Glider dive log

PISCES Aug14 * SG200 * Dive index * Mission links * Dive 42 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 200 HD_B 0.0134447 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 1.6100001e-05 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 42 HEADING -1 ROLL_MIN 282 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 48.400002 ROLL_MAX 3852 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2660 ALTIM_PING_DELTA 5

D_TGT 500 TGT_DEFAULT_LAT 3219.3999 C_ROLL_CLIMB 2425 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_DEFAULT_LON -6434.1001 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_BOOST 100 SM_CC 375 ROLL_TIMEOUT 15 XPDR_VALID 1

T_BOOST 30 N_FILEKB 8 R_PORT_OVSHOOT 153 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 61 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.77999997

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 65 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 35

T_DIVE 165 UPLOAD_DIVES_MAX -1 C_VBD 2737 DEVICE3 -1

T_MISSION 180 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 720 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1142.0291 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 4 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 1001 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 97 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 120 PITCH_MIN 197 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3889 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2973 PHONE_SUPPLY 2 SEABIRD_T_G 0.004400372

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -66.711494 SEABIRD_T_H 0.00063770427

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001160319 SEABIRD_T_I 2.5625237e-05

MASS 52177 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 3.1304903e-06

NAV_MODE 1 PITCH_GAIN 19.700001 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9220228

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1569983

KALMAN_USE 1 PITCH_AD_RATE 160 COMPASS_USE 4 SEABIRD_C_I -0.00090645044

HD_A 0.003 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00015506662

AD7714Ch0Gain 128 D_NO_BLEED 50 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 97 D_OFFGRID 1001 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 375

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 500 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 48.400002 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_GAIN 19.700001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAX 3889 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 197 TGT_DEFAULT_LAT 3219.3999

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -6434.1001

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001160319 T_BOOST 30

CALL_TRIES 5 HD_A 0.003 PRESSURE_YINT -66.711494 T_DIVE 165

CALL_WAIT 60 HD_B 0.0134447 PROTOCOL 65 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 1.6100001e-05 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -1142.0291

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 180

COMPASS_DEVICE 33 ID 200 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 4

COURSE_BIAS 0 INT_PRESSURE_YINT -0.77999997 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2973 KALMAN_USE 1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2425 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2660 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2737 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3852 USE_BATHY 0

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 52177 ROLL_MIN 282 VBD_BLEED_AD_RATE 8

DEVICE2 35 MAX_BUOY 120 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 153 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 61 VBD_MAX 3960

DEVICE5 -1 MISSION 4 SEABIRD_C_G -9.9220228 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1569983 VBD_MIN 500

DIVE 42 NAV_MODE 1 SEABIRD_C_I -0.00090645044 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 NOCOMM_ACTION 0 SEABIRD_C_J 0.00015506662 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.004400372 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00063770427 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.5625237e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 3.1304903e-06 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 140814,221553,2653.394,-7007.084,15,1.1,15,-12.1 TGT_NAME DELTA

_CALLS 1 TGT_LATLONG 2630.000,-7005.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.163,-0.120

_SM_DEPTHo 0.90 KALMAN_X -2486.0,202.2,-77.9,402.9,1912.2

_SM_ANGLEo -67.0 KALMAN_Y -58049.9,5.5,241.7,-64985.4,-3067.0

GPS2 140814,222428,2653.253,-7006.879,5,1.8,5,-12.1 MHEAD_RNG_PITCHd_Wd 245.7,43176,-22.4,-10.101

SPEED_LIMITS 0.175,0.202 D_GRID 500

Post-dive calculations and measurements:

FINISH -0.0,1.023179 _10V_AH 10.5,8.366

SM_CCo 7010,34.17,0.118,0,0,1204,375.06 FG_AHR_24Vo 0.000

SM_GC 0.58,8.07,1.52,34.17,0.025,0.016,0.118,160,2666,1204,-8.64,4.07,375.06,0,0,0,0,0,0,27.22,27.27,26.97 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2646.31,-7009.07,140814,202049 MEM 334272

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 30322,523

HUMID 46.57 CAP_FILE_SIZE 95982,0

INTERNAL_PRESSURE 9.16179 CFSIZE 1024393216,1018052608

TCM_TEMP 23.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 18 GPS 150814,002400,2651.737,-7007.374,36,0.9,36,-12.1

_24V_AH 25.0,9.761

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 198 95.60 SBE_CT 345 24 207.50

