Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 93 * 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 93 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 78 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 44 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 93 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 78 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 11 R_STBD_OVSHOOT 44 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 050218,000643,-315.5006,5537.7295,27,1.3,34,-4.6,0.2,93.4,6,9.5 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 0.74 MHEAD_RNG_PITCHd_Wd 313.7,29022,-14.4,-8.462,-20.64,3036

_SM_ANGLEo -71.3 D_GRID 1000

GPS2 050218,001212,-315.5653,5537.8169,17,1.3,23,-4.6,0.3,131.5,7,9.5

Post-dive calculations and measurements:

FINISH -0.1,1.022701 FG_AHR_24Vo 0.000

SM_CCo 21219,18.55,0.078,0,0,1714,400.08 FG_AHR_10Vo 0.000

SM_GC 0.79,8.35,0.10,18.55,0.094,0.129,0.078,252,2316,1714,-7.86,1.22,400.08,0,0,0,0,0,0,14.61,14.69,14.65 MEM 304640

IRIDIUM_FIX -313.38,5622.79,040218,181708 DATA_FILE_SIZE 66572,1537

TT8_MAMPS 0.018725,0.156541 CAP_FILE_SIZE 181162,0

HUMID 58.70 CFSIZE 260034560,251072512

INTERNAL_PRESSURE 8.46325 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0

TCM_TEMP 23.00 INTR 0,13006.00,0x234cb8,1,24

XPDR_PINGS 0 CURRENT 0.106,83.09,1

_24V_AH 13.31,32.452 GPS 050218,060807,-313.997,5537.187,40,0.7,42,-4.6,1.1,82.1,10,8.6

_10V_AH 13.63,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 434 125.93 SBE_CT 743 23 237.06

Roll_motor 191 194 496.24 nil 0 0 0.00

VBD_pump_during_apogee 513 1878 12846.28 nil 0 0 0.00

VBD_pump_during_surface 18 78 19.27 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 229 130 400.07 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 20 6.73

TT8 3296 9 425.49

LPSleep 14983 2 447.26

TT8_Active 683 9 88.21

TT8_Sampling 2454 28 943.24

TT8_CF8 158 34 73.79

TT8_Kalman 0 0 0.00

Analog_circuits 2169 16 473.19

GPS_charging 0 0 0.00

Compass 2186 17 513.44

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

7 -0.57 -170.3 222 2367 1720 1713 0.0 0.0 0 73 0.00 0.00 -64.10 0.004 16386 0.000 0.000 222 2366 3692 3672 3712 0 0 0 0 0 0 14.89 28.83 14.91

75 -0.57 -170.3 221 2366 3672 3712 4.3 -12.8 11 97 11.90 2.25 -3.12 0.028 18692 0.435 0.087 2581 3695 3904 3896 3912 0 0 0 0 0 0 14.41 13.67 14.70

149 -0.57 -170.3 2580 3695 3901 3913 32.9 -22.1 24 156 0.00 2.10 0.00 0.000 1030 0.000 0.041 2581 2382 3907 3902 3913 0 0 0 0 0 0 14.76 14.69 14.78

458 -0.57 -170.3 2580 2379 3907 3913 79.4 -9.0 63 459 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2378 3910 3907 3913 0 0 0 0 0 0 15.00 15.02 15.02

759 -0.57 -170.3 2580 2379 3910 3915 118.9 -14.6 93 763 0.00 2.20 0.00 0.000 260 0.000 0.077 2580 3691 3912 3909 3915 0 0 0 0 0 0 15.05 14.79 15.07

793 -0.57 -170.3 2580 3691 3910 3915 124.1 -13.5 100 801 0.00 2.17 0.00 0.000 1030 0.000 0.038 2581 2336 3912 3910 3915 0 0 0 0 0 0 14.87 14.83 14.89

1100 -0.57 -170.3 2580 2336 3910 3916 164.0 -11.9 131 1104 0.00 2.25 0.00 0.000 260 0.000 0.079 2581 3679 3913 3910 3916 0 0 0 0 0 0 15.09 14.83 15.11

1151 -0.57 -170.3 2580 3679 3910 3916 169.9 -11.6 141 1156 0.00 2.08 0.00 0.000 1030 0.000 0.040 2581 2352 3913 3910 3916 0 0 0 0 0 0 14.95 14.89 14.96

1463 -0.57 -170.3 2580 2347 3911 3916 206.4 -12.6 173 1468 0.00 2.25 0.00 0.000 260 0.000 0.080 2580 3689 3913 3911 3916 0 0 0 0 0 0 15.11 14.85 15.14

1498 -0.57 -170.3 2580 3689 3910 3916 210.9 -11.9 180 1505 0.00 2.10 0.00 0.000 1030 0.000 0.037 2581 2342 3913 3911 3916 0 0 0 0 0 0 14.97 14.92 14.98

1804 -0.57 -170.3 2580 2342 3910 3916 242.0 -9.1 211 1806 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2342 3913 3910 3916 0 0 0 0 0 0 15.13 15.16 15.15

2105 -0.57 -170.3 2580 2341 3910 3916 271.4 -9.6 227 2106 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2341 3913 3910 3916 0 0 0 0 0 0 15.15 15.18 15.17

2405 -0.57 -170.3 2579 2341 3909 3916 302.9 -10.3 237 2406 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2341 3912 3909 3916 0 0 0 0 0 0 15.16 15.19 15.19

2705 -0.57 -170.3 2580 2341 3908 3915 335.5 -10.8 247 2709 0.00 2.25 0.00 0.000 260 0.000 0.082 2580 3680 3911 3907 3915 0 0 0 0 0 0 15.18 14.90 15.20

2736 -0.57 -170.3 2580 3679 3907 3914 338.7 -10.0 253 2741 0.00 2.10 0.00 0.000 1030 0.000 0.041 2581 2343 3910 3907 3914 0 0 0 0 0 0 15.02 14.97 15.04

3068 -0.57 -170.3 2580 2339 3906 3914 372.0 -10.2 269 3073 0.00 2.22 0.00 0.000 516 0.000 0.051 2580 956 3910 3906 3914 0 0 0 0 0 0 15.19 14.94 15.21

3114 -0.57 -170.3 2580 956 3906 3914 376.9 -10.4 278 3118 0.00 2.28 0.00 0.000 1030 0.000 0.055 2580 2342 3910 3906 3914 0 0 0 0 0 0 15.02 14.93 15.03

3430 -0.57 -170.3 2580 2342 3904 3911 413.9 -12.8 291 3434 0.00 2.25 0.00 0.000 260 0.000 0.085 2580 3701 3907 3904 3911 0 0 0 0 0 0 15.19 14.90 15.21

3470 -0.57 -170.3 2580 3701 3903 3910 419.5 -13.6 299 3474 0.00 2.12 0.00 0.000 1030 0.000 0.044 2580 2355 3906 3903 3910 0 0 0 0 0 0 15.03 14.97 15.05

