Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1044 * 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 1044 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 73.286621 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 249.38795 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 73.286621 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 249.38795 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 1044 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 030421,192639,4707.442,-12502.123,8,0.7,26,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.53 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -60.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 030421,193343,4707.411,-12502.118,2,0.6,5,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 352.2,1101,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 593

Post-dive calculations and measurements:

SM_CCo 8815.13,0.00,0.015,0,563.5,561.2,565.8,475.02 _24V_AH 14.08,287.432

SM_GC -0.72,0.00,17.20,3.45,0.015,0.061,0.042,563.5,561.2,565.8,167.0,2134.4,0,0,0,30.36,15.44,15.58 _10V_AH 14.76,0.000

SUPER 27,71,254,1,0,0 FG_AHR_24Vo 249.603

IRIDIUM_FIX 4707.48,-12503.93,030421,164130 FG_AHR_10Vo 73.316

TCM_TEMP 176.42 MEM 1103652,41,73436,56

XPDR_PINGS 5,14.0,11.5 DATA_FILE_SIZE 35400,940

ALTIM_BOTTOM_PING 250.7,7.0 CAP_FILE_SIZE 481457,0

SC_FREEKB 3459168 SDSIZE 3918848,3634688

HUMID 58.40 SDFILEDIR 5246,1

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

INTERNAL_PRESSURE 7.7759 GPS 030421,220131,4707.809,-12501.407,23,0.9,24,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 657 1641 15185.07 legato 0 0 0.00

Pitch_motor 37 249 132.17 nil 0 0 0.00

Roll_motor 213 246 742.94 nil 0 0 0.00

Iridium 196 196 543.87 nil 0 0 0.00

Transponder_ping 1 420 10.35 nil 0 0 0.00

GPS 14 15 3.27 nil 0 0 0.00

Core 3583 11 624.07 SciCon 8690 5 661.84

LPSleep 5601 2 231.51 nil 0 0 0.00

Compass 1774 5 130.97 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

7.65 16386 -74.33 -1.59 0.00 558.9 560.2 557.6 165.2 2082.3 0.00 0.00 0 99.92 91.77 0.00 0.00 0.005 0.000 0.000 2666.19 2649.31 2683.06 165.19 2081.88 0 0 0 14.64 30.00 30.00

100.15 18983 -96.52 -1.66 -80.00 2665.4 2648.0 2682.8 165.4 2081.6 4.22 -8.88 9 127.04 4.83 13.76 4.05 0.009 0.249 0.147 2890.41 2885.06 2895.75 1737.56 661.62 0 0 0 14.85 14.98 14.65

225.72 1028 -96.52 -1.66 0.00 2892.3 2886.9 2897.6 1738.2 661.8 34.30 -21.32 34 230.90 0.00 0.00 3.58 0.000 0.000 0.053 2893.22 2888.31 2898.12 1738.25 2120.12 0 0 0 30.00 30.00 15.51

290.27 260 -96.52 -1.66 80.00 2893.0 2887.4 2898.5 1738.0 2120.0 46.38 -17.96 41 295.93 0.00 0.00 3.64 0.000 0.000 0.106 2890.84 2886.12 2895.56 1737.88 3474.50 0 0 0 30.00 30.00 15.34

375.28 1028 -96.52 -1.66 0.00 2892.4 2887.4 2897.5 1738.1 3473.7 61.40 -17.07 58 379.90 0.00 0.00 3.42 0.000 0.000 0.055 2893.56 2888.38 2898.75 1738.31 2082.25 0 0 0 30.00 30.00 15.48

445.29 516 -96.52 -1.66 -80.00 2892.5 2886.9 2898.0 1738.1 2082.6 73.37 -17.07 66 451.01 0.00 0.00 4.04 0.000 0.000 0.145 2893.59 2888.50 2898.69 1737.62 662.56 0 0 0 30.00 30.00 15.19

474.20 1028 -96.52 -1.66 0.00 2892.6 2886.9 2898.2 1737.5 662.9 78.25 -15.71 72 481.01 0.00 0.00 3.47 0.000 0.000 0.047 2893.00 2888.00 2898.00 1738.25 2122.44 0 0 0 30.00 30.00 15.54

540.35 0 -96.52 -1.66 0.00 2892.8 2887.4 2898.2 1737.8 2122.1 87.46 -13.49 79 541.68 0.00 0.00 0.00 0.000 0.000 0.000 2893.38 2888.56 2898.19 1738.44 2122.25 0 0 0 30.00 30.00 30.00

600.32 516 -96.52 -1.66 -80.00 2892.7 2887.4 2898.0 1738.2 2121.9 95.01 -12.49 85 606.07 0.00 0.00 4.13 0.000 0.000 0.143 2890.97 2885.19 2896.75 1737.88 661.69 0 0 0 30.00 30.00 15.19

635.76 1028 -96.52 -1.66 0.00 2893.0 2887.6 2898.5 1738.2 661.6 99.78 -13.77 92 640.94 0.00 0.00 3.48 0.000 0.000 0.047 2893.12 2887.06 2899.19 1736.56 2122.69 0 0 0 30.00 30.00 15.57

700.38 260 -96.52 -1.66 80.00 2892.4 2887.1 2897.8 1738.1 2123.3 107.40 -10.92 99 705.96 0.00 0.00 3.58 0.000 0.000 0.103 2891.22 2886.25 2896.19 1737.88 3475.69 0 0 0 30.00 30.00 15.36

809.25 1028 -96.52 -1.66 0.00 2892.8 2887.3 2898.2 1738.6 3475.6 122.38 -12.79 121 816.02 0.00 0.00 3.38 0.000 0.000 0.053 2893.16 2887.50 2898.81 1738.00 2080.75 0 0 0 30.00 30.00 15.50

875.40 516 -96.52 -1.66 -80.00 2892.8 2887.7 2897.9 1737.9 2080.8 129.99 -11.81 128 881.06 0.00 0.00 4.01 0.000 0.000 0.145 2892.31 2887.31 2897.31 1738.00 661.62 0 0 0 30.00 30.00 15.19

