Glider dive log

EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 232 * 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 232 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 42.552177 SEABIRD_T_I 2.5361865e-05

USE_BATHY -6 PITCH_MAX 3950 FG_AHR_24V 142.90376 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 42.552177 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FG_AHR_24V 142.90376 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 232 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 170521,082100,4903.893,-1451.867,28,0.9,28,-4.8 TGT_LATLONG 4903.780,-1455.900

_CALLS 1 TGT_RADIUS 5000.000

_SM_DEPTHo 1.01 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -48.8 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 170521,082805,4903.895,-1451.733,2,0.6,4,-4.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.220,0.350 MHEAD_RNG_PITCHd_Wd 248.2,5061,-16.6,-12.692,-19.91

TGT_NAME A2OUT_4 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.2,1.026847 _10V_AH 15.00,0.000

SM_CCo 15668.92,0.00,0.000,0,720.7,664.6,776.8,551.27 FG_AHR_24Vo 143.264

SM_GC 0.70,0.00,12.44,1.09,0.000,0.050,0.035,720.7,664.6,776.8,180.8,2024.7,0,0,0,30.00,15.81,15.87 FG_AHR_10Vo 42.625

SUPER 19,71,254,1,0,0 MEM 1125196,29,50868,133

IRIDIUM_FIX 4902.92,-1446.79,170521,035845 DATA_FILE_SIZE 54467,1855

TCM_TEMP 15.26 CAP_FILE_SIZE 367396,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3918848,3846784

SC_FREEKB 3776864 SDFILEDIR 1406,1

HUMID 51.39 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.09 CURRENT 0.273, 42.8,1

INTERNAL_PRESSURE 8.66948 GPS 170521,125001,4904.386,-1453.490,20,1.0,21,-4.8

_24V_AH 14.36,101.739

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 877 2015 25400.55 nil 0 0 0.00

Pitch_motor 32 300 140.97 nil 0 0 0.00

Roll_motor 168 337 815.26 nil 0 0 0.00

Iridium 291 203 851.56 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 2.94 nil 0 0 0.00

Core 5358 11 948.51 SciCon 15618 11 2702.30

LPSleep 10693 2 449.13 echo 0 0 0.00

Compass 2748 5 206.16 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

6.70 16386 -243.31 -1.12 0.00 496.5 456.2 536.9 179.8 1951.6 0.00 0.00 0 145.56 138.49 0.00 0.00 0.005 0.000 0.000 3268.56 3280.06 3257.06 178.69 1950.12 0 0 0 15.07 30.00 30.00

145.86 18727 -243.31 -1.12 80.00 3268.0 3278.6 3257.4 178.6 1950.6 3.22 -1.80 27 186.24 19.11 11.96 3.18 0.006 0.301 0.114 3960.16 3943.25 3977.06 1528.69 3187.06 0 0 0 15.24 15.26 15.03

258.80 1028 -243.31 -1.12 0.00 3960.3 3943.9 3976.7 1528.8 3188.1 20.87 -14.75 50 264.41 0.00 0.00 2.83 0.000 0.000 0.035 3961.28 3945.19 3977.38 1528.69 1970.12 0 0 0 30.00 30.00 15.77

443.94 128 -243.31 -1.07 0.00 3960.9 3944.6 3977.2 1528.7 1971.1 48.31 -14.62 87 445.26 0.00 0.00 0.00 0.000 0.000 0.000 3960.75 3944.25 3977.25 1528.38 1971.62 0 0 0 30.00 30.00 30.00

623.93 2437 -243.31 -1.02 80.00 3960.6 3944.1 3977.2 1528.5 1970.8 75.43 -14.48 123 629.66 0.00 0.17 3.12 0.000 0.179 0.109 3961.47 3944.56 3978.38 1554.56 3185.81 0 0 0 30.00 15.72 15.46

688.97 1060 -243.31 -1.02 0.00 3960.2 3943.8 3976.7 1554.6 3185.2 83.86 -12.48 136 694.56 0.00 0.00 2.80 0.000 0.000 0.034 3960.72 3944.19 3977.25 1554.44 1972.44 0 0 0 30.00 30.00 15.81

879.10 32 -243.31 -1.02 0.00 3961.1 3944.5 3977.7 1554.1 1972.1 107.93 -12.55 168 880.43 0.00 0.00 0.00 0.000 0.000 0.000 3960.34 3943.50 3977.19 1554.06 1972.25 0 0 0 30.00 30.00 30.00

1179.16 292 -243.31 -1.02 80.00 3960.8 3944.3 3977.2 1554.2 1971.9 144.13 -12.08 198 1184.40 0.00 0.00 3.10 0.000 0.000 0.107 3960.41 3944.38 3976.44 1554.88 3185.31 0 0 0 30.00 30.00 15.62

1203.76 1060 -243.31 -1.02 0.00 3960.4 3944.0 3976.8 1554.2 3185.9 147.20 -12.19 203 1209.70 0.00 0.00 2.79 0.000 0.000 0.035 3960.50 3943.81 3977.19 1554.00 1972.62 0 0 0 30.00 30.00 15.79

1509.20 32 -243.31 -1.02 0.00 3960.5 3943.9 3977.1 1554.2 1972.5 185.12 -12.59 234 1510.53 0.00 0.00 0.00 0.000 0.000 0.000 3960.34 3943.75 3976.94 1554.62 1972.06 0 0 0 30.00 30.00 30.00

1809.22 260 -243.31 -1.02 80.00 3960.7 3944.4 3977.0 1555.0 1972.6 223.36 -12.92 264 1814.50 0.00 0.00 3.11 0.000 0.000 0.109 3961.19 3944.06 3978.31 1554.81 3185.06 0 0 0 30.00 30.00 15.63

1839.18 1060 -243.31 -1.02 0.00 3960.3 3943.5 3977.1 1554.6 3185.7 227.05 -12.32 270 1844.44 0.00 0.00 2.78 0.000 0.000 0.037 3961.44 3944.56 3978.31 1554.19 1972.50 0 0 0 30.00 30.00 15.86

2149.28 516 -243.31 -1.02 -80.00 3960.2 3943.4 3976.9 1554.4 1973.4 265.77 -12.77 302 2154.67 0.00 0.00 3.81 0.000 0.000 0.120 3960.69 3944.44 3976.94 1554.56 536.06 0 0 0 30.00 30.00 15.69

2173.87 1028 -243.31 -1.02 0.00 3960.5 3944.0 3977.1 1554.1 535.8 269.03 -13.18 307 2179.93 0.00 0.00 3.38 0.000 0.000 0.028 3960.97 3944.69 3977.25 1554.75 2027.88 0 0 0 30.00 30.00 15.79

