Glider dive log

EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 261 * 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 261 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 20 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 2 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 44.747086 SEABIRD_T_I 2.5361865e-05

USE_BATHY -6 PITCH_MAX 3000 FG_AHR_24V 153.60104 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 50 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 2 ALTIM_TOP_MIN_OBSTACLE 1 ES_RECORDABOVE 2000.0

MASS 74630 PITCH_W_DBAND 0.5 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 90 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 44.747086 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FG_AHR_24V 153.60104 PITCH_GAIN 22 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 FILEMGR 0 PITCH_MAX 3000 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 GLIDE_SLOPE 50 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 0.5 T_EPIRB 0

COMPASS_USE 4 HD_C 1.6e-05 PITCH_W_GAIN 2 T_GPS 10

C_PITCH 1800 HEADING 90 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 261 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 2

D_FLARE 20 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 220521,215338,4939.499,-1452.681,48,1.3,51,-4.9 TGT_LATLONG 4939.458,-1435.905

_CALLS 1 TGT_RADIUS 1852.000

_SM_DEPTHo 0.72 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -39.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 220521,220120,4939.458,-1452.587,4,1.0,6,-4.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.107,0.350 MHEAD_RNG_PITCHd_Wd 105.5,20000,-16.6,-12.692,-19.91

TGT_NAME HEADING D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.2,1.026792 _10V_AH 15.00,0.000

SM_CCo 15871.91,0.00,0.000,0,778.6,715.9,841.2,537.07 FG_AHR_24Vo 153.969

SM_GC 0.97,0.00,12.66,1.09,0.000,0.052,0.036,778.6,715.9,841.2,174.8,2037.9,0,0,0,30.00,15.81,15.85 FG_AHR_10Vo 44.824

SUPER 27,71,254,1,0,0 MEM 1125248,30,50796,133

IRIDIUM_FIX 4940.56,-1458.67,220521,171418 DATA_FILE_SIZE 57591,1865

TCM_TEMP 15.73 CAP_FILE_SIZE 373392,0

XPDR_PINGS 2,13.0,11.5 SDSIZE 3918848,3839776

SC_FREEKB 3763872 SDFILEDIR 1551,1

HUMID 51.09 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.27 CURRENT 0.074, 19.7,1

INTERNAL_PRESSURE 8.67273 GPS 230521,022739,4939.244,-1447.997,80,1.4,81,-4.9

_24V_AH 14.31,115.110

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 833 2048 24439.42 nil 0 0 0.00

Pitch_motor 32 298 138.32 nil 0 0 0.00

Roll_motor 186 332 889.13 nil 0 0 0.00

Iridium 319 210 961.80 nil 0 0 0.00

Transponder_ping 0 420 3.01 nil 0 0 0.00

GPS 15 15 3.41 nil 0 0 0.00

Core 5447 11 964.20 SciCon 15824 12 2877.75

LPSleep 10843 2 455.41 echo 0 0 0.00

Compass 2765 5 207.38 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

6.74 16386 -243.31 -1.12 0.00 925.9 871.1 980.6 177.2 1958.4 0.00 0.00 0 150.60 140.92 0.00 0.12 0.005 0.000 0.173 3959.88 3962.25 3957.50 177.31 2031.50 0 0 0 15.13 30.00 14.84

150.88 2309 -243.31 -1.12 80.00 3959.7 3961.1 3958.3 177.1 2031.5 9.73 -25.38 28 171.56 0.00 12.06 2.99 0.000 0.298 0.103 3961.28 3961.38 3961.19 1529.19 3188.06 0 0 0 30.00 15.18 15.35

384.12 1028 -243.31 -1.12 0.00 3962.2 3957.2 3967.1 1529.4 3187.8 50.42 -10.97 75 389.75 0.00 0.00 2.81 0.000 0.000 0.035 3962.78 3955.94 3969.62 1528.88 1970.56 0 0 0 30.00 30.00 15.61

569.24 644 -243.31 -1.07 -80.00 3961.9 3953.4 3970.3 1529.5 1970.8 76.02 -15.45 112 574.97 0.00 0.00 3.85 0.000 0.000 0.112 3962.91 3953.94 3971.88 1529.50 536.06 0 0 0 30.00 30.00 15.59

594.19 3205 -243.31 -1.01 0.00 3961.6 3953.1 3970.0 1529.4 536.1 80.24 -16.88 117 599.97 0.00 0.19 3.46 0.000 0.182 0.028 3962.91 3954.75 3971.06 1555.56 2030.81 0 0 0 30.00 15.53 15.74

779.20 260 -243.31 -1.01 80.00 3961.9 3953.1 3970.6 1555.9 2030.1 105.54 -13.72 150 784.53 0.00 0.00 3.03 0.000 0.000 0.109 3963.41 3953.69 3973.12 1555.69 3185.69 0 0 0 30.00 30.00 15.50

809.21 1028 -243.31 -1.01 0.00 3961.9 3952.9 3970.8 1555.4 3186.0 109.50 -13.20 156 814.48 0.00 0.00 2.77 0.000 0.000 0.034 3962.56 3953.62 3971.50 1555.56 1971.38 0 0 0 30.00 30.00 15.79

1119.26 516 -243.31 -1.01 -80.00 3961.5 3952.7 3970.4 1556.5 1971.8 145.56 -11.47 188 1124.71 0.00 0.00 3.87 0.000 0.000 0.112 3962.69 3953.44 3971.94 1556.25 536.50 0 0 0 30.00 30.00 15.61

1189.27 1028 -243.31 -1.01 0.00 3962.2 3953.1 3971.4 1555.9 536.7 154.67 -12.87 202 1194.65 0.00 0.00 3.42 0.000 0.000 0.027 3961.94 3953.00 3970.88 1556.25 2030.56 0 0 0 30.00 30.00 15.83

1499.29 516 -243.31 -1.01 -80.00 3962.2 3952.7 3971.7 1556.9 2030.5 192.44 -12.41 234 1504.79 0.00 0.00 4.03 0.000 0.000 0.108 3962.22 3953.25 3971.19 1556.94 536.69 0 0 0 30.00 30.00 15.63

1529.32 1028 -243.31 -1.01 0.00 3962.4 3953.6 3971.1 1556.4 536.8 196.44 -13.33 240 1534.69 0.00 0.00 3.43 0.000 0.000 0.028 3962.97 3953.81 3972.12 1556.88 2030.50 0 0 0 30.00 30.00 15.84

1839.34 0 -243.31 -1.01 0.00 3962.5 3953.4 3971.6 1556.6 2030.4 234.14 -11.79 272 1840.67 0.00 0.00 0.00 0.000 0.000 0.000 3962.06 3952.38 3971.75 1557.25 2030.31 0 0 0 30.00 30.00 30.00

