Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1081 * 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 1081 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 74.502373 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 257.702 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 74.502373 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 257.702 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 1081 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 080421,010701,4708.444,-12501.930,7,1.2,29,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 4 TGT_RADIUS 3000.000

_SM_DEPTHo -1.60 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -60.9 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 080421,011845,4708.389,-12501.967,2,0.8,4,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 167.7,721,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 9095.23,0.00,0.016,0,564.6,562.4,566.8,474.76 _10V_AH 14.76,0.000

SM_GC -0.50,0.00,18.24,0.10,0.016,0.087,0.136,564.6,562.4,566.8,169.2,2067.8,0,0,0,30.36,15.28,15.51 FG_AHR_24Vo 257.920

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 74.533

IRIDIUM_FIX 4706.19,-12502.11,080421,011407 MEM 1103688,39,73440,56

TCM_TEMP 174.69 DATA_FILE_SIZE 35422,913

XPDR_PINGS 5,14.0,11.5 CAP_FILE_SIZE 459619,0

SC_FREEKB 3444960 SDSIZE 3918848,3624288

HUMID 58.42 SDFILEDIR 5431,1

TEMP 7.76 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.7785 GPS 080421,035109,4707.412,-12501.818,23,0.9,24,15.6

_24V_AH 13.63,296.411

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 659 2579 23179.23 legato 0 0 0.00

Pitch_motor 39 247 132.17 nil 0 0 0.00

Roll_motor 183 241 604.12 nil 0 0 0.00

Iridium 295 199 803.27 nil 0 0 0.00

Transponder_ping 1 420 7.16 nil 0 0 0.00

GPS 13 15 2.99 nil 0 0 0.00

Core 3499 11 609.46 SciCon 8976 5 678.72

LPSleep 6071 2 250.93 nil 0 0 0.00

Compass 1775 5 131.05 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

8.34 16386 -74.33 -1.59 0.00 558.7 560.1 557.2 167.7 2081.9 0.00 0.00 0 90.33 81.51 0.00 0.00 0.005 0.000 0.000 2427.09 2410.56 2443.62 167.81 2082.25 0 0 0 14.72 30.00 30.00

90.57 18727 -110.16 -1.70 80.00 2426.3 2410.0 2442.7 167.6 2081.7 3.44 -7.51 8 126.62 11.84 13.83 3.85 0.007 0.248 0.111 2948.19 2946.50 2949.88 1727.19 3474.81 0 0 0 14.86 14.93 14.71

240.31 1028 -110.16 -1.70 0.00 2948.6 2945.8 2951.4 1727.3 3474.9 38.12 -20.30 38 245.48 0.00 0.00 3.43 0.000 0.000 0.057 2947.84 2945.44 2950.25 1727.19 2081.62 0 0 0 30.00 30.00 15.40

304.92 516 -110.16 -1.70 -80.00 2948.7 2946.0 2951.3 1727.4 2082.3 49.26 -16.53 45 310.59 0.00 0.00 4.05 0.000 0.000 0.146 2948.12 2945.50 2950.75 1727.00 662.62 0 0 0 30.00 30.00 15.10

330.31 1028 -110.16 -1.70 0.00 2948.5 2945.9 2951.1 1727.1 662.9 53.52 -17.07 50 335.51 0.00 0.00 3.55 0.000 0.000 0.048 2947.50 2945.75 2949.25 1727.38 2122.50 0 0 0 30.00 30.00 15.49

394.88 0 -110.16 -1.70 0.00 2948.2 2945.5 2951.0 1727.3 2122.2 64.03 -15.92 57 396.20 0.00 0.00 0.00 0.000 0.000 0.000 2949.22 2947.25 2951.19 1727.19 2122.12 0 0 0 30.00 30.00 30.00

454.88 260 -110.16 -1.70 80.00 2948.8 2945.9 2951.6 1727.1 2121.8 73.93 -16.62 63 460.53 0.00 0.00 3.64 0.000 0.000 0.103 2946.72 2944.69 2948.75 1726.94 3474.62 0 0 0 30.00 30.00 15.27

530.38 1028 -110.16 -1.70 0.00 2948.5 2945.4 2951.5 1727.4 3475.0 86.26 -15.88 78 535.49 0.00 0.00 3.37 0.000 0.000 0.052 2949.56 2946.81 2952.31 1727.31 2080.88 0 0 0 30.00 30.00 15.44

594.95 0 -110.16 -1.70 0.00 2948.4 2945.8 2951.0 1727.4 2080.6 95.08 -13.09 85 596.28 0.00 0.00 0.00 0.000 0.000 0.000 2949.19 2946.38 2952.00 1727.12 2081.62 0 0 0 30.00 30.00 30.00

654.92 260 -110.16 -1.70 80.00 2948.5 2945.9 2951.1 1727.0 2080.9 103.12 -13.43 91 660.56 0.00 0.00 3.76 0.000 0.000 0.102 2948.25 2946.00 2950.50 1726.88 3476.50 0 0 0 30.00 30.00 15.28

700.35 1028 -110.16 -1.70 0.00 2948.4 2945.4 2951.4 1727.2 3475.5 109.40 -13.80 100 705.50 0.00 0.00 3.38 0.000 0.000 0.053 2948.06 2945.25 2950.88 1727.19 2080.25 0 0 0 30.00 30.00 15.44

764.96 0 -110.16 -1.70 0.00 2948.7 2945.6 2951.7 1727.3 2080.1 117.27 -12.26 107 766.29 0.00 0.00 0.00 0.000 0.000 0.000 2949.25 2946.88 2951.62 1727.25 2079.94 0 0 0 30.00 30.00 30.00

824.92 260 -110.16 -1.70 80.00 2948.4 2945.9 2950.9 1727.4 2080.1 124.37 -12.03 113 830.58 0.00 0.00 3.74 0.000 0.000 0.102 2948.81 2945.94 2951.69 1726.88 3476.25 0 0 0 30.00 30.00 15.27

