Glider dive log

EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 119 * 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 119 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 34.49321 SEABIRD_T_I 2.5361865e-05

USE_BATHY -6 PITCH_MAX 3950 FG_AHR_24V 102.14848 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 236.0

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 236.0 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 34.49321 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FG_AHR_24V 102.14848 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 119 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 270421,044330,4840.410,-1902.243,23,1.1,23,-6.4 TGT_LATLONG 4838.020,-1938.320

_CALLS 1 TGT_RADIUS 4000.000

_SM_DEPTHo 1.00 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -45.1 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 270421,045012,4840.461,-1902.216,3,1.1,5,-6.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.220,0.350 MHEAD_RNG_PITCHd_Wd 233.7,44420,-16.6,-12.692,-19.91

TGT_NAME A1_7 D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.1,1.026828 INTERNAL_PRESSURE 8.67545

SM_CCo 15817.60,9.14,0.766,0,929.8,892.9,966.7,499.98 _24V_AH 14.36,51.969

SM_GC 2.07,9.14,12.49,1.14,0.766,0.059,0.036,929.8,892.9,966.7,170.9,2039.0,0,0,0,11.42,15.80,15.86 _10V_AH 15.00,0.000

SUPER 19,71,254,1,0,0 FG_AHR_24Vo 102.493

IRIDIUM_FIX 4839.97,-1841.56,270421,002701 FG_AHR_10Vo 34.583

TCM_TEMP 15.43 MEM 1125640,24,50644,127

XPDR_PINGS 1,13.0,11.5 DATA_FILE_SIZE 54560,1884

SC_FREEKB 3825440 CAP_FILE_SIZE 354674,0

ES_FREE 14899937280.000000 SDSIZE 3918848,3872544

ES_POWER 63.440000 SDFILEDIR 860,1

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

HUMID 50.67 CURRENT 0.250, 30.1,1

TEMP 11.27 GPS 270421,091501,4840.559,-1904.054,30,0.9,31,-6.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 819 2055 24182.46 nil 0 0 0.00

Pitch_motor 31 305 139.28 nil 0 0 0.00

Roll_motor 156 329 738.81 nil 0 0 0.00

Iridium 276 205 813.01 nil 0 0 0.00

Transponder_ping 0 420 1.51 nil 0 0 0.00

GPS 13 15 2.95 nil 0 0 0.00

Core 5395 11 955.05 SciCon 15792 11 2624.39

LPSleep 10796 2 453.45 echo 15801 10 2370.17

Compass 2784 5 208.85 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

11.40 16386 -243.31 -1.12 0.00 639.2 598.7 679.7 172.1 1951.5 0.00 0.00 0 145.40 133.51 0.00 0.00 0.005 0.000 0.000 3342.97 3355.75 3330.19 172.12 1950.56 0 0 0 15.29 30.00 30.00

145.68 18727 -243.31 -1.12 80.00 3342.4 3354.3 3330.5 172.1 1950.7 3.52 -2.01 26 181.73 16.61 11.89 3.26 0.006 0.305 0.114 3961.22 3945.25 3977.19 1528.69 3186.12 0 0 0 15.37 15.28 15.20

184.24 3205 -243.31 -0.98 0.00 3960.8 3945.2 3976.3 1528.5 3186.0 10.68 -16.22 34 189.96 0.00 0.25 2.85 0.000 0.176 0.039 3960.69 3945.00 3976.38 1564.06 1972.62 0 0 0 30.00 15.54 15.67

369.28 516 -243.31 -0.98 -80.00 3961.2 3945.3 3977.2 1564.1 1972.5 36.38 -13.71 71 375.12 0.00 0.00 3.90 0.000 0.000 0.122 3961.41 3945.19 3977.62 1564.31 535.50 0 0 0 30.00 30.00 15.51

599.33 1028 -243.31 -0.98 0.00 3961.8 3946.0 3977.6 1564.2 535.5 69.86 -14.00 117 605.08 0.00 0.00 3.51 0.000 0.000 0.035 3962.28 3946.12 3978.44 1563.94 2028.56 0 0 0 30.00 30.00 15.79

784.35 0 -243.31 -0.98 0.00 3961.3 3945.1 3977.5 1564.3 2027.9 94.76 -13.45 154 785.68 0.00 0.00 0.00 0.000 0.000 0.000 3961.34 3945.50 3977.19 1564.50 2028.38 0 0 0 30.00 30.00 30.00

964.38 0 -243.31 -0.98 0.00 3961.3 3945.2 3977.4 1564.8 2027.9 118.61 -13.31 176 965.71 0.00 0.00 0.00 0.000 0.000 0.000 3960.94 3944.38 3977.50 1564.06 2027.88 0 0 0 30.00 30.00 30.00

1264.47 260 -243.31 -0.98 80.00 3960.9 3944.5 3977.2 1564.4 2027.8 158.68 -13.28 206 1269.73 0.00 0.00 3.08 0.000 0.000 0.112 3961.78 3946.06 3977.50 1564.69 3185.62 0 0 0 30.00 30.00 15.63

1304.48 1028 -243.31 -0.98 0.00 3961.2 3945.1 3977.4 1564.5 3186.5 164.00 -12.85 214 1309.70 0.00 0.00 2.84 0.000 0.000 0.039 3961.66 3945.69 3977.62 1564.31 1974.38 0 0 0 30.00 30.00 15.74

1614.50 260 -243.31 -0.98 80.00 3961.6 3945.0 3978.1 1564.3 1975.0 205.40 -13.40 246 1619.78 0.00 0.00 3.18 0.000 0.000 0.106 3960.94 3945.50 3976.38 1564.56 3186.25 0 0 0 30.00 30.00 15.64

1639.10 1028 -243.31 -0.98 0.00 3961.8 3945.5 3978.1 1564.8 3187.2 208.63 -13.49 251 1645.04 0.00 0.00 2.79 0.000 0.000 0.039 3962.19 3946.81 3977.56 1563.88 1974.38 0 0 0 30.00 30.00 15.83

1944.49 260 -243.31 -0.98 80.00 3961.3 3944.9 3977.8 1564.1 1974.4 248.92 -13.52 282 1949.81 0.00 0.00 3.19 0.000 0.000 0.106 3961.72 3945.31 3978.12 1564.44 3188.06 0 0 0 30.00 30.00 15.65

1974.47 1028 -243.31 -0.98 0.00 3961.5 3945.4 3977.6 1564.2 3187.1 252.94 -13.40 288 1979.74 0.00 0.00 2.79 0.000 0.000 0.039 3961.09 3945.25 3976.94 1564.19 1973.56 0 0 0 30.00 30.00 15.85

