Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 367 * 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 367 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 36 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 -6535.2744 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 -6535.2744

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 36 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 367 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 210914,000427,7322.305,-14320.208,181,99.0,181,24.1 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 18.87 MHEAD_RNG_PITCHd_Wd 183.4,46589,-21.4,-11.628,-26.45,1932

_SM_ANGLEo -16.5 D_GRID 1000

GPS2 210914,000427,7322.305,-14320.208,181,99.0,181,24.1

Post-dive calculations and measurements:

FREEZE 8.96,-1.442,-1.433,2,34,0 _24V_AH 12.79,117.748

FINISH1 9.0,1.021052,359 _10V_AH 12.91,0.000

FINISH2 8.9 FG_AHR_24Vo 0.000

RAFOS_CLK 422 FG_AHR_10Vo 0.000

RAFOS_FIX 7322.304688,-14320.208008,210914,000027,2,255,0.26 MEM 168988

IRIDIUM_FIX 7319.74,-14132.60,170914,010249 DATA_FILE_SIZE 26730,778

TT8_MAMPS 0.044191,0.044191 CAP_FILE_SIZE 125814,0

HUMID 49.68 CFSIZE 2097872896,2015657984

INTERNAL_PRESSURE 8.65191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.90 SOUNDSPEED 1448.3

XPDR_PINGS 0 GPS 210914,000427,7322.305,-14320.208,181,99.0,181,24.1

SC_FREEKB 3857408

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 300 16.44 nil 0 0 0.00

Roll_motor 32 132 54.29 nil 0 0 0.00

VBD_pump_during_apogee 562 1716 12343.16 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 12891 15 2625.81

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 10590 2 315.83

TT8_Active 601 8 67.83

TT8_Sampling 1617 28 588.95

TT8_CF8 160 35 74.00

TT8_Kalman 0 0 0.00

Analog_circuits 1200 10 155.04

GPS_charging 0 0 0.00

Compass 1169 0 11.32

RAFOS 1486 48 920.84

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 2677 2688 1755 1678 0.0 0.0 0 30 0.00 0.00 -12.18 0.000 16386 0.000 0.000 2677 2688 2515 2566 2464 0 0 0 0 0 0 28.83 28.83 28.83

33 -0.70 -145.9 2677 2689 2568 2463 21.3 0.0 1 57 0.90 2.00 -17.85 0.000 20740 0.072 0.132 2347 3795 3783 3838 3729 0 0 0 0 0 0 14.34 14.27 14.62

282 -0.65 -145.9 2347 3795 3839 3728 86.3 -20.7 51 287 0.12 1.90 0.00 0.000 3078 0.301 0.070 2371 2677 3785 3838 3732 0 0 0 0 0 0 14.04 14.35 28.83

592 -0.65 -145.9 2372 2677 3839 3737 137.7 -15.6 83 596 0.00 2.03 0.00 0.000 260 0.000 0.119 2363 3787 3785 3838 3732 0 0 0 0 0 0 28.83 14.31 28.83

782 -0.65 -145.9 2364 3788 3839 3733 168.1 -16.0 121 786 0.00 1.88 0.00 0.000 1030 0.000 0.072 2363 2683 3785 3838 3732 0 0 0 0 0 0 28.83 14.46 28.83

1092 -0.65 -145.9 2364 2683 3838 3733 210.6 -13.2 153 1092 0.00 0.00 0.00 0.000 6 0.000 0.000 2363 2683 3785 3838 3732 0 0 0 0 0 0 28.83 28.83 28.83

1392 -0.68 -145.9 2364 2683 3845 3733 246.7 -11.2 183 1393 0.00 0.00 0.00 0.000 6 0.000 0.000 2363 2682 3785 3838 3732 0 0 0 0 0 0 28.83 28.83 28.83

1703 -0.72 -145.9 2364 2683 3838 3733 279.9 -10.5 196 1704 0.00 0.00 0.00 0.000 6 0.000 0.000 2363 2682 3783 3834 3732 0 0 0 0 0 0 28.83 28.83 28.83

2002 -0.76 -145.9 2365 2682 3839 3733 310.2 -9.8 206 2003 0.00 0.00 0.00 0.000 6 0.000 0.000 2360 2682 3785 3838 3732 0 0 0 0 0 0 28.83 28.83 28.83

