Glider dive log

SODA Aug19 * SG227 * Dive index * Mission links * Dive 220 * 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 220 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 5 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 0 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 16.065075 SEABIRD_T_J 2.9095588e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 39.322983 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 16.065075 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 39.322983 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 5 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 0

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 220 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 130919,133908,7309.072,-14808.999,89,0.8,94,17.2 TGT_LATLONG 7310.400,-14809.600

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo -6.63 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -68.2 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 130919,134858,7309.071,-14809.180,4,0.8,9,17.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.165,0.234 MHEAD_RNG_PITCHd_Wd 337.6,2472,-21.7,-9.524,-25.89

TGT_NAME A2 D_GRID 600

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20190913160014.800137,18,32767,45,0107,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*32 TEMP 1.02

FREEZE -0.04,3.094,-1.489,0,1,0 INTERNAL_PRESSURE 8.50258

FINISH -0.0,1.021782 _24V_AH 14.65,86.269

SM_CCo 11975.51,0.00,0.000,0,543.4,736.5,350.3,513.31 _10V_AH 14.87,0.000

SM_GC 1.39,0.00,9.35,3.56,0.000,0.165,0.020,543.4,736.5,350.3,146.9,2250.7,0,0,0,30.00,15.42,15.54 FG_AHR_24Vo 39.459

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 16.131

IRIDIUM_FIX 7307.83,-14657.64,130919,134151 MEM 1154680,32,24388,70

TCM_TEMP 7.65 DATA_FILE_SIZE 28897,946

XPDR_PINGS 32 CAP_FILE_SIZE 257838,0

SC_FREEKB 3705280 SDSIZE 3918848,3858560

RAFOS_CLK -4 SDFILEDIR 1138,1

MODEM 0,1568390414,73.00043,-148.33627,14.800,21682.2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7310.267578,-14808.659180,130919,161614,1,2,0.28 SOUNDSPEED 1465.0

HUMID 56.38 GPS 130919,171030,7310.682,-14808.724,71,0.7,71,17.2

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 586 1964 16878.24 nil 0 0 0.00

Pitch_motor 24 391 140.05 nil 0 0 0.00

Roll_motor 112 92 151.93 nil 0 0 0.00

Iridium 403 185 1097.66 nil 0 0 0.00

Transponder_ping 8 420 49.22 nil 0 0 0.00

GPS 18 11 3.27 nil 0 0 0.00

Core 2924 11 500.95 SciCon 11929 16 2989.99

LPSleep 9620 2 330.48 nil 0 0 0.00

Compass 1020 5 75.85 nil 0 0 0.00

RAFOS 2202 48 1571.70

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

4.80 2 -99.63 -0.90 0.00 538.8 725.2 352.3 144.7 2244.4 0.00 0.00 0 97.62 92.31 0.00 0.00 0.005 0.000 0.000 2698.75 2687.62 2709.88 144.75 2221.69 0 0 0 15.52 30.00 30.00

97.86 519 -99.63 -0.90 -60.00 2697.3 2685.7 2709.0 144.6 2222.6 7.73 -26.88 9 118.20 5.39 7.87 3.55 0.009 0.391 0.047 3042.78 2994.19 3091.38 1875.38 988.12 0 0 0 15.51 15.32 15.54

145.62 1157 -99.63 -0.29 0.00 3042.6 2995.1 3090.0 1875.3 987.8 32.76 -43.67 19 152.34 0.00 0.76 3.72 0.000 0.289 0.034 3043.69 2996.75 3090.62 2055.38 2296.19 0 0 0 30.00 15.54 15.64

330.62 129 -99.63 -0.44 0.00 3042.9 2996.6 3089.2 2057.7 2297.9 58.31 -10.32 38 332.07 0.00 0.17 0.00 0.000 0.108 0.000 3041.78 2996.25 3087.31 1992.00 2299.25 0 0 0 30.00 15.70 30.00

510.60 128 -99.63 -0.50 0.00 3042.9 2996.4 3089.4 1992.1 2299.4 79.06 -11.41 56 511.94 0.00 0.00 0.00 0.000 0.000 0.000 3041.91 2996.06 3087.75 1991.56 2299.00 0 0 0 30.00 30.00 30.00

690.67 128 -99.63 -0.58 0.00 3043.4 2997.1 3089.6 1992.2 2298.8 98.75 -10.90 74 692.00 0.00 0.00 0.00 0.000 0.000 0.000 3042.66 2996.81 3088.50 1991.94 2299.19 0 0 0 30.00 30.00 30.00

870.62 129 -99.63 -0.68 0.00 3043.2 2997.2 3089.2 1992.0 2299.2 117.31 -9.99 92 872.07 0.00 0.19 0.00 0.000 0.106 0.000 3043.12 2997.81 3088.44 1915.31 2299.50 0 0 0 30.00 15.79 30.00

1050.74 516 -99.63 -0.68 -60.00 3042.9 2996.9 3088.9 1915.8 2299.1 139.74 -12.11 110 1056.32 0.00 0.00 3.80 0.000 0.000 0.058 3044.44 2998.25 3090.62 1929.44 992.44 0 0 0 30.00 30.00 15.84

1135.54 1028 -99.63 -0.68 0.00 3042.8 2996.7 3088.8 1929.7 992.1 150.43 -12.32 127 1141.55 0.00 0.00 3.67 0.000 0.000 0.032 3043.38 2997.94 3088.81 1915.31 2299.88 0 0 0 30.00 30.00 15.79

1320.69 0 -99.63 -0.68 0.00 3043.0 2997.3 3088.8 1915.4 2299.2 172.86 -11.91 146 1322.03 0.00 0.00 0.00 0.000 0.000 0.000 3043.12 2997.25 3089.00 1915.50 2299.25 0 0 0 30.00 30.00 30.00

1500.89 128 -99.63 -0.71 0.00 3043.4 2997.6 3089.2 1914.9 2299.6 191.76 -9.76 164 1502.22 0.00 0.00 0.00 0.000 0.000 0.000 3042.47 2997.06 3087.88 1914.69 2299.06 0 0 0 30.00 30.00 30.00

1680.94 160 -109.54 -0.81 0.00 3043.3 2997.8 3088.9 1915.5 2299.6 208.32 -8.88 182 1682.27 0.00 0.00 0.00 0.000 0.000 0.000 3042.88 2997.12 3088.62 1915.31 2298.94 0 0 0 30.00 30.00 30.00

