Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1020 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

MISSION 2 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 1020 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 475 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 500 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 FILEMGR 0 C_VBD 2500 DEEPGLIDERMB 0

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 120

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.003 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 2 LOGGERS 1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 150 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 195 T_GPS 5 LOITER_D_TOP 150 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 250 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 1 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 180 RAFOS_PEAK_OFFSET 0 AH0_24V 575 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE -1

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -1 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 190 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3920 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 990 C_PITCH 2140 FG_AHR_10V 72.514763 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 244.01318 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 180 PITCH_GAIN 20 PRESSURE_YINT -170.66119 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00022638284 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72660 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 0 PITCH_W_GAIN 3 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 7.0

KALMAN_USE 2 ROLL_MIN 670 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 7.0

HD_A 0.003 ROLL_MAX 3465 ALTIM_PING_DEPTH 250 SC_NDIVE 1.0

HD_B 0.0099900002 ROLL_DEG 80 ALTIM_PING_DELTA 5

HD_C 1.6e-05 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2100 ALTIM_PULSE 2

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 575 D_SURF 2 N_NOCOMM 2 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 500 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 475

ALTIM_PING_DEPTH 250 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 72.514763 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 244.01318 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 4 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3920 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MIN 190 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099900002 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_DIVE 150

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 236 PRESSURE_SLOPE 0.00022638284 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -170.66119 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 PROTOCOL 9 T_MISSION 195

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 180

COMPASS_USE 4 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 1

C_PITCH 2140 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2100 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2500 LOGGERS 1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY -1

DEEPGLIDER 0 LOITER_D_BOTTOM 250 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 150 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 120 LOITER_N_DIVE 0 ROLL_CNV 0.054945 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72660 ROLL_MAX 3465 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 670 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 180 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 1020 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 1010 MINV_24V 11 SC_PROFILE 7.0 XPDR_DEVICE 21

D_BOOST 2 MISSION 2 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 7.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 0 SEABIRD_C_G -10 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 4

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 990 N_DIVES 0 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 010421,023731,4707.820,-12501.422,19,0.9,20,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.54 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -62.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 010421,024434,4707.767,-12501.364,2,0.6,4,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 282.8,910,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 9666.54,0.00,0.010,0,563.5,569.4,557.5,475.03 _24V_AH 14.10,281.633

SM_GC -0.63,0.00,17.33,3.36,0.010,0.064,0.050,563.5,569.4,557.5,172.8,2074.9,0,0,0,30.36,15.42,15.57 _10V_AH 14.76,0.000

SUPER 27,71,254,1,0,0 FG_AHR_24Vo 244.220

IRIDIUM_FIX 4707.48,-12503.93,310321,235631 FG_AHR_10Vo 72.547

TCM_TEMP 176.57 MEM 1103652,41,73436,56

XPDR_PINGS 6,14.0,11.5 DATA_FILE_SIZE 35448,903

ALTIM_BOTTOM_PING 250.5,7.9 CAP_FILE_SIZE 474372,0

SC_FREEKB 3468416 SDSIZE 3918848,3641312

HUMID 58.28 SDFILEDIR 5126,1

TEMP 7.81 ERRORS 0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77577 GPS 010421,052632,4708.201,-12501.821,9,0.9,24,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 625 1638 14444.99 legato 0 0 0.00

Pitch_motor 38 257 139.17 nil 0 0 0.00

Roll_motor 210 240 712.31 nil 0 0 0.00

Iridium 201 194 553.54 nil 0 0 0.00

Transponder_ping 2 420 11.84 nil 0 0 0.00

GPS 13 15 3.01 nil 0 0 0.00

Core 3383 11 589.32 SciCon 9491 5 732.94

LPSleep 6440 2 266.18 nil 0 0 0.00

Compass 1773 5 130.86 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 2 30 0.89

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

7.61 16386 -74.33 -1.59 0.00 560.1 563.6 556.5 166.7 2081.9 0.00 0.00 0 99.92 91.82 0.00 0.00 0.005 0.000 0.000 2720.59 2704.25 2736.94 166.50 2081.56 0 0 0 14.60 30.00 30.00

100.14 18695 -74.33 -1.59 80.00 2719.5 2703.3 2735.7 166.6 2081.8 5.13 -11.00 9 125.98 1.68 14.15 3.73 0.016 0.257 0.106 2803.03 2793.44 2812.62 1754.50 3475.56 0 0 0 14.85 15.03 14.75

159.23 1028 -74.33 -1.59 0.00 2802.4 2793.3 2811.4 1756.0 3476.2 21.00 -22.19 21 163.81 0.00 0.00 3.41 0.000 0.000 0.059 2803.62 2793.88 2813.38 1754.94 2081.56 0 0 0 30.00 30.00 15.48

229.20 0 -74.33 -1.59 0.00 2802.6 2793.6 2811.5 1755.8 2082.5 34.86 -19.34 29 230.53 0.00 0.00 0.00 0.000 0.000 0.000 2802.91 2793.50 2812.31 1754.88 2082.06 0 0 0 30.00 30.00 30.00

289.22 516 -74.33 -1.59 -80.00 2802.8 2794.1 2811.5 1755.5 2082.4 46.23 -19.02 35 294.93 0.00 0.00 4.03 0.000 0.000 0.152 2801.34 2792.94 2809.75 1755.31 662.06 0 0 0 30.00 30.00 15.22

304.67 1028 -74.33 -1.59 0.00 2802.2 2793.2 2811.3 1755.4 662.0 49.17 -19.20 38 309.83 0.00 0.00 3.48 0.000 0.000 0.051 2802.84 2793.69 2812.00 1754.56 2122.06 0 0 0 30.00 30.00 15.56

369.27 516 -74.33 -1.59 -80.00 2802.4 2794.7 2810.1 1755.2 2122.7 59.96 -16.27 45 374.96 0.00 0.00 4.12 0.000 0.000 0.148 2804.44 2795.31 2813.56 1754.75 663.06 0 0 0 30.00 30.00 15.23

418.14 1028 -74.33 -1.59 0.00 2802.6 2794.1 2811.0 1755.3 663.0 68.23 -16.19 55 424.93 0.00 0.00 3.47 0.000 0.000 0.049 2804.19 2796.25 2812.12 1754.94 2122.69 0 0 0 30.00 30.00 15.56

484.29 0 -74.33 -1.59 0.00 2802.8 2794.6 2810.9 1755.1 2123.4 77.08 -13.31 62 485.62 0.00 0.00 0.00 0.000 0.000 0.000 2802.88 2794.75 2811.00 1755.12 2122.81 0 0 0 30.00 30.00 30.00

544.24 260 -74.33 -1.59 80.00 2802.6 2794.9 2810.4 1755.6 2122.7 84.75 -12.81 68 548.86 0.00 0.00 3.53 0.000 0.000 0.104 2802.38 2794.94 2809.81 1755.00 3475.56 0 0 0 30.00 30.00 15.40

