Glider dive log

SODA Aug19 * SG229 * Dive index * Mission links * Dive 829 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 229 HEADING -1 C_ROLL_DIVE 2220 ALTIM_PING_DELTA 10

MISSION 7 ESCAPE_HEADING 180 C_ROLL_CLIMB 2580 ALTIM_FREQUENCY 13

DIVE 829 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 13 ALTIM_PULSE 3

N_DIVES 0 FIX_MISSING_TIMEOUT 20 ROLL_CNV 0.047120001 ALTIM_SENSITIVITY 3

STOP_T 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 30 XPDR_VALID 5

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 200 SM_CC 529.84796 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -2.5

D_ABORT 1020 N_FILEKB 8 VBD_MIN 550 DEEPGLIDER 0

D_NO_BLEED 400 FILEMGR 2 VBD_MAX 3960 DEEPGLIDERMB 0

D_BOOST 2 CALL_NDIVES 1 C_VBD 2323 MOTHERBOARD 6

T_BOOST 0 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 10

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 161 VBD_TIMEOUT 800 DEVICE4 -1

D_CALL 3 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0024999999 DEVICE5 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX 3 UNCOM_BLEED 400 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 VBD_MAXERRORS 2 LOGGERS 0

SURFACE_URGENCY_FORCE 0 CALL_WAIT 45 W_ADJ_DBAND 2 LOGGERDEVICE1 7

T_DIVE 70 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 540 CAPMAXSIZE 10000 LOITER_W_DBAND 2 LOGGERDEVICE3 -1

T_ABORT 4320 T_GPS 3 LOITER_DBDW 400 LOGGERDEVICE4 -1

T_TURN 225 N_GPS 100740 LOITER_D_TOP 100 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 T_RSLEEP -120 LOITER_D_BOTTOM 250 COMPASS2_DEVICE 55

T_NO_W 120 STROBE 0 LOITER_N_DIVE 1 PHONE_DEVICE 33

T_LOITER 21600 RAFOS_PEAK_OFFSET 1 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 150 MINV_10V 0 SEABIRD_T_G 0.0044066384

D_OFFGRID 100 PITCH_MAX 3840 MAXI_24V 5 SEABIRD_T_H 0.00064594403

RELAUNCH 1 C_PITCH 1980 MAXI_10V 2 SEABIRD_T_I 2.8872973e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 57.501484 SEABIRD_T_J 3.8119131e-06

MAX_BUOY 120 PITCH_CNV 0.0031300001 FG_AHR_24V 172.53464 SEABIRD_C_G -9.8249397

GLIDE_SLOPE 30 PITCH_GAIN 36 PHONE_SUPPLY 2 SEABIRD_C_H 1.1031885

SPEED_FACTOR 1 PITCH_TIMEOUT 40 PRESSURE_YINT -162.56323 SEABIRD_C_I -0.00041305512

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010777653 SEABIRD_C_J 0.00012297566

MASS 72365 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 ALTIM_PING_FIT 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 1 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0.5 ALTIM_BOTTOM_TURN_MARGIN 0 SC_NDIVE 1.0

HD_A 0.0039900001 ROLL_MIN 340 ALTIM_TOP_TURN_MARGIN 0

HD_B 0.0125 ROLL_MAX 3945 ALTIM_TOP_MIN_OBSTACLE 2

HD_C 5.7000002e-06 ROLL_DEG 70 ALTIM_PING_DEPTH 0

AH0_10V 0 D_PITCH 2 N_FILEKB 8 SEABIRD_T_G 0.0044066384

AH0_24V 575 D_SAFE 500 N_GPS 100740 SEABIRD_T_H 0.00064594403

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 0 SEABIRD_T_I 2.8872973e-05

ALTIM_FREQUENCY 13 D_TGT 200 N_NOSURFACE 0 SEABIRD_T_J 3.8119131e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING 180 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 529.84796

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 57.501484 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 172.53464 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 2 FILEMGR 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 20 PITCH_GAIN 36 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3840 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_A 0.0039900001 PITCH_MIN 150 TGT_DEFAULT_LAT 4736

CALL_TRIES 3 HD_B 0.0125 PITCH_TIMEOUT 40 TGT_DEFAULT_LON -12218

CALL_WAIT 45 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0024999999 T_ABORT 4320

CAPMAXSIZE 10000 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPUPLOAD 0 HEAD_ERRBAND 13 PITCH_W_GAIN 1 T_DIVE 70

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.1 PRESSURE_SLOPE 0.00010777653 T_EPIRB 0

COMM_SEQ 0 ID 229 PRESSURE_YINT -162.56323 T_GPS 3

COMPASS2_DEVICE 55 INT_PRESSURE_SLOPE 1.9639999e-06 PROTOCOL 9 T_LOITER 21600

COMPASS_DEVICE 66 INT_PRESSURE_YINT -2.5 RAFOS_CORR_THRESH 60 T_MISSION 540

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 1980 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP -120

C_ROLL_CLIMB 2580 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2220 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1 T_TURN_SAMPINT -5

C_VBD 2323 LOGGERDEVICE4 -1 RELAUNCH 1 UNCOM_BLEED 400

DBDW 0 LOGGERS 0 RHO 1.0275 UPLOAD_DIVES_MAX 3

DEEPGLIDER 0 LOITER_DBDW 400 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDERMB 0 LOITER_D_BOTTOM 250 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 10 LOITER_D_TOP 100 ROLL_CNV 0.047120001 VBD_CNV -0.24529999

DEVICE2 -1 LOITER_N_DIVE 1 ROLL_DEG 70 VBD_DBAND 2

DEVICE3 -1 LOITER_W_DBAND 2 ROLL_MAX 3945 VBD_LP_IGNORE 0

DEVICE4 -1 MASS 72365 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE5 -1 MAXI_10V 2 ROLL_MIN 340 VBD_MAXERRORS 2

DEVICE6 -1 MAXI_24V 5 ROLL_TIMEOUT 30 VBD_MIN 550

DIVE 829 MAX_BUOY 120 SC_NDIVE 1.0 VBD_TIMEOUT 800

D_ABORT 1020 MINV_10V 0 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_BOOST 2 MINV_24V 0 SC_RECORDABOVE 2000.0 XPDR_DEVICE 0

D_CALL 3 MISSION 7 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_FINISH 10 MOTHERBOARD 6 SEABIRD_C_G -9.8249397 XPDR_VALID 5

D_FLARE 3 NAV_MODE 0 SEABIRD_C_H 1.1031885

D_NO_BLEED 400 NOCOMM_ACTION 161 SEABIRD_C_I -0.00041305512

D_OFFGRID 100 N_DIVES 0 SEABIRD_C_J 0.00012297566

Pre-dive calculations and measurements:

