Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1049 * 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 1049 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 73.446999 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 250.53403 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 73.446999 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 250.53403 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 1049 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 040421,085539,4708.465,-12502.069,5,0.8,24,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.41 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -61.9 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 040421,090254,4708.439,-12502.064,2,0.6,5,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 158.7,817,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 9153.38,0.01,0.270,0,564.7,564.8,564.6,474.73 _24V_AH 13.63,288.660

SM_GC -0.52,0.01,17.28,0.09,0.270,0.052,0.130,564.7,564.8,564.6,169.1,2135.2,0,0,0,30.36,15.47,15.59 _10V_AH 14.76,0.000

SUPER 27,71,254,1,0,0 FG_AHR_24Vo 250.752

IRIDIUM_FIX 4707.48,-12503.93,040421,061017 FG_AHR_10Vo 73.477

TCM_TEMP 174.82 MEM 1103648,40,73460,56

XPDR_PINGS 7,14.0,11.5 DATA_FILE_SIZE 35386,950

ALTIM_BOTTOM_PING 250.9,7.9 CAP_FILE_SIZE 480097,0

SC_FREEKB 3457248 SDSIZE 3918848,3633280

HUMID 58.29 SDFILEDIR 5271,1

TEMP 7.81 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.76845 GPS 040421,113627,4707.587,-12501.605,7,1.0,31,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 655 2578 23028.86 legato 0 0 0.00

Pitch_motor 38 254 132.22 nil 0 0 0.00

Roll_motor 205 226 632.73 nil 0 0 0.00

Iridium 210 200 576.52 nil 0 0 0.00

Transponder_ping 2 420 12.88 nil 0 0 0.00

GPS 14 15 3.16 nil 0 0 0.00

Core 3514 11 612.16 SciCon 8993 5 678.55

LPSleep 5831 2 241.00 nil 0 0 0.00

Compass 1823 5 134.57 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

7.66 16386 -74.33 -1.59 0.00 560.0 564.3 555.6 170.2 2114.8 0.00 0.00 0 99.94 91.76 0.00 0.00 0.005 0.000 0.000 2649.34 2634.12 2664.56 170.25 2115.62 0 0 0 14.63 30.00 30.00

100.18 18727 -100.76 -1.67 80.00 2648.4 2633.1 2663.8 170.3 2115.3 3.98 -8.46 9 127.01 5.62 13.74 3.71 0.008 0.254 0.109 2909.09 2904.56 2913.62 1735.19 3475.06 0 0 0 14.85 14.99 14.66

349.17 1028 -100.76 -1.67 0.00 2910.7 2905.5 2915.8 1735.6 3475.1 62.17 -21.20 59 356.41 0.00 0.00 3.46 0.000 0.000 0.056 2912.59 2906.25 2918.94 1735.25 2081.88 0 0 0 30.00 30.00 15.45

415.32 0 -100.76 -1.67 0.00 2910.2 2904.5 2915.8 1735.4 2081.6 72.36 -14.87 66 416.64 0.00 0.00 0.00 0.000 0.000 0.000 2910.81 2905.25 2916.38 1735.81 2081.69 0 0 0 30.00 30.00 30.00

475.27 260 -100.76 -1.67 80.00 2910.6 2904.6 2916.5 1735.5 2082.1 80.39 -13.06 72 480.93 0.00 0.00 3.75 0.000 0.000 0.102 2910.91 2904.25 2917.56 1734.56 3474.44 0 0 0 30.00 30.00 15.34

514.18 1028 -100.76 -1.67 0.00 2910.6 2905.1 2916.2 1735.2 3475.5 85.69 -13.22 80 521.42 0.00 0.00 3.40 0.000 0.000 0.053 2911.16 2905.62 2916.69 1735.25 2079.94 0 0 0 30.00 30.00 15.48

580.34 260 -100.76 -1.67 80.00 2910.8 2905.2 2916.4 1735.7 2079.8 94.11 -12.81 87 585.96 0.00 0.00 3.74 0.000 0.000 0.102 2911.00 2904.88 2917.12 1735.19 3476.62 0 0 0 30.00 30.00 15.34

635.74 1028 -100.76 -1.67 0.00 2910.9 2905.4 2916.4 1735.7 3475.9 101.93 -14.11 98 640.90 0.00 0.00 3.40 0.000 0.000 0.053 2909.12 2903.69 2914.56 1735.44 2081.25 0 0 0 30.00 30.00 15.50

700.29 516 -100.76 -1.67 -80.00 2910.4 2904.7 2916.1 1735.2 2080.9 111.03 -13.53 105 706.01 0.00 0.00 4.05 0.000 0.000 0.147 2908.75 2902.94 2914.56 1735.25 661.31 0 0 0 30.00 30.00 15.17

739.21 1028 -100.76 -1.67 0.00 2910.4 2905.1 2915.7 1735.6 661.6 116.50 -14.19 113 746.47 0.00 0.00 3.51 0.000 0.000 0.047 2911.78 2906.38 2917.19 1735.38 2122.38 0 0 0 30.00 30.00 15.54

805.30 260 -100.76 -1.67 80.00 2910.4 2904.9 2915.9 1735.6 2122.3 124.90 -12.54 120 810.94 0.00 0.00 3.60 0.000 0.000 0.104 2908.97 2903.12 2914.81 1735.06 3474.38 0 0 0 30.00 30.00 15.35

844.22 1028 -100.76 -1.67 0.00 2910.4 2904.3 2916.4 1735.7 3475.1 130.91 -15.18 128 851.44 0.00 0.00 3.37 0.000 0.000 0.052 2911.72 2905.50 2917.94 1734.88 2081.25 0 0 0 30.00 30.00 15.49

910.37 0 -100.76 -1.67 0.00 2910.8 2905.1 2916.5 1735.8 2081.0 139.39 -13.22 135 911.70 0.00 0.00 0.00 0.000 0.000 0.000 2910.78 2905.19 2916.38 1735.38 2081.12 0 0 0 30.00 30.00 30.00

