Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1043 * 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 1043 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 73.252945 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 249.1689 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 73.252945 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 249.1689 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 1043 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 030421,163739,4707.454,-12503.144,21,1.1,22,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.49 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -66.2 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 030421,164421,4707.446,-12503.155,2,0.6,3,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 39.2,1781,-26.6,-11.111,-29.31

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 9684.80,0.00,0.015,0,563.9,561.4,566.4,474.93 _24V_AH 14.09,287.186

SM_GC -0.53,0.00,17.67,3.46,0.015,0.076,0.043,563.9,561.4,566.4,165.1,2127.4,0,0,0,30.36,15.24,15.59 _10V_AH 14.76,0.000

SUPER 19,71,254,1,0,0 FG_AHR_24Vo 249.377

IRIDIUM_FIX 4710.11,-12544.41,030421,140120 FG_AHR_10Vo 73.285

TCM_TEMP 174.89 MEM 1103668,39,73460,56

XPDR_PINGS 4,14.0,11.5 DATA_FILE_SIZE 38653,1018

ALTIM_BOTTOM_PING 251.1,6.8 CAP_FILE_SIZE 513950,0

SC_FREEKB 3459552 SDSIZE 3918848,3634944

HUMID 58.39 SDFILEDIR 5241,1

TEMP 7.79 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77137 GPS 030421,192639,4707.442,-12502.123,8,0.7,26,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 631 1644 14618.11 legato 0 0 0.00

Pitch_motor 38 256 138.49 nil 0 0 0.00

Roll_motor 235 250 829.80 nil 0 0 0.00

Iridium 181 193 495.80 nil 0 0 0.00

Transponder_ping 1 420 8.88 nil 0 0 0.00

GPS 12 15 2.82 nil 0 0 0.00

Core 3593 11 625.90 SciCon 9536 5 724.31

LPSleep 6243 2 258.01 nil 0 0 0.00

Compass 1922 5 141.86 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 2 30 0.89

Altimeter Analysis:

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

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

Guidance and control:

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7.67 16386 -78.47 -1.57 0.00 559.8 562.7 557.0 166.6 2115.4 0.00 0.00 0 99.94 91.82 0.00 0.00 0.005 0.000 0.000 2681.81 2666.12 2697.50 166.50 2115.81 0 0 0 14.60 30.00 30.00

100.17 18695 -78.47 -1.57 80.00 2680.6 2664.9 2696.3 166.8 2115.4 4.64 -9.94 9 125.99 2.88 13.91 3.72 0.012 0.257 0.112 2820.19 2812.88 2827.50 1758.81 3474.94 0 0 0 14.84 14.99 14.65

323.15 1028 -78.47 -1.57 0.00 2819.6 2812.3 2826.8 1759.9 3474.7 55.73 -16.07 54 329.94 0.00 0.00 3.45 0.000 0.000 0.057 2820.22 2813.38 2827.06 1759.56 2080.69 0 0 0 30.00 30.00 15.46

389.29 260 -78.47 -1.57 80.00 2819.7 2812.6 2826.8 1759.8 2080.5 65.77 -14.88 61 394.90 0.00 0.00 3.79 0.000 0.000 0.105 2817.97 2811.19 2824.75 1759.50 3474.44 0 0 0 30.00 30.00 15.34

518.16 1028 -78.47 -1.57 0.00 2819.4 2812.7 2826.1 1759.6 3474.2 85.29 -14.36 87 524.96 0.00 0.00 3.43 0.000 0.000 0.056 2819.44 2812.50 2826.38 1759.50 2082.44 0 0 0 30.00 30.00 15.48

584.31 0 -78.47 -1.57 0.00 2819.5 2812.6 2826.4 1759.7 2082.7 93.80 -12.74 94 585.64 0.00 0.00 0.00 0.000 0.000 0.000 2820.03 2812.94 2827.12 1759.38 2082.38 0 0 0 30.00 30.00 30.00

644.27 0 -78.47 -1.57 0.00 2819.7 2812.5 2826.9 1759.8 2082.6 100.57 -11.00 100 645.60 0.00 0.00 0.00 0.000 0.000 0.000 2819.66 2812.81 2826.50 1759.88 2082.31 0 0 0 30.00 30.00 30.00

704.27 516 -78.47 -1.57 -80.00 2819.9 2812.8 2827.1 1759.5 2082.9 107.48 -11.23 106 710.00 0.00 0.00 4.13 0.000 0.000 0.150 2819.47 2812.44 2826.50 1758.94 662.88 0 0 0 30.00 30.00 15.18

773.18 1028 -78.47 -1.57 0.00 2819.4 2812.2 2826.6 1759.6 662.5 116.32 -11.73 120 780.00 0.00 0.00 3.54 0.000 0.000 0.050 2819.62 2812.88 2826.38 1760.19 2123.12 0 0 0 30.00 30.00 15.55

839.28 260 -78.47 -1.57 80.00 2819.9 2813.1 2826.8 1759.3 2123.0 122.80 -9.65 127 844.93 0.00 0.00 3.65 0.000 0.000 0.105 2819.50 2813.19 2825.81 1759.75 3475.06 0 0 0 30.00 30.00 15.36

898.21 1028 -78.47 -1.57 0.00 2819.9 2813.0 2826.8 1759.7 3474.5 129.18 -10.52 139 905.00 0.00 0.00 3.42 0.000 0.000 0.054 2819.84 2813.25 2826.44 1759.44 2080.88 0 0 0 30.00 30.00 15.49

964.35 516 -78.47 -1.57 -80.00 2819.8 2813.1 2826.6 1759.9 2080.9 135.43 -9.63 146 970.01 0.00 0.00 4.05 0.000 0.000 0.148 2820.38 2812.88 2827.88 1760.06 662.75 0 0 0 30.00 30.00 15.18

1009.75 1028 -78.47 -1.57 0.00 2819.4 2812.7 2826.1 1759.4 662.9 140.38 -11.72 155 1014.94 0.00 0.00 3.52 0.000 0.000 0.049 2818.69 2812.19 2825.19 1759.56 2122.12 0 0 0 30.00 30.00 15.58

1074.30 260 -78.47 -1.57 80.00 2819.5 2813.4 2825.5 1759.8 2122.2 146.63 -9.72 162 1079.96 0.00 0.00 3.65 0.000 0.000 0.107 2818.72 2812.56 2824.88 1760.06 3473.69 0 0 0 30.00 30.00 15.35

