Glider dive log

SODA Sep18 * SG199 * Dive index * Mission links * Dive 94 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_PING_RANGE 20

MISSION 7 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 94 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 2 ROLL_TIMEOUT 30 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7100 R_PORT_OVSHOOT 13 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 9 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 50 ALTIM_FREQUENCY 13

D_TGT 990 SM_CC 525 ROLL_MAXERRORS 0 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 FILEMGR 2 ROLL_ADJ_DBAND 0 XPDR_VALID 2

D_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 PROTOCOL 9 C_VBD 2943 INT_PRESSURE_YINT 1.6

D_PITCH 2 N_NOCOMM 0 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 500 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 3 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 4 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 4 CALL_TRIES 3 PITCH_VBD_SHIFT 0.001 DEVICE3 -1

SURFACE_URGENCY_FORCE 8 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 330 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 370 CAPMAXSIZE 10000 VBD_BLEED_AD_RATE 1 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 500 LOGGERS 1

T_TURN 225 T_GPS 3 VBD_MAXERRORS 2 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 4 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 11400 STROBE 0 LOITER_W_DBAND 1 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 120 COMPASS2_DEVICE 149

USE_ICE 1 RAFOS_HIT_WINDOW 25200 LOITER_D_BOTTOM 200 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 3 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3900 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2070 CF8_MAXERRORS 0 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0043925666

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.0006320356

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 0 SEABIRD_T_I 2.5405934e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 0 SEABIRD_T_J 3.1033937e-06

SPEED_FACTOR 1 PITCH_GAIN 27 MAXI_24V 2 SEABIRD_C_G -9.8267241

RHO 1.0275 PITCH_TIMEOUT 40 MAXI_10V 2 SEABIRD_C_H 1.1324162

MASS 53675 PITCH_AD_RATE 20 FG_AHR_10V 0 SEABIRD_C_I -0.0020002997

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00022812413

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -160.83926 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 218 PRESSURE_SLOPE 0.00010895507 SC_XMITPROFILE 3.0

HD_A 0.0019 ROLL_MAX 3771 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.016000001 ROLL_DEG 40 COMPASS_USE 4

HD_C 1.2e-06 C_ROLL_DIVE 2750 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043925666

AH0_10V 0 D_TGT 990 PHONE_DEVICE 49 SEABIRD_T_H 0.0006320356

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.5405934e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.1033937e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 20 SM_CC 525

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 2 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 2 PITCH_GAIN 27 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3900 SURFACE_URGENCY 4

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 20 HD_A 0.0019 PITCH_MIN 200 SURFACE_URGENCY_TRY 4

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.016000001 PITCH_TIMEOUT 40 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 1.2e-06 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 7100

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -14430

CALL_TRIES 3 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 45 HEAPDBG 0 PRESSURE_SLOPE 0.00010895507 T_BOOST 0

CAPMAXSIZE 10000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -160.83926 T_DIVE 330

CAPUPLOAD 0 ID 199 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 3

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 P_OVSHOOT_WITHG 0 T_LOITER 11400

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 370

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 25200 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2070 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2750 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 500

C_VBD 2943 LOITER_D_BOTTOM 200 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 120 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 50 USE_ICE 1

DEVICE1 -1 LOITER_W_DBAND 1 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 1

DEVICE2 -1 MASS 53675 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3771 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 2 ROLL_MAXERRORS 0 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 2 ROLL_MIN 218 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 30 VBD_MAXERRORS 2

DIVE 94 MINV_10V 0 R_PORT_OVSHOOT 13 VBD_MIN 500

D_ABORT 1020 MINV_24V 0 R_STBD_OVSHOOT 9 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 7 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 3 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 10 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 4

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 0 SEABIRD_C_G -9.8267241 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1324162 XPDR_VALID 2

D_PITCH 2 N_GPS 100440 SEABIRD_C_I -0.0020002997

D_SAFE 500 N_NOCOMM 0 SEABIRD_C_J 0.00022812413

Pre-dive calculations and measurements:

GPS1 121018,235156,7413.8086,-14633.1260,35,0.9,35,22.4,0.0,0.0,8,7.8 SPEED_LIMITS 0.173,0.210

_CALLS 2 TGT_NAME SODAA

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14820.200

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.69 MHEAD_RNG_PITCHd_Wd 170.5,148539,-17.7,-10.000,-25.48,2242

_SM_ANGLEo -63.5 D_GRID 990

GPS2 131018,000211,7413.8594,-14633.2588,11,0.7,11,22.4,0.0,317.8,11,7.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181013040534.478370,18,263,24,0067,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*33 ALTIM_TOP_PING 19.3,19.8

FREEZE -0.20,-0.874,-1.433,2,1,0 _24V_AH 12.09,46.746

FINISH -0.2,1.021143 _10V_AH 12.65,0.000

SM_CCo 19793,123.90,0.216,0,0,800,525.19 FG_AHR_24Vo 0.000

SM_GC 0.67,7.90,0.40,123.90,0.129,0.223,0.216,194,2759,800,-5.82,-0.11,525.19,0,0,0,0,0,0,14.10,14.01,13.97 FG_AHR_10Vo 0.000

RAFOS_CLK 241 MEM 334888

MODEM 1,1539389133,74.43333,-147.95000,33.381,48134.4 DATA_FILE_SIZE 39952,1177

RAFOS_FIX 7421.555664,-14620.347656,131018,040434,3,255,1.07 CAP_FILE_SIZE 149571,0

IRIDIUM_FIX 7413.41,-14638.34,121018,193504 CFSIZE 2097872896,2073100288

TT8_MAMPS 0.039697,0.892059 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

HUMID 48.77 SOUNDSPEED 1451.3

INTERNAL_PRESSURE 9.4714 CURRENT 0.028,125.86,1

TCM_TEMP 12.30 GPS 131018,053602,7411.688,-14634.101,31,0.8,31,22.4,0.0,0.0,8,8.9

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 475 115.34 nil 0 0 0.00

Roll_motor 78 222 211.75 nil 0 0 0.00

VBD_pump_during_apogee 499 2600 15697.99 nil 0 0 0.00

VBD_pump_during_surface 123 215 323.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 19797 13 3169.18

Iridium_during_xfer 386 174 815.40 nil 0 0 0.00

Transponder_ping 0 420 2.54 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 21 5.33

TT8 0 0 0.00

LPSleep 16701 2 488.05

TT8_Active 722 11 104.81

TT8_Sampling 2788 30 1065.11

TT8_CF8 326 36 149.48

TT8_Kalman 0 0 0.00

Analog_circuits 2088 9 250.93

GPS_charging 0 0 0.00

Compass 1684 7 159.61

RAFOS 4162 33 1737.43

Transponder 4 30 1.69

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 pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -0.80 -146.0 187 2747 781 803 0.0 0.0 0 110 0.00 0.00 -98.20 0.003 16386 0.000 0.000 186 2747 2275 2300 2250 0 0 0 0 0 0 14.33 28.83 14.34

