Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1113 * 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 1113 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 75.55545 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 265.00171 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 75.55545 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 265.00171 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 1113 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 110421,170609,4708.188,-12502.477,4,0.7,23,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 2 TGT_RADIUS 3000.000

_SM_DEPTHo -1.47 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -61.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 110421,171450,4708.132,-12502.434,2,0.6,4,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 98.6,599,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 8970.13,0.00,0.012,0,564.6,562.9,566.3,474.76 _10V_AH 14.75,0.000

SM_GC -0.38,0.00,18.42,0.08,0.012,0.083,0.138,564.6,562.9,566.3,181.2,2132.1,0,0,0,30.36,15.19,15.57 FG_AHR_24Vo 265.222

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 75.585

IRIDIUM_FIX 4709.47,-12456.93,110421,171010 MEM 1103668,40,73440,56

TCM_TEMP 174.88 DATA_FILE_SIZE 35364,959

XPDR_PINGS 8,14.0,11.5 CAP_FILE_SIZE 503804,0

SC_FREEKB 3432672 SDSIZE 3918848,3615264

HUMID 58.48 SDFILEDIR 5591,1

TEMP 7.84 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77801 GPS 110421,194455,4707.750,-12501.061,2,1.9,9,15.6

_24V_AH 13.62,304.298

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 657 2577 23067.89 legato 0 0 0.00

Pitch_motor 39 248 134.33 nil 0 0 0.00

Roll_motor 232 240 761.68 nil 0 0 0.00

Iridium 228 195 610.22 nil 0 0 0.00

Transponder_ping 2 420 11.44 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 3524 11 613.50 SciCon 8824 5 666.26

LPSleep 5712 2 235.93 nil 0 0 0.00

Compass 1822 5 134.41 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 0.00 559.0 560.1 557.9 166.6 2117.2 0.00 0.00 0 90.30 81.41 0.00 0.00 0.005 0.000 0.000 2413.47 2399.12 2427.81 166.69 2117.81 0 0 0 14.72 30.00 30.00

90.54 18983 -114.13 -1.71 -80.00 2412.7 2398.2 2427.2 166.5 2117.8 3.10 -7.11 8 126.64 12.74 13.93 4.14 0.007 0.249 0.149 2965.44 2963.44 2967.44 1725.00 660.69 0 0 0 14.85 14.90 14.67

229.87 1028 -114.13 -1.71 0.00 2964.2 2962.8 2965.6 1724.8 660.6 33.92 -20.03 36 234.50 0.00 0.00 3.55 0.000 0.000 0.055 2963.94 2962.25 2965.62 1724.94 2119.62 0 0 0 30.00 30.00 15.40

299.88 260 -114.13 -1.71 80.00 2964.2 2962.6 2965.8 1725.1 2121.4 46.97 -18.39 44 305.52 0.00 0.00 3.60 0.000 0.000 0.108 2964.69 2962.94 2966.44 1722.81 3476.12 0 0 0 30.00 30.00 15.20

344.88 1028 -114.13 -1.71 0.00 2963.9 2962.2 2965.6 1724.6 3476.2 55.46 -18.87 53 349.48 0.00 0.00 3.36 0.000 0.000 0.055 2965.22 2963.12 2967.31 1723.88 2079.81 0 0 0 30.00 30.00 15.36

414.89 0 -114.13 -1.71 0.00 2964.2 2962.5 2966.0 1725.1 2080.4 67.29 -16.63 61 416.22 0.00 0.00 0.00 0.000 0.000 0.000 2964.69 2962.94 2966.44 1724.69 2079.94 0 0 0 30.00 30.00 30.00

474.91 0 -114.13 -1.71 0.00 2964.0 2962.2 2965.7 1724.6 2080.1 77.18 -16.34 67 476.24 0.00 0.00 0.00 0.000 0.000 0.000 2964.03 2962.00 2966.06 1724.62 2080.12 0 0 0 30.00 30.00 30.00

534.91 516 -114.13 -1.71 -80.00 2964.3 2962.3 2966.3 1724.8 2080.9 86.71 -16.15 73 540.60 0.00 0.00 3.99 0.000 0.000 0.147 2963.44 2961.88 2965.00 1725.00 661.88 0 0 0 30.00 30.00 15.02

573.82 1028 -114.13 -1.71 0.00 2964.4 2962.4 2966.4 1725.2 661.8 93.29 -17.26 81 580.62 0.00 0.00 3.47 0.000 0.000 0.049 2966.47 2965.00 2967.94 1724.25 2123.50 0 0 0 30.00 30.00 15.42

639.97 260 -114.13 -1.71 80.00 2964.2 2962.1 2966.4 1725.2 2123.6 102.59 -14.33 88 645.57 0.00 0.00 3.56 0.000 0.000 0.104 2964.72 2962.81 2966.62 1724.81 3476.50 0 0 0 30.00 30.00 15.20

