Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 28 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.0021500001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0099999998 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 28 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 8

D_FLARE 3 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 32 ALTIM_FREQUENCY 13

D_TGT 800 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 ALTIM_PULSE 2

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 2 XPDR_VALID 3

D_BOOST 100 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT 0.80000001

D_PITCH 0 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 0 COMM_SEQ 0 C_VBD 2968 MOTHERBOARD 4

D_CALL 0 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 270 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 310 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 5 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 2 LOITER_W_DBAND 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET 1.5 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY -1 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 200 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044198656

D_OFFGRID 600 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2730 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 10 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 10 SEABIRD_C_G -9.9022408

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 1.1 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 30 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

SPEED_FACTOR 1 PITCH_TIMEOUT 24 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 175 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 785

AD7714Ch0Gain 1 D_TGT 800 N_NOCOMM 1 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 0 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 8 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 175 SPEED_FACTOR 1

ALTIM_PING_FIT 785 FERRY_MAX 45 PITCH_CNV 0.0031300001 STOP_T 0

ALTIM_PULSE 2 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 24 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0021500001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0099999998 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 60 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 270

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 5

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 310

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2730 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 20

C_VBD 2968 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.25119999

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 2 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 1.1 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 28 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 32 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 10 R_STBD_OVSHOOT 23 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MINV_24V 10 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 0 MISSION 7 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 50 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 600 NOCOMM_ACTION 163 SEABIRD_C_G -9.9022408 XPDR_VALID 3

D_PITCH 0 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 0 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 270118,200230,-7353.3535,-11301.7236,33,1.1,33,53.4,1.2,248.5,8,5.3 SPEED_LIMITS 0.171,0.250

_CALLS 2 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7406.000,-11310.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.83 MHEAD_RNG_PITCHd_Wd 131.4,23820,-16.3,-9.877,-21.56,2183

_SM_ANGLEo -61.9 D_GRID 543

GPS2 270118,201050,-7353.3281,-11301.9580,4,1.1,5,53.4,0.3,0.0,8,5.4

Post-dive calculations and measurements:

FINISH -0.1,1.027206 _24V_AH 12.15,18.620

SM_CCo 9678,129.73,0.231,0,0,1573,350.17 _10V_AH 12.52,0.000

SM_GC 0.92,8.43,2.95,129.73,0.078,0.073,0.231,193,2811,1573,-7.89,-0.45,350.17,0,0,0,0,0,0,14.58,14.61,14.35 FG_AHR_24Vo 0.000

RAFOS_CLK 384 FG_AHR_10Vo 0.000

RAFOS 0,1517086866,21.033333,21.018333,66,57,53,53,51,49,210,169,132,225,192,156 MEM 280060

RAFOS_FIX -7354.554199,-11301.773438,270118,222216,0,1,0.23 DATA_FILE_SIZE 30002,871

IRIDIUM_FIX -7353.74,-11305.81,270118,200411 CAP_FILE_SIZE 111598,0

TT8_MAMPS 0.03745,0.288365 CFSIZE 1024409600,1016594432

HUMID 46.57 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.79246 SOUNDSPEED 1448.2

TCM_TEMP 13.20 CURRENT 0.080,285.70,1

XPDR_PINGS 0 GPS 270118,225530,-7354.439,-11304.021,16,1.4,16,53.4,1.7,328.8,6,5.2

ALTIM_TOP_PING 9.5,9.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 485 135.75 nil 0 0 0.00

Roll_motor 66 100 80.85 nil 0 0 0.00

VBD_pump_during_apogee 359 2940 12826.72 nil 0 0 0.00

VBD_pump_during_surface 129 231 364.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 9671 4 517.25

Iridium_during_xfer 346 192 812.71 nil 0 0 0.00

Transponder_ping 31 420 158.19 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.75

