Glider dive log

EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 109 * 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 109 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 33.599358 SEABIRD_T_I 2.5361865e-05

USE_BATHY -6 PITCH_MAX 3950 FG_AHR_24V 98.308075 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 216.0

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 216.0 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 33.599358 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FG_AHR_24V 98.308075 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 109 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 250421,085339,4845.746,-1840.973,25,0.9,25,-6.3 TGT_LATLONG 4845.780,-1848.770

_CALLS 4 TGT_RADIUS 4000.000

_SM_DEPTHo 1.05 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -46.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 250421,090532,4845.617,-1840.889,2,0.6,4,-6.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.220,0.350 MHEAD_RNG_PITCHd_Wd 318.9,9626,-16.6,-12.692,-19.91

TGT_NAME A1_1 D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.1,1.026833 INTERNAL_PRESSURE 8.6554

SM_CCo 14980.14,0.00,0.000,0,594.0,551.2,636.8,582.35 _24V_AH 14.39,47.281

SM_GC 0.95,0.00,12.66,1.13,0.000,0.053,0.032,594.0,551.2,636.8,180.7,2041.1,0,0,0,30.00,15.81,15.86 _10V_AH 15.00,0.000

SUPER 27,71,254,1,0,0 FG_AHR_24Vo 98.694

IRIDIUM_FIX 4846.28,-1911.55,250421,090003 FG_AHR_10Vo 33.686

TCM_TEMP 15.27 MEM 1125676,26,50568,127

XPDR_PINGS 2,13.0,11.5 DATA_FILE_SIZE 54431,1770

SC_FREEKB 3829920 CAP_FILE_SIZE 356655,0

ES_FREE 14978416640.000000 SDSIZE 3918848,3875360

ES_POWER 63.440000 SDFILEDIR 795,1

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

HUMID 50.60 CURRENT 0.360,137.0,1

TEMP 11.24 GPS 250421,131613,4845.576,-1840.851,16,1.6,20,-6.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 878 2042 25827.24 nil 0 0 0.00

Pitch_motor 32 281 129.84 nil 0 0 0.00

Roll_motor 162 322 754.09 nil 0 0 0.00

Iridium 383 216 1193.69 nil 0 0 0.00

Transponder_ping 0 420 3.02 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 5338 11 944.90 SciCon 14874 11 2501.73

LPSleep 10335 2 434.08 echo 14940 10 2241.14

Compass 2617 5 196.35 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

11.34 16386 -243.31 -1.12 0.00 924.8 881.8 967.9 171.2 1975.3 0.00 0.00 0 130.02 118.14 0.00 0.00 0.005 0.000 0.000 3299.25 3311.62 3286.88 170.81 1973.00 0 0 0 15.25 30.00 30.00

130.31 18727 -243.31 -1.12 80.00 3298.0 3309.8 3286.2 170.4 1973.1 3.33 -2.03 23 167.37 18.70 11.57 3.26 0.006 0.282 0.110 3961.03 3944.31 3977.75 1528.94 3186.69 0 0 0 15.33 15.26 15.19

364.95 1156 -243.31 -1.07 0.00 3960.9 3944.9 3976.9 1529.6 3185.8 38.91 -14.73 70 370.57 0.00 0.00 2.85 0.000 0.000 0.040 3961.28 3945.00 3977.56 1529.88 1973.19 0 0 0 30.00 30.00 15.55

550.09 2437 -243.31 -1.01 80.00 3961.5 3945.4 3977.5 1529.4 1972.7 68.17 -15.66 107 555.75 0.00 0.19 3.24 0.000 0.179 0.105 3961.78 3945.50 3978.06 1558.06 3185.88 0 0 0 30.00 15.57 15.51

585.02 1028 -243.31 -1.01 0.00 3961.7 3945.6 3977.7 1558.0 3186.1 73.18 -14.23 114 590.64 0.00 0.00 2.83 0.000 0.000 0.037 3961.81 3945.88 3977.75 1558.19 1974.50 0 0 0 30.00 30.00 15.55

770.14 0 -243.31 -1.01 0.00 3961.5 3944.8 3978.1 1558.8 1974.6 99.11 -14.67 151 771.47 0.00 0.00 0.00 0.000 0.000 0.000 3961.50 3945.50 3977.50 1558.19 1974.38 0 0 0 30.00 30.00 30.00

950.12 0 -243.31 -1.01 0.00 3961.5 3945.1 3977.9 1558.6 1974.2 124.93 -14.36 170 951.45 0.00 0.00 0.00 0.000 0.000 0.000 3960.97 3944.81 3977.12 1558.50 1974.31 0 0 0 30.00 30.00 30.00

1250.23 260 -243.31 -1.01 80.00 3961.4 3945.2 3977.6 1558.3 1974.3 166.59 -13.67 200 1255.52 0.00 0.00 3.26 0.000 0.000 0.106 3961.59 3945.06 3978.12 1558.12 3185.94 0 0 0 30.00 30.00 15.61

1274.83 1028 -243.31 -1.01 0.00 3961.0 3945.0 3977.1 1558.1 3186.6 169.96 -13.68 205 1280.81 0.00 0.00 2.84 0.000 0.000 0.037 3961.25 3944.19 3978.31 1558.12 1972.62 0 0 0 30.00 30.00 15.67

1580.29 0 -243.31 -1.01 0.00 3961.6 3945.4 3977.8 1557.9 1972.2 211.38 -13.76 236 1581.62 0.00 0.00 0.00 0.000 0.000 0.000 3960.88 3944.69 3977.06 1558.06 1972.81 0 0 0 30.00 30.00 30.00

1880.34 260 -243.31 -1.01 80.00 3961.3 3944.9 3977.6 1558.4 1972.9 250.71 -12.90 266 1885.63 0.00 0.00 3.23 0.000 0.000 0.106 3961.62 3945.25 3978.00 1558.06 3185.81 0 0 0 30.00 30.00 15.63

1914.94 1028 -243.31 -1.01 0.00 3961.4 3944.9 3978.0 1558.1 3185.8 255.20 -12.75 273 1920.90 0.00 0.00 2.81 0.000 0.000 0.038 3962.09 3945.88 3978.31 1558.25 1974.50 0 0 0 30.00 30.00 15.84

2220.41 0 -243.31 -1.01 0.00 3961.6 3945.2 3978.0 1558.4 1974.9 294.97 -13.30 304 2221.73 0.00 0.00 0.00 0.000 0.000 0.000 3960.94 3945.06 3976.81 1558.12 1974.75 0 0 0 30.00 30.00 30.00

