Glider dive log

EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 195 * 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 195 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 39.781097 SEABIRD_T_I 2.5361865e-05

USE_BATHY -6 PITCH_MAX 3950 FG_AHR_24V 129.07083 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 39.781097 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FG_AHR_24V 129.07083 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 195 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 100521,100534,4901.888,-1731.959,43,1.4,44,-5.9 TGT_LATLONG 4905.300,-1718.800

_CALLS 4 TGT_RADIUS 5000.000

_SM_DEPTHo 0.85 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -45.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 100521,101827,4901.893,-1731.930,4,0.9,6,-5.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.220,0.350 MHEAD_RNG_PITCHd_Wd 94.0,17129,-16.6,-12.692,-19.91

TGT_NAME A1_A2_T1 D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.3,1.026860 _10V_AH 15.00,0.000

SM_CCo 15728.83,0.00,0.000,0,497.5,456.9,538.1,606.01 FG_AHR_24Vo 129.456

SM_GC 0.81,0.00,12.77,1.11,0.000,0.050,0.027,497.5,456.9,538.1,180.1,2049.9,0,0,0,30.00,15.76,15.81 FG_AHR_10Vo 39.854

SUPER 27,71,254,1,0,0 MEM 1127128,23,49656,103

IRIDIUM_FIX 4900.11,-1730.05,100521,101205 DATA_FILE_SIZE 57630,1879

TCM_TEMP 15.19 CAP_FILE_SIZE 380892,0

XPDR_PINGS 1,13.0,11.5 SDSIZE 3918848,3855712

SC_FREEKB 3793440 SDFILEDIR 1221,1

HUMID 50.71 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 10.77 CURRENT 0.250, 5.2,1

INTERNAL_PRESSURE 8.63784 GPS 100521,144218,4903.789,-1727.240,36,2.1,76,-5.9

_24V_AH 14.30,84.508

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 906 2079 26970.78 nil 0 0 0.00

Pitch_motor 33 299 144.04 nil 0 0 0.00

Roll_motor 179 304 784.16 nil 0 0 0.00

Iridium 466 207 1380.74 nil 0 0 0.00

Transponder_ping 0 420 1.50 nil 0 0 0.00

GPS 14 15 3.35 nil 0 0 0.00

Core 5606 11 992.40 SciCon 15676 11 2672.13

LPSleep 10853 2 455.84 echo 0 0 0.00

Compass 2761 5 207.12 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

6.48 16386 -243.31 -1.12 0.00 608.9 564.8 653.0 177.2 1966.9 0.00 0.00 0 140.30 133.18 0.00 0.00 0.005 0.000 0.000 3226.97 3235.75 3218.19 177.25 1966.94 0 0 0 15.12 30.00 30.00

140.57 18983 -243.31 -1.12 -80.00 3226.1 3235.2 3217.1 177.2 1965.5 3.35 -2.04 26 181.78 20.02 11.84 3.89 0.006 0.300 0.129 3959.97 3944.06 3975.88 1528.88 535.75 0 0 0 15.27 15.28 15.05

394.34 1156 -243.31 -1.05 0.00 3961.1 3945.0 3977.2 1529.0 535.7 44.20 -18.15 77 400.06 0.00 0.00 3.48 0.000 0.000 0.034 3961.53 3945.12 3977.94 1528.62 2027.31 0 0 0 30.00 30.00 15.71

579.40 2177 -243.31 -1.00 0.00 3961.0 3944.9 3977.0 1528.9 2027.4 73.96 -15.41 114 580.86 0.00 0.20 0.00 0.000 0.172 0.000 3961.16 3944.88 3977.44 1559.31 2027.69 0 0 0 30.00 15.70 30.00

759.44 260 -243.31 -1.00 80.00 3961.3 3944.8 3977.8 1558.8 2027.4 98.42 -13.27 150 765.10 0.00 0.00 3.03 0.000 0.000 0.115 3961.97 3946.19 3977.75 1558.75 3185.75 0 0 0 30.00 30.00 15.59

794.13 1028 -243.31 -1.00 0.00 3961.0 3945.3 3976.7 1559.4 3186.1 103.06 -13.41 157 800.08 0.00 0.00 2.82 0.000 0.000 0.036 3961.28 3944.88 3977.69 1559.19 1974.62 0 0 0 30.00 30.00 15.69

1099.52 0 -243.31 -1.00 0.00 3961.0 3944.7 3977.2 1559.4 1974.9 144.47 -13.58 188 1100.85 0.00 0.00 0.00 0.000 0.000 0.000 3961.31 3945.31 3977.31 1559.38 1974.75 0 0 0 30.00 30.00 30.00

1399.62 292 -243.31 -1.00 80.00 3961.3 3945.0 3977.6 1559.1 1974.5 182.68 -12.52 218 1404.89 0.00 0.00 3.18 0.000 0.000 0.111 3961.03 3944.75 3977.31 1558.56 3187.06 0 0 0 30.00 30.00 15.62

1439.58 1060 -243.31 -1.00 0.00 3961.1 3944.8 3977.4 1559.2 3186.8 187.69 -12.33 226 1444.84 0.00 0.00 2.80 0.000 0.000 0.037 3961.41 3944.94 3977.88 1559.19 1973.38 0 0 0 30.00 30.00 15.84

1749.62 0 -243.31 -1.00 0.00 3961.5 3944.8 3978.2 1559.0 1972.7 227.27 -12.85 258 1750.95 0.00 0.00 0.00 0.000 0.000 0.000 3961.09 3945.31 3976.88 1559.00 1973.38 0 0 0 30.00 30.00 30.00

2049.72 0 -243.31 -1.00 0.00 3961.4 3944.6 3978.2 1558.8 1973.2 266.92 -13.32 288 2051.05 0.00 0.00 0.00 0.000 0.000 0.000 3961.03 3944.44 3977.62 1559.19 1973.44 0 0 0 30.00 30.00 30.00

2349.78 260 -243.31 -1.00 80.00 3961.2 3945.2 3977.1 1559.4 1973.9 306.59 -13.16 318 2355.07 0.00 0.00 3.19 0.000 0.000 0.112 3962.00 3946.12 3977.88 1559.25 3185.69 0 0 0 30.00 30.00 15.64

2389.72 1028 -243.31 -1.00 0.00 3960.9 3944.5 3977.3 1559.2 3186.1 311.75 -12.79 326 2394.99 0.00 0.00 2.80 0.000 0.000 0.037 3962.44 3945.81 3979.06 1558.81 1973.06 0 0 0 30.00 30.00 15.88

2699.79 0 -243.31 -1.00 0.00 3961.2 3944.4 3978.0 1558.9 1973.6 353.20 -13.47 358 2701.12 0.00 0.00 0.00 0.000 0.000 0.000 3960.88 3944.31 3977.44 1559.19 1973.44 0 0 0 30.00 30.00 30.00