TT8 0 0 0.00

LPSleep 7426 2 214.78

TT8_Active 663 10 90.29

TT8_Sampling 2154 30 818.73

TT8_CF8 69 51 44.67

TT8_Kalman 0 0 0.00

Analog_circuits 1678 10 212.23

GPS_charging 0 0 0.00

Compass 1249 6 105.40

RAFOS 720 1 13.52

Transponder 219 30 82.44

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

18.2 21.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

26.7 29.00 9000.00 0.0 0.00 0.00 29.00 0.0 0.86 1.00

35.2 36.90 9000.00 0.0 0.00 0.00 36.90 0.0 0.93 1.00

43.9 46.40 9000.00 0.0 0.00 0.00 46.40 0.0 1.09 1.00

60.2 63.70 63.10 0.0 1.01 1.00 63.70 0.0 1.06 1.00

85.6 89.80 89.90 0.0 1.04 1.00 89.80 0.0 1.03 1.00

101.4 107.10 106.90 -5.5 1.06 1.00 107.10 -5.7 1.09 1.00

75.8 80.90 80.10 -4.3 1.05 1.00 80.90 -5.1 1.02 1.00

59.2 62.70 62.80 -3.6 1.05 1.00 62.70 -3.5 1.10 1.00

51.0 53.20 53.70 -2.7 1.06 1.00 53.20 -2.2 1.16 1.00

42.8 44.90 45.00 -2.2 1.07 1.00 44.90 -2.1 1.01 1.00

34.6 35.50 35.60 -1.0 1.10 1.00 35.50 -0.9 1.15 1.00

26.5 27.10 26.90 -0.4 1.09 1.00 27.10 -0.6 1.04 1.00

17.9 18.10 18.00 -0.1 1.07 1.00 18.10 -0.2 1.05 1.00

9.5 9.40 9.20 0.3 1.06 1.00 9.40 0.1 1.04 1.00

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

7 -0.92 -146.0 204 2812 1593 1516 0.0 0.0 0 123 0.00 0.00 -113.50 0.003 16386 0.000 0.000 198 2811 3502 3513 3492 0 0 0 0 0 0 14.54 28.83 14.54

124 -0.92 -146.0 198 2812 3514 3492 3.9 -5.3 11 143 12.20 2.47 -1.23 0.072 18980 0.486 0.077 2425 1387 3551 3554 3549 0 0 0 0 0 0 14.12 13.54 14.41

301 -0.92 -146.0 2425 1387 3555 3553 36.0 -14.0 46 309 0.00 2.53 0.00 0.000 1030 0.000 0.075 2425 2792 3553 3554 3553 0 0 0 0 0 0 14.47 14.40 14.49

607 -0.92 -146.0 2425 2793 3554 3555 77.6 -13.3 77 608 0.00 0.00 0.00 0.000 6 0.000 0.000 2425 2792 3554 3554 3554 0 0 0 0 0 0 14.69 14.69 14.69

907 -0.92 -146.0 2426 2792 3556 3555 118.0 -13.5 107 908 0.00 0.00 0.00 0.000 6 0.000 0.000 2423 2792 3554 3554 3555 0 0 0 0 0 0 14.74 14.74 14.74

1207 -0.92 -146.0 2425 2792 3553 3556 158.8 -13.3 137 1208 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2792 3554 3554 3555 0 0 0 0 0 0 14.78 14.78 14.78

1506 -0.92 -146.0 2425 2792 3555 3555 197.9 -12.9 167 1507 0.00 0.00 0.00 0.000 6 0.000 0.000 2425 2792 3554 3554 3555 0 0 0 0 0 0 14.82 14.84 14.82

1806 -0.92 -146.0 2425 2793 3555 3556 237.0 -13.2 197 1813 0.00 2.00 0.00 0.000 260 0.000 0.100 2418 3909 3554 3554 3555 0 0 0 0 0 0 14.84 14.57 14.84

1857 -0.92 -146.0 2419 3908 3555 3555 244.2 -14.5 207 1863 0.00 1.90 0.00 0.000 1030 0.000 0.051 2419 2775 3554 3554 3555 0 0 0 0 0 0 14.69 14.66 14.70

