Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 40 * 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 40 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 37 ALTIM_FREQUENCY 13

D_TGT 800 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 21 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 10 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 0 COMM_SEQ 0 C_VBD 2968 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 5 N_NOCOMM 1 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 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 1 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 5

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

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 1

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 40 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 37 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 10 R_STBD_OVSHOOT 21 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 10 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 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 3 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 280118,181648,-7354.4409,-11308.2168,53,1.0,53,53.5,0.5,357.2,9,4.3 SPEED_LIMITS 0.171,0.250

_CALLS 1 TGT_NAME S2_221

_XMS_NAKs 0 TGT_LATLONG -7354.000,-11300.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.77 MHEAD_RNG_PITCHd_Wd 49.4,4316,-16.3,-9.877,-21.56,2183

_SM_ANGLEo -58.6 D_GRID 446

GPS2 280118,182246,-7354.3970,-11308.2803,2,0.8,4,53.5,1.4,331.4,11,6.5

Post-dive calculations and measurements:

FREEZE -0.03,-0.862,-1.856,2,1,0 _24V_AH 12.24,22.444

FINISH -0.0,1.027215 _10V_AH 12.54,0.000

SM_CCo 7835,175.12,0.230,0,0,1573,350.17 FG_AHR_24Vo 0.000

SM_GC 0.79,8.38,0.47,175.12,0.083,0.096,0.230,196,2806,1573,-7.89,-0.59,350.17,0,0,0,0,0,0,14.63,14.66,14.35 FG_AHR_10Vo 0.000

RAFOS_CLK 313 MEM 280776

RAFOS_FIX -7354.679688,-11309.344727,280118,202012,0,1,0.10 DATA_FILE_SIZE 26719,772

IRIDIUM_FIX -7355.64,-11308.86,280118,163043 CAP_FILE_SIZE 100024,0

TT8_MAMPS 0.038948,0.238931 CFSIZE 1024409600,1015398400

HUMID 46.02 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.80222 SOUNDSPEED 1447.5

TCM_TEMP 13.00 CURRENT 0.111,333.01,1

XPDR_PINGS 0 GPS 280118,203719,-7354.250,-11305.609,3,1.2,6,53.5,0.7,67.2,6,5.5

ALTIM_TOP_PING 10.4,10.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 488 137.77 nil 0 0 0.00

Roll_motor 69 97 82.82 nil 0 0 0.00

VBD_pump_during_apogee 299 2790 10240.69 nil 0 0 0.00

VBD_pump_during_surface 175 229 491.94 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 7827 4 435.52

Iridium_during_xfer 276 179 609.08 nil 0 0 0.00

Transponder_ping 25 420 132.38 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.64

