Glider dive log

EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 136 * 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 136 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 1

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 35.528828 SEABIRD_T_I 2.5361865e-05

USE_BATHY -6 PITCH_MAX 3950 FG_AHR_24V 107.29887 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 357.0

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 357.0 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 35.528828 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FG_AHR_24V 107.29887 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 1 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE6 -1 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DIVE 136 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 290421,151313,4842.334,-1928.746,1,0.9,3,-6.6 TGT_LATLONG 4834.000,-2003.000

_CALLS 2 TGT_RADIUS 4000.000

_SM_DEPTHo 1.00 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -43.2 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 290421,151752,4842.343,-1928.757,2,1.1,5,-6.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.220,0.350 MHEAD_RNG_PITCHd_Wd 256.4,44721,-16.6,-12.692,-19.91

TGT_NAME A1_E D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.2,1.027035 _10V_AH 15.00,0.000

SM_CCo 14971.01,0.00,0.000,0,830.8,780.5,881.0,524.27 FG_AHR_24Vo 107.649

SM_GC 1.06,0.00,12.34,1.12,0.000,0.057,0.037,830.8,780.5,881.0,183.5,2040.3,0,0,0,30.00,15.79,15.84 FG_AHR_10Vo 35.600

SUPER 27,71,254,1,0,0 MEM 1125792,20,50572,127

IRIDIUM_FIX 4843.70,-1928.03,290421,151355 DATA_FILE_SIZE 54462,1780

TCM_TEMP 15.51 CAP_FILE_SIZE 369483,0

XPDR_PINGS 10,13.0,11.5 SDSIZE 3918848,3869600

SC_FREEKB 3819872 SDFILEDIR 925,1

HUMID 50.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.29 CURRENT 0.153, 10.0,1

INTERNAL_PRESSURE 8.67047 GPS 290421,192809,4842.774,-1932.579,17,1.5,17,-6.6

_24V_AH 14.35,57.434

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 823 2073 24501.60 nil 0 0 0.00

Pitch_motor 30 305 132.78 nil 0 0 0.00

Roll_motor 162 342 796.38 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 15.07 nil 0 0 0.00

GPS 14 15 3.24 nil 0 0 0.00

Core 4801 11 849.86 SciCon 14894 11 2497.05

LPSleep 10208 2 428.75 echo 0 0 0.00

Compass 2630 5 197.32 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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

5.31 16386 -243.31 -1.12 0.00 500.5 456.2 544.9 174.8 1964.1 0.00 0.00 0 144.44 138.60 0.00 0.00 0.005 0.000 0.000 3366.84 3373.94 3359.75 174.62 1964.06 0 0 0 14.83 30.00 30.00

144.73 18727 -243.31 -1.12 80.00 3365.7 3372.8 3358.5 174.5 1963.0 3.34 -1.83 27 180.74 15.95 11.97 3.14 0.006 0.305 0.112 3959.88 3943.31 3976.44 1528.69 3187.50 0 0 0 15.32 15.17 15.18

373.42 1156 -243.31 -1.07 0.00 3960.3 3944.3 3976.2 1528.5 3187.6 38.88 -15.00 73 378.97 0.00 0.00 2.85 0.000 0.000 0.041 3960.34 3944.56 3976.12 1528.88 1974.94 0 0 0 30.00 30.00 15.67

558.46 2177 -243.31 -1.02 0.00 3960.1 3943.8 3976.4 1528.4 1974.6 69.17 -16.79 110 559.92 0.00 0.18 0.00 0.000 0.191 0.000 3960.75 3944.25 3977.25 1555.31 1975.19 0 0 0 30.00 15.65 30.00

738.40 260 -243.31 -1.02 80.00 3960.4 3944.5 3976.2 1555.2 1974.8 95.16 -13.87 146 744.09 0.00 0.00 3.12 0.000 0.000 0.107 3960.88 3944.75 3977.00 1555.00 3187.56 0 0 0 30.00 30.00 15.59

773.41 1028 -243.31 -1.02 0.00 3960.3 3944.2 3976.4 1555.2 3188.5 99.80 -13.28 153 779.04 0.00 0.00 2.82 0.000 0.000 0.039 3961.22 3945.06 3977.38 1555.06 1975.25 0 0 0 30.00 30.00 15.70

958.44 0 -243.31 -1.02 0.00 3960.0 3944.1 3975.9 1555.0 1975.2 124.88 -13.98 172 959.77 0.00 0.00 0.00 0.000 0.000 0.000 3960.41 3944.75 3976.06 1555.31 1974.81 0 0 0 30.00 30.00 30.00

1258.56 260 -243.31 -1.02 80.00 3960.2 3944.0 3976.5 1555.4 1974.9 167.36 -14.15 202 1263.83 0.00 0.00 3.12 0.000 0.000 0.109 3960.78 3944.62 3976.94 1555.00 3187.12 0 0 0 30.00 30.00 15.60

1283.16 1028 -243.31 -1.02 0.00 3959.8 3943.4 3976.1 1555.2 3187.0 170.97 -14.36 207 1289.11 0.00 0.00 2.79 0.000 0.000 0.038 3960.09 3943.94 3976.25 1555.44 1973.38 0 0 0 30.00 30.00 15.72

1588.56 0 -243.31 -1.02 0.00 3959.9 3943.7 3976.2 1555.2 1973.8 213.71 -14.04 238 1589.89 0.00 0.00 0.00 0.000 0.000 0.000 3959.47 3942.94 3976.00 1555.50 1974.31 0 0 0 30.00 30.00 30.00

1888.67 260 -243.31 -1.02 80.00 3959.6 3943.2 3976.0 1555.6 1974.2 256.54 -14.36 268 1893.95 0.00 0.00 3.12 0.000 0.000 0.108 3960.56 3943.81 3977.31 1554.19 3186.06 0 0 0 30.00 30.00 15.62

1913.28 1028 -243.31 -1.02 0.00 3959.4 3943.1 3975.6 1555.4 3187.1 260.04 -14.21 273 1919.22 0.00 0.00 2.76 0.000 0.000 0.039 3959.88 3943.44 3976.31 1555.12 1973.81 0 0 0 30.00 30.00 15.85

2218.68 0 -243.31 -1.02 0.00 3959.8 3942.7 3976.9 1555.2 1973.9 302.01 -13.43 304 2220.01 0.00 0.00 0.00 0.000 0.000 0.000 3959.25 3942.00 3976.50 1555.06 1973.69 0 0 0 30.00 30.00 30.00