614.27 1028 -74.33 -1.59 0.00 2802.7 2794.8 2810.6 1755.4 3476.0 93.43 -12.50 82 618.85 0.00 0.00 3.35 0.000 0.000 0.053 2803.03 2795.62 2810.44 1755.00 2080.31 0 0 0 30.00 30.00 15.54

684.25 0 -74.33 -1.59 0.00 2802.5 2794.9 2810.1 1755.2 2080.2 101.30 -11.76 90 685.58 0.00 0.00 0.00 0.000 0.000 0.000 2802.97 2795.12 2810.81 1754.81 2079.94 0 0 0 30.00 30.00 30.00

744.27 516 -74.33 -1.59 -80.00 2802.6 2794.8 2810.4 1754.8 2079.9 107.89 -11.01 96 749.96 0.00 0.00 4.00 0.000 0.000 0.149 2802.03 2793.81 2810.25 1755.69 661.88 0 0 0 30.00 30.00 15.24

759.72 1028 -74.33 -1.59 0.00 2802.9 2795.3 2810.5 1755.4 661.8 109.79 -11.30 99 764.88 0.00 0.00 3.45 0.000 0.000 0.047 2802.69 2795.19 2810.19 1754.50 2123.31 0 0 0 30.00 30.00 15.62

824.32 260 -74.33 -1.59 80.00 2802.6 2794.8 2810.4 1755.1 2124.2 116.97 -10.77 106 829.90 0.00 0.00 3.52 0.000 0.000 0.103 2803.28 2795.75 2810.81 1754.56 3475.31 0 0 0 30.00 30.00 15.42

879.28 1028 -74.33 -1.59 0.00 2802.7 2795.2 2810.1 1755.2 3475.5 123.30 -11.82 117 883.86 0.00 0.00 3.35 0.000 0.000 0.053 2805.12 2797.75 2812.50 1755.12 2080.94 0 0 0 30.00 30.00 15.55

949.28 516 -74.33 -1.59 -80.00 2802.8 2795.3 2810.2 1755.0 2081.6 130.55 -9.96 125 954.98 0.00 0.00 3.99 0.000 0.000 0.148 2802.06 2794.12 2810.00 1755.75 662.62 0 0 0 30.00 30.00 15.24

978.18 1028 -74.33 -1.59 0.00 2802.7 2795.4 2810.1 1755.9 662.9 134.11 -11.02 131 985.01 0.00 0.00 3.44 0.000 0.000 0.045 2804.78 2796.69 2812.88 1755.06 2123.06 0 0 0 30.00 30.00 15.61

1044.28 0 -74.33 -1.59 0.00 2802.5 2795.4 2809.6 1755.3 2123.0 141.20 -11.03 138 1045.61 0.00 0.00 0.00 0.000 0.000 0.000 2803.47 2796.00 2810.94 1755.31 2121.81 0 0 0 30.00 30.00 30.00

1104.30 516 -74.33 -1.59 -80.00 2803.0 2795.9 2810.1 1755.5 2122.7 147.59 -10.48 144 1110.01 0.00 0.00 4.08 0.000 0.000 0.146 2801.03 2793.19 2808.88 1755.31 661.69 0 0 0 30.00 30.00 15.23

1149.75 1028 -74.33 -1.59 0.00 2803.3 2796.2 2810.4 1755.6 662.0 152.65 -11.49 153 1154.92 0.00 0.00 3.44 0.000 0.000 0.046 2801.88 2794.25 2809.50 1755.25 2124.88 0 0 0 30.00 30.00 15.63

1274.31 0 -74.33 -1.59 0.00 2803.0 2795.9 2810.0 1755.7 2125.2 165.61 -10.59 166 1275.64 0.00 0.00 0.00 0.000 0.000 0.000 2803.84 2796.62 2811.06 1756.00 2124.25 0 0 0 30.00 30.00 30.00

1394.32 260 -74.33 -1.59 80.00 2802.7 2795.5 2809.9 1755.6 2125.3 179.08 -10.96 178 1398.94 0.00 0.00 3.51 0.000 0.000 0.105 2803.50 2796.44 2810.56 1754.94 3475.56 0 0 0 30.00 30.00 15.41

1434.32 1028 -74.33 -1.59 0.00 2803.1 2796.0 2810.2 1755.2 3475.9 184.02 -12.87 186 1438.92 0.00 0.00 3.34 0.000 0.000 0.052 2803.25 2795.44 2811.06 1754.88 2080.06 0 0 0 30.00 30.00 15.56

1564.34 0 -74.33 -1.59 0.00 2803.0 2795.8 2810.3 1755.2 2080.4 197.91 -10.96 200 1565.67 0.00 0.00 0.00 0.000 0.000 0.000 2803.28 2795.88 2810.69 1755.06 2079.81 0 0 0 30.00 30.00 30.00

1684.37 0 -74.33 -1.59 0.00 2803.2 2796.1 2810.4 1755.0 2080.0 210.54 -10.46 212 1685.69 0.00 0.00 0.00 0.000 0.000 0.000 2803.22 2795.69 2810.75 1755.38 2079.94 0 0 0 30.00 30.00 30.00

1804.36 0 -74.33 -1.59 0.00 2803.0 2795.8 2810.2 1755.2 2080.2 223.50 -10.45 224 1805.69 0.00 0.00 0.00 0.000 0.000 0.000 2802.94 2795.56 2810.31 1755.56 2080.12 0 0 0 30.00 30.00 30.00

1924.37 260 -74.33 -1.59 80.00 2803.3 2795.6 2811.0 1755.6 2080.1 236.75 -11.12 236 1930.01 0.00 0.00 3.66 0.000 0.000 0.105 2803.81 2795.88 2811.75 1754.94 3476.81 0 0 0 30.00 30.00 15.41

2023.29 1028 -74.33 -1.59 0.00 2803.1 2795.4 2810.8 1754.9 3476.9 248.88 -12.16 256 2030.07 0.00 0.00 3.37 0.000 0.000 0.056 2803.06 2795.44 2810.69 1755.38 2082.12 0 0 0 30.00 30.00 15.53

2159.44 516 -74.33 -1.59 -80.00 2802.9 2795.7 2810.1 1755.3 2081.9 263.60 -10.83 262 2165.10 0.00 0.00 4.02 0.000 0.000 0.152 2801.47 2793.94 2809.00 1755.50 662.81 0 0 0 30.00 30.00 15.20

2198.30 1028 -74.33 -1.59 0.00 2802.8 2795.1 2810.4 1755.1 662.8 268.23 -12.78 270 2204.14 0.00 0.00 3.45 0.000 0.000 0.047 2803.41 2796.19 2810.62 1755.50 2123.12 0 0 0 30.00 30.00 15.61