2302 -0.80 -145.9 2364 2682 3839 3732 338.7 -9.5 216 2307 0.00 2.03 0.00 0.000 260 0.000 0.120 2361 3794 3785 3838 3732 0 0 0 0 0 0 28.83 14.37 28.83

2337 -0.83 -145.9 2362 3795 3838 3733 342.2 -10.3 223 2342 0.12 1.90 0.00 0.000 5126 0.147 0.071 2312 2670 3785 3838 3732 0 0 0 0 0 0 14.40 14.45 28.83

2662 -0.83 -145.9 2312 2671 3839 3732 381.1 -11.8 238 2663 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2671 3785 3838 3732 0 0 0 0 0 0 28.83 28.83 28.83

2962 -0.83 -145.9 2312 2670 3838 3732 415.8 -11.4 248 2963 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2670 3785 3838 3732 0 0 0 0 0 0 28.83 28.83 28.83

3262 -0.83 -145.9 2313 2671 3838 3733 449.7 -11.3 258 3263 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2671 3785 3838 3732 0 0 0 0 0 0 28.83 28.83 28.83

3562 -0.83 -145.9 2312 2668 3838 3733 483.5 -11.4 268 3563 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2671 3784 3838 3731 0 0 0 0 0 0 28.83 28.83 28.83

3862 -0.83 -145.9 2312 2672 3838 3733 517.2 -11.2 278 3863 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2671 3785 3838 3732 0 0 0 0 0 0 28.83 28.83 28.83

4162 -0.83 -145.9 2312 2672 3839 3733 550.6 -11.1 288 4163 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2671 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

4462 -0.83 -145.9 2312 2671 3841 3733 583.7 -11.0 298 4463 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2671 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

4762 -0.83 -145.9 2313 2672 3838 3734 616.9 -11.0 308 4763 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2667 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

5062 -0.83 -145.9 2313 2670 3838 3734 649.5 -10.8 318 5063 0.00 0.00 0.00 0.000 6 0.000 0.000 2312 2670 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

5362 -0.83 -145.9 2313 2671 3839 3734 681.8 -10.7 328 5363 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2671 3785 3838 3733 0 0 0 0 0 0 28.83 28.83 28.83

5662 -0.83 -145.9 2312 2671 3839 3735 713.9 -10.7 338 5663 0.00 0.00 0.00 0.000 6 0.000 0.000 2312 2671 3786 3838 3734 0 0 0 0 0 0 28.83 28.83 28.83

5962 -0.83 -145.9 2313 2672 3839 3735 745.5 -10.4 348 5963 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2671 3786 3838 3734 0 0 0 0 0 0 28.83 28.83 28.83

6020 end dive: TARGET_DEPTH_EXCEEDED

state 6020 begin apogee

6025 -0.14 0.0 2309 3053 3839 3734 751.7 -10.3 350 6159 0.88 0.00 130.70 1.717 10246 0.252 0.000 2535 3053 3186 3282 3091 0 0 0 0 0 0 14.14 28.83 13.22

6160 end apogee: CONTROL_FINISHED_OK

state 6160 begin climb

6162 0.70 145.9 2537 3053 3277 3084 754.2 0.0 354 6294 0.95 0.00 127.28 1.691 10246 0.165 0.000 2809 3056 2588 2666 2511 0 0 0 0 0 0 13.87 28.83 12.79

6592 0.70 145.9 2810 3054 2658 2504 707.3 12.6 369 6593 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 3053 2581 2659 2503 0 0 0 0 0 0 28.83 28.83 28.83

6892 0.70 145.9 2812 3053 2658 2502 669.7 12.4 379 6893 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 3053 2579 2656 2503 0 0 0 0 0 0 28.83 28.83 28.83

7192 0.70 145.9 2810 3053 2658 2503 633.2 12.1 389 7193 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 3053 2579 2657 2502 0 0 0 0 0 0 28.83 28.83 28.83

7492 0.70 145.9 2810 3054 2657 2503 597.1 11.9 399 7497 0.00 1.38 0.00 0.000 260 0.000 0.116 2808 3787 2580 2657 2503 0 0 0 0 0 0 28.83 14.13 28.83

7537 0.66 145.9 2810 3787 2658 2503 591.2 13.8 408 7542 0.00 1.27 0.00 0.000 1030 0.000 0.073 2813 3053 2580 2657 2503 0 0 0 0 0 0 28.83 14.38 28.83

7856 0.66 145.9 2815 3057 2657 2503 552.0 12.6 421 7856 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 3057 2579 2657 2502 0 0 0 0 0 0 28.83 28.83 28.83