890.80 1028 -96.52 -1.66 0.00 2892.8 2887.5 2898.0 1738.2 661.6 131.83 -11.61 131 895.97 0.00 0.00 3.47 0.000 0.000 0.046 2891.62 2885.81 2897.44 1738.12 2123.44 0 0 0 30.00 30.00 15.58

955.41 260 -96.52 -1.66 80.00 2892.3 2886.6 2898.1 1738.0 2124.4 139.33 -11.49 138 960.98 0.00 0.00 3.57 0.000 0.000 0.104 2892.28 2886.38 2898.19 1736.75 3476.38 0 0 0 30.00 30.00 15.37

1010.39 1028 -96.52 -1.66 0.00 2893.2 2887.9 2898.6 1737.8 3476.1 146.69 -13.73 149 1014.95 0.00 0.00 3.37 0.000 0.000 0.052 2892.53 2887.12 2897.94 1738.00 2081.81 0 0 0 30.00 30.00 15.52

1080.36 0 -96.52 -1.66 0.00 2892.9 2887.1 2898.8 1737.6 2082.1 155.25 -12.55 157 1081.69 0.00 0.00 0.00 0.000 0.000 0.000 2893.81 2888.12 2899.50 1737.88 2081.50 0 0 0 30.00 30.00 30.00

1200.38 0 -96.52 -1.66 0.00 2893.2 2887.4 2898.9 1738.1 2081.6 170.30 -13.10 169 1201.71 0.00 0.00 0.00 0.000 0.000 0.000 2893.91 2888.44 2899.38 1738.25 2082.00 0 0 0 30.00 30.00 30.00

1320.39 0 -96.52 -1.66 0.00 2893.2 2887.2 2899.1 1737.4 2081.6 186.90 -13.65 181 1321.72 0.00 0.00 0.00 0.000 0.000 0.000 2893.53 2888.19 2898.88 1737.69 2082.06 0 0 0 30.00 30.00 30.00

1440.40 516 -96.52 -1.66 -80.00 2893.0 2887.2 2898.8 1738.1 2081.4 202.34 -13.09 193 1446.12 0.00 0.00 4.04 0.000 0.000 0.149 2892.25 2886.69 2897.81 1737.50 662.75 0 0 0 30.00 30.00 15.16

1455.85 1028 -96.52 -1.66 0.00 2893.2 2887.4 2899.0 1737.9 662.9 204.36 -13.06 196 1461.01 0.00 0.00 3.48 0.000 0.000 0.047 2892.41 2886.44 2898.38 1737.94 2123.88 0 0 0 30.00 30.00 15.59

1580.41 260 -96.52 -1.66 80.00 2893.2 2887.6 2898.9 1738.0 2124.2 220.47 -12.63 209 1586.04 0.00 0.00 3.59 0.000 0.000 0.106 2894.16 2888.75 2899.56 1738.00 3474.62 0 0 0 30.00 30.00 15.35

1675.42 1028 -96.52 -1.66 0.00 2893.1 2887.4 2898.8 1737.8 3475.4 234.10 -13.75 228 1680.17 0.00 0.00 3.37 0.000 0.000 0.053 2894.62 2889.31 2899.94 1738.19 2080.62 0 0 0 30.00 30.00 15.50

1807.73 0 -96.52 -1.66 0.00 2893.1 2887.3 2898.9 1738.3 2080.8 250.72 -12.77 242 1809.07 0.00 0.00 0.00 0.000 0.000 0.000 2894.34 2888.56 2900.12 1738.06 2081.19 0 0 0 30.00 30.00 30.00

2105.44 0 -96.52 -1.66 0.00 2893.1 2887.1 2899.0 1738.0 2081.4 288.08 -12.32 252 2106.77 0.00 0.00 0.00 0.000 0.000 0.000 2893.66 2887.75 2899.56 1737.88 2081.19 0 0 0 30.00 30.00 30.00

2405.45 260 -96.52 -1.66 80.00 2893.5 2888.0 2898.9 1738.1 2081.0 324.85 -12.46 262 2411.12 0.00 0.00 3.77 0.000 0.000 0.109 2892.16 2885.88 2898.44 1738.00 3476.50 0 0 0 30.00 30.00 15.31

2559.39 1028 -96.52 -1.66 0.00 2893.2 2887.1 2899.2 1737.6 3476.5 345.11 -13.52 293 2565.08 0.00 0.00 3.41 0.000 0.000 0.056 2893.94 2887.81 2900.06 1737.50 2080.88 0 0 0 30.00 30.00 15.46

2880.49 0 -96.52 -1.66 0.00 2893.5 2887.6 2899.4 1738.0 2081.9 382.86 -11.76 307 2881.82 0.00 0.00 0.00 0.000 0.000 0.000 2892.31 2886.81 2897.81 1737.94 2081.88 0 0 0 30.00 30.00 30.00

3180.49 260 -96.52 -1.66 80.00 2893.0 2887.3 2898.7 1737.6 2082.3 418.68 -12.59 317 3186.16 0.00 0.00 3.80 0.000 0.000 0.111 2891.97 2885.88 2898.06 1738.06 3475.56 0 0 0 30.00 30.00 15.28

3219.40 1028 -96.52 -1.66 0.00 2893.5 2887.2 2899.8 1738.0 3475.3 424.11 -15.41 325 3225.11 0.00 0.00 3.42 0.000 0.000 0.057 2895.00 2888.69 2901.31 1738.00 2081.19 0 0 0 30.00 30.00 15.44

3535.51 0 -96.52 -1.66 0.00 2893.3 2887.8 2898.8 1738.1 2080.8 462.76 -12.12 338 3536.84 0.00 0.00 0.00 0.000 0.000 0.000 2892.56 2886.50 2898.62 1737.62 2080.44 0 0 0 30.00 30.00 30.00