2520.41 0 -243.31 -1.01 0.00 3961.1 3944.6 3977.7 1558.1 1974.8 335.11 -13.64 334 2521.74 0.00 0.00 0.00 0.000 0.000 0.000 3961.34 3944.44 3978.25 1558.31 1974.94 0 0 0 30.00 30.00 30.00

2820.44 260 -243.31 -1.01 80.00 3961.9 3945.3 3978.6 1558.6 1974.9 375.61 -13.47 364 2825.73 0.00 0.00 3.23 0.000 0.000 0.111 3960.91 3944.31 3977.50 1558.25 3185.12 0 0 0 30.00 30.00 15.63

2850.38 1028 -243.31 -1.01 0.00 3961.2 3944.4 3978.1 1558.2 3186.1 379.46 -12.81 370 2855.66 0.00 0.00 2.83 0.000 0.000 0.040 3962.16 3946.19 3978.12 1558.19 1976.12 0 0 0 30.00 30.00 15.77

3160.46 0 -243.31 -1.01 0.00 3961.1 3944.6 3977.6 1558.1 1975.8 419.98 -12.98 402 3161.79 0.00 0.00 0.00 0.000 0.000 0.000 3961.03 3944.00 3978.06 1558.31 1975.62 0 0 0 30.00 30.00 30.00

3460.49 0 -243.31 -1.01 0.00 3961.5 3944.9 3978.1 1558.3 1975.6 459.53 -13.22 432 3461.82 0.00 0.00 0.00 0.000 0.000 0.000 3960.69 3944.56 3976.81 1558.12 1975.69 0 0 0 30.00 30.00 30.00

3760.52 260 -243.31 -1.01 80.00 3961.2 3944.9 3977.5 1558.2 1975.3 499.35 -13.31 462 3765.81 0.00 0.00 3.26 0.000 0.000 0.118 3961.91 3945.44 3978.38 1557.69 3185.06 0 0 0 30.00 30.00 15.61

3780.46 1028 -243.31 -1.01 0.00 3961.3 3944.6 3978.1 1558.3 3185.2 502.18 -13.60 466 3785.74 0.00 0.00 2.85 0.000 0.000 0.047 3962.31 3945.62 3979.00 1558.06 1977.75 0 0 0 30.00 30.00 15.86

4090.55 0 -243.31 -1.01 0.00 3961.1 3944.8 3977.4 1558.5 1977.9 543.51 -13.62 498 4091.88 0.00 0.00 0.00 0.000 0.000 0.000 3960.41 3943.69 3977.12 1558.06 1977.75 0 0 0 30.00 30.00 30.00

4390.64 0 -243.31 -1.01 0.00 3961.2 3944.4 3977.9 1558.5 1978.1 584.01 -13.43 528 4391.97 0.00 0.00 0.00 0.000 0.000 0.000 3960.78 3944.19 3977.38 1558.19 1977.88 0 0 0 30.00 30.00 30.00

4690.59 260 -243.31 -1.01 80.00 3960.5 3943.4 3977.6 1558.2 1978.1 624.65 -13.46 558 4695.91 0.00 0.00 3.31 0.000 0.000 0.124 3961.25 3943.81 3978.69 1558.50 3186.06 0 0 0 30.00 30.00 15.59

4710.55 1028 -243.31 -1.01 0.00 3960.8 3944.6 3977.0 1558.1 3185.4 627.43 -13.50 562 4715.82 0.00 0.00 2.88 0.000 0.000 0.051 3960.56 3943.62 3977.50 1558.00 1978.25 0 0 0 30.00 30.00 15.81

5020.63 32 -243.31 -1.01 0.00 3960.0 3943.1 3977.0 1558.2 1978.4 667.76 -12.56 594 5021.96 0.00 0.00 0.00 0.000 0.000 0.000 3960.69 3943.75 3977.62 1558.00 1978.31 0 0 0 30.00 30.00 30.00

5320.67 32 -243.31 -1.01 0.00 3960.6 3943.1 3978.0 1557.8 1977.9 704.30 -11.90 624 5322.00 0.00 0.00 0.00 0.000 0.000 0.000 3959.84 3943.25 3976.44 1558.12 1978.31 0 0 0 30.00 30.00 30.00

5620.72 32 -243.31 -1.01 0.00 3959.6 3942.1 3977.2 1558.1 1977.9 739.27 -11.75 654 5622.05 0.00 0.00 0.00 0.000 0.000 0.000 3960.72 3943.44 3978.00 1558.12 1978.69 0 0 0 30.00 30.00 30.00

5920.78 32 -243.31 -1.01 0.00 3959.8 3942.1 3977.4 1558.4 1978.2 773.94 -11.42 684 5922.11 0.00 0.00 0.00 0.000 0.000 0.000 3959.31 3941.62 3977.00 1558.06 1978.44 0 0 0 30.00 30.00 30.00

6220.84 548 -243.31 -1.01 -80.00 3959.6 3941.4 3977.8 1558.3 1978.7 808.47 -11.65 714 6226.26 0.00 0.00 4.05 0.000 0.000 0.155 3959.75 3941.88 3977.62 1558.00 537.19 0 0 0 30.00 30.00 15.57

6250.77 1028 -243.31 -1.01 0.00 3959.8 3941.0 3978.6 1558.3 537.3 812.38 -13.00 720 6256.18 0.00 0.00 3.57 0.000 0.000 0.039 3960.50 3942.12 3978.88 1558.19 2019.44 0 0 0 30.00 30.00 15.66

6560.83 32 -243.31 -1.01 0.00 3959.4 3940.9 3978.0 1558.0 2019.2 849.52 -12.20 752 6562.16 0.00 0.00 0.00 0.000 0.000 0.000 3959.38 3941.38 3977.38 1558.00 2018.88 0 0 0 30.00 30.00 30.00

6860.97 548 -243.31 -1.01 -80.00 3959.8 3941.2 3978.4 1558.1 2019.4 885.88 -11.93 782 6866.40 0.00 0.00 4.17 0.000 0.000 0.152 3959.66 3941.44 3977.88 1557.75 538.00 0 0 0 30.00 30.00 15.55

