Glider dive log

EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 163 * 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 163 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 37.428856 SEABIRD_T_I 2.5361865e-05

USE_BATHY -6 PITCH_MAX 3950 FG_AHR_24V 117.01545 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 0.0

NAV_MODE 2 ROLL_MIN 465 ALTIM_PING_DELTA 0 ES_XMITPROFILE 0.0

FERRY_MAX 45 ROLL_MAX 3180 ALTIM_FREQUENCY 14 ES_UPLOADMAX 100000.0

KALMAN_USE 2 ROLL_DEG 80 ALTIM_PULSE 3 ES_STARTS 358.0

HD_A 0.003 C_ROLL_DIVE 2000 ALTIM_SENSITIVITY 2 ES_NDIVE 1.0

HD_B 0.0099999998 C_ROLL_CLIMB 1450 XPDR_VALID 4 ES_DL_HEADERSKIP 105044.0

HD_C 1.6e-05 HEAD_ERRBAND 10 XPDR_INHIBIT 90 ES_DL_RECORDLENGTH 10086.0

HEADING -1 ROLL_CNV 0.054945 XPDR_INT 0 ES_DL_NRECORD 100.0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 XPDR_REP 0 ES_DL_RECORDCOUNT 3.0

ESCAPE_HEADING_DELTA 10 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_TGT 990 MOTHERBOARD 6 SEABIRD_C_H 1.1606171

AH0_24V 510 ESCAPE_HEADING 0 NAV_MODE 2 SEABIRD_C_I -0.0016447038

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 NETWORK_DEVICE -1 SEABIRD_C_J 0.0002149943

ALTIM_FREQUENCY 14 ES_DL_HEADERSKIP 105044.0 NOCOMM_ACTION 131 SEABIRD_T_G 0.0044171116

ALTIM_PING_DELTA 0 ES_DL_NRECORD 100.0 N_DIVES 0 SEABIRD_T_H 0.00064316206

ALTIM_PING_DEPTH 0 ES_DL_RECORDCOUNT 3.0 N_FILEKB 8 SEABIRD_T_I 2.5361865e-05

ALTIM_PING_FIT 0 ES_DL_RECORDLENGTH 10086.0 N_GPS 100440 SEABIRD_T_J 3.0211725e-06

ALTIM_PULSE 3 ES_NDIVE 1.0 N_NOCOMM 1 SIM_W 0

ALTIM_SENSITIVITY 2 ES_PROFILE 0.0 N_NOSURFACE 0 SM_CC 500

ALTIM_TOP_MIN_OBSTACLE 1 ES_RECORDABOVE 2000.0 PHONE_DEVICE 33 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ES_STARTS 358.0 PHONE_SUPPLY 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 ES_UPLOADMAX 100000.0 PITCH_ADJ_DBAND 2 STROBE 0

APOGEE_PITCH -5 ES_XMITPROFILE 0.0 PITCH_ADJ_GAIN 0.015 SURFACE_URGENCY 0

CALL_NDIVES 1 FERRY_MAX 45 PITCH_CNV 0.0041299998 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 FG_AHR_10V 37.428856 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FG_AHR_24V 117.01545 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 163 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 040521,105531,4838.133,-1936.855,30,1.0,31,-6.7 TGT_LATLONG 4839.330,-1930.080

_CALLS 3 TGT_RADIUS 4000.000

_SM_DEPTHo 1.13 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -48.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 040521,110527,4838.218,-1936.792,2,0.7,5,-6.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.220,0.350 MHEAD_RNG_PITCHd_Wd 118.4,8465,-16.6,-12.692,-19.91

TGT_NAME A1_6 D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.1,1.026618 _10V_AH 15.00,0.000

SM_CCo 15409.95,0.00,0.000,0,908.3,854.1,962.5,505.24 FG_AHR_24Vo 117.369

SM_GC 1.25,0.00,12.38,1.30,0.000,0.057,0.033,908.3,854.1,962.5,180.8,2039.5,0,0,0,30.00,15.81,15.86 FG_AHR_10Vo 37.499

SUPER 19,71,254,1,0,0 MEM 1125668,26,50576,127

IRIDIUM_FIX 4837.69,-1936.16,040521,105930 DATA_FILE_SIZE 54449,1784

TCM_TEMP 16.39 CAP_FILE_SIZE 328402,0

XPDR_PINGS 2,13.0,11.5 SDSIZE 3918848,3863360

SC_FREEKB 3807776 SDFILEDIR 1061,1

HUMID 50.42 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.80 CURRENT 0.254, 1.3,1

INTERNAL_PRESSURE 8.68849 GPS 040521,152301,4839.242,-1932.771,17,1.2,18,-6.6

_24V_AH 14.35,69.489

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 807 2064 23930.39 nil 0 0 0.00

Pitch_motor 28 297 121.42 nil 0 0 0.00

Roll_motor 143 338 695.51 nil 0 0 0.00

Iridium 351 210 1063.00 nil 0 0 0.00

Transponder_ping 0 420 3.01 nil 0 0 0.00

GPS 14 15 3.26 nil 0 0 0.00

Core 5213 11 922.76 SciCon 15356 11 2565.76

LPSleep 10750 2 451.51 echo 0 0 0.00

Compass 2650 5 198.81 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

6.58 16386 -243.31 -1.12 0.00 929.6 882.2 977.0 172.0 1958.7 0.00 0.00 0 120.09 113.15 0.00 0.00 0.005 0.000 0.000 3229.09 3240.50 3217.69 172.38 1957.81 0 0 0 15.25 30.00 30.00

120.38 18983 -243.31 -1.12 -80.00 3227.9 3238.8 3217.1 172.2 1958.2 3.13 -1.82 22 161.59 20.69 11.73 3.76 0.006 0.298 0.117 3960.34 3944.25 3976.44 1528.81 532.75 0 0 0 15.32 15.28 15.13

369.15 1156 -243.31 -1.06 0.00 3961.1 3944.8 3977.5 1528.2 532.7 46.23 -17.89 72 374.88 0.00 0.00 3.46 0.000 0.000 0.034 3962.56 3945.81 3979.31 1528.69 2025.75 0 0 0 30.00 30.00 15.77

554.17 2437 -243.31 -1.00 80.00 3961.3 3944.8 3977.9 1528.4 2026.2 74.94 -15.32 109 559.87 0.00 0.20 3.00 0.000 0.179 0.117 3961.94 3945.00 3978.88 1558.62 3185.56 0 0 0 30.00 15.69 15.48

589.17 1028 -243.31 -1.00 0.00 3961.3 3944.4 3978.2 1558.8 3185.1 79.61 -13.24 116 594.78 0.00 0.00 2.77 0.000 0.000 0.035 3962.12 3945.81 3978.44 1558.75 1970.50 0 0 0 30.00 30.00 15.79

