Glider dive log

SODA Sep18 * SG199 * Dive index * Mission links * Dive 97 * 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 97 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 14 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 10 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 97 MINV_10V 0 R_PORT_OVSHOOT 14 VBD_MIN 500

D_ABORT 1020 MINV_24V 0 R_STBD_OVSHOOT 10 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 131018,112758,7409.9106,-14637.9756,4,0.8,10,22.4,0.0,85.2,10,9.2 SPEED_LIMITS 0.173,0.210

_CALLS 3 TGT_NAME SODAA

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14820.200

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo -0.26 MHEAD_RNG_PITCHd_Wd 180.7,140810,-17.7,-10.000,-25.48,2242

_SM_ANGLEo 0.5 D_GRID 990

GPS2 131018,112758,7409.9106,-14637.9756,4,0.8,10,22.4,0.0,85.2,10,9.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181013201536.255308,18,531,27,0105,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*31 ALTIM_TOP_PING 19.4,20.5

FREEZE 0.23,-1.290,-1.426,2,3,0 _24V_AH 12.09,48.145

FINISH 0.2,1.021045 _10V_AH 12.54,0.000

SM_CCo 19761,98.28,0.215,0,0,802,525.19 FG_AHR_24Vo 0.000

SM_GC 0.63,7.40,2.05,98.28,0.060,0.138,0.215,193,2745,802,-5.81,0.34,525.19,0,0,0,0,0,0,14.02,13.96,13.93 FG_AHR_10Vo 0.000

RAFOS_CLK 392 MEM 334904

MODEM 1,1539461136,74.43333,-147.95000,36.345,52758.4 DATA_FILE_SIZE 39983,1208

RAFOS_FIX 7442.086914,-14507.622070,131018,202036,6,255,2.34 CAP_FILE_SIZE 143731,0

IRIDIUM_FIX 7410.54,-14636.09,131018,054058 CFSIZE 2097872896,2072379392

TT8_MAMPS 0.041944,0.588714 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.21 SOUNDSPEED 1451.2

INTERNAL_PRESSURE 9.46163 CURRENT 0.176,195.28,1

TCM_TEMP 12.30 GPS 131018,223532,7406.249,-14642.308,27,0.7,27,22.3,0.0,0.0,11,7.9

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 288 39.92 nil 0 0 0.00

Roll_motor 99 219 263.52 nil 0 0 0.00

VBD_pump_during_apogee 511 2597 16052.39 nil 0 0 0.00

VBD_pump_during_surface 98 214 255.41 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 19782 13 3157.45

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.54 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 16590 2 480.59

TT8_Active 675 11 97.18

TT8_Sampling 2468 30 934.69

TT8_CF8 261 36 118.57

TT8_Kalman 0 0 0.00

Analog_circuits 1704 9 203.09

GPS_charging 0 0 0.00

Compass 1727 7 162.22

RAFOS 2216 33 917.03

Transponder 2 30 0.96

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

10 -0.80 -146.0 2164 2763 1829 1736 0.0 0.0 0 124 0.00 0.00 -111.18 0.002 16386 0.000 0.000 2164 2761 3203 3257 3149 0 0 0 0 0 0 14.19 28.83 14.21

127 -0.80 -146.0 2165 2762 3258 3150 3.6 -8.3 11 150 1.10 2.78 -13.93 0.009 20996 0.116 0.155 1814 1337 3540 3588 3492 0 0 0 0 0 0 14.03 13.19 14.09

375 -0.80 -146.0 1814 1338 3589 3495 66.7 -22.4 60 381 0.00 2.80 0.00 0.000 1030 0.000 0.164 1803 2757 3541 3588 3494 0 0 0 0 0 0 14.23 14.09 14.24

560 -0.80 -146.0 1804 2758 3589 3495 102.6 -17.1 79 565 0.00 2.67 0.00 0.000 516 0.000 0.132 1803 1334 3541 3588 3494 0 0 0 0 0 0 14.43 14.17 14.45

790 -0.80 -146.0 1803 1334 3589 3494 138.8 -14.3 125 796 0.00 2.80 0.00 0.000 1030 0.000 0.164 1792 2764 3543 3589 3497 0 0 0 0 0 0 14.36 14.22 14.38

981 -0.80 -146.0 1793 2764 3589 3494 167.6 -14.9 145 982 0.00 0.00 0.00 0.000 6 0.000 0.000 1792 2764 3542 3589 3495 0 0 0 0 0 0 14.52 14.54 14.54

1161 -0.80 -146.0 1791 2764 3589 3494 193.9 -14.6 163 1162 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2764 3541 3588 3494 0 0 0 0 0 0 14.57 14.58 14.58

1341 -0.80 -146.0 1793 2765 3589 3495 219.4 -13.5 181 1342 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2764 3541 3588 3494 0 0 0 0 0 0 14.58 14.60 14.60

1521 -0.80 -146.0 1788 2765 3589 3495 242.9 -12.9 199 1522 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2764 3541 3588 3494 0 0 0 0 0 0 14.60 14.62 14.62

1701 -0.80 -146.0 1793 2765 3589 3495 264.6 -11.5 209 1702 0.00 0.00 0.00 0.000 6 0.000 0.000 1792 2764 3541 3588 3494 0 0 0 0 0 0 14.64 14.66 14.65

2002 -0.80 -146.0 1793 2764 3589 3494 295.5 -10.1 219 2002 0.00 0.00 0.00 0.000 6 0.000 0.000 1792 2764 3541 3588 3494 0 0 0 0 0 0 14.68 14.69 14.69

2301 -0.80 -146.0 1793 2765 3589 3495 325.1 -9.6 229 2302 0.00 0.00 0.00 0.000 6 0.000 0.000 1792 2764 3541 3588 3494 0 0 0 0 0 0 14.71 14.73 14.73

2601 -0.80 -146.0 1792 2765 3589 3494 353.3 -9.4 239 2602 0.00 0.00 0.00 0.000 6 0.000 0.000 1792 2764 3541 3588 3494 0 0 0 0 0 0 14.73 14.75 14.75

