Glider dive log

EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 121 * 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 121 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 34.671345 SEABIRD_T_I 2.5361865e-05

USE_BATHY -6 PITCH_MAX 3950 FG_AHR_24V 102.8933 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 240.0

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 240.0 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 34.671345 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FG_AHR_24V 102.8933 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 121 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 270421,133409,4840.051,-1905.264,20,1.5,29,-6.5 TGT_LATLONG 4838.020,-1938.320

_CALLS 1 TGT_RADIUS 4000.000

_SM_DEPTHo 1.06 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -47.2 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 270421,134102,4840.063,-1905.274,3,0.8,4,-6.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.220,0.350 MHEAD_RNG_PITCHd_Wd 251.2,40623,-16.6,-12.692,-19.91

TGT_NAME A1_7 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.2,1.026755 INTERNAL_PRESSURE 8.67309

SM_CCo 15416.12,0.00,0.000,0,816.5,764.1,868.9,527.77 _24V_AH 14.37,52.899

SM_GC 1.00,0.00,12.19,1.14,0.000,0.048,0.038,816.5,764.1,868.9,174.6,2037.7,0,0,0,30.00,15.77,15.84 _10V_AH 15.00,0.000

SUPER 27,71,254,1,0,0 FG_AHR_24Vo 103.247

IRIDIUM_FIX 4841.42,-1903.24,270421,091716 FG_AHR_10Vo 34.761

TCM_TEMP 15.57 MEM 1125736,22,50588,127

XPDR_PINGS 1,13.0,11.5 DATA_FILE_SIZE 54488,1844

SC_FREEKB 3824544 CAP_FILE_SIZE 346852,0

ES_FREE 14884306944.000000 SDSIZE 3918848,3872096

ES_POWER 63.440000 SDFILEDIR 870,1

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 0.253, 24.6,1

TEMP 11.37 GPS 270421,175901,4841.122,-1908.109,21,0.9,22,-6.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 833 2064 24728.66 nil 0 0 0.00

Pitch_motor 31 301 136.24 nil 0 0 0.00

Roll_motor 152 332 728.91 nil 0 0 0.00

Iridium 290 217 905.96 nil 0 0 0.00

Transponder_ping 0 420 1.51 nil 0 0 0.00

GPS 12 15 2.89 nil 0 0 0.00

Core 5316 11 941.04 SciCon 15342 11 2605.53

LPSleep 10488 2 440.51 echo 15351 10 2302.65

Compass 2722 5 204.15 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 0.00 738.2 695.1 781.2 178.4 1960.6 0.00 0.00 0 140.16 128.35 0.00 0.00 0.005 0.000 0.000 3327.91 3338.12 3317.69 178.50 1958.38 0 0 0 15.29 30.00 30.00

140.50 18727 -243.31 -1.12 80.00 3327.5 3337.4 3317.6 178.4 1959.4 3.17 -1.73 25 177.58 17.85 11.81 3.23 0.006 0.302 0.108 3959.44 3942.75 3976.12 1528.56 3186.75 0 0 0 15.37 15.22 15.20

400.16 1156 -243.31 -1.08 0.00 3961.1 3945.1 3977.2 1528.3 3186.8 42.43 -14.15 77 405.78 0.00 0.00 2.82 0.000 0.000 0.039 3961.03 3945.12 3976.94 1528.19 1973.06 0 0 0 30.00 30.00 15.70

585.30 2437 -243.31 -1.02 80.00 3961.3 3944.9 3977.8 1528.5 1973.4 71.39 -15.56 114 590.95 0.00 0.17 3.20 0.000 0.186 0.104 3961.69 3945.50 3977.88 1553.69 3186.75 0 0 0 30.00 15.48 15.46

625.24 1028 -243.31 -1.02 0.00 3960.7 3944.5 3976.9 1554.0 3186.7 77.29 -14.41 122 630.85 0.00 0.00 2.82 0.000 0.000 0.038 3961.75 3946.19 3977.31 1554.06 1972.44 0 0 0 30.00 30.00 15.57

810.28 0 -243.31 -1.02 0.00 3960.8 3944.9 3976.7 1553.8 1973.6 103.24 -14.37 157 811.61 0.00 0.00 0.00 0.000 0.000 0.000 3960.56 3944.31 3976.81 1553.69 1973.88 0 0 0 30.00 30.00 30.00

1110.38 0 -243.31 -1.02 0.00 3961.2 3945.4 3976.9 1553.6 1973.6 144.67 -13.90 187 1111.71 0.00 0.00 0.00 0.000 0.000 0.000 3960.97 3945.06 3976.88 1553.69 1972.88 0 0 0 30.00 30.00 30.00

1410.40 260 -243.31 -1.02 80.00 3960.8 3944.9 3976.8 1553.7 1973.4 185.00 -13.41 217 1415.70 0.00 0.00 3.23 0.000 0.000 0.106 3960.81 3944.81 3976.81 1553.94 3187.25 0 0 0 30.00 30.00 15.62

1430.34 1028 -243.31 -1.02 0.00 3961.3 3945.4 3977.3 1554.2 3187.4 187.75 -13.26 221 1435.62 0.00 0.00 2.80 0.000 0.000 0.039 3961.06 3944.94 3977.19 1553.81 1974.06 0 0 0 30.00 30.00 15.76

1740.45 0 -243.31 -1.02 0.00 3960.9 3945.4 3976.4 1553.9 1973.9 229.94 -13.49 253 1741.78 0.00 0.00 0.00 0.000 0.000 0.000 3960.56 3944.81 3976.31 1554.06 1974.38 0 0 0 30.00 30.00 30.00

2040.46 260 -243.31 -1.02 80.00 3960.8 3944.8 3976.9 1553.8 1974.6 269.71 -13.07 283 2045.75 0.00 0.00 3.20 0.000 0.000 0.108 3961.12 3945.38 3976.88 1554.69 3187.81 0 0 0 30.00 30.00 15.64

2075.06 1028 -243.31 -1.02 0.00 3960.9 3945.3 3976.4 1553.8 3188.5 274.37 -13.15 290 2081.00 0.00 0.00 2.80 0.000 0.000 0.039 3960.88 3944.69 3977.06 1553.94 1975.06 0 0 0 30.00 30.00 15.61