1860.86 677 -141.53 -0.99 -60.00 3042.8 2997.1 3088.6 1915.2 2299.2 222.60 -7.45 200 1866.50 0.00 0.26 3.78 0.000 0.097 0.058 3042.91 2997.81 3088.00 1832.00 992.81 0 0 0 30.00 15.88 15.79

1975.65 1157 -141.53 -0.87 0.00 3042.4 2997.2 3087.6 1831.2 992.6 234.38 -10.48 223 1981.85 0.00 0.22 3.65 0.000 0.266 0.032 3043.66 2998.12 3089.19 1875.19 2302.12 0 0 0 30.00 15.78 15.88

2160.88 420 -145.99 -0.91 60.00 3043.2 2998.1 3088.2 1875.4 2302.4 249.31 -7.71 242 2166.70 0.00 0.00 3.56 0.000 0.000 0.067 3043.19 2998.56 3087.81 1861.56 3565.88 0 0 0 30.00 30.00 15.91

2280.97 1060 -145.99 -0.91 0.00 3042.7 2998.1 3087.4 1860.8 3565.2 259.69 -8.50 266 2286.64 0.00 0.00 3.57 0.000 0.000 0.021 3043.06 2997.75 3088.38 1874.19 2248.00 0 0 0 30.00 30.00 15.93

2491.02 676 -145.99 -0.95 -60.00 3042.4 2997.8 3087.1 1874.2 2245.9 274.57 -7.01 278 2496.50 0.00 0.00 3.55 0.000 0.000 0.061 3042.56 2997.56 3087.56 1889.62 992.38 0 0 0 30.00 30.00 15.93

2576.01 1061 -145.99 -0.95 0.00 3042.2 2997.5 3086.9 1889.4 992.4 281.03 -7.63 295 2581.93 0.00 0.10 3.64 0.000 0.134 0.030 3042.06 2997.12 3087.00 1832.62 2301.56 0 0 0 30.00 15.89 15.94

2760.97 160 -145.99 -0.92 0.00 3042.4 2997.6 3087.2 1831.8 2302.1 296.09 -8.18 302 2762.31 0.00 0.00 0.00 0.000 0.000 0.000 3041.25 2997.19 3085.31 1831.88 2302.00 0 0 0 30.00 30.00 30.00

2940.99 32 -145.99 -0.92 0.00 3042.2 2997.4 3087.0 1831.8 2302.2 310.93 -8.23 308 2942.32 0.00 0.00 0.00 0.000 0.000 0.000 3041.19 2996.94 3085.44 1832.06 2301.56 0 0 0 30.00 30.00 30.00

3121.03 32 -145.99 -0.92 0.00 3041.4 2997.1 3085.8 1831.6 2301.5 324.90 -7.74 314 3122.37 0.00 0.00 0.00 0.000 0.000 0.000 3041.00 2997.19 3084.81 1831.62 2301.62 0 0 0 30.00 30.00 30.00

3301.05 32 -145.99 -0.92 0.00 3041.9 2997.9 3085.8 1832.2 2301.6 339.01 -7.84 320 3302.38 0.00 0.00 0.00 0.000 0.000 0.000 3040.69 2997.44 3083.94 1832.19 2301.56 0 0 0 30.00 30.00 30.00

3481.02 548 -145.99 -0.92 -60.00 3041.2 2997.3 3085.1 1832.0 2302.0 353.00 -7.71 326 3486.62 0.00 0.00 3.78 0.000 0.000 0.058 3042.69 2998.12 3087.25 1847.00 991.44 0 0 0 30.00 30.00 15.84

3590.93 1188 -145.99 -0.87 0.00 3042.0 2998.0 3086.0 1846.9 991.6 362.14 -8.29 348 3596.64 0.00 0.00 3.64 0.000 0.000 0.032 3042.19 2998.19 3086.19 1831.94 2300.31 0 0 0 30.00 30.00 15.96

3781.18 33 -145.99 -0.87 0.00 3042.0 2998.6 3085.4 1831.9 2300.8 376.79 -7.73 356 3782.63 0.00 0.16 0.00 0.000 0.257 0.000 3041.25 2996.88 3085.62 1874.69 2301.94 0 0 0 30.00 15.85 30.00

3961.19 160 -145.99 -0.95 0.00 3041.9 2998.1 3085.6 1874.5 2301.5 388.54 -6.49 362 3962.52 0.00 0.00 0.00 0.000 0.000 0.000 3040.75 2997.25 3084.25 1874.56 2301.81 0 0 0 30.00 30.00 30.00

4141.24 161 -145.99 -1.03 0.00 3042.1 2998.1 3086.1 1874.8 2302.0 400.11 -6.43 368 4142.69 0.00 0.19 0.00 0.000 0.112 0.000 3040.03 2996.19 3083.88 1805.12 2301.50 0 0 0 30.00 15.95 30.00

4321.03 161 -145.99 -0.98 0.00 3041.9 2998.1 3085.8 1805.6 2301.2 413.84 -7.65 374 4322.48 0.00 0.13 0.00 0.000 0.267 0.000 3040.69 2996.69 3084.69 1838.62 2301.88 0 0 0 30.00 15.89 30.00

4501.18 32 -145.99 -0.98 0.00 3041.6 2997.8 3085.4 1838.6 2301.9 428.09 -8.03 380 4502.51 0.00 0.00 0.00 0.000 0.000 0.000 3040.53 2996.94 3084.12 1839.00 2301.50 0 0 0 30.00 30.00 30.00

4681.18 548 -145.99 -0.98 -60.00 3041.2 2997.4 3085.1 1838.6 2301.8 441.08 -7.19 386 4686.73 0.00 0.00 3.75 0.000 0.000 0.057 3043.44 2999.56 3087.31 1854.88 992.44 0 0 0 30.00 30.00 15.98

4781.16 1060 -145.99 -0.98 0.00 3041.5 2997.4 3085.6 1855.2 992.6 448.88 -7.82 406 4786.75 0.00 0.00 3.63 0.000 0.000 0.030 3042.84 2998.00 3087.69 1839.00 2301.75 0 0 0 30.00 30.00 15.99

4981.26 32 -145.99 -0.98 0.00 3042.0 2998.2 3085.8 1840.2 2301.6 463.34 -7.21 416 4982.60 0.00 0.00 0.00 0.000 0.000 0.000 3040.50 2997.00 3084.00 1840.19 2301.75 0 0 0 30.00 30.00 30.00

5161.28 32 -145.99 -0.98 0.00 3041.4 2998.0 3084.9 1839.8 2301.6 475.71 -6.82 422 5162.61 0.00 0.00 0.00 0.000 0.000 0.000 3040.31 2997.00 3083.62 1839.88 2301.69 0 0 0 30.00 30.00 30.00

