Glider dive log

SMODE Aug22 * SG237 * Dive index * Mission links * Dive 86 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 237 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 8 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 86 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -1.7

D_TGT 990 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 COMM_SEQ 7 C_VBD 2825 DEEPGLIDERMB 0

D_NO_BLEED 200 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0015 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 10 W_ADJ_DBAND 3 LOGGERDEVICE2 -1

T_DIVE 330 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 380 T_RSLEEP 1 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 120 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_EPIRB 0 PITCH_MIN 190 AH0_24V 510 NAV_DEVICE -1

USE_BATHY -10 PITCH_MAX 3000 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2120 MINV_24V 11 NETWORK_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

RELAUNCH 1 PITCH_GAIN 22 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 5.5153213 SEABIRD_T_G 0.0044377348

MAX_BUOY 140 PITCH_MAXERRORS 1 FG_AHR_24V 20.550852 SEABIRD_T_H 0.00065905828

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0 PHONE_SUPPLY 2 SEABIRD_T_I 2.8700548e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 0 PRESSURE_YINT -147.90448 SEABIRD_T_J 3.7153247e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022584078 SEABIRD_C_G -10.010999

MASS 74223 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1.1050601

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0026294682

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00026764351

KALMAN_USE 2 PITCH_W_GAIN 4 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.00281838 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.017708899 ROLL_MIN 465 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 5.7000002e-06 ROLL_MAX 3180 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 14

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1425 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0026294682

AH0_24V 510 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00026764351

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0044377348

ALTIM_FREQUENCY 14 D_SURF 2 N_NOCOMM 2 SEABIRD_T_H 0.00065905828

ALTIM_PING_DELTA 0 D_TGT 990 N_NOSURFACE 0 SEABIRD_T_I 2.8700548e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 3.7153247e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 350

ALTIM_SENSITIVITY 2 FG_AHR_10V 5.5153213 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 20.550852 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 22 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.00281838 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.017708899 PITCH_MAX 3000 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 190 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0015 T_DIVE 330

COMPASS2_DEVICE -1 ID 237 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 4 T_GPS 10

COMPASS_USE 49156 INT_PRESSURE_YINT -1.7 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2120 KALMAN_USE 2 PRESSURE_SLOPE 0.00022584078 T_MISSION 380

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -147.90448 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_CLIMB 1425 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2000 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2825 LOGGERS 1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.0275 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 74223 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 140 ROLL_MAX 3180 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 465 W_ADJ_DBAND 3

DIVE 86 MISSION 8 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_ABORT 1000 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 SC_PROFILE 3.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE -1 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_G -10.010999

D_NO_BLEED 200 NOCOMM_ACTION 131 SEABIRD_C_H 1.1050601

Pre-dive calculations and measurements:

GPS1 100922,203812,3654.557,-12341.318,55,2.0,58,13.2 TGT_RADIUS 2000.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.56 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 100922,204809,3654.558,-12341.361,3,1.8,8,13.2 MHEAD_RNG_PITCHd_Wd 227.9,29008,-22.0,-10.000,-27.56,2084,0.099

SPEED_LIMITS 0.173,0.192 D_GRID 1000

TGT_NAME LineC_2 IRON 1.000000,-0.018011,-0.123579,-0.089884,1.070449,-0.006723,-0.077865,0.054267,1.259402,-479.715576,-875.456970,-484.821747

TGT_LATLONG 3658.900,-12400.200

Post-dive calculations and measurements:

SM_CCo 17844.07,0.00,0.000,0,1149.6,1094.9,1204.3,410.97 FG_AHR_24Vo 20.779

SM_GC 1.36,0.00,16.01,1.45,0.000,0.073,0.039,1149.6,1094.9,1204.3,177.0,2029.0,0,0,0,30.00,15.67,15.70 FG_AHR_10Vo 5.566

SUPER 27,71,254,1,0,0 MEM0 60148,1,0,0

IRIDIUM_FIX 3654.88,-12339.16,100922,203947 MEM1 65508,1,0,0

TCM_TEMP 15.67 MEM2 911392,22,135356,69

XPDR_PINGS 11,13.0,11.5 DATA_FILE_SIZE 63999,2140

SC_FREEKB 3833664 CAP_FILE_SIZE 506555,0

HUMID 47.95 SDSIZE 3887104,3853504

TEMP 10.04 SDFILEDIR 552,1

INTERNAL_PRESSURE 8.60531 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

_24V_AH 14.72,26.092 CURRENT 0.144,254.1,1

_10V_AH 15.00,0.000 GPS 110922,014631,3654.176,-12343.034,31,1.2,32,13.2

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 606 2225 19875.31 nil 0 0 0.00

Pitch_motor 35 299 156.56 nil 0 0 0.00

Roll_motor 139 429 882.19 nil 0 0 0.00

Iridium 447 248 1635.98 nil 0 0 0.00

Transponder_ping 2 420 17.00 nil 0 0 0.00

GPS 17 15 3.95 nil 0 0 0.00

Core 7988 6 814.85 SciCon 17793 2 554.87

Fast 4 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 10416 2 312.50

Compass 5489 5 411.73

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

5.91 16386 -136.25 -1.20 0.00 1390.2 1367.6 1412.8 173.3 1971.6 0.00 0.00 0 59.58 53.08 0.00 0.00 0.005 0.000 0.000 2485.50 2480.88 2490.12 173.19 1972.75 0 0 0 15.80 30.00 30.00

59.84 18467 -136.25 -1.20 0.00 2484.9 2480.1 2489.8 173.4 1972.4 3.44 -4.12 10 101.88 22.94 14.09 0.00 0.006 0.299 0.000 3379.28 3351.19 3407.38 1825.88 1972.69 0 0 0 15.82 15.76 30.00

285.49 260 -136.25 -1.20 80.00 3381.9 3353.6 3410.2 1826.5 1973.7 54.79 -19.96 55 291.15 0.00 0.00 3.19 0.000 0.000 0.102 3382.44 3354.56 3410.31 1827.56 3188.38 0 0 0 30.00 30.00 15.92

325.50 1028 -136.25 -1.20 0.00 3382.1 3353.9 3410.2 1827.7 3188.6 62.89 -20.44 63 330.85 0.00 0.00 2.85 0.000 0.000 0.040 3382.31 3354.88 3409.75 1827.38 1975.50 0 0 0 30.00 30.00 15.94

515.51 516 -136.25 -1.20 -80.00 3382.9 3354.2 3411.6 1827.4 1975.8 93.43 -14.96 101 521.30 0.00 0.00 3.87 0.000 0.000 0.118 3382.97 3354.25 3411.69 1827.50 535.00 0 0 0 30.00 30.00 15.98

550.78 1028 -136.25 -1.20 0.00 3383.0 3354.8 3411.1 1827.1 534.8 99.17 -16.82 108 556.26 0.00 0.00 3.52 0.000 0.000 0.036 3383.94 3355.12 3412.75 1827.69 2027.06 0 0 0 30.00 30.00 16.01

740.53 260 -136.25 -1.20 80.00 3384.2 3354.6 3413.8 1827.8 2027.1 127.00 -14.49 128 744.91 0.00 0.00 3.04 0.000 0.000 0.103 3385.56 3356.12 3415.00 1827.31 3187.81 0 0 0 30.00 30.00 16.02

