Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1037 * 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 1037 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 73.054024 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 247.8378 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 73.054024 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 247.8378 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 1037 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 020421,235528,4707.273,-12502.002,30,1.3,31,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 2 TGT_RADIUS 3000.000

_SM_DEPTHo -1.47 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -63.2 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 030421,000346,4707.273,-12502.023,3,0.6,4,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 345.7,1347,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 593

Post-dive calculations and measurements:

SM_CCo 9749.47,0.01,0.264,0,564.7,563.2,566.2,474.73 _24V_AH 13.63,285.745

SM_GC -0.71,0.01,17.94,0.10,0.264,0.087,0.138,564.7,563.2,566.2,181.4,2072.6,0,0,0,30.36,15.26,15.58 _10V_AH 14.76,0.000

SUPER 27,71,254,1,0,0 FG_AHR_24Vo 248.044

IRIDIUM_FIX 4707.10,-12459.52,020421,235913 FG_AHR_10Vo 73.087

TCM_TEMP 174.94 MEM 1103648,40,73460,56

XPDR_PINGS 6,14.0,11.5 DATA_FILE_SIZE 38583,1004

ALTIM_BOTTOM_PING 250.7,7.9 CAP_FILE_SIZE 516982,0

SC_FREEKB 3461856 SDSIZE 3918848,3636608

HUMID 58.28 SDFILEDIR 5211,1

TEMP 7.80 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77094 GPS 030421,024701,4707.730,-12501.613,18,1.0,19,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 628 2580 22097.10 legato 0 0 0.00

Pitch_motor 38 255 135.83 nil 0 0 0.00

Roll_motor 241 231 759.99 nil 0 0 0.00

Iridium 222 196 595.32 nil 0 0 0.00

Transponder_ping 2 420 11.45 nil 0 0 0.00

GPS 12 15 2.86 nil 0 0 0.00

Core 3599 11 626.91 SciCon 9605 5 738.76

LPSleep 6404 2 264.68 nil 0 0 0.00

Compass 1905 5 140.65 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 2 30 0.89

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7.63 16386 -74.33 -1.59 0.00 561.0 560.4 561.7 165.2 2118.4 0.00 0.00 0 99.92 91.82 0.00 0.00 0.005 0.000 0.000 2666.50 2648.81 2684.19 165.00 2118.50 0 0 0 14.65 30.00 30.00

100.14 18951 -74.33 -1.59 -80.00 2665.3 2647.8 2682.8 165.2 2118.4 4.31 -9.29 9 126.04 2.94 14.07 4.16 0.012 0.256 0.146 2802.34 2795.38 2809.31 1754.19 661.62 0 0 0 14.86 14.98 14.69

149.78 1028 -74.33 -1.59 0.00 2801.9 2795.1 2808.8 1754.2 661.8 17.93 -23.78 19 155.12 0.00 0.00 3.57 0.000 0.000 0.054 2800.88 2793.56 2808.19 1754.31 2120.00 0 0 0 30.00 30.00 15.50

214.33 260 -74.33 -1.59 80.00 2802.2 2795.5 2808.8 1754.1 2119.9 30.38 -19.08 26 220.00 0.00 0.00 3.65 0.000 0.000 0.109 2801.47 2794.69 2808.25 1753.38 3474.56 0 0 0 30.00 30.00 15.32

293.25 1028 -74.33 -1.59 0.00 2802.4 2795.6 2809.1 1754.2 3474.3 46.41 -20.62 42 300.05 0.00 0.00 3.41 0.000 0.000 0.057 2804.03 2796.62 2811.44 1754.25 2080.25 0 0 0 30.00 30.00 15.45

359.41 0 -74.33 -1.59 0.00 2802.6 2795.6 2809.6 1754.2 2079.6 58.86 -19.04 49 360.74 0.00 0.00 0.00 0.000 0.000 0.000 2802.88 2796.56 2809.19 1753.44 2080.50 0 0 0 30.00 30.00 30.00

419.37 260 -74.33 -1.59 80.00 2802.4 2795.4 2809.3 1754.2 2080.2 68.46 -15.79 55 425.02 0.00 0.00 3.76 0.000 0.000 0.106 2804.69 2797.56 2811.81 1754.31 3474.62 0 0 0 30.00 30.00 15.34

508.28 1028 -74.33 -1.59 0.00 2802.5 2795.4 2809.6 1754.3 3475.1 81.91 -14.64 73 515.05 0.00 0.00 3.38 0.000 0.000 0.056 2803.78 2796.44 2811.12 1753.81 2081.12 0 0 0 30.00 30.00 15.49

574.48 516 -74.33 -1.59 -80.00 2802.3 2795.8 2808.8 1753.9 2081.9 90.96 -13.81 80 580.08 0.00 0.00 3.99 0.000 0.000 0.150 2803.03 2796.69 2809.38 1754.25 661.56 0 0 0 30.00 30.00 15.19

749.84 1028 -74.33 -1.59 0.00 2802.4 2795.5 2809.4 1754.0 661.9 116.88 -13.27 115 755.03 0.00 0.00 3.51 0.000 0.000 0.049 2801.09 2794.38 2807.81 1754.06 2123.19 0 0 0 30.00 30.00 15.58

814.40 260 -74.33 -1.59 80.00 2802.2 2795.6 2808.8 1754.1 2122.8 123.76 -9.94 122 820.04 0.00 0.00 3.60 0.000 0.000 0.105 2801.19 2794.50 2807.88 1753.75 3477.00 0 0 0 30.00 30.00 15.36

869.42 1028 -74.33 -1.59 0.00 2802.6 2796.1 2809.1 1754.1 3476.9 129.97 -11.47 133 874.00 0.00 0.00 3.35 0.000 0.000 0.051 2802.75 2796.06 2809.44 1754.50 2079.50 0 0 0 30.00 30.00 15.54

939.42 0 -74.33 -1.59 0.00 2802.6 2795.7 2809.5 1753.8 2080.0 137.53 -10.41 141 940.74 0.00 0.00 0.00 0.000 0.000 0.000 2803.09 2796.38 2809.81 1754.25 2079.88 0 0 0 30.00 30.00 30.00

999.43 260 -74.33 -1.59 80.00 2802.7 2796.3 2809.1 1754.5 2079.8 144.29 -10.95 147 1005.09 0.00 0.00 3.71 0.000 0.000 0.103 2802.25 2795.50 2809.00 1754.25 3474.94 0 0 0 30.00 30.00 15.36