6895.58 1060 -243.31 -1.01 0.00 3959.5 3940.9 3978.2 1557.9 537.8 890.20 -12.68 789 6901.64 0.00 0.00 3.55 0.000 0.000 0.041 3960.19 3941.69 3978.69 1558.00 2018.00 0 0 0 30.00 30.00 15.88

7200.97 548 -243.31 -1.01 -80.00 3958.9 3940.5 3977.2 1557.9 2018.3 925.98 -11.82 820 7206.46 0.00 0.00 4.14 0.000 0.000 0.151 3959.97 3940.62 3979.31 1558.06 538.00 0 0 0 30.00 30.00 15.39

7240.96 1028 -243.31 -1.01 0.00 3959.0 3940.4 3977.6 1558.0 538.1 931.17 -13.37 828 7246.37 0.00 0.00 3.55 0.000 0.000 0.042 3959.41 3940.81 3978.00 1557.81 2017.62 0 0 0 30.00 30.00 15.88

7551.02 548 -243.31 -1.01 -80.00 3958.8 3939.9 3977.6 1558.4 2017.9 967.93 -11.68 860 7556.52 0.00 0.00 4.18 0.000 0.000 0.154 3959.09 3940.19 3978.00 1557.62 537.56 0 0 0 30.00 30.00 15.52

7571.03 1060 -243.31 -1.01 0.00 3958.8 3940.1 3977.5 1558.0 537.6 970.49 -11.88 864 7576.43 0.00 0.00 3.59 0.000 0.000 0.043 3959.31 3940.75 3977.88 1557.62 2016.62 0 0 0 30.00 30.00 15.79

7741 end dive: TARGET_DEPTH_EXCEEDED

state 7741 begin apogee

7743.55 10243 0.00 -0.23 0.00 3958.6 3939.9 3977.2 1558.1 1439.3 990.19 -11.34 882 7951.57 205.66 1.33 0.05 2.042 0.143 0.322 2965.41 2927.19 3003.62 1745.81 1474.94 0 0 0 10.73 15.60 15.06

8000 end apogee: CONTROL_FINISHED_OK

state 8000 begin climb

7999.73 10759 243.31 1.12 -80.00 2963.8 2925.4 3002.2 1746.1 1475.5 998.45 0.00 902 8223.22 216.48 2.25 3.09 1.988 0.106 0.178 1976.50 1932.38 2020.62 2074.38 460.50 0 0 0 11.90 15.19 14.95

8425.48 9382 265.75 1.12 0.00 1967.2 1927.1 2007.2 2074.8 460.4 964.84 11.90 983 8451.74 21.74 0.00 2.43 1.753 0.000 0.031 1885.50 1842.69 1928.31 2073.75 1490.25 0 0 0 11.77 30.00 15.43

8750.87 10535 380.70 1.29 80.00 1878.9 1833.5 1924.3 2074.7 1490.3 935.93 8.62 1018 8863.90 106.88 0.23 3.90 1.903 0.075 0.107 1415.47 1362.50 1468.44 2127.62 2912.69 0 0 0 11.70 15.59 15.15

8876.16 9254 417.42 1.34 0.00 1413.9 1360.8 1467.1 2127.5 2912.7 921.69 11.39 1043 8917.60 35.44 0.00 3.84 1.789 0.000 0.087 1266.59 1210.75 1322.44 2127.31 1438.62 0 0 0 12.04 30.00 15.29

9221.45 8742 433.53 1.37 -80.00 1260.6 1205.1 1316.1 2127.5 1438.5 879.52 12.12 1082 9242.36 16.43 0.00 2.79 1.631 0.000 0.177 1201.16 1145.50 1256.81 2126.69 459.25 0 0 0 11.75 30.00 15.39

9261.42 1028 433.53 1.37 0.00 1199.3 1144.8 1253.9 2127.6 459.0 874.53 12.77 1090 9266.58 0.00 0.00 2.40 0.000 0.000 0.031 1199.66 1145.06 1254.25 2126.88 1492.69 0 0 0 30.00 30.00 15.55

9571.49 8486 460.55 1.41 80.00 1197.9 1142.4 1253.4 2127.4 1495.1 838.07 11.74 1122 9603.82 26.83 0.00 3.78 1.726 0.000 0.102 1089.69 1035.56 1143.81 2127.56 2911.75 0 0 0 11.75 30.00 15.48

9621.16 11431 491.25 1.50 0.00 1089.6 1035.6 1143.6 2126.7 2911.4 832.43 11.61 1132 9657.94 30.16 0.23 3.77 1.724 0.079 0.084 965.97 911.69 1020.25 2178.75 1438.25 0 0 0 12.13 15.51 15.54

9956.51 644 491.25 1.47 -80.00 961.9 907.2 1016.6 2178.6 1438.4 779.33 16.19 1169 9961.75 0.00 0.00 2.78 0.000 0.000 0.169 962.12 907.12 1017.12 2178.00 457.94 0 0 0 30.00 30.00 15.55

10021.18 5253 491.25 1.40 0.00 961.3 906.8 1015.9 2178.2 457.9 766.99 19.48 1182 10027.15 0.00 0.40 2.41 0.000 0.183 0.031 961.62 907.31 1015.94 2133.94 1498.75 0 0 0 30.00 15.53 15.66

10326.55 10663 578.31 1.60 80.00 960.7 905.9 1015.6 2133.8 1499.6 734.55 9.61 1213 10410.01 77.44 0.41 3.80 1.713 0.070 0.095 610.50 572.69 648.31 2201.44 2912.12 0 0 0 11.66 15.67 15.36

10437.26 1156 578.31 1.64 0.00 608.4 567.8 649.1 2202.1 2912.6 717.27 15.91 1235 10443.31 0.00 0.00 3.79 0.000 0.000 0.081 608.66 568.12 649.19 2201.44 1438.81 0 0 0 30.00 30.00 15.42

10742.55 644 578.31 1.60 -80.00 607.7 567.0 648.3 2201.6 1438.9 662.35 19.08 1266 10747.83 0.00 0.00 2.75 0.000 0.000 0.157 607.88 567.19 648.56 2200.38 458.38 0 0 0 30.00 30.00 15.55

10767.23 5253 578.31 1.55 0.00 607.4 566.9 647.9 2201.4 458.2 657.11 20.95 1271 10773.18 0.00 0.29 2.41 0.000 0.194 0.031 607.19 566.50 647.88 2170.12 1507.12 0 0 0 30.00 15.53 15.56