2479.24 32 -243.31 -1.02 0.00 3960.8 3943.9 3977.6 1554.1 2027.9 307.30 -12.47 338 2480.57 0.00 0.00 0.00 0.000 0.000 0.000 3960.06 3943.69 3976.44 1554.50 2028.12 0 0 0 30.00 30.00 30.00

2779.36 548 -243.31 -1.02 -80.00 3960.2 3943.5 3977.0 1554.9 2027.9 344.39 -12.17 368 2784.75 0.00 0.00 3.94 0.000 0.000 0.117 3960.47 3943.88 3977.06 1554.31 537.25 0 0 0 30.00 30.00 15.69

2813.95 1028 -243.31 -1.02 0.00 3960.8 3944.1 3977.5 1554.6 537.1 348.99 -13.33 375 2820.00 0.00 0.00 3.38 0.000 0.000 0.029 3961.25 3944.50 3978.00 1554.38 2027.88 0 0 0 30.00 30.00 15.89

3119.32 32 -243.31 -1.02 0.00 3960.3 3943.2 3977.4 1554.6 2027.6 386.00 -12.16 406 3120.65 0.00 0.00 0.00 0.000 0.000 0.000 3960.12 3943.38 3976.88 1554.44 2027.88 0 0 0 30.00 30.00 30.00

3419.42 32 -243.31 -1.02 0.00 3960.1 3943.2 3977.0 1554.2 2027.3 421.32 -11.62 436 3420.75 0.00 0.00 0.00 0.000 0.000 0.000 3960.38 3943.31 3977.44 1554.38 2027.81 0 0 0 30.00 30.00 30.00

3719.48 548 -243.31 -1.02 -80.00 3959.6 3942.5 3976.8 1554.5 2027.6 457.47 -12.17 466 3724.90 0.00 0.00 4.01 0.000 0.000 0.121 3961.06 3944.06 3978.06 1554.12 535.00 0 0 0 30.00 30.00 15.67

3739.41 1028 -243.31 -1.02 0.00 3960.2 3942.9 3977.6 1554.8 534.7 460.14 -12.84 470 3744.78 0.00 0.00 3.39 0.000 0.000 0.031 3960.38 3942.88 3977.88 1554.38 2026.50 0 0 0 30.00 30.00 15.91

4049.48 32 -243.31 -1.02 0.00 3960.0 3942.4 3977.6 1554.3 2026.2 498.05 -12.14 502 4050.81 0.00 0.00 0.00 0.000 0.000 0.000 3959.97 3943.06 3976.88 1554.56 2026.19 0 0 0 30.00 30.00 30.00

4349.61 548 -243.31 -1.02 -80.00 3959.7 3941.8 3977.5 1554.4 2026.2 534.31 -11.98 532 4355.03 0.00 0.00 4.01 0.000 0.000 0.127 3959.66 3942.38 3976.94 1554.00 537.69 0 0 0 30.00 30.00 15.65

4369.55 1060 -243.31 -1.02 0.00 3960.0 3942.1 3977.9 1554.6 537.8 536.93 -12.62 536 4374.92 0.00 0.00 3.38 0.000 0.000 0.033 3960.03 3942.38 3977.69 1554.12 2024.75 0 0 0 30.00 30.00 15.91

4679.60 32 -243.31 -1.02 0.00 3959.7 3942.4 3976.9 1554.6 2024.6 574.17 -11.95 568 4680.93 0.00 0.00 0.00 0.000 0.000 0.000 3959.38 3941.69 3977.06 1554.38 2025.06 0 0 0 30.00 30.00 30.00

4979.75 292 -243.31 -1.02 80.00 3959.2 3941.6 3976.8 1554.7 2024.8 609.87 -11.90 598 4984.98 0.00 0.00 3.05 0.000 0.000 0.134 3960.53 3943.19 3977.88 1553.69 3185.00 0 0 0 30.00 30.00 15.59

5009.68 1060 -243.31 -1.02 0.00 3959.3 3941.6 3977.1 1554.2 3185.5 613.37 -11.76 604 5014.96 0.00 0.00 2.81 0.000 0.000 0.048 3959.81 3942.31 3977.31 1554.38 1976.06 0 0 0 30.00 30.00 15.91

5319.81 548 -243.31 -1.02 -80.00 3959.5 3941.4 3977.6 1554.5 1975.5 649.45 -11.54 636 5325.26 0.00 0.00 3.89 0.000 0.000 0.138 3960.62 3942.56 3978.69 1554.25 537.12 0 0 0 30.00 30.00 15.64

5339.76 1060 -243.31 -1.02 0.00 3959.2 3941.4 3977.1 1554.6 537.2 652.05 -11.93 640 5345.13 0.00 0.00 3.40 0.000 0.000 0.036 3960.19 3941.94 3978.44 1554.12 2022.38 0 0 0 30.00 30.00 15.91

5649.81 32 -243.31 -1.02 0.00 3959.3 3941.4 3977.2 1554.4 2021.9 688.79 -11.80 672 5651.13 0.00 0.00 0.00 0.000 0.000 0.000 3959.41 3941.19 3977.62 1554.81 2021.88 0 0 0 30.00 30.00 30.00

5949.96 32 -243.31 -1.02 0.00 3959.3 3941.6 3977.1 1554.4 2022.2 723.50 -11.61 702 5951.28 0.00 0.00 0.00 0.000 0.000 0.000 3959.38 3941.38 3977.38 1554.44 2021.56 0 0 0 30.00 30.00 30.00

6250.03 548 -243.31 -1.02 -80.00 3958.8 3940.5 3977.1 1554.1 2022.6 758.30 -11.41 732 6255.44 0.00 0.00 4.07 0.000 0.000 0.140 3959.50 3941.88 3977.12 1553.62 537.00 0 0 0 30.00 30.00 15.61

6279.95 1028 -243.31 -1.02 0.00 3958.8 3940.5 3977.1 1553.9 537.3 762.12 -12.73 738 6285.33 0.00 0.00 3.41 0.000 0.000 0.039 3959.44 3941.50 3977.38 1554.31 2019.94 0 0 0 30.00 30.00 15.91

6590.01 32 -243.31 -1.02 0.00 3959.2 3941.0 3977.4 1554.5 2020.0 799.00 -11.79 770 6591.34 0.00 0.00 0.00 0.000 0.000 0.000 3958.69 3940.44 3976.94 1554.25 2019.75 0 0 0 30.00 30.00 30.00

6890.15 548 -243.31 -1.02 -80.00 3958.7 3940.8 3976.7 1554.5 2019.8 834.63 -11.99 800 6895.56 0.00 0.00 4.05 0.000 0.000 0.141 3959.28 3940.44 3978.12 1554.31 537.62 0 0 0 30.00 30.00 15.59