1034.43 1028 -74.33 -1.59 0.00 2802.8 2796.5 2809.0 1754.2 3474.6 148.43 -11.55 154 1039.04 0.00 0.00 3.35 0.000 0.000 0.051 2803.53 2796.94 2810.12 1754.44 2079.50 0 0 0 30.00 30.00 15.54

1104.43 260 -74.33 -1.59 80.00 2802.5 2796.1 2809.0 1754.1 2079.8 156.21 -11.09 162 1110.14 0.00 0.00 3.68 0.000 0.000 0.103 2800.81 2793.50 2808.12 1753.94 3475.81 0 0 0 30.00 30.00 15.36

1169.45 1028 -74.33 -1.59 0.00 2803.2 2796.9 2809.4 1754.1 3475.7 163.37 -11.34 175 1174.04 0.00 0.00 3.35 0.000 0.000 0.052 2803.28 2796.88 2809.69 1753.94 2080.00 0 0 0 30.00 30.00 15.53

1299.46 0 -74.33 -1.59 0.00 2802.8 2796.4 2809.2 1754.1 2080.2 176.72 -10.21 189 1300.79 0.00 0.00 0.00 0.000 0.000 0.000 2803.19 2796.69 2809.69 1753.50 2080.25 0 0 0 30.00 30.00 30.00

1419.47 260 -74.33 -1.59 80.00 2803.1 2795.7 2810.4 1754.1 2080.2 188.03 -9.25 201 1425.13 0.00 0.00 3.73 0.000 0.000 0.105 2801.31 2794.81 2807.81 1754.31 3475.88 0 0 0 30.00 30.00 15.35

1484.48 1028 -74.33 -1.59 0.00 2802.9 2796.1 2809.8 1754.2 3475.4 195.51 -11.63 214 1489.07 0.00 0.00 3.37 0.000 0.000 0.054 2805.22 2798.19 2812.25 1754.19 2080.62 0 0 0 30.00 30.00 15.52

1614.50 548 -100.39 -1.67 -80.00 2802.9 2796.4 2809.4 1753.8 2080.5 207.53 -8.49 228 1620.18 0.00 0.00 3.99 0.000 0.000 0.149 2802.62 2796.19 2809.06 1754.38 662.75 0 0 0 30.00 30.00 15.17

1639.94 1028 -100.39 -1.67 0.00 2802.5 2795.8 2809.2 1754.4 662.4 210.36 -9.60 233 1645.11 0.00 0.00 3.47 0.000 0.000 0.047 2805.84 2799.00 2812.69 1753.94 2125.69 0 0 0 30.00 30.00 15.60

1764.50 260 -100.39 -1.67 80.00 2802.7 2795.9 2809.4 1753.9 2125.3 223.13 -10.34 246 1770.12 0.00 0.00 3.59 0.000 0.000 0.106 2805.25 2798.62 2811.88 1754.31 3474.88 0 0 0 30.00 30.00 15.35

1783.42 1028 -100.39 -1.67 0.00 2802.6 2795.4 2809.9 1754.1 3475.2 225.42 -11.04 250 1790.19 0.00 0.00 3.34 0.000 0.000 0.051 2802.91 2796.44 2809.38 1754.44 2079.31 0 0 0 30.00 30.00 15.50

1909.51 260 -100.39 -1.67 80.00 2802.8 2796.1 2809.4 1754.3 2079.1 238.41 -10.64 263 1915.18 0.00 0.00 3.73 0.000 0.000 0.105 2802.47 2796.06 2808.88 1754.06 3475.56 0 0 0 30.00 30.00 15.35

1954.52 1028 -100.39 -1.67 0.00 2802.6 2795.6 2809.6 1753.9 3475.6 243.54 -11.10 272 1959.11 0.00 0.00 3.35 0.000 0.000 0.052 2803.25 2796.19 2810.31 1754.19 2081.00 0 0 0 30.00 30.00 15.52

2084.54 0 -100.39 -1.67 0.00 2803.1 2796.6 2809.7 1754.2 2081.1 256.51 -9.72 282 2085.87 0.00 0.00 0.00 0.000 0.000 0.000 2803.06 2796.44 2809.69 1754.31 2081.25 0 0 0 30.00 30.00 30.00

2384.54 0 -100.39 -1.67 0.00 2802.9 2796.2 2809.5 1754.4 2080.8 285.17 -9.31 292 2385.87 0.00 0.00 0.00 0.000 0.000 0.000 2803.28 2796.88 2809.69 1754.12 2080.75 0 0 0 30.00 30.00 30.00

2684.55 0 -100.39 -1.67 0.00 2802.9 2796.3 2809.4 1754.2 2080.8 314.39 -10.11 302 2685.88 0.00 0.00 0.00 0.000 0.000 0.000 2803.59 2797.44 2809.75 1754.44 2080.50 0 0 0 30.00 30.00 30.00

2984.56 260 -100.39 -1.67 80.00 2802.8 2796.3 2809.2 1753.9 2081.1 346.25 -10.20 312 2990.23 0.00 0.00 3.80 0.000 0.000 0.109 2805.41 2799.31 2811.50 1754.19 3474.88 0 0 0 30.00 30.00 15.33

3063.49 1028 -100.39 -1.67 0.00 2802.9 2796.2 2809.6 1753.7 3474.3 354.20 -9.38 328 3070.28 0.00 0.00 3.39 0.000 0.000 0.057 2802.94 2796.62 2809.25 1754.62 2081.44 0 0 0 30.00 30.00 15.47

3369.60 260 -100.39 -1.67 80.00 2802.3 2796.2 2808.3 1753.9 2081.8 382.82 -9.77 339 3375.26 0.00 0.00 3.78 0.000 0.000 0.108 2805.12 2798.81 2811.44 1754.25 3475.06 0 0 0 30.00 30.00 15.30

3424.61 1028 -100.39 -1.67 0.00 2802.3 2795.9 2808.8 1754.3 3474.7 388.44 -12.03 350 3429.20 0.00 0.00 3.38 0.000 0.000 0.056 2802.84 2796.38 2809.31 1753.94 2081.00 0 0 0 30.00 30.00 15.47

3754.68 260 -100.39 -1.67 80.00 2802.4 2796.1 2808.7 1753.7 2080.8 419.13 -9.76 366 3760.29 0.00 0.00 3.80 0.000 0.000 0.109 2801.09 2795.56 2806.62 1753.81 3476.12 0 0 0 30.00 30.00 15.29

