Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 167 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 11 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 30 XPDR_INT 13

DIVE 167 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_REP 11.5

N_DIVES 0 SM_CC 700 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_YINT 0.5

D_SURF 2 FILEMGR 2 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 990 COMM_SEQ 7 C_VBD 3200 MOTHERBOARD 6

D_ABORT 1030 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

D_NO_BLEED 450 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 3 NOCOMM_ACTION 129 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 800 DEVICE4 -1

D_FINISH 10 UPLOAD_DIVES_MAX 5 PITCH_VBD_SHIFT 0.0040000002 DEVICE5 -1

D_PITCH 2 NETBOX 1 UNCOM_BLEED 400 DEVICE6 -1

D_SAFE 500 CALL_TRIES 3 VBD_MAXERRORS 2 LOGGERS 1

D_CALL 4.5 CALL_WAIT 45 C_VBD_AUTO_DELTA 0.25 LOGGERDEVICE1 7

SURFACE_URGENCY 3 CAPUPLOAD 0 C_VBD_AUTO_MAX 25 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 3 CAPMAXSIZE 10000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 6 T_GPS 3 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 360 N_GPS 100440 LOITER_W_DBAND 2 COMPASS_DEVICE 66

T_MISSION 720 T_RSLEEP 2 LOITER_DBDW 400 COMPASS2_DEVICE -1

T_ABORT 2880 STROBE 0 LOITER_D_TOP 400 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 700 GPS_DEVICE 48

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 240 RAFOS_HIT_WINDOW 10800 CF8_MAXERRORS 0 NAV_DEVICE 6

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 230 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY 0 PITCH_MAX 3900 MINV_24V 0 NAV4_DEVICE -1

USE_ICE 1 C_PITCH 2295.5884 MINV_10V 0 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.07 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_10V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 12.366653 FG_AHR_10V 13.154469 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 48.290485 SEABIRD_T_G 0.0042874566

MAX_BUOY 120 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062267116

GLIDE_SLOPE 45 PITCH_ADJ_GAIN 0 PRESSURE_YINT -157.91238 SEABIRD_T_I 2.1947648e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_SLOPE 0.00022957686 SEABIRD_T_J 2.2037441e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 COMPASS_USE 49156 SEABIRD_C_G -9.9419231

MASS 72387 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1.1375728

NAV_MODE 0 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0016241658

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.0002088599

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 2

HD_A 0.00281838 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_RECORDABOVE 2000.0

HD_B 0.0139236 ROLL_MIN 1200 ALTIM_PING_DEPTH 0 SC_PROFILE 7.0

HD_C 5.7000002e-06 ROLL_MAX 4000 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

ESCAPE_HEADING 180 C_ROLL_DIVE 2593.1365 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2713.5149 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 20 HEAD_ERRBAND 10 XPDR_VALID 6

AH0_10V 0 D_PITCH 2 NOCOMM_ACTION 129 SEABIRD_C_I -0.0016241658

AH0_24V 575 D_SAFE 500 N_DIVES 0 SEABIRD_C_J 0.0002088599

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_FILEKB 8 SEABIRD_T_G 0.0042874566

ALTIM_FREQUENCY 13 D_TGT 990 N_GPS 100440 SEABIRD_T_H 0.00062267116

ALTIM_PING_DELTA 0 ESCAPE_HEADING 180 N_NOCOMM 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PING_FIT 0 FERRY_MAX 45 OPTIONS 2 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 13.154469 PHONE_DEVICE 33 SM_CC 700

ALTIM_SENSITIVITY 2 FG_AHR_24V 48.290485 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 2 PITCH_ADJ_DBAND 2 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 20 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_CNV 0.0041299998 SURFACE_URGENCY 3

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 6

CALL_NDIVES 1 HD_A 0.00281838 PITCH_GAIN 12.366653 SURFACE_URGENCY_TRY 3

CALL_TRIES 3 HD_B 0.0139236 PITCH_GAIN_AUTO_DELTA 0.5 TGT_AUTO_DEFAULT 0

CALL_WAIT 45 HD_C 5.7000002e-06 PITCH_GAIN_AUTO_MAX 2 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 10000 HEADING -1 PITCH_MAX 3900 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_ABORT 2880

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.07 PITCH_MIN 230 T_BOOST 0

COMM_SEQ 7 ID 235 PITCH_TIMEOUT 40 T_DIVE 360

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0040000002 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0.5 PITCH_W_DBAND 0 T_GPS 3

COMPASS_USE 49156 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 2295.5884 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 720

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022957686 T_NO_W 240

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -157.91238 T_RSLEEP 2

C_ROLL_CLIMB 2713.5149 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2593.1365 LOGGERS 1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 3200 LOITER_DBDW 400 RAFOS_DEVICE 96 UNCOM_BLEED 400

C_VBD_AUTO_DELTA 0.25 LOITER_D_BOTTOM 700 RAFOS_HIT_WINDOW 10800 UPLOAD_DIVES_MAX 5

C_VBD_AUTO_MAX 25 LOITER_D_TOP 400 RAFOS_MMODEM 0 USE_BATHY 0

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_ICE 1

DEEPGLIDER 0 LOITER_W_DBAND 2 RELAUNCH 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS 72387 RHO 1.0275 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 5 ROLL_ADJ_DBAND 0.029999999 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 120 ROLL_CNV 0.054945 VBD_MAXERRORS 2

DEVICE4 -1 MINV_10V 0 ROLL_DEG 80 VBD_MIN 500

DEVICE5 -1 MINV_24V 0 ROLL_MAX 4000 VBD_TIMEOUT 800

DEVICE6 -1 MISSION 11 ROLL_MAXERRORS 0 W_ADJ_DBAND 0

DIVE 167 MOTHERBOARD 6 ROLL_MIN 1200 XPDR_DEVICE -1

D_ABORT 1030 NAV2_DEVICE 6 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

D_BOOST 3 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 13

D_CALL 4.5 NAV4_DEVICE -1 SC_PROFILE 7.0 XPDR_REP 11.5

D_FINISH 10 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 6

D_FLARE 3 NAV_MODE 0 SC_XMITPROFILE 3.0

D_NO_BLEED 450 NETBOX 1 SEABIRD_C_G -9.9419231

D_OFFGRID 1000 NETWORK_DEVICE 1 SEABIRD_C_H 1.1375728

Pre-dive calculations and measurements:

GPS1 050923,095532,7424.170,-15124.332,163,0.9,163,13.2 TGT_RADIUS 5000.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.16 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050923,101344,7424.337,-15124.041,3,0.7,5,13.2 MHEAD_RNG_PITCHd_Wd 240.1,221250,-20.2,-9.167,-25.08,1951,0.137

SPEED_LIMITS 0.092,0.196 D_GRID 990

TGT_NAME LISTEN IRON 1.000000,-0.058064,-0.069359,-0.064846,1.037432,-0.079687,0.059845,0.024819,0.912228,-1019.682983,-140.930878,505.300598

TGT_LATLONG 7350.000,-15815.000 OSC 8000307

Post-dive calculations and measurements:

NAV 1693923638,468.7,0,stop _24V_AH 14.62,61.077

MODEM_MSG CACST,8,1,20230905121153.253888,18,2364,15,0132,0000,246,03,03,03,05,-1,-01,-01,1,3,0,0,150,-38.9,0.28,-100,2.72,-01,-0.09,53,925,0025,0,-1,00,00*3A _10V_AH 15.00,0.000

FREEZE 0.72,0.978,-1.371,2,1,0 FG_AHR_24Vo 48.628

FINISH 0.7,1.020195 FG_AHR_10Vo 13.244

SM_CCo 19663.55,0.11,0.210,0,499.1,396.2,602.0,662.53 MEM0 59796,1,0,0

SM_GC 4.02,0.11,23.33,0.25,0.210,0.179,0.114,499.1,396.2,602.0,221.1,2568.6,0,0,0,15.86,15.57,15.70 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 1024116,33,21912,94

