Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 152 * 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 152 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 38 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 30 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 152 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 38 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 11 R_STBD_OVSHOOT 30 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 190218,223300,-313.6603,5538.2495,42,1.2,48,-4.6,1.0,98.3,8,9.7 SPEED_LIMITS 0.132,0.202

_CALLS 1 TGT_NAME S

_XMS_NAKs 0 TGT_LATLONG -340.000,5536.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.72 MHEAD_RNG_PITCHd_Wd 225.4,48949,-14.4,-8.462,-20.64,3036

_SM_ANGLEo -75.5 D_GRID 1000

GPS2 190218,223834,-313.6794,5538.4106,20,0.8,30,-4.6,0.7,95.1,10,8.0

Post-dive calculations and measurements:

FINISH 0.3,1.022311 _10V_AH 13.55,0.000

SM_CCo 22271,9.30,0.081,0,0,1714,400.08 FG_AHR_24Vo 0.000

SM_GC 1.44,8.52,0.00,9.30,0.093,0.000,0.081,252,2389,1714,-7.86,1.10,400.08,0,0,0,0,0,0,14.58,14.88,14.61 FG_AHR_10Vo 0.000

IRIDIUM_FIX -309.00,5539.06,190218,162831 MEM 303868

TT8_MAMPS 0.019474,0.15729 DATA_FILE_SIZE 63263,1499

HUMID 59.76 CAP_FILE_SIZE 177714,0

INTERNAL_PRESSURE 8.47302 CFSIZE 260034560,246099968

TCM_TEMP 23.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.050,39.68,1

_24V_AH 13.22,50.297 GPS 200218,045137,-314.847,5537.142,27,0.8,29,-4.6,0.7,92.9,10,9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 427 123.81 SBE_CT 765 23 242.45

Roll_motor 172 136 310.35 nil 0 0 0.00

VBD_pump_during_apogee 508 1879 12623.60 nil 0 0 0.00

VBD_pump_during_surface 9 81 9.97 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 226 133 400.07 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 20 8.59

TT8 3328 9 427.05

LPSleep 16062 2 476.65

TT8_Active 654 9 84.01

TT8_Sampling 2398 28 916.04

TT8_CF8 179 34 82.95

TT8_Kalman 0 0 0.00

Analog_circuits 2099 16 455.07

GPS_charging 0 0 0.00

Compass 2132 17 497.83

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.57 -170.3 243 2344 1623 1588 0.0 0.0 0 75 0.00 0.00 -64.07 0.004 16386 0.000 0.000 243 2344 3560 3538 3583 0 0 0 0 0 0 14.88 28.83 14.90

77 -0.57 -170.3 243 2344 3540 3583 3.7 -9.8 11 105 11.75 2.28 -5.28 0.018 18692 0.428 0.082 2581 3697 3904 3899 3910 0 0 0 0 0 0 14.35 13.53 14.68

287 -0.57 -170.3 2581 3697 3903 3910 54.4 -20.3 51 292 0.00 2.17 0.00 0.000 1030 0.000 0.041 2580 2345 3907 3905 3910 0 0 0 0 0 0 14.78 14.72 14.81

598 -0.57 -170.3 2580 2341 3908 3911 99.4 -10.7 83 599 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2340 3909 3908 3911 0 0 0 0 0 0 15.03 15.04 15.04

899 -0.57 -170.3 2580 2341 3909 3914 139.7 -12.9 113 904 0.00 2.25 0.00 0.000 260 0.000 0.075 2580 3695 3912 3910 3914 0 0 0 0 0 0 15.07 14.78 15.09

965 -0.57 -170.3 2580 3695 3910 3914 148.0 -11.8 126 972 0.00 2.12 0.00 0.000 1030 0.000 0.039 2580 2325 3912 3910 3914 0 0 0 0 0 0 14.91 14.85 14.93

1271 -0.57 -170.3 2580 2325 3911 3915 177.5 -7.4 157 1276 0.00 2.28 0.00 0.000 260 0.000 0.076 2580 3695 3913 3911 3915 0 0 0 0 0 0 15.10 14.81 15.12

1312 -0.57 -170.3 2580 3695 3911 3915 180.6 -7.1 165 1318 0.00 2.08 0.00 0.000 1030 0.000 0.041 2580 2352 3913 3911 3915 0 0 0 0 0 0 14.94 14.88 14.96

1625 -0.57 -170.3 2580 2347 3911 3916 210.2 -10.4 197 1626 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2347 3913 3912 3915 0 0 0 0 0 0 15.12 15.14 15.14

1926 -0.57 -170.3 2580 2347 3910 3915 243.3 -10.8 227 1930 0.00 2.25 0.00 0.000 260 0.000 0.077 2580 3699 3912 3910 3915 0 0 0 0 0 0 15.12 14.83 15.14

1990 -0.57 -170.3 2580 3699 3909 3915 250.2 -10.0 240 1997 0.00 2.10 0.00 0.000 1030 0.000 0.040 2580 2346 3912 3910 3915 0 0 0 0 0 0 14.96 14.90 14.97

2297 -0.57 -170.3 2580 2346 3909 3915 279.5 -9.5 251 2301 0.00 2.25 0.00 0.000 260 0.000 0.077 2580 3696 3912 3910 3914 0 0 0 0 0 0 15.15 14.85 15.17

2346 -0.57 -170.3 2580 3697 3909 3914 284.3 -9.3 261 2351 0.00 2.10 0.00 0.000 1030 0.000 0.041 2580 2347 3911 3909 3914 0 0 0 0 0 0 14.98 14.92 15.00

2658 -0.57 -170.3 2580 2344 3909 3914 312.4 -9.3 273 2659 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2345 3911 3909 3914 0 0 0 0 0 0 15.16 15.19 15.18

2958 -0.57 -170.3 2580 2345 3908 3911 343.6 -10.9 283 2962 0.00 2.25 0.00 0.000 260 0.000 0.078 2580 3694 3909 3907 3912 0 0 0 0 0 0 15.17 14.87 15.19

3013 -0.57 -170.3 2579 3694 3906 3910 349.7 -11.0 294 3020 0.00 2.10 0.00 0.000 1030 0.000 0.041 2580 2344 3908 3907 3910 0 0 0 0 0 0 15.00 14.93 15.01

3320 -0.57 -170.3 2580 2344 3906 3909 382.7 -10.7 305 3321 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2344 3907 3906 3909 0 0 0 0 0 0 15.17 15.19 15.19

3619 -0.57 -170.3 2579 2344 3903 3907 412.1 -9.5 315 3623 0.00 2.28 0.00 0.000 260 0.000 0.080 2580 3702 3905 3903 3907 0 0 0 0 0 0 15.18 14.87 15.20

3674 -0.57 -170.3 2579 3702 3902 3907 417.4 -9.5 326 3681 0.00 2.10 0.00 0.000 1030 0.000 0.041 2580 2349 3904 3902 3907 0 0 0 0 0 0 15.00 14.94 15.02

