Glider dive log

SODA Sep18 * SG228 * Dive index * Mission links * Dive 129 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 228 HEADING -1 C_ROLL_CLIMB 2200 ALTIM_TOP_PING_RANGE 20

MISSION 14 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 129 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7545 R_PORT_OVSHOOT 38 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 15 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 600 SM_CC 653.96979 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 5

D_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2854 INT_PRESSURE_YINT 1.8

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.003 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 200 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 240 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 4 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 3 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 0 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 64

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 3 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3810 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2330 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 575 SEABIRD_T_G 0.0044279573

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.000658612

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.7901522e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.4987197e-06

SPEED_FACTOR 1 PITCH_GAIN 46 MAXI_24V 0.60000002 SEABIRD_C_G -9.9235325

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 1.4 SEABIRD_C_H 1.1433685

MASS 72009 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0023654797

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00025343007

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -148.83669 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.0001081732 SC_XMITPROFILE 3.0

HD_A 0.0025631799 ROLL_MAX 3950 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0154106 ROLL_DEG 80 COMPASS_USE 4

HD_C 6.0999999e-05 C_ROLL_DIVE 2400 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044279573

AH0_10V 0 D_TGT 600 PHONE_DEVICE 49 SEABIRD_T_H 0.000658612

AH0_24V 575 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.7901522e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.4987197e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 653.96979

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 46 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3810 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 64 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 20 HD_A 0.0025631799 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0154106 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 6.0999999e-05 PITCH_VBD_SHIFT 0.003 TGT_DEFAULT_LAT 7545

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -15041

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.0001081732 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -148.83669 T_DIVE 200

CAPUPLOAD 0 ID 228 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 1.8 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 240

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2330 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 60

C_VBD 2854 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 100 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.047120001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 72009 ROLL_DEG 80 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3950 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 129 MINV_10V 11 R_PORT_OVSHOOT 38 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 15 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 14 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 4

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 0 SEABIRD_C_G -9.9235325 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1433685 XPDR_VALID 5

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0023654797

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00025343007

Pre-dive calculations and measurements:

GPS1 071018,123137,7358.6357,-14645.1592,160,0.9,161,18.3,1.9,351.0,9,5.2 SPEED_LIMITS 0.173,0.179

_CALLS 3 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7412.000,-14622.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo -3.22 MHEAD_RNG_PITCHd_Wd 22.5,26951,-22.0,-10.000,-29.22,1661

_SM_ANGLEo -75.8 D_GRID 600

GPS2 071018,124503,7358.8516,-14644.9033,4,0.9,7,18.3,0.5,35.9,9,6.1

Post-dive calculations and measurements:

FINISH 0.3,1.020620 _24V_AH 13.03,61.173

SM_CCo 9197,0.00,0.000,0,0,499,577.68 _10V_AH 13.18,0.000

SM_GC -0.07,10.88,0.57,0.00,0.221,0.073,0.000,201,2403,499,-6.63,-0.75,577.68,0,0,0,0,0,0,14.16,14.21,14.31 FG_AHR_24Vo 0.000

RAFOS_CLK 574 FG_AHR_10Vo 0.000

RAFOS_FIX 7359.543945,-14645.578125,071018,151500,0,1,0.15 MEM 334628

IRIDIUM_FIX 7358.45,-14644.52,071018,123632 DATA_FILE_SIZE 30021,824

TT8_MAMPS 0.041195,0.744506 CAP_FILE_SIZE 99522,0

HUMID 46.57 CFSIZE 2097872896,2072543232

INTERNAL_PRESSURE 8.88035 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 14.60 SOUNDSPEED 1447.3

XPDR_PINGS 35 CURRENT 0.082,12.74,1

ALTIM_TOP_PING 20.0,5.8 GPS 071018,152137,7359.946,-14642.290,113,1.0,114,18.3,1.0,18.0,8,7.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 466 152.62 nil 0 0 0.00