GPS1 210420,203541,7446.862,-14245.292,0,8255.0,0,18.0 TGT_LATLONG 7557.653,-14325.278

_CALLS 3 TGT_RADIUS 4000.000

_SM_DEPTHo 18.13 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -17.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 210420,203541,7446.862,-14245.292,0,8255.0,0,18.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.165,0.210 MHEAD_RNG_PITCHd_Wd 334.2,132331,-21.4,-9.524,-24.43

TGT_NAME 8_111 D_GRID 200

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200422123543.808565,18,32767,45,0164,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.0,0.29,-100,2.71,-01,0.21,66,925,0025*30 INTERNAL_PRESSURE 8.22773

FREEZE 9.79,-1.508,-1.540,2,545,0 _24V_AH 12.79,348.375

FINISH1 9.8,1.022595,338 _10V_AH 15.00,0.000

FINISH2 9.8 FG_AHR_24Vo 172.682

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 57.562

IRIDIUM_FIX 7502.57,-14446.14,211019,001714 MEM 1163664,25,15504,72

TCM_TEMP 5.11 DATA_FILE_SIZE 32162,853

XPDR_PINGS 0 CAP_FILE_SIZE 207608,1

RAFOS_CLK -4 SDSIZE 3918848,3744960

MODEM 0,1587542750,74.83892,-145.28152,49.841,73016.7 SDFILEDIR 2631,1

RAFOS_FIX 7445.418457,-14248.810547,220420,121243,6,255,0.06 ERRORS 0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0

HUMID 55.41 SOUNDSPEED 1465.0

TEMP -0.73 GPS 220420,123543,7445.418,-14248.811,0,7255.0,0,18.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 539 2516 17375.76 SBE_CT 339 24 104.22

Pitch_motor 6 265 21.89 nil 0 0 0.00

Roll_motor 97 74 93.13 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 0 0 0.00 nil 0 0 0.00

Core 2082 19 622.34 SciCon 0 0 0.00

LPSleep 23992 2 831.33 nil 0 0 0.00

Compass 832 5 62.45 nil 0 0 0.00

RAFOS 4320 48 3110.40

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

2 end surface: CONTROL_FINISHED_OK

state 2 begin dive

3.21 2 -116.79 -0.89 0.00 1335.8 1237.5 1434.0 2245.8 2255.5 0.00 0.00 0 8.40 4.58 0.00 0.00 0.009 0.000 0.000 1565.59 1458.31 1672.88 2246.75 2256.00 0 0 0 14.25 30.00 30.00

8.65 295 -116.79 -0.89 70.00 1564.9 1458.3 1671.4 2245.4 2255.3 19.52 0.00 1 40.00 23.25 1.58 4.28 0.006 0.042 0.050 2797.94 2734.75 2861.12 1648.12 3719.50 0 0 0 14.29 15.48 14.21

263.25 1029 -116.79 -0.89 0.00 2800.1 2738.1 2862.1 1648.3 3719.8 90.53 -20.77 52 269.25 0.00 0.13 4.29 0.000 0.265 0.013 2800.78 2739.00 2862.56 1697.88 2173.31 0 0 0 30.00 14.78 15.41

568.30 260 -116.79 -0.89 70.00 2800.5 2737.9 2863.1 1698.0 2171.9 132.25 -12.40 89 574.26 0.00 0.00 4.61 0.000 0.000 0.050 2803.06 2741.19 2864.94 1681.62 3718.12 0 0 0 30.00 30.00 15.25

623.28 1028 -116.79 -0.89 0.00 2800.1 2737.6 2862.6 1681.4 3717.6 139.53 -13.71 100 629.22 0.00 0.00 4.30 0.000 0.000 0.012 2800.75 2737.81 2863.69 1697.50 2181.44 0 0 0 30.00 30.00 15.38

928.33 260 -116.79 -0.89 70.00 2800.4 2737.6 2863.2 1699.0 2180.8 176.10 -11.47 131 934.30 0.00 0.00 4.62 0.000 0.000 0.050 2800.28 2737.31 2863.25 1681.19 3719.44 0 0 0 30.00 30.00 15.18

958.38 1028 -116.79 -0.89 0.00 2799.5 2736.6 2862.3 1680.9 3718.3 179.83 -12.51 137 964.25 0.00 0.00 4.30 0.000 0.000 0.012 2800.84 2738.31 2863.38 1697.38 2179.75 0 0 0 30.00 30.00 15.49

1139 end dive: TARGET_DEPTH_EXCEEDED

state 1139 begin apogee

1140.75 3 0.00 -0.14 0.00 2799.4 2736.6 2862.3 1694.1 2602.9 200.24 -11.04 156 1247.91 104.78 0.92 0.14 1.466 0.219 0.075 2321.16 2228.12 2414.19 1940.12 2486.75 0 0 0 10.89 14.63 14.39

1249 end apogee: CONTROL_FINISHED_OK

state 1249 begin loiter

1598.65 2 0.00 -0.14 0.00 2313.7 2220.2 2407.1 1940.1 2485.1 201.24 1.42 164 1600.09 0.00 0.00 0.00 2.516 0.000 0.000 2325.69 2233.38 2418.00 1939.56 2485.56 0 0 0 30.36 30.00 30.00

2198.66 0 0.00 -0.14 0.00 2324.4 2231.4 2417.3 1940.0 2485.5 199.87 0.57 169 2199.99 0.00 0.00 0.00 0.000 0.000 0.000 2326.09 2233.69 2418.50 1938.50 2484.88 0 0 0 30.00 30.00 30.00

2798.67 64 0.00 -0.13 0.00 2323.2 2229.7 2416.6 1939.9 2484.4 204.88 -0.84 174 2800.00 0.00 0.00 0.00 0.000 0.000 0.000 2321.78 2228.94 2414.62 1940.00 2485.38 0 0 0 30.00 30.00 30.00

3398.42 64 0.00 -0.12 0.00 2322.2 2228.8 2415.7 1939.4 2486.8 207.80 -0.68 179 3399.76 0.00 0.00 0.00 0.000 0.000 0.000 2321.28 2227.56 2415.00 1940.06 2484.75 0 0 0 30.00 30.00 30.00

3998.70 64 0.00 -0.12 0.00 2322.3 2228.7 2415.9 1939.9 2485.3 211.02 -0.51 184 4000.03 0.00 0.00 0.00 0.000 0.000 0.000 2322.09 2228.25 2415.94 1939.94 2486.31 0 0 0 30.00 30.00 30.00