2518.78 0 -243.31 -1.02 0.00 3959.2 3942.4 3976.1 1556.1 1973.7 342.33 -13.52 334 2520.11 0.00 0.00 0.00 0.000 0.000 0.000 3959.03 3941.38 3976.69 1555.25 1973.62 0 0 0 30.00 30.00 30.00

2818.84 0 -243.31 -1.02 0.00 3959.2 3941.4 3977.1 1555.6 1973.5 382.70 -13.98 364 2820.17 0.00 0.00 0.00 0.000 0.000 0.000 3958.97 3941.00 3976.94 1555.25 1974.12 0 0 0 30.00 30.00 30.00

3118.89 260 -243.31 -1.02 80.00 3959.0 3942.0 3975.9 1555.5 1974.2 424.75 -13.87 394 3124.20 0.00 0.00 3.15 0.000 0.000 0.112 3959.34 3941.94 3976.75 1555.31 3188.06 0 0 0 30.00 30.00 15.63

3153.50 1028 -243.31 -1.02 0.00 3958.9 3941.9 3975.9 1554.9 3188.6 429.48 -13.34 401 3159.44 0.00 0.00 2.79 0.000 0.000 0.042 3959.66 3941.81 3977.50 1555.50 1975.06 0 0 0 30.00 30.00 15.78

3458.90 0 -243.31 -1.02 0.00 3958.6 3941.4 3975.8 1554.6 1975.2 471.31 -13.74 432 3460.23 0.00 0.00 0.00 0.000 0.000 0.000 3959.25 3941.94 3976.56 1555.19 1975.06 0 0 0 30.00 30.00 30.00

3759.01 260 -243.31 -1.02 80.00 3958.5 3940.9 3976.1 1555.2 1975.0 511.59 -13.35 462 3764.28 0.00 0.00 3.18 0.000 0.000 0.116 3958.47 3940.69 3976.25 1555.31 3186.81 0 0 0 30.00 30.00 15.62

3783.61 1028 -243.31 -1.02 0.00 3958.3 3940.9 3975.7 1555.6 3186.9 514.90 -13.08 467 3789.56 0.00 0.00 2.78 0.000 0.000 0.045 3958.41 3940.69 3976.12 1555.19 1975.38 0 0 0 30.00 30.00 15.80

4089.01 0 -243.31 -1.02 0.00 3958.2 3940.6 3975.9 1555.4 1975.1 555.15 -13.25 498 4090.34 0.00 0.00 0.00 0.000 0.000 0.000 3957.97 3939.94 3976.00 1555.06 1975.19 0 0 0 30.00 30.00 30.00

4389.19 516 -243.31 -1.02 -80.00 3957.9 3939.3 3976.6 1555.4 1975.2 594.30 -12.98 528 4394.52 0.00 0.00 3.83 0.000 0.000 0.136 3958.72 3940.62 3976.81 1554.88 536.62 0 0 0 30.00 30.00 15.62

4423.75 1028 -243.31 -1.02 0.00 3958.0 3939.6 3976.4 1555.5 536.6 599.07 -13.94 535 4429.78 0.00 0.00 3.39 0.000 0.000 0.034 3958.06 3939.75 3976.38 1554.81 2022.19 0 0 0 30.00 30.00 15.91

4729.12 32 -243.31 -1.02 0.00 3957.5 3938.8 3976.2 1555.3 2022.8 636.01 -12.23 566 4730.45 0.00 0.00 0.00 0.000 0.000 0.000 3957.75 3939.06 3976.44 1555.19 2023.50 0 0 0 30.00 30.00 30.00

5029.26 548 -243.31 -1.02 -80.00 3957.4 3938.1 3976.7 1555.9 2022.9 672.33 -12.50 596 5034.67 0.00 0.00 4.02 0.000 0.000 0.133 3958.66 3939.69 3977.62 1554.88 537.69 0 0 0 30.00 30.00 15.60

5073.85 1028 -243.31 -1.02 0.00 3957.5 3938.7 3976.4 1555.3 537.8 678.67 -14.12 605 5079.92 0.00 0.00 3.45 0.000 0.000 0.036 3957.34 3938.56 3976.12 1555.75 2021.06 0 0 0 30.00 30.00 15.85

5379.20 516 -243.31 -1.02 -80.00 3957.0 3938.1 3976.0 1555.1 2021.4 716.65 -12.99 636 5384.70 0.00 0.00 4.02 0.000 0.000 0.133 3957.19 3938.00 3976.38 1555.31 537.44 0 0 0 30.00 30.00 15.60

5403.89 1028 -243.31 -1.02 0.00 3956.8 3937.9 3975.8 1555.4 537.4 720.21 -14.22 641 5409.94 0.00 0.00 3.44 0.000 0.000 0.038 3956.97 3937.69 3976.25 1555.50 2018.56 0 0 0 30.00 30.00 15.87

5709.23 32 -243.31 -1.02 0.00 3956.1 3936.3 3975.8 1555.3 2019.1 759.76 -12.41 672 5710.57 0.00 0.00 0.00 0.000 0.000 0.000 3956.38 3936.44 3976.31 1555.00 2019.00 0 0 0 30.00 30.00 30.00

6009.34 32 -243.31 -1.02 0.00 3956.3 3936.4 3976.2 1554.9 2018.9 795.75 -11.35 702 6010.66 0.00 0.00 0.00 0.000 0.000 0.000 3956.91 3937.19 3976.62 1554.56 2018.62 0 0 0 30.00 30.00 30.00

6309.37 548 -243.31 -1.02 -80.00 3956.1 3935.6 3976.6 1555.1 2019.2 829.09 -10.68 732 6314.78 0.00 0.00 4.07 0.000 0.000 0.141 3956.19 3935.94 3976.44 1554.94 536.38 0 0 0 30.00 30.00 15.57

6339.31 1060 -243.31 -1.02 0.00 3955.8 3935.7 3975.8 1554.9 536.5 832.75 -12.19 738 6344.69 0.00 0.00 3.44 0.000 0.000 0.041 3955.72 3935.38 3976.06 1555.31 2018.75 0 0 0 30.00 30.00 15.89

6649.32 32 -243.31 -1.02 0.00 3956.0 3935.9 3976.2 1555.1 2018.4 866.95 -11.71 770 6650.65 0.00 0.00 0.00 0.000 0.000 0.000 3955.34 3935.06 3975.62 1555.19 2018.75 0 0 0 30.00 30.00 30.00

