Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1027 * 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 1027 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 72.742722 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 245.55098 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 72.742722 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 245.55098 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 1027 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 010421,214410,4708.050,-12502.719,25,1.1,27,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.57 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -61.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 010421,215052,4708.067,-12502.689,3,0.7,5,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 82.6,877,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 8674.20,0.01,0.354,0,564.8,566.6,562.9,474.71 _24V_AH 13.65,283.301

SM_GC -0.74,0.01,17.66,0.09,0.354,0.058,0.133,564.8,566.6,562.9,165.3,2136.3,0,0,0,30.36,15.27,15.59 _10V_AH 14.77,0.000

SUPER 19,71,254,1,0,0 FG_AHR_24Vo 245.766

IRIDIUM_FIX 4709.86,-12501.34,010421,190404 FG_AHR_10Vo 72.772

TCM_TEMP 174.82 MEM 1103688,39,73440,56

XPDR_PINGS 6,14.0,11.5 DATA_FILE_SIZE 35375,976

ALTIM_BOTTOM_PING 258.1,7.9 CAP_FILE_SIZE 498333,0

SC_FREEKB 3465696 SDSIZE 3918848,3639328

HUMID 58.28 SDFILEDIR 5161,1

TEMP 7.82 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.76941 GPS 020421,001609,4707.836,-12501.598,15,1.1,16,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 662 2582 23340.32 legato 0 0 0.00

Pitch_motor 38 262 139.71 nil 0 0 0.00

Roll_motor 225 250 772.51 nil 0 0 0.00

Iridium 182 195 487.41 nil 0 0 0.00

Transponder_ping 2 420 14.33 nil 0 0 0.00

GPS 13 15 3.09 nil 0 0 0.00

Core 3496 11 609.45 SciCon 8558 5 645.79

LPSleep 5362 2 221.76 nil 0 0 0.00

Compass 1820 5 134.41 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 0.00 560.6 564.0 557.1 166.6 2081.4 0.00 0.00 0 99.93 91.86 0.00 0.00 0.005 0.000 0.000 2622.28 2604.69 2639.88 166.44 2081.44 0 0 0 14.58 30.00 30.00

100.16 18727 -111.08 -1.70 80.00 2620.7 2603.0 2638.3 166.3 2081.6 3.30 -7.42 9 132.50 7.59 13.89 3.77 0.008 0.263 0.110 2953.09 2948.44 2957.75 1727.00 3475.06 0 0 0 14.81 14.99 14.66

354.73 1028 -111.08 -1.70 0.00 2952.8 2947.8 2957.9 1726.5 3474.2 60.29 -19.86 60 361.52 0.00 0.00 3.41 0.000 0.000 0.056 2952.91 2947.88 2957.94 1726.81 2080.19 0 0 0 30.00 30.00 15.48

420.87 0 -111.08 -1.70 0.00 2953.1 2948.1 2958.2 1727.2 2080.8 70.78 -15.43 67 422.19 0.00 0.00 0.00 0.000 0.000 0.000 2953.50 2948.38 2958.62 1726.81 2080.19 0 0 0 30.00 30.00 30.00

480.84 260 -111.08 -1.70 80.00 2953.4 2948.6 2958.3 1726.8 2080.6 80.95 -16.52 73 486.50 0.00 0.00 3.72 0.000 0.000 0.102 2951.56 2946.00 2957.12 1726.75 3474.94 0 0 0 30.00 30.00 15.38

619.76 1028 -111.08 -1.70 0.00 2952.5 2947.7 2957.3 1726.9 3474.9 103.98 -17.84 101 626.54 0.00 0.00 3.38 0.000 0.000 0.054 2953.84 2948.38 2959.31 1726.88 2080.81 0 0 0 30.00 30.00 15.52

685.90 260 -111.08 -1.70 80.00 2953.2 2948.4 2958.1 1726.9 2081.2 113.32 -14.47 108 691.52 0.00 0.00 3.72 0.000 0.000 0.102 2951.50 2946.56 2956.44 1726.75 3474.38 0 0 0 30.00 30.00 15.39

734.78 1028 -111.08 -1.70 0.00 2953.1 2948.1 2958.1 1727.3 3475.4 121.44 -16.06 118 741.56 0.00 0.00 3.38 0.000 0.000 0.054 2952.88 2947.94 2957.81 1726.31 2080.56 0 0 0 30.00 30.00 15.52

800.92 516 -111.08 -1.70 -80.00 2952.6 2947.4 2957.8 1726.8 2081.3 130.55 -14.09 125 806.58 0.00 0.00 4.04 0.000 0.000 0.148 2953.03 2947.62 2958.44 1726.69 662.69 0 0 0 30.00 30.00 15.22

829.78 1028 -111.08 -1.70 0.00 2952.9 2947.6 2958.2 1726.4 662.9 135.06 -14.60 131 836.58 0.00 0.00 3.49 0.000 0.000 0.046 2953.66 2948.31 2959.00 1726.94 2124.12 0 0 0 30.00 30.00 15.57

895.93 260 -111.08 -1.70 80.00 2953.1 2948.1 2958.0 1727.1 2124.4 143.80 -13.31 138 901.51 0.00 0.00 3.58 0.000 0.000 0.104 2953.53 2948.38 2958.69 1726.75 3474.88 0 0 0 30.00 30.00 15.38

924.78 1028 -111.08 -1.70 0.00 2953.2 2948.4 2958.1 1726.6 3474.9 147.78 -13.28 144 931.57 0.00 0.00 3.34 0.000 0.000 0.052 2954.44 2949.44 2959.44 1726.94 2079.81 0 0 0 30.00 30.00 15.52

990.95 0 -111.08 -1.70 0.00 2953.7 2948.4 2958.9 1726.8 2080.1 156.31 -12.94 151 992.28 0.00 0.00 0.00 0.000 0.000 0.000 2953.66 2948.81 2958.50 1727.00 2079.75 0 0 0 30.00 30.00 30.00

