Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1035 * 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 1035 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 72.990211 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 247.38652 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 72.990211 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 247.38652 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 1035 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 020421,183407,4707.754,-12501.500,3,1.6,10,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.54 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -62.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 020421,184132,4707.721,-12501.554,2,0.8,23,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 297.0,764,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 9577.55,0.00,0.014,0,563.5,561.9,565.1,475.02 _24V_AH 14.11,285.261

SM_GC -0.62,0.00,17.94,3.47,0.014,0.087,0.045,563.5,561.9,565.1,180.4,2128.1,0,0,0,30.36,15.20,15.61 _10V_AH 14.75,0.000

SUPER 27,71,254,1,0,0 FG_AHR_24Vo 247.594

IRIDIUM_FIX 4707.54,-12531.16,020421,160614 FG_AHR_10Vo 73.022

TCM_TEMP 176.46 MEM 1103632,42,73436,56

XPDR_PINGS 7,14.0,11.5 DATA_FILE_SIZE 38595,1014

ALTIM_BOTTOM_PING 261.2,7.9 CAP_FILE_SIZE 512834,0

SC_FREEKB 3462624 SDSIZE 3918848,3637152

HUMID 58.30 SDFILEDIR 5201,1

TEMP 7.76 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77479 GPS 020421,212145,4708.238,-12501.904,2,1.3,9,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 631 1634 14552.16 legato 0 0 0.00

Pitch_motor 38 252 137.85 nil 0 0 0.00

Roll_motor 230 253 824.54 nil 0 0 0.00

Iridium 190 193 519.52 nil 0 0 0.00

Transponder_ping 3 420 19.26 nil 0 0 0.00

GPS 31 15 7.05 nil 0 0 0.00

Core 3814 11 663.90 SciCon 9418 5 726.81

LPSleep 6151 2 254.05 nil 0 0 0.00

Compass 1901 5 140.26 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 6 30 2.65

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

7.64 16386 -74.33 -1.59 0.00 558.5 560.2 556.8 166.6 2119.2 0.00 0.00 0 99.93 91.86 0.00 0.00 0.005 0.000 0.000 2687.78 2669.88 2705.69 166.50 2120.00 0 0 0 14.54 30.00 30.00

100.15 18951 -74.33 -1.59 -80.00 2686.7 2668.9 2704.5 166.5 2120.2 4.59 -9.75 9 126.04 2.38 13.91 4.11 0.013 0.252 0.145 2804.97 2795.75 2814.19 1754.12 661.81 0 0 0 14.84 15.01 14.67

233.17 1028 -74.33 -1.59 0.00 2802.3 2794.0 2810.6 1754.3 661.8 38.14 -21.59 36 240.00 0.00 0.00 3.55 0.000 0.000 0.052 2804.75 2795.88 2813.62 1753.81 2122.31 0 0 0 30.00 30.00 15.51

299.27 260 -74.33 -1.59 80.00 2802.5 2794.6 2810.3 1754.2 2121.4 50.88 -19.07 43 304.92 0.00 0.00 3.61 0.000 0.000 0.107 2801.19 2793.31 2809.06 1754.19 3476.38 0 0 0 30.00 30.00 15.35

358.20 1028 -74.33 -1.59 0.00 2802.4 2795.0 2809.8 1754.2 3475.5 61.78 -17.34 55 364.98 0.00 0.00 3.37 0.000 0.000 0.053 2805.38 2797.25 2813.50 1754.00 2080.00 0 0 0 30.00 30.00 15.49

424.34 516 -74.33 -1.59 -80.00 2802.9 2794.9 2810.9 1754.0 2080.1 70.90 -13.58 62 429.99 0.00 0.00 3.95 0.000 0.000 0.145 2804.69 2796.50 2812.88 1753.25 662.81 0 0 0 30.00 30.00 15.21

449.73 1028 -74.33 -1.59 0.00 2803.0 2795.6 2810.5 1754.3 662.6 75.02 -16.43 67 454.91 0.00 0.00 3.47 0.000 0.000 0.047 2801.75 2795.00 2808.50 1753.56 2123.00 0 0 0 30.00 30.00 15.56

514.36 260 -74.33 -1.59 80.00 2802.8 2795.8 2809.9 1753.8 2123.1 84.56 -14.13 74 519.92 0.00 0.00 3.57 0.000 0.000 0.105 2803.72 2796.56 2810.88 1753.69 3474.25 0 0 0 30.00 30.00 15.37

619.76 1028 -74.33 -1.59 0.00 2803.2 2795.6 2810.7 1753.9 3474.9 99.14 -13.73 95 624.91 0.00 0.00 3.35 0.000 0.000 0.052 2802.28 2795.31 2809.25 1754.38 2080.12 0 0 0 30.00 30.00 15.53

684.37 0 -74.33 -1.59 0.00 2803.0 2795.8 2810.1 1754.2 2080.2 106.78 -11.25 102 685.70 0.00 0.00 0.00 0.000 0.000 0.000 2803.59 2796.12 2811.06 1753.88 2080.25 0 0 0 30.00 30.00 30.00

744.33 0 -74.33 -1.59 0.00 2802.6 2795.3 2809.9 1754.4 2080.4 113.61 -11.39 108 745.66 0.00 0.00 0.00 0.000 0.000 0.000 2801.44 2794.12 2808.75 1753.94 2080.12 0 0 0 30.00 30.00 30.00

804.33 260 -74.33 -1.59 80.00 2803.4 2796.4 2810.4 1754.2 2080.1 120.60 -11.57 114 809.97 0.00 0.00 3.68 0.000 0.000 0.103 2801.25 2794.19 2808.31 1753.62 3476.62 0 0 0 30.00 30.00 15.37

829.83 1028 -74.33 -1.59 0.00 2802.8 2795.4 2810.3 1754.2 3476.6 123.34 -11.40 119 834.93 0.00 0.00 3.35 0.000 0.000 0.051 2804.78 2796.62 2812.94 1754.50 2079.94 0 0 0 30.00 30.00 15.55

894.38 516 -74.33 -1.59 -80.00 2802.8 2795.8 2809.9 1754.1 2080.5 130.64 -11.10 126 900.03 0.00 0.00 3.93 0.000 0.000 0.147 2801.41 2793.50 2809.31 1753.75 661.62 0 0 0 30.00 30.00 15.20