698.84 1028 -114.13 -1.71 0.00 2964.0 2962.3 2965.8 1724.9 3477.2 112.20 -17.10 100 705.61 0.00 0.00 3.36 0.000 0.000 0.054 2965.12 2963.62 2966.62 1724.75 2079.88 0 0 0 30.00 30.00 15.35

764.98 0 -114.13 -1.71 0.00 2964.1 2962.3 2965.9 1724.9 2079.9 121.85 -14.92 107 766.30 0.00 0.00 0.00 0.000 0.000 0.000 2964.81 2962.88 2966.75 1724.88 2080.12 0 0 0 30.00 30.00 30.00

824.94 260 -114.13 -1.71 80.00 2964.2 2962.1 2966.3 1724.8 2079.9 129.15 -12.23 113 830.59 0.00 0.00 3.66 0.000 0.000 0.103 2965.22 2963.00 2967.44 1724.62 3476.12 0 0 0 30.00 30.00 15.20

849.98 1028 -114.13 -1.71 0.00 2964.0 2962.2 2965.8 1724.8 3476.2 132.53 -13.52 118 854.52 0.00 0.00 3.32 0.000 0.000 0.053 2965.25 2962.50 2968.00 1724.06 2080.75 0 0 0 30.00 30.00 15.37

919.93 516 -114.13 -1.71 -80.00 2964.2 2962.0 2966.4 1724.6 2080.9 141.34 -12.57 126 925.64 0.00 0.00 3.94 0.000 0.000 0.146 2962.69 2960.38 2965.00 1724.69 660.81 0 0 0 30.00 30.00 15.01

965.39 1028 -114.13 -1.71 0.00 2964.1 2961.8 2966.4 1725.1 660.8 147.63 -14.11 135 970.57 0.00 0.00 3.46 0.000 0.000 0.047 2963.59 2962.00 2965.19 1725.00 2123.31 0 0 0 30.00 30.00 15.45

1029.95 260 -114.13 -1.71 80.00 2964.2 2961.9 2966.6 1725.1 2123.1 155.03 -11.58 142 1034.58 0.00 0.00 3.55 0.000 0.000 0.104 2963.84 2961.69 2966.00 1724.62 3475.00 0 0 0 30.00 30.00 15.19

1079.96 1028 -114.13 -1.71 0.00 2964.6 2962.5 2966.8 1725.6 3476.6 161.63 -13.46 152 1084.56 0.00 0.00 3.34 0.000 0.000 0.052 2964.25 2962.25 2966.25 1724.94 2079.19 0 0 0 30.00 30.00 15.37

1209.98 516 -114.13 -1.71 -80.00 2964.2 2961.9 2966.6 1724.9 2079.9 177.41 -11.81 166 1215.67 0.00 0.00 3.93 0.000 0.000 0.146 2962.84 2960.69 2965.00 1725.25 660.88 0 0 0 30.00 30.00 14.99

1248.89 1028 -114.13 -1.71 0.00 2964.6 2963.2 2965.9 1724.8 660.9 183.09 -14.80 174 1255.68 0.00 0.00 3.45 0.000 0.000 0.047 2964.75 2962.75 2966.75 1724.94 2125.06 0 0 0 30.00 30.00 15.43

1374.99 0 -114.13 -1.71 0.00 2963.9 2961.6 2966.2 1724.9 2125.0 198.47 -12.36 187 1376.32 0.00 0.00 0.00 0.000 0.000 0.000 2964.94 2962.88 2967.00 1724.25 2125.25 0 0 0 30.00 30.00 30.00

1494.99 260 -114.13 -1.71 80.00 2964.5 2962.2 2966.8 1724.9 2124.5 212.70 -11.55 199 1500.62 0.00 0.00 3.57 0.000 0.000 0.108 2963.47 2961.69 2965.25 1724.88 3475.00 0 0 0 30.00 30.00 15.15

1540.00 1028 -114.13 -1.71 0.00 2964.5 2962.2 2966.8 1724.7 3475.2 218.54 -12.40 208 1544.59 0.00 0.00 3.33 0.000 0.000 0.053 2965.53 2963.19 2967.88 1725.12 2080.31 0 0 0 30.00 30.00 15.34

1670.03 0 -114.13 -1.71 0.00 2964.7 2962.1 2967.3 1725.2 2080.7 234.65 -11.86 222 1671.36 0.00 0.00 0.00 0.000 0.000 0.000 2964.81 2962.62 2967.00 1724.75 2080.12 0 0 0 30.00 30.00 30.00

1790.02 260 -114.13 -1.71 80.00 2964.8 2962.9 2966.8 1724.8 2079.9 249.38 -12.36 234 1795.67 0.00 0.00 3.70 0.000 0.000 0.106 2963.38 2961.38 2965.38 1724.50 3476.19 0 0 0 30.00 30.00 15.15