Roll_motor 90 58 131.14 WL_BB2F 1407 105 3694.33

VBD_pump_during_apogee 247 1184 7326.62 nil 0 0 0.00

VBD_pump_during_surface 34 117 100.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 2780 1705.88 nil 0 0 0.00

Iridium_during_connect 45 160 183.10 nil 0 0 0.00

Iridium_during_xfer 205 223 1146.94 nil 0 0 0.00

Transponder_ping 4 420 47.25 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 23 1.69

TT8 1360 13 192.49

LPSleep 3390 2 77.96

TT8_Active 398 12 53.29

TT8_Sampling 2183 38 892.56

TT8_CF8 78 56 47.07

TT8_Kalman 33 62 21.98

Analog_circuits 1143 12 144.08

GPS_charging 0 0 0.00

Compass 1908 15 300.53

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -1.28 -116.8 0.0 0.0 0 80 0.00 0.00 -63.33 0.000 2 0.000 0.000 161 2656 2968 0 0 0 0 0 0 28.83 28.83 28.83

82 -1.28 -116.8 3.9 -6.8 8 101 8.50 1.90 -4.80 0.000 4 0.199 0.036 2553 1310 3215 0 0 0 0 0 0 26.74 27.01 27.24

142 -1.28 -116.8 25.2 -29.1 17 151 0.00 1.95 0.00 0.000 6 0.000 0.024 2545 2659 3216 0 0 0 0 0 0 28.83 27.03 28.83

217 -1.28 -116.8 47.6 -31.1 26 224 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2659 3216 0 0 0 0 0 0 28.83 28.83 28.83

289 -1.28 -116.8 65.8 -23.0 35 297 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2659 3216 0 0 0 0 0 0 28.83 28.83 28.83

361 -1.28 -116.8 82.7 -23.3 44 369 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2659 3216 0 0 0 0 0 0 28.83 28.83 28.83

434 -1.28 -116.8 96.7 -19.3 53 442 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2659 3216 0 0 0 0 0 0 28.83 28.83 28.83

506 -1.28 -116.8 110.5 -19.0 62 515 0.00 1.88 0.00 0.000 4 0.000 0.019 2545 1310 3217 0 0 0 0 0 0 28.83 27.19 28.83

592 -1.28 -116.8 126.1 -17.8 76 600 0.00 1.92 0.00 0.000 6 0.000 0.024 2535 2657 3217 0 0 0 0 0 0 28.83 27.20 28.83

665 -1.28 -116.8 138.7 -17.4 85 673 0.00 1.73 0.00 0.000 4 0.000 0.036 2526 3842 3217 0 0 0 0 0 0 28.83 27.19 28.83

699 -1.28 -116.8 145.0 -19.2 90 708 0.08 1.52 0.00 0.000 6 0.143 0.017 2552 2636 3217 0 0 0 0 0 0 27.06 27.28 28.83

772 -1.28 -116.8 157.8 -16.9 99 780 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2636 3217 0 0 0 0 0 0 28.83 28.83 28.83

845 -1.28 -116.8 169.8 -16.4 108 853 0.00 1.77 0.00 0.000 4 0.000 0.020 2553 1343 3217 0 0 0 0 0 0 28.83 27.26 28.83

886 -1.28 -116.8 176.3 -16.7 114 891 0.00 1.88 0.00 0.000 6 0.000 0.024 2544 2655 3217 0 0 0 0 0 0 28.83 27.25 28.83

1082 -1.28 -116.8 208.4 -16.7 127 1086 0.00 1.77 0.00 0.000 4 0.000 0.019 2544 1357 3217 0 0 0 0 0 0 28.83 27.29 28.83

1172 -1.28 -116.8 222.8 -17.2 132 1182 0.00 1.90 0.00 0.000 6 0.000 0.024 2533 2664 3217 0 0 0 0 0 0 28.83 27.28 28.83

1361 -1.28 -116.8 256.1 -16.7 145 1364 0.00 1.80 0.00 0.000 4 0.000 0.019 2534 1359 3217 0 0 0 0 0 0 28.83 27.32 28.83

1410 -1.28 -116.8 264.7 -16.9 148 1417 0.10 1.88 0.00 0.000 6 0.176 0.024 2554 2674 3217 0 0 0 0 0 0 27.14 27.30 28.83

