Glider dive log

NORSE Sep21 * SG135 * Dive index * Mission links * Dive 38 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 135 TGT_DEFAULT_LAT 4736 VBD_MIN 500 MOTHERBOARD 6

MISSION 3 TGT_DEFAULT_LON -12218 VBD_MAX 3960 DEVICE1 -1

DIVE 38 TGT_AUTO_DEFAULT 0 C_VBD 2875 DEVICE2 -1

N_DIVES 0 SM_CC 582.58746 VBD_DBAND 2 DEVICE3 -1

STOP_T 0 N_FILEKB 8 VBD_CNV -0.24529999 DEVICE4 -1

D_SURF 4 FILEMGR 0 VBD_LP_IGNORE 0 DEVICE5 -1

D_FLARE 3 CALL_NDIVES 1 VBD_TIMEOUT 720 DEVICE6 -1

D_TGT 990 COMM_SEQ 0 PITCH_VBD_SHIFT 0.001 LOGGERS 7

D_ABORT 1000 PROTOCOL 9 UNCOM_BLEED 20 LOGGERDEVICE1 6

D_NO_BLEED 500 N_NOCOMM 2 VBD_MAXERRORS 1 LOGGERDEVICE2 33

D_BOOST 3 NOCOMM_ACTION 163 W_ADJ_DBAND 0 LOGGERDEVICE3 19

T_BOOST 0 N_NOSURFACE 0 DBDW 0 LOGGERDEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 LOITER_W_DBAND 0 COMPASS_DEVICE 34

D_PITCH 0 CALL_TRIES 5 LOITER_DBDW 0 COMPASS2_DEVICE -1

D_SAFE 0 CALL_WAIT 60 LOITER_D_TOP 0 PHONE_DEVICE 33

D_CALL 0 CAPUPLOAD 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

SURFACE_URGENCY 0 CAPMAXSIZE 100000 LOITER_N_DIVE 0 RAFOS_DEVICE -1

SURFACE_URGENCY_TRY 0 T_GPS 5 CF8_MAXERRORS 20 NETWORK_DEVICE -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 AH0_24V 350 PRESSURE_DEVICE 41

T_DIVE 290 T_RSLEEP 1 AH0_10V 0 XPDR_DEVICE 21

T_MISSION 350 STROBE 0 MINV_24V 11 SIM_W 0

T_ABORT 1440 RAFOS_PEAK_OFFSET 1.5 MINV_10V 11 SEABIRD_T_G 0.0044240318

T_TURN 225 RAFOS_CORR_THRESH 60 MAXI_24V 3.8 SEABIRD_T_H 0.00064698874

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 MAXI_10V 1.5 SEABIRD_T_I 2.7191092e-05

T_NO_W 120 RAFOS_MMODEM 0 FG_AHR_10V 37.479 SEABIRD_T_J 3.4398734e-06

T_LOITER 0 PITCH_MIN 150 FG_AHR_24V 1049.9657 SEABIRD_C_G -9.9621954

T_EPIRB 0 PITCH_MAX 3614 PHONE_SUPPLY 2 SEABIRD_C_H 1.1055299

USE_BATHY 0 C_PITCH 2390 PRESSURE_YINT -180.72491 SEABIRD_C_I -0.0031133897

USE_ICE 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00022931841 SEABIRD_C_J 0.00029840908

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0031300001 COMPASS_USE 16388 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 PITCH_GAIN 36 ALTIM_PING_FIT 0 SC_PROFILE 7.0

RELAUNCH 1 PITCH_TIMEOUT 15 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 7.0

APOGEE_PITCH -5 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0 SC_NDIVE 1.0

MAX_BUOY 250 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 PM_PROFILE 7.0

SPEED_FACTOR 1 PITCH_W_GAIN 0 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

RHO 1.0275 PITCH_W_DBAND 0 ALTIM_PING_DELTA 0 PM_NDIVE 1.0

MASS 56180 ROLL_MIN 160 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

NAV_MODE 2 ROLL_MAX 3915 ALTIM_PULSE 3 PM_MOTORS 1.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 1.0

KALMAN_USE 2 C_ROLL_DIVE 2075 XPDR_VALID 0 TM_RECORDABOVE 2000.0

HD_A 0.003 C_ROLL_CLIMB 2150 XPDR_INHIBIT 90 TM_PROFILE 3.0

HD_B 0.0099999998 HEAD_ERRBAND 10 XPDR_INT 0 TM_XMITPROFILE 1.0

HD_C 1.6e-05 ROLL_CNV 0.028270001 XPDR_REP 0 TM_NDIVE 1.0

HEADING 25 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 1.9639999e-06 TM_XMITRAW 0.0

ESCAPE_HEADING 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0.75 TM_LOGSAMPLE 0.0

ESCAPE_HEADING_DELTA 10 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

FIX_MISSING_TIMEOUT 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

AH0_10V 0 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.4398734e-06

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0031300001 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_DBAND 0.1 SM_CC 582.58746

ALTIM_FREQUENCY 13 FG_AHR_10V 37.479 PITCH_GAIN 36 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 FG_AHR_24V 1049.9657 PITCH_MAX 3614 STOP_T 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_FIT 0 FIX_MISSING_TIMEOUT 0 PITCH_MIN 150 SURFACE_URGENCY 0

ALTIM_PULSE 3 GLIDE_SLOPE 30 PITCH_TIMEOUT 15 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 GPS_DEVICE 48 PITCH_VBD_SHIFT 0.001 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_A 0.003 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 HD_B 0.0099999998 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HD_C 1.6e-05 PM_MOTORS 1.0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HEADING 25 PM_NDIVE 1.0 TM_LOGSAMPLE 0.0

CALL_NDIVES 1 HEAD_ERRBAND 10 PM_PROFILE 7.0 TM_NDIVE 1.0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_RECORDABOVE 2000.0 TM_PROFILE 3.0

CALL_WAIT 60 ID 135 PM_SENDDEPTH 1.0 TM_RECORDABOVE 2000.0

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 1.9639999e-06 PM_XMITPROFILE 0.0 TM_XMITPROFILE 1.0

CAPUPLOAD 0 INT_PRESSURE_YINT 0.75 PM_XMITRAW 0.0 TM_XMITRAW 0.0

CF8_MAXERRORS 20 KALMAN_USE 2 PRESSURE_DEVICE 41 T_ABORT 1440

COMM_SEQ 0 LOGGERDEVICE1 6 PRESSURE_SLOPE 0.00022931841 T_BOOST 0

COMPASS2_DEVICE -1 LOGGERDEVICE2 33 PRESSURE_YINT -180.72491 T_DIVE 290

COMPASS_DEVICE 34 LOGGERDEVICE3 19 PROTOCOL 9 T_EPIRB 0

COMPASS_USE 16388 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_GPS 5

C_PITCH 2390 LOGGERS 7 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 2150 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 T_MISSION 350

C_ROLL_DIVE 2075 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 2875 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 1

DBDW 0 LOITER_N_DIVE 0 RELAUNCH 1 T_TURN 225

DEEPGLIDER 0 LOITER_W_DBAND 0 RHO 1.0275 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 MASS 56180 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

DEVICE1 -1 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MAXI_24V 3.8 ROLL_CNV 0.028270001 USE_BATHY 0

DEVICE3 -1 MAX_BUOY 250 ROLL_DEG 40 USE_ICE 0

DEVICE4 -1 MINV_10V 11 ROLL_MAX 3915 VBD_CNV -0.24529999

DEVICE5 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE6 -1 MISSION 3 ROLL_MIN 160 VBD_LP_IGNORE 0

DIVE 38 MOTHERBOARD 6 ROLL_TIMEOUT 15 VBD_MAX 3960

D_ABORT 1000 NAV_MODE 2 SC_NDIVE 1.0 VBD_MAXERRORS 1

D_BOOST 3 NETWORK_DEVICE -1 SC_PROFILE 7.0 VBD_MIN 500

D_CALL 0 NOCOMM_ACTION 163 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_FINISH 0 N_DIVES 0 SC_XMITPROFILE 7.0 W_ADJ_DBAND 0

D_FLARE 3 N_FILEKB 8 SEABIRD_C_G -9.9621954 XPDR_DEVICE 21

D_NO_BLEED 500 N_GPS 100440 SEABIRD_C_H 1.1055299 XPDR_INHIBIT 90

D_OFFGRID 1000 N_NOCOMM 2 SEABIRD_C_I -0.0031133897 XPDR_INT 0

D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00029840908 XPDR_REP 0

D_SAFE 0 PHONE_DEVICE 33 SEABIRD_T_G 0.0044240318 XPDR_VALID 0

D_SURF 4 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064698874

D_TGT 990 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.7191092e-05

Pre-dive calculations and measurements:

