Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1058 * 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 1058 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 73.736649 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 252.57535 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 0 SC_NDIVE 1.0

HD_B 0.0099900002 ROLL_DEG 80 ALTIM_PING_DELTA 0

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 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 475

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 73.736649 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 252.57535 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 1058 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 050421,091227,4707.985,-12502.589,31,1.6,32,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.44 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -62.8 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 050421,091921,4707.950,-12502.604,3,0.9,5,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 67.5,768,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 9030.11,1.24,0.130,0,564.9,565.7,564.2,474.67 _10V_AH 14.77,0.000

SM_GC -0.72,1.24,17.86,0.08,0.130,0.080,0.137,564.9,565.7,564.2,176.1,2132.8,0,0,0,15.13,15.27,15.64 FG_AHR_24Vo 252.794

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 73.767

IRIDIUM_FIX 4708.39,-12501.34,050421,063140 MEM 1103648,40,73460,56

TCM_TEMP 174.82 DATA_FILE_SIZE 35391,943

XPDR_PINGS 5,14.0,11.5 CAP_FILE_SIZE 495767,0

SC_FREEKB 3453792 SDSIZE 3918848,3630752

HUMID 58.34 SDFILEDIR 5316,1

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

INTERNAL_PRESSURE 7.77187 GPS 050421,115039,4707.956,-12501.323,4,0.8,21,15.6

_24V_AH 13.63,290.859

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 659 2580 23179.33 legato 0 0 0.00

Pitch_motor 38 247 129.63 nil 0 0 0.00

Roll_motor 228 247 768.12 nil 0 0 0.00

Iridium 188 197 507.08 nil 0 0 0.00

Transponder_ping 1 420 7.16 nil 0 0 0.00

GPS 14 15 3.12 nil 0 0 0.00

Core 3454 11 602.10 SciCon 8880 5 678.08

LPSleep 5742 2 237.48 nil 0 0 0.00

Compass 1784 5 131.77 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 0 0 0.00

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

8.28 16386 -74.33 -1.59 0.00 560.3 563.2 557.3 168.9 2122.9 0.00 0.00 0 100.52 91.79 0.00 0.00 0.005 0.000 0.000 2654.97 2636.94 2673.00 168.88 2123.25 0 0 0 14.62 30.00 30.00

100.75 18983 -100.71 -1.67 -80.00 2654.4 2636.6 2672.1 169.0 2123.2 4.28 -8.46 9 128.68 5.38 13.73 4.22 0.009 0.247 0.147 2911.06 2905.75 2916.38 1733.81 662.38 0 0 0 14.84 14.98 14.65

207.41 1028 -100.71 -1.67 0.00 2910.7 2905.4 2915.9 1734.1 662.8 30.95 -18.85 30 212.59 0.00 0.00 3.57 0.000 0.000 0.051 2910.25 2905.50 2915.00 1734.06 2122.06 0 0 0 30.00 30.00 15.49

271.96 260 -100.71 -1.67 80.00 2910.4 2905.4 2915.5 1734.1 2121.9 43.66 -20.19 37 277.62 0.00 0.00 3.68 0.000 0.000 0.107 2909.09 2903.69 2914.50 1733.94 3473.56 0 0 0 30.00 30.00 15.31

310.87 1028 -100.71 -1.67 0.00 2910.5 2905.1 2915.9 1734.1 3474.0 52.28 -21.40 45 317.66 0.00 0.00 3.38 0.000 0.000 0.051 2912.66 2906.88 2918.44 1734.19 2081.19 0 0 0 30.00 30.00 15.45

377.03 260 -100.71 -1.67 80.00 2910.8 2905.9 2915.8 1734.4 2081.1 63.50 -17.22 52 382.64 0.00 0.00 3.76 0.000 0.000 0.101 2908.88 2903.44 2914.31 1734.44 3476.25 0 0 0 30.00 30.00 15.33

471.98 1028 -100.71 -1.67 0.00 2910.6 2905.0 2916.1 1734.0 3476.6 78.34 -15.87 71 476.57 0.00 0.00 3.39 0.000 0.000 0.051 2912.88 2906.94 2918.81 1734.50 2081.00 0 0 0 30.00 30.00 15.48

541.98 0 -100.71 -1.67 0.00 2910.9 2905.0 2916.8 1734.7 2080.8 87.70 -13.09 79 543.31 0.00 0.00 0.00 0.000 0.000 0.000 2911.22 2905.88 2916.56 1733.88 2081.31 0 0 0 30.00 30.00 30.00

602.00 516 -100.71 -1.67 -80.00 2910.4 2905.1 2915.8 1734.5 2081.0 95.28 -12.65 85 607.74 0.00 0.00 4.07 0.000 0.000 0.146 2909.31 2903.62 2915.00 1734.00 662.62 0 0 0 30.00 30.00 15.16

640.91 1028 -100.71 -1.67 0.00 2910.7 2904.9 2916.4 1733.9 662.8 100.56 -13.75 93 647.71 0.00 0.00 3.49 0.000 0.000 0.045 2911.06 2905.44 2916.69 1734.81 2125.00 0 0 0 30.00 30.00 15.54

707.06 260 -100.71 -1.67 80.00 2910.8 2905.0 2916.6 1734.4 2125.1 108.16 -11.29 100 712.66 0.00 0.00 3.61 0.000 0.000 0.103 2909.47 2904.75 2914.19 1734.25 3476.31 0 0 0 30.00 30.00 15.34

762.46 1028 -100.71 -1.67 0.00 2910.9 2905.6 2916.2 1734.3 3476.3 114.85 -12.88 111 767.62 0.00 0.00 3.37 0.000 0.000 0.049 2911.16 2905.00 2917.31 1732.56 2079.31 0 0 0 30.00 30.00 15.50

827.07 0 -100.71 -1.67 0.00 2910.7 2905.1 2916.2 1734.4 2079.8 122.96 -12.46 118 828.40 0.00 0.00 0.00 0.000 0.000 0.000 2911.38 2905.31 2917.44 1734.31 2080.00 0 0 0 30.00 30.00 30.00

887.03 0 -100.71 -1.67 0.00 2910.8 2905.2 2916.4 1734.2 2080.1 129.96 -11.66 124 888.36 0.00 0.00 0.00 0.000 0.000 0.000 2910.16 2904.75 2915.56 1734.44 2079.75 0 0 0 30.00 30.00 30.00