844.28 1028 -136.25 -1.20 0.00 3384.1 3354.6 3413.5 1828.0 3188.7 142.88 -14.97 149 851.15 0.00 0.00 2.82 0.000 0.000 0.039 3385.66 3356.62 3414.69 1826.56 1974.19 0 0 0 30.00 30.00 16.05

1160.54 0 -136.25 -1.20 0.00 3384.9 3354.9 3414.9 1827.8 1974.1 187.27 -14.02 181 1161.88 0.00 0.00 0.00 0.000 0.000 0.000 3383.88 3354.69 3413.06 1828.12 1974.12 0 0 0 30.00 30.00 30.00

1470.56 260 -136.25 -1.20 80.00 3385.4 3355.3 3415.4 1827.3 1974.1 231.47 -14.30 212 1474.97 0.00 0.00 3.17 0.000 0.000 0.102 3385.16 3355.44 3414.88 1827.50 3187.94 0 0 0 30.00 30.00 16.11

1540.64 1028 -136.25 -1.20 0.00 3385.1 3355.3 3414.8 1827.8 3188.1 241.93 -14.76 226 1544.96 0.00 0.00 2.86 0.000 0.000 0.040 3385.50 3355.50 3415.50 1827.81 1976.25 0 0 0 30.00 30.00 16.13

1850.58 0 -136.25 -1.20 0.00 3385.2 3355.1 3415.3 1827.8 1975.6 285.63 -13.68 258 1851.92 0.00 0.00 0.00 0.000 0.000 0.000 3384.19 3354.25 3414.12 1827.56 1976.00 0 0 0 30.00 30.00 30.00

2160.59 260 -136.25 -1.20 80.00 3385.3 3355.3 3415.3 1827.2 1975.7 328.49 -13.35 289 2165.00 0.00 0.00 3.16 0.000 0.000 0.104 3385.41 3355.62 3415.19 1827.75 3189.25 0 0 0 30.00 30.00 16.15

2190.61 1028 -136.25 -1.20 0.00 3385.0 3355.1 3414.9 1827.5 3188.6 332.59 -13.65 295 2194.96 0.00 0.00 2.88 0.000 0.000 0.041 3386.72 3356.44 3417.00 1826.94 1976.44 0 0 0 30.00 30.00 16.17

2500.64 0 -136.25 -1.20 0.00 3384.8 3354.8 3414.9 1826.8 1976.2 372.69 -12.77 327 2501.98 0.00 0.00 0.00 0.000 0.000 0.000 3385.47 3355.56 3415.38 1826.44 1976.31 0 0 0 30.00 30.00 30.00

2810.69 0 -136.25 -1.20 0.00 3383.7 3354.5 3412.8 1827.3 1976.8 411.71 -12.35 358 2812.03 0.00 0.00 0.00 0.000 0.000 0.000 3383.59 3354.69 3412.50 1826.81 1976.69 0 0 0 30.00 30.00 30.00

3120.73 0 -136.25 -1.20 0.00 3383.2 3355.2 3411.2 1827.8 1976.2 450.22 -12.48 389 3122.06 0.00 0.00 0.00 0.000 0.000 0.000 3382.41 3354.62 3410.19 1827.56 1977.00 0 0 0 30.00 30.00 30.00

3430.76 0 -136.25 -1.20 0.00 3381.8 3354.4 3409.2 1827.6 1976.4 488.25 -12.18 420 3432.10 0.00 0.00 0.00 0.000 0.000 0.000 3380.97 3354.12 3407.81 1827.62 1976.44 0 0 0 30.00 30.00 30.00

3740.80 260 -136.25 -1.20 80.00 3380.7 3354.6 3406.8 1827.6 1976.1 526.60 -12.54 451 3745.20 0.00 0.00 3.19 0.000 0.000 0.111 3381.88 3355.44 3408.31 1827.12 3188.19 0 0 0 30.00 30.00 16.20

3790.82 1028 -136.25 -1.20 0.00 3380.6 3354.2 3406.9 1827.2 3187.9 533.21 -13.24 461 3795.18 0.00 0.00 2.85 0.000 0.000 0.048 3381.03 3354.75 3407.31 1827.50 1976.88 0 0 0 30.00 30.00 16.21

4100.86 0 -136.25 -1.20 0.00 3379.5 3354.2 3404.8 1827.0 1977.1 570.74 -11.74 493 4102.20 0.00 0.00 0.00 0.000 0.000 0.000 3378.81 3354.25 3403.38 1827.50 1976.50 0 0 0 30.00 30.00 30.00

4410.90 260 -136.25 -1.20 80.00 3379.2 3354.2 3404.1 1827.4 1976.8 607.36 -11.64 524 4415.30 0.00 0.00 3.17 0.000 0.000 0.113 3379.53 3355.06 3404.00 1827.69 3186.19 0 0 0 30.00 30.00 16.20

4450.91 1028 -136.25 -1.20 0.00 3378.9 3354.1 3403.6 1827.9 3186.4 612.28 -12.35 532 4455.26 0.00 0.00 2.84 0.000 0.000 0.050 3380.28 3355.50 3405.06 1827.75 1979.81 0 0 0 30.00 30.00 16.21

4760.95 0 -136.25 -1.20 0.00 3377.8 3353.9 3401.6 1827.8 1979.8 648.50 -11.46 564 4762.29 0.00 0.00 0.00 0.000 0.000 0.000 3377.00 3353.50 3400.50 1827.12 1979.56 0 0 0 30.00 30.00 30.00

5070.99 516 -136.25 -1.20 -80.00 3376.8 3353.9 3399.7 1827.1 1979.2 684.30 -11.13 595 5076.54 0.00 0.00 3.94 0.000 0.000 0.149 3377.81 3353.88 3401.75 1827.81 534.31 0 0 0 30.00 30.00 16.20

5106.08 1028 -136.25 -1.20 0.00 3376.8 3354.6 3398.9 1826.6 534.8 688.80 -13.12 602 5111.49 0.00 0.00 3.52 0.000 0.000 0.051 3376.50 3354.19 3398.81 1827.25 2018.81 0 0 0 30.00 30.00 16.23

5421.05 0 -136.25 -1.20 0.00 3376.0 3353.1 3398.8 1827.6 2018.6 725.36 -11.51 634 5422.39 0.00 0.00 0.00 0.000 0.000 0.000 3375.16 3352.44 3397.88 1827.38 2018.56 0 0 0 30.00 30.00 30.00

5731.08 0 -136.25 -1.20 0.00 3375.4 3352.9 3397.9 1827.8 2019.0 761.95 -11.70 665 5732.42 0.00 0.00 0.00 0.000 0.000 0.000 3374.09 3351.44 3396.75 1827.88 2019.00 0 0 0 30.00 30.00 30.00

6041.11 0 -136.25 -1.20 0.00 3374.4 3351.9 3396.9 1827.1 2018.9 797.76 -11.52 696 6042.45 0.00 0.00 0.00 0.000 0.000 0.000 3373.84 3351.75 3395.94 1827.38 2019.44 0 0 0 30.00 30.00 30.00

6351.16 0 -136.25 -1.20 0.00 3373.8 3350.9 3396.6 1827.9 2019.0 833.31 -11.37 727 6352.50 0.00 0.00 0.00 0.000 0.000 0.000 3373.16 3350.81 3395.50 1827.19 2018.56 0 0 0 30.00 30.00 30.00