1607 -1.28 -116.8 296.4 -15.9 161 1610 0.00 1.80 0.00 0.000 4 0.000 0.019 2554 1365 3216 0 0 0 0 0 0 28.83 27.34 28.83

1657 -1.28 -116.8 301.9 -16.0 163 1662 0.00 1.90 0.00 0.000 6 0.000 0.024 2546 2658 3216 0 0 0 0 0 0 28.83 27.32 28.83

1971 -1.28 -116.8 354.5 -15.9 174 1974 0.00 1.80 0.00 0.000 4 0.000 0.019 2546 1354 3215 0 0 0 0 0 0 28.83 27.35 28.83

2133 -1.28 -116.8 378.8 -16.0 179 2138 0.00 1.92 0.00 0.000 6 0.000 0.024 2536 2664 3214 0 0 0 0 0 0 28.83 27.34 28.83

2450 -1.28 -116.8 432.9 -16.7 190 2453 0.00 1.80 0.00 0.000 4 0.000 0.019 2536 1359 3213 0 0 0 0 0 0 28.83 27.36 28.83

2570 -1.28 -116.8 453.1 -16.8 194 2575 0.12 1.88 0.00 0.000 6 0.161 0.024 2560 2672 3213 0 0 0 0 0 0 27.18 27.35 28.83

2895 end dive: TARGET_DEPTH_EXCEEDED

state 2895 begin apogee

2899 -0.25 0.0 503.4 -15.1 205 2988 0.95 0.00 84.07 0.935 6 0.112 0.000 2889 2432 2736 0 0 0 0 0 0 27.20 28.83 25.51

2989 end apogee: CONTROL_FINISHED_OK

state 2989 begin climb

2990 1.28 116.8 507.3 0.0 208 3085 1.33 2.17 86.25 0.913 4 0.056 0.034 3384 3820 2256 0 0 0 0 0 0 26.13 25.84 25.27

3107 1.32 145.7 500.1 8.4 212 3131 0.00 1.85 19.92 1.184 6 0.000 0.016 3393 2443 2142 0 0 0 0 0 0 28.83 26.20 25.04

3432 1.32 145.7 457.3 13.4 222 3435 0.00 1.90 0.00 0.000 4 0.000 0.024 3397 1094 2148 0 0 0 0 0 0 28.83 26.86 28.83

3465 1.32 145.7 454.1 13.2 223 3469 0.00 1.92 0.00 0.000 6 0.000 0.021 3398 2434 2148 0 0 0 0 0 0 28.83 26.91 28.83

3787 1.32 145.7 408.5 14.1 234 3791 0.00 1.90 0.00 0.000 4 0.000 0.024 3406 1093 2147 0 0 0 0 0 0 28.83 27.08 28.83

3851 1.32 145.7 400.6 14.3 236 3855 0.00 1.88 0.00 0.000 6 0.000 0.021 3406 2429 2147 0 0 0 0 0 0 28.83 27.11 28.83

4167 1.32 145.7 351.1 15.4 247 4171 0.00 1.88 0.00 0.000 4 0.000 0.024 3411 1088 2147 0 0 0 0 0 0 28.83 27.18 28.83

4230 1.32 145.7 342.5 15.5 249 4234 0.00 1.90 0.00 0.000 6 0.000 0.021 3411 2427 2146 0 0 0 0 0 0 28.83 27.20 28.83

4540 1.32 145.7 293.4 15.4 260 4546 0.00 1.88 0.00 0.000 4 0.000 0.024 3412 1086 2145 0 0 0 0 0 0 28.83 27.24 28.83

4604 1.32 145.7 284.1 14.7 264 4609 0.00 1.90 0.00 0.000 6 0.000 0.021 3412 2422 2145 0 0 0 0 0 0 28.83 27.26 28.83

4799 1.32 145.7 256.5 14.1 277 4800 0.00 0.00 0.00 0.000 6 0.000 0.000 3411 2422 2145 0 0 0 0 0 0 28.83 28.83 28.83

4979 1.32 145.7 231.5 13.9 289 4980 0.00 0.00 0.00 0.000 6 0.000 0.000 3412 2422 2144 0 0 0 0 0 0 28.83 28.83 28.83

5159 1.32 145.7 209.0 12.2 301 5160 0.00 0.00 0.00 0.000 6 0.000 0.000 3411 2422 2144 0 0 0 0 0 0 28.83 28.83 28.83