880.37 1028 -110.16 -1.70 0.00 2948.7 2945.5 2951.8 1727.1 3476.9 131.74 -12.39 124 885.53 0.00 0.00 3.37 0.000 0.000 0.052 2946.94 2944.25 2949.62 1727.50 2080.19 0 0 0 30.00 30.00 15.45

944.98 0 -110.16 -1.70 0.00 2948.7 2945.6 2951.8 1727.0 2080.9 139.32 -11.64 131 946.31 0.00 0.00 0.00 0.000 0.000 0.000 2949.22 2946.81 2951.62 1727.12 2080.75 0 0 0 30.00 30.00 30.00

1004.94 0 -110.16 -1.70 0.00 2948.6 2946.1 2951.1 1727.5 2080.9 146.44 -11.60 137 1006.27 0.00 0.00 0.00 0.000 0.000 0.000 2949.31 2946.44 2952.19 1727.44 2080.44 0 0 0 30.00 30.00 30.00

1064.94 0 -110.16 -1.70 0.00 2948.8 2946.1 2951.6 1727.3 2080.0 153.70 -12.10 143 1066.28 0.00 0.00 0.00 0.000 0.000 0.000 2947.97 2944.88 2951.06 1727.69 2080.62 0 0 0 30.00 30.00 30.00

1184.95 260 -110.16 -1.70 80.00 2948.7 2945.7 2951.6 1727.3 2080.4 168.21 -11.78 155 1190.61 0.00 0.00 3.77 0.000 0.000 0.103 2948.19 2945.62 2950.75 1726.44 3474.69 0 0 0 30.00 30.00 15.27

1230.39 1028 -110.16 -1.70 0.00 2948.7 2945.2 2952.2 1726.9 3475.1 174.16 -13.36 164 1235.56 0.00 0.00 3.37 0.000 0.000 0.053 2947.69 2945.38 2950.00 1727.38 2082.81 0 0 0 30.00 30.00 15.44

1354.96 260 -110.16 -1.70 80.00 2948.6 2945.9 2951.4 1727.6 2082.2 189.31 -12.15 177 1360.62 0.00 0.00 3.77 0.000 0.000 0.102 2947.25 2944.06 2950.44 1726.69 3476.94 0 0 0 30.00 30.00 15.27

1390.42 1028 -110.16 -1.70 0.00 2949.1 2946.0 2952.1 1727.2 3477.0 193.99 -13.37 184 1395.57 0.00 0.00 3.37 0.000 0.000 0.053 2947.69 2944.50 2950.88 1727.38 2081.94 0 0 0 30.00 30.00 15.44

1514.98 0 -110.16 -1.70 0.00 2948.9 2946.0 2951.8 1726.9 2082.1 209.89 -12.53 197 1516.31 0.00 0.00 0.00 0.000 0.000 0.000 2950.19 2947.44 2952.94 1727.12 2082.25 0 0 0 30.00 30.00 30.00

1634.99 260 -110.16 -1.70 80.00 2949.0 2945.8 2952.3 1727.5 2082.2 224.73 -12.23 209 1640.65 0.00 0.00 3.79 0.000 0.000 0.104 2948.34 2945.56 2951.12 1726.81 3475.25 0 0 0 30.00 30.00 15.26

1663.89 1028 -110.16 -1.70 0.00 2949.2 2946.1 2952.2 1727.2 3475.3 228.61 -12.91 215 1671.12 0.00 0.00 3.37 0.000 0.000 0.054 2950.00 2946.88 2953.12 1727.06 2081.12 0 0 0 30.00 30.00 15.40

1790.01 260 -110.16 -1.70 80.00 2949.0 2945.9 2952.1 1727.4 2081.3 245.10 -13.39 228 1795.97 0.00 0.00 3.76 0.000 0.000 0.104 2947.34 2944.06 2950.62 1727.56 3475.69 0 0 0 30.00 30.00 15.25

1833.92 1028 -110.16 -1.70 0.00 2949.1 2945.9 2952.4 1727.0 3475.5 251.68 -13.87 237 1839.60 0.00 0.00 3.36 0.000 0.000 0.054 2950.06 2946.88 2953.25 1726.56 2080.00 0 0 0 30.00 30.00 15.39

2145.02 260 -110.16 -1.70 80.00 2949.1 2946.1 2952.1 1727.8 2081.5 290.42 -12.50 249 2150.68 0.00 0.00 3.77 0.000 0.000 0.105 2948.31 2945.50 2951.12 1726.50 3476.25 0 0 0 30.00 30.00 15.22

2208.94 1028 -110.16 -1.70 0.00 2949.1 2946.6 2951.6 1726.9 3476.1 299.49 -13.41 262 2214.62 0.00 0.00 3.37 0.000 0.000 0.055 2949.81 2946.31 2953.31 1727.25 2081.88 0 0 0 30.00 30.00 15.39

2530.04 516 -110.16 -1.70 -80.00 2949.1 2946.3 2951.9 1727.1 2081.7 337.35 -11.93 276 2535.76 0.00 0.00 4.06 0.000 0.000 0.154 2947.59 2944.44 2950.75 1727.88 660.88 0 0 0 30.00 30.00 15.00

2549.00 1028 -110.16 -1.70 0.00 2948.7 2945.6 2951.8 1727.7 661.0 339.97 -11.97 280 2556.20 0.00 0.00 3.52 0.000 0.000 0.049 2949.28 2946.19 2952.38 1727.12 2122.81 0 0 0 30.00 30.00 15.48

2855.05 260 -110.16 -1.70 80.00 2949.0 2945.9 2952.1 1727.5 2122.9 377.49 -12.64 291 2860.72 0.00 0.00 3.65 0.000 0.000 0.110 2951.00 2948.00 2954.00 1727.56 3474.38 0 0 0 30.00 30.00 15.20

2910.51 1028 -110.16 -1.70 0.00 2948.4 2945.4 2951.3 1727.5 3474.4 385.09 -14.70 302 2915.65 0.00 0.00 3.37 0.000 0.000 0.056 2948.69 2945.19 2952.19 1727.44 2082.44 0 0 0 30.00 30.00 15.38

