Glider dive log

EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 278 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 237 FIX_MISSING_TIMEOUT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1.7

MISSION 6 TGT_DEFAULT_LAT 4736 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 278 TGT_DEFAULT_LON -12218 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 0 TGT_AUTO_DEFAULT 0 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 SM_CC 500 C_VBD 2968 DEVICE1 10

D_SURF 2 N_FILEKB 8 VBD_DBAND 2 DEVICE2 -1

D_FLARE 3 FILEMGR 0 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 990 CALL_NDIVES 1 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 1010 COMM_SEQ 0 VBD_TIMEOUT 720 DEVICE5 -1

D_NO_BLEED 500 PROTOCOL 9 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

D_BOOST 0 N_NOCOMM 1 UNCOM_BLEED 20 LOGGERS 0

T_BOOST 0 NOCOMM_ACTION 131 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_FINISH 0 N_NOSURFACE 0 W_ADJ_DBAND 2 LOGGERDEVICE2 65

D_PITCH 0 UPLOAD_DIVES_MAX -1 DBDW 0 LOGGERDEVICE3 -1

D_SAFE 0 CALL_TRIES 5 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

D_CALL 0 CALL_WAIT 60 LOITER_DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 0 CAPUPLOAD 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 0 T_GPS 10 LOITER_N_DIVE 0 GPS_DEVICE 48

T_DIVE 260 N_GPS 100440 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_MISSION 290 T_RSLEEP 1 AH0_24V 510 NETWORK_DEVICE -1

T_ABORT 1440 STROBE 0 AH0_10V 0 PRESSURE_DEVICE 34

T_TURN 225 RAFOS_PEAK_OFFSET 0 MINV_24V 11 XPDR_DEVICE 21

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 MINV_10V 11 SIM_W 0

T_NO_W 120 RAFOS_HIT_WINDOW 3600 MAXI_24V 5 SEABIRD_T_G 0.0044171116

T_LOITER 0 RAFOS_MMODEM 0 MAXI_10V 1.5 SEABIRD_T_H 0.00064316206

T_EPIRB 0 PITCH_MIN 190 FG_AHR_10V 45.890141 SEABIRD_T_I 2.5361865e-05

USE_BATHY -6 PITCH_MAX 3000 FG_AHR_24V 159.65504 SEABIRD_T_J 3.0211725e-06

USE_ICE 0 C_PITCH 1800 PHONE_SUPPLY 2 SEABIRD_C_G -9.9751892

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 PRESSURE_YINT -148.10413 SEABIRD_C_H 1.1606171

D_OFFGRID 1000 PITCH_CNV 0.0041299998 PRESSURE_SLOPE 0.00022584078 SEABIRD_C_I -0.0016447038

RELAUNCH 1 PITCH_GAIN 22 COMPASS_USE 4 SEABIRD_C_J 0.0002149943

APOGEE_PITCH -5 PITCH_TIMEOUT 30 ALTIM_PING_FIT 0 SC_RECORDABOVE 2000.0

MAX_BUOY 250 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

GLIDE_SLOPE 50 PITCH_ADJ_GAIN 0.015 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0 SC_NDIVE 1.0

RHO 1.0275 PITCH_W_GAIN 2 ALTIM_TOP_MIN_OBSTACLE 1 ES_RECORDABOVE 2000.0

MASS 74630 PITCH_W_DBAND 0.5 ALTIM_PING_DEPTH 0 ES_PROFILE 0.0

NAV_MODE 2 ROLL_MIN 465 ALTIM_PING_DELTA 0 ES_XMITPROFILE 0.0

FERRY_MAX 45 ROLL_MAX 3180 ALTIM_FREQUENCY 14 ES_UPLOADMAX 100000.0

KALMAN_USE 2 ROLL_DEG 80 ALTIM_PULSE 3 ES_STARTS 358.0

HD_A 0.003 C_ROLL_DIVE 2000 ALTIM_SENSITIVITY 2 ES_NDIVE 1.0

HD_B 0.0099999998 C_ROLL_CLIMB 1450 XPDR_VALID 4 ES_DL_HEADERSKIP 105044.0

HD_C 1.6e-05 HEAD_ERRBAND 10 XPDR_INHIBIT 90 ES_DL_RECORDLENGTH 10086.0

HEADING -1 ROLL_CNV 0.054945 XPDR_INT 0 ES_DL_NRECORD 100.0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 XPDR_REP 0 ES_DL_RECORDCOUNT 3.0

ESCAPE_HEADING_DELTA 10 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_TGT 990 MOTHERBOARD 6 SEABIRD_C_H 1.1606171

AH0_24V 510 ESCAPE_HEADING 0 NAV_MODE 2 SEABIRD_C_I -0.0016447038

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 NETWORK_DEVICE -1 SEABIRD_C_J 0.0002149943

ALTIM_FREQUENCY 14 ES_DL_HEADERSKIP 105044.0 NOCOMM_ACTION 131 SEABIRD_T_G 0.0044171116

ALTIM_PING_DELTA 0 ES_DL_NRECORD 100.0 N_DIVES 0 SEABIRD_T_H 0.00064316206

ALTIM_PING_DEPTH 0 ES_DL_RECORDCOUNT 3.0 N_FILEKB 8 SEABIRD_T_I 2.5361865e-05

ALTIM_PING_FIT 0 ES_DL_RECORDLENGTH 10086.0 N_GPS 100440 SEABIRD_T_J 3.0211725e-06

ALTIM_PULSE 3 ES_NDIVE 1.0 N_NOCOMM 1 SIM_W 0

ALTIM_SENSITIVITY 2 ES_PROFILE 0.0 N_NOSURFACE 0 SM_CC 500

ALTIM_TOP_MIN_OBSTACLE 1 ES_RECORDABOVE 2000.0 PHONE_DEVICE 33 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ES_STARTS 358.0 PHONE_SUPPLY 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 ES_UPLOADMAX 100000.0 PITCH_ADJ_DBAND 2 STROBE 0

APOGEE_PITCH -5 ES_XMITPROFILE 0.0 PITCH_ADJ_GAIN 0.015 SURFACE_URGENCY 0

CALL_NDIVES 1 FERRY_MAX 45 PITCH_CNV 0.0041299998 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 FG_AHR_10V 45.890141 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FG_AHR_24V 159.65504 PITCH_GAIN 22 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 FILEMGR 0 PITCH_MAX 3000 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 GLIDE_SLOPE 50 PITCH_MIN 190 T_ABORT 1440

COMM_SEQ 0 GPS_DEVICE 48 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 HD_A 0.003 PITCH_VBD_SHIFT 0.0015 T_DIVE 260

COMPASS_DEVICE 66 HD_B 0.0099999998 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_USE 4 HD_C 1.6e-05 PITCH_W_GAIN 2 T_GPS 10

C_PITCH 1800 HEADING -1 PRESSURE_DEVICE 34 T_LOITER 0

C_ROLL_CLIMB 1450 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00022584078 T_MISSION 290

C_ROLL_DIVE 2000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -148.10413 T_NO_W 120

C_VBD 2968 ID 237 PROTOCOL 9 T_RSLEEP 1

DBDW 0 INT_PRESSURE_SLOPE 1.9639999e-06 RAFOS_CORR_THRESH 60 T_TURN 225

DEEPGLIDER 0 INT_PRESSURE_YINT -1.7 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

DEVICE1 10 LOGGERDEVICE1 7 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 LOGGERDEVICE2 65 RAFOS_PEAK_OFFSET 0 USE_BATHY -6

DEVICE3 -1 LOGGERDEVICE3 -1 RELAUNCH 1 USE_ICE 0

DEVICE4 -1 LOGGERDEVICE4 -1 RHO 1.0275 VBD_CNV -0.24529999

DEVICE5 -1 LOGGERS 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE6 -1 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DIVE 278 LOITER_D_BOTTOM 0 ROLL_CNV 0.054945 VBD_MAX 3960

D_ABORT 1010 LOITER_D_TOP 0 ROLL_DEG 80 VBD_MAXERRORS 1

D_BOOST 0 LOITER_N_DIVE 0 ROLL_MAX 3180 VBD_MIN 500

D_CALL 0 LOITER_W_DBAND 0 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

D_FINISH 0 MASS 74630 ROLL_MIN 465 W_ADJ_DBAND 2

D_FLARE 3 MAXI_10V 1.5 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_NO_BLEED 500 MAXI_24V 5 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_OFFGRID 1000 MAX_BUOY 250 SC_PROFILE 3.0 XPDR_INT 0