1119.31 1028 -78.47 -1.57 0.00 2819.8 2813.0 2826.6 1759.5 3472.9 151.64 -11.12 171 1123.94 0.00 0.00 3.40 0.000 0.000 0.054 2820.62 2814.50 2826.75 1758.69 2081.12 0 0 0 30.00 30.00 15.51

1249.33 260 -78.47 -1.57 80.00 2819.7 2813.2 2826.2 1759.4 2081.6 164.17 -9.38 185 1254.99 0.00 0.00 3.75 0.000 0.000 0.103 2819.41 2813.06 2825.75 1759.06 3475.00 0 0 0 30.00 30.00 15.35

1318.25 1028 -78.47 -1.57 0.00 2819.7 2813.3 2826.1 1759.6 3476.1 171.72 -10.58 199 1325.05 0.00 0.00 3.40 0.000 0.000 0.054 2820.72 2813.94 2827.50 1759.38 2080.12 0 0 0 30.00 30.00 15.50

1444.35 0 -78.47 -1.57 0.00 2819.2 2812.6 2825.9 1759.4 2080.3 184.31 -9.94 212 1445.68 0.00 0.00 0.00 0.000 0.000 0.000 2820.47 2814.00 2826.94 1760.12 2080.25 0 0 0 30.00 30.00 30.00

1564.36 260 -78.47 -1.57 80.00 2819.7 2812.5 2826.8 1759.4 2080.2 197.62 -10.85 224 1570.02 0.00 0.00 3.78 0.000 0.000 0.104 2820.34 2813.12 2827.56 1759.50 3475.69 0 0 0 30.00 30.00 15.34

1593.27 1028 -78.47 -1.57 0.00 2819.4 2812.7 2826.1 1759.6 3476.0 201.22 -12.00 230 1600.05 0.00 0.00 3.40 0.000 0.000 0.054 2820.72 2814.25 2827.19 1759.06 2080.75 0 0 0 30.00 30.00 15.49

1719.38 516 -78.47 -1.57 -80.00 2819.9 2813.2 2826.6 1759.3 2081.2 214.85 -10.55 243 1725.11 0.00 0.00 4.07 0.000 0.000 0.149 2818.34 2811.81 2824.88 1759.69 662.62 0 0 0 30.00 30.00 15.16

1748.28 1028 -78.47 -1.57 0.00 2819.8 2813.2 2826.5 1759.1 662.9 218.99 -13.82 249 1755.11 0.00 0.00 3.51 0.000 0.000 0.047 2819.84 2813.38 2826.31 1760.06 2124.56 0 0 0 30.00 30.00 15.56

1874.40 260 -78.47 -1.57 80.00 2819.8 2813.4 2826.2 1759.9 2124.3 232.41 -11.05 262 1880.04 0.00 0.00 3.64 0.000 0.000 0.106 2822.19 2814.94 2829.44 1759.81 3473.81 0 0 0 30.00 30.00 15.33

1993.33 1028 -78.47 -1.57 0.00 2820.0 2812.9 2827.1 1759.7 3473.9 245.66 -10.39 286 2000.10 0.00 0.00 3.39 0.000 0.000 0.054 2820.81 2814.44 2827.19 1759.56 2081.12 0 0 0 30.00 30.00 15.47

2129.41 516 -78.47 -1.57 -80.00 2820.2 2813.4 2827.0 1759.8 2081.1 260.32 -10.32 294 2135.13 0.00 0.00 4.05 0.000 0.000 0.150 2820.91 2814.12 2827.69 1757.75 662.88 0 0 0 30.00 30.00 15.13

2203.33 1028 -78.47 -1.57 0.00 2819.8 2813.1 2826.6 1759.7 662.8 269.57 -11.49 309 2209.03 0.00 0.00 3.48 0.000 0.000 0.046 2820.66 2814.44 2826.88 1759.81 2123.00 0 0 0 30.00 30.00 15.56

2514.44 260 -78.47 -1.57 80.00 2820.2 2813.9 2826.5 1759.6 2123.1 300.10 -10.22 321 2520.08 0.00 0.00 3.65 0.000 0.000 0.108 2819.44 2813.06 2825.81 1759.69 3475.81 0 0 0 30.00 30.00 15.32

2558.40 1028 -78.47 -1.57 0.00 2820.2 2814.4 2826.0 1759.7 3475.3 304.96 -11.40 330 2564.03 0.00 0.00 3.39 0.000 0.000 0.053 2820.53 2814.25 2826.81 1759.50 2080.00 0 0 0 30.00 30.00 15.48

2869.45 0 -78.47 -1.57 0.00 2819.8 2813.5 2826.0 1759.4 2080.2 335.91 -10.06 342 2870.78 0.00 0.00 0.00 0.000 0.000 0.000 2820.28 2814.12 2826.44 1759.94 2080.50 0 0 0 30.00 30.00 30.00

3169.46 260 -78.47 -1.57 80.00 2819.6 2813.2 2825.9 1759.4 2080.1 367.61 -10.43 352 3175.14 0.00 0.00 3.84 0.000 0.000 0.109 2821.50 2814.62 2828.38 1760.38 3476.56 0 0 0 30.00 30.00 15.29

3263.38 1028 -78.47 -1.57 0.00 2819.5 2813.2 2825.9 1759.9 3475.9 378.11 -9.96 371 3269.08 0.00 0.00 3.42 0.000 0.000 0.056 2819.81 2813.06 2826.56 1759.69 2082.44 0 0 0 30.00 30.00 15.45

3584.49 0 -78.47 -1.57 0.00 2819.5 2813.1 2825.8 1759.8 2083.1 412.65 -10.88 385 3585.82 0.00 0.00 0.00 0.000 0.000 0.000 2819.19 2813.31 2825.06 1759.50 2082.50 0 0 0 30.00 30.00 30.00

3884.49 516 -78.47 -1.57 -80.00 2819.3 2813.1 2825.6 1759.6 2082.7 443.46 -10.22 395 3890.24 0.00 0.00 4.16 0.000 0.000 0.156 2818.38 2812.81 2823.94 1759.56 662.62 0 0 0 30.00 30.00 15.05