779.27 0 -243.31 -1.00 0.00 3961.2 3944.9 3977.4 1559.1 1970.5 104.00 -12.92 151 780.60 0.00 0.00 0.00 0.000 0.000 0.000 3962.38 3945.62 3979.12 1558.62 1970.38 0 0 0 30.00 30.00 30.00

1079.25 0 -243.31 -1.00 0.00 3961.7 3944.9 3978.4 1559.2 1969.7 141.75 -12.70 181 1080.58 0.00 0.00 0.00 0.000 0.000 0.000 3961.28 3944.69 3977.88 1559.19 1970.56 0 0 0 30.00 30.00 30.00

1379.33 260 -243.31 -1.00 80.00 3961.5 3944.9 3978.1 1558.8 1970.1 179.40 -12.71 211 1384.67 0.00 0.00 3.13 0.000 0.000 0.112 3962.22 3945.19 3979.25 1559.12 3188.06 0 0 0 30.00 30.00 15.62

1443.95 1060 -243.31 -1.00 0.00 3961.7 3944.4 3978.9 1558.9 3187.3 187.26 -11.62 224 1449.88 0.00 0.00 2.76 0.000 0.000 0.035 3961.88 3945.44 3978.31 1559.44 1971.19 0 0 0 30.00 30.00 15.75

1749.30 0 -243.31 -1.00 0.00 3962.0 3945.0 3979.1 1558.6 1971.1 227.26 -13.27 255 1750.63 0.00 0.00 0.00 0.000 0.000 0.000 3961.31 3944.44 3978.19 1558.88 1970.75 0 0 0 30.00 30.00 30.00

2049.39 0 -243.31 -1.00 0.00 3961.9 3945.0 3978.8 1559.0 1971.3 267.41 -13.45 285 2050.72 0.00 0.00 0.00 0.000 0.000 0.000 3962.00 3945.31 3978.69 1558.94 1971.00 0 0 0 30.00 30.00 30.00

2349.41 260 -243.31 -1.00 80.00 3962.1 3944.8 3979.4 1558.8 1970.9 306.85 -12.93 315 2354.68 0.00 0.00 3.13 0.000 0.000 0.113 3961.69 3944.94 3978.44 1559.44 3185.69 0 0 0 30.00 30.00 15.65

2384.03 1028 -243.31 -1.00 0.00 3961.8 3945.2 3978.3 1559.2 3185.6 311.40 -12.96 322 2389.96 0.00 0.00 2.75 0.000 0.000 0.036 3961.66 3945.19 3978.12 1559.25 1971.38 0 0 0 30.00 30.00 15.88

2689.39 0 -243.31 -1.00 0.00 3961.9 3945.2 3978.6 1559.3 1971.6 350.92 -13.01 353 2690.72 0.00 0.00 0.00 0.000 0.000 0.000 3961.78 3944.75 3978.81 1559.31 1971.00 0 0 0 30.00 30.00 30.00

2989.49 260 -243.31 -1.00 80.00 3961.8 3944.9 3978.8 1559.2 1971.3 390.60 -13.18 383 2994.75 0.00 0.00 3.07 0.000 0.000 0.116 3961.66 3945.00 3978.31 1558.62 3187.00 0 0 0 30.00 30.00 15.64

3019.43 1028 -243.31 -1.00 0.00 3961.8 3944.9 3978.8 1559.1 3187.0 394.49 -12.95 389 3024.72 0.00 0.00 2.76 0.000 0.000 0.039 3962.72 3945.69 3979.75 1559.12 1972.88 0 0 0 30.00 30.00 15.89

3329.56 0 -243.31 -1.00 0.00 3961.8 3944.6 3979.0 1559.4 1972.3 435.85 -13.18 421 3330.89 0.00 0.00 0.00 0.000 0.000 0.000 3961.75 3945.50 3978.00 1559.06 1972.88 0 0 0 30.00 30.00 30.00

3629.62 32 -243.31 -1.00 0.00 3961.6 3944.9 3978.3 1559.2 1972.6 473.89 -12.15 451 3630.95 0.00 0.00 0.00 0.000 0.000 0.000 3961.69 3944.06 3979.31 1559.06 1972.56 0 0 0 30.00 30.00 30.00

3929.68 292 -243.31 -1.00 80.00 3961.2 3944.1 3978.4 1558.9 1972.8 511.73 -12.47 481 3934.93 0.00 0.00 3.16 0.000 0.000 0.121 3961.84 3944.94 3978.75 1558.25 3185.88 0 0 0 30.00 30.00 15.62

3989.63 1060 -243.31 -1.00 0.00 3961.5 3944.4 3978.6 1558.9 3185.3 518.76 -11.11 493 3994.87 0.00 0.00 2.77 0.000 0.000 0.042 3961.91 3944.56 3979.25 1558.06 1972.00 0 0 0 30.00 30.00 15.91

4299.74 548 -243.31 -1.00 -80.00 3961.1 3943.2 3978.9 1558.8 1973.2 555.84 -12.10 525 4305.11 0.00 0.00 3.80 0.000 0.000 0.129 3961.09 3943.62 3978.56 1559.38 535.62 0 0 0 30.00 30.00 15.67

4324.33 1028 -243.31 -1.00 0.00 3960.8 3942.6 3979.1 1558.9 535.1 559.34 -13.39 530 4330.40 0.00 0.00 3.42 0.000 0.000 0.034 3961.25 3943.75 3978.75 1558.88 2022.88 0 0 0 30.00 30.00 15.91

4629.72 292 -243.31 -1.00 80.00 3959.9 3941.5 3978.2 1559.2 2023.2 597.61 -12.69 561 4635.05 0.00 0.00 3.09 0.000 0.000 0.134 3960.91 3943.19 3978.62 1558.94 3185.88 0 0 0 30.00 30.00 15.60

4669.74 1060 -243.31 -1.00 0.00 3960.7 3942.4 3979.0 1559.6 3186.1 602.70 -12.50 569 4674.99 0.00 0.00 2.76 0.000 0.000 0.047 3961.25 3943.50 3979.00 1558.62 1973.88 0 0 0 30.00 30.00 15.91

4979.86 32 -243.31 -1.00 0.00 3960.1 3941.8 3978.4 1559.2 1974.5 638.96 -11.47 601 4981.19 0.00 0.00 0.00 0.000 0.000 0.000 3960.22 3941.75 3978.69 1559.50 1973.69 0 0 0 30.00 30.00 30.00

