Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1100 * 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 1100 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 75.125946 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 262.01736 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 75.125946 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 262.01736 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 1100 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 100421,051331,4708.322,-12502.009,25,0.9,26,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.56 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -58.4 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 100421,052056,4708.282,-12501.950,2,0.9,5,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 171.3,526,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 9172.81,0.00,0.015,0,564.3,562.5,566.2,474.82 _10V_AH 14.77,0.000

SM_GC -0.77,0.00,17.94,0.10,0.015,0.066,0.127,564.3,562.5,566.2,182.4,2071.3,0,0,0,30.36,15.30,15.50 FG_AHR_24Vo 262.234

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 75.157

IRIDIUM_FIX 4706.19,-12502.11,100421,022810 MEM 1103688,38,73460,56

TCM_TEMP 174.71 DATA_FILE_SIZE 35329,934

XPDR_PINGS 8,14.0,11.5 CAP_FILE_SIZE 468154,0

SC_FREEKB 3437664 SDSIZE 3918848,3618944

HUMID 58.57 SDFILEDIR 5526,1

TEMP 7.82 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77915 GPS 100421,075439,4707.302,-12501.905,9,0.9,22,15.6

_24V_AH 13.65,301.077

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 656 2583 23151.38 legato 0 0 0.00

Pitch_motor 39 251 134.57 nil 0 0 0.00

Roll_motor 190 224 583.14 nil 0 0 0.00

Iridium 211 199 575.31 nil 0 0 0.00

Transponder_ping 2 420 11.47 nil 0 0 0.00

GPS 14 15 3.21 nil 0 0 0.00

Core 3472 11 605.21 SciCon 9065 5 699.58

LPSleep 5929 2 245.21 nil 0 0 0.00

Compass 1805 5 133.34 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

8.37 16386 -74.33 -1.59 0.00 558.8 562.1 555.4 166.6 2116.4 0.00 0.00 0 100.54 91.74 0.00 0.00 0.005 0.000 0.000 2646.16 2626.50 2665.81 166.50 2116.75 0 0 0 14.69 30.00 30.00

100.78 18727 -95.81 -1.66 80.00 2645.0 2625.7 2664.2 166.5 2116.9 4.21 -8.95 9 127.66 5.28 14.06 3.69 0.009 0.252 0.113 2889.16 2884.44 2893.88 1738.25 3475.69 0 0 0 14.87 14.92 14.65

306.35 1028 -95.81 -1.66 0.00 2890.5 2885.4 2895.6 1738.2 3475.1 49.45 -17.25 50 311.52 0.00 0.00 3.48 0.000 0.000 0.059 2888.19 2883.38 2893.00 1738.38 2081.31 0 0 0 30.00 30.00 15.37

370.96 516 -95.81 -1.66 -80.00 2889.8 2885.1 2894.6 1738.4 2081.3 59.67 -15.96 57 376.64 0.00 0.00 4.11 0.000 0.000 0.150 2888.81 2883.75 2893.88 1737.06 662.31 0 0 0 30.00 30.00 15.07

399.82 1028 -95.81 -1.66 0.00 2889.4 2884.7 2894.1 1737.8 661.8 64.64 -17.31 63 407.06 0.00 0.00 3.53 0.000 0.000 0.051 2891.38 2886.25 2896.50 1737.88 2121.38 0 0 0 30.00 30.00 15.44

465.97 260 -95.81 -1.66 80.00 2890.1 2885.4 2894.8 1738.4 2120.8 75.20 -16.15 70 471.57 0.00 0.00 3.62 0.000 0.000 0.104 2889.09 2884.62 2893.56 1737.94 3475.62 0 0 0 30.00 30.00 15.25

514.89 1028 -95.81 -1.66 0.00 2890.2 2885.0 2895.3 1738.0 3475.9 83.07 -15.24 80 522.07 0.00 0.00 3.41 0.000 0.000 0.056 2891.59 2886.38 2896.81 1737.44 2081.25 0 0 0 30.00 30.00 15.37

580.98 0 -95.81 -1.66 0.00 2890.3 2885.4 2895.1 1737.9 2081.1 91.17 -12.10 87 582.31 0.00 0.00 0.00 0.000 0.000 0.000 2890.06 2885.00 2895.12 1738.19 2081.12 0 0 0 30.00 30.00 30.00

640.94 260 -95.81 -1.66 80.00 2890.4 2885.2 2895.6 1738.6 2080.6 98.07 -11.14 93 646.63 0.00 0.00 3.77 0.000 0.000 0.105 2888.50 2883.12 2893.88 1738.06 3475.75 0 0 0 30.00 30.00 15.23

696.38 1028 -95.81 -1.66 0.00 2890.2 2885.1 2895.2 1738.1 3475.4 104.90 -12.60 104 701.53 0.00 0.00 3.39 0.000 0.000 0.055 2891.09 2886.44 2895.75 1736.88 2081.88 0 0 0 30.00 30.00 15.40

761.00 516 -95.81 -1.66 -80.00 2890.1 2885.4 2894.8 1737.9 2082.4 112.79 -12.02 111 766.65 0.00 0.00 4.05 0.000 0.000 0.147 2890.81 2885.00 2896.62 1737.19 660.69 0 0 0 30.00 30.00 15.06

796.39 1028 -95.81 -1.66 0.00 2890.2 2884.7 2895.8 1738.1 661.0 117.53 -13.83 118 801.59 0.00 0.00 3.52 0.000 0.000 0.050 2888.47 2883.19 2893.75 1738.06 2124.19 0 0 0 30.00 30.00 15.47

860.95 260 -95.81 -1.66 80.00 2890.1 2885.2 2895.1 1738.3 2123.9 125.91 -12.73 125 866.60 0.00 0.00 3.61 0.000 0.000 0.105 2889.56 2884.25 2894.88 1737.69 3475.75 0 0 0 30.00 30.00 15.23

956.41 1028 -95.81 -1.66 0.00 2890.6 2885.3 2895.9 1738.1 3475.7 138.35 -12.51 144 961.56 0.00 0.00 3.38 0.000 0.000 0.054 2891.69 2885.12 2898.25 1738.19 2082.06 0 0 0 30.00 30.00 15.40