5341.25 32 -145.99 -0.98 0.00 3041.8 2998.6 3085.0 1839.6 2302.4 488.30 -6.98 428 5342.58 0.00 0.00 0.00 0.000 0.000 0.000 3040.66 2997.25 3084.06 1840.00 2301.62 0 0 0 30.00 30.00 30.00

5521.18 32 -145.99 -0.98 0.00 3041.6 2998.3 3084.8 1839.8 2302.0 500.80 -6.93 434 5522.52 0.00 0.00 0.00 0.000 0.000 0.000 3040.72 2997.69 3083.75 1840.12 2301.69 0 0 0 30.00 30.00 30.00

5701.20 32 -145.99 -0.98 0.00 3041.2 2997.6 3084.8 1840.2 2301.4 512.89 -6.66 440 5702.54 0.00 0.00 0.00 0.000 0.000 0.000 3041.62 2997.69 3085.56 1840.06 2301.94 0 0 0 30.00 30.00 30.00

5881.37 548 -145.99 -0.98 -60.00 3041.4 2998.4 3084.5 1840.3 2302.0 525.25 -6.89 446 5886.83 0.00 0.00 3.76 0.000 0.000 0.058 3041.94 2998.50 3085.38 1855.38 991.31 0 0 0 30.00 30.00 16.00

5996.05 1060 -145.99 -0.98 0.00 3041.4 2997.8 3085.0 1854.9 990.8 533.66 -7.31 469 6002.15 0.00 0.00 3.63 0.000 0.000 0.032 3041.69 2998.00 3085.38 1840.31 2304.19 0 0 0 30.00 30.00 16.01

6181.38 32 -145.99 -0.98 0.00 3041.8 2998.2 3085.4 1840.1 2304.8 546.73 -6.79 476 6182.72 0.00 0.00 0.00 0.000 0.000 0.000 3040.62 2997.75 3083.50 1840.00 2303.88 0 0 0 30.00 30.00 30.00

6331 end dive: TARGET_DEPTH_EXCEEDED

state 6331 begin apogee

6332.59 3 0.00 -0.14 0.00 3041.6 2998.3 3084.8 1840.4 2201.7 613.81 -44.85 481 6412.42 77.57 0.90 0.22 1.964 0.217 0.093 2633.91 2685.69 2582.12 2107.19 2274.19 0 0 0 12.66 15.92 15.48

6414 end apogee: CONTROL_FINISHED_OK

state 6414 begin climb

6413.74 3 145.99 1.04 0.00 2633.7 2685.6 2581.7 2107.2 2273.8 614.76 0.00 483 6535.22 119.25 1.18 0.00 1.891 0.135 0.000 2041.28 2203.19 1879.38 2487.75 2273.69 0 0 0 12.58 15.52 30.00

6717.30 646 145.99 1.08 -60.00 2028.6 2192.8 1864.3 2487.5 2273.4 526.06 12.19 513 6723.17 0.00 0.00 3.92 0.000 0.000 0.061 2028.97 2193.00 1864.94 2504.88 962.75 0 0 0 30.00 30.00 15.45

6762.34 1158 145.99 1.13 0.00 2026.8 2188.9 1864.8 2504.9 962.9 520.44 12.40 522 6768.14 0.00 0.00 3.76 0.000 0.000 0.032 2027.19 2189.75 1864.62 2491.25 2270.50 0 0 0 30.00 30.00 15.48

6957.28 130 145.99 1.17 0.00 2026.0 2188.8 1863.2 2491.2 2271.1 491.83 15.41 531 6958.62 0.00 0.00 0.00 0.000 0.000 0.000 2024.69 2188.06 1861.31 2490.69 2271.88 0 0 0 30.00 30.00 30.00

7137.30 131 145.99 1.21 0.00 2025.1 2186.6 1863.6 2491.1 2271.6 470.00 12.20 537 7138.76 0.00 0.14 0.00 0.000 0.111 0.000 2023.28 2184.69 1861.88 2545.56 2271.31 0 0 0 30.00 15.65 30.00

7317.32 130 145.99 1.14 0.00 2023.9 2184.7 1863.1 2546.6 2271.8 445.84 13.44 543 7318.66 0.00 0.00 0.00 0.000 0.000 0.000 2023.50 2185.00 1862.00 2546.19 2271.50 0 0 0 30.00 30.00 30.00

7497.29 131 145.99 1.09 0.00 2023.0 2182.6 1863.3 2546.1 2272.1 420.12 14.27 549 7498.76 0.00 0.20 0.00 0.000 0.254 0.000 2022.97 2183.19 1862.75 2490.25 2273.19 0 0 0 30.00 15.68 30.00

7677.53 130 145.99 1.13 0.00 2022.6 2182.0 1863.2 2491.1 2272.8 398.19 12.04 555 7678.87 0.00 0.00 0.00 0.000 0.000 0.000 2021.78 2181.44 1862.12 2491.25 2273.19 0 0 0 30.00 30.00 30.00

7857.29 131 145.99 1.17 0.00 2022.2 2181.1 1863.2 2490.9 2273.2 376.56 12.05 561 7858.74 0.00 0.10 0.00 0.000 0.132 0.000 2022.28 2181.38 1863.19 2532.44 2272.94 0 0 0 30.00 15.77 30.00

8037.50 130 145.99 1.13 0.00 2021.6 2180.2 1863.0 2534.6 2273.8 352.63 13.35 567 8038.84 0.00 0.00 0.00 0.000 0.000 0.000 2020.56 2179.69 1861.44 2534.56 2272.38 0 0 0 30.00 30.00 30.00

8217.47 131 145.99 1.10 0.00 2021.1 2179.3 1862.9 2534.2 2273.2 328.66 13.32 573 8218.92 0.00 0.16 0.00 0.000 0.254 0.000 2020.12 2178.56 1861.69 2493.38 2275.56 0 0 0 30.00 15.70 30.00

8397.44 646 145.99 1.14 -60.00 2021.0 2179.1 1862.8 2493.3 2275.6 308.02 11.31 579 8403.27 0.00 0.00 3.84 0.000 0.000 0.064 2020.97 2178.88 1863.06 2508.44 963.12 0 0 0 30.00 30.00 15.80

8417.45 1158 145.99 1.18 0.00 2020.8 2177.7 1863.9 2508.1 962.7 305.67 11.31 583 8422.99 0.00 0.00 3.69 0.000 0.000 0.034 2022.38 2179.06 1865.69 2493.50 2272.00 0 0 0 30.00 30.00 15.82