2380.51 32 -243.31 -1.02 0.00 3960.5 3944.6 3976.4 1553.9 1974.9 313.88 -12.61 321 2381.84 0.00 0.00 0.00 0.000 0.000 0.000 3960.75 3944.75 3976.75 1553.81 1974.62 0 0 0 30.00 30.00 30.00

2680.51 260 -243.31 -1.02 80.00 3961.2 3945.1 3977.3 1554.5 1975.6 352.10 -12.71 351 2685.80 0.00 0.00 3.20 0.000 0.000 0.108 3962.12 3946.56 3977.69 1553.62 3184.81 0 0 0 30.00 30.00 15.64

2710.46 1060 -243.31 -1.02 0.00 3960.8 3945.2 3976.4 1553.9 3185.0 355.85 -12.51 357 2715.72 0.00 0.00 2.78 0.000 0.000 0.039 3960.59 3944.75 3976.44 1554.31 1973.12 0 0 0 30.00 30.00 15.79

3020.54 0 -243.31 -1.02 0.00 3960.6 3944.4 3976.9 1553.9 1974.1 396.23 -13.31 389 3021.87 0.00 0.00 0.00 0.000 0.000 0.000 3960.97 3944.31 3977.62 1553.94 1974.31 0 0 0 30.00 30.00 30.00

3320.56 0 -243.31 -1.02 0.00 3960.6 3944.1 3977.1 1554.0 1973.6 436.88 -13.59 419 3321.89 0.00 0.00 0.00 0.000 0.000 0.000 3960.78 3944.75 3976.81 1554.19 1973.50 0 0 0 30.00 30.00 30.00

3620.59 260 -243.31 -1.02 80.00 3960.2 3944.0 3976.5 1553.5 1973.8 477.58 -13.38 449 3625.88 0.00 0.00 3.23 0.000 0.000 0.112 3960.97 3945.12 3976.81 1553.94 3185.00 0 0 0 30.00 30.00 15.63

3665.20 1028 -243.31 -1.02 0.00 3960.3 3944.8 3975.8 1554.2 3185.1 483.36 -12.76 458 3671.15 0.00 0.00 2.81 0.000 0.000 0.043 3961.81 3945.88 3977.75 1553.38 1974.56 0 0 0 30.00 30.00 15.65

3970.63 0 -243.31 -1.02 0.00 3960.8 3944.4 3977.3 1553.8 1975.9 522.10 -12.80 489 3971.96 0.00 0.00 0.00 0.000 0.000 0.000 3961.41 3945.31 3977.50 1553.00 1975.94 0 0 0 30.00 30.00 30.00

4270.69 0 -243.31 -1.02 0.00 3960.6 3944.0 3977.1 1553.6 1975.9 560.62 -12.90 519 4272.02 0.00 0.00 0.00 0.000 0.000 0.000 3960.12 3943.31 3976.94 1553.75 1975.56 0 0 0 30.00 30.00 30.00

4570.74 260 -243.31 -1.02 80.00 3960.8 3944.1 3977.4 1553.6 1975.8 600.74 -13.13 549 4576.03 0.00 0.00 3.28 0.000 0.000 0.119 3961.09 3944.88 3977.31 1553.62 3186.31 0 0 0 30.00 30.00 15.61

4620.70 1028 -243.31 -1.02 0.00 3960.2 3943.8 3976.6 1553.8 3186.5 607.62 -13.36 559 4626.00 0.00 0.00 2.82 0.000 0.000 0.048 3960.88 3944.56 3977.19 1553.81 1979.44 0 0 0 30.00 30.00 15.88

4930.81 516 -243.31 -1.02 -80.00 3959.8 3943.1 3976.6 1553.7 1979.7 648.87 -13.27 591 4936.23 0.00 0.00 3.95 0.000 0.000 0.142 3960.12 3943.25 3977.00 1554.25 536.25 0 0 0 30.00 30.00 15.54

4950.76 1028 -243.31 -1.02 0.00 3960.3 3942.9 3977.8 1554.1 536.1 651.62 -13.23 595 4956.17 0.00 0.00 3.51 0.000 0.000 0.035 3961.41 3944.44 3978.38 1553.62 2020.44 0 0 0 30.00 30.00 15.69

5260.80 0 -243.31 -1.02 0.00 3960.1 3943.1 3977.1 1553.7 2021.4 692.04 -12.85 627 5262.13 0.00 0.00 0.00 0.000 0.000 0.000 3959.97 3943.00 3976.94 1553.75 2021.56 0 0 0 30.00 30.00 30.00

5560.92 516 -243.31 -1.02 -80.00 3960.3 3943.2 3977.4 1554.2 2021.3 730.85 -13.09 657 5566.37 0.00 0.00 4.11 0.000 0.000 0.139 3960.31 3942.69 3977.94 1553.81 537.00 0 0 0 30.00 30.00 15.52

5585.54 1028 -243.31 -1.02 0.00 3960.1 3943.0 3977.1 1553.9 537.4 734.63 -15.12 662 5591.62 0.00 0.00 3.51 0.000 0.000 0.038 3959.47 3941.88 3977.06 1554.00 2018.38 0 0 0 30.00 30.00 15.78

5890.93 32 -243.31 -1.02 0.00 3959.6 3942.2 3976.9 1553.6 2017.6 773.46 -12.55 693 5892.26 0.00 0.00 0.00 0.000 0.000 0.000 3959.31 3942.31 3976.31 1554.12 2018.25 0 0 0 30.00 30.00 30.00

6191.06 548 -243.31 -1.02 -80.00 3959.7 3942.3 3977.1 1554.6 2017.6 809.81 -11.73 723 6196.49 0.00 0.00 4.11 0.000 0.000 0.140 3958.97 3941.25 3976.69 1554.00 536.12 0 0 0 30.00 30.00 15.50

6211.00 1060 -243.31 -1.02 0.00 3959.5 3942.0 3977.0 1554.0 536.3 812.40 -12.05 727 6216.39 0.00 0.00 3.52 0.000 0.000 0.038 3959.84 3942.12 3977.56 1553.75 2020.38 0 0 0 30.00 30.00 15.82

6521.04 32 -243.31 -1.02 0.00 3959.2 3941.5 3976.8 1554.1 2020.7 847.85 -11.57 759 6522.38 0.00 0.00 0.00 0.000 0.000 0.000 3959.03 3941.88 3976.19 1553.69 2020.31 0 0 0 30.00 30.00 30.00