2139.49 0 -243.31 -1.01 0.00 3962.3 3952.6 3972.0 1556.6 2030.1 270.57 -12.31 302 2140.82 0.00 0.00 0.00 0.000 0.000 0.000 3962.00 3953.19 3970.81 1556.56 2030.88 0 0 0 30.00 30.00 30.00

2439.55 516 -243.31 -1.01 -80.00 3962.9 3953.9 3971.9 1556.8 2030.0 307.64 -12.63 332 2444.99 0.00 0.00 4.05 0.000 0.000 0.112 3962.66 3953.06 3972.25 1556.25 536.19 0 0 0 30.00 30.00 15.64

2479.50 1028 -243.31 -1.01 0.00 3962.5 3953.4 3971.6 1556.8 536.9 313.16 -14.22 340 2484.90 0.00 0.00 3.43 0.000 0.000 0.030 3962.47 3953.25 3971.69 1556.94 2027.44 0 0 0 30.00 30.00 15.89

2789.55 0 -243.31 -1.01 0.00 3962.3 3953.1 3971.4 1556.8 2027.8 353.28 -13.22 372 2790.88 0.00 0.00 0.00 0.000 0.000 0.000 3962.16 3952.94 3971.38 1556.50 2027.88 0 0 0 30.00 30.00 30.00

3089.69 516 -243.31 -1.01 -80.00 3962.1 3952.6 3971.6 1557.0 2027.6 392.33 -12.75 402 3095.11 0.00 0.00 4.03 0.000 0.000 0.115 3963.84 3954.44 3973.25 1555.56 537.31 0 0 0 30.00 30.00 15.64

3124.31 1028 -243.31 -1.01 0.00 3962.4 3953.7 3971.1 1556.7 537.3 397.32 -14.64 409 3130.37 0.00 0.00 3.46 0.000 0.000 0.029 3963.72 3953.75 3973.69 1556.12 2027.75 0 0 0 30.00 30.00 15.82

3429.70 0 -243.31 -1.01 0.00 3962.2 3952.2 3972.1 1556.4 2028.0 436.09 -12.49 440 3431.03 0.00 0.00 0.00 0.000 0.000 0.000 3961.94 3952.81 3971.06 1557.00 2028.31 0 0 0 30.00 30.00 30.00

3729.88 516 -243.31 -1.01 -80.00 3962.2 3952.1 3972.2 1556.2 2028.1 473.83 -12.80 470 3735.26 0.00 0.00 4.07 0.000 0.000 0.119 3963.09 3952.94 3973.25 1556.25 537.44 0 0 0 30.00 30.00 15.63

3769.82 1028 -243.31 -1.01 0.00 3961.9 3952.2 3971.6 1556.4 537.7 479.27 -13.98 478 3775.19 0.00 0.00 3.44 0.000 0.000 0.029 3961.66 3952.06 3971.25 1557.00 2026.62 0 0 0 30.00 30.00 15.91

4079.85 0 -243.31 -1.01 0.00 3961.9 3952.0 3971.8 1556.1 2026.6 517.34 -11.90 510 4081.18 0.00 0.00 0.00 0.000 0.000 0.000 3961.81 3951.56 3972.06 1556.75 2026.50 0 0 0 30.00 30.00 30.00

4379.99 0 -243.31 -1.01 0.00 3961.6 3951.0 3972.1 1556.6 2026.1 552.40 -11.55 540 4381.32 0.00 0.00 0.00 0.000 0.000 0.000 3961.62 3951.06 3972.19 1556.50 2026.56 0 0 0 30.00 30.00 30.00

4680.06 516 -243.31 -1.01 -80.00 3961.8 3951.1 3972.4 1556.1 2026.4 586.89 -11.25 570 4685.50 0.00 0.00 4.11 0.000 0.000 0.125 3963.03 3952.31 3973.75 1556.00 537.50 0 0 0 30.00 30.00 15.61

4714.67 1028 -243.31 -1.01 0.00 3961.5 3951.2 3971.8 1556.4 537.7 591.23 -12.44 577 4720.74 0.00 0.00 3.46 0.000 0.000 0.031 3961.44 3950.88 3972.00 1556.50 2024.44 0 0 0 30.00 30.00 15.79

5020.06 260 -243.31 -1.01 80.00 3961.2 3950.6 3971.8 1556.3 2024.5 626.37 -11.59 608 5025.41 0.00 0.00 3.14 0.000 0.000 0.131 3962.62 3951.56 3973.69 1556.00 3185.12 0 0 0 30.00 30.00 15.54

5060.10 1156 -243.31 -1.04 0.00 3961.2 3950.6 3971.9 1556.6 3185.2 630.76 -11.17 616 5065.37 0.00 0.00 2.82 0.000 0.000 0.047 3961.47 3951.12 3971.81 1556.81 1976.44 0 0 0 30.00 30.00 15.88

5370.18 516 -243.31 -1.04 -80.00 3960.8 3949.9 3971.6 1556.4 1976.9 665.29 -11.25 648 5375.60 0.00 0.00 3.97 0.000 0.000 0.134 3961.00 3949.94 3972.06 1557.25 536.56 0 0 0 30.00 30.00 15.59

5404.79 1028 -243.31 -1.04 0.00 3960.5 3949.2 3971.8 1556.2 537.2 669.44 -11.99 655 5410.85 0.00 0.00 3.46 0.000 0.000 0.032 3961.72 3950.00 3973.44 1555.88 2021.94 0 0 0 30.00 30.00 15.79

5710.16 32 -243.31 -1.04 0.00 3960.3 3949.0 3971.6 1556.2 2022.6 702.01 -10.53 686 5711.49 0.00 0.00 0.00 0.000 0.000 0.000 3960.25 3948.81 3971.69 1556.69 2022.50 0 0 0 30.00 30.00 30.00

6010.28 548 -243.31 -1.04 -80.00 3960.0 3947.9 3972.1 1556.9 2022.8 733.58 -10.44 716 6015.71 0.00 0.00 4.12 0.000 0.000 0.135 3960.03 3948.19 3971.88 1556.50 536.94 0 0 0 30.00 30.00 15.55

6040.21 1028 -243.31 -1.04 0.00 3960.2 3948.2 3972.1 1556.6 537.1 737.06 -11.09 722 6045.60 0.00 0.00 3.43 0.000 0.000 0.036 3961.31 3949.12 3973.50 1556.44 2020.62 0 0 0 30.00 30.00 15.91

6350.23 0 -243.31 -1.04 0.00 3959.8 3947.8 3971.9 1556.5 2020.6 770.65 -10.93 754 6351.55 0.00 0.00 0.00 0.000 0.000 0.000 3959.75 3947.88 3971.62 1556.62 2020.62 0 0 0 30.00 30.00 30.00

6650.33 516 -243.31 -1.04 -80.00 3959.4 3946.8 3972.1 1556.5 2020.3 803.54 -10.94 784 6655.78 0.00 0.00 4.12 0.000 0.000 0.136 3959.22 3946.94 3971.50 1556.44 537.88 0 0 0 30.00 30.00 15.55

