Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1082 * 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 1082 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 74.53447 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 257.93292 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 74.53447 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 257.93292 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 1082 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 080421,035109,4707.412,-12501.818,23,0.9,24,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 3 TGT_RADIUS 3000.000

_SM_DEPTHo -1.65 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -63.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 080421,040140,4707.383,-12501.797,2,0.7,5,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 331.8,1171,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 593

Post-dive calculations and measurements:

SM_CCo 9607.14,0.00,0.018,0,563.5,561.3,565.6,475.03 _10V_AH 14.76,0.000

SM_GC -0.49,0.00,18.30,3.45,0.018,0.087,0.043,563.5,561.3,565.6,170.3,2131.1,0,0,0,30.36,15.15,15.56 FG_AHR_24Vo 258.142

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 74.567

IRIDIUM_FIX 4706.71,-12455.12,080421,035506 MEM 1103668,39,73460,56

TCM_TEMP 174.82 DATA_FILE_SIZE 38593,1008

XPDR_PINGS 6,14.0,11.5 CAP_FILE_SIZE 509758,0

SC_FREEKB 3444576 SDSIZE 3918848,3624000

HUMID 58.41 SDFILEDIR 5436,1

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

INTERNAL_PRESSURE 7.77763 GPS 080421,064248,4707.992,-12501.502,36,1.0,36,15.6

_24V_AH 14.09,296.652

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 636 1626 14588.37 legato 0 0 0.00

Pitch_motor 40 251 142.81 nil 0 0 0.00

Roll_motor 227 245 787.13 nil 0 0 0.00

Iridium 284 187 752.83 nil 0 0 0.00

Transponder_ping 1 420 8.88 nil 0 0 0.00

GPS 14 15 3.11 nil 0 0 0.00

Core 3699 11 644.34 SciCon 9480 5 729.29

LPSleep 6306 2 260.62 nil 0 0 0.00

Compass 1924 5 142.02 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

8.32 16386 -74.33 -1.59 0.00 560.1 564.0 556.2 169.1 2114.7 0.00 0.00 0 100.51 91.75 0.00 0.00 0.005 0.000 0.000 2713.81 2697.94 2729.69 169.06 2115.31 0 0 0 14.70 30.00 30.00

100.73 18951 -74.33 -1.59 -80.00 2712.7 2697.1 2728.2 168.9 2115.6 5.18 -10.73 9 126.64 1.78 14.14 4.12 0.016 0.252 0.144 2802.75 2793.38 2812.12 1754.44 662.06 0 0 0 14.87 14.94 14.72

183.86 1028 -74.33 -1.59 0.00 2802.3 2794.3 2810.2 1754.2 662.2 27.42 -21.75 26 190.67 0.00 0.00 3.57 0.000 0.000 0.053 2804.44 2796.12 2812.75 1754.31 2120.56 0 0 0 30.00 30.00 15.45

250.01 260 -74.33 -1.59 80.00 2801.8 2794.6 2809.0 1753.9 2120.8 39.82 -19.11 33 255.60 0.00 0.00 3.65 0.000 0.000 0.106 2800.56 2794.19 2806.94 1754.38 3475.50 0 0 0 30.00 30.00 15.27

454.98 1028 -74.33 -1.59 0.00 2802.2 2794.8 2809.7 1753.9 3475.6 73.67 -12.83 74 459.58 0.00 0.00 3.38 0.000 0.000 0.056 2802.69 2795.38 2810.00 1754.44 2081.00 0 0 0 30.00 30.00 15.42

524.99 0 -74.33 -1.59 0.00 2802.2 2795.3 2809.0 1754.4 2080.6 81.54 -11.26 82 526.32 0.00 0.00 0.00 0.000 0.000 0.000 2801.56 2794.06 2809.06 1754.50 2081.00 0 0 0 30.00 30.00 30.00

585.00 516 -74.33 -1.59 -80.00 2802.3 2795.2 2809.3 1753.9 2081.2 88.15 -10.60 88 590.71 0.00 0.00 4.01 0.000 0.000 0.147 2802.50 2795.44 2809.56 1752.44 661.88 0 0 0 30.00 30.00 15.10

690.48 1028 -74.33 -1.59 0.00 2802.2 2794.9 2809.4 1753.9 661.6 101.61 -12.02 109 695.64 0.00 0.00 3.54 0.000 0.000 0.050 2800.59 2793.88 2807.31 1754.00 2123.75 0 0 0 30.00 30.00 15.51

755.01 260 -74.33 -1.59 80.00 2802.1 2795.2 2808.9 1753.9 2123.2 108.25 -9.94 116 760.67 0.00 0.00 3.62 0.000 0.000 0.105 2802.22 2795.88 2808.56 1753.50 3476.19 0 0 0 30.00 30.00 15.27

873.96 1028 -74.33 -1.59 0.00 2802.4 2795.6 2809.2 1753.8 3476.2 121.96 -11.58 140 880.72 0.00 0.00 3.36 0.000 0.000 0.053 2803.91 2796.94 2810.88 1754.25 2081.81 0 0 0 30.00 30.00 15.43

940.09 0 -74.33 -1.59 0.00 2802.0 2795.2 2808.7 1753.6 2081.9 128.35 -9.42 147 941.42 0.00 0.00 0.00 0.000 0.000 0.000 2802.50 2795.44 2809.56 1754.12 2081.88 0 0 0 30.00 30.00 30.00

1000.05 260 -74.33 -1.59 80.00 2802.3 2795.8 2808.8 1754.1 2082.3 134.17 -9.39 153 1005.71 0.00 0.00 3.73 0.000 0.000 0.102 2803.06 2796.38 2809.75 1754.12 3474.56 0 0 0 30.00 30.00 15.28

1015.05 1028 -74.33 -1.59 0.00 2802.1 2795.1 2809.1 1754.2 3474.9 135.94 -9.98 156 1019.64 0.00 0.00 3.35 0.000 0.000 0.051 2802.94 2795.94 2809.94 1753.81 2080.25 0 0 0 30.00 30.00 15.44

1085.10 516 -74.33 -1.59 -80.00 2802.4 2795.5 2809.2 1754.0 2080.6 143.03 -10.24 164 1090.75 0.00 0.00 3.97 0.000 0.000 0.146 2802.62 2796.06 2809.19 1752.38 662.00 0 0 0 30.00 30.00 15.09