6821.20 548 -243.31 -1.02 -80.00 3959.0 3941.1 3976.9 1553.6 2019.5 881.21 -11.04 789 6826.60 0.00 0.00 4.12 0.000 0.000 0.147 3958.81 3941.12 3976.50 1553.88 536.69 0 0 0 30.00 30.00 15.49

6861.13 1060 -243.31 -1.02 0.00 3958.4 3940.6 3976.2 1554.1 536.7 886.13 -12.60 797 6866.51 0.00 0.00 3.53 0.000 0.000 0.041 3960.25 3942.25 3978.25 1553.12 2016.31 0 0 0 30.00 30.00 15.82

7171.16 32 -243.31 -1.02 0.00 3958.9 3940.8 3977.1 1554.4 2016.2 920.68 -11.11 829 7172.49 0.00 0.00 0.00 0.000 0.000 0.000 3959.16 3941.25 3977.06 1553.12 2016.81 0 0 0 30.00 30.00 30.00

7471.28 548 -243.31 -1.02 -80.00 3957.9 3939.6 3976.1 1553.9 2016.8 953.43 -11.25 859 7476.72 0.00 0.00 4.16 0.000 0.000 0.150 3957.94 3938.81 3977.06 1553.56 537.50 0 0 0 30.00 30.00 15.35

7505.89 1028 -243.31 -1.02 0.00 3958.2 3939.6 3976.9 1553.7 537.2 957.86 -12.72 866 7511.96 0.00 0.00 3.53 0.000 0.000 0.042 3958.44 3939.88 3977.00 1554.12 2017.81 0 0 0 30.00 30.00 15.76

7781 end dive: TARGET_DEPTH_EXCEEDED

state 7782 begin apogee

7783.73 10243 0.00 -0.23 0.00 3958.5 3938.9 3978.1 1553.7 1439.5 990.51 -11.68 894 7990.77 204.18 1.38 0.05 2.065 0.145 0.333 2964.81 2925.12 3004.50 1747.75 1479.44 0 0 0 10.76 15.64 15.04

8009 end apogee: CONTROL_FINISHED_OK

state 8009 begin climb

8008.96 10759 243.31 1.12 -80.00 2964.6 2924.8 3004.4 1747.0 1479.6 999.30 0.00 914 8232.10 215.60 2.28 3.09 2.004 0.105 0.177 1974.81 1931.44 2018.19 2074.69 460.31 0 0 0 11.96 15.08 14.94

8429.34 17542 243.31 1.09 0.00 1967.3 1927.2 2007.4 2074.7 460.2 961.46 13.31 997 8435.15 0.00 0.00 2.41 0.000 0.000 0.029 1967.12 1926.94 2007.31 2075.19 1490.75 0 0 0 30.00 30.00 15.49

8734.74 8742 327.40 1.21 -80.00 1964.9 1922.8 2007.1 2074.9 1491.6 930.52 9.71 1028 8816.93 75.96 0.00 3.03 1.905 0.000 0.170 1634.22 1584.69 1683.75 2073.75 459.38 0 0 0 11.68 30.00 15.24

8844.75 11303 363.61 1.27 0.00 1630.1 1582.4 1677.9 2074.4 459.2 919.01 11.41 1050 8886.01 35.06 0.20 2.42 1.814 0.086 0.030 1486.78 1435.25 1538.31 2115.94 1494.38 0 0 0 12.03 15.35 15.40

9184.78 0 363.61 1.27 0.00 1479.4 1426.6 1532.2 2116.1 1495.6 875.83 12.86 1088 9186.11 0.00 0.00 0.00 0.000 0.000 0.000 1478.50 1425.75 1531.25 2116.19 1494.75 0 0 0 30.00 30.00 30.00

9484.92 8742 392.61 1.31 -80.00 1478.1 1424.9 1531.2 2116.7 1495.6 839.64 11.67 1118 9517.07 27.34 0.00 2.97 1.739 0.000 0.168 1366.22 1312.38 1420.06 2116.88 458.12 0 0 0 11.58 30.00 15.49

9579.87 1028 392.61 1.31 0.00 1364.9 1313.2 1416.7 2116.2 458.2 826.74 15.17 1137 9584.99 0.00 0.00 2.40 0.000 0.000 0.032 1364.81 1313.06 1416.56 2116.25 1496.75 0 0 0 30.00 30.00 15.59

9890.00 8354 416.04 1.38 0.00 1363.8 1310.5 1417.1 2116.7 1498.7 790.02 11.86 1169 9914.36 22.96 0.00 0.00 1.667 0.000 0.000 1272.97 1218.62 1327.31 2115.12 1498.12 0 0 0 11.68 30.00 30.00

10210.00 10919 425.33 1.43 -80.00 1268.9 1213.1 1324.6 2116.6 1498.1 751.10 12.36 1201 10225.53 10.77 0.19 2.96 1.432 0.087 0.162 1234.09 1178.38 1289.81 2158.75 457.94 0 0 0 11.66 15.68 15.49

10259.98 1156 425.33 1.38 0.00 1233.2 1178.6 1287.8 2158.6 458.2 742.82 18.18 1211 10265.10 0.00 0.00 2.38 0.000 0.000 0.032 1233.56 1178.88 1288.25 2159.00 1504.31 0 0 0 30.00 30.00 15.65

10570.04 4613 425.33 1.38 -80.00 1231.9 1177.1 1286.7 2159.6 1506.7 692.63 16.25 1243 10575.41 0.00 0.29 2.93 0.000 0.194 0.155 1233.22 1178.06 1288.38 2128.25 459.25 0 0 0 30.00 15.66 15.58

10630.05 1028 425.33 1.38 0.00 1231.5 1176.8 1286.1 2129.3 459.4 682.93 16.28 1255 10635.25 0.00 0.00 2.37 0.000 0.000 0.032 1232.72 1177.94 1287.50 2128.00 1514.75 0 0 0 30.00 30.00 15.74

10940.12 128 425.33 1.43 0.00 1231.3 1176.8 1285.8 2129.8 1516.2 643.41 12.72 1287 10941.46 0.00 0.00 0.00 0.000 0.000 0.000 1231.00 1176.50 1285.50 2129.25 1516.44 0 0 0 30.00 30.00 30.00

11240.26 10919 440.05 1.50 -80.00 1231.2 1176.6 1285.9 2129.1 1516.4 606.06 12.17 1317 11261.25 15.61 0.28 2.91 1.434 0.076 0.152 1173.75 1118.94 1228.56 2174.44 459.12 0 0 0 11.52 15.73 15.64

