Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1108 * 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 1108 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 75.391266 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 263.85107 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 75.391266 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 263.85107 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 1108 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 110421,032508,4708.337,-12501.953,9,2.0,13,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.53 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -58.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 110421,033302,4708.252,-12501.973,28,0.8,29,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 168.7,468,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 9311.71,0.00,0.014,0,563.6,562.6,564.5,475.01 _10V_AH 14.74,0.000

SM_GC -0.64,0.00,18.32,3.46,0.014,0.083,0.043,563.6,562.6,564.5,170.2,2131.0,0,0,0,30.36,15.22,15.52 FG_AHR_24Vo 264.068

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 75.423

IRIDIUM_FIX 4707.48,-12503.93,110421,004427 MEM 1103692,38,73456,56

TCM_TEMP 176.47 DATA_FILE_SIZE 38643,1017

XPDR_PINGS 9,14.0,11.5 CAP_FILE_SIZE 518091,0

SC_FREEKB 3434592 SDSIZE 3918848,3616640

HUMID 58.53 SDFILEDIR 5566,1

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

INTERNAL_PRESSURE 7.77071 GPS 110421,060901,4707.239,-12501.759,19,0.9,20,15.6

_24V_AH 14.09,303.057

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 654 1641 15123.33 legato 0 0 0.00

Pitch_motor 39 255 143.44 nil 0 0 0.00

Roll_motor 235 216 718.56 nil 0 0 0.00

Iridium 214 195 592.26 nil 0 0 0.00

Transponder_ping 2 420 13.32 nil 0 0 0.00

GPS 38 15 8.51 nil 0 0 0.00

Core 3709 11 645.14 SciCon 9181 5 706.55

LPSleep 5834 2 240.81 nil 0 0 0.00

Compass 1947 5 143.53 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

8.40 16386 -74.33 -1.59 0.00 559.5 561.9 557.1 169.0 2120.1 0.00 0.00 0 100.54 91.72 0.00 0.00 0.005 0.000 0.000 2712.66 2694.88 2730.44 168.94 2119.88 0 0 0 14.66 30.00 30.00

100.76 18695 -74.33 -1.59 80.00 2711.4 2693.5 2729.4 168.9 2120.3 5.02 -10.35 9 126.63 1.82 14.43 3.67 0.016 0.256 0.113 2801.88 2793.38 2810.38 1753.94 3477.06 0 0 0 14.87 14.88 14.69

293.78 1028 -74.33 -1.59 0.00 2801.9 2793.8 2810.0 1754.6 3476.7 46.68 -17.62 48 301.02 0.00 0.00 3.44 0.000 0.000 0.058 2803.12 2795.25 2811.00 1754.44 2081.50 0 0 0 30.00 30.00 15.34

359.93 516 -74.33 -1.59 -80.00 2802.2 2794.2 2810.3 1753.9 2081.1 56.86 -15.48 55 365.59 0.00 0.00 4.09 0.000 0.000 0.147 2803.06 2794.94 2811.19 1754.50 661.81 0 0 0 30.00 30.00 15.06

445.33 1028 -74.33 -1.59 0.00 2802.5 2795.1 2809.9 1753.6 661.9 70.46 -14.52 72 450.52 0.00 0.00 3.54 0.000 0.000 0.050 2802.81 2796.00 2809.62 1753.00 2121.88 0 0 0 30.00 30.00 15.44

509.89 260 -74.33 -1.59 80.00 2802.2 2795.5 2808.9 1754.1 2121.9 78.14 -11.70 79 515.55 0.00 0.00 3.62 0.000 0.000 0.106 2801.69 2795.06 2808.31 1754.00 3476.75 0 0 0 30.00 30.00 15.21

585.40 1028 -74.33 -1.59 0.00 2802.2 2795.5 2808.9 1754.0 3476.2 87.15 -12.07 94 590.50 0.00 0.00 3.38 0.000 0.000 0.054 2800.78 2793.88 2807.69 1754.12 2080.25 0 0 0 30.00 30.00 15.39

649.98 516 -74.33 -1.59 -80.00 2802.3 2795.7 2809.0 1754.2 2079.8 95.33 -12.17 101 655.62 0.00 0.00 4.04 0.000 0.000 0.146 2804.22 2798.69 2809.75 1752.69 660.88 0 0 0 30.00 30.00 15.04

688.82 1028 -74.33 -1.59 0.00 2801.9 2794.8 2808.9 1754.3 660.9 100.47 -12.49 109 695.64 0.00 0.00 3.51 0.000 0.000 0.048 2802.75 2796.69 2808.81 1754.44 2122.88 0 0 0 30.00 30.00 15.44

754.91 260 -74.33 -1.59 80.00 2802.4 2796.1 2808.8 1754.2 2123.4 107.43 -10.49 116 760.55 0.00 0.00 3.57 0.000 0.000 0.103 2801.28 2795.44 2807.12 1753.88 3476.75 0 0 0 30.00 30.00 15.21

800.36 1028 -74.33 -1.59 0.00 2802.3 2795.6 2809.1 1754.4 3476.3 112.39 -11.40 125 805.53 0.00 0.00 3.35 0.000 0.000 0.052 2803.03 2796.56 2809.50 1753.50 2080.81 0 0 0 30.00 30.00 15.40

864.98 0 -74.33 -1.59 0.00 2802.4 2796.1 2808.7 1754.2 2081.2 119.60 -10.86 132 866.30 0.00 0.00 0.00 0.000 0.000 0.000 2802.91 2796.75 2809.06 1754.25 2080.88 0 0 0 30.00 30.00 30.00

924.94 260 -74.33 -1.59 80.00 2802.3 2795.9 2808.8 1754.5 2081.2 126.28 -11.07 138 930.58 0.00 0.00 3.70 0.000 0.000 0.102 2803.03 2796.56 2809.50 1754.12 3475.69 0 0 0 30.00 30.00 15.22

970.38 1028 -74.33 -1.59 0.00 2802.3 2795.8 2808.8 1753.8 3475.9 131.69 -12.34 147 975.54 0.00 0.00 3.36 0.000 0.000 0.053 2804.50 2798.56 2810.44 1752.75 2078.94 0 0 0 30.00 30.00 15.39