947.03 260 -100.71 -1.67 80.00 2910.9 2905.5 2916.3 1733.9 2079.4 137.15 -11.79 130 952.69 0.00 0.00 3.77 0.000 0.000 0.101 2909.19 2904.00 2914.38 1733.94 3476.44 0 0 0 30.00 30.00 15.34

982.02 1028 -100.71 -1.67 0.00 2911.0 2905.4 2916.6 1734.2 3476.3 141.73 -13.06 137 986.63 0.00 0.00 3.36 0.000 0.000 0.049 2911.06 2905.38 2916.75 1734.50 2079.94 0 0 0 30.00 30.00 15.50

1052.03 260 -100.71 -1.67 80.00 2911.2 2905.1 2917.2 1733.8 2080.7 150.22 -11.78 145 1057.71 0.00 0.00 3.73 0.000 0.000 0.100 2909.88 2903.88 2915.88 1734.12 3475.75 0 0 0 30.00 30.00 15.34

1087.05 1028 -100.71 -1.67 0.00 2911.0 2905.6 2916.5 1734.5 3475.5 154.57 -13.13 152 1091.64 0.00 0.00 3.35 0.000 0.000 0.048 2911.69 2905.81 2917.56 1734.38 2080.06 0 0 0 30.00 30.00 15.50

1217.06 516 -100.71 -1.67 -80.00 2911.3 2905.7 2916.9 1734.1 2080.4 170.26 -12.17 166 1222.77 0.00 0.00 4.04 0.000 0.000 0.145 2910.59 2905.25 2915.94 1734.38 661.69 0 0 0 30.00 30.00 15.16

1272.51 1028 -100.71 -1.67 0.00 2911.1 2905.5 2916.8 1734.4 661.6 178.12 -14.84 177 1277.67 0.00 0.00 3.47 0.000 0.000 0.044 2911.62 2906.56 2916.69 1734.19 2123.19 0 0 0 30.00 30.00 15.58

1397.07 260 -100.71 -1.67 80.00 2911.0 2905.4 2916.6 1734.3 2122.7 193.92 -12.64 190 1402.72 0.00 0.00 3.62 0.000 0.000 0.104 2912.00 2906.00 2918.00 1734.12 3475.50 0 0 0 30.00 30.00 15.34

1475.98 1028 -100.71 -1.67 0.00 2911.0 2905.8 2916.3 1734.3 3476.1 205.25 -14.23 206 1482.77 0.00 0.00 3.34 0.000 0.000 0.049 2911.47 2905.94 2917.00 1734.56 2081.19 0 0 0 30.00 30.00 15.48

1602.09 0 -100.71 -1.67 0.00 2911.5 2905.5 2917.5 1734.2 2081.5 221.45 -12.89 219 1603.42 0.00 0.00 0.00 0.000 0.000 0.000 2911.28 2905.50 2917.06 1734.56 2081.12 0 0 0 30.00 30.00 30.00

1722.09 0 -100.71 -1.67 0.00 2911.2 2905.2 2917.1 1734.2 2081.4 235.71 -12.01 231 1723.42 0.00 0.00 0.00 0.000 0.000 0.000 2911.28 2905.50 2917.06 1734.25 2081.00 0 0 0 30.00 30.00 30.00

1842.10 0 -100.71 -1.67 0.00 2911.0 2905.1 2916.9 1734.1 2081.4 250.36 -12.08 243 1843.44 0.00 0.00 0.00 0.000 0.000 0.000 2911.69 2906.06 2917.31 1734.50 2081.12 0 0 0 30.00 30.00 30.00

2142.11 260 -100.71 -1.67 80.00 2911.1 2904.9 2917.2 1734.3 2080.8 286.13 -12.01 253 2147.77 0.00 0.00 3.80 0.000 0.000 0.105 2911.31 2905.50 2917.12 1732.31 3475.62 0 0 0 30.00 30.00 15.32

2216.09 1028 -100.71 -1.67 0.00 2911.4 2905.9 2916.9 1734.1 3475.9 295.51 -12.57 268 2221.72 0.00 0.00 3.36 0.000 0.000 0.052 2911.94 2905.94 2917.94 1734.19 2080.69 0 0 0 30.00 30.00 15.46

2527.14 516 -100.71 -1.67 -80.00 2911.5 2905.6 2917.5 1734.0 2081.1 332.06 -11.82 280 2532.87 0.00 0.00 4.11 0.000 0.000 0.150 2909.78 2905.19 2914.38 1734.12 661.75 0 0 0 30.00 30.00 15.10

2616.08 1028 -100.71 -1.67 0.00 2910.9 2904.6 2917.1 1734.1 661.8 344.44 -13.47 298 2621.78 0.00 0.00 3.49 0.000 0.000 0.046 2911.22 2905.56 2916.88 1734.19 2123.88 0 0 0 30.00 30.00 15.54

2942.21 0 -100.71 -1.67 0.00 2910.8 2904.9 2916.6 1734.2 2124.4 381.34 -11.43 313 2943.54 0.00 0.00 0.00 0.000 0.000 0.000 2911.78 2906.06 2917.50 1734.31 2123.81 0 0 0 30.00 30.00 30.00

3242.18 0 -100.71 -1.67 0.00 2911.2 2905.2 2917.1 1734.2 2123.8 415.74 -11.66 323 3243.51 0.00 0.00 0.00 0.000 0.000 0.000 2911.59 2906.00 2917.19 1734.25 2124.31 0 0 0 30.00 30.00 30.00

3542.19 260 -100.71 -1.67 80.00 2910.7 2905.1 2916.2 1734.2 2123.9 449.79 -11.52 333 3547.86 0.00 0.00 3.68 0.000 0.000 0.112 2909.12 2903.31 2914.94 1734.38 3474.00 0 0 0 30.00 30.00 15.24

3601.12 1028 -100.71 -1.67 0.00 2910.7 2904.6 2916.8 1733.8 3474.1 457.27 -14.60 345 3606.80 0.00 0.00 3.38 0.000 0.000 0.053 2913.47 2907.69 2919.25 1734.06 2080.81 0 0 0 30.00 30.00 15.42

3927.23 260 -100.71 -1.67 80.00 2910.6 2904.8 2916.5 1734.2 2081.0 492.50 -10.66 360 3932.91 0.00 0.00 3.81 0.000 0.000 0.107 2909.34 2903.12 2915.56 1734.00 3475.56 0 0 0 30.00 30.00 15.24