1130.52 1028 -74.33 -1.59 0.00 2802.3 2795.4 2809.1 1754.6 662.1 148.19 -12.13 173 1135.67 0.00 0.00 3.49 0.000 0.000 0.047 2802.97 2795.81 2810.12 1753.94 2124.56 0 0 0 30.00 30.00 15.52

1195.05 260 -74.33 -1.59 80.00 2802.1 2795.9 2808.3 1754.3 2124.2 154.85 -9.78 180 1200.69 0.00 0.00 3.57 0.000 0.000 0.103 2803.75 2796.62 2810.88 1754.25 3476.44 0 0 0 30.00 30.00 15.27

1253.98 1028 -74.33 -1.59 0.00 2802.3 2795.3 2809.4 1754.5 3476.2 161.37 -10.78 192 1260.76 0.00 0.00 3.35 0.000 0.000 0.052 2802.75 2795.88 2809.62 1754.12 2082.00 0 0 0 30.00 30.00 15.42

1380.08 0 -74.33 -1.59 0.00 2802.6 2796.1 2809.1 1753.9 2081.9 174.19 -10.71 205 1381.41 0.00 0.00 0.00 0.000 0.000 0.000 2802.47 2796.19 2808.75 1754.19 2082.19 0 0 0 30.00 30.00 30.00

1500.08 0 -74.33 -1.59 0.00 2802.5 2796.0 2809.1 1753.9 2082.0 187.56 -11.88 217 1501.41 0.00 0.00 0.00 0.000 0.000 0.000 2802.72 2796.12 2809.31 1754.00 2082.25 0 0 0 30.00 30.00 30.00

1620.09 516 -74.33 -1.59 -80.00 2802.3 2796.0 2808.6 1753.9 2082.6 201.32 -11.83 229 1625.81 0.00 0.00 4.01 0.000 0.000 0.150 2801.19 2794.38 2808.00 1754.06 661.69 0 0 0 30.00 30.00 15.05

1685.59 1028 -74.33 -1.59 0.00 2802.2 2795.9 2808.6 1753.9 661.9 210.10 -14.17 242 1690.71 0.00 0.00 3.50 0.000 0.000 0.048 2801.16 2794.31 2808.00 1754.06 2122.06 0 0 0 30.00 30.00 15.52

1810.12 0 -74.33 -1.59 0.00 2802.6 2796.5 2808.6 1754.6 2121.8 224.38 -12.03 255 1811.44 0.00 0.00 0.00 0.000 0.000 0.000 2803.06 2796.31 2809.81 1754.06 2122.44 0 0 0 30.00 30.00 30.00

1930.12 0 -74.33 -1.59 0.00 2802.6 2796.1 2809.2 1754.1 2121.9 238.41 -11.78 267 1931.45 0.00 0.00 0.00 0.000 0.000 0.000 2803.12 2796.81 2809.44 1754.69 2122.31 0 0 0 30.00 30.00 30.00

2070.14 260 -74.33 -1.59 80.00 2802.3 2795.9 2808.7 1754.7 2121.8 253.78 -11.11 279 2075.78 0.00 0.00 3.62 0.000 0.000 0.108 2802.91 2795.62 2810.19 1753.88 3476.25 0 0 0 30.00 30.00 15.23

2095.19 1028 -74.33 -1.59 0.00 2802.8 2796.2 2809.4 1753.6 3476.1 256.77 -11.16 284 2099.73 0.00 0.00 3.37 0.000 0.000 0.054 2802.59 2796.00 2809.19 1753.88 2080.50 0 0 0 30.00 30.00 15.42

2425.21 0 -74.33 -1.59 0.00 2802.6 2796.2 2809.0 1753.9 2080.3 292.26 -11.06 300 2426.54 0.00 0.00 0.00 0.000 0.000 0.000 2802.75 2796.62 2808.88 1754.31 2080.50 0 0 0 30.00 30.00 30.00

2725.17 260 -74.33 -1.59 80.00 2802.4 2795.9 2808.9 1753.9 2079.9 321.50 -9.24 310 2730.83 0.00 0.00 3.77 0.000 0.000 0.108 2802.50 2795.88 2809.12 1752.25 3476.06 0 0 0 30.00 30.00 15.22

2769.09 1028 -74.33 -1.59 0.00 2802.7 2796.2 2809.1 1754.5 3476.8 326.18 -10.21 319 2774.77 0.00 0.00 3.38 0.000 0.000 0.056 2803.03 2796.00 2810.06 1753.75 2080.44 0 0 0 30.00 30.00 15.38

3080.22 0 -74.33 -1.59 0.00 2802.9 2796.1 2809.6 1753.8 2081.3 356.54 -9.41 331 3081.54 0.00 0.00 0.00 0.000 0.000 0.000 2802.78 2796.69 2808.88 1754.12 2081.19 0 0 0 30.00 30.00 30.00

3380.21 292 -95.08 -1.65 80.00 2802.2 2795.6 2808.8 1754.4 2080.9 384.41 -9.03 341 3385.88 0.00 0.00 3.81 0.000 0.000 0.109 2802.81 2796.25 2809.38 1752.50 3474.69 0 0 0 30.00 30.00 15.19

3414.13 5157 -121.90 -1.73 0.00 2802.8 2796.3 2809.3 1754.1 3474.9 387.92 -8.42 348 3419.89 0.00 0.34 3.39 0.000 0.064 0.056 2803.56 2796.88 2810.25 1703.00 2082.44 0 0 0 30.00 15.14 15.35

3735.27 260 -121.90 -1.73 80.00 2802.1 2795.7 2808.4 1704.2 2082.8 421.96 -10.62 362 3740.90 0.00 0.00 3.81 0.000 0.000 0.108 2802.91 2796.69 2809.12 1704.62 3474.50 0 0 0 30.00 30.00 15.17

3814.14 1028 -121.90 -1.73 0.00 2802.7 2796.5 2808.9 1704.2 3474.9 431.63 -13.46 378 3820.95 0.00 0.00 3.41 0.000 0.000 0.059 2802.97 2796.56 2809.38 1703.88 2082.19 0 0 0 30.00 30.00 15.32

