Glider dive log

EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 102 * 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 102 TGT_DEFAULT_LON -12218 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 0 TGT_AUTO_DEFAULT 0 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 SM_CC 500 C_VBD 2968 DEVICE1 -1

D_SURF 2 N_FILEKB 8 VBD_DBAND 2 DEVICE2 -1

D_FLARE 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 3

T_BOOST 0 NOCOMM_ACTION 131 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_FINISH 0 N_NOSURFACE 0 W_ADJ_DBAND 0 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 32.977367 SEABIRD_T_I 2.5361865e-05

USE_BATHY -6 PITCH_MAX 3950 FG_AHR_24V 95.670624 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 30 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 0 ALTIM_TOP_MIN_OBSTACLE 1 ES_RECORDABOVE 2000.0

MASS 74630 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 ES_PROFILE 3.0

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 202.0

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 3.0 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 202.0 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 32.977367 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FG_AHR_24V 95.670624 PITCH_GAIN 22 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 FILEMGR 0 PITCH_MAX 3950 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 GLIDE_SLOPE 30 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 T_EPIRB 0

COMPASS_USE 4 HD_C 1.6e-05 PITCH_W_GAIN 0 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 -1 LOGGERDEVICE1 7 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 LOGGERDEVICE2 65 RAFOS_PEAK_OFFSET 0 USE_BATHY -6

DEVICE3 -1 LOGGERDEVICE3 -1 RELAUNCH 1 USE_ICE 0

DEVICE4 -1 LOGGERDEVICE4 -1 RHO 1.0275 VBD_CNV -0.24529999

DEVICE5 -1 LOGGERS 3 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE6 -1 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DIVE 102 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 0

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 240421,020739,4845.437,-1839.802,34,0.9,35,-6.3 TGT_LATLONG 4845.780,-1848.770

_CALLS 4 TGT_RADIUS 4000.000

_SM_DEPTHo 0.80 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -41.8 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 240421,022027,4845.355,-1839.758,3,1.0,6,-6.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.220,0.350 MHEAD_RNG_PITCHd_Wd 323.7,11030,-16.6,-12.692,-19.91

TGT_NAME A1_1 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.026882 INTERNAL_PRESSURE 8.66826

SM_CCo 15269.11,0.00,0.000,0,806.4,754.6,858.3,530.23 _24V_AH 14.36,43.982

SM_GC 0.87,0.00,12.44,1.14,0.000,0.067,0.036,806.4,754.6,858.3,175.9,2035.4,0,0,0,30.00,15.75,15.84 _10V_AH 15.00,0.000

SUPER 27,71,254,1,0,0 FG_AHR_24Vo 96.028

IRIDIUM_FIX 4846.93,-1837.46,240421,021352 FG_AHR_10Vo 33.064

TCM_TEMP 15.31 MEM 1125608,28,50596,127

XPDR_PINGS 1,13.0,11.5 DATA_FILE_SIZE 54545,1810

SC_FREEKB 3833056 CAP_FILE_SIZE 364888,0

ES_FREE 15033008128.000000 SDSIZE 3918848,3877440

ES_POWER 63.440000 SDFILEDIR 746,1

ES_POWER1 0.000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 50.57 CURRENT 0.294,142.1,1

TEMP 11.22 GPS 240421,063600,4845.663,-1840.142,24,1.0,24,-6.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 837 2058 24761.44 nil 0 0 0.00

Pitch_motor 31 302 137.90 nil 0 0 0.00

Roll_motor 172 331 819.38 nil 0 0 0.00

Iridium 434 209 1306.22 nil 0 0 0.00

Transponder_ping 0 420 1.51 nil 0 0 0.00

GPS 15 15 3.52 nil 0 0 0.00

Core 5424 11 960.18 SciCon 15208 11 2563.16

LPSleep 10589 2 444.75 echo 15230 10 2284.53

Compass 2675 5 200.68 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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

11.37 16386 -243.31 -1.12 0.00 787.2 748.2 826.2 174.7 1955.6 0.00 0.00 0 140.24 128.40 0.00 0.00 0.005 0.000 0.000 3316.84 3332.12 3301.56 174.06 1955.19 0 0 0 15.28 30.00 30.00

140.58 18727 -243.31 -1.12 80.00 3317.4 3331.2 3303.6 174.0 1956.4 3.11 -1.75 25 177.69 18.12 11.77 3.24 0.006 0.302 0.109 3960.31 3942.81 3977.81 1527.56 3186.12 0 0 0 15.37 15.25 15.20

400.28 1156 -243.31 -1.07 0.00 3960.5 3942.8 3978.2 1528.2 3186.0 44.49 -16.02 77 405.90 0.00 0.00 2.84 0.000 0.000 0.039 3960.94 3943.38 3978.50 1528.19 1974.56 0 0 0 30.00 30.00 15.70

585.38 2437 -243.31 -1.00 80.00 3960.5 3943.0 3978.1 1528.2 1975.1 76.34 -16.51 114 591.05 0.00 0.20 3.19 0.000 0.184 0.106 3960.84 3943.12 3978.56 1557.25 3187.44 0 0 0 30.00 15.50 15.47

635.32 1028 -243.31 -1.00 0.00 3960.1 3941.9 3978.3 1557.9 3186.4 83.65 -13.61 124 640.94 0.00 0.00 2.84 0.000 0.000 0.038 3960.66 3942.81 3978.50 1557.69 1974.62 0 0 0 30.00 30.00 15.57

825.41 0 -243.31 -1.00 0.00 3960.2 3942.1 3978.4 1558.1 1975.2 110.10 -14.18 155 826.74 0.00 0.00 0.00 0.000 0.000 0.000 3961.22 3943.25 3979.19 1558.19 1975.31 0 0 0 30.00 30.00 30.00

1125.43 260 -243.31 -1.00 80.00 3960.7 3942.8 3978.5 1558.2 1976.0 152.58 -14.03 185 1130.72 0.00 0.00 3.22 0.000 0.000 0.108 3960.97 3942.88 3979.06 1557.50 3186.88 0 0 0 30.00 30.00 15.62

1145.37 1028 -243.31 -1.00 0.00 3960.8 3942.9 3978.7 1558.1 3186.6 155.38 -14.06 189 1150.66 0.00 0.00 2.83 0.000 0.000 0.039 3961.22 3943.19 3979.25 1558.19 1974.25 0 0 0 30.00 30.00 15.63

1455.58 0 -243.31 -1.00 0.00 3960.6 3942.9 3978.2 1558.2 1973.9 197.95 -14.11 221 1456.91 0.00 0.00 0.00 0.000 0.000 0.000 3960.16 3942.56 3977.75 1558.00 1974.50 0 0 0 30.00 30.00 30.00

