Glider dive log

SODA Aug19 * SG227 * Dive index * Mission links * Dive 208 * 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 208 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 15.261464 SEABIRD_T_J 2.9095588e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 37.27795 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 15.261464 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 37.27795 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 208 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 110919,160655,7255.660,-14850.982,0,3510.0,0,17.1 TGT_LATLONG 7249.700,-14830.700

_CALLS 3 TGT_RADIUS 2000.000

_SM_DEPTHo -0.15 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -70.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 110919,160655,7255.660,-14850.982,0,3510.0,0,17.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.165,0.234 MHEAD_RNG_PITCHd_Wd 117.8,15646,-17.4,-9.524,-22.18

TGT_NAME A1 D_GRID 600

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20190911201205.905718,18,7289,38,0096,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0B INTERNAL_PRESSURE 8.48841

FREEZE 0.14,2.970,-1.459,2,5,0 _24V_AH 14.54,81.885

FINISH 0.1,1.021350 _10V_AH 14.97,0.000

SM_CCo 12866.33,0.00,0.000,0,543.2,740.8,345.7,513.35 FG_AHR_24Vo 37.430

SM_GC 2.30,0.00,9.35,3.73,0.000,0.162,0.022,543.2,740.8,345.7,147.0,2304.1,0,0,0,30.00,15.55,15.66 FG_AHR_10Vo 15.329

SUPER 59,71,254,1,0,0 MEM 1154784,28,24364,70

IRIDIUM_FIX 7249.93,-14825.94,110919,110507 DATA_FILE_SIZE 35317,1140

TCM_TEMP 7.36 CAP_FILE_SIZE 312420,0

XPDR_PINGS 74 SDSIZE 3918848,3860736

SC_FREEKB 3712768 SDFILEDIR 1089,1

RAFOS_CLK -5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1568232014,73.00043,-148.33627,14.468,21195.7 SOUNDSPEED 1465.0

RAFOS_FIX 7301.476074,-14857.732422,110919,202058,2,510,0.77 WARN PPS timeout

HUMID 56.27 GPS 110919,211919,7249.685,-14828.540,95,0.7,105,17.1

TEMP 0.76

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 635 1963 18144.99 nil 0 0 0.00

Pitch_motor 23 391 131.83 nil 0 0 0.00

Roll_motor 169 72 178.70 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 18 420 112.98 nil 0 0 0.00

GPS 0 0 0.00 nil 0 0 0.00

Core 2902 11 500.55 SciCon 12824 16 3187.56

LPSleep 10051 2 347.60 nil 0 0 0.00

Compass 1196 5 89.55 nil 0 0 0.00

RAFOS 2212 48 1589.45

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

4.78 2 -145.99 -0.92 0.00 542.5 738.2 346.9 146.9 2214.1 0.00 0.00 0 67.02 61.70 0.00 0.00 0.005 0.000 0.000 1690.44 1725.50 1655.38 146.94 2213.62 0 0 0 15.57 30.00 30.00

67.25 263 -145.99 -0.92 60.00 1689.9 1725.0 1654.8 147.1 2213.4 5.18 -10.04 6 115.53 33.53 7.80 3.88 0.005 0.391 0.051 3232.75 3167.88 3297.62 1837.56 3569.44 0 0 0 15.54 15.37 15.58

192.71 1157 -145.99 -0.57 0.00 3231.8 3168.1 3295.4 1838.2 3569.8 50.96 -29.00 31 198.28 0.00 0.44 3.62 0.000 0.261 0.018 3233.16 3168.88 3297.44 1970.06 2244.00 0 0 0 30.00 15.63 15.61

382.67 128 -145.99 -0.51 0.00 3231.3 3168.6 3294.1 1970.3 2223.3 82.77 -14.44 51 384.01 0.00 0.00 0.00 0.000 0.000 0.000 3230.56 3168.19 3292.94 1969.94 2223.56 0 0 0 30.00 30.00 30.00

562.74 129 -145.99 -0.46 0.00 3231.7 3169.1 3294.3 1969.9 2223.6 106.18 -12.46 69 564.18 0.00 0.12 0.00 0.000 0.227 0.000 3232.44 3171.00 3293.88 2004.00 2218.94 0 0 0 30.00 15.71 30.00

742.60 128 -145.99 -0.50 0.00 3232.0 3170.2 3293.7 2005.3 2218.8 125.03 -10.22 87 743.93 0.00 0.00 0.00 0.000 0.000 0.000 3231.50 3169.75 3293.25 2005.50 2218.81 0 0 0 30.00 30.00 30.00

922.83 128 -145.99 -0.55 0.00 3232.2 3170.0 3294.3 2005.8 2219.6 143.72 -10.29 105 924.16 0.00 0.00 0.00 0.000 0.000 0.000 3231.31 3169.62 3293.00 2005.62 2219.19 0 0 0 30.00 30.00 30.00

1102.65 129 -145.99 -0.62 0.00 3232.0 3170.7 3293.2 2005.4 2219.2 161.29 -9.57 123 1104.10 0.00 0.19 0.00 0.000 0.105 0.000 3231.34 3169.69 3293.00 1932.81 2219.44 0 0 0 30.00 15.82 30.00

1282.75 128 -145.99 -0.59 0.00 3232.2 3171.0 3293.4 1933.5 2219.2 183.43 -12.26 141 1284.08 0.00 0.00 0.00 0.000 0.000 0.000 3231.16 3169.88 3292.44 1932.75 2219.12 0 0 0 30.00 30.00 30.00

1462.90 0 -145.99 -0.59 0.00 3232.2 3170.8 3293.7 1932.5 2219.2 204.24 -10.89 159 1464.23 0.00 0.00 0.00 0.000 0.000 0.000 3231.19 3170.00 3292.38 1932.88 2219.31 0 0 0 30.00 30.00 30.00

1643.02 32 -145.99 -0.59 0.00 3232.5 3171.5 3293.6 1932.7 2219.1 222.29 -9.45 177 1644.36 0.00 0.00 0.00 0.000 0.000 0.000 3231.25 3170.19 3292.31 1932.75 2219.25 0 0 0 30.00 30.00 30.00

1822.84 420 -145.99 -0.64 60.00 3232.4 3171.2 3293.6 1933.5 2218.8 237.61 -8.17 195 1828.65 0.00 0.00 3.80 0.000 0.000 0.057 3233.97 3173.75 3294.19 1914.69 3567.44 0 0 0 30.00 30.00 15.91

1847.61 1188 -145.99 -0.68 0.00 3232.2 3171.6 3292.7 1915.9 3568.7 239.76 -8.27 200 1853.48 0.00 0.00 3.56 0.000 0.000 0.016 3232.62 3172.12 3293.12 1928.31 2247.19 0 0 0 30.00 30.00 15.91

2042.96 420 -145.99 -0.73 60.00 3232.3 3172.6 3292.0 1928.1 2246.9 254.71 -7.73 216 2048.67 0.00 0.00 3.79 0.000 0.000 0.056 3232.72 3172.62 3292.81 1913.56 3567.88 0 0 0 30.00 30.00 15.93