2901 -0.80 -146.0 1793 2764 3585 3495 380.9 -9.1 249 2902 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2764 3541 3588 3494 0 0 0 0 0 0 14.75 14.76 14.76

3201 -0.80 -146.0 1792 2765 3589 3496 408.0 -9.0 259 3202 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2764 3541 3588 3494 0 0 0 0 0 0 14.76 14.78 14.78

3501 -0.80 -146.0 1793 2764 3589 3494 434.8 -8.9 269 3502 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2764 3541 3588 3494 0 0 0 0 0 0 14.77 14.77 14.79

3801 -0.80 -146.0 1793 2765 3589 3495 461.0 -8.7 279 3802 0.00 0.00 0.00 0.000 6 0.000 0.000 1792 2763 3541 3588 3494 0 0 0 0 0 0 14.78 14.79 14.79

4101 -0.80 -146.0 1793 2764 3589 3494 486.6 -8.5 289 4102 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2764 3541 3588 3494 0 0 0 0 0 0 14.78 14.80 14.80

4401 -0.80 -146.0 1793 2764 3589 3494 512.2 -8.6 299 4402 0.00 0.00 0.00 0.000 6 0.000 0.000 1792 2764 3539 3584 3494 0 0 0 0 0 0 14.78 14.81 14.81

4701 -0.80 -146.0 1793 2764 3589 3494 537.7 -8.5 309 4702 0.00 0.00 0.00 0.000 6 0.000 0.000 1792 2764 3541 3588 3494 0 0 0 0 0 0 14.79 14.82 14.81

5001 -0.80 -146.0 1794 2764 3589 3494 562.9 -8.4 319 5002 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2764 3542 3588 3497 0 0 0 0 0 0 14.79 14.81 14.81

5301 -0.80 -146.0 1793 2764 3589 3496 588.1 -8.3 329 5302 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2763 3540 3588 3493 0 0 0 0 0 0 14.81 14.83 14.82

5601 -0.80 -146.0 1793 2764 3589 3494 612.8 -8.2 339 5602 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2764 3541 3588 3494 0 0 0 0 0 0 14.80 14.82 14.82

5901 -0.80 -146.0 1793 2764 3589 3495 637.5 -8.2 349 5902 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2764 3541 3588 3495 0 0 0 0 0 0 14.81 14.83 14.83

6201 -0.80 -146.0 1793 2764 3589 3495 662.0 -8.2 359 6202 0.00 0.00 0.00 0.000 6 0.000 0.000 1793 2764 3542 3590 3495 0 0 0 0 0 0 14.81 14.83 14.83

6501 -0.80 -146.0 1793 2764 3588 3497 686.9 -8.3 369 6502 0.00 0.00 0.00 0.000 6 0.000 0.000 1792 2764 3541 3588 3495 0 0 0 0 0 0 14.82 14.83 14.83

6802 -0.80 -146.0 1793 2765 3589 3497 711.6 -8.3 379 6807 0.00 2.60 0.00 0.000 516 0.000 0.131 1792 1331 3542 3588 3496 0 0 0 0 0 0 14.81 14.57 14.83

6857 -0.80 -146.0 1793 1331 3589 3496 716.3 -8.4 390 6863 0.00 2.70 0.00 0.000 1030 0.000 0.159 1783 2766 3542 3588 3496 0 0 0 0 0 0 14.68 14.53 14.70

7162 -0.80 -146.0 1783 2766 3589 3497 742.5 -8.6 401 7163 0.00 0.00 0.00 0.000 6 0.000 0.000 1783 2766 3542 3588 3496 0 0 0 0 0 0 14.81 14.83 14.83

7462 -0.80 -146.0 1783 2766 3589 3496 768.0 -8.5 411 7463 0.00 0.00 0.00 0.000 6 0.000 0.000 1783 2766 3542 3588 3496 0 0 0 0 0 0 14.85 14.83 14.83

7762 -0.80 -146.0 1784 2766 3589 3496 793.3 -8.4 421 7763 0.00 0.00 0.00 0.000 6 0.000 0.000 1783 2765 3541 3588 3495 0 0 0 0 0 0 14.81 14.83 14.83

8062 -0.80 -146.0 1784 2766 3589 3496 818.3 -8.3 431 8067 0.00 2.60 0.00 0.000 516 0.000 0.131 1783 1326 3542 3588 3496 0 0 0 0 0 0 14.82 14.57 14.84

8117 -0.80 -146.0 1784 1326 3589 3496 822.9 -8.3 442 8124 0.15 2.70 0.00 0.000 3078 0.275 0.161 1807 2755 3542 3588 3496 0 0 0 0 0 0 14.47 14.52 14.64

8422 -0.80 -146.0 1807 2758 3590 3496 845.1 -7.2 453 8423 0.00 0.00 0.00 0.000 6 0.000 0.000 1807 2758 3541 3588 3495 0 0 0 0 0 0 14.81 14.83 14.83

8722 -0.80 -146.0 1807 2758 3589 3496 866.7 -7.2 463 8723 0.00 0.00 0.00 0.000 6 0.000 0.000 1807 2758 3542 3588 3496 0 0 0 0 0 0 14.79 14.82 14.83

9023 -0.80 -146.0 1807 2760 3589 3497 887.8 -7.0 473 9029 0.00 2.60 0.00 0.000 516 0.000 0.131 1807 1322 3542 3588 3497 0 0 0 0 0 0 14.82 14.56 14.82

9074 -0.80 -146.0 1807 1323 3589 3497 891.5 -7.2 483 9079 0.00 2.72 0.00 0.000 1030 0.000 0.161 1798 2765 3542 3588 3496 0 0 0 0 0 0 14.68 14.54 14.69

9385 -0.80 -146.0 1798 2766 3589 3497 914.5 -7.5 495 9385 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2764 3542 3588 3496 0 0 0 0 0 0 14.81 14.83 14.83