11072.60 128 578.31 1.59 0.00 605.9 564.1 647.8 2169.8 1507.9 614.32 12.97 1302 11073.93 0.00 0.00 0.00 0.000 0.000 0.000 605.97 564.25 647.69 2170.00 1508.06 0 0 0 30.00 30.00 30.00

11372.73 2693 578.31 1.64 -80.00 605.9 564.0 647.8 2170.4 1508.0 575.74 13.10 1332 11378.03 0.00 0.23 2.96 0.000 0.082 0.155 606.28 564.12 648.44 2208.88 457.44 0 0 0 30.00 15.75 15.63

11402.68 1156 578.31 1.61 0.00 605.9 564.0 647.9 2208.8 457.2 570.46 17.97 1338 11407.80 0.00 0.00 2.40 0.000 0.000 0.033 605.94 563.88 648.00 2208.62 1509.56 0 0 0 30.00 30.00 15.76

11712.73 4741 578.31 1.57 -80.00 605.7 563.5 647.9 2208.5 1510.5 510.64 19.44 1370 11718.11 0.00 0.31 2.94 0.000 0.199 0.150 606.00 563.69 648.31 2174.06 457.88 0 0 0 30.00 15.70 15.62

11747.39 1028 578.31 1.57 0.00 605.8 563.5 648.0 2174.4 458.2 503.79 18.85 1377 11753.18 0.00 0.00 2.39 0.000 0.000 0.034 605.66 563.44 647.88 2174.12 1512.94 0 0 0 30.00 30.00 15.65

12052.80 644 578.31 1.62 -80.00 605.4 562.7 648.2 2174.1 1512.8 459.95 13.57 1408 12058.08 0.00 0.00 2.92 0.000 0.000 0.150 605.78 563.12 648.44 2173.44 458.25 0 0 0 30.00 30.00 15.61

12077.45 1028 578.31 1.62 0.00 605.5 563.0 648.1 2174.5 458.0 456.11 15.35 1413 12083.26 0.00 0.00 2.38 0.000 0.000 0.034 605.78 562.94 648.62 2174.44 1508.19 0 0 0 30.00 30.00 15.70

12382.88 2177 578.31 1.66 0.00 605.2 562.5 647.9 2174.1 1508.4 413.35 13.68 1444 12384.36 0.00 0.23 0.00 0.000 0.083 0.000 605.59 562.69 648.50 2211.62 1508.62 0 0 0 30.00 15.79 30.00

12682.90 644 578.31 1.62 -80.00 605.4 562.6 648.2 2212.3 1508.6 354.76 20.21 1474 12688.20 0.00 0.00 2.91 0.000 0.000 0.148 605.78 562.75 648.81 2212.00 457.06 0 0 0 30.00 30.00 15.61

12717.59 5253 578.31 1.54 0.00 605.7 563.1 648.2 2212.7 457.1 346.82 23.18 1481 12723.54 0.00 0.37 2.38 0.000 0.194 0.035 606.00 563.25 648.75 2168.25 1517.19 0 0 0 30.00 15.69 15.79

13023.04 128 578.31 1.60 0.00 605.3 562.2 648.4 2168.9 1517.4 303.25 13.45 1512 13024.37 0.00 0.00 0.00 0.000 0.000 0.000 605.34 562.31 648.38 2168.94 1517.50 0 0 0 30.00 30.00 30.00

13323.10 2693 578.31 1.66 -80.00 605.4 562.2 648.7 2169.1 1517.0 262.53 13.57 1542 13328.39 0.00 0.26 2.95 0.000 0.076 0.148 605.44 562.31 648.56 2213.00 457.88 0 0 0 30.00 15.83 15.59

13357.71 1156 578.31 1.62 0.00 605.8 562.9 648.6 2213.9 458.0 255.86 20.60 1549 13363.49 0.00 0.00 2.37 0.000 0.000 0.036 605.97 562.94 649.00 2213.19 1510.81 0 0 0 30.00 30.00 15.81

13663.10 4741 578.31 1.58 -80.00 605.8 562.7 648.9 2214.5 1511.1 190.92 21.21 1580 13668.47 0.00 0.31 2.90 0.000 0.198 0.144 605.78 562.69 648.88 2178.00 458.19 0 0 0 30.00 15.67 15.54

13697.75 1028 578.31 1.58 0.00 605.9 563.0 648.8 2177.9 458.1 183.63 20.51 1587 13703.55 0.00 0.00 2.37 0.000 0.000 0.034 606.12 563.25 649.00 2177.69 1509.62 0 0 0 30.00 30.00 15.72

14003.17 128 578.31 1.63 0.00 605.7 562.2 649.1 2177.5 1510.2 137.99 14.38 1618 14004.50 0.00 0.00 0.00 0.000 0.000 0.000 605.56 562.12 649.00 2177.38 1510.06 0 0 0 30.00 30.00 30.00

14303.20 2693 578.31 1.68 -80.00 605.9 562.4 649.4 2177.4 1509.8 95.34 14.13 1651 14308.93 0.00 0.25 2.94 0.000 0.078 0.146 606.19 562.50 649.88 2216.88 457.31 0 0 0 30.00 15.76 15.51

14343.23 5253 578.31 1.63 0.00 606.2 563.0 649.3 2218.5 457.4 87.55 21.07 1659 14348.82 0.00 0.26 2.37 0.000 0.197 0.035 606.22 562.94 649.50 2188.31 1510.56 0 0 0 30.00 15.59 15.80

14528.28 128 578.31 1.66 0.00 605.9 562.4 649.4 2188.4 1511.0 57.88 14.46 1696 14529.61 0.00 0.00 0.00 0.000 0.000 0.000 605.81 562.25 649.38 2188.50 1510.44 0 0 0 30.00 30.00 30.00

14708.35 10919 582.09 1.71 -80.00 606.0 562.5 649.5 2188.8 1510.3 33.71 12.56 1732 14719.15 4.96 0.22 2.90 0.574 0.080 0.147 595.03 552.81 637.25 2223.62 457.31 0 0 0 11.36 15.67 15.54

14738.34 1028 582.09 1.71 0.00 594.8 552.8 636.9 2223.8 457.1 28.50 18.17 1738 14743.78 0.00 0.00 2.37 0.000 0.000 0.035 594.81 552.38 637.25 2224.12 1510.00 0 0 0 30.00 30.00 15.76