Roll_motor 148 97 189.34 nil 0 0 0.00

VBD_pump_during_apogee 599 2155 16850.30 nil 0 0 0.00

VBD_pump_during_surface 71 714 669.86 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 9102 19 2334.86

Iridium_during_xfer 524 195 1337.71 nil 0 0 0.00

Transponder_ping 9 420 49.25 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 6 1.49

TT8 0 0 0.00

LPSleep 6799 2 207.02

TT8_Active 848 11 129.45

TT8_Sampling 2137 31 874.61

TT8_CF8 235 36 112.80

TT8_Kalman 0 0 0.00

Analog_circuits 2058 10 295.72

GPS_charging 0 0 0.00

Compass 1183 6 105.15

RAFOS 0 0 0.00

Transponder 2 30 1.00

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -0.92 -146.0 200 2399 464 535 0.0 0.0 0 75 0.00 0.00 -61.97 0.003 16386 0.000 0.000 199 2398 1722 1833 1611 0 0 0 0 0 0 14.40 28.83 14.42

77 -0.92 -146.0 201 2399 1836 1616 0.2 -8.5 6 129 9.82 4.78 -34.00 0.005 18692 0.467 0.098 2006 3951 3454 3577 3332 0 0 0 0 0 0 14.04 13.42 14.30

354 -0.92 -146.0 2007 3952 3567 3344 93.6 -23.6 60 360 0.00 4.50 0.00 0.000 1030 0.000 0.050 2021 2410 3454 3565 3343 0 0 0 0 0 0 14.44 14.37 14.45

545 -0.92 -146.0 2022 2411 3566 3344 133.1 -20.4 80 556 0.00 4.70 0.00 0.000 260 0.000 0.087 2003 3954 3453 3564 3343 0 0 0 0 0 0 14.59 14.38 14.61

726 -0.92 -146.0 2005 3953 3562 3347 174.5 -22.2 116 731 0.00 4.50 0.00 0.000 1030 0.000 0.044 2021 2392 3453 3561 3346 0 0 0 0 0 0 14.52 14.45 14.54

916 -0.92 -146.0 2022 2392 3562 3347 210.5 -17.8 136 917 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 2391 3453 3561 3346 0 0 0 0 0 0 14.65 14.67 14.66

1096 -0.92 -146.0 2021 2392 3562 3347 239.3 -14.6 154 1097 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 2391 3453 3561 3346 0 0 0 0 0 0 14.67 14.69 14.69

1276 -0.92 -146.0 2021 2392 3561 3351 263.5 -13.1 167 1286 0.00 4.88 0.00 0.000 516 0.000 0.065 2021 706 3453 3561 3346 0 0 0 0 0 0 14.71 14.51 14.72

1336 -0.92 -146.0 2022 707 3562 3347 271.9 -14.2 179 1347 0.12 4.93 0.00 0.000 3078 0.329 0.056 2025 2403 3453 3560 3347 0 0 0 0 0 0 14.37 14.52 14.57

1657 -0.92 -146.0 2025 2403 3561 3347 310.4 -11.8 198 1657 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2403 3453 3560 3346 0 0 0 0 0 0 14.74 14.76 14.76

1957 -0.92 -146.0 2026 2404 3561 3347 345.0 -11.5 213 1967 0.00 4.93 0.00 0.000 516 0.000 0.070 2028 709 3452 3559 3346 0 0 0 0 0 0 14.77 14.57 14.78

2012 -0.92 -146.0 2029 710 3562 3347 351.8 -12.3 224 2019 0.00 4.90 0.00 0.000 1030 0.000 0.057 2009 2405 3453 3560 3346 0 0 0 0 0 0 14.63 14.56 14.65

2317 -0.92 -146.0 2009 2406 3560 3347 388.4 -11.9 240 2318 0.00 0.00 0.00 0.000 6 0.000 0.000 2009 2405 3453 3560 3346 0 0 0 0 0 0 14.78 14.81 14.81