2272.95 1188 -145.99 -0.78 0.00 3232.0 3172.0 3292.0 1913.5 3567.6 274.38 -8.51 262 2278.70 0.00 0.00 3.57 0.000 0.000 0.016 3232.31 3171.88 3292.75 1926.19 2247.88 0 0 0 30.00 30.00 15.86

2463.05 677 -145.99 -0.85 -60.00 3232.4 3172.4 3292.3 1926.1 2246.8 288.16 -7.12 270 2468.77 0.00 0.17 3.51 0.000 0.105 0.049 3234.09 3174.00 3294.19 1872.00 990.25 0 0 0 30.00 15.90 15.92

2637.74 1156 -145.99 -0.79 0.00 3231.6 3172.1 3291.1 1871.9 989.7 304.72 -9.75 305 2643.66 0.00 0.00 3.61 0.000 0.000 0.021 3233.44 3174.81 3292.06 1856.69 2302.75 0 0 0 30.00 30.00 15.95

2822.97 161 -145.99 -0.74 0.00 3231.5 3172.1 3290.9 1857.6 2303.9 321.74 -9.17 312 2824.44 0.00 0.21 0.00 0.000 0.228 0.000 3231.75 3172.31 3291.19 1916.88 2303.69 0 0 0 30.00 15.85 30.00

3002.94 160 -145.99 -0.81 0.00 3231.6 3172.2 3290.9 1917.1 2304.2 334.46 -6.94 318 3004.28 0.00 0.00 0.00 0.000 0.000 0.000 3230.53 3172.19 3288.88 1917.25 2303.88 0 0 0 30.00 30.00 30.00

3182.96 161 -145.99 -0.88 0.00 3231.2 3172.1 3290.4 1917.1 2304.2 346.69 -6.78 324 3184.41 0.00 0.17 0.00 0.000 0.100 0.000 3231.53 3172.94 3290.12 1848.31 2303.81 0 0 0 30.00 15.93 30.00

3362.96 677 -145.99 -0.83 -60.00 3231.4 3172.4 3290.4 1849.1 2304.2 362.71 -8.99 330 3368.65 0.00 0.14 3.74 0.000 0.230 0.049 3231.78 3172.81 3290.75 1902.62 991.56 0 0 0 30.00 15.88 15.94

3392.95 1060 -145.99 -0.83 0.00 3231.4 3172.1 3290.8 1902.2 991.2 365.25 -9.01 336 3398.59 0.00 0.00 3.61 0.000 0.000 0.023 3233.41 3174.44 3292.38 1888.62 2302.81 0 0 0 30.00 30.00 15.88

3603.15 32 -145.99 -0.83 0.00 3231.1 3172.4 3289.9 1888.9 2304.4 381.47 -7.67 348 3604.49 0.00 0.00 0.00 0.000 0.000 0.000 3231.12 3172.44 3289.81 1888.75 2303.94 0 0 0 30.00 30.00 30.00

3783.16 548 -145.99 -0.83 -60.00 3231.3 3172.3 3290.3 1888.8 2303.7 395.31 -7.67 354 3788.63 0.00 0.00 3.75 0.000 0.000 0.050 3232.38 3173.38 3291.38 1901.75 990.12 0 0 0 30.00 30.00 15.96

3797.84 1060 -145.99 -0.83 0.00 3231.6 3172.5 3290.8 1901.9 990.2 396.51 -7.72 357 3803.62 0.00 0.00 3.62 0.000 0.000 0.023 3231.41 3173.00 3289.81 1888.69 2304.25 0 0 0 30.00 30.00 15.96

3993.24 160 -145.99 -0.87 0.00 3231.3 3172.3 3290.2 1888.6 2304.7 411.84 -7.85 366 3994.58 0.00 0.00 0.00 0.000 0.000 0.000 3230.66 3173.06 3288.25 1888.25 2303.88 0 0 0 30.00 30.00 30.00

4173.04 676 -145.99 -0.90 -60.00 3231.2 3172.5 3289.8 1888.8 2304.4 425.62 -7.65 372 4178.66 0.00 0.00 3.75 0.000 0.000 0.050 3233.38 3174.44 3292.31 1902.12 991.69 0 0 0 30.00 30.00 15.98

4192.87 1061 -145.99 -0.90 0.00 3231.1 3172.3 3289.9 1901.9 991.2 427.24 -7.61 376 4198.67 0.00 0.09 3.60 0.000 0.131 0.023 3233.03 3174.19 3291.88 1845.12 2304.81 0 0 0 30.00 15.94 15.98

4383.23 676 -145.99 -0.86 -60.00 3231.0 3171.9 3290.1 1846.0 2305.2 443.33 -8.45 384 4388.68 0.00 0.00 3.76 0.000 0.000 0.050 3233.38 3174.88 3291.88 1859.94 989.88 0 0 0 30.00 30.00 15.98

4397.92 1189 -145.99 -0.80 0.00 3230.9 3172.1 3289.8 1860.4 990.2 444.73 -6.71 387 4403.73 0.00 0.18 3.61 0.000 0.230 0.022 3232.19 3173.25 3291.12 1897.06 2302.81 0 0 0 30.00 15.87 15.99

4593.31 676 -145.99 -0.85 -60.00 3231.0 3172.6 3289.4 1897.1 2303.9 459.99 -7.06 396 4598.70 0.00 0.00 3.74 0.000 0.000 0.051 3231.31 3173.00 3289.62 1912.81 992.00 0 0 0 30.00 30.00 16.00

4822.98 1189 -145.99 -0.91 0.00 3231.1 3172.4 3289.7 1912.4 991.7 477.05 -7.39 442 4828.80 0.00 0.14 3.61 0.000 0.115 0.023 3233.59 3175.00 3292.19 1841.50 2305.31 0 0 0 30.00 15.95 16.00

5013.18 421 -145.99 -0.86 60.00 3231.3 3172.9 3289.8 1841.6 2306.1 493.33 -8.66 450 5018.78 0.00 0.12 3.50 0.000 0.243 0.058 3234.16 3174.50 3293.81 1862.56 3568.69 0 0 0 30.00 15.91 15.97

5243.04 1060 -145.99 -0.86 0.00 3230.8 3171.7 3289.8 1862.6 3568.6 513.82 -8.88 496 5248.80 0.00 0.00 3.53 0.000 0.000 0.016 3231.19 3172.88 3289.50 1876.19 2245.62 0 0 0 30.00 30.00 15.99

5433.24 292 -145.99 -0.86 60.00 3231.1 3172.9 3289.2 1875.9 2243.9 528.54 -7.62 504 5438.85 0.00 0.00 3.76 0.000 0.000 0.056 3231.69 3173.75 3289.62 1861.69 3567.94 0 0 0 30.00 30.00 16.00

5453.05 1060 -145.99 -0.86 0.00 3231.2 3173.0 3289.5 1861.1 3568.0 530.25 -7.72 508 5459.07 0.00 0.00 3.54 0.000 0.000 0.016 3231.56 3173.44 3289.69 1874.69 2244.69 0 0 0 30.00 30.00 16.01