14889 end climb: SURFACE_DEPTH_REACHED

state 14889 begin surface coast

14899 end surface coast: CONTROL_FINISHED_OK

state 14899 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	109	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	33.599358	SEABIRD_T_I	2.5361865e-05
USE_BATHY	-6	PITCH_MAX	3950	FG_AHR_24V	98.308075	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	216.0
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	250421,085339,4845.746,-1840.973,25,0.9,25,-6.3	TGT_LATLONG	4845.780,-1848.770
_CALLS	4	TGT_RADIUS	4000.000
_SM_DEPTHo	1.05	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-46.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	250421,090532,4845.617,-1840.889,2,0.6,4,-6.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.220,0.350	MHEAD_RNG_PITCHd_Wd	318.9,9626,-16.6,-12.692,-19.91
TGT_NAME	A1_1	D_GRID	1000

FINISH	-0.1,1.026833	INTERNAL_PRESSURE	8.6554
SM_CCo	14980.14,0.00,0.000,0,594.0,551.2,636.8,582.35	_24V_AH	14.39,47.281
SM_GC	0.95,0.00,12.66,1.13,0.000,0.053,0.032,594.0,551.2,636.8,180.7,2041.1,0,0,0,30.00,15.81,15.86	_10V_AH	15.00,0.000
SUPER	27,71,254,1,0,0	FG_AHR_24Vo	98.694
IRIDIUM_FIX	4846.28,-1911.55,250421,090003	FG_AHR_10Vo	33.686
TCM_TEMP	15.27	MEM	1125676,26,50568,127
XPDR_PINGS	2,13.0,11.5	DATA_FILE_SIZE	54431,1770
SC_FREEKB	3829920	CAP_FILE_SIZE	356655,0
ES_FREE	14978416640.000000	SDSIZE	3918848,3875360
ES_POWER	63.440000	SDFILEDIR	795,1
ES_POWER1	0.000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	50.60	CURRENT	0.360,137.0,1
TEMP	11.24	GPS	250421,131613,4845.576,-1840.851,16,1.6,20,-6.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	878	2042	25827.24	nil	0	0	0.00
Pitch_motor	32	281	129.84	nil	0	0	0.00
Roll_motor	162	322	754.09	nil	0	0	0.00
Iridium	383	216	1193.69	nil	0	0	0.00
Transponder_ping	0	420	3.02	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	5338	11	944.90	SciCon	14874	11	2501.73
LPSleep	10335	2	434.08	echo	14940	10	2241.14
Compass	2617	5	196.35	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
11.34	16386	-243.31	-1.12	0.00	924.8	881.8	967.9	171.2	1975.3	0.00	0.00	0	130.02	118.14	0.00	0.00	0.005	0.000	0.000	3299.25	3311.62	3286.88	170.81	1973.00	0	0	0	15.25	30.00	30.00
130.31	18727	-243.31	-1.12	80.00	3298.0	3309.8	3286.2	170.4	1973.1	3.33	-2.03	23	167.37	18.70	11.57	3.26	0.006	0.282	0.110	3961.03	3944.31	3977.75	1528.94	3186.69	0	0	0	15.33	15.26	15.19
364.95	1156	-243.31	-1.07	0.00	3960.9	3944.9	3976.9	1529.6	3185.8	38.91	-14.73	70	370.57	0.00	0.00	2.85	0.000	0.000	0.040	3961.28	3945.00	3977.56	1529.88	1973.19	0	0	0	30.00	30.00	15.55
550.09	2437	-243.31	-1.01	80.00	3961.5	3945.4	3977.5	1529.4	1972.7	68.17	-15.66	107	555.75	0.00	0.19	3.24	0.000	0.179	0.105	3961.78	3945.50	3978.06	1558.06	3185.88	0	0	0	30.00	15.57	15.51
585.02	1028	-243.31	-1.01	0.00	3961.7	3945.6	3977.7	1558.0	3186.1	73.18	-14.23	114	590.64	0.00	0.00	2.83	0.000	0.000	0.037	3961.81	3945.88	3977.75	1558.19	1974.50	0	0	0	30.00	30.00	15.55
770.14	0	-243.31	-1.01	0.00	3961.5	3944.8	3978.1	1558.8	1974.6	99.11	-14.67	151	771.47	0.00	0.00	0.00	0.000	0.000	0.000	3961.50	3945.50	3977.50	1558.19	1974.38	0	0	0	30.00	30.00	30.00
950.12	0	-243.31	-1.01	0.00	3961.5	3945.1	3977.9	1558.6	1974.2	124.93	-14.36	170	951.45	0.00	0.00	0.00	0.000	0.000	0.000	3960.97	3944.81	3977.12	1558.50	1974.31	0	0	0	30.00	30.00	30.00
1250.23	260	-243.31	-1.01	80.00	3961.4	3945.2	3977.6	1558.3	1974.3	166.59	-13.67	200	1255.52	0.00	0.00	3.26	0.000	0.000	0.106	3961.59	3945.06	3978.12	1558.12	3185.94	0	0	0	30.00	30.00	15.61
1274.83	1028	-243.31	-1.01	0.00	3961.0	3945.0	3977.1	1558.1	3186.6	169.96	-13.68	205	1280.81	0.00	0.00	2.84	0.000	0.000	0.037	3961.25	3944.19	3978.31	1558.12	1972.62	0	0	0	30.00	30.00	15.67
1580.29	0	-243.31	-1.01	0.00	3961.6	3945.4	3977.8	1557.9	1972.2	211.38	-13.76	236	1581.62	0.00	0.00	0.00	0.000	0.000	0.000	3960.88	3944.69	3977.06	1558.06	1972.81	0	0	0	30.00	30.00	30.00