3839.63 1028 -100.39 -1.67 0.00 2802.6 2796.5 2808.7 1754.1 3475.6 429.87 -11.79 383 3844.24 0.00 0.00 3.40 0.000 0.000 0.057 2803.88 2797.81 2809.94 1754.12 2082.94 0 0 0 30.00 30.00 15.47

4169.70 260 -100.39 -1.67 80.00 2801.8 2795.8 2807.7 1754.2 2082.7 465.99 -11.54 399 4175.33 0.00 0.00 3.81 0.000 0.000 0.111 2800.56 2794.62 2806.50 1754.31 3475.19 0 0 0 30.00 30.00 15.28

4198.56 1028 -100.39 -1.67 0.00 2802.1 2795.6 2808.6 1753.8 3476.1 468.46 -10.49 405 4204.24 0.00 0.00 3.39 0.000 0.000 0.056 2804.84 2798.69 2811.00 1753.81 2082.38 0 0 0 30.00 30.00 15.44

4495 end dive: TARGET_DEPTH_EXCEEDED

state 4495 begin apogee

4495.81 10243 0.00 -0.25 0.00 2801.6 2795.9 2807.2 1754.8 2120.9 501.02 -10.81 419 4564.64 64.49 2.55 0.09 1.630 0.155 0.231 2497.16 2504.94 2489.38 2080.31 2084.62 0 0 0 10.37 15.24 14.93

4568 end apogee: CONTROL_FINISHED_OK

state 4568 begin climb

4567.63 10759 100.39 1.67 -80.00 2497.9 2506.3 2489.6 2079.7 2084.4 503.85 0.00 421 4670.32 92.88 3.27 4.11 1.592 0.077 0.138 2086.47 2098.50 2074.44 2551.19 662.69 0 0 0 11.56 15.25 14.72

4707.53 1092 100.39 1.69 0.00 2084.0 2095.8 2072.2 2549.5 662.7 494.96 10.30 449 4714.28 0.00 0.00 3.56 0.000 0.000 0.044 2086.00 2097.88 2074.12 2549.75 2125.12 0 0 0 30.00 30.00 15.29

5013.58 16966 100.39 1.73 -80.00 2077.7 2093.5 2061.8 2549.9 2125.5 465.43 9.97 460 5019.28 0.00 0.00 4.07 0.000 0.000 0.135 2077.84 2093.62 2062.06 2550.06 661.94 0 0 0 30.00 30.00 15.27

5099.03 17414 100.39 1.73 0.00 2076.2 2090.6 2061.7 2549.5 661.7 455.81 12.20 477 5104.23 0.00 0.00 3.51 0.000 0.000 0.046 2076.62 2090.88 2062.38 2550.12 2125.50 0 0 0 30.00 30.00 15.61

5423.67 16966 100.39 1.76 -80.00 2074.5 2091.1 2057.9 2550.5 2126.3 422.66 10.14 492 5429.31 0.00 0.00 4.06 0.000 0.000 0.134 2072.88 2089.31 2056.44 2549.69 661.75 0 0 0 30.00 30.00 15.27

5452.51 17414 100.39 1.76 0.00 2073.9 2089.6 2058.2 2550.8 661.9 417.41 17.81 498 5458.22 0.00 0.00 3.48 0.000 0.000 0.045 2076.34 2092.06 2060.62 2549.31 2125.62 0 0 0 30.00 30.00 15.62

5778.69 16966 100.39 1.78 -80.00 2072.9 2089.6 2056.1 2549.5 2125.1 386.10 10.19 513 5784.34 0.00 0.00 4.06 0.000 0.000 0.133 2071.16 2088.00 2054.31 2549.62 661.75 0 0 0 30.00 30.00 15.24

5867.54 17414 100.39 1.78 0.00 2072.2 2088.1 2056.4 2549.4 661.8 377.12 10.92 531 5873.24 0.00 0.00 3.49 0.000 0.000 0.045 2072.22 2088.81 2055.62 2550.19 2126.31 0 0 0 30.00 30.00 15.62

6193.71 10791 127.87 1.87 -80.00 2071.6 2088.2 2055.0 2550.1 2126.9 349.28 8.35 546 6225.53 23.92 0.26 4.05 1.427 0.068 0.134 1978.16 1995.19 1961.12 2610.31 661.88 0 0 0 11.06 15.71 15.15

6277.67 1028 127.87 1.87 0.00 1975.1 1990.0 1960.2 2609.9 661.8 339.30 13.01 563 6284.49 0.00 0.00 3.48 0.000 0.000 0.046 1974.78 1990.19 1959.38 2610.38 2125.88 0 0 0 30.00 30.00 15.61

6583.79 580 127.87 1.91 -80.00 1971.5 1989.8 1953.2 2609.6 2126.2 309.55 9.60 574 6589.48 0.00 0.00 4.05 0.000 0.000 0.133 1970.25 1988.38 1952.12 2610.31 662.81 0 0 0 30.00 30.00 15.27

6699.24 1028 127.87 1.91 0.00 1971.6 1989.3 1953.9 2610.2 662.7 296.91 12.61 597 6704.40 0.00 0.00 3.48 0.000 0.000 0.046 1971.12 1989.50 1952.75 2609.50 2126.00 0 0 0 30.00 30.00 15.63

7023.87 324 127.87 1.95 80.00 1970.6 1989.4 1951.8 2610.1 2126.0 264.81 9.93 612 7029.46 0.00 0.00 3.64 0.000 0.000 0.112 1969.00 1987.88 1950.12 2610.12 3473.88 0 0 0 30.00 30.00 15.35

7087.73 17414 127.87 1.95 0.00 1970.3 1988.8 1951.9 2609.9 3473.9 257.15 12.15 625 7093.39 0.00 0.00 3.38 0.000 0.000 0.053 1971.25 1990.00 1952.50 2610.31 2078.50 0 0 0 30.00 30.00 15.55

7398.86 8742 150.93 2.02 -80.00 1969.7 1988.8 1950.6 2609.9 2078.7 225.19 8.79 654 7425.98 21.92 0.00 3.89 1.297 0.000 0.135 1885.22 1905.69 1864.75 2610.25 660.62 0 0 0 11.27 30.00 15.16

7474.65 1028 150.93 2.02 0.00 1880.8 1899.3 1862.2 2609.8 660.7 216.43 12.41 669 7479.82 0.00 0.00 3.48 0.000 0.000 0.044 1879.31 1897.56 1861.06 2609.75 2128.25 0 0 0 30.00 30.00 15.63