3235.07 0 -110.16 -1.70 0.00 2949.1 2945.9 2952.2 1727.1 2082.0 424.88 -12.18 317 3236.41 0.00 0.00 0.00 0.000 0.000 0.000 2947.38 2944.50 2950.25 1727.38 2082.06 0 0 0 30.00 30.00 30.00

3535.07 260 -110.16 -1.70 80.00 2948.1 2945.5 2950.6 1727.1 2082.4 462.03 -11.98 327 3540.80 0.00 0.00 3.82 0.000 0.000 0.111 2949.25 2946.94 2951.56 1727.12 3475.06 0 0 0 30.00 30.00 15.16

3599.00 1028 -110.16 -1.70 0.00 2948.3 2945.6 2951.0 1727.1 3474.7 470.47 -11.80 340 3604.68 0.00 0.00 3.40 0.000 0.000 0.058 2950.06 2947.06 2953.06 1727.56 2081.75 0 0 0 30.00 30.00 15.34

3889 end dive: TARGET_DEPTH_EXCEEDED

state 3890 begin apogee

3891.24 10243 0.00 -0.25 0.00 2948.1 2945.7 2950.5 1727.3 2119.1 503.48 -11.79 353 3988.54 92.94 2.76 0.09 1.639 0.150 0.241 2498.25 2508.12 2488.38 2080.31 2084.81 0 0 0 10.57 15.14 14.84

3991 end apogee: CONTROL_FINISHED_OK

state 3991 begin climb

3991.61 10759 110.16 1.70 -80.00 2497.9 2507.7 2488.1 2079.9 2084.8 507.31 0.00 356 4102.42 100.06 3.36 4.09 1.586 0.074 0.140 2048.59 2061.88 2035.31 2557.44 662.88 0 0 0 11.43 15.13 14.69

4159.56 1028 110.16 1.70 0.00 2043.9 2057.1 2030.6 2556.4 662.9 496.59 11.54 390 4165.27 0.00 0.00 3.57 0.000 0.000 0.045 2044.66 2058.00 2031.31 2556.00 2124.00 0 0 0 30.00 30.00 15.32

4470.68 16450 110.16 1.74 0.00 2038.0 2055.6 2020.4 2557.3 2124.5 467.28 9.61 402 4472.01 0.00 0.00 0.00 0.000 0.000 0.000 2038.31 2056.00 2020.62 2557.00 2125.00 0 0 0 30.00 30.00 30.00

4770.70 10791 137.60 1.83 -80.00 2036.1 2055.6 2016.7 2557.2 2124.1 442.41 8.35 412 4802.56 24.87 0.16 4.09 1.466 0.084 0.138 1937.09 1954.75 1919.44 2604.44 660.88 0 0 0 11.33 15.64 15.13

5024.73 1028 137.60 1.83 0.00 1932.9 1949.2 1916.5 2604.1 661.0 409.42 13.49 463 5030.44 0.00 0.00 3.55 0.000 0.000 0.047 1932.28 1949.44 1915.12 2603.94 2124.75 0 0 0 30.00 30.00 15.55

5340.83 16902 137.60 1.83 -80.00 1929.8 1948.6 1911.1 2603.4 2124.8 375.05 10.65 476 5346.54 0.00 0.00 4.07 0.000 0.000 0.133 1928.59 1946.94 1910.25 2603.62 661.75 0 0 0 30.00 30.00 15.22

5419.74 17414 137.60 1.83 0.00 1929.9 1948.2 1911.6 2603.8 661.9 365.20 11.80 492 5426.56 0.00 0.00 3.47 0.000 0.000 0.045 1930.41 1949.19 1911.62 2603.44 2125.19 0 0 0 30.00 30.00 15.56

5725.85 16902 137.60 1.83 -80.00 1928.9 1948.4 1909.3 2604.4 2124.7 331.92 10.97 503 5731.56 0.00 0.00 4.09 0.000 0.000 0.132 1927.94 1947.69 1908.19 2603.12 661.69 0 0 0 30.00 30.00 15.19

5814.77 17414 137.60 1.83 0.00 1928.7 1947.8 1909.5 2604.1 662.1 319.32 16.21 521 5820.47 0.00 0.00 3.49 0.000 0.000 0.046 1929.31 1948.75 1909.88 2603.81 2128.88 0 0 0 30.00 30.00 15.56

6140.94 16966 137.60 1.86 -80.00 1928.2 1947.7 1908.8 2603.5 2129.4 285.15 10.08 536 6146.59 0.00 0.00 4.10 0.000 0.000 0.132 1926.94 1946.12 1907.75 2603.75 662.06 0 0 0 30.00 30.00 15.15

6294.83 17478 137.60 1.90 0.00 1927.8 1946.8 1908.8 2603.4 661.9 267.80 9.81 567 6300.50 0.00 0.00 3.48 0.000 0.000 0.046 1928.25 1947.25 1909.25 2603.69 2126.56 0 0 0 30.00 30.00 15.56

6605.95 8226 167.86 1.99 0.00 1927.6 1947.2 1908.0 2604.2 2126.4 240.15 8.07 588 6636.49 27.33 0.00 0.00 1.325 0.000 0.000 1815.03 1835.81 1794.25 2602.88 2125.94 0 0 0 11.23 30.00 30.00

6755.94 580 167.86 2.01 -80.00 1810.9 1834.0 1787.9 2603.3 2126.9 225.44 10.33 603 6761.65 0.00 0.00 4.07 0.000 0.000 0.131 1811.16 1833.88 1788.44 2604.06 661.56 0 0 0 30.00 30.00 15.30

6831.37 1028 167.86 2.01 0.00 1810.5 1832.6 1788.4 2604.0 662.1 215.62 13.56 618 6836.55 0.00 0.00 3.50 0.000 0.000 0.046 1810.69 1832.81 1788.56 2602.94 2125.62 0 0 0 30.00 30.00 15.58

6955.95 0 167.86 2.01 0.00 1809.3 1832.6 1786.1 2604.3 2125.7 201.65 11.10 631 6957.28 0.00 0.00 0.00 0.000 0.000 0.000 1809.41 1832.75 1786.06 2604.25 2125.88 0 0 0 30.00 30.00 30.00