3835.51 260 -96.52 -1.66 80.00 2892.6 2886.8 2898.4 1737.9 2081.1 498.65 -11.99 348 3841.21 0.00 0.00 3.83 0.000 0.000 0.114 2895.59 2890.06 2901.12 1738.00 3474.44 0 0 0 30.00 30.00 15.24

3849 end dive: TARGET_DEPTH_EXCEEDED

state 3849 begin apogee

3854.27 10243 0.00 -0.25 0.00 2893.1 2887.9 2898.2 1738.2 2082.4 500.61 -12.42 351 3940.39 81.83 2.69 0.07 1.641 0.159 0.247 2498.88 2507.25 2490.50 2079.69 2119.88 0 0 0 10.58 15.19 14.89

3943 end apogee: CONTROL_FINISHED_OK

state 3943 begin climb

3943.40 10759 96.52 1.66 -80.00 2498.2 2506.6 2489.9 2079.6 2120.6 504.01 0.00 355 4040.97 88.52 3.12 4.24 1.593 0.077 0.137 2102.47 2114.94 2090.00 2549.06 662.50 0 0 0 11.48 15.18 14.73

4053.11 9254 118.03 1.72 0.00 2102.2 2113.8 2090.8 2549.0 662.7 497.14 8.95 377 4080.29 21.52 0.00 3.57 1.450 0.000 0.043 2017.47 2032.75 2002.19 2547.31 2125.00 0 0 0 11.43 30.00 15.17

4384.27 16966 118.03 1.76 -80.00 2008.5 2027.9 1989.1 2548.8 2125.1 465.39 9.96 393 4389.93 0.00 0.00 4.11 0.000 0.000 0.137 2008.72 2028.38 1989.06 2547.19 661.56 0 0 0 30.00 30.00 15.24

4513.12 17414 118.03 1.76 0.00 2006.2 2023.2 1989.1 2548.8 661.5 450.04 12.33 419 4518.82 0.00 0.00 3.50 0.000 0.000 0.045 2005.94 2023.00 1988.88 2548.62 2124.44 0 0 0 30.00 30.00 15.58

4829.25 10791 140.89 1.83 -80.00 2004.3 2023.7 1984.9 2549.4 2124.8 423.40 8.81 432 4856.49 20.98 0.20 4.11 1.455 0.075 0.135 1923.81 1942.69 1904.94 2601.50 661.69 0 0 0 11.16 15.65 15.15

4968.69 1028 140.89 1.83 0.00 1921.6 1938.9 1904.4 2601.5 661.9 406.31 14.27 460 4975.50 0.00 0.00 3.54 0.000 0.000 0.047 1922.06 1939.81 1904.31 2601.19 2124.31 0 0 0 30.00 30.00 15.58

5274.81 580 140.89 1.85 -80.00 1918.1 1938.1 1898.2 2601.5 2123.8 374.86 10.13 471 5280.52 0.00 0.00 4.11 0.000 0.000 0.133 1917.25 1936.88 1897.62 2600.62 661.62 0 0 0 30.00 30.00 15.28

5453.72 1028 140.89 1.85 0.00 1918.0 1937.8 1898.2 2602.0 661.9 351.18 11.46 507 5459.44 0.00 0.00 3.53 0.000 0.000 0.047 1918.84 1938.19 1899.50 2601.31 2126.06 0 0 0 30.00 30.00 15.59

5779.84 16902 140.89 1.85 -80.00 1917.1 1937.5 1896.8 2601.5 2126.4 314.74 11.67 522 5785.56 0.00 0.00 4.13 0.000 0.000 0.132 1917.19 1937.25 1897.12 2601.75 660.69 0 0 0 30.00 30.00 15.23

5928.77 17414 140.89 1.85 0.00 1916.3 1936.2 1896.4 2601.1 660.7 294.25 13.00 552 5934.48 0.00 0.00 3.52 0.000 0.000 0.046 1917.66 1937.06 1898.25 2601.12 2126.19 0 0 0 30.00 30.00 15.59

6254.94 16966 140.89 1.88 -80.00 1915.8 1935.8 1895.8 2601.0 2126.4 259.19 10.41 567 6260.60 0.00 0.00 4.14 0.000 0.000 0.130 1916.16 1936.00 1896.31 2601.81 661.62 0 0 0 30.00 30.00 15.22

6400.35 17414 140.89 1.88 0.00 1915.5 1935.6 1895.4 2601.9 661.6 240.99 13.09 596 6405.53 0.00 0.00 3.51 0.000 0.000 0.046 1915.97 1935.62 1896.31 2601.62 2126.25 0 0 0 30.00 30.00 15.63

6524.93 8742 169.28 1.96 -80.00 1915.2 1935.2 1895.2 2601.4 2126.4 228.52 8.26 609 6556.76 26.00 0.00 4.09 1.328 0.000 0.132 1808.97 1830.44 1787.50 2601.56 662.44 0 0 0 11.11 30.00 15.16

6655.44 1028 169.28 1.96 0.00 1805.2 1825.0 1785.5 2601.2 662.6 212.21 14.41 635 6660.63 0.00 0.00 3.52 0.000 0.000 0.045 1803.94 1824.12 1783.75 2601.62 2126.44 0 0 0 30.00 30.00 15.60

6780.02 260 169.28 1.96 80.00 1803.4 1825.3 1781.5 2601.1 2127.0 198.08 11.67 648 6785.65 0.00 0.00 3.67 0.000 0.000 0.111 1801.91 1823.94 1779.88 2601.69 3473.75 0 0 0 30.00 30.00 15.37

6808.91 1028 169.28 1.96 0.00 1802.9 1825.3 1780.5 2601.2 3474.2 194.13 13.13 654 6815.72 0.00 0.00 3.41 0.000 0.000 0.051 1804.41 1826.06 1782.75 2601.19 2076.88 0 0 0 30.00 30.00 15.52