3980 -0.57 -170.3 2580 2349 3901 3905 444.0 -8.5 337 3981 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2348 3903 3901 3905 0 0 0 0 0 0 15.18 15.20 15.20

4280 -0.57 -170.3 2580 2349 3900 3902 469.4 -8.5 347 4284 0.00 2.28 0.00 0.000 260 0.000 0.082 2580 3702 3901 3900 3902 0 0 0 0 0 0 15.19 14.86 15.20

4320 -0.57 -170.3 2580 3702 3899 3902 472.9 -8.4 355 4324 0.00 2.10 0.00 0.000 1030 0.000 0.042 2580 2354 3900 3899 3902 0 0 0 0 0 0 15.00 14.94 15.02

4641 -0.57 -170.3 2580 2349 3899 3900 500.1 -8.5 369 4642 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2349 3899 3899 3900 0 0 0 0 0 0 15.19 15.20 15.20

4941 -0.57 -170.3 2580 2349 3898 3898 525.2 -8.5 379 4946 0.00 2.28 0.00 0.000 260 0.000 0.083 2580 3694 3898 3898 3898 0 0 0 0 0 0 15.19 14.85 15.21

4961 -0.57 -170.3 2580 3694 3897 3898 527.0 -8.3 383 4965 0.00 2.12 0.00 0.000 1030 0.000 0.045 2580 2345 3897 3897 3898 0 0 0 0 0 0 15.00 14.94 15.02

5273 -0.57 -170.3 2580 2341 3897 3897 554.0 -8.8 395 5274 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2342 3896 3897 3896 0 0 0 0 0 0 15.19 15.21 15.20

5573 -0.57 -170.3 2580 2342 3896 3895 580.2 -8.8 405 5577 0.00 2.30 0.00 0.000 260 0.000 0.085 2580 3702 3894 3895 3894 0 0 0 0 0 0 15.19 14.85 15.20

5607 -0.57 -170.3 2580 3702 3895 3894 583.4 -9.1 412 5612 0.00 2.15 0.00 0.000 1030 0.000 0.044 2580 2347 3894 3895 3894 0 0 0 0 0 0 15.00 14.92 15.01

5935 -0.57 -170.3 2580 2344 3895 3891 611.5 -8.7 427 5936 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2344 3892 3894 3891 0 0 0 0 0 0 15.18 15.21 15.20

6235 -0.57 -170.3 2580 2344 3893 3890 637.4 -8.6 437 6239 0.00 2.30 0.00 0.000 260 0.000 0.085 2580 3701 3891 3892 3890 0 0 0 0 0 0 15.19 14.84 15.20

6281 -0.57 -170.3 2580 3701 3892 3889 641.4 -8.6 446 6285 0.00 2.15 0.00 0.000 1030 0.000 0.045 2580 2340 3891 3892 3890 0 0 0 0 0 0 15.00 14.93 15.01

6597 -0.57 -170.3 2580 2337 3891 3888 667.9 -8.4 459 6601 0.00 2.30 0.00 0.000 260 0.000 0.086 2580 3693 3889 3891 3887 0 0 0 0 0 0 15.18 14.83 15.20

6632 -0.57 -170.3 2580 3693 3890 3887 670.9 -8.4 466 6636 0.00 2.12 0.00 0.000 1030 0.000 0.046 2580 2350 3888 3890 3887 0 0 0 0 0 0 14.99 14.92 15.01

6958 -0.57 -170.3 2580 2347 3890 3886 695.2 -7.1 481 6960 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2347 3888 3890 3886 0 0 0 0 0 0 15.17 15.20 15.19

7258 -0.57 -170.3 2580 2347 3889 3884 716.9 -7.3 491 7262 0.00 2.30 0.00 0.000 260 0.000 0.086 2580 3700 3886 3889 3884 0 0 0 0 0 0 15.18 14.83 15.20

7298 -0.57 -170.3 2580 3700 3888 3884 720.0 -7.7 499 7302 0.00 2.15 0.00 0.000 1030 0.000 0.047 2580 2348 3885 3887 3884 0 0 0 0 0 0 14.99 14.92 15.00

7619 -0.57 -170.3 2580 2345 3888 3882 745.6 -8.3 513 7621 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2345 3884 3887 3882 0 0 0 0 0 0 15.18 15.20 15.19

7919 -0.57 -170.3 2580 2345 3886 3881 772.1 -9.1 523 7923 0.00 2.30 0.00 0.000 260 0.000 0.086 2580 3692 3883 3886 3881 0 0 0 0 0 0 15.18 14.82 15.20

7963 -0.57 -170.3 2580 3691 3886 3881 776.6 -9.6 532 7968 0.00 2.17 0.00 0.000 1030 0.000 0.047 2580 2356 3883 3886 3881 0 0 0 0 0 0 14.93 14.90 14.96

8281 -0.57 -170.3 2580 2354 3886 3880 807.5 -10.1 545 8286 0.00 2.33 0.00 0.000 516 0.000 0.055 2580 949 3883 3886 3880 0 0 0 0 0 0 15.17 14.87 15.19

8301 -0.57 -170.3 2580 949 3886 3880 809.8 -10.5 549 8306 0.00 2.38 0.00 0.000 1030 0.000 0.061 2580 2349 3883 3886 3880 0 0 0 0 0 0 14.95 14.85 14.99

8613 -0.57 -170.3 2578 2351 3885 3877 840.2 -9.5 561 8618 0.00 2.28 0.00 0.000 260 0.000 0.090 2579 3695 3881 3884 3878 0 0 0 0 0 0 15.18 14.81 15.19

8664 -0.57 -170.3 2578 3695 3884 3877 845.1 -9.4 571 8668 0.00 2.17 0.00 0.000 1030 0.000 0.048 2579 2344 3881 3885 3877 0 0 0 0 0 0 14.97 14.90 14.99

8975 -0.57 -170.3 2578 2340 3884 3877 871.6 -8.0 583 8976 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2341 3880 3884 3877 0 0 0 0 0 0 15.17 15.19 15.19

9275 -0.57 -170.3 2578 2341 3884 3876 893.8 -7.0 593 9276 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2340 3880 3884 3876 0 0 0 0 0 0 15.17 15.19 15.19

9575 -0.57 -170.3 2579 2340 3883 3874 914.6 -6.9 603 9579 0.00 2.33 0.00 0.000 260 0.000 0.091 2579 3695 3878 3883 3874 0 0 0 0 0 0 15.17 14.80 15.19

9625 -0.57 -170.3 2578 3695 3884 3874 918.3 -7.2 613 9630 0.00 2.17 0.00 0.000 1030 0.000 0.051 2579 2349 3878 3883 3874 0 0 0 0 0 0 14.96 14.89 14.98

9937 -0.57 -170.3 2578 2345 3883 3873 941.3 -7.6 625 9939 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2346 3877 3882 3873 0 0 0 0 0 0 15.17 15.19 15.19