970.33 516 -100.76 -1.67 -80.00 2910.4 2905.0 2915.8 1735.6 2081.4 147.38 -12.74 141 976.04 0.00 0.00 4.05 0.000 0.000 0.148 2909.28 2904.25 2914.31 1735.06 661.94 0 0 0 30.00 30.00 15.17

1005.77 1028 -100.76 -1.67 0.00 2910.9 2905.2 2916.7 1735.8 661.8 152.52 -14.97 148 1010.96 0.00 0.00 3.50 0.000 0.000 0.047 2909.56 2903.75 2915.38 1735.12 2123.31 0 0 0 30.00 30.00 15.57

1130.37 0 -100.76 -1.67 0.00 2910.6 2905.1 2916.1 1735.9 2123.4 167.78 -12.09 161 1131.70 0.00 0.00 0.00 0.000 0.000 0.000 2910.66 2904.81 2916.50 1735.50 2123.50 0 0 0 30.00 30.00 30.00

1250.35 0 -100.76 -1.67 0.00 2910.3 2904.8 2915.8 1735.4 2123.4 182.26 -12.80 173 1251.68 0.00 0.00 0.00 0.000 0.000 0.000 2911.03 2905.50 2916.56 1735.44 2123.56 0 0 0 30.00 30.00 30.00

1370.36 260 -100.76 -1.67 80.00 2910.7 2905.1 2916.2 1735.4 2123.3 195.81 -10.82 185 1376.01 0.00 0.00 3.63 0.000 0.000 0.107 2909.25 2903.75 2914.75 1735.19 3476.38 0 0 0 30.00 30.00 15.33

1409.27 1028 -100.76 -1.67 0.00 2910.6 2904.6 2916.6 1735.4 3475.1 201.00 -12.59 193 1416.49 0.00 0.00 3.38 0.000 0.000 0.052 2911.03 2905.25 2916.81 1735.19 2080.25 0 0 0 30.00 30.00 15.49

1535.38 260 -100.76 -1.67 80.00 2910.9 2905.7 2916.1 1735.4 2079.9 214.99 -11.26 206 1541.04 0.00 0.00 3.72 0.000 0.000 0.103 2911.41 2906.00 2916.81 1734.56 3477.00 0 0 0 30.00 30.00 15.34

1580.83 1028 -100.76 -1.67 0.00 2910.8 2904.9 2916.8 1735.5 3476.9 220.88 -12.37 215 1585.99 0.00 0.00 3.37 0.000 0.000 0.052 2910.31 2904.25 2916.38 1735.50 2080.75 0 0 0 30.00 30.00 15.50

1705.40 260 -100.76 -1.67 80.00 2910.8 2904.9 2916.8 1735.7 2081.4 235.47 -11.69 228 1711.06 0.00 0.00 3.72 0.000 0.000 0.103 2911.03 2903.94 2918.12 1734.81 3475.62 0 0 0 30.00 30.00 15.34

1750.85 1028 -100.76 -1.67 0.00 2910.4 2904.3 2916.4 1735.9 3475.7 241.33 -13.12 237 1756.00 0.00 0.00 3.36 0.000 0.000 0.053 2910.66 2905.25 2916.06 1735.31 2080.12 0 0 0 30.00 30.00 15.50

1885.41 260 -100.76 -1.67 80.00 2911.2 2905.4 2917.1 1735.6 2079.8 257.98 -12.01 247 1891.08 0.00 0.00 3.72 0.000 0.000 0.103 2911.56 2905.94 2917.19 1735.44 3476.44 0 0 0 30.00 30.00 15.33

1944.33 1028 -100.76 -1.67 0.00 2910.9 2905.3 2916.5 1735.7 3476.9 266.39 -14.60 259 1950.01 0.00 0.00 3.37 0.000 0.000 0.053 2911.97 2906.06 2917.88 1735.75 2080.75 0 0 0 30.00 30.00 15.48

2270.45 516 -100.76 -1.67 -80.00 2911.0 2905.1 2917.0 1735.6 2081.2 310.37 -13.62 274 2276.15 0.00 0.00 4.05 0.000 0.000 0.152 2911.28 2905.50 2917.06 1735.00 662.75 0 0 0 30.00 30.00 15.11

2299.34 1028 -100.76 -1.67 0.00 2910.8 2904.6 2917.1 1735.6 662.6 313.83 -11.54 280 2305.05 0.00 0.00 3.47 0.000 0.000 0.049 2912.78 2907.38 2918.19 1734.56 2121.94 0 0 0 30.00 30.00 15.54

2625.46 260 -100.76 -1.67 80.00 2911.1 2905.4 2916.8 1735.9 2122.5 352.21 -11.53 295 2631.09 0.00 0.00 3.61 0.000 0.000 0.109 2911.62 2906.38 2916.88 1734.12 3475.00 0 0 0 30.00 30.00 15.30

2664.36 1028 -100.76 -1.67 0.00 2911.1 2905.2 2916.9 1735.1 3474.9 357.38 -12.55 303 2670.05 0.00 0.00 3.38 0.000 0.000 0.055 2911.31 2905.31 2917.31 1736.00 2081.62 0 0 0 30.00 30.00 15.46

2980.46 260 -100.76 -1.67 80.00 2910.6 2904.6 2916.5 1735.6 2081.5 392.03 -11.24 316 2986.13 0.00 0.00 3.78 0.000 0.000 0.109 2909.38 2903.38 2915.38 1735.69 3475.75 0 0 0 30.00 30.00 15.28

3049.39 1028 -100.76 -1.67 0.00 2910.9 2904.6 2917.2 1735.6 3475.9 401.58 -13.71 330 3055.08 0.00 0.00 3.40 0.000 0.000 0.056 2911.22 2905.12 2917.31 1735.50 2082.25 0 0 0 30.00 30.00 15.44

3365.48 0 -100.76 -1.67 0.00 2911.0 2905.2 2916.8 1735.4 2082.6 438.08 -11.95 343 3366.81 0.00 0.00 0.00 0.000 0.000 0.000 2911.12 2905.25 2917.00 1735.12 2082.12 0 0 0 30.00 30.00 30.00