2617 -0.92 -146.0 2010 2406 3561 3347 424.2 -12.0 255 2627 0.00 4.90 0.00 0.000 516 0.000 0.067 2014 704 3453 3560 3346 0 0 0 0 0 0 14.80 14.61 14.82

2667 -0.92 -146.0 2014 704 3559 3347 430.6 -12.8 265 2679 0.15 4.88 0.00 0.000 3078 0.310 0.054 2025 2403 3453 3560 3346 0 0 0 0 0 0 14.48 14.62 14.67

2977 -0.92 -146.0 2026 2403 3561 3347 465.3 -11.1 282 2978 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2403 3454 3559 3349 0 0 0 0 0 0 14.81 14.83 14.83

3277 -0.92 -146.0 2025 2403 3560 3347 498.1 -10.8 297 3287 0.00 4.93 0.00 0.000 516 0.000 0.070 2028 708 3453 3560 3347 0 0 0 0 0 0 14.83 14.64 14.85

3322 -0.92 -146.0 2029 702 3561 3347 503.3 -11.8 306 3328 0.00 4.90 0.00 0.000 1030 0.000 0.057 2009 2406 3453 3559 3348 0 0 0 0 0 0 14.72 14.64 14.73

3639 -0.92 -146.0 2008 2407 3560 3347 539.6 -11.4 324 3639 0.00 0.00 0.00 0.000 6 0.000 0.000 2008 2406 3453 3559 3347 0 0 0 0 0 0 14.85 14.87 14.87

3939 -0.92 -146.0 2009 2407 3561 3348 573.3 -11.2 339 3948 0.00 4.90 0.00 0.000 516 0.000 0.068 2012 707 3453 3559 3347 0 0 0 0 0 0 14.86 14.65 14.88

3979 -0.92 -146.0 2014 708 3561 3349 578.2 -12.3 347 3989 0.15 4.88 0.00 0.000 3078 0.314 0.057 2027 2408 3453 3559 3348 0 0 0 0 0 0 14.51 14.66 14.64

4196 end dive: TARGET_DEPTH_EXCEEDED

state 4196 begin apogee

4202 -0.11 0.0 2029 2184 3560 3348 601.2 -10.2 361 4341 1.00 0.00 135.35 2.156 10246 0.280 0.000 2288 2185 2852 2921 2784 0 0 0 0 0 0 14.54 13.99 13.22

4342 end apogee: CONTROL_FINISHED_OK

state 4342 begin climb

4344 0.92 146.0 2288 2186 2921 2783 603.6 0.0 368 4486 1.15 0.00 138.48 2.060 10246 0.161 0.000 2623 2185 2256 2278 2235 0 0 0 0 0 0 13.93 13.74 13.03

4779 0.92 146.0 2624 2186 2273 2217 527.0 20.3 390 4779 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2185 2245 2273 2217 0 0 0 0 0 0 14.35 14.37 14.37

5079 0.92 146.0 2623 2186 2274 2214 466.7 20.0 405 5080 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2185 2243 2273 2213 0 0 0 0 0 0 14.51 14.53 14.52

5379 0.92 146.0 2623 2186 2273 2212 408.1 19.5 420 5380 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2185 2241 2273 2210 0 0 0 0 0 0 14.61 14.62 14.64

5679 0.92 146.0 2624 2186 2275 2211 350.6 19.0 435 5689 0.00 4.90 0.00 0.000 516 0.000 0.076 2644 524 2241 2273 2209 0 0 0 0 0 0 14.67 14.47 14.69

5704 0.92 146.0 2644 525 2272 2211 345.7 19.5 440 5714 0.00 4.88 0.00 0.000 1030 0.000 0.054 2632 2208 2238 2266 2210 0 0 0 0 0 0 14.57 14.49 14.58

6019 0.92 146.0 2632 2209 2272 2209 286.8 18.0 458 6020 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2208 2240 2272 2208 0 0 0 0 0 0 14.71 14.73 14.73

6319 0.92 146.0 2632 2209 2272 2209 238.5 14.9 476 6330 0.00 4.93 0.00 0.000 516 0.000 0.072 2652 519 2239 2271 2208 0 0 0 0 0 0 14.74 14.54 14.76

