Glider dive log

NORSE Jun23 * SG248 * Dive index * Mission links * Dive 159 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 248 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

MISSION 7 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1

DIVE 159 SM_CC 605 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

N_DIVES 0 N_FILEKB 8 VBD_MIN 500 DEEPGLIDERMB 0

STOP_T 0 FILEMGR 0 VBD_MAX 3960 MOTHERBOARD 6

D_SURF 5 CALL_NDIVES 1 C_VBD 3000 DEVICE1 10

D_FLARE 3 COMM_SEQ 7 VBD_DBAND 2 DEVICE2 -1

D_TGT 600 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

D_ABORT 700 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE4 -1

D_NO_BLEED 200 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE5 -1

D_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

T_BOOST 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 LOGGERS 2

D_FINISH 0 NETBOX 1 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_PITCH 0 CALL_TRIES 15 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 72

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY_TRY 0 T_GPS 30 LOITER_W_DBAND 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_DBDW 0 PHONE_DEVICE 33

T_DIVE 200 T_RSLEEP 2 LOITER_D_TOP 0 GPS_DEVICE 48

T_MISSION 215 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE -1

T_TURN 225 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 NAV2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 AH0_24V 575 NETWORK_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_LOITER 0 PITCH_MIN 205 MINV_24V 11 XPDR_DEVICE 21

T_EPIRB 0 PITCH_MAX 3600 MINV_10V 11 SIM_W 0.1

USE_BATHY -6 C_PITCH 2050 MAXI_24V 5 SEABIRD_T_G 0.0044090361

USE_ICE 0 PITCH_DBAND 0.1 MAXI_10V 1.5 SEABIRD_T_H 0.00064173015

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0041299998 FG_AHR_10V 66.550346 SEABIRD_T_I 2.932871e-05

D_OFFGRID 1000 PITCH_GAIN 14 FG_AHR_24V 139.1368 SEABIRD_T_J 3.827171e-06

RELAUNCH 1 PITCH_TIMEOUT 30 PHONE_SUPPLY 2 SEABIRD_C_G -9.9958668

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PRESSURE_YINT 0 SEABIRD_C_H 1.1120801

MAX_BUOY 150 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 6.9999999e-07 SEABIRD_C_I -0.0034223681

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 0 COMPASS_USE 16388 SEABIRD_C_J 0.00032313328

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 ALTIM_PING_FIT 0 OPTIONS 0

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

MASS 74553 PITCH_GAIN_AUTO_DELTA 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

NAV_MODE 0 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_NDIVE 1.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 CP_RECORDABOVE 1000.0

HD_A 0.0025118899 ROLL_MIN 265 ALTIM_PING_DELTA 0 CP_PROFILE 3.0

HD_B 0.0146701 ROLL_MAX 3870 ALTIM_FREQUENCY 13 CP_XMITPROFILE 0.0

HD_C 5.7000002e-06 ROLL_DEG 80 ALTIM_PULSE 3 CP_UPLOADMAX 100000.0

HEADING -1 C_ROLL_DIVE 2360 ALTIM_SENSITIVITY 2 CP_STARTS 180.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 2025 XPDR_VALID 4 CP_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_INHIBIT 90

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.054945 XPDR_INT -1

TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_REP -1

AH0_10V 0 D_CALL 0 NETBOX 1 SEABIRD_C_H 1.1120801

AH0_24V 575 D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_I -0.0034223681

ALTIM_BOTTOM_TURN_MARGIN 0 D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_J 0.00032313328

ALTIM_FREQUENCY 13 D_NO_BLEED 200 N_DIVES 0 SEABIRD_T_G 0.0044090361

ALTIM_PING_DELTA 0 D_OFFGRID 1000 N_FILEKB 8 SEABIRD_T_H 0.00064173015

ALTIM_PING_DEPTH 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_I 2.932871e-05

ALTIM_PING_FIT 0 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_J 3.827171e-06

ALTIM_PULSE 3 D_SURF 5 N_NOSURFACE 0 SIM_W 0.1

ALTIM_SENSITIVITY 2 D_TGT 600 OPTIONS 0 SM_CC 605

ALTIM_TOP_MIN_OBSTACLE 1 ESCAPE_HEADING 0 PHONE_DEVICE 33 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 STROBE 0

APOGEE_PITCH -5 FG_AHR_10V 66.550346 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

CALL_NDIVES 1 FG_AHR_24V 139.1368 PITCH_CNV 0.0041299998 SURFACE_URGENCY_FORCE 0

CALL_TRIES 15 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 14 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HD_A 0.0025118899 PITCH_MAX 3600 T_ABORT 1440

COMM_SEQ 7 HD_B 0.0146701 PITCH_MAXERRORS 1 T_BOOST 0

COMPASS2_DEVICE -1 HD_C 5.7000002e-06 PITCH_MIN 205 T_DIVE 200

COMPASS_DEVICE 66 HEADING -1 PITCH_TIMEOUT 30 T_EPIRB 0

COMPASS_USE 16388 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0015 T_GPS 30

CP_NDIVE 1.0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 T_LOITER 0

CP_PROFILE 3.0 ID 248 PITCH_W_GAIN 0 T_MISSION 215

CP_RECORDABOVE 1000.0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 34 T_NO_W 120

CP_STARTS 180.0 INT_PRESSURE_YINT -1 PRESSURE_SLOPE 6.9999999e-07 T_RSLEEP 2

CP_UPLOADMAX 100000.0 KALMAN_USE 2 PRESSURE_YINT 0 T_TURN 225

CP_XMITPROFILE 0.0 LOGGERDEVICE1 7 PROTOCOL 9 T_TURN_SAMPINT -5

C_PITCH 2050 LOGGERDEVICE2 72 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 UPLOAD_DIVES_MAX -1

C_PITCH_AUTO_MAX 0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 USE_BATHY -6

C_ROLL_CLIMB 2025 LOGGERS 2 RAFOS_MMODEM 0 USE_ICE 0

C_ROLL_DIVE 2360 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 VBD_CNV -0.24529999

C_VBD 3000 LOITER_D_BOTTOM 0 RELAUNCH 1 VBD_DBAND 2

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RHO 1.0275 VBD_LP_IGNORE 0

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DBDW 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 1