4120.24 260 -121.90 -1.73 80.00 2802.0 2796.1 2807.9 1703.8 2082.4 467.29 -11.76 389 4125.92 0.00 0.00 3.84 0.000 0.000 0.108 2802.81 2795.94 2809.69 1703.69 3475.81 0 0 0 30.00 30.00 15.17

4179.17 1028 -121.90 -1.73 0.00 2802.1 2796.4 2807.8 1703.8 3476.2 474.95 -15.41 401 4184.88 0.00 0.00 3.41 0.000 0.000 0.058 2803.34 2797.38 2809.31 1703.75 2083.31 0 0 0 30.00 30.00 15.31

4415 end dive: TARGET_DEPTH_EXCEEDED

state 4415 begin apogee

4416.41 10243 0.00 -0.25 0.00 2801.9 2795.9 2807.9 1703.6 2119.3 503.60 -12.06 413 4485.25 64.69 3.13 0.09 1.626 0.163 0.245 2498.38 2507.50 2489.25 2077.88 2082.50 0 0 0 10.64 15.07 14.94

4488 end apogee: CONTROL_FINISHED_OK

state 4488 begin climb

4488.34 10759 121.90 1.73 -80.00 2498.0 2506.6 2489.4 2079.9 2082.5 505.16 0.00 415 4610.98 112.57 3.41 4.14 1.588 0.074 0.139 2000.53 2015.06 1986.00 2566.38 661.94 0 0 0 11.48 15.24 14.70

4648.19 1028 121.90 1.73 0.00 1996.5 2009.3 1983.8 2566.1 661.9 494.88 12.31 447 4653.83 0.00 0.00 3.58 0.000 0.000 0.044 1996.34 2009.50 1983.19 2566.75 2124.12 0 0 0 30.00 30.00 15.26

4969.22 16902 121.90 1.73 -80.00 1989.6 2007.6 1971.6 2566.4 2124.0 461.11 10.72 461 4974.95 0.00 0.00 4.11 0.000 0.000 0.136 1988.06 2006.19 1969.94 2566.94 661.00 0 0 0 30.00 30.00 15.23

5018.14 17414 121.90 1.73 0.00 1988.8 2006.0 1971.6 2566.6 661.1 456.02 11.86 471 5024.95 0.00 0.00 3.52 0.000 0.000 0.045 1989.16 2007.00 1971.31 2567.44 2124.12 0 0 0 30.00 30.00 15.55

5324.26 16966 121.90 1.78 -80.00 1987.4 2006.4 1968.5 2567.1 2124.0 424.72 9.60 482 5329.96 0.00 0.00 4.11 0.000 0.000 0.135 1986.16 2005.06 1967.25 2566.62 661.88 0 0 0 30.00 30.00 15.21

5423.16 17414 121.90 1.78 0.00 1987.0 2004.9 1969.1 2566.2 661.8 413.42 11.86 502 5428.87 0.00 0.00 3.52 0.000 0.000 0.047 1989.19 2007.38 1971.00 2567.31 2124.94 0 0 0 30.00 30.00 15.55

5739.29 8742 143.81 1.85 -80.00 1985.8 2004.3 1967.3 2567.0 2125.4 384.26 8.91 515 5764.40 19.62 0.00 4.07 1.408 0.000 0.135 1912.12 1930.94 1893.31 2566.38 661.38 0 0 0 11.28 30.00 15.21

5843.18 1028 143.81 1.85 0.00 1909.9 1927.6 1892.1 2567.2 661.2 372.01 12.22 536 5848.88 0.00 0.00 3.49 0.000 0.000 0.046 1910.72 1928.50 1892.94 2566.19 2124.75 0 0 0 30.00 30.00 15.58

6159.29 516 143.81 1.85 -80.00 1906.9 1927.8 1886.0 2567.0 2125.1 338.90 10.62 549 6165.00 0.00 0.00 4.06 0.000 0.000 0.133 1908.34 1928.31 1888.38 2567.19 661.88 0 0 0 30.00 30.00 15.23

6373.23 1028 143.81 1.85 0.00 1906.0 1925.6 1886.3 2566.7 662.2 311.87 11.92 592 6378.94 0.00 0.00 3.51 0.000 0.000 0.048 1906.81 1926.50 1887.12 2566.56 2125.44 0 0 0 30.00 30.00 15.55

6694.36 16710 143.81 1.86 80.00 1905.2 1925.8 1884.5 2567.1 2125.1 276.98 10.50 606 6699.97 0.00 0.00 3.65 0.000 0.000 0.112 1903.44 1924.44 1882.44 2566.94 3474.31 0 0 0 30.00 30.00 15.26

6703.25 19527 143.81 1.88 0.00 1904.4 1924.9 1883.8 2566.8 3474.8 276.00 10.53 608 6708.97 0.00 0.19 3.36 0.000 0.074 0.051 1906.47 1926.69 1886.25 2610.81 2076.56 0 0 0 30.00 15.28 15.48

7009.34 16902 143.81 1.88 -80.00 1904.3 1925.3 1883.4 2611.8 2076.9 241.18 11.45 624 7015.04 0.00 0.00 3.94 0.000 0.000 0.132 1904.31 1925.81 1882.81 2611.62 660.75 0 0 0 30.00 30.00 15.15

7194.84 17414 143.81 1.88 0.00 1904.3 1925.1 1883.6 2611.9 660.6 217.69 13.27 661 7200.01 0.00 0.00 3.47 0.000 0.000 0.045 1903.62 1924.62 1882.62 2612.12 2128.12 0 0 0 30.00 30.00 15.58

7319.42 16966 143.81 1.90 -80.00 1903.9 1925.0 1882.8 2612.0 2127.9 204.84 10.47 674 7325.12 0.00 0.00 4.06 0.000 0.000 0.126 1902.56 1923.62 1881.50 2612.19 661.75 0 0 0 30.00 30.00 15.14

7344.85 17478 143.81 1.92 0.00 1904.0 1924.9 1883.1 2611.9 661.8 202.43 10.61 679 7350.02 0.00 0.00 3.48 0.000 0.000 0.043 1903.31 1924.62 1882.00 2611.50 2128.38 0 0 0 30.00 30.00 15.56