3665.48 260 -100.76 -1.67 80.00 2910.2 2904.8 2915.6 1735.4 2083.1 474.83 -11.76 353 3671.17 0.00 0.00 3.81 0.000 0.000 0.112 2910.69 2904.75 2916.62 1734.44 3474.56 0 0 0 30.00 30.00 15.25

3774.41 1028 -100.76 -1.67 0.00 2910.7 2904.9 2916.5 1735.3 3474.4 490.01 -14.33 375 3781.67 0.00 0.00 3.41 0.000 0.000 0.058 2910.62 2905.19 2916.06 1735.38 2082.19 0 0 0 30.00 30.00 15.41

3870 end dive: TARGET_DEPTH_EXCEEDED

state 3871 begin apogee

3871.64 10243 0.00 -0.25 0.00 2910.5 2905.3 2915.6 1735.2 2121.6 501.42 -11.98 379 3962.79 85.82 2.69 0.09 1.648 0.154 0.226 2498.28 2507.44 2489.12 2079.94 2085.06 0 0 0 10.62 15.22 14.86

3966 end apogee: CONTROL_FINISHED_OK

state 3966 begin climb

3965.79 10243 100.76 1.67 0.00 2497.5 2506.8 2488.2 2079.8 2085.2 504.44 0.00 382 4062.87 92.71 3.31 0.00 1.593 0.077 0.000 2086.81 2099.75 2073.88 2551.25 2084.62 0 0 0 11.54 15.18 30.00

4350.58 8742 125.70 1.75 -80.00 2076.9 2094.0 2059.9 2551.1 2084.9 474.78 8.60 395 4382.26 23.02 0.00 4.03 1.477 0.000 0.141 1987.41 2004.44 1970.38 2551.44 660.81 0 0 0 11.40 30.00 15.04

4411.04 1028 125.70 1.75 0.00 1984.6 2000.8 1968.4 2551.5 660.4 468.52 10.68 407 4416.20 0.00 0.00 3.52 0.000 0.000 0.046 1982.94 1999.25 1966.62 2551.00 2125.69 0 0 0 30.00 30.00 15.49

4735.63 64 125.70 1.77 0.00 1980.4 2000.6 1960.2 2551.6 2126.1 435.21 10.18 422 4736.95 0.00 0.00 0.00 0.000 0.000 0.000 1980.44 2001.19 1959.69 2552.12 2125.69 0 0 0 30.00 30.00 30.00

5035.58 19015 125.70 1.81 -80.00 1978.8 1999.5 1958.0 2551.1 2125.9 405.62 9.72 432 5041.35 0.00 0.17 4.11 0.000 0.084 0.136 1977.06 1997.75 1956.38 2595.69 661.69 0 0 0 30.00 15.67 15.26

5229.53 17414 125.70 1.81 0.00 1977.3 1996.8 1957.8 2595.6 661.8 380.59 14.08 471 5235.24 0.00 0.00 3.51 0.000 0.000 0.047 1978.28 1997.31 1959.25 2595.38 2126.50 0 0 0 30.00 30.00 15.61

5540.63 16902 125.70 1.81 -80.00 1976.5 1996.3 1956.7 2595.8 2126.4 347.25 10.97 483 5546.35 0.00 0.00 4.09 0.000 0.000 0.132 1975.28 1995.56 1955.00 2596.06 662.75 0 0 0 30.00 30.00 15.23

5716.09 17414 125.70 1.81 0.00 1976.0 1995.2 1956.8 2596.0 662.8 324.91 10.72 518 5721.29 0.00 0.00 3.51 0.000 0.000 0.046 1976.16 1994.62 1957.69 2593.50 2127.69 0 0 0 30.00 30.00 15.64

6040.74 16966 125.70 1.87 -80.00 1976.1 1996.1 1956.0 2596.0 2127.6 294.53 9.34 533 6046.41 0.00 0.00 4.12 0.000 0.000 0.131 1975.16 1994.94 1955.38 2595.62 661.62 0 0 0 30.00 30.00 15.21

6269.62 17414 125.70 1.87 0.00 1974.9 1994.3 1955.4 2596.1 661.6 271.14 11.10 579 6276.42 0.00 0.00 3.49 0.000 0.000 0.046 1975.69 1995.25 1956.12 2595.94 2127.25 0 0 0 30.00 30.00 15.60

6575.79 8226 149.42 1.94 0.00 1974.1 1994.1 1954.2 2595.8 2127.1 244.15 8.73 594 6598.23 21.52 0.00 0.00 1.325 0.000 0.000 1890.16 1911.62 1868.69 2596.69 2127.00 0 0 0 11.02 30.00 30.00

6715.75 580 149.42 1.97 -80.00 1885.6 1907.7 1863.5 2595.6 2127.4 231.01 10.11 608 6721.45 0.00 0.00 4.09 0.000 0.000 0.130 1886.69 1908.19 1865.19 2595.38 661.94 0 0 0 30.00 30.00 15.33

6771.19 1028 149.42 1.97 0.00 1884.9 1906.6 1863.3 2596.5 661.4 224.56 11.55 619 6776.38 0.00 0.00 3.51 0.000 0.000 0.045 1883.75 1905.19 1862.31 2596.44 2128.50 0 0 0 30.00 30.00 15.63

6895.78 2113 149.42 2.03 0.00 1884.6 1906.9 1862.3 2595.9 2128.3 212.79 9.14 632 6897.23 0.00 0.23 0.00 0.000 0.069 0.000 1883.44 1905.31 1861.56 2647.62 2128.50 0 0 0 30.00 15.62 30.00

7015.77 516 149.42 2.03 -80.00 1884.5 1906.4 1862.5 2647.5 2128.1 199.29 11.40 644 7021.49 0.00 0.00 4.12 0.000 0.000 0.127 1883.91 1905.69 1862.12 2647.62 660.81 0 0 0 30.00 30.00 15.25

