Glider dive log

SODA Sep18 * SG229 * Dive index * Mission links * Dive 58 * 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 58 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 3.7771835 SEABIRD_T_J 3.4295531e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 13.382118 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 3.7771835 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.382118 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 58 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 011018,013631,7449.764,-14532.291,119,0.6,120,0.0 TGT_LATLONG 7415.000,-14625.000

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.96 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -74.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 011018,014149,7449.774,-14532.279,3,0.5,5,0.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 231.9,69642,-17.6,-10.000,-21.24

TGT_NAME AB2 D_GRID 990

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181001041547.743863,18,37,15,0043,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*03 INTERNAL_PRESSURE 9.14445

FINISH 0.4,1.028479 _24V_AH 14.21,28.033

SM_CCo 18960.82,0.00,0.000,0,544.1,615.3,472.9,643.15 _10V_AH 14.90,0.000

SM_GC 2.21,0.00,8.69,0.91,0.000,0.102,0.021,544.1,615.3,472.9,145.2,2274.6,0,0,0,30.00,15.49,15.59 FG_AHR_24Vo 13.610

SUPER 59,70,254,1,0,0 FG_AHR_10Vo 3.817

IRIDIUM_FIX 7450.74,-14537.54,300918,201018 MEM 1165628,27,13936,59

TCM_TEMP 177.47 DATA_FILE_SIZE 94854,2355

XPDR_PINGS 3 CAP_FILE_SIZE 521244,0

ALTIM_TOP_PING 19.9,20.3 SDSIZE 3918848,3895360

RAFOS_CLK -10 ERRORS 0,0,0,0,0,0,0,14

RAFOS_FIX 7450.201660,-14532.660156,011018,040457,1,2,0.09 SOUNDSPEED 1465.0

HUMID 53.89 CURRENT 0.186,160.4,1

TEMP -0.62 GPS 011018,070014,7449.520,-14533.561,82,0.9,96,0.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 768 2529 27624.21 nil 0 0 0.00

Pitch_motor 23 406 136.02 nil 0 0 0.00

Roll_motor 385 121 665.44 nil 0 0 0.00

Iridium 204 217 632.00 nil 0 0 0.00

Transponder_ping 1 420 5.97 nil 0 0 0.00

GPS 14 15 3.33 nil 0 0 0.00

Core 4127 19 1225.02 SciCon 0 0 0.00

LPSleep 15100 2 519.75 nil 0 0 0.00

Compass 2496 5 185.97 nil 0 0 0.00

RAFOS 2216 48 1584.88

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

3.72 2 -145.99 -0.81 0.00 544.6 602.3 486.9 143.4 2183.6 0.00 0.00 0 53.78 49.44 0.00 0.00 0.005 0.000 0.000 1442.81 1468.19 1417.44 143.44 2184.62 0 0 0 15.59 30.00 30.00

55.57 295 -145.99 -0.81 80.00 1443.1 1468.1 1418.1 143.3 2183.9 3.99 -4.77 5 128.95 54.57 8.94 5.73 0.005 0.406 0.058 3761.22 3775.44 3747.00 1669.50 3948.69 0 0 0 15.59 15.47 15.60

351.84 1028 -145.99 -0.81 0.00 3759.2 3776.0 3742.3 1670.2 3947.5 89.68 -18.88 64 358.42 0.00 0.00 5.14 0.000 0.000 0.026 3761.28 3778.88 3743.69 1688.19 2234.19 0 0 0 30.00 30.00 15.74

536.91 260 -145.99 -0.81 80.00 3759.4 3779.8 3739.0 1689.3 2233.9 128.46 -20.51 83 545.84 0.00 0.00 5.57 0.000 0.000 0.058 3758.28 3778.12 3738.44 1668.75 3949.69 0 0 0 30.00 30.00 15.78

771.98 1028 -145.99 -0.81 0.00 3760.2 3780.7 3739.7 1669.0 3948.7 168.40 -15.78 130 778.54 0.00 0.00 5.10 0.000 0.000 0.025 3759.00 3779.75 3738.25 1687.38 2234.56 0 0 0 30.00 30.00 15.83

962.10 260 -145.99 -0.81 80.00 3760.2 3782.6 3737.8 1688.1 2233.2 203.12 -18.40 150 970.99 0.00 0.00 5.53 0.000 0.000 0.057 3763.53 3786.06 3741.00 1667.06 3950.06 0 0 0 30.00 30.00 15.83

1197.15 1028 -145.99 -0.81 0.00 3760.8 3783.3 3738.2 1667.3 3948.9 237.96 -13.36 197 1203.71 0.00 0.00 5.05 0.000 0.000 0.024 3759.44 3782.00 3736.88 1682.94 2230.94 0 0 0 30.00 30.00 15.87

1397.26 260 -145.99 -0.81 80.00 3759.9 3782.8 3737.1 1683.1 2231.7 267.97 -14.74 212 1404.65 0.00 0.00 5.53 0.000 0.000 0.057 3764.91 3788.25 3741.56 1661.38 3950.88 0 0 0 30.00 30.00 15.90

1627.54 1028 -145.99 -0.81 0.00 3760.0 3782.2 3737.7 1663.1 3950.8 296.31 -11.53 258 1634.14 0.00 0.00 5.05 0.000 0.000 0.024 3759.19 3781.25 3737.12 1666.94 2231.38 0 0 0 30.00 30.00 15.93

1947.67 260 -145.99 -0.81 80.00 3760.6 3782.8 3738.3 1667.6 2231.6 337.89 -13.14 277 1956.35 0.00 0.00 5.52 0.000 0.000 0.057 3762.38 3784.94 3739.81 1646.81 3947.62 0 0 0 30.00 30.00 15.95

2182.60 1029 -145.99 -0.81 0.00 3760.6 3783.3 3737.9 1646.7 3947.9 366.16 -11.66 324 2189.33 0.00 0.20 5.03 0.000 0.173 0.023 3757.62 3781.75 3733.50 1691.69 2229.50 0 0 0 30.00 15.88 15.94

2502.83 260 -145.99 -0.81 80.00 3760.2 3783.6 3736.9 1691.8 2228.1 401.72 -10.98 343 2511.68 0.00 0.00 5.57 0.000 0.000 0.059 3759.78 3784.06 3735.50 1671.50 3948.00 0 0 0 30.00 30.00 15.97

2737.76 1028 -145.99 -0.81 0.00 3760.1 3783.6 3736.6 1671.6 3947.1 425.12 -9.61 390 2744.30 0.00 0.00 4.99 0.000 0.000 0.023 3761.38 3784.44 3738.31 1671.50 2230.44 0 0 0 30.00 30.00 15.97

3057.80 260 -145.99 -0.81 80.00 3760.6 3784.5 3736.7 1671.7 2228.7 461.02 -11.30 409 3066.71 0.00 0.00 5.55 0.000 0.000 0.059 3758.94 3783.44 3734.44 1651.50 3949.50 0 0 0 30.00 30.00 15.99