10238 -0.57 -170.3 2578 2345 3882 3872 964.1 -7.6 635 10242 0.00 2.35 0.00 0.000 260 0.000 0.092 2579 3699 3877 3882 3872 0 0 0 0 0 0 15.17 14.78 15.19

10269 -0.57 -170.3 2578 3700 3881 3871 966.6 -8.2 641 10274 0.00 2.17 0.00 0.000 1030 0.000 0.050 2579 2345 3876 3881 3871 0 0 0 0 0 0 14.96 14.88 14.98

10600 end dive: TARGET_DEPTH_EXCEEDED

state 10600 begin apogee

10605 -0.12 0.0 2579 2410 3881 3870 991.2 -7.3 657 10753 0.55 0.00 140.23 1.880 10246 0.220 0.000 2736 2410 3338 3361 3315 0 0 0 0 0 0 14.66 13.97 13.38

10754 end apogee: CONTROL_FINISHED_OK

state 10754 begin climb

10755 0.57 170.3 2736 2410 3360 3314 996.4 0.0 662 10943 0.73 2.58 177.27 1.863 11012 0.132 0.058 2959 998 2644 2689 2599 0 0 0 0 0 0 14.13 13.97 13.22

10968 0.57 170.3 2959 998 2683 2596 988.3 8.5 695 10973 0.00 2.50 0.00 0.000 1030 0.000 0.057 2959 2396 2639 2682 2596 0 0 0 0 0 0 14.21 14.13 14.23

11296 0.57 170.3 2959 2396 2671 2590 960.2 8.5 710 11300 0.00 2.42 0.00 0.000 516 0.000 0.063 2960 1006 2631 2671 2591 0 0 0 0 0 0 14.81 14.54 14.83

11320 0.57 170.3 2960 1006 2671 2591 957.9 8.2 715 11327 0.00 2.42 0.00 0.000 1030 0.000 0.057 2961 2409 2631 2671 2591 0 0 0 0 0 0 14.64 14.56 14.67

11628 0.57 170.3 2960 2409 2667 2590 929.6 9.5 726 11632 0.00 2.42 0.00 0.000 516 0.000 0.060 2964 1004 2628 2667 2590 0 0 0 0 0 0 14.94 14.67 14.96

11652 0.57 170.3 2964 1004 2668 2590 927.1 9.1 731 11659 0.00 2.40 0.00 0.000 1030 0.000 0.057 2964 2401 2628 2667 2590 0 0 0 0 0 0 14.77 14.67 14.79

11959 0.57 170.3 2964 2401 2665 2590 896.7 10.2 742 11964 0.00 2.20 0.00 0.000 260 0.000 0.082 2964 3696 2627 2665 2590 0 0 0 0 0 0 15.01 14.71 15.02

11984 0.57 170.3 2964 3696 2663 2590 893.7 11.3 747 11991 0.00 2.10 0.00 0.000 1030 0.000 0.050 2971 2404 2627 2664 2590 0 0 0 0 0 0 14.84 14.76 14.85

12291 0.57 170.3 2971 2403 2663 2590 861.8 10.3 758 12295 0.00 2.38 0.00 0.000 516 0.000 0.062 2973 998 2626 2663 2590 0 0 0 0 0 0 15.04 14.76 15.07

12340 0.57 170.3 2973 997 2662 2589 856.5 10.5 768 12345 0.00 2.40 0.00 0.000 1030 0.000 0.059 2973 2409 2626 2664 2589 0 0 0 0 0 0 14.86 14.76 14.89

12653 0.57 170.3 2972 2409 2662 2589 825.8 9.4 780 12656 0.00 2.40 0.00 0.000 516 0.000 0.062 2974 997 2625 2662 2589 0 0 0 0 0 0 15.07 14.78 15.09

12686 0.57 170.3 2974 997 2662 2589 822.6 9.3 787 12691 0.00 2.42 0.00 0.000 1030 0.000 0.058 2974 2395 2625 2662 2589 0 0 0 0 0 0 14.90 14.76 14.92

13014 0.57 170.3 2974 2395 2661 2589 793.5 8.5 802 13015 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2394 2625 2661 2589 0 0 0 0 0 0 15.09 15.11 15.11

13314 0.57 170.3 2974 2394 2660 2589 768.3 8.4 812 13315 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2394 2624 2660 2589 0 0 0 0 0 0 15.10 15.12 15.12

13614 0.57 170.3 2974 2395 2659 2589 743.0 8.4 822 13618 0.00 2.40 0.00 0.000 516 0.000 0.063 2974 994 2623 2658 2589 0 0 0 0 0 0 15.11 14.81 15.14

13634 0.57 170.3 2974 994 2659 2589 741.1 8.7 826 13638 0.00 2.40 0.00 0.000 1030 0.000 0.058 2974 2408 2623 2658 2589 0 0 0 0 0 0 14.92 14.82 14.95

13940 0.57 170.3 2974 2408 2658 2589 713.9 9.2 837 13942 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2408 2623 2658 2589 0 0 0 0 0 0 15.12 15.14 15.14

14240 0.57 170.3 2974 2408 2657 2589 684.7 9.9 847 14241 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2408 2623 2657 2589 0 0 0 0 0 0 15.13 15.16 15.15

14540 0.57 170.3 2974 2408 2656 2589 657.0 8.8 857 14541 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2408 2622 2656 2589 0 0 0 0 0 0 15.14 15.16 15.16

14840 0.57 170.3 2974 2408 2656 2589 631.4 8.6 867 14841 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2408 2622 2655 2589 0 0 0 0 0 0 15.14 15.16 15.16

15140 0.57 170.3 2974 2408 2656 2589 605.8 8.6 877 15145 0.00 2.42 0.00 0.000 516 0.000 0.060 2974 990 2622 2655 2589 0 0 0 0 0 0 15.14 14.83 15.16

15172 0.57 170.3 2974 989 2655 2589 603.1 8.5 883 15177 0.00 2.40 0.00 0.000 1030 0.000 0.058 2974 2408 2622 2655 2589 0 0 0 0 0 0 14.93 14.83 14.97

15499 0.57 170.3 2974 2408 2655 2588 574.8 8.7 898 15500 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2408 2621 2655 2588 0 0 0 0 0 0 15.14 15.16 15.16

15799 0.57 170.3 2974 2408 2654 2588 547.2 9.3 908 15803 0.00 2.15 0.00 0.000 260 0.000 0.084 2974 3696 2621 2654 2588 0 0 0 0 0 0 15.14 14.80 15.16

15831 0.57 170.3 2974 3696 2653 2588 544.0 10.9 914 15835 0.00 2.10 0.00 0.000 1030 0.000 0.050 2974 2396 2620 2653 2588 0 0 0 0 0 0 14.95 14.88 14.97

16163 0.57 170.3 2974 2393 2653 2588 514.7 8.5 930 16167 0.00 2.38 0.00 0.000 516 0.000 0.063 2974 990 2620 2653 2588 0 0 0 0 0 0 15.14 14.83 15.16