3913.41 1028 -78.47 -1.57 0.00 2819.3 2813.8 2824.8 1759.8 662.7 446.78 -12.17 401 3919.11 0.00 0.00 3.52 0.000 0.000 0.050 2820.56 2814.69 2826.44 1758.19 2122.00 0 0 0 30.00 30.00 15.52

4239.52 0 -78.47 -1.57 0.00 2818.9 2813.2 2824.5 1759.9 2122.1 480.89 -10.48 416 4240.84 0.00 0.00 0.00 0.000 0.000 0.000 2819.62 2813.75 2825.50 1759.38 2121.88 0 0 0 30.00 30.00 30.00

4480 end dive: TARGET_DEPTH_EXCEEDED

state 4480 begin apogee

4480.70 10243 0.00 -0.25 0.00 2818.6 2813.2 2824.1 1759.6 2082.9 501.06 -8.46 424 4552.77 67.78 2.45 0.07 1.644 0.153 0.250 2496.41 2504.69 2488.12 2079.81 2116.56 0 0 0 10.42 15.23 14.92

4556 end apogee: CONTROL_FINISHED_OK

state 4556 begin climb

4555.77 10759 78.47 1.57 -80.00 2497.9 2506.9 2488.9 2079.9 2117.6 503.74 0.00 426 4638.03 72.82 3.09 4.23 1.597 0.079 0.138 2177.94 2188.00 2167.88 2526.31 662.50 0 0 0 11.51 15.23 14.73

4685.22 1028 78.47 1.57 0.00 2173.8 2183.1 2164.6 2526.4 662.7 494.06 12.78 452 4690.96 0.00 0.00 3.59 0.000 0.000 0.044 2173.50 2183.19 2163.81 2526.69 2125.00 0 0 0 30.00 30.00 15.32

5001.35 16966 78.47 1.60 -80.00 2167.9 2182.7 2153.1 2526.9 2125.1 466.01 9.87 465 5007.07 0.00 0.00 4.11 0.000 0.000 0.135 2167.38 2181.88 2152.88 2525.06 661.69 0 0 0 30.00 30.00 15.26

5116.84 17414 78.47 1.60 0.00 2166.8 2180.1 2153.5 2526.4 661.7 455.42 12.14 488 5121.98 0.00 0.00 3.51 0.000 0.000 0.045 2167.03 2180.25 2153.81 2527.44 2125.56 0 0 0 30.00 30.00 15.61

5441.42 10791 114.75 1.71 -80.00 2165.4 2180.4 2150.5 2526.8 2124.8 429.96 7.66 503 5481.76 32.51 0.17 4.10 1.514 0.084 0.135 2031.72 2047.12 2016.31 2572.69 661.62 0 0 0 11.22 15.66 15.08

5690.31 1028 114.75 1.71 0.00 2025.6 2039.7 2011.4 2572.3 661.6 399.25 13.26 553 5696.01 0.00 0.00 3.52 0.000 0.000 0.045 2027.34 2041.19 2013.50 2572.69 2125.50 0 0 0 30.00 30.00 15.58

6011.42 8742 143.19 1.80 -80.00 2022.9 2040.2 2005.6 2572.6 2125.3 370.33 8.40 567 6045.75 27.02 0.00 4.09 1.445 0.000 0.135 1915.66 1933.75 1897.56 2572.12 661.62 0 0 0 11.40 30.00 15.12

6180.38 1028 143.19 1.80 0.00 1911.3 1928.2 1894.5 2572.8 661.7 349.16 13.68 601 6186.05 0.00 0.00 3.53 0.000 0.000 0.046 1911.47 1928.88 1894.06 2573.00 2124.12 0 0 0 30.00 30.00 15.58

6491.47 580 143.19 1.84 -80.00 1908.7 1928.5 1888.9 2572.6 2124.0 317.38 9.58 613 6497.14 0.00 0.00 4.09 0.000 0.000 0.131 1907.84 1927.38 1888.31 2571.44 661.81 0 0 0 30.00 30.00 15.28

6550.35 1028 143.19 1.84 0.00 1908.6 1928.4 1888.7 2572.2 661.7 309.36 14.77 625 6556.04 0.00 0.00 3.50 0.000 0.000 0.046 1908.88 1928.44 1889.31 2572.00 2127.06 0 0 0 30.00 30.00 15.61

6876.52 16710 143.19 1.88 80.00 1907.2 1927.9 1886.4 2571.9 2127.2 276.30 9.86 640 6882.09 0.00 0.00 3.66 0.000 0.000 0.111 1907.22 1928.19 1886.25 2572.25 3475.31 0 0 0 30.00 30.00 15.32

6885.38 19527 143.19 1.91 0.00 1907.1 1927.6 1886.6 2572.4 3475.0 275.09 10.20 642 6891.09 0.00 0.19 3.40 0.000 0.082 0.051 1907.19 1928.19 1886.19 2616.69 2078.88 0 0 0 30.00 15.35 15.55

7191.48 16966 143.19 1.95 -80.00 1906.9 1927.9 1885.9 2617.1 2078.7 243.15 9.65 658 7197.16 0.00 0.00 3.98 0.000 0.000 0.133 1905.59 1926.38 1884.81 2616.81 660.44 0 0 0 30.00 30.00 15.23

7396.94 17414 143.19 1.95 0.00 1906.1 1926.2 1886.0 2617.4 660.8 217.06 12.86 699 7402.12 0.00 0.00 3.52 0.000 0.000 0.046 1907.50 1927.06 1887.94 2617.06 2127.00 0 0 0 30.00 30.00 15.64

7521.52 16966 143.19 1.97 -80.00 1906.1 1926.6 1885.7 2616.8 2127.1 204.23 10.40 712 7527.21 0.00 0.00 4.07 0.000 0.000 0.126 1904.66 1925.56 1883.75 2616.75 661.62 0 0 0 30.00 30.00 15.22

7556.96 17478 143.19 2.00 0.00 1905.7 1925.9 1885.4 2617.1 661.8 200.69 10.09 719 7562.12 0.00 0.00 3.49 0.000 0.000 0.045 1905.75 1926.31 1885.19 2616.81 2127.25 0 0 0 30.00 30.00 15.64

