Glider dive log

SODA Aug19 * SG229 * Dive index * Mission links * Dive 258 * 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 0 C_ROLL_CLIMB 2580 ALTIM_FREQUENCY 13

DIVE 258 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 13 ALTIM_PULSE 3

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.047120001 ALTIM_SENSITIVITY 3

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 500 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 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_BOOST 2 CALL_NDIVES 1 C_VBD 2770 MOTHERBOARD 6

T_BOOST 0 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 10

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 0.0024999999 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 175 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 660 CAPMAXSIZE 100000 LOITER_W_DBAND 2 LOGGERDEVICE3 -1

T_ABORT 1440 T_GPS 5 LOITER_DBDW 400 LOGGERDEVICE4 -1

T_TURN 225 N_GPS 100740 LOITER_D_TOP 400 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 T_RSLEEP 2 LOITER_D_BOTTOM 700 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 20 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 11 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 150 MINV_10V 11 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 1.4 SEABIRD_T_I 2.8872973e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 19.972935 SEABIRD_T_J 3.8119131e-06

MAX_BUOY 120 PITCH_CNV 0.0031300001 FG_AHR_24V 72.838356 SEABIRD_C_G -9.8249397

GLIDE_SLOPE 30 PITCH_GAIN 36 PHONE_SUPPLY 2 SEABIRD_C_H 1.1031885

SPEED_FACTOR 1 PITCH_TIMEOUT 20 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 2 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 0 N_FILEKB 8 SEABIRD_T_G 0.0044066384

AH0_24V 575 D_SAFE 0 N_GPS 100740 SEABIRD_T_H 0.00064594403

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.8872973e-05

ALTIM_FREQUENCY 13 D_TGT 500 N_NOSURFACE 0 SEABIRD_T_J 3.8119131e-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 529.84796

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 19.972935 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 72.838356 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 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 5 HD_B 0.0125 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0024999999 T_ABORT 1440

CAPMAXSIZE 100000 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPUPLOAD 0 HEAD_ERRBAND 13 PITCH_W_GAIN 1 T_DIVE 175

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.00010777653 T_EPIRB 0

COMM_SEQ 0 ID 229 PRESSURE_YINT -162.56323 T_GPS 5

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 660

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 1980 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

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 2770 LOGGERDEVICE4 -1 RELAUNCH 1 UNCOM_BLEED 20

DBDW 0 LOGGERS 0 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOITER_DBDW 400 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDERMB 0 LOITER_D_BOTTOM 700 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE1 10 LOITER_D_TOP 400 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 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 258 MAX_BUOY 120 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_ABORT 1020 MINV_10V 11 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_BOOST 2 MINV_24V 11 SC_RECORDABOVE 2000.0 XPDR_DEVICE 0

D_CALL 0 MISSION 7 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_FINISH 0 MOTHERBOARD 6 SEABIRD_C_G -9.8249397 XPDR_VALID 5

D_FLARE 3 NAV_MODE 2 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 111019,170501,7406.421,-14604.964,71,0.8,72,17.8 TGT_LATLONG 7430.000,-14527.272

_CALLS 3 TGT_RADIUS 2000.000

_SM_DEPTHo 1.46 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -72.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 111019,171408,7406.446,-14604.892,3,0.5,4,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.165,0.210 MHEAD_RNG_PITCHd_Wd 357.3,47429,-21.4,-9.524,-24.43

TGT_NAME 1 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.7,1.021335 _10V_AH 15.00,0.000

SM_CCo 32241.44,0.00,0.000,0,539.9,509.9,569.8,547.05 FG_AHR_24Vo 73.013

SM_GC 2.99,0.00,8.36,3.16,0.000,0.128,0.015,539.9,509.9,569.8,131.1,2248.1,0,0,0,30.00,15.40,15.70 FG_AHR_10Vo 20.041

SUPER 51,71,254,1,0,0 MEM 1163956,28,15132,73

IRIDIUM_FIX 7420.20,-14237.54,111019,170827 DATA_FILE_SIZE 51426,1287

TCM_TEMP 5.32 CAP_FILE_SIZE 273233,0

XPDR_PINGS 4 SDSIZE 3918848,3854176

RAFOS_CLK -6 SDFILEDIR 829,1

RAFOS_FIX 7407.416992,-14605.223633,121019,020225,0,1,0.06 ERRORS 0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0

HUMID 55.34 SOUNDSPEED 1465.0

TEMP -0.32 CURRENT 0.038, 63.0,1

INTERNAL_PRESSURE 8.23167 GPS 121019,021338,7407.715,-14601.668,86,1.0,86,17.8

_24V_AH 14.72,154.530

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 639 1815 17086.66 SBE_CT 541 24 191.37

Pitch_motor 19 417 118.61 nil 0 0 0.00

Roll_motor 120 90 161.66 nil 0 0 0.00

Iridium 341 186 938.12 nil 0 0 0.00

Transponder_ping 1 420 6.18 nil 0 0 0.00

GPS 12 15 2.92 nil 0 0 0.00

Core 3340 19 998.04 SciCon 0 0 0.00

LPSleep 29422 2 1019.48 nil 0 0 0.00

Compass 1262 5 94.72 nil 0 0 0.00

RAFOS 4435 48 3193.20

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

2.65 2 -116.79 -0.89 0.00 540.2 520.6 559.7 107.8 2269.4 0.00 0.00 0 44.26 40.95 0.00 0.00 0.005 0.000 0.000 1330.59 1264.19 1397.00 108.00 2270.38 0 0 0 15.04 30.00 30.00

44.51 551 -116.79 -0.89 -70.00 1331.5 1264.6 1398.4 107.8 2269.0 3.11 -4.68 8 116.72 54.70 7.88 4.51 0.005 0.417 0.048 3245.44 3185.31 3305.56 1714.62 720.81 0 0 0 15.18 15.07 14.96

333.61 1028 -116.79 -0.89 0.00 3246.7 3185.8 3307.6 1714.9 720.2 84.14 -18.94 66 339.51 0.00 0.00 4.26 0.000 0.000 0.022 3248.25 3186.12 3310.38 1698.12 2243.81 0 0 0 30.00 30.00 15.69

638.65 0 -116.79 -0.89 0.00 3246.8 3184.6 3308.9 1698.6 2244.4 133.45 -14.85 106 639.98 0.00 0.00 0.00 0.000 0.000 0.000 3246.31 3185.56 3307.06 1698.31 2244.75 0 0 0 30.00 30.00 30.00

938.72 0 -116.79 -0.89 0.00 3246.6 3185.6 3307.6 1697.6 2244.2 176.56 -13.85 136 940.05 0.00 0.00 0.00 0.000 0.000 0.000 3247.28 3184.56 3310.00 1698.50 2244.94 0 0 0 30.00 30.00 30.00

1238.73 516 -116.79 -0.89 -70.00 3246.7 3184.2 3309.2 1698.1 2244.8 215.92 -12.46 160 1244.65 0.00 0.00 4.45 0.000 0.000 0.049 3247.31 3186.19 3308.44 1714.62 720.00 0 0 0 30.00 30.00 15.75

1308.70 1028 -116.79 -0.89 0.00 3247.3 3184.2 3310.4 1714.4 720.6 224.56 -12.45 174 1314.63 0.00 0.00 4.22 0.000 0.000 0.021 3248.75 3186.00 3311.50 1697.31 2246.06 0 0 0 30.00 30.00 15.81

