Glider dive log

EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 103 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 237 FIX_MISSING_TIMEOUT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1.7

MISSION 6 TGT_DEFAULT_LAT 4736 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 103 TGT_DEFAULT_LON -12218 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 0 TGT_AUTO_DEFAULT 0 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 SM_CC 500 C_VBD 2968 DEVICE1 -1

D_SURF 2 N_FILEKB 8 VBD_DBAND 2 DEVICE2 -1

D_FLARE 3 FILEMGR 0 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 990 CALL_NDIVES 1 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 1010 COMM_SEQ 0 VBD_TIMEOUT 720 DEVICE5 -1

D_NO_BLEED 500 PROTOCOL 9 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

D_BOOST 0 N_NOCOMM 1 UNCOM_BLEED 20 LOGGERS 3

T_BOOST 0 NOCOMM_ACTION 131 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_FINISH 0 N_NOSURFACE 0 W_ADJ_DBAND 0 LOGGERDEVICE2 65

D_PITCH 0 UPLOAD_DIVES_MAX -1 DBDW 0 LOGGERDEVICE3 -1

D_SAFE 0 CALL_TRIES 5 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

D_CALL 0 CALL_WAIT 60 LOITER_DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 0 CAPUPLOAD 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 0 T_GPS 10 LOITER_N_DIVE 0 GPS_DEVICE 48

T_DIVE 260 N_GPS 100440 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_MISSION 290 T_RSLEEP 1 AH0_24V 510 NETWORK_DEVICE -1

T_ABORT 1440 STROBE 0 AH0_10V 0 PRESSURE_DEVICE 34

T_TURN 225 RAFOS_PEAK_OFFSET 0 MINV_24V 11 XPDR_DEVICE 21

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 MINV_10V 11 SIM_W 0

T_NO_W 120 RAFOS_HIT_WINDOW 3600 MAXI_24V 5 SEABIRD_T_G 0.0044171116

T_LOITER 0 RAFOS_MMODEM 0 MAXI_10V 1.5 SEABIRD_T_H 0.00064316206

T_EPIRB 0 PITCH_MIN 190 FG_AHR_10V 33.065769 SEABIRD_T_I 2.5361865e-05

USE_BATHY -6 PITCH_MAX 3950 FG_AHR_24V 96.044891 SEABIRD_T_J 3.0211725e-06

USE_ICE 0 C_PITCH 1800 PHONE_SUPPLY 2 SEABIRD_C_G -9.9751892

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 PRESSURE_YINT -148.10413 SEABIRD_C_H 1.1606171

D_OFFGRID 1000 PITCH_CNV 0.0041299998 PRESSURE_SLOPE 0.00022584078 SEABIRD_C_I -0.0016447038

RELAUNCH 1 PITCH_GAIN 22 COMPASS_USE 4 SEABIRD_C_J 0.0002149943

APOGEE_PITCH -5 PITCH_TIMEOUT 30 ALTIM_PING_FIT 0 SC_RECORDABOVE 2000.0

MAX_BUOY 250 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.015 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0 SC_NDIVE 1.0

RHO 1.0275 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 ES_RECORDABOVE 2000.0

MASS 74630 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 ES_PROFILE 3.0

NAV_MODE 2 ROLL_MIN 465 ALTIM_PING_DELTA 0 ES_XMITPROFILE 0.0

FERRY_MAX 45 ROLL_MAX 3180 ALTIM_FREQUENCY 14 ES_UPLOADMAX 100000.0

KALMAN_USE 2 ROLL_DEG 80 ALTIM_PULSE 3 ES_STARTS 204.0

HD_A 0.003 C_ROLL_DIVE 2000 ALTIM_SENSITIVITY 2 ES_NDIVE 1.0

HD_B 0.0099999998 C_ROLL_CLIMB 1450 XPDR_VALID 4 ES_DL_HEADERSKIP 105044.0

HD_C 1.6e-05 HEAD_ERRBAND 10 XPDR_INHIBIT 90 ES_DL_RECORDLENGTH 10086.0

HEADING -1 ROLL_CNV 0.054945 XPDR_INT 0 ES_DL_NRECORD 100.0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 XPDR_REP 0 ES_DL_RECORDCOUNT 3.0

ESCAPE_HEADING_DELTA 10 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_TGT 990 MOTHERBOARD 6 SEABIRD_C_H 1.1606171

AH0_24V 510 ESCAPE_HEADING 0 NAV_MODE 2 SEABIRD_C_I -0.0016447038

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 NETWORK_DEVICE -1 SEABIRD_C_J 0.0002149943

ALTIM_FREQUENCY 14 ES_DL_HEADERSKIP 105044.0 NOCOMM_ACTION 131 SEABIRD_T_G 0.0044171116

ALTIM_PING_DELTA 0 ES_DL_NRECORD 100.0 N_DIVES 0 SEABIRD_T_H 0.00064316206

ALTIM_PING_DEPTH 0 ES_DL_RECORDCOUNT 3.0 N_FILEKB 8 SEABIRD_T_I 2.5361865e-05

ALTIM_PING_FIT 0 ES_DL_RECORDLENGTH 10086.0 N_GPS 100440 SEABIRD_T_J 3.0211725e-06

ALTIM_PULSE 3 ES_NDIVE 1.0 N_NOCOMM 1 SIM_W 0

ALTIM_SENSITIVITY 2 ES_PROFILE 3.0 N_NOSURFACE 0 SM_CC 500

ALTIM_TOP_MIN_OBSTACLE 1 ES_RECORDABOVE 2000.0 PHONE_DEVICE 33 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ES_STARTS 204.0 PHONE_SUPPLY 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 ES_UPLOADMAX 100000.0 PITCH_ADJ_DBAND 2 STROBE 0

APOGEE_PITCH -5 ES_XMITPROFILE 0.0 PITCH_ADJ_GAIN 0.015 SURFACE_URGENCY 0

CALL_NDIVES 1 FERRY_MAX 45 PITCH_CNV 0.0041299998 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 FG_AHR_10V 33.065769 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FG_AHR_24V 96.044891 PITCH_GAIN 22 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 FILEMGR 0 PITCH_MAX 3950 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 GLIDE_SLOPE 30 PITCH_MIN 190 T_ABORT 1440

COMM_SEQ 0 GPS_DEVICE 48 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 HD_A 0.003 PITCH_VBD_SHIFT 0.0015 T_DIVE 260

COMPASS_DEVICE 66 HD_B 0.0099999998 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 4 HD_C 1.6e-05 PITCH_W_GAIN 0 T_GPS 10

C_PITCH 1800 HEADING -1 PRESSURE_DEVICE 34 T_LOITER 0

C_ROLL_CLIMB 1450 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00022584078 T_MISSION 290

C_ROLL_DIVE 2000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -148.10413 T_NO_W 120

C_VBD 2968 ID 237 PROTOCOL 9 T_RSLEEP 1

DBDW 0 INT_PRESSURE_SLOPE 1.9639999e-06 RAFOS_CORR_THRESH 60 T_TURN 225

DEEPGLIDER 0 INT_PRESSURE_YINT -1.7 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

DEVICE1 -1 LOGGERDEVICE1 7 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 LOGGERDEVICE2 65 RAFOS_PEAK_OFFSET 0 USE_BATHY -6

DEVICE3 -1 LOGGERDEVICE3 -1 RELAUNCH 1 USE_ICE 0

DEVICE4 -1 LOGGERDEVICE4 -1 RHO 1.0275 VBD_CNV -0.24529999

DEVICE5 -1 LOGGERS 3 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE6 -1 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DIVE 103 LOITER_D_BOTTOM 0 ROLL_CNV 0.054945 VBD_MAX 3960