5279.92 548 -243.31 -1.00 -80.00 3959.7 3940.7 3978.6 1559.3 1974.1 673.39 -11.24 631 5285.28 0.00 0.00 3.77 0.000 0.000 0.137 3960.12 3941.38 3978.88 1558.81 536.25 0 0 0 30.00 30.00 15.65

5314.52 1060 -243.31 -1.00 0.00 3960.0 3941.1 3978.8 1558.7 535.8 677.77 -12.20 638 5320.57 0.00 0.00 3.41 0.000 0.000 0.037 3960.81 3941.62 3980.00 1559.31 2020.38 0 0 0 30.00 30.00 15.91

5619.89 32 -243.31 -1.00 0.00 3960.1 3941.4 3978.8 1558.9 2020.4 712.47 -11.50 669 5621.22 0.00 0.00 0.00 0.000 0.000 0.000 3959.47 3941.38 3977.56 1558.94 2020.81 0 0 0 30.00 30.00 30.00

5920.02 548 -243.31 -1.00 -80.00 3958.7 3939.4 3977.9 1558.5 2020.8 746.13 -11.02 699 5925.42 0.00 0.00 4.00 0.000 0.000 0.136 3959.47 3939.94 3979.00 1558.62 535.81 0 0 0 30.00 30.00 15.62

5949.98 1060 -243.31 -1.00 0.00 3958.8 3938.9 3978.8 1558.8 535.8 749.66 -11.75 705 5955.34 0.00 0.00 3.43 0.000 0.000 0.039 3959.94 3940.19 3979.69 1559.19 2018.94 0 0 0 30.00 30.00 15.90

6260.07 32 -243.31 -1.00 0.00 3958.3 3938.5 3978.2 1559.4 2019.0 784.11 -11.49 737 6261.40 0.00 0.00 0.00 0.000 0.000 0.000 3958.72 3938.56 3978.88 1559.25 2018.50 0 0 0 30.00 30.00 30.00

6560.15 32 -243.31 -1.00 0.00 3957.7 3937.1 3978.3 1558.9 2018.8 819.40 -11.98 767 6561.48 0.00 0.00 0.00 0.000 0.000 0.000 3958.41 3937.88 3978.94 1558.94 2018.50 0 0 0 30.00 30.00 30.00

6860.19 548 -243.31 -1.00 -80.00 3957.4 3935.6 3979.2 1559.2 2018.4 854.48 -11.95 797 6865.59 0.00 0.00 4.01 0.000 0.000 0.141 3957.56 3936.31 3978.81 1558.19 537.44 0 0 0 30.00 30.00 15.59

6894.78 1028 -243.31 -1.00 0.00 3957.2 3936.2 3978.1 1559.2 537.6 859.06 -13.44 804 6900.84 0.00 0.00 3.45 0.000 0.000 0.042 3957.31 3935.88 3978.75 1559.25 2017.81 0 0 0 30.00 30.00 15.80

7200.14 32 -243.31 -1.00 0.00 3956.4 3934.8 3977.9 1559.1 2017.9 896.09 -11.69 835 7201.47 0.00 0.00 0.00 0.000 0.000 0.000 3956.94 3935.88 3978.00 1559.06 2017.50 0 0 0 30.00 30.00 30.00

7500.23 548 -243.31 -1.00 -80.00 3955.7 3934.0 3977.4 1558.9 2017.7 930.48 -11.75 865 7505.66 0.00 0.00 4.04 0.000 0.000 0.147 3955.59 3934.31 3976.88 1558.88 536.88 0 0 0 30.00 30.00 15.56

7554.84 1028 -243.31 -1.00 0.00 3956.1 3934.3 3977.9 1559.1 537.1 937.58 -13.13 876 7560.89 0.00 0.00 3.48 0.000 0.000 0.045 3956.53 3935.06 3978.00 1558.94 2017.06 0 0 0 30.00 30.00 15.79

7860.20 32 -243.31 -1.00 0.00 3955.5 3933.6 3977.4 1558.9 2016.6 971.61 -10.98 907 7861.53 0.00 0.00 0.00 0.000 0.000 0.000 3955.53 3934.00 3977.06 1559.12 2016.81 0 0 0 30.00 30.00 30.00

8040 end dive: TARGET_DEPTH_EXCEEDED

state 8040 begin apogee

8042.69 10243 0.00 -0.23 0.00 3955.0 3932.6 3977.3 1559.4 1437.1 990.47 -10.36 925 8250.79 205.84 1.34 0.05 2.064 0.145 0.338 2967.72 2923.25 3012.19 1746.50 1475.06 0 0 0 10.76 15.74 15.07

8251 end apogee: CONTROL_FINISHED_OK

state 8252 begin climb

8252.19 10759 243.31 1.12 -80.00 2966.2 2921.3 3011.2 1747.6 1474.9 998.30 0.00 945 8476.57 216.45 2.28 3.01 2.003 0.107 0.176 1974.84 1925.69 2024.00 2074.25 459.19 0 0 0 12.01 15.16 14.94

8664.15 9254 252.12 1.13 0.00 1967.2 1922.1 2012.4 2074.4 459.1 963.80 12.38 1027 8679.52 9.40 0.00 2.37 1.463 0.000 0.030 1939.28 1893.12 1985.44 2074.50 1490.75 0 0 0 11.71 30.00 15.49

8984.16 10275 368.96 1.31 0.00 1936.4 1888.2 1984.6 2074.1 1490.5 933.61 8.56 1061 9095.72 108.11 0.26 0.00 1.928 0.078 0.000 1464.84 1407.25 1522.44 2127.44 1492.62 0 0 0 11.58 15.62 30.00

9394.26 516 368.96 1.31 -80.00 1456.5 1398.6 1514.4 2127.1 1492.5 881.78 12.79 1102 9399.50 0.00 0.00 2.93 0.000 0.000 0.162 1456.28 1398.50 1514.06 2127.81 457.81 0 0 0 30.00 30.00 15.50

9428.88 1156 368.96 1.27 0.00 1455.8 1398.6 1513.0 2127.8 457.9 876.52 15.29 1109 9434.67 0.00 0.00 2.36 0.000 0.000 0.031 1455.75 1398.62 1512.88 2127.81 1490.88 0 0 0 30.00 30.00 15.61

9734.24 16386 368.96 1.27 0.00 1455.4 1398.0 1512.9 2128.1 1491.0 833.63 13.44 1140 9735.57 0.00 0.00 0.00 0.000 0.000 0.000 1454.53 1397.38 1511.69 2127.88 1491.19 0 0 0 30.00 30.00 30.00

10034.48 8226 374.44 1.28 0.00 1454.5 1396.9 1512.0 2127.7 1493.1 794.19 12.50 1170 10044.29 6.04 0.00 0.00 1.133 0.000 0.000 1441.66 1384.12 1499.19 2128.06 1493.25 0 0 0 11.48 30.00 30.00