6690.28 1028 -243.31 -1.04 0.00 3959.1 3945.9 3972.3 1556.6 537.8 808.38 -12.03 792 6695.67 0.00 0.00 3.44 0.000 0.000 0.035 3959.12 3946.44 3971.81 1556.62 2020.31 0 0 0 30.00 30.00 15.91

7000.34 160 -243.31 -1.07 0.00 3959.0 3946.4 3971.6 1556.6 2020.6 842.33 -10.65 824 7001.67 0.00 0.00 0.00 0.000 0.000 0.000 3958.44 3945.94 3970.94 1556.38 2020.00 0 0 0 30.00 30.00 30.00

7300.46 4773 -243.31 -1.11 -80.00 3958.9 3945.7 3972.2 1556.6 2020.8 873.78 -9.97 854 7306.98 0.00 0.25 4.16 0.000 0.074 0.138 3958.72 3945.75 3971.69 1511.94 538.12 0 0 0 30.00 15.87 15.53

7340.13 3205 -243.31 -1.05 0.00 3959.0 3945.5 3972.5 1512.4 537.8 879.48 -15.17 862 7346.22 0.00 0.31 3.47 0.000 0.179 0.037 3959.00 3946.19 3971.81 1546.31 2021.69 0 0 0 30.00 15.59 15.88

7645.46 32 -243.31 -1.05 0.00 3958.5 3944.9 3972.2 1547.1 2021.2 913.32 -10.50 893 7646.79 0.00 0.00 0.00 0.000 0.000 0.000 3958.19 3944.81 3971.56 1546.44 2021.00 0 0 0 30.00 30.00 30.00

7945.59 0 -243.31 -1.05 0.00 3957.7 3944.3 3971.1 1546.6 2021.4 945.38 -11.05 923 7946.92 0.00 0.00 0.00 0.000 0.000 0.000 3958.06 3943.81 3972.31 1546.38 2021.12 0 0 0 30.00 30.00 30.00

8245.65 516 -243.31 -1.05 -80.00 3956.9 3942.5 3971.2 1546.6 2020.6 979.03 -11.50 953 8252.13 0.00 0.00 4.22 0.000 0.000 0.146 3956.62 3942.06 3971.19 1546.31 537.00 0 0 0 30.00 30.00 15.49

8280.61 1028 -243.31 -1.05 0.00 3956.8 3942.1 3971.6 1546.2 536.9 983.51 -12.74 960 8286.01 0.00 0.00 3.49 0.000 0.000 0.040 3957.91 3942.75 3973.06 1546.06 2018.12 0 0 0 30.00 30.00 15.86

8340 end dive: TARGET_DEPTH_EXCEEDED

state 8340 begin apogee

8343.13 10243 0.00 -0.23 0.00 3957.7 3943.1 3972.3 1546.4 1440.6 990.47 -11.39 967 8555.18 207.95 1.45 0.05 2.048 0.145 0.333 2966.94 2923.19 3010.69 1746.25 1481.38 0 0 0 10.50 15.60 15.06

8556 end apogee: CONTROL_FINISHED_OK

state 8556 begin climb

8556.79 10759 243.31 1.12 -80.00 2966.3 2921.9 3010.6 1746.4 1481.9 999.80 0.00 988 8781.05 215.26 2.31 3.13 1.994 0.099 0.171 1975.22 1926.75 2023.69 2074.94 459.81 0 0 0 11.86 15.18 14.98

8938.62 17542 243.31 1.08 0.00 1967.9 1922.1 2013.8 2075.1 459.9 970.93 12.43 1064 8943.73 0.00 0.00 2.38 0.000 0.000 0.026 1967.84 1922.12 2013.56 2075.00 1494.25 0 0 0 30.00 30.00 15.50

9248.69 8226 322.99 1.20 0.00 1965.7 1919.2 2012.2 2074.5 1494.4 940.36 9.87 1096 9323.19 73.57 0.00 0.00 1.899 0.000 0.000 1650.31 1594.56 1706.06 2075.38 1496.81 0 0 0 11.52 30.00 30.00

9618.77 10403 389.91 1.35 0.00 1643.8 1585.9 1701.8 2074.9 1496.8 901.34 10.32 1133 9683.17 63.08 0.34 0.00 1.855 0.063 0.000 1377.81 1316.12 1439.50 2143.00 1496.38 0 0 0 11.56 15.62 30.00

9978.80 516 389.91 1.35 -80.00 1373.2 1310.2 1436.1 2142.5 1496.8 848.32 14.72 1169 9984.13 0.00 0.00 3.02 0.000 0.000 0.156 1373.00 1310.31 1435.69 2143.44 458.94 0 0 0 30.00 30.00 15.53

10018.83 5253 389.91 1.30 0.00 1372.6 1310.2 1435.0 2142.8 458.8 841.70 17.42 1177 10024.11 0.00 0.34 2.36 0.000 0.191 0.026 1372.66 1310.25 1435.06 2110.44 1498.75 0 0 0 30.00 15.53 15.68

10328.90 10663 474.95 1.49 80.00 1371.8 1308.7 1434.8 2110.5 1501.2 808.79 9.68 1209 10413.37 78.53 0.38 3.75 1.789 0.062 0.100 1032.81 966.19 1099.44 2173.38 2911.69 0 0 0 11.33 15.73 15.29

10415.65 1028 474.95 1.49 0.00 1031.8 965.8 1097.9 2173.4 2912.4 796.17 15.32 1219 10421.68 0.00 0.00 3.73 0.000 0.000 0.075 1031.97 965.88 1098.06 2173.62 1438.06 0 0 0 30.00 30.00 15.42

10720.95 516 474.95 1.49 -80.00 1028.7 961.8 1095.7 2172.9 1437.9 748.21 15.73 1250 10726.23 0.00 0.00 2.80 0.000 0.000 0.155 1028.75 962.00 1095.50 2173.94 459.50 0 0 0 30.00 30.00 15.54

10745.61 1028 474.95 1.49 0.00 1028.7 961.8 1095.6 2173.7 459.9 743.92 17.16 1255 10751.42 0.00 0.00 2.33 0.000 0.000 0.025 1028.53 961.81 1095.25 2173.50 1509.50 0 0 0 30.00 30.00 15.63

11051.03 516 474.95 1.49 -80.00 1027.8 960.6 1095.0 2173.4 1510.6 697.20 15.08 1286 11056.33 0.00 0.00 2.97 0.000 0.000 0.146 1027.94 960.94 1094.94 2173.50 457.69 0 0 0 30.00 30.00 15.60

11075.68 1028 474.95 1.49 0.00 1027.9 960.9 1094.9 2173.8 457.8 693.15 16.21 1291 11081.50 0.00 0.00 2.33 0.000 0.000 0.026 1028.31 961.19 1095.44 2172.06 1513.56 0 0 0 30.00 30.00 15.71