7599.21 516 150.93 2.02 -80.00 1878.7 1899.1 1858.2 2609.0 2128.6 201.39 11.92 682 7604.92 0.00 0.00 4.01 0.000 0.000 0.128 1878.00 1898.25 1857.75 2609.88 661.44 0 0 0 30.00 30.00 15.33

7648.13 1028 150.93 2.02 0.00 1878.6 1899.0 1858.1 2610.0 661.7 195.21 13.46 692 7654.93 0.00 0.00 3.48 0.000 0.000 0.045 1879.66 1899.06 1860.25 2608.44 2128.12 0 0 0 30.00 30.00 15.60

7774.23 516 150.93 2.02 -80.00 1877.8 1898.9 1856.6 2609.8 2128.0 180.90 11.52 705 7779.94 0.00 0.00 4.01 0.000 0.000 0.128 1876.97 1897.88 1856.06 2609.62 661.56 0 0 0 30.00 30.00 15.29

7933.17 1028 150.93 2.02 0.00 1877.4 1898.1 1856.8 2610.1 661.6 159.87 13.20 737 7939.96 0.00 0.00 3.48 0.000 0.000 0.045 1878.53 1899.19 1857.88 2610.44 2128.44 0 0 0 30.00 30.00 15.61

8059.28 19015 150.93 2.07 -80.00 1876.5 1897.8 1855.3 2610.2 2128.4 147.26 9.49 750 8065.02 0.00 0.20 4.03 0.000 0.083 0.125 1878.72 1900.25 1857.19 2653.50 660.81 0 0 0 30.00 15.68 15.27

8158.19 17414 150.93 2.07 0.00 1876.4 1897.9 1854.9 2653.4 661.2 135.12 12.71 770 8164.98 0.00 0.00 3.47 0.000 0.000 0.043 1876.97 1898.06 1855.88 2654.25 2129.25 0 0 0 30.00 30.00 15.62

8224.35 16966 150.93 2.11 -80.00 1876.4 1897.8 1855.1 2654.1 2130.1 128.97 9.70 777 8229.99 0.00 0.00 4.02 0.000 0.000 0.123 1876.00 1896.94 1855.06 2654.00 660.56 0 0 0 30.00 30.00 15.25

8249.73 1092 150.93 2.13 0.00 1876.6 1897.8 1855.4 2654.2 660.6 126.14 10.53 782 8254.90 0.00 0.00 3.47 0.000 0.000 0.043 1876.81 1897.62 1856.00 2653.62 2129.31 0 0 0 30.00 30.00 15.64

8314.30 16710 150.93 2.17 80.00 1876.2 1897.8 1854.6 2654.2 2129.1 120.05 9.71 789 8319.93 0.00 0.00 3.59 0.000 0.000 0.106 1875.03 1896.38 1853.69 2653.69 3474.12 0 0 0 30.00 30.00 15.35

8389.36 17478 150.93 2.22 0.00 1876.2 1897.6 1854.8 2653.9 3473.3 113.35 9.47 804 8393.88 0.00 0.00 3.36 0.000 0.000 0.049 1877.47 1899.19 1855.75 2653.75 2076.06 0 0 0 30.00 30.00 15.56

8459.36 10791 184.47 2.32 -80.00 1876.2 1897.7 1854.8 2653.6 2075.6 107.60 7.74 812 8504.87 37.17 0.31 3.85 1.163 0.064 0.129 1748.81 1769.62 1728.00 2717.00 660.69 0 0 0 11.43 15.69 15.10

8729.78 1028 184.47 2.32 0.00 1743.6 1762.9 1724.3 2716.8 660.9 75.56 12.10 866 8734.96 0.00 0.00 3.49 0.000 0.000 0.043 1742.41 1762.06 1722.75 2716.50 2129.12 0 0 0 30.00 30.00 15.61

8794.34 324 184.47 2.36 80.00 1742.4 1763.4 1721.4 2717.5 2129.3 69.16 9.79 873 8799.97 0.00 0.00 3.60 0.000 0.000 0.107 1741.19 1761.94 1720.44 2716.81 3474.00 0 0 0 30.00 30.00 15.35

9023.28 11303 265.30 2.60 0.00 1741.0 1762.2 1719.8 2717.4 3474.6 55.37 2.99 919 9116.88 88.68 0.34 3.38 1.103 0.061 0.052 1419.75 1444.12 1395.38 2780.94 2076.88 0 0 0 11.54 15.34 15.55

9174.59 8486 295.39 2.69 80.00 1415.8 1441.9 1389.6 2781.7 2077.2 49.15 8.09 943 9216.36 34.01 0.00 3.83 1.034 0.000 0.107 1295.47 1320.12 1270.81 2780.06 3474.38 0 0 0 11.58 30.00 14.99

9258.49 1028 295.39 2.69 0.00 1293.2 1318.2 1268.1 2781.4 3473.9 39.06 13.95 960 9265.29 0.00 0.00 3.42 0.000 0.000 0.053 1294.25 1319.31 1269.19 2781.38 2078.44 0 0 0 30.00 30.00 15.41

9324.64 260 295.39 2.69 80.00 1292.3 1318.8 1265.9 2781.4 2078.1 30.40 12.90 967 9330.25 0.00 0.00 3.79 0.000 0.000 0.105 1291.62 1318.44 1264.81 2781.56 3473.12 0 0 0 30.00 30.00 15.30

9433.52 1028 295.39 2.69 0.00 1290.8 1318.1 1263.6 2780.8 3473.6 15.31 12.88 989 9440.29 0.00 0.00 3.38 0.000 0.000 0.052 1291.12 1318.44 1263.81 2781.50 2077.62 0 0 0 30.00 30.00 15.48

9499.67 516 295.39 2.69 -80.00 1290.8 1318.4 1263.2 2781.2 2078.1 7.43 12.07 996 9505.30 0.00 0.00 3.89 0.000 0.000 0.129 1290.12 1317.75 1262.50 2780.62 660.62 0 0 0 30.00 30.00 15.25

9525.06 1028 295.39 2.69 0.00 1290.9 1318.7 1263.1 2781.4 660.8 3.84 13.84 1001 9530.25 0.00 0.00 3.51 0.000 0.000 0.043 1290.06 1317.56 1262.56 2781.19 2127.00 0 0 0 30.00 30.00 15.57