6661.19 0 -136.25 -1.20 0.00 3372.9 3350.8 3395.1 1827.2 2019.1 867.59 -11.14 758 6662.53 0.00 0.00 0.00 0.000 0.000 0.000 3372.31 3349.56 3395.06 1827.31 2019.00 0 0 0 30.00 30.00 30.00

6971.23 0 -136.25 -1.20 0.00 3372.2 3350.1 3394.2 1827.4 2018.9 901.21 -10.46 789 6972.57 0.00 0.00 0.00 0.000 0.000 0.000 3371.69 3350.00 3393.38 1827.12 2018.94 0 0 0 30.00 30.00 30.00

7281.25 516 -136.25 -1.20 -80.00 3371.5 3349.9 3393.1 1827.2 2019.3 933.66 -10.36 820 7286.84 0.00 0.00 4.12 0.000 0.000 0.162 3370.16 3347.94 3392.38 1827.06 536.00 0 0 0 30.00 30.00 16.20

7316.52 1028 -136.25 -1.20 0.00 3370.9 3349.8 3392.1 1827.9 536.4 937.87 -12.25 827 7321.74 0.00 0.00 3.56 0.000 0.000 0.061 3372.09 3350.06 3394.12 1827.38 2014.19 0 0 0 30.00 30.00 16.23

7631.27 0 -136.25 -1.20 0.00 3371.0 3349.4 3392.6 1827.6 2014.2 970.57 -10.07 859 7632.61 0.00 0.00 0.00 0.000 0.000 0.000 3370.34 3348.19 3392.50 1827.00 2014.00 0 0 0 30.00 30.00 30.00

7832 end dive: TARGET_DEPTH_EXCEEDED

state 7832 begin apogee

7834.22 10243 0.00 -0.23 0.00 3370.7 3349.2 3392.2 1826.8 1413.1 990.17 -9.62 879 7954.02 113.38 1.72 0.04 2.226 0.168 0.429 2822.56 2803.38 2841.75 2065.12 1444.81 0 0 0 13.15 16.19 15.41

7955 end apogee: CONTROL_FINISHED_OK

state 7955 begin climb

7954.88 10759 136.25 1.20 -80.00 2822.2 2803.1 2841.2 2065.2 1445.1 992.46 0.00 891 8087.27 121.65 2.41 3.01 2.188 0.098 0.177 2267.16 2239.94 2294.38 2415.75 458.31 0 0 0 12.64 15.47 15.21

8165.91 17414 136.25 1.20 0.00 2260.8 2234.0 2287.7 2415.6 458.4 970.17 16.33 933 8170.17 0.00 0.00 2.36 0.000 0.000 0.039 2261.53 2234.44 2288.62 2415.50 1455.12 0 0 0 30.00 30.00 15.58

8475.93 16386 136.25 1.20 0.00 2256.1 2227.6 2284.6 2415.9 1455.1 928.75 13.20 965 8477.27 0.00 0.00 0.00 0.000 0.000 0.000 2254.56 2226.31 2282.81 2415.75 1454.50 0 0 0 30.00 30.00 30.00

8785.98 16902 136.25 1.20 -80.00 2254.7 2226.3 2283.1 2415.7 1454.2 889.19 12.50 996 8790.34 0.00 0.00 2.85 0.000 0.000 0.163 2254.59 2226.81 2282.38 2416.19 458.06 0 0 0 30.00 30.00 15.94

8879.76 17414 136.25 1.20 0.00 2253.9 2226.8 2281.0 2415.4 458.1 875.04 15.30 1015 8886.52 0.00 0.00 2.30 0.000 0.000 0.039 2254.09 2227.31 2280.88 2415.94 1460.00 0 0 0 30.00 30.00 15.99

9196.29 16386 136.25 1.20 0.00 2252.9 2225.2 2280.6 2415.7 1460.4 837.42 11.66 1047 9197.63 0.00 0.00 0.00 0.000 0.000 0.000 2251.09 2223.75 2278.44 2415.56 1459.88 0 0 0 30.00 30.00 30.00

9506.09 16902 136.25 1.20 -80.00 2252.2 2224.8 2279.6 2415.6 1460.5 801.43 11.52 1078 9510.45 0.00 0.00 2.83 0.000 0.000 0.156 2253.12 2225.94 2280.31 2415.69 458.25 0 0 0 30.00 30.00 16.06

9576.13 17414 136.25 1.20 0.00 2251.8 2224.8 2278.8 2415.5 458.2 791.55 14.62 1092 9580.37 0.00 0.00 2.29 0.000 0.000 0.038 2253.59 2226.31 2280.88 2415.06 1465.69 0 0 0 30.00 30.00 16.08

9886.40 16902 136.25 1.20 -80.00 2251.5 2224.2 2278.9 2415.1 1466.6 754.62 12.01 1124 9890.51 0.00 0.00 2.83 0.000 0.000 0.152 2251.56 2224.50 2278.62 2415.56 456.50 0 0 0 30.00 30.00 16.09

9959.93 17414 136.25 1.20 0.00 2251.2 2224.2 2278.2 2415.6 456.6 743.84 14.90 1139 9966.68 0.00 0.00 2.28 0.000 0.000 0.038 2251.72 2224.81 2278.62 2416.19 1468.88 0 0 0 30.00 30.00 16.11

10276.27 16386 136.25 1.20 0.00 2250.8 2223.3 2278.3 2415.6 1468.9 707.16 11.28 1171 10277.61 0.00 0.00 0.00 0.000 0.000 0.000 2249.47 2222.69 2276.25 2415.50 1468.31 0 0 0 30.00 30.00 30.00

10586.24 16902 136.25 1.20 -80.00 2250.4 2223.1 2277.8 2415.2 1470.4 673.26 10.67 1202 10590.58 0.00 0.00 2.79 0.000 0.000 0.147 2251.75 2224.50 2279.00 2415.81 456.38 0 0 0 30.00 30.00 16.13

10636.27 17414 136.25 1.20 0.00 2250.0 2223.1 2276.9 2415.5 456.1 666.75 13.46 1212 10640.50 0.00 0.00 2.26 0.000 0.000 0.040 2251.97 2225.19 2278.75 2414.88 1470.50 0 0 0 30.00 30.00 16.16

10946.26 16902 136.25 1.20 -80.00 2249.9 2223.1 2276.8 2416.1 1472.9 634.45 10.18 1244 10950.60 0.00 0.00 2.80 0.000 0.000 0.146 2250.44 2223.69 2277.19 2416.06 456.44 0 0 0 30.00 30.00 16.14

11046.29 17414 136.25 1.20 0.00 2249.9 2223.2 2276.6 2415.5 456.3 621.58 13.31 1264 11050.54 0.00 0.00 2.27 0.000 0.000 0.039 2251.38 2224.50 2278.25 2415.69 1472.81 0 0 0 30.00 30.00 16.16

11356.29 16386 136.25 1.20 0.00 2249.8 2222.9 2276.8 2415.4 1474.8 590.05 10.20 1296 11357.63 0.00 0.00 0.00 0.000 0.000 0.000 2248.12 2221.56 2274.69 2416.00 1474.94 0 0 0 30.00 30.00 30.00