2284.63 260 -243.31 -0.98 80.00 3961.4 3945.4 3977.5 1564.5 1973.8 294.26 -13.41 320 2289.83 0.00 0.00 3.18 0.000 0.000 0.105 3960.62 3943.94 3977.31 1564.50 3187.12 0 0 0 30.00 30.00 15.66

2314.50 1028 -243.31 -0.98 0.00 3961.6 3945.2 3978.1 1564.5 3186.4 298.32 -13.53 326 2319.77 0.00 0.00 2.78 0.000 0.000 0.039 3962.56 3946.69 3978.44 1564.56 1974.69 0 0 0 30.00 30.00 15.84

2624.59 0 -243.31 -0.98 0.00 3961.4 3945.1 3977.8 1564.2 1974.8 338.35 -12.86 358 2625.93 0.00 0.00 0.00 0.000 0.000 0.000 3960.81 3944.69 3976.94 1564.12 1975.50 0 0 0 30.00 30.00 30.00

2924.64 292 -243.31 -0.98 80.00 3961.4 3945.2 3977.6 1564.9 1975.1 376.21 -12.52 388 2929.92 0.00 0.00 3.21 0.000 0.000 0.110 3961.56 3944.81 3978.31 1564.62 3187.06 0 0 0 30.00 30.00 15.65

2954.59 1060 -243.31 -0.98 0.00 3961.5 3945.2 3977.8 1564.4 3187.2 379.95 -12.46 394 2959.86 0.00 0.00 2.82 0.000 0.000 0.042 3961.78 3946.00 3977.56 1564.44 1973.94 0 0 0 30.00 30.00 15.68

3264.71 32 -243.31 -0.98 0.00 3961.3 3944.9 3977.6 1564.6 1974.7 418.53 -12.60 426 3266.04 0.00 0.00 0.00 0.000 0.000 0.000 3961.34 3944.50 3978.19 1564.56 1975.06 0 0 0 30.00 30.00 30.00

3564.75 292 -243.31 -0.98 80.00 3961.5 3945.1 3977.9 1564.8 1974.8 456.54 -12.60 456 3570.04 0.00 0.00 3.22 0.000 0.000 0.113 3960.94 3944.31 3977.56 1564.19 3186.38 0 0 0 30.00 30.00 15.64

3594.70 1060 -243.31 -0.98 0.00 3961.0 3944.5 3977.6 1564.6 3186.1 460.30 -12.52 462 3599.98 0.00 0.00 2.81 0.000 0.000 0.045 3961.50 3944.62 3978.38 1564.62 1976.31 0 0 0 30.00 30.00 15.79

3904.83 32 -243.31 -0.98 0.00 3961.3 3944.2 3978.4 1564.6 1976.7 498.59 -12.12 494 3906.16 0.00 0.00 0.00 0.000 0.000 0.000 3962.09 3945.56 3978.62 1564.12 1976.69 0 0 0 30.00 30.00 30.00

4204.86 32 -243.31 -0.98 0.00 3960.4 3943.7 3977.1 1564.4 1976.6 535.36 -11.72 524 4206.19 0.00 0.00 0.00 0.000 0.000 0.000 3960.66 3943.75 3977.56 1564.62 1977.00 0 0 0 30.00 30.00 30.00

4504.91 32 -243.31 -0.98 0.00 3960.8 3944.1 3977.6 1564.4 1976.9 570.75 -11.60 554 4506.25 0.00 0.00 0.00 0.000 0.000 0.000 3960.22 3943.25 3977.19 1564.50 1976.56 0 0 0 30.00 30.00 30.00

4804.97 292 -243.31 -0.98 80.00 3961.0 3943.9 3978.1 1564.4 1976.9 604.62 -10.99 584 4810.25 0.00 0.00 3.25 0.000 0.000 0.121 3961.78 3945.00 3978.56 1564.25 3185.31 0 0 0 30.00 30.00 15.63

4839.58 1060 -243.31 -0.98 0.00 3960.8 3944.1 3977.4 1564.6 3185.0 608.42 -10.86 591 4845.52 0.00 0.00 2.82 0.000 0.000 0.051 3960.75 3943.75 3977.75 1564.62 1977.75 0 0 0 30.00 30.00 15.88

5145.04 32 -243.31 -0.98 0.00 3960.4 3943.6 3977.3 1564.6 1977.8 642.06 -11.62 622 5146.37 0.00 0.00 0.00 0.000 0.000 0.000 3959.81 3943.19 3976.44 1564.62 1977.94 0 0 0 30.00 30.00 30.00

5445.08 32 -243.31 -0.98 0.00 3960.1 3942.9 3977.3 1564.8 1977.9 678.05 -12.33 652 5446.41 0.00 0.00 0.00 0.000 0.000 0.000 3960.06 3943.38 3976.75 1564.44 1977.81 0 0 0 30.00 30.00 30.00

5745.13 32 -243.31 -0.98 0.00 3960.3 3942.6 3978.1 1564.4 1978.4 715.11 -11.95 682 5746.46 0.00 0.00 0.00 0.000 0.000 0.000 3959.59 3942.06 3977.12 1563.94 1978.06 0 0 0 30.00 30.00 30.00

6045.19 292 -243.31 -0.98 80.00 3960.0 3942.0 3977.9 1564.3 1977.9 750.79 -11.67 712 6050.49 0.00 0.00 3.31 0.000 0.000 0.129 3960.44 3942.94 3977.94 1564.50 3184.69 0 0 0 30.00 30.00 15.60

6079.80 1060 -243.31 -0.98 0.00 3959.7 3942.8 3976.6 1564.4 3185.8 754.89 -11.69 719 6085.74 0.00 0.00 2.83 0.000 0.000 0.056 3959.81 3942.25 3977.38 1564.62 1978.31 0 0 0 30.00 30.00 15.87

6385.24 32 -243.31 -0.98 0.00 3959.5 3942.1 3977.0 1564.4 1978.6 789.11 -11.23 750 6386.57 0.00 0.00 0.00 0.000 0.000 0.000 3959.09 3941.81 3976.38 1564.69 1978.88 0 0 0 30.00 30.00 30.00

6685.32 32 -243.31 -0.98 0.00 3959.4 3941.4 3977.4 1564.2 1978.8 822.22 -10.90 780 6686.65 0.00 0.00 0.00 0.000 0.000 0.000 3959.12 3941.81 3976.44 1564.38 1979.06 0 0 0 30.00 30.00 30.00

6985.36 548 -243.31 -0.98 -80.00 3959.4 3941.2 3977.6 1564.7 1978.8 855.69 -11.31 810 6990.74 0.00 0.00 3.96 0.000 0.000 0.155 3959.88 3941.94 3977.81 1564.12 537.12 0 0 0 30.00 30.00 15.59