7681.53 16450 143.19 2.06 0.00 1906.0 1926.6 1885.4 2616.1 2127.2 188.35 9.41 732 7682.86 0.00 0.00 0.00 0.000 0.000 0.000 1905.97 1926.44 1885.50 2616.75 2127.00 0 0 0 30.00 30.00 30.00

7801.53 16902 143.19 2.06 -80.00 1905.7 1926.3 1885.1 2616.8 2127.6 176.22 10.62 744 7807.24 0.00 0.00 4.09 0.000 0.000 0.128 1905.09 1925.81 1884.38 2617.19 661.62 0 0 0 30.00 30.00 15.20

7900.45 17414 143.19 2.06 0.00 1905.3 1925.2 1885.4 2617.0 661.6 165.32 10.96 764 7907.28 0.00 0.00 3.48 0.000 0.000 0.044 1905.53 1925.94 1885.12 2617.06 2129.94 0 0 0 30.00 30.00 15.61

8026.57 10791 166.24 2.12 -80.00 1905.1 1925.2 1885.1 2616.4 2128.9 153.45 8.92 777 8053.87 21.15 0.25 4.03 1.217 0.073 0.126 1820.81 1841.38 1800.25 2670.12 661.56 0 0 0 11.14 15.68 15.19

8132.55 1028 166.24 2.12 0.00 1817.7 1836.1 1799.3 2671.3 661.6 138.98 13.90 798 8137.72 0.00 0.00 3.50 0.000 0.000 0.045 1816.91 1835.38 1798.44 2671.62 2127.25 0 0 0 30.00 30.00 15.64

8197.10 260 166.24 2.12 80.00 1816.4 1836.3 1796.6 2671.1 2127.4 130.03 13.30 805 8202.75 0.00 0.00 3.64 0.000 0.000 0.108 1817.59 1837.06 1798.12 2672.00 3475.50 0 0 0 30.00 30.00 15.41

8232.10 1028 166.24 2.12 0.00 1815.5 1835.5 1795.6 2671.2 3475.9 125.21 13.21 812 8236.70 0.00 0.00 3.40 0.000 0.000 0.050 1816.03 1836.06 1796.00 2671.31 2075.50 0 0 0 30.00 30.00 15.57

8302.11 516 166.24 2.12 -80.00 1815.9 1835.9 1795.8 2671.5 2076.2 117.24 11.18 820 8307.81 0.00 0.00 3.91 0.000 0.000 0.128 1815.12 1835.06 1795.19 2669.75 660.81 0 0 0 30.00 30.00 15.30

8367.57 1028 166.24 2.12 0.00 1815.8 1836.1 1795.4 2672.1 660.8 108.85 13.09 833 8372.74 0.00 0.00 3.46 0.000 0.000 0.042 1816.34 1836.50 1796.19 2670.94 2128.88 0 0 0 30.00 30.00 15.63

8432.13 324 166.24 2.17 80.00 1815.3 1835.8 1794.8 2671.2 2128.3 102.08 9.71 840 8437.75 0.00 0.00 3.58 0.000 0.000 0.106 1815.59 1835.81 1795.38 2669.25 3475.06 0 0 0 30.00 30.00 15.36

8487.13 1028 166.24 2.17 0.00 1815.5 1835.4 1795.5 2671.4 3474.2 95.49 11.98 851 8491.72 0.00 0.00 3.38 0.000 0.000 0.050 1815.44 1835.62 1795.25 2671.75 2076.44 0 0 0 30.00 30.00 15.55

8557.15 8742 188.42 2.23 -80.00 1815.5 1835.7 1795.2 2671.4 2076.8 89.24 9.00 859 8589.53 26.30 0.00 3.89 1.116 0.000 0.129 1730.12 1752.50 1707.75 2671.56 661.06 0 0 0 11.60 30.00 15.14

8743.22 1028 188.42 2.23 0.00 1728.5 1748.7 1708.3 2671.7 660.8 70.99 10.79 896 8748.39 0.00 0.00 3.49 0.000 0.000 0.043 1728.16 1748.94 1707.38 2670.81 2130.94 0 0 0 30.00 30.00 15.61

8807.79 10535 245.70 2.41 80.00 1727.1 1749.1 1705.1 2671.9 2130.2 67.17 5.66 903 8879.95 65.01 0.34 3.65 1.110 0.065 0.106 1497.56 1521.00 1474.12 2736.94 3474.38 0 0 0 11.63 15.59 15.01

8938.21 1092 245.70 2.45 0.00 1494.8 1518.6 1471.0 2737.2 3475.4 57.44 9.70 929 8942.79 0.00 0.00 3.43 0.000 0.000 0.050 1495.12 1519.31 1470.94 2737.31 2076.25 0 0 0 30.00 30.00 15.45

9008.18 260 245.70 2.45 80.00 1493.7 1518.6 1468.8 2737.5 2076.0 49.91 10.86 937 9013.86 0.00 0.00 3.77 0.000 0.000 0.103 1494.28 1519.62 1468.94 2737.12 3475.19 0 0 0 30.00 30.00 15.33

9087.11 1028 245.70 2.45 0.00 1492.3 1517.6 1467.0 2736.8 3474.2 41.11 10.88 953 9093.91 0.00 0.00 3.41 0.000 0.000 0.048 1492.44 1517.94 1466.94 2736.00 2077.25 0 0 0 30.00 30.00 15.48

9153.27 10535 293.72 2.59 80.00 1491.9 1517.9 1465.9 2737.1 2078.4 36.81 6.54 960 9211.00 52.13 0.20 3.78 1.056 0.084 0.102 1302.06 1328.12 1276.00 2781.81 3473.25 0 0 0 11.51 15.56 15.05

9263.13 1028 293.72 2.59 0.00 1300.4 1326.4 1274.4 2781.3 3473.8 25.54 13.15 982 9269.92 0.00 0.00 3.41 0.000 0.000 0.049 1300.41 1326.50 1274.31 2779.88 2077.69 0 0 0 30.00 30.00 15.45

9329.27 516 293.72 2.59 -80.00 1299.5 1326.4 1272.5 2780.9 2078.3 18.05 11.29 989 9334.93 0.00 0.00 3.91 0.000 0.000 0.127 1299.25 1326.06 1272.44 2781.19 661.69 0 0 0 30.00 30.00 15.26