6949.42 548 -243.31 -1.02 -80.00 3954.9 3934.1 3975.8 1555.4 2018.2 902.80 -11.71 800 6954.83 0.00 0.00 4.08 0.000 0.000 0.145 3955.66 3934.88 3976.44 1554.69 537.69 0 0 0 30.00 30.00 15.55

6984.01 1028 -243.31 -1.02 0.00 3955.3 3934.9 3975.7 1555.3 537.6 907.40 -13.51 807 6990.09 0.00 0.00 3.45 0.000 0.000 0.043 3954.72 3934.38 3975.06 1554.88 2018.88 0 0 0 30.00 30.00 15.87

7289.38 548 -243.31 -1.02 -80.00 3954.4 3933.1 3975.8 1554.9 2018.4 943.34 -11.69 838 7294.86 0.00 0.00 4.09 0.000 0.000 0.148 3953.97 3932.62 3975.31 1555.56 537.38 0 0 0 30.00 30.00 15.54

7324.04 1028 -243.31 -1.02 0.00 3953.3 3932.4 3974.2 1555.3 537.2 947.70 -12.77 845 7330.11 0.00 0.00 3.45 0.000 0.000 0.044 3955.19 3934.31 3976.06 1555.50 2017.38 0 0 0 30.00 30.00 15.85

7629.41 32 -243.31 -1.02 0.00 3953.4 3932.4 3974.5 1555.1 2017.9 980.91 -10.37 876 7630.74 0.00 0.00 0.00 0.000 0.000 0.000 3953.28 3931.69 3974.88 1555.00 2017.25 0 0 0 30.00 30.00 30.00

7720 end dive: TARGET_DEPTH_EXCEEDED

state 7720 begin apogee

7721.87 10243 0.00 -0.23 0.00 3952.9 3931.1 3974.8 1555.1 1437.9 990.50 -10.63 885 7926.78 202.88 1.35 0.05 2.073 0.148 0.342 2967.91 2927.25 3008.56 1747.06 1479.31 0 0 0 10.64 15.71 15.06

7928 end apogee: CONTROL_FINISHED_OK

state 7928 begin climb

7928.21 10759 243.31 1.12 -80.00 2966.2 2925.7 3006.6 1747.1 1479.2 998.17 0.00 905 8148.26 213.14 2.26 3.05 2.020 0.109 0.177 1972.31 1929.81 2014.81 2074.19 460.06 0 0 0 11.99 15.15 14.94

8355.82 9254 283.20 1.18 0.00 1966.5 1927.8 2005.3 2074.1 460.1 964.68 11.28 990 8397.08 36.99 0.00 2.37 1.875 0.000 0.031 1813.59 1770.19 1857.00 2074.25 1490.12 0 0 0 11.64 30.00 15.38

8695.89 10663 388.48 1.37 80.00 1805.9 1761.1 1850.8 2074.7 1490.7 934.41 8.96 1028 8798.75 95.89 0.37 3.77 1.924 0.067 0.113 1384.03 1331.25 1436.81 2145.50 2911.69 0 0 0 11.73 15.55 15.17

8810.92 1028 388.48 1.37 0.00 1382.1 1329.3 1434.8 2145.9 2912.1 919.40 13.62 1051 8817.12 0.00 0.00 3.84 0.000 0.000 0.085 1383.38 1329.88 1436.88 2145.00 1439.94 0 0 0 30.00 30.00 15.31

9116.27 516 388.48 1.37 -80.00 1377.3 1323.7 1430.9 2146.1 1439.9 874.56 14.97 1082 9121.55 0.00 0.00 2.78 0.000 0.000 0.169 1377.28 1323.94 1430.62 2146.06 457.88 0 0 0 30.00 30.00 15.51

9160.97 5253 388.48 1.33 0.00 1377.0 1323.7 1430.2 2145.7 458.0 866.95 17.49 1091 9166.92 0.00 0.31 2.35 0.000 0.202 0.032 1377.09 1324.12 1430.06 2116.06 1495.25 0 0 0 30.00 15.50 15.62

9466.41 10663 432.63 1.44 80.00 1376.0 1322.1 1429.9 2116.1 1497.6 832.10 11.13 1122 9512.70 40.37 0.28 3.64 1.805 0.074 0.106 1204.38 1149.81 1258.94 2161.38 2911.81 0 0 0 11.63 15.62 15.47

9536.31 1028 432.63 1.44 0.00 1203.8 1149.2 1258.3 2161.6 2912.2 822.41 14.10 1136 9541.76 0.00 0.00 3.71 0.000 0.000 0.081 1203.47 1148.50 1258.44 2161.06 1437.50 0 0 0 30.00 30.00 15.56

9846.34 516 432.63 1.44 -80.00 1200.4 1144.6 1256.2 2160.8 1438.1 776.62 14.28 1168 9851.75 0.00 0.00 2.72 0.000 0.000 0.162 1200.84 1144.94 1256.75 2161.38 458.00 0 0 0 30.00 30.00 15.57

9871.00 1028 432.63 1.44 0.00 1199.7 1144.2 1255.1 2161.1 458.2 772.75 15.47 1173 9876.81 0.00 0.00 2.33 0.000 0.000 0.031 1200.97 1145.56 1256.38 2161.19 1505.94 0 0 0 30.00 30.00 15.67

10176.39 260 432.63 1.44 80.00 1199.6 1144.1 1255.1 2161.2 1506.0 728.98 14.58 1204 10181.78 0.00 0.00 3.55 0.000 0.000 0.097 1200.47 1145.00 1255.94 2161.56 2915.06 0 0 0 30.00 30.00 15.66

10211.07 1156 432.63 1.48 0.00 1199.2 1144.2 1254.2 2161.8 2915.1 724.47 12.85 1211 10217.14 0.00 0.00 3.64 0.000 0.000 0.075 1200.28 1144.62 1255.94 2161.62 1435.81 0 0 0 30.00 30.00 15.73

10516.40 516 432.63 1.48 -80.00 1199.0 1144.1 1253.9 2161.8 1436.0 679.40 14.95 1242 10521.67 0.00 0.00 2.68 0.000 0.000 0.154 1199.34 1144.06 1254.62 2160.94 458.19 0 0 0 30.00 30.00 15.60