4598.69 0 0.00 -0.12 0.00 2321.3 2227.6 2414.9 1939.3 2484.5 212.92 -0.43 189 4600.03 0.00 0.00 0.00 0.000 0.000 0.000 2320.09 2227.06 2413.12 1940.12 2485.00 0 0 0 30.00 30.00 30.00

5198.45 0 0.00 -0.12 0.00 2320.7 2226.9 2414.4 1939.2 2485.6 214.72 -0.39 194 5199.78 0.00 0.00 0.00 0.000 0.000 0.000 2319.81 2226.06 2413.56 1939.44 2486.62 0 0 0 30.00 30.00 30.00

5798.73 64 0.00 -0.11 0.00 2321.0 2227.4 2414.5 1939.2 2484.8 217.36 -0.53 199 5800.06 0.00 0.00 0.00 0.000 0.000 0.000 2320.00 2226.62 2413.38 1939.94 2485.94 0 0 0 30.00 30.00 30.00

6398.73 0 0.00 -0.11 0.00 2320.8 2227.2 2414.3 1939.5 2484.6 218.26 -0.35 204 6400.06 0.00 0.00 0.00 0.000 0.000 0.000 2320.03 2226.31 2413.75 1939.56 2485.25 0 0 0 30.00 30.00 30.00

6998.73 0 0.00 -0.11 0.00 2320.2 2226.3 2414.1 1939.7 2485.9 219.20 -0.22 209 7000.07 0.00 0.00 0.00 0.000 0.000 0.000 2319.78 2226.06 2413.50 1939.62 2484.94 0 0 0 30.00 30.00 30.00

7598.75 0 0.00 -0.11 0.00 2320.6 2226.5 2414.6 1939.4 2485.1 218.09 -0.18 214 7600.08 0.00 0.00 0.00 0.000 0.000 0.000 2320.16 2226.00 2414.31 1939.69 2486.44 0 0 0 30.00 30.00 30.00

8198.52 0 0.00 -0.11 0.00 2320.1 2225.8 2414.4 1939.3 2486.6 219.45 -0.14 219 8199.85 0.00 0.00 0.00 0.000 0.000 0.000 2320.09 2226.00 2414.19 1940.00 2485.44 0 0 0 30.00 30.00 30.00

8798.52 0 0.00 -0.11 0.00 2320.5 2226.2 2414.9 1940.2 2485.9 219.78 -0.11 224 8799.85 0.00 0.00 0.00 0.000 0.000 0.000 2319.31 2225.44 2413.19 1939.94 2485.44 0 0 0 30.00 30.00 30.00

9398.53 0 0.00 -0.11 0.00 2320.3 2226.2 2414.4 1939.8 2485.8 220.70 -0.08 229 9399.86 0.00 0.00 0.00 0.000 0.000 0.000 2317.66 2223.56 2411.75 1939.06 2485.88 0 0 0 30.00 30.00 30.00

9999.69 0 0.00 -0.11 0.00 2320.3 2226.2 2414.4 1939.9 2485.1 219.98 -0.04 234 10001.03 0.00 0.00 0.00 0.000 0.000 0.000 2319.28 2225.31 2413.25 1939.69 2485.50 0 0 0 30.00 30.00 30.00

10598.83 0 0.00 -0.11 0.00 2320.2 2225.6 2414.8 1939.8 2486.2 219.46 -0.02 239 10600.16 0.00 0.00 0.00 0.000 0.000 0.000 2318.59 2224.50 2412.69 1939.25 2486.62 0 0 0 30.00 30.00 30.00

11198.82 0 0.00 -0.11 0.00 2319.8 2225.6 2413.9 1939.2 2485.6 220.64 -0.05 244 11200.16 0.00 0.00 0.00 0.000 0.000 0.000 2318.84 2225.12 2412.56 1939.62 2486.00 0 0 0 30.00 30.00 30.00

11798.58 0 0.00 -0.11 0.00 2320.2 2225.5 2415.0 1940.0 2484.4 221.71 -0.06 249 11799.91 0.00 0.00 0.00 0.000 0.000 0.000 2319.38 2225.88 2412.88 1939.44 2485.31 0 0 0 30.00 30.00 30.00

12398.59 0 0.00 -0.11 0.00 2319.4 2225.2 2413.6 1939.3 2485.6 222.40 -0.16 254 12399.93 0.00 0.00 0.00 0.000 0.000 0.000 2318.72 2224.75 2412.69 1939.06 2486.12 0 0 0 30.00 30.00 30.00

12998.60 0 0.00 -0.11 0.00 2319.4 2225.1 2413.8 1939.8 2485.1 221.97 -0.11 259 12999.93 0.00 0.00 0.00 0.000 0.000 0.000 2319.84 2225.19 2414.50 1939.12 2486.88 0 0 0 30.00 30.00 30.00

13598.61 0 0.00 -0.11 0.00 2320.5 2225.8 2415.2 1938.9 2485.8 221.84 -0.08 264 13599.94 0.00 0.00 0.00 0.000 0.000 0.000 2318.84 2224.50 2413.19 1939.12 2485.94 0 0 0 30.00 30.00 30.00

14198.62 0 0.00 -0.11 0.00 2319.9 2225.9 2413.9 1940.1 2484.7 221.37 -0.03 269 14199.96 0.00 0.00 0.00 0.000 0.000 0.000 2317.88 2223.88 2411.88 1939.12 2486.44 0 0 0 30.00 30.00 30.00

14798.63 0 0.00 -0.11 0.00 2319.9 2226.0 2413.9 1940.3 2484.6 221.71 -0.02 274 14799.97 0.00 0.00 0.00 0.000 0.000 0.000 2319.06 2225.00 2413.12 1939.44 2485.06 0 0 0 30.00 30.00 30.00

15398.64 0 0.00 -0.11 0.00 2319.5 2225.1 2414.0 1938.9 2485.9 221.57 -0.03 279 15399.98 0.00 0.00 0.00 0.000 0.000 0.000 2317.91 2224.31 2411.50 1939.19 2485.75 0 0 0 30.00 30.00 30.00

15998.66 0 0.00 -0.11 0.00 2320.1 2225.8 2414.4 1940.0 2485.6 221.99 0.00 284 16000.00 0.00 0.00 0.00 0.000 0.000 0.000 2318.31 2224.25 2412.38 1939.56 2486.31 0 0 0 30.00 30.00 30.00

