Glider dive log

EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 210 * 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 210 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 1

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 40.907921 SEABIRD_T_I 2.5361865e-05

USE_BATHY -6 PITCH_MAX 3950 FG_AHR_24V 134.80638 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 0.0

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 358.0

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 0.0 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 358.0 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 40.907921 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FG_AHR_24V 134.80638 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 1 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE6 -1 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DIVE 210 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 130521,054609,4900.147,-1625.584,15,1.1,16,-5.4 TGT_LATLONG 4900.200,-1454.300

_CALLS 2 TGT_RADIUS 5000.000

_SM_DEPTHo 0.92 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -44.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 130521,055439,4900.173,-1625.569,4,1.1,6,-5.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.220,0.350 MHEAD_RNG_PITCHd_Wd 81.5,110887,-16.6,-12.692,-19.91

TGT_NAME A2 D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.2,1.026845 _10V_AH 15.00,0.000

SM_CCo 16304.16,34.63,0.887,0,930.7,878.9,982.5,499.75 FG_AHR_24Vo 135.140

SM_GC 1.14,34.63,12.27,1.29,0.887,0.052,0.031,930.7,878.9,982.5,177.2,2048.6,0,0,0,11.73,15.79,15.85 FG_AHR_10Vo 40.986

SUPER 19,71,254,1,0,0 MEM 1126912,24,49792,106

IRIDIUM_FIX 4859.79,-1624.67,130521,054829 DATA_FILE_SIZE 57648,1901

TCM_TEMP 15.75 CAP_FILE_SIZE 346888,0

XPDR_PINGS 1,13.0,11.5 SDSIZE 3918848,3852064

SC_FREEKB 3786720 SDFILEDIR 1296,1

HUMID 50.81 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.39 CURRENT 0.102,207.4,1

INTERNAL_PRESSURE 8.67562 GPS 130521,102709,4900.021,-1621.941,19,1.2,20,-5.4

_24V_AH 14.34,91.583

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 820 2045 24060.60 nil 0 0 0.00

Pitch_motor 28 296 122.84 nil 0 0 0.00

Roll_motor 152 304 667.65 nil 0 0 0.00

Iridium 318 212 973.40 nil 0 0 0.00

Transponder_ping 0 420 1.51 nil 0 0 0.00

GPS 14 15 3.36 nil 0 0 0.00

Core 5437 11 962.42 SciCon 16277 11 2826.34

LPSleep 11335 2 476.09 echo 0 0 0.00

Compass 2811 5 210.85 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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.62 16386 -243.31 -1.12 0.00 600.2 555.2 645.1 173.2 1952.3 0.00 0.00 0 145.47 138.40 0.00 0.00 0.005 0.000 0.000 3395.97 3405.62 3386.31 172.38 1950.75 0 0 0 15.16 30.00 30.00

145.75 18983 -243.31 -1.12 -80.00 3394.8 3404.4 3385.2 172.4 1951.4 3.63 -1.99 27 181.78 14.66 11.73 3.68 0.006 0.297 0.120 3960.31 3945.25 3975.38 1528.88 533.56 0 0 0 15.27 15.23 15.10

339.38 1156 -243.31 -1.05 0.00 3961.1 3946.1 3976.1 1528.6 533.6 38.45 -17.25 66 345.00 0.00 0.00 3.46 0.000 0.000 0.032 3961.53 3946.31 3976.75 1528.81 2027.50 0 0 0 30.00 30.00 15.79

524.38 2437 -243.31 -1.00 80.00 3961.2 3945.2 3977.2 1528.7 2027.6 66.80 -14.81 103 530.04 0.00 0.22 3.01 0.000 0.178 0.114 3961.09 3944.69 3977.50 1560.81 3185.88 0 0 0 30.00 15.69 15.47

589.36 1060 -243.31 -1.00 0.00 3961.6 3946.0 3977.2 1560.6 3185.9 74.91 -11.51 116 594.93 0.00 0.00 2.77 0.000 0.000 0.035 3961.59 3945.56 3977.62 1560.75 1970.69 0 0 0 30.00 30.00 15.79

774.46 0 -243.31 -1.00 0.00 3961.5 3946.2 3976.7 1561.0 1970.4 97.74 -13.01 153 775.79 0.00 0.00 0.00 0.000 0.000 0.000 3960.44 3945.12 3975.75 1561.06 1970.81 0 0 0 30.00 30.00 30.00

954.45 0 -243.31 -1.00 0.00 3960.9 3945.6 3976.3 1560.6 1970.9 120.56 -12.88 173 955.77 0.00 0.00 0.00 0.000 0.000 0.000 3960.66 3944.69 3976.62 1560.62 1971.38 0 0 0 30.00 30.00 30.00

1254.56 292 -243.31 -1.00 80.00 3961.2 3945.6 3976.8 1561.2 1970.8 158.53 -12.39 203 1259.82 0.00 0.00 3.14 0.000 0.000 0.110 3961.72 3946.19 3977.25 1560.75 3187.69 0 0 0 30.00 30.00 15.52

1299.18 1060 -243.31 -1.00 0.00 3961.0 3945.9 3976.2 1560.8 3188.3 164.00 -11.93 212 1305.09 0.00 0.00 2.78 0.000 0.000 0.036 3961.22 3945.25 3977.19 1560.94 1972.00 0 0 0 30.00 30.00 15.83

1604.62 32 -243.31 -1.00 0.00 3961.2 3945.5 3977.0 1561.3 1972.2 200.53 -12.03 243 1605.96 0.00 0.00 0.00 0.000 0.000 0.000 3961.53 3944.94 3978.12 1561.62 1971.88 0 0 0 30.00 30.00 30.00

1904.66 0 -243.31 -1.00 0.00 3961.2 3945.4 3976.9 1560.9 1972.4 238.76 -12.73 273 1905.99 0.00 0.00 0.00 0.000 0.000 0.000 3961.22 3945.44 3977.00 1560.94 1971.62 0 0 0 30.00 30.00 30.00

2204.73 292 -243.31 -1.00 80.00 3961.4 3946.1 3976.7 1561.2 1971.9 276.65 -12.33 303 2209.98 0.00 0.00 3.14 0.000 0.000 0.110 3961.81 3945.94 3977.69 1561.69 3187.00 0 0 0 30.00 30.00 15.55

2239.36 1060 -243.31 -1.00 0.00 3961.1 3945.9 3976.3 1561.2 3187.0 280.76 -11.74 310 2245.26 0.00 0.00 2.77 0.000 0.000 0.037 3961.44 3946.56 3976.31 1561.94 1972.94 0 0 0 30.00 30.00 15.88

