Glider dive log

SODA Sep18 * SG198 * Dive index * Mission links * Dive 167 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_PING_RANGE 20

MISSION 13 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 167 ESCAPE_HEADING_DELTA 5 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 2 ROLL_TIMEOUT 30 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 21 R_PORT_OVSHOOT 55 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -158.3 R_STBD_OVSHOOT 19 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 50 ALTIM_FREQUENCY 13

D_TGT 990 SM_CC 525 ROLL_MAXERRORS 0 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 FILEMGR 2 ROLL_ADJ_DBAND 0 XPDR_VALID 4

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 10 PROTOCOL 9 C_VBD 2854 INT_PRESSURE_YINT 0

D_PITCH 2 N_NOCOMM 0 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 500 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 3 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 4 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 4 CALL_TRIES 3 PITCH_VBD_SHIFT 0.0017 DEVICE3 -1

SURFACE_URGENCY_FORCE 8 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 390 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 470 CAPMAXSIZE 10000 VBD_BLEED_AD_RATE 1 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 500 LOGGERS 1

T_TURN 225 T_GPS 3 VBD_MAXERRORS 2 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 4 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 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 1 RAFOS_HIT_WINDOW 25200 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 250 PITCH_W_GAIN 4 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3980 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2405 CF8_MAXERRORS 0 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0044050296

MAX_BUOY 150 PITCH_CNV 0.0041975998 AH0_10V 0 SEABIRD_T_H 0.00064172043

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 0 SEABIRD_T_I 2.6501684e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 0 SEABIRD_T_J 3.2658481e-06

SPEED_FACTOR 1 PITCH_GAIN 20 MAXI_24V 2 SEABIRD_C_G -9.7956734

RHO 1.0275 PITCH_TIMEOUT 40 MAXI_10V 2 SEABIRD_C_H 1.1257488

MASS 53670 PITCH_AD_RATE 20 FG_AHR_10V 0 SEABIRD_C_I -0.0015621729

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00020328934

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -160.32826 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 175 PRESSURE_SLOPE 0.00010704 SC_XMITPROFILE 3.0

HD_A 0.0026 ROLL_MAX 3800 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0129 ROLL_DEG 40 COMPASS_USE 4

HD_C 2.4999999e-06 C_ROLL_DIVE 2250 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044050296

AH0_10V 0 D_TGT 990 PHONE_DEVICE 49 SEABIRD_T_H 0.00064172043

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.6501684e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 5 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.2658481e-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 20 SM_CC 525

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.0041975998 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 2 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 2 PITCH_GAIN 20 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3980 SURFACE_URGENCY 4

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 20 HD_A 0.0026 PITCH_MIN 250 SURFACE_URGENCY_TRY 4

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0129 PITCH_TIMEOUT 40 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 2.4999999e-06 PITCH_VBD_SHIFT 0.0017 TGT_DEFAULT_LAT 21

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -158.3

CALL_TRIES 3 HEAD_ERRBAND 10 PITCH_W_GAIN 4 T_ABORT 1440

CALL_WAIT 45 HEAPDBG 0 PRESSURE_SLOPE 0.00010704 T_BOOST 0

CAPMAXSIZE 10000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -160.32826 T_DIVE 390

CAPUPLOAD 0 ID 198 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 3

COMM_SEQ 0 INT_PRESSURE_YINT 0 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 470

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 25200 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2405 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2250 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 500

C_VBD 2854 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 50 USE_ICE 1

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 1

DEVICE2 -1 MASS 53670 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3800 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 2 ROLL_MAXERRORS 0 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 2 ROLL_MIN 175 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 30 VBD_MAXERRORS 2

DIVE 167 MINV_10V 0 R_PORT_OVSHOOT 55 VBD_MIN 500

D_ABORT 1020 MINV_24V 0 R_STBD_OVSHOOT 19 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 13 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 3 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 10 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 -9.7956734 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1257488 XPDR_VALID 4

D_PITCH 2 N_GPS 100440 SEABIRD_C_I -0.0015621729

D_SAFE 500 N_NOCOMM 0 SEABIRD_C_J 0.00020328934

Pre-dive calculations and measurements:

GPS1 011118,081639,7326.2817,-14709.9990,0,6255.0,0,22.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.147,0.221

_CALLS 3 TGT_NAME SODAA

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14820.200

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 11.04 MHEAD_RNG_PITCHd_Wd 220.3,61758,-15.3,-8.462,-20.95,2646

_SM_ANGLEo -9.9 D_GRID 990

GPS2 011118,081639,7326.2817,-14709.9990,0,6255.0,0,22.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181101121140.256768,18,19,-5,0036,0150,246,00,00,03,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*14 SC_FREEKB 3896800

FREEZE 9.65,-1.490,-1.493,2,66,0 _24V_AH 12.17,75.314

FINISH1 9.7,1.021906,286 _10V_AH 12.66,0.000

FINISH2 8.5 FG_AHR_24Vo 0.000

RAFOS_CLK 604 FG_AHR_10Vo 0.000

MODEM 0,1541073619,73.00000,-148.33333,19.337,28140.9 MEM 326504

RAFOS_FIX 7323.401367,-14809.298828,011118,121240,6,255,2.26 DATA_FILE_SIZE 46633,1316

IRIDIUM_FIX 7446.20,-14627.68,151018,080851 CAP_FILE_SIZE 157310,0

TT8_MAMPS 0.038948,0.980441 CFSIZE 260157440,235118592

HUMID 52.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.17027 SOUNDSPEED 1453.1

TCM_TEMP 13.50 CURRENT 2.301,263.83,1

XPDR_PINGS 0 GPS 011118,121140,7323.401,-14809.299,0,7255.0,0,22.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 19.6,20.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 283 20.21 nil 0 0 0.00

Roll_motor 94 151 174.20 nil 0 0 0.00

VBD_pump_during_apogee 430 2382 12490.65 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 22486 11 3084.91

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 1.28 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 19129 2 559.45

TT8_Active 613 10 83.32

TT8_Sampling 2626 28 954.38

TT8_CF8 190 35 85.63

TT8_Kalman 0 0 0.00

Analog_circuits 1597 11 222.53

GPS_charging 0 0 0.00

Compass 1882 6 160.64

RAFOS 2216 33 925.80

Transponder 2 30 0.96

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

11 -1.01 -146.0 2531 2233 1467 1701 0.0 0.0 0 64 0.00 0.00 -49.30 0.005 16390 0.000 0.000 2530 2233 3451 3417 3485 0 0 0 0 0 0 14.47 13.19 14.50

66 -1.01 -146.0 2531 2233 3418 3486 14.5 -8.3 5 72 1.23 2.40 0.00 0.000 4612 0.166 0.073 2157 855 3451 3417 3485 0 0 0 0 0 0 14.19 14.25 14.31