11381.09 516 474.95 1.49 -80.00 1027.2 960.1 1094.4 2173.6 1514.2 647.08 14.85 1322 11386.40 0.00 0.00 2.96 0.000 0.000 0.144 1027.53 960.44 1094.62 2173.38 456.81 0 0 0 30.00 30.00 15.62

11401.09 1028 474.95 1.49 0.00 1027.2 960.1 1094.3 2173.9 456.9 643.81 15.49 1326 11406.21 0.00 0.00 2.33 0.000 0.000 0.026 1027.62 960.75 1094.50 2173.38 1518.75 0 0 0 30.00 30.00 15.79

11711.13 516 474.95 1.49 -80.00 1026.8 959.9 1093.7 2173.2 1518.4 596.40 15.54 1358 11716.42 0.00 0.00 2.98 0.000 0.000 0.140 1027.00 960.31 1093.69 2173.69 456.75 0 0 0 30.00 30.00 15.64

11741.15 1156 474.95 1.45 0.00 1026.7 960.1 1093.4 2173.4 456.5 591.15 17.74 1364 11746.26 0.00 0.00 2.33 0.000 0.000 0.026 1026.69 960.12 1093.25 2174.00 1520.94 0 0 0 30.00 30.00 15.83

12051.17 516 474.95 1.45 -80.00 1026.7 960.1 1093.4 2173.4 1521.7 544.10 14.68 1396 12056.46 0.00 0.00 2.94 0.000 0.000 0.137 1027.41 960.50 1094.31 2174.00 456.94 0 0 0 30.00 30.00 15.66

12081.19 5253 474.95 1.42 0.00 1026.6 960.1 1093.1 2173.8 457.0 539.08 17.10 1402 12086.47 0.00 0.32 2.33 0.000 0.184 0.027 1027.50 960.81 1094.19 2138.06 1523.12 0 0 0 30.00 15.69 15.85

12391.22 10403 535.98 1.58 0.00 1026.4 959.8 1092.9 2138.3 1523.1 504.61 10.53 1434 12447.11 54.44 0.34 0.00 1.458 0.066 0.000 783.41 725.94 840.88 2194.56 1523.31 0 0 0 11.05 15.84 30.00

12751.23 516 535.98 1.58 -80.00 779.6 721.1 838.1 2194.1 1523.1 447.32 16.46 1471 12756.55 0.00 0.00 2.96 0.000 0.000 0.136 779.56 721.06 838.06 2194.00 457.88 0 0 0 30.00 30.00 15.60

12805.94 1156 535.98 1.53 0.00 779.2 720.9 837.5 2194.2 457.9 437.14 19.20 1482 12811.73 0.00 0.00 2.36 0.000 0.000 0.028 779.34 720.75 837.94 2194.50 1519.69 0 0 0 30.00 30.00 15.67

13111.30 516 535.98 1.53 -80.00 778.4 719.2 837.6 2194.2 1519.9 386.80 16.45 1513 13116.60 0.00 0.00 2.94 0.000 0.000 0.132 778.84 719.44 838.25 2194.38 457.94 0 0 0 30.00 30.00 15.63

13141.32 5253 535.98 1.50 0.00 778.2 718.9 837.5 2194.2 457.9 381.24 18.90 1519 13146.59 0.00 0.34 2.33 0.000 0.178 0.028 778.53 719.19 837.88 2156.81 1529.19 0 0 0 30.00 15.65 15.80

13451.34 128 535.98 1.57 0.00 777.7 717.5 837.9 2156.5 1529.9 343.86 11.78 1551 13452.67 0.00 0.00 0.00 0.000 0.000 0.000 777.66 717.50 837.81 2156.75 1529.38 0 0 0 30.00 30.00 30.00

13751.48 2693 535.98 1.64 -80.00 777.8 717.6 838.1 2156.5 1529.8 310.16 10.74 1581 13756.80 0.00 0.32 2.96 0.000 0.067 0.134 777.97 717.75 838.19 2213.00 457.94 0 0 0 30.00 15.77 15.58

13786.09 1156 535.98 1.61 0.00 777.7 717.6 837.8 2212.5 457.8 304.52 17.42 1588 13791.88 0.00 0.00 2.32 0.000 0.000 0.029 777.66 717.44 837.88 2212.75 1524.50 0 0 0 30.00 30.00 15.84

14091.48 0 535.98 1.61 0.00 777.7 717.4 838.0 2212.1 1524.4 252.73 16.79 1619 14092.81 0.00 0.00 0.00 0.000 0.000 0.000 777.56 717.31 837.81 2212.62 1524.50 0 0 0 30.00 30.00 30.00

14391.61 4613 535.98 1.61 -80.00 777.8 717.5 838.1 2213.0 1524.4 200.97 17.31 1649 14397.00 0.00 0.28 2.93 0.000 0.179 0.131 778.19 717.88 838.50 2183.50 457.81 0 0 0 30.00 15.73 15.64

14451.55 1028 535.98 1.61 0.00 777.7 717.6 837.8 2183.8 457.9 190.58 16.88 1661 14456.67 0.00 0.00 2.34 0.000 0.000 0.030 778.19 717.81 838.56 2183.56 1519.06 0 0 0 30.00 30.00 15.81

14761.64 128 535.98 1.64 0.00 777.6 717.2 837.9 2184.2 1518.7 148.33 13.46 1693 14762.98 0.00 0.00 0.00 0.000 0.000 0.000 777.34 716.94 837.75 2183.94 1519.06 0 0 0 30.00 30.00 30.00

15061.76 2693 535.98 1.69 -80.00 777.8 717.3 838.2 2183.4 1519.1 110.17 12.05 1723 15067.06 0.00 0.22 2.91 0.000 0.078 0.131 778.22 717.62 838.81 2221.19 457.62 0 0 0 30.00 15.77 15.57

15086.35 1028 535.98 1.69 0.00 777.9 717.5 838.2 2221.3 457.7 106.30 15.48 1728 15092.15 0.00 0.00 2.32 0.000 0.000 0.028 777.78 717.44 838.12 2221.38 1525.62 0 0 0 30.00 30.00 15.75

15391.80 516 535.98 1.69 -80.00 777.7 717.4 837.9 2221.0 1525.2 55.73 16.77 1785 15397.44 0.00 0.00 2.94 0.000 0.000 0.130 778.16 717.69 838.62 2221.62 456.88 0 0 0 30.00 30.00 15.56

15436.83 5253 535.98 1.64 0.00 778.1 718.1 838.2 2221.4 457.0 48.40 17.11 1794 15442.42 0.00 0.28 2.33 0.000 0.178 0.028 778.22 718.00 838.44 2191.19 1528.25 0 0 0 30.00 15.60 15.74

15621.88 0 535.98 1.64 0.00 777.9 717.1 838.8 2190.8 1528.1 22.82 13.35 1831 15623.20 0.00 0.00 0.00 0.000 0.000 0.000 778.28 717.38 839.19 2190.19 1528.12 0 0 0 30.00 30.00 30.00

