Glider dive log

SODA Aug19 * SG227 * Dive index * Mission links * Dive 176 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 227 HEADING -1 C_ROLL_DIVE 2280 ALTIM_PING_DELTA 0

MISSION 5 ESCAPE_HEADING 180 C_ROLL_CLIMB 2250 ALTIM_FREQUENCY 13

DIVE 176 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 13 ALTIM_PULSE 3

N_DIVES 0 FIX_MISSING_TIMEOUT 2 ROLL_CNV 0.047120001 ALTIM_SENSITIVITY 2

STOP_T 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 30 XPDR_VALID 6

D_SURF 2 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 0 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 600 SM_CC 511.6958 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

D_ABORT 800 N_FILEKB 8 VBD_MIN 550 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 VBD_MAX 3960 DEEPGLIDERMB 0

D_BOOST 2 CALL_NDIVES 1 C_VBD 2636 MOTHERBOARD 6

T_BOOST 0 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_FINISH 10 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

D_PITCH 2 N_NOCOMM 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_SAFE 500 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE4 -1

D_CALL 3 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.003 DEVICE5 -1

SURFACE_URGENCY 4 UPLOAD_DIVES_MAX 3 UNCOM_BLEED 400 DEVICE6 -1

SURFACE_URGENCY_TRY 4 CALL_TRIES 3 VBD_MAXERRORS 2 LOGGERS 7

SURFACE_URGENCY_FORCE 8 CALL_WAIT 45 W_ADJ_DBAND 0 LOGGERDEVICE1 7

T_DIVE 210 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 300 CAPMAXSIZE 10000 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_GPS 3 LOITER_DBDW 0 LOGGERDEVICE4 -1

T_TURN 225 N_GPS 50860 LOITER_D_TOP 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 T_RSLEEP 2 LOITER_D_BOTTOM 0 COMPASS2_DEVICE 55

T_NO_W 120 STROBE 0 LOITER_N_DIVE 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_PEAK_OFFSET 0 CF8_MAXERRORS 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_CORR_THRESH 60 AH0_24V 575 RAFOS_DEVICE 104

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 0

USE_ICE 1 RAFOS_MMODEM 0 MINV_24V 0 SIM_W 0

ICE_FREEZE_MARGIN 0.1 PITCH_MIN 160 MINV_10V 0 SEABIRD_T_G 0.0043851961

D_OFFGRID 100 PITCH_MAX 3830 MAXI_24V 5 SEABIRD_T_H 0.00063407799

RELAUNCH 1 C_PITCH 2150 MAXI_10V 2 SEABIRD_T_I 2.5652189e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 13.25671 SEABIRD_T_J 2.9095588e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 31.93788 SEABIRD_C_G -9.6619873

GLIDE_SLOPE 30 PITCH_GAIN 36 PHONE_SUPPLY 2 SEABIRD_C_H 1.1246239

SPEED_FACTOR 1 PITCH_TIMEOUT 40 PRESSURE_YINT -148.83586 SEABIRD_C_I -0.0018771546

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010809835 SEABIRD_C_J 0.00021465076

MASS 72247 PITCH_ADJ_GAIN 0.029999999 COMPASS_USE 4 SC_RECORDABOVE 2000.0

NAV_MODE 0 PITCH_ADJ_DBAND 1 ALTIM_PING_FIT 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_NDIVE 1.0

HD_A 0.00272 ROLL_MIN 310 ALTIM_TOP_TURN_MARGIN 0

HD_B 0.0117 ROLL_MAX 3940 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 1.6e-05 ROLL_DEG 60 ALTIM_PING_DEPTH 0

AH0_10V 0 D_PITCH 2 N_FILEKB 8 SEABIRD_T_G 0.0043851961

AH0_24V 575 D_SAFE 500 N_GPS 50860 SEABIRD_T_H 0.00063407799

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 0 SEABIRD_T_I 2.5652189e-05

ALTIM_FREQUENCY 13 D_TGT 600 N_NOSURFACE 0 SEABIRD_T_J 2.9095588e-06

ALTIM_PING_DELTA 0 ESCAPE_HEADING 180 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 511.6958

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 13.25671 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 31.93788 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 2 PITCH_DBAND 0.1 SURFACE_URGENCY 4

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 2 PITCH_GAIN 36 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3830 SURFACE_URGENCY_TRY 4

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_A 0.00272 PITCH_MIN 160 TGT_DEFAULT_LAT 4736

CALL_TRIES 3 HD_B 0.0117 PITCH_TIMEOUT 40 TGT_DEFAULT_LON -12218

CALL_WAIT 45 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

CAPMAXSIZE 10000 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPUPLOAD 0 HEAD_ERRBAND 13 PITCH_W_GAIN 0 T_DIVE 210

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.1 PRESSURE_SLOPE 0.00010809835 T_EPIRB 0

COMM_SEQ 0 ID 227 PRESSURE_YINT -148.83586 T_GPS 3

COMPASS2_DEVICE 55 INT_PRESSURE_SLOPE 1.9639999e-06 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0 RAFOS_CORR_THRESH 60 T_MISSION 300

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 2150 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

C_ROLL_CLIMB 2250 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2280 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_VBD 2636 LOGGERDEVICE4 -1 RELAUNCH 1 UNCOM_BLEED 400

DBDW 0 LOGGERS 7 RHO 1.0275 UPLOAD_DIVES_MAX 3

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDERMB 0 LOITER_D_BOTTOM 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_TOP 0 ROLL_CNV 0.047120001 VBD_CNV -0.24529999

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_DEG 60 VBD_DBAND 2

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_MAX 3940 VBD_LP_IGNORE 0

DEVICE4 -1 MASS 72247 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE5 -1 MAXI_10V 2 ROLL_MIN 310 VBD_MAXERRORS 2

DEVICE6 -1 MAXI_24V 5 ROLL_TIMEOUT 30 VBD_MIN 550

DIVE 176 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_ABORT 800 MINV_10V 0 SC_PROFILE 3.0 W_ADJ_DBAND 0

D_BOOST 2 MINV_24V 0 SC_RECORDABOVE 2000.0 XPDR_DEVICE 0

D_CALL 3 MISSION 5 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_FINISH 10 MOTHERBOARD 6 SEABIRD_C_G -9.6619873 XPDR_VALID 6

D_FLARE 3 NAV_MODE 0 SEABIRD_C_H 1.1246239

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0018771546

D_OFFGRID 100 N_DIVES 0 SEABIRD_C_J 0.00021465076

Pre-dive calculations and measurements:

GPS1 070919,021140,7325.993,-14812.816,17,1.0,19,17.2 TGT_LATLONG 7300.000,-14820.200

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo -2.92 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -61.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 070919,021933,7326.022,-14812.587,4,1.0,7,17.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.165,0.234 MHEAD_RNG_PITCHd_Wd 167.7,48370,-17.4,-9.524,-22.18

TGT_NAME SODAA D_GRID 600

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20190907040033.949016,18,18502,42,0097,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3E TEMP 1.76

FREEZE -0.60,3.717,-1.538,2,1,0 INTERNAL_PRESSURE 8.52956

FINISH -0.6,1.022435 _24V_AH 14.51,70.283

SM_CCo 12811.85,0.00,0.000,0,544.4,739.2,349.7,513.06 _10V_AH 14.88,0.000

SM_GC -1.35,0.00,9.31,0.11,0.000,0.161,0.053,544.4,739.2,349.7,142.7,2215.1,0,0,0,30.00,15.44,15.54 FG_AHR_24Vo 32.088

SUPER 51,71,254,1,0,0 FG_AHR_10Vo 13.324

IRIDIUM_FIX 7326.24,-14822.07,060919,223038 MEM 1155028,31,24180,64

TCM_TEMP 8.60 DATA_FILE_SIZE 38507,1297

XPDR_PINGS 81 CAP_FILE_SIZE 348682,0

SC_FREEKB 3732800 SDSIZE 3918848,3868256

RAFOS_CLK -9 SDFILEDIR 918,1

MODEM 0,1567828833,73.00043,-148.33627,33.949,49735.3 ERRORS 0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7326.791504,-14812.230469,070919,040433,1,2,0.24 SOUNDSPEED 1465.0