8607.38 131 145.99 1.23 0.00 2020.3 2176.8 1863.8 2494.2 2273.2 284.63 10.98 591 8608.83 0.00 0.16 0.00 0.000 0.108 0.000 2018.78 2176.44 1861.12 2556.56 2272.88 0 0 0 30.00 15.77 30.00

8787.64 130 145.99 1.18 0.00 2019.9 2176.8 1863.0 2556.7 2272.9 261.60 12.92 597 8788.98 0.00 0.00 0.00 0.000 0.000 0.000 2019.31 2176.19 1862.44 2556.00 2272.81 0 0 0 30.00 30.00 30.00

8967.42 131 145.99 1.13 0.00 2019.9 2176.7 1863.2 2556.1 2272.8 238.71 12.50 609 8968.87 0.00 0.20 0.00 0.000 0.248 0.000 2019.38 2176.00 1862.75 2502.75 2274.44 0 0 0 30.00 15.71 30.00

9147.45 161 150.90 1.21 0.00 2019.8 2176.2 1863.5 2503.0 2274.9 221.53 9.20 627 9148.91 0.00 0.11 0.00 0.000 0.123 0.000 2018.31 2175.31 1861.31 2548.81 2275.62 0 0 0 30.00 15.76 30.00

9327.60 548 151.09 1.21 -60.00 2020.0 2176.3 1863.6 2549.0 2275.5 203.80 9.51 645 9333.37 0.00 0.00 3.84 0.000 0.000 0.062 2021.03 2177.44 1864.62 2565.06 962.88 0 0 0 30.00 30.00 15.80

9347.48 1028 151.09 1.21 0.00 2019.8 2176.1 1863.4 2565.2 963.0 201.86 9.54 649 9353.08 0.00 0.00 3.68 0.000 0.000 0.033 2020.66 2177.06 1864.25 2551.69 2271.25 0 0 0 30.00 30.00 15.81

9537.76 34 188.85 1.32 0.00 2019.1 2175.3 1862.8 2551.2 2272.2 187.29 7.07 669 9571.30 32.25 0.00 0.00 1.463 0.000 0.000 1865.62 2023.62 1707.62 2551.56 2271.38 0 0 0 12.51 30.00 30.00

9747.56 163 221.20 1.50 0.00 1860.1 2018.8 1701.4 2551.6 2271.8 171.31 7.42 690 9775.43 26.75 0.24 0.00 1.407 0.094 0.000 1732.53 1890.31 1574.75 2644.31 2272.00 0 0 0 12.50 15.64 30.00

9947.78 644 221.20 1.46 -60.00 1727.7 1884.7 1570.7 2643.1 2271.8 151.61 10.01 710 9953.23 0.00 0.00 3.87 0.000 0.000 0.062 1728.41 1885.25 1571.56 2660.25 962.62 0 0 0 30.00 30.00 15.64

9982.51 1157 221.20 1.39 0.00 1727.0 1883.4 1570.6 2660.3 962.9 147.95 10.46 717 9988.47 0.00 0.21 3.72 0.000 0.252 0.034 1727.38 1883.75 1571.00 2588.75 2273.06 0 0 0 30.00 15.55 15.65

10167.64 163 253.83 1.56 0.00 1726.0 1883.4 1568.5 2588.9 2272.8 133.56 7.40 736 10195.39 26.22 0.19 0.00 1.371 0.101 0.000 1601.34 1762.38 1440.31 2662.44 2272.75 0 0 0 12.50 15.67 30.00

10372.77 516 253.83 1.56 -60.00 1595.5 1755.8 1435.2 2662.6 2273.5 113.65 9.95 758 10378.56 0.00 0.00 3.86 0.000 0.000 0.062 1595.84 1755.88 1435.81 2678.38 964.00 0 0 0 30.00 30.00 15.67

10407.49 1157 253.83 1.53 0.00 1594.7 1754.3 1435.1 2679.4 964.0 110.03 10.34 765 10413.72 0.00 0.12 3.71 0.000 0.253 0.033 1595.06 1754.50 1435.62 2631.12 2276.25 0 0 0 30.00 15.59 15.66

10592.79 679 277.86 1.67 -60.00 1593.6 1754.2 1433.0 2631.4 2277.5 94.39 7.96 784 10619.11 19.90 0.16 3.89 1.309 0.111 0.065 1502.06 1666.19 1337.94 2710.12 964.00 0 0 0 12.56 15.70 15.56

10657.53 1157 277.86 1.63 0.00 1500.8 1664.6 1337.1 2710.7 964.0 88.17 10.33 797 10663.54 0.00 0.12 3.72 0.000 0.254 0.034 1501.97 1665.12 1338.81 2662.62 2272.12 0 0 0 30.00 15.56 15.64

10842.79 163 304.78 1.77 0.00 1499.4 1663.8 1335.1 2662.6 2273.6 73.06 7.78 816 10866.39 22.74 0.17 0.00 1.295 0.110 0.000 1393.16 1562.12 1224.19 2729.31 2273.31 0 0 0 12.46 15.67 30.00

11042.69 34 327.07 1.84 0.00 1389.1 1557.9 1220.3 2729.9 2274.4 55.52 8.08 836 11063.36 19.13 0.00 0.00 1.256 0.000 0.000 1302.38 1475.50 1129.25 2729.94 2273.81 0 0 0 12.48 30.00 30.00

11242.93 163 371.37 2.05 0.00 1298.0 1472.2 1123.9 2729.6 2274.6 41.13 6.65 856 11279.69 35.63 0.22 0.00 1.262 0.098 0.000 1121.97 1304.00 939.94 2818.69 2273.94 0 0 0 12.42 15.64 30.00

11457.84 35 422.04 2.20 -60.00 1116.4 1299.7 933.2 2819.2 2274.3 26.07 6.23 880 11498.81 40.17 0.10 0.00 1.232 0.122 0.000 916.34 1113.00 719.69 2863.88 2274.31 0 0 0 12.49 15.58 30.00

11677.98 423 534.65 2.59 60.00 909.9 1107.2 712.6 2863.1 2274.1 19.59 2.21 902 11754.81 69.25 0.34 3.69 1.209 0.091 0.067 549.69 749.00 350.38 2977.69 3536.06 0 0 0 12.37 15.54 15.31