1678.74 260 -116.79 -0.89 70.00 3247.1 3185.1 3309.1 1698.0 2244.7 262.81 -9.21 194 1684.64 0.00 0.00 4.28 0.000 0.000 0.057 3247.94 3185.50 3310.38 1678.62 3718.19 0 0 0 30.00 30.00 15.76

1718.77 1028 -116.79 -0.89 0.00 3246.7 3184.6 3308.9 1678.4 3719.2 266.64 -9.54 202 1724.65 0.00 0.00 4.22 0.000 0.000 0.015 3248.53 3185.38 3311.69 1694.00 2185.69 0 0 0 30.00 30.00 15.84

2098.77 0 -116.79 -0.89 0.00 3247.3 3184.6 3310.0 1695.2 2185.0 298.02 -8.02 224 2100.11 0.00 0.00 0.00 0.000 0.000 0.000 3245.78 3183.19 3308.38 1694.88 2184.75 0 0 0 30.00 30.00 30.00

2458.82 292 -116.79 -0.89 70.00 3246.3 3184.5 3308.1 1695.1 2184.1 325.39 -7.51 242 2464.75 0.00 0.00 4.54 0.000 0.000 0.056 3248.34 3185.62 3311.06 1677.00 3715.69 0 0 0 30.00 30.00 15.78

2573.80 1028 -116.79 -0.89 0.00 3246.4 3183.2 3309.6 1677.2 3715.1 335.39 -8.77 265 2579.74 0.00 0.00 4.24 0.000 0.000 0.015 3247.59 3184.81 3310.38 1693.69 2183.31 0 0 0 30.00 30.00 15.86

2938.85 32 -116.79 -0.89 0.00 3246.5 3184.1 3308.9 1693.4 2183.1 362.02 -7.23 284 2940.19 0.00 0.00 0.00 0.000 0.000 0.000 3246.38 3183.94 3308.81 1693.50 2182.31 0 0 0 30.00 30.00 30.00

3298.90 292 -116.79 -0.89 70.00 3245.7 3182.5 3308.9 1694.1 2183.7 387.65 -7.00 302 3304.81 0.00 0.00 4.55 0.000 0.000 0.057 3246.62 3184.19 3309.06 1677.00 3715.38 0 0 0 30.00 30.00 15.80

3383.86 1028 -116.79 -0.89 0.00 3246.7 3183.6 3309.8 1676.8 3716.1 394.64 -8.14 319 3389.78 0.00 0.00 4.23 0.000 0.000 0.015 3248.88 3184.94 3312.81 1692.00 2184.56 0 0 0 30.00 30.00 15.91

3758.91 292 -116.79 -0.89 70.00 3246.3 3183.3 3309.3 1693.1 2184.2 420.51 -6.87 340 3764.84 0.00 0.00 4.55 0.000 0.000 0.057 3247.66 3184.38 3310.94 1675.50 3714.81 0 0 0 30.00 30.00 15.80

3823.89 1028 -116.79 -0.89 0.00 3246.9 3183.9 3309.9 1675.4 3715.6 425.58 -8.18 353 3829.81 0.00 0.00 4.20 0.000 0.000 0.015 3246.97 3183.12 3310.81 1690.69 2182.12 0 0 0 30.00 30.00 15.92

4198.95 32 -116.79 -0.89 0.00 3246.2 3182.1 3310.4 1691.4 2183.8 451.10 -6.66 374 4200.28 0.00 0.00 0.00 0.000 0.000 0.000 3245.53 3182.00 3309.06 1691.56 2183.25 0 0 0 30.00 30.00 30.00

4558.98 292 -116.79 -0.89 70.00 3245.7 3181.9 3309.5 1690.9 2183.5 475.19 -6.62 392 4564.91 0.00 0.00 4.52 0.000 0.000 0.056 3247.75 3184.69 3310.81 1673.44 3718.88 0 0 0 30.00 30.00 15.80

4679.24 1028 -116.79 -0.89 0.00 3246.5 3183.2 3309.8 1674.1 3716.4 484.46 -7.90 416 4684.86 0.00 0.00 4.20 0.000 0.000 0.015 3246.22 3182.06 3310.38 1689.00 2183.31 0 0 0 30.00 30.00 15.93

4919 end dive: TARGET_DEPTH_EXCEEDED

state 4919 begin apogee

4921.44 3 0.00 -0.14 0.00 3246.7 3184.2 3309.1 1686.4 2600.6 500.48 -6.67 431 5017.53 93.57 0.85 0.14 1.816 0.184 0.091 2769.25 2673.62 2864.88 1941.06 2491.19 0 0 0 11.08 15.56 15.33

5018 end apogee: CONTROL_FINISHED_OK

state 5018 begin loiter

5369.26 2 0.00 -0.14 0.00 2758.6 2665.4 2851.8 1941.2 2489.9 496.89 1.50 437 5370.59 0.00 0.00 0.00 0.000 0.000 0.000 2757.44 2664.06 2850.81 1940.44 2490.69 0 0 0 30.00 30.00 30.00

5969.26 2 0.00 -0.14 0.00 2755.5 2664.6 2846.4 1940.1 2489.9 486.78 1.69 442 5970.60 0.00 0.00 0.00 0.000 0.000 0.000 2754.66 2663.19 2846.12 1940.12 2490.94 0 0 0 30.00 30.00 30.00

6569.27 2 0.00 -0.14 0.00 2754.7 2664.4 2845.1 1940.6 2490.5 475.90 1.81 447 6570.61 0.00 0.00 0.00 0.000 0.000 0.000 2753.53 2662.56 2844.50 1940.81 2490.81 0 0 0 30.00 30.00 30.00

7169.28 2 0.00 -0.14 0.00 2754.3 2662.8 2845.8 1941.0 2489.7 464.73 1.86 452 7170.62 0.00 0.00 0.00 0.000 0.000 0.000 2753.09 2662.38 2843.81 1940.38 2490.81 0 0 0 30.00 30.00 30.00

7769.04 2 0.00 -0.14 0.00 2754.8 2663.5 2846.2 1940.5 2490.5 454.60 1.69 457 7770.38 0.00 0.00 0.00 0.000 0.000 0.000 2753.12 2661.94 2844.31 1940.38 2489.50 0 0 0 30.00 30.00 30.00

8369.05 2 0.00 -0.14 0.00 2753.6 2663.2 2844.0 1940.8 2491.6 444.61 1.66 462 8370.39 0.00 0.00 0.00 0.000 0.000 0.000 2752.75 2661.75 2843.75 1941.00 2491.31 0 0 0 30.00 30.00 30.00

8969.32 2 0.00 -0.14 0.00 2753.2 2662.8 2843.7 1940.6 2490.6 435.36 1.54 467 8970.65 0.00 0.00 0.00 0.000 0.000 0.000 2752.47 2661.75 2843.19 1940.44 2490.00 0 0 0 30.00 30.00 30.00

9569.07 2 0.00 -0.14 0.00 2753.4 2663.0 2843.8 1940.8 2490.9 425.77 1.60 472 9570.40 0.00 0.00 0.00 0.000 0.000 0.000 2751.94 2661.38 2842.50 1940.38 2490.31 0 0 0 30.00 30.00 30.00