11666.31 16902 136.25 1.20 -80.00 2249.3 2222.2 2276.4 2415.9 1474.6 559.12 9.98 1327 11670.65 0.00 0.00 2.78 0.000 0.000 0.146 2250.75 2223.69 2277.81 2416.12 457.19 0 0 0 30.00 30.00 16.16

11706.34 17414 136.25 1.20 0.00 2249.2 2222.6 2275.9 2415.3 457.0 554.27 12.64 1335 11710.57 0.00 0.00 2.26 0.000 0.000 0.038 2249.66 2223.19 2276.12 2415.19 1477.25 0 0 0 30.00 30.00 16.18

12016.33 16386 136.25 1.20 0.00 2249.1 2222.3 2275.8 2415.2 1478.6 523.14 10.00 1367 12017.67 0.00 0.00 0.00 0.000 0.000 0.000 2248.50 2222.12 2274.88 2415.88 1478.81 0 0 0 30.00 30.00 30.00

12326.34 16386 136.25 1.20 0.00 2249.1 2222.4 2275.9 2415.8 1478.9 492.53 9.78 1398 12327.68 0.00 0.00 0.00 0.000 0.000 0.000 2247.44 2221.06 2273.81 2415.69 1479.12 0 0 0 30.00 30.00 30.00

12636.36 16386 136.25 1.20 0.00 2249.0 2221.9 2276.1 2415.2 1479.5 462.14 9.51 1429 12637.69 0.00 0.00 0.00 0.000 0.000 0.000 2248.03 2221.88 2274.19 2415.50 1478.94 0 0 0 30.00 30.00 30.00

12946.39 16966 136.25 1.24 -80.00 2249.2 2222.5 2275.9 2415.8 1479.1 433.46 9.23 1460 12950.71 0.00 0.00 2.78 0.000 0.000 0.141 2250.38 2223.50 2277.25 2415.56 456.50 0 0 0 30.00 30.00 16.19

13176.43 17414 136.25 1.24 0.00 2248.5 2222.2 2274.8 2416.0 456.6 407.82 11.01 1506 13180.68 0.00 0.00 2.28 0.000 0.000 0.041 2249.19 2222.94 2275.44 2416.12 1478.50 0 0 0 30.00 30.00 16.20

13486.45 16450 136.25 1.31 0.00 2248.6 2222.5 2274.8 2415.4 1479.1 382.42 8.20 1538 13487.79 0.00 0.00 0.00 0.000 0.000 0.000 2247.31 2221.19 2273.44 2416.25 1479.12 0 0 0 30.00 30.00 30.00

13796.46 18499 136.25 1.35 0.00 2248.6 2222.1 2275.1 2415.8 1479.1 355.62 8.86 1569 13797.92 0.00 0.19 0.00 0.000 0.106 0.000 2248.03 2221.69 2274.38 2454.69 1479.62 0 0 0 30.00 16.20 30.00

14106.47 16902 136.25 1.35 -80.00 2248.6 2222.2 2274.9 2454.8 1479.6 325.80 9.65 1600 14110.81 0.00 0.00 2.77 0.000 0.000 0.136 2250.12 2223.50 2276.75 2454.94 456.38 0 0 0 30.00 30.00 16.20

14250.24 17414 136.25 1.35 0.00 2248.4 2222.1 2274.8 2455.1 456.5 308.70 11.71 1629 14257.00 0.00 0.00 2.27 0.000 0.000 0.041 2249.34 2223.31 2275.38 2455.12 1482.06 0 0 0 30.00 30.00 16.22

14566.51 16450 136.25 1.39 0.00 2248.4 2222.1 2274.8 2454.6 1482.3 279.81 8.95 1661 14567.86 0.00 0.00 0.00 0.000 0.000 0.000 2248.53 2222.50 2274.56 2455.81 1482.25 0 0 0 30.00 30.00 30.00

14876.54 16450 136.25 1.43 0.00 2248.4 2222.4 2274.5 2455.9 1482.4 251.72 9.19 1692 14877.88 0.00 0.00 0.00 0.000 0.000 0.000 2247.09 2221.56 2272.62 2455.69 1482.62 0 0 0 30.00 30.00 30.00

15186.57 19015 136.25 1.50 -80.00 2248.3 2222.1 2274.6 2455.6 1482.3 224.88 8.13 1723 15190.94 0.00 0.17 2.76 0.000 0.113 0.131 2249.19 2222.94 2275.44 2490.06 455.44 0 0 0 30.00 16.20 16.20

15336.59 17414 136.25 1.50 0.00 2248.5 2222.2 2274.8 2490.5 455.6 208.55 11.56 1753 15340.84 0.00 0.00 2.25 0.000 0.000 0.039 2249.56 2223.69 2275.44 2491.19 1483.06 0 0 0 30.00 30.00 16.22

15646.64 16710 136.25 1.56 80.00 2248.4 2222.2 2274.6 2491.2 1483.2 181.28 8.66 1785 15652.10 0.00 0.00 3.51 0.000 0.000 0.085 2249.84 2223.62 2276.06 2490.44 2893.50 0 0 0 30.00 30.00 16.23

15701.72 17478 136.25 1.58 0.00 2248.4 2222.4 2274.4 2491.1 2894.2 176.20 9.32 1796 15707.14 0.00 0.00 3.67 0.000 0.000 0.062 2247.03 2221.06 2273.00 2490.88 1410.06 0 0 0 30.00 30.00 16.22

16016.72 19015 136.25 1.63 -80.00 2248.3 2221.9 2274.7 2490.9 1410.2 148.15 8.69 1828 16021.06 0.00 0.16 2.57 0.000 0.113 0.137 2248.19 2222.12 2274.25 2523.31 456.38 0 0 0 30.00 16.20 16.19

16246.80 17478 136.25 1.67 0.00 2248.3 2222.2 2274.4 2523.4 456.3 124.78 9.25 1874 16251.01 0.00 0.00 2.27 0.000 0.000 0.038 2249.69 2223.38 2276.00 2522.69 1483.50 0 0 0 30.00 30.00 16.22

16557.08 10275 228.03 1.80 0.00 2248.4 2222.4 2274.3 2523.4 1483.3 104.08 5.48 1906 16654.03 93.85 0.21 0.00 1.156 0.118 0.000 1895.09 1864.12 1926.06 2561.06 1483.62 0 0 0 13.13 16.20 30.00

16837.69 260 228.03 1.80 80.00 1887.7 1855.1 1920.3 2560.7 1483.4 75.17 10.98 1956 16843.41 0.00 0.00 3.58 0.000 0.000 0.083 1887.53 1855.06 1920.00 2560.94 2890.69 0 0 0 30.00 30.00 15.93

16992.74 17478 228.03 1.87 0.00 1886.8 1854.8 1918.8 2561.9 2890.4 60.84 8.38 1987 16998.48 0.00 0.00 3.72 0.000 0.000 0.062 1886.72 1854.69 1918.75 2561.75 1410.75 0 0 0 30.00 30.00 15.99

17182.86 18499 228.03 1.93 0.00 1886.0 1853.6 1918.4 2561.3 1410.6 45.14 8.43 2025 17187.69 0.00 0.17 0.00 0.000 0.116 0.000 1887.72 1855.50 1919.94 2591.56 1410.50 0 0 0 30.00 16.01 30.00