HUMID 55.96 GPS 070919,055533,7325.048,-14811.217,43,0.9,101,17.2

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 632 1983 18209.59 nil 0 0 0.00

Pitch_motor 23 397 133.07 nil 0 0 0.00

Roll_motor 210 87 266.22 nil 0 0 0.00

Iridium 330 198 951.22 nil 0 0 0.00

Transponder_ping 20 420 123.41 nil 0 0 0.00

GPS 16 11 2.81 nil 0 0 0.00

Core 3555 11 609.43 SciCon 12772 16 3055.39

LPSleep 9702 2 333.50 nil 0 0 0.00

Compass 1340 5 99.72 nil 0 0 0.00

RAFOS 2217 48 1583.47

Transponder 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

3 end surface: CONTROL_FINISHED_OK

state 3 begin dive

4.70 2 -145.99 -0.92 0.00 542.2 731.9 352.6 140.9 2324.4 0.00 0.00 0 87.34 82.09 0.00 0.00 0.005 0.000 0.000 2074.88 2099.56 2050.19 140.12 2326.69 0 0 0 15.53 30.00 30.00

87.56 519 -145.99 -0.92 -60.00 2075.0 2100.3 2049.8 140.1 2326.8 3.38 -11.62 8 128.36 24.15 7.99 3.84 0.006 0.398 0.047 3232.53 3172.25 3292.81 1870.25 990.00 0 0 0 15.52 15.33 15.54

220.37 1157 -145.99 -0.60 0.00 3232.6 3173.1 3292.0 1871.1 990.4 47.51 -23.22 33 226.49 0.00 0.38 3.66 0.000 0.256 0.022 3233.94 3174.00 3293.88 1958.75 2298.12 0 0 0 30.00 15.58 15.69

405.65 644 -145.99 -0.52 -60.00 3232.2 3172.9 3291.4 1959.2 2299.2 76.53 -14.27 52 411.21 0.00 0.00 3.78 0.000 0.000 0.047 3232.78 3173.75 3291.81 1976.25 991.25 0 0 0 30.00 30.00 15.70

445.75 1156 -145.99 -0.45 0.00 3231.9 3172.9 3290.9 1975.7 990.4 82.21 -14.33 60 451.19 0.00 0.00 3.64 0.000 0.000 0.022 3232.25 3172.69 3291.81 1960.56 2303.19 0 0 0 30.00 30.00 15.72

635.61 129 -145.99 -0.38 0.00 3231.8 3172.9 3290.8 1960.6 2304.2 107.76 -13.71 80 637.07 0.00 0.25 0.00 0.000 0.218 0.000 3232.50 3173.12 3291.88 2030.62 2303.94 0 0 0 30.00 15.66 30.00

815.80 128 -145.99 -0.44 0.00 3232.3 3173.4 3291.3 2030.4 2303.9 126.97 -10.27 98 817.13 0.00 0.00 0.00 0.000 0.000 0.000 3231.75 3173.75 3289.75 2030.69 2304.00 0 0 0 30.00 30.00 30.00

995.84 421 -145.99 -0.51 60.00 3232.3 3173.9 3290.8 2030.4 2304.4 144.57 -9.09 116 1001.55 0.00 0.16 3.53 0.000 0.106 0.057 3232.59 3174.12 3291.06 1951.94 3565.12 0 0 0 30.00 15.79 15.82

1010.49 1188 -145.99 -0.56 0.00 3232.2 3173.7 3290.8 1951.6 3565.9 146.17 -9.48 119 1016.39 0.00 0.00 3.56 0.000 0.000 0.015 3234.19 3175.06 3293.31 1964.88 2245.38 0 0 0 30.00 30.00 15.83

1195.63 260 -145.99 -0.56 60.00 3232.3 3173.9 3290.8 1964.8 2225.6 167.30 -11.16 138 1201.72 0.00 0.00 3.79 0.000 0.000 0.056 3233.75 3175.50 3292.00 1949.19 3566.81 0 0 0 30.00 30.00 15.82

1225.60 1028 -145.99 -0.56 0.00 3232.3 3174.4 3290.1 1949.7 3567.0 170.89 -11.72 144 1231.26 0.00 0.00 3.56 0.000 0.000 0.016 3234.94 3176.38 3293.50 1962.38 2248.44 0 0 0 30.00 30.00 15.83

1415.71 0 -145.99 -0.56 0.00 3232.4 3174.1 3290.7 1963.0 2226.1 191.72 -10.55 164 1417.04 0.00 0.00 0.00 0.000 0.000 0.000 3232.34 3174.31 3290.38 1963.06 2226.19 0 0 0 30.00 30.00 30.00

1595.89 420 -145.99 -0.59 60.00 3232.2 3173.8 3290.5 1963.4 2226.4 209.48 -9.43 182 1601.60 0.00 0.00 3.78 0.000 0.000 0.056 3233.25 3175.25 3291.25 1947.12 3567.62 0 0 0 30.00 30.00 15.87

1825.92 1188 -145.99 -0.65 0.00 3232.4 3174.7 3290.1 1947.6 3568.2 230.41 -7.67 228 1831.64 0.00 0.00 3.55 0.000 0.000 0.015 3232.47 3175.06 3289.88 1961.00 2244.44 0 0 0 30.00 30.00 15.90

2015.84 677 -145.99 -0.74 -60.00 3232.1 3174.7 3289.4 1960.6 2228.9 244.32 -6.49 248 2021.43 0.00 0.16 3.50 0.000 0.103 0.048 3232.31 3174.44 3290.19 1907.00 990.19 0 0 0 30.00 15.88 15.90

2175.72 1188 -145.99 -0.70 0.00 3232.1 3174.0 3290.2 1907.2 990.6 257.58 -7.74 280 2181.47 0.00 0.00 3.60 0.000 0.000 0.021 3232.38 3174.69 3290.06 1894.19 2304.44 0 0 0 30.00 30.00 15.90

2375.96 33 -145.99 -0.70 0.00 3231.7 3174.1 3289.3 1893.8 2305.7 273.55 -7.97 290 2377.41 0.00 0.12 0.00 0.000 0.240 0.000 3230.53 3173.25 3287.81 1928.00 2305.44 0 0 0 30.00 15.85 30.00

2555.93 420 -145.99 -0.77 60.00 3232.1 3175.2 3289.0 1928.1 2305.7 286.06 -6.97 296 2561.51 0.00 0.00 3.51 0.000 0.000 0.058 3232.84 3175.50 3290.19 1914.06 3565.69 0 0 0 30.00 30.00 15.93

2570.76 1188 -145.99 -0.83 0.00 3231.4 3174.5 3288.2 1914.8 3566.8 287.12 -6.97 299 2576.76 0.00 0.00 3.54 0.000 0.000 0.015 3232.66 3175.50 3289.81 1927.75 2243.19 0 0 0 30.00 30.00 15.95

2766.17 161 -145.99 -0.90 0.00 3230.8 3173.9 3287.6 1927.1 2233.1 300.92 -7.09 308 2767.64 0.00 0.22 0.00 0.000 0.098 0.000 3231.88 3174.88 3288.88 1843.88 2225.50 0 0 0 30.00 15.92 30.00

2946.08 129 -145.99 -0.82 0.00 3230.8 3174.4 3287.2 1844.6 2224.6 318.13 -9.71 314 2947.53 0.00 0.17 0.00 0.000 0.233 0.000 3230.34 3174.25 3286.44 1890.56 2219.50 0 0 0 30.00 15.87 30.00

3126.06 292 -145.99 -0.82 60.00 3230.5 3174.1 3286.9 1890.8 2219.4 332.73 -8.02 320 3131.59 0.00 0.00 3.77 0.000 0.000 0.055 3233.31 3176.38 3290.25 1875.69 3567.44 0 0 0 30.00 30.00 15.95

3145.81 1060 -145.99 -0.82 0.00 3231.0 3175.1 3286.9 1876.2 3567.6 334.43 -8.20 324 3151.81 0.00 0.00 3.55 0.000 0.000 0.015 3231.66 3174.88 3288.44 1888.31 2244.75 0 0 0 30.00 30.00 15.96