7469.44 16966 143.81 1.95 -80.00 1903.5 1924.4 1882.6 2612.1 2128.2 189.88 9.78 692 7475.14 0.00 0.00 4.05 0.000 0.000 0.126 1903.41 1924.44 1882.38 2611.50 660.38 0 0 0 30.00 30.00 15.13

7618.36 17414 143.81 1.95 0.00 1903.7 1924.2 1883.1 2611.7 660.6 172.88 10.64 722 7625.16 0.00 0.00 3.49 0.000 0.000 0.045 1904.94 1926.06 1883.81 2611.88 2129.19 0 0 0 30.00 30.00 15.54

7744.53 16966 143.81 2.01 -80.00 1903.6 1924.7 1882.4 2611.9 2129.1 160.43 9.18 735 7750.17 0.00 0.00 4.06 0.000 0.000 0.125 1902.34 1923.94 1880.75 2611.56 661.62 0 0 0 30.00 30.00 15.11

7769.91 19527 143.81 2.05 0.00 1903.5 1924.7 1882.2 2611.9 661.8 158.05 9.88 740 7775.13 0.00 0.16 3.49 0.000 0.081 0.042 1903.47 1924.25 1882.69 2651.81 2128.44 0 0 0 30.00 15.33 15.57

7894.55 16902 143.81 2.05 -80.00 1903.2 1924.4 1882.0 2652.1 2128.6 144.45 11.26 753 7900.18 0.00 0.00 4.07 0.000 0.000 0.124 1902.09 1923.75 1880.44 2651.62 661.94 0 0 0 30.00 30.00 15.12

7943.40 17414 143.81 2.05 0.00 1903.3 1924.4 1882.1 2652.1 661.8 138.61 11.49 763 7950.20 0.00 0.00 3.49 0.000 0.000 0.045 1903.53 1924.69 1882.38 2651.81 2127.81 0 0 0 30.00 30.00 15.52

8009.54 16902 143.81 2.05 -80.00 1903.3 1924.3 1882.3 2652.0 2127.8 131.85 11.12 770 8015.19 0.00 0.00 4.04 0.000 0.000 0.124 1902.47 1923.50 1881.44 2650.56 660.81 0 0 0 30.00 30.00 15.13

8108.42 17414 143.81 2.05 0.00 1903.2 1924.2 1882.1 2651.2 660.8 120.39 12.45 790 8115.23 0.00 0.00 3.49 0.000 0.000 0.045 1903.03 1923.88 1882.19 2652.31 2129.38 0 0 0 30.00 30.00 15.51

8174.59 16450 143.81 2.10 0.00 1903.2 1924.1 1882.4 2651.2 2129.6 114.38 9.37 797 8175.93 0.00 0.00 0.00 0.000 0.000 0.000 1903.22 1924.19 1882.25 2652.06 2129.00 0 0 0 30.00 30.00 30.00

8234.54 8486 171.11 2.18 80.00 1903.1 1924.2 1882.1 2652.4 2129.2 108.91 8.37 803 8270.86 30.82 0.00 3.61 1.167 0.000 0.112 1801.19 1822.62 1779.75 2652.19 3475.31 0 0 0 11.08 30.00 15.14

8359.55 3141 171.11 2.22 0.00 1798.0 1820.0 1776.1 2651.9 3475.2 97.82 9.99 828 8364.18 0.00 0.16 3.38 0.000 0.082 0.053 1799.34 1821.44 1777.25 2677.31 2079.19 0 0 0 30.00 15.34 15.52

8429.56 580 171.11 2.26 -80.00 1797.8 1820.1 1775.4 2692.2 2079.4 90.99 9.60 836 8435.23 0.00 0.00 3.88 0.000 0.000 0.129 1796.81 1818.81 1774.81 2692.12 660.75 0 0 0 30.00 30.00 15.29

8605.04 1092 171.11 2.28 0.00 1796.4 1818.1 1774.8 2691.8 660.9 73.34 10.51 871 8610.22 0.00 0.00 3.51 0.000 0.000 0.047 1795.81 1817.19 1774.44 2692.94 2129.88 0 0 0 30.00 30.00 15.56

8669.60 10535 218.66 2.42 80.00 1796.2 1817.8 1774.6 2692.6 2130.2 69.04 6.33 878 8731.53 54.44 0.22 3.62 1.121 0.069 0.109 1607.97 1630.81 1585.12 2742.00 3474.81 0 0 0 11.61 15.60 15.04

8953.69 9254 266.78 2.57 0.00 1603.5 1627.3 1579.8 2742.4 3475.2 45.24 6.27 935 9012.55 53.88 0.00 3.39 1.074 0.000 0.053 1411.06 1436.88 1385.25 2741.81 2078.06 0 0 0 11.60 30.00 15.47

9076.49 10535 290.64 2.64 80.00 1409.1 1436.5 1381.7 2742.4 2078.6 36.74 8.71 953 9109.24 27.32 0.25 3.78 1.013 0.065 0.107 1314.00 1339.75 1288.25 2791.81 3474.75 0 0 0 11.53 15.43 15.02

9111.37 9254 315.90 2.72 0.00 1313.8 1339.6 1287.9 2791.9 3474.9 33.58 8.57 959 9148.75 29.03 0.00 3.41 0.994 0.000 0.050 1213.09 1239.31 1186.88 2791.25 2076.81 0 0 0 11.69 30.00 15.39

9207.48 324 315.90 2.77 80.00 1209.7 1236.6 1182.8 2790.9 2077.1 25.33 9.33 972 9213.13 0.00 0.00 3.78 0.000 0.000 0.105 1209.06 1236.38 1181.75 2791.19 3473.44 0 0 0 30.00 30.00 15.27

9266.38 1028 315.90 2.77 0.00 1207.8 1235.4 1180.2 2792.1 3473.2 18.29 12.64 984 9273.17 0.00 0.00 3.38 0.000 0.000 0.052 1207.94 1235.69 1180.19 2791.25 2076.69 0 0 0 30.00 30.00 15.39

9332.53 516 315.90 2.77 -80.00 1207.0 1235.4 1178.6 2791.8 2076.7 10.78 11.68 991 9338.17 0.00 0.00 3.91 0.000 0.000 0.129 1207.59 1235.69 1179.50 2791.12 662.00 0 0 0 30.00 30.00 15.21