2544.70 0 -243.31 -1.00 0.00 3961.0 3945.6 3976.5 1561.6 1973.2 318.52 -12.94 341 2546.03 0.00 0.00 0.00 0.000 0.000 0.000 3961.12 3945.19 3977.06 1561.50 1973.12 0 0 0 30.00 30.00 30.00

2844.83 32 -243.31 -1.00 0.00 3961.4 3946.0 3976.8 1561.6 1972.8 356.04 -12.40 371 2846.16 0.00 0.00 0.00 0.000 0.000 0.000 3961.09 3945.44 3976.75 1561.88 1973.62 0 0 0 30.00 30.00 30.00

3144.88 292 -243.31 -1.00 80.00 3961.4 3945.7 3977.1 1561.8 1973.5 391.99 -11.91 401 3150.14 0.00 0.00 3.16 0.000 0.000 0.112 3961.50 3945.81 3977.19 1561.69 3188.31 0 0 0 30.00 30.00 15.63

3184.83 1060 -243.31 -1.00 0.00 3961.0 3945.5 3976.6 1561.8 3187.6 396.60 -11.47 409 3190.08 0.00 0.00 2.78 0.000 0.000 0.039 3960.84 3945.00 3976.69 1561.38 1972.75 0 0 0 30.00 30.00 15.90

3494.93 32 -243.31 -1.00 0.00 3961.3 3945.5 3977.1 1561.9 1972.8 433.74 -12.56 441 3496.26 0.00 0.00 0.00 0.000 0.000 0.000 3961.00 3945.75 3976.25 1561.75 1972.50 0 0 0 30.00 30.00 30.00

3794.99 32 -243.31 -1.00 0.00 3961.0 3945.5 3976.4 1561.7 1972.8 470.90 -12.52 471 3796.32 0.00 0.00 0.00 0.000 0.000 0.000 3960.59 3944.81 3976.38 1561.38 1972.69 0 0 0 30.00 30.00 30.00

4095.04 32 -243.31 -1.00 0.00 3960.9 3945.1 3976.6 1561.8 1973.1 507.64 -12.03 501 4096.37 0.00 0.00 0.00 0.000 0.000 0.000 3960.69 3944.50 3976.88 1561.31 1973.25 0 0 0 30.00 30.00 30.00

4395.12 32 -243.31 -1.00 0.00 3960.7 3944.6 3976.8 1561.7 1972.6 543.94 -12.17 531 4396.45 0.00 0.00 0.00 0.000 0.000 0.000 3960.97 3946.19 3975.75 1561.44 1972.94 0 0 0 30.00 30.00 30.00

4695.15 32 -243.31 -1.00 0.00 3960.8 3944.8 3976.9 1562.1 1973.1 579.18 -11.38 561 4696.48 0.00 0.00 0.00 0.000 0.000 0.000 3960.34 3944.56 3976.12 1561.62 1973.19 0 0 0 30.00 30.00 30.00

4995.16 32 -243.31 -1.00 0.00 3960.3 3944.2 3976.4 1561.6 1973.2 613.83 -11.59 591 4996.50 0.00 0.00 0.00 0.000 0.000 0.000 3959.72 3943.38 3976.06 1561.50 1973.12 0 0 0 30.00 30.00 30.00

5295.18 32 -243.31 -1.00 0.00 3959.9 3943.4 3976.5 1561.6 1973.1 647.71 -11.44 621 5296.51 0.00 0.00 0.00 0.000 0.000 0.000 3960.03 3943.81 3976.25 1561.81 1973.50 0 0 0 30.00 30.00 30.00

5595.20 548 -243.31 -1.00 -80.00 3959.9 3942.7 3977.1 1561.8 1972.5 682.78 -11.72 651 5600.61 0.00 0.00 3.90 0.000 0.000 0.140 3960.66 3943.62 3977.69 1561.06 536.38 0 0 0 30.00 30.00 15.59

5619.83 1060 -243.31 -1.00 0.00 3960.2 3942.8 3977.5 1561.4 536.4 685.85 -12.10 656 5625.86 0.00 0.00 3.42 0.000 0.000 0.034 3960.66 3943.25 3978.06 1561.88 2022.19 0 0 0 30.00 30.00 15.92

5925.16 292 -243.31 -1.00 80.00 3959.4 3941.6 3977.2 1561.6 2022.2 721.17 -11.40 687 5930.49 0.00 0.00 3.11 0.000 0.000 0.137 3959.72 3942.56 3976.88 1561.62 3185.25 0 0 0 30.00 30.00 15.50

5955.17 1060 -243.31 -1.00 0.00 3959.7 3942.5 3976.9 1561.8 3185.2 724.47 -11.13 693 5960.44 0.00 0.00 2.84 0.000 0.000 0.052 3959.81 3943.12 3976.50 1561.81 1979.19 0 0 0 30.00 30.00 15.77

6265.26 548 -243.31 -1.00 -80.00 3959.5 3942.1 3976.9 1561.6 1979.9 758.18 -10.77 725 6270.64 0.00 0.00 3.90 0.000 0.000 0.142 3959.03 3941.50 3976.56 1561.94 535.69 0 0 0 30.00 30.00 15.62

6305.20 1060 -243.31 -1.00 0.00 3959.5 3941.9 3977.1 1561.8 535.7 763.05 -12.29 733 6310.58 0.00 0.00 3.42 0.000 0.000 0.036 3960.00 3942.06 3977.94 1562.12 2020.75 0 0 0 30.00 30.00 15.92

6615.21 32 -243.31 -1.00 0.00 3958.9 3941.1 3976.8 1561.8 2021.2 797.90 -11.46 765 6616.54 0.00 0.00 0.00 0.000 0.000 0.000 3959.31 3941.75 3976.88 1561.56 2020.75 0 0 0 30.00 30.00 30.00

6915.31 32 -243.31 -1.00 0.00 3959.2 3941.3 3977.1 1561.2 2021.2 831.46 -10.88 795 6916.64 0.00 0.00 0.00 0.000 0.000 0.000 3959.38 3941.69 3977.06 1561.25 2021.25 0 0 0 30.00 30.00 30.00

7215.34 676 -243.31 -1.03 -80.00 3959.2 3941.5 3977.0 1561.7 2021.2 862.16 -10.02 825 7220.76 0.00 0.00 4.14 0.000 0.000 0.140 3959.34 3941.19 3977.50 1561.50 537.06 0 0 0 30.00 30.00 15.58

7275.35 1060 -243.31 -1.03 0.00 3958.7 3940.6 3976.8 1561.7 536.7 869.01 -11.60 837 7280.65 0.00 0.00 3.47 0.000 0.000 0.039 3958.69 3940.19 3977.19 1561.25 2018.75 0 0 0 30.00 30.00 15.81