2999.89 0 -243.31 -1.00 0.00 3961.1 3944.9 3977.2 1559.2 1973.9 393.15 -13.31 388 3001.22 0.00 0.00 0.00 0.000 0.000 0.000 3960.81 3944.94 3976.69 1559.19 1973.62 0 0 0 30.00 30.00 30.00

3299.94 260 -243.31 -1.00 80.00 3961.1 3944.1 3978.1 1559.1 1973.2 431.98 -12.81 418 3305.23 0.00 0.00 3.21 0.000 0.000 0.116 3961.19 3944.56 3977.81 1559.12 3186.06 0 0 0 30.00 30.00 15.63

3339.90 1060 -243.31 -1.00 0.00 3960.6 3944.6 3976.7 1559.1 3186.6 437.03 -12.54 426 3345.16 0.00 0.00 2.80 0.000 0.000 0.042 3960.75 3944.19 3977.31 1558.88 1976.06 0 0 0 30.00 30.00 15.89

3650.02 32 -243.31 -1.00 0.00 3960.5 3943.7 3977.4 1559.6 1975.6 474.10 -12.18 458 3651.35 0.00 0.00 0.00 0.000 0.000 0.000 3960.50 3943.31 3977.69 1559.38 1975.62 0 0 0 30.00 30.00 30.00

3950.05 32 -243.31 -1.00 0.00 3960.4 3943.1 3977.8 1559.5 1975.9 510.85 -12.14 488 3951.38 0.00 0.00 0.00 0.000 0.000 0.000 3960.81 3943.38 3978.25 1559.56 1976.06 0 0 0 30.00 30.00 30.00

4250.07 292 -243.31 -1.00 80.00 3960.0 3942.7 3977.2 1559.1 1975.4 547.34 -12.05 518 4255.35 0.00 0.00 3.23 0.000 0.000 0.123 3960.62 3942.88 3978.38 1558.94 3184.31 0 0 0 30.00 30.00 15.62

4284.69 1060 -243.31 -1.00 0.00 3960.5 3943.1 3977.8 1559.3 3184.4 551.29 -11.29 525 4290.68 0.00 0.00 2.83 0.000 0.000 0.048 3961.44 3944.38 3978.50 1559.06 1978.00 0 0 0 30.00 30.00 15.81

4590.10 32 -243.31 -1.00 0.00 3960.2 3942.6 3977.9 1559.1 1978.5 587.01 -11.56 556 4591.43 0.00 0.00 0.00 0.000 0.000 0.000 3959.16 3941.88 3976.44 1559.31 1978.25 0 0 0 30.00 30.00 30.00

4890.15 32 -243.31 -1.00 0.00 3959.6 3941.9 3977.2 1559.0 1977.9 621.56 -11.59 586 4891.48 0.00 0.00 0.00 0.000 0.000 0.000 3960.22 3942.94 3977.50 1558.81 1977.81 0 0 0 30.00 30.00 30.00

5190.15 292 -243.31 -1.00 80.00 3958.8 3940.8 3976.9 1559.3 1977.8 654.65 -10.35 616 5195.43 0.00 0.00 3.24 0.000 0.000 0.129 3960.00 3942.19 3977.81 1559.19 3185.12 0 0 0 30.00 30.00 15.60

5224.77 1060 -243.31 -1.00 0.00 3959.2 3942.1 3976.2 1559.2 3185.7 658.33 -10.52 623 5230.69 0.00 0.00 2.83 0.000 0.000 0.052 3959.56 3942.69 3976.44 1559.25 1979.06 0 0 0 30.00 30.00 15.88

5530.17 548 -243.31 -1.00 -80.00 3959.7 3941.6 3977.8 1559.1 1979.4 690.05 -10.45 654 5535.55 0.00 0.00 3.89 0.000 0.000 0.143 3959.34 3940.75 3977.94 1559.50 537.31 0 0 0 30.00 30.00 15.64

5590.13 1060 -243.31 -1.00 0.00 3959.3 3941.3 3977.4 1558.9 537.2 697.01 -11.50 666 5595.50 0.00 0.00 3.46 0.000 0.000 0.036 3959.75 3942.06 3977.44 1559.00 2020.62 0 0 0 30.00 30.00 15.91

5900.13 292 -243.31 -1.00 80.00 3959.6 3941.3 3977.9 1558.9 2020.4 728.93 -9.97 698 5905.46 0.00 0.00 3.18 0.000 0.000 0.139 3959.31 3941.19 3977.44 1559.31 3184.44 0 0 0 30.00 30.00 15.57

5940.17 1188 -243.31 -1.04 0.00 3959.0 3941.1 3976.9 1558.4 3184.5 733.03 -10.26 706 5945.41 0.00 0.00 2.84 0.000 0.000 0.054 3959.72 3941.69 3977.75 1558.88 1979.88 0 0 0 30.00 30.00 15.86

6250.22 548 -243.31 -1.04 -80.00 3958.8 3940.4 3977.1 1559.1 1980.1 765.12 -10.44 738 6255.62 0.00 0.00 3.94 0.000 0.000 0.149 3959.75 3941.25 3978.25 1559.12 535.94 0 0 0 30.00 30.00 15.60

6280.18 1060 -243.31 -1.04 0.00 3958.9 3940.2 3977.7 1559.4 536.2 768.55 -11.17 744 6285.56 0.00 0.00 3.47 0.000 0.000 0.037 3959.84 3941.06 3978.62 1558.62 2019.31 0 0 0 30.00 30.00 15.91

6590.19 292 -243.31 -1.04 80.00 3958.5 3939.9 3977.1 1558.8 2019.4 802.78 -11.13 776 6595.52 0.00 0.00 3.17 0.000 0.000 0.141 3958.28 3939.88 3976.69 1558.75 3183.00 0 0 0 30.00 30.00 15.55

6634.89 1188 -243.31 -1.07 0.00 3959.0 3940.2 3977.7 1559.1 3182.9 807.58 -10.44 785 6640.81 0.00 0.00 2.85 0.000 0.000 0.056 3958.97 3939.81 3978.12 1558.50 1981.25 0 0 0 30.00 30.00 15.86

6940.28 548 -243.31 -1.07 -80.00 3958.2 3939.5 3976.9 1559.0 1982.6 837.02 -9.33 816 6945.68 0.00 0.00 3.98 0.000 0.000 0.152 3958.78 3939.38 3978.19 1558.94 536.62 0 0 0 30.00 30.00 15.59

6990.24 1060 -243.31 -1.07 0.00 3957.8 3938.7 3976.8 1559.0 536.9 842.21 -10.41 826 6995.60 0.00 0.00 3.50 0.000 0.000 0.040 3958.88 3939.62 3978.12 1558.69 2018.31 0 0 0 30.00 30.00 15.90

