Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 51 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 8 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

DIVE 51 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 44 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 52 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -151 ROLL_AD_RATE 350 ALTIM_PULSE 2

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 4

D_FLARE 3 SM_CC 603.25 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 200 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 1000 FILEMGR 0 VBD_MIN 550 XPDR_INT 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3960 XPDR_REP 0

D_BOOST 0 COMM_SEQ 0 C_VBD 2800 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 4 PROTOCOL 9 VBD_DBAND 4 INT_PRESSURE_YINT 0.74000001

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEEPGLIDER 0

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 MOTHERBOARD 4

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE1 2

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012000001 DEVICE2 115

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 DEVICE5 -1

T_DIVE 70 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 115 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 1

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE1 135

T_TURN 225 N_GPS 100840 DBDW 0 LOGGERDEVICE2 -1

T_TURN_SAMPINT -5 T_RSLEEP 1 LOITER_W_DBAND 1 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 1800 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 205 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 215 COMPASS2_DEVICE -1

USE_BATHY -10 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 1 PHONE_DEVICE 49

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 210 PITCH_W_DBAND 0 RAFOS_DEVICE -1

D_OFFGRID 150 PITCH_MAX 3900 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_WATCHDOG 10 C_PITCH 2600 AH0_24V 127.5 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 100 SEABIRD_T_G 0.0043722652

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 16 SEABIRD_T_H 0.00063104689

MAX_BUOY 120 P_OVSHOOT 0.079999998 MINV_10V 9.5 SEABIRD_T_I 2.5179608e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 1.5 SEABIRD_T_J 2.8304141e-06

GLIDE_SLOPE 30 PITCH_GAIN 28 MAXI_10V 0.80000001 SEABIRD_C_G -10.191285

SPEED_FACTOR 1 PITCH_TIMEOUT 17 FG_AHR_10V 0 SEABIRD_C_H 1.1531761

RHO 1.0275 PITCH_AD_RATE 140 FG_AHR_24V 0 SEABIRD_C_I -0.0027973817

MASS 55599 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SEABIRD_C_J 0.00030337134

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_YINT -171.54095 CP_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014064999 CP_PROFILE 7.0

FERRY_MAX 45 ROLL_MIN 236 AD7714Ch0Gain 32 CP_XMITPROFILE 7.0

KALMAN_USE 2 ROLL_MAX 3704 COMPASS_USE 4 CP_UPLOADMAX 100000.0

HD_A 0.0019952599 ROLL_DEG 20 ALTIM_PING_FIT 0 CP_STARTS 88.0

HD_B 0.0099999998 C_ROLL_DIVE 2000 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1800 ALTIM_BOTTOM_TURN_MARGIN 0

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00063104689

AH0_10V 100 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_T_I 2.5179608e-05

AH0_24V 127.5 D_OFFGRID 150 N_GPS 100840 SEABIRD_T_J 2.8304141e-06

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 603.25

ALTIM_PING_DELTA 0 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 D_TGT 200 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PULSE 2 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_AD_RATE 140 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_DBAND 0.1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_GAIN 28 TGT_DEFAULT_LAT 57.182999

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 TGT_DEFAULT_LON -151

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 64 PITCH_MIN 210 T_BOOST 4

CALL_WAIT 60 HD_A 0.0019952599 PITCH_TIMEOUT 17 T_DIVE 70

CAPMAXSIZE 200000 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012000001 T_EPIRB 0

CAPUPLOAD 0 HD_C 5.7000002e-06 PITCH_W_DBAND 0 T_GPS 5

CF8_MAXERRORS 20 HEADING -1 PITCH_W_GAIN 0 T_LOITER 1800

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 115

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -171.54095 T_NO_W 120

COMPASS_DEVICE 97 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_RSLEEP 1

COMPASS_USE 4 ID 204 P_OVSHOOT 0.079999998 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097655999 P_OVSHOOT_WITHG 0 T_TURN_SAMPINT -5

CP_NDIVE 1.0 INT_PRESSURE_YINT 0.74000001 RAFOS_CORR_THRESH 60 T_WATCHDOG 10

CP_PROFILE 7.0 KALMAN_USE 2 RAFOS_DEVICE -1 UNCOM_BLEED 60

CP_RECORDABOVE 2000.0 LOGGERDEVICE1 135 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

CP_STARTS 88.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -10

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 7.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2600 LOGGERS 1 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1800 LOITER_DBDW 800 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2000 LOITER_D_BOTTOM 215 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 205 ROLL_AD_RATE 350 VBD_MAX 3960

DBDW 0 LOITER_N_DIVE 1 ROLL_CNV 0.028270001 VBD_MAXERRORS 1

DEEPGLIDER 0 LOITER_W_DBAND 1 ROLL_DEG 20 VBD_MIN 550

DEVICE1 2 MASS 55599 ROLL_MAX 3704 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE2 115 MASS_COMP 0 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE3 -1 MAXI_10V 0.80000001 ROLL_MIN 236 VBD_TIMEOUT 720