16225 0.58 170.3 2974 989 2653 2588 509.8 7.8 942 16229 0.00 2.38 0.00 0.000 1094 0.000 0.057 2974 2400 2620 2653 2588 0 0 0 0 0 0 14.93 14.83 14.96

16557 0.60 170.3 2973 2399 2653 2588 484.8 7.3 958 16558 0.00 0.00 0.00 0.000 70 0.000 0.000 2974 2400 2620 2653 2588 0 0 0 0 0 0 15.15 15.16 15.16

16856 0.61 170.3 2973 2399 2653 2588 462.0 7.9 968 16858 0.00 0.00 0.00 0.000 70 0.000 0.000 2974 2400 2620 2653 2588 0 0 0 0 0 0 15.15 15.17 15.17

17157 0.63 170.3 2974 2399 2653 2588 438.3 7.8 978 17161 0.00 2.40 0.00 0.000 580 0.000 0.060 2974 990 2620 2653 2588 0 0 0 0 0 0 15.15 14.83 15.17

17189 0.65 170.3 2974 990 2653 2588 436.0 7.4 984 17194 0.00 2.38 0.00 0.000 1094 0.000 0.057 2974 2401 2620 2653 2588 0 0 0 0 0 0 14.93 14.83 14.97

17521 0.66 170.3 2974 2401 2653 2588 409.9 7.9 1000 17522 0.00 0.00 0.00 0.000 70 0.000 0.000 2974 2401 2620 2653 2588 0 0 0 0 0 0 15.15 15.16 15.16

17821 0.68 170.3 2974 2401 2653 2588 387.0 7.4 1010 17823 0.00 0.00 0.00 0.000 70 0.000 0.000 2974 2401 2620 2653 2588 0 0 0 0 0 0 15.15 15.17 15.17

18121 0.70 170.3 2974 2401 2653 2588 365.0 7.5 1020 18125 0.00 2.17 0.00 0.000 324 0.000 0.083 2974 3704 2620 2653 2588 0 0 0 0 0 0 15.16 14.80 15.18

18176 0.70 170.3 2974 3703 2652 2588 360.0 9.5 1031 18183 0.00 2.10 0.00 0.000 1030 0.000 0.047 2974 2396 2620 2652 2588 0 0 0 0 0 0 14.95 14.88 14.97

18483 0.71 170.3 2974 2394 2652 2588 335.3 7.9 1042 18488 0.10 2.33 0.00 0.000 2628 0.171 0.057 3012 1000 2620 2652 2588 0 0 0 0 0 0 14.85 14.82 14.92

18518 0.71 170.3 3013 999 2652 2588 332.1 9.4 1049 18523 0.00 2.38 0.00 0.000 1030 0.000 0.057 3013 2405 2620 2652 2588 0 0 0 0 0 0 14.93 14.83 14.96

18845 0.71 170.3 3013 2405 2653 2588 302.3 9.2 1064 18849 0.00 2.15 0.00 0.000 260 0.000 0.083 3013 3695 2620 2652 2588 0 0 0 0 0 0 15.15 14.79 15.17

18976 0.71 170.3 3013 3695 2652 2588 288.8 10.0 1090 18980 0.00 2.08 0.00 0.000 1030 0.000 0.047 3014 2399 2620 2652 2588 0 0 0 0 0 0 14.94 14.87 14.97

19297 0.71 170.3 3014 2397 2652 2588 260.7 8.5 1104 19301 0.00 2.38 0.00 0.000 516 0.000 0.062 3014 994 2620 2653 2588 0 0 0 0 0 0 15.15 14.81 15.16

19321 0.71 170.3 3014 994 2653 2588 258.6 8.2 1109 19330 0.00 2.38 0.00 0.000 1030 0.000 0.056 3014 2399 2620 2653 2588 0 0 0 0 0 0 14.92 14.83 14.96

19629 0.79 233.5 3014 2399 2652 2588 239.3 6.3 1132 19701 0.00 2.28 65.78 1.109 8484 0.000 0.082 3014 3695 2388 2432 2345 0 0 0 0 0 0 15.13 14.54 14.02

19824 0.79 233.5 3014 3696 2423 2340 218.1 14.2 1170 19829 0.00 2.12 0.00 0.000 1030 0.000 0.047 3014 2401 2381 2423 2340 0 0 0 0 0 0 14.69 14.62 14.71

20136 0.79 233.5 3014 2399 2421 2338 179.6 10.4 1202 20140 0.00 2.40 0.00 0.000 516 0.000 0.062 3015 990 2379 2421 2338 0 0 0 0 0 0 14.95 14.66 14.97

20207 0.79 233.5 3014 990 2419 2337 172.4 9.9 1216 20212 0.00 2.42 0.00 0.000 1030 0.000 0.054 3014 2411 2378 2420 2337 0 0 0 0 0 0 14.77 14.68 14.80

20519 0.80 233.5 3014 2410 2419 2336 145.0 7.9 1248 20523 0.00 2.15 0.00 0.000 324 0.000 0.079 3014 3700 2377 2419 2336 0 0 0 0 0 0 15.01 14.69 15.03

20553 0.80 233.5 3014 3700 2419 2335 141.7 9.5 1255 20561 0.00 2.10 0.00 0.000 1030 0.000 0.047 3015 2398 2377 2419 2335 0 0 0 0 0 0 14.83 14.76 14.85

20861 0.82 233.5 3014 2397 2418 2335 114.3 7.4 1286 20862 0.00 0.00 0.00 0.000 70 0.000 0.000 3014 2397 2377 2419 2335 0 0 0 0 0 0 15.04 15.07 15.06

21162 0.84 233.5 3014 2396 2418 2335 89.4 7.2 1316 21164 0.12 0.00 0.00 0.000 2118 0.151 0.000 3061 2396 2377 2419 2335 0 0 0 0 0 0 14.77 14.89 14.87

21461 0.88 233.5 3061 2395 2418 2335 64.2 6.6 1346 21466 0.00 2.35 0.00 0.000 580 0.000 0.055 3064 984 2376 2418 2335 0 0 0 0 0 0 15.08 14.78 15.10

21594 0.98 315.6 3063 984 2418 2335 56.3 5.7 1372 21677 0.00 2.38 75.10 0.895 9254 0.000 0.051 3063 2411 2052 2099 2006 0 0 0 0 0 0 14.88 14.79 14.09

21981 1.05 374.8 3063 2411 2091 2005 28.7 6.5 1448 22038 0.12 2.15 49.65 0.842 10532 0.158 0.072 3116 3691 1810 1855 1766 0 0 0 0 0 0 14.62 14.41 14.06

22081 1.05 374.8 3116 3691 1854 1767 19.5 10.8 1465 22089 0.00 2.12 0.00 0.000 1030 0.000 0.042 3117 2391 1810 1855 1766 0 0 0 0 0 0 14.62 14.57 14.64