TT8 0 0 0.00

LPSleep 5761 2 166.90

TT8_Active 680 10 92.70

TT8_Sampling 1872 30 712.51

TT8_CF8 67 51 43.51

TT8_Kalman 0 0 0.00

Analog_circuits 1558 10 197.35

GPS_charging 0 0 0.00

Compass 1108 6 93.71

RAFOS 0 0 0.00

Transponder 181 30 68.35

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

16.7 16.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

24.9 26.10 9000.00 0.0 0.00 0.00 26.10 0.0 1.13 1.00

42.7 45.00 9000.00 0.0 0.00 0.00 45.00 0.0 1.06 1.00

51.5 54.30 9000.00 0.0 0.00 0.00 54.30 0.0 1.06 1.00

59.9 63.50 63.50 0.0 1.07 1.00 63.50 0.0 1.10 1.00

68.4 72.20 72.30 0.0 1.06 1.00 72.20 0.0 1.02 1.00

111.6 115.70 115.90 -4.3 1.02 1.00 115.70 -4.1 1.01 1.00

103.4 107.60 107.50 -4.1 1.02 1.00 107.60 -4.2 0.99 1.00

95.4 99.30 99.30 -3.9 1.01 1.00 99.30 -3.9 1.04 1.00

78.3 80.90 81.70 -3.4 1.02 1.00 80.90 -2.6 1.08 1.00

70.1 73.50 73.10 -3.0 1.03 1.00 73.50 -3.4 0.90 1.00

61.7 63.70 64.00 -2.3 1.05 1.00 63.70 -2.0 1.17 1.00

45.4 46.60 46.70 -1.3 1.05 1.00 46.60 -1.2 1.05 1.00

36.9 37.80 37.80 -0.9 1.05 1.00 37.80 -0.9 1.04 1.00

28.1 27.90 28.00 0.1 1.07 1.00 27.90 0.2 1.13 1.00

19.3 19.50 19.20 0.1 1.05 1.00 19.50 -0.2 0.95 1.00

10.4 10.70 10.40 0.0 1.03 1.00 10.70 -0.3 0.99 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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -0.92 -146.0 191 2809 1596 1516 0.0 0.0 0 130 0.00 0.00 -118.28 0.003 16390 0.000 0.000 190 2809 3551 3564 3539 0 0 0 0 0 0 14.57 13.62 14.57

132 -0.92 -146.0 191 2809 3566 3540 4.7 -7.5 12 150 12.23 1.98 0.00 0.000 2340 0.489 0.083 2415 3913 3554 3563 3546 0 0 0 0 0 0 14.15 14.36 14.46

278 -0.92 -146.0 2416 3913 3561 3554 34.3 -15.5 41 287 0.00 1.90 0.00 0.000 1030 0.000 0.050 2416 2797 3556 3560 3553 0 0 0 0 0 0 14.50 14.47 14.52

584 -0.92 -146.0 2422 2797 3561 3554 78.3 -14.0 72 585 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2797 3557 3560 3554 0 0 0 0 0 0 14.72 14.72 14.72

885 -0.92 -146.0 2417 2797 3561 3554 119.0 -13.4 102 885 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2797 3557 3560 3554 0 0 0 0 0 0 14.73 14.74 14.75

1184 -0.92 -146.0 2417 2797 3560 3555 161.1 -14.5 132 1190 0.00 2.03 0.00 0.000 260 0.000 0.098 2415 3910 3557 3559 3555 0 0 0 0 0 0 14.77 14.56 14.77

1234 -0.92 -146.0 2415 3910 3560 3555 168.6 -15.1 142 1241 0.00 1.88 0.00 0.000 1030 0.000 0.051 2415 2795 3556 3559 3554 0 0 0 0 0 0 14.64 14.63 14.68

1545 -0.92 -146.0 2415 2796 3560 3556 211.7 -13.3 174 1551 0.00 2.00 0.00 0.000 260 0.000 0.096 2415 3899 3557 3559 3555 0 0 0 0 0 0 14.82 14.59 14.84

1575 -0.92 -146.0 2415 3899 3560 3554 215.8 -14.3 180 1581 0.00 1.85 0.00 0.000 1030 0.000 0.050 2414 2802 3556 3559 3554 0 0 0 0 0 0 14.68 14.65 14.69

1885 -0.92 -146.0 2415 2804 3560 3556 254.8 -12.1 212 1891 0.00 1.98 0.00 0.000 260 0.000 0.096 2415 3899 3556 3559 3554 0 0 0 0 0 0 14.84 14.59 14.83

1925 -0.92 -146.0 2415 3899 3560 3555 259.9 -12.9 220 1931 0.00 1.85 0.00 0.000 1030 0.000 0.051 2415 2801 3557 3559 3555 0 0 0 0 0 0 14.69 14.66 14.71

2235 -0.92 -146.0 2415 2801 3560 3554 299.1 -12.1 252 2241 0.00 2.38 0.00 0.000 516 0.000 0.054 2414 1407 3557 3559 3555 0 0 0 0 0 0 14.85 14.63 14.85

2270 -0.92 -146.0 2415 1407 3560 3555 303.4 -12.1 259 2277 0.00 2.47 0.00 0.000 1030 0.000 0.075 2414 2798 3556 3558 3555 0 0 0 0 0 0 14.68 14.62 14.70

2575 -0.92 -146.0 2415 2800 3560 3556 345.6 -13.9 275 2576 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2799 3557 3559 3555 0 0 0 0 0 0 14.86 14.87 14.86

2875 -0.92 -146.0 2415 2798 3558 3555 385.2 -13.3 290 2876 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2799 3557 3559 3555 0 0 0 0 0 0 14.87 14.88 14.88

