Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 69 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 KALMAN_USE 2 ROLL_MIN 200 AD7714Ch0Gain 32

MISSION 4 HD_A 0.0026803601 ROLL_MAX 3700 COMPASS_USE 4

DIVE 69 HD_B 0.0139002 ROLL_DEG 40 ALTIM_PING_FIT 0

N_DIVES 0 HD_C 9.1750398e-06 C_ROLL_DIVE 2350 ALTIM_TOP_PING_RANGE 0

STOP_T 0 HEADING -1 C_ROLL_CLIMB 2400 ALTIM_BOTTOM_TURN_MARGIN 15

D_SURF 3 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 2

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_ABORT 1030 TGT_DEFAULT_LAT 3235 R_PORT_OVSHOOT 39 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 28 ALTIM_FREQUENCY 13

D_BOOST 20 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_PULSE 3

T_BOOST 5 SM_CC 400 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FINISH 0 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_VALID 5

D_PITCH 0 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_SAFE 0 CALL_NDIVES 1 VBD_MIN 400 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 COMM_SEQ 0 VBD_MAX 3900 INT_PRESSURE_YINT -1

SURFACE_URGENCY 0 PROTOCOL 9 C_VBD 3346 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 2 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 NOCOMM_ACTION 163 VBD_CNV -0.245296 DEVICE1 2

T_DIVE 390 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 450 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00121 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE5 -1

T_TURN_SAMPINT -5 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 0 HEAPDBG 0 UNCOM_BLEED 20 LOGGERDEVICE1 -1

T_EPIRB 0 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

EXEC_P 0 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE3 -1

EXEC_DT 0 T_RSLEEP 1 DBDW 0 LOGGERDEVICE4 -1

EXEC_T 0 STROBE 0 LOITER_W_DBAND 0 COMPASS_DEVICE 33

EXEC_N 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_NO_PUMP 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 PITCH_W_GAIN 2 RAFOS_DEVICE -1

D_OFFGRID 1000 PITCH_MIN 250 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3750 CF8_MAXERRORS 20 SIM_W 0

RELAUNCH 1 C_PITCH 2780 AH0_24V 350 SEABIRD_T_G 0.0043553207

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_10V 0 SEABIRD_T_H 0.00062594062

MAX_BUOY 175 PITCH_CNV 0.003125763 MINV_24V 11 SEABIRD_T_I 2.3765557e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_10V 11 SEABIRD_T_J 2.606791e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_G -9.8755465

SPEED_FACTOR 0.89999998 PITCH_GAIN 40 MAXI_10V 0.80000001 SEABIRD_C_H 1.1390997

RHO 1.0275 PITCH_TIMEOUT 16 FG_AHR_10V 0 SEABIRD_C_I -0.0019936475

MASS 51713 PITCH_AD_RATE 175 FG_AHR_24V 0 SEABIRD_C_J 0.00023608611

MASS_COMP 0 PITCH_MAXERRORS 1 PHONE_SUPPLY -2

NAV_MODE 2 PITCH_ADJ_GAIN 0 PRESSURE_YINT -157.40906

FERRY_MAX 60 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014074198

AD7714Ch0Gain 32 D_SURF 3 N_FILEKB 8 SEABIRD_T_H 0.00062594062

AH0_10V 0 D_TGT 990 N_GPS 100440 SEABIRD_T_I 2.3765557e-05

AH0_24V 350 ESCAPE_HEADING 0 N_NOCOMM 2 SEABIRD_T_J 2.606791e-06

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SIM_W 0

ALTIM_FREQUENCY 13 EXEC_DT 0 PHONE_DEVICE 49 SM_CC 400

ALTIM_PING_DELTA 50 EXEC_N 0 PHONE_SUPPLY -2 SPEED_FACTOR 0.89999998

ALTIM_PING_DEPTH 0 EXEC_P 0 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PING_FIT 0 EXEC_T 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PULSE 3 FERRY_MAX 60 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_GAIN 40 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3750 TGT_DEFAULT_LAT 3235

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -11731

CALL_NDIVES 1 GPS_DEVICE 32 PITCH_MIN 250 T_ABORT 1440

CALL_TRIES 5 HD_A 0.0026803601 PITCH_TIMEOUT 16 T_BOOST 5

CALL_WAIT 60 HD_B 0.0139002 PITCH_VBD_SHIFT 0.00121 T_DIVE 390

CAPMAXSIZE 100000 HD_C 9.1750398e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

CAPUPLOAD 0 HEADING -1 PITCH_W_GAIN 2 T_GPS 5

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014074198 T_LOITER 0

COMM_SEQ 0 HEAPDBG 0 PRESSURE_YINT -157.40906 T_MISSION 450

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_NO_W 120

COMPASS_DEVICE 33 ID 128 P_OVSHOOT 0.039999999 T_RSLEEP 1

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_YINT -1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_PITCH 2780 KALMAN_USE 2 RAFOS_DEVICE -1 T_WATCHDOG 10

C_ROLL_CLIMB 2400 LOGGERDEVICE1 -1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_ROLL_DIVE 2350 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD 3346 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_BATHY -6

DBDW 0 LOGGERDEVICE4 -1 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOGGERS 0 RHO 1.0275 VBD_BLEED_AD_RATE 8

DEVICE1 2 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 VBD_CNV -0.245296

DEVICE2 -1 LOITER_D_NO_PUMP 0 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE3 -1 LOITER_N_DIVE 0 ROLL_AD_RATE 350 VBD_LP_IGNORE 0

DEVICE4 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_MAX 3900

DEVICE5 -1 MASS 51713 ROLL_DEG 40 VBD_MAXERRORS 1

DEVICE6 -1 MASS_COMP 0 ROLL_MAX 3700 VBD_MIN 400

DIVE 69 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 1030 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 20 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_TIMEOUT 540

D_CALL 0 MINV_10V 11 R_PORT_OVSHOOT 39 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 11 R_STBD_OVSHOOT 28 XPDR_DEVICE 24

D_FLARE 3 MISSION 4 SEABIRD_C_G -9.8755465 XPDR_INHIBIT 90

D_NO_BLEED 200 MOTHERBOARD 4 SEABIRD_C_H 1.1390997 XPDR_VALID 5

D_OFFGRID 1000 NAV_MODE 2 SEABIRD_C_I -0.0019936475

D_PITCH 0 NOCOMM_ACTION 163 SEABIRD_C_J 0.00023608611

D_SAFE 0 N_DIVES 0 SEABIRD_T_G 0.0043553207

Pre-dive calculations and measurements:

GPS1 290118,234440,-312.1188,5535.6753,26,1.3,31,-4.6,0.0,135.3,5,9.7 SPEED_LIMITS 0.132,0.202

_CALLS 1 TGT_NAME N

_XMS_NAKs 0 TGT_LATLONG -300.000,5536.000

_XMS_TOUTs 0 TGT_RADIUS 20000.000

_SM_DEPTHo 0.78 MHEAD_RNG_PITCHd_Wd 329.1,22485,-14.4,-8.462,-20.64,3036

_SM_ANGLEo -73.0 D_GRID 1000

GPS2 290118,235011,-312.1380,5535.7432,16,1.3,21,-4.6,0.8,116.4,5,9.3

Post-dive calculations and measurements:

FINISH -0.2,1.022701 _10V_AH 13.62,0.000

SM_CCo 21359,0.62,0.082,0,0,1715,400.08 FG_AHR_24Vo 0.000

SM_GC 1.62,8.48,0.00,0.62,0.092,0.000,0.082,254,2405,1715,-7.86,1.55,400.08,0,0,0,0,0,0,14.57,14.84,14.61 FG_AHR_10Vo 0.000

IRIDIUM_FIX -309.03,5536.05,290118,173757 MEM 304684

TT8_MAMPS 0.019474,0.156541 DATA_FILE_SIZE 63275,1492

HUMID 59.76 CAP_FILE_SIZE 180972,0

INTERNAL_PRESSURE 8.46325 CFSIZE 260034560,253034496

TCM_TEMP 22.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.185,97.16,1

_24V_AH 13.30,25.145 GPS 300118,054809,-310.530,5536.528,41,1.1,45,-4.6,0.6,131.0,7,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 432 126.12 SBE_CT 725 23 231.15

Roll_motor 195 208 543.10 nil 0 0 0.00

VBD_pump_during_apogee 567 1868 14095.21 nil 0 0 0.00

VBD_pump_during_surface 0 81 0.68 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 nil 0 0 0.00