2514.40 0 -74.33 -1.59 0.00 2803.2 2795.6 2810.8 1755.1 2122.7 300.79 -10.30 283 2515.73 0.00 0.00 0.00 0.000 0.000 0.000 2803.09 2795.50 2810.69 1755.25 2122.69 0 0 0 30.00 30.00 30.00

2814.40 260 -74.33 -1.59 80.00 2803.0 2795.6 2810.3 1755.2 2123.2 331.67 -10.21 293 2820.05 0.00 0.00 3.58 0.000 0.000 0.109 2805.25 2797.69 2812.81 1754.44 3474.94 0 0 0 30.00 30.00 15.38

2869.41 1028 -74.33 -1.59 0.00 2803.0 2795.6 2810.4 1755.3 3474.4 337.82 -11.41 304 2874.00 0.00 0.00 3.35 0.000 0.000 0.055 2803.50 2796.12 2810.88 1755.12 2081.12 0 0 0 30.00 30.00 15.53

3199.47 260 -74.33 -1.59 80.00 2803.0 2795.4 2810.5 1755.4 2081.4 369.81 -9.75 320 3205.09 0.00 0.00 3.69 0.000 0.000 0.107 2801.06 2793.94 2808.19 1755.44 3475.38 0 0 0 30.00 30.00 15.37

3273.39 1028 -74.33 -1.59 0.00 2802.8 2795.5 2810.1 1755.3 3476.0 378.15 -11.40 335 3279.02 0.00 0.00 3.38 0.000 0.000 0.057 2803.09 2795.69 2810.50 1755.06 2080.94 0 0 0 30.00 30.00 15.50

3584.45 260 -74.33 -1.59 80.00 2802.9 2795.5 2810.3 1755.5 2080.9 407.97 -9.54 347 3590.09 0.00 0.00 3.70 0.000 0.000 0.107 2801.06 2793.94 2808.19 1755.12 3476.50 0 0 0 30.00 30.00 15.37

3613.35 1028 -74.33 -1.59 0.00 2802.6 2795.7 2809.6 1755.2 3476.2 410.85 -9.64 353 3619.03 0.00 0.00 3.38 0.000 0.000 0.056 2802.44 2795.25 2809.62 1755.25 2083.25 0 0 0 30.00 30.00 15.50

3939.50 292 -99.84 -1.67 80.00 2802.2 2795.5 2808.8 1755.5 2082.7 440.48 -8.55 368 3945.12 0.00 0.00 3.71 0.000 0.000 0.108 2803.06 2796.56 2809.56 1754.75 3475.19 0 0 0 30.00 30.00 15.34

3994.47 1028 -99.84 -1.67 0.00 2802.1 2795.2 2809.0 1755.2 3475.3 446.54 -11.74 379 3999.06 0.00 0.00 3.37 0.000 0.000 0.057 2804.88 2798.12 2811.62 1755.69 2080.88 0 0 0 30.00 30.00 15.49

4324.53 0 -99.84 -1.67 0.00 2802.1 2795.5 2808.7 1755.1 2080.8 478.37 -9.86 395 4325.86 0.00 0.00 0.00 0.000 0.000 0.000 2802.38 2795.50 2809.25 1755.00 2081.19 0 0 0 30.00 30.00 30.00

4565 end dive: TARGET_DEPTH_EXCEEDED

state 4565 begin apogee

4565.67 10243 0.00 -0.25 0.00 2801.8 2795.7 2808.0 1756.0 2121.0 501.59 -9.79 403 4633.83 64.04 2.52 0.09 1.638 0.154 0.240 2497.22 2503.06 2491.38 2078.50 2084.44 0 0 0 10.38 15.29 14.92

4637 end apogee: CONTROL_FINISHED_OK

state 4637 begin climb

4636.79 10243 99.84 1.67 0.00 2497.8 2506.2 2489.3 2080.2 2084.6 502.54 0.00 405 4733.64 91.90 3.28 0.00 1.595 0.080 0.000 2092.81 2105.81 2079.81 2549.50 2084.19 0 0 0 11.59 15.27 30.00

5014.56 16966 99.84 1.72 -80.00 2080.6 2097.1 2064.1 2550.1 2084.2 471.26 9.38 418 5020.20 0.00 0.00 3.99 0.000 0.000 0.140 2078.47 2095.00 2061.94 2550.56 661.81 0 0 0 30.00 30.00 15.27

5058.41 17414 99.84 1.72 0.00 2078.9 2093.9 2063.9 2550.4 661.6 466.08 10.72 427 5064.10 0.00 0.00 3.47 0.000 0.000 0.046 2081.34 2096.75 2065.94 2550.19 2124.81 0 0 0 30.00 30.00 15.58

5369.52 16450 99.84 1.78 0.00 2077.2 2093.8 2060.7 2550.6 2124.9 436.56 9.12 439 5370.86 0.00 0.00 0.00 0.000 0.000 0.000 2076.78 2093.62 2059.94 2549.81 2125.44 0 0 0 30.00 30.00 30.00

5669.52 10791 124.17 1.85 -80.00 2076.2 2094.0 2058.4 2550.0 2125.5 409.92 8.67 449 5696.77 21.32 0.24 4.06 1.446 0.072 0.138 1994.28 2010.94 1977.62 2605.12 661.62 0 0 0 11.14 15.70 15.15

5758.97 1028 124.17 1.85 0.00 1990.4 2005.4 1975.4 2604.9 661.8 399.52 12.10 467 5764.68 0.00 0.00 3.49 0.000 0.000 0.046 1990.66 2006.25 1975.06 2606.06 2125.31 0 0 0 30.00 30.00 15.62

6085.15 260 124.17 1.85 80.00 1987.1 2005.2 1968.9 2604.9 2125.9 361.28 11.58 482 6090.73 0.00 0.00 3.61 0.000 0.000 0.111 1986.06 2002.75 1969.38 2604.44 3474.62 0 0 0 30.00 30.00 15.40

6149.00 1028 124.17 1.85 0.00 1987.3 2005.4 1969.2 2605.8 3475.7 352.95 12.34 495 6154.67 0.00 0.00 3.38 0.000 0.000 0.055 1989.00 2006.56 1971.44 2604.44 2077.50 0 0 0 30.00 30.00 15.55

6470.10 0 124.17 1.85 0.00 1986.2 2005.2 1967.1 2605.1 2077.9 317.69 11.37 509 6471.43 0.00 0.00 0.00 0.000 0.000 0.000 1986.59 2005.62 1967.56 2604.44 2077.50 0 0 0 30.00 30.00 30.00

6770.12 16966 124.17 1.87 -80.00 1985.2 2005.3 1965.1 2604.6 2077.8 285.24 10.52 519 6775.81 0.00 0.00 3.95 0.000 0.000 0.136 1983.75 2003.50 1964.00 2605.31 662.88 0 0 0 30.00 30.00 15.27