7300.27 32 -243.31 -1.07 0.00 3957.5 3937.9 3977.1 1558.5 2017.7 871.18 -9.19 858 7301.60 0.00 0.00 0.00 0.000 0.000 0.000 3956.78 3937.62 3975.94 1558.81 2017.81 0 0 0 30.00 30.00 30.00

7600.38 548 -243.31 -1.07 -80.00 3957.4 3937.4 3977.4 1559.1 2017.9 900.11 -10.04 888 7605.81 0.00 0.00 4.14 0.000 0.000 0.147 3958.00 3937.62 3978.38 1559.00 537.50 0 0 0 30.00 30.00 15.57

7635.02 1060 -243.31 -1.07 0.00 3956.9 3936.3 3977.4 1559.2 537.7 904.10 -11.41 895 7641.03 0.00 0.00 3.49 0.000 0.000 0.042 3956.75 3936.38 3977.12 1559.06 2018.38 0 0 0 30.00 30.00 15.88

7940.39 4257 -243.31 -1.10 0.00 3956.9 3936.1 3977.6 1559.2 2018.8 935.96 -10.17 926 7941.86 0.00 0.27 0.00 0.000 0.080 0.000 3957.12 3936.12 3978.12 1517.12 2019.00 0 0 0 30.00 15.86 30.00

8240.44 128 -243.31 -1.07 0.00 3955.9 3935.5 3976.2 1517.6 2019.2 976.81 -13.56 956 8241.77 0.00 0.00 0.00 0.000 0.000 0.000 3955.66 3934.75 3976.56 1517.12 2019.06 0 0 0 30.00 30.00 30.00

8340 end dive: TARGET_DEPTH_EXCEEDED

state 8340 begin apogee

8343.40 10243 0.00 -0.23 0.00 3956.0 3935.7 3976.3 1517.1 1438.0 990.56 -13.57 966 8554.98 207.53 1.74 0.05 2.080 0.156 0.305 2967.34 2923.44 3011.25 1746.50 1480.19 0 0 0 10.68 15.69 15.03

8556 end apogee: CONTROL_FINISHED_OK

state 8556 begin climb

8556.41 10759 243.31 1.12 -80.00 2966.4 2922.4 3010.4 1746.2 1480.2 997.93 0.00 987 8780.66 215.90 2.30 3.07 2.025 0.105 0.176 1975.41 1929.06 2021.75 2074.56 459.06 0 0 0 11.91 15.15 14.94

9002.86 17542 243.31 1.08 0.00 1966.6 1923.5 2009.7 2074.6 458.8 956.21 13.38 1076 9008.64 0.00 0.00 2.38 0.000 0.000 0.029 1967.38 1924.25 2010.50 2074.56 1488.38 0 0 0 30.00 30.00 15.52

9308.21 8226 296.06 1.16 0.00 1965.1 1921.1 2009.1 2074.3 1488.4 922.76 10.82 1107 9359.16 48.69 0.00 0.00 1.895 0.000 0.000 1760.84 1710.94 1810.75 2074.25 1488.56 0 0 0 11.63 30.00 30.00

9658.25 10919 367.06 1.31 -80.00 1753.4 1702.3 1804.4 2074.6 1488.4 886.53 10.18 1142 9730.38 66.14 0.26 3.01 1.883 0.074 0.163 1471.97 1416.38 1527.56 2129.19 458.88 0 0 0 11.60 15.62 15.28

9748.21 1028 367.06 1.31 0.00 1469.4 1415.6 1523.2 2129.3 459.1 874.67 15.51 1159 9753.35 0.00 0.00 2.40 0.000 0.000 0.029 1470.00 1415.94 1524.06 2129.12 1489.81 0 0 0 30.00 30.00 15.41

10058.27 0 367.06 1.31 0.00 1465.0 1408.6 1521.4 2129.7 1490.8 833.79 13.22 1191 10059.60 0.00 0.00 0.00 0.000 0.000 0.000 1464.66 1408.38 1520.94 2129.12 1490.69 0 0 0 30.00 30.00 30.00

10358.38 516 367.06 1.31 -80.00 1464.1 1407.5 1520.8 2129.6 1490.4 793.30 13.69 1221 10363.61 0.00 0.00 2.94 0.000 0.000 0.156 1464.88 1408.38 1521.38 2128.38 458.00 0 0 0 30.00 30.00 15.59

10418.36 21639 367.06 1.26 0.00 1462.9 1406.9 1518.9 2129.6 458.1 783.58 16.75 1233 10423.62 0.00 0.31 2.35 0.000 0.202 0.030 1463.16 1407.62 1518.69 2100.19 1500.06 0 0 0 30.00 15.58 15.74

10728.46 10663 449.32 1.45 80.00 1462.6 1406.4 1518.8 2099.6 1501.9 751.06 9.78 1265 10810.74 74.71 0.39 3.69 1.776 0.066 0.098 1135.88 1075.00 1196.75 2163.94 2912.38 0 0 0 11.42 15.76 15.36

10813.14 1028 449.32 1.45 0.00 1135.6 1074.8 1196.4 2163.2 2911.5 739.03 15.17 1277 10819.16 0.00 0.00 3.71 0.000 0.000 0.076 1135.25 1074.44 1196.06 2164.19 1437.19 0 0 0 30.00 30.00 15.49

11118.42 516 449.32 1.45 -80.00 1132.1 1070.0 1194.2 2163.7 1437.5 691.07 15.91 1308 11123.69 0.00 0.00 2.77 0.000 0.000 0.154 1131.94 1070.12 1193.75 2163.56 459.19 0 0 0 30.00 30.00 15.54

11148.44 1156 449.32 1.40 0.00 1131.5 1070.0 1193.0 2163.8 458.9 685.53 18.65 1314 11153.56 0.00 0.00 2.36 0.000 0.000 0.027 1132.12 1070.50 1193.75 2164.31 1511.56 0 0 0 30.00 30.00 15.66

11458.51 516 449.32 1.40 -80.00 1130.8 1069.2 1192.4 2163.3 1513.2 636.65 15.32 1346 11463.79 0.00 0.00 2.95 0.000 0.000 0.147 1131.44 1069.38 1193.50 2163.50 459.00 0 0 0 30.00 30.00 15.59

11488.51 5253 449.32 1.37 0.00 1130.4 1069.0 1191.8 2163.9 459.0 631.44 17.91 1352 11493.78 0.00 0.34 2.34 0.000 0.190 0.029 1130.16 1068.94 1191.38 2125.62 1518.75 0 0 0 30.00 15.60 15.74

11798.63 10403 503.01 1.52 0.00 1129.4 1067.7 1191.1 2125.8 1519.1 596.80 10.79 1384 11849.67 48.22 0.32 0.00 1.593 0.066 0.000 917.88 857.38 978.38 2181.19 1519.44 0 0 0 11.33 15.76 30.00