17372.85 8486 296.80 2.03 80.00 1885.7 1853.1 1918.2 2592.8 1410.9 31.48 6.61 2063 17460.27 81.53 0.00 3.83 1.037 0.000 0.076 1613.19 1575.62 1650.75 2593.81 2891.31 0 0 0 13.03 30.00 15.73

17573.97 11303 409.21 2.20 0.00 1610.7 1573.3 1648.1 2593.7 2891.8 20.73 4.46 2103 17702.26 120.26 0.41 3.72 0.981 0.088 0.062 1157.78 1106.12 1209.44 2658.25 1411.19 0 0 0 12.80 15.82 15.85

17746 end climb: SURFACE_DEPTH_REACHED

state 17746 begin surface coast

17761 end surface coast: CONTROL_FINISHED_OK

state 17761 begin surface

ID	237	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	8	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	86	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-1.7
D_TGT	990	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	COMM_SEQ	7	C_VBD	2825	DEEPGLIDERMB	0
D_NO_BLEED	200	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0015	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	10	W_ADJ_DBAND	3	LOGGERDEVICE2	-1
T_DIVE	330	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	380	T_RSLEEP	1	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	120	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_EPIRB	0	PITCH_MIN	190	AH0_24V	510	NAV_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3000	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2120	MINV_24V	11	NETWORK_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
RELAUNCH	1	PITCH_GAIN	22	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	5.5153213	SEABIRD_T_G	0.0044377348
MAX_BUOY	140	PITCH_MAXERRORS	1	FG_AHR_24V	20.550852	SEABIRD_T_H	0.00065905828
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	2	SEABIRD_T_I	2.8700548e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-147.90448	SEABIRD_T_J	3.7153247e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022584078	SEABIRD_C_G	-10.010999
MASS	74223	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1.1050601
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0026294682
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00026764351
KALMAN_USE	2	PITCH_W_GAIN	4	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.00281838	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.017708899	ROLL_MIN	465	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	5.7000002e-06	ROLL_MAX	3180	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	14
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1425	ALTIM_PULSE	3

GPS1	100922,203812,3654.557,-12341.318,55,2.0,58,13.2	TGT_RADIUS	2000.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	100922,204809,3654.558,-12341.361,3,1.8,8,13.2	MHEAD_RNG_PITCHd_Wd	227.9,29008,-22.0,-10.000,-27.56,2084,0.099
SPEED_LIMITS	0.173,0.192	D_GRID	1000
TGT_NAME	LineC_2	IRON	1.000000,-0.018011,-0.123579,-0.089884,1.070449,-0.006723,-0.077865,0.054267,1.259402,-479.715576,-875.456970,-484.821747
TGT_LATLONG	3658.900,-12400.200

SM_CCo	17844.07,0.00,0.000,0,1149.6,1094.9,1204.3,410.97	FG_AHR_24Vo	20.779
SM_GC	1.36,0.00,16.01,1.45,0.000,0.073,0.039,1149.6,1094.9,1204.3,177.0,2029.0,0,0,0,30.00,15.67,15.70	FG_AHR_10Vo	5.566
SUPER	27,71,254,1,0,0	MEM0	60148,1,0,0
IRIDIUM_FIX	3654.88,-12339.16,100922,203947	MEM1	65508,1,0,0
TCM_TEMP	15.67	MEM2	911392,22,135356,69
XPDR_PINGS	11,13.0,11.5	DATA_FILE_SIZE	63999,2140
SC_FREEKB	3833664	CAP_FILE_SIZE	506555,0
HUMID	47.95	SDSIZE	3887104,3853504
TEMP	10.04	SDFILEDIR	552,1
INTERNAL_PRESSURE	8.60531	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	14.72,26.092	CURRENT	0.144,254.1,1
_10V_AH	15.00,0.000	GPS	110922,014631,3654.176,-12343.034,31,1.2,32,13.2