6340 0.92 146.0 2652 519 2270 2208 235.5 14.7 480 6351 0.00 4.82 0.00 0.000 1030 0.000 0.054 2649 2201 2239 2271 2207 0 0 0 0 0 0 14.64 14.57 14.66

6530 0.92 146.0 2649 2201 2272 2207 212.4 10.3 500 6541 0.00 5.07 0.00 0.000 260 0.000 0.084 2649 3897 2238 2269 2208 0 0 0 0 0 0 14.75 14.54 14.77

6566 0.92 146.0 2649 3898 2268 2211 207.9 13.9 507 6573 0.20 4.80 0.00 0.000 5126 0.365 0.043 2630 2207 2239 2268 2210 0 0 0 0 0 0 14.38 14.55 14.60

6753 0.98 146.0 2630 2206 2272 2206 191.3 7.8 526 6759 0.00 4.93 0.00 0.000 580 0.000 0.067 2651 505 2238 2272 2205 0 0 0 0 0 0 14.75 14.57 14.77

6769 1.06 146.0 2651 506 2272 2206 189.9 7.5 529 6776 0.00 4.85 0.00 0.000 1094 0.000 0.050 2649 2207 2238 2271 2205 0 0 0 0 0 0 14.66 14.59 14.67

6954 1.13 146.0 2649 2209 2272 2205 175.4 7.5 548 6955 0.15 0.00 0.00 0.000 2118 0.183 0.000 2690 2207 2237 2271 2204 0 0 0 0 0 0 14.54 14.67 14.65

7134 1.22 146.0 2690 2209 2273 2205 161.6 7.3 566 7135 0.00 0.00 0.00 0.000 70 0.000 0.000 2690 2208 2237 2271 2204 0 0 0 0 0 0 14.76 14.79 14.79

7314 1.33 146.0 2690 2209 2272 2205 149.3 6.2 584 7315 0.20 0.00 0.00 0.000 2118 0.168 0.000 2750 2208 2236 2271 2202 0 0 0 0 0 0 14.56 14.69 14.66

7494 1.42 146.0 2750 2209 2272 2205 136.9 7.0 602 7501 0.12 5.03 0.00 0.000 2372 0.196 0.083 2783 3897 2237 2271 2204 0 0 0 0 0 0 14.56 14.58 14.66

7531 1.46 146.0 2783 3898 2268 2209 133.9 8.8 609 7538 0.00 4.85 0.00 0.000 1094 0.000 0.046 2803 2192 2238 2268 2208 0 0 0 0 0 0 14.67 14.62 14.69

7716 1.68 219.8 2804 2191 2270 2206 122.0 5.4 628 7788 0.17 5.25 61.92 1.620 10532 0.178 0.083 2853 3890 1953 1982 1925 0 0 0 0 0 0 14.54 14.28 13.69

7810 1.68 219.8 2853 3891 1980 1927 113.4 14.5 645 7817 0.00 4.95 0.00 0.000 1030 0.000 0.047 2868 2198 1951 1979 1924 0 0 0 0 0 0 14.37 14.31 14.38

7993 1.68 219.8 2873 2198 1979 1917 88.5 12.2 664 7994 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 2197 1947 1978 1916 0 0 0 0 0 0 14.54 14.57 14.57

8174 1.92 300.8 2872 2198 1977 1915 74.0 5.0 682 8250 0.25 5.25 68.88 1.528 10532 0.161 0.083 2932 3895 1623 1653 1593 0 0 0 0 0 0 14.39 14.05 13.56

8475 2.40 461.1 2933 3896 1646 1587 52.9 0.1 738 8618 0.47 4.93 128.95 1.462 11302 0.145 0.039 3096 2179 969 969 969 0 0 0 0 0 0 14.23 14.31 13.37