Iridium_during_xfer 235 133 416.21 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 20 6.18

TT8 3199 9 412.62

LPSleep 15256 2 455.06

TT8_Active 702 9 90.65

TT8_Sampling 2392 28 918.66

TT8_CF8 148 34 69.13

TT8_Kalman 0 0 0.00

Analog_circuits 2181 16 475.31

GPS_charging 0 0 0.00

Compass 2122 17 498.08

RAFOS 0 0 0.00

Transponder 0 5 0.04

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -0.57 -170.3 221 2402 1722 1713 0.0 0.0 0 74 0.00 0.00 -64.50 0.004 16386 0.000 0.000 221 2403 3720 3698 3742 0 0 0 0 0 0 14.90 28.83 14.92

76 -0.57 -170.3 221 2403 3700 3743 4.5 -12.8 11 98 11.77 2.20 -2.70 0.033 18692 0.433 0.086 2579 3706 3905 3896 3914 0 0 0 0 0 0 14.45 13.74 14.73

180 -0.57 -170.3 2578 3707 3901 3914 40.3 -21.2 30 187 0.00 2.17 0.00 0.000 1030 0.000 0.044 2579 2352 3908 3902 3914 0 0 0 0 0 0 14.79 14.72 14.81

494 -0.57 -170.3 2578 2348 3907 3914 92.7 -15.6 65 499 0.00 2.28 0.00 0.000 260 0.000 0.077 2579 3699 3910 3907 3914 0 0 0 0 0 0 15.02 14.77 15.04

546 -0.57 -170.3 2578 3699 3908 3914 100.6 -15.6 75 550 0.00 2.15 0.00 0.000 1030 0.000 0.040 2579 2335 3911 3908 3914 0 0 0 0 0 0 14.88 14.83 14.90

856 -0.57 -170.3 2578 2331 3910 3915 143.6 -13.4 107 860 0.00 2.30 0.00 0.000 260 0.000 0.080 2579 3699 3913 3911 3915 0 0 0 0 0 0 15.08 14.82 15.10

887 -0.57 -170.3 2578 3698 3910 3915 147.9 -14.1 113 893 0.00 2.12 0.00 0.000 1030 0.000 0.041 2579 2346 3912 3910 3915 0 0 0 0 0 0 14.94 14.88 14.95

1199 -0.57 -170.3 2578 2342 3911 3915 189.5 -12.1 145 1204 0.00 2.22 0.00 0.000 516 0.000 0.048 2579 946 3913 3911 3916 0 0 0 0 0 0 15.11 14.88 15.13

1254 -0.57 -170.3 2578 946 3911 3916 196.4 -11.6 156 1261 0.00 2.30 0.00 0.000 1030 0.000 0.054 2579 2357 3913 3911 3916 0 0 0 0 0 0 14.95 14.88 14.97

1561 -0.57 -170.3 2578 2357 3910 3916 232.4 -12.3 187 1565 0.00 2.20 0.00 0.000 260 0.000 0.082 2579 3693 3913 3910 3916 0 0 0 0 0 0 15.13 14.88 15.15

1582 -0.57 -170.3 2578 3692 3911 3916 234.9 -12.6 191 1586 0.00 2.10 0.00 0.000 1030 0.000 0.041 2579 2349 3913 3910 3916 0 0 0 0 0 0 14.98 14.93 15.00

1892 -0.57 -170.3 2578 2345 3910 3916 269.9 -11.0 211 1896 0.00 2.20 0.00 0.000 516 0.000 0.049 2579 952 3913 3910 3916 0 0 0 0 0 0 15.15 14.92 15.16

1926 -0.57 -170.3 2578 953 3909 3916 274.0 -11.3 218 1931 0.00 2.28 0.00 0.000 1030 0.000 0.054 2578 2350 3913 3910 3916 0 0 0 0 0 0 15.00 14.92 15.01

2253 -0.57 -170.3 2578 2350 3908 3916 309.7 -11.0 233 2259 0.00 2.22 0.00 0.000 260 0.000 0.083 2579 3692 3911 3908 3915 0 0 0 0 0 0 15.16 14.91 15.19

2293 -0.57 -170.3 2578 3692 3907 3915 314.4 -11.1 241 2299 0.00 2.12 0.00 0.000 1030 0.000 0.040 2579 2338 3911 3907 3915 0 0 0 0 0 0 15.02 14.97 15.04

2616 -0.57 -170.3 2578 2334 3907 3914 350.7 -11.4 255 2617 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2334 3910 3907 3914 0 0 0 0 0 0 15.18 15.20 15.20

2916 -0.57 -170.3 2578 2334 3905 3911 382.2 -10.2 265 2917 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2334 3908 3905 3911 0 0 0 0 0 0 15.19 15.21 15.21

3216 -0.57 -170.3 2578 2334 3903 3909 412.6 -10.0 275 3220 0.00 2.30 0.00 0.000 260 0.000 0.085 2579 3696 3906 3903 3909 0 0 0 0 0 0 15.20 14.93 15.21

3255 -0.57 -170.3 2578 3697 3902 3909 416.6 -9.7 283 3259 0.00 2.12 0.00 0.000 1030 0.000 0.042 2579 2349 3905 3902 3909 0 0 0 0 0 0 15.05 15.00 15.06

3577 -0.57 -170.3 2578 2345 3902 3906 446.4 -9.3 297 3582 0.00 2.20 0.00 0.000 516 0.000 0.051 2579 959 3904 3902 3906 0 0 0 0 0 0 15.20 14.97 15.22

3611 -0.57 -170.3 2578 959 3903 3906 449.7 -8.8 304 3616 0.00 2.33 0.00 0.000 1030 0.000 0.056 2579 2354 3903 3901 3906 0 0 0 0 0 0 15.00 14.94 15.02

3939 -0.57 -170.3 2579 2354 3900 3903 478.2 -8.8 319 3943 0.00 2.22 0.00 0.000 260 0.000 0.086 2578 3692 3901 3900 3903 0 0 0 0 0 0 15.20 14.93 15.22

3993 -0.57 -170.3 2578 3692 3899 3903 483.3 -9.4 330 4000 0.00 2.10 0.00 0.000 1030 0.000 0.043 2578 2348 3901 3899 3903 0 0 0 0 0 0 15.05 15.00 15.07

4299 -0.57 -170.3 2578 2347 3899 3901 511.5 -9.2 341 4304 0.00 2.22 0.00 0.000 516 0.000 0.053 2579 952 3900 3899 3901 0 0 0 0 0 0 15.20 14.97 15.22

4339 -0.57 -170.3 2578 952 3899 3901 515.4 -9.1 349 4344 0.00 2.30 0.00 0.000 1030 0.000 0.058 2579 2358 3900 3899 3901 0 0 0 0 0 0 15.04 14.95 15.06

4661 -0.57 -170.3 2578 2359 3898 3898 544.6 -9.4 363 4665 0.00 2.22 0.00 0.000 260 0.000 0.089 2579 3692 3898 3898 3898 0 0 0 0 0 0 15.20 14.93 15.22

4696 -0.57 -170.3 2578 3692 3897 3898 548.0 -9.8 370 4700 0.00 2.12 0.00 0.000 1030 0.000 0.044 2579 2347 3897 3897 3898 0 0 0 0 0 0 15.05 15.00 15.07

5022 -0.57 -170.3 2578 2343 3897 3897 581.2 -10.5 385 5023 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2343 3897 3897 3897 0 0 0 0 0 0 15.21 15.23 15.22

5322 -0.57 -170.3 2578 2343 3897 3896 612.2 -10.3 395 5326 0.00 2.28 0.00 0.000 260 0.000 0.088 2579 3692 3895 3896 3895 0 0 0 0 0 0 15.20 14.94 15.22

5353 -0.57 -170.3 2579 3692 3896 3896 615.5 -10.2 401 5359 0.00 2.12 0.00 0.000 1030 0.000 0.045 2579 2344 3895 3896 3895 0 0 0 0 0 0 15.05 15.00 15.07

5685 -0.57 -170.3 2578 2340 3895 3893 647.7 -9.4 417 5687 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2340 3894 3895 3893 0 0 0 0 0 0 15.21 15.23 15.22

5986 -0.57 -170.3 2578 2340 3894 3891 672.8 -8.1 427 5990 0.00 2.30 0.00 0.000 260 0.000 0.090 2579 3692 3892 3893 3891 0 0 0 0 0 0 15.21 14.93 15.22