9684 -0.80 -146.0 1798 2765 3589 3496 937.0 -7.5 505 9690 0.00 2.60 0.00 0.000 516 0.000 0.131 1798 1331 3542 3588 3496 0 0 0 0 0 0 14.81 14.57 14.83

9755 -0.80 -146.0 1798 1332 3589 3497 942.3 -7.6 519 9761 0.00 2.70 0.00 0.000 1030 0.000 0.161 1790 2753 3542 3589 3496 0 0 0 0 0 0 14.68 14.53 14.70

10076 -0.80 -146.0 1790 2754 3589 3497 967.0 -7.7 533 10077 0.00 0.00 0.00 0.000 6 0.000 0.000 1790 2753 3542 3588 3496 0 0 0 0 0 0 14.82 14.83 14.83

10376 -0.80 -146.0 1790 2753 3590 3495 989.8 -7.6 543 10381 0.00 2.58 0.00 0.000 516 0.000 0.129 1790 1328 3542 3588 3496 0 0 0 0 0 0 14.82 14.57 14.83

10384 end dive: TARGET_DEPTH_EXCEEDED

state 10384 begin apogee

10392 -0.19 0.0 1781 2610 3589 3497 990.8 -7.6 545 10527 0.85 0.00 133.15 2.597 10246 0.269 0.000 2004 2610 2942 3017 2868 0 0 0 0 0 0 14.49 13.61 12.74

10529 end apogee: CONTROL_FINISHED_OK

state 10529 begin climb

10531 0.80 146.0 2005 2610 3015 2865 992.9 0.0 549 10674 1.10 0.00 139.60 2.518 10502 0.162 0.000 2319 2609 2344 2438 2251 0 0 0 0 0 0 13.57 12.77 12.09

10956 0.80 146.0 2318 2611 2437 2235 947.4 11.8 589 10957 0.00 0.00 0.00 0.000 6 0.000 0.000 2318 2609 2334 2436 2233 0 0 0 0 0 0 13.90 13.92 13.92

11256 0.80 146.0 2318 2610 2437 2232 911.9 11.8 599 11257 0.00 0.00 0.00 0.000 6 0.000 0.000 2318 2611 2333 2437 2230 0 0 0 0 0 0 14.19 14.21 14.21

11556 0.80 146.0 2319 2610 2437 2230 876.4 11.8 609 11557 0.00 0.00 0.00 0.000 6 0.000 0.000 2318 2610 2333 2437 2229 0 0 0 0 0 0 14.35 14.37 14.37

11856 0.80 146.0 2318 2610 2438 2227 840.8 11.8 619 11857 0.00 0.00 0.00 0.000 6 0.000 0.000 2318 2610 2335 2443 2227 0 0 0 0 0 0 14.45 14.47 14.46

12156 0.80 146.0 2318 2610 2438 2227 805.3 11.8 629 12157 0.00 0.00 0.00 0.000 6 0.000 0.000 2318 2609 2332 2437 2227 0 0 0 0 0 0 14.50 14.52 14.52

12456 0.80 146.0 2319 2610 2435 2226 769.9 11.8 639 12462 0.00 2.67 0.00 0.000 516 0.000 0.131 2327 1175 2332 2439 2226 0 0 0 0 0 0 14.54 14.30 14.56

12507 0.80 146.0 2328 1176 2437 2228 764.0 11.6 649 12512 0.00 2.72 0.00 0.000 1030 0.000 0.148 2327 2609 2331 2437 2226 0 0 0 0 0 0 14.42 14.28 14.45

12821 0.80 146.0 2328 2609 2438 2227 726.3 12.1 661 12822 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 2609 2331 2437 2226 0 0 0 0 0 0 14.59 14.60 14.60

13117 0.80 146.0 2328 2609 2437 2227 690.3 12.0 671 13118 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 2608 2330 2436 2225 0 0 0 0 0 0 14.66 14.68 14.68

13417 0.80 146.0 2327 2609 2437 2226 654.1 12.0 681 13422 0.00 2.62 0.00 0.000 516 0.000 0.131 2337 1182 2331 2437 2225 0 0 0 0 0 0 14.70 14.45 14.72

13473 0.80 146.0 2337 1182 2438 2224 647.4 12.0 692 13479 0.00 2.67 0.00 0.000 1030 0.000 0.146 2337 2610 2330 2435 2225 0 0 0 0 0 0 14.57 14.43 14.60

13778 0.80 146.0 2338 2610 2437 2225 609.5 12.4 703 13779 0.00 0.00 0.00 0.000 6 0.000 0.000 2337 2610 2331 2437 2225 0 0 0 0 0 0 14.72 14.74 14.74

14078 0.80 146.0 2337 2610 2437 2225 572.1 12.5 713 14078 0.00 0.00 0.00 0.000 6 0.000 0.000 2337 2610 2330 2436 2225 0 0 0 0 0 0 14.75 14.77 14.77

14378 0.80 146.0 2338 2610 2437 2224 534.9 12.3 723 14383 0.00 2.62 0.00 0.000 516 0.000 0.129 2347 1172 2330 2436 2225 0 0 0 0 0 0 14.77 14.52 14.78

14428 0.80 146.0 2347 1172 2437 2224 528.7 12.1 733 14433 0.00 2.67 0.00 0.000 1030 0.000 0.146 2347 2608 2329 2435 2224 0 0 0 0 0 0 14.63 14.50 14.66

14738 0.80 146.0 2348 2607 2438 2224 489.7 12.5 745 14739 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2607 2330 2437 2224 0 0 0 0 0 0 14.76 14.78 14.78

15038 0.80 146.0 2347 2608 2437 2225 452.4 12.4 755 15039 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2607 2330 2436 2224 0 0 0 0 0 0 14.77 14.79 14.78

15339 0.80 146.0 2348 2607 2438 2224 415.4 12.2 765 15344 0.00 2.60 0.00 0.000 516 0.000 0.129 2357 1180 2330 2437 2224 0 0 0 0 0 0 14.78 14.54 14.79

15389 0.80 146.0 2358 1180 2438 2224 409.3 12.1 775 15394 0.00 2.65 0.00 0.000 1030 0.000 0.145 2357 2607 2330 2437 2224 0 0 0 0 0 0 14.65 14.52 14.68