113 -0.80 -146.0 186 2747 2300 2251 4.9 -8.8 10 163 9.10 2.80 -32.33 0.005 18948 0.476 0.176 1806 1331 3541 3592 3490 0 0 0 0 0 0 13.88 13.19 14.15

318 -0.80 -146.0 1807 1331 3593 3492 61.6 -24.2 50 323 0.00 2.90 0.00 0.000 1030 0.000 0.182 1797 2760 3542 3592 3493 0 0 0 0 0 0 14.20 14.06 14.22

508 -0.80 -146.0 1798 2760 3592 3495 101.6 -19.2 70 509 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2760 3542 3592 3493 0 0 0 0 0 0 14.37 14.38 14.38

688 -0.80 -146.0 1798 2761 3592 3495 132.3 -16.7 88 689 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2761 3542 3592 3493 0 0 0 0 0 0 14.40 14.42 14.42

868 -0.80 -146.0 1798 2761 3593 3494 160.2 -15.0 106 869 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2760 3542 3592 3493 0 0 0 0 0 0 14.42 14.45 14.45

1048 -0.80 -146.0 1798 2761 3592 3493 186.8 -14.5 124 1049 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2761 3542 3592 3493 0 0 0 0 0 0 14.45 14.47 14.46

1228 -0.80 -146.0 1797 2762 3593 3494 212.4 -13.9 142 1229 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2761 3541 3590 3493 0 0 0 0 0 0 14.46 14.47 14.47

1408 -0.80 -146.0 1798 2760 3593 3493 236.8 -13.2 160 1413 0.00 2.05 0.00 0.000 260 0.000 0.214 1797 3773 3542 3592 3493 0 0 0 0 0 0 14.50 14.19 14.49

1520 -0.80 -146.0 1790 3774 3593 3494 251.6 -13.1 182 1525 0.00 1.98 0.00 0.000 1030 0.000 0.164 1790 2746 3543 3592 3494 0 0 0 0 0 0 14.36 14.23 14.38

1830 -0.80 -146.0 1791 2746 3593 3493 287.2 -10.7 194 1831 0.00 0.00 0.00 0.000 6 0.000 0.000 1790 2745 3542 3592 3493 0 0 0 0 0 0 14.51 14.53 14.53

2130 -0.80 -146.0 1791 2747 3592 3495 318.4 -10.5 204 2131 0.00 0.00 0.00 0.000 6 0.000 0.000 1790 2746 3542 3592 3493 0 0 0 0 0 0 14.58 14.60 14.60

2430 -0.80 -146.0 1790 2747 3592 3493 348.0 -9.6 214 2435 0.00 2.67 0.00 0.000 516 0.000 0.154 1790 1322 3542 3592 3493 0 0 0 0 0 0 14.64 14.36 14.65

2471 -0.80 -146.0 1791 1323 3593 3494 352.0 -10.0 222 2476 0.15 2.83 0.00 0.000 3078 0.283 0.181 1811 2755 3542 3592 3493 0 0 0 0 0 0 14.30 14.33 14.48

2791 -0.80 -146.0 1811 2755 3593 3493 379.1 -8.4 236 2792 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2754 3542 3592 3493 0 0 0 0 0 0 14.66 14.68 14.68

3091 -0.80 -146.0 1811 2755 3593 3490 403.9 -8.3 246 3092 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2755 3542 3592 3493 0 0 0 0 0 0 14.69 14.71 14.70

3391 -0.80 -146.0 1811 2754 3592 3493 429.2 -8.5 256 3392 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2755 3542 3592 3493 0 0 0 0 0 0 14.71 14.73 14.72

3691 -0.80 -146.0 1811 2755 3593 3493 454.4 -8.3 266 3692 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2755 3542 3592 3493 0 0 0 0 0 0 14.71 14.73 14.73

3991 -0.80 -146.0 1811 2755 3593 3500 479.2 -8.1 276 3992 0.00 0.00 0.00 0.000 6 0.000 0.000 1810 2755 3542 3592 3493 0 0 0 0 0 0 14.73 14.74 14.74

4291 -0.80 -146.0 1811 2756 3593 3495 503.4 -8.1 286 4292 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2755 3542 3592 3493 0 0 0 0 0 0 14.73 14.76 14.75

4591 -0.80 -146.0 1808 2755 3593 3494 527.7 -8.1 296 4592 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2755 3543 3592 3494 0 0 0 0 0 0 14.75 14.77 14.77

4891 -0.80 -146.0 1811 2757 3593 3494 551.9 -8.1 306 4892 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2755 3543 3592 3494 0 0 0 0 0 0 14.76 14.78 14.78

5191 -0.80 -146.0 1812 2754 3593 3494 575.7 -7.9 316 5192 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2755 3543 3592 3494 0 0 0 0 0 0 14.76 14.79 14.79

5491 -0.80 -146.0 1811 2754 3594 3495 599.2 -7.8 326 5496 0.00 2.65 0.00 0.000 516 0.000 0.147 1811 1332 3543 3592 3495 0 0 0 0 0 0 14.78 14.51 14.79

5556 -0.80 -146.0 1811 1332 3593 3495 604.4 -7.9 339 5562 0.00 2.78 0.00 0.000 1030 0.000 0.177 1802 2757 3543 3592 3495 0 0 0 0 0 0 14.64 14.48 14.64

5882 -0.80 -146.0 1802 2758 3593 3496 630.4 -8.0 354 5883 0.00 0.00 0.00 0.000 6 0.000 0.000 1802 2757 3543 3592 3495 0 0 0 0 0 0 14.78 14.80 14.80

6182 -0.80 -146.0 1803 2757 3593 3495 654.5 -8.1 364 6183 0.00 0.00 0.00 0.000 6 0.000 0.000 1802 2757 3543 3591 3495 0 0 0 0 0 0 14.78 14.81 14.81

6482 -0.80 -146.0 1802 2757 3593 3496 678.7 -8.1 374 6483 0.00 0.00 0.00 0.000 6 0.000 0.000 1802 2757 3544 3592 3496 0 0 0 0 0 0 14.79 14.81 14.81

6782 -0.80 -146.0 1802 2757 3593 3496 702.6 -7.9 384 6787 0.00 2.65 0.00 0.000 516 0.000 0.146 1802 1328 3544 3592 3496 0 0 0 0 0 0 14.80 14.52 14.81