6834.03 17414 124.17 1.87 0.00 1984.4 2003.6 1965.2 2605.1 662.5 278.29 10.99 532 6839.73 0.00 0.00 3.46 0.000 0.000 0.047 1987.00 2006.50 1967.50 2604.62 2128.00 0 0 0 30.00 30.00 15.65

7145.20 16966 124.17 1.92 -80.00 1984.2 2004.0 1964.4 2605.8 2127.5 248.50 9.49 547 7150.85 0.00 0.00 4.07 0.000 0.000 0.130 1985.81 2004.81 1966.81 2605.19 661.81 0 0 0 30.00 30.00 15.25

7310.65 17414 124.17 1.92 0.00 1984.0 2003.4 1964.7 2604.9 661.8 229.95 11.40 580 7315.78 0.00 0.00 3.45 0.000 0.000 0.045 1985.31 2003.62 1967.00 2603.62 2129.38 0 0 0 30.00 30.00 15.66

7435.19 16710 124.17 1.97 80.00 1983.9 2003.4 1964.4 2605.2 2129.1 218.90 9.45 593 7440.80 0.00 0.00 3.55 0.000 0.000 0.110 1983.44 2003.12 1963.75 2605.00 3473.81 0 0 0 30.00 30.00 15.36

7504.15 17478 124.17 2.01 0.00 1984.0 2003.5 1964.5 2605.1 3473.0 211.93 9.78 607 7510.87 0.00 0.00 3.38 0.000 0.000 0.056 1985.12 2003.62 1966.62 2604.38 2077.00 0 0 0 30.00 30.00 15.55

7630.21 10791 149.85 2.09 -80.00 1983.7 2003.4 1963.9 2605.2 2076.6 201.05 8.53 620 7662.07 23.57 0.26 3.90 1.283 0.092 0.135 1887.94 1907.62 1868.25 2654.19 659.88 0 0 0 11.05 15.68 15.15

7710.74 1028 149.85 2.09 0.00 1885.9 1904.1 1867.8 2653.9 659.6 191.46 13.12 636 7715.93 0.00 0.00 3.49 0.000 0.000 0.047 1884.50 1902.69 1866.31 2653.88 2128.00 0 0 0 30.00 30.00 15.61

7835.32 0 149.85 2.09 0.00 1883.9 1904.4 1863.4 2654.2 2127.9 176.88 11.76 649 7836.65 0.00 0.00 0.00 0.000 0.000 0.000 1882.62 1902.88 1862.38 2653.50 2127.88 0 0 0 30.00 30.00 30.00

7955.32 0 149.85 2.09 0.00 1883.2 1904.0 1862.4 2654.1 2127.3 163.77 11.40 661 7956.65 0.00 0.00 0.00 0.000 0.000 0.000 1883.59 1904.69 1862.50 2653.38 2127.12 0 0 0 30.00 30.00 30.00

8075.33 516 149.85 2.09 -80.00 1882.6 1903.6 1861.5 2653.9 2127.2 149.42 12.08 673 8081.04 0.00 0.00 4.03 0.000 0.000 0.128 1881.62 1902.75 1860.50 2653.88 662.69 0 0 0 30.00 30.00 15.30

8304.26 1028 149.85 2.09 0.00 1882.7 1903.4 1861.9 2653.8 662.7 118.83 12.73 719 8311.06 0.00 0.00 3.49 0.000 0.000 0.048 1884.41 1905.12 1863.69 2653.19 2126.50 0 0 0 30.00 30.00 15.63

8370.43 580 149.85 2.14 -80.00 1882.1 1903.1 1861.0 2654.1 2127.5 112.44 9.36 726 8376.07 0.00 0.00 4.02 0.000 0.000 0.125 1884.16 1905.06 1863.25 2653.62 660.69 0 0 0 30.00 30.00 15.27

8465.83 1092 149.85 2.15 0.00 1882.2 1903.2 1861.2 2654.1 660.9 102.27 10.56 745 8470.99 0.00 0.00 3.47 0.000 0.000 0.046 1882.09 1903.00 1861.19 2654.38 2128.31 0 0 0 30.00 30.00 15.64

8530.38 10791 177.41 2.24 -80.00 1881.9 1902.9 1861.0 2654.1 2128.4 96.46 8.34 752 8566.82 30.89 0.17 3.97 1.143 0.084 0.125 1774.31 1795.00 1753.62 2695.19 660.75 0 0 0 11.41 15.68 15.15

8625.83 1028 177.41 2.24 0.00 1774.4 1794.7 1754.1 2694.9 660.6 85.54 12.77 771 8631.00 0.00 0.00 3.49 0.000 0.000 0.045 1773.19 1793.56 1752.81 2694.69 2127.81 0 0 0 30.00 30.00 15.60

8690.40 324 177.41 2.27 80.00 1772.6 1794.6 1750.6 2694.4 2127.9 78.79 10.02 778 8696.02 0.00 0.00 3.55 0.000 0.000 0.106 1771.38 1792.31 1750.44 2694.25 3475.25 0 0 0 30.00 30.00 15.41

8785.42 1092 177.41 2.32 0.00 1772.0 1793.6 1750.4 2695.1 3474.8 69.79 9.50 797 8790.01 0.00 0.00 3.38 0.000 0.000 0.052 1772.19 1793.81 1750.56 2694.75 2076.50 0 0 0 30.00 30.00 15.54

8855.42 10275 205.17 2.40 0.00 1771.4 1793.5 1749.4 2694.6 2076.9 63.98 8.32 805 8890.04 32.01 0.17 0.00 1.092 0.087 0.000 1663.88 1686.25 1641.50 2735.25 2076.50 0 0 0 11.55 15.62 30.00

8955.44 8742 249.88 2.54 -80.00 1660.5 1684.4 1636.7 2735.8 2077.1 57.23 6.62 817 9012.15 50.78 0.00 3.95 1.082 0.000 0.131 1482.38 1506.75 1458.00 2734.81 661.69 0 0 0 11.57 30.00 15.01

9020.88 11303 279.25 2.62 0.00 1480.4 1504.4 1456.4 2735.6 661.4 52.14 8.16 830 9061.95 33.87 0.25 3.52 1.037 0.065 0.043 1361.12 1385.50 1336.75 2788.25 2129.38 0 0 0 11.63 15.28 15.38

9120.43 324 279.25 2.64 80.00 1358.1 1383.8 1332.3 2788.4 2129.8 42.04 10.45 844 9126.05 0.00 0.00 3.58 0.000 0.000 0.105 1357.19 1382.44 1331.94 2787.81 3474.81 0 0 0 30.00 30.00 15.30

9349.36 1028 279.25 2.64 0.00 1354.2 1380.8 1327.8 2787.9 3474.6 12.31 13.07 890 9356.15 0.00 0.00 3.38 0.000 0.000 0.053 1355.03 1382.06 1328.00 2787.94 2077.88 0 0 0 30.00 30.00 15.49

