Glider dive log

SODA Sep18 * SG199 * Dive index * Mission links * Dive 84 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_PING_RANGE 20

MISSION 7 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 84 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 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 7100 R_PORT_OVSHOOT 12 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 9 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 200 ALTIM_FREQUENCY 13

D_TGT 200 SM_CC 525 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 2

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 2943 INT_PRESSURE_YINT 1.6

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 0.001 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 70 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 340 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 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 14400 STROBE 0 LOITER_W_DBAND 1 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 120 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 300 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.079999998 RAFOS_MMODEM 0 LOITER_N_DIVE 1 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 3 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3900 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2070 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0043925666

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.0006320356

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.5405934e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.1033937e-06

SPEED_FACTOR 1 PITCH_GAIN 27 MAXI_24V 0.60000002 SEABIRD_C_G -9.8267241

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 1 SEABIRD_C_H 1.1324162

MASS 53675 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0020002997

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00022812413

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -160.83926 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 218 PRESSURE_SLOPE 0.00010895507 SC_XMITPROFILE 3.0

HD_A 0.0019 ROLL_MAX 3771 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.016000001 ROLL_DEG 40 COMPASS_USE 4

HD_C 1.2e-06 C_ROLL_DIVE 2750 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043925666

AH0_10V 0 D_TGT 200 PHONE_DEVICE 49 SEABIRD_T_H 0.0006320356

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.5405934e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.1033937e-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 525

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 27 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3900 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 20 HD_A 0.0019 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.016000001 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 1.2e-06 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 7100

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -14430

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010895507 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.079999998 PRESSURE_YINT -160.83926 T_DIVE 70

CAPUPLOAD 0 ID 199 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 1.6 P_OVSHOOT_WITHG 0 T_LOITER 14400

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 340

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2070 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2750 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 60

C_VBD 2943 LOITER_D_BOTTOM 300 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 120 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 1 ROLL_AD_RATE 200 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 1 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 53675 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3771 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 218 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 84 MINV_10V 11 R_PORT_OVSHOOT 12 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 9 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 7 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 -9.8267241 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1324162 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0020002997

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00022812413

Pre-dive calculations and measurements:

GPS1 101018,001026,7416.2720,-14631.4463,37,0.8,37,22.4,0.0,0.0,12,6.7 SPEED_LIMITS 0.165,0.207

_CALLS 2 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7415.000,-14625.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.73 MHEAD_RNG_PITCHd_Wd 117.0,4134,-16.5,-9.524,-24.67,2361

_SM_ANGLEo -63.4 D_GRID 200

GPS2 101018,002135,7416.3477,-14631.5557,6,0.7,9,22.4,0.0,328.7,12,9.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181010042838.555848,18,92,01,0070,0150,246,00,00,03,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*05 ALTIM_TOP_PING 20.0,20.9

FINISH 0.3,1.020752 _24V_AH 13.00,42.307

SM_CCo 18771,176.12,0.216,0,0,801,525.19 _10V_AH 13.20,0.000

SM_GC 0.72,7.50,0.38,176.12,0.091,0.232,0.216,197,2750,801,-5.80,-0.34,525.19,0,0,0,0,0,0,14.15,14.04,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 264 FG_AHR_10Vo 0.000

MODEM 1,1539129932,74.43333,-147.95000,32.554,46958.1 MEM 334532

RAFOS_FIX 7418.107910,-14627.235352,101018,040438,4,255,0.26 DATA_FILE_SIZE 66502,2022

IRIDIUM_FIX 7415.14,-14633.98,091018,184940 CAP_FILE_SIZE 205906,0

TT8_MAMPS 0.041195,0.647136 CFSIZE 2097872896,2075197440

HUMID 49.05 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.46163 SOUNDSPEED 1442.5

TCM_TEMP 12.40 CURRENT 0.074,354.19,1

XPDR_PINGS 0 GPS 101018,053902,7416.961,-14630.889,28,0.7,28,22.5,0.0,0.0,11,7.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 476 119.58 nil 0 0 0.00

Roll_motor 53 231 160.38 nil 0 0 0.00

VBD_pump_during_apogee 444 1766 10205.33 nil 0 0 0.00

VBD_pump_during_surface 176 216 495.69 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 4382 35 2010.79

Iridium_during_xfer 416 181 981.85 nil 0 0 0.00

Transponder_ping 0 420 1.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 21 5.39

TT8 0 0 0.00

LPSleep 14247 2 434.42

TT8_Active 751 11 113.79

TT8_Sampling 4228 30 1685.55

TT8_CF8 378 36 180.85

TT8_Kalman 0 0 0.00

Analog_circuits 2608 9 327.16

GPS_charging 0 0 0.00

Compass 2869 7 283.74

RAFOS 2210 33 962.68

Transponder 2 30 1.01

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

10 -0.76 -146.0 191 2747 788 800 0.0 0.0 0 115 0.00 0.00 -102.97 0.002 16386 0.000 0.000 191 2747 2446 2471 2422 0 0 0 0 0 0 14.20 28.83 14.21

118 -0.76 -146.0 191 2748 2472 2425 6.0 -11.0 10 156 9.23 2.78 -22.62 0.005 18948 0.477 0.177 1817 1335 3540 3591 3489 0 0 0 0 0 0 13.81 13.15 14.09

381 -0.76 -146.0 1817 1337 3592 3494 79.1 -18.5 62 386 0.00 2.88 0.00 0.000 1030 0.000 0.184 1808 2752 3542 3590 3494 0 0 0 0 0 0 14.19 14.04 14.21

571 -0.76 -146.0 1808 2752 3591 3494 112.4 -16.1 82 576 0.00 2.75 0.00 0.000 516 0.000 0.154 1808 1335 3542 3591 3493 0 0 0 0 0 0 14.33 14.09 14.35

726 -0.76 -146.0 1808 1336 3592 3494 137.0 -15.3 113 733 0.00 2.88 0.00 0.000 1030 0.000 0.184 1798 2759 3542 3591 3493 0 0 0 0 0 0 14.24 14.09 14.26

911 -0.76 -146.0 1798 2760 3592 3495 165.9 -15.5 132 912 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2759 3542 3591 3493 0 0 0 0 0 0 14.42 14.44 14.47

1092 -0.76 -146.0 1799 2760 3593 3494 192.3 -14.6 150 1092 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2758 3542 3591 3493 0 0 0 0 0 0 14.47 14.50 14.50