10344.29 8226 380.94 1.29 0.00 1440.2 1382.2 1498.2 2127.7 1493.3 754.32 12.46 1201 10354.50 8.73 0.00 0.00 1.358 0.000 0.000 1415.38 1357.88 1472.88 2127.75 1493.56 0 0 0 11.60 30.00 30.00

10654.33 8226 409.70 1.33 0.00 1413.2 1355.4 1471.1 2127.9 1493.4 716.45 11.67 1232 10684.98 28.89 0.00 0.00 1.656 0.000 0.000 1297.75 1238.12 1357.38 2128.25 1493.81 0 0 0 11.56 30.00 30.00

10984.36 8226 435.12 1.37 0.00 1294.0 1234.2 1353.8 2128.2 1493.6 677.17 11.79 1265 11009.93 24.83 0.00 0.00 1.590 0.000 0.000 1194.56 1135.00 1254.12 2128.12 1493.62 0 0 0 11.56 30.00 30.00

11304.49 8226 460.19 1.41 0.00 1192.6 1132.3 1252.9 2128.1 1494.1 638.92 11.80 1297 11331.00 25.09 0.00 0.00 1.541 0.000 0.000 1092.12 1033.38 1150.88 2127.69 1493.56 0 0 0 11.64 30.00 30.00

11624.56 10663 504.04 1.52 80.00 1088.6 1028.6 1148.6 2127.9 1493.6 602.85 11.14 1329 11670.83 40.65 0.25 3.59 1.551 0.084 0.091 913.47 855.69 971.25 2180.50 2914.00 0 0 0 11.61 15.69 15.49

11684.48 1028 504.04 1.52 0.00 912.9 855.1 970.8 2180.5 2913.8 594.42 15.01 1341 11689.90 0.00 0.00 3.66 0.000 0.000 0.070 913.44 855.50 971.38 2180.38 1435.88 0 0 0 30.00 30.00 15.60

11994.53 0 504.04 1.52 0.00 910.5 851.8 969.2 2180.9 1436.0 543.96 17.23 1373 11995.86 0.00 0.00 0.00 0.000 0.000 0.000 910.50 851.88 969.12 2180.75 1436.06 0 0 0 30.00 30.00 30.00

12294.66 0 504.04 1.52 0.00 910.2 851.7 968.8 2181.4 1436.2 494.04 16.30 1403 12295.99 0.00 0.00 0.00 0.000 0.000 0.000 910.16 851.81 968.50 2180.31 1436.00 0 0 0 30.00 30.00 30.00

12594.72 260 504.04 1.52 80.00 910.0 851.7 968.4 2180.6 1436.5 443.33 16.95 1433 12600.07 0.00 0.00 3.67 0.000 0.000 0.081 910.56 852.06 969.06 2180.25 2914.94 0 0 0 30.00 30.00 15.70

12629.36 1156 504.04 1.56 0.00 909.5 851.6 967.4 2180.0 2914.9 438.17 14.46 1440 12635.42 0.00 0.00 3.62 0.000 0.000 0.067 910.16 852.00 968.31 2180.38 1436.44 0 0 0 30.00 30.00 15.73

12934.71 0 504.04 1.56 0.00 909.9 851.7 968.2 2180.9 1436.9 388.07 17.70 1471 12936.04 0.00 0.00 0.00 0.000 0.000 0.000 909.75 851.50 968.00 2180.44 1436.69 0 0 0 30.00 30.00 30.00

13234.83 260 504.04 1.56 80.00 910.0 851.6 968.3 2180.8 1436.8 337.34 16.77 1501 13240.19 0.00 0.00 3.63 0.000 0.000 0.078 910.25 851.88 968.62 2180.50 2915.44 0 0 0 30.00 30.00 15.73

13254.78 1028 504.04 1.56 0.00 909.6 851.5 967.8 2180.3 2914.8 334.18 16.71 1505 13260.19 0.00 0.00 3.59 0.000 0.000 0.064 909.72 851.75 967.69 2180.31 1436.12 0 0 0 30.00 30.00 15.78

13564.82 260 504.04 1.56 80.00 910.0 851.8 968.2 2180.4 1435.8 284.17 16.20 1537 13570.26 0.00 0.00 3.62 0.000 0.000 0.077 909.97 851.75 968.19 2181.00 2914.62 0 0 0 30.00 30.00 15.74

13584.84 1028 504.04 1.56 0.00 909.6 851.6 967.6 2180.1 2914.5 281.12 15.52 1541 13590.25 0.00 0.00 3.57 0.000 0.000 0.063 910.38 852.19 968.56 2180.12 1434.19 0 0 0 30.00 30.00 15.79

13894.89 0 504.04 1.56 0.00 910.0 851.6 968.4 2180.8 1435.1 230.82 16.81 1573 13896.22 0.00 0.00 0.00 0.000 0.000 0.000 909.69 851.56 967.81 2180.12 1434.38 0 0 0 30.00 30.00 30.00

14195.02 260 504.04 1.56 80.00 910.0 851.6 968.4 2180.6 1435.0 181.20 16.26 1603 14200.38 0.00 0.00 3.62 0.000 0.000 0.075 910.09 851.69 968.50 2180.94 2914.31 0 0 0 30.00 30.00 15.75

14214.97 1028 504.04 1.56 0.00 909.6 851.5 967.7 2180.2 2913.6 178.16 15.86 1607 14220.37 0.00 0.00 3.55 0.000 0.000 0.063 909.75 851.69 967.81 2180.56 1434.56 0 0 0 30.00 30.00 15.80

14525.00 260 504.04 1.56 80.00 910.0 851.6 968.5 2180.8 1435.0 127.59 16.63 1639 14530.44 0.00 0.00 3.62 0.000 0.000 0.073 910.41 851.88 968.94 2180.19 2914.25 0 0 0 30.00 30.00 15.75

14535.02 1028 504.04 1.56 0.00 909.8 851.6 968.1 2180.5 2913.8 126.00 16.86 1641 14540.42 0.00 0.00 3.53 0.000 0.000 0.061 910.38 852.00 968.75 2180.44 1434.69 0 0 0 30.00 30.00 15.79

14840.11 260 504.04 1.56 80.00 910.2 851.7 968.8 2180.5 1434.6 76.03 16.77 1686 14845.86 0.00 0.00 3.63 0.000 0.000 0.073 910.75 852.12 969.38 2180.94 2914.62 0 0 0 30.00 30.00 15.66

14855.11 1028 504.04 1.56 0.00 910.1 851.6 968.6 2180.9 2914.1 73.57 16.79 1689 14860.86 0.00 0.00 3.55 0.000 0.000 0.061 910.72 852.06 969.38 2180.00 1435.12 0 0 0 30.00 30.00 15.76