1110.90 260 -111.08 -1.70 80.00 2953.0 2947.8 2958.2 1726.9 2080.6 172.22 -13.70 163 1116.55 0.00 0.00 3.69 0.000 0.000 0.103 2951.72 2945.94 2957.50 1726.12 3475.62 0 0 0 30.00 30.00 15.38

1135.95 1028 -111.08 -1.70 0.00 2953.6 2948.5 2958.6 1726.6 3476.0 175.33 -11.74 168 1140.51 0.00 0.00 3.36 0.000 0.000 0.053 2954.50 2948.88 2960.12 1726.75 2079.69 0 0 0 30.00 30.00 15.54

1265.92 516 -111.08 -1.70 -80.00 2953.5 2948.4 2958.7 1726.8 2079.9 190.23 -11.03 182 1271.61 0.00 0.00 3.99 0.000 0.000 0.149 2954.91 2949.06 2960.75 1726.44 663.44 0 0 0 30.00 30.00 15.21

1314.83 1028 -111.08 -1.70 0.00 2953.2 2948.4 2957.9 1726.4 662.9 196.86 -14.38 192 1321.64 0.00 0.00 3.47 0.000 0.000 0.047 2953.22 2948.31 2958.12 1727.00 2123.25 0 0 0 30.00 30.00 15.58

1440.94 260 -111.08 -1.70 80.00 2953.2 2948.3 2958.2 1727.2 2123.2 211.28 -11.35 205 1446.56 0.00 0.00 3.57 0.000 0.000 0.106 2952.94 2948.00 2957.88 1726.81 3475.12 0 0 0 30.00 30.00 15.37

1539.86 1028 -111.08 -1.70 0.00 2952.9 2947.9 2957.9 1726.8 3474.6 225.02 -13.20 225 1546.64 0.00 0.00 3.36 0.000 0.000 0.054 2955.19 2949.25 2961.12 1726.44 2080.44 0 0 0 30.00 30.00 15.52

1665.97 516 -111.08 -1.70 -80.00 2953.4 2948.1 2958.8 1726.8 2080.6 241.02 -13.61 238 1671.66 0.00 0.00 3.99 0.000 0.000 0.150 2955.88 2950.19 2961.56 1726.69 662.69 0 0 0 30.00 30.00 15.19

1711.42 1028 -111.08 -1.70 0.00 2953.4 2947.9 2959.0 1726.8 662.9 247.99 -15.19 247 1716.58 0.00 0.00 3.46 0.000 0.000 0.048 2953.44 2948.56 2958.31 1726.75 2123.94 0 0 0 30.00 30.00 15.61

1845.97 260 -111.08 -1.70 80.00 2953.7 2948.1 2959.2 1726.6 2125.4 265.91 -13.19 253 1850.61 0.00 0.00 3.54 0.000 0.000 0.108 2953.22 2947.75 2958.69 1726.75 3475.88 0 0 0 30.00 30.00 15.37

1909.90 1028 -111.08 -1.70 0.00 2953.7 2948.1 2959.2 1726.9 3475.8 275.34 -14.68 266 1915.58 0.00 0.00 3.33 0.000 0.000 0.055 2955.84 2950.50 2961.19 1726.56 2081.56 0 0 0 30.00 30.00 15.50

2236.01 516 -111.08 -1.70 -80.00 2953.5 2948.5 2958.6 1727.2 2081.6 318.85 -13.32 281 2241.72 0.00 0.00 4.01 0.000 0.000 0.152 2953.12 2947.56 2958.69 1726.19 662.75 0 0 0 30.00 30.00 15.16

2321.46 1028 -111.08 -1.70 0.00 2953.6 2948.6 2958.5 1727.0 662.8 331.47 -15.00 298 2326.63 0.00 0.00 3.50 0.000 0.000 0.049 2952.78 2948.56 2957.00 1726.69 2124.44 0 0 0 30.00 30.00 15.59

2646.03 260 -111.08 -1.70 80.00 2953.6 2948.3 2958.9 1726.9 2124.2 374.46 -13.20 313 2651.68 0.00 0.00 3.58 0.000 0.000 0.110 2952.56 2947.50 2957.62 1726.31 3474.62 0 0 0 30.00 30.00 15.34

2659.94 1028 -111.08 -1.70 0.00 2953.2 2947.8 2958.7 1726.9 3474.5 376.36 -13.47 316 2665.61 0.00 0.00 3.35 0.000 0.000 0.054 2955.88 2950.75 2961.00 1726.44 2082.44 0 0 0 30.00 30.00 15.49

2971.04 260 -111.08 -1.70 80.00 2953.2 2947.6 2958.9 1726.9 2082.0 416.33 -12.59 328 2976.71 0.00 0.00 3.77 0.000 0.000 0.109 2952.41 2947.50 2957.31 1726.69 3474.38 0 0 0 30.00 30.00 15.33

3004.96 1028 -111.08 -1.70 0.00 2953.6 2948.3 2958.9 1726.8 3474.8 421.15 -12.74 335 3010.64 0.00 0.00 3.38 0.000 0.000 0.056 2953.00 2947.81 2958.19 1727.00 2080.44 0 0 0 30.00 30.00 15.48

3326.06 516 -111.08 -1.70 -80.00 2953.2 2947.7 2958.8 1727.0 2081.3 459.89 -11.78 349 3331.77 0.00 0.00 4.09 0.000 0.000 0.156 2955.78 2950.75 2960.81 1725.94 662.88 0 0 0 30.00 30.00 15.12

3381.52 1028 -111.08 -1.70 0.00 2952.9 2947.8 2958.0 1727.3 662.9 467.23 -11.67 360 3386.70 0.00 0.00 3.52 0.000 0.000 0.050 2952.31 2947.50 2957.12 1726.75 2120.62 0 0 0 30.00 30.00 15.57