1149 end dive: TARGET_DEPTH_EXCEEDED

state 1149 begin apogee

1155 -0.19 0.0 1799 2600 3592 3494 200.8 -14.1 156 1276 0.82 0.00 117.55 1.699 10246 0.279 0.000 2003 2600 2941 3030 2852 0 0 0 0 0 0 14.16 13.67 13.00

1277 end apogee: CONTROL_FINISHED_OK

state 1277 begin loiter

1452 -0.17 10.2 2002 2602 3027 2841 212.5 -2.6 186 1463 0.00 0.00 9.02 1.468 8230 0.000 0.000 2003 2601 2896 2990 2803 0 0 0 0 0 0 14.22 13.97 13.26

1642 -0.17 18.3 2003 2602 2990 2801 216.7 -2.1 205 1653 0.00 0.00 7.85 1.453 8230 0.000 0.000 2003 2601 2864 2958 2770 0 0 0 0 0 0 14.33 14.09 13.36

1832 -0.16 25.6 2003 2600 2959 2768 220.3 -1.9 224 1843 0.00 0.00 7.32 1.454 8230 0.000 0.000 2002 2601 2834 2922 2747 0 0 0 0 0 0 14.40 14.16 13.42

2022 -0.15 31.7 2003 2601 2923 2745 223.4 -1.6 243 2033 0.00 0.00 6.65 1.429 8230 0.000 0.000 2003 2601 2809 2895 2723 0 0 0 0 0 0 14.46 14.22 13.47

2212 -0.13 31.7 2003 2601 2896 2721 225.3 -0.8 262 2213 0.00 0.00 0.00 0.000 70 0.000 0.000 2003 2601 2807 2894 2721 0 0 0 0 0 0 14.50 14.52 14.52

2392 -0.11 31.7 2003 2601 2896 2720 226.4 -0.6 280 2393 0.00 0.00 0.00 0.000 70 0.000 0.000 2002 2601 2807 2895 2719 0 0 0 0 0 0 14.57 14.58 14.58

2572 -0.10 31.7 2003 2602 2895 2721 227.4 -0.5 298 2573 0.12 0.00 0.00 0.000 2118 0.269 0.000 2031 2601 2807 2895 2720 0 0 0 0 0 0 14.33 14.49 14.47

2752 -0.10 31.7 2031 2602 2896 2721 228.1 -0.4 316 2753 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2807 2895 2719 0 0 0 0 0 0 14.65 14.67 14.67

2932 -0.10 31.7 2032 2601 2896 2719 228.9 -0.4 334 2933 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2807 2895 2719 0 0 0 0 0 0 14.68 14.71 14.70

3112 -0.08 31.7 2031 2602 2896 2719 229.8 -0.6 352 3113 0.00 0.00 0.00 0.000 70 0.000 0.000 2031 2601 2806 2895 2718 0 0 0 0 0 0 14.71 14.73 14.73

3292 -0.08 31.7 2031 2602 2896 2719 230.9 -0.4 370 3293 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2601 2806 2895 2718 0 0 0 0 0 0 14.73 14.75 14.75

3472 -0.08 31.7 2031 2602 2896 2718 231.2 -0.1 388 3473 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2806 2895 2717 0 0 0 0 0 0 14.75 14.77 14.76

3652 -0.08 31.7 2032 2601 2896 2717 231.1 0.0 406 3653 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2806 2895 2717 0 0 0 0 0 0 14.76 14.78 14.78

3832 -0.08 31.7 2032 2601 2896 2716 231.3 -0.2 424 3833 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2805 2895 2716 0 0 0 0 0 0 14.78 14.80 14.80

4012 -0.08 31.7 2031 2601 2896 2716 231.7 -0.2 442 4013 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2805 2895 2716 0 0 0 0 0 0 14.79 14.81 14.81

4192 -0.08 31.7 2032 2602 2896 2717 231.9 -0.1 460 4193 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2600 2805 2895 2716 0 0 0 0 0 0 14.81 14.82 14.82

4372 -0.08 31.7 2031 2602 2895 2717 232.2 -0.2 478 4373 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2805 2895 2716 0 0 0 0 0 0 14.81 14.83 14.83

4552 -0.08 31.7 2032 2601 2896 2715 232.9 -0.4 496 4553 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2805 2895 2715 0 0 0 0 0 0 14.82 14.84 14.84

4732 -0.08 31.7 2031 2602 2896 2717 233.3 -0.1 514 4733 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2600 2805 2895 2715 0 0 0 0 0 0 14.83 14.85 14.85

4912 -0.08 31.7 2032 2601 2896 2715 233.4 -0.0 532 4913 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2805 2895 2715 0 0 0 0 0 0 14.83 14.85 14.85

5092 -0.08 31.7 2031 2602 2896 2716 233.6 -0.2 550 5093 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2805 2895 2715 0 0 0 0 0 0 14.84 14.86 14.86

5272 -0.08 31.7 2031 2602 2896 2716 233.8 -0.0 568 5273 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2805 2895 2715 0 0 0 0 0 0 14.85 14.86 14.87

5452 -0.08 31.7 2032 2601 2896 2715 233.6 0.1 586 5453 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2805 2895 2715 0 0 0 0 0 0 14.85 14.88 14.87

5632 -0.08 31.7 2032 2601 2896 2715 233.7 -0.1 604 5633 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2805 2895 2715 0 0 0 0 0 0 14.85 14.87 14.88

5812 -0.08 31.7 2032 2601 2896 2715 234.2 -0.3 622 5813 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2805 2895 2715 0 0 0 0 0 0 14.86 14.88 14.88

5992 -0.08 31.7 2032 2601 2896 2714 234.6 -0.0 640 5993 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2714 0 0 0 0 0 0 14.86 14.88 14.88

6172 -0.08 31.7 2032 2601 2896 2714 234.3 0.1 658 6173 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2805 2895 2715 0 0 0 0 0 0 14.87 14.89 14.88

6352 -0.08 31.7 2031 2602 2895 2715 234.6 -0.4 676 6353 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2714 0 0 0 0 0 0 14.88 14.89 14.89

6532 -0.08 31.7 2032 2602 2896 2715 235.5 -0.4 694 6533 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2714 0 0 0 0 0 0 14.88 14.90 14.89