10551.09 1156 432.63 1.44 0.00 1198.7 1143.9 1253.6 2161.3 458.1 673.65 17.17 1249 10556.85 0.00 0.00 2.30 0.000 0.000 0.032 1199.81 1145.06 1254.56 2161.44 1517.12 0 0 0 30.00 30.00 15.79

10856.46 516 432.63 1.44 -80.00 1198.7 1143.8 1253.5 2161.4 1517.3 628.71 14.58 1280 10861.75 0.00 0.00 2.89 0.000 0.000 0.149 1199.34 1144.31 1254.38 2160.94 458.25 0 0 0 30.00 30.00 15.64

10891.16 1156 432.63 1.40 0.00 1198.8 1143.9 1253.6 2161.1 458.2 622.77 17.81 1287 10896.92 0.00 0.00 2.30 0.000 0.000 0.032 1198.88 1143.94 1253.81 2161.62 1519.50 0 0 0 30.00 30.00 15.80

11196.53 516 432.63 1.40 -80.00 1198.6 1143.6 1253.6 2161.7 1520.2 576.26 15.17 1318 11201.82 0.00 0.00 2.88 0.000 0.000 0.148 1198.62 1143.56 1253.69 2161.00 457.06 0 0 0 30.00 30.00 15.65

11241.24 5253 432.63 1.35 0.00 1198.6 1144.2 1253.1 2161.4 457.1 568.54 18.45 1327 11247.17 0.00 0.34 2.31 0.000 0.197 0.033 1198.44 1143.62 1253.25 2121.81 1516.81 0 0 0 30.00 15.68 15.82

11546.71 10403 484.43 1.49 0.00 1198.7 1143.7 1253.6 2122.4 1516.9 534.18 10.86 1358 11593.70 45.99 0.31 0.00 1.506 0.074 0.000 993.66 938.06 1049.25 2173.44 1516.56 0 0 0 11.15 15.83 30.00

11886.67 516 484.43 1.49 -80.00 990.6 933.8 1047.4 2173.4 1517.2 481.97 15.70 1392 11891.94 0.00 0.00 2.89 0.000 0.000 0.147 990.75 933.94 1047.56 2173.75 459.25 0 0 0 30.00 30.00 15.60

11946.69 1156 484.43 1.45 0.00 990.2 933.7 1046.6 2174.3 459.1 471.14 18.99 1404 11951.79 0.00 0.00 2.32 0.000 0.000 0.033 990.25 933.75 1046.75 2173.81 1516.69 0 0 0 30.00 30.00 15.74

12256.74 0 484.43 1.45 0.00 990.2 933.6 1046.8 2174.2 1516.9 422.04 15.61 1436 12258.07 0.00 0.00 0.00 0.000 0.000 0.000 989.88 933.69 1046.06 2174.19 1516.81 0 0 0 30.00 30.00 30.00

12556.84 516 484.43 1.45 -80.00 990.2 933.4 1047.0 2173.9 1516.8 374.91 16.05 1466 12562.07 0.00 0.00 2.88 0.000 0.000 0.142 989.97 933.12 1046.81 2173.88 458.12 0 0 0 30.00 30.00 15.63

12601.47 5253 484.43 1.40 0.00 989.8 933.7 1045.8 2174.1 458.2 366.58 19.20 1475 12607.43 0.00 0.34 2.31 0.000 0.191 0.034 989.69 933.38 1046.00 2134.31 1514.38 0 0 0 30.00 15.66 15.81

12906.94 10403 522.99 1.53 0.00 989.8 933.4 1046.1 2134.8 1514.6 330.51 11.33 1506 12941.63 33.82 0.29 0.00 1.250 0.075 0.000 836.53 783.69 889.38 2183.50 1514.62 0 0 0 11.34 15.80 30.00

13236.90 516 522.99 1.53 -80.00 833.5 779.8 887.2 2182.5 1514.7 277.00 16.63 1539 13242.19 0.00 0.00 2.86 0.000 0.000 0.141 833.53 779.75 887.31 2182.75 458.06 0 0 0 30.00 30.00 15.63

13266.90 1028 522.99 1.53 0.00 832.9 779.6 886.2 2183.1 458.1 271.43 19.17 1545 13272.03 0.00 0.00 2.31 0.000 0.000 0.034 832.91 779.56 886.25 2183.00 1513.50 0 0 0 30.00 30.00 15.77

13576.97 516 522.99 1.53 -80.00 832.9 779.5 886.4 2183.4 1513.3 217.81 17.32 1577 13582.25 0.00 0.00 2.85 0.000 0.000 0.140 832.66 779.19 886.12 2183.56 456.69 0 0 0 30.00 30.00 15.63

13601.64 1028 522.99 1.53 0.00 832.8 779.4 886.1 2183.6 457.0 213.03 19.11 1582 13607.42 0.00 0.00 2.31 0.000 0.000 0.034 833.16 779.56 886.75 2183.62 1515.94 0 0 0 30.00 30.00 15.79

13907.03 0 522.99 1.53 0.00 832.9 779.2 886.6 2183.6 1515.2 159.71 16.90 1613 13908.36 0.00 0.00 0.00 0.000 0.000 0.000 832.47 778.94 886.00 2183.19 1515.75 0 0 0 30.00 30.00 30.00

14207.15 516 522.99 1.53 -80.00 832.8 779.3 886.2 2183.8 1515.3 108.75 16.83 1643 14212.36 0.00 0.00 2.86 0.000 0.000 0.141 832.84 779.12 886.56 2183.56 458.38 0 0 0 30.00 30.00 15.63

14251.76 1156 522.99 1.50 0.00 832.5 778.9 886.1 2182.8 458.3 100.03 20.00 1652 14257.52 0.00 0.00 2.30 0.000 0.000 0.034 832.62 779.12 886.12 2183.25 1515.50 0 0 0 30.00 30.00 15.80

14557.19 0 522.99 1.50 0.00 832.7 779.1 886.3 2183.5 1515.6 49.19 16.08 1713 14558.52 0.00 0.00 0.00 0.000 0.000 0.000 832.38 779.00 885.75 2183.81 1515.12 0 0 0 30.00 30.00 30.00

14737.21 0 522.99 1.50 0.00 832.6 779.1 886.0 2184.1 1514.9 21.80 13.80 1749 14738.54 0.00 0.00 0.00 0.000 0.000 0.000 832.53 779.06 886.00 2183.44 1515.44 0 0 0 30.00 30.00 30.00