296 -1.01 -146.0 2158 855 3418 3486 62.5 -18.8 51 303 0.00 2.50 0.00 0.000 1030 0.000 0.083 2152 2258 3451 3417 3485 0 0 0 0 0 0 14.37 14.28 14.40

487 -1.01 -146.0 2153 2259 3417 3486 94.4 -15.2 71 488 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2258 3450 3416 3485 0 0 0 0 0 0 14.57 14.59 14.59

667 -1.01 -146.0 2152 2259 3417 3486 119.4 -13.9 89 673 0.00 2.45 0.00 0.000 516 0.000 0.074 2153 866 3451 3417 3485 0 0 0 0 0 0 14.59 14.35 14.62

732 -1.01 -146.0 2152 866 3418 3486 128.9 -14.5 102 739 0.00 2.45 0.00 0.000 1030 0.000 0.080 2152 2258 3451 3417 3485 0 0 0 0 0 0 14.42 14.34 14.46

917 -1.01 -146.0 2153 2258 3418 3485 152.9 -12.7 121 918 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2257 3451 3417 3485 0 0 0 0 0 0 14.63 14.66 14.65

1097 -1.01 -146.0 2152 2259 3417 3486 174.0 -11.8 139 1098 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2258 3451 3417 3485 0 0 0 0 0 0 14.65 14.68 14.67

1277 -1.01 -146.0 2152 2258 3417 3485 194.8 -11.2 157 1283 0.00 2.40 0.00 0.000 516 0.000 0.074 2152 854 3451 3417 3485 0 0 0 0 0 0 14.66 14.42 14.68

1327 -1.01 -146.0 2153 853 3418 3485 200.6 -11.4 167 1334 0.00 2.45 0.00 0.000 1030 0.000 0.079 2152 2253 3450 3416 3485 0 0 0 0 0 0 14.47 14.40 14.50

1518 -1.01 -146.0 2152 2253 3418 3486 221.1 -10.4 187 1518 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2253 3450 3416 3485 0 0 0 0 0 0 14.67 14.70 14.68

1698 -1.01 -146.0 2153 2254 3418 3486 239.6 -9.8 205 1699 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2253 3450 3416 3485 0 0 0 0 0 0 14.68 14.71 14.70

1878 -1.01 -146.0 2153 2253 3418 3485 255.5 -8.6 219 1878 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2253 3451 3417 3485 0 0 0 0 0 0 14.69 14.72 14.71

2178 -1.01 -146.0 2152 2254 3418 3486 281.1 -8.1 229 2179 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2253 3451 3417 3485 0 0 0 0 0 0 14.71 14.74 14.73

2478 -1.01 -146.0 2152 2254 3418 3486 305.9 -8.3 239 2479 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2253 3451 3417 3485 0 0 0 0 0 0 14.73 14.76 14.76

2778 -1.01 -146.0 2153 2254 3418 3486 329.8 -7.9 249 2778 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2254 3450 3416 3485 0 0 0 0 0 0 14.74 14.77 14.77

3078 -1.01 -146.0 2152 2253 3418 3486 353.5 -8.0 259 3079 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2253 3451 3417 3485 0 0 0 0 0 0 14.76 14.78 14.78

3378 -1.01 -146.0 2152 2253 3417 3486 376.3 -7.3 269 3379 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2253 3451 3417 3485 0 0 0 0 0 0 14.76 14.78 14.78

3678 -1.01 -146.0 2152 2254 3417 3486 398.2 -7.3 279 3678 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2253 3450 3416 3485 0 0 0 0 0 0 14.77 14.79 14.79

3978 -1.01 -146.0 2153 2254 3418 3485 420.8 -7.6 289 3984 0.00 2.40 0.00 0.000 516 0.000 0.073 2152 864 3451 3417 3485 0 0 0 0 0 0 14.77 14.50 14.79

4033 -1.01 -146.0 2153 865 3417 3485 425.1 -7.8 300 4040 0.00 2.42 0.00 0.000 1030 0.000 0.078 2152 2259 3451 3417 3485 0 0 0 0 0 0 14.54 14.40 14.55

4338 -1.01 -146.0 2152 2260 3418 3486 448.2 -7.5 311 4339 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2259 3451 3417 3485 0 0 0 0 0 0 14.77 14.80 14.79

4638 -1.01 -146.0 2152 2260 3418 3486 471.0 -7.6 321 4639 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3451 3418 3485 0 0 0 0 0 0 14.77 14.80 14.79

4938 -1.01 -146.0 2152 2259 3419 3486 494.1 -7.6 331 4939 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3452 3419 3485 0 0 0 0 0 0 14.77 14.81 14.80

5238 -1.01 -146.0 2152 2260 3420 3486 516.9 -7.6 341 5239 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3452 3419 3485 0 0 0 0 0 0 14.78 14.81 14.81

5538 -1.01 -146.0 2152 2260 3420 3486 539.2 -7.3 351 5539 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3452 3419 3485 0 0 0 0 0 0 14.79 14.82 14.81

5838 -1.01 -146.0 2152 2260 3421 3486 561.0 -7.3 361 5839 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3452 3420 3485 0 0 0 0 0 0 14.80 14.83 14.82

6138 -1.01 -146.0 2152 2260 3422 3486 583.1 -7.3 371 6139 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3452 3420 3485 0 0 0 0 0 0 14.80 14.83 14.83

6438 -1.01 -146.0 2153 2260 3423 3486 604.3 -7.0 381 6439 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3453 3421 3485 0 0 0 0 0 0 14.81 14.83 14.83

6738 -1.01 -146.0 2152 2260 3423 3486 625.9 -7.2 391 6739 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3451 3417 3485 0 0 0 0 0 0 14.81 14.83 14.83

7038 -1.01 -146.0 2158 2260 3424 3486 647.4 -7.1 401 7039 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3454 3423 3485 0 0 0 0 0 0 14.81 14.83 14.83

7338 -1.01 -146.0 2152 2260 3424 3485 668.6 -7.1 411 7339 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2260 3454 3424 3485 0 0 0 0 0 0 14.79 14.83 14.83

7638 -1.01 -146.0 2153 2260 3425 3485 689.8 -7.1 421 7639 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2260 3455 3425 3485 0 0 0 0 0 0 14.81 14.85 14.83

7939 -1.01 -146.0 2152 2260 3426 3485 710.8 -7.0 431 7939 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3455 3425 3485 0 0 0 0 0 0 14.81 14.84 14.83

8238 -1.01 -146.0 2152 2260 3426 3486 731.8 -7.1 441 8239 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3456 3426 3486 0 0 0 0 0 0 14.80 14.85 14.84

8538 -1.01 -146.0 2152 2260 3428 3486 752.6 -6.9 451 8539 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3456 3427 3485 0 0 0 0 0 0 14.81 14.84 14.83

8838 -1.01 -146.0 2153 2260 3429 3486 773.3 -6.8 461 8839 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3456 3428 3485 0 0 0 0 0 0 14.82 14.85 14.84