1021.02 0 -95.81 -1.66 0.00 2890.4 2885.1 2895.7 1737.9 2082.2 145.66 -10.93 151 1022.35 0.00 0.00 0.00 0.000 0.000 0.000 2890.81 2885.25 2896.38 1738.56 2082.12 0 0 0 30.00 30.00 30.00

1081.00 0 -95.81 -1.66 0.00 2890.8 2885.5 2896.1 1737.8 2082.2 152.42 -10.57 157 1082.33 0.00 0.00 0.00 0.000 0.000 0.000 2890.69 2885.31 2896.06 1738.06 2082.31 0 0 0 30.00 30.00 30.00

1200.99 260 -95.81 -1.66 80.00 2890.6 2885.8 2895.4 1738.1 2081.9 165.44 -10.87 169 1206.65 0.00 0.00 3.77 0.000 0.000 0.105 2890.06 2885.19 2894.94 1738.19 3476.94 0 0 0 30.00 30.00 15.21

1249.90 1028 -95.81 -1.66 0.00 2890.1 2884.7 2895.6 1738.1 3476.7 171.70 -12.46 179 1257.12 0.00 0.00 3.37 0.000 0.000 0.053 2891.25 2886.25 2896.25 1737.69 2080.12 0 0 0 30.00 30.00 15.38

1376.01 0 -95.81 -1.66 0.00 2890.8 2885.2 2896.2 1737.6 2080.5 185.58 -11.60 192 1377.34 0.00 0.00 0.00 0.000 0.000 0.000 2890.75 2885.31 2896.19 1737.69 2080.88 0 0 0 30.00 30.00 30.00

1496.02 260 -95.81 -1.66 80.00 2890.6 2885.1 2896.1 1737.9 2080.4 199.49 -11.55 204 1501.68 0.00 0.00 3.77 0.000 0.000 0.105 2891.03 2885.56 2896.50 1738.06 3473.81 0 0 0 30.00 30.00 15.18

1531.46 1028 -95.81 -1.66 0.00 2890.3 2884.9 2895.8 1738.4 3473.8 203.75 -12.64 211 1536.62 0.00 0.00 3.38 0.000 0.000 0.054 2889.47 2884.06 2894.88 1737.81 2080.00 0 0 0 30.00 30.00 15.39

1656.04 0 -95.81 -1.66 0.00 2890.6 2885.2 2896.0 1737.8 2080.2 218.78 -11.62 224 1657.37 0.00 0.00 0.00 0.000 0.000 0.000 2890.94 2885.50 2896.38 1737.56 2079.88 0 0 0 30.00 30.00 30.00

1776.05 260 -95.81 -1.66 80.00 2890.9 2885.4 2896.4 1738.0 2080.0 233.00 -11.52 236 1781.73 0.00 0.00 3.79 0.000 0.000 0.105 2889.38 2883.69 2895.06 1737.38 3474.69 0 0 0 30.00 30.00 15.19

1831.50 1028 -95.81 -1.66 0.00 2890.8 2885.5 2896.0 1737.9 3474.7 240.55 -14.63 247 1836.65 0.00 0.00 3.38 0.000 0.000 0.053 2889.88 2884.44 2895.31 1738.00 2081.94 0 0 0 30.00 30.00 15.39

1976.06 260 -95.81 -1.66 80.00 2890.7 2884.8 2896.5 1737.6 2082.2 258.22 -12.83 258 1981.73 0.00 0.00 3.78 0.000 0.000 0.104 2891.34 2885.69 2897.00 1737.25 3476.31 0 0 0 30.00 30.00 15.18

2004.96 1028 -95.81 -1.66 0.00 2890.4 2884.7 2896.2 1738.0 3475.6 262.07 -12.85 264 2010.66 0.00 0.00 3.39 0.000 0.000 0.054 2891.41 2885.94 2896.88 1738.12 2081.19 0 0 0 30.00 30.00 15.35

2331.08 0 -95.81 -1.66 0.00 2890.8 2885.1 2896.4 1737.7 2081.2 300.78 -11.49 279 2332.41 0.00 0.00 0.00 0.000 0.000 0.000 2891.41 2886.06 2896.75 1738.12 2081.38 0 0 0 30.00 30.00 30.00

2631.08 0 -95.81 -1.66 0.00 2890.8 2885.2 2896.4 1737.8 2081.8 334.16 -11.44 289 2632.41 0.00 0.00 0.00 0.000 0.000 0.000 2891.03 2885.69 2896.38 1737.94 2082.00 0 0 0 30.00 30.00 30.00

2931.09 260 -95.81 -1.66 80.00 2890.4 2885.0 2895.8 1738.1 2081.4 367.30 -10.84 299 2936.77 0.00 0.00 3.88 0.000 0.000 0.111 2891.03 2885.38 2896.69 1737.44 3476.12 0 0 0 30.00 30.00 15.14

3000.06 1028 -95.81 -1.66 0.00 2890.9 2885.4 2896.3 1738.1 3475.6 376.66 -11.56 313 3005.73 0.00 0.00 3.43 0.000 0.000 0.058 2890.84 2886.12 2895.56 1738.31 2083.81 0 0 0 30.00 30.00 15.32

3316.11 0 -95.81 -1.66 0.00 2890.3 2884.6 2896.0 1737.8 2083.6 413.44 -11.62 326 3317.44 0.00 0.00 0.00 0.000 0.000 0.000 2891.09 2885.81 2896.38 1737.88 2083.06 0 0 0 30.00 30.00 30.00

3616.11 260 -95.81 -1.66 80.00 2890.0 2884.7 2895.4 1738.2 2083.3 447.24 -10.80 336 3621.80 0.00 0.00 3.90 0.000 0.000 0.113 2892.47 2886.19 2898.75 1737.12 3475.31 0 0 0 30.00 30.00 15.10

3715.06 1028 -95.81 -1.66 0.00 2890.3 2884.9 2895.8 1737.4 3475.1 458.86 -11.93 356 3720.76 0.00 0.00 3.44 0.000 0.000 0.058 2891.50 2886.06 2896.94 1737.50 2083.19 0 0 0 30.00 30.00 15.29