14878 end climb: SURFACE_DEPTH_REACHED

state 14878 begin surface coast

14893 end surface coast: CONTROL_FINISHED_OK

state 14893 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	136	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	1
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	35.528828	SEABIRD_T_I	2.5361865e-05
USE_BATHY	-6	PITCH_MAX	3950	FG_AHR_24V	107.29887	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	357.0
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	290421,151313,4842.334,-1928.746,1,0.9,3,-6.6	TGT_LATLONG	4834.000,-2003.000
_CALLS	2	TGT_RADIUS	4000.000
_SM_DEPTHo	1.00	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-43.2	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	290421,151752,4842.343,-1928.757,2,1.1,5,-6.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.220,0.350	MHEAD_RNG_PITCHd_Wd	256.4,44721,-16.6,-12.692,-19.91
TGT_NAME	A1_E	D_GRID	1000

FINISH	0.2,1.027035	_10V_AH	15.00,0.000
SM_CCo	14971.01,0.00,0.000,0,830.8,780.5,881.0,524.27	FG_AHR_24Vo	107.649
SM_GC	1.06,0.00,12.34,1.12,0.000,0.057,0.037,830.8,780.5,881.0,183.5,2040.3,0,0,0,30.00,15.79,15.84	FG_AHR_10Vo	35.600
SUPER	27,71,254,1,0,0	MEM	1125792,20,50572,127
IRIDIUM_FIX	4843.70,-1928.03,290421,151355	DATA_FILE_SIZE	54462,1780
TCM_TEMP	15.51	CAP_FILE_SIZE	369483,0
XPDR_PINGS	10,13.0,11.5	SDSIZE	3918848,3869600
SC_FREEKB	3819872	SDFILEDIR	925,1
HUMID	50.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.29	CURRENT	0.153, 10.0,1
INTERNAL_PRESSURE	8.67047	GPS	290421,192809,4842.774,-1932.579,17,1.5,17,-6.6
_24V_AH	14.35,57.434