6712 -0.08 31.7 2032 2601 2896 2714 235.7 0.2 712 6713 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2601 2804 2895 2713 0 0 0 0 0 0 14.88 14.90 14.90

6892 -0.08 31.7 2031 2602 2896 2715 235.1 0.3 730 6893 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2714 0 0 0 0 0 0 14.88 14.90 14.90

7072 -0.08 31.7 2031 2602 2896 2715 235.2 -0.3 748 7073 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2714 0 0 0 0 0 0 14.88 14.90 14.90

7252 -0.06 31.7 2032 2601 2896 2714 236.1 -0.6 766 7253 0.00 0.00 0.00 0.000 70 0.000 0.000 2031 2601 2804 2895 2714 0 0 0 0 0 0 14.88 14.90 14.90

7432 -0.06 31.7 2032 2601 2896 2714 236.7 -0.1 784 7433 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2714 0 0 0 0 0 0 14.88 14.90 14.90

7612 -0.06 31.7 2031 2602 2895 2715 236.4 0.1 802 7613 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2602 2803 2894 2713 0 0 0 0 0 0 14.89 14.90 14.90

7792 -0.06 31.7 2032 2601 2896 2713 236.5 -0.2 820 7793 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2600 2804 2895 2714 0 0 0 0 0 0 14.88 14.91 14.90

7972 -0.06 31.7 2031 2602 2896 2714 236.8 -0.0 838 7973 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2713 0 0 0 0 0 0 14.89 14.91 14.91

8152 -0.06 31.7 2032 2601 2896 2713 236.6 0.1 856 8153 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2713 0 0 0 0 0 0 14.89 14.91 14.91

8332 -0.06 31.7 2032 2601 2896 2713 236.7 -0.2 874 8333 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2713 0 0 0 0 0 0 14.89 14.91 14.91

8512 -0.06 31.7 2032 2601 2896 2713 237.0 -0.1 892 8513 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2713 0 0 0 0 0 0 14.89 14.91 14.91

8692 -0.06 31.7 2031 2602 2895 2714 237.0 0.1 910 8693 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2894 2713 0 0 0 0 0 0 14.89 14.91 14.91

8872 -0.06 31.7 2032 2601 2896 2713 237.0 -0.1 928 8873 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2713 0 0 0 0 0 0 14.90 14.91 14.92

9052 -0.06 31.7 2031 2602 2896 2714 237.3 -0.2 946 9053 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2894 2713 0 0 0 0 0 0 14.90 14.92 14.91

9232 -0.06 31.7 2032 2601 2896 2712 237.1 0.2 964 9233 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2602 2803 2894 2713 0 0 0 0 0 0 14.90 14.92 14.93

9412 -0.06 31.7 2032 2601 2896 2712 237.0 -0.1 982 9413 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2713 0 0 0 0 0 0 14.90 14.92 14.92

9592 -0.06 31.7 2032 2601 2896 2712 237.7 -0.5 1000 9593 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2713 0 0 0 0 0 0 14.90 14.92 14.92

9772 -0.06 31.7 2032 2601 2896 2712 238.1 -0.1 1018 9773 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2713 0 0 0 0 0 0 14.90 14.92 14.92

9952 -0.06 31.7 2032 2601 2896 2712 237.9 0.2 1036 9953 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2601 2804 2895 2713 0 0 0 0 0 0 14.90 14.92 14.92

10132 -0.06 31.7 2032 2601 2896 2712 237.5 0.1 1054 10133 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2895 2713 0 0 0 0 0 0 14.90 14.92 14.92

10312 -0.06 31.7 2032 2601 2896 2712 237.6 -0.1 1072 10313 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2804 2896 2712 0 0 0 0 0 0 14.90 14.92 14.92

10492 -0.06 31.7 2031 2602 2896 2713 237.6 0.1 1090 10493 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2894 2713 0 0 0 0 0 0 14.90 14.92 14.92

10672 -0.06 31.7 2032 2601 2896 2712 237.5 -0.0 1108 10673 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.90 14.92 14.92

10852 -0.06 31.7 2032 2601 2896 2712 237.6 0.0 1126 10853 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.90 14.92 14.92

11032 -0.06 31.7 2031 2602 2896 2713 237.3 0.2 1144 11033 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.90 14.92 14.92

11212 -0.06 31.7 2032 2601 2896 2712 237.2 -0.2 1162 11213 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.90 14.92 14.92

11392 -0.06 31.7 2032 2601 2896 2712 237.9 -0.4 1180 11393 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.90 14.92 14.92

11572 -0.06 31.7 2031 2600 2896 2712 238.1 0.1 1198 11573 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.90 14.92 14.92

11752 -0.06 31.7 2031 2602 2896 2713 237.6 0.2 1216 11753 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.90 14.92 14.92

11932 -0.06 31.7 2031 2602 2896 2713 237.6 -0.2 1234 11933 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.90 14.92 14.92

12112 -0.06 31.7 2031 2602 2895 2713 238.0 -0.2 1252 12113 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.90 14.92 14.92

12292 -0.06 31.7 2032 2601 2896 2712 238.0 0.1 1270 12293 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.90 14.92 14.92

12472 -0.06 31.7 2032 2600 2896 2712 237.9 0.1 1288 12473 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2600 2803 2895 2712 0 0 0 0 0 0 14.90 14.92 14.92

12652 -0.06 31.7 2031 2602 2896 2713 237.9 -0.0 1306 12653 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.90 14.92 14.92

12832 -0.06 31.7 2031 2602 2896 2713 238.0 -0.1 1324 12833 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2894 2712 0 0 0 0 0 0 14.90 14.93 14.92

13012 -0.06 31.7 2031 2602 2896 2713 237.9 0.1 1342 13013 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2802 2894 2711 0 0 0 0 0 0 14.90 14.92 14.92

13197 -0.06 31.7 2032 2599 2896 2711 237.7 0.1 1360 13198 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2600 2803 2895 2712 0 0 0 0 0 0 14.82 14.85 14.85

13375 -0.06 31.7 2031 2601 2896 2713 237.6 0.0 1378 13376 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.80 14.81 14.81

13555 -0.06 31.7 2031 2602 2895 2713 237.6 0.0 1396 13556 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2600 2803 2895 2712 0 0 0 0 0 0 14.77 14.79 14.79

13735 -0.06 31.7 2032 2601 2896 2715 237.6 0.1 1414 13736 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.75 14.77 14.77