1880.34	260	-243.31	-1.01	80.00	3961.3	3944.9	3977.6	1558.4	1972.9	250.71	-12.90	266	1885.63	0.00	0.00	3.23	0.000	0.000	0.106	3961.62	3945.25	3978.00	1558.06	3185.81	0	0	0	30.00	30.00	15.63
1914.94	1028	-243.31	-1.01	0.00	3961.4	3944.9	3978.0	1558.1	3185.8	255.20	-12.75	273	1920.90	0.00	0.00	2.81	0.000	0.000	0.038	3962.09	3945.88	3978.31	1558.25	1974.50	0	0	0	30.00	30.00	15.84
2220.41	0	-243.31	-1.01	0.00	3961.6	3945.2	3978.0	1558.4	1974.9	294.97	-13.30	304	2221.73	0.00	0.00	0.00	0.000	0.000	0.000	3960.94	3945.06	3976.81	1558.12	1974.75	0	0	0	30.00	30.00	30.00
2520.41	0	-243.31	-1.01	0.00	3961.1	3944.6	3977.7	1558.1	1974.8	335.11	-13.64	334	2521.74	0.00	0.00	0.00	0.000	0.000	0.000	3961.34	3944.44	3978.25	1558.31	1974.94	0	0	0	30.00	30.00	30.00
2820.44	260	-243.31	-1.01	80.00	3961.9	3945.3	3978.6	1558.6	1974.9	375.61	-13.47	364	2825.73	0.00	0.00	3.23	0.000	0.000	0.111	3960.91	3944.31	3977.50	1558.25	3185.12	0	0	0	30.00	30.00	15.63
2850.38	1028	-243.31	-1.01	0.00	3961.2	3944.4	3978.1	1558.2	3186.1	379.46	-12.81	370	2855.66	0.00	0.00	2.83	0.000	0.000	0.040	3962.16	3946.19	3978.12	1558.19	1976.12	0	0	0	30.00	30.00	15.77
3160.46	0	-243.31	-1.01	0.00	3961.1	3944.6	3977.6	1558.1	1975.8	419.98	-12.98	402	3161.79	0.00	0.00	0.00	0.000	0.000	0.000	3961.03	3944.00	3978.06	1558.31	1975.62	0	0	0	30.00	30.00	30.00
3460.49	0	-243.31	-1.01	0.00	3961.5	3944.9	3978.1	1558.3	1975.6	459.53	-13.22	432	3461.82	0.00	0.00	0.00	0.000	0.000	0.000	3960.69	3944.56	3976.81	1558.12	1975.69	0	0	0	30.00	30.00	30.00
3760.52	260	-243.31	-1.01	80.00	3961.2	3944.9	3977.5	1558.2	1975.3	499.35	-13.31	462	3765.81	0.00	0.00	3.26	0.000	0.000	0.118	3961.91	3945.44	3978.38	1557.69	3185.06	0	0	0	30.00	30.00	15.61
3780.46	1028	-243.31	-1.01	0.00	3961.3	3944.6	3978.1	1558.3	3185.2	502.18	-13.60	466	3785.74	0.00	0.00	2.85	0.000	0.000	0.047	3962.31	3945.62	3979.00	1558.06	1977.75	0	0	0	30.00	30.00	15.86
4090.55	0	-243.31	-1.01	0.00	3961.1	3944.8	3977.4	1558.5	1977.9	543.51	-13.62	498	4091.88	0.00	0.00	0.00	0.000	0.000	0.000	3960.41	3943.69	3977.12	1558.06	1977.75	0	0	0	30.00	30.00	30.00
4390.64	0	-243.31	-1.01	0.00	3961.2	3944.4	3977.9	1558.5	1978.1	584.01	-13.43	528	4391.97	0.00	0.00	0.00	0.000	0.000	0.000	3960.78	3944.19	3977.38	1558.19	1977.88	0	0	0	30.00	30.00	30.00
4690.59	260	-243.31	-1.01	80.00	3960.5	3943.4	3977.6	1558.2	1978.1	624.65	-13.46	558	4695.91	0.00	0.00	3.31	0.000	0.000	0.124	3961.25	3943.81	3978.69	1558.50	3186.06	0	0	0	30.00	30.00	15.59
4710.55	1028	-243.31	-1.01	0.00	3960.8	3944.6	3977.0	1558.1	3185.4	627.43	-13.50	562	4715.82	0.00	0.00	2.88	0.000	0.000	0.051	3960.56	3943.62	3977.50	1558.00	1978.25	0	0	0	30.00	30.00	15.81
5020.63	32	-243.31	-1.01	0.00	3960.0	3943.1	3977.0	1558.2	1978.4	667.76	-12.56	594	5021.96	0.00	0.00	0.00	0.000	0.000	0.000	3960.69	3943.75	3977.62	1558.00	1978.31	0	0	0	30.00	30.00	30.00
5320.67	32	-243.31	-1.01	0.00	3960.6	3943.1	3978.0	1557.8	1977.9	704.30	-11.90	624	5322.00	0.00	0.00	0.00	0.000	0.000	0.000	3959.84	3943.25	3976.44	1558.12	1978.31	0	0	0	30.00	30.00	30.00
5620.72	32	-243.31	-1.01	0.00	3959.6	3942.1	3977.2	1558.1	1977.9	739.27	-11.75	654	5622.05	0.00	0.00	0.00	0.000	0.000	0.000	3960.72	3943.44	3978.00	1558.12	1978.69	0	0	0	30.00	30.00	30.00
5920.78	32	-243.31	-1.01	0.00	3959.8	3942.1	3977.4	1558.4	1978.2	773.94	-11.42	684	5922.11	0.00	0.00	0.00	0.000	0.000	0.000	3959.31	3941.62	3977.00	1558.06	1978.44	0	0	0	30.00	30.00	30.00
6220.84	548	-243.31	-1.01	-80.00	3959.6	3941.4	3977.8	1558.3	1978.7	808.47	-11.65	714	6226.26	0.00	0.00	4.05	0.000	0.000	0.155	3959.75	3941.88	3977.62	1558.00	537.19	0	0	0	30.00	30.00	15.57
6250.77	1028	-243.31	-1.01	0.00	3959.8	3941.0	3978.6	1558.3	537.3	812.38	-13.00	720	6256.18	0.00	0.00	3.57	0.000	0.000	0.039	3960.50	3942.12	3978.88	1558.19	2019.44	0	0	0	30.00	30.00	15.66
6560.83	32	-243.31	-1.01	0.00	3959.4	3940.9	3978.0	1558.0	2019.2	849.52	-12.20	752	6562.16	0.00	0.00	0.00	0.000	0.000	0.000	3959.38	3941.38	3977.38	1558.00	2018.88	0	0	0	30.00	30.00	30.00
6860.97	548	-243.31	-1.01	-80.00	3959.8	3941.2	3978.4	1558.1	2019.4	885.88	-11.93	782	6866.40	0.00	0.00	4.17	0.000	0.000	0.152	3959.66	3941.44	3977.88	1557.75	538.00	0	0	0	30.00	30.00	15.55