6010 -0.57 -170.3 2579 3692 3892 3890 674.9 -8.7 432 6017 0.00 2.12 0.00 0.000 1030 0.000 0.045 2578 2344 3891 3892 3890 0 0 0 0 0 0 15.06 15.00 15.07

6317 -0.57 -170.3 2578 2343 3892 3889 698.5 -7.5 443 6321 0.00 2.22 0.00 0.000 516 0.000 0.053 2579 955 3890 3892 3889 0 0 0 0 0 0 15.21 14.97 15.23

6341 -0.57 -170.3 2578 955 3892 3889 700.6 -7.8 448 6348 0.00 2.30 0.00 0.000 1030 0.000 0.060 2578 2352 3890 3892 3889 0 0 0 0 0 0 15.04 14.96 15.06

6648 -0.57 -170.3 2578 2352 3892 3887 723.5 -7.6 459 6649 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2352 3889 3892 3887 0 0 0 0 0 0 15.21 15.23 15.22

6948 -0.57 -170.3 2578 2352 3891 3886 747.9 -8.4 469 6953 0.00 2.25 0.00 0.000 260 0.000 0.092 2579 3694 3888 3891 3886 0 0 0 0 0 0 15.21 14.93 15.23

6982 -0.57 -170.3 2578 3694 3890 3886 751.0 -8.6 476 6987 0.00 2.17 0.00 0.000 1030 0.000 0.046 2578 2351 3888 3890 3886 0 0 0 0 0 0 15.01 14.97 15.03

7309 -0.57 -170.3 2578 2348 3890 3885 781.0 -9.4 491 7313 0.00 2.25 0.00 0.000 516 0.000 0.054 2579 945 3887 3890 3885 0 0 0 0 0 0 15.21 14.97 15.22

7334 -0.57 -170.3 2578 944 3890 3884 783.6 -9.9 496 7341 0.00 2.33 0.00 0.000 1030 0.000 0.061 2579 2350 3887 3890 3884 0 0 0 0 0 0 15.04 14.95 15.06

7640 -0.57 -170.3 2578 2350 3889 3882 812.9 -9.7 507 7644 0.00 2.25 0.00 0.000 260 0.000 0.092 2579 3692 3885 3888 3882 0 0 0 0 0 0 15.20 14.92 15.21

7659 -0.57 -170.3 2578 3692 3888 3882 815.0 -9.7 511 7664 0.00 2.15 0.00 0.000 1030 0.000 0.047 2579 2342 3885 3888 3882 0 0 0 0 0 0 15.05 14.99 15.07

7971 -0.57 -170.3 2578 2337 3888 3881 842.2 -8.3 523 7975 0.00 2.30 0.00 0.000 260 0.000 0.091 2579 3691 3884 3888 3880 0 0 0 0 0 0 15.20 14.92 15.22

8002 -0.57 -170.3 2578 3691 3887 3881 844.8 -8.3 529 8008 0.00 2.12 0.00 0.000 1030 0.000 0.047 2578 2348 3884 3887 3881 0 0 0 0 0 0 15.04 14.99 15.07

8335 -0.57 -170.3 2578 2344 3887 3880 869.9 -7.2 545 8340 0.00 2.22 0.00 0.000 516 0.000 0.054 2579 954 3883 3887 3880 0 0 0 0 0 0 15.20 14.96 15.22

8366 -0.57 -170.3 2578 954 3887 3880 872.2 -7.4 551 8370 0.00 2.33 0.00 0.000 1030 0.000 0.061 2579 2359 3882 3885 3880 0 0 0 0 0 0 15.03 14.94 15.05

8698 -0.57 -170.3 2578 2360 3886 3878 895.6 -7.0 567 8702 0.00 2.25 0.00 0.000 260 0.000 0.095 2579 3697 3882 3886 3878 0 0 0 0 0 0 15.19 14.91 15.21

8732 -0.57 -170.3 2578 3696 3885 3878 898.1 -7.1 574 8736 0.00 2.15 0.00 0.000 1030 0.000 0.047 2578 2342 3882 3885 3879 0 0 0 0 0 0 15.04 14.99 15.06

9059 -0.57 -170.3 2579 2339 3886 3878 920.7 -6.9 589 9060 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2339 3882 3886 3878 0 0 0 0 0 0 15.19 15.21 15.21

9359 -0.57 -170.3 2578 2339 3885 3877 941.7 -6.8 599 9363 0.00 2.33 0.00 0.000 260 0.000 0.091 2579 3699 3881 3885 3877 0 0 0 0 0 0 15.19 14.92 15.21

9398 -0.57 -170.3 2578 3698 3884 3877 944.5 -6.7 607 9402 0.00 2.15 0.00 0.000 1030 0.000 0.047 2579 2348 3881 3885 3877 0 0 0 0 0 0 15.04 14.98 15.06

9720 -0.57 -170.3 2579 2345 3885 3875 964.3 -5.9 621 9725 0.00 2.30 0.00 0.000 292 0.000 0.091 2578 3692 3879 3884 3875 0 0 0 0 0 0 15.20 14.91 15.21

9741 -0.57 -170.3 2578 3692 3884 3875 965.7 -6.0 625 9746 0.00 2.15 0.00 0.000 1062 0.000 0.048 2579 2345 3879 3884 3874 0 0 0 0 0 0 15.04 14.98 15.05

10053 -0.57 -170.3 2578 2341 3884 3873 984.4 -6.3 637 10058 0.00 2.25 0.00 0.000 548 0.000 0.056 2579 944 3879 3884 3874 0 0 0 0 0 0 15.19 14.95 15.21

10074 -0.57 -170.3 2578 944 3884 3874 985.9 -6.9 641 10079 0.00 2.33 0.00 0.000 1030 0.000 0.063 2578 2348 3879 3884 3874 0 0 0 0 0 0 15.02 14.93 15.04

10145 end dive: TARGET_DEPTH_EXCEEDED

state 10145 begin apogee

10149 -0.12 0.0 2579 2409 3884 3873 990.5 -6.4 645 10330 0.55 0.00 177.55 1.649 10246 0.213 0.000 2739 2409 3345 3368 3323 0 0 0 0 0 0 14.83 14.14 13.52

10331 end apogee: CONTROL_FINISHED_OK

state 10331 begin climb

10333 0.57 170.3 2739 2409 3363 3318 995.3 0.0 651 10521 0.70 2.50 176.57 1.868 10756 0.125 0.058 2959 1005 2643 2688 2598 0 0 0 0 0 0 14.12 13.97 13.30

10547 0.57 170.3 2958 1005 2683 2595 985.7 8.8 695 10551 0.00 2.42 0.00 0.000 1030 0.000 0.060 2959 2388 2638 2682 2595 0 0 0 0 0 0 14.23 14.15 14.25

10868 0.57 170.3 2958 2389 2672 2589 956.7 9.0 709 10873 0.00 2.28 0.00 0.000 260 0.000 0.090 2959 3703 2630 2671 2589 0 0 0 0 0 0 14.80 14.55 14.82

10930 0.57 170.3 2958 3703 2668 2588 950.5 10.5 721 10935 0.00 2.15 0.00 0.000 1030 0.000 0.051 2959 2410 2628 2668 2588 0 0 0 0 0 0 14.69 14.63 14.71

11262 0.57 170.3 2959 2407 2666 2589 922.1 8.4 737 11263 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2407 2627 2666 2588 0 0 0 0 0 0 14.95 14.97 14.97

11563 0.58 170.3 2958 2408 2664 2588 897.9 7.9 747 11567 0.00 2.25 0.00 0.000 324 0.000 0.088 2959 3708 2626 2665 2588 0 0 0 0 0 0 15.02 14.76 15.04

11602 0.58 170.3 2959 3708 2663 2588 894.2 9.3 755 11607 0.00 2.15 0.00 0.000 1030 0.000 0.051 2959 2392 2626 2664 2588 0 0 0 0 0 0 14.87 14.81 14.89

11924 0.58 170.3 2959 2390 2662 2588 868.7 8.1 769 11925 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2390 2625 2663 2588 0 0 0 0 0 0 15.06 15.08 15.08

12224 0.58 170.3 2958 2390 2662 2588 844.1 8.2 779 12225 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2390 2624 2661 2588 0 0 0 0 0 0 15.09 15.11 15.11

