Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1025 * 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 1025 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 72.677361 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 245.11169 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 72.677361 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 245.11169 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 1025 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 010421,161501,4707.701,-12501.750,32,0.7,33,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.58 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -62.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 010421,162147,4707.641,-12501.753,2,0.6,3,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 319.3,734,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 9460.89,0.00,0.017,0,564.7,565.2,564.1,474.74 _24V_AH 13.61,282.818

SM_GC -0.65,0.00,18.11,0.10,0.017,0.088,0.134,564.7,565.2,564.1,166.6,2070.3,0,0,0,30.36,15.26,15.59 _10V_AH 14.75,0.000

SUPER 19,71,254,1,0,0 FG_AHR_24Vo 245.317

IRIDIUM_FIX 4708.95,-12503.93,010421,134951 FG_AHR_10Vo 72.709

TCM_TEMP 174.86 MEM 1103688,38,73460,56

XPDR_PINGS 5,14.0,11.5 DATA_FILE_SIZE 38627,1004

ALTIM_BOTTOM_PING 255.9,8.0 CAP_FILE_SIZE 505484,0

SC_FREEKB 3466464 SDSIZE 3918848,3639872

HUMID 58.23 SDFILEDIR 5151,1

TEMP 7.83 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77315 GPS 010421,190010,4708.147,-12501.560,7,0.8,14,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 630 2577 22128.54 legato 0 0 0.00

Pitch_motor 39 255 135.93 nil 0 0 0.00

Roll_motor 222 237 718.77 nil 0 0 0.00

Iridium 185 190 481.65 nil 0 0 0.00

Transponder_ping 2 420 12.86 nil 0 0 0.00

GPS 12 15 2.83 nil 0 0 0.00

Core 3526 11 613.82 SciCon 9287 5 708.75

LPSleep 6063 2 250.42 nil 0 0 0.00

Compass 1895 5 139.80 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 4 30 1.77

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

7.63 16386 -74.33 -1.59 0.00 557.8 561.3 554.3 166.6 2079.5 0.00 0.00 0 104.96 96.90 0.00 0.00 0.005 0.000 0.000 2759.81 2742.69 2776.94 166.50 2080.19 0 0 0 14.58 30.00 30.00

105.19 18951 -74.33 -1.59 -80.00 2758.7 2742.4 2775.0 166.5 2079.6 4.31 -9.29 10 128.14 0.87 14.04 3.97 0.028 0.256 0.147 2801.28 2790.25 2812.31 1754.25 661.75 0 0 0 14.84 15.00 14.75

181.81 1028 -74.33 -1.59 0.00 2802.3 2793.4 2811.2 1754.2 661.6 24.18 -21.54 25 186.99 0.00 0.00 3.52 0.000 0.000 0.053 2804.84 2796.19 2813.50 1752.88 2121.69 0 0 0 30.00 30.00 15.51

246.36 260 -74.33 -1.59 80.00 2802.1 2793.8 2810.4 1754.2 2122.2 37.22 -19.40 32 250.99 0.00 0.00 3.52 0.000 0.000 0.107 2803.88 2796.06 2811.69 1753.88 3475.94 0 0 0 30.00 30.00 15.36

270.33 1028 -74.33 -1.59 0.00 2801.8 2793.9 2809.8 1754.6 3475.8 42.29 -20.29 37 277.06 0.00 0.00 3.35 0.000 0.000 0.055 2802.72 2794.88 2810.56 1754.38 2079.56 0 0 0 30.00 30.00 15.47

336.43 0 -74.33 -1.59 0.00 2802.2 2794.2 2810.2 1754.4 2080.9 54.49 -17.93 44 337.76 0.00 0.00 0.00 0.000 0.000 0.000 2802.53 2794.44 2810.62 1754.19 2080.19 0 0 0 30.00 30.00 30.00

396.39 516 -74.33 -1.59 -80.00 2802.0 2794.0 2810.0 1754.4 2080.4 64.21 -16.40 50 402.08 0.00 0.00 3.95 0.000 0.000 0.150 2800.97 2793.06 2808.88 1753.19 662.81 0 0 0 30.00 30.00 15.20

411.84 1028 -74.33 -1.59 0.00 2802.0 2793.9 2810.1 1754.0 662.6 66.55 -15.75 53 417.00 0.00 0.00 3.44 0.000 0.000 0.049 2802.53 2794.50 2810.56 1753.81 2123.75 0 0 0 30.00 30.00 15.56

476.44 260 -74.33 -1.59 80.00 2802.3 2794.6 2810.1 1754.1 2124.7 76.39 -14.74 60 480.99 0.00 0.00 3.48 0.000 0.000 0.106 2804.88 2797.62 2812.12 1753.38 3475.00 0 0 0 30.00 30.00 15.37

556.46 1028 -74.33 -1.59 0.00 2802.5 2795.1 2809.9 1754.0 3474.8 88.87 -15.81 76 561.00 0.00 0.00 3.31 0.000 0.000 0.055 2802.66 2794.69 2810.62 1754.12 2080.62 0 0 0 30.00 30.00 15.52

626.40 516 -74.33 -1.59 -80.00 2802.3 2794.6 2809.9 1753.6 2081.2 97.56 -11.90 84 632.10 0.00 0.00 3.93 0.000 0.000 0.148 2804.69 2797.50 2811.88 1753.50 661.56 0 0 0 30.00 30.00 15.22

655.31 1028 -74.33 -1.59 0.00 2802.2 2794.9 2809.6 1754.1 661.6 101.34 -12.62 90 662.12 0.00 0.00 3.45 0.000 0.000 0.047 2803.16 2796.25 2810.06 1754.44 2123.19 0 0 0 30.00 30.00 15.57

721.47 0 -74.33 -1.59 0.00 2802.4 2795.6 2809.3 1753.6 2123.1 109.31 -12.04 97 722.79 0.00 0.00 0.00 0.000 0.000 0.000 2803.03 2795.75 2810.31 1754.12 2123.00 0 0 0 30.00 30.00 30.00

781.43 260 -74.33 -1.59 80.00 2802.3 2795.2 2809.4 1754.4 2123.0 116.12 -11.23 103 786.03 0.00 0.00 3.49 0.000 0.000 0.106 2802.69 2794.88 2810.50 1754.31 3474.81 0 0 0 30.00 30.00 15.39