2167 -0.92 -146.0 2418 2775 3554 3556 286.4 -13.5 239 2173 0.00 2.05 0.00 0.000 260 0.000 0.097 2415 3912 3554 3553 3555 0 0 0 0 0 0 14.85 14.59 14.85

2237 -0.92 -146.0 2416 3912 3554 3555 296.5 -14.6 253 2245 0.00 1.88 0.00 0.000 1030 0.000 0.054 2415 2800 3554 3554 3555 0 0 0 0 0 0 14.71 14.67 14.71

2548 -0.92 -146.0 2415 2801 3554 3556 338.2 -13.0 271 2549 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 2800 3554 3553 3555 0 0 0 0 0 0 14.86 14.86 14.87

2848 -0.92 -146.0 2415 2801 3554 3556 376.5 -12.6 286 2849 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 2799 3554 3553 3555 0 0 0 0 0 0 14.88 14.88 14.88

3149 -0.92 -146.0 2416 2800 3555 3555 414.1 -12.6 301 3150 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 2800 3554 3553 3555 0 0 0 0 0 0 14.85 14.85 14.85

3448 -0.92 -146.0 2415 2800 3554 3555 452.9 -13.2 316 3455 0.00 2.00 0.00 0.000 260 0.000 0.098 2414 3911 3554 3553 3555 0 0 0 0 0 0 14.88 14.63 14.88

3489 -0.92 -146.0 2415 3911 3554 3555 458.8 -14.6 324 3495 0.00 1.88 0.00 0.000 1030 0.000 0.052 2414 2793 3554 3554 3555 0 0 0 0 0 0 14.73 14.70 14.75

3809 -0.92 -146.0 2415 2793 3554 3555 500.3 -12.9 343 3818 0.00 2.35 0.00 0.000 516 0.000 0.055 2414 1408 3554 3553 3555 0 0 0 0 0 0 14.88 14.65 14.88

3837 -0.92 -146.0 2415 1409 3554 3556 503.9 -13.2 348 3845 0.00 2.47 0.00 0.000 1030 0.000 0.076 2414 2805 3554 3553 3555 0 0 0 0 0 0 14.71 14.64 14.73

4172 end dive: TARGET_DEPTH_EXCEEDED

state 4172 begin apogee

4176 -0.23 0.0 2415 2546 3553 3556 546.1 -12.5 360 4333 0.88 0.00 154.10 2.941 10246 0.260 0.000 2648 2546 2965 2962 2968 0 0 0 0 0 0 14.52 13.54 12.54

4334 end apogee: CONTROL_FINISHED_OK

state 4334 begin climb

4335 0.92 146.0 2648 2547 2963 2970 551.0 0.0 365 4504 1.30 2.67 160.65 2.841 10756 0.169 0.069 3027 1165 2384 2371 2397 0 0 0 0 0 0 13.51 13.02 12.15

4553 0.92 146.0 3027 1165 2365 2393 536.9 10.8 408 4559 0.00 2.65 0.00 0.000 1030 0.000 0.073 3027 2547 2378 2364 2393 0 0 0 0 0 0 13.57 13.52 13.59

4918 0.92 146.0 3027 2544 2360 2391 494.2 11.5 425 4919 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2543 2373 2359 2388 0 0 0 0 0 0 14.39 14.37 14.37

5218 0.92 146.0 3027 2544 2357 2390 461.2 10.6 440 5224 0.00 2.47 0.00 0.000 516 0.000 0.070 3037 1164 2372 2357 2388 0 0 0 0 0 0 14.55 14.31 14.55

5248 0.92 146.0 3038 1164 2359 2387 458.1 10.5 446 5256 0.00 2.50 0.00 0.000 1030 0.000 0.073 3037 2551 2373 2358 2388 0 0 0 0 0 0 14.40 14.33 14.44

5560 0.92 146.0 3037 2552 2359 2388 424.8 10.6 463 5565 0.00 2.42 0.00 0.000 516 0.000 0.070 3048 1163 2373 2358 2388 0 0 0 0 0 0 14.66 14.42 14.66