13915 -0.06 31.7 2036 2601 2896 2711 237.3 0.1 1432 13916 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2711 0 0 0 0 0 0 14.73 14.75 14.75

14095 -0.06 31.7 2031 2601 2896 2711 237.3 -0.1 1450 14096 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.71 14.73 14.73

14275 -0.06 31.7 2031 2602 2895 2713 237.3 0.1 1468 14276 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2711 0 0 0 0 0 0 14.70 14.72 14.72

14455 -0.06 31.7 2032 2602 2896 2713 236.9 0.2 1486 14456 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2712 0 0 0 0 0 0 14.69 14.71 14.71

14635 -0.06 31.7 2031 2602 2896 2713 236.8 -0.1 1504 14636 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2711 0 0 0 0 0 0 14.67 14.70 14.70

14815 -0.06 31.7 2032 2601 2896 2712 237.3 -0.3 1522 14816 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2711 0 0 0 0 0 0 14.67 14.69 14.69

14995 -0.06 31.7 2032 2602 2896 2713 237.5 0.0 1540 14996 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2711 0 0 0 0 0 0 14.66 14.69 14.68

15175 -0.06 31.7 2031 2601 2896 2711 237.4 0.0 1558 15176 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2711 0 0 0 0 0 0 14.65 14.68 14.68

15355 -0.06 31.7 2032 2601 2896 2711 237.4 -0.0 1576 15356 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2803 2895 2711 0 0 0 0 0 0 14.72 14.74 14.73

15536 -0.06 31.7 2032 2601 2896 2711 237.2 0.2 1594 15536 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2601 2802 2894 2711 0 0 0 0 0 0 14.74 14.76 14.76

15672 end loiter: LOITER_COMPLETE

state 15672 begin climb

15675 0.76 146.0 2032 2601 2896 2711 237.0 0.0 1608 15777 0.90 2.88 93.12 1.766 10756 0.181 0.158 2312 1186 2341 2439 2244 0 0 0 0 0 0 14.47 13.78 13.18

15904 0.86 146.0 2313 1188 2440 2235 225.8 6.2 1650 15910 0.00 2.88 0.00 0.000 1094 0.000 0.178 2313 2608 2336 2439 2233 0 0 0 0 0 0 14.14 13.99 14.18

16095 0.96 146.0 2312 2608 2440 2228 214.0 6.2 1670 16096 0.20 0.00 0.00 0.000 2118 0.109 0.000 2390 2608 2337 2439 2235 0 0 0 0 0 0 14.21 14.30 14.28

16275 0.99 146.0 2391 2609 2440 2228 198.7 8.3 1688 16280 0.00 2.75 0.00 0.000 580 0.000 0.159 2401 1187 2332 2439 2226 0 0 0 0 0 0 14.47 14.21 14.49

16345 1.03 146.0 2401 1188 2440 2228 192.9 8.1 1702 16350 0.00 2.80 0.00 0.000 1094 0.000 0.177 2401 2600 2332 2439 2226 0 0 0 0 0 0 14.35 14.19 14.38

16536 1.09 146.0 2401 2600 2440 2224 177.2 7.8 1722 16537 0.00 0.00 0.00 0.000 70 0.000 0.000 2401 2600 2332 2439 2225 0 0 0 0 0 0 14.51 14.53 14.53

16716 1.14 146.0 2401 2600 2440 2224 163.4 7.9 1740 16721 0.10 2.38 0.00 0.000 2372 0.160 0.215 2438 3774 2331 2439 2224 0 0 0 0 0 0 14.37 14.25 14.43

16766 1.14 146.0 2438 3775 2440 2225 158.4 10.0 1750 16771 0.00 2.28 0.00 0.000 1030 0.000 0.168 2446 2592 2331 2439 2224 0 0 0 0 0 0 14.42 14.30 14.45

16957 1.17 146.0 2446 2592 2440 2223 141.5 8.4 1770 16958 0.00 0.00 0.00 0.000 70 0.000 0.000 2446 2592 2331 2439 2223 0 0 0 0 0 0 14.57 14.59 14.59

17137 1.21 146.0 2446 2594 2440 2224 126.8 8.1 1788 17142 0.00 2.42 0.00 0.000 324 0.000 0.216 2447 3778 2330 2439 2222 0 0 0 0 0 0 14.59 14.29 14.61

17182 1.23 146.0 2447 3779 2440 2222 122.8 8.7 1797 17189 0.00 2.28 0.00 0.000 1094 0.000 0.169 2455 2597 2330 2439 2222 0 0 0 0 0 0 14.47 14.33 14.50

17367 1.31 146.0 2456 2597 2440 2222 109.6 6.9 1816 17373 0.12 2.67 0.00 0.000 2628 0.154 0.156 2516 1183 2330 2439 2222 0 0 0 0 0 0 14.40 14.29 14.43

17418 1.38 146.0 2517 1182 2440 2222 105.9 7.2 1826 17423 0.00 2.80 0.00 0.000 1094 0.000 0.177 2516 2605 2330 2439 2222 0 0 0 0 0 0 14.41 14.26 14.44

17609 1.50 146.0 2517 2605 2440 2222 93.8 5.8 1846 17614 0.10 2.72 0.00 0.000 2628 0.174 0.153 2560 1178 2330 2439 2222 0 0 0 0 0 0 14.39 14.29 14.47

17670 1.60 246.0 2565 1178 2440 2221 90.5 5.2 1858 17758 0.00 2.83 78.50 1.540 9254 0.000 0.179 2560 2608 1935 2053 1817 0 0 0 0 0 0 14.44 14.28 13.26

17933 1.60 246.0 2560 2608 2053 1801 65.5 9.3 1892 17938 0.00 2.42 0.00 0.000 260 0.000 0.210 2560 3780 1930 2052 1808 0 0 0 0 0 0 14.28 13.98 14.30

18163 1.76 405.2 2560 3781 2054 1798 54.1 2.6 1938 18297 0.20 2.30 124.40 1.444 11302 0.116 0.165 2633 2599 1286 1318 1254 0 0 0 0 0 0 14.17 14.11 13.08

18473 1.78 405.2 2632 2599 1313 1245 24.1 8.6 1980 18478 0.00 2.47 0.00 0.000 324 0.000 0.207 2631 3777 1278 1311 1245 0 0 0 0 0 0 14.14 13.85 14.16