DEVICE4 -1 MAXI_24V 1.5 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 120 R_PORT_OVSHOOT 44 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 52 XPDR_INHIBIT 90

DIVE 51 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 1000 MISSION 8 SEABIRD_C_H 1.1531761 XPDR_REP 0

D_BOOST 0 MOTHERBOARD 4 SEABIRD_C_I -0.0027973817 XPDR_VALID 4

D_CALL 0 NAV_MODE 2 SEABIRD_C_J 0.00030337134

D_FINISH 0 NOCOMM_ACTION 163 SEABIRD_T_G 0.0043722652

Pre-dive calculations and measurements:

GPS1 030921,222420,4749.7397,-12511.2393,1,0.6,2,15.7,0.4,84.9,12,7.9 SPEED_LIMITS 0.165,0.230

_CALLS 2 TGT_NAME OFFSHORE

_XMS_NAKs 0 TGT_LATLONG 4747.975,-12513.804

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.56 MHEAD_RNG_PITCHd_Wd 223.6,4657,-17.2,-9.524,-22.49,1865

_SM_ANGLEo -59.0 D_GRID 365

GPS2 030921,222858,4749.7568,-12511.1631,4,0.6,6,15.7,0.4,49.2,12,5.4

Post-dive calculations and measurements:

FINISH -0.5,1.013267 _24V_AH 24.30,12.081

SM_CCo 6313,-0.03,0.773,0,0,550,551.92 _10V_AH 10.23,6.824

SM_GC 0.46,7.68,0.77,-0.03,0.060,0.031,0.773,166,2004,550,-7.40,1.47,551.92,0,0,0,0,0,0,25.83,25.79,25.06 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.50,-12507.66,030921,222502 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.186501 MEM 211680

HUMID 52.71 DATA_FILE_SIZE 43429,848

INTERNAL_PRESSURE 8.72826 CAP_FILE_SIZE 122626,0

TCM_TEMP 15.30 CFSIZE 260030464,246587392

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

CP_FREE 121635078144.000000 CURRENT 0.072,165.55,1

CP_POWER 328.210000 GPS 040921,001631,4749.241,-12511.558,3,1.1,22,15.7,0.3,137.3,10,2.1

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 211 90.63 SBE_CT 505 64 791.38

Roll_motor 37 64 58.09 WL_blue_red_Chl 1592 37 1448.95

VBD_pump_during_apogee 495 1018 12252.55 nil 0 0 0.00

VBD_pump_during_surface 160 602 2352.13 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 NCP 4176 25 2536.92

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.23

TT8 1885 12 235.77

LPSleep 1729 2 38.74

TT8_Active 688 12 86.06

TT8_Sampling 1840 37 709.54

TT8_CF8 292 42 128.35

TT8_Kalman 0 0 0.00

Analog_circuits 1484 11 167.02

GPS_charging 0 0 0.00

Compass 1886 8 159.00

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

64 end surface: CONTROL_FINISHED_OK

state 64 begin dive

66 -0.75 -116.8 191 1996 669 431 0.0 0.0 0 179 0.00 0.00 -109.95 0.004 16386 0.000 0.000 192 1997 3207 3200 3215 0 0 0 0 0 0 26.54 28.83 26.60

182 -0.75 -116.8 191 1997 3201 3215 4.0 -7.1 16 199 8.18 1.08 -1.42 0.047 18724 0.212 0.064 2326 2705 3279 3281 3277 0 0 0 0 0 0 26.02 25.04 26.18

277 -0.75 -116.8 2325 2706 3290 3274 27.9 -14.8 33 286 0.00 1.05 0.00 0.000 1030 0.000 0.027 2329 1974 3282 3290 3274 0 0 0 0 0 0 26.50 26.46 26.51

410 -0.75 -116.8 2328 1974 3293 3273 43.2 -9.7 58 418 0.00 0.95 0.00 0.000 516 0.000 0.034 2334 1324 3283 3293 3273 0 0 0 0 0 0 26.72 26.50 26.79

591 -0.75 -116.8 2333 1323 3295 3273 65.6 -13.3 91 598 0.00 1.00 0.00 0.000 1030 0.000 0.031 2331 1997 3284 3295 3273 0 0 0 0 0 0 26.62 26.58 26.63

727 -0.75 -116.8 2330 1996 3296 3273 84.2 -13.4 116 734 0.00 1.02 0.00 0.000 260 0.000 0.037 2325 2698 3284 3296 3273 0 0 0 0 0 0 26.84 26.61 26.90