3791 -0.57 -170.3 2581 2351 3903 3909 460.5 -12.4 313 3796 0.00 2.28 0.00 0.000 260 0.000 0.086 2581 3695 3905 3902 3909 0 0 0 0 0 0 15.19 14.90 15.21

3823 -0.57 -170.3 2580 3695 3902 3908 464.4 -12.4 319 3827 0.00 2.12 0.00 0.000 1030 0.000 0.044 2581 2343 3904 3901 3908 0 0 0 0 0 0 15.03 14.98 15.05

4154 -0.57 -170.3 2580 2338 3901 3906 499.9 -10.1 335 4158 0.00 2.30 0.00 0.000 260 0.000 0.085 2581 3698 3904 3901 3907 0 0 0 0 0 0 15.19 14.91 15.21

4178 -0.57 -170.3 2580 3698 3900 3906 502.5 -10.3 340 4186 0.00 2.15 0.00 0.000 1030 0.000 0.044 2581 2337 3903 3900 3906 0 0 0 0 0 0 15.04 14.98 15.05

4485 -0.57 -170.3 2580 2337 3900 3904 531.0 -9.0 351 4489 0.00 2.30 0.00 0.000 260 0.000 0.086 2581 3695 3901 3899 3904 0 0 0 0 0 0 15.19 14.91 15.21

4521 -0.57 -170.3 2580 3695 3899 3904 534.1 -8.6 358 4525 0.00 2.12 0.00 0.000 1030 0.000 0.043 2581 2342 3901 3899 3903 0 0 0 0 0 0 15.04 14.99 15.05

4847 -0.57 -170.3 2580 2338 3899 3902 562.1 -8.6 373 4848 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2338 3900 3898 3902 0 0 0 0 0 0 15.19 15.21 15.21

5147 -0.57 -170.3 2580 2338 3897 3901 589.0 -8.8 383 5151 0.00 2.30 0.00 0.000 260 0.000 0.086 2581 3691 3899 3898 3901 0 0 0 0 0 0 15.20 14.91 15.22

5182 -0.57 -170.3 2580 3691 3897 3900 592.2 -8.7 390 5186 0.00 2.12 0.00 0.000 1030 0.000 0.043 2580 2344 3898 3897 3900 0 0 0 0 0 0 15.04 14.99 15.05

5508 -0.57 -170.3 2580 2340 3897 3898 621.1 -8.8 405 5514 0.00 2.30 0.00 0.000 260 0.000 0.088 2581 3692 3897 3897 3898 0 0 0 0 0 0 15.19 14.90 15.21

5535 -0.57 -170.3 2580 3692 3896 3898 623.5 -8.8 410 5541 0.00 2.12 0.00 0.000 1030 0.000 0.044 2580 2344 3897 3897 3898 0 0 0 0 0 0 15.04 14.98 15.05

5841 -0.57 -170.3 2580 2343 3897 3897 650.9 -9.3 421 5842 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2344 3897 3897 3897 0 0 0 0 0 0 15.19 15.21 15.21

6141 -0.57 -170.3 2580 2343 3896 3896 679.0 -9.4 431 6142 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2343 3896 3896 3896 0 0 0 0 0 0 15.20 15.21 15.22

6441 -0.57 -170.3 2580 2343 3895 3893 707.9 -9.9 441 6446 0.00 2.30 0.00 0.000 260 0.000 0.089 2581 3694 3894 3895 3893 0 0 0 0 0 0 15.21 14.90 15.22

6461 -0.57 -170.3 2580 3694 3894 3893 710.1 -10.2 445 6467 0.00 2.12 0.00 0.000 1030 0.000 0.045 2580 2349 3893 3894 3893 0 0 0 0 0 0 15.04 14.98 15.06

6774 -0.57 -170.3 2580 2344 3893 3892 742.1 -10.1 457 6775 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2345 3892 3893 3892 0 0 0 0 0 0 15.19 15.21 15.21

7073 -0.57 -170.3 2580 2345 3892 3890 769.1 -8.8 467 7074 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2345 3891 3892 3890 0 0 0 0 0 0 15.20 15.22 15.23

7373 -0.57 -170.3 2580 2345 3891 3889 795.5 -8.9 477 7378 0.00 2.25 0.00 0.000 516 0.000 0.054 2581 956 3890 3892 3889 0 0 0 0 0 0 15.20 14.95 15.22

7394 -0.57 -170.3 2580 956 3891 3889 797.6 -9.8 481 7399 0.00 2.33 0.00 0.000 1030 0.000 0.060 2581 2351 3889 3891 3888 0 0 0 0 0 0 15.02 14.92 15.04

7706 -0.57 -170.3 2580 2351 3890 3886 824.5 -8.6 493 7710 0.00 2.28 0.00 0.000 260 0.000 0.092 2580 3701 3888 3890 3886 0 0 0 0 0 0 15.20 14.89 15.22

7740 -0.57 -170.3 2580 3701 3889 3886 827.7 -8.9 500 7745 0.00 2.20 0.00 0.000 1030 0.000 0.048 2580 2349 3887 3889 3886 0 0 0 0 0 0 14.98 14.94 15.00

8068 -0.57 -170.3 2580 2345 3889 3885 855.1 -8.3 515 8069 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2345 3887 3889 3885 0 0 0 0 0 0 15.19 15.21 15.21

8367 -0.57 -170.3 2579 2342 3889 3882 879.4 -8.2 525 8372 0.00 2.33 0.00 0.000 260 0.000 0.092 2579 3703 3885 3889 3881 0 0 0 0 0 0 15.19 14.88 15.21

8418 -0.57 -170.3 2579 3703 3888 3882 883.7 -8.4 535 8422 0.00 2.15 0.00 0.000 1030 0.000 0.048 2579 2349 3884 3888 3881 0 0 0 0 0 0 15.02 14.96 15.04

8729 -0.57 -170.3 2579 2345 3888 3881 907.8 -7.7 547 8733 0.00 2.28 0.00 0.000 516 0.000 0.056 2579 946 3884 3888 3881 0 0 0 0 0 0 15.19 14.92 15.21

8761 -0.57 -170.3 2579 946 3888 3881 910.2 -7.9 553 8767 0.00 2.35 0.00 0.000 1030 0.000 0.062 2579 2355 3884 3888 3881 0 0 0 0 0 0 15.01 14.91 15.03

9094 -0.57 -170.3 2578 2355 3887 3880 933.7 -6.6 569 9098 0.00 2.28 0.00 0.000 260 0.000 0.094 2579 3703 3883 3887 3880 0 0 0 0 0 0 15.19 14.88 15.21

9159 -0.57 -170.3 2579 3703 3887 3880 938.2 -6.8 582 9163 0.00 2.17 0.00 0.000 1030 0.000 0.049 2579 2341 3883 3887 3880 0 0 0 0 0 0 15.02 14.96 15.04

9485 -0.57 -170.3 2579 2337 3887 3879 960.4 -6.9 597 9490 0.00 2.25 0.00 0.000 516 0.000 0.054 2579 953 3883 3887 3879 0 0 0 0 0 0 15.19 14.92 15.21