7101.22 1028 149.42 2.03 0.00 1883.9 1905.9 1861.9 2648.1 660.6 188.29 11.74 661 7106.42 0.00 0.00 3.52 0.000 0.000 0.044 1883.53 1905.31 1861.75 2647.50 2125.88 0 0 0 30.00 30.00 15.62

7225.80 516 149.42 2.03 -80.00 1883.6 1905.4 1861.8 2647.5 2126.3 173.39 12.10 674 7231.52 0.00 0.00 4.09 0.000 0.000 0.126 1885.00 1906.06 1863.94 2648.06 661.62 0 0 0 30.00 30.00 15.25

7344.72 1028 149.42 2.03 0.00 1883.8 1905.4 1862.1 2648.2 661.8 157.97 11.29 698 7351.53 0.00 0.00 3.49 0.000 0.000 0.045 1884.25 1906.00 1862.50 2648.06 2127.06 0 0 0 30.00 30.00 15.60

7470.85 324 149.42 2.07 80.00 1883.6 1905.5 1861.7 2647.8 2127.4 145.26 9.71 711 7476.49 0.00 0.00 3.62 0.000 0.000 0.108 1882.69 1904.56 1860.81 2647.12 3473.69 0 0 0 30.00 30.00 15.32

7505.83 1028 149.42 2.07 0.00 1883.4 1905.1 1861.6 2647.8 3473.3 141.20 11.58 718 7510.43 0.00 0.00 3.38 0.000 0.000 0.050 1884.25 1906.12 1862.38 2648.19 2078.00 0 0 0 30.00 30.00 15.55

7575.85 8742 169.83 2.13 -80.00 1883.5 1905.5 1861.4 2648.0 2077.9 135.06 9.06 726 7600.98 19.75 0.00 3.90 1.191 0.000 0.130 1807.22 1828.81 1785.62 2648.06 660.94 0 0 0 11.38 30.00 15.16

7729.79 1028 169.83 2.13 0.00 1804.3 1823.7 1784.9 2648.2 660.6 114.90 13.79 757 7736.59 0.00 0.00 3.49 0.000 0.000 0.045 1803.31 1823.44 1783.19 2647.56 2128.00 0 0 0 30.00 30.00 15.61

7795.94 0 169.83 2.13 0.00 1802.2 1823.2 1781.1 2648.1 2128.7 107.33 10.81 764 7797.26 0.00 0.00 0.00 0.000 0.000 0.000 1802.25 1823.44 1781.06 2647.75 2128.62 0 0 0 30.00 30.00 30.00

7855.90 516 169.83 2.13 -80.00 1801.9 1823.6 1780.1 2648.0 2128.5 100.59 11.44 770 7861.60 0.00 0.00 4.07 0.000 0.000 0.125 1801.41 1823.25 1779.56 2647.88 661.56 0 0 0 30.00 30.00 15.29

7964.84 1092 169.83 2.16 0.00 1801.7 1823.5 1779.9 2647.7 661.8 87.62 10.23 792 7971.63 0.00 0.00 3.46 0.000 0.000 0.044 1801.66 1822.56 1780.75 2647.56 2129.38 0 0 0 30.00 30.00 15.61

8030.98 10535 207.90 2.27 80.00 1801.2 1823.6 1778.8 2647.9 2129.7 82.72 7.29 799 8082.71 44.23 0.28 3.65 1.128 0.068 0.110 1651.12 1673.19 1629.06 2705.75 3473.06 0 0 0 11.64 15.66 15.08

8304.88 9254 228.54 2.33 0.00 1647.4 1670.8 1624.1 2705.9 3473.8 59.73 9.04 854 8336.09 24.36 0.00 3.42 1.067 0.000 0.053 1569.09 1593.88 1544.31 2705.62 2078.50 0 0 0 11.57 30.00 15.51

8400.98 10535 279.06 2.49 80.00 1565.9 1591.9 1539.9 2705.6 2077.9 53.47 6.03 867 8463.96 57.02 0.23 3.83 1.079 0.067 0.106 1362.00 1387.69 1336.31 2753.81 3473.56 0 0 0 11.62 15.50 14.99

8557.20 1028 279.06 2.49 0.00 1359.0 1386.0 1331.9 2754.1 3473.6 38.82 11.58 898 8561.94 0.00 0.00 3.46 0.000 0.000 0.052 1359.06 1386.31 1331.81 2754.81 2076.94 0 0 0 30.00 30.00 15.44

8627.21 580 279.06 2.53 -80.00 1358.2 1385.9 1330.5 2754.5 2076.7 31.70 9.75 906 8632.90 0.00 0.00 3.97 0.000 0.000 0.130 1357.72 1385.56 1329.88 2754.50 661.50 0 0 0 30.00 30.00 15.24

8702.65 1028 279.06 2.53 0.00 1358.0 1385.6 1330.5 2755.2 661.9 23.50 11.10 921 8707.84 0.00 0.00 3.52 0.000 0.000 0.045 1358.34 1385.94 1330.75 2753.69 2128.56 0 0 0 30.00 30.00 15.56

8767.22 324 279.06 2.58 80.00 1357.2 1385.4 1328.9 2754.0 2128.4 17.51 9.27 928 8772.86 0.00 0.00 3.61 0.000 0.000 0.105 1356.19 1384.12 1328.25 2754.56 3473.56 0 0 0 30.00 30.00 15.32

8796.13 1092 279.06 2.61 0.00 1356.2 1384.2 1328.1 2754.2 3473.8 14.41 10.08 934 8802.91 0.00 0.00 3.39 0.000 0.000 0.050 1356.22 1384.31 1328.12 2754.50 2074.94 0 0 0 30.00 30.00 15.49

8862.29 10275 301.25 2.68 0.00 1356.2 1384.6 1327.8 2754.6 2075.1 8.45 8.88 941 8886.82 23.42 0.22 0.00 0.997 0.076 0.000 1272.50 1300.75 1244.25 2801.38 2075.00 0 0 0 11.26 15.60 30.00