IRIDIUM_FIX 7419.39,-15318.98,050923,042650 DATA_FILE_SIZE 35337,1211

TCM_TEMP 2.45 CAP_FILE_SIZE 405419,0

SC_FREEKB 3825312 SDSIZE 3918848,3853056

RAFOS_CLK -7 SDFILEDIR 1250,168

MODEM 2,1693915913,75.68000,-146.03000,113.254,165917.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7503.462402,-15019.460938,040923,040435,2,510,2.12 SOUNDSPEED 1465.0

HUMID 48.54 IMPLIED_C_PITCH 2110,12.64,598,0.0,12.50

TEMP 0.04 GPS 050923,154510,7424.322,-15132.001,151,1.0,152,13.2

INTERNAL_PRESSURE 8.12121

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 1021 2184 32632.34 nil 0 0 0.00

Pitch_motor 47 296 205.28 nil 0 0 0.00

Roll_motor 209 325 997.21 nil 0 0 0.00

Iridium 964 273 3852.27 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.15 nil 0 0 0.00

Core 5117 5 393.02 SciCon 19635 4 1295.03

Fast 10 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 15589 0 74.83

Compass 2129 5 159.69

RAFOS 4106 40 2463.83

Transponder 0 0 0.00

Compass2 0 0 0.00

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 flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7.14 16386 -116.79 -2.10 0.00 499.8 402.5 597.0 212.1 2570.8 0.00 0.00 0 51.56 43.14 0.00 0.00 0.005 0.000 0.000 1264.50 1259.62 1269.38 211.56 2570.50 0 0 0 15.80 30.00 30.00

51.83 18983 -116.79 -2.10 -80.00 1265.8 1259.5 1272.1 211.5 2570.4 3.97 -5.41 4 143.46 66.60 13.19 3.84 0.005 0.297 0.157 3677.22 3667.12 3687.31 1785.69 1192.75 0 0 0 15.80 15.60 15.70

175.85 1028 -116.79 -2.10 0.00 3679.2 3666.9 3691.6 1785.9 1192.9 33.61 -28.92 28 181.75 0.00 0.00 3.54 0.000 0.000 0.064 3679.56 3666.94 3692.19 1786.00 2614.38 0 0 0 30.00 30.00 15.77

561.61 260 -116.79 -2.10 80.00 3681.0 3667.2 3694.7 1786.0 2613.8 90.70 -12.69 45 567.91 0.00 0.00 3.78 0.000 0.000 0.134 3681.66 3667.62 3695.69 1785.00 4008.38 0 0 0 30.00 30.00 15.85

635.92 1028 -116.79 -2.10 0.00 3681.2 3666.8 3695.5 1785.9 4008.1 101.39 -14.48 60 641.85 0.00 0.00 3.55 0.000 0.000 0.075 3682.34 3668.12 3696.56 1785.88 2574.12 0 0 0 30.00 30.00 15.91

1006.66 516 -116.79 -2.10 -80.00 3681.3 3667.4 3695.3 1785.8 2573.9 154.71 -14.45 74 1012.96 0.00 0.00 3.78 0.000 0.000 0.158 3681.97 3667.38 3696.56 1785.31 1191.38 0 0 0 30.00 30.00 15.92

1091.69 1028 -116.79 -2.10 0.00 3681.4 3667.3 3695.5 1785.7 1191.8 168.83 -16.75 91 1097.85 0.00 0.00 3.44 0.000 0.000 0.062 3681.53 3667.06 3696.00 1785.50 2614.69 0 0 0 30.00 30.00 16.00

1476.71 516 -116.79 -2.10 -80.00 3681.5 3666.9 3696.1 1785.8 2614.8 222.00 -13.60 108 1483.05 0.00 0.00 3.87 0.000 0.000 0.155 3681.44 3667.00 3695.88 1784.94 1191.00 0 0 0 30.00 30.00 15.97

1631.02 1028 -116.79 -2.10 0.00 3681.2 3666.0 3696.4 1786.1 1190.8 245.21 -14.08 139 1636.90 0.00 0.00 3.43 0.000 0.000 0.063 3682.47 3667.81 3697.12 1785.25 2615.62 0 0 0 30.00 30.00 16.05

2011.79 516 -116.79 -2.10 -80.00 3681.3 3667.1 3695.6 1785.7 2616.1 285.66 -9.24 155 2018.36 0.00 0.00 3.84 0.000 0.000 0.157 3682.50 3668.25 3696.75 1785.62 1190.81 0 0 0 30.00 30.00 16.01

2081.09 1028 -116.79 -2.10 0.00 3681.5 3667.2 3695.9 1785.8 1190.7 292.40 -9.97 169 2087.18 0.00 0.00 3.45 0.000 0.000 0.065 3681.72 3666.81 3696.62 1785.94 2616.75 0 0 0 30.00 30.00 16.08

2456.89 292 -116.79 -2.10 80.00 3681.3 3666.8 3695.9 1785.7 2616.3 324.27 -8.44 184 2463.34 0.00 0.00 3.71 0.000 0.000 0.140 3681.75 3667.12 3696.38 1784.88 4007.25 0 0 0 30.00 30.00 16.04

2471.16 1060 -116.79 -2.10 0.00 3681.6 3666.5 3696.6 1785.8 4007.3 325.54 -8.35 187 2477.16 0.00 0.00 3.48 0.000 0.000 0.075 3682.16 3667.62 3696.69 1785.31 2572.06 0 0 0 30.00 30.00 16.08

2841.90 32 -116.79 -2.10 0.00 3680.9 3665.4 3696.4 1785.8 2572.6 355.55 -8.13 201 2843.46 0.00 0.00 0.00 0.000 0.000 0.000 3681.94 3666.25 3697.62 1784.38 2572.56 0 0 0 30.00 30.00 30.00

3231.91 292 -116.79 -2.10 80.00 3680.5 3664.8 3696.2 1785.8 2572.2 386.90 -7.97 214 3238.42 0.00 0.00 3.81 0.000 0.000 0.137 3679.50 3663.44 3695.56 1785.50 4007.31 0 0 0 30.00 30.00 16.07

3241.18 1060 -116.79 -2.10 0.00 3680.5 3664.9 3696.1 1785.4 4007.5 387.71 -7.90 216 3247.19 0.00 0.00 3.44 0.000 0.000 0.076 3680.53 3664.50 3696.56 1785.44 2570.69 0 0 0 30.00 30.00 16.11

3616.92 32 -116.79 -2.10 0.00 3679.7 3663.2 3696.2 1785.8 2571.1 417.08 -7.87 231 3618.48 0.00 0.00 0.00 0.000 0.000 0.000 3679.06 3663.12 3695.00 1785.81 2570.81 0 0 0 30.00 30.00 30.00

4006.93 32 -116.79 -2.10 0.00 3679.2 3662.8 3695.6 1785.6 2570.3 446.89 -7.56 244 4008.49 0.00 0.00 0.00 0.000 0.000 0.000 3679.97 3663.25 3696.69 1784.31 2570.88 0 0 0 30.00 30.00 30.00

4396.93 32 -116.79 -2.10 0.00 3679.1 3662.6 3695.6 1785.6 2571.1 476.18 -7.57 257 4398.49 0.00 0.00 0.00 0.000 0.000 0.000 3680.00 3663.19 3696.81 1784.38 2571.06 0 0 0 30.00 30.00 30.00

4786.94 292 -116.79 -2.10 80.00 3679.0 3662.1 3695.9 1785.5 2570.6 505.44 -7.60 270 4793.45 0.00 0.00 3.82 0.000 0.000 0.136 3680.19 3663.75 3696.62 1784.44 4008.12 0 0 0 30.00 30.00 16.10

4801.21 1060 -116.79 -2.10 0.00 3679.7 3662.7 3696.6 1785.6 4007.8 506.64 -7.67 273 4807.20 0.00 0.00 3.46 0.000 0.000 0.075 3679.66 3663.56 3695.75 1785.69 2571.12 0 0 0 30.00 30.00 16.15