3646 end dive: TARGET_DEPTH_EXCEEDED

state 3646 begin apogee

3647.22 10243 0.00 -0.25 0.00 2953.4 2948.2 2958.6 1727.2 2082.8 500.31 -11.70 373 3745.49 94.49 2.74 0.07 1.625 0.157 0.251 2499.91 2508.56 2491.25 2079.19 2117.31 0 0 0 10.52 15.27 14.83

3748 end apogee: CONTROL_FINISHED_OK

state 3748 begin climb

3748.47 10759 111.08 1.70 -80.00 2497.8 2506.3 2489.2 2079.9 2118.1 503.02 0.00 376 3860.32 101.96 3.34 4.21 1.568 0.076 0.137 2044.09 2058.88 2029.31 2558.56 661.88 0 0 0 11.54 15.16 14.71

3954.02 17414 111.08 1.70 0.00 2037.8 2051.9 2023.7 2559.0 662.1 485.54 11.44 417 3959.21 0.00 0.00 3.53 0.000 0.000 0.045 2037.34 2051.81 2022.88 2557.88 2123.75 0 0 0 30.00 30.00 15.42

4278.66 16966 111.08 1.74 -80.00 2033.3 2051.9 2014.7 2558.7 2123.9 450.34 9.87 432 4284.30 0.00 0.00 4.07 0.000 0.000 0.134 2032.97 2052.44 2013.50 2558.44 661.50 0 0 0 30.00 30.00 15.29

4467.55 17414 111.08 1.74 0.00 2031.1 2047.5 2014.6 2558.8 661.8 427.79 12.74 470 4473.24 0.00 0.00 3.50 0.000 0.000 0.045 2031.72 2048.50 2014.94 2558.62 2126.25 0 0 0 30.00 30.00 15.62

4783.67 16966 111.08 1.77 -80.00 2029.5 2047.3 2011.6 2558.6 2126.5 395.81 10.06 483 4789.36 0.00 0.00 4.05 0.000 0.000 0.133 2028.31 2044.94 2011.69 2558.31 661.44 0 0 0 30.00 30.00 15.28

4892.59 17414 111.08 1.77 0.00 2029.5 2046.8 2012.2 2558.7 661.6 381.24 19.57 505 4899.39 0.00 0.00 3.48 0.000 0.000 0.046 2029.22 2046.81 2011.62 2558.75 2125.88 0 0 0 30.00 30.00 15.64

5198.70 16966 111.08 1.81 -80.00 2028.3 2046.9 2009.8 2559.1 2126.5 353.96 9.83 516 5204.41 0.00 0.00 4.05 0.000 0.000 0.132 2027.94 2046.44 2009.44 2558.75 661.75 0 0 0 30.00 30.00 15.27

5427.64 17478 111.08 1.83 0.00 2027.8 2045.8 2009.8 2558.3 661.5 326.75 10.51 562 5434.43 0.00 0.00 3.47 0.000 0.000 0.045 2029.03 2047.50 2010.56 2557.62 2125.56 0 0 0 30.00 30.00 15.64

5733.80 10791 135.53 1.90 -80.00 2027.4 2046.2 2008.6 2558.6 2126.2 299.61 8.65 573 5760.97 21.00 0.26 4.04 1.347 0.067 0.133 1946.62 1963.31 1929.94 2613.31 661.50 0 0 0 10.76 15.72 15.17

5983.20 1028 135.53 1.90 0.00 1943.0 1959.5 1926.4 2613.9 661.8 269.59 12.89 623 5988.89 0.00 0.00 3.48 0.000 0.000 0.046 1944.53 1960.25 1928.81 2614.31 2125.31 0 0 0 30.00 30.00 15.62

6289.31 516 135.53 1.90 -80.00 1940.8 1959.2 1922.3 2614.6 2125.8 236.46 11.81 643 6295.03 0.00 0.00 4.05 0.000 0.000 0.129 1939.03 1957.56 1920.50 2614.69 662.50 0 0 0 30.00 30.00 15.28

6414.76 1028 135.53 1.90 0.00 1940.4 1958.6 1922.1 2614.9 662.6 221.77 12.79 668 6419.94 0.00 0.00 3.47 0.000 0.000 0.047 1939.12 1957.44 1920.81 2614.69 2127.00 0 0 0 30.00 30.00 15.65

6539.35 580 135.53 1.93 -80.00 1940.0 1958.9 1921.1 2615.1 2126.9 209.54 10.12 681 6545.04 0.00 0.00 4.02 0.000 0.000 0.127 1941.91 1960.88 1922.94 2614.88 661.50 0 0 0 30.00 30.00 15.27

6624.79 1028 135.53 1.93 0.00 1939.9 1959.1 1920.7 2614.5 661.9 199.50 11.11 698 6629.96 0.00 0.00 3.46 0.000 0.000 0.044 1938.88 1956.62 1921.12 2614.12 2127.38 0 0 0 30.00 30.00 15.64

6749.39 580 135.53 1.98 -80.00 1939.7 1958.8 1920.6 2614.4 2127.9 187.41 9.42 711 6755.07 0.00 0.00 4.03 0.000 0.000 0.126 1938.81 1956.69 1920.94 2613.94 661.25 0 0 0 30.00 30.00 15.27

6808.28 1028 135.53 1.98 0.00 1939.8 1958.9 1920.7 2615.0 661.8 180.19 11.90 723 6815.07 0.00 0.00 3.46 0.000 0.000 0.045 1939.34 1957.38 1921.31 2614.81 2128.50 0 0 0 30.00 30.00 15.62

6934.40 324 135.53 2.03 80.00 1939.5 1958.8 1920.2 2615.2 2128.2 167.82 9.38 736 6939.05 0.00 0.00 3.57 0.000 0.000 0.107 1938.84 1958.00 1919.69 2614.69 3476.12 0 0 0 30.00 30.00 15.37

6978.29 1028 135.53 2.03 0.00 1939.5 1958.4 1920.6 2615.3 3475.7 162.99 11.38 745 6985.08 0.00 0.00 3.36 0.000 0.000 0.050 1939.94 1958.38 1921.50 2614.38 2075.12 0 0 0 30.00 30.00 15.56