1035.00 516 -74.33 -1.59 -80.00 2802.5 2795.8 2809.1 1754.0 2080.2 138.84 -10.82 154 1040.69 0.00 0.00 4.01 0.000 0.000 0.146 2800.94 2794.56 2807.31 1754.06 660.25 0 0 0 30.00 30.00 15.01

1070.39 1028 -74.33 -1.59 0.00 2801.9 2795.4 2808.5 1753.9 660.6 143.12 -12.20 161 1075.57 0.00 0.00 3.47 0.000 0.000 0.046 2800.44 2794.12 2806.75 1754.00 2124.25 0 0 0 30.00 30.00 15.47

1134.95 260 -74.33 -1.59 80.00 2802.5 2796.4 2808.6 1753.9 2124.1 150.23 -10.89 168 1140.59 0.00 0.00 3.57 0.000 0.000 0.103 2803.12 2797.19 2809.06 1753.94 3476.94 0 0 0 30.00 30.00 15.21

1223.87 1028 -74.33 -1.59 0.00 2803.2 2797.4 2809.1 1754.1 3476.9 160.45 -11.81 186 1231.10 0.00 0.00 3.34 0.000 0.000 0.051 2804.31 2798.38 2810.25 1754.06 2081.25 0 0 0 30.00 30.00 15.36

1350.00 16934 -95.40 -1.65 -80.00 2802.6 2796.1 2809.0 1754.2 2081.2 171.77 -8.99 199 1356.74 0.44 0.00 4.01 0.049 0.000 0.148 2891.62 2890.62 2892.62 1752.81 660.81 0 0 0 14.30 30.00 14.48

1388.90 1028 -95.40 -1.65 0.00 2891.6 2890.9 2892.4 1754.2 660.4 176.36 -12.19 207 1396.12 0.00 0.00 3.46 0.000 0.000 0.046 2893.50 2892.56 2894.44 1752.75 2124.19 0 0 0 30.00 30.00 15.45

1515.00 260 -95.40 -1.65 80.00 2892.3 2891.0 2893.6 1753.9 2124.6 188.68 -9.79 220 1520.64 0.00 0.00 3.58 0.000 0.000 0.105 2893.88 2893.25 2894.50 1752.31 3476.06 0 0 0 30.00 30.00 15.18

1573.92 1028 -95.40 -1.65 0.00 2891.9 2890.6 2893.2 1753.9 3475.2 195.41 -10.86 232 1581.13 0.00 0.00 3.35 0.000 0.000 0.052 2894.31 2893.06 2895.56 1752.75 2080.06 0 0 0 30.00 30.00 15.36

1700.02 516 -95.40 -1.65 -80.00 2892.2 2890.8 2893.6 1754.0 2080.1 208.18 -9.76 245 1705.73 0.00 0.00 4.01 0.000 0.000 0.147 2892.31 2890.56 2894.06 1753.81 662.25 0 0 0 30.00 30.00 14.98

1755.48 1028 -95.40 -1.65 0.00 2892.3 2890.8 2893.8 1754.2 662.1 214.38 -11.51 256 1760.64 0.00 0.00 3.46 0.000 0.000 0.046 2892.62 2891.00 2894.25 1752.88 2123.88 0 0 0 30.00 30.00 15.46

1880.04 260 -95.40 -1.65 80.00 2892.7 2891.1 2894.2 1754.3 2124.3 227.60 -10.78 269 1885.68 0.00 0.00 3.57 0.000 0.000 0.105 2891.88 2891.12 2892.62 1753.88 3475.38 0 0 0 30.00 30.00 15.17

1925.48 1028 -95.40 -1.65 0.00 2892.2 2890.6 2893.7 1754.0 3475.4 232.87 -11.54 278 1930.64 0.00 0.00 3.35 0.000 0.000 0.052 2892.97 2891.50 2894.44 1752.81 2081.00 0 0 0 30.00 30.00 15.37

2050.07 0 -95.40 -1.65 0.00 2892.6 2891.0 2894.2 1754.0 2081.1 246.40 -10.77 291 2051.40 0.00 0.00 0.00 0.000 0.000 0.000 2892.69 2890.94 2894.44 1754.25 2081.44 0 0 0 30.00 30.00 30.00

2170.06 260 -95.40 -1.65 80.00 2892.8 2891.3 2894.3 1754.2 2080.8 260.62 -11.71 297 2175.72 0.00 0.00 3.73 0.000 0.000 0.105 2894.09 2893.12 2895.06 1752.44 3473.69 0 0 0 30.00 30.00 15.14

2238.99 1028 -95.40 -1.65 0.00 2892.9 2891.2 2894.6 1754.2 3474.8 269.63 -12.60 311 2244.66 0.00 0.00 3.38 0.000 0.000 0.054 2893.09 2891.56 2894.62 1754.00 2079.38 0 0 0 30.00 30.00 15.32

2555.08 0 -95.40 -1.65 0.00 2892.8 2891.0 2894.5 1754.1 2079.3 306.09 -11.37 324 2556.41 0.00 0.00 0.00 0.000 0.000 0.000 2892.81 2890.69 2894.94 1754.38 2079.62 0 0 0 30.00 30.00 30.00

2855.07 260 -95.40 -1.65 80.00 2892.7 2891.1 2894.2 1754.1 2079.4 340.13 -11.01 334 2860.75 0.00 0.00 3.78 0.000 0.000 0.108 2892.09 2891.06 2893.12 1753.75 3476.06 0 0 0 30.00 30.00 15.12

2924.01 1028 -95.40 -1.65 0.00 2892.9 2890.9 2894.9 1753.8 3475.9 348.66 -11.38 348 2929.68 0.00 0.00 3.39 0.000 0.000 0.056 2892.72 2891.62 2893.81 1754.62 2082.06 0 0 0 30.00 30.00 15.30

3240.10 260 -95.40 -1.65 80.00 2892.1 2890.2 2893.9 1754.2 2082.1 385.09 -11.55 361 3245.76 0.00 0.00 3.79 0.000 0.000 0.108 2892.88 2890.94 2894.81 1753.69 3477.00 0 0 0 30.00 30.00 15.10

3284.01 1028 -95.40 -1.65 0.00 2892.6 2890.8 2894.4 1753.8 3476.7 390.90 -13.93 370 3289.71 0.00 0.00 3.41 0.000 0.000 0.056 2893.47 2891.94 2895.00 1753.56 2079.56 0 0 0 30.00 30.00 15.29