18603 1.80 405.2 2632 3778 1310 1245 11.7 8.8 2006 18608 0.00 2.35 0.00 0.000 1094 0.000 0.163 2641 2593 1276 1309 1243 0 0 0 0 0 0 14.07 13.97 14.11

18731 end climb: SURFACE_DEPTH_REACHED

state 18731 begin surface coast

18752 end surface coast: CONTROL_FINISHED_OK

state 18752 begin surface

ID	199	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_PING_RANGE	20
MISSION	7	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	84	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	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	7100	R_PORT_OVSHOOT	12	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	9	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	200	ALTIM_FREQUENCY	13
D_TGT	200	SM_CC	525	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	2
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	2943	INT_PRESSURE_YINT	1.6
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	0.001	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	70	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	340	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	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	14400	STROBE	0	LOITER_W_DBAND	1	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	120	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	300	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.079999998	RAFOS_MMODEM	0	LOITER_N_DIVE	1	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	3	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3900	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2070	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0043925666
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.0006320356
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.5405934e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.1033937e-06
SPEED_FACTOR	1	PITCH_GAIN	27	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8267241
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	1	SEABIRD_C_H	1.1324162
MASS	53675	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0020002997
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00022812413
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-160.83926	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	218	PRESSURE_SLOPE	0.00010895507	SC_XMITPROFILE	3.0
HD_A	0.0019	ROLL_MAX	3771	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.016000001	ROLL_DEG	40	COMPASS_USE	4
HD_C	1.2e-06	C_ROLL_DIVE	2750	ALTIM_PING_FIT	0

GPS1	101018,001026,7416.2720,-14631.4463,37,0.8,37,22.4,0.0,0.0,12,6.7	SPEED_LIMITS	0.165,0.207
_CALLS	2	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7415.000,-14625.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.73	MHEAD_RNG_PITCHd_Wd	117.0,4134,-16.5,-9.524,-24.67,2361
_SM_ANGLEo	-63.4	D_GRID	200
GPS2	101018,002135,7416.3477,-14631.5557,6,0.7,9,22.4,0.0,328.7,12,9.7

MODEM_MSG	CACST,6,1,20181010042838.555848,18,92,01,0070,0150,246,00,00,03,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*05	ALTIM_TOP_PING	20.0,20.9
FINISH	0.3,1.020752	_24V_AH	13.00,42.307
SM_CCo	18771,176.12,0.216,0,0,801,525.19	_10V_AH	13.20,0.000
SM_GC	0.72,7.50,0.38,176.12,0.091,0.232,0.216,197,2750,801,-5.80,-0.34,525.19,0,0,0,0,0,0,14.15,14.04,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	264	FG_AHR_10Vo	0.000
MODEM	1,1539129932,74.43333,-147.95000,32.554,46958.1	MEM	334532
RAFOS_FIX	7418.107910,-14627.235352,101018,040438,4,255,0.26	DATA_FILE_SIZE	66502,2022
IRIDIUM_FIX	7415.14,-14633.98,091018,184940	CAP_FILE_SIZE	205906,0
TT8_MAMPS	0.041195,0.647136	CFSIZE	2097872896,2075197440
HUMID	49.05	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.46163	SOUNDSPEED	1442.5
TCM_TEMP	12.40	CURRENT	0.074,354.19,1
XPDR_PINGS	0	GPS	101018,053902,7416.961,-14630.889,28,0.7,28,22.5,0.0,0.0,11,7.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	476	119.58	nil	0	0	0.00
Roll_motor	53	231	160.38	nil	0	0	0.00
VBD_pump_during_apogee	444	1766	10205.33	nil	0	0	0.00
VBD_pump_during_surface	176	216	495.69	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	4382	35	2010.79
Iridium_during_xfer	416	181	981.85	nil	0	0	0.00
Transponder_ping	0	420	1.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	21	5.39
TT8	0	0	0.00
LPSleep	14247	2	434.42
TT8_Active	751	11	113.79
TT8_Sampling	4228	30	1685.55
TT8_CF8	378	36	180.85
TT8_Kalman	0	0	0.00
Analog_circuits	2608	9	327.16
GPS_charging	0	0	0.00
Compass	2869	7	283.74
RAFOS	2210	33	962.68
Transponder	2	30	1.01