5643.43 292 -145.99 -0.86 60.00 3231.5 3173.4 3289.6 1874.8 2243.2 544.75 -7.55 516 5648.95 0.00 0.00 3.76 0.000 0.000 0.056 3232.72 3174.25 3291.19 1859.38 3567.25 0 0 0 30.00 30.00 16.02

5873.14 1060 -145.99 -0.86 0.00 3232.3 3174.1 3290.4 1860.6 3567.1 565.12 -8.93 562 5879.16 0.00 0.00 3.54 0.000 0.000 0.016 3231.16 3173.62 3288.69 1873.19 2244.69 0 0 0 30.00 30.00 16.02

6063.38 548 -145.99 -0.86 -60.00 3231.7 3173.8 3289.6 1873.4 2243.6 579.98 -7.83 570 6068.91 0.00 0.00 3.49 0.000 0.000 0.052 3231.62 3173.88 3289.38 1888.00 990.06 0 0 0 30.00 30.00 16.01

6208.20 1028 -145.99 -0.86 0.00 3231.1 3173.1 3289.1 1887.5 990.5 592.97 -10.58 599 6214.32 0.00 0.00 3.60 0.000 0.000 0.023 3232.62 3174.88 3290.38 1873.88 2304.50 0 0 0 30.00 30.00 16.03

6303 end dive: TARGET_DEPTH_EXCEEDED

state 6303 begin apogee

6304.59 3 0.00 -0.14 0.00 3231.7 3173.8 3289.6 1873.6 2192.0 600.26 -7.67 603 6420.20 113.18 0.77 0.25 1.964 0.197 0.073 2635.19 2708.88 2561.50 2108.50 2280.00 0 0 0 12.55 15.91 15.31

6421 end apogee: CONTROL_FINISHED_OK

state 6422 begin climb

6421.53 263 145.99 0.92 60.00 2632.5 2707.4 2557.7 2108.2 2280.3 601.78 0.00 606 6548.85 119.55 1.08 3.73 1.877 0.130 0.059 2038.38 2211.69 1865.06 2439.00 3535.50 0 0 0 12.43 15.34 14.98

6580.97 1156 145.99 0.87 0.00 2033.9 2204.1 1863.7 2439.7 3535.8 586.99 11.85 633 6586.76 0.00 0.00 3.73 0.000 0.000 0.018 2034.09 2204.69 1863.50 2453.50 2222.88 0 0 0 30.00 30.00 15.20

6781.03 131 145.99 0.84 0.00 2027.8 2199.1 1856.6 2454.4 2220.6 565.07 11.03 643 6782.48 0.00 0.16 0.00 0.000 0.229 0.000 2026.44 2197.81 1855.06 2410.75 2219.56 0 0 0 30.00 15.35 30.00

6961.07 130 145.99 0.88 0.00 2026.1 2196.1 1856.1 2410.9 2219.4 546.89 9.68 649 6962.40 0.00 0.00 0.00 0.000 0.000 0.000 2025.50 2195.38 1855.62 2410.56 2219.31 0 0 0 30.00 30.00 30.00

7141.07 131 145.99 0.93 0.00 2024.9 2193.9 1855.9 2411.0 2218.7 529.22 9.82 655 7142.52 0.00 0.12 0.00 0.000 0.115 0.000 2023.84 2192.62 1855.06 2461.50 2216.19 0 0 0 30.00 15.61 30.00

7320.87 130 145.99 0.89 0.00 2024.3 2192.0 1856.6 2461.6 2216.5 508.50 11.65 661 7322.21 0.00 0.00 0.00 0.000 0.000 0.000 2023.12 2191.81 1854.44 2460.94 2216.44 0 0 0 30.00 30.00 30.00

7501.00 391 145.99 0.85 60.00 2023.2 2190.7 1855.6 2460.9 2217.0 486.88 12.06 667 7506.90 0.00 0.16 3.81 0.000 0.227 0.057 2024.72 2192.00 1857.44 2399.88 3536.06 0 0 0 30.00 15.67 15.74

7556.08 1159 145.99 0.90 0.00 2022.0 2188.2 1855.9 2399.2 3535.6 480.99 10.32 678 7561.88 0.00 0.08 3.61 0.000 0.147 0.018 2022.97 2189.12 1856.81 2449.81 2219.25 0 0 0 30.00 15.72 15.76

7741.02 2 145.99 0.90 0.00 2022.3 2188.4 1856.1 2449.2 2218.0 460.82 10.95 685 7742.36 0.00 0.00 0.00 0.000 0.000 0.000 2021.28 2187.75 1854.81 2449.75 2217.75 0 0 0 30.00 30.00 30.00

7921.00 2 145.99 0.90 0.00 2022.2 2188.2 1856.2 2449.6 2217.4 440.60 11.26 691 7922.34 0.00 0.00 0.00 0.000 0.000 0.000 2021.12 2187.50 1854.75 2449.69 2217.44 0 0 0 30.00 30.00 30.00

8101.00 2 145.99 0.90 0.00 2021.6 2187.3 1855.9 2450.2 2217.3 420.96 10.94 697 8102.33 0.00 0.00 0.00 0.000 0.000 0.000 2020.84 2186.75 1854.94 2449.75 2216.88 0 0 0 30.00 30.00 30.00

8281.03 2 145.99 0.90 0.00 2021.3 2186.8 1855.8 2449.9 2216.2 401.26 10.95 703 8282.37 0.00 0.00 0.00 0.000 0.000 0.000 2021.03 2186.19 1855.88 2449.81 2216.69 0 0 0 30.00 30.00 30.00

8461.01 2 145.99 0.90 0.00 2021.1 2186.2 1856.0 2450.1 2216.7 381.77 10.78 709 8462.35 0.00 0.00 0.00 0.000 0.000 0.000 2020.47 2186.06 1854.88 2450.12 2216.25 0 0 0 30.00 30.00 30.00

8641.03 262 145.99 0.90 60.00 2020.9 2186.1 1855.8 2450.3 2216.8 362.65 10.61 715 8646.65 0.00 0.00 3.79 0.000 0.000 0.057 2021.22 2186.69 1855.75 2438.00 3536.19 0 0 0 30.00 30.00 15.82

8701.20 1158 145.99 0.86 0.00 2020.3 2184.6 1855.9 2437.0 3535.6 355.78 11.33 727 8706.97 0.00 0.00 3.60 0.000 0.000 0.018 2020.16 2184.44 1855.88 2452.56 2219.00 0 0 0 30.00 30.00 15.83

8911.18 2 145.99 0.86 0.00 2019.9 2184.2 1855.6 2451.8 2217.6 333.63 10.47 739 8912.52 0.00 0.00 0.00 0.000 0.000 0.000 2019.00 2183.19 1854.81 2452.25 2217.62 0 0 0 30.00 30.00 30.00

9091.17 2 145.99 0.86 0.00 2020.0 2183.6 1856.4 2452.5 2216.8 315.34 10.20 745 9092.50 0.00 0.00 0.00 0.000 0.000 0.000 2019.19 2183.44 1854.94 2452.50 2216.38 0 0 0 30.00 30.00 30.00