3996 end dive: TARGET_DEPTH_EXCEEDED

state 3996 begin apogee

4000.99 10243 0.00 -0.25 0.00 2910.5 2904.8 2916.2 1734.1 2083.4 500.75 -13.21 374 4090.30 85.55 2.70 0.07 1.633 0.159 0.247 2496.91 2505.69 2488.12 2080.31 2121.06 0 0 0 10.68 15.16 14.86

4093 end apogee: CONTROL_FINISHED_OK

state 4093 begin climb

4093.33 10243 100.71 1.67 0.00 2497.8 2507.0 2488.7 2079.8 2121.4 503.42 0.00 379 4190.82 92.39 3.31 0.00 1.575 0.077 0.000 2087.59 2100.06 2075.12 2550.69 2120.69 0 0 0 11.54 15.18 30.00

4464.46 16966 100.71 1.72 -80.00 2077.3 2093.8 2060.8 2551.1 2120.6 472.54 9.58 392 4470.14 0.00 0.00 4.13 0.000 0.000 0.135 2075.94 2092.44 2059.44 2551.12 661.56 0 0 0 30.00 30.00 15.24

4519.86 9254 121.90 1.78 0.00 2076.0 2091.3 2060.7 2550.8 661.6 466.89 8.98 403 4544.51 19.51 0.00 3.51 1.429 0.000 0.045 2001.88 2020.06 1983.69 2551.06 2127.31 0 0 0 11.41 30.00 15.57

4849.43 516 121.90 1.78 -80.00 1996.3 2016.9 1975.7 2550.8 2126.5 430.84 11.50 419 4855.16 0.00 0.00 4.13 0.000 0.000 0.134 1995.47 2015.81 1975.12 2550.75 662.38 0 0 0 30.00 30.00 15.27

4968.34 1028 121.90 1.78 0.00 1995.2 2014.6 1975.9 2550.9 662.6 415.56 11.32 443 4974.05 0.00 0.00 3.51 0.000 0.000 0.046 1995.81 2015.44 1976.19 2549.75 2123.81 0 0 0 30.00 30.00 15.59

5294.52 19015 121.90 1.82 -80.00 1994.0 2014.1 1973.9 2551.1 2124.5 384.04 9.92 458 5300.22 0.00 0.19 4.10 0.000 0.083 0.131 1993.75 2014.25 1973.25 2595.75 661.69 0 0 0 30.00 15.67 15.25

5518.39 17414 121.90 1.82 0.00 1993.0 2012.8 1973.2 2596.2 661.6 355.35 11.69 503 5524.08 0.00 0.00 3.48 0.000 0.000 0.046 1993.72 2013.06 1974.38 2596.44 2126.06 0 0 0 30.00 30.00 15.58

5829.53 16966 121.90 1.84 -80.00 1992.4 2012.6 1972.2 2596.4 2125.8 322.09 10.31 515 5835.22 0.00 0.00 4.12 0.000 0.000 0.132 1991.16 2011.50 1970.81 2596.31 662.44 0 0 0 30.00 30.00 15.20

5945.01 17414 121.90 1.84 0.00 1991.6 2011.2 1972.0 2596.3 662.6 308.50 11.10 538 5950.12 0.00 0.00 3.50 0.000 0.000 0.045 1991.84 2011.06 1972.62 2595.81 2126.25 0 0 0 30.00 30.00 15.62

6269.58 8742 144.52 1.91 -80.00 1991.2 2010.9 1971.4 2596.5 2126.4 277.90 8.84 553 6295.69 20.83 0.00 4.07 1.336 0.000 0.131 1909.91 1929.38 1890.44 2594.19 661.56 0 0 0 11.09 30.00 15.20

6515.00 1028 144.52 1.91 0.00 1906.0 1924.0 1888.0 2596.4 661.6 248.13 12.16 602 6520.20 0.00 0.00 3.52 0.000 0.000 0.045 1905.09 1923.50 1886.69 2596.75 2126.19 0 0 0 30.00 30.00 15.61

6639.58 260 144.52 1.91 80.00 1904.2 1923.6 1884.9 2596.8 2125.9 234.43 10.82 615 6645.22 0.00 0.00 3.63 0.000 0.000 0.108 1903.69 1922.62 1884.75 2595.81 3475.94 0 0 0 30.00 30.00 15.36

6664.62 1028 144.52 1.91 0.00 1904.1 1923.6 1884.6 2596.4 3476.6 231.49 10.76 620 6669.16 0.00 0.00 3.39 0.000 0.000 0.050 1906.47 1926.00 1886.94 2596.44 2078.00 0 0 0 30.00 30.00 15.55

6794.60 580 144.52 1.93 -80.00 1903.9 1923.6 1884.3 2596.0 2077.8 218.28 10.33 634 6800.28 0.00 0.00 3.93 0.000 0.000 0.131 1905.84 1925.69 1886.00 2596.62 661.75 0 0 0 30.00 30.00 15.25

6953.53 1028 144.52 1.93 0.00 1903.7 1923.8 1883.7 2596.3 661.7 199.99 11.60 666 6960.33 0.00 0.00 3.49 0.000 0.000 0.045 1904.31 1924.25 1884.38 2597.12 2129.38 0 0 0 30.00 30.00 15.60

7079.65 10791 173.46 2.02 -80.00 1903.2 1923.6 1882.8 2596.4 2129.9 189.14 8.20 679 7114.34 26.68 0.20 4.04 1.270 0.079 0.126 1791.69 1812.12 1771.25 2642.12 661.56 0 0 0 11.44 15.67 15.15

7153.54 1028 173.46 2.02 0.00 1789.8 1809.2 1770.4 2643.0 662.1 180.11 13.88 694 7160.34 0.00 0.00 3.50 0.000 0.000 0.044 1789.38 1809.06 1769.69 2642.88 2128.62 0 0 0 30.00 30.00 15.57

7279.65 516 173.46 2.02 -80.00 1787.3 1809.2 1765.4 2643.1 2128.6 164.76 12.08 707 7285.35 0.00 0.00 4.05 0.000 0.000 0.125 1787.75 1809.75 1765.75 2643.06 661.81 0 0 0 30.00 30.00 15.31