12524 0.58 170.3 2959 2390 2661 2588 818.7 8.5 789 12529 0.00 2.25 0.00 0.000 260 0.000 0.086 2959 3701 2624 2660 2588 0 0 0 0 0 0 15.11 14.84 15.13

12569 0.58 170.3 2959 3701 2659 2588 814.3 9.5 798 12573 0.00 2.12 0.00 0.000 1030 0.000 0.050 2959 2391 2623 2658 2588 0 0 0 0 0 0 14.96 14.90 14.98

12886 0.58 170.3 2958 2388 2658 2588 787.2 8.8 811 12887 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2388 2623 2658 2588 0 0 0 0 0 0 15.12 15.14 15.14

13185 0.58 170.3 2959 2388 2658 2588 759.8 9.4 821 13190 0.00 2.30 0.00 0.000 516 0.000 0.063 2959 991 2623 2658 2588 0 0 0 0 0 0 15.14 14.89 15.16

13220 0.58 170.3 2959 991 2658 2588 756.6 9.3 828 13225 0.00 2.40 0.00 0.000 1030 0.000 0.060 2959 2408 2623 2658 2588 0 0 0 0 0 0 14.92 14.87 14.95

13547 0.58 170.3 2959 2408 2657 2587 725.0 10.1 843 13551 0.00 2.17 0.00 0.000 260 0.000 0.086 2959 3699 2622 2657 2587 0 0 0 0 0 0 15.14 14.88 15.16

13591 0.58 170.3 2958 3698 2656 2587 719.7 11.6 852 13596 0.00 2.10 0.00 0.000 1030 0.000 0.049 2959 2394 2621 2656 2587 0 0 0 0 0 0 14.99 14.92 15.01

13908 0.58 170.3 2958 2392 2656 2587 687.8 10.2 865 13910 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2392 2621 2656 2587 0 0 0 0 0 0 15.14 15.16 15.16

14208 0.58 170.3 2959 2392 2656 2587 657.6 9.8 875 14212 0.00 2.22 0.00 0.000 260 0.000 0.086 2959 3700 2621 2656 2587 0 0 0 0 0 0 15.15 14.89 15.17

14232 0.58 170.3 2959 3700 2655 2587 654.8 11.1 880 14240 0.00 2.10 0.00 0.000 1030 0.000 0.050 2959 2398 2621 2655 2587 0 0 0 0 0 0 15.00 14.93 15.02

14539 0.58 170.3 2959 2396 2655 2587 626.7 8.8 891 14540 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2396 2621 2655 2587 0 0 0 0 0 0 15.16 15.18 15.18

14840 0.59 170.3 2959 2396 2655 2587 603.0 7.7 901 14841 0.00 0.00 0.00 0.000 70 0.000 0.000 2959 2396 2621 2655 2587 0 0 0 0 0 0 15.16 15.18 15.18

15140 0.63 170.3 2959 2396 2654 2588 582.0 6.7 911 15144 0.00 2.25 0.00 0.000 324 0.000 0.086 2959 3700 2621 2655 2587 0 0 0 0 0 0 15.16 14.90 15.19

15190 0.64 170.3 2959 3700 2653 2587 578.1 7.8 921 15194 0.00 2.10 0.00 0.000 1094 0.000 0.050 2959 2398 2620 2653 2587 0 0 0 0 0 0 15.01 14.95 15.03

15502 0.68 170.3 2959 2396 2653 2587 557.3 6.7 933 15504 0.12 0.00 0.00 0.000 2118 0.155 0.000 3002 2395 2620 2653 2587 0 0 0 0 0 0 14.92 15.03 15.01

15801 0.68 170.3 3002 2395 2653 2587 529.5 9.7 943 15805 0.00 2.22 0.00 0.000 260 0.000 0.087 3002 3697 2620 2653 2587 0 0 0 0 0 0 15.17 14.90 15.19

15876 0.68 170.3 3002 3697 2653 2587 520.9 11.6 958 15880 0.00 2.10 0.00 0.000 1030 0.000 0.048 3004 2392 2620 2653 2587 0 0 0 0 0 0 15.01 14.95 15.04

16192 0.68 170.3 3003 2390 2653 2587 486.2 11.5 971 16193 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2390 2620 2653 2587 0 0 0 0 0 0 15.16 15.19 15.19

16492 0.68 170.3 3004 2390 2653 2587 452.7 10.8 981 16493 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2390 2620 2653 2587 0 0 0 0 0 0 15.17 15.20 15.19

16792 0.68 170.3 3003 2390 2653 2587 422.2 9.9 991 16796 0.00 2.22 0.00 0.000 260 0.000 0.085 3004 3696 2620 2653 2587 0 0 0 0 0 0 15.18 14.90 15.19

16887 0.68 170.3 3004 3696 2653 2587 411.7 10.8 1010 16891 0.00 2.08 0.00 0.000 1030 0.000 0.047 3004 2400 2620 2653 2587 0 0 0 0 0 0 15.02 14.96 15.04

17213 0.68 170.3 3004 2398 2653 2587 381.7 9.1 1025 17214 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2398 2620 2653 2587 0 0 0 0 0 0 15.17 15.19 15.19

17513 0.68 170.3 3004 2398 2653 2587 353.0 9.8 1035 17517 0.00 2.22 0.00 0.000 260 0.000 0.083 3004 3705 2620 2653 2587 0 0 0 0 0 0 15.17 14.90 15.19

17547 0.68 170.3 3004 3705 2653 2587 349.1 11.5 1042 17552 0.00 2.10 0.00 0.000 1030 0.000 0.048 3004 2403 2620 2653 2587 0 0 0 0 0 0 15.02 14.96 15.04

17874 0.68 170.3 3003 2401 2653 2587 316.7 10.1 1057 17879 0.00 2.20 0.00 0.000 260 0.000 0.082 3004 3704 2620 2653 2587 0 0 0 0 0 0 15.17 14.90 15.19

17924 0.68 170.3 3003 3704 2653 2587 311.0 11.0 1067 17929 0.00 2.12 0.00 0.000 1030 0.000 0.049 3004 2389 2619 2653 2586 0 0 0 0 0 0 15.01 14.94 15.03

18236 0.68 170.3 3003 2386 2653 2587 281.9 9.5 1079 18240 0.00 2.28 0.00 0.000 516 0.000 0.060 3004 994 2620 2653 2587 0 0 0 0 0 0 15.17 14.92 15.19

18267 0.68 170.3 3004 994 2654 2587 279.0 9.2 1085 18272 0.00 2.33 0.00 0.000 1030 0.000 0.059 3004 2409 2620 2654 2587 0 0 0 0 0 0 15.01 14.92 15.03

18579 0.68 170.3 3004 2409 2654 2587 245.9 11.1 1101 18584 0.00 2.15 0.00 0.000 260 0.000 0.084 3004 3702 2620 2654 2587 0 0 0 0 0 0 15.16 14.90 15.19

18705 0.68 170.3 3004 3702 2654 2587 230.3 12.5 1126 18712 0.00 2.10 0.00 0.000 1030 0.000 0.048 3004 2394 2620 2654 2587 0 0 0 0 0 0 15.01 14.95 15.03

19011 0.68 170.3 3003 2392 2654 2587 198.9 10.0 1157 19016 0.00 2.20 0.00 0.000 260 0.000 0.083 3005 3695 2620 2654 2587 0 0 0 0 0 0 15.16 14.88 15.17

19037 0.68 170.3 3004 3695 2654 2587 196.1 10.4 1162 19044 0.00 2.08 0.00 0.000 1030 0.000 0.047 3004 2396 2620 2654 2587 0 0 0 0 0 0 15.00 14.94 15.02

19343 0.76 235.6 3003 2394 2654 2587 171.3 6.3 1193 19417 0.00 2.33 68.12 1.040 8740 0.000 0.058 3004 993 2379 2424 2335 0 0 0 0 0 0 15.15 14.57 14.12

19474 0.79 235.6 3003 993 2417 2329 162.7 6.7 1219 19479 0.00 2.35 0.00 0.000 1094 0.000 0.057 3004 2397 2373 2417 2329 0 0 0 0 0 0 14.69 14.61 14.71

19785 0.79 235.6 3003 2397 2412 2326 139.7 8.0 1251 19789 0.00 2.20 0.00 0.000 260 0.000 0.082 3005 3704 2369 2412 2326 0 0 0 0 0 0 14.95 14.70 14.97