DEEPGLIDER 0 MASS 74553 ROLL_CNV 0.054945 VBD_MIN 500

DEEPGLIDERMB 0 MAXI_10V 1.5 ROLL_DEG 80 VBD_TIMEOUT 720

DEVICE1 10 MAXI_24V 5 ROLL_MAX 3870 W_ADJ_DBAND 0

DEVICE2 -1 MAX_BUOY 150 ROLL_MAXERRORS 1 XPDR_DEVICE 21

DEVICE3 -1 MINV_10V 11 ROLL_MIN 265 XPDR_INHIBIT 90

DEVICE4 -1 MINV_24V 11 ROLL_TIMEOUT 15 XPDR_INT -1

DEVICE5 -1 MISSION 7 SC_NDIVE 1.0 XPDR_REP -1

DEVICE6 -1 MOTHERBOARD 6 SC_PROFILE 3.0 XPDR_VALID 4

DIVE 159 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0

D_ABORT 700 NAV_DEVICE -1 SC_XMITPROFILE 3.0

D_BOOST 0 NAV_MODE 0 SEABIRD_C_G -9.9958668

Pre-dive calculations and measurements:

GPS1 120723,015332,6306.804,-1653.554,161,1.2,165,-9.0 TGT_RADIUS 2000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -45.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120723,015741,6306.803,-1653.575,3,0.8,6,-9.0 MHEAD_RNG_PITCHd_Wd 101.1,147,-25.2,-10.000,-30.00,1419,0.131

SPEED_LIMITS 0.173,0.217 D_GRID 1000

TGT_NAME PICKUP IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,789.000000,-1157.000000,312.000000

TGT_LATLONG 6306.800,-1653.400 OSC 8000266

Post-dive calculations and measurements:

FINISH 0.0,1.027342 FG_AHR_24Vo 139.350

SURF forcing FG_AHR_10Vo 66.659

SM_CCo 12450.19,332.20,0.979,0,534.5,677.1,391.9,604.79 MEM0 60108,1,0,0

SM_GC 0.54,332.20,15.10,0.70,0.979,0.071,0.065,534.5,677.1,391.9,184.8,2388.3,0,0,0,11.82,15.77,15.87 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 988824,46,55384,172

IRIDIUM_FIX 6309.06,-1645.15,110723,221920 DATA_FILE_SIZE 54613,1472

TCM_TEMP 10.82 CAP_FILE_SIZE 320179,0

XPDR_PINGS 0,10.3,13.6 SDSIZE 3887104,3829824

HUMID 51.82 SDFILEDIR 828,161

TEMP 8.51 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

INTERNAL_PRESSURE 8.05045 IMPLIED_C_PITCH 2060,10.15,1141,0.0,0.00

_24V_AH 14.75,144.775 IMPLIED_C_VBD 2965,16.474989,1105,0

_10V_AH 14.88,0.000 GPS 120723,052831,6306.720,-1649.523,134,1.3,135,-9.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 672 1851 18378.01 SBE_CT 1853 24 656.01

Pitch_motor 32 204 97.41 nil 0 0 0.00

Roll_motor 149 182 403.30 nil 0 0 0.00

Iridium 156 174 401.22 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.35 nil 0 0 0.00

Core 4313 6 436.48 SciCon 0 0 0.00

Fast 2 0 0.00 NCP 12122 25 4509.60

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 7994 2 237.93

Compass 1962 5 146.00

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17.20 16386 -92.70 -1.94 0.00 526.7 659.6 393.8 182.8 2321.4 0.00 0.00 0 33.61 15.07 0.00 0.00 0.006 0.000 0.000 944.97 1049.12 840.81 182.88 2322.00 0 0 0 15.33 30.00 30.00

33.91 18983 -94.50 -1.94 -80.00 945.2 1048.6 841.8 182.8 2322.2 3.14 -9.87 3 167.73 108.97 10.65 3.73 0.005 0.205 0.081 3383.28 3441.69 3324.88 1582.38 891.00 0 0 0 15.34 15.50 15.26

395.35 17446 -97.17 -1.94 0.00 3384.4 3442.2 3326.5 1582.3 890.9 39.44 -9.81 74 402.34 0.06 0.00 3.55 0.318 0.000 0.038 3397.31 3454.50 3340.12 1582.44 2380.00 0 0 0 15.30 30.00 15.76

585.35 516 -97.17 -1.94 -80.00 3397.1 3453.9 3340.3 1582.3 2380.3 58.56 -10.00 112 592.40 0.00 0.00 3.92 0.000 0.000 0.079 3398.56 3455.12 3342.00 1581.75 890.75 0 0 0 30.00 30.00 15.32

690.42 1060 -98.47 -1.94 0.00 3397.0 3453.6 3340.4 1582.2 890.6 69.02 -9.91 133 697.24 0.00 0.00 3.55 0.000 0.000 0.036 3397.06 3453.75 3340.38 1582.00 2381.19 0 0 0 30.00 30.00 15.36

880.44 0 -98.47 -1.94 0.00 3397.1 3453.6 3340.6 1582.2 2382.1 88.25 -10.28 171 882.01 0.00 0.00 0.00 0.000 0.000 0.000 3396.78 3453.75 3339.81 1582.31 2381.75 0 0 0 30.00 30.00 30.00

1065.49 0 -98.47 -1.94 0.00 3397.2 3453.9 3340.6 1582.1 2382.5 106.56 -10.03 208 1067.05 0.00 0.00 0.00 0.000 0.000 0.000 3396.44 3453.56 3339.31 1582.19 2382.31 0 0 0 30.00 30.00 30.00

1370.57 516 -98.47 -1.94 -80.00 3396.7 3453.3 3340.1 1582.8 2381.8 136.83 -10.03 269 1377.74 0.00 0.00 3.88 0.000 0.000 0.081 3396.94 3453.62 3340.25 1582.44 891.31 0 0 0 30.00 30.00 15.76

1405.62 17446 -100.76 -1.95 0.00 3397.2 3453.8 3340.6 1582.2 891.2 140.26 -9.83 276 1412.55 0.03 0.00 3.49 0.615 0.000 0.036 3415.59 3469.62 3361.56 1582.31 2381.56 0 0 0 15.22 30.00 15.84

1715.75 292 -101.14 -1.95 80.00 3415.3 3470.2 3360.4 1582.2 2381.2 171.03 -9.97 338 1722.93 0.00 0.00 3.81 0.000 0.000 0.105 3416.34 3470.88 3361.81 1583.12 3823.44 0 0 0 30.00 30.00 15.73