9138 -1.01 -146.0 2152 2261 3429 3486 793.4 -6.7 471 9139 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3456 3428 3485 0 0 0 0 0 0 14.82 14.85 14.84

9438 -1.01 -146.0 2153 2259 3429 3486 813.6 -6.7 481 9439 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2256 3456 3428 3485 0 0 0 0 0 0 14.82 14.85 14.84

9738 -1.01 -146.0 2152 2260 3431 3486 834.1 -6.8 491 9739 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2260 3457 3429 3485 0 0 0 0 0 0 14.82 14.85 14.84

10039 -1.01 -146.0 2153 2260 3431 3486 854.2 -6.7 501 10039 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3457 3430 3485 0 0 0 0 0 0 14.82 14.84 14.84

10338 -1.01 -146.0 2152 2260 3431 3486 874.4 -6.7 511 10339 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3457 3430 3485 0 0 0 0 0 0 14.82 14.85 14.84

10638 -1.01 -146.0 2153 2260 3432 3486 894.3 -6.7 521 10639 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3458 3431 3485 0 0 0 0 0 0 14.82 14.85 14.85

10938 -1.01 -146.0 2153 2260 3432 3486 914.2 -6.6 531 10939 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3458 3431 3485 0 0 0 0 0 0 14.82 14.85 14.84

11248 -1.01 -146.0 2152 2259 3433 3486 933.8 -6.5 541 11249 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3458 3431 3485 0 0 0 0 0 0 14.77 14.80 14.79

11538 -1.01 -146.0 2152 2260 3433 3486 953.4 -6.6 551 11539 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2259 3461 3431 3491 0 0 0 0 0 0 14.71 14.74 14.73

11839 -1.01 -146.0 2149 2260 3434 3486 973.1 -6.7 561 11844 0.00 2.58 0.00 0.000 260 0.000 0.125 2149 3669 3459 3432 3486 0 0 0 0 0 0 14.68 14.38 14.70

11923 -1.01 -146.0 2152 3668 3433 3486 979.2 -6.9 578 11930 0.00 2.38 0.00 0.000 1030 0.000 0.051 2152 2231 3458 3432 3485 0 0 0 0 0 0 14.55 14.49 14.57

12107 end dive: TARGET_DEPTH_EXCEEDED

state 12107 begin apogee

12111 -0.25 0.0 2153 2604 3432 3486 991.2 -6.5 585 12253 0.70 0.00 139.55 2.383 10246 0.225 0.000 2346 2600 2854 2694 3014 0 0 0 0 0 0 14.28 13.56 12.76

12254 end apogee: CONTROL_FINISHED_OK

state 12254 begin climb

12256 1.01 146.0 2347 2604 2693 3015 993.2 0.0 589 12409 1.02 0.00 145.60 2.315 10246 0.145 0.000 2649 2604 2259 2064 2455 0 0 0 0 0 0 13.52 12.94 12.17

12709 1.01 146.0 2649 2604 2052 2455 948.5 11.1 605 12714 0.00 2.33 0.00 0.000 260 0.000 0.134 2649 3802 2252 2051 2454 0 0 0 0 0 0 13.98 13.74 14.00

12754 1.01 146.0 2650 3806 2053 2454 942.8 12.6 614 12759 0.00 2.12 0.00 0.000 1030 0.000 0.058 2657 2599 2253 2051 2455 0 0 0 0 0 0 13.94 13.87 13.96

13069 1.01 146.0 2657 2599 2050 2454 906.4 11.6 627 13069 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2598 2251 2049 2454 0 0 0 0 0 0 14.32 14.35 14.34

13368 1.01 146.0 2657 2599 2058 2454 871.3 11.7 637 13374 0.00 2.28 0.00 0.000 260 0.000 0.132 2657 3791 2251 2049 2454 0 0 0 0 0 0 14.45 14.17 14.47

13439 1.01 146.0 2657 3792 2051 2455 862.0 13.4 651 13445 0.00 2.10 0.00 0.000 1030 0.000 0.059 2662 2585 2251 2049 2454 0 0 0 0 0 0 14.38 14.27 14.38

13759 1.01 146.0 2663 2586 2050 2455 823.8 11.8 665 13765 0.00 2.28 0.00 0.000 260 0.000 0.127 2664 3797 2251 2049 2454 0 0 0 0 0 0 14.62 14.31 14.64

13810 1.01 146.0 2664 3798 2050 2455 817.3 13.4 675 13816 0.00 2.08 0.00 0.000 1030 0.000 0.058 2668 2591 2251 2049 2454 0 0 0 0 0 0 14.45 14.41 14.48

14120 1.01 146.0 2665 2592 2050 2455 780.0 11.8 687 14121 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2591 2251 2049 2454 0 0 0 0 0 0 14.68 14.71 14.70

14420 1.01 146.0 2667 2592 2050 2455 744.7 11.7 697 14426 0.00 2.25 0.00 0.000 260 0.000 0.131 2670 3793 2251 2049 2454 0 0 0 0 0 0 14.71 14.40 14.74

14491 1.01 146.0 2670 3793 2050 2454 735.5 13.3 711 14498 0.10 2.05 0.00 0.000 5126 0.272 0.057 2649 2586 2251 2049 2454 0 0 0 0 0 0 14.32 14.50 14.47

14812 1.01 146.0 2649 2587 2050 2455 701.0 10.6 725 14813 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2586 2251 2049 2454 0 0 0 0 0 0 14.74 14.77 14.77

15112 1.01 146.0 2649 2587 2050 2454 669.1 10.6 735 15119 0.00 2.20 0.00 0.000 260 0.000 0.126 2647 3803 2251 2049 2454 0 0 0 0 0 0 14.76 14.46 14.78

15163 1.01 146.0 2648 3803 2050 2455 663.0 12.4 745 15169 0.00 2.05 0.00 0.000 1030 0.000 0.056 2648 2591 2252 2049 2455 0 0 0 0 0 0 14.59 14.55 14.62

15473 1.01 146.0 2648 2592 2050 2455 630.1 10.4 757 15474 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2591 2251 2049 2454 0 0 0 0 0 0 14.78 14.78 14.80

15773 1.01 146.0 2647 2592 2050 2455 598.3 10.6 767 15779 0.00 2.17 0.00 0.000 260 0.000 0.125 2648 3797 2251 2049 2454 0 0 0 0 0 0 14.78 14.48 14.81

15819 1.01 146.0 2648 3798 2050 2455 592.8 12.1 776 15824 0.00 2.03 0.00 0.000 1030 0.000 0.055 2647 2591 2250 2049 2452 0 0 0 0 0 0 14.62 14.58 14.64

16134 1.01 146.0 2648 2590 2050 2454 559.3 10.6 789 16134 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2591 2252 2050 2454 0 0 0 0 0 0 14.79 14.82 14.81

