Glider dive log

NORSE Sep21 * SG526 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 526 TGT_DEFAULT_LAT 4736 VBD_MIN 500 MOTHERBOARD 6

MISSION 2 TGT_DEFAULT_LON -12218 VBD_MAX 3960 DEVICE1 10

DIVE 8 TGT_AUTO_DEFAULT 0 C_VBD 3280 DEVICE2 -1

N_DIVES 0 SM_CC 595.40039 VBD_DBAND 2 DEVICE3 -1

STOP_T 0 N_FILEKB 8 VBD_CNV -0.24529999 DEVICE4 -1

D_SURF 2 FILEMGR 0 VBD_LP_IGNORE 0 DEVICE5 -1

D_FLARE 3 CALL_NDIVES 1 VBD_TIMEOUT 720 DEVICE6 -1

D_TGT 660 COMM_SEQ 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 7

D_ABORT 1000 PROTOCOL 9 UNCOM_BLEED 20 LOGGERDEVICE1 6

D_NO_BLEED 200 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 210 T_RSLEEP 1 AH0_10V 0 XPDR_DEVICE 21

T_MISSION 235 STROBE 0 MINV_24V 11 SIM_W 0

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 MINV_10V 11 SEABIRD_T_G 0.0044235685

T_TURN 225 RAFOS_CORR_THRESH 60 MAXI_24V 3 SEABIRD_T_H 0.00064556737

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 MAXI_10V 1.5 SEABIRD_T_I 2.6826387e-05

T_NO_W 120 RAFOS_MMODEM 0 FG_AHR_10V 20.79043 SEABIRD_T_J 3.279775e-06

T_LOITER 0 PITCH_MIN 150 FG_AHR_24V 616.44037 SEABIRD_C_G -9.9535656

T_EPIRB 0 PITCH_MAX 3615 PHONE_SUPPLY 2 SEABIRD_C_H 1.1462348

USE_BATHY 0 C_PITCH 2410 PRESSURE_YINT -160.53915 SEABIRD_C_I -0.0028440969

USE_ICE 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00022843899 SEABIRD_C_J 0.00028079707

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0041299998 COMPASS_USE 16388 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 PITCH_GAIN 25 ALTIM_PING_FIT 0 SC_PROFILE 7.0

RELAUNCH 1 PITCH_TIMEOUT 30 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 175 PITCH_ADJ_GAIN 0.015 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 1 ALTIM_TOP_MIN_OBSTACLE 0 PM_PROFILE 7.0

SPEED_FACTOR 1 PITCH_W_GAIN 0 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 7.0

RHO 1.0275 PITCH_W_DBAND 0 ALTIM_PING_DELTA 0 PM_NDIVE 1.0

MASS 56169 ROLL_MIN 380 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

NAV_MODE 2 ROLL_MAX 3950 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 2300 XPDR_VALID 4 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 3.0

HD_C 1.6e-05 ROLL_CNV 0.054945 XPDR_REP 0 TM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 1.9639999e-06 TM_XMITRAW 0.0

ESCAPE_HEADING 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -1 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 0.015 SEABIRD_T_J 3.279775e-06

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0041299998 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_DBAND 0.1 SM_CC 595.40039

ALTIM_FREQUENCY 13 FG_AHR_10V 20.79043 PITCH_GAIN 25 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 FG_AHR_24V 616.44037 PITCH_MAX 3615 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 30 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 GPS_DEVICE 48 PITCH_VBD_SHIFT 0.0012300001 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 -1 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 526 PM_SENDDEPTH 1.0 TM_RECORDABOVE 2000.0

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 1.9639999e-06 PM_XMITPROFILE 7.0 TM_XMITPROFILE 3.0

CAPUPLOAD 0 INT_PRESSURE_YINT -1 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 0.00022843899 T_BOOST 0

COMPASS2_DEVICE -1 LOGGERDEVICE2 33 PRESSURE_YINT -160.53915 T_DIVE 210

COMPASS_DEVICE 34 LOGGERDEVICE3 19 PROTOCOL 9 T_EPIRB 0

COMPASS_USE 16388 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_GPS 5

C_PITCH 2410 LOGGERS 7 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 2150 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 T_MISSION 235

C_ROLL_DIVE 2300 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 3280 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 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 56169 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

DEVICE1 10 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MAXI_24V 3 ROLL_CNV 0.054945 USE_BATHY 0

DEVICE3 -1 MAX_BUOY 175 ROLL_DEG 40 USE_ICE 0

DEVICE4 -1 MINV_10V 11 ROLL_MAX 3950 VBD_CNV -0.24529999

DEVICE5 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE6 -1 MISSION 2 ROLL_MIN 380 VBD_LP_IGNORE 0

DIVE 8 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 -9.9535656 XPDR_DEVICE 21

D_NO_BLEED 200 N_GPS 100440 SEABIRD_C_H 1.1462348 XPDR_INHIBIT 90

D_OFFGRID 1000 N_NOCOMM 2 SEABIRD_C_I -0.0028440969 XPDR_INT 0

D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00028079707 XPDR_REP 0

D_SAFE 0 PHONE_DEVICE 33 SEABIRD_T_G 0.0044235685 XPDR_VALID 4

D_SURF 2 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064556737

D_TGT 660 PITCH_ADJ_DBAND 1 SEABIRD_T_I 2.6826387e-05

Pre-dive calculations and measurements:

GPS1 040921,193311,6802.583,-56.722,25,1.8,25,-1.8 TGT_RADIUS 5000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040921,195103,6802.566,-56.212,26,0.7,27,-1.8 MHEAD_RNG_PITCHd_Wd 351.8,161946,-16.9,-10.476,-20.52

SPEED_LIMITS 0.181,0.280 D_GRID 660

TGT_NAME AF1 IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,59.000000,105.000000,17.000000

TGT_LATLONG 6930.000,-100.000

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped _10V_AH 14.45,0.000

FINISH -0.7,1.026947 FG_AHR_24Vo 616.698

SM_CCo 13205.08,250.32,1.130,0,853.4,812.1,894.8,595.24 FG_AHR_10Vo 20.999

SM_GC 0.20,250.32,6.86,0.17,1.130,0.052,0.061,853.4,812.1,894.8,133.6,2350.8,0,0,0,12.21,15.79,15.83 MEM0 60820,1,0,0

SUPER 19,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 6801.34,-51.73,040921,154705 MEM2 1021340,19,25548,65

TCM_TEMP 14.50 DATA_FILE_SIZE 41746,1256

XPDR_PINGS 21,14.5,10.5 CAP_FILE_SIZE 273512,0

SC_FREEKB 3875008 SDSIZE 4028416,4011520

PM_FREEKB_00 58095040 SDFILEDIR 92,1

PM_FREEKB_01 62342912 ERRORS 0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 CURRENT 0.097,155.8,1

TM_FREEKB 7590560 MAGCAL 1.000000,0.075820,-0.068302,-0.052092,0.656675,-0.198330,0.168574,0.043030,1.345347,117.0,191.3,-108.2,29,0.1735,0

HUMID 54.44 IMPLIED_C_PITCH 2388,18.77,775

TEMP 6.46 IMPLIED_C_VBD 3210,30.630655,775

INTERNAL_PRESSURE 8.29994 GPS 040921,233233,6803.838,-55.761,31,1.0,32,-1.8

_24V_AH 14.20,4.802

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 752 1916 20495.96 SBE_CT 0 0 0.00