15699 0.80 146.0 2357 2607 2437 2225 370.1 12.6 787 15700 0.00 0.00 0.00 0.000 6 0.000 0.000 2357 2607 2330 2436 2224 0 0 0 0 0 0 14.78 14.80 14.79

15999 0.80 146.0 2358 2606 2438 2224 333.0 12.3 797 16000 0.00 0.00 0.00 0.000 6 0.000 0.000 2357 2607 2330 2436 2224 0 0 0 0 0 0 14.78 14.81 14.80

16299 0.80 146.0 2357 2608 2437 2225 297.2 11.7 807 16300 0.00 0.00 0.00 0.000 6 0.000 0.000 2357 2607 2330 2437 2224 0 0 0 0 0 0 14.78 14.81 14.80

16599 0.80 146.0 2357 2607 2438 2225 264.5 10.6 817 16604 0.00 2.58 0.00 0.000 516 0.000 0.129 2368 1181 2330 2436 2224 0 0 0 0 0 0 14.78 14.55 14.81

16669 0.80 146.0 2367 1182 2437 2225 257.1 10.2 831 16675 0.17 2.65 0.00 0.000 5126 0.288 0.145 2329 2605 2329 2436 2223 0 0 0 0 0 0 14.47 14.52 14.66

16980 0.87 146.0 2329 2605 2437 2223 231.4 7.8 860 16985 0.00 2.60 0.00 0.000 580 0.000 0.129 2338 1171 2330 2436 2224 0 0 0 0 0 0 14.77 14.52 14.78

17081 0.95 146.0 2338 1173 2437 2225 223.9 7.3 880 17086 0.12 2.67 0.00 0.000 3142 0.150 0.148 2391 2602 2329 2436 2223 0 0 0 0 0 0 14.58 14.49 14.65

17273 0.99 146.0 2392 2602 2437 2223 207.8 8.5 900 17274 0.00 0.00 0.00 0.000 70 0.000 0.000 2391 2603 2330 2437 2224 0 0 0 0 0 0 14.75 14.77 14.77

17451 1.05 146.0 2391 2604 2438 2225 192.9 8.2 918 17457 0.00 2.60 0.00 0.000 580 0.000 0.129 2402 1174 2330 2437 2224 0 0 0 0 0 0 14.74 14.50 14.76

17528 1.10 146.0 2403 1173 2438 2222 186.5 8.3 933 17534 0.00 2.70 0.00 0.000 1094 0.000 0.150 2402 2611 2329 2436 2223 0 0 0 0 0 0 14.60 14.45 14.64

17713 1.15 146.0 2403 2611 2437 2223 170.9 8.1 952 17718 0.12 2.22 0.00 0.000 2372 0.138 0.184 2455 3773 2330 2436 2224 0 0 0 0 0 0 14.54 14.44 14.59

17753 1.15 146.0 2456 3772 2438 2223 166.6 10.9 960 17758 0.00 2.17 0.00 0.000 1030 0.000 0.138 2464 2584 2329 2436 2223 0 0 0 0 0 0 14.59 14.48 14.62

17944 1.15 146.0 2465 2585 2437 2225 148.2 9.7 980 17945 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2584 2331 2438 2224 0 0 0 0 0 0 14.72 14.73 14.73

18124 1.19 146.0 2464 2585 2437 2224 132.2 8.8 998 18125 0.00 0.00 0.00 0.000 70 0.000 0.000 2464 2584 2329 2436 2223 0 0 0 0 0 0 14.72 14.74 14.74

18304 1.26 146.0 2464 2584 2433 2223 117.2 7.6 1016 18305 0.00 0.00 0.00 0.000 70 0.000 0.000 2464 2583 2329 2436 2223 0 0 0 0 0 0 14.71 14.72 14.73

18484 1.38 146.0 2465 2584 2437 2223 105.1 6.1 1034 18485 0.17 0.00 0.00 0.000 2118 0.125 0.000 2524 2584 2329 2436 2223 0 0 0 0 0 0 14.53 14.62 14.61

18664 1.47 239.4 2525 2584 2437 2224 93.5 5.7 1052 18746 0.00 2.70 72.90 1.540 8740 0.000 0.129 2534 1182 1961 2084 1838 0 0 0 0 0 0 14.68 13.94 13.38

18836 1.47 239.4 2535 1183 2085 1830 78.4 10.4 1085 18843 0.00 2.78 0.00 0.000 1030 0.000 0.148 2534 2607 1956 2084 1829 0 0 0 0 0 0 14.21 14.07 14.22

19022 1.59 356.1 2538 2608 2084 1825 63.8 4.7 1104 19116 0.12 2.85 88.88 1.454 10788 0.151 0.130 2598 1176 1487 1550 1424 0 0 0 0 0 0 14.23 13.77 13.24

19187 1.59 356.1 2598 1176 1543 1422 49.3 10.8 1135 19193 0.00 2.83 0.00 0.000 1030 0.000 0.148 2598 2611 1481 1542 1421 0 0 0 0 0 0 14.05 13.92 14.08

19372 1.64 356.1 2598 2612 1540 1416 31.4 8.3 1154 19378 0.00 2.30 0.00 0.000 324 0.000 0.184 2598 3774 1477 1539 1415 0 0 0 0 0 0 14.33 14.06 14.34

19403 1.71 356.1 2599 3774 1539 1415 29.0 7.5 1160 19408 0.00 2.22 0.00 0.000 1094 0.000 0.136 2604 2591 1476 1538 1415 0 0 0 0 0 0 14.21 14.12 14.25

19595 1.81 453.0 2607 2591 1539 1411 17.2 5.6 1180 19678 0.12 2.45 76.70 1.387 10532 0.149 0.178 2656 3783 1091 1117 1065 0 0 0 0 0 0 14.23 13.75 13.28