16434 1.01 146.0 2648 2591 2050 2455 527.7 10.6 799 16440 0.00 2.17 0.00 0.000 260 0.000 0.125 2648 3797 2251 2049 2454 0 0 0 0 0 0 14.80 14.50 14.82

16474 1.01 146.0 2648 3798 2050 2455 522.9 12.1 807 16481 0.00 2.03 0.00 0.000 1030 0.000 0.054 2648 2588 2251 2049 2454 0 0 0 0 0 0 14.63 14.59 14.64

16795 1.01 146.0 2648 2589 2050 2455 489.2 10.3 821 16796 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2588 2251 2049 2454 0 0 0 0 0 0 14.79 14.82 14.81

17096 1.01 146.0 2648 2587 2049 2455 458.5 10.1 831 17102 0.00 2.20 0.00 0.000 260 0.000 0.124 2648 3809 2251 2049 2454 0 0 0 0 0 0 14.78 14.50 14.81

17141 1.01 146.0 2648 3809 2050 2455 453.3 11.6 840 17147 0.00 2.03 0.00 0.000 1030 0.000 0.055 2647 2603 2251 2049 2454 0 0 0 0 0 0 14.62 14.58 14.64

17456 1.01 146.0 2648 2604 2050 2455 420.9 10.4 853 17457 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2603 2251 2048 2454 0 0 0 0 0 0 14.78 14.81 14.81

17757 1.01 146.0 2648 2604 2050 2455 389.1 10.6 863 17757 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2603 2251 2049 2453 0 0 0 0 0 0 14.78 14.81 14.81

18056 1.01 146.0 2648 2603 2050 2455 357.6 10.4 873 18057 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2603 2251 2049 2454 0 0 0 0 0 0 14.78 14.81 14.81

18356 1.01 146.0 2648 2604 2050 2455 326.9 10.2 883 18363 0.00 2.20 0.00 0.000 260 0.000 0.124 2648 3799 2252 2050 2454 0 0 0 0 0 0 14.78 14.47 14.81

18412 1.01 146.0 2648 3799 2050 2455 320.6 11.4 894 18419 0.00 2.03 0.00 0.000 1030 0.000 0.054 2648 2593 2251 2049 2454 0 0 0 0 0 0 14.53 14.50 14.55

18717 1.01 146.0 2648 2593 2050 2454 292.7 8.8 905 18718 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2592 2249 2049 2450 0 0 0 0 0 0 14.77 14.80 14.80

19017 1.01 146.0 2648 2593 2050 2455 266.2 9.1 915 19018 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2592 2251 2049 2454 0 0 0 0 0 0 14.77 14.79 14.79

19317 1.01 146.0 2648 2593 2050 2454 240.1 8.8 931 19318 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2593 2251 2049 2454 0 0 0 0 0 0 14.76 14.79 14.78

19497 1.01 146.0 2648 2593 2050 2455 224.4 8.3 949 19498 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2593 2251 2049 2454 0 0 0 0 0 0 14.76 14.78 14.77

19678 1.10 146.0 2648 2593 2050 2454 211.8 6.4 967 19683 0.00 2.40 0.00 0.000 580 0.000 0.075 2654 1198 2251 2049 2454 0 0 0 0 0 0 14.74 14.50 14.76

19738 1.18 146.0 2655 1198 2049 2454 208.0 6.2 979 19745 0.12 2.45 0.00 0.000 3142 0.136 0.085 2727 2605 2251 2048 2454 0 0 0 0 0 0 14.54 14.47 14.62

19930 1.18 146.0 2728 2606 2049 2454 192.0 8.2 999 19931 0.17 0.00 0.00 0.000 4102 0.249 0.000 2685 2605 2251 2048 2454 0 0 0 0 0 0 14.36 14.60 14.56

20110 1.26 146.0 2686 2606 2048 2455 180.3 6.6 1017 20110 0.00 0.00 0.00 0.000 70 0.000 0.000 2685 2605 2251 2048 2454 0 0 0 0 0 0 14.73 14.76 14.75

20289 1.34 146.0 2686 2606 2052 2455 168.4 6.4 1035 20290 0.15 0.00 0.00 0.000 2118 0.125 0.000 2758 2605 2251 2048 2454 0 0 0 0 0 0 14.54 14.62 14.60

20470 1.39 146.0 2758 2606 2049 2455 154.7 7.3 1053 20475 0.00 2.40 0.00 0.000 580 0.000 0.073 2762 1203 2251 2048 2454 0 0 0 0 0 0 14.72 14.50 14.74

20519 1.42 146.0 2762 1201 2049 2454 150.9 7.7 1063 20526 0.00 2.45 0.00 0.000 1094 0.000 0.082 2762 2615 2251 2048 2454 0 0 0 0 0 0 14.56 14.45 14.60

20712 1.46 146.0 2762 2616 2049 2454 135.7 7.4 1083 20712 0.00 0.00 0.00 0.000 70 0.000 0.000 2762 2615 2251 2048 2454 0 0 0 0 0 0 14.71 14.74 14.73

20890 1.55 146.0 2761 2615 2048 2454 124.1 6.4 1101 20891 0.00 0.00 0.00 0.000 70 0.000 0.000 2762 2614 2251 2048 2454 0 0 0 0 0 0 14.71 14.74 14.73

21071 1.65 146.0 2762 2615 2048 2455 113.0 5.9 1119 21072 0.15 0.00 0.00 0.000 2118 0.121 0.000 2835 2615 2251 2048 2454 0 0 0 0 0 0 14.53 14.61 14.59

21250 1.72 146.0 2836 2616 2049 2455 101.2 6.5 1137 21256 0.00 2.17 0.00 0.000 324 0.000 0.120 2836 3802 2251 2048 2454 0 0 0 0 0 0 14.69 14.38 14.71

21316 1.79 146.0 2836 3802 2049 2455 97.0 6.8 1150 21322 0.00 2.00 0.00 0.000 1094 0.000 0.054 2841 2585 2251 2048 2454 0 0 0 0 0 0 14.56 14.50 14.57

21500 1.95 146.0 2841 2585 2056 2454 86.7 4.5 1169 21506 0.12 2.33 0.00 0.000 2628 0.136 0.067 2917 1207 2251 2048 2454 0 0 0 0 0 0 14.46 14.43 14.52

21731 2.26 327.7 2919 1207 2049 2454 82.7 1.4 1215 21887 0.00 2.45 145.55 1.301 9254 0.000 0.083 2919 2611 1515 1333 1698 0 0 0 0 0 0 14.43 14.32 13.33

22062 2.26 327.7 2919 2612 1325 1699 39.6 14.3 1261 22067 0.00 2.47 0.00 0.000 516 0.000 0.072 2923 1207 1511 1324 1698 0 0 0 0 0 0 14.31 14.07 14.33