5171.95 32 -116.79 -2.10 0.00 3679.4 3662.4 3696.4 1785.8 2570.6 535.02 -7.74 287 5173.50 0.00 0.00 0.00 0.000 0.000 0.000 3679.53 3662.12 3696.94 1785.81 2571.06 0 0 0 30.00 30.00 30.00

5555.95 32 -116.79 -2.10 0.00 3679.6 3663.2 3696.0 1785.8 2571.1 563.38 -7.13 301 5557.51 0.00 0.00 0.00 0.000 0.000 0.000 3678.59 3661.94 3695.25 1785.81 2570.81 0 0 0 30.00 30.00 30.00

5945.96 292 -116.79 -2.10 80.00 3679.4 3662.6 3696.2 1785.6 2571.1 590.05 -6.71 314 5952.47 0.00 0.00 3.81 0.000 0.000 0.136 3680.12 3663.69 3696.56 1785.12 4008.38 0 0 0 30.00 30.00 16.12

5965.26 1060 -116.79 -2.10 0.00 3679.4 3662.8 3696.1 1786.3 4007.5 591.46 -6.69 318 5971.97 0.00 0.00 3.47 0.000 0.000 0.075 3679.81 3663.12 3696.50 1785.12 2571.81 0 0 0 30.00 30.00 16.15

6360.97 32 -116.79 -2.10 0.00 3678.6 3661.6 3695.6 1785.7 2571.6 618.04 -6.75 332 6362.52 0.00 0.00 0.00 0.000 0.000 0.000 3680.38 3664.25 3696.50 1784.62 2571.12 0 0 0 30.00 30.00 30.00

6750.97 292 -116.79 -2.10 80.00 3679.4 3662.8 3696.1 1785.2 2571.2 643.96 -6.55 345 6757.49 0.00 0.00 3.81 0.000 0.000 0.136 3679.81 3663.19 3696.44 1785.94 4008.38 0 0 0 30.00 30.00 16.07

6760.24 1060 -116.79 -2.10 0.00 3679.8 3663.4 3696.2 1785.4 4008.1 644.63 -6.49 347 6766.26 0.00 0.00 3.43 0.000 0.000 0.074 3679.25 3662.25 3696.25 1785.69 2570.50 0 0 0 30.00 30.00 16.11

7135.99 32 -116.79 -2.10 0.00 3679.0 3662.1 3695.8 1786.0 2570.8 668.69 -6.44 362 7137.55 0.00 0.00 0.00 0.000 0.000 0.000 3679.31 3662.12 3696.50 1785.88 2570.19 0 0 0 30.00 30.00 30.00

7525.99 292 -116.79 -2.10 80.00 3679.8 3662.9 3696.8 1785.8 2571.6 694.18 -6.62 375 7532.49 0.00 0.00 3.82 0.000 0.000 0.138 3678.81 3662.00 3695.62 1785.44 4007.06 0 0 0 30.00 30.00 16.01

7551.01 1060 -116.79 -2.10 0.00 3679.5 3662.7 3696.3 1785.4 4007.5 695.99 -6.72 380 7557.30 0.00 0.00 3.47 0.000 0.000 0.077 3679.66 3662.50 3696.81 1786.25 2571.88 0 0 0 30.00 30.00 16.05

7936.01 32 -116.79 -2.10 0.00 3679.8 3663.1 3696.5 1785.8 2571.8 722.06 -6.77 397 7937.56 0.00 0.00 0.00 0.000 0.000 0.000 3679.91 3663.62 3696.19 1784.56 2571.62 0 0 0 30.00 30.00 30.00

8326.01 292 -116.79 -2.10 80.00 3679.3 3662.8 3695.9 1785.6 2571.3 749.10 -7.00 410 8332.52 0.00 0.00 3.85 0.000 0.000 0.137 3679.19 3662.12 3696.25 1785.94 4007.38 0 0 0 30.00 30.00 15.99

8351.01 1060 -116.79 -2.10 0.00 3679.7 3662.1 3697.2 1785.8 4007.4 750.94 -7.01 415 8357.34 0.00 0.00 3.49 0.000 0.000 0.077 3680.12 3663.25 3697.00 1785.94 2572.88 0 0 0 30.00 30.00 16.02

8736.03 32 -116.79 -2.10 0.00 3679.2 3662.4 3696.0 1785.7 2572.2 777.19 -6.81 432 8737.59 0.00 0.00 0.00 0.000 0.000 0.000 3680.88 3664.00 3697.75 1785.06 2572.50 0 0 0 30.00 30.00 30.00

9126.05 292 -116.79 -2.10 80.00 3679.8 3662.9 3696.8 1785.8 2573.0 803.59 -6.77 445 9132.55 0.00 0.00 3.83 0.000 0.000 0.138 3679.25 3662.31 3696.19 1785.69 4006.94 0 0 0 30.00 30.00 16.02

9145.31 1060 -116.79 -2.10 0.00 3679.0 3661.6 3696.4 1786.0 4006.4 805.00 -6.77 449 9152.05 0.00 0.00 3.46 0.000 0.000 0.076 3680.72 3663.69 3697.75 1785.50 2572.88 0 0 0 30.00 30.00 16.06

9541.06 32 -116.79 -2.10 0.00 3679.8 3662.8 3696.9 1785.6 2572.6 831.48 -6.78 463 9542.63 0.00 0.00 0.00 0.000 0.000 0.000 3678.81 3661.75 3695.88 1786.00 2572.12 0 0 0 30.00 30.00 30.00

9931.06 292 -116.79 -2.10 80.00 3680.0 3662.9 3697.1 1785.8 2572.3 858.02 -6.73 476 9937.56 0.00 0.00 3.82 0.000 0.000 0.139 3679.00 3662.88 3695.12 1785.75 4006.94 0 0 0 30.00 30.00 16.07

9950.34 1060 -116.79 -2.10 0.00 3679.8 3663.2 3696.2 1785.9 4006.7 859.41 -6.69 480 9957.06 0.00 0.00 3.47 0.000 0.000 0.076 3680.34 3662.88 3697.81 1786.19 2571.38 0 0 0 30.00 30.00 16.11

10346.08 292 -116.79 -2.10 80.00 3679.8 3662.1 3697.4 1785.8 2571.5 884.99 -6.44 494 10352.57 0.00 0.00 3.84 0.000 0.000 0.138 3680.47 3663.38 3697.56 1785.81 4008.44 0 0 0 30.00 30.00 16.08

10355.34 1060 -116.79 -2.10 0.00 3680.0 3663.3 3696.6 1785.4 4008.8 885.65 -6.48 496 10361.35 0.00 0.00 3.47 0.000 0.000 0.075 3680.91 3663.56 3698.25 1786.06 2573.38 0 0 0 30.00 30.00 16.12

10731.08 32 -116.79 -2.10 0.00 3679.7 3662.2 3697.1 1785.7 2573.5 910.89 -6.77 511 10732.65 0.00 0.00 0.00 0.000 0.000 0.000 3680.97 3664.62 3697.31 1784.38 2573.06 0 0 0 30.00 30.00 30.00

11121.09 292 -116.79 -2.10 80.00 3679.9 3663.0 3696.8 1785.7 2573.2 936.84 -6.59 524 11127.59 0.00 0.00 3.82 0.000 0.000 0.140 3679.06 3661.44 3696.69 1785.12 4006.69 0 0 0 30.00 30.00 16.09

11160.37 1060 -116.79 -2.10 0.00 3679.5 3661.9 3697.0 1786.1 4006.6 939.69 -6.62 532 11166.38 0.00 0.00 3.48 0.000 0.000 0.079 3679.47 3662.12 3696.81 1785.25 2573.81 0 0 0 30.00 30.00 16.14