1755.48 260 -243.31 -1.00 80.00 3960.2 3942.0 3978.4 1557.9 1974.4 240.12 -14.04 251 1760.76 0.00 0.00 3.20 0.000 0.000 0.108 3960.56 3942.88 3978.25 1558.12 3186.19 0 0 0 30.00 30.00 15.63

1785.42 1028 -243.31 -1.00 0.00 3960.6 3942.1 3979.1 1558.2 3186.0 244.32 -13.99 257 1790.73 0.00 0.00 2.81 0.000 0.000 0.040 3961.12 3943.38 3978.88 1558.25 1975.56 0 0 0 30.00 30.00 15.66

2095.53 0 -243.31 -1.00 0.00 3960.5 3942.6 3978.4 1558.2 1976.4 287.09 -13.99 289 2096.86 0.00 0.00 0.00 0.000 0.000 0.000 3959.75 3941.56 3977.94 1557.88 1975.94 0 0 0 30.00 30.00 30.00

2395.53 260 -243.31 -1.00 80.00 3960.3 3942.1 3978.6 1558.2 1975.8 328.48 -13.82 319 2400.81 0.00 0.00 3.19 0.000 0.000 0.110 3961.28 3943.38 3979.19 1557.94 3186.31 0 0 0 30.00 30.00 15.64

2420.13 1028 -243.31 -1.00 0.00 3960.4 3942.6 3978.1 1558.0 3186.2 331.95 -14.02 324 2426.10 0.00 0.00 2.81 0.000 0.000 0.042 3960.94 3942.81 3979.06 1557.94 1976.75 0 0 0 30.00 30.00 15.78

2725.56 0 -243.31 -1.00 0.00 3960.4 3941.9 3978.9 1558.1 1976.6 373.16 -13.65 355 2726.89 0.00 0.00 0.00 0.000 0.000 0.000 3960.28 3942.06 3978.50 1558.19 1976.31 0 0 0 30.00 30.00 30.00

3025.59 0 -243.31 -1.00 0.00 3960.7 3942.9 3978.4 1558.2 1976.9 414.39 -13.86 385 3026.92 0.00 0.00 0.00 0.000 0.000 0.000 3959.56 3941.75 3977.38 1558.25 1976.62 0 0 0 30.00 30.00 30.00

3325.63 260 -243.31 -1.00 80.00 3959.8 3941.9 3977.6 1558.3 1977.0 454.91 -13.31 415 3330.92 0.00 0.00 3.21 0.000 0.000 0.116 3960.34 3942.12 3978.56 1557.69 3185.25 0 0 0 30.00 30.00 15.63

3350.23 1028 -243.31 -1.00 0.00 3960.3 3942.2 3978.4 1557.8 3185.4 458.24 -13.43 420 3356.26 0.00 0.00 2.83 0.000 0.000 0.046 3960.50 3942.81 3978.19 1558.12 1976.75 0 0 0 30.00 30.00 15.79

3655.69 0 -243.31 -1.00 0.00 3960.0 3941.9 3978.1 1558.2 1977.4 497.84 -12.96 451 3657.02 0.00 0.00 0.00 0.000 0.000 0.000 3960.09 3941.81 3978.38 1558.31 1977.62 0 0 0 30.00 30.00 30.00

3955.75 32 -243.31 -1.00 0.00 3960.1 3941.8 3978.4 1558.1 1977.0 535.81 -12.66 481 3957.08 0.00 0.00 0.00 0.000 0.000 0.000 3959.94 3941.44 3978.44 1558.25 1977.69 0 0 0 30.00 30.00 30.00

4255.82 32 -243.31 -1.00 0.00 3960.0 3941.6 3978.4 1558.1 1977.6 572.20 -11.97 511 4257.15 0.00 0.00 0.00 0.000 0.000 0.000 3959.81 3941.00 3978.62 1558.06 1977.75 0 0 0 30.00 30.00 30.00

4555.85 32 -243.31 -1.00 0.00 3959.7 3941.2 3978.1 1558.0 1977.1 607.57 -11.83 541 4557.18 0.00 0.00 0.00 0.000 0.000 0.000 3960.28 3942.06 3978.50 1558.06 1977.44 0 0 0 30.00 30.00 30.00

4855.91 292 -243.31 -1.00 80.00 3960.2 3941.4 3978.9 1558.2 1977.4 642.23 -11.65 571 4861.20 0.00 0.00 3.26 0.000 0.000 0.125 3960.66 3942.44 3978.88 1557.56 3185.94 0 0 0 30.00 30.00 15.60

4885.85 1060 -243.31 -1.00 0.00 3959.6 3941.6 3977.6 1558.6 3185.6 645.80 -11.65 577 4891.12 0.00 0.00 2.84 0.000 0.000 0.054 3960.72 3941.56 3979.88 1557.81 1980.81 0 0 0 30.00 30.00 15.86

5195.97 548 -243.31 -1.00 -80.00 3959.9 3941.2 3978.6 1558.0 1980.4 681.45 -11.70 609 5201.37 0.00 0.00 3.98 0.000 0.000 0.150 3960.16 3942.06 3978.25 1558.12 536.62 0 0 0 30.00 30.00 15.54

5215.92 1060 -243.31 -1.00 0.00 3959.8 3940.8 3978.8 1558.1 536.5 684.11 -12.15 613 5221.29 0.00 0.00 3.49 0.000 0.000 0.038 3959.91 3941.44 3978.38 1558.75 2019.31 0 0 0 30.00 30.00 15.89

5525.95 32 -243.31 -1.00 0.00 3960.0 3941.0 3978.9 1557.9 2019.6 721.04 -11.90 645 5527.28 0.00 0.00 0.00 0.000 0.000 0.000 3959.34 3940.25 3978.44 1558.31 2019.62 0 0 0 30.00 30.00 30.00

5826.08 548 -243.31 -1.00 -80.00 3959.7 3940.4 3978.9 1557.9 2019.4 757.46 -12.12 675 5831.51 0.00 0.00 4.16 0.000 0.000 0.146 3959.91 3940.44 3979.38 1558.38 537.25 0 0 0 30.00 30.00 15.51

5846.03 1060 -243.31 -1.00 0.00 3959.5 3940.8 3978.1 1558.3 537.2 760.05 -12.37 679 5851.41 0.00 0.00 3.51 0.000 0.000 0.040 3959.91 3941.31 3978.50 1558.06 2017.88 0 0 0 30.00 30.00 15.89

6156.06 32 -243.31 -1.00 0.00 3959.6 3940.6 3978.6 1558.1 2017.8 796.54 -11.49 711 6157.39 0.00 0.00 0.00 0.000 0.000 0.000 3959.09 3940.56 3977.62 1558.06 2018.12 0 0 0 30.00 30.00 30.00

6456.19 548 -243.31 -1.00 -80.00 3959.3 3940.5 3978.2 1557.9 2018.2 831.61 -11.57 741 6461.62 0.00 0.00 4.18 0.000 0.000 0.148 3959.91 3940.44 3979.38 1557.69 537.06 0 0 0 30.00 30.00 15.50