11878 end climb: SURFACE_DEPTH_REACHED

state 11878 begin surface coast

11898 end surface coast: CONTROL_FINISHED_OK

state 11898 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	220	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	5	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	0	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	16.065075	SEABIRD_T_J	2.9095588e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	39.322983	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	130919,133908,7309.072,-14808.999,89,0.8,94,17.2	TGT_LATLONG	7310.400,-14809.600
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	-6.63	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-68.2	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	130919,134858,7309.071,-14809.180,4,0.8,9,17.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.165,0.234	MHEAD_RNG_PITCHd_Wd	337.6,2472,-21.7,-9.524,-25.89
TGT_NAME	A2	D_GRID	600

MODEM_MSG	CACST,6,1,20190913160014.800137,18,32767,45,0107,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*32	TEMP	1.02
FREEZE	-0.04,3.094,-1.489,0,1,0	INTERNAL_PRESSURE	8.50258
FINISH	-0.0,1.021782	_24V_AH	14.65,86.269
SM_CCo	11975.51,0.00,0.000,0,543.4,736.5,350.3,513.31	_10V_AH	14.87,0.000
SM_GC	1.39,0.00,9.35,3.56,0.000,0.165,0.020,543.4,736.5,350.3,146.9,2250.7,0,0,0,30.00,15.42,15.54	FG_AHR_24Vo	39.459
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	16.131
IRIDIUM_FIX	7307.83,-14657.64,130919,134151	MEM	1154680,32,24388,70
TCM_TEMP	7.65	DATA_FILE_SIZE	28897,946
XPDR_PINGS	32	CAP_FILE_SIZE	257838,0
SC_FREEKB	3705280	SDSIZE	3918848,3858560
RAFOS_CLK	-4	SDFILEDIR	1138,1
MODEM	0,1568390414,73.00043,-148.33627,14.800,21682.2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7310.267578,-14808.659180,130919,161614,1,2,0.28	SOUNDSPEED	1465.0
HUMID	56.38	GPS	130919,171030,7310.682,-14808.724,71,0.7,71,17.2