D_ABORT 1010 LOITER_D_TOP 0 ROLL_DEG 80 VBD_MAXERRORS 1

D_BOOST 0 LOITER_N_DIVE 0 ROLL_MAX 3180 VBD_MIN 500

D_CALL 0 LOITER_W_DBAND 0 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

D_FINISH 0 MASS 74630 ROLL_MIN 465 W_ADJ_DBAND 0

D_FLARE 3 MAXI_10V 1.5 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_NO_BLEED 500 MAXI_24V 5 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_OFFGRID 1000 MAX_BUOY 250 SC_PROFILE 3.0 XPDR_INT 0

D_PITCH 0 MINV_10V 11 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_SAFE 0 MINV_24V 11 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_SURF 2 MISSION 6 SEABIRD_C_G -9.9751892

Pre-dive calculations and measurements:

GPS1 240421,063600,4845.663,-1840.142,24,1.0,24,-6.3 TGT_LATLONG 4845.780,-1848.770

_CALLS 2 TGT_RADIUS 4000.000

_SM_DEPTHo 1.01 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -48.1 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 240421,064503,4845.595,-1840.080,2,0.8,4,-6.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.220,0.350 MHEAD_RNG_PITCHd_Wd 318.3,10614,-16.6,-12.692,-19.91

TGT_NAME A1_1 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.0,1.026856 INTERNAL_PRESSURE 8.65628

SM_CCo 15037.14,0.00,0.000,0,599.8,555.4,644.1,580.92 _24V_AH 14.36,44.468

SM_GC 0.85,0.00,12.49,1.14,0.000,0.058,0.035,599.8,555.4,644.1,175.9,2035.9,0,0,0,30.00,15.77,15.85 _10V_AH 15.00,0.000

SUPER 19,71,254,1,0,0 FG_AHR_24Vo 96.422

IRIDIUM_FIX 4847.45,-1834.37,240421,063852 FG_AHR_10Vo 33.152

TCM_TEMP 15.38 MEM 1125680,25,50584,127

XPDR_PINGS 0,13.0,11.5 DATA_FILE_SIZE 54528,1766

SC_FREEKB 3832608 CAP_FILE_SIZE 336651,0

ES_FREE 15025274880.000000 SDSIZE 3918848,3877152

ES_POWER 63.440000 SDFILEDIR 753,1

ES_POWER1 0.000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 50.53 CURRENT 0.377,146.6,1

TEMP 11.26 GPS 240421,105638,4845.176,-1840.466,18,1.0,18,-6.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 890 2064 26411.53 nil 0 0 0.00

Pitch_motor 32 296 136.52 nil 0 0 0.00

Roll_motor 137 370 731.91 nil 0 0 0.00

Iridium 326 204 958.75 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 5232 11 926.14 SciCon 14976 11 2532.14

LPSleep 10322 2 433.53 echo 14998 10 2249.73

Compass 2617 5 196.28 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

11.32 16386 -243.31 -1.12 0.00 806.5 765.4 847.6 174.6 1956.8 0.00 0.00 0 145.35 133.43 0.00 0.00 0.005 0.000 0.000 3448.72 3454.69 3442.75 174.62 1956.69 0 0 0 15.28 30.00 30.00

145.67 18727 -243.31 -1.12 80.00 3448.1 3454.1 3442.0 174.6 1956.6 3.61 -1.99 26 177.62 13.36 11.71 3.26 0.006 0.297 0.112 3958.75 3941.94 3975.56 1528.38 3186.50 0 0 0 15.37 15.27 15.21

400.36 1156 -243.31 -1.07 0.00 3960.7 3943.6 3977.9 1528.5 3186.6 44.25 -15.13 77 405.90 0.00 0.00 2.82 0.000 0.000 0.043 3960.50 3942.69 3978.31 1528.88 1976.44 0 0 0 30.00 30.00 15.72

585.40 2437 -243.31 -1.00 80.00 3960.5 3943.1 3978.0 1528.3 1976.5 74.59 -17.18 114 591.06 0.00 0.20 3.22 0.000 0.182 0.109 3961.00 3943.69 3978.31 1557.75 3186.19 0 0 0 30.00 15.51 15.47

655.33 1028 -243.31 -1.00 0.00 3960.4 3942.7 3978.2 1558.4 3186.2 84.63 -13.55 128 660.95 0.00 0.00 2.83 0.000 0.000 0.040 3961.34 3943.69 3979.00 1558.19 1974.62 0 0 0 30.00 30.00 15.59

845.42 0 -243.31 -1.00 0.00 3960.9 3942.9 3978.9 1558.1 1974.9 111.76 -14.69 158 846.75 0.00 0.00 0.00 0.000 0.000 0.000 3960.72 3943.12 3978.31 1558.00 1975.38 0 0 0 30.00 30.00 30.00

1145.44 0 -243.31 -1.00 0.00 3960.8 3943.1 3978.4 1558.1 1975.0 155.61 -14.56 188 1146.77 0.00 0.00 0.00 0.000 0.000 0.000 3959.94 3942.12 3977.75 1558.25 1975.81 0 0 0 30.00 30.00 30.00

1445.47 260 -243.31 -1.00 80.00 3960.3 3941.9 3978.6 1558.1 1975.4 198.94 -14.32 218 1450.76 0.00 0.00 3.23 0.000 0.000 0.109 3961.25 3943.44 3979.06 1558.25 3186.88 0 0 0 30.00 30.00 15.63

1465.41 1028 -243.31 -1.00 0.00 3960.3 3942.8 3977.8 1558.2 3187.5 201.67 -14.28 222 1470.69 0.00 0.00 2.82 0.000 0.000 0.041 3960.78 3943.38 3978.19 1558.56 1972.56 0 0 0 30.00 30.00 15.64

1775.50 0 -243.31 -1.00 0.00 3960.4 3942.8 3978.0 1557.8 1972.9 244.76 -13.99 254 1776.83 0.00 0.00 0.00 0.000 0.000 0.000 3960.44 3942.44 3978.44 1557.94 1972.44 0 0 0 30.00 30.00 30.00

2075.53 0 -243.31 -1.00 0.00 3961.3 3942.9 3979.8 1558.1 1972.5 286.22 -14.10 284 2076.86 0.00 0.00 0.00 0.000 0.000 0.000 3960.09 3941.50 3978.69 1558.06 1972.81 0 0 0 30.00 30.00 30.00

2375.55 0 -243.31 -1.00 0.00 3960.8 3943.1 3978.4 1558.3 1973.4 327.79 -13.40 314 2376.88 0.00 0.00 0.00 0.000 0.000 0.000 3960.19 3942.12 3978.25 1558.12 1972.62 0 0 0 30.00 30.00 30.00

2675.72 0 -243.31 -1.00 0.00 3960.4 3942.6 3978.3 1558.2 1973.1 368.37 -13.44 344 2677.05 0.00 0.00 0.00 0.000 0.000 0.000 3960.19 3943.00 3977.38 1558.31 1972.81 0 0 0 30.00 30.00 30.00

2975.61 260 -243.31 -1.00 80.00 3960.0 3942.7 3977.2 1557.9 1973.3 407.79 -13.14 374 2980.89 0.00 0.00 3.23 0.000 0.000 0.113 3961.44 3944.06 3978.81 1557.00 3185.88 0 0 0 30.00 30.00 15.64

3000.20 1028 -243.31 -1.00 0.00 3960.4 3943.0 3977.8 1557.5 3187.1 411.13 -13.41 379 3006.18 0.00 0.00 2.81 0.000 0.000 0.042 3960.12 3942.00 3978.25 1557.88 1975.81 0 0 0 30.00 30.00 15.79