6500.79 1028 -243.31 -1.00 0.00 3959.3 3939.9 3978.7 1558.4 537.1 837.42 -13.12 750 6506.88 0.00 0.00 3.54 0.000 0.000 0.042 3959.00 3939.12 3978.88 1558.44 2019.38 0 0 0 30.00 30.00 15.88

6806.18 548 -243.31 -1.00 -80.00 3959.2 3939.9 3978.5 1557.9 2019.6 872.10 -11.17 781 6811.68 0.00 0.00 4.20 0.000 0.000 0.150 3959.84 3940.31 3979.38 1558.19 537.31 0 0 0 30.00 30.00 15.49

6850.87 1060 -243.31 -1.00 0.00 3958.8 3939.1 3978.4 1558.2 537.5 877.61 -12.28 790 6856.94 0.00 0.00 3.53 0.000 0.000 0.042 3959.78 3940.56 3979.00 1558.25 2018.56 0 0 0 30.00 30.00 15.82

7156.23 32 -243.31 -1.00 0.00 3958.9 3939.4 3978.4 1558.0 2018.6 910.10 -10.16 821 7157.56 0.00 0.00 0.00 0.000 0.000 0.000 3958.12 3938.50 3977.75 1558.12 2018.50 0 0 0 30.00 30.00 30.00

7456.36 548 -243.31 -1.00 -80.00 3958.1 3938.0 3978.1 1558.3 2018.2 941.24 -10.72 851 7461.81 0.00 0.00 4.20 0.000 0.000 0.153 3958.88 3938.69 3979.06 1558.38 538.31 0 0 0 30.00 30.00 15.49

7506.31 1060 -243.31 -1.00 0.00 3958.0 3938.1 3977.8 1557.7 538.3 947.08 -12.13 861 7511.71 0.00 0.00 3.54 0.000 0.000 0.043 3958.41 3938.00 3978.81 1558.00 2019.62 0 0 0 30.00 30.00 15.79

7816.33 548 -243.31 -1.00 -80.00 3957.5 3937.2 3977.8 1558.2 2020.7 979.82 -10.80 893 7821.84 0.00 0.00 4.23 0.000 0.000 0.157 3958.75 3937.69 3979.81 1557.44 536.44 0 0 0 30.00 30.00 15.46

7836.34 1060 -243.31 -1.00 0.00 3957.4 3936.8 3978.0 1557.6 536.4 982.23 -11.19 897 7841.74 0.00 0.00 3.53 0.000 0.000 0.045 3958.06 3937.25 3978.88 1557.88 2017.75 0 0 0 30.00 30.00 15.77

7917 end dive: TARGET_DEPTH_EXCEEDED

state 7917 begin apogee

7919.34 10243 0.00 -0.23 0.00 3957.5 3936.4 3978.5 1558.3 1438.8 990.92 -10.71 906 8126.82 204.92 1.33 0.05 2.058 0.143 0.331 2966.31 2926.00 3006.62 1745.62 1474.00 0 0 0 10.81 15.65 15.06

8130 end apogee: CONTROL_FINISHED_OK

state 8130 begin climb

8129.98 10759 243.31 1.12 -80.00 2965.0 2925.0 3005.1 1745.9 1473.9 997.75 0.00 926 8353.29 213.82 2.28 3.12 2.008 0.110 0.181 1973.47 1928.94 2018.00 2074.06 463.94 0 0 0 12.01 15.09 14.93

8575.85 17414 243.31 1.12 0.00 1967.5 1924.9 2010.2 2074.1 463.9 955.65 13.00 1014 8581.00 0.00 0.00 2.41 0.000 0.000 0.032 1966.94 1924.44 2009.44 2074.12 1489.44 0 0 0 30.00 30.00 15.45

8885.94 10535 321.36 1.24 80.00 1965.4 1921.9 2008.9 2074.2 1489.4 924.04 9.93 1046 8962.94 70.72 0.16 3.83 1.901 0.095 0.104 1656.97 1606.75 1707.19 2113.50 2912.00 0 0 0 11.65 15.55 15.26

8970.58 9254 349.64 1.28 0.00 1656.4 1606.2 1706.6 2113.4 2912.7 913.77 11.69 1060 9003.97 28.09 0.00 3.79 1.775 0.000 0.086 1541.34 1490.50 1592.19 2113.56 1439.25 0 0 0 12.15 30.00 15.38

9300.98 32 350.49 1.28 0.00 1535.9 1484.7 1587.1 2113.4 1439.7 871.48 12.66 1096 9302.31 0.00 0.00 0.00 0.000 0.000 0.000 1535.50 1484.44 1586.56 2113.12 1439.25 0 0 0 30.00 30.00 30.00

9601.10 8486 364.58 1.30 80.00 1534.3 1482.8 1585.8 2113.2 1439.1 833.91 12.19 1126 9622.20 15.10 0.00 3.87 1.616 0.000 0.099 1481.47 1430.19 1532.75 2113.31 2913.12 0 0 0 11.62 30.00 15.54

9641.06 11431 407.02 1.40 0.00 1480.1 1428.3 1531.8 2113.2 2913.6 829.26 11.19 1134 9687.40 40.59 0.16 3.72 1.782 0.095 0.083 1308.34 1254.25 1362.44 2152.81 1438.50 0 0 0 12.18 15.57 15.64

9991.07 516 407.02 1.40 -80.00 1304.1 1249.2 1358.9 2152.2 1438.2 777.47 14.71 1174 9996.37 0.00 0.00 2.86 0.000 0.000 0.169 1304.34 1249.81 1358.88 2152.50 458.50 0 0 0 30.00 30.00 15.54

10031.11 5253 407.02 1.35 0.00 1303.8 1249.4 1358.1 2152.4 458.7 770.66 17.56 1182 10036.41 0.00 0.31 2.40 0.000 0.200 0.030 1304.12 1249.88 1358.38 2120.62 1500.19 0 0 0 30.00 15.53 15.65

10341.16 10663 494.05 1.53 80.00 1303.1 1248.1 1358.1 2121.2 1501.8 738.91 9.61 1214 10424.61 77.92 0.38 3.74 1.737 0.070 0.094 954.38 901.38 1007.38 2178.88 2912.69 0 0 0 11.63 15.66 15.34

10457.21 1156 494.05 1.57 0.00 952.8 899.6 1006.0 2180.4 2912.5 724.08 12.81 1237 10462.59 0.00 0.00 3.74 0.000 0.000 0.079 953.25 899.81 1006.69 2179.62 1438.12 0 0 0 30.00 30.00 15.40

10767.18 516 494.05 1.57 -80.00 950.3 896.7 1004.0 2179.9 1438.3 675.31 16.56 1269 10772.48 0.00 0.00 2.81 0.000 0.000 0.160 950.41 896.69 1004.12 2180.25 458.94 0 0 0 30.00 30.00 15.54