9407 end climb: SURFACE_DEPTH_REACHED

state 9407 begin surface coast

9417 end surface coast: CONTROL_FINISHED_OK

state 9417 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	1082	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	74.53447	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	257.93292	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	080421,035109,4707.412,-12501.818,23,0.9,24,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	3	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.65	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-63.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	080421,040140,4707.383,-12501.797,2,0.7,5,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	331.8,1171,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	593

SM_CCo	9607.14,0.00,0.018,0,563.5,561.3,565.6,475.03	_10V_AH	14.76,0.000
SM_GC	-0.49,0.00,18.30,3.45,0.018,0.087,0.043,563.5,561.3,565.6,170.3,2131.1,0,0,0,30.36,15.15,15.56	FG_AHR_24Vo	258.142
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	74.567
IRIDIUM_FIX	4706.71,-12455.12,080421,035506	MEM	1103668,39,73460,56
TCM_TEMP	174.82	DATA_FILE_SIZE	38593,1008
XPDR_PINGS	6,14.0,11.5	CAP_FILE_SIZE	509758,0
SC_FREEKB	3444576	SDSIZE	3918848,3624000
HUMID	58.41	SDFILEDIR	5436,1
TEMP	7.81	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77763	GPS	080421,064248,4707.992,-12501.502,36,1.0,36,15.6
_24V_AH	14.09,296.652