6930.09 1028 -243.31 -1.02 0.00 3958.7 3940.0 3977.3 1554.5 537.4 839.89 -13.05 808 6935.47 0.00 0.00 3.41 0.000 0.000 0.040 3959.19 3940.75 3977.62 1553.81 2020.12 0 0 0 30.00 30.00 15.90

7240.13 32 -243.31 -1.02 0.00 3958.2 3939.8 3976.6 1554.1 2019.6 876.06 -11.85 840 7241.46 0.00 0.00 0.00 0.000 0.000 0.000 3958.78 3940.31 3977.25 1554.44 2020.06 0 0 0 30.00 30.00 30.00

7540.24 548 -243.31 -1.02 -80.00 3958.3 3939.6 3977.1 1554.8 2020.2 911.35 -11.75 870 7545.65 0.00 0.00 4.07 0.000 0.000 0.146 3959.34 3940.25 3978.44 1554.06 537.81 0 0 0 30.00 30.00 15.58

7590.17 1028 -243.31 -1.02 0.00 3958.4 3939.9 3976.9 1554.3 537.8 917.75 -12.89 880 7595.56 0.00 0.00 3.41 0.000 0.000 0.041 3959.69 3940.88 3978.50 1554.31 2019.69 0 0 0 30.00 30.00 15.89

7900.21 32 -243.31 -1.02 0.00 3958.3 3939.6 3977.1 1554.3 2019.6 953.19 -11.11 912 7901.54 0.00 0.00 0.00 0.000 0.000 0.000 3957.94 3938.69 3977.19 1554.44 2019.62 0 0 0 30.00 30.00 30.00

8200.34 32 -243.31 -1.02 0.00 3958.2 3939.6 3976.9 1554.2 2019.7 983.79 -9.95 942 8201.67 0.00 0.00 0.00 0.000 0.000 0.000 3958.19 3939.56 3976.81 1554.62 2020.31 0 0 0 30.00 30.00 30.00

8270 end dive: TARGET_DEPTH_EXCEEDED

state 8270 begin apogee

8272.73 10243 0.00 -0.23 0.00 3958.1 3939.1 3977.2 1554.7 1439.5 990.64 -9.83 949 8484.78 208.09 1.36 0.05 2.016 0.142 0.338 2966.59 2924.00 3009.19 1747.25 1482.44 0 0 0 10.60 15.74 15.07

8486 end apogee: CONTROL_FINISHED_OK

state 8486 begin climb

8486.44 10759 243.31 1.12 -80.00 2965.2 2922.4 3008.1 1747.6 1482.2 997.77 0.00 970 8710.71 215.78 2.26 3.05 1.969 0.098 0.175 1976.41 1930.62 2022.19 2075.69 460.94 0 0 0 11.90 15.21 15.01

8872.93 1156 243.31 1.08 0.00 1968.5 1927.1 2009.9 2075.4 460.9 962.60 13.32 1047 8878.73 0.00 0.00 2.34 0.000 0.000 0.028 1968.25 1926.56 2009.94 2075.31 1493.06 0 0 0 30.00 30.00 15.51

9178.32 8486 308.74 1.18 80.00 1966.2 1922.8 2009.6 2075.1 1492.9 928.63 10.38 1078 9244.95 60.22 0.00 3.66 1.858 0.000 0.109 1708.25 1656.50 1760.00 2075.56 2911.25 0 0 0 11.62 30.00 15.34

9272.98 11431 393.08 1.37 0.00 1706.3 1653.9 1758.7 2075.2 2911.9 919.07 9.71 1097 9360.75 79.13 0.36 3.79 1.849 0.060 0.083 1365.38 1305.19 1425.56 2147.38 1439.00 0 0 0 11.96 15.41 15.40

9658.34 516 393.08 1.37 -80.00 1359.5 1299.3 1419.8 2147.4 1439.2 860.97 15.29 1144 9663.62 0.00 0.00 2.78 0.000 0.000 0.166 1360.12 1299.94 1420.31 2147.38 458.75 0 0 0 30.00 30.00 15.54

9698.37 5253 393.08 1.31 0.00 1358.6 1299.0 1418.2 2147.8 458.8 853.74 19.14 1152 9703.63 0.00 0.34 2.30 0.000 0.191 0.028 1359.12 1299.69 1418.56 2112.31 1500.25 0 0 0 30.00 15.53 15.66

10008.64 10919 432.31 1.42 -80.00 1357.3 1296.7 1417.9 2111.9 1501.9 817.45 11.30 1184 10050.90 37.19 0.26 2.93 1.719 0.067 0.161 1206.56 1143.88 1269.25 2156.94 457.56 0 0 0 11.54 15.74 15.46

10073.42 1156 432.31 1.38 0.00 1204.8 1143.5 1266.1 2157.2 458.1 807.42 17.75 1195 10078.55 0.00 0.00 2.32 0.000 0.000 0.029 1204.66 1143.75 1265.56 2156.75 1501.00 0 0 0 30.00 30.00 15.61

10383.51 516 432.31 1.38 -80.00 1202.5 1140.1 1264.9 2156.8 1502.9 759.76 14.39 1227 10388.80 0.00 0.00 2.91 0.000 0.000 0.155 1202.66 1140.25 1265.06 2156.75 458.69 0 0 0 30.00 30.00 15.58

10433.52 5253 432.31 1.32 0.00 1202.4 1140.2 1264.6 2157.4 458.9 750.84 18.88 1237 10438.78 0.00 0.36 2.29 0.000 0.188 0.028 1202.94 1140.75 1265.12 2115.12 1504.81 0 0 0 30.00 15.61 15.74

10743.66 10663 503.86 1.50 80.00 1201.6 1138.6 1264.6 2115.4 1506.4 717.82 10.16 1269 10815.83 66.17 0.37 3.57 1.658 0.061 0.097 914.91 852.12 977.69 2177.50 2912.31 0 0 0 11.48 15.65 15.42

10833.57 1028 503.86 1.50 0.00 914.7 851.6 977.7 2177.6 2912.2 704.77 14.94 1287 10839.02 0.00 0.00 3.71 0.000 0.000 0.074 914.75 851.75 977.75 2177.75 1436.94 0 0 0 30.00 30.00 15.53

11143.63 516 503.86 1.50 -80.00 912.4 849.7 975.1 2177.1 1437.6 654.45 16.71 1319 11148.89 0.00 0.00 2.69 0.000 0.000 0.150 912.88 850.31 975.44 2176.19 457.94 0 0 0 30.00 30.00 15.60