9525 -0.57 -170.3 2579 953 3887 3879 963.5 -7.4 605 9531 0.00 2.35 0.00 0.000 1030 0.000 0.060 2579 2358 3882 3886 3878 0 0 0 0 0 0 15.00 14.90 15.02

9848 -0.57 -170.3 2579 2358 3886 3878 987.6 -7.8 619 9852 0.00 2.28 0.00 0.000 260 0.000 0.093 2579 3696 3882 3886 3878 0 0 0 0 0 0 15.18 14.87 15.20

9878 end dive: TARGET_DEPTH_EXCEEDED

state 9878 begin apogee

9884 -0.12 0.0 2579 2394 3886 3878 990.2 -8.8 625 10064 0.52 0.00 177.12 1.659 10246 0.213 0.000 2731 2393 3345 3367 3323 0 0 0 0 0 0 14.78 14.14 13.53

10065 end apogee: CONTROL_FINISHED_OK

state 10065 begin climb

10067 0.57 170.3 2731 2394 3362 3318 997.8 0.0 631 10254 0.75 2.42 175.57 1.879 10500 0.134 0.091 2959 3687 2642 2686 2599 0 0 1 0 0 0 14.12 13.95 13.31

10310 0.57 170.3 2959 3687 2676 2595 988.0 10.0 681 10315 0.00 2.17 0.00 0.000 1030 0.000 0.047 2959 2408 2636 2677 2596 0 0 0 0 0 0 14.32 14.26 14.33

10632 0.57 170.3 2959 2409 2669 2592 961.0 8.3 695 10633 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2409 2631 2669 2593 0 0 0 0 0 0 14.82 14.84 14.84

10932 0.57 170.3 2959 2407 2666 2592 936.4 8.3 705 10937 0.00 2.40 0.00 0.000 516 0.000 0.063 2959 990 2628 2665 2591 0 0 0 0 0 0 14.95 14.70 14.96

10964 0.57 170.3 2959 990 2666 2591 933.9 8.2 711 10968 0.00 2.40 0.00 0.000 1030 0.000 0.060 2959 2399 2628 2665 2591 0 0 0 0 0 0 14.78 14.71 14.81

11296 0.58 170.3 2959 2400 2663 2590 907.7 7.8 727 11300 0.00 2.20 0.00 0.000 324 0.000 0.087 2960 3701 2626 2663 2590 0 0 0 0 0 0 15.02 14.75 15.03

11360 0.58 170.3 2959 3701 2662 2589 901.6 9.7 740 11365 0.00 2.12 0.00 0.000 1030 0.000 0.050 2960 2397 2625 2662 2589 0 0 0 0 0 0 14.87 14.81 14.89

11687 0.59 170.3 2959 2397 2662 2589 876.0 7.7 755 11691 0.00 2.33 0.00 0.000 580 0.000 0.062 2959 994 2625 2662 2589 0 0 0 0 0 0 15.06 14.81 15.07

11722 0.62 170.3 2959 994 2662 2588 873.3 7.3 762 11726 0.00 2.38 0.00 0.000 1094 0.000 0.060 2959 2408 2625 2662 2588 0 0 0 0 0 0 14.90 14.81 14.92

12043 0.62 170.3 2959 2408 2660 2588 847.8 8.2 776 12048 0.00 2.20 0.00 0.000 260 0.000 0.087 2959 3706 2624 2660 2588 0 0 0 0 0 0 15.08 14.81 15.11

12083 0.62 170.3 2959 3706 2659 2587 843.9 10.1 784 12087 0.00 2.12 0.00 0.000 1030 0.000 0.050 2960 2396 2623 2659 2588 0 0 0 0 0 0 14.93 14.87 14.95

12405 0.62 170.3 2959 2394 2659 2587 814.5 9.5 798 12406 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2394 2623 2659 2587 0 0 0 0 0 0 15.11 15.13 15.12

12705 0.62 170.3 2959 2394 2658 2587 784.9 10.0 808 12706 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2394 2622 2658 2587 0 0 0 0 0 0 15.11 15.14 15.14

13005 0.62 170.3 2960 2394 2657 2587 752.5 10.9 818 13011 0.00 2.30 0.00 0.000 516 0.000 0.061 2960 988 2622 2657 2587 0 0 0 0 0 0 15.13 14.88 15.15

13031 0.62 170.3 2959 988 2657 2587 749.6 10.4 823 13038 0.00 2.38 0.00 0.000 1030 0.000 0.059 2960 2408 2622 2657 2587 0 0 0 0 0 0 14.96 14.88 14.99

13339 0.62 170.3 2960 2408 2657 2587 717.7 10.3 834 13343 0.00 2.17 0.00 0.000 260 0.000 0.086 2959 3700 2621 2657 2586 0 0 0 0 0 0 15.13 14.85 15.16

13378 0.62 170.3 2959 3700 2656 2587 712.8 11.8 842 13382 0.00 2.10 0.00 0.000 1030 0.000 0.050 2959 2397 2621 2656 2587 0 0 0 0 0 0 14.97 14.91 15.00

13700 0.62 170.3 2959 2395 2656 2587 678.7 10.7 856 13701 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2394 2621 2656 2586 0 0 0 0 0 0 15.14 15.16 15.16

14000 0.62 170.3 2959 2395 2655 2586 646.2 10.6 866 14004 0.00 2.22 0.00 0.000 260 0.000 0.086 2960 3703 2621 2655 2587 0 0 0 0 0 0 15.15 14.87 15.16

14035 0.62 170.3 2959 3703 2654 2587 642.1 11.4 873 14040 0.00 2.10 0.00 0.000 1030 0.000 0.050 2959 2400 2620 2654 2586 0 0 0 0 0 0 14.99 14.92 15.01

14362 0.62 170.3 2959 2398 2654 2586 611.2 9.0 888 14363 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2398 2620 2654 2586 0 0 0 0 0 0 15.15 15.17 15.17

14663 0.62 170.3 2959 2398 2654 2586 584.3 8.9 898 14667 0.00 2.33 0.00 0.000 516 0.000 0.060 2959 990 2620 2654 2587 0 0 0 0 0 0 15.16 14.90 15.18

14687 0.62 170.3 2959 990 2654 2586 582.0 8.6 903 14695 0.00 2.35 0.00 0.000 1030 0.000 0.058 2960 2402 2620 2654 2586 0 0 0 0 0 0 14.98 14.89 15.01

14995 0.62 170.3 2959 2402 2654 2586 555.8 8.5 914 14999 0.00 2.17 0.00 0.000 260 0.000 0.086 2959 3697 2619 2653 2586 0 0 0 0 0 0 15.16 14.88 15.17

15049 0.62 170.3 2959 3697 2653 2586 550.4 9.9 925 15057 0.00 2.10 0.00 0.000 1030 0.000 0.047 2959 2390 2619 2653 2586 0 0 0 0 0 0 15.00 14.93 15.02