GPS1 230921,164026,7100.862,-403.555,21,0.9,37,-3.9 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -49.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230921,170341,7100.516,-402.085,34,1.1,34,-3.9 MHEAD_RNG_PITCHd_Wd 350.2,20000,-15.0,-11.379,-18.68

SPEED_LIMITS 0.197,0.337 D_GRID 990

TGT_NAME HEADING IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-19.000000,49.000000,24.000000

TGT_LATLONG 7110.303,-347.943

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped _10V_AH 14.46,0.000

FINISH 2.2,1.027005 FG_AHR_24Vo 1050.392

SM_CCo 16997.35,171.62,1.208,0,501.2,465.8,536.8,582.28 FG_AHR_10Vo 37.711

SM_GC 2.57,171.62,7.06,0.03,1.208,0.069,0.226,501.2,465.8,536.8,136.5,2125.0,0,0,0,12.47,15.18,15.77 MEM0 60820,1,0,0

SUPER 27,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 7059.86,-411.26,230921,164541 MEM2 1030652,22,16356,56

TCM_TEMP 16.00 DATA_FILE_SIZE 35280,1176

XPDR_PINGS 43,12.5,11.5 CAP_FILE_SIZE 292688,0

SC_FREEKB 3853760 SDSIZE 3918848,3888288

PM_FREEKB_00 50544064 SDFILEDIR 365,1

PM_FREEKB_01 50670720 ERRORS 0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 1 CURRENT 0.245,143.7,1

TM_FREEKB 5698016 MAGCAL 1.000000,0.013396,0.031930,-0.040239,1.019792,0.136878,0.040799,0.039442,0.668476,41.5,-75.6,304.0,24,0.0893,0

HUMID 52.92 IMPLIED_C_PITCH 2386,23.55,912

TEMP 4.66 IMPLIED_C_VBD 2861,67.801613,912

INTERNAL_PRESSURE 8.14756 GPS 230921,214826,7101.373,-400.380,19,0.6,35,-3.9

_24V_AH 13.62,28.160

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 877 2498 29843.40 nil 0 0 0.00

Pitch_motor 18 403 102.56 nil 0 0 0.00

Roll_motor 99 226 307.22 nil 0 0 0.00

Iridium 1015 196 2718.64 nil 0 0 0.00

Transponder_ping 10 420 61.49 nil 0 0 0.00

GPS 43 15 9.42 nil 0 0 0.00

Core 6293 11 1073.84 SciCon 16815 18 4510.34

LPSleep 11851 2 479.85 PMAR 16837 13 3210.30

Compass 3215 5 232.51 TMICL 16857 13 3270.18

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14.23 16386 -243.31 -0.66 0.00 496.2 455.2 537.1 63.4 2182.0 0.00 0.00 0 98.01 77.72 0.00 0.00 0.005 0.000 0.000 2139.72 2064.12 2215.31 62.88 2148.88 0 0 0 15.42 30.00 30.00

98.23 18983 -243.31 -0.66 -40.00 2142.1 2066.8 2217.4 62.7 2174.4 3.01 -0.42 8 223.11 103.93 9.88 2.55 0.005 0.404 0.032 3866.97 3754.81 3979.12 2181.25 615.88 0 0 0 14.97 14.91 15.47

339.28 1028 -243.31 -0.66 0.00 3867.8 3753.9 3981.6 2181.6 611.9 13.20 -12.06 48 347.36 0.00 0.00 2.51 0.000 0.000 0.038 3868.69 3754.69 3982.69 2172.50 2111.94 0 0 0 30.00 30.00 15.04

541.05 292 -243.31 -0.66 40.00 3866.9 3750.9 3983.0 2173.7 2114.0 35.45 -10.74 68 550.49 0.00 0.00 2.33 0.000 0.000 0.052 3868.12 3752.19 3984.06 2164.38 3519.69 0 0 0 30.00 30.00 15.49

586.50 1028 -243.31 -0.66 0.00 3867.2 3751.2 3983.2 2165.1 3519.9 41.86 -12.63 76 594.69 0.00 0.00 2.46 0.000 0.000 0.029 3867.88 3750.25 3985.50 2164.81 2025.44 0 0 0 30.00 30.00 15.10

775.03 0 -243.31 -0.66 0.00 3867.2 3751.2 3983.3 2164.4 2023.3 65.10 -12.45 95 778.99 0.00 0.00 0.00 0.000 0.000 0.000 3866.59 3751.31 3981.88 2165.06 2022.94 0 0 0 30.00 30.00 30.00

961.87 516 -243.31 -0.66 -40.00 3866.8 3750.1 3983.4 2164.9 2022.9 87.98 -11.60 114 968.36 0.00 0.00 2.31 0.000 0.000 0.041 3867.25 3750.88 3983.62 2165.31 622.94 0 0 0 30.00 30.00 15.12

1002.66 1028 -243.31 -0.66 0.00 3867.0 3750.8 3983.3 2165.4 621.3 92.85 -11.70 122 1009.17 0.00 0.00 2.47 0.000 0.000 0.033 3866.72 3750.31 3983.12 2155.06 2111.06 0 0 0 30.00 30.00 15.12

1195.25 0 -243.31 -0.66 0.00 3867.2 3751.1 3983.4 2155.5 2111.8 116.44 -12.55 142 1199.54 0.00 0.00 0.00 0.000 0.000 0.000 3867.03 3750.69 3983.38 2155.00 2112.19 0 0 0 30.00 30.00 30.00

1382.74 0 -243.31 -0.66 0.00 3866.6 3749.7 3983.5 2155.1 2112.5 139.95 -12.03 161 1386.70 0.00 0.00 0.00 0.000 0.000 0.000 3866.66 3750.12 3983.19 2155.25 2112.25 0 0 0 30.00 30.00 30.00

1572.78 516 -243.31 -0.66 -40.00 3867.1 3750.4 3983.8 2155.2 2112.1 163.18 -12.26 180 1579.33 0.00 0.00 2.52 0.000 0.000 0.040 3867.88 3751.44 3984.31 2154.69 627.06 0 0 0 30.00 30.00 15.76

1615.22 1028 -243.31 -0.66 0.00 3868.0 3750.9 3985.2 2155.9 625.7 167.97 -11.92 188 1621.84 0.00 0.00 2.46 0.000 0.000 0.036 3866.84 3749.94 3983.75 2152.94 2109.50 0 0 0 30.00 30.00 15.28

1809.38 0 -243.31 -0.66 0.00 3867.2 3750.4 3984.1 2153.2 2110.8 191.36 -12.14 208 1813.34 0.00 0.00 0.00 0.000 0.000 0.000 3866.97 3750.75 3983.19 2152.81 2110.75 0 0 0 30.00 30.00 30.00

2005.35 0 -243.31 -0.66 0.00 3867.2 3750.7 3983.8 2152.9 2110.6 214.36 -11.99 227 2010.70 0.00 0.00 0.00 0.000 0.000 0.000 3866.75 3750.00 3983.50 2152.81 2110.31 0 0 0 30.00 30.00 30.00

2199.44 516 -243.31 -0.66 -40.00 3867.0 3750.2 3983.8 2152.6 2110.6 238.31 -11.94 247 2207.12 0.00 0.00 2.51 0.000 0.000 0.041 3867.66 3750.94 3984.38 2153.25 629.19 0 0 0 30.00 30.00 15.20

2226.76 1028 -243.31 -0.66 0.00 3866.4 3749.3 3983.4 2152.7 627.4 241.61 -11.98 252 2233.85 0.00 0.00 2.46 0.000 0.000 0.036 3868.25 3751.00 3985.50 2152.00 2111.50 0 0 0 30.00 30.00 15.30

2425.12 0 -243.31 -0.66 0.00 3867.3 3749.6 3984.9 2152.8 2112.1 265.16 -12.42 266 2429.08 0.00 0.00 0.00 0.000 0.000 0.000 3867.44 3750.38 3984.50 2153.00 2112.50 0 0 0 30.00 30.00 30.00