15776 end climb: SURFACE_DEPTH_REACHED

state 15777 begin surface coast

15791 end surface coast: CONTROL_FINISHED_OK

state 15792 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	261	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	20	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	2	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	44.747086	SEABIRD_T_I	2.5361865e-05
USE_BATHY	-6	PITCH_MAX	3000	FG_AHR_24V	153.60104	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	50	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	2	ALTIM_TOP_MIN_OBSTACLE	1	ES_RECORDABOVE	2000.0
MASS	74630	PITCH_W_DBAND	0.5	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	90	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	220521,215338,4939.499,-1452.681,48,1.3,51,-4.9	TGT_LATLONG	4939.458,-1435.905
_CALLS	1	TGT_RADIUS	1852.000
_SM_DEPTHo	0.72	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-39.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	220521,220120,4939.458,-1452.587,4,1.0,6,-4.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.107,0.350	MHEAD_RNG_PITCHd_Wd	105.5,20000,-16.6,-12.692,-19.91
TGT_NAME	HEADING	D_GRID	1000

FINISH	-0.2,1.026792	_10V_AH	15.00,0.000
SM_CCo	15871.91,0.00,0.000,0,778.6,715.9,841.2,537.07	FG_AHR_24Vo	153.969
SM_GC	0.97,0.00,12.66,1.09,0.000,0.052,0.036,778.6,715.9,841.2,174.8,2037.9,0,0,0,30.00,15.81,15.85	FG_AHR_10Vo	44.824
SUPER	27,71,254,1,0,0	MEM	1125248,30,50796,133
IRIDIUM_FIX	4940.56,-1458.67,220521,171418	DATA_FILE_SIZE	57591,1865
TCM_TEMP	15.73	CAP_FILE_SIZE	373392,0
XPDR_PINGS	2,13.0,11.5	SDSIZE	3918848,3839776
SC_FREEKB	3763872	SDFILEDIR	1551,1
HUMID	51.09	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.27	CURRENT	0.074, 19.7,1
INTERNAL_PRESSURE	8.67273	GPS	230521,022739,4939.244,-1447.997,80,1.4,81,-4.9
_24V_AH	14.31,115.110