12148.65 516 503.01 1.52 -80.00 913.7 852.1 975.4 2180.2 1519.4 540.74 16.72 1419 12153.89 0.00 0.00 2.96 0.000 0.000 0.145 913.84 852.25 975.44 2181.06 456.56 0 0 0 30.00 30.00 15.58

12233.30 5253 503.01 1.46 0.00 913.1 851.8 974.4 2181.2 457.0 524.19 20.35 1436 12239.21 0.00 0.28 2.36 0.000 0.189 0.030 913.69 852.19 975.19 2150.06 1515.19 0 0 0 30.00 15.58 15.72

12538.74 10919 552.68 1.60 -80.00 913.1 851.8 974.4 2149.8 1515.6 486.76 10.93 1467 12590.20 44.42 0.30 2.95 1.450 0.072 0.145 715.12 663.69 766.56 2200.00 459.19 0 0 0 11.52 15.74 15.48

12613.36 1156 552.68 1.55 0.00 714.0 662.9 765.0 2200.2 459.2 474.83 18.55 1482 12619.12 0.00 0.00 2.38 0.000 0.000 0.031 714.06 662.69 765.44 2199.69 1519.75 0 0 0 30.00 30.00 15.58

12918.72 516 552.68 1.55 -80.00 712.2 659.4 764.9 2200.1 1519.7 422.81 16.58 1513 12924.01 0.00 0.00 2.93 0.000 0.000 0.138 712.38 659.38 765.38 2199.31 458.12 0 0 0 30.00 30.00 15.60

12953.41 5253 552.68 1.50 0.00 712.0 659.2 764.8 2199.8 457.8 416.07 19.81 1520 12959.35 0.00 0.35 2.35 0.000 0.187 0.030 711.72 658.75 764.69 2159.50 1523.06 0 0 0 30.00 15.59 15.72

13258.79 10919 579.01 1.61 -80.00 711.2 657.5 764.9 2158.7 1523.1 377.89 11.76 1551 13289.97 24.01 0.26 2.93 1.275 0.072 0.141 608.06 562.19 653.94 2206.19 456.88 0 0 0 11.47 15.75 15.54

13313.46 5253 579.01 1.58 0.00 607.3 561.2 653.4 2206.3 456.9 368.55 19.52 1562 13319.38 0.00 0.27 2.35 0.000 0.189 0.032 607.41 561.12 653.69 2176.94 1522.12 0 0 0 30.00 15.59 15.71

13618.91 644 579.01 1.63 -80.00 605.9 558.4 653.4 2176.8 1522.0 324.40 13.77 1593 13624.12 0.00 0.00 2.93 0.000 0.000 0.140 606.22 558.56 653.88 2176.62 457.75 0 0 0 30.00 30.00 15.62

13663.51 1028 579.01 1.63 0.00 605.9 558.8 653.1 2177.6 457.9 317.06 17.45 1602 13669.29 0.00 0.00 2.35 0.000 0.000 0.032 606.09 558.44 653.75 2175.94 1516.56 0 0 0 30.00 30.00 15.69

13968.91 2693 579.01 1.69 -80.00 605.3 557.4 653.2 2177.2 1516.4 273.41 14.12 1633 13974.26 0.00 0.25 2.91 0.000 0.074 0.140 605.28 557.44 653.12 2221.19 457.12 0 0 0 30.00 15.77 15.64

13993.56 1028 579.01 1.69 0.00 605.5 557.6 653.4 2221.6 457.0 268.94 17.88 1638 13999.35 0.00 0.00 2.34 0.000 0.000 0.032 605.50 557.62 653.38 2221.62 1520.50 0 0 0 30.00 30.00 15.64

14298.96 516 579.01 1.69 -80.00 605.4 557.4 653.3 2221.7 1520.8 208.46 19.62 1669 14304.22 0.00 0.00 2.89 0.000 0.000 0.135 605.50 557.31 653.69 2220.75 457.94 0 0 0 30.00 30.00 15.67

14353.64 5253 579.01 1.61 0.00 605.5 557.7 653.2 2221.6 458.2 195.87 23.88 1680 14359.58 0.00 0.32 2.34 0.000 0.196 0.031 605.47 557.56 653.38 2184.38 1525.56 0 0 0 30.00 15.66 15.67

14659.08 644 579.01 1.66 -80.00 605.2 557.0 653.4 2184.7 1525.5 151.98 13.14 1711 14664.29 0.00 0.00 2.92 0.000 0.000 0.138 605.53 557.00 654.06 2182.38 457.62 0 0 0 30.00 30.00 15.66

14699.00 1028 579.01 1.66 0.00 605.2 556.9 653.4 2184.9 458.2 145.90 16.06 1719 14704.13 0.00 0.00 2.32 0.000 0.000 0.032 605.59 557.19 654.00 2184.19 1514.88 0 0 0 30.00 30.00 15.78

15009.04 2693 579.01 1.71 -80.00 605.2 556.8 653.6 2184.1 1514.1 104.44 13.08 1751 15014.38 0.00 0.25 2.90 0.000 0.075 0.140 605.47 556.88 654.06 2225.75 458.00 0 0 0 30.00 15.76 15.66

15033.69 1028 579.01 1.71 0.00 605.3 557.1 653.6 2227.5 458.0 100.16 17.10 1756 15039.47 0.00 0.00 2.33 0.000 0.000 0.032 605.44 557.06 653.81 2227.25 1517.56 0 0 0 30.00 30.00 15.67

15339.07 516 579.01 1.71 -80.00 605.4 556.9 653.8 2227.3 1517.8 45.98 16.39 1817 15344.68 0.00 0.00 2.90 0.000 0.000 0.138 605.34 556.75 653.94 2226.94 458.06 0 0 0 30.00 30.00 15.65

15374.09 5253 579.01 1.66 0.00 605.5 557.2 653.8 2226.8 458.1 38.64 21.64 1824 15379.67 0.00 0.27 2.32 0.000 0.193 0.030 605.72 557.44 654.00 2196.19 1527.56 0 0 0 30.00 15.67 15.63

15559.11 10919 616.01 1.77 -80.00 605.4 556.4 654.4 2196.2 1528.0 10.98 11.38 1861 15590.30 23.99 0.28 2.93 0.896 0.071 0.144 499.97 461.19 538.75 2240.31 457.94 0 0 0 11.33 15.71 15.59

15599.11 9222 616.01 1.77 0.00 499.1 459.9 538.3 2242.1 457.8 6.17 12.71 1869 15604.55 0.00 0.00 2.31 0.000 0.000 0.031 499.25 459.75 538.75 2241.88 1511.50 0 0 0 30.00 30.00 15.72

