.7	11.0	500	9669	0.00	2.50	10.20	1.282	9222	0.000	0.103	2816	3053	2538	2618	2459	0	0	0	0	0	0	28.83	14.48	13.94
9989	0.71	158.3	2817	3053	2611	2451	304.0	11.8	517	9994	0.00	2.40	0.00	0.000	516	0.000	0.076	2825	1650	2530	2610	2451	0	0	0	0	0	0	28.83	14.49	28.83
10024	0.72	176.7	2826	1650	2611	2452	300.1	10.6	524	10050	0.00	2.50	16.77	1.227	9222	0.000	0.103	2825	3053	2457	2539	2376	0	0	0	0	0	0	28.83	14.45	13.93
10349	0.72	176.7	2831	3054	2532	2373	260.5	12.3	539	10350	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	3052	2452	2531	2373	0	0	0	0	0	0	28.83	28.83	28.83
10649	0.75	228.3	2826	3054	2532	2373	227.5	8.9	563	10700	0.00	0.00	44.65	1.118	8198	0.000	0.000	2825	3053	2245	2321	2170	0	0	0	0	0	0	28.83	28.83	13.88
11001	0.78	262.8	2826	3053	2312	2163	190.0	9.8	598	11035	0.00	2.45	30.10	1.091	8708	0.000	0.074	2834	1639	2106	2181	2032	0	0	0	0	0	0	28.83	14.37	13.83
11082	0.84	293.0	2834	1639	2171	2031	182.0	10.0	614	11116	0.00	2.55	26.80	1.077	9222	0.000	0.103	2834	3055	1982	2052	1913	0	0	0	0	0	0	28.83	14.22	13.73
11421	0.90	326.2	2834	3055	2039	1902	146.8	9.9	652	11453	0.15	0.00	28.80	1.045	10246	0.130	0.000	2899	3055	1852	1917	1787	0	0	0	0	0	0	14.45	28.83	13.82
11752	0.90	326.2	2899	3056	1899	1774	100.4	13.5	685	11753	0.00	0.00	0.00	0.000	6	0.000	0.000	2898	3055	1835	1898	1773	0	0	0	0	0	0	28.83	28.83	28.83
12051	0.90	329.0	2899	3055	1899	1773	63.0	11.5	715	12052	0.00	0.00	0.00	0.000	6	0.000	0.000	2898	3055	1835	1898	1772	0	0	0	0	0	0	28.83	28.83	28.83
12351	1.05	491.4	2899	3060	1898	1771	46.5	3.0	745	12446	0.00	2.50	88.18	0.312	8708	0.000	0.077	2904	1650	1185	1227	1143	0	0	0	0	0	0	28.83	14.23	14.04
12498	1.19	575.9	2904	1650	1240	1143	37.7	7.1	772	12554	0.20	2.55	47.85	0.283	11270	0.114	0.106	2980	3051	840	844	836	0	0	0	0	0	0	14.28	14.20	14.00
12763	end climb: FINISH_DEPTH_REACHED
state	12763	begin subsurface finish
12768	0.25	360.5	2985	3051	856	836	8.6	9.7	804	12800	1.10	2.50	-22.67	0.000	20996	0.204	0.099	2675	1649	1720	1758	1682	0	0	0	0	0	0	14.09	14.18	14.52
12801	end subsurface finish: CONTROL_FINISHED_OK
state	12801	begin surface