8932 end climb: SURFACE_DEPTH_REACHED

state 8932 begin surface coast

8952 end surface coast: CONTROL_FINISHED_OK

state 8952 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	1049	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	73.446999	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	250.53403	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	040421,085539,4708.465,-12502.069,5,0.8,24,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.41	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-61.9	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	040421,090254,4708.439,-12502.064,2,0.6,5,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	158.7,817,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	9153.38,0.01,0.270,0,564.7,564.8,564.6,474.73	_24V_AH	13.63,288.660
SM_GC	-0.52,0.01,17.28,0.09,0.270,0.052,0.130,564.7,564.8,564.6,169.1,2135.2,0,0,0,30.36,15.47,15.59	_10V_AH	14.76,0.000
SUPER	27,71,254,1,0,0	FG_AHR_24Vo	250.752
IRIDIUM_FIX	4707.48,-12503.93,040421,061017	FG_AHR_10Vo	73.477
TCM_TEMP	174.82	MEM	1103648,40,73460,56
XPDR_PINGS	7,14.0,11.5	DATA_FILE_SIZE	35386,950
ALTIM_BOTTOM_PING	250.9,7.9	CAP_FILE_SIZE	480097,0
SC_FREEKB	3457248	SDSIZE	3918848,3633280
HUMID	58.29	SDFILEDIR	5271,1
TEMP	7.81	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.76845	GPS	040421,113627,4707.587,-12501.605,7,1.0,31,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	655	2578	23028.86	legato	0	0	0.00
Pitch_motor	38	254	132.22	nil	0	0	0.00
Roll_motor	205	226	632.73	nil	0	0	0.00
Iridium	210	200	576.52	nil	0	0	0.00
Transponder_ping	2	420	12.88	nil	0	0	0.00
GPS	14	15	3.16	nil	0	0	0.00
Core	3514	11	612.16	SciCon	8993	5	678.55
LPSleep	5831	2	241.00	nil	0	0	0.00
Compass	1823	5	134.57	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
7.66	16386	-74.33	-1.59	0.00	560.0	564.3	555.6	170.2	2114.8	0.00	0.00	0	99.94	91.76	0.00	0.00	0.005	0.000	0.000	2649.34	2634.12	2664.56	170.25	2115.62	0	0	0	14.63	30.00	30.00
100.18	18727	-100.76	-1.67	80.00	2648.4	2633.1	2663.8	170.3	2115.3	3.98	-8.46	9	127.01	5.62	13.74	3.71	0.008	0.254	0.109	2909.09	2904.56	2913.62	1735.19	3475.06	0	0	0	14.85	14.99	14.66
349.17	1028	-100.76	-1.67	0.00	2910.7	2905.5	2915.8	1735.6	3475.1	62.17	-21.20	59	356.41	0.00	0.00	3.46	0.000	0.000	0.056	2912.59	2906.25	2918.94	1735.25	2081.88	0	0	0	30.00	30.00	15.45
415.32	0	-100.76	-1.67	0.00	2910.2	2904.5	2915.8	1735.4	2081.6	72.36	-14.87	66	416.64	0.00	0.00	0.00	0.000	0.000	0.000	2910.81	2905.25	2916.38	1735.81	2081.69	0	0	0	30.00	30.00	30.00
475.27	260	-100.76	-1.67	80.00	2910.6	2904.6	2916.5	1735.5	2082.1	80.39	-13.06	72	480.93	0.00	0.00	3.75	0.000	0.000	0.102	2910.91	2904.25	2917.56	1734.56	3474.44	0	0	0	30.00	30.00	15.34
514.18	1028	-100.76	-1.67	0.00	2910.6	2905.1	2916.2	1735.2	3475.5	85.69	-13.22	80	521.42	0.00	0.00	3.40	0.000	0.000	0.053	2911.16	2905.62	2916.69	1735.25	2079.94	0	0	0	30.00	30.00	15.48
580.34	260	-100.76	-1.67	80.00	2910.8	2905.2	2916.4	1735.7	2079.8	94.11	-12.81	87	585.96	0.00	0.00	3.74	0.000	0.000	0.102	2911.00	2904.88	2917.12	1735.19	3476.62	0	0	0	30.00	30.00	15.34
635.74	1028	-100.76	-1.67	0.00	2910.9	2905.4	2916.4	1735.7	3475.9	101.93	-14.11	98	640.90	0.00	0.00	3.40	0.000	0.000	0.053	2909.12	2903.69	2914.56	1735.44	2081.25	0	0	0	30.00	30.00	15.50
700.29	516	-100.76	-1.67	-80.00	2910.4	2904.7	2916.1	1735.2	2080.9	111.03	-13.53	105	706.01	0.00	0.00	4.05	0.000	0.000	0.147	2908.75	2902.94	2914.56	1735.25	661.31	0	0	0	30.00	30.00	15.17
739.21	1028	-100.76	-1.67	0.00	2910.4	2905.1	2915.7	1735.6	661.6	116.50	-14.19	113	746.47	0.00	0.00	3.51	0.000	0.000	0.047	2911.78	2906.38	2917.19	1735.38	2122.38	0	0	0	30.00	30.00	15.54
805.30	260	-100.76	-1.67	80.00	2910.4	2904.9	2915.9	1735.6	2122.3	124.90	-12.54	120	810.94	0.00	0.00	3.60	0.000	0.000	0.104	2908.97	2903.12	2914.81	1735.06	3474.38	0	0	0	30.00	30.00	15.35