7345.15 1028 173.46 2.02 0.00 1786.7 1808.2 1765.2 2642.8 661.7 155.26 15.31 720 7350.28 0.00 0.00 3.49 0.000 0.000 0.044 1788.12 1809.75 1766.50 2642.38 2128.88 0 0 0 30.00 30.00 15.60

7469.73 0 173.46 2.02 0.00 1785.8 1808.2 1763.4 2642.6 2130.0 139.21 12.01 733 7471.06 0.00 0.00 0.00 0.000 0.000 0.000 1785.84 1808.12 1763.56 2642.56 2129.56 0 0 0 30.00 30.00 30.00

7529.68 516 173.46 2.02 -80.00 1785.6 1807.9 1763.2 2643.2 2130.1 132.23 11.16 739 7535.39 0.00 0.00 4.10 0.000 0.000 0.126 1787.00 1809.06 1764.94 2642.56 662.62 0 0 0 30.00 30.00 15.25

7545.12 1028 173.46 2.02 0.00 1785.6 1807.9 1763.2 2642.6 662.6 130.33 11.90 742 7550.31 0.00 0.00 3.47 0.000 0.000 0.043 1784.53 1807.00 1762.06 2642.81 2129.12 0 0 0 30.00 30.00 15.62

7609.68 516 173.46 2.02 -80.00 1785.5 1808.3 1762.6 2643.0 2129.5 122.21 12.00 749 7615.40 0.00 0.00 4.07 0.000 0.000 0.124 1787.38 1810.06 1764.69 2643.44 661.62 0 0 0 30.00 30.00 15.24

7635.12 1028 173.46 2.02 0.00 1785.3 1808.0 1762.6 2643.0 661.6 119.26 12.50 754 7640.30 0.00 0.00 3.47 0.000 0.000 0.043 1784.88 1808.06 1761.69 2643.44 2128.44 0 0 0 30.00 30.00 15.62

7699.69 516 173.46 2.02 -80.00 1785.7 1808.6 1762.8 2642.5 2128.9 111.96 10.63 761 7705.41 0.00 0.00 4.07 0.000 0.000 0.124 1784.12 1806.56 1761.69 2642.88 662.56 0 0 0 30.00 30.00 15.25

7755.15 1028 173.46 2.02 0.00 1785.3 1808.0 1762.7 2642.9 662.7 105.20 12.67 772 7760.31 0.00 0.00 3.49 0.000 0.000 0.044 1785.84 1808.06 1763.62 2643.25 2129.62 0 0 0 30.00 30.00 15.61

7819.71 8486 194.23 2.08 80.00 1785.0 1807.9 1762.1 2643.0 2129.4 98.99 9.02 779 7850.93 24.31 0.00 3.58 1.119 0.000 0.109 1708.81 1732.06 1685.56 2642.94 3475.44 0 0 0 11.58 30.00 15.16

7869.71 1092 194.23 2.12 0.00 1706.3 1729.5 1683.1 2642.9 3475.9 93.99 9.66 789 7874.29 0.00 0.00 3.39 0.000 0.000 0.052 1706.06 1729.50 1682.62 2643.06 2078.25 0 0 0 30.00 30.00 15.58

7939.71 516 194.23 2.12 -80.00 1705.4 1729.6 1681.2 2643.5 2078.1 86.29 10.72 797 7945.42 0.00 0.00 3.92 0.000 0.000 0.131 1705.19 1728.94 1681.44 2643.50 661.81 0 0 0 30.00 30.00 15.34

8055.19 1028 194.23 2.12 0.00 1705.1 1729.0 1681.1 2643.9 661.6 72.27 10.63 820 8060.34 0.00 0.00 3.49 0.000 0.000 0.046 1704.75 1728.31 1681.19 2643.00 2129.69 0 0 0 30.00 30.00 15.61

8119.74 10791 227.50 2.22 -80.00 1704.5 1729.2 1679.9 2642.9 2130.1 66.92 7.77 827 8165.35 39.06 0.23 4.05 1.101 0.075 0.126 1572.72 1597.12 1548.31 2693.50 660.56 0 0 0 11.60 15.62 15.09

8220.19 9254 256.09 2.31 0.00 1569.9 1593.0 1546.8 2693.7 660.8 59.79 8.24 847 8261.19 33.60 0.00 3.52 1.068 0.000 0.045 1455.47 1481.88 1429.06 2694.12 2131.62 0 0 0 11.63 30.00 15.52

8319.83 8486 276.36 2.37 80.00 1452.7 1479.9 1425.4 2693.3 2131.5 51.92 9.07 861 8351.00 24.09 0.00 3.62 1.021 0.000 0.108 1372.91 1400.00 1345.81 2693.75 3473.50 0 0 0 11.59 30.00 15.03

8353.73 3141 276.36 2.42 0.00 1372.4 1399.3 1345.5 2693.9 3474.0 48.42 9.43 867 8360.53 0.00 0.22 3.40 0.000 0.078 0.049 1372.72 1399.62 1345.81 2736.88 2075.88 0 0 0 30.00 15.29 15.39

8419.76 8742 298.39 2.49 -80.00 1371.7 1399.3 1344.1 2738.5 2075.9 42.54 8.90 874 8451.07 25.74 0.00 3.93 1.015 0.000 0.130 1283.84 1310.75 1256.94 2738.69 660.81 0 0 0 11.57 30.00 15.03

8493.72 1028 298.39 2.49 0.00 1282.3 1308.8 1255.9 2738.2 660.6 33.68 15.54 889 8500.48 0.00 0.00 3.52 0.000 0.000 0.045 1283.25 1309.62 1256.88 2738.62 2127.44 0 0 0 30.00 30.00 15.43

8559.77 324 298.39 2.51 80.00 1280.9 1308.5 1253.2 2739.4 2126.8 26.59 10.33 896 8565.39 0.00 0.00 3.58 0.000 0.000 0.104 1280.97 1308.31 1253.62 2739.31 3476.31 0 0 0 30.00 30.00 15.33

8758.70 1028 298.39 2.51 0.00 1279.0 1308.2 1249.8 2739.3 3475.9 5.94 10.70 936 8765.48 0.00 0.00 3.37 0.000 0.000 0.051 1279.16 1308.31 1250.00 2739.12 2077.38 0 0 0 30.00 30.00 15.49