5339 1.32 145.7 185.9 13.2 313 5344 0.00 1.88 0.00 0.000 4 0.000 0.024 3418 1086 2144 0 0 0 0 0 0 28.83 27.31 28.83

5386 1.32 145.7 180.0 12.5 316 5392 0.00 1.85 0.00 0.000 6 0.000 0.021 3419 2429 2144 0 0 0 0 0 0 28.83 27.32 28.83

5584 1.32 145.7 154.2 13.2 338 5592 0.00 0.00 0.00 0.000 6 0.000 0.000 3418 2429 2144 0 0 0 0 0 0 28.83 28.83 28.83

5656 1.32 145.7 144.7 13.0 347 5664 0.00 0.00 0.00 0.000 6 0.000 0.000 3419 2429 2144 0 0 0 0 0 0 28.83 28.83 28.83

5729 1.32 145.7 135.8 12.3 356 5737 0.00 0.00 0.00 0.000 6 0.000 0.000 3418 2429 2143 0 0 0 0 0 0 28.83 28.83 28.83

5801 1.32 145.7 127.1 12.3 365 5810 0.00 2.00 0.00 0.000 4 0.000 0.034 3418 3803 2144 0 0 0 0 0 0 28.83 27.30 28.83

5887 1.32 145.7 116.1 13.5 379 5896 0.00 1.83 0.00 0.000 6 0.000 0.017 3420 2421 2144 0 0 0 0 0 0 28.83 27.36 28.83

5960 1.32 145.7 107.5 11.6 388 5969 0.00 2.03 0.00 0.000 4 0.000 0.034 3420 3806 2144 0 0 0 0 0 0 28.83 27.30 28.83

5988 1.32 145.7 104.3 11.2 392 5997 0.08 1.83 0.00 0.000 6 0.163 0.017 3402 2418 2144 0 0 0 0 0 0 27.15 27.38 28.83

6062 1.33 156.6 97.1 9.5 401 6071 0.00 0.00 5.03 0.323 6 0.000 0.000 3402 2418 2102 0 0 0 0 0 0 28.83 28.83 26.86

6137 1.34 164.8 90.0 9.6 410 6146 0.00 0.00 4.40 0.307 6 0.000 0.000 3402 2418 2068 0 0 0 0 0 0 28.83 28.83 26.86

6212 1.34 164.8 81.4 11.6 419 6220 0.00 2.05 0.00 0.000 4 0.000 0.034 3402 3816 2072 0 0 0 0 0 0 28.83 27.25 28.83

6228 1.34 164.8 79.4 11.6 421 6237 0.00 1.83 0.00 0.000 6 0.000 0.017 3404 2432 2072 0 0 0 0 0 0 28.83 27.34 28.83

6302 1.36 183.4 72.5 9.0 430 6319 0.00 1.90 8.68 0.273 4 0.000 0.021 3412 1094 1991 0 0 0 0 0 0 28.83 27.24 26.87

6356 1.37 184.9 67.5 10.0 438 6365 0.00 1.88 0.88 0.236 6 0.000 0.021 3412 2424 1986 0 0 0 0 0 0 28.83 27.26 26.89

6432 1.41 220.1 60.9 8.0 447 6456 0.00 2.05 15.20 0.249 4 0.000 0.035 3412 3812 1841 0 0 0 0 0 0 28.83 27.15 26.84

6521 1.41 220.1 51.3 12.0 461 6530 0.00 1.85 0.00 0.000 6 0.000 0.016 3412 2414 1842 0 0 0 0 0 0 28.83 27.26 28.83

6594 1.41 220.1 43.4 11.1 470 6603 0.00 1.88 0.00 0.000 4 0.000 0.024 3418 1094 1842 0 0 0 0 0 0 28.83 27.22 28.83

6611 1.42 224.3 41.8 9.9 472 6620 0.00 1.88 1.95 0.211 6 0.000 0.021 3418 2425 1822 0 0 0 0 0 0 28.83 27.23 26.92

6686 1.48 277.6 35.6 7.0 481 6719 0.00 2.05 21.10 0.197 4 0.000 0.034 3418 3812 1604 0 0 0 0 0 0 28.83 27.11 26.86

6761 1.48 277.6 28.7 10.9 492 6769 0.00 1.85 0.00 0.000 6 0.000 0.016 3420 2415 1604 0 0 0 0 0 0 28.83 27.22 28.83