2742.13 548 -243.31 -0.66 -40.00 3866.9 3749.3 3984.4 2152.9 2112.4 303.13 -11.34 282 2748.66 0.00 0.00 2.51 0.000 0.000 0.039 3867.41 3749.69 3985.12 2152.69 625.81 0 0 0 30.00 30.00 15.82

2802.49 1060 -243.31 -0.66 0.00 3867.1 3749.6 3984.5 2152.4 624.2 309.76 -10.83 294 2808.97 0.00 0.00 2.47 0.000 0.000 0.037 3867.28 3750.31 3984.25 2153.00 2107.50 0 0 0 30.00 30.00 15.23

3122.50 0 -243.31 -0.66 0.00 3866.2 3747.8 3984.5 2152.6 2109.3 347.21 -12.11 313 3126.45 0.00 0.00 0.00 0.000 0.000 0.000 3866.31 3747.88 3984.75 2152.56 2109.56 0 0 0 30.00 30.00 30.00

3445.27 0 -243.31 -0.66 0.00 3865.8 3747.5 3984.1 2152.7 2109.8 387.26 -12.50 329 3449.22 0.00 0.00 0.00 0.000 0.000 0.000 3865.72 3747.00 3984.44 2152.75 2109.62 0 0 0 30.00 30.00 30.00

3762.53 0 -243.31 -0.66 0.00 3865.6 3746.7 3984.5 2152.8 2109.9 425.56 -11.58 345 3766.55 0.00 0.00 0.00 0.000 0.000 0.000 3865.12 3746.25 3984.00 2151.75 2109.50 0 0 0 30.00 30.00 30.00

4082.57 0 -243.31 -0.66 0.00 3863.7 3743.0 3984.3 2154.1 2109.3 462.15 -11.71 361 4086.52 0.00 0.00 0.00 0.000 0.000 0.000 3863.59 3743.62 3983.56 2152.88 2109.81 0 0 0 30.00 30.00 30.00

4405.28 0 -243.31 -0.66 0.00 3863.6 3742.1 3985.2 2152.4 2109.2 498.86 -11.62 377 4409.24 0.00 0.00 0.00 0.000 0.000 0.000 3862.09 3741.44 3982.75 2152.25 2109.56 0 0 0 30.00 30.00 30.00

4722.59 0 -243.31 -0.66 0.00 3861.8 3739.4 3984.2 2153.5 2108.6 537.35 -12.23 393 4726.69 0.00 0.00 0.00 0.000 0.000 0.000 3861.81 3740.12 3983.50 2153.50 2108.69 0 0 0 30.00 30.00 30.00

5042.61 516 -243.31 -0.66 -40.00 3861.7 3739.5 3983.8 2152.4 2109.2 576.82 -12.20 409 5049.17 0.00 0.00 2.53 0.000 0.000 0.046 3862.41 3740.44 3984.38 2152.06 631.25 0 0 0 30.00 30.00 15.26

5077.37 1028 -243.31 -0.66 0.00 3861.1 3739.0 3983.1 2152.6 629.8 581.03 -12.03 416 5084.46 0.00 0.00 2.46 0.000 0.000 0.037 3861.94 3739.12 3984.75 2152.75 2112.19 0 0 0 30.00 30.00 15.36

5402.70 0 -243.31 -0.66 0.00 3860.3 3737.0 3983.6 2152.6 2112.1 618.67 -11.52 433 5406.66 0.00 0.00 0.00 0.000 0.000 0.000 3860.00 3736.62 3983.38 2152.56 2112.44 0 0 0 30.00 30.00 30.00

5725.37 0 -243.31 -0.66 0.00 3860.2 3736.6 3983.7 2151.8 2111.9 655.42 -11.53 449 5729.32 0.00 0.00 0.00 0.000 0.000 0.000 3859.69 3736.62 3982.75 2152.75 2112.25 0 0 0 30.00 30.00 30.00

6042.79 32 -243.31 -0.66 0.00 3859.4 3734.3 3984.5 2152.4 2111.8 690.60 -10.95 465 6046.73 0.00 0.00 0.00 0.000 0.000 0.000 3859.72 3734.62 3984.81 2153.25 2111.69 0 0 0 30.00 30.00 30.00

6362.81 32 -243.31 -0.66 0.00 3859.0 3734.1 3984.0 2152.4 2112.2 723.64 -10.14 481 6366.77 0.00 0.00 0.00 0.000 0.000 0.000 3858.12 3732.81 3983.44 2152.44 2112.31 0 0 0 30.00 30.00 30.00

6685.39 32 -243.31 -0.66 0.00 3858.2 3732.9 3983.5 2151.8 2112.8 754.34 -9.46 497 6689.52 0.00 0.00 0.00 0.000 0.000 0.000 3857.81 3731.31 3984.31 2152.31 2113.00 0 0 0 30.00 30.00 30.00

7002.87 32 -243.31 -0.66 0.00 3858.2 3732.6 3983.8 2152.4 2112.4 783.37 -8.60 513 7006.85 0.00 0.00 0.00 0.000 0.000 0.000 3857.62 3732.50 3982.75 2152.88 2113.75 0 0 0 30.00 30.00 30.00

7322.90 32 -243.31 -0.66 0.00 3857.1 3730.4 3983.8 2152.4 2111.7 809.33 -7.97 529 7326.86 0.00 0.00 0.00 0.000 0.000 0.000 3856.81 3729.62 3984.00 2153.25 2112.19 0 0 0 30.00 30.00 30.00

7645.33 32 -243.31 -0.66 0.00 3856.3 3729.6 3982.9 2153.7 2112.1 834.88 -8.48 545 7649.28 0.00 0.00 0.00 0.000 0.000 0.000 3856.00 3729.31 3982.69 2152.56 2112.06 0 0 0 30.00 30.00 30.00

7962.97 32 -243.31 -0.66 0.00 3855.8 3728.4 3983.1 2152.4 2112.1 861.98 -8.37 561 7966.97 0.00 0.00 0.00 0.000 0.000 0.000 3856.41 3730.81 3982.00 2153.44 2111.44 0 0 0 30.00 30.00 30.00

8283.00 32 -243.31 -0.66 0.00 3855.6 3728.2 3982.9 2152.3 2111.8 888.21 -8.12 577 8286.98 0.00 0.00 0.00 0.000 0.000 0.000 3855.56 3728.06 3983.06 2152.50 2111.81 0 0 0 30.00 30.00 30.00

8605.15 32 -243.31 -0.66 0.00 3855.1 3727.9 3982.3 2153.0 2113.2 912.91 -7.55 593 8609.11 0.00 0.00 0.00 0.000 0.000 0.000 3855.19 3727.38 3983.00 2152.94 2112.38 0 0 0 30.00 30.00 30.00

8923.06 32 -243.31 -0.66 0.00 3855.3 3727.7 3983.0 2152.4 2112.6 938.50 -8.20 609 8927.01 0.00 0.00 0.00 0.000 0.000 0.000 3854.62 3727.06 3982.19 2152.00 2112.62 0 0 0 30.00 30.00 30.00

9247.29 32 -243.31 -0.66 0.00 3854.1 3727.0 3981.2 2152.4 2112.2 965.12 -8.55 625 9251.24 0.00 0.00 0.00 0.000 0.000 0.000 3853.97 3725.81 3982.12 2152.81 2112.31 0 0 0 30.00 30.00 30.00

9523 end dive: TARGET_DEPTH_EXCEEDED

state 9523 begin apogee

9524.19 10243 0.00 -0.14 0.00 3854.7 3727.9 3981.4 2152.8 2197.6 990.21 -8.90 639 9740.61 209.02 0.64 0.18 2.498 0.200 0.128 2873.84 2724.56 3023.12 2347.44 2074.44 0 0 0 12.26 15.72 14.51

9758 end apogee: CONTROL_FINISHED_OK

state 9758 begin climb

9757.82 10243 243.31 0.66 0.00 2872.5 2725.1 3019.9 2348.2 2074.8 993.59 0.00 649 9978.65 211.02 0.81 0.00 2.412 0.117 0.000 1882.53 1684.12 2080.94 2607.12 2075.06 0 0 0 11.94 14.79 30.00

10292.62 260 243.31 0.66 40.00 1879.4 1684.0 2074.9 2607.1 2075.1 924.06 14.21 679 10300.55 0.00 0.00 2.63 0.000 0.000 0.056 1880.22 1684.56 2075.88 2605.75 3584.81 0 0 0 30.00 30.00 15.14