3292.88 1029 -145.99 -0.81 0.00 3760.2 3783.8 3736.6 1651.4 3949.0 485.53 -10.23 456 3299.81 0.00 0.15 5.01 0.000 0.176 0.025 3760.78 3784.88 3736.69 1691.62 2230.12 0 0 0 30.00 15.91 16.03

3612.93 260 -145.99 -0.81 80.00 3760.5 3784.6 3736.4 1691.6 2230.4 518.03 -10.22 475 3621.76 0.00 0.00 5.53 0.000 0.000 0.060 3760.66 3784.31 3737.00 1671.31 3946.06 0 0 0 30.00 30.00 16.02

3847.99 1028 -145.99 -0.81 0.00 3760.0 3783.8 3736.2 1671.8 3947.6 540.03 -9.31 522 3854.61 0.00 0.00 4.99 0.000 0.000 0.023 3760.84 3784.94 3736.75 1672.56 2230.38 0 0 0 30.00 30.00 16.03

4168.10 260 -145.99 -0.81 80.00 3761.1 3785.2 3736.9 1671.5 2228.1 574.62 -10.95 541 4176.70 0.00 0.00 5.52 0.000 0.000 0.059 3761.19 3785.12 3737.25 1650.69 3947.25 0 0 0 30.00 30.00 16.03

4403.33 1029 -145.99 -0.81 0.00 3760.0 3783.6 3736.4 1650.6 3946.5 599.10 -10.27 588 4411.76 0.00 0.16 4.99 0.000 0.172 0.024 3760.25 3784.38 3736.12 1691.12 2227.75 0 0 0 30.00 15.94 16.03

4728.20 260 -145.99 -0.81 80.00 3760.4 3784.2 3736.6 1691.6 2229.3 632.28 -10.32 608 4737.04 0.00 0.00 5.54 0.000 0.000 0.059 3760.62 3785.19 3736.06 1671.81 3946.06 0 0 0 30.00 30.00 16.05

4963.32 1028 -145.99 -0.81 0.00 3760.9 3785.3 3736.6 1671.0 3946.8 654.92 -9.73 655 4969.92 0.00 0.00 4.96 0.000 0.000 0.023 3759.97 3784.25 3735.69 1676.50 2232.38 0 0 0 30.00 30.00 16.08

5283.42 260 -145.99 -0.81 80.00 3761.8 3785.9 3737.6 1675.8 2230.1 689.59 -10.88 674 5292.25 0.00 0.00 5.51 0.000 0.000 0.058 3763.44 3788.94 3737.94 1656.00 3949.44 0 0 0 30.00 30.00 16.05

5518.40 1029 -145.99 -0.81 0.00 3760.7 3784.4 3737.1 1655.4 3949.6 713.77 -10.50 721 5525.10 0.00 0.15 4.97 0.000 0.172 0.023 3759.56 3784.25 3734.88 1690.44 2229.50 0 0 0 30.00 15.97 16.07

5838.41 260 -145.99 -0.81 80.00 3761.7 3787.0 3736.4 1691.2 2229.8 745.78 -10.00 740 5847.07 0.00 0.00 5.49 0.000 0.000 0.058 3760.94 3785.94 3735.94 1670.56 3948.44 0 0 0 30.00 30.00 16.08

6073.66 1028 -145.99 -0.81 0.00 3761.5 3785.8 3737.3 1671.0 3946.9 768.17 -9.65 787 6080.02 0.00 0.00 4.97 0.000 0.000 0.023 3760.78 3785.44 3736.12 1669.44 2231.31 0 0 0 30.00 30.00 16.10

6393.64 260 -145.99 -0.81 80.00 3762.6 3787.2 3738.0 1671.2 2228.7 802.22 -10.72 806 6402.51 0.00 0.00 5.50 0.000 0.000 0.058 3765.88 3791.06 3740.69 1650.50 3949.75 0 0 0 30.00 30.00 16.08

6628.77 1029 -145.99 -0.81 0.00 3761.9 3786.6 3737.2 1650.7 3949.4 826.49 -10.23 853 6637.19 0.00 0.17 4.95 0.000 0.169 0.024 3761.97 3787.00 3736.94 1691.56 2230.75 0 0 0 30.00 15.99 16.08

6953.81 260 -145.99 -0.81 80.00 3762.9 3788.6 3737.3 1691.9 2230.6 858.01 -9.51 873 6962.45 0.00 0.00 5.50 0.000 0.000 0.058 3762.34 3787.25 3737.44 1672.19 3947.38 0 0 0 30.00 30.00 16.08

7188.79 1028 -145.99 -0.81 0.00 3763.2 3787.7 3738.8 1671.5 3946.4 879.62 -9.17 920 7195.38 0.00 0.00 4.95 0.000 0.000 0.023 3762.50 3787.88 3737.12 1671.75 2227.69 0 0 0 30.00 30.00 16.12

7508.77 260 -145.99 -0.81 80.00 3761.8 3786.5 3737.1 1671.7 2227.9 912.60 -10.48 939 7516.35 0.00 0.00 5.49 0.000 0.000 0.058 3761.56 3785.44 3737.69 1649.88 3945.06 0 0 0 30.00 30.00 16.09

7739.21 1029 -145.99 -0.81 0.00 3762.5 3787.6 3737.4 1650.8 3945.8 935.61 -9.94 985 7746.80 0.00 0.17 4.95 0.000 0.168 0.023 3762.09 3786.81 3737.38 1690.25 2229.88 0 0 0 30.00 16.01 16.08

8059.78 260 -145.99 -0.81 80.00 3761.9 3786.7 3737.2 1690.7 2229.6 965.30 -9.15 1004 8068.34 0.00 0.00 5.49 0.000 0.000 0.059 3763.53 3787.88 3739.19 1670.12 3948.12 0 0 0 30.00 30.00 16.09

8303.81 1028 -145.99 -0.81 0.00 3763.2 3788.3 3738.1 1670.8 3947.8 987.17 -9.18 1051 8310.42 0.00 0.00 4.97 0.000 0.000 0.023 3762.53 3788.31 3736.75 1675.88 2229.81 0 0 0 30.00 30.00 16.07

8342 end dive: TARGET_DEPTH_EXCEEDED

state 8342 begin apogee

8346.18 3 0.00 -0.10 0.00 3762.9 3787.9 3737.9 1679.3 1875.9 990.67 -9.35 1056 8478.42 129.26 1.50 0.13 2.529 0.170 0.121 3161.66 3242.38 3080.94 1913.94 1982.75 0 0 0 12.94 16.01 15.11

8478 end apogee: CONTROL_FINISHED_OK

state 8478 begin climb

8480.22 519 145.99 0.81 -80.00 3162.6 3243.0 3082.2 1914.4 1983.0 993.91 0.00 1062 8623.17 133.60 1.12 5.58 2.438 0.069 0.058 2565.62 2655.94 2475.31 2241.50 332.31 0 0 0 12.40 15.13 14.79