779 -0.75 -116.8 2325 2699 3296 3273 90.7 -12.1 125 787 0.00 1.00 0.00 0.000 1030 0.000 0.027 2329 1994 3284 3296 3273 0 0 0 0 0 0 26.68 26.66 26.70

914 -0.75 -116.8 2328 1994 3296 3272 105.3 -10.6 145 919 0.00 0.98 0.00 0.000 516 0.000 0.034 2334 1324 3284 3296 3272 0 0 0 0 0 0 26.89 26.65 26.94

1061 -0.75 -116.8 2333 1324 3296 3272 119.7 -9.5 173 1066 0.00 1.00 0.00 0.000 1062 0.000 0.031 2331 2002 3283 3296 3271 0 0 0 0 0 0 26.74 26.70 26.76

1196 -0.75 -116.8 2330 2001 3296 3271 131.3 -8.8 187 1200 0.00 1.00 0.00 0.000 292 0.000 0.037 2325 2692 3283 3296 3271 0 0 0 0 0 0 26.95 26.72 27.02

1260 -0.75 -116.8 2324 2692 3296 3269 137.7 -10.2 199 1263 0.00 0.98 0.00 0.000 1030 0.000 0.027 2328 1997 3283 3296 3270 0 0 0 0 0 0 26.78 26.76 26.80

1392 -0.75 -116.8 2328 1996 3296 3269 150.2 -9.7 213 1396 0.00 0.98 0.00 0.000 516 0.000 0.034 2333 1324 3282 3295 3269 0 0 0 0 0 0 26.96 26.75 27.03

1466 -0.75 -116.8 2333 1324 3296 3269 157.6 -10.1 227 1469 0.00 1.00 0.00 0.000 1030 0.000 0.031 2330 2003 3281 3295 3268 0 0 0 0 0 0 26.80 26.77 26.80

1597 -0.75 -116.8 2330 2003 3296 3268 171.2 -10.7 241 1602 0.00 1.00 0.00 0.000 516 0.000 0.034 2333 1324 3282 3297 3268 0 0 0 0 0 0 27.01 26.77 27.06

1661 -0.75 -116.8 2333 1324 3296 3268 177.8 -10.2 253 1666 0.00 1.00 0.00 0.000 1030 0.000 0.031 2330 2003 3282 3296 3268 0 0 0 0 0 0 26.82 26.79 26.82

1794 -0.75 -116.8 2330 2002 3296 3266 190.8 -9.5 267 1798 0.00 1.00 0.00 0.000 260 0.000 0.039 2324 2691 3282 3297 3267 0 0 0 0 0 0 27.03 26.79 27.08

1867 -0.75 -116.8 2324 2692 3297 3266 197.7 -9.1 281 1872 0.00 0.98 0.00 0.000 1062 0.000 0.027 2328 1996 3281 3296 3266 0 0 0 0 0 0 26.86 26.83 26.89

1898 end dive: TARGET_DEPTH_EXCEEDED

state 1898 begin apogee

1903 -0.18 0.0 2329 1787 3297 3266 200.6 -8.8 285 2020 0.62 0.00 102.82 1.018 10246 0.150 0.000 2523 1787 2805 2867 2744 0 0 0 0 1 0 26.52 25.07 24.30

2021 end apogee: CONTROL_FINISHED_OK

state 2021 begin loiter

2147 -0.18 0.0 2522 1786 2871 2750 204.8 -1.0 309 2149 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1787 2810 2871 2750 0 0 0 0 0 0 25.94 26.01 25.99

2267 -0.18 0.0 2522 1787 2871 2749 206.0 -0.9 321 2269 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1786 2809 2870 2749 0 0 0 0 0 0 26.15 26.22 26.20

2388 -0.18 0.0 2522 1787 2869 2749 207.1 -0.8 333 2390 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1786 2809 2869 2749 0 0 0 0 0 0 26.32 26.36 26.34

2507 -0.18 0.0 2522 1787 2868 2749 208.0 -0.8 345 2509 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1787 2809 2869 2749 0 0 0 0 0 0 26.36 26.44 26.42

2627 -0.18 0.0 2522 1787 2868 2749 208.9 -0.7 357 2629 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1787 2808 2868 2749 0 0 0 0 0 0 26.44 26.51 26.49

2748 -0.18 0.0 2522 1787 2868 2749 209.7 -0.6 369 2750 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1787 2808 2868 2749 0 0 0 0 0 0 26.51 26.57 26.56

2867 -0.18 0.0 2522 1787 2866 2749 210.2 -0.3 381 2869 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1787 2808 2867 2749 0 0 0 0 0 0 26.53 26.60 26.59

2987 -0.18 0.0 2522 1787 2866 2749 210.3 0.0 393 2989 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1787 2807 2865 2749 0 0 0 0 0 0 26.57 26.64 26.60