10354.77 1028 243.31 0.66 0.00 1879.6 1686.3 2072.8 2606.9 3585.2 914.76 14.82 690 10361.41 0.00 0.00 2.53 0.000 0.000 0.032 1880.00 1686.25 2073.75 2616.25 2111.94 0 0 0 30.00 30.00 15.20

10669.00 0 243.31 0.66 0.00 1879.2 1686.3 2072.0 2616.9 2113.7 868.05 14.73 708 10672.98 0.00 0.00 0.00 0.000 0.000 0.000 1878.25 1685.38 2071.12 2616.88 2112.69 0 0 0 30.00 30.00 30.00

10989.04 260 243.31 0.66 40.00 1878.0 1686.1 2069.8 2616.2 2112.9 820.51 14.64 724 10995.60 0.00 0.00 2.58 0.000 0.000 0.060 1880.53 1688.38 2072.69 2616.19 3585.38 0 0 0 30.00 30.00 15.50

11036.76 1028 243.31 0.66 0.00 1877.7 1686.8 2068.6 2616.4 3587.1 813.39 14.76 733 11046.46 0.00 0.00 2.47 0.000 0.000 0.033 1876.84 1685.88 2067.81 2625.00 2110.69 0 0 0 30.00 30.00 15.53

11349.06 0 243.31 0.66 0.00 1877.3 1686.5 2068.1 2626.8 2109.6 766.93 14.93 750 11353.02 0.00 0.00 0.00 0.000 0.000 0.000 1876.56 1685.88 2067.25 2626.31 2109.81 0 0 0 30.00 30.00 30.00

11674.62 260 243.31 0.66 40.00 1878.0 1687.2 2068.8 2625.6 2110.4 719.99 14.58 766 11681.27 0.00 0.00 2.56 0.000 0.000 0.060 1878.34 1687.56 2069.12 2617.75 3585.12 0 0 0 30.00 30.00 15.20

11703.55 1028 243.31 0.66 0.00 1877.4 1687.1 2067.8 2617.9 3585.4 714.76 15.16 772 11710.63 0.00 0.00 2.46 0.000 0.000 0.033 1877.38 1687.00 2067.75 2627.94 2107.81 0 0 0 30.00 30.00 15.18

12034.82 0 243.31 0.66 0.00 1877.4 1687.1 2067.7 2627.7 2108.2 667.01 14.71 789 12038.78 0.00 0.00 0.00 0.000 0.000 0.000 1876.75 1686.25 2067.25 2628.12 2108.69 0 0 0 30.00 30.00 30.00

12348.91 260 243.31 0.66 40.00 1877.1 1686.8 2067.4 2627.4 2108.1 620.67 14.24 805 12356.61 0.00 0.00 2.55 0.000 0.000 0.059 1878.97 1688.69 2069.25 2627.75 3587.94 0 0 0 30.00 30.00 15.74

12394.85 1028 243.31 0.66 0.00 1876.8 1687.2 2066.5 2628.1 3586.4 614.66 14.95 813 12401.47 0.00 0.00 2.44 0.000 0.000 0.034 1879.06 1689.06 2069.06 2635.06 2107.38 0 0 0 30.00 30.00 15.25

12709.06 4613 243.31 0.66 -40.00 1877.8 1687.8 2067.8 2636.6 2108.1 568.01 14.60 831 12716.97 0.00 0.16 2.33 0.000 0.252 0.049 1879.34 1689.31 2069.38 2599.94 711.69 0 0 0 30.00 15.66 15.75

12744.25 1028 243.31 0.66 0.00 1877.7 1687.8 2067.5 2601.0 712.3 563.72 12.10 838 12751.34 0.00 0.00 2.48 0.000 0.000 0.036 1878.41 1689.19 2067.62 2598.88 2182.62 0 0 0 30.00 30.00 15.75

13054.80 0 243.31 0.66 0.00 1877.4 1687.9 2066.9 2600.4 2184.2 528.80 11.39 854 13058.76 0.00 0.00 0.00 0.000 0.000 0.000 1876.00 1687.50 2064.50 2599.75 2183.62 0 0 0 30.00 30.00 30.00

13369.59 8742 247.07 0.66 -40.00 1877.2 1688.0 2066.5 2600.2 2183.9 492.87 11.26 870 13381.55 4.96 0.00 2.55 1.035 0.000 0.053 1867.50 1677.31 2057.69 2601.38 713.75 0 0 0 12.44 30.00 15.64

13404.30 9254 265.72 0.68 0.00 1866.8 1677.5 2056.2 2601.4 713.9 489.09 10.78 877 13431.80 19.19 0.00 2.48 1.774 0.000 0.036 1792.84 1603.19 1982.50 2600.19 2185.19 0 0 0 12.39 30.00 15.74

13749.61 8742 272.10 0.69 -40.00 1789.0 1602.1 1975.9 2599.9 2185.6 450.99 11.18 898 13766.76 7.45 0.00 2.57 1.358 0.000 0.051 1765.28 1578.38 1952.19 2602.56 712.31 0 0 0 12.32 30.00 15.52

13791.54 9254 297.81 0.71 0.00 1763.9 1578.1 1949.6 2600.6 712.6 446.54 10.56 906 13823.62 24.50 0.00 2.51 1.747 0.000 0.036 1660.97 1470.50 1851.44 2600.56 2184.88 0 0 0 12.41 30.00 15.62

14134.81 8742 312.40 0.73 -40.00 1656.8 1470.1 1843.6 2600.5 2184.4 409.14 10.91 929 14157.79 13.65 0.00 2.59 1.588 0.000 0.051 1600.44 1412.69 1788.19 2600.94 711.19 0 0 0 12.21 30.00 15.41

14180.11 11303 351.96 0.77 0.00 1600.3 1413.3 1787.2 2601.2 710.9 404.12 10.12 938 14222.67 34.03 0.10 2.53 1.712 0.093 0.035 1440.97 1249.62 1632.31 2651.38 2182.19 0 0 0 12.24 15.47 15.50

14535.42 260 351.96 0.77 40.00 1436.1 1249.4 1622.7 2651.3 2181.9 352.45 14.53 964 14541.88 0.00 0.00 2.38 0.000 0.000 0.059 1436.94 1250.56 1623.31 2650.44 3587.62 0 0 0 30.00 30.00 15.52

14560.10 1028 351.96 0.77 0.00 1436.3 1250.0 1622.7 2650.8 3586.4 348.64 15.25 969 14567.30 0.00 0.00 2.48 0.000 0.000 0.034 1436.81 1250.50 1623.12 2656.06 2110.75 0 0 0 30.00 30.00 15.54

14876.02 516 351.96 0.77 -40.00 1435.2 1249.7 1620.7 2656.6 2107.8 302.26 14.52 987 14885.72 0.00 0.00 2.35 0.000 0.000 0.049 1435.19 1249.88 1620.50 2656.00 712.56 0 0 0 30.00 30.00 15.61

14903.00 1028 351.96 0.77 0.00 1435.3 1250.2 1620.4 2657.3 710.8 298.21 14.56 992 14910.91 0.00 0.00 2.51 0.000 0.000 0.041 1436.53 1251.25 1621.81 2654.00 2181.00 0 0 0 30.00 30.00 15.62

15214.67 0 351.96 0.77 0.00 1435.1 1250.5 1619.6 2656.7 2182.7 251.75 15.44 1008 15218.63 0.00 0.00 0.00 0.000 0.000 0.000 1434.19 1250.06 1618.31 2656.19 2183.00 0 0 0 30.00 30.00 30.00

15528.34 516 351.96 0.77 -40.00 1434.1 1250.3 1617.8 2656.3 2182.2 203.25 15.29 1039 15535.89 0.00 0.00 2.54 0.000 0.000 0.048 1434.75 1251.06 1618.44 2655.12 711.19 0 0 0 30.00 30.00 15.72

15561.92 1028 351.96 0.77 0.00 1434.2 1250.9 1617.6 2657.2 709.3 198.19 15.01 1045 15568.43 0.00 0.00 2.49 0.000 0.000 0.041 1433.72 1249.94 1617.50 2655.62 2180.44 0 0 0 30.00 30.00 15.71

15754.84 0 351.96 0.77 0.00 1433.8 1250.6 1617.1 2656.2 2183.0 168.57 16.28 1065 15758.80 0.00 0.00 0.00 0.000 0.000 0.000 1433.09 1250.44 1615.75 2655.75 2182.88 0 0 0 30.00 30.00 30.00