Pitch_motor 19 437 124.04 nil 0 0 0.00

Roll_motor 83 126 150.52 nil 0 0 0.00

Iridium 877 228 2850.38 nil 0 0 0.00

Transponder_ping 5 420 31.31 nil 0 0 0.00

GPS 36 15 7.91 nil 0 0 0.00

Core 5456 11 930.38 SciCon 12942 18 3501.05

LPSleep 8326 2 336.90 PMAR 12960 15 2959.08

Compass 2881 5 208.17 TMICL 12961 18 3397.75

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

14.42 16386 -170.32 -0.89 0.00 847.7 803.2 892.2 100.1 2223.7 0.00 0.00 0 180.36 157.13 0.00 0.15 0.005 0.000 0.116 3959.19 3909.44 4008.94 96.94 2367.81 0 0 0 15.30 30.00 15.46

180.60 18951 -170.32 -0.89 -40.00 3959.7 3909.6 4009.8 97.0 2367.3 4.27 -14.95 16 199.59 0.00 10.65 1.37 0.107 0.437 0.035 3962.00 3911.50 4012.50 2196.25 1529.50 0 0 0 30.36 15.24 15.53

427.09 17446 -170.32 -0.89 0.00 3964.1 3910.2 4017.9 2197.1 1528.0 39.68 -9.84 65 433.97 0.00 0.00 1.36 0.000 0.000 0.041 3964.66 3910.81 4018.50 2192.00 2331.62 0 0 0 30.00 30.00 15.67

623.58 16678 -170.32 -0.89 40.00 3964.7 3910.4 4019.0 2192.9 2331.5 56.44 -7.59 85 634.29 0.00 0.00 1.18 0.000 0.000 0.051 3965.19 3910.56 4019.81 2187.69 3059.25 0 0 0 30.00 30.00 15.67

739.26 17446 -170.32 -0.89 0.00 3965.8 3911.4 4020.2 2187.7 3060.2 65.56 -8.09 107 748.07 0.00 0.00 1.33 0.000 0.000 0.031 3965.50 3910.44 4020.56 2187.56 2250.75 0 0 0 30.00 30.00 15.70

933.53 16678 -170.32 -0.89 40.00 3964.6 3909.5 4019.8 2187.2 2243.5 82.59 -8.97 127 940.08 0.00 0.00 1.38 0.000 0.000 0.049 3965.97 3911.19 4020.75 2181.50 3060.31 0 0 0 30.00 30.00 15.59

1004.18 17446 -170.32 -0.89 0.00 3965.4 3910.2 4020.7 2182.5 3060.2 89.11 -9.06 141 1013.00 0.00 0.00 1.33 0.000 0.000 0.031 3965.41 3910.19 4020.62 2182.38 2249.56 0 0 0 30.00 30.00 15.72

1199.74 16678 -170.32 -0.89 40.00 3965.7 3910.4 4020.9 2181.9 2243.8 107.63 -9.69 161 1207.21 0.00 0.00 1.37 0.000 0.000 0.048 3966.03 3910.00 4022.06 2176.56 3061.69 0 0 0 30.00 30.00 15.74

1253.62 17446 -170.32 -0.89 0.00 3964.9 3909.8 4019.9 2176.8 3062.1 112.85 -9.75 171 1260.18 0.00 0.00 1.33 0.000 0.000 0.031 3965.66 3910.25 4021.06 2177.38 2250.56 0 0 0 30.00 30.00 15.74

1443.48 16418 -170.32 -0.89 0.00 3965.0 3910.8 4019.3 2176.1 2243.9 132.19 -10.06 191 1450.73 0.00 0.00 0.00 0.000 0.000 0.000 3966.44 3910.50 4022.38 2176.75 2243.69 0 0 0 30.00 30.00 30.00

1633.37 16678 -170.32 -0.89 40.00 3964.1 3909.1 4019.2 2176.8 2241.6 151.19 -9.97 210 1639.66 0.00 0.00 1.37 0.000 0.000 0.049 3966.28 3910.44 4022.12 2170.50 3058.69 0 0 0 30.00 30.00 15.77

1683.80 17446 -170.32 -0.89 0.00 3965.1 3910.1 4020.2 2171.4 3059.8 156.06 -9.74 220 1692.11 0.00 0.00 1.32 0.000 0.000 0.033 3965.34 3909.38 4021.31 2170.31 2249.25 0 0 0 30.00 30.00 15.51

1877.04 18727 -170.32 -0.89 40.00 3965.7 3909.9 4021.6 2170.9 2242.8 174.99 -9.84 240 1885.83 0.00 0.10 1.37 0.000 0.266 0.049 3965.03 3910.19 4019.88 2194.38 3062.94 0 0 0 30.00 15.67 15.73

1951.26 17574 -170.32 -0.92 0.00 3964.2 3909.6 4018.9 2194.1 3062.2 181.38 -8.47 254 1958.13 0.00 0.00 1.33 0.000 0.000 0.031 3965.50 3910.06 4020.94 2194.06 2250.75 0 0 0 30.00 30.00 15.76

2143.28 16806 -170.32 -0.94 40.00 3965.2 3909.4 4021.0 2193.8 2239.1 197.81 -8.57 274 2150.14 0.00 0.00 1.37 0.000 0.000 0.049 3965.22 3910.69 4019.75 2189.06 3059.50 0 0 0 30.00 30.00 15.78

2210.44 1188 -170.32 -0.97 0.00 3965.5 3910.6 4020.4 2188.6 3059.8 203.76 -8.52 287 2218.46 0.00 0.00 1.32 0.000 0.000 0.031 3965.56 3909.75 4021.38 2188.44 2249.69 0 0 0 30.00 30.00 15.78

2408.27 420 -170.32 -0.99 40.00 3965.3 3910.3 4020.4 2188.9 2237.8 220.91 -8.92 307 2413.72 0.00 0.00 1.37 0.000 0.000 0.049 3966.03 3909.81 4022.25 2183.31 3060.50 0 0 0 30.00 30.00 15.77

2468.27 1188 -170.32 -1.01 0.00 3964.1 3908.5 4019.7 2182.4 3061.2 226.35 -8.78 319 2473.74 0.00 0.00 1.32 0.000 0.000 0.033 3965.97 3910.38 4021.56 2183.56 2251.00 0 0 0 30.00 30.00 15.55

2660.04 292 -170.32 -1.01 40.00 3965.1 3909.6 4020.5 2183.2 2237.8 243.90 -9.32 339 2667.02 0.00 0.00 1.37 0.000 0.000 0.050 3965.69 3910.38 4021.00 2177.31 3060.56 0 0 0 30.00 30.00 15.76

2724.38 1188 -170.32 -1.03 0.00 3965.5 3909.6 4021.3 2176.6 3060.8 250.12 -9.23 352 2736.00 0.00 0.00 1.33 0.000 0.000 0.032 3965.09 3910.06 4020.12 2176.69 2247.94 0 0 0 30.00 30.00 15.78

2933.92 292 -170.32 -1.03 40.00 3965.1 3909.2 4021.0 2176.9 2237.5 270.06 -9.70 363 2940.80 0.00 0.00 1.37 0.000 0.000 0.050 3964.53 3908.81 4020.25 2171.69 3059.94 0 0 0 30.00 30.00 15.78

3024.31 1060 -170.32 -1.03 0.00 3964.6 3908.9 4020.4 2171.3 3059.8 279.16 -9.73 381 3031.68 0.00 0.00 1.32 0.000 0.000 0.032 3964.47 3908.44 4020.50 2171.31 2250.56 0 0 0 30.00 30.00 15.79

3337.16 292 -170.32 -1.03 40.00 3964.1 3907.9 4020.4 2171.6 2238.1 309.41 -9.67 398 3344.03 0.00 0.00 1.37 0.000 0.000 0.051 3964.91 3909.19 4020.62 2165.19 3058.81 0 0 0 30.00 30.00 15.79