7585.30 160 -243.31 -1.06 0.00 3958.2 3939.6 3976.7 1561.7 2018.3 902.42 -11.17 869 7586.63 0.00 0.00 0.00 0.000 0.000 0.000 3957.81 3939.81 3975.81 1561.50 2018.12 0 0 0 30.00 30.00 30.00

7885.40 4773 -243.31 -1.09 -80.00 3958.4 3940.1 3976.8 1561.6 2018.2 933.53 -10.11 899 7891.89 0.00 0.26 4.12 0.000 0.077 0.144 3957.38 3938.62 3976.12 1517.31 536.50 0 0 0 30.00 15.87 15.57

7920.38 3205 -243.31 -1.05 0.00 3957.8 3938.9 3976.8 1517.5 536.4 938.16 -13.69 906 7925.78 0.00 0.28 3.45 0.000 0.183 0.042 3958.44 3939.69 3977.19 1548.81 2020.31 0 0 0 30.00 15.60 15.88

8230.36 548 -243.31 -1.05 -80.00 3957.8 3938.9 3976.8 1548.9 2019.6 972.45 -10.80 938 8235.86 0.00 0.00 4.16 0.000 0.000 0.145 3957.84 3939.38 3976.31 1548.44 537.56 0 0 0 30.00 30.00 15.57

8255.05 1060 -243.31 -1.05 0.00 3957.3 3938.3 3976.2 1548.9 537.4 975.28 -11.12 943 8261.09 0.00 0.00 3.44 0.000 0.000 0.043 3957.84 3939.19 3976.50 1548.69 2016.44 0 0 0 30.00 30.00 15.87

8390 end dive: TARGET_DEPTH_EXCEEDED

state 8390 begin apogee

8392.84 10243 0.00 -0.23 0.00 3956.8 3937.5 3976.1 1548.8 1437.2 990.14 -10.82 957 8604.90 208.26 1.40 0.05 2.046 0.143 0.304 2966.59 2923.38 3009.81 1747.12 1478.00 0 0 0 10.66 15.73 15.06

8606 end apogee: CONTROL_FINISHED_OK

state 8606 begin climb

8606.38 10759 243.31 1.12 -80.00 2965.3 2922.4 3008.2 1746.9 1478.4 997.97 0.00 978 8830.58 215.62 2.28 3.09 1.995 0.100 0.175 1976.09 1929.25 2022.94 2074.25 460.00 0 0 0 11.99 15.18 14.98

9052.79 9382 254.47 1.09 0.00 1967.4 1925.5 2009.3 2075.1 460.1 962.72 12.30 1067 9068.85 11.59 0.00 2.36 1.556 0.000 0.028 1930.19 1886.38 1974.00 2074.44 1490.44 0 0 0 11.77 30.00 15.54

9368.12 10791 353.06 1.24 -80.00 1926.4 1881.0 1971.9 2074.8 1490.9 933.64 9.20 1100 9465.32 91.78 0.16 3.04 1.912 0.092 0.164 1527.94 1474.31 1581.56 2111.06 458.94 0 0 0 11.65 15.66 15.20

9508.13 1156 353.06 1.21 0.00 1525.2 1473.7 1576.8 2110.2 458.9 917.13 14.28 1128 9513.26 0.00 0.00 2.39 0.000 0.000 0.029 1525.03 1473.31 1576.75 2110.75 1490.44 0 0 0 30.00 30.00 15.41

9818.16 260 353.06 1.21 80.00 1521.3 1467.2 1575.4 2111.2 1490.6 876.97 13.56 1160 9823.71 0.00 0.00 3.65 0.000 0.000 0.104 1522.03 1468.00 1576.06 2110.06 2911.62 0 0 0 30.00 30.00 15.57

9838.16 1028 353.06 1.21 0.00 1520.9 1466.8 1575.1 2110.8 2912.0 874.34 13.54 1164 9843.58 0.00 0.00 3.66 0.000 0.000 0.083 1521.75 1467.44 1576.06 2111.12 1439.38 0 0 0 30.00 30.00 15.63

10148.17 16386 353.06 1.21 0.00 1520.4 1465.8 1575.1 2111.1 1439.4 833.43 13.25 1196 10149.50 0.00 0.00 0.00 0.000 0.000 0.000 1519.75 1465.31 1574.19 2110.88 1438.88 0 0 0 30.00 30.00 30.00

10448.28 16386 353.06 1.21 0.00 1519.8 1465.0 1574.6 2111.2 1439.3 794.79 12.83 1226 10449.61 0.00 0.00 0.00 0.000 0.000 0.000 1519.31 1464.94 1573.69 2111.19 1439.31 0 0 0 30.00 30.00 30.00

10748.29 292 353.54 1.21 80.00 1519.3 1464.4 1574.2 2110.6 1439.8 755.38 12.68 1256 10753.66 0.00 0.00 3.71 0.000 0.000 0.096 1519.16 1464.25 1574.06 2111.00 2913.25 0 0 0 30.00 30.00 15.68

10772.92 1188 354.64 1.25 0.00 1518.9 1464.4 1573.5 2110.9 2912.2 752.26 12.65 1261 10778.98 0.00 0.00 3.61 0.000 0.000 0.077 1519.47 1464.38 1574.56 2110.94 1435.69 0 0 0 30.00 30.00 15.73

11078.23 260 354.64 1.25 80.00 1519.0 1464.1 1573.9 2111.4 1436.2 712.27 13.28 1292 11083.67 0.00 0.00 3.66 0.000 0.000 0.087 1519.78 1465.00 1574.56 2110.69 2912.75 0 0 0 30.00 30.00 15.71

11102.93 1156 354.64 1.29 0.00 1518.7 1463.9 1573.5 2110.6 2913.0 709.03 13.00 1297 11108.99 0.00 0.00 3.59 0.000 0.000 0.076 1518.97 1464.12 1573.81 2110.81 1437.00 0 0 0 30.00 30.00 15.77

11408.28 8226 380.10 1.33 0.00 1518.8 1463.8 1573.9 2111.0 1437.2 671.41 11.79 1328 11434.84 25.80 0.00 0.00 1.611 0.000 0.000 1418.41 1361.81 1475.00 2111.38 1436.94 0 0 0 11.23 30.00 30.00

11728.38 10403 436.37 1.45 0.00 1414.1 1356.2 1471.9 2110.7 1437.5 636.46 10.70 1360 11784.13 52.62 0.24 0.00 1.605 0.078 0.000 1190.22 1129.88 1250.56 2161.62 1436.69 0 0 0 11.58 15.77 30.00