6827 -0.80 -146.0 1802 1330 3593 3497 706.1 -7.8 393 6833 0.00 2.78 0.00 0.000 1030 0.000 0.177 1792 2760 3544 3592 3497 0 0 0 0 0 0 14.65 14.50 14.67

7144 -0.80 -146.0 1792 2760 3593 3496 731.3 -7.9 406 7144 0.00 0.00 0.00 0.000 6 0.000 0.000 1792 2761 3544 3592 3496 0 0 0 0 0 0 14.80 14.81 14.81

7444 -0.80 -146.0 1792 2760 3593 3496 755.1 -7.9 416 7444 0.00 0.00 0.00 0.000 6 0.000 0.000 1792 2760 3543 3591 3496 0 0 0 0 0 0 14.80 14.83 14.82

7744 -0.80 -146.0 1792 2761 3593 3497 778.9 -8.0 426 7744 0.00 0.00 0.00 0.000 6 0.000 0.000 1792 2761 3544 3592 3496 0 0 0 0 0 0 14.81 14.83 14.82

8044 -0.80 -146.0 1792 2761 3593 3497 802.5 -7.8 436 8049 0.00 2.65 0.00 0.000 516 0.000 0.146 1792 1331 3544 3592 3496 0 0 0 0 0 0 14.81 14.53 14.83

8114 -0.80 -146.0 1792 1332 3593 3499 808.0 -7.9 450 8119 0.00 2.75 0.00 0.000 1030 0.000 0.177 1782 2752 3544 3592 3497 0 0 0 0 0 0 14.66 14.51 14.69

8435 -0.80 -146.0 1783 2753 3593 3498 834.1 -8.1 464 8435 0.00 0.00 0.00 0.000 6 0.000 0.000 1782 2752 3545 3593 3497 0 0 0 0 0 0 14.81 14.83 14.83

8734 -0.80 -146.0 1783 2752 3593 3496 858.3 -8.1 474 8735 0.00 0.00 0.00 0.000 6 0.000 0.000 1782 2752 3544 3592 3497 0 0 0 0 0 0 14.81 14.83 14.83

9034 -0.80 -146.0 1783 2752 3593 3496 882.7 -8.2 484 9035 0.00 0.00 0.00 0.000 6 0.000 0.000 1782 2752 3544 3592 3496 0 0 0 0 0 0 14.81 14.83 14.83

9334 -0.80 -146.0 1783 2752 3593 3496 907.3 -8.2 494 9335 0.00 0.00 0.00 0.000 6 0.000 0.000 1782 2752 3544 3592 3497 0 0 0 0 0 0 14.81 14.83 14.83

9634 -0.80 -146.0 1783 2752 3593 3496 931.6 -8.1 504 9639 0.00 2.65 0.00 0.000 516 0.000 0.145 1782 1322 3544 3592 3497 0 0 0 0 0 0 14.81 14.54 14.83

9700 -0.80 -146.0 1783 1323 3593 3498 937.0 -8.2 517 9706 0.17 2.78 0.00 0.000 3078 0.275 0.176 1812 2757 3544 3592 3497 0 0 0 0 0 0 14.47 14.51 14.66

10026 -0.80 -146.0 1812 2758 3593 3498 959.8 -6.9 532 10027 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2758 3544 3592 3497 0 0 0 0 0 0 14.81 14.83 14.82

10326 -0.80 -146.0 1812 2760 3592 3498 980.4 -6.9 542 10327 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2758 3544 3592 3497 0 0 0 0 0 0 14.81 14.83 14.83

10474 end dive: TARGET_DEPTH_EXCEEDED

state 10474 begin apogee

10480 -0.19 0.0 1813 2593 3593 3497 990.8 -6.9 547 10616 0.73 0.00 133.57 2.600 10246 0.243 0.000 2008 2593 2942 3022 2863 0 0 0 0 0 0 14.50 13.59 12.71

10617 end apogee: CONTROL_FINISHED_OK

state 10617 begin climb

10619 0.80 146.0 2009 2593 3020 2859 992.5 0.0 551 10761 1.12 0.00 138.70 2.517 10502 0.151 0.000 2329 2593 2346 2445 2248 0 0 0 0 0 0 13.57 12.92 12.09

11046 0.80 146.0 2329 2593 2442 2230 944.3 12.4 571 11047 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2593 2334 2441 2227 0 0 0 0 0 0 13.95 13.97 13.97

11346 0.80 146.0 2330 2593 2442 2226 907.4 12.3 581 11347 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2592 2334 2442 2226 0 0 0 0 0 0 14.26 14.28 14.28

11646 0.80 146.0 2329 2593 2442 2224 870.5 12.3 591 11647 0.00 0.00 0.00 0.000 6 0.000 0.000 2328 2593 2332 2441 2224 0 0 0 0 0 0 14.43 14.45 14.45

11946 0.80 146.0 2329 2593 2442 2224 833.6 12.3 601 11947 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2593 2332 2441 2223 0 0 0 0 0 0 14.54 14.56 14.56

12246 0.80 146.0 2329 2593 2442 2222 796.8 12.3 611 12247 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2593 2332 2441 2223 0 0 0 0 0 0 14.61 14.63 14.63

12546 0.80 146.0 2329 2594 2442 2223 760.1 12.2 621 12552 0.00 2.65 0.00 0.000 516 0.000 0.148 2339 1179 2331 2441 2222 0 0 0 0 0 0 14.66 14.38 14.68

12593 0.80 146.0 2339 1179 2442 2222 754.5 12.1 630 12598 0.00 2.75 0.00 0.000 1030 0.000 0.163 2339 2608 2331 2441 2222 0 0 0 0 0 0 14.53 14.38 14.56

12908 0.80 146.0 2339 2608 2442 2222 714.4 12.7 643 12909 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2608 2331 2441 2221 0 0 0 0 0 0 14.69 14.71 14.71

13208 0.80 146.0 2339 2609 2442 2222 676.6 12.5 653 13209 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2608 2331 2441 2221 0 0 0 0 0 0 14.72 14.74 14.74

13508 0.80 146.0 2339 2609 2442 2221 639.2 12.4 663 13513 0.00 2.67 0.00 0.000 516 0.000 0.147 2349 1175 2330 2441 2220 0 0 0 0 0 0 14.74 14.48 14.76

13563 0.80 146.0 2349 1175 2442 2220 632.4 12.2 674 13570 0.00 2.72 0.00 0.000 1030 0.000 0.163 2348 2602 2331 2442 2220 0 0 0 0 0 0 14.64 14.45 14.64