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	823	2073	24501.60	nil	0	0	0.00
Pitch_motor	30	305	132.78	nil	0	0	0.00
Roll_motor	162	342	796.38	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	15.07	nil	0	0	0.00
GPS	14	15	3.24	nil	0	0	0.00
Core	4801	11	849.86	SciCon	14894	11	2497.05
LPSleep	10208	2	428.75	echo	0	0	0.00
Compass	2630	5	197.32	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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
5.31	16386	-243.31	-1.12	0.00	500.5	456.2	544.9	174.8	1964.1	0.00	0.00	0	144.44	138.60	0.00	0.00	0.005	0.000	0.000	3366.84	3373.94	3359.75	174.62	1964.06	0	0	0	14.83	30.00	30.00
144.73	18727	-243.31	-1.12	80.00	3365.7	3372.8	3358.5	174.5	1963.0	3.34	-1.83	27	180.74	15.95	11.97	3.14	0.006	0.305	0.112	3959.88	3943.31	3976.44	1528.69	3187.50	0	0	0	15.32	15.17	15.18
373.42	1156	-243.31	-1.07	0.00	3960.3	3944.3	3976.2	1528.5	3187.6	38.88	-15.00	73	378.97	0.00	0.00	2.85	0.000	0.000	0.041	3960.34	3944.56	3976.12	1528.88	1974.94	0	0	0	30.00	30.00	15.67
558.46	2177	-243.31	-1.02	0.00	3960.1	3943.8	3976.4	1528.4	1974.6	69.17	-16.79	110	559.92	0.00	0.18	0.00	0.000	0.191	0.000	3960.75	3944.25	3977.25	1555.31	1975.19	0	0	0	30.00	15.65	30.00
738.40	260	-243.31	-1.02	80.00	3960.4	3944.5	3976.2	1555.2	1974.8	95.16	-13.87	146	744.09	0.00	0.00	3.12	0.000	0.000	0.107	3960.88	3944.75	3977.00	1555.00	3187.56	0	0	0	30.00	30.00	15.59
773.41	1028	-243.31	-1.02	0.00	3960.3	3944.2	3976.4	1555.2	3188.5	99.80	-13.28	153	779.04	0.00	0.00	2.82	0.000	0.000	0.039	3961.22	3945.06	3977.38	1555.06	1975.25	0	0	0	30.00	30.00	15.70
958.44	0	-243.31	-1.02	0.00	3960.0	3944.1	3975.9	1555.0	1975.2	124.88	-13.98	172	959.77	0.00	0.00	0.00	0.000	0.000	0.000	3960.41	3944.75	3976.06	1555.31	1974.81	0	0	0	30.00	30.00	30.00
1258.56	260	-243.31	-1.02	80.00	3960.2	3944.0	3976.5	1555.4	1974.9	167.36	-14.15	202	1263.83	0.00	0.00	3.12	0.000	0.000	0.109	3960.78	3944.62	3976.94	1555.00	3187.12	0	0	0	30.00	30.00	15.60
1283.16	1028	-243.31	-1.02	0.00	3959.8	3943.4	3976.1	1555.2	3187.0	170.97	-14.36	207	1289.11	0.00	0.00	2.79	0.000	0.000	0.038	3960.09	3943.94	3976.25	1555.44	1973.38	0	0	0	30.00	30.00	15.72
1588.56	0	-243.31	-1.02	0.00	3959.9	3943.7	3976.2	1555.2	1973.8	213.71	-14.04	238	1589.89	0.00	0.00	0.00	0.000	0.000	0.000	3959.47	3942.94	3976.00	1555.50	1974.31	0	0	0	30.00	30.00	30.00
1888.67	260	-243.31	-1.02	80.00	3959.6	3943.2	3976.0	1555.6	1974.2	256.54	-14.36	268	1893.95	0.00	0.00	3.12	0.000	0.000	0.108	3960.56	3943.81	3977.31	1554.19	3186.06	0	0	0	30.00	30.00	15.62
1913.28	1028	-243.31	-1.02	0.00	3959.4	3943.1	3975.6	1555.4	3187.1	260.04	-14.21	273	1919.22	0.00	0.00	2.76	0.000	0.000	0.039	3959.88	3943.44	3976.31	1555.12	1973.81	0	0	0	30.00	30.00	15.85
2218.68	0	-243.31	-1.02	0.00	3959.8	3942.7	3976.9	1555.2	1973.9	302.01	-13.43	304	2220.01	0.00	0.00	0.00	0.000	0.000	0.000	3959.25	3942.00	3976.50	1555.06	1973.69	0	0	0	30.00	30.00	30.00
2518.78	0	-243.31	-1.02	0.00	3959.2	3942.4	3976.1	1556.1	1973.7	342.33	-13.52	334	2520.11	0.00	0.00	0.00	0.000	0.000	0.000	3959.03	3941.38	3976.69	1555.25	1973.62	0	0	0	30.00	30.00	30.00
2818.84	0	-243.31	-1.02	0.00	3959.2	3941.4	3977.1	1555.6	1973.5	382.70	-13.98	364	2820.17	0.00	0.00	0.00	0.000	0.000	0.000	3958.97	3941.00	3976.94	1555.25	1974.12	0	0	0	30.00	30.00	30.00
3118.89	260	-243.31	-1.02	80.00	3959.0	3942.0	3975.9	1555.5	1974.2	424.75	-13.87	394	3124.20	0.00	0.00	3.15	0.000	0.000	0.112	3959.34	3941.94	3976.75	1555.31	3188.06	0	0	0	30.00	30.00	15.63
3153.50	1028	-243.31	-1.02	0.00	3958.9	3941.9	3975.9	1554.9	3188.6	429.48	-13.34	401	3159.44	0.00	0.00	2.79	0.000	0.000	0.042	3959.66	3941.81	3977.50	1555.50	1975.06	0	0	0	30.00	30.00	15.78
3458.90	0	-243.31	-1.02	0.00	3958.6	3941.4	3975.8	1554.6	1975.2	471.31	-13.74	432	3460.23	0.00	0.00	0.00	0.000	0.000	0.000	3959.25	3941.94	3976.56	1555.19	1975.06	0	0	0	30.00	30.00	30.00
3759.01	260	-243.31	-1.02	80.00	3958.5	3940.9	3976.1	1555.2	1975.0	511.59	-13.35	462	3764.28	0.00	0.00	3.18	0.000	0.000	0.116	3958.47	3940.69	3976.25	1555.31	3186.81	0	0	0	30.00	30.00	15.62
3783.61	1028	-243.31	-1.02	0.00	3958.3	3940.9	3975.7	1555.6	3186.9	514.90	-13.08	467	3789.56	0.00	0.00	2.78	0.000	0.000	0.045	3958.41	3940.69	3976.12	1555.19	1975.38	0	0	0	30.00	30.00	15.80
4089.01	0	-243.31	-1.02	0.00	3958.2	3940.6	3975.9	1555.4	1975.1	555.15	-13.25	498	4090.34	0.00	0.00	0.00	0.000	0.000	0.000	3957.97	3939.94	3976.00	1555.06	1975.19	0	0	0	30.00	30.00	30.00
4389.19	516	-243.31	-1.02	-80.00	3957.9	3939.3	3976.6	1555.4	1975.2	594.30	-12.98	528	4394.52	0.00	0.00	3.83	0.000	0.000	0.136	3958.72	3940.62	3976.81	1554.88	536.62	0	0	0	30.00	30.00	15.62
4423.75	1028	-243.31	-1.02	0.00	3958.0	3939.6	3976.4	1555.5	536.6	599.07	-13.94	535	4429.78	0.00	0.00	3.39	0.000	0.000	0.034	3958.06	3939.75	3976.38	1554.81	2022.19	0	0	0	30.00	30.00	15.91