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	606	2225	19875.31	nil	0	0	0.00
Pitch_motor	35	299	156.56	nil	0	0	0.00
Roll_motor	139	429	882.19	nil	0	0	0.00
Iridium	447	248	1635.98	nil	0	0	0.00
Transponder_ping	2	420	17.00	nil	0	0	0.00
GPS	17	15	3.95	nil	0	0	0.00
Core	7988	6	814.85	SciCon	17793	2	554.87
Fast	4	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	10416	2	312.50
Compass	5489	5	411.73
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
5.91	16386	-136.25	-1.20	0.00	1390.2	1367.6	1412.8	173.3	1971.6	0.00	0.00	0	59.58	53.08	0.00	0.00	0.005	0.000	0.000	2485.50	2480.88	2490.12	173.19	1972.75	0	0	0	15.80	30.00	30.00
59.84	18467	-136.25	-1.20	0.00	2484.9	2480.1	2489.8	173.4	1972.4	3.44	-4.12	10	101.88	22.94	14.09	0.00	0.006	0.299	0.000	3379.28	3351.19	3407.38	1825.88	1972.69	0	0	0	15.82	15.76	30.00
285.49	260	-136.25	-1.20	80.00	3381.9	3353.6	3410.2	1826.5	1973.7	54.79	-19.96	55	291.15	0.00	0.00	3.19	0.000	0.000	0.102	3382.44	3354.56	3410.31	1827.56	3188.38	0	0	0	30.00	30.00	15.92
325.50	1028	-136.25	-1.20	0.00	3382.1	3353.9	3410.2	1827.7	3188.6	62.89	-20.44	63	330.85	0.00	0.00	2.85	0.000	0.000	0.040	3382.31	3354.88	3409.75	1827.38	1975.50	0	0	0	30.00	30.00	15.94
515.51	516	-136.25	-1.20	-80.00	3382.9	3354.2	3411.6	1827.4	1975.8	93.43	-14.96	101	521.30	0.00	0.00	3.87	0.000	0.000	0.118	3382.97	3354.25	3411.69	1827.50	535.00	0	0	0	30.00	30.00	15.98
550.78	1028	-136.25	-1.20	0.00	3383.0	3354.8	3411.1	1827.1	534.8	99.17	-16.82	108	556.26	0.00	0.00	3.52	0.000	0.000	0.036	3383.94	3355.12	3412.75	1827.69	2027.06	0	0	0	30.00	30.00	16.01
740.53	260	-136.25	-1.20	80.00	3384.2	3354.6	3413.8	1827.8	2027.1	127.00	-14.49	128	744.91	0.00	0.00	3.04	0.000	0.000	0.103	3385.56	3356.12	3415.00	1827.31	3187.81	0	0	0	30.00	30.00	16.02
844.28	1028	-136.25	-1.20	0.00	3384.1	3354.6	3413.5	1828.0	3188.7	142.88	-14.97	149	851.15	0.00	0.00	2.82	0.000	0.000	0.039	3385.66	3356.62	3414.69	1826.56	1974.19	0	0	0	30.00	30.00	16.05
1160.54	0	-136.25	-1.20	0.00	3384.9	3354.9	3414.9	1827.8	1974.1	187.27	-14.02	181	1161.88	0.00	0.00	0.00	0.000	0.000	0.000	3383.88	3354.69	3413.06	1828.12	1974.12	0	0	0	30.00	30.00	30.00
1470.56	260	-136.25	-1.20	80.00	3385.4	3355.3	3415.4	1827.3	1974.1	231.47	-14.30	212	1474.97	0.00	0.00	3.17	0.000	0.000	0.102	3385.16	3355.44	3414.88	1827.50	3187.94	0	0	0	30.00	30.00	16.11
1540.64	1028	-136.25	-1.20	0.00	3385.1	3355.3	3414.8	1827.8	3188.1	241.93	-14.76	226	1544.96	0.00	0.00	2.86	0.000	0.000	0.040	3385.50	3355.50	3415.50	1827.81	1976.25	0	0	0	30.00	30.00	16.13
1850.58	0	-136.25	-1.20	0.00	3385.2	3355.1	3415.3	1827.8	1975.6	285.63	-13.68	258	1851.92	0.00	0.00	0.00	0.000	0.000	0.000	3384.19	3354.25	3414.12	1827.56	1976.00	0	0	0	30.00	30.00	30.00
2160.59	260	-136.25	-1.20	80.00	3385.3	3355.3	3415.3	1827.2	1975.7	328.49	-13.35	289	2165.00	0.00	0.00	3.16	0.000	0.000	0.104	3385.41	3355.62	3415.19	1827.75	3189.25	0	0	0	30.00	30.00	16.15
2190.61	1028	-136.25	-1.20	0.00	3385.0	3355.1	3414.9	1827.5	3188.6	332.59	-13.65	295	2194.96	0.00	0.00	2.88	0.000	0.000	0.041	3386.72	3356.44	3417.00	1826.94	1976.44	0	0	0	30.00	30.00	16.17
2500.64	0	-136.25	-1.20	0.00	3384.8	3354.8	3414.9	1826.8	1976.2	372.69	-12.77	327	2501.98	0.00	0.00	0.00	0.000	0.000	0.000	3385.47	3355.56	3415.38	1826.44	1976.31	0	0	0	30.00	30.00	30.00
2810.69	0	-136.25	-1.20	0.00	3383.7	3354.5	3412.8	1827.3	1976.8	411.71	-12.35	358	2812.03	0.00	0.00	0.00	0.000	0.000	0.000	3383.59	3354.69	3412.50	1826.81	1976.69	0	0	0	30.00	30.00	30.00
3120.73	0	-136.25	-1.20	0.00	3383.2	3355.2	3411.2	1827.8	1976.2	450.22	-12.48	389	3122.06	0.00	0.00	0.00	0.000	0.000	0.000	3382.41	3354.62	3410.19	1827.56	1977.00	0	0	0	30.00	30.00	30.00
3430.76	0	-136.25	-1.20	0.00	3381.8	3354.4	3409.2	1827.6	1976.4	488.25	-12.18	420	3432.10	0.00	0.00	0.00	0.000	0.000	0.000	3380.97	3354.12	3407.81	1827.62	1976.44	0	0	0	30.00	30.00	30.00
3740.80	260	-136.25	-1.20	80.00	3380.7	3354.6	3406.8	1827.6	1976.1	526.60	-12.54	451	3745.20	0.00	0.00	3.19	0.000	0.000	0.111	3381.88	3355.44	3408.31	1827.12	3188.19	0	0	0	30.00	30.00	16.20
3790.82	1028	-136.25	-1.20	0.00	3380.6	3354.2	3406.9	1827.2	3187.9	533.21	-13.24	461	3795.18	0.00	0.00	2.85	0.000	0.000	0.048	3381.03	3354.75	3407.31	1827.50	1976.88	0	0	0	30.00	30.00	16.21
4100.86	0	-136.25	-1.20	0.00	3379.5	3354.2	3404.8	1827.0	1977.1	570.74	-11.74	493	4102.20	0.00	0.00	0.00	0.000	0.000	0.000	3378.81	3354.25	3403.38	1827.50	1976.50	0	0	0	30.00	30.00	30.00
4410.90	260	-136.25	-1.20	80.00	3379.2	3354.2	3404.1	1827.4	1976.8	607.36	-11.64	524	4415.30	0.00	0.00	3.17	0.000	0.000	0.113	3379.53	3355.06	3404.00	1827.69	3186.19	0	0	0	30.00	30.00	16.20
4450.91	1028	-136.25	-1.20	0.00	3378.9	3354.1	3403.6	1827.9	3186.4	612.28	-12.35	532	4455.26	0.00	0.00	2.84	0.000	0.000	0.050	3380.28	3355.50	3405.06	1827.75	1979.81	0	0	0	30.00	30.00	16.21
4760.95	0	-136.25	-1.20	0.00	3377.8	3353.9	3401.6	1827.8	1979.8	648.50	-11.46	564	4762.29	0.00	0.00	0.00	0.000	0.000	0.000	3377.00	3353.50	3400.50	1827.12	1979.56	0	0	0	30.00	30.00	30.00
5070.99	516	-136.25	-1.20	-80.00	3376.8	3353.9	3399.7	1827.1	1979.2	684.30	-11.13	595	5076.54	0.00	0.00	3.94	0.000	0.000	0.149	3377.81	3353.88	3401.75	1827.81	534.31	0	0	0	30.00	30.00	16.20