8821.02 1031 145.99 0.81 0.00 2554.9 2633.6 2476.2 2242.4 332.1 971.24 13.01 1130 8827.64 0.00 0.12 4.65 0.000 0.261 0.013 2554.41 2633.56 2475.25 2203.31 1950.31 0 0 0 30.00 15.21 15.34

9131.27 582 145.99 0.82 -80.00 2552.4 2633.6 2471.2 2203.2 1960.2 943.52 8.98 1147 9140.00 0.00 0.00 5.30 0.000 0.000 0.058 2552.84 2633.75 2471.94 2222.50 333.31 0 0 0 30.00 30.00 15.52

9366.12 1030 145.99 0.82 0.00 2550.5 2629.6 2471.4 2222.9 333.3 916.27 11.81 1194 9372.66 0.00 0.00 4.57 0.000 0.000 0.013 2549.25 2627.62 2470.88 2202.88 1933.81 0 0 0 30.00 30.00 15.62

9686.33 582 145.99 0.84 -80.00 2550.5 2629.8 2471.1 2203.9 1944.6 887.81 8.73 1213 9694.94 0.00 0.00 5.22 0.000 0.000 0.058 2551.56 2630.38 2472.75 2223.06 332.25 0 0 0 30.00 30.00 15.68

9711.26 1094 145.99 0.85 0.00 2550.2 2628.7 2471.7 2222.9 332.1 885.20 9.08 1218 9717.74 0.00 0.00 4.55 0.000 0.000 0.013 2550.84 2629.81 2471.88 2202.00 1936.06 0 0 0 30.00 30.00 15.70

10021.37 582 145.99 0.87 -80.00 2550.1 2628.1 2472.0 2204.1 1946.6 857.97 8.60 1235 10029.89 0.00 0.00 5.18 0.000 0.000 0.058 2552.22 2631.06 2473.38 2223.00 333.44 0 0 0 30.00 30.00 15.74

10256.26 1030 145.99 0.87 0.00 2549.1 2627.2 2470.9 2223.2 333.2 832.27 10.62 1282 10262.76 0.00 0.00 4.51 0.000 0.000 0.013 2546.97 2623.94 2470.00 2204.06 1935.19 0 0 0 30.00 30.00 15.77

10576.46 583 145.99 0.90 -80.00 2548.6 2626.1 2471.1 2204.9 1945.4 805.47 8.08 1301 10585.08 0.00 0.13 5.16 0.000 0.112 0.058 2551.78 2630.19 2473.38 2264.38 333.38 0 0 0 30.00 15.76 15.81

10811.48 1030 145.99 0.90 0.00 2547.8 2624.9 2470.7 2264.2 333.2 776.74 12.75 1348 10817.76 0.00 0.00 4.51 0.000 0.000 0.014 2545.97 2622.69 2469.25 2245.88 1933.75 0 0 0 30.00 30.00 15.86

11131.65 582 145.99 0.91 -80.00 2548.4 2625.4 2471.4 2245.6 1943.6 746.02 9.29 1367 11140.35 0.00 0.00 5.11 0.000 0.000 0.057 2549.81 2624.69 2474.94 2264.25 332.12 0 0 0 30.00 30.00 15.88

11206.63 1030 145.99 0.91 0.00 2547.3 2623.8 2470.8 2265.6 332.3 736.99 12.65 1382 11212.88 0.00 0.00 4.49 0.000 0.000 0.014 2547.00 2622.25 2471.75 2244.94 1934.50 0 0 0 30.00 30.00 15.89

11526.66 582 145.99 0.92 -80.00 2547.2 2623.0 2471.5 2245.6 1946.1 706.43 9.47 1401 11535.14 0.00 0.00 5.12 0.000 0.000 0.057 2547.09 2621.50 2472.69 2265.50 331.69 0 0 0 30.00 30.00 15.94

11761.67 1030 145.99 0.92 0.00 2546.3 2621.9 2470.8 2265.4 332.0 677.97 12.30 1448 11768.20 0.00 0.00 4.49 0.000 0.000 0.014 2543.50 2618.94 2468.06 2245.19 1934.19 0 0 0 30.00 30.00 15.95

12081.64 326 145.99 0.93 80.00 2546.8 2622.4 2471.2 2246.2 1944.6 648.19 9.26 1467 12088.23 0.00 0.00 5.14 0.000 0.000 0.045 2545.06 2620.44 2469.69 2231.38 3605.06 0 0 0 30.00 30.00 15.99

12311.73 1094 145.99 0.94 0.00 2546.6 2621.8 2471.4 2230.7 3604.6 625.56 9.37 1513 12318.33 0.00 0.00 5.07 0.000 0.000 0.028 2544.50 2620.69 2468.31 2251.44 1881.62 0 0 0 30.00 30.00 15.97

12631.86 582 145.99 0.95 -80.00 2545.2 2620.9 2469.4 2251.2 1882.2 595.11 9.42 1532 12638.41 0.00 0.00 4.87 0.000 0.000 0.058 2549.34 2625.00 2473.69 2270.88 331.94 0 0 0 30.00 30.00 16.01

12701.81 1030 145.99 0.95 0.00 2545.5 2620.8 2470.2 2271.9 332.1 586.86 12.28 1546 12708.33 0.00 0.00 4.45 0.000 0.000 0.014 2545.03 2620.38 2469.69 2251.69 1936.38 0 0 0 30.00 30.00 16.03

13021.99 582 145.99 0.96 -80.00 2545.8 2621.3 2470.3 2252.1 1947.6 556.57 9.24 1565 13029.27 0.00 0.00 5.08 0.000 0.000 0.058 2544.12 2619.44 2468.81 2272.75 333.25 0 0 0 30.00 30.00 16.01

13042.04 1094 145.99 0.97 0.00 2545.6 2621.1 2470.1 2272.1 333.2 554.35 9.43 1569 13048.52 0.00 0.00 4.46 0.000 0.000 0.013 2544.75 2619.56 2469.94 2250.31 1935.56 0 0 0 30.00 30.00 16.01

13352.22 582 145.99 0.98 -80.00 2545.8 2621.4 2470.2 2252.1 1946.9 525.89 9.09 1586 13358.74 0.00 0.00 5.10 0.000 0.000 0.057 2546.41 2621.31 2471.50 2269.06 331.75 0 0 0 30.00 30.00 16.02

13582.34 1030 145.99 0.98 0.00 2544.8 2619.4 2470.1 2271.6 332.1 498.94 11.72 1632 13588.58 0.00 0.00 4.45 0.000 0.000 0.014 2545.94 2620.88 2471.00 2252.06 1934.88 0 0 0 30.00 30.00 16.02