831.42 1028 -74.33 -1.59 0.00 2802.4 2795.2 2809.6 1754.4 3475.3 122.23 -11.82 113 836.01 0.00 0.00 3.31 0.000 0.000 0.052 2804.56 2797.56 2811.56 1754.06 2078.88 0 0 0 30.00 30.00 15.54

901.43 516 -74.33 -1.59 -80.00 2802.4 2795.6 2809.3 1754.3 2079.3 129.86 -10.71 121 907.13 0.00 0.00 3.91 0.000 0.000 0.149 2803.91 2796.00 2811.81 1753.94 662.75 0 0 0 30.00 30.00 15.21

926.88 1028 -74.33 -1.59 0.00 2802.8 2795.9 2809.7 1754.1 662.8 133.05 -11.75 126 932.04 0.00 0.00 3.42 0.000 0.000 0.046 2801.66 2794.31 2809.00 1753.38 2124.62 0 0 0 30.00 30.00 15.61

991.51 260 -74.33 -1.59 80.00 2802.4 2795.7 2809.2 1754.2 2125.4 140.31 -11.02 133 997.05 0.00 0.00 3.45 0.000 0.000 0.104 2801.09 2794.12 2808.06 1754.12 3475.31 0 0 0 30.00 30.00 15.39

1060.37 1028 -74.33 -1.59 0.00 2802.2 2795.0 2809.3 1754.1 3474.8 149.04 -11.78 147 1067.13 0.00 0.00 3.30 0.000 0.000 0.052 2802.47 2795.31 2809.62 1754.25 2079.12 0 0 0 30.00 30.00 15.53

1126.45 516 -74.33 -1.59 -80.00 2802.6 2795.8 2809.4 1754.2 2079.3 157.04 -11.65 154 1132.13 0.00 0.00 3.89 0.000 0.000 0.148 2805.06 2798.31 2811.81 1752.81 662.75 0 0 0 30.00 30.00 15.21

1201.90 1028 -74.33 -1.59 0.00 2802.6 2795.5 2809.8 1753.9 662.8 167.42 -12.79 169 1207.09 0.00 0.00 3.42 0.000 0.000 0.047 2801.81 2794.69 2808.94 1754.19 2122.94 0 0 0 30.00 30.00 15.61

1326.48 0 -74.33 -1.59 0.00 2802.3 2795.3 2809.4 1754.8 2122.6 181.91 -11.55 182 1327.81 0.00 0.00 0.00 0.000 0.000 0.000 2802.78 2795.38 2810.19 1753.88 2123.31 0 0 0 30.00 30.00 30.00

1446.48 0 -74.33 -1.59 0.00 2802.8 2796.0 2809.6 1754.2 2123.4 195.62 -11.15 194 1447.81 0.00 0.00 0.00 0.000 0.000 0.000 2802.81 2795.75 2809.88 1754.19 2123.31 0 0 0 30.00 30.00 30.00

1566.49 0 -74.33 -1.59 0.00 2802.6 2795.8 2809.4 1754.3 2123.4 209.48 -11.45 206 1567.82 0.00 0.00 0.00 0.000 0.000 0.000 2802.94 2795.62 2810.25 1753.69 2123.50 0 0 0 30.00 30.00 30.00

1686.51 260 -74.33 -1.59 80.00 2803.1 2796.2 2809.9 1754.0 2124.0 223.70 -11.85 218 1691.11 0.00 0.00 3.52 0.000 0.000 0.108 2803.44 2796.06 2810.81 1753.62 3476.88 0 0 0 30.00 30.00 15.37

1756.51 1028 -74.33 -1.59 0.00 2802.7 2796.0 2809.4 1754.1 3476.6 232.54 -12.88 232 1761.09 0.00 0.00 3.32 0.000 0.000 0.054 2802.66 2795.50 2809.81 1753.75 2081.25 0 0 0 30.00 30.00 15.54

1886.52 260 -74.33 -1.59 80.00 2802.6 2795.2 2810.0 1754.3 2080.9 247.62 -11.50 246 1892.22 0.00 0.00 3.63 0.000 0.000 0.104 2801.19 2794.06 2808.31 1754.00 3474.19 0 0 0 30.00 30.00 15.37

1941.53 1028 -74.33 -1.59 0.00 2802.7 2795.6 2809.8 1754.4 3474.9 255.04 -12.76 257 1948.40 0.00 0.00 3.32 0.000 0.000 0.055 2802.91 2796.25 2809.56 1753.94 2080.50 0 0 0 30.00 30.00 15.53

2271.68 260 -74.33 -1.59 80.00 2802.7 2795.8 2809.6 1754.3 2080.9 292.99 -11.43 273 2277.27 0.00 0.00 3.67 0.000 0.000 0.106 2805.06 2797.62 2812.50 1753.12 3476.00 0 0 0 30.00 30.00 15.37

2310.53 1028 -74.33 -1.59 0.00 2802.8 2795.3 2810.2 1754.1 3475.7 297.50 -11.57 281 2316.22 0.00 0.00 3.34 0.000 0.000 0.055 2805.03 2797.75 2812.31 1753.69 2079.94 0 0 0 30.00 30.00 15.51

2626.64 516 -74.33 -1.59 -80.00 2802.7 2795.4 2810.1 1753.6 2080.0 330.57 -10.16 294 2632.35 0.00 0.00 4.01 0.000 0.000 0.153 2803.12 2795.38 2810.88 1753.56 662.75 0 0 0 30.00 30.00 15.15

2700.55 1028 -74.33 -1.59 0.00 2802.8 2795.2 2810.4 1753.8 662.8 339.64 -12.33 309 2706.26 0.00 0.00 3.46 0.000 0.000 0.049 2802.69 2795.88 2809.50 1754.56 2122.50 0 0 0 30.00 30.00 15.58

3011.66 260 -74.33 -1.59 80.00 2802.3 2795.3 2809.4 1754.6 2121.7 371.67 -10.31 321 3017.29 0.00 0.00 3.57 0.000 0.000 0.111 2801.78 2794.88 2808.69 1754.06 3475.88 0 0 0 30.00 30.00 15.34

3100.62 1028 -74.33 -1.59 0.00 2802.6 2795.5 2809.8 1753.9 3476.2 382.06 -11.72 339 3106.26 0.00 0.00 3.34 0.000 0.000 0.058 2803.09 2796.81 2809.38 1754.12 2079.62 0 0 0 30.00 30.00 15.48