15942.01 0 351.96 0.77 0.00 1433.2 1250.5 1615.9 2656.4 2182.0 137.65 15.79 1084 15945.97 0.00 0.00 0.00 0.000 0.000 0.000 1432.91 1250.19 1615.62 2655.31 2182.38 0 0 0 30.00 30.00 30.00

16132.06 0 351.96 0.77 0.00 1433.2 1250.6 1615.9 2657.0 2182.4 108.07 14.86 1103 16136.05 0.00 0.00 0.00 0.000 0.000 0.000 1432.72 1250.38 1615.06 2656.69 2181.88 0 0 0 30.00 30.00 30.00

16326.25 516 351.96 0.77 -40.00 1433.3 1250.6 1616.0 2657.0 2182.5 78.10 16.71 1122 16332.89 0.00 0.00 2.52 0.000 0.000 0.047 1434.00 1251.00 1617.00 2656.44 712.00 0 0 0 30.00 30.00 15.75

16354.42 1028 351.96 0.77 0.00 1433.2 1251.2 1615.2 2657.1 712.4 73.37 16.71 1127 16361.21 0.00 0.00 2.48 0.000 0.000 0.041 1433.47 1251.00 1615.94 2656.44 2181.75 0 0 0 30.00 30.00 15.76

16545.02 260 351.96 0.77 40.00 1433.5 1251.2 1615.8 2657.7 2182.7 40.59 17.13 1146 16552.66 0.00 0.00 2.34 0.000 0.000 0.058 1433.34 1251.69 1615.00 2656.19 3589.44 0 0 0 30.00 30.00 15.16

16589.04 1028 351.96 0.77 0.00 1433.6 1252.1 1615.1 2656.8 3587.8 32.73 16.37 1154 16606.36 0.00 0.00 2.44 0.000 0.000 0.034 1433.88 1252.06 1615.69 2656.50 2108.56 0 0 0 30.00 30.00 15.72

16779 end climb: SURFACE_DEPTH_REACHED

state 16779 begin surface coast

16809 end surface coast: CONTROL_FINISHED_OK

state 16809 begin surface

ID	135	TGT_DEFAULT_LAT	4736	VBD_MIN	500	MOTHERBOARD	6
MISSION	3	TGT_DEFAULT_LON	-12218	VBD_MAX	3960	DEVICE1	-1
DIVE	38	TGT_AUTO_DEFAULT	0	C_VBD	2875	DEVICE2	-1
N_DIVES	0	SM_CC	582.58746	VBD_DBAND	2	DEVICE3	-1
STOP_T	0	N_FILEKB	8	VBD_CNV	-0.24529999	DEVICE4	-1
D_SURF	4	FILEMGR	0	VBD_LP_IGNORE	0	DEVICE5	-1
D_FLARE	3	CALL_NDIVES	1	VBD_TIMEOUT	720	DEVICE6	-1
D_TGT	990	COMM_SEQ	0	PITCH_VBD_SHIFT	0.001	LOGGERS	7
D_ABORT	1000	PROTOCOL	9	UNCOM_BLEED	20	LOGGERDEVICE1	6
D_NO_BLEED	500	N_NOCOMM	2	VBD_MAXERRORS	1	LOGGERDEVICE2	33
D_BOOST	3	NOCOMM_ACTION	163	W_ADJ_DBAND	0	LOGGERDEVICE3	19
T_BOOST	0	N_NOSURFACE	0	DBDW	0	LOGGERDEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	LOITER_W_DBAND	0	COMPASS_DEVICE	34
D_PITCH	0	CALL_TRIES	5	LOITER_DBDW	0	COMPASS2_DEVICE	-1
D_SAFE	0	CALL_WAIT	60	LOITER_D_TOP	0	PHONE_DEVICE	33
D_CALL	0	CAPUPLOAD	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
SURFACE_URGENCY	0	CAPMAXSIZE	100000	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
SURFACE_URGENCY_TRY	0	T_GPS	5	CF8_MAXERRORS	20	NETWORK_DEVICE	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	AH0_24V	350	PRESSURE_DEVICE	41
T_DIVE	290	T_RSLEEP	1	AH0_10V	0	XPDR_DEVICE	21
T_MISSION	350	STROBE	0	MINV_24V	11	SIM_W	0
T_ABORT	1440	RAFOS_PEAK_OFFSET	1.5	MINV_10V	11	SEABIRD_T_G	0.0044240318
T_TURN	225	RAFOS_CORR_THRESH	60	MAXI_24V	3.8	SEABIRD_T_H	0.00064698874
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	MAXI_10V	1.5	SEABIRD_T_I	2.7191092e-05
T_NO_W	120	RAFOS_MMODEM	0	FG_AHR_10V	37.479	SEABIRD_T_J	3.4398734e-06
T_LOITER	0	PITCH_MIN	150	FG_AHR_24V	1049.9657	SEABIRD_C_G	-9.9621954
T_EPIRB	0	PITCH_MAX	3614	PHONE_SUPPLY	2	SEABIRD_C_H	1.1055299
USE_BATHY	0	C_PITCH	2390	PRESSURE_YINT	-180.72491	SEABIRD_C_I	-0.0031133897
USE_ICE	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00022931841	SEABIRD_C_J	0.00029840908
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0031300001	COMPASS_USE	16388	SC_RECORDABOVE	2000.0
D_OFFGRID	1000	PITCH_GAIN	36	ALTIM_PING_FIT	0	SC_PROFILE	7.0
RELAUNCH	1	PITCH_TIMEOUT	15	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	7.0
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0	SC_NDIVE	1.0
MAX_BUOY	250	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	PM_PROFILE	7.0
SPEED_FACTOR	1	PITCH_W_GAIN	0	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
RHO	1.0275	PITCH_W_DBAND	0	ALTIM_PING_DELTA	0	PM_NDIVE	1.0
MASS	56180	ROLL_MIN	160	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
NAV_MODE	2	ROLL_MAX	3915	ALTIM_PULSE	3	PM_MOTORS	1.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	1.0
KALMAN_USE	2	C_ROLL_DIVE	2075	XPDR_VALID	0	TM_RECORDABOVE	2000.0
HD_A	0.003	C_ROLL_CLIMB	2150	XPDR_INHIBIT	90	TM_PROFILE	3.0
HD_B	0.0099999998	HEAD_ERRBAND	10	XPDR_INT	0	TM_XMITPROFILE	1.0
HD_C	1.6e-05	ROLL_CNV	0.028270001	XPDR_REP	0	TM_NDIVE	1.0
HEADING	25	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	1.9639999e-06	TM_XMITRAW	0.0
ESCAPE_HEADING	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0.75	TM_LOGSAMPLE	0.0
ESCAPE_HEADING_DELTA	10	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
FIX_MISSING_TIMEOUT	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0

GPS1	230921,164026,7100.862,-403.555,21,0.9,37,-3.9	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-49.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230921,170341,7100.516,-402.085,34,1.1,34,-3.9	MHEAD_RNG_PITCHd_Wd	350.2,20000,-15.0,-11.379,-18.68
SPEED_LIMITS	0.197,0.337	D_GRID	990
TGT_NAME	HEADING	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-19.000000,49.000000,24.000000
TGT_LATLONG	7110.303,-347.943

WARN	HTMICL TMICL logging already stopped	_10V_AH	14.46,0.000
FINISH	2.2,1.027005	FG_AHR_24Vo	1050.392
SM_CCo	16997.35,171.62,1.208,0,501.2,465.8,536.8,582.28	FG_AHR_10Vo	37.711
SM_GC	2.57,171.62,7.06,0.03,1.208,0.069,0.226,501.2,465.8,536.8,136.5,2125.0,0,0,0,12.47,15.18,15.77	MEM0	60820,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	7059.86,-411.26,230921,164541	MEM2	1030652,22,16356,56
TCM_TEMP	16.00	DATA_FILE_SIZE	35280,1176
XPDR_PINGS	43,12.5,11.5	CAP_FILE_SIZE	292688,0
SC_FREEKB	3853760	SDSIZE	3918848,3888288
PM_FREEKB_00	50544064	SDFILEDIR	365,1
PM_FREEKB_01	50670720	ERRORS	0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	1	CURRENT	0.245,143.7,1
TM_FREEKB	5698016	MAGCAL	1.000000,0.013396,0.031930,-0.040239,1.019792,0.136878,0.040799,0.039442,0.668476,41.5,-75.6,304.0,24,0.0893,0
HUMID	52.92	IMPLIED_C_PITCH	2386,23.55,912
TEMP	4.66	IMPLIED_C_VBD	2861,67.801613,912
INTERNAL_PRESSURE	8.14756	GPS	230921,214826,7101.373,-400.380,19,0.6,35,-3.9
_24V_AH	13.62,28.160