22161 2.37 327.7 2923 1207 1322 1699 31.3 5.6 1281 22167 0.17 2.50 0.00 0.000 3142 0.103 0.082 3006 2614 1509 1321 1698 0 0 0 0 0 0 14.14 14.09 14.20

22353 2.45 327.7 3006 2614 1322 1698 15.4 6.5 1301 22358 0.00 2.17 0.00 0.000 324 0.000 0.120 3006 3799 1509 1321 1698 0 0 0 0 0 0 14.46 14.21 14.50

22416 end climb: FINISH_DEPTH_REACHED

state 22416 begin subsurface finish

22422 0.49 285.9 3015 2600 1321 1699 9.7 10.7 1314 22435 1.90 2.30 -6.88 0.015 20740 0.284 0.151 2518 3798 1690 1573 1807 0 0 0 0 0 0 14.02 13.16 14.26

22436 end subsurface finish: CONTROL_FINISHED_OK

state 22436 begin surface

ID	198	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_PING_RANGE	20
MISSION	13	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	167	ESCAPE_HEADING_DELTA	5	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	2	ROLL_TIMEOUT	30	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	21	R_PORT_OVSHOOT	55	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-158.3	R_STBD_OVSHOOT	19	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	50	ALTIM_FREQUENCY	13
D_TGT	990	SM_CC	525	ROLL_MAXERRORS	0	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	FILEMGR	2	ROLL_ADJ_DBAND	0	XPDR_VALID	4
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	10	PROTOCOL	9	C_VBD	2854	INT_PRESSURE_YINT	0
D_PITCH	2	N_NOCOMM	0	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	500	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	3	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	4	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	4	CALL_TRIES	3	PITCH_VBD_SHIFT	0.0017	DEVICE3	-1
SURFACE_URGENCY_FORCE	8	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	390	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	470	CAPMAXSIZE	10000	VBD_BLEED_AD_RATE	1	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	500	LOGGERS	1
T_TURN	225	T_GPS	3	VBD_MAXERRORS	2	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	4	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	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	1	RAFOS_HIT_WINDOW	25200	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	250	PITCH_W_GAIN	4	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3980	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2405	CF8_MAXERRORS	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0044050296
MAX_BUOY	150	PITCH_CNV	0.0041975998	AH0_10V	0	SEABIRD_T_H	0.00064172043
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	0	SEABIRD_T_I	2.6501684e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	0	SEABIRD_T_J	3.2658481e-06
SPEED_FACTOR	1	PITCH_GAIN	20	MAXI_24V	2	SEABIRD_C_G	-9.7956734
RHO	1.0275	PITCH_TIMEOUT	40	MAXI_10V	2	SEABIRD_C_H	1.1257488
MASS	53670	PITCH_AD_RATE	20	FG_AHR_10V	0	SEABIRD_C_I	-0.0015621729
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00020328934
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-160.32826	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	175	PRESSURE_SLOPE	0.00010704	SC_XMITPROFILE	3.0
HD_A	0.0026	ROLL_MAX	3800	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0129	ROLL_DEG	40	COMPASS_USE	4
HD_C	2.4999999e-06	C_ROLL_DIVE	2250	ALTIM_PING_FIT	0

GPS1	011118,081639,7326.2817,-14709.9990,0,6255.0,0,22.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.147,0.221
_CALLS	3	TGT_NAME	SODAA
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14820.200
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	11.04	MHEAD_RNG_PITCHd_Wd	220.3,61758,-15.3,-8.462,-20.95,2646
_SM_ANGLEo	-9.9	D_GRID	990
GPS2	011118,081639,7326.2817,-14709.9990,0,6255.0,0,22.5,0.0,0.0,0,0.0

MODEM_MSG	CACST,6,1,20181101121140.256768,18,19,-5,0036,0150,246,00,00,03,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*14	SC_FREEKB	3896800
FREEZE	9.65,-1.490,-1.493,2,66,0	_24V_AH	12.17,75.314
FINISH1	9.7,1.021906,286	_10V_AH	12.66,0.000
FINISH2	8.5	FG_AHR_24Vo	0.000
RAFOS_CLK	604	FG_AHR_10Vo	0.000
MODEM	0,1541073619,73.00000,-148.33333,19.337,28140.9	MEM	326504
RAFOS_FIX	7323.401367,-14809.298828,011118,121240,6,255,2.26	DATA_FILE_SIZE	46633,1316
IRIDIUM_FIX	7446.20,-14627.68,151018,080851	CAP_FILE_SIZE	157310,0
TT8_MAMPS	0.038948,0.980441	CFSIZE	260157440,235118592
HUMID	52.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.17027	SOUNDSPEED	1453.1
TCM_TEMP	13.50	CURRENT	2.301,263.83,1
XPDR_PINGS	0	GPS	011118,121140,7323.401,-14809.299,0,7255.0,0,22.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	19.6,20.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	283	20.21	nil	0	0	0.00
Roll_motor	94	151	174.20	nil	0	0	0.00
VBD_pump_during_apogee	430	2382	12490.65	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	22486	11	3084.91
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	1.28	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	19129	2	559.45
TT8_Active	613	10	83.32
TT8_Sampling	2626	28	954.38
TT8_CF8	190	35	85.63
TT8_Kalman	0	0	0.00
Analog_circuits	1597	11	222.53
GPS_charging	0	0	0.00
Compass	1882	6	160.64
RAFOS	2216	33	925.80
Transponder	2	30	0.96

