Glider dive log

SODA Sep18 * SG229 * Dive index * Mission links * Dive 69 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 229 HEADING -1 C_ROLL_DIVE 2250 ALTIM_PING_DELTA 10

MISSION 2 ESCAPE_HEADING 0 C_ROLL_CLIMB 1900 ALTIM_FREQUENCY 13

DIVE 69 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.047120001 ALTIM_SENSITIVITY 2

STOP_T 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 5

D_SURF 2 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 990 SM_CC 641.70477 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -2.5

D_ABORT 1020 N_FILEKB 8 VBD_MIN 550 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_BOOST 4 CALL_NDIVES 1 C_VBD 3166 MOTHERBOARD 6

T_BOOST 0 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_FINISH 0 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

D_PITCH 0 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE3 -1

D_SAFE 0 NOCOMM_ACTION 161 VBD_TIMEOUT 720 DEVICE4 -1

D_CALL 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.003 DEVICE5 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 0

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 W_ADJ_DBAND 2 LOGGERDEVICE1 7

T_DIVE 330 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 370 CAPMAXSIZE 100000 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_GPS 5 LOITER_DBDW 0 LOGGERDEVICE4 -1

T_TURN 225 N_GPS 100440 LOITER_D_TOP 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 T_RSLEEP 3 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 20 GPS_DEVICE 32

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 11 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 150 MINV_10V 11 SEABIRD_T_G 0.0044283443

D_OFFGRID 1020 PITCH_MAX 3840 MAXI_24V 5 SEABIRD_T_H 0.00066085911

RELAUNCH 1 C_PITCH 1950 MAXI_10V 1.4 SEABIRD_T_I 2.7456792e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 4.2803736 SEABIRD_T_J 3.4295531e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 16.006622 SEABIRD_C_G -9.9373035

GLIDE_SLOPE 30 PITCH_GAIN 48 PHONE_SUPPLY 2 SEABIRD_C_H 1.1186405

SPEED_FACTOR 1 PITCH_TIMEOUT 20 PRESSURE_YINT -162.53629 SEABIRD_C_I -0.003041792

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010777653 SEABIRD_C_J 0.00029373623

MASS 72243 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 ALTIM_PING_FIT 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 1.5 ALTIM_TOP_PING_RANGE 20 SC_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0.5 ALTIM_BOTTOM_TURN_MARGIN 0 SC_NDIVE 1.0

HD_A 0.003 ROLL_MIN 340 ALTIM_TOP_TURN_MARGIN 0

HD_B 0.0099999998 ROLL_MAX 3945 ALTIM_TOP_MIN_OBSTACLE 2

HD_C 1.6e-05 ROLL_DEG 80 ALTIM_PING_DEPTH 0

AH0_10V 0 D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0044283443

AH0_24V 575 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00066085911

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.7456792e-05

ALTIM_FREQUENCY 13 D_TGT 990 N_NOSURFACE 0 SEABIRD_T_J 3.4295531e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 641.70477

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 4.2803736 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 16.006622 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 48 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3840 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_A 0.003 PITCH_MIN 150 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

CAPMAXSIZE 100000 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_W_GAIN 1.5 T_DIVE 330

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.00010777653 T_EPIRB 0

COMM_SEQ 0 ID 229 PRESSURE_YINT -162.53629 T_GPS 5

COMPASS2_DEVICE 55 INT_PRESSURE_SLOPE 1.9639999e-06 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT -2.5 RAFOS_CORR_THRESH 60 T_MISSION 370

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 1950 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_ROLL_CLIMB 1900 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2250 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_VBD 3166 LOGGERDEVICE4 -1 RELAUNCH 1 UNCOM_BLEED 20

DBDW 0 LOGGERS 0 RHO 1.0275 UPLOAD_DIVES_MAX -1

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 80 VBD_DBAND 2

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_MAX 3945 VBD_LP_IGNORE 0

DEVICE4 -1 MASS 72243 ROLL_MAXERRORS 1 VBD_MAX 3960

DEVICE5 -1 MAXI_10V 1.4 ROLL_MIN 340 VBD_MAXERRORS 1

DEVICE6 -1 MAXI_24V 5 ROLL_TIMEOUT 15 VBD_MIN 550

DIVE 69 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_ABORT 1020 MINV_10V 11 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_BOOST 4 MINV_24V 11 SC_RECORDABOVE 2000.0 XPDR_DEVICE 0

D_CALL 0 MISSION 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_FINISH 0 MOTHERBOARD 6 SEABIRD_C_G -9.9373035 XPDR_VALID 5

D_FLARE 3 NAV_MODE 2 SEABIRD_C_H 1.1186405

D_NO_BLEED 50 NOCOMM_ACTION 161 SEABIRD_C_I -0.003041792

D_OFFGRID 1020 N_DIVES 0 SEABIRD_C_J 0.00029373623

Pre-dive calculations and measurements:

GPS1 031018,123139,7447.470,-14536.489,71,0.9,72,0.0 TGT_LATLONG 7415.000,-14625.000

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.86 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -74.2 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 031018,123722,7447.481,-14536.361,3,0.9,6,0.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 242.2,64935,-17.6,-10.000,-21.24

TGT_NAME AB2 D_GRID 990

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181003161550.261015,18,305,24,0058,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*33 INTERNAL_PRESSURE 9.14971

FINISH 0.0,1.028479 _24V_AH 14.24,33.082

SM_CCo 19187.82,0.00,0.000,0,544.2,617.7,470.6,643.14 _10V_AH 14.91,0.000

SM_GC 5.30,0.00,8.36,0.89,0.000,0.082,0.020,544.2,617.7,470.6,142.8,2279.4,0,0,0,30.00,15.55,15.59 FG_AHR_24Vo 16.236

SUPER 59,70,254,1,0,0 FG_AHR_10Vo 4.321

IRIDIUM_FIX 7450.19,-14548.96,031018,071500 MEM 1165556,31,13928,59

TCM_TEMP 177.52 DATA_FILE_SIZE 94766,2349

XPDR_PINGS 0 CAP_FILE_SIZE 518346,0

ALTIM_TOP_PING 19.9,20.5 SDSIZE 3918848,3892896

RAFOS_CLK 1994 ERRORS 0,0,0,0,0,0,0,5

RAFOS_FIX 7450.650391,-14529.573242,031018,161650,3,255,0.51 SOUNDSPEED 1465.0

HUMID 48.75 CURRENT 0.186,151.2,1

TEMP -0.57 GPS 031018,180009,7447.285,-14536.145,124,0.8,125,0.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 778 2529 28055.67 nil 0 0 0.00

Pitch_motor 22 405 127.85 nil 0 0 0.00

Roll_motor 386 132 730.85 nil 0 0 0.00

Iridium 229 204 668.56 nil 0 0 0.00

Transponder_ping 0 420 1.50 nil 0 0 0.00

GPS 14 15 3.29 nil 0 0 0.00

Core 4183 19 1242.63 SciCon 0 0 0.00

LPSleep 15303 2 527.09 nil 0 0 0.00

Compass 2485 5 185.29 nil 0 0 0.00

RAFOS 2217 48 1586.66

Transponder 1 30 0.45

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

1 end surface: CONTROL_FINISHED_OK

state 1 begin dive

4.05 2 -145.99 -0.81 0.00 546.6 605.0 488.2 128.8 2200.3 0.00 0.00 0 43.75 39.08 0.00 0.00 0.005 0.000 0.000 1259.66 1284.12 1235.19 129.00 2200.62 0 0 0 15.52 30.00 30.00

45.85 551 -145.99 -0.81 -80.00 1260.4 1285.6 1235.1 128.9 2200.1 3.15 -4.30 4 126.82 61.94 9.19 5.26 0.005 0.405 0.051 3758.72 3774.19 3743.25 1709.88 542.75 0 0 0 15.56 15.43 15.56