11536.11 292 -116.79 -2.10 80.00 3679.8 3662.2 3697.2 1785.6 2573.0 965.36 -6.90 547 11542.63 0.00 0.00 3.83 0.000 0.000 0.141 3679.31 3661.62 3697.00 1785.12 4007.81 0 0 0 30.00 30.00 16.11

11561.11 1060 -116.79 -2.10 0.00 3679.8 3662.2 3697.4 1785.9 4008.5 967.18 -6.93 552 11567.43 0.00 0.00 3.46 0.000 0.000 0.079 3679.59 3662.19 3697.00 1786.06 2572.19 0 0 0 30.00 30.00 16.15

11916 end dive: TARGET_DEPTH_EXCEEDED

state 11916 begin apogee

11917.62 10243 0.00 -0.40 0.00 3680.0 3662.6 3697.4 1786.1 2729.1 991.44 -6.80 568 12022.85 96.86 2.89 0.06 2.184 0.144 0.325 3198.25 3132.38 3264.12 2198.38 2697.06 0 0 0 11.82 16.12 15.45

12024 end apogee: CONTROL_FINISHED_OK

state 12024 begin climb

12025.39 10503 116.79 2.10 80.00 3198.7 3132.7 3264.6 2198.0 2696.4 992.74 0.00 571 12146.39 103.12 4.06 3.69 2.145 0.071 0.131 2721.22 2626.06 2816.38 2815.06 4007.19 0 0 0 11.59 15.50 15.20

12153.82 1028 116.79 2.10 0.00 2717.9 2625.6 2810.1 2814.0 4007.8 990.04 12.69 596 12159.82 0.00 0.00 3.31 0.000 0.000 0.069 2717.47 2624.81 2810.12 2814.00 2694.81 0 0 0 30.00 30.00 15.37

12539.57 16646 116.79 2.10 80.00 2707.9 2621.7 2794.2 2814.1 2694.2 909.51 21.24 613 12546.09 0.00 0.00 3.52 0.000 0.000 0.127 2706.06 2619.69 2792.44 2814.25 4008.75 0 0 0 30.00 30.00 15.76

12548.84 17414 116.79 2.10 0.00 2707.5 2621.5 2793.6 2813.5 4009.3 907.33 21.13 615 12554.81 0.00 0.00 3.23 0.000 0.000 0.067 2706.91 2620.62 2793.19 2815.00 2693.31 0 0 0 30.00 30.00 15.80

12924.57 16646 116.79 2.10 80.00 2704.7 2620.7 2788.8 2813.7 2692.3 829.39 20.53 630 12930.92 0.00 0.00 3.49 0.000 0.000 0.127 2705.75 2621.62 2789.88 2814.25 4008.81 0 0 0 30.00 30.00 15.88

12988.84 17414 116.79 2.10 0.00 2704.5 2620.8 2788.1 2814.2 4009.1 815.17 22.25 643 12994.75 0.00 0.00 3.19 0.000 0.000 0.070 2704.75 2620.44 2789.06 2813.44 2692.19 0 0 0 30.00 30.00 15.93

13369.59 16386 116.79 2.10 0.00 2703.2 2620.3 2786.2 2813.6 2692.7 738.31 20.12 659 13371.16 0.00 0.00 0.00 0.000 0.000 0.000 2704.22 2620.94 2787.50 2812.06 2692.19 0 0 0 30.00 30.00 30.00

13759.60 16646 116.79 2.10 80.00 2702.6 2619.9 2785.3 2813.2 2691.8 660.82 19.75 672 13765.96 0.00 0.00 3.47 0.000 0.000 0.126 2701.28 2619.19 2783.38 2814.00 4006.75 0 0 0 30.00 30.00 15.95

13784.60 17414 116.79 2.10 0.00 2702.0 2619.7 2784.4 2814.4 4007.2 655.65 20.73 677 13790.81 0.00 0.00 3.19 0.000 0.000 0.068 2703.62 2621.81 2785.44 2812.44 2691.62 0 0 0 30.00 30.00 16.00

14169.63 16646 116.79 2.10 80.00 2701.8 2619.8 2783.9 2815.0 2692.6 580.77 19.27 694 14176.00 0.00 0.00 3.50 0.000 0.000 0.124 2704.31 2621.94 2786.69 2813.62 4008.56 0 0 0 30.00 30.00 15.95

14188.90 17414 116.79 2.10 0.00 2702.1 2620.2 2784.0 2814.6 4007.8 576.71 19.41 698 14195.57 0.00 0.00 3.20 0.000 0.000 0.066 2704.72 2622.81 2786.62 2814.38 2691.50 0 0 0 30.00 30.00 16.00

14584.66 16386 116.79 2.10 0.00 2701.9 2620.2 2783.6 2816.1 2691.4 501.63 18.76 712 14586.22 0.00 0.00 0.00 0.000 0.000 0.000 2700.88 2619.06 2782.69 2814.50 2690.88 0 0 0 30.00 30.00 30.00

14974.69 16902 116.79 2.10 -80.00 2701.6 2619.9 2783.2 2814.5 2691.2 431.63 17.59 725 14981.20 0.00 0.00 3.79 0.000 0.000 0.141 2701.31 2620.12 2782.50 2814.69 1245.25 0 0 0 30.00 30.00 16.00

15023.74 17414 116.79 2.10 0.00 2700.6 2619.6 2781.6 2815.0 1245.1 422.10 19.34 735 15030.81 0.00 0.00 3.56 0.000 0.000 0.060 2702.50 2621.62 2783.38 2815.31 2736.56 0 0 0 30.00 30.00 16.05

15419.72 16902 116.79 2.10 -80.00 2699.9 2619.7 2780.1 2815.6 2736.1 355.58 16.27 749 15426.29 0.00 0.00 3.89 0.000 0.000 0.135 2700.38 2620.31 2780.44 2814.25 1246.19 0 0 0 30.00 30.00 16.03

15654.80 17414 116.79 2.10 0.00 2699.3 2622.2 2776.5 2814.9 1246.3 316.74 15.36 796 15661.21 0.00 0.00 3.53 0.000 0.000 0.060 2698.78 2621.44 2776.12 2815.12 2736.00 0 0 0 30.00 30.00 16.10

16039.86 10791 170.52 2.32 -80.00 2698.9 2621.7 2776.1 2814.9 2734.6 281.39 6.34 813 16094.69 45.47 0.26 3.92 1.300 0.100 0.133 2500.91 2413.44 2588.38 2862.88 1245.12 0 0 0 11.85 16.08 15.84

16097.26 9254 201.66 2.44 0.00 2500.6 2415.2 2586.0 2863.1 1245.2 277.52 7.53 820 16134.76 29.16 0.00 3.56 1.233 0.000 0.056 2375.00 2277.12 2472.88 2864.75 2737.62 0 0 0 11.73 30.00 15.91

16512.95 10791 233.36 2.57 -80.00 2365.6 2273.5 2457.8 2862.6 2737.4 228.47 7.50 843 16550.16 27.86 0.34 3.95 1.195 0.096 0.135 2245.44 2148.12 2342.75 2923.56 1244.62 0 0 0 11.78 15.92 15.77

16777.65 17414 233.36 2.57 0.00 2239.5 2148.0 2331.0 2923.3 1244.9 200.29 11.52 896 16784.52 0.00 0.00 3.58 0.000 0.000 0.060 2240.00 2148.88 2331.12 2923.25 2736.50 0 0 0 30.00 30.00 15.91

17173.43 548 236.37 2.58 -80.00 2237.8 2146.9 2328.8 2923.4 2736.5 163.70 9.01 910 17180.99 0.00 0.00 3.92 0.000 0.000 0.135 2238.22 2147.12 2329.31 2922.50 1245.56 0 0 0 30.00 30.00 15.94

17409.41 9254 257.40 2.66 0.00 2236.8 2147.9 2325.6 2923.6 1245.4 142.30 8.06 957 17440.85 21.86 0.00 3.53 1.114 0.000 0.060 2150.16 2055.00 2245.31 2922.00 2735.31 0 0 0 12.00 30.00 16.02