10177.79 2 0.00 -0.14 0.00 2753.2 2662.2 2844.2 1940.3 2490.1 416.13 1.61 477 10179.12 0.00 0.00 0.00 0.000 0.000 0.000 2751.97 2661.75 2842.19 1940.62 2490.12 0 0 0 30.00 30.00 30.00

10769.09 2 0.00 -0.14 0.00 2752.5 2662.4 2842.6 1940.6 2491.1 407.11 1.50 482 10770.43 0.00 0.00 0.00 0.000 0.000 0.000 2751.97 2660.19 2843.75 1941.00 2490.25 0 0 0 30.00 30.00 30.00

11369.11 34 -4.84 -0.15 0.00 2752.5 2662.2 2842.8 1940.5 2490.1 399.66 1.24 487 11370.55 0.09 0.00 0.00 0.215 0.000 0.000 2796.28 2711.56 2881.00 1940.94 2490.38 0 0 0 14.63 30.00 30.00

11969.39 64 -4.84 -0.14 0.00 2794.4 2707.9 2880.8 1940.8 2490.8 404.13 -0.75 492 11970.73 0.00 0.00 0.00 0.000 0.000 0.000 2794.22 2708.62 2879.81 1941.56 2490.31 0 0 0 30.00 30.00 30.00

12569.40 64 -4.84 -0.13 0.00 2794.8 2707.6 2881.9 1940.8 2490.5 409.60 -0.91 497 12570.74 0.00 0.00 0.00 0.000 0.000 0.000 2792.66 2706.62 2878.69 1941.25 2490.69 0 0 0 30.00 30.00 30.00

13169.41 64 -4.84 -0.12 0.00 2794.0 2707.5 2880.6 1940.7 2490.8 415.26 -0.94 502 13170.75 0.00 0.00 0.00 0.000 0.000 0.000 2793.84 2707.56 2880.12 1941.00 2490.38 0 0 0 30.00 30.00 30.00

13769.42 64 -4.84 -0.12 0.00 2794.4 2708.2 2880.6 1941.2 2490.7 420.84 -0.93 507 13770.75 0.00 0.00 0.00 0.000 0.000 0.000 2794.22 2707.69 2880.75 1940.75 2489.88 0 0 0 30.00 30.00 30.00

14369.42 64 -4.84 -0.11 0.00 2794.5 2708.4 2880.7 1940.6 2490.4 425.05 -0.70 512 14370.76 0.00 0.00 0.00 0.000 0.000 0.000 2794.12 2708.19 2880.06 1940.31 2489.56 0 0 0 30.00 30.00 30.00

14969.44 64 -4.84 -0.10 0.00 2794.9 2709.0 2880.8 1941.1 2491.1 428.59 -0.60 517 14970.77 0.00 0.00 0.00 0.000 0.000 0.000 2792.75 2706.44 2879.06 1940.38 2490.25 0 0 0 30.00 30.00 30.00

15569.45 64 -4.84 -0.10 0.00 2794.3 2708.1 2880.6 1940.9 2490.8 431.75 -0.54 522 15570.79 0.00 0.00 0.00 0.000 0.000 0.000 2793.19 2705.75 2880.62 1940.75 2490.56 0 0 0 30.00 30.00 30.00

16169.46 64 -4.84 -0.09 0.00 2794.5 2707.6 2881.4 1940.9 2490.1 435.27 -0.59 527 16170.79 0.00 0.00 0.00 0.000 0.000 0.000 2793.44 2707.00 2879.88 1940.56 2489.69 0 0 0 30.00 30.00 30.00

16769.47 64 -4.84 -0.08 0.00 2795.4 2709.3 2881.4 1939.9 2490.4 439.61 -0.72 532 16770.80 0.00 0.00 0.00 0.000 0.000 0.000 2793.53 2707.81 2879.25 1940.38 2490.94 0 0 0 30.00 30.00 30.00

17369.48 64 -4.84 -0.08 0.00 2794.6 2707.6 2881.6 1941.1 2490.7 442.96 -0.58 537 17370.82 0.00 0.00 0.00 0.000 0.000 0.000 2794.38 2707.06 2881.69 1940.69 2490.25 0 0 0 30.00 30.00 30.00

17969.48 0 -4.84 -0.08 0.00 2794.4 2707.7 2881.2 1941.2 2491.2 444.67 -0.39 542 17970.82 0.00 0.00 0.00 0.000 0.000 0.000 2794.47 2707.88 2881.06 1940.50 2490.00 0 0 0 30.00 30.00 30.00

18569.50 0 -4.84 -0.08 0.00 2794.5 2708.4 2880.5 1940.6 2490.1 446.43 -0.29 547 18570.84 0.00 0.00 0.00 0.000 0.000 0.000 2794.59 2708.00 2881.19 1940.69 2489.50 0 0 0 30.00 30.00 30.00

19169.52 0 -4.84 -0.08 0.00 2794.6 2707.9 2881.3 1940.5 2489.8 447.35 -0.23 552 19170.85 0.00 0.00 0.00 0.000 0.000 0.000 2793.62 2707.19 2880.06 1940.56 2490.75 0 0 0 30.00 30.00 30.00

19769.53 0 -4.84 -0.08 0.00 2794.2 2707.7 2880.6 1941.0 2489.8 447.88 -0.18 557 19770.87 0.00 0.00 0.00 0.000 0.000 0.000 2794.06 2707.38 2880.75 1941.62 2489.62 0 0 0 30.00 30.00 30.00

20369.55 0 -4.84 -0.08 0.00 2794.5 2708.3 2880.8 1940.4 2490.6 447.90 -0.14 562 20370.88 0.00 0.00 0.00 0.000 0.000 0.000 2793.56 2706.75 2880.38 1941.38 2491.12 0 0 0 30.00 30.00 30.00

20969.58 0 -4.84 -0.08 0.00 2794.8 2708.7 2881.0 1941.0 2490.4 448.16 -0.12 567 20970.92 0.00 0.00 0.00 0.000 0.000 0.000 2794.47 2708.31 2880.62 1940.56 2491.00 0 0 0 30.00 30.00 30.00

21569.58 0 -4.84 -0.08 0.00 2794.5 2708.0 2881.1 1941.1 2489.6 448.65 -0.10 572 21570.91 0.00 0.00 0.00 0.000 0.000 0.000 2793.19 2707.06 2879.31 1941.25 2489.44 0 0 0 30.00 30.00 30.00

22169.59 0 -4.84 -0.08 0.00 2794.5 2707.9 2881.0 1940.8 2491.1 448.10 -0.04 577 22170.93 0.00 0.00 0.00 0.000 0.000 0.000 2794.38 2707.38 2881.38 1940.94 2489.69 0 0 0 30.00 30.00 30.00

22769.60 0 -4.84 -0.08 0.00 2794.3 2707.6 2881.1 1940.4 2489.9 446.78 0.02 582 22770.94 0.00 0.00 0.00 0.000 0.000 0.000 2794.41 2708.31 2880.50 1941.06 2490.12 0 0 0 30.00 30.00 30.00

23369.61 0 -4.84 -0.08 0.00 2794.3 2708.1 2880.6 1940.6 2489.5 446.21 0.05 587 23370.95 0.00 0.00 0.00 0.000 0.000 0.000 2794.25 2708.50 2880.00 1940.12 2491.00 0 0 0 30.00 30.00 30.00