D_PITCH 0 MINV_10V 11 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_SAFE 0 MINV_24V 11 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_SURF 2 MISSION 6 SEABIRD_C_G -9.9751892

Pre-dive calculations and measurements:

GPS1 260521,014520,4919.803,-1433.728,19,1.3,30,-4.8 TGT_LATLONG 4855.680,-1442.000

_CALLS 1 TGT_RADIUS 5000.000

_SM_DEPTHo 1.10 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -49.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 260521,015043,4919.821,-1433.677,2,0.7,4,-4.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.107,0.350 MHEAD_RNG_PITCHd_Wd 217.0,45841,-16.6,-12.692,-19.91

TGT_NAME EC D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.2,1.026779 _10V_AH 15.00,0.000

SM_CCo 16387.38,0.00,0.000,0,922.5,859.6,985.4,501.77 FG_AHR_24Vo 159.987

SM_GC 1.04,0.00,12.52,1.11,0.000,0.050,0.035,922.5,859.6,985.4,179.7,2040.3,0,0,0,30.00,15.80,15.86 FG_AHR_10Vo 45.933

SUPER 19,71,254,1,0,0 MEM 1127180,30,49544,99

IRIDIUM_FIX 4923.36,-1432.66,250521,210157 DATA_FILE_SIZE 73822,1909

TCM_TEMP 15.81 CAP_FILE_SIZE 344178,0

XPDR_PINGS 19,13.0,11.5 SDSIZE 3918848,3836160

HUMID 51.28 SDFILEDIR 1629,1

TEMP 11.47 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.68454 CURRENT 0.142, 67.6,1

_24V_AH 14.31,122.483 GPS 260521,062431,4917.836,-1434.579,22,1.0,23,-4.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 793 2024 22984.02 SBE_CT 2214 24 760.39

Pitch_motor 32 294 135.67 nil 0 0 0.00

Roll_motor 149 314 671.98 nil 0 0 0.00

Iridium 231 201 668.01 nil 0 0 0.00

Transponder_ping 4 420 28.55 nil 0 0 0.00

GPS 13 15 3.10 nil 0 0 0.00

Core 4866 11 861.38 SciCon 0 0 0.00

LPSleep 11773 2 494.51 echo 0 0 0.00

Compass 2261 5 169.60 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

2 end surface: CONTROL_FINISHED_OK

state 2 begin dive

3.51 16386 -243.31 -1.12 0.00 927.8 874.8 980.9 176.1 1963.5 0.00 0.00 0 121.56 117.69 0.00 0.00 0.005 0.000 0.000 3282.84 3292.81 3272.88 175.94 1962.94 0 0 0 15.19 30.00 30.00

121.84 18727 -243.31 -1.12 80.00 3282.0 3291.1 3272.9 175.9 1962.9 3.27 -1.97 23 159.63 18.80 11.96 3.13 0.006 0.295 0.114 3959.94 3942.75 3977.12 1528.62 3186.56 0 0 0 15.26 15.26 15.03

241.87 1028 -243.31 -1.12 0.00 3961.0 3944.2 3977.8 1528.8 3186.3 19.90 -12.44 47 247.46 0.00 0.00 2.79 0.000 0.000 0.036 3961.09 3944.38 3977.81 1528.62 1971.19 0 0 0 30.00 30.00 15.81

426.99 128 -243.31 -1.07 0.00 3961.1 3944.3 3977.8 1528.8 1970.4 46.30 -14.92 84 428.32 0.00 0.00 0.00 0.000 0.000 0.000 3960.53 3944.06 3977.00 1528.56 1970.88 0 0 0 30.00 30.00 30.00

607.01 2177 -243.31 -1.02 0.00 3961.3 3944.6 3978.0 1528.9 1971.4 72.87 -14.95 120 608.47 0.00 0.17 0.00 0.000 0.176 0.000 3962.38 3944.06 3980.69 1555.25 1970.38 0 0 0 30.00 15.72 30.00

786.95 0 -243.31 -1.02 0.00 3961.4 3944.8 3978.0 1555.3 1970.4 96.14 -12.74 156 788.28 0.00 0.00 0.00 0.000 0.000 0.000 3960.38 3943.19 3977.56 1555.00 1971.06 0 0 0 30.00 30.00 30.00

971.98 260 -243.31 -1.02 80.00 3960.9 3943.8 3978.0 1555.5 1970.8 119.07 -12.23 178 977.57 0.00 0.00 3.12 0.000 0.000 0.112 3962.03 3944.94 3979.12 1554.94 3186.25 0 0 0 30.00 30.00 15.58

1006.91 1028 -243.31 -1.02 0.00 3961.2 3944.6 3977.8 1555.3 3186.8 123.28 -12.02 185 1012.59 0.00 0.00 2.76 0.000 0.000 0.036 3961.97 3945.25 3978.69 1555.00 1970.25 0 0 0 30.00 30.00 15.88

1312.01 0 -243.31 -1.02 0.00 3960.9 3943.9 3978.0 1555.4 1970.7 160.47 -11.99 216 1313.33 0.00 0.00 0.00 0.000 0.000 0.000 3961.28 3944.12 3978.44 1555.25 1970.50 0 0 0 30.00 30.00 30.00

1612.09 260 -243.31 -1.02 80.00 3961.8 3944.7 3979.0 1555.4 1970.6 196.13 -11.75 246 1617.61 0.00 0.00 3.13 0.000 0.000 0.112 3961.84 3945.00 3978.69 1555.25 3187.00 0 0 0 30.00 30.00 15.59

1642.02 1028 -243.31 -1.02 0.00 3961.1 3944.1 3978.1 1555.4 3186.6 199.56 -11.49 252 1647.55 0.00 0.00 2.76 0.000 0.000 0.036 3962.25 3944.75 3979.75 1554.94 1970.50 0 0 0 30.00 30.00 15.91

1952.10 0 -243.31 -1.02 0.00 3961.8 3944.6 3978.9 1555.4 1970.2 234.73 -11.52 284 1953.43 0.00 0.00 0.00 0.000 0.000 0.000 3961.34 3943.69 3979.00 1555.50 1970.31 0 0 0 30.00 30.00 30.00

2252.12 260 -243.31 -1.02 80.00 3961.6 3944.2 3978.9 1555.2 1970.4 270.73 -12.38 314 2257.65 0.00 0.00 3.12 0.000 0.000 0.111 3961.97 3944.81 3979.12 1555.25 3186.88 0 0 0 30.00 30.00 15.60

2312.07 1028 -243.31 -1.02 0.00 3961.4 3944.3 3978.6 1555.2 3186.3 277.71 -11.42 326 2317.59 0.00 0.00 2.75 0.000 0.000 0.037 3962.16 3945.00 3979.31 1554.62 1971.75 0 0 0 30.00 30.00 15.92

2622.16 516 -243.31 -1.02 -80.00 3961.4 3944.4 3978.4 1555.3 1972.8 314.91 -12.24 358 2627.79 0.00 0.00 3.78 0.000 0.000 0.119 3961.72 3944.25 3979.19 1555.25 534.75 0 0 0 30.00 30.00 15.67

2657.02 1028 -243.31 -1.02 0.00 3961.5 3944.4 3978.5 1555.1 534.5 319.55 -13.50 365 2662.80 0.00 0.00 3.37 0.000 0.000 0.028 3961.56 3944.25 3978.88 1555.50 2031.00 0 0 0 30.00 30.00 15.94

2962.09 0 -243.31 -1.02 0.00 3961.7 3943.9 3979.4 1555.2 2031.3 355.99 -11.81 396 2963.43 0.00 0.00 0.00 0.000 0.000 0.000 3961.28 3944.19 3978.38 1554.81 2031.38 0 0 0 30.00 30.00 30.00

3262.20 32 -243.31 -1.02 0.00 3961.5 3944.0 3979.1 1555.2 2031.2 389.48 -10.68 426 3263.53 0.00 0.00 0.00 0.000 0.000 0.000 3961.22 3944.12 3978.31 1555.38 2031.38 0 0 0 30.00 30.00 30.00