17829.24 16902 257.40 2.66 -80.00 2141.2 2050.7 2231.8 2924.0 2735.0 95.42 11.39 976 17835.85 0.00 0.00 3.93 0.000 0.000 0.138 2141.31 2051.50 2231.12 2924.38 1245.94 0 0 0 30.00 30.00 15.94

17908.53 17414 257.40 2.66 0.00 2140.5 2051.7 2229.2 2923.4 1245.6 87.25 9.49 992 17915.39 0.00 0.00 3.53 0.000 0.000 0.061 2140.84 2051.81 2229.88 2923.50 2735.31 0 0 0 30.00 30.00 16.01

18304.31 10535 387.14 3.18 80.00 2139.5 2050.2 2228.8 2923.5 2735.4 69.94 2.34 1006 18478.12 160.15 0.94 3.45 1.046 0.082 0.131 1619.47 1521.56 1717.38 3074.00 4008.19 0 0 0 11.74 16.03 15.50

18705.65 11303 592.18 4.00 0.00 1612.0 1523.9 1700.1 3074.1 4008.6 41.84 -1.63 1085 19050.17 327.42 1.25 3.24 0.960 0.080 0.067 786.62 666.25 907.00 3271.88 2688.88 0 0 0 11.74 15.76 15.80

19353.36 10275 764.19 4.69 0.00 781.4 667.6 895.1 3272.2 2689.2 12.99 0.11 1181 19459.23 100.13 1.03 0.00 0.945 0.088 0.000 500.84 389.56 612.12 3435.31 2689.44 0 0 0 11.68 15.75 30.00

19592 end climb: SURFACE_DEPTH_REACHED

state 19592 begin surface coast

19622 end surface coast: CONTROL_FINISHED_OK

state 19622 begin surface

ID	235	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	11	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	30	XPDR_INT	13
DIVE	167	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_REP	11.5
N_DIVES	0	SM_CC	700	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_YINT	0.5
D_SURF	2	FILEMGR	2	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	990	COMM_SEQ	7	C_VBD	3200	MOTHERBOARD	6
D_ABORT	1030	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
D_NO_BLEED	450	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	3	NOCOMM_ACTION	129	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	800	DEVICE4	-1
D_FINISH	10	UPLOAD_DIVES_MAX	5	PITCH_VBD_SHIFT	0.0040000002	DEVICE5	-1
D_PITCH	2	NETBOX	1	UNCOM_BLEED	400	DEVICE6	-1
D_SAFE	500	CALL_TRIES	3	VBD_MAXERRORS	2	LOGGERS	1
D_CALL	4.5	CALL_WAIT	45	C_VBD_AUTO_DELTA	0.25	LOGGERDEVICE1	7
SURFACE_URGENCY	3	CAPUPLOAD	0	C_VBD_AUTO_MAX	25	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	3	CAPMAXSIZE	10000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	6	T_GPS	3	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	360	N_GPS	100440	LOITER_W_DBAND	2	COMPASS_DEVICE	66
T_MISSION	720	T_RSLEEP	2	LOITER_DBDW	400	COMPASS2_DEVICE	-1
T_ABORT	2880	STROBE	0	LOITER_D_TOP	400	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	700	GPS_DEVICE	48
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	240	RAFOS_HIT_WINDOW	10800	CF8_MAXERRORS	0	NAV_DEVICE	6
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	230	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	0	PITCH_MAX	3900	MINV_24V	0	NAV4_DEVICE	-1
USE_ICE	1	C_PITCH	2295.5884	MINV_10V	0	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.07	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_10V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	12.366653	FG_AHR_10V	13.154469	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	48.290485	SEABIRD_T_G	0.0042874566
MAX_BUOY	120	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062267116
GLIDE_SLOPE	45	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-157.91238	SEABIRD_T_I	2.1947648e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_SLOPE	0.00022957686	SEABIRD_T_J	2.2037441e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	COMPASS_USE	49156	SEABIRD_C_G	-9.9419231
MASS	72387	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1.1375728
NAV_MODE	0	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0016241658
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.0002088599
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	2
HD_A	0.00281838	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_RECORDABOVE	2000.0
HD_B	0.0139236	ROLL_MIN	1200	ALTIM_PING_DEPTH	0	SC_PROFILE	7.0
HD_C	5.7000002e-06	ROLL_MAX	4000	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
ESCAPE_HEADING	180	C_ROLL_DIVE	2593.1365	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2713.5149	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	20	HEAD_ERRBAND	10	XPDR_VALID	6

GPS1	050923,095532,7424.170,-15124.332,163,0.9,163,13.2	TGT_RADIUS	5000.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.16	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050923,101344,7424.337,-15124.041,3,0.7,5,13.2	MHEAD_RNG_PITCHd_Wd	240.1,221250,-20.2,-9.167,-25.08,1951,0.137
SPEED_LIMITS	0.092,0.196	D_GRID	990
TGT_NAME	LISTEN	IRON	1.000000,-0.058064,-0.069359,-0.064846,1.037432,-0.079687,0.059845,0.024819,0.912228,-1019.682983,-140.930878,505.300598
TGT_LATLONG	7350.000,-15815.000	OSC	8000307

NAV	1693923638,468.7,0,stop	_24V_AH	14.62,61.077
MODEM_MSG	CACST,8,1,20230905121153.253888,18,2364,15,0132,0000,246,03,03,03,05,-1,-01,-01,1,3,0,0,150,-38.9,0.28,-100,2.72,-01,-0.09,53,925,0025,0,-1,00,00*3A	_10V_AH	15.00,0.000
FREEZE	0.72,0.978,-1.371,2,1,0	FG_AHR_24Vo	48.628
FINISH	0.7,1.020195	FG_AHR_10Vo	13.244
SM_CCo	19663.55,0.11,0.210,0,499.1,396.2,602.0,662.53	MEM0	59796,1,0,0
SM_GC	4.02,0.11,23.33,0.25,0.210,0.179,0.114,499.1,396.2,602.0,221.1,2568.6,0,0,0,15.86,15.57,15.70	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	1024116,33,21912,94
IRIDIUM_FIX	7419.39,-15318.98,050923,042650	DATA_FILE_SIZE	35337,1211
TCM_TEMP	2.45	CAP_FILE_SIZE	405419,0
SC_FREEKB	3825312	SDSIZE	3918848,3853056
RAFOS_CLK	-7	SDFILEDIR	1250,168
MODEM	2,1693915913,75.68000,-146.03000,113.254,165917.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7503.462402,-15019.460938,040923,040435,2,510,2.12	SOUNDSPEED	1465.0
HUMID	48.54	IMPLIED_C_PITCH	2110,12.64,598,0.0,12.50
TEMP	0.04	GPS	050923,154510,7424.322,-15132.001,151,1.0,152,13.2
INTERNAL_PRESSURE	8.12121

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	1021	2184	32632.34	nil	0	0	0.00
Pitch_motor	47	296	205.28	nil	0	0	0.00
Roll_motor	209	325	997.21	nil	0	0	0.00
Iridium	964	273	3852.27	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.15	nil	0	0	0.00
Core	5117	5	393.02	SciCon	19635	4	1295.03
Fast	10	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	15589	0	74.83
Compass	2129	5	159.69
RAFOS	4106	40	2463.83
Transponder	0	0	0.00
Compass2	0	0	0.00