959.79 1028 -74.33 -1.59 0.00 2802.9 2795.6 2810.1 1753.9 661.8 139.26 -12.94 139 964.95 0.00 0.00 3.46 0.000 0.000 0.046 2804.09 2797.12 2811.06 1754.19 2123.50 0 0 0 30.00 30.00 15.60

1024.33 260 -74.33 -1.59 80.00 2803.2 2796.2 2810.1 1754.3 2124.1 146.79 -11.22 146 1029.97 0.00 0.00 3.57 0.000 0.000 0.105 2803.31 2796.50 2810.12 1754.12 3476.38 0 0 0 30.00 30.00 15.37

1053.25 1028 -74.33 -1.59 0.00 2802.9 2795.4 2810.4 1754.0 3475.7 150.45 -11.33 152 1060.04 0.00 0.00 3.35 0.000 0.000 0.051 2805.75 2798.62 2812.88 1753.25 2079.69 0 0 0 30.00 30.00 15.52

1119.34 260 -74.33 -1.59 80.00 2802.9 2796.2 2809.7 1753.9 2079.5 158.28 -11.65 159 1125.00 0.00 0.00 3.69 0.000 0.000 0.103 2801.41 2794.94 2807.88 1753.88 3475.88 0 0 0 30.00 30.00 15.37

1224.81 1028 -74.33 -1.59 0.00 2802.5 2795.6 2809.4 1754.1 3475.9 170.90 -12.04 180 1229.97 0.00 0.00 3.34 0.000 0.000 0.052 2802.12 2794.75 2809.50 1754.75 2079.81 0 0 0 30.00 30.00 15.53

1349.38 516 -74.33 -1.59 -80.00 2803.4 2796.2 2810.6 1754.4 2080.2 184.56 -11.03 193 1355.07 0.00 0.00 3.96 0.000 0.000 0.148 2805.47 2798.62 2812.31 1753.88 661.81 0 0 0 30.00 30.00 15.19

1428.29 1028 -74.33 -1.59 0.00 2803.2 2796.4 2809.9 1753.9 661.9 194.94 -13.80 209 1435.09 0.00 0.00 3.47 0.000 0.000 0.047 2804.94 2797.19 2812.69 1753.81 2122.38 0 0 0 30.00 30.00 15.58

1554.40 260 -74.33 -1.59 80.00 2803.4 2796.4 2810.5 1754.1 2122.4 208.25 -9.76 222 1560.05 0.00 0.00 3.55 0.000 0.000 0.106 2802.59 2795.81 2809.38 1754.31 3473.25 0 0 0 30.00 30.00 15.35

1609.85 1028 -74.33 -1.59 0.00 2803.6 2796.6 2810.6 1753.9 3473.9 214.61 -11.20 233 1615.00 0.00 0.00 3.34 0.000 0.000 0.052 2803.78 2797.19 2810.38 1753.69 2080.19 0 0 0 30.00 30.00 15.54

1734.41 0 -74.33 -1.59 0.00 2803.3 2796.4 2810.2 1754.1 2080.4 228.62 -10.94 246 1735.74 0.00 0.00 0.00 0.000 0.000 0.000 2803.31 2796.56 2810.06 1754.00 2080.19 0 0 0 30.00 30.00 30.00

1854.42 260 -74.33 -1.59 80.00 2803.5 2796.5 2810.6 1753.9 2080.2 241.56 -10.64 258 1860.06 0.00 0.00 3.70 0.000 0.000 0.104 2804.03 2797.12 2810.94 1754.12 3475.81 0 0 0 30.00 30.00 15.36

1869.87 1028 -74.33 -1.59 0.00 2803.4 2796.1 2810.7 1754.2 3475.5 243.09 -10.96 261 1875.02 0.00 0.00 3.33 0.000 0.000 0.052 2804.28 2797.69 2810.88 1753.75 2079.88 0 0 0 30.00 30.00 15.53

2006.70 516 -74.33 -1.59 -80.00 2803.2 2796.4 2810.0 1753.2 2079.4 256.18 -9.89 271 2011.79 0.00 0.00 3.94 0.000 0.000 0.148 2803.00 2796.00 2810.00 1754.06 661.69 0 0 0 30.00 30.00 15.16

2030.53 1028 -74.33 -1.59 0.00 2803.5 2796.5 2810.4 1754.2 661.8 259.08 -10.34 276 2035.70 0.00 0.00 3.44 0.000 0.000 0.047 2805.81 2799.25 2812.38 1753.62 2123.94 0 0 0 30.00 30.00 15.60

2355.16 0 -74.33 -1.59 0.00 2803.1 2796.1 2810.2 1754.0 2124.4 288.71 -9.16 291 2356.49 0.00 0.00 0.00 0.000 0.000 0.000 2803.78 2797.12 2810.44 1754.19 2124.31 0 0 0 30.00 30.00 30.00

2655.09 260 -74.33 -1.59 80.00 2803.3 2796.3 2810.2 1753.9 2124.1 318.05 -10.08 301 2660.73 0.00 0.00 3.59 0.000 0.000 0.110 2803.75 2796.56 2810.94 1753.88 3475.50 0 0 0 30.00 30.00 15.33

2729.03 1028 -74.33 -1.59 0.00 2803.8 2796.4 2811.2 1753.9 3474.8 326.62 -11.62 316 2734.70 0.00 0.00 3.36 0.000 0.000 0.054 2804.56 2797.06 2812.06 1753.94 2079.88 0 0 0 30.00 30.00 15.49

3040.12 516 -74.33 -1.59 -80.00 2803.3 2796.4 2810.2 1754.4 2080.2 359.81 -10.97 328 3045.83 0.00 0.00 3.98 0.000 0.000 0.151 2801.44 2794.31 2808.56 1754.19 662.75 0 0 0 30.00 30.00 15.13

3079.03 1028 -74.33 -1.59 0.00 2803.3 2796.9 2809.8 1754.1 662.8 364.52 -12.88 336 3084.74 0.00 0.00 3.47 0.000 0.000 0.049 2803.50 2796.62 2810.38 1753.88 2121.94 0 0 0 30.00 30.00 15.56

3395.14 260 -74.33 -1.59 80.00 2803.2 2797.0 2809.5 1753.2 2122.2 397.74 -10.09 349 3400.78 0.00 0.00 3.62 0.000 0.000 0.113 2805.31 2798.69 2811.94 1753.50 3475.06 0 0 0 30.00 30.00 15.31