1790.77 1060 -101.19 -1.95 0.00 3415.4 3469.9 3361.0 1582.8 3823.9 178.49 -10.00 353 1797.72 0.00 0.00 3.46 0.000 0.000 0.025 3416.06 3471.00 3361.12 1582.56 2313.31 0 0 0 30.00 30.00 15.84

2100.80 0 -101.19 -1.95 0.00 3415.7 3470.2 3361.2 1583.3 2311.2 209.45 -10.14 415 2102.43 0.00 0.00 0.00 0.000 0.000 0.000 3415.38 3470.06 3360.69 1583.06 2311.00 0 0 0 30.00 30.00 30.00

2405.92 32 -104.14 -1.95 0.00 3415.6 3470.2 3360.9 1582.9 2311.4 239.80 -9.79 476 2407.52 0.00 0.00 0.00 0.000 0.000 0.000 3414.41 3469.38 3359.44 1583.31 2311.38 0 0 0 30.00 30.00 30.00

2710.88 0 -104.14 -1.95 0.00 3415.4 3470.2 3360.6 1583.1 2311.1 270.63 -10.29 507 2712.49 0.00 0.00 0.00 0.000 0.000 0.000 3414.72 3469.56 3359.88 1583.12 2311.44 0 0 0 30.00 30.00 30.00

3030.94 292 -105.86 -1.96 80.00 3415.2 3470.0 3360.5 1583.1 2311.3 302.68 -9.88 523 3038.16 0.00 0.00 4.07 0.000 0.000 0.102 3416.31 3470.50 3362.12 1582.69 3825.88 0 0 0 30.00 30.00 15.27

3075.87 1060 -106.10 -1.96 0.00 3415.6 3470.3 3360.8 1582.9 3825.6 307.22 -9.98 532 3082.92 0.00 0.00 3.51 0.000 0.000 0.025 3415.69 3470.31 3361.06 1582.81 2314.38 0 0 0 30.00 30.00 15.32

3390.96 32 -108.28 -1.96 0.00 3415.4 3470.1 3360.6 1582.9 2313.3 338.78 -9.84 550 3392.57 0.00 0.00 0.00 0.000 0.000 0.000 3415.09 3470.19 3360.00 1583.12 2313.12 0 0 0 30.00 30.00 30.00

3710.92 260 -108.28 -1.96 80.00 3415.4 3470.1 3360.8 1583.1 2312.6 371.20 -10.03 566 3718.20 0.00 0.00 4.07 0.000 0.000 0.103 3415.97 3470.44 3361.50 1583.25 3824.56 0 0 0 30.00 30.00 15.77

3760.84 1028 -108.28 -1.96 0.00 3415.4 3469.9 3360.8 1583.1 3823.9 376.18 -10.02 576 3767.86 0.00 0.00 3.48 0.000 0.000 0.025 3415.69 3470.44 3360.94 1583.06 2315.12 0 0 0 30.00 30.00 15.89

4070.98 548 -110.59 -1.96 -80.00 3415.5 3470.4 3360.7 1583.2 2314.0 406.95 -9.83 593 4078.20 0.00 0.00 3.73 0.000 0.000 0.087 3415.84 3470.88 3360.81 1583.25 891.00 0 0 0 30.00 30.00 15.81

4116.08 1060 -112.20 -1.97 0.00 3415.1 3470.2 3360.1 1582.9 891.1 411.38 -9.88 602 4122.93 0.00 0.00 3.53 0.000 0.000 0.037 3416.25 3471.88 3360.62 1583.06 2381.12 0 0 0 30.00 30.00 15.89

4431.00 292 -115.74 -1.97 80.00 3415.4 3470.2 3360.6 1583.0 2381.2 442.97 -9.74 620 4438.09 0.00 0.00 3.86 0.000 0.000 0.107 3415.78 3470.94 3360.62 1583.31 3824.56 0 0 0 30.00 30.00 15.76

4480.87 1028 -115.74 -1.97 0.00 3415.2 3469.8 3360.7 1582.8 3824.3 448.06 -10.14 630 4487.90 0.00 0.00 3.46 0.000 0.000 0.025 3415.66 3470.31 3361.00 1582.75 2314.44 0 0 0 30.00 30.00 15.90

4791.01 292 -118.94 -1.98 80.00 3414.8 3470.1 3359.6 1582.9 2314.3 479.01 -9.77 647 4798.22 0.00 0.00 4.03 0.000 0.000 0.103 3416.16 3470.56 3361.75 1583.31 3826.12 0 0 0 30.00 30.00 15.77

4895.89 1028 -118.94 -1.98 0.00 3415.0 3470.3 3359.8 1583.4 3825.6 489.53 -10.06 668 4902.90 0.00 0.00 3.47 0.000 0.000 0.025 3415.34 3470.19 3360.50 1582.94 2316.44 0 0 0 30.00 30.00 15.89

5211.04 32 -119.05 -1.98 0.00 3414.8 3469.9 3359.6 1583.3 2314.9 520.91 -9.99 686 5212.64 0.00 0.00 0.00 0.000 0.000 0.000 3414.00 3469.12 3358.88 1583.19 2315.19 0 0 0 30.00 30.00 30.00

5531.03 548 -123.95 -1.98 -80.00 3414.5 3469.8 3359.2 1583.2 2315.0 552.29 -9.65 702 5538.10 0.00 0.00 3.74 0.000 0.000 0.089 3414.81 3469.81 3359.81 1583.12 892.31 0 0 0 30.00 30.00 15.80

5560.91 1028 -123.95 -1.98 0.00 3414.2 3469.6 3358.8 1582.8 892.4 555.26 -10.08 708 5567.92 0.00 0.00 3.49 0.000 0.000 0.037 3414.22 3469.94 3358.50 1582.88 2380.38 0 0 0 30.00 30.00 15.89

5871.00 260 -123.95 -1.98 80.00 3414.3 3469.9 3358.7 1583.1 2380.0 586.90 -10.02 725 5878.15 0.00 0.00 3.87 0.000 0.000 0.108 3414.75 3470.06 3359.44 1582.94 3823.25 0 0 0 30.00 30.00 15.75

5965.92 1028 -123.95 -1.98 0.00 3414.4 3469.9 3358.9 1583.2 3824.1 596.51 -10.04 744 5973.02 0.00 0.00 3.47 0.000 0.000 0.026 3414.59 3470.19 3359.00 1582.56 2317.44 0 0 0 30.00 30.00 15.89