9416.16 260 279.25 2.64 80.00 1353.7 1381.2 1326.1 2788.4 2078.6 4.53 11.77 897 9421.11 0.00 0.00 3.69 0.000 0.000 0.101 1353.84 1380.69 1327.00 2787.62 3476.06 0 0 0 30.00 30.00 15.38

9434 end climb: SURFACE_DEPTH_REACHED

state 9434 begin surface coast

9444 end surface coast: CONTROL_FINISHED_OK

state 9444 begin surface

ID	236	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
MISSION	2	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	1020	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	475	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	500	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	FILEMGR	0	C_VBD	2500	DEEPGLIDERMB	0
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	120
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.003	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	2	LOGGERS	1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	150	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	195	T_GPS	5	LOITER_D_TOP	150	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	250	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	1	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	180	RAFOS_PEAK_OFFSET	0	AH0_24V	575	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	-1
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-1	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	190	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3920	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	990	C_PITCH	2140	FG_AHR_10V	72.514763	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	244.01318	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	180	PITCH_GAIN	20	PRESSURE_YINT	-170.66119	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00022638284	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72660	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	0	PITCH_W_GAIN	3	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	7.0
KALMAN_USE	2	ROLL_MIN	670	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	7.0
HD_A	0.003	ROLL_MAX	3465	ALTIM_PING_DEPTH	250	SC_NDIVE	1.0
HD_B	0.0099900002	ROLL_DEG	80	ALTIM_PING_DELTA	5
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	2

GPS1	010421,023731,4707.820,-12501.422,19,0.9,20,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.54	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-62.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	010421,024434,4707.767,-12501.364,2,0.6,4,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	282.8,910,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	9666.54,0.00,0.010,0,563.5,569.4,557.5,475.03	_24V_AH	14.10,281.633
SM_GC	-0.63,0.00,17.33,3.36,0.010,0.064,0.050,563.5,569.4,557.5,172.8,2074.9,0,0,0,30.36,15.42,15.57	_10V_AH	14.76,0.000
SUPER	27,71,254,1,0,0	FG_AHR_24Vo	244.220
IRIDIUM_FIX	4707.48,-12503.93,310321,235631	FG_AHR_10Vo	72.547
TCM_TEMP	176.57	MEM	1103652,41,73436,56
XPDR_PINGS	6,14.0,11.5	DATA_FILE_SIZE	35448,903
ALTIM_BOTTOM_PING	250.5,7.9	CAP_FILE_SIZE	474372,0
SC_FREEKB	3468416	SDSIZE	3918848,3641312
HUMID	58.28	SDFILEDIR	5126,1
TEMP	7.81	ERRORS	0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77577	GPS	010421,052632,4708.201,-12501.821,9,0.9,24,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	625	1638	14444.99	legato	0	0	0.00
Pitch_motor	38	257	139.17	nil	0	0	0.00
Roll_motor	210	240	712.31	nil	0	0	0.00
Iridium	201	194	553.54	nil	0	0	0.00
Transponder_ping	2	420	11.84	nil	0	0	0.00
GPS	13	15	3.01	nil	0	0	0.00
Core	3383	11	589.32	SciCon	9491	5	732.94
LPSleep	6440	2	266.18	nil	0	0	0.00
Compass	1773	5	130.86	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	2	30	0.89