9540 end climb: SURFACE_DEPTH_REACHED

state 9540 begin surface coast

9550 end surface coast: CONTROL_FINISHED_OK

state 9550 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	1037	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	73.054024	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	247.8378	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	020421,235528,4707.273,-12502.002,30,1.3,31,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	2	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.47	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-63.2	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	030421,000346,4707.273,-12502.023,3,0.6,4,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	345.7,1347,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	593

SM_CCo	9749.47,0.01,0.264,0,564.7,563.2,566.2,474.73	_24V_AH	13.63,285.745
SM_GC	-0.71,0.01,17.94,0.10,0.264,0.087,0.138,564.7,563.2,566.2,181.4,2072.6,0,0,0,30.36,15.26,15.58	_10V_AH	14.76,0.000
SUPER	27,71,254,1,0,0	FG_AHR_24Vo	248.044
IRIDIUM_FIX	4707.10,-12459.52,020421,235913	FG_AHR_10Vo	73.087
TCM_TEMP	174.94	MEM	1103648,40,73460,56
XPDR_PINGS	6,14.0,11.5	DATA_FILE_SIZE	38583,1004
ALTIM_BOTTOM_PING	250.7,7.9	CAP_FILE_SIZE	516982,0
SC_FREEKB	3461856	SDSIZE	3918848,3636608
HUMID	58.28	SDFILEDIR	5211,1
TEMP	7.80	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77094	GPS	030421,024701,4707.730,-12501.613,18,1.0,19,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	628	2580	22097.10	legato	0	0	0.00
Pitch_motor	38	255	135.83	nil	0	0	0.00
Roll_motor	241	231	759.99	nil	0	0	0.00
Iridium	222	196	595.32	nil	0	0	0.00
Transponder_ping	2	420	11.45	nil	0	0	0.00
GPS	12	15	2.86	nil	0	0	0.00
Core	3599	11	626.91	SciCon	9605	5	738.76
LPSleep	6404	2	264.68	nil	0	0	0.00
Compass	1905	5	140.65	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	2	30	0.89