22230 end climb: SURFACE_DEPTH_REACHED

state 22230 begin surface coast

22256 end surface coast: CONTROL_FINISHED_OK

state 22256 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	152	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	38	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	30	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	190218,223300,-313.6603,5538.2495,42,1.2,48,-4.6,1.0,98.3,8,9.7	SPEED_LIMITS	0.132,0.202
_CALLS	1	TGT_NAME	S
_XMS_NAKs	0	TGT_LATLONG	-340.000,5536.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.72	MHEAD_RNG_PITCHd_Wd	225.4,48949,-14.4,-8.462,-20.64,3036
_SM_ANGLEo	-75.5	D_GRID	1000
GPS2	190218,223834,-313.6794,5538.4106,20,0.8,30,-4.6,0.7,95.1,10,8.0

FINISH	0.3,1.022311	_10V_AH	13.55,0.000
SM_CCo	22271,9.30,0.081,0,0,1714,400.08	FG_AHR_24Vo	0.000
SM_GC	1.44,8.52,0.00,9.30,0.093,0.000,0.081,252,2389,1714,-7.86,1.10,400.08,0,0,0,0,0,0,14.58,14.88,14.61	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-309.00,5539.06,190218,162831	MEM	303868
TT8_MAMPS	0.019474,0.15729	DATA_FILE_SIZE	63263,1499
HUMID	59.76	CAP_FILE_SIZE	177714,0
INTERNAL_PRESSURE	8.47302	CFSIZE	260034560,246099968
TCM_TEMP	23.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.050,39.68,1
_24V_AH	13.22,50.297	GPS	200218,045137,-314.847,5537.142,27,0.8,29,-4.6,0.7,92.9,10,9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	427	123.81	SBE_CT	765	23	242.45
Roll_motor	172	136	310.35	nil	0	0	0.00
VBD_pump_during_apogee	508	1879	12623.60	nil	0	0	0.00
VBD_pump_during_surface	9	81	9.97	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	226	133	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	31	20	8.59
TT8	3328	9	427.05
LPSleep	16062	2	476.65
TT8_Active	654	9	84.01
TT8_Sampling	2398	28	916.04
TT8_CF8	179	34	82.95
TT8_Kalman	0	0	0.00
Analog_circuits	2099	16	455.07
GPS_charging	0	0	0.00
Compass	2132	17	497.83
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-0.57	-170.3	243	2344	1623	1588	0.0	0.0	0	75	0.00	0.00	-64.07	0.004	16386	0.000	0.000	243	2344	3560	3538	3583	0	0	0	0	0	0	14.88	28.83	14.90
77	-0.57	-170.3	243	2344	3540	3583	3.7	-9.8	11	105	11.75	2.28	-5.28	0.018	18692	0.428	0.082	2581	3697	3904	3899	3910	0	0	0	0	0	0	14.35	13.53	14.68
287	-0.57	-170.3	2581	3697	3903	3910	54.4	-20.3	51	292	0.00	2.17	0.00	0.000	1030	0.000	0.041	2580	2345	3907	3905	3910	0	0	0	0	0	0	14.78	14.72	14.81
598	-0.57	-170.3	2580	2341	3908	3911	99.4	-10.7	83	599	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2340	3909	3908	3911	0	0	0	0	0	0	15.03	15.04	15.04
899	-0.57	-170.3	2580	2341	3909	3914	139.7	-12.9	113	904	0.00	2.25	0.00	0.000	260	0.000	0.075	2580	3695	3912	3910	3914	0	0	0	0	0	0	15.07	14.78	15.09
965	-0.57	-170.3	2580	3695	3910	3914	148.0	-11.8	126	972	0.00	2.12	0.00	0.000	1030	0.000	0.039	2580	2325	3912	3910	3914	0	0	0	0	0	0	14.91	14.85	14.93
1271	-0.57	-170.3	2580	2325	3911	3915	177.5	-7.4	157	1276	0.00	2.28	0.00	0.000	260	0.000	0.076	2580	3695	3913	3911	3915	0	0	0	0	0	0	15.10	14.81	15.12
1312	-0.57	-170.3	2580	3695	3911	3915	180.6	-7.1	165	1318	0.00	2.08	0.00	0.000	1030	0.000	0.041	2580	2352	3913	3911	3915	0	0	0	0	0	0	14.94	14.88	14.96
1625	-0.57	-170.3	2580	2347	3911	3916	210.2	-10.4	197	1626	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2347	3913	3912	3915	0	0	0	0	0	0	15.12	15.14	15.14
1926	-0.57	-170.3	2580	2347	3910	3915	243.3	-10.8	227	1930	0.00	2.25	0.00	0.000	260	0.000	0.077	2580	3699	3912	3910	3915	0	0	0	0	0	0	15.12	14.83	15.14
1990	-0.57	-170.3	2580	3699	3909	3915	250.2	-10.0	240	1997	0.00	2.10	0.00	0.000	1030	0.000	0.040	2580	2346	3912	3910	3915	0	0	0	0	0	0	14.96	14.90	14.97
2297	-0.57	-170.3	2580	2346	3909	3915	279.5	-9.5	251	2301	0.00	2.25	0.00	0.000	260	0.000	0.077	2580	3696	3912	3910	3914	0	0	0	0	0	0	15.15	14.85	15.17
2346	-0.57	-170.3	2580	3697	3909	3914	284.3	-9.3	261	2351	0.00	2.10	0.00	0.000	1030	0.000	0.041	2580	2347	3911	3909	3914	0	0	0	0	0	0	14.98	14.92	15.00
2658	-0.57	-170.3	2580	2344	3909	3914	312.4	-9.3	273	2659	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2345	3911	3909	3914	0	0	0	0	0	0	15.16	15.19	15.18
2958	-0.57	-170.3	2580	2345	3908	3911	343.6	-10.9	283	2962	0.00	2.25	0.00	0.000	260	0.000	0.078	2580	3694	3909	3907	3912	0	0	0	0	0	0	15.17	14.87	15.19
3013	-0.57	-170.3	2579	3694	3906	3910	349.7	-11.0	294	3020	0.00	2.10	0.00	0.000	1030	0.000	0.041	2580	2344	3908	3907	3910	0	0	0	0	0	0	15.00	14.93	15.01
3320	-0.57	-170.3	2580	2344	3906	3909	382.7	-10.7	305	3321	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2344	3907	3906	3909	0	0	0	0	0	0	15.17	15.19	15.19