		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
7.61	16386	-74.33	-1.59	0.00	560.1	563.6	556.5	166.7	2081.9	0.00	0.00	0	99.92	91.82	0.00	0.00	0.005	0.000	0.000	2720.59	2704.25	2736.94	166.50	2081.56	0	0	0	14.60	30.00	30.00
100.14	18695	-74.33	-1.59	80.00	2719.5	2703.3	2735.7	166.6	2081.8	5.13	-11.00	9	125.98	1.68	14.15	3.73	0.016	0.257	0.106	2803.03	2793.44	2812.62	1754.50	3475.56	0	0	0	14.85	15.03	14.75
159.23	1028	-74.33	-1.59	0.00	2802.4	2793.3	2811.4	1756.0	3476.2	21.00	-22.19	21	163.81	0.00	0.00	3.41	0.000	0.000	0.059	2803.62	2793.88	2813.38	1754.94	2081.56	0	0	0	30.00	30.00	15.48
229.20	0	-74.33	-1.59	0.00	2802.6	2793.6	2811.5	1755.8	2082.5	34.86	-19.34	29	230.53	0.00	0.00	0.00	0.000	0.000	0.000	2802.91	2793.50	2812.31	1754.88	2082.06	0	0	0	30.00	30.00	30.00
289.22	516	-74.33	-1.59	-80.00	2802.8	2794.1	2811.5	1755.5	2082.4	46.23	-19.02	35	294.93	0.00	0.00	4.03	0.000	0.000	0.152	2801.34	2792.94	2809.75	1755.31	662.06	0	0	0	30.00	30.00	15.22
304.67	1028	-74.33	-1.59	0.00	2802.2	2793.2	2811.3	1755.4	662.0	49.17	-19.20	38	309.83	0.00	0.00	3.48	0.000	0.000	0.051	2802.84	2793.69	2812.00	1754.56	2122.06	0	0	0	30.00	30.00	15.56
369.27	516	-74.33	-1.59	-80.00	2802.4	2794.7	2810.1	1755.2	2122.7	59.96	-16.27	45	374.96	0.00	0.00	4.12	0.000	0.000	0.148	2804.44	2795.31	2813.56	1754.75	663.06	0	0	0	30.00	30.00	15.23
418.14	1028	-74.33	-1.59	0.00	2802.6	2794.1	2811.0	1755.3	663.0	68.23	-16.19	55	424.93	0.00	0.00	3.47	0.000	0.000	0.049	2804.19	2796.25	2812.12	1754.94	2122.69	0	0	0	30.00	30.00	15.56
484.29	0	-74.33	-1.59	0.00	2802.8	2794.6	2810.9	1755.1	2123.4	77.08	-13.31	62	485.62	0.00	0.00	0.00	0.000	0.000	0.000	2802.88	2794.75	2811.00	1755.12	2122.81	0	0	0	30.00	30.00	30.00
544.24	260	-74.33	-1.59	80.00	2802.6	2794.9	2810.4	1755.6	2122.7	84.75	-12.81	68	548.86	0.00	0.00	3.53	0.000	0.000	0.104	2802.38	2794.94	2809.81	1755.00	3475.56	0	0	0	30.00	30.00	15.40
614.27	1028	-74.33	-1.59	0.00	2802.7	2794.8	2810.6	1755.4	3476.0	93.43	-12.50	82	618.85	0.00	0.00	3.35	0.000	0.000	0.053	2803.03	2795.62	2810.44	1755.00	2080.31	0	0	0	30.00	30.00	15.54
684.25	0	-74.33	-1.59	0.00	2802.5	2794.9	2810.1	1755.2	2080.2	101.30	-11.76	90	685.58	0.00	0.00	0.00	0.000	0.000	0.000	2802.97	2795.12	2810.81	1754.81	2079.94	0	0	0	30.00	30.00	30.00
744.27	516	-74.33	-1.59	-80.00	2802.6	2794.8	2810.4	1754.8	2079.9	107.89	-11.01	96	749.96	0.00	0.00	4.00	0.000	0.000	0.149	2802.03	2793.81	2810.25	1755.69	661.88	0	0	0	30.00	30.00	15.24
759.72	1028	-74.33	-1.59	0.00	2802.9	2795.3	2810.5	1755.4	661.8	109.79	-11.30	99	764.88	0.00	0.00	3.45	0.000	0.000	0.047	2802.69	2795.19	2810.19	1754.50	2123.31	0	0	0	30.00	30.00	15.62
824.32	260	-74.33	-1.59	80.00	2802.6	2794.8	2810.4	1755.1	2124.2	116.97	-10.77	106	829.90	0.00	0.00	3.52	0.000	0.000	0.103	2803.28	2795.75	2810.81	1754.56	3475.31	0	0	0	30.00	30.00	15.42
879.28	1028	-74.33	-1.59	0.00	2802.7	2795.2	2810.1	1755.2	3475.5	123.30	-11.82	117	883.86	0.00	0.00	3.35	0.000	0.000	0.053	2805.12	2797.75	2812.50	1755.12	2080.94	0	0	0	30.00	30.00	15.55
949.28	516	-74.33	-1.59	-80.00	2802.8	2795.3	2810.2	1755.0	2081.6	130.55	-9.96	125	954.98	0.00	0.00	3.99	0.000	0.000	0.148	2802.06	2794.12	2810.00	1755.75	662.62	0	0	0	30.00	30.00	15.24
978.18	1028	-74.33	-1.59	0.00	2802.7	2795.4	2810.1	1755.9	662.9	134.11	-11.02	131	985.01	0.00	0.00	3.44	0.000	0.000	0.045	2804.78	2796.69	2812.88	1755.06	2123.06	0	0	0	30.00	30.00	15.61
1044.28	0	-74.33	-1.59	0.00	2802.5	2795.4	2809.6	1755.3	2123.0	141.20	-11.03	138	1045.61	0.00	0.00	0.00	0.000	0.000	0.000	2803.47	2796.00	2810.94	1755.31	2121.81	0	0	0	30.00	30.00	30.00
1104.30	516	-74.33	-1.59	-80.00	2803.0	2795.9	2810.1	1755.5	2122.7	147.59	-10.48	144	1110.01	0.00	0.00	4.08	0.000	0.000	0.146	2801.03	2793.19	2808.88	1755.31	661.69	0	0	0	30.00	30.00	15.23
1149.75	1028	-74.33	-1.59	0.00	2803.3	2796.2	2810.4	1755.6	662.0	152.65	-11.49	153	1154.92	0.00	0.00	3.44	0.000	0.000	0.046	2801.88	2794.25	2809.50	1755.25	2124.88	0	0	0	30.00	30.00	15.63
1274.31	0	-74.33	-1.59	0.00	2803.0	2795.9	2810.0	1755.7	2125.2	165.61	-10.59	166	1275.64	0.00	0.00	0.00	0.000	0.000	0.000	2803.84	2796.62	2811.06	1756.00	2124.25	0	0	0	30.00	30.00	30.00
1394.32	260	-74.33	-1.59	80.00	2802.7	2795.5	2809.9	1755.6	2125.3	179.08	-10.96	178	1398.94	0.00	0.00	3.51	0.000	0.000	0.105	2803.50	2796.44	2810.56	1754.94	3475.56	0	0	0	30.00	30.00	15.41
1434.32	1028	-74.33	-1.59	0.00	2803.1	2796.0	2810.2	1755.2	3475.9	184.02	-12.87	186	1438.92	0.00	0.00	3.34	0.000	0.000	0.052	2803.25	2795.44	2811.06	1754.88	2080.06	0	0	0	30.00	30.00	15.56
1564.34	0	-74.33	-1.59	0.00	2803.0	2795.8	2810.3	1755.2	2080.4	197.91	-10.96	200	1565.67	0.00	0.00	0.00	0.000	0.000	0.000	2803.28	2795.88	2810.69	1755.06	2079.81	0	0	0	30.00	30.00	30.00