844.22	1028	-100.76	-1.67	0.00	2910.4	2904.3	2916.4	1735.7	3475.1	130.91	-15.18	128	851.44	0.00	0.00	3.37	0.000	0.000	0.052	2911.72	2905.50	2917.94	1734.88	2081.25	0	0	0	30.00	30.00	15.49
910.37	0	-100.76	-1.67	0.00	2910.8	2905.1	2916.5	1735.8	2081.0	139.39	-13.22	135	911.70	0.00	0.00	0.00	0.000	0.000	0.000	2910.78	2905.19	2916.38	1735.38	2081.12	0	0	0	30.00	30.00	30.00
970.33	516	-100.76	-1.67	-80.00	2910.4	2905.0	2915.8	1735.6	2081.4	147.38	-12.74	141	976.04	0.00	0.00	4.05	0.000	0.000	0.148	2909.28	2904.25	2914.31	1735.06	661.94	0	0	0	30.00	30.00	15.17
1005.77	1028	-100.76	-1.67	0.00	2910.9	2905.2	2916.7	1735.8	661.8	152.52	-14.97	148	1010.96	0.00	0.00	3.50	0.000	0.000	0.047	2909.56	2903.75	2915.38	1735.12	2123.31	0	0	0	30.00	30.00	15.57
1130.37	0	-100.76	-1.67	0.00	2910.6	2905.1	2916.1	1735.9	2123.4	167.78	-12.09	161	1131.70	0.00	0.00	0.00	0.000	0.000	0.000	2910.66	2904.81	2916.50	1735.50	2123.50	0	0	0	30.00	30.00	30.00
1250.35	0	-100.76	-1.67	0.00	2910.3	2904.8	2915.8	1735.4	2123.4	182.26	-12.80	173	1251.68	0.00	0.00	0.00	0.000	0.000	0.000	2911.03	2905.50	2916.56	1735.44	2123.56	0	0	0	30.00	30.00	30.00
1370.36	260	-100.76	-1.67	80.00	2910.7	2905.1	2916.2	1735.4	2123.3	195.81	-10.82	185	1376.01	0.00	0.00	3.63	0.000	0.000	0.107	2909.25	2903.75	2914.75	1735.19	3476.38	0	0	0	30.00	30.00	15.33
1409.27	1028	-100.76	-1.67	0.00	2910.6	2904.6	2916.6	1735.4	3475.1	201.00	-12.59	193	1416.49	0.00	0.00	3.38	0.000	0.000	0.052	2911.03	2905.25	2916.81	1735.19	2080.25	0	0	0	30.00	30.00	15.49
1535.38	260	-100.76	-1.67	80.00	2910.9	2905.7	2916.1	1735.4	2079.9	214.99	-11.26	206	1541.04	0.00	0.00	3.72	0.000	0.000	0.103	2911.41	2906.00	2916.81	1734.56	3477.00	0	0	0	30.00	30.00	15.34
1580.83	1028	-100.76	-1.67	0.00	2910.8	2904.9	2916.8	1735.5	3476.9	220.88	-12.37	215	1585.99	0.00	0.00	3.37	0.000	0.000	0.052	2910.31	2904.25	2916.38	1735.50	2080.75	0	0	0	30.00	30.00	15.50
1705.40	260	-100.76	-1.67	80.00	2910.8	2904.9	2916.8	1735.7	2081.4	235.47	-11.69	228	1711.06	0.00	0.00	3.72	0.000	0.000	0.103	2911.03	2903.94	2918.12	1734.81	3475.62	0	0	0	30.00	30.00	15.34
1750.85	1028	-100.76	-1.67	0.00	2910.4	2904.3	2916.4	1735.9	3475.7	241.33	-13.12	237	1756.00	0.00	0.00	3.36	0.000	0.000	0.053	2910.66	2905.25	2916.06	1735.31	2080.12	0	0	0	30.00	30.00	15.50
1885.41	260	-100.76	-1.67	80.00	2911.2	2905.4	2917.1	1735.6	2079.8	257.98	-12.01	247	1891.08	0.00	0.00	3.72	0.000	0.000	0.103	2911.56	2905.94	2917.19	1735.44	3476.44	0	0	0	30.00	30.00	15.33
1944.33	1028	-100.76	-1.67	0.00	2910.9	2905.3	2916.5	1735.7	3476.9	266.39	-14.60	259	1950.01	0.00	0.00	3.37	0.000	0.000	0.053	2911.97	2906.06	2917.88	1735.75	2080.75	0	0	0	30.00	30.00	15.48
2270.45	516	-100.76	-1.67	-80.00	2911.0	2905.1	2917.0	1735.6	2081.2	310.37	-13.62	274	2276.15	0.00	0.00	4.05	0.000	0.000	0.152	2911.28	2905.50	2917.06	1735.00	662.75	0	0	0	30.00	30.00	15.11
2299.34	1028	-100.76	-1.67	0.00	2910.8	2904.6	2917.1	1735.6	662.6	313.83	-11.54	280	2305.05	0.00	0.00	3.47	0.000	0.000	0.049	2912.78	2907.38	2918.19	1734.56	2121.94	0	0	0	30.00	30.00	15.54
2625.46	260	-100.76	-1.67	80.00	2911.1	2905.4	2916.8	1735.9	2122.5	352.21	-11.53	295	2631.09	0.00	0.00	3.61	0.000	0.000	0.109	2911.62	2906.38	2916.88	1734.12	3475.00	0	0	0	30.00	30.00	15.30
2664.36	1028	-100.76	-1.67	0.00	2911.1	2905.2	2916.9	1735.1	3474.9	357.38	-12.55	303	2670.05	0.00	0.00	3.38	0.000	0.000	0.055	2911.31	2905.31	2917.31	1736.00	2081.62	0	0	0	30.00	30.00	15.46
2980.46	260	-100.76	-1.67	80.00	2910.6	2904.6	2916.5	1735.6	2081.5	392.03	-11.24	316	2986.13	0.00	0.00	3.78	0.000	0.000	0.109	2909.38	2903.38	2915.38	1735.69	3475.75	0	0	0	30.00	30.00	15.28