9271.19 2 145.99 0.86 0.00 2020.2 2184.6 1855.9 2452.7 2217.0 297.87 9.67 751 9272.52 0.00 0.00 0.00 0.000 0.000 0.000 2019.03 2183.56 1854.50 2452.31 2216.56 0 0 0 30.00 30.00 30.00

9451.23 34 147.36 0.87 0.00 2020.3 2184.2 1856.4 2452.5 2217.2 280.83 9.46 757 9452.57 0.00 0.00 0.00 0.000 0.000 0.000 2019.41 2183.19 1855.62 2452.44 2217.12 0 0 0 30.00 30.00 30.00

9631.23 34 161.95 0.91 0.00 2019.9 2183.4 1856.4 2451.9 2217.6 264.70 8.87 763 9643.89 11.85 0.00 0.00 1.393 0.000 0.000 1973.97 2136.44 1811.50 2451.75 2217.25 0 0 0 12.51 30.00 30.00

9811.29 422 182.81 1.01 60.00 1972.6 2133.4 1811.8 2451.9 2216.9 249.18 8.59 769 9835.37 18.84 0.00 3.85 1.454 0.000 0.061 1888.88 2051.19 1726.56 2440.50 3535.69 0 0 0 12.51 30.00 15.62

9877.24 1191 191.60 1.08 0.00 1887.3 2047.2 1727.3 2441.0 3535.4 243.33 9.13 782 9893.50 9.36 0.12 3.63 1.250 0.118 0.019 1856.00 2017.25 1694.75 2509.25 2219.31 0 0 0 12.52 15.66 15.71

10072.46 550 200.84 1.11 -60.00 1850.9 2011.2 1690.6 2510.6 2218.1 224.94 9.11 803 10088.24 9.52 0.00 3.62 1.256 0.000 0.059 1816.75 1978.00 1655.50 2526.06 962.81 0 0 0 12.47 30.00 15.57

10137.26 1062 210.62 1.14 0.00 1814.6 1974.6 1654.6 2525.9 963.0 219.21 9.09 816 10153.69 10.23 0.00 3.67 1.266 0.000 0.023 1776.53 1938.56 1614.50 2512.56 2273.31 0 0 0 12.52 30.00 15.69

10332.46 423 253.89 1.31 60.00 1773.1 1934.9 1611.2 2512.3 2273.6 203.24 7.59 837 10374.17 35.17 0.18 3.62 1.439 0.104 0.060 1599.41 1762.12 1436.69 2569.06 3535.62 0 0 0 12.44 15.64 15.45

10422.48 1156 253.89 1.25 0.00 1596.0 1755.8 1436.2 2570.4 3536.1 193.95 10.96 855 10428.37 0.00 0.00 3.67 0.000 0.000 0.021 1597.56 1757.50 1437.62 2585.50 2223.00 0 0 0 30.00 30.00 15.54

10612.59 517 253.89 1.25 -60.00 1593.7 1753.9 1433.6 2584.7 2221.5 175.34 9.56 875 10618.19 0.00 0.15 3.63 0.000 0.235 0.057 1594.34 1754.56 1434.12 2556.25 962.62 0 0 0 30.00 15.55 15.63

10677.43 1191 278.61 1.40 0.00 1592.3 1752.6 1432.0 2556.6 962.8 169.83 8.42 888 10703.84 20.43 0.17 3.67 1.358 0.113 0.023 1501.41 1666.56 1336.25 2610.94 2272.69 0 0 0 12.43 15.62 15.69

10882.59 128 278.61 1.37 0.00 1494.6 1659.2 1329.9 2611.1 2272.8 149.62 9.94 911 10883.92 0.00 0.00 0.00 0.000 0.000 0.000 1493.88 1658.62 1329.12 2610.94 2272.81 0 0 0 30.00 30.00 30.00

11062.69 0 278.61 1.37 0.00 1492.6 1656.8 1328.4 2611.2 2273.0 132.00 9.66 929 11064.02 0.00 0.00 0.00 0.000 0.000 0.000 1492.31 1657.06 1327.56 2610.69 2273.31 0 0 0 30.00 30.00 30.00

11242.81 34 297.14 1.43 0.00 1491.9 1656.0 1327.9 2610.5 2273.1 115.88 8.70 947 11258.93 15.72 0.00 0.00 1.304 0.000 0.000 1424.47 1592.88 1256.06 2610.88 2272.94 0 0 0 12.54 30.00 30.00

11432.79 163 329.02 1.55 0.00 1421.0 1589.2 1252.8 2611.4 2273.1 99.96 8.10 966 11460.33 26.80 0.11 0.00 1.326 0.116 0.000 1294.19 1467.31 1121.06 2659.69 2273.69 0 0 0 12.45 15.70 30.00

11632.59 34 352.32 1.62 0.00 1289.5 1463.6 1115.3 2659.1 2273.2 81.76 8.48 986 11653.03 19.66 0.00 0.00 1.276 0.000 0.000 1200.62 1379.38 1021.88 2659.19 2273.88 0 0 0 12.47 30.00 30.00

11832.68 163 395.20 1.80 0.00 1196.0 1375.8 1016.2 2659.1 2272.9 65.35 7.61 1006 11868.55 34.75 0.19 0.00 1.285 0.095 0.000 1025.97 1214.31 837.62 2740.75 2273.62 0 0 0 12.46 15.63 30.00

12052.69 550 427.11 1.89 -60.00 1019.5 1209.3 829.8 2740.4 2273.6 45.59 8.10 1029 12084.09 25.83 0.00 3.90 1.241 0.000 0.061 894.72 1091.75 697.69 2757.25 964.00 0 0 0 12.38 30.00 15.46

12182.78 1191 466.56 2.09 0.00 891.0 1090.6 691.3 2756.9 964.1 35.36 7.76 1055 12220.35 31.95 0.22 3.70 1.227 0.098 0.023 733.78 942.56 525.00 2833.19 2275.00 0 0 0 12.48 15.54 15.59

12397.90 423 570.63 2.47 60.00 729.9 939.4 520.5 2833.1 2275.1 20.33 4.88 1080 12441.42 37.38 0.32 3.64 1.210 0.087 0.060 550.31 752.38 348.25 2943.31 3535.88 0 0 0 12.40 15.55 15.38

12538.31 1190 666.23 2.57 0.00 546.8 745.4 348.2 2942.5 3535.3 13.95 5.26 1108 12544.30 0.00 0.00 3.67 0.000 0.000 0.019 546.66 745.25 348.06 2956.50 2217.69 0 0 0 30.00 30.00 15.54

12723.54 679 759.68 2.73 -60.00 544.6 741.8 347.4 2956.7 2217.5 5.44 5.35 1127 12729.43 0.00 0.20 3.62 0.000 0.105 0.058 544.72 742.06 347.38 3052.81 961.50 0 0 0 30.00 15.60 15.61