7104.41 10791 156.47 2.10 -80.00 1939.3 1958.9 1919.8 2615.2 2075.1 151.69 9.01 758 7130.60 19.83 0.22 3.87 1.201 0.089 0.132 1859.22 1879.56 1838.88 2657.75 660.56 0 0 0 11.22 15.68 15.16

7239.85 1028 156.47 2.10 0.00 1858.1 1876.6 1839.7 2658.0 660.4 135.33 14.29 785 7245.02 0.00 0.00 3.48 0.000 0.000 0.044 1856.47 1875.69 1837.25 2657.38 2128.75 0 0 0 30.00 30.00 15.65

7304.41 260 156.47 2.10 80.00 1856.8 1876.2 1837.4 2657.2 2128.2 127.85 11.15 792 7309.03 0.00 0.00 3.55 0.000 0.000 0.105 1856.06 1875.50 1836.62 2657.88 3475.25 0 0 0 30.00 30.00 15.42

7328.33 1028 156.47 2.10 0.00 1856.4 1876.2 1836.6 2657.4 3475.0 125.08 10.88 797 7335.11 0.00 0.00 3.36 0.000 0.000 0.050 1856.34 1876.19 1836.50 2657.88 2073.69 0 0 0 30.00 30.00 15.57

7394.49 64 156.47 2.13 0.00 1855.8 1876.2 1835.4 2657.9 2073.4 118.21 9.97 804 7395.81 0.00 0.00 0.00 0.000 0.000 0.000 1856.22 1876.25 1836.19 2657.44 2073.38 0 0 0 30.00 30.00 30.00

7454.44 8226 179.21 2.20 0.00 1855.9 1876.6 1835.2 2657.6 2074.3 112.61 8.83 810 7478.17 23.19 0.00 0.00 1.143 0.000 0.000 1768.47 1789.50 1747.44 2658.38 2073.75 0 0 0 11.57 30.00 30.00

7534.55 2629 179.21 2.24 -80.00 1765.4 1787.9 1742.9 2657.3 2073.8 104.94 9.61 818 7540.17 0.00 0.16 3.87 0.000 0.096 0.130 1763.88 1786.50 1741.25 2691.00 660.56 0 0 0 30.00 15.57 15.38

7599.88 1028 179.21 2.24 0.00 1764.7 1786.8 1742.6 2691.8 660.9 97.12 11.92 831 7605.07 0.00 0.00 3.48 0.000 0.000 0.043 1763.59 1785.62 1741.56 2691.25 2130.12 0 0 0 30.00 30.00 15.61

7664.45 8486 202.49 2.31 80.00 1764.4 1786.8 1742.1 2691.3 2130.7 91.18 8.77 838 7696.73 27.50 0.00 3.60 1.102 0.000 0.107 1673.81 1696.88 1650.75 2691.19 3474.00 0 0 0 11.62 30.00 15.10

7760.02 1092 202.49 2.34 0.00 1671.6 1694.4 1648.8 2691.2 3474.2 81.61 10.35 857 7764.60 0.00 0.00 3.40 0.000 0.000 0.051 1672.06 1694.88 1649.25 2691.06 2076.44 0 0 0 30.00 30.00 15.53

7830.03 2629 202.49 2.39 -80.00 1670.7 1694.1 1647.3 2691.3 2077.1 75.24 9.27 865 7835.79 0.00 0.19 3.92 0.000 0.095 0.130 1670.66 1694.06 1647.25 2730.00 660.62 0 0 0 30.00 15.53 15.30

7915.48 1028 202.49 2.39 0.00 1670.8 1694.0 1647.5 2729.8 660.9 64.93 14.06 882 7920.65 0.00 0.00 3.49 0.000 0.000 0.043 1672.12 1695.44 1648.81 2729.38 2129.31 0 0 0 30.00 30.00 15.59

7980.04 260 202.49 2.39 80.00 1669.4 1693.2 1645.6 2729.7 2129.4 57.89 10.72 889 7985.70 0.00 0.00 3.59 0.000 0.000 0.105 1668.03 1692.19 1643.88 2730.00 3474.56 0 0 0 30.00 30.00 15.35

8055.27 9254 246.23 2.52 0.00 1668.8 1692.8 1644.9 2729.2 3475.4 52.00 6.72 904 8110.67 48.93 0.00 3.34 1.076 0.000 0.048 1495.59 1521.38 1469.81 2729.81 2075.12 0 0 0 11.50 30.00 15.58

8175.22 10791 322.92 2.75 -80.00 1492.5 1519.8 1465.2 2729.5 2075.4 48.07 3.40 922 8268.01 83.00 0.50 3.94 1.055 0.063 0.129 1183.59 1208.50 1158.69 2815.56 661.62 0 0 0 11.57 15.48 14.91

8346.30 1028 322.92 2.75 0.00 1180.8 1203.6 1158.1 2815.2 661.6 25.20 18.42 956 8351.87 0.00 0.00 3.51 0.000 0.000 0.043 1179.66 1202.75 1156.56 2815.94 2127.00 0 0 0 30.00 30.00 15.45

8411.23 260 322.92 2.75 80.00 1179.5 1203.4 1155.6 2815.5 2127.2 14.30 16.29 963 8416.87 0.00 0.00 3.58 0.000 0.000 0.105 1179.03 1203.19 1154.88 2816.12 3475.06 0 0 0 30.00 30.00 15.32

8450.15 1028 322.92 2.75 0.00 1178.4 1203.2 1153.6 2816.3 3474.6 7.28 18.09 971 8456.93 0.00 0.00 3.37 0.000 0.000 0.050 1179.28 1204.31 1154.25 2815.38 2075.38 0 0 0 30.00 30.00 15.48