10811.88 1156 494.05 1.50 0.00 949.9 896.8 1003.1 2180.4 459.2 666.75 20.11 1278 10817.68 0.00 0.00 2.40 0.000 0.000 0.030 950.03 896.81 1003.25 2180.69 1507.75 0 0 0 30.00 30.00 15.64

11117.26 516 494.05 1.50 -80.00 949.5 895.9 1003.2 2180.1 1508.5 614.98 17.22 1309 11122.56 0.00 0.00 2.98 0.000 0.000 0.155 949.44 895.75 1003.12 2180.50 459.12 0 0 0 30.00 30.00 15.60

11161.95 5253 494.05 1.44 0.00 949.2 895.7 1002.6 2180.1 459.0 606.13 20.50 1318 11167.90 0.00 0.33 2.38 0.000 0.202 0.032 949.34 895.94 1002.75 2143.56 1511.25 0 0 0 30.00 15.58 15.67

11467.40 8354 509.72 1.51 0.00 949.0 895.4 1002.6 2143.5 1511.8 566.87 12.14 1349 11483.65 15.23 0.00 0.00 1.374 0.000 0.000 890.66 838.19 943.12 2142.94 1511.56 0 0 0 11.56 30.00 30.00

11777.36 10403 513.17 1.58 0.00 888.8 835.2 942.4 2143.7 1511.6 528.37 12.57 1380 11784.01 5.61 0.31 0.00 0.892 0.077 0.000 876.16 823.31 929.00 2194.12 1511.69 0 0 0 11.72 15.75 30.00

12077.38 644 513.17 1.54 -80.00 875.7 823.7 927.8 2195.2 1511.8 472.29 19.48 1410 12082.66 0.00 0.00 2.96 0.000 0.000 0.151 876.03 823.88 928.19 2195.56 457.94 0 0 0 30.00 30.00 15.65

12122.05 5253 513.17 1.47 0.00 875.4 823.6 927.2 2194.9 458.2 462.32 22.97 1419 12128.01 0.00 0.38 2.38 0.000 0.202 0.033 875.44 823.56 927.31 2151.44 1510.38 0 0 0 30.00 15.65 15.74

12427.51 128 513.17 1.52 0.00 875.2 823.2 927.3 2150.8 1510.9 418.56 13.43 1450 12428.84 0.00 0.00 0.00 0.000 0.000 0.000 875.03 823.06 927.00 2150.88 1511.25 0 0 0 30.00 30.00 30.00

12727.51 2693 513.17 1.57 -80.00 875.4 823.4 927.4 2150.6 1510.9 379.66 12.96 1480 12732.81 0.00 0.25 2.98 0.000 0.081 0.151 875.38 823.25 927.50 2193.88 457.06 0 0 0 30.00 15.79 15.66

12752.10 1028 513.17 1.57 0.00 875.2 823.4 927.1 2193.0 457.2 375.54 16.45 1485 12757.91 0.00 0.00 2.36 0.000 0.000 0.035 875.28 823.38 927.19 2193.38 1513.56 0 0 0 30.00 30.00 15.82

13057.50 644 513.17 1.54 -80.00 875.2 823.4 927.1 2193.1 1514.4 319.41 18.51 1516 13062.78 0.00 0.00 2.95 0.000 0.000 0.148 875.22 823.38 927.06 2193.44 458.50 0 0 0 30.00 30.00 15.66

13087.50 5253 513.17 1.48 0.00 875.3 823.6 927.1 2193.3 457.9 313.38 20.35 1522 13092.78 0.00 0.34 2.37 0.000 0.198 0.035 875.22 823.50 926.94 2153.50 1514.44 0 0 0 30.00 15.66 15.82

13397.53 8354 521.17 1.54 0.00 875.3 823.2 927.3 2153.9 1514.7 272.10 12.41 1554 13407.74 9.40 0.00 0.00 0.987 0.000 0.000 843.91 792.69 895.12 2153.38 1514.94 0 0 0 11.54 30.00 30.00

13707.58 10919 529.80 1.61 -80.00 842.7 790.8 894.6 2153.9 1514.8 233.79 12.39 1585 13723.12 9.82 0.29 2.92 0.972 0.075 0.150 808.94 759.44 858.44 2203.69 458.25 0 0 0 11.73 15.76 15.65

13742.23 1156 529.80 1.57 0.00 808.1 759.1 857.1 2203.6 458.2 227.94 17.84 1592 13748.03 0.00 0.00 2.35 0.000 0.000 0.034 808.06 759.12 857.00 2203.62 1514.38 0 0 0 30.00 30.00 15.79

14047.65 4741 529.80 1.54 -80.00 807.0 757.4 856.7 2204.1 1514.1 170.01 19.06 1623 14053.04 0.00 0.31 2.92 0.000 0.201 0.145 807.03 757.25 856.81 2167.94 457.94 0 0 0 30.00 15.68 15.61

14087.64 1028 529.80 1.54 0.00 806.9 757.0 856.9 2167.8 458.3 162.63 18.03 1631 14092.77 0.00 0.00 2.37 0.000 0.000 0.034 807.28 757.25 857.31 2167.69 1513.06 0 0 0 30.00 30.00 15.78

14397.72 644 529.80 1.58 -80.00 806.8 756.7 856.8 2167.6 1512.9 119.21 13.46 1663 14403.00 0.00 0.00 2.93 0.000 0.000 0.147 806.75 756.50 857.00 2168.00 458.25 0 0 0 30.00 30.00 15.66

14422.36 1028 529.80 1.58 0.00 806.8 756.4 857.1 2167.2 458.1 115.35 15.43 1668 14428.16 0.00 0.00 2.36 0.000 0.000 0.034 806.94 756.62 857.25 2168.19 1512.88 0 0 0 30.00 30.00 15.77

14727.81 2177 529.80 1.62 0.00 806.8 756.6 857.0 2167.8 1513.2 73.60 13.42 1718 14729.29 0.00 0.22 0.00 0.000 0.083 0.000 806.50 756.38 856.62 2204.44 1513.19 0 0 0 30.00 15.74 30.00

14907.85 516 529.80 1.62 -80.00 806.6 756.4 856.8 2204.8 1513.1 41.79 16.67 1754 14913.50 0.00 0.00 2.93 0.000 0.000 0.146 806.81 756.81 856.81 2205.12 459.25 0 0 0 30.00 30.00 15.61

14942.89 5253 529.80 1.57 0.00 806.8 756.6 856.9 2205.1 459.1 34.74 20.89 1761 14948.50 0.00 0.27 2.36 0.000 0.202 0.034 807.09 756.56 857.62 2176.25 1514.12 0 0 0 30.00 15.52 15.75