12768 end climb: SURFACE_DEPTH_REACHED

state 12768 begin surface coast

12788 end surface coast: CONTROL_FINISHED_OK

state 12789 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	208	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	15.261464	SEABIRD_T_J	2.9095588e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	37.27795	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	110919,160655,7255.660,-14850.982,0,3510.0,0,17.1	TGT_LATLONG	7249.700,-14830.700
_CALLS	3	TGT_RADIUS	2000.000
_SM_DEPTHo	-0.15	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-70.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	110919,160655,7255.660,-14850.982,0,3510.0,0,17.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.165,0.234	MHEAD_RNG_PITCHd_Wd	117.8,15646,-17.4,-9.524,-22.18
TGT_NAME	A1	D_GRID	600

MODEM_MSG	CACST,6,1,20190911201205.905718,18,7289,38,0096,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0B	INTERNAL_PRESSURE	8.48841
FREEZE	0.14,2.970,-1.459,2,5,0	_24V_AH	14.54,81.885
FINISH	0.1,1.021350	_10V_AH	14.97,0.000
SM_CCo	12866.33,0.00,0.000,0,543.2,740.8,345.7,513.35	FG_AHR_24Vo	37.430
SM_GC	2.30,0.00,9.35,3.73,0.000,0.162,0.022,543.2,740.8,345.7,147.0,2304.1,0,0,0,30.00,15.55,15.66	FG_AHR_10Vo	15.329
SUPER	59,71,254,1,0,0	MEM	1154784,28,24364,70
IRIDIUM_FIX	7249.93,-14825.94,110919,110507	DATA_FILE_SIZE	35317,1140
TCM_TEMP	7.36	CAP_FILE_SIZE	312420,0
XPDR_PINGS	74	SDSIZE	3918848,3860736
SC_FREEKB	3712768	SDFILEDIR	1089,1
RAFOS_CLK	-5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1568232014,73.00043,-148.33627,14.468,21195.7	SOUNDSPEED	1465.0
RAFOS_FIX	7301.476074,-14857.732422,110919,202058,2,510,0.77	WARN	PPS timeout
HUMID	56.27	GPS	110919,211919,7249.685,-14828.540,95,0.7,105,17.1
TEMP	0.76