3619	-0.57	-170.3	2579	2344	3903	3907	412.1	-9.5	315	3623	0.00	2.28	0.00	0.000	260	0.000	0.080	2580	3702	3905	3903	3907	0	0	0	0	0	0	15.18	14.87	15.20
3674	-0.57	-170.3	2579	3702	3902	3907	417.4	-9.5	326	3681	0.00	2.10	0.00	0.000	1030	0.000	0.041	2580	2349	3904	3902	3907	0	0	0	0	0	0	15.00	14.94	15.02
3980	-0.57	-170.3	2580	2349	3901	3905	444.0	-8.5	337	3981	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2348	3903	3901	3905	0	0	0	0	0	0	15.18	15.20	15.20
4280	-0.57	-170.3	2580	2349	3900	3902	469.4	-8.5	347	4284	0.00	2.28	0.00	0.000	260	0.000	0.082	2580	3702	3901	3900	3902	0	0	0	0	0	0	15.19	14.86	15.20
4320	-0.57	-170.3	2580	3702	3899	3902	472.9	-8.4	355	4324	0.00	2.10	0.00	0.000	1030	0.000	0.042	2580	2354	3900	3899	3902	0	0	0	0	0	0	15.00	14.94	15.02
4641	-0.57	-170.3	2580	2349	3899	3900	500.1	-8.5	369	4642	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2349	3899	3899	3900	0	0	0	0	0	0	15.19	15.20	15.20
4941	-0.57	-170.3	2580	2349	3898	3898	525.2	-8.5	379	4946	0.00	2.28	0.00	0.000	260	0.000	0.083	2580	3694	3898	3898	3898	0	0	0	0	0	0	15.19	14.85	15.21
4961	-0.57	-170.3	2580	3694	3897	3898	527.0	-8.3	383	4965	0.00	2.12	0.00	0.000	1030	0.000	0.045	2580	2345	3897	3897	3898	0	0	0	0	0	0	15.00	14.94	15.02
5273	-0.57	-170.3	2580	2341	3897	3897	554.0	-8.8	395	5274	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2342	3896	3897	3896	0	0	0	0	0	0	15.19	15.21	15.20
5573	-0.57	-170.3	2580	2342	3896	3895	580.2	-8.8	405	5577	0.00	2.30	0.00	0.000	260	0.000	0.085	2580	3702	3894	3895	3894	0	0	0	0	0	0	15.19	14.85	15.20
5607	-0.57	-170.3	2580	3702	3895	3894	583.4	-9.1	412	5612	0.00	2.15	0.00	0.000	1030	0.000	0.044	2580	2347	3894	3895	3894	0	0	0	0	0	0	15.00	14.92	15.01
5935	-0.57	-170.3	2580	2344	3895	3891	611.5	-8.7	427	5936	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2344	3892	3894	3891	0	0	0	0	0	0	15.18	15.21	15.20
6235	-0.57	-170.3	2580	2344	3893	3890	637.4	-8.6	437	6239	0.00	2.30	0.00	0.000	260	0.000	0.085	2580	3701	3891	3892	3890	0	0	0	0	0	0	15.19	14.84	15.20
6281	-0.57	-170.3	2580	3701	3892	3889	641.4	-8.6	446	6285	0.00	2.15	0.00	0.000	1030	0.000	0.045	2580	2340	3891	3892	3890	0	0	0	0	0	0	15.00	14.93	15.01
6597	-0.57	-170.3	2580	2337	3891	3888	667.9	-8.4	459	6601	0.00	2.30	0.00	0.000	260	0.000	0.086	2580	3693	3889	3891	3887	0	0	0	0	0	0	15.18	14.83	15.20
6632	-0.57	-170.3	2580	3693	3890	3887	670.9	-8.4	466	6636	0.00	2.12	0.00	0.000	1030	0.000	0.046	2580	2350	3888	3890	3887	0	0	0	0	0	0	14.99	14.92	15.01
6958	-0.57	-170.3	2580	2347	3890	3886	695.2	-7.1	481	6960	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2347	3888	3890	3886	0	0	0	0	0	0	15.17	15.20	15.19
7258	-0.57	-170.3	2580	2347	3889	3884	716.9	-7.3	491	7262	0.00	2.30	0.00	0.000	260	0.000	0.086	2580	3700	3886	3889	3884	0	0	0	0	0	0	15.18	14.83	15.20
7298	-0.57	-170.3	2580	3700	3888	3884	720.0	-7.7	499	7302	0.00	2.15	0.00	0.000	1030	0.000	0.047	2580	2348	3885	3887	3884	0	0	0	0	0	0	14.99	14.92	15.00
7619	-0.57	-170.3	2580	2345	3888	3882	745.6	-8.3	513	7621	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2345	3884	3887	3882	0	0	0	0	0	0	15.18	15.20	15.19
7919	-0.57	-170.3	2580	2345	3886	3881	772.1	-9.1	523	7923	0.00	2.30	0.00	0.000	260	0.000	0.086	2580	3692	3883	3886	3881	0	0	0	0	0	0	15.18	14.82	15.20
7963	-0.57	-170.3	2580	3691	3886	3881	776.6	-9.6	532	7968	0.00	2.17	0.00	0.000	1030	0.000	0.047	2580	2356	3883	3886	3881	0	0	0	0	0	0	14.93	14.90	14.96
8281	-0.57	-170.3	2580	2354	3886	3880	807.5	-10.1	545	8286	0.00	2.33	0.00	0.000	516	0.000	0.055	2580	949	3883	3886	3880	0	0	0	0	0	0	15.17	14.87	15.19
8301	-0.57	-170.3	2580	949	3886	3880	809.8	-10.5	549	8306	0.00	2.38	0.00	0.000	1030	0.000	0.061	2580	2349	3883	3886	3880	0	0	0	0	0	0	14.95	14.85	14.99
8613	-0.57	-170.3	2578	2351	3885	3877	840.2	-9.5	561	8618	0.00	2.28	0.00	0.000	260	0.000	0.090	2579	3695	3881	3884	3878	0	0	0	0	0	0	15.18	14.81	15.19
8664	-0.57	-170.3	2578	3695	3884	3877	845.1	-9.4	571	8668	0.00	2.17	0.00	0.000	1030	0.000	0.048	2579	2344	3881	3885	3877	0	0	0	0	0	0	14.97	14.90	14.99
8975	-0.57	-170.3	2578	2340	3884	3877	871.6	-8.0	583	8976	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2341	3880	3884	3877	0	0	0	0	0	0	15.17	15.19	15.19
9275	-0.57	-170.3	2578	2341	3884	3876	893.8	-7.0	593	9276	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2340	3880	3884	3876	0	0	0	0	0	0	15.17	15.19	15.19
9575	-0.57	-170.3	2579	2340	3883	3874	914.6	-6.9	603	9579	0.00	2.33	0.00	0.000	260	0.000	0.091	2579	3695	3878	3883	3874	0	0	0	0	0	0	15.17	14.80	15.19