3432.55 1060 -170.32 -1.03 0.00 3964.0 3907.6 4020.3 2164.3 3060.1 318.98 -9.72 417 3439.49 0.00 0.00 1.32 0.000 0.000 0.032 3964.06 3907.50 4020.62 2165.31 2250.44 0 0 0 30.00 30.00 15.78

3761.69 292 -170.32 -1.03 40.00 3963.4 3906.2 4020.6 2165.2 2237.3 350.83 -9.70 434 3768.51 0.00 0.00 1.37 0.000 0.000 0.051 3963.91 3906.75 4021.06 2159.50 3058.00 0 0 0 30.00 30.00 15.79

3911.01 1060 -170.32 -1.03 0.00 3962.6 3904.3 4020.9 2159.8 3056.6 365.85 -9.71 464 3917.60 0.00 0.00 1.32 0.000 0.000 0.033 3962.31 3904.31 4020.31 2159.50 2251.06 0 0 0 30.00 30.00 15.80

4223.93 292 -170.32 -1.03 40.00 3962.4 3904.8 4020.1 2159.4 2239.7 396.94 -10.16 481 4232.42 0.00 0.00 1.37 0.000 0.000 0.052 3962.62 3904.50 4020.75 2154.00 3058.75 0 0 0 30.00 30.00 15.79

4315.51 1028 -170.32 -1.03 0.00 3962.2 3903.4 4021.0 2153.8 3059.9 407.08 -10.76 499 4322.49 0.00 0.00 1.32 0.000 0.000 0.033 3962.88 3904.38 4021.38 2153.88 2250.81 0 0 0 30.00 30.00 15.79

4628.18 0 -170.32 -1.03 0.00 3961.4 3902.9 4019.9 2152.7 2240.2 441.23 -10.94 516 4632.27 0.00 0.00 0.00 0.000 0.000 0.000 3960.84 3902.06 4019.62 2152.56 2239.38 0 0 0 30.00 30.00 30.00

4946.21 260 -170.32 -1.03 40.00 3961.1 3901.1 4021.1 2153.9 2237.6 476.81 -10.95 532 4955.36 0.00 0.00 1.38 0.000 0.000 0.053 3960.75 3901.25 4020.25 2147.56 3058.56 0 0 0 30.00 30.00 15.79

5078.89 1028 -170.32 -1.03 0.00 3960.3 3899.6 4020.9 2147.6 3059.2 491.12 -10.57 558 5086.24 0.00 0.00 1.33 0.000 0.000 0.034 3960.00 3899.62 4020.38 2147.88 2251.81 0 0 0 30.00 30.00 15.79

5389.99 388 -170.32 -1.01 40.00 3959.8 3899.4 4020.2 2148.2 2239.9 524.35 -10.70 575 5399.12 0.00 0.00 1.38 0.000 0.000 0.054 3960.53 3900.00 4021.06 2141.62 3058.50 0 0 0 30.00 30.00 15.76

5501.49 3205 -170.32 -1.00 0.00 3959.4 3898.8 4020.0 2141.9 3058.6 536.49 -10.72 597 5509.83 0.00 0.10 1.33 0.000 0.227 0.034 3959.22 3899.06 4019.38 2170.06 2247.44 0 0 0 30.00 15.71 15.78

5813.60 292 -170.32 -1.00 40.00 3958.2 3897.0 4019.5 2169.9 2237.6 565.48 -9.22 614 5822.74 0.00 0.00 1.38 0.000 0.000 0.054 3958.44 3897.00 4019.88 2166.12 3055.25 0 0 0 30.00 30.00 15.79

5926.28 1188 -170.32 -1.02 0.00 3957.8 3895.8 4019.8 2166.7 3055.9 576.16 -9.32 636 5935.41 0.00 0.00 1.33 0.000 0.000 0.035 3957.47 3895.56 4019.38 2166.19 2252.69 0 0 0 30.00 30.00 15.64

6240.63 292 -170.32 -1.02 40.00 3957.2 3894.8 4019.7 2166.5 2243.1 605.16 -9.33 653 6248.94 0.00 0.00 1.38 0.000 0.000 0.056 3957.06 3894.25 4019.88 2160.75 3056.25 0 0 0 30.00 30.00 15.78

6346.36 1060 -170.32 -1.02 0.00 3956.3 3894.0 4018.6 2159.6 3056.4 615.30 -9.32 674 6353.65 0.00 0.00 1.33 0.000 0.000 0.036 3955.81 3893.69 4017.94 2160.62 2254.56 0 0 0 30.00 30.00 15.78

6661.95 292 -170.32 -1.02 40.00 3955.5 3893.1 4017.9 2160.1 2244.7 644.51 -9.27 692 6670.92 0.00 0.00 1.38 0.000 0.000 0.056 3956.22 3893.62 4018.81 2154.50 3055.69 0 0 0 30.00 30.00 15.75

6800.51 1060 -170.32 -1.02 0.00 3955.2 3893.9 4016.4 2154.4 3055.6 657.57 -9.37 719 6810.39 0.00 0.00 1.33 0.000 0.000 0.036 3955.19 3892.69 4017.69 2154.06 2250.31 0 0 0 30.00 30.00 15.76

6848 end dive: TARGET_DEPTH_EXCEEDED

state 6849 begin apogee

6849.43 10243 0.00 -0.20 0.00 3954.3 3892.6 4015.9 2154.5 2095.8 661.91 -9.65 722 6995.01 139.34 0.69 0.15 1.917 0.195 0.127 3280.88 3178.06 3383.69 2364.50 2201.31 0 0 0 12.06 15.69 14.82

7000 end apogee: CONTROL_FINISHED_OK

state 7000 begin climb

7000.12 10759 170.32 0.89 -40.00 3277.4 3174.4 3380.3 2363.1 2201.5 665.38 0.00 729 7147.45 139.76 0.77 1.46 1.870 0.062 0.056 2587.00 2497.62 2676.38 2644.38 1392.12 0 0 0 11.83 15.02 14.73

7234.94 21639 170.32 0.80 0.00 2575.7 2486.0 2665.3 2644.6 1392.9 641.43 14.35 774 7241.60 0.00 0.19 1.37 0.000 0.237 0.042 2577.41 2487.12 2667.69 2596.69 2188.38 0 0 0 30.00 15.18 15.26

7550.31 16774 170.32 0.77 40.00 2571.9 2479.1 2664.8 2596.1 2187.6 606.64 10.65 792 7556.53 0.00 0.00 1.17 0.000 0.000 0.050 2573.06 2480.31 2665.81 2593.56 2906.75 0 0 0 30.00 30.00 15.55

7605.04 17542 170.32 0.73 0.00 2572.0 2479.6 2664.4 2593.4 2906.4 600.70 10.77 803 7611.90 0.00 0.00 1.35 0.000 0.000 0.041 2573.38 2480.00 2666.75 2598.38 2116.19 0 0 0 30.00 30.00 15.57

7930.29 8614 177.93 0.71 40.00 2570.0 2475.7 2664.2 2598.7 2117.1 566.89 10.16 820 7941.96 6.64 0.00 1.36 1.264 0.000 0.056 2554.41 2457.88 2650.94 2597.94 2904.69 0 0 0 12.22 30.00 15.52

7985.02 1156 177.93 0.68 0.00 2552.2 2455.7 2648.6 2597.9 2906.1 561.07 10.64 831 7994.40 0.00 0.00 1.35 0.000 0.000 0.042 2553.16 2457.88 2648.44 2603.56 2120.62 0 0 0 30.00 30.00 15.65