3562.21 0 -243.31 -1.02 0.00 3961.2 3943.8 3978.5 1555.8 2031.0 422.65 -11.23 456 3563.54 0.00 0.00 0.00 0.000 0.000 0.000 3961.84 3944.69 3979.00 1555.25 2030.75 0 0 0 30.00 30.00 30.00

3862.23 516 -243.31 -1.02 -80.00 3961.4 3943.9 3979.0 1555.3 2030.8 457.41 -11.74 486 3867.90 0.00 0.00 3.91 0.000 0.000 0.120 3961.78 3944.00 3979.56 1555.38 534.50 0 0 0 30.00 30.00 15.64

3902.18 1028 -243.31 -1.02 0.00 3961.5 3943.4 3979.6 1555.6 534.6 462.43 -12.69 494 3907.80 0.00 0.00 3.37 0.000 0.000 0.030 3961.62 3944.25 3979.00 1555.44 2028.69 0 0 0 30.00 30.00 15.94

4212.19 0 -243.31 -1.02 0.00 3961.5 3943.9 3979.1 1555.3 2028.8 498.69 -12.02 526 4213.52 0.00 0.00 0.00 0.000 0.000 0.000 3960.50 3943.31 3977.69 1555.31 2028.62 0 0 0 30.00 30.00 30.00

4512.28 0 -243.31 -1.02 0.00 3961.3 3943.9 3978.8 1555.6 2028.6 534.25 -11.94 556 4513.61 0.00 0.00 0.00 0.000 0.000 0.000 3960.66 3943.00 3978.31 1555.06 2028.44 0 0 0 30.00 30.00 30.00

4812.30 0 -243.31 -1.02 0.00 3961.1 3943.3 3978.8 1555.7 2028.1 571.66 -12.60 586 4813.63 0.00 0.00 0.00 0.000 0.000 0.000 3960.66 3943.00 3978.31 1555.12 2028.25 0 0 0 30.00 30.00 30.00

5112.33 0 -243.31 -1.02 0.00 3960.8 3943.2 3978.3 1555.2 2028.6 608.53 -12.25 616 5113.66 0.00 0.00 0.00 0.000 0.000 0.000 3960.53 3942.75 3978.31 1555.06 2028.38 0 0 0 30.00 30.00 30.00

5412.37 516 -243.31 -1.02 -80.00 3960.7 3942.2 3979.2 1555.5 2028.3 645.66 -12.67 646 5418.01 0.00 0.00 3.95 0.000 0.000 0.129 3961.12 3943.00 3979.25 1555.31 536.75 0 0 0 30.00 30.00 15.60

5442.29 1028 -243.31 -1.02 0.00 3960.4 3942.2 3978.6 1555.4 536.5 649.85 -13.98 652 5447.93 0.00 0.00 3.39 0.000 0.000 0.034 3961.53 3943.12 3979.94 1555.06 2023.94 0 0 0 30.00 30.00 15.94

5752.30 0 -243.31 -1.02 0.00 3960.2 3942.1 3978.4 1555.2 2023.2 688.06 -11.98 684 5753.63 0.00 0.00 0.00 0.000 0.000 0.000 3959.97 3941.88 3978.06 1555.00 2023.25 0 0 0 30.00 30.00 30.00

6052.40 0 -243.31 -1.02 0.00 3959.8 3941.6 3978.1 1555.2 2023.6 722.67 -11.62 714 6053.73 0.00 0.00 0.00 0.000 0.000 0.000 3959.75 3941.31 3978.19 1555.44 2023.38 0 0 0 30.00 30.00 30.00

6352.43 548 -243.31 -1.02 -80.00 3960.1 3940.8 3979.5 1555.1 2023.6 755.50 -10.68 744 6358.10 0.00 0.00 4.01 0.000 0.000 0.132 3960.06 3941.25 3978.88 1555.12 535.00 0 0 0 30.00 30.00 15.57

6387.43 1028 -243.31 -1.02 0.00 3959.9 3941.1 3978.8 1555.3 534.6 759.49 -11.40 751 6393.06 0.00 0.00 3.40 0.000 0.000 0.036 3960.12 3941.00 3979.25 1555.56 2021.38 0 0 0 30.00 30.00 15.82

6692.39 32 -243.31 -1.02 0.00 3959.7 3940.6 3978.9 1555.2 2021.5 791.31 -10.53 782 6693.72 0.00 0.00 0.00 0.000 0.000 0.000 3959.16 3940.81 3977.50 1555.50 2021.44 0 0 0 30.00 30.00 30.00

6992.46 0 -243.31 -1.02 0.00 3959.3 3940.1 3978.4 1555.2 2021.7 823.77 -11.04 812 6993.79 0.00 0.00 0.00 0.000 0.000 0.000 3959.44 3939.75 3979.12 1555.31 2021.56 0 0 0 30.00 30.00 30.00

7292.50 516 -243.31 -1.02 -80.00 3959.2 3939.6 3978.8 1555.3 2021.9 855.84 -10.76 842 7298.17 0.00 0.00 4.01 0.000 0.000 0.138 3959.81 3940.44 3979.19 1555.25 535.62 0 0 0 30.00 30.00 15.54

7332.45 1028 -243.31 -1.02 0.00 3959.0 3939.8 3978.2 1555.2 535.6 860.55 -11.99 850 7338.08 0.00 0.00 3.41 0.000 0.000 0.039 3959.44 3939.50 3979.38 1555.31 2018.94 0 0 0 30.00 30.00 15.89

7642.48 676 -243.31 -1.05 -80.00 3958.8 3939.1 3978.5 1555.2 2018.8 892.47 -10.13 882 7648.20 0.00 0.00 4.02 0.000 0.000 0.140 3959.56 3939.38 3979.75 1555.62 536.75 0 0 0 30.00 30.00 15.54

7672.47 1028 -243.31 -1.05 0.00 3958.5 3938.8 3978.2 1555.5 536.6 895.85 -10.81 888 7678.23 0.00 0.00 3.40 0.000 0.000 0.038 3958.62 3938.94 3978.31 1555.25 2020.31 0 0 0 30.00 30.00 15.88

7982.51 420 -243.31 -1.08 80.00 3957.9 3937.8 3978.1 1555.4 2020.3 926.90 -10.16 920 7988.06 0.00 0.00 3.08 0.000 0.000 0.149 3958.72 3938.94 3978.50 1555.19 3186.31 0 0 0 30.00 30.00 15.44

8022.53 5285 -243.31 -1.13 0.00 3957.4 3937.8 3977.1 1555.5 3186.2 930.96 -10.21 928 8028.11 0.00 0.29 2.83 0.000 0.069 0.059 3958.06 3937.62 3978.50 1507.50 1979.94 0 0 0 30.00 15.61 15.84

8332.53 2177 -243.31 -1.10 0.00 3957.2 3937.1 3977.4 1507.4 1980.4 974.73 -14.39 960 8334.00 0.00 0.26 0.00 0.000 0.172 0.000 3957.50 3937.75 3977.25 1535.06 1980.06 0 0 0 30.00 15.72 30.00

8463 end dive: TARGET_DEPTH_EXCEEDED

state 8463 begin apogee

8464.96 10243 0.00 -0.23 0.00 3957.0 3936.7 3977.4 1534.7 1437.2 990.95 -11.69 973 8677.05 208.96 1.49 0.05 2.025 0.145 0.314 2966.25 2923.38 3009.12 1747.44 1479.31 0 0 0 10.42 15.69 15.06

8678 end apogee: CONTROL_FINISHED_OK

state 8678 begin climb

8678.01 10759 243.31 1.12 -80.00 2965.3 2922.6 3008.1 1747.7 1479.5 999.73 0.00 994 8900.78 214.54 2.29 3.06 1.979 0.097 0.173 1974.38 1927.75 2021.00 2074.19 458.94 0 0 0 11.94 15.21 14.99

9052.95 17414 243.31 1.12 0.00 1967.0 1922.6 2011.4 2075.4 458.8 969.25 12.87 1069 9058.50 0.00 0.00 2.34 0.000 0.000 0.028 1967.56 1922.69 2012.44 2074.81 1493.75 0 0 0 30.00 30.00 15.52

9358.09 8226 307.66 1.22 0.00 1965.4 1919.8 2011.1 2074.8 1494.1 937.15 10.41 1100 9419.27 59.83 0.00 0.00 1.865 0.000 0.000 1713.53 1659.56 1767.50 2073.69 1495.75 0 0 0 11.44 30.00 30.00