6835 1.48 277.6 20.6 11.4 501 6844 0.00 1.88 0.00 0.000 4 0.000 0.024 3424 1097 1603 0 0 0 0 0 0 28.83 27.17 28.83

6880 1.48 277.6 14.9 12.1 508 6889 0.00 1.88 0.00 0.000 6 0.000 0.021 3424 2425 1602 0 0 0 0 0 0 28.83 27.21 28.83

6954 1.48 277.6 5.6 13.1 517 6962 0.00 2.03 0.00 0.000 4 0.000 0.034 3424 3813 1602 0 0 0 0 0 0 28.83 27.18 28.83

6981 end climb: SURFACE_DEPTH_REACHED

state 6981 begin surface coast

6994 end surface coast: CONTROL_FINISHED_OK

state 6994 begin surface

ID	200	HD_B	0.0134447	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	1.6100001e-05	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	42	HEADING	-1	ROLL_MIN	282	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	48.400002	ROLL_MAX	3852	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2660	ALTIM_PING_DELTA	5
D_TGT	500	TGT_DEFAULT_LAT	3219.3999	C_ROLL_CLIMB	2425	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_DEFAULT_LON	-6434.1001	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_BOOST	100	SM_CC	375	ROLL_TIMEOUT	15	XPDR_VALID	1
T_BOOST	30	N_FILEKB	8	R_PORT_OVSHOOT	153	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	61	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.77999997
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	65	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	35
T_DIVE	165	UPLOAD_DIVES_MAX	-1	C_VBD	2737	DEVICE3	-1
T_MISSION	180	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	720	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1142.0291	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	4	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	1001	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	97	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	120	PITCH_MIN	197	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3889	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2973	PHONE_SUPPLY	2	SEABIRD_T_G	0.004400372
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-66.711494	SEABIRD_T_H	0.00063770427
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001160319	SEABIRD_T_I	2.5625237e-05
MASS	52177	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	3.1304903e-06
NAV_MODE	1	PITCH_GAIN	19.700001	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9220228
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1569983
KALMAN_USE	1	PITCH_AD_RATE	160	COMPASS_USE	4	SEABIRD_C_I	-0.00090645044
HD_A	0.003	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00015506662

GPS1	140814,221553,2653.394,-7007.084,15,1.1,15,-12.1	TGT_NAME	DELTA
_CALLS	1	TGT_LATLONG	2630.000,-7005.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.163,-0.120
_SM_DEPTHo	0.90	KALMAN_X	-2486.0,202.2,-77.9,402.9,1912.2
_SM_ANGLEo	-67.0	KALMAN_Y	-58049.9,5.5,241.7,-64985.4,-3067.0
GPS2	140814,222428,2653.253,-7006.879,5,1.8,5,-12.1	MHEAD_RNG_PITCHd_Wd	245.7,43176,-22.4,-10.101
SPEED_LIMITS	0.175,0.202	D_GRID	500

FINISH	-0.0,1.023179	_10V_AH	10.5,8.366
SM_CCo	7010,34.17,0.118,0,0,1204,375.06	FG_AHR_24Vo	0.000
SM_GC	0.58,8.07,1.52,34.17,0.025,0.016,0.118,160,2666,1204,-8.64,4.07,375.06,0,0,0,0,0,0,27.22,27.27,26.97	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2646.31,-7009.07,140814,202049	MEM	334272
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	30322,523
HUMID	46.57	CAP_FILE_SIZE	95982,0
INTERNAL_PRESSURE	9.16179	CFSIZE	1024393216,1018052608
TCM_TEMP	23.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	18	GPS	150814,002400,2651.737,-7007.374,36,0.9,36,-12.1
_24V_AH	25.0,9.761