3108 -0.18 0.0 2522 1787 2865 2749 209.9 0.4 405 3110 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1787 2807 2865 2749 0 0 0 0 0 0 26.61 26.68 26.67

3227 -0.18 0.0 2522 1787 2864 2749 209.2 0.7 417 3229 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1787 2806 2864 2749 0 0 0 0 0 0 26.61 26.69 26.67

3347 -0.18 0.0 2522 1787 2864 2749 208.2 0.9 429 3349 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1787 2806 2864 2748 0 0 0 0 0 0 26.65 26.72 26.70

3468 -0.18 0.0 2522 1787 2864 2749 207.1 0.8 441 3470 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1787 2806 2864 2749 0 0 0 0 0 0 26.67 26.74 26.73

3587 -0.18 0.0 2522 1787 2863 2749 206.2 0.6 453 3589 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1787 2806 2863 2749 0 0 0 0 0 0 26.67 26.74 26.73

3707 -0.18 0.0 2522 1787 2863 2749 205.6 0.3 465 3709 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1786 2806 2863 2749 0 0 0 0 0 0 26.68 26.75 26.74

3826 end loiter: LOITER_COMPLETE

state 3826 begin climb

3828 0.75 116.8 2522 1787 2862 2749 205.6 0.0 477 4024 0.93 1.15 188.15 0.558 10500 0.122 0.044 2822 2495 2318 2436 2200 0 0 0 0 0 0 26.48 25.30 24.85

4189 0.75 116.8 2822 2495 2401 2169 177.7 10.3 545 4193 0.00 1.00 0.00 0.000 1030 0.000 0.046 2826 1832 2286 2403 2169 0 0 0 0 0 0 26.01 25.98 26.03

4321 0.75 117.0 2825 1832 2402 2168 164.5 9.5 559 4325 0.00 1.00 0.00 0.000 292 0.000 0.044 2822 2486 2285 2402 2168 0 0 0 0 0 0 26.12 26.14 26.19

4354 0.76 124.9 2822 2487 2401 2167 161.4 9.1 565 4358 0.00 1.02 0.00 0.000 1062 0.000 0.036 2826 1796 2284 2401 2168 0 0 0 0 0 0 26.20 26.19 26.27

4487 0.77 125.6 2825 1796 2401 2168 149.1 9.5 579 4491 0.00 1.05 0.00 0.000 548 0.000 0.047 2831 1110 2284 2401 2168 0 0 0 0 0 0 26.33 26.27 26.39

4552 0.77 125.6 2831 1110 2401 2168 142.4 10.6 591 4555 0.00 1.05 0.00 0.000 1030 0.000 0.036 2828 1798 2284 2401 2168 0 0 0 0 0 0 26.36 26.34 26.39

4686 0.77 125.6 2828 1798 2400 2167 127.9 11.3 605 4689 0.00 1.05 0.00 0.000 260 0.000 0.044 2822 2508 2283 2400 2167 0 0 0 0 0 0 26.48 26.37 26.53

4760 0.77 125.6 2822 2509 2397 2167 119.7 10.4 619 4764 0.00 1.05 0.00 0.000 1030 0.000 0.037 2826 1796 2282 2398 2167 0 0 0 0 0 0 26.46 26.44 26.48

4895 0.77 127.3 2825 1795 2398 2167 106.8 9.4 633 4899 0.00 1.05 0.00 0.000 292 0.000 0.044 2823 2497 2282 2397 2167 0 0 0 0 0 0 26.55 26.46 26.63

4971 0.78 136.5 2822 2497 2396 2167 99.7 9.0 647 4980 0.00 1.02 4.28 0.723 9254 0.000 0.036 2826 1802 2245 2367 2124 0 0 0 0 0 0 26.53 26.51 25.66

5107 0.78 140.2 2825 1802 2380 2130 87.5 9.3 672 5116 0.00 1.10 3.35 0.636 8740 0.000 0.048 2831 1103 2229 2356 2103 0 0 0 0 0 0 26.51 26.27 25.33

5150 0.79 147.0 2831 1103 2364 2110 83.6 9.1 679 5167 0.00 1.05 11.38 0.643 9254 0.000 0.036 2828 1798 2201 2326 2076 0 0 0 0 0 0 26.48 26.45 25.67

5295 0.81 167.1 2827 1799 2308 2061 70.9 8.4 705 5325 0.08 1.08 24.25 0.575 10532 0.208 0.042 2836 2498 2112 2240 1985 0 0 0 0 0 0 26.23 26.02 25.51

5354 0.82 168.3 2836 2499 2219 1964 65.3 9.5 714 5362 0.00 1.05 0.00 0.000 1062 0.000 0.037 2840 1796 2091 2218 1964 0 0 0 0 0 0 26.19 26.16 26.21