5600 0.92 146.0 3050 1163 2358 2387 420.7 10.4 471 5606 0.00 2.45 0.00 0.000 1030 0.000 0.073 3047 2557 2372 2358 2386 0 0 0 0 0 0 14.54 14.45 14.56

5921 0.92 146.0 3048 2558 2359 2388 385.2 11.2 490 5927 0.00 2.42 0.00 0.000 260 0.000 0.099 3048 3914 2373 2359 2387 0 0 0 0 0 0 14.71 14.50 14.71

5975 0.92 146.0 3048 3915 2360 2388 377.9 13.4 501 5983 0.10 2.35 0.00 0.000 5126 0.295 0.058 3032 2552 2372 2359 2386 0 0 0 0 0 0 14.38 14.56 14.54

6280 0.92 146.0 3032 2551 2360 2386 344.6 10.5 517 6281 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 2550 2372 2358 2387 0 0 0 0 0 0 14.78 14.78 14.79

6580 0.92 146.0 3032 2552 2359 2388 312.2 10.6 532 6581 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 2551 2372 2358 2386 0 0 0 0 0 0 14.81 14.82 14.82

6881 0.92 146.0 3032 2552 2359 2388 280.2 10.3 556 6886 0.00 2.42 0.00 0.000 260 0.000 0.098 3032 3914 2371 2359 2383 0 0 0 0 0 0 14.81 14.59 14.81

6925 0.92 146.0 3032 3915 2361 2387 275.0 11.8 565 6933 0.00 2.33 0.00 0.000 1030 0.000 0.058 3042 2552 2372 2359 2386 0 0 0 0 0 0 14.69 14.64 14.70

7230 0.92 146.0 3042 2553 2359 2388 242.6 10.5 596 7236 0.00 2.45 0.00 0.000 260 0.000 0.098 3041 3903 2373 2359 2388 0 0 0 0 0 0 14.85 14.60 14.85

7255 0.92 146.0 3041 3903 2361 2388 239.6 12.2 601 7263 0.00 2.33 0.00 0.000 1030 0.000 0.058 3051 2543 2373 2359 2387 0 0 0 0 0 0 14.69 14.66 14.71

7560 0.92 146.0 3053 2543 2360 2387 204.8 11.2 632 7561 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2543 2373 2359 2387 0 0 0 0 0 0 14.86 14.86 14.86

7860 0.92 146.0 3053 2543 2360 2386 172.6 10.6 662 7861 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2543 2373 2359 2387 0 0 0 0 0 0 14.88 14.88 14.88

8160 0.92 146.0 3053 2543 2360 2386 141.5 10.4 692 8161 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2543 2373 2359 2387 0 0 0 0 0 0 14.88 14.88 14.88

8460 0.93 146.0 3052 2544 2360 2388 113.4 9.1 722 8461 0.00 0.00 0.00 0.000 70 0.000 0.000 3052 2543 2373 2359 2387 0 0 0 0 0 0 14.88 14.89 14.89

8761 0.93 146.0 3053 2543 2360 2386 84.4 9.8 752 8766 0.00 2.38 0.00 0.000 516 0.000 0.070 3062 1158 2372 2358 2386 0 0 0 0 0 0 14.86 14.64 14.86

8800 0.93 146.0 3063 1158 2360 2386 80.5 9.8 760 8807 0.10 2.45 0.00 0.000 5126 0.274 0.073 3035 2548 2371 2357 2386 0 0 0 0 0 0 14.52 14.66 14.67

9111 0.95 146.0 3035 2550 2359 2387 51.9 9.2 792 9117 0.00 2.42 0.00 0.000 324 0.000 0.096 3035 3899 2372 2359 2386 0 0 0 0 0 0 14.89 14.64 14.89

9210 0.95 146.0 3035 3900 2361 2388 41.2 10.5 812 9216 0.00 2.30 0.00 0.000 1030 0.000 0.059 3045 2550 2372 2359 2385 0 0 0 0 0 0 14.73 14.69 14.75