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	586	1964	16878.24	nil	0	0	0.00
Pitch_motor	24	391	140.05	nil	0	0	0.00
Roll_motor	112	92	151.93	nil	0	0	0.00
Iridium	403	185	1097.66	nil	0	0	0.00
Transponder_ping	8	420	49.22	nil	0	0	0.00
GPS	18	11	3.27	nil	0	0	0.00
Core	2924	11	500.95	SciCon	11929	16	2989.99
LPSleep	9620	2	330.48	nil	0	0	0.00
Compass	1020	5	75.85	nil	0	0	0.00
RAFOS	2202	48	1571.70
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
4.80	2	-99.63	-0.90	0.00	538.8	725.2	352.3	144.7	2244.4	0.00	0.00	0	97.62	92.31	0.00	0.00	0.005	0.000	0.000	2698.75	2687.62	2709.88	144.75	2221.69	0	0	0	15.52	30.00	30.00
97.86	519	-99.63	-0.90	-60.00	2697.3	2685.7	2709.0	144.6	2222.6	7.73	-26.88	9	118.20	5.39	7.87	3.55	0.009	0.391	0.047	3042.78	2994.19	3091.38	1875.38	988.12	0	0	0	15.51	15.32	15.54
145.62	1157	-99.63	-0.29	0.00	3042.6	2995.1	3090.0	1875.3	987.8	32.76	-43.67	19	152.34	0.00	0.76	3.72	0.000	0.289	0.034	3043.69	2996.75	3090.62	2055.38	2296.19	0	0	0	30.00	15.54	15.64
330.62	129	-99.63	-0.44	0.00	3042.9	2996.6	3089.2	2057.7	2297.9	58.31	-10.32	38	332.07	0.00	0.17	0.00	0.000	0.108	0.000	3041.78	2996.25	3087.31	1992.00	2299.25	0	0	0	30.00	15.70	30.00
510.60	128	-99.63	-0.50	0.00	3042.9	2996.4	3089.4	1992.1	2299.4	79.06	-11.41	56	511.94	0.00	0.00	0.00	0.000	0.000	0.000	3041.91	2996.06	3087.75	1991.56	2299.00	0	0	0	30.00	30.00	30.00
690.67	128	-99.63	-0.58	0.00	3043.4	2997.1	3089.6	1992.2	2298.8	98.75	-10.90	74	692.00	0.00	0.00	0.00	0.000	0.000	0.000	3042.66	2996.81	3088.50	1991.94	2299.19	0	0	0	30.00	30.00	30.00
870.62	129	-99.63	-0.68	0.00	3043.2	2997.2	3089.2	1992.0	2299.2	117.31	-9.99	92	872.07	0.00	0.19	0.00	0.000	0.106	0.000	3043.12	2997.81	3088.44	1915.31	2299.50	0	0	0	30.00	15.79	30.00
1050.74	516	-99.63	-0.68	-60.00	3042.9	2996.9	3088.9	1915.8	2299.1	139.74	-12.11	110	1056.32	0.00	0.00	3.80	0.000	0.000	0.058	3044.44	2998.25	3090.62	1929.44	992.44	0	0	0	30.00	30.00	15.84
1135.54	1028	-99.63	-0.68	0.00	3042.8	2996.7	3088.8	1929.7	992.1	150.43	-12.32	127	1141.55	0.00	0.00	3.67	0.000	0.000	0.032	3043.38	2997.94	3088.81	1915.31	2299.88	0	0	0	30.00	30.00	15.79
1320.69	0	-99.63	-0.68	0.00	3043.0	2997.3	3088.8	1915.4	2299.2	172.86	-11.91	146	1322.03	0.00	0.00	0.00	0.000	0.000	0.000	3043.12	2997.25	3089.00	1915.50	2299.25	0	0	0	30.00	30.00	30.00
1500.89	128	-99.63	-0.71	0.00	3043.4	2997.6	3089.2	1914.9	2299.6	191.76	-9.76	164	1502.22	0.00	0.00	0.00	0.000	0.000	0.000	3042.47	2997.06	3087.88	1914.69	2299.06	0	0	0	30.00	30.00	30.00
1680.94	160	-109.54	-0.81	0.00	3043.3	2997.8	3088.9	1915.5	2299.6	208.32	-8.88	182	1682.27	0.00	0.00	0.00	0.000	0.000	0.000	3042.88	2997.12	3088.62	1915.31	2298.94	0	0	0	30.00	30.00	30.00
1860.86	677	-141.53	-0.99	-60.00	3042.8	2997.1	3088.6	1915.2	2299.2	222.60	-7.45	200	1866.50	0.00	0.26	3.78	0.000	0.097	0.058	3042.91	2997.81	3088.00	1832.00	992.81	0	0	0	30.00	15.88	15.79
1975.65	1157	-141.53	-0.87	0.00	3042.4	2997.2	3087.6	1831.2	992.6	234.38	-10.48	223	1981.85	0.00	0.22	3.65	0.000	0.266	0.032	3043.66	2998.12	3089.19	1875.19	2302.12	0	0	0	30.00	15.78	15.88
2160.88	420	-145.99	-0.91	60.00	3043.2	2998.1	3088.2	1875.4	2302.4	249.31	-7.71	242	2166.70	0.00	0.00	3.56	0.000	0.000	0.067	3043.19	2998.56	3087.81	1861.56	3565.88	0	0	0	30.00	30.00	15.91
2280.97	1060	-145.99	-0.91	0.00	3042.7	2998.1	3087.4	1860.8	3565.2	259.69	-8.50	266	2286.64	0.00	0.00	3.57	0.000	0.000	0.021	3043.06	2997.75	3088.38	1874.19	2248.00	0	0	0	30.00	30.00	15.93
2491.02	676	-145.99	-0.95	-60.00	3042.4	2997.8	3087.1	1874.2	2245.9	274.57	-7.01	278	2496.50	0.00	0.00	3.55	0.000	0.000	0.061	3042.56	2997.56	3087.56	1889.62	992.38	0	0	0	30.00	30.00	15.93
2576.01	1061	-145.99	-0.95	0.00	3042.2	2997.5	3086.9	1889.4	992.4	281.03	-7.63	295	2581.93	0.00	0.10	3.64	0.000	0.134	0.030	3042.06	2997.12	3087.00	1832.62	2301.56	0	0	0	30.00	15.89	15.94
2760.97	160	-145.99	-0.92	0.00	3042.4	2997.6	3087.2	1831.8	2302.1	296.09	-8.18	302	2762.31	0.00	0.00	0.00	0.000	0.000	0.000	3041.25	2997.19	3085.31	1831.88	2302.00	0	0	0	30.00	30.00	30.00
2940.99	32	-145.99	-0.92	0.00	3042.2	2997.4	3087.0	1831.8	2302.2	310.93	-8.23	308	2942.32	0.00	0.00	0.00	0.000	0.000	0.000	3041.19	2996.94	3085.44	1832.06	2301.56	0	0	0	30.00	30.00	30.00
3121.03	32	-145.99	-0.92	0.00	3041.4	2997.1	3085.8	1831.6	2301.5	324.90	-7.74	314	3122.37	0.00	0.00	0.00	0.000	0.000	0.000	3041.00	2997.19	3084.81	1831.62	2301.62	0	0	0	30.00	30.00	30.00
3301.05	32	-145.99	-0.92	0.00	3041.9	2997.9	3085.8	1832.2	2301.6	339.01	-7.84	320	3302.38	0.00	0.00	0.00	0.000	0.000	0.000	3040.69	2997.44	3083.94	1832.19	2301.56	0	0	0	30.00	30.00	30.00
3481.02	548	-145.99	-0.92	-60.00	3041.2	2997.3	3085.1	1832.0	2302.0	353.00	-7.71	326	3486.62	0.00	0.00	3.78	0.000	0.000	0.058	3042.69	2998.12	3087.25	1847.00	991.44	0	0	0	30.00	30.00	15.84