7029.95 1028 -243.31 -0.98 0.00 3959.4 3941.9 3976.9 1564.3 537.2 861.23 -12.73 819 7036.02 0.00 0.00 3.53 0.000 0.000 0.040 3959.84 3942.00 3977.69 1564.75 2019.06 0 0 0 30.00 30.00 15.81

7335.31 32 -243.31 -0.98 0.00 3959.9 3941.4 3978.4 1564.4 2019.4 895.01 -10.62 850 7336.64 0.00 0.00 0.00 0.000 0.000 0.000 3960.22 3942.06 3978.38 1563.94 2019.50 0 0 0 30.00 30.00 30.00

7635.40 548 -243.31 -0.98 -80.00 3958.9 3940.5 3977.4 1564.2 2019.6 926.74 -10.63 880 7640.83 0.00 0.00 4.18 0.000 0.000 0.150 3959.72 3941.06 3978.38 1564.06 537.31 0 0 0 30.00 30.00 15.56

7680.02 1060 -243.31 -0.98 0.00 3958.5 3940.7 3976.4 1564.4 537.4 932.09 -11.98 889 7686.09 0.00 0.00 3.53 0.000 0.000 0.042 3958.81 3939.94 3977.69 1564.19 2018.31 0 0 0 30.00 30.00 15.88

7985.37 32 -243.31 -0.98 0.00 3958.4 3940.1 3976.8 1564.3 2018.0 966.31 -11.42 920 7986.70 0.00 0.00 0.00 0.000 0.000 0.000 3959.00 3940.31 3977.69 1564.56 2018.25 0 0 0 30.00 30.00 30.00

8206 end dive: TARGET_DEPTH_EXCEEDED

state 8206 begin apogee

8208.38 10243 0.00 -0.23 0.00 3958.4 3939.6 3977.1 1564.1 1438.7 990.89 -11.17 942 8415.87 204.93 1.28 0.05 2.056 0.144 0.329 2968.94 2928.88 3009.00 1747.50 1478.19 0 0 0 10.77 15.73 15.06

8419 end apogee: CONTROL_FINISHED_OK

state 8419 begin climb

8419.06 10759 243.31 1.12 -80.00 2965.5 2926.2 3004.8 1747.5 1478.2 1000.19 0.00 962 8642.42 215.64 2.28 3.09 2.004 0.107 0.176 1974.53 1932.06 2017.00 2074.62 459.19 0 0 0 12.03 15.10 14.93

8855.00 9382 250.54 1.10 0.00 1967.1 1927.8 2006.5 2075.0 459.2 967.13 12.44 1048 8866.69 7.77 0.00 2.39 1.343 0.000 0.029 1944.69 1904.38 1985.00 2074.81 1490.75 0 0 0 11.74 30.00 15.51

9170.04 8486 325.58 1.21 80.00 1943.4 1901.1 1985.8 2074.9 1490.8 936.18 10.03 1081 9246.96 70.24 0.00 3.84 1.898 0.000 0.109 1639.84 1591.38 1688.31 2075.25 2911.62 0 0 0 11.61 30.00 15.27

9270.07 11431 406.62 1.40 0.00 1637.7 1588.7 1686.8 2075.1 2910.9 926.07 9.82 1101 9352.51 75.24 0.41 3.77 1.874 0.060 0.086 1311.00 1256.44 1365.56 2153.00 1437.88 0 0 0 12.06 15.32 15.37

9650.09 516 406.62 1.40 -80.00 1304.0 1249.0 1358.9 2152.7 1437.6 865.34 16.26 1147 9655.37 0.00 0.00 2.79 0.000 0.000 0.167 1305.25 1249.94 1360.56 2151.94 459.25 0 0 0 30.00 30.00 15.44

9714.79 5253 406.62 1.33 0.00 1303.6 1248.8 1358.4 2153.2 459.1 853.08 19.79 1160 9720.76 0.00 0.34 2.39 0.000 0.201 0.029 1304.44 1249.44 1359.44 2118.38 1490.81 0 0 0 30.00 15.50 15.61

10020.26 8354 424.24 1.41 0.00 1302.9 1247.5 1358.2 2119.0 1493.0 814.97 12.07 1191 10040.52 17.16 0.00 0.00 1.623 0.000 0.000 1238.91 1183.50 1294.31 2118.75 1493.75 0 0 0 11.59 30.00 30.00

10340.25 10919 454.39 1.51 -80.00 1235.2 1178.7 1291.6 2119.1 1493.4 777.20 11.62 1223 10376.22 29.38 0.36 2.95 1.696 0.066 0.163 1116.72 1061.44 1172.00 2177.38 459.19 0 0 0 11.71 15.71 15.52

10400.25 5253 454.39 1.46 0.00 1114.9 1060.4 1169.4 2177.9 458.9 767.15 19.71 1235 10405.50 0.00 0.28 2.39 0.000 0.203 0.031 1114.81 1060.56 1169.06 2147.62 1499.38 0 0 0 30.00 15.51 15.63

10710.37 160 454.95 1.49 0.00 1112.4 1056.2 1168.6 2147.5 1501.4 724.59 12.67 1267 10711.70 0.00 0.00 0.00 0.000 0.000 0.000 1111.97 1056.00 1167.94 2147.56 1501.44 0 0 0 30.00 30.00 30.00

11010.39 8742 457.71 1.49 -80.00 1112.2 1055.9 1168.6 2147.9 1501.6 686.48 12.59 1297 11021.08 5.05 0.00 2.93 0.891 0.000 0.158 1103.22 1047.31 1159.12 2146.25 458.12 0 0 0 11.56 30.00 15.52

11040.32 1028 457.71 1.49 0.00 1101.6 1046.3 1156.9 2147.8 458.5 682.19 14.31 1303 11045.43 0.00 0.00 2.38 0.000 0.000 0.033 1102.09 1046.69 1157.50 2147.44 1512.88 0 0 0 30.00 30.00 15.76

11350.35 0 457.71 1.49 0.00 1101.6 1046.4 1156.8 2147.6 1513.8 641.59 13.22 1335 11351.68 0.00 0.00 0.00 0.000 0.000 0.000 1101.25 1046.06 1156.44 2147.88 1513.75 0 0 0 30.00 30.00 30.00

11650.43 516 457.71 1.49 -80.00 1101.6 1046.1 1157.2 2147.5 1514.1 602.41 13.04 1365 11655.66 0.00 0.00 2.93 0.000 0.000 0.150 1102.38 1046.31 1158.44 2147.25 459.06 0 0 0 30.00 30.00 15.64

11695.05 1028 457.71 1.49 0.00 1101.1 1046.0 1156.2 2148.6 459.1 595.62 16.05 1374 11700.84 0.00 0.00 2.36 0.000 0.000 0.032 1102.00 1046.62 1157.38 2147.88 1515.06 0 0 0 30.00 30.00 15.81