3336.05 292 -145.99 -0.82 60.00 3231.0 3174.9 3287.0 1888.8 2229.7 349.57 -7.92 332 3341.89 0.00 0.00 3.77 0.000 0.000 0.056 3231.12 3175.44 3286.81 1874.25 3565.81 0 0 0 30.00 30.00 15.94

3350.81 1060 -145.99 -0.82 0.00 3230.2 3174.4 3286.1 1874.2 3566.0 350.86 -7.98 335 3356.82 0.00 0.00 3.54 0.000 0.000 0.016 3232.53 3175.50 3289.56 1884.94 2244.31 0 0 0 30.00 30.00 15.96

3546.07 292 -145.99 -0.82 60.00 3230.8 3175.0 3286.5 1885.1 2227.5 366.96 -8.21 344 3551.64 0.00 0.00 3.77 0.000 0.000 0.056 3230.62 3174.62 3286.62 1870.56 3568.88 0 0 0 30.00 30.00 15.95

3775.94 1060 -145.99 -0.82 0.00 3229.3 3173.8 3284.9 1870.4 3566.9 387.98 -8.96 390 3781.95 0.00 0.00 3.54 0.000 0.000 0.016 3230.56 3174.94 3286.19 1881.88 2246.75 0 0 0 30.00 30.00 15.97

3966.33 548 -145.99 -0.82 -60.00 3230.0 3175.2 3284.8 1881.7 2228.8 403.24 -7.95 398 3971.70 0.00 0.00 3.49 0.000 0.000 0.050 3232.09 3176.44 3287.75 1895.19 991.56 0 0 0 30.00 30.00 15.98

4101.00 1060 -145.99 -0.82 0.00 3230.0 3174.9 3285.1 1896.5 991.4 414.48 -8.28 425 4107.02 0.00 0.00 3.60 0.000 0.000 0.021 3230.41 3175.12 3285.69 1882.38 2305.69 0 0 0 30.00 30.00 15.99

4296.37 548 -145.99 -0.82 -60.00 3230.3 3174.8 3285.8 1882.1 2305.9 429.98 -7.92 434 4301.84 0.00 0.00 3.73 0.000 0.000 0.048 3229.88 3174.12 3285.62 1895.75 991.31 0 0 0 30.00 30.00 15.98

4526.10 1060 -145.99 -0.82 0.00 3229.6 3174.4 3284.8 1895.8 991.2 448.62 -7.97 480 4531.85 0.00 0.00 3.59 0.000 0.000 0.021 3230.03 3174.12 3285.94 1881.56 2303.88 0 0 0 30.00 30.00 16.00

4716.31 292 -145.99 -0.82 60.00 3229.8 3174.2 3285.4 1881.6 2305.3 463.36 -7.79 488 4721.84 0.00 0.00 3.49 0.000 0.000 0.058 3232.28 3176.81 3287.75 1864.19 3568.00 0 0 0 30.00 30.00 15.99

4916.15 1060 -145.99 -0.82 0.00 3229.7 3174.9 3284.6 1865.7 3568.5 481.04 -8.77 528 4922.18 0.00 0.00 3.54 0.000 0.000 0.015 3229.72 3175.06 3284.38 1876.88 2244.38 0 0 0 30.00 30.00 16.01

5106.49 292 -145.99 -0.82 60.00 3229.7 3174.6 3284.8 1876.6 2231.2 495.90 -7.74 536 5111.97 0.00 0.00 3.74 0.000 0.000 0.055 3229.31 3174.75 3283.88 1861.69 3567.00 0 0 0 30.00 30.00 16.01

5126.43 1060 -145.99 -0.82 0.00 3229.6 3174.7 3284.6 1860.9 3566.6 497.59 -7.74 540 5132.19 0.00 0.00 3.54 0.000 0.000 0.015 3231.22 3176.44 3286.00 1872.50 2243.69 0 0 0 30.00 30.00 16.02

5316.45 292 -145.99 -0.82 60.00 3229.8 3174.5 3285.0 1873.3 2242.2 512.46 -7.93 548 5322.24 0.00 0.00 3.75 0.000 0.000 0.055 3231.12 3175.94 3286.31 1857.75 3565.88 0 0 0 30.00 30.00 15.99

5546.25 1060 -145.99 -0.82 0.00 3229.8 3174.7 3285.0 1857.8 3566.3 533.26 -8.96 594 5552.27 0.00 0.00 3.53 0.000 0.000 0.015 3229.72 3174.62 3284.81 1870.75 2245.75 0 0 0 30.00 30.00 16.01

5736.57 548 -145.99 -0.82 -60.00 3229.5 3174.6 3284.4 1871.1 2244.2 548.53 -7.99 602 5742.27 0.00 0.00 3.48 0.000 0.000 0.049 3230.38 3175.06 3285.69 1884.31 991.44 0 0 0 30.00 30.00 16.01

5886.47 1060 -145.99 -0.82 0.00 3229.7 3174.8 3284.6 1883.8 990.4 561.05 -8.26 632 5892.34 0.00 0.00 3.59 0.000 0.000 0.021 3230.12 3175.31 3284.94 1870.25 2306.06 0 0 0 30.00 30.00 16.02

6096.54 32 -145.99 -0.82 0.00 3229.6 3175.1 3284.1 1870.2 2306.7 577.78 -7.93 644 6097.88 0.00 0.00 0.00 0.000 0.000 0.000 3228.62 3173.94 3283.31 1870.25 2306.62 0 0 0 30.00 30.00 30.00

6276.54 548 -145.99 -0.82 -60.00 3229.8 3175.4 3284.2 1870.0 2306.8 591.87 -7.80 650 6282.13 0.00 0.00 3.74 0.000 0.000 0.048 3232.12 3177.50 3286.75 1882.38 991.56 0 0 0 30.00 30.00 15.96

6376 end dive: TARGET_DEPTH_EXCEEDED

state 6376 begin apogee

6381.26 3 0.00 -0.14 0.00 3230.0 3175.5 3284.6 1869.6 2276.4 600.07 -8.07 670 6496.20 112.69 0.80 0.17 1.983 0.199 0.087 2634.41 2708.81 2560.00 2108.75 2179.94 0 0 0 12.67 15.87 15.26

6497 end apogee: CONTROL_FINISHED_OK

state 6497 begin climb

6497.44 519 145.99 0.92 -60.00 2632.8 2708.5 2557.2 2108.9 2179.4 602.06 0.00 677 6623.71 119.50 1.08 3.63 1.890 0.125 0.055 2037.06 2211.75 1862.38 2466.81 963.31 0 0 0 12.44 15.29 14.96

6845.60 1030 145.99 0.92 0.00 2027.6 2200.9 1854.3 2466.6 962.7 567.45 11.24 731 6851.41 0.00 0.00 3.72 0.000 0.000 0.021 2027.31 2199.81 1854.81 2453.62 2272.44 0 0 0 30.00 30.00 15.40

7040.86 262 145.99 0.92 60.00 2025.5 2197.8 1853.2 2453.5 2273.4 546.08 10.94 740 7046.66 0.00 0.00 3.62 0.000 0.000 0.056 2025.94 2197.88 1854.00 2439.06 3536.31 0 0 0 30.00 30.00 15.52

7270.74 1158 145.99 0.88 0.00 2023.1 2193.1 1853.0 2438.4 3537.5 519.61 11.38 786 7276.77 0.00 0.00 3.63 0.000 0.000 0.017 2022.75 2191.88 1853.62 2453.56 2220.56 0 0 0 30.00 30.00 15.61

7461.03 391 145.99 0.85 60.00 2022.4 2191.6 1853.2 2454.6 2208.0 498.59 11.04 794 7466.90 0.00 0.14 3.82 0.000 0.231 0.055 2023.94 2193.38 1854.50 2396.81 3536.94 0 0 0 30.00 15.57 15.65

7525.83 1159 145.99 0.90 0.00 2021.5 2189.8 1853.2 2398.6 3536.8 492.06 9.76 807 7531.86 0.00 0.08 3.62 0.000 0.132 0.017 2023.47 2191.44 1855.50 2450.50 2215.00 0 0 0 30.00 15.64 15.67