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7.63	16386	-74.33	-1.59	0.00	561.0	560.4	561.7	165.2	2118.4	0.00	0.00	0	99.92	91.82	0.00	0.00	0.005	0.000	0.000	2666.50	2648.81	2684.19	165.00	2118.50	0	0	0	14.65	30.00	30.00
100.14	18951	-74.33	-1.59	-80.00	2665.3	2647.8	2682.8	165.2	2118.4	4.31	-9.29	9	126.04	2.94	14.07	4.16	0.012	0.256	0.146	2802.34	2795.38	2809.31	1754.19	661.62	0	0	0	14.86	14.98	14.69
149.78	1028	-74.33	-1.59	0.00	2801.9	2795.1	2808.8	1754.2	661.8	17.93	-23.78	19	155.12	0.00	0.00	3.57	0.000	0.000	0.054	2800.88	2793.56	2808.19	1754.31	2120.00	0	0	0	30.00	30.00	15.50
214.33	260	-74.33	-1.59	80.00	2802.2	2795.5	2808.8	1754.1	2119.9	30.38	-19.08	26	220.00	0.00	0.00	3.65	0.000	0.000	0.109	2801.47	2794.69	2808.25	1753.38	3474.56	0	0	0	30.00	30.00	15.32
293.25	1028	-74.33	-1.59	0.00	2802.4	2795.6	2809.1	1754.2	3474.3	46.41	-20.62	42	300.05	0.00	0.00	3.41	0.000	0.000	0.057	2804.03	2796.62	2811.44	1754.25	2080.25	0	0	0	30.00	30.00	15.45
359.41	0	-74.33	-1.59	0.00	2802.6	2795.6	2809.6	1754.2	2079.6	58.86	-19.04	49	360.74	0.00	0.00	0.00	0.000	0.000	0.000	2802.88	2796.56	2809.19	1753.44	2080.50	0	0	0	30.00	30.00	30.00
419.37	260	-74.33	-1.59	80.00	2802.4	2795.4	2809.3	1754.2	2080.2	68.46	-15.79	55	425.02	0.00	0.00	3.76	0.000	0.000	0.106	2804.69	2797.56	2811.81	1754.31	3474.62	0	0	0	30.00	30.00	15.34
508.28	1028	-74.33	-1.59	0.00	2802.5	2795.4	2809.6	1754.3	3475.1	81.91	-14.64	73	515.05	0.00	0.00	3.38	0.000	0.000	0.056	2803.78	2796.44	2811.12	1753.81	2081.12	0	0	0	30.00	30.00	15.49
574.48	516	-74.33	-1.59	-80.00	2802.3	2795.8	2808.8	1753.9	2081.9	90.96	-13.81	80	580.08	0.00	0.00	3.99	0.000	0.000	0.150	2803.03	2796.69	2809.38	1754.25	661.56	0	0	0	30.00	30.00	15.19
749.84	1028	-74.33	-1.59	0.00	2802.4	2795.5	2809.4	1754.0	661.9	116.88	-13.27	115	755.03	0.00	0.00	3.51	0.000	0.000	0.049	2801.09	2794.38	2807.81	1754.06	2123.19	0	0	0	30.00	30.00	15.58
814.40	260	-74.33	-1.59	80.00	2802.2	2795.6	2808.8	1754.1	2122.8	123.76	-9.94	122	820.04	0.00	0.00	3.60	0.000	0.000	0.105	2801.19	2794.50	2807.88	1753.75	3477.00	0	0	0	30.00	30.00	15.36
869.42	1028	-74.33	-1.59	0.00	2802.6	2796.1	2809.1	1754.1	3476.9	129.97	-11.47	133	874.00	0.00	0.00	3.35	0.000	0.000	0.051	2802.75	2796.06	2809.44	1754.50	2079.50	0	0	0	30.00	30.00	15.54
939.42	0	-74.33	-1.59	0.00	2802.6	2795.7	2809.5	1753.8	2080.0	137.53	-10.41	141	940.74	0.00	0.00	0.00	0.000	0.000	0.000	2803.09	2796.38	2809.81	1754.25	2079.88	0	0	0	30.00	30.00	30.00
999.43	260	-74.33	-1.59	80.00	2802.7	2796.3	2809.1	1754.5	2079.8	144.29	-10.95	147	1005.09	0.00	0.00	3.71	0.000	0.000	0.103	2802.25	2795.50	2809.00	1754.25	3474.94	0	0	0	30.00	30.00	15.36
1034.43	1028	-74.33	-1.59	0.00	2802.8	2796.5	2809.0	1754.2	3474.6	148.43	-11.55	154	1039.04	0.00	0.00	3.35	0.000	0.000	0.051	2803.53	2796.94	2810.12	1754.44	2079.50	0	0	0	30.00	30.00	15.54
1104.43	260	-74.33	-1.59	80.00	2802.5	2796.1	2809.0	1754.1	2079.8	156.21	-11.09	162	1110.14	0.00	0.00	3.68	0.000	0.000	0.103	2800.81	2793.50	2808.12	1753.94	3475.81	0	0	0	30.00	30.00	15.36
1169.45	1028	-74.33	-1.59	0.00	2803.2	2796.9	2809.4	1754.1	3475.7	163.37	-11.34	175	1174.04	0.00	0.00	3.35	0.000	0.000	0.052	2803.28	2796.88	2809.69	1753.94	2080.00	0	0	0	30.00	30.00	15.53
1299.46	0	-74.33	-1.59	0.00	2802.8	2796.4	2809.2	1754.1	2080.2	176.72	-10.21	189	1300.79	0.00	0.00	0.00	0.000	0.000	0.000	2803.19	2796.69	2809.69	1753.50	2080.25	0	0	0	30.00	30.00	30.00
1419.47	260	-74.33	-1.59	80.00	2803.1	2795.7	2810.4	1754.1	2080.2	188.03	-9.25	201	1425.13	0.00	0.00	3.73	0.000	0.000	0.105	2801.31	2794.81	2807.81	1754.31	3475.88	0	0	0	30.00	30.00	15.35
1484.48	1028	-74.33	-1.59	0.00	2802.9	2796.1	2809.8	1754.2	3475.4	195.51	-11.63	214	1489.07	0.00	0.00	3.37	0.000	0.000	0.054	2805.22	2798.19	2812.25	1754.19	2080.62	0	0	0	30.00	30.00	15.52
1614.50	548	-100.39	-1.67	-80.00	2802.9	2796.4	2809.4	1753.8	2080.5	207.53	-8.49	228	1620.18	0.00	0.00	3.99	0.000	0.000	0.149	2802.62	2796.19	2809.06	1754.38	662.75	0	0	0	30.00	30.00	15.17
1639.94	1028	-100.39	-1.67	0.00	2802.5	2795.8	2809.2	1754.4	662.4	210.36	-9.60	233	1645.11	0.00	0.00	3.47	0.000	0.000	0.047	2805.84	2799.00	2812.69	1753.94	2125.69	0	0	0	30.00	30.00	15.60
1764.50	260	-100.39	-1.67	80.00	2802.7	2795.9	2809.4	1753.9	2125.3	223.13	-10.34	246	1770.12	0.00	0.00	3.59	0.000	0.000	0.106	2805.25	2798.62	2811.88	1754.31	3474.88	0	0	0	30.00	30.00	15.35
1783.42	1028	-100.39	-1.67	0.00	2802.6	2795.4	2809.9	1754.1	3475.2	225.42	-11.04	250	1790.19	0.00	0.00	3.34	0.000	0.000	0.051	2802.91	2796.44	2809.38	1754.44	2079.31	0	0	0	30.00	30.00	15.50
1909.51	260	-100.39	-1.67	80.00	2802.8	2796.1	2809.4	1754.3	2079.1	238.41	-10.64	263	1915.18	0.00	0.00	3.73	0.000	0.000	0.105	2802.47	2796.06	2808.88	1754.06	3475.56	0	0	0	30.00	30.00	15.35