15040.14 0 504.04 1.56 0.00 910.4 851.6 969.2 2180.8 1434.8 43.72 16.75 1726 15041.47 0.00 0.00 0.00 0.000 0.000 0.000 910.06 851.38 968.75 2180.75 1435.19 0 0 0 30.00 30.00 30.00

15220.18 0 504.04 1.56 0.00 910.7 851.6 969.8 2180.3 1435.1 16.43 14.82 1762 15221.50 0.00 0.00 0.00 0.000 0.000 0.000 910.31 851.44 969.19 2180.62 1435.25 0 0 0 30.00 30.00 30.00

15320 end climb: SURFACE_DEPTH_REACHED

state 15320 begin surface coast

15330 end surface coast: CONTROL_FINISHED_OK

state 15330 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	163	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	37.428856	SEABIRD_T_I	2.5361865e-05
USE_BATHY	-6	PITCH_MAX	3950	FG_AHR_24V	117.01545	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	0.0
NAV_MODE	2	ROLL_MIN	465	ALTIM_PING_DELTA	0	ES_XMITPROFILE	0.0
FERRY_MAX	45	ROLL_MAX	3180	ALTIM_FREQUENCY	14	ES_UPLOADMAX	100000.0
KALMAN_USE	2	ROLL_DEG	80	ALTIM_PULSE	3	ES_STARTS	358.0
HD_A	0.003	C_ROLL_DIVE	2000	ALTIM_SENSITIVITY	2	ES_NDIVE	1.0
HD_B	0.0099999998	C_ROLL_CLIMB	1450	XPDR_VALID	4	ES_DL_HEADERSKIP	105044.0
HD_C	1.6e-05	HEAD_ERRBAND	10	XPDR_INHIBIT	90	ES_DL_RECORDLENGTH	10086.0
HEADING	-1	ROLL_CNV	0.054945	XPDR_INT	0	ES_DL_NRECORD	100.0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	XPDR_REP	0	ES_DL_RECORDCOUNT	3.0
ESCAPE_HEADING_DELTA	10	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	040521,105531,4838.133,-1936.855,30,1.0,31,-6.7	TGT_LATLONG	4839.330,-1930.080
_CALLS	3	TGT_RADIUS	4000.000
_SM_DEPTHo	1.13	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-48.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	040521,110527,4838.218,-1936.792,2,0.7,5,-6.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.220,0.350	MHEAD_RNG_PITCHd_Wd	118.4,8465,-16.6,-12.692,-19.91
TGT_NAME	A1_6	D_GRID	1000

FINISH	-0.1,1.026618	_10V_AH	15.00,0.000
SM_CCo	15409.95,0.00,0.000,0,908.3,854.1,962.5,505.24	FG_AHR_24Vo	117.369
SM_GC	1.25,0.00,12.38,1.30,0.000,0.057,0.033,908.3,854.1,962.5,180.8,2039.5,0,0,0,30.00,15.81,15.86	FG_AHR_10Vo	37.499
SUPER	19,71,254,1,0,0	MEM	1125668,26,50576,127
IRIDIUM_FIX	4837.69,-1936.16,040521,105930	DATA_FILE_SIZE	54449,1784
TCM_TEMP	16.39	CAP_FILE_SIZE	328402,0
XPDR_PINGS	2,13.0,11.5	SDSIZE	3918848,3863360
SC_FREEKB	3807776	SDFILEDIR	1061,1
HUMID	50.42	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.80	CURRENT	0.254, 1.3,1
INTERNAL_PRESSURE	8.68849	GPS	040521,152301,4839.242,-1932.771,17,1.2,18,-6.6
_24V_AH	14.35,69.489