13902.28 326 145.99 1.00 80.00 2544.8 2620.1 2469.5 2251.7 1945.5 469.72 8.95 1651 13908.83 0.00 0.00 5.08 0.000 0.000 0.044 2543.09 2617.62 2468.56 2231.94 3605.38 0 0 0 30.00 30.00 16.06

14132.35 1095 145.99 1.02 0.00 2544.8 2619.6 2469.9 2232.2 3603.7 448.46 8.84 1697 14139.00 0.00 0.09 5.04 0.000 0.124 0.027 2543.91 2619.25 2468.56 2286.31 1880.06 0 0 0 30.00 16.03 16.05

14452.55 582 145.99 1.03 -80.00 2544.6 2619.4 2469.9 2287.1 1881.2 418.32 9.37 1716 14458.84 0.00 0.00 4.84 0.000 0.000 0.057 2546.19 2621.75 2470.62 2306.12 330.81 0 0 0 30.00 30.00 16.03

14567.54 1030 145.99 1.03 0.00 2544.3 2618.7 2470.0 2306.6 330.8 404.70 12.22 1739 14573.92 0.00 0.00 4.44 0.000 0.000 0.013 2542.88 2617.56 2468.19 2288.19 1935.88 0 0 0 30.00 30.00 16.07

14882.67 582 145.99 1.04 -80.00 2544.7 2619.6 2469.8 2287.4 1947.2 375.54 9.03 1757 14891.09 0.00 0.00 5.06 0.000 0.000 0.057 2544.47 2619.62 2469.31 2306.81 332.12 0 0 0 30.00 30.00 16.05

15117.38 1030 145.99 1.04 0.00 2544.2 2619.1 2469.2 2307.5 330.8 350.01 10.87 1804 15123.93 0.00 0.00 4.43 0.000 0.000 0.013 2544.12 2619.69 2468.56 2287.94 1937.50 0 0 0 30.00 30.00 16.07

15437.64 295 211.85 1.24 80.00 2544.2 2619.2 2469.1 2288.0 1947.8 325.99 6.94 1823 15499.50 54.29 0.21 5.17 1.783 0.097 0.044 2298.34 2387.75 2208.94 2330.50 3607.31 0 0 0 13.06 16.07 15.70

15722.73 1028 211.85 1.24 0.00 2295.1 2379.8 2210.3 2331.4 3606.2 292.69 11.96 1880 15730.06 0.00 0.00 5.15 0.000 0.000 0.028 2292.62 2377.56 2207.69 2349.50 1883.12 0 0 0 30.00 30.00 15.86

16027.69 582 211.85 1.26 -80.00 2292.2 2380.1 2204.4 2351.4 1883.1 262.46 8.77 1896 16033.96 0.00 0.00 4.89 0.000 0.000 0.056 2291.78 2379.06 2204.50 2371.12 332.12 0 0 0 30.00 30.00 15.90

16257.65 1063 295.28 1.51 0.00 2289.3 2371.6 2207.1 2370.9 332.3 244.54 6.12 1942 16334.78 69.85 0.32 4.43 1.674 0.115 0.010 1959.31 2057.00 1861.62 2430.12 1960.38 0 0 0 12.82 15.84 15.92

16517.91 518 295.28 1.51 -80.00 1951.3 2048.8 1853.9 2432.4 1961.2 218.24 11.65 1976 16526.49 0.00 0.00 5.24 0.000 0.000 0.058 1951.38 2048.31 1854.44 2453.50 332.25 0 0 0 30.00 30.00 15.68

16632.72 1030 295.28 1.51 0.00 1947.8 2040.3 1855.3 2453.5 331.9 202.36 13.69 1999 16639.22 0.00 0.00 4.53 0.000 0.000 0.013 1946.28 2038.31 1854.25 2433.56 1934.62 0 0 0 30.00 30.00 15.71

16822.92 518 295.28 1.51 -80.00 1946.8 2040.8 1852.9 2435.5 1945.5 183.30 9.73 2019 16829.54 0.00 0.00 5.16 0.000 0.000 0.058 1945.44 2038.50 1852.38 2453.62 332.06 0 0 0 30.00 30.00 15.78

17053.06 1030 295.28 1.51 0.00 1944.6 2034.9 1854.3 2453.2 332.2 157.91 10.45 2065 17059.45 0.00 0.00 4.47 0.000 0.000 0.012 1946.75 2037.56 1855.94 2432.25 1936.62 0 0 0 30.00 30.00 15.84

17243.06 295 368.01 1.73 80.00 1943.9 2035.2 1852.6 2435.5 1948.5 144.07 6.62 2085 17308.97 57.04 0.25 5.22 1.584 0.098 0.044 1662.94 1757.69 1568.19 2488.94 3603.50 0 0 0 12.69 15.83 15.50

17533.16 1030 368.01 1.73 0.00 1657.5 1746.6 1568.3 2488.5 3604.6 112.47 10.83 2143 17541.73 0.00 0.00 5.18 0.000 0.000 0.029 1659.53 1749.62 1569.44 2508.88 1883.38 0 0 0 30.00 30.00 15.70

17723.18 551 412.76 1.86 -80.00 1654.8 1747.2 1562.4 2509.0 1881.9 96.08 7.92 2163 17767.70 36.44 0.12 5.00 1.507 0.103 0.059 1480.00 1574.00 1386.00 2570.25 331.81 0 0 0 12.65 15.73 15.52

17848.21 1028 412.76 1.86 0.00 1476.3 1564.5 1388.1 2570.9 331.9 81.08 14.63 2188 17854.74 0.00 0.00 4.55 0.000 0.000 0.013 1475.47 1563.62 1387.31 2552.44 1933.31 0 0 0 30.00 30.00 15.64

18038.24 551 559.61 2.30 -80.00 1473.1 1563.9 1382.3 2552.3 1944.0 71.08 3.17 2208 18161.43 115.33 0.51 5.37 1.467 0.086 0.061 881.62 975.31 787.94 2708.94 333.12 0 0 0 12.60 15.69 15.23

18339.22 1030 559.61 2.30 0.00 875.3 957.3 793.3 2708.3 333.3 41.72 9.98 2268 18345.69 0.00 0.00 4.55 0.000 0.000 0.011 874.78 956.88 792.69 2689.25 1942.12 0 0 0 30.00 30.00 15.53

18529.34 551 707.75 2.75 -80.00 873.8 957.0 790.5 2688.4 1952.8 34.00 3.11 2288 18606.61 68.78 0.54 5.32 1.403 0.082 0.057 548.03 628.06 468.00 2853.81 331.12 0 0 0 12.54 15.60 15.29

18829.57 1030 707.75 2.75 0.00 543.8 614.8 472.9 2854.3 331.1 7.73 14.21 2348 18836.10 0.00 0.00 4.59 0.000 0.000 0.013 543.97 614.75 473.19 2835.25 1934.12 0 0 0 30.00 30.00 15.54