23969.62 0 -4.84 -0.08 0.00 2794.2 2707.6 2880.8 1941.7 2491.1 447.09 0.02 592 23970.96 0.00 0.00 0.00 0.000 0.000 0.000 2793.09 2707.19 2879.00 1940.94 2490.69 0 0 0 30.00 30.00 30.00

24579.79 0 -4.84 -0.08 0.00 2794.7 2708.7 2880.6 1941.0 2490.7 447.93 0.01 597 24581.13 0.00 0.00 0.00 0.000 0.000 0.000 2793.41 2707.62 2879.19 1940.75 2491.25 0 0 0 30.00 30.00 30.00

25169.65 0 -4.84 -0.08 0.00 2794.9 2708.2 2881.6 1940.8 2489.7 448.37 0.01 602 25170.99 0.00 0.00 0.00 0.000 0.000 0.000 2794.03 2708.44 2879.62 1940.94 2490.31 0 0 0 30.00 30.00 30.00

25769.66 0 -4.84 -0.08 0.00 2794.1 2707.3 2880.8 1940.4 2490.6 448.60 -0.02 607 25770.99 0.00 0.00 0.00 0.000 0.000 0.000 2791.91 2706.44 2877.38 1940.94 2490.56 0 0 0 30.00 30.00 30.00

26369.42 0 -4.84 -0.08 0.00 2794.6 2708.8 2880.4 1940.8 2490.2 449.00 -0.07 612 26370.76 0.00 0.00 0.00 0.000 0.000 0.000 2792.16 2706.38 2877.94 1940.62 2490.81 0 0 0 30.00 30.00 30.00

26609 end loiter: LOITER_COMPLETE

state 26609 begin climb

26609.50 263 116.79 0.89 70.00 2794.1 2706.9 2881.4 1940.9 2490.6 449.27 0.00 614 26722.88 104.58 0.93 4.47 1.733 0.062 0.065 2291.22 2186.19 2396.25 2268.56 3958.06 0 0 0 10.92 15.59 15.22

26944.78 1030 116.79 0.89 0.00 2281.8 2184.0 2379.6 2268.3 3957.7 414.89 13.57 681 26950.66 0.00 0.00 3.95 0.000 0.000 0.012 2283.69 2186.62 2380.75 2283.19 2531.19 0 0 0 30.00 30.00 15.52

27310.12 262 116.79 0.89 70.00 2277.9 2177.6 2378.2 2284.2 2515.9 374.05 10.96 700 27315.72 0.00 0.00 4.30 0.000 0.000 0.064 2276.69 2176.25 2377.12 2269.00 3955.50 0 0 0 30.00 30.00 15.56

27379.89 1030 116.79 0.89 0.00 2276.8 2177.2 2376.3 2269.1 3954.6 365.24 13.14 714 27385.65 0.00 0.00 3.89 0.000 0.000 0.012 2279.56 2179.38 2379.75 2284.25 2531.81 0 0 0 30.00 30.00 15.66

27750.16 262 116.79 0.89 70.00 2275.9 2175.6 2376.2 2285.7 2516.1 325.82 10.36 734 27756.01 0.00 0.00 4.24 0.000 0.000 0.064 2275.84 2176.19 2375.50 2269.25 3956.69 0 0 0 30.00 30.00 15.62

27774.84 1030 116.79 0.89 0.00 2275.4 2175.5 2375.3 2270.3 3957.2 323.04 10.35 739 27780.68 0.00 0.00 3.87 0.000 0.000 0.012 2276.38 2175.81 2376.94 2284.62 2524.94 0 0 0 30.00 30.00 15.73

28150.12 2 116.79 0.89 0.00 2275.3 2174.8 2375.8 2286.2 2508.2 287.03 9.06 760 28151.46 0.00 0.00 0.00 0.000 0.000 0.000 2274.03 2173.62 2374.44 2285.31 2509.38 0 0 0 30.00 30.00 30.00

28510.16 34 170.34 1.02 0.00 2275.1 2173.9 2376.2 2286.3 2510.6 259.03 6.60 778 28554.07 42.74 0.00 0.00 1.511 0.000 0.000 2074.81 1967.00 2182.62 2285.94 2509.06 0 0 0 11.12 30.00 30.00

28910.17 35 236.81 1.19 0.00 2067.4 1960.4 2174.4 2285.4 2509.9 232.12 5.90 798 28965.46 54.27 0.22 0.00 1.462 0.076 0.000 1804.59 1693.12 1916.06 2379.00 2508.81 0 0 0 11.39 15.68 30.00

29310.26 66 236.81 1.19 -70.00 1795.3 1686.3 1904.3 2380.0 2509.2 195.41 8.92 823 29311.59 0.00 0.00 0.00 0.000 0.000 0.000 1794.03 1685.50 1902.56 2380.31 2508.88 0 0 0 30.00 30.00 30.00

29610.28 66 236.81 1.21 -70.00 1793.2 1684.6 1901.8 2380.1 2507.3 171.08 7.93 853 29611.62 0.00 0.00 0.00 0.000 0.000 0.000 1792.75 1683.75 1901.75 2380.38 2509.00 0 0 0 30.00 30.00 30.00

29910.31 34 287.66 1.34 -70.00 1791.6 1683.2 1900.0 2380.1 2508.7 148.90 6.75 883 29952.29 40.88 0.00 0.00 1.389 0.000 0.000 1599.09 1491.62 1706.56 2379.62 2508.50 0 0 0 11.35 30.00 30.00

30255.28 551 337.73 1.46 -70.00 1589.8 1484.1 1695.4 2381.2 2508.4 123.92 6.79 921 30302.90 41.06 0.19 4.18 1.349 0.074 0.042 1392.91 1287.38 1498.44 2480.31 1079.62 0 0 0 11.51 15.66 15.42

30355.02 1029 337.73 1.46 0.00 1389.0 1286.4 1491.6 2482.3 1079.9 114.13 10.53 941 30360.98 0.00 0.09 4.30 0.000 0.239 0.022 1388.94 1286.00 1491.88 2439.69 2601.44 0 0 0 30.00 15.37 15.57

30660.13 35 380.34 1.57 0.00 1385.8 1280.6 1490.9 2438.9 2602.2 89.18 7.20 986 30695.90 34.91 0.13 0.00 1.304 0.084 0.000 1219.72 1120.31 1319.12 2508.62 2602.06 0 0 0 11.48 15.61 30.00

30995.40 551 457.18 1.76 -70.00 1212.0 1112.6 1311.5 2509.2 2601.9 65.34 5.33 1053 31062.49 60.54 0.10 4.47 1.279 0.098 0.040 905.84 827.00 984.69 2581.00 1079.19 0 0 0 11.49 15.59 15.32

31165.17 1062 505.40 1.88 0.00 899.4 823.6 975.2 2580.9 1079.8 54.31 6.89 1087 31211.82 38.57 0.00 4.29 1.229 0.000 0.021 709.31 645.06 773.56 2564.25 2599.94 0 0 0 11.79 30.00 15.51

31510.48 551 601.79 2.12 -70.00 702.3 637.0 767.6 2565.1 2599.8 38.01 4.27 1156 31551.61 32.49 0.28 4.45 1.218 0.055 0.040 549.00 515.81 582.19 2703.69 1078.25 0 0 0 11.51 15.55 15.34