350.06 1028 -145.99 -0.81 0.00 3758.6 3774.9 3742.4 1709.9 542.6 87.49 -19.06 63 358.24 0.00 0.00 5.12 0.000 0.000 0.023 3758.91 3775.38 3742.44 1690.50 2261.19 0 0 0 30.00 30.00 15.71

545.04 260 -145.99 -0.81 80.00 3759.5 3779.8 3739.2 1690.6 2262.4 129.15 -20.77 84 552.26 0.00 0.00 5.46 0.000 0.000 0.061 3760.88 3781.25 3740.50 1668.12 3949.81 0 0 0 30.00 30.00 15.76

775.54 1028 -145.99 -0.81 0.00 3758.8 3780.1 3737.6 1667.6 3950.2 168.87 -16.65 130 783.98 0.00 0.00 5.12 0.000 0.000 0.026 3759.03 3780.25 3737.81 1686.81 2233.44 0 0 0 30.00 30.00 15.83

970.58 260 -145.99 -0.81 80.00 3760.5 3782.6 3738.5 1686.8 2232.6 204.51 -18.53 151 979.09 0.00 0.00 5.60 0.000 0.000 0.059 3759.91 3781.69 3738.12 1667.50 3946.88 0 0 0 30.00 30.00 15.83

1205.70 1028 -145.99 -0.81 0.00 3759.8 3781.9 3737.8 1667.2 3948.6 239.50 -13.96 198 1213.88 0.00 0.00 5.09 0.000 0.000 0.025 3760.19 3783.50 3736.88 1685.69 2233.12 0 0 0 30.00 30.00 15.85

1400.77 260 -145.99 -0.81 80.00 3759.8 3782.6 3737.1 1686.0 2231.3 269.03 -15.03 213 1409.07 0.00 0.00 5.55 0.000 0.000 0.059 3759.28 3781.56 3737.00 1665.56 3948.38 0 0 0 30.00 30.00 15.89

1635.84 1028 -145.99 -0.81 0.00 3760.0 3784.1 3735.9 1666.1 3948.5 298.56 -11.42 260 1644.25 0.00 0.00 5.06 0.000 0.000 0.025 3761.81 3784.69 3738.94 1684.69 2231.56 0 0 0 30.00 30.00 15.92

1960.91 260 -145.99 -0.81 80.00 3760.3 3783.4 3737.2 1685.2 2231.3 337.55 -11.55 280 1969.14 0.00 0.00 5.58 0.000 0.000 0.060 3759.56 3782.50 3736.62 1665.44 3949.12 0 0 0 30.00 30.00 15.93

2195.99 1028 -145.99 -0.81 0.00 3759.3 3782.4 3736.2 1665.0 3948.6 362.52 -10.26 327 2203.96 0.00 0.00 5.05 0.000 0.000 0.025 3759.53 3783.44 3735.62 1684.00 2230.81 0 0 0 30.00 30.00 15.94

2520.86 260 -145.99 -0.81 80.00 3759.1 3782.6 3735.6 1682.9 2231.7 399.13 -11.12 347 2529.38 0.00 0.00 5.58 0.000 0.000 0.060 3759.25 3782.81 3735.69 1663.38 3948.06 0 0 0 30.00 30.00 15.95

2756.04 1028 -145.99 -0.81 0.00 3759.1 3782.9 3735.2 1663.4 3948.9 423.45 -10.40 394 2764.49 0.00 0.00 5.03 0.000 0.000 0.025 3761.03 3784.88 3737.19 1682.25 2232.19 0 0 0 30.00 30.00 15.98

3080.95 260 -145.99 -0.81 80.00 3760.1 3783.6 3736.6 1681.8 2230.9 459.39 -11.03 414 3089.25 0.00 0.00 5.54 0.000 0.000 0.059 3760.34 3785.19 3735.50 1661.69 3949.44 0 0 0 30.00 30.00 15.99

3316.07 1028 -145.99 -0.81 0.00 3759.4 3783.2 3735.6 1661.8 3949.6 483.20 -9.91 461 3324.37 0.00 0.00 5.01 0.000 0.000 0.024 3758.19 3781.44 3734.94 1679.69 2230.50 0 0 0 30.00 30.00 16.01

3641.22 260 -145.99 -0.81 80.00 3759.3 3782.9 3735.8 1680.3 2229.7 518.12 -10.88 481 3649.70 0.00 0.00 5.59 0.000 0.000 0.060 3758.12 3782.56 3733.69 1659.00 3949.12 0 0 0 30.00 30.00 16.01

3876.27 1029 -145.99 -0.81 0.00 3759.7 3784.5 3734.9 1659.9 3948.0 541.42 -9.61 528 3884.50 0.00 0.08 5.03 0.000 0.209 0.025 3761.59 3785.69 3737.50 1696.00 2228.69 0 0 0 30.00 15.92 16.02

4201.29 260 -145.99 -0.81 80.00 3760.3 3784.6 3736.1 1695.7 2227.5 573.39 -9.81 548 4209.60 0.00 0.00 5.55 0.000 0.000 0.060 3759.88 3784.69 3735.06 1675.94 3946.19 0 0 0 30.00 30.00 16.03

4436.33 1028 -145.99 -0.81 0.00 3760.2 3784.6 3735.9 1676.1 3946.3 595.03 -9.22 595 4444.74 0.00 0.00 4.99 0.000 0.000 0.024 3759.69 3784.44 3734.94 1695.38 2231.06 0 0 0 30.00 30.00 16.03

4761.31 260 -145.99 -0.81 80.00 3760.8 3786.1 3735.4 1695.1 2230.7 626.53 -9.87 615 4768.59 0.00 0.00 5.52 0.000 0.000 0.060 3761.25 3786.12 3736.38 1675.00 3947.44 0 0 0 30.00 30.00 16.05

4992.00 1028 -145.99 -0.81 0.00 3760.5 3784.8 3736.2 1674.9 3947.6 647.61 -8.86 661 5000.17 0.00 0.00 4.99 0.000 0.000 0.024 3759.16 3784.38 3733.94 1694.12 2232.00 0 0 0 30.00 30.00 16.07

5316.87 260 -145.99 -0.81 80.00 3760.9 3785.5 3736.3 1694.4 2231.6 679.00 -9.84 681 5325.18 0.00 0.00 5.55 0.000 0.000 0.060 3762.50 3787.31 3737.69 1674.06 3948.81 0 0 0 30.00 30.00 16.05

5551.92 1028 -145.99 -0.81 0.00 3760.8 3785.8 3735.9 1674.3 3947.6 700.80 -9.21 728 5560.36 0.00 0.00 4.99 0.000 0.000 0.024 3764.94 3790.50 3739.38 1693.94 2229.81 0 0 0 30.00 30.00 16.05

5876.92 260 -145.99 -0.81 80.00 3760.7 3785.7 3735.8 1693.2 2230.2 732.35 -9.77 748 5885.44 0.00 0.00 5.55 0.000 0.000 0.060 3759.03 3784.06 3734.00 1672.31 3947.94 0 0 0 30.00 30.00 16.06

6112.03 1028 -145.99 -0.81 0.00 3760.8 3785.6 3736.0 1673.4 3948.1 754.35 -9.41 795 6120.26 0.00 0.00 4.99 0.000 0.000 0.025 3762.69 3787.88 3737.50 1692.62 2231.88 0 0 0 30.00 30.00 16.09

6437.16 260 -145.99 -0.81 80.00 3760.8 3787.0 3734.6 1692.2 2231.1 785.98 -9.83 815 6445.48 0.00 0.00 5.49 0.000 0.000 0.059 3762.19 3789.19 3735.19 1671.69 3946.38 0 0 0 30.00 30.00 16.07