7075.96 0 167.86 2.01 0.00 1808.9 1832.4 1785.3 2603.8 2126.0 188.88 10.99 643 7077.28 0.00 0.00 0.00 0.000 0.000 0.000 1809.34 1832.94 1785.75 2604.00 2126.25 0 0 0 30.00 30.00 30.00

7195.98 2113 167.86 2.04 0.00 1808.6 1832.4 1784.8 2604.2 2125.9 176.30 10.29 655 7197.42 0.00 0.19 0.00 0.000 0.073 0.000 1809.16 1833.00 1785.31 2648.38 2125.69 0 0 0 30.00 15.65 30.00

7315.99 0 167.86 2.04 0.00 1808.7 1832.3 1785.0 2649.4 2126.1 162.24 11.13 667 7317.31 0.00 0.00 0.00 0.000 0.000 0.000 1808.91 1832.44 1785.38 2649.00 2126.25 0 0 0 30.00 30.00 30.00

7436.02 580 167.86 2.07 -80.00 1808.4 1832.2 1784.6 2649.3 2126.4 149.30 10.05 679 7441.69 0.00 0.00 4.10 0.000 0.000 0.127 1807.38 1831.56 1783.19 2648.19 660.62 0 0 0 30.00 30.00 15.18

7584.91 1028 167.86 2.07 0.00 1808.2 1831.5 1785.0 2648.7 660.8 128.27 14.30 709 7591.72 0.00 0.00 3.52 0.000 0.000 0.045 1808.91 1832.31 1785.50 2648.81 2126.19 0 0 0 30.00 30.00 15.55

7651.00 0 167.86 2.07 0.00 1807.8 1831.2 1784.5 2648.9 2126.3 121.26 10.87 716 7652.33 0.00 0.00 0.00 0.000 0.000 0.000 1807.97 1831.75 1784.19 2648.38 2126.38 0 0 0 30.00 30.00 30.00

7711.02 0 167.86 2.07 0.00 1807.7 1831.0 1784.3 2649.6 2125.8 114.87 10.94 722 7712.34 0.00 0.00 0.00 0.000 0.000 0.000 1807.91 1831.25 1784.56 2649.38 2125.94 0 0 0 30.00 30.00 30.00

7771.03 8226 194.67 2.15 0.00 1807.5 1831.3 1783.7 2648.9 2126.2 109.65 8.42 728 7802.67 31.07 0.00 0.00 1.153 0.000 0.000 1704.88 1728.62 1681.12 2649.44 2126.38 0 0 0 11.37 30.00 30.00

7866.04 2629 194.67 2.20 -80.00 1704.1 1728.8 1679.4 2649.5 2126.4 100.40 9.20 739 7871.79 0.00 0.16 4.07 0.000 0.083 0.127 1703.53 1728.00 1679.06 2689.75 661.81 0 0 0 30.00 15.53 15.35

7991.49 1028 194.67 2.20 0.00 1702.7 1726.2 1679.1 2690.0 661.9 84.42 13.79 764 7996.65 0.00 0.00 3.50 0.000 0.000 0.045 1702.75 1726.00 1679.50 2690.31 2128.19 0 0 0 30.00 30.00 15.58

8056.04 260 194.67 2.20 80.00 1702.2 1726.1 1678.2 2690.1 2128.4 76.88 11.43 771 8061.68 0.00 0.00 3.62 0.000 0.000 0.104 1701.41 1724.94 1677.88 2690.88 3475.38 0 0 0 30.00 30.00 15.34

8114.96 1028 194.67 2.20 0.00 1701.6 1725.0 1678.2 2689.9 3475.7 70.26 10.98 783 8121.75 0.00 0.00 3.38 0.000 0.000 0.049 1701.91 1725.44 1678.38 2690.25 2078.38 0 0 0 30.00 30.00 15.52

8181.11 8742 232.95 2.32 -80.00 1702.1 1725.5 1678.7 2689.9 2078.2 65.73 7.26 790 8233.21 44.49 0.00 3.92 1.108 0.000 0.129 1549.75 1574.69 1524.81 2690.12 662.06 0 0 0 11.63 30.00 15.07

8361.90 1028 232.95 2.32 0.00 1547.2 1570.4 1523.9 2690.0 661.8 46.96 11.46 826 8367.09 0.00 0.00 3.51 0.000 0.000 0.044 1546.91 1570.00 1523.81 2690.12 2129.62 0 0 0 30.00 30.00 15.53

8426.46 10535 256.32 2.39 80.00 1545.8 1570.4 1521.2 2690.1 2129.3 41.15 8.76 833 8461.79 27.39 0.19 3.61 1.049 0.072 0.107 1453.97 1479.50 1428.44 2737.81 3476.19 0 0 0 11.54 15.54 15.10

8516.48 1092 256.32 2.44 0.00 1452.3 1478.1 1426.4 2736.9 3476.0 33.06 9.46 851 8521.07 0.00 0.00 3.39 0.000 0.000 0.052 1452.50 1478.50 1426.50 2737.69 2076.69 0 0 0 30.00 30.00 15.48

8586.49 8742 293.73 2.55 -80.00 1451.8 1478.2 1425.4 2736.9 2076.9 27.89 7.35 859 8634.03 41.65 0.00 3.89 1.043 0.000 0.130 1301.59 1328.50 1274.69 2737.06 660.69 0 0 0 11.53 30.00 15.03

8796.19 1028 293.73 2.55 0.00 1299.8 1324.9 1274.6 2737.4 660.8 9.79 10.63 901 8803.02 0.00 0.00 3.48 0.000 0.000 0.045 1300.06 1325.31 1274.81 2737.75 2128.44 0 0 0 30.00 30.00 15.51

8863.00 10275 321.44 2.63 0.00 1297.9 1325.0 1270.9 2737.9 2129.1 3.97 8.33 908 8893.00 29.21 0.27 0.00 0.999 0.059 0.000 1191.69 1219.19 1164.19 2794.44 2129.12 0 0 0 11.48 15.52 30.00