		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	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7.14	16386	-116.79	-2.10	0.00	499.8	402.5	597.0	212.1	2570.8	0.00	0.00	0	51.56	43.14	0.00	0.00	0.005	0.000	0.000	1264.50	1259.62	1269.38	211.56	2570.50	0	0	0	15.80	30.00	30.00
51.83	18983	-116.79	-2.10	-80.00	1265.8	1259.5	1272.1	211.5	2570.4	3.97	-5.41	4	143.46	66.60	13.19	3.84	0.005	0.297	0.157	3677.22	3667.12	3687.31	1785.69	1192.75	0	0	0	15.80	15.60	15.70
175.85	1028	-116.79	-2.10	0.00	3679.2	3666.9	3691.6	1785.9	1192.9	33.61	-28.92	28	181.75	0.00	0.00	3.54	0.000	0.000	0.064	3679.56	3666.94	3692.19	1786.00	2614.38	0	0	0	30.00	30.00	15.77
561.61	260	-116.79	-2.10	80.00	3681.0	3667.2	3694.7	1786.0	2613.8	90.70	-12.69	45	567.91	0.00	0.00	3.78	0.000	0.000	0.134	3681.66	3667.62	3695.69	1785.00	4008.38	0	0	0	30.00	30.00	15.85
635.92	1028	-116.79	-2.10	0.00	3681.2	3666.8	3695.5	1785.9	4008.1	101.39	-14.48	60	641.85	0.00	0.00	3.55	0.000	0.000	0.075	3682.34	3668.12	3696.56	1785.88	2574.12	0	0	0	30.00	30.00	15.91
1006.66	516	-116.79	-2.10	-80.00	3681.3	3667.4	3695.3	1785.8	2573.9	154.71	-14.45	74	1012.96	0.00	0.00	3.78	0.000	0.000	0.158	3681.97	3667.38	3696.56	1785.31	1191.38	0	0	0	30.00	30.00	15.92
1091.69	1028	-116.79	-2.10	0.00	3681.4	3667.3	3695.5	1785.7	1191.8	168.83	-16.75	91	1097.85	0.00	0.00	3.44	0.000	0.000	0.062	3681.53	3667.06	3696.00	1785.50	2614.69	0	0	0	30.00	30.00	16.00
1476.71	516	-116.79	-2.10	-80.00	3681.5	3666.9	3696.1	1785.8	2614.8	222.00	-13.60	108	1483.05	0.00	0.00	3.87	0.000	0.000	0.155	3681.44	3667.00	3695.88	1784.94	1191.00	0	0	0	30.00	30.00	15.97
1631.02	1028	-116.79	-2.10	0.00	3681.2	3666.0	3696.4	1786.1	1190.8	245.21	-14.08	139	1636.90	0.00	0.00	3.43	0.000	0.000	0.063	3682.47	3667.81	3697.12	1785.25	2615.62	0	0	0	30.00	30.00	16.05
2011.79	516	-116.79	-2.10	-80.00	3681.3	3667.1	3695.6	1785.7	2616.1	285.66	-9.24	155	2018.36	0.00	0.00	3.84	0.000	0.000	0.157	3682.50	3668.25	3696.75	1785.62	1190.81	0	0	0	30.00	30.00	16.01
2081.09	1028	-116.79	-2.10	0.00	3681.5	3667.2	3695.9	1785.8	1190.7	292.40	-9.97	169	2087.18	0.00	0.00	3.45	0.000	0.000	0.065	3681.72	3666.81	3696.62	1785.94	2616.75	0	0	0	30.00	30.00	16.08
2456.89	292	-116.79	-2.10	80.00	3681.3	3666.8	3695.9	1785.7	2616.3	324.27	-8.44	184	2463.34	0.00	0.00	3.71	0.000	0.000	0.140	3681.75	3667.12	3696.38	1784.88	4007.25	0	0	0	30.00	30.00	16.04
2471.16	1060	-116.79	-2.10	0.00	3681.6	3666.5	3696.6	1785.8	4007.3	325.54	-8.35	187	2477.16	0.00	0.00	3.48	0.000	0.000	0.075	3682.16	3667.62	3696.69	1785.31	2572.06	0	0	0	30.00	30.00	16.08
2841.90	32	-116.79	-2.10	0.00	3680.9	3665.4	3696.4	1785.8	2572.6	355.55	-8.13	201	2843.46	0.00	0.00	0.00	0.000	0.000	0.000	3681.94	3666.25	3697.62	1784.38	2572.56	0	0	0	30.00	30.00	30.00
3231.91	292	-116.79	-2.10	80.00	3680.5	3664.8	3696.2	1785.8	2572.2	386.90	-7.97	214	3238.42	0.00	0.00	3.81	0.000	0.000	0.137	3679.50	3663.44	3695.56	1785.50	4007.31	0	0	0	30.00	30.00	16.07
3241.18	1060	-116.79	-2.10	0.00	3680.5	3664.9	3696.1	1785.4	4007.5	387.71	-7.90	216	3247.19	0.00	0.00	3.44	0.000	0.000	0.076	3680.53	3664.50	3696.56	1785.44	2570.69	0	0	0	30.00	30.00	16.11
3616.92	32	-116.79	-2.10	0.00	3679.7	3663.2	3696.2	1785.8	2571.1	417.08	-7.87	231	3618.48	0.00	0.00	0.00	0.000	0.000	0.000	3679.06	3663.12	3695.00	1785.81	2570.81	0	0	0	30.00	30.00	30.00
4006.93	32	-116.79	-2.10	0.00	3679.2	3662.8	3695.6	1785.6	2570.3	446.89	-7.56	244	4008.49	0.00	0.00	0.00	0.000	0.000	0.000	3679.97	3663.25	3696.69	1784.31	2570.88	0	0	0	30.00	30.00	30.00
4396.93	32	-116.79	-2.10	0.00	3679.1	3662.6	3695.6	1785.6	2571.1	476.18	-7.57	257	4398.49	0.00	0.00	0.00	0.000	0.000	0.000	3680.00	3663.19	3696.81	1784.38	2571.06	0	0	0	30.00	30.00	30.00
4786.94	292	-116.79	-2.10	80.00	3679.0	3662.1	3695.9	1785.5	2570.6	505.44	-7.60	270	4793.45	0.00	0.00	3.82	0.000	0.000	0.136	3680.19	3663.75	3696.62	1784.44	4008.12	0	0	0	30.00	30.00	16.10
4801.21	1060	-116.79	-2.10	0.00	3679.7	3662.7	3696.6	1785.6	4007.8	506.64	-7.67	273	4807.20	0.00	0.00	3.46	0.000	0.000	0.075	3679.66	3663.56	3695.75	1785.69	2571.12	0	0	0	30.00	30.00	16.15
5171.95	32	-116.79	-2.10	0.00	3679.4	3662.4	3696.4	1785.8	2570.6	535.02	-7.74	287	5173.50	0.00	0.00	0.00	0.000	0.000	0.000	3679.53	3662.12	3696.94	1785.81	2571.06	0	0	0	30.00	30.00	30.00
5555.95	32	-116.79	-2.10	0.00	3679.6	3663.2	3696.0	1785.8	2571.1	563.38	-7.13	301	5557.51	0.00	0.00	0.00	0.000	0.000	0.000	3678.59	3661.94	3695.25	1785.81	2570.81	0	0	0	30.00	30.00	30.00
5945.96	292	-116.79	-2.10	80.00	3679.4	3662.6	3696.2	1785.6	2571.1	590.05	-6.71	314	5952.47	0.00	0.00	3.81	0.000	0.000	0.136	3680.12	3663.69	3696.56	1785.12	4008.38	0	0	0	30.00	30.00	16.12
5965.26	1060	-116.79	-2.10	0.00	3679.4	3662.8	3696.1	1786.3	4007.5	591.46	-6.69	318	5971.97	0.00	0.00	3.47	0.000	0.000	0.075	3679.81	3663.12	3696.50	1785.12	2571.81	0	0	0	30.00	30.00	16.15