12088.31 260 436.37 1.45 80.00 1184.4 1123.4 1245.4 2162.3 1437.3 584.43 14.87 1398 12093.75 0.00 0.00 3.68 0.000 0.000 0.083 1185.53 1124.25 1246.81 2161.56 2914.19 0 0 0 30.00 30.00 15.63

12108.31 1028 436.37 1.45 0.00 1184.1 1123.5 1244.8 2163.0 2914.3 581.51 14.88 1402 12113.72 0.00 0.00 3.57 0.000 0.000 0.069 1184.88 1124.12 1245.62 2162.25 1435.12 0 0 0 30.00 30.00 15.70

12418.36 0 436.37 1.45 0.00 1183.9 1123.3 1244.5 2163.0 1435.9 534.35 15.73 1434 12419.69 0.00 0.00 0.00 0.000 0.000 0.000 1183.56 1122.94 1244.19 2162.69 1435.56 0 0 0 30.00 30.00 30.00

12718.48 0 436.37 1.45 0.00 1183.7 1123.0 1244.3 2162.4 1435.5 486.94 15.53 1464 12719.81 0.00 0.00 0.00 0.000 0.000 0.000 1183.09 1122.50 1243.69 2162.25 1435.75 0 0 0 30.00 30.00 30.00

13018.53 260 436.37 1.45 80.00 1183.3 1122.6 1244.1 2162.8 1436.2 440.75 14.93 1494 13023.89 0.00 0.00 3.65 0.000 0.000 0.079 1184.12 1123.12 1245.12 2163.06 2915.06 0 0 0 30.00 30.00 15.72

13033.14 1028 436.37 1.45 0.00 1183.2 1122.6 1243.9 2162.7 2915.1 438.63 14.75 1497 13039.21 0.00 0.00 3.56 0.000 0.000 0.066 1183.53 1122.62 1244.44 2162.56 1435.12 0 0 0 30.00 30.00 15.79

13338.51 0 436.37 1.45 0.00 1183.2 1122.2 1244.2 2162.6 1435.4 395.08 14.09 1528 13339.84 0.00 0.00 0.00 0.000 0.000 0.000 1184.03 1123.06 1245.00 2161.88 1435.19 0 0 0 30.00 30.00 30.00

13638.70 260 436.37 1.45 80.00 1183.1 1122.2 1243.9 2162.4 1435.1 353.68 13.81 1558 13643.99 0.00 0.00 3.62 0.000 0.000 0.076 1183.22 1122.56 1243.88 2162.94 2914.69 0 0 0 30.00 30.00 15.73

13653.25 1028 436.37 1.45 0.00 1182.9 1122.2 1243.6 2162.0 2914.4 351.77 13.61 1561 13659.31 0.00 0.00 3.55 0.000 0.000 0.063 1183.12 1122.38 1243.88 2162.94 1433.94 0 0 0 30.00 30.00 15.80

13958.61 0 436.37 1.45 0.00 1183.2 1122.1 1244.2 2162.7 1434.5 310.80 13.26 1592 13959.94 0.00 0.00 0.00 0.000 0.000 0.000 1182.47 1121.81 1243.12 2162.69 1434.25 0 0 0 30.00 30.00 30.00

14258.75 32 437.85 1.45 0.00 1183.2 1122.2 1244.1 2162.9 1434.3 271.69 12.64 1622 14260.08 0.00 0.00 0.00 0.000 0.000 0.000 1182.88 1122.06 1243.69 2162.75 1434.88 0 0 0 30.00 30.00 30.00

14558.82 292 439.65 1.45 80.00 1183.0 1122.1 1243.9 2162.8 1434.8 232.50 12.63 1652 14564.14 0.00 0.00 3.63 0.000 0.000 0.075 1183.84 1123.06 1244.62 2162.56 2914.75 0 0 0 30.00 30.00 15.73

14578.74 9254 446.51 1.46 0.00 1182.9 1122.5 1243.4 2162.9 2915.1 230.14 12.45 1656 14594.42 10.44 0.00 3.53 1.000 0.000 0.063 1148.81 1087.44 1210.19 2162.75 1434.88 0 0 0 11.18 30.00 15.81

14898.78 0 446.51 1.46 0.00 1146.9 1084.8 1208.9 2162.8 1434.8 188.16 13.90 1690 14900.11 0.00 0.00 0.00 0.000 0.000 0.000 1146.50 1084.69 1208.31 2162.50 1435.00 0 0 0 30.00 30.00 30.00

15198.89 260 446.51 1.46 80.00 1146.9 1085.0 1208.8 2162.5 1434.9 144.88 14.43 1720 15204.25 0.00 0.00 3.62 0.000 0.000 0.074 1146.94 1085.19 1208.69 2162.56 2914.62 0 0 0 30.00 30.00 15.74

15218.84 1028 446.51 1.46 0.00 1146.8 1085.0 1208.5 2163.1 2914.2 142.24 14.13 1724 15224.24 0.00 0.00 3.55 0.000 0.000 0.062 1147.81 1085.50 1210.12 2161.75 1434.88 0 0 0 30.00 30.00 15.81

15523.88 0 446.51 1.46 0.00 1146.8 1084.6 1208.9 2162.6 1434.6 99.05 14.50 1756 15525.21 0.00 0.00 0.00 0.000 0.000 0.000 1146.50 1084.75 1208.25 2163.31 1434.81 0 0 0 30.00 30.00 30.00

15703.94 0 446.51 1.46 0.00 1146.9 1084.8 1209.1 2162.9 1434.9 73.65 14.46 1792 15705.27 0.00 0.00 0.00 0.000 0.000 0.000 1146.22 1084.31 1208.12 2163.25 1434.62 0 0 0 30.00 30.00 30.00

15884.00 0 446.51 1.46 0.00 1146.6 1084.9 1208.2 2163.0 1434.8 48.16 14.35 1828 15885.33 0.00 0.00 0.00 0.000 0.000 0.000 1146.19 1084.38 1208.00 2162.69 1434.69 0 0 0 30.00 30.00 30.00

16064.07 8486 450.51 1.47 80.00 1146.5 1084.8 1208.2 2162.1 1434.5 24.04 12.55 1864 16075.95 6.22 0.00 3.63 0.675 0.000 0.073 1131.38 1069.50 1193.25 2163.12 2915.50 0 0 0 11.28 30.00 15.50

16089.23 9254 459.12 1.48 0.00 1130.2 1068.9 1191.5 2162.8 2915.2 20.91 12.39 1869 16105.02 10.12 0.00 3.54 0.792 0.000 0.061 1096.41 1035.19 1157.62 2163.06 1434.50 0 0 0 12.00 30.00 15.76