8152 0.66 145.9 2814 3057 2658 2503 514.5 12.5 431 8153 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 3057 2579 2657 2502 0 0 0 0 0 0 28.83 28.83 28.83

8452 0.66 145.9 2814 3057 2657 2503 477.7 12.3 441 8453 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 3057 2579 2656 2502 0 0 0 0 0 0 28.83 28.83 28.83

8752 0.66 145.9 2814 3056 2658 2503 440.6 12.4 451 8753 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 3057 2580 2657 2503 0 0 0 0 0 0 28.83 28.83 28.83

9052 0.66 145.9 2814 3057 2657 2503 404.0 12.3 461 9053 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 3057 2579 2657 2502 0 0 0 0 0 0 28.83 28.83 28.83

9352 0.66 145.9 2814 3057 2658 2502 367.7 11.9 471 9353 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 3057 2579 2656 2502 0 0 0 0 0 0 28.83 28.83 28.83

9652 0.66 145.9 2814 3057 2658 2503 332.6 11.7 481 9653 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 3057 2580 2657 2503 0 0 0 0 0 0 28.83 28.83 28.83

9952 0.67 159.4 2815 3057 2657 2504 298.9 10.9 491 9966 0.00 0.00 12.25 1.242 8198 0.000 0.000 2813 3057 2534 2614 2455 0 0 0 0 0 0 28.83 28.83 13.95

10252 0.68 177.1 2815 3057 2603 2446 266.1 10.7 501 10269 0.00 0.00 15.70 1.183 8198 0.000 0.000 2813 3057 2463 2543 2383 0 0 0 0 0 0 28.83 28.83 13.94

10552 0.70 206.3 2814 3057 2530 2374 235.4 10.1 519 10583 0.00 0.00 24.98 1.119 8198 0.000 0.000 2814 3057 2337 2413 2262 0 0 0 0 0 0 28.83 28.83 13.89

10884 0.74 256.8 2814 3058 2405 2257 203.6 8.9 552 10933 0.00 0.00 44.50 1.058 8198 0.000 0.000 2813 3057 2129 2202 2056 0 0 0 0 0 0 28.83 28.83 13.81

11234 0.81 300.4 2814 3057 2193 2046 169.8 9.3 587 11274 0.12 0.00 37.42 1.027 10758 0.143 0.000 2869 3056 1959 2027 1891 0 0 0 0 0 0 14.38 28.83 13.81

11572 0.81 303.2 2869 3056 2008 1876 129.1 11.5 623 11577 0.00 2.42 0.00 0.000 516 0.000 0.076 2877 1649 1941 2006 1876 0 0 0 0 0 0 28.83 14.28 28.83

11617 0.84 311.8 2877 1649 2008 1876 123.9 11.2 632 11628 0.00 2.53 3.95 0.929 9222 0.000 0.101 2877 3056 1917 1985 1849 0 0 0 0 0 0 28.83 14.33 13.62

11934 0.86 336.2 2878 3055 2002 1849 88.3 10.3 665 11953 0.00 0.00 15.00 0.420 8710 0.000 0.000 2876 3055 1817 1888 1747 0 0 0 0 0 0 28.83 28.83 14.00

12254 0.97 449.7 2877 3056 1906 1748 60.0 5.6 698 12324 0.00 2.53 65.05 0.350 8708 0.000 0.075 2885 1644 1354 1408 1301 0 0 0 0 0 0 28.83 14.24 14.03

12356 1.10 523.2 2886 1644 1423 1301 53.3 7.7 711 12406 0.17 2.55 41.55 0.330 11270 0.118 0.101 2958 3054 1055 1083 1027 0 0 0 0 0 0 14.28 14.19 13.97

12705 1.21 601.4 2958 3053 1092 1027 17.4 7.5 751 12756 0.00 2.45 43.80 0.225 8708 0.000 0.076 2964 1650 733 736 730 0 0 0 0 0 0 28.83 14.24 14.08

12809 end climb: FINISH_DEPTH_REACHED

state 12809 begin subsurface finish

12816 0.25 359.5 2963 3051 744 730 9.0 8.0 772 12846 1.00 0.00 -24.58 0.000 20998 0.187 0.000 2676 3052 1722 1761 1684 0 0 0 0 0 0 14.07 28.83 14.50