1684.37	0	-74.33	-1.59	0.00	2803.2	2796.1	2810.4	1755.0	2080.0	210.54	-10.46	212	1685.69	0.00	0.00	0.00	0.000	0.000	0.000	2803.22	2795.69	2810.75	1755.38	2079.94	0	0	0	30.00	30.00	30.00
1804.36	0	-74.33	-1.59	0.00	2803.0	2795.8	2810.2	1755.2	2080.2	223.50	-10.45	224	1805.69	0.00	0.00	0.00	0.000	0.000	0.000	2802.94	2795.56	2810.31	1755.56	2080.12	0	0	0	30.00	30.00	30.00
1924.37	260	-74.33	-1.59	80.00	2803.3	2795.6	2811.0	1755.6	2080.1	236.75	-11.12	236	1930.01	0.00	0.00	3.66	0.000	0.000	0.105	2803.81	2795.88	2811.75	1754.94	3476.81	0	0	0	30.00	30.00	15.41
2023.29	1028	-74.33	-1.59	0.00	2803.1	2795.4	2810.8	1754.9	3476.9	248.88	-12.16	256	2030.07	0.00	0.00	3.37	0.000	0.000	0.056	2803.06	2795.44	2810.69	1755.38	2082.12	0	0	0	30.00	30.00	15.53
2159.44	516	-74.33	-1.59	-80.00	2802.9	2795.7	2810.1	1755.3	2081.9	263.60	-10.83	262	2165.10	0.00	0.00	4.02	0.000	0.000	0.152	2801.47	2793.94	2809.00	1755.50	662.81	0	0	0	30.00	30.00	15.20
2198.30	1028	-74.33	-1.59	0.00	2802.8	2795.1	2810.4	1755.1	662.8	268.23	-12.78	270	2204.14	0.00	0.00	3.45	0.000	0.000	0.047	2803.41	2796.19	2810.62	1755.50	2123.12	0	0	0	30.00	30.00	15.61
2514.40	0	-74.33	-1.59	0.00	2803.2	2795.6	2810.8	1755.1	2122.7	300.79	-10.30	283	2515.73	0.00	0.00	0.00	0.000	0.000	0.000	2803.09	2795.50	2810.69	1755.25	2122.69	0	0	0	30.00	30.00	30.00
2814.40	260	-74.33	-1.59	80.00	2803.0	2795.6	2810.3	1755.2	2123.2	331.67	-10.21	293	2820.05	0.00	0.00	3.58	0.000	0.000	0.109	2805.25	2797.69	2812.81	1754.44	3474.94	0	0	0	30.00	30.00	15.38
2869.41	1028	-74.33	-1.59	0.00	2803.0	2795.6	2810.4	1755.3	3474.4	337.82	-11.41	304	2874.00	0.00	0.00	3.35	0.000	0.000	0.055	2803.50	2796.12	2810.88	1755.12	2081.12	0	0	0	30.00	30.00	15.53
3199.47	260	-74.33	-1.59	80.00	2803.0	2795.4	2810.5	1755.4	2081.4	369.81	-9.75	320	3205.09	0.00	0.00	3.69	0.000	0.000	0.107	2801.06	2793.94	2808.19	1755.44	3475.38	0	0	0	30.00	30.00	15.37
3273.39	1028	-74.33	-1.59	0.00	2802.8	2795.5	2810.1	1755.3	3476.0	378.15	-11.40	335	3279.02	0.00	0.00	3.38	0.000	0.000	0.057	2803.09	2795.69	2810.50	1755.06	2080.94	0	0	0	30.00	30.00	15.50
3584.45	260	-74.33	-1.59	80.00	2802.9	2795.5	2810.3	1755.5	2080.9	407.97	-9.54	347	3590.09	0.00	0.00	3.70	0.000	0.000	0.107	2801.06	2793.94	2808.19	1755.12	3476.50	0	0	0	30.00	30.00	15.37
3613.35	1028	-74.33	-1.59	0.00	2802.6	2795.7	2809.6	1755.2	3476.2	410.85	-9.64	353	3619.03	0.00	0.00	3.38	0.000	0.000	0.056	2802.44	2795.25	2809.62	1755.25	2083.25	0	0	0	30.00	30.00	15.50
3939.50	292	-99.84	-1.67	80.00	2802.2	2795.5	2808.8	1755.5	2082.7	440.48	-8.55	368	3945.12	0.00	0.00	3.71	0.000	0.000	0.108	2803.06	2796.56	2809.56	1754.75	3475.19	0	0	0	30.00	30.00	15.34
3994.47	1028	-99.84	-1.67	0.00	2802.1	2795.2	2809.0	1755.2	3475.3	446.54	-11.74	379	3999.06	0.00	0.00	3.37	0.000	0.000	0.057	2804.88	2798.12	2811.62	1755.69	2080.88	0	0	0	30.00	30.00	15.49
4324.53	0	-99.84	-1.67	0.00	2802.1	2795.5	2808.7	1755.1	2080.8	478.37	-9.86	395	4325.86	0.00	0.00	0.00	0.000	0.000	0.000	2802.38	2795.50	2809.25	1755.00	2081.19	0	0	0	30.00	30.00	30.00
4565	end dive: TARGET_DEPTH_EXCEEDED
state	4565	begin apogee
4565.67	10243	0.00	-0.25	0.00	2801.8	2795.7	2808.0	1756.0	2121.0	501.59	-9.79	403	4633.83	64.04	2.52	0.09	1.638	0.154	0.240	2497.22	2503.06	2491.38	2078.50	2084.44	0	0	0	10.38	15.29	14.92
4637	end apogee: CONTROL_FINISHED_OK
state	4637	begin climb
4636.79	10243	99.84	1.67	0.00	2497.8	2506.2	2489.3	2080.2	2084.6	502.54	0.00	405	4733.64	91.90	3.28	0.00	1.595	0.080	0.000	2092.81	2105.81	2079.81	2549.50	2084.19	0	0	0	11.59	15.27	30.00
5014.56	16966	99.84	1.72	-80.00	2080.6	2097.1	2064.1	2550.1	2084.2	471.26	9.38	418	5020.20	0.00	0.00	3.99	0.000	0.000	0.140	2078.47	2095.00	2061.94	2550.56	661.81	0	0	0	30.00	30.00	15.27
5058.41	17414	99.84	1.72	0.00	2078.9	2093.9	2063.9	2550.4	661.6	466.08	10.72	427	5064.10	0.00	0.00	3.47	0.000	0.000	0.046	2081.34	2096.75	2065.94	2550.19	2124.81	0	0	0	30.00	30.00	15.58
5369.52	16450	99.84	1.78	0.00	2077.2	2093.8	2060.7	2550.6	2124.9	436.56	9.12	439	5370.86	0.00	0.00	0.00	0.000	0.000	0.000	2076.78	2093.62	2059.94	2549.81	2125.44	0	0	0	30.00	30.00	30.00
5669.52	10791	124.17	1.85	-80.00	2076.2	2094.0	2058.4	2550.0	2125.5	409.92	8.67	449	5696.77	21.32	0.24	4.06	1.446	0.072	0.138	1994.28	2010.94	1977.62	2605.12	661.62	0	0	0	11.14	15.70	15.15
5758.97	1028	124.17	1.85	0.00	1990.4	2005.4	1975.4	2604.9	661.8	399.52	12.10	467	5764.68	0.00	0.00	3.49	0.000	0.000	0.046	1990.66	2006.25	1975.06	2606.06	2125.31	0	0	0	30.00	30.00	15.62
6085.15	260	124.17	1.85	80.00	1987.1	2005.2	1968.9	2604.9	2125.9	361.28	11.58	482	6090.73	0.00	0.00	3.61	0.000	0.000	0.111	1986.06	2002.75	1969.38	2604.44	3474.62	0	0	0	30.00	30.00	15.40
6149.00	1028	124.17	1.85	0.00	1987.3	2005.4	1969.2	2605.8	3475.7	352.95	12.34	495	6154.67	0.00	0.00	3.38	0.000	0.000	0.055	1989.00	2006.56	1971.44	2604.44	2077.50	0	0	0	30.00	30.00	15.55