19869 0.79 235.6 3003 3704 2411 2326 130.9 11.1 1268 19877 0.00 2.15 0.00 0.000 1030 0.000 0.047 3004 2409 2368 2411 2326 0 0 0 0 0 0 14.78 14.74 14.80

20176 0.79 235.6 3004 2407 2411 2326 93.4 11.1 1299 20180 0.00 2.33 0.00 0.000 516 0.000 0.057 3004 990 2368 2410 2326 0 0 0 0 0 0 15.02 14.78 15.04

20268 0.83 235.6 3003 990 2410 2325 86.0 6.6 1317 20274 0.12 2.33 0.00 0.000 3142 0.151 0.054 3055 2405 2368 2411 2325 0 0 0 0 0 0 14.79 14.79 14.88

20581 0.84 235.6 3055 2405 2410 2325 66.4 7.8 1349 20586 0.00 2.15 0.00 0.000 324 0.000 0.080 3055 3698 2367 2410 2325 0 0 0 0 0 0 15.06 14.80 15.08

20687 0.93 306.3 3055 3698 2410 2325 59.0 6.1 1370 20764 0.00 2.08 67.07 0.907 9254 0.000 0.042 3055 2377 2089 2136 2043 0 0 0 0 0 0 14.92 14.86 14.13

21064 1.03 393.7 3055 2377 2128 2041 33.2 5.5 1441 21151 0.15 2.28 77.97 0.848 10788 0.138 0.053 3114 1012 1732 1780 1684 0 0 0 0 0 0 14.66 14.34 14.02

21199 1.03 393.7 3115 1013 1775 1683 19.5 12.4 1464 21206 0.00 2.33 0.00 0.000 1030 0.000 0.049 3114 2403 1729 1775 1683 0 0 0 0 0 0 14.57 14.50 14.59

21322 end climb: SURFACE_DEPTH_REACHED

state 21323 begin surface coast

21344 end surface coast: CONTROL_FINISHED_OK

state 21344 begin surface

ID	128	KALMAN_USE	2	ROLL_MIN	200	AD7714Ch0Gain	32
MISSION	4	HD_A	0.0026803601	ROLL_MAX	3700	COMPASS_USE	4
DIVE	69	HD_B	0.0139002	ROLL_DEG	40	ALTIM_PING_FIT	0
N_DIVES	0	HD_C	9.1750398e-06	C_ROLL_DIVE	2350	ALTIM_TOP_PING_RANGE	0
STOP_T	0	HEADING	-1	C_ROLL_CLIMB	2400	ALTIM_BOTTOM_TURN_MARGIN	15
D_SURF	3	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	2
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_ABORT	1030	TGT_DEFAULT_LAT	3235	R_PORT_OVSHOOT	39	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	28	ALTIM_FREQUENCY	13
D_BOOST	20	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_PULSE	3
T_BOOST	5	SM_CC	400	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FINISH	0	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_VALID	5
D_PITCH	0	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_SAFE	0	CALL_NDIVES	1	VBD_MIN	400	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	COMM_SEQ	0	VBD_MAX	3900	INT_PRESSURE_YINT	-1
SURFACE_URGENCY	0	PROTOCOL	9	C_VBD	3346	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	2	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	NOCOMM_ACTION	163	VBD_CNV	-0.245296	DEVICE1	2
T_DIVE	390	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	450	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00121	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE5	-1
T_TURN_SAMPINT	-5	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	0	HEAPDBG	0	UNCOM_BLEED	20	LOGGERDEVICE1	-1
T_EPIRB	0	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
EXEC_P	0	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE3	-1
EXEC_DT	0	T_RSLEEP	1	DBDW	0	LOGGERDEVICE4	-1
EXEC_T	0	STROBE	0	LOITER_W_DBAND	0	COMPASS_DEVICE	33
EXEC_N	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_NO_PUMP	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	PITCH_W_GAIN	2	RAFOS_DEVICE	-1
D_OFFGRID	1000	PITCH_MIN	250	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3750	CF8_MAXERRORS	20	SIM_W	0
RELAUNCH	1	C_PITCH	2780	AH0_24V	350	SEABIRD_T_G	0.0043553207
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_10V	0	SEABIRD_T_H	0.00062594062
MAX_BUOY	175	PITCH_CNV	0.003125763	MINV_24V	11	SEABIRD_T_I	2.3765557e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_10V	11	SEABIRD_T_J	2.606791e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8755465
SPEED_FACTOR	0.89999998	PITCH_GAIN	40	MAXI_10V	0.80000001	SEABIRD_C_H	1.1390997
RHO	1.0275	PITCH_TIMEOUT	16	FG_AHR_10V	0	SEABIRD_C_I	-0.0019936475
MASS	51713	PITCH_AD_RATE	175	FG_AHR_24V	0	SEABIRD_C_J	0.00023608611
MASS_COMP	0	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2
NAV_MODE	2	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-157.40906
FERRY_MAX	60	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014074198

GPS1	290118,234440,-312.1188,5535.6753,26,1.3,31,-4.6,0.0,135.3,5,9.7	SPEED_LIMITS	0.132,0.202
_CALLS	1	TGT_NAME	N
_XMS_NAKs	0	TGT_LATLONG	-300.000,5536.000
_XMS_TOUTs	0	TGT_RADIUS	20000.000
_SM_DEPTHo	0.78	MHEAD_RNG_PITCHd_Wd	329.1,22485,-14.4,-8.462,-20.64,3036
_SM_ANGLEo	-73.0	D_GRID	1000
GPS2	290118,235011,-312.1380,5535.7432,16,1.3,21,-4.6,0.8,116.4,5,9.3

FINISH	-0.2,1.022701	_10V_AH	13.62,0.000
SM_CCo	21359,0.62,0.082,0,0,1715,400.08	FG_AHR_24Vo	0.000
SM_GC	1.62,8.48,0.00,0.62,0.092,0.000,0.082,254,2405,1715,-7.86,1.55,400.08,0,0,0,0,0,0,14.57,14.84,14.61	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-309.03,5536.05,290118,173757	MEM	304684
TT8_MAMPS	0.019474,0.156541	DATA_FILE_SIZE	63275,1492
HUMID	59.76	CAP_FILE_SIZE	180972,0
INTERNAL_PRESSURE	8.46325	CFSIZE	260034560,253034496
TCM_TEMP	22.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.185,97.16,1
_24V_AH	13.30,25.145	GPS	300118,054809,-310.530,5536.528,41,1.1,45,-4.6,0.6,131.0,7,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	432	126.12	SBE_CT	725	23	231.15
Roll_motor	195	208	543.10	nil	0	0	0.00
VBD_pump_during_apogee	567	1868	14095.21	nil	0	0	0.00
VBD_pump_during_surface	0	81	0.68	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	nil	0	0	0.00
Iridium_during_xfer	235	133	416.21	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	20	6.18
TT8	3199	9	412.62
LPSleep	15256	2	455.06
TT8_Active	702	9	90.65
TT8_Sampling	2392	28	918.66
TT8_CF8	148	34	69.13
TT8_Kalman	0	0	0.00
Analog_circuits	2181	16	475.31
GPS_charging	0	0	0.00
Compass	2122	17	498.08
RAFOS	0	0	0.00
Transponder	0	5	0.04