1954.52	1028	-100.39	-1.67	0.00	2802.6	2795.6	2809.6	1753.9	3475.6	243.54	-11.10	272	1959.11	0.00	0.00	3.35	0.000	0.000	0.052	2803.25	2796.19	2810.31	1754.19	2081.00	0	0	0	30.00	30.00	15.52
2084.54	0	-100.39	-1.67	0.00	2803.1	2796.6	2809.7	1754.2	2081.1	256.51	-9.72	282	2085.87	0.00	0.00	0.00	0.000	0.000	0.000	2803.06	2796.44	2809.69	1754.31	2081.25	0	0	0	30.00	30.00	30.00
2384.54	0	-100.39	-1.67	0.00	2802.9	2796.2	2809.5	1754.4	2080.8	285.17	-9.31	292	2385.87	0.00	0.00	0.00	0.000	0.000	0.000	2803.28	2796.88	2809.69	1754.12	2080.75	0	0	0	30.00	30.00	30.00
2684.55	0	-100.39	-1.67	0.00	2802.9	2796.3	2809.4	1754.2	2080.8	314.39	-10.11	302	2685.88	0.00	0.00	0.00	0.000	0.000	0.000	2803.59	2797.44	2809.75	1754.44	2080.50	0	0	0	30.00	30.00	30.00
2984.56	260	-100.39	-1.67	80.00	2802.8	2796.3	2809.2	1753.9	2081.1	346.25	-10.20	312	2990.23	0.00	0.00	3.80	0.000	0.000	0.109	2805.41	2799.31	2811.50	1754.19	3474.88	0	0	0	30.00	30.00	15.33
3063.49	1028	-100.39	-1.67	0.00	2802.9	2796.2	2809.6	1753.7	3474.3	354.20	-9.38	328	3070.28	0.00	0.00	3.39	0.000	0.000	0.057	2802.94	2796.62	2809.25	1754.62	2081.44	0	0	0	30.00	30.00	15.47
3369.60	260	-100.39	-1.67	80.00	2802.3	2796.2	2808.3	1753.9	2081.8	382.82	-9.77	339	3375.26	0.00	0.00	3.78	0.000	0.000	0.108	2805.12	2798.81	2811.44	1754.25	3475.06	0	0	0	30.00	30.00	15.30
3424.61	1028	-100.39	-1.67	0.00	2802.3	2795.9	2808.8	1754.3	3474.7	388.44	-12.03	350	3429.20	0.00	0.00	3.38	0.000	0.000	0.056	2802.84	2796.38	2809.31	1753.94	2081.00	0	0	0	30.00	30.00	15.47
3754.68	260	-100.39	-1.67	80.00	2802.4	2796.1	2808.7	1753.7	2080.8	419.13	-9.76	366	3760.29	0.00	0.00	3.80	0.000	0.000	0.109	2801.09	2795.56	2806.62	1753.81	3476.12	0	0	0	30.00	30.00	15.29
3839.63	1028	-100.39	-1.67	0.00	2802.6	2796.5	2808.7	1754.1	3475.6	429.87	-11.79	383	3844.24	0.00	0.00	3.40	0.000	0.000	0.057	2803.88	2797.81	2809.94	1754.12	2082.94	0	0	0	30.00	30.00	15.47
4169.70	260	-100.39	-1.67	80.00	2801.8	2795.8	2807.7	1754.2	2082.7	465.99	-11.54	399	4175.33	0.00	0.00	3.81	0.000	0.000	0.111	2800.56	2794.62	2806.50	1754.31	3475.19	0	0	0	30.00	30.00	15.28
4198.56	1028	-100.39	-1.67	0.00	2802.1	2795.6	2808.6	1753.8	3476.1	468.46	-10.49	405	4204.24	0.00	0.00	3.39	0.000	0.000	0.056	2804.84	2798.69	2811.00	1753.81	2082.38	0	0	0	30.00	30.00	15.44
4495	end dive: TARGET_DEPTH_EXCEEDED
state	4495	begin apogee
4495.81	10243	0.00	-0.25	0.00	2801.6	2795.9	2807.2	1754.8	2120.9	501.02	-10.81	419	4564.64	64.49	2.55	0.09	1.630	0.155	0.231	2497.16	2504.94	2489.38	2080.31	2084.62	0	0	0	10.37	15.24	14.93
4568	end apogee: CONTROL_FINISHED_OK
state	4568	begin climb
4567.63	10759	100.39	1.67	-80.00	2497.9	2506.3	2489.6	2079.7	2084.4	503.85	0.00	421	4670.32	92.88	3.27	4.11	1.592	0.077	0.138	2086.47	2098.50	2074.44	2551.19	662.69	0	0	0	11.56	15.25	14.72
4707.53	1092	100.39	1.69	0.00	2084.0	2095.8	2072.2	2549.5	662.7	494.96	10.30	449	4714.28	0.00	0.00	3.56	0.000	0.000	0.044	2086.00	2097.88	2074.12	2549.75	2125.12	0	0	0	30.00	30.00	15.29
5013.58	16966	100.39	1.73	-80.00	2077.7	2093.5	2061.8	2549.9	2125.5	465.43	9.97	460	5019.28	0.00	0.00	4.07	0.000	0.000	0.135	2077.84	2093.62	2062.06	2550.06	661.94	0	0	0	30.00	30.00	15.27
5099.03	17414	100.39	1.73	0.00	2076.2	2090.6	2061.7	2549.5	661.7	455.81	12.20	477	5104.23	0.00	0.00	3.51	0.000	0.000	0.046	2076.62	2090.88	2062.38	2550.12	2125.50	0	0	0	30.00	30.00	15.61
5423.67	16966	100.39	1.76	-80.00	2074.5	2091.1	2057.9	2550.5	2126.3	422.66	10.14	492	5429.31	0.00	0.00	4.06	0.000	0.000	0.134	2072.88	2089.31	2056.44	2549.69	661.75	0	0	0	30.00	30.00	15.27
5452.51	17414	100.39	1.76	0.00	2073.9	2089.6	2058.2	2550.8	661.9	417.41	17.81	498	5458.22	0.00	0.00	3.48	0.000	0.000	0.045	2076.34	2092.06	2060.62	2549.31	2125.62	0	0	0	30.00	30.00	15.62
5778.69	16966	100.39	1.78	-80.00	2072.9	2089.6	2056.1	2549.5	2125.1	386.10	10.19	513	5784.34	0.00	0.00	4.06	0.000	0.000	0.133	2071.16	2088.00	2054.31	2549.62	661.75	0	0	0	30.00	30.00	15.24
5867.54	17414	100.39	1.78	0.00	2072.2	2088.1	2056.4	2549.4	661.8	377.12	10.92	531	5873.24	0.00	0.00	3.49	0.000	0.000	0.045	2072.22	2088.81	2055.62	2550.19	2126.31	0	0	0	30.00	30.00	15.62
6193.71	10791	127.87	1.87	-80.00	2071.6	2088.2	2055.0	2550.1	2126.9	349.28	8.35	546	6225.53	23.92	0.26	4.05	1.427	0.068	0.134	1978.16	1995.19	1961.12	2610.31	661.88	0	0	0	11.06	15.71	15.15
6277.67	1028	127.87	1.87	0.00	1975.1	1990.0	1960.2	2609.9	661.8	339.30	13.01	563	6284.49	0.00	0.00	3.48	0.000	0.000	0.046	1974.78	1990.19	1959.38	2610.38	2125.88	0	0	0	30.00	30.00	15.61
6583.79	580	127.87	1.91	-80.00	1971.5	1989.8	1953.2	2609.6	2126.2	309.55	9.60	574	6589.48	0.00	0.00	4.05	0.000	0.000	0.133	1970.25	1988.38	1952.12	2610.31	662.81	0	0	0	30.00	30.00	15.27