4031.17 0 -95.81 -1.66 0.00 2889.8 2884.2 2895.3 1737.7 2083.1 490.12 -10.98 369 4032.49 0.00 0.00 0.00 0.000 0.000 0.000 2890.62 2885.56 2895.69 1737.94 2083.25 0 0 0 30.00 30.00 30.00

4151 end dive: TARGET_DEPTH_EXCEEDED

state 4151 begin apogee

4152.31 10243 0.00 -0.25 0.00 2889.9 2885.1 2894.8 1738.3 2120.7 501.69 -10.18 373 4238.21 81.61 2.72 0.09 1.636 0.151 0.224 2499.19 2508.00 2490.38 2079.25 2084.31 0 0 0 10.79 15.07 14.89

4241 end apogee: CONTROL_FINISHED_OK

state 4241 begin climb

4241.32 10243 95.81 1.66 0.00 2497.7 2507.0 2488.4 2079.9 2084.8 503.68 0.00 375 4337.15 88.38 3.31 0.00 1.587 0.076 0.000 2107.25 2119.69 2094.81 2547.94 2084.31 0 0 0 11.37 15.15 30.00

4634.75 16966 95.81 1.71 -80.00 2097.8 2114.7 2080.8 2547.8 2084.4 470.23 9.44 404 4640.46 0.00 0.00 4.05 0.000 0.000 0.139 2095.88 2112.12 2079.62 2547.25 661.69 0 0 0 30.00 30.00 15.21

4863.67 17414 95.81 1.71 0.00 2095.2 2109.9 2080.5 2547.4 661.6 446.03 13.84 450 4870.49 0.00 0.00 3.53 0.000 0.000 0.048 2095.72 2110.88 2080.56 2547.69 2124.94 0 0 0 30.00 30.00 15.53

5169.79 10535 137.99 1.83 80.00 2093.7 2110.0 2077.4 2547.6 2124.8 424.50 6.87 461 5215.23 37.72 0.23 3.71 1.507 0.071 0.114 1935.81 1953.12 1918.50 2601.56 3474.38 0 0 0 11.47 15.64 15.08

5238.70 9254 162.91 1.91 0.00 1934.9 1952.4 1917.4 2601.8 3473.8 417.67 8.61 475 5269.92 24.99 0.00 3.45 1.430 0.000 0.055 1834.66 1854.62 1814.69 2601.19 2078.12 0 0 0 11.61 30.00 15.42

5589.79 516 162.91 1.91 -80.00 1828.1 1851.6 1804.6 2601.1 2078.3 375.18 13.13 495 5595.51 0.00 0.00 4.03 0.000 0.000 0.136 1826.81 1849.88 1803.75 2601.44 661.44 0 0 0 30.00 30.00 15.22

5683.72 17414 162.91 1.91 0.00 1827.0 1849.2 1804.9 2601.2 661.7 360.73 15.98 514 5689.44 0.00 0.00 3.52 0.000 0.000 0.046 1828.00 1850.00 1806.00 2601.56 2126.44 0 0 0 30.00 30.00 15.53

6004.85 16902 162.91 1.91 -80.00 1825.9 1849.5 1802.2 2601.5 2126.2 319.98 13.35 528 6010.55 0.00 0.00 4.13 0.000 0.000 0.132 1824.53 1847.31 1801.75 2601.00 660.69 0 0 0 30.00 30.00 15.18

6173.74 17414 162.91 1.91 0.00 1825.1 1847.8 1802.5 2601.2 660.7 294.31 15.77 562 6180.57 0.00 0.00 3.52 0.000 0.000 0.046 1825.22 1848.06 1802.38 2601.44 2125.00 0 0 0 30.00 30.00 15.53

6479.85 16902 162.91 1.91 -80.00 1823.7 1847.1 1800.3 2601.6 2125.2 258.32 11.46 573 6485.59 0.00 0.00 4.12 0.000 0.000 0.129 1824.09 1847.75 1800.44 2600.81 661.12 0 0 0 30.00 30.00 15.13

6575.31 17414 162.91 1.91 0.00 1823.9 1847.6 1800.2 2601.7 661.7 246.52 11.80 592 6580.50 0.00 0.00 3.52 0.000 0.000 0.047 1823.91 1847.19 1800.62 2601.38 2125.88 0 0 0 30.00 30.00 15.55

6699.89 16646 162.91 1.91 80.00 1823.6 1847.2 1799.9 2601.1 2126.7 233.61 11.21 605 6705.54 0.00 0.00 3.67 0.000 0.000 0.111 1823.72 1847.25 1800.19 2601.81 3473.62 0 0 0 30.00 30.00 15.22

6724.93 17414 162.91 1.91 0.00 1822.8 1846.4 1799.2 2601.5 3473.6 230.83 11.36 610 6729.47 0.00 0.00 3.38 0.000 0.000 0.052 1823.00 1846.88 1799.12 2600.69 2077.00 0 0 0 30.00 30.00 15.47

6854.90 16902 162.91 1.91 -80.00 1822.9 1846.8 1799.1 2601.5 2077.1 216.80 11.48 624 6860.60 0.00 0.00 3.98 0.000 0.000 0.131 1823.12 1846.75 1799.50 2601.50 661.62 0 0 0 30.00 30.00 15.12

6990.35 17414 162.91 1.91 0.00 1822.8 1846.2 1799.2 2601.4 661.6 199.48 13.36 651 6995.59 0.00 0.00 3.51 0.000 0.000 0.045 1821.56 1845.25 1797.88 2602.06 2127.88 0 0 0 30.00 30.00 15.53

7114.94 16450 162.91 1.93 0.00 1822.6 1846.4 1798.8 2601.7 2127.4 186.32 10.39 664 7116.27 0.00 0.00 0.00 0.000 0.000 0.000 1822.66 1846.50 1798.81 2601.31 2127.06 0 0 0 30.00 30.00 30.00

7234.94 16966 162.91 1.96 -80.00 1822.4 1846.5 1798.3 2601.2 2126.9 174.48 10.10 676 7240.66 0.00 0.00 4.13 0.000 0.000 0.127 1822.03 1846.06 1798.00 2600.88 662.75 0 0 0 30.00 30.00 15.09