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	198	95.60	SBE_CT	345	24	207.50
Roll_motor	90	58	131.14	WL_BB2F	1407	105	3694.33
VBD_pump_during_apogee	247	1184	7326.62	nil	0	0	0.00
VBD_pump_during_surface	34	117	100.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	2780	1705.88	nil	0	0	0.00
Iridium_during_connect	45	160	183.10	nil	0	0	0.00
Iridium_during_xfer	205	223	1146.94	nil	0	0	0.00
Transponder_ping	4	420	47.25	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	23	1.69
TT8	1360	13	192.49
LPSleep	3390	2	77.96
TT8_Active	398	12	53.29
TT8_Sampling	2183	38	892.56
TT8_CF8	78	56	47.07
TT8_Kalman	33	62	21.98
Analog_circuits	1143	12	144.08
GPS_charging	0	0	0.00
Compass	1908	15	300.53
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-1.28	-116.8	0.0	0.0	0	80	0.00	0.00	-63.33	0.000	2	0.000	0.000	161	2656	2968	0	0	0	0	0	0	28.83	28.83	28.83
82	-1.28	-116.8	3.9	-6.8	8	101	8.50	1.90	-4.80	0.000	4	0.199	0.036	2553	1310	3215	0	0	0	0	0	0	26.74	27.01	27.24
142	-1.28	-116.8	25.2	-29.1	17	151	0.00	1.95	0.00	0.000	6	0.000	0.024	2545	2659	3216	0	0	0	0	0	0	28.83	27.03	28.83
217	-1.28	-116.8	47.6	-31.1	26	224	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2659	3216	0	0	0	0	0	0	28.83	28.83	28.83
289	-1.28	-116.8	65.8	-23.0	35	297	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2659	3216	0	0	0	0	0	0	28.83	28.83	28.83
361	-1.28	-116.8	82.7	-23.3	44	369	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2659	3216	0	0	0	0	0	0	28.83	28.83	28.83
434	-1.28	-116.8	96.7	-19.3	53	442	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2659	3216	0	0	0	0	0	0	28.83	28.83	28.83
506	-1.28	-116.8	110.5	-19.0	62	515	0.00	1.88	0.00	0.000	4	0.000	0.019	2545	1310	3217	0	0	0	0	0	0	28.83	27.19	28.83
592	-1.28	-116.8	126.1	-17.8	76	600	0.00	1.92	0.00	0.000	6	0.000	0.024	2535	2657	3217	0	0	0	0	0	0	28.83	27.20	28.83
665	-1.28	-116.8	138.7	-17.4	85	673	0.00	1.73	0.00	0.000	4	0.000	0.036	2526	3842	3217	0	0	0	0	0	0	28.83	27.19	28.83
699	-1.28	-116.8	145.0	-19.2	90	708	0.08	1.52	0.00	0.000	6	0.143	0.017	2552	2636	3217	0	0	0	0	0	0	27.06	27.28	28.83
772	-1.28	-116.8	157.8	-16.9	99	780	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2636	3217	0	0	0	0	0	0	28.83	28.83	28.83
845	-1.28	-116.8	169.8	-16.4	108	853	0.00	1.77	0.00	0.000	4	0.000	0.020	2553	1343	3217	0	0	0	0	0	0	28.83	27.26	28.83
886	-1.28	-116.8	176.3	-16.7	114	891	0.00	1.88	0.00	0.000	6	0.000	0.024	2544	2655	3217	0	0	0	0	0	0	28.83	27.25	28.83
1082	-1.28	-116.8	208.4	-16.7	127	1086	0.00	1.77	0.00	0.000	4	0.000	0.019	2544	1357	3217	0	0	0	0	0	0	28.83	27.29	28.83
1172	-1.28	-116.8	222.8	-17.2	132	1182	0.00	1.90	0.00	0.000	6	0.000	0.024	2533	2664	3217	0	0	0	0	0	0	28.83	27.28	28.83
1361	-1.28	-116.8	256.1	-16.7	145	1364	0.00	1.80	0.00	0.000	4	0.000	0.019	2534	1359	3217	0	0	0	0	0	0	28.83	27.32	28.83