3175 -0.92 -146.0 2414 2799 3560 3555 423.0 -12.5 305 3182 0.00 1.98 0.00 0.000 260 0.000 0.097 2413 3907 3557 3559 3555 0 0 0 0 0 0 14.89 14.64 14.89

3225 -0.92 -146.0 2413 3908 3559 3556 429.8 -13.6 315 3232 0.00 1.85 0.00 0.000 1030 0.000 0.051 2413 2803 3556 3558 3554 0 0 0 0 0 0 14.73 14.71 14.75

3355 end dive: TARGET_DEPTH_EXCEEDED

state 3355 begin apogee

3358 -0.23 0.0 2413 2549 3559 3556 446.7 -13.0 323 3507 0.88 0.00 146.80 2.791 10246 0.259 0.000 2647 2548 2966 2963 2969 0 0 0 0 0 0 14.54 13.61 12.64

3508 end apogee: CONTROL_FINISHED_OK

state 3508 begin climb

3509 0.92 146.0 2648 2549 2963 2970 452.3 0.0 330 3672 1.30 2.67 153.00 2.685 10756 0.175 0.068 3025 1166 2384 2370 2398 0 0 0 0 0 0 13.56 13.15 12.24

3691 0.94 146.0 3025 1165 2369 2395 442.6 8.8 365 3699 0.00 2.70 0.00 0.000 1094 0.000 0.071 3025 2551 2381 2367 2396 0 0 0 0 0 0 13.43 13.38 13.45

3996 0.94 146.0 3025 2551 2361 2389 409.8 11.0 381 4003 0.00 2.55 0.00 0.000 260 0.000 0.096 3025 3907 2374 2360 2389 0 0 0 0 0 0 14.28 14.06 14.28

4052 0.94 146.0 3024 3908 2361 2390 402.8 12.9 392 4059 0.00 2.40 0.00 0.000 1030 0.000 0.056 3035 2557 2374 2360 2389 0 0 0 0 0 0 14.20 14.16 14.22

4358 0.94 146.0 3036 2558 2359 2390 369.4 10.7 408 4363 0.00 2.47 0.00 0.000 516 0.000 0.069 3047 1150 2373 2358 2388 0 0 0 0 0 0 14.52 14.32 14.52

4422 0.94 146.0 3047 1150 2358 2386 362.3 10.9 421 4429 0.00 2.53 0.00 0.000 1030 0.000 0.073 3046 2552 2372 2358 2386 0 0 0 0 0 0 14.40 14.35 14.42

4738 0.94 146.0 3047 2552 2359 2386 326.0 11.9 439 4739 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2552 2372 2358 2386 0 0 0 0 0 0 14.67 14.67 14.68

5038 0.94 146.0 3046 2553 2358 2387 291.4 11.1 457 5039 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2552 2371 2357 2386 0 0 0 0 0 0 14.73 14.74 14.74

5338 0.94 146.0 3047 2552 2358 2386 259.1 10.4 487 5344 0.00 2.45 0.00 0.000 260 0.000 0.096 3046 3901 2372 2358 2386 0 0 0 0 0 0 14.78 14.53 14.77

5379 0.94 146.0 3046 3902 2359 2388 254.1 12.7 495 5384 0.00 2.28 0.00 0.000 1030 0.000 0.057 3057 2548 2372 2358 2386 0 0 0 0 0 0 14.66 14.60 14.67

5688 0.94 146.0 3057 2548 2358 2388 218.3 11.7 527 5694 0.00 2.47 0.00 0.000 260 0.000 0.097 3056 3910 2372 2358 2386 0 0 0 0 0 0 14.81 14.57 14.81

5723 0.94 146.0 3057 3910 2360 2387 213.7 13.2 534 5730 0.10 2.33 0.00 0.000 5126 0.312 0.057 3041 2552 2372 2358 2387 0 0 0 0 0 0 14.45 14.62 14.61

6028 0.94 146.0 3042 2552 2359 2387 183.3 9.6 565 6035 0.00 2.45 0.00 0.000 516 0.000 0.069 3052 1151 2371 2356 2386 0 0 0 0 0 0 14.83 14.59 14.82