9464 end climb: SURFACE_DEPTH_REACHED

state 9464 begin surface coast

9474 end surface coast: CONTROL_FINISHED_OK

state 9474 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	1043	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	73.252945	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	249.1689	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	030421,163739,4707.454,-12503.144,21,1.1,22,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.49	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-66.2	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	030421,164421,4707.446,-12503.155,2,0.6,3,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	39.2,1781,-26.6,-11.111,-29.31
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	9684.80,0.00,0.015,0,563.9,561.4,566.4,474.93	_24V_AH	14.09,287.186
SM_GC	-0.53,0.00,17.67,3.46,0.015,0.076,0.043,563.9,561.4,566.4,165.1,2127.4,0,0,0,30.36,15.24,15.59	_10V_AH	14.76,0.000
SUPER	19,71,254,1,0,0	FG_AHR_24Vo	249.377
IRIDIUM_FIX	4710.11,-12544.41,030421,140120	FG_AHR_10Vo	73.285
TCM_TEMP	174.89	MEM	1103668,39,73460,56
XPDR_PINGS	4,14.0,11.5	DATA_FILE_SIZE	38653,1018
ALTIM_BOTTOM_PING	251.1,6.8	CAP_FILE_SIZE	513950,0
SC_FREEKB	3459552	SDSIZE	3918848,3634944
HUMID	58.39	SDFILEDIR	5241,1
TEMP	7.79	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77137	GPS	030421,192639,4707.442,-12502.123,8,0.7,26,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	631	1644	14618.11	legato	0	0	0.00
Pitch_motor	38	256	138.49	nil	0	0	0.00
Roll_motor	235	250	829.80	nil	0	0	0.00
Iridium	181	193	495.80	nil	0	0	0.00
Transponder_ping	1	420	8.88	nil	0	0	0.00
GPS	12	15	2.82	nil	0	0	0.00
Core	3593	11	625.90	SciCon	9536	5	724.31
LPSleep	6243	2	258.01	nil	0	0	0.00
Compass	1922	5	141.86	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	2	30	0.89