15634 end climb: SURFACE_DEPTH_REACHED

state 15634 begin surface coast

15649 end surface coast: CONTROL_FINISHED_OK

state 15649 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	195	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	39.781097	SEABIRD_T_I	2.5361865e-05
USE_BATHY	-6	PITCH_MAX	3950	FG_AHR_24V	129.07083	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	100521,100534,4901.888,-1731.959,43,1.4,44,-5.9	TGT_LATLONG	4905.300,-1718.800
_CALLS	4	TGT_RADIUS	5000.000
_SM_DEPTHo	0.85	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-45.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	100521,101827,4901.893,-1731.930,4,0.9,6,-5.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.220,0.350	MHEAD_RNG_PITCHd_Wd	94.0,17129,-16.6,-12.692,-19.91
TGT_NAME	A1_A2_T1	D_GRID	1000

FINISH	-0.3,1.026860	_10V_AH	15.00,0.000
SM_CCo	15728.83,0.00,0.000,0,497.5,456.9,538.1,606.01	FG_AHR_24Vo	129.456
SM_GC	0.81,0.00,12.77,1.11,0.000,0.050,0.027,497.5,456.9,538.1,180.1,2049.9,0,0,0,30.00,15.76,15.81	FG_AHR_10Vo	39.854
SUPER	27,71,254,1,0,0	MEM	1127128,23,49656,103
IRIDIUM_FIX	4900.11,-1730.05,100521,101205	DATA_FILE_SIZE	57630,1879
TCM_TEMP	15.19	CAP_FILE_SIZE	380892,0
XPDR_PINGS	1,13.0,11.5	SDSIZE	3918848,3855712
SC_FREEKB	3793440	SDFILEDIR	1221,1
HUMID	50.71	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	10.77	CURRENT	0.250, 5.2,1
INTERNAL_PRESSURE	8.63784	GPS	100521,144218,4903.789,-1727.240,36,2.1,76,-5.9
_24V_AH	14.30,84.508