8793 2.65 544.2 3095 2179 965 960 21.5 4.9 781 8868 0.25 5.35 66.30 1.398 10532 0.147 0.079 3168 3889 630 609 652 0 0 0 0 0 0 14.12 13.94 13.43

8933 2.65 544.2 3167 3889 606 651 11.7 10.9 807 8944 0.00 4.97 0.00 0.000 1030 0.000 0.048 3187 2218 628 606 650 0 0 0 0 0 0 14.12 14.08 14.14

9071 end climb: SURFACE_DEPTH_REACHED

state 9071 begin surface coast

9091 end surface coast: CONTROL_FINISHED_OK

state 9091 begin surface

ID	228	HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_TOP_PING_RANGE	20
MISSION	14	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	129	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7545	R_PORT_OVSHOOT	38	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	15	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	600	SM_CC	653.96979	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	5
D_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2854	INT_PRESSURE_YINT	1.8
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.003	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	200	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	240	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	4	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	3	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	0	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	64
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	3	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3810	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2330	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	575	SEABIRD_T_G	0.0044279573
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.000658612
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.7901522e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.4987197e-06
SPEED_FACTOR	1	PITCH_GAIN	46	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9235325
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	1.4	SEABIRD_C_H	1.1433685
MASS	72009	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0023654797
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00025343007
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-148.83669	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.0001081732	SC_XMITPROFILE	3.0
HD_A	0.0025631799	ROLL_MAX	3950	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0154106	ROLL_DEG	80	COMPASS_USE	4
HD_C	6.0999999e-05	C_ROLL_DIVE	2400	ALTIM_PING_FIT	0

GPS1	071018,123137,7358.6357,-14645.1592,160,0.9,161,18.3,1.9,351.0,9,5.2	SPEED_LIMITS	0.173,0.179
_CALLS	3	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7412.000,-14622.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	-3.22	MHEAD_RNG_PITCHd_Wd	22.5,26951,-22.0,-10.000,-29.22,1661
_SM_ANGLEo	-75.8	D_GRID	600
GPS2	071018,124503,7358.8516,-14644.9033,4,0.9,7,18.3,0.5,35.9,9,6.1

FINISH	0.3,1.020620	_24V_AH	13.03,61.173
SM_CCo	9197,0.00,0.000,0,0,499,577.68	_10V_AH	13.18,0.000
SM_GC	-0.07,10.88,0.57,0.00,0.221,0.073,0.000,201,2403,499,-6.63,-0.75,577.68,0,0,0,0,0,0,14.16,14.21,14.31	FG_AHR_24Vo	0.000
RAFOS_CLK	574	FG_AHR_10Vo	0.000
RAFOS_FIX	7359.543945,-14645.578125,071018,151500,0,1,0.15	MEM	334628
IRIDIUM_FIX	7358.45,-14644.52,071018,123632	DATA_FILE_SIZE	30021,824
TT8_MAMPS	0.041195,0.744506	CAP_FILE_SIZE	99522,0
HUMID	46.57	CFSIZE	2097872896,2072543232
INTERNAL_PRESSURE	8.88035	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	14.60	SOUNDSPEED	1447.3
XPDR_PINGS	35	CURRENT	0.082,12.74,1
ALTIM_TOP_PING	20.0,5.8	GPS	071018,152137,7359.946,-14642.290,113,1.0,114,18.3,1.0,18.0,8,7.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	466	152.62	nil	0	0	0.00
Roll_motor	148	97	189.34	nil	0	0	0.00
VBD_pump_during_apogee	599	2155	16850.30	nil	0	0	0.00
VBD_pump_during_surface	71	714	669.86	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	9102	19	2334.86
Iridium_during_xfer	524	195	1337.71	nil	0	0	0.00
Transponder_ping	9	420	49.25	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	6	1.49
TT8	0	0	0.00
LPSleep	6799	2	207.02
TT8_Active	848	11	129.45
TT8_Sampling	2137	31	874.61
TT8_CF8	235	36	112.80
TT8_Kalman	0	0	0.00
Analog_circuits	2058	10	295.72
GPS_charging	0	0	0.00
Compass	1183	6	105.15
RAFOS	0	0	0.00
Transponder	2	30	1.00