13868 0.80 146.0 2349 2604 2442 2221 593.5 12.7 685 13869 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2602 2330 2441 2220 0 0 0 0 0 0 14.74 14.77 14.76

14168 0.80 146.0 2349 2603 2443 2221 555.2 12.8 695 14169 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2602 2330 2441 2220 0 0 0 0 0 0 14.77 14.78 14.78

14469 0.80 146.0 2349 2603 2442 2221 517.1 12.6 705 14469 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2602 2330 2441 2220 0 0 0 0 0 0 14.69 14.71 14.71

14768 0.80 146.0 2349 2600 2442 2219 479.7 12.4 715 14773 0.00 2.67 0.00 0.000 516 0.000 0.145 2357 1174 2330 2441 2219 0 0 0 0 0 0 14.66 14.42 14.68

14838 0.80 146.0 2357 1174 2442 2219 471.0 12.2 729 14845 0.00 2.78 0.00 0.000 1030 0.000 0.163 2357 2613 2330 2441 2219 0 0 0 0 0 0 14.56 14.39 14.57

15160 0.80 146.0 2357 2614 2442 2220 430.0 12.7 743 15161 0.00 0.00 0.00 0.000 6 0.000 0.000 2357 2613 2331 2441 2221 0 0 0 0 0 0 14.62 14.65 14.64

15460 0.80 146.0 2357 2613 2441 2219 391.9 12.6 753 15461 0.00 0.00 0.00 0.000 6 0.000 0.000 2356 2613 2330 2441 2219 0 0 0 0 0 0 14.62 14.64 14.63

15760 0.80 146.0 2357 2612 2442 2219 354.4 12.4 763 15761 0.00 0.00 0.00 0.000 6 0.000 0.000 2357 2613 2330 2442 2219 0 0 0 0 0 0 14.61 14.62 14.62

16060 0.80 146.0 2357 2613 2442 2219 317.2 12.3 773 16066 0.00 2.70 0.00 0.000 516 0.000 0.144 2366 1179 2330 2441 2219 0 0 0 0 0 0 14.60 14.37 14.62

16151 0.80 146.0 2366 1180 2442 2220 306.5 11.5 791 16157 0.17 2.75 0.00 0.000 5126 0.290 0.161 2329 2605 2330 2441 2219 0 0 0 0 0 0 14.29 14.34 14.49

16484 0.80 146.0 2330 2605 2442 2219 272.8 9.8 807 16484 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2606 2330 2441 2219 0 0 0 0 0 0 14.64 14.66 14.66

16782 0.84 146.0 2329 2606 2442 2219 246.0 8.7 819 16787 0.00 2.30 0.00 0.000 324 0.000 0.199 2329 3781 2330 2441 2219 0 0 0 0 0 0 14.69 14.40 14.71

16817 0.86 146.0 2329 3780 2442 2219 242.6 9.2 826 16824 0.00 2.22 0.00 0.000 1094 0.000 0.151 2336 2591 2330 2441 2219 0 0 0 0 0 0 14.56 14.44 14.58

17002 0.93 146.0 2337 2590 2443 2219 228.2 7.9 845 17009 0.00 2.60 0.00 0.000 580 0.000 0.144 2346 1182 2329 2441 2218 0 0 0 0 0 0 14.69 14.42 14.70

17121 1.00 146.0 2347 1183 2442 2220 219.1 7.5 868 17127 0.15 2.75 0.00 0.000 3142 0.136 0.166 2411 2609 2330 2441 2219 0 0 0 0 0 0 14.50 14.40 14.57

17306 1.03 146.0 2412 2608 2442 2218 202.7 9.0 887 17307 0.00 0.00 0.00 0.000 70 0.000 0.000 2411 2613 2330 2442 2219 0 0 0 0 0 0 14.67 14.69 14.69

17484 1.07 146.0 2412 2608 2442 2218 186.9 8.6 905 17485 0.00 0.00 0.00 0.000 70 0.000 0.000 2411 2608 2329 2441 2218 0 0 0 0 0 0 14.68 14.69 14.69

17664 1.13 146.0 2411 2610 2442 2219 171.7 8.1 923 17665 0.00 0.00 0.00 0.000 70 0.000 0.000 2411 2608 2329 2441 2218 0 0 0 0 0 0 14.68 14.69 14.70

17844 1.18 146.0 2412 2608 2442 2218 156.7 8.2 941 17845 0.12 0.00 0.00 0.000 2118 0.141 0.000 2457 2608 2329 2441 2218 0 0 0 0 0 0 14.51 14.60 14.58

18024 1.21 146.0 2458 2609 2442 2220 140.5 9.1 959 18025 0.00 0.00 0.00 0.000 70 0.000 0.000 2458 2608 2329 2441 2218 0 0 0 0 0 0 14.69 14.71 14.70

18204 1.27 146.0 2458 2609 2442 2219 125.7 8.0 977 18205 0.00 0.00 0.00 0.000 70 0.000 0.000 2458 2608 2329 2441 2217 0 0 0 0 0 0 14.68 14.70 14.70

18384 1.38 146.0 2458 2610 2442 2218 113.1 6.4 995 18385 0.17 0.00 0.00 0.000 2118 0.124 0.000 2519 2608 2329 2441 2217 0 0 0 0 0 0 14.48 14.57 14.55

18564 1.47 233.4 2520 2608 2442 2217 101.0 6.0 1013 18642 0.00 2.45 68.38 1.548 8484 0.000 0.198 2519 3779 1984 2108 1861 0 0 0 0 0 0 14.65 13.91 13.38

18662 1.47 233.4 2520 3779 2110 1857 92.3 12.6 1031 18667 0.00 2.30 0.00 0.000 1030 0.000 0.151 2528 2595 1982 2108 1856 0 0 0 0 0 0 14.08 13.97 14.11

18852 1.55 233.4 2528 2596 2109 1849 73.1 7.3 1051 18854 0.12 0.00 0.00 0.000 2118 0.151 0.000 2572 2595 1978 2108 1848 0 0 0 0 0 0 14.19 14.29 14.27

19032 1.66 346.4 2571 2595 2110 1845 62.6 4.8 1069 19124 0.00 0.00 87.03 1.454 8486 0.000 0.000 2572 2595 1524 1589 1460 0 0 0 0 0 0 14.46 13.83 13.26

19302 1.70 346.4 2572 2595 1582 1452 39.3 8.7 1100 19308 0.12 2.42 0.00 0.000 2372 0.146 0.197 2619 3773 1516 1580 1453 0 0 0 0 0 0 14.07 14.00 14.12

19533 1.79 436.6 2619 3772 1578 1450 24.4 5.9 1146 19612 0.00 2.28 71.68 1.379 9254 0.000 0.153 2628 2588 1157 1186 1128 0 0 0 0 0 0 14.27 14.15 13.28