9520 1.01 198.8 3046 2550 2359 2386 14.3 7.4 844 9569 0.00 2.47 44.25 0.272 8740 0.000 0.072 3056 1157 2171 2162 2180 0 0 0 0 0 0 14.89 14.57 14.48

9642 end climb: SURFACE_DEPTH_REACHED

state 9642 begin surface coast

9662 end surface coast: CONTROL_FINISHED_OK

state 9662 begin surface

ID	221	HD_A	0.0021500001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0099999998	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	28	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	8
D_FLARE	3	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	32	ALTIM_FREQUENCY	13
D_TGT	800	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	ALTIM_PULSE	2
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	2	XPDR_VALID	3
D_BOOST	100	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	0.80000001
D_PITCH	0	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	0	COMM_SEQ	0	C_VBD	2968	MOTHERBOARD	4
D_CALL	0	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	270	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	310	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	5	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	2	LOITER_W_DBAND	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	1.5	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	-1	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	200	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044198656
D_OFFGRID	600	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2730	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	10	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	10	SEABIRD_C_G	-9.9022408
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	1.1	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	30	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
SPEED_FACTOR	1	PITCH_TIMEOUT	24	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	175	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	785

GPS1	270118,200230,-7353.3535,-11301.7236,33,1.1,33,53.4,1.2,248.5,8,5.3	SPEED_LIMITS	0.171,0.250
_CALLS	2	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7406.000,-11310.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.83	MHEAD_RNG_PITCHd_Wd	131.4,23820,-16.3,-9.877,-21.56,2183
_SM_ANGLEo	-61.9	D_GRID	543
GPS2	270118,201050,-7353.3281,-11301.9580,4,1.1,5,53.4,0.3,0.0,8,5.4

FINISH	-0.1,1.027206	_24V_AH	12.15,18.620
SM_CCo	9678,129.73,0.231,0,0,1573,350.17	_10V_AH	12.52,0.000
SM_GC	0.92,8.43,2.95,129.73,0.078,0.073,0.231,193,2811,1573,-7.89,-0.45,350.17,0,0,0,0,0,0,14.58,14.61,14.35	FG_AHR_24Vo	0.000
RAFOS_CLK	384	FG_AHR_10Vo	0.000
RAFOS	0,1517086866,21.033333,21.018333,66,57,53,53,51,49,210,169,132,225,192,156	MEM	280060
RAFOS_FIX	-7354.554199,-11301.773438,270118,222216,0,1,0.23	DATA_FILE_SIZE	30002,871
IRIDIUM_FIX	-7353.74,-11305.81,270118,200411	CAP_FILE_SIZE	111598,0
TT8_MAMPS	0.03745,0.288365	CFSIZE	1024409600,1016594432
HUMID	46.57	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.79246	SOUNDSPEED	1448.2
TCM_TEMP	13.20	CURRENT	0.080,285.70,1
XPDR_PINGS	0	GPS	270118,225530,-7354.439,-11304.021,16,1.4,16,53.4,1.7,328.8,6,5.2
ALTIM_TOP_PING	9.5,9.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	485	135.75	nil	0	0	0.00
Roll_motor	66	100	80.85	nil	0	0	0.00
VBD_pump_during_apogee	359	2940	12826.72	nil	0	0	0.00
VBD_pump_during_surface	129	231	364.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	9671	4	517.25
Iridium_during_xfer	346	192	812.71	nil	0	0	0.00
Transponder_ping	31	420	158.19	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.75
TT8	0	0	0.00
LPSleep	7426	2	214.78
TT8_Active	663	10	90.29
TT8_Sampling	2154	30	818.73
TT8_CF8	69	51	44.67
TT8_Kalman	0	0	0.00
Analog_circuits	1678	10	212.23
GPS_charging	0	0	0.00
Compass	1249	6	105.40
RAFOS	720	1	13.52
Transponder	219	30	82.44