15356 0.63 170.3 2959 2390 2653 2586 526.1 7.7 936 15360 0.00 2.30 0.00 0.000 580 0.000 0.060 2960 990 2619 2653 2586 0 0 0 0 0 0 15.16 14.90 15.18

15390 0.65 170.3 2959 990 2653 2586 523.4 7.4 943 15395 0.00 2.35 0.00 0.000 1094 0.000 0.058 2960 2400 2619 2653 2586 0 0 0 0 0 0 14.98 14.89 15.00

15718 0.67 170.3 2959 2400 2653 2586 498.7 7.5 958 15723 0.12 2.17 0.00 0.000 2372 0.145 0.085 3012 3699 2619 2652 2586 0 0 0 0 0 0 14.90 14.87 14.95

15788 0.67 170.3 3012 3699 2653 2586 491.0 11.0 972 15793 0.00 2.10 0.00 0.000 1030 0.000 0.047 3013 2400 2619 2652 2586 0 0 0 0 0 0 15.00 14.92 15.02

16111 0.67 170.3 3013 2398 2653 2586 459.6 9.5 986 16116 0.00 2.33 0.00 0.000 516 0.000 0.060 3014 987 2620 2654 2586 0 0 0 0 0 0 15.16 14.88 15.18

16136 0.67 170.3 3014 987 2653 2586 457.1 8.7 991 16143 0.00 2.38 0.00 0.000 1030 0.000 0.058 3014 2406 2620 2653 2587 0 0 0 0 0 0 14.98 14.89 15.01

16443 0.67 170.3 3014 2406 2653 2586 430.0 8.3 1002 16447 0.00 2.15 0.00 0.000 260 0.000 0.084 3014 3695 2619 2652 2586 0 0 0 0 0 0 15.16 14.87 15.18

16568 0.67 170.3 3014 3695 2653 2586 418.2 9.6 1027 16572 0.00 2.10 0.00 0.000 1030 0.000 0.046 3014 2388 2619 2653 2586 0 0 0 0 0 0 14.99 14.93 15.01

16895 0.69 170.3 3014 2385 2653 2586 392.7 7.7 1042 16899 0.00 2.30 0.00 0.000 580 0.000 0.063 3015 996 2619 2653 2586 0 0 0 0 0 0 15.15 14.89 15.18

16966 0.72 170.3 3014 996 2653 2586 387.6 6.9 1056 16970 0.00 2.35 0.00 0.000 1094 0.000 0.057 3014 2408 2619 2653 2586 0 0 0 0 0 0 14.98 14.89 15.00

17288 0.72 170.3 3014 2409 2653 2586 360.8 9.4 1070 17292 0.00 2.15 0.00 0.000 260 0.000 0.083 3014 3696 2619 2653 2586 0 0 0 0 0 0 15.16 14.87 15.18

17312 0.72 170.3 3014 3696 2653 2586 358.1 10.7 1075 17319 0.00 2.08 0.00 0.000 1030 0.000 0.047 3014 2400 2619 2653 2586 0 0 0 0 0 0 14.99 14.93 15.02

17619 0.72 170.3 3014 2400 2653 2586 325.3 11.1 1086 17621 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 2400 2619 2653 2586 0 0 0 0 0 0 15.16 15.18 15.18

17919 0.72 170.3 3014 2400 2652 2586 290.9 11.2 1096 17920 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 2400 2619 2653 2586 0 0 0 0 0 0 15.16 15.19 15.19

18219 0.72 170.3 3014 2400 2653 2586 261.9 9.3 1106 18223 0.00 2.30 0.00 0.000 516 0.000 0.060 3014 995 2619 2653 2586 0 0 0 0 0 0 15.17 14.90 15.19

18294 0.72 170.3 3014 995 2653 2586 255.3 8.8 1121 18299 0.00 2.35 0.00 0.000 1030 0.000 0.057 3014 2407 2619 2653 2586 0 0 0 0 0 0 14.99 14.90 15.01

18600 0.72 170.3 3014 2408 2653 2586 227.2 9.5 1149 18605 0.00 2.15 0.00 0.000 260 0.000 0.082 3014 3697 2619 2653 2586 0 0 0 0 0 0 15.16 14.87 15.18

18655 0.72 170.3 3014 3697 2653 2586 220.8 11.7 1160 18662 0.00 2.12 0.00 0.000 1030 0.000 0.045 3014 2398 2619 2653 2586 0 0 0 0 0 0 14.94 14.90 14.96

18962 0.72 170.3 3014 2396 2653 2586 187.1 11.3 1191 18966 0.00 2.20 0.00 0.000 260 0.000 0.082 3014 3699 2619 2653 2586 0 0 0 0 0 0 15.14 14.85 15.16

19023 0.72 170.3 3014 3698 2653 2587 179.8 12.0 1203 19027 0.00 2.08 0.00 0.000 1030 0.000 0.046 3014 2398 2619 2653 2586 0 0 0 0 0 0 14.97 14.92 15.00

19334 0.72 170.3 3014 2396 2654 2586 152.5 8.3 1235 19338 0.00 2.20 0.00 0.000 260 0.000 0.081 3014 3701 2621 2656 2586 0 0 0 0 0 0 15.14 14.85 15.16

19449 0.72 170.3 3014 3701 2655 2586 141.3 10.0 1258 19456 0.00 2.08 0.00 0.000 1030 0.000 0.047 3014 2402 2620 2655 2586 0 0 0 0 0 0 14.97 14.90 14.99

19755 0.73 170.3 3014 2400 2657 2586 115.6 7.8 1289 19760 0.00 2.30 0.00 0.000 580 0.000 0.057 3014 992 2621 2656 2586 0 0 0 0 0 0 15.14 14.87 15.16

19888 0.75 170.3 3014 993 2658 2586 105.3 7.7 1315 19892 0.00 2.33 0.00 0.000 1094 0.000 0.054 3014 2402 2622 2658 2586 0 0 0 0 0 0 14.95 14.87 14.98

20199 0.88 278.8 3014 2402 2658 2586 84.5 4.8 1347 20310 0.12 2.28 101.10 0.929 10532 0.151 0.081 3068 3722 2201 2246 2157 0 0 0 0 0 0 14.87 14.45 14.07

20477 0.88 278.8 3067 3722 2238 2154 53.4 8.3 1402 20484 0.00 2.15 0.00 0.000 1030 0.000 0.044 3068 2395 2195 2238 2153 0 0 1 0 0 0 14.70 14.64 14.72

20785 0.90 278.8 3068 2393 2233 2148 31.1 7.6 1458 20792 0.00 2.33 0.00 0.000 580 0.000 0.054 3068 988 2190 2233 2148 0 0 0 0 0 0 14.94 14.71 14.96

20905 0.99 353.0 3068 988 2231 2146 24.3 6.0 1481 20974 0.00 2.35 59.90 0.844 9254 0.000 0.051 3068 2407 1898 1943 1853 0 0 0 0 0 0 14.81 14.73 14.11