3426.69 0 -74.33 -1.59 0.00 2802.6 2795.9 2809.2 1753.9 2080.2 413.70 -9.66 354 3428.02 0.00 0.00 0.00 0.000 0.000 0.000 2802.28 2795.62 2808.94 1753.50 2080.00 0 0 0 30.00 30.00 30.00

3726.70 516 -74.33 -1.59 -80.00 2802.2 2795.8 2808.6 1753.9 2080.0 443.96 -10.01 364 3732.40 0.00 0.00 4.00 0.000 0.000 0.156 2804.44 2797.50 2811.38 1754.12 662.81 0 0 0 30.00 30.00 15.10

3752.15 1060 -95.98 -1.66 0.00 2802.2 2795.9 2808.6 1754.0 662.6 447.65 -8.94 369 3757.31 0.00 0.00 3.46 0.000 0.000 0.051 2803.44 2797.31 2809.56 1753.50 2122.69 0 0 0 30.00 30.00 15.57

4076.72 260 -95.98 -1.66 80.00 2801.7 2795.2 2808.1 1753.9 2123.2 478.39 -9.68 384 4082.34 0.00 0.00 3.58 0.000 0.000 0.113 2801.69 2795.00 2808.38 1754.00 3475.81 0 0 0 30.00 30.00 15.31

4170.63 1028 -95.98 -1.66 0.00 2801.7 2795.2 2808.1 1754.1 3475.2 488.52 -10.20 403 4176.31 0.00 0.00 3.36 0.000 0.000 0.059 2802.88 2796.38 2809.38 1754.00 2081.88 0 0 0 30.00 30.00 15.46

4312 end dive: TARGET_DEPTH_EXCEEDED

state 4312 begin apogee

4312.86 10243 0.00 -0.25 0.00 2801.8 2795.4 2808.1 1754.2 2119.0 501.99 -9.51 411 4381.28 64.06 2.54 0.09 1.632 0.157 0.237 2496.81 2504.44 2489.19 2079.88 2083.25 0 0 0 10.32 15.26 14.92

4384 end apogee: CONTROL_FINISHED_OK

state 4384 begin climb

4384.26 10503 95.98 1.66 80.00 2497.9 2506.4 2489.4 2079.6 2083.0 503.47 0.00 413 4481.85 87.83 3.23 3.78 1.594 0.077 0.110 2106.31 2116.50 2096.12 2546.69 3475.12 0 0 0 11.58 15.27 14.74

4549.00 1092 95.98 1.67 0.00 2102.2 2116.6 2087.8 2547.2 3474.8 491.24 10.57 446 4554.67 0.00 0.00 3.39 0.000 0.000 0.054 2104.56 2119.25 2089.88 2546.81 2078.75 0 0 0 30.00 30.00 15.35

4860.11 16966 95.98 1.73 -80.00 2096.6 2113.1 2080.0 2547.6 2079.4 462.44 9.21 458 4865.78 0.00 0.00 3.88 0.000 0.000 0.138 2095.69 2111.94 2079.44 2547.38 661.69 0 0 0 30.00 30.00 15.28

4945.54 17414 95.98 1.73 0.00 2094.9 2110.1 2079.6 2547.6 662.0 453.19 13.82 475 4950.72 0.00 0.00 3.42 0.000 0.000 0.045 2093.69 2109.06 2078.31 2548.12 2126.56 0 0 0 30.00 30.00 15.62

5270.19 10791 128.88 1.83 -80.00 2093.5 2110.3 2076.8 2547.6 2126.9 428.15 7.80 490 5305.55 29.59 0.22 4.00 1.494 0.078 0.136 1974.06 1990.25 1957.88 2601.56 661.88 0 0 0 11.12 15.67 15.10

5529.10 1028 128.88 1.83 0.00 1967.8 1982.6 1952.9 2601.3 662.0 393.71 16.15 542 5534.76 0.00 0.00 3.45 0.000 0.000 0.046 1967.59 1982.88 1952.31 2602.06 2126.56 0 0 0 30.00 30.00 15.58

5840.16 16902 128.88 1.83 -80.00 1965.3 1983.0 1947.6 2601.1 2125.8 357.24 11.12 554 5845.87 0.00 0.00 4.01 0.000 0.000 0.133 1964.91 1981.19 1948.62 2600.56 662.69 0 0 0 30.00 30.00 15.30

5934.08 17414 128.88 1.83 0.00 1965.1 1982.6 1947.6 2601.7 662.7 343.91 15.59 573 5939.79 0.00 0.00 3.43 0.000 0.000 0.046 1967.00 1983.94 1950.06 2600.62 2126.75 0 0 0 30.00 30.00 15.63

6255.20 16710 128.88 1.87 80.00 1964.3 1982.9 1945.8 2601.4 2126.7 309.77 9.71 587 6259.80 0.00 0.00 3.54 0.000 0.000 0.110 1964.62 1982.94 1946.31 2601.75 3475.00 0 0 0 30.00 30.00 15.37

6484.18 17414 128.88 1.87 0.00 1964.2 1982.2 1946.2 2601.0 3475.2 282.97 12.04 633 6489.80 0.00 0.00 3.37 0.000 0.000 0.055 1964.75 1982.81 1946.69 2601.62 2078.75 0 0 0 30.00 30.00 15.56

6795.24 16450 128.88 1.91 0.00 1963.0 1982.5 1943.6 2601.6 2078.7 251.91 9.84 645 6796.57 0.00 0.00 0.00 0.000 0.000 0.000 1963.09 1982.50 1943.69 2600.88 2078.50 0 0 0 30.00 30.00 30.00

7095.25 8742 149.61 1.97 -80.00 1963.0 1982.7 1943.2 2601.8 2078.9 222.74 9.03 673 7120.38 19.05 0.00 3.91 1.279 0.000 0.138 1888.19 1908.44 1867.94 2602.06 661.62 0 0 0 10.96 30.00 15.18

7165.71 1028 149.61 1.97 0.00 1886.8 1905.5 1868.1 2601.6 661.7 215.76 10.70 687 7170.87 0.00 0.00 3.45 0.000 0.000 0.045 1885.09 1903.75 1866.44 2601.88 2130.06 0 0 0 30.00 30.00 15.65

7290.28 324 149.61 2.00 80.00 1884.9 1905.6 1864.2 2601.7 2129.8 202.78 10.18 700 7294.88 0.00 0.00 3.52 0.000 0.000 0.110 1883.88 1904.56 1863.19 2601.31 3474.00 0 0 0 30.00 30.00 15.41