16234 end climb: SURFACE_DEPTH_REACHED

state 16234 begin surface coast

16249 end surface coast: CONTROL_FINISHED_OK

state 16249 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	210	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	1
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	40.907921	SEABIRD_T_I	2.5361865e-05
USE_BATHY	-6	PITCH_MAX	3950	FG_AHR_24V	134.80638	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	0.0
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	358.0
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	130521,054609,4900.147,-1625.584,15,1.1,16,-5.4	TGT_LATLONG	4900.200,-1454.300
_CALLS	2	TGT_RADIUS	5000.000
_SM_DEPTHo	0.92	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-44.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	130521,055439,4900.173,-1625.569,4,1.1,6,-5.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.220,0.350	MHEAD_RNG_PITCHd_Wd	81.5,110887,-16.6,-12.692,-19.91
TGT_NAME	A2	D_GRID	1000

FINISH	-0.2,1.026845	_10V_AH	15.00,0.000
SM_CCo	16304.16,34.63,0.887,0,930.7,878.9,982.5,499.75	FG_AHR_24Vo	135.140
SM_GC	1.14,34.63,12.27,1.29,0.887,0.052,0.031,930.7,878.9,982.5,177.2,2048.6,0,0,0,11.73,15.79,15.85	FG_AHR_10Vo	40.986
SUPER	19,71,254,1,0,0	MEM	1126912,24,49792,106
IRIDIUM_FIX	4859.79,-1624.67,130521,054829	DATA_FILE_SIZE	57648,1901
TCM_TEMP	15.75	CAP_FILE_SIZE	346888,0
XPDR_PINGS	1,13.0,11.5	SDSIZE	3918848,3852064
SC_FREEKB	3786720	SDFILEDIR	1296,1
HUMID	50.81	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.39	CURRENT	0.102,207.4,1
INTERNAL_PRESSURE	8.67562	GPS	130521,102709,4900.021,-1621.941,19,1.2,20,-5.4
_24V_AH	14.34,91.583