8804 end climb: SURFACE_DEPTH_REACHED

state 8804 begin surface coast

8824 end surface coast: CONTROL_FINISHED_OK

state 8824 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	1058	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	73.736649	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	252.57535	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	0	SC_NDIVE	1.0
HD_B	0.0099900002	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	2

GPS1	050421,091227,4707.985,-12502.589,31,1.6,32,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.44	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-62.8	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	050421,091921,4707.950,-12502.604,3,0.9,5,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	67.5,768,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	9030.11,1.24,0.130,0,564.9,565.7,564.2,474.67	_10V_AH	14.77,0.000
SM_GC	-0.72,1.24,17.86,0.08,0.130,0.080,0.137,564.9,565.7,564.2,176.1,2132.8,0,0,0,15.13,15.27,15.64	FG_AHR_24Vo	252.794
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	73.767
IRIDIUM_FIX	4708.39,-12501.34,050421,063140	MEM	1103648,40,73460,56
TCM_TEMP	174.82	DATA_FILE_SIZE	35391,943
XPDR_PINGS	5,14.0,11.5	CAP_FILE_SIZE	495767,0
SC_FREEKB	3453792	SDSIZE	3918848,3630752
HUMID	58.34	SDFILEDIR	5316,1
TEMP	7.81	ERRORS	0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77187	GPS	050421,115039,4707.956,-12501.323,4,0.8,21,15.6
_24V_AH	13.63,290.859

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	659	2580	23179.33	legato	0	0	0.00
Pitch_motor	38	247	129.63	nil	0	0	0.00
Roll_motor	228	247	768.12	nil	0	0	0.00
Iridium	188	197	507.08	nil	0	0	0.00
Transponder_ping	1	420	7.16	nil	0	0	0.00
GPS	14	15	3.12	nil	0	0	0.00
Core	3454	11	602.10	SciCon	8880	5	678.08
LPSleep	5742	2	237.48	nil	0	0	0.00
Compass	1784	5	131.77	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	0	0	0.00