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	807	2064	23930.39	nil	0	0	0.00
Pitch_motor	28	297	121.42	nil	0	0	0.00
Roll_motor	143	338	695.51	nil	0	0	0.00
Iridium	351	210	1063.00	nil	0	0	0.00
Transponder_ping	0	420	3.01	nil	0	0	0.00
GPS	14	15	3.26	nil	0	0	0.00
Core	5213	11	922.76	SciCon	15356	11	2565.76
LPSleep	10750	2	451.51	echo	0	0	0.00
Compass	2650	5	198.81	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
6.58	16386	-243.31	-1.12	0.00	929.6	882.2	977.0	172.0	1958.7	0.00	0.00	0	120.09	113.15	0.00	0.00	0.005	0.000	0.000	3229.09	3240.50	3217.69	172.38	1957.81	0	0	0	15.25	30.00	30.00
120.38	18983	-243.31	-1.12	-80.00	3227.9	3238.8	3217.1	172.2	1958.2	3.13	-1.82	22	161.59	20.69	11.73	3.76	0.006	0.298	0.117	3960.34	3944.25	3976.44	1528.81	532.75	0	0	0	15.32	15.28	15.13
369.15	1156	-243.31	-1.06	0.00	3961.1	3944.8	3977.5	1528.2	532.7	46.23	-17.89	72	374.88	0.00	0.00	3.46	0.000	0.000	0.034	3962.56	3945.81	3979.31	1528.69	2025.75	0	0	0	30.00	30.00	15.77
554.17	2437	-243.31	-1.00	80.00	3961.3	3944.8	3977.9	1528.4	2026.2	74.94	-15.32	109	559.87	0.00	0.20	3.00	0.000	0.179	0.117	3961.94	3945.00	3978.88	1558.62	3185.56	0	0	0	30.00	15.69	15.48
589.17	1028	-243.31	-1.00	0.00	3961.3	3944.4	3978.2	1558.8	3185.1	79.61	-13.24	116	594.78	0.00	0.00	2.77	0.000	0.000	0.035	3962.12	3945.81	3978.44	1558.75	1970.50	0	0	0	30.00	30.00	15.79
779.27	0	-243.31	-1.00	0.00	3961.2	3944.9	3977.4	1559.1	1970.5	104.00	-12.92	151	780.60	0.00	0.00	0.00	0.000	0.000	0.000	3962.38	3945.62	3979.12	1558.62	1970.38	0	0	0	30.00	30.00	30.00
1079.25	0	-243.31	-1.00	0.00	3961.7	3944.9	3978.4	1559.2	1969.7	141.75	-12.70	181	1080.58	0.00	0.00	0.00	0.000	0.000	0.000	3961.28	3944.69	3977.88	1559.19	1970.56	0	0	0	30.00	30.00	30.00
1379.33	260	-243.31	-1.00	80.00	3961.5	3944.9	3978.1	1558.8	1970.1	179.40	-12.71	211	1384.67	0.00	0.00	3.13	0.000	0.000	0.112	3962.22	3945.19	3979.25	1559.12	3188.06	0	0	0	30.00	30.00	15.62
1443.95	1060	-243.31	-1.00	0.00	3961.7	3944.4	3978.9	1558.9	3187.3	187.26	-11.62	224	1449.88	0.00	0.00	2.76	0.000	0.000	0.035	3961.88	3945.44	3978.31	1559.44	1971.19	0	0	0	30.00	30.00	15.75
1749.30	0	-243.31	-1.00	0.00	3962.0	3945.0	3979.1	1558.6	1971.1	227.26	-13.27	255	1750.63	0.00	0.00	0.00	0.000	0.000	0.000	3961.31	3944.44	3978.19	1558.88	1970.75	0	0	0	30.00	30.00	30.00
2049.39	0	-243.31	-1.00	0.00	3961.9	3945.0	3978.8	1559.0	1971.3	267.41	-13.45	285	2050.72	0.00	0.00	0.00	0.000	0.000	0.000	3962.00	3945.31	3978.69	1558.94	1971.00	0	0	0	30.00	30.00	30.00
2349.41	260	-243.31	-1.00	80.00	3962.1	3944.8	3979.4	1558.8	1970.9	306.85	-12.93	315	2354.68	0.00	0.00	3.13	0.000	0.000	0.113	3961.69	3944.94	3978.44	1559.44	3185.69	0	0	0	30.00	30.00	15.65
2384.03	1028	-243.31	-1.00	0.00	3961.8	3945.2	3978.3	1559.2	3185.6	311.40	-12.96	322	2389.96	0.00	0.00	2.75	0.000	0.000	0.036	3961.66	3945.19	3978.12	1559.25	1971.38	0	0	0	30.00	30.00	15.88
2689.39	0	-243.31	-1.00	0.00	3961.9	3945.2	3978.6	1559.3	1971.6	350.92	-13.01	353	2690.72	0.00	0.00	0.00	0.000	0.000	0.000	3961.78	3944.75	3978.81	1559.31	1971.00	0	0	0	30.00	30.00	30.00
2989.49	260	-243.31	-1.00	80.00	3961.8	3944.9	3978.8	1559.2	1971.3	390.60	-13.18	383	2994.75	0.00	0.00	3.07	0.000	0.000	0.116	3961.66	3945.00	3978.31	1558.62	3187.00	0	0	0	30.00	30.00	15.64
3019.43	1028	-243.31	-1.00	0.00	3961.8	3944.9	3978.8	1559.1	3187.0	394.49	-12.95	389	3024.72	0.00	0.00	2.76	0.000	0.000	0.039	3962.72	3945.69	3979.75	1559.12	1972.88	0	0	0	30.00	30.00	15.89
3329.56	0	-243.31	-1.00	0.00	3961.8	3944.6	3979.0	1559.4	1972.3	435.85	-13.18	421	3330.89	0.00	0.00	0.00	0.000	0.000	0.000	3961.75	3945.50	3978.00	1559.06	1972.88	0	0	0	30.00	30.00	30.00
3629.62	32	-243.31	-1.00	0.00	3961.6	3944.9	3978.3	1559.2	1972.6	473.89	-12.15	451	3630.95	0.00	0.00	0.00	0.000	0.000	0.000	3961.69	3944.06	3979.31	1559.06	1972.56	0	0	0	30.00	30.00	30.00
3929.68	292	-243.31	-1.00	80.00	3961.2	3944.1	3978.4	1558.9	1972.8	511.73	-12.47	481	3934.93	0.00	0.00	3.16	0.000	0.000	0.121	3961.84	3944.94	3978.75	1558.25	3185.88	0	0	0	30.00	30.00	15.62
3989.63	1060	-243.31	-1.00	0.00	3961.5	3944.4	3978.6	1558.9	3185.3	518.76	-11.11	493	3994.87	0.00	0.00	2.77	0.000	0.000	0.042	3961.91	3944.56	3979.25	1558.06	1972.00	0	0	0	30.00	30.00	15.91
4299.74	548	-243.31	-1.00	-80.00	3961.1	3943.2	3978.9	1558.8	1973.2	555.84	-12.10	525	4305.11	0.00	0.00	3.80	0.000	0.000	0.129	3961.09	3943.62	3978.56	1559.38	535.62	0	0	0	30.00	30.00	15.67
4324.33	1028	-243.31	-1.00	0.00	3960.8	3942.6	3979.1	1558.9	535.1	559.34	-13.39	530	4330.40	0.00	0.00	3.42	0.000	0.000	0.034	3961.25	3943.75	3978.75	1558.88	2022.88	0	0	0	30.00	30.00	15.91