11284.84 1156 440.05 1.45 0.00 1172.8 1118.9 1226.6 2174.1 459.2 598.75 18.31 1326 11290.64 0.00 0.00 2.36 0.000 0.000 0.031 1172.69 1118.94 1226.44 2174.38 1512.25 0 0 0 30.00 30.00 15.77

11590.23 516 440.05 1.45 -80.00 1172.0 1117.8 1226.2 2174.7 1513.4 548.74 15.60 1357 11595.62 0.00 0.00 2.95 0.000 0.000 0.149 1172.56 1118.25 1226.88 2174.88 458.06 0 0 0 30.00 30.00 15.61

11640.26 5253 440.05 1.38 0.00 1171.7 1117.6 1225.8 2174.9 457.9 539.15 19.85 1367 11645.53 0.00 0.38 2.36 0.000 0.200 0.031 1172.84 1118.69 1227.00 2130.38 1512.94 0 0 0 30.00 15.65 15.75

11950.30 10403 481.62 1.50 0.00 1171.6 1117.6 1225.5 2130.6 1512.9 502.07 11.22 1399 11991.16 38.06 0.27 0.00 1.443 0.075 0.000 1004.66 951.25 1058.06 2175.06 1512.88 0 0 0 11.58 15.80 30.00

12290.31 516 481.62 1.50 -80.00 1002.5 947.7 1057.2 2175.0 1513.2 449.95 15.48 1433 12295.61 0.00 0.00 2.94 0.000 0.000 0.147 1003.47 948.38 1058.56 2176.12 458.12 0 0 0 30.00 30.00 15.61

12380.35 1156 481.62 1.45 0.00 1002.3 947.8 1056.9 2175.0 458.0 433.57 18.48 1451 12385.46 0.00 0.00 2.37 0.000 0.000 0.032 1003.00 948.12 1057.88 2174.81 1518.69 0 0 0 30.00 30.00 15.70

12690.36 4613 481.62 1.45 -80.00 1002.5 947.8 1057.1 2176.0 1518.4 386.70 15.06 1483 12695.73 0.00 0.27 2.97 0.000 0.195 0.143 1003.09 948.25 1057.94 2145.94 458.12 0 0 0 30.00 15.65 15.57

12740.36 1028 481.62 1.45 0.00 1002.2 947.6 1056.8 2145.5 458.0 379.29 14.71 1493 12745.48 0.00 0.00 2.36 0.000 0.000 0.034 1002.53 947.81 1057.25 2145.69 1513.94 0 0 0 30.00 30.00 15.73

13050.47 10403 517.20 1.56 0.00 1002.2 947.6 1056.9 2146.2 1514.4 343.45 11.43 1525 13083.14 31.63 0.26 0.00 1.254 0.080 0.000 860.19 808.88 911.50 2188.25 1514.25 0 0 0 11.48 15.73 30.00

13380.41 516 517.20 1.56 -80.00 858.1 805.1 911.0 2188.0 1514.2 290.34 16.31 1558 13385.71 0.00 0.00 2.96 0.000 0.000 0.141 858.38 805.19 911.56 2188.62 457.88 0 0 0 30.00 30.00 15.60

13440.44 5253 517.20 1.50 0.00 857.6 804.9 910.3 2188.2 458.1 278.70 20.30 1570 13445.69 0.00 0.28 2.36 0.000 0.196 0.032 858.22 805.38 911.06 2158.75 1514.69 0 0 0 30.00 15.61 15.67

13750.44 128 517.20 1.55 0.00 857.3 804.4 910.3 2158.5 1515.4 236.49 12.74 1602 13751.77 0.00 0.00 0.00 0.000 0.000 0.000 857.16 804.12 910.19 2158.44 1515.31 0 0 0 30.00 30.00 30.00

14050.54 2693 517.20 1.61 -80.00 857.4 804.2 910.6 2158.9 1515.2 197.22 13.22 1632 14055.83 0.00 0.25 2.95 0.000 0.076 0.143 857.66 804.44 910.88 2202.06 457.25 0 0 0 30.00 15.75 15.59

14085.15 1156 517.20 1.57 0.00 857.3 804.1 910.4 2201.8 457.1 190.83 19.55 1639 14090.92 0.00 0.00 2.35 0.000 0.000 0.032 857.72 804.56 910.88 2202.50 1517.88 0 0 0 30.00 30.00 15.71

14390.50 516 517.20 1.57 -80.00 857.2 804.2 910.2 2202.1 1517.9 133.61 18.57 1670 14395.79 0.00 0.00 2.95 0.000 0.000 0.140 857.25 804.44 910.06 2202.94 458.00 0 0 0 30.00 30.00 15.59

14440.52 5253 517.20 1.51 0.00 857.3 804.2 910.3 2202.3 458.1 122.85 22.08 1680 14445.80 0.00 0.37 2.36 0.000 0.194 0.033 857.31 804.19 910.44 2158.50 1514.25 0 0 0 30.00 15.58 15.72

14745.55 128 517.20 1.56 0.00 857.2 804.1 910.2 2158.3 1514.4 80.33 12.97 1726 14746.88 0.00 0.00 0.00 0.000 0.000 0.000 856.91 803.94 909.88 2158.38 1514.19 0 0 0 30.00 30.00 30.00

14925.61 10919 527.20 1.64 -80.00 857.2 804.1 910.3 2158.2 1514.2 57.20 12.34 1762 14941.53 10.16 0.31 2.90 0.828 0.069 0.143 818.56 768.00 869.12 2211.31 457.19 0 0 0 11.44 15.81 15.62

14980.62 5253 527.20 1.59 0.00 818.0 767.7 868.3 2211.6 457.0 47.24 20.42 1773 14986.23 0.00 0.29 2.36 0.000 0.200 0.033 818.62 768.19 869.06 2176.62 1512.31 0 0 0 30.00 15.60 15.72

15165.68 128 527.20 1.63 0.00 817.5 766.5 868.5 2178.0 1512.1 21.38 13.02 1810 15167.01 0.00 0.00 0.00 0.000 0.000 0.000 817.38 766.56 868.19 2178.12 1512.06 0 0 0 30.00 30.00 30.00