19731 end climb: SURFACE_DEPTH_REACHED

state 19731 begin surface coast

19742 end surface coast: CONTROL_FINISHED_OK

state 19742 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	97	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	14	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	10	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	131018,112758,7409.9106,-14637.9756,4,0.8,10,22.4,0.0,85.2,10,9.2	SPEED_LIMITS	0.173,0.210
_CALLS	3	TGT_NAME	SODAA
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14820.200
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	-0.26	MHEAD_RNG_PITCHd_Wd	180.7,140810,-17.7,-10.000,-25.48,2242
_SM_ANGLEo	0.5	D_GRID	990
GPS2	131018,112758,7409.9106,-14637.9756,4,0.8,10,22.4,0.0,85.2,10,9.2

MODEM_MSG	CACST,6,1,20181013201536.255308,18,531,27,0105,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*31	ALTIM_TOP_PING	19.4,20.5
FREEZE	0.23,-1.290,-1.426,2,3,0	_24V_AH	12.09,48.145
FINISH	0.2,1.021045	_10V_AH	12.54,0.000
SM_CCo	19761,98.28,0.215,0,0,802,525.19	FG_AHR_24Vo	0.000
SM_GC	0.63,7.40,2.05,98.28,0.060,0.138,0.215,193,2745,802,-5.81,0.34,525.19,0,0,0,0,0,0,14.02,13.96,13.93	FG_AHR_10Vo	0.000
RAFOS_CLK	392	MEM	334904
MODEM	1,1539461136,74.43333,-147.95000,36.345,52758.4	DATA_FILE_SIZE	39983,1208
RAFOS_FIX	7442.086914,-14507.622070,131018,202036,6,255,2.34	CAP_FILE_SIZE	143731,0
IRIDIUM_FIX	7410.54,-14636.09,131018,054058	CFSIZE	2097872896,2072379392
TT8_MAMPS	0.041944,0.588714	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.21	SOUNDSPEED	1451.2
INTERNAL_PRESSURE	9.46163	CURRENT	0.176,195.28,1
TCM_TEMP	12.30	GPS	131018,223532,7406.249,-14642.308,27,0.7,27,22.3,0.0,0.0,11,7.9
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	288	39.92	nil	0	0	0.00
Roll_motor	99	219	263.52	nil	0	0	0.00
VBD_pump_during_apogee	511	2597	16052.39	nil	0	0	0.00
VBD_pump_during_surface	98	214	255.41	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	19782	13	3157.45
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.54	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	16590	2	480.59
TT8_Active	675	11	97.18
TT8_Sampling	2468	30	934.69
TT8_CF8	261	36	118.57
TT8_Kalman	0	0	0.00
Analog_circuits	1704	9	203.09
GPS_charging	0	0	0.00
Compass	1727	7	162.22
RAFOS	2216	33	917.03
Transponder	2	30	0.96