12000.43 644 457.71 1.53 -80.00 1101.1 1046.1 1156.1 2148.1 1515.0 555.30 13.25 1405 12005.70 0.00 0.00 2.94 0.000 0.000 0.149 1101.09 1045.94 1156.25 2147.94 458.12 0 0 0 30.00 30.00 15.60

12030.40 1028 457.71 1.53 0.00 1100.9 1046.1 1155.8 2147.7 458.1 550.80 14.93 1411 12035.52 0.00 0.00 2.38 0.000 0.000 0.032 1101.16 1046.12 1156.19 2147.81 1518.31 0 0 0 30.00 30.00 15.77

12340.53 2209 459.91 1.56 0.00 1100.9 1046.0 1155.9 2147.3 1518.2 509.96 12.61 1443 12342.01 0.00 0.25 0.00 0.000 0.080 0.000 1101.56 1046.31 1156.81 2188.69 1518.31 0 0 0 30.00 15.81 30.00

12640.46 644 459.91 1.52 -80.00 1100.8 1045.8 1155.9 2189.8 1518.1 458.13 17.87 1473 12645.77 0.00 0.00 2.94 0.000 0.000 0.146 1100.84 1045.88 1155.81 2189.44 458.00 0 0 0 30.00 30.00 15.67

12715.15 5253 459.91 1.44 0.00 1100.9 1046.3 1155.5 2189.1 457.9 442.76 21.90 1488 12721.09 0.00 0.39 2.36 0.000 0.202 0.033 1101.62 1046.31 1156.94 2142.94 1517.00 0 0 0 30.00 15.69 15.76

13020.60 8354 471.97 1.50 0.00 1101.1 1046.3 1155.8 2143.2 1517.2 403.35 12.27 1519 13036.84 15.17 0.00 0.00 1.240 0.000 0.000 1045.25 990.00 1100.50 2141.75 1517.19 0 0 0 11.40 30.00 30.00

13330.55 10919 491.52 1.58 -80.00 1042.9 987.2 1098.7 2143.5 1517.4 366.01 12.00 1550 13356.35 19.25 0.31 2.92 1.233 0.073 0.145 965.34 910.00 1020.69 2192.88 458.25 0 0 0 11.67 15.75 15.67

13390.56 5253 491.52 1.50 0.00 963.4 909.2 1017.6 2194.3 458.2 355.36 21.24 1562 13395.85 0.00 0.31 2.37 0.000 0.202 0.033 963.91 909.56 1018.25 2157.81 1515.12 0 0 0 30.00 15.65 15.74

13700.58 516 491.52 1.50 -80.00 962.3 907.2 1017.3 2158.6 1515.2 311.05 13.45 1594 13705.90 0.00 0.00 2.92 0.000 0.000 0.143 962.97 907.88 1018.06 2157.56 458.12 0 0 0 30.00 30.00 15.66

13725.25 1028 491.52 1.50 0.00 962.1 907.3 1016.9 2159.2 457.9 307.25 15.19 1599 13731.06 0.00 0.00 2.35 0.000 0.000 0.034 962.28 907.56 1017.00 2159.00 1512.38 0 0 0 30.00 30.00 15.81

14030.68 128 491.52 1.54 0.00 962.1 907.0 1017.1 2159.2 1512.1 265.77 13.24 1630 14032.01 0.00 0.00 0.00 0.000 0.000 0.000 961.72 906.81 1016.62 2158.44 1512.88 0 0 0 30.00 30.00 30.00

14330.79 644 491.52 1.57 -80.00 962.0 907.2 1016.9 2159.0 1512.5 226.14 12.80 1660 14336.02 0.00 0.00 2.93 0.000 0.000 0.143 962.22 907.31 1017.12 2158.88 457.88 0 0 0 30.00 30.00 15.65

14370.73 1028 491.52 1.57 0.00 961.9 907.2 1016.7 2158.7 458.0 220.26 15.48 1668 14375.85 0.00 0.00 2.35 0.000 0.000 0.034 962.53 907.56 1017.50 2158.25 1511.75 0 0 0 30.00 30.00 15.70

14680.80 2693 491.52 1.61 -80.00 962.1 907.3 1016.8 2158.1 1512.1 179.26 13.07 1700 14686.16 0.00 0.25 2.94 0.000 0.078 0.142 962.75 907.81 1017.69 2201.31 458.06 0 0 0 30.00 15.76 15.59

14705.46 1028 491.52 1.61 0.00 962.1 907.4 1016.9 2201.9 458.2 175.03 16.92 1705 14711.25 0.00 0.00 2.34 0.000 0.000 0.033 962.03 907.38 1016.69 2202.25 1515.19 0 0 0 30.00 30.00 15.74

15010.87 644 491.52 1.57 -80.00 962.2 907.4 1016.9 2202.2 1515.2 118.82 18.41 1736 15016.15 0.00 0.00 2.94 0.000 0.000 0.141 962.78 907.75 1017.81 2200.56 457.00 0 0 0 30.00 30.00 15.58

15060.88 5253 491.52 1.48 0.00 962.0 907.3 1016.8 2202.0 456.9 108.26 21.97 1746 15066.17 0.00 0.40 2.36 0.000 0.202 0.033 962.16 907.62 1016.69 2154.25 1518.19 0 0 0 30.00 15.59 15.79

15365.97 644 491.52 1.54 -80.00 962.0 907.2 1016.7 2154.8 1518.4 66.31 13.22 1803 15371.59 0.00 0.00 2.93 0.000 0.000 0.142 962.06 907.25 1016.88 2153.62 458.12 0 0 0 30.00 30.00 15.64

15385.98 3205 491.52 1.59 0.00 962.1 907.2 1016.9 2153.2 458.1 63.46 14.07 1807 15391.57 0.00 0.26 2.34 0.000 0.079 0.034 962.38 907.56 1017.19 2195.88 1509.88 0 0 0 30.00 15.74 15.83

15571.01 0 491.52 1.59 0.00 962.2 907.2 1017.2 2196.1 1510.2 32.28 17.08 1844 15572.34 0.00 0.00 0.00 0.000 0.000 0.000 961.94 907.12 1016.75 2196.19 1510.62 0 0 0 30.00 30.00 30.00

15751.07 0 491.52 1.59 0.00 962.2 907.3 1017.1 2196.0 1509.6 3.12 15.35 1880 15752.40 0.00 0.00 0.00 0.000 0.000 0.000 962.28 907.38 1017.19 2195.94 1509.88 0 0 0 30.00 30.00 30.00