15127.95 128 529.80 1.62 0.00 806.7 756.1 857.3 2176.0 1514.1 8.09 14.33 1798 15129.27 0.00 0.00 0.00 0.000 0.000 0.000 806.72 756.25 857.19 2175.06 1513.69 0 0 0 30.00 30.00 30.00

15173 end climb: SURFACE_DEPTH_REACHED

state 15173 begin surface coast

15188 end surface coast: CONTROL_FINISHED_OK

state 15188 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	102	TGT_DEFAULT_LON	-12218	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	0	TGT_AUTO_DEFAULT	0	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	SM_CC	500	C_VBD	2968	DEVICE1	-1
D_SURF	2	N_FILEKB	8	VBD_DBAND	2	DEVICE2	-1
D_FLARE	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	3
T_BOOST	0	NOCOMM_ACTION	131	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_FINISH	0	N_NOSURFACE	0	W_ADJ_DBAND	0	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	32.977367	SEABIRD_T_I	2.5361865e-05
USE_BATHY	-6	PITCH_MAX	3950	FG_AHR_24V	95.670624	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	30	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	0	ALTIM_TOP_MIN_OBSTACLE	1	ES_RECORDABOVE	2000.0
MASS	74630	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	ES_PROFILE	3.0
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	202.0
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	240421,020739,4845.437,-1839.802,34,0.9,35,-6.3	TGT_LATLONG	4845.780,-1848.770
_CALLS	4	TGT_RADIUS	4000.000
_SM_DEPTHo	0.80	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-41.8	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	240421,022027,4845.355,-1839.758,3,1.0,6,-6.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.220,0.350	MHEAD_RNG_PITCHd_Wd	323.7,11030,-16.6,-12.692,-19.91
TGT_NAME	A1_1	D_GRID	1000