16598.67 0 0.00 -0.11 0.00 2319.4 2224.6 2414.1 1939.9 2485.0 222.92 -0.02 289 16600.00 0.00 0.00 0.00 0.000 0.000 0.000 2318.88 2224.12 2413.62 1939.44 2486.25 0 0 0 30.00 30.00 30.00

17198.94 0 0.00 -0.11 0.00 2319.3 2225.1 2413.6 1939.7 2485.0 221.98 0.01 294 17200.27 0.00 0.00 0.00 0.000 0.000 0.000 2319.75 2225.31 2414.19 1939.62 2485.81 0 0 0 30.00 30.00 30.00

17798.94 0 0.00 -0.11 0.00 2319.8 2224.8 2414.7 1939.5 2484.6 223.04 -0.05 299 17800.28 0.00 0.00 0.00 0.000 0.000 0.000 2319.06 2224.31 2413.81 1939.12 2485.75 0 0 0 30.00 30.00 30.00

18398.70 0 0.00 -0.11 0.00 2319.3 2224.5 2414.1 1939.1 2485.8 223.72 -0.05 304 18400.03 0.00 0.00 0.00 0.000 0.000 0.000 2318.94 2224.69 2413.19 1939.31 2486.12 0 0 0 30.00 30.00 30.00

18998.71 0 0.00 -0.11 0.00 2319.3 2225.1 2413.4 1939.4 2485.1 221.56 0.02 309 19000.04 0.00 0.00 0.00 0.000 0.000 0.000 2317.72 2222.88 2412.56 1940.12 2485.19 0 0 0 30.00 30.00 30.00

19598.97 0 0.00 -0.11 0.00 2319.3 2224.4 2414.2 1940.1 2485.7 223.16 -0.03 314 19600.31 0.00 0.00 0.00 0.000 0.000 0.000 2318.34 2223.69 2413.00 1939.62 2485.50 0 0 0 30.00 30.00 30.00

20198.73 0 0.00 -0.11 0.00 2319.4 2224.2 2414.6 1939.4 2484.8 224.05 -0.02 319 20200.06 0.00 0.00 0.00 0.000 0.000 0.000 2318.75 2224.38 2413.12 1939.31 2486.12 0 0 0 30.00 30.00 30.00

20798.74 0 0.00 -0.11 0.00 2319.5 2225.0 2414.0 1939.9 2486.1 224.84 -0.18 324 20800.08 0.00 0.00 0.00 0.000 0.000 0.000 2318.06 2223.38 2412.75 1939.69 2486.00 0 0 0 30.00 30.00 30.00

21398.76 0 0.00 -0.11 0.00 2318.6 2224.1 2413.1 1939.9 2485.5 224.14 -0.04 329 21400.09 0.00 0.00 0.00 0.000 0.000 0.000 2318.38 2223.50 2413.25 1939.25 2485.56 0 0 0 30.00 30.00 30.00

21998.76 0 0.00 -0.11 0.00 2319.2 2224.4 2414.0 1939.0 2485.6 223.03 0.03 334 22000.09 0.00 0.00 0.00 0.000 0.000 0.000 2317.91 2223.25 2412.56 1939.44 2486.12 0 0 0 30.00 30.00 30.00

22598.79 0 0.00 -0.11 0.00 2318.7 2224.1 2413.2 1939.7 2486.9 223.65 -0.06 339 22600.12 0.00 0.00 0.00 0.000 0.000 0.000 2317.44 2223.56 2411.31 1940.38 2485.38 0 0 0 30.00 30.00 30.00

22839 end loiter: LOITER_COMPLETE

state 22839 begin climb

22838.86 519 116.79 0.89 -70.00 2319.4 2224.8 2414.0 1939.3 2486.1 224.96 0.00 341 22957.36 111.29 1.09 4.39 1.521 0.134 0.034 1846.12 1734.50 1957.75 2287.00 1078.88 0 0 0 10.71 14.69 14.18

23059.49 1062 183.19 1.05 0.00 1839.7 1730.5 1948.8 2287.2 1078.3 214.92 5.90 385 23127.82 61.49 0.00 4.51 1.440 0.000 0.017 1576.34 1464.56 1688.12 2286.38 2602.81 0 0 0 10.57 30.00 14.82

23484.76 551 261.34 1.25 -70.00 1565.8 1454.8 1676.9 2287.0 2602.8 190.67 5.26 426 23562.53 69.21 0.28 4.72 1.423 0.057 0.036 1256.28 1159.06 1353.50 2430.19 1079.44 0 0 0 10.94 15.22 14.29

23664.70 1029 261.34 1.25 0.00 1251.2 1157.8 1344.5 2429.9 1079.2 174.08 9.57 462 23671.71 0.00 0.16 4.47 0.000 0.204 0.020 1250.31 1157.44 1343.19 2371.44 2606.00 0 0 0 30.00 14.69 15.03

23969.76 582 261.34 1.27 -70.00 1248.1 1153.9 1342.2 2370.7 2605.9 151.18 7.58 493 23975.67 0.00 0.00 4.49 0.000 0.000 0.035 1249.62 1154.81 1344.44 2389.00 1080.88 0 0 0 30.00 30.00 15.25

24014.81 1094 261.34 1.28 0.00 1247.7 1153.9 1341.4 2389.6 1079.6 147.70 7.72 502 24020.69 0.00 0.00 4.36 0.000 0.000 0.020 1247.75 1154.06 1341.44 2376.31 2598.69 0 0 0 30.00 30.00 15.23

24319.84 551 298.56 1.38 -70.00 1246.9 1152.8 1341.0 2376.2 2600.2 125.30 7.49 533 24358.82 32.31 0.14 4.53 1.376 0.073 0.036 1106.75 1022.94 1190.56 2460.38 1078.31 0 0 0 10.91 15.50 14.64

24405.92 1029 298.56 1.38 0.00 1102.7 1021.8 1183.5 2460.2 1078.1 116.89 9.91 550 24412.65 0.00 0.10 4.36 0.000 0.195 0.021 1102.53 1022.19 1182.88 2412.50 2600.25 0 0 0 30.00 14.95 15.28

24711.03 551 336.13 1.47 -70.00 1100.7 1018.9 1182.5 2413.1 2600.9 92.30 7.47 591 24752.51 33.52 0.12 4.53 1.343 0.086 0.036 952.75 883.75 1021.75 2498.00 1076.94 0 0 0 10.83 15.49 14.68

24805.73 1029 336.13 1.47 0.00 949.4 883.2 1015.6 2499.1 1076.3 83.23 9.80 610 24811.71 0.00 0.14 4.39 0.000 0.191 0.021 949.34 883.25 1015.44 2441.62 2604.56 0 0 0 30.00 14.97 15.21