7731.00 2 145.99 0.90 0.00 2021.5 2189.4 1853.6 2450.8 2210.9 470.37 10.69 818 7732.33 0.00 0.00 0.00 0.000 0.000 0.000 2020.56 2189.62 1851.50 2449.69 2211.81 0 0 0 30.00 30.00 30.00

7910.99 2 145.99 0.90 0.00 2021.1 2188.9 1853.4 2450.2 2210.4 450.46 11.09 824 7912.33 0.00 0.00 0.00 0.000 0.000 0.000 2020.59 2189.00 1852.19 2450.06 2210.56 0 0 0 30.00 30.00 30.00

8090.98 2 145.99 0.90 0.00 2021.1 2188.8 1853.4 2450.2 2210.5 430.56 11.08 830 8092.31 0.00 0.00 0.00 0.000 0.000 0.000 2020.06 2188.06 1852.06 2449.94 2210.81 0 0 0 30.00 30.00 30.00

8271.01 2 145.99 0.90 0.00 2020.8 2188.6 1853.1 2450.3 2210.3 410.96 10.89 836 8272.35 0.00 0.00 0.00 0.000 0.000 0.000 2019.72 2187.50 1851.94 2450.56 2210.38 0 0 0 30.00 30.00 30.00

8451.26 2 145.99 0.90 0.00 2020.9 2188.8 1853.1 2450.2 2210.8 391.57 10.72 842 8452.60 0.00 0.00 0.00 0.000 0.000 0.000 2020.31 2187.69 1852.94 2450.75 2210.94 0 0 0 30.00 30.00 30.00

8631.08 262 145.99 0.90 60.00 2020.2 2187.5 1852.8 2450.9 2210.0 372.61 10.52 848 8636.66 0.00 0.00 3.79 0.000 0.000 0.054 2021.91 2188.75 1855.06 2436.56 3535.88 0 0 0 30.00 30.00 15.85

8691.16 1030 145.99 0.90 0.00 2019.3 2185.5 1853.1 2437.4 3536.4 365.73 11.51 860 8696.91 0.00 0.00 3.56 0.000 0.000 0.016 2019.28 2185.31 1853.25 2452.06 2217.94 0 0 0 30.00 30.00 15.85

8901.25 2 145.99 0.90 0.00 2019.4 2185.5 1853.4 2452.1 2208.8 343.34 10.66 872 8902.59 0.00 0.00 0.00 0.000 0.000 0.000 2018.56 2184.94 1852.19 2452.06 2209.06 0 0 0 30.00 30.00 30.00

9081.01 2 145.99 0.90 0.00 2019.3 2185.0 1853.6 2452.3 2208.9 324.87 10.27 878 9082.35 0.00 0.00 0.00 0.000 0.000 0.000 2018.94 2184.75 1853.12 2452.38 2208.88 0 0 0 30.00 30.00 30.00

9261.14 2 145.99 0.90 0.00 2018.9 2185.0 1852.8 2451.9 2209.1 306.72 10.03 884 9262.47 0.00 0.00 0.00 0.000 0.000 0.000 2018.72 2184.75 1852.69 2452.56 2208.50 0 0 0 30.00 30.00 30.00

9441.19 262 145.99 0.90 60.00 2019.5 2185.2 1853.9 2451.5 2208.4 288.96 9.77 890 9447.01 0.00 0.00 3.77 0.000 0.000 0.053 2019.75 2185.94 1853.56 2438.31 3537.81 0 0 0 30.00 30.00 15.91

9490.95 1030 145.99 0.90 0.00 2017.9 2183.2 1852.6 2438.1 3537.9 283.85 10.26 900 9496.98 0.00 0.00 3.55 0.000 0.000 0.016 2018.34 2183.69 1853.00 2454.00 2217.62 0 0 0 30.00 30.00 15.94

9681.17 548 151.17 0.91 -60.00 2018.4 2183.8 1853.0 2453.3 2209.4 266.10 9.29 908 9687.00 0.00 0.00 3.51 0.000 0.000 0.051 2018.84 2184.12 1853.56 2469.94 961.75 0 0 0 30.00 30.00 15.93

9720.97 1028 151.17 0.91 0.00 2017.9 2183.0 1852.8 2469.2 961.5 262.24 9.64 916 9727.00 0.00 0.00 3.59 0.000 0.000 0.019 2019.06 2183.75 1854.38 2455.12 2276.75 0 0 0 30.00 30.00 15.95

9911.25 422 165.26 0.99 60.00 2017.8 2182.7 1852.8 2455.1 2277.3 245.21 8.90 929 9932.12 13.95 0.00 3.52 1.439 0.000 0.058 1960.72 2122.69 1798.75 2440.31 3537.00 0 0 0 12.68 30.00 15.77

9961.27 1191 184.42 1.10 0.00 1959.3 2121.0 1797.6 2440.6 3536.5 240.82 8.67 939 9984.52 17.58 0.14 3.56 1.442 0.106 0.016 1881.78 2044.50 1719.06 2515.62 2204.81 0 0 0 12.70 15.84 15.87

10166.72 34 195.60 1.13 0.00 1878.2 2040.2 1716.1 2516.6 2204.9 222.26 9.02 962 10178.88 10.80 0.00 0.00 1.318 0.000 0.000 1836.75 1999.75 1673.75 2516.44 2205.19 0 0 0 12.57 30.00 30.00

10356.55 294 231.01 1.24 60.00 1834.3 1997.1 1671.6 2516.4 2205.0 207.45 7.94 981 10392.89 29.23 0.00 3.83 1.451 0.000 0.055 1692.62 1854.81 1530.44 2503.44 3538.88 0 0 0 12.60 30.00 15.60

10506.76 1191 276.15 1.42 0.00 1689.1 1848.2 1530.0 2503.3 3538.4 195.93 7.51 1011 10548.20 35.81 0.25 3.60 1.434 0.099 0.015 1510.34 1673.38 1347.31 2617.19 2209.50 0 0 0 12.50 15.68 15.73

10726.60 644 276.15 1.37 -60.00 1503.5 1666.2 1340.9 2617.6 2209.3 173.11 10.21 1037 10732.46 0.00 0.00 3.57 0.000 0.000 0.052 1504.19 1666.88 1341.50 2632.25 961.62 0 0 0 30.00 30.00 15.65

10806.70 1159 276.15 1.33 0.00 1501.6 1664.4 1338.7 2632.1 961.5 164.45 10.74 1053 10812.31 0.00 0.18 3.64 0.000 0.223 0.019 1501.78 1664.81 1338.75 2566.81 2280.44 0 0 0 30.00 15.60 15.70

10996.83 163 325.15 1.54 0.00 1501.0 1664.3 1337.6 2566.8 2280.8 149.58 7.34 1073 11037.72 38.31 0.23 0.00 1.398 0.093 0.000 1309.56 1480.69 1138.44 2658.31 2281.12 0 0 0 12.58 15.72 30.00

11216.88 260 325.15 1.54 60.00 1304.7 1475.7 1133.8 2657.7 2280.8 128.60 9.62 1095 11222.54 0.00 0.00 3.56 0.000 0.000 0.056 1305.72 1476.56 1134.88 2644.62 3536.56 0 0 0 30.00 30.00 15.65

11271.52 1156 325.15 1.49 0.00 1303.4 1473.2 1133.6 2645.1 3537.6 122.87 10.66 1106 11277.42 0.00 0.00 3.61 0.000 0.000 0.017 1303.84 1473.69 1134.00 2659.75 2219.56 0 0 0 30.00 30.00 15.66

11456.76 517 325.15 1.49 -60.00 1302.6 1472.9 1132.2 2659.4 2213.4 104.78 9.78 1125 11462.37 0.00 0.15 3.57 0.000 0.236 0.053 1303.47 1473.81 1133.12 2631.06 963.06 0 0 0 30.00 15.63 15.71

11511.62 1190 341.10 1.61 0.00 1302.2 1472.5 1131.8 2631.9 962.8 99.81 8.81 1136 11529.97 13.40 0.00 3.64 1.261 0.000 0.019 1245.38 1420.62 1070.12 2618.81 2276.25 0 0 0 12.56 30.00 15.72

11712.19 163 365.87 1.75 0.00 1242.5 1417.9 1067.1 2618.4 2275.8 83.47 8.42 1158 11734.63 21.01 0.28 0.00 1.302 0.092 0.000 1145.34 1324.31 966.38 2725.69 2275.81 0 0 0 12.55 15.69 30.00