7330.71 1028 149.61 2.00 0.00 1884.8 1905.7 1864.0 2601.8 3475.1 197.94 11.87 708 7335.87 0.00 0.00 3.35 0.000 0.000 0.054 1883.38 1904.12 1862.62 2601.38 2076.12 0 0 0 30.00 30.00 15.57

7455.28 260 149.61 2.00 80.00 1884.2 1905.8 1862.6 2601.0 2075.8 184.45 11.10 721 7460.92 0.00 0.00 3.64 0.000 0.000 0.107 1884.50 1905.88 1863.12 2601.75 3475.44 0 0 0 30.00 30.00 15.36

7480.78 1028 149.61 2.00 0.00 1883.9 1905.4 1862.4 2602.0 3474.6 181.44 10.72 726 7485.88 0.00 0.00 3.33 0.000 0.000 0.054 1882.69 1902.81 1862.56 2601.00 2076.00 0 0 0 30.00 30.00 15.57

7605.31 2629 149.61 2.03 -80.00 1883.7 1905.3 1862.1 2601.1 2076.3 168.43 10.17 739 7611.04 0.00 0.19 3.87 0.000 0.111 0.134 1883.19 1905.00 1861.38 2636.25 661.62 0 0 0 30.00 15.65 15.28

7834.23 1028 149.61 2.03 0.00 1883.6 1904.9 1862.3 2636.4 661.9 138.41 12.78 785 7841.02 0.00 0.00 3.45 0.000 0.000 0.047 1883.28 1904.44 1862.12 2636.88 2128.69 0 0 0 30.00 30.00 15.61

7900.39 64 149.61 2.06 0.00 1883.3 1904.8 1861.8 2636.9 2128.8 131.96 9.94 792 7901.72 0.00 0.00 0.00 0.000 0.000 0.000 1883.47 1904.44 1862.50 2636.25 2128.06 0 0 0 30.00 30.00 30.00

7960.34 580 149.61 2.11 -80.00 1883.2 1904.9 1861.6 2636.3 2128.4 126.26 9.52 798 7966.04 0.00 0.00 4.01 0.000 0.000 0.127 1881.97 1903.38 1860.56 2636.50 661.00 0 0 0 30.00 30.00 15.26

8075.91 1092 149.61 2.13 0.00 1883.4 1904.9 1862.0 2636.5 660.8 114.04 10.39 821 8080.96 0.00 0.00 3.46 0.000 0.000 0.046 1883.59 1904.81 1862.38 2636.19 2129.38 0 0 0 30.00 30.00 15.65

8140.36 10791 172.76 2.20 -80.00 1883.0 1904.6 1861.4 2636.6 2129.6 108.12 8.78 828 8172.25 24.81 0.23 3.97 1.150 0.081 0.127 1794.88 1815.81 1773.94 2687.50 660.94 0 0 0 11.38 15.70 15.15

8200.92 1028 172.76 2.20 0.00 1793.3 1813.0 1773.6 2687.5 660.8 101.40 12.58 840 8206.08 0.00 0.00 3.47 0.000 0.000 0.046 1791.75 1811.75 1771.75 2687.31 2129.56 0 0 0 30.00 30.00 15.61

8265.48 324 172.76 2.24 80.00 1791.7 1812.2 1771.1 2687.1 2129.9 94.95 9.86 847 8270.09 0.00 0.00 3.52 0.000 0.000 0.106 1791.94 1812.88 1771.00 2686.94 3476.75 0 0 0 30.00 30.00 15.45

8435.96 1092 172.76 2.30 0.00 1790.4 1811.0 1769.8 2687.2 3475.9 76.91 9.15 881 8441.09 0.00 0.00 3.37 0.000 0.000 0.053 1790.31 1809.81 1770.81 2685.81 2077.44 0 0 0 30.00 30.00 15.57

8500.56 8486 192.75 2.36 80.00 1790.2 1811.7 1768.7 2687.8 2077.9 70.76 9.10 888 8531.73 23.95 0.00 3.67 1.087 0.000 0.105 1712.47 1735.12 1689.81 2687.31 3475.31 0 0 0 11.54 30.00 15.17

8584.42 11303 217.87 2.43 0.00 1711.2 1733.9 1688.6 2687.4 3475.1 62.98 8.59 905 8621.95 30.03 0.27 3.37 1.075 0.079 0.052 1610.53 1632.56 1588.50 2741.88 2078.06 0 0 0 11.68 15.36 15.56

8680.71 8742 242.20 2.51 -80.00 1608.0 1632.0 1584.0 2741.8 2077.8 54.85 8.67 918 8715.84 28.75 0.00 3.91 1.053 0.000 0.131 1513.06 1536.56 1489.56 2740.69 660.56 0 0 0 11.55 30.00 15.04

8931.04 9254 265.15 2.57 0.00 1508.7 1531.2 1486.1 2742.0 660.7 32.62 8.80 968 8962.85 26.24 0.00 3.49 1.023 0.000 0.045 1419.53 1445.44 1393.62 2741.38 2128.69 0 0 0 11.43 30.00 15.57

9026.08 2629 265.15 2.61 -80.00 1416.9 1444.0 1389.8 2742.5 2129.8 24.03 9.81 981 9031.83 0.00 0.20 4.03 0.000 0.075 0.124 1415.97 1443.25 1388.69 2785.69 662.00 0 0 0 30.00 15.51 15.31

9051.50 1028 265.15 2.61 0.00 1416.3 1443.1 1389.6 2786.1 661.7 21.01 11.83 986 9056.68 0.00 0.00 3.49 0.000 0.000 0.044 1415.78 1441.88 1389.69 2786.25 2129.38 0 0 0 30.00 30.00 15.55

9116.06 0 265.15 2.61 0.00 1416.1 1442.9 1389.2 2786.6 2129.4 13.43 11.62 993 9117.39 0.00 0.00 0.00 0.000 0.000 0.000 1415.88 1442.75 1389.00 2787.00 2129.06 0 0 0 30.00 30.00 30.00

9176.08 0 265.15 2.61 0.00 1415.5 1442.4 1388.5 2787.2 2129.2 6.21 12.18 999 9177.42 0.00 0.00 0.00 0.000 0.000 0.000 1415.50 1442.44 1388.56 2787.38 2128.69 0 0 0 30.00 30.00 30.00