19765 end climb: SURFACE_DEPTH_REACHED

state 19765 begin surface coast

19775 end surface coast: CONTROL_FINISHED_OK

state 19775 begin surface

ID	199	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_PING_RANGE	20
MISSION	7	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	94	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	2	ROLL_TIMEOUT	30	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7100	R_PORT_OVSHOOT	13	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	9	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	50	ALTIM_FREQUENCY	13
D_TGT	990	SM_CC	525	ROLL_MAXERRORS	0	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	FILEMGR	2	ROLL_ADJ_DBAND	0	XPDR_VALID	2
D_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	PROTOCOL	9	C_VBD	2943	INT_PRESSURE_YINT	1.6
D_PITCH	2	N_NOCOMM	0	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	500	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	3	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	4	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	4	CALL_TRIES	3	PITCH_VBD_SHIFT	0.001	DEVICE3	-1
SURFACE_URGENCY_FORCE	8	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	330	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	370	CAPMAXSIZE	10000	VBD_BLEED_AD_RATE	1	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	500	LOGGERS	1
T_TURN	225	T_GPS	3	VBD_MAXERRORS	2	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	4	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	11400	STROBE	0	LOITER_W_DBAND	1	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	120	COMPASS2_DEVICE	149
USE_ICE	1	RAFOS_HIT_WINDOW	25200	LOITER_D_BOTTOM	200	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	3	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3900	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2070	CF8_MAXERRORS	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0043925666
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.0006320356
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	0	SEABIRD_T_I	2.5405934e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	0	SEABIRD_T_J	3.1033937e-06
SPEED_FACTOR	1	PITCH_GAIN	27	MAXI_24V	2	SEABIRD_C_G	-9.8267241
RHO	1.0275	PITCH_TIMEOUT	40	MAXI_10V	2	SEABIRD_C_H	1.1324162
MASS	53675	PITCH_AD_RATE	20	FG_AHR_10V	0	SEABIRD_C_I	-0.0020002997
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00022812413
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-160.83926	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	218	PRESSURE_SLOPE	0.00010895507	SC_XMITPROFILE	3.0
HD_A	0.0019	ROLL_MAX	3771	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.016000001	ROLL_DEG	40	COMPASS_USE	4
HD_C	1.2e-06	C_ROLL_DIVE	2750	ALTIM_PING_FIT	0

GPS1	121018,235156,7413.8086,-14633.1260,35,0.9,35,22.4,0.0,0.0,8,7.8	SPEED_LIMITS	0.173,0.210
_CALLS	2	TGT_NAME	SODAA
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14820.200
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.69	MHEAD_RNG_PITCHd_Wd	170.5,148539,-17.7,-10.000,-25.48,2242
_SM_ANGLEo	-63.5	D_GRID	990
GPS2	131018,000211,7413.8594,-14633.2588,11,0.7,11,22.4,0.0,317.8,11,7.0

MODEM_MSG	CACST,6,1,20181013040534.478370,18,263,24,0067,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*33	ALTIM_TOP_PING	19.3,19.8
FREEZE	-0.20,-0.874,-1.433,2,1,0	_24V_AH	12.09,46.746
FINISH	-0.2,1.021143	_10V_AH	12.65,0.000
SM_CCo	19793,123.90,0.216,0,0,800,525.19	FG_AHR_24Vo	0.000
SM_GC	0.67,7.90,0.40,123.90,0.129,0.223,0.216,194,2759,800,-5.82,-0.11,525.19,0,0,0,0,0,0,14.10,14.01,13.97	FG_AHR_10Vo	0.000
RAFOS_CLK	241	MEM	334888
MODEM	1,1539389133,74.43333,-147.95000,33.381,48134.4	DATA_FILE_SIZE	39952,1177
RAFOS_FIX	7421.555664,-14620.347656,131018,040434,3,255,1.07	CAP_FILE_SIZE	149571,0
IRIDIUM_FIX	7413.41,-14638.34,121018,193504	CFSIZE	2097872896,2073100288
TT8_MAMPS	0.039697,0.892059	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
HUMID	48.77	SOUNDSPEED	1451.3
INTERNAL_PRESSURE	9.4714	CURRENT	0.028,125.86,1
TCM_TEMP	12.30	GPS	131018,053602,7411.688,-14634.101,31,0.8,31,22.4,0.0,0.0,8,8.9
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	475	115.34	nil	0	0	0.00
Roll_motor	78	222	211.75	nil	0	0	0.00
VBD_pump_during_apogee	499	2600	15697.99	nil	0	0	0.00
VBD_pump_during_surface	123	215	323.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	19797	13	3169.18
Iridium_during_xfer	386	174	815.40	nil	0	0	0.00
Transponder_ping	0	420	2.54	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	21	5.33
TT8	0	0	0.00
LPSleep	16701	2	488.05
TT8_Active	722	11	104.81
TT8_Sampling	2788	30	1065.11
TT8_CF8	326	36	149.48
TT8_Kalman	0	0	0.00
Analog_circuits	2088	9	250.93
GPS_charging	0	0	0.00
Compass	1684	7	159.61
RAFOS	4162	33	1737.43
Transponder	4	30	1.69