11173.65 5253 503.86 1.46 0.00 912.2 849.9 974.4 2177.8 457.7 648.75 19.19 1325 11178.92 0.00 0.28 2.31 0.000 0.187 0.028 912.66 850.25 975.06 2147.44 1512.62 0 0 0 30.00 15.58 15.64

11483.72 8354 511.69 1.52 0.00 910.9 847.6 974.2 2147.2 1513.6 608.10 12.41 1357 11493.93 9.21 0.00 0.00 1.214 0.000 0.000 882.59 818.69 946.50 2147.62 1513.50 0 0 0 11.44 30.00 30.00

11793.79 10403 518.58 1.59 0.00 881.2 817.1 945.3 2147.7 1513.6 569.31 12.45 1388 11804.07 8.83 0.31 0.00 1.173 0.072 0.000 854.81 792.38 917.25 2197.19 1513.50 0 0 0 11.50 15.66 30.00

12103.85 644 518.58 1.56 -80.00 853.8 791.8 915.7 2197.6 1513.3 513.93 18.48 1419 12109.12 0.00 0.00 2.88 0.000 0.000 0.143 853.69 791.75 915.62 2198.31 457.75 0 0 0 30.00 30.00 15.68

12153.86 5253 518.58 1.48 0.00 853.1 791.6 914.5 2198.7 457.7 503.10 22.55 1429 12159.11 0.00 0.38 2.30 0.000 0.192 0.029 853.69 792.06 915.31 2153.06 1517.62 0 0 0 30.00 15.66 15.69

12464.02 8354 521.36 1.54 0.00 852.7 790.8 914.6 2154.1 1518.0 461.31 12.59 1461 12470.57 5.05 0.00 0.00 0.774 0.000 0.000 843.09 780.56 905.62 2153.69 1517.88 0 0 0 11.51 30.00 30.00

12763.99 10919 536.48 1.62 -80.00 842.8 780.2 905.5 2153.9 1517.8 424.61 12.16 1491 12785.09 16.14 0.31 2.86 1.238 0.069 0.142 781.28 723.56 839.00 2207.38 458.00 0 0 0 11.53 15.78 15.59

12803.99 1156 536.48 1.59 0.00 780.6 723.2 837.9 2207.8 457.8 417.84 18.10 1499 12809.09 0.00 0.00 2.30 0.000 0.000 0.031 780.97 723.38 838.56 2207.38 1521.88 0 0 0 30.00 30.00 15.74

13114.07 4741 536.48 1.55 -80.00 779.1 720.4 837.8 2207.5 1522.4 358.50 18.90 1531 13119.42 0.00 0.33 2.87 0.000 0.185 0.136 779.19 720.62 837.75 2171.31 457.81 0 0 0 30.00 15.57 15.53

13144.06 1028 536.48 1.55 0.00 779.1 720.3 837.9 2170.6 457.8 352.91 18.47 1537 13149.17 0.00 0.00 2.31 0.000 0.000 0.031 779.16 720.44 837.88 2170.00 1523.00 0 0 0 30.00 30.00 15.64

13454.12 128 536.48 1.59 0.00 778.6 719.4 837.8 2170.6 1522.8 310.09 13.02 1569 13455.46 0.00 0.00 0.00 0.000 0.000 0.000 778.69 719.56 837.81 2170.88 1522.94 0 0 0 30.00 30.00 30.00

13754.22 2693 536.48 1.63 -80.00 778.5 719.4 837.6 2170.5 1522.4 270.20 13.21 1599 13759.50 0.00 0.22 2.87 0.000 0.080 0.136 779.19 719.88 838.50 2208.50 457.69 0 0 0 30.00 15.78 15.70

13788.82 5253 536.48 1.59 0.00 778.7 719.6 837.8 2208.6 457.9 263.90 19.53 1606 13794.74 0.00 0.28 2.29 0.000 0.193 0.031 778.91 719.50 838.31 2178.31 1523.56 0 0 0 30.00 15.73 15.87

14094.38 516 536.48 1.59 -80.00 778.5 719.4 837.6 2178.5 1523.4 219.87 13.82 1637 14099.48 0.00 0.00 2.88 0.000 0.000 0.135 779.00 719.62 838.38 2179.38 456.69 0 0 0 30.00 30.00 15.70

14124.18 1028 536.48 1.59 0.00 778.5 719.1 837.9 2179.2 456.6 215.28 15.97 1643 14129.29 0.00 0.00 2.30 0.000 0.000 0.032 778.62 719.31 837.94 2177.56 1516.56 0 0 0 30.00 30.00 15.77

14434.24 128 536.48 1.62 0.00 778.5 719.2 837.7 2178.1 1516.6 173.50 12.89 1675 14435.57 0.00 0.00 0.00 0.000 0.000 0.000 778.50 719.31 837.69 2178.31 1516.81 0 0 0 30.00 30.00 30.00

14734.33 644 536.48 1.66 -80.00 778.5 719.4 837.7 2178.3 1516.2 134.44 13.10 1705 14739.54 0.00 0.00 2.88 0.000 0.000 0.136 778.94 719.50 838.38 2177.75 456.69 0 0 0 30.00 30.00 15.62

14774.25 1028 536.48 1.66 0.00 778.7 719.4 837.9 2178.9 456.9 128.34 16.07 1713 14779.37 0.00 0.00 2.30 0.000 0.000 0.032 779.06 719.62 838.50 2177.81 1522.25 0 0 0 30.00 30.00 15.62

15079.33 10403 550.68 1.72 0.00 778.5 719.2 837.8 2178.3 1521.4 88.72 12.19 1753 15094.68 14.02 0.30 0.00 0.924 0.070 0.000 723.94 668.50 779.38 2227.56 1521.50 0 0 0 11.20 15.80 30.00

15274.41 0 550.68 1.72 0.00 722.2 666.8 777.6 2226.9 1521.8 55.38 17.55 1792 15275.74 0.00 0.00 0.00 0.000 0.000 0.000 722.16 666.88 777.44 2226.94 1522.00 0 0 0 30.00 30.00 30.00

15454.43 644 550.68 1.69 -80.00 722.0 666.8 777.2 2227.2 1522.1 23.60 18.24 1828 15460.06 0.00 0.00 2.88 0.000 0.000 0.133 722.41 666.75 778.06 2227.94 457.81 0 0 0 30.00 30.00 15.61

15484.44 5253 550.68 1.62 0.00 721.8 666.6 777.1 2228.0 457.8 17.33 21.03 1834 15490.07 0.00 0.34 2.31 0.000 0.195 0.031 722.16 666.94 777.38 2187.38 1523.12 0 0 0 30.00 15.69 15.62