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	636	1626	14588.37	legato	0	0	0.00
Pitch_motor	40	251	142.81	nil	0	0	0.00
Roll_motor	227	245	787.13	nil	0	0	0.00
Iridium	284	187	752.83	nil	0	0	0.00
Transponder_ping	1	420	8.88	nil	0	0	0.00
GPS	14	15	3.11	nil	0	0	0.00
Core	3699	11	644.34	SciCon	9480	5	729.29
LPSleep	6306	2	260.62	nil	0	0	0.00
Compass	1924	5	142.02	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
8.32	16386	-74.33	-1.59	0.00	560.1	564.0	556.2	169.1	2114.7	0.00	0.00	0	100.51	91.75	0.00	0.00	0.005	0.000	0.000	2713.81	2697.94	2729.69	169.06	2115.31	0	0	0	14.70	30.00	30.00
100.73	18951	-74.33	-1.59	-80.00	2712.7	2697.1	2728.2	168.9	2115.6	5.18	-10.73	9	126.64	1.78	14.14	4.12	0.016	0.252	0.144	2802.75	2793.38	2812.12	1754.44	662.06	0	0	0	14.87	14.94	14.72
183.86	1028	-74.33	-1.59	0.00	2802.3	2794.3	2810.2	1754.2	662.2	27.42	-21.75	26	190.67	0.00	0.00	3.57	0.000	0.000	0.053	2804.44	2796.12	2812.75	1754.31	2120.56	0	0	0	30.00	30.00	15.45
250.01	260	-74.33	-1.59	80.00	2801.8	2794.6	2809.0	1753.9	2120.8	39.82	-19.11	33	255.60	0.00	0.00	3.65	0.000	0.000	0.106	2800.56	2794.19	2806.94	1754.38	3475.50	0	0	0	30.00	30.00	15.27
454.98	1028	-74.33	-1.59	0.00	2802.2	2794.8	2809.7	1753.9	3475.6	73.67	-12.83	74	459.58	0.00	0.00	3.38	0.000	0.000	0.056	2802.69	2795.38	2810.00	1754.44	2081.00	0	0	0	30.00	30.00	15.42
524.99	0	-74.33	-1.59	0.00	2802.2	2795.3	2809.0	1754.4	2080.6	81.54	-11.26	82	526.32	0.00	0.00	0.00	0.000	0.000	0.000	2801.56	2794.06	2809.06	1754.50	2081.00	0	0	0	30.00	30.00	30.00
585.00	516	-74.33	-1.59	-80.00	2802.3	2795.2	2809.3	1753.9	2081.2	88.15	-10.60	88	590.71	0.00	0.00	4.01	0.000	0.000	0.147	2802.50	2795.44	2809.56	1752.44	661.88	0	0	0	30.00	30.00	15.10
690.48	1028	-74.33	-1.59	0.00	2802.2	2794.9	2809.4	1753.9	661.6	101.61	-12.02	109	695.64	0.00	0.00	3.54	0.000	0.000	0.050	2800.59	2793.88	2807.31	1754.00	2123.75	0	0	0	30.00	30.00	15.51
755.01	260	-74.33	-1.59	80.00	2802.1	2795.2	2808.9	1753.9	2123.2	108.25	-9.94	116	760.67	0.00	0.00	3.62	0.000	0.000	0.105	2802.22	2795.88	2808.56	1753.50	3476.19	0	0	0	30.00	30.00	15.27
873.96	1028	-74.33	-1.59	0.00	2802.4	2795.6	2809.2	1753.8	3476.2	121.96	-11.58	140	880.72	0.00	0.00	3.36	0.000	0.000	0.053	2803.91	2796.94	2810.88	1754.25	2081.81	0	0	0	30.00	30.00	15.43
940.09	0	-74.33	-1.59	0.00	2802.0	2795.2	2808.7	1753.6	2081.9	128.35	-9.42	147	941.42	0.00	0.00	0.00	0.000	0.000	0.000	2802.50	2795.44	2809.56	1754.12	2081.88	0	0	0	30.00	30.00	30.00
1000.05	260	-74.33	-1.59	80.00	2802.3	2795.8	2808.8	1754.1	2082.3	134.17	-9.39	153	1005.71	0.00	0.00	3.73	0.000	0.000	0.102	2803.06	2796.38	2809.75	1754.12	3474.56	0	0	0	30.00	30.00	15.28
1015.05	1028	-74.33	-1.59	0.00	2802.1	2795.1	2809.1	1754.2	3474.9	135.94	-9.98	156	1019.64	0.00	0.00	3.35	0.000	0.000	0.051	2802.94	2795.94	2809.94	1753.81	2080.25	0	0	0	30.00	30.00	15.44
1085.10	516	-74.33	-1.59	-80.00	2802.4	2795.5	2809.2	1754.0	2080.6	143.03	-10.24	164	1090.75	0.00	0.00	3.97	0.000	0.000	0.146	2802.62	2796.06	2809.19	1752.38	662.00	0	0	0	30.00	30.00	15.09
1130.52	1028	-74.33	-1.59	0.00	2802.3	2795.4	2809.1	1754.6	662.1	148.19	-12.13	173	1135.67	0.00	0.00	3.49	0.000	0.000	0.047	2802.97	2795.81	2810.12	1753.94	2124.56	0	0	0	30.00	30.00	15.52
1195.05	260	-74.33	-1.59	80.00	2802.1	2795.9	2808.3	1754.3	2124.2	154.85	-9.78	180	1200.69	0.00	0.00	3.57	0.000	0.000	0.103	2803.75	2796.62	2810.88	1754.25	3476.44	0	0	0	30.00	30.00	15.27
1253.98	1028	-74.33	-1.59	0.00	2802.3	2795.3	2809.4	1754.5	3476.2	161.37	-10.78	192	1260.76	0.00	0.00	3.35	0.000	0.000	0.052	2802.75	2795.88	2809.62	1754.12	2082.00	0	0	0	30.00	30.00	15.42
1380.08	0	-74.33	-1.59	0.00	2802.6	2796.1	2809.1	1753.9	2081.9	174.19	-10.71	205	1381.41	0.00	0.00	0.00	0.000	0.000	0.000	2802.47	2796.19	2808.75	1754.19	2082.19	0	0	0	30.00	30.00	30.00
1500.08	0	-74.33	-1.59	0.00	2802.5	2796.0	2809.1	1753.9	2082.0	187.56	-11.88	217	1501.41	0.00	0.00	0.00	0.000	0.000	0.000	2802.72	2796.12	2809.31	1754.00	2082.25	0	0	0	30.00	30.00	30.00
1620.09	516	-74.33	-1.59	-80.00	2802.3	2796.0	2808.6	1753.9	2082.6	201.32	-11.83	229	1625.81	0.00	0.00	4.01	0.000	0.000	0.150	2801.19	2794.38	2808.00	1754.06	661.69	0	0	0	30.00	30.00	15.05
1685.59	1028	-74.33	-1.59	0.00	2802.2	2795.9	2808.6	1753.9	661.9	210.10	-14.17	242	1690.71	0.00	0.00	3.50	0.000	0.000	0.048	2801.16	2794.31	2808.00	1754.06	2122.06	0	0	0	30.00	30.00	15.52
1810.12	0	-74.33	-1.59	0.00	2802.6	2796.5	2808.6	1754.6	2121.8	224.38	-12.03	255	1811.44	0.00	0.00	0.00	0.000	0.000	0.000	2803.06	2796.31	2809.81	1754.06	2122.44	0	0	0	30.00	30.00	30.00
1930.12	0	-74.33	-1.59	0.00	2802.6	2796.1	2809.2	1754.1	2121.9	238.41	-11.78	267	1931.45	0.00	0.00	0.00	0.000	0.000	0.000	2803.12	2796.81	2809.44	1754.69	2122.31	0	0	0	30.00	30.00	30.00