		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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
11	-1.01	-146.0	2531	2233	1467	1701	0.0	0.0	0	64	0.00	0.00	-49.30	0.005	16390	0.000	0.000	2530	2233	3451	3417	3485	0	0	0	0	0	0	14.47	13.19	14.50
66	-1.01	-146.0	2531	2233	3418	3486	14.5	-8.3	5	72	1.23	2.40	0.00	0.000	4612	0.166	0.073	2157	855	3451	3417	3485	0	0	0	0	0	0	14.19	14.25	14.31
296	-1.01	-146.0	2158	855	3418	3486	62.5	-18.8	51	303	0.00	2.50	0.00	0.000	1030	0.000	0.083	2152	2258	3451	3417	3485	0	0	0	0	0	0	14.37	14.28	14.40
487	-1.01	-146.0	2153	2259	3417	3486	94.4	-15.2	71	488	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2258	3450	3416	3485	0	0	0	0	0	0	14.57	14.59	14.59
667	-1.01	-146.0	2152	2259	3417	3486	119.4	-13.9	89	673	0.00	2.45	0.00	0.000	516	0.000	0.074	2153	866	3451	3417	3485	0	0	0	0	0	0	14.59	14.35	14.62
732	-1.01	-146.0	2152	866	3418	3486	128.9	-14.5	102	739	0.00	2.45	0.00	0.000	1030	0.000	0.080	2152	2258	3451	3417	3485	0	0	0	0	0	0	14.42	14.34	14.46
917	-1.01	-146.0	2153	2258	3418	3485	152.9	-12.7	121	918	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2257	3451	3417	3485	0	0	0	0	0	0	14.63	14.66	14.65
1097	-1.01	-146.0	2152	2259	3417	3486	174.0	-11.8	139	1098	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2258	3451	3417	3485	0	0	0	0	0	0	14.65	14.68	14.67
1277	-1.01	-146.0	2152	2258	3417	3485	194.8	-11.2	157	1283	0.00	2.40	0.00	0.000	516	0.000	0.074	2152	854	3451	3417	3485	0	0	0	0	0	0	14.66	14.42	14.68
1327	-1.01	-146.0	2153	853	3418	3485	200.6	-11.4	167	1334	0.00	2.45	0.00	0.000	1030	0.000	0.079	2152	2253	3450	3416	3485	0	0	0	0	0	0	14.47	14.40	14.50
1518	-1.01	-146.0	2152	2253	3418	3486	221.1	-10.4	187	1518	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2253	3450	3416	3485	0	0	0	0	0	0	14.67	14.70	14.68
1698	-1.01	-146.0	2153	2254	3418	3486	239.6	-9.8	205	1699	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2253	3450	3416	3485	0	0	0	0	0	0	14.68	14.71	14.70
1878	-1.01	-146.0	2153	2253	3418	3485	255.5	-8.6	219	1878	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2253	3451	3417	3485	0	0	0	0	0	0	14.69	14.72	14.71
2178	-1.01	-146.0	2152	2254	3418	3486	281.1	-8.1	229	2179	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2253	3451	3417	3485	0	0	0	0	0	0	14.71	14.74	14.73
2478	-1.01	-146.0	2152	2254	3418	3486	305.9	-8.3	239	2479	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2253	3451	3417	3485	0	0	0	0	0	0	14.73	14.76	14.76
2778	-1.01	-146.0	2153	2254	3418	3486	329.8	-7.9	249	2778	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2254	3450	3416	3485	0	0	0	0	0	0	14.74	14.77	14.77
3078	-1.01	-146.0	2152	2253	3418	3486	353.5	-8.0	259	3079	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2253	3451	3417	3485	0	0	0	0	0	0	14.76	14.78	14.78
3378	-1.01	-146.0	2152	2253	3417	3486	376.3	-7.3	269	3379	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2253	3451	3417	3485	0	0	0	0	0	0	14.76	14.78	14.78
3678	-1.01	-146.0	2152	2254	3417	3486	398.2	-7.3	279	3678	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2253	3450	3416	3485	0	0	0	0	0	0	14.77	14.79	14.79
3978	-1.01	-146.0	2153	2254	3418	3485	420.8	-7.6	289	3984	0.00	2.40	0.00	0.000	516	0.000	0.073	2152	864	3451	3417	3485	0	0	0	0	0	0	14.77	14.50	14.79
4033	-1.01	-146.0	2153	865	3417	3485	425.1	-7.8	300	4040	0.00	2.42	0.00	0.000	1030	0.000	0.078	2152	2259	3451	3417	3485	0	0	0	0	0	0	14.54	14.40	14.55
4338	-1.01	-146.0	2152	2260	3418	3486	448.2	-7.5	311	4339	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2259	3451	3417	3485	0	0	0	0	0	0	14.77	14.80	14.79
4638	-1.01	-146.0	2152	2260	3418	3486	471.0	-7.6	321	4639	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3451	3418	3485	0	0	0	0	0	0	14.77	14.80	14.79
4938	-1.01	-146.0	2152	2259	3419	3486	494.1	-7.6	331	4939	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3452	3419	3485	0	0	0	0	0	0	14.77	14.81	14.80
5238	-1.01	-146.0	2152	2260	3420	3486	516.9	-7.6	341	5239	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3452	3419	3485	0	0	0	0	0	0	14.78	14.81	14.81
5538	-1.01	-146.0	2152	2260	3420	3486	539.2	-7.3	351	5539	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3452	3419	3485	0	0	0	0	0	0	14.79	14.82	14.81
5838	-1.01	-146.0	2152	2260	3421	3486	561.0	-7.3	361	5839	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3452	3420	3485	0	0	0	0	0	0	14.80	14.83	14.82
6138	-1.01	-146.0	2152	2260	3422	3486	583.1	-7.3	371	6139	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3452	3420	3485	0	0	0	0	0	0	14.80	14.83	14.83
6438	-1.01	-146.0	2153	2260	3423	3486	604.3	-7.0	381	6439	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3453	3421	3485	0	0	0	0	0	0	14.81	14.83	14.83
6738	-1.01	-146.0	2152	2260	3423	3486	625.9	-7.2	391	6739	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3451	3417	3485	0	0	0	0	0	0	14.81	14.83	14.83
7038	-1.01	-146.0	2158	2260	3424	3486	647.4	-7.1	401	7039	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3454	3423	3485	0	0	0	0	0	0	14.81	14.83	14.83
7338	-1.01	-146.0	2152	2260	3424	3485	668.6	-7.1	411	7339	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2260	3454	3424	3485	0	0	0	0	0	0	14.79	14.83	14.83
7638	-1.01	-146.0	2153	2260	3425	3485	689.8	-7.1	421	7639	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2260	3455	3425	3485	0	0	0	0	0	0	14.81	14.85	14.83