		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
8.28	16386	-74.33	-1.59	0.00	560.3	563.2	557.3	168.9	2122.9	0.00	0.00	0	100.52	91.79	0.00	0.00	0.005	0.000	0.000	2654.97	2636.94	2673.00	168.88	2123.25	0	0	0	14.62	30.00	30.00
100.75	18983	-100.71	-1.67	-80.00	2654.4	2636.6	2672.1	169.0	2123.2	4.28	-8.46	9	128.68	5.38	13.73	4.22	0.009	0.247	0.147	2911.06	2905.75	2916.38	1733.81	662.38	0	0	0	14.84	14.98	14.65
207.41	1028	-100.71	-1.67	0.00	2910.7	2905.4	2915.9	1734.1	662.8	30.95	-18.85	30	212.59	0.00	0.00	3.57	0.000	0.000	0.051	2910.25	2905.50	2915.00	1734.06	2122.06	0	0	0	30.00	30.00	15.49
271.96	260	-100.71	-1.67	80.00	2910.4	2905.4	2915.5	1734.1	2121.9	43.66	-20.19	37	277.62	0.00	0.00	3.68	0.000	0.000	0.107	2909.09	2903.69	2914.50	1733.94	3473.56	0	0	0	30.00	30.00	15.31
310.87	1028	-100.71	-1.67	0.00	2910.5	2905.1	2915.9	1734.1	3474.0	52.28	-21.40	45	317.66	0.00	0.00	3.38	0.000	0.000	0.051	2912.66	2906.88	2918.44	1734.19	2081.19	0	0	0	30.00	30.00	15.45
377.03	260	-100.71	-1.67	80.00	2910.8	2905.9	2915.8	1734.4	2081.1	63.50	-17.22	52	382.64	0.00	0.00	3.76	0.000	0.000	0.101	2908.88	2903.44	2914.31	1734.44	3476.25	0	0	0	30.00	30.00	15.33
471.98	1028	-100.71	-1.67	0.00	2910.6	2905.0	2916.1	1734.0	3476.6	78.34	-15.87	71	476.57	0.00	0.00	3.39	0.000	0.000	0.051	2912.88	2906.94	2918.81	1734.50	2081.00	0	0	0	30.00	30.00	15.48
541.98	0	-100.71	-1.67	0.00	2910.9	2905.0	2916.8	1734.7	2080.8	87.70	-13.09	79	543.31	0.00	0.00	0.00	0.000	0.000	0.000	2911.22	2905.88	2916.56	1733.88	2081.31	0	0	0	30.00	30.00	30.00
602.00	516	-100.71	-1.67	-80.00	2910.4	2905.1	2915.8	1734.5	2081.0	95.28	-12.65	85	607.74	0.00	0.00	4.07	0.000	0.000	0.146	2909.31	2903.62	2915.00	1734.00	662.62	0	0	0	30.00	30.00	15.16
640.91	1028	-100.71	-1.67	0.00	2910.7	2904.9	2916.4	1733.9	662.8	100.56	-13.75	93	647.71	0.00	0.00	3.49	0.000	0.000	0.045	2911.06	2905.44	2916.69	1734.81	2125.00	0	0	0	30.00	30.00	15.54
707.06	260	-100.71	-1.67	80.00	2910.8	2905.0	2916.6	1734.4	2125.1	108.16	-11.29	100	712.66	0.00	0.00	3.61	0.000	0.000	0.103	2909.47	2904.75	2914.19	1734.25	3476.31	0	0	0	30.00	30.00	15.34
762.46	1028	-100.71	-1.67	0.00	2910.9	2905.6	2916.2	1734.3	3476.3	114.85	-12.88	111	767.62	0.00	0.00	3.37	0.000	0.000	0.049	2911.16	2905.00	2917.31	1732.56	2079.31	0	0	0	30.00	30.00	15.50
827.07	0	-100.71	-1.67	0.00	2910.7	2905.1	2916.2	1734.4	2079.8	122.96	-12.46	118	828.40	0.00	0.00	0.00	0.000	0.000	0.000	2911.38	2905.31	2917.44	1734.31	2080.00	0	0	0	30.00	30.00	30.00
887.03	0	-100.71	-1.67	0.00	2910.8	2905.2	2916.4	1734.2	2080.1	129.96	-11.66	124	888.36	0.00	0.00	0.00	0.000	0.000	0.000	2910.16	2904.75	2915.56	1734.44	2079.75	0	0	0	30.00	30.00	30.00
947.03	260	-100.71	-1.67	80.00	2910.9	2905.5	2916.3	1733.9	2079.4	137.15	-11.79	130	952.69	0.00	0.00	3.77	0.000	0.000	0.101	2909.19	2904.00	2914.38	1733.94	3476.44	0	0	0	30.00	30.00	15.34
982.02	1028	-100.71	-1.67	0.00	2911.0	2905.4	2916.6	1734.2	3476.3	141.73	-13.06	137	986.63	0.00	0.00	3.36	0.000	0.000	0.049	2911.06	2905.38	2916.75	1734.50	2079.94	0	0	0	30.00	30.00	15.50
1052.03	260	-100.71	-1.67	80.00	2911.2	2905.1	2917.2	1733.8	2080.7	150.22	-11.78	145	1057.71	0.00	0.00	3.73	0.000	0.000	0.100	2909.88	2903.88	2915.88	1734.12	3475.75	0	0	0	30.00	30.00	15.34
1087.05	1028	-100.71	-1.67	0.00	2911.0	2905.6	2916.5	1734.5	3475.5	154.57	-13.13	152	1091.64	0.00	0.00	3.35	0.000	0.000	0.048	2911.69	2905.81	2917.56	1734.38	2080.06	0	0	0	30.00	30.00	15.50
1217.06	516	-100.71	-1.67	-80.00	2911.3	2905.7	2916.9	1734.1	2080.4	170.26	-12.17	166	1222.77	0.00	0.00	4.04	0.000	0.000	0.145	2910.59	2905.25	2915.94	1734.38	661.69	0	0	0	30.00	30.00	15.16
1272.51	1028	-100.71	-1.67	0.00	2911.1	2905.5	2916.8	1734.4	661.6	178.12	-14.84	177	1277.67	0.00	0.00	3.47	0.000	0.000	0.044	2911.62	2906.56	2916.69	1734.19	2123.19	0	0	0	30.00	30.00	15.58
1397.07	260	-100.71	-1.67	80.00	2911.0	2905.4	2916.6	1734.3	2122.7	193.92	-12.64	190	1402.72	0.00	0.00	3.62	0.000	0.000	0.104	2912.00	2906.00	2918.00	1734.12	3475.50	0	0	0	30.00	30.00	15.34
1475.98	1028	-100.71	-1.67	0.00	2911.0	2905.8	2916.3	1734.3	3476.1	205.25	-14.23	206	1482.77	0.00	0.00	3.34	0.000	0.000	0.049	2911.47	2905.94	2917.00	1734.56	2081.19	0	0	0	30.00	30.00	15.48
1602.09	0	-100.71	-1.67	0.00	2911.5	2905.5	2917.5	1734.2	2081.5	221.45	-12.89	219	1603.42	0.00	0.00	0.00	0.000	0.000	0.000	2911.28	2905.50	2917.06	1734.56	2081.12	0	0	0	30.00	30.00	30.00
1722.09	0	-100.71	-1.67	0.00	2911.2	2905.2	2917.1	1734.2	2081.4	235.71	-12.01	231	1723.42	0.00	0.00	0.00	0.000	0.000	0.000	2911.28	2905.50	2917.06	1734.25	2081.00	0	0	0	30.00	30.00	30.00
1842.10	0	-100.71	-1.67	0.00	2911.0	2905.1	2916.9	1734.1	2081.4	250.36	-12.08	243	1843.44	0.00	0.00	0.00	0.000	0.000	0.000	2911.69	2906.06	2917.31	1734.50	2081.12	0	0	0	30.00	30.00	30.00