8893 end climb: SURFACE_DEPTH_REACHED

state 8893 begin surface coast

8912 end surface coast: CONTROL_FINISHED_OK

state 8912 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	1081	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	74.502373	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	257.702	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	080421,010701,4708.444,-12501.930,7,1.2,29,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	4	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.60	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-60.9	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	080421,011845,4708.389,-12501.967,2,0.8,4,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	167.7,721,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	9095.23,0.00,0.016,0,564.6,562.4,566.8,474.76	_10V_AH	14.76,0.000
SM_GC	-0.50,0.00,18.24,0.10,0.016,0.087,0.136,564.6,562.4,566.8,169.2,2067.8,0,0,0,30.36,15.28,15.51	FG_AHR_24Vo	257.920
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	74.533
IRIDIUM_FIX	4706.19,-12502.11,080421,011407	MEM	1103688,39,73440,56
TCM_TEMP	174.69	DATA_FILE_SIZE	35422,913
XPDR_PINGS	5,14.0,11.5	CAP_FILE_SIZE	459619,0
SC_FREEKB	3444960	SDSIZE	3918848,3624288
HUMID	58.42	SDFILEDIR	5431,1
TEMP	7.76	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.7785	GPS	080421,035109,4707.412,-12501.818,23,0.9,24,15.6
_24V_AH	13.63,296.411