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-0.57	-170.3	221	2402	1722	1713	0.0	0.0	0	74	0.00	0.00	-64.50	0.004	16386	0.000	0.000	221	2403	3720	3698	3742	0	0	0	0	0	0	14.90	28.83	14.92
76	-0.57	-170.3	221	2403	3700	3743	4.5	-12.8	11	98	11.77	2.20	-2.70	0.033	18692	0.433	0.086	2579	3706	3905	3896	3914	0	0	0	0	0	0	14.45	13.74	14.73
180	-0.57	-170.3	2578	3707	3901	3914	40.3	-21.2	30	187	0.00	2.17	0.00	0.000	1030	0.000	0.044	2579	2352	3908	3902	3914	0	0	0	0	0	0	14.79	14.72	14.81
494	-0.57	-170.3	2578	2348	3907	3914	92.7	-15.6	65	499	0.00	2.28	0.00	0.000	260	0.000	0.077	2579	3699	3910	3907	3914	0	0	0	0	0	0	15.02	14.77	15.04
546	-0.57	-170.3	2578	3699	3908	3914	100.6	-15.6	75	550	0.00	2.15	0.00	0.000	1030	0.000	0.040	2579	2335	3911	3908	3914	0	0	0	0	0	0	14.88	14.83	14.90
856	-0.57	-170.3	2578	2331	3910	3915	143.6	-13.4	107	860	0.00	2.30	0.00	0.000	260	0.000	0.080	2579	3699	3913	3911	3915	0	0	0	0	0	0	15.08	14.82	15.10
887	-0.57	-170.3	2578	3698	3910	3915	147.9	-14.1	113	893	0.00	2.12	0.00	0.000	1030	0.000	0.041	2579	2346	3912	3910	3915	0	0	0	0	0	0	14.94	14.88	14.95
1199	-0.57	-170.3	2578	2342	3911	3915	189.5	-12.1	145	1204	0.00	2.22	0.00	0.000	516	0.000	0.048	2579	946	3913	3911	3916	0	0	0	0	0	0	15.11	14.88	15.13
1254	-0.57	-170.3	2578	946	3911	3916	196.4	-11.6	156	1261	0.00	2.30	0.00	0.000	1030	0.000	0.054	2579	2357	3913	3911	3916	0	0	0	0	0	0	14.95	14.88	14.97
1561	-0.57	-170.3	2578	2357	3910	3916	232.4	-12.3	187	1565	0.00	2.20	0.00	0.000	260	0.000	0.082	2579	3693	3913	3910	3916	0	0	0	0	0	0	15.13	14.88	15.15
1582	-0.57	-170.3	2578	3692	3911	3916	234.9	-12.6	191	1586	0.00	2.10	0.00	0.000	1030	0.000	0.041	2579	2349	3913	3910	3916	0	0	0	0	0	0	14.98	14.93	15.00
1892	-0.57	-170.3	2578	2345	3910	3916	269.9	-11.0	211	1896	0.00	2.20	0.00	0.000	516	0.000	0.049	2579	952	3913	3910	3916	0	0	0	0	0	0	15.15	14.92	15.16
1926	-0.57	-170.3	2578	953	3909	3916	274.0	-11.3	218	1931	0.00	2.28	0.00	0.000	1030	0.000	0.054	2578	2350	3913	3910	3916	0	0	0	0	0	0	15.00	14.92	15.01
2253	-0.57	-170.3	2578	2350	3908	3916	309.7	-11.0	233	2259	0.00	2.22	0.00	0.000	260	0.000	0.083	2579	3692	3911	3908	3915	0	0	0	0	0	0	15.16	14.91	15.19
2293	-0.57	-170.3	2578	3692	3907	3915	314.4	-11.1	241	2299	0.00	2.12	0.00	0.000	1030	0.000	0.040	2579	2338	3911	3907	3915	0	0	0	0	0	0	15.02	14.97	15.04
2616	-0.57	-170.3	2578	2334	3907	3914	350.7	-11.4	255	2617	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2334	3910	3907	3914	0	0	0	0	0	0	15.18	15.20	15.20
2916	-0.57	-170.3	2578	2334	3905	3911	382.2	-10.2	265	2917	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2334	3908	3905	3911	0	0	0	0	0	0	15.19	15.21	15.21
3216	-0.57	-170.3	2578	2334	3903	3909	412.6	-10.0	275	3220	0.00	2.30	0.00	0.000	260	0.000	0.085	2579	3696	3906	3903	3909	0	0	0	0	0	0	15.20	14.93	15.21
3255	-0.57	-170.3	2578	3697	3902	3909	416.6	-9.7	283	3259	0.00	2.12	0.00	0.000	1030	0.000	0.042	2579	2349	3905	3902	3909	0	0	0	0	0	0	15.05	15.00	15.06
3577	-0.57	-170.3	2578	2345	3902	3906	446.4	-9.3	297	3582	0.00	2.20	0.00	0.000	516	0.000	0.051	2579	959	3904	3902	3906	0	0	0	0	0	0	15.20	14.97	15.22
3611	-0.57	-170.3	2578	959	3903	3906	449.7	-8.8	304	3616	0.00	2.33	0.00	0.000	1030	0.000	0.056	2579	2354	3903	3901	3906	0	0	0	0	0	0	15.00	14.94	15.02
3939	-0.57	-170.3	2579	2354	3900	3903	478.2	-8.8	319	3943	0.00	2.22	0.00	0.000	260	0.000	0.086	2578	3692	3901	3900	3903	0	0	0	0	0	0	15.20	14.93	15.22
3993	-0.57	-170.3	2578	3692	3899	3903	483.3	-9.4	330	4000	0.00	2.10	0.00	0.000	1030	0.000	0.043	2578	2348	3901	3899	3903	0	0	0	0	0	0	15.05	15.00	15.07
4299	-0.57	-170.3	2578	2347	3899	3901	511.5	-9.2	341	4304	0.00	2.22	0.00	0.000	516	0.000	0.053	2579	952	3900	3899	3901	0	0	0	0	0	0	15.20	14.97	15.22
4339	-0.57	-170.3	2578	952	3899	3901	515.4	-9.1	349	4344	0.00	2.30	0.00	0.000	1030	0.000	0.058	2579	2358	3900	3899	3901	0	0	0	0	0	0	15.04	14.95	15.06
4661	-0.57	-170.3	2578	2359	3898	3898	544.6	-9.4	363	4665	0.00	2.22	0.00	0.000	260	0.000	0.089	2579	3692	3898	3898	3898	0	0	0	0	0	0	15.20	14.93	15.22
4696	-0.57	-170.3	2578	3692	3897	3898	548.0	-9.8	370	4700	0.00	2.12	0.00	0.000	1030	0.000	0.044	2579	2347	3897	3897	3898	0	0	0	0	0	0	15.05	15.00	15.07
5022	-0.57	-170.3	2578	2343	3897	3897	581.2	-10.5	385	5023	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2343	3897	3897	3897	0	0	0	0	0	0	15.21	15.23	15.22
5322	-0.57	-170.3	2578	2343	3897	3896	612.2	-10.3	395	5326	0.00	2.28	0.00	0.000	260	0.000	0.088	2579	3692	3895	3896	3895	0	0	0	0	0	0	15.20	14.94	15.22
5353	-0.57	-170.3	2579	3692	3896	3896	615.5	-10.2	401	5359	0.00	2.12	0.00	0.000	1030	0.000	0.045	2579	2344	3895	3896	3895	0	0	0	0	0	0	15.05	15.00	15.07
5685	-0.57	-170.3	2578	2340	3895	3893	647.7	-9.4	417	5687	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2340	3894	3895	3893	0	0	0	0	0	0	15.21	15.23	15.22
5986	-0.57	-170.3	2578	2340	3894	3891	672.8	-8.1	427	5990	0.00	2.30	0.00	0.000	260	0.000	0.090	2579	3692	3892	3893	3891	0	0	0	0	0	0	15.21	14.93	15.22
6010	-0.57	-170.3	2579	3692	3892	3890	674.9	-8.7	432	6017	0.00	2.12	0.00	0.000	1030	0.000	0.045	2578	2344	3891	3892	3890	0	0	0	0	0	0	15.06	15.00	15.07
6317	-0.57	-170.3	2578	2343	3892	3889	698.5	-7.5	443	6321	0.00	2.22	0.00	0.000	516	0.000	0.053	2579	955	3890	3892	3889	0	0	0	0	0	0	15.21	14.97	15.23
6341	-0.57	-170.3	2578	955	3892	3889	700.6	-7.8	448	6348	0.00	2.30	0.00	0.000	1030	0.000	0.060	2578	2352	3890	3892	3889	0	0	0	0	0	0	15.04	14.96	15.06
6648	-0.57	-170.3	2578	2352	3892	3887	723.5	-7.6	459	6649	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2352	3889	3892	3887	0	0	0	0	0	0	15.21	15.23	15.22