9216 end climb: SURFACE_DEPTH_REACHED

state 9216 begin surface coast

9226 end surface coast: CONTROL_FINISHED_OK

state 9226 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	1025	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	72.677361	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	245.11169	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	010421,161501,4707.701,-12501.750,32,0.7,33,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.58	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-62.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	010421,162147,4707.641,-12501.753,2,0.6,3,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	319.3,734,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	9460.89,0.00,0.017,0,564.7,565.2,564.1,474.74	_24V_AH	13.61,282.818
SM_GC	-0.65,0.00,18.11,0.10,0.017,0.088,0.134,564.7,565.2,564.1,166.6,2070.3,0,0,0,30.36,15.26,15.59	_10V_AH	14.75,0.000
SUPER	19,71,254,1,0,0	FG_AHR_24Vo	245.317
IRIDIUM_FIX	4708.95,-12503.93,010421,134951	FG_AHR_10Vo	72.709
TCM_TEMP	174.86	MEM	1103688,38,73460,56
XPDR_PINGS	5,14.0,11.5	DATA_FILE_SIZE	38627,1004
ALTIM_BOTTOM_PING	255.9,8.0	CAP_FILE_SIZE	505484,0
SC_FREEKB	3466464	SDSIZE	3918848,3639872
HUMID	58.23	SDFILEDIR	5151,1
TEMP	7.83	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77315	GPS	010421,190010,4708.147,-12501.560,7,0.8,14,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	630	2577	22128.54	legato	0	0	0.00
Pitch_motor	39	255	135.93	nil	0	0	0.00
Roll_motor	222	237	718.77	nil	0	0	0.00
Iridium	185	190	481.65	nil	0	0	0.00
Transponder_ping	2	420	12.86	nil	0	0	0.00
GPS	12	15	2.83	nil	0	0	0.00
Core	3526	11	613.82	SciCon	9287	5	708.75
LPSleep	6063	2	250.42	nil	0	0	0.00
Compass	1895	5	139.80	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	4	30	1.77