6672.36 1028 -145.99 -0.81 0.00 3761.6 3787.3 3735.8 1672.6 3944.9 807.90 -9.20 862 6679.31 0.00 0.00 4.99 0.000 0.000 0.024 3763.34 3788.38 3738.31 1691.88 2230.81 0 0 0 30.00 30.00 16.08

6992.57 260 -145.99 -0.81 80.00 3761.6 3786.8 3736.4 1691.3 2230.1 839.11 -9.76 881 7000.97 0.00 0.00 5.54 0.000 0.000 0.059 3767.56 3792.56 3742.56 1671.38 3949.38 0 0 0 30.00 30.00 16.08

7227.61 1028 -145.99 -0.81 0.00 3762.2 3787.1 3737.2 1672.2 3948.2 860.56 -9.16 928 7235.95 0.00 0.00 4.99 0.000 0.000 0.024 3762.91 3788.75 3737.06 1692.25 2228.94 0 0 0 30.00 30.00 16.10

7552.66 260 -145.99 -0.81 80.00 3762.3 3787.6 3737.1 1691.1 2229.9 891.18 -9.49 948 7560.99 0.00 0.00 5.53 0.000 0.000 0.060 3765.75 3791.06 3740.44 1671.50 3947.75 0 0 0 30.00 30.00 16.09

7787.84 1028 -145.99 -0.81 0.00 3761.7 3787.8 3735.7 1671.6 3947.8 912.62 -9.15 995 7796.02 0.00 0.00 4.98 0.000 0.000 0.024 3760.97 3786.19 3735.75 1690.88 2230.31 0 0 0 30.00 30.00 16.07

8112.86 260 -145.99 -0.81 80.00 3762.4 3787.8 3737.1 1690.5 2230.4 942.97 -9.34 1015 8121.15 0.00 0.00 5.55 0.000 0.000 0.060 3762.09 3787.19 3737.00 1671.06 3948.75 0 0 0 30.00 30.00 16.09

8347.72 1028 -145.99 -0.81 0.00 3762.6 3788.2 3736.9 1671.0 3945.9 964.49 -9.30 1062 8355.99 0.00 0.00 4.99 0.000 0.000 0.025 3762.31 3787.88 3736.75 1689.31 2229.50 0 0 0 30.00 30.00 16.11

8631 end dive: TARGET_DEPTH_EXCEEDED

state 8631 begin apogee

8635.21 3 0.00 -0.10 0.00 3762.4 3788.1 3736.7 1694.5 1876.7 990.98 -9.40 1080 8767.09 129.24 1.36 0.12 2.529 0.164 0.133 3165.28 3247.31 3083.25 1914.31 1986.19 0 0 0 12.95 16.03 15.13

8767 end apogee: CONTROL_FINISHED_OK

state 8767 begin climb

8769.23 519 145.99 0.81 -80.00 3164.7 3246.7 3082.6 1914.1 1986.8 994.24 0.00 1086 8914.98 135.40 1.09 5.59 2.424 0.064 0.058 2566.16 2656.75 2475.56 2242.31 333.12 0 0 0 12.37 15.18 14.82

9138.31 1031 145.99 0.81 0.00 2556.0 2634.4 2477.6 2242.6 333.0 968.92 12.59 1160 9144.55 0.00 0.14 4.64 0.000 0.243 0.014 2556.38 2634.50 2478.25 2203.69 1947.25 0 0 0 30.00 15.26 15.39

9443.18 582 145.99 0.82 -80.00 2554.7 2635.9 2473.4 2204.1 1959.5 941.24 8.84 1176 9451.51 0.00 0.00 5.33 0.000 0.000 0.058 2554.38 2634.62 2474.12 2223.62 332.62 0 0 0 30.00 30.00 15.59

9483.30 1030 145.99 0.82 0.00 2553.1 2631.8 2474.4 2224.0 332.2 936.90 11.03 1184 9489.44 0.00 0.00 4.58 0.000 0.000 0.014 2555.19 2634.81 2475.56 2203.81 1932.81 0 0 0 30.00 30.00 15.62

9798.47 582 145.99 0.84 -80.00 2552.6 2631.9 2473.3 2205.9 1944.6 908.71 8.79 1202 9805.42 0.00 0.00 5.22 0.000 0.000 0.058 2551.38 2631.12 2471.62 2224.75 333.19 0 0 0 30.00 30.00 15.71

10028.80 1030 145.99 0.84 0.00 2551.3 2628.9 2473.7 2224.2 332.8 882.63 11.66 1248 10035.00 0.00 0.00 4.55 0.000 0.000 0.014 2549.16 2626.69 2471.62 2205.31 1935.50 0 0 0 30.00 30.00 15.79

10348.79 582 145.99 0.86 -80.00 2550.9 2628.5 2473.3 2205.9 1945.7 854.76 8.54 1267 10357.15 0.00 0.00 5.20 0.000 0.000 0.058 2554.97 2632.88 2477.06 2224.25 332.00 0 0 0 30.00 30.00 15.83

10373.70 1094 145.99 0.88 0.00 2550.2 2627.6 2472.9 2224.0 331.9 852.19 8.66 1272 10379.84 0.00 0.00 4.52 0.000 0.000 0.014 2550.84 2628.06 2473.62 2206.25 1936.44 0 0 0 30.00 30.00 15.84

10683.85 583 145.99 0.90 -80.00 2550.0 2626.6 2473.4 2206.1 1946.9 825.34 8.59 1289 10692.33 0.00 0.12 5.16 0.000 0.102 0.058 2550.12 2627.31 2472.94 2266.25 332.00 0 0 0 30.00 15.86 15.87

10918.78 1030 145.99 0.90 0.00 2548.8 2625.1 2472.4 2266.6 331.9 795.98 12.74 1336 10924.88 0.00 0.00 4.51 0.000 0.000 0.014 2550.38 2626.38 2474.38 2247.69 1934.75 0 0 0 30.00 30.00 15.93

11238.86 518 145.99 0.90 -80.00 2550.2 2626.6 2473.9 2248.0 1944.6 764.25 9.72 1355 11247.02 0.00 0.00 5.11 0.000 0.000 0.057 2549.91 2625.50 2474.31 2266.25 332.12 0 0 0 30.00 30.00 15.91

11473.87 1030 145.99 0.90 0.00 2548.5 2624.1 2473.0 2266.8 332.2 734.93 12.43 1402 11480.04 0.00 0.00 4.49 0.000 0.000 0.014 2546.66 2622.12 2471.19 2248.12 1934.12 0 0 0 30.00 30.00 15.95

11794.02 518 145.99 0.90 -80.00 2548.5 2624.5 2472.5 2248.0 1944.8 704.08 9.51 1421 11802.24 0.00 0.00 5.09 0.000 0.000 0.058 2551.69 2627.00 2476.38 2265.81 332.12 0 0 0 30.00 30.00 15.97

11999.10 1030 145.99 0.90 0.00 2548.3 2623.5 2473.1 2266.8 332.2 679.24 12.92 1462 12005.22 0.00 0.00 4.49 0.000 0.000 0.014 2548.88 2624.94 2472.81 2247.50 1933.31 0 0 0 30.00 30.00 16.00

12309.08 582 145.99 0.92 -80.00 2548.3 2623.5 2473.1 2248.4 1944.1 650.15 8.96 1479 12317.26 0.00 0.00 5.11 0.000 0.000 0.058 2549.25 2624.75 2473.75 2266.94 332.19 0 0 0 30.00 30.00 15.95

12544.14 1030 145.99 0.92 0.00 2547.5 2621.9 2473.1 2267.4 332.0 622.42 11.59 1526 12550.30 0.00 0.00 4.49 0.000 0.000 0.014 2547.72 2622.06 2473.38 2247.81 1934.56 0 0 0 30.00 30.00 15.95