3474.05 1028 -74.33 -1.59 0.00 2803.1 2796.5 2809.7 1753.8 3475.3 406.46 -11.64 365 3480.84 0.00 0.00 3.37 0.000 0.000 0.055 2804.50 2797.88 2811.12 1753.94 2082.12 0 0 0 30.00 30.00 15.47

3780.15 0 -74.33 -1.59 0.00 2802.6 2796.4 2808.8 1754.1 2081.5 436.14 -9.62 376 3781.48 0.00 0.00 0.00 0.000 0.000 0.000 2803.38 2797.12 2809.62 1754.00 2081.75 0 0 0 30.00 30.00 30.00

4080.16 0 -74.33 -1.59 0.00 2802.0 2796.2 2807.8 1754.1 2081.8 466.37 -10.35 386 4081.49 0.00 0.00 0.00 0.000 0.000 0.000 2802.94 2796.56 2809.31 1754.31 2081.81 0 0 0 30.00 30.00 30.00

4380.16 260 -74.33 -1.59 80.00 2802.3 2796.2 2808.5 1754.0 2081.8 493.08 -9.40 396 4385.85 0.00 0.00 3.79 0.000 0.000 0.113 2804.50 2798.75 2810.25 1752.81 3475.12 0 0 0 30.00 30.00 15.26

4444 end dive: TARGET_DEPTH_EXCEEDED

state 4444 begin apogee

4448.87 10243 0.00 -0.25 0.00 2802.3 2796.1 2808.4 1754.2 2081.6 500.03 -12.61 409 4518.18 64.89 2.56 0.07 1.634 0.159 0.253 2499.38 2507.00 2491.75 2079.44 2120.19 0 0 0 10.55 15.22 14.93

4521 end apogee: CONTROL_FINISHED_OK

state 4521 begin climb

4521.22 10759 74.33 1.59 -80.00 2497.8 2506.1 2489.5 2080.3 2121.2 502.09 0.00 414 4601.45 69.27 3.13 4.12 1.590 0.077 0.136 2193.72 2203.62 2183.81 2531.50 662.06 0 0 0 11.56 15.26 14.75

4683.61 9254 111.47 1.70 0.00 2188.1 2197.3 2178.9 2531.6 662.1 491.84 7.38 447 4725.04 34.92 0.00 3.50 1.535 0.000 0.044 2044.88 2059.12 2030.62 2531.50 2126.12 0 0 0 11.44 30.00 15.40

5029.72 18759 111.47 1.74 80.00 2034.7 2053.5 2015.9 2531.0 2126.1 457.70 9.78 466 5035.40 0.00 0.19 3.63 0.000 0.081 0.114 2033.28 2052.12 2014.44 2579.62 3472.88 0 0 0 30.00 15.58 15.35

5085.15 17414 111.47 1.74 0.00 2034.4 2052.8 2015.9 2579.9 3473.6 450.88 12.71 477 5090.30 0.00 0.00 3.39 0.000 0.000 0.054 2034.03 2052.56 2015.50 2580.25 2079.19 0 0 0 30.00 30.00 15.53

5409.77 16966 111.47 1.77 -80.00 2032.9 2052.1 2013.8 2580.0 2078.7 418.30 10.26 492 5415.47 0.00 0.00 3.92 0.000 0.000 0.137 2031.94 2051.62 2012.25 2579.88 661.75 0 0 0 30.00 30.00 15.27

5585.18 17414 111.47 1.77 0.00 2030.9 2047.9 2013.9 2580.0 662.0 396.61 14.99 527 5590.35 0.00 0.00 3.49 0.000 0.000 0.045 2031.41 2048.44 2014.38 2579.62 2125.81 0 0 0 30.00 30.00 15.64

5909.82 16966 111.47 1.81 -80.00 2029.8 2047.9 2011.6 2579.8 2125.8 364.81 9.77 542 5915.47 0.00 0.00 4.04 0.000 0.000 0.131 2030.59 2048.62 2012.56 2579.00 661.38 0 0 0 30.00 30.00 15.25

6025.27 17478 111.47 1.85 0.00 2029.6 2047.2 2012.0 2580.2 661.3 350.66 9.86 565 6030.39 0.00 0.00 3.47 0.000 0.000 0.044 2028.97 2047.25 2010.69 2580.38 2127.00 0 0 0 30.00 30.00 15.65

6349.85 16710 111.47 1.88 80.00 2028.9 2047.6 2010.3 2579.6 2127.4 318.30 9.92 580 6355.43 0.00 0.00 3.64 0.000 0.000 0.115 2028.16 2046.56 2009.75 2579.81 3473.75 0 0 0 30.00 30.00 15.32

6578.73 19527 111.47 1.93 0.00 2028.8 2047.3 2010.2 2579.1 3473.6 294.76 9.46 626 6585.57 0.00 0.18 3.38 0.000 0.084 0.054 2028.94 2047.62 2010.25 2619.94 2079.62 0 0 0 30.00 15.32 15.52

6884.85 16710 111.47 1.98 80.00 2028.4 2047.4 2009.3 2619.9 2079.3 266.68 9.59 637 6890.49 0.00 0.00 3.80 0.000 0.000 0.109 2029.78 2048.31 2011.25 2619.88 3472.75 0 0 0 30.00 30.00 15.30

7113.78 17478 111.47 2.03 0.00 2028.3 2047.4 2009.2 2620.0 3472.2 244.05 9.37 683 7120.56 0.00 0.00 3.39 0.000 0.000 0.054 2030.44 2049.38 2011.50 2619.94 2077.44 0 0 0 30.00 30.00 15.51

7239.90 10791 136.19 2.10 -80.00 2027.8 2047.3 2008.2 2620.3 2077.2 233.32 8.63 696 7267.09 21.42 0.19 3.88 1.310 0.095 0.134 1942.16 1959.44 1924.88 2659.69 661.75 0 0 0 10.78 15.68 15.16

7275.82 9254 157.42 2.17 0.00 1942.7 1959.4 1925.9 2660.1 661.8 230.20 8.98 703 7302.46 21.27 0.00 3.47 1.272 0.000 0.044 1857.88 1877.50 1838.25 2660.19 2127.81 0 0 0 11.74 30.00 15.63

7420.44 0 157.42 2.17 0.00 1852.4 1873.9 1830.9 2660.8 2128.1 212.84 12.87 720 7421.77 0.00 0.00 0.00 0.000 0.000 0.000 1851.97 1873.38 1830.56 2660.44 2128.44 0 0 0 30.00 30.00 30.00