21170 end climb: SURFACE_DEPTH_REACHED

state 21170 begin surface coast

21204 end surface coast: CONTROL_FINISHED_OK

state 21204 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	93	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	78	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	44	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	050218,000643,-315.5006,5537.7295,27,1.3,34,-4.6,0.2,93.4,6,9.5	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	0.74	MHEAD_RNG_PITCHd_Wd	313.7,29022,-14.4,-8.462,-20.64,3036
_SM_ANGLEo	-71.3	D_GRID	1000
GPS2	050218,001212,-315.5653,5537.8169,17,1.3,23,-4.6,0.3,131.5,7,9.5

FINISH	-0.1,1.022701	FG_AHR_24Vo	0.000
SM_CCo	21219,18.55,0.078,0,0,1714,400.08	FG_AHR_10Vo	0.000
SM_GC	0.79,8.35,0.10,18.55,0.094,0.129,0.078,252,2316,1714,-7.86,1.22,400.08,0,0,0,0,0,0,14.61,14.69,14.65	MEM	304640
IRIDIUM_FIX	-313.38,5622.79,040218,181708	DATA_FILE_SIZE	66572,1537
TT8_MAMPS	0.018725,0.156541	CAP_FILE_SIZE	181162,0
HUMID	58.70	CFSIZE	260034560,251072512
INTERNAL_PRESSURE	8.46325	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
TCM_TEMP	23.00	INTR	0,13006.00,0x234cb8,1,24
XPDR_PINGS	0	CURRENT	0.106,83.09,1
_24V_AH	13.31,32.452	GPS	050218,060807,-313.997,5537.187,40,0.7,42,-4.6,1.1,82.1,10,8.6
_10V_AH	13.63,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	434	125.93	SBE_CT	743	23	237.06
Roll_motor	191	194	496.24	nil	0	0	0.00
VBD_pump_during_apogee	513	1878	12846.28	nil	0	0	0.00
VBD_pump_during_surface	18	78	19.27	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	229	130	400.07	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	20	6.73
TT8	3296	9	425.49
LPSleep	14983	2	447.26
TT8_Active	683	9	88.21
TT8_Sampling	2454	28	943.24
TT8_CF8	158	34	73.79
TT8_Kalman	0	0	0.00
Analog_circuits	2169	16	473.19
GPS_charging	0	0	0.00
Compass	2186	17	513.44
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
7	-0.57	-170.3	222	2367	1720	1713	0.0	0.0	0	73	0.00	0.00	-64.10	0.004	16386	0.000	0.000	222	2366	3692	3672	3712	0	0	0	0	0	0	14.89	28.83	14.91
75	-0.57	-170.3	221	2366	3672	3712	4.3	-12.8	11	97	11.90	2.25	-3.12	0.028	18692	0.435	0.087	2581	3695	3904	3896	3912	0	0	0	0	0	0	14.41	13.67	14.70
149	-0.57	-170.3	2580	3695	3901	3913	32.9	-22.1	24	156	0.00	2.10	0.00	0.000	1030	0.000	0.041	2581	2382	3907	3902	3913	0	0	0	0	0	0	14.76	14.69	14.78
458	-0.57	-170.3	2580	2379	3907	3913	79.4	-9.0	63	459	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2378	3910	3907	3913	0	0	0	0	0	0	15.00	15.02	15.02
759	-0.57	-170.3	2580	2379	3910	3915	118.9	-14.6	93	763	0.00	2.20	0.00	0.000	260	0.000	0.077	2580	3691	3912	3909	3915	0	0	0	0	0	0	15.05	14.79	15.07
793	-0.57	-170.3	2580	3691	3910	3915	124.1	-13.5	100	801	0.00	2.17	0.00	0.000	1030	0.000	0.038	2581	2336	3912	3910	3915	0	0	0	0	0	0	14.87	14.83	14.89
1100	-0.57	-170.3	2580	2336	3910	3916	164.0	-11.9	131	1104	0.00	2.25	0.00	0.000	260	0.000	0.079	2581	3679	3913	3910	3916	0	0	0	0	0	0	15.09	14.83	15.11
1151	-0.57	-170.3	2580	3679	3910	3916	169.9	-11.6	141	1156	0.00	2.08	0.00	0.000	1030	0.000	0.040	2581	2352	3913	3910	3916	0	0	0	0	0	0	14.95	14.89	14.96
1463	-0.57	-170.3	2580	2347	3911	3916	206.4	-12.6	173	1468	0.00	2.25	0.00	0.000	260	0.000	0.080	2580	3689	3913	3911	3916	0	0	0	0	0	0	15.11	14.85	15.14
1498	-0.57	-170.3	2580	3689	3910	3916	210.9	-11.9	180	1505	0.00	2.10	0.00	0.000	1030	0.000	0.037	2581	2342	3913	3911	3916	0	0	0	0	0	0	14.97	14.92	14.98
1804	-0.57	-170.3	2580	2342	3910	3916	242.0	-9.1	211	1806	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2342	3913	3910	3916	0	0	0	0	0	0	15.13	15.16	15.15
2105	-0.57	-170.3	2580	2341	3910	3916	271.4	-9.6	227	2106	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2341	3913	3910	3916	0	0	0	0	0	0	15.15	15.18	15.17
2405	-0.57	-170.3	2579	2341	3909	3916	302.9	-10.3	237	2406	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2341	3912	3909	3916	0	0	0	0	0	0	15.16	15.19	15.19
2705	-0.57	-170.3	2580	2341	3908	3915	335.5	-10.8	247	2709	0.00	2.25	0.00	0.000	260	0.000	0.082	2580	3680	3911	3907	3915	0	0	0	0	0	0	15.18	14.90	15.20
2736	-0.57	-170.3	2580	3679	3907	3914	338.7	-10.0	253	2741	0.00	2.10	0.00	0.000	1030	0.000	0.041	2581	2343	3910	3907	3914	0	0	0	0	0	0	15.02	14.97	15.04
3068	-0.57	-170.3	2580	2339	3906	3914	372.0	-10.2	269	3073	0.00	2.22	0.00	0.000	516	0.000	0.051	2580	956	3910	3906	3914	0	0	0	0	0	0	15.19	14.94	15.21
3114	-0.57	-170.3	2580	956	3906	3914	376.9	-10.4	278	3118	0.00	2.28	0.00	0.000	1030	0.000	0.055	2580	2342	3910	3906	3914	0	0	0	0	0	0	15.02	14.93	15.03