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

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7.67	16386	-78.47	-1.57	0.00	559.8	562.7	557.0	166.6	2115.4	0.00	0.00	0	99.94	91.82	0.00	0.00	0.005	0.000	0.000	2681.81	2666.12	2697.50	166.50	2115.81	0	0	0	14.60	30.00	30.00
100.17	18695	-78.47	-1.57	80.00	2680.6	2664.9	2696.3	166.8	2115.4	4.64	-9.94	9	125.99	2.88	13.91	3.72	0.012	0.257	0.112	2820.19	2812.88	2827.50	1758.81	3474.94	0	0	0	14.84	14.99	14.65
323.15	1028	-78.47	-1.57	0.00	2819.6	2812.3	2826.8	1759.9	3474.7	55.73	-16.07	54	329.94	0.00	0.00	3.45	0.000	0.000	0.057	2820.22	2813.38	2827.06	1759.56	2080.69	0	0	0	30.00	30.00	15.46
389.29	260	-78.47	-1.57	80.00	2819.7	2812.6	2826.8	1759.8	2080.5	65.77	-14.88	61	394.90	0.00	0.00	3.79	0.000	0.000	0.105	2817.97	2811.19	2824.75	1759.50	3474.44	0	0	0	30.00	30.00	15.34
518.16	1028	-78.47	-1.57	0.00	2819.4	2812.7	2826.1	1759.6	3474.2	85.29	-14.36	87	524.96	0.00	0.00	3.43	0.000	0.000	0.056	2819.44	2812.50	2826.38	1759.50	2082.44	0	0	0	30.00	30.00	15.48
584.31	0	-78.47	-1.57	0.00	2819.5	2812.6	2826.4	1759.7	2082.7	93.80	-12.74	94	585.64	0.00	0.00	0.00	0.000	0.000	0.000	2820.03	2812.94	2827.12	1759.38	2082.38	0	0	0	30.00	30.00	30.00
644.27	0	-78.47	-1.57	0.00	2819.7	2812.5	2826.9	1759.8	2082.6	100.57	-11.00	100	645.60	0.00	0.00	0.00	0.000	0.000	0.000	2819.66	2812.81	2826.50	1759.88	2082.31	0	0	0	30.00	30.00	30.00
704.27	516	-78.47	-1.57	-80.00	2819.9	2812.8	2827.1	1759.5	2082.9	107.48	-11.23	106	710.00	0.00	0.00	4.13	0.000	0.000	0.150	2819.47	2812.44	2826.50	1758.94	662.88	0	0	0	30.00	30.00	15.18
773.18	1028	-78.47	-1.57	0.00	2819.4	2812.2	2826.6	1759.6	662.5	116.32	-11.73	120	780.00	0.00	0.00	3.54	0.000	0.000	0.050	2819.62	2812.88	2826.38	1760.19	2123.12	0	0	0	30.00	30.00	15.55
839.28	260	-78.47	-1.57	80.00	2819.9	2813.1	2826.8	1759.3	2123.0	122.80	-9.65	127	844.93	0.00	0.00	3.65	0.000	0.000	0.105	2819.50	2813.19	2825.81	1759.75	3475.06	0	0	0	30.00	30.00	15.36
898.21	1028	-78.47	-1.57	0.00	2819.9	2813.0	2826.8	1759.7	3474.5	129.18	-10.52	139	905.00	0.00	0.00	3.42	0.000	0.000	0.054	2819.84	2813.25	2826.44	1759.44	2080.88	0	0	0	30.00	30.00	15.49
964.35	516	-78.47	-1.57	-80.00	2819.8	2813.1	2826.6	1759.9	2080.9	135.43	-9.63	146	970.01	0.00	0.00	4.05	0.000	0.000	0.148	2820.38	2812.88	2827.88	1760.06	662.75	0	0	0	30.00	30.00	15.18
1009.75	1028	-78.47	-1.57	0.00	2819.4	2812.7	2826.1	1759.4	662.9	140.38	-11.72	155	1014.94	0.00	0.00	3.52	0.000	0.000	0.049	2818.69	2812.19	2825.19	1759.56	2122.12	0	0	0	30.00	30.00	15.58
1074.30	260	-78.47	-1.57	80.00	2819.5	2813.4	2825.5	1759.8	2122.2	146.63	-9.72	162	1079.96	0.00	0.00	3.65	0.000	0.000	0.107	2818.72	2812.56	2824.88	1760.06	3473.69	0	0	0	30.00	30.00	15.35
1119.31	1028	-78.47	-1.57	0.00	2819.8	2813.0	2826.6	1759.5	3472.9	151.64	-11.12	171	1123.94	0.00	0.00	3.40	0.000	0.000	0.054	2820.62	2814.50	2826.75	1758.69	2081.12	0	0	0	30.00	30.00	15.51
1249.33	260	-78.47	-1.57	80.00	2819.7	2813.2	2826.2	1759.4	2081.6	164.17	-9.38	185	1254.99	0.00	0.00	3.75	0.000	0.000	0.103	2819.41	2813.06	2825.75	1759.06	3475.00	0	0	0	30.00	30.00	15.35
1318.25	1028	-78.47	-1.57	0.00	2819.7	2813.3	2826.1	1759.6	3476.1	171.72	-10.58	199	1325.05	0.00	0.00	3.40	0.000	0.000	0.054	2820.72	2813.94	2827.50	1759.38	2080.12	0	0	0	30.00	30.00	15.50
1444.35	0	-78.47	-1.57	0.00	2819.2	2812.6	2825.9	1759.4	2080.3	184.31	-9.94	212	1445.68	0.00	0.00	0.00	0.000	0.000	0.000	2820.47	2814.00	2826.94	1760.12	2080.25	0	0	0	30.00	30.00	30.00
1564.36	260	-78.47	-1.57	80.00	2819.7	2812.5	2826.8	1759.4	2080.2	197.62	-10.85	224	1570.02	0.00	0.00	3.78	0.000	0.000	0.104	2820.34	2813.12	2827.56	1759.50	3475.69	0	0	0	30.00	30.00	15.34
1593.27	1028	-78.47	-1.57	0.00	2819.4	2812.7	2826.1	1759.6	3476.0	201.22	-12.00	230	1600.05	0.00	0.00	3.40	0.000	0.000	0.054	2820.72	2814.25	2827.19	1759.06	2080.75	0	0	0	30.00	30.00	15.49
1719.38	516	-78.47	-1.57	-80.00	2819.9	2813.2	2826.6	1759.3	2081.2	214.85	-10.55	243	1725.11	0.00	0.00	4.07	0.000	0.000	0.149	2818.34	2811.81	2824.88	1759.69	662.62	0	0	0	30.00	30.00	15.16
1748.28	1028	-78.47	-1.57	0.00	2819.8	2813.2	2826.5	1759.1	662.9	218.99	-13.82	249	1755.11	0.00	0.00	3.51	0.000	0.000	0.047	2819.84	2813.38	2826.31	1760.06	2124.56	0	0	0	30.00	30.00	15.56
1874.40	260	-78.47	-1.57	80.00	2819.8	2813.4	2826.2	1759.9	2124.3	232.41	-11.05	262	1880.04	0.00	0.00	3.64	0.000	0.000	0.106	2822.19	2814.94	2829.44	1759.81	3473.81	0	0	0	30.00	30.00	15.33
1993.33	1028	-78.47	-1.57	0.00	2820.0	2812.9	2827.1	1759.7	3473.9	245.66	-10.39	286	2000.10	0.00	0.00	3.39	0.000	0.000	0.054	2820.81	2814.44	2827.19	1759.56	2081.12	0	0	0	30.00	30.00	15.47