2142.11	260	-100.71	-1.67	80.00	2911.1	2904.9	2917.2	1734.3	2080.8	286.13	-12.01	253	2147.77	0.00	0.00	3.80	0.000	0.000	0.105	2911.31	2905.50	2917.12	1732.31	3475.62	0	0	0	30.00	30.00	15.32
2216.09	1028	-100.71	-1.67	0.00	2911.4	2905.9	2916.9	1734.1	3475.9	295.51	-12.57	268	2221.72	0.00	0.00	3.36	0.000	0.000	0.052	2911.94	2905.94	2917.94	1734.19	2080.69	0	0	0	30.00	30.00	15.46
2527.14	516	-100.71	-1.67	-80.00	2911.5	2905.6	2917.5	1734.0	2081.1	332.06	-11.82	280	2532.87	0.00	0.00	4.11	0.000	0.000	0.150	2909.78	2905.19	2914.38	1734.12	661.75	0	0	0	30.00	30.00	15.10
2616.08	1028	-100.71	-1.67	0.00	2910.9	2904.6	2917.1	1734.1	661.8	344.44	-13.47	298	2621.78	0.00	0.00	3.49	0.000	0.000	0.046	2911.22	2905.56	2916.88	1734.19	2123.88	0	0	0	30.00	30.00	15.54
2942.21	0	-100.71	-1.67	0.00	2910.8	2904.9	2916.6	1734.2	2124.4	381.34	-11.43	313	2943.54	0.00	0.00	0.00	0.000	0.000	0.000	2911.78	2906.06	2917.50	1734.31	2123.81	0	0	0	30.00	30.00	30.00
3242.18	0	-100.71	-1.67	0.00	2911.2	2905.2	2917.1	1734.2	2123.8	415.74	-11.66	323	3243.51	0.00	0.00	0.00	0.000	0.000	0.000	2911.59	2906.00	2917.19	1734.25	2124.31	0	0	0	30.00	30.00	30.00
3542.19	260	-100.71	-1.67	80.00	2910.7	2905.1	2916.2	1734.2	2123.9	449.79	-11.52	333	3547.86	0.00	0.00	3.68	0.000	0.000	0.112	2909.12	2903.31	2914.94	1734.38	3474.00	0	0	0	30.00	30.00	15.24
3601.12	1028	-100.71	-1.67	0.00	2910.7	2904.6	2916.8	1733.8	3474.1	457.27	-14.60	345	3606.80	0.00	0.00	3.38	0.000	0.000	0.053	2913.47	2907.69	2919.25	1734.06	2080.81	0	0	0	30.00	30.00	15.42
3927.23	260	-100.71	-1.67	80.00	2910.6	2904.8	2916.5	1734.2	2081.0	492.50	-10.66	360	3932.91	0.00	0.00	3.81	0.000	0.000	0.107	2909.34	2903.12	2915.56	1734.00	3475.56	0	0	0	30.00	30.00	15.24
3996	end dive: TARGET_DEPTH_EXCEEDED
state	3996	begin apogee
4000.99	10243	0.00	-0.25	0.00	2910.5	2904.8	2916.2	1734.1	2083.4	500.75	-13.21	374	4090.30	85.55	2.70	0.07	1.633	0.159	0.247	2496.91	2505.69	2488.12	2080.31	2121.06	0	0	0	10.68	15.16	14.86
4093	end apogee: CONTROL_FINISHED_OK
state	4093	begin climb
4093.33	10243	100.71	1.67	0.00	2497.8	2507.0	2488.7	2079.8	2121.4	503.42	0.00	379	4190.82	92.39	3.31	0.00	1.575	0.077	0.000	2087.59	2100.06	2075.12	2550.69	2120.69	0	0	0	11.54	15.18	30.00
4464.46	16966	100.71	1.72	-80.00	2077.3	2093.8	2060.8	2551.1	2120.6	472.54	9.58	392	4470.14	0.00	0.00	4.13	0.000	0.000	0.135	2075.94	2092.44	2059.44	2551.12	661.56	0	0	0	30.00	30.00	15.24
4519.86	9254	121.90	1.78	0.00	2076.0	2091.3	2060.7	2550.8	661.6	466.89	8.98	403	4544.51	19.51	0.00	3.51	1.429	0.000	0.045	2001.88	2020.06	1983.69	2551.06	2127.31	0	0	0	11.41	30.00	15.57
4849.43	516	121.90	1.78	-80.00	1996.3	2016.9	1975.7	2550.8	2126.5	430.84	11.50	419	4855.16	0.00	0.00	4.13	0.000	0.000	0.134	1995.47	2015.81	1975.12	2550.75	662.38	0	0	0	30.00	30.00	15.27
4968.34	1028	121.90	1.78	0.00	1995.2	2014.6	1975.9	2550.9	662.6	415.56	11.32	443	4974.05	0.00	0.00	3.51	0.000	0.000	0.046	1995.81	2015.44	1976.19	2549.75	2123.81	0	0	0	30.00	30.00	15.59
5294.52	19015	121.90	1.82	-80.00	1994.0	2014.1	1973.9	2551.1	2124.5	384.04	9.92	458	5300.22	0.00	0.19	4.10	0.000	0.083	0.131	1993.75	2014.25	1973.25	2595.75	661.69	0	0	0	30.00	15.67	15.25
5518.39	17414	121.90	1.82	0.00	1993.0	2012.8	1973.2	2596.2	661.6	355.35	11.69	503	5524.08	0.00	0.00	3.48	0.000	0.000	0.046	1993.72	2013.06	1974.38	2596.44	2126.06	0	0	0	30.00	30.00	15.58
5829.53	16966	121.90	1.84	-80.00	1992.4	2012.6	1972.2	2596.4	2125.8	322.09	10.31	515	5835.22	0.00	0.00	4.12	0.000	0.000	0.132	1991.16	2011.50	1970.81	2596.31	662.44	0	0	0	30.00	30.00	15.20
5945.01	17414	121.90	1.84	0.00	1991.6	2011.2	1972.0	2596.3	662.6	308.50	11.10	538	5950.12	0.00	0.00	3.50	0.000	0.000	0.045	1991.84	2011.06	1972.62	2595.81	2126.25	0	0	0	30.00	30.00	15.62
6269.58	8742	144.52	1.91	-80.00	1991.2	2010.9	1971.4	2596.5	2126.4	277.90	8.84	553	6295.69	20.83	0.00	4.07	1.336	0.000	0.131	1909.91	1929.38	1890.44	2594.19	661.56	0	0	0	11.09	30.00	15.20
6515.00	1028	144.52	1.91	0.00	1906.0	1924.0	1888.0	2596.4	661.6	248.13	12.16	602	6520.20	0.00	0.00	3.52	0.000	0.000	0.045	1905.09	1923.50	1886.69	2596.75	2126.19	0	0	0	30.00	30.00	15.61
6639.58	260	144.52	1.91	80.00	1904.2	1923.6	1884.9	2596.8	2125.9	234.43	10.82	615	6645.22	0.00	0.00	3.63	0.000	0.000	0.108	1903.69	1922.62	1884.75	2595.81	3475.94	0	0	0	30.00	30.00	15.36
6664.62	1028	144.52	1.91	0.00	1904.1	1923.6	1884.6	2596.4	3476.6	231.49	10.76	620	6669.16	0.00	0.00	3.39	0.000	0.000	0.050	1906.47	1926.00	1886.94	2596.44	2078.00	0	0	0	30.00	30.00	15.55
6794.60	580	144.52	1.93	-80.00	1903.9	1923.6	1884.3	2596.0	2077.8	218.28	10.33	634	6800.28	0.00	0.00	3.93	0.000	0.000	0.131	1905.84	1925.69	1886.00	2596.62	661.75	0	0	0	30.00	30.00	15.25