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	906	2079	26970.78	nil	0	0	0.00
Pitch_motor	33	299	144.04	nil	0	0	0.00
Roll_motor	179	304	784.16	nil	0	0	0.00
Iridium	466	207	1380.74	nil	0	0	0.00
Transponder_ping	0	420	1.50	nil	0	0	0.00
GPS	14	15	3.35	nil	0	0	0.00
Core	5606	11	992.40	SciCon	15676	11	2672.13
LPSleep	10853	2	455.84	echo	0	0	0.00
Compass	2761	5	207.12	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
6.48	16386	-243.31	-1.12	0.00	608.9	564.8	653.0	177.2	1966.9	0.00	0.00	0	140.30	133.18	0.00	0.00	0.005	0.000	0.000	3226.97	3235.75	3218.19	177.25	1966.94	0	0	0	15.12	30.00	30.00
140.57	18983	-243.31	-1.12	-80.00	3226.1	3235.2	3217.1	177.2	1965.5	3.35	-2.04	26	181.78	20.02	11.84	3.89	0.006	0.300	0.129	3959.97	3944.06	3975.88	1528.88	535.75	0	0	0	15.27	15.28	15.05
394.34	1156	-243.31	-1.05	0.00	3961.1	3945.0	3977.2	1529.0	535.7	44.20	-18.15	77	400.06	0.00	0.00	3.48	0.000	0.000	0.034	3961.53	3945.12	3977.94	1528.62	2027.31	0	0	0	30.00	30.00	15.71
579.40	2177	-243.31	-1.00	0.00	3961.0	3944.9	3977.0	1528.9	2027.4	73.96	-15.41	114	580.86	0.00	0.20	0.00	0.000	0.172	0.000	3961.16	3944.88	3977.44	1559.31	2027.69	0	0	0	30.00	15.70	30.00
759.44	260	-243.31	-1.00	80.00	3961.3	3944.8	3977.8	1558.8	2027.4	98.42	-13.27	150	765.10	0.00	0.00	3.03	0.000	0.000	0.115	3961.97	3946.19	3977.75	1558.75	3185.75	0	0	0	30.00	30.00	15.59
794.13	1028	-243.31	-1.00	0.00	3961.0	3945.3	3976.7	1559.4	3186.1	103.06	-13.41	157	800.08	0.00	0.00	2.82	0.000	0.000	0.036	3961.28	3944.88	3977.69	1559.19	1974.62	0	0	0	30.00	30.00	15.69
1099.52	0	-243.31	-1.00	0.00	3961.0	3944.7	3977.2	1559.4	1974.9	144.47	-13.58	188	1100.85	0.00	0.00	0.00	0.000	0.000	0.000	3961.31	3945.31	3977.31	1559.38	1974.75	0	0	0	30.00	30.00	30.00
1399.62	292	-243.31	-1.00	80.00	3961.3	3945.0	3977.6	1559.1	1974.5	182.68	-12.52	218	1404.89	0.00	0.00	3.18	0.000	0.000	0.111	3961.03	3944.75	3977.31	1558.56	3187.06	0	0	0	30.00	30.00	15.62
1439.58	1060	-243.31	-1.00	0.00	3961.1	3944.8	3977.4	1559.2	3186.8	187.69	-12.33	226	1444.84	0.00	0.00	2.80	0.000	0.000	0.037	3961.41	3944.94	3977.88	1559.19	1973.38	0	0	0	30.00	30.00	15.84
1749.62	0	-243.31	-1.00	0.00	3961.5	3944.8	3978.2	1559.0	1972.7	227.27	-12.85	258	1750.95	0.00	0.00	0.00	0.000	0.000	0.000	3961.09	3945.31	3976.88	1559.00	1973.38	0	0	0	30.00	30.00	30.00
2049.72	0	-243.31	-1.00	0.00	3961.4	3944.6	3978.2	1558.8	1973.2	266.92	-13.32	288	2051.05	0.00	0.00	0.00	0.000	0.000	0.000	3961.03	3944.44	3977.62	1559.19	1973.44	0	0	0	30.00	30.00	30.00
2349.78	260	-243.31	-1.00	80.00	3961.2	3945.2	3977.1	1559.4	1973.9	306.59	-13.16	318	2355.07	0.00	0.00	3.19	0.000	0.000	0.112	3962.00	3946.12	3977.88	1559.25	3185.69	0	0	0	30.00	30.00	15.64
2389.72	1028	-243.31	-1.00	0.00	3960.9	3944.5	3977.3	1559.2	3186.1	311.75	-12.79	326	2394.99	0.00	0.00	2.80	0.000	0.000	0.037	3962.44	3945.81	3979.06	1558.81	1973.06	0	0	0	30.00	30.00	15.88
2699.79	0	-243.31	-1.00	0.00	3961.2	3944.4	3978.0	1558.9	1973.6	353.20	-13.47	358	2701.12	0.00	0.00	0.00	0.000	0.000	0.000	3960.88	3944.31	3977.44	1559.19	1973.44	0	0	0	30.00	30.00	30.00
2999.89	0	-243.31	-1.00	0.00	3961.1	3944.9	3977.2	1559.2	1973.9	393.15	-13.31	388	3001.22	0.00	0.00	0.00	0.000	0.000	0.000	3960.81	3944.94	3976.69	1559.19	1973.62	0	0	0	30.00	30.00	30.00
3299.94	260	-243.31	-1.00	80.00	3961.1	3944.1	3978.1	1559.1	1973.2	431.98	-12.81	418	3305.23	0.00	0.00	3.21	0.000	0.000	0.116	3961.19	3944.56	3977.81	1559.12	3186.06	0	0	0	30.00	30.00	15.63
3339.90	1060	-243.31	-1.00	0.00	3960.6	3944.6	3976.7	1559.1	3186.6	437.03	-12.54	426	3345.16	0.00	0.00	2.80	0.000	0.000	0.042	3960.75	3944.19	3977.31	1558.88	1976.06	0	0	0	30.00	30.00	15.89
3650.02	32	-243.31	-1.00	0.00	3960.5	3943.7	3977.4	1559.6	1975.6	474.10	-12.18	458	3651.35	0.00	0.00	0.00	0.000	0.000	0.000	3960.50	3943.31	3977.69	1559.38	1975.62	0	0	0	30.00	30.00	30.00
3950.05	32	-243.31	-1.00	0.00	3960.4	3943.1	3977.8	1559.5	1975.9	510.85	-12.14	488	3951.38	0.00	0.00	0.00	0.000	0.000	0.000	3960.81	3943.38	3978.25	1559.56	1976.06	0	0	0	30.00	30.00	30.00
4250.07	292	-243.31	-1.00	80.00	3960.0	3942.7	3977.2	1559.1	1975.4	547.34	-12.05	518	4255.35	0.00	0.00	3.23	0.000	0.000	0.123	3960.62	3942.88	3978.38	1558.94	3184.31	0	0	0	30.00	30.00	15.62
4284.69	1060	-243.31	-1.00	0.00	3960.5	3943.1	3977.8	1559.3	3184.4	551.29	-11.29	525	4290.68	0.00	0.00	2.83	0.000	0.000	0.048	3961.44	3944.38	3978.50	1559.06	1978.00	0	0	0	30.00	30.00	15.81
4590.10	32	-243.31	-1.00	0.00	3960.2	3942.6	3977.9	1559.1	1978.5	587.01	-11.56	556	4591.43	0.00	0.00	0.00	0.000	0.000	0.000	3959.16	3941.88	3976.44	1559.31	1978.25	0	0	0	30.00	30.00	30.00
4890.15	32	-243.31	-1.00	0.00	3959.6	3941.9	3977.2	1559.0	1977.9	621.56	-11.59	586	4891.48	0.00	0.00	0.00	0.000	0.000	0.000	3960.22	3942.94	3977.50	1558.81	1977.81	0	0	0	30.00	30.00	30.00
5190.15	292	-243.31	-1.00	80.00	3958.8	3940.8	3976.9	1559.3	1977.8	654.65	-10.35	616	5195.43	0.00	0.00	3.24	0.000	0.000	0.129	3960.00	3942.19	3977.81	1559.19	3185.12	0	0	0	30.00	30.00	15.60
5224.77	1060	-243.31	-1.00	0.00	3959.2	3942.1	3976.2	1559.2	3185.7	658.33	-10.52	623	5230.69	0.00	0.00	2.83	0.000	0.000	0.052	3959.56	3942.69	3976.44	1559.25	1979.06	0	0	0	30.00	30.00	15.88