6895.58	1060	-243.31	-1.01	0.00	3959.5	3940.9	3978.2	1557.9	537.8	890.20	-12.68	789	6901.64	0.00	0.00	3.55	0.000	0.000	0.041	3960.19	3941.69	3978.69	1558.00	2018.00	0	0	0	30.00	30.00	15.88
7200.97	548	-243.31	-1.01	-80.00	3958.9	3940.5	3977.2	1557.9	2018.3	925.98	-11.82	820	7206.46	0.00	0.00	4.14	0.000	0.000	0.151	3959.97	3940.62	3979.31	1558.06	538.00	0	0	0	30.00	30.00	15.39
7240.96	1028	-243.31	-1.01	0.00	3959.0	3940.4	3977.6	1558.0	538.1	931.17	-13.37	828	7246.37	0.00	0.00	3.55	0.000	0.000	0.042	3959.41	3940.81	3978.00	1557.81	2017.62	0	0	0	30.00	30.00	15.88
7551.02	548	-243.31	-1.01	-80.00	3958.8	3939.9	3977.6	1558.4	2017.9	967.93	-11.68	860	7556.52	0.00	0.00	4.18	0.000	0.000	0.154	3959.09	3940.19	3978.00	1557.62	537.56	0	0	0	30.00	30.00	15.52
7571.03	1060	-243.31	-1.01	0.00	3958.8	3940.1	3977.5	1558.0	537.6	970.49	-11.88	864	7576.43	0.00	0.00	3.59	0.000	0.000	0.043	3959.31	3940.75	3977.88	1557.62	2016.62	0	0	0	30.00	30.00	15.79
7741	end dive: TARGET_DEPTH_EXCEEDED
state	7741	begin apogee
7743.55	10243	0.00	-0.23	0.00	3958.6	3939.9	3977.2	1558.1	1439.3	990.19	-11.34	882	7951.57	205.66	1.33	0.05	2.042	0.143	0.322	2965.41	2927.19	3003.62	1745.81	1474.94	0	0	0	10.73	15.60	15.06
8000	end apogee: CONTROL_FINISHED_OK
state	8000	begin climb
7999.73	10759	243.31	1.12	-80.00	2963.8	2925.4	3002.2	1746.1	1475.5	998.45	0.00	902	8223.22	216.48	2.25	3.09	1.988	0.106	0.178	1976.50	1932.38	2020.62	2074.38	460.50	0	0	0	11.90	15.19	14.95
8425.48	9382	265.75	1.12	0.00	1967.2	1927.1	2007.2	2074.8	460.4	964.84	11.90	983	8451.74	21.74	0.00	2.43	1.753	0.000	0.031	1885.50	1842.69	1928.31	2073.75	1490.25	0	0	0	11.77	30.00	15.43
8750.87	10535	380.70	1.29	80.00	1878.9	1833.5	1924.3	2074.7	1490.3	935.93	8.62	1018	8863.90	106.88	0.23	3.90	1.903	0.075	0.107	1415.47	1362.50	1468.44	2127.62	2912.69	0	0	0	11.70	15.59	15.15
8876.16	9254	417.42	1.34	0.00	1413.9	1360.8	1467.1	2127.5	2912.7	921.69	11.39	1043	8917.60	35.44	0.00	3.84	1.789	0.000	0.087	1266.59	1210.75	1322.44	2127.31	1438.62	0	0	0	12.04	30.00	15.29
9221.45	8742	433.53	1.37	-80.00	1260.6	1205.1	1316.1	2127.5	1438.5	879.52	12.12	1082	9242.36	16.43	0.00	2.79	1.631	0.000	0.177	1201.16	1145.50	1256.81	2126.69	459.25	0	0	0	11.75	30.00	15.39
9261.42	1028	433.53	1.37	0.00	1199.3	1144.8	1253.9	2127.6	459.0	874.53	12.77	1090	9266.58	0.00	0.00	2.40	0.000	0.000	0.031	1199.66	1145.06	1254.25	2126.88	1492.69	0	0	0	30.00	30.00	15.55
9571.49	8486	460.55	1.41	80.00	1197.9	1142.4	1253.4	2127.4	1495.1	838.07	11.74	1122	9603.82	26.83	0.00	3.78	1.726	0.000	0.102	1089.69	1035.56	1143.81	2127.56	2911.75	0	0	0	11.75	30.00	15.48
9621.16	11431	491.25	1.50	0.00	1089.6	1035.6	1143.6	2126.7	2911.4	832.43	11.61	1132	9657.94	30.16	0.23	3.77	1.724	0.079	0.084	965.97	911.69	1020.25	2178.75	1438.25	0	0	0	12.13	15.51	15.54
9956.51	644	491.25	1.47	-80.00	961.9	907.2	1016.6	2178.6	1438.4	779.33	16.19	1169	9961.75	0.00	0.00	2.78	0.000	0.000	0.169	962.12	907.12	1017.12	2178.00	457.94	0	0	0	30.00	30.00	15.55
10021.18	5253	491.25	1.40	0.00	961.3	906.8	1015.9	2178.2	457.9	766.99	19.48	1182	10027.15	0.00	0.40	2.41	0.000	0.183	0.031	961.62	907.31	1015.94	2133.94	1498.75	0	0	0	30.00	15.53	15.66
10326.55	10663	578.31	1.60	80.00	960.7	905.9	1015.6	2133.8	1499.6	734.55	9.61	1213	10410.01	77.44	0.41	3.80	1.713	0.070	0.095	610.50	572.69	648.31	2201.44	2912.12	0	0	0	11.66	15.67	15.36
10437.26	1156	578.31	1.64	0.00	608.4	567.8	649.1	2202.1	2912.6	717.27	15.91	1235	10443.31	0.00	0.00	3.79	0.000	0.000	0.081	608.66	568.12	649.19	2201.44	1438.81	0	0	0	30.00	30.00	15.42
10742.55	644	578.31	1.60	-80.00	607.7	567.0	648.3	2201.6	1438.9	662.35	19.08	1266	10747.83	0.00	0.00	2.75	0.000	0.000	0.157	607.88	567.19	648.56	2200.38	458.38	0	0	0	30.00	30.00	15.55
10767.23	5253	578.31	1.55	0.00	607.4	566.9	647.9	2201.4	458.2	657.11	20.95	1271	10773.18	0.00	0.29	2.41	0.000	0.194	0.031	607.19	566.50	647.88	2170.12	1507.12	0	0	0	30.00	15.53	15.56