6935.03 516 169.28 1.96 -80.00 1802.3 1824.8 1779.8 2601.2 2077.4 179.42 11.97 667 6940.72 0.00 0.00 3.94 0.000 0.000 0.132 1802.41 1824.94 1779.88 2598.94 662.56 0 0 0 30.00 30.00 15.27

7063.95 1028 169.28 1.96 0.00 1802.2 1825.1 1779.4 2601.1 662.8 163.25 12.40 693 7070.76 0.00 0.00 3.49 0.000 0.000 0.045 1803.56 1826.19 1780.94 2601.31 2128.19 0 0 0 30.00 30.00 15.61

7190.07 16902 169.28 1.96 -80.00 1801.7 1824.9 1778.4 2601.6 2128.0 148.64 12.18 706 7195.78 0.00 0.00 4.05 0.000 0.000 0.126 1802.34 1825.56 1779.12 2599.12 662.38 0 0 0 30.00 30.00 15.24

7305.57 1028 169.28 1.96 0.00 1801.9 1824.9 1778.9 2601.4 662.2 132.90 14.08 729 7310.69 0.00 0.00 3.48 0.000 0.000 0.044 1800.66 1824.00 1777.31 2601.38 2127.94 0 0 0 30.00 30.00 15.63

7370.08 16646 169.28 1.96 80.00 1801.4 1825.0 1777.9 2601.8 2127.6 125.48 11.44 736 7375.73 0.00 0.00 3.63 0.000 0.000 0.109 1801.75 1824.69 1778.81 2601.62 3474.88 0 0 0 30.00 30.00 15.31

7415.09 17414 169.28 1.96 0.00 1801.4 1824.7 1778.2 2601.2 3474.1 120.06 12.42 745 7419.68 0.00 0.00 3.38 0.000 0.000 0.051 1801.44 1824.44 1778.44 2602.06 2076.62 0 0 0 30.00 30.00 15.56

7485.11 16966 169.28 1.98 -80.00 1801.2 1824.4 1777.9 2601.5 2076.6 112.39 10.57 753 7490.80 0.00 0.00 3.91 0.000 0.000 0.129 1802.34 1825.31 1779.38 2600.88 661.56 0 0 0 30.00 30.00 15.24

7590.56 17414 169.28 1.98 0.00 1801.1 1824.7 1777.4 2601.4 661.6 100.54 10.80 774 7595.72 0.00 0.00 3.48 0.000 0.000 0.043 1801.66 1825.12 1778.19 2601.25 2129.44 0 0 0 30.00 30.00 15.62

7655.12 10535 199.16 2.07 80.00 1800.9 1824.8 1776.9 2601.7 2129.5 95.12 8.11 781 7697.11 34.49 0.25 3.62 1.145 0.068 0.109 1687.59 1711.38 1663.81 2654.88 3474.94 0 0 0 11.41 15.66 15.13

7785.34 1028 199.16 2.07 0.00 1684.3 1707.7 1661.0 2655.1 3474.9 80.15 13.26 807 7789.93 0.00 0.00 3.39 0.000 0.000 0.051 1684.56 1708.06 1661.06 2655.69 2076.69 0 0 0 30.00 30.00 15.55

7855.40 8226 220.21 2.13 0.00 1683.7 1708.1 1659.2 2655.4 2076.6 73.64 9.00 815 7881.86 25.84 0.00 0.00 1.095 0.000 0.000 1602.28 1628.06 1576.50 2655.88 2077.12 0 0 0 11.61 30.00 30.00

7940.36 8742 243.35 2.20 -80.00 1598.7 1625.6 1571.9 2655.4 2076.9 66.44 8.79 825 7975.68 27.41 0.00 3.91 1.073 0.000 0.130 1508.41 1534.69 1482.12 2655.12 660.88 0 0 0 11.67 30.00 15.06

8050.83 11303 265.23 2.27 0.00 1506.2 1531.5 1481.0 2655.2 660.6 56.92 8.91 847 8084.67 26.14 0.22 3.50 1.047 0.070 0.042 1418.09 1445.06 1391.12 2705.12 2131.75 0 0 0 11.58 15.32 15.52

8150.43 8486 296.04 2.36 80.00 1416.3 1444.2 1388.5 2704.8 2131.6 48.98 8.01 861 8191.88 35.03 0.00 3.62 1.042 0.000 0.109 1292.22 1319.69 1264.75 2703.19 3473.88 0 0 0 11.48 30.00 15.03

8304.32 1028 296.04 2.36 0.00 1289.8 1318.4 1261.1 2704.9 3474.4 33.83 10.71 892 8311.09 0.00 0.00 3.41 0.000 0.000 0.051 1289.66 1318.44 1260.88 2705.00 2076.00 0 0 0 30.00 30.00 15.46

8371.10 580 296.04 2.38 -80.00 1289.3 1318.6 1260.1 2705.1 2075.8 27.00 10.34 899 8377.09 0.00 0.00 3.92 0.000 0.000 0.128 1289.69 1318.81 1260.56 2704.94 660.69 0 0 0 30.00 30.00 15.25

8455.85 1028 296.04 2.38 0.00 1289.5 1318.6 1260.4 2705.0 660.6 17.44 11.55 916 8461.02 0.00 0.00 3.49 0.000 0.000 0.042 1288.88 1318.12 1259.62 2704.25 2130.62 0 0 0 30.00 30.00 15.57

8520.42 64 296.04 2.40 0.00 1288.7 1318.2 1259.1 2705.2 2130.5 10.48 10.42 923 8521.75 0.00 0.00 0.00 0.000 0.000 0.000 1289.06 1318.44 1259.69 2705.19 2131.19 0 0 0 30.00 30.00 30.00

8580.43 10791 317.65 2.47 -80.00 1288.3 1318.5 1258.1 2705.2 2130.6 4.95 8.94 929 8611.86 23.18 0.20 4.01 0.988 0.070 0.124 1205.62 1235.12 1176.12 2752.44 660.81 0 0 0 11.23 15.61 15.15