5488 0.85 194.8 2839 1796 2215 1962 54.0 8.1 739 5525 0.00 1.12 31.75 0.545 8740 0.000 0.054 2845 1095 2003 2135 1871 0 0 0 0 0 0 26.34 25.88 25.38

5615 0.85 194.8 2845 1095 2105 1849 42.7 9.9 761 5622 0.00 1.08 0.00 0.000 1030 0.000 0.035 2842 1799 1976 2105 1848 0 0 0 0 0 0 26.15 26.14 26.19

5748 0.89 228.0 2841 1799 2103 1847 31.5 7.7 786 5793 0.12 1.12 39.67 0.523 10788 0.174 0.046 2886 1108 1868 2003 1733 0 0 0 0 0 0 26.09 25.79 25.28

5857 0.89 228.0 2886 1108 1977 1714 21.0 9.8 804 5865 0.00 1.05 0.00 0.000 1030 0.000 0.043 2882 1789 1845 1977 1713 0 0 0 0 0 0 26.07 26.00 26.07

5994 0.96 286.0 2882 1789 1976 1709 9.3 6.3 829 6093 0.00 1.10 89.55 0.483 8484 0.000 0.049 2877 2505 1625 1766 1484 0 0 0 0 0 0 26.26 25.35 25.06

6099 end climb: SURFACE_DEPTH_REACHED

state 6099 begin surface coast

6121 end surface coast: CONTROL_FINISHED_OK

state 6121 begin surface

ID	204	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	8	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
DIVE	51	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	44	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	52	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-151	ROLL_AD_RATE	350	ALTIM_PULSE	2
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	4
D_FLARE	3	SM_CC	603.25	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	200	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	1000	FILEMGR	0	VBD_MIN	550	XPDR_INT	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3960	XPDR_REP	0
D_BOOST	0	COMM_SEQ	0	C_VBD	2800	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	4	PROTOCOL	9	VBD_DBAND	4	INT_PRESSURE_YINT	0.74000001
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEEPGLIDER	0
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	MOTHERBOARD	4
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE1	2
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012000001	DEVICE2	115
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	DEVICE5	-1
T_DIVE	70	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	115	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	1
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE1	135
T_TURN	225	N_GPS	100840	DBDW	0	LOGGERDEVICE2	-1
T_TURN_SAMPINT	-5	T_RSLEEP	1	LOITER_W_DBAND	1	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	1800	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	205	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	215	COMPASS2_DEVICE	-1
USE_BATHY	-10	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	1	PHONE_DEVICE	49
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	210	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
D_OFFGRID	150	PITCH_MAX	3900	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_WATCHDOG	10	C_PITCH	2600	AH0_24V	127.5	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	100	SEABIRD_T_G	0.0043722652
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	16	SEABIRD_T_H	0.00063104689
MAX_BUOY	120	P_OVSHOOT	0.079999998	MINV_10V	9.5	SEABIRD_T_I	2.5179608e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	1.5	SEABIRD_T_J	2.8304141e-06
GLIDE_SLOPE	30	PITCH_GAIN	28	MAXI_10V	0.80000001	SEABIRD_C_G	-10.191285
SPEED_FACTOR	1	PITCH_TIMEOUT	17	FG_AHR_10V	0	SEABIRD_C_H	1.1531761
RHO	1.0275	PITCH_AD_RATE	140	FG_AHR_24V	0	SEABIRD_C_I	-0.0027973817
MASS	55599	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00030337134
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-171.54095	CP_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014064999	CP_PROFILE	7.0
FERRY_MAX	45	ROLL_MIN	236	AD7714Ch0Gain	32	CP_XMITPROFILE	7.0
KALMAN_USE	2	ROLL_MAX	3704	COMPASS_USE	4	CP_UPLOADMAX	100000.0
HD_A	0.0019952599	ROLL_DEG	20	ALTIM_PING_FIT	0	CP_STARTS	88.0
HD_B	0.0099999998	C_ROLL_DIVE	2000	ALTIM_TOP_PING_RANGE	0	CP_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1800	ALTIM_BOTTOM_TURN_MARGIN	0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	030921,222420,4749.7397,-12511.2393,1,0.6,2,15.7,0.4,84.9,12,7.9	SPEED_LIMITS	0.165,0.230
_CALLS	2	TGT_NAME	OFFSHORE
_XMS_NAKs	0	TGT_LATLONG	4747.975,-12513.804
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.56	MHEAD_RNG_PITCHd_Wd	223.6,4657,-17.2,-9.524,-22.49,1865
_SM_ANGLEo	-59.0	D_GRID	365
GPS2	030921,222858,4749.7568,-12511.1631,4,0.6,6,15.7,0.4,49.2,12,5.4