6948	-0.57	-170.3	2578	2352	3891	3886	747.9	-8.4	469	6953	0.00	2.25	0.00	0.000	260	0.000	0.092	2579	3694	3888	3891	3886	0	0	0	0	0	0	15.21	14.93	15.23
6982	-0.57	-170.3	2578	3694	3890	3886	751.0	-8.6	476	6987	0.00	2.17	0.00	0.000	1030	0.000	0.046	2578	2351	3888	3890	3886	0	0	0	0	0	0	15.01	14.97	15.03
7309	-0.57	-170.3	2578	2348	3890	3885	781.0	-9.4	491	7313	0.00	2.25	0.00	0.000	516	0.000	0.054	2579	945	3887	3890	3885	0	0	0	0	0	0	15.21	14.97	15.22
7334	-0.57	-170.3	2578	944	3890	3884	783.6	-9.9	496	7341	0.00	2.33	0.00	0.000	1030	0.000	0.061	2579	2350	3887	3890	3884	0	0	0	0	0	0	15.04	14.95	15.06
7640	-0.57	-170.3	2578	2350	3889	3882	812.9	-9.7	507	7644	0.00	2.25	0.00	0.000	260	0.000	0.092	2579	3692	3885	3888	3882	0	0	0	0	0	0	15.20	14.92	15.21
7659	-0.57	-170.3	2578	3692	3888	3882	815.0	-9.7	511	7664	0.00	2.15	0.00	0.000	1030	0.000	0.047	2579	2342	3885	3888	3882	0	0	0	0	0	0	15.05	14.99	15.07
7971	-0.57	-170.3	2578	2337	3888	3881	842.2	-8.3	523	7975	0.00	2.30	0.00	0.000	260	0.000	0.091	2579	3691	3884	3888	3880	0	0	0	0	0	0	15.20	14.92	15.22
8002	-0.57	-170.3	2578	3691	3887	3881	844.8	-8.3	529	8008	0.00	2.12	0.00	0.000	1030	0.000	0.047	2578	2348	3884	3887	3881	0	0	0	0	0	0	15.04	14.99	15.07
8335	-0.57	-170.3	2578	2344	3887	3880	869.9	-7.2	545	8340	0.00	2.22	0.00	0.000	516	0.000	0.054	2579	954	3883	3887	3880	0	0	0	0	0	0	15.20	14.96	15.22
8366	-0.57	-170.3	2578	954	3887	3880	872.2	-7.4	551	8370	0.00	2.33	0.00	0.000	1030	0.000	0.061	2579	2359	3882	3885	3880	0	0	0	0	0	0	15.03	14.94	15.05
8698	-0.57	-170.3	2578	2360	3886	3878	895.6	-7.0	567	8702	0.00	2.25	0.00	0.000	260	0.000	0.095	2579	3697	3882	3886	3878	0	0	0	0	0	0	15.19	14.91	15.21
8732	-0.57	-170.3	2578	3696	3885	3878	898.1	-7.1	574	8736	0.00	2.15	0.00	0.000	1030	0.000	0.047	2578	2342	3882	3885	3879	0	0	0	0	0	0	15.04	14.99	15.06
9059	-0.57	-170.3	2579	2339	3886	3878	920.7	-6.9	589	9060	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2339	3882	3886	3878	0	0	0	0	0	0	15.19	15.21	15.21
9359	-0.57	-170.3	2578	2339	3885	3877	941.7	-6.8	599	9363	0.00	2.33	0.00	0.000	260	0.000	0.091	2579	3699	3881	3885	3877	0	0	0	0	0	0	15.19	14.92	15.21
9398	-0.57	-170.3	2578	3698	3884	3877	944.5	-6.7	607	9402	0.00	2.15	0.00	0.000	1030	0.000	0.047	2579	2348	3881	3885	3877	0	0	0	0	0	0	15.04	14.98	15.06
9720	-0.57	-170.3	2579	2345	3885	3875	964.3	-5.9	621	9725	0.00	2.30	0.00	0.000	292	0.000	0.091	2578	3692	3879	3884	3875	0	0	0	0	0	0	15.20	14.91	15.21
9741	-0.57	-170.3	2578	3692	3884	3875	965.7	-6.0	625	9746	0.00	2.15	0.00	0.000	1062	0.000	0.048	2579	2345	3879	3884	3874	0	0	0	0	0	0	15.04	14.98	15.05
10053	-0.57	-170.3	2578	2341	3884	3873	984.4	-6.3	637	10058	0.00	2.25	0.00	0.000	548	0.000	0.056	2579	944	3879	3884	3874	0	0	0	0	0	0	15.19	14.95	15.21
10074	-0.57	-170.3	2578	944	3884	3874	985.9	-6.9	641	10079	0.00	2.33	0.00	0.000	1030	0.000	0.063	2578	2348	3879	3884	3874	0	0	0	0	0	0	15.02	14.93	15.04
10145	end dive: TARGET_DEPTH_EXCEEDED
state	10145	begin apogee
10149	-0.12	0.0	2579	2409	3884	3873	990.5	-6.4	645	10330	0.55	0.00	177.55	1.649	10246	0.213	0.000	2739	2409	3345	3368	3323	0	0	0	0	0	0	14.83	14.14	13.52
10331	end apogee: CONTROL_FINISHED_OK
state	10331	begin climb
10333	0.57	170.3	2739	2409	3363	3318	995.3	0.0	651	10521	0.70	2.50	176.57	1.868	10756	0.125	0.058	2959	1005	2643	2688	2598	0	0	0	0	0	0	14.12	13.97	13.30
10547	0.57	170.3	2958	1005	2683	2595	985.7	8.8	695	10551	0.00	2.42	0.00	0.000	1030	0.000	0.060	2959	2388	2638	2682	2595	0	0	0	0	0	0	14.23	14.15	14.25
10868	0.57	170.3	2958	2389	2672	2589	956.7	9.0	709	10873	0.00	2.28	0.00	0.000	260	0.000	0.090	2959	3703	2630	2671	2589	0	0	0	0	0	0	14.80	14.55	14.82
10930	0.57	170.3	2958	3703	2668	2588	950.5	10.5	721	10935	0.00	2.15	0.00	0.000	1030	0.000	0.051	2959	2410	2628	2668	2588	0	0	0	0	0	0	14.69	14.63	14.71
11262	0.57	170.3	2959	2407	2666	2589	922.1	8.4	737	11263	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2407	2627	2666	2588	0	0	0	0	0	0	14.95	14.97	14.97
11563	0.58	170.3	2958	2408	2664	2588	897.9	7.9	747	11567	0.00	2.25	0.00	0.000	324	0.000	0.088	2959	3708	2626	2665	2588	0	0	0	0	0	0	15.02	14.76	15.04
11602	0.58	170.3	2959	3708	2663	2588	894.2	9.3	755	11607	0.00	2.15	0.00	0.000	1030	0.000	0.051	2959	2392	2626	2664	2588	0	0	0	0	0	0	14.87	14.81	14.89
11924	0.58	170.3	2959	2390	2662	2588	868.7	8.1	769	11925	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2390	2625	2663	2588	0	0	0	0	0	0	15.06	15.08	15.08
12224	0.58	170.3	2958	2390	2662	2588	844.1	8.2	779	12225	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2390	2624	2661	2588	0	0	0	0	0	0	15.09	15.11	15.11
12524	0.58	170.3	2959	2390	2661	2588	818.7	8.5	789	12529	0.00	2.25	0.00	0.000	260	0.000	0.086	2959	3701	2624	2660	2588	0	0	0	0	0	0	15.11	14.84	15.13
12569	0.58	170.3	2959	3701	2659	2588	814.3	9.5	798	12573	0.00	2.12	0.00	0.000	1030	0.000	0.050	2959	2391	2623	2658	2588	0	0	0	0	0	0	14.96	14.90	14.98
12886	0.58	170.3	2958	2388	2658	2588	787.2	8.8	811	12887	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2388	2623	2658	2588	0	0	0	0	0	0	15.12	15.14	15.14
13185	0.58	170.3	2959	2388	2658	2588	759.8	9.4	821	13190	0.00	2.30	0.00	0.000	516	0.000	0.063	2959	991	2623	2658	2588	0	0	0	0	0	0	15.14	14.89	15.16
13220	0.58	170.3	2959	991	2658	2588	756.6	9.3	828	13225	0.00	2.40	0.00	0.000	1030	0.000	0.060	2959	2408	2623	2658	2588	0	0	0	0	0	0	14.92	14.87	14.95
13547	0.58	170.3	2959	2408	2657	2587	725.0	10.1	843	13551	0.00	2.17	0.00	0.000	260	0.000	0.086	2959	3699	2622	2657	2587	0	0	0	0	0	0	15.14	14.88	15.16
13591	0.58	170.3	2958	3698	2656	2587	719.7	11.6	852	13596	0.00	2.10	0.00	0.000	1030	0.000	0.049	2959	2394	2621	2656	2587	0	0	0	0	0	0	14.99	14.92	15.01