2129.41	516	-78.47	-1.57	-80.00	2820.2	2813.4	2827.0	1759.8	2081.1	260.32	-10.32	294	2135.13	0.00	0.00	4.05	0.000	0.000	0.150	2820.91	2814.12	2827.69	1757.75	662.88	0	0	0	30.00	30.00	15.13
2203.33	1028	-78.47	-1.57	0.00	2819.8	2813.1	2826.6	1759.7	662.8	269.57	-11.49	309	2209.03	0.00	0.00	3.48	0.000	0.000	0.046	2820.66	2814.44	2826.88	1759.81	2123.00	0	0	0	30.00	30.00	15.56
2514.44	260	-78.47	-1.57	80.00	2820.2	2813.9	2826.5	1759.6	2123.1	300.10	-10.22	321	2520.08	0.00	0.00	3.65	0.000	0.000	0.108	2819.44	2813.06	2825.81	1759.69	3475.81	0	0	0	30.00	30.00	15.32
2558.40	1028	-78.47	-1.57	0.00	2820.2	2814.4	2826.0	1759.7	3475.3	304.96	-11.40	330	2564.03	0.00	0.00	3.39	0.000	0.000	0.053	2820.53	2814.25	2826.81	1759.50	2080.00	0	0	0	30.00	30.00	15.48
2869.45	0	-78.47	-1.57	0.00	2819.8	2813.5	2826.0	1759.4	2080.2	335.91	-10.06	342	2870.78	0.00	0.00	0.00	0.000	0.000	0.000	2820.28	2814.12	2826.44	1759.94	2080.50	0	0	0	30.00	30.00	30.00
3169.46	260	-78.47	-1.57	80.00	2819.6	2813.2	2825.9	1759.4	2080.1	367.61	-10.43	352	3175.14	0.00	0.00	3.84	0.000	0.000	0.109	2821.50	2814.62	2828.38	1760.38	3476.56	0	0	0	30.00	30.00	15.29
3263.38	1028	-78.47	-1.57	0.00	2819.5	2813.2	2825.9	1759.9	3475.9	378.11	-9.96	371	3269.08	0.00	0.00	3.42	0.000	0.000	0.056	2819.81	2813.06	2826.56	1759.69	2082.44	0	0	0	30.00	30.00	15.45
3584.49	0	-78.47	-1.57	0.00	2819.5	2813.1	2825.8	1759.8	2083.1	412.65	-10.88	385	3585.82	0.00	0.00	0.00	0.000	0.000	0.000	2819.19	2813.31	2825.06	1759.50	2082.50	0	0	0	30.00	30.00	30.00
3884.49	516	-78.47	-1.57	-80.00	2819.3	2813.1	2825.6	1759.6	2082.7	443.46	-10.22	395	3890.24	0.00	0.00	4.16	0.000	0.000	0.156	2818.38	2812.81	2823.94	1759.56	662.62	0	0	0	30.00	30.00	15.05
3913.41	1028	-78.47	-1.57	0.00	2819.3	2813.8	2824.8	1759.8	662.7	446.78	-12.17	401	3919.11	0.00	0.00	3.52	0.000	0.000	0.050	2820.56	2814.69	2826.44	1758.19	2122.00	0	0	0	30.00	30.00	15.52
4239.52	0	-78.47	-1.57	0.00	2818.9	2813.2	2824.5	1759.9	2122.1	480.89	-10.48	416	4240.84	0.00	0.00	0.00	0.000	0.000	0.000	2819.62	2813.75	2825.50	1759.38	2121.88	0	0	0	30.00	30.00	30.00
4480	end dive: TARGET_DEPTH_EXCEEDED
state	4480	begin apogee
4480.70	10243	0.00	-0.25	0.00	2818.6	2813.2	2824.1	1759.6	2082.9	501.06	-8.46	424	4552.77	67.78	2.45	0.07	1.644	0.153	0.250	2496.41	2504.69	2488.12	2079.81	2116.56	0	0	0	10.42	15.23	14.92
4556	end apogee: CONTROL_FINISHED_OK
state	4556	begin climb
4555.77	10759	78.47	1.57	-80.00	2497.9	2506.9	2488.9	2079.9	2117.6	503.74	0.00	426	4638.03	72.82	3.09	4.23	1.597	0.079	0.138	2177.94	2188.00	2167.88	2526.31	662.50	0	0	0	11.51	15.23	14.73
4685.22	1028	78.47	1.57	0.00	2173.8	2183.1	2164.6	2526.4	662.7	494.06	12.78	452	4690.96	0.00	0.00	3.59	0.000	0.000	0.044	2173.50	2183.19	2163.81	2526.69	2125.00	0	0	0	30.00	30.00	15.32
5001.35	16966	78.47	1.60	-80.00	2167.9	2182.7	2153.1	2526.9	2125.1	466.01	9.87	465	5007.07	0.00	0.00	4.11	0.000	0.000	0.135	2167.38	2181.88	2152.88	2525.06	661.69	0	0	0	30.00	30.00	15.26
5116.84	17414	78.47	1.60	0.00	2166.8	2180.1	2153.5	2526.4	661.7	455.42	12.14	488	5121.98	0.00	0.00	3.51	0.000	0.000	0.045	2167.03	2180.25	2153.81	2527.44	2125.56	0	0	0	30.00	30.00	15.61
5441.42	10791	114.75	1.71	-80.00	2165.4	2180.4	2150.5	2526.8	2124.8	429.96	7.66	503	5481.76	32.51	0.17	4.10	1.514	0.084	0.135	2031.72	2047.12	2016.31	2572.69	661.62	0	0	0	11.22	15.66	15.08
5690.31	1028	114.75	1.71	0.00	2025.6	2039.7	2011.4	2572.3	661.6	399.25	13.26	553	5696.01	0.00	0.00	3.52	0.000	0.000	0.045	2027.34	2041.19	2013.50	2572.69	2125.50	0	0	0	30.00	30.00	15.58
6011.42	8742	143.19	1.80	-80.00	2022.9	2040.2	2005.6	2572.6	2125.3	370.33	8.40	567	6045.75	27.02	0.00	4.09	1.445	0.000	0.135	1915.66	1933.75	1897.56	2572.12	661.62	0	0	0	11.40	30.00	15.12
6180.38	1028	143.19	1.80	0.00	1911.3	1928.2	1894.5	2572.8	661.7	349.16	13.68	601	6186.05	0.00	0.00	3.53	0.000	0.000	0.046	1911.47	1928.88	1894.06	2573.00	2124.12	0	0	0	30.00	30.00	15.58
6491.47	580	143.19	1.84	-80.00	1908.7	1928.5	1888.9	2572.6	2124.0	317.38	9.58	613	6497.14	0.00	0.00	4.09	0.000	0.000	0.131	1907.84	1927.38	1888.31	2571.44	661.81	0	0	0	30.00	30.00	15.28
6550.35	1028	143.19	1.84	0.00	1908.6	1928.4	1888.7	2572.2	661.7	309.36	14.77	625	6556.04	0.00	0.00	3.50	0.000	0.000	0.046	1908.88	1928.44	1889.31	2572.00	2127.06	0	0	0	30.00	30.00	15.61
6876.52	16710	143.19	1.88	80.00	1907.2	1927.9	1886.4	2571.9	2127.2	276.30	9.86	640	6882.09	0.00	0.00	3.66	0.000	0.000	0.111	1907.22	1928.19	1886.25	2572.25	3475.31	0	0	0	30.00	30.00	15.32
6885.38	19527	143.19	1.91	0.00	1907.1	1927.6	1886.6	2572.4	3475.0	275.09	10.20	642	6891.09	0.00	0.19	3.40	0.000	0.082	0.051	1907.19	1928.19	1886.19	2616.69	2078.88	0	0	0	30.00	15.35	15.55