3049.39	1028	-100.76	-1.67	0.00	2910.9	2904.6	2917.2	1735.6	3475.9	401.58	-13.71	330	3055.08	0.00	0.00	3.40	0.000	0.000	0.056	2911.22	2905.12	2917.31	1735.50	2082.25	0	0	0	30.00	30.00	15.44
3365.48	0	-100.76	-1.67	0.00	2911.0	2905.2	2916.8	1735.4	2082.6	438.08	-11.95	343	3366.81	0.00	0.00	0.00	0.000	0.000	0.000	2911.12	2905.25	2917.00	1735.12	2082.12	0	0	0	30.00	30.00	30.00
3665.48	260	-100.76	-1.67	80.00	2910.2	2904.8	2915.6	1735.4	2083.1	474.83	-11.76	353	3671.17	0.00	0.00	3.81	0.000	0.000	0.112	2910.69	2904.75	2916.62	1734.44	3474.56	0	0	0	30.00	30.00	15.25
3774.41	1028	-100.76	-1.67	0.00	2910.7	2904.9	2916.5	1735.3	3474.4	490.01	-14.33	375	3781.67	0.00	0.00	3.41	0.000	0.000	0.058	2910.62	2905.19	2916.06	1735.38	2082.19	0	0	0	30.00	30.00	15.41
3870	end dive: TARGET_DEPTH_EXCEEDED
state	3871	begin apogee
3871.64	10243	0.00	-0.25	0.00	2910.5	2905.3	2915.6	1735.2	2121.6	501.42	-11.98	379	3962.79	85.82	2.69	0.09	1.648	0.154	0.226	2498.28	2507.44	2489.12	2079.94	2085.06	0	0	0	10.62	15.22	14.86
3966	end apogee: CONTROL_FINISHED_OK
state	3966	begin climb
3965.79	10243	100.76	1.67	0.00	2497.5	2506.8	2488.2	2079.8	2085.2	504.44	0.00	382	4062.87	92.71	3.31	0.00	1.593	0.077	0.000	2086.81	2099.75	2073.88	2551.25	2084.62	0	0	0	11.54	15.18	30.00
4350.58	8742	125.70	1.75	-80.00	2076.9	2094.0	2059.9	2551.1	2084.9	474.78	8.60	395	4382.26	23.02	0.00	4.03	1.477	0.000	0.141	1987.41	2004.44	1970.38	2551.44	660.81	0	0	0	11.40	30.00	15.04
4411.04	1028	125.70	1.75	0.00	1984.6	2000.8	1968.4	2551.5	660.4	468.52	10.68	407	4416.20	0.00	0.00	3.52	0.000	0.000	0.046	1982.94	1999.25	1966.62	2551.00	2125.69	0	0	0	30.00	30.00	15.49
4735.63	64	125.70	1.77	0.00	1980.4	2000.6	1960.2	2551.6	2126.1	435.21	10.18	422	4736.95	0.00	0.00	0.00	0.000	0.000	0.000	1980.44	2001.19	1959.69	2552.12	2125.69	0	0	0	30.00	30.00	30.00
5035.58	19015	125.70	1.81	-80.00	1978.8	1999.5	1958.0	2551.1	2125.9	405.62	9.72	432	5041.35	0.00	0.17	4.11	0.000	0.084	0.136	1977.06	1997.75	1956.38	2595.69	661.69	0	0	0	30.00	15.67	15.26
5229.53	17414	125.70	1.81	0.00	1977.3	1996.8	1957.8	2595.6	661.8	380.59	14.08	471	5235.24	0.00	0.00	3.51	0.000	0.000	0.047	1978.28	1997.31	1959.25	2595.38	2126.50	0	0	0	30.00	30.00	15.61
5540.63	16902	125.70	1.81	-80.00	1976.5	1996.3	1956.7	2595.8	2126.4	347.25	10.97	483	5546.35	0.00	0.00	4.09	0.000	0.000	0.132	1975.28	1995.56	1955.00	2596.06	662.75	0	0	0	30.00	30.00	15.23
5716.09	17414	125.70	1.81	0.00	1976.0	1995.2	1956.8	2596.0	662.8	324.91	10.72	518	5721.29	0.00	0.00	3.51	0.000	0.000	0.046	1976.16	1994.62	1957.69	2593.50	2127.69	0	0	0	30.00	30.00	15.64
6040.74	16966	125.70	1.87	-80.00	1976.1	1996.1	1956.0	2596.0	2127.6	294.53	9.34	533	6046.41	0.00	0.00	4.12	0.000	0.000	0.131	1975.16	1994.94	1955.38	2595.62	661.62	0	0	0	30.00	30.00	15.21
6269.62	17414	125.70	1.87	0.00	1974.9	1994.3	1955.4	2596.1	661.6	271.14	11.10	579	6276.42	0.00	0.00	3.49	0.000	0.000	0.046	1975.69	1995.25	1956.12	2595.94	2127.25	0	0	0	30.00	30.00	15.60
6575.79	8226	149.42	1.94	0.00	1974.1	1994.1	1954.2	2595.8	2127.1	244.15	8.73	594	6598.23	21.52	0.00	0.00	1.325	0.000	0.000	1890.16	1911.62	1868.69	2596.69	2127.00	0	0	0	11.02	30.00	30.00
6715.75	580	149.42	1.97	-80.00	1885.6	1907.7	1863.5	2595.6	2127.4	231.01	10.11	608	6721.45	0.00	0.00	4.09	0.000	0.000	0.130	1886.69	1908.19	1865.19	2595.38	661.94	0	0	0	30.00	30.00	15.33
6771.19	1028	149.42	1.97	0.00	1884.9	1906.6	1863.3	2596.5	661.4	224.56	11.55	619	6776.38	0.00	0.00	3.51	0.000	0.000	0.045	1883.75	1905.19	1862.31	2596.44	2128.50	0	0	0	30.00	30.00	15.63
6895.78	2113	149.42	2.03	0.00	1884.6	1906.9	1862.3	2595.9	2128.3	212.79	9.14	632	6897.23	0.00	0.23	0.00	0.000	0.069	0.000	1883.44	1905.31	1861.56	2647.62	2128.50	0	0	0	30.00	15.62	30.00
7015.77	516	149.42	2.03	-80.00	1884.5	1906.4	1862.5	2647.5	2128.1	199.29	11.40	644	7021.49	0.00	0.00	4.12	0.000	0.000	0.127	1883.91	1905.69	1862.12	2647.62	660.81	0	0	0	30.00	30.00	15.25