25111.04 551 382.44 1.59 -70.00 947.3 879.9 1014.7 2440.4 2606.2 61.15 7.00 671 25157.71 40.62 0.14 4.55 1.310 0.074 0.036 764.97 719.69 810.25 2538.56 1078.44 0 0 0 10.73 15.50 14.65

25235.87 1093 382.44 1.60 0.00 760.3 717.9 802.6 2539.8 1078.8 50.86 7.81 696 25241.78 0.00 0.14 4.37 0.000 0.185 0.021 760.25 717.31 803.19 2481.19 2604.06 0 0 0 30.00 14.99 15.23

25541.12 551 474.73 1.84 -70.00 757.7 713.3 802.0 2482.7 2605.4 35.06 4.49 757 25594.94 47.28 0.25 4.57 1.274 0.053 0.036 548.78 540.38 557.19 2630.00 1077.12 0 0 0 10.86 15.51 14.62

25741.83 1062 564.98 2.06 0.00 541.5 535.4 547.6 2629.8 1077.1 24.58 4.60 797 25747.74 0.00 0.00 4.34 0.000 0.000 0.019 541.25 535.12 547.38 2620.44 2598.62 0 0 0 30.00 30.00 15.31

26002 end climb: FINISH_DEPTH_REACHED

state 26003 begin subsurface finish

26003.47 1575 337.85 0.84 -70.00 539.7 533.8 545.6 2621.4 2484.8 9.79 6.06 849 26023.29 11.53 1.26 4.03 0.007 0.156 0.039 947.47 893.00 1001.94 2256.81 1075.12 0 0 0 14.33 15.02 14.24

26024 end subsurface finish: CONTROL_FINISHED_OK

state 26024 begin surface

ID	229	HEADING	-1	C_ROLL_DIVE	2220	ALTIM_PING_DELTA	10
MISSION	7	ESCAPE_HEADING	180	C_ROLL_CLIMB	2580	ALTIM_FREQUENCY	13
DIVE	829	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	13	ALTIM_PULSE	3
N_DIVES	0	FIX_MISSING_TIMEOUT	20	ROLL_CNV	0.047120001	ALTIM_SENSITIVITY	3
STOP_T	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	30	XPDR_VALID	5
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	200	SM_CC	529.84796	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-2.5
D_ABORT	1020	N_FILEKB	8	VBD_MIN	550	DEEPGLIDER	0
D_NO_BLEED	400	FILEMGR	2	VBD_MAX	3960	DEEPGLIDERMB	0
D_BOOST	2	CALL_NDIVES	1	C_VBD	2323	MOTHERBOARD	6
T_BOOST	0	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	10
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	161	VBD_TIMEOUT	800	DEVICE4	-1
D_CALL	3	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0024999999	DEVICE5	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	3	UNCOM_BLEED	400	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	VBD_MAXERRORS	2	LOGGERS	0
SURFACE_URGENCY_FORCE	0	CALL_WAIT	45	W_ADJ_DBAND	2	LOGGERDEVICE1	7
T_DIVE	70	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	540	CAPMAXSIZE	10000	LOITER_W_DBAND	2	LOGGERDEVICE3	-1
T_ABORT	4320	T_GPS	3	LOITER_DBDW	400	LOGGERDEVICE4	-1
T_TURN	225	N_GPS	100740	LOITER_D_TOP	100	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	T_RSLEEP	-120	LOITER_D_BOTTOM	250	COMPASS2_DEVICE	55
T_NO_W	120	STROBE	0	LOITER_N_DIVE	1	PHONE_DEVICE	33
T_LOITER	21600	RAFOS_PEAK_OFFSET	1	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	150	MINV_10V	0	SEABIRD_T_G	0.0044066384
D_OFFGRID	100	PITCH_MAX	3840	MAXI_24V	5	SEABIRD_T_H	0.00064594403
RELAUNCH	1	C_PITCH	1980	MAXI_10V	2	SEABIRD_T_I	2.8872973e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	57.501484	SEABIRD_T_J	3.8119131e-06
MAX_BUOY	120	PITCH_CNV	0.0031300001	FG_AHR_24V	172.53464	SEABIRD_C_G	-9.8249397
GLIDE_SLOPE	30	PITCH_GAIN	36	PHONE_SUPPLY	2	SEABIRD_C_H	1.1031885
SPEED_FACTOR	1	PITCH_TIMEOUT	40	PRESSURE_YINT	-162.56323	SEABIRD_C_I	-0.00041305512
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010777653	SEABIRD_C_J	0.00012297566
MASS	72365	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	ALTIM_PING_FIT	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	1	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0.5	ALTIM_BOTTOM_TURN_MARGIN	0	SC_NDIVE	1.0
HD_A	0.0039900001	ROLL_MIN	340	ALTIM_TOP_TURN_MARGIN	0
HD_B	0.0125	ROLL_MAX	3945	ALTIM_TOP_MIN_OBSTACLE	2
HD_C	5.7000002e-06	ROLL_DEG	70	ALTIM_PING_DEPTH	0

GPS1	210420,203541,7446.862,-14245.292,0,8255.0,0,18.0	TGT_LATLONG	7557.653,-14325.278
_CALLS	3	TGT_RADIUS	4000.000
_SM_DEPTHo	18.13	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-17.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	210420,203541,7446.862,-14245.292,0,8255.0,0,18.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.165,0.210	MHEAD_RNG_PITCHd_Wd	334.2,132331,-21.4,-9.524,-24.43
TGT_NAME	8_111	D_GRID	200