31775.30 1063 700.47 2.37 0.00 541.9 510.8 573.0 2704.1 1078.6 23.03 4.14 1209 31781.51 0.00 0.15 4.28 0.000 0.081 0.019 542.19 511.31 573.06 2754.69 2604.06 0 0 0 30.00 15.47 15.58

32080.40 551 782.70 2.57 -70.00 540.9 510.8 571.1 2754.7 2602.9 6.93 5.04 1270 32086.38 0.00 0.14 4.41 0.000 0.087 0.038 541.06 510.94 571.19 2842.50 1079.50 0 0 0 30.00 15.62 15.59

32155 end climb: SURFACE_DEPTH_REACHED

state 32155 begin surface coast

32165 end surface coast: CONTROL_FINISHED_OK

state 32165 begin surface

ID	229	HEADING	-1	C_ROLL_DIVE	2220	ALTIM_PING_DELTA	10
MISSION	7	ESCAPE_HEADING	0	C_ROLL_CLIMB	2580	ALTIM_FREQUENCY	13
DIVE	258	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	13	ALTIM_PULSE	3
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.047120001	ALTIM_SENSITIVITY	3
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	500	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	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_BOOST	2	CALL_NDIVES	1	C_VBD	2770	MOTHERBOARD	6
T_BOOST	0	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	10
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	0.0024999999	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	175	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	660	CAPMAXSIZE	100000	LOITER_W_DBAND	2	LOGGERDEVICE3	-1
T_ABORT	1440	T_GPS	5	LOITER_DBDW	400	LOGGERDEVICE4	-1
T_TURN	225	N_GPS	100740	LOITER_D_TOP	400	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	T_RSLEEP	2	LOITER_D_BOTTOM	700	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	20	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	11	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	150	MINV_10V	11	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	1.4	SEABIRD_T_I	2.8872973e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	19.972935	SEABIRD_T_J	3.8119131e-06
MAX_BUOY	120	PITCH_CNV	0.0031300001	FG_AHR_24V	72.838356	SEABIRD_C_G	-9.8249397
GLIDE_SLOPE	30	PITCH_GAIN	36	PHONE_SUPPLY	2	SEABIRD_C_H	1.1031885
SPEED_FACTOR	1	PITCH_TIMEOUT	20	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	2	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	111019,170501,7406.421,-14604.964,71,0.8,72,17.8	TGT_LATLONG	7430.000,-14527.272
_CALLS	3	TGT_RADIUS	2000.000
_SM_DEPTHo	1.46	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-72.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	111019,171408,7406.446,-14604.892,3,0.5,4,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.165,0.210	MHEAD_RNG_PITCHd_Wd	357.3,47429,-21.4,-9.524,-24.43
TGT_NAME	1	D_GRID	500

FINISH	0.7,1.021335	_10V_AH	15.00,0.000
SM_CCo	32241.44,0.00,0.000,0,539.9,509.9,569.8,547.05	FG_AHR_24Vo	73.013
SM_GC	2.99,0.00,8.36,3.16,0.000,0.128,0.015,539.9,509.9,569.8,131.1,2248.1,0,0,0,30.00,15.40,15.70	FG_AHR_10Vo	20.041
SUPER	51,71,254,1,0,0	MEM	1163956,28,15132,73
IRIDIUM_FIX	7420.20,-14237.54,111019,170827	DATA_FILE_SIZE	51426,1287
TCM_TEMP	5.32	CAP_FILE_SIZE	273233,0
XPDR_PINGS	4	SDSIZE	3918848,3854176
RAFOS_CLK	-6	SDFILEDIR	829,1
RAFOS_FIX	7407.416992,-14605.223633,121019,020225,0,1,0.06	ERRORS	0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
HUMID	55.34	SOUNDSPEED	1465.0
TEMP	-0.32	CURRENT	0.038, 63.0,1
INTERNAL_PRESSURE	8.23167	GPS	121019,021338,7407.715,-14601.668,86,1.0,86,17.8
_24V_AH	14.72,154.530