		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
18.2	21.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
26.7	29.00	9000.00	0.0	0.00	0.00	29.00	0.0	0.86	1.00
35.2	36.90	9000.00	0.0	0.00	0.00	36.90	0.0	0.93	1.00
43.9	46.40	9000.00	0.0	0.00	0.00	46.40	0.0	1.09	1.00
60.2	63.70	63.10	0.0	1.01	1.00	63.70	0.0	1.06	1.00
85.6	89.80	89.90	0.0	1.04	1.00	89.80	0.0	1.03	1.00

101.4	107.10	106.90	-5.5	1.06	1.00	107.10	-5.7	1.09	1.00
75.8	80.90	80.10	-4.3	1.05	1.00	80.90	-5.1	1.02	1.00
59.2	62.70	62.80	-3.6	1.05	1.00	62.70	-3.5	1.10	1.00
51.0	53.20	53.70	-2.7	1.06	1.00	53.20	-2.2	1.16	1.00
42.8	44.90	45.00	-2.2	1.07	1.00	44.90	-2.1	1.01	1.00
34.6	35.50	35.60	-1.0	1.10	1.00	35.50	-0.9	1.15	1.00
26.5	27.10	26.90	-0.4	1.09	1.00	27.10	-0.6	1.04	1.00
17.9	18.10	18.00	-0.1	1.07	1.00	18.10	-0.2	1.05	1.00
9.5	9.40	9.20	0.3	1.06	1.00	9.40	0.1	1.04	1.00