6011 end dive: TARGET_DEPTH_EXCEEDED

state 6011 begin apogee

6013.37 10243 0.00 -0.36 0.00 3413.9 3470.0 3357.8 1583.0 1991.9 601.01 -10.00 747 6107.71 85.08 2.73 0.11 1.852 0.141 0.183 2998.25 3104.75 2891.75 1965.25 2067.88 0 0 0 11.50 15.70 15.49

6157 end apogee: CONTROL_FINISHED_OK

state 6157 begin climb

6157.78 10759 123.95 1.98 -80.00 2996.9 3103.9 2889.9 1964.8 2091.8 593.19 0.00 751 6512.47 103.77 3.78 4.28 1.808 0.068 0.104 2484.97 2597.44 2372.50 2537.75 560.25 0 0 0 12.15 15.53 15.18

6521.40 17414 123.95 1.98 0.00 2484.8 2598.1 2371.5 2537.0 560.2 549.27 10.56 753 6530.46 0.00 0.00 3.51 0.000 0.000 0.024 2485.59 2598.19 2373.00 2536.12 2066.88 0 0 0 30.00 30.00 15.18

6849.35 292 127.28 1.99 80.00 2482.9 2596.5 2369.2 2536.4 2068.2 516.25 9.76 771 6856.39 0.00 0.00 3.73 0.000 0.000 0.090 2484.44 2598.06 2370.81 2536.38 3491.19 0 0 0 30.00 30.00 15.26

6874.28 1060 128.36 1.99 0.00 2482.3 2595.1 2369.6 2536.6 3491.1 513.83 9.92 776 6881.29 0.00 0.00 3.60 0.000 0.000 0.033 2483.81 2597.00 2370.62 2535.81 1994.06 0 0 0 30.00 30.00 15.75

7189.33 0 128.36 1.99 0.00 2481.6 2595.2 2368.0 2536.9 1994.8 482.06 10.05 794 7190.94 0.00 0.00 0.00 0.000 0.000 0.000 2480.94 2594.44 2367.44 2536.75 1993.94 0 0 0 30.00 30.00 30.00

7509.40 8742 129.79 1.99 -80.00 2480.9 2595.1 2366.8 2537.0 1995.0 449.99 9.90 810 7521.91 5.08 0.00 3.84 0.876 0.000 0.109 2471.00 2585.69 2356.31 2537.06 559.25 0 0 0 11.91 30.00 15.67

7664.45 1028 129.79 1.99 0.00 2470.1 2584.6 2355.6 2536.8 559.2 434.58 10.24 841 7671.56 0.00 0.00 3.41 0.000 0.000 0.025 2470.78 2585.50 2356.06 2537.12 2065.62 0 0 0 30.00 30.00 15.78

7989.55 0 129.79 1.99 0.00 2470.1 2584.6 2355.6 2536.9 2068.0 401.63 10.09 858 7991.18 0.00 0.00 0.00 0.000 0.000 0.000 2469.75 2584.88 2354.62 2537.00 2067.25 0 0 0 30.00 30.00 30.00

8309.58 0 129.79 1.99 0.00 2470.0 2585.0 2355.1 2537.2 2067.9 369.69 10.02 874 8311.18 0.00 0.00 0.00 0.000 0.000 0.000 2469.41 2585.19 2353.62 2536.50 2068.19 0 0 0 30.00 30.00 30.00

8629.60 516 129.79 1.99 -80.00 2470.0 2585.1 2354.9 2537.0 2067.9 338.32 10.10 890 8636.87 0.00 0.00 4.03 0.000 0.000 0.102 2470.22 2584.75 2355.69 2536.88 557.69 0 0 0 30.00 30.00 15.79

8824.62 1060 132.06 2.00 0.00 2469.2 2583.8 2354.6 2537.1 557.5 318.80 9.84 929 8831.66 0.00 0.00 3.42 0.000 0.000 0.024 2470.28 2585.12 2355.44 2536.88 2070.12 0 0 0 30.00 30.00 15.88

9149.88 8226 132.48 2.00 0.00 2469.2 2583.6 2354.9 2537.1 2071.8 286.28 9.97 946 9156.99 5.07 0.00 0.00 0.791 0.000 0.000 2457.47 2573.56 2341.38 2537.44 2071.75 0 0 0 11.80 30.00 30.00

9469.69 516 132.48 2.00 -80.00 2458.6 2574.7 2342.5 2537.1 2071.6 254.17 10.02 962 9476.95 0.00 0.00 4.01 0.000 0.000 0.101 2458.97 2575.56 2342.38 2537.31 559.12 0 0 0 30.00 30.00 15.82

9639.78 9254 135.02 2.00 0.00 2458.1 2574.1 2342.1 2536.8 559.3 237.16 9.82 996 9652.09 4.99 0.00 3.42 0.740 0.000 0.024 2449.66 2566.31 2333.00 2536.62 2071.38 0 0 0 12.14 30.00 15.37

9954.82 0 135.02 2.00 0.00 2447.7 2565.1 2330.4 2537.3 2072.1 205.52 10.31 1059 9956.42 0.00 0.00 0.00 0.000 0.000 0.000 2447.28 2565.06 2329.50 2536.81 2071.69 0 0 0 30.00 30.00 30.00

10259.93 548 135.48 2.00 -80.00 2447.6 2565.1 2330.1 2536.7 2072.2 175.33 9.97 1120 10267.24 0.00 0.00 4.01 0.000 0.000 0.101 2447.69 2565.19 2330.19 2537.19 559.31 0 0 0 30.00 30.00 15.76

10384.94 1060 137.61 2.00 0.00 2447.1 2564.5 2329.8 2536.8 558.9 163.00 9.85 1145 10391.86 0.00 0.00 3.39 0.000 0.000 0.024 2447.31 2564.81 2329.81 2537.12 2067.56 0 0 0 30.00 30.00 15.87

10694.92 8710 137.61 2.00 -80.00 2447.2 2564.2 2330.1 2537.4 2068.4 132.11 10.17 1207 10707.55 4.78 0.00 3.95 0.656 0.000 0.101 2437.75 2555.12 2320.38 2536.81 557.62 0 0 0 12.01 30.00 15.72

10795.16 1028 137.61 2.00 0.00 2437.5 2554.1 2320.9 2536.8 557.7 122.10 10.21 1227 10802.15 0.00 0.00 3.40 0.000 0.000 0.024 2437.41 2554.25 2320.56 2537.38 2067.38 0 0 0 30.00 30.00 15.42