1410	-1.28	-116.8	264.7	-16.9	148	1417	0.10	1.88	0.00	0.000	6	0.176	0.024	2554	2674	3217	0	0	0	0	0	0	27.14	27.30	28.83
1607	-1.28	-116.8	296.4	-15.9	161	1610	0.00	1.80	0.00	0.000	4	0.000	0.019	2554	1365	3216	0	0	0	0	0	0	28.83	27.34	28.83
1657	-1.28	-116.8	301.9	-16.0	163	1662	0.00	1.90	0.00	0.000	6	0.000	0.024	2546	2658	3216	0	0	0	0	0	0	28.83	27.32	28.83
1971	-1.28	-116.8	354.5	-15.9	174	1974	0.00	1.80	0.00	0.000	4	0.000	0.019	2546	1354	3215	0	0	0	0	0	0	28.83	27.35	28.83
2133	-1.28	-116.8	378.8	-16.0	179	2138	0.00	1.92	0.00	0.000	6	0.000	0.024	2536	2664	3214	0	0	0	0	0	0	28.83	27.34	28.83
2450	-1.28	-116.8	432.9	-16.7	190	2453	0.00	1.80	0.00	0.000	4	0.000	0.019	2536	1359	3213	0	0	0	0	0	0	28.83	27.36	28.83
2570	-1.28	-116.8	453.1	-16.8	194	2575	0.12	1.88	0.00	0.000	6	0.161	0.024	2560	2672	3213	0	0	0	0	0	0	27.18	27.35	28.83
2895	end dive: TARGET_DEPTH_EXCEEDED
state	2895	begin apogee
2899	-0.25	0.0	503.4	-15.1	205	2988	0.95	0.00	84.07	0.935	6	0.112	0.000	2889	2432	2736	0	0	0	0	0	0	27.20	28.83	25.51
2989	end apogee: CONTROL_FINISHED_OK
state	2989	begin climb
2990	1.28	116.8	507.3	0.0	208	3085	1.33	2.17	86.25	0.913	4	0.056	0.034	3384	3820	2256	0	0	0	0	0	0	26.13	25.84	25.27
3107	1.32	145.7	500.1	8.4	212	3131	0.00	1.85	19.92	1.184	6	0.000	0.016	3393	2443	2142	0	0	0	0	0	0	28.83	26.20	25.04
3432	1.32	145.7	457.3	13.4	222	3435	0.00	1.90	0.00	0.000	4	0.000	0.024	3397	1094	2148	0	0	0	0	0	0	28.83	26.86	28.83
3465	1.32	145.7	454.1	13.2	223	3469	0.00	1.92	0.00	0.000	6	0.000	0.021	3398	2434	2148	0	0	0	0	0	0	28.83	26.91	28.83
3787	1.32	145.7	408.5	14.1	234	3791	0.00	1.90	0.00	0.000	4	0.000	0.024	3406	1093	2147	0	0	0	0	0	0	28.83	27.08	28.83
3851	1.32	145.7	400.6	14.3	236	3855	0.00	1.88	0.00	0.000	6	0.000	0.021	3406	2429	2147	0	0	0	0	0	0	28.83	27.11	28.83
4167	1.32	145.7	351.1	15.4	247	4171	0.00	1.88	0.00	0.000	4	0.000	0.024	3411	1088	2147	0	0	0	0	0	0	28.83	27.18	28.83
4230	1.32	145.7	342.5	15.5	249	4234	0.00	1.90	0.00	0.000	6	0.000	0.021	3411	2427	2146	0	0	0	0	0	0	28.83	27.20	28.83
4540	1.32	145.7	293.4	15.4	260	4546	0.00	1.88	0.00	0.000	4	0.000	0.024	3412	1086	2145	0	0	0	0	0	0	28.83	27.24	28.83
4604	1.32	145.7	284.1	14.7	264	4609	0.00	1.90	0.00	0.000	6	0.000	0.021	3412	2422	2145	0	0	0	0	0	0	28.83	27.26	28.83
4799	1.32	145.7	256.5	14.1	277	4800	0.00	0.00	0.00	0.000	6	0.000	0.000	3411	2422	2145	0	0	0	0	0	0	28.83	28.83	28.83
4979	1.32	145.7	231.5	13.9	289	4980	0.00	0.00	0.00	0.000	6	0.000	0.000	3412	2422	2144	0	0	0	0	0	0	28.83	28.83	28.83
5159	1.32	145.7	209.0	12.2	301	5160	0.00	0.00	0.00	0.000	6	0.000	0.000	3411	2422	2144	0	0	0	0	0	0	28.83	28.83	28.83
5339	1.32	145.7	185.9	13.2	313	5344	0.00	1.88	0.00	0.000	4	0.000	0.024	3418	1086	2144	0	0	0	0	0	0	28.83	27.31	28.83