8486 end climb: SURFACE_DEPTH_REACHED

state 8486 begin surface coast

8496 end surface coast: CONTROL_FINISHED_OK

state 8496 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	1027	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	72.742722	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	245.55098	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	010421,214410,4708.050,-12502.719,25,1.1,27,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.57	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-61.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	010421,215052,4708.067,-12502.689,3,0.7,5,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	82.6,877,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	8674.20,0.01,0.354,0,564.8,566.6,562.9,474.71	_24V_AH	13.65,283.301
SM_GC	-0.74,0.01,17.66,0.09,0.354,0.058,0.133,564.8,566.6,562.9,165.3,2136.3,0,0,0,30.36,15.27,15.59	_10V_AH	14.77,0.000
SUPER	19,71,254,1,0,0	FG_AHR_24Vo	245.766
IRIDIUM_FIX	4709.86,-12501.34,010421,190404	FG_AHR_10Vo	72.772
TCM_TEMP	174.82	MEM	1103688,39,73440,56
XPDR_PINGS	6,14.0,11.5	DATA_FILE_SIZE	35375,976
ALTIM_BOTTOM_PING	258.1,7.9	CAP_FILE_SIZE	498333,0
SC_FREEKB	3465696	SDSIZE	3918848,3639328
HUMID	58.28	SDFILEDIR	5161,1
TEMP	7.82	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.76941	GPS	020421,001609,4707.836,-12501.598,15,1.1,16,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	662	2582	23340.32	legato	0	0	0.00
Pitch_motor	38	262	139.71	nil	0	0	0.00
Roll_motor	225	250	772.51	nil	0	0	0.00
Iridium	182	195	487.41	nil	0	0	0.00
Transponder_ping	2	420	14.33	nil	0	0	0.00
GPS	13	15	3.09	nil	0	0	0.00
Core	3496	11	609.45	SciCon	8558	5	645.79
LPSleep	5362	2	221.76	nil	0	0	0.00
Compass	1820	5	134.41	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	560.6	564.0	557.1	166.6	2081.4	0.00	0.00	0	99.93	91.86	0.00	0.00	0.005	0.000	0.000	2622.28	2604.69	2639.88	166.44	2081.44	0	0	0	14.58	30.00	30.00
100.16	18727	-111.08	-1.70	80.00	2620.7	2603.0	2638.3	166.3	2081.6	3.30	-7.42	9	132.50	7.59	13.89	3.77	0.008	0.263	0.110	2953.09	2948.44	2957.75	1727.00	3475.06	0	0	0	14.81	14.99	14.66
354.73	1028	-111.08	-1.70	0.00	2952.8	2947.8	2957.9	1726.5	3474.2	60.29	-19.86	60	361.52	0.00	0.00	3.41	0.000	0.000	0.056	2952.91	2947.88	2957.94	1726.81	2080.19	0	0	0	30.00	30.00	15.48
420.87	0	-111.08	-1.70	0.00	2953.1	2948.1	2958.2	1727.2	2080.8	70.78	-15.43	67	422.19	0.00	0.00	0.00	0.000	0.000	0.000	2953.50	2948.38	2958.62	1726.81	2080.19	0	0	0	30.00	30.00	30.00
480.84	260	-111.08	-1.70	80.00	2953.4	2948.6	2958.3	1726.8	2080.6	80.95	-16.52	73	486.50	0.00	0.00	3.72	0.000	0.000	0.102	2951.56	2946.00	2957.12	1726.75	3474.94	0	0	0	30.00	30.00	15.38
619.76	1028	-111.08	-1.70	0.00	2952.5	2947.7	2957.3	1726.9	3474.9	103.98	-17.84	101	626.54	0.00	0.00	3.38	0.000	0.000	0.054	2953.84	2948.38	2959.31	1726.88	2080.81	0	0	0	30.00	30.00	15.52
685.90	260	-111.08	-1.70	80.00	2953.2	2948.4	2958.1	1726.9	2081.2	113.32	-14.47	108	691.52	0.00	0.00	3.72	0.000	0.000	0.102	2951.50	2946.56	2956.44	1726.75	3474.38	0	0	0	30.00	30.00	15.39
734.78	1028	-111.08	-1.70	0.00	2953.1	2948.1	2958.1	1727.3	3475.4	121.44	-16.06	118	741.56	0.00	0.00	3.38	0.000	0.000	0.054	2952.88	2947.94	2957.81	1726.31	2080.56	0	0	0	30.00	30.00	15.52
800.92	516	-111.08	-1.70	-80.00	2952.6	2947.4	2957.8	1726.8	2081.3	130.55	-14.09	125	806.58	0.00	0.00	4.04	0.000	0.000	0.148	2953.03	2947.62	2958.44	1726.69	662.69	0	0	0	30.00	30.00	15.22
829.78	1028	-111.08	-1.70	0.00	2952.9	2947.6	2958.2	1726.4	662.9	135.06	-14.60	131	836.58	0.00	0.00	3.49	0.000	0.000	0.046	2953.66	2948.31	2959.00	1726.94	2124.12	0	0	0	30.00	30.00	15.57