7191.48	16966	143.19	1.95	-80.00	1906.9	1927.9	1885.9	2617.1	2078.7	243.15	9.65	658	7197.16	0.00	0.00	3.98	0.000	0.000	0.133	1905.59	1926.38	1884.81	2616.81	660.44	0	0	0	30.00	30.00	15.23
7396.94	17414	143.19	1.95	0.00	1906.1	1926.2	1886.0	2617.4	660.8	217.06	12.86	699	7402.12	0.00	0.00	3.52	0.000	0.000	0.046	1907.50	1927.06	1887.94	2617.06	2127.00	0	0	0	30.00	30.00	15.64
7521.52	16966	143.19	1.97	-80.00	1906.1	1926.6	1885.7	2616.8	2127.1	204.23	10.40	712	7527.21	0.00	0.00	4.07	0.000	0.000	0.126	1904.66	1925.56	1883.75	2616.75	661.62	0	0	0	30.00	30.00	15.22
7556.96	17478	143.19	2.00	0.00	1905.7	1925.9	1885.4	2617.1	661.8	200.69	10.09	719	7562.12	0.00	0.00	3.49	0.000	0.000	0.045	1905.75	1926.31	1885.19	2616.81	2127.25	0	0	0	30.00	30.00	15.64
7681.53	16450	143.19	2.06	0.00	1906.0	1926.6	1885.4	2616.1	2127.2	188.35	9.41	732	7682.86	0.00	0.00	0.00	0.000	0.000	0.000	1905.97	1926.44	1885.50	2616.75	2127.00	0	0	0	30.00	30.00	30.00
7801.53	16902	143.19	2.06	-80.00	1905.7	1926.3	1885.1	2616.8	2127.6	176.22	10.62	744	7807.24	0.00	0.00	4.09	0.000	0.000	0.128	1905.09	1925.81	1884.38	2617.19	661.62	0	0	0	30.00	30.00	15.20
7900.45	17414	143.19	2.06	0.00	1905.3	1925.2	1885.4	2617.0	661.6	165.32	10.96	764	7907.28	0.00	0.00	3.48	0.000	0.000	0.044	1905.53	1925.94	1885.12	2617.06	2129.94	0	0	0	30.00	30.00	15.61
8026.57	10791	166.24	2.12	-80.00	1905.1	1925.2	1885.1	2616.4	2128.9	153.45	8.92	777	8053.87	21.15	0.25	4.03	1.217	0.073	0.126	1820.81	1841.38	1800.25	2670.12	661.56	0	0	0	11.14	15.68	15.19
8132.55	1028	166.24	2.12	0.00	1817.7	1836.1	1799.3	2671.3	661.6	138.98	13.90	798	8137.72	0.00	0.00	3.50	0.000	0.000	0.045	1816.91	1835.38	1798.44	2671.62	2127.25	0	0	0	30.00	30.00	15.64
8197.10	260	166.24	2.12	80.00	1816.4	1836.3	1796.6	2671.1	2127.4	130.03	13.30	805	8202.75	0.00	0.00	3.64	0.000	0.000	0.108	1817.59	1837.06	1798.12	2672.00	3475.50	0	0	0	30.00	30.00	15.41
8232.10	1028	166.24	2.12	0.00	1815.5	1835.5	1795.6	2671.2	3475.9	125.21	13.21	812	8236.70	0.00	0.00	3.40	0.000	0.000	0.050	1816.03	1836.06	1796.00	2671.31	2075.50	0	0	0	30.00	30.00	15.57
8302.11	516	166.24	2.12	-80.00	1815.9	1835.9	1795.8	2671.5	2076.2	117.24	11.18	820	8307.81	0.00	0.00	3.91	0.000	0.000	0.128	1815.12	1835.06	1795.19	2669.75	660.81	0	0	0	30.00	30.00	15.30
8367.57	1028	166.24	2.12	0.00	1815.8	1836.1	1795.4	2672.1	660.8	108.85	13.09	833	8372.74	0.00	0.00	3.46	0.000	0.000	0.042	1816.34	1836.50	1796.19	2670.94	2128.88	0	0	0	30.00	30.00	15.63
8432.13	324	166.24	2.17	80.00	1815.3	1835.8	1794.8	2671.2	2128.3	102.08	9.71	840	8437.75	0.00	0.00	3.58	0.000	0.000	0.106	1815.59	1835.81	1795.38	2669.25	3475.06	0	0	0	30.00	30.00	15.36
8487.13	1028	166.24	2.17	0.00	1815.5	1835.4	1795.5	2671.4	3474.2	95.49	11.98	851	8491.72	0.00	0.00	3.38	0.000	0.000	0.050	1815.44	1835.62	1795.25	2671.75	2076.44	0	0	0	30.00	30.00	15.55
8557.15	8742	188.42	2.23	-80.00	1815.5	1835.7	1795.2	2671.4	2076.8	89.24	9.00	859	8589.53	26.30	0.00	3.89	1.116	0.000	0.129	1730.12	1752.50	1707.75	2671.56	661.06	0	0	0	11.60	30.00	15.14
8743.22	1028	188.42	2.23	0.00	1728.5	1748.7	1708.3	2671.7	660.8	70.99	10.79	896	8748.39	0.00	0.00	3.49	0.000	0.000	0.043	1728.16	1748.94	1707.38	2670.81	2130.94	0	0	0	30.00	30.00	15.61
8807.79	10535	245.70	2.41	80.00	1727.1	1749.1	1705.1	2671.9	2130.2	67.17	5.66	903	8879.95	65.01	0.34	3.65	1.110	0.065	0.106	1497.56	1521.00	1474.12	2736.94	3474.38	0	0	0	11.63	15.59	15.01
8938.21	1092	245.70	2.45	0.00	1494.8	1518.6	1471.0	2737.2	3475.4	57.44	9.70	929	8942.79	0.00	0.00	3.43	0.000	0.000	0.050	1495.12	1519.31	1470.94	2737.31	2076.25	0	0	0	30.00	30.00	15.45
9008.18	260	245.70	2.45	80.00	1493.7	1518.6	1468.8	2737.5	2076.0	49.91	10.86	937	9013.86	0.00	0.00	3.77	0.000	0.000	0.103	1494.28	1519.62	1468.94	2737.12	3475.19	0	0	0	30.00	30.00	15.33
9087.11	1028	245.70	2.45	0.00	1492.3	1517.6	1467.0	2736.8	3474.2	41.11	10.88	953	9093.91	0.00	0.00	3.41	0.000	0.000	0.048	1492.44	1517.94	1466.94	2736.00	2077.25	0	0	0	30.00	30.00	15.48
9153.27	10535	293.72	2.59	80.00	1491.9	1517.9	1465.9	2737.1	2078.4	36.81	6.54	960	9211.00	52.13	0.20	3.78	1.056	0.084	0.102	1302.06	1328.12	1276.00	2781.81	3473.25	0	0	0	11.51	15.56	15.05
9263.13	1028	293.72	2.59	0.00	1300.4	1326.4	1274.4	2781.3	3473.8	25.54	13.15	982	9269.92	0.00	0.00	3.41	0.000	0.000	0.049	1300.41	1326.50	1274.31	2779.88	2077.69	0	0	0	30.00	30.00	15.45
9329.27	516	293.72	2.59	-80.00	1299.5	1326.4	1272.5	2780.9	2078.3	18.05	11.29	989	9334.93	0.00	0.00	3.91	0.000	0.000	0.127	1299.25	1326.06	1272.44	2781.19	661.69	0	0	0	30.00	30.00	15.26
9464	end climb: SURFACE_DEPTH_REACHED
state	9464	begin surface coast
9474	end surface coast: CONTROL_FINISHED_OK
state	9474	begin surface