7283.87 17414 162.91 1.96 0.00 1822.2 1846.4 1797.9 2601.4 662.8 168.70 11.96 686 7290.65 0.00 0.00 3.50 0.000 0.000 0.045 1823.19 1846.94 1799.44 2601.50 2127.00 0 0 0 30.00 30.00 15.52

7409.95 16386 162.91 1.96 0.00 1822.4 1846.4 1798.4 2601.4 2127.2 155.87 10.89 699 7411.28 0.00 0.00 0.00 0.000 0.000 0.000 1822.34 1846.12 1798.56 2601.50 2127.00 0 0 0 30.00 30.00 30.00

7529.97 16710 162.91 1.98 80.00 1822.1 1846.0 1798.2 2601.7 2127.0 143.44 10.54 711 7535.60 0.00 0.00 3.69 0.000 0.000 0.110 1822.62 1846.38 1798.88 2601.19 3473.62 0 0 0 30.00 30.00 15.15

7574.96 17414 162.91 1.98 0.00 1821.6 1845.6 1797.6 2601.8 3473.8 138.32 11.24 720 7579.57 0.00 0.00 3.40 0.000 0.000 0.051 1821.84 1845.88 1797.81 2601.44 2076.12 0 0 0 30.00 30.00 15.44

7644.98 10275 184.49 2.04 0.00 1821.8 1845.8 1797.7 2601.6 2075.9 131.72 8.94 728 7667.52 20.78 0.22 0.00 1.168 0.095 0.000 1747.59 1771.06 1724.12 2640.75 2075.62 0 0 0 11.33 15.61 30.00

7725.04 64 184.49 2.08 0.00 1744.2 1767.9 1720.4 2641.9 2075.8 123.87 9.93 736 7726.37 0.00 0.00 0.00 0.000 0.000 0.000 1744.62 1768.62 1720.62 2642.19 2075.69 0 0 0 30.00 30.00 30.00

7784.99 516 184.49 2.08 -80.00 1743.4 1767.6 1719.2 2641.5 2075.9 117.47 10.70 742 7790.69 0.00 0.00 3.92 0.000 0.000 0.129 1743.47 1768.25 1718.69 2641.25 661.75 0 0 0 30.00 30.00 15.31

7870.45 1028 184.49 2.08 0.00 1742.9 1766.9 1718.9 2641.4 661.6 106.97 13.03 759 7875.61 0.00 0.00 3.50 0.000 0.000 0.044 1742.75 1766.50 1719.00 2641.81 2128.44 0 0 0 30.00 30.00 15.57

7934.99 0 184.49 2.08 0.00 1742.6 1766.4 1718.8 2641.9 2128.4 99.73 10.77 766 7936.32 0.00 0.00 0.00 0.000 0.000 0.000 1742.12 1765.94 1718.31 2642.12 2128.75 0 0 0 30.00 30.00 30.00

7995.02 324 184.49 2.13 80.00 1742.4 1766.5 1718.4 2641.8 2128.1 94.31 9.44 772 8000.67 0.00 0.00 3.63 0.000 0.000 0.108 1741.06 1765.81 1716.31 2641.94 3475.56 0 0 0 30.00 30.00 15.29

8043.93 1092 184.49 2.15 0.00 1741.8 1765.2 1718.3 2642.1 3475.6 89.15 10.20 782 8050.70 0.00 0.00 3.38 0.000 0.000 0.050 1742.16 1766.12 1718.19 2641.75 2075.81 0 0 0 30.00 30.00 15.47

8110.08 10791 207.91 2.22 -80.00 1741.9 1765.7 1718.2 2641.8 2076.2 83.42 8.76 789 8145.41 28.28 0.25 3.88 1.118 0.079 0.128 1651.88 1676.06 1627.69 2690.00 661.94 0 0 0 11.60 15.60 15.14

8280.48 9254 236.89 2.31 0.00 1649.1 1671.4 1626.7 2690.1 661.8 67.76 8.20 823 8321.51 34.13 0.00 3.48 1.100 0.000 0.042 1533.91 1558.62 1509.19 2689.75 2130.31 0 0 0 11.67 30.00 15.57

8380.11 10535 262.28 2.39 80.00 1531.3 1557.4 1505.2 2690.2 2130.8 59.98 8.56 837 8415.42 30.07 0.19 3.63 1.064 0.082 0.109 1430.62 1455.50 1405.75 2730.50 3474.56 0 0 0 11.61 15.48 15.03

8640.07 1028 262.28 2.39 0.00 1426.0 1453.6 1398.5 2731.5 3474.4 32.33 10.68 889 8644.70 0.00 0.00 3.41 0.000 0.000 0.052 1426.03 1453.44 1398.62 2731.50 2078.94 0 0 0 30.00 30.00 15.45

8710.82 8226 309.06 2.53 0.00 1425.8 1453.6 1397.9 2730.8 2079.4 27.64 6.41 897 8762.26 50.76 0.00 0.00 1.052 0.000 0.000 1240.47 1268.44 1212.50 2729.88 2079.38 0 0 0 11.50 30.00 30.00

8820.79 10791 331.93 2.60 -80.00 1237.6 1266.3 1208.9 2730.7 2079.3 20.49 8.81 908 8852.57 26.18 0.25 3.94 0.993 0.068 0.130 1146.16 1174.19 1118.12 2781.00 660.75 0 0 0 11.58 15.44 15.01

8896.22 1028 331.93 2.60 0.00 1145.2 1171.8 1118.6 2781.8 660.8 12.69 10.97 923 8901.42 0.00 0.00 3.53 0.000 0.000 0.045 1145.53 1171.88 1119.19 2780.19 2130.25 0 0 0 30.00 30.00 15.43

8960.78 0 331.93 2.60 0.00 1144.0 1171.6 1116.4 2781.4 2130.3 4.59 12.69 930 8962.11 0.00 0.00 0.00 0.000 0.000 0.000 1143.94 1171.38 1116.50 2781.06 2130.19 0 0 0 30.00 30.00 30.00