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	833	2048	24439.42	nil	0	0	0.00
Pitch_motor	32	298	138.32	nil	0	0	0.00
Roll_motor	186	332	889.13	nil	0	0	0.00
Iridium	319	210	961.80	nil	0	0	0.00
Transponder_ping	0	420	3.01	nil	0	0	0.00
GPS	15	15	3.41	nil	0	0	0.00
Core	5447	11	964.20	SciCon	15824	12	2877.75
LPSleep	10843	2	455.41	echo	0	0	0.00
Compass	2765	5	207.38	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
6.74	16386	-243.31	-1.12	0.00	925.9	871.1	980.6	177.2	1958.4	0.00	0.00	0	150.60	140.92	0.00	0.12	0.005	0.000	0.173	3959.88	3962.25	3957.50	177.31	2031.50	0	0	0	15.13	30.00	14.84
150.88	2309	-243.31	-1.12	80.00	3959.7	3961.1	3958.3	177.1	2031.5	9.73	-25.38	28	171.56	0.00	12.06	2.99	0.000	0.298	0.103	3961.28	3961.38	3961.19	1529.19	3188.06	0	0	0	30.00	15.18	15.35
384.12	1028	-243.31	-1.12	0.00	3962.2	3957.2	3967.1	1529.4	3187.8	50.42	-10.97	75	389.75	0.00	0.00	2.81	0.000	0.000	0.035	3962.78	3955.94	3969.62	1528.88	1970.56	0	0	0	30.00	30.00	15.61
569.24	644	-243.31	-1.07	-80.00	3961.9	3953.4	3970.3	1529.5	1970.8	76.02	-15.45	112	574.97	0.00	0.00	3.85	0.000	0.000	0.112	3962.91	3953.94	3971.88	1529.50	536.06	0	0	0	30.00	30.00	15.59
594.19	3205	-243.31	-1.01	0.00	3961.6	3953.1	3970.0	1529.4	536.1	80.24	-16.88	117	599.97	0.00	0.19	3.46	0.000	0.182	0.028	3962.91	3954.75	3971.06	1555.56	2030.81	0	0	0	30.00	15.53	15.74
779.20	260	-243.31	-1.01	80.00	3961.9	3953.1	3970.6	1555.9	2030.1	105.54	-13.72	150	784.53	0.00	0.00	3.03	0.000	0.000	0.109	3963.41	3953.69	3973.12	1555.69	3185.69	0	0	0	30.00	30.00	15.50
809.21	1028	-243.31	-1.01	0.00	3961.9	3952.9	3970.8	1555.4	3186.0	109.50	-13.20	156	814.48	0.00	0.00	2.77	0.000	0.000	0.034	3962.56	3953.62	3971.50	1555.56	1971.38	0	0	0	30.00	30.00	15.79
1119.26	516	-243.31	-1.01	-80.00	3961.5	3952.7	3970.4	1556.5	1971.8	145.56	-11.47	188	1124.71	0.00	0.00	3.87	0.000	0.000	0.112	3962.69	3953.44	3971.94	1556.25	536.50	0	0	0	30.00	30.00	15.61
1189.27	1028	-243.31	-1.01	0.00	3962.2	3953.1	3971.4	1555.9	536.7	154.67	-12.87	202	1194.65	0.00	0.00	3.42	0.000	0.000	0.027	3961.94	3953.00	3970.88	1556.25	2030.56	0	0	0	30.00	30.00	15.83
1499.29	516	-243.31	-1.01	-80.00	3962.2	3952.7	3971.7	1556.9	2030.5	192.44	-12.41	234	1504.79	0.00	0.00	4.03	0.000	0.000	0.108	3962.22	3953.25	3971.19	1556.94	536.69	0	0	0	30.00	30.00	15.63
1529.32	1028	-243.31	-1.01	0.00	3962.4	3953.6	3971.1	1556.4	536.8	196.44	-13.33	240	1534.69	0.00	0.00	3.43	0.000	0.000	0.028	3962.97	3953.81	3972.12	1556.88	2030.50	0	0	0	30.00	30.00	15.84
1839.34	0	-243.31	-1.01	0.00	3962.5	3953.4	3971.6	1556.6	2030.4	234.14	-11.79	272	1840.67	0.00	0.00	0.00	0.000	0.000	0.000	3962.06	3952.38	3971.75	1557.25	2030.31	0	0	0	30.00	30.00	30.00
2139.49	0	-243.31	-1.01	0.00	3962.3	3952.6	3972.0	1556.6	2030.1	270.57	-12.31	302	2140.82	0.00	0.00	0.00	0.000	0.000	0.000	3962.00	3953.19	3970.81	1556.56	2030.88	0	0	0	30.00	30.00	30.00
2439.55	516	-243.31	-1.01	-80.00	3962.9	3953.9	3971.9	1556.8	2030.0	307.64	-12.63	332	2444.99	0.00	0.00	4.05	0.000	0.000	0.112	3962.66	3953.06	3972.25	1556.25	536.19	0	0	0	30.00	30.00	15.64
2479.50	1028	-243.31	-1.01	0.00	3962.5	3953.4	3971.6	1556.8	536.9	313.16	-14.22	340	2484.90	0.00	0.00	3.43	0.000	0.000	0.030	3962.47	3953.25	3971.69	1556.94	2027.44	0	0	0	30.00	30.00	15.89
2789.55	0	-243.31	-1.01	0.00	3962.3	3953.1	3971.4	1556.8	2027.8	353.28	-13.22	372	2790.88	0.00	0.00	0.00	0.000	0.000	0.000	3962.16	3952.94	3971.38	1556.50	2027.88	0	0	0	30.00	30.00	30.00
3089.69	516	-243.31	-1.01	-80.00	3962.1	3952.6	3971.6	1557.0	2027.6	392.33	-12.75	402	3095.11	0.00	0.00	4.03	0.000	0.000	0.115	3963.84	3954.44	3973.25	1555.56	537.31	0	0	0	30.00	30.00	15.64
3124.31	1028	-243.31	-1.01	0.00	3962.4	3953.7	3971.1	1556.7	537.3	397.32	-14.64	409	3130.37	0.00	0.00	3.46	0.000	0.000	0.029	3963.72	3953.75	3973.69	1556.12	2027.75	0	0	0	30.00	30.00	15.82
3429.70	0	-243.31	-1.01	0.00	3962.2	3952.2	3972.1	1556.4	2028.0	436.09	-12.49	440	3431.03	0.00	0.00	0.00	0.000	0.000	0.000	3961.94	3952.81	3971.06	1557.00	2028.31	0	0	0	30.00	30.00	30.00
3729.88	516	-243.31	-1.01	-80.00	3962.2	3952.1	3972.2	1556.2	2028.1	473.83	-12.80	470	3735.26	0.00	0.00	4.07	0.000	0.000	0.119	3963.09	3952.94	3973.25	1556.25	537.44	0	0	0	30.00	30.00	15.63
3769.82	1028	-243.31	-1.01	0.00	3961.9	3952.2	3971.6	1556.4	537.7	479.27	-13.98	478	3775.19	0.00	0.00	3.44	0.000	0.000	0.029	3961.66	3952.06	3971.25	1557.00	2026.62	0	0	0	30.00	30.00	15.91
4079.85	0	-243.31	-1.01	0.00	3961.9	3952.0	3971.8	1556.1	2026.6	517.34	-11.90	510	4081.18	0.00	0.00	0.00	0.000	0.000	0.000	3961.81	3951.56	3972.06	1556.75	2026.50	0	0	0	30.00	30.00	30.00
4379.99	0	-243.31	-1.01	0.00	3961.6	3951.0	3972.1	1556.6	2026.1	552.40	-11.55	540	4381.32	0.00	0.00	0.00	0.000	0.000	0.000	3961.62	3951.06	3972.19	1556.50	2026.56	0	0	0	30.00	30.00	30.00
4680.06	516	-243.31	-1.01	-80.00	3961.8	3951.1	3972.4	1556.1	2026.4	586.89	-11.25	570	4685.50	0.00	0.00	4.11	0.000	0.000	0.125	3963.03	3952.31	3973.75	1556.00	537.50	0	0	0	30.00	30.00	15.61
4714.67	1028	-243.31	-1.01	0.00	3961.5	3951.2	3971.8	1556.4	537.7	591.23	-12.44	577	4720.74	0.00	0.00	3.46	0.000	0.000	0.031	3961.44	3950.88	3972.00	1556.50	2024.44	0	0	0	30.00	30.00	15.79