8614 end climb: SURFACE_DEPTH_REACHED

state 8614 begin surface coast

8634 end surface coast: CONTROL_FINISHED_OK

state 8634 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	1044	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	73.286621	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	249.38795	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	030421,192639,4707.442,-12502.123,8,0.7,26,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.53	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-60.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	030421,193343,4707.411,-12502.118,2,0.6,5,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	352.2,1101,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	593

SM_CCo	8815.13,0.00,0.015,0,563.5,561.2,565.8,475.02	_24V_AH	14.08,287.432
SM_GC	-0.72,0.00,17.20,3.45,0.015,0.061,0.042,563.5,561.2,565.8,167.0,2134.4,0,0,0,30.36,15.44,15.58	_10V_AH	14.76,0.000
SUPER	27,71,254,1,0,0	FG_AHR_24Vo	249.603
IRIDIUM_FIX	4707.48,-12503.93,030421,164130	FG_AHR_10Vo	73.316
TCM_TEMP	176.42	MEM	1103652,41,73436,56
XPDR_PINGS	5,14.0,11.5	DATA_FILE_SIZE	35400,940
ALTIM_BOTTOM_PING	250.7,7.0	CAP_FILE_SIZE	481457,0
SC_FREEKB	3459168	SDSIZE	3918848,3634688
HUMID	58.40	SDFILEDIR	5246,1
TEMP	7.80	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.7759	GPS	030421,220131,4707.809,-12501.407,23,0.9,24,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	657	1641	15185.07	legato	0	0	0.00
Pitch_motor	37	249	132.17	nil	0	0	0.00
Roll_motor	213	246	742.94	nil	0	0	0.00
Iridium	196	196	543.87	nil	0	0	0.00
Transponder_ping	1	420	10.35	nil	0	0	0.00
GPS	14	15	3.27	nil	0	0	0.00
Core	3583	11	624.07	SciCon	8690	5	661.84
LPSleep	5601	2	231.51	nil	0	0	0.00
Compass	1774	5	130.97	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
7.65	16386	-74.33	-1.59	0.00	558.9	560.2	557.6	165.2	2082.3	0.00	0.00	0	99.92	91.77	0.00	0.00	0.005	0.000	0.000	2666.19	2649.31	2683.06	165.19	2081.88	0	0	0	14.64	30.00	30.00
100.15	18983	-96.52	-1.66	-80.00	2665.4	2648.0	2682.8	165.4	2081.6	4.22	-8.88	9	127.04	4.83	13.76	4.05	0.009	0.249	0.147	2890.41	2885.06	2895.75	1737.56	661.62	0	0	0	14.85	14.98	14.65
225.72	1028	-96.52	-1.66	0.00	2892.3	2886.9	2897.6	1738.2	661.8	34.30	-21.32	34	230.90	0.00	0.00	3.58	0.000	0.000	0.053	2893.22	2888.31	2898.12	1738.25	2120.12	0	0	0	30.00	30.00	15.51
290.27	260	-96.52	-1.66	80.00	2893.0	2887.4	2898.5	1738.0	2120.0	46.38	-17.96	41	295.93	0.00	0.00	3.64	0.000	0.000	0.106	2890.84	2886.12	2895.56	1737.88	3474.50	0	0	0	30.00	30.00	15.34
375.28	1028	-96.52	-1.66	0.00	2892.4	2887.4	2897.5	1738.1	3473.7	61.40	-17.07	58	379.90	0.00	0.00	3.42	0.000	0.000	0.055	2893.56	2888.38	2898.75	1738.31	2082.25	0	0	0	30.00	30.00	15.48
445.29	516	-96.52	-1.66	-80.00	2892.5	2886.9	2898.0	1738.1	2082.6	73.37	-17.07	66	451.01	0.00	0.00	4.04	0.000	0.000	0.145	2893.59	2888.50	2898.69	1737.62	662.56	0	0	0	30.00	30.00	15.19
474.20	1028	-96.52	-1.66	0.00	2892.6	2886.9	2898.2	1737.5	662.9	78.25	-15.71	72	481.01	0.00	0.00	3.47	0.000	0.000	0.047	2893.00	2888.00	2898.00	1738.25	2122.44	0	0	0	30.00	30.00	15.54
540.35	0	-96.52	-1.66	0.00	2892.8	2887.4	2898.2	1737.8	2122.1	87.46	-13.49	79	541.68	0.00	0.00	0.00	0.000	0.000	0.000	2893.38	2888.56	2898.19	1738.44	2122.25	0	0	0	30.00	30.00	30.00
600.32	516	-96.52	-1.66	-80.00	2892.7	2887.4	2898.0	1738.2	2121.9	95.01	-12.49	85	606.07	0.00	0.00	4.13	0.000	0.000	0.143	2890.97	2885.19	2896.75	1737.88	661.69	0	0	0	30.00	30.00	15.19
635.76	1028	-96.52	-1.66	0.00	2893.0	2887.6	2898.5	1738.2	661.6	99.78	-13.77	92	640.94	0.00	0.00	3.48	0.000	0.000	0.047	2893.12	2887.06	2899.19	1736.56	2122.69	0	0	0	30.00	30.00	15.57