11917.08 129 365.87 1.69 60.00 1141.2 1320.7 961.8 2727.1 2275.8 59.23 11.43 1180 11918.53 0.00 0.16 0.00 0.000 0.229 0.000 1140.59 1319.88 961.31 2683.88 2278.19 0 0 0 30.00 15.62 30.00

12097.17 128 365.87 1.74 60.00 1139.8 1319.6 960.1 2683.6 2277.9 42.09 9.58 1198 12098.50 0.00 0.00 0.00 0.000 0.000 0.000 1139.47 1319.19 959.75 2683.12 2277.44 0 0 0 30.00 30.00 30.00

12277.20 679 411.72 1.92 -60.00 1139.0 1318.6 959.4 2683.4 2277.9 27.46 7.48 1216 12319.95 36.92 0.24 3.85 1.272 0.097 0.054 957.53 1145.44 769.62 2794.69 963.12 0 0 0 12.56 15.74 15.55

12542.10 1191 612.44 2.58 0.00 952.5 1143.9 761.1 2795.3 962.8 18.36 0.56 1269 12625.77 77.36 0.58 3.63 1.225 0.084 0.017 550.38 749.75 351.00 2987.75 2285.00 0 0 0 12.60 15.64 15.70

12727 end climb: SURFACE_DEPTH_REACHED

state 12727 begin surface coast

12738 end surface coast: CONTROL_FINISHED_OK

state 12738 begin surface

ID	227	HEADING	-1	C_ROLL_DIVE	2280	ALTIM_PING_DELTA	0
MISSION	5	ESCAPE_HEADING	180	C_ROLL_CLIMB	2250	ALTIM_FREQUENCY	13
DIVE	176	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	13	ALTIM_PULSE	3
N_DIVES	0	FIX_MISSING_TIMEOUT	2	ROLL_CNV	0.047120001	ALTIM_SENSITIVITY	2
STOP_T	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	30	XPDR_VALID	6
D_SURF	2	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	0	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	600	SM_CC	511.6958	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
D_ABORT	800	N_FILEKB	8	VBD_MIN	550	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	VBD_MAX	3960	DEEPGLIDERMB	0
D_BOOST	2	CALL_NDIVES	1	C_VBD	2636	MOTHERBOARD	6
T_BOOST	0	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_FINISH	10	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
D_PITCH	2	N_NOCOMM	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_SAFE	500	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE4	-1
D_CALL	3	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.003	DEVICE5	-1
SURFACE_URGENCY	4	UPLOAD_DIVES_MAX	3	UNCOM_BLEED	400	DEVICE6	-1
SURFACE_URGENCY_TRY	4	CALL_TRIES	3	VBD_MAXERRORS	2	LOGGERS	7
SURFACE_URGENCY_FORCE	8	CALL_WAIT	45	W_ADJ_DBAND	0	LOGGERDEVICE1	7
T_DIVE	210	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	300	CAPMAXSIZE	10000	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_GPS	3	LOITER_DBDW	0	LOGGERDEVICE4	-1
T_TURN	225	N_GPS	50860	LOITER_D_TOP	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	T_RSLEEP	2	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	55
T_NO_W	120	STROBE	0	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_PEAK_OFFSET	0	CF8_MAXERRORS	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_CORR_THRESH	60	AH0_24V	575	RAFOS_DEVICE	104
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	0
USE_ICE	1	RAFOS_MMODEM	0	MINV_24V	0	SIM_W	0
ICE_FREEZE_MARGIN	0.1	PITCH_MIN	160	MINV_10V	0	SEABIRD_T_G	0.0043851961
D_OFFGRID	100	PITCH_MAX	3830	MAXI_24V	5	SEABIRD_T_H	0.00063407799
RELAUNCH	1	C_PITCH	2150	MAXI_10V	2	SEABIRD_T_I	2.5652189e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	13.25671	SEABIRD_T_J	2.9095588e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	31.93788	SEABIRD_C_G	-9.6619873
GLIDE_SLOPE	30	PITCH_GAIN	36	PHONE_SUPPLY	2	SEABIRD_C_H	1.1246239
SPEED_FACTOR	1	PITCH_TIMEOUT	40	PRESSURE_YINT	-148.83586	SEABIRD_C_I	-0.0018771546
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010809835	SEABIRD_C_J	0.00021465076
MASS	72247	PITCH_ADJ_GAIN	0.029999999	COMPASS_USE	4	SC_RECORDABOVE	2000.0
NAV_MODE	0	PITCH_ADJ_DBAND	1	ALTIM_PING_FIT	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_NDIVE	1.0
HD_A	0.00272	ROLL_MIN	310	ALTIM_TOP_TURN_MARGIN	0
HD_B	0.0117	ROLL_MAX	3940	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	1.6e-05	ROLL_DEG	60	ALTIM_PING_DEPTH	0

GPS1	070919,021140,7325.993,-14812.816,17,1.0,19,17.2	TGT_LATLONG	7300.000,-14820.200
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	-2.92	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-61.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	070919,021933,7326.022,-14812.587,4,1.0,7,17.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.165,0.234	MHEAD_RNG_PITCHd_Wd	167.7,48370,-17.4,-9.524,-22.18
TGT_NAME	SODAA	D_GRID	600

MODEM_MSG	CACST,6,1,20190907040033.949016,18,18502,42,0097,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3E	TEMP	1.76
FREEZE	-0.60,3.717,-1.538,2,1,0	INTERNAL_PRESSURE	8.52956
FINISH	-0.6,1.022435	_24V_AH	14.51,70.283
SM_CCo	12811.85,0.00,0.000,0,544.4,739.2,349.7,513.06	_10V_AH	14.88,0.000
SM_GC	-1.35,0.00,9.31,0.11,0.000,0.161,0.053,544.4,739.2,349.7,142.7,2215.1,0,0,0,30.00,15.44,15.54	FG_AHR_24Vo	32.088
SUPER	51,71,254,1,0,0	FG_AHR_10Vo	13.324
IRIDIUM_FIX	7326.24,-14822.07,060919,223038	MEM	1155028,31,24180,64
TCM_TEMP	8.60	DATA_FILE_SIZE	38507,1297
XPDR_PINGS	81	CAP_FILE_SIZE	348682,0
SC_FREEKB	3732800	SDSIZE	3918848,3868256
RAFOS_CLK	-9	SDFILEDIR	918,1
MODEM	0,1567828833,73.00043,-148.33627,33.949,49735.3	ERRORS	0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7326.791504,-14812.230469,070919,040433,1,2,0.24	SOUNDSPEED	1465.0
HUMID	55.96	GPS	070919,055533,7325.048,-14811.217,43,0.9,101,17.2