6108 0.94 146.0 3053 1151 2357 2385 175.4 9.7 581 6115 0.00 2.47 0.00 0.000 1030 0.000 0.073 3052 2556 2371 2357 2385 0 0 0 0 0 0 14.66 14.60 14.68

6419 0.94 146.0 3052 2553 2358 2386 143.7 10.4 613 6420 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2551 2371 2357 2385 0 0 0 0 0 0 14.84 14.85 14.84

6719 0.94 146.0 3052 2552 2357 2391 112.6 10.1 643 6725 0.00 2.42 0.00 0.000 260 0.000 0.097 3052 3899 2371 2358 2385 0 0 0 0 0 0 14.85 14.62 14.86

6814 0.94 146.0 3052 3899 2360 2385 101.7 11.5 662 6822 0.08 2.30 0.00 0.000 5126 0.298 0.058 3042 2550 2371 2358 2385 0 0 0 0 0 0 14.50 14.68 14.66

7119 0.94 146.0 3042 2550 2358 2385 72.5 9.6 693 7126 0.00 2.42 0.00 0.000 516 0.000 0.067 3050 1158 2370 2356 2385 0 0 0 0 0 0 14.87 14.62 14.87

7160 0.94 146.0 3052 1159 2356 2386 68.7 9.4 701 7167 0.00 2.45 0.00 0.000 1030 0.000 0.073 3048 2547 2370 2356 2385 0 0 0 0 0 0 14.70 14.64 14.72

7472 0.94 146.0 3052 2548 2357 2386 36.9 10.9 733 7478 0.00 2.40 0.00 0.000 260 0.000 0.098 3052 3904 2371 2358 2385 0 0 0 0 0 0 14.84 14.63 14.85

7506 0.94 146.0 3053 3905 2359 2385 32.7 11.9 740 7514 0.08 2.33 0.00 0.000 5126 0.304 0.058 3042 2548 2370 2356 2384 0 0 0 0 0 0 14.51 14.68 14.67

7812 end climb: SURFACE_DEPTH_REACHED

state 7812 begin surface coast

7821 end surface coast: CONTROL_FINISHED_OK

state 7821 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	40	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	37	ALTIM_FREQUENCY	13
D_TGT	800	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	21	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	10	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	0	COMM_SEQ	0	C_VBD	2968	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	5	N_NOCOMM	1	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	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	1	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	280118,181648,-7354.4409,-11308.2168,53,1.0,53,53.5,0.5,357.2,9,4.3	SPEED_LIMITS	0.171,0.250
_CALLS	1	TGT_NAME	S2_221
_XMS_NAKs	0	TGT_LATLONG	-7354.000,-11300.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.77	MHEAD_RNG_PITCHd_Wd	49.4,4316,-16.3,-9.877,-21.56,2183
_SM_ANGLEo	-58.6	D_GRID	446
GPS2	280118,182246,-7354.3970,-11308.2803,2,0.8,4,53.5,1.4,331.4,11,6.5

FREEZE	-0.03,-0.862,-1.856,2,1,0	_24V_AH	12.24,22.444
FINISH	-0.0,1.027215	_10V_AH	12.54,0.000
SM_CCo	7835,175.12,0.230,0,0,1573,350.17	FG_AHR_24Vo	0.000
SM_GC	0.79,8.38,0.47,175.12,0.083,0.096,0.230,196,2806,1573,-7.89,-0.59,350.17,0,0,0,0,0,0,14.63,14.66,14.35	FG_AHR_10Vo	0.000
RAFOS_CLK	313	MEM	280776
RAFOS_FIX	-7354.679688,-11309.344727,280118,202012,0,1,0.10	DATA_FILE_SIZE	26719,772
IRIDIUM_FIX	-7355.64,-11308.86,280118,163043	CAP_FILE_SIZE	100024,0
TT8_MAMPS	0.038948,0.238931	CFSIZE	1024409600,1015398400
HUMID	46.02	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.80222	SOUNDSPEED	1447.5
TCM_TEMP	13.00	CURRENT	0.111,333.01,1
XPDR_PINGS	0	GPS	280118,203719,-7354.250,-11305.609,3,1.2,6,53.5,0.7,67.2,6,5.5
ALTIM_TOP_PING	10.4,10.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	488	137.77	nil	0	0	0.00
Roll_motor	69	97	82.82	nil	0	0	0.00
VBD_pump_during_apogee	299	2790	10240.69	nil	0	0	0.00
VBD_pump_during_surface	175	229	491.94	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	7827	4	435.52
Iridium_during_xfer	276	179	609.08	nil	0	0	0.00
Transponder_ping	25	420	132.38	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.64
TT8	0	0	0.00
LPSleep	5761	2	166.90
TT8_Active	680	10	92.70
TT8_Sampling	1872	30	712.51
TT8_CF8	67	51	43.51
TT8_Kalman	0	0	0.00
Analog_circuits	1558	10	197.35
GPS_charging	0	0	0.00
Compass	1108	6	93.71
RAFOS	0	0	0.00
Transponder	181	30	68.35