4729.12	32	-243.31	-1.02	0.00	3957.5	3938.8	3976.2	1555.3	2022.8	636.01	-12.23	566	4730.45	0.00	0.00	0.00	0.000	0.000	0.000	3957.75	3939.06	3976.44	1555.19	2023.50	0	0	0	30.00	30.00	30.00
5029.26	548	-243.31	-1.02	-80.00	3957.4	3938.1	3976.7	1555.9	2022.9	672.33	-12.50	596	5034.67	0.00	0.00	4.02	0.000	0.000	0.133	3958.66	3939.69	3977.62	1554.88	537.69	0	0	0	30.00	30.00	15.60
5073.85	1028	-243.31	-1.02	0.00	3957.5	3938.7	3976.4	1555.3	537.8	678.67	-14.12	605	5079.92	0.00	0.00	3.45	0.000	0.000	0.036	3957.34	3938.56	3976.12	1555.75	2021.06	0	0	0	30.00	30.00	15.85
5379.20	516	-243.31	-1.02	-80.00	3957.0	3938.1	3976.0	1555.1	2021.4	716.65	-12.99	636	5384.70	0.00	0.00	4.02	0.000	0.000	0.133	3957.19	3938.00	3976.38	1555.31	537.44	0	0	0	30.00	30.00	15.60
5403.89	1028	-243.31	-1.02	0.00	3956.8	3937.9	3975.8	1555.4	537.4	720.21	-14.22	641	5409.94	0.00	0.00	3.44	0.000	0.000	0.038	3956.97	3937.69	3976.25	1555.50	2018.56	0	0	0	30.00	30.00	15.87
5709.23	32	-243.31	-1.02	0.00	3956.1	3936.3	3975.8	1555.3	2019.1	759.76	-12.41	672	5710.57	0.00	0.00	0.00	0.000	0.000	0.000	3956.38	3936.44	3976.31	1555.00	2019.00	0	0	0	30.00	30.00	30.00
6009.34	32	-243.31	-1.02	0.00	3956.3	3936.4	3976.2	1554.9	2018.9	795.75	-11.35	702	6010.66	0.00	0.00	0.00	0.000	0.000	0.000	3956.91	3937.19	3976.62	1554.56	2018.62	0	0	0	30.00	30.00	30.00
6309.37	548	-243.31	-1.02	-80.00	3956.1	3935.6	3976.6	1555.1	2019.2	829.09	-10.68	732	6314.78	0.00	0.00	4.07	0.000	0.000	0.141	3956.19	3935.94	3976.44	1554.94	536.38	0	0	0	30.00	30.00	15.57
6339.31	1060	-243.31	-1.02	0.00	3955.8	3935.7	3975.8	1554.9	536.5	832.75	-12.19	738	6344.69	0.00	0.00	3.44	0.000	0.000	0.041	3955.72	3935.38	3976.06	1555.31	2018.75	0	0	0	30.00	30.00	15.89
6649.32	32	-243.31	-1.02	0.00	3956.0	3935.9	3976.2	1555.1	2018.4	866.95	-11.71	770	6650.65	0.00	0.00	0.00	0.000	0.000	0.000	3955.34	3935.06	3975.62	1555.19	2018.75	0	0	0	30.00	30.00	30.00
6949.42	548	-243.31	-1.02	-80.00	3954.9	3934.1	3975.8	1555.4	2018.2	902.80	-11.71	800	6954.83	0.00	0.00	4.08	0.000	0.000	0.145	3955.66	3934.88	3976.44	1554.69	537.69	0	0	0	30.00	30.00	15.55
6984.01	1028	-243.31	-1.02	0.00	3955.3	3934.9	3975.7	1555.3	537.6	907.40	-13.51	807	6990.09	0.00	0.00	3.45	0.000	0.000	0.043	3954.72	3934.38	3975.06	1554.88	2018.88	0	0	0	30.00	30.00	15.87
7289.38	548	-243.31	-1.02	-80.00	3954.4	3933.1	3975.8	1554.9	2018.4	943.34	-11.69	838	7294.86	0.00	0.00	4.09	0.000	0.000	0.148	3953.97	3932.62	3975.31	1555.56	537.38	0	0	0	30.00	30.00	15.54
7324.04	1028	-243.31	-1.02	0.00	3953.3	3932.4	3974.2	1555.3	537.2	947.70	-12.77	845	7330.11	0.00	0.00	3.45	0.000	0.000	0.044	3955.19	3934.31	3976.06	1555.50	2017.38	0	0	0	30.00	30.00	15.85
7629.41	32	-243.31	-1.02	0.00	3953.4	3932.4	3974.5	1555.1	2017.9	980.91	-10.37	876	7630.74	0.00	0.00	0.00	0.000	0.000	0.000	3953.28	3931.69	3974.88	1555.00	2017.25	0	0	0	30.00	30.00	30.00
7720	end dive: TARGET_DEPTH_EXCEEDED
state	7720	begin apogee
7721.87	10243	0.00	-0.23	0.00	3952.9	3931.1	3974.8	1555.1	1437.9	990.50	-10.63	885	7926.78	202.88	1.35	0.05	2.073	0.148	0.342	2967.91	2927.25	3008.56	1747.06	1479.31	0	0	0	10.64	15.71	15.06
7928	end apogee: CONTROL_FINISHED_OK
state	7928	begin climb
7928.21	10759	243.31	1.12	-80.00	2966.2	2925.7	3006.6	1747.1	1479.2	998.17	0.00	905	8148.26	213.14	2.26	3.05	2.020	0.109	0.177	1972.31	1929.81	2014.81	2074.19	460.06	0	0	0	11.99	15.15	14.94
8355.82	9254	283.20	1.18	0.00	1966.5	1927.8	2005.3	2074.1	460.1	964.68	11.28	990	8397.08	36.99	0.00	2.37	1.875	0.000	0.031	1813.59	1770.19	1857.00	2074.25	1490.12	0	0	0	11.64	30.00	15.38
8695.89	10663	388.48	1.37	80.00	1805.9	1761.1	1850.8	2074.7	1490.7	934.41	8.96	1028	8798.75	95.89	0.37	3.77	1.924	0.067	0.113	1384.03	1331.25	1436.81	2145.50	2911.69	0	0	0	11.73	15.55	15.17
8810.92	1028	388.48	1.37	0.00	1382.1	1329.3	1434.8	2145.9	2912.1	919.40	13.62	1051	8817.12	0.00	0.00	3.84	0.000	0.000	0.085	1383.38	1329.88	1436.88	2145.00	1439.94	0	0	0	30.00	30.00	15.31
9116.27	516	388.48	1.37	-80.00	1377.3	1323.7	1430.9	2146.1	1439.9	874.56	14.97	1082	9121.55	0.00	0.00	2.78	0.000	0.000	0.169	1377.28	1323.94	1430.62	2146.06	457.88	0	0	0	30.00	30.00	15.51
9160.97	5253	388.48	1.33	0.00	1377.0	1323.7	1430.2	2145.7	458.0	866.95	17.49	1091	9166.92	0.00	0.31	2.35	0.000	0.202	0.032	1377.09	1324.12	1430.06	2116.06	1495.25	0	0	0	30.00	15.50	15.62
9466.41	10663	432.63	1.44	80.00	1376.0	1322.1	1429.9	2116.1	1497.6	832.10	11.13	1122	9512.70	40.37	0.28	3.64	1.805	0.074	0.106	1204.38	1149.81	1258.94	2161.38	2911.81	0	0	0	11.63	15.62	15.47
9536.31	1028	432.63	1.44	0.00	1203.8	1149.2	1258.3	2161.6	2912.2	822.41	14.10	1136	9541.76	0.00	0.00	3.71	0.000	0.000	0.081	1203.47	1148.50	1258.44	2161.06	1437.50	0	0	0	30.00	30.00	15.56
9846.34	516	432.63	1.44	-80.00	1200.4	1144.6	1256.2	2160.8	1438.1	776.62	14.28	1168	9851.75	0.00	0.00	2.72	0.000	0.000	0.162	1200.84	1144.94	1256.75	2161.38	458.00	0	0	0	30.00	30.00	15.57