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	632	1983	18209.59	nil	0	0	0.00
Pitch_motor	23	397	133.07	nil	0	0	0.00
Roll_motor	210	87	266.22	nil	0	0	0.00
Iridium	330	198	951.22	nil	0	0	0.00
Transponder_ping	20	420	123.41	nil	0	0	0.00
GPS	16	11	2.81	nil	0	0	0.00
Core	3555	11	609.43	SciCon	12772	16	3055.39
LPSleep	9702	2	333.50	nil	0	0	0.00
Compass	1340	5	99.72	nil	0	0	0.00
RAFOS	2217	48	1583.47
Transponder	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
3	end surface: CONTROL_FINISHED_OK
state	3	begin dive
4.70	2	-145.99	-0.92	0.00	542.2	731.9	352.6	140.9	2324.4	0.00	0.00	0	87.34	82.09	0.00	0.00	0.005	0.000	0.000	2074.88	2099.56	2050.19	140.12	2326.69	0	0	0	15.53	30.00	30.00
87.56	519	-145.99	-0.92	-60.00	2075.0	2100.3	2049.8	140.1	2326.8	3.38	-11.62	8	128.36	24.15	7.99	3.84	0.006	0.398	0.047	3232.53	3172.25	3292.81	1870.25	990.00	0	0	0	15.52	15.33	15.54
220.37	1157	-145.99	-0.60	0.00	3232.6	3173.1	3292.0	1871.1	990.4	47.51	-23.22	33	226.49	0.00	0.38	3.66	0.000	0.256	0.022	3233.94	3174.00	3293.88	1958.75	2298.12	0	0	0	30.00	15.58	15.69
405.65	644	-145.99	-0.52	-60.00	3232.2	3172.9	3291.4	1959.2	2299.2	76.53	-14.27	52	411.21	0.00	0.00	3.78	0.000	0.000	0.047	3232.78	3173.75	3291.81	1976.25	991.25	0	0	0	30.00	30.00	15.70
445.75	1156	-145.99	-0.45	0.00	3231.9	3172.9	3290.9	1975.7	990.4	82.21	-14.33	60	451.19	0.00	0.00	3.64	0.000	0.000	0.022	3232.25	3172.69	3291.81	1960.56	2303.19	0	0	0	30.00	30.00	15.72
635.61	129	-145.99	-0.38	0.00	3231.8	3172.9	3290.8	1960.6	2304.2	107.76	-13.71	80	637.07	0.00	0.25	0.00	0.000	0.218	0.000	3232.50	3173.12	3291.88	2030.62	2303.94	0	0	0	30.00	15.66	30.00
815.80	128	-145.99	-0.44	0.00	3232.3	3173.4	3291.3	2030.4	2303.9	126.97	-10.27	98	817.13	0.00	0.00	0.00	0.000	0.000	0.000	3231.75	3173.75	3289.75	2030.69	2304.00	0	0	0	30.00	30.00	30.00
995.84	421	-145.99	-0.51	60.00	3232.3	3173.9	3290.8	2030.4	2304.4	144.57	-9.09	116	1001.55	0.00	0.16	3.53	0.000	0.106	0.057	3232.59	3174.12	3291.06	1951.94	3565.12	0	0	0	30.00	15.79	15.82
1010.49	1188	-145.99	-0.56	0.00	3232.2	3173.7	3290.8	1951.6	3565.9	146.17	-9.48	119	1016.39	0.00	0.00	3.56	0.000	0.000	0.015	3234.19	3175.06	3293.31	1964.88	2245.38	0	0	0	30.00	30.00	15.83
1195.63	260	-145.99	-0.56	60.00	3232.3	3173.9	3290.8	1964.8	2225.6	167.30	-11.16	138	1201.72	0.00	0.00	3.79	0.000	0.000	0.056	3233.75	3175.50	3292.00	1949.19	3566.81	0	0	0	30.00	30.00	15.82
1225.60	1028	-145.99	-0.56	0.00	3232.3	3174.4	3290.1	1949.7	3567.0	170.89	-11.72	144	1231.26	0.00	0.00	3.56	0.000	0.000	0.016	3234.94	3176.38	3293.50	1962.38	2248.44	0	0	0	30.00	30.00	15.83
1415.71	0	-145.99	-0.56	0.00	3232.4	3174.1	3290.7	1963.0	2226.1	191.72	-10.55	164	1417.04	0.00	0.00	0.00	0.000	0.000	0.000	3232.34	3174.31	3290.38	1963.06	2226.19	0	0	0	30.00	30.00	30.00
1595.89	420	-145.99	-0.59	60.00	3232.2	3173.8	3290.5	1963.4	2226.4	209.48	-9.43	182	1601.60	0.00	0.00	3.78	0.000	0.000	0.056	3233.25	3175.25	3291.25	1947.12	3567.62	0	0	0	30.00	30.00	15.87
1825.92	1188	-145.99	-0.65	0.00	3232.4	3174.7	3290.1	1947.6	3568.2	230.41	-7.67	228	1831.64	0.00	0.00	3.55	0.000	0.000	0.015	3232.47	3175.06	3289.88	1961.00	2244.44	0	0	0	30.00	30.00	15.90
2015.84	677	-145.99	-0.74	-60.00	3232.1	3174.7	3289.4	1960.6	2228.9	244.32	-6.49	248	2021.43	0.00	0.16	3.50	0.000	0.103	0.048	3232.31	3174.44	3290.19	1907.00	990.19	0	0	0	30.00	15.88	15.90
2175.72	1188	-145.99	-0.70	0.00	3232.1	3174.0	3290.2	1907.2	990.6	257.58	-7.74	280	2181.47	0.00	0.00	3.60	0.000	0.000	0.021	3232.38	3174.69	3290.06	1894.19	2304.44	0	0	0	30.00	30.00	15.90
2375.96	33	-145.99	-0.70	0.00	3231.7	3174.1	3289.3	1893.8	2305.7	273.55	-7.97	290	2377.41	0.00	0.12	0.00	0.000	0.240	0.000	3230.53	3173.25	3287.81	1928.00	2305.44	0	0	0	30.00	15.85	30.00
2555.93	420	-145.99	-0.77	60.00	3232.1	3175.2	3289.0	1928.1	2305.7	286.06	-6.97	296	2561.51	0.00	0.00	3.51	0.000	0.000	0.058	3232.84	3175.50	3290.19	1914.06	3565.69	0	0	0	30.00	30.00	15.93
2570.76	1188	-145.99	-0.83	0.00	3231.4	3174.5	3288.2	1914.8	3566.8	287.12	-6.97	299	2576.76	0.00	0.00	3.54	0.000	0.000	0.015	3232.66	3175.50	3289.81	1927.75	2243.19	0	0	0	30.00	30.00	15.95
2766.17	161	-145.99	-0.90	0.00	3230.8	3173.9	3287.6	1927.1	2233.1	300.92	-7.09	308	2767.64	0.00	0.22	0.00	0.000	0.098	0.000	3231.88	3174.88	3288.88	1843.88	2225.50	0	0	0	30.00	15.92	30.00
2946.08	129	-145.99	-0.82	0.00	3230.8	3174.4	3287.2	1844.6	2224.6	318.13	-9.71	314	2947.53	0.00	0.17	0.00	0.000	0.233	0.000	3230.34	3174.25	3286.44	1890.56	2219.50	0	0	0	30.00	15.87	30.00
3126.06	292	-145.99	-0.82	60.00	3230.5	3174.1	3286.9	1890.8	2219.4	332.73	-8.02	320	3131.59	0.00	0.00	3.77	0.000	0.000	0.055	3233.31	3176.38	3290.25	1875.69	3567.44	0	0	0	30.00	30.00	15.95
3145.81	1060	-145.99	-0.82	0.00	3231.0	3175.1	3286.9	1876.2	3567.6	334.43	-8.20	324	3151.81	0.00	0.00	3.55	0.000	0.000	0.015	3231.66	3174.88	3288.44	1888.31	2244.75	0	0	0	30.00	30.00	15.96
3336.05	292	-145.99	-0.82	60.00	3231.0	3174.9	3287.0	1888.8	2229.7	349.57	-7.92	332	3341.89	0.00	0.00	3.77	0.000	0.000	0.056	3231.12	3175.44	3286.81	1874.25	3565.81	0	0	0	30.00	30.00	15.94
3350.81	1060	-145.99	-0.82	0.00	3230.2	3174.4	3286.1	1874.2	3566.0	350.86	-7.98	335	3356.82	0.00	0.00	3.54	0.000	0.000	0.016	3232.53	3175.50	3289.56	1884.94	2244.31	0	0	0	30.00	30.00	15.96