7939	-1.01	-146.0	2152	2260	3426	3485	710.8	-7.0	431	7939	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3455	3425	3485	0	0	0	0	0	0	14.81	14.84	14.83
8238	-1.01	-146.0	2152	2260	3426	3486	731.8	-7.1	441	8239	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3456	3426	3486	0	0	0	0	0	0	14.80	14.85	14.84
8538	-1.01	-146.0	2152	2260	3428	3486	752.6	-6.9	451	8539	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3456	3427	3485	0	0	0	0	0	0	14.81	14.84	14.83
8838	-1.01	-146.0	2153	2260	3429	3486	773.3	-6.8	461	8839	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3456	3428	3485	0	0	0	0	0	0	14.82	14.85	14.84
9138	-1.01	-146.0	2152	2261	3429	3486	793.4	-6.7	471	9139	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3456	3428	3485	0	0	0	0	0	0	14.82	14.85	14.84
9438	-1.01	-146.0	2153	2259	3429	3486	813.6	-6.7	481	9439	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2256	3456	3428	3485	0	0	0	0	0	0	14.82	14.85	14.84
9738	-1.01	-146.0	2152	2260	3431	3486	834.1	-6.8	491	9739	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2260	3457	3429	3485	0	0	0	0	0	0	14.82	14.85	14.84
10039	-1.01	-146.0	2153	2260	3431	3486	854.2	-6.7	501	10039	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3457	3430	3485	0	0	0	0	0	0	14.82	14.84	14.84
10338	-1.01	-146.0	2152	2260	3431	3486	874.4	-6.7	511	10339	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3457	3430	3485	0	0	0	0	0	0	14.82	14.85	14.84
10638	-1.01	-146.0	2153	2260	3432	3486	894.3	-6.7	521	10639	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3458	3431	3485	0	0	0	0	0	0	14.82	14.85	14.85
10938	-1.01	-146.0	2153	2260	3432	3486	914.2	-6.6	531	10939	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3458	3431	3485	0	0	0	0	0	0	14.82	14.85	14.84
11248	-1.01	-146.0	2152	2259	3433	3486	933.8	-6.5	541	11249	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3458	3431	3485	0	0	0	0	0	0	14.77	14.80	14.79
11538	-1.01	-146.0	2152	2260	3433	3486	953.4	-6.6	551	11539	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2259	3461	3431	3491	0	0	0	0	0	0	14.71	14.74	14.73
11839	-1.01	-146.0	2149	2260	3434	3486	973.1	-6.7	561	11844	0.00	2.58	0.00	0.000	260	0.000	0.125	2149	3669	3459	3432	3486	0	0	0	0	0	0	14.68	14.38	14.70
11923	-1.01	-146.0	2152	3668	3433	3486	979.2	-6.9	578	11930	0.00	2.38	0.00	0.000	1030	0.000	0.051	2152	2231	3458	3432	3485	0	0	0	0	0	0	14.55	14.49	14.57
12107	end dive: TARGET_DEPTH_EXCEEDED
state	12107	begin apogee
12111	-0.25	0.0	2153	2604	3432	3486	991.2	-6.5	585	12253	0.70	0.00	139.55	2.383	10246	0.225	0.000	2346	2600	2854	2694	3014	0	0	0	0	0	0	14.28	13.56	12.76
12254	end apogee: CONTROL_FINISHED_OK
state	12254	begin climb
12256	1.01	146.0	2347	2604	2693	3015	993.2	0.0	589	12409	1.02	0.00	145.60	2.315	10246	0.145	0.000	2649	2604	2259	2064	2455	0	0	0	0	0	0	13.52	12.94	12.17
12709	1.01	146.0	2649	2604	2052	2455	948.5	11.1	605	12714	0.00	2.33	0.00	0.000	260	0.000	0.134	2649	3802	2252	2051	2454	0	0	0	0	0	0	13.98	13.74	14.00
12754	1.01	146.0	2650	3806	2053	2454	942.8	12.6	614	12759	0.00	2.12	0.00	0.000	1030	0.000	0.058	2657	2599	2253	2051	2455	0	0	0	0	0	0	13.94	13.87	13.96
13069	1.01	146.0	2657	2599	2050	2454	906.4	11.6	627	13069	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2598	2251	2049	2454	0	0	0	0	0	0	14.32	14.35	14.34
13368	1.01	146.0	2657	2599	2058	2454	871.3	11.7	637	13374	0.00	2.28	0.00	0.000	260	0.000	0.132	2657	3791	2251	2049	2454	0	0	0	0	0	0	14.45	14.17	14.47
13439	1.01	146.0	2657	3792	2051	2455	862.0	13.4	651	13445	0.00	2.10	0.00	0.000	1030	0.000	0.059	2662	2585	2251	2049	2454	0	0	0	0	0	0	14.38	14.27	14.38
13759	1.01	146.0	2663	2586	2050	2455	823.8	11.8	665	13765	0.00	2.28	0.00	0.000	260	0.000	0.127	2664	3797	2251	2049	2454	0	0	0	0	0	0	14.62	14.31	14.64
13810	1.01	146.0	2664	3798	2050	2455	817.3	13.4	675	13816	0.00	2.08	0.00	0.000	1030	0.000	0.058	2668	2591	2251	2049	2454	0	0	0	0	0	0	14.45	14.41	14.48
14120	1.01	146.0	2665	2592	2050	2455	780.0	11.8	687	14121	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2591	2251	2049	2454	0	0	0	0	0	0	14.68	14.71	14.70
14420	1.01	146.0	2667	2592	2050	2455	744.7	11.7	697	14426	0.00	2.25	0.00	0.000	260	0.000	0.131	2670	3793	2251	2049	2454	0	0	0	0	0	0	14.71	14.40	14.74
14491	1.01	146.0	2670	3793	2050	2454	735.5	13.3	711	14498	0.10	2.05	0.00	0.000	5126	0.272	0.057	2649	2586	2251	2049	2454	0	0	0	0	0	0	14.32	14.50	14.47
14812	1.01	146.0	2649	2587	2050	2455	701.0	10.6	725	14813	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2586	2251	2049	2454	0	0	0	0	0	0	14.74	14.77	14.77
15112	1.01	146.0	2649	2587	2050	2454	669.1	10.6	735	15119	0.00	2.20	0.00	0.000	260	0.000	0.126	2647	3803	2251	2049	2454	0	0	0	0	0	0	14.76	14.46	14.78
15163	1.01	146.0	2648	3803	2050	2455	663.0	12.4	745	15169	0.00	2.05	0.00	0.000	1030	0.000	0.056	2648	2591	2252	2049	2455	0	0	0	0	0	0	14.59	14.55	14.62
15473	1.01	146.0	2648	2592	2050	2455	630.1	10.4	757	15474	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2591	2251	2049	2454	0	0	0	0	0	0	14.78	14.78	14.80
15773	1.01	146.0	2647	2592	2050	2455	598.3	10.6	767	15779	0.00	2.17	0.00	0.000	260	0.000	0.125	2648	3797	2251	2049	2454	0	0	0	0	0	0	14.78	14.48	14.81
15819	1.01	146.0	2648	3798	2050	2455	592.8	12.1	776	15824	0.00	2.03	0.00	0.000	1030	0.000	0.055	2647	2591	2250	2049	2452	0	0	0	0	0	0	14.62	14.58	14.64