4629.72	292	-243.31	-1.00	80.00	3959.9	3941.5	3978.2	1559.2	2023.2	597.61	-12.69	561	4635.05	0.00	0.00	3.09	0.000	0.000	0.134	3960.91	3943.19	3978.62	1558.94	3185.88	0	0	0	30.00	30.00	15.60
4669.74	1060	-243.31	-1.00	0.00	3960.7	3942.4	3979.0	1559.6	3186.1	602.70	-12.50	569	4674.99	0.00	0.00	2.76	0.000	0.000	0.047	3961.25	3943.50	3979.00	1558.62	1973.88	0	0	0	30.00	30.00	15.91
4979.86	32	-243.31	-1.00	0.00	3960.1	3941.8	3978.4	1559.2	1974.5	638.96	-11.47	601	4981.19	0.00	0.00	0.00	0.000	0.000	0.000	3960.22	3941.75	3978.69	1559.50	1973.69	0	0	0	30.00	30.00	30.00
5279.92	548	-243.31	-1.00	-80.00	3959.7	3940.7	3978.6	1559.3	1974.1	673.39	-11.24	631	5285.28	0.00	0.00	3.77	0.000	0.000	0.137	3960.12	3941.38	3978.88	1558.81	536.25	0	0	0	30.00	30.00	15.65
5314.52	1060	-243.31	-1.00	0.00	3960.0	3941.1	3978.8	1558.7	535.8	677.77	-12.20	638	5320.57	0.00	0.00	3.41	0.000	0.000	0.037	3960.81	3941.62	3980.00	1559.31	2020.38	0	0	0	30.00	30.00	15.91
5619.89	32	-243.31	-1.00	0.00	3960.1	3941.4	3978.8	1558.9	2020.4	712.47	-11.50	669	5621.22	0.00	0.00	0.00	0.000	0.000	0.000	3959.47	3941.38	3977.56	1558.94	2020.81	0	0	0	30.00	30.00	30.00
5920.02	548	-243.31	-1.00	-80.00	3958.7	3939.4	3977.9	1558.5	2020.8	746.13	-11.02	699	5925.42	0.00	0.00	4.00	0.000	0.000	0.136	3959.47	3939.94	3979.00	1558.62	535.81	0	0	0	30.00	30.00	15.62
5949.98	1060	-243.31	-1.00	0.00	3958.8	3938.9	3978.8	1558.8	535.8	749.66	-11.75	705	5955.34	0.00	0.00	3.43	0.000	0.000	0.039	3959.94	3940.19	3979.69	1559.19	2018.94	0	0	0	30.00	30.00	15.90
6260.07	32	-243.31	-1.00	0.00	3958.3	3938.5	3978.2	1559.4	2019.0	784.11	-11.49	737	6261.40	0.00	0.00	0.00	0.000	0.000	0.000	3958.72	3938.56	3978.88	1559.25	2018.50	0	0	0	30.00	30.00	30.00
6560.15	32	-243.31	-1.00	0.00	3957.7	3937.1	3978.3	1558.9	2018.8	819.40	-11.98	767	6561.48	0.00	0.00	0.00	0.000	0.000	0.000	3958.41	3937.88	3978.94	1558.94	2018.50	0	0	0	30.00	30.00	30.00
6860.19	548	-243.31	-1.00	-80.00	3957.4	3935.6	3979.2	1559.2	2018.4	854.48	-11.95	797	6865.59	0.00	0.00	4.01	0.000	0.000	0.141	3957.56	3936.31	3978.81	1558.19	537.44	0	0	0	30.00	30.00	15.59
6894.78	1028	-243.31	-1.00	0.00	3957.2	3936.2	3978.1	1559.2	537.6	859.06	-13.44	804	6900.84	0.00	0.00	3.45	0.000	0.000	0.042	3957.31	3935.88	3978.75	1559.25	2017.81	0	0	0	30.00	30.00	15.80
7200.14	32	-243.31	-1.00	0.00	3956.4	3934.8	3977.9	1559.1	2017.9	896.09	-11.69	835	7201.47	0.00	0.00	0.00	0.000	0.000	0.000	3956.94	3935.88	3978.00	1559.06	2017.50	0	0	0	30.00	30.00	30.00
7500.23	548	-243.31	-1.00	-80.00	3955.7	3934.0	3977.4	1558.9	2017.7	930.48	-11.75	865	7505.66	0.00	0.00	4.04	0.000	0.000	0.147	3955.59	3934.31	3976.88	1558.88	536.88	0	0	0	30.00	30.00	15.56
7554.84	1028	-243.31	-1.00	0.00	3956.1	3934.3	3977.9	1559.1	537.1	937.58	-13.13	876	7560.89	0.00	0.00	3.48	0.000	0.000	0.045	3956.53	3935.06	3978.00	1558.94	2017.06	0	0	0	30.00	30.00	15.79
7860.20	32	-243.31	-1.00	0.00	3955.5	3933.6	3977.4	1558.9	2016.6	971.61	-10.98	907	7861.53	0.00	0.00	0.00	0.000	0.000	0.000	3955.53	3934.00	3977.06	1559.12	2016.81	0	0	0	30.00	30.00	30.00
8040	end dive: TARGET_DEPTH_EXCEEDED
state	8040	begin apogee
8042.69	10243	0.00	-0.23	0.00	3955.0	3932.6	3977.3	1559.4	1437.1	990.47	-10.36	925	8250.79	205.84	1.34	0.05	2.064	0.145	0.338	2967.72	2923.25	3012.19	1746.50	1475.06	0	0	0	10.76	15.74	15.07
8251	end apogee: CONTROL_FINISHED_OK
state	8252	begin climb
8252.19	10759	243.31	1.12	-80.00	2966.2	2921.3	3011.2	1747.6	1474.9	998.30	0.00	945	8476.57	216.45	2.28	3.01	2.003	0.107	0.176	1974.84	1925.69	2024.00	2074.25	459.19	0	0	0	12.01	15.16	14.94
8664.15	9254	252.12	1.13	0.00	1967.2	1922.1	2012.4	2074.4	459.1	963.80	12.38	1027	8679.52	9.40	0.00	2.37	1.463	0.000	0.030	1939.28	1893.12	1985.44	2074.50	1490.75	0	0	0	11.71	30.00	15.49
8984.16	10275	368.96	1.31	0.00	1936.4	1888.2	1984.6	2074.1	1490.5	933.61	8.56	1061	9095.72	108.11	0.26	0.00	1.928	0.078	0.000	1464.84	1407.25	1522.44	2127.44	1492.62	0	0	0	11.58	15.62	30.00
9394.26	516	368.96	1.31	-80.00	1456.5	1398.6	1514.4	2127.1	1492.5	881.78	12.79	1102	9399.50	0.00	0.00	2.93	0.000	0.000	0.162	1456.28	1398.50	1514.06	2127.81	457.81	0	0	0	30.00	30.00	15.50
9428.88	1156	368.96	1.27	0.00	1455.8	1398.6	1513.0	2127.8	457.9	876.52	15.29	1109	9434.67	0.00	0.00	2.36	0.000	0.000	0.031	1455.75	1398.62	1512.88	2127.81	1490.88	0	0	0	30.00	30.00	15.61
9734.24	16386	368.96	1.27	0.00	1455.4	1398.0	1512.9	2128.1	1491.0	833.63	13.44	1140	9735.57	0.00	0.00	0.00	0.000	0.000	0.000	1454.53	1397.38	1511.69	2127.88	1491.19	0	0	0	30.00	30.00	30.00
10034.48	8226	374.44	1.28	0.00	1454.5	1396.9	1512.0	2127.7	1493.1	794.19	12.50	1170	10044.29	6.04	0.00	0.00	1.133	0.000	0.000	1441.66	1384.12	1499.19	2128.06	1493.25	0	0	0	11.48	30.00	30.00