		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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-0.92	-146.0	200	2399	464	535	0.0	0.0	0	75	0.00	0.00	-61.97	0.003	16386	0.000	0.000	199	2398	1722	1833	1611	0	0	0	0	0	0	14.40	28.83	14.42
77	-0.92	-146.0	201	2399	1836	1616	0.2	-8.5	6	129	9.82	4.78	-34.00	0.005	18692	0.467	0.098	2006	3951	3454	3577	3332	0	0	0	0	0	0	14.04	13.42	14.30
354	-0.92	-146.0	2007	3952	3567	3344	93.6	-23.6	60	360	0.00	4.50	0.00	0.000	1030	0.000	0.050	2021	2410	3454	3565	3343	0	0	0	0	0	0	14.44	14.37	14.45
545	-0.92	-146.0	2022	2411	3566	3344	133.1	-20.4	80	556	0.00	4.70	0.00	0.000	260	0.000	0.087	2003	3954	3453	3564	3343	0	0	0	0	0	0	14.59	14.38	14.61
726	-0.92	-146.0	2005	3953	3562	3347	174.5	-22.2	116	731	0.00	4.50	0.00	0.000	1030	0.000	0.044	2021	2392	3453	3561	3346	0	0	0	0	0	0	14.52	14.45	14.54
916	-0.92	-146.0	2022	2392	3562	3347	210.5	-17.8	136	917	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	2391	3453	3561	3346	0	0	0	0	0	0	14.65	14.67	14.66
1096	-0.92	-146.0	2021	2392	3562	3347	239.3	-14.6	154	1097	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	2391	3453	3561	3346	0	0	0	0	0	0	14.67	14.69	14.69
1276	-0.92	-146.0	2021	2392	3561	3351	263.5	-13.1	167	1286	0.00	4.88	0.00	0.000	516	0.000	0.065	2021	706	3453	3561	3346	0	0	0	0	0	0	14.71	14.51	14.72
1336	-0.92	-146.0	2022	707	3562	3347	271.9	-14.2	179	1347	0.12	4.93	0.00	0.000	3078	0.329	0.056	2025	2403	3453	3560	3347	0	0	0	0	0	0	14.37	14.52	14.57
1657	-0.92	-146.0	2025	2403	3561	3347	310.4	-11.8	198	1657	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2403	3453	3560	3346	0	0	0	0	0	0	14.74	14.76	14.76
1957	-0.92	-146.0	2026	2404	3561	3347	345.0	-11.5	213	1967	0.00	4.93	0.00	0.000	516	0.000	0.070	2028	709	3452	3559	3346	0	0	0	0	0	0	14.77	14.57	14.78
2012	-0.92	-146.0	2029	710	3562	3347	351.8	-12.3	224	2019	0.00	4.90	0.00	0.000	1030	0.000	0.057	2009	2405	3453	3560	3346	0	0	0	0	0	0	14.63	14.56	14.65
2317	-0.92	-146.0	2009	2406	3560	3347	388.4	-11.9	240	2318	0.00	0.00	0.00	0.000	6	0.000	0.000	2009	2405	3453	3560	3346	0	0	0	0	0	0	14.78	14.81	14.81
2617	-0.92	-146.0	2010	2406	3561	3347	424.2	-12.0	255	2627	0.00	4.90	0.00	0.000	516	0.000	0.067	2014	704	3453	3560	3346	0	0	0	0	0	0	14.80	14.61	14.82
2667	-0.92	-146.0	2014	704	3559	3347	430.6	-12.8	265	2679	0.15	4.88	0.00	0.000	3078	0.310	0.054	2025	2403	3453	3560	3346	0	0	0	0	0	0	14.48	14.62	14.67
2977	-0.92	-146.0	2026	2403	3561	3347	465.3	-11.1	282	2978	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2403	3454	3559	3349	0	0	0	0	0	0	14.81	14.83	14.83