12864.39 326 145.99 0.94 80.00 2547.9 2623.1 2472.8 2248.7 1945.8 593.90 8.58 1545 12872.35 0.00 0.00 5.14 0.000 0.000 0.045 2548.47 2623.31 2473.62 2231.12 3608.31 0 0 0 30.00 30.00 15.94

13099.22 1094 145.99 0.96 0.00 2547.6 2622.6 2472.5 2231.5 3607.4 572.63 8.92 1592 13107.81 0.00 0.00 5.11 0.000 0.000 0.028 2548.09 2623.00 2473.19 2251.62 1882.69 0 0 0 30.00 30.00 15.94

13424.44 582 145.99 0.98 -80.00 2547.0 2622.0 2471.9 2251.8 1882.4 544.38 8.61 1612 13432.57 0.00 0.00 4.91 0.000 0.000 0.058 2547.44 2623.38 2471.50 2272.12 332.88 0 0 0 30.00 30.00 15.92

13544.47 1030 145.99 0.98 0.00 2546.6 2620.8 2472.4 2272.5 332.2 531.01 11.37 1636 13550.65 0.00 0.00 4.51 0.000 0.000 0.013 2545.62 2620.69 2470.56 2252.81 1934.88 0 0 0 30.00 30.00 15.92

13859.53 582 145.99 1.00 -80.00 2546.3 2621.3 2471.3 2253.4 1945.2 503.21 8.66 1654 13867.94 0.00 0.00 5.12 0.000 0.000 0.058 2547.25 2623.19 2471.31 2271.94 332.12 0 0 0 30.00 30.00 15.92

14094.48 1030 145.99 1.00 0.00 2546.3 2620.6 2472.0 2273.2 332.2 476.55 11.62 1701 14100.59 0.00 0.00 4.51 0.000 0.000 0.014 2545.12 2619.69 2470.56 2252.44 1935.38 0 0 0 30.00 30.00 15.91

14414.53 326 145.99 1.02 80.00 2546.2 2620.9 2471.5 2252.6 1945.8 448.60 8.63 1720 14422.67 0.00 0.00 5.14 0.000 0.000 0.045 2546.44 2621.56 2471.31 2233.75 3604.75 0 0 0 30.00 30.00 15.92

14649.73 1095 145.99 1.04 0.00 2545.9 2621.0 2470.9 2233.9 3606.8 427.52 8.76 1767 14658.04 0.00 0.09 5.09 0.000 0.115 0.027 2545.97 2619.50 2472.44 2295.38 1881.88 0 0 0 30.00 15.91 15.97

14974.85 582 145.99 1.05 -80.00 2545.9 2620.5 2471.3 2295.1 1882.4 396.95 9.13 1787 14981.76 0.00 0.00 4.88 0.000 0.000 0.057 2544.50 2619.19 2469.81 2313.56 332.19 0 0 0 30.00 30.00 15.98

15055.07 1030 145.99 1.05 0.00 2546.0 2620.6 2471.4 2314.5 332.1 387.43 11.84 1803 15060.99 0.00 0.00 4.47 0.000 0.000 0.013 2544.84 2618.88 2470.81 2295.94 1935.62 0 0 0 30.00 30.00 15.99

15364.89 582 145.99 1.07 -80.00 2546.0 2619.7 2472.3 2297.0 1947.1 359.21 8.75 1820 15373.30 0.00 0.00 5.11 0.000 0.000 0.057 2548.25 2622.56 2473.94 2315.06 332.25 0 0 0 30.00 30.00 16.00

15425.06 1030 145.99 1.07 0.00 2546.2 2620.6 2471.8 2315.6 331.9 352.82 10.50 1832 15431.09 0.00 0.00 4.47 0.000 0.000 0.013 2547.44 2620.56 2474.31 2296.88 1938.50 0 0 0 30.00 30.00 16.02

15740.00 551 206.66 1.25 -80.00 2545.6 2620.5 2470.7 2298.2 1948.8 328.44 7.18 1850 15799.42 51.16 0.19 5.16 1.768 0.096 0.058 2320.31 2407.25 2233.38 2373.81 332.06 0 0 0 12.79 16.00 15.66

16025.12 1030 206.66 1.25 0.00 2314.8 2394.2 2235.4 2373.4 332.2 289.21 15.42 1907 16031.32 0.00 0.00 4.57 0.000 0.000 0.015 2314.81 2394.81 2234.81 2354.44 1929.12 0 0 0 30.00 30.00 15.80

16335.11 551 269.96 1.44 -80.00 2313.3 2395.2 2231.4 2354.9 1939.8 261.91 7.06 1924 16397.74 54.60 0.20 5.22 1.682 0.090 0.058 2064.88 2159.19 1970.56 2437.75 332.12 0 0 0 12.75 15.84 15.51

16431.04 1028 269.96 1.44 0.00 2058.3 2147.1 1969.4 2438.2 331.9 252.38 13.33 1943 16439.14 0.00 0.00 4.61 0.000 0.000 0.014 2058.19 2146.88 1969.50 2425.88 1938.38 0 0 0 30.00 30.00 15.64

16740.88 582 269.96 1.45 -80.00 2054.1 2145.0 1963.2 2426.6 1940.9 219.44 9.34 1976 16749.31 0.00 0.00 5.18 0.000 0.000 0.057 2054.06 2144.69 1963.44 2444.00 331.19 0 0 0 30.00 30.00 15.73

16771.12 1030 269.96 1.45 0.00 2052.9 2140.5 1965.2 2444.9 330.9 216.23 10.15 1982 16777.19 0.00 0.00 4.53 0.000 0.000 0.012 2050.66 2138.44 1962.88 2426.00 1937.50 0 0 0 30.00 30.00 15.73

16955.95 582 269.96 1.48 -80.00 2051.9 2140.9 1962.8 2426.1 1947.2 199.97 8.11 2001 16964.18 0.00 0.00 5.16 0.000 0.000 0.057 2053.84 2143.00 1964.69 2445.06 332.31 0 0 0 30.00 30.00 15.80

17191.24 1094 269.96 1.50 0.00 2050.6 2137.1 1964.1 2445.2 332.2 178.55 8.72 2048 17197.12 0.00 0.00 4.50 0.000 0.000 0.012 2054.12 2140.31 1967.94 2426.12 1934.38 0 0 0 30.00 30.00 15.86

17381.17 551 359.05 1.77 -80.00 2050.0 2136.8 1963.2 2427.0 1953.6 166.78 5.86 2068 17461.99 73.12 0.34 5.31 1.604 0.096 0.059 1697.94 1792.69 1603.19 2542.19 333.06 0 0 0 12.74 15.85 15.45

17686.35 1030 359.05 1.77 0.00 1689.1 1773.8 1604.4 2541.4 333.1 121.87 15.27 2129 17694.25 0.00 0.00 4.60 0.000 0.000 0.014 1688.72 1773.06 1604.38 2526.12 1931.75 0 0 0 30.00 30.00 15.65

17881.25 582 359.05 1.79 -80.00 1686.3 1773.6 1599.1 2526.1 1938.7 101.54 8.67 2150 17889.54 0.00 0.00 5.18 0.000 0.000 0.058 1688.75 1775.06 1602.44 2543.81 332.12 0 0 0 30.00 30.00 15.72

18116.38 1063 466.58 2.11 0.00 1685.0 1769.0 1601.1 2544.8 332.0 82.07 5.00 2197 18211.79 86.89 0.35 4.49 1.497 0.108 0.011 1261.81 1359.69 1163.94 2626.12 1968.19 0 0 0 12.64 15.74 15.80

18391.41 551 567.60 2.41 -80.00 1254.9 1353.0 1156.8 2625.7 1968.6 63.31 5.30 2234 18482.58 83.28 0.35 5.47 1.432 0.088 0.061 848.19 941.12 755.25 2747.94 333.31 0 0 0 12.58 15.54 15.21