12846 end subsurface finish: CONTROL_FINISHED_OK

state 12846 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	367	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	36	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	-6535.2744	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	210914,000427,7322.305,-14320.208,181,99.0,181,24.1	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	18.87	MHEAD_RNG_PITCHd_Wd	183.4,46589,-21.4,-11.628,-26.45,1932
_SM_ANGLEo	-16.5	D_GRID	1000
GPS2	210914,000427,7322.305,-14320.208,181,99.0,181,24.1

FREEZE	8.96,-1.442,-1.433,2,34,0	_24V_AH	12.79,117.748
FINISH1	9.0,1.021052,359	_10V_AH	12.91,0.000
FINISH2	8.9	FG_AHR_24Vo	0.000
RAFOS_CLK	422	FG_AHR_10Vo	0.000
RAFOS_FIX	7322.304688,-14320.208008,210914,000027,2,255,0.26	MEM	168988
IRIDIUM_FIX	7319.74,-14132.60,170914,010249	DATA_FILE_SIZE	26730,778
TT8_MAMPS	0.044191,0.044191	CAP_FILE_SIZE	125814,0
HUMID	49.68	CFSIZE	2097872896,2015657984
INTERNAL_PRESSURE	8.65191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.90	SOUNDSPEED	1448.3
XPDR_PINGS	0	GPS	210914,000427,7322.305,-14320.208,181,99.0,181,24.1
SC_FREEKB	3857408