FINISH	0.6,1.026882	INTERNAL_PRESSURE	8.66826
SM_CCo	15269.11,0.00,0.000,0,806.4,754.6,858.3,530.23	_24V_AH	14.36,43.982
SM_GC	0.87,0.00,12.44,1.14,0.000,0.067,0.036,806.4,754.6,858.3,175.9,2035.4,0,0,0,30.00,15.75,15.84	_10V_AH	15.00,0.000
SUPER	27,71,254,1,0,0	FG_AHR_24Vo	96.028
IRIDIUM_FIX	4846.93,-1837.46,240421,021352	FG_AHR_10Vo	33.064
TCM_TEMP	15.31	MEM	1125608,28,50596,127
XPDR_PINGS	1,13.0,11.5	DATA_FILE_SIZE	54545,1810
SC_FREEKB	3833056	CAP_FILE_SIZE	364888,0
ES_FREE	15033008128.000000	SDSIZE	3918848,3877440
ES_POWER	63.440000	SDFILEDIR	746,1
ES_POWER1	0.000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	50.57	CURRENT	0.294,142.1,1
TEMP	11.22	GPS	240421,063600,4845.663,-1840.142,24,1.0,24,-6.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	837	2058	24761.44	nil	0	0	0.00
Pitch_motor	31	302	137.90	nil	0	0	0.00
Roll_motor	172	331	819.38	nil	0	0	0.00
Iridium	434	209	1306.22	nil	0	0	0.00
Transponder_ping	0	420	1.51	nil	0	0	0.00
GPS	15	15	3.52	nil	0	0	0.00
Core	5424	11	960.18	SciCon	15208	11	2563.16
LPSleep	10589	2	444.75	echo	15230	10	2284.53
Compass	2675	5	200.68	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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
11.37	16386	-243.31	-1.12	0.00	787.2	748.2	826.2	174.7	1955.6	0.00	0.00	0	140.24	128.40	0.00	0.00	0.005	0.000	0.000	3316.84	3332.12	3301.56	174.06	1955.19	0	0	0	15.28	30.00	30.00
140.58	18727	-243.31	-1.12	80.00	3317.4	3331.2	3303.6	174.0	1956.4	3.11	-1.75	25	177.69	18.12	11.77	3.24	0.006	0.302	0.109	3960.31	3942.81	3977.81	1527.56	3186.12	0	0	0	15.37	15.25	15.20
400.28	1156	-243.31	-1.07	0.00	3960.5	3942.8	3978.2	1528.2	3186.0	44.49	-16.02	77	405.90	0.00	0.00	2.84	0.000	0.000	0.039	3960.94	3943.38	3978.50	1528.19	1974.56	0	0	0	30.00	30.00	15.70
585.38	2437	-243.31	-1.00	80.00	3960.5	3943.0	3978.1	1528.2	1975.1	76.34	-16.51	114	591.05	0.00	0.20	3.19	0.000	0.184	0.106	3960.84	3943.12	3978.56	1557.25	3187.44	0	0	0	30.00	15.50	15.47
635.32	1028	-243.31	-1.00	0.00	3960.1	3941.9	3978.3	1557.9	3186.4	83.65	-13.61	124	640.94	0.00	0.00	2.84	0.000	0.000	0.038	3960.66	3942.81	3978.50	1557.69	1974.62	0	0	0	30.00	30.00	15.57
825.41	0	-243.31	-1.00	0.00	3960.2	3942.1	3978.4	1558.1	1975.2	110.10	-14.18	155	826.74	0.00	0.00	0.00	0.000	0.000	0.000	3961.22	3943.25	3979.19	1558.19	1975.31	0	0	0	30.00	30.00	30.00
1125.43	260	-243.31	-1.00	80.00	3960.7	3942.8	3978.5	1558.2	1976.0	152.58	-14.03	185	1130.72	0.00	0.00	3.22	0.000	0.000	0.108	3960.97	3942.88	3979.06	1557.50	3186.88	0	0	0	30.00	30.00	15.62
1145.37	1028	-243.31	-1.00	0.00	3960.8	3942.9	3978.7	1558.1	3186.6	155.38	-14.06	189	1150.66	0.00	0.00	2.83	0.000	0.000	0.039	3961.22	3943.19	3979.25	1558.19	1974.25	0	0	0	30.00	30.00	15.63
1455.58	0	-243.31	-1.00	0.00	3960.6	3942.9	3978.2	1558.2	1973.9	197.95	-14.11	221	1456.91	0.00	0.00	0.00	0.000	0.000	0.000	3960.16	3942.56	3977.75	1558.00	1974.50	0	0	0	30.00	30.00	30.00
1755.48	260	-243.31	-1.00	80.00	3960.2	3942.0	3978.4	1557.9	1974.4	240.12	-14.04	251	1760.76	0.00	0.00	3.20	0.000	0.000	0.108	3960.56	3942.88	3978.25	1558.12	3186.19	0	0	0	30.00	30.00	15.63
1785.42	1028	-243.31	-1.00	0.00	3960.6	3942.1	3979.1	1558.2	3186.0	244.32	-13.99	257	1790.73	0.00	0.00	2.81	0.000	0.000	0.040	3961.12	3943.38	3978.88	1558.25	1975.56	0	0	0	30.00	30.00	15.66
2095.53	0	-243.31	-1.00	0.00	3960.5	3942.6	3978.4	1558.2	1976.4	287.09	-13.99	289	2096.86	0.00	0.00	0.00	0.000	0.000	0.000	3959.75	3941.56	3977.94	1557.88	1975.94	0	0	0	30.00	30.00	30.00
2395.53	260	-243.31	-1.00	80.00	3960.3	3942.1	3978.6	1558.2	1975.8	328.48	-13.82	319	2400.81	0.00	0.00	3.19	0.000	0.000	0.110	3961.28	3943.38	3979.19	1557.94	3186.31	0	0	0	30.00	30.00	15.64
2420.13	1028	-243.31	-1.00	0.00	3960.4	3942.6	3978.1	1558.0	3186.2	331.95	-14.02	324	2426.10	0.00	0.00	2.81	0.000	0.000	0.042	3960.94	3942.81	3979.06	1557.94	1976.75	0	0	0	30.00	30.00	15.78
2725.56	0	-243.31	-1.00	0.00	3960.4	3941.9	3978.9	1558.1	1976.6	373.16	-13.65	355	2726.89	0.00	0.00	0.00	0.000	0.000	0.000	3960.28	3942.06	3978.50	1558.19	1976.31	0	0	0	30.00	30.00	30.00
3025.59	0	-243.31	-1.00	0.00	3960.7	3942.9	3978.4	1558.2	1976.9	414.39	-13.86	385	3026.92	0.00	0.00	0.00	0.000	0.000	0.000	3959.56	3941.75	3977.38	1558.25	1976.62	0	0	0	30.00	30.00	30.00
3325.63	260	-243.31	-1.00	80.00	3959.8	3941.9	3977.6	1558.3	1977.0	454.91	-13.31	415	3330.92	0.00	0.00	3.21	0.000	0.000	0.116	3960.34	3942.12	3978.56	1557.69	3185.25	0	0	0	30.00	30.00	15.63
3350.23	1028	-243.31	-1.00	0.00	3960.3	3942.2	3978.4	1557.8	3185.4	458.24	-13.43	420	3356.26	0.00	0.00	2.83	0.000	0.000	0.046	3960.50	3942.81	3978.19	1558.12	1976.75	0	0	0	30.00	30.00	15.79
3655.69	0	-243.31	-1.00	0.00	3960.0	3941.9	3978.1	1558.2	1977.4	497.84	-12.96	451	3657.02	0.00	0.00	0.00	0.000	0.000	0.000	3960.09	3941.81	3978.38	1558.31	1977.62	0	0	0	30.00	30.00	30.00
3955.75	32	-243.31	-1.00	0.00	3960.1	3941.8	3978.4	1558.1	1977.0	535.81	-12.66	481	3957.08	0.00	0.00	0.00	0.000	0.000	0.000	3959.94	3941.44	3978.44	1558.25	1977.69	0	0	0	30.00	30.00	30.00
4255.82	32	-243.31	-1.00	0.00	3960.0	3941.6	3978.4	1558.1	1977.6	572.20	-11.97	511	4257.15	0.00	0.00	0.00	0.000	0.000	0.000	3959.81	3941.00	3978.62	1558.06	1977.75	0	0	0	30.00	30.00	30.00