7540.39 260 157.42 2.17 80.00 1851.2 1873.3 1829.1 2660.1 2128.4 197.31 12.94 732 7546.03 0.00 0.00 3.62 0.000 0.000 0.110 1852.12 1873.44 1830.81 2659.69 3472.31 0 0 0 30.00 30.00 15.34

7589.30 1028 157.42 2.17 0.00 1850.2 1871.8 1828.7 2659.9 3472.2 190.25 14.48 742 7596.11 0.00 0.00 3.38 0.000 0.000 0.052 1852.16 1873.81 1830.50 2659.81 2078.00 0 0 0 30.00 30.00 15.52

7715.42 16902 157.42 2.17 -80.00 1849.7 1871.9 1827.6 2660.3 2077.6 175.66 11.48 755 7721.09 0.00 0.00 3.86 0.000 0.000 0.130 1849.12 1871.12 1827.12 2660.12 660.62 0 0 0 30.00 30.00 15.27

7830.88 17414 157.42 2.17 0.00 1849.3 1870.8 1827.8 2660.4 660.8 159.82 13.10 778 7836.04 0.00 0.00 3.46 0.000 0.000 0.044 1848.28 1870.19 1826.38 2660.31 2128.38 0 0 0 30.00 30.00 15.62

7955.45 16386 157.42 2.17 0.00 1848.8 1870.6 1827.0 2660.2 2128.6 144.25 12.04 791 7956.78 0.00 0.00 0.00 0.000 0.000 0.000 1848.12 1870.25 1826.00 2660.12 2128.38 0 0 0 30.00 30.00 30.00

8015.45 16386 157.42 2.17 0.00 1848.9 1871.1 1826.8 2660.2 2128.2 137.47 11.40 797 8016.78 0.00 0.00 0.00 0.000 0.000 0.000 1848.91 1870.94 1826.88 2659.94 2128.25 0 0 0 30.00 30.00 30.00

8075.45 16646 157.42 2.17 80.00 1848.7 1870.9 1826.4 2660.3 2128.8 130.86 11.01 803 8081.10 0.00 0.00 3.62 0.000 0.000 0.109 1850.50 1872.69 1828.31 2658.62 3473.25 0 0 0 30.00 30.00 15.34

8110.89 17414 157.42 2.17 0.00 1848.7 1870.9 1826.4 2660.3 3473.2 126.94 11.17 810 8116.04 0.00 0.00 3.37 0.000 0.000 0.051 1850.62 1872.75 1828.50 2659.88 2076.38 0 0 0 30.00 30.00 15.57

8175.52 16966 157.42 2.20 -80.00 1848.5 1870.8 1826.2 2660.2 2076.8 120.22 9.96 817 8181.20 0.00 0.00 3.86 0.000 0.000 0.129 1850.53 1873.19 1827.88 2659.94 660.50 0 0 0 30.00 30.00 15.26

8330.92 17414 157.42 2.20 0.00 1848.0 1869.9 1826.1 2660.1 660.8 102.27 10.85 848 8336.09 0.00 0.00 3.45 0.000 0.000 0.043 1848.47 1870.06 1826.88 2660.19 2127.62 0 0 0 30.00 30.00 15.64

8395.49 10275 186.50 2.29 0.00 1847.9 1870.1 1825.7 2659.8 2128.2 96.72 8.19 855 8429.23 32.03 0.22 0.00 1.142 0.080 0.000 1740.59 1763.00 1718.19 2706.94 2128.31 0 0 0 11.37 15.69 30.00

8485.50 8486 208.10 2.35 80.00 1736.2 1759.2 1713.1 2708.0 2127.9 89.37 8.94 864 8516.76 25.85 0.00 3.62 1.098 0.000 0.109 1650.25 1673.31 1627.19 2707.88 3473.62 0 0 0 11.64 30.00 15.09

8555.95 1028 208.10 2.35 0.00 1648.5 1671.1 1625.8 2708.9 3473.9 81.50 12.12 878 8561.08 0.00 0.00 3.38 0.000 0.000 0.050 1648.03 1670.88 1625.19 2707.88 2077.94 0 0 0 30.00 30.00 15.50

8620.56 580 208.10 2.40 -80.00 1647.7 1671.5 1623.8 2708.3 2077.9 74.80 9.57 885 8626.19 0.00 0.00 3.87 0.000 0.000 0.128 1647.09 1671.25 1622.94 2708.88 660.69 0 0 0 30.00 30.00 15.28

8635.96 1092 208.10 2.44 0.00 1647.7 1671.4 1624.0 2707.6 660.7 72.99 9.95 888 8641.11 0.00 0.00 3.48 0.000 0.000 0.041 1646.44 1670.19 1622.69 2708.25 2129.06 0 0 0 30.00 30.00 15.55

8700.50 260 208.10 2.44 80.00 1646.8 1671.1 1622.5 2708.2 2129.2 65.48 11.35 895 8706.13 0.00 0.00 3.56 0.000 0.000 0.107 1646.81 1671.00 1622.62 2708.06 3474.88 0 0 0 30.00 30.00 15.32

8835.97 11303 259.09 2.59 0.00 1644.8 1668.8 1620.7 2708.6 3474.8 54.67 5.99 922 8900.37 57.01 0.38 3.36 1.090 0.060 0.048 1443.25 1468.12 1418.38 2778.81 2076.81 0 0 0 11.49 15.33 15.57

8965.54 8742 280.85 2.65 -80.00 1440.2 1466.9 1413.5 2778.6 2076.3 46.25 8.92 942 8997.29 25.51 0.00 3.89 1.021 0.000 0.129 1354.50 1379.69 1329.31 2778.75 659.56 0 0 0 11.48 30.00 15.02

9219.55 1028 280.85 2.65 0.00 1351.7 1375.4 1328.0 2778.8 659.7 15.01 11.56 993 9226.34 0.00 0.00 3.50 0.000 0.000 0.042 1350.88 1375.38 1326.38 2778.06 2129.25 0 0 0 30.00 30.00 15.55

9285.71 580 280.85 2.68 -80.00 1350.0 1375.2 1324.8 2778.6 2129.5 8.42 10.16 1000 9291.34 0.00 0.00 4.00 0.000 0.000 0.122 1349.94 1375.19 1324.69 2779.38 660.69 0 0 0 30.00 30.00 15.28