3595.12 260 -95.40 -1.65 80.00 2892.1 2890.7 2893.5 1754.1 2080.1 426.21 -11.02 382 3600.80 0.00 0.00 3.81 0.000 0.000 0.108 2892.28 2891.44 2893.12 1754.06 3475.62 0 0 0 30.00 30.00 15.09

3680.56 1028 -95.40 -1.65 0.00 2892.8 2891.4 2894.2 1754.0 3475.6 436.56 -11.50 399 3685.75 0.00 0.00 3.42 0.000 0.000 0.056 2892.97 2891.88 2894.06 1754.12 2083.94 0 0 0 30.00 30.00 15.30

4005.16 260 -95.40 -1.65 80.00 2891.9 2891.1 2892.7 1754.5 2083.2 473.06 -11.06 414 4010.83 0.00 0.00 3.82 0.000 0.000 0.109 2890.78 2889.38 2892.19 1754.06 3474.88 0 0 0 30.00 30.00 15.08

4074.12 1028 -95.40 -1.65 0.00 2891.9 2890.9 2892.8 1753.8 3475.2 480.84 -11.19 428 4079.78 0.00 0.00 3.42 0.000 0.000 0.057 2892.38 2891.25 2893.50 1753.94 2082.88 0 0 0 30.00 30.00 15.25

4270 end dive: TARGET_DEPTH_EXCEEDED

state 4270 begin apogee

4271.30 10243 0.00 -0.25 0.00 2891.6 2890.6 2892.6 1753.9 2122.4 502.56 -11.21 437 4357.44 81.75 2.62 0.09 1.641 0.150 0.217 2496.50 2505.25 2487.75 2080.00 2082.38 0 0 0 10.71 15.04 14.88

4360 end apogee: CONTROL_FINISHED_OK

state 4360 begin climb

4360.57 10759 95.40 1.65 -80.00 2498.0 2507.4 2488.6 2079.9 2082.3 504.63 0.00 439 4458.12 87.72 3.34 4.12 1.586 0.077 0.136 2109.38 2120.75 2098.00 2547.88 660.75 0 0 0 11.43 15.14 14.70

4490.26 9254 130.94 1.76 0.00 2105.5 2116.1 2094.9 2547.5 660.9 498.79 7.54 465 4531.64 33.81 0.00 3.56 1.509 0.000 0.043 1964.66 1980.75 1948.56 2547.25 2125.56 0 0 0 11.41 30.00 15.22

4836.35 16902 130.94 1.76 -80.00 1956.0 1975.4 1936.6 2547.2 2125.7 461.66 10.65 484 4842.08 0.00 0.00 4.12 0.000 0.000 0.136 1956.28 1975.62 1936.94 2544.69 661.75 0 0 0 30.00 30.00 15.21

4940.30 17478 130.94 1.78 0.00 1954.0 1972.0 1936.1 2547.7 661.9 449.85 10.36 505 4945.99 0.00 0.00 3.52 0.000 0.000 0.047 1954.19 1972.75 1935.62 2547.69 2125.00 0 0 0 30.00 30.00 15.50

5251.39 10791 152.80 1.85 -80.00 1952.3 1972.3 1932.3 2547.4 2125.2 420.76 8.91 517 5277.60 20.00 0.26 4.08 1.431 0.068 0.134 1875.59 1897.00 1854.19 2605.56 660.69 0 0 0 11.38 15.62 15.20

5360.31 1028 152.80 1.85 0.00 1872.9 1891.6 1854.1 2605.3 660.5 406.93 11.89 539 5367.10 0.00 0.00 3.49 0.000 0.000 0.046 1872.59 1891.75 1853.44 2605.19 2126.31 0 0 0 30.00 30.00 15.54

5666.42 516 152.80 1.85 -80.00 1870.1 1891.2 1848.9 2605.1 2126.1 371.20 11.81 550 5672.11 0.00 0.00 4.10 0.000 0.000 0.131 1869.97 1890.19 1849.75 2604.06 661.94 0 0 0 30.00 30.00 15.21

5781.86 1028 152.80 1.85 0.00 1869.7 1890.8 1848.7 2604.5 662.0 356.10 14.71 573 5787.03 0.00 0.00 3.49 0.000 0.000 0.046 1869.47 1890.62 1848.31 2605.56 2126.25 0 0 0 30.00 30.00 15.51

6106.48 516 152.80 1.85 -80.00 1869.5 1890.8 1848.2 2605.7 2126.2 318.51 11.40 588 6112.17 0.00 0.00 4.11 0.000 0.000 0.130 1868.91 1890.38 1847.44 2604.75 660.56 0 0 0 30.00 30.00 15.13

6200.35 1028 152.80 1.85 0.00 1869.2 1890.6 1847.8 2605.4 660.8 305.80 13.14 607 6206.05 0.00 0.00 3.50 0.000 0.000 0.044 1869.56 1891.06 1848.06 2605.38 2127.25 0 0 0 30.00 30.00 15.50

6521.46 16902 152.80 1.85 -80.00 1868.4 1889.8 1847.1 2605.3 2127.5 270.08 10.67 621 6527.17 0.00 0.00 4.09 0.000 0.000 0.129 1868.41 1890.62 1846.19 2604.56 660.81 0 0 0 30.00 30.00 15.10

6620.38 17414 152.80 1.85 0.00 1868.5 1890.1 1846.9 2605.2 660.7 256.62 13.77 641 6626.07 0.00 0.00 3.48 0.000 0.000 0.045 1868.94 1890.69 1847.19 2605.56 2128.00 0 0 0 30.00 30.00 15.48

6926.50 16710 152.80 1.89 80.00 1868.0 1889.6 1846.5 2604.7 2128.3 225.20 9.75 669 6932.13 0.00 0.00 3.63 0.000 0.000 0.109 1866.88 1888.88 1844.88 2605.75 3472.88 0 0 0 30.00 30.00 15.16

6971.49 17414 152.80 1.89 0.00 1868.0 1889.4 1846.6 2605.3 3473.5 219.81 11.97 678 6976.08 0.00 0.00 3.40 0.000 0.000 0.052 1869.19 1890.94 1847.44 2604.44 2076.50 0 0 0 30.00 30.00 15.40