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	659	2579	23179.23	legato	0	0	0.00
Pitch_motor	39	247	132.17	nil	0	0	0.00
Roll_motor	183	241	604.12	nil	0	0	0.00
Iridium	295	199	803.27	nil	0	0	0.00
Transponder_ping	1	420	7.16	nil	0	0	0.00
GPS	13	15	2.99	nil	0	0	0.00
Core	3499	11	609.46	SciCon	8976	5	678.72
LPSleep	6071	2	250.93	nil	0	0	0.00
Compass	1775	5	131.05	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
8.34	16386	-74.33	-1.59	0.00	558.7	560.1	557.2	167.7	2081.9	0.00	0.00	0	90.33	81.51	0.00	0.00	0.005	0.000	0.000	2427.09	2410.56	2443.62	167.81	2082.25	0	0	0	14.72	30.00	30.00
90.57	18727	-110.16	-1.70	80.00	2426.3	2410.0	2442.7	167.6	2081.7	3.44	-7.51	8	126.62	11.84	13.83	3.85	0.007	0.248	0.111	2948.19	2946.50	2949.88	1727.19	3474.81	0	0	0	14.86	14.93	14.71
240.31	1028	-110.16	-1.70	0.00	2948.6	2945.8	2951.4	1727.3	3474.9	38.12	-20.30	38	245.48	0.00	0.00	3.43	0.000	0.000	0.057	2947.84	2945.44	2950.25	1727.19	2081.62	0	0	0	30.00	30.00	15.40
304.92	516	-110.16	-1.70	-80.00	2948.7	2946.0	2951.3	1727.4	2082.3	49.26	-16.53	45	310.59	0.00	0.00	4.05	0.000	0.000	0.146	2948.12	2945.50	2950.75	1727.00	662.62	0	0	0	30.00	30.00	15.10
330.31	1028	-110.16	-1.70	0.00	2948.5	2945.9	2951.1	1727.1	662.9	53.52	-17.07	50	335.51	0.00	0.00	3.55	0.000	0.000	0.048	2947.50	2945.75	2949.25	1727.38	2122.50	0	0	0	30.00	30.00	15.49
394.88	0	-110.16	-1.70	0.00	2948.2	2945.5	2951.0	1727.3	2122.2	64.03	-15.92	57	396.20	0.00	0.00	0.00	0.000	0.000	0.000	2949.22	2947.25	2951.19	1727.19	2122.12	0	0	0	30.00	30.00	30.00
454.88	260	-110.16	-1.70	80.00	2948.8	2945.9	2951.6	1727.1	2121.8	73.93	-16.62	63	460.53	0.00	0.00	3.64	0.000	0.000	0.103	2946.72	2944.69	2948.75	1726.94	3474.62	0	0	0	30.00	30.00	15.27
530.38	1028	-110.16	-1.70	0.00	2948.5	2945.4	2951.5	1727.4	3475.0	86.26	-15.88	78	535.49	0.00	0.00	3.37	0.000	0.000	0.052	2949.56	2946.81	2952.31	1727.31	2080.88	0	0	0	30.00	30.00	15.44
594.95	0	-110.16	-1.70	0.00	2948.4	2945.8	2951.0	1727.4	2080.6	95.08	-13.09	85	596.28	0.00	0.00	0.00	0.000	0.000	0.000	2949.19	2946.38	2952.00	1727.12	2081.62	0	0	0	30.00	30.00	30.00
654.92	260	-110.16	-1.70	80.00	2948.5	2945.9	2951.1	1727.0	2080.9	103.12	-13.43	91	660.56	0.00	0.00	3.76	0.000	0.000	0.102	2948.25	2946.00	2950.50	1726.88	3476.50	0	0	0	30.00	30.00	15.28
700.35	1028	-110.16	-1.70	0.00	2948.4	2945.4	2951.4	1727.2	3475.5	109.40	-13.80	100	705.50	0.00	0.00	3.38	0.000	0.000	0.053	2948.06	2945.25	2950.88	1727.19	2080.25	0	0	0	30.00	30.00	15.44
764.96	0	-110.16	-1.70	0.00	2948.7	2945.6	2951.7	1727.3	2080.1	117.27	-12.26	107	766.29	0.00	0.00	0.00	0.000	0.000	0.000	2949.25	2946.88	2951.62	1727.25	2079.94	0	0	0	30.00	30.00	30.00
824.92	260	-110.16	-1.70	80.00	2948.4	2945.9	2950.9	1727.4	2080.1	124.37	-12.03	113	830.58	0.00	0.00	3.74	0.000	0.000	0.102	2948.81	2945.94	2951.69	1726.88	3476.25	0	0	0	30.00	30.00	15.27
880.37	1028	-110.16	-1.70	0.00	2948.7	2945.5	2951.8	1727.1	3476.9	131.74	-12.39	124	885.53	0.00	0.00	3.37	0.000	0.000	0.052	2946.94	2944.25	2949.62	1727.50	2080.19	0	0	0	30.00	30.00	15.45
944.98	0	-110.16	-1.70	0.00	2948.7	2945.6	2951.8	1727.0	2080.9	139.32	-11.64	131	946.31	0.00	0.00	0.00	0.000	0.000	0.000	2949.22	2946.81	2951.62	1727.12	2080.75	0	0	0	30.00	30.00	30.00
1004.94	0	-110.16	-1.70	0.00	2948.6	2946.1	2951.1	1727.5	2080.9	146.44	-11.60	137	1006.27	0.00	0.00	0.00	0.000	0.000	0.000	2949.31	2946.44	2952.19	1727.44	2080.44	0	0	0	30.00	30.00	30.00
1064.94	0	-110.16	-1.70	0.00	2948.8	2946.1	2951.6	1727.3	2080.0	153.70	-12.10	143	1066.28	0.00	0.00	0.00	0.000	0.000	0.000	2947.97	2944.88	2951.06	1727.69	2080.62	0	0	0	30.00	30.00	30.00
1184.95	260	-110.16	-1.70	80.00	2948.7	2945.7	2951.6	1727.3	2080.4	168.21	-11.78	155	1190.61	0.00	0.00	3.77	0.000	0.000	0.103	2948.19	2945.62	2950.75	1726.44	3474.69	0	0	0	30.00	30.00	15.27
1230.39	1028	-110.16	-1.70	0.00	2948.7	2945.2	2952.2	1726.9	3475.1	174.16	-13.36	164	1235.56	0.00	0.00	3.37	0.000	0.000	0.053	2947.69	2945.38	2950.00	1727.38	2082.81	0	0	0	30.00	30.00	15.44
1354.96	260	-110.16	-1.70	80.00	2948.6	2945.9	2951.4	1727.6	2082.2	189.31	-12.15	177	1360.62	0.00	0.00	3.77	0.000	0.000	0.102	2947.25	2944.06	2950.44	1726.69	3476.94	0	0	0	30.00	30.00	15.27
1390.42	1028	-110.16	-1.70	0.00	2949.1	2946.0	2952.1	1727.2	3477.0	193.99	-13.37	184	1395.57	0.00	0.00	3.37	0.000	0.000	0.053	2947.69	2944.50	2950.88	1727.38	2081.94	0	0	0	30.00	30.00	15.44
1514.98	0	-110.16	-1.70	0.00	2948.9	2946.0	2951.8	1726.9	2082.1	209.89	-12.53	197	1516.31	0.00	0.00	0.00	0.000	0.000	0.000	2950.19	2947.44	2952.94	1727.12	2082.25	0	0	0	30.00	30.00	30.00