15579 end climb: SURFACE_DEPTH_REACHED

state 15579 begin surface coast

15589 end surface coast: CONTROL_FINISHED_OK

state 15589 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	232	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	42.552177	SEABIRD_T_I	2.5361865e-05
USE_BATHY	-6	PITCH_MAX	3950	FG_AHR_24V	142.90376	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	170521,082100,4903.893,-1451.867,28,0.9,28,-4.8	TGT_LATLONG	4903.780,-1455.900
_CALLS	1	TGT_RADIUS	5000.000
_SM_DEPTHo	1.01	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-48.8	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	170521,082805,4903.895,-1451.733,2,0.6,4,-4.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.220,0.350	MHEAD_RNG_PITCHd_Wd	248.2,5061,-16.6,-12.692,-19.91
TGT_NAME	A2OUT_4	D_GRID	1000

FINISH	0.2,1.026847	_10V_AH	15.00,0.000
SM_CCo	15668.92,0.00,0.000,0,720.7,664.6,776.8,551.27	FG_AHR_24Vo	143.264
SM_GC	0.70,0.00,12.44,1.09,0.000,0.050,0.035,720.7,664.6,776.8,180.8,2024.7,0,0,0,30.00,15.81,15.87	FG_AHR_10Vo	42.625
SUPER	19,71,254,1,0,0	MEM	1125196,29,50868,133
IRIDIUM_FIX	4902.92,-1446.79,170521,035845	DATA_FILE_SIZE	54467,1855
TCM_TEMP	15.26	CAP_FILE_SIZE	367396,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3918848,3846784
SC_FREEKB	3776864	SDFILEDIR	1406,1
HUMID	51.39	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.09	CURRENT	0.273, 42.8,1
INTERNAL_PRESSURE	8.66948	GPS	170521,125001,4904.386,-1453.490,20,1.0,21,-4.8
_24V_AH	14.36,101.739