6360.97	32	-116.79	-2.10	0.00	3678.6	3661.6	3695.6	1785.7	2571.6	618.04	-6.75	332	6362.52	0.00	0.00	0.00	0.000	0.000	0.000	3680.38	3664.25	3696.50	1784.62	2571.12	0	0	0	30.00	30.00	30.00
6750.97	292	-116.79	-2.10	80.00	3679.4	3662.8	3696.1	1785.2	2571.2	643.96	-6.55	345	6757.49	0.00	0.00	3.81	0.000	0.000	0.136	3679.81	3663.19	3696.44	1785.94	4008.38	0	0	0	30.00	30.00	16.07
6760.24	1060	-116.79	-2.10	0.00	3679.8	3663.4	3696.2	1785.4	4008.1	644.63	-6.49	347	6766.26	0.00	0.00	3.43	0.000	0.000	0.074	3679.25	3662.25	3696.25	1785.69	2570.50	0	0	0	30.00	30.00	16.11
7135.99	32	-116.79	-2.10	0.00	3679.0	3662.1	3695.8	1786.0	2570.8	668.69	-6.44	362	7137.55	0.00	0.00	0.00	0.000	0.000	0.000	3679.31	3662.12	3696.50	1785.88	2570.19	0	0	0	30.00	30.00	30.00
7525.99	292	-116.79	-2.10	80.00	3679.8	3662.9	3696.8	1785.8	2571.6	694.18	-6.62	375	7532.49	0.00	0.00	3.82	0.000	0.000	0.138	3678.81	3662.00	3695.62	1785.44	4007.06	0	0	0	30.00	30.00	16.01
7551.01	1060	-116.79	-2.10	0.00	3679.5	3662.7	3696.3	1785.4	4007.5	695.99	-6.72	380	7557.30	0.00	0.00	3.47	0.000	0.000	0.077	3679.66	3662.50	3696.81	1786.25	2571.88	0	0	0	30.00	30.00	16.05
7936.01	32	-116.79	-2.10	0.00	3679.8	3663.1	3696.5	1785.8	2571.8	722.06	-6.77	397	7937.56	0.00	0.00	0.00	0.000	0.000	0.000	3679.91	3663.62	3696.19	1784.56	2571.62	0	0	0	30.00	30.00	30.00
8326.01	292	-116.79	-2.10	80.00	3679.3	3662.8	3695.9	1785.6	2571.3	749.10	-7.00	410	8332.52	0.00	0.00	3.85	0.000	0.000	0.137	3679.19	3662.12	3696.25	1785.94	4007.38	0	0	0	30.00	30.00	15.99
8351.01	1060	-116.79	-2.10	0.00	3679.7	3662.1	3697.2	1785.8	4007.4	750.94	-7.01	415	8357.34	0.00	0.00	3.49	0.000	0.000	0.077	3680.12	3663.25	3697.00	1785.94	2572.88	0	0	0	30.00	30.00	16.02
8736.03	32	-116.79	-2.10	0.00	3679.2	3662.4	3696.0	1785.7	2572.2	777.19	-6.81	432	8737.59	0.00	0.00	0.00	0.000	0.000	0.000	3680.88	3664.00	3697.75	1785.06	2572.50	0	0	0	30.00	30.00	30.00
9126.05	292	-116.79	-2.10	80.00	3679.8	3662.9	3696.8	1785.8	2573.0	803.59	-6.77	445	9132.55	0.00	0.00	3.83	0.000	0.000	0.138	3679.25	3662.31	3696.19	1785.69	4006.94	0	0	0	30.00	30.00	16.02
9145.31	1060	-116.79	-2.10	0.00	3679.0	3661.6	3696.4	1786.0	4006.4	805.00	-6.77	449	9152.05	0.00	0.00	3.46	0.000	0.000	0.076	3680.72	3663.69	3697.75	1785.50	2572.88	0	0	0	30.00	30.00	16.06
9541.06	32	-116.79	-2.10	0.00	3679.8	3662.8	3696.9	1785.6	2572.6	831.48	-6.78	463	9542.63	0.00	0.00	0.00	0.000	0.000	0.000	3678.81	3661.75	3695.88	1786.00	2572.12	0	0	0	30.00	30.00	30.00
9931.06	292	-116.79	-2.10	80.00	3680.0	3662.9	3697.1	1785.8	2572.3	858.02	-6.73	476	9937.56	0.00	0.00	3.82	0.000	0.000	0.139	3679.00	3662.88	3695.12	1785.75	4006.94	0	0	0	30.00	30.00	16.07
9950.34	1060	-116.79	-2.10	0.00	3679.8	3663.2	3696.2	1785.9	4006.7	859.41	-6.69	480	9957.06	0.00	0.00	3.47	0.000	0.000	0.076	3680.34	3662.88	3697.81	1786.19	2571.38	0	0	0	30.00	30.00	16.11
10346.08	292	-116.79	-2.10	80.00	3679.8	3662.1	3697.4	1785.8	2571.5	884.99	-6.44	494	10352.57	0.00	0.00	3.84	0.000	0.000	0.138	3680.47	3663.38	3697.56	1785.81	4008.44	0	0	0	30.00	30.00	16.08
10355.34	1060	-116.79	-2.10	0.00	3680.0	3663.3	3696.6	1785.4	4008.8	885.65	-6.48	496	10361.35	0.00	0.00	3.47	0.000	0.000	0.075	3680.91	3663.56	3698.25	1786.06	2573.38	0	0	0	30.00	30.00	16.12
10731.08	32	-116.79	-2.10	0.00	3679.7	3662.2	3697.1	1785.7	2573.5	910.89	-6.77	511	10732.65	0.00	0.00	0.00	0.000	0.000	0.000	3680.97	3664.62	3697.31	1784.38	2573.06	0	0	0	30.00	30.00	30.00
11121.09	292	-116.79	-2.10	80.00	3679.9	3663.0	3696.8	1785.7	2573.2	936.84	-6.59	524	11127.59	0.00	0.00	3.82	0.000	0.000	0.140	3679.06	3661.44	3696.69	1785.12	4006.69	0	0	0	30.00	30.00	16.09
11160.37	1060	-116.79	-2.10	0.00	3679.5	3661.9	3697.0	1786.1	4006.6	939.69	-6.62	532	11166.38	0.00	0.00	3.48	0.000	0.000	0.079	3679.47	3662.12	3696.81	1785.25	2573.81	0	0	0	30.00	30.00	16.14
11536.11	292	-116.79	-2.10	80.00	3679.8	3662.2	3697.2	1785.6	2573.0	965.36	-6.90	547	11542.63	0.00	0.00	3.83	0.000	0.000	0.141	3679.31	3661.62	3697.00	1785.12	4007.81	0	0	0	30.00	30.00	16.11
11561.11	1060	-116.79	-2.10	0.00	3679.8	3662.2	3697.4	1785.9	4008.5	967.18	-6.93	552	11567.43	0.00	0.00	3.46	0.000	0.000	0.079	3679.59	3662.19	3697.00	1786.06	2572.19	0	0	0	30.00	30.00	16.15
11916	end dive: TARGET_DEPTH_EXCEEDED
state	11916	begin apogee
11917.62	10243	0.00	-0.40	0.00	3680.0	3662.6	3697.4	1786.1	2729.1	991.44	-6.80	568	12022.85	96.86	2.89	0.06	2.184	0.144	0.325	3198.25	3132.38	3264.12	2198.38	2697.06	0	0	0	11.82	16.12	15.45
12024	end apogee: CONTROL_FINISHED_OK
state	12024	begin climb
12025.39	10503	116.79	2.10	80.00	3198.7	3132.7	3264.6	2198.0	2696.4	992.74	0.00	571	12146.39	103.12	4.06	3.69	2.145	0.071	0.131	2721.22	2626.06	2816.38	2815.06	4007.19	0	0	0	11.59	15.50	15.20
12153.82	1028	116.79	2.10	0.00	2717.9	2625.6	2810.1	2814.0	4007.8	990.04	12.69	596	12159.82	0.00	0.00	3.31	0.000	0.000	0.069	2717.47	2624.81	2810.12	2814.00	2694.81	0	0	0	30.00	30.00	15.37