8990 end climb: SURFACE_DEPTH_REACHED

state 8990 begin surface coast

9000 end surface coast: CONTROL_FINISHED_OK

state 9000 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	1100	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	75.125946	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	262.01736	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	100421,051331,4708.322,-12502.009,25,0.9,26,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.56	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-58.4	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	100421,052056,4708.282,-12501.950,2,0.9,5,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	171.3,526,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	9172.81,0.00,0.015,0,564.3,562.5,566.2,474.82	_10V_AH	14.77,0.000
SM_GC	-0.77,0.00,17.94,0.10,0.015,0.066,0.127,564.3,562.5,566.2,182.4,2071.3,0,0,0,30.36,15.30,15.50	FG_AHR_24Vo	262.234
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	75.157
IRIDIUM_FIX	4706.19,-12502.11,100421,022810	MEM	1103688,38,73460,56
TCM_TEMP	174.71	DATA_FILE_SIZE	35329,934
XPDR_PINGS	8,14.0,11.5	CAP_FILE_SIZE	468154,0
SC_FREEKB	3437664	SDSIZE	3918848,3618944
HUMID	58.57	SDFILEDIR	5526,1
TEMP	7.82	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77915	GPS	100421,075439,4707.302,-12501.905,9,0.9,22,15.6
_24V_AH	13.65,301.077