2070.14	260	-74.33	-1.59	80.00	2802.3	2795.9	2808.7	1754.7	2121.8	253.78	-11.11	279	2075.78	0.00	0.00	3.62	0.000	0.000	0.108	2802.91	2795.62	2810.19	1753.88	3476.25	0	0	0	30.00	30.00	15.23
2095.19	1028	-74.33	-1.59	0.00	2802.8	2796.2	2809.4	1753.6	3476.1	256.77	-11.16	284	2099.73	0.00	0.00	3.37	0.000	0.000	0.054	2802.59	2796.00	2809.19	1753.88	2080.50	0	0	0	30.00	30.00	15.42
2425.21	0	-74.33	-1.59	0.00	2802.6	2796.2	2809.0	1753.9	2080.3	292.26	-11.06	300	2426.54	0.00	0.00	0.00	0.000	0.000	0.000	2802.75	2796.62	2808.88	1754.31	2080.50	0	0	0	30.00	30.00	30.00
2725.17	260	-74.33	-1.59	80.00	2802.4	2795.9	2808.9	1753.9	2079.9	321.50	-9.24	310	2730.83	0.00	0.00	3.77	0.000	0.000	0.108	2802.50	2795.88	2809.12	1752.25	3476.06	0	0	0	30.00	30.00	15.22
2769.09	1028	-74.33	-1.59	0.00	2802.7	2796.2	2809.1	1754.5	3476.8	326.18	-10.21	319	2774.77	0.00	0.00	3.38	0.000	0.000	0.056	2803.03	2796.00	2810.06	1753.75	2080.44	0	0	0	30.00	30.00	15.38
3080.22	0	-74.33	-1.59	0.00	2802.9	2796.1	2809.6	1753.8	2081.3	356.54	-9.41	331	3081.54	0.00	0.00	0.00	0.000	0.000	0.000	2802.78	2796.69	2808.88	1754.12	2081.19	0	0	0	30.00	30.00	30.00
3380.21	292	-95.08	-1.65	80.00	2802.2	2795.6	2808.8	1754.4	2080.9	384.41	-9.03	341	3385.88	0.00	0.00	3.81	0.000	0.000	0.109	2802.81	2796.25	2809.38	1752.50	3474.69	0	0	0	30.00	30.00	15.19
3414.13	5157	-121.90	-1.73	0.00	2802.8	2796.3	2809.3	1754.1	3474.9	387.92	-8.42	348	3419.89	0.00	0.34	3.39	0.000	0.064	0.056	2803.56	2796.88	2810.25	1703.00	2082.44	0	0	0	30.00	15.14	15.35
3735.27	260	-121.90	-1.73	80.00	2802.1	2795.7	2808.4	1704.2	2082.8	421.96	-10.62	362	3740.90	0.00	0.00	3.81	0.000	0.000	0.108	2802.91	2796.69	2809.12	1704.62	3474.50	0	0	0	30.00	30.00	15.17
3814.14	1028	-121.90	-1.73	0.00	2802.7	2796.5	2808.9	1704.2	3474.9	431.63	-13.46	378	3820.95	0.00	0.00	3.41	0.000	0.000	0.059	2802.97	2796.56	2809.38	1703.88	2082.19	0	0	0	30.00	30.00	15.32
4120.24	260	-121.90	-1.73	80.00	2802.0	2796.1	2807.9	1703.8	2082.4	467.29	-11.76	389	4125.92	0.00	0.00	3.84	0.000	0.000	0.108	2802.81	2795.94	2809.69	1703.69	3475.81	0	0	0	30.00	30.00	15.17
4179.17	1028	-121.90	-1.73	0.00	2802.1	2796.4	2807.8	1703.8	3476.2	474.95	-15.41	401	4184.88	0.00	0.00	3.41	0.000	0.000	0.058	2803.34	2797.38	2809.31	1703.75	2083.31	0	0	0	30.00	30.00	15.31
4415	end dive: TARGET_DEPTH_EXCEEDED
state	4415	begin apogee
4416.41	10243	0.00	-0.25	0.00	2801.9	2795.9	2807.9	1703.6	2119.3	503.60	-12.06	413	4485.25	64.69	3.13	0.09	1.626	0.163	0.245	2498.38	2507.50	2489.25	2077.88	2082.50	0	0	0	10.64	15.07	14.94
4488	end apogee: CONTROL_FINISHED_OK
state	4488	begin climb
4488.34	10759	121.90	1.73	-80.00	2498.0	2506.6	2489.4	2079.9	2082.5	505.16	0.00	415	4610.98	112.57	3.41	4.14	1.588	0.074	0.139	2000.53	2015.06	1986.00	2566.38	661.94	0	0	0	11.48	15.24	14.70
4648.19	1028	121.90	1.73	0.00	1996.5	2009.3	1983.8	2566.1	661.9	494.88	12.31	447	4653.83	0.00	0.00	3.58	0.000	0.000	0.044	1996.34	2009.50	1983.19	2566.75	2124.12	0	0	0	30.00	30.00	15.26
4969.22	16902	121.90	1.73	-80.00	1989.6	2007.6	1971.6	2566.4	2124.0	461.11	10.72	461	4974.95	0.00	0.00	4.11	0.000	0.000	0.136	1988.06	2006.19	1969.94	2566.94	661.00	0	0	0	30.00	30.00	15.23
5018.14	17414	121.90	1.73	0.00	1988.8	2006.0	1971.6	2566.6	661.1	456.02	11.86	471	5024.95	0.00	0.00	3.52	0.000	0.000	0.045	1989.16	2007.00	1971.31	2567.44	2124.12	0	0	0	30.00	30.00	15.55
5324.26	16966	121.90	1.78	-80.00	1987.4	2006.4	1968.5	2567.1	2124.0	424.72	9.60	482	5329.96	0.00	0.00	4.11	0.000	0.000	0.135	1986.16	2005.06	1967.25	2566.62	661.88	0	0	0	30.00	30.00	15.21
5423.16	17414	121.90	1.78	0.00	1987.0	2004.9	1969.1	2566.2	661.8	413.42	11.86	502	5428.87	0.00	0.00	3.52	0.000	0.000	0.047	1989.19	2007.38	1971.00	2567.31	2124.94	0	0	0	30.00	30.00	15.55
5739.29	8742	143.81	1.85	-80.00	1985.8	2004.3	1967.3	2567.0	2125.4	384.26	8.91	515	5764.40	19.62	0.00	4.07	1.408	0.000	0.135	1912.12	1930.94	1893.31	2566.38	661.38	0	0	0	11.28	30.00	15.21
5843.18	1028	143.81	1.85	0.00	1909.9	1927.6	1892.1	2567.2	661.2	372.01	12.22	536	5848.88	0.00	0.00	3.49	0.000	0.000	0.046	1910.72	1928.50	1892.94	2566.19	2124.75	0	0	0	30.00	30.00	15.58
6159.29	516	143.81	1.85	-80.00	1906.9	1927.8	1886.0	2567.0	2125.1	338.90	10.62	549	6165.00	0.00	0.00	4.06	0.000	0.000	0.133	1908.34	1928.31	1888.38	2567.19	661.88	0	0	0	30.00	30.00	15.23
6373.23	1028	143.81	1.85	0.00	1906.0	1925.6	1886.3	2566.7	662.2	311.87	11.92	592	6378.94	0.00	0.00	3.51	0.000	0.000	0.048	1906.81	1926.50	1887.12	2566.56	2125.44	0	0	0	30.00	30.00	15.55
6694.36	16710	143.81	1.86	80.00	1905.2	1925.8	1884.5	2567.1	2125.1	276.98	10.50	606	6699.97	0.00	0.00	3.65	0.000	0.000	0.112	1903.44	1924.44	1882.44	2566.94	3474.31	0	0	0	30.00	30.00	15.26
6703.25	19527	143.81	1.88	0.00	1904.4	1924.9	1883.8	2566.8	3474.8	276.00	10.53	608	6708.97	0.00	0.19	3.36	0.000	0.074	0.051	1906.47	1926.69	1886.25	2610.81	2076.56	0	0	0	30.00	15.28	15.48