3305.64 0 -243.31 -1.00 0.00 3960.5 3942.8 3978.1 1557.9 1975.9 450.73 -13.20 410 3306.97 0.00 0.00 0.00 0.000 0.000 0.000 3960.03 3942.75 3977.31 1558.00 1975.94 0 0 0 30.00 30.00 30.00

3605.69 260 -243.31 -1.00 80.00 3960.4 3942.6 3978.2 1557.6 1976.2 490.99 -13.41 440 3610.98 0.00 0.00 3.24 0.000 0.000 0.116 3960.78 3942.56 3979.00 1558.19 3186.31 0 0 0 30.00 30.00 15.62

3625.63 1028 -243.31 -1.00 0.00 3960.2 3942.2 3978.1 1558.1 3185.9 493.59 -13.12 444 3630.92 0.00 0.00 2.82 0.000 0.000 0.044 3960.78 3942.50 3979.06 1557.38 1976.31 0 0 0 30.00 30.00 15.67

3935.75 0 -243.31 -1.00 0.00 3960.3 3942.4 3978.2 1557.8 1976.2 534.67 -13.26 476 3937.08 0.00 0.00 0.00 0.000 0.000 0.000 3959.91 3941.62 3978.19 1558.12 1975.75 0 0 0 30.00 30.00 30.00

4235.80 260 -243.31 -1.00 80.00 3960.5 3942.1 3978.9 1558.1 1976.5 575.21 -13.36 506 4241.10 0.00 0.00 3.25 0.000 0.000 0.120 3960.00 3941.94 3978.06 1558.12 3185.12 0 0 0 30.00 30.00 15.61

4275.75 1028 -243.31 -1.00 0.00 3959.8 3941.8 3977.8 1558.1 3186.2 580.65 -13.38 514 4281.03 0.00 0.00 2.82 0.000 0.000 0.047 3961.09 3943.12 3979.06 1557.25 1978.19 0 0 0 30.00 30.00 15.87

4585.86 260 -243.31 -1.00 80.00 3960.2 3941.9 3978.6 1558.1 1977.6 621.68 -13.47 546 4591.16 0.00 0.00 3.27 0.000 0.000 0.121 3960.50 3942.88 3978.12 1558.06 3184.38 0 0 0 30.00 30.00 15.60

4610.47 1028 -243.31 -1.00 0.00 3960.2 3942.1 3978.3 1558.1 3183.8 625.08 -13.47 551 4616.45 0.00 0.00 2.82 0.000 0.000 0.049 3960.06 3941.62 3978.50 1556.94 1979.50 0 0 0 30.00 30.00 15.79

4915.93 260 -243.31 -1.00 80.00 3959.8 3941.4 3978.2 1558.4 1979.8 665.62 -13.28 582 4921.22 0.00 0.00 3.28 0.000 0.000 0.123 3960.47 3942.31 3978.62 1557.81 3186.56 0 0 0 30.00 30.00 15.60

4955.88 1028 -243.31 -1.00 0.00 3959.3 3940.9 3977.6 1558.1 3186.8 670.77 -12.75 590 4961.16 0.00 0.00 2.83 0.000 0.000 0.050 3960.69 3942.50 3978.88 1557.81 1977.62 0 0 0 30.00 30.00 15.87

5266.00 516 -243.31 -1.00 -80.00 3959.9 3942.3 3977.5 1558.2 1977.5 710.83 -13.09 622 5271.41 0.00 0.00 3.97 0.000 0.000 0.147 3960.53 3941.56 3979.50 1558.00 537.00 0 0 0 30.00 30.00 15.44

5280.60 1028 -243.31 -1.00 0.00 3960.1 3941.6 3978.6 1558.4 537.0 712.91 -13.20 625 5286.69 0.00 0.00 3.51 0.000 0.000 0.036 3960.03 3941.69 3978.38 1558.25 2020.06 0 0 0 30.00 30.00 15.88

5585.98 0 -243.31 -1.00 0.00 3959.3 3940.8 3977.9 1557.9 2020.5 752.72 -12.77 656 5587.31 0.00 0.00 0.00 0.000 0.000 0.000 3959.66 3941.25 3978.06 1558.12 2020.81 0 0 0 30.00 30.00 30.00

5886.12 32 -243.31 -1.00 0.00 3959.5 3940.4 3978.6 1558.2 2020.5 790.92 -11.95 686 5887.45 0.00 0.00 0.00 0.000 0.000 0.000 3959.72 3941.12 3978.31 1557.94 2020.31 0 0 0 30.00 30.00 30.00

6186.18 548 -243.31 -1.00 -80.00 3960.2 3941.3 3979.0 1558.2 2020.2 826.11 -11.69 716 6191.60 0.00 0.00 4.18 0.000 0.000 0.148 3960.44 3941.12 3979.75 1558.06 536.38 0 0 0 30.00 30.00 15.45

6216.12 1028 -243.31 -1.00 0.00 3959.5 3940.6 3978.4 1558.2 536.2 830.09 -13.27 722 6221.51 0.00 0.00 3.54 0.000 0.000 0.042 3959.44 3940.50 3978.38 1558.88 2017.38 0 0 0 30.00 30.00 15.79

6526.17 32 -243.31 -1.00 0.00 3959.2 3939.6 3978.8 1558.2 2017.8 865.86 -11.32 754 6527.50 0.00 0.00 0.00 0.000 0.000 0.000 3958.81 3939.88 3977.75 1558.00 2018.19 0 0 0 30.00 30.00 30.00

6826.31 548 -243.31 -1.00 -80.00 3959.1 3939.7 3978.4 1557.8 2017.6 900.73 -11.78 784 6831.73 0.00 0.00 4.18 0.000 0.000 0.151 3959.66 3940.44 3978.88 1558.06 537.19 0 0 0 30.00 30.00 15.43

6860.90 1028 -243.31 -1.00 0.00 3959.1 3940.1 3978.1 1558.0 537.4 905.18 -12.84 791 6866.96 0.00 0.00 3.54 0.000 0.000 0.043 3959.25 3939.38 3979.12 1557.50 2019.88 0 0 0 30.00 30.00 15.88

7166.28 32 -243.31 -1.00 0.00 3958.8 3939.2 3978.4 1557.9 2020.5 941.13 -12.22 822 7167.61 0.00 0.00 0.00 0.000 0.000 0.000 3958.44 3939.56 3977.31 1558.00 2020.25 0 0 0 30.00 30.00 30.00

7466.39 32 -243.31 -1.00 0.00 3958.7 3939.1 3978.2 1558.2 2020.0 976.95 -11.99 852 7467.72 0.00 0.00 0.00 0.000 0.000 0.000 3957.94 3938.12 3977.75 1557.88 2020.12 0 0 0 30.00 30.00 30.00

7587 end dive: TARGET_DEPTH_EXCEEDED

state 7587 begin apogee

7589.32 10243 0.00 -0.23 0.00 3957.8 3938.1 3977.4 1557.9 1439.2 990.93 -11.50 864 7795.80 204.04 1.33 0.05 2.065 0.144 0.371 2965.16 2925.19 3005.12 1746.06 1474.62 0 0 0 10.85 15.60 15.04

7799 end apogee: CONTROL_FINISHED_OK

state 7799 begin climb

7798.97 10759 243.31 1.12 -80.00 2965.8 2926.1 3005.6 1746.2 1474.5 999.78 0.00 884 8022.28 214.25 2.28 3.12 2.010 0.111 0.180 1974.31 1929.25 2019.38 2074.12 460.25 0 0 0 12.04 15.09 14.92