8311.68 4485 177.93 0.65 40.00 2551.5 2454.8 2648.2 2604.4 2121.1 526.79 10.53 848 8318.04 0.00 0.16 1.35 0.000 0.228 0.052 2552.09 2455.88 2648.31 2558.94 2906.12 0 0 0 30.00 15.59 15.68

8352.78 9254 213.44 0.69 0.00 2550.2 2453.1 2647.4 2558.9 2906.1 523.19 8.99 856 8392.56 31.55 0.00 1.34 1.752 0.000 0.043 2410.72 2302.88 2518.56 2561.31 2121.56 0 0 0 12.19 30.00 15.71

8710.73 10919 246.50 0.76 -40.00 2400.3 2294.4 2506.2 2561.8 2121.1 491.73 9.09 879 8746.61 28.23 0.09 1.22 1.670 0.091 0.060 2275.25 2164.81 2385.69 2621.06 1393.19 0 0 0 12.15 15.60 15.29

8784.11 5125 246.50 0.76 0.00 2270.8 2161.5 2380.2 2621.9 1392.1 482.85 12.75 893 8790.89 0.00 0.12 1.37 0.000 0.210 0.043 2270.62 2162.12 2379.12 2587.88 2183.94 0 0 0 30.00 15.42 15.48

9109.44 128 246.50 0.79 0.00 2267.5 2160.6 2374.5 2587.1 2184.8 447.44 10.95 910 9113.46 0.00 0.00 0.00 0.000 0.000 0.000 2266.41 2160.25 2372.56 2587.94 2184.12 0 0 0 30.00 30.00 30.00

9432.00 17030 246.50 0.81 -40.00 2266.3 2159.9 2372.8 2587.5 2184.4 412.52 10.73 926 9440.31 0.00 0.00 1.37 0.000 0.000 0.052 2267.59 2161.88 2373.31 2590.94 1394.25 0 0 0 30.00 30.00 15.57

9497.67 17542 246.50 0.83 0.00 2265.8 2159.7 2371.9 2591.0 1394.5 404.92 11.03 939 9504.28 0.00 0.00 1.34 0.000 0.000 0.043 2267.16 2161.06 2373.25 2590.81 2185.12 0 0 0 30.00 30.00 15.73

9814.10 19079 246.50 0.86 -40.00 2264.6 2158.1 2371.1 2591.6 2185.7 370.65 10.74 957 9822.96 0.00 0.08 1.37 0.000 0.108 0.051 2265.91 2159.12 2372.69 2647.50 1393.69 0 0 0 30.00 15.72 15.74

9860.56 21639 246.50 0.81 0.00 2265.2 2158.9 2371.5 2646.5 1393.1 364.27 14.25 966 9867.22 0.00 0.17 1.34 0.000 0.225 0.043 2265.81 2159.56 2372.06 2598.69 2186.50 0 0 0 30.00 15.66 15.76

10176.99 16386 246.50 0.81 0.00 2264.0 2158.0 2369.9 2598.6 2186.0 327.37 11.76 984 10186.13 0.00 0.00 0.00 0.000 0.000 0.000 2263.22 2157.12 2369.31 2598.94 2185.06 0 0 0 30.00 30.00 30.00

10496.21 16902 246.50 0.81 -40.00 2263.5 2157.3 2369.6 2599.4 2185.4 289.90 11.78 1000 10505.35 0.00 0.00 1.37 0.000 0.000 0.051 2264.28 2157.88 2370.69 2603.44 1393.62 0 0 0 30.00 30.00 15.62

10538.81 17542 246.50 0.83 0.00 2263.0 2157.2 2368.8 2601.6 1393.1 284.85 12.06 1008 10549.67 0.00 0.00 1.34 0.000 0.000 0.042 2264.03 2157.62 2370.44 2603.75 2183.88 0 0 0 30.00 30.00 15.78

10852.29 16386 246.50 0.83 0.00 2263.8 2157.7 2370.0 2602.4 2183.9 247.28 11.82 1027 10856.54 0.00 0.00 0.00 0.000 0.000 0.000 2262.59 2156.88 2368.31 2602.06 2184.06 0 0 0 30.00 30.00 30.00

11042.31 16386 246.50 0.83 0.00 2263.8 2158.1 2369.4 2602.6 2184.4 224.95 11.78 1046 11046.33 0.00 0.00 0.00 0.000 0.000 0.000 2262.72 2157.12 2368.31 2602.50 2184.25 0 0 0 30.00 30.00 30.00

11233.17 16514 246.50 0.84 0.00 2263.6 2157.2 2370.1 2602.4 2184.2 202.32 11.91 1065 11242.27 0.00 0.00 0.00 0.000 0.000 0.000 2262.75 2157.44 2368.06 2602.00 2184.06 0 0 0 30.00 30.00 30.00

11425.03 17030 246.50 0.86 -40.00 2262.9 2156.1 2369.8 2601.8 2184.8 179.86 11.57 1084 11431.34 0.00 0.00 1.36 0.000 0.000 0.050 2263.78 2157.94 2369.62 2608.12 1391.38 0 0 0 30.00 30.00 15.80

11455.56 17414 246.50 0.86 0.00 2263.7 2157.2 2370.2 2608.1 1391.6 176.39 11.54 1090 11461.81 0.00 0.00 1.34 0.000 0.000 0.042 2264.00 2158.19 2369.81 2606.25 2185.62 0 0 0 30.00 30.00 15.79

11645.50 16902 246.50 0.86 -40.00 2263.3 2157.3 2369.3 2607.2 2186.9 153.52 12.00 1110 11651.84 0.00 0.00 1.36 0.000 0.000 0.050 2263.06 2156.88 2369.25 2612.69 1394.00 0 0 0 30.00 30.00 15.80

11675.52 17414 246.50 0.86 0.00 2263.1 2156.9 2369.3 2612.6 1394.1 149.94 11.84 1116 11681.85 0.00 0.00 1.33 0.000 0.000 0.042 2263.94 2158.12 2369.75 2613.62 2184.62 0 0 0 30.00 30.00 15.80

11869.25 16646 246.50 0.86 40.00 2263.7 2157.1 2370.2 2613.4 2183.4 126.98 12.04 1136 11874.67 0.00 0.00 1.16 0.000 0.000 0.051 2263.72 2157.75 2369.69 2613.88 2906.69 0 0 0 30.00 30.00 15.78

11913.15 17414 246.50 0.86 0.00 2263.6 2157.1 2370.1 2612.6 2907.9 121.02 12.59 1145 11919.99 0.00 0.00 1.34 0.000 0.000 0.042 2263.44 2157.00 2369.88 2617.69 2117.75 0 0 0 30.00 30.00 15.80

12109.05 16902 246.50 0.86 -40.00 2263.3 2157.1 2369.5 2618.4 2117.7 97.32 11.84 1165 12114.70 0.00 0.00 1.18 0.000 0.000 0.052 2264.53 2157.81 2371.25 2623.81 1391.12 0 0 0 30.00 30.00 15.78

12153.13 17414 246.50 0.86 0.00 2263.2 2156.4 2369.9 2624.1 1391.8 91.96 12.00 1174 12160.03 0.00 0.00 1.33 0.000 0.000 0.040 2264.12 2157.56 2370.69 2624.75 2184.06 0 0 0 30.00 30.00 15.79

12349.03 16902 246.50 0.86 -40.00 2264.1 2157.3 2370.9 2623.9 2185.2 68.56 12.09 1194 12354.77 0.00 0.00 1.36 0.000 0.000 0.050 2264.59 2158.06 2371.12 2629.00 1390.69 0 0 0 30.00 30.00 15.79