9345 end climb: SURFACE_DEPTH_REACHED

state 9345 begin surface coast

9355 end surface coast: CONTROL_FINISHED_OK

state 9355 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	1035	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	72.990211	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	247.38652	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	020421,183407,4707.754,-12501.500,3,1.6,10,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.54	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-62.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	020421,184132,4707.721,-12501.554,2,0.8,23,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	297.0,764,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	9577.55,0.00,0.014,0,563.5,561.9,565.1,475.02	_24V_AH	14.11,285.261
SM_GC	-0.62,0.00,17.94,3.47,0.014,0.087,0.045,563.5,561.9,565.1,180.4,2128.1,0,0,0,30.36,15.20,15.61	_10V_AH	14.75,0.000
SUPER	27,71,254,1,0,0	FG_AHR_24Vo	247.594
IRIDIUM_FIX	4707.54,-12531.16,020421,160614	FG_AHR_10Vo	73.022
TCM_TEMP	176.46	MEM	1103632,42,73436,56
XPDR_PINGS	7,14.0,11.5	DATA_FILE_SIZE	38595,1014
ALTIM_BOTTOM_PING	261.2,7.9	CAP_FILE_SIZE	512834,0
SC_FREEKB	3462624	SDSIZE	3918848,3637152
HUMID	58.30	SDFILEDIR	5201,1
TEMP	7.76	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77479	GPS	020421,212145,4708.238,-12501.904,2,1.3,9,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	631	1634	14552.16	legato	0	0	0.00
Pitch_motor	38	252	137.85	nil	0	0	0.00
Roll_motor	230	253	824.54	nil	0	0	0.00
Iridium	190	193	519.52	nil	0	0	0.00
Transponder_ping	3	420	19.26	nil	0	0	0.00
GPS	31	15	7.05	nil	0	0	0.00
Core	3814	11	663.90	SciCon	9418	5	726.81
LPSleep	6151	2	254.05	nil	0	0	0.00
Compass	1901	5	140.26	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	6	30	2.65