9718.10 10663 383.12 1.38 80.00 1706.8 1650.4 1763.2 2075.6 1496.2 900.04 10.02 1136 9795.32 71.01 0.37 3.69 1.841 0.065 0.107 1406.31 1344.56 1468.06 2146.81 2911.50 0 0 0 11.42 15.66 15.27

9818.09 1028 383.12 1.38 0.00 1404.6 1342.9 1466.2 2147.0 2910.6 886.00 14.24 1156 9823.76 0.00 0.00 3.70 0.000 0.000 0.080 1404.84 1342.69 1467.00 2146.94 1438.62 0 0 0 30.00 30.00 15.45

10128.11 0 383.12 1.38 0.00 1400.8 1337.7 1463.9 2146.4 1439.0 838.94 15.32 1188 10129.44 0.00 0.00 0.00 0.000 0.000 0.000 1399.91 1337.25 1462.56 2146.12 1438.56 0 0 0 30.00 30.00 30.00

10428.19 0 383.12 1.38 0.00 1399.8 1336.9 1462.8 2146.9 1438.6 794.75 15.24 1218 10429.52 0.00 0.00 0.00 0.000 0.000 0.000 1399.31 1336.38 1462.25 2146.25 1438.81 0 0 0 30.00 30.00 30.00

10728.22 260 383.12 1.38 80.00 1399.5 1336.6 1462.4 2146.6 1438.8 750.52 14.54 1248 10733.83 0.00 0.00 3.73 0.000 0.000 0.095 1399.72 1336.88 1462.56 2147.00 2912.31 0 0 0 30.00 30.00 15.66

10768.18 1156 383.12 1.41 0.00 1399.1 1336.6 1461.6 2146.8 2912.0 745.11 13.14 1256 10773.83 0.00 0.00 3.58 0.000 0.000 0.076 1399.34 1336.56 1462.12 2146.19 1436.06 0 0 0 30.00 30.00 15.76

11078.16 516 383.12 1.41 -80.00 1399.0 1336.2 1461.8 2146.4 1436.6 701.06 13.99 1288 11083.69 0.00 0.00 2.73 0.000 0.000 0.153 1398.91 1336.12 1461.69 2146.88 457.69 0 0 0 30.00 30.00 15.63

11113.11 1156 383.12 1.37 0.00 1398.3 1336.2 1460.5 2147.3 457.7 695.53 16.38 1295 11118.63 0.00 0.00 2.30 0.000 0.000 0.027 1398.88 1336.69 1461.06 2146.56 1518.94 0 0 0 30.00 30.00 15.85

11418.19 516 383.12 1.37 -80.00 1398.2 1336.1 1460.4 2146.4 1518.7 654.03 12.88 1326 11423.76 0.00 0.00 2.90 0.000 0.000 0.142 1399.12 1336.50 1461.75 2146.62 456.81 0 0 0 30.00 30.00 15.64

11453.14 5253 383.12 1.33 0.00 1398.3 1336.4 1460.2 2146.3 456.8 648.64 15.85 1333 11458.81 0.00 0.31 2.29 0.000 0.194 0.028 1398.78 1336.38 1461.19 2116.50 1520.75 0 0 0 30.00 15.69 15.87

11758.30 128 383.12 1.38 0.00 1398.2 1336.2 1460.2 2116.8 1520.7 616.13 10.70 1364 11759.63 0.00 0.00 0.00 0.000 0.000 0.000 1397.50 1335.50 1459.50 2116.94 1520.69 0 0 0 30.00 30.00 30.00

12058.33 10403 440.56 1.52 0.00 1398.0 1335.9 1460.1 2116.9 1520.8 584.01 10.66 1394 12112.44 52.74 0.40 0.00 1.536 0.063 0.000 1172.16 1109.06 1235.25 2179.06 1520.69 0 0 0 11.00 15.87 30.00

12408.26 516 440.56 1.52 -80.00 1168.6 1104.3 1232.9 2181.1 1521.3 527.72 16.55 1429 12413.82 0.00 0.00 2.90 0.000 0.000 0.138 1168.69 1104.19 1233.19 2181.38 457.62 0 0 0 30.00 30.00 15.60

12443.21 5253 440.56 1.47 0.00 1168.3 1104.4 1232.2 2181.6 458.0 521.36 19.10 1436 12448.88 0.00 0.28 2.31 0.000 0.189 0.029 1169.00 1104.50 1233.50 2151.38 1518.19 0 0 0 30.00 15.62 15.78

12748.39 128 440.56 1.51 0.00 1167.9 1103.1 1232.6 2150.7 1518.6 479.85 12.68 1467 12749.72 0.00 0.00 0.00 0.000 0.000 0.000 1167.34 1102.81 1231.88 2150.94 1518.62 0 0 0 30.00 30.00 30.00

13048.39 2693 440.56 1.55 -80.00 1167.8 1103.1 1232.5 2150.8 1518.4 442.84 11.91 1497 13053.95 0.00 0.23 2.91 0.000 0.078 0.141 1168.03 1102.88 1233.19 2189.56 456.50 0 0 0 30.00 15.83 15.62

13078.33 5253 440.56 1.51 0.00 1167.3 1102.6 1232.0 2189.6 456.8 437.94 17.16 1503 13083.83 0.00 0.28 2.30 0.000 0.187 0.031 1167.53 1102.62 1232.44 2158.88 1517.31 0 0 0 30.00 15.68 15.85

13388.39 516 440.56 1.51 -80.00 1167.4 1102.8 1232.1 2159.1 1517.9 397.10 12.79 1535 13393.87 0.00 0.00 2.88 0.000 0.000 0.137 1167.81 1103.12 1232.50 2157.62 458.00 0 0 0 30.00 30.00 15.64

13418.33 1028 440.56 1.51 0.00 1167.4 1102.9 1231.9 2159.1 458.0 392.94 13.89 1541 13423.70 0.00 0.00 2.29 0.000 0.000 0.031 1168.00 1103.19 1232.81 2159.00 1519.50 0 0 0 30.00 30.00 15.87

13728.36 0 440.56 1.51 0.00 1167.4 1102.8 1232.0 2159.0 1519.8 354.05 12.25 1573 13729.69 0.00 0.00 0.00 0.000 0.000 0.000 1166.88 1102.38 1231.38 2158.62 1519.75 0 0 0 30.00 30.00 30.00

14028.45 644 440.56 1.54 -80.00 1167.5 1103.0 1232.1 2159.1 1519.7 316.82 12.09 1603 14033.92 0.00 0.00 2.88 0.000 0.000 0.133 1168.28 1103.44 1233.12 2158.56 457.75 0 0 0 30.00 30.00 15.65

14068.39 1028 440.56 1.54 0.00 1167.2 1102.6 1231.7 2158.9 457.7 311.07 14.79 1611 14073.75 0.00 0.00 2.28 0.000 0.000 0.031 1167.31 1103.00 1231.62 2159.12 1515.81 0 0 0 30.00 30.00 15.90

14378.43 128 440.56 1.57 0.00 1167.4 1102.9 1231.9 2158.6 1515.5 272.71 12.19 1643 14379.76 0.00 0.00 0.00 0.000 0.000 0.000 1166.88 1102.56 1231.19 2159.19 1515.81 0 0 0 30.00 30.00 30.00

14678.51 2177 440.56 1.61 0.00 1167.3 1102.9 1231.7 2158.8 1515.8 236.88 11.72 1673 14679.98 0.00 0.26 0.00 0.000 0.075 0.000 1167.34 1102.69 1232.00 2202.81 1515.81 0 0 0 30.00 15.89 30.00

14978.46 644 440.56 1.58 -80.00 1167.2 1102.6 1231.9 2202.8 1516.0 188.62 16.76 1703 14984.00 0.00 0.00 2.87 0.000 0.000 0.133 1167.59 1103.12 1232.06 2202.75 456.88 0 0 0 30.00 30.00 15.66

15018.47 5253 440.56 1.51 0.00 1167.4 1102.8 1231.9 2203.0 456.8 180.95 19.83 1711 15023.98 0.00 0.38 2.28 0.000 0.188 0.030 1167.47 1103.06 1231.88 2159.12 1525.12 0 0 0 30.00 15.69 15.92