3430	-0.57	-170.3	2580	2342	3904	3911	413.9	-12.8	291	3434	0.00	2.25	0.00	0.000	260	0.000	0.085	2580	3701	3907	3904	3911	0	0	0	0	0	0	15.19	14.90	15.21
3470	-0.57	-170.3	2580	3701	3903	3910	419.5	-13.6	299	3474	0.00	2.12	0.00	0.000	1030	0.000	0.044	2580	2355	3906	3903	3910	0	0	0	0	0	0	15.03	14.97	15.05
3791	-0.57	-170.3	2581	2351	3903	3909	460.5	-12.4	313	3796	0.00	2.28	0.00	0.000	260	0.000	0.086	2581	3695	3905	3902	3909	0	0	0	0	0	0	15.19	14.90	15.21
3823	-0.57	-170.3	2580	3695	3902	3908	464.4	-12.4	319	3827	0.00	2.12	0.00	0.000	1030	0.000	0.044	2581	2343	3904	3901	3908	0	0	0	0	0	0	15.03	14.98	15.05
4154	-0.57	-170.3	2580	2338	3901	3906	499.9	-10.1	335	4158	0.00	2.30	0.00	0.000	260	0.000	0.085	2581	3698	3904	3901	3907	0	0	0	0	0	0	15.19	14.91	15.21
4178	-0.57	-170.3	2580	3698	3900	3906	502.5	-10.3	340	4186	0.00	2.15	0.00	0.000	1030	0.000	0.044	2581	2337	3903	3900	3906	0	0	0	0	0	0	15.04	14.98	15.05
4485	-0.57	-170.3	2580	2337	3900	3904	531.0	-9.0	351	4489	0.00	2.30	0.00	0.000	260	0.000	0.086	2581	3695	3901	3899	3904	0	0	0	0	0	0	15.19	14.91	15.21
4521	-0.57	-170.3	2580	3695	3899	3904	534.1	-8.6	358	4525	0.00	2.12	0.00	0.000	1030	0.000	0.043	2581	2342	3901	3899	3903	0	0	0	0	0	0	15.04	14.99	15.05
4847	-0.57	-170.3	2580	2338	3899	3902	562.1	-8.6	373	4848	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2338	3900	3898	3902	0	0	0	0	0	0	15.19	15.21	15.21
5147	-0.57	-170.3	2580	2338	3897	3901	589.0	-8.8	383	5151	0.00	2.30	0.00	0.000	260	0.000	0.086	2581	3691	3899	3898	3901	0	0	0	0	0	0	15.20	14.91	15.22
5182	-0.57	-170.3	2580	3691	3897	3900	592.2	-8.7	390	5186	0.00	2.12	0.00	0.000	1030	0.000	0.043	2580	2344	3898	3897	3900	0	0	0	0	0	0	15.04	14.99	15.05
5508	-0.57	-170.3	2580	2340	3897	3898	621.1	-8.8	405	5514	0.00	2.30	0.00	0.000	260	0.000	0.088	2581	3692	3897	3897	3898	0	0	0	0	0	0	15.19	14.90	15.21
5535	-0.57	-170.3	2580	3692	3896	3898	623.5	-8.8	410	5541	0.00	2.12	0.00	0.000	1030	0.000	0.044	2580	2344	3897	3897	3898	0	0	0	0	0	0	15.04	14.98	15.05
5841	-0.57	-170.3	2580	2343	3897	3897	650.9	-9.3	421	5842	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2344	3897	3897	3897	0	0	0	0	0	0	15.19	15.21	15.21
6141	-0.57	-170.3	2580	2343	3896	3896	679.0	-9.4	431	6142	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2343	3896	3896	3896	0	0	0	0	0	0	15.20	15.21	15.22
6441	-0.57	-170.3	2580	2343	3895	3893	707.9	-9.9	441	6446	0.00	2.30	0.00	0.000	260	0.000	0.089	2581	3694	3894	3895	3893	0	0	0	0	0	0	15.21	14.90	15.22
6461	-0.57	-170.3	2580	3694	3894	3893	710.1	-10.2	445	6467	0.00	2.12	0.00	0.000	1030	0.000	0.045	2580	2349	3893	3894	3893	0	0	0	0	0	0	15.04	14.98	15.06
6774	-0.57	-170.3	2580	2344	3893	3892	742.1	-10.1	457	6775	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2345	3892	3893	3892	0	0	0	0	0	0	15.19	15.21	15.21
7073	-0.57	-170.3	2580	2345	3892	3890	769.1	-8.8	467	7074	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2345	3891	3892	3890	0	0	0	0	0	0	15.20	15.22	15.23
7373	-0.57	-170.3	2580	2345	3891	3889	795.5	-8.9	477	7378	0.00	2.25	0.00	0.000	516	0.000	0.054	2581	956	3890	3892	3889	0	0	0	0	0	0	15.20	14.95	15.22
7394	-0.57	-170.3	2580	956	3891	3889	797.6	-9.8	481	7399	0.00	2.33	0.00	0.000	1030	0.000	0.060	2581	2351	3889	3891	3888	0	0	0	0	0	0	15.02	14.92	15.04
7706	-0.57	-170.3	2580	2351	3890	3886	824.5	-8.6	493	7710	0.00	2.28	0.00	0.000	260	0.000	0.092	2580	3701	3888	3890	3886	0	0	0	0	0	0	15.20	14.89	15.22
7740	-0.57	-170.3	2580	3701	3889	3886	827.7	-8.9	500	7745	0.00	2.20	0.00	0.000	1030	0.000	0.048	2580	2349	3887	3889	3886	0	0	0	0	0	0	14.98	14.94	15.00
8068	-0.57	-170.3	2580	2345	3889	3885	855.1	-8.3	515	8069	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2345	3887	3889	3885	0	0	0	0	0	0	15.19	15.21	15.21
8367	-0.57	-170.3	2579	2342	3889	3882	879.4	-8.2	525	8372	0.00	2.33	0.00	0.000	260	0.000	0.092	2579	3703	3885	3889	3881	0	0	0	0	0	0	15.19	14.88	15.21
8418	-0.57	-170.3	2579	3703	3888	3882	883.7	-8.4	535	8422	0.00	2.15	0.00	0.000	1030	0.000	0.048	2579	2349	3884	3888	3881	0	0	0	0	0	0	15.02	14.96	15.04
8729	-0.57	-170.3	2579	2345	3888	3881	907.8	-7.7	547	8733	0.00	2.28	0.00	0.000	516	0.000	0.056	2579	946	3884	3888	3881	0	0	0	0	0	0	15.19	14.92	15.21
8761	-0.57	-170.3	2579	946	3888	3881	910.2	-7.9	553	8767	0.00	2.35	0.00	0.000	1030	0.000	0.062	2579	2355	3884	3888	3881	0	0	0	0	0	0	15.01	14.91	15.03
9094	-0.57	-170.3	2578	2355	3887	3880	933.7	-6.6	569	9098	0.00	2.28	0.00	0.000	260	0.000	0.094	2579	3703	3883	3887	3880	0	0	0	0	0	0	15.19	14.88	15.21