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	877	2498	29843.40	nil	0	0	0.00
Pitch_motor	18	403	102.56	nil	0	0	0.00
Roll_motor	99	226	307.22	nil	0	0	0.00
Iridium	1015	196	2718.64	nil	0	0	0.00
Transponder_ping	10	420	61.49	nil	0	0	0.00
GPS	43	15	9.42	nil	0	0	0.00
Core	6293	11	1073.84	SciCon	16815	18	4510.34
LPSleep	11851	2	479.85	PMAR	16837	13	3210.30
Compass	3215	5	232.51	TMICL	16857	13	3270.18
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14.23	16386	-243.31	-0.66	0.00	496.2	455.2	537.1	63.4	2182.0	0.00	0.00	0	98.01	77.72	0.00	0.00	0.005	0.000	0.000	2139.72	2064.12	2215.31	62.88	2148.88	0	0	0	15.42	30.00	30.00
98.23	18983	-243.31	-0.66	-40.00	2142.1	2066.8	2217.4	62.7	2174.4	3.01	-0.42	8	223.11	103.93	9.88	2.55	0.005	0.404	0.032	3866.97	3754.81	3979.12	2181.25	615.88	0	0	0	14.97	14.91	15.47
339.28	1028	-243.31	-0.66	0.00	3867.8	3753.9	3981.6	2181.6	611.9	13.20	-12.06	48	347.36	0.00	0.00	2.51	0.000	0.000	0.038	3868.69	3754.69	3982.69	2172.50	2111.94	0	0	0	30.00	30.00	15.04
541.05	292	-243.31	-0.66	40.00	3866.9	3750.9	3983.0	2173.7	2114.0	35.45	-10.74	68	550.49	0.00	0.00	2.33	0.000	0.000	0.052	3868.12	3752.19	3984.06	2164.38	3519.69	0	0	0	30.00	30.00	15.49
586.50	1028	-243.31	-0.66	0.00	3867.2	3751.2	3983.2	2165.1	3519.9	41.86	-12.63	76	594.69	0.00	0.00	2.46	0.000	0.000	0.029	3867.88	3750.25	3985.50	2164.81	2025.44	0	0	0	30.00	30.00	15.10
775.03	0	-243.31	-0.66	0.00	3867.2	3751.2	3983.3	2164.4	2023.3	65.10	-12.45	95	778.99	0.00	0.00	0.00	0.000	0.000	0.000	3866.59	3751.31	3981.88	2165.06	2022.94	0	0	0	30.00	30.00	30.00
961.87	516	-243.31	-0.66	-40.00	3866.8	3750.1	3983.4	2164.9	2022.9	87.98	-11.60	114	968.36	0.00	0.00	2.31	0.000	0.000	0.041	3867.25	3750.88	3983.62	2165.31	622.94	0	0	0	30.00	30.00	15.12
1002.66	1028	-243.31	-0.66	0.00	3867.0	3750.8	3983.3	2165.4	621.3	92.85	-11.70	122	1009.17	0.00	0.00	2.47	0.000	0.000	0.033	3866.72	3750.31	3983.12	2155.06	2111.06	0	0	0	30.00	30.00	15.12
1195.25	0	-243.31	-0.66	0.00	3867.2	3751.1	3983.4	2155.5	2111.8	116.44	-12.55	142	1199.54	0.00	0.00	0.00	0.000	0.000	0.000	3867.03	3750.69	3983.38	2155.00	2112.19	0	0	0	30.00	30.00	30.00
1382.74	0	-243.31	-0.66	0.00	3866.6	3749.7	3983.5	2155.1	2112.5	139.95	-12.03	161	1386.70	0.00	0.00	0.00	0.000	0.000	0.000	3866.66	3750.12	3983.19	2155.25	2112.25	0	0	0	30.00	30.00	30.00
1572.78	516	-243.31	-0.66	-40.00	3867.1	3750.4	3983.8	2155.2	2112.1	163.18	-12.26	180	1579.33	0.00	0.00	2.52	0.000	0.000	0.040	3867.88	3751.44	3984.31	2154.69	627.06	0	0	0	30.00	30.00	15.76
1615.22	1028	-243.31	-0.66	0.00	3868.0	3750.9	3985.2	2155.9	625.7	167.97	-11.92	188	1621.84	0.00	0.00	2.46	0.000	0.000	0.036	3866.84	3749.94	3983.75	2152.94	2109.50	0	0	0	30.00	30.00	15.28
1809.38	0	-243.31	-0.66	0.00	3867.2	3750.4	3984.1	2153.2	2110.8	191.36	-12.14	208	1813.34	0.00	0.00	0.00	0.000	0.000	0.000	3866.97	3750.75	3983.19	2152.81	2110.75	0	0	0	30.00	30.00	30.00
2005.35	0	-243.31	-0.66	0.00	3867.2	3750.7	3983.8	2152.9	2110.6	214.36	-11.99	227	2010.70	0.00	0.00	0.00	0.000	0.000	0.000	3866.75	3750.00	3983.50	2152.81	2110.31	0	0	0	30.00	30.00	30.00
2199.44	516	-243.31	-0.66	-40.00	3867.0	3750.2	3983.8	2152.6	2110.6	238.31	-11.94	247	2207.12	0.00	0.00	2.51	0.000	0.000	0.041	3867.66	3750.94	3984.38	2153.25	629.19	0	0	0	30.00	30.00	15.20
2226.76	1028	-243.31	-0.66	0.00	3866.4	3749.3	3983.4	2152.7	627.4	241.61	-11.98	252	2233.85	0.00	0.00	2.46	0.000	0.000	0.036	3868.25	3751.00	3985.50	2152.00	2111.50	0	0	0	30.00	30.00	15.30
2425.12	0	-243.31	-0.66	0.00	3867.3	3749.6	3984.9	2152.8	2112.1	265.16	-12.42	266	2429.08	0.00	0.00	0.00	0.000	0.000	0.000	3867.44	3750.38	3984.50	2153.00	2112.50	0	0	0	30.00	30.00	30.00
2742.13	548	-243.31	-0.66	-40.00	3866.9	3749.3	3984.4	2152.9	2112.4	303.13	-11.34	282	2748.66	0.00	0.00	2.51	0.000	0.000	0.039	3867.41	3749.69	3985.12	2152.69	625.81	0	0	0	30.00	30.00	15.82
2802.49	1060	-243.31	-0.66	0.00	3867.1	3749.6	3984.5	2152.4	624.2	309.76	-10.83	294	2808.97	0.00	0.00	2.47	0.000	0.000	0.037	3867.28	3750.31	3984.25	2153.00	2107.50	0	0	0	30.00	30.00	15.23
3122.50	0	-243.31	-0.66	0.00	3866.2	3747.8	3984.5	2152.6	2109.3	347.21	-12.11	313	3126.45	0.00	0.00	0.00	0.000	0.000	0.000	3866.31	3747.88	3984.75	2152.56	2109.56	0	0	0	30.00	30.00	30.00
3445.27	0	-243.31	-0.66	0.00	3865.8	3747.5	3984.1	2152.7	2109.8	387.26	-12.50	329	3449.22	0.00	0.00	0.00	0.000	0.000	0.000	3865.72	3747.00	3984.44	2152.75	2109.62	0	0	0	30.00	30.00	30.00
3762.53	0	-243.31	-0.66	0.00	3865.6	3746.7	3984.5	2152.8	2109.9	425.56	-11.58	345	3766.55	0.00	0.00	0.00	0.000	0.000	0.000	3865.12	3746.25	3984.00	2151.75	2109.50	0	0	0	30.00	30.00	30.00
4082.57	0	-243.31	-0.66	0.00	3863.7	3743.0	3984.3	2154.1	2109.3	462.15	-11.71	361	4086.52	0.00	0.00	0.00	0.000	0.000	0.000	3863.59	3743.62	3983.56	2152.88	2109.81	0	0	0	30.00	30.00	30.00
4405.28	0	-243.31	-0.66	0.00	3863.6	3742.1	3985.2	2152.4	2109.2	498.86	-11.62	377	4409.24	0.00	0.00	0.00	0.000	0.000	0.000	3862.09	3741.44	3982.75	2152.25	2109.56	0	0	0	30.00	30.00	30.00