15328.56 644 440.56 1.55 -80.00 1167.2 1102.8 1231.6 2158.9 1525.2 140.72 11.46 1743 15334.02 0.00 0.00 2.89 0.000 0.000 0.133 1167.41 1102.88 1231.94 2159.19 456.69 0 0 0 30.00 30.00 15.65

15368.49 1028 440.56 1.55 0.00 1167.1 1102.8 1231.4 2158.9 456.8 135.33 14.14 1751 15373.85 0.00 0.00 2.28 0.000 0.000 0.031 1168.31 1103.06 1233.56 2158.81 1517.94 0 0 0 30.00 30.00 15.91

15678.53 10663 500.59 1.69 80.00 1167.4 1103.0 1231.8 2159.1 1518.2 99.57 10.57 1783 15735.32 49.66 0.39 3.42 0.991 0.066 0.081 926.25 863.62 988.88 2223.44 2914.75 0 0 0 10.79 15.90 15.56

15753.51 1028 500.59 1.69 0.00 925.7 862.7 988.6 2222.8 2915.1 88.00 15.95 1798 15759.24 0.00 0.00 3.53 0.000 0.000 0.061 925.72 862.88 988.56 2223.19 1434.06 0 0 0 30.00 30.00 15.74

15938.55 128 500.59 1.66 0.00 924.6 862.0 987.2 2222.8 1434.4 57.05 17.02 1835 15939.88 0.00 0.00 0.00 0.000 0.000 0.000 924.41 862.12 986.69 2223.44 1434.25 0 0 0 30.00 30.00 30.00

16118.57 4741 500.59 1.63 -80.00 924.1 861.4 986.8 2223.0 1434.4 26.44 17.22 1871 16124.24 0.00 0.30 2.65 0.000 0.186 0.135 924.22 861.31 987.12 2188.94 456.75 0 0 0 30.00 15.67 15.56

16153.57 1028 500.59 1.63 0.00 923.7 861.1 986.2 2188.6 456.9 20.67 16.75 1878 16159.01 0.00 0.00 2.30 0.000 0.000 0.029 923.88 861.00 986.75 2188.94 1518.56 0 0 0 30.00 30.00 15.85

16294 end climb: SURFACE_DEPTH_REACHED

state 16294 begin surface coast

16309 end surface coast: CONTROL_FINISHED_OK

state 16309 begin surface

ID	237	FIX_MISSING_TIMEOUT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1.7
MISSION	6	TGT_DEFAULT_LAT	4736	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	278	TGT_DEFAULT_LON	-12218	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	0	TGT_AUTO_DEFAULT	0	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	SM_CC	500	C_VBD	2968	DEVICE1	10
D_SURF	2	N_FILEKB	8	VBD_DBAND	2	DEVICE2	-1
D_FLARE	3	FILEMGR	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	990	CALL_NDIVES	1	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	1010	COMM_SEQ	0	VBD_TIMEOUT	720	DEVICE5	-1
D_NO_BLEED	500	PROTOCOL	9	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
D_BOOST	0	N_NOCOMM	1	UNCOM_BLEED	20	LOGGERS	0
T_BOOST	0	NOCOMM_ACTION	131	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_FINISH	0	N_NOSURFACE	0	W_ADJ_DBAND	2	LOGGERDEVICE2	65
D_PITCH	0	UPLOAD_DIVES_MAX	-1	DBDW	0	LOGGERDEVICE3	-1
D_SAFE	0	CALL_TRIES	5	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
D_CALL	0	CALL_WAIT	60	LOITER_DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	0	CAPUPLOAD	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	0	T_GPS	10	LOITER_N_DIVE	0	GPS_DEVICE	48
T_DIVE	260	N_GPS	100440	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_MISSION	290	T_RSLEEP	1	AH0_24V	510	NETWORK_DEVICE	-1
T_ABORT	1440	STROBE	0	AH0_10V	0	PRESSURE_DEVICE	34
T_TURN	225	RAFOS_PEAK_OFFSET	0	MINV_24V	11	XPDR_DEVICE	21
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	MINV_10V	11	SIM_W	0
T_NO_W	120	RAFOS_HIT_WINDOW	3600	MAXI_24V	5	SEABIRD_T_G	0.0044171116
T_LOITER	0	RAFOS_MMODEM	0	MAXI_10V	1.5	SEABIRD_T_H	0.00064316206
T_EPIRB	0	PITCH_MIN	190	FG_AHR_10V	45.890141	SEABIRD_T_I	2.5361865e-05
USE_BATHY	-6	PITCH_MAX	3000	FG_AHR_24V	159.65504	SEABIRD_T_J	3.0211725e-06
USE_ICE	0	C_PITCH	1800	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9751892
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	PRESSURE_YINT	-148.10413	SEABIRD_C_H	1.1606171
D_OFFGRID	1000	PITCH_CNV	0.0041299998	PRESSURE_SLOPE	0.00022584078	SEABIRD_C_I	-0.0016447038
RELAUNCH	1	PITCH_GAIN	22	COMPASS_USE	4	SEABIRD_C_J	0.0002149943
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	ALTIM_PING_FIT	0	SC_RECORDABOVE	2000.0
MAX_BUOY	250	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
GLIDE_SLOPE	50	PITCH_ADJ_GAIN	0.015	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0	SC_NDIVE	1.0
RHO	1.0275	PITCH_W_GAIN	2	ALTIM_TOP_MIN_OBSTACLE	1	ES_RECORDABOVE	2000.0
MASS	74630	PITCH_W_DBAND	0.5	ALTIM_PING_DEPTH	0	ES_PROFILE	0.0
NAV_MODE	2	ROLL_MIN	465	ALTIM_PING_DELTA	0	ES_XMITPROFILE	0.0
FERRY_MAX	45	ROLL_MAX	3180	ALTIM_FREQUENCY	14	ES_UPLOADMAX	100000.0
KALMAN_USE	2	ROLL_DEG	80	ALTIM_PULSE	3	ES_STARTS	358.0
HD_A	0.003	C_ROLL_DIVE	2000	ALTIM_SENSITIVITY	2	ES_NDIVE	1.0
HD_B	0.0099999998	C_ROLL_CLIMB	1450	XPDR_VALID	4	ES_DL_HEADERSKIP	105044.0
HD_C	1.6e-05	HEAD_ERRBAND	10	XPDR_INHIBIT	90	ES_DL_RECORDLENGTH	10086.0
HEADING	-1	ROLL_CNV	0.054945	XPDR_INT	0	ES_DL_NRECORD	100.0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	XPDR_REP	0	ES_DL_RECORDCOUNT	3.0
ESCAPE_HEADING_DELTA	10	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	260521,014520,4919.803,-1433.728,19,1.3,30,-4.8	TGT_LATLONG	4855.680,-1442.000
_CALLS	1	TGT_RADIUS	5000.000
_SM_DEPTHo	1.10	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-49.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	260521,015043,4919.821,-1433.677,2,0.7,4,-4.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.107,0.350	MHEAD_RNG_PITCHd_Wd	217.0,45841,-16.6,-12.692,-19.91
TGT_NAME	EC	D_GRID	1000