3546.07	292	-145.99	-0.82	60.00	3230.8	3175.0	3286.5	1885.1	2227.5	366.96	-8.21	344	3551.64	0.00	0.00	3.77	0.000	0.000	0.056	3230.62	3174.62	3286.62	1870.56	3568.88	0	0	0	30.00	30.00	15.95
3775.94	1060	-145.99	-0.82	0.00	3229.3	3173.8	3284.9	1870.4	3566.9	387.98	-8.96	390	3781.95	0.00	0.00	3.54	0.000	0.000	0.016	3230.56	3174.94	3286.19	1881.88	2246.75	0	0	0	30.00	30.00	15.97
3966.33	548	-145.99	-0.82	-60.00	3230.0	3175.2	3284.8	1881.7	2228.8	403.24	-7.95	398	3971.70	0.00	0.00	3.49	0.000	0.000	0.050	3232.09	3176.44	3287.75	1895.19	991.56	0	0	0	30.00	30.00	15.98
4101.00	1060	-145.99	-0.82	0.00	3230.0	3174.9	3285.1	1896.5	991.4	414.48	-8.28	425	4107.02	0.00	0.00	3.60	0.000	0.000	0.021	3230.41	3175.12	3285.69	1882.38	2305.69	0	0	0	30.00	30.00	15.99
4296.37	548	-145.99	-0.82	-60.00	3230.3	3174.8	3285.8	1882.1	2305.9	429.98	-7.92	434	4301.84	0.00	0.00	3.73	0.000	0.000	0.048	3229.88	3174.12	3285.62	1895.75	991.31	0	0	0	30.00	30.00	15.98
4526.10	1060	-145.99	-0.82	0.00	3229.6	3174.4	3284.8	1895.8	991.2	448.62	-7.97	480	4531.85	0.00	0.00	3.59	0.000	0.000	0.021	3230.03	3174.12	3285.94	1881.56	2303.88	0	0	0	30.00	30.00	16.00
4716.31	292	-145.99	-0.82	60.00	3229.8	3174.2	3285.4	1881.6	2305.3	463.36	-7.79	488	4721.84	0.00	0.00	3.49	0.000	0.000	0.058	3232.28	3176.81	3287.75	1864.19	3568.00	0	0	0	30.00	30.00	15.99
4916.15	1060	-145.99	-0.82	0.00	3229.7	3174.9	3284.6	1865.7	3568.5	481.04	-8.77	528	4922.18	0.00	0.00	3.54	0.000	0.000	0.015	3229.72	3175.06	3284.38	1876.88	2244.38	0	0	0	30.00	30.00	16.01
5106.49	292	-145.99	-0.82	60.00	3229.7	3174.6	3284.8	1876.6	2231.2	495.90	-7.74	536	5111.97	0.00	0.00	3.74	0.000	0.000	0.055	3229.31	3174.75	3283.88	1861.69	3567.00	0	0	0	30.00	30.00	16.01
5126.43	1060	-145.99	-0.82	0.00	3229.6	3174.7	3284.6	1860.9	3566.6	497.59	-7.74	540	5132.19	0.00	0.00	3.54	0.000	0.000	0.015	3231.22	3176.44	3286.00	1872.50	2243.69	0	0	0	30.00	30.00	16.02
5316.45	292	-145.99	-0.82	60.00	3229.8	3174.5	3285.0	1873.3	2242.2	512.46	-7.93	548	5322.24	0.00	0.00	3.75	0.000	0.000	0.055	3231.12	3175.94	3286.31	1857.75	3565.88	0	0	0	30.00	30.00	15.99
5546.25	1060	-145.99	-0.82	0.00	3229.8	3174.7	3285.0	1857.8	3566.3	533.26	-8.96	594	5552.27	0.00	0.00	3.53	0.000	0.000	0.015	3229.72	3174.62	3284.81	1870.75	2245.75	0	0	0	30.00	30.00	16.01
5736.57	548	-145.99	-0.82	-60.00	3229.5	3174.6	3284.4	1871.1	2244.2	548.53	-7.99	602	5742.27	0.00	0.00	3.48	0.000	0.000	0.049	3230.38	3175.06	3285.69	1884.31	991.44	0	0	0	30.00	30.00	16.01
5886.47	1060	-145.99	-0.82	0.00	3229.7	3174.8	3284.6	1883.8	990.4	561.05	-8.26	632	5892.34	0.00	0.00	3.59	0.000	0.000	0.021	3230.12	3175.31	3284.94	1870.25	2306.06	0	0	0	30.00	30.00	16.02
6096.54	32	-145.99	-0.82	0.00	3229.6	3175.1	3284.1	1870.2	2306.7	577.78	-7.93	644	6097.88	0.00	0.00	0.00	0.000	0.000	0.000	3228.62	3173.94	3283.31	1870.25	2306.62	0	0	0	30.00	30.00	30.00
6276.54	548	-145.99	-0.82	-60.00	3229.8	3175.4	3284.2	1870.0	2306.8	591.87	-7.80	650	6282.13	0.00	0.00	3.74	0.000	0.000	0.048	3232.12	3177.50	3286.75	1882.38	991.56	0	0	0	30.00	30.00	15.96
6376	end dive: TARGET_DEPTH_EXCEEDED
state	6376	begin apogee
6381.26	3	0.00	-0.14	0.00	3230.0	3175.5	3284.6	1869.6	2276.4	600.07	-8.07	670	6496.20	112.69	0.80	0.17	1.983	0.199	0.087	2634.41	2708.81	2560.00	2108.75	2179.94	0	0	0	12.67	15.87	15.26
6497	end apogee: CONTROL_FINISHED_OK
state	6497	begin climb
6497.44	519	145.99	0.92	-60.00	2632.8	2708.5	2557.2	2108.9	2179.4	602.06	0.00	677	6623.71	119.50	1.08	3.63	1.890	0.125	0.055	2037.06	2211.75	1862.38	2466.81	963.31	0	0	0	12.44	15.29	14.96
6845.60	1030	145.99	0.92	0.00	2027.6	2200.9	1854.3	2466.6	962.7	567.45	11.24	731	6851.41	0.00	0.00	3.72	0.000	0.000	0.021	2027.31	2199.81	1854.81	2453.62	2272.44	0	0	0	30.00	30.00	15.40
7040.86	262	145.99	0.92	60.00	2025.5	2197.8	1853.2	2453.5	2273.4	546.08	10.94	740	7046.66	0.00	0.00	3.62	0.000	0.000	0.056	2025.94	2197.88	1854.00	2439.06	3536.31	0	0	0	30.00	30.00	15.52
7270.74	1158	145.99	0.88	0.00	2023.1	2193.1	1853.0	2438.4	3537.5	519.61	11.38	786	7276.77	0.00	0.00	3.63	0.000	0.000	0.017	2022.75	2191.88	1853.62	2453.56	2220.56	0	0	0	30.00	30.00	15.61
7461.03	391	145.99	0.85	60.00	2022.4	2191.6	1853.2	2454.6	2208.0	498.59	11.04	794	7466.90	0.00	0.14	3.82	0.000	0.231	0.055	2023.94	2193.38	1854.50	2396.81	3536.94	0	0	0	30.00	15.57	15.65
7525.83	1159	145.99	0.90	0.00	2021.5	2189.8	1853.2	2398.6	3536.8	492.06	9.76	807	7531.86	0.00	0.08	3.62	0.000	0.132	0.017	2023.47	2191.44	1855.50	2450.50	2215.00	0	0	0	30.00	15.64	15.67
7731.00	2	145.99	0.90	0.00	2021.5	2189.4	1853.6	2450.8	2210.9	470.37	10.69	818	7732.33	0.00	0.00	0.00	0.000	0.000	0.000	2020.56	2189.62	1851.50	2449.69	2211.81	0	0	0	30.00	30.00	30.00
7910.99	2	145.99	0.90	0.00	2021.1	2188.9	1853.4	2450.2	2210.4	450.46	11.09	824	7912.33	0.00	0.00	0.00	0.000	0.000	0.000	2020.59	2189.00	1852.19	2450.06	2210.56	0	0	0	30.00	30.00	30.00
8090.98	2	145.99	0.90	0.00	2021.1	2188.8	1853.4	2450.2	2210.5	430.56	11.08	830	8092.31	0.00	0.00	0.00	0.000	0.000	0.000	2020.06	2188.06	1852.06	2449.94	2210.81	0	0	0	30.00	30.00	30.00
8271.01	2	145.99	0.90	0.00	2020.8	2188.6	1853.1	2450.3	2210.3	410.96	10.89	836	8272.35	0.00	0.00	0.00	0.000	0.000	0.000	2019.72	2187.50	1851.94	2450.56	2210.38	0	0	0	30.00	30.00	30.00