MODEM_MSG	CACST,6,1,20200422123543.808565,18,32767,45,0164,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.0,0.29,-100,2.71,-01,0.21,66,925,0025*30	INTERNAL_PRESSURE	8.22773
FREEZE	9.79,-1.508,-1.540,2,545,0	_24V_AH	12.79,348.375
FINISH1	9.8,1.022595,338	_10V_AH	15.00,0.000
FINISH2	9.8	FG_AHR_24Vo	172.682
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	57.562
IRIDIUM_FIX	7502.57,-14446.14,211019,001714	MEM	1163664,25,15504,72
TCM_TEMP	5.11	DATA_FILE_SIZE	32162,853
XPDR_PINGS	0	CAP_FILE_SIZE	207608,1
RAFOS_CLK	-4	SDSIZE	3918848,3744960
MODEM	0,1587542750,74.83892,-145.28152,49.841,73016.7	SDFILEDIR	2631,1
RAFOS_FIX	7445.418457,-14248.810547,220420,121243,6,255,0.06	ERRORS	0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
HUMID	55.41	SOUNDSPEED	1465.0
TEMP	-0.73	GPS	220420,123543,7445.418,-14248.811,0,7255.0,0,18.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	539	2516	17375.76	SBE_CT	339	24	104.22
Pitch_motor	6	265	21.89	nil	0	0	0.00
Roll_motor	97	74	93.13	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	0	0	0.00	nil	0	0	0.00
Core	2082	19	622.34	SciCon	0	0	0.00
LPSleep	23992	2	831.33	nil	0	0	0.00
Compass	832	5	62.45	nil	0	0	0.00
RAFOS	4320	48	3110.40
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
2	end surface: CONTROL_FINISHED_OK
state	2	begin dive
3.21	2	-116.79	-0.89	0.00	1335.8	1237.5	1434.0	2245.8	2255.5	0.00	0.00	0	8.40	4.58	0.00	0.00	0.009	0.000	0.000	1565.59	1458.31	1672.88	2246.75	2256.00	0	0	0	14.25	30.00	30.00
8.65	295	-116.79	-0.89	70.00	1564.9	1458.3	1671.4	2245.4	2255.3	19.52	0.00	1	40.00	23.25	1.58	4.28	0.006	0.042	0.050	2797.94	2734.75	2861.12	1648.12	3719.50	0	0	0	14.29	15.48	14.21
263.25	1029	-116.79	-0.89	0.00	2800.1	2738.1	2862.1	1648.3	3719.8	90.53	-20.77	52	269.25	0.00	0.13	4.29	0.000	0.265	0.013	2800.78	2739.00	2862.56	1697.88	2173.31	0	0	0	30.00	14.78	15.41
568.30	260	-116.79	-0.89	70.00	2800.5	2737.9	2863.1	1698.0	2171.9	132.25	-12.40	89	574.26	0.00	0.00	4.61	0.000	0.000	0.050	2803.06	2741.19	2864.94	1681.62	3718.12	0	0	0	30.00	30.00	15.25
623.28	1028	-116.79	-0.89	0.00	2800.1	2737.6	2862.6	1681.4	3717.6	139.53	-13.71	100	629.22	0.00	0.00	4.30	0.000	0.000	0.012	2800.75	2737.81	2863.69	1697.50	2181.44	0	0	0	30.00	30.00	15.38
928.33	260	-116.79	-0.89	70.00	2800.4	2737.6	2863.2	1699.0	2180.8	176.10	-11.47	131	934.30	0.00	0.00	4.62	0.000	0.000	0.050	2800.28	2737.31	2863.25	1681.19	3719.44	0	0	0	30.00	30.00	15.18
958.38	1028	-116.79	-0.89	0.00	2799.5	2736.6	2862.3	1680.9	3718.3	179.83	-12.51	137	964.25	0.00	0.00	4.30	0.000	0.000	0.012	2800.84	2738.31	2863.38	1697.38	2179.75	0	0	0	30.00	30.00	15.49
1139	end dive: TARGET_DEPTH_EXCEEDED
state	1139	begin apogee
1140.75	3	0.00	-0.14	0.00	2799.4	2736.6	2862.3	1694.1	2602.9	200.24	-11.04	156	1247.91	104.78	0.92	0.14	1.466	0.219	0.075	2321.16	2228.12	2414.19	1940.12	2486.75	0	0	0	10.89	14.63	14.39
1249	end apogee: CONTROL_FINISHED_OK
state	1249	begin loiter
1598.65	2	0.00	-0.14	0.00	2313.7	2220.2	2407.1	1940.1	2485.1	201.24	1.42	164	1600.09	0.00	0.00	0.00	2.516	0.000	0.000	2325.69	2233.38	2418.00	1939.56	2485.56	0	0	0	30.36	30.00	30.00
2198.66	0	0.00	-0.14	0.00	2324.4	2231.4	2417.3	1940.0	2485.5	199.87	0.57	169	2199.99	0.00	0.00	0.00	0.000	0.000	0.000	2326.09	2233.69	2418.50	1938.50	2484.88	0	0	0	30.00	30.00	30.00
2798.67	64	0.00	-0.13	0.00	2323.2	2229.7	2416.6	1939.9	2484.4	204.88	-0.84	174	2800.00	0.00	0.00	0.00	0.000	0.000	0.000	2321.78	2228.94	2414.62	1940.00	2485.38	0	0	0	30.00	30.00	30.00
3398.42	64	0.00	-0.12	0.00	2322.2	2228.8	2415.7	1939.4	2486.8	207.80	-0.68	179	3399.76	0.00	0.00	0.00	0.000	0.000	0.000	2321.28	2227.56	2415.00	1940.06	2484.75	0	0	0	30.00	30.00	30.00
3998.70	64	0.00	-0.12	0.00	2322.3	2228.7	2415.9	1939.9	2485.3	211.02	-0.51	184	4000.03	0.00	0.00	0.00	0.000	0.000	0.000	2322.09	2228.25	2415.94	1939.94	2486.31	0	0	0	30.00	30.00	30.00
4598.69	0	0.00	-0.12	0.00	2321.3	2227.6	2414.9	1939.3	2484.5	212.92	-0.43	189	4600.03	0.00	0.00	0.00	0.000	0.000	0.000	2320.09	2227.06	2413.12	1940.12	2485.00	0	0	0	30.00	30.00	30.00
5198.45	0	0.00	-0.12	0.00	2320.7	2226.9	2414.4	1939.2	2485.6	214.72	-0.39	194	5199.78	0.00	0.00	0.00	0.000	0.000	0.000	2319.81	2226.06	2413.56	1939.44	2486.62	0	0	0	30.00	30.00	30.00