15761 end climb: SURFACE_DEPTH_REACHED

state 15761 begin surface coast

15771 end surface coast: CONTROL_FINISHED_OK

state 15771 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	119	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	34.49321	SEABIRD_T_I	2.5361865e-05
USE_BATHY	-6	PITCH_MAX	3950	FG_AHR_24V	102.14848	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	236.0
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	270421,044330,4840.410,-1902.243,23,1.1,23,-6.4	TGT_LATLONG	4838.020,-1938.320
_CALLS	1	TGT_RADIUS	4000.000
_SM_DEPTHo	1.00	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-45.1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	270421,045012,4840.461,-1902.216,3,1.1,5,-6.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.220,0.350	MHEAD_RNG_PITCHd_Wd	233.7,44420,-16.6,-12.692,-19.91
TGT_NAME	A1_7	D_GRID	1000

FINISH	-0.1,1.026828	INTERNAL_PRESSURE	8.67545
SM_CCo	15817.60,9.14,0.766,0,929.8,892.9,966.7,499.98	_24V_AH	14.36,51.969
SM_GC	2.07,9.14,12.49,1.14,0.766,0.059,0.036,929.8,892.9,966.7,170.9,2039.0,0,0,0,11.42,15.80,15.86	_10V_AH	15.00,0.000
SUPER	19,71,254,1,0,0	FG_AHR_24Vo	102.493
IRIDIUM_FIX	4839.97,-1841.56,270421,002701	FG_AHR_10Vo	34.583
TCM_TEMP	15.43	MEM	1125640,24,50644,127
XPDR_PINGS	1,13.0,11.5	DATA_FILE_SIZE	54560,1884
SC_FREEKB	3825440	CAP_FILE_SIZE	354674,0
ES_FREE	14899937280.000000	SDSIZE	3918848,3872544
ES_POWER	63.440000	SDFILEDIR	860,1
ES_POWER1	0.000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	50.67	CURRENT	0.250, 30.1,1
TEMP	11.27	GPS	270421,091501,4840.559,-1904.054,30,0.9,31,-6.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	819	2055	24182.46	nil	0	0	0.00
Pitch_motor	31	305	139.28	nil	0	0	0.00
Roll_motor	156	329	738.81	nil	0	0	0.00
Iridium	276	205	813.01	nil	0	0	0.00
Transponder_ping	0	420	1.51	nil	0	0	0.00
GPS	13	15	2.95	nil	0	0	0.00
Core	5395	11	955.05	SciCon	15792	11	2624.39
LPSleep	10796	2	453.45	echo	15801	10	2370.17
Compass	2784	5	208.85	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
11.40	16386	-243.31	-1.12	0.00	639.2	598.7	679.7	172.1	1951.5	0.00	0.00	0	145.40	133.51	0.00	0.00	0.005	0.000	0.000	3342.97	3355.75	3330.19	172.12	1950.56	0	0	0	15.29	30.00	30.00
145.68	18727	-243.31	-1.12	80.00	3342.4	3354.3	3330.5	172.1	1950.7	3.52	-2.01	26	181.73	16.61	11.89	3.26	0.006	0.305	0.114	3961.22	3945.25	3977.19	1528.69	3186.12	0	0	0	15.37	15.28	15.20
184.24	3205	-243.31	-0.98	0.00	3960.8	3945.2	3976.3	1528.5	3186.0	10.68	-16.22	34	189.96	0.00	0.25	2.85	0.000	0.176	0.039	3960.69	3945.00	3976.38	1564.06	1972.62	0	0	0	30.00	15.54	15.67
369.28	516	-243.31	-0.98	-80.00	3961.2	3945.3	3977.2	1564.1	1972.5	36.38	-13.71	71	375.12	0.00	0.00	3.90	0.000	0.000	0.122	3961.41	3945.19	3977.62	1564.31	535.50	0	0	0	30.00	30.00	15.51
599.33	1028	-243.31	-0.98	0.00	3961.8	3946.0	3977.6	1564.2	535.5	69.86	-14.00	117	605.08	0.00	0.00	3.51	0.000	0.000	0.035	3962.28	3946.12	3978.44	1563.94	2028.56	0	0	0	30.00	30.00	15.79
784.35	0	-243.31	-0.98	0.00	3961.3	3945.1	3977.5	1564.3	2027.9	94.76	-13.45	154	785.68	0.00	0.00	0.00	0.000	0.000	0.000	3961.34	3945.50	3977.19	1564.50	2028.38	0	0	0	30.00	30.00	30.00
964.38	0	-243.31	-0.98	0.00	3961.3	3945.2	3977.4	1564.8	2027.9	118.61	-13.31	176	965.71	0.00	0.00	0.00	0.000	0.000	0.000	3960.94	3944.38	3977.50	1564.06	2027.88	0	0	0	30.00	30.00	30.00
1264.47	260	-243.31	-0.98	80.00	3960.9	3944.5	3977.2	1564.4	2027.8	158.68	-13.28	206	1269.73	0.00	0.00	3.08	0.000	0.000	0.112	3961.78	3946.06	3977.50	1564.69	3185.62	0	0	0	30.00	30.00	15.63
1304.48	1028	-243.31	-0.98	0.00	3961.2	3945.1	3977.4	1564.5	3186.5	164.00	-12.85	214	1309.70	0.00	0.00	2.84	0.000	0.000	0.039	3961.66	3945.69	3977.62	1564.31	1974.38	0	0	0	30.00	30.00	15.74
1614.50	260	-243.31	-0.98	80.00	3961.6	3945.0	3978.1	1564.3	1975.0	205.40	-13.40	246	1619.78	0.00	0.00	3.18	0.000	0.000	0.106	3960.94	3945.50	3976.38	1564.56	3186.25	0	0	0	30.00	30.00	15.64
1639.10	1028	-243.31	-0.98	0.00	3961.8	3945.5	3978.1	1564.8	3187.2	208.63	-13.49	251	1645.04	0.00	0.00	2.79	0.000	0.000	0.039	3962.19	3946.81	3977.56	1563.88	1974.38	0	0	0	30.00	30.00	15.83