18556.40 1028 567.60 2.41 0.00 844.0 926.5 761.4 2747.2 333.3 47.52 13.67 2267 18562.50 0.00 0.00 4.64 0.000 0.000 0.013 844.62 927.00 762.25 2729.56 1932.12 0 0 0 30.00 30.00 15.40

18746.57 551 653.18 2.67 -80.00 841.3 926.3 756.3 2729.3 1943.6 33.97 6.02 2287 18818.34 64.25 0.29 5.39 1.388 0.092 0.061 548.66 630.69 466.62 2827.75 332.06 0 0 0 12.44 15.53 15.27

18991.66 1030 653.18 2.67 0.00 545.0 617.3 472.6 2828.7 332.2 11.05 11.06 2336 18998.58 0.00 0.00 4.61 0.000 0.000 0.014 545.34 617.75 472.94 2821.25 1933.62 0 0 0 30.00 30.00 15.52

19094 end climb: SURFACE_DEPTH_REACHED

state 19094 begin surface coast

19114 end surface coast: CONTROL_FINISHED_OK

state 19114 begin surface

ID	229	HEADING	-1	C_ROLL_DIVE	2250	ALTIM_PING_DELTA	10
MISSION	2	ESCAPE_HEADING	0	C_ROLL_CLIMB	1900	ALTIM_FREQUENCY	13
DIVE	69	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.047120001	ALTIM_SENSITIVITY	2
STOP_T	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	5
D_SURF	2	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	990	SM_CC	641.70477	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-2.5
D_ABORT	1020	N_FILEKB	8	VBD_MIN	550	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_BOOST	4	CALL_NDIVES	1	C_VBD	3166	MOTHERBOARD	6
T_BOOST	0	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_FINISH	0	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
D_PITCH	0	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE3	-1
D_SAFE	0	NOCOMM_ACTION	161	VBD_TIMEOUT	720	DEVICE4	-1
D_CALL	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.003	DEVICE5	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	0
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	W_ADJ_DBAND	2	LOGGERDEVICE1	7
T_DIVE	330	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	370	CAPMAXSIZE	100000	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_GPS	5	LOITER_DBDW	0	LOGGERDEVICE4	-1
T_TURN	225	N_GPS	100440	LOITER_D_TOP	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	T_RSLEEP	3	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	20	GPS_DEVICE	32
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	11	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	150	MINV_10V	11	SEABIRD_T_G	0.0044283443
D_OFFGRID	1020	PITCH_MAX	3840	MAXI_24V	5	SEABIRD_T_H	0.00066085911
RELAUNCH	1	C_PITCH	1950	MAXI_10V	1.4	SEABIRD_T_I	2.7456792e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	4.2803736	SEABIRD_T_J	3.4295531e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	16.006622	SEABIRD_C_G	-9.9373035
GLIDE_SLOPE	30	PITCH_GAIN	48	PHONE_SUPPLY	2	SEABIRD_C_H	1.1186405
SPEED_FACTOR	1	PITCH_TIMEOUT	20	PRESSURE_YINT	-162.53629	SEABIRD_C_I	-0.003041792
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010777653	SEABIRD_C_J	0.00029373623
MASS	72243	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	ALTIM_PING_FIT	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	1.5	ALTIM_TOP_PING_RANGE	20	SC_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0.5	ALTIM_BOTTOM_TURN_MARGIN	0	SC_NDIVE	1.0
HD_A	0.003	ROLL_MIN	340	ALTIM_TOP_TURN_MARGIN	0
HD_B	0.0099999998	ROLL_MAX	3945	ALTIM_TOP_MIN_OBSTACLE	2
HD_C	1.6e-05	ROLL_DEG	80	ALTIM_PING_DEPTH	0

GPS1	031018,123139,7447.470,-14536.489,71,0.9,72,0.0	TGT_LATLONG	7415.000,-14625.000
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.86	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-74.2	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	031018,123722,7447.481,-14536.361,3,0.9,6,0.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	242.2,64935,-17.6,-10.000,-21.24
TGT_NAME	AB2	D_GRID	990

MODEM_MSG	CACST,6,1,20181003161550.261015,18,305,24,0058,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*33	INTERNAL_PRESSURE	9.14971
FINISH	0.0,1.028479	_24V_AH	14.24,33.082
SM_CCo	19187.82,0.00,0.000,0,544.2,617.7,470.6,643.14	_10V_AH	14.91,0.000
SM_GC	5.30,0.00,8.36,0.89,0.000,0.082,0.020,544.2,617.7,470.6,142.8,2279.4,0,0,0,30.00,15.55,15.59	FG_AHR_24Vo	16.236
SUPER	59,70,254,1,0,0	FG_AHR_10Vo	4.321
IRIDIUM_FIX	7450.19,-14548.96,031018,071500	MEM	1165556,31,13928,59
TCM_TEMP	177.52	DATA_FILE_SIZE	94766,2349
XPDR_PINGS	0	CAP_FILE_SIZE	518346,0
ALTIM_TOP_PING	19.9,20.5	SDSIZE	3918848,3892896
RAFOS_CLK	1994	ERRORS	0,0,0,0,0,0,0,5
RAFOS_FIX	7450.650391,-14529.573242,031018,161650,3,255,0.51	SOUNDSPEED	1465.0
HUMID	48.75	CURRENT	0.186,151.2,1
TEMP	-0.57	GPS	031018,180009,7447.285,-14536.145,124,0.8,125,0.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	778	2529	28055.67	nil	0	0	0.00
Pitch_motor	22	405	127.85	nil	0	0	0.00
Roll_motor	386	132	730.85	nil	0	0	0.00
Iridium	229	204	668.56	nil	0	0	0.00
Transponder_ping	0	420	1.50	nil	0	0	0.00
GPS	14	15	3.29	nil	0	0	0.00
Core	4183	19	1242.63	SciCon	0	0	0.00
LPSleep	15303	2	527.09	nil	0	0	0.00
Compass	2485	5	185.29	nil	0	0	0.00
RAFOS	2217	48	1586.66
Transponder	1	30	0.45