1634.99	260	-110.16	-1.70	80.00	2949.0	2945.8	2952.3	1727.5	2082.2	224.73	-12.23	209	1640.65	0.00	0.00	3.79	0.000	0.000	0.104	2948.34	2945.56	2951.12	1726.81	3475.25	0	0	0	30.00	30.00	15.26
1663.89	1028	-110.16	-1.70	0.00	2949.2	2946.1	2952.2	1727.2	3475.3	228.61	-12.91	215	1671.12	0.00	0.00	3.37	0.000	0.000	0.054	2950.00	2946.88	2953.12	1727.06	2081.12	0	0	0	30.00	30.00	15.40
1790.01	260	-110.16	-1.70	80.00	2949.0	2945.9	2952.1	1727.4	2081.3	245.10	-13.39	228	1795.97	0.00	0.00	3.76	0.000	0.000	0.104	2947.34	2944.06	2950.62	1727.56	3475.69	0	0	0	30.00	30.00	15.25
1833.92	1028	-110.16	-1.70	0.00	2949.1	2945.9	2952.4	1727.0	3475.5	251.68	-13.87	237	1839.60	0.00	0.00	3.36	0.000	0.000	0.054	2950.06	2946.88	2953.25	1726.56	2080.00	0	0	0	30.00	30.00	15.39
2145.02	260	-110.16	-1.70	80.00	2949.1	2946.1	2952.1	1727.8	2081.5	290.42	-12.50	249	2150.68	0.00	0.00	3.77	0.000	0.000	0.105	2948.31	2945.50	2951.12	1726.50	3476.25	0	0	0	30.00	30.00	15.22
2208.94	1028	-110.16	-1.70	0.00	2949.1	2946.6	2951.6	1726.9	3476.1	299.49	-13.41	262	2214.62	0.00	0.00	3.37	0.000	0.000	0.055	2949.81	2946.31	2953.31	1727.25	2081.88	0	0	0	30.00	30.00	15.39
2530.04	516	-110.16	-1.70	-80.00	2949.1	2946.3	2951.9	1727.1	2081.7	337.35	-11.93	276	2535.76	0.00	0.00	4.06	0.000	0.000	0.154	2947.59	2944.44	2950.75	1727.88	660.88	0	0	0	30.00	30.00	15.00
2549.00	1028	-110.16	-1.70	0.00	2948.7	2945.6	2951.8	1727.7	661.0	339.97	-11.97	280	2556.20	0.00	0.00	3.52	0.000	0.000	0.049	2949.28	2946.19	2952.38	1727.12	2122.81	0	0	0	30.00	30.00	15.48
2855.05	260	-110.16	-1.70	80.00	2949.0	2945.9	2952.1	1727.5	2122.9	377.49	-12.64	291	2860.72	0.00	0.00	3.65	0.000	0.000	0.110	2951.00	2948.00	2954.00	1727.56	3474.38	0	0	0	30.00	30.00	15.20
2910.51	1028	-110.16	-1.70	0.00	2948.4	2945.4	2951.3	1727.5	3474.4	385.09	-14.70	302	2915.65	0.00	0.00	3.37	0.000	0.000	0.056	2948.69	2945.19	2952.19	1727.44	2082.44	0	0	0	30.00	30.00	15.38
3235.07	0	-110.16	-1.70	0.00	2949.1	2945.9	2952.2	1727.1	2082.0	424.88	-12.18	317	3236.41	0.00	0.00	0.00	0.000	0.000	0.000	2947.38	2944.50	2950.25	1727.38	2082.06	0	0	0	30.00	30.00	30.00
3535.07	260	-110.16	-1.70	80.00	2948.1	2945.5	2950.6	1727.1	2082.4	462.03	-11.98	327	3540.80	0.00	0.00	3.82	0.000	0.000	0.111	2949.25	2946.94	2951.56	1727.12	3475.06	0	0	0	30.00	30.00	15.16
3599.00	1028	-110.16	-1.70	0.00	2948.3	2945.6	2951.0	1727.1	3474.7	470.47	-11.80	340	3604.68	0.00	0.00	3.40	0.000	0.000	0.058	2950.06	2947.06	2953.06	1727.56	2081.75	0	0	0	30.00	30.00	15.34
3889	end dive: TARGET_DEPTH_EXCEEDED
state	3890	begin apogee
3891.24	10243	0.00	-0.25	0.00	2948.1	2945.7	2950.5	1727.3	2119.1	503.48	-11.79	353	3988.54	92.94	2.76	0.09	1.639	0.150	0.241	2498.25	2508.12	2488.38	2080.31	2084.81	0	0	0	10.57	15.14	14.84
3991	end apogee: CONTROL_FINISHED_OK
state	3991	begin climb
3991.61	10759	110.16	1.70	-80.00	2497.9	2507.7	2488.1	2079.9	2084.8	507.31	0.00	356	4102.42	100.06	3.36	4.09	1.586	0.074	0.140	2048.59	2061.88	2035.31	2557.44	662.88	0	0	0	11.43	15.13	14.69
4159.56	1028	110.16	1.70	0.00	2043.9	2057.1	2030.6	2556.4	662.9	496.59	11.54	390	4165.27	0.00	0.00	3.57	0.000	0.000	0.045	2044.66	2058.00	2031.31	2556.00	2124.00	0	0	0	30.00	30.00	15.32
4470.68	16450	110.16	1.74	0.00	2038.0	2055.6	2020.4	2557.3	2124.5	467.28	9.61	402	4472.01	0.00	0.00	0.00	0.000	0.000	0.000	2038.31	2056.00	2020.62	2557.00	2125.00	0	0	0	30.00	30.00	30.00
4770.70	10791	137.60	1.83	-80.00	2036.1	2055.6	2016.7	2557.2	2124.1	442.41	8.35	412	4802.56	24.87	0.16	4.09	1.466	0.084	0.138	1937.09	1954.75	1919.44	2604.44	660.88	0	0	0	11.33	15.64	15.13
5024.73	1028	137.60	1.83	0.00	1932.9	1949.2	1916.5	2604.1	661.0	409.42	13.49	463	5030.44	0.00	0.00	3.55	0.000	0.000	0.047	1932.28	1949.44	1915.12	2603.94	2124.75	0	0	0	30.00	30.00	15.55
5340.83	16902	137.60	1.83	-80.00	1929.8	1948.6	1911.1	2603.4	2124.8	375.05	10.65	476	5346.54	0.00	0.00	4.07	0.000	0.000	0.133	1928.59	1946.94	1910.25	2603.62	661.75	0	0	0	30.00	30.00	15.22
5419.74	17414	137.60	1.83	0.00	1929.9	1948.2	1911.6	2603.8	661.9	365.20	11.80	492	5426.56	0.00	0.00	3.47	0.000	0.000	0.045	1930.41	1949.19	1911.62	2603.44	2125.19	0	0	0	30.00	30.00	15.56
5725.85	16902	137.60	1.83	-80.00	1928.9	1948.4	1909.3	2604.4	2124.7	331.92	10.97	503	5731.56	0.00	0.00	4.09	0.000	0.000	0.132	1927.94	1947.69	1908.19	2603.12	661.69	0	0	0	30.00	30.00	15.19
5814.77	17414	137.60	1.83	0.00	1928.7	1947.8	1909.5	2604.1	662.1	319.32	16.21	521	5820.47	0.00	0.00	3.49	0.000	0.000	0.046	1929.31	1948.75	1909.88	2603.81	2128.88	0	0	0	30.00	30.00	15.56
6140.94	16966	137.60	1.86	-80.00	1928.2	1947.7	1908.8	2603.5	2129.4	285.15	10.08	536	6146.59	0.00	0.00	4.10	0.000	0.000	0.132	1926.94	1946.12	1907.75	2603.75	662.06	0	0	0	30.00	30.00	15.15