16134	1.01	146.0	2648	2590	2050	2454	559.3	10.6	789	16134	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2591	2252	2050	2454	0	0	0	0	0	0	14.79	14.82	14.81
16434	1.01	146.0	2648	2591	2050	2455	527.7	10.6	799	16440	0.00	2.17	0.00	0.000	260	0.000	0.125	2648	3797	2251	2049	2454	0	0	0	0	0	0	14.80	14.50	14.82
16474	1.01	146.0	2648	3798	2050	2455	522.9	12.1	807	16481	0.00	2.03	0.00	0.000	1030	0.000	0.054	2648	2588	2251	2049	2454	0	0	0	0	0	0	14.63	14.59	14.64
16795	1.01	146.0	2648	2589	2050	2455	489.2	10.3	821	16796	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2588	2251	2049	2454	0	0	0	0	0	0	14.79	14.82	14.81
17096	1.01	146.0	2648	2587	2049	2455	458.5	10.1	831	17102	0.00	2.20	0.00	0.000	260	0.000	0.124	2648	3809	2251	2049	2454	0	0	0	0	0	0	14.78	14.50	14.81
17141	1.01	146.0	2648	3809	2050	2455	453.3	11.6	840	17147	0.00	2.03	0.00	0.000	1030	0.000	0.055	2647	2603	2251	2049	2454	0	0	0	0	0	0	14.62	14.58	14.64
17456	1.01	146.0	2648	2604	2050	2455	420.9	10.4	853	17457	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2603	2251	2048	2454	0	0	0	0	0	0	14.78	14.81	14.81
17757	1.01	146.0	2648	2604	2050	2455	389.1	10.6	863	17757	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2603	2251	2049	2453	0	0	0	0	0	0	14.78	14.81	14.81
18056	1.01	146.0	2648	2603	2050	2455	357.6	10.4	873	18057	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2603	2251	2049	2454	0	0	0	0	0	0	14.78	14.81	14.81
18356	1.01	146.0	2648	2604	2050	2455	326.9	10.2	883	18363	0.00	2.20	0.00	0.000	260	0.000	0.124	2648	3799	2252	2050	2454	0	0	0	0	0	0	14.78	14.47	14.81
18412	1.01	146.0	2648	3799	2050	2455	320.6	11.4	894	18419	0.00	2.03	0.00	0.000	1030	0.000	0.054	2648	2593	2251	2049	2454	0	0	0	0	0	0	14.53	14.50	14.55
18717	1.01	146.0	2648	2593	2050	2454	292.7	8.8	905	18718	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2592	2249	2049	2450	0	0	0	0	0	0	14.77	14.80	14.80
19017	1.01	146.0	2648	2593	2050	2455	266.2	9.1	915	19018	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2592	2251	2049	2454	0	0	0	0	0	0	14.77	14.79	14.79
19317	1.01	146.0	2648	2593	2050	2454	240.1	8.8	931	19318	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2593	2251	2049	2454	0	0	0	0	0	0	14.76	14.79	14.78
19497	1.01	146.0	2648	2593	2050	2455	224.4	8.3	949	19498	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2593	2251	2049	2454	0	0	0	0	0	0	14.76	14.78	14.77
19678	1.10	146.0	2648	2593	2050	2454	211.8	6.4	967	19683	0.00	2.40	0.00	0.000	580	0.000	0.075	2654	1198	2251	2049	2454	0	0	0	0	0	0	14.74	14.50	14.76
19738	1.18	146.0	2655	1198	2049	2454	208.0	6.2	979	19745	0.12	2.45	0.00	0.000	3142	0.136	0.085	2727	2605	2251	2048	2454	0	0	0	0	0	0	14.54	14.47	14.62
19930	1.18	146.0	2728	2606	2049	2454	192.0	8.2	999	19931	0.17	0.00	0.00	0.000	4102	0.249	0.000	2685	2605	2251	2048	2454	0	0	0	0	0	0	14.36	14.60	14.56
20110	1.26	146.0	2686	2606	2048	2455	180.3	6.6	1017	20110	0.00	0.00	0.00	0.000	70	0.000	0.000	2685	2605	2251	2048	2454	0	0	0	0	0	0	14.73	14.76	14.75
20289	1.34	146.0	2686	2606	2052	2455	168.4	6.4	1035	20290	0.15	0.00	0.00	0.000	2118	0.125	0.000	2758	2605	2251	2048	2454	0	0	0	0	0	0	14.54	14.62	14.60
20470	1.39	146.0	2758	2606	2049	2455	154.7	7.3	1053	20475	0.00	2.40	0.00	0.000	580	0.000	0.073	2762	1203	2251	2048	2454	0	0	0	0	0	0	14.72	14.50	14.74
20519	1.42	146.0	2762	1201	2049	2454	150.9	7.7	1063	20526	0.00	2.45	0.00	0.000	1094	0.000	0.082	2762	2615	2251	2048	2454	0	0	0	0	0	0	14.56	14.45	14.60
20712	1.46	146.0	2762	2616	2049	2454	135.7	7.4	1083	20712	0.00	0.00	0.00	0.000	70	0.000	0.000	2762	2615	2251	2048	2454	0	0	0	0	0	0	14.71	14.74	14.73
20890	1.55	146.0	2761	2615	2048	2454	124.1	6.4	1101	20891	0.00	0.00	0.00	0.000	70	0.000	0.000	2762	2614	2251	2048	2454	0	0	0	0	0	0	14.71	14.74	14.73
21071	1.65	146.0	2762	2615	2048	2455	113.0	5.9	1119	21072	0.15	0.00	0.00	0.000	2118	0.121	0.000	2835	2615	2251	2048	2454	0	0	0	0	0	0	14.53	14.61	14.59
21250	1.72	146.0	2836	2616	2049	2455	101.2	6.5	1137	21256	0.00	2.17	0.00	0.000	324	0.000	0.120	2836	3802	2251	2048	2454	0	0	0	0	0	0	14.69	14.38	14.71
21316	1.79	146.0	2836	3802	2049	2455	97.0	6.8	1150	21322	0.00	2.00	0.00	0.000	1094	0.000	0.054	2841	2585	2251	2048	2454	0	0	0	0	0	0	14.56	14.50	14.57
21500	1.95	146.0	2841	2585	2056	2454	86.7	4.5	1169	21506	0.12	2.33	0.00	0.000	2628	0.136	0.067	2917	1207	2251	2048	2454	0	0	0	0	0	0	14.46	14.43	14.52
21731	2.26	327.7	2919	1207	2049	2454	82.7	1.4	1215	21887	0.00	2.45	145.55	1.301	9254	0.000	0.083	2919	2611	1515	1333	1698	0	0	0	0	0	0	14.43	14.32	13.33
22062	2.26	327.7	2919	2612	1325	1699	39.6	14.3	1261	22067	0.00	2.47	0.00	0.000	516	0.000	0.072	2923	1207	1511	1324	1698	0	0	0	0	0	0	14.31	14.07	14.33
22161	2.37	327.7	2923	1207	1322	1699	31.3	5.6	1281	22167	0.17	2.50	0.00	0.000	3142	0.103	0.082	3006	2614	1509	1321	1698	0	0	0	0	0	0	14.14	14.09	14.20
22353	2.45	327.7	3006	2614	1322	1698	15.4	6.5	1301	22358	0.00	2.17	0.00	0.000	324	0.000	0.120	3006	3799	1509	1321	1698	0	0	0	0	0	0	14.46	14.21	14.50
22416	end climb: FINISH_DEPTH_REACHED
state	22416	begin subsurface finish
22422	0.49	285.9	3015	2600	1321	1699	9.7	10.7	1314	22435	1.90	2.30	-6.88	0.015	20740	0.284	0.151	2518	3798	1690	1573	1807	0	0	0	0	0	0	14.02	13.16	14.26
22436	end subsurface finish: CONTROL_FINISHED_OK
state	22436	begin surface