		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
1	end surface: CONTROL_FINISHED_OK
state	1	begin dive
4.05	2	-145.99	-0.81	0.00	546.6	605.0	488.2	128.8	2200.3	0.00	0.00	0	43.75	39.08	0.00	0.00	0.005	0.000	0.000	1259.66	1284.12	1235.19	129.00	2200.62	0	0	0	15.52	30.00	30.00
45.85	551	-145.99	-0.81	-80.00	1260.4	1285.6	1235.1	128.9	2200.1	3.15	-4.30	4	126.82	61.94	9.19	5.26	0.005	0.405	0.051	3758.72	3774.19	3743.25	1709.88	542.75	0	0	0	15.56	15.43	15.56
350.06	1028	-145.99	-0.81	0.00	3758.6	3774.9	3742.4	1709.9	542.6	87.49	-19.06	63	358.24	0.00	0.00	5.12	0.000	0.000	0.023	3758.91	3775.38	3742.44	1690.50	2261.19	0	0	0	30.00	30.00	15.71
545.04	260	-145.99	-0.81	80.00	3759.5	3779.8	3739.2	1690.6	2262.4	129.15	-20.77	84	552.26	0.00	0.00	5.46	0.000	0.000	0.061	3760.88	3781.25	3740.50	1668.12	3949.81	0	0	0	30.00	30.00	15.76
775.54	1028	-145.99	-0.81	0.00	3758.8	3780.1	3737.6	1667.6	3950.2	168.87	-16.65	130	783.98	0.00	0.00	5.12	0.000	0.000	0.026	3759.03	3780.25	3737.81	1686.81	2233.44	0	0	0	30.00	30.00	15.83
970.58	260	-145.99	-0.81	80.00	3760.5	3782.6	3738.5	1686.8	2232.6	204.51	-18.53	151	979.09	0.00	0.00	5.60	0.000	0.000	0.059	3759.91	3781.69	3738.12	1667.50	3946.88	0	0	0	30.00	30.00	15.83
1205.70	1028	-145.99	-0.81	0.00	3759.8	3781.9	3737.8	1667.2	3948.6	239.50	-13.96	198	1213.88	0.00	0.00	5.09	0.000	0.000	0.025	3760.19	3783.50	3736.88	1685.69	2233.12	0	0	0	30.00	30.00	15.85
1400.77	260	-145.99	-0.81	80.00	3759.8	3782.6	3737.1	1686.0	2231.3	269.03	-15.03	213	1409.07	0.00	0.00	5.55	0.000	0.000	0.059	3759.28	3781.56	3737.00	1665.56	3948.38	0	0	0	30.00	30.00	15.89
1635.84	1028	-145.99	-0.81	0.00	3760.0	3784.1	3735.9	1666.1	3948.5	298.56	-11.42	260	1644.25	0.00	0.00	5.06	0.000	0.000	0.025	3761.81	3784.69	3738.94	1684.69	2231.56	0	0	0	30.00	30.00	15.92
1960.91	260	-145.99	-0.81	80.00	3760.3	3783.4	3737.2	1685.2	2231.3	337.55	-11.55	280	1969.14	0.00	0.00	5.58	0.000	0.000	0.060	3759.56	3782.50	3736.62	1665.44	3949.12	0	0	0	30.00	30.00	15.93
2195.99	1028	-145.99	-0.81	0.00	3759.3	3782.4	3736.2	1665.0	3948.6	362.52	-10.26	327	2203.96	0.00	0.00	5.05	0.000	0.000	0.025	3759.53	3783.44	3735.62	1684.00	2230.81	0	0	0	30.00	30.00	15.94
2520.86	260	-145.99	-0.81	80.00	3759.1	3782.6	3735.6	1682.9	2231.7	399.13	-11.12	347	2529.38	0.00	0.00	5.58	0.000	0.000	0.060	3759.25	3782.81	3735.69	1663.38	3948.06	0	0	0	30.00	30.00	15.95
2756.04	1028	-145.99	-0.81	0.00	3759.1	3782.9	3735.2	1663.4	3948.9	423.45	-10.40	394	2764.49	0.00	0.00	5.03	0.000	0.000	0.025	3761.03	3784.88	3737.19	1682.25	2232.19	0	0	0	30.00	30.00	15.98
3080.95	260	-145.99	-0.81	80.00	3760.1	3783.6	3736.6	1681.8	2230.9	459.39	-11.03	414	3089.25	0.00	0.00	5.54	0.000	0.000	0.059	3760.34	3785.19	3735.50	1661.69	3949.44	0	0	0	30.00	30.00	15.99
3316.07	1028	-145.99	-0.81	0.00	3759.4	3783.2	3735.6	1661.8	3949.6	483.20	-9.91	461	3324.37	0.00	0.00	5.01	0.000	0.000	0.024	3758.19	3781.44	3734.94	1679.69	2230.50	0	0	0	30.00	30.00	16.01
3641.22	260	-145.99	-0.81	80.00	3759.3	3782.9	3735.8	1680.3	2229.7	518.12	-10.88	481	3649.70	0.00	0.00	5.59	0.000	0.000	0.060	3758.12	3782.56	3733.69	1659.00	3949.12	0	0	0	30.00	30.00	16.01
3876.27	1029	-145.99	-0.81	0.00	3759.7	3784.5	3734.9	1659.9	3948.0	541.42	-9.61	528	3884.50	0.00	0.08	5.03	0.000	0.209	0.025	3761.59	3785.69	3737.50	1696.00	2228.69	0	0	0	30.00	15.92	16.02
4201.29	260	-145.99	-0.81	80.00	3760.3	3784.6	3736.1	1695.7	2227.5	573.39	-9.81	548	4209.60	0.00	0.00	5.55	0.000	0.000	0.060	3759.88	3784.69	3735.06	1675.94	3946.19	0	0	0	30.00	30.00	16.03
4436.33	1028	-145.99	-0.81	0.00	3760.2	3784.6	3735.9	1676.1	3946.3	595.03	-9.22	595	4444.74	0.00	0.00	4.99	0.000	0.000	0.024	3759.69	3784.44	3734.94	1695.38	2231.06	0	0	0	30.00	30.00	16.03
4761.31	260	-145.99	-0.81	80.00	3760.8	3786.1	3735.4	1695.1	2230.7	626.53	-9.87	615	4768.59	0.00	0.00	5.52	0.000	0.000	0.060	3761.25	3786.12	3736.38	1675.00	3947.44	0	0	0	30.00	30.00	16.05
4992.00	1028	-145.99	-0.81	0.00	3760.5	3784.8	3736.2	1674.9	3947.6	647.61	-8.86	661	5000.17	0.00	0.00	4.99	0.000	0.000	0.024	3759.16	3784.38	3733.94	1694.12	2232.00	0	0	0	30.00	30.00	16.07
5316.87	260	-145.99	-0.81	80.00	3760.9	3785.5	3736.3	1694.4	2231.6	679.00	-9.84	681	5325.18	0.00	0.00	5.55	0.000	0.000	0.060	3762.50	3787.31	3737.69	1674.06	3948.81	0	0	0	30.00	30.00	16.05
5551.92	1028	-145.99	-0.81	0.00	3760.8	3785.8	3735.9	1674.3	3947.6	700.80	-9.21	728	5560.36	0.00	0.00	4.99	0.000	0.000	0.024	3764.94	3790.50	3739.38	1693.94	2229.81	0	0	0	30.00	30.00	16.05
5876.92	260	-145.99	-0.81	80.00	3760.7	3785.7	3735.8	1693.2	2230.2	732.35	-9.77	748	5885.44	0.00	0.00	5.55	0.000	0.000	0.060	3759.03	3784.06	3734.00	1672.31	3947.94	0	0	0	30.00	30.00	16.06
6112.03	1028	-145.99	-0.81	0.00	3760.8	3785.6	3736.0	1673.4	3948.1	754.35	-9.41	795	6120.26	0.00	0.00	4.99	0.000	0.000	0.025	3762.69	3787.88	3737.50	1692.62	2231.88	0	0	0	30.00	30.00	16.09
6437.16	260	-145.99	-0.81	80.00	3760.8	3787.0	3734.6	1692.2	2231.1	785.98	-9.83	815	6445.48	0.00	0.00	5.49	0.000	0.000	0.059	3762.19	3789.19	3735.19	1671.69	3946.38	0	0	0	30.00	30.00	16.07