5530.17	548	-243.31	-1.00	-80.00	3959.7	3941.6	3977.8	1559.1	1979.4	690.05	-10.45	654	5535.55	0.00	0.00	3.89	0.000	0.000	0.143	3959.34	3940.75	3977.94	1559.50	537.31	0	0	0	30.00	30.00	15.64
5590.13	1060	-243.31	-1.00	0.00	3959.3	3941.3	3977.4	1558.9	537.2	697.01	-11.50	666	5595.50	0.00	0.00	3.46	0.000	0.000	0.036	3959.75	3942.06	3977.44	1559.00	2020.62	0	0	0	30.00	30.00	15.91
5900.13	292	-243.31	-1.00	80.00	3959.6	3941.3	3977.9	1558.9	2020.4	728.93	-9.97	698	5905.46	0.00	0.00	3.18	0.000	0.000	0.139	3959.31	3941.19	3977.44	1559.31	3184.44	0	0	0	30.00	30.00	15.57
5940.17	1188	-243.31	-1.04	0.00	3959.0	3941.1	3976.9	1558.4	3184.5	733.03	-10.26	706	5945.41	0.00	0.00	2.84	0.000	0.000	0.054	3959.72	3941.69	3977.75	1558.88	1979.88	0	0	0	30.00	30.00	15.86
6250.22	548	-243.31	-1.04	-80.00	3958.8	3940.4	3977.1	1559.1	1980.1	765.12	-10.44	738	6255.62	0.00	0.00	3.94	0.000	0.000	0.149	3959.75	3941.25	3978.25	1559.12	535.94	0	0	0	30.00	30.00	15.60
6280.18	1060	-243.31	-1.04	0.00	3958.9	3940.2	3977.7	1559.4	536.2	768.55	-11.17	744	6285.56	0.00	0.00	3.47	0.000	0.000	0.037	3959.84	3941.06	3978.62	1558.62	2019.31	0	0	0	30.00	30.00	15.91
6590.19	292	-243.31	-1.04	80.00	3958.5	3939.9	3977.1	1558.8	2019.4	802.78	-11.13	776	6595.52	0.00	0.00	3.17	0.000	0.000	0.141	3958.28	3939.88	3976.69	1558.75	3183.00	0	0	0	30.00	30.00	15.55
6634.89	1188	-243.31	-1.07	0.00	3959.0	3940.2	3977.7	1559.1	3182.9	807.58	-10.44	785	6640.81	0.00	0.00	2.85	0.000	0.000	0.056	3958.97	3939.81	3978.12	1558.50	1981.25	0	0	0	30.00	30.00	15.86
6940.28	548	-243.31	-1.07	-80.00	3958.2	3939.5	3976.9	1559.0	1982.6	837.02	-9.33	816	6945.68	0.00	0.00	3.98	0.000	0.000	0.152	3958.78	3939.38	3978.19	1558.94	536.62	0	0	0	30.00	30.00	15.59
6990.24	1060	-243.31	-1.07	0.00	3957.8	3938.7	3976.8	1559.0	536.9	842.21	-10.41	826	6995.60	0.00	0.00	3.50	0.000	0.000	0.040	3958.88	3939.62	3978.12	1558.69	2018.31	0	0	0	30.00	30.00	15.90
7300.27	32	-243.31	-1.07	0.00	3957.5	3937.9	3977.1	1558.5	2017.7	871.18	-9.19	858	7301.60	0.00	0.00	0.00	0.000	0.000	0.000	3956.78	3937.62	3975.94	1558.81	2017.81	0	0	0	30.00	30.00	30.00
7600.38	548	-243.31	-1.07	-80.00	3957.4	3937.4	3977.4	1559.1	2017.9	900.11	-10.04	888	7605.81	0.00	0.00	4.14	0.000	0.000	0.147	3958.00	3937.62	3978.38	1559.00	537.50	0	0	0	30.00	30.00	15.57
7635.02	1060	-243.31	-1.07	0.00	3956.9	3936.3	3977.4	1559.2	537.7	904.10	-11.41	895	7641.03	0.00	0.00	3.49	0.000	0.000	0.042	3956.75	3936.38	3977.12	1559.06	2018.38	0	0	0	30.00	30.00	15.88
7940.39	4257	-243.31	-1.10	0.00	3956.9	3936.1	3977.6	1559.2	2018.8	935.96	-10.17	926	7941.86	0.00	0.27	0.00	0.000	0.080	0.000	3957.12	3936.12	3978.12	1517.12	2019.00	0	0	0	30.00	15.86	30.00
8240.44	128	-243.31	-1.07	0.00	3955.9	3935.5	3976.2	1517.6	2019.2	976.81	-13.56	956	8241.77	0.00	0.00	0.00	0.000	0.000	0.000	3955.66	3934.75	3976.56	1517.12	2019.06	0	0	0	30.00	30.00	30.00
8340	end dive: TARGET_DEPTH_EXCEEDED
state	8340	begin apogee
8343.40	10243	0.00	-0.23	0.00	3956.0	3935.7	3976.3	1517.1	1438.0	990.56	-13.57	966	8554.98	207.53	1.74	0.05	2.080	0.156	0.305	2967.34	2923.44	3011.25	1746.50	1480.19	0	0	0	10.68	15.69	15.03
8556	end apogee: CONTROL_FINISHED_OK
state	8556	begin climb
8556.41	10759	243.31	1.12	-80.00	2966.4	2922.4	3010.4	1746.2	1480.2	997.93	0.00	987	8780.66	215.90	2.30	3.07	2.025	0.105	0.176	1975.41	1929.06	2021.75	2074.56	459.06	0	0	0	11.91	15.15	14.94
9002.86	17542	243.31	1.08	0.00	1966.6	1923.5	2009.7	2074.6	458.8	956.21	13.38	1076	9008.64	0.00	0.00	2.38	0.000	0.000	0.029	1967.38	1924.25	2010.50	2074.56	1488.38	0	0	0	30.00	30.00	15.52
9308.21	8226	296.06	1.16	0.00	1965.1	1921.1	2009.1	2074.3	1488.4	922.76	10.82	1107	9359.16	48.69	0.00	0.00	1.895	0.000	0.000	1760.84	1710.94	1810.75	2074.25	1488.56	0	0	0	11.63	30.00	30.00
9658.25	10919	367.06	1.31	-80.00	1753.4	1702.3	1804.4	2074.6	1488.4	886.53	10.18	1142	9730.38	66.14	0.26	3.01	1.883	0.074	0.163	1471.97	1416.38	1527.56	2129.19	458.88	0	0	0	11.60	15.62	15.28
9748.21	1028	367.06	1.31	0.00	1469.4	1415.6	1523.2	2129.3	459.1	874.67	15.51	1159	9753.35	0.00	0.00	2.40	0.000	0.000	0.029	1470.00	1415.94	1524.06	2129.12	1489.81	0	0	0	30.00	30.00	15.41
10058.27	0	367.06	1.31	0.00	1465.0	1408.6	1521.4	2129.7	1490.8	833.79	13.22	1191	10059.60	0.00	0.00	0.00	0.000	0.000	0.000	1464.66	1408.38	1520.94	2129.12	1490.69	0	0	0	30.00	30.00	30.00
10358.38	516	367.06	1.31	-80.00	1464.1	1407.5	1520.8	2129.6	1490.4	793.30	13.69	1221	10363.61	0.00	0.00	2.94	0.000	0.000	0.156	1464.88	1408.38	1521.38	2128.38	458.00	0	0	0	30.00	30.00	15.59
10418.36	21639	367.06	1.26	0.00	1462.9	1406.9	1518.9	2129.6	458.1	783.58	16.75	1233	10423.62	0.00	0.31	2.35	0.000	0.202	0.030	1463.16	1407.62	1518.69	2100.19	1500.06	0	0	0	30.00	15.58	15.74
10728.46	10663	449.32	1.45	80.00	1462.6	1406.4	1518.8	2099.6	1501.9	751.06	9.78	1265	10810.74	74.71	0.39	3.69	1.776	0.066	0.098	1135.88	1075.00	1196.75	2163.94	2912.38	0	0	0	11.42	15.76	15.36
10813.14	1028	449.32	1.45	0.00	1135.6	1074.8	1196.4	2163.2	2911.5	739.03	15.17	1277	10819.16	0.00	0.00	3.71	0.000	0.000	0.076	1135.25	1074.44	1196.06	2164.19	1437.19	0	0	0	30.00	30.00	15.49