7101.53 16966 152.80 1.93 -80.00 1868.1 1889.8 1846.5 2604.4 2076.8 206.37 9.80 692 7107.21 0.00 0.00 3.96 0.000 0.000 0.131 1868.41 1889.75 1847.06 2604.06 660.31 0 0 0 30.00 30.00 15.06

7276.98 17414 152.80 1.93 0.00 1867.6 1889.1 1846.2 2605.2 660.6 185.81 10.70 727 7282.16 0.00 0.00 3.48 0.000 0.000 0.044 1868.69 1890.06 1847.31 2604.44 2127.56 0 0 0 30.00 30.00 15.52

7401.58 16450 152.80 1.99 0.00 1867.9 1889.4 1846.4 2604.9 2128.3 173.58 9.23 740 7402.91 0.00 0.00 0.00 0.000 0.000 0.000 1868.19 1889.94 1846.44 2604.88 2128.00 0 0 0 30.00 30.00 30.00

7521.58 19015 152.80 2.03 -80.00 1867.7 1889.4 1845.9 2604.5 2128.4 162.78 9.50 752 7527.37 0.00 0.18 4.11 0.000 0.092 0.128 1866.44 1887.75 1845.12 2643.25 660.56 0 0 0 30.00 15.65 15.03

7637.03 17414 152.80 2.03 0.00 1867.7 1889.4 1846.0 2642.6 660.9 149.44 11.98 775 7642.22 0.00 0.00 3.52 0.000 0.000 0.048 1866.47 1888.19 1844.75 2642.56 2126.94 0 0 0 30.00 30.00 15.50

7701.61 16450 152.80 2.06 0.00 1867.5 1889.2 1845.9 2642.5 2127.3 142.69 10.14 782 7702.94 0.00 0.00 0.00 0.000 0.000 0.000 1867.75 1889.44 1846.06 2642.75 2127.06 0 0 0 30.00 30.00 30.00

7761.62 16966 152.80 2.12 -80.00 1867.6 1889.1 1846.1 2642.9 2126.8 137.16 9.14 788 7767.34 0.00 0.00 4.11 0.000 0.000 0.126 1867.16 1888.75 1845.56 2642.81 660.81 0 0 0 30.00 30.00 15.03

7880.53 17414 152.80 2.12 0.00 1867.1 1888.4 1845.8 2643.2 660.5 123.73 11.53 812 7887.37 0.00 0.00 3.51 0.000 0.000 0.047 1868.19 1888.94 1847.44 2641.31 2127.38 0 0 0 30.00 30.00 15.47

7946.65 16450 152.80 2.16 0.00 1867.4 1889.1 1845.8 2643.2 2128.0 117.00 9.95 819 7947.98 0.00 0.00 0.00 0.000 0.000 0.000 1867.88 1889.25 1846.50 2643.06 2127.12 0 0 0 30.00 30.00 30.00

8006.67 18499 152.80 2.20 0.00 1867.4 1888.8 1846.1 2643.2 2127.2 111.23 9.82 825 8008.11 0.00 0.19 0.00 0.000 0.084 0.000 1868.16 1889.56 1846.75 2684.31 2127.50 0 0 0 30.00 15.65 30.00

8066.72 16966 152.80 2.21 -80.00 1867.3 1888.8 1845.9 2684.7 2127.4 105.32 10.49 831 8072.40 0.00 0.00 4.11 0.000 0.000 0.124 1865.94 1887.31 1844.56 2685.44 661.69 0 0 0 30.00 30.00 15.01

8172.13 17414 152.80 2.21 0.00 1866.9 1888.0 1845.8 2685.1 661.6 92.51 13.31 852 8177.31 0.00 0.00 3.53 0.000 0.000 0.046 1865.78 1886.75 1844.81 2684.56 2128.06 0 0 0 30.00 30.00 15.47

8236.69 8486 173.37 2.28 80.00 1867.2 1888.5 1845.8 2685.1 2128.2 86.28 9.04 859 8268.35 23.92 0.00 3.60 1.126 0.000 0.108 1791.97 1812.62 1771.31 2685.06 3475.38 0 0 0 11.12 30.00 15.23

8310.63 1092 173.37 2.29 0.00 1790.3 1811.3 1769.4 2685.3 3475.4 79.15 10.54 874 8317.38 0.00 0.00 3.39 0.000 0.000 0.052 1790.19 1811.00 1769.38 2685.19 2077.06 0 0 0 30.00 30.00 15.52

8376.76 10791 206.92 2.39 -80.00 1789.4 1810.9 1767.9 2684.9 2076.9 73.71 7.74 881 8422.30 39.54 0.22 3.92 1.124 0.074 0.129 1656.06 1677.94 1634.19 2734.06 661.75 0 0 0 11.63 15.58 15.05

8597.18 9254 254.78 2.54 0.00 1652.2 1672.3 1632.0 2735.0 661.9 54.82 6.30 925 8658.52 54.03 0.00 3.48 1.093 0.000 0.045 1461.91 1485.00 1438.81 2734.44 2130.69 0 0 0 11.57 30.00 15.52

8717.43 10791 287.95 2.64 -80.00 1458.3 1483.5 1433.1 2736.0 2130.9 46.87 7.78 943 8762.34 37.53 0.28 4.06 1.047 0.062 0.124 1325.75 1350.69 1300.81 2789.69 661.06 0 0 0 11.50 15.42 14.97

8987.20 1028 287.95 2.64 0.00 1322.5 1345.6 1299.4 2789.8 661.2 14.09 11.53 997 8992.37 0.00 0.00 3.49 0.000 0.000 0.045 1321.69 1345.00 1298.38 2789.88 2129.19 0 0 0 30.00 30.00 15.49

9051.76 8742 310.83 2.71 -80.00 1321.2 1345.6 1296.8 2789.9 2129.3 8.12 8.81 1004 9083.53 24.62 0.00 4.03 0.995 0.000 0.124 1232.12 1258.69 1205.56 2790.56 660.69 0 0 0 11.45 30.00 15.11