		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
7.63	16386	-74.33	-1.59	0.00	557.8	561.3	554.3	166.6	2079.5	0.00	0.00	0	104.96	96.90	0.00	0.00	0.005	0.000	0.000	2759.81	2742.69	2776.94	166.50	2080.19	0	0	0	14.58	30.00	30.00
105.19	18951	-74.33	-1.59	-80.00	2758.7	2742.4	2775.0	166.5	2079.6	4.31	-9.29	10	128.14	0.87	14.04	3.97	0.028	0.256	0.147	2801.28	2790.25	2812.31	1754.25	661.75	0	0	0	14.84	15.00	14.75
181.81	1028	-74.33	-1.59	0.00	2802.3	2793.4	2811.2	1754.2	661.6	24.18	-21.54	25	186.99	0.00	0.00	3.52	0.000	0.000	0.053	2804.84	2796.19	2813.50	1752.88	2121.69	0	0	0	30.00	30.00	15.51
246.36	260	-74.33	-1.59	80.00	2802.1	2793.8	2810.4	1754.2	2122.2	37.22	-19.40	32	250.99	0.00	0.00	3.52	0.000	0.000	0.107	2803.88	2796.06	2811.69	1753.88	3475.94	0	0	0	30.00	30.00	15.36
270.33	1028	-74.33	-1.59	0.00	2801.8	2793.9	2809.8	1754.6	3475.8	42.29	-20.29	37	277.06	0.00	0.00	3.35	0.000	0.000	0.055	2802.72	2794.88	2810.56	1754.38	2079.56	0	0	0	30.00	30.00	15.47
336.43	0	-74.33	-1.59	0.00	2802.2	2794.2	2810.2	1754.4	2080.9	54.49	-17.93	44	337.76	0.00	0.00	0.00	0.000	0.000	0.000	2802.53	2794.44	2810.62	1754.19	2080.19	0	0	0	30.00	30.00	30.00
396.39	516	-74.33	-1.59	-80.00	2802.0	2794.0	2810.0	1754.4	2080.4	64.21	-16.40	50	402.08	0.00	0.00	3.95	0.000	0.000	0.150	2800.97	2793.06	2808.88	1753.19	662.81	0	0	0	30.00	30.00	15.20
411.84	1028	-74.33	-1.59	0.00	2802.0	2793.9	2810.1	1754.0	662.6	66.55	-15.75	53	417.00	0.00	0.00	3.44	0.000	0.000	0.049	2802.53	2794.50	2810.56	1753.81	2123.75	0	0	0	30.00	30.00	15.56
476.44	260	-74.33	-1.59	80.00	2802.3	2794.6	2810.1	1754.1	2124.7	76.39	-14.74	60	480.99	0.00	0.00	3.48	0.000	0.000	0.106	2804.88	2797.62	2812.12	1753.38	3475.00	0	0	0	30.00	30.00	15.37
556.46	1028	-74.33	-1.59	0.00	2802.5	2795.1	2809.9	1754.0	3474.8	88.87	-15.81	76	561.00	0.00	0.00	3.31	0.000	0.000	0.055	2802.66	2794.69	2810.62	1754.12	2080.62	0	0	0	30.00	30.00	15.52
626.40	516	-74.33	-1.59	-80.00	2802.3	2794.6	2809.9	1753.6	2081.2	97.56	-11.90	84	632.10	0.00	0.00	3.93	0.000	0.000	0.148	2804.69	2797.50	2811.88	1753.50	661.56	0	0	0	30.00	30.00	15.22
655.31	1028	-74.33	-1.59	0.00	2802.2	2794.9	2809.6	1754.1	661.6	101.34	-12.62	90	662.12	0.00	0.00	3.45	0.000	0.000	0.047	2803.16	2796.25	2810.06	1754.44	2123.19	0	0	0	30.00	30.00	15.57
721.47	0	-74.33	-1.59	0.00	2802.4	2795.6	2809.3	1753.6	2123.1	109.31	-12.04	97	722.79	0.00	0.00	0.00	0.000	0.000	0.000	2803.03	2795.75	2810.31	1754.12	2123.00	0	0	0	30.00	30.00	30.00
781.43	260	-74.33	-1.59	80.00	2802.3	2795.2	2809.4	1754.4	2123.0	116.12	-11.23	103	786.03	0.00	0.00	3.49	0.000	0.000	0.106	2802.69	2794.88	2810.50	1754.31	3474.81	0	0	0	30.00	30.00	15.39
831.42	1028	-74.33	-1.59	0.00	2802.4	2795.2	2809.6	1754.4	3475.3	122.23	-11.82	113	836.01	0.00	0.00	3.31	0.000	0.000	0.052	2804.56	2797.56	2811.56	1754.06	2078.88	0	0	0	30.00	30.00	15.54
901.43	516	-74.33	-1.59	-80.00	2802.4	2795.6	2809.3	1754.3	2079.3	129.86	-10.71	121	907.13	0.00	0.00	3.91	0.000	0.000	0.149	2803.91	2796.00	2811.81	1753.94	662.75	0	0	0	30.00	30.00	15.21
926.88	1028	-74.33	-1.59	0.00	2802.8	2795.9	2809.7	1754.1	662.8	133.05	-11.75	126	932.04	0.00	0.00	3.42	0.000	0.000	0.046	2801.66	2794.31	2809.00	1753.38	2124.62	0	0	0	30.00	30.00	15.61
991.51	260	-74.33	-1.59	80.00	2802.4	2795.7	2809.2	1754.2	2125.4	140.31	-11.02	133	997.05	0.00	0.00	3.45	0.000	0.000	0.104	2801.09	2794.12	2808.06	1754.12	3475.31	0	0	0	30.00	30.00	15.39
1060.37	1028	-74.33	-1.59	0.00	2802.2	2795.0	2809.3	1754.1	3474.8	149.04	-11.78	147	1067.13	0.00	0.00	3.30	0.000	0.000	0.052	2802.47	2795.31	2809.62	1754.25	2079.12	0	0	0	30.00	30.00	15.53
1126.45	516	-74.33	-1.59	-80.00	2802.6	2795.8	2809.4	1754.2	2079.3	157.04	-11.65	154	1132.13	0.00	0.00	3.89	0.000	0.000	0.148	2805.06	2798.31	2811.81	1752.81	662.75	0	0	0	30.00	30.00	15.21
1201.90	1028	-74.33	-1.59	0.00	2802.6	2795.5	2809.8	1753.9	662.8	167.42	-12.79	169	1207.09	0.00	0.00	3.42	0.000	0.000	0.047	2801.81	2794.69	2808.94	1754.19	2122.94	0	0	0	30.00	30.00	15.61
1326.48	0	-74.33	-1.59	0.00	2802.3	2795.3	2809.4	1754.8	2122.6	181.91	-11.55	182	1327.81	0.00	0.00	0.00	0.000	0.000	0.000	2802.78	2795.38	2810.19	1753.88	2123.31	0	0	0	30.00	30.00	30.00
1446.48	0	-74.33	-1.59	0.00	2802.8	2796.0	2809.6	1754.2	2123.4	195.62	-11.15	194	1447.81	0.00	0.00	0.00	0.000	0.000	0.000	2802.81	2795.75	2809.88	1754.19	2123.31	0	0	0	30.00	30.00	30.00
1566.49	0	-74.33	-1.59	0.00	2802.6	2795.8	2809.4	1754.3	2123.4	209.48	-11.45	206	1567.82	0.00	0.00	0.00	0.000	0.000	0.000	2802.94	2795.62	2810.25	1753.69	2123.50	0	0	0	30.00	30.00	30.00
1686.51	260	-74.33	-1.59	80.00	2803.1	2796.2	2809.9	1754.0	2124.0	223.70	-11.85	218	1691.11	0.00	0.00	3.52	0.000	0.000	0.108	2803.44	2796.06	2810.81	1753.62	3476.88	0	0	0	30.00	30.00	15.37