700.38	260	-96.52	-1.66	80.00	2892.4	2887.1	2897.8	1738.1	2123.3	107.40	-10.92	99	705.96	0.00	0.00	3.58	0.000	0.000	0.103	2891.22	2886.25	2896.19	1737.88	3475.69	0	0	0	30.00	30.00	15.36
809.25	1028	-96.52	-1.66	0.00	2892.8	2887.3	2898.2	1738.6	3475.6	122.38	-12.79	121	816.02	0.00	0.00	3.38	0.000	0.000	0.053	2893.16	2887.50	2898.81	1738.00	2080.75	0	0	0	30.00	30.00	15.50
875.40	516	-96.52	-1.66	-80.00	2892.8	2887.7	2897.9	1737.9	2080.8	129.99	-11.81	128	881.06	0.00	0.00	4.01	0.000	0.000	0.145	2892.31	2887.31	2897.31	1738.00	661.62	0	0	0	30.00	30.00	15.19
890.80	1028	-96.52	-1.66	0.00	2892.8	2887.5	2898.0	1738.2	661.6	131.83	-11.61	131	895.97	0.00	0.00	3.47	0.000	0.000	0.046	2891.62	2885.81	2897.44	1738.12	2123.44	0	0	0	30.00	30.00	15.58
955.41	260	-96.52	-1.66	80.00	2892.3	2886.6	2898.1	1738.0	2124.4	139.33	-11.49	138	960.98	0.00	0.00	3.57	0.000	0.000	0.104	2892.28	2886.38	2898.19	1736.75	3476.38	0	0	0	30.00	30.00	15.37
1010.39	1028	-96.52	-1.66	0.00	2893.2	2887.9	2898.6	1737.8	3476.1	146.69	-13.73	149	1014.95	0.00	0.00	3.37	0.000	0.000	0.052	2892.53	2887.12	2897.94	1738.00	2081.81	0	0	0	30.00	30.00	15.52
1080.36	0	-96.52	-1.66	0.00	2892.9	2887.1	2898.8	1737.6	2082.1	155.25	-12.55	157	1081.69	0.00	0.00	0.00	0.000	0.000	0.000	2893.81	2888.12	2899.50	1737.88	2081.50	0	0	0	30.00	30.00	30.00
1200.38	0	-96.52	-1.66	0.00	2893.2	2887.4	2898.9	1738.1	2081.6	170.30	-13.10	169	1201.71	0.00	0.00	0.00	0.000	0.000	0.000	2893.91	2888.44	2899.38	1738.25	2082.00	0	0	0	30.00	30.00	30.00
1320.39	0	-96.52	-1.66	0.00	2893.2	2887.2	2899.1	1737.4	2081.6	186.90	-13.65	181	1321.72	0.00	0.00	0.00	0.000	0.000	0.000	2893.53	2888.19	2898.88	1737.69	2082.06	0	0	0	30.00	30.00	30.00
1440.40	516	-96.52	-1.66	-80.00	2893.0	2887.2	2898.8	1738.1	2081.4	202.34	-13.09	193	1446.12	0.00	0.00	4.04	0.000	0.000	0.149	2892.25	2886.69	2897.81	1737.50	662.75	0	0	0	30.00	30.00	15.16
1455.85	1028	-96.52	-1.66	0.00	2893.2	2887.4	2899.0	1737.9	662.9	204.36	-13.06	196	1461.01	0.00	0.00	3.48	0.000	0.000	0.047	2892.41	2886.44	2898.38	1737.94	2123.88	0	0	0	30.00	30.00	15.59
1580.41	260	-96.52	-1.66	80.00	2893.2	2887.6	2898.9	1738.0	2124.2	220.47	-12.63	209	1586.04	0.00	0.00	3.59	0.000	0.000	0.106	2894.16	2888.75	2899.56	1738.00	3474.62	0	0	0	30.00	30.00	15.35
1675.42	1028	-96.52	-1.66	0.00	2893.1	2887.4	2898.8	1737.8	3475.4	234.10	-13.75	228	1680.17	0.00	0.00	3.37	0.000	0.000	0.053	2894.62	2889.31	2899.94	1738.19	2080.62	0	0	0	30.00	30.00	15.50
1807.73	0	-96.52	-1.66	0.00	2893.1	2887.3	2898.9	1738.3	2080.8	250.72	-12.77	242	1809.07	0.00	0.00	0.00	0.000	0.000	0.000	2894.34	2888.56	2900.12	1738.06	2081.19	0	0	0	30.00	30.00	30.00
2105.44	0	-96.52	-1.66	0.00	2893.1	2887.1	2899.0	1738.0	2081.4	288.08	-12.32	252	2106.77	0.00	0.00	0.00	0.000	0.000	0.000	2893.66	2887.75	2899.56	1737.88	2081.19	0	0	0	30.00	30.00	30.00
2405.45	260	-96.52	-1.66	80.00	2893.5	2888.0	2898.9	1738.1	2081.0	324.85	-12.46	262	2411.12	0.00	0.00	3.77	0.000	0.000	0.109	2892.16	2885.88	2898.44	1738.00	3476.50	0	0	0	30.00	30.00	15.31
2559.39	1028	-96.52	-1.66	0.00	2893.2	2887.1	2899.2	1737.6	3476.5	345.11	-13.52	293	2565.08	0.00	0.00	3.41	0.000	0.000	0.056	2893.94	2887.81	2900.06	1737.50	2080.88	0	0	0	30.00	30.00	15.46
2880.49	0	-96.52	-1.66	0.00	2893.5	2887.6	2899.4	1738.0	2081.9	382.86	-11.76	307	2881.82	0.00	0.00	0.00	0.000	0.000	0.000	2892.31	2886.81	2897.81	1737.94	2081.88	0	0	0	30.00	30.00	30.00
3180.49	260	-96.52	-1.66	80.00	2893.0	2887.3	2898.7	1737.6	2082.3	418.68	-12.59	317	3186.16	0.00	0.00	3.80	0.000	0.000	0.111	2891.97	2885.88	2898.06	1738.06	3475.56	0	0	0	30.00	30.00	15.28
3219.40	1028	-96.52	-1.66	0.00	2893.5	2887.2	2899.8	1738.0	3475.3	424.11	-15.41	325	3225.11	0.00	0.00	3.42	0.000	0.000	0.057	2895.00	2888.69	2901.31	1738.00	2081.19	0	0	0	30.00	30.00	15.44