		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
7.64	16386	-74.33	-1.59	0.00	558.5	560.2	556.8	166.6	2119.2	0.00	0.00	0	99.93	91.86	0.00	0.00	0.005	0.000	0.000	2687.78	2669.88	2705.69	166.50	2120.00	0	0	0	14.54	30.00	30.00
100.15	18951	-74.33	-1.59	-80.00	2686.7	2668.9	2704.5	166.5	2120.2	4.59	-9.75	9	126.04	2.38	13.91	4.11	0.013	0.252	0.145	2804.97	2795.75	2814.19	1754.12	661.81	0	0	0	14.84	15.01	14.67
233.17	1028	-74.33	-1.59	0.00	2802.3	2794.0	2810.6	1754.3	661.8	38.14	-21.59	36	240.00	0.00	0.00	3.55	0.000	0.000	0.052	2804.75	2795.88	2813.62	1753.81	2122.31	0	0	0	30.00	30.00	15.51
299.27	260	-74.33	-1.59	80.00	2802.5	2794.6	2810.3	1754.2	2121.4	50.88	-19.07	43	304.92	0.00	0.00	3.61	0.000	0.000	0.107	2801.19	2793.31	2809.06	1754.19	3476.38	0	0	0	30.00	30.00	15.35
358.20	1028	-74.33	-1.59	0.00	2802.4	2795.0	2809.8	1754.2	3475.5	61.78	-17.34	55	364.98	0.00	0.00	3.37	0.000	0.000	0.053	2805.38	2797.25	2813.50	1754.00	2080.00	0	0	0	30.00	30.00	15.49
424.34	516	-74.33	-1.59	-80.00	2802.9	2794.9	2810.9	1754.0	2080.1	70.90	-13.58	62	429.99	0.00	0.00	3.95	0.000	0.000	0.145	2804.69	2796.50	2812.88	1753.25	662.81	0	0	0	30.00	30.00	15.21
449.73	1028	-74.33	-1.59	0.00	2803.0	2795.6	2810.5	1754.3	662.6	75.02	-16.43	67	454.91	0.00	0.00	3.47	0.000	0.000	0.047	2801.75	2795.00	2808.50	1753.56	2123.00	0	0	0	30.00	30.00	15.56
514.36	260	-74.33	-1.59	80.00	2802.8	2795.8	2809.9	1753.8	2123.1	84.56	-14.13	74	519.92	0.00	0.00	3.57	0.000	0.000	0.105	2803.72	2796.56	2810.88	1753.69	3474.25	0	0	0	30.00	30.00	15.37
619.76	1028	-74.33	-1.59	0.00	2803.2	2795.6	2810.7	1753.9	3474.9	99.14	-13.73	95	624.91	0.00	0.00	3.35	0.000	0.000	0.052	2802.28	2795.31	2809.25	1754.38	2080.12	0	0	0	30.00	30.00	15.53
684.37	0	-74.33	-1.59	0.00	2803.0	2795.8	2810.1	1754.2	2080.2	106.78	-11.25	102	685.70	0.00	0.00	0.00	0.000	0.000	0.000	2803.59	2796.12	2811.06	1753.88	2080.25	0	0	0	30.00	30.00	30.00
744.33	0	-74.33	-1.59	0.00	2802.6	2795.3	2809.9	1754.4	2080.4	113.61	-11.39	108	745.66	0.00	0.00	0.00	0.000	0.000	0.000	2801.44	2794.12	2808.75	1753.94	2080.12	0	0	0	30.00	30.00	30.00
804.33	260	-74.33	-1.59	80.00	2803.4	2796.4	2810.4	1754.2	2080.1	120.60	-11.57	114	809.97	0.00	0.00	3.68	0.000	0.000	0.103	2801.25	2794.19	2808.31	1753.62	3476.62	0	0	0	30.00	30.00	15.37
829.83	1028	-74.33	-1.59	0.00	2802.8	2795.4	2810.3	1754.2	3476.6	123.34	-11.40	119	834.93	0.00	0.00	3.35	0.000	0.000	0.051	2804.78	2796.62	2812.94	1754.50	2079.94	0	0	0	30.00	30.00	15.55
894.38	516	-74.33	-1.59	-80.00	2802.8	2795.8	2809.9	1754.1	2080.5	130.64	-11.10	126	900.03	0.00	0.00	3.93	0.000	0.000	0.147	2801.41	2793.50	2809.31	1753.75	661.62	0	0	0	30.00	30.00	15.20
959.79	1028	-74.33	-1.59	0.00	2802.9	2795.6	2810.1	1753.9	661.8	139.26	-12.94	139	964.95	0.00	0.00	3.46	0.000	0.000	0.046	2804.09	2797.12	2811.06	1754.19	2123.50	0	0	0	30.00	30.00	15.60
1024.33	260	-74.33	-1.59	80.00	2803.2	2796.2	2810.1	1754.3	2124.1	146.79	-11.22	146	1029.97	0.00	0.00	3.57	0.000	0.000	0.105	2803.31	2796.50	2810.12	1754.12	3476.38	0	0	0	30.00	30.00	15.37
1053.25	1028	-74.33	-1.59	0.00	2802.9	2795.4	2810.4	1754.0	3475.7	150.45	-11.33	152	1060.04	0.00	0.00	3.35	0.000	0.000	0.051	2805.75	2798.62	2812.88	1753.25	2079.69	0	0	0	30.00	30.00	15.52
1119.34	260	-74.33	-1.59	80.00	2802.9	2796.2	2809.7	1753.9	2079.5	158.28	-11.65	159	1125.00	0.00	0.00	3.69	0.000	0.000	0.103	2801.41	2794.94	2807.88	1753.88	3475.88	0	0	0	30.00	30.00	15.37
1224.81	1028	-74.33	-1.59	0.00	2802.5	2795.6	2809.4	1754.1	3475.9	170.90	-12.04	180	1229.97	0.00	0.00	3.34	0.000	0.000	0.052	2802.12	2794.75	2809.50	1754.75	2079.81	0	0	0	30.00	30.00	15.53
1349.38	516	-74.33	-1.59	-80.00	2803.4	2796.2	2810.6	1754.4	2080.2	184.56	-11.03	193	1355.07	0.00	0.00	3.96	0.000	0.000	0.148	2805.47	2798.62	2812.31	1753.88	661.81	0	0	0	30.00	30.00	15.19
1428.29	1028	-74.33	-1.59	0.00	2803.2	2796.4	2809.9	1753.9	661.9	194.94	-13.80	209	1435.09	0.00	0.00	3.47	0.000	0.000	0.047	2804.94	2797.19	2812.69	1753.81	2122.38	0	0	0	30.00	30.00	15.58
1554.40	260	-74.33	-1.59	80.00	2803.4	2796.4	2810.5	1754.1	2122.4	208.25	-9.76	222	1560.05	0.00	0.00	3.55	0.000	0.000	0.106	2802.59	2795.81	2809.38	1754.31	3473.25	0	0	0	30.00	30.00	15.35
1609.85	1028	-74.33	-1.59	0.00	2803.6	2796.6	2810.6	1753.9	3473.9	214.61	-11.20	233	1615.00	0.00	0.00	3.34	0.000	0.000	0.052	2803.78	2797.19	2810.38	1753.69	2080.19	0	0	0	30.00	30.00	15.54
1734.41	0	-74.33	-1.59	0.00	2803.3	2796.4	2810.2	1754.1	2080.4	228.62	-10.94	246	1735.74	0.00	0.00	0.00	0.000	0.000	0.000	2803.31	2796.56	2810.06	1754.00	2080.19	0	0	0	30.00	30.00	30.00
1854.42	260	-74.33	-1.59	80.00	2803.5	2796.5	2810.6	1753.9	2080.2	241.56	-10.64	258	1860.06	0.00	0.00	3.70	0.000	0.000	0.104	2804.03	2797.12	2810.94	1754.12	3475.81	0	0	0	30.00	30.00	15.36