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	300	16.44	nil	0	0	0.00
Roll_motor	32	132	54.29	nil	0	0	0.00
VBD_pump_during_apogee	562	1716	12343.16	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	12891	15	2625.81
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	10590	2	315.83
TT8_Active	601	8	67.83
TT8_Sampling	1617	28	588.95
TT8_CF8	160	35	74.00
TT8_Kalman	0	0	0.00
Analog_circuits	1200	10	155.04
GPS_charging	0	0	0.00
Compass	1169	0	11.32
RAFOS	1486	48	920.84
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	2677	2688	1755	1678	0.0	0.0	0	30	0.00	0.00	-12.18	0.000	16386	0.000	0.000	2677	2688	2515	2566	2464	0	0	0	0	0	0	28.83	28.83	28.83
33	-0.70	-145.9	2677	2689	2568	2463	21.3	0.0	1	57	0.90	2.00	-17.85	0.000	20740	0.072	0.132	2347	3795	3783	3838	3729	0	0	0	0	0	0	14.34	14.27	14.62
282	-0.65	-145.9	2347	3795	3839	3728	86.3	-20.7	51	287	0.12	1.90	0.00	0.000	3078	0.301	0.070	2371	2677	3785	3838	3732	0	0	0	0	0	0	14.04	14.35	28.83
592	-0.65	-145.9	2372	2677	3839	3737	137.7	-15.6	83	596	0.00	2.03	0.00	0.000	260	0.000	0.119	2363	3787	3785	3838	3732	0	0	0	0	0	0	28.83	14.31	28.83
782	-0.65	-145.9	2364	3788	3839	3733	168.1	-16.0	121	786	0.00	1.88	0.00	0.000	1030	0.000	0.072	2363	2683	3785	3838	3732	0	0	0	0	0	0	28.83	14.46	28.83
1092	-0.65	-145.9	2364	2683	3838	3733	210.6	-13.2	153	1092	0.00	0.00	0.00	0.000	6	0.000	0.000	2363	2683	3785	3838	3732	0	0	0	0	0	0	28.83	28.83	28.83
1392	-0.68	-145.9	2364	2683	3845	3733	246.7	-11.2	183	1393	0.00	0.00	0.00	0.000	6	0.000	0.000	2363	2682	3785	3838	3732	0	0	0	0	0	0	28.83	28.83	28.83
1703	-0.72	-145.9	2364	2683	3838	3733	279.9	-10.5	196	1704	0.00	0.00	0.00	0.000	6	0.000	0.000	2363	2682	3783	3834	3732	0	0	0	0	0	0	28.83	28.83	28.83
2002	-0.76	-145.9	2365	2682	3839	3733	310.2	-9.8	206	2003	0.00	0.00	0.00	0.000	6	0.000	0.000	2360	2682	3785	3838	3732	0	0	0	0	0	0	28.83	28.83	28.83
2302	-0.80	-145.9	2364	2682	3839	3732	338.7	-9.5	216	2307	0.00	2.03	0.00	0.000	260	0.000	0.120	2361	3794	3785	3838	3732	0	0	0	0	0	0	28.83	14.37	28.83
2337	-0.83	-145.9	2362	3795	3838	3733	342.2	-10.3	223	2342	0.12	1.90	0.00	0.000	5126	0.147	0.071	2312	2670	3785	3838	3732	0	0	0	0	0	0	14.40	14.45	28.83
2662	-0.83	-145.9	2312	2671	3839	3732	381.1	-11.8	238	2663	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2671	3785	3838	3732	0	0	0	0	0	0	28.83	28.83	28.83
2962	-0.83	-145.9	2312	2670	3838	3732	415.8	-11.4	248	2963	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2670	3785	3838	3732	0	0	0	0	0	0	28.83	28.83	28.83
3262	-0.83	-145.9	2313	2671	3838	3733	449.7	-11.3	258	3263	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2671	3785	3838	3732	0	0	0	0	0	0	28.83	28.83	28.83
3562	-0.83	-145.9	2312	2668	3838	3733	483.5	-11.4	268	3563	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2671	3784	3838	3731	0	0	0	0	0	0	28.83	28.83	28.83
3862	-0.83	-145.9	2312	2672	3838	3733	517.2	-11.2	278	3863	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2671	3785	3838	3732	0	0	0	0	0	0	28.83	28.83	28.83
4162	-0.83	-145.9	2312	2672	3839	3733	550.6	-11.1	288	4163	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2671	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
4462	-0.83	-145.9	2312	2671	3841	3733	583.7	-11.0	298	4463	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2671	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
4762	-0.83	-145.9	2313	2672	3838	3734	616.9	-11.0	308	4763	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2667	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
5062	-0.83	-145.9	2313	2670	3838	3734	649.5	-10.8	318	5063	0.00	0.00	0.00	0.000	6	0.000	0.000	2312	2670	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
5362	-0.83	-145.9	2313	2671	3839	3734	681.8	-10.7	328	5363	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2671	3785	3838	3733	0	0	0	0	0	0	28.83	28.83	28.83
5662	-0.83	-145.9	2312	2671	3839	3735	713.9	-10.7	338	5663	0.00	0.00	0.00	0.000	6	0.000	0.000	2312	2671	3786	3838	3734	0	0	0	0	0	0	28.83	28.83	28.83
5962	-0.83	-145.9	2313	2672	3839	3735	745.5	-10.4	348	5963	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2671	3786	3838	3734	0	0	0	0	0	0	28.83	28.83	28.83
6020	end dive: TARGET_DEPTH_EXCEEDED
state	6020	begin apogee