3535.51	0	-96.52	-1.66	0.00	2893.3	2887.8	2898.8	1738.1	2080.8	462.76	-12.12	338	3536.84	0.00	0.00	0.00	0.000	0.000	0.000	2892.56	2886.50	2898.62	1737.62	2080.44	0	0	0	30.00	30.00	30.00
3835.51	260	-96.52	-1.66	80.00	2892.6	2886.8	2898.4	1737.9	2081.1	498.65	-11.99	348	3841.21	0.00	0.00	3.83	0.000	0.000	0.114	2895.59	2890.06	2901.12	1738.00	3474.44	0	0	0	30.00	30.00	15.24
3849	end dive: TARGET_DEPTH_EXCEEDED
state	3849	begin apogee
3854.27	10243	0.00	-0.25	0.00	2893.1	2887.9	2898.2	1738.2	2082.4	500.61	-12.42	351	3940.39	81.83	2.69	0.07	1.641	0.159	0.247	2498.88	2507.25	2490.50	2079.69	2119.88	0	0	0	10.58	15.19	14.89
3943	end apogee: CONTROL_FINISHED_OK
state	3943	begin climb
3943.40	10759	96.52	1.66	-80.00	2498.2	2506.6	2489.9	2079.6	2120.6	504.01	0.00	355	4040.97	88.52	3.12	4.24	1.593	0.077	0.137	2102.47	2114.94	2090.00	2549.06	662.50	0	0	0	11.48	15.18	14.73
4053.11	9254	118.03	1.72	0.00	2102.2	2113.8	2090.8	2549.0	662.7	497.14	8.95	377	4080.29	21.52	0.00	3.57	1.450	0.000	0.043	2017.47	2032.75	2002.19	2547.31	2125.00	0	0	0	11.43	30.00	15.17
4384.27	16966	118.03	1.76	-80.00	2008.5	2027.9	1989.1	2548.8	2125.1	465.39	9.96	393	4389.93	0.00	0.00	4.11	0.000	0.000	0.137	2008.72	2028.38	1989.06	2547.19	661.56	0	0	0	30.00	30.00	15.24
4513.12	17414	118.03	1.76	0.00	2006.2	2023.2	1989.1	2548.8	661.5	450.04	12.33	419	4518.82	0.00	0.00	3.50	0.000	0.000	0.045	2005.94	2023.00	1988.88	2548.62	2124.44	0	0	0	30.00	30.00	15.58
4829.25	10791	140.89	1.83	-80.00	2004.3	2023.7	1984.9	2549.4	2124.8	423.40	8.81	432	4856.49	20.98	0.20	4.11	1.455	0.075	0.135	1923.81	1942.69	1904.94	2601.50	661.69	0	0	0	11.16	15.65	15.15
4968.69	1028	140.89	1.83	0.00	1921.6	1938.9	1904.4	2601.5	661.9	406.31	14.27	460	4975.50	0.00	0.00	3.54	0.000	0.000	0.047	1922.06	1939.81	1904.31	2601.19	2124.31	0	0	0	30.00	30.00	15.58
5274.81	580	140.89	1.85	-80.00	1918.1	1938.1	1898.2	2601.5	2123.8	374.86	10.13	471	5280.52	0.00	0.00	4.11	0.000	0.000	0.133	1917.25	1936.88	1897.62	2600.62	661.62	0	0	0	30.00	30.00	15.28
5453.72	1028	140.89	1.85	0.00	1918.0	1937.8	1898.2	2602.0	661.9	351.18	11.46	507	5459.44	0.00	0.00	3.53	0.000	0.000	0.047	1918.84	1938.19	1899.50	2601.31	2126.06	0	0	0	30.00	30.00	15.59
5779.84	16902	140.89	1.85	-80.00	1917.1	1937.5	1896.8	2601.5	2126.4	314.74	11.67	522	5785.56	0.00	0.00	4.13	0.000	0.000	0.132	1917.19	1937.25	1897.12	2601.75	660.69	0	0	0	30.00	30.00	15.23
5928.77	17414	140.89	1.85	0.00	1916.3	1936.2	1896.4	2601.1	660.7	294.25	13.00	552	5934.48	0.00	0.00	3.52	0.000	0.000	0.046	1917.66	1937.06	1898.25	2601.12	2126.19	0	0	0	30.00	30.00	15.59
6254.94	16966	140.89	1.88	-80.00	1915.8	1935.8	1895.8	2601.0	2126.4	259.19	10.41	567	6260.60	0.00	0.00	4.14	0.000	0.000	0.130	1916.16	1936.00	1896.31	2601.81	661.62	0	0	0	30.00	30.00	15.22
6400.35	17414	140.89	1.88	0.00	1915.5	1935.6	1895.4	2601.9	661.6	240.99	13.09	596	6405.53	0.00	0.00	3.51	0.000	0.000	0.046	1915.97	1935.62	1896.31	2601.62	2126.25	0	0	0	30.00	30.00	15.63
6524.93	8742	169.28	1.96	-80.00	1915.2	1935.2	1895.2	2601.4	2126.4	228.52	8.26	609	6556.76	26.00	0.00	4.09	1.328	0.000	0.132	1808.97	1830.44	1787.50	2601.56	662.44	0	0	0	11.11	30.00	15.16
6655.44	1028	169.28	1.96	0.00	1805.2	1825.0	1785.5	2601.2	662.6	212.21	14.41	635	6660.63	0.00	0.00	3.52	0.000	0.000	0.045	1803.94	1824.12	1783.75	2601.62	2126.44	0	0	0	30.00	30.00	15.60
6780.02	260	169.28	1.96	80.00	1803.4	1825.3	1781.5	2601.1	2127.0	198.08	11.67	648	6785.65	0.00	0.00	3.67	0.000	0.000	0.111	1801.91	1823.94	1779.88	2601.69	3473.75	0	0	0	30.00	30.00	15.37
6808.91	1028	169.28	1.96	0.00	1802.9	1825.3	1780.5	2601.2	3474.2	194.13	13.13	654	6815.72	0.00	0.00	3.41	0.000	0.000	0.051	1804.41	1826.06	1782.75	2601.19	2076.88	0	0	0	30.00	30.00	15.52