15321 end climb: SURFACE_DEPTH_REACHED

state 15321 begin surface coast

15336 end surface coast: CONTROL_FINISHED_OK

state 15336 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	121	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	34.671345	SEABIRD_T_I	2.5361865e-05
USE_BATHY	-6	PITCH_MAX	3950	FG_AHR_24V	102.8933	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	240.0
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	270421,133409,4840.051,-1905.264,20,1.5,29,-6.5	TGT_LATLONG	4838.020,-1938.320
_CALLS	1	TGT_RADIUS	4000.000
_SM_DEPTHo	1.06	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-47.2	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	270421,134102,4840.063,-1905.274,3,0.8,4,-6.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.220,0.350	MHEAD_RNG_PITCHd_Wd	251.2,40623,-16.6,-12.692,-19.91
TGT_NAME	A1_7	D_GRID	1000

FINISH	0.2,1.026755	INTERNAL_PRESSURE	8.67309
SM_CCo	15416.12,0.00,0.000,0,816.5,764.1,868.9,527.77	_24V_AH	14.37,52.899
SM_GC	1.00,0.00,12.19,1.14,0.000,0.048,0.038,816.5,764.1,868.9,174.6,2037.7,0,0,0,30.00,15.77,15.84	_10V_AH	15.00,0.000
SUPER	27,71,254,1,0,0	FG_AHR_24Vo	103.247
IRIDIUM_FIX	4841.42,-1903.24,270421,091716	FG_AHR_10Vo	34.761
TCM_TEMP	15.57	MEM	1125736,22,50588,127
XPDR_PINGS	1,13.0,11.5	DATA_FILE_SIZE	54488,1844
SC_FREEKB	3824544	CAP_FILE_SIZE	346852,0
ES_FREE	14884306944.000000	SDSIZE	3918848,3872096
ES_POWER	63.440000	SDFILEDIR	870,1
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	0.253, 24.6,1
TEMP	11.37	GPS	270421,175901,4841.122,-1908.109,21,0.9,22,-6.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	833	2064	24728.66	nil	0	0	0.00
Pitch_motor	31	301	136.24	nil	0	0	0.00
Roll_motor	152	332	728.91	nil	0	0	0.00
Iridium	290	217	905.96	nil	0	0	0.00
Transponder_ping	0	420	1.51	nil	0	0	0.00
GPS	12	15	2.89	nil	0	0	0.00
Core	5316	11	941.04	SciCon	15342	11	2605.53
LPSleep	10488	2	440.51	echo	15351	10	2302.65
Compass	2722	5	204.15	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	738.2	695.1	781.2	178.4	1960.6	0.00	0.00	0	140.16	128.35	0.00	0.00	0.005	0.000	0.000	3327.91	3338.12	3317.69	178.50	1958.38	0	0	0	15.29	30.00	30.00
140.50	18727	-243.31	-1.12	80.00	3327.5	3337.4	3317.6	178.4	1959.4	3.17	-1.73	25	177.58	17.85	11.81	3.23	0.006	0.302	0.108	3959.44	3942.75	3976.12	1528.56	3186.75	0	0	0	15.37	15.22	15.20
400.16	1156	-243.31	-1.08	0.00	3961.1	3945.1	3977.2	1528.3	3186.8	42.43	-14.15	77	405.78	0.00	0.00	2.82	0.000	0.000	0.039	3961.03	3945.12	3976.94	1528.19	1973.06	0	0	0	30.00	30.00	15.70
585.30	2437	-243.31	-1.02	80.00	3961.3	3944.9	3977.8	1528.5	1973.4	71.39	-15.56	114	590.95	0.00	0.17	3.20	0.000	0.186	0.104	3961.69	3945.50	3977.88	1553.69	3186.75	0	0	0	30.00	15.48	15.46
625.24	1028	-243.31	-1.02	0.00	3960.7	3944.5	3976.9	1554.0	3186.7	77.29	-14.41	122	630.85	0.00	0.00	2.82	0.000	0.000	0.038	3961.75	3946.19	3977.31	1554.06	1972.44	0	0	0	30.00	30.00	15.57
810.28	0	-243.31	-1.02	0.00	3960.8	3944.9	3976.7	1553.8	1973.6	103.24	-14.37	157	811.61	0.00	0.00	0.00	0.000	0.000	0.000	3960.56	3944.31	3976.81	1553.69	1973.88	0	0	0	30.00	30.00	30.00
1110.38	0	-243.31	-1.02	0.00	3961.2	3945.4	3976.9	1553.6	1973.6	144.67	-13.90	187	1111.71	0.00	0.00	0.00	0.000	0.000	0.000	3960.97	3945.06	3976.88	1553.69	1972.88	0	0	0	30.00	30.00	30.00
1410.40	260	-243.31	-1.02	80.00	3960.8	3944.9	3976.8	1553.7	1973.4	185.00	-13.41	217	1415.70	0.00	0.00	3.23	0.000	0.000	0.106	3960.81	3944.81	3976.81	1553.94	3187.25	0	0	0	30.00	30.00	15.62
1430.34	1028	-243.31	-1.02	0.00	3961.3	3945.4	3977.3	1554.2	3187.4	187.75	-13.26	221	1435.62	0.00	0.00	2.80	0.000	0.000	0.039	3961.06	3944.94	3977.19	1553.81	1974.06	0	0	0	30.00	30.00	15.76
1740.45	0	-243.31	-1.02	0.00	3960.9	3945.4	3976.4	1553.9	1973.9	229.94	-13.49	253	1741.78	0.00	0.00	0.00	0.000	0.000	0.000	3960.56	3944.81	3976.31	1554.06	1974.38	0	0	0	30.00	30.00	30.00
2040.46	260	-243.31	-1.02	80.00	3960.8	3944.8	3976.9	1553.8	1974.6	269.71	-13.07	283	2045.75	0.00	0.00	3.20	0.000	0.000	0.108	3961.12	3945.38	3976.88	1554.69	3187.81	0	0	0	30.00	30.00	15.64