1944.49	260	-243.31	-0.98	80.00	3961.3	3944.9	3977.8	1564.1	1974.4	248.92	-13.52	282	1949.81	0.00	0.00	3.19	0.000	0.000	0.106	3961.72	3945.31	3978.12	1564.44	3188.06	0	0	0	30.00	30.00	15.65
1974.47	1028	-243.31	-0.98	0.00	3961.5	3945.4	3977.6	1564.2	3187.1	252.94	-13.40	288	1979.74	0.00	0.00	2.79	0.000	0.000	0.039	3961.09	3945.25	3976.94	1564.19	1973.56	0	0	0	30.00	30.00	15.85
2284.63	260	-243.31	-0.98	80.00	3961.4	3945.4	3977.5	1564.5	1973.8	294.26	-13.41	320	2289.83	0.00	0.00	3.18	0.000	0.000	0.105	3960.62	3943.94	3977.31	1564.50	3187.12	0	0	0	30.00	30.00	15.66
2314.50	1028	-243.31	-0.98	0.00	3961.6	3945.2	3978.1	1564.5	3186.4	298.32	-13.53	326	2319.77	0.00	0.00	2.78	0.000	0.000	0.039	3962.56	3946.69	3978.44	1564.56	1974.69	0	0	0	30.00	30.00	15.84
2624.59	0	-243.31	-0.98	0.00	3961.4	3945.1	3977.8	1564.2	1974.8	338.35	-12.86	358	2625.93	0.00	0.00	0.00	0.000	0.000	0.000	3960.81	3944.69	3976.94	1564.12	1975.50	0	0	0	30.00	30.00	30.00
2924.64	292	-243.31	-0.98	80.00	3961.4	3945.2	3977.6	1564.9	1975.1	376.21	-12.52	388	2929.92	0.00	0.00	3.21	0.000	0.000	0.110	3961.56	3944.81	3978.31	1564.62	3187.06	0	0	0	30.00	30.00	15.65
2954.59	1060	-243.31	-0.98	0.00	3961.5	3945.2	3977.8	1564.4	3187.2	379.95	-12.46	394	2959.86	0.00	0.00	2.82	0.000	0.000	0.042	3961.78	3946.00	3977.56	1564.44	1973.94	0	0	0	30.00	30.00	15.68
3264.71	32	-243.31	-0.98	0.00	3961.3	3944.9	3977.6	1564.6	1974.7	418.53	-12.60	426	3266.04	0.00	0.00	0.00	0.000	0.000	0.000	3961.34	3944.50	3978.19	1564.56	1975.06	0	0	0	30.00	30.00	30.00
3564.75	292	-243.31	-0.98	80.00	3961.5	3945.1	3977.9	1564.8	1974.8	456.54	-12.60	456	3570.04	0.00	0.00	3.22	0.000	0.000	0.113	3960.94	3944.31	3977.56	1564.19	3186.38	0	0	0	30.00	30.00	15.64
3594.70	1060	-243.31	-0.98	0.00	3961.0	3944.5	3977.6	1564.6	3186.1	460.30	-12.52	462	3599.98	0.00	0.00	2.81	0.000	0.000	0.045	3961.50	3944.62	3978.38	1564.62	1976.31	0	0	0	30.00	30.00	15.79
3904.83	32	-243.31	-0.98	0.00	3961.3	3944.2	3978.4	1564.6	1976.7	498.59	-12.12	494	3906.16	0.00	0.00	0.00	0.000	0.000	0.000	3962.09	3945.56	3978.62	1564.12	1976.69	0	0	0	30.00	30.00	30.00
4204.86	32	-243.31	-0.98	0.00	3960.4	3943.7	3977.1	1564.4	1976.6	535.36	-11.72	524	4206.19	0.00	0.00	0.00	0.000	0.000	0.000	3960.66	3943.75	3977.56	1564.62	1977.00	0	0	0	30.00	30.00	30.00
4504.91	32	-243.31	-0.98	0.00	3960.8	3944.1	3977.6	1564.4	1976.9	570.75	-11.60	554	4506.25	0.00	0.00	0.00	0.000	0.000	0.000	3960.22	3943.25	3977.19	1564.50	1976.56	0	0	0	30.00	30.00	30.00
4804.97	292	-243.31	-0.98	80.00	3961.0	3943.9	3978.1	1564.4	1976.9	604.62	-10.99	584	4810.25	0.00	0.00	3.25	0.000	0.000	0.121	3961.78	3945.00	3978.56	1564.25	3185.31	0	0	0	30.00	30.00	15.63
4839.58	1060	-243.31	-0.98	0.00	3960.8	3944.1	3977.4	1564.6	3185.0	608.42	-10.86	591	4845.52	0.00	0.00	2.82	0.000	0.000	0.051	3960.75	3943.75	3977.75	1564.62	1977.75	0	0	0	30.00	30.00	15.88
5145.04	32	-243.31	-0.98	0.00	3960.4	3943.6	3977.3	1564.6	1977.8	642.06	-11.62	622	5146.37	0.00	0.00	0.00	0.000	0.000	0.000	3959.81	3943.19	3976.44	1564.62	1977.94	0	0	0	30.00	30.00	30.00
5445.08	32	-243.31	-0.98	0.00	3960.1	3942.9	3977.3	1564.8	1977.9	678.05	-12.33	652	5446.41	0.00	0.00	0.00	0.000	0.000	0.000	3960.06	3943.38	3976.75	1564.44	1977.81	0	0	0	30.00	30.00	30.00
5745.13	32	-243.31	-0.98	0.00	3960.3	3942.6	3978.1	1564.4	1978.4	715.11	-11.95	682	5746.46	0.00	0.00	0.00	0.000	0.000	0.000	3959.59	3942.06	3977.12	1563.94	1978.06	0	0	0	30.00	30.00	30.00
6045.19	292	-243.31	-0.98	80.00	3960.0	3942.0	3977.9	1564.3	1977.9	750.79	-11.67	712	6050.49	0.00	0.00	3.31	0.000	0.000	0.129	3960.44	3942.94	3977.94	1564.50	3184.69	0	0	0	30.00	30.00	15.60
6079.80	1060	-243.31	-0.98	0.00	3959.7	3942.8	3976.6	1564.4	3185.8	754.89	-11.69	719	6085.74	0.00	0.00	2.83	0.000	0.000	0.056	3959.81	3942.25	3977.38	1564.62	1978.31	0	0	0	30.00	30.00	15.87
6385.24	32	-243.31	-0.98	0.00	3959.5	3942.1	3977.0	1564.4	1978.6	789.11	-11.23	750	6386.57	0.00	0.00	0.00	0.000	0.000	0.000	3959.09	3941.81	3976.38	1564.69	1978.88	0	0	0	30.00	30.00	30.00
6685.32	32	-243.31	-0.98	0.00	3959.4	3941.4	3977.4	1564.2	1978.8	822.22	-10.90	780	6686.65	0.00	0.00	0.00	0.000	0.000	0.000	3959.12	3941.81	3976.44	1564.38	1979.06	0	0	0	30.00	30.00	30.00