		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	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-0.80	-146.0	187	2747	781	803	0.0	0.0	0	110	0.00	0.00	-98.20	0.003	16386	0.000	0.000	186	2747	2275	2300	2250	0	0	0	0	0	0	14.33	28.83	14.34
113	-0.80	-146.0	186	2747	2300	2251	4.9	-8.8	10	163	9.10	2.80	-32.33	0.005	18948	0.476	0.176	1806	1331	3541	3592	3490	0	0	0	0	0	0	13.88	13.19	14.15
318	-0.80	-146.0	1807	1331	3593	3492	61.6	-24.2	50	323	0.00	2.90	0.00	0.000	1030	0.000	0.182	1797	2760	3542	3592	3493	0	0	0	0	0	0	14.20	14.06	14.22
508	-0.80	-146.0	1798	2760	3592	3495	101.6	-19.2	70	509	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2760	3542	3592	3493	0	0	0	0	0	0	14.37	14.38	14.38
688	-0.80	-146.0	1798	2761	3592	3495	132.3	-16.7	88	689	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2761	3542	3592	3493	0	0	0	0	0	0	14.40	14.42	14.42
868	-0.80	-146.0	1798	2761	3593	3494	160.2	-15.0	106	869	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2760	3542	3592	3493	0	0	0	0	0	0	14.42	14.45	14.45
1048	-0.80	-146.0	1798	2761	3592	3493	186.8	-14.5	124	1049	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2761	3542	3592	3493	0	0	0	0	0	0	14.45	14.47	14.46
1228	-0.80	-146.0	1797	2762	3593	3494	212.4	-13.9	142	1229	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2761	3541	3590	3493	0	0	0	0	0	0	14.46	14.47	14.47
1408	-0.80	-146.0	1798	2760	3593	3493	236.8	-13.2	160	1413	0.00	2.05	0.00	0.000	260	0.000	0.214	1797	3773	3542	3592	3493	0	0	0	0	0	0	14.50	14.19	14.49
1520	-0.80	-146.0	1790	3774	3593	3494	251.6	-13.1	182	1525	0.00	1.98	0.00	0.000	1030	0.000	0.164	1790	2746	3543	3592	3494	0	0	0	0	0	0	14.36	14.23	14.38
1830	-0.80	-146.0	1791	2746	3593	3493	287.2	-10.7	194	1831	0.00	0.00	0.00	0.000	6	0.000	0.000	1790	2745	3542	3592	3493	0	0	0	0	0	0	14.51	14.53	14.53
2130	-0.80	-146.0	1791	2747	3592	3495	318.4	-10.5	204	2131	0.00	0.00	0.00	0.000	6	0.000	0.000	1790	2746	3542	3592	3493	0	0	0	0	0	0	14.58	14.60	14.60
2430	-0.80	-146.0	1790	2747	3592	3493	348.0	-9.6	214	2435	0.00	2.67	0.00	0.000	516	0.000	0.154	1790	1322	3542	3592	3493	0	0	0	0	0	0	14.64	14.36	14.65
2471	-0.80	-146.0	1791	1323	3593	3494	352.0	-10.0	222	2476	0.15	2.83	0.00	0.000	3078	0.283	0.181	1811	2755	3542	3592	3493	0	0	0	0	0	0	14.30	14.33	14.48
2791	-0.80	-146.0	1811	2755	3593	3493	379.1	-8.4	236	2792	0.00	0.00	0.00	0.000	6	0.000	0.000	1811	2754	3542	3592	3493	0	0	0	0	0	0	14.66	14.68	14.68
3091	-0.80	-146.0	1811	2755	3593	3490	403.9	-8.3	246	3092	0.00	0.00	0.00	0.000	6	0.000	0.000	1811	2755	3542	3592	3493	0	0	0	0	0	0	14.69	14.71	14.70
3391	-0.80	-146.0	1811	2754	3592	3493	429.2	-8.5	256	3392	0.00	0.00	0.00	0.000	6	0.000	0.000	1811	2755	3542	3592	3493	0	0	0	0	0	0	14.71	14.73	14.72
3691	-0.80	-146.0	1811	2755	3593	3493	454.4	-8.3	266	3692	0.00	0.00	0.00	0.000	6	0.000	0.000	1811	2755	3542	3592	3493	0	0	0	0	0	0	14.71	14.73	14.73
3991	-0.80	-146.0	1811	2755	3593	3500	479.2	-8.1	276	3992	0.00	0.00	0.00	0.000	6	0.000	0.000	1810	2755	3542	3592	3493	0	0	0	0	0	0	14.73	14.74	14.74
4291	-0.80	-146.0	1811	2756	3593	3495	503.4	-8.1	286	4292	0.00	0.00	0.00	0.000	6	0.000	0.000	1811	2755	3542	3592	3493	0	0	0	0	0	0	14.73	14.76	14.75
4591	-0.80	-146.0	1808	2755	3593	3494	527.7	-8.1	296	4592	0.00	0.00	0.00	0.000	6	0.000	0.000	1811	2755	3543	3592	3494	0	0	0	0	0	0	14.75	14.77	14.77
4891	-0.80	-146.0	1811	2757	3593	3494	551.9	-8.1	306	4892	0.00	0.00	0.00	0.000	6	0.000	0.000	1811	2755	3543	3592	3494	0	0	0	0	0	0	14.76	14.78	14.78
5191	-0.80	-146.0	1812	2754	3593	3494	575.7	-7.9	316	5192	0.00	0.00	0.00	0.000	6	0.000	0.000	1811	2755	3543	3592	3494	0	0	0	0	0	0	14.76	14.79	14.79
5491	-0.80	-146.0	1811	2754	3594	3495	599.2	-7.8	326	5496	0.00	2.65	0.00	0.000	516	0.000	0.147	1811	1332	3543	3592	3495	0	0	0	0	0	0	14.78	14.51	14.79
5556	-0.80	-146.0	1811	1332	3593	3495	604.4	-7.9	339	5562	0.00	2.78	0.00	0.000	1030	0.000	0.177	1802	2757	3543	3592	3495	0	0	0	0	0	0	14.64	14.48	14.64
5882	-0.80	-146.0	1802	2758	3593	3496	630.4	-8.0	354	5883	0.00	0.00	0.00	0.000	6	0.000	0.000	1802	2757	3543	3592	3495	0	0	0	0	0	0	14.78	14.80	14.80
6182	-0.80	-146.0	1803	2757	3593	3495	654.5	-8.1	364	6183	0.00	0.00	0.00	0.000	6	0.000	0.000	1802	2757	3543	3591	3495	0	0	0	0	0	0	14.78	14.81	14.81
6482	-0.80	-146.0	1802	2757	3593	3496	678.7	-8.1	374	6483	0.00	0.00	0.00	0.000	6	0.000	0.000	1802	2757	3544	3592	3496	0	0	0	0	0	0	14.79	14.81	14.81