2075.06	1028	-243.31	-1.02	0.00	3960.9	3945.3	3976.4	1553.8	3188.5	274.37	-13.15	290	2081.00	0.00	0.00	2.80	0.000	0.000	0.039	3960.88	3944.69	3977.06	1553.94	1975.06	0	0	0	30.00	30.00	15.61
2380.51	32	-243.31	-1.02	0.00	3960.5	3944.6	3976.4	1553.9	1974.9	313.88	-12.61	321	2381.84	0.00	0.00	0.00	0.000	0.000	0.000	3960.75	3944.75	3976.75	1553.81	1974.62	0	0	0	30.00	30.00	30.00
2680.51	260	-243.31	-1.02	80.00	3961.2	3945.1	3977.3	1554.5	1975.6	352.10	-12.71	351	2685.80	0.00	0.00	3.20	0.000	0.000	0.108	3962.12	3946.56	3977.69	1553.62	3184.81	0	0	0	30.00	30.00	15.64
2710.46	1060	-243.31	-1.02	0.00	3960.8	3945.2	3976.4	1553.9	3185.0	355.85	-12.51	357	2715.72	0.00	0.00	2.78	0.000	0.000	0.039	3960.59	3944.75	3976.44	1554.31	1973.12	0	0	0	30.00	30.00	15.79
3020.54	0	-243.31	-1.02	0.00	3960.6	3944.4	3976.9	1553.9	1974.1	396.23	-13.31	389	3021.87	0.00	0.00	0.00	0.000	0.000	0.000	3960.97	3944.31	3977.62	1553.94	1974.31	0	0	0	30.00	30.00	30.00
3320.56	0	-243.31	-1.02	0.00	3960.6	3944.1	3977.1	1554.0	1973.6	436.88	-13.59	419	3321.89	0.00	0.00	0.00	0.000	0.000	0.000	3960.78	3944.75	3976.81	1554.19	1973.50	0	0	0	30.00	30.00	30.00
3620.59	260	-243.31	-1.02	80.00	3960.2	3944.0	3976.5	1553.5	1973.8	477.58	-13.38	449	3625.88	0.00	0.00	3.23	0.000	0.000	0.112	3960.97	3945.12	3976.81	1553.94	3185.00	0	0	0	30.00	30.00	15.63
3665.20	1028	-243.31	-1.02	0.00	3960.3	3944.8	3975.8	1554.2	3185.1	483.36	-12.76	458	3671.15	0.00	0.00	2.81	0.000	0.000	0.043	3961.81	3945.88	3977.75	1553.38	1974.56	0	0	0	30.00	30.00	15.65
3970.63	0	-243.31	-1.02	0.00	3960.8	3944.4	3977.3	1553.8	1975.9	522.10	-12.80	489	3971.96	0.00	0.00	0.00	0.000	0.000	0.000	3961.41	3945.31	3977.50	1553.00	1975.94	0	0	0	30.00	30.00	30.00
4270.69	0	-243.31	-1.02	0.00	3960.6	3944.0	3977.1	1553.6	1975.9	560.62	-12.90	519	4272.02	0.00	0.00	0.00	0.000	0.000	0.000	3960.12	3943.31	3976.94	1553.75	1975.56	0	0	0	30.00	30.00	30.00
4570.74	260	-243.31	-1.02	80.00	3960.8	3944.1	3977.4	1553.6	1975.8	600.74	-13.13	549	4576.03	0.00	0.00	3.28	0.000	0.000	0.119	3961.09	3944.88	3977.31	1553.62	3186.31	0	0	0	30.00	30.00	15.61
4620.70	1028	-243.31	-1.02	0.00	3960.2	3943.8	3976.6	1553.8	3186.5	607.62	-13.36	559	4626.00	0.00	0.00	2.82	0.000	0.000	0.048	3960.88	3944.56	3977.19	1553.81	1979.44	0	0	0	30.00	30.00	15.88
4930.81	516	-243.31	-1.02	-80.00	3959.8	3943.1	3976.6	1553.7	1979.7	648.87	-13.27	591	4936.23	0.00	0.00	3.95	0.000	0.000	0.142	3960.12	3943.25	3977.00	1554.25	536.25	0	0	0	30.00	30.00	15.54
4950.76	1028	-243.31	-1.02	0.00	3960.3	3942.9	3977.8	1554.1	536.1	651.62	-13.23	595	4956.17	0.00	0.00	3.51	0.000	0.000	0.035	3961.41	3944.44	3978.38	1553.62	2020.44	0	0	0	30.00	30.00	15.69
5260.80	0	-243.31	-1.02	0.00	3960.1	3943.1	3977.1	1553.7	2021.4	692.04	-12.85	627	5262.13	0.00	0.00	0.00	0.000	0.000	0.000	3959.97	3943.00	3976.94	1553.75	2021.56	0	0	0	30.00	30.00	30.00
5560.92	516	-243.31	-1.02	-80.00	3960.3	3943.2	3977.4	1554.2	2021.3	730.85	-13.09	657	5566.37	0.00	0.00	4.11	0.000	0.000	0.139	3960.31	3942.69	3977.94	1553.81	537.00	0	0	0	30.00	30.00	15.52
5585.54	1028	-243.31	-1.02	0.00	3960.1	3943.0	3977.1	1553.9	537.4	734.63	-15.12	662	5591.62	0.00	0.00	3.51	0.000	0.000	0.038	3959.47	3941.88	3977.06	1554.00	2018.38	0	0	0	30.00	30.00	15.78
5890.93	32	-243.31	-1.02	0.00	3959.6	3942.2	3976.9	1553.6	2017.6	773.46	-12.55	693	5892.26	0.00	0.00	0.00	0.000	0.000	0.000	3959.31	3942.31	3976.31	1554.12	2018.25	0	0	0	30.00	30.00	30.00
6191.06	548	-243.31	-1.02	-80.00	3959.7	3942.3	3977.1	1554.6	2017.6	809.81	-11.73	723	6196.49	0.00	0.00	4.11	0.000	0.000	0.140	3958.97	3941.25	3976.69	1554.00	536.12	0	0	0	30.00	30.00	15.50
6211.00	1060	-243.31	-1.02	0.00	3959.5	3942.0	3977.0	1554.0	536.3	812.40	-12.05	727	6216.39	0.00	0.00	3.52	0.000	0.000	0.038	3959.84	3942.12	3977.56	1553.75	2020.38	0	0	0	30.00	30.00	15.82