8184.85 9382 276.80 1.13 0.00 1967.7 1925.6 2009.8 2074.4 459.8 971.17 11.51 960 8220.70 31.60 0.00 2.42 1.850 0.000 0.031 1838.88 1792.31 1885.44 2074.38 1490.06 0 0 0 11.74 30.00 15.44

8524.89 10535 375.23 1.28 80.00 1833.6 1784.6 1882.6 2074.2 1490.3 939.08 9.21 998 8622.35 90.57 0.22 3.86 1.920 0.082 0.106 1439.09 1385.56 1492.62 2121.94 2912.69 0 0 0 11.76 15.51 15.16

8654.93 9382 410.35 1.38 0.00 1435.6 1380.8 1490.5 2122.2 2912.2 923.85 11.45 1024 8696.30 33.90 0.00 3.83 1.814 0.000 0.089 1295.28 1239.56 1351.00 2122.25 1441.31 0 0 0 12.05 30.00 15.34

8994.96 0 410.35 1.38 0.00 1290.1 1234.4 1345.8 2123.0 1441.4 880.72 13.04 1062 8996.28 0.00 0.00 0.00 0.000 0.000 0.000 1289.97 1234.25 1345.69 2122.69 1441.75 0 0 0 30.00 30.00 30.00

9295.08 8486 425.11 1.40 80.00 1289.3 1233.4 1345.2 2123.2 1441.4 842.64 12.17 1092 9316.17 15.07 0.00 3.88 1.615 0.000 0.102 1234.59 1179.25 1289.94 2122.50 2912.69 0 0 0 11.66 30.00 15.55

9339.70 11431 472.86 1.52 0.00 1234.4 1179.2 1289.6 2123.5 2912.6 837.40 11.00 1101 9391.48 45.63 0.28 3.68 1.794 0.076 0.084 1041.25 987.00 1095.50 2179.69 1439.06 0 0 0 12.12 15.57 15.64

9695.07 644 472.86 1.49 -80.00 1036.0 981.2 1090.7 2180.8 1439.9 776.05 17.88 1142 9700.35 0.00 0.00 2.81 0.000 0.000 0.171 1036.00 981.56 1090.44 2180.44 458.12 0 0 0 30.00 30.00 15.54

9735.09 5253 472.86 1.41 0.00 1035.2 981.1 1089.4 2180.7 458.2 768.19 20.38 1150 9740.66 0.00 0.41 2.39 0.000 0.201 0.030 1035.78 981.44 1090.12 2136.44 1501.62 0 0 0 30.00 15.52 15.65

10045.15 10403 492.31 1.49 0.00 1034.8 979.9 1089.8 2136.2 1501.9 728.42 12.00 1182 10065.65 18.82 0.22 0.00 1.587 0.083 0.000 962.00 907.25 1016.75 2173.25 1502.00 0 0 0 11.67 15.71 30.00

10365.20 516 492.31 1.49 -80.00 959.1 905.1 1013.0 2173.4 1502.1 676.65 16.80 1214 10370.49 0.00 0.00 2.94 0.000 0.000 0.158 959.12 905.19 1013.06 2173.56 459.06 0 0 0 30.00 30.00 15.61

10409.88 5253 492.31 1.44 0.00 958.8 905.1 1012.5 2173.2 459.1 667.99 19.99 1223 10415.81 0.00 0.28 2.39 0.000 0.201 0.032 959.16 905.62 1012.69 2143.12 1507.88 0 0 0 30.00 15.50 15.69

10715.34 8354 498.38 1.49 0.00 958.5 904.9 1012.1 2143.8 1507.3 628.83 12.48 1254 10725.43 7.62 0.00 0.00 1.170 0.000 0.000 937.03 882.88 991.19 2143.50 1507.69 0 0 0 11.66 30.00 30.00

11025.32 10403 522.18 1.58 0.00 936.1 881.1 991.1 2143.6 1507.8 591.45 11.85 1285 11049.93 23.56 0.32 0.00 1.481 0.075 0.000 839.72 789.88 889.56 2194.38 1508.69 0 0 0 11.74 15.76 30.00

11345.33 644 522.18 1.55 -80.00 837.2 787.0 887.5 2194.8 1508.8 534.53 18.35 1317 11350.62 0.00 0.00 2.93 0.000 0.000 0.152 837.75 787.38 888.12 2193.62 457.94 0 0 0 30.00 30.00 15.64

11390.02 5253 522.18 1.48 0.00 837.0 787.1 886.9 2194.3 458.4 525.10 21.83 1326 11395.99 0.00 0.37 2.39 0.000 0.203 0.034 836.97 787.00 886.94 2152.62 1509.94 0 0 0 30.00 15.59 15.72

11695.38 8354 525.22 1.53 0.00 836.6 786.1 887.1 2151.8 1510.1 484.90 12.58 1357 11700.92 5.01 0.00 0.00 0.785 0.000 0.000 828.03 777.31 878.75 2150.69 1509.62 0 0 0 11.66 30.00 30.00

11995.42 10403 547.21 1.62 0.00 827.2 776.2 878.1 2152.2 1509.9 448.61 11.91 1387 12019.00 21.86 0.31 0.00 1.321 0.075 0.000 737.78 692.31 783.25 2205.38 1509.94 0 0 0 11.76 15.74 30.00

12315.43 644 547.21 1.58 -80.00 735.4 689.2 781.6 2204.3 1510.2 389.85 18.75 1419 12320.72 0.00 0.00 2.93 0.000 0.000 0.149 735.75 689.25 782.25 2204.56 457.94 0 0 0 30.00 30.00 15.64

12375.45 5253 547.21 1.50 0.00 734.8 688.7 780.8 2205.2 458.2 376.70 22.90 1431 12380.72 0.00 0.40 2.37 0.000 0.205 0.035 735.00 688.88 781.12 2157.25 1513.81 0 0 0 30.00 15.63 15.78

12685.48 8354 560.77 1.58 0.00 733.9 686.4 781.4 2158.7 1514.2 335.91 12.21 1463 12699.76 13.60 0.00 0.00 1.135 0.000 0.000 682.88 637.81 727.94 2158.00 1513.88 0 0 0 11.72 30.00 30.00

12995.52 10919 580.31 1.67 -80.00 680.5 634.3 726.7 2158.6 1514.1 298.18 12.00 1494 13020.56 18.54 0.36 2.92 1.136 0.070 0.149 602.91 563.38 642.44 2217.94 458.12 0 0 0 11.77 15.75 15.64

13040.18 5253 580.31 1.62 0.00 602.1 563.0 641.2 2218.9 458.2 290.41 20.19 1503 13046.10 0.00 0.28 2.38 0.000 0.209 0.035 601.97 562.81 641.12 2187.62 1510.88 0 0 0 30.00 15.64 15.78

13345.58 0 580.31 1.62 0.00 600.5 559.9 641.1 2187.3 1510.9 243.16 14.82 1534 13346.92 0.00 0.00 0.00 0.000 0.000 0.000 600.38 559.81 640.94 2188.00 1510.81 0 0 0 30.00 30.00 30.00

13645.77 516 580.31 1.62 -80.00 600.4 559.6 641.2 2187.5 1510.6 197.77 14.84 1564 13650.99 0.00 0.00 2.95 0.000 0.000 0.148 600.56 559.62 641.50 2186.25 456.81 0 0 0 30.00 30.00 15.66

13680.21 1028 580.31 1.62 0.00 600.4 559.6 641.2 2187.3 457.1 191.76 17.76 1571 13686.02 0.00 0.00 2.37 0.000 0.000 0.035 600.09 559.06 641.12 2187.31 1508.81 0 0 0 30.00 30.00 15.81