3590.93	1188	-145.99	-0.87	0.00	3042.0	2998.0	3086.0	1846.9	991.6	362.14	-8.29	348	3596.64	0.00	0.00	3.64	0.000	0.000	0.032	3042.19	2998.19	3086.19	1831.94	2300.31	0	0	0	30.00	30.00	15.96
3781.18	33	-145.99	-0.87	0.00	3042.0	2998.6	3085.4	1831.9	2300.8	376.79	-7.73	356	3782.63	0.00	0.16	0.00	0.000	0.257	0.000	3041.25	2996.88	3085.62	1874.69	2301.94	0	0	0	30.00	15.85	30.00
3961.19	160	-145.99	-0.95	0.00	3041.9	2998.1	3085.6	1874.5	2301.5	388.54	-6.49	362	3962.52	0.00	0.00	0.00	0.000	0.000	0.000	3040.75	2997.25	3084.25	1874.56	2301.81	0	0	0	30.00	30.00	30.00
4141.24	161	-145.99	-1.03	0.00	3042.1	2998.1	3086.1	1874.8	2302.0	400.11	-6.43	368	4142.69	0.00	0.19	0.00	0.000	0.112	0.000	3040.03	2996.19	3083.88	1805.12	2301.50	0	0	0	30.00	15.95	30.00
4321.03	161	-145.99	-0.98	0.00	3041.9	2998.1	3085.8	1805.6	2301.2	413.84	-7.65	374	4322.48	0.00	0.13	0.00	0.000	0.267	0.000	3040.69	2996.69	3084.69	1838.62	2301.88	0	0	0	30.00	15.89	30.00
4501.18	32	-145.99	-0.98	0.00	3041.6	2997.8	3085.4	1838.6	2301.9	428.09	-8.03	380	4502.51	0.00	0.00	0.00	0.000	0.000	0.000	3040.53	2996.94	3084.12	1839.00	2301.50	0	0	0	30.00	30.00	30.00
4681.18	548	-145.99	-0.98	-60.00	3041.2	2997.4	3085.1	1838.6	2301.8	441.08	-7.19	386	4686.73	0.00	0.00	3.75	0.000	0.000	0.057	3043.44	2999.56	3087.31	1854.88	992.44	0	0	0	30.00	30.00	15.98
4781.16	1060	-145.99	-0.98	0.00	3041.5	2997.4	3085.6	1855.2	992.6	448.88	-7.82	406	4786.75	0.00	0.00	3.63	0.000	0.000	0.030	3042.84	2998.00	3087.69	1839.00	2301.75	0	0	0	30.00	30.00	15.99
4981.26	32	-145.99	-0.98	0.00	3042.0	2998.2	3085.8	1840.2	2301.6	463.34	-7.21	416	4982.60	0.00	0.00	0.00	0.000	0.000	0.000	3040.50	2997.00	3084.00	1840.19	2301.75	0	0	0	30.00	30.00	30.00
5161.28	32	-145.99	-0.98	0.00	3041.4	2998.0	3084.9	1839.8	2301.6	475.71	-6.82	422	5162.61	0.00	0.00	0.00	0.000	0.000	0.000	3040.31	2997.00	3083.62	1839.88	2301.69	0	0	0	30.00	30.00	30.00
5341.25	32	-145.99	-0.98	0.00	3041.8	2998.6	3085.0	1839.6	2302.4	488.30	-6.98	428	5342.58	0.00	0.00	0.00	0.000	0.000	0.000	3040.66	2997.25	3084.06	1840.00	2301.62	0	0	0	30.00	30.00	30.00
5521.18	32	-145.99	-0.98	0.00	3041.6	2998.3	3084.8	1839.8	2302.0	500.80	-6.93	434	5522.52	0.00	0.00	0.00	0.000	0.000	0.000	3040.72	2997.69	3083.75	1840.12	2301.69	0	0	0	30.00	30.00	30.00
5701.20	32	-145.99	-0.98	0.00	3041.2	2997.6	3084.8	1840.2	2301.4	512.89	-6.66	440	5702.54	0.00	0.00	0.00	0.000	0.000	0.000	3041.62	2997.69	3085.56	1840.06	2301.94	0	0	0	30.00	30.00	30.00
5881.37	548	-145.99	-0.98	-60.00	3041.4	2998.4	3084.5	1840.3	2302.0	525.25	-6.89	446	5886.83	0.00	0.00	3.76	0.000	0.000	0.058	3041.94	2998.50	3085.38	1855.38	991.31	0	0	0	30.00	30.00	16.00
5996.05	1060	-145.99	-0.98	0.00	3041.4	2997.8	3085.0	1854.9	990.8	533.66	-7.31	469	6002.15	0.00	0.00	3.63	0.000	0.000	0.032	3041.69	2998.00	3085.38	1840.31	2304.19	0	0	0	30.00	30.00	16.01
6181.38	32	-145.99	-0.98	0.00	3041.8	2998.2	3085.4	1840.1	2304.8	546.73	-6.79	476	6182.72	0.00	0.00	0.00	0.000	0.000	0.000	3040.62	2997.75	3083.50	1840.00	2303.88	0	0	0	30.00	30.00	30.00
6331	end dive: TARGET_DEPTH_EXCEEDED
state	6331	begin apogee
6332.59	3	0.00	-0.14	0.00	3041.6	2998.3	3084.8	1840.4	2201.7	613.81	-44.85	481	6412.42	77.57	0.90	0.22	1.964	0.217	0.093	2633.91	2685.69	2582.12	2107.19	2274.19	0	0	0	12.66	15.92	15.48
6414	end apogee: CONTROL_FINISHED_OK
state	6414	begin climb
6413.74	3	145.99	1.04	0.00	2633.7	2685.6	2581.7	2107.2	2273.8	614.76	0.00	483	6535.22	119.25	1.18	0.00	1.891	0.135	0.000	2041.28	2203.19	1879.38	2487.75	2273.69	0	0	0	12.58	15.52	30.00
6717.30	646	145.99	1.08	-60.00	2028.6	2192.8	1864.3	2487.5	2273.4	526.06	12.19	513	6723.17	0.00	0.00	3.92	0.000	0.000	0.061	2028.97	2193.00	1864.94	2504.88	962.75	0	0	0	30.00	30.00	15.45
6762.34	1158	145.99	1.13	0.00	2026.8	2188.9	1864.8	2504.9	962.9	520.44	12.40	522	6768.14	0.00	0.00	3.76	0.000	0.000	0.032	2027.19	2189.75	1864.62	2491.25	2270.50	0	0	0	30.00	30.00	15.48
6957.28	130	145.99	1.17	0.00	2026.0	2188.8	1863.2	2491.2	2271.1	491.83	15.41	531	6958.62	0.00	0.00	0.00	0.000	0.000	0.000	2024.69	2188.06	1861.31	2490.69	2271.88	0	0	0	30.00	30.00	30.00
7137.30	131	145.99	1.21	0.00	2025.1	2186.6	1863.6	2491.1	2271.6	470.00	12.20	537	7138.76	0.00	0.14	0.00	0.000	0.111	0.000	2023.28	2184.69	1861.88	2545.56	2271.31	0	0	0	30.00	15.65	30.00
7317.32	130	145.99	1.14	0.00	2023.9	2184.7	1863.1	2546.6	2271.8	445.84	13.44	543	7318.66	0.00	0.00	0.00	0.000	0.000	0.000	2023.50	2185.00	1862.00	2546.19	2271.50	0	0	0	30.00	30.00	30.00
7497.29	131	145.99	1.09	0.00	2023.0	2182.6	1863.3	2546.1	2272.1	420.12	14.27	549	7498.76	0.00	0.20	0.00	0.000	0.254	0.000	2022.97	2183.19	1862.75	2490.25	2273.19	0	0	0	30.00	15.68	30.00
7677.53	130	145.99	1.13	0.00	2022.6	2182.0	1863.2	2491.1	2272.8	398.19	12.04	555	7678.87	0.00	0.00	0.00	0.000	0.000	0.000	2021.78	2181.44	1862.12	2491.25	2273.19	0	0	0	30.00	30.00	30.00