FINISH	-0.2,1.026779	_10V_AH	15.00,0.000
SM_CCo	16387.38,0.00,0.000,0,922.5,859.6,985.4,501.77	FG_AHR_24Vo	159.987
SM_GC	1.04,0.00,12.52,1.11,0.000,0.050,0.035,922.5,859.6,985.4,179.7,2040.3,0,0,0,30.00,15.80,15.86	FG_AHR_10Vo	45.933
SUPER	19,71,254,1,0,0	MEM	1127180,30,49544,99
IRIDIUM_FIX	4923.36,-1432.66,250521,210157	DATA_FILE_SIZE	73822,1909
TCM_TEMP	15.81	CAP_FILE_SIZE	344178,0
XPDR_PINGS	19,13.0,11.5	SDSIZE	3918848,3836160
HUMID	51.28	SDFILEDIR	1629,1
TEMP	11.47	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.68454	CURRENT	0.142, 67.6,1
_24V_AH	14.31,122.483	GPS	260521,062431,4917.836,-1434.579,22,1.0,23,-4.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	793	2024	22984.02	SBE_CT	2214	24	760.39
Pitch_motor	32	294	135.67	nil	0	0	0.00
Roll_motor	149	314	671.98	nil	0	0	0.00
Iridium	231	201	668.01	nil	0	0	0.00
Transponder_ping	4	420	28.55	nil	0	0	0.00
GPS	13	15	3.10	nil	0	0	0.00
Core	4866	11	861.38	SciCon	0	0	0.00
LPSleep	11773	2	494.51	echo	0	0	0.00
Compass	2261	5	169.60	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
2	end surface: CONTROL_FINISHED_OK
state	2	begin dive
3.51	16386	-243.31	-1.12	0.00	927.8	874.8	980.9	176.1	1963.5	0.00	0.00	0	121.56	117.69	0.00	0.00	0.005	0.000	0.000	3282.84	3292.81	3272.88	175.94	1962.94	0	0	0	15.19	30.00	30.00
121.84	18727	-243.31	-1.12	80.00	3282.0	3291.1	3272.9	175.9	1962.9	3.27	-1.97	23	159.63	18.80	11.96	3.13	0.006	0.295	0.114	3959.94	3942.75	3977.12	1528.62	3186.56	0	0	0	15.26	15.26	15.03
241.87	1028	-243.31	-1.12	0.00	3961.0	3944.2	3977.8	1528.8	3186.3	19.90	-12.44	47	247.46	0.00	0.00	2.79	0.000	0.000	0.036	3961.09	3944.38	3977.81	1528.62	1971.19	0	0	0	30.00	30.00	15.81
426.99	128	-243.31	-1.07	0.00	3961.1	3944.3	3977.8	1528.8	1970.4	46.30	-14.92	84	428.32	0.00	0.00	0.00	0.000	0.000	0.000	3960.53	3944.06	3977.00	1528.56	1970.88	0	0	0	30.00	30.00	30.00
607.01	2177	-243.31	-1.02	0.00	3961.3	3944.6	3978.0	1528.9	1971.4	72.87	-14.95	120	608.47	0.00	0.17	0.00	0.000	0.176	0.000	3962.38	3944.06	3980.69	1555.25	1970.38	0	0	0	30.00	15.72	30.00
786.95	0	-243.31	-1.02	0.00	3961.4	3944.8	3978.0	1555.3	1970.4	96.14	-12.74	156	788.28	0.00	0.00	0.00	0.000	0.000	0.000	3960.38	3943.19	3977.56	1555.00	1971.06	0	0	0	30.00	30.00	30.00
971.98	260	-243.31	-1.02	80.00	3960.9	3943.8	3978.0	1555.5	1970.8	119.07	-12.23	178	977.57	0.00	0.00	3.12	0.000	0.000	0.112	3962.03	3944.94	3979.12	1554.94	3186.25	0	0	0	30.00	30.00	15.58
1006.91	1028	-243.31	-1.02	0.00	3961.2	3944.6	3977.8	1555.3	3186.8	123.28	-12.02	185	1012.59	0.00	0.00	2.76	0.000	0.000	0.036	3961.97	3945.25	3978.69	1555.00	1970.25	0	0	0	30.00	30.00	15.88
1312.01	0	-243.31	-1.02	0.00	3960.9	3943.9	3978.0	1555.4	1970.7	160.47	-11.99	216	1313.33	0.00	0.00	0.00	0.000	0.000	0.000	3961.28	3944.12	3978.44	1555.25	1970.50	0	0	0	30.00	30.00	30.00
1612.09	260	-243.31	-1.02	80.00	3961.8	3944.7	3979.0	1555.4	1970.6	196.13	-11.75	246	1617.61	0.00	0.00	3.13	0.000	0.000	0.112	3961.84	3945.00	3978.69	1555.25	3187.00	0	0	0	30.00	30.00	15.59
1642.02	1028	-243.31	-1.02	0.00	3961.1	3944.1	3978.1	1555.4	3186.6	199.56	-11.49	252	1647.55	0.00	0.00	2.76	0.000	0.000	0.036	3962.25	3944.75	3979.75	1554.94	1970.50	0	0	0	30.00	30.00	15.91
1952.10	0	-243.31	-1.02	0.00	3961.8	3944.6	3978.9	1555.4	1970.2	234.73	-11.52	284	1953.43	0.00	0.00	0.00	0.000	0.000	0.000	3961.34	3943.69	3979.00	1555.50	1970.31	0	0	0	30.00	30.00	30.00
2252.12	260	-243.31	-1.02	80.00	3961.6	3944.2	3978.9	1555.2	1970.4	270.73	-12.38	314	2257.65	0.00	0.00	3.12	0.000	0.000	0.111	3961.97	3944.81	3979.12	1555.25	3186.88	0	0	0	30.00	30.00	15.60
2312.07	1028	-243.31	-1.02	0.00	3961.4	3944.3	3978.6	1555.2	3186.3	277.71	-11.42	326	2317.59	0.00	0.00	2.75	0.000	0.000	0.037	3962.16	3945.00	3979.31	1554.62	1971.75	0	0	0	30.00	30.00	15.92
2622.16	516	-243.31	-1.02	-80.00	3961.4	3944.4	3978.4	1555.3	1972.8	314.91	-12.24	358	2627.79	0.00	0.00	3.78	0.000	0.000	0.119	3961.72	3944.25	3979.19	1555.25	534.75	0	0	0	30.00	30.00	15.67
2657.02	1028	-243.31	-1.02	0.00	3961.5	3944.4	3978.5	1555.1	534.5	319.55	-13.50	365	2662.80	0.00	0.00	3.37	0.000	0.000	0.028	3961.56	3944.25	3978.88	1555.50	2031.00	0	0	0	30.00	30.00	15.94
2962.09	0	-243.31	-1.02	0.00	3961.7	3943.9	3979.4	1555.2	2031.3	355.99	-11.81	396	2963.43	0.00	0.00	0.00	0.000	0.000	0.000	3961.28	3944.19	3978.38	1554.81	2031.38	0	0	0	30.00	30.00	30.00
3262.20	32	-243.31	-1.02	0.00	3961.5	3944.0	3979.1	1555.2	2031.2	389.48	-10.68	426	3263.53	0.00	0.00	0.00	0.000	0.000	0.000	3961.22	3944.12	3978.31	1555.38	2031.38	0	0	0	30.00	30.00	30.00
3562.21	0	-243.31	-1.02	0.00	3961.2	3943.8	3978.5	1555.8	2031.0	422.65	-11.23	456	3563.54	0.00	0.00	0.00	0.000	0.000	0.000	3961.84	3944.69	3979.00	1555.25	2030.75	0	0	0	30.00	30.00	30.00
3862.23	516	-243.31	-1.02	-80.00	3961.4	3943.9	3979.0	1555.3	2030.8	457.41	-11.74	486	3867.90	0.00	0.00	3.91	0.000	0.000	0.120	3961.78	3944.00	3979.56	1555.38	534.50	0	0	0	30.00	30.00	15.64
3902.18	1028	-243.31	-1.02	0.00	3961.5	3943.4	3979.6	1555.6	534.6	462.43	-12.69	494	3907.80	0.00	0.00	3.37	0.000	0.000	0.030	3961.62	3944.25	3979.00	1555.44	2028.69	0	0	0	30.00	30.00	15.94
4212.19	0	-243.31	-1.02	0.00	3961.5	3943.9	3979.1	1555.3	2028.8	498.69	-12.02	526	4213.52	0.00	0.00	0.00	0.000	0.000	0.000	3960.50	3943.31	3977.69	1555.31	2028.62	0	0	0	30.00	30.00	30.00