4722.59	0	-243.31	-0.66	0.00	3861.8	3739.4	3984.2	2153.5	2108.6	537.35	-12.23	393	4726.69	0.00	0.00	0.00	0.000	0.000	0.000	3861.81	3740.12	3983.50	2153.50	2108.69	0	0	0	30.00	30.00	30.00
5042.61	516	-243.31	-0.66	-40.00	3861.7	3739.5	3983.8	2152.4	2109.2	576.82	-12.20	409	5049.17	0.00	0.00	2.53	0.000	0.000	0.046	3862.41	3740.44	3984.38	2152.06	631.25	0	0	0	30.00	30.00	15.26
5077.37	1028	-243.31	-0.66	0.00	3861.1	3739.0	3983.1	2152.6	629.8	581.03	-12.03	416	5084.46	0.00	0.00	2.46	0.000	0.000	0.037	3861.94	3739.12	3984.75	2152.75	2112.19	0	0	0	30.00	30.00	15.36
5402.70	0	-243.31	-0.66	0.00	3860.3	3737.0	3983.6	2152.6	2112.1	618.67	-11.52	433	5406.66	0.00	0.00	0.00	0.000	0.000	0.000	3860.00	3736.62	3983.38	2152.56	2112.44	0	0	0	30.00	30.00	30.00
5725.37	0	-243.31	-0.66	0.00	3860.2	3736.6	3983.7	2151.8	2111.9	655.42	-11.53	449	5729.32	0.00	0.00	0.00	0.000	0.000	0.000	3859.69	3736.62	3982.75	2152.75	2112.25	0	0	0	30.00	30.00	30.00
6042.79	32	-243.31	-0.66	0.00	3859.4	3734.3	3984.5	2152.4	2111.8	690.60	-10.95	465	6046.73	0.00	0.00	0.00	0.000	0.000	0.000	3859.72	3734.62	3984.81	2153.25	2111.69	0	0	0	30.00	30.00	30.00
6362.81	32	-243.31	-0.66	0.00	3859.0	3734.1	3984.0	2152.4	2112.2	723.64	-10.14	481	6366.77	0.00	0.00	0.00	0.000	0.000	0.000	3858.12	3732.81	3983.44	2152.44	2112.31	0	0	0	30.00	30.00	30.00
6685.39	32	-243.31	-0.66	0.00	3858.2	3732.9	3983.5	2151.8	2112.8	754.34	-9.46	497	6689.52	0.00	0.00	0.00	0.000	0.000	0.000	3857.81	3731.31	3984.31	2152.31	2113.00	0	0	0	30.00	30.00	30.00
7002.87	32	-243.31	-0.66	0.00	3858.2	3732.6	3983.8	2152.4	2112.4	783.37	-8.60	513	7006.85	0.00	0.00	0.00	0.000	0.000	0.000	3857.62	3732.50	3982.75	2152.88	2113.75	0	0	0	30.00	30.00	30.00
7322.90	32	-243.31	-0.66	0.00	3857.1	3730.4	3983.8	2152.4	2111.7	809.33	-7.97	529	7326.86	0.00	0.00	0.00	0.000	0.000	0.000	3856.81	3729.62	3984.00	2153.25	2112.19	0	0	0	30.00	30.00	30.00
7645.33	32	-243.31	-0.66	0.00	3856.3	3729.6	3982.9	2153.7	2112.1	834.88	-8.48	545	7649.28	0.00	0.00	0.00	0.000	0.000	0.000	3856.00	3729.31	3982.69	2152.56	2112.06	0	0	0	30.00	30.00	30.00
7962.97	32	-243.31	-0.66	0.00	3855.8	3728.4	3983.1	2152.4	2112.1	861.98	-8.37	561	7966.97	0.00	0.00	0.00	0.000	0.000	0.000	3856.41	3730.81	3982.00	2153.44	2111.44	0	0	0	30.00	30.00	30.00
8283.00	32	-243.31	-0.66	0.00	3855.6	3728.2	3982.9	2152.3	2111.8	888.21	-8.12	577	8286.98	0.00	0.00	0.00	0.000	0.000	0.000	3855.56	3728.06	3983.06	2152.50	2111.81	0	0	0	30.00	30.00	30.00
8605.15	32	-243.31	-0.66	0.00	3855.1	3727.9	3982.3	2153.0	2113.2	912.91	-7.55	593	8609.11	0.00	0.00	0.00	0.000	0.000	0.000	3855.19	3727.38	3983.00	2152.94	2112.38	0	0	0	30.00	30.00	30.00
8923.06	32	-243.31	-0.66	0.00	3855.3	3727.7	3983.0	2152.4	2112.6	938.50	-8.20	609	8927.01	0.00	0.00	0.00	0.000	0.000	0.000	3854.62	3727.06	3982.19	2152.00	2112.62	0	0	0	30.00	30.00	30.00
9247.29	32	-243.31	-0.66	0.00	3854.1	3727.0	3981.2	2152.4	2112.2	965.12	-8.55	625	9251.24	0.00	0.00	0.00	0.000	0.000	0.000	3853.97	3725.81	3982.12	2152.81	2112.31	0	0	0	30.00	30.00	30.00
9523	end dive: TARGET_DEPTH_EXCEEDED
state	9523	begin apogee
9524.19	10243	0.00	-0.14	0.00	3854.7	3727.9	3981.4	2152.8	2197.6	990.21	-8.90	639	9740.61	209.02	0.64	0.18	2.498	0.200	0.128	2873.84	2724.56	3023.12	2347.44	2074.44	0	0	0	12.26	15.72	14.51
9758	end apogee: CONTROL_FINISHED_OK
state	9758	begin climb
9757.82	10243	243.31	0.66	0.00	2872.5	2725.1	3019.9	2348.2	2074.8	993.59	0.00	649	9978.65	211.02	0.81	0.00	2.412	0.117	0.000	1882.53	1684.12	2080.94	2607.12	2075.06	0	0	0	11.94	14.79	30.00
10292.62	260	243.31	0.66	40.00	1879.4	1684.0	2074.9	2607.1	2075.1	924.06	14.21	679	10300.55	0.00	0.00	2.63	0.000	0.000	0.056	1880.22	1684.56	2075.88	2605.75	3584.81	0	0	0	30.00	30.00	15.14
10354.77	1028	243.31	0.66	0.00	1879.6	1686.3	2072.8	2606.9	3585.2	914.76	14.82	690	10361.41	0.00	0.00	2.53	0.000	0.000	0.032	1880.00	1686.25	2073.75	2616.25	2111.94	0	0	0	30.00	30.00	15.20
10669.00	0	243.31	0.66	0.00	1879.2	1686.3	2072.0	2616.9	2113.7	868.05	14.73	708	10672.98	0.00	0.00	0.00	0.000	0.000	0.000	1878.25	1685.38	2071.12	2616.88	2112.69	0	0	0	30.00	30.00	30.00
10989.04	260	243.31	0.66	40.00	1878.0	1686.1	2069.8	2616.2	2112.9	820.51	14.64	724	10995.60	0.00	0.00	2.58	0.000	0.000	0.060	1880.53	1688.38	2072.69	2616.19	3585.38	0	0	0	30.00	30.00	15.50
11036.76	1028	243.31	0.66	0.00	1877.7	1686.8	2068.6	2616.4	3587.1	813.39	14.76	733	11046.46	0.00	0.00	2.47	0.000	0.000	0.033	1876.84	1685.88	2067.81	2625.00	2110.69	0	0	0	30.00	30.00	15.53
11349.06	0	243.31	0.66	0.00	1877.3	1686.5	2068.1	2626.8	2109.6	766.93	14.93	750	11353.02	0.00	0.00	0.00	0.000	0.000	0.000	1876.56	1685.88	2067.25	2626.31	2109.81	0	0	0	30.00	30.00	30.00
11674.62	260	243.31	0.66	40.00	1878.0	1687.2	2068.8	2625.6	2110.4	719.99	14.58	766	11681.27	0.00	0.00	2.56	0.000	0.000	0.060	1878.34	1687.56	2069.12	2617.75	3585.12	0	0	0	30.00	30.00	15.20
11703.55	1028	243.31	0.66	0.00	1877.4	1687.1	2067.8	2617.9	3585.4	714.76	15.16	772	11710.63	0.00	0.00	2.46	0.000	0.000	0.033	1877.38	1687.00	2067.75	2627.94	2107.81	0	0	0	30.00	30.00	15.18