9105 end climb: SURFACE_DEPTH_REACHED

state 9105 begin surface coast

9115 end surface coast: CONTROL_FINISHED_OK

state 9115 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	1108	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	75.391266	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	263.85107	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	110421,032508,4708.337,-12501.953,9,2.0,13,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.53	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-58.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	110421,033302,4708.252,-12501.973,28,0.8,29,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	168.7,468,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	9311.71,0.00,0.014,0,563.6,562.6,564.5,475.01	_10V_AH	14.74,0.000
SM_GC	-0.64,0.00,18.32,3.46,0.014,0.083,0.043,563.6,562.6,564.5,170.2,2131.0,0,0,0,30.36,15.22,15.52	FG_AHR_24Vo	264.068
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	75.423
IRIDIUM_FIX	4707.48,-12503.93,110421,004427	MEM	1103692,38,73456,56
TCM_TEMP	176.47	DATA_FILE_SIZE	38643,1017
XPDR_PINGS	9,14.0,11.5	CAP_FILE_SIZE	518091,0
SC_FREEKB	3434592	SDSIZE	3918848,3616640
HUMID	58.53	SDFILEDIR	5566,1
TEMP	7.81	ERRORS	0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77071	GPS	110421,060901,4707.239,-12501.759,19,0.9,20,15.6
_24V_AH	14.09,303.057