8451.26	2	145.99	0.90	0.00	2020.9	2188.8	1853.1	2450.2	2210.8	391.57	10.72	842	8452.60	0.00	0.00	0.00	0.000	0.000	0.000	2020.31	2187.69	1852.94	2450.75	2210.94	0	0	0	30.00	30.00	30.00
8631.08	262	145.99	0.90	60.00	2020.2	2187.5	1852.8	2450.9	2210.0	372.61	10.52	848	8636.66	0.00	0.00	3.79	0.000	0.000	0.054	2021.91	2188.75	1855.06	2436.56	3535.88	0	0	0	30.00	30.00	15.85
8691.16	1030	145.99	0.90	0.00	2019.3	2185.5	1853.1	2437.4	3536.4	365.73	11.51	860	8696.91	0.00	0.00	3.56	0.000	0.000	0.016	2019.28	2185.31	1853.25	2452.06	2217.94	0	0	0	30.00	30.00	15.85
8901.25	2	145.99	0.90	0.00	2019.4	2185.5	1853.4	2452.1	2208.8	343.34	10.66	872	8902.59	0.00	0.00	0.00	0.000	0.000	0.000	2018.56	2184.94	1852.19	2452.06	2209.06	0	0	0	30.00	30.00	30.00
9081.01	2	145.99	0.90	0.00	2019.3	2185.0	1853.6	2452.3	2208.9	324.87	10.27	878	9082.35	0.00	0.00	0.00	0.000	0.000	0.000	2018.94	2184.75	1853.12	2452.38	2208.88	0	0	0	30.00	30.00	30.00
9261.14	2	145.99	0.90	0.00	2018.9	2185.0	1852.8	2451.9	2209.1	306.72	10.03	884	9262.47	0.00	0.00	0.00	0.000	0.000	0.000	2018.72	2184.75	1852.69	2452.56	2208.50	0	0	0	30.00	30.00	30.00
9441.19	262	145.99	0.90	60.00	2019.5	2185.2	1853.9	2451.5	2208.4	288.96	9.77	890	9447.01	0.00	0.00	3.77	0.000	0.000	0.053	2019.75	2185.94	1853.56	2438.31	3537.81	0	0	0	30.00	30.00	15.91
9490.95	1030	145.99	0.90	0.00	2017.9	2183.2	1852.6	2438.1	3537.9	283.85	10.26	900	9496.98	0.00	0.00	3.55	0.000	0.000	0.016	2018.34	2183.69	1853.00	2454.00	2217.62	0	0	0	30.00	30.00	15.94
9681.17	548	151.17	0.91	-60.00	2018.4	2183.8	1853.0	2453.3	2209.4	266.10	9.29	908	9687.00	0.00	0.00	3.51	0.000	0.000	0.051	2018.84	2184.12	1853.56	2469.94	961.75	0	0	0	30.00	30.00	15.93
9720.97	1028	151.17	0.91	0.00	2017.9	2183.0	1852.8	2469.2	961.5	262.24	9.64	916	9727.00	0.00	0.00	3.59	0.000	0.000	0.019	2019.06	2183.75	1854.38	2455.12	2276.75	0	0	0	30.00	30.00	15.95
9911.25	422	165.26	0.99	60.00	2017.8	2182.7	1852.8	2455.1	2277.3	245.21	8.90	929	9932.12	13.95	0.00	3.52	1.439	0.000	0.058	1960.72	2122.69	1798.75	2440.31	3537.00	0	0	0	12.68	30.00	15.77
9961.27	1191	184.42	1.10	0.00	1959.3	2121.0	1797.6	2440.6	3536.5	240.82	8.67	939	9984.52	17.58	0.14	3.56	1.442	0.106	0.016	1881.78	2044.50	1719.06	2515.62	2204.81	0	0	0	12.70	15.84	15.87
10166.72	34	195.60	1.13	0.00	1878.2	2040.2	1716.1	2516.6	2204.9	222.26	9.02	962	10178.88	10.80	0.00	0.00	1.318	0.000	0.000	1836.75	1999.75	1673.75	2516.44	2205.19	0	0	0	12.57	30.00	30.00
10356.55	294	231.01	1.24	60.00	1834.3	1997.1	1671.6	2516.4	2205.0	207.45	7.94	981	10392.89	29.23	0.00	3.83	1.451	0.000	0.055	1692.62	1854.81	1530.44	2503.44	3538.88	0	0	0	12.60	30.00	15.60
10506.76	1191	276.15	1.42	0.00	1689.1	1848.2	1530.0	2503.3	3538.4	195.93	7.51	1011	10548.20	35.81	0.25	3.60	1.434	0.099	0.015	1510.34	1673.38	1347.31	2617.19	2209.50	0	0	0	12.50	15.68	15.73
10726.60	644	276.15	1.37	-60.00	1503.5	1666.2	1340.9	2617.6	2209.3	173.11	10.21	1037	10732.46	0.00	0.00	3.57	0.000	0.000	0.052	1504.19	1666.88	1341.50	2632.25	961.62	0	0	0	30.00	30.00	15.65
10806.70	1159	276.15	1.33	0.00	1501.6	1664.4	1338.7	2632.1	961.5	164.45	10.74	1053	10812.31	0.00	0.18	3.64	0.000	0.223	0.019	1501.78	1664.81	1338.75	2566.81	2280.44	0	0	0	30.00	15.60	15.70
10996.83	163	325.15	1.54	0.00	1501.0	1664.3	1337.6	2566.8	2280.8	149.58	7.34	1073	11037.72	38.31	0.23	0.00	1.398	0.093	0.000	1309.56	1480.69	1138.44	2658.31	2281.12	0	0	0	12.58	15.72	30.00
11216.88	260	325.15	1.54	60.00	1304.7	1475.7	1133.8	2657.7	2280.8	128.60	9.62	1095	11222.54	0.00	0.00	3.56	0.000	0.000	0.056	1305.72	1476.56	1134.88	2644.62	3536.56	0	0	0	30.00	30.00	15.65
11271.52	1156	325.15	1.49	0.00	1303.4	1473.2	1133.6	2645.1	3537.6	122.87	10.66	1106	11277.42	0.00	0.00	3.61	0.000	0.000	0.017	1303.84	1473.69	1134.00	2659.75	2219.56	0	0	0	30.00	30.00	15.66
11456.76	517	325.15	1.49	-60.00	1302.6	1472.9	1132.2	2659.4	2213.4	104.78	9.78	1125	11462.37	0.00	0.15	3.57	0.000	0.236	0.053	1303.47	1473.81	1133.12	2631.06	963.06	0	0	0	30.00	15.63	15.71
11511.62	1190	341.10	1.61	0.00	1302.2	1472.5	1131.8	2631.9	962.8	99.81	8.81	1136	11529.97	13.40	0.00	3.64	1.261	0.000	0.019	1245.38	1420.62	1070.12	2618.81	2276.25	0	0	0	12.56	30.00	15.72
11712.19	163	365.87	1.75	0.00	1242.5	1417.9	1067.1	2618.4	2275.8	83.47	8.42	1158	11734.63	21.01	0.28	0.00	1.302	0.092	0.000	1145.34	1324.31	966.38	2725.69	2275.81	0	0	0	12.55	15.69	30.00
11917.08	129	365.87	1.69	60.00	1141.2	1320.7	961.8	2727.1	2275.8	59.23	11.43	1180	11918.53	0.00	0.16	0.00	0.000	0.229	0.000	1140.59	1319.88	961.31	2683.88	2278.19	0	0	0	30.00	15.62	30.00
12097.17	128	365.87	1.74	60.00	1139.8	1319.6	960.1	2683.6	2277.9	42.09	9.58	1198	12098.50	0.00	0.00	0.00	0.000	0.000	0.000	1139.47	1319.19	959.75	2683.12	2277.44	0	0	0	30.00	30.00	30.00
12277.20	679	411.72	1.92	-60.00	1139.0	1318.6	959.4	2683.4	2277.9	27.46	7.48	1216	12319.95	36.92	0.24	3.85	1.272	0.097	0.054	957.53	1145.44	769.62	2794.69	963.12	0	0	0	12.56	15.74	15.55
12542.10	1191	612.44	2.58	0.00	952.5	1143.9	761.1	2795.3	962.8	18.36	0.56	1269	12625.77	77.36	0.58	3.63	1.225	0.084	0.017	550.38	749.75	351.00	2987.75	2285.00	0	0	0	12.60	15.64	15.70
12727	end climb: SURFACE_DEPTH_REACHED
state	12727	begin surface coast
12738	end surface coast: CONTROL_FINISHED_OK
state	12738	begin surface