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	639	1815	17086.66	SBE_CT	541	24	191.37
Pitch_motor	19	417	118.61	nil	0	0	0.00
Roll_motor	120	90	161.66	nil	0	0	0.00
Iridium	341	186	938.12	nil	0	0	0.00
Transponder_ping	1	420	6.18	nil	0	0	0.00
GPS	12	15	2.92	nil	0	0	0.00
Core	3340	19	998.04	SciCon	0	0	0.00
LPSleep	29422	2	1019.48	nil	0	0	0.00
Compass	1262	5	94.72	nil	0	0	0.00
RAFOS	4435	48	3193.20
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
2.65	2	-116.79	-0.89	0.00	540.2	520.6	559.7	107.8	2269.4	0.00	0.00	0	44.26	40.95	0.00	0.00	0.005	0.000	0.000	1330.59	1264.19	1397.00	108.00	2270.38	0	0	0	15.04	30.00	30.00
44.51	551	-116.79	-0.89	-70.00	1331.5	1264.6	1398.4	107.8	2269.0	3.11	-4.68	8	116.72	54.70	7.88	4.51	0.005	0.417	0.048	3245.44	3185.31	3305.56	1714.62	720.81	0	0	0	15.18	15.07	14.96
333.61	1028	-116.79	-0.89	0.00	3246.7	3185.8	3307.6	1714.9	720.2	84.14	-18.94	66	339.51	0.00	0.00	4.26	0.000	0.000	0.022	3248.25	3186.12	3310.38	1698.12	2243.81	0	0	0	30.00	30.00	15.69
638.65	0	-116.79	-0.89	0.00	3246.8	3184.6	3308.9	1698.6	2244.4	133.45	-14.85	106	639.98	0.00	0.00	0.00	0.000	0.000	0.000	3246.31	3185.56	3307.06	1698.31	2244.75	0	0	0	30.00	30.00	30.00
938.72	0	-116.79	-0.89	0.00	3246.6	3185.6	3307.6	1697.6	2244.2	176.56	-13.85	136	940.05	0.00	0.00	0.00	0.000	0.000	0.000	3247.28	3184.56	3310.00	1698.50	2244.94	0	0	0	30.00	30.00	30.00
1238.73	516	-116.79	-0.89	-70.00	3246.7	3184.2	3309.2	1698.1	2244.8	215.92	-12.46	160	1244.65	0.00	0.00	4.45	0.000	0.000	0.049	3247.31	3186.19	3308.44	1714.62	720.00	0	0	0	30.00	30.00	15.75
1308.70	1028	-116.79	-0.89	0.00	3247.3	3184.2	3310.4	1714.4	720.6	224.56	-12.45	174	1314.63	0.00	0.00	4.22	0.000	0.000	0.021	3248.75	3186.00	3311.50	1697.31	2246.06	0	0	0	30.00	30.00	15.81
1678.74	260	-116.79	-0.89	70.00	3247.1	3185.1	3309.1	1698.0	2244.7	262.81	-9.21	194	1684.64	0.00	0.00	4.28	0.000	0.000	0.057	3247.94	3185.50	3310.38	1678.62	3718.19	0	0	0	30.00	30.00	15.76
1718.77	1028	-116.79	-0.89	0.00	3246.7	3184.6	3308.9	1678.4	3719.2	266.64	-9.54	202	1724.65	0.00	0.00	4.22	0.000	0.000	0.015	3248.53	3185.38	3311.69	1694.00	2185.69	0	0	0	30.00	30.00	15.84
2098.77	0	-116.79	-0.89	0.00	3247.3	3184.6	3310.0	1695.2	2185.0	298.02	-8.02	224	2100.11	0.00	0.00	0.00	0.000	0.000	0.000	3245.78	3183.19	3308.38	1694.88	2184.75	0	0	0	30.00	30.00	30.00
2458.82	292	-116.79	-0.89	70.00	3246.3	3184.5	3308.1	1695.1	2184.1	325.39	-7.51	242	2464.75	0.00	0.00	4.54	0.000	0.000	0.056	3248.34	3185.62	3311.06	1677.00	3715.69	0	0	0	30.00	30.00	15.78
2573.80	1028	-116.79	-0.89	0.00	3246.4	3183.2	3309.6	1677.2	3715.1	335.39	-8.77	265	2579.74	0.00	0.00	4.24	0.000	0.000	0.015	3247.59	3184.81	3310.38	1693.69	2183.31	0	0	0	30.00	30.00	15.86
2938.85	32	-116.79	-0.89	0.00	3246.5	3184.1	3308.9	1693.4	2183.1	362.02	-7.23	284	2940.19	0.00	0.00	0.00	0.000	0.000	0.000	3246.38	3183.94	3308.81	1693.50	2182.31	0	0	0	30.00	30.00	30.00
3298.90	292	-116.79	-0.89	70.00	3245.7	3182.5	3308.9	1694.1	2183.7	387.65	-7.00	302	3304.81	0.00	0.00	4.55	0.000	0.000	0.057	3246.62	3184.19	3309.06	1677.00	3715.38	0	0	0	30.00	30.00	15.80
3383.86	1028	-116.79	-0.89	0.00	3246.7	3183.6	3309.8	1676.8	3716.1	394.64	-8.14	319	3389.78	0.00	0.00	4.23	0.000	0.000	0.015	3248.88	3184.94	3312.81	1692.00	2184.56	0	0	0	30.00	30.00	15.91
3758.91	292	-116.79	-0.89	70.00	3246.3	3183.3	3309.3	1693.1	2184.2	420.51	-6.87	340	3764.84	0.00	0.00	4.55	0.000	0.000	0.057	3247.66	3184.38	3310.94	1675.50	3714.81	0	0	0	30.00	30.00	15.80
3823.89	1028	-116.79	-0.89	0.00	3246.9	3183.9	3309.9	1675.4	3715.6	425.58	-8.18	353	3829.81	0.00	0.00	4.20	0.000	0.000	0.015	3246.97	3183.12	3310.81	1690.69	2182.12	0	0	0	30.00	30.00	15.92
4198.95	32	-116.79	-0.89	0.00	3246.2	3182.1	3310.4	1691.4	2183.8	451.10	-6.66	374	4200.28	0.00	0.00	0.00	0.000	0.000	0.000	3245.53	3182.00	3309.06	1691.56	2183.25	0	0	0	30.00	30.00	30.00
4558.98	292	-116.79	-0.89	70.00	3245.7	3181.9	3309.5	1690.9	2183.5	475.19	-6.62	392	4564.91	0.00	0.00	4.52	0.000	0.000	0.056	3247.75	3184.69	3310.81	1673.44	3718.88	0	0	0	30.00	30.00	15.80
4679.24	1028	-116.79	-0.89	0.00	3246.5	3183.2	3309.8	1674.1	3716.4	484.46	-7.90	416	4684.86	0.00	0.00	4.20	0.000	0.000	0.015	3246.22	3182.06	3310.38	1689.00	2183.31	0	0	0	30.00	30.00	15.93
4919	end dive: TARGET_DEPTH_EXCEEDED
state	4919	begin apogee
4921.44	3	0.00	-0.14	0.00	3246.7	3184.2	3309.1	1686.4	2600.6	500.48	-6.67	431	5017.53	93.57	0.85	0.14	1.816	0.184	0.091	2769.25	2673.62	2864.88	1941.06	2491.19	0	0	0	11.08	15.56	15.33
5018	end apogee: CONTROL_FINISHED_OK
state	5018	begin loiter
5369.26	2	0.00	-0.14	0.00	2758.6	2665.4	2851.8	1941.2	2489.9	496.89	1.50	437	5370.59	0.00	0.00	0.00	0.000	0.000	0.000	2757.44	2664.06	2850.81	1940.44	2490.69	0	0	0	30.00	30.00	30.00
5969.26	2	0.00	-0.14	0.00	2755.5	2664.6	2846.4	1940.1	2489.9	486.78	1.69	442	5970.60	0.00	0.00	0.00	0.000	0.000	0.000	2754.66	2663.19	2846.12	1940.12	2490.94	0	0	0	30.00	30.00	30.00
6569.27	2	0.00	-0.14	0.00	2754.7	2664.4	2845.1	1940.6	2490.5	475.90	1.81	447	6570.61	0.00	0.00	0.00	0.000	0.000	0.000	2753.53	2662.56	2844.50	1940.81	2490.81	0	0	0	30.00	30.00	30.00