6935.03	516	169.28	1.96	-80.00	1802.3	1824.8	1779.8	2601.2	2077.4	179.42	11.97	667	6940.72	0.00	0.00	3.94	0.000	0.000	0.132	1802.41	1824.94	1779.88	2598.94	662.56	0	0	0	30.00	30.00	15.27
7063.95	1028	169.28	1.96	0.00	1802.2	1825.1	1779.4	2601.1	662.8	163.25	12.40	693	7070.76	0.00	0.00	3.49	0.000	0.000	0.045	1803.56	1826.19	1780.94	2601.31	2128.19	0	0	0	30.00	30.00	15.61
7190.07	16902	169.28	1.96	-80.00	1801.7	1824.9	1778.4	2601.6	2128.0	148.64	12.18	706	7195.78	0.00	0.00	4.05	0.000	0.000	0.126	1802.34	1825.56	1779.12	2599.12	662.38	0	0	0	30.00	30.00	15.24
7305.57	1028	169.28	1.96	0.00	1801.9	1824.9	1778.9	2601.4	662.2	132.90	14.08	729	7310.69	0.00	0.00	3.48	0.000	0.000	0.044	1800.66	1824.00	1777.31	2601.38	2127.94	0	0	0	30.00	30.00	15.63
7370.08	16646	169.28	1.96	80.00	1801.4	1825.0	1777.9	2601.8	2127.6	125.48	11.44	736	7375.73	0.00	0.00	3.63	0.000	0.000	0.109	1801.75	1824.69	1778.81	2601.62	3474.88	0	0	0	30.00	30.00	15.31
7415.09	17414	169.28	1.96	0.00	1801.4	1824.7	1778.2	2601.2	3474.1	120.06	12.42	745	7419.68	0.00	0.00	3.38	0.000	0.000	0.051	1801.44	1824.44	1778.44	2602.06	2076.62	0	0	0	30.00	30.00	15.56
7485.11	16966	169.28	1.98	-80.00	1801.2	1824.4	1777.9	2601.5	2076.6	112.39	10.57	753	7490.80	0.00	0.00	3.91	0.000	0.000	0.129	1802.34	1825.31	1779.38	2600.88	661.56	0	0	0	30.00	30.00	15.24
7590.56	17414	169.28	1.98	0.00	1801.1	1824.7	1777.4	2601.4	661.6	100.54	10.80	774	7595.72	0.00	0.00	3.48	0.000	0.000	0.043	1801.66	1825.12	1778.19	2601.25	2129.44	0	0	0	30.00	30.00	15.62
7655.12	10535	199.16	2.07	80.00	1800.9	1824.8	1776.9	2601.7	2129.5	95.12	8.11	781	7697.11	34.49	0.25	3.62	1.145	0.068	0.109	1687.59	1711.38	1663.81	2654.88	3474.94	0	0	0	11.41	15.66	15.13
7785.34	1028	199.16	2.07	0.00	1684.3	1707.7	1661.0	2655.1	3474.9	80.15	13.26	807	7789.93	0.00	0.00	3.39	0.000	0.000	0.051	1684.56	1708.06	1661.06	2655.69	2076.69	0	0	0	30.00	30.00	15.55
7855.40	8226	220.21	2.13	0.00	1683.7	1708.1	1659.2	2655.4	2076.6	73.64	9.00	815	7881.86	25.84	0.00	0.00	1.095	0.000	0.000	1602.28	1628.06	1576.50	2655.88	2077.12	0	0	0	11.61	30.00	30.00
7940.36	8742	243.35	2.20	-80.00	1598.7	1625.6	1571.9	2655.4	2076.9	66.44	8.79	825	7975.68	27.41	0.00	3.91	1.073	0.000	0.130	1508.41	1534.69	1482.12	2655.12	660.88	0	0	0	11.67	30.00	15.06
8050.83	11303	265.23	2.27	0.00	1506.2	1531.5	1481.0	2655.2	660.6	56.92	8.91	847	8084.67	26.14	0.22	3.50	1.047	0.070	0.042	1418.09	1445.06	1391.12	2705.12	2131.75	0	0	0	11.58	15.32	15.52
8150.43	8486	296.04	2.36	80.00	1416.3	1444.2	1388.5	2704.8	2131.6	48.98	8.01	861	8191.88	35.03	0.00	3.62	1.042	0.000	0.109	1292.22	1319.69	1264.75	2703.19	3473.88	0	0	0	11.48	30.00	15.03
8304.32	1028	296.04	2.36	0.00	1289.8	1318.4	1261.1	2704.9	3474.4	33.83	10.71	892	8311.09	0.00	0.00	3.41	0.000	0.000	0.051	1289.66	1318.44	1260.88	2705.00	2076.00	0	0	0	30.00	30.00	15.46
8371.10	580	296.04	2.38	-80.00	1289.3	1318.6	1260.1	2705.1	2075.8	27.00	10.34	899	8377.09	0.00	0.00	3.92	0.000	0.000	0.128	1289.69	1318.81	1260.56	2704.94	660.69	0	0	0	30.00	30.00	15.25
8455.85	1028	296.04	2.38	0.00	1289.5	1318.6	1260.4	2705.0	660.6	17.44	11.55	916	8461.02	0.00	0.00	3.49	0.000	0.000	0.042	1288.88	1318.12	1259.62	2704.25	2130.62	0	0	0	30.00	30.00	15.57
8520.42	64	296.04	2.40	0.00	1288.7	1318.2	1259.1	2705.2	2130.5	10.48	10.42	923	8521.75	0.00	0.00	0.00	0.000	0.000	0.000	1289.06	1318.44	1259.69	2705.19	2131.19	0	0	0	30.00	30.00	30.00
8580.43	10791	317.65	2.47	-80.00	1288.3	1318.5	1258.1	2705.2	2130.6	4.95	8.94	929	8611.86	23.18	0.20	4.01	0.988	0.070	0.124	1205.62	1235.12	1176.12	2752.44	660.81	0	0	0	11.23	15.61	15.15
8614	end climb: SURFACE_DEPTH_REACHED
state	8614	begin surface coast
8634	end surface coast: CONTROL_FINISHED_OK
state	8634	begin surface