6985.36	548	-243.31	-0.98	-80.00	3959.4	3941.2	3977.6	1564.7	1978.8	855.69	-11.31	810	6990.74	0.00	0.00	3.96	0.000	0.000	0.155	3959.88	3941.94	3977.81	1564.12	537.12	0	0	0	30.00	30.00	15.59
7029.95	1028	-243.31	-0.98	0.00	3959.4	3941.9	3976.9	1564.3	537.2	861.23	-12.73	819	7036.02	0.00	0.00	3.53	0.000	0.000	0.040	3959.84	3942.00	3977.69	1564.75	2019.06	0	0	0	30.00	30.00	15.81
7335.31	32	-243.31	-0.98	0.00	3959.9	3941.4	3978.4	1564.4	2019.4	895.01	-10.62	850	7336.64	0.00	0.00	0.00	0.000	0.000	0.000	3960.22	3942.06	3978.38	1563.94	2019.50	0	0	0	30.00	30.00	30.00
7635.40	548	-243.31	-0.98	-80.00	3958.9	3940.5	3977.4	1564.2	2019.6	926.74	-10.63	880	7640.83	0.00	0.00	4.18	0.000	0.000	0.150	3959.72	3941.06	3978.38	1564.06	537.31	0	0	0	30.00	30.00	15.56
7680.02	1060	-243.31	-0.98	0.00	3958.5	3940.7	3976.4	1564.4	537.4	932.09	-11.98	889	7686.09	0.00	0.00	3.53	0.000	0.000	0.042	3958.81	3939.94	3977.69	1564.19	2018.31	0	0	0	30.00	30.00	15.88
7985.37	32	-243.31	-0.98	0.00	3958.4	3940.1	3976.8	1564.3	2018.0	966.31	-11.42	920	7986.70	0.00	0.00	0.00	0.000	0.000	0.000	3959.00	3940.31	3977.69	1564.56	2018.25	0	0	0	30.00	30.00	30.00
8206	end dive: TARGET_DEPTH_EXCEEDED
state	8206	begin apogee
8208.38	10243	0.00	-0.23	0.00	3958.4	3939.6	3977.1	1564.1	1438.7	990.89	-11.17	942	8415.87	204.93	1.28	0.05	2.056	0.144	0.329	2968.94	2928.88	3009.00	1747.50	1478.19	0	0	0	10.77	15.73	15.06
8419	end apogee: CONTROL_FINISHED_OK
state	8419	begin climb
8419.06	10759	243.31	1.12	-80.00	2965.5	2926.2	3004.8	1747.5	1478.2	1000.19	0.00	962	8642.42	215.64	2.28	3.09	2.004	0.107	0.176	1974.53	1932.06	2017.00	2074.62	459.19	0	0	0	12.03	15.10	14.93
8855.00	9382	250.54	1.10	0.00	1967.1	1927.8	2006.5	2075.0	459.2	967.13	12.44	1048	8866.69	7.77	0.00	2.39	1.343	0.000	0.029	1944.69	1904.38	1985.00	2074.81	1490.75	0	0	0	11.74	30.00	15.51
9170.04	8486	325.58	1.21	80.00	1943.4	1901.1	1985.8	2074.9	1490.8	936.18	10.03	1081	9246.96	70.24	0.00	3.84	1.898	0.000	0.109	1639.84	1591.38	1688.31	2075.25	2911.62	0	0	0	11.61	30.00	15.27
9270.07	11431	406.62	1.40	0.00	1637.7	1588.7	1686.8	2075.1	2910.9	926.07	9.82	1101	9352.51	75.24	0.41	3.77	1.874	0.060	0.086	1311.00	1256.44	1365.56	2153.00	1437.88	0	0	0	12.06	15.32	15.37
9650.09	516	406.62	1.40	-80.00	1304.0	1249.0	1358.9	2152.7	1437.6	865.34	16.26	1147	9655.37	0.00	0.00	2.79	0.000	0.000	0.167	1305.25	1249.94	1360.56	2151.94	459.25	0	0	0	30.00	30.00	15.44
9714.79	5253	406.62	1.33	0.00	1303.6	1248.8	1358.4	2153.2	459.1	853.08	19.79	1160	9720.76	0.00	0.34	2.39	0.000	0.201	0.029	1304.44	1249.44	1359.44	2118.38	1490.81	0	0	0	30.00	15.50	15.61
10020.26	8354	424.24	1.41	0.00	1302.9	1247.5	1358.2	2119.0	1493.0	814.97	12.07	1191	10040.52	17.16	0.00	0.00	1.623	0.000	0.000	1238.91	1183.50	1294.31	2118.75	1493.75	0	0	0	11.59	30.00	30.00
10340.25	10919	454.39	1.51	-80.00	1235.2	1178.7	1291.6	2119.1	1493.4	777.20	11.62	1223	10376.22	29.38	0.36	2.95	1.696	0.066	0.163	1116.72	1061.44	1172.00	2177.38	459.19	0	0	0	11.71	15.71	15.52
10400.25	5253	454.39	1.46	0.00	1114.9	1060.4	1169.4	2177.9	458.9	767.15	19.71	1235	10405.50	0.00	0.28	2.39	0.000	0.203	0.031	1114.81	1060.56	1169.06	2147.62	1499.38	0	0	0	30.00	15.51	15.63
10710.37	160	454.95	1.49	0.00	1112.4	1056.2	1168.6	2147.5	1501.4	724.59	12.67	1267	10711.70	0.00	0.00	0.00	0.000	0.000	0.000	1111.97	1056.00	1167.94	2147.56	1501.44	0	0	0	30.00	30.00	30.00
11010.39	8742	457.71	1.49	-80.00	1112.2	1055.9	1168.6	2147.9	1501.6	686.48	12.59	1297	11021.08	5.05	0.00	2.93	0.891	0.000	0.158	1103.22	1047.31	1159.12	2146.25	458.12	0	0	0	11.56	30.00	15.52
11040.32	1028	457.71	1.49	0.00	1101.6	1046.3	1156.9	2147.8	458.5	682.19	14.31	1303	11045.43	0.00	0.00	2.38	0.000	0.000	0.033	1102.09	1046.69	1157.50	2147.44	1512.88	0	0	0	30.00	30.00	15.76
11350.35	0	457.71	1.49	0.00	1101.6	1046.4	1156.8	2147.6	1513.8	641.59	13.22	1335	11351.68	0.00	0.00	0.00	0.000	0.000	0.000	1101.25	1046.06	1156.44	2147.88	1513.75	0	0	0	30.00	30.00	30.00
11650.43	516	457.71	1.49	-80.00	1101.6	1046.1	1157.2	2147.5	1514.1	602.41	13.04	1365	11655.66	0.00	0.00	2.93	0.000	0.000	0.150	1102.38	1046.31	1158.44	2147.25	459.06	0	0	0	30.00	30.00	15.64
11695.05	1028	457.71	1.49	0.00	1101.1	1046.0	1156.2	2148.6	459.1	595.62	16.05	1374	11700.84	0.00	0.00	2.36	0.000	0.000	0.032	1102.00	1046.62	1157.38	2147.88	1515.06	0	0	0	30.00	30.00	15.81