11105.30 8742 143.36 2.01 -80.00 2437.5 2554.4 2320.7 2537.2 2068.3 91.05 9.58 1289 11123.05 7.66 0.00 3.97 0.877 0.000 0.101 2413.59 2532.31 2294.88 2537.12 557.75 0 0 0 12.00 30.00 15.75

11240.71 1060 145.42 2.02 0.00 2412.6 2530.5 2294.6 2537.1 557.8 77.62 9.85 1316 11247.73 0.00 0.00 3.41 0.000 0.000 0.024 2412.34 2530.38 2294.31 2537.44 2068.88 0 0 0 30.00 30.00 15.87

11430.72 516 145.42 2.02 -80.00 2412.1 2530.2 2293.9 2537.3 2071.3 58.54 10.14 1354 11438.01 0.00 0.00 3.99 0.000 0.000 0.099 2412.50 2531.12 2293.88 2537.44 558.88 0 0 0 30.00 30.00 15.77

11485.74 1028 145.42 2.02 0.00 2412.0 2530.1 2293.9 2537.2 558.8 52.98 10.08 1365 11492.89 0.00 0.00 3.41 0.000 0.000 0.023 2412.25 2530.44 2294.06 2537.81 2069.38 0 0 0 30.00 30.00 15.39

11675.83 32 145.87 2.02 0.00 2411.9 2530.1 2293.7 2537.0 2071.5 33.92 9.97 1403 11677.44 0.00 0.00 0.00 0.000 0.000 0.000 2411.34 2529.94 2292.75 2536.81 2071.75 0 0 0 30.00 30.00 30.00

11860.88 32 146.22 2.02 0.00 2411.9 2530.4 2293.4 2537.3 2071.7 15.40 9.97 1440 11862.49 0.00 0.00 0.00 0.000 0.000 0.000 2411.72 2530.69 2292.75 2536.75 2071.75 0 0 0 30.00 30.00 30.00

11966 end climb: SURFACE_DEPTH_REACHED

state 11966 begin surface coast

12021 end surface coast: CONTROL_FINISHED_OK

state 12021 begin surface

ID	248	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06
MISSION	7	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1
DIVE	159	SM_CC	605	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
N_DIVES	0	N_FILEKB	8	VBD_MIN	500	DEEPGLIDERMB	0
STOP_T	0	FILEMGR	0	VBD_MAX	3960	MOTHERBOARD	6
D_SURF	5	CALL_NDIVES	1	C_VBD	3000	DEVICE1	10
D_FLARE	3	COMM_SEQ	7	VBD_DBAND	2	DEVICE2	-1
D_TGT	600	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
D_ABORT	700	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE4	-1
D_NO_BLEED	200	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE5	-1
D_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
T_BOOST	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	LOGGERS	2
D_FINISH	0	NETBOX	1	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_PITCH	0	CALL_TRIES	15	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	72
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY_TRY	0	T_GPS	30	LOITER_W_DBAND	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_DBDW	0	PHONE_DEVICE	33
T_DIVE	200	T_RSLEEP	2	LOITER_D_TOP	0	GPS_DEVICE	48
T_MISSION	215	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	-1
T_TURN	225	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	NAV2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	AH0_24V	575	NETWORK_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_LOITER	0	PITCH_MIN	205	MINV_24V	11	XPDR_DEVICE	21
T_EPIRB	0	PITCH_MAX	3600	MINV_10V	11	SIM_W	0.1
USE_BATHY	-6	C_PITCH	2050	MAXI_24V	5	SEABIRD_T_G	0.0044090361
USE_ICE	0	PITCH_DBAND	0.1	MAXI_10V	1.5	SEABIRD_T_H	0.00064173015
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0041299998	FG_AHR_10V	66.550346	SEABIRD_T_I	2.932871e-05
D_OFFGRID	1000	PITCH_GAIN	14	FG_AHR_24V	139.1368	SEABIRD_T_J	3.827171e-06
RELAUNCH	1	PITCH_TIMEOUT	30	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9958668
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PRESSURE_YINT	0	SEABIRD_C_H	1.1120801
MAX_BUOY	150	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	6.9999999e-07	SEABIRD_C_I	-0.0034223681
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	0	COMPASS_USE	16388	SEABIRD_C_J	0.00032313328
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	ALTIM_PING_FIT	0	OPTIONS	0
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
MASS	74553	PITCH_GAIN_AUTO_DELTA	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
NAV_MODE	0	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_NDIVE	1.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	CP_RECORDABOVE	1000.0
HD_A	0.0025118899	ROLL_MIN	265	ALTIM_PING_DELTA	0	CP_PROFILE	3.0
HD_B	0.0146701	ROLL_MAX	3870	ALTIM_FREQUENCY	13	CP_XMITPROFILE	0.0
HD_C	5.7000002e-06	ROLL_DEG	80	ALTIM_PULSE	3	CP_UPLOADMAX	100000.0
HEADING	-1	C_ROLL_DIVE	2360	ALTIM_SENSITIVITY	2	CP_STARTS	180.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	2025	XPDR_VALID	4	CP_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_INHIBIT	90
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.054945	XPDR_INT	-1
TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_REP	-1

GPS1	120723,015332,6306.804,-1653.554,161,1.2,165,-9.0	TGT_RADIUS	2000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-45.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120723,015741,6306.803,-1653.575,3,0.8,6,-9.0	MHEAD_RNG_PITCHd_Wd	101.1,147,-25.2,-10.000,-30.00,1419,0.131
SPEED_LIMITS	0.173,0.217	D_GRID	1000
TGT_NAME	PICKUP	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,789.000000,-1157.000000,312.000000
TGT_LATLONG	6306.800,-1653.400	OSC	8000266