9159	-0.57	-170.3	2579	3703	3887	3880	938.2	-6.8	582	9163	0.00	2.17	0.00	0.000	1030	0.000	0.049	2579	2341	3883	3887	3880	0	0	0	0	0	0	15.02	14.96	15.04
9485	-0.57	-170.3	2579	2337	3887	3879	960.4	-6.9	597	9490	0.00	2.25	0.00	0.000	516	0.000	0.054	2579	953	3883	3887	3879	0	0	0	0	0	0	15.19	14.92	15.21
9525	-0.57	-170.3	2579	953	3887	3879	963.5	-7.4	605	9531	0.00	2.35	0.00	0.000	1030	0.000	0.060	2579	2358	3882	3886	3878	0	0	0	0	0	0	15.00	14.90	15.02
9848	-0.57	-170.3	2579	2358	3886	3878	987.6	-7.8	619	9852	0.00	2.28	0.00	0.000	260	0.000	0.093	2579	3696	3882	3886	3878	0	0	0	0	0	0	15.18	14.87	15.20
9878	end dive: TARGET_DEPTH_EXCEEDED
state	9878	begin apogee
9884	-0.12	0.0	2579	2394	3886	3878	990.2	-8.8	625	10064	0.52	0.00	177.12	1.659	10246	0.213	0.000	2731	2393	3345	3367	3323	0	0	0	0	0	0	14.78	14.14	13.53
10065	end apogee: CONTROL_FINISHED_OK
state	10065	begin climb
10067	0.57	170.3	2731	2394	3362	3318	997.8	0.0	631	10254	0.75	2.42	175.57	1.879	10500	0.134	0.091	2959	3687	2642	2686	2599	0	0	1	0	0	0	14.12	13.95	13.31
10310	0.57	170.3	2959	3687	2676	2595	988.0	10.0	681	10315	0.00	2.17	0.00	0.000	1030	0.000	0.047	2959	2408	2636	2677	2596	0	0	0	0	0	0	14.32	14.26	14.33
10632	0.57	170.3	2959	2409	2669	2592	961.0	8.3	695	10633	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2409	2631	2669	2593	0	0	0	0	0	0	14.82	14.84	14.84
10932	0.57	170.3	2959	2407	2666	2592	936.4	8.3	705	10937	0.00	2.40	0.00	0.000	516	0.000	0.063	2959	990	2628	2665	2591	0	0	0	0	0	0	14.95	14.70	14.96
10964	0.57	170.3	2959	990	2666	2591	933.9	8.2	711	10968	0.00	2.40	0.00	0.000	1030	0.000	0.060	2959	2399	2628	2665	2591	0	0	0	0	0	0	14.78	14.71	14.81
11296	0.58	170.3	2959	2400	2663	2590	907.7	7.8	727	11300	0.00	2.20	0.00	0.000	324	0.000	0.087	2960	3701	2626	2663	2590	0	0	0	0	0	0	15.02	14.75	15.03
11360	0.58	170.3	2959	3701	2662	2589	901.6	9.7	740	11365	0.00	2.12	0.00	0.000	1030	0.000	0.050	2960	2397	2625	2662	2589	0	0	0	0	0	0	14.87	14.81	14.89
11687	0.59	170.3	2959	2397	2662	2589	876.0	7.7	755	11691	0.00	2.33	0.00	0.000	580	0.000	0.062	2959	994	2625	2662	2589	0	0	0	0	0	0	15.06	14.81	15.07
11722	0.62	170.3	2959	994	2662	2588	873.3	7.3	762	11726	0.00	2.38	0.00	0.000	1094	0.000	0.060	2959	2408	2625	2662	2588	0	0	0	0	0	0	14.90	14.81	14.92
12043	0.62	170.3	2959	2408	2660	2588	847.8	8.2	776	12048	0.00	2.20	0.00	0.000	260	0.000	0.087	2959	3706	2624	2660	2588	0	0	0	0	0	0	15.08	14.81	15.11
12083	0.62	170.3	2959	3706	2659	2587	843.9	10.1	784	12087	0.00	2.12	0.00	0.000	1030	0.000	0.050	2960	2396	2623	2659	2588	0	0	0	0	0	0	14.93	14.87	14.95
12405	0.62	170.3	2959	2394	2659	2587	814.5	9.5	798	12406	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2394	2623	2659	2587	0	0	0	0	0	0	15.11	15.13	15.12
12705	0.62	170.3	2959	2394	2658	2587	784.9	10.0	808	12706	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2394	2622	2658	2587	0	0	0	0	0	0	15.11	15.14	15.14
13005	0.62	170.3	2960	2394	2657	2587	752.5	10.9	818	13011	0.00	2.30	0.00	0.000	516	0.000	0.061	2960	988	2622	2657	2587	0	0	0	0	0	0	15.13	14.88	15.15
13031	0.62	170.3	2959	988	2657	2587	749.6	10.4	823	13038	0.00	2.38	0.00	0.000	1030	0.000	0.059	2960	2408	2622	2657	2587	0	0	0	0	0	0	14.96	14.88	14.99
13339	0.62	170.3	2960	2408	2657	2587	717.7	10.3	834	13343	0.00	2.17	0.00	0.000	260	0.000	0.086	2959	3700	2621	2657	2586	0	0	0	0	0	0	15.13	14.85	15.16
13378	0.62	170.3	2959	3700	2656	2587	712.8	11.8	842	13382	0.00	2.10	0.00	0.000	1030	0.000	0.050	2959	2397	2621	2656	2587	0	0	0	0	0	0	14.97	14.91	15.00
13700	0.62	170.3	2959	2395	2656	2587	678.7	10.7	856	13701	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2394	2621	2656	2586	0	0	0	0	0	0	15.14	15.16	15.16
14000	0.62	170.3	2959	2395	2655	2586	646.2	10.6	866	14004	0.00	2.22	0.00	0.000	260	0.000	0.086	2960	3703	2621	2655	2587	0	0	0	0	0	0	15.15	14.87	15.16
14035	0.62	170.3	2959	3703	2654	2587	642.1	11.4	873	14040	0.00	2.10	0.00	0.000	1030	0.000	0.050	2959	2400	2620	2654	2586	0	0	0	0	0	0	14.99	14.92	15.01
14362	0.62	170.3	2959	2398	2654	2586	611.2	9.0	888	14363	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2398	2620	2654	2586	0	0	0	0	0	0	15.15	15.17	15.17
14663	0.62	170.3	2959	2398	2654	2586	584.3	8.9	898	14667	0.00	2.33	0.00	0.000	516	0.000	0.060	2959	990	2620	2654	2587	0	0	0	0	0	0	15.16	14.90	15.18
14687	0.62	170.3	2959	990	2654	2586	582.0	8.6	903	14695	0.00	2.35	0.00	0.000	1030	0.000	0.058	2960	2402	2620	2654	2586	0	0	0	0	0	0	14.98	14.89	15.01
14995	0.62	170.3	2959	2402	2654	2586	555.8	8.5	914	14999	0.00	2.17	0.00	0.000	260	0.000	0.086	2959	3697	2619	2653	2586	0	0	0	0	0	0	15.16	14.88	15.17