6470.10	0	124.17	1.85	0.00	1986.2	2005.2	1967.1	2605.1	2077.9	317.69	11.37	509	6471.43	0.00	0.00	0.00	0.000	0.000	0.000	1986.59	2005.62	1967.56	2604.44	2077.50	0	0	0	30.00	30.00	30.00
6770.12	16966	124.17	1.87	-80.00	1985.2	2005.3	1965.1	2604.6	2077.8	285.24	10.52	519	6775.81	0.00	0.00	3.95	0.000	0.000	0.136	1983.75	2003.50	1964.00	2605.31	662.88	0	0	0	30.00	30.00	15.27
6834.03	17414	124.17	1.87	0.00	1984.4	2003.6	1965.2	2605.1	662.5	278.29	10.99	532	6839.73	0.00	0.00	3.46	0.000	0.000	0.047	1987.00	2006.50	1967.50	2604.62	2128.00	0	0	0	30.00	30.00	15.65
7145.20	16966	124.17	1.92	-80.00	1984.2	2004.0	1964.4	2605.8	2127.5	248.50	9.49	547	7150.85	0.00	0.00	4.07	0.000	0.000	0.130	1985.81	2004.81	1966.81	2605.19	661.81	0	0	0	30.00	30.00	15.25
7310.65	17414	124.17	1.92	0.00	1984.0	2003.4	1964.7	2604.9	661.8	229.95	11.40	580	7315.78	0.00	0.00	3.45	0.000	0.000	0.045	1985.31	2003.62	1967.00	2603.62	2129.38	0	0	0	30.00	30.00	15.66
7435.19	16710	124.17	1.97	80.00	1983.9	2003.4	1964.4	2605.2	2129.1	218.90	9.45	593	7440.80	0.00	0.00	3.55	0.000	0.000	0.110	1983.44	2003.12	1963.75	2605.00	3473.81	0	0	0	30.00	30.00	15.36
7504.15	17478	124.17	2.01	0.00	1984.0	2003.5	1964.5	2605.1	3473.0	211.93	9.78	607	7510.87	0.00	0.00	3.38	0.000	0.000	0.056	1985.12	2003.62	1966.62	2604.38	2077.00	0	0	0	30.00	30.00	15.55
7630.21	10791	149.85	2.09	-80.00	1983.7	2003.4	1963.9	2605.2	2076.6	201.05	8.53	620	7662.07	23.57	0.26	3.90	1.283	0.092	0.135	1887.94	1907.62	1868.25	2654.19	659.88	0	0	0	11.05	15.68	15.15
7710.74	1028	149.85	2.09	0.00	1885.9	1904.1	1867.8	2653.9	659.6	191.46	13.12	636	7715.93	0.00	0.00	3.49	0.000	0.000	0.047	1884.50	1902.69	1866.31	2653.88	2128.00	0	0	0	30.00	30.00	15.61
7835.32	0	149.85	2.09	0.00	1883.9	1904.4	1863.4	2654.2	2127.9	176.88	11.76	649	7836.65	0.00	0.00	0.00	0.000	0.000	0.000	1882.62	1902.88	1862.38	2653.50	2127.88	0	0	0	30.00	30.00	30.00
7955.32	0	149.85	2.09	0.00	1883.2	1904.0	1862.4	2654.1	2127.3	163.77	11.40	661	7956.65	0.00	0.00	0.00	0.000	0.000	0.000	1883.59	1904.69	1862.50	2653.38	2127.12	0	0	0	30.00	30.00	30.00
8075.33	516	149.85	2.09	-80.00	1882.6	1903.6	1861.5	2653.9	2127.2	149.42	12.08	673	8081.04	0.00	0.00	4.03	0.000	0.000	0.128	1881.62	1902.75	1860.50	2653.88	662.69	0	0	0	30.00	30.00	15.30
8304.26	1028	149.85	2.09	0.00	1882.7	1903.4	1861.9	2653.8	662.7	118.83	12.73	719	8311.06	0.00	0.00	3.49	0.000	0.000	0.048	1884.41	1905.12	1863.69	2653.19	2126.50	0	0	0	30.00	30.00	15.63
8370.43	580	149.85	2.14	-80.00	1882.1	1903.1	1861.0	2654.1	2127.5	112.44	9.36	726	8376.07	0.00	0.00	4.02	0.000	0.000	0.125	1884.16	1905.06	1863.25	2653.62	660.69	0	0	0	30.00	30.00	15.27
8465.83	1092	149.85	2.15	0.00	1882.2	1903.2	1861.2	2654.1	660.9	102.27	10.56	745	8470.99	0.00	0.00	3.47	0.000	0.000	0.046	1882.09	1903.00	1861.19	2654.38	2128.31	0	0	0	30.00	30.00	15.64
8530.38	10791	177.41	2.24	-80.00	1881.9	1902.9	1861.0	2654.1	2128.4	96.46	8.34	752	8566.82	30.89	0.17	3.97	1.143	0.084	0.125	1774.31	1795.00	1753.62	2695.19	660.75	0	0	0	11.41	15.68	15.15
8625.83	1028	177.41	2.24	0.00	1774.4	1794.7	1754.1	2694.9	660.6	85.54	12.77	771	8631.00	0.00	0.00	3.49	0.000	0.000	0.045	1773.19	1793.56	1752.81	2694.69	2127.81	0	0	0	30.00	30.00	15.60
8690.40	324	177.41	2.27	80.00	1772.6	1794.6	1750.6	2694.4	2127.9	78.79	10.02	778	8696.02	0.00	0.00	3.55	0.000	0.000	0.106	1771.38	1792.31	1750.44	2694.25	3475.25	0	0	0	30.00	30.00	15.41
8785.42	1092	177.41	2.32	0.00	1772.0	1793.6	1750.4	2695.1	3474.8	69.79	9.50	797	8790.01	0.00	0.00	3.38	0.000	0.000	0.052	1772.19	1793.81	1750.56	2694.75	2076.50	0	0	0	30.00	30.00	15.54
8855.42	10275	205.17	2.40	0.00	1771.4	1793.5	1749.4	2694.6	2076.9	63.98	8.32	805	8890.04	32.01	0.17	0.00	1.092	0.087	0.000	1663.88	1686.25	1641.50	2735.25	2076.50	0	0	0	11.55	15.62	30.00
8955.44	8742	249.88	2.54	-80.00	1660.5	1684.4	1636.7	2735.8	2077.1	57.23	6.62	817	9012.15	50.78	0.00	3.95	1.082	0.000	0.131	1482.38	1506.75	1458.00	2734.81	661.69	0	0	0	11.57	30.00	15.01
9020.88	11303	279.25	2.62	0.00	1480.4	1504.4	1456.4	2735.6	661.4	52.14	8.16	830	9061.95	33.87	0.25	3.52	1.037	0.065	0.043	1361.12	1385.50	1336.75	2788.25	2129.38	0	0	0	11.63	15.28	15.38
9120.43	324	279.25	2.64	80.00	1358.1	1383.8	1332.3	2788.4	2129.8	42.04	10.45	844	9126.05	0.00	0.00	3.58	0.000	0.000	0.105	1357.19	1382.44	1331.94	2787.81	3474.81	0	0	0	30.00	30.00	15.30
9349.36	1028	279.25	2.64	0.00	1354.2	1380.8	1327.8	2787.9	3474.6	12.31	13.07	890	9356.15	0.00	0.00	3.38	0.000	0.000	0.053	1355.03	1382.06	1328.00	2787.94	2077.88	0	0	0	30.00	30.00	15.49
9416.16	260	279.25	2.64	80.00	1353.7	1381.2	1326.1	2788.4	2078.6	4.53	11.77	897	9421.11	0.00	0.00	3.69	0.000	0.000	0.101	1353.84	1380.69	1327.00	2787.62	3476.06	0	0	0	30.00	30.00	15.38
9434	end climb: SURFACE_DEPTH_REACHED
state	9434	begin surface coast
9444	end surface coast: CONTROL_FINISHED_OK
state	9444	begin surface