6782	-0.80	-146.0	1802	2757	3593	3496	702.6	-7.9	384	6787	0.00	2.65	0.00	0.000	516	0.000	0.146	1802	1328	3544	3592	3496	0	0	0	0	0	0	14.80	14.52	14.81
6827	-0.80	-146.0	1802	1330	3593	3497	706.1	-7.8	393	6833	0.00	2.78	0.00	0.000	1030	0.000	0.177	1792	2760	3544	3592	3497	0	0	0	0	0	0	14.65	14.50	14.67
7144	-0.80	-146.0	1792	2760	3593	3496	731.3	-7.9	406	7144	0.00	0.00	0.00	0.000	6	0.000	0.000	1792	2761	3544	3592	3496	0	0	0	0	0	0	14.80	14.81	14.81
7444	-0.80	-146.0	1792	2760	3593	3496	755.1	-7.9	416	7444	0.00	0.00	0.00	0.000	6	0.000	0.000	1792	2760	3543	3591	3496	0	0	0	0	0	0	14.80	14.83	14.82
7744	-0.80	-146.0	1792	2761	3593	3497	778.9	-8.0	426	7744	0.00	0.00	0.00	0.000	6	0.000	0.000	1792	2761	3544	3592	3496	0	0	0	0	0	0	14.81	14.83	14.82
8044	-0.80	-146.0	1792	2761	3593	3497	802.5	-7.8	436	8049	0.00	2.65	0.00	0.000	516	0.000	0.146	1792	1331	3544	3592	3496	0	0	0	0	0	0	14.81	14.53	14.83
8114	-0.80	-146.0	1792	1332	3593	3499	808.0	-7.9	450	8119	0.00	2.75	0.00	0.000	1030	0.000	0.177	1782	2752	3544	3592	3497	0	0	0	0	0	0	14.66	14.51	14.69
8435	-0.80	-146.0	1783	2753	3593	3498	834.1	-8.1	464	8435	0.00	0.00	0.00	0.000	6	0.000	0.000	1782	2752	3545	3593	3497	0	0	0	0	0	0	14.81	14.83	14.83
8734	-0.80	-146.0	1783	2752	3593	3496	858.3	-8.1	474	8735	0.00	0.00	0.00	0.000	6	0.000	0.000	1782	2752	3544	3592	3497	0	0	0	0	0	0	14.81	14.83	14.83
9034	-0.80	-146.0	1783	2752	3593	3496	882.7	-8.2	484	9035	0.00	0.00	0.00	0.000	6	0.000	0.000	1782	2752	3544	3592	3496	0	0	0	0	0	0	14.81	14.83	14.83
9334	-0.80	-146.0	1783	2752	3593	3496	907.3	-8.2	494	9335	0.00	0.00	0.00	0.000	6	0.000	0.000	1782	2752	3544	3592	3497	0	0	0	0	0	0	14.81	14.83	14.83
9634	-0.80	-146.0	1783	2752	3593	3496	931.6	-8.1	504	9639	0.00	2.65	0.00	0.000	516	0.000	0.145	1782	1322	3544	3592	3497	0	0	0	0	0	0	14.81	14.54	14.83
9700	-0.80	-146.0	1783	1323	3593	3498	937.0	-8.2	517	9706	0.17	2.78	0.00	0.000	3078	0.275	0.176	1812	2757	3544	3592	3497	0	0	0	0	0	0	14.47	14.51	14.66
10026	-0.80	-146.0	1812	2758	3593	3498	959.8	-6.9	532	10027	0.00	0.00	0.00	0.000	6	0.000	0.000	1812	2758	3544	3592	3497	0	0	0	0	0	0	14.81	14.83	14.82
10326	-0.80	-146.0	1812	2760	3592	3498	980.4	-6.9	542	10327	0.00	0.00	0.00	0.000	6	0.000	0.000	1812	2758	3544	3592	3497	0	0	0	0	0	0	14.81	14.83	14.83
10474	end dive: TARGET_DEPTH_EXCEEDED
state	10474	begin apogee
10480	-0.19	0.0	1813	2593	3593	3497	990.8	-6.9	547	10616	0.73	0.00	133.57	2.600	10246	0.243	0.000	2008	2593	2942	3022	2863	0	0	0	0	0	0	14.50	13.59	12.71
10617	end apogee: CONTROL_FINISHED_OK
state	10617	begin climb
10619	0.80	146.0	2009	2593	3020	2859	992.5	0.0	551	10761	1.12	0.00	138.70	2.517	10502	0.151	0.000	2329	2593	2346	2445	2248	0	0	0	0	0	0	13.57	12.92	12.09
11046	0.80	146.0	2329	2593	2442	2230	944.3	12.4	571	11047	0.00	0.00	0.00	0.000	6	0.000	0.000	2329	2593	2334	2441	2227	0	0	0	0	0	0	13.95	13.97	13.97
11346	0.80	146.0	2330	2593	2442	2226	907.4	12.3	581	11347	0.00	0.00	0.00	0.000	6	0.000	0.000	2329	2592	2334	2442	2226	0	0	0	0	0	0	14.26	14.28	14.28
11646	0.80	146.0	2329	2593	2442	2224	870.5	12.3	591	11647	0.00	0.00	0.00	0.000	6	0.000	0.000	2328	2593	2332	2441	2224	0	0	0	0	0	0	14.43	14.45	14.45
11946	0.80	146.0	2329	2593	2442	2224	833.6	12.3	601	11947	0.00	0.00	0.00	0.000	6	0.000	0.000	2329	2593	2332	2441	2223	0	0	0	0	0	0	14.54	14.56	14.56
12246	0.80	146.0	2329	2593	2442	2222	796.8	12.3	611	12247	0.00	0.00	0.00	0.000	6	0.000	0.000	2329	2593	2332	2441	2223	0	0	0	0	0	0	14.61	14.63	14.63
12546	0.80	146.0	2329	2594	2442	2223	760.1	12.2	621	12552	0.00	2.65	0.00	0.000	516	0.000	0.148	2339	1179	2331	2441	2222	0	0	0	0	0	0	14.66	14.38	14.68
12593	0.80	146.0	2339	1179	2442	2222	754.5	12.1	630	12598	0.00	2.75	0.00	0.000	1030	0.000	0.163	2339	2608	2331	2441	2222	0	0	0	0	0	0	14.53	14.38	14.56
12908	0.80	146.0	2339	2608	2442	2222	714.4	12.7	643	12909	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2608	2331	2441	2221	0	0	0	0	0	0	14.69	14.71	14.71
13208	0.80	146.0	2339	2609	2442	2222	676.6	12.5	653	13209	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2608	2331	2441	2221	0	0	0	0	0	0	14.72	14.74	14.74
13508	0.80	146.0	2339	2609	2442	2221	639.2	12.4	663	13513	0.00	2.67	0.00	0.000	516	0.000	0.147	2349	1175	2330	2441	2220	0	0	0	0	0	0	14.74	14.48	14.76
13563	0.80	146.0	2349	1175	2442	2220	632.4	12.2	674	13570	0.00	2.72	0.00	0.000	1030	0.000	0.163	2348	2602	2331	2442	2220	0	0	0	0	0	0	14.64	14.45	14.64