18878 end climb: SURFACE_DEPTH_REACHED

state 18878 begin surface coast

18888 end surface coast: CONTROL_FINISHED_OK

state 18888 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	58	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	3.7771835	SEABIRD_T_J	3.4295531e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	13.382118	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	011018,013631,7449.764,-14532.291,119,0.6,120,0.0	TGT_LATLONG	7415.000,-14625.000
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.96	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-74.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	011018,014149,7449.774,-14532.279,3,0.5,5,0.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	231.9,69642,-17.6,-10.000,-21.24
TGT_NAME	AB2	D_GRID	990

MODEM_MSG	CACST,6,1,20181001041547.743863,18,37,15,0043,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*03	INTERNAL_PRESSURE	9.14445
FINISH	0.4,1.028479	_24V_AH	14.21,28.033
SM_CCo	18960.82,0.00,0.000,0,544.1,615.3,472.9,643.15	_10V_AH	14.90,0.000
SM_GC	2.21,0.00,8.69,0.91,0.000,0.102,0.021,544.1,615.3,472.9,145.2,2274.6,0,0,0,30.00,15.49,15.59	FG_AHR_24Vo	13.610
SUPER	59,70,254,1,0,0	FG_AHR_10Vo	3.817
IRIDIUM_FIX	7450.74,-14537.54,300918,201018	MEM	1165628,27,13936,59
TCM_TEMP	177.47	DATA_FILE_SIZE	94854,2355
XPDR_PINGS	3	CAP_FILE_SIZE	521244,0
ALTIM_TOP_PING	19.9,20.3	SDSIZE	3918848,3895360
RAFOS_CLK	-10	ERRORS	0,0,0,0,0,0,0,14
RAFOS_FIX	7450.201660,-14532.660156,011018,040457,1,2,0.09	SOUNDSPEED	1465.0
HUMID	53.89	CURRENT	0.186,160.4,1
TEMP	-0.62	GPS	011018,070014,7449.520,-14533.561,82,0.9,96,0.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	768	2529	27624.21	nil	0	0	0.00
Pitch_motor	23	406	136.02	nil	0	0	0.00
Roll_motor	385	121	665.44	nil	0	0	0.00
Iridium	204	217	632.00	nil	0	0	0.00
Transponder_ping	1	420	5.97	nil	0	0	0.00
GPS	14	15	3.33	nil	0	0	0.00
Core	4127	19	1225.02	SciCon	0	0	0.00
LPSleep	15100	2	519.75	nil	0	0	0.00
Compass	2496	5	185.97	nil	0	0	0.00
RAFOS	2216	48	1584.88
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
3.72	2	-145.99	-0.81	0.00	544.6	602.3	486.9	143.4	2183.6	0.00	0.00	0	53.78	49.44	0.00	0.00	0.005	0.000	0.000	1442.81	1468.19	1417.44	143.44	2184.62	0	0	0	15.59	30.00	30.00
55.57	295	-145.99	-0.81	80.00	1443.1	1468.1	1418.1	143.3	2183.9	3.99	-4.77	5	128.95	54.57	8.94	5.73	0.005	0.406	0.058	3761.22	3775.44	3747.00	1669.50	3948.69	0	0	0	15.59	15.47	15.60
351.84	1028	-145.99	-0.81	0.00	3759.2	3776.0	3742.3	1670.2	3947.5	89.68	-18.88	64	358.42	0.00	0.00	5.14	0.000	0.000	0.026	3761.28	3778.88	3743.69	1688.19	2234.19	0	0	0	30.00	30.00	15.74
536.91	260	-145.99	-0.81	80.00	3759.4	3779.8	3739.0	1689.3	2233.9	128.46	-20.51	83	545.84	0.00	0.00	5.57	0.000	0.000	0.058	3758.28	3778.12	3738.44	1668.75	3949.69	0	0	0	30.00	30.00	15.78
771.98	1028	-145.99	-0.81	0.00	3760.2	3780.7	3739.7	1669.0	3948.7	168.40	-15.78	130	778.54	0.00	0.00	5.10	0.000	0.000	0.025	3759.00	3779.75	3738.25	1687.38	2234.56	0	0	0	30.00	30.00	15.83
962.10	260	-145.99	-0.81	80.00	3760.2	3782.6	3737.8	1688.1	2233.2	203.12	-18.40	150	970.99	0.00	0.00	5.53	0.000	0.000	0.057	3763.53	3786.06	3741.00	1667.06	3950.06	0	0	0	30.00	30.00	15.83
1197.15	1028	-145.99	-0.81	0.00	3760.8	3783.3	3738.2	1667.3	3948.9	237.96	-13.36	197	1203.71	0.00	0.00	5.05	0.000	0.000	0.024	3759.44	3782.00	3736.88	1682.94	2230.94	0	0	0	30.00	30.00	15.87
1397.26	260	-145.99	-0.81	80.00	3759.9	3782.8	3737.1	1683.1	2231.7	267.97	-14.74	212	1404.65	0.00	0.00	5.53	0.000	0.000	0.057	3764.91	3788.25	3741.56	1661.38	3950.88	0	0	0	30.00	30.00	15.90
1627.54	1028	-145.99	-0.81	0.00	3760.0	3782.2	3737.7	1663.1	3950.8	296.31	-11.53	258	1634.14	0.00	0.00	5.05	0.000	0.000	0.024	3759.19	3781.25	3737.12	1666.94	2231.38	0	0	0	30.00	30.00	15.93
1947.67	260	-145.99	-0.81	80.00	3760.6	3782.8	3738.3	1667.6	2231.6	337.89	-13.14	277	1956.35	0.00	0.00	5.52	0.000	0.000	0.057	3762.38	3784.94	3739.81	1646.81	3947.62	0	0	0	30.00	30.00	15.95
2182.60	1029	-145.99	-0.81	0.00	3760.6	3783.3	3737.9	1646.7	3947.9	366.16	-11.66	324	2189.33	0.00	0.20	5.03	0.000	0.173	0.023	3757.62	3781.75	3733.50	1691.69	2229.50	0	0	0	30.00	15.88	15.94
2502.83	260	-145.99	-0.81	80.00	3760.2	3783.6	3736.9	1691.8	2228.1	401.72	-10.98	343	2511.68	0.00	0.00	5.57	0.000	0.000	0.059	3759.78	3784.06	3735.50	1671.50	3948.00	0	0	0	30.00	30.00	15.97