12034.82	0	243.31	0.66	0.00	1877.4	1687.1	2067.7	2627.7	2108.2	667.01	14.71	789	12038.78	0.00	0.00	0.00	0.000	0.000	0.000	1876.75	1686.25	2067.25	2628.12	2108.69	0	0	0	30.00	30.00	30.00
12348.91	260	243.31	0.66	40.00	1877.1	1686.8	2067.4	2627.4	2108.1	620.67	14.24	805	12356.61	0.00	0.00	2.55	0.000	0.000	0.059	1878.97	1688.69	2069.25	2627.75	3587.94	0	0	0	30.00	30.00	15.74
12394.85	1028	243.31	0.66	0.00	1876.8	1687.2	2066.5	2628.1	3586.4	614.66	14.95	813	12401.47	0.00	0.00	2.44	0.000	0.000	0.034	1879.06	1689.06	2069.06	2635.06	2107.38	0	0	0	30.00	30.00	15.25
12709.06	4613	243.31	0.66	-40.00	1877.8	1687.8	2067.8	2636.6	2108.1	568.01	14.60	831	12716.97	0.00	0.16	2.33	0.000	0.252	0.049	1879.34	1689.31	2069.38	2599.94	711.69	0	0	0	30.00	15.66	15.75
12744.25	1028	243.31	0.66	0.00	1877.7	1687.8	2067.5	2601.0	712.3	563.72	12.10	838	12751.34	0.00	0.00	2.48	0.000	0.000	0.036	1878.41	1689.19	2067.62	2598.88	2182.62	0	0	0	30.00	30.00	15.75
13054.80	0	243.31	0.66	0.00	1877.4	1687.9	2066.9	2600.4	2184.2	528.80	11.39	854	13058.76	0.00	0.00	0.00	0.000	0.000	0.000	1876.00	1687.50	2064.50	2599.75	2183.62	0	0	0	30.00	30.00	30.00
13369.59	8742	247.07	0.66	-40.00	1877.2	1688.0	2066.5	2600.2	2183.9	492.87	11.26	870	13381.55	4.96	0.00	2.55	1.035	0.000	0.053	1867.50	1677.31	2057.69	2601.38	713.75	0	0	0	12.44	30.00	15.64
13404.30	9254	265.72	0.68	0.00	1866.8	1677.5	2056.2	2601.4	713.9	489.09	10.78	877	13431.80	19.19	0.00	2.48	1.774	0.000	0.036	1792.84	1603.19	1982.50	2600.19	2185.19	0	0	0	12.39	30.00	15.74
13749.61	8742	272.10	0.69	-40.00	1789.0	1602.1	1975.9	2599.9	2185.6	450.99	11.18	898	13766.76	7.45	0.00	2.57	1.358	0.000	0.051	1765.28	1578.38	1952.19	2602.56	712.31	0	0	0	12.32	30.00	15.52
13791.54	9254	297.81	0.71	0.00	1763.9	1578.1	1949.6	2600.6	712.6	446.54	10.56	906	13823.62	24.50	0.00	2.51	1.747	0.000	0.036	1660.97	1470.50	1851.44	2600.56	2184.88	0	0	0	12.41	30.00	15.62
14134.81	8742	312.40	0.73	-40.00	1656.8	1470.1	1843.6	2600.5	2184.4	409.14	10.91	929	14157.79	13.65	0.00	2.59	1.588	0.000	0.051	1600.44	1412.69	1788.19	2600.94	711.19	0	0	0	12.21	30.00	15.41
14180.11	11303	351.96	0.77	0.00	1600.3	1413.3	1787.2	2601.2	710.9	404.12	10.12	938	14222.67	34.03	0.10	2.53	1.712	0.093	0.035	1440.97	1249.62	1632.31	2651.38	2182.19	0	0	0	12.24	15.47	15.50
14535.42	260	351.96	0.77	40.00	1436.1	1249.4	1622.7	2651.3	2181.9	352.45	14.53	964	14541.88	0.00	0.00	2.38	0.000	0.000	0.059	1436.94	1250.56	1623.31	2650.44	3587.62	0	0	0	30.00	30.00	15.52
14560.10	1028	351.96	0.77	0.00	1436.3	1250.0	1622.7	2650.8	3586.4	348.64	15.25	969	14567.30	0.00	0.00	2.48	0.000	0.000	0.034	1436.81	1250.50	1623.12	2656.06	2110.75	0	0	0	30.00	30.00	15.54
14876.02	516	351.96	0.77	-40.00	1435.2	1249.7	1620.7	2656.6	2107.8	302.26	14.52	987	14885.72	0.00	0.00	2.35	0.000	0.000	0.049	1435.19	1249.88	1620.50	2656.00	712.56	0	0	0	30.00	30.00	15.61
14903.00	1028	351.96	0.77	0.00	1435.3	1250.2	1620.4	2657.3	710.8	298.21	14.56	992	14910.91	0.00	0.00	2.51	0.000	0.000	0.041	1436.53	1251.25	1621.81	2654.00	2181.00	0	0	0	30.00	30.00	15.62
15214.67	0	351.96	0.77	0.00	1435.1	1250.5	1619.6	2656.7	2182.7	251.75	15.44	1008	15218.63	0.00	0.00	0.00	0.000	0.000	0.000	1434.19	1250.06	1618.31	2656.19	2183.00	0	0	0	30.00	30.00	30.00
15528.34	516	351.96	0.77	-40.00	1434.1	1250.3	1617.8	2656.3	2182.2	203.25	15.29	1039	15535.89	0.00	0.00	2.54	0.000	0.000	0.048	1434.75	1251.06	1618.44	2655.12	711.19	0	0	0	30.00	30.00	15.72
15561.92	1028	351.96	0.77	0.00	1434.2	1250.9	1617.6	2657.2	709.3	198.19	15.01	1045	15568.43	0.00	0.00	2.49	0.000	0.000	0.041	1433.72	1249.94	1617.50	2655.62	2180.44	0	0	0	30.00	30.00	15.71
15754.84	0	351.96	0.77	0.00	1433.8	1250.6	1617.1	2656.2	2183.0	168.57	16.28	1065	15758.80	0.00	0.00	0.00	0.000	0.000	0.000	1433.09	1250.44	1615.75	2655.75	2182.88	0	0	0	30.00	30.00	30.00
15942.01	0	351.96	0.77	0.00	1433.2	1250.5	1615.9	2656.4	2182.0	137.65	15.79	1084	15945.97	0.00	0.00	0.00	0.000	0.000	0.000	1432.91	1250.19	1615.62	2655.31	2182.38	0	0	0	30.00	30.00	30.00
16132.06	0	351.96	0.77	0.00	1433.2	1250.6	1615.9	2657.0	2182.4	108.07	14.86	1103	16136.05	0.00	0.00	0.00	0.000	0.000	0.000	1432.72	1250.38	1615.06	2656.69	2181.88	0	0	0	30.00	30.00	30.00
16326.25	516	351.96	0.77	-40.00	1433.3	1250.6	1616.0	2657.0	2182.5	78.10	16.71	1122	16332.89	0.00	0.00	2.52	0.000	0.000	0.047	1434.00	1251.00	1617.00	2656.44	712.00	0	0	0	30.00	30.00	15.75
16354.42	1028	351.96	0.77	0.00	1433.2	1251.2	1615.2	2657.1	712.4	73.37	16.71	1127	16361.21	0.00	0.00	2.48	0.000	0.000	0.041	1433.47	1251.00	1615.94	2656.44	2181.75	0	0	0	30.00	30.00	15.76
16545.02	260	351.96	0.77	40.00	1433.5	1251.2	1615.8	2657.7	2182.7	40.59	17.13	1146	16552.66	0.00	0.00	2.34	0.000	0.000	0.058	1433.34	1251.69	1615.00	2656.19	3589.44	0	0	0	30.00	30.00	15.16
16589.04	1028	351.96	0.77	0.00	1433.6	1252.1	1615.1	2656.8	3587.8	32.73	16.37	1154	16606.36	0.00	0.00	2.44	0.000	0.000	0.034	1433.88	1252.06	1615.69	2656.50	2108.56	0	0	0	30.00	30.00	15.72
16779	end climb: SURFACE_DEPTH_REACHED
state	16779	begin surface coast
16809	end surface coast: CONTROL_FINISHED_OK
state	16809	begin surface