7169.28	2	0.00	-0.14	0.00	2754.3	2662.8	2845.8	1941.0	2489.7	464.73	1.86	452	7170.62	0.00	0.00	0.00	0.000	0.000	0.000	2753.09	2662.38	2843.81	1940.38	2490.81	0	0	0	30.00	30.00	30.00
7769.04	2	0.00	-0.14	0.00	2754.8	2663.5	2846.2	1940.5	2490.5	454.60	1.69	457	7770.38	0.00	0.00	0.00	0.000	0.000	0.000	2753.12	2661.94	2844.31	1940.38	2489.50	0	0	0	30.00	30.00	30.00
8369.05	2	0.00	-0.14	0.00	2753.6	2663.2	2844.0	1940.8	2491.6	444.61	1.66	462	8370.39	0.00	0.00	0.00	0.000	0.000	0.000	2752.75	2661.75	2843.75	1941.00	2491.31	0	0	0	30.00	30.00	30.00
8969.32	2	0.00	-0.14	0.00	2753.2	2662.8	2843.7	1940.6	2490.6	435.36	1.54	467	8970.65	0.00	0.00	0.00	0.000	0.000	0.000	2752.47	2661.75	2843.19	1940.44	2490.00	0	0	0	30.00	30.00	30.00
9569.07	2	0.00	-0.14	0.00	2753.4	2663.0	2843.8	1940.8	2490.9	425.77	1.60	472	9570.40	0.00	0.00	0.00	0.000	0.000	0.000	2751.94	2661.38	2842.50	1940.38	2490.31	0	0	0	30.00	30.00	30.00
10177.79	2	0.00	-0.14	0.00	2753.2	2662.2	2844.2	1940.3	2490.1	416.13	1.61	477	10179.12	0.00	0.00	0.00	0.000	0.000	0.000	2751.97	2661.75	2842.19	1940.62	2490.12	0	0	0	30.00	30.00	30.00
10769.09	2	0.00	-0.14	0.00	2752.5	2662.4	2842.6	1940.6	2491.1	407.11	1.50	482	10770.43	0.00	0.00	0.00	0.000	0.000	0.000	2751.97	2660.19	2843.75	1941.00	2490.25	0	0	0	30.00	30.00	30.00
11369.11	34	-4.84	-0.15	0.00	2752.5	2662.2	2842.8	1940.5	2490.1	399.66	1.24	487	11370.55	0.09	0.00	0.00	0.215	0.000	0.000	2796.28	2711.56	2881.00	1940.94	2490.38	0	0	0	14.63	30.00	30.00
11969.39	64	-4.84	-0.14	0.00	2794.4	2707.9	2880.8	1940.8	2490.8	404.13	-0.75	492	11970.73	0.00	0.00	0.00	0.000	0.000	0.000	2794.22	2708.62	2879.81	1941.56	2490.31	0	0	0	30.00	30.00	30.00
12569.40	64	-4.84	-0.13	0.00	2794.8	2707.6	2881.9	1940.8	2490.5	409.60	-0.91	497	12570.74	0.00	0.00	0.00	0.000	0.000	0.000	2792.66	2706.62	2878.69	1941.25	2490.69	0	0	0	30.00	30.00	30.00
13169.41	64	-4.84	-0.12	0.00	2794.0	2707.5	2880.6	1940.7	2490.8	415.26	-0.94	502	13170.75	0.00	0.00	0.00	0.000	0.000	0.000	2793.84	2707.56	2880.12	1941.00	2490.38	0	0	0	30.00	30.00	30.00
13769.42	64	-4.84	-0.12	0.00	2794.4	2708.2	2880.6	1941.2	2490.7	420.84	-0.93	507	13770.75	0.00	0.00	0.00	0.000	0.000	0.000	2794.22	2707.69	2880.75	1940.75	2489.88	0	0	0	30.00	30.00	30.00
14369.42	64	-4.84	-0.11	0.00	2794.5	2708.4	2880.7	1940.6	2490.4	425.05	-0.70	512	14370.76	0.00	0.00	0.00	0.000	0.000	0.000	2794.12	2708.19	2880.06	1940.31	2489.56	0	0	0	30.00	30.00	30.00
14969.44	64	-4.84	-0.10	0.00	2794.9	2709.0	2880.8	1941.1	2491.1	428.59	-0.60	517	14970.77	0.00	0.00	0.00	0.000	0.000	0.000	2792.75	2706.44	2879.06	1940.38	2490.25	0	0	0	30.00	30.00	30.00
15569.45	64	-4.84	-0.10	0.00	2794.3	2708.1	2880.6	1940.9	2490.8	431.75	-0.54	522	15570.79	0.00	0.00	0.00	0.000	0.000	0.000	2793.19	2705.75	2880.62	1940.75	2490.56	0	0	0	30.00	30.00	30.00
16169.46	64	-4.84	-0.09	0.00	2794.5	2707.6	2881.4	1940.9	2490.1	435.27	-0.59	527	16170.79	0.00	0.00	0.00	0.000	0.000	0.000	2793.44	2707.00	2879.88	1940.56	2489.69	0	0	0	30.00	30.00	30.00
16769.47	64	-4.84	-0.08	0.00	2795.4	2709.3	2881.4	1939.9	2490.4	439.61	-0.72	532	16770.80	0.00	0.00	0.00	0.000	0.000	0.000	2793.53	2707.81	2879.25	1940.38	2490.94	0	0	0	30.00	30.00	30.00
17369.48	64	-4.84	-0.08	0.00	2794.6	2707.6	2881.6	1941.1	2490.7	442.96	-0.58	537	17370.82	0.00	0.00	0.00	0.000	0.000	0.000	2794.38	2707.06	2881.69	1940.69	2490.25	0	0	0	30.00	30.00	30.00
17969.48	0	-4.84	-0.08	0.00	2794.4	2707.7	2881.2	1941.2	2491.2	444.67	-0.39	542	17970.82	0.00	0.00	0.00	0.000	0.000	0.000	2794.47	2707.88	2881.06	1940.50	2490.00	0	0	0	30.00	30.00	30.00
18569.50	0	-4.84	-0.08	0.00	2794.5	2708.4	2880.5	1940.6	2490.1	446.43	-0.29	547	18570.84	0.00	0.00	0.00	0.000	0.000	0.000	2794.59	2708.00	2881.19	1940.69	2489.50	0	0	0	30.00	30.00	30.00
19169.52	0	-4.84	-0.08	0.00	2794.6	2707.9	2881.3	1940.5	2489.8	447.35	-0.23	552	19170.85	0.00	0.00	0.00	0.000	0.000	0.000	2793.62	2707.19	2880.06	1940.56	2490.75	0	0	0	30.00	30.00	30.00
19769.53	0	-4.84	-0.08	0.00	2794.2	2707.7	2880.6	1941.0	2489.8	447.88	-0.18	557	19770.87	0.00	0.00	0.00	0.000	0.000	0.000	2794.06	2707.38	2880.75	1941.62	2489.62	0	0	0	30.00	30.00	30.00
20369.55	0	-4.84	-0.08	0.00	2794.5	2708.3	2880.8	1940.4	2490.6	447.90	-0.14	562	20370.88	0.00	0.00	0.00	0.000	0.000	0.000	2793.56	2706.75	2880.38	1941.38	2491.12	0	0	0	30.00	30.00	30.00
20969.58	0	-4.84	-0.08	0.00	2794.8	2708.7	2881.0	1941.0	2490.4	448.16	-0.12	567	20970.92	0.00	0.00	0.00	0.000	0.000	0.000	2794.47	2708.31	2880.62	1940.56	2491.00	0	0	0	30.00	30.00	30.00
21569.58	0	-4.84	-0.08	0.00	2794.5	2708.0	2881.1	1941.1	2489.6	448.65	-0.10	572	21570.91	0.00	0.00	0.00	0.000	0.000	0.000	2793.19	2707.06	2879.31	1941.25	2489.44	0	0	0	30.00	30.00	30.00
22169.59	0	-4.84	-0.08	0.00	2794.5	2707.9	2881.0	1940.8	2491.1	448.10	-0.04	577	22170.93	0.00	0.00	0.00	0.000	0.000	0.000	2794.38	2707.38	2881.38	1940.94	2489.69	0	0	0	30.00	30.00	30.00
22769.60	0	-4.84	-0.08	0.00	2794.3	2707.6	2881.1	1940.4	2489.9	446.78	0.02	582	22770.94	0.00	0.00	0.00	0.000	0.000	0.000	2794.41	2708.31	2880.50	1941.06	2490.12	0	0	0	30.00	30.00	30.00