12378.45 17414 246.50 0.86 0.00 2262.7 2156.3 2369.0 2630.1 1391.2 64.81 12.51 1200 12384.80 0.00 0.00 1.34 0.000 0.000 0.041 2264.16 2157.81 2370.50 2628.94 2185.19 0 0 0 30.00 30.00 15.78

12569.59 16386 246.50 0.86 0.00 2263.3 2156.9 2369.7 2629.2 2186.7 40.46 12.62 1220 12578.75 0.00 0.00 0.00 0.000 0.000 0.000 2261.88 2156.31 2367.44 2628.94 2186.62 0 0 0 30.00 30.00 30.00

12761.38 16386 246.50 0.86 0.00 2263.0 2156.6 2369.4 2630.0 2187.1 18.02 11.86 1239 12765.40 0.00 0.00 0.00 0.000 0.000 0.000 2262.56 2156.75 2368.38 2629.25 2186.25 0 0 0 30.00 30.00 30.00

12914 end climb: SURFACE_DEPTH_REACHED

state 12914 begin surface coast

12932 end surface coast: CONTROL_FINISHED_OK

state 12932 begin surface

ID	526	TGT_DEFAULT_LAT	4736	VBD_MIN	500	MOTHERBOARD	6
MISSION	2	TGT_DEFAULT_LON	-12218	VBD_MAX	3960	DEVICE1	10
DIVE	8	TGT_AUTO_DEFAULT	0	C_VBD	3280	DEVICE2	-1
N_DIVES	0	SM_CC	595.40039	VBD_DBAND	2	DEVICE3	-1
STOP_T	0	N_FILEKB	8	VBD_CNV	-0.24529999	DEVICE4	-1
D_SURF	2	FILEMGR	0	VBD_LP_IGNORE	0	DEVICE5	-1
D_FLARE	3	CALL_NDIVES	1	VBD_TIMEOUT	720	DEVICE6	-1
D_TGT	660	COMM_SEQ	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	7
D_ABORT	1000	PROTOCOL	9	UNCOM_BLEED	20	LOGGERDEVICE1	6
D_NO_BLEED	200	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	210	T_RSLEEP	1	AH0_10V	0	XPDR_DEVICE	21
T_MISSION	235	STROBE	0	MINV_24V	11	SIM_W	0
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	MINV_10V	11	SEABIRD_T_G	0.0044235685
T_TURN	225	RAFOS_CORR_THRESH	60	MAXI_24V	3	SEABIRD_T_H	0.00064556737
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	MAXI_10V	1.5	SEABIRD_T_I	2.6826387e-05
T_NO_W	120	RAFOS_MMODEM	0	FG_AHR_10V	20.79043	SEABIRD_T_J	3.279775e-06
T_LOITER	0	PITCH_MIN	150	FG_AHR_24V	616.44037	SEABIRD_C_G	-9.9535656
T_EPIRB	0	PITCH_MAX	3615	PHONE_SUPPLY	2	SEABIRD_C_H	1.1462348
USE_BATHY	0	C_PITCH	2410	PRESSURE_YINT	-160.53915	SEABIRD_C_I	-0.0028440969
USE_ICE	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00022843899	SEABIRD_C_J	0.00028079707
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0041299998	COMPASS_USE	16388	SC_RECORDABOVE	2000.0
D_OFFGRID	1000	PITCH_GAIN	25	ALTIM_PING_FIT	0	SC_PROFILE	7.0
RELAUNCH	1	PITCH_TIMEOUT	30	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	175	PITCH_ADJ_GAIN	0.015	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	1	ALTIM_TOP_MIN_OBSTACLE	0	PM_PROFILE	7.0
SPEED_FACTOR	1	PITCH_W_GAIN	0	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	7.0
RHO	1.0275	PITCH_W_DBAND	0	ALTIM_PING_DELTA	0	PM_NDIVE	1.0
MASS	56169	ROLL_MIN	380	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
NAV_MODE	2	ROLL_MAX	3950	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	2300	XPDR_VALID	4	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	3.0
HD_C	1.6e-05	ROLL_CNV	0.054945	XPDR_REP	0	TM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	1.9639999e-06	TM_XMITRAW	0.0
ESCAPE_HEADING	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-1	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	040921,193311,6802.583,-56.722,25,1.8,25,-1.8	TGT_RADIUS	5000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040921,195103,6802.566,-56.212,26,0.7,27,-1.8	MHEAD_RNG_PITCHd_Wd	351.8,161946,-16.9,-10.476,-20.52
SPEED_LIMITS	0.181,0.280	D_GRID	660
TGT_NAME	AF1	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,59.000000,105.000000,17.000000
TGT_LATLONG	6930.000,-100.000

WARN	HTMICL TMICL logging already stopped	_10V_AH	14.45,0.000
FINISH	-0.7,1.026947	FG_AHR_24Vo	616.698
SM_CCo	13205.08,250.32,1.130,0,853.4,812.1,894.8,595.24	FG_AHR_10Vo	20.999
SM_GC	0.20,250.32,6.86,0.17,1.130,0.052,0.061,853.4,812.1,894.8,133.6,2350.8,0,0,0,12.21,15.79,15.83	MEM0	60820,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	6801.34,-51.73,040921,154705	MEM2	1021340,19,25548,65
TCM_TEMP	14.50	DATA_FILE_SIZE	41746,1256
XPDR_PINGS	21,14.5,10.5	CAP_FILE_SIZE	273512,0
SC_FREEKB	3875008	SDSIZE	4028416,4011520
PM_FREEKB_00	58095040	SDFILEDIR	92,1
PM_FREEKB_01	62342912	ERRORS	0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	CURRENT	0.097,155.8,1
TM_FREEKB	7590560	MAGCAL	1.000000,0.075820,-0.068302,-0.052092,0.656675,-0.198330,0.168574,0.043030,1.345347,117.0,191.3,-108.2,29,0.1735,0
HUMID	54.44	IMPLIED_C_PITCH	2388,18.77,775
TEMP	6.46	IMPLIED_C_VBD	3210,30.630655,775
INTERNAL_PRESSURE	8.29994	GPS	040921,233233,6803.838,-55.761,31,1.0,32,-1.8
_24V_AH	14.20,4.802