		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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
10	-0.80	-146.0	2164	2763	1829	1736	0.0	0.0	0	124	0.00	0.00	-111.18	0.002	16386	0.000	0.000	2164	2761	3203	3257	3149	0	0	0	0	0	0	14.19	28.83	14.21
127	-0.80	-146.0	2165	2762	3258	3150	3.6	-8.3	11	150	1.10	2.78	-13.93	0.009	20996	0.116	0.155	1814	1337	3540	3588	3492	0	0	0	0	0	0	14.03	13.19	14.09
375	-0.80	-146.0	1814	1338	3589	3495	66.7	-22.4	60	381	0.00	2.80	0.00	0.000	1030	0.000	0.164	1803	2757	3541	3588	3494	0	0	0	0	0	0	14.23	14.09	14.24
560	-0.80	-146.0	1804	2758	3589	3495	102.6	-17.1	79	565	0.00	2.67	0.00	0.000	516	0.000	0.132	1803	1334	3541	3588	3494	0	0	0	0	0	0	14.43	14.17	14.45
790	-0.80	-146.0	1803	1334	3589	3494	138.8	-14.3	125	796	0.00	2.80	0.00	0.000	1030	0.000	0.164	1792	2764	3543	3589	3497	0	0	0	0	0	0	14.36	14.22	14.38
981	-0.80	-146.0	1793	2764	3589	3494	167.6	-14.9	145	982	0.00	0.00	0.00	0.000	6	0.000	0.000	1792	2764	3542	3589	3495	0	0	0	0	0	0	14.52	14.54	14.54
1161	-0.80	-146.0	1791	2764	3589	3494	193.9	-14.6	163	1162	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2764	3541	3588	3494	0	0	0	0	0	0	14.57	14.58	14.58
1341	-0.80	-146.0	1793	2765	3589	3495	219.4	-13.5	181	1342	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2764	3541	3588	3494	0	0	0	0	0	0	14.58	14.60	14.60
1521	-0.80	-146.0	1788	2765	3589	3495	242.9	-12.9	199	1522	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2764	3541	3588	3494	0	0	0	0	0	0	14.60	14.62	14.62
1701	-0.80	-146.0	1793	2765	3589	3495	264.6	-11.5	209	1702	0.00	0.00	0.00	0.000	6	0.000	0.000	1792	2764	3541	3588	3494	0	0	0	0	0	0	14.64	14.66	14.65
2002	-0.80	-146.0	1793	2764	3589	3494	295.5	-10.1	219	2002	0.00	0.00	0.00	0.000	6	0.000	0.000	1792	2764	3541	3588	3494	0	0	0	0	0	0	14.68	14.69	14.69
2301	-0.80	-146.0	1793	2765	3589	3495	325.1	-9.6	229	2302	0.00	0.00	0.00	0.000	6	0.000	0.000	1792	2764	3541	3588	3494	0	0	0	0	0	0	14.71	14.73	14.73
2601	-0.80	-146.0	1792	2765	3589	3494	353.3	-9.4	239	2602	0.00	0.00	0.00	0.000	6	0.000	0.000	1792	2764	3541	3588	3494	0	0	0	0	0	0	14.73	14.75	14.75
2901	-0.80	-146.0	1793	2764	3585	3495	380.9	-9.1	249	2902	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2764	3541	3588	3494	0	0	0	0	0	0	14.75	14.76	14.76
3201	-0.80	-146.0	1792	2765	3589	3496	408.0	-9.0	259	3202	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2764	3541	3588	3494	0	0	0	0	0	0	14.76	14.78	14.78
3501	-0.80	-146.0	1793	2764	3589	3494	434.8	-8.9	269	3502	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2764	3541	3588	3494	0	0	0	0	0	0	14.77	14.77	14.79
3801	-0.80	-146.0	1793	2765	3589	3495	461.0	-8.7	279	3802	0.00	0.00	0.00	0.000	6	0.000	0.000	1792	2763	3541	3588	3494	0	0	0	0	0	0	14.78	14.79	14.79
4101	-0.80	-146.0	1793	2764	3589	3494	486.6	-8.5	289	4102	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2764	3541	3588	3494	0	0	0	0	0	0	14.78	14.80	14.80
4401	-0.80	-146.0	1793	2764	3589	3494	512.2	-8.6	299	4402	0.00	0.00	0.00	0.000	6	0.000	0.000	1792	2764	3539	3584	3494	0	0	0	0	0	0	14.78	14.81	14.81
4701	-0.80	-146.0	1793	2764	3589	3494	537.7	-8.5	309	4702	0.00	0.00	0.00	0.000	6	0.000	0.000	1792	2764	3541	3588	3494	0	0	0	0	0	0	14.79	14.82	14.81
5001	-0.80	-146.0	1794	2764	3589	3494	562.9	-8.4	319	5002	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2764	3542	3588	3497	0	0	0	0	0	0	14.79	14.81	14.81
5301	-0.80	-146.0	1793	2764	3589	3496	588.1	-8.3	329	5302	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2763	3540	3588	3493	0	0	0	0	0	0	14.81	14.83	14.82
5601	-0.80	-146.0	1793	2764	3589	3494	612.8	-8.2	339	5602	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2764	3541	3588	3494	0	0	0	0	0	0	14.80	14.82	14.82
5901	-0.80	-146.0	1793	2764	3589	3495	637.5	-8.2	349	5902	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2764	3541	3588	3495	0	0	0	0	0	0	14.81	14.83	14.83
6201	-0.80	-146.0	1793	2764	3589	3495	662.0	-8.2	359	6202	0.00	0.00	0.00	0.000	6	0.000	0.000	1793	2764	3542	3590	3495	0	0	0	0	0	0	14.81	14.83	14.83
6501	-0.80	-146.0	1793	2764	3588	3497	686.9	-8.3	369	6502	0.00	0.00	0.00	0.000	6	0.000	0.000	1792	2764	3541	3588	3495	0	0	0	0	0	0	14.82	14.83	14.83
6802	-0.80	-146.0	1793	2765	3589	3497	711.6	-8.3	379	6807	0.00	2.60	0.00	0.000	516	0.000	0.131	1792	1331	3542	3588	3496	0	0	0	0	0	0	14.81	14.57	14.83
6857	-0.80	-146.0	1793	1331	3589	3496	716.3	-8.4	390	6863	0.00	2.70	0.00	0.000	1030	0.000	0.159	1783	2766	3542	3588	3496	0	0	0	0	0	0	14.68	14.53	14.70