7009.34	16902	143.81	1.88	-80.00	1904.3	1925.3	1883.4	2611.8	2076.9	241.18	11.45	624	7015.04	0.00	0.00	3.94	0.000	0.000	0.132	1904.31	1925.81	1882.81	2611.62	660.75	0	0	0	30.00	30.00	15.15
7194.84	17414	143.81	1.88	0.00	1904.3	1925.1	1883.6	2611.9	660.6	217.69	13.27	661	7200.01	0.00	0.00	3.47	0.000	0.000	0.045	1903.62	1924.62	1882.62	2612.12	2128.12	0	0	0	30.00	30.00	15.58
7319.42	16966	143.81	1.90	-80.00	1903.9	1925.0	1882.8	2612.0	2127.9	204.84	10.47	674	7325.12	0.00	0.00	4.06	0.000	0.000	0.126	1902.56	1923.62	1881.50	2612.19	661.75	0	0	0	30.00	30.00	15.14
7344.85	17478	143.81	1.92	0.00	1904.0	1924.9	1883.1	2611.9	661.8	202.43	10.61	679	7350.02	0.00	0.00	3.48	0.000	0.000	0.043	1903.31	1924.62	1882.00	2611.50	2128.38	0	0	0	30.00	30.00	15.56
7469.44	16966	143.81	1.95	-80.00	1903.5	1924.4	1882.6	2612.1	2128.2	189.88	9.78	692	7475.14	0.00	0.00	4.05	0.000	0.000	0.126	1903.41	1924.44	1882.38	2611.50	660.38	0	0	0	30.00	30.00	15.13
7618.36	17414	143.81	1.95	0.00	1903.7	1924.2	1883.1	2611.7	660.6	172.88	10.64	722	7625.16	0.00	0.00	3.49	0.000	0.000	0.045	1904.94	1926.06	1883.81	2611.88	2129.19	0	0	0	30.00	30.00	15.54
7744.53	16966	143.81	2.01	-80.00	1903.6	1924.7	1882.4	2611.9	2129.1	160.43	9.18	735	7750.17	0.00	0.00	4.06	0.000	0.000	0.125	1902.34	1923.94	1880.75	2611.56	661.62	0	0	0	30.00	30.00	15.11
7769.91	19527	143.81	2.05	0.00	1903.5	1924.7	1882.2	2611.9	661.8	158.05	9.88	740	7775.13	0.00	0.16	3.49	0.000	0.081	0.042	1903.47	1924.25	1882.69	2651.81	2128.44	0	0	0	30.00	15.33	15.57
7894.55	16902	143.81	2.05	-80.00	1903.2	1924.4	1882.0	2652.1	2128.6	144.45	11.26	753	7900.18	0.00	0.00	4.07	0.000	0.000	0.124	1902.09	1923.75	1880.44	2651.62	661.94	0	0	0	30.00	30.00	15.12
7943.40	17414	143.81	2.05	0.00	1903.3	1924.4	1882.1	2652.1	661.8	138.61	11.49	763	7950.20	0.00	0.00	3.49	0.000	0.000	0.045	1903.53	1924.69	1882.38	2651.81	2127.81	0	0	0	30.00	30.00	15.52
8009.54	16902	143.81	2.05	-80.00	1903.3	1924.3	1882.3	2652.0	2127.8	131.85	11.12	770	8015.19	0.00	0.00	4.04	0.000	0.000	0.124	1902.47	1923.50	1881.44	2650.56	660.81	0	0	0	30.00	30.00	15.13
8108.42	17414	143.81	2.05	0.00	1903.2	1924.2	1882.1	2651.2	660.8	120.39	12.45	790	8115.23	0.00	0.00	3.49	0.000	0.000	0.045	1903.03	1923.88	1882.19	2652.31	2129.38	0	0	0	30.00	30.00	15.51
8174.59	16450	143.81	2.10	0.00	1903.2	1924.1	1882.4	2651.2	2129.6	114.38	9.37	797	8175.93	0.00	0.00	0.00	0.000	0.000	0.000	1903.22	1924.19	1882.25	2652.06	2129.00	0	0	0	30.00	30.00	30.00
8234.54	8486	171.11	2.18	80.00	1903.1	1924.2	1882.1	2652.4	2129.2	108.91	8.37	803	8270.86	30.82	0.00	3.61	1.167	0.000	0.112	1801.19	1822.62	1779.75	2652.19	3475.31	0	0	0	11.08	30.00	15.14
8359.55	3141	171.11	2.22	0.00	1798.0	1820.0	1776.1	2651.9	3475.2	97.82	9.99	828	8364.18	0.00	0.16	3.38	0.000	0.082	0.053	1799.34	1821.44	1777.25	2677.31	2079.19	0	0	0	30.00	15.34	15.52
8429.56	580	171.11	2.26	-80.00	1797.8	1820.1	1775.4	2692.2	2079.4	90.99	9.60	836	8435.23	0.00	0.00	3.88	0.000	0.000	0.129	1796.81	1818.81	1774.81	2692.12	660.75	0	0	0	30.00	30.00	15.29
8605.04	1092	171.11	2.28	0.00	1796.4	1818.1	1774.8	2691.8	660.9	73.34	10.51	871	8610.22	0.00	0.00	3.51	0.000	0.000	0.047	1795.81	1817.19	1774.44	2692.94	2129.88	0	0	0	30.00	30.00	15.56
8669.60	10535	218.66	2.42	80.00	1796.2	1817.8	1774.6	2692.6	2130.2	69.04	6.33	878	8731.53	54.44	0.22	3.62	1.121	0.069	0.109	1607.97	1630.81	1585.12	2742.00	3474.81	0	0	0	11.61	15.60	15.04
8953.69	9254	266.78	2.57	0.00	1603.5	1627.3	1579.8	2742.4	3475.2	45.24	6.27	935	9012.55	53.88	0.00	3.39	1.074	0.000	0.053	1411.06	1436.88	1385.25	2741.81	2078.06	0	0	0	11.60	30.00	15.47
9076.49	10535	290.64	2.64	80.00	1409.1	1436.5	1381.7	2742.4	2078.6	36.74	8.71	953	9109.24	27.32	0.25	3.78	1.013	0.065	0.107	1314.00	1339.75	1288.25	2791.81	3474.75	0	0	0	11.53	15.43	15.02
9111.37	9254	315.90	2.72	0.00	1313.8	1339.6	1287.9	2791.9	3474.9	33.58	8.57	959	9148.75	29.03	0.00	3.41	0.994	0.000	0.050	1213.09	1239.31	1186.88	2791.25	2076.81	0	0	0	11.69	30.00	15.39
9207.48	324	315.90	2.77	80.00	1209.7	1236.6	1182.8	2790.9	2077.1	25.33	9.33	972	9213.13	0.00	0.00	3.78	0.000	0.000	0.105	1209.06	1236.38	1181.75	2791.19	3473.44	0	0	0	30.00	30.00	15.27
9266.38	1028	315.90	2.77	0.00	1207.8	1235.4	1180.2	2792.1	3473.2	18.29	12.64	984	9273.17	0.00	0.00	3.38	0.000	0.000	0.052	1207.94	1235.69	1180.19	2791.25	2076.69	0	0	0	30.00	30.00	15.39
9332.53	516	315.90	2.77	-80.00	1207.0	1235.4	1178.6	2791.8	2076.7	10.78	11.68	991	9338.17	0.00	0.00	3.91	0.000	0.000	0.129	1207.59	1235.69	1179.50	2791.12	662.00	0	0	0	30.00	30.00	15.21
9407	end climb: SURFACE_DEPTH_REACHED
state	9407	begin surface coast
9417	end surface coast: CONTROL_FINISHED_OK
state	9417	begin surface