4555.85	32	-243.31	-1.00	0.00	3959.7	3941.2	3978.1	1558.0	1977.1	607.57	-11.83	541	4557.18	0.00	0.00	0.00	0.000	0.000	0.000	3960.28	3942.06	3978.50	1558.06	1977.44	0	0	0	30.00	30.00	30.00
4855.91	292	-243.31	-1.00	80.00	3960.2	3941.4	3978.9	1558.2	1977.4	642.23	-11.65	571	4861.20	0.00	0.00	3.26	0.000	0.000	0.125	3960.66	3942.44	3978.88	1557.56	3185.94	0	0	0	30.00	30.00	15.60
4885.85	1060	-243.31	-1.00	0.00	3959.6	3941.6	3977.6	1558.6	3185.6	645.80	-11.65	577	4891.12	0.00	0.00	2.84	0.000	0.000	0.054	3960.72	3941.56	3979.88	1557.81	1980.81	0	0	0	30.00	30.00	15.86
5195.97	548	-243.31	-1.00	-80.00	3959.9	3941.2	3978.6	1558.0	1980.4	681.45	-11.70	609	5201.37	0.00	0.00	3.98	0.000	0.000	0.150	3960.16	3942.06	3978.25	1558.12	536.62	0	0	0	30.00	30.00	15.54
5215.92	1060	-243.31	-1.00	0.00	3959.8	3940.8	3978.8	1558.1	536.5	684.11	-12.15	613	5221.29	0.00	0.00	3.49	0.000	0.000	0.038	3959.91	3941.44	3978.38	1558.75	2019.31	0	0	0	30.00	30.00	15.89
5525.95	32	-243.31	-1.00	0.00	3960.0	3941.0	3978.9	1557.9	2019.6	721.04	-11.90	645	5527.28	0.00	0.00	0.00	0.000	0.000	0.000	3959.34	3940.25	3978.44	1558.31	2019.62	0	0	0	30.00	30.00	30.00
5826.08	548	-243.31	-1.00	-80.00	3959.7	3940.4	3978.9	1557.9	2019.4	757.46	-12.12	675	5831.51	0.00	0.00	4.16	0.000	0.000	0.146	3959.91	3940.44	3979.38	1558.38	537.25	0	0	0	30.00	30.00	15.51
5846.03	1060	-243.31	-1.00	0.00	3959.5	3940.8	3978.1	1558.3	537.2	760.05	-12.37	679	5851.41	0.00	0.00	3.51	0.000	0.000	0.040	3959.91	3941.31	3978.50	1558.06	2017.88	0	0	0	30.00	30.00	15.89
6156.06	32	-243.31	-1.00	0.00	3959.6	3940.6	3978.6	1558.1	2017.8	796.54	-11.49	711	6157.39	0.00	0.00	0.00	0.000	0.000	0.000	3959.09	3940.56	3977.62	1558.06	2018.12	0	0	0	30.00	30.00	30.00
6456.19	548	-243.31	-1.00	-80.00	3959.3	3940.5	3978.2	1557.9	2018.2	831.61	-11.57	741	6461.62	0.00	0.00	4.18	0.000	0.000	0.148	3959.91	3940.44	3979.38	1557.69	537.06	0	0	0	30.00	30.00	15.50
6500.79	1028	-243.31	-1.00	0.00	3959.3	3939.9	3978.7	1558.4	537.1	837.42	-13.12	750	6506.88	0.00	0.00	3.54	0.000	0.000	0.042	3959.00	3939.12	3978.88	1558.44	2019.38	0	0	0	30.00	30.00	15.88
6806.18	548	-243.31	-1.00	-80.00	3959.2	3939.9	3978.5	1557.9	2019.6	872.10	-11.17	781	6811.68	0.00	0.00	4.20	0.000	0.000	0.150	3959.84	3940.31	3979.38	1558.19	537.31	0	0	0	30.00	30.00	15.49
6850.87	1060	-243.31	-1.00	0.00	3958.8	3939.1	3978.4	1558.2	537.5	877.61	-12.28	790	6856.94	0.00	0.00	3.53	0.000	0.000	0.042	3959.78	3940.56	3979.00	1558.25	2018.56	0	0	0	30.00	30.00	15.82
7156.23	32	-243.31	-1.00	0.00	3958.9	3939.4	3978.4	1558.0	2018.6	910.10	-10.16	821	7157.56	0.00	0.00	0.00	0.000	0.000	0.000	3958.12	3938.50	3977.75	1558.12	2018.50	0	0	0	30.00	30.00	30.00
7456.36	548	-243.31	-1.00	-80.00	3958.1	3938.0	3978.1	1558.3	2018.2	941.24	-10.72	851	7461.81	0.00	0.00	4.20	0.000	0.000	0.153	3958.88	3938.69	3979.06	1558.38	538.31	0	0	0	30.00	30.00	15.49
7506.31	1060	-243.31	-1.00	0.00	3958.0	3938.1	3977.8	1557.7	538.3	947.08	-12.13	861	7511.71	0.00	0.00	3.54	0.000	0.000	0.043	3958.41	3938.00	3978.81	1558.00	2019.62	0	0	0	30.00	30.00	15.79
7816.33	548	-243.31	-1.00	-80.00	3957.5	3937.2	3977.8	1558.2	2020.7	979.82	-10.80	893	7821.84	0.00	0.00	4.23	0.000	0.000	0.157	3958.75	3937.69	3979.81	1557.44	536.44	0	0	0	30.00	30.00	15.46
7836.34	1060	-243.31	-1.00	0.00	3957.4	3936.8	3978.0	1557.6	536.4	982.23	-11.19	897	7841.74	0.00	0.00	3.53	0.000	0.000	0.045	3958.06	3937.25	3978.88	1557.88	2017.75	0	0	0	30.00	30.00	15.77
7917	end dive: TARGET_DEPTH_EXCEEDED
state	7917	begin apogee
7919.34	10243	0.00	-0.23	0.00	3957.5	3936.4	3978.5	1558.3	1438.8	990.92	-10.71	906	8126.82	204.92	1.33	0.05	2.058	0.143	0.331	2966.31	2926.00	3006.62	1745.62	1474.00	0	0	0	10.81	15.65	15.06
8130	end apogee: CONTROL_FINISHED_OK
state	8130	begin climb
8129.98	10759	243.31	1.12	-80.00	2965.0	2925.0	3005.1	1745.9	1473.9	997.75	0.00	926	8353.29	213.82	2.28	3.12	2.008	0.110	0.181	1973.47	1928.94	2018.00	2074.06	463.94	0	0	0	12.01	15.09	14.93
8575.85	17414	243.31	1.12	0.00	1967.5	1924.9	2010.2	2074.1	463.9	955.65	13.00	1014	8581.00	0.00	0.00	2.41	0.000	0.000	0.032	1966.94	1924.44	2009.44	2074.12	1489.44	0	0	0	30.00	30.00	15.45
8885.94	10535	321.36	1.24	80.00	1965.4	1921.9	2008.9	2074.2	1489.4	924.04	9.93	1046	8962.94	70.72	0.16	3.83	1.901	0.095	0.104	1656.97	1606.75	1707.19	2113.50	2912.00	0	0	0	11.65	15.55	15.26
8970.58	9254	349.64	1.28	0.00	1656.4	1606.2	1706.6	2113.4	2912.7	913.77	11.69	1060	9003.97	28.09	0.00	3.79	1.775	0.000	0.086	1541.34	1490.50	1592.19	2113.56	1439.25	0	0	0	12.15	30.00	15.38
9300.98	32	350.49	1.28	0.00	1535.9	1484.7	1587.1	2113.4	1439.7	871.48	12.66	1096	9302.31	0.00	0.00	0.00	0.000	0.000	0.000	1535.50	1484.44	1586.56	2113.12	1439.25	0	0	0	30.00	30.00	30.00
9601.10	8486	364.58	1.30	80.00	1534.3	1482.8	1585.8	2113.2	1439.1	833.91	12.19	1126	9622.20	15.10	0.00	3.87	1.616	0.000	0.099	1481.47	1430.19	1532.75	2113.31	2913.12	0	0	0	11.62	30.00	15.54
9641.06	11431	407.02	1.40	0.00	1480.1	1428.3	1531.8	2113.2	2913.6	829.26	11.19	1134	9687.40	40.59	0.16	3.72	1.782	0.095	0.083	1308.34	1254.25	1362.44	2152.81	1438.50	0	0	0	12.18	15.57	15.64
9991.07	516	407.02	1.40	-80.00	1304.1	1249.2	1358.9	2152.2	1438.2	777.47	14.71	1174	9996.37	0.00	0.00	2.86	0.000	0.000	0.169	1304.34	1249.81	1358.88	2152.50	458.50	0	0	0	30.00	30.00	15.54