5106.08	1028	-136.25	-1.20	0.00	3376.8	3354.6	3398.9	1826.6	534.8	688.80	-13.12	602	5111.49	0.00	0.00	3.52	0.000	0.000	0.051	3376.50	3354.19	3398.81	1827.25	2018.81	0	0	0	30.00	30.00	16.23
5421.05	0	-136.25	-1.20	0.00	3376.0	3353.1	3398.8	1827.6	2018.6	725.36	-11.51	634	5422.39	0.00	0.00	0.00	0.000	0.000	0.000	3375.16	3352.44	3397.88	1827.38	2018.56	0	0	0	30.00	30.00	30.00
5731.08	0	-136.25	-1.20	0.00	3375.4	3352.9	3397.9	1827.8	2019.0	761.95	-11.70	665	5732.42	0.00	0.00	0.00	0.000	0.000	0.000	3374.09	3351.44	3396.75	1827.88	2019.00	0	0	0	30.00	30.00	30.00
6041.11	0	-136.25	-1.20	0.00	3374.4	3351.9	3396.9	1827.1	2018.9	797.76	-11.52	696	6042.45	0.00	0.00	0.00	0.000	0.000	0.000	3373.84	3351.75	3395.94	1827.38	2019.44	0	0	0	30.00	30.00	30.00
6351.16	0	-136.25	-1.20	0.00	3373.8	3350.9	3396.6	1827.9	2019.0	833.31	-11.37	727	6352.50	0.00	0.00	0.00	0.000	0.000	0.000	3373.16	3350.81	3395.50	1827.19	2018.56	0	0	0	30.00	30.00	30.00
6661.19	0	-136.25	-1.20	0.00	3372.9	3350.8	3395.1	1827.2	2019.1	867.59	-11.14	758	6662.53	0.00	0.00	0.00	0.000	0.000	0.000	3372.31	3349.56	3395.06	1827.31	2019.00	0	0	0	30.00	30.00	30.00
6971.23	0	-136.25	-1.20	0.00	3372.2	3350.1	3394.2	1827.4	2018.9	901.21	-10.46	789	6972.57	0.00	0.00	0.00	0.000	0.000	0.000	3371.69	3350.00	3393.38	1827.12	2018.94	0	0	0	30.00	30.00	30.00
7281.25	516	-136.25	-1.20	-80.00	3371.5	3349.9	3393.1	1827.2	2019.3	933.66	-10.36	820	7286.84	0.00	0.00	4.12	0.000	0.000	0.162	3370.16	3347.94	3392.38	1827.06	536.00	0	0	0	30.00	30.00	16.20
7316.52	1028	-136.25	-1.20	0.00	3370.9	3349.8	3392.1	1827.9	536.4	937.87	-12.25	827	7321.74	0.00	0.00	3.56	0.000	0.000	0.061	3372.09	3350.06	3394.12	1827.38	2014.19	0	0	0	30.00	30.00	16.23
7631.27	0	-136.25	-1.20	0.00	3371.0	3349.4	3392.6	1827.6	2014.2	970.57	-10.07	859	7632.61	0.00	0.00	0.00	0.000	0.000	0.000	3370.34	3348.19	3392.50	1827.00	2014.00	0	0	0	30.00	30.00	30.00
7832	end dive: TARGET_DEPTH_EXCEEDED
state	7832	begin apogee
7834.22	10243	0.00	-0.23	0.00	3370.7	3349.2	3392.2	1826.8	1413.1	990.17	-9.62	879	7954.02	113.38	1.72	0.04	2.226	0.168	0.429	2822.56	2803.38	2841.75	2065.12	1444.81	0	0	0	13.15	16.19	15.41
7955	end apogee: CONTROL_FINISHED_OK
state	7955	begin climb
7954.88	10759	136.25	1.20	-80.00	2822.2	2803.1	2841.2	2065.2	1445.1	992.46	0.00	891	8087.27	121.65	2.41	3.01	2.188	0.098	0.177	2267.16	2239.94	2294.38	2415.75	458.31	0	0	0	12.64	15.47	15.21
8165.91	17414	136.25	1.20	0.00	2260.8	2234.0	2287.7	2415.6	458.4	970.17	16.33	933	8170.17	0.00	0.00	2.36	0.000	0.000	0.039	2261.53	2234.44	2288.62	2415.50	1455.12	0	0	0	30.00	30.00	15.58
8475.93	16386	136.25	1.20	0.00	2256.1	2227.6	2284.6	2415.9	1455.1	928.75	13.20	965	8477.27	0.00	0.00	0.00	0.000	0.000	0.000	2254.56	2226.31	2282.81	2415.75	1454.50	0	0	0	30.00	30.00	30.00
8785.98	16902	136.25	1.20	-80.00	2254.7	2226.3	2283.1	2415.7	1454.2	889.19	12.50	996	8790.34	0.00	0.00	2.85	0.000	0.000	0.163	2254.59	2226.81	2282.38	2416.19	458.06	0	0	0	30.00	30.00	15.94
8879.76	17414	136.25	1.20	0.00	2253.9	2226.8	2281.0	2415.4	458.1	875.04	15.30	1015	8886.52	0.00	0.00	2.30	0.000	0.000	0.039	2254.09	2227.31	2280.88	2415.94	1460.00	0	0	0	30.00	30.00	15.99
9196.29	16386	136.25	1.20	0.00	2252.9	2225.2	2280.6	2415.7	1460.4	837.42	11.66	1047	9197.63	0.00	0.00	0.00	0.000	0.000	0.000	2251.09	2223.75	2278.44	2415.56	1459.88	0	0	0	30.00	30.00	30.00
9506.09	16902	136.25	1.20	-80.00	2252.2	2224.8	2279.6	2415.6	1460.5	801.43	11.52	1078	9510.45	0.00	0.00	2.83	0.000	0.000	0.156	2253.12	2225.94	2280.31	2415.69	458.25	0	0	0	30.00	30.00	16.06
9576.13	17414	136.25	1.20	0.00	2251.8	2224.8	2278.8	2415.5	458.2	791.55	14.62	1092	9580.37	0.00	0.00	2.29	0.000	0.000	0.038	2253.59	2226.31	2280.88	2415.06	1465.69	0	0	0	30.00	30.00	16.08
9886.40	16902	136.25	1.20	-80.00	2251.5	2224.2	2278.9	2415.1	1466.6	754.62	12.01	1124	9890.51	0.00	0.00	2.83	0.000	0.000	0.152	2251.56	2224.50	2278.62	2415.56	456.50	0	0	0	30.00	30.00	16.09
9959.93	17414	136.25	1.20	0.00	2251.2	2224.2	2278.2	2415.6	456.6	743.84	14.90	1139	9966.68	0.00	0.00	2.28	0.000	0.000	0.038	2251.72	2224.81	2278.62	2416.19	1468.88	0	0	0	30.00	30.00	16.11
10276.27	16386	136.25	1.20	0.00	2250.8	2223.3	2278.3	2415.6	1468.9	707.16	11.28	1171	10277.61	0.00	0.00	0.00	0.000	0.000	0.000	2249.47	2222.69	2276.25	2415.50	1468.31	0	0	0	30.00	30.00	30.00
10586.24	16902	136.25	1.20	-80.00	2250.4	2223.1	2277.8	2415.2	1470.4	673.26	10.67	1202	10590.58	0.00	0.00	2.79	0.000	0.000	0.147	2251.75	2224.50	2279.00	2415.81	456.38	0	0	0	30.00	30.00	16.13
10636.27	17414	136.25	1.20	0.00	2250.0	2223.1	2276.9	2415.5	456.1	666.75	13.46	1212	10640.50	0.00	0.00	2.26	0.000	0.000	0.040	2251.97	2225.19	2278.75	2414.88	1470.50	0	0	0	30.00	30.00	16.16
10946.26	16902	136.25	1.20	-80.00	2249.9	2223.1	2276.8	2416.1	1472.9	634.45	10.18	1244	10950.60	0.00	0.00	2.80	0.000	0.000	0.146	2250.44	2223.69	2277.19	2416.06	456.44	0	0	0	30.00	30.00	16.14
11046.29	17414	136.25	1.20	0.00	2249.9	2223.2	2276.6	2415.5	456.3	621.58	13.31	1264	11050.54	0.00	0.00	2.27	0.000	0.000	0.039	2251.38	2224.50	2278.25	2415.69	1472.81	0	0	0	30.00	30.00	16.16