9625	-0.57	-170.3	2578	3695	3884	3874	918.3	-7.2	613	9630	0.00	2.17	0.00	0.000	1030	0.000	0.051	2579	2349	3878	3883	3874	0	0	0	0	0	0	14.96	14.89	14.98
9937	-0.57	-170.3	2578	2345	3883	3873	941.3	-7.6	625	9939	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2346	3877	3882	3873	0	0	0	0	0	0	15.17	15.19	15.19
10238	-0.57	-170.3	2578	2345	3882	3872	964.1	-7.6	635	10242	0.00	2.35	0.00	0.000	260	0.000	0.092	2579	3699	3877	3882	3872	0	0	0	0	0	0	15.17	14.78	15.19
10269	-0.57	-170.3	2578	3700	3881	3871	966.6	-8.2	641	10274	0.00	2.17	0.00	0.000	1030	0.000	0.050	2579	2345	3876	3881	3871	0	0	0	0	0	0	14.96	14.88	14.98
10600	end dive: TARGET_DEPTH_EXCEEDED
state	10600	begin apogee
10605	-0.12	0.0	2579	2410	3881	3870	991.2	-7.3	657	10753	0.55	0.00	140.23	1.880	10246	0.220	0.000	2736	2410	3338	3361	3315	0	0	0	0	0	0	14.66	13.97	13.38
10754	end apogee: CONTROL_FINISHED_OK
state	10754	begin climb
10755	0.57	170.3	2736	2410	3360	3314	996.4	0.0	662	10943	0.73	2.58	177.27	1.863	11012	0.132	0.058	2959	998	2644	2689	2599	0	0	0	0	0	0	14.13	13.97	13.22
10968	0.57	170.3	2959	998	2683	2596	988.3	8.5	695	10973	0.00	2.50	0.00	0.000	1030	0.000	0.057	2959	2396	2639	2682	2596	0	0	0	0	0	0	14.21	14.13	14.23
11296	0.57	170.3	2959	2396	2671	2590	960.2	8.5	710	11300	0.00	2.42	0.00	0.000	516	0.000	0.063	2960	1006	2631	2671	2591	0	0	0	0	0	0	14.81	14.54	14.83
11320	0.57	170.3	2960	1006	2671	2591	957.9	8.2	715	11327	0.00	2.42	0.00	0.000	1030	0.000	0.057	2961	2409	2631	2671	2591	0	0	0	0	0	0	14.64	14.56	14.67
11628	0.57	170.3	2960	2409	2667	2590	929.6	9.5	726	11632	0.00	2.42	0.00	0.000	516	0.000	0.060	2964	1004	2628	2667	2590	0	0	0	0	0	0	14.94	14.67	14.96
11652	0.57	170.3	2964	1004	2668	2590	927.1	9.1	731	11659	0.00	2.40	0.00	0.000	1030	0.000	0.057	2964	2401	2628	2667	2590	0	0	0	0	0	0	14.77	14.67	14.79
11959	0.57	170.3	2964	2401	2665	2590	896.7	10.2	742	11964	0.00	2.20	0.00	0.000	260	0.000	0.082	2964	3696	2627	2665	2590	0	0	0	0	0	0	15.01	14.71	15.02
11984	0.57	170.3	2964	3696	2663	2590	893.7	11.3	747	11991	0.00	2.10	0.00	0.000	1030	0.000	0.050	2971	2404	2627	2664	2590	0	0	0	0	0	0	14.84	14.76	14.85
12291	0.57	170.3	2971	2403	2663	2590	861.8	10.3	758	12295	0.00	2.38	0.00	0.000	516	0.000	0.062	2973	998	2626	2663	2590	0	0	0	0	0	0	15.04	14.76	15.07
12340	0.57	170.3	2973	997	2662	2589	856.5	10.5	768	12345	0.00	2.40	0.00	0.000	1030	0.000	0.059	2973	2409	2626	2664	2589	0	0	0	0	0	0	14.86	14.76	14.89
12653	0.57	170.3	2972	2409	2662	2589	825.8	9.4	780	12656	0.00	2.40	0.00	0.000	516	0.000	0.062	2974	997	2625	2662	2589	0	0	0	0	0	0	15.07	14.78	15.09
12686	0.57	170.3	2974	997	2662	2589	822.6	9.3	787	12691	0.00	2.42	0.00	0.000	1030	0.000	0.058	2974	2395	2625	2662	2589	0	0	0	0	0	0	14.90	14.76	14.92
13014	0.57	170.3	2974	2395	2661	2589	793.5	8.5	802	13015	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2394	2625	2661	2589	0	0	0	0	0	0	15.09	15.11	15.11
13314	0.57	170.3	2974	2394	2660	2589	768.3	8.4	812	13315	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2394	2624	2660	2589	0	0	0	0	0	0	15.10	15.12	15.12
13614	0.57	170.3	2974	2395	2659	2589	743.0	8.4	822	13618	0.00	2.40	0.00	0.000	516	0.000	0.063	2974	994	2623	2658	2589	0	0	0	0	0	0	15.11	14.81	15.14
13634	0.57	170.3	2974	994	2659	2589	741.1	8.7	826	13638	0.00	2.40	0.00	0.000	1030	0.000	0.058	2974	2408	2623	2658	2589	0	0	0	0	0	0	14.92	14.82	14.95
13940	0.57	170.3	2974	2408	2658	2589	713.9	9.2	837	13942	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2408	2623	2658	2589	0	0	0	0	0	0	15.12	15.14	15.14
14240	0.57	170.3	2974	2408	2657	2589	684.7	9.9	847	14241	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2408	2623	2657	2589	0	0	0	0	0	0	15.13	15.16	15.15
14540	0.57	170.3	2974	2408	2656	2589	657.0	8.8	857	14541	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2408	2622	2656	2589	0	0	0	0	0	0	15.14	15.16	15.16
14840	0.57	170.3	2974	2408	2656	2589	631.4	8.6	867	14841	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2408	2622	2655	2589	0	0	0	0	0	0	15.14	15.16	15.16
15140	0.57	170.3	2974	2408	2656	2589	605.8	8.6	877	15145	0.00	2.42	0.00	0.000	516	0.000	0.060	2974	990	2622	2655	2589	0	0	0	0	0	0	15.14	14.83	15.16
15172	0.57	170.3	2974	989	2655	2589	603.1	8.5	883	15177	0.00	2.40	0.00	0.000	1030	0.000	0.058	2974	2408	2622	2655	2589	0	0	0	0	0	0	14.93	14.83	14.97
15499	0.57	170.3	2974	2408	2655	2588	574.8	8.7	898	15500	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2408	2621	2655	2588	0	0	0	0	0	0	15.14	15.16	15.16
15799	0.57	170.3	2974	2408	2654	2588	547.2	9.3	908	15803	0.00	2.15	0.00	0.000	260	0.000	0.084	2974	3696	2621	2654	2588	0	0	0	0	0	0	15.14	14.80	15.16