13985.62 0 580.31 1.62 0.00 599.9 558.1 641.7 2186.9 1509.0 146.30 14.49 1602 13986.95 0.00 0.00 0.00 0.000 0.000 0.000 599.75 557.88 641.62 2186.81 1509.06 0 0 0 30.00 30.00 30.00

14285.75 644 580.31 1.66 -80.00 599.9 558.0 641.8 2187.1 1508.9 102.74 14.35 1632 14290.98 0.00 0.00 2.93 0.000 0.000 0.148 599.78 557.81 641.75 2187.75 458.00 0 0 0 30.00 30.00 15.67

14310.67 1028 580.31 1.66 0.00 599.9 558.3 641.6 2186.8 458.0 98.63 16.44 1637 14316.13 0.00 0.00 2.38 0.000 0.000 0.035 600.03 558.25 641.81 2186.62 1505.69 0 0 0 30.00 30.00 15.76

14495.80 128 580.31 1.69 0.00 599.9 557.1 642.8 2186.4 1505.3 70.65 14.58 1674 14497.13 0.00 0.00 0.00 0.000 0.000 0.000 599.94 557.19 642.69 2187.31 1505.69 0 0 0 30.00 30.00 30.00

14675.80 2693 580.31 1.74 -80.00 600.0 557.1 642.8 2186.9 1506.0 44.82 14.07 1710 14681.51 0.00 0.28 2.92 0.000 0.073 0.146 600.28 557.38 643.19 2234.12 457.12 0 0 0 30.00 15.74 15.65

14720.83 5253 580.31 1.67 0.00 600.3 557.9 642.7 2234.6 457.1 35.86 22.58 1719 14726.45 0.00 0.31 2.38 0.000 0.215 0.034 600.31 557.88 642.75 2200.31 1512.06 0 0 0 30.00 15.59 15.82

14905.88 128 580.31 1.71 0.00 599.9 556.6 643.3 2199.9 1512.4 6.23 14.13 1756 14907.21 0.00 0.00 0.00 0.000 0.000 0.000 599.94 556.62 643.25 2200.62 1512.38 0 0 0 30.00 30.00 30.00

14941 end climb: SURFACE_DEPTH_REACHED

state 14941 begin surface coast

14956 end surface coast: CONTROL_FINISHED_OK

state 14956 begin surface

ID	237	FIX_MISSING_TIMEOUT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1.7
MISSION	6	TGT_DEFAULT_LAT	4736	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	103	TGT_DEFAULT_LON	-12218	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	0	TGT_AUTO_DEFAULT	0	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	SM_CC	500	C_VBD	2968	DEVICE1	-1
D_SURF	2	N_FILEKB	8	VBD_DBAND	2	DEVICE2	-1
D_FLARE	3	FILEMGR	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	990	CALL_NDIVES	1	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	1010	COMM_SEQ	0	VBD_TIMEOUT	720	DEVICE5	-1
D_NO_BLEED	500	PROTOCOL	9	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
D_BOOST	0	N_NOCOMM	1	UNCOM_BLEED	20	LOGGERS	3
T_BOOST	0	NOCOMM_ACTION	131	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_FINISH	0	N_NOSURFACE	0	W_ADJ_DBAND	0	LOGGERDEVICE2	65
D_PITCH	0	UPLOAD_DIVES_MAX	-1	DBDW	0	LOGGERDEVICE3	-1
D_SAFE	0	CALL_TRIES	5	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
D_CALL	0	CALL_WAIT	60	LOITER_DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	0	CAPUPLOAD	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	0	T_GPS	10	LOITER_N_DIVE	0	GPS_DEVICE	48
T_DIVE	260	N_GPS	100440	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_MISSION	290	T_RSLEEP	1	AH0_24V	510	NETWORK_DEVICE	-1
T_ABORT	1440	STROBE	0	AH0_10V	0	PRESSURE_DEVICE	34
T_TURN	225	RAFOS_PEAK_OFFSET	0	MINV_24V	11	XPDR_DEVICE	21
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	MINV_10V	11	SIM_W	0
T_NO_W	120	RAFOS_HIT_WINDOW	3600	MAXI_24V	5	SEABIRD_T_G	0.0044171116
T_LOITER	0	RAFOS_MMODEM	0	MAXI_10V	1.5	SEABIRD_T_H	0.00064316206
T_EPIRB	0	PITCH_MIN	190	FG_AHR_10V	33.065769	SEABIRD_T_I	2.5361865e-05
USE_BATHY	-6	PITCH_MAX	3950	FG_AHR_24V	96.044891	SEABIRD_T_J	3.0211725e-06
USE_ICE	0	C_PITCH	1800	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9751892
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	PRESSURE_YINT	-148.10413	SEABIRD_C_H	1.1606171
D_OFFGRID	1000	PITCH_CNV	0.0041299998	PRESSURE_SLOPE	0.00022584078	SEABIRD_C_I	-0.0016447038
RELAUNCH	1	PITCH_GAIN	22	COMPASS_USE	4	SEABIRD_C_J	0.0002149943
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	ALTIM_PING_FIT	0	SC_RECORDABOVE	2000.0
MAX_BUOY	250	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.015	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0	SC_NDIVE	1.0
RHO	1.0275	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	ES_RECORDABOVE	2000.0
MASS	74630	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	ES_PROFILE	3.0
NAV_MODE	2	ROLL_MIN	465	ALTIM_PING_DELTA	0	ES_XMITPROFILE	0.0
FERRY_MAX	45	ROLL_MAX	3180	ALTIM_FREQUENCY	14	ES_UPLOADMAX	100000.0
KALMAN_USE	2	ROLL_DEG	80	ALTIM_PULSE	3	ES_STARTS	204.0
HD_A	0.003	C_ROLL_DIVE	2000	ALTIM_SENSITIVITY	2	ES_NDIVE	1.0
HD_B	0.0099999998	C_ROLL_CLIMB	1450	XPDR_VALID	4	ES_DL_HEADERSKIP	105044.0
HD_C	1.6e-05	HEAD_ERRBAND	10	XPDR_INHIBIT	90	ES_DL_RECORDLENGTH	10086.0
HEADING	-1	ROLL_CNV	0.054945	XPDR_INT	0	ES_DL_NRECORD	100.0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	XPDR_REP	0	ES_DL_RECORDCOUNT	3.0
ESCAPE_HEADING_DELTA	10	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	240421,063600,4845.663,-1840.142,24,1.0,24,-6.3	TGT_LATLONG	4845.780,-1848.770
_CALLS	2	TGT_RADIUS	4000.000
_SM_DEPTHo	1.01	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-48.1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	240421,064503,4845.595,-1840.080,2,0.8,4,-6.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.220,0.350	MHEAD_RNG_PITCHd_Wd	318.3,10614,-16.6,-12.692,-19.91
TGT_NAME	A1_1	D_GRID	1000