		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
16.7	16.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
24.9	26.10	9000.00	0.0	0.00	0.00	26.10	0.0	1.13	1.00
42.7	45.00	9000.00	0.0	0.00	0.00	45.00	0.0	1.06	1.00
51.5	54.30	9000.00	0.0	0.00	0.00	54.30	0.0	1.06	1.00
59.9	63.50	63.50	0.0	1.07	1.00	63.50	0.0	1.10	1.00
68.4	72.20	72.30	0.0	1.06	1.00	72.20	0.0	1.02	1.00

111.6	115.70	115.90	-4.3	1.02	1.00	115.70	-4.1	1.01	1.00
103.4	107.60	107.50	-4.1	1.02	1.00	107.60	-4.2	0.99	1.00
95.4	99.30	99.30	-3.9	1.01	1.00	99.30	-3.9	1.04	1.00
78.3	80.90	81.70	-3.4	1.02	1.00	80.90	-2.6	1.08	1.00
70.1	73.50	73.10	-3.0	1.03	1.00	73.50	-3.4	0.90	1.00
61.7	63.70	64.00	-2.3	1.05	1.00	63.70	-2.0	1.17	1.00
45.4	46.60	46.70	-1.3	1.05	1.00	46.60	-1.2	1.05	1.00
36.9	37.80	37.80	-0.9	1.05	1.00	37.80	-0.9	1.04	1.00
28.1	27.90	28.00	0.1	1.07	1.00	27.90	0.2	1.13	1.00
19.3	19.50	19.20	0.1	1.05	1.00	19.50	-0.2	0.95	1.00
10.4	10.70	10.40	0.0	1.03	1.00	10.70	-0.3	0.99	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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-0.92	-146.0	191	2809	1596	1516	0.0	0.0	0	130	0.00	0.00	-118.28	0.003	16390	0.000	0.000	190	2809	3551	3564	3539	0	0	0	0	0	0	14.57	13.62	14.57
132	-0.92	-146.0	191	2809	3566	3540	4.7	-7.5	12	150	12.23	1.98	0.00	0.000	2340	0.489	0.083	2415	3913	3554	3563	3546	0	0	0	0	0	0	14.15	14.36	14.46
278	-0.92	-146.0	2416	3913	3561	3554	34.3	-15.5	41	287	0.00	1.90	0.00	0.000	1030	0.000	0.050	2416	2797	3556	3560	3553	0	0	0	0	0	0	14.50	14.47	14.52
584	-0.92	-146.0	2422	2797	3561	3554	78.3	-14.0	72	585	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	2797	3557	3560	3554	0	0	0	0	0	0	14.72	14.72	14.72
885	-0.92	-146.0	2417	2797	3561	3554	119.0	-13.4	102	885	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	2797	3557	3560	3554	0	0	0	0	0	0	14.73	14.74	14.75
1184	-0.92	-146.0	2417	2797	3560	3555	161.1	-14.5	132	1190	0.00	2.03	0.00	0.000	260	0.000	0.098	2415	3910	3557	3559	3555	0	0	0	0	0	0	14.77	14.56	14.77
1234	-0.92	-146.0	2415	3910	3560	3555	168.6	-15.1	142	1241	0.00	1.88	0.00	0.000	1030	0.000	0.051	2415	2795	3556	3559	3554	0	0	0	0	0	0	14.64	14.63	14.68
1545	-0.92	-146.0	2415	2796	3560	3556	211.7	-13.3	174	1551	0.00	2.00	0.00	0.000	260	0.000	0.096	2415	3899	3557	3559	3555	0	0	0	0	0	0	14.82	14.59	14.84
1575	-0.92	-146.0	2415	3899	3560	3554	215.8	-14.3	180	1581	0.00	1.85	0.00	0.000	1030	0.000	0.050	2414	2802	3556	3559	3554	0	0	0	0	0	0	14.68	14.65	14.69