FINISH	-0.5,1.013267	_24V_AH	24.30,12.081
SM_CCo	6313,-0.03,0.773,0,0,550,551.92	_10V_AH	10.23,6.824
SM_GC	0.46,7.68,0.77,-0.03,0.060,0.031,0.773,166,2004,550,-7.40,1.47,551.92,0,0,0,0,0,0,25.83,25.79,25.06	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.50,-12507.66,030921,222502	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.186501	MEM	211680
HUMID	52.71	DATA_FILE_SIZE	43429,848
INTERNAL_PRESSURE	8.72826	CAP_FILE_SIZE	122626,0
TCM_TEMP	15.30	CFSIZE	260030464,246587392
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	121635078144.000000	CURRENT	0.072,165.55,1
CP_POWER	328.210000	GPS	040921,001631,4749.241,-12511.558,3,1.1,22,15.7,0.3,137.3,10,2.1
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	211	90.63	SBE_CT	505	64	791.38
Roll_motor	37	64	58.09	WL_blue_red_Chl	1592	37	1448.95
VBD_pump_during_apogee	495	1018	12252.55	nil	0	0	0.00
VBD_pump_during_surface	160	602	2352.13	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	NCP	4176	25	2536.92
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.23
TT8	1885	12	235.77
LPSleep	1729	2	38.74
TT8_Active	688	12	86.06
TT8_Sampling	1840	37	709.54
TT8_CF8	292	42	128.35
TT8_Kalman	0	0	0.00
Analog_circuits	1484	11	167.02
GPS_charging	0	0	0.00
Compass	1886	8	159.00
RAFOS	0	0	0.00
Transponder	0	5	0.03