11118.42	516	449.32	1.45	-80.00	1132.1	1070.0	1194.2	2163.7	1437.5	691.07	15.91	1308	11123.69	0.00	0.00	2.77	0.000	0.000	0.154	1131.94	1070.12	1193.75	2163.56	459.19	0	0	0	30.00	30.00	15.54
11148.44	1156	449.32	1.40	0.00	1131.5	1070.0	1193.0	2163.8	458.9	685.53	18.65	1314	11153.56	0.00	0.00	2.36	0.000	0.000	0.027	1132.12	1070.50	1193.75	2164.31	1511.56	0	0	0	30.00	30.00	15.66
11458.51	516	449.32	1.40	-80.00	1130.8	1069.2	1192.4	2163.3	1513.2	636.65	15.32	1346	11463.79	0.00	0.00	2.95	0.000	0.000	0.147	1131.44	1069.38	1193.50	2163.50	459.00	0	0	0	30.00	30.00	15.59
11488.51	5253	449.32	1.37	0.00	1130.4	1069.0	1191.8	2163.9	459.0	631.44	17.91	1352	11493.78	0.00	0.34	2.34	0.000	0.190	0.029	1130.16	1068.94	1191.38	2125.62	1518.75	0	0	0	30.00	15.60	15.74
11798.63	10403	503.01	1.52	0.00	1129.4	1067.7	1191.1	2125.8	1519.1	596.80	10.79	1384	11849.67	48.22	0.32	0.00	1.593	0.066	0.000	917.88	857.38	978.38	2181.19	1519.44	0	0	0	11.33	15.76	30.00
12148.65	516	503.01	1.52	-80.00	913.7	852.1	975.4	2180.2	1519.4	540.74	16.72	1419	12153.89	0.00	0.00	2.96	0.000	0.000	0.145	913.84	852.25	975.44	2181.06	456.56	0	0	0	30.00	30.00	15.58
12233.30	5253	503.01	1.46	0.00	913.1	851.8	974.4	2181.2	457.0	524.19	20.35	1436	12239.21	0.00	0.28	2.36	0.000	0.189	0.030	913.69	852.19	975.19	2150.06	1515.19	0	0	0	30.00	15.58	15.72
12538.74	10919	552.68	1.60	-80.00	913.1	851.8	974.4	2149.8	1515.6	486.76	10.93	1467	12590.20	44.42	0.30	2.95	1.450	0.072	0.145	715.12	663.69	766.56	2200.00	459.19	0	0	0	11.52	15.74	15.48
12613.36	1156	552.68	1.55	0.00	714.0	662.9	765.0	2200.2	459.2	474.83	18.55	1482	12619.12	0.00	0.00	2.38	0.000	0.000	0.031	714.06	662.69	765.44	2199.69	1519.75	0	0	0	30.00	30.00	15.58
12918.72	516	552.68	1.55	-80.00	712.2	659.4	764.9	2200.1	1519.7	422.81	16.58	1513	12924.01	0.00	0.00	2.93	0.000	0.000	0.138	712.38	659.38	765.38	2199.31	458.12	0	0	0	30.00	30.00	15.60
12953.41	5253	552.68	1.50	0.00	712.0	659.2	764.8	2199.8	457.8	416.07	19.81	1520	12959.35	0.00	0.35	2.35	0.000	0.187	0.030	711.72	658.75	764.69	2159.50	1523.06	0	0	0	30.00	15.59	15.72
13258.79	10919	579.01	1.61	-80.00	711.2	657.5	764.9	2158.7	1523.1	377.89	11.76	1551	13289.97	24.01	0.26	2.93	1.275	0.072	0.141	608.06	562.19	653.94	2206.19	456.88	0	0	0	11.47	15.75	15.54
13313.46	5253	579.01	1.58	0.00	607.3	561.2	653.4	2206.3	456.9	368.55	19.52	1562	13319.38	0.00	0.27	2.35	0.000	0.189	0.032	607.41	561.12	653.69	2176.94	1522.12	0	0	0	30.00	15.59	15.71
13618.91	644	579.01	1.63	-80.00	605.9	558.4	653.4	2176.8	1522.0	324.40	13.77	1593	13624.12	0.00	0.00	2.93	0.000	0.000	0.140	606.22	558.56	653.88	2176.62	457.75	0	0	0	30.00	30.00	15.62
13663.51	1028	579.01	1.63	0.00	605.9	558.8	653.1	2177.6	457.9	317.06	17.45	1602	13669.29	0.00	0.00	2.35	0.000	0.000	0.032	606.09	558.44	653.75	2175.94	1516.56	0	0	0	30.00	30.00	15.69
13968.91	2693	579.01	1.69	-80.00	605.3	557.4	653.2	2177.2	1516.4	273.41	14.12	1633	13974.26	0.00	0.25	2.91	0.000	0.074	0.140	605.28	557.44	653.12	2221.19	457.12	0	0	0	30.00	15.77	15.64
13993.56	1028	579.01	1.69	0.00	605.5	557.6	653.4	2221.6	457.0	268.94	17.88	1638	13999.35	0.00	0.00	2.34	0.000	0.000	0.032	605.50	557.62	653.38	2221.62	1520.50	0	0	0	30.00	30.00	15.64
14298.96	516	579.01	1.69	-80.00	605.4	557.4	653.3	2221.7	1520.8	208.46	19.62	1669	14304.22	0.00	0.00	2.89	0.000	0.000	0.135	605.50	557.31	653.69	2220.75	457.94	0	0	0	30.00	30.00	15.67
14353.64	5253	579.01	1.61	0.00	605.5	557.7	653.2	2221.6	458.2	195.87	23.88	1680	14359.58	0.00	0.32	2.34	0.000	0.196	0.031	605.47	557.56	653.38	2184.38	1525.56	0	0	0	30.00	15.66	15.67
14659.08	644	579.01	1.66	-80.00	605.2	557.0	653.4	2184.7	1525.5	151.98	13.14	1711	14664.29	0.00	0.00	2.92	0.000	0.000	0.138	605.53	557.00	654.06	2182.38	457.62	0	0	0	30.00	30.00	15.66
14699.00	1028	579.01	1.66	0.00	605.2	556.9	653.4	2184.9	458.2	145.90	16.06	1719	14704.13	0.00	0.00	2.32	0.000	0.000	0.032	605.59	557.19	654.00	2184.19	1514.88	0	0	0	30.00	30.00	15.78
15009.04	2693	579.01	1.71	-80.00	605.2	556.8	653.6	2184.1	1514.1	104.44	13.08	1751	15014.38	0.00	0.25	2.90	0.000	0.075	0.140	605.47	556.88	654.06	2225.75	458.00	0	0	0	30.00	15.76	15.66
15033.69	1028	579.01	1.71	0.00	605.3	557.1	653.6	2227.5	458.0	100.16	17.10	1756	15039.47	0.00	0.00	2.33	0.000	0.000	0.032	605.44	557.06	653.81	2227.25	1517.56	0	0	0	30.00	30.00	15.67
15339.07	516	579.01	1.71	-80.00	605.4	556.9	653.8	2227.3	1517.8	45.98	16.39	1817	15344.68	0.00	0.00	2.90	0.000	0.000	0.138	605.34	556.75	653.94	2226.94	458.06	0	0	0	30.00	30.00	15.65
15374.09	5253	579.01	1.66	0.00	605.5	557.2	653.8	2226.8	458.1	38.64	21.64	1824	15379.67	0.00	0.27	2.32	0.000	0.193	0.030	605.72	557.44	654.00	2196.19	1527.56	0	0	0	30.00	15.67	15.63
15559.11	10919	616.01	1.77	-80.00	605.4	556.4	654.4	2196.2	1528.0	10.98	11.38	1861	15590.30	23.99	0.28	2.93	0.896	0.071	0.144	499.97	461.19	538.75	2240.31	457.94	0	0	0	11.33	15.71	15.59
15599.11	9222	616.01	1.77	0.00	499.1	459.9	538.3	2242.1	457.8	6.17	12.71	1869	15604.55	0.00	0.00	2.31	0.000	0.000	0.031	499.25	459.75	538.75	2241.88	1511.50	0	0	0	30.00	30.00	15.72
15634	end climb: SURFACE_DEPTH_REACHED
state	15634	begin surface coast
15649	end surface coast: CONTROL_FINISHED_OK
state	15649	begin surface