6672.36	1028	-145.99	-0.81	0.00	3761.6	3787.3	3735.8	1672.6	3944.9	807.90	-9.20	862	6679.31	0.00	0.00	4.99	0.000	0.000	0.024	3763.34	3788.38	3738.31	1691.88	2230.81	0	0	0	30.00	30.00	16.08
6992.57	260	-145.99	-0.81	80.00	3761.6	3786.8	3736.4	1691.3	2230.1	839.11	-9.76	881	7000.97	0.00	0.00	5.54	0.000	0.000	0.059	3767.56	3792.56	3742.56	1671.38	3949.38	0	0	0	30.00	30.00	16.08
7227.61	1028	-145.99	-0.81	0.00	3762.2	3787.1	3737.2	1672.2	3948.2	860.56	-9.16	928	7235.95	0.00	0.00	4.99	0.000	0.000	0.024	3762.91	3788.75	3737.06	1692.25	2228.94	0	0	0	30.00	30.00	16.10
7552.66	260	-145.99	-0.81	80.00	3762.3	3787.6	3737.1	1691.1	2229.9	891.18	-9.49	948	7560.99	0.00	0.00	5.53	0.000	0.000	0.060	3765.75	3791.06	3740.44	1671.50	3947.75	0	0	0	30.00	30.00	16.09
7787.84	1028	-145.99	-0.81	0.00	3761.7	3787.8	3735.7	1671.6	3947.8	912.62	-9.15	995	7796.02	0.00	0.00	4.98	0.000	0.000	0.024	3760.97	3786.19	3735.75	1690.88	2230.31	0	0	0	30.00	30.00	16.07
8112.86	260	-145.99	-0.81	80.00	3762.4	3787.8	3737.1	1690.5	2230.4	942.97	-9.34	1015	8121.15	0.00	0.00	5.55	0.000	0.000	0.060	3762.09	3787.19	3737.00	1671.06	3948.75	0	0	0	30.00	30.00	16.09
8347.72	1028	-145.99	-0.81	0.00	3762.6	3788.2	3736.9	1671.0	3945.9	964.49	-9.30	1062	8355.99	0.00	0.00	4.99	0.000	0.000	0.025	3762.31	3787.88	3736.75	1689.31	2229.50	0	0	0	30.00	30.00	16.11
8631	end dive: TARGET_DEPTH_EXCEEDED
state	8631	begin apogee
8635.21	3	0.00	-0.10	0.00	3762.4	3788.1	3736.7	1694.5	1876.7	990.98	-9.40	1080	8767.09	129.24	1.36	0.12	2.529	0.164	0.133	3165.28	3247.31	3083.25	1914.31	1986.19	0	0	0	12.95	16.03	15.13
8767	end apogee: CONTROL_FINISHED_OK
state	8767	begin climb
8769.23	519	145.99	0.81	-80.00	3164.7	3246.7	3082.6	1914.1	1986.8	994.24	0.00	1086	8914.98	135.40	1.09	5.59	2.424	0.064	0.058	2566.16	2656.75	2475.56	2242.31	333.12	0	0	0	12.37	15.18	14.82
9138.31	1031	145.99	0.81	0.00	2556.0	2634.4	2477.6	2242.6	333.0	968.92	12.59	1160	9144.55	0.00	0.14	4.64	0.000	0.243	0.014	2556.38	2634.50	2478.25	2203.69	1947.25	0	0	0	30.00	15.26	15.39
9443.18	582	145.99	0.82	-80.00	2554.7	2635.9	2473.4	2204.1	1959.5	941.24	8.84	1176	9451.51	0.00	0.00	5.33	0.000	0.000	0.058	2554.38	2634.62	2474.12	2223.62	332.62	0	0	0	30.00	30.00	15.59
9483.30	1030	145.99	0.82	0.00	2553.1	2631.8	2474.4	2224.0	332.2	936.90	11.03	1184	9489.44	0.00	0.00	4.58	0.000	0.000	0.014	2555.19	2634.81	2475.56	2203.81	1932.81	0	0	0	30.00	30.00	15.62
9798.47	582	145.99	0.84	-80.00	2552.6	2631.9	2473.3	2205.9	1944.6	908.71	8.79	1202	9805.42	0.00	0.00	5.22	0.000	0.000	0.058	2551.38	2631.12	2471.62	2224.75	333.19	0	0	0	30.00	30.00	15.71
10028.80	1030	145.99	0.84	0.00	2551.3	2628.9	2473.7	2224.2	332.8	882.63	11.66	1248	10035.00	0.00	0.00	4.55	0.000	0.000	0.014	2549.16	2626.69	2471.62	2205.31	1935.50	0	0	0	30.00	30.00	15.79
10348.79	582	145.99	0.86	-80.00	2550.9	2628.5	2473.3	2205.9	1945.7	854.76	8.54	1267	10357.15	0.00	0.00	5.20	0.000	0.000	0.058	2554.97	2632.88	2477.06	2224.25	332.00	0	0	0	30.00	30.00	15.83
10373.70	1094	145.99	0.88	0.00	2550.2	2627.6	2472.9	2224.0	331.9	852.19	8.66	1272	10379.84	0.00	0.00	4.52	0.000	0.000	0.014	2550.84	2628.06	2473.62	2206.25	1936.44	0	0	0	30.00	30.00	15.84
10683.85	583	145.99	0.90	-80.00	2550.0	2626.6	2473.4	2206.1	1946.9	825.34	8.59	1289	10692.33	0.00	0.12	5.16	0.000	0.102	0.058	2550.12	2627.31	2472.94	2266.25	332.00	0	0	0	30.00	15.86	15.87
10918.78	1030	145.99	0.90	0.00	2548.8	2625.1	2472.4	2266.6	331.9	795.98	12.74	1336	10924.88	0.00	0.00	4.51	0.000	0.000	0.014	2550.38	2626.38	2474.38	2247.69	1934.75	0	0	0	30.00	30.00	15.93
11238.86	518	145.99	0.90	-80.00	2550.2	2626.6	2473.9	2248.0	1944.6	764.25	9.72	1355	11247.02	0.00	0.00	5.11	0.000	0.000	0.057	2549.91	2625.50	2474.31	2266.25	332.12	0	0	0	30.00	30.00	15.91
11473.87	1030	145.99	0.90	0.00	2548.5	2624.1	2473.0	2266.8	332.2	734.93	12.43	1402	11480.04	0.00	0.00	4.49	0.000	0.000	0.014	2546.66	2622.12	2471.19	2248.12	1934.12	0	0	0	30.00	30.00	15.95
11794.02	518	145.99	0.90	-80.00	2548.5	2624.5	2472.5	2248.0	1944.8	704.08	9.51	1421	11802.24	0.00	0.00	5.09	0.000	0.000	0.058	2551.69	2627.00	2476.38	2265.81	332.12	0	0	0	30.00	30.00	15.97
11999.10	1030	145.99	0.90	0.00	2548.3	2623.5	2473.1	2266.8	332.2	679.24	12.92	1462	12005.22	0.00	0.00	4.49	0.000	0.000	0.014	2548.88	2624.94	2472.81	2247.50	1933.31	0	0	0	30.00	30.00	16.00
12309.08	582	145.99	0.92	-80.00	2548.3	2623.5	2473.1	2248.4	1944.1	650.15	8.96	1479	12317.26	0.00	0.00	5.11	0.000	0.000	0.058	2549.25	2624.75	2473.75	2266.94	332.19	0	0	0	30.00	30.00	15.95
12544.14	1030	145.99	0.92	0.00	2547.5	2621.9	2473.1	2267.4	332.0	622.42	11.59	1526	12550.30	0.00	0.00	4.49	0.000	0.000	0.014	2547.72	2622.06	2473.38	2247.81	1934.56	0	0	0	30.00	30.00	15.95
12864.39	326	145.99	0.94	80.00	2547.9	2623.1	2472.8	2248.7	1945.8	593.90	8.58	1545	12872.35	0.00	0.00	5.14	0.000	0.000	0.045	2548.47	2623.31	2473.62	2231.12	3608.31	0	0	0	30.00	30.00	15.94
13099.22	1094	145.99	0.96	0.00	2547.6	2622.6	2472.5	2231.5	3607.4	572.63	8.92	1592	13107.81	0.00	0.00	5.11	0.000	0.000	0.028	2548.09	2623.00	2473.19	2251.62	1882.69	0	0	0	30.00	30.00	15.94