12000.43	644	457.71	1.53	-80.00	1101.1	1046.1	1156.1	2148.1	1515.0	555.30	13.25	1405	12005.70	0.00	0.00	2.94	0.000	0.000	0.149	1101.09	1045.94	1156.25	2147.94	458.12	0	0	0	30.00	30.00	15.60
12030.40	1028	457.71	1.53	0.00	1100.9	1046.1	1155.8	2147.7	458.1	550.80	14.93	1411	12035.52	0.00	0.00	2.38	0.000	0.000	0.032	1101.16	1046.12	1156.19	2147.81	1518.31	0	0	0	30.00	30.00	15.77
12340.53	2209	459.91	1.56	0.00	1100.9	1046.0	1155.9	2147.3	1518.2	509.96	12.61	1443	12342.01	0.00	0.25	0.00	0.000	0.080	0.000	1101.56	1046.31	1156.81	2188.69	1518.31	0	0	0	30.00	15.81	30.00
12640.46	644	459.91	1.52	-80.00	1100.8	1045.8	1155.9	2189.8	1518.1	458.13	17.87	1473	12645.77	0.00	0.00	2.94	0.000	0.000	0.146	1100.84	1045.88	1155.81	2189.44	458.00	0	0	0	30.00	30.00	15.67
12715.15	5253	459.91	1.44	0.00	1100.9	1046.3	1155.5	2189.1	457.9	442.76	21.90	1488	12721.09	0.00	0.39	2.36	0.000	0.202	0.033	1101.62	1046.31	1156.94	2142.94	1517.00	0	0	0	30.00	15.69	15.76
13020.60	8354	471.97	1.50	0.00	1101.1	1046.3	1155.8	2143.2	1517.2	403.35	12.27	1519	13036.84	15.17	0.00	0.00	1.240	0.000	0.000	1045.25	990.00	1100.50	2141.75	1517.19	0	0	0	11.40	30.00	30.00
13330.55	10919	491.52	1.58	-80.00	1042.9	987.2	1098.7	2143.5	1517.4	366.01	12.00	1550	13356.35	19.25	0.31	2.92	1.233	0.073	0.145	965.34	910.00	1020.69	2192.88	458.25	0	0	0	11.67	15.75	15.67
13390.56	5253	491.52	1.50	0.00	963.4	909.2	1017.6	2194.3	458.2	355.36	21.24	1562	13395.85	0.00	0.31	2.37	0.000	0.202	0.033	963.91	909.56	1018.25	2157.81	1515.12	0	0	0	30.00	15.65	15.74
13700.58	516	491.52	1.50	-80.00	962.3	907.2	1017.3	2158.6	1515.2	311.05	13.45	1594	13705.90	0.00	0.00	2.92	0.000	0.000	0.143	962.97	907.88	1018.06	2157.56	458.12	0	0	0	30.00	30.00	15.66
13725.25	1028	491.52	1.50	0.00	962.1	907.3	1016.9	2159.2	457.9	307.25	15.19	1599	13731.06	0.00	0.00	2.35	0.000	0.000	0.034	962.28	907.56	1017.00	2159.00	1512.38	0	0	0	30.00	30.00	15.81
14030.68	128	491.52	1.54	0.00	962.1	907.0	1017.1	2159.2	1512.1	265.77	13.24	1630	14032.01	0.00	0.00	0.00	0.000	0.000	0.000	961.72	906.81	1016.62	2158.44	1512.88	0	0	0	30.00	30.00	30.00
14330.79	644	491.52	1.57	-80.00	962.0	907.2	1016.9	2159.0	1512.5	226.14	12.80	1660	14336.02	0.00	0.00	2.93	0.000	0.000	0.143	962.22	907.31	1017.12	2158.88	457.88	0	0	0	30.00	30.00	15.65
14370.73	1028	491.52	1.57	0.00	961.9	907.2	1016.7	2158.7	458.0	220.26	15.48	1668	14375.85	0.00	0.00	2.35	0.000	0.000	0.034	962.53	907.56	1017.50	2158.25	1511.75	0	0	0	30.00	30.00	15.70
14680.80	2693	491.52	1.61	-80.00	962.1	907.3	1016.8	2158.1	1512.1	179.26	13.07	1700	14686.16	0.00	0.25	2.94	0.000	0.078	0.142	962.75	907.81	1017.69	2201.31	458.06	0	0	0	30.00	15.76	15.59
14705.46	1028	491.52	1.61	0.00	962.1	907.4	1016.9	2201.9	458.2	175.03	16.92	1705	14711.25	0.00	0.00	2.34	0.000	0.000	0.033	962.03	907.38	1016.69	2202.25	1515.19	0	0	0	30.00	30.00	15.74
15010.87	644	491.52	1.57	-80.00	962.2	907.4	1016.9	2202.2	1515.2	118.82	18.41	1736	15016.15	0.00	0.00	2.94	0.000	0.000	0.141	962.78	907.75	1017.81	2200.56	457.00	0	0	0	30.00	30.00	15.58
15060.88	5253	491.52	1.48	0.00	962.0	907.3	1016.8	2202.0	456.9	108.26	21.97	1746	15066.17	0.00	0.40	2.36	0.000	0.202	0.033	962.16	907.62	1016.69	2154.25	1518.19	0	0	0	30.00	15.59	15.79
15365.97	644	491.52	1.54	-80.00	962.0	907.2	1016.7	2154.8	1518.4	66.31	13.22	1803	15371.59	0.00	0.00	2.93	0.000	0.000	0.142	962.06	907.25	1016.88	2153.62	458.12	0	0	0	30.00	30.00	15.64
15385.98	3205	491.52	1.59	0.00	962.1	907.2	1016.9	2153.2	458.1	63.46	14.07	1807	15391.57	0.00	0.26	2.34	0.000	0.079	0.034	962.38	907.56	1017.19	2195.88	1509.88	0	0	0	30.00	15.74	15.83
15571.01	0	491.52	1.59	0.00	962.2	907.2	1017.2	2196.1	1510.2	32.28	17.08	1844	15572.34	0.00	0.00	0.00	0.000	0.000	0.000	961.94	907.12	1016.75	2196.19	1510.62	0	0	0	30.00	30.00	30.00
15751.07	0	491.52	1.59	0.00	962.2	907.3	1017.1	2196.0	1509.6	3.12	15.35	1880	15752.40	0.00	0.00	0.00	0.000	0.000	0.000	962.28	907.38	1017.19	2195.94	1509.88	0	0	0	30.00	30.00	30.00
15761	end climb: SURFACE_DEPTH_REACHED
state	15761	begin surface coast
15771	end surface coast: CONTROL_FINISHED_OK
state	15771	begin surface