23369.61	0	-4.84	-0.08	0.00	2794.3	2708.1	2880.6	1940.6	2489.5	446.21	0.05	587	23370.95	0.00	0.00	0.00	0.000	0.000	0.000	2794.25	2708.50	2880.00	1940.12	2491.00	0	0	0	30.00	30.00	30.00
23969.62	0	-4.84	-0.08	0.00	2794.2	2707.6	2880.8	1941.7	2491.1	447.09	0.02	592	23970.96	0.00	0.00	0.00	0.000	0.000	0.000	2793.09	2707.19	2879.00	1940.94	2490.69	0	0	0	30.00	30.00	30.00
24579.79	0	-4.84	-0.08	0.00	2794.7	2708.7	2880.6	1941.0	2490.7	447.93	0.01	597	24581.13	0.00	0.00	0.00	0.000	0.000	0.000	2793.41	2707.62	2879.19	1940.75	2491.25	0	0	0	30.00	30.00	30.00
25169.65	0	-4.84	-0.08	0.00	2794.9	2708.2	2881.6	1940.8	2489.7	448.37	0.01	602	25170.99	0.00	0.00	0.00	0.000	0.000	0.000	2794.03	2708.44	2879.62	1940.94	2490.31	0	0	0	30.00	30.00	30.00
25769.66	0	-4.84	-0.08	0.00	2794.1	2707.3	2880.8	1940.4	2490.6	448.60	-0.02	607	25770.99	0.00	0.00	0.00	0.000	0.000	0.000	2791.91	2706.44	2877.38	1940.94	2490.56	0	0	0	30.00	30.00	30.00
26369.42	0	-4.84	-0.08	0.00	2794.6	2708.8	2880.4	1940.8	2490.2	449.00	-0.07	612	26370.76	0.00	0.00	0.00	0.000	0.000	0.000	2792.16	2706.38	2877.94	1940.62	2490.81	0	0	0	30.00	30.00	30.00
26609	end loiter: LOITER_COMPLETE
state	26609	begin climb
26609.50	263	116.79	0.89	70.00	2794.1	2706.9	2881.4	1940.9	2490.6	449.27	0.00	614	26722.88	104.58	0.93	4.47	1.733	0.062	0.065	2291.22	2186.19	2396.25	2268.56	3958.06	0	0	0	10.92	15.59	15.22
26944.78	1030	116.79	0.89	0.00	2281.8	2184.0	2379.6	2268.3	3957.7	414.89	13.57	681	26950.66	0.00	0.00	3.95	0.000	0.000	0.012	2283.69	2186.62	2380.75	2283.19	2531.19	0	0	0	30.00	30.00	15.52
27310.12	262	116.79	0.89	70.00	2277.9	2177.6	2378.2	2284.2	2515.9	374.05	10.96	700	27315.72	0.00	0.00	4.30	0.000	0.000	0.064	2276.69	2176.25	2377.12	2269.00	3955.50	0	0	0	30.00	30.00	15.56
27379.89	1030	116.79	0.89	0.00	2276.8	2177.2	2376.3	2269.1	3954.6	365.24	13.14	714	27385.65	0.00	0.00	3.89	0.000	0.000	0.012	2279.56	2179.38	2379.75	2284.25	2531.81	0	0	0	30.00	30.00	15.66
27750.16	262	116.79	0.89	70.00	2275.9	2175.6	2376.2	2285.7	2516.1	325.82	10.36	734	27756.01	0.00	0.00	4.24	0.000	0.000	0.064	2275.84	2176.19	2375.50	2269.25	3956.69	0	0	0	30.00	30.00	15.62
27774.84	1030	116.79	0.89	0.00	2275.4	2175.5	2375.3	2270.3	3957.2	323.04	10.35	739	27780.68	0.00	0.00	3.87	0.000	0.000	0.012	2276.38	2175.81	2376.94	2284.62	2524.94	0	0	0	30.00	30.00	15.73
28150.12	2	116.79	0.89	0.00	2275.3	2174.8	2375.8	2286.2	2508.2	287.03	9.06	760	28151.46	0.00	0.00	0.00	0.000	0.000	0.000	2274.03	2173.62	2374.44	2285.31	2509.38	0	0	0	30.00	30.00	30.00
28510.16	34	170.34	1.02	0.00	2275.1	2173.9	2376.2	2286.3	2510.6	259.03	6.60	778	28554.07	42.74	0.00	0.00	1.511	0.000	0.000	2074.81	1967.00	2182.62	2285.94	2509.06	0	0	0	11.12	30.00	30.00
28910.17	35	236.81	1.19	0.00	2067.4	1960.4	2174.4	2285.4	2509.9	232.12	5.90	798	28965.46	54.27	0.22	0.00	1.462	0.076	0.000	1804.59	1693.12	1916.06	2379.00	2508.81	0	0	0	11.39	15.68	30.00
29310.26	66	236.81	1.19	-70.00	1795.3	1686.3	1904.3	2380.0	2509.2	195.41	8.92	823	29311.59	0.00	0.00	0.00	0.000	0.000	0.000	1794.03	1685.50	1902.56	2380.31	2508.88	0	0	0	30.00	30.00	30.00
29610.28	66	236.81	1.21	-70.00	1793.2	1684.6	1901.8	2380.1	2507.3	171.08	7.93	853	29611.62	0.00	0.00	0.00	0.000	0.000	0.000	1792.75	1683.75	1901.75	2380.38	2509.00	0	0	0	30.00	30.00	30.00
29910.31	34	287.66	1.34	-70.00	1791.6	1683.2	1900.0	2380.1	2508.7	148.90	6.75	883	29952.29	40.88	0.00	0.00	1.389	0.000	0.000	1599.09	1491.62	1706.56	2379.62	2508.50	0	0	0	11.35	30.00	30.00
30255.28	551	337.73	1.46	-70.00	1589.8	1484.1	1695.4	2381.2	2508.4	123.92	6.79	921	30302.90	41.06	0.19	4.18	1.349	0.074	0.042	1392.91	1287.38	1498.44	2480.31	1079.62	0	0	0	11.51	15.66	15.42
30355.02	1029	337.73	1.46	0.00	1389.0	1286.4	1491.6	2482.3	1079.9	114.13	10.53	941	30360.98	0.00	0.09	4.30	0.000	0.239	0.022	1388.94	1286.00	1491.88	2439.69	2601.44	0	0	0	30.00	15.37	15.57
30660.13	35	380.34	1.57	0.00	1385.8	1280.6	1490.9	2438.9	2602.2	89.18	7.20	986	30695.90	34.91	0.13	0.00	1.304	0.084	0.000	1219.72	1120.31	1319.12	2508.62	2602.06	0	0	0	11.48	15.61	30.00
30995.40	551	457.18	1.76	-70.00	1212.0	1112.6	1311.5	2509.2	2601.9	65.34	5.33	1053	31062.49	60.54	0.10	4.47	1.279	0.098	0.040	905.84	827.00	984.69	2581.00	1079.19	0	0	0	11.49	15.59	15.32
31165.17	1062	505.40	1.88	0.00	899.4	823.6	975.2	2580.9	1079.8	54.31	6.89	1087	31211.82	38.57	0.00	4.29	1.229	0.000	0.021	709.31	645.06	773.56	2564.25	2599.94	0	0	0	11.79	30.00	15.51
31510.48	551	601.79	2.12	-70.00	702.3	637.0	767.6	2565.1	2599.8	38.01	4.27	1156	31551.61	32.49	0.28	4.45	1.218	0.055	0.040	549.00	515.81	582.19	2703.69	1078.25	0	0	0	11.51	15.55	15.34
31775.30	1063	700.47	2.37	0.00	541.9	510.8	573.0	2704.1	1078.6	23.03	4.14	1209	31781.51	0.00	0.15	4.28	0.000	0.081	0.019	542.19	511.31	573.06	2754.69	2604.06	0	0	0	30.00	15.47	15.58
32080.40	551	782.70	2.57	-70.00	540.9	510.8	571.1	2754.7	2602.9	6.93	5.04	1270	32086.38	0.00	0.14	4.41	0.000	0.087	0.038	541.06	510.94	571.19	2842.50	1079.50	0	0	0	30.00	15.62	15.59
32155	end climb: SURFACE_DEPTH_REACHED
state	32155	begin surface coast
32165	end surface coast: CONTROL_FINISHED_OK
state	32165	begin surface