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	820	2045	24060.60	nil	0	0	0.00
Pitch_motor	28	296	122.84	nil	0	0	0.00
Roll_motor	152	304	667.65	nil	0	0	0.00
Iridium	318	212	973.40	nil	0	0	0.00
Transponder_ping	0	420	1.51	nil	0	0	0.00
GPS	14	15	3.36	nil	0	0	0.00
Core	5437	11	962.42	SciCon	16277	11	2826.34
LPSleep	11335	2	476.09	echo	0	0	0.00
Compass	2811	5	210.85	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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.62	16386	-243.31	-1.12	0.00	600.2	555.2	645.1	173.2	1952.3	0.00	0.00	0	145.47	138.40	0.00	0.00	0.005	0.000	0.000	3395.97	3405.62	3386.31	172.38	1950.75	0	0	0	15.16	30.00	30.00
145.75	18983	-243.31	-1.12	-80.00	3394.8	3404.4	3385.2	172.4	1951.4	3.63	-1.99	27	181.78	14.66	11.73	3.68	0.006	0.297	0.120	3960.31	3945.25	3975.38	1528.88	533.56	0	0	0	15.27	15.23	15.10
339.38	1156	-243.31	-1.05	0.00	3961.1	3946.1	3976.1	1528.6	533.6	38.45	-17.25	66	345.00	0.00	0.00	3.46	0.000	0.000	0.032	3961.53	3946.31	3976.75	1528.81	2027.50	0	0	0	30.00	30.00	15.79
524.38	2437	-243.31	-1.00	80.00	3961.2	3945.2	3977.2	1528.7	2027.6	66.80	-14.81	103	530.04	0.00	0.22	3.01	0.000	0.178	0.114	3961.09	3944.69	3977.50	1560.81	3185.88	0	0	0	30.00	15.69	15.47
589.36	1060	-243.31	-1.00	0.00	3961.6	3946.0	3977.2	1560.6	3185.9	74.91	-11.51	116	594.93	0.00	0.00	2.77	0.000	0.000	0.035	3961.59	3945.56	3977.62	1560.75	1970.69	0	0	0	30.00	30.00	15.79
774.46	0	-243.31	-1.00	0.00	3961.5	3946.2	3976.7	1561.0	1970.4	97.74	-13.01	153	775.79	0.00	0.00	0.00	0.000	0.000	0.000	3960.44	3945.12	3975.75	1561.06	1970.81	0	0	0	30.00	30.00	30.00
954.45	0	-243.31	-1.00	0.00	3960.9	3945.6	3976.3	1560.6	1970.9	120.56	-12.88	173	955.77	0.00	0.00	0.00	0.000	0.000	0.000	3960.66	3944.69	3976.62	1560.62	1971.38	0	0	0	30.00	30.00	30.00
1254.56	292	-243.31	-1.00	80.00	3961.2	3945.6	3976.8	1561.2	1970.8	158.53	-12.39	203	1259.82	0.00	0.00	3.14	0.000	0.000	0.110	3961.72	3946.19	3977.25	1560.75	3187.69	0	0	0	30.00	30.00	15.52
1299.18	1060	-243.31	-1.00	0.00	3961.0	3945.9	3976.2	1560.8	3188.3	164.00	-11.93	212	1305.09	0.00	0.00	2.78	0.000	0.000	0.036	3961.22	3945.25	3977.19	1560.94	1972.00	0	0	0	30.00	30.00	15.83
1604.62	32	-243.31	-1.00	0.00	3961.2	3945.5	3977.0	1561.3	1972.2	200.53	-12.03	243	1605.96	0.00	0.00	0.00	0.000	0.000	0.000	3961.53	3944.94	3978.12	1561.62	1971.88	0	0	0	30.00	30.00	30.00
1904.66	0	-243.31	-1.00	0.00	3961.2	3945.4	3976.9	1560.9	1972.4	238.76	-12.73	273	1905.99	0.00	0.00	0.00	0.000	0.000	0.000	3961.22	3945.44	3977.00	1560.94	1971.62	0	0	0	30.00	30.00	30.00
2204.73	292	-243.31	-1.00	80.00	3961.4	3946.1	3976.7	1561.2	1971.9	276.65	-12.33	303	2209.98	0.00	0.00	3.14	0.000	0.000	0.110	3961.81	3945.94	3977.69	1561.69	3187.00	0	0	0	30.00	30.00	15.55
2239.36	1060	-243.31	-1.00	0.00	3961.1	3945.9	3976.3	1561.2	3187.0	280.76	-11.74	310	2245.26	0.00	0.00	2.77	0.000	0.000	0.037	3961.44	3946.56	3976.31	1561.94	1972.94	0	0	0	30.00	30.00	15.88
2544.70	0	-243.31	-1.00	0.00	3961.0	3945.6	3976.5	1561.6	1973.2	318.52	-12.94	341	2546.03	0.00	0.00	0.00	0.000	0.000	0.000	3961.12	3945.19	3977.06	1561.50	1973.12	0	0	0	30.00	30.00	30.00
2844.83	32	-243.31	-1.00	0.00	3961.4	3946.0	3976.8	1561.6	1972.8	356.04	-12.40	371	2846.16	0.00	0.00	0.00	0.000	0.000	0.000	3961.09	3945.44	3976.75	1561.88	1973.62	0	0	0	30.00	30.00	30.00
3144.88	292	-243.31	-1.00	80.00	3961.4	3945.7	3977.1	1561.8	1973.5	391.99	-11.91	401	3150.14	0.00	0.00	3.16	0.000	0.000	0.112	3961.50	3945.81	3977.19	1561.69	3188.31	0	0	0	30.00	30.00	15.63
3184.83	1060	-243.31	-1.00	0.00	3961.0	3945.5	3976.6	1561.8	3187.6	396.60	-11.47	409	3190.08	0.00	0.00	2.78	0.000	0.000	0.039	3960.84	3945.00	3976.69	1561.38	1972.75	0	0	0	30.00	30.00	15.90
3494.93	32	-243.31	-1.00	0.00	3961.3	3945.5	3977.1	1561.9	1972.8	433.74	-12.56	441	3496.26	0.00	0.00	0.00	0.000	0.000	0.000	3961.00	3945.75	3976.25	1561.75	1972.50	0	0	0	30.00	30.00	30.00
3794.99	32	-243.31	-1.00	0.00	3961.0	3945.5	3976.4	1561.7	1972.8	470.90	-12.52	471	3796.32	0.00	0.00	0.00	0.000	0.000	0.000	3960.59	3944.81	3976.38	1561.38	1972.69	0	0	0	30.00	30.00	30.00
4095.04	32	-243.31	-1.00	0.00	3960.9	3945.1	3976.6	1561.8	1973.1	507.64	-12.03	501	4096.37	0.00	0.00	0.00	0.000	0.000	0.000	3960.69	3944.50	3976.88	1561.31	1973.25	0	0	0	30.00	30.00	30.00
4395.12	32	-243.31	-1.00	0.00	3960.7	3944.6	3976.8	1561.7	1972.6	543.94	-12.17	531	4396.45	0.00	0.00	0.00	0.000	0.000	0.000	3960.97	3946.19	3975.75	1561.44	1972.94	0	0	0	30.00	30.00	30.00
4695.15	32	-243.31	-1.00	0.00	3960.8	3944.8	3976.9	1562.1	1973.1	579.18	-11.38	561	4696.48	0.00	0.00	0.00	0.000	0.000	0.000	3960.34	3944.56	3976.12	1561.62	1973.19	0	0	0	30.00	30.00	30.00
4995.16	32	-243.31	-1.00	0.00	3960.3	3944.2	3976.4	1561.6	1973.2	613.83	-11.59	591	4996.50	0.00	0.00	0.00	0.000	0.000	0.000	3959.72	3943.38	3976.06	1561.50	1973.12	0	0	0	30.00	30.00	30.00
5295.18	32	-243.31	-1.00	0.00	3959.9	3943.4	3976.5	1561.6	1973.1	647.71	-11.44	621	5296.51	0.00	0.00	0.00	0.000	0.000	0.000	3960.03	3943.81	3976.25	1561.81	1973.50	0	0	0	30.00	30.00	30.00