1756.51	1028	-74.33	-1.59	0.00	2802.7	2796.0	2809.4	1754.1	3476.6	232.54	-12.88	232	1761.09	0.00	0.00	3.32	0.000	0.000	0.054	2802.66	2795.50	2809.81	1753.75	2081.25	0	0	0	30.00	30.00	15.54
1886.52	260	-74.33	-1.59	80.00	2802.6	2795.2	2810.0	1754.3	2080.9	247.62	-11.50	246	1892.22	0.00	0.00	3.63	0.000	0.000	0.104	2801.19	2794.06	2808.31	1754.00	3474.19	0	0	0	30.00	30.00	15.37
1941.53	1028	-74.33	-1.59	0.00	2802.7	2795.6	2809.8	1754.4	3474.9	255.04	-12.76	257	1948.40	0.00	0.00	3.32	0.000	0.000	0.055	2802.91	2796.25	2809.56	1753.94	2080.50	0	0	0	30.00	30.00	15.53
2271.68	260	-74.33	-1.59	80.00	2802.7	2795.8	2809.6	1754.3	2080.9	292.99	-11.43	273	2277.27	0.00	0.00	3.67	0.000	0.000	0.106	2805.06	2797.62	2812.50	1753.12	3476.00	0	0	0	30.00	30.00	15.37
2310.53	1028	-74.33	-1.59	0.00	2802.8	2795.3	2810.2	1754.1	3475.7	297.50	-11.57	281	2316.22	0.00	0.00	3.34	0.000	0.000	0.055	2805.03	2797.75	2812.31	1753.69	2079.94	0	0	0	30.00	30.00	15.51
2626.64	516	-74.33	-1.59	-80.00	2802.7	2795.4	2810.1	1753.6	2080.0	330.57	-10.16	294	2632.35	0.00	0.00	4.01	0.000	0.000	0.153	2803.12	2795.38	2810.88	1753.56	662.75	0	0	0	30.00	30.00	15.15
2700.55	1028	-74.33	-1.59	0.00	2802.8	2795.2	2810.4	1753.8	662.8	339.64	-12.33	309	2706.26	0.00	0.00	3.46	0.000	0.000	0.049	2802.69	2795.88	2809.50	1754.56	2122.50	0	0	0	30.00	30.00	15.58
3011.66	260	-74.33	-1.59	80.00	2802.3	2795.3	2809.4	1754.6	2121.7	371.67	-10.31	321	3017.29	0.00	0.00	3.57	0.000	0.000	0.111	2801.78	2794.88	2808.69	1754.06	3475.88	0	0	0	30.00	30.00	15.34
3100.62	1028	-74.33	-1.59	0.00	2802.6	2795.5	2809.8	1753.9	3476.2	382.06	-11.72	339	3106.26	0.00	0.00	3.34	0.000	0.000	0.058	2803.09	2796.81	2809.38	1754.12	2079.62	0	0	0	30.00	30.00	15.48
3426.69	0	-74.33	-1.59	0.00	2802.6	2795.9	2809.2	1753.9	2080.2	413.70	-9.66	354	3428.02	0.00	0.00	0.00	0.000	0.000	0.000	2802.28	2795.62	2808.94	1753.50	2080.00	0	0	0	30.00	30.00	30.00
3726.70	516	-74.33	-1.59	-80.00	2802.2	2795.8	2808.6	1753.9	2080.0	443.96	-10.01	364	3732.40	0.00	0.00	4.00	0.000	0.000	0.156	2804.44	2797.50	2811.38	1754.12	662.81	0	0	0	30.00	30.00	15.10
3752.15	1060	-95.98	-1.66	0.00	2802.2	2795.9	2808.6	1754.0	662.6	447.65	-8.94	369	3757.31	0.00	0.00	3.46	0.000	0.000	0.051	2803.44	2797.31	2809.56	1753.50	2122.69	0	0	0	30.00	30.00	15.57
4076.72	260	-95.98	-1.66	80.00	2801.7	2795.2	2808.1	1753.9	2123.2	478.39	-9.68	384	4082.34	0.00	0.00	3.58	0.000	0.000	0.113	2801.69	2795.00	2808.38	1754.00	3475.81	0	0	0	30.00	30.00	15.31
4170.63	1028	-95.98	-1.66	0.00	2801.7	2795.2	2808.1	1754.1	3475.2	488.52	-10.20	403	4176.31	0.00	0.00	3.36	0.000	0.000	0.059	2802.88	2796.38	2809.38	1754.00	2081.88	0	0	0	30.00	30.00	15.46
4312	end dive: TARGET_DEPTH_EXCEEDED
state	4312	begin apogee
4312.86	10243	0.00	-0.25	0.00	2801.8	2795.4	2808.1	1754.2	2119.0	501.99	-9.51	411	4381.28	64.06	2.54	0.09	1.632	0.157	0.237	2496.81	2504.44	2489.19	2079.88	2083.25	0	0	0	10.32	15.26	14.92
4384	end apogee: CONTROL_FINISHED_OK
state	4384	begin climb
4384.26	10503	95.98	1.66	80.00	2497.9	2506.4	2489.4	2079.6	2083.0	503.47	0.00	413	4481.85	87.83	3.23	3.78	1.594	0.077	0.110	2106.31	2116.50	2096.12	2546.69	3475.12	0	0	0	11.58	15.27	14.74
4549.00	1092	95.98	1.67	0.00	2102.2	2116.6	2087.8	2547.2	3474.8	491.24	10.57	446	4554.67	0.00	0.00	3.39	0.000	0.000	0.054	2104.56	2119.25	2089.88	2546.81	2078.75	0	0	0	30.00	30.00	15.35
4860.11	16966	95.98	1.73	-80.00	2096.6	2113.1	2080.0	2547.6	2079.4	462.44	9.21	458	4865.78	0.00	0.00	3.88	0.000	0.000	0.138	2095.69	2111.94	2079.44	2547.38	661.69	0	0	0	30.00	30.00	15.28
4945.54	17414	95.98	1.73	0.00	2094.9	2110.1	2079.6	2547.6	662.0	453.19	13.82	475	4950.72	0.00	0.00	3.42	0.000	0.000	0.045	2093.69	2109.06	2078.31	2548.12	2126.56	0	0	0	30.00	30.00	15.62
5270.19	10791	128.88	1.83	-80.00	2093.5	2110.3	2076.8	2547.6	2126.9	428.15	7.80	490	5305.55	29.59	0.22	4.00	1.494	0.078	0.136	1974.06	1990.25	1957.88	2601.56	661.88	0	0	0	11.12	15.67	15.10
5529.10	1028	128.88	1.83	0.00	1967.8	1982.6	1952.9	2601.3	662.0	393.71	16.15	542	5534.76	0.00	0.00	3.45	0.000	0.000	0.046	1967.59	1982.88	1952.31	2602.06	2126.56	0	0	0	30.00	30.00	15.58
5840.16	16902	128.88	1.83	-80.00	1965.3	1983.0	1947.6	2601.1	2125.8	357.24	11.12	554	5845.87	0.00	0.00	4.01	0.000	0.000	0.133	1964.91	1981.19	1948.62	2600.56	662.69	0	0	0	30.00	30.00	15.30
5934.08	17414	128.88	1.83	0.00	1965.1	1982.6	1947.6	2601.7	662.7	343.91	15.59	573	5939.79	0.00	0.00	3.43	0.000	0.000	0.046	1967.00	1983.94	1950.06	2600.62	2126.75	0	0	0	30.00	30.00	15.63
6255.20	16710	128.88	1.87	80.00	1964.3	1982.9	1945.8	2601.4	2126.7	309.77	9.71	587	6259.80	0.00	0.00	3.54	0.000	0.000	0.110	1964.62	1982.94	1946.31	2601.75	3475.00	0	0	0	30.00	30.00	15.37