6521.04	32	-243.31	-1.02	0.00	3959.2	3941.5	3976.8	1554.1	2020.7	847.85	-11.57	759	6522.38	0.00	0.00	0.00	0.000	0.000	0.000	3959.03	3941.88	3976.19	1553.69	2020.31	0	0	0	30.00	30.00	30.00
6821.20	548	-243.31	-1.02	-80.00	3959.0	3941.1	3976.9	1553.6	2019.5	881.21	-11.04	789	6826.60	0.00	0.00	4.12	0.000	0.000	0.147	3958.81	3941.12	3976.50	1553.88	536.69	0	0	0	30.00	30.00	15.49
6861.13	1060	-243.31	-1.02	0.00	3958.4	3940.6	3976.2	1554.1	536.7	886.13	-12.60	797	6866.51	0.00	0.00	3.53	0.000	0.000	0.041	3960.25	3942.25	3978.25	1553.12	2016.31	0	0	0	30.00	30.00	15.82
7171.16	32	-243.31	-1.02	0.00	3958.9	3940.8	3977.1	1554.4	2016.2	920.68	-11.11	829	7172.49	0.00	0.00	0.00	0.000	0.000	0.000	3959.16	3941.25	3977.06	1553.12	2016.81	0	0	0	30.00	30.00	30.00
7471.28	548	-243.31	-1.02	-80.00	3957.9	3939.6	3976.1	1553.9	2016.8	953.43	-11.25	859	7476.72	0.00	0.00	4.16	0.000	0.000	0.150	3957.94	3938.81	3977.06	1553.56	537.50	0	0	0	30.00	30.00	15.35
7505.89	1028	-243.31	-1.02	0.00	3958.2	3939.6	3976.9	1553.7	537.2	957.86	-12.72	866	7511.96	0.00	0.00	3.53	0.000	0.000	0.042	3958.44	3939.88	3977.00	1554.12	2017.81	0	0	0	30.00	30.00	15.76
7781	end dive: TARGET_DEPTH_EXCEEDED
state	7782	begin apogee
7783.73	10243	0.00	-0.23	0.00	3958.5	3938.9	3978.1	1553.7	1439.5	990.51	-11.68	894	7990.77	204.18	1.38	0.05	2.065	0.145	0.333	2964.81	2925.12	3004.50	1747.75	1479.44	0	0	0	10.76	15.64	15.04
8009	end apogee: CONTROL_FINISHED_OK
state	8009	begin climb
8008.96	10759	243.31	1.12	-80.00	2964.6	2924.8	3004.4	1747.0	1479.6	999.30	0.00	914	8232.10	215.60	2.28	3.09	2.004	0.105	0.177	1974.81	1931.44	2018.19	2074.69	460.31	0	0	0	11.96	15.08	14.94
8429.34	17542	243.31	1.09	0.00	1967.3	1927.2	2007.4	2074.7	460.2	961.46	13.31	997	8435.15	0.00	0.00	2.41	0.000	0.000	0.029	1967.12	1926.94	2007.31	2075.19	1490.75	0	0	0	30.00	30.00	15.49
8734.74	8742	327.40	1.21	-80.00	1964.9	1922.8	2007.1	2074.9	1491.6	930.52	9.71	1028	8816.93	75.96	0.00	3.03	1.905	0.000	0.170	1634.22	1584.69	1683.75	2073.75	459.38	0	0	0	11.68	30.00	15.24
8844.75	11303	363.61	1.27	0.00	1630.1	1582.4	1677.9	2074.4	459.2	919.01	11.41	1050	8886.01	35.06	0.20	2.42	1.814	0.086	0.030	1486.78	1435.25	1538.31	2115.94	1494.38	0	0	0	12.03	15.35	15.40
9184.78	0	363.61	1.27	0.00	1479.4	1426.6	1532.2	2116.1	1495.6	875.83	12.86	1088	9186.11	0.00	0.00	0.00	0.000	0.000	0.000	1478.50	1425.75	1531.25	2116.19	1494.75	0	0	0	30.00	30.00	30.00
9484.92	8742	392.61	1.31	-80.00	1478.1	1424.9	1531.2	2116.7	1495.6	839.64	11.67	1118	9517.07	27.34	0.00	2.97	1.739	0.000	0.168	1366.22	1312.38	1420.06	2116.88	458.12	0	0	0	11.58	30.00	15.49
9579.87	1028	392.61	1.31	0.00	1364.9	1313.2	1416.7	2116.2	458.2	826.74	15.17	1137	9584.99	0.00	0.00	2.40	0.000	0.000	0.032	1364.81	1313.06	1416.56	2116.25	1496.75	0	0	0	30.00	30.00	15.59
9890.00	8354	416.04	1.38	0.00	1363.8	1310.5	1417.1	2116.7	1498.7	790.02	11.86	1169	9914.36	22.96	0.00	0.00	1.667	0.000	0.000	1272.97	1218.62	1327.31	2115.12	1498.12	0	0	0	11.68	30.00	30.00
10210.00	10919	425.33	1.43	-80.00	1268.9	1213.1	1324.6	2116.6	1498.1	751.10	12.36	1201	10225.53	10.77	0.19	2.96	1.432	0.087	0.162	1234.09	1178.38	1289.81	2158.75	457.94	0	0	0	11.66	15.68	15.49
10259.98	1156	425.33	1.38	0.00	1233.2	1178.6	1287.8	2158.6	458.2	742.82	18.18	1211	10265.10	0.00	0.00	2.38	0.000	0.000	0.032	1233.56	1178.88	1288.25	2159.00	1504.31	0	0	0	30.00	30.00	15.65
10570.04	4613	425.33	1.38	-80.00	1231.9	1177.1	1286.7	2159.6	1506.7	692.63	16.25	1243	10575.41	0.00	0.29	2.93	0.000	0.194	0.155	1233.22	1178.06	1288.38	2128.25	459.25	0	0	0	30.00	15.66	15.58
10630.05	1028	425.33	1.38	0.00	1231.5	1176.8	1286.1	2129.3	459.4	682.93	16.28	1255	10635.25	0.00	0.00	2.37	0.000	0.000	0.032	1232.72	1177.94	1287.50	2128.00	1514.75	0	0	0	30.00	30.00	15.74
10940.12	128	425.33	1.43	0.00	1231.3	1176.8	1285.8	2129.8	1516.2	643.41	12.72	1287	10941.46	0.00	0.00	0.00	0.000	0.000	0.000	1231.00	1176.50	1285.50	2129.25	1516.44	0	0	0	30.00	30.00	30.00
11240.26	10919	440.05	1.50	-80.00	1231.2	1176.6	1285.9	2129.1	1516.4	606.06	12.17	1317	11261.25	15.61	0.28	2.91	1.434	0.076	0.152	1173.75	1118.94	1228.56	2174.44	459.12	0	0	0	11.52	15.73	15.64