10344.29	8226	380.94	1.29	0.00	1440.2	1382.2	1498.2	2127.7	1493.3	754.32	12.46	1201	10354.50	8.73	0.00	0.00	1.358	0.000	0.000	1415.38	1357.88	1472.88	2127.75	1493.56	0	0	0	11.60	30.00	30.00
10654.33	8226	409.70	1.33	0.00	1413.2	1355.4	1471.1	2127.9	1493.4	716.45	11.67	1232	10684.98	28.89	0.00	0.00	1.656	0.000	0.000	1297.75	1238.12	1357.38	2128.25	1493.81	0	0	0	11.56	30.00	30.00
10984.36	8226	435.12	1.37	0.00	1294.0	1234.2	1353.8	2128.2	1493.6	677.17	11.79	1265	11009.93	24.83	0.00	0.00	1.590	0.000	0.000	1194.56	1135.00	1254.12	2128.12	1493.62	0	0	0	11.56	30.00	30.00
11304.49	8226	460.19	1.41	0.00	1192.6	1132.3	1252.9	2128.1	1494.1	638.92	11.80	1297	11331.00	25.09	0.00	0.00	1.541	0.000	0.000	1092.12	1033.38	1150.88	2127.69	1493.56	0	0	0	11.64	30.00	30.00
11624.56	10663	504.04	1.52	80.00	1088.6	1028.6	1148.6	2127.9	1493.6	602.85	11.14	1329	11670.83	40.65	0.25	3.59	1.551	0.084	0.091	913.47	855.69	971.25	2180.50	2914.00	0	0	0	11.61	15.69	15.49
11684.48	1028	504.04	1.52	0.00	912.9	855.1	970.8	2180.5	2913.8	594.42	15.01	1341	11689.90	0.00	0.00	3.66	0.000	0.000	0.070	913.44	855.50	971.38	2180.38	1435.88	0	0	0	30.00	30.00	15.60
11994.53	0	504.04	1.52	0.00	910.5	851.8	969.2	2180.9	1436.0	543.96	17.23	1373	11995.86	0.00	0.00	0.00	0.000	0.000	0.000	910.50	851.88	969.12	2180.75	1436.06	0	0	0	30.00	30.00	30.00
12294.66	0	504.04	1.52	0.00	910.2	851.7	968.8	2181.4	1436.2	494.04	16.30	1403	12295.99	0.00	0.00	0.00	0.000	0.000	0.000	910.16	851.81	968.50	2180.31	1436.00	0	0	0	30.00	30.00	30.00
12594.72	260	504.04	1.52	80.00	910.0	851.7	968.4	2180.6	1436.5	443.33	16.95	1433	12600.07	0.00	0.00	3.67	0.000	0.000	0.081	910.56	852.06	969.06	2180.25	2914.94	0	0	0	30.00	30.00	15.70
12629.36	1156	504.04	1.56	0.00	909.5	851.6	967.4	2180.0	2914.9	438.17	14.46	1440	12635.42	0.00	0.00	3.62	0.000	0.000	0.067	910.16	852.00	968.31	2180.38	1436.44	0	0	0	30.00	30.00	15.73
12934.71	0	504.04	1.56	0.00	909.9	851.7	968.2	2180.9	1436.9	388.07	17.70	1471	12936.04	0.00	0.00	0.00	0.000	0.000	0.000	909.75	851.50	968.00	2180.44	1436.69	0	0	0	30.00	30.00	30.00
13234.83	260	504.04	1.56	80.00	910.0	851.6	968.3	2180.8	1436.8	337.34	16.77	1501	13240.19	0.00	0.00	3.63	0.000	0.000	0.078	910.25	851.88	968.62	2180.50	2915.44	0	0	0	30.00	30.00	15.73
13254.78	1028	504.04	1.56	0.00	909.6	851.5	967.8	2180.3	2914.8	334.18	16.71	1505	13260.19	0.00	0.00	3.59	0.000	0.000	0.064	909.72	851.75	967.69	2180.31	1436.12	0	0	0	30.00	30.00	15.78
13564.82	260	504.04	1.56	80.00	910.0	851.8	968.2	2180.4	1435.8	284.17	16.20	1537	13570.26	0.00	0.00	3.62	0.000	0.000	0.077	909.97	851.75	968.19	2181.00	2914.62	0	0	0	30.00	30.00	15.74
13584.84	1028	504.04	1.56	0.00	909.6	851.6	967.6	2180.1	2914.5	281.12	15.52	1541	13590.25	0.00	0.00	3.57	0.000	0.000	0.063	910.38	852.19	968.56	2180.12	1434.19	0	0	0	30.00	30.00	15.79
13894.89	0	504.04	1.56	0.00	910.0	851.6	968.4	2180.8	1435.1	230.82	16.81	1573	13896.22	0.00	0.00	0.00	0.000	0.000	0.000	909.69	851.56	967.81	2180.12	1434.38	0	0	0	30.00	30.00	30.00
14195.02	260	504.04	1.56	80.00	910.0	851.6	968.4	2180.6	1435.0	181.20	16.26	1603	14200.38	0.00	0.00	3.62	0.000	0.000	0.075	910.09	851.69	968.50	2180.94	2914.31	0	0	0	30.00	30.00	15.75
14214.97	1028	504.04	1.56	0.00	909.6	851.5	967.7	2180.2	2913.6	178.16	15.86	1607	14220.37	0.00	0.00	3.55	0.000	0.000	0.063	909.75	851.69	967.81	2180.56	1434.56	0	0	0	30.00	30.00	15.80
14525.00	260	504.04	1.56	80.00	910.0	851.6	968.5	2180.8	1435.0	127.59	16.63	1639	14530.44	0.00	0.00	3.62	0.000	0.000	0.073	910.41	851.88	968.94	2180.19	2914.25	0	0	0	30.00	30.00	15.75
14535.02	1028	504.04	1.56	0.00	909.8	851.6	968.1	2180.5	2913.8	126.00	16.86	1641	14540.42	0.00	0.00	3.53	0.000	0.000	0.061	910.38	852.00	968.75	2180.44	1434.69	0	0	0	30.00	30.00	15.79
14840.11	260	504.04	1.56	80.00	910.2	851.7	968.8	2180.5	1434.6	76.03	16.77	1686	14845.86	0.00	0.00	3.63	0.000	0.000	0.073	910.75	852.12	969.38	2180.94	2914.62	0	0	0	30.00	30.00	15.66
14855.11	1028	504.04	1.56	0.00	910.1	851.6	968.6	2180.9	2914.1	73.57	16.79	1689	14860.86	0.00	0.00	3.55	0.000	0.000	0.061	910.72	852.06	969.38	2180.00	1435.12	0	0	0	30.00	30.00	15.76
15040.14	0	504.04	1.56	0.00	910.4	851.6	969.2	2180.8	1434.8	43.72	16.75	1726	15041.47	0.00	0.00	0.00	0.000	0.000	0.000	910.06	851.38	968.75	2180.75	1435.19	0	0	0	30.00	30.00	30.00
15220.18	0	504.04	1.56	0.00	910.7	851.6	969.8	2180.3	1435.1	16.43	14.82	1762	15221.50	0.00	0.00	0.00	0.000	0.000	0.000	910.31	851.44	969.19	2180.62	1435.25	0	0	0	30.00	30.00	30.00
15320	end climb: SURFACE_DEPTH_REACHED
state	15320	begin surface coast
15330	end surface coast: CONTROL_FINISHED_OK
state	15330	begin surface