3277	-0.92	-146.0	2025	2403	3560	3347	498.1	-10.8	297	3287	0.00	4.93	0.00	0.000	516	0.000	0.070	2028	708	3453	3560	3347	0	0	0	0	0	0	14.83	14.64	14.85
3322	-0.92	-146.0	2029	702	3561	3347	503.3	-11.8	306	3328	0.00	4.90	0.00	0.000	1030	0.000	0.057	2009	2406	3453	3559	3348	0	0	0	0	0	0	14.72	14.64	14.73
3639	-0.92	-146.0	2008	2407	3560	3347	539.6	-11.4	324	3639	0.00	0.00	0.00	0.000	6	0.000	0.000	2008	2406	3453	3559	3347	0	0	0	0	0	0	14.85	14.87	14.87
3939	-0.92	-146.0	2009	2407	3561	3348	573.3	-11.2	339	3948	0.00	4.90	0.00	0.000	516	0.000	0.068	2012	707	3453	3559	3347	0	0	0	0	0	0	14.86	14.65	14.88
3979	-0.92	-146.0	2014	708	3561	3349	578.2	-12.3	347	3989	0.15	4.88	0.00	0.000	3078	0.314	0.057	2027	2408	3453	3559	3348	0	0	0	0	0	0	14.51	14.66	14.64
4196	end dive: TARGET_DEPTH_EXCEEDED
state	4196	begin apogee
4202	-0.11	0.0	2029	2184	3560	3348	601.2	-10.2	361	4341	1.00	0.00	135.35	2.156	10246	0.280	0.000	2288	2185	2852	2921	2784	0	0	0	0	0	0	14.54	13.99	13.22
4342	end apogee: CONTROL_FINISHED_OK
state	4342	begin climb
4344	0.92	146.0	2288	2186	2921	2783	603.6	0.0	368	4486	1.15	0.00	138.48	2.060	10246	0.161	0.000	2623	2185	2256	2278	2235	0	0	0	0	0	0	13.93	13.74	13.03
4779	0.92	146.0	2624	2186	2273	2217	527.0	20.3	390	4779	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2185	2245	2273	2217	0	0	0	0	0	0	14.35	14.37	14.37
5079	0.92	146.0	2623	2186	2274	2214	466.7	20.0	405	5080	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2185	2243	2273	2213	0	0	0	0	0	0	14.51	14.53	14.52
5379	0.92	146.0	2623	2186	2273	2212	408.1	19.5	420	5380	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2185	2241	2273	2210	0	0	0	0	0	0	14.61	14.62	14.64
5679	0.92	146.0	2624	2186	2275	2211	350.6	19.0	435	5689	0.00	4.90	0.00	0.000	516	0.000	0.076	2644	524	2241	2273	2209	0	0	0	0	0	0	14.67	14.47	14.69
5704	0.92	146.0	2644	525	2272	2211	345.7	19.5	440	5714	0.00	4.88	0.00	0.000	1030	0.000	0.054	2632	2208	2238	2266	2210	0	0	0	0	0	0	14.57	14.49	14.58
6019	0.92	146.0	2632	2209	2272	2209	286.8	18.0	458	6020	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2208	2240	2272	2208	0	0	0	0	0	0	14.71	14.73	14.73
6319	0.92	146.0	2632	2209	2272	2209	238.5	14.9	476	6330	0.00	4.93	0.00	0.000	516	0.000	0.072	2652	519	2239	2271	2208	0	0	0	0	0	0	14.74	14.54	14.76
6340	0.92	146.0	2652	519	2270	2208	235.5	14.7	480	6351	0.00	4.82	0.00	0.000	1030	0.000	0.054	2649	2201	2239	2271	2207	0	0	0	0	0	0	14.64	14.57	14.66