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	654	1641	15123.33	legato	0	0	0.00
Pitch_motor	39	255	143.44	nil	0	0	0.00
Roll_motor	235	216	718.56	nil	0	0	0.00
Iridium	214	195	592.26	nil	0	0	0.00
Transponder_ping	2	420	13.32	nil	0	0	0.00
GPS	38	15	8.51	nil	0	0	0.00
Core	3709	11	645.14	SciCon	9181	5	706.55
LPSleep	5834	2	240.81	nil	0	0	0.00
Compass	1947	5	143.53	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
8.40	16386	-74.33	-1.59	0.00	559.5	561.9	557.1	169.0	2120.1	0.00	0.00	0	100.54	91.72	0.00	0.00	0.005	0.000	0.000	2712.66	2694.88	2730.44	168.94	2119.88	0	0	0	14.66	30.00	30.00
100.76	18695	-74.33	-1.59	80.00	2711.4	2693.5	2729.4	168.9	2120.3	5.02	-10.35	9	126.63	1.82	14.43	3.67	0.016	0.256	0.113	2801.88	2793.38	2810.38	1753.94	3477.06	0	0	0	14.87	14.88	14.69
293.78	1028	-74.33	-1.59	0.00	2801.9	2793.8	2810.0	1754.6	3476.7	46.68	-17.62	48	301.02	0.00	0.00	3.44	0.000	0.000	0.058	2803.12	2795.25	2811.00	1754.44	2081.50	0	0	0	30.00	30.00	15.34
359.93	516	-74.33	-1.59	-80.00	2802.2	2794.2	2810.3	1753.9	2081.1	56.86	-15.48	55	365.59	0.00	0.00	4.09	0.000	0.000	0.147	2803.06	2794.94	2811.19	1754.50	661.81	0	0	0	30.00	30.00	15.06
445.33	1028	-74.33	-1.59	0.00	2802.5	2795.1	2809.9	1753.6	661.9	70.46	-14.52	72	450.52	0.00	0.00	3.54	0.000	0.000	0.050	2802.81	2796.00	2809.62	1753.00	2121.88	0	0	0	30.00	30.00	15.44
509.89	260	-74.33	-1.59	80.00	2802.2	2795.5	2808.9	1754.1	2121.9	78.14	-11.70	79	515.55	0.00	0.00	3.62	0.000	0.000	0.106	2801.69	2795.06	2808.31	1754.00	3476.75	0	0	0	30.00	30.00	15.21
585.40	1028	-74.33	-1.59	0.00	2802.2	2795.5	2808.9	1754.0	3476.2	87.15	-12.07	94	590.50	0.00	0.00	3.38	0.000	0.000	0.054	2800.78	2793.88	2807.69	1754.12	2080.25	0	0	0	30.00	30.00	15.39
649.98	516	-74.33	-1.59	-80.00	2802.3	2795.7	2809.0	1754.2	2079.8	95.33	-12.17	101	655.62	0.00	0.00	4.04	0.000	0.000	0.146	2804.22	2798.69	2809.75	1752.69	660.88	0	0	0	30.00	30.00	15.04
688.82	1028	-74.33	-1.59	0.00	2801.9	2794.8	2808.9	1754.3	660.9	100.47	-12.49	109	695.64	0.00	0.00	3.51	0.000	0.000	0.048	2802.75	2796.69	2808.81	1754.44	2122.88	0	0	0	30.00	30.00	15.44
754.91	260	-74.33	-1.59	80.00	2802.4	2796.1	2808.8	1754.2	2123.4	107.43	-10.49	116	760.55	0.00	0.00	3.57	0.000	0.000	0.103	2801.28	2795.44	2807.12	1753.88	3476.75	0	0	0	30.00	30.00	15.21
800.36	1028	-74.33	-1.59	0.00	2802.3	2795.6	2809.1	1754.4	3476.3	112.39	-11.40	125	805.53	0.00	0.00	3.35	0.000	0.000	0.052	2803.03	2796.56	2809.50	1753.50	2080.81	0	0	0	30.00	30.00	15.40
864.98	0	-74.33	-1.59	0.00	2802.4	2796.1	2808.7	1754.2	2081.2	119.60	-10.86	132	866.30	0.00	0.00	0.00	0.000	0.000	0.000	2802.91	2796.75	2809.06	1754.25	2080.88	0	0	0	30.00	30.00	30.00
924.94	260	-74.33	-1.59	80.00	2802.3	2795.9	2808.8	1754.5	2081.2	126.28	-11.07	138	930.58	0.00	0.00	3.70	0.000	0.000	0.102	2803.03	2796.56	2809.50	1754.12	3475.69	0	0	0	30.00	30.00	15.22
970.38	1028	-74.33	-1.59	0.00	2802.3	2795.8	2808.8	1753.8	3475.9	131.69	-12.34	147	975.54	0.00	0.00	3.36	0.000	0.000	0.053	2804.50	2798.56	2810.44	1752.75	2078.94	0	0	0	30.00	30.00	15.39
1035.00	516	-74.33	-1.59	-80.00	2802.5	2795.8	2809.1	1754.0	2080.2	138.84	-10.82	154	1040.69	0.00	0.00	4.01	0.000	0.000	0.146	2800.94	2794.56	2807.31	1754.06	660.25	0	0	0	30.00	30.00	15.01
1070.39	1028	-74.33	-1.59	0.00	2801.9	2795.4	2808.5	1753.9	660.6	143.12	-12.20	161	1075.57	0.00	0.00	3.47	0.000	0.000	0.046	2800.44	2794.12	2806.75	1754.00	2124.25	0	0	0	30.00	30.00	15.47
1134.95	260	-74.33	-1.59	80.00	2802.5	2796.4	2808.6	1753.9	2124.1	150.23	-10.89	168	1140.59	0.00	0.00	3.57	0.000	0.000	0.103	2803.12	2797.19	2809.06	1753.94	3476.94	0	0	0	30.00	30.00	15.21
1223.87	1028	-74.33	-1.59	0.00	2803.2	2797.4	2809.1	1754.1	3476.9	160.45	-11.81	186	1231.10	0.00	0.00	3.34	0.000	0.000	0.051	2804.31	2798.38	2810.25	1754.06	2081.25	0	0	0	30.00	30.00	15.36
1350.00	16934	-95.40	-1.65	-80.00	2802.6	2796.1	2809.0	1754.2	2081.2	171.77	-8.99	199	1356.74	0.44	0.00	4.01	0.049	0.000	0.148	2891.62	2890.62	2892.62	1752.81	660.81	0	0	0	14.30	30.00	14.48
1388.90	1028	-95.40	-1.65	0.00	2891.6	2890.9	2892.4	1754.2	660.4	176.36	-12.19	207	1396.12	0.00	0.00	3.46	0.000	0.000	0.046	2893.50	2892.56	2894.44	1752.75	2124.19	0	0	0	30.00	30.00	15.45
1515.00	260	-95.40	-1.65	80.00	2892.3	2891.0	2893.6	1753.9	2124.6	188.68	-9.79	220	1520.64	0.00	0.00	3.58	0.000	0.000	0.105	2893.88	2893.25	2894.50	1752.31	3476.06	0	0	0	30.00	30.00	15.18
1573.92	1028	-95.40	-1.65	0.00	2891.9	2890.6	2893.2	1753.9	3475.2	195.41	-10.86	232	1581.13	0.00	0.00	3.35	0.000	0.000	0.052	2894.31	2893.06	2895.56	1752.75	2080.06	0	0	0	30.00	30.00	15.36
1700.02	516	-95.40	-1.65	-80.00	2892.2	2890.8	2893.6	1754.0	2080.1	208.18	-9.76	245	1705.73	0.00	0.00	4.01	0.000	0.000	0.147	2892.31	2890.56	2894.06	1753.81	662.25	0	0	0	30.00	30.00	14.98