2737.76	1028	-145.99	-0.81	0.00	3760.1	3783.6	3736.6	1671.6	3947.1	425.12	-9.61	390	2744.30	0.00	0.00	4.99	0.000	0.000	0.023	3761.38	3784.44	3738.31	1671.50	2230.44	0	0	0	30.00	30.00	15.97
3057.80	260	-145.99	-0.81	80.00	3760.6	3784.5	3736.7	1671.7	2228.7	461.02	-11.30	409	3066.71	0.00	0.00	5.55	0.000	0.000	0.059	3758.94	3783.44	3734.44	1651.50	3949.50	0	0	0	30.00	30.00	15.99
3292.88	1029	-145.99	-0.81	0.00	3760.2	3783.8	3736.6	1651.4	3949.0	485.53	-10.23	456	3299.81	0.00	0.15	5.01	0.000	0.176	0.025	3760.78	3784.88	3736.69	1691.62	2230.12	0	0	0	30.00	15.91	16.03
3612.93	260	-145.99	-0.81	80.00	3760.5	3784.6	3736.4	1691.6	2230.4	518.03	-10.22	475	3621.76	0.00	0.00	5.53	0.000	0.000	0.060	3760.66	3784.31	3737.00	1671.31	3946.06	0	0	0	30.00	30.00	16.02
3847.99	1028	-145.99	-0.81	0.00	3760.0	3783.8	3736.2	1671.8	3947.6	540.03	-9.31	522	3854.61	0.00	0.00	4.99	0.000	0.000	0.023	3760.84	3784.94	3736.75	1672.56	2230.38	0	0	0	30.00	30.00	16.03
4168.10	260	-145.99	-0.81	80.00	3761.1	3785.2	3736.9	1671.5	2228.1	574.62	-10.95	541	4176.70	0.00	0.00	5.52	0.000	0.000	0.059	3761.19	3785.12	3737.25	1650.69	3947.25	0	0	0	30.00	30.00	16.03
4403.33	1029	-145.99	-0.81	0.00	3760.0	3783.6	3736.4	1650.6	3946.5	599.10	-10.27	588	4411.76	0.00	0.16	4.99	0.000	0.172	0.024	3760.25	3784.38	3736.12	1691.12	2227.75	0	0	0	30.00	15.94	16.03
4728.20	260	-145.99	-0.81	80.00	3760.4	3784.2	3736.6	1691.6	2229.3	632.28	-10.32	608	4737.04	0.00	0.00	5.54	0.000	0.000	0.059	3760.62	3785.19	3736.06	1671.81	3946.06	0	0	0	30.00	30.00	16.05
4963.32	1028	-145.99	-0.81	0.00	3760.9	3785.3	3736.6	1671.0	3946.8	654.92	-9.73	655	4969.92	0.00	0.00	4.96	0.000	0.000	0.023	3759.97	3784.25	3735.69	1676.50	2232.38	0	0	0	30.00	30.00	16.08
5283.42	260	-145.99	-0.81	80.00	3761.8	3785.9	3737.6	1675.8	2230.1	689.59	-10.88	674	5292.25	0.00	0.00	5.51	0.000	0.000	0.058	3763.44	3788.94	3737.94	1656.00	3949.44	0	0	0	30.00	30.00	16.05
5518.40	1029	-145.99	-0.81	0.00	3760.7	3784.4	3737.1	1655.4	3949.6	713.77	-10.50	721	5525.10	0.00	0.15	4.97	0.000	0.172	0.023	3759.56	3784.25	3734.88	1690.44	2229.50	0	0	0	30.00	15.97	16.07
5838.41	260	-145.99	-0.81	80.00	3761.7	3787.0	3736.4	1691.2	2229.8	745.78	-10.00	740	5847.07	0.00	0.00	5.49	0.000	0.000	0.058	3760.94	3785.94	3735.94	1670.56	3948.44	0	0	0	30.00	30.00	16.08
6073.66	1028	-145.99	-0.81	0.00	3761.5	3785.8	3737.3	1671.0	3946.9	768.17	-9.65	787	6080.02	0.00	0.00	4.97	0.000	0.000	0.023	3760.78	3785.44	3736.12	1669.44	2231.31	0	0	0	30.00	30.00	16.10
6393.64	260	-145.99	-0.81	80.00	3762.6	3787.2	3738.0	1671.2	2228.7	802.22	-10.72	806	6402.51	0.00	0.00	5.50	0.000	0.000	0.058	3765.88	3791.06	3740.69	1650.50	3949.75	0	0	0	30.00	30.00	16.08
6628.77	1029	-145.99	-0.81	0.00	3761.9	3786.6	3737.2	1650.7	3949.4	826.49	-10.23	853	6637.19	0.00	0.17	4.95	0.000	0.169	0.024	3761.97	3787.00	3736.94	1691.56	2230.75	0	0	0	30.00	15.99	16.08
6953.81	260	-145.99	-0.81	80.00	3762.9	3788.6	3737.3	1691.9	2230.6	858.01	-9.51	873	6962.45	0.00	0.00	5.50	0.000	0.000	0.058	3762.34	3787.25	3737.44	1672.19	3947.38	0	0	0	30.00	30.00	16.08
7188.79	1028	-145.99	-0.81	0.00	3763.2	3787.7	3738.8	1671.5	3946.4	879.62	-9.17	920	7195.38	0.00	0.00	4.95	0.000	0.000	0.023	3762.50	3787.88	3737.12	1671.75	2227.69	0	0	0	30.00	30.00	16.12
7508.77	260	-145.99	-0.81	80.00	3761.8	3786.5	3737.1	1671.7	2227.9	912.60	-10.48	939	7516.35	0.00	0.00	5.49	0.000	0.000	0.058	3761.56	3785.44	3737.69	1649.88	3945.06	0	0	0	30.00	30.00	16.09
7739.21	1029	-145.99	-0.81	0.00	3762.5	3787.6	3737.4	1650.8	3945.8	935.61	-9.94	985	7746.80	0.00	0.17	4.95	0.000	0.168	0.023	3762.09	3786.81	3737.38	1690.25	2229.88	0	0	0	30.00	16.01	16.08
8059.78	260	-145.99	-0.81	80.00	3761.9	3786.7	3737.2	1690.7	2229.6	965.30	-9.15	1004	8068.34	0.00	0.00	5.49	0.000	0.000	0.059	3763.53	3787.88	3739.19	1670.12	3948.12	0	0	0	30.00	30.00	16.09
8303.81	1028	-145.99	-0.81	0.00	3763.2	3788.3	3738.1	1670.8	3947.8	987.17	-9.18	1051	8310.42	0.00	0.00	4.97	0.000	0.000	0.023	3762.53	3788.31	3736.75	1675.88	2229.81	0	0	0	30.00	30.00	16.07
8342	end dive: TARGET_DEPTH_EXCEEDED
state	8342	begin apogee
8346.18	3	0.00	-0.10	0.00	3762.9	3787.9	3737.9	1679.3	1875.9	990.67	-9.35	1056	8478.42	129.26	1.50	0.13	2.529	0.170	0.121	3161.66	3242.38	3080.94	1913.94	1982.75	0	0	0	12.94	16.01	15.11