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
7	-0.92	-146.0	204	2812	1593	1516	0.0	0.0	0	123	0.00	0.00	-113.50	0.003	16386	0.000	0.000	198	2811	3502	3513	3492	0	0	0	0	0	0	14.54	28.83	14.54
124	-0.92	-146.0	198	2812	3514	3492	3.9	-5.3	11	143	12.20	2.47	-1.23	0.072	18980	0.486	0.077	2425	1387	3551	3554	3549	0	0	0	0	0	0	14.12	13.54	14.41
301	-0.92	-146.0	2425	1387	3555	3553	36.0	-14.0	46	309	0.00	2.53	0.00	0.000	1030	0.000	0.075	2425	2792	3553	3554	3553	0	0	0	0	0	0	14.47	14.40	14.49
607	-0.92	-146.0	2425	2793	3554	3555	77.6	-13.3	77	608	0.00	0.00	0.00	0.000	6	0.000	0.000	2425	2792	3554	3554	3554	0	0	0	0	0	0	14.69	14.69	14.69
907	-0.92	-146.0	2426	2792	3556	3555	118.0	-13.5	107	908	0.00	0.00	0.00	0.000	6	0.000	0.000	2423	2792	3554	3554	3555	0	0	0	0	0	0	14.74	14.74	14.74
1207	-0.92	-146.0	2425	2792	3553	3556	158.8	-13.3	137	1208	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2792	3554	3554	3555	0	0	0	0	0	0	14.78	14.78	14.78
1506	-0.92	-146.0	2425	2792	3555	3555	197.9	-12.9	167	1507	0.00	0.00	0.00	0.000	6	0.000	0.000	2425	2792	3554	3554	3555	0	0	0	0	0	0	14.82	14.84	14.82
1806	-0.92	-146.0	2425	2793	3555	3556	237.0	-13.2	197	1813	0.00	2.00	0.00	0.000	260	0.000	0.100	2418	3909	3554	3554	3555	0	0	0	0	0	0	14.84	14.57	14.84
1857	-0.92	-146.0	2419	3908	3555	3555	244.2	-14.5	207	1863	0.00	1.90	0.00	0.000	1030	0.000	0.051	2419	2775	3554	3554	3555	0	0	0	0	0	0	14.69	14.66	14.70
2167	-0.92	-146.0	2418	2775	3554	3556	286.4	-13.5	239	2173	0.00	2.05	0.00	0.000	260	0.000	0.097	2415	3912	3554	3553	3555	0	0	0	0	0	0	14.85	14.59	14.85
2237	-0.92	-146.0	2416	3912	3554	3555	296.5	-14.6	253	2245	0.00	1.88	0.00	0.000	1030	0.000	0.054	2415	2800	3554	3554	3555	0	0	0	0	0	0	14.71	14.67	14.71
2548	-0.92	-146.0	2415	2801	3554	3556	338.2	-13.0	271	2549	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	2800	3554	3553	3555	0	0	0	0	0	0	14.86	14.86	14.87
2848	-0.92	-146.0	2415	2801	3554	3556	376.5	-12.6	286	2849	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	2799	3554	3553	3555	0	0	0	0	0	0	14.88	14.88	14.88
3149	-0.92	-146.0	2416	2800	3555	3555	414.1	-12.6	301	3150	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	2800	3554	3553	3555	0	0	0	0	0	0	14.85	14.85	14.85
3448	-0.92	-146.0	2415	2800	3554	3555	452.9	-13.2	316	3455	0.00	2.00	0.00	0.000	260	0.000	0.098	2414	3911	3554	3553	3555	0	0	0	0	0	0	14.88	14.63	14.88
3489	-0.92	-146.0	2415	3911	3554	3555	458.8	-14.6	324	3495	0.00	1.88	0.00	0.000	1030	0.000	0.052	2414	2793	3554	3554	3555	0	0	0	0	0	0	14.73	14.70	14.75
3809	-0.92	-146.0	2415	2793	3554	3555	500.3	-12.9	343	3818	0.00	2.35	0.00	0.000	516	0.000	0.055	2414	1408	3554	3553	3555	0	0	0	0	0	0	14.88	14.65	14.88
3837	-0.92	-146.0	2415	1409	3554	3556	503.9	-13.2	348	3845	0.00	2.47	0.00	0.000	1030	0.000	0.076	2414	2805	3554	3553	3555	0	0	0	0	0	0	14.71	14.64	14.73
4172	end dive: TARGET_DEPTH_EXCEEDED
state	4172	begin apogee
4176	-0.23	0.0	2415	2546	3553	3556	546.1	-12.5	360	4333	0.88	0.00	154.10	2.941	10246	0.260	0.000	2648	2546	2965	2962	2968	0	0	0	0	0	0	14.52	13.54	12.54
4334	end apogee: CONTROL_FINISHED_OK
state	4334	begin climb
4335	0.92	146.0	2648	2547	2963	2970	551.0	0.0	365	4504	1.30	2.67	160.65	2.841	10756	0.169	0.069	3027	1165	2384	2371	2397	0	0	0	0	0	0	13.51	13.02	12.15
4553	0.92	146.0	3027	1165	2365	2393	536.9	10.8	408	4559	0.00	2.65	0.00	0.000	1030	0.000	0.073	3027	2547	2378	2364	2393	0	0	0	0	0	0	13.57	13.52	13.59