5798.73	64	0.00	-0.11	0.00	2321.0	2227.4	2414.5	1939.2	2484.8	217.36	-0.53	199	5800.06	0.00	0.00	0.00	0.000	0.000	0.000	2320.00	2226.62	2413.38	1939.94	2485.94	0	0	0	30.00	30.00	30.00
6398.73	0	0.00	-0.11	0.00	2320.8	2227.2	2414.3	1939.5	2484.6	218.26	-0.35	204	6400.06	0.00	0.00	0.00	0.000	0.000	0.000	2320.03	2226.31	2413.75	1939.56	2485.25	0	0	0	30.00	30.00	30.00
6998.73	0	0.00	-0.11	0.00	2320.2	2226.3	2414.1	1939.7	2485.9	219.20	-0.22	209	7000.07	0.00	0.00	0.00	0.000	0.000	0.000	2319.78	2226.06	2413.50	1939.62	2484.94	0	0	0	30.00	30.00	30.00
7598.75	0	0.00	-0.11	0.00	2320.6	2226.5	2414.6	1939.4	2485.1	218.09	-0.18	214	7600.08	0.00	0.00	0.00	0.000	0.000	0.000	2320.16	2226.00	2414.31	1939.69	2486.44	0	0	0	30.00	30.00	30.00
8198.52	0	0.00	-0.11	0.00	2320.1	2225.8	2414.4	1939.3	2486.6	219.45	-0.14	219	8199.85	0.00	0.00	0.00	0.000	0.000	0.000	2320.09	2226.00	2414.19	1940.00	2485.44	0	0	0	30.00	30.00	30.00
8798.52	0	0.00	-0.11	0.00	2320.5	2226.2	2414.9	1940.2	2485.9	219.78	-0.11	224	8799.85	0.00	0.00	0.00	0.000	0.000	0.000	2319.31	2225.44	2413.19	1939.94	2485.44	0	0	0	30.00	30.00	30.00
9398.53	0	0.00	-0.11	0.00	2320.3	2226.2	2414.4	1939.8	2485.8	220.70	-0.08	229	9399.86	0.00	0.00	0.00	0.000	0.000	0.000	2317.66	2223.56	2411.75	1939.06	2485.88	0	0	0	30.00	30.00	30.00
9999.69	0	0.00	-0.11	0.00	2320.3	2226.2	2414.4	1939.9	2485.1	219.98	-0.04	234	10001.03	0.00	0.00	0.00	0.000	0.000	0.000	2319.28	2225.31	2413.25	1939.69	2485.50	0	0	0	30.00	30.00	30.00
10598.83	0	0.00	-0.11	0.00	2320.2	2225.6	2414.8	1939.8	2486.2	219.46	-0.02	239	10600.16	0.00	0.00	0.00	0.000	0.000	0.000	2318.59	2224.50	2412.69	1939.25	2486.62	0	0	0	30.00	30.00	30.00
11198.82	0	0.00	-0.11	0.00	2319.8	2225.6	2413.9	1939.2	2485.6	220.64	-0.05	244	11200.16	0.00	0.00	0.00	0.000	0.000	0.000	2318.84	2225.12	2412.56	1939.62	2486.00	0	0	0	30.00	30.00	30.00
11798.58	0	0.00	-0.11	0.00	2320.2	2225.5	2415.0	1940.0	2484.4	221.71	-0.06	249	11799.91	0.00	0.00	0.00	0.000	0.000	0.000	2319.38	2225.88	2412.88	1939.44	2485.31	0	0	0	30.00	30.00	30.00
12398.59	0	0.00	-0.11	0.00	2319.4	2225.2	2413.6	1939.3	2485.6	222.40	-0.16	254	12399.93	0.00	0.00	0.00	0.000	0.000	0.000	2318.72	2224.75	2412.69	1939.06	2486.12	0	0	0	30.00	30.00	30.00
12998.60	0	0.00	-0.11	0.00	2319.4	2225.1	2413.8	1939.8	2485.1	221.97	-0.11	259	12999.93	0.00	0.00	0.00	0.000	0.000	0.000	2319.84	2225.19	2414.50	1939.12	2486.88	0	0	0	30.00	30.00	30.00
13598.61	0	0.00	-0.11	0.00	2320.5	2225.8	2415.2	1938.9	2485.8	221.84	-0.08	264	13599.94	0.00	0.00	0.00	0.000	0.000	0.000	2318.84	2224.50	2413.19	1939.12	2485.94	0	0	0	30.00	30.00	30.00
14198.62	0	0.00	-0.11	0.00	2319.9	2225.9	2413.9	1940.1	2484.7	221.37	-0.03	269	14199.96	0.00	0.00	0.00	0.000	0.000	0.000	2317.88	2223.88	2411.88	1939.12	2486.44	0	0	0	30.00	30.00	30.00
14798.63	0	0.00	-0.11	0.00	2319.9	2226.0	2413.9	1940.3	2484.6	221.71	-0.02	274	14799.97	0.00	0.00	0.00	0.000	0.000	0.000	2319.06	2225.00	2413.12	1939.44	2485.06	0	0	0	30.00	30.00	30.00
15398.64	0	0.00	-0.11	0.00	2319.5	2225.1	2414.0	1938.9	2485.9	221.57	-0.03	279	15399.98	0.00	0.00	0.00	0.000	0.000	0.000	2317.91	2224.31	2411.50	1939.19	2485.75	0	0	0	30.00	30.00	30.00
15998.66	0	0.00	-0.11	0.00	2320.1	2225.8	2414.4	1940.0	2485.6	221.99	0.00	284	16000.00	0.00	0.00	0.00	0.000	0.000	0.000	2318.31	2224.25	2412.38	1939.56	2486.31	0	0	0	30.00	30.00	30.00
16598.67	0	0.00	-0.11	0.00	2319.4	2224.6	2414.1	1939.9	2485.0	222.92	-0.02	289	16600.00	0.00	0.00	0.00	0.000	0.000	0.000	2318.88	2224.12	2413.62	1939.44	2486.25	0	0	0	30.00	30.00	30.00
17198.94	0	0.00	-0.11	0.00	2319.3	2225.1	2413.6	1939.7	2485.0	221.98	0.01	294	17200.27	0.00	0.00	0.00	0.000	0.000	0.000	2319.75	2225.31	2414.19	1939.62	2485.81	0	0	0	30.00	30.00	30.00
17798.94	0	0.00	-0.11	0.00	2319.8	2224.8	2414.7	1939.5	2484.6	223.04	-0.05	299	17800.28	0.00	0.00	0.00	0.000	0.000	0.000	2319.06	2224.31	2413.81	1939.12	2485.75	0	0	0	30.00	30.00	30.00
18398.70	0	0.00	-0.11	0.00	2319.3	2224.5	2414.1	1939.1	2485.8	223.72	-0.05	304	18400.03	0.00	0.00	0.00	0.000	0.000	0.000	2318.94	2224.69	2413.19	1939.31	2486.12	0	0	0	30.00	30.00	30.00
18998.71	0	0.00	-0.11	0.00	2319.3	2225.1	2413.4	1939.4	2485.1	221.56	0.02	309	19000.04	0.00	0.00	0.00	0.000	0.000	0.000	2317.72	2222.88	2412.56	1940.12	2485.19	0	0	0	30.00	30.00	30.00