895.93	260	-111.08	-1.70	80.00	2953.1	2948.1	2958.0	1727.1	2124.4	143.80	-13.31	138	901.51	0.00	0.00	3.58	0.000	0.000	0.104	2953.53	2948.38	2958.69	1726.75	3474.88	0	0	0	30.00	30.00	15.38
924.78	1028	-111.08	-1.70	0.00	2953.2	2948.4	2958.1	1726.6	3474.9	147.78	-13.28	144	931.57	0.00	0.00	3.34	0.000	0.000	0.052	2954.44	2949.44	2959.44	1726.94	2079.81	0	0	0	30.00	30.00	15.52
990.95	0	-111.08	-1.70	0.00	2953.7	2948.4	2958.9	1726.8	2080.1	156.31	-12.94	151	992.28	0.00	0.00	0.00	0.000	0.000	0.000	2953.66	2948.81	2958.50	1727.00	2079.75	0	0	0	30.00	30.00	30.00
1110.90	260	-111.08	-1.70	80.00	2953.0	2947.8	2958.2	1726.9	2080.6	172.22	-13.70	163	1116.55	0.00	0.00	3.69	0.000	0.000	0.103	2951.72	2945.94	2957.50	1726.12	3475.62	0	0	0	30.00	30.00	15.38
1135.95	1028	-111.08	-1.70	0.00	2953.6	2948.5	2958.6	1726.6	3476.0	175.33	-11.74	168	1140.51	0.00	0.00	3.36	0.000	0.000	0.053	2954.50	2948.88	2960.12	1726.75	2079.69	0	0	0	30.00	30.00	15.54
1265.92	516	-111.08	-1.70	-80.00	2953.5	2948.4	2958.7	1726.8	2079.9	190.23	-11.03	182	1271.61	0.00	0.00	3.99	0.000	0.000	0.149	2954.91	2949.06	2960.75	1726.44	663.44	0	0	0	30.00	30.00	15.21
1314.83	1028	-111.08	-1.70	0.00	2953.2	2948.4	2957.9	1726.4	662.9	196.86	-14.38	192	1321.64	0.00	0.00	3.47	0.000	0.000	0.047	2953.22	2948.31	2958.12	1727.00	2123.25	0	0	0	30.00	30.00	15.58
1440.94	260	-111.08	-1.70	80.00	2953.2	2948.3	2958.2	1727.2	2123.2	211.28	-11.35	205	1446.56	0.00	0.00	3.57	0.000	0.000	0.106	2952.94	2948.00	2957.88	1726.81	3475.12	0	0	0	30.00	30.00	15.37
1539.86	1028	-111.08	-1.70	0.00	2952.9	2947.9	2957.9	1726.8	3474.6	225.02	-13.20	225	1546.64	0.00	0.00	3.36	0.000	0.000	0.054	2955.19	2949.25	2961.12	1726.44	2080.44	0	0	0	30.00	30.00	15.52
1665.97	516	-111.08	-1.70	-80.00	2953.4	2948.1	2958.8	1726.8	2080.6	241.02	-13.61	238	1671.66	0.00	0.00	3.99	0.000	0.000	0.150	2955.88	2950.19	2961.56	1726.69	662.69	0	0	0	30.00	30.00	15.19
1711.42	1028	-111.08	-1.70	0.00	2953.4	2947.9	2959.0	1726.8	662.9	247.99	-15.19	247	1716.58	0.00	0.00	3.46	0.000	0.000	0.048	2953.44	2948.56	2958.31	1726.75	2123.94	0	0	0	30.00	30.00	15.61
1845.97	260	-111.08	-1.70	80.00	2953.7	2948.1	2959.2	1726.6	2125.4	265.91	-13.19	253	1850.61	0.00	0.00	3.54	0.000	0.000	0.108	2953.22	2947.75	2958.69	1726.75	3475.88	0	0	0	30.00	30.00	15.37
1909.90	1028	-111.08	-1.70	0.00	2953.7	2948.1	2959.2	1726.9	3475.8	275.34	-14.68	266	1915.58	0.00	0.00	3.33	0.000	0.000	0.055	2955.84	2950.50	2961.19	1726.56	2081.56	0	0	0	30.00	30.00	15.50
2236.01	516	-111.08	-1.70	-80.00	2953.5	2948.5	2958.6	1727.2	2081.6	318.85	-13.32	281	2241.72	0.00	0.00	4.01	0.000	0.000	0.152	2953.12	2947.56	2958.69	1726.19	662.75	0	0	0	30.00	30.00	15.16
2321.46	1028	-111.08	-1.70	0.00	2953.6	2948.6	2958.5	1727.0	662.8	331.47	-15.00	298	2326.63	0.00	0.00	3.50	0.000	0.000	0.049	2952.78	2948.56	2957.00	1726.69	2124.44	0	0	0	30.00	30.00	15.59
2646.03	260	-111.08	-1.70	80.00	2953.6	2948.3	2958.9	1726.9	2124.2	374.46	-13.20	313	2651.68	0.00	0.00	3.58	0.000	0.000	0.110	2952.56	2947.50	2957.62	1726.31	3474.62	0	0	0	30.00	30.00	15.34
2659.94	1028	-111.08	-1.70	0.00	2953.2	2947.8	2958.7	1726.9	3474.5	376.36	-13.47	316	2665.61	0.00	0.00	3.35	0.000	0.000	0.054	2955.88	2950.75	2961.00	1726.44	2082.44	0	0	0	30.00	30.00	15.49
2971.04	260	-111.08	-1.70	80.00	2953.2	2947.6	2958.9	1726.9	2082.0	416.33	-12.59	328	2976.71	0.00	0.00	3.77	0.000	0.000	0.109	2952.41	2947.50	2957.31	1726.69	3474.38	0	0	0	30.00	30.00	15.33
3004.96	1028	-111.08	-1.70	0.00	2953.6	2948.3	2958.9	1726.8	3474.8	421.15	-12.74	335	3010.64	0.00	0.00	3.38	0.000	0.000	0.056	2953.00	2947.81	2958.19	1727.00	2080.44	0	0	0	30.00	30.00	15.48
3326.06	516	-111.08	-1.70	-80.00	2953.2	2947.7	2958.8	1727.0	2081.3	459.89	-11.78	349	3331.77	0.00	0.00	4.09	0.000	0.000	0.156	2955.78	2950.75	2960.81	1725.94	662.88	0	0	0	30.00	30.00	15.12