		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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
10	-0.76	-146.0	191	2747	788	800	0.0	0.0	0	115	0.00	0.00	-102.97	0.002	16386	0.000	0.000	191	2747	2446	2471	2422	0	0	0	0	0	0	14.20	28.83	14.21
118	-0.76	-146.0	191	2748	2472	2425	6.0	-11.0	10	156	9.23	2.78	-22.62	0.005	18948	0.477	0.177	1817	1335	3540	3591	3489	0	0	0	0	0	0	13.81	13.15	14.09
381	-0.76	-146.0	1817	1337	3592	3494	79.1	-18.5	62	386	0.00	2.88	0.00	0.000	1030	0.000	0.184	1808	2752	3542	3590	3494	0	0	0	0	0	0	14.19	14.04	14.21
571	-0.76	-146.0	1808	2752	3591	3494	112.4	-16.1	82	576	0.00	2.75	0.00	0.000	516	0.000	0.154	1808	1335	3542	3591	3493	0	0	0	0	0	0	14.33	14.09	14.35
726	-0.76	-146.0	1808	1336	3592	3494	137.0	-15.3	113	733	0.00	2.88	0.00	0.000	1030	0.000	0.184	1798	2759	3542	3591	3493	0	0	0	0	0	0	14.24	14.09	14.26
911	-0.76	-146.0	1798	2760	3592	3495	165.9	-15.5	132	912	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2759	3542	3591	3493	0	0	0	0	0	0	14.42	14.44	14.47
1092	-0.76	-146.0	1799	2760	3593	3494	192.3	-14.6	150	1092	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2758	3542	3591	3493	0	0	0	0	0	0	14.47	14.50	14.50
1149	end dive: TARGET_DEPTH_EXCEEDED
state	1149	begin apogee
1155	-0.19	0.0	1799	2600	3592	3494	200.8	-14.1	156	1276	0.82	0.00	117.55	1.699	10246	0.279	0.000	2003	2600	2941	3030	2852	0	0	0	0	0	0	14.16	13.67	13.00
1277	end apogee: CONTROL_FINISHED_OK
state	1277	begin loiter
1452	-0.17	10.2	2002	2602	3027	2841	212.5	-2.6	186	1463	0.00	0.00	9.02	1.468	8230	0.000	0.000	2003	2601	2896	2990	2803	0	0	0	0	0	0	14.22	13.97	13.26
1642	-0.17	18.3	2003	2602	2990	2801	216.7	-2.1	205	1653	0.00	0.00	7.85	1.453	8230	0.000	0.000	2003	2601	2864	2958	2770	0	0	0	0	0	0	14.33	14.09	13.36
1832	-0.16	25.6	2003	2600	2959	2768	220.3	-1.9	224	1843	0.00	0.00	7.32	1.454	8230	0.000	0.000	2002	2601	2834	2922	2747	0	0	0	0	0	0	14.40	14.16	13.42
2022	-0.15	31.7	2003	2601	2923	2745	223.4	-1.6	243	2033	0.00	0.00	6.65	1.429	8230	0.000	0.000	2003	2601	2809	2895	2723	0	0	0	0	0	0	14.46	14.22	13.47
2212	-0.13	31.7	2003	2601	2896	2721	225.3	-0.8	262	2213	0.00	0.00	0.00	0.000	70	0.000	0.000	2003	2601	2807	2894	2721	0	0	0	0	0	0	14.50	14.52	14.52
2392	-0.11	31.7	2003	2601	2896	2720	226.4	-0.6	280	2393	0.00	0.00	0.00	0.000	70	0.000	0.000	2002	2601	2807	2895	2719	0	0	0	0	0	0	14.57	14.58	14.58
2572	-0.10	31.7	2003	2602	2895	2721	227.4	-0.5	298	2573	0.12	0.00	0.00	0.000	2118	0.269	0.000	2031	2601	2807	2895	2720	0	0	0	0	0	0	14.33	14.49	14.47
2752	-0.10	31.7	2031	2602	2896	2721	228.1	-0.4	316	2753	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2807	2895	2719	0	0	0	0	0	0	14.65	14.67	14.67
2932	-0.10	31.7	2032	2601	2896	2719	228.9	-0.4	334	2933	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2807	2895	2719	0	0	0	0	0	0	14.68	14.71	14.70
3112	-0.08	31.7	2031	2602	2896	2719	229.8	-0.6	352	3113	0.00	0.00	0.00	0.000	70	0.000	0.000	2031	2601	2806	2895	2718	0	0	0	0	0	0	14.71	14.73	14.73
3292	-0.08	31.7	2031	2602	2896	2719	230.9	-0.4	370	3293	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2601	2806	2895	2718	0	0	0	0	0	0	14.73	14.75	14.75
3472	-0.08	31.7	2031	2602	2896	2718	231.2	-0.1	388	3473	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2806	2895	2717	0	0	0	0	0	0	14.75	14.77	14.76
3652	-0.08	31.7	2032	2601	2896	2717	231.1	0.0	406	3653	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2806	2895	2717	0	0	0	0	0	0	14.76	14.78	14.78
3832	-0.08	31.7	2032	2601	2896	2716	231.3	-0.2	424	3833	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2805	2895	2716	0	0	0	0	0	0	14.78	14.80	14.80
4012	-0.08	31.7	2031	2601	2896	2716	231.7	-0.2	442	4013	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2805	2895	2716	0	0	0	0	0	0	14.79	14.81	14.81
4192	-0.08	31.7	2032	2602	2896	2717	231.9	-0.1	460	4193	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2600	2805	2895	2716	0	0	0	0	0	0	14.81	14.82	14.82
4372	-0.08	31.7	2031	2602	2895	2717	232.2	-0.2	478	4373	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2805	2895	2716	0	0	0	0	0	0	14.81	14.83	14.83
4552	-0.08	31.7	2032	2601	2896	2715	232.9	-0.4	496	4553	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2805	2895	2715	0	0	0	0	0	0	14.82	14.84	14.84
4732	-0.08	31.7	2031	2602	2896	2717	233.3	-0.1	514	4733	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2600	2805	2895	2715	0	0	0	0	0	0	14.83	14.85	14.85
4912	-0.08	31.7	2032	2601	2896	2715	233.4	-0.0	532	4913	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2805	2895	2715	0	0	0	0	0	0	14.83	14.85	14.85
5092	-0.08	31.7	2031	2602	2896	2716	233.6	-0.2	550	5093	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2805	2895	2715	0	0	0	0	0	0	14.84	14.86	14.86
5272	-0.08	31.7	2031	2602	2896	2716	233.8	-0.0	568	5273	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2805	2895	2715	0	0	0	0	0	0	14.85	14.86	14.87
5452	-0.08	31.7	2032	2601	2896	2715	233.6	0.1	586	5453	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2805	2895	2715	0	0	0	0	0	0	14.85	14.88	14.87
5632	-0.08	31.7	2032	2601	2896	2715	233.7	-0.1	604	5633	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2805	2895	2715	0	0	0	0	0	0	14.85	14.87	14.88
5812	-0.08	31.7	2032	2601	2896	2715	234.2	-0.3	622	5813	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2805	2895	2715	0	0	0	0	0	0	14.86	14.88	14.88
5992	-0.08	31.7	2032	2601	2896	2714	234.6	-0.0	640	5993	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2714	0	0	0	0	0	0	14.86	14.88	14.88