6953.53	1028	144.52	1.93	0.00	1903.7	1923.8	1883.7	2596.3	661.7	199.99	11.60	666	6960.33	0.00	0.00	3.49	0.000	0.000	0.045	1904.31	1924.25	1884.38	2597.12	2129.38	0	0	0	30.00	30.00	15.60
7079.65	10791	173.46	2.02	-80.00	1903.2	1923.6	1882.8	2596.4	2129.9	189.14	8.20	679	7114.34	26.68	0.20	4.04	1.270	0.079	0.126	1791.69	1812.12	1771.25	2642.12	661.56	0	0	0	11.44	15.67	15.15
7153.54	1028	173.46	2.02	0.00	1789.8	1809.2	1770.4	2643.0	662.1	180.11	13.88	694	7160.34	0.00	0.00	3.50	0.000	0.000	0.044	1789.38	1809.06	1769.69	2642.88	2128.62	0	0	0	30.00	30.00	15.57
7279.65	516	173.46	2.02	-80.00	1787.3	1809.2	1765.4	2643.1	2128.6	164.76	12.08	707	7285.35	0.00	0.00	4.05	0.000	0.000	0.125	1787.75	1809.75	1765.75	2643.06	661.81	0	0	0	30.00	30.00	15.31
7345.15	1028	173.46	2.02	0.00	1786.7	1808.2	1765.2	2642.8	661.7	155.26	15.31	720	7350.28	0.00	0.00	3.49	0.000	0.000	0.044	1788.12	1809.75	1766.50	2642.38	2128.88	0	0	0	30.00	30.00	15.60
7469.73	0	173.46	2.02	0.00	1785.8	1808.2	1763.4	2642.6	2130.0	139.21	12.01	733	7471.06	0.00	0.00	0.00	0.000	0.000	0.000	1785.84	1808.12	1763.56	2642.56	2129.56	0	0	0	30.00	30.00	30.00
7529.68	516	173.46	2.02	-80.00	1785.6	1807.9	1763.2	2643.2	2130.1	132.23	11.16	739	7535.39	0.00	0.00	4.10	0.000	0.000	0.126	1787.00	1809.06	1764.94	2642.56	662.62	0	0	0	30.00	30.00	15.25
7545.12	1028	173.46	2.02	0.00	1785.6	1807.9	1763.2	2642.6	662.6	130.33	11.90	742	7550.31	0.00	0.00	3.47	0.000	0.000	0.043	1784.53	1807.00	1762.06	2642.81	2129.12	0	0	0	30.00	30.00	15.62
7609.68	516	173.46	2.02	-80.00	1785.5	1808.3	1762.6	2643.0	2129.5	122.21	12.00	749	7615.40	0.00	0.00	4.07	0.000	0.000	0.124	1787.38	1810.06	1764.69	2643.44	661.62	0	0	0	30.00	30.00	15.24
7635.12	1028	173.46	2.02	0.00	1785.3	1808.0	1762.6	2643.0	661.6	119.26	12.50	754	7640.30	0.00	0.00	3.47	0.000	0.000	0.043	1784.88	1808.06	1761.69	2643.44	2128.44	0	0	0	30.00	30.00	15.62
7699.69	516	173.46	2.02	-80.00	1785.7	1808.6	1762.8	2642.5	2128.9	111.96	10.63	761	7705.41	0.00	0.00	4.07	0.000	0.000	0.124	1784.12	1806.56	1761.69	2642.88	662.56	0	0	0	30.00	30.00	15.25
7755.15	1028	173.46	2.02	0.00	1785.3	1808.0	1762.7	2642.9	662.7	105.20	12.67	772	7760.31	0.00	0.00	3.49	0.000	0.000	0.044	1785.84	1808.06	1763.62	2643.25	2129.62	0	0	0	30.00	30.00	15.61
7819.71	8486	194.23	2.08	80.00	1785.0	1807.9	1762.1	2643.0	2129.4	98.99	9.02	779	7850.93	24.31	0.00	3.58	1.119	0.000	0.109	1708.81	1732.06	1685.56	2642.94	3475.44	0	0	0	11.58	30.00	15.16
7869.71	1092	194.23	2.12	0.00	1706.3	1729.5	1683.1	2642.9	3475.9	93.99	9.66	789	7874.29	0.00	0.00	3.39	0.000	0.000	0.052	1706.06	1729.50	1682.62	2643.06	2078.25	0	0	0	30.00	30.00	15.58
7939.71	516	194.23	2.12	-80.00	1705.4	1729.6	1681.2	2643.5	2078.1	86.29	10.72	797	7945.42	0.00	0.00	3.92	0.000	0.000	0.131	1705.19	1728.94	1681.44	2643.50	661.81	0	0	0	30.00	30.00	15.34
8055.19	1028	194.23	2.12	0.00	1705.1	1729.0	1681.1	2643.9	661.6	72.27	10.63	820	8060.34	0.00	0.00	3.49	0.000	0.000	0.046	1704.75	1728.31	1681.19	2643.00	2129.69	0	0	0	30.00	30.00	15.61
8119.74	10791	227.50	2.22	-80.00	1704.5	1729.2	1679.9	2642.9	2130.1	66.92	7.77	827	8165.35	39.06	0.23	4.05	1.101	0.075	0.126	1572.72	1597.12	1548.31	2693.50	660.56	0	0	0	11.60	15.62	15.09
8220.19	9254	256.09	2.31	0.00	1569.9	1593.0	1546.8	2693.7	660.8	59.79	8.24	847	8261.19	33.60	0.00	3.52	1.068	0.000	0.045	1455.47	1481.88	1429.06	2694.12	2131.62	0	0	0	11.63	30.00	15.52
8319.83	8486	276.36	2.37	80.00	1452.7	1479.9	1425.4	2693.3	2131.5	51.92	9.07	861	8351.00	24.09	0.00	3.62	1.021	0.000	0.108	1372.91	1400.00	1345.81	2693.75	3473.50	0	0	0	11.59	30.00	15.03
8353.73	3141	276.36	2.42	0.00	1372.4	1399.3	1345.5	2693.9	3474.0	48.42	9.43	867	8360.53	0.00	0.22	3.40	0.000	0.078	0.049	1372.72	1399.62	1345.81	2736.88	2075.88	0	0	0	30.00	15.29	15.39
8419.76	8742	298.39	2.49	-80.00	1371.7	1399.3	1344.1	2738.5	2075.9	42.54	8.90	874	8451.07	25.74	0.00	3.93	1.015	0.000	0.130	1283.84	1310.75	1256.94	2738.69	660.81	0	0	0	11.57	30.00	15.03
8493.72	1028	298.39	2.49	0.00	1282.3	1308.8	1255.9	2738.2	660.6	33.68	15.54	889	8500.48	0.00	0.00	3.52	0.000	0.000	0.045	1283.25	1309.62	1256.88	2738.62	2127.44	0	0	0	30.00	30.00	15.43
8559.77	324	298.39	2.51	80.00	1280.9	1308.5	1253.2	2739.4	2126.8	26.59	10.33	896	8565.39	0.00	0.00	3.58	0.000	0.000	0.104	1280.97	1308.31	1253.62	2739.31	3476.31	0	0	0	30.00	30.00	15.33
8758.70	1028	298.39	2.51	0.00	1279.0	1308.2	1249.8	2739.3	3475.9	5.94	10.70	936	8765.48	0.00	0.00	3.37	0.000	0.000	0.051	1279.16	1308.31	1250.00	2739.12	2077.38	0	0	0	30.00	30.00	15.49
8804	end climb: SURFACE_DEPTH_REACHED
state	8804	begin surface coast
8824	end surface coast: CONTROL_FINISHED_OK
state	8824	begin surface