5595.20	548	-243.31	-1.00	-80.00	3959.9	3942.7	3977.1	1561.8	1972.5	682.78	-11.72	651	5600.61	0.00	0.00	3.90	0.000	0.000	0.140	3960.66	3943.62	3977.69	1561.06	536.38	0	0	0	30.00	30.00	15.59
5619.83	1060	-243.31	-1.00	0.00	3960.2	3942.8	3977.5	1561.4	536.4	685.85	-12.10	656	5625.86	0.00	0.00	3.42	0.000	0.000	0.034	3960.66	3943.25	3978.06	1561.88	2022.19	0	0	0	30.00	30.00	15.92
5925.16	292	-243.31	-1.00	80.00	3959.4	3941.6	3977.2	1561.6	2022.2	721.17	-11.40	687	5930.49	0.00	0.00	3.11	0.000	0.000	0.137	3959.72	3942.56	3976.88	1561.62	3185.25	0	0	0	30.00	30.00	15.50
5955.17	1060	-243.31	-1.00	0.00	3959.7	3942.5	3976.9	1561.8	3185.2	724.47	-11.13	693	5960.44	0.00	0.00	2.84	0.000	0.000	0.052	3959.81	3943.12	3976.50	1561.81	1979.19	0	0	0	30.00	30.00	15.77
6265.26	548	-243.31	-1.00	-80.00	3959.5	3942.1	3976.9	1561.6	1979.9	758.18	-10.77	725	6270.64	0.00	0.00	3.90	0.000	0.000	0.142	3959.03	3941.50	3976.56	1561.94	535.69	0	0	0	30.00	30.00	15.62
6305.20	1060	-243.31	-1.00	0.00	3959.5	3941.9	3977.1	1561.8	535.7	763.05	-12.29	733	6310.58	0.00	0.00	3.42	0.000	0.000	0.036	3960.00	3942.06	3977.94	1562.12	2020.75	0	0	0	30.00	30.00	15.92
6615.21	32	-243.31	-1.00	0.00	3958.9	3941.1	3976.8	1561.8	2021.2	797.90	-11.46	765	6616.54	0.00	0.00	0.00	0.000	0.000	0.000	3959.31	3941.75	3976.88	1561.56	2020.75	0	0	0	30.00	30.00	30.00
6915.31	32	-243.31	-1.00	0.00	3959.2	3941.3	3977.1	1561.2	2021.2	831.46	-10.88	795	6916.64	0.00	0.00	0.00	0.000	0.000	0.000	3959.38	3941.69	3977.06	1561.25	2021.25	0	0	0	30.00	30.00	30.00
7215.34	676	-243.31	-1.03	-80.00	3959.2	3941.5	3977.0	1561.7	2021.2	862.16	-10.02	825	7220.76	0.00	0.00	4.14	0.000	0.000	0.140	3959.34	3941.19	3977.50	1561.50	537.06	0	0	0	30.00	30.00	15.58
7275.35	1060	-243.31	-1.03	0.00	3958.7	3940.6	3976.8	1561.7	536.7	869.01	-11.60	837	7280.65	0.00	0.00	3.47	0.000	0.000	0.039	3958.69	3940.19	3977.19	1561.25	2018.75	0	0	0	30.00	30.00	15.81
7585.30	160	-243.31	-1.06	0.00	3958.2	3939.6	3976.7	1561.7	2018.3	902.42	-11.17	869	7586.63	0.00	0.00	0.00	0.000	0.000	0.000	3957.81	3939.81	3975.81	1561.50	2018.12	0	0	0	30.00	30.00	30.00
7885.40	4773	-243.31	-1.09	-80.00	3958.4	3940.1	3976.8	1561.6	2018.2	933.53	-10.11	899	7891.89	0.00	0.26	4.12	0.000	0.077	0.144	3957.38	3938.62	3976.12	1517.31	536.50	0	0	0	30.00	15.87	15.57
7920.38	3205	-243.31	-1.05	0.00	3957.8	3938.9	3976.8	1517.5	536.4	938.16	-13.69	906	7925.78	0.00	0.28	3.45	0.000	0.183	0.042	3958.44	3939.69	3977.19	1548.81	2020.31	0	0	0	30.00	15.60	15.88
8230.36	548	-243.31	-1.05	-80.00	3957.8	3938.9	3976.8	1548.9	2019.6	972.45	-10.80	938	8235.86	0.00	0.00	4.16	0.000	0.000	0.145	3957.84	3939.38	3976.31	1548.44	537.56	0	0	0	30.00	30.00	15.57
8255.05	1060	-243.31	-1.05	0.00	3957.3	3938.3	3976.2	1548.9	537.4	975.28	-11.12	943	8261.09	0.00	0.00	3.44	0.000	0.000	0.043	3957.84	3939.19	3976.50	1548.69	2016.44	0	0	0	30.00	30.00	15.87
8390	end dive: TARGET_DEPTH_EXCEEDED
state	8390	begin apogee
8392.84	10243	0.00	-0.23	0.00	3956.8	3937.5	3976.1	1548.8	1437.2	990.14	-10.82	957	8604.90	208.26	1.40	0.05	2.046	0.143	0.304	2966.59	2923.38	3009.81	1747.12	1478.00	0	0	0	10.66	15.73	15.06
8606	end apogee: CONTROL_FINISHED_OK
state	8606	begin climb
8606.38	10759	243.31	1.12	-80.00	2965.3	2922.4	3008.2	1746.9	1478.4	997.97	0.00	978	8830.58	215.62	2.28	3.09	1.995	0.100	0.175	1976.09	1929.25	2022.94	2074.25	460.00	0	0	0	11.99	15.18	14.98
9052.79	9382	254.47	1.09	0.00	1967.4	1925.5	2009.3	2075.1	460.1	962.72	12.30	1067	9068.85	11.59	0.00	2.36	1.556	0.000	0.028	1930.19	1886.38	1974.00	2074.44	1490.44	0	0	0	11.77	30.00	15.54
9368.12	10791	353.06	1.24	-80.00	1926.4	1881.0	1971.9	2074.8	1490.9	933.64	9.20	1100	9465.32	91.78	0.16	3.04	1.912	0.092	0.164	1527.94	1474.31	1581.56	2111.06	458.94	0	0	0	11.65	15.66	15.20
9508.13	1156	353.06	1.21	0.00	1525.2	1473.7	1576.8	2110.2	458.9	917.13	14.28	1128	9513.26	0.00	0.00	2.39	0.000	0.000	0.029	1525.03	1473.31	1576.75	2110.75	1490.44	0	0	0	30.00	30.00	15.41
9818.16	260	353.06	1.21	80.00	1521.3	1467.2	1575.4	2111.2	1490.6	876.97	13.56	1160	9823.71	0.00	0.00	3.65	0.000	0.000	0.104	1522.03	1468.00	1576.06	2110.06	2911.62	0	0	0	30.00	30.00	15.57
9838.16	1028	353.06	1.21	0.00	1520.9	1466.8	1575.1	2110.8	2912.0	874.34	13.54	1164	9843.58	0.00	0.00	3.66	0.000	0.000	0.083	1521.75	1467.44	1576.06	2111.12	1439.38	0	0	0	30.00	30.00	15.63
10148.17	16386	353.06	1.21	0.00	1520.4	1465.8	1575.1	2111.1	1439.4	833.43	13.25	1196	10149.50	0.00	0.00	0.00	0.000	0.000	0.000	1519.75	1465.31	1574.19	2110.88	1438.88	0	0	0	30.00	30.00	30.00
10448.28	16386	353.06	1.21	0.00	1519.8	1465.0	1574.6	2111.2	1439.3	794.79	12.83	1226	10449.61	0.00	0.00	0.00	0.000	0.000	0.000	1519.31	1464.94	1573.69	2111.19	1439.31	0	0	0	30.00	30.00	30.00
10748.29	292	353.54	1.21	80.00	1519.3	1464.4	1574.2	2110.6	1439.8	755.38	12.68	1256	10753.66	0.00	0.00	3.71	0.000	0.000	0.096	1519.16	1464.25	1574.06	2111.00	2913.25	0	0	0	30.00	30.00	15.68