8478	end apogee: CONTROL_FINISHED_OK
state	8478	begin climb
8480.22	519	145.99	0.81	-80.00	3162.6	3243.0	3082.2	1914.4	1983.0	993.91	0.00	1062	8623.17	133.60	1.12	5.58	2.438	0.069	0.058	2565.62	2655.94	2475.31	2241.50	332.31	0	0	0	12.40	15.13	14.79
8821.02	1031	145.99	0.81	0.00	2554.9	2633.6	2476.2	2242.4	332.1	971.24	13.01	1130	8827.64	0.00	0.12	4.65	0.000	0.261	0.013	2554.41	2633.56	2475.25	2203.31	1950.31	0	0	0	30.00	15.21	15.34
9131.27	582	145.99	0.82	-80.00	2552.4	2633.6	2471.2	2203.2	1960.2	943.52	8.98	1147	9140.00	0.00	0.00	5.30	0.000	0.000	0.058	2552.84	2633.75	2471.94	2222.50	333.31	0	0	0	30.00	30.00	15.52
9366.12	1030	145.99	0.82	0.00	2550.5	2629.6	2471.4	2222.9	333.3	916.27	11.81	1194	9372.66	0.00	0.00	4.57	0.000	0.000	0.013	2549.25	2627.62	2470.88	2202.88	1933.81	0	0	0	30.00	30.00	15.62
9686.33	582	145.99	0.84	-80.00	2550.5	2629.8	2471.1	2203.9	1944.6	887.81	8.73	1213	9694.94	0.00	0.00	5.22	0.000	0.000	0.058	2551.56	2630.38	2472.75	2223.06	332.25	0	0	0	30.00	30.00	15.68
9711.26	1094	145.99	0.85	0.00	2550.2	2628.7	2471.7	2222.9	332.1	885.20	9.08	1218	9717.74	0.00	0.00	4.55	0.000	0.000	0.013	2550.84	2629.81	2471.88	2202.00	1936.06	0	0	0	30.00	30.00	15.70
10021.37	582	145.99	0.87	-80.00	2550.1	2628.1	2472.0	2204.1	1946.6	857.97	8.60	1235	10029.89	0.00	0.00	5.18	0.000	0.000	0.058	2552.22	2631.06	2473.38	2223.00	333.44	0	0	0	30.00	30.00	15.74
10256.26	1030	145.99	0.87	0.00	2549.1	2627.2	2470.9	2223.2	333.2	832.27	10.62	1282	10262.76	0.00	0.00	4.51	0.000	0.000	0.013	2546.97	2623.94	2470.00	2204.06	1935.19	0	0	0	30.00	30.00	15.77
10576.46	583	145.99	0.90	-80.00	2548.6	2626.1	2471.1	2204.9	1945.4	805.47	8.08	1301	10585.08	0.00	0.13	5.16	0.000	0.112	0.058	2551.78	2630.19	2473.38	2264.38	333.38	0	0	0	30.00	15.76	15.81
10811.48	1030	145.99	0.90	0.00	2547.8	2624.9	2470.7	2264.2	333.2	776.74	12.75	1348	10817.76	0.00	0.00	4.51	0.000	0.000	0.014	2545.97	2622.69	2469.25	2245.88	1933.75	0	0	0	30.00	30.00	15.86
11131.65	582	145.99	0.91	-80.00	2548.4	2625.4	2471.4	2245.6	1943.6	746.02	9.29	1367	11140.35	0.00	0.00	5.11	0.000	0.000	0.057	2549.81	2624.69	2474.94	2264.25	332.12	0	0	0	30.00	30.00	15.88
11206.63	1030	145.99	0.91	0.00	2547.3	2623.8	2470.8	2265.6	332.3	736.99	12.65	1382	11212.88	0.00	0.00	4.49	0.000	0.000	0.014	2547.00	2622.25	2471.75	2244.94	1934.50	0	0	0	30.00	30.00	15.89
11526.66	582	145.99	0.92	-80.00	2547.2	2623.0	2471.5	2245.6	1946.1	706.43	9.47	1401	11535.14	0.00	0.00	5.12	0.000	0.000	0.057	2547.09	2621.50	2472.69	2265.50	331.69	0	0	0	30.00	30.00	15.94
11761.67	1030	145.99	0.92	0.00	2546.3	2621.9	2470.8	2265.4	332.0	677.97	12.30	1448	11768.20	0.00	0.00	4.49	0.000	0.000	0.014	2543.50	2618.94	2468.06	2245.19	1934.19	0	0	0	30.00	30.00	15.95
12081.64	326	145.99	0.93	80.00	2546.8	2622.4	2471.2	2246.2	1944.6	648.19	9.26	1467	12088.23	0.00	0.00	5.14	0.000	0.000	0.045	2545.06	2620.44	2469.69	2231.38	3605.06	0	0	0	30.00	30.00	15.99
12311.73	1094	145.99	0.94	0.00	2546.6	2621.8	2471.4	2230.7	3604.6	625.56	9.37	1513	12318.33	0.00	0.00	5.07	0.000	0.000	0.028	2544.50	2620.69	2468.31	2251.44	1881.62	0	0	0	30.00	30.00	15.97
12631.86	582	145.99	0.95	-80.00	2545.2	2620.9	2469.4	2251.2	1882.2	595.11	9.42	1532	12638.41	0.00	0.00	4.87	0.000	0.000	0.058	2549.34	2625.00	2473.69	2270.88	331.94	0	0	0	30.00	30.00	16.01
12701.81	1030	145.99	0.95	0.00	2545.5	2620.8	2470.2	2271.9	332.1	586.86	12.28	1546	12708.33	0.00	0.00	4.45	0.000	0.000	0.014	2545.03	2620.38	2469.69	2251.69	1936.38	0	0	0	30.00	30.00	16.03
13021.99	582	145.99	0.96	-80.00	2545.8	2621.3	2470.3	2252.1	1947.6	556.57	9.24	1565	13029.27	0.00	0.00	5.08	0.000	0.000	0.058	2544.12	2619.44	2468.81	2272.75	333.25	0	0	0	30.00	30.00	16.01
13042.04	1094	145.99	0.97	0.00	2545.6	2621.1	2470.1	2272.1	333.2	554.35	9.43	1569	13048.52	0.00	0.00	4.46	0.000	0.000	0.013	2544.75	2619.56	2469.94	2250.31	1935.56	0	0	0	30.00	30.00	16.01
13352.22	582	145.99	0.98	-80.00	2545.8	2621.4	2470.2	2252.1	1946.9	525.89	9.09	1586	13358.74	0.00	0.00	5.10	0.000	0.000	0.057	2546.41	2621.31	2471.50	2269.06	331.75	0	0	0	30.00	30.00	16.02
13582.34	1030	145.99	0.98	0.00	2544.8	2619.4	2470.1	2271.6	332.1	498.94	11.72	1632	13588.58	0.00	0.00	4.45	0.000	0.000	0.014	2545.94	2620.88	2471.00	2252.06	1934.88	0	0	0	30.00	30.00	16.02