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	635	1963	18144.99	nil	0	0	0.00
Pitch_motor	23	391	131.83	nil	0	0	0.00
Roll_motor	169	72	178.70	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	18	420	112.98	nil	0	0	0.00
GPS	0	0	0.00	nil	0	0	0.00
Core	2902	11	500.55	SciCon	12824	16	3187.56
LPSleep	10051	2	347.60	nil	0	0	0.00
Compass	1196	5	89.55	nil	0	0	0.00
RAFOS	2212	48	1589.45
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
4.78	2	-145.99	-0.92	0.00	542.5	738.2	346.9	146.9	2214.1	0.00	0.00	0	67.02	61.70	0.00	0.00	0.005	0.000	0.000	1690.44	1725.50	1655.38	146.94	2213.62	0	0	0	15.57	30.00	30.00
67.25	263	-145.99	-0.92	60.00	1689.9	1725.0	1654.8	147.1	2213.4	5.18	-10.04	6	115.53	33.53	7.80	3.88	0.005	0.391	0.051	3232.75	3167.88	3297.62	1837.56	3569.44	0	0	0	15.54	15.37	15.58
192.71	1157	-145.99	-0.57	0.00	3231.8	3168.1	3295.4	1838.2	3569.8	50.96	-29.00	31	198.28	0.00	0.44	3.62	0.000	0.261	0.018	3233.16	3168.88	3297.44	1970.06	2244.00	0	0	0	30.00	15.63	15.61
382.67	128	-145.99	-0.51	0.00	3231.3	3168.6	3294.1	1970.3	2223.3	82.77	-14.44	51	384.01	0.00	0.00	0.00	0.000	0.000	0.000	3230.56	3168.19	3292.94	1969.94	2223.56	0	0	0	30.00	30.00	30.00
562.74	129	-145.99	-0.46	0.00	3231.7	3169.1	3294.3	1969.9	2223.6	106.18	-12.46	69	564.18	0.00	0.12	0.00	0.000	0.227	0.000	3232.44	3171.00	3293.88	2004.00	2218.94	0	0	0	30.00	15.71	30.00
742.60	128	-145.99	-0.50	0.00	3232.0	3170.2	3293.7	2005.3	2218.8	125.03	-10.22	87	743.93	0.00	0.00	0.00	0.000	0.000	0.000	3231.50	3169.75	3293.25	2005.50	2218.81	0	0	0	30.00	30.00	30.00
922.83	128	-145.99	-0.55	0.00	3232.2	3170.0	3294.3	2005.8	2219.6	143.72	-10.29	105	924.16	0.00	0.00	0.00	0.000	0.000	0.000	3231.31	3169.62	3293.00	2005.62	2219.19	0	0	0	30.00	30.00	30.00
1102.65	129	-145.99	-0.62	0.00	3232.0	3170.7	3293.2	2005.4	2219.2	161.29	-9.57	123	1104.10	0.00	0.19	0.00	0.000	0.105	0.000	3231.34	3169.69	3293.00	1932.81	2219.44	0	0	0	30.00	15.82	30.00
1282.75	128	-145.99	-0.59	0.00	3232.2	3171.0	3293.4	1933.5	2219.2	183.43	-12.26	141	1284.08	0.00	0.00	0.00	0.000	0.000	0.000	3231.16	3169.88	3292.44	1932.75	2219.12	0	0	0	30.00	30.00	30.00
1462.90	0	-145.99	-0.59	0.00	3232.2	3170.8	3293.7	1932.5	2219.2	204.24	-10.89	159	1464.23	0.00	0.00	0.00	0.000	0.000	0.000	3231.19	3170.00	3292.38	1932.88	2219.31	0	0	0	30.00	30.00	30.00
1643.02	32	-145.99	-0.59	0.00	3232.5	3171.5	3293.6	1932.7	2219.1	222.29	-9.45	177	1644.36	0.00	0.00	0.00	0.000	0.000	0.000	3231.25	3170.19	3292.31	1932.75	2219.25	0	0	0	30.00	30.00	30.00
1822.84	420	-145.99	-0.64	60.00	3232.4	3171.2	3293.6	1933.5	2218.8	237.61	-8.17	195	1828.65	0.00	0.00	3.80	0.000	0.000	0.057	3233.97	3173.75	3294.19	1914.69	3567.44	0	0	0	30.00	30.00	15.91
1847.61	1188	-145.99	-0.68	0.00	3232.2	3171.6	3292.7	1915.9	3568.7	239.76	-8.27	200	1853.48	0.00	0.00	3.56	0.000	0.000	0.016	3232.62	3172.12	3293.12	1928.31	2247.19	0	0	0	30.00	30.00	15.91
2042.96	420	-145.99	-0.73	60.00	3232.3	3172.6	3292.0	1928.1	2246.9	254.71	-7.73	216	2048.67	0.00	0.00	3.79	0.000	0.000	0.056	3232.72	3172.62	3292.81	1913.56	3567.88	0	0	0	30.00	30.00	15.93
2272.95	1188	-145.99	-0.78	0.00	3232.0	3172.0	3292.0	1913.5	3567.6	274.38	-8.51	262	2278.70	0.00	0.00	3.57	0.000	0.000	0.016	3232.31	3171.88	3292.75	1926.19	2247.88	0	0	0	30.00	30.00	15.86
2463.05	677	-145.99	-0.85	-60.00	3232.4	3172.4	3292.3	1926.1	2246.8	288.16	-7.12	270	2468.77	0.00	0.17	3.51	0.000	0.105	0.049	3234.09	3174.00	3294.19	1872.00	990.25	0	0	0	30.00	15.90	15.92
2637.74	1156	-145.99	-0.79	0.00	3231.6	3172.1	3291.1	1871.9	989.7	304.72	-9.75	305	2643.66	0.00	0.00	3.61	0.000	0.000	0.021	3233.44	3174.81	3292.06	1856.69	2302.75	0	0	0	30.00	30.00	15.95
2822.97	161	-145.99	-0.74	0.00	3231.5	3172.1	3290.9	1857.6	2303.9	321.74	-9.17	312	2824.44	0.00	0.21	0.00	0.000	0.228	0.000	3231.75	3172.31	3291.19	1916.88	2303.69	0	0	0	30.00	15.85	30.00
3002.94	160	-145.99	-0.81	0.00	3231.6	3172.2	3290.9	1917.1	2304.2	334.46	-6.94	318	3004.28	0.00	0.00	0.00	0.000	0.000	0.000	3230.53	3172.19	3288.88	1917.25	2303.88	0	0	0	30.00	30.00	30.00
3182.96	161	-145.99	-0.88	0.00	3231.2	3172.1	3290.4	1917.1	2304.2	346.69	-6.78	324	3184.41	0.00	0.17	0.00	0.000	0.100	0.000	3231.53	3172.94	3290.12	1848.31	2303.81	0	0	0	30.00	15.93	30.00
3362.96	677	-145.99	-0.83	-60.00	3231.4	3172.4	3290.4	1849.1	2304.2	362.71	-8.99	330	3368.65	0.00	0.14	3.74	0.000	0.230	0.049	3231.78	3172.81	3290.75	1902.62	991.56	0	0	0	30.00	15.88	15.94
3392.95	1060	-145.99	-0.83	0.00	3231.4	3172.1	3290.8	1902.2	991.2	365.25	-9.01	336	3398.59	0.00	0.00	3.61	0.000	0.000	0.023	3233.41	3174.44	3292.38	1888.62	2302.81	0	0	0	30.00	30.00	15.88
3603.15	32	-145.99	-0.83	0.00	3231.1	3172.4	3289.9	1888.9	2304.4	381.47	-7.67	348	3604.49	0.00	0.00	0.00	0.000	0.000	0.000	3231.12	3172.44	3289.81	1888.75	2303.94	0	0	0	30.00	30.00	30.00
3783.16	548	-145.99	-0.83	-60.00	3231.3	3172.3	3290.3	1888.8	2303.7	395.31	-7.67	354	3788.63	0.00	0.00	3.75	0.000	0.000	0.050	3232.38	3173.38	3291.38	1901.75	990.12	0	0	0	30.00	30.00	15.96
3797.84	1060	-145.99	-0.83	0.00	3231.6	3172.5	3290.8	1901.9	990.2	396.51	-7.72	357	3803.62	0.00	0.00	3.62	0.000	0.000	0.023	3231.41	3173.00	3289.81	1888.69	2304.25	0	0	0	30.00	30.00	15.96