5020.06	260	-243.31	-1.01	80.00	3961.2	3950.6	3971.8	1556.3	2024.5	626.37	-11.59	608	5025.41	0.00	0.00	3.14	0.000	0.000	0.131	3962.62	3951.56	3973.69	1556.00	3185.12	0	0	0	30.00	30.00	15.54
5060.10	1156	-243.31	-1.04	0.00	3961.2	3950.6	3971.9	1556.6	3185.2	630.76	-11.17	616	5065.37	0.00	0.00	2.82	0.000	0.000	0.047	3961.47	3951.12	3971.81	1556.81	1976.44	0	0	0	30.00	30.00	15.88
5370.18	516	-243.31	-1.04	-80.00	3960.8	3949.9	3971.6	1556.4	1976.9	665.29	-11.25	648	5375.60	0.00	0.00	3.97	0.000	0.000	0.134	3961.00	3949.94	3972.06	1557.25	536.56	0	0	0	30.00	30.00	15.59
5404.79	1028	-243.31	-1.04	0.00	3960.5	3949.2	3971.8	1556.2	537.2	669.44	-11.99	655	5410.85	0.00	0.00	3.46	0.000	0.000	0.032	3961.72	3950.00	3973.44	1555.88	2021.94	0	0	0	30.00	30.00	15.79
5710.16	32	-243.31	-1.04	0.00	3960.3	3949.0	3971.6	1556.2	2022.6	702.01	-10.53	686	5711.49	0.00	0.00	0.00	0.000	0.000	0.000	3960.25	3948.81	3971.69	1556.69	2022.50	0	0	0	30.00	30.00	30.00
6010.28	548	-243.31	-1.04	-80.00	3960.0	3947.9	3972.1	1556.9	2022.8	733.58	-10.44	716	6015.71	0.00	0.00	4.12	0.000	0.000	0.135	3960.03	3948.19	3971.88	1556.50	536.94	0	0	0	30.00	30.00	15.55
6040.21	1028	-243.31	-1.04	0.00	3960.2	3948.2	3972.1	1556.6	537.1	737.06	-11.09	722	6045.60	0.00	0.00	3.43	0.000	0.000	0.036	3961.31	3949.12	3973.50	1556.44	2020.62	0	0	0	30.00	30.00	15.91
6350.23	0	-243.31	-1.04	0.00	3959.8	3947.8	3971.9	1556.5	2020.6	770.65	-10.93	754	6351.55	0.00	0.00	0.00	0.000	0.000	0.000	3959.75	3947.88	3971.62	1556.62	2020.62	0	0	0	30.00	30.00	30.00
6650.33	516	-243.31	-1.04	-80.00	3959.4	3946.8	3972.1	1556.5	2020.3	803.54	-10.94	784	6655.78	0.00	0.00	4.12	0.000	0.000	0.136	3959.22	3946.94	3971.50	1556.44	537.88	0	0	0	30.00	30.00	15.55
6690.28	1028	-243.31	-1.04	0.00	3959.1	3945.9	3972.3	1556.6	537.8	808.38	-12.03	792	6695.67	0.00	0.00	3.44	0.000	0.000	0.035	3959.12	3946.44	3971.81	1556.62	2020.31	0	0	0	30.00	30.00	15.91
7000.34	160	-243.31	-1.07	0.00	3959.0	3946.4	3971.6	1556.6	2020.6	842.33	-10.65	824	7001.67	0.00	0.00	0.00	0.000	0.000	0.000	3958.44	3945.94	3970.94	1556.38	2020.00	0	0	0	30.00	30.00	30.00
7300.46	4773	-243.31	-1.11	-80.00	3958.9	3945.7	3972.2	1556.6	2020.8	873.78	-9.97	854	7306.98	0.00	0.25	4.16	0.000	0.074	0.138	3958.72	3945.75	3971.69	1511.94	538.12	0	0	0	30.00	15.87	15.53
7340.13	3205	-243.31	-1.05	0.00	3959.0	3945.5	3972.5	1512.4	537.8	879.48	-15.17	862	7346.22	0.00	0.31	3.47	0.000	0.179	0.037	3959.00	3946.19	3971.81	1546.31	2021.69	0	0	0	30.00	15.59	15.88
7645.46	32	-243.31	-1.05	0.00	3958.5	3944.9	3972.2	1547.1	2021.2	913.32	-10.50	893	7646.79	0.00	0.00	0.00	0.000	0.000	0.000	3958.19	3944.81	3971.56	1546.44	2021.00	0	0	0	30.00	30.00	30.00
7945.59	0	-243.31	-1.05	0.00	3957.7	3944.3	3971.1	1546.6	2021.4	945.38	-11.05	923	7946.92	0.00	0.00	0.00	0.000	0.000	0.000	3958.06	3943.81	3972.31	1546.38	2021.12	0	0	0	30.00	30.00	30.00
8245.65	516	-243.31	-1.05	-80.00	3956.9	3942.5	3971.2	1546.6	2020.6	979.03	-11.50	953	8252.13	0.00	0.00	4.22	0.000	0.000	0.146	3956.62	3942.06	3971.19	1546.31	537.00	0	0	0	30.00	30.00	15.49
8280.61	1028	-243.31	-1.05	0.00	3956.8	3942.1	3971.6	1546.2	536.9	983.51	-12.74	960	8286.01	0.00	0.00	3.49	0.000	0.000	0.040	3957.91	3942.75	3973.06	1546.06	2018.12	0	0	0	30.00	30.00	15.86
8340	end dive: TARGET_DEPTH_EXCEEDED
state	8340	begin apogee
8343.13	10243	0.00	-0.23	0.00	3957.7	3943.1	3972.3	1546.4	1440.6	990.47	-11.39	967	8555.18	207.95	1.45	0.05	2.048	0.145	0.333	2966.94	2923.19	3010.69	1746.25	1481.38	0	0	0	10.50	15.60	15.06
8556	end apogee: CONTROL_FINISHED_OK
state	8556	begin climb
8556.79	10759	243.31	1.12	-80.00	2966.3	2921.9	3010.6	1746.4	1481.9	999.80	0.00	988	8781.05	215.26	2.31	3.13	1.994	0.099	0.171	1975.22	1926.75	2023.69	2074.94	459.81	0	0	0	11.86	15.18	14.98
8938.62	17542	243.31	1.08	0.00	1967.9	1922.1	2013.8	2075.1	459.9	970.93	12.43	1064	8943.73	0.00	0.00	2.38	0.000	0.000	0.026	1967.84	1922.12	2013.56	2075.00	1494.25	0	0	0	30.00	30.00	15.50
9248.69	8226	322.99	1.20	0.00	1965.7	1919.2	2012.2	2074.5	1494.4	940.36	9.87	1096	9323.19	73.57	0.00	0.00	1.899	0.000	0.000	1650.31	1594.56	1706.06	2075.38	1496.81	0	0	0	11.52	30.00	30.00
9618.77	10403	389.91	1.35	0.00	1643.8	1585.9	1701.8	2074.9	1496.8	901.34	10.32	1133	9683.17	63.08	0.34	0.00	1.855	0.063	0.000	1377.81	1316.12	1439.50	2143.00	1496.38	0	0	0	11.56	15.62	30.00
9978.80	516	389.91	1.35	-80.00	1373.2	1310.2	1436.1	2142.5	1496.8	848.32	14.72	1169	9984.13	0.00	0.00	3.02	0.000	0.000	0.156	1373.00	1310.31	1435.69	2143.44	458.94	0	0	0	30.00	30.00	15.53
10018.83	5253	389.91	1.30	0.00	1372.6	1310.2	1435.0	2142.8	458.8	841.70	17.42	1177	10024.11	0.00	0.34	2.36	0.000	0.191	0.026	1372.66	1310.25	1435.06	2110.44	1498.75	0	0	0	30.00	15.53	15.68
10328.90	10663	474.95	1.49	80.00	1371.8	1308.7	1434.8	2110.5	1501.2	808.79	9.68	1209	10413.37	78.53	0.38	3.75	1.789	0.062	0.100	1032.81	966.19	1099.44	2173.38	2911.69	0	0	0	11.33	15.73	15.29
10415.65	1028	474.95	1.49	0.00	1031.8	965.8	1097.9	2173.4	2912.4	796.17	15.32	1219	10421.68	0.00	0.00	3.73	0.000	0.000	0.075	1031.97	965.88	1098.06	2173.62	1438.06	0	0	0	30.00	30.00	15.42