1869.87	1028	-74.33	-1.59	0.00	2803.4	2796.1	2810.7	1754.2	3475.5	243.09	-10.96	261	1875.02	0.00	0.00	3.33	0.000	0.000	0.052	2804.28	2797.69	2810.88	1753.75	2079.88	0	0	0	30.00	30.00	15.53
2006.70	516	-74.33	-1.59	-80.00	2803.2	2796.4	2810.0	1753.2	2079.4	256.18	-9.89	271	2011.79	0.00	0.00	3.94	0.000	0.000	0.148	2803.00	2796.00	2810.00	1754.06	661.69	0	0	0	30.00	30.00	15.16
2030.53	1028	-74.33	-1.59	0.00	2803.5	2796.5	2810.4	1754.2	661.8	259.08	-10.34	276	2035.70	0.00	0.00	3.44	0.000	0.000	0.047	2805.81	2799.25	2812.38	1753.62	2123.94	0	0	0	30.00	30.00	15.60
2355.16	0	-74.33	-1.59	0.00	2803.1	2796.1	2810.2	1754.0	2124.4	288.71	-9.16	291	2356.49	0.00	0.00	0.00	0.000	0.000	0.000	2803.78	2797.12	2810.44	1754.19	2124.31	0	0	0	30.00	30.00	30.00
2655.09	260	-74.33	-1.59	80.00	2803.3	2796.3	2810.2	1753.9	2124.1	318.05	-10.08	301	2660.73	0.00	0.00	3.59	0.000	0.000	0.110	2803.75	2796.56	2810.94	1753.88	3475.50	0	0	0	30.00	30.00	15.33
2729.03	1028	-74.33	-1.59	0.00	2803.8	2796.4	2811.2	1753.9	3474.8	326.62	-11.62	316	2734.70	0.00	0.00	3.36	0.000	0.000	0.054	2804.56	2797.06	2812.06	1753.94	2079.88	0	0	0	30.00	30.00	15.49
3040.12	516	-74.33	-1.59	-80.00	2803.3	2796.4	2810.2	1754.4	2080.2	359.81	-10.97	328	3045.83	0.00	0.00	3.98	0.000	0.000	0.151	2801.44	2794.31	2808.56	1754.19	662.75	0	0	0	30.00	30.00	15.13
3079.03	1028	-74.33	-1.59	0.00	2803.3	2796.9	2809.8	1754.1	662.8	364.52	-12.88	336	3084.74	0.00	0.00	3.47	0.000	0.000	0.049	2803.50	2796.62	2810.38	1753.88	2121.94	0	0	0	30.00	30.00	15.56
3395.14	260	-74.33	-1.59	80.00	2803.2	2797.0	2809.5	1753.2	2122.2	397.74	-10.09	349	3400.78	0.00	0.00	3.62	0.000	0.000	0.113	2805.31	2798.69	2811.94	1753.50	3475.06	0	0	0	30.00	30.00	15.31
3474.05	1028	-74.33	-1.59	0.00	2803.1	2796.5	2809.7	1753.8	3475.3	406.46	-11.64	365	3480.84	0.00	0.00	3.37	0.000	0.000	0.055	2804.50	2797.88	2811.12	1753.94	2082.12	0	0	0	30.00	30.00	15.47
3780.15	0	-74.33	-1.59	0.00	2802.6	2796.4	2808.8	1754.1	2081.5	436.14	-9.62	376	3781.48	0.00	0.00	0.00	0.000	0.000	0.000	2803.38	2797.12	2809.62	1754.00	2081.75	0	0	0	30.00	30.00	30.00
4080.16	0	-74.33	-1.59	0.00	2802.0	2796.2	2807.8	1754.1	2081.8	466.37	-10.35	386	4081.49	0.00	0.00	0.00	0.000	0.000	0.000	2802.94	2796.56	2809.31	1754.31	2081.81	0	0	0	30.00	30.00	30.00
4380.16	260	-74.33	-1.59	80.00	2802.3	2796.2	2808.5	1754.0	2081.8	493.08	-9.40	396	4385.85	0.00	0.00	3.79	0.000	0.000	0.113	2804.50	2798.75	2810.25	1752.81	3475.12	0	0	0	30.00	30.00	15.26
4444	end dive: TARGET_DEPTH_EXCEEDED
state	4444	begin apogee
4448.87	10243	0.00	-0.25	0.00	2802.3	2796.1	2808.4	1754.2	2081.6	500.03	-12.61	409	4518.18	64.89	2.56	0.07	1.634	0.159	0.253	2499.38	2507.00	2491.75	2079.44	2120.19	0	0	0	10.55	15.22	14.93
4521	end apogee: CONTROL_FINISHED_OK
state	4521	begin climb
4521.22	10759	74.33	1.59	-80.00	2497.8	2506.1	2489.5	2080.3	2121.2	502.09	0.00	414	4601.45	69.27	3.13	4.12	1.590	0.077	0.136	2193.72	2203.62	2183.81	2531.50	662.06	0	0	0	11.56	15.26	14.75
4683.61	9254	111.47	1.70	0.00	2188.1	2197.3	2178.9	2531.6	662.1	491.84	7.38	447	4725.04	34.92	0.00	3.50	1.535	0.000	0.044	2044.88	2059.12	2030.62	2531.50	2126.12	0	0	0	11.44	30.00	15.40
5029.72	18759	111.47	1.74	80.00	2034.7	2053.5	2015.9	2531.0	2126.1	457.70	9.78	466	5035.40	0.00	0.19	3.63	0.000	0.081	0.114	2033.28	2052.12	2014.44	2579.62	3472.88	0	0	0	30.00	15.58	15.35
5085.15	17414	111.47	1.74	0.00	2034.4	2052.8	2015.9	2579.9	3473.6	450.88	12.71	477	5090.30	0.00	0.00	3.39	0.000	0.000	0.054	2034.03	2052.56	2015.50	2580.25	2079.19	0	0	0	30.00	30.00	15.53
5409.77	16966	111.47	1.77	-80.00	2032.9	2052.1	2013.8	2580.0	2078.7	418.30	10.26	492	5415.47	0.00	0.00	3.92	0.000	0.000	0.137	2031.94	2051.62	2012.25	2579.88	661.75	0	0	0	30.00	30.00	15.27
5585.18	17414	111.47	1.77	0.00	2030.9	2047.9	2013.9	2580.0	662.0	396.61	14.99	527	5590.35	0.00	0.00	3.49	0.000	0.000	0.045	2031.41	2048.44	2014.38	2579.62	2125.81	0	0	0	30.00	30.00	15.64
5909.82	16966	111.47	1.81	-80.00	2029.8	2047.9	2011.6	2579.8	2125.8	364.81	9.77	542	5915.47	0.00	0.00	4.04	0.000	0.000	0.131	2030.59	2048.62	2012.56	2579.00	661.38	0	0	0	30.00	30.00	15.25
6025.27	17478	111.47	1.85	0.00	2029.6	2047.2	2012.0	2580.2	661.3	350.66	9.86	565	6030.39	0.00	0.00	3.47	0.000	0.000	0.044	2028.97	2047.25	2010.69	2580.38	2127.00	0	0	0	30.00	30.00	15.65
6349.85	16710	111.47	1.88	80.00	2028.9	2047.6	2010.3	2579.6	2127.4	318.30	9.92	580	6355.43	0.00	0.00	3.64	0.000	0.000	0.115	2028.16	2046.56	2009.75	2579.81	3473.75	0	0	0	30.00	30.00	15.32
6578.73	19527	111.47	1.93	0.00	2028.8	2047.3	2010.2	2579.1	3473.6	294.76	9.46	626	6585.57	0.00	0.18	3.38	0.000	0.084	0.054	2028.94	2047.62	2010.25	2619.94	2079.62	0	0	0	30.00	15.32	15.52
6884.85	16710	111.47	1.98	80.00	2028.4	2047.4	2009.3	2619.9	2079.3	266.68	9.59	637	6890.49	0.00	0.00	3.80	0.000	0.000	0.109	2029.78	2048.31	2011.25	2619.88	3472.75	0	0	0	30.00	30.00	15.30