6530	0.92	146.0	2649	2201	2272	2207	212.4	10.3	500	6541	0.00	5.07	0.00	0.000	260	0.000	0.084	2649	3897	2238	2269	2208	0	0	0	0	0	0	14.75	14.54	14.77
6566	0.92	146.0	2649	3898	2268	2211	207.9	13.9	507	6573	0.20	4.80	0.00	0.000	5126	0.365	0.043	2630	2207	2239	2268	2210	0	0	0	0	0	0	14.38	14.55	14.60
6753	0.98	146.0	2630	2206	2272	2206	191.3	7.8	526	6759	0.00	4.93	0.00	0.000	580	0.000	0.067	2651	505	2238	2272	2205	0	0	0	0	0	0	14.75	14.57	14.77
6769	1.06	146.0	2651	506	2272	2206	189.9	7.5	529	6776	0.00	4.85	0.00	0.000	1094	0.000	0.050	2649	2207	2238	2271	2205	0	0	0	0	0	0	14.66	14.59	14.67
6954	1.13	146.0	2649	2209	2272	2205	175.4	7.5	548	6955	0.15	0.00	0.00	0.000	2118	0.183	0.000	2690	2207	2237	2271	2204	0	0	0	0	0	0	14.54	14.67	14.65
7134	1.22	146.0	2690	2209	2273	2205	161.6	7.3	566	7135	0.00	0.00	0.00	0.000	70	0.000	0.000	2690	2208	2237	2271	2204	0	0	0	0	0	0	14.76	14.79	14.79
7314	1.33	146.0	2690	2209	2272	2205	149.3	6.2	584	7315	0.20	0.00	0.00	0.000	2118	0.168	0.000	2750	2208	2236	2271	2202	0	0	0	0	0	0	14.56	14.69	14.66
7494	1.42	146.0	2750	2209	2272	2205	136.9	7.0	602	7501	0.12	5.03	0.00	0.000	2372	0.196	0.083	2783	3897	2237	2271	2204	0	0	0	0	0	0	14.56	14.58	14.66
7531	1.46	146.0	2783	3898	2268	2209	133.9	8.8	609	7538	0.00	4.85	0.00	0.000	1094	0.000	0.046	2803	2192	2238	2268	2208	0	0	0	0	0	0	14.67	14.62	14.69
7716	1.68	219.8	2804	2191	2270	2206	122.0	5.4	628	7788	0.17	5.25	61.92	1.620	10532	0.178	0.083	2853	3890	1953	1982	1925	0	0	0	0	0	0	14.54	14.28	13.69
7810	1.68	219.8	2853	3891	1980	1927	113.4	14.5	645	7817	0.00	4.95	0.00	0.000	1030	0.000	0.047	2868	2198	1951	1979	1924	0	0	0	0	0	0	14.37	14.31	14.38
7993	1.68	219.8	2873	2198	1979	1917	88.5	12.2	664	7994	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	2197	1947	1978	1916	0	0	0	0	0	0	14.54	14.57	14.57
8174	1.92	300.8	2872	2198	1977	1915	74.0	5.0	682	8250	0.25	5.25	68.88	1.528	10532	0.161	0.083	2932	3895	1623	1653	1593	0	0	0	0	0	0	14.39	14.05	13.56
8475	2.40	461.1	2933	3896	1646	1587	52.9	0.1	738	8618	0.47	4.93	128.95	1.462	11302	0.145	0.039	3096	2179	969	969	969	0	0	0	0	0	0	14.23	14.31	13.37
8793	2.65	544.2	3095	2179	965	960	21.5	4.9	781	8868	0.25	5.35	66.30	1.398	10532	0.147	0.079	3168	3889	630	609	652	0	0	0	0	0	0	14.12	13.94	13.43
8933	2.65	544.2	3167	3889	606	651	11.7	10.9	807	8944	0.00	4.97	0.00	0.000	1030	0.000	0.048	3187	2218	628	606	650	0	0	0	0	0	0	14.12	14.08	14.14
9071	end climb: SURFACE_DEPTH_REACHED
state	9071	begin surface coast
9091	end surface coast: CONTROL_FINISHED_OK
state	9091	begin surface