1885	-0.92	-146.0	2415	2804	3560	3556	254.8	-12.1	212	1891	0.00	1.98	0.00	0.000	260	0.000	0.096	2415	3899	3556	3559	3554	0	0	0	0	0	0	14.84	14.59	14.83
1925	-0.92	-146.0	2415	3899	3560	3555	259.9	-12.9	220	1931	0.00	1.85	0.00	0.000	1030	0.000	0.051	2415	2801	3557	3559	3555	0	0	0	0	0	0	14.69	14.66	14.71
2235	-0.92	-146.0	2415	2801	3560	3554	299.1	-12.1	252	2241	0.00	2.38	0.00	0.000	516	0.000	0.054	2414	1407	3557	3559	3555	0	0	0	0	0	0	14.85	14.63	14.85
2270	-0.92	-146.0	2415	1407	3560	3555	303.4	-12.1	259	2277	0.00	2.47	0.00	0.000	1030	0.000	0.075	2414	2798	3556	3558	3555	0	0	0	0	0	0	14.68	14.62	14.70
2575	-0.92	-146.0	2415	2800	3560	3556	345.6	-13.9	275	2576	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2799	3557	3559	3555	0	0	0	0	0	0	14.86	14.87	14.86
2875	-0.92	-146.0	2415	2798	3558	3555	385.2	-13.3	290	2876	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2799	3557	3559	3555	0	0	0	0	0	0	14.87	14.88	14.88
3175	-0.92	-146.0	2414	2799	3560	3555	423.0	-12.5	305	3182	0.00	1.98	0.00	0.000	260	0.000	0.097	2413	3907	3557	3559	3555	0	0	0	0	0	0	14.89	14.64	14.89
3225	-0.92	-146.0	2413	3908	3559	3556	429.8	-13.6	315	3232	0.00	1.85	0.00	0.000	1030	0.000	0.051	2413	2803	3556	3558	3554	0	0	0	0	0	0	14.73	14.71	14.75
3355	end dive: TARGET_DEPTH_EXCEEDED
state	3355	begin apogee
3358	-0.23	0.0	2413	2549	3559	3556	446.7	-13.0	323	3507	0.88	0.00	146.80	2.791	10246	0.259	0.000	2647	2548	2966	2963	2969	0	0	0	0	0	0	14.54	13.61	12.64
3508	end apogee: CONTROL_FINISHED_OK
state	3508	begin climb
3509	0.92	146.0	2648	2549	2963	2970	452.3	0.0	330	3672	1.30	2.67	153.00	2.685	10756	0.175	0.068	3025	1166	2384	2370	2398	0	0	0	0	0	0	13.56	13.15	12.24
3691	0.94	146.0	3025	1165	2369	2395	442.6	8.8	365	3699	0.00	2.70	0.00	0.000	1094	0.000	0.071	3025	2551	2381	2367	2396	0	0	0	0	0	0	13.43	13.38	13.45
3996	0.94	146.0	3025	2551	2361	2389	409.8	11.0	381	4003	0.00	2.55	0.00	0.000	260	0.000	0.096	3025	3907	2374	2360	2389	0	0	0	0	0	0	14.28	14.06	14.28
4052	0.94	146.0	3024	3908	2361	2390	402.8	12.9	392	4059	0.00	2.40	0.00	0.000	1030	0.000	0.056	3035	2557	2374	2360	2389	0	0	0	0	0	0	14.20	14.16	14.22
4358	0.94	146.0	3036	2558	2359	2390	369.4	10.7	408	4363	0.00	2.47	0.00	0.000	516	0.000	0.069	3047	1150	2373	2358	2388	0	0	0	0	0	0	14.52	14.32	14.52
4422	0.94	146.0	3047	1150	2358	2386	362.3	10.9	421	4429	0.00	2.53	0.00	0.000	1030	0.000	0.073	3046	2552	2372	2358	2386	0	0	0	0	0	0	14.40	14.35	14.42