FINISH	0.0,1.026856	INTERNAL_PRESSURE	8.65628
SM_CCo	15037.14,0.00,0.000,0,599.8,555.4,644.1,580.92	_24V_AH	14.36,44.468
SM_GC	0.85,0.00,12.49,1.14,0.000,0.058,0.035,599.8,555.4,644.1,175.9,2035.9,0,0,0,30.00,15.77,15.85	_10V_AH	15.00,0.000
SUPER	19,71,254,1,0,0	FG_AHR_24Vo	96.422
IRIDIUM_FIX	4847.45,-1834.37,240421,063852	FG_AHR_10Vo	33.152
TCM_TEMP	15.38	MEM	1125680,25,50584,127
XPDR_PINGS	0,13.0,11.5	DATA_FILE_SIZE	54528,1766
SC_FREEKB	3832608	CAP_FILE_SIZE	336651,0
ES_FREE	15025274880.000000	SDSIZE	3918848,3877152
ES_POWER	63.440000	SDFILEDIR	753,1
ES_POWER1	0.000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	50.53	CURRENT	0.377,146.6,1
TEMP	11.26	GPS	240421,105638,4845.176,-1840.466,18,1.0,18,-6.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	890	2064	26411.53	nil	0	0	0.00
Pitch_motor	32	296	136.52	nil	0	0	0.00
Roll_motor	137	370	731.91	nil	0	0	0.00
Iridium	326	204	958.75	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	5232	11	926.14	SciCon	14976	11	2532.14
LPSleep	10322	2	433.53	echo	14998	10	2249.73
Compass	2617	5	196.28	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
11.32	16386	-243.31	-1.12	0.00	806.5	765.4	847.6	174.6	1956.8	0.00	0.00	0	145.35	133.43	0.00	0.00	0.005	0.000	0.000	3448.72	3454.69	3442.75	174.62	1956.69	0	0	0	15.28	30.00	30.00
145.67	18727	-243.31	-1.12	80.00	3448.1	3454.1	3442.0	174.6	1956.6	3.61	-1.99	26	177.62	13.36	11.71	3.26	0.006	0.297	0.112	3958.75	3941.94	3975.56	1528.38	3186.50	0	0	0	15.37	15.27	15.21
400.36	1156	-243.31	-1.07	0.00	3960.7	3943.6	3977.9	1528.5	3186.6	44.25	-15.13	77	405.90	0.00	0.00	2.82	0.000	0.000	0.043	3960.50	3942.69	3978.31	1528.88	1976.44	0	0	0	30.00	30.00	15.72
585.40	2437	-243.31	-1.00	80.00	3960.5	3943.1	3978.0	1528.3	1976.5	74.59	-17.18	114	591.06	0.00	0.20	3.22	0.000	0.182	0.109	3961.00	3943.69	3978.31	1557.75	3186.19	0	0	0	30.00	15.51	15.47
655.33	1028	-243.31	-1.00	0.00	3960.4	3942.7	3978.2	1558.4	3186.2	84.63	-13.55	128	660.95	0.00	0.00	2.83	0.000	0.000	0.040	3961.34	3943.69	3979.00	1558.19	1974.62	0	0	0	30.00	30.00	15.59
845.42	0	-243.31	-1.00	0.00	3960.9	3942.9	3978.9	1558.1	1974.9	111.76	-14.69	158	846.75	0.00	0.00	0.00	0.000	0.000	0.000	3960.72	3943.12	3978.31	1558.00	1975.38	0	0	0	30.00	30.00	30.00
1145.44	0	-243.31	-1.00	0.00	3960.8	3943.1	3978.4	1558.1	1975.0	155.61	-14.56	188	1146.77	0.00	0.00	0.00	0.000	0.000	0.000	3959.94	3942.12	3977.75	1558.25	1975.81	0	0	0	30.00	30.00	30.00
1445.47	260	-243.31	-1.00	80.00	3960.3	3941.9	3978.6	1558.1	1975.4	198.94	-14.32	218	1450.76	0.00	0.00	3.23	0.000	0.000	0.109	3961.25	3943.44	3979.06	1558.25	3186.88	0	0	0	30.00	30.00	15.63
1465.41	1028	-243.31	-1.00	0.00	3960.3	3942.8	3977.8	1558.2	3187.5	201.67	-14.28	222	1470.69	0.00	0.00	2.82	0.000	0.000	0.041	3960.78	3943.38	3978.19	1558.56	1972.56	0	0	0	30.00	30.00	15.64
1775.50	0	-243.31	-1.00	0.00	3960.4	3942.8	3978.0	1557.8	1972.9	244.76	-13.99	254	1776.83	0.00	0.00	0.00	0.000	0.000	0.000	3960.44	3942.44	3978.44	1557.94	1972.44	0	0	0	30.00	30.00	30.00
2075.53	0	-243.31	-1.00	0.00	3961.3	3942.9	3979.8	1558.1	1972.5	286.22	-14.10	284	2076.86	0.00	0.00	0.00	0.000	0.000	0.000	3960.09	3941.50	3978.69	1558.06	1972.81	0	0	0	30.00	30.00	30.00
2375.55	0	-243.31	-1.00	0.00	3960.8	3943.1	3978.4	1558.3	1973.4	327.79	-13.40	314	2376.88	0.00	0.00	0.00	0.000	0.000	0.000	3960.19	3942.12	3978.25	1558.12	1972.62	0	0	0	30.00	30.00	30.00
2675.72	0	-243.31	-1.00	0.00	3960.4	3942.6	3978.3	1558.2	1973.1	368.37	-13.44	344	2677.05	0.00	0.00	0.00	0.000	0.000	0.000	3960.19	3943.00	3977.38	1558.31	1972.81	0	0	0	30.00	30.00	30.00
2975.61	260	-243.31	-1.00	80.00	3960.0	3942.7	3977.2	1557.9	1973.3	407.79	-13.14	374	2980.89	0.00	0.00	3.23	0.000	0.000	0.113	3961.44	3944.06	3978.81	1557.00	3185.88	0	0	0	30.00	30.00	15.64
3000.20	1028	-243.31	-1.00	0.00	3960.4	3943.0	3977.8	1557.5	3187.1	411.13	-13.41	379	3006.18	0.00	0.00	2.81	0.000	0.000	0.042	3960.12	3942.00	3978.25	1557.88	1975.81	0	0	0	30.00	30.00	15.79
3305.64	0	-243.31	-1.00	0.00	3960.5	3942.8	3978.1	1557.9	1975.9	450.73	-13.20	410	3306.97	0.00	0.00	0.00	0.000	0.000	0.000	3960.03	3942.75	3977.31	1558.00	1975.94	0	0	0	30.00	30.00	30.00
3605.69	260	-243.31	-1.00	80.00	3960.4	3942.6	3978.2	1557.6	1976.2	490.99	-13.41	440	3610.98	0.00	0.00	3.24	0.000	0.000	0.116	3960.78	3942.56	3979.00	1558.19	3186.31	0	0	0	30.00	30.00	15.62
3625.63	1028	-243.31	-1.00	0.00	3960.2	3942.2	3978.1	1558.1	3185.9	493.59	-13.12	444	3630.92	0.00	0.00	2.82	0.000	0.000	0.044	3960.78	3942.50	3979.06	1557.38	1976.31	0	0	0	30.00	30.00	15.67
3935.75	0	-243.31	-1.00	0.00	3960.3	3942.4	3978.2	1557.8	1976.2	534.67	-13.26	476	3937.08	0.00	0.00	0.00	0.000	0.000	0.000	3959.91	3941.62	3978.19	1558.12	1975.75	0	0	0	30.00	30.00	30.00
4235.80	260	-243.31	-1.00	80.00	3960.5	3942.1	3978.9	1558.1	1976.5	575.21	-13.36	506	4241.10	0.00	0.00	3.25	0.000	0.000	0.120	3960.00	3941.94	3978.06	1558.12	3185.12	0	0	0	30.00	30.00	15.61