10720.95	516	474.95	1.49	-80.00	1028.7	961.8	1095.7	2172.9	1437.9	748.21	15.73	1250	10726.23	0.00	0.00	2.80	0.000	0.000	0.155	1028.75	962.00	1095.50	2173.94	459.50	0	0	0	30.00	30.00	15.54
10745.61	1028	474.95	1.49	0.00	1028.7	961.8	1095.6	2173.7	459.9	743.92	17.16	1255	10751.42	0.00	0.00	2.33	0.000	0.000	0.025	1028.53	961.81	1095.25	2173.50	1509.50	0	0	0	30.00	30.00	15.63
11051.03	516	474.95	1.49	-80.00	1027.8	960.6	1095.0	2173.4	1510.6	697.20	15.08	1286	11056.33	0.00	0.00	2.97	0.000	0.000	0.146	1027.94	960.94	1094.94	2173.50	457.69	0	0	0	30.00	30.00	15.60
11075.68	1028	474.95	1.49	0.00	1027.9	960.9	1094.9	2173.8	457.8	693.15	16.21	1291	11081.50	0.00	0.00	2.33	0.000	0.000	0.026	1028.31	961.19	1095.44	2172.06	1513.56	0	0	0	30.00	30.00	15.71
11381.09	516	474.95	1.49	-80.00	1027.2	960.1	1094.4	2173.6	1514.2	647.08	14.85	1322	11386.40	0.00	0.00	2.96	0.000	0.000	0.144	1027.53	960.44	1094.62	2173.38	456.81	0	0	0	30.00	30.00	15.62
11401.09	1028	474.95	1.49	0.00	1027.2	960.1	1094.3	2173.9	456.9	643.81	15.49	1326	11406.21	0.00	0.00	2.33	0.000	0.000	0.026	1027.62	960.75	1094.50	2173.38	1518.75	0	0	0	30.00	30.00	15.79
11711.13	516	474.95	1.49	-80.00	1026.8	959.9	1093.7	2173.2	1518.4	596.40	15.54	1358	11716.42	0.00	0.00	2.98	0.000	0.000	0.140	1027.00	960.31	1093.69	2173.69	456.75	0	0	0	30.00	30.00	15.64
11741.15	1156	474.95	1.45	0.00	1026.7	960.1	1093.4	2173.4	456.5	591.15	17.74	1364	11746.26	0.00	0.00	2.33	0.000	0.000	0.026	1026.69	960.12	1093.25	2174.00	1520.94	0	0	0	30.00	30.00	15.83
12051.17	516	474.95	1.45	-80.00	1026.7	960.1	1093.4	2173.4	1521.7	544.10	14.68	1396	12056.46	0.00	0.00	2.94	0.000	0.000	0.137	1027.41	960.50	1094.31	2174.00	456.94	0	0	0	30.00	30.00	15.66
12081.19	5253	474.95	1.42	0.00	1026.6	960.1	1093.1	2173.8	457.0	539.08	17.10	1402	12086.47	0.00	0.32	2.33	0.000	0.184	0.027	1027.50	960.81	1094.19	2138.06	1523.12	0	0	0	30.00	15.69	15.85
12391.22	10403	535.98	1.58	0.00	1026.4	959.8	1092.9	2138.3	1523.1	504.61	10.53	1434	12447.11	54.44	0.34	0.00	1.458	0.066	0.000	783.41	725.94	840.88	2194.56	1523.31	0	0	0	11.05	15.84	30.00
12751.23	516	535.98	1.58	-80.00	779.6	721.1	838.1	2194.1	1523.1	447.32	16.46	1471	12756.55	0.00	0.00	2.96	0.000	0.000	0.136	779.56	721.06	838.06	2194.00	457.88	0	0	0	30.00	30.00	15.60
12805.94	1156	535.98	1.53	0.00	779.2	720.9	837.5	2194.2	457.9	437.14	19.20	1482	12811.73	0.00	0.00	2.36	0.000	0.000	0.028	779.34	720.75	837.94	2194.50	1519.69	0	0	0	30.00	30.00	15.67
13111.30	516	535.98	1.53	-80.00	778.4	719.2	837.6	2194.2	1519.9	386.80	16.45	1513	13116.60	0.00	0.00	2.94	0.000	0.000	0.132	778.84	719.44	838.25	2194.38	457.94	0	0	0	30.00	30.00	15.63
13141.32	5253	535.98	1.50	0.00	778.2	718.9	837.5	2194.2	457.9	381.24	18.90	1519	13146.59	0.00	0.34	2.33	0.000	0.178	0.028	778.53	719.19	837.88	2156.81	1529.19	0	0	0	30.00	15.65	15.80
13451.34	128	535.98	1.57	0.00	777.7	717.5	837.9	2156.5	1529.9	343.86	11.78	1551	13452.67	0.00	0.00	0.00	0.000	0.000	0.000	777.66	717.50	837.81	2156.75	1529.38	0	0	0	30.00	30.00	30.00
13751.48	2693	535.98	1.64	-80.00	777.8	717.6	838.1	2156.5	1529.8	310.16	10.74	1581	13756.80	0.00	0.32	2.96	0.000	0.067	0.134	777.97	717.75	838.19	2213.00	457.94	0	0	0	30.00	15.77	15.58
13786.09	1156	535.98	1.61	0.00	777.7	717.6	837.8	2212.5	457.8	304.52	17.42	1588	13791.88	0.00	0.00	2.32	0.000	0.000	0.029	777.66	717.44	837.88	2212.75	1524.50	0	0	0	30.00	30.00	15.84
14091.48	0	535.98	1.61	0.00	777.7	717.4	838.0	2212.1	1524.4	252.73	16.79	1619	14092.81	0.00	0.00	0.00	0.000	0.000	0.000	777.56	717.31	837.81	2212.62	1524.50	0	0	0	30.00	30.00	30.00
14391.61	4613	535.98	1.61	-80.00	777.8	717.5	838.1	2213.0	1524.4	200.97	17.31	1649	14397.00	0.00	0.28	2.93	0.000	0.179	0.131	778.19	717.88	838.50	2183.50	457.81	0	0	0	30.00	15.73	15.64
14451.55	1028	535.98	1.61	0.00	777.7	717.6	837.8	2183.8	457.9	190.58	16.88	1661	14456.67	0.00	0.00	2.34	0.000	0.000	0.030	778.19	717.81	838.56	2183.56	1519.06	0	0	0	30.00	30.00	15.81
14761.64	128	535.98	1.64	0.00	777.6	717.2	837.9	2184.2	1518.7	148.33	13.46	1693	14762.98	0.00	0.00	0.00	0.000	0.000	0.000	777.34	716.94	837.75	2183.94	1519.06	0	0	0	30.00	30.00	30.00
15061.76	2693	535.98	1.69	-80.00	777.8	717.3	838.2	2183.4	1519.1	110.17	12.05	1723	15067.06	0.00	0.22	2.91	0.000	0.078	0.131	778.22	717.62	838.81	2221.19	457.62	0	0	0	30.00	15.77	15.57
15086.35	1028	535.98	1.69	0.00	777.9	717.5	838.2	2221.3	457.7	106.30	15.48	1728	15092.15	0.00	0.00	2.32	0.000	0.000	0.028	777.78	717.44	838.12	2221.38	1525.62	0	0	0	30.00	30.00	15.75
15391.80	516	535.98	1.69	-80.00	777.7	717.4	837.9	2221.0	1525.2	55.73	16.77	1785	15397.44	0.00	0.00	2.94	0.000	0.000	0.130	778.16	717.69	838.62	2221.62	456.88	0	0	0	30.00	30.00	15.56
15436.83	5253	535.98	1.64	0.00	778.1	718.1	838.2	2221.4	457.0	48.40	17.11	1794	15442.42	0.00	0.28	2.33	0.000	0.178	0.028	778.22	718.00	838.44	2191.19	1528.25	0	0	0	30.00	15.60	15.74
15621.88	0	535.98	1.64	0.00	777.9	717.1	838.8	2190.8	1528.1	22.82	13.35	1831	15623.20	0.00	0.00	0.00	0.000	0.000	0.000	778.28	717.38	839.19	2190.19	1528.12	0	0	0	30.00	30.00	30.00
15776	end climb: SURFACE_DEPTH_REACHED
state	15777	begin surface coast
15791	end surface coast: CONTROL_FINISHED_OK
state	15792	begin surface