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	752	1916	20495.96	SBE_CT	0	0	0.00
Pitch_motor	19	437	124.04	nil	0	0	0.00
Roll_motor	83	126	150.52	nil	0	0	0.00
Iridium	877	228	2850.38	nil	0	0	0.00
Transponder_ping	5	420	31.31	nil	0	0	0.00
GPS	36	15	7.91	nil	0	0	0.00
Core	5456	11	930.38	SciCon	12942	18	3501.05
LPSleep	8326	2	336.90	PMAR	12960	15	2959.08
Compass	2881	5	208.17	TMICL	12961	18	3397.75
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
14.42	16386	-170.32	-0.89	0.00	847.7	803.2	892.2	100.1	2223.7	0.00	0.00	0	180.36	157.13	0.00	0.15	0.005	0.000	0.116	3959.19	3909.44	4008.94	96.94	2367.81	0	0	0	15.30	30.00	15.46
180.60	18951	-170.32	-0.89	-40.00	3959.7	3909.6	4009.8	97.0	2367.3	4.27	-14.95	16	199.59	0.00	10.65	1.37	0.107	0.437	0.035	3962.00	3911.50	4012.50	2196.25	1529.50	0	0	0	30.36	15.24	15.53
427.09	17446	-170.32	-0.89	0.00	3964.1	3910.2	4017.9	2197.1	1528.0	39.68	-9.84	65	433.97	0.00	0.00	1.36	0.000	0.000	0.041	3964.66	3910.81	4018.50	2192.00	2331.62	0	0	0	30.00	30.00	15.67
623.58	16678	-170.32	-0.89	40.00	3964.7	3910.4	4019.0	2192.9	2331.5	56.44	-7.59	85	634.29	0.00	0.00	1.18	0.000	0.000	0.051	3965.19	3910.56	4019.81	2187.69	3059.25	0	0	0	30.00	30.00	15.67
739.26	17446	-170.32	-0.89	0.00	3965.8	3911.4	4020.2	2187.7	3060.2	65.56	-8.09	107	748.07	0.00	0.00	1.33	0.000	0.000	0.031	3965.50	3910.44	4020.56	2187.56	2250.75	0	0	0	30.00	30.00	15.70
933.53	16678	-170.32	-0.89	40.00	3964.6	3909.5	4019.8	2187.2	2243.5	82.59	-8.97	127	940.08	0.00	0.00	1.38	0.000	0.000	0.049	3965.97	3911.19	4020.75	2181.50	3060.31	0	0	0	30.00	30.00	15.59
1004.18	17446	-170.32	-0.89	0.00	3965.4	3910.2	4020.7	2182.5	3060.2	89.11	-9.06	141	1013.00	0.00	0.00	1.33	0.000	0.000	0.031	3965.41	3910.19	4020.62	2182.38	2249.56	0	0	0	30.00	30.00	15.72
1199.74	16678	-170.32	-0.89	40.00	3965.7	3910.4	4020.9	2181.9	2243.8	107.63	-9.69	161	1207.21	0.00	0.00	1.37	0.000	0.000	0.048	3966.03	3910.00	4022.06	2176.56	3061.69	0	0	0	30.00	30.00	15.74
1253.62	17446	-170.32	-0.89	0.00	3964.9	3909.8	4019.9	2176.8	3062.1	112.85	-9.75	171	1260.18	0.00	0.00	1.33	0.000	0.000	0.031	3965.66	3910.25	4021.06	2177.38	2250.56	0	0	0	30.00	30.00	15.74
1443.48	16418	-170.32	-0.89	0.00	3965.0	3910.8	4019.3	2176.1	2243.9	132.19	-10.06	191	1450.73	0.00	0.00	0.00	0.000	0.000	0.000	3966.44	3910.50	4022.38	2176.75	2243.69	0	0	0	30.00	30.00	30.00
1633.37	16678	-170.32	-0.89	40.00	3964.1	3909.1	4019.2	2176.8	2241.6	151.19	-9.97	210	1639.66	0.00	0.00	1.37	0.000	0.000	0.049	3966.28	3910.44	4022.12	2170.50	3058.69	0	0	0	30.00	30.00	15.77
1683.80	17446	-170.32	-0.89	0.00	3965.1	3910.1	4020.2	2171.4	3059.8	156.06	-9.74	220	1692.11	0.00	0.00	1.32	0.000	0.000	0.033	3965.34	3909.38	4021.31	2170.31	2249.25	0	0	0	30.00	30.00	15.51
1877.04	18727	-170.32	-0.89	40.00	3965.7	3909.9	4021.6	2170.9	2242.8	174.99	-9.84	240	1885.83	0.00	0.10	1.37	0.000	0.266	0.049	3965.03	3910.19	4019.88	2194.38	3062.94	0	0	0	30.00	15.67	15.73
1951.26	17574	-170.32	-0.92	0.00	3964.2	3909.6	4018.9	2194.1	3062.2	181.38	-8.47	254	1958.13	0.00	0.00	1.33	0.000	0.000	0.031	3965.50	3910.06	4020.94	2194.06	2250.75	0	0	0	30.00	30.00	15.76
2143.28	16806	-170.32	-0.94	40.00	3965.2	3909.4	4021.0	2193.8	2239.1	197.81	-8.57	274	2150.14	0.00	0.00	1.37	0.000	0.000	0.049	3965.22	3910.69	4019.75	2189.06	3059.50	0	0	0	30.00	30.00	15.78
2210.44	1188	-170.32	-0.97	0.00	3965.5	3910.6	4020.4	2188.6	3059.8	203.76	-8.52	287	2218.46	0.00	0.00	1.32	0.000	0.000	0.031	3965.56	3909.75	4021.38	2188.44	2249.69	0	0	0	30.00	30.00	15.78
2408.27	420	-170.32	-0.99	40.00	3965.3	3910.3	4020.4	2188.9	2237.8	220.91	-8.92	307	2413.72	0.00	0.00	1.37	0.000	0.000	0.049	3966.03	3909.81	4022.25	2183.31	3060.50	0	0	0	30.00	30.00	15.77
2468.27	1188	-170.32	-1.01	0.00	3964.1	3908.5	4019.7	2182.4	3061.2	226.35	-8.78	319	2473.74	0.00	0.00	1.32	0.000	0.000	0.033	3965.97	3910.38	4021.56	2183.56	2251.00	0	0	0	30.00	30.00	15.55
2660.04	292	-170.32	-1.01	40.00	3965.1	3909.6	4020.5	2183.2	2237.8	243.90	-9.32	339	2667.02	0.00	0.00	1.37	0.000	0.000	0.050	3965.69	3910.38	4021.00	2177.31	3060.56	0	0	0	30.00	30.00	15.76
2724.38	1188	-170.32	-1.03	0.00	3965.5	3909.6	4021.3	2176.6	3060.8	250.12	-9.23	352	2736.00	0.00	0.00	1.33	0.000	0.000	0.032	3965.09	3910.06	4020.12	2176.69	2247.94	0	0	0	30.00	30.00	15.78
2933.92	292	-170.32	-1.03	40.00	3965.1	3909.2	4021.0	2176.9	2237.5	270.06	-9.70	363	2940.80	0.00	0.00	1.37	0.000	0.000	0.050	3964.53	3908.81	4020.25	2171.69	3059.94	0	0	0	30.00	30.00	15.78
3024.31	1060	-170.32	-1.03	0.00	3964.6	3908.9	4020.4	2171.3	3059.8	279.16	-9.73	381	3031.68	0.00	0.00	1.32	0.000	0.000	0.032	3964.47	3908.44	4020.50	2171.31	2250.56	0	0	0	30.00	30.00	15.79
3337.16	292	-170.32	-1.03	40.00	3964.1	3907.9	4020.4	2171.6	2238.1	309.41	-9.67	398	3344.03	0.00	0.00	1.37	0.000	0.000	0.051	3964.91	3909.19	4020.62	2165.19	3058.81	0	0	0	30.00	30.00	15.79