FINISH	0.0,1.027342	FG_AHR_24Vo	139.350
SURF	forcing	FG_AHR_10Vo	66.659
SM_CCo	12450.19,332.20,0.979,0,534.5,677.1,391.9,604.79	MEM0	60108,1,0,0
SM_GC	0.54,332.20,15.10,0.70,0.979,0.071,0.065,534.5,677.1,391.9,184.8,2388.3,0,0,0,11.82,15.77,15.87	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	988824,46,55384,172
IRIDIUM_FIX	6309.06,-1645.15,110723,221920	DATA_FILE_SIZE	54613,1472
TCM_TEMP	10.82	CAP_FILE_SIZE	320179,0
XPDR_PINGS	0,10.3,13.6	SDSIZE	3887104,3829824
HUMID	51.82	SDFILEDIR	828,161
TEMP	8.51	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
INTERNAL_PRESSURE	8.05045	IMPLIED_C_PITCH	2060,10.15,1141,0.0,0.00
_24V_AH	14.75,144.775	IMPLIED_C_VBD	2965,16.474989,1105,0
_10V_AH	14.88,0.000	GPS	120723,052831,6306.720,-1649.523,134,1.3,135,-9.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	672	1851	18378.01	SBE_CT	1853	24	656.01
Pitch_motor	32	204	97.41	nil	0	0	0.00
Roll_motor	149	182	403.30	nil	0	0	0.00
Iridium	156	174	401.22	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.35	nil	0	0	0.00
Core	4313	6	436.48	SciCon	0	0	0.00
Fast	2	0	0.00	NCP	12122	25	4509.60
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	7994	2	237.93
Compass	1962	5	146.00
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17.20	16386	-92.70	-1.94	0.00	526.7	659.6	393.8	182.8	2321.4	0.00	0.00	0	33.61	15.07	0.00	0.00	0.006	0.000	0.000	944.97	1049.12	840.81	182.88	2322.00	0	0	0	15.33	30.00	30.00
33.91	18983	-94.50	-1.94	-80.00	945.2	1048.6	841.8	182.8	2322.2	3.14	-9.87	3	167.73	108.97	10.65	3.73	0.005	0.205	0.081	3383.28	3441.69	3324.88	1582.38	891.00	0	0	0	15.34	15.50	15.26
395.35	17446	-97.17	-1.94	0.00	3384.4	3442.2	3326.5	1582.3	890.9	39.44	-9.81	74	402.34	0.06	0.00	3.55	0.318	0.000	0.038	3397.31	3454.50	3340.12	1582.44	2380.00	0	0	0	15.30	30.00	15.76
585.35	516	-97.17	-1.94	-80.00	3397.1	3453.9	3340.3	1582.3	2380.3	58.56	-10.00	112	592.40	0.00	0.00	3.92	0.000	0.000	0.079	3398.56	3455.12	3342.00	1581.75	890.75	0	0	0	30.00	30.00	15.32
690.42	1060	-98.47	-1.94	0.00	3397.0	3453.6	3340.4	1582.2	890.6	69.02	-9.91	133	697.24	0.00	0.00	3.55	0.000	0.000	0.036	3397.06	3453.75	3340.38	1582.00	2381.19	0	0	0	30.00	30.00	15.36
880.44	0	-98.47	-1.94	0.00	3397.1	3453.6	3340.6	1582.2	2382.1	88.25	-10.28	171	882.01	0.00	0.00	0.00	0.000	0.000	0.000	3396.78	3453.75	3339.81	1582.31	2381.75	0	0	0	30.00	30.00	30.00
1065.49	0	-98.47	-1.94	0.00	3397.2	3453.9	3340.6	1582.1	2382.5	106.56	-10.03	208	1067.05	0.00	0.00	0.00	0.000	0.000	0.000	3396.44	3453.56	3339.31	1582.19	2382.31	0	0	0	30.00	30.00	30.00
1370.57	516	-98.47	-1.94	-80.00	3396.7	3453.3	3340.1	1582.8	2381.8	136.83	-10.03	269	1377.74	0.00	0.00	3.88	0.000	0.000	0.081	3396.94	3453.62	3340.25	1582.44	891.31	0	0	0	30.00	30.00	15.76
1405.62	17446	-100.76	-1.95	0.00	3397.2	3453.8	3340.6	1582.2	891.2	140.26	-9.83	276	1412.55	0.03	0.00	3.49	0.615	0.000	0.036	3415.59	3469.62	3361.56	1582.31	2381.56	0	0	0	15.22	30.00	15.84
1715.75	292	-101.14	-1.95	80.00	3415.3	3470.2	3360.4	1582.2	2381.2	171.03	-9.97	338	1722.93	0.00	0.00	3.81	0.000	0.000	0.105	3416.34	3470.88	3361.81	1583.12	3823.44	0	0	0	30.00	30.00	15.73
1790.77	1060	-101.19	-1.95	0.00	3415.4	3469.9	3361.0	1582.8	3823.9	178.49	-10.00	353	1797.72	0.00	0.00	3.46	0.000	0.000	0.025	3416.06	3471.00	3361.12	1582.56	2313.31	0	0	0	30.00	30.00	15.84
2100.80	0	-101.19	-1.95	0.00	3415.7	3470.2	3361.2	1583.3	2311.2	209.45	-10.14	415	2102.43	0.00	0.00	0.00	0.000	0.000	0.000	3415.38	3470.06	3360.69	1583.06	2311.00	0	0	0	30.00	30.00	30.00
2405.92	32	-104.14	-1.95	0.00	3415.6	3470.2	3360.9	1582.9	2311.4	239.80	-9.79	476	2407.52	0.00	0.00	0.00	0.000	0.000	0.000	3414.41	3469.38	3359.44	1583.31	2311.38	0	0	0	30.00	30.00	30.00
2710.88	0	-104.14	-1.95	0.00	3415.4	3470.2	3360.6	1583.1	2311.1	270.63	-10.29	507	2712.49	0.00	0.00	0.00	0.000	0.000	0.000	3414.72	3469.56	3359.88	1583.12	2311.44	0	0	0	30.00	30.00	30.00
3030.94	292	-105.86	-1.96	80.00	3415.2	3470.0	3360.5	1583.1	2311.3	302.68	-9.88	523	3038.16	0.00	0.00	4.07	0.000	0.000	0.102	3416.31	3470.50	3362.12	1582.69	3825.88	0	0	0	30.00	30.00	15.27