13868	0.80	146.0	2349	2604	2442	2221	593.5	12.7	685	13869	0.00	0.00	0.00	0.000	6	0.000	0.000	2348	2602	2330	2441	2220	0	0	0	0	0	0	14.74	14.77	14.76
14168	0.80	146.0	2349	2603	2443	2221	555.2	12.8	695	14169	0.00	0.00	0.00	0.000	6	0.000	0.000	2348	2602	2330	2441	2220	0	0	0	0	0	0	14.77	14.78	14.78
14469	0.80	146.0	2349	2603	2442	2221	517.1	12.6	705	14469	0.00	0.00	0.00	0.000	6	0.000	0.000	2348	2602	2330	2441	2220	0	0	0	0	0	0	14.69	14.71	14.71
14768	0.80	146.0	2349	2600	2442	2219	479.7	12.4	715	14773	0.00	2.67	0.00	0.000	516	0.000	0.145	2357	1174	2330	2441	2219	0	0	0	0	0	0	14.66	14.42	14.68
14838	0.80	146.0	2357	1174	2442	2219	471.0	12.2	729	14845	0.00	2.78	0.00	0.000	1030	0.000	0.163	2357	2613	2330	2441	2219	0	0	0	0	0	0	14.56	14.39	14.57
15160	0.80	146.0	2357	2614	2442	2220	430.0	12.7	743	15161	0.00	0.00	0.00	0.000	6	0.000	0.000	2357	2613	2331	2441	2221	0	0	0	0	0	0	14.62	14.65	14.64
15460	0.80	146.0	2357	2613	2441	2219	391.9	12.6	753	15461	0.00	0.00	0.00	0.000	6	0.000	0.000	2356	2613	2330	2441	2219	0	0	0	0	0	0	14.62	14.64	14.63
15760	0.80	146.0	2357	2612	2442	2219	354.4	12.4	763	15761	0.00	0.00	0.00	0.000	6	0.000	0.000	2357	2613	2330	2442	2219	0	0	0	0	0	0	14.61	14.62	14.62
16060	0.80	146.0	2357	2613	2442	2219	317.2	12.3	773	16066	0.00	2.70	0.00	0.000	516	0.000	0.144	2366	1179	2330	2441	2219	0	0	0	0	0	0	14.60	14.37	14.62
16151	0.80	146.0	2366	1180	2442	2220	306.5	11.5	791	16157	0.17	2.75	0.00	0.000	5126	0.290	0.161	2329	2605	2330	2441	2219	0	0	0	0	0	0	14.29	14.34	14.49
16484	0.80	146.0	2330	2605	2442	2219	272.8	9.8	807	16484	0.00	0.00	0.00	0.000	6	0.000	0.000	2329	2606	2330	2441	2219	0	0	0	0	0	0	14.64	14.66	14.66
16782	0.84	146.0	2329	2606	2442	2219	246.0	8.7	819	16787	0.00	2.30	0.00	0.000	324	0.000	0.199	2329	3781	2330	2441	2219	0	0	0	0	0	0	14.69	14.40	14.71
16817	0.86	146.0	2329	3780	2442	2219	242.6	9.2	826	16824	0.00	2.22	0.00	0.000	1094	0.000	0.151	2336	2591	2330	2441	2219	0	0	0	0	0	0	14.56	14.44	14.58
17002	0.93	146.0	2337	2590	2443	2219	228.2	7.9	845	17009	0.00	2.60	0.00	0.000	580	0.000	0.144	2346	1182	2329	2441	2218	0	0	0	0	0	0	14.69	14.42	14.70
17121	1.00	146.0	2347	1183	2442	2220	219.1	7.5	868	17127	0.15	2.75	0.00	0.000	3142	0.136	0.166	2411	2609	2330	2441	2219	0	0	0	0	0	0	14.50	14.40	14.57
17306	1.03	146.0	2412	2608	2442	2218	202.7	9.0	887	17307	0.00	0.00	0.00	0.000	70	0.000	0.000	2411	2613	2330	2442	2219	0	0	0	0	0	0	14.67	14.69	14.69
17484	1.07	146.0	2412	2608	2442	2218	186.9	8.6	905	17485	0.00	0.00	0.00	0.000	70	0.000	0.000	2411	2608	2329	2441	2218	0	0	0	0	0	0	14.68	14.69	14.69
17664	1.13	146.0	2411	2610	2442	2219	171.7	8.1	923	17665	0.00	0.00	0.00	0.000	70	0.000	0.000	2411	2608	2329	2441	2218	0	0	0	0	0	0	14.68	14.69	14.70
17844	1.18	146.0	2412	2608	2442	2218	156.7	8.2	941	17845	0.12	0.00	0.00	0.000	2118	0.141	0.000	2457	2608	2329	2441	2218	0	0	0	0	0	0	14.51	14.60	14.58
18024	1.21	146.0	2458	2609	2442	2220	140.5	9.1	959	18025	0.00	0.00	0.00	0.000	70	0.000	0.000	2458	2608	2329	2441	2218	0	0	0	0	0	0	14.69	14.71	14.70
18204	1.27	146.0	2458	2609	2442	2219	125.7	8.0	977	18205	0.00	0.00	0.00	0.000	70	0.000	0.000	2458	2608	2329	2441	2217	0	0	0	0	0	0	14.68	14.70	14.70
18384	1.38	146.0	2458	2610	2442	2218	113.1	6.4	995	18385	0.17	0.00	0.00	0.000	2118	0.124	0.000	2519	2608	2329	2441	2217	0	0	0	0	0	0	14.48	14.57	14.55
18564	1.47	233.4	2520	2608	2442	2217	101.0	6.0	1013	18642	0.00	2.45	68.38	1.548	8484	0.000	0.198	2519	3779	1984	2108	1861	0	0	0	0	0	0	14.65	13.91	13.38
18662	1.47	233.4	2520	3779	2110	1857	92.3	12.6	1031	18667	0.00	2.30	0.00	0.000	1030	0.000	0.151	2528	2595	1982	2108	1856	0	0	0	0	0	0	14.08	13.97	14.11
18852	1.55	233.4	2528	2596	2109	1849	73.1	7.3	1051	18854	0.12	0.00	0.00	0.000	2118	0.151	0.000	2572	2595	1978	2108	1848	0	0	0	0	0	0	14.19	14.29	14.27
19032	1.66	346.4	2571	2595	2110	1845	62.6	4.8	1069	19124	0.00	0.00	87.03	1.454	8486	0.000	0.000	2572	2595	1524	1589	1460	0	0	0	0	0	0	14.46	13.83	13.26
19302	1.70	346.4	2572	2595	1582	1452	39.3	8.7	1100	19308	0.12	2.42	0.00	0.000	2372	0.146	0.197	2619	3773	1516	1580	1453	0	0	0	0	0	0	14.07	14.00	14.12
19533	1.79	436.6	2619	3772	1578	1450	24.4	5.9	1146	19612	0.00	2.28	71.68	1.379	9254	0.000	0.153	2628	2588	1157	1186	1128	0	0	0	0	0	0	14.27	14.15	13.28
19765	end climb: SURFACE_DEPTH_REACHED
state	19765	begin surface coast
19775	end surface coast: CONTROL_FINISHED_OK
state	19775	begin surface