11284.84	1156	440.05	1.45	0.00	1172.8	1118.9	1226.6	2174.1	459.2	598.75	18.31	1326	11290.64	0.00	0.00	2.36	0.000	0.000	0.031	1172.69	1118.94	1226.44	2174.38	1512.25	0	0	0	30.00	30.00	15.77
11590.23	516	440.05	1.45	-80.00	1172.0	1117.8	1226.2	2174.7	1513.4	548.74	15.60	1357	11595.62	0.00	0.00	2.95	0.000	0.000	0.149	1172.56	1118.25	1226.88	2174.88	458.06	0	0	0	30.00	30.00	15.61
11640.26	5253	440.05	1.38	0.00	1171.7	1117.6	1225.8	2174.9	457.9	539.15	19.85	1367	11645.53	0.00	0.38	2.36	0.000	0.200	0.031	1172.84	1118.69	1227.00	2130.38	1512.94	0	0	0	30.00	15.65	15.75
11950.30	10403	481.62	1.50	0.00	1171.6	1117.6	1225.5	2130.6	1512.9	502.07	11.22	1399	11991.16	38.06	0.27	0.00	1.443	0.075	0.000	1004.66	951.25	1058.06	2175.06	1512.88	0	0	0	11.58	15.80	30.00
12290.31	516	481.62	1.50	-80.00	1002.5	947.7	1057.2	2175.0	1513.2	449.95	15.48	1433	12295.61	0.00	0.00	2.94	0.000	0.000	0.147	1003.47	948.38	1058.56	2176.12	458.12	0	0	0	30.00	30.00	15.61
12380.35	1156	481.62	1.45	0.00	1002.3	947.8	1056.9	2175.0	458.0	433.57	18.48	1451	12385.46	0.00	0.00	2.37	0.000	0.000	0.032	1003.00	948.12	1057.88	2174.81	1518.69	0	0	0	30.00	30.00	15.70
12690.36	4613	481.62	1.45	-80.00	1002.5	947.8	1057.1	2176.0	1518.4	386.70	15.06	1483	12695.73	0.00	0.27	2.97	0.000	0.195	0.143	1003.09	948.25	1057.94	2145.94	458.12	0	0	0	30.00	15.65	15.57
12740.36	1028	481.62	1.45	0.00	1002.2	947.6	1056.8	2145.5	458.0	379.29	14.71	1493	12745.48	0.00	0.00	2.36	0.000	0.000	0.034	1002.53	947.81	1057.25	2145.69	1513.94	0	0	0	30.00	30.00	15.73
13050.47	10403	517.20	1.56	0.00	1002.2	947.6	1056.9	2146.2	1514.4	343.45	11.43	1525	13083.14	31.63	0.26	0.00	1.254	0.080	0.000	860.19	808.88	911.50	2188.25	1514.25	0	0	0	11.48	15.73	30.00
13380.41	516	517.20	1.56	-80.00	858.1	805.1	911.0	2188.0	1514.2	290.34	16.31	1558	13385.71	0.00	0.00	2.96	0.000	0.000	0.141	858.38	805.19	911.56	2188.62	457.88	0	0	0	30.00	30.00	15.60
13440.44	5253	517.20	1.50	0.00	857.6	804.9	910.3	2188.2	458.1	278.70	20.30	1570	13445.69	0.00	0.28	2.36	0.000	0.196	0.032	858.22	805.38	911.06	2158.75	1514.69	0	0	0	30.00	15.61	15.67
13750.44	128	517.20	1.55	0.00	857.3	804.4	910.3	2158.5	1515.4	236.49	12.74	1602	13751.77	0.00	0.00	0.00	0.000	0.000	0.000	857.16	804.12	910.19	2158.44	1515.31	0	0	0	30.00	30.00	30.00
14050.54	2693	517.20	1.61	-80.00	857.4	804.2	910.6	2158.9	1515.2	197.22	13.22	1632	14055.83	0.00	0.25	2.95	0.000	0.076	0.143	857.66	804.44	910.88	2202.06	457.25	0	0	0	30.00	15.75	15.59
14085.15	1156	517.20	1.57	0.00	857.3	804.1	910.4	2201.8	457.1	190.83	19.55	1639	14090.92	0.00	0.00	2.35	0.000	0.000	0.032	857.72	804.56	910.88	2202.50	1517.88	0	0	0	30.00	30.00	15.71
14390.50	516	517.20	1.57	-80.00	857.2	804.2	910.2	2202.1	1517.9	133.61	18.57	1670	14395.79	0.00	0.00	2.95	0.000	0.000	0.140	857.25	804.44	910.06	2202.94	458.00	0	0	0	30.00	30.00	15.59
14440.52	5253	517.20	1.51	0.00	857.3	804.2	910.3	2202.3	458.1	122.85	22.08	1680	14445.80	0.00	0.37	2.36	0.000	0.194	0.033	857.31	804.19	910.44	2158.50	1514.25	0	0	0	30.00	15.58	15.72
14745.55	128	517.20	1.56	0.00	857.2	804.1	910.2	2158.3	1514.4	80.33	12.97	1726	14746.88	0.00	0.00	0.00	0.000	0.000	0.000	856.91	803.94	909.88	2158.38	1514.19	0	0	0	30.00	30.00	30.00
14925.61	10919	527.20	1.64	-80.00	857.2	804.1	910.3	2158.2	1514.2	57.20	12.34	1762	14941.53	10.16	0.31	2.90	0.828	0.069	0.143	818.56	768.00	869.12	2211.31	457.19	0	0	0	11.44	15.81	15.62
14980.62	5253	527.20	1.59	0.00	818.0	767.7	868.3	2211.6	457.0	47.24	20.42	1773	14986.23	0.00	0.29	2.36	0.000	0.200	0.033	818.62	768.19	869.06	2176.62	1512.31	0	0	0	30.00	15.60	15.72
15165.68	128	527.20	1.63	0.00	817.5	766.5	868.5	2178.0	1512.1	21.38	13.02	1810	15167.01	0.00	0.00	0.00	0.000	0.000	0.000	817.38	766.56	868.19	2178.12	1512.06	0	0	0	30.00	30.00	30.00
15321	end climb: SURFACE_DEPTH_REACHED
state	15321	begin surface coast
15336	end surface coast: CONTROL_FINISHED_OK
state	15336	begin surface