12539.57	16646	116.79	2.10	80.00	2707.9	2621.7	2794.2	2814.1	2694.2	909.51	21.24	613	12546.09	0.00	0.00	3.52	0.000	0.000	0.127	2706.06	2619.69	2792.44	2814.25	4008.75	0	0	0	30.00	30.00	15.76
12548.84	17414	116.79	2.10	0.00	2707.5	2621.5	2793.6	2813.5	4009.3	907.33	21.13	615	12554.81	0.00	0.00	3.23	0.000	0.000	0.067	2706.91	2620.62	2793.19	2815.00	2693.31	0	0	0	30.00	30.00	15.80
12924.57	16646	116.79	2.10	80.00	2704.7	2620.7	2788.8	2813.7	2692.3	829.39	20.53	630	12930.92	0.00	0.00	3.49	0.000	0.000	0.127	2705.75	2621.62	2789.88	2814.25	4008.81	0	0	0	30.00	30.00	15.88
12988.84	17414	116.79	2.10	0.00	2704.5	2620.8	2788.1	2814.2	4009.1	815.17	22.25	643	12994.75	0.00	0.00	3.19	0.000	0.000	0.070	2704.75	2620.44	2789.06	2813.44	2692.19	0	0	0	30.00	30.00	15.93
13369.59	16386	116.79	2.10	0.00	2703.2	2620.3	2786.2	2813.6	2692.7	738.31	20.12	659	13371.16	0.00	0.00	0.00	0.000	0.000	0.000	2704.22	2620.94	2787.50	2812.06	2692.19	0	0	0	30.00	30.00	30.00
13759.60	16646	116.79	2.10	80.00	2702.6	2619.9	2785.3	2813.2	2691.8	660.82	19.75	672	13765.96	0.00	0.00	3.47	0.000	0.000	0.126	2701.28	2619.19	2783.38	2814.00	4006.75	0	0	0	30.00	30.00	15.95
13784.60	17414	116.79	2.10	0.00	2702.0	2619.7	2784.4	2814.4	4007.2	655.65	20.73	677	13790.81	0.00	0.00	3.19	0.000	0.000	0.068	2703.62	2621.81	2785.44	2812.44	2691.62	0	0	0	30.00	30.00	16.00
14169.63	16646	116.79	2.10	80.00	2701.8	2619.8	2783.9	2815.0	2692.6	580.77	19.27	694	14176.00	0.00	0.00	3.50	0.000	0.000	0.124	2704.31	2621.94	2786.69	2813.62	4008.56	0	0	0	30.00	30.00	15.95
14188.90	17414	116.79	2.10	0.00	2702.1	2620.2	2784.0	2814.6	4007.8	576.71	19.41	698	14195.57	0.00	0.00	3.20	0.000	0.000	0.066	2704.72	2622.81	2786.62	2814.38	2691.50	0	0	0	30.00	30.00	16.00
14584.66	16386	116.79	2.10	0.00	2701.9	2620.2	2783.6	2816.1	2691.4	501.63	18.76	712	14586.22	0.00	0.00	0.00	0.000	0.000	0.000	2700.88	2619.06	2782.69	2814.50	2690.88	0	0	0	30.00	30.00	30.00
14974.69	16902	116.79	2.10	-80.00	2701.6	2619.9	2783.2	2814.5	2691.2	431.63	17.59	725	14981.20	0.00	0.00	3.79	0.000	0.000	0.141	2701.31	2620.12	2782.50	2814.69	1245.25	0	0	0	30.00	30.00	16.00
15023.74	17414	116.79	2.10	0.00	2700.6	2619.6	2781.6	2815.0	1245.1	422.10	19.34	735	15030.81	0.00	0.00	3.56	0.000	0.000	0.060	2702.50	2621.62	2783.38	2815.31	2736.56	0	0	0	30.00	30.00	16.05
15419.72	16902	116.79	2.10	-80.00	2699.9	2619.7	2780.1	2815.6	2736.1	355.58	16.27	749	15426.29	0.00	0.00	3.89	0.000	0.000	0.135	2700.38	2620.31	2780.44	2814.25	1246.19	0	0	0	30.00	30.00	16.03
15654.80	17414	116.79	2.10	0.00	2699.3	2622.2	2776.5	2814.9	1246.3	316.74	15.36	796	15661.21	0.00	0.00	3.53	0.000	0.000	0.060	2698.78	2621.44	2776.12	2815.12	2736.00	0	0	0	30.00	30.00	16.10
16039.86	10791	170.52	2.32	-80.00	2698.9	2621.7	2776.1	2814.9	2734.6	281.39	6.34	813	16094.69	45.47	0.26	3.92	1.300	0.100	0.133	2500.91	2413.44	2588.38	2862.88	1245.12	0	0	0	11.85	16.08	15.84
16097.26	9254	201.66	2.44	0.00	2500.6	2415.2	2586.0	2863.1	1245.2	277.52	7.53	820	16134.76	29.16	0.00	3.56	1.233	0.000	0.056	2375.00	2277.12	2472.88	2864.75	2737.62	0	0	0	11.73	30.00	15.91
16512.95	10791	233.36	2.57	-80.00	2365.6	2273.5	2457.8	2862.6	2737.4	228.47	7.50	843	16550.16	27.86	0.34	3.95	1.195	0.096	0.135	2245.44	2148.12	2342.75	2923.56	1244.62	0	0	0	11.78	15.92	15.77
16777.65	17414	233.36	2.57	0.00	2239.5	2148.0	2331.0	2923.3	1244.9	200.29	11.52	896	16784.52	0.00	0.00	3.58	0.000	0.000	0.060	2240.00	2148.88	2331.12	2923.25	2736.50	0	0	0	30.00	30.00	15.91
17173.43	548	236.37	2.58	-80.00	2237.8	2146.9	2328.8	2923.4	2736.5	163.70	9.01	910	17180.99	0.00	0.00	3.92	0.000	0.000	0.135	2238.22	2147.12	2329.31	2922.50	1245.56	0	0	0	30.00	30.00	15.94
17409.41	9254	257.40	2.66	0.00	2236.8	2147.9	2325.6	2923.6	1245.4	142.30	8.06	957	17440.85	21.86	0.00	3.53	1.114	0.000	0.060	2150.16	2055.00	2245.31	2922.00	2735.31	0	0	0	12.00	30.00	16.02
17829.24	16902	257.40	2.66	-80.00	2141.2	2050.7	2231.8	2924.0	2735.0	95.42	11.39	976	17835.85	0.00	0.00	3.93	0.000	0.000	0.138	2141.31	2051.50	2231.12	2924.38	1245.94	0	0	0	30.00	30.00	15.94
17908.53	17414	257.40	2.66	0.00	2140.5	2051.7	2229.2	2923.4	1245.6	87.25	9.49	992	17915.39	0.00	0.00	3.53	0.000	0.000	0.061	2140.84	2051.81	2229.88	2923.50	2735.31	0	0	0	30.00	30.00	16.01
18304.31	10535	387.14	3.18	80.00	2139.5	2050.2	2228.8	2923.5	2735.4	69.94	2.34	1006	18478.12	160.15	0.94	3.45	1.046	0.082	0.131	1619.47	1521.56	1717.38	3074.00	4008.19	0	0	0	11.74	16.03	15.50
18705.65	11303	592.18	4.00	0.00	1612.0	1523.9	1700.1	3074.1	4008.6	41.84	-1.63	1085	19050.17	327.42	1.25	3.24	0.960	0.080	0.067	786.62	666.25	907.00	3271.88	2688.88	0	0	0	11.74	15.76	15.80
19353.36	10275	764.19	4.69	0.00	781.4	667.6	895.1	3272.2	2689.2	12.99	0.11	1181	19459.23	100.13	1.03	0.00	0.945	0.088	0.000	500.84	389.56	612.12	3435.31	2689.44	0	0	0	11.68	15.75	30.00
19592	end climb: SURFACE_DEPTH_REACHED
state	19592	begin surface coast
19622	end surface coast: CONTROL_FINISHED_OK
state	19622	begin surface