3075.87	1060	-106.10	-1.96	0.00	3415.6	3470.3	3360.8	1582.9	3825.6	307.22	-9.98	532	3082.92	0.00	0.00	3.51	0.000	0.000	0.025	3415.69	3470.31	3361.06	1582.81	2314.38	0	0	0	30.00	30.00	15.32
3390.96	32	-108.28	-1.96	0.00	3415.4	3470.1	3360.6	1582.9	2313.3	338.78	-9.84	550	3392.57	0.00	0.00	0.00	0.000	0.000	0.000	3415.09	3470.19	3360.00	1583.12	2313.12	0	0	0	30.00	30.00	30.00
3710.92	260	-108.28	-1.96	80.00	3415.4	3470.1	3360.8	1583.1	2312.6	371.20	-10.03	566	3718.20	0.00	0.00	4.07	0.000	0.000	0.103	3415.97	3470.44	3361.50	1583.25	3824.56	0	0	0	30.00	30.00	15.77
3760.84	1028	-108.28	-1.96	0.00	3415.4	3469.9	3360.8	1583.1	3823.9	376.18	-10.02	576	3767.86	0.00	0.00	3.48	0.000	0.000	0.025	3415.69	3470.44	3360.94	1583.06	2315.12	0	0	0	30.00	30.00	15.89
4070.98	548	-110.59	-1.96	-80.00	3415.5	3470.4	3360.7	1583.2	2314.0	406.95	-9.83	593	4078.20	0.00	0.00	3.73	0.000	0.000	0.087	3415.84	3470.88	3360.81	1583.25	891.00	0	0	0	30.00	30.00	15.81
4116.08	1060	-112.20	-1.97	0.00	3415.1	3470.2	3360.1	1582.9	891.1	411.38	-9.88	602	4122.93	0.00	0.00	3.53	0.000	0.000	0.037	3416.25	3471.88	3360.62	1583.06	2381.12	0	0	0	30.00	30.00	15.89
4431.00	292	-115.74	-1.97	80.00	3415.4	3470.2	3360.6	1583.0	2381.2	442.97	-9.74	620	4438.09	0.00	0.00	3.86	0.000	0.000	0.107	3415.78	3470.94	3360.62	1583.31	3824.56	0	0	0	30.00	30.00	15.76
4480.87	1028	-115.74	-1.97	0.00	3415.2	3469.8	3360.7	1582.8	3824.3	448.06	-10.14	630	4487.90	0.00	0.00	3.46	0.000	0.000	0.025	3415.66	3470.31	3361.00	1582.75	2314.44	0	0	0	30.00	30.00	15.90
4791.01	292	-118.94	-1.98	80.00	3414.8	3470.1	3359.6	1582.9	2314.3	479.01	-9.77	647	4798.22	0.00	0.00	4.03	0.000	0.000	0.103	3416.16	3470.56	3361.75	1583.31	3826.12	0	0	0	30.00	30.00	15.77
4895.89	1028	-118.94	-1.98	0.00	3415.0	3470.3	3359.8	1583.4	3825.6	489.53	-10.06	668	4902.90	0.00	0.00	3.47	0.000	0.000	0.025	3415.34	3470.19	3360.50	1582.94	2316.44	0	0	0	30.00	30.00	15.89
5211.04	32	-119.05	-1.98	0.00	3414.8	3469.9	3359.6	1583.3	2314.9	520.91	-9.99	686	5212.64	0.00	0.00	0.00	0.000	0.000	0.000	3414.00	3469.12	3358.88	1583.19	2315.19	0	0	0	30.00	30.00	30.00
5531.03	548	-123.95	-1.98	-80.00	3414.5	3469.8	3359.2	1583.2	2315.0	552.29	-9.65	702	5538.10	0.00	0.00	3.74	0.000	0.000	0.089	3414.81	3469.81	3359.81	1583.12	892.31	0	0	0	30.00	30.00	15.80
5560.91	1028	-123.95	-1.98	0.00	3414.2	3469.6	3358.8	1582.8	892.4	555.26	-10.08	708	5567.92	0.00	0.00	3.49	0.000	0.000	0.037	3414.22	3469.94	3358.50	1582.88	2380.38	0	0	0	30.00	30.00	15.89
5871.00	260	-123.95	-1.98	80.00	3414.3	3469.9	3358.7	1583.1	2380.0	586.90	-10.02	725	5878.15	0.00	0.00	3.87	0.000	0.000	0.108	3414.75	3470.06	3359.44	1582.94	3823.25	0	0	0	30.00	30.00	15.75
5965.92	1028	-123.95	-1.98	0.00	3414.4	3469.9	3358.9	1583.2	3824.1	596.51	-10.04	744	5973.02	0.00	0.00	3.47	0.000	0.000	0.026	3414.59	3470.19	3359.00	1582.56	2317.44	0	0	0	30.00	30.00	15.89
6011	end dive: TARGET_DEPTH_EXCEEDED
state	6011	begin apogee
6013.37	10243	0.00	-0.36	0.00	3413.9	3470.0	3357.8	1583.0	1991.9	601.01	-10.00	747	6107.71	85.08	2.73	0.11	1.852	0.141	0.183	2998.25	3104.75	2891.75	1965.25	2067.88	0	0	0	11.50	15.70	15.49
6157	end apogee: CONTROL_FINISHED_OK
state	6157	begin climb
6157.78	10759	123.95	1.98	-80.00	2996.9	3103.9	2889.9	1964.8	2091.8	593.19	0.00	751	6512.47	103.77	3.78	4.28	1.808	0.068	0.104	2484.97	2597.44	2372.50	2537.75	560.25	0	0	0	12.15	15.53	15.18
6521.40	17414	123.95	1.98	0.00	2484.8	2598.1	2371.5	2537.0	560.2	549.27	10.56	753	6530.46	0.00	0.00	3.51	0.000	0.000	0.024	2485.59	2598.19	2373.00	2536.12	2066.88	0	0	0	30.00	30.00	15.18
6849.35	292	127.28	1.99	80.00	2482.9	2596.5	2369.2	2536.4	2068.2	516.25	9.76	771	6856.39	0.00	0.00	3.73	0.000	0.000	0.090	2484.44	2598.06	2370.81	2536.38	3491.19	0	0	0	30.00	30.00	15.26
6874.28	1060	128.36	1.99	0.00	2482.3	2595.1	2369.6	2536.6	3491.1	513.83	9.92	776	6881.29	0.00	0.00	3.60	0.000	0.000	0.033	2483.81	2597.00	2370.62	2535.81	1994.06	0	0	0	30.00	30.00	15.75