3993.24	160	-145.99	-0.87	0.00	3231.3	3172.3	3290.2	1888.6	2304.7	411.84	-7.85	366	3994.58	0.00	0.00	0.00	0.000	0.000	0.000	3230.66	3173.06	3288.25	1888.25	2303.88	0	0	0	30.00	30.00	30.00
4173.04	676	-145.99	-0.90	-60.00	3231.2	3172.5	3289.8	1888.8	2304.4	425.62	-7.65	372	4178.66	0.00	0.00	3.75	0.000	0.000	0.050	3233.38	3174.44	3292.31	1902.12	991.69	0	0	0	30.00	30.00	15.98
4192.87	1061	-145.99	-0.90	0.00	3231.1	3172.3	3289.9	1901.9	991.2	427.24	-7.61	376	4198.67	0.00	0.09	3.60	0.000	0.131	0.023	3233.03	3174.19	3291.88	1845.12	2304.81	0	0	0	30.00	15.94	15.98
4383.23	676	-145.99	-0.86	-60.00	3231.0	3171.9	3290.1	1846.0	2305.2	443.33	-8.45	384	4388.68	0.00	0.00	3.76	0.000	0.000	0.050	3233.38	3174.88	3291.88	1859.94	989.88	0	0	0	30.00	30.00	15.98
4397.92	1189	-145.99	-0.80	0.00	3230.9	3172.1	3289.8	1860.4	990.2	444.73	-6.71	387	4403.73	0.00	0.18	3.61	0.000	0.230	0.022	3232.19	3173.25	3291.12	1897.06	2302.81	0	0	0	30.00	15.87	15.99
4593.31	676	-145.99	-0.85	-60.00	3231.0	3172.6	3289.4	1897.1	2303.9	459.99	-7.06	396	4598.70	0.00	0.00	3.74	0.000	0.000	0.051	3231.31	3173.00	3289.62	1912.81	992.00	0	0	0	30.00	30.00	16.00
4822.98	1189	-145.99	-0.91	0.00	3231.1	3172.4	3289.7	1912.4	991.7	477.05	-7.39	442	4828.80	0.00	0.14	3.61	0.000	0.115	0.023	3233.59	3175.00	3292.19	1841.50	2305.31	0	0	0	30.00	15.95	16.00
5013.18	421	-145.99	-0.86	60.00	3231.3	3172.9	3289.8	1841.6	2306.1	493.33	-8.66	450	5018.78	0.00	0.12	3.50	0.000	0.243	0.058	3234.16	3174.50	3293.81	1862.56	3568.69	0	0	0	30.00	15.91	15.97
5243.04	1060	-145.99	-0.86	0.00	3230.8	3171.7	3289.8	1862.6	3568.6	513.82	-8.88	496	5248.80	0.00	0.00	3.53	0.000	0.000	0.016	3231.19	3172.88	3289.50	1876.19	2245.62	0	0	0	30.00	30.00	15.99
5433.24	292	-145.99	-0.86	60.00	3231.1	3172.9	3289.2	1875.9	2243.9	528.54	-7.62	504	5438.85	0.00	0.00	3.76	0.000	0.000	0.056	3231.69	3173.75	3289.62	1861.69	3567.94	0	0	0	30.00	30.00	16.00
5453.05	1060	-145.99	-0.86	0.00	3231.2	3173.0	3289.5	1861.1	3568.0	530.25	-7.72	508	5459.07	0.00	0.00	3.54	0.000	0.000	0.016	3231.56	3173.44	3289.69	1874.69	2244.69	0	0	0	30.00	30.00	16.01
5643.43	292	-145.99	-0.86	60.00	3231.5	3173.4	3289.6	1874.8	2243.2	544.75	-7.55	516	5648.95	0.00	0.00	3.76	0.000	0.000	0.056	3232.72	3174.25	3291.19	1859.38	3567.25	0	0	0	30.00	30.00	16.02
5873.14	1060	-145.99	-0.86	0.00	3232.3	3174.1	3290.4	1860.6	3567.1	565.12	-8.93	562	5879.16	0.00	0.00	3.54	0.000	0.000	0.016	3231.16	3173.62	3288.69	1873.19	2244.69	0	0	0	30.00	30.00	16.02
6063.38	548	-145.99	-0.86	-60.00	3231.7	3173.8	3289.6	1873.4	2243.6	579.98	-7.83	570	6068.91	0.00	0.00	3.49	0.000	0.000	0.052	3231.62	3173.88	3289.38	1888.00	990.06	0	0	0	30.00	30.00	16.01
6208.20	1028	-145.99	-0.86	0.00	3231.1	3173.1	3289.1	1887.5	990.5	592.97	-10.58	599	6214.32	0.00	0.00	3.60	0.000	0.000	0.023	3232.62	3174.88	3290.38	1873.88	2304.50	0	0	0	30.00	30.00	16.03
6303	end dive: TARGET_DEPTH_EXCEEDED
state	6303	begin apogee
6304.59	3	0.00	-0.14	0.00	3231.7	3173.8	3289.6	1873.6	2192.0	600.26	-7.67	603	6420.20	113.18	0.77	0.25	1.964	0.197	0.073	2635.19	2708.88	2561.50	2108.50	2280.00	0	0	0	12.55	15.91	15.31
6421	end apogee: CONTROL_FINISHED_OK
state	6422	begin climb
6421.53	263	145.99	0.92	60.00	2632.5	2707.4	2557.7	2108.2	2280.3	601.78	0.00	606	6548.85	119.55	1.08	3.73	1.877	0.130	0.059	2038.38	2211.69	1865.06	2439.00	3535.50	0	0	0	12.43	15.34	14.98
6580.97	1156	145.99	0.87	0.00	2033.9	2204.1	1863.7	2439.7	3535.8	586.99	11.85	633	6586.76	0.00	0.00	3.73	0.000	0.000	0.018	2034.09	2204.69	1863.50	2453.50	2222.88	0	0	0	30.00	30.00	15.20
6781.03	131	145.99	0.84	0.00	2027.8	2199.1	1856.6	2454.4	2220.6	565.07	11.03	643	6782.48	0.00	0.16	0.00	0.000	0.229	0.000	2026.44	2197.81	1855.06	2410.75	2219.56	0	0	0	30.00	15.35	30.00
6961.07	130	145.99	0.88	0.00	2026.1	2196.1	1856.1	2410.9	2219.4	546.89	9.68	649	6962.40	0.00	0.00	0.00	0.000	0.000	0.000	2025.50	2195.38	1855.62	2410.56	2219.31	0	0	0	30.00	30.00	30.00
7141.07	131	145.99	0.93	0.00	2024.9	2193.9	1855.9	2411.0	2218.7	529.22	9.82	655	7142.52	0.00	0.12	0.00	0.000	0.115	0.000	2023.84	2192.62	1855.06	2461.50	2216.19	0	0	0	30.00	15.61	30.00
7320.87	130	145.99	0.89	0.00	2024.3	2192.0	1856.6	2461.6	2216.5	508.50	11.65	661	7322.21	0.00	0.00	0.00	0.000	0.000	0.000	2023.12	2191.81	1854.44	2460.94	2216.44	0	0	0	30.00	30.00	30.00
7501.00	391	145.99	0.85	60.00	2023.2	2190.7	1855.6	2460.9	2217.0	486.88	12.06	667	7506.90	0.00	0.16	3.81	0.000	0.227	0.057	2024.72	2192.00	1857.44	2399.88	3536.06	0	0	0	30.00	15.67	15.74
7556.08	1159	145.99	0.90	0.00	2022.0	2188.2	1855.9	2399.2	3535.6	480.99	10.32	678	7561.88	0.00	0.08	3.61	0.000	0.147	0.018	2022.97	2189.12	1856.81	2449.81	2219.25	0	0	0	30.00	15.72	15.76
7741.02	2	145.99	0.90	0.00	2022.3	2188.4	1856.1	2449.2	2218.0	460.82	10.95	685	7742.36	0.00	0.00	0.00	0.000	0.000	0.000	2021.28	2187.75	1854.81	2449.75	2217.75	0	0	0	30.00	30.00	30.00
7921.00	2	145.99	0.90	0.00	2022.2	2188.2	1856.2	2449.6	2217.4	440.60	11.26	691	7922.34	0.00	0.00	0.00	0.000	0.000	0.000	2021.12	2187.50	1854.75	2449.69	2217.44	0	0	0	30.00	30.00	30.00
8101.00	2	145.99	0.90	0.00	2021.6	2187.3	1855.9	2450.2	2217.3	420.96	10.94	697	8102.33	0.00	0.00	0.00	0.000	0.000	0.000	2020.84	2186.75	1854.94	2449.75	2216.88	0	0	0	30.00	30.00	30.00
8281.03	2	145.99	0.90	0.00	2021.3	2186.8	1855.8	2449.9	2216.2	401.26	10.95	703	8282.37	0.00	0.00	0.00	0.000	0.000	0.000	2021.03	2186.19	1855.88	2449.81	2216.69	0	0	0	30.00	30.00	30.00