6172	-0.08	31.7	2032	2601	2896	2714	234.3	0.1	658	6173	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2805	2895	2715	0	0	0	0	0	0	14.87	14.89	14.88
6352	-0.08	31.7	2031	2602	2895	2715	234.6	-0.4	676	6353	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2714	0	0	0	0	0	0	14.88	14.89	14.89
6532	-0.08	31.7	2032	2602	2896	2715	235.5	-0.4	694	6533	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2714	0	0	0	0	0	0	14.88	14.90	14.89
6712	-0.08	31.7	2032	2601	2896	2714	235.7	0.2	712	6713	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2601	2804	2895	2713	0	0	0	0	0	0	14.88	14.90	14.90
6892	-0.08	31.7	2031	2602	2896	2715	235.1	0.3	730	6893	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2714	0	0	0	0	0	0	14.88	14.90	14.90
7072	-0.08	31.7	2031	2602	2896	2715	235.2	-0.3	748	7073	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2714	0	0	0	0	0	0	14.88	14.90	14.90
7252	-0.06	31.7	2032	2601	2896	2714	236.1	-0.6	766	7253	0.00	0.00	0.00	0.000	70	0.000	0.000	2031	2601	2804	2895	2714	0	0	0	0	0	0	14.88	14.90	14.90
7432	-0.06	31.7	2032	2601	2896	2714	236.7	-0.1	784	7433	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2714	0	0	0	0	0	0	14.88	14.90	14.90
7612	-0.06	31.7	2031	2602	2895	2715	236.4	0.1	802	7613	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2602	2803	2894	2713	0	0	0	0	0	0	14.89	14.90	14.90
7792	-0.06	31.7	2032	2601	2896	2713	236.5	-0.2	820	7793	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2600	2804	2895	2714	0	0	0	0	0	0	14.88	14.91	14.90
7972	-0.06	31.7	2031	2602	2896	2714	236.8	-0.0	838	7973	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2713	0	0	0	0	0	0	14.89	14.91	14.91
8152	-0.06	31.7	2032	2601	2896	2713	236.6	0.1	856	8153	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2713	0	0	0	0	0	0	14.89	14.91	14.91
8332	-0.06	31.7	2032	2601	2896	2713	236.7	-0.2	874	8333	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2713	0	0	0	0	0	0	14.89	14.91	14.91
8512	-0.06	31.7	2032	2601	2896	2713	237.0	-0.1	892	8513	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2713	0	0	0	0	0	0	14.89	14.91	14.91
8692	-0.06	31.7	2031	2602	2895	2714	237.0	0.1	910	8693	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2894	2713	0	0	0	0	0	0	14.89	14.91	14.91
8872	-0.06	31.7	2032	2601	2896	2713	237.0	-0.1	928	8873	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2713	0	0	0	0	0	0	14.90	14.91	14.92
9052	-0.06	31.7	2031	2602	2896	2714	237.3	-0.2	946	9053	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2894	2713	0	0	0	0	0	0	14.90	14.92	14.91
9232	-0.06	31.7	2032	2601	2896	2712	237.1	0.2	964	9233	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2602	2803	2894	2713	0	0	0	0	0	0	14.90	14.92	14.93
9412	-0.06	31.7	2032	2601	2896	2712	237.0	-0.1	982	9413	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2713	0	0	0	0	0	0	14.90	14.92	14.92
9592	-0.06	31.7	2032	2601	2896	2712	237.7	-0.5	1000	9593	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2713	0	0	0	0	0	0	14.90	14.92	14.92
9772	-0.06	31.7	2032	2601	2896	2712	238.1	-0.1	1018	9773	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2713	0	0	0	0	0	0	14.90	14.92	14.92
9952	-0.06	31.7	2032	2601	2896	2712	237.9	0.2	1036	9953	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2601	2804	2895	2713	0	0	0	0	0	0	14.90	14.92	14.92
10132	-0.06	31.7	2032	2601	2896	2712	237.5	0.1	1054	10133	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2895	2713	0	0	0	0	0	0	14.90	14.92	14.92
10312	-0.06	31.7	2032	2601	2896	2712	237.6	-0.1	1072	10313	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2804	2896	2712	0	0	0	0	0	0	14.90	14.92	14.92
10492	-0.06	31.7	2031	2602	2896	2713	237.6	0.1	1090	10493	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2894	2713	0	0	0	0	0	0	14.90	14.92	14.92
10672	-0.06	31.7	2032	2601	2896	2712	237.5	-0.0	1108	10673	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.90	14.92	14.92
10852	-0.06	31.7	2032	2601	2896	2712	237.6	0.0	1126	10853	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.90	14.92	14.92
11032	-0.06	31.7	2031	2602	2896	2713	237.3	0.2	1144	11033	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.90	14.92	14.92
11212	-0.06	31.7	2032	2601	2896	2712	237.2	-0.2	1162	11213	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.90	14.92	14.92
11392	-0.06	31.7	2032	2601	2896	2712	237.9	-0.4	1180	11393	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.90	14.92	14.92
11572	-0.06	31.7	2031	2600	2896	2712	238.1	0.1	1198	11573	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.90	14.92	14.92
11752	-0.06	31.7	2031	2602	2896	2713	237.6	0.2	1216	11753	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.90	14.92	14.92
11932	-0.06	31.7	2031	2602	2896	2713	237.6	-0.2	1234	11933	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.90	14.92	14.92
12112	-0.06	31.7	2031	2602	2895	2713	238.0	-0.2	1252	12113	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.90	14.92	14.92
12292	-0.06	31.7	2032	2601	2896	2712	238.0	0.1	1270	12293	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.90	14.92	14.92
12472	-0.06	31.7	2032	2600	2896	2712	237.9	0.1	1288	12473	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2600	2803	2895	2712	0	0	0	0	0	0	14.90	14.92	14.92
12652	-0.06	31.7	2031	2602	2896	2713	237.9	-0.0	1306	12653	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.90	14.92	14.92