15831	0.57	170.3	2974	3696	2653	2588	544.0	10.9	914	15835	0.00	2.10	0.00	0.000	1030	0.000	0.050	2974	2396	2620	2653	2588	0	0	0	0	0	0	14.95	14.88	14.97
16163	0.57	170.3	2974	2393	2653	2588	514.7	8.5	930	16167	0.00	2.38	0.00	0.000	516	0.000	0.063	2974	990	2620	2653	2588	0	0	0	0	0	0	15.14	14.83	15.16
16225	0.58	170.3	2974	989	2653	2588	509.8	7.8	942	16229	0.00	2.38	0.00	0.000	1094	0.000	0.057	2974	2400	2620	2653	2588	0	0	0	0	0	0	14.93	14.83	14.96
16557	0.60	170.3	2973	2399	2653	2588	484.8	7.3	958	16558	0.00	0.00	0.00	0.000	70	0.000	0.000	2974	2400	2620	2653	2588	0	0	0	0	0	0	15.15	15.16	15.16
16856	0.61	170.3	2973	2399	2653	2588	462.0	7.9	968	16858	0.00	0.00	0.00	0.000	70	0.000	0.000	2974	2400	2620	2653	2588	0	0	0	0	0	0	15.15	15.17	15.17
17157	0.63	170.3	2974	2399	2653	2588	438.3	7.8	978	17161	0.00	2.40	0.00	0.000	580	0.000	0.060	2974	990	2620	2653	2588	0	0	0	0	0	0	15.15	14.83	15.17
17189	0.65	170.3	2974	990	2653	2588	436.0	7.4	984	17194	0.00	2.38	0.00	0.000	1094	0.000	0.057	2974	2401	2620	2653	2588	0	0	0	0	0	0	14.93	14.83	14.97
17521	0.66	170.3	2974	2401	2653	2588	409.9	7.9	1000	17522	0.00	0.00	0.00	0.000	70	0.000	0.000	2974	2401	2620	2653	2588	0	0	0	0	0	0	15.15	15.16	15.16
17821	0.68	170.3	2974	2401	2653	2588	387.0	7.4	1010	17823	0.00	0.00	0.00	0.000	70	0.000	0.000	2974	2401	2620	2653	2588	0	0	0	0	0	0	15.15	15.17	15.17
18121	0.70	170.3	2974	2401	2653	2588	365.0	7.5	1020	18125	0.00	2.17	0.00	0.000	324	0.000	0.083	2974	3704	2620	2653	2588	0	0	0	0	0	0	15.16	14.80	15.18
18176	0.70	170.3	2974	3703	2652	2588	360.0	9.5	1031	18183	0.00	2.10	0.00	0.000	1030	0.000	0.047	2974	2396	2620	2652	2588	0	0	0	0	0	0	14.95	14.88	14.97
18483	0.71	170.3	2974	2394	2652	2588	335.3	7.9	1042	18488	0.10	2.33	0.00	0.000	2628	0.171	0.057	3012	1000	2620	2652	2588	0	0	0	0	0	0	14.85	14.82	14.92
18518	0.71	170.3	3013	999	2652	2588	332.1	9.4	1049	18523	0.00	2.38	0.00	0.000	1030	0.000	0.057	3013	2405	2620	2652	2588	0	0	0	0	0	0	14.93	14.83	14.96
18845	0.71	170.3	3013	2405	2653	2588	302.3	9.2	1064	18849	0.00	2.15	0.00	0.000	260	0.000	0.083	3013	3695	2620	2652	2588	0	0	0	0	0	0	15.15	14.79	15.17
18976	0.71	170.3	3013	3695	2652	2588	288.8	10.0	1090	18980	0.00	2.08	0.00	0.000	1030	0.000	0.047	3014	2399	2620	2652	2588	0	0	0	0	0	0	14.94	14.87	14.97
19297	0.71	170.3	3014	2397	2652	2588	260.7	8.5	1104	19301	0.00	2.38	0.00	0.000	516	0.000	0.062	3014	994	2620	2653	2588	0	0	0	0	0	0	15.15	14.81	15.16
19321	0.71	170.3	3014	994	2653	2588	258.6	8.2	1109	19330	0.00	2.38	0.00	0.000	1030	0.000	0.056	3014	2399	2620	2653	2588	0	0	0	0	0	0	14.92	14.83	14.96
19629	0.79	233.5	3014	2399	2652	2588	239.3	6.3	1132	19701	0.00	2.28	65.78	1.109	8484	0.000	0.082	3014	3695	2388	2432	2345	0	0	0	0	0	0	15.13	14.54	14.02
19824	0.79	233.5	3014	3696	2423	2340	218.1	14.2	1170	19829	0.00	2.12	0.00	0.000	1030	0.000	0.047	3014	2401	2381	2423	2340	0	0	0	0	0	0	14.69	14.62	14.71
20136	0.79	233.5	3014	2399	2421	2338	179.6	10.4	1202	20140	0.00	2.40	0.00	0.000	516	0.000	0.062	3015	990	2379	2421	2338	0	0	0	0	0	0	14.95	14.66	14.97
20207	0.79	233.5	3014	990	2419	2337	172.4	9.9	1216	20212	0.00	2.42	0.00	0.000	1030	0.000	0.054	3014	2411	2378	2420	2337	0	0	0	0	0	0	14.77	14.68	14.80
20519	0.80	233.5	3014	2410	2419	2336	145.0	7.9	1248	20523	0.00	2.15	0.00	0.000	324	0.000	0.079	3014	3700	2377	2419	2336	0	0	0	0	0	0	15.01	14.69	15.03
20553	0.80	233.5	3014	3700	2419	2335	141.7	9.5	1255	20561	0.00	2.10	0.00	0.000	1030	0.000	0.047	3015	2398	2377	2419	2335	0	0	0	0	0	0	14.83	14.76	14.85
20861	0.82	233.5	3014	2397	2418	2335	114.3	7.4	1286	20862	0.00	0.00	0.00	0.000	70	0.000	0.000	3014	2397	2377	2419	2335	0	0	0	0	0	0	15.04	15.07	15.06
21162	0.84	233.5	3014	2396	2418	2335	89.4	7.2	1316	21164	0.12	0.00	0.00	0.000	2118	0.151	0.000	3061	2396	2377	2419	2335	0	0	0	0	0	0	14.77	14.89	14.87
21461	0.88	233.5	3061	2395	2418	2335	64.2	6.6	1346	21466	0.00	2.35	0.00	0.000	580	0.000	0.055	3064	984	2376	2418	2335	0	0	0	0	0	0	15.08	14.78	15.10
21594	0.98	315.6	3063	984	2418	2335	56.3	5.7	1372	21677	0.00	2.38	75.10	0.895	9254	0.000	0.051	3063	2411	2052	2099	2006	0	0	0	0	0	0	14.88	14.79	14.09
21981	1.05	374.8	3063	2411	2091	2005	28.7	6.5	1448	22038	0.12	2.15	49.65	0.842	10532	0.158	0.072	3116	3691	1810	1855	1766	0	0	0	0	0	0	14.62	14.41	14.06
22081	1.05	374.8	3116	3691	1854	1767	19.5	10.8	1465	22089	0.00	2.12	0.00	0.000	1030	0.000	0.042	3117	2391	1810	1855	1766	0	0	0	0	0	0	14.62	14.57	14.64
22230	end climb: SURFACE_DEPTH_REACHED
state	22230	begin surface coast
22256	end surface coast: CONTROL_FINISHED_OK
state	22256	begin surface