15049	0.62	170.3	2959	3697	2653	2586	550.4	9.9	925	15057	0.00	2.10	0.00	0.000	1030	0.000	0.047	2959	2390	2619	2653	2586	0	0	0	0	0	0	15.00	14.93	15.02
15356	0.63	170.3	2959	2390	2653	2586	526.1	7.7	936	15360	0.00	2.30	0.00	0.000	580	0.000	0.060	2960	990	2619	2653	2586	0	0	0	0	0	0	15.16	14.90	15.18
15390	0.65	170.3	2959	990	2653	2586	523.4	7.4	943	15395	0.00	2.35	0.00	0.000	1094	0.000	0.058	2960	2400	2619	2653	2586	0	0	0	0	0	0	14.98	14.89	15.00
15718	0.67	170.3	2959	2400	2653	2586	498.7	7.5	958	15723	0.12	2.17	0.00	0.000	2372	0.145	0.085	3012	3699	2619	2652	2586	0	0	0	0	0	0	14.90	14.87	14.95
15788	0.67	170.3	3012	3699	2653	2586	491.0	11.0	972	15793	0.00	2.10	0.00	0.000	1030	0.000	0.047	3013	2400	2619	2652	2586	0	0	0	0	0	0	15.00	14.92	15.02
16111	0.67	170.3	3013	2398	2653	2586	459.6	9.5	986	16116	0.00	2.33	0.00	0.000	516	0.000	0.060	3014	987	2620	2654	2586	0	0	0	0	0	0	15.16	14.88	15.18
16136	0.67	170.3	3014	987	2653	2586	457.1	8.7	991	16143	0.00	2.38	0.00	0.000	1030	0.000	0.058	3014	2406	2620	2653	2587	0	0	0	0	0	0	14.98	14.89	15.01
16443	0.67	170.3	3014	2406	2653	2586	430.0	8.3	1002	16447	0.00	2.15	0.00	0.000	260	0.000	0.084	3014	3695	2619	2652	2586	0	0	0	0	0	0	15.16	14.87	15.18
16568	0.67	170.3	3014	3695	2653	2586	418.2	9.6	1027	16572	0.00	2.10	0.00	0.000	1030	0.000	0.046	3014	2388	2619	2653	2586	0	0	0	0	0	0	14.99	14.93	15.01
16895	0.69	170.3	3014	2385	2653	2586	392.7	7.7	1042	16899	0.00	2.30	0.00	0.000	580	0.000	0.063	3015	996	2619	2653	2586	0	0	0	0	0	0	15.15	14.89	15.18
16966	0.72	170.3	3014	996	2653	2586	387.6	6.9	1056	16970	0.00	2.35	0.00	0.000	1094	0.000	0.057	3014	2408	2619	2653	2586	0	0	0	0	0	0	14.98	14.89	15.00
17288	0.72	170.3	3014	2409	2653	2586	360.8	9.4	1070	17292	0.00	2.15	0.00	0.000	260	0.000	0.083	3014	3696	2619	2653	2586	0	0	0	0	0	0	15.16	14.87	15.18
17312	0.72	170.3	3014	3696	2653	2586	358.1	10.7	1075	17319	0.00	2.08	0.00	0.000	1030	0.000	0.047	3014	2400	2619	2653	2586	0	0	0	0	0	0	14.99	14.93	15.02
17619	0.72	170.3	3014	2400	2653	2586	325.3	11.1	1086	17621	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	2400	2619	2653	2586	0	0	0	0	0	0	15.16	15.18	15.18
17919	0.72	170.3	3014	2400	2652	2586	290.9	11.2	1096	17920	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	2400	2619	2653	2586	0	0	0	0	0	0	15.16	15.19	15.19
18219	0.72	170.3	3014	2400	2653	2586	261.9	9.3	1106	18223	0.00	2.30	0.00	0.000	516	0.000	0.060	3014	995	2619	2653	2586	0	0	0	0	0	0	15.17	14.90	15.19
18294	0.72	170.3	3014	995	2653	2586	255.3	8.8	1121	18299	0.00	2.35	0.00	0.000	1030	0.000	0.057	3014	2407	2619	2653	2586	0	0	0	0	0	0	14.99	14.90	15.01
18600	0.72	170.3	3014	2408	2653	2586	227.2	9.5	1149	18605	0.00	2.15	0.00	0.000	260	0.000	0.082	3014	3697	2619	2653	2586	0	0	0	0	0	0	15.16	14.87	15.18
18655	0.72	170.3	3014	3697	2653	2586	220.8	11.7	1160	18662	0.00	2.12	0.00	0.000	1030	0.000	0.045	3014	2398	2619	2653	2586	0	0	0	0	0	0	14.94	14.90	14.96
18962	0.72	170.3	3014	2396	2653	2586	187.1	11.3	1191	18966	0.00	2.20	0.00	0.000	260	0.000	0.082	3014	3699	2619	2653	2586	0	0	0	0	0	0	15.14	14.85	15.16
19023	0.72	170.3	3014	3698	2653	2587	179.8	12.0	1203	19027	0.00	2.08	0.00	0.000	1030	0.000	0.046	3014	2398	2619	2653	2586	0	0	0	0	0	0	14.97	14.92	15.00
19334	0.72	170.3	3014	2396	2654	2586	152.5	8.3	1235	19338	0.00	2.20	0.00	0.000	260	0.000	0.081	3014	3701	2621	2656	2586	0	0	0	0	0	0	15.14	14.85	15.16
19449	0.72	170.3	3014	3701	2655	2586	141.3	10.0	1258	19456	0.00	2.08	0.00	0.000	1030	0.000	0.047	3014	2402	2620	2655	2586	0	0	0	0	0	0	14.97	14.90	14.99
19755	0.73	170.3	3014	2400	2657	2586	115.6	7.8	1289	19760	0.00	2.30	0.00	0.000	580	0.000	0.057	3014	992	2621	2656	2586	0	0	0	0	0	0	15.14	14.87	15.16
19888	0.75	170.3	3014	993	2658	2586	105.3	7.7	1315	19892	0.00	2.33	0.00	0.000	1094	0.000	0.054	3014	2402	2622	2658	2586	0	0	0	0	0	0	14.95	14.87	14.98
20199	0.88	278.8	3014	2402	2658	2586	84.5	4.8	1347	20310	0.12	2.28	101.10	0.929	10532	0.151	0.081	3068	3722	2201	2246	2157	0	0	0	0	0	0	14.87	14.45	14.07
20477	0.88	278.8	3067	3722	2238	2154	53.4	8.3	1402	20484	0.00	2.15	0.00	0.000	1030	0.000	0.044	3068	2395	2195	2238	2153	0	0	1	0	0	0	14.70	14.64	14.72
20785	0.90	278.8	3068	2393	2233	2148	31.1	7.6	1458	20792	0.00	2.33	0.00	0.000	580	0.000	0.054	3068	988	2190	2233	2148	0	0	0	0	0	0	14.94	14.71	14.96
20905	0.99	353.0	3068	988	2231	2146	24.3	6.0	1481	20974	0.00	2.35	59.90	0.844	9254	0.000	0.051	3068	2407	1898	1943	1853	0	0	0	0	0	0	14.81	14.73	14.11
21170	end climb: SURFACE_DEPTH_REACHED
state	21170	begin surface coast
21204	end surface coast: CONTROL_FINISHED_OK
state	21204	begin surface