13908	0.58	170.3	2958	2392	2656	2587	687.8	10.2	865	13910	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2392	2621	2656	2587	0	0	0	0	0	0	15.14	15.16	15.16
14208	0.58	170.3	2959	2392	2656	2587	657.6	9.8	875	14212	0.00	2.22	0.00	0.000	260	0.000	0.086	2959	3700	2621	2656	2587	0	0	0	0	0	0	15.15	14.89	15.17
14232	0.58	170.3	2959	3700	2655	2587	654.8	11.1	880	14240	0.00	2.10	0.00	0.000	1030	0.000	0.050	2959	2398	2621	2655	2587	0	0	0	0	0	0	15.00	14.93	15.02
14539	0.58	170.3	2959	2396	2655	2587	626.7	8.8	891	14540	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2396	2621	2655	2587	0	0	0	0	0	0	15.16	15.18	15.18
14840	0.59	170.3	2959	2396	2655	2587	603.0	7.7	901	14841	0.00	0.00	0.00	0.000	70	0.000	0.000	2959	2396	2621	2655	2587	0	0	0	0	0	0	15.16	15.18	15.18
15140	0.63	170.3	2959	2396	2654	2588	582.0	6.7	911	15144	0.00	2.25	0.00	0.000	324	0.000	0.086	2959	3700	2621	2655	2587	0	0	0	0	0	0	15.16	14.90	15.19
15190	0.64	170.3	2959	3700	2653	2587	578.1	7.8	921	15194	0.00	2.10	0.00	0.000	1094	0.000	0.050	2959	2398	2620	2653	2587	0	0	0	0	0	0	15.01	14.95	15.03
15502	0.68	170.3	2959	2396	2653	2587	557.3	6.7	933	15504	0.12	0.00	0.00	0.000	2118	0.155	0.000	3002	2395	2620	2653	2587	0	0	0	0	0	0	14.92	15.03	15.01
15801	0.68	170.3	3002	2395	2653	2587	529.5	9.7	943	15805	0.00	2.22	0.00	0.000	260	0.000	0.087	3002	3697	2620	2653	2587	0	0	0	0	0	0	15.17	14.90	15.19
15876	0.68	170.3	3002	3697	2653	2587	520.9	11.6	958	15880	0.00	2.10	0.00	0.000	1030	0.000	0.048	3004	2392	2620	2653	2587	0	0	0	0	0	0	15.01	14.95	15.04
16192	0.68	170.3	3003	2390	2653	2587	486.2	11.5	971	16193	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2390	2620	2653	2587	0	0	0	0	0	0	15.16	15.19	15.19
16492	0.68	170.3	3004	2390	2653	2587	452.7	10.8	981	16493	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2390	2620	2653	2587	0	0	0	0	0	0	15.17	15.20	15.19
16792	0.68	170.3	3003	2390	2653	2587	422.2	9.9	991	16796	0.00	2.22	0.00	0.000	260	0.000	0.085	3004	3696	2620	2653	2587	0	0	0	0	0	0	15.18	14.90	15.19
16887	0.68	170.3	3004	3696	2653	2587	411.7	10.8	1010	16891	0.00	2.08	0.00	0.000	1030	0.000	0.047	3004	2400	2620	2653	2587	0	0	0	0	0	0	15.02	14.96	15.04
17213	0.68	170.3	3004	2398	2653	2587	381.7	9.1	1025	17214	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2398	2620	2653	2587	0	0	0	0	0	0	15.17	15.19	15.19
17513	0.68	170.3	3004	2398	2653	2587	353.0	9.8	1035	17517	0.00	2.22	0.00	0.000	260	0.000	0.083	3004	3705	2620	2653	2587	0	0	0	0	0	0	15.17	14.90	15.19
17547	0.68	170.3	3004	3705	2653	2587	349.1	11.5	1042	17552	0.00	2.10	0.00	0.000	1030	0.000	0.048	3004	2403	2620	2653	2587	0	0	0	0	0	0	15.02	14.96	15.04
17874	0.68	170.3	3003	2401	2653	2587	316.7	10.1	1057	17879	0.00	2.20	0.00	0.000	260	0.000	0.082	3004	3704	2620	2653	2587	0	0	0	0	0	0	15.17	14.90	15.19
17924	0.68	170.3	3003	3704	2653	2587	311.0	11.0	1067	17929	0.00	2.12	0.00	0.000	1030	0.000	0.049	3004	2389	2619	2653	2586	0	0	0	0	0	0	15.01	14.94	15.03
18236	0.68	170.3	3003	2386	2653	2587	281.9	9.5	1079	18240	0.00	2.28	0.00	0.000	516	0.000	0.060	3004	994	2620	2653	2587	0	0	0	0	0	0	15.17	14.92	15.19
18267	0.68	170.3	3004	994	2654	2587	279.0	9.2	1085	18272	0.00	2.33	0.00	0.000	1030	0.000	0.059	3004	2409	2620	2654	2587	0	0	0	0	0	0	15.01	14.92	15.03
18579	0.68	170.3	3004	2409	2654	2587	245.9	11.1	1101	18584	0.00	2.15	0.00	0.000	260	0.000	0.084	3004	3702	2620	2654	2587	0	0	0	0	0	0	15.16	14.90	15.19
18705	0.68	170.3	3004	3702	2654	2587	230.3	12.5	1126	18712	0.00	2.10	0.00	0.000	1030	0.000	0.048	3004	2394	2620	2654	2587	0	0	0	0	0	0	15.01	14.95	15.03
19011	0.68	170.3	3003	2392	2654	2587	198.9	10.0	1157	19016	0.00	2.20	0.00	0.000	260	0.000	0.083	3005	3695	2620	2654	2587	0	0	0	0	0	0	15.16	14.88	15.17
19037	0.68	170.3	3004	3695	2654	2587	196.1	10.4	1162	19044	0.00	2.08	0.00	0.000	1030	0.000	0.047	3004	2396	2620	2654	2587	0	0	0	0	0	0	15.00	14.94	15.02
19343	0.76	235.6	3003	2394	2654	2587	171.3	6.3	1193	19417	0.00	2.33	68.12	1.040	8740	0.000	0.058	3004	993	2379	2424	2335	0	0	0	0	0	0	15.15	14.57	14.12
19474	0.79	235.6	3003	993	2417	2329	162.7	6.7	1219	19479	0.00	2.35	0.00	0.000	1094	0.000	0.057	3004	2397	2373	2417	2329	0	0	0	0	0	0	14.69	14.61	14.71
19785	0.79	235.6	3003	2397	2412	2326	139.7	8.0	1251	19789	0.00	2.20	0.00	0.000	260	0.000	0.082	3005	3704	2369	2412	2326	0	0	0	0	0	0	14.95	14.70	14.97
19869	0.79	235.6	3003	3704	2411	2326	130.9	11.1	1268	19877	0.00	2.15	0.00	0.000	1030	0.000	0.047	3004	2409	2368	2411	2326	0	0	0	0	0	0	14.78	14.74	14.80
20176	0.79	235.6	3004	2407	2411	2326	93.4	11.1	1299	20180	0.00	2.33	0.00	0.000	516	0.000	0.057	3004	990	2368	2410	2326	0	0	0	0	0	0	15.02	14.78	15.04
20268	0.83	235.6	3003	990	2410	2325	86.0	6.6	1317	20274	0.12	2.33	0.00	0.000	3142	0.151	0.054	3055	2405	2368	2411	2325	0	0	0	0	0	0	14.79	14.79	14.88
20581	0.84	235.6	3055	2405	2410	2325	66.4	7.8	1349	20586	0.00	2.15	0.00	0.000	324	0.000	0.080	3055	3698	2367	2410	2325	0	0	0	0	0	0	15.06	14.80	15.08
20687	0.93	306.3	3055	3698	2410	2325	59.0	6.1	1370	20764	0.00	2.08	67.07	0.907	9254	0.000	0.042	3055	2377	2089	2136	2043	0	0	0	0	0	0	14.92	14.86	14.13
21064	1.03	393.7	3055	2377	2128	2041	33.2	5.5	1441	21151	0.15	2.28	77.97	0.848	10788	0.138	0.053	3114	1012	1732	1780	1684	0	0	0	0	0	0	14.66	14.34	14.02
21199	1.03	393.7	3115	1013	1775	1683	19.5	12.4	1464	21206	0.00	2.33	0.00	0.000	1030	0.000	0.049	3114	2403	1729	1775	1683	0	0	0	0	0	0	14.57	14.50	14.59
21322	end climb: SURFACE_DEPTH_REACHED
state	21323	begin surface coast
21344	end surface coast: CONTROL_FINISHED_OK
state	21344	begin surface