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	877	2015	25400.55	nil	0	0	0.00
Pitch_motor	32	300	140.97	nil	0	0	0.00
Roll_motor	168	337	815.26	nil	0	0	0.00
Iridium	291	203	851.56	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	2.94	nil	0	0	0.00
Core	5358	11	948.51	SciCon	15618	11	2702.30
LPSleep	10693	2	449.13	echo	0	0	0.00
Compass	2748	5	206.16	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
6.70	16386	-243.31	-1.12	0.00	496.5	456.2	536.9	179.8	1951.6	0.00	0.00	0	145.56	138.49	0.00	0.00	0.005	0.000	0.000	3268.56	3280.06	3257.06	178.69	1950.12	0	0	0	15.07	30.00	30.00
145.86	18727	-243.31	-1.12	80.00	3268.0	3278.6	3257.4	178.6	1950.6	3.22	-1.80	27	186.24	19.11	11.96	3.18	0.006	0.301	0.114	3960.16	3943.25	3977.06	1528.69	3187.06	0	0	0	15.24	15.26	15.03
258.80	1028	-243.31	-1.12	0.00	3960.3	3943.9	3976.7	1528.8	3188.1	20.87	-14.75	50	264.41	0.00	0.00	2.83	0.000	0.000	0.035	3961.28	3945.19	3977.38	1528.69	1970.12	0	0	0	30.00	30.00	15.77
443.94	128	-243.31	-1.07	0.00	3960.9	3944.6	3977.2	1528.7	1971.1	48.31	-14.62	87	445.26	0.00	0.00	0.00	0.000	0.000	0.000	3960.75	3944.25	3977.25	1528.38	1971.62	0	0	0	30.00	30.00	30.00
623.93	2437	-243.31	-1.02	80.00	3960.6	3944.1	3977.2	1528.5	1970.8	75.43	-14.48	123	629.66	0.00	0.17	3.12	0.000	0.179	0.109	3961.47	3944.56	3978.38	1554.56	3185.81	0	0	0	30.00	15.72	15.46
688.97	1060	-243.31	-1.02	0.00	3960.2	3943.8	3976.7	1554.6	3185.2	83.86	-12.48	136	694.56	0.00	0.00	2.80	0.000	0.000	0.034	3960.72	3944.19	3977.25	1554.44	1972.44	0	0	0	30.00	30.00	15.81
879.10	32	-243.31	-1.02	0.00	3961.1	3944.5	3977.7	1554.1	1972.1	107.93	-12.55	168	880.43	0.00	0.00	0.00	0.000	0.000	0.000	3960.34	3943.50	3977.19	1554.06	1972.25	0	0	0	30.00	30.00	30.00
1179.16	292	-243.31	-1.02	80.00	3960.8	3944.3	3977.2	1554.2	1971.9	144.13	-12.08	198	1184.40	0.00	0.00	3.10	0.000	0.000	0.107	3960.41	3944.38	3976.44	1554.88	3185.31	0	0	0	30.00	30.00	15.62
1203.76	1060	-243.31	-1.02	0.00	3960.4	3944.0	3976.8	1554.2	3185.9	147.20	-12.19	203	1209.70	0.00	0.00	2.79	0.000	0.000	0.035	3960.50	3943.81	3977.19	1554.00	1972.62	0	0	0	30.00	30.00	15.79
1509.20	32	-243.31	-1.02	0.00	3960.5	3943.9	3977.1	1554.2	1972.5	185.12	-12.59	234	1510.53	0.00	0.00	0.00	0.000	0.000	0.000	3960.34	3943.75	3976.94	1554.62	1972.06	0	0	0	30.00	30.00	30.00
1809.22	260	-243.31	-1.02	80.00	3960.7	3944.4	3977.0	1555.0	1972.6	223.36	-12.92	264	1814.50	0.00	0.00	3.11	0.000	0.000	0.109	3961.19	3944.06	3978.31	1554.81	3185.06	0	0	0	30.00	30.00	15.63
1839.18	1060	-243.31	-1.02	0.00	3960.3	3943.5	3977.1	1554.6	3185.7	227.05	-12.32	270	1844.44	0.00	0.00	2.78	0.000	0.000	0.037	3961.44	3944.56	3978.31	1554.19	1972.50	0	0	0	30.00	30.00	15.86
2149.28	516	-243.31	-1.02	-80.00	3960.2	3943.4	3976.9	1554.4	1973.4	265.77	-12.77	302	2154.67	0.00	0.00	3.81	0.000	0.000	0.120	3960.69	3944.44	3976.94	1554.56	536.06	0	0	0	30.00	30.00	15.69
2173.87	1028	-243.31	-1.02	0.00	3960.5	3944.0	3977.1	1554.1	535.8	269.03	-13.18	307	2179.93	0.00	0.00	3.38	0.000	0.000	0.028	3960.97	3944.69	3977.25	1554.75	2027.88	0	0	0	30.00	30.00	15.79
2479.24	32	-243.31	-1.02	0.00	3960.8	3943.9	3977.6	1554.1	2027.9	307.30	-12.47	338	2480.57	0.00	0.00	0.00	0.000	0.000	0.000	3960.06	3943.69	3976.44	1554.50	2028.12	0	0	0	30.00	30.00	30.00
2779.36	548	-243.31	-1.02	-80.00	3960.2	3943.5	3977.0	1554.9	2027.9	344.39	-12.17	368	2784.75	0.00	0.00	3.94	0.000	0.000	0.117	3960.47	3943.88	3977.06	1554.31	537.25	0	0	0	30.00	30.00	15.69
2813.95	1028	-243.31	-1.02	0.00	3960.8	3944.1	3977.5	1554.6	537.1	348.99	-13.33	375	2820.00	0.00	0.00	3.38	0.000	0.000	0.029	3961.25	3944.50	3978.00	1554.38	2027.88	0	0	0	30.00	30.00	15.89
3119.32	32	-243.31	-1.02	0.00	3960.3	3943.2	3977.4	1554.6	2027.6	386.00	-12.16	406	3120.65	0.00	0.00	0.00	0.000	0.000	0.000	3960.12	3943.38	3976.88	1554.44	2027.88	0	0	0	30.00	30.00	30.00
3419.42	32	-243.31	-1.02	0.00	3960.1	3943.2	3977.0	1554.2	2027.3	421.32	-11.62	436	3420.75	0.00	0.00	0.00	0.000	0.000	0.000	3960.38	3943.31	3977.44	1554.38	2027.81	0	0	0	30.00	30.00	30.00
3719.48	548	-243.31	-1.02	-80.00	3959.6	3942.5	3976.8	1554.5	2027.6	457.47	-12.17	466	3724.90	0.00	0.00	4.01	0.000	0.000	0.121	3961.06	3944.06	3978.06	1554.12	535.00	0	0	0	30.00	30.00	15.67
3739.41	1028	-243.31	-1.02	0.00	3960.2	3942.9	3977.6	1554.8	534.7	460.14	-12.84	470	3744.78	0.00	0.00	3.39	0.000	0.000	0.031	3960.38	3942.88	3977.88	1554.38	2026.50	0	0	0	30.00	30.00	15.91
4049.48	32	-243.31	-1.02	0.00	3960.0	3942.4	3977.6	1554.3	2026.2	498.05	-12.14	502	4050.81	0.00	0.00	0.00	0.000	0.000	0.000	3959.97	3943.06	3976.88	1554.56	2026.19	0	0	0	30.00	30.00	30.00
4349.61	548	-243.31	-1.02	-80.00	3959.7	3941.8	3977.5	1554.4	2026.2	534.31	-11.98	532	4355.03	0.00	0.00	4.01	0.000	0.000	0.127	3959.66	3942.38	3976.94	1554.00	537.69	0	0	0	30.00	30.00	15.65
4369.55	1060	-243.31	-1.02	0.00	3960.0	3942.1	3977.9	1554.6	537.8	536.93	-12.62	536	4374.92	0.00	0.00	3.38	0.000	0.000	0.033	3960.03	3942.38	3977.69	1554.12	2024.75	0	0	0	30.00	30.00	15.91
4679.60	32	-243.31	-1.02	0.00	3959.7	3942.4	3976.9	1554.6	2024.6	574.17	-11.95	568	4680.93	0.00	0.00	0.00	0.000	0.000	0.000	3959.38	3941.69	3977.06	1554.38	2025.06	0	0	0	30.00	30.00	30.00