13902.28	326	145.99	1.00	80.00	2544.8	2620.1	2469.5	2251.7	1945.5	469.72	8.95	1651	13908.83	0.00	0.00	5.08	0.000	0.000	0.044	2543.09	2617.62	2468.56	2231.94	3605.38	0	0	0	30.00	30.00	16.06
14132.35	1095	145.99	1.02	0.00	2544.8	2619.6	2469.9	2232.2	3603.7	448.46	8.84	1697	14139.00	0.00	0.09	5.04	0.000	0.124	0.027	2543.91	2619.25	2468.56	2286.31	1880.06	0	0	0	30.00	16.03	16.05
14452.55	582	145.99	1.03	-80.00	2544.6	2619.4	2469.9	2287.1	1881.2	418.32	9.37	1716	14458.84	0.00	0.00	4.84	0.000	0.000	0.057	2546.19	2621.75	2470.62	2306.12	330.81	0	0	0	30.00	30.00	16.03
14567.54	1030	145.99	1.03	0.00	2544.3	2618.7	2470.0	2306.6	330.8	404.70	12.22	1739	14573.92	0.00	0.00	4.44	0.000	0.000	0.013	2542.88	2617.56	2468.19	2288.19	1935.88	0	0	0	30.00	30.00	16.07
14882.67	582	145.99	1.04	-80.00	2544.7	2619.6	2469.8	2287.4	1947.2	375.54	9.03	1757	14891.09	0.00	0.00	5.06	0.000	0.000	0.057	2544.47	2619.62	2469.31	2306.81	332.12	0	0	0	30.00	30.00	16.05
15117.38	1030	145.99	1.04	0.00	2544.2	2619.1	2469.2	2307.5	330.8	350.01	10.87	1804	15123.93	0.00	0.00	4.43	0.000	0.000	0.013	2544.12	2619.69	2468.56	2287.94	1937.50	0	0	0	30.00	30.00	16.07
15437.64	295	211.85	1.24	80.00	2544.2	2619.2	2469.1	2288.0	1947.8	325.99	6.94	1823	15499.50	54.29	0.21	5.17	1.783	0.097	0.044	2298.34	2387.75	2208.94	2330.50	3607.31	0	0	0	13.06	16.07	15.70
15722.73	1028	211.85	1.24	0.00	2295.1	2379.8	2210.3	2331.4	3606.2	292.69	11.96	1880	15730.06	0.00	0.00	5.15	0.000	0.000	0.028	2292.62	2377.56	2207.69	2349.50	1883.12	0	0	0	30.00	30.00	15.86
16027.69	582	211.85	1.26	-80.00	2292.2	2380.1	2204.4	2351.4	1883.1	262.46	8.77	1896	16033.96	0.00	0.00	4.89	0.000	0.000	0.056	2291.78	2379.06	2204.50	2371.12	332.12	0	0	0	30.00	30.00	15.90
16257.65	1063	295.28	1.51	0.00	2289.3	2371.6	2207.1	2370.9	332.3	244.54	6.12	1942	16334.78	69.85	0.32	4.43	1.674	0.115	0.010	1959.31	2057.00	1861.62	2430.12	1960.38	0	0	0	12.82	15.84	15.92
16517.91	518	295.28	1.51	-80.00	1951.3	2048.8	1853.9	2432.4	1961.2	218.24	11.65	1976	16526.49	0.00	0.00	5.24	0.000	0.000	0.058	1951.38	2048.31	1854.44	2453.50	332.25	0	0	0	30.00	30.00	15.68
16632.72	1030	295.28	1.51	0.00	1947.8	2040.3	1855.3	2453.5	331.9	202.36	13.69	1999	16639.22	0.00	0.00	4.53	0.000	0.000	0.013	1946.28	2038.31	1854.25	2433.56	1934.62	0	0	0	30.00	30.00	15.71
16822.92	518	295.28	1.51	-80.00	1946.8	2040.8	1852.9	2435.5	1945.5	183.30	9.73	2019	16829.54	0.00	0.00	5.16	0.000	0.000	0.058	1945.44	2038.50	1852.38	2453.62	332.06	0	0	0	30.00	30.00	15.78
17053.06	1030	295.28	1.51	0.00	1944.6	2034.9	1854.3	2453.2	332.2	157.91	10.45	2065	17059.45	0.00	0.00	4.47	0.000	0.000	0.012	1946.75	2037.56	1855.94	2432.25	1936.62	0	0	0	30.00	30.00	15.84
17243.06	295	368.01	1.73	80.00	1943.9	2035.2	1852.6	2435.5	1948.5	144.07	6.62	2085	17308.97	57.04	0.25	5.22	1.584	0.098	0.044	1662.94	1757.69	1568.19	2488.94	3603.50	0	0	0	12.69	15.83	15.50
17533.16	1030	368.01	1.73	0.00	1657.5	1746.6	1568.3	2488.5	3604.6	112.47	10.83	2143	17541.73	0.00	0.00	5.18	0.000	0.000	0.029	1659.53	1749.62	1569.44	2508.88	1883.38	0	0	0	30.00	30.00	15.70
17723.18	551	412.76	1.86	-80.00	1654.8	1747.2	1562.4	2509.0	1881.9	96.08	7.92	2163	17767.70	36.44	0.12	5.00	1.507	0.103	0.059	1480.00	1574.00	1386.00	2570.25	331.81	0	0	0	12.65	15.73	15.52
17848.21	1028	412.76	1.86	0.00	1476.3	1564.5	1388.1	2570.9	331.9	81.08	14.63	2188	17854.74	0.00	0.00	4.55	0.000	0.000	0.013	1475.47	1563.62	1387.31	2552.44	1933.31	0	0	0	30.00	30.00	15.64
18038.24	551	559.61	2.30	-80.00	1473.1	1563.9	1382.3	2552.3	1944.0	71.08	3.17	2208	18161.43	115.33	0.51	5.37	1.467	0.086	0.061	881.62	975.31	787.94	2708.94	333.12	0	0	0	12.60	15.69	15.23
18339.22	1030	559.61	2.30	0.00	875.3	957.3	793.3	2708.3	333.3	41.72	9.98	2268	18345.69	0.00	0.00	4.55	0.000	0.000	0.011	874.78	956.88	792.69	2689.25	1942.12	0	0	0	30.00	30.00	15.53
18529.34	551	707.75	2.75	-80.00	873.8	957.0	790.5	2688.4	1952.8	34.00	3.11	2288	18606.61	68.78	0.54	5.32	1.403	0.082	0.057	548.03	628.06	468.00	2853.81	331.12	0	0	0	12.54	15.60	15.29
18829.57	1030	707.75	2.75	0.00	543.8	614.8	472.9	2854.3	331.1	7.73	14.21	2348	18836.10	0.00	0.00	4.59	0.000	0.000	0.013	543.97	614.75	473.19	2835.25	1934.12	0	0	0	30.00	30.00	15.54
18878	end climb: SURFACE_DEPTH_REACHED
state	18878	begin surface coast
18888	end surface coast: CONTROL_FINISHED_OK
state	18888	begin surface