6699.24	1028	127.87	1.91	0.00	1971.6	1989.3	1953.9	2610.2	662.7	296.91	12.61	597	6704.40	0.00	0.00	3.48	0.000	0.000	0.046	1971.12	1989.50	1952.75	2609.50	2126.00	0	0	0	30.00	30.00	15.63
7023.87	324	127.87	1.95	80.00	1970.6	1989.4	1951.8	2610.1	2126.0	264.81	9.93	612	7029.46	0.00	0.00	3.64	0.000	0.000	0.112	1969.00	1987.88	1950.12	2610.12	3473.88	0	0	0	30.00	30.00	15.35
7087.73	17414	127.87	1.95	0.00	1970.3	1988.8	1951.9	2609.9	3473.9	257.15	12.15	625	7093.39	0.00	0.00	3.38	0.000	0.000	0.053	1971.25	1990.00	1952.50	2610.31	2078.50	0	0	0	30.00	30.00	15.55
7398.86	8742	150.93	2.02	-80.00	1969.7	1988.8	1950.6	2609.9	2078.7	225.19	8.79	654	7425.98	21.92	0.00	3.89	1.297	0.000	0.135	1885.22	1905.69	1864.75	2610.25	660.62	0	0	0	11.27	30.00	15.16
7474.65	1028	150.93	2.02	0.00	1880.8	1899.3	1862.2	2609.8	660.7	216.43	12.41	669	7479.82	0.00	0.00	3.48	0.000	0.000	0.044	1879.31	1897.56	1861.06	2609.75	2128.25	0	0	0	30.00	30.00	15.63
7599.21	516	150.93	2.02	-80.00	1878.7	1899.1	1858.2	2609.0	2128.6	201.39	11.92	682	7604.92	0.00	0.00	4.01	0.000	0.000	0.128	1878.00	1898.25	1857.75	2609.88	661.44	0	0	0	30.00	30.00	15.33
7648.13	1028	150.93	2.02	0.00	1878.6	1899.0	1858.1	2610.0	661.7	195.21	13.46	692	7654.93	0.00	0.00	3.48	0.000	0.000	0.045	1879.66	1899.06	1860.25	2608.44	2128.12	0	0	0	30.00	30.00	15.60
7774.23	516	150.93	2.02	-80.00	1877.8	1898.9	1856.6	2609.8	2128.0	180.90	11.52	705	7779.94	0.00	0.00	4.01	0.000	0.000	0.128	1876.97	1897.88	1856.06	2609.62	661.56	0	0	0	30.00	30.00	15.29
7933.17	1028	150.93	2.02	0.00	1877.4	1898.1	1856.8	2610.1	661.6	159.87	13.20	737	7939.96	0.00	0.00	3.48	0.000	0.000	0.045	1878.53	1899.19	1857.88	2610.44	2128.44	0	0	0	30.00	30.00	15.61
8059.28	19015	150.93	2.07	-80.00	1876.5	1897.8	1855.3	2610.2	2128.4	147.26	9.49	750	8065.02	0.00	0.20	4.03	0.000	0.083	0.125	1878.72	1900.25	1857.19	2653.50	660.81	0	0	0	30.00	15.68	15.27
8158.19	17414	150.93	2.07	0.00	1876.4	1897.9	1854.9	2653.4	661.2	135.12	12.71	770	8164.98	0.00	0.00	3.47	0.000	0.000	0.043	1876.97	1898.06	1855.88	2654.25	2129.25	0	0	0	30.00	30.00	15.62
8224.35	16966	150.93	2.11	-80.00	1876.4	1897.8	1855.1	2654.1	2130.1	128.97	9.70	777	8229.99	0.00	0.00	4.02	0.000	0.000	0.123	1876.00	1896.94	1855.06	2654.00	660.56	0	0	0	30.00	30.00	15.25
8249.73	1092	150.93	2.13	0.00	1876.6	1897.8	1855.4	2654.2	660.6	126.14	10.53	782	8254.90	0.00	0.00	3.47	0.000	0.000	0.043	1876.81	1897.62	1856.00	2653.62	2129.31	0	0	0	30.00	30.00	15.64
8314.30	16710	150.93	2.17	80.00	1876.2	1897.8	1854.6	2654.2	2129.1	120.05	9.71	789	8319.93	0.00	0.00	3.59	0.000	0.000	0.106	1875.03	1896.38	1853.69	2653.69	3474.12	0	0	0	30.00	30.00	15.35
8389.36	17478	150.93	2.22	0.00	1876.2	1897.6	1854.8	2653.9	3473.3	113.35	9.47	804	8393.88	0.00	0.00	3.36	0.000	0.000	0.049	1877.47	1899.19	1855.75	2653.75	2076.06	0	0	0	30.00	30.00	15.56
8459.36	10791	184.47	2.32	-80.00	1876.2	1897.7	1854.8	2653.6	2075.6	107.60	7.74	812	8504.87	37.17	0.31	3.85	1.163	0.064	0.129	1748.81	1769.62	1728.00	2717.00	660.69	0	0	0	11.43	15.69	15.10
8729.78	1028	184.47	2.32	0.00	1743.6	1762.9	1724.3	2716.8	660.9	75.56	12.10	866	8734.96	0.00	0.00	3.49	0.000	0.000	0.043	1742.41	1762.06	1722.75	2716.50	2129.12	0	0	0	30.00	30.00	15.61
8794.34	324	184.47	2.36	80.00	1742.4	1763.4	1721.4	2717.5	2129.3	69.16	9.79	873	8799.97	0.00	0.00	3.60	0.000	0.000	0.107	1741.19	1761.94	1720.44	2716.81	3474.00	0	0	0	30.00	30.00	15.35
9023.28	11303	265.30	2.60	0.00	1741.0	1762.2	1719.8	2717.4	3474.6	55.37	2.99	919	9116.88	88.68	0.34	3.38	1.103	0.061	0.052	1419.75	1444.12	1395.38	2780.94	2076.88	0	0	0	11.54	15.34	15.55
9174.59	8486	295.39	2.69	80.00	1415.8	1441.9	1389.6	2781.7	2077.2	49.15	8.09	943	9216.36	34.01	0.00	3.83	1.034	0.000	0.107	1295.47	1320.12	1270.81	2780.06	3474.38	0	0	0	11.58	30.00	14.99
9258.49	1028	295.39	2.69	0.00	1293.2	1318.2	1268.1	2781.4	3473.9	39.06	13.95	960	9265.29	0.00	0.00	3.42	0.000	0.000	0.053	1294.25	1319.31	1269.19	2781.38	2078.44	0	0	0	30.00	30.00	15.41
9324.64	260	295.39	2.69	80.00	1292.3	1318.8	1265.9	2781.4	2078.1	30.40	12.90	967	9330.25	0.00	0.00	3.79	0.000	0.000	0.105	1291.62	1318.44	1264.81	2781.56	3473.12	0	0	0	30.00	30.00	15.30
9433.52	1028	295.39	2.69	0.00	1290.8	1318.1	1263.6	2780.8	3473.6	15.31	12.88	989	9440.29	0.00	0.00	3.38	0.000	0.000	0.052	1291.12	1318.44	1263.81	2781.50	2077.62	0	0	0	30.00	30.00	15.48
9499.67	516	295.39	2.69	-80.00	1290.8	1318.4	1263.2	2781.2	2078.1	7.43	12.07	996	9505.30	0.00	0.00	3.89	0.000	0.000	0.129	1290.12	1317.75	1262.50	2780.62	660.62	0	0	0	30.00	30.00	15.25
9525.06	1028	295.39	2.69	0.00	1290.9	1318.7	1263.1	2781.4	660.8	3.84	13.84	1001	9530.25	0.00	0.00	3.51	0.000	0.000	0.043	1290.06	1317.56	1262.56	2781.19	2127.00	0	0	0	30.00	30.00	15.57
9540	end climb: SURFACE_DEPTH_REACHED
state	9540	begin surface coast
9550	end surface coast: CONTROL_FINISHED_OK
state	9550	begin surface