10772.92	1188	354.64	1.25	0.00	1518.9	1464.4	1573.5	2110.9	2912.2	752.26	12.65	1261	10778.98	0.00	0.00	3.61	0.000	0.000	0.077	1519.47	1464.38	1574.56	2110.94	1435.69	0	0	0	30.00	30.00	15.73
11078.23	260	354.64	1.25	80.00	1519.0	1464.1	1573.9	2111.4	1436.2	712.27	13.28	1292	11083.67	0.00	0.00	3.66	0.000	0.000	0.087	1519.78	1465.00	1574.56	2110.69	2912.75	0	0	0	30.00	30.00	15.71
11102.93	1156	354.64	1.29	0.00	1518.7	1463.9	1573.5	2110.6	2913.0	709.03	13.00	1297	11108.99	0.00	0.00	3.59	0.000	0.000	0.076	1518.97	1464.12	1573.81	2110.81	1437.00	0	0	0	30.00	30.00	15.77
11408.28	8226	380.10	1.33	0.00	1518.8	1463.8	1573.9	2111.0	1437.2	671.41	11.79	1328	11434.84	25.80	0.00	0.00	1.611	0.000	0.000	1418.41	1361.81	1475.00	2111.38	1436.94	0	0	0	11.23	30.00	30.00
11728.38	10403	436.37	1.45	0.00	1414.1	1356.2	1471.9	2110.7	1437.5	636.46	10.70	1360	11784.13	52.62	0.24	0.00	1.605	0.078	0.000	1190.22	1129.88	1250.56	2161.62	1436.69	0	0	0	11.58	15.77	30.00
12088.31	260	436.37	1.45	80.00	1184.4	1123.4	1245.4	2162.3	1437.3	584.43	14.87	1398	12093.75	0.00	0.00	3.68	0.000	0.000	0.083	1185.53	1124.25	1246.81	2161.56	2914.19	0	0	0	30.00	30.00	15.63
12108.31	1028	436.37	1.45	0.00	1184.1	1123.5	1244.8	2163.0	2914.3	581.51	14.88	1402	12113.72	0.00	0.00	3.57	0.000	0.000	0.069	1184.88	1124.12	1245.62	2162.25	1435.12	0	0	0	30.00	30.00	15.70
12418.36	0	436.37	1.45	0.00	1183.9	1123.3	1244.5	2163.0	1435.9	534.35	15.73	1434	12419.69	0.00	0.00	0.00	0.000	0.000	0.000	1183.56	1122.94	1244.19	2162.69	1435.56	0	0	0	30.00	30.00	30.00
12718.48	0	436.37	1.45	0.00	1183.7	1123.0	1244.3	2162.4	1435.5	486.94	15.53	1464	12719.81	0.00	0.00	0.00	0.000	0.000	0.000	1183.09	1122.50	1243.69	2162.25	1435.75	0	0	0	30.00	30.00	30.00
13018.53	260	436.37	1.45	80.00	1183.3	1122.6	1244.1	2162.8	1436.2	440.75	14.93	1494	13023.89	0.00	0.00	3.65	0.000	0.000	0.079	1184.12	1123.12	1245.12	2163.06	2915.06	0	0	0	30.00	30.00	15.72
13033.14	1028	436.37	1.45	0.00	1183.2	1122.6	1243.9	2162.7	2915.1	438.63	14.75	1497	13039.21	0.00	0.00	3.56	0.000	0.000	0.066	1183.53	1122.62	1244.44	2162.56	1435.12	0	0	0	30.00	30.00	15.79
13338.51	0	436.37	1.45	0.00	1183.2	1122.2	1244.2	2162.6	1435.4	395.08	14.09	1528	13339.84	0.00	0.00	0.00	0.000	0.000	0.000	1184.03	1123.06	1245.00	2161.88	1435.19	0	0	0	30.00	30.00	30.00
13638.70	260	436.37	1.45	80.00	1183.1	1122.2	1243.9	2162.4	1435.1	353.68	13.81	1558	13643.99	0.00	0.00	3.62	0.000	0.000	0.076	1183.22	1122.56	1243.88	2162.94	2914.69	0	0	0	30.00	30.00	15.73
13653.25	1028	436.37	1.45	0.00	1182.9	1122.2	1243.6	2162.0	2914.4	351.77	13.61	1561	13659.31	0.00	0.00	3.55	0.000	0.000	0.063	1183.12	1122.38	1243.88	2162.94	1433.94	0	0	0	30.00	30.00	15.80
13958.61	0	436.37	1.45	0.00	1183.2	1122.1	1244.2	2162.7	1434.5	310.80	13.26	1592	13959.94	0.00	0.00	0.00	0.000	0.000	0.000	1182.47	1121.81	1243.12	2162.69	1434.25	0	0	0	30.00	30.00	30.00
14258.75	32	437.85	1.45	0.00	1183.2	1122.2	1244.1	2162.9	1434.3	271.69	12.64	1622	14260.08	0.00	0.00	0.00	0.000	0.000	0.000	1182.88	1122.06	1243.69	2162.75	1434.88	0	0	0	30.00	30.00	30.00
14558.82	292	439.65	1.45	80.00	1183.0	1122.1	1243.9	2162.8	1434.8	232.50	12.63	1652	14564.14	0.00	0.00	3.63	0.000	0.000	0.075	1183.84	1123.06	1244.62	2162.56	2914.75	0	0	0	30.00	30.00	15.73
14578.74	9254	446.51	1.46	0.00	1182.9	1122.5	1243.4	2162.9	2915.1	230.14	12.45	1656	14594.42	10.44	0.00	3.53	1.000	0.000	0.063	1148.81	1087.44	1210.19	2162.75	1434.88	0	0	0	11.18	30.00	15.81
14898.78	0	446.51	1.46	0.00	1146.9	1084.8	1208.9	2162.8	1434.8	188.16	13.90	1690	14900.11	0.00	0.00	0.00	0.000	0.000	0.000	1146.50	1084.69	1208.31	2162.50	1435.00	0	0	0	30.00	30.00	30.00
15198.89	260	446.51	1.46	80.00	1146.9	1085.0	1208.8	2162.5	1434.9	144.88	14.43	1720	15204.25	0.00	0.00	3.62	0.000	0.000	0.074	1146.94	1085.19	1208.69	2162.56	2914.62	0	0	0	30.00	30.00	15.74
15218.84	1028	446.51	1.46	0.00	1146.8	1085.0	1208.5	2163.1	2914.2	142.24	14.13	1724	15224.24	0.00	0.00	3.55	0.000	0.000	0.062	1147.81	1085.50	1210.12	2161.75	1434.88	0	0	0	30.00	30.00	15.81
15523.88	0	446.51	1.46	0.00	1146.8	1084.6	1208.9	2162.6	1434.6	99.05	14.50	1756	15525.21	0.00	0.00	0.00	0.000	0.000	0.000	1146.50	1084.75	1208.25	2163.31	1434.81	0	0	0	30.00	30.00	30.00
15703.94	0	446.51	1.46	0.00	1146.9	1084.8	1209.1	2162.9	1434.9	73.65	14.46	1792	15705.27	0.00	0.00	0.00	0.000	0.000	0.000	1146.22	1084.31	1208.12	2163.25	1434.62	0	0	0	30.00	30.00	30.00
15884.00	0	446.51	1.46	0.00	1146.6	1084.9	1208.2	2163.0	1434.8	48.16	14.35	1828	15885.33	0.00	0.00	0.00	0.000	0.000	0.000	1146.19	1084.38	1208.00	2162.69	1434.69	0	0	0	30.00	30.00	30.00
16064.07	8486	450.51	1.47	80.00	1146.5	1084.8	1208.2	2162.1	1434.5	24.04	12.55	1864	16075.95	6.22	0.00	3.63	0.675	0.000	0.073	1131.38	1069.50	1193.25	2163.12	2915.50	0	0	0	11.28	30.00	15.50
16089.23	9254	459.12	1.48	0.00	1130.2	1068.9	1191.5	2162.8	2915.2	20.91	12.39	1869	16105.02	10.12	0.00	3.54	0.792	0.000	0.061	1096.41	1035.19	1157.62	2163.06	1434.50	0	0	0	12.00	30.00	15.76
16234	end climb: SURFACE_DEPTH_REACHED
state	16234	begin surface coast
16249	end surface coast: CONTROL_FINISHED_OK
state	16249	begin surface