1755.48	1028	-95.40	-1.65	0.00	2892.3	2890.8	2893.8	1754.2	662.1	214.38	-11.51	256	1760.64	0.00	0.00	3.46	0.000	0.000	0.046	2892.62	2891.00	2894.25	1752.88	2123.88	0	0	0	30.00	30.00	15.46
1880.04	260	-95.40	-1.65	80.00	2892.7	2891.1	2894.2	1754.3	2124.3	227.60	-10.78	269	1885.68	0.00	0.00	3.57	0.000	0.000	0.105	2891.88	2891.12	2892.62	1753.88	3475.38	0	0	0	30.00	30.00	15.17
1925.48	1028	-95.40	-1.65	0.00	2892.2	2890.6	2893.7	1754.0	3475.4	232.87	-11.54	278	1930.64	0.00	0.00	3.35	0.000	0.000	0.052	2892.97	2891.50	2894.44	1752.81	2081.00	0	0	0	30.00	30.00	15.37
2050.07	0	-95.40	-1.65	0.00	2892.6	2891.0	2894.2	1754.0	2081.1	246.40	-10.77	291	2051.40	0.00	0.00	0.00	0.000	0.000	0.000	2892.69	2890.94	2894.44	1754.25	2081.44	0	0	0	30.00	30.00	30.00
2170.06	260	-95.40	-1.65	80.00	2892.8	2891.3	2894.3	1754.2	2080.8	260.62	-11.71	297	2175.72	0.00	0.00	3.73	0.000	0.000	0.105	2894.09	2893.12	2895.06	1752.44	3473.69	0	0	0	30.00	30.00	15.14
2238.99	1028	-95.40	-1.65	0.00	2892.9	2891.2	2894.6	1754.2	3474.8	269.63	-12.60	311	2244.66	0.00	0.00	3.38	0.000	0.000	0.054	2893.09	2891.56	2894.62	1754.00	2079.38	0	0	0	30.00	30.00	15.32
2555.08	0	-95.40	-1.65	0.00	2892.8	2891.0	2894.5	1754.1	2079.3	306.09	-11.37	324	2556.41	0.00	0.00	0.00	0.000	0.000	0.000	2892.81	2890.69	2894.94	1754.38	2079.62	0	0	0	30.00	30.00	30.00
2855.07	260	-95.40	-1.65	80.00	2892.7	2891.1	2894.2	1754.1	2079.4	340.13	-11.01	334	2860.75	0.00	0.00	3.78	0.000	0.000	0.108	2892.09	2891.06	2893.12	1753.75	3476.06	0	0	0	30.00	30.00	15.12
2924.01	1028	-95.40	-1.65	0.00	2892.9	2890.9	2894.9	1753.8	3475.9	348.66	-11.38	348	2929.68	0.00	0.00	3.39	0.000	0.000	0.056	2892.72	2891.62	2893.81	1754.62	2082.06	0	0	0	30.00	30.00	15.30
3240.10	260	-95.40	-1.65	80.00	2892.1	2890.2	2893.9	1754.2	2082.1	385.09	-11.55	361	3245.76	0.00	0.00	3.79	0.000	0.000	0.108	2892.88	2890.94	2894.81	1753.69	3477.00	0	0	0	30.00	30.00	15.10
3284.01	1028	-95.40	-1.65	0.00	2892.6	2890.8	2894.4	1753.8	3476.7	390.90	-13.93	370	3289.71	0.00	0.00	3.41	0.000	0.000	0.056	2893.47	2891.94	2895.00	1753.56	2079.56	0	0	0	30.00	30.00	15.29
3595.12	260	-95.40	-1.65	80.00	2892.1	2890.7	2893.5	1754.1	2080.1	426.21	-11.02	382	3600.80	0.00	0.00	3.81	0.000	0.000	0.108	2892.28	2891.44	2893.12	1754.06	3475.62	0	0	0	30.00	30.00	15.09
3680.56	1028	-95.40	-1.65	0.00	2892.8	2891.4	2894.2	1754.0	3475.6	436.56	-11.50	399	3685.75	0.00	0.00	3.42	0.000	0.000	0.056	2892.97	2891.88	2894.06	1754.12	2083.94	0	0	0	30.00	30.00	15.30
4005.16	260	-95.40	-1.65	80.00	2891.9	2891.1	2892.7	1754.5	2083.2	473.06	-11.06	414	4010.83	0.00	0.00	3.82	0.000	0.000	0.109	2890.78	2889.38	2892.19	1754.06	3474.88	0	0	0	30.00	30.00	15.08
4074.12	1028	-95.40	-1.65	0.00	2891.9	2890.9	2892.8	1753.8	3475.2	480.84	-11.19	428	4079.78	0.00	0.00	3.42	0.000	0.000	0.057	2892.38	2891.25	2893.50	1753.94	2082.88	0	0	0	30.00	30.00	15.25
4270	end dive: TARGET_DEPTH_EXCEEDED
state	4270	begin apogee
4271.30	10243	0.00	-0.25	0.00	2891.6	2890.6	2892.6	1753.9	2122.4	502.56	-11.21	437	4357.44	81.75	2.62	0.09	1.641	0.150	0.217	2496.50	2505.25	2487.75	2080.00	2082.38	0	0	0	10.71	15.04	14.88
4360	end apogee: CONTROL_FINISHED_OK
state	4360	begin climb
4360.57	10759	95.40	1.65	-80.00	2498.0	2507.4	2488.6	2079.9	2082.3	504.63	0.00	439	4458.12	87.72	3.34	4.12	1.586	0.077	0.136	2109.38	2120.75	2098.00	2547.88	660.75	0	0	0	11.43	15.14	14.70
4490.26	9254	130.94	1.76	0.00	2105.5	2116.1	2094.9	2547.5	660.9	498.79	7.54	465	4531.64	33.81	0.00	3.56	1.509	0.000	0.043	1964.66	1980.75	1948.56	2547.25	2125.56	0	0	0	11.41	30.00	15.22
4836.35	16902	130.94	1.76	-80.00	1956.0	1975.4	1936.6	2547.2	2125.7	461.66	10.65	484	4842.08	0.00	0.00	4.12	0.000	0.000	0.136	1956.28	1975.62	1936.94	2544.69	661.75	0	0	0	30.00	30.00	15.21
4940.30	17478	130.94	1.78	0.00	1954.0	1972.0	1936.1	2547.7	661.9	449.85	10.36	505	4945.99	0.00	0.00	3.52	0.000	0.000	0.047	1954.19	1972.75	1935.62	2547.69	2125.00	0	0	0	30.00	30.00	15.50
5251.39	10791	152.80	1.85	-80.00	1952.3	1972.3	1932.3	2547.4	2125.2	420.76	8.91	517	5277.60	20.00	0.26	4.08	1.431	0.068	0.134	1875.59	1897.00	1854.19	2605.56	660.69	0	0	0	11.38	15.62	15.20
5360.31	1028	152.80	1.85	0.00	1872.9	1891.6	1854.1	2605.3	660.5	406.93	11.89	539	5367.10	0.00	0.00	3.49	0.000	0.000	0.046	1872.59	1891.75	1853.44	2605.19	2126.31	0	0	0	30.00	30.00	15.54
5666.42	516	152.80	1.85	-80.00	1870.1	1891.2	1848.9	2605.1	2126.1	371.20	11.81	550	5672.11	0.00	0.00	4.10	0.000	0.000	0.131	1869.97	1890.19	1849.75	2604.06	661.94	0	0	0	30.00	30.00	15.21
5781.86	1028	152.80	1.85	0.00	1869.7	1890.8	1848.7	2604.5	662.0	356.10	14.71	573	5787.03	0.00	0.00	3.49	0.000	0.000	0.046	1869.47	1890.62	1848.31	2605.56	2126.25	0	0	0	30.00	30.00	15.51
6106.48	516	152.80	1.85	-80.00	1869.5	1890.8	1848.2	2605.7	2126.2	318.51	11.40	588	6112.17	0.00	0.00	4.11	0.000	0.000	0.130	1868.91	1890.38	1847.44	2604.75	660.56	0	0	0	30.00	30.00	15.13