9871.00	1028	432.63	1.44	0.00	1199.7	1144.2	1255.1	2161.1	458.2	772.75	15.47	1173	9876.81	0.00	0.00	2.33	0.000	0.000	0.031	1200.97	1145.56	1256.38	2161.19	1505.94	0	0	0	30.00	30.00	15.67
10176.39	260	432.63	1.44	80.00	1199.6	1144.1	1255.1	2161.2	1506.0	728.98	14.58	1204	10181.78	0.00	0.00	3.55	0.000	0.000	0.097	1200.47	1145.00	1255.94	2161.56	2915.06	0	0	0	30.00	30.00	15.66
10211.07	1156	432.63	1.48	0.00	1199.2	1144.2	1254.2	2161.8	2915.1	724.47	12.85	1211	10217.14	0.00	0.00	3.64	0.000	0.000	0.075	1200.28	1144.62	1255.94	2161.62	1435.81	0	0	0	30.00	30.00	15.73
10516.40	516	432.63	1.48	-80.00	1199.0	1144.1	1253.9	2161.8	1436.0	679.40	14.95	1242	10521.67	0.00	0.00	2.68	0.000	0.000	0.154	1199.34	1144.06	1254.62	2160.94	458.19	0	0	0	30.00	30.00	15.60
10551.09	1156	432.63	1.44	0.00	1198.7	1143.9	1253.6	2161.3	458.1	673.65	17.17	1249	10556.85	0.00	0.00	2.30	0.000	0.000	0.032	1199.81	1145.06	1254.56	2161.44	1517.12	0	0	0	30.00	30.00	15.79
10856.46	516	432.63	1.44	-80.00	1198.7	1143.8	1253.5	2161.4	1517.3	628.71	14.58	1280	10861.75	0.00	0.00	2.89	0.000	0.000	0.149	1199.34	1144.31	1254.38	2160.94	458.25	0	0	0	30.00	30.00	15.64
10891.16	1156	432.63	1.40	0.00	1198.8	1143.9	1253.6	2161.1	458.2	622.77	17.81	1287	10896.92	0.00	0.00	2.30	0.000	0.000	0.032	1198.88	1143.94	1253.81	2161.62	1519.50	0	0	0	30.00	30.00	15.80
11196.53	516	432.63	1.40	-80.00	1198.6	1143.6	1253.6	2161.7	1520.2	576.26	15.17	1318	11201.82	0.00	0.00	2.88	0.000	0.000	0.148	1198.62	1143.56	1253.69	2161.00	457.06	0	0	0	30.00	30.00	15.65
11241.24	5253	432.63	1.35	0.00	1198.6	1144.2	1253.1	2161.4	457.1	568.54	18.45	1327	11247.17	0.00	0.34	2.31	0.000	0.197	0.033	1198.44	1143.62	1253.25	2121.81	1516.81	0	0	0	30.00	15.68	15.82
11546.71	10403	484.43	1.49	0.00	1198.7	1143.7	1253.6	2122.4	1516.9	534.18	10.86	1358	11593.70	45.99	0.31	0.00	1.506	0.074	0.000	993.66	938.06	1049.25	2173.44	1516.56	0	0	0	11.15	15.83	30.00
11886.67	516	484.43	1.49	-80.00	990.6	933.8	1047.4	2173.4	1517.2	481.97	15.70	1392	11891.94	0.00	0.00	2.89	0.000	0.000	0.147	990.75	933.94	1047.56	2173.75	459.25	0	0	0	30.00	30.00	15.60
11946.69	1156	484.43	1.45	0.00	990.2	933.7	1046.6	2174.3	459.1	471.14	18.99	1404	11951.79	0.00	0.00	2.32	0.000	0.000	0.033	990.25	933.75	1046.75	2173.81	1516.69	0	0	0	30.00	30.00	15.74
12256.74	0	484.43	1.45	0.00	990.2	933.6	1046.8	2174.2	1516.9	422.04	15.61	1436	12258.07	0.00	0.00	0.00	0.000	0.000	0.000	989.88	933.69	1046.06	2174.19	1516.81	0	0	0	30.00	30.00	30.00
12556.84	516	484.43	1.45	-80.00	990.2	933.4	1047.0	2173.9	1516.8	374.91	16.05	1466	12562.07	0.00	0.00	2.88	0.000	0.000	0.142	989.97	933.12	1046.81	2173.88	458.12	0	0	0	30.00	30.00	15.63
12601.47	5253	484.43	1.40	0.00	989.8	933.7	1045.8	2174.1	458.2	366.58	19.20	1475	12607.43	0.00	0.34	2.31	0.000	0.191	0.034	989.69	933.38	1046.00	2134.31	1514.38	0	0	0	30.00	15.66	15.81
12906.94	10403	522.99	1.53	0.00	989.8	933.4	1046.1	2134.8	1514.6	330.51	11.33	1506	12941.63	33.82	0.29	0.00	1.250	0.075	0.000	836.53	783.69	889.38	2183.50	1514.62	0	0	0	11.34	15.80	30.00
13236.90	516	522.99	1.53	-80.00	833.5	779.8	887.2	2182.5	1514.7	277.00	16.63	1539	13242.19	0.00	0.00	2.86	0.000	0.000	0.141	833.53	779.75	887.31	2182.75	458.06	0	0	0	30.00	30.00	15.63
13266.90	1028	522.99	1.53	0.00	832.9	779.6	886.2	2183.1	458.1	271.43	19.17	1545	13272.03	0.00	0.00	2.31	0.000	0.000	0.034	832.91	779.56	886.25	2183.00	1513.50	0	0	0	30.00	30.00	15.77
13576.97	516	522.99	1.53	-80.00	832.9	779.5	886.4	2183.4	1513.3	217.81	17.32	1577	13582.25	0.00	0.00	2.85	0.000	0.000	0.140	832.66	779.19	886.12	2183.56	456.69	0	0	0	30.00	30.00	15.63
13601.64	1028	522.99	1.53	0.00	832.8	779.4	886.1	2183.6	457.0	213.03	19.11	1582	13607.42	0.00	0.00	2.31	0.000	0.000	0.034	833.16	779.56	886.75	2183.62	1515.94	0	0	0	30.00	30.00	15.79
13907.03	0	522.99	1.53	0.00	832.9	779.2	886.6	2183.6	1515.2	159.71	16.90	1613	13908.36	0.00	0.00	0.00	0.000	0.000	0.000	832.47	778.94	886.00	2183.19	1515.75	0	0	0	30.00	30.00	30.00
14207.15	516	522.99	1.53	-80.00	832.8	779.3	886.2	2183.8	1515.3	108.75	16.83	1643	14212.36	0.00	0.00	2.86	0.000	0.000	0.141	832.84	779.12	886.56	2183.56	458.38	0	0	0	30.00	30.00	15.63
14251.76	1156	522.99	1.50	0.00	832.5	778.9	886.1	2182.8	458.3	100.03	20.00	1652	14257.52	0.00	0.00	2.30	0.000	0.000	0.034	832.62	779.12	886.12	2183.25	1515.50	0	0	0	30.00	30.00	15.80
14557.19	0	522.99	1.50	0.00	832.7	779.1	886.3	2183.5	1515.6	49.19	16.08	1713	14558.52	0.00	0.00	0.00	0.000	0.000	0.000	832.38	779.00	885.75	2183.81	1515.12	0	0	0	30.00	30.00	30.00
14737.21	0	522.99	1.50	0.00	832.6	779.1	886.0	2184.1	1514.9	21.80	13.80	1749	14738.54	0.00	0.00	0.00	0.000	0.000	0.000	832.53	779.06	886.00	2183.44	1515.44	0	0	0	30.00	30.00	30.00
14878	end climb: SURFACE_DEPTH_REACHED
state	14878	begin surface coast
14893	end surface coast: CONTROL_FINISHED_OK
state	14893	begin surface