10031.11	5253	407.02	1.35	0.00	1303.8	1249.4	1358.1	2152.4	458.7	770.66	17.56	1182	10036.41	0.00	0.31	2.40	0.000	0.200	0.030	1304.12	1249.88	1358.38	2120.62	1500.19	0	0	0	30.00	15.53	15.65
10341.16	10663	494.05	1.53	80.00	1303.1	1248.1	1358.1	2121.2	1501.8	738.91	9.61	1214	10424.61	77.92	0.38	3.74	1.737	0.070	0.094	954.38	901.38	1007.38	2178.88	2912.69	0	0	0	11.63	15.66	15.34
10457.21	1156	494.05	1.57	0.00	952.8	899.6	1006.0	2180.4	2912.5	724.08	12.81	1237	10462.59	0.00	0.00	3.74	0.000	0.000	0.079	953.25	899.81	1006.69	2179.62	1438.12	0	0	0	30.00	30.00	15.40
10767.18	516	494.05	1.57	-80.00	950.3	896.7	1004.0	2179.9	1438.3	675.31	16.56	1269	10772.48	0.00	0.00	2.81	0.000	0.000	0.160	950.41	896.69	1004.12	2180.25	458.94	0	0	0	30.00	30.00	15.54
10811.88	1156	494.05	1.50	0.00	949.9	896.8	1003.1	2180.4	459.2	666.75	20.11	1278	10817.68	0.00	0.00	2.40	0.000	0.000	0.030	950.03	896.81	1003.25	2180.69	1507.75	0	0	0	30.00	30.00	15.64
11117.26	516	494.05	1.50	-80.00	949.5	895.9	1003.2	2180.1	1508.5	614.98	17.22	1309	11122.56	0.00	0.00	2.98	0.000	0.000	0.155	949.44	895.75	1003.12	2180.50	459.12	0	0	0	30.00	30.00	15.60
11161.95	5253	494.05	1.44	0.00	949.2	895.7	1002.6	2180.1	459.0	606.13	20.50	1318	11167.90	0.00	0.33	2.38	0.000	0.202	0.032	949.34	895.94	1002.75	2143.56	1511.25	0	0	0	30.00	15.58	15.67
11467.40	8354	509.72	1.51	0.00	949.0	895.4	1002.6	2143.5	1511.8	566.87	12.14	1349	11483.65	15.23	0.00	0.00	1.374	0.000	0.000	890.66	838.19	943.12	2142.94	1511.56	0	0	0	11.56	30.00	30.00
11777.36	10403	513.17	1.58	0.00	888.8	835.2	942.4	2143.7	1511.6	528.37	12.57	1380	11784.01	5.61	0.31	0.00	0.892	0.077	0.000	876.16	823.31	929.00	2194.12	1511.69	0	0	0	11.72	15.75	30.00
12077.38	644	513.17	1.54	-80.00	875.7	823.7	927.8	2195.2	1511.8	472.29	19.48	1410	12082.66	0.00	0.00	2.96	0.000	0.000	0.151	876.03	823.88	928.19	2195.56	457.94	0	0	0	30.00	30.00	15.65
12122.05	5253	513.17	1.47	0.00	875.4	823.6	927.2	2194.9	458.2	462.32	22.97	1419	12128.01	0.00	0.38	2.38	0.000	0.202	0.033	875.44	823.56	927.31	2151.44	1510.38	0	0	0	30.00	15.65	15.74
12427.51	128	513.17	1.52	0.00	875.2	823.2	927.3	2150.8	1510.9	418.56	13.43	1450	12428.84	0.00	0.00	0.00	0.000	0.000	0.000	875.03	823.06	927.00	2150.88	1511.25	0	0	0	30.00	30.00	30.00
12727.51	2693	513.17	1.57	-80.00	875.4	823.4	927.4	2150.6	1510.9	379.66	12.96	1480	12732.81	0.00	0.25	2.98	0.000	0.081	0.151	875.38	823.25	927.50	2193.88	457.06	0	0	0	30.00	15.79	15.66
12752.10	1028	513.17	1.57	0.00	875.2	823.4	927.1	2193.0	457.2	375.54	16.45	1485	12757.91	0.00	0.00	2.36	0.000	0.000	0.035	875.28	823.38	927.19	2193.38	1513.56	0	0	0	30.00	30.00	15.82
13057.50	644	513.17	1.54	-80.00	875.2	823.4	927.1	2193.1	1514.4	319.41	18.51	1516	13062.78	0.00	0.00	2.95	0.000	0.000	0.148	875.22	823.38	927.06	2193.44	458.50	0	0	0	30.00	30.00	15.66
13087.50	5253	513.17	1.48	0.00	875.3	823.6	927.1	2193.3	457.9	313.38	20.35	1522	13092.78	0.00	0.34	2.37	0.000	0.198	0.035	875.22	823.50	926.94	2153.50	1514.44	0	0	0	30.00	15.66	15.82
13397.53	8354	521.17	1.54	0.00	875.3	823.2	927.3	2153.9	1514.7	272.10	12.41	1554	13407.74	9.40	0.00	0.00	0.987	0.000	0.000	843.91	792.69	895.12	2153.38	1514.94	0	0	0	11.54	30.00	30.00
13707.58	10919	529.80	1.61	-80.00	842.7	790.8	894.6	2153.9	1514.8	233.79	12.39	1585	13723.12	9.82	0.29	2.92	0.972	0.075	0.150	808.94	759.44	858.44	2203.69	458.25	0	0	0	11.73	15.76	15.65
13742.23	1156	529.80	1.57	0.00	808.1	759.1	857.1	2203.6	458.2	227.94	17.84	1592	13748.03	0.00	0.00	2.35	0.000	0.000	0.034	808.06	759.12	857.00	2203.62	1514.38	0	0	0	30.00	30.00	15.79
14047.65	4741	529.80	1.54	-80.00	807.0	757.4	856.7	2204.1	1514.1	170.01	19.06	1623	14053.04	0.00	0.31	2.92	0.000	0.201	0.145	807.03	757.25	856.81	2167.94	457.94	0	0	0	30.00	15.68	15.61
14087.64	1028	529.80	1.54	0.00	806.9	757.0	856.9	2167.8	458.3	162.63	18.03	1631	14092.77	0.00	0.00	2.37	0.000	0.000	0.034	807.28	757.25	857.31	2167.69	1513.06	0	0	0	30.00	30.00	15.78
14397.72	644	529.80	1.58	-80.00	806.8	756.7	856.8	2167.6	1512.9	119.21	13.46	1663	14403.00	0.00	0.00	2.93	0.000	0.000	0.147	806.75	756.50	857.00	2168.00	458.25	0	0	0	30.00	30.00	15.66
14422.36	1028	529.80	1.58	0.00	806.8	756.4	857.1	2167.2	458.1	115.35	15.43	1668	14428.16	0.00	0.00	2.36	0.000	0.000	0.034	806.94	756.62	857.25	2168.19	1512.88	0	0	0	30.00	30.00	15.77
14727.81	2177	529.80	1.62	0.00	806.8	756.6	857.0	2167.8	1513.2	73.60	13.42	1718	14729.29	0.00	0.22	0.00	0.000	0.083	0.000	806.50	756.38	856.62	2204.44	1513.19	0	0	0	30.00	15.74	30.00
14907.85	516	529.80	1.62	-80.00	806.6	756.4	856.8	2204.8	1513.1	41.79	16.67	1754	14913.50	0.00	0.00	2.93	0.000	0.000	0.146	806.81	756.81	856.81	2205.12	459.25	0	0	0	30.00	30.00	15.61
14942.89	5253	529.80	1.57	0.00	806.8	756.6	856.9	2205.1	459.1	34.74	20.89	1761	14948.50	0.00	0.27	2.36	0.000	0.202	0.034	807.09	756.56	857.62	2176.25	1514.12	0	0	0	30.00	15.52	15.75
15127.95	128	529.80	1.62	0.00	806.7	756.1	857.3	2176.0	1514.1	8.09	14.33	1798	15129.27	0.00	0.00	0.00	0.000	0.000	0.000	806.72	756.25	857.19	2175.06	1513.69	0	0	0	30.00	30.00	30.00
15173	end climb: SURFACE_DEPTH_REACHED
state	15173	begin surface coast
15188	end surface coast: CONTROL_FINISHED_OK
state	15188	begin surface