3381.52	1028	-111.08	-1.70	0.00	2952.9	2947.8	2958.0	1727.3	662.9	467.23	-11.67	360	3386.70	0.00	0.00	3.52	0.000	0.000	0.050	2952.31	2947.50	2957.12	1726.75	2120.62	0	0	0	30.00	30.00	15.57
3646	end dive: TARGET_DEPTH_EXCEEDED
state	3646	begin apogee
3647.22	10243	0.00	-0.25	0.00	2953.4	2948.2	2958.6	1727.2	2082.8	500.31	-11.70	373	3745.49	94.49	2.74	0.07	1.625	0.157	0.251	2499.91	2508.56	2491.25	2079.19	2117.31	0	0	0	10.52	15.27	14.83
3748	end apogee: CONTROL_FINISHED_OK
state	3748	begin climb
3748.47	10759	111.08	1.70	-80.00	2497.8	2506.3	2489.2	2079.9	2118.1	503.02	0.00	376	3860.32	101.96	3.34	4.21	1.568	0.076	0.137	2044.09	2058.88	2029.31	2558.56	661.88	0	0	0	11.54	15.16	14.71
3954.02	17414	111.08	1.70	0.00	2037.8	2051.9	2023.7	2559.0	662.1	485.54	11.44	417	3959.21	0.00	0.00	3.53	0.000	0.000	0.045	2037.34	2051.81	2022.88	2557.88	2123.75	0	0	0	30.00	30.00	15.42
4278.66	16966	111.08	1.74	-80.00	2033.3	2051.9	2014.7	2558.7	2123.9	450.34	9.87	432	4284.30	0.00	0.00	4.07	0.000	0.000	0.134	2032.97	2052.44	2013.50	2558.44	661.50	0	0	0	30.00	30.00	15.29
4467.55	17414	111.08	1.74	0.00	2031.1	2047.5	2014.6	2558.8	661.8	427.79	12.74	470	4473.24	0.00	0.00	3.50	0.000	0.000	0.045	2031.72	2048.50	2014.94	2558.62	2126.25	0	0	0	30.00	30.00	15.62
4783.67	16966	111.08	1.77	-80.00	2029.5	2047.3	2011.6	2558.6	2126.5	395.81	10.06	483	4789.36	0.00	0.00	4.05	0.000	0.000	0.133	2028.31	2044.94	2011.69	2558.31	661.44	0	0	0	30.00	30.00	15.28
4892.59	17414	111.08	1.77	0.00	2029.5	2046.8	2012.2	2558.7	661.6	381.24	19.57	505	4899.39	0.00	0.00	3.48	0.000	0.000	0.046	2029.22	2046.81	2011.62	2558.75	2125.88	0	0	0	30.00	30.00	15.64
5198.70	16966	111.08	1.81	-80.00	2028.3	2046.9	2009.8	2559.1	2126.5	353.96	9.83	516	5204.41	0.00	0.00	4.05	0.000	0.000	0.132	2027.94	2046.44	2009.44	2558.75	661.75	0	0	0	30.00	30.00	15.27
5427.64	17478	111.08	1.83	0.00	2027.8	2045.8	2009.8	2558.3	661.5	326.75	10.51	562	5434.43	0.00	0.00	3.47	0.000	0.000	0.045	2029.03	2047.50	2010.56	2557.62	2125.56	0	0	0	30.00	30.00	15.64
5733.80	10791	135.53	1.90	-80.00	2027.4	2046.2	2008.6	2558.6	2126.2	299.61	8.65	573	5760.97	21.00	0.26	4.04	1.347	0.067	0.133	1946.62	1963.31	1929.94	2613.31	661.50	0	0	0	10.76	15.72	15.17
5983.20	1028	135.53	1.90	0.00	1943.0	1959.5	1926.4	2613.9	661.8	269.59	12.89	623	5988.89	0.00	0.00	3.48	0.000	0.000	0.046	1944.53	1960.25	1928.81	2614.31	2125.31	0	0	0	30.00	30.00	15.62
6289.31	516	135.53	1.90	-80.00	1940.8	1959.2	1922.3	2614.6	2125.8	236.46	11.81	643	6295.03	0.00	0.00	4.05	0.000	0.000	0.129	1939.03	1957.56	1920.50	2614.69	662.50	0	0	0	30.00	30.00	15.28
6414.76	1028	135.53	1.90	0.00	1940.4	1958.6	1922.1	2614.9	662.6	221.77	12.79	668	6419.94	0.00	0.00	3.47	0.000	0.000	0.047	1939.12	1957.44	1920.81	2614.69	2127.00	0	0	0	30.00	30.00	15.65
6539.35	580	135.53	1.93	-80.00	1940.0	1958.9	1921.1	2615.1	2126.9	209.54	10.12	681	6545.04	0.00	0.00	4.02	0.000	0.000	0.127	1941.91	1960.88	1922.94	2614.88	661.50	0	0	0	30.00	30.00	15.27
6624.79	1028	135.53	1.93	0.00	1939.9	1959.1	1920.7	2614.5	661.9	199.50	11.11	698	6629.96	0.00	0.00	3.46	0.000	0.000	0.044	1938.88	1956.62	1921.12	2614.12	2127.38	0	0	0	30.00	30.00	15.64
6749.39	580	135.53	1.98	-80.00	1939.7	1958.8	1920.6	2614.4	2127.9	187.41	9.42	711	6755.07	0.00	0.00	4.03	0.000	0.000	0.126	1938.81	1956.69	1920.94	2613.94	661.25	0	0	0	30.00	30.00	15.27
6808.28	1028	135.53	1.98	0.00	1939.8	1958.9	1920.7	2615.0	661.8	180.19	11.90	723	6815.07	0.00	0.00	3.46	0.000	0.000	0.045	1939.34	1957.38	1921.31	2614.81	2128.50	0	0	0	30.00	30.00	15.62
6934.40	324	135.53	2.03	80.00	1939.5	1958.8	1920.2	2615.2	2128.2	167.82	9.38	736	6939.05	0.00	0.00	3.57	0.000	0.000	0.107	1938.84	1958.00	1919.69	2614.69	3476.12	0	0	0	30.00	30.00	15.37