19598.97	0	0.00	-0.11	0.00	2319.3	2224.4	2414.2	1940.1	2485.7	223.16	-0.03	314	19600.31	0.00	0.00	0.00	0.000	0.000	0.000	2318.34	2223.69	2413.00	1939.62	2485.50	0	0	0	30.00	30.00	30.00
20198.73	0	0.00	-0.11	0.00	2319.4	2224.2	2414.6	1939.4	2484.8	224.05	-0.02	319	20200.06	0.00	0.00	0.00	0.000	0.000	0.000	2318.75	2224.38	2413.12	1939.31	2486.12	0	0	0	30.00	30.00	30.00
20798.74	0	0.00	-0.11	0.00	2319.5	2225.0	2414.0	1939.9	2486.1	224.84	-0.18	324	20800.08	0.00	0.00	0.00	0.000	0.000	0.000	2318.06	2223.38	2412.75	1939.69	2486.00	0	0	0	30.00	30.00	30.00
21398.76	0	0.00	-0.11	0.00	2318.6	2224.1	2413.1	1939.9	2485.5	224.14	-0.04	329	21400.09	0.00	0.00	0.00	0.000	0.000	0.000	2318.38	2223.50	2413.25	1939.25	2485.56	0	0	0	30.00	30.00	30.00
21998.76	0	0.00	-0.11	0.00	2319.2	2224.4	2414.0	1939.0	2485.6	223.03	0.03	334	22000.09	0.00	0.00	0.00	0.000	0.000	0.000	2317.91	2223.25	2412.56	1939.44	2486.12	0	0	0	30.00	30.00	30.00
22598.79	0	0.00	-0.11	0.00	2318.7	2224.1	2413.2	1939.7	2486.9	223.65	-0.06	339	22600.12	0.00	0.00	0.00	0.000	0.000	0.000	2317.44	2223.56	2411.31	1940.38	2485.38	0	0	0	30.00	30.00	30.00
22839	end loiter: LOITER_COMPLETE
state	22839	begin climb
22838.86	519	116.79	0.89	-70.00	2319.4	2224.8	2414.0	1939.3	2486.1	224.96	0.00	341	22957.36	111.29	1.09	4.39	1.521	0.134	0.034	1846.12	1734.50	1957.75	2287.00	1078.88	0	0	0	10.71	14.69	14.18
23059.49	1062	183.19	1.05	0.00	1839.7	1730.5	1948.8	2287.2	1078.3	214.92	5.90	385	23127.82	61.49	0.00	4.51	1.440	0.000	0.017	1576.34	1464.56	1688.12	2286.38	2602.81	0	0	0	10.57	30.00	14.82
23484.76	551	261.34	1.25	-70.00	1565.8	1454.8	1676.9	2287.0	2602.8	190.67	5.26	426	23562.53	69.21	0.28	4.72	1.423	0.057	0.036	1256.28	1159.06	1353.50	2430.19	1079.44	0	0	0	10.94	15.22	14.29
23664.70	1029	261.34	1.25	0.00	1251.2	1157.8	1344.5	2429.9	1079.2	174.08	9.57	462	23671.71	0.00	0.16	4.47	0.000	0.204	0.020	1250.31	1157.44	1343.19	2371.44	2606.00	0	0	0	30.00	14.69	15.03
23969.76	582	261.34	1.27	-70.00	1248.1	1153.9	1342.2	2370.7	2605.9	151.18	7.58	493	23975.67	0.00	0.00	4.49	0.000	0.000	0.035	1249.62	1154.81	1344.44	2389.00	1080.88	0	0	0	30.00	30.00	15.25
24014.81	1094	261.34	1.28	0.00	1247.7	1153.9	1341.4	2389.6	1079.6	147.70	7.72	502	24020.69	0.00	0.00	4.36	0.000	0.000	0.020	1247.75	1154.06	1341.44	2376.31	2598.69	0	0	0	30.00	30.00	15.23
24319.84	551	298.56	1.38	-70.00	1246.9	1152.8	1341.0	2376.2	2600.2	125.30	7.49	533	24358.82	32.31	0.14	4.53	1.376	0.073	0.036	1106.75	1022.94	1190.56	2460.38	1078.31	0	0	0	10.91	15.50	14.64
24405.92	1029	298.56	1.38	0.00	1102.7	1021.8	1183.5	2460.2	1078.1	116.89	9.91	550	24412.65	0.00	0.10	4.36	0.000	0.195	0.021	1102.53	1022.19	1182.88	2412.50	2600.25	0	0	0	30.00	14.95	15.28
24711.03	551	336.13	1.47	-70.00	1100.7	1018.9	1182.5	2413.1	2600.9	92.30	7.47	591	24752.51	33.52	0.12	4.53	1.343	0.086	0.036	952.75	883.75	1021.75	2498.00	1076.94	0	0	0	10.83	15.49	14.68
24805.73	1029	336.13	1.47	0.00	949.4	883.2	1015.6	2499.1	1076.3	83.23	9.80	610	24811.71	0.00	0.14	4.39	0.000	0.191	0.021	949.34	883.25	1015.44	2441.62	2604.56	0	0	0	30.00	14.97	15.21
25111.04	551	382.44	1.59	-70.00	947.3	879.9	1014.7	2440.4	2606.2	61.15	7.00	671	25157.71	40.62	0.14	4.55	1.310	0.074	0.036	764.97	719.69	810.25	2538.56	1078.44	0	0	0	10.73	15.50	14.65
25235.87	1093	382.44	1.60	0.00	760.3	717.9	802.6	2539.8	1078.8	50.86	7.81	696	25241.78	0.00	0.14	4.37	0.000	0.185	0.021	760.25	717.31	803.19	2481.19	2604.06	0	0	0	30.00	14.99	15.23
25541.12	551	474.73	1.84	-70.00	757.7	713.3	802.0	2482.7	2605.4	35.06	4.49	757	25594.94	47.28	0.25	4.57	1.274	0.053	0.036	548.78	540.38	557.19	2630.00	1077.12	0	0	0	10.86	15.51	14.62
25741.83	1062	564.98	2.06	0.00	541.5	535.4	547.6	2629.8	1077.1	24.58	4.60	797	25747.74	0.00	0.00	4.34	0.000	0.000	0.019	541.25	535.12	547.38	2620.44	2598.62	0	0	0	30.00	30.00	15.31
26002	end climb: FINISH_DEPTH_REACHED
state	26003	begin subsurface finish
26003.47	1575	337.85	0.84	-70.00	539.7	533.8	545.6	2621.4	2484.8	9.79	6.06	849	26023.29	11.53	1.26	4.03	0.007	0.156	0.039	947.47	893.00	1001.94	2256.81	1075.12	0	0	0	14.33	15.02	14.24
26024	end subsurface finish: CONTROL_FINISHED_OK
state	26024	begin surface