13424.44	582	145.99	0.98	-80.00	2547.0	2622.0	2471.9	2251.8	1882.4	544.38	8.61	1612	13432.57	0.00	0.00	4.91	0.000	0.000	0.058	2547.44	2623.38	2471.50	2272.12	332.88	0	0	0	30.00	30.00	15.92
13544.47	1030	145.99	0.98	0.00	2546.6	2620.8	2472.4	2272.5	332.2	531.01	11.37	1636	13550.65	0.00	0.00	4.51	0.000	0.000	0.013	2545.62	2620.69	2470.56	2252.81	1934.88	0	0	0	30.00	30.00	15.92
13859.53	582	145.99	1.00	-80.00	2546.3	2621.3	2471.3	2253.4	1945.2	503.21	8.66	1654	13867.94	0.00	0.00	5.12	0.000	0.000	0.058	2547.25	2623.19	2471.31	2271.94	332.12	0	0	0	30.00	30.00	15.92
14094.48	1030	145.99	1.00	0.00	2546.3	2620.6	2472.0	2273.2	332.2	476.55	11.62	1701	14100.59	0.00	0.00	4.51	0.000	0.000	0.014	2545.12	2619.69	2470.56	2252.44	1935.38	0	0	0	30.00	30.00	15.91
14414.53	326	145.99	1.02	80.00	2546.2	2620.9	2471.5	2252.6	1945.8	448.60	8.63	1720	14422.67	0.00	0.00	5.14	0.000	0.000	0.045	2546.44	2621.56	2471.31	2233.75	3604.75	0	0	0	30.00	30.00	15.92
14649.73	1095	145.99	1.04	0.00	2545.9	2621.0	2470.9	2233.9	3606.8	427.52	8.76	1767	14658.04	0.00	0.09	5.09	0.000	0.115	0.027	2545.97	2619.50	2472.44	2295.38	1881.88	0	0	0	30.00	15.91	15.97
14974.85	582	145.99	1.05	-80.00	2545.9	2620.5	2471.3	2295.1	1882.4	396.95	9.13	1787	14981.76	0.00	0.00	4.88	0.000	0.000	0.057	2544.50	2619.19	2469.81	2313.56	332.19	0	0	0	30.00	30.00	15.98
15055.07	1030	145.99	1.05	0.00	2546.0	2620.6	2471.4	2314.5	332.1	387.43	11.84	1803	15060.99	0.00	0.00	4.47	0.000	0.000	0.013	2544.84	2618.88	2470.81	2295.94	1935.62	0	0	0	30.00	30.00	15.99
15364.89	582	145.99	1.07	-80.00	2546.0	2619.7	2472.3	2297.0	1947.1	359.21	8.75	1820	15373.30	0.00	0.00	5.11	0.000	0.000	0.057	2548.25	2622.56	2473.94	2315.06	332.25	0	0	0	30.00	30.00	16.00
15425.06	1030	145.99	1.07	0.00	2546.2	2620.6	2471.8	2315.6	331.9	352.82	10.50	1832	15431.09	0.00	0.00	4.47	0.000	0.000	0.013	2547.44	2620.56	2474.31	2296.88	1938.50	0	0	0	30.00	30.00	16.02
15740.00	551	206.66	1.25	-80.00	2545.6	2620.5	2470.7	2298.2	1948.8	328.44	7.18	1850	15799.42	51.16	0.19	5.16	1.768	0.096	0.058	2320.31	2407.25	2233.38	2373.81	332.06	0	0	0	12.79	16.00	15.66
16025.12	1030	206.66	1.25	0.00	2314.8	2394.2	2235.4	2373.4	332.2	289.21	15.42	1907	16031.32	0.00	0.00	4.57	0.000	0.000	0.015	2314.81	2394.81	2234.81	2354.44	1929.12	0	0	0	30.00	30.00	15.80
16335.11	551	269.96	1.44	-80.00	2313.3	2395.2	2231.4	2354.9	1939.8	261.91	7.06	1924	16397.74	54.60	0.20	5.22	1.682	0.090	0.058	2064.88	2159.19	1970.56	2437.75	332.12	0	0	0	12.75	15.84	15.51
16431.04	1028	269.96	1.44	0.00	2058.3	2147.1	1969.4	2438.2	331.9	252.38	13.33	1943	16439.14	0.00	0.00	4.61	0.000	0.000	0.014	2058.19	2146.88	1969.50	2425.88	1938.38	0	0	0	30.00	30.00	15.64
16740.88	582	269.96	1.45	-80.00	2054.1	2145.0	1963.2	2426.6	1940.9	219.44	9.34	1976	16749.31	0.00	0.00	5.18	0.000	0.000	0.057	2054.06	2144.69	1963.44	2444.00	331.19	0	0	0	30.00	30.00	15.73
16771.12	1030	269.96	1.45	0.00	2052.9	2140.5	1965.2	2444.9	330.9	216.23	10.15	1982	16777.19	0.00	0.00	4.53	0.000	0.000	0.012	2050.66	2138.44	1962.88	2426.00	1937.50	0	0	0	30.00	30.00	15.73
16955.95	582	269.96	1.48	-80.00	2051.9	2140.9	1962.8	2426.1	1947.2	199.97	8.11	2001	16964.18	0.00	0.00	5.16	0.000	0.000	0.057	2053.84	2143.00	1964.69	2445.06	332.31	0	0	0	30.00	30.00	15.80
17191.24	1094	269.96	1.50	0.00	2050.6	2137.1	1964.1	2445.2	332.2	178.55	8.72	2048	17197.12	0.00	0.00	4.50	0.000	0.000	0.012	2054.12	2140.31	1967.94	2426.12	1934.38	0	0	0	30.00	30.00	15.86
17381.17	551	359.05	1.77	-80.00	2050.0	2136.8	1963.2	2427.0	1953.6	166.78	5.86	2068	17461.99	73.12	0.34	5.31	1.604	0.096	0.059	1697.94	1792.69	1603.19	2542.19	333.06	0	0	0	12.74	15.85	15.45
17686.35	1030	359.05	1.77	0.00	1689.1	1773.8	1604.4	2541.4	333.1	121.87	15.27	2129	17694.25	0.00	0.00	4.60	0.000	0.000	0.014	1688.72	1773.06	1604.38	2526.12	1931.75	0	0	0	30.00	30.00	15.65
17881.25	582	359.05	1.79	-80.00	1686.3	1773.6	1599.1	2526.1	1938.7	101.54	8.67	2150	17889.54	0.00	0.00	5.18	0.000	0.000	0.058	1688.75	1775.06	1602.44	2543.81	332.12	0	0	0	30.00	30.00	15.72
18116.38	1063	466.58	2.11	0.00	1685.0	1769.0	1601.1	2544.8	332.0	82.07	5.00	2197	18211.79	86.89	0.35	4.49	1.497	0.108	0.011	1261.81	1359.69	1163.94	2626.12	1968.19	0	0	0	12.64	15.74	15.80
18391.41	551	567.60	2.41	-80.00	1254.9	1353.0	1156.8	2625.7	1968.6	63.31	5.30	2234	18482.58	83.28	0.35	5.47	1.432	0.088	0.061	848.19	941.12	755.25	2747.94	333.31	0	0	0	12.58	15.54	15.21
18556.40	1028	567.60	2.41	0.00	844.0	926.5	761.4	2747.2	333.3	47.52	13.67	2267	18562.50	0.00	0.00	4.64	0.000	0.000	0.013	844.62	927.00	762.25	2729.56	1932.12	0	0	0	30.00	30.00	15.40
18746.57	551	653.18	2.67	-80.00	841.3	926.3	756.3	2729.3	1943.6	33.97	6.02	2287	18818.34	64.25	0.29	5.39	1.388	0.092	0.061	548.66	630.69	466.62	2827.75	332.06	0	0	0	12.44	15.53	15.27
18991.66	1030	653.18	2.67	0.00	545.0	617.3	472.6	2828.7	332.2	11.05	11.06	2336	18998.58	0.00	0.00	4.61	0.000	0.000	0.014	545.34	617.75	472.94	2821.25	1933.62	0	0	0	30.00	30.00	15.52
19094	end climb: SURFACE_DEPTH_REACHED
state	19094	begin surface coast
19114	end surface coast: CONTROL_FINISHED_OK
state	19114	begin surface