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	656	2583	23151.38	legato	0	0	0.00
Pitch_motor	39	251	134.57	nil	0	0	0.00
Roll_motor	190	224	583.14	nil	0	0	0.00
Iridium	211	199	575.31	nil	0	0	0.00
Transponder_ping	2	420	11.47	nil	0	0	0.00
GPS	14	15	3.21	nil	0	0	0.00
Core	3472	11	605.21	SciCon	9065	5	699.58
LPSleep	5929	2	245.21	nil	0	0	0.00
Compass	1805	5	133.34	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
8.37	16386	-74.33	-1.59	0.00	558.8	562.1	555.4	166.6	2116.4	0.00	0.00	0	100.54	91.74	0.00	0.00	0.005	0.000	0.000	2646.16	2626.50	2665.81	166.50	2116.75	0	0	0	14.69	30.00	30.00
100.78	18727	-95.81	-1.66	80.00	2645.0	2625.7	2664.2	166.5	2116.9	4.21	-8.95	9	127.66	5.28	14.06	3.69	0.009	0.252	0.113	2889.16	2884.44	2893.88	1738.25	3475.69	0	0	0	14.87	14.92	14.65
306.35	1028	-95.81	-1.66	0.00	2890.5	2885.4	2895.6	1738.2	3475.1	49.45	-17.25	50	311.52	0.00	0.00	3.48	0.000	0.000	0.059	2888.19	2883.38	2893.00	1738.38	2081.31	0	0	0	30.00	30.00	15.37
370.96	516	-95.81	-1.66	-80.00	2889.8	2885.1	2894.6	1738.4	2081.3	59.67	-15.96	57	376.64	0.00	0.00	4.11	0.000	0.000	0.150	2888.81	2883.75	2893.88	1737.06	662.31	0	0	0	30.00	30.00	15.07
399.82	1028	-95.81	-1.66	0.00	2889.4	2884.7	2894.1	1737.8	661.8	64.64	-17.31	63	407.06	0.00	0.00	3.53	0.000	0.000	0.051	2891.38	2886.25	2896.50	1737.88	2121.38	0	0	0	30.00	30.00	15.44
465.97	260	-95.81	-1.66	80.00	2890.1	2885.4	2894.8	1738.4	2120.8	75.20	-16.15	70	471.57	0.00	0.00	3.62	0.000	0.000	0.104	2889.09	2884.62	2893.56	1737.94	3475.62	0	0	0	30.00	30.00	15.25
514.89	1028	-95.81	-1.66	0.00	2890.2	2885.0	2895.3	1738.0	3475.9	83.07	-15.24	80	522.07	0.00	0.00	3.41	0.000	0.000	0.056	2891.59	2886.38	2896.81	1737.44	2081.25	0	0	0	30.00	30.00	15.37
580.98	0	-95.81	-1.66	0.00	2890.3	2885.4	2895.1	1737.9	2081.1	91.17	-12.10	87	582.31	0.00	0.00	0.00	0.000	0.000	0.000	2890.06	2885.00	2895.12	1738.19	2081.12	0	0	0	30.00	30.00	30.00
640.94	260	-95.81	-1.66	80.00	2890.4	2885.2	2895.6	1738.6	2080.6	98.07	-11.14	93	646.63	0.00	0.00	3.77	0.000	0.000	0.105	2888.50	2883.12	2893.88	1738.06	3475.75	0	0	0	30.00	30.00	15.23
696.38	1028	-95.81	-1.66	0.00	2890.2	2885.1	2895.2	1738.1	3475.4	104.90	-12.60	104	701.53	0.00	0.00	3.39	0.000	0.000	0.055	2891.09	2886.44	2895.75	1736.88	2081.88	0	0	0	30.00	30.00	15.40
761.00	516	-95.81	-1.66	-80.00	2890.1	2885.4	2894.8	1737.9	2082.4	112.79	-12.02	111	766.65	0.00	0.00	4.05	0.000	0.000	0.147	2890.81	2885.00	2896.62	1737.19	660.69	0	0	0	30.00	30.00	15.06
796.39	1028	-95.81	-1.66	0.00	2890.2	2884.7	2895.8	1738.1	661.0	117.53	-13.83	118	801.59	0.00	0.00	3.52	0.000	0.000	0.050	2888.47	2883.19	2893.75	1738.06	2124.19	0	0	0	30.00	30.00	15.47
860.95	260	-95.81	-1.66	80.00	2890.1	2885.2	2895.1	1738.3	2123.9	125.91	-12.73	125	866.60	0.00	0.00	3.61	0.000	0.000	0.105	2889.56	2884.25	2894.88	1737.69	3475.75	0	0	0	30.00	30.00	15.23
956.41	1028	-95.81	-1.66	0.00	2890.6	2885.3	2895.9	1738.1	3475.7	138.35	-12.51	144	961.56	0.00	0.00	3.38	0.000	0.000	0.054	2891.69	2885.12	2898.25	1738.19	2082.06	0	0	0	30.00	30.00	15.40
1021.02	0	-95.81	-1.66	0.00	2890.4	2885.1	2895.7	1737.9	2082.2	145.66	-10.93	151	1022.35	0.00	0.00	0.00	0.000	0.000	0.000	2890.81	2885.25	2896.38	1738.56	2082.12	0	0	0	30.00	30.00	30.00
1081.00	0	-95.81	-1.66	0.00	2890.8	2885.5	2896.1	1737.8	2082.2	152.42	-10.57	157	1082.33	0.00	0.00	0.00	0.000	0.000	0.000	2890.69	2885.31	2896.06	1738.06	2082.31	0	0	0	30.00	30.00	30.00
1200.99	260	-95.81	-1.66	80.00	2890.6	2885.8	2895.4	1738.1	2081.9	165.44	-10.87	169	1206.65	0.00	0.00	3.77	0.000	0.000	0.105	2890.06	2885.19	2894.94	1738.19	3476.94	0	0	0	30.00	30.00	15.21
1249.90	1028	-95.81	-1.66	0.00	2890.1	2884.7	2895.6	1738.1	3476.7	171.70	-12.46	179	1257.12	0.00	0.00	3.37	0.000	0.000	0.053	2891.25	2886.25	2896.25	1737.69	2080.12	0	0	0	30.00	30.00	15.38
1376.01	0	-95.81	-1.66	0.00	2890.8	2885.2	2896.2	1737.6	2080.5	185.58	-11.60	192	1377.34	0.00	0.00	0.00	0.000	0.000	0.000	2890.75	2885.31	2896.19	1737.69	2080.88	0	0	0	30.00	30.00	30.00
1496.02	260	-95.81	-1.66	80.00	2890.6	2885.1	2896.1	1737.9	2080.4	199.49	-11.55	204	1501.68	0.00	0.00	3.77	0.000	0.000	0.105	2891.03	2885.56	2896.50	1738.06	3473.81	0	0	0	30.00	30.00	15.18
1531.46	1028	-95.81	-1.66	0.00	2890.3	2884.9	2895.8	1738.4	3473.8	203.75	-12.64	211	1536.62	0.00	0.00	3.38	0.000	0.000	0.054	2889.47	2884.06	2894.88	1737.81	2080.00	0	0	0	30.00	30.00	15.39
1656.04	0	-95.81	-1.66	0.00	2890.6	2885.2	2896.0	1737.8	2080.2	218.78	-11.62	224	1657.37	0.00	0.00	0.00	0.000	0.000	0.000	2890.94	2885.50	2896.38	1737.56	2079.88	0	0	0	30.00	30.00	30.00
1776.05	260	-95.81	-1.66	80.00	2890.9	2885.4	2896.4	1738.0	2080.0	233.00	-11.52	236	1781.73	0.00	0.00	3.79	0.000	0.000	0.105	2889.38	2883.69	2895.06	1737.38	3474.69	0	0	0	30.00	30.00	15.19