4275.75	1028	-243.31	-1.00	0.00	3959.8	3941.8	3977.8	1558.1	3186.2	580.65	-13.38	514	4281.03	0.00	0.00	2.82	0.000	0.000	0.047	3961.09	3943.12	3979.06	1557.25	1978.19	0	0	0	30.00	30.00	15.87
4585.86	260	-243.31	-1.00	80.00	3960.2	3941.9	3978.6	1558.1	1977.6	621.68	-13.47	546	4591.16	0.00	0.00	3.27	0.000	0.000	0.121	3960.50	3942.88	3978.12	1558.06	3184.38	0	0	0	30.00	30.00	15.60
4610.47	1028	-243.31	-1.00	0.00	3960.2	3942.1	3978.3	1558.1	3183.8	625.08	-13.47	551	4616.45	0.00	0.00	2.82	0.000	0.000	0.049	3960.06	3941.62	3978.50	1556.94	1979.50	0	0	0	30.00	30.00	15.79
4915.93	260	-243.31	-1.00	80.00	3959.8	3941.4	3978.2	1558.4	1979.8	665.62	-13.28	582	4921.22	0.00	0.00	3.28	0.000	0.000	0.123	3960.47	3942.31	3978.62	1557.81	3186.56	0	0	0	30.00	30.00	15.60
4955.88	1028	-243.31	-1.00	0.00	3959.3	3940.9	3977.6	1558.1	3186.8	670.77	-12.75	590	4961.16	0.00	0.00	2.83	0.000	0.000	0.050	3960.69	3942.50	3978.88	1557.81	1977.62	0	0	0	30.00	30.00	15.87
5266.00	516	-243.31	-1.00	-80.00	3959.9	3942.3	3977.5	1558.2	1977.5	710.83	-13.09	622	5271.41	0.00	0.00	3.97	0.000	0.000	0.147	3960.53	3941.56	3979.50	1558.00	537.00	0	0	0	30.00	30.00	15.44
5280.60	1028	-243.31	-1.00	0.00	3960.1	3941.6	3978.6	1558.4	537.0	712.91	-13.20	625	5286.69	0.00	0.00	3.51	0.000	0.000	0.036	3960.03	3941.69	3978.38	1558.25	2020.06	0	0	0	30.00	30.00	15.88
5585.98	0	-243.31	-1.00	0.00	3959.3	3940.8	3977.9	1557.9	2020.5	752.72	-12.77	656	5587.31	0.00	0.00	0.00	0.000	0.000	0.000	3959.66	3941.25	3978.06	1558.12	2020.81	0	0	0	30.00	30.00	30.00
5886.12	32	-243.31	-1.00	0.00	3959.5	3940.4	3978.6	1558.2	2020.5	790.92	-11.95	686	5887.45	0.00	0.00	0.00	0.000	0.000	0.000	3959.72	3941.12	3978.31	1557.94	2020.31	0	0	0	30.00	30.00	30.00
6186.18	548	-243.31	-1.00	-80.00	3960.2	3941.3	3979.0	1558.2	2020.2	826.11	-11.69	716	6191.60	0.00	0.00	4.18	0.000	0.000	0.148	3960.44	3941.12	3979.75	1558.06	536.38	0	0	0	30.00	30.00	15.45
6216.12	1028	-243.31	-1.00	0.00	3959.5	3940.6	3978.4	1558.2	536.2	830.09	-13.27	722	6221.51	0.00	0.00	3.54	0.000	0.000	0.042	3959.44	3940.50	3978.38	1558.88	2017.38	0	0	0	30.00	30.00	15.79
6526.17	32	-243.31	-1.00	0.00	3959.2	3939.6	3978.8	1558.2	2017.8	865.86	-11.32	754	6527.50	0.00	0.00	0.00	0.000	0.000	0.000	3958.81	3939.88	3977.75	1558.00	2018.19	0	0	0	30.00	30.00	30.00
6826.31	548	-243.31	-1.00	-80.00	3959.1	3939.7	3978.4	1557.8	2017.6	900.73	-11.78	784	6831.73	0.00	0.00	4.18	0.000	0.000	0.151	3959.66	3940.44	3978.88	1558.06	537.19	0	0	0	30.00	30.00	15.43
6860.90	1028	-243.31	-1.00	0.00	3959.1	3940.1	3978.1	1558.0	537.4	905.18	-12.84	791	6866.96	0.00	0.00	3.54	0.000	0.000	0.043	3959.25	3939.38	3979.12	1557.50	2019.88	0	0	0	30.00	30.00	15.88
7166.28	32	-243.31	-1.00	0.00	3958.8	3939.2	3978.4	1557.9	2020.5	941.13	-12.22	822	7167.61	0.00	0.00	0.00	0.000	0.000	0.000	3958.44	3939.56	3977.31	1558.00	2020.25	0	0	0	30.00	30.00	30.00
7466.39	32	-243.31	-1.00	0.00	3958.7	3939.1	3978.2	1558.2	2020.0	976.95	-11.99	852	7467.72	0.00	0.00	0.00	0.000	0.000	0.000	3957.94	3938.12	3977.75	1557.88	2020.12	0	0	0	30.00	30.00	30.00
7587	end dive: TARGET_DEPTH_EXCEEDED
state	7587	begin apogee
7589.32	10243	0.00	-0.23	0.00	3957.8	3938.1	3977.4	1557.9	1439.2	990.93	-11.50	864	7795.80	204.04	1.33	0.05	2.065	0.144	0.371	2965.16	2925.19	3005.12	1746.06	1474.62	0	0	0	10.85	15.60	15.04
7799	end apogee: CONTROL_FINISHED_OK
state	7799	begin climb
7798.97	10759	243.31	1.12	-80.00	2965.8	2926.1	3005.6	1746.2	1474.5	999.78	0.00	884	8022.28	214.25	2.28	3.12	2.010	0.111	0.180	1974.31	1929.25	2019.38	2074.12	460.25	0	0	0	12.04	15.09	14.92
8184.85	9382	276.80	1.13	0.00	1967.7	1925.6	2009.8	2074.4	459.8	971.17	11.51	960	8220.70	31.60	0.00	2.42	1.850	0.000	0.031	1838.88	1792.31	1885.44	2074.38	1490.06	0	0	0	11.74	30.00	15.44
8524.89	10535	375.23	1.28	80.00	1833.6	1784.6	1882.6	2074.2	1490.3	939.08	9.21	998	8622.35	90.57	0.22	3.86	1.920	0.082	0.106	1439.09	1385.56	1492.62	2121.94	2912.69	0	0	0	11.76	15.51	15.16
8654.93	9382	410.35	1.38	0.00	1435.6	1380.8	1490.5	2122.2	2912.2	923.85	11.45	1024	8696.30	33.90	0.00	3.83	1.814	0.000	0.089	1295.28	1239.56	1351.00	2122.25	1441.31	0	0	0	12.05	30.00	15.34
8994.96	0	410.35	1.38	0.00	1290.1	1234.4	1345.8	2123.0	1441.4	880.72	13.04	1062	8996.28	0.00	0.00	0.00	0.000	0.000	0.000	1289.97	1234.25	1345.69	2122.69	1441.75	0	0	0	30.00	30.00	30.00
9295.08	8486	425.11	1.40	80.00	1289.3	1233.4	1345.2	2123.2	1441.4	842.64	12.17	1092	9316.17	15.07	0.00	3.88	1.615	0.000	0.102	1234.59	1179.25	1289.94	2122.50	2912.69	0	0	0	11.66	30.00	15.55
9339.70	11431	472.86	1.52	0.00	1234.4	1179.2	1289.6	2123.5	2912.6	837.40	11.00	1101	9391.48	45.63	0.28	3.68	1.794	0.076	0.084	1041.25	987.00	1095.50	2179.69	1439.06	0	0	0	12.12	15.57	15.64
9695.07	644	472.86	1.49	-80.00	1036.0	981.2	1090.7	2180.8	1439.9	776.05	17.88	1142	9700.35	0.00	0.00	2.81	0.000	0.000	0.171	1036.00	981.56	1090.44	2180.44	458.12	0	0	0	30.00	30.00	15.54