7113.78	17478	111.47	2.03	0.00	2028.3	2047.4	2009.2	2620.0	3472.2	244.05	9.37	683	7120.56	0.00	0.00	3.39	0.000	0.000	0.054	2030.44	2049.38	2011.50	2619.94	2077.44	0	0	0	30.00	30.00	15.51
7239.90	10791	136.19	2.10	-80.00	2027.8	2047.3	2008.2	2620.3	2077.2	233.32	8.63	696	7267.09	21.42	0.19	3.88	1.310	0.095	0.134	1942.16	1959.44	1924.88	2659.69	661.75	0	0	0	10.78	15.68	15.16
7275.82	9254	157.42	2.17	0.00	1942.7	1959.4	1925.9	2660.1	661.8	230.20	8.98	703	7302.46	21.27	0.00	3.47	1.272	0.000	0.044	1857.88	1877.50	1838.25	2660.19	2127.81	0	0	0	11.74	30.00	15.63
7420.44	0	157.42	2.17	0.00	1852.4	1873.9	1830.9	2660.8	2128.1	212.84	12.87	720	7421.77	0.00	0.00	0.00	0.000	0.000	0.000	1851.97	1873.38	1830.56	2660.44	2128.44	0	0	0	30.00	30.00	30.00
7540.39	260	157.42	2.17	80.00	1851.2	1873.3	1829.1	2660.1	2128.4	197.31	12.94	732	7546.03	0.00	0.00	3.62	0.000	0.000	0.110	1852.12	1873.44	1830.81	2659.69	3472.31	0	0	0	30.00	30.00	15.34
7589.30	1028	157.42	2.17	0.00	1850.2	1871.8	1828.7	2659.9	3472.2	190.25	14.48	742	7596.11	0.00	0.00	3.38	0.000	0.000	0.052	1852.16	1873.81	1830.50	2659.81	2078.00	0	0	0	30.00	30.00	15.52
7715.42	16902	157.42	2.17	-80.00	1849.7	1871.9	1827.6	2660.3	2077.6	175.66	11.48	755	7721.09	0.00	0.00	3.86	0.000	0.000	0.130	1849.12	1871.12	1827.12	2660.12	660.62	0	0	0	30.00	30.00	15.27
7830.88	17414	157.42	2.17	0.00	1849.3	1870.8	1827.8	2660.4	660.8	159.82	13.10	778	7836.04	0.00	0.00	3.46	0.000	0.000	0.044	1848.28	1870.19	1826.38	2660.31	2128.38	0	0	0	30.00	30.00	15.62
7955.45	16386	157.42	2.17	0.00	1848.8	1870.6	1827.0	2660.2	2128.6	144.25	12.04	791	7956.78	0.00	0.00	0.00	0.000	0.000	0.000	1848.12	1870.25	1826.00	2660.12	2128.38	0	0	0	30.00	30.00	30.00
8015.45	16386	157.42	2.17	0.00	1848.9	1871.1	1826.8	2660.2	2128.2	137.47	11.40	797	8016.78	0.00	0.00	0.00	0.000	0.000	0.000	1848.91	1870.94	1826.88	2659.94	2128.25	0	0	0	30.00	30.00	30.00
8075.45	16646	157.42	2.17	80.00	1848.7	1870.9	1826.4	2660.3	2128.8	130.86	11.01	803	8081.10	0.00	0.00	3.62	0.000	0.000	0.109	1850.50	1872.69	1828.31	2658.62	3473.25	0	0	0	30.00	30.00	15.34
8110.89	17414	157.42	2.17	0.00	1848.7	1870.9	1826.4	2660.3	3473.2	126.94	11.17	810	8116.04	0.00	0.00	3.37	0.000	0.000	0.051	1850.62	1872.75	1828.50	2659.88	2076.38	0	0	0	30.00	30.00	15.57
8175.52	16966	157.42	2.20	-80.00	1848.5	1870.8	1826.2	2660.2	2076.8	120.22	9.96	817	8181.20	0.00	0.00	3.86	0.000	0.000	0.129	1850.53	1873.19	1827.88	2659.94	660.50	0	0	0	30.00	30.00	15.26
8330.92	17414	157.42	2.20	0.00	1848.0	1869.9	1826.1	2660.1	660.8	102.27	10.85	848	8336.09	0.00	0.00	3.45	0.000	0.000	0.043	1848.47	1870.06	1826.88	2660.19	2127.62	0	0	0	30.00	30.00	15.64
8395.49	10275	186.50	2.29	0.00	1847.9	1870.1	1825.7	2659.8	2128.2	96.72	8.19	855	8429.23	32.03	0.22	0.00	1.142	0.080	0.000	1740.59	1763.00	1718.19	2706.94	2128.31	0	0	0	11.37	15.69	30.00
8485.50	8486	208.10	2.35	80.00	1736.2	1759.2	1713.1	2708.0	2127.9	89.37	8.94	864	8516.76	25.85	0.00	3.62	1.098	0.000	0.109	1650.25	1673.31	1627.19	2707.88	3473.62	0	0	0	11.64	30.00	15.09
8555.95	1028	208.10	2.35	0.00	1648.5	1671.1	1625.8	2708.9	3473.9	81.50	12.12	878	8561.08	0.00	0.00	3.38	0.000	0.000	0.050	1648.03	1670.88	1625.19	2707.88	2077.94	0	0	0	30.00	30.00	15.50
8620.56	580	208.10	2.40	-80.00	1647.7	1671.5	1623.8	2708.3	2077.9	74.80	9.57	885	8626.19	0.00	0.00	3.87	0.000	0.000	0.128	1647.09	1671.25	1622.94	2708.88	660.69	0	0	0	30.00	30.00	15.28
8635.96	1092	208.10	2.44	0.00	1647.7	1671.4	1624.0	2707.6	660.7	72.99	9.95	888	8641.11	0.00	0.00	3.48	0.000	0.000	0.041	1646.44	1670.19	1622.69	2708.25	2129.06	0	0	0	30.00	30.00	15.55
8700.50	260	208.10	2.44	80.00	1646.8	1671.1	1622.5	2708.2	2129.2	65.48	11.35	895	8706.13	0.00	0.00	3.56	0.000	0.000	0.107	1646.81	1671.00	1622.62	2708.06	3474.88	0	0	0	30.00	30.00	15.32
8835.97	11303	259.09	2.59	0.00	1644.8	1668.8	1620.7	2708.6	3474.8	54.67	5.99	922	8900.37	57.01	0.38	3.36	1.090	0.060	0.048	1443.25	1468.12	1418.38	2778.81	2076.81	0	0	0	11.49	15.33	15.57
8965.54	8742	280.85	2.65	-80.00	1440.2	1466.9	1413.5	2778.6	2076.3	46.25	8.92	942	8997.29	25.51	0.00	3.89	1.021	0.000	0.129	1354.50	1379.69	1329.31	2778.75	659.56	0	0	0	11.48	30.00	15.02
9219.55	1028	280.85	2.65	0.00	1351.7	1375.4	1328.0	2778.8	659.7	15.01	11.56	993	9226.34	0.00	0.00	3.50	0.000	0.000	0.042	1350.88	1375.38	1326.38	2778.06	2129.25	0	0	0	30.00	30.00	15.55
9285.71	580	280.85	2.68	-80.00	1350.0	1375.2	1324.8	2778.6	2129.5	8.42	10.16	1000	9291.34	0.00	0.00	4.00	0.000	0.000	0.122	1349.94	1375.19	1324.69	2779.38	660.69	0	0	0	30.00	30.00	15.28
9345	end climb: SURFACE_DEPTH_REACHED
state	9345	begin surface coast
9355	end surface coast: CONTROL_FINISHED_OK
state	9355	begin surface