		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
64	end surface: CONTROL_FINISHED_OK
state	64	begin dive
66	-0.75	-116.8	191	1996	669	431	0.0	0.0	0	179	0.00	0.00	-109.95	0.004	16386	0.000	0.000	192	1997	3207	3200	3215	0	0	0	0	0	0	26.54	28.83	26.60
182	-0.75	-116.8	191	1997	3201	3215	4.0	-7.1	16	199	8.18	1.08	-1.42	0.047	18724	0.212	0.064	2326	2705	3279	3281	3277	0	0	0	0	0	0	26.02	25.04	26.18
277	-0.75	-116.8	2325	2706	3290	3274	27.9	-14.8	33	286	0.00	1.05	0.00	0.000	1030	0.000	0.027	2329	1974	3282	3290	3274	0	0	0	0	0	0	26.50	26.46	26.51
410	-0.75	-116.8	2328	1974	3293	3273	43.2	-9.7	58	418	0.00	0.95	0.00	0.000	516	0.000	0.034	2334	1324	3283	3293	3273	0	0	0	0	0	0	26.72	26.50	26.79
591	-0.75	-116.8	2333	1323	3295	3273	65.6	-13.3	91	598	0.00	1.00	0.00	0.000	1030	0.000	0.031	2331	1997	3284	3295	3273	0	0	0	0	0	0	26.62	26.58	26.63
727	-0.75	-116.8	2330	1996	3296	3273	84.2	-13.4	116	734	0.00	1.02	0.00	0.000	260	0.000	0.037	2325	2698	3284	3296	3273	0	0	0	0	0	0	26.84	26.61	26.90
779	-0.75	-116.8	2325	2699	3296	3273	90.7	-12.1	125	787	0.00	1.00	0.00	0.000	1030	0.000	0.027	2329	1994	3284	3296	3273	0	0	0	0	0	0	26.68	26.66	26.70
914	-0.75	-116.8	2328	1994	3296	3272	105.3	-10.6	145	919	0.00	0.98	0.00	0.000	516	0.000	0.034	2334	1324	3284	3296	3272	0	0	0	0	0	0	26.89	26.65	26.94
1061	-0.75	-116.8	2333	1324	3296	3272	119.7	-9.5	173	1066	0.00	1.00	0.00	0.000	1062	0.000	0.031	2331	2002	3283	3296	3271	0	0	0	0	0	0	26.74	26.70	26.76
1196	-0.75	-116.8	2330	2001	3296	3271	131.3	-8.8	187	1200	0.00	1.00	0.00	0.000	292	0.000	0.037	2325	2692	3283	3296	3271	0	0	0	0	0	0	26.95	26.72	27.02
1260	-0.75	-116.8	2324	2692	3296	3269	137.7	-10.2	199	1263	0.00	0.98	0.00	0.000	1030	0.000	0.027	2328	1997	3283	3296	3270	0	0	0	0	0	0	26.78	26.76	26.80
1392	-0.75	-116.8	2328	1996	3296	3269	150.2	-9.7	213	1396	0.00	0.98	0.00	0.000	516	0.000	0.034	2333	1324	3282	3295	3269	0	0	0	0	0	0	26.96	26.75	27.03
1466	-0.75	-116.8	2333	1324	3296	3269	157.6	-10.1	227	1469	0.00	1.00	0.00	0.000	1030	0.000	0.031	2330	2003	3281	3295	3268	0	0	0	0	0	0	26.80	26.77	26.80
1597	-0.75	-116.8	2330	2003	3296	3268	171.2	-10.7	241	1602	0.00	1.00	0.00	0.000	516	0.000	0.034	2333	1324	3282	3297	3268	0	0	0	0	0	0	27.01	26.77	27.06
1661	-0.75	-116.8	2333	1324	3296	3268	177.8	-10.2	253	1666	0.00	1.00	0.00	0.000	1030	0.000	0.031	2330	2003	3282	3296	3268	0	0	0	0	0	0	26.82	26.79	26.82
1794	-0.75	-116.8	2330	2002	3296	3266	190.8	-9.5	267	1798	0.00	1.00	0.00	0.000	260	0.000	0.039	2324	2691	3282	3297	3267	0	0	0	0	0	0	27.03	26.79	27.08
1867	-0.75	-116.8	2324	2692	3297	3266	197.7	-9.1	281	1872	0.00	0.98	0.00	0.000	1062	0.000	0.027	2328	1996	3281	3296	3266	0	0	0	0	0	0	26.86	26.83	26.89
1898	end dive: TARGET_DEPTH_EXCEEDED
state	1898	begin apogee
1903	-0.18	0.0	2329	1787	3297	3266	200.6	-8.8	285	2020	0.62	0.00	102.82	1.018	10246	0.150	0.000	2523	1787	2805	2867	2744	0	0	0	0	1	0	26.52	25.07	24.30
2021	end apogee: CONTROL_FINISHED_OK
state	2021	begin loiter
2147	-0.18	0.0	2522	1786	2871	2750	204.8	-1.0	309	2149	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	1787	2810	2871	2750	0	0	0	0	0	0	25.94	26.01	25.99
2267	-0.18	0.0	2522	1787	2871	2749	206.0	-0.9	321	2269	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	1786	2809	2870	2749	0	0	0	0	0	0	26.15	26.22	26.20
2388	-0.18	0.0	2522	1787	2869	2749	207.1	-0.8	333	2390	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	1786	2809	2869	2749	0	0	0	0	0	0	26.32	26.36	26.34
2507	-0.18	0.0	2522	1787	2868	2749	208.0	-0.8	345	2509	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1787	2809	2869	2749	0	0	0	0	0	0	26.36	26.44	26.42
2627	-0.18	0.0	2522	1787	2868	2749	208.9	-0.7	357	2629	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	1787	2808	2868	2749	0	0	0	0	0	0	26.44	26.51	26.49
2748	-0.18	0.0	2522	1787	2868	2749	209.7	-0.6	369	2750	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	1787	2808	2868	2749	0	0	0	0	0	0	26.51	26.57	26.56
2867	-0.18	0.0	2522	1787	2866	2749	210.2	-0.3	381	2869	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	1787	2808	2867	2749	0	0	0	0	0	0	26.53	26.60	26.59