6484.18	17414	128.88	1.87	0.00	1964.2	1982.2	1946.2	2601.0	3475.2	282.97	12.04	633	6489.80	0.00	0.00	3.37	0.000	0.000	0.055	1964.75	1982.81	1946.69	2601.62	2078.75	0	0	0	30.00	30.00	15.56
6795.24	16450	128.88	1.91	0.00	1963.0	1982.5	1943.6	2601.6	2078.7	251.91	9.84	645	6796.57	0.00	0.00	0.00	0.000	0.000	0.000	1963.09	1982.50	1943.69	2600.88	2078.50	0	0	0	30.00	30.00	30.00
7095.25	8742	149.61	1.97	-80.00	1963.0	1982.7	1943.2	2601.8	2078.9	222.74	9.03	673	7120.38	19.05	0.00	3.91	1.279	0.000	0.138	1888.19	1908.44	1867.94	2602.06	661.62	0	0	0	10.96	30.00	15.18
7165.71	1028	149.61	1.97	0.00	1886.8	1905.5	1868.1	2601.6	661.7	215.76	10.70	687	7170.87	0.00	0.00	3.45	0.000	0.000	0.045	1885.09	1903.75	1866.44	2601.88	2130.06	0	0	0	30.00	30.00	15.65
7290.28	324	149.61	2.00	80.00	1884.9	1905.6	1864.2	2601.7	2129.8	202.78	10.18	700	7294.88	0.00	0.00	3.52	0.000	0.000	0.110	1883.88	1904.56	1863.19	2601.31	3474.00	0	0	0	30.00	30.00	15.41
7330.71	1028	149.61	2.00	0.00	1884.8	1905.7	1864.0	2601.8	3475.1	197.94	11.87	708	7335.87	0.00	0.00	3.35	0.000	0.000	0.054	1883.38	1904.12	1862.62	2601.38	2076.12	0	0	0	30.00	30.00	15.57
7455.28	260	149.61	2.00	80.00	1884.2	1905.8	1862.6	2601.0	2075.8	184.45	11.10	721	7460.92	0.00	0.00	3.64	0.000	0.000	0.107	1884.50	1905.88	1863.12	2601.75	3475.44	0	0	0	30.00	30.00	15.36
7480.78	1028	149.61	2.00	0.00	1883.9	1905.4	1862.4	2602.0	3474.6	181.44	10.72	726	7485.88	0.00	0.00	3.33	0.000	0.000	0.054	1882.69	1902.81	1862.56	2601.00	2076.00	0	0	0	30.00	30.00	15.57
7605.31	2629	149.61	2.03	-80.00	1883.7	1905.3	1862.1	2601.1	2076.3	168.43	10.17	739	7611.04	0.00	0.19	3.87	0.000	0.111	0.134	1883.19	1905.00	1861.38	2636.25	661.62	0	0	0	30.00	15.65	15.28
7834.23	1028	149.61	2.03	0.00	1883.6	1904.9	1862.3	2636.4	661.9	138.41	12.78	785	7841.02	0.00	0.00	3.45	0.000	0.000	0.047	1883.28	1904.44	1862.12	2636.88	2128.69	0	0	0	30.00	30.00	15.61
7900.39	64	149.61	2.06	0.00	1883.3	1904.8	1861.8	2636.9	2128.8	131.96	9.94	792	7901.72	0.00	0.00	0.00	0.000	0.000	0.000	1883.47	1904.44	1862.50	2636.25	2128.06	0	0	0	30.00	30.00	30.00
7960.34	580	149.61	2.11	-80.00	1883.2	1904.9	1861.6	2636.3	2128.4	126.26	9.52	798	7966.04	0.00	0.00	4.01	0.000	0.000	0.127	1881.97	1903.38	1860.56	2636.50	661.00	0	0	0	30.00	30.00	15.26
8075.91	1092	149.61	2.13	0.00	1883.4	1904.9	1862.0	2636.5	660.8	114.04	10.39	821	8080.96	0.00	0.00	3.46	0.000	0.000	0.046	1883.59	1904.81	1862.38	2636.19	2129.38	0	0	0	30.00	30.00	15.65
8140.36	10791	172.76	2.20	-80.00	1883.0	1904.6	1861.4	2636.6	2129.6	108.12	8.78	828	8172.25	24.81	0.23	3.97	1.150	0.081	0.127	1794.88	1815.81	1773.94	2687.50	660.94	0	0	0	11.38	15.70	15.15
8200.92	1028	172.76	2.20	0.00	1793.3	1813.0	1773.6	2687.5	660.8	101.40	12.58	840	8206.08	0.00	0.00	3.47	0.000	0.000	0.046	1791.75	1811.75	1771.75	2687.31	2129.56	0	0	0	30.00	30.00	15.61
8265.48	324	172.76	2.24	80.00	1791.7	1812.2	1771.1	2687.1	2129.9	94.95	9.86	847	8270.09	0.00	0.00	3.52	0.000	0.000	0.106	1791.94	1812.88	1771.00	2686.94	3476.75	0	0	0	30.00	30.00	15.45
8435.96	1092	172.76	2.30	0.00	1790.4	1811.0	1769.8	2687.2	3475.9	76.91	9.15	881	8441.09	0.00	0.00	3.37	0.000	0.000	0.053	1790.31	1809.81	1770.81	2685.81	2077.44	0	0	0	30.00	30.00	15.57
8500.56	8486	192.75	2.36	80.00	1790.2	1811.7	1768.7	2687.8	2077.9	70.76	9.10	888	8531.73	23.95	0.00	3.67	1.087	0.000	0.105	1712.47	1735.12	1689.81	2687.31	3475.31	0	0	0	11.54	30.00	15.17
8584.42	11303	217.87	2.43	0.00	1711.2	1733.9	1688.6	2687.4	3475.1	62.98	8.59	905	8621.95	30.03	0.27	3.37	1.075	0.079	0.052	1610.53	1632.56	1588.50	2741.88	2078.06	0	0	0	11.68	15.36	15.56
8680.71	8742	242.20	2.51	-80.00	1608.0	1632.0	1584.0	2741.8	2077.8	54.85	8.67	918	8715.84	28.75	0.00	3.91	1.053	0.000	0.131	1513.06	1536.56	1489.56	2740.69	660.56	0	0	0	11.55	30.00	15.04
8931.04	9254	265.15	2.57	0.00	1508.7	1531.2	1486.1	2742.0	660.7	32.62	8.80	968	8962.85	26.24	0.00	3.49	1.023	0.000	0.045	1419.53	1445.44	1393.62	2741.38	2128.69	0	0	0	11.43	30.00	15.57
9026.08	2629	265.15	2.61	-80.00	1416.9	1444.0	1389.8	2742.5	2129.8	24.03	9.81	981	9031.83	0.00	0.20	4.03	0.000	0.075	0.124	1415.97	1443.25	1388.69	2785.69	662.00	0	0	0	30.00	15.51	15.31
9051.50	1028	265.15	2.61	0.00	1416.3	1443.1	1389.6	2786.1	661.7	21.01	11.83	986	9056.68	0.00	0.00	3.49	0.000	0.000	0.044	1415.78	1441.88	1389.69	2786.25	2129.38	0	0	0	30.00	30.00	15.55
9116.06	0	265.15	2.61	0.00	1416.1	1442.9	1389.2	2786.6	2129.4	13.43	11.62	993	9117.39	0.00	0.00	0.00	0.000	0.000	0.000	1415.88	1442.75	1389.00	2787.00	2129.06	0	0	0	30.00	30.00	30.00
9176.08	0	265.15	2.61	0.00	1415.5	1442.4	1388.5	2787.2	2129.2	6.21	12.18	999	9177.42	0.00	0.00	0.00	0.000	0.000	0.000	1415.50	1442.44	1388.56	2787.38	2128.69	0	0	0	30.00	30.00	30.00
9216	end climb: SURFACE_DEPTH_REACHED
state	9216	begin surface coast
9226	end surface coast: CONTROL_FINISHED_OK
state	9226	begin surface