7162	-0.80	-146.0	1783	2766	3589	3497	742.5	-8.6	401	7163	0.00	0.00	0.00	0.000	6	0.000	0.000	1783	2766	3542	3588	3496	0	0	0	0	0	0	14.81	14.83	14.83
7462	-0.80	-146.0	1783	2766	3589	3496	768.0	-8.5	411	7463	0.00	0.00	0.00	0.000	6	0.000	0.000	1783	2766	3542	3588	3496	0	0	0	0	0	0	14.85	14.83	14.83
7762	-0.80	-146.0	1784	2766	3589	3496	793.3	-8.4	421	7763	0.00	0.00	0.00	0.000	6	0.000	0.000	1783	2765	3541	3588	3495	0	0	0	0	0	0	14.81	14.83	14.83
8062	-0.80	-146.0	1784	2766	3589	3496	818.3	-8.3	431	8067	0.00	2.60	0.00	0.000	516	0.000	0.131	1783	1326	3542	3588	3496	0	0	0	0	0	0	14.82	14.57	14.84
8117	-0.80	-146.0	1784	1326	3589	3496	822.9	-8.3	442	8124	0.15	2.70	0.00	0.000	3078	0.275	0.161	1807	2755	3542	3588	3496	0	0	0	0	0	0	14.47	14.52	14.64
8422	-0.80	-146.0	1807	2758	3590	3496	845.1	-7.2	453	8423	0.00	0.00	0.00	0.000	6	0.000	0.000	1807	2758	3541	3588	3495	0	0	0	0	0	0	14.81	14.83	14.83
8722	-0.80	-146.0	1807	2758	3589	3496	866.7	-7.2	463	8723	0.00	0.00	0.00	0.000	6	0.000	0.000	1807	2758	3542	3588	3496	0	0	0	0	0	0	14.79	14.82	14.83
9023	-0.80	-146.0	1807	2760	3589	3497	887.8	-7.0	473	9029	0.00	2.60	0.00	0.000	516	0.000	0.131	1807	1322	3542	3588	3497	0	0	0	0	0	0	14.82	14.56	14.82
9074	-0.80	-146.0	1807	1323	3589	3497	891.5	-7.2	483	9079	0.00	2.72	0.00	0.000	1030	0.000	0.161	1798	2765	3542	3588	3496	0	0	0	0	0	0	14.68	14.54	14.69
9385	-0.80	-146.0	1798	2766	3589	3497	914.5	-7.5	495	9385	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2764	3542	3588	3496	0	0	0	0	0	0	14.81	14.83	14.83
9684	-0.80	-146.0	1798	2765	3589	3496	937.0	-7.5	505	9690	0.00	2.60	0.00	0.000	516	0.000	0.131	1798	1331	3542	3588	3496	0	0	0	0	0	0	14.81	14.57	14.83
9755	-0.80	-146.0	1798	1332	3589	3497	942.3	-7.6	519	9761	0.00	2.70	0.00	0.000	1030	0.000	0.161	1790	2753	3542	3589	3496	0	0	0	0	0	0	14.68	14.53	14.70
10076	-0.80	-146.0	1790	2754	3589	3497	967.0	-7.7	533	10077	0.00	0.00	0.00	0.000	6	0.000	0.000	1790	2753	3542	3588	3496	0	0	0	0	0	0	14.82	14.83	14.83
10376	-0.80	-146.0	1790	2753	3590	3495	989.8	-7.6	543	10381	0.00	2.58	0.00	0.000	516	0.000	0.129	1790	1328	3542	3588	3496	0	0	0	0	0	0	14.82	14.57	14.83
10384	end dive: TARGET_DEPTH_EXCEEDED
state	10384	begin apogee
10392	-0.19	0.0	1781	2610	3589	3497	990.8	-7.6	545	10527	0.85	0.00	133.15	2.597	10246	0.269	0.000	2004	2610	2942	3017	2868	0	0	0	0	0	0	14.49	13.61	12.74
10529	end apogee: CONTROL_FINISHED_OK
state	10529	begin climb
10531	0.80	146.0	2005	2610	3015	2865	992.9	0.0	549	10674	1.10	0.00	139.60	2.518	10502	0.162	0.000	2319	2609	2344	2438	2251	0	0	0	0	0	0	13.57	12.77	12.09
10956	0.80	146.0	2318	2611	2437	2235	947.4	11.8	589	10957	0.00	0.00	0.00	0.000	6	0.000	0.000	2318	2609	2334	2436	2233	0	0	0	0	0	0	13.90	13.92	13.92
11256	0.80	146.0	2318	2610	2437	2232	911.9	11.8	599	11257	0.00	0.00	0.00	0.000	6	0.000	0.000	2318	2611	2333	2437	2230	0	0	0	0	0	0	14.19	14.21	14.21
11556	0.80	146.0	2319	2610	2437	2230	876.4	11.8	609	11557	0.00	0.00	0.00	0.000	6	0.000	0.000	2318	2610	2333	2437	2229	0	0	0	0	0	0	14.35	14.37	14.37
11856	0.80	146.0	2318	2610	2438	2227	840.8	11.8	619	11857	0.00	0.00	0.00	0.000	6	0.000	0.000	2318	2610	2335	2443	2227	0	0	0	0	0	0	14.45	14.47	14.46
12156	0.80	146.0	2318	2610	2438	2227	805.3	11.8	629	12157	0.00	0.00	0.00	0.000	6	0.000	0.000	2318	2609	2332	2437	2227	0	0	0	0	0	0	14.50	14.52	14.52
12456	0.80	146.0	2319	2610	2435	2226	769.9	11.8	639	12462	0.00	2.67	0.00	0.000	516	0.000	0.131	2327	1175	2332	2439	2226	0	0	0	0	0	0	14.54	14.30	14.56
12507	0.80	146.0	2328	1176	2437	2228	764.0	11.6	649	12512	0.00	2.72	0.00	0.000	1030	0.000	0.148	2327	2609	2331	2437	2226	0	0	0	0	0	0	14.42	14.28	14.45
12821	0.80	146.0	2328	2609	2438	2227	726.3	12.1	661	12822	0.00	0.00	0.00	0.000	6	0.000	0.000	2327	2609	2331	2437	2226	0	0	0	0	0	0	14.59	14.60	14.60
13117	0.80	146.0	2328	2609	2437	2227	690.3	12.0	671	13118	0.00	0.00	0.00	0.000	6	0.000	0.000	2327	2608	2330	2436	2225	0	0	0	0	0	0	14.66	14.68	14.68
13417	0.80	146.0	2327	2609	2437	2226	654.1	12.0	681	13422	0.00	2.62	0.00	0.000	516	0.000	0.131	2337	1182	2331	2437	2225	0	0	0	0	0	0	14.70	14.45	14.72
13473	0.80	146.0	2337	1182	2438	2224	647.4	12.0	692	13479	0.00	2.67	0.00	0.000	1030	0.000	0.146	2337	2610	2330	2435	2225	0	0	0	0	0	0	14.57	14.43	14.60
13778	0.80	146.0	2338	2610	2437	2225	609.5	12.4	703	13779	0.00	0.00	0.00	0.000	6	0.000	0.000	2337	2610	2331	2437	2225	0	0	0	0	0	0	14.72	14.74	14.74
14078	0.80	146.0	2337	2610	2437	2225	572.1	12.5	713	14078	0.00	0.00	0.00	0.000	6	0.000	0.000	2337	2610	2330	2436	2225	0	0	0	0	0	0	14.75	14.77	14.77