2987	-0.18	0.0	2522	1787	2866	2749	210.3	0.0	393	2989	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	1787	2807	2865	2749	0	0	0	0	0	0	26.57	26.64	26.60
3108	-0.18	0.0	2522	1787	2865	2749	209.9	0.4	405	3110	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	1787	2807	2865	2749	0	0	0	0	0	0	26.61	26.68	26.67
3227	-0.18	0.0	2522	1787	2864	2749	209.2	0.7	417	3229	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	1787	2806	2864	2749	0	0	0	0	0	0	26.61	26.69	26.67
3347	-0.18	0.0	2522	1787	2864	2749	208.2	0.9	429	3349	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	1787	2806	2864	2748	0	0	0	0	0	0	26.65	26.72	26.70
3468	-0.18	0.0	2522	1787	2864	2749	207.1	0.8	441	3470	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	1787	2806	2864	2749	0	0	0	0	0	0	26.67	26.74	26.73
3587	-0.18	0.0	2522	1787	2863	2749	206.2	0.6	453	3589	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1787	2806	2863	2749	0	0	0	0	0	0	26.67	26.74	26.73
3707	-0.18	0.0	2522	1787	2863	2749	205.6	0.3	465	3709	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	1786	2806	2863	2749	0	0	0	0	0	0	26.68	26.75	26.74
3826	end loiter: LOITER_COMPLETE
state	3826	begin climb
3828	0.75	116.8	2522	1787	2862	2749	205.6	0.0	477	4024	0.93	1.15	188.15	0.558	10500	0.122	0.044	2822	2495	2318	2436	2200	0	0	0	0	0	0	26.48	25.30	24.85
4189	0.75	116.8	2822	2495	2401	2169	177.7	10.3	545	4193	0.00	1.00	0.00	0.000	1030	0.000	0.046	2826	1832	2286	2403	2169	0	0	0	0	0	0	26.01	25.98	26.03
4321	0.75	117.0	2825	1832	2402	2168	164.5	9.5	559	4325	0.00	1.00	0.00	0.000	292	0.000	0.044	2822	2486	2285	2402	2168	0	0	0	0	0	0	26.12	26.14	26.19
4354	0.76	124.9	2822	2487	2401	2167	161.4	9.1	565	4358	0.00	1.02	0.00	0.000	1062	0.000	0.036	2826	1796	2284	2401	2168	0	0	0	0	0	0	26.20	26.19	26.27
4487	0.77	125.6	2825	1796	2401	2168	149.1	9.5	579	4491	0.00	1.05	0.00	0.000	548	0.000	0.047	2831	1110	2284	2401	2168	0	0	0	0	0	0	26.33	26.27	26.39
4552	0.77	125.6	2831	1110	2401	2168	142.4	10.6	591	4555	0.00	1.05	0.00	0.000	1030	0.000	0.036	2828	1798	2284	2401	2168	0	0	0	0	0	0	26.36	26.34	26.39
4686	0.77	125.6	2828	1798	2400	2167	127.9	11.3	605	4689	0.00	1.05	0.00	0.000	260	0.000	0.044	2822	2508	2283	2400	2167	0	0	0	0	0	0	26.48	26.37	26.53
4760	0.77	125.6	2822	2509	2397	2167	119.7	10.4	619	4764	0.00	1.05	0.00	0.000	1030	0.000	0.037	2826	1796	2282	2398	2167	0	0	0	0	0	0	26.46	26.44	26.48
4895	0.77	127.3	2825	1795	2398	2167	106.8	9.4	633	4899	0.00	1.05	0.00	0.000	292	0.000	0.044	2823	2497	2282	2397	2167	0	0	0	0	0	0	26.55	26.46	26.63
4971	0.78	136.5	2822	2497	2396	2167	99.7	9.0	647	4980	0.00	1.02	4.28	0.723	9254	0.000	0.036	2826	1802	2245	2367	2124	0	0	0	0	0	0	26.53	26.51	25.66
5107	0.78	140.2	2825	1802	2380	2130	87.5	9.3	672	5116	0.00	1.10	3.35	0.636	8740	0.000	0.048	2831	1103	2229	2356	2103	0	0	0	0	0	0	26.51	26.27	25.33
5150	0.79	147.0	2831	1103	2364	2110	83.6	9.1	679	5167	0.00	1.05	11.38	0.643	9254	0.000	0.036	2828	1798	2201	2326	2076	0	0	0	0	0	0	26.48	26.45	25.67
5295	0.81	167.1	2827	1799	2308	2061	70.9	8.4	705	5325	0.08	1.08	24.25	0.575	10532	0.208	0.042	2836	2498	2112	2240	1985	0	0	0	0	0	0	26.23	26.02	25.51
5354	0.82	168.3	2836	2499	2219	1964	65.3	9.5	714	5362	0.00	1.05	0.00	0.000	1062	0.000	0.037	2840	1796	2091	2218	1964	0	0	0	0	0	0	26.19	26.16	26.21
5488	0.85	194.8	2839	1796	2215	1962	54.0	8.1	739	5525	0.00	1.12	31.75	0.545	8740	0.000	0.054	2845	1095	2003	2135	1871	0	0	0	0	0	0	26.34	25.88	25.38
5615	0.85	194.8	2845	1095	2105	1849	42.7	9.9	761	5622	0.00	1.08	0.00	0.000	1030	0.000	0.035	2842	1799	1976	2105	1848	0	0	0	0	0	0	26.15	26.14	26.19
5748	0.89	228.0	2841	1799	2103	1847	31.5	7.7	786	5793	0.12	1.12	39.67	0.523	10788	0.174	0.046	2886	1108	1868	2003	1733	0	0	0	0	0	0	26.09	25.79	25.28
5857	0.89	228.0	2886	1108	1977	1714	21.0	9.8	804	5865	0.00	1.05	0.00	0.000	1030	0.000	0.043	2882	1789	1845	1977	1713	0	0	0	0	0	0	26.07	26.00	26.07
5994	0.96	286.0	2882	1789	1976	1709	9.3	6.3	829	6093	0.00	1.10	89.55	0.483	8484	0.000	0.049	2877	2505	1625	1766	1484	0	0	0	0	0	0	26.26	25.35	25.06
6099	end climb: SURFACE_DEPTH_REACHED
state	6099	begin surface coast
6121	end surface coast: CONTROL_FINISHED_OK
state	6121	begin surface