6978.29	1028	135.53	2.03	0.00	1939.5	1958.4	1920.6	2615.3	3475.7	162.99	11.38	745	6985.08	0.00	0.00	3.36	0.000	0.000	0.050	1939.94	1958.38	1921.50	2614.38	2075.12	0	0	0	30.00	30.00	15.56
7104.41	10791	156.47	2.10	-80.00	1939.3	1958.9	1919.8	2615.2	2075.1	151.69	9.01	758	7130.60	19.83	0.22	3.87	1.201	0.089	0.132	1859.22	1879.56	1838.88	2657.75	660.56	0	0	0	11.22	15.68	15.16
7239.85	1028	156.47	2.10	0.00	1858.1	1876.6	1839.7	2658.0	660.4	135.33	14.29	785	7245.02	0.00	0.00	3.48	0.000	0.000	0.044	1856.47	1875.69	1837.25	2657.38	2128.75	0	0	0	30.00	30.00	15.65
7304.41	260	156.47	2.10	80.00	1856.8	1876.2	1837.4	2657.2	2128.2	127.85	11.15	792	7309.03	0.00	0.00	3.55	0.000	0.000	0.105	1856.06	1875.50	1836.62	2657.88	3475.25	0	0	0	30.00	30.00	15.42
7328.33	1028	156.47	2.10	0.00	1856.4	1876.2	1836.6	2657.4	3475.0	125.08	10.88	797	7335.11	0.00	0.00	3.36	0.000	0.000	0.050	1856.34	1876.19	1836.50	2657.88	2073.69	0	0	0	30.00	30.00	15.57
7394.49	64	156.47	2.13	0.00	1855.8	1876.2	1835.4	2657.9	2073.4	118.21	9.97	804	7395.81	0.00	0.00	0.00	0.000	0.000	0.000	1856.22	1876.25	1836.19	2657.44	2073.38	0	0	0	30.00	30.00	30.00
7454.44	8226	179.21	2.20	0.00	1855.9	1876.6	1835.2	2657.6	2074.3	112.61	8.83	810	7478.17	23.19	0.00	0.00	1.143	0.000	0.000	1768.47	1789.50	1747.44	2658.38	2073.75	0	0	0	11.57	30.00	30.00
7534.55	2629	179.21	2.24	-80.00	1765.4	1787.9	1742.9	2657.3	2073.8	104.94	9.61	818	7540.17	0.00	0.16	3.87	0.000	0.096	0.130	1763.88	1786.50	1741.25	2691.00	660.56	0	0	0	30.00	15.57	15.38
7599.88	1028	179.21	2.24	0.00	1764.7	1786.8	1742.6	2691.8	660.9	97.12	11.92	831	7605.07	0.00	0.00	3.48	0.000	0.000	0.043	1763.59	1785.62	1741.56	2691.25	2130.12	0	0	0	30.00	30.00	15.61
7664.45	8486	202.49	2.31	80.00	1764.4	1786.8	1742.1	2691.3	2130.7	91.18	8.77	838	7696.73	27.50	0.00	3.60	1.102	0.000	0.107	1673.81	1696.88	1650.75	2691.19	3474.00	0	0	0	11.62	30.00	15.10
7760.02	1092	202.49	2.34	0.00	1671.6	1694.4	1648.8	2691.2	3474.2	81.61	10.35	857	7764.60	0.00	0.00	3.40	0.000	0.000	0.051	1672.06	1694.88	1649.25	2691.06	2076.44	0	0	0	30.00	30.00	15.53
7830.03	2629	202.49	2.39	-80.00	1670.7	1694.1	1647.3	2691.3	2077.1	75.24	9.27	865	7835.79	0.00	0.19	3.92	0.000	0.095	0.130	1670.66	1694.06	1647.25	2730.00	660.62	0	0	0	30.00	15.53	15.30
7915.48	1028	202.49	2.39	0.00	1670.8	1694.0	1647.5	2729.8	660.9	64.93	14.06	882	7920.65	0.00	0.00	3.49	0.000	0.000	0.043	1672.12	1695.44	1648.81	2729.38	2129.31	0	0	0	30.00	30.00	15.59
7980.04	260	202.49	2.39	80.00	1669.4	1693.2	1645.6	2729.7	2129.4	57.89	10.72	889	7985.70	0.00	0.00	3.59	0.000	0.000	0.105	1668.03	1692.19	1643.88	2730.00	3474.56	0	0	0	30.00	30.00	15.35
8055.27	9254	246.23	2.52	0.00	1668.8	1692.8	1644.9	2729.2	3475.4	52.00	6.72	904	8110.67	48.93	0.00	3.34	1.076	0.000	0.048	1495.59	1521.38	1469.81	2729.81	2075.12	0	0	0	11.50	30.00	15.58
8175.22	10791	322.92	2.75	-80.00	1492.5	1519.8	1465.2	2729.5	2075.4	48.07	3.40	922	8268.01	83.00	0.50	3.94	1.055	0.063	0.129	1183.59	1208.50	1158.69	2815.56	661.62	0	0	0	11.57	15.48	14.91
8346.30	1028	322.92	2.75	0.00	1180.8	1203.6	1158.1	2815.2	661.6	25.20	18.42	956	8351.87	0.00	0.00	3.51	0.000	0.000	0.043	1179.66	1202.75	1156.56	2815.94	2127.00	0	0	0	30.00	30.00	15.45
8411.23	260	322.92	2.75	80.00	1179.5	1203.4	1155.6	2815.5	2127.2	14.30	16.29	963	8416.87	0.00	0.00	3.58	0.000	0.000	0.105	1179.03	1203.19	1154.88	2816.12	3475.06	0	0	0	30.00	30.00	15.32
8450.15	1028	322.92	2.75	0.00	1178.4	1203.2	1153.6	2816.3	3474.6	7.28	18.09	971	8456.93	0.00	0.00	3.37	0.000	0.000	0.050	1179.28	1204.31	1154.25	2815.38	2075.38	0	0	0	30.00	30.00	15.48
8486	end climb: SURFACE_DEPTH_REACHED
state	8486	begin surface coast
8496	end surface coast: CONTROL_FINISHED_OK
state	8496	begin surface