14378	0.80	146.0	2338	2610	2437	2224	534.9	12.3	723	14383	0.00	2.62	0.00	0.000	516	0.000	0.129	2347	1172	2330	2436	2225	0	0	0	0	0	0	14.77	14.52	14.78
14428	0.80	146.0	2347	1172	2437	2224	528.7	12.1	733	14433	0.00	2.67	0.00	0.000	1030	0.000	0.146	2347	2608	2329	2435	2224	0	0	0	0	0	0	14.63	14.50	14.66
14738	0.80	146.0	2348	2607	2438	2224	489.7	12.5	745	14739	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2607	2330	2437	2224	0	0	0	0	0	0	14.76	14.78	14.78
15038	0.80	146.0	2347	2608	2437	2225	452.4	12.4	755	15039	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2607	2330	2436	2224	0	0	0	0	0	0	14.77	14.79	14.78
15339	0.80	146.0	2348	2607	2438	2224	415.4	12.2	765	15344	0.00	2.60	0.00	0.000	516	0.000	0.129	2357	1180	2330	2437	2224	0	0	0	0	0	0	14.78	14.54	14.79
15389	0.80	146.0	2358	1180	2438	2224	409.3	12.1	775	15394	0.00	2.65	0.00	0.000	1030	0.000	0.145	2357	2607	2330	2437	2224	0	0	0	0	0	0	14.65	14.52	14.68
15699	0.80	146.0	2357	2607	2437	2225	370.1	12.6	787	15700	0.00	0.00	0.00	0.000	6	0.000	0.000	2357	2607	2330	2436	2224	0	0	0	0	0	0	14.78	14.80	14.79
15999	0.80	146.0	2358	2606	2438	2224	333.0	12.3	797	16000	0.00	0.00	0.00	0.000	6	0.000	0.000	2357	2607	2330	2436	2224	0	0	0	0	0	0	14.78	14.81	14.80
16299	0.80	146.0	2357	2608	2437	2225	297.2	11.7	807	16300	0.00	0.00	0.00	0.000	6	0.000	0.000	2357	2607	2330	2437	2224	0	0	0	0	0	0	14.78	14.81	14.80
16599	0.80	146.0	2357	2607	2438	2225	264.5	10.6	817	16604	0.00	2.58	0.00	0.000	516	0.000	0.129	2368	1181	2330	2436	2224	0	0	0	0	0	0	14.78	14.55	14.81
16669	0.80	146.0	2367	1182	2437	2225	257.1	10.2	831	16675	0.17	2.65	0.00	0.000	5126	0.288	0.145	2329	2605	2329	2436	2223	0	0	0	0	0	0	14.47	14.52	14.66
16980	0.87	146.0	2329	2605	2437	2223	231.4	7.8	860	16985	0.00	2.60	0.00	0.000	580	0.000	0.129	2338	1171	2330	2436	2224	0	0	0	0	0	0	14.77	14.52	14.78
17081	0.95	146.0	2338	1173	2437	2225	223.9	7.3	880	17086	0.12	2.67	0.00	0.000	3142	0.150	0.148	2391	2602	2329	2436	2223	0	0	0	0	0	0	14.58	14.49	14.65
17273	0.99	146.0	2392	2602	2437	2223	207.8	8.5	900	17274	0.00	0.00	0.00	0.000	70	0.000	0.000	2391	2603	2330	2437	2224	0	0	0	0	0	0	14.75	14.77	14.77
17451	1.05	146.0	2391	2604	2438	2225	192.9	8.2	918	17457	0.00	2.60	0.00	0.000	580	0.000	0.129	2402	1174	2330	2437	2224	0	0	0	0	0	0	14.74	14.50	14.76
17528	1.10	146.0	2403	1173	2438	2222	186.5	8.3	933	17534	0.00	2.70	0.00	0.000	1094	0.000	0.150	2402	2611	2329	2436	2223	0	0	0	0	0	0	14.60	14.45	14.64
17713	1.15	146.0	2403	2611	2437	2223	170.9	8.1	952	17718	0.12	2.22	0.00	0.000	2372	0.138	0.184	2455	3773	2330	2436	2224	0	0	0	0	0	0	14.54	14.44	14.59
17753	1.15	146.0	2456	3772	2438	2223	166.6	10.9	960	17758	0.00	2.17	0.00	0.000	1030	0.000	0.138	2464	2584	2329	2436	2223	0	0	0	0	0	0	14.59	14.48	14.62
17944	1.15	146.0	2465	2585	2437	2225	148.2	9.7	980	17945	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2584	2331	2438	2224	0	0	0	0	0	0	14.72	14.73	14.73
18124	1.19	146.0	2464	2585	2437	2224	132.2	8.8	998	18125	0.00	0.00	0.00	0.000	70	0.000	0.000	2464	2584	2329	2436	2223	0	0	0	0	0	0	14.72	14.74	14.74
18304	1.26	146.0	2464	2584	2433	2223	117.2	7.6	1016	18305	0.00	0.00	0.00	0.000	70	0.000	0.000	2464	2583	2329	2436	2223	0	0	0	0	0	0	14.71	14.72	14.73
18484	1.38	146.0	2465	2584	2437	2223	105.1	6.1	1034	18485	0.17	0.00	0.00	0.000	2118	0.125	0.000	2524	2584	2329	2436	2223	0	0	0	0	0	0	14.53	14.62	14.61
18664	1.47	239.4	2525	2584	2437	2224	93.5	5.7	1052	18746	0.00	2.70	72.90	1.540	8740	0.000	0.129	2534	1182	1961	2084	1838	0	0	0	0	0	0	14.68	13.94	13.38
18836	1.47	239.4	2535	1183	2085	1830	78.4	10.4	1085	18843	0.00	2.78	0.00	0.000	1030	0.000	0.148	2534	2607	1956	2084	1829	0	0	0	0	0	0	14.21	14.07	14.22
19022	1.59	356.1	2538	2608	2084	1825	63.8	4.7	1104	19116	0.12	2.85	88.88	1.454	10788	0.151	0.130	2598	1176	1487	1550	1424	0	0	0	0	0	0	14.23	13.77	13.24
19187	1.59	356.1	2598	1176	1543	1422	49.3	10.8	1135	19193	0.00	2.83	0.00	0.000	1030	0.000	0.148	2598	2611	1481	1542	1421	0	0	0	0	0	0	14.05	13.92	14.08
19372	1.64	356.1	2598	2612	1540	1416	31.4	8.3	1154	19378	0.00	2.30	0.00	0.000	324	0.000	0.184	2598	3774	1477	1539	1415	0	0	0	0	0	0	14.33	14.06	14.34
19403	1.71	356.1	2599	3774	1539	1415	29.0	7.5	1160	19408	0.00	2.22	0.00	0.000	1094	0.000	0.136	2604	2591	1476	1538	1415	0	0	0	0	0	0	14.21	14.12	14.25
19595	1.81	453.0	2607	2591	1539	1411	17.2	5.6	1180	19678	0.12	2.45	76.70	1.387	10532	0.149	0.178	2656	3783	1091	1117	1065	0	0	0	0	0	0	14.23	13.75	13.28
19731	end climb: SURFACE_DEPTH_REACHED
state	19731	begin surface coast
19742	end surface coast: CONTROL_FINISHED_OK
state	19742	begin surface