6200.35	1028	152.80	1.85	0.00	1869.2	1890.6	1847.8	2605.4	660.8	305.80	13.14	607	6206.05	0.00	0.00	3.50	0.000	0.000	0.044	1869.56	1891.06	1848.06	2605.38	2127.25	0	0	0	30.00	30.00	15.50
6521.46	16902	152.80	1.85	-80.00	1868.4	1889.8	1847.1	2605.3	2127.5	270.08	10.67	621	6527.17	0.00	0.00	4.09	0.000	0.000	0.129	1868.41	1890.62	1846.19	2604.56	660.81	0	0	0	30.00	30.00	15.10
6620.38	17414	152.80	1.85	0.00	1868.5	1890.1	1846.9	2605.2	660.7	256.62	13.77	641	6626.07	0.00	0.00	3.48	0.000	0.000	0.045	1868.94	1890.69	1847.19	2605.56	2128.00	0	0	0	30.00	30.00	15.48
6926.50	16710	152.80	1.89	80.00	1868.0	1889.6	1846.5	2604.7	2128.3	225.20	9.75	669	6932.13	0.00	0.00	3.63	0.000	0.000	0.109	1866.88	1888.88	1844.88	2605.75	3472.88	0	0	0	30.00	30.00	15.16
6971.49	17414	152.80	1.89	0.00	1868.0	1889.4	1846.6	2605.3	3473.5	219.81	11.97	678	6976.08	0.00	0.00	3.40	0.000	0.000	0.052	1869.19	1890.94	1847.44	2604.44	2076.50	0	0	0	30.00	30.00	15.40
7101.53	16966	152.80	1.93	-80.00	1868.1	1889.8	1846.5	2604.4	2076.8	206.37	9.80	692	7107.21	0.00	0.00	3.96	0.000	0.000	0.131	1868.41	1889.75	1847.06	2604.06	660.31	0	0	0	30.00	30.00	15.06
7276.98	17414	152.80	1.93	0.00	1867.6	1889.1	1846.2	2605.2	660.6	185.81	10.70	727	7282.16	0.00	0.00	3.48	0.000	0.000	0.044	1868.69	1890.06	1847.31	2604.44	2127.56	0	0	0	30.00	30.00	15.52
7401.58	16450	152.80	1.99	0.00	1867.9	1889.4	1846.4	2604.9	2128.3	173.58	9.23	740	7402.91	0.00	0.00	0.00	0.000	0.000	0.000	1868.19	1889.94	1846.44	2604.88	2128.00	0	0	0	30.00	30.00	30.00
7521.58	19015	152.80	2.03	-80.00	1867.7	1889.4	1845.9	2604.5	2128.4	162.78	9.50	752	7527.37	0.00	0.18	4.11	0.000	0.092	0.128	1866.44	1887.75	1845.12	2643.25	660.56	0	0	0	30.00	15.65	15.03
7637.03	17414	152.80	2.03	0.00	1867.7	1889.4	1846.0	2642.6	660.9	149.44	11.98	775	7642.22	0.00	0.00	3.52	0.000	0.000	0.048	1866.47	1888.19	1844.75	2642.56	2126.94	0	0	0	30.00	30.00	15.50
7701.61	16450	152.80	2.06	0.00	1867.5	1889.2	1845.9	2642.5	2127.3	142.69	10.14	782	7702.94	0.00	0.00	0.00	0.000	0.000	0.000	1867.75	1889.44	1846.06	2642.75	2127.06	0	0	0	30.00	30.00	30.00
7761.62	16966	152.80	2.12	-80.00	1867.6	1889.1	1846.1	2642.9	2126.8	137.16	9.14	788	7767.34	0.00	0.00	4.11	0.000	0.000	0.126	1867.16	1888.75	1845.56	2642.81	660.81	0	0	0	30.00	30.00	15.03
7880.53	17414	152.80	2.12	0.00	1867.1	1888.4	1845.8	2643.2	660.5	123.73	11.53	812	7887.37	0.00	0.00	3.51	0.000	0.000	0.047	1868.19	1888.94	1847.44	2641.31	2127.38	0	0	0	30.00	30.00	15.47
7946.65	16450	152.80	2.16	0.00	1867.4	1889.1	1845.8	2643.2	2128.0	117.00	9.95	819	7947.98	0.00	0.00	0.00	0.000	0.000	0.000	1867.88	1889.25	1846.50	2643.06	2127.12	0	0	0	30.00	30.00	30.00
8006.67	18499	152.80	2.20	0.00	1867.4	1888.8	1846.1	2643.2	2127.2	111.23	9.82	825	8008.11	0.00	0.19	0.00	0.000	0.084	0.000	1868.16	1889.56	1846.75	2684.31	2127.50	0	0	0	30.00	15.65	30.00
8066.72	16966	152.80	2.21	-80.00	1867.3	1888.8	1845.9	2684.7	2127.4	105.32	10.49	831	8072.40	0.00	0.00	4.11	0.000	0.000	0.124	1865.94	1887.31	1844.56	2685.44	661.69	0	0	0	30.00	30.00	15.01
8172.13	17414	152.80	2.21	0.00	1866.9	1888.0	1845.8	2685.1	661.6	92.51	13.31	852	8177.31	0.00	0.00	3.53	0.000	0.000	0.046	1865.78	1886.75	1844.81	2684.56	2128.06	0	0	0	30.00	30.00	15.47
8236.69	8486	173.37	2.28	80.00	1867.2	1888.5	1845.8	2685.1	2128.2	86.28	9.04	859	8268.35	23.92	0.00	3.60	1.126	0.000	0.108	1791.97	1812.62	1771.31	2685.06	3475.38	0	0	0	11.12	30.00	15.23
8310.63	1092	173.37	2.29	0.00	1790.3	1811.3	1769.4	2685.3	3475.4	79.15	10.54	874	8317.38	0.00	0.00	3.39	0.000	0.000	0.052	1790.19	1811.00	1769.38	2685.19	2077.06	0	0	0	30.00	30.00	15.52
8376.76	10791	206.92	2.39	-80.00	1789.4	1810.9	1767.9	2684.9	2076.9	73.71	7.74	881	8422.30	39.54	0.22	3.92	1.124	0.074	0.129	1656.06	1677.94	1634.19	2734.06	661.75	0	0	0	11.63	15.58	15.05
8597.18	9254	254.78	2.54	0.00	1652.2	1672.3	1632.0	2735.0	661.9	54.82	6.30	925	8658.52	54.03	0.00	3.48	1.093	0.000	0.045	1461.91	1485.00	1438.81	2734.44	2130.69	0	0	0	11.57	30.00	15.52
8717.43	10791	287.95	2.64	-80.00	1458.3	1483.5	1433.1	2736.0	2130.9	46.87	7.78	943	8762.34	37.53	0.28	4.06	1.047	0.062	0.124	1325.75	1350.69	1300.81	2789.69	661.06	0	0	0	11.50	15.42	14.97
8987.20	1028	287.95	2.64	0.00	1322.5	1345.6	1299.4	2789.8	661.2	14.09	11.53	997	8992.37	0.00	0.00	3.49	0.000	0.000	0.045	1321.69	1345.00	1298.38	2789.88	2129.19	0	0	0	30.00	30.00	15.49
9051.76	8742	310.83	2.71	-80.00	1321.2	1345.6	1296.8	2789.9	2129.3	8.12	8.81	1004	9083.53	24.62	0.00	4.03	0.995	0.000	0.124	1232.12	1258.69	1205.56	2790.56	660.69	0	0	0	11.45	30.00	15.11
9105	end climb: SURFACE_DEPTH_REACHED
state	9105	begin surface coast
9115	end surface coast: CONTROL_FINISHED_OK
state	9115	begin surface