4979.75	292	-243.31	-1.02	80.00	3959.2	3941.6	3976.8	1554.7	2024.8	609.87	-11.90	598	4984.98	0.00	0.00	3.05	0.000	0.000	0.134	3960.53	3943.19	3977.88	1553.69	3185.00	0	0	0	30.00	30.00	15.59
5009.68	1060	-243.31	-1.02	0.00	3959.3	3941.6	3977.1	1554.2	3185.5	613.37	-11.76	604	5014.96	0.00	0.00	2.81	0.000	0.000	0.048	3959.81	3942.31	3977.31	1554.38	1976.06	0	0	0	30.00	30.00	15.91
5319.81	548	-243.31	-1.02	-80.00	3959.5	3941.4	3977.6	1554.5	1975.5	649.45	-11.54	636	5325.26	0.00	0.00	3.89	0.000	0.000	0.138	3960.62	3942.56	3978.69	1554.25	537.12	0	0	0	30.00	30.00	15.64
5339.76	1060	-243.31	-1.02	0.00	3959.2	3941.4	3977.1	1554.6	537.2	652.05	-11.93	640	5345.13	0.00	0.00	3.40	0.000	0.000	0.036	3960.19	3941.94	3978.44	1554.12	2022.38	0	0	0	30.00	30.00	15.91
5649.81	32	-243.31	-1.02	0.00	3959.3	3941.4	3977.2	1554.4	2021.9	688.79	-11.80	672	5651.13	0.00	0.00	0.00	0.000	0.000	0.000	3959.41	3941.19	3977.62	1554.81	2021.88	0	0	0	30.00	30.00	30.00
5949.96	32	-243.31	-1.02	0.00	3959.3	3941.6	3977.1	1554.4	2022.2	723.50	-11.61	702	5951.28	0.00	0.00	0.00	0.000	0.000	0.000	3959.38	3941.38	3977.38	1554.44	2021.56	0	0	0	30.00	30.00	30.00
6250.03	548	-243.31	-1.02	-80.00	3958.8	3940.5	3977.1	1554.1	2022.6	758.30	-11.41	732	6255.44	0.00	0.00	4.07	0.000	0.000	0.140	3959.50	3941.88	3977.12	1553.62	537.00	0	0	0	30.00	30.00	15.61
6279.95	1028	-243.31	-1.02	0.00	3958.8	3940.5	3977.1	1553.9	537.3	762.12	-12.73	738	6285.33	0.00	0.00	3.41	0.000	0.000	0.039	3959.44	3941.50	3977.38	1554.31	2019.94	0	0	0	30.00	30.00	15.91
6590.01	32	-243.31	-1.02	0.00	3959.2	3941.0	3977.4	1554.5	2020.0	799.00	-11.79	770	6591.34	0.00	0.00	0.00	0.000	0.000	0.000	3958.69	3940.44	3976.94	1554.25	2019.75	0	0	0	30.00	30.00	30.00
6890.15	548	-243.31	-1.02	-80.00	3958.7	3940.8	3976.7	1554.5	2019.8	834.63	-11.99	800	6895.56	0.00	0.00	4.05	0.000	0.000	0.141	3959.28	3940.44	3978.12	1554.31	537.62	0	0	0	30.00	30.00	15.59
6930.09	1028	-243.31	-1.02	0.00	3958.7	3940.0	3977.3	1554.5	537.4	839.89	-13.05	808	6935.47	0.00	0.00	3.41	0.000	0.000	0.040	3959.19	3940.75	3977.62	1553.81	2020.12	0	0	0	30.00	30.00	15.90
7240.13	32	-243.31	-1.02	0.00	3958.2	3939.8	3976.6	1554.1	2019.6	876.06	-11.85	840	7241.46	0.00	0.00	0.00	0.000	0.000	0.000	3958.78	3940.31	3977.25	1554.44	2020.06	0	0	0	30.00	30.00	30.00
7540.24	548	-243.31	-1.02	-80.00	3958.3	3939.6	3977.1	1554.8	2020.2	911.35	-11.75	870	7545.65	0.00	0.00	4.07	0.000	0.000	0.146	3959.34	3940.25	3978.44	1554.06	537.81	0	0	0	30.00	30.00	15.58
7590.17	1028	-243.31	-1.02	0.00	3958.4	3939.9	3976.9	1554.3	537.8	917.75	-12.89	880	7595.56	0.00	0.00	3.41	0.000	0.000	0.041	3959.69	3940.88	3978.50	1554.31	2019.69	0	0	0	30.00	30.00	15.89
7900.21	32	-243.31	-1.02	0.00	3958.3	3939.6	3977.1	1554.3	2019.6	953.19	-11.11	912	7901.54	0.00	0.00	0.00	0.000	0.000	0.000	3957.94	3938.69	3977.19	1554.44	2019.62	0	0	0	30.00	30.00	30.00
8200.34	32	-243.31	-1.02	0.00	3958.2	3939.6	3976.9	1554.2	2019.7	983.79	-9.95	942	8201.67	0.00	0.00	0.00	0.000	0.000	0.000	3958.19	3939.56	3976.81	1554.62	2020.31	0	0	0	30.00	30.00	30.00
8270	end dive: TARGET_DEPTH_EXCEEDED
state	8270	begin apogee
8272.73	10243	0.00	-0.23	0.00	3958.1	3939.1	3977.2	1554.7	1439.5	990.64	-9.83	949	8484.78	208.09	1.36	0.05	2.016	0.142	0.338	2966.59	2924.00	3009.19	1747.25	1482.44	0	0	0	10.60	15.74	15.07
8486	end apogee: CONTROL_FINISHED_OK
state	8486	begin climb
8486.44	10759	243.31	1.12	-80.00	2965.2	2922.4	3008.1	1747.6	1482.2	997.77	0.00	970	8710.71	215.78	2.26	3.05	1.969	0.098	0.175	1976.41	1930.62	2022.19	2075.69	460.94	0	0	0	11.90	15.21	15.01
8872.93	1156	243.31	1.08	0.00	1968.5	1927.1	2009.9	2075.4	460.9	962.60	13.32	1047	8878.73	0.00	0.00	2.34	0.000	0.000	0.028	1968.25	1926.56	2009.94	2075.31	1493.06	0	0	0	30.00	30.00	15.51
9178.32	8486	308.74	1.18	80.00	1966.2	1922.8	2009.6	2075.1	1492.9	928.63	10.38	1078	9244.95	60.22	0.00	3.66	1.858	0.000	0.109	1708.25	1656.50	1760.00	2075.56	2911.25	0	0	0	11.62	30.00	15.34
9272.98	11431	393.08	1.37	0.00	1706.3	1653.9	1758.7	2075.2	2911.9	919.07	9.71	1097	9360.75	79.13	0.36	3.79	1.849	0.060	0.083	1365.38	1305.19	1425.56	2147.38	1439.00	0	0	0	11.96	15.41	15.40
9658.34	516	393.08	1.37	-80.00	1359.5	1299.3	1419.8	2147.4	1439.2	860.97	15.29	1144	9663.62	0.00	0.00	2.78	0.000	0.000	0.166	1360.12	1299.94	1420.31	2147.38	458.75	0	0	0	30.00	30.00	15.54
9698.37	5253	393.08	1.31	0.00	1358.6	1299.0	1418.2	2147.8	458.8	853.74	19.14	1152	9703.63	0.00	0.34	2.30	0.000	0.191	0.028	1359.12	1299.69	1418.56	2112.31	1500.25	0	0	0	30.00	15.53	15.66
10008.64	10919	432.31	1.42	-80.00	1357.3	1296.7	1417.9	2111.9	1501.9	817.45	11.30	1184	10050.90	37.19	0.26	2.93	1.719	0.067	0.161	1206.56	1143.88	1269.25	2156.94	457.56	0	0	0	11.54	15.74	15.46
10073.42	1156	432.31	1.38	0.00	1204.8	1143.5	1266.1	2157.2	458.1	807.42	17.75	1195	10078.55	0.00	0.00	2.32	0.000	0.000	0.029	1204.66	1143.75	1265.56	2156.75	1501.00	0	0	0	30.00	30.00	15.61