8461.01	2	145.99	0.90	0.00	2021.1	2186.2	1856.0	2450.1	2216.7	381.77	10.78	709	8462.35	0.00	0.00	0.00	0.000	0.000	0.000	2020.47	2186.06	1854.88	2450.12	2216.25	0	0	0	30.00	30.00	30.00
8641.03	262	145.99	0.90	60.00	2020.9	2186.1	1855.8	2450.3	2216.8	362.65	10.61	715	8646.65	0.00	0.00	3.79	0.000	0.000	0.057	2021.22	2186.69	1855.75	2438.00	3536.19	0	0	0	30.00	30.00	15.82
8701.20	1158	145.99	0.86	0.00	2020.3	2184.6	1855.9	2437.0	3535.6	355.78	11.33	727	8706.97	0.00	0.00	3.60	0.000	0.000	0.018	2020.16	2184.44	1855.88	2452.56	2219.00	0	0	0	30.00	30.00	15.83
8911.18	2	145.99	0.86	0.00	2019.9	2184.2	1855.6	2451.8	2217.6	333.63	10.47	739	8912.52	0.00	0.00	0.00	0.000	0.000	0.000	2019.00	2183.19	1854.81	2452.25	2217.62	0	0	0	30.00	30.00	30.00
9091.17	2	145.99	0.86	0.00	2020.0	2183.6	1856.4	2452.5	2216.8	315.34	10.20	745	9092.50	0.00	0.00	0.00	0.000	0.000	0.000	2019.19	2183.44	1854.94	2452.50	2216.38	0	0	0	30.00	30.00	30.00
9271.19	2	145.99	0.86	0.00	2020.2	2184.6	1855.9	2452.7	2217.0	297.87	9.67	751	9272.52	0.00	0.00	0.00	0.000	0.000	0.000	2019.03	2183.56	1854.50	2452.31	2216.56	0	0	0	30.00	30.00	30.00
9451.23	34	147.36	0.87	0.00	2020.3	2184.2	1856.4	2452.5	2217.2	280.83	9.46	757	9452.57	0.00	0.00	0.00	0.000	0.000	0.000	2019.41	2183.19	1855.62	2452.44	2217.12	0	0	0	30.00	30.00	30.00
9631.23	34	161.95	0.91	0.00	2019.9	2183.4	1856.4	2451.9	2217.6	264.70	8.87	763	9643.89	11.85	0.00	0.00	1.393	0.000	0.000	1973.97	2136.44	1811.50	2451.75	2217.25	0	0	0	12.51	30.00	30.00
9811.29	422	182.81	1.01	60.00	1972.6	2133.4	1811.8	2451.9	2216.9	249.18	8.59	769	9835.37	18.84	0.00	3.85	1.454	0.000	0.061	1888.88	2051.19	1726.56	2440.50	3535.69	0	0	0	12.51	30.00	15.62
9877.24	1191	191.60	1.08	0.00	1887.3	2047.2	1727.3	2441.0	3535.4	243.33	9.13	782	9893.50	9.36	0.12	3.63	1.250	0.118	0.019	1856.00	2017.25	1694.75	2509.25	2219.31	0	0	0	12.52	15.66	15.71
10072.46	550	200.84	1.11	-60.00	1850.9	2011.2	1690.6	2510.6	2218.1	224.94	9.11	803	10088.24	9.52	0.00	3.62	1.256	0.000	0.059	1816.75	1978.00	1655.50	2526.06	962.81	0	0	0	12.47	30.00	15.57
10137.26	1062	210.62	1.14	0.00	1814.6	1974.6	1654.6	2525.9	963.0	219.21	9.09	816	10153.69	10.23	0.00	3.67	1.266	0.000	0.023	1776.53	1938.56	1614.50	2512.56	2273.31	0	0	0	12.52	30.00	15.69
10332.46	423	253.89	1.31	60.00	1773.1	1934.9	1611.2	2512.3	2273.6	203.24	7.59	837	10374.17	35.17	0.18	3.62	1.439	0.104	0.060	1599.41	1762.12	1436.69	2569.06	3535.62	0	0	0	12.44	15.64	15.45
10422.48	1156	253.89	1.25	0.00	1596.0	1755.8	1436.2	2570.4	3536.1	193.95	10.96	855	10428.37	0.00	0.00	3.67	0.000	0.000	0.021	1597.56	1757.50	1437.62	2585.50	2223.00	0	0	0	30.00	30.00	15.54
10612.59	517	253.89	1.25	-60.00	1593.7	1753.9	1433.6	2584.7	2221.5	175.34	9.56	875	10618.19	0.00	0.15	3.63	0.000	0.235	0.057	1594.34	1754.56	1434.12	2556.25	962.62	0	0	0	30.00	15.55	15.63
10677.43	1191	278.61	1.40	0.00	1592.3	1752.6	1432.0	2556.6	962.8	169.83	8.42	888	10703.84	20.43	0.17	3.67	1.358	0.113	0.023	1501.41	1666.56	1336.25	2610.94	2272.69	0	0	0	12.43	15.62	15.69
10882.59	128	278.61	1.37	0.00	1494.6	1659.2	1329.9	2611.1	2272.8	149.62	9.94	911	10883.92	0.00	0.00	0.00	0.000	0.000	0.000	1493.88	1658.62	1329.12	2610.94	2272.81	0	0	0	30.00	30.00	30.00
11062.69	0	278.61	1.37	0.00	1492.6	1656.8	1328.4	2611.2	2273.0	132.00	9.66	929	11064.02	0.00	0.00	0.00	0.000	0.000	0.000	1492.31	1657.06	1327.56	2610.69	2273.31	0	0	0	30.00	30.00	30.00
11242.81	34	297.14	1.43	0.00	1491.9	1656.0	1327.9	2610.5	2273.1	115.88	8.70	947	11258.93	15.72	0.00	0.00	1.304	0.000	0.000	1424.47	1592.88	1256.06	2610.88	2272.94	0	0	0	12.54	30.00	30.00
11432.79	163	329.02	1.55	0.00	1421.0	1589.2	1252.8	2611.4	2273.1	99.96	8.10	966	11460.33	26.80	0.11	0.00	1.326	0.116	0.000	1294.19	1467.31	1121.06	2659.69	2273.69	0	0	0	12.45	15.70	30.00
11632.59	34	352.32	1.62	0.00	1289.5	1463.6	1115.3	2659.1	2273.2	81.76	8.48	986	11653.03	19.66	0.00	0.00	1.276	0.000	0.000	1200.62	1379.38	1021.88	2659.19	2273.88	0	0	0	12.47	30.00	30.00
11832.68	163	395.20	1.80	0.00	1196.0	1375.8	1016.2	2659.1	2272.9	65.35	7.61	1006	11868.55	34.75	0.19	0.00	1.285	0.095	0.000	1025.97	1214.31	837.62	2740.75	2273.62	0	0	0	12.46	15.63	30.00
12052.69	550	427.11	1.89	-60.00	1019.5	1209.3	829.8	2740.4	2273.6	45.59	8.10	1029	12084.09	25.83	0.00	3.90	1.241	0.000	0.061	894.72	1091.75	697.69	2757.25	964.00	0	0	0	12.38	30.00	15.46
12182.78	1191	466.56	2.09	0.00	891.0	1090.6	691.3	2756.9	964.1	35.36	7.76	1055	12220.35	31.95	0.22	3.70	1.227	0.098	0.023	733.78	942.56	525.00	2833.19	2275.00	0	0	0	12.48	15.54	15.59
12397.90	423	570.63	2.47	60.00	729.9	939.4	520.5	2833.1	2275.1	20.33	4.88	1080	12441.42	37.38	0.32	3.64	1.210	0.087	0.060	550.31	752.38	348.25	2943.31	3535.88	0	0	0	12.40	15.55	15.38
12538.31	1190	666.23	2.57	0.00	546.8	745.4	348.2	2942.5	3535.3	13.95	5.26	1108	12544.30	0.00	0.00	3.67	0.000	0.000	0.019	546.66	745.25	348.06	2956.50	2217.69	0	0	0	30.00	30.00	15.54
12723.54	679	759.68	2.73	-60.00	544.6	741.8	347.4	2956.7	2217.5	5.44	5.35	1127	12729.43	0.00	0.20	3.62	0.000	0.105	0.058	544.72	742.06	347.38	3052.81	961.50	0	0	0	30.00	15.60	15.61
12768	end climb: SURFACE_DEPTH_REACHED
state	12768	begin surface coast
12788	end surface coast: CONTROL_FINISHED_OK
state	12789	begin surface