9735.09	5253	472.86	1.41	0.00	1035.2	981.1	1089.4	2180.7	458.2	768.19	20.38	1150	9740.66	0.00	0.41	2.39	0.000	0.201	0.030	1035.78	981.44	1090.12	2136.44	1501.62	0	0	0	30.00	15.52	15.65
10045.15	10403	492.31	1.49	0.00	1034.8	979.9	1089.8	2136.2	1501.9	728.42	12.00	1182	10065.65	18.82	0.22	0.00	1.587	0.083	0.000	962.00	907.25	1016.75	2173.25	1502.00	0	0	0	11.67	15.71	30.00
10365.20	516	492.31	1.49	-80.00	959.1	905.1	1013.0	2173.4	1502.1	676.65	16.80	1214	10370.49	0.00	0.00	2.94	0.000	0.000	0.158	959.12	905.19	1013.06	2173.56	459.06	0	0	0	30.00	30.00	15.61
10409.88	5253	492.31	1.44	0.00	958.8	905.1	1012.5	2173.2	459.1	667.99	19.99	1223	10415.81	0.00	0.28	2.39	0.000	0.201	0.032	959.16	905.62	1012.69	2143.12	1507.88	0	0	0	30.00	15.50	15.69
10715.34	8354	498.38	1.49	0.00	958.5	904.9	1012.1	2143.8	1507.3	628.83	12.48	1254	10725.43	7.62	0.00	0.00	1.170	0.000	0.000	937.03	882.88	991.19	2143.50	1507.69	0	0	0	11.66	30.00	30.00
11025.32	10403	522.18	1.58	0.00	936.1	881.1	991.1	2143.6	1507.8	591.45	11.85	1285	11049.93	23.56	0.32	0.00	1.481	0.075	0.000	839.72	789.88	889.56	2194.38	1508.69	0	0	0	11.74	15.76	30.00
11345.33	644	522.18	1.55	-80.00	837.2	787.0	887.5	2194.8	1508.8	534.53	18.35	1317	11350.62	0.00	0.00	2.93	0.000	0.000	0.152	837.75	787.38	888.12	2193.62	457.94	0	0	0	30.00	30.00	15.64
11390.02	5253	522.18	1.48	0.00	837.0	787.1	886.9	2194.3	458.4	525.10	21.83	1326	11395.99	0.00	0.37	2.39	0.000	0.203	0.034	836.97	787.00	886.94	2152.62	1509.94	0	0	0	30.00	15.59	15.72
11695.38	8354	525.22	1.53	0.00	836.6	786.1	887.1	2151.8	1510.1	484.90	12.58	1357	11700.92	5.01	0.00	0.00	0.785	0.000	0.000	828.03	777.31	878.75	2150.69	1509.62	0	0	0	11.66	30.00	30.00
11995.42	10403	547.21	1.62	0.00	827.2	776.2	878.1	2152.2	1509.9	448.61	11.91	1387	12019.00	21.86	0.31	0.00	1.321	0.075	0.000	737.78	692.31	783.25	2205.38	1509.94	0	0	0	11.76	15.74	30.00
12315.43	644	547.21	1.58	-80.00	735.4	689.2	781.6	2204.3	1510.2	389.85	18.75	1419	12320.72	0.00	0.00	2.93	0.000	0.000	0.149	735.75	689.25	782.25	2204.56	457.94	0	0	0	30.00	30.00	15.64
12375.45	5253	547.21	1.50	0.00	734.8	688.7	780.8	2205.2	458.2	376.70	22.90	1431	12380.72	0.00	0.40	2.37	0.000	0.205	0.035	735.00	688.88	781.12	2157.25	1513.81	0	0	0	30.00	15.63	15.78
12685.48	8354	560.77	1.58	0.00	733.9	686.4	781.4	2158.7	1514.2	335.91	12.21	1463	12699.76	13.60	0.00	0.00	1.135	0.000	0.000	682.88	637.81	727.94	2158.00	1513.88	0	0	0	11.72	30.00	30.00
12995.52	10919	580.31	1.67	-80.00	680.5	634.3	726.7	2158.6	1514.1	298.18	12.00	1494	13020.56	18.54	0.36	2.92	1.136	0.070	0.149	602.91	563.38	642.44	2217.94	458.12	0	0	0	11.77	15.75	15.64
13040.18	5253	580.31	1.62	0.00	602.1	563.0	641.2	2218.9	458.2	290.41	20.19	1503	13046.10	0.00	0.28	2.38	0.000	0.209	0.035	601.97	562.81	641.12	2187.62	1510.88	0	0	0	30.00	15.64	15.78
13345.58	0	580.31	1.62	0.00	600.5	559.9	641.1	2187.3	1510.9	243.16	14.82	1534	13346.92	0.00	0.00	0.00	0.000	0.000	0.000	600.38	559.81	640.94	2188.00	1510.81	0	0	0	30.00	30.00	30.00
13645.77	516	580.31	1.62	-80.00	600.4	559.6	641.2	2187.5	1510.6	197.77	14.84	1564	13650.99	0.00	0.00	2.95	0.000	0.000	0.148	600.56	559.62	641.50	2186.25	456.81	0	0	0	30.00	30.00	15.66
13680.21	1028	580.31	1.62	0.00	600.4	559.6	641.2	2187.3	457.1	191.76	17.76	1571	13686.02	0.00	0.00	2.37	0.000	0.000	0.035	600.09	559.06	641.12	2187.31	1508.81	0	0	0	30.00	30.00	15.81
13985.62	0	580.31	1.62	0.00	599.9	558.1	641.7	2186.9	1509.0	146.30	14.49	1602	13986.95	0.00	0.00	0.00	0.000	0.000	0.000	599.75	557.88	641.62	2186.81	1509.06	0	0	0	30.00	30.00	30.00
14285.75	644	580.31	1.66	-80.00	599.9	558.0	641.8	2187.1	1508.9	102.74	14.35	1632	14290.98	0.00	0.00	2.93	0.000	0.000	0.148	599.78	557.81	641.75	2187.75	458.00	0	0	0	30.00	30.00	15.67
14310.67	1028	580.31	1.66	0.00	599.9	558.3	641.6	2186.8	458.0	98.63	16.44	1637	14316.13	0.00	0.00	2.38	0.000	0.000	0.035	600.03	558.25	641.81	2186.62	1505.69	0	0	0	30.00	30.00	15.76
14495.80	128	580.31	1.69	0.00	599.9	557.1	642.8	2186.4	1505.3	70.65	14.58	1674	14497.13	0.00	0.00	0.00	0.000	0.000	0.000	599.94	557.19	642.69	2187.31	1505.69	0	0	0	30.00	30.00	30.00
14675.80	2693	580.31	1.74	-80.00	600.0	557.1	642.8	2186.9	1506.0	44.82	14.07	1710	14681.51	0.00	0.28	2.92	0.000	0.073	0.146	600.28	557.38	643.19	2234.12	457.12	0	0	0	30.00	15.74	15.65
14720.83	5253	580.31	1.67	0.00	600.3	557.9	642.7	2234.6	457.1	35.86	22.58	1719	14726.45	0.00	0.31	2.38	0.000	0.215	0.034	600.31	557.88	642.75	2200.31	1512.06	0	0	0	30.00	15.59	15.82
14905.88	128	580.31	1.71	0.00	599.9	556.6	643.3	2199.9	1512.4	6.23	14.13	1756	14907.21	0.00	0.00	0.00	0.000	0.000	0.000	599.94	556.62	643.25	2200.62	1512.38	0	0	0	30.00	30.00	30.00
14941	end climb: SURFACE_DEPTH_REACHED
state	14941	begin surface coast
14956	end surface coast: CONTROL_FINISHED_OK
state	14956	begin surface