3432.55	1060	-170.32	-1.03	0.00	3964.0	3907.6	4020.3	2164.3	3060.1	318.98	-9.72	417	3439.49	0.00	0.00	1.32	0.000	0.000	0.032	3964.06	3907.50	4020.62	2165.31	2250.44	0	0	0	30.00	30.00	15.78
3761.69	292	-170.32	-1.03	40.00	3963.4	3906.2	4020.6	2165.2	2237.3	350.83	-9.70	434	3768.51	0.00	0.00	1.37	0.000	0.000	0.051	3963.91	3906.75	4021.06	2159.50	3058.00	0	0	0	30.00	30.00	15.79
3911.01	1060	-170.32	-1.03	0.00	3962.6	3904.3	4020.9	2159.8	3056.6	365.85	-9.71	464	3917.60	0.00	0.00	1.32	0.000	0.000	0.033	3962.31	3904.31	4020.31	2159.50	2251.06	0	0	0	30.00	30.00	15.80
4223.93	292	-170.32	-1.03	40.00	3962.4	3904.8	4020.1	2159.4	2239.7	396.94	-10.16	481	4232.42	0.00	0.00	1.37	0.000	0.000	0.052	3962.62	3904.50	4020.75	2154.00	3058.75	0	0	0	30.00	30.00	15.79
4315.51	1028	-170.32	-1.03	0.00	3962.2	3903.4	4021.0	2153.8	3059.9	407.08	-10.76	499	4322.49	0.00	0.00	1.32	0.000	0.000	0.033	3962.88	3904.38	4021.38	2153.88	2250.81	0	0	0	30.00	30.00	15.79
4628.18	0	-170.32	-1.03	0.00	3961.4	3902.9	4019.9	2152.7	2240.2	441.23	-10.94	516	4632.27	0.00	0.00	0.00	0.000	0.000	0.000	3960.84	3902.06	4019.62	2152.56	2239.38	0	0	0	30.00	30.00	30.00
4946.21	260	-170.32	-1.03	40.00	3961.1	3901.1	4021.1	2153.9	2237.6	476.81	-10.95	532	4955.36	0.00	0.00	1.38	0.000	0.000	0.053	3960.75	3901.25	4020.25	2147.56	3058.56	0	0	0	30.00	30.00	15.79
5078.89	1028	-170.32	-1.03	0.00	3960.3	3899.6	4020.9	2147.6	3059.2	491.12	-10.57	558	5086.24	0.00	0.00	1.33	0.000	0.000	0.034	3960.00	3899.62	4020.38	2147.88	2251.81	0	0	0	30.00	30.00	15.79
5389.99	388	-170.32	-1.01	40.00	3959.8	3899.4	4020.2	2148.2	2239.9	524.35	-10.70	575	5399.12	0.00	0.00	1.38	0.000	0.000	0.054	3960.53	3900.00	4021.06	2141.62	3058.50	0	0	0	30.00	30.00	15.76
5501.49	3205	-170.32	-1.00	0.00	3959.4	3898.8	4020.0	2141.9	3058.6	536.49	-10.72	597	5509.83	0.00	0.10	1.33	0.000	0.227	0.034	3959.22	3899.06	4019.38	2170.06	2247.44	0	0	0	30.00	15.71	15.78
5813.60	292	-170.32	-1.00	40.00	3958.2	3897.0	4019.5	2169.9	2237.6	565.48	-9.22	614	5822.74	0.00	0.00	1.38	0.000	0.000	0.054	3958.44	3897.00	4019.88	2166.12	3055.25	0	0	0	30.00	30.00	15.79
5926.28	1188	-170.32	-1.02	0.00	3957.8	3895.8	4019.8	2166.7	3055.9	576.16	-9.32	636	5935.41	0.00	0.00	1.33	0.000	0.000	0.035	3957.47	3895.56	4019.38	2166.19	2252.69	0	0	0	30.00	30.00	15.64
6240.63	292	-170.32	-1.02	40.00	3957.2	3894.8	4019.7	2166.5	2243.1	605.16	-9.33	653	6248.94	0.00	0.00	1.38	0.000	0.000	0.056	3957.06	3894.25	4019.88	2160.75	3056.25	0	0	0	30.00	30.00	15.78
6346.36	1060	-170.32	-1.02	0.00	3956.3	3894.0	4018.6	2159.6	3056.4	615.30	-9.32	674	6353.65	0.00	0.00	1.33	0.000	0.000	0.036	3955.81	3893.69	4017.94	2160.62	2254.56	0	0	0	30.00	30.00	15.78
6661.95	292	-170.32	-1.02	40.00	3955.5	3893.1	4017.9	2160.1	2244.7	644.51	-9.27	692	6670.92	0.00	0.00	1.38	0.000	0.000	0.056	3956.22	3893.62	4018.81	2154.50	3055.69	0	0	0	30.00	30.00	15.75
6800.51	1060	-170.32	-1.02	0.00	3955.2	3893.9	4016.4	2154.4	3055.6	657.57	-9.37	719	6810.39	0.00	0.00	1.33	0.000	0.000	0.036	3955.19	3892.69	4017.69	2154.06	2250.31	0	0	0	30.00	30.00	15.76
6848	end dive: TARGET_DEPTH_EXCEEDED
state	6849	begin apogee
6849.43	10243	0.00	-0.20	0.00	3954.3	3892.6	4015.9	2154.5	2095.8	661.91	-9.65	722	6995.01	139.34	0.69	0.15	1.917	0.195	0.127	3280.88	3178.06	3383.69	2364.50	2201.31	0	0	0	12.06	15.69	14.82
7000	end apogee: CONTROL_FINISHED_OK
state	7000	begin climb
7000.12	10759	170.32	0.89	-40.00	3277.4	3174.4	3380.3	2363.1	2201.5	665.38	0.00	729	7147.45	139.76	0.77	1.46	1.870	0.062	0.056	2587.00	2497.62	2676.38	2644.38	1392.12	0	0	0	11.83	15.02	14.73
7234.94	21639	170.32	0.80	0.00	2575.7	2486.0	2665.3	2644.6	1392.9	641.43	14.35	774	7241.60	0.00	0.19	1.37	0.000	0.237	0.042	2577.41	2487.12	2667.69	2596.69	2188.38	0	0	0	30.00	15.18	15.26
7550.31	16774	170.32	0.77	40.00	2571.9	2479.1	2664.8	2596.1	2187.6	606.64	10.65	792	7556.53	0.00	0.00	1.17	0.000	0.000	0.050	2573.06	2480.31	2665.81	2593.56	2906.75	0	0	0	30.00	30.00	15.55
7605.04	17542	170.32	0.73	0.00	2572.0	2479.6	2664.4	2593.4	2906.4	600.70	10.77	803	7611.90	0.00	0.00	1.35	0.000	0.000	0.041	2573.38	2480.00	2666.75	2598.38	2116.19	0	0	0	30.00	30.00	15.57
7930.29	8614	177.93	0.71	40.00	2570.0	2475.7	2664.2	2598.7	2117.1	566.89	10.16	820	7941.96	6.64	0.00	1.36	1.264	0.000	0.056	2554.41	2457.88	2650.94	2597.94	2904.69	0	0	0	12.22	30.00	15.52
7985.02	1156	177.93	0.68	0.00	2552.2	2455.7	2648.6	2597.9	2906.1	561.07	10.64	831	7994.40	0.00	0.00	1.35	0.000	0.000	0.042	2553.16	2457.88	2648.44	2603.56	2120.62	0	0	0	30.00	30.00	15.65
8311.68	4485	177.93	0.65	40.00	2551.5	2454.8	2648.2	2604.4	2121.1	526.79	10.53	848	8318.04	0.00	0.16	1.35	0.000	0.228	0.052	2552.09	2455.88	2648.31	2558.94	2906.12	0	0	0	30.00	15.59	15.68
8352.78	9254	213.44	0.69	0.00	2550.2	2453.1	2647.4	2558.9	2906.1	523.19	8.99	856	8392.56	31.55	0.00	1.34	1.752	0.000	0.043	2410.72	2302.88	2518.56	2561.31	2121.56	0	0	0	12.19	30.00	15.71