4512.28	0	-243.31	-1.02	0.00	3961.3	3943.9	3978.8	1555.6	2028.6	534.25	-11.94	556	4513.61	0.00	0.00	0.00	0.000	0.000	0.000	3960.66	3943.00	3978.31	1555.06	2028.44	0	0	0	30.00	30.00	30.00
4812.30	0	-243.31	-1.02	0.00	3961.1	3943.3	3978.8	1555.7	2028.1	571.66	-12.60	586	4813.63	0.00	0.00	0.00	0.000	0.000	0.000	3960.66	3943.00	3978.31	1555.12	2028.25	0	0	0	30.00	30.00	30.00
5112.33	0	-243.31	-1.02	0.00	3960.8	3943.2	3978.3	1555.2	2028.6	608.53	-12.25	616	5113.66	0.00	0.00	0.00	0.000	0.000	0.000	3960.53	3942.75	3978.31	1555.06	2028.38	0	0	0	30.00	30.00	30.00
5412.37	516	-243.31	-1.02	-80.00	3960.7	3942.2	3979.2	1555.5	2028.3	645.66	-12.67	646	5418.01	0.00	0.00	3.95	0.000	0.000	0.129	3961.12	3943.00	3979.25	1555.31	536.75	0	0	0	30.00	30.00	15.60
5442.29	1028	-243.31	-1.02	0.00	3960.4	3942.2	3978.6	1555.4	536.5	649.85	-13.98	652	5447.93	0.00	0.00	3.39	0.000	0.000	0.034	3961.53	3943.12	3979.94	1555.06	2023.94	0	0	0	30.00	30.00	15.94
5752.30	0	-243.31	-1.02	0.00	3960.2	3942.1	3978.4	1555.2	2023.2	688.06	-11.98	684	5753.63	0.00	0.00	0.00	0.000	0.000	0.000	3959.97	3941.88	3978.06	1555.00	2023.25	0	0	0	30.00	30.00	30.00
6052.40	0	-243.31	-1.02	0.00	3959.8	3941.6	3978.1	1555.2	2023.6	722.67	-11.62	714	6053.73	0.00	0.00	0.00	0.000	0.000	0.000	3959.75	3941.31	3978.19	1555.44	2023.38	0	0	0	30.00	30.00	30.00
6352.43	548	-243.31	-1.02	-80.00	3960.1	3940.8	3979.5	1555.1	2023.6	755.50	-10.68	744	6358.10	0.00	0.00	4.01	0.000	0.000	0.132	3960.06	3941.25	3978.88	1555.12	535.00	0	0	0	30.00	30.00	15.57
6387.43	1028	-243.31	-1.02	0.00	3959.9	3941.1	3978.8	1555.3	534.6	759.49	-11.40	751	6393.06	0.00	0.00	3.40	0.000	0.000	0.036	3960.12	3941.00	3979.25	1555.56	2021.38	0	0	0	30.00	30.00	15.82
6692.39	32	-243.31	-1.02	0.00	3959.7	3940.6	3978.9	1555.2	2021.5	791.31	-10.53	782	6693.72	0.00	0.00	0.00	0.000	0.000	0.000	3959.16	3940.81	3977.50	1555.50	2021.44	0	0	0	30.00	30.00	30.00
6992.46	0	-243.31	-1.02	0.00	3959.3	3940.1	3978.4	1555.2	2021.7	823.77	-11.04	812	6993.79	0.00	0.00	0.00	0.000	0.000	0.000	3959.44	3939.75	3979.12	1555.31	2021.56	0	0	0	30.00	30.00	30.00
7292.50	516	-243.31	-1.02	-80.00	3959.2	3939.6	3978.8	1555.3	2021.9	855.84	-10.76	842	7298.17	0.00	0.00	4.01	0.000	0.000	0.138	3959.81	3940.44	3979.19	1555.25	535.62	0	0	0	30.00	30.00	15.54
7332.45	1028	-243.31	-1.02	0.00	3959.0	3939.8	3978.2	1555.2	535.6	860.55	-11.99	850	7338.08	0.00	0.00	3.41	0.000	0.000	0.039	3959.44	3939.50	3979.38	1555.31	2018.94	0	0	0	30.00	30.00	15.89
7642.48	676	-243.31	-1.05	-80.00	3958.8	3939.1	3978.5	1555.2	2018.8	892.47	-10.13	882	7648.20	0.00	0.00	4.02	0.000	0.000	0.140	3959.56	3939.38	3979.75	1555.62	536.75	0	0	0	30.00	30.00	15.54
7672.47	1028	-243.31	-1.05	0.00	3958.5	3938.8	3978.2	1555.5	536.6	895.85	-10.81	888	7678.23	0.00	0.00	3.40	0.000	0.000	0.038	3958.62	3938.94	3978.31	1555.25	2020.31	0	0	0	30.00	30.00	15.88
7982.51	420	-243.31	-1.08	80.00	3957.9	3937.8	3978.1	1555.4	2020.3	926.90	-10.16	920	7988.06	0.00	0.00	3.08	0.000	0.000	0.149	3958.72	3938.94	3978.50	1555.19	3186.31	0	0	0	30.00	30.00	15.44
8022.53	5285	-243.31	-1.13	0.00	3957.4	3937.8	3977.1	1555.5	3186.2	930.96	-10.21	928	8028.11	0.00	0.29	2.83	0.000	0.069	0.059	3958.06	3937.62	3978.50	1507.50	1979.94	0	0	0	30.00	15.61	15.84
8332.53	2177	-243.31	-1.10	0.00	3957.2	3937.1	3977.4	1507.4	1980.4	974.73	-14.39	960	8334.00	0.00	0.26	0.00	0.000	0.172	0.000	3957.50	3937.75	3977.25	1535.06	1980.06	0	0	0	30.00	15.72	30.00
8463	end dive: TARGET_DEPTH_EXCEEDED
state	8463	begin apogee
8464.96	10243	0.00	-0.23	0.00	3957.0	3936.7	3977.4	1534.7	1437.2	990.95	-11.69	973	8677.05	208.96	1.49	0.05	2.025	0.145	0.314	2966.25	2923.38	3009.12	1747.44	1479.31	0	0	0	10.42	15.69	15.06
8678	end apogee: CONTROL_FINISHED_OK
state	8678	begin climb
8678.01	10759	243.31	1.12	-80.00	2965.3	2922.6	3008.1	1747.7	1479.5	999.73	0.00	994	8900.78	214.54	2.29	3.06	1.979	0.097	0.173	1974.38	1927.75	2021.00	2074.19	458.94	0	0	0	11.94	15.21	14.99
9052.95	17414	243.31	1.12	0.00	1967.0	1922.6	2011.4	2075.4	458.8	969.25	12.87	1069	9058.50	0.00	0.00	2.34	0.000	0.000	0.028	1967.56	1922.69	2012.44	2074.81	1493.75	0	0	0	30.00	30.00	15.52
9358.09	8226	307.66	1.22	0.00	1965.4	1919.8	2011.1	2074.8	1494.1	937.15	10.41	1100	9419.27	59.83	0.00	0.00	1.865	0.000	0.000	1713.53	1659.56	1767.50	2073.69	1495.75	0	0	0	11.44	30.00	30.00
9718.10	10663	383.12	1.38	80.00	1706.8	1650.4	1763.2	2075.6	1496.2	900.04	10.02	1136	9795.32	71.01	0.37	3.69	1.841	0.065	0.107	1406.31	1344.56	1468.06	2146.81	2911.50	0	0	0	11.42	15.66	15.27
9818.09	1028	383.12	1.38	0.00	1404.6	1342.9	1466.2	2147.0	2910.6	886.00	14.24	1156	9823.76	0.00	0.00	3.70	0.000	0.000	0.080	1404.84	1342.69	1467.00	2146.94	1438.62	0	0	0	30.00	30.00	15.45
10128.11	0	383.12	1.38	0.00	1400.8	1337.7	1463.9	2146.4	1439.0	838.94	15.32	1188	10129.44	0.00	0.00	0.00	0.000	0.000	0.000	1399.91	1337.25	1462.56	2146.12	1438.56	0	0	0	30.00	30.00	30.00
10428.19	0	383.12	1.38	0.00	1399.8	1336.9	1462.8	2146.9	1438.6	794.75	15.24	1218	10429.52	0.00	0.00	0.00	0.000	0.000	0.000	1399.31	1336.38	1462.25	2146.25	1438.81	0	0	0	30.00	30.00	30.00
10728.22	260	383.12	1.38	80.00	1399.5	1336.6	1462.4	2146.6	1438.8	750.52	14.54	1248	10733.83	0.00	0.00	3.73	0.000	0.000	0.095	1399.72	1336.88	1462.56	2147.00	2912.31	0	0	0	30.00	30.00	15.66
10768.18	1156	383.12	1.41	0.00	1399.1	1336.6	1461.6	2146.8	2912.0	745.11	13.14	1256	10773.83	0.00	0.00	3.58	0.000	0.000	0.076	1399.34	1336.56	1462.12	2146.19	1436.06	0	0	0	30.00	30.00	15.76