11356.29	16386	136.25	1.20	0.00	2249.8	2222.9	2276.8	2415.4	1474.8	590.05	10.20	1296	11357.63	0.00	0.00	0.00	0.000	0.000	0.000	2248.12	2221.56	2274.69	2416.00	1474.94	0	0	0	30.00	30.00	30.00
11666.31	16902	136.25	1.20	-80.00	2249.3	2222.2	2276.4	2415.9	1474.6	559.12	9.98	1327	11670.65	0.00	0.00	2.78	0.000	0.000	0.146	2250.75	2223.69	2277.81	2416.12	457.19	0	0	0	30.00	30.00	16.16
11706.34	17414	136.25	1.20	0.00	2249.2	2222.6	2275.9	2415.3	457.0	554.27	12.64	1335	11710.57	0.00	0.00	2.26	0.000	0.000	0.038	2249.66	2223.19	2276.12	2415.19	1477.25	0	0	0	30.00	30.00	16.18
12016.33	16386	136.25	1.20	0.00	2249.1	2222.3	2275.8	2415.2	1478.6	523.14	10.00	1367	12017.67	0.00	0.00	0.00	0.000	0.000	0.000	2248.50	2222.12	2274.88	2415.88	1478.81	0	0	0	30.00	30.00	30.00
12326.34	16386	136.25	1.20	0.00	2249.1	2222.4	2275.9	2415.8	1478.9	492.53	9.78	1398	12327.68	0.00	0.00	0.00	0.000	0.000	0.000	2247.44	2221.06	2273.81	2415.69	1479.12	0	0	0	30.00	30.00	30.00
12636.36	16386	136.25	1.20	0.00	2249.0	2221.9	2276.1	2415.2	1479.5	462.14	9.51	1429	12637.69	0.00	0.00	0.00	0.000	0.000	0.000	2248.03	2221.88	2274.19	2415.50	1478.94	0	0	0	30.00	30.00	30.00
12946.39	16966	136.25	1.24	-80.00	2249.2	2222.5	2275.9	2415.8	1479.1	433.46	9.23	1460	12950.71	0.00	0.00	2.78	0.000	0.000	0.141	2250.38	2223.50	2277.25	2415.56	456.50	0	0	0	30.00	30.00	16.19
13176.43	17414	136.25	1.24	0.00	2248.5	2222.2	2274.8	2416.0	456.6	407.82	11.01	1506	13180.68	0.00	0.00	2.28	0.000	0.000	0.041	2249.19	2222.94	2275.44	2416.12	1478.50	0	0	0	30.00	30.00	16.20
13486.45	16450	136.25	1.31	0.00	2248.6	2222.5	2274.8	2415.4	1479.1	382.42	8.20	1538	13487.79	0.00	0.00	0.00	0.000	0.000	0.000	2247.31	2221.19	2273.44	2416.25	1479.12	0	0	0	30.00	30.00	30.00
13796.46	18499	136.25	1.35	0.00	2248.6	2222.1	2275.1	2415.8	1479.1	355.62	8.86	1569	13797.92	0.00	0.19	0.00	0.000	0.106	0.000	2248.03	2221.69	2274.38	2454.69	1479.62	0	0	0	30.00	16.20	30.00
14106.47	16902	136.25	1.35	-80.00	2248.6	2222.2	2274.9	2454.8	1479.6	325.80	9.65	1600	14110.81	0.00	0.00	2.77	0.000	0.000	0.136	2250.12	2223.50	2276.75	2454.94	456.38	0	0	0	30.00	30.00	16.20
14250.24	17414	136.25	1.35	0.00	2248.4	2222.1	2274.8	2455.1	456.5	308.70	11.71	1629	14257.00	0.00	0.00	2.27	0.000	0.000	0.041	2249.34	2223.31	2275.38	2455.12	1482.06	0	0	0	30.00	30.00	16.22
14566.51	16450	136.25	1.39	0.00	2248.4	2222.1	2274.8	2454.6	1482.3	279.81	8.95	1661	14567.86	0.00	0.00	0.00	0.000	0.000	0.000	2248.53	2222.50	2274.56	2455.81	1482.25	0	0	0	30.00	30.00	30.00
14876.54	16450	136.25	1.43	0.00	2248.4	2222.4	2274.5	2455.9	1482.4	251.72	9.19	1692	14877.88	0.00	0.00	0.00	0.000	0.000	0.000	2247.09	2221.56	2272.62	2455.69	1482.62	0	0	0	30.00	30.00	30.00
15186.57	19015	136.25	1.50	-80.00	2248.3	2222.1	2274.6	2455.6	1482.3	224.88	8.13	1723	15190.94	0.00	0.17	2.76	0.000	0.113	0.131	2249.19	2222.94	2275.44	2490.06	455.44	0	0	0	30.00	16.20	16.20
15336.59	17414	136.25	1.50	0.00	2248.5	2222.2	2274.8	2490.5	455.6	208.55	11.56	1753	15340.84	0.00	0.00	2.25	0.000	0.000	0.039	2249.56	2223.69	2275.44	2491.19	1483.06	0	0	0	30.00	30.00	16.22
15646.64	16710	136.25	1.56	80.00	2248.4	2222.2	2274.6	2491.2	1483.2	181.28	8.66	1785	15652.10	0.00	0.00	3.51	0.000	0.000	0.085	2249.84	2223.62	2276.06	2490.44	2893.50	0	0	0	30.00	30.00	16.23
15701.72	17478	136.25	1.58	0.00	2248.4	2222.4	2274.4	2491.1	2894.2	176.20	9.32	1796	15707.14	0.00	0.00	3.67	0.000	0.000	0.062	2247.03	2221.06	2273.00	2490.88	1410.06	0	0	0	30.00	30.00	16.22
16016.72	19015	136.25	1.63	-80.00	2248.3	2221.9	2274.7	2490.9	1410.2	148.15	8.69	1828	16021.06	0.00	0.16	2.57	0.000	0.113	0.137	2248.19	2222.12	2274.25	2523.31	456.38	0	0	0	30.00	16.20	16.19
16246.80	17478	136.25	1.67	0.00	2248.3	2222.2	2274.4	2523.4	456.3	124.78	9.25	1874	16251.01	0.00	0.00	2.27	0.000	0.000	0.038	2249.69	2223.38	2276.00	2522.69	1483.50	0	0	0	30.00	30.00	16.22
16557.08	10275	228.03	1.80	0.00	2248.4	2222.4	2274.3	2523.4	1483.3	104.08	5.48	1906	16654.03	93.85	0.21	0.00	1.156	0.118	0.000	1895.09	1864.12	1926.06	2561.06	1483.62	0	0	0	13.13	16.20	30.00
16837.69	260	228.03	1.80	80.00	1887.7	1855.1	1920.3	2560.7	1483.4	75.17	10.98	1956	16843.41	0.00	0.00	3.58	0.000	0.000	0.083	1887.53	1855.06	1920.00	2560.94	2890.69	0	0	0	30.00	30.00	15.93
16992.74	17478	228.03	1.87	0.00	1886.8	1854.8	1918.8	2561.9	2890.4	60.84	8.38	1987	16998.48	0.00	0.00	3.72	0.000	0.000	0.062	1886.72	1854.69	1918.75	2561.75	1410.75	0	0	0	30.00	30.00	15.99
17182.86	18499	228.03	1.93	0.00	1886.0	1853.6	1918.4	2561.3	1410.6	45.14	8.43	2025	17187.69	0.00	0.17	0.00	0.000	0.116	0.000	1887.72	1855.50	1919.94	2591.56	1410.50	0	0	0	30.00	16.01	30.00
17372.85	8486	296.80	2.03	80.00	1885.7	1853.1	1918.2	2592.8	1410.9	31.48	6.61	2063	17460.27	81.53	0.00	3.83	1.037	0.000	0.076	1613.19	1575.62	1650.75	2593.81	2891.31	0	0	0	13.03	30.00	15.73
17573.97	11303	409.21	2.20	0.00	1610.7	1573.3	1648.1	2593.7	2891.8	20.73	4.46	2103	17702.26	120.26	0.41	3.72	0.981	0.088	0.062	1157.78	1106.12	1209.44	2658.25	1411.19	0	0	0	12.80	15.82	15.85
17746	end climb: SURFACE_DEPTH_REACHED
state	17746	begin surface coast
17761	end surface coast: CONTROL_FINISHED_OK
state	17761	begin surface