8710.73	10919	246.50	0.76	-40.00	2400.3	2294.4	2506.2	2561.8	2121.1	491.73	9.09	879	8746.61	28.23	0.09	1.22	1.670	0.091	0.060	2275.25	2164.81	2385.69	2621.06	1393.19	0	0	0	12.15	15.60	15.29
8784.11	5125	246.50	0.76	0.00	2270.8	2161.5	2380.2	2621.9	1392.1	482.85	12.75	893	8790.89	0.00	0.12	1.37	0.000	0.210	0.043	2270.62	2162.12	2379.12	2587.88	2183.94	0	0	0	30.00	15.42	15.48
9109.44	128	246.50	0.79	0.00	2267.5	2160.6	2374.5	2587.1	2184.8	447.44	10.95	910	9113.46	0.00	0.00	0.00	0.000	0.000	0.000	2266.41	2160.25	2372.56	2587.94	2184.12	0	0	0	30.00	30.00	30.00
9432.00	17030	246.50	0.81	-40.00	2266.3	2159.9	2372.8	2587.5	2184.4	412.52	10.73	926	9440.31	0.00	0.00	1.37	0.000	0.000	0.052	2267.59	2161.88	2373.31	2590.94	1394.25	0	0	0	30.00	30.00	15.57
9497.67	17542	246.50	0.83	0.00	2265.8	2159.7	2371.9	2591.0	1394.5	404.92	11.03	939	9504.28	0.00	0.00	1.34	0.000	0.000	0.043	2267.16	2161.06	2373.25	2590.81	2185.12	0	0	0	30.00	30.00	15.73
9814.10	19079	246.50	0.86	-40.00	2264.6	2158.1	2371.1	2591.6	2185.7	370.65	10.74	957	9822.96	0.00	0.08	1.37	0.000	0.108	0.051	2265.91	2159.12	2372.69	2647.50	1393.69	0	0	0	30.00	15.72	15.74
9860.56	21639	246.50	0.81	0.00	2265.2	2158.9	2371.5	2646.5	1393.1	364.27	14.25	966	9867.22	0.00	0.17	1.34	0.000	0.225	0.043	2265.81	2159.56	2372.06	2598.69	2186.50	0	0	0	30.00	15.66	15.76
10176.99	16386	246.50	0.81	0.00	2264.0	2158.0	2369.9	2598.6	2186.0	327.37	11.76	984	10186.13	0.00	0.00	0.00	0.000	0.000	0.000	2263.22	2157.12	2369.31	2598.94	2185.06	0	0	0	30.00	30.00	30.00
10496.21	16902	246.50	0.81	-40.00	2263.5	2157.3	2369.6	2599.4	2185.4	289.90	11.78	1000	10505.35	0.00	0.00	1.37	0.000	0.000	0.051	2264.28	2157.88	2370.69	2603.44	1393.62	0	0	0	30.00	30.00	15.62
10538.81	17542	246.50	0.83	0.00	2263.0	2157.2	2368.8	2601.6	1393.1	284.85	12.06	1008	10549.67	0.00	0.00	1.34	0.000	0.000	0.042	2264.03	2157.62	2370.44	2603.75	2183.88	0	0	0	30.00	30.00	15.78
10852.29	16386	246.50	0.83	0.00	2263.8	2157.7	2370.0	2602.4	2183.9	247.28	11.82	1027	10856.54	0.00	0.00	0.00	0.000	0.000	0.000	2262.59	2156.88	2368.31	2602.06	2184.06	0	0	0	30.00	30.00	30.00
11042.31	16386	246.50	0.83	0.00	2263.8	2158.1	2369.4	2602.6	2184.4	224.95	11.78	1046	11046.33	0.00	0.00	0.00	0.000	0.000	0.000	2262.72	2157.12	2368.31	2602.50	2184.25	0	0	0	30.00	30.00	30.00
11233.17	16514	246.50	0.84	0.00	2263.6	2157.2	2370.1	2602.4	2184.2	202.32	11.91	1065	11242.27	0.00	0.00	0.00	0.000	0.000	0.000	2262.75	2157.44	2368.06	2602.00	2184.06	0	0	0	30.00	30.00	30.00
11425.03	17030	246.50	0.86	-40.00	2262.9	2156.1	2369.8	2601.8	2184.8	179.86	11.57	1084	11431.34	0.00	0.00	1.36	0.000	0.000	0.050	2263.78	2157.94	2369.62	2608.12	1391.38	0	0	0	30.00	30.00	15.80
11455.56	17414	246.50	0.86	0.00	2263.7	2157.2	2370.2	2608.1	1391.6	176.39	11.54	1090	11461.81	0.00	0.00	1.34	0.000	0.000	0.042	2264.00	2158.19	2369.81	2606.25	2185.62	0	0	0	30.00	30.00	15.79
11645.50	16902	246.50	0.86	-40.00	2263.3	2157.3	2369.3	2607.2	2186.9	153.52	12.00	1110	11651.84	0.00	0.00	1.36	0.000	0.000	0.050	2263.06	2156.88	2369.25	2612.69	1394.00	0	0	0	30.00	30.00	15.80
11675.52	17414	246.50	0.86	0.00	2263.1	2156.9	2369.3	2612.6	1394.1	149.94	11.84	1116	11681.85	0.00	0.00	1.33	0.000	0.000	0.042	2263.94	2158.12	2369.75	2613.62	2184.62	0	0	0	30.00	30.00	15.80
11869.25	16646	246.50	0.86	40.00	2263.7	2157.1	2370.2	2613.4	2183.4	126.98	12.04	1136	11874.67	0.00	0.00	1.16	0.000	0.000	0.051	2263.72	2157.75	2369.69	2613.88	2906.69	0	0	0	30.00	30.00	15.78
11913.15	17414	246.50	0.86	0.00	2263.6	2157.1	2370.1	2612.6	2907.9	121.02	12.59	1145	11919.99	0.00	0.00	1.34	0.000	0.000	0.042	2263.44	2157.00	2369.88	2617.69	2117.75	0	0	0	30.00	30.00	15.80
12109.05	16902	246.50	0.86	-40.00	2263.3	2157.1	2369.5	2618.4	2117.7	97.32	11.84	1165	12114.70	0.00	0.00	1.18	0.000	0.000	0.052	2264.53	2157.81	2371.25	2623.81	1391.12	0	0	0	30.00	30.00	15.78
12153.13	17414	246.50	0.86	0.00	2263.2	2156.4	2369.9	2624.1	1391.8	91.96	12.00	1174	12160.03	0.00	0.00	1.33	0.000	0.000	0.040	2264.12	2157.56	2370.69	2624.75	2184.06	0	0	0	30.00	30.00	15.79
12349.03	16902	246.50	0.86	-40.00	2264.1	2157.3	2370.9	2623.9	2185.2	68.56	12.09	1194	12354.77	0.00	0.00	1.36	0.000	0.000	0.050	2264.59	2158.06	2371.12	2629.00	1390.69	0	0	0	30.00	30.00	15.79
12378.45	17414	246.50	0.86	0.00	2262.7	2156.3	2369.0	2630.1	1391.2	64.81	12.51	1200	12384.80	0.00	0.00	1.34	0.000	0.000	0.041	2264.16	2157.81	2370.50	2628.94	2185.19	0	0	0	30.00	30.00	15.78
12569.59	16386	246.50	0.86	0.00	2263.3	2156.9	2369.7	2629.2	2186.7	40.46	12.62	1220	12578.75	0.00	0.00	0.00	0.000	0.000	0.000	2261.88	2156.31	2367.44	2628.94	2186.62	0	0	0	30.00	30.00	30.00
12761.38	16386	246.50	0.86	0.00	2263.0	2156.6	2369.4	2630.0	2187.1	18.02	11.86	1239	12765.40	0.00	0.00	0.00	0.000	0.000	0.000	2262.56	2156.75	2368.38	2629.25	2186.25	0	0	0	30.00	30.00	30.00
12914	end climb: SURFACE_DEPTH_REACHED
state	12914	begin surface coast
12932	end surface coast: CONTROL_FINISHED_OK
state	12932	begin surface