11078.16	516	383.12	1.41	-80.00	1399.0	1336.2	1461.8	2146.4	1436.6	701.06	13.99	1288	11083.69	0.00	0.00	2.73	0.000	0.000	0.153	1398.91	1336.12	1461.69	2146.88	457.69	0	0	0	30.00	30.00	15.63
11113.11	1156	383.12	1.37	0.00	1398.3	1336.2	1460.5	2147.3	457.7	695.53	16.38	1295	11118.63	0.00	0.00	2.30	0.000	0.000	0.027	1398.88	1336.69	1461.06	2146.56	1518.94	0	0	0	30.00	30.00	15.85
11418.19	516	383.12	1.37	-80.00	1398.2	1336.1	1460.4	2146.4	1518.7	654.03	12.88	1326	11423.76	0.00	0.00	2.90	0.000	0.000	0.142	1399.12	1336.50	1461.75	2146.62	456.81	0	0	0	30.00	30.00	15.64
11453.14	5253	383.12	1.33	0.00	1398.3	1336.4	1460.2	2146.3	456.8	648.64	15.85	1333	11458.81	0.00	0.31	2.29	0.000	0.194	0.028	1398.78	1336.38	1461.19	2116.50	1520.75	0	0	0	30.00	15.69	15.87
11758.30	128	383.12	1.38	0.00	1398.2	1336.2	1460.2	2116.8	1520.7	616.13	10.70	1364	11759.63	0.00	0.00	0.00	0.000	0.000	0.000	1397.50	1335.50	1459.50	2116.94	1520.69	0	0	0	30.00	30.00	30.00
12058.33	10403	440.56	1.52	0.00	1398.0	1335.9	1460.1	2116.9	1520.8	584.01	10.66	1394	12112.44	52.74	0.40	0.00	1.536	0.063	0.000	1172.16	1109.06	1235.25	2179.06	1520.69	0	0	0	11.00	15.87	30.00
12408.26	516	440.56	1.52	-80.00	1168.6	1104.3	1232.9	2181.1	1521.3	527.72	16.55	1429	12413.82	0.00	0.00	2.90	0.000	0.000	0.138	1168.69	1104.19	1233.19	2181.38	457.62	0	0	0	30.00	30.00	15.60
12443.21	5253	440.56	1.47	0.00	1168.3	1104.4	1232.2	2181.6	458.0	521.36	19.10	1436	12448.88	0.00	0.28	2.31	0.000	0.189	0.029	1169.00	1104.50	1233.50	2151.38	1518.19	0	0	0	30.00	15.62	15.78
12748.39	128	440.56	1.51	0.00	1167.9	1103.1	1232.6	2150.7	1518.6	479.85	12.68	1467	12749.72	0.00	0.00	0.00	0.000	0.000	0.000	1167.34	1102.81	1231.88	2150.94	1518.62	0	0	0	30.00	30.00	30.00
13048.39	2693	440.56	1.55	-80.00	1167.8	1103.1	1232.5	2150.8	1518.4	442.84	11.91	1497	13053.95	0.00	0.23	2.91	0.000	0.078	0.141	1168.03	1102.88	1233.19	2189.56	456.50	0	0	0	30.00	15.83	15.62
13078.33	5253	440.56	1.51	0.00	1167.3	1102.6	1232.0	2189.6	456.8	437.94	17.16	1503	13083.83	0.00	0.28	2.30	0.000	0.187	0.031	1167.53	1102.62	1232.44	2158.88	1517.31	0	0	0	30.00	15.68	15.85
13388.39	516	440.56	1.51	-80.00	1167.4	1102.8	1232.1	2159.1	1517.9	397.10	12.79	1535	13393.87	0.00	0.00	2.88	0.000	0.000	0.137	1167.81	1103.12	1232.50	2157.62	458.00	0	0	0	30.00	30.00	15.64
13418.33	1028	440.56	1.51	0.00	1167.4	1102.9	1231.9	2159.1	458.0	392.94	13.89	1541	13423.70	0.00	0.00	2.29	0.000	0.000	0.031	1168.00	1103.19	1232.81	2159.00	1519.50	0	0	0	30.00	30.00	15.87
13728.36	0	440.56	1.51	0.00	1167.4	1102.8	1232.0	2159.0	1519.8	354.05	12.25	1573	13729.69	0.00	0.00	0.00	0.000	0.000	0.000	1166.88	1102.38	1231.38	2158.62	1519.75	0	0	0	30.00	30.00	30.00
14028.45	644	440.56	1.54	-80.00	1167.5	1103.0	1232.1	2159.1	1519.7	316.82	12.09	1603	14033.92	0.00	0.00	2.88	0.000	0.000	0.133	1168.28	1103.44	1233.12	2158.56	457.75	0	0	0	30.00	30.00	15.65
14068.39	1028	440.56	1.54	0.00	1167.2	1102.6	1231.7	2158.9	457.7	311.07	14.79	1611	14073.75	0.00	0.00	2.28	0.000	0.000	0.031	1167.31	1103.00	1231.62	2159.12	1515.81	0	0	0	30.00	30.00	15.90
14378.43	128	440.56	1.57	0.00	1167.4	1102.9	1231.9	2158.6	1515.5	272.71	12.19	1643	14379.76	0.00	0.00	0.00	0.000	0.000	0.000	1166.88	1102.56	1231.19	2159.19	1515.81	0	0	0	30.00	30.00	30.00
14678.51	2177	440.56	1.61	0.00	1167.3	1102.9	1231.7	2158.8	1515.8	236.88	11.72	1673	14679.98	0.00	0.26	0.00	0.000	0.075	0.000	1167.34	1102.69	1232.00	2202.81	1515.81	0	0	0	30.00	15.89	30.00
14978.46	644	440.56	1.58	-80.00	1167.2	1102.6	1231.9	2202.8	1516.0	188.62	16.76	1703	14984.00	0.00	0.00	2.87	0.000	0.000	0.133	1167.59	1103.12	1232.06	2202.75	456.88	0	0	0	30.00	30.00	15.66
15018.47	5253	440.56	1.51	0.00	1167.4	1102.8	1231.9	2203.0	456.8	180.95	19.83	1711	15023.98	0.00	0.38	2.28	0.000	0.188	0.030	1167.47	1103.06	1231.88	2159.12	1525.12	0	0	0	30.00	15.69	15.92
15328.56	644	440.56	1.55	-80.00	1167.2	1102.8	1231.6	2158.9	1525.2	140.72	11.46	1743	15334.02	0.00	0.00	2.89	0.000	0.000	0.133	1167.41	1102.88	1231.94	2159.19	456.69	0	0	0	30.00	30.00	15.65
15368.49	1028	440.56	1.55	0.00	1167.1	1102.8	1231.4	2158.9	456.8	135.33	14.14	1751	15373.85	0.00	0.00	2.28	0.000	0.000	0.031	1168.31	1103.06	1233.56	2158.81	1517.94	0	0	0	30.00	30.00	15.91
15678.53	10663	500.59	1.69	80.00	1167.4	1103.0	1231.8	2159.1	1518.2	99.57	10.57	1783	15735.32	49.66	0.39	3.42	0.991	0.066	0.081	926.25	863.62	988.88	2223.44	2914.75	0	0	0	10.79	15.90	15.56
15753.51	1028	500.59	1.69	0.00	925.7	862.7	988.6	2222.8	2915.1	88.00	15.95	1798	15759.24	0.00	0.00	3.53	0.000	0.000	0.061	925.72	862.88	988.56	2223.19	1434.06	0	0	0	30.00	30.00	15.74
15938.55	128	500.59	1.66	0.00	924.6	862.0	987.2	2222.8	1434.4	57.05	17.02	1835	15939.88	0.00	0.00	0.00	0.000	0.000	0.000	924.41	862.12	986.69	2223.44	1434.25	0	0	0	30.00	30.00	30.00
16118.57	4741	500.59	1.63	-80.00	924.1	861.4	986.8	2223.0	1434.4	26.44	17.22	1871	16124.24	0.00	0.30	2.65	0.000	0.186	0.135	924.22	861.31	987.12	2188.94	456.75	0	0	0	30.00	15.67	15.56
16153.57	1028	500.59	1.63	0.00	923.7	861.1	986.2	2188.6	456.9	20.67	16.75	1878	16159.01	0.00	0.00	2.30	0.000	0.000	0.029	923.88	861.00	986.75	2188.94	1518.56	0	0	0	30.00	30.00	15.85
16294	end climb: SURFACE_DEPTH_REACHED
state	16294	begin surface coast
16309	end surface coast: CONTROL_FINISHED_OK
state	16309	begin surface