6294.83	17478	137.60	1.90	0.00	1927.8	1946.8	1908.8	2603.4	661.9	267.80	9.81	567	6300.50	0.00	0.00	3.48	0.000	0.000	0.046	1928.25	1947.25	1909.25	2603.69	2126.56	0	0	0	30.00	30.00	15.56
6605.95	8226	167.86	1.99	0.00	1927.6	1947.2	1908.0	2604.2	2126.4	240.15	8.07	588	6636.49	27.33	0.00	0.00	1.325	0.000	0.000	1815.03	1835.81	1794.25	2602.88	2125.94	0	0	0	11.23	30.00	30.00
6755.94	580	167.86	2.01	-80.00	1810.9	1834.0	1787.9	2603.3	2126.9	225.44	10.33	603	6761.65	0.00	0.00	4.07	0.000	0.000	0.131	1811.16	1833.88	1788.44	2604.06	661.56	0	0	0	30.00	30.00	15.30
6831.37	1028	167.86	2.01	0.00	1810.5	1832.6	1788.4	2604.0	662.1	215.62	13.56	618	6836.55	0.00	0.00	3.50	0.000	0.000	0.046	1810.69	1832.81	1788.56	2602.94	2125.62	0	0	0	30.00	30.00	15.58
6955.95	0	167.86	2.01	0.00	1809.3	1832.6	1786.1	2604.3	2125.7	201.65	11.10	631	6957.28	0.00	0.00	0.00	0.000	0.000	0.000	1809.41	1832.75	1786.06	2604.25	2125.88	0	0	0	30.00	30.00	30.00
7075.96	0	167.86	2.01	0.00	1808.9	1832.4	1785.3	2603.8	2126.0	188.88	10.99	643	7077.28	0.00	0.00	0.00	0.000	0.000	0.000	1809.34	1832.94	1785.75	2604.00	2126.25	0	0	0	30.00	30.00	30.00
7195.98	2113	167.86	2.04	0.00	1808.6	1832.4	1784.8	2604.2	2125.9	176.30	10.29	655	7197.42	0.00	0.19	0.00	0.000	0.073	0.000	1809.16	1833.00	1785.31	2648.38	2125.69	0	0	0	30.00	15.65	30.00
7315.99	0	167.86	2.04	0.00	1808.7	1832.3	1785.0	2649.4	2126.1	162.24	11.13	667	7317.31	0.00	0.00	0.00	0.000	0.000	0.000	1808.91	1832.44	1785.38	2649.00	2126.25	0	0	0	30.00	30.00	30.00
7436.02	580	167.86	2.07	-80.00	1808.4	1832.2	1784.6	2649.3	2126.4	149.30	10.05	679	7441.69	0.00	0.00	4.10	0.000	0.000	0.127	1807.38	1831.56	1783.19	2648.19	660.62	0	0	0	30.00	30.00	15.18
7584.91	1028	167.86	2.07	0.00	1808.2	1831.5	1785.0	2648.7	660.8	128.27	14.30	709	7591.72	0.00	0.00	3.52	0.000	0.000	0.045	1808.91	1832.31	1785.50	2648.81	2126.19	0	0	0	30.00	30.00	15.55
7651.00	0	167.86	2.07	0.00	1807.8	1831.2	1784.5	2648.9	2126.3	121.26	10.87	716	7652.33	0.00	0.00	0.00	0.000	0.000	0.000	1807.97	1831.75	1784.19	2648.38	2126.38	0	0	0	30.00	30.00	30.00
7711.02	0	167.86	2.07	0.00	1807.7	1831.0	1784.3	2649.6	2125.8	114.87	10.94	722	7712.34	0.00	0.00	0.00	0.000	0.000	0.000	1807.91	1831.25	1784.56	2649.38	2125.94	0	0	0	30.00	30.00	30.00
7771.03	8226	194.67	2.15	0.00	1807.5	1831.3	1783.7	2648.9	2126.2	109.65	8.42	728	7802.67	31.07	0.00	0.00	1.153	0.000	0.000	1704.88	1728.62	1681.12	2649.44	2126.38	0	0	0	11.37	30.00	30.00
7866.04	2629	194.67	2.20	-80.00	1704.1	1728.8	1679.4	2649.5	2126.4	100.40	9.20	739	7871.79	0.00	0.16	4.07	0.000	0.083	0.127	1703.53	1728.00	1679.06	2689.75	661.81	0	0	0	30.00	15.53	15.35
7991.49	1028	194.67	2.20	0.00	1702.7	1726.2	1679.1	2690.0	661.9	84.42	13.79	764	7996.65	0.00	0.00	3.50	0.000	0.000	0.045	1702.75	1726.00	1679.50	2690.31	2128.19	0	0	0	30.00	30.00	15.58
8056.04	260	194.67	2.20	80.00	1702.2	1726.1	1678.2	2690.1	2128.4	76.88	11.43	771	8061.68	0.00	0.00	3.62	0.000	0.000	0.104	1701.41	1724.94	1677.88	2690.88	3475.38	0	0	0	30.00	30.00	15.34
8114.96	1028	194.67	2.20	0.00	1701.6	1725.0	1678.2	2689.9	3475.7	70.26	10.98	783	8121.75	0.00	0.00	3.38	0.000	0.000	0.049	1701.91	1725.44	1678.38	2690.25	2078.38	0	0	0	30.00	30.00	15.52
8181.11	8742	232.95	2.32	-80.00	1702.1	1725.5	1678.7	2689.9	2078.2	65.73	7.26	790	8233.21	44.49	0.00	3.92	1.108	0.000	0.129	1549.75	1574.69	1524.81	2690.12	662.06	0	0	0	11.63	30.00	15.07
8361.90	1028	232.95	2.32	0.00	1547.2	1570.4	1523.9	2690.0	661.8	46.96	11.46	826	8367.09	0.00	0.00	3.51	0.000	0.000	0.044	1546.91	1570.00	1523.81	2690.12	2129.62	0	0	0	30.00	30.00	15.53
8426.46	10535	256.32	2.39	80.00	1545.8	1570.4	1521.2	2690.1	2129.3	41.15	8.76	833	8461.79	27.39	0.19	3.61	1.049	0.072	0.107	1453.97	1479.50	1428.44	2737.81	3476.19	0	0	0	11.54	15.54	15.10
8516.48	1092	256.32	2.44	0.00	1452.3	1478.1	1426.4	2736.9	3476.0	33.06	9.46	851	8521.07	0.00	0.00	3.39	0.000	0.000	0.052	1452.50	1478.50	1426.50	2737.69	2076.69	0	0	0	30.00	30.00	15.48
8586.49	8742	293.73	2.55	-80.00	1451.8	1478.2	1425.4	2736.9	2076.9	27.89	7.35	859	8634.03	41.65	0.00	3.89	1.043	0.000	0.130	1301.59	1328.50	1274.69	2737.06	660.69	0	0	0	11.53	30.00	15.03
8796.19	1028	293.73	2.55	0.00	1299.8	1324.9	1274.6	2737.4	660.8	9.79	10.63	901	8803.02	0.00	0.00	3.48	0.000	0.000	0.045	1300.06	1325.31	1274.81	2737.75	2128.44	0	0	0	30.00	30.00	15.51
8863.00	10275	321.44	2.63	0.00	1297.9	1325.0	1270.9	2737.9	2129.1	3.97	8.33	908	8893.00	29.21	0.27	0.00	0.999	0.059	0.000	1191.69	1219.19	1164.19	2794.44	2129.12	0	0	0	11.48	15.52	30.00
8893	end climb: SURFACE_DEPTH_REACHED
state	8893	begin surface coast
8912	end surface coast: CONTROL_FINISHED_OK
state	8912	begin surface