4738	0.94	146.0	3047	2552	2359	2386	326.0	11.9	439	4739	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2552	2372	2358	2386	0	0	0	0	0	0	14.67	14.67	14.68
5038	0.94	146.0	3046	2553	2358	2387	291.4	11.1	457	5039	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2552	2371	2357	2386	0	0	0	0	0	0	14.73	14.74	14.74
5338	0.94	146.0	3047	2552	2358	2386	259.1	10.4	487	5344	0.00	2.45	0.00	0.000	260	0.000	0.096	3046	3901	2372	2358	2386	0	0	0	0	0	0	14.78	14.53	14.77
5379	0.94	146.0	3046	3902	2359	2388	254.1	12.7	495	5384	0.00	2.28	0.00	0.000	1030	0.000	0.057	3057	2548	2372	2358	2386	0	0	0	0	0	0	14.66	14.60	14.67
5688	0.94	146.0	3057	2548	2358	2388	218.3	11.7	527	5694	0.00	2.47	0.00	0.000	260	0.000	0.097	3056	3910	2372	2358	2386	0	0	0	0	0	0	14.81	14.57	14.81
5723	0.94	146.0	3057	3910	2360	2387	213.7	13.2	534	5730	0.10	2.33	0.00	0.000	5126	0.312	0.057	3041	2552	2372	2358	2387	0	0	0	0	0	0	14.45	14.62	14.61
6028	0.94	146.0	3042	2552	2359	2387	183.3	9.6	565	6035	0.00	2.45	0.00	0.000	516	0.000	0.069	3052	1151	2371	2356	2386	0	0	0	0	0	0	14.83	14.59	14.82
6108	0.94	146.0	3053	1151	2357	2385	175.4	9.7	581	6115	0.00	2.47	0.00	0.000	1030	0.000	0.073	3052	2556	2371	2357	2385	0	0	0	0	0	0	14.66	14.60	14.68
6419	0.94	146.0	3052	2553	2358	2386	143.7	10.4	613	6420	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2551	2371	2357	2385	0	0	0	0	0	0	14.84	14.85	14.84
6719	0.94	146.0	3052	2552	2357	2391	112.6	10.1	643	6725	0.00	2.42	0.00	0.000	260	0.000	0.097	3052	3899	2371	2358	2385	0	0	0	0	0	0	14.85	14.62	14.86
6814	0.94	146.0	3052	3899	2360	2385	101.7	11.5	662	6822	0.08	2.30	0.00	0.000	5126	0.298	0.058	3042	2550	2371	2358	2385	0	0	0	0	0	0	14.50	14.68	14.66
7119	0.94	146.0	3042	2550	2358	2385	72.5	9.6	693	7126	0.00	2.42	0.00	0.000	516	0.000	0.067	3050	1158	2370	2356	2385	0	0	0	0	0	0	14.87	14.62	14.87
7160	0.94	146.0	3052	1159	2356	2386	68.7	9.4	701	7167	0.00	2.45	0.00	0.000	1030	0.000	0.073	3048	2547	2370	2356	2385	0	0	0	0	0	0	14.70	14.64	14.72
7472	0.94	146.0	3052	2548	2357	2386	36.9	10.9	733	7478	0.00	2.40	0.00	0.000	260	0.000	0.098	3052	3904	2371	2358	2385	0	0	0	0	0	0	14.84	14.63	14.85
7506	0.94	146.0	3053	3905	2359	2385	32.7	11.9	740	7514	0.08	2.33	0.00	0.000	5126	0.304	0.058	3042	2548	2370	2356	2384	0	0	0	0	0	0	14.51	14.68	14.67
7812	end climb: SURFACE_DEPTH_REACHED
state	7812	begin surface coast
7821	end surface coast: CONTROL_FINISHED_OK
state	7821	begin surface