7857.29	131	145.99	1.17	0.00	2022.2	2181.1	1863.2	2490.9	2273.2	376.56	12.05	561	7858.74	0.00	0.10	0.00	0.000	0.132	0.000	2022.28	2181.38	1863.19	2532.44	2272.94	0	0	0	30.00	15.77	30.00
8037.50	130	145.99	1.13	0.00	2021.6	2180.2	1863.0	2534.6	2273.8	352.63	13.35	567	8038.84	0.00	0.00	0.00	0.000	0.000	0.000	2020.56	2179.69	1861.44	2534.56	2272.38	0	0	0	30.00	30.00	30.00
8217.47	131	145.99	1.10	0.00	2021.1	2179.3	1862.9	2534.2	2273.2	328.66	13.32	573	8218.92	0.00	0.16	0.00	0.000	0.254	0.000	2020.12	2178.56	1861.69	2493.38	2275.56	0	0	0	30.00	15.70	30.00
8397.44	646	145.99	1.14	-60.00	2021.0	2179.1	1862.8	2493.3	2275.6	308.02	11.31	579	8403.27	0.00	0.00	3.84	0.000	0.000	0.064	2020.97	2178.88	1863.06	2508.44	963.12	0	0	0	30.00	30.00	15.80
8417.45	1158	145.99	1.18	0.00	2020.8	2177.7	1863.9	2508.1	962.7	305.67	11.31	583	8422.99	0.00	0.00	3.69	0.000	0.000	0.034	2022.38	2179.06	1865.69	2493.50	2272.00	0	0	0	30.00	30.00	15.82
8607.38	131	145.99	1.23	0.00	2020.3	2176.8	1863.8	2494.2	2273.2	284.63	10.98	591	8608.83	0.00	0.16	0.00	0.000	0.108	0.000	2018.78	2176.44	1861.12	2556.56	2272.88	0	0	0	30.00	15.77	30.00
8787.64	130	145.99	1.18	0.00	2019.9	2176.8	1863.0	2556.7	2272.9	261.60	12.92	597	8788.98	0.00	0.00	0.00	0.000	0.000	0.000	2019.31	2176.19	1862.44	2556.00	2272.81	0	0	0	30.00	30.00	30.00
8967.42	131	145.99	1.13	0.00	2019.9	2176.7	1863.2	2556.1	2272.8	238.71	12.50	609	8968.87	0.00	0.20	0.00	0.000	0.248	0.000	2019.38	2176.00	1862.75	2502.75	2274.44	0	0	0	30.00	15.71	30.00
9147.45	161	150.90	1.21	0.00	2019.8	2176.2	1863.5	2503.0	2274.9	221.53	9.20	627	9148.91	0.00	0.11	0.00	0.000	0.123	0.000	2018.31	2175.31	1861.31	2548.81	2275.62	0	0	0	30.00	15.76	30.00
9327.60	548	151.09	1.21	-60.00	2020.0	2176.3	1863.6	2549.0	2275.5	203.80	9.51	645	9333.37	0.00	0.00	3.84	0.000	0.000	0.062	2021.03	2177.44	1864.62	2565.06	962.88	0	0	0	30.00	30.00	15.80
9347.48	1028	151.09	1.21	0.00	2019.8	2176.1	1863.4	2565.2	963.0	201.86	9.54	649	9353.08	0.00	0.00	3.68	0.000	0.000	0.033	2020.66	2177.06	1864.25	2551.69	2271.25	0	0	0	30.00	30.00	15.81
9537.76	34	188.85	1.32	0.00	2019.1	2175.3	1862.8	2551.2	2272.2	187.29	7.07	669	9571.30	32.25	0.00	0.00	1.463	0.000	0.000	1865.62	2023.62	1707.62	2551.56	2271.38	0	0	0	12.51	30.00	30.00
9747.56	163	221.20	1.50	0.00	1860.1	2018.8	1701.4	2551.6	2271.8	171.31	7.42	690	9775.43	26.75	0.24	0.00	1.407	0.094	0.000	1732.53	1890.31	1574.75	2644.31	2272.00	0	0	0	12.50	15.64	30.00
9947.78	644	221.20	1.46	-60.00	1727.7	1884.7	1570.7	2643.1	2271.8	151.61	10.01	710	9953.23	0.00	0.00	3.87	0.000	0.000	0.062	1728.41	1885.25	1571.56	2660.25	962.62	0	0	0	30.00	30.00	15.64
9982.51	1157	221.20	1.39	0.00	1727.0	1883.4	1570.6	2660.3	962.9	147.95	10.46	717	9988.47	0.00	0.21	3.72	0.000	0.252	0.034	1727.38	1883.75	1571.00	2588.75	2273.06	0	0	0	30.00	15.55	15.65
10167.64	163	253.83	1.56	0.00	1726.0	1883.4	1568.5	2588.9	2272.8	133.56	7.40	736	10195.39	26.22	0.19	0.00	1.371	0.101	0.000	1601.34	1762.38	1440.31	2662.44	2272.75	0	0	0	12.50	15.67	30.00
10372.77	516	253.83	1.56	-60.00	1595.5	1755.8	1435.2	2662.6	2273.5	113.65	9.95	758	10378.56	0.00	0.00	3.86	0.000	0.000	0.062	1595.84	1755.88	1435.81	2678.38	964.00	0	0	0	30.00	30.00	15.67
10407.49	1157	253.83	1.53	0.00	1594.7	1754.3	1435.1	2679.4	964.0	110.03	10.34	765	10413.72	0.00	0.12	3.71	0.000	0.253	0.033	1595.06	1754.50	1435.62	2631.12	2276.25	0	0	0	30.00	15.59	15.66
10592.79	679	277.86	1.67	-60.00	1593.6	1754.2	1433.0	2631.4	2277.5	94.39	7.96	784	10619.11	19.90	0.16	3.89	1.309	0.111	0.065	1502.06	1666.19	1337.94	2710.12	964.00	0	0	0	12.56	15.70	15.56
10657.53	1157	277.86	1.63	0.00	1500.8	1664.6	1337.1	2710.7	964.0	88.17	10.33	797	10663.54	0.00	0.12	3.72	0.000	0.254	0.034	1501.97	1665.12	1338.81	2662.62	2272.12	0	0	0	30.00	15.56	15.64
10842.79	163	304.78	1.77	0.00	1499.4	1663.8	1335.1	2662.6	2273.6	73.06	7.78	816	10866.39	22.74	0.17	0.00	1.295	0.110	0.000	1393.16	1562.12	1224.19	2729.31	2273.31	0	0	0	12.46	15.67	30.00
11042.69	34	327.07	1.84	0.00	1389.1	1557.9	1220.3	2729.9	2274.4	55.52	8.08	836	11063.36	19.13	0.00	0.00	1.256	0.000	0.000	1302.38	1475.50	1129.25	2729.94	2273.81	0	0	0	12.48	30.00	30.00
11242.93	163	371.37	2.05	0.00	1298.0	1472.2	1123.9	2729.6	2274.6	41.13	6.65	856	11279.69	35.63	0.22	0.00	1.262	0.098	0.000	1121.97	1304.00	939.94	2818.69	2273.94	0	0	0	12.42	15.64	30.00
11457.84	35	422.04	2.20	-60.00	1116.4	1299.7	933.2	2819.2	2274.3	26.07	6.23	880	11498.81	40.17	0.10	0.00	1.232	0.122	0.000	916.34	1113.00	719.69	2863.88	2274.31	0	0	0	12.49	15.58	30.00
11677.98	423	534.65	2.59	60.00	909.9	1107.2	712.6	2863.1	2274.1	19.59	2.21	902	11754.81	69.25	0.34	3.69	1.209	0.091	0.067	549.69	749.00	350.38	2977.69	3536.06	0	0	0	12.37	15.54	15.31
11878	end climb: SURFACE_DEPTH_REACHED
state	11878	begin surface coast
11898	end surface coast: CONTROL_FINISHED_OK
state	11898	begin surface