10383.51	516	432.31	1.38	-80.00	1202.5	1140.1	1264.9	2156.8	1502.9	759.76	14.39	1227	10388.80	0.00	0.00	2.91	0.000	0.000	0.155	1202.66	1140.25	1265.06	2156.75	458.69	0	0	0	30.00	30.00	15.58
10433.52	5253	432.31	1.32	0.00	1202.4	1140.2	1264.6	2157.4	458.9	750.84	18.88	1237	10438.78	0.00	0.36	2.29	0.000	0.188	0.028	1202.94	1140.75	1265.12	2115.12	1504.81	0	0	0	30.00	15.61	15.74
10743.66	10663	503.86	1.50	80.00	1201.6	1138.6	1264.6	2115.4	1506.4	717.82	10.16	1269	10815.83	66.17	0.37	3.57	1.658	0.061	0.097	914.91	852.12	977.69	2177.50	2912.31	0	0	0	11.48	15.65	15.42
10833.57	1028	503.86	1.50	0.00	914.7	851.6	977.7	2177.6	2912.2	704.77	14.94	1287	10839.02	0.00	0.00	3.71	0.000	0.000	0.074	914.75	851.75	977.75	2177.75	1436.94	0	0	0	30.00	30.00	15.53
11143.63	516	503.86	1.50	-80.00	912.4	849.7	975.1	2177.1	1437.6	654.45	16.71	1319	11148.89	0.00	0.00	2.69	0.000	0.000	0.150	912.88	850.31	975.44	2176.19	457.94	0	0	0	30.00	30.00	15.60
11173.65	5253	503.86	1.46	0.00	912.2	849.9	974.4	2177.8	457.7	648.75	19.19	1325	11178.92	0.00	0.28	2.31	0.000	0.187	0.028	912.66	850.25	975.06	2147.44	1512.62	0	0	0	30.00	15.58	15.64
11483.72	8354	511.69	1.52	0.00	910.9	847.6	974.2	2147.2	1513.6	608.10	12.41	1357	11493.93	9.21	0.00	0.00	1.214	0.000	0.000	882.59	818.69	946.50	2147.62	1513.50	0	0	0	11.44	30.00	30.00
11793.79	10403	518.58	1.59	0.00	881.2	817.1	945.3	2147.7	1513.6	569.31	12.45	1388	11804.07	8.83	0.31	0.00	1.173	0.072	0.000	854.81	792.38	917.25	2197.19	1513.50	0	0	0	11.50	15.66	30.00
12103.85	644	518.58	1.56	-80.00	853.8	791.8	915.7	2197.6	1513.3	513.93	18.48	1419	12109.12	0.00	0.00	2.88	0.000	0.000	0.143	853.69	791.75	915.62	2198.31	457.75	0	0	0	30.00	30.00	15.68
12153.86	5253	518.58	1.48	0.00	853.1	791.6	914.5	2198.7	457.7	503.10	22.55	1429	12159.11	0.00	0.38	2.30	0.000	0.192	0.029	853.69	792.06	915.31	2153.06	1517.62	0	0	0	30.00	15.66	15.69
12464.02	8354	521.36	1.54	0.00	852.7	790.8	914.6	2154.1	1518.0	461.31	12.59	1461	12470.57	5.05	0.00	0.00	0.774	0.000	0.000	843.09	780.56	905.62	2153.69	1517.88	0	0	0	11.51	30.00	30.00
12763.99	10919	536.48	1.62	-80.00	842.8	780.2	905.5	2153.9	1517.8	424.61	12.16	1491	12785.09	16.14	0.31	2.86	1.238	0.069	0.142	781.28	723.56	839.00	2207.38	458.00	0	0	0	11.53	15.78	15.59
12803.99	1156	536.48	1.59	0.00	780.6	723.2	837.9	2207.8	457.8	417.84	18.10	1499	12809.09	0.00	0.00	2.30	0.000	0.000	0.031	780.97	723.38	838.56	2207.38	1521.88	0	0	0	30.00	30.00	15.74
13114.07	4741	536.48	1.55	-80.00	779.1	720.4	837.8	2207.5	1522.4	358.50	18.90	1531	13119.42	0.00	0.33	2.87	0.000	0.185	0.136	779.19	720.62	837.75	2171.31	457.81	0	0	0	30.00	15.57	15.53
13144.06	1028	536.48	1.55	0.00	779.1	720.3	837.9	2170.6	457.8	352.91	18.47	1537	13149.17	0.00	0.00	2.31	0.000	0.000	0.031	779.16	720.44	837.88	2170.00	1523.00	0	0	0	30.00	30.00	15.64
13454.12	128	536.48	1.59	0.00	778.6	719.4	837.8	2170.6	1522.8	310.09	13.02	1569	13455.46	0.00	0.00	0.00	0.000	0.000	0.000	778.69	719.56	837.81	2170.88	1522.94	0	0	0	30.00	30.00	30.00
13754.22	2693	536.48	1.63	-80.00	778.5	719.4	837.6	2170.5	1522.4	270.20	13.21	1599	13759.50	0.00	0.22	2.87	0.000	0.080	0.136	779.19	719.88	838.50	2208.50	457.69	0	0	0	30.00	15.78	15.70
13788.82	5253	536.48	1.59	0.00	778.7	719.6	837.8	2208.6	457.9	263.90	19.53	1606	13794.74	0.00	0.28	2.29	0.000	0.193	0.031	778.91	719.50	838.31	2178.31	1523.56	0	0	0	30.00	15.73	15.87
14094.38	516	536.48	1.59	-80.00	778.5	719.4	837.6	2178.5	1523.4	219.87	13.82	1637	14099.48	0.00	0.00	2.88	0.000	0.000	0.135	779.00	719.62	838.38	2179.38	456.69	0	0	0	30.00	30.00	15.70
14124.18	1028	536.48	1.59	0.00	778.5	719.1	837.9	2179.2	456.6	215.28	15.97	1643	14129.29	0.00	0.00	2.30	0.000	0.000	0.032	778.62	719.31	837.94	2177.56	1516.56	0	0	0	30.00	30.00	15.77
14434.24	128	536.48	1.62	0.00	778.5	719.2	837.7	2178.1	1516.6	173.50	12.89	1675	14435.57	0.00	0.00	0.00	0.000	0.000	0.000	778.50	719.31	837.69	2178.31	1516.81	0	0	0	30.00	30.00	30.00
14734.33	644	536.48	1.66	-80.00	778.5	719.4	837.7	2178.3	1516.2	134.44	13.10	1705	14739.54	0.00	0.00	2.88	0.000	0.000	0.136	778.94	719.50	838.38	2177.75	456.69	0	0	0	30.00	30.00	15.62
14774.25	1028	536.48	1.66	0.00	778.7	719.4	837.9	2178.9	456.9	128.34	16.07	1713	14779.37	0.00	0.00	2.30	0.000	0.000	0.032	779.06	719.62	838.50	2177.81	1522.25	0	0	0	30.00	30.00	15.62
15079.33	10403	550.68	1.72	0.00	778.5	719.2	837.8	2178.3	1521.4	88.72	12.19	1753	15094.68	14.02	0.30	0.00	0.924	0.070	0.000	723.94	668.50	779.38	2227.56	1521.50	0	0	0	11.20	15.80	30.00
15274.41	0	550.68	1.72	0.00	722.2	666.8	777.6	2226.9	1521.8	55.38	17.55	1792	15275.74	0.00	0.00	0.00	0.000	0.000	0.000	722.16	666.88	777.44	2226.94	1522.00	0	0	0	30.00	30.00	30.00
15454.43	644	550.68	1.69	-80.00	722.0	666.8	777.2	2227.2	1522.1	23.60	18.24	1828	15460.06	0.00	0.00	2.88	0.000	0.000	0.133	722.41	666.75	778.06	2227.94	457.81	0	0	0	30.00	30.00	15.61
15484.44	5253	550.68	1.62	0.00	721.8	666.6	777.1	2228.0	457.8	17.33	21.03	1834	15490.07	0.00	0.34	2.31	0.000	0.195	0.031	722.16	666.94	777.38	2187.38	1523.12	0	0	0	30.00	15.69	15.62
15579	end climb: SURFACE_DEPTH_REACHED
state	15579	begin surface coast
15589	end surface coast: CONTROL_FINISHED_OK
state	15589	begin surface