4918	0.92	146.0	3027	2544	2360	2391	494.2	11.5	425	4919	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2543	2373	2359	2388	0	0	0	0	0	0	14.39	14.37	14.37
5218	0.92	146.0	3027	2544	2357	2390	461.2	10.6	440	5224	0.00	2.47	0.00	0.000	516	0.000	0.070	3037	1164	2372	2357	2388	0	0	0	0	0	0	14.55	14.31	14.55
5248	0.92	146.0	3038	1164	2359	2387	458.1	10.5	446	5256	0.00	2.50	0.00	0.000	1030	0.000	0.073	3037	2551	2373	2358	2388	0	0	0	0	0	0	14.40	14.33	14.44
5560	0.92	146.0	3037	2552	2359	2388	424.8	10.6	463	5565	0.00	2.42	0.00	0.000	516	0.000	0.070	3048	1163	2373	2358	2388	0	0	0	0	0	0	14.66	14.42	14.66
5600	0.92	146.0	3050	1163	2358	2387	420.7	10.4	471	5606	0.00	2.45	0.00	0.000	1030	0.000	0.073	3047	2557	2372	2358	2386	0	0	0	0	0	0	14.54	14.45	14.56
5921	0.92	146.0	3048	2558	2359	2388	385.2	11.2	490	5927	0.00	2.42	0.00	0.000	260	0.000	0.099	3048	3914	2373	2359	2387	0	0	0	0	0	0	14.71	14.50	14.71
5975	0.92	146.0	3048	3915	2360	2388	377.9	13.4	501	5983	0.10	2.35	0.00	0.000	5126	0.295	0.058	3032	2552	2372	2359	2386	0	0	0	0	0	0	14.38	14.56	14.54
6280	0.92	146.0	3032	2551	2360	2386	344.6	10.5	517	6281	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	2550	2372	2358	2387	0	0	0	0	0	0	14.78	14.78	14.79
6580	0.92	146.0	3032	2552	2359	2388	312.2	10.6	532	6581	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	2551	2372	2358	2386	0	0	0	0	0	0	14.81	14.82	14.82
6881	0.92	146.0	3032	2552	2359	2388	280.2	10.3	556	6886	0.00	2.42	0.00	0.000	260	0.000	0.098	3032	3914	2371	2359	2383	0	0	0	0	0	0	14.81	14.59	14.81
6925	0.92	146.0	3032	3915	2361	2387	275.0	11.8	565	6933	0.00	2.33	0.00	0.000	1030	0.000	0.058	3042	2552	2372	2359	2386	0	0	0	0	0	0	14.69	14.64	14.70
7230	0.92	146.0	3042	2553	2359	2388	242.6	10.5	596	7236	0.00	2.45	0.00	0.000	260	0.000	0.098	3041	3903	2373	2359	2388	0	0	0	0	0	0	14.85	14.60	14.85
7255	0.92	146.0	3041	3903	2361	2388	239.6	12.2	601	7263	0.00	2.33	0.00	0.000	1030	0.000	0.058	3051	2543	2373	2359	2387	0	0	0	0	0	0	14.69	14.66	14.71
7560	0.92	146.0	3053	2543	2360	2387	204.8	11.2	632	7561	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2543	2373	2359	2387	0	0	0	0	0	0	14.86	14.86	14.86
7860	0.92	146.0	3053	2543	2360	2386	172.6	10.6	662	7861	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2543	2373	2359	2387	0	0	0	0	0	0	14.88	14.88	14.88
8160	0.92	146.0	3053	2543	2360	2386	141.5	10.4	692	8161	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2543	2373	2359	2387	0	0	0	0	0	0	14.88	14.88	14.88
8460	0.93	146.0	3052	2544	2360	2388	113.4	9.1	722	8461	0.00	0.00	0.00	0.000	70	0.000	0.000	3052	2543	2373	2359	2387	0	0	0	0	0	0	14.88	14.89	14.89
8761	0.93	146.0	3053	2543	2360	2386	84.4	9.8	752	8766	0.00	2.38	0.00	0.000	516	0.000	0.070	3062	1158	2372	2358	2386	0	0	0	0	0	0	14.86	14.64	14.86
8800	0.93	146.0	3063	1158	2360	2386	80.5	9.8	760	8807	0.10	2.45	0.00	0.000	5126	0.274	0.073	3035	2548	2371	2357	2386	0	0	0	0	0	0	14.52	14.66	14.67
9111	0.95	146.0	3035	2550	2359	2387	51.9	9.2	792	9117	0.00	2.42	0.00	0.000	324	0.000	0.096	3035	3899	2372	2359	2386	0	0	0	0	0	0	14.89	14.64	14.89
9210	0.95	146.0	3035	3900	2361	2388	41.2	10.5	812	9216	0.00	2.30	0.00	0.000	1030	0.000	0.059	3045	2550	2372	2359	2385	0	0	0	0	0	0	14.73	14.69	14.75
9520	1.01	198.8	3046	2550	2359	2386	14.3	7.4	844	9569	0.00	2.47	44.25	0.272	8740	0.000	0.072	3056	1157	2171	2162	2180	0	0	0	0	0	0	14.89	14.57	14.48
9642	end climb: SURFACE_DEPTH_REACHED
state	9642	begin surface coast
9662	end surface coast: CONTROL_FINISHED_OK
state	9662	begin surface