5386	1.32	145.7	180.0	12.5	316	5392	0.00	1.85	0.00	0.000	6	0.000	0.021	3419	2429	2144	0	0	0	0	0	0	28.83	27.32	28.83
5584	1.32	145.7	154.2	13.2	338	5592	0.00	0.00	0.00	0.000	6	0.000	0.000	3418	2429	2144	0	0	0	0	0	0	28.83	28.83	28.83
5656	1.32	145.7	144.7	13.0	347	5664	0.00	0.00	0.00	0.000	6	0.000	0.000	3419	2429	2144	0	0	0	0	0	0	28.83	28.83	28.83
5729	1.32	145.7	135.8	12.3	356	5737	0.00	0.00	0.00	0.000	6	0.000	0.000	3418	2429	2143	0	0	0	0	0	0	28.83	28.83	28.83
5801	1.32	145.7	127.1	12.3	365	5810	0.00	2.00	0.00	0.000	4	0.000	0.034	3418	3803	2144	0	0	0	0	0	0	28.83	27.30	28.83
5887	1.32	145.7	116.1	13.5	379	5896	0.00	1.83	0.00	0.000	6	0.000	0.017	3420	2421	2144	0	0	0	0	0	0	28.83	27.36	28.83
5960	1.32	145.7	107.5	11.6	388	5969	0.00	2.03	0.00	0.000	4	0.000	0.034	3420	3806	2144	0	0	0	0	0	0	28.83	27.30	28.83
5988	1.32	145.7	104.3	11.2	392	5997	0.08	1.83	0.00	0.000	6	0.163	0.017	3402	2418	2144	0	0	0	0	0	0	27.15	27.38	28.83
6062	1.33	156.6	97.1	9.5	401	6071	0.00	0.00	5.03	0.323	6	0.000	0.000	3402	2418	2102	0	0	0	0	0	0	28.83	28.83	26.86
6137	1.34	164.8	90.0	9.6	410	6146	0.00	0.00	4.40	0.307	6	0.000	0.000	3402	2418	2068	0	0	0	0	0	0	28.83	28.83	26.86
6212	1.34	164.8	81.4	11.6	419	6220	0.00	2.05	0.00	0.000	4	0.000	0.034	3402	3816	2072	0	0	0	0	0	0	28.83	27.25	28.83
6228	1.34	164.8	79.4	11.6	421	6237	0.00	1.83	0.00	0.000	6	0.000	0.017	3404	2432	2072	0	0	0	0	0	0	28.83	27.34	28.83
6302	1.36	183.4	72.5	9.0	430	6319	0.00	1.90	8.68	0.273	4	0.000	0.021	3412	1094	1991	0	0	0	0	0	0	28.83	27.24	26.87
6356	1.37	184.9	67.5	10.0	438	6365	0.00	1.88	0.88	0.236	6	0.000	0.021	3412	2424	1986	0	0	0	0	0	0	28.83	27.26	26.89
6432	1.41	220.1	60.9	8.0	447	6456	0.00	2.05	15.20	0.249	4	0.000	0.035	3412	3812	1841	0	0	0	0	0	0	28.83	27.15	26.84
6521	1.41	220.1	51.3	12.0	461	6530	0.00	1.85	0.00	0.000	6	0.000	0.016	3412	2414	1842	0	0	0	0	0	0	28.83	27.26	28.83
6594	1.41	220.1	43.4	11.1	470	6603	0.00	1.88	0.00	0.000	4	0.000	0.024	3418	1094	1842	0	0	0	0	0	0	28.83	27.22	28.83
6611	1.42	224.3	41.8	9.9	472	6620	0.00	1.88	1.95	0.211	6	0.000	0.021	3418	2425	1822	0	0	0	0	0	0	28.83	27.23	26.92
6686	1.48	277.6	35.6	7.0	481	6719	0.00	2.05	21.10	0.197	4	0.000	0.034	3418	3812	1604	0	0	0	0	0	0	28.83	27.11	26.86
6761	1.48	277.6	28.7	10.9	492	6769	0.00	1.85	0.00	0.000	6	0.000	0.016	3420	2415	1604	0	0	0	0	0	0	28.83	27.22	28.83
6835	1.48	277.6	20.6	11.4	501	6844	0.00	1.88	0.00	0.000	4	0.000	0.024	3424	1097	1603	0	0	0	0	0	0	28.83	27.17	28.83
6880	1.48	277.6	14.9	12.1	508	6889	0.00	1.88	0.00	0.000	6	0.000	0.021	3424	2425	1602	0	0	0	0	0	0	28.83	27.21	28.83
6954	1.48	277.6	5.6	13.1	517	6962	0.00	2.03	0.00	0.000	4	0.000	0.034	3424	3813	1602	0	0	0	0	0	0	28.83	27.18	28.83
6981	end climb: SURFACE_DEPTH_REACHED
state	6981	begin surface coast
6994	end surface coast: CONTROL_FINISHED_OK
state	6994	begin surface