7189.33	0	128.36	1.99	0.00	2481.6	2595.2	2368.0	2536.9	1994.8	482.06	10.05	794	7190.94	0.00	0.00	0.00	0.000	0.000	0.000	2480.94	2594.44	2367.44	2536.75	1993.94	0	0	0	30.00	30.00	30.00
7509.40	8742	129.79	1.99	-80.00	2480.9	2595.1	2366.8	2537.0	1995.0	449.99	9.90	810	7521.91	5.08	0.00	3.84	0.876	0.000	0.109	2471.00	2585.69	2356.31	2537.06	559.25	0	0	0	11.91	30.00	15.67
7664.45	1028	129.79	1.99	0.00	2470.1	2584.6	2355.6	2536.8	559.2	434.58	10.24	841	7671.56	0.00	0.00	3.41	0.000	0.000	0.025	2470.78	2585.50	2356.06	2537.12	2065.62	0	0	0	30.00	30.00	15.78
7989.55	0	129.79	1.99	0.00	2470.1	2584.6	2355.6	2536.9	2068.0	401.63	10.09	858	7991.18	0.00	0.00	0.00	0.000	0.000	0.000	2469.75	2584.88	2354.62	2537.00	2067.25	0	0	0	30.00	30.00	30.00
8309.58	0	129.79	1.99	0.00	2470.0	2585.0	2355.1	2537.2	2067.9	369.69	10.02	874	8311.18	0.00	0.00	0.00	0.000	0.000	0.000	2469.41	2585.19	2353.62	2536.50	2068.19	0	0	0	30.00	30.00	30.00
8629.60	516	129.79	1.99	-80.00	2470.0	2585.1	2354.9	2537.0	2067.9	338.32	10.10	890	8636.87	0.00	0.00	4.03	0.000	0.000	0.102	2470.22	2584.75	2355.69	2536.88	557.69	0	0	0	30.00	30.00	15.79
8824.62	1060	132.06	2.00	0.00	2469.2	2583.8	2354.6	2537.1	557.5	318.80	9.84	929	8831.66	0.00	0.00	3.42	0.000	0.000	0.024	2470.28	2585.12	2355.44	2536.88	2070.12	0	0	0	30.00	30.00	15.88
9149.88	8226	132.48	2.00	0.00	2469.2	2583.6	2354.9	2537.1	2071.8	286.28	9.97	946	9156.99	5.07	0.00	0.00	0.791	0.000	0.000	2457.47	2573.56	2341.38	2537.44	2071.75	0	0	0	11.80	30.00	30.00
9469.69	516	132.48	2.00	-80.00	2458.6	2574.7	2342.5	2537.1	2071.6	254.17	10.02	962	9476.95	0.00	0.00	4.01	0.000	0.000	0.101	2458.97	2575.56	2342.38	2537.31	559.12	0	0	0	30.00	30.00	15.82
9639.78	9254	135.02	2.00	0.00	2458.1	2574.1	2342.1	2536.8	559.3	237.16	9.82	996	9652.09	4.99	0.00	3.42	0.740	0.000	0.024	2449.66	2566.31	2333.00	2536.62	2071.38	0	0	0	12.14	30.00	15.37
9954.82	0	135.02	2.00	0.00	2447.7	2565.1	2330.4	2537.3	2072.1	205.52	10.31	1059	9956.42	0.00	0.00	0.00	0.000	0.000	0.000	2447.28	2565.06	2329.50	2536.81	2071.69	0	0	0	30.00	30.00	30.00
10259.93	548	135.48	2.00	-80.00	2447.6	2565.1	2330.1	2536.7	2072.2	175.33	9.97	1120	10267.24	0.00	0.00	4.01	0.000	0.000	0.101	2447.69	2565.19	2330.19	2537.19	559.31	0	0	0	30.00	30.00	15.76
10384.94	1060	137.61	2.00	0.00	2447.1	2564.5	2329.8	2536.8	558.9	163.00	9.85	1145	10391.86	0.00	0.00	3.39	0.000	0.000	0.024	2447.31	2564.81	2329.81	2537.12	2067.56	0	0	0	30.00	30.00	15.87
10694.92	8710	137.61	2.00	-80.00	2447.2	2564.2	2330.1	2537.4	2068.4	132.11	10.17	1207	10707.55	4.78	0.00	3.95	0.656	0.000	0.101	2437.75	2555.12	2320.38	2536.81	557.62	0	0	0	12.01	30.00	15.72
10795.16	1028	137.61	2.00	0.00	2437.5	2554.1	2320.9	2536.8	557.7	122.10	10.21	1227	10802.15	0.00	0.00	3.40	0.000	0.000	0.024	2437.41	2554.25	2320.56	2537.38	2067.38	0	0	0	30.00	30.00	15.42
11105.30	8742	143.36	2.01	-80.00	2437.5	2554.4	2320.7	2537.2	2068.3	91.05	9.58	1289	11123.05	7.66	0.00	3.97	0.877	0.000	0.101	2413.59	2532.31	2294.88	2537.12	557.75	0	0	0	12.00	30.00	15.75
11240.71	1060	145.42	2.02	0.00	2412.6	2530.5	2294.6	2537.1	557.8	77.62	9.85	1316	11247.73	0.00	0.00	3.41	0.000	0.000	0.024	2412.34	2530.38	2294.31	2537.44	2068.88	0	0	0	30.00	30.00	15.87
11430.72	516	145.42	2.02	-80.00	2412.1	2530.2	2293.9	2537.3	2071.3	58.54	10.14	1354	11438.01	0.00	0.00	3.99	0.000	0.000	0.099	2412.50	2531.12	2293.88	2537.44	558.88	0	0	0	30.00	30.00	15.77
11485.74	1028	145.42	2.02	0.00	2412.0	2530.1	2293.9	2537.2	558.8	52.98	10.08	1365	11492.89	0.00	0.00	3.41	0.000	0.000	0.023	2412.25	2530.44	2294.06	2537.81	2069.38	0	0	0	30.00	30.00	15.39
11675.83	32	145.87	2.02	0.00	2411.9	2530.1	2293.7	2537.0	2071.5	33.92	9.97	1403	11677.44	0.00	0.00	0.00	0.000	0.000	0.000	2411.34	2529.94	2292.75	2536.81	2071.75	0	0	0	30.00	30.00	30.00
11860.88	32	146.22	2.02	0.00	2411.9	2530.4	2293.4	2537.3	2071.7	15.40	9.97	1440	11862.49	0.00	0.00	0.00	0.000	0.000	0.000	2411.72	2530.69	2292.75	2536.75	2071.75	0	0	0	30.00	30.00	30.00
11966	end climb: SURFACE_DEPTH_REACHED
state	11966	begin surface coast
12021	end surface coast: CONTROL_FINISHED_OK
state	12021	begin surface