11072.60	128	578.31	1.59	0.00	605.9	564.1	647.8	2169.8	1507.9	614.32	12.97	1302	11073.93	0.00	0.00	0.00	0.000	0.000	0.000	605.97	564.25	647.69	2170.00	1508.06	0	0	0	30.00	30.00	30.00
11372.73	2693	578.31	1.64	-80.00	605.9	564.0	647.8	2170.4	1508.0	575.74	13.10	1332	11378.03	0.00	0.23	2.96	0.000	0.082	0.155	606.28	564.12	648.44	2208.88	457.44	0	0	0	30.00	15.75	15.63
11402.68	1156	578.31	1.61	0.00	605.9	564.0	647.9	2208.8	457.2	570.46	17.97	1338	11407.80	0.00	0.00	2.40	0.000	0.000	0.033	605.94	563.88	648.00	2208.62	1509.56	0	0	0	30.00	30.00	15.76
11712.73	4741	578.31	1.57	-80.00	605.7	563.5	647.9	2208.5	1510.5	510.64	19.44	1370	11718.11	0.00	0.31	2.94	0.000	0.199	0.150	606.00	563.69	648.31	2174.06	457.88	0	0	0	30.00	15.70	15.62
11747.39	1028	578.31	1.57	0.00	605.8	563.5	648.0	2174.4	458.2	503.79	18.85	1377	11753.18	0.00	0.00	2.39	0.000	0.000	0.034	605.66	563.44	647.88	2174.12	1512.94	0	0	0	30.00	30.00	15.65
12052.80	644	578.31	1.62	-80.00	605.4	562.7	648.2	2174.1	1512.8	459.95	13.57	1408	12058.08	0.00	0.00	2.92	0.000	0.000	0.150	605.78	563.12	648.44	2173.44	458.25	0	0	0	30.00	30.00	15.61
12077.45	1028	578.31	1.62	0.00	605.5	563.0	648.1	2174.5	458.0	456.11	15.35	1413	12083.26	0.00	0.00	2.38	0.000	0.000	0.034	605.78	562.94	648.62	2174.44	1508.19	0	0	0	30.00	30.00	15.70
12382.88	2177	578.31	1.66	0.00	605.2	562.5	647.9	2174.1	1508.4	413.35	13.68	1444	12384.36	0.00	0.23	0.00	0.000	0.083	0.000	605.59	562.69	648.50	2211.62	1508.62	0	0	0	30.00	15.79	30.00
12682.90	644	578.31	1.62	-80.00	605.4	562.6	648.2	2212.3	1508.6	354.76	20.21	1474	12688.20	0.00	0.00	2.91	0.000	0.000	0.148	605.78	562.75	648.81	2212.00	457.06	0	0	0	30.00	30.00	15.61
12717.59	5253	578.31	1.54	0.00	605.7	563.1	648.2	2212.7	457.1	346.82	23.18	1481	12723.54	0.00	0.37	2.38	0.000	0.194	0.035	606.00	563.25	648.75	2168.25	1517.19	0	0	0	30.00	15.69	15.79
13023.04	128	578.31	1.60	0.00	605.3	562.2	648.4	2168.9	1517.4	303.25	13.45	1512	13024.37	0.00	0.00	0.00	0.000	0.000	0.000	605.34	562.31	648.38	2168.94	1517.50	0	0	0	30.00	30.00	30.00
13323.10	2693	578.31	1.66	-80.00	605.4	562.2	648.7	2169.1	1517.0	262.53	13.57	1542	13328.39	0.00	0.26	2.95	0.000	0.076	0.148	605.44	562.31	648.56	2213.00	457.88	0	0	0	30.00	15.83	15.59
13357.71	1156	578.31	1.62	0.00	605.8	562.9	648.6	2213.9	458.0	255.86	20.60	1549	13363.49	0.00	0.00	2.37	0.000	0.000	0.036	605.97	562.94	649.00	2213.19	1510.81	0	0	0	30.00	30.00	15.81
13663.10	4741	578.31	1.58	-80.00	605.8	562.7	648.9	2214.5	1511.1	190.92	21.21	1580	13668.47	0.00	0.31	2.90	0.000	0.198	0.144	605.78	562.69	648.88	2178.00	458.19	0	0	0	30.00	15.67	15.54
13697.75	1028	578.31	1.58	0.00	605.9	563.0	648.8	2177.9	458.1	183.63	20.51	1587	13703.55	0.00	0.00	2.37	0.000	0.000	0.034	606.12	563.25	649.00	2177.69	1509.62	0	0	0	30.00	30.00	15.72
14003.17	128	578.31	1.63	0.00	605.7	562.2	649.1	2177.5	1510.2	137.99	14.38	1618	14004.50	0.00	0.00	0.00	0.000	0.000	0.000	605.56	562.12	649.00	2177.38	1510.06	0	0	0	30.00	30.00	30.00
14303.20	2693	578.31	1.68	-80.00	605.9	562.4	649.4	2177.4	1509.8	95.34	14.13	1651	14308.93	0.00	0.25	2.94	0.000	0.078	0.146	606.19	562.50	649.88	2216.88	457.31	0	0	0	30.00	15.76	15.51
14343.23	5253	578.31	1.63	0.00	606.2	563.0	649.3	2218.5	457.4	87.55	21.07	1659	14348.82	0.00	0.26	2.37	0.000	0.197	0.035	606.22	562.94	649.50	2188.31	1510.56	0	0	0	30.00	15.59	15.80
14528.28	128	578.31	1.66	0.00	605.9	562.4	649.4	2188.4	1511.0	57.88	14.46	1696	14529.61	0.00	0.00	0.00	0.000	0.000	0.000	605.81	562.25	649.38	2188.50	1510.44	0	0	0	30.00	30.00	30.00
14708.35	10919	582.09	1.71	-80.00	606.0	562.5	649.5	2188.8	1510.3	33.71	12.56	1732	14719.15	4.96	0.22	2.90	0.574	0.080	0.147	595.03	552.81	637.25	2223.62	457.31	0	0	0	11.36	15.67	15.54
14738.34	1028	582.09	1.71	0.00	594.8	552.8	636.9	2223.8	457.1	28.50	18.17	1738	14743.78	0.00	0.00	2.37	0.000	0.000	0.035	594.81	552.38	637.25	2224.12	1510.00	0	0	0	30.00	30.00	15.76
14889	end climb: SURFACE_DEPTH_REACHED
state	14889	begin surface coast
14899	end surface coast: CONTROL_FINISHED_OK
state	14899	begin surface