1831.50	1028	-95.81	-1.66	0.00	2890.8	2885.5	2896.0	1737.9	3474.7	240.55	-14.63	247	1836.65	0.00	0.00	3.38	0.000	0.000	0.053	2889.88	2884.44	2895.31	1738.00	2081.94	0	0	0	30.00	30.00	15.39
1976.06	260	-95.81	-1.66	80.00	2890.7	2884.8	2896.5	1737.6	2082.2	258.22	-12.83	258	1981.73	0.00	0.00	3.78	0.000	0.000	0.104	2891.34	2885.69	2897.00	1737.25	3476.31	0	0	0	30.00	30.00	15.18
2004.96	1028	-95.81	-1.66	0.00	2890.4	2884.7	2896.2	1738.0	3475.6	262.07	-12.85	264	2010.66	0.00	0.00	3.39	0.000	0.000	0.054	2891.41	2885.94	2896.88	1738.12	2081.19	0	0	0	30.00	30.00	15.35
2331.08	0	-95.81	-1.66	0.00	2890.8	2885.1	2896.4	1737.7	2081.2	300.78	-11.49	279	2332.41	0.00	0.00	0.00	0.000	0.000	0.000	2891.41	2886.06	2896.75	1738.12	2081.38	0	0	0	30.00	30.00	30.00
2631.08	0	-95.81	-1.66	0.00	2890.8	2885.2	2896.4	1737.8	2081.8	334.16	-11.44	289	2632.41	0.00	0.00	0.00	0.000	0.000	0.000	2891.03	2885.69	2896.38	1737.94	2082.00	0	0	0	30.00	30.00	30.00
2931.09	260	-95.81	-1.66	80.00	2890.4	2885.0	2895.8	1738.1	2081.4	367.30	-10.84	299	2936.77	0.00	0.00	3.88	0.000	0.000	0.111	2891.03	2885.38	2896.69	1737.44	3476.12	0	0	0	30.00	30.00	15.14
3000.06	1028	-95.81	-1.66	0.00	2890.9	2885.4	2896.3	1738.1	3475.6	376.66	-11.56	313	3005.73	0.00	0.00	3.43	0.000	0.000	0.058	2890.84	2886.12	2895.56	1738.31	2083.81	0	0	0	30.00	30.00	15.32
3316.11	0	-95.81	-1.66	0.00	2890.3	2884.6	2896.0	1737.8	2083.6	413.44	-11.62	326	3317.44	0.00	0.00	0.00	0.000	0.000	0.000	2891.09	2885.81	2896.38	1737.88	2083.06	0	0	0	30.00	30.00	30.00
3616.11	260	-95.81	-1.66	80.00	2890.0	2884.7	2895.4	1738.2	2083.3	447.24	-10.80	336	3621.80	0.00	0.00	3.90	0.000	0.000	0.113	2892.47	2886.19	2898.75	1737.12	3475.31	0	0	0	30.00	30.00	15.10
3715.06	1028	-95.81	-1.66	0.00	2890.3	2884.9	2895.8	1737.4	3475.1	458.86	-11.93	356	3720.76	0.00	0.00	3.44	0.000	0.000	0.058	2891.50	2886.06	2896.94	1737.50	2083.19	0	0	0	30.00	30.00	15.29
4031.17	0	-95.81	-1.66	0.00	2889.8	2884.2	2895.3	1737.7	2083.1	490.12	-10.98	369	4032.49	0.00	0.00	0.00	0.000	0.000	0.000	2890.62	2885.56	2895.69	1737.94	2083.25	0	0	0	30.00	30.00	30.00
4151	end dive: TARGET_DEPTH_EXCEEDED
state	4151	begin apogee
4152.31	10243	0.00	-0.25	0.00	2889.9	2885.1	2894.8	1738.3	2120.7	501.69	-10.18	373	4238.21	81.61	2.72	0.09	1.636	0.151	0.224	2499.19	2508.00	2490.38	2079.25	2084.31	0	0	0	10.79	15.07	14.89
4241	end apogee: CONTROL_FINISHED_OK
state	4241	begin climb
4241.32	10243	95.81	1.66	0.00	2497.7	2507.0	2488.4	2079.9	2084.8	503.68	0.00	375	4337.15	88.38	3.31	0.00	1.587	0.076	0.000	2107.25	2119.69	2094.81	2547.94	2084.31	0	0	0	11.37	15.15	30.00
4634.75	16966	95.81	1.71	-80.00	2097.8	2114.7	2080.8	2547.8	2084.4	470.23	9.44	404	4640.46	0.00	0.00	4.05	0.000	0.000	0.139	2095.88	2112.12	2079.62	2547.25	661.69	0	0	0	30.00	30.00	15.21
4863.67	17414	95.81	1.71	0.00	2095.2	2109.9	2080.5	2547.4	661.6	446.03	13.84	450	4870.49	0.00	0.00	3.53	0.000	0.000	0.048	2095.72	2110.88	2080.56	2547.69	2124.94	0	0	0	30.00	30.00	15.53
5169.79	10535	137.99	1.83	80.00	2093.7	2110.0	2077.4	2547.6	2124.8	424.50	6.87	461	5215.23	37.72	0.23	3.71	1.507	0.071	0.114	1935.81	1953.12	1918.50	2601.56	3474.38	0	0	0	11.47	15.64	15.08
5238.70	9254	162.91	1.91	0.00	1934.9	1952.4	1917.4	2601.8	3473.8	417.67	8.61	475	5269.92	24.99	0.00	3.45	1.430	0.000	0.055	1834.66	1854.62	1814.69	2601.19	2078.12	0	0	0	11.61	30.00	15.42
5589.79	516	162.91	1.91	-80.00	1828.1	1851.6	1804.6	2601.1	2078.3	375.18	13.13	495	5595.51	0.00	0.00	4.03	0.000	0.000	0.136	1826.81	1849.88	1803.75	2601.44	661.44	0	0	0	30.00	30.00	15.22
5683.72	17414	162.91	1.91	0.00	1827.0	1849.2	1804.9	2601.2	661.7	360.73	15.98	514	5689.44	0.00	0.00	3.52	0.000	0.000	0.046	1828.00	1850.00	1806.00	2601.56	2126.44	0	0	0	30.00	30.00	15.53
6004.85	16902	162.91	1.91	-80.00	1825.9	1849.5	1802.2	2601.5	2126.2	319.98	13.35	528	6010.55	0.00	0.00	4.13	0.000	0.000	0.132	1824.53	1847.31	1801.75	2601.00	660.69	0	0	0	30.00	30.00	15.18
6173.74	17414	162.91	1.91	0.00	1825.1	1847.8	1802.5	2601.2	660.7	294.31	15.77	562	6180.57	0.00	0.00	3.52	0.000	0.000	0.046	1825.22	1848.06	1802.38	2601.44	2125.00	0	0	0	30.00	30.00	15.53
6479.85	16902	162.91	1.91	-80.00	1823.7	1847.1	1800.3	2601.6	2125.2	258.32	11.46	573	6485.59	0.00	0.00	4.12	0.000	0.000	0.129	1824.09	1847.75	1800.44	2600.81	661.12	0	0	0	30.00	30.00	15.13
6575.31	17414	162.91	1.91	0.00	1823.9	1847.6	1800.2	2601.7	661.7	246.52	11.80	592	6580.50	0.00	0.00	3.52	0.000	0.000	0.047	1823.91	1847.19	1800.62	2601.38	2125.88	0	0	0	30.00	30.00	15.55
6699.89	16646	162.91	1.91	80.00	1823.6	1847.2	1799.9	2601.1	2126.7	233.61	11.21	605	6705.54	0.00	0.00	3.67	0.000	0.000	0.111	1823.72	1847.25	1800.19	2601.81	3473.62	0	0	0	30.00	30.00	15.22