12832	-0.06	31.7	2031	2602	2896	2713	238.0	-0.1	1324	12833	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2894	2712	0	0	0	0	0	0	14.90	14.93	14.92
13012	-0.06	31.7	2031	2602	2896	2713	237.9	0.1	1342	13013	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2802	2894	2711	0	0	0	0	0	0	14.90	14.92	14.92
13197	-0.06	31.7	2032	2599	2896	2711	237.7	0.1	1360	13198	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2600	2803	2895	2712	0	0	0	0	0	0	14.82	14.85	14.85
13375	-0.06	31.7	2031	2601	2896	2713	237.6	0.0	1378	13376	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.80	14.81	14.81
13555	-0.06	31.7	2031	2602	2895	2713	237.6	0.0	1396	13556	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2600	2803	2895	2712	0	0	0	0	0	0	14.77	14.79	14.79
13735	-0.06	31.7	2032	2601	2896	2715	237.6	0.1	1414	13736	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.75	14.77	14.77
13915	-0.06	31.7	2036	2601	2896	2711	237.3	0.1	1432	13916	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2711	0	0	0	0	0	0	14.73	14.75	14.75
14095	-0.06	31.7	2031	2601	2896	2711	237.3	-0.1	1450	14096	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.71	14.73	14.73
14275	-0.06	31.7	2031	2602	2895	2713	237.3	0.1	1468	14276	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2711	0	0	0	0	0	0	14.70	14.72	14.72
14455	-0.06	31.7	2032	2602	2896	2713	236.9	0.2	1486	14456	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2712	0	0	0	0	0	0	14.69	14.71	14.71
14635	-0.06	31.7	2031	2602	2896	2713	236.8	-0.1	1504	14636	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2711	0	0	0	0	0	0	14.67	14.70	14.70
14815	-0.06	31.7	2032	2601	2896	2712	237.3	-0.3	1522	14816	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2711	0	0	0	0	0	0	14.67	14.69	14.69
14995	-0.06	31.7	2032	2602	2896	2713	237.5	0.0	1540	14996	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2711	0	0	0	0	0	0	14.66	14.69	14.68
15175	-0.06	31.7	2031	2601	2896	2711	237.4	0.0	1558	15176	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2711	0	0	0	0	0	0	14.65	14.68	14.68
15355	-0.06	31.7	2032	2601	2896	2711	237.4	-0.0	1576	15356	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2803	2895	2711	0	0	0	0	0	0	14.72	14.74	14.73
15536	-0.06	31.7	2032	2601	2896	2711	237.2	0.2	1594	15536	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2601	2802	2894	2711	0	0	0	0	0	0	14.74	14.76	14.76
15672	end loiter: LOITER_COMPLETE
state	15672	begin climb
15675	0.76	146.0	2032	2601	2896	2711	237.0	0.0	1608	15777	0.90	2.88	93.12	1.766	10756	0.181	0.158	2312	1186	2341	2439	2244	0	0	0	0	0	0	14.47	13.78	13.18
15904	0.86	146.0	2313	1188	2440	2235	225.8	6.2	1650	15910	0.00	2.88	0.00	0.000	1094	0.000	0.178	2313	2608	2336	2439	2233	0	0	0	0	0	0	14.14	13.99	14.18
16095	0.96	146.0	2312	2608	2440	2228	214.0	6.2	1670	16096	0.20	0.00	0.00	0.000	2118	0.109	0.000	2390	2608	2337	2439	2235	0	0	0	0	0	0	14.21	14.30	14.28
16275	0.99	146.0	2391	2609	2440	2228	198.7	8.3	1688	16280	0.00	2.75	0.00	0.000	580	0.000	0.159	2401	1187	2332	2439	2226	0	0	0	0	0	0	14.47	14.21	14.49
16345	1.03	146.0	2401	1188	2440	2228	192.9	8.1	1702	16350	0.00	2.80	0.00	0.000	1094	0.000	0.177	2401	2600	2332	2439	2226	0	0	0	0	0	0	14.35	14.19	14.38
16536	1.09	146.0	2401	2600	2440	2224	177.2	7.8	1722	16537	0.00	0.00	0.00	0.000	70	0.000	0.000	2401	2600	2332	2439	2225	0	0	0	0	0	0	14.51	14.53	14.53
16716	1.14	146.0	2401	2600	2440	2224	163.4	7.9	1740	16721	0.10	2.38	0.00	0.000	2372	0.160	0.215	2438	3774	2331	2439	2224	0	0	0	0	0	0	14.37	14.25	14.43
16766	1.14	146.0	2438	3775	2440	2225	158.4	10.0	1750	16771	0.00	2.28	0.00	0.000	1030	0.000	0.168	2446	2592	2331	2439	2224	0	0	0	0	0	0	14.42	14.30	14.45
16957	1.17	146.0	2446	2592	2440	2223	141.5	8.4	1770	16958	0.00	0.00	0.00	0.000	70	0.000	0.000	2446	2592	2331	2439	2223	0	0	0	0	0	0	14.57	14.59	14.59
17137	1.21	146.0	2446	2594	2440	2224	126.8	8.1	1788	17142	0.00	2.42	0.00	0.000	324	0.000	0.216	2447	3778	2330	2439	2222	0	0	0	0	0	0	14.59	14.29	14.61
17182	1.23	146.0	2447	3779	2440	2222	122.8	8.7	1797	17189	0.00	2.28	0.00	0.000	1094	0.000	0.169	2455	2597	2330	2439	2222	0	0	0	0	0	0	14.47	14.33	14.50
17367	1.31	146.0	2456	2597	2440	2222	109.6	6.9	1816	17373	0.12	2.67	0.00	0.000	2628	0.154	0.156	2516	1183	2330	2439	2222	0	0	0	0	0	0	14.40	14.29	14.43
17418	1.38	146.0	2517	1182	2440	2222	105.9	7.2	1826	17423	0.00	2.80	0.00	0.000	1094	0.000	0.177	2516	2605	2330	2439	2222	0	0	0	0	0	0	14.41	14.26	14.44
17609	1.50	146.0	2517	2605	2440	2222	93.8	5.8	1846	17614	0.10	2.72	0.00	0.000	2628	0.174	0.153	2560	1178	2330	2439	2222	0	0	0	0	0	0	14.39	14.29	14.47
17670	1.60	246.0	2565	1178	2440	2221	90.5	5.2	1858	17758	0.00	2.83	78.50	1.540	9254	0.000	0.179	2560	2608	1935	2053	1817	0	0	0	0	0	0	14.44	14.28	13.26
17933	1.60	246.0	2560	2608	2053	1801	65.5	9.3	1892	17938	0.00	2.42	0.00	0.000	260	0.000	0.210	2560	3780	1930	2052	1808	0	0	0	0	0	0	14.28	13.98	14.30
18163	1.76	405.2	2560	3781	2054	1798	54.1	2.6	1938	18297	0.20	2.30	124.40	1.444	11302	0.116	0.165	2633	2599	1286	1318	1254	0	0	0	0	0	0	14.17	14.11	13.08
18473	1.78	405.2	2632	2599	1313	1245	24.1	8.6	1980	18478	0.00	2.47	0.00	0.000	324	0.000	0.207	2631	3777	1278	1311	1245	0	0	0	0	0	0	14.14	13.85	14.16
18603	1.80	405.2	2632	3778	1310	1245	11.7	8.8	2006	18608	0.00	2.35	0.00	0.000	1094	0.000	0.163	2641	2593	1276	1309	1243	0	0	0	0	0	0	14.07	13.97	14.11
18731	end climb: SURFACE_DEPTH_REACHED
state	18731	begin surface coast
18752	end surface coast: CONTROL_FINISHED_OK
state	18752	begin surface