7101.22	1028	149.42	2.03	0.00	1883.9	1905.9	1861.9	2648.1	660.6	188.29	11.74	661	7106.42	0.00	0.00	3.52	0.000	0.000	0.044	1883.53	1905.31	1861.75	2647.50	2125.88	0	0	0	30.00	30.00	15.62
7225.80	516	149.42	2.03	-80.00	1883.6	1905.4	1861.8	2647.5	2126.3	173.39	12.10	674	7231.52	0.00	0.00	4.09	0.000	0.000	0.126	1885.00	1906.06	1863.94	2648.06	661.62	0	0	0	30.00	30.00	15.25
7344.72	1028	149.42	2.03	0.00	1883.8	1905.4	1862.1	2648.2	661.8	157.97	11.29	698	7351.53	0.00	0.00	3.49	0.000	0.000	0.045	1884.25	1906.00	1862.50	2648.06	2127.06	0	0	0	30.00	30.00	15.60
7470.85	324	149.42	2.07	80.00	1883.6	1905.5	1861.7	2647.8	2127.4	145.26	9.71	711	7476.49	0.00	0.00	3.62	0.000	0.000	0.108	1882.69	1904.56	1860.81	2647.12	3473.69	0	0	0	30.00	30.00	15.32
7505.83	1028	149.42	2.07	0.00	1883.4	1905.1	1861.6	2647.8	3473.3	141.20	11.58	718	7510.43	0.00	0.00	3.38	0.000	0.000	0.050	1884.25	1906.12	1862.38	2648.19	2078.00	0	0	0	30.00	30.00	15.55
7575.85	8742	169.83	2.13	-80.00	1883.5	1905.5	1861.4	2648.0	2077.9	135.06	9.06	726	7600.98	19.75	0.00	3.90	1.191	0.000	0.130	1807.22	1828.81	1785.62	2648.06	660.94	0	0	0	11.38	30.00	15.16
7729.79	1028	169.83	2.13	0.00	1804.3	1823.7	1784.9	2648.2	660.6	114.90	13.79	757	7736.59	0.00	0.00	3.49	0.000	0.000	0.045	1803.31	1823.44	1783.19	2647.56	2128.00	0	0	0	30.00	30.00	15.61
7795.94	0	169.83	2.13	0.00	1802.2	1823.2	1781.1	2648.1	2128.7	107.33	10.81	764	7797.26	0.00	0.00	0.00	0.000	0.000	0.000	1802.25	1823.44	1781.06	2647.75	2128.62	0	0	0	30.00	30.00	30.00
7855.90	516	169.83	2.13	-80.00	1801.9	1823.6	1780.1	2648.0	2128.5	100.59	11.44	770	7861.60	0.00	0.00	4.07	0.000	0.000	0.125	1801.41	1823.25	1779.56	2647.88	661.56	0	0	0	30.00	30.00	15.29
7964.84	1092	169.83	2.16	0.00	1801.7	1823.5	1779.9	2647.7	661.8	87.62	10.23	792	7971.63	0.00	0.00	3.46	0.000	0.000	0.044	1801.66	1822.56	1780.75	2647.56	2129.38	0	0	0	30.00	30.00	15.61
8030.98	10535	207.90	2.27	80.00	1801.2	1823.6	1778.8	2647.9	2129.7	82.72	7.29	799	8082.71	44.23	0.28	3.65	1.128	0.068	0.110	1651.12	1673.19	1629.06	2705.75	3473.06	0	0	0	11.64	15.66	15.08
8304.88	9254	228.54	2.33	0.00	1647.4	1670.8	1624.1	2705.9	3473.8	59.73	9.04	854	8336.09	24.36	0.00	3.42	1.067	0.000	0.053	1569.09	1593.88	1544.31	2705.62	2078.50	0	0	0	11.57	30.00	15.51
8400.98	10535	279.06	2.49	80.00	1565.9	1591.9	1539.9	2705.6	2077.9	53.47	6.03	867	8463.96	57.02	0.23	3.83	1.079	0.067	0.106	1362.00	1387.69	1336.31	2753.81	3473.56	0	0	0	11.62	15.50	14.99
8557.20	1028	279.06	2.49	0.00	1359.0	1386.0	1331.9	2754.1	3473.6	38.82	11.58	898	8561.94	0.00	0.00	3.46	0.000	0.000	0.052	1359.06	1386.31	1331.81	2754.81	2076.94	0	0	0	30.00	30.00	15.44
8627.21	580	279.06	2.53	-80.00	1358.2	1385.9	1330.5	2754.5	2076.7	31.70	9.75	906	8632.90	0.00	0.00	3.97	0.000	0.000	0.130	1357.72	1385.56	1329.88	2754.50	661.50	0	0	0	30.00	30.00	15.24
8702.65	1028	279.06	2.53	0.00	1358.0	1385.6	1330.5	2755.2	661.9	23.50	11.10	921	8707.84	0.00	0.00	3.52	0.000	0.000	0.045	1358.34	1385.94	1330.75	2753.69	2128.56	0	0	0	30.00	30.00	15.56
8767.22	324	279.06	2.58	80.00	1357.2	1385.4	1328.9	2754.0	2128.4	17.51	9.27	928	8772.86	0.00	0.00	3.61	0.000	0.000	0.105	1356.19	1384.12	1328.25	2754.56	3473.56	0	0	0	30.00	30.00	15.32
8796.13	1092	279.06	2.61	0.00	1356.2	1384.2	1328.1	2754.2	3473.8	14.41	10.08	934	8802.91	0.00	0.00	3.39	0.000	0.000	0.050	1356.22	1384.31	1328.12	2754.50	2074.94	0	0	0	30.00	30.00	15.49
8862.29	10275	301.25	2.68	0.00	1356.2	1384.6	1327.8	2754.6	2075.1	8.45	8.88	941	8886.82	23.42	0.22	0.00	0.997	0.076	0.000	1272.50	1300.75	1244.25	2801.38	2075.00	0	0	0	11.26	15.60	30.00
8932	end climb: SURFACE_DEPTH_REACHED
state	8932	begin surface coast
8952	end surface coast: CONTROL_FINISHED_OK
state	8952	begin surface