6724.93	17414	162.91	1.91	0.00	1822.8	1846.4	1799.2	2601.5	3473.6	230.83	11.36	610	6729.47	0.00	0.00	3.38	0.000	0.000	0.052	1823.00	1846.88	1799.12	2600.69	2077.00	0	0	0	30.00	30.00	15.47
6854.90	16902	162.91	1.91	-80.00	1822.9	1846.8	1799.1	2601.5	2077.1	216.80	11.48	624	6860.60	0.00	0.00	3.98	0.000	0.000	0.131	1823.12	1846.75	1799.50	2601.50	661.62	0	0	0	30.00	30.00	15.12
6990.35	17414	162.91	1.91	0.00	1822.8	1846.2	1799.2	2601.4	661.6	199.48	13.36	651	6995.59	0.00	0.00	3.51	0.000	0.000	0.045	1821.56	1845.25	1797.88	2602.06	2127.88	0	0	0	30.00	30.00	15.53
7114.94	16450	162.91	1.93	0.00	1822.6	1846.4	1798.8	2601.7	2127.4	186.32	10.39	664	7116.27	0.00	0.00	0.00	0.000	0.000	0.000	1822.66	1846.50	1798.81	2601.31	2127.06	0	0	0	30.00	30.00	30.00
7234.94	16966	162.91	1.96	-80.00	1822.4	1846.5	1798.3	2601.2	2126.9	174.48	10.10	676	7240.66	0.00	0.00	4.13	0.000	0.000	0.127	1822.03	1846.06	1798.00	2600.88	662.75	0	0	0	30.00	30.00	15.09
7283.87	17414	162.91	1.96	0.00	1822.2	1846.4	1797.9	2601.4	662.8	168.70	11.96	686	7290.65	0.00	0.00	3.50	0.000	0.000	0.045	1823.19	1846.94	1799.44	2601.50	2127.00	0	0	0	30.00	30.00	15.52
7409.95	16386	162.91	1.96	0.00	1822.4	1846.4	1798.4	2601.4	2127.2	155.87	10.89	699	7411.28	0.00	0.00	0.00	0.000	0.000	0.000	1822.34	1846.12	1798.56	2601.50	2127.00	0	0	0	30.00	30.00	30.00
7529.97	16710	162.91	1.98	80.00	1822.1	1846.0	1798.2	2601.7	2127.0	143.44	10.54	711	7535.60	0.00	0.00	3.69	0.000	0.000	0.110	1822.62	1846.38	1798.88	2601.19	3473.62	0	0	0	30.00	30.00	15.15
7574.96	17414	162.91	1.98	0.00	1821.6	1845.6	1797.6	2601.8	3473.8	138.32	11.24	720	7579.57	0.00	0.00	3.40	0.000	0.000	0.051	1821.84	1845.88	1797.81	2601.44	2076.12	0	0	0	30.00	30.00	15.44
7644.98	10275	184.49	2.04	0.00	1821.8	1845.8	1797.7	2601.6	2075.9	131.72	8.94	728	7667.52	20.78	0.22	0.00	1.168	0.095	0.000	1747.59	1771.06	1724.12	2640.75	2075.62	0	0	0	11.33	15.61	30.00
7725.04	64	184.49	2.08	0.00	1744.2	1767.9	1720.4	2641.9	2075.8	123.87	9.93	736	7726.37	0.00	0.00	0.00	0.000	0.000	0.000	1744.62	1768.62	1720.62	2642.19	2075.69	0	0	0	30.00	30.00	30.00
7784.99	516	184.49	2.08	-80.00	1743.4	1767.6	1719.2	2641.5	2075.9	117.47	10.70	742	7790.69	0.00	0.00	3.92	0.000	0.000	0.129	1743.47	1768.25	1718.69	2641.25	661.75	0	0	0	30.00	30.00	15.31
7870.45	1028	184.49	2.08	0.00	1742.9	1766.9	1718.9	2641.4	661.6	106.97	13.03	759	7875.61	0.00	0.00	3.50	0.000	0.000	0.044	1742.75	1766.50	1719.00	2641.81	2128.44	0	0	0	30.00	30.00	15.57
7934.99	0	184.49	2.08	0.00	1742.6	1766.4	1718.8	2641.9	2128.4	99.73	10.77	766	7936.32	0.00	0.00	0.00	0.000	0.000	0.000	1742.12	1765.94	1718.31	2642.12	2128.75	0	0	0	30.00	30.00	30.00
7995.02	324	184.49	2.13	80.00	1742.4	1766.5	1718.4	2641.8	2128.1	94.31	9.44	772	8000.67	0.00	0.00	3.63	0.000	0.000	0.108	1741.06	1765.81	1716.31	2641.94	3475.56	0	0	0	30.00	30.00	15.29
8043.93	1092	184.49	2.15	0.00	1741.8	1765.2	1718.3	2642.1	3475.6	89.15	10.20	782	8050.70	0.00	0.00	3.38	0.000	0.000	0.050	1742.16	1766.12	1718.19	2641.75	2075.81	0	0	0	30.00	30.00	15.47
8110.08	10791	207.91	2.22	-80.00	1741.9	1765.7	1718.2	2641.8	2076.2	83.42	8.76	789	8145.41	28.28	0.25	3.88	1.118	0.079	0.128	1651.88	1676.06	1627.69	2690.00	661.94	0	0	0	11.60	15.60	15.14
8280.48	9254	236.89	2.31	0.00	1649.1	1671.4	1626.7	2690.1	661.8	67.76	8.20	823	8321.51	34.13	0.00	3.48	1.100	0.000	0.042	1533.91	1558.62	1509.19	2689.75	2130.31	0	0	0	11.67	30.00	15.57
8380.11	10535	262.28	2.39	80.00	1531.3	1557.4	1505.2	2690.2	2130.8	59.98	8.56	837	8415.42	30.07	0.19	3.63	1.064	0.082	0.109	1430.62	1455.50	1405.75	2730.50	3474.56	0	0	0	11.61	15.48	15.03
8640.07	1028	262.28	2.39	0.00	1426.0	1453.6	1398.5	2731.5	3474.4	32.33	10.68	889	8644.70	0.00	0.00	3.41	0.000	0.000	0.052	1426.03	1453.44	1398.62	2731.50	2078.94	0	0	0	30.00	30.00	15.45
8710.82	8226	309.06	2.53	0.00	1425.8	1453.6	1397.9	2730.8	2079.4	27.64	6.41	897	8762.26	50.76	0.00	0.00	1.052	0.000	0.000	1240.47	1268.44	1212.50	2729.88	2079.38	0	0	0	11.50	30.00	30.00
8820.79	10791	331.93	2.60	-80.00	1237.6	1266.3	1208.9	2730.7	2079.3	20.49	8.81	908	8852.57	26.18	0.25	3.94	0.993	0.068	0.130	1146.16	1174.19	1118.12	2781.00	660.75	0	0	0	11.58	15.44	15.01
8896.22	1028	331.93	2.60	0.00	1145.2	1171.8	1118.6	2781.8	660.8	12.69	10.97	923	8901.42	0.00	0.00	3.53	0.000	0.000	0.045	1145.53	1171.88	1119.19	2780.19	2130.25	0	0	0	30.00	30.00	15.43
8960.78	0	331.93	2.60	0.00	1144.0	1171.6	1116.4	2781.4	2130.3	4.59	12.69	930	8962.11	0.00	0.00	0.00	0.000	0.000	0.000	1143.94	1171.38	1116.50	2781.06	2130.19	0	0	0	30.00	30.00	30.00
8990	end climb: SURFACE_DEPTH_REACHED
state	8990	begin surface coast
9000	end surface coast: CONTROL_FINISHED_OK
state	9000	begin surface