6025	-0.14	0.0	2309	3053	3839	3734	751.7	-10.3	350	6159	0.88	0.00	130.70	1.717	10246	0.252	0.000	2535	3053	3186	3282	3091	0	0	0	0	0	0	14.14	28.83	13.22
6160	end apogee: CONTROL_FINISHED_OK
state	6160	begin climb
6162	0.70	145.9	2537	3053	3277	3084	754.2	0.0	354	6294	0.95	0.00	127.28	1.691	10246	0.165	0.000	2809	3056	2588	2666	2511	0	0	0	0	0	0	13.87	28.83	12.79
6592	0.70	145.9	2810	3054	2658	2504	707.3	12.6	369	6593	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	3053	2581	2659	2503	0	0	0	0	0	0	28.83	28.83	28.83
6892	0.70	145.9	2812	3053	2658	2502	669.7	12.4	379	6893	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	3053	2579	2656	2503	0	0	0	0	0	0	28.83	28.83	28.83
7192	0.70	145.9	2810	3053	2658	2503	633.2	12.1	389	7193	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	3053	2579	2657	2502	0	0	0	0	0	0	28.83	28.83	28.83
7492	0.70	145.9	2810	3054	2657	2503	597.1	11.9	399	7497	0.00	1.38	0.00	0.000	260	0.000	0.116	2808	3787	2580	2657	2503	0	0	0	0	0	0	28.83	14.13	28.83
7537	0.66	145.9	2810	3787	2658	2503	591.2	13.8	408	7542	0.00	1.27	0.00	0.000	1030	0.000	0.073	2813	3053	2580	2657	2503	0	0	0	0	0	0	28.83	14.38	28.83
7856	0.66	145.9	2815	3057	2657	2503	552.0	12.6	421	7856	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	3057	2579	2657	2502	0	0	0	0	0	0	28.83	28.83	28.83
8152	0.66	145.9	2814	3057	2658	2503	514.5	12.5	431	8153	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	3057	2579	2657	2502	0	0	0	0	0	0	28.83	28.83	28.83
8452	0.66	145.9	2814	3057	2657	2503	477.7	12.3	441	8453	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	3057	2579	2656	2502	0	0	0	0	0	0	28.83	28.83	28.83
8752	0.66	145.9	2814	3056	2658	2503	440.6	12.4	451	8753	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	3057	2580	2657	2503	0	0	0	0	0	0	28.83	28.83	28.83
9052	0.66	145.9	2814	3057	2657	2503	404.0	12.3	461	9053	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	3057	2579	2657	2502	0	0	0	0	0	0	28.83	28.83	28.83
9352	0.66	145.9	2814	3057	2658	2502	367.7	11.9	471	9353	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	3057	2579	2656	2502	0	0	0	0	0	0	28.83	28.83	28.83
9652	0.66	145.9	2814	3057	2658	2503	332.6	11.7	481	9653	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	3057	2580	2657	2503	0	0	0	0	0	0	28.83	28.83	28.83
9952	0.67	159.4	2815	3057	2657	2504	298.9	10.9	491	9966	0.00	0.00	12.25	1.242	8198	0.000	0.000	2813	3057	2534	2614	2455	0	0	0	0	0	0	28.83	28.83	13.95
10252	0.68	177.1	2815	3057	2603	2446	266.1	10.7	501	10269	0.00	0.00	15.70	1.183	8198	0.000	0.000	2813	3057	2463	2543	2383	0	0	0	0	0	0	28.83	28.83	13.94
10552	0.70	206.3	2814	3057	2530	2374	235.4	10.1	519	10583	0.00	0.00	24.98	1.119	8198	0.000	0.000	2814	3057	2337	2413	2262	0	0	0	0	0	0	28.83	28.83	13.89
10884	0.74	256.8	2814	3058	2405	2257	203.6	8.9	552	10933	0.00	0.00	44.50	1.058	8198	0.000	0.000	2813	3057	2129	2202	2056	0	0	0	0	0	0	28.83	28.83	13.81
11234	0.81	300.4	2814	3057	2193	2046	169.8	9.3	587	11274	0.12	0.00	37.42	1.027	10758	0.143	0.000	2869	3056	1959	2027	1891	0	0	0	0	0	0	14.38	28.83	13.81
11572	0.81	303.2	2869	3056	2008	1876	129.1	11.5	623	11577	0.00	2.42	0.00	0.000	516	0.000	0.076	2877	1649	1941	2006	1876	0	0	0	0	0	0	28.83	14.28	28.83
11617	0.84	311.8	2877	1649	2008	1876	123.9	11.2	632	11628	0.00	2.53	3.95	0.929	9222	0.000	0.101	2877	3056	1917	1985	1849	0	0	0	0	0	0	28.83	14.33	13.62
11934	0.86	336.2	2878	3055	2002	1849	88.3	10.3	665	11953	0.00	0.00	15.00	0.420	8710	0.000	0.000	2876	3055	1817	1888	1747	0	0	0	0	0	0	28.83	28.83	14.00
12254	0.97	449.7	2877	3056	1906	1748	60.0	5.6	698	12324	0.00	2.53	65.05	0.350	8708	0.000	0.075	2885	1644	1354	1408	1301	0	0	0	0	0	0	28.83	14.24	14.03
12356	1.10	523.2	2886	1644	1423	1301	53.3	7.7	711	12406	0.17	2.55	41.55	0.330	11270	0.118	0.101	2958	3054	1055	1083	1027	0	0	0	0	0	0	14.28	14.19	13.97
12705	1.21	601.4	2958	3053	1092	1027	17.4	7.5	751	12756	0.00	2.45	43.80	0.225	8708	0.000	0.076	2964	1650	733	736	730	0	0	0	0	0	0	28.83	14.24	14.08
12809	end climb: FINISH_DEPTH_REACHED
state	12809	begin subsurface finish
12816	0.25	359.5	2963	3051	744	730	9.0	8.0	772	12846	1.00	0.00	-24.58	0.000	20998	0.187	0.000	2676	3052	1722	1761	1684	0	0	0	0	0	0	14.07	28.83	14.50
12846	end subsurface finish: CONTROL_FINISHED_OK
state	12846	begin surface