1833.93 1028 -114.13 -1.71 0.00 2964.6 2962.4 2966.8 1724.9 3476.1 255.20 -14.27 243 1839.61 0.00 0.00 3.35 0.000 0.000 0.054 2965.53 2963.12 2967.94 1724.50 2079.81 0 0 0 30.00 30.00 15.31

2145.04 260 -114.13 -1.71 80.00 2964.4 2962.2 2966.6 1724.9 2080.1 292.26 -11.49 255 2150.70 0.00 0.00 3.73 0.000 0.000 0.107 2963.91 2961.75 2966.06 1725.12 3475.81 0 0 0 30.00 30.00 15.13

2223.95 1028 -114.13 -1.71 0.00 2964.5 2961.5 2967.6 1724.2 3475.4 303.24 -15.10 271 2230.73 0.00 0.00 3.35 0.000 0.000 0.054 2965.16 2962.81 2967.50 1725.00 2082.50 0 0 0 30.00 30.00 15.31

2530.05 260 -114.13 -1.71 80.00 2964.8 2962.2 2967.4 1725.0 2082.2 342.08 -12.99 282 2535.72 0.00 0.00 3.73 0.000 0.000 0.108 2963.62 2961.00 2966.25 1725.19 3475.38 0 0 0 30.00 30.00 15.11

2578.97 1028 -114.13 -1.71 0.00 2964.7 2961.8 2967.6 1724.8 3476.4 349.04 -14.47 292 2585.77 0.00 0.00 3.35 0.000 0.000 0.055 2964.75 2962.31 2967.19 1725.25 2079.81 0 0 0 30.00 30.00 15.29

2885.07 260 -114.13 -1.71 80.00 2965.0 2962.6 2967.4 1724.8 2079.8 388.71 -13.03 303 2890.73 0.00 0.00 3.73 0.000 0.000 0.110 2965.56 2962.81 2968.31 1723.44 3473.00 0 0 0 30.00 30.00 15.07

2948.99 1028 -114.13 -1.71 0.00 2964.6 2962.1 2967.0 1725.0 3473.3 397.49 -13.47 316 2954.66 0.00 0.00 3.37 0.000 0.000 0.057 2965.88 2963.06 2968.69 1725.31 2081.38 0 0 0 30.00 30.00 15.27

3270.09 260 -114.13 -1.71 80.00 2964.2 2961.9 2966.4 1724.7 2081.2 436.67 -11.78 330 3275.75 0.00 0.00 3.76 0.000 0.000 0.111 2964.94 2962.44 2967.44 1724.44 3476.19 0 0 0 30.00 30.00 15.07

3308.99 1028 -114.13 -1.71 0.00 2964.5 2962.0 2967.1 1724.9 3476.0 442.46 -14.45 338 3314.68 0.00 0.00 3.37 0.000 0.000 0.057 2964.50 2962.12 2966.88 1724.25 2082.38 0 0 0 30.00 30.00 15.26

3625.10 516 -114.13 -1.71 -80.00 2964.5 2962.3 2966.8 1725.0 2082.4 481.98 -12.51 351 3630.81 0.00 0.00 4.07 0.000 0.000 0.155 2962.94 2960.88 2965.00 1725.25 660.69 0 0 0 30.00 30.00 14.85

3659.01 1028 -114.13 -1.71 0.00 2963.7 2961.3 2966.1 1724.7 660.9 487.99 -15.49 358 3664.89 0.00 0.00 3.51 0.000 0.000 0.052 2963.97 2962.12 2965.81 1725.00 2121.19 0 0 0 30.00 30.00 15.35

3770 end dive: TARGET_DEPTH_EXCEEDED

state 3770 begin apogee

3771.24 10243 0.00 -0.25 0.00 2964.1 2962.2 2966.0 1724.8 2081.1 502.20 -12.67 365 3871.61 95.68 2.86 0.08 1.636 0.154 0.241 2498.78 2506.88 2490.69 2078.69 2118.50 0 0 0 10.82 15.02 14.85

3874 end apogee: CONTROL_FINISHED_OK

state 3874 begin climb

3874.75 10759 114.13 1.71 -80.00 2497.9 2506.8 2489.1 2080.2 2118.4 505.49 0.00 368 3990.55 103.59 3.43 4.11 1.584 0.077 0.135 2032.59 2046.75 2018.44 2560.25 661.69 0 0 0 11.48 15.11 14.68

4097.68 17414 114.13 1.71 0.00 2025.7 2039.5 2011.8 2559.8 661.8 488.18 12.26 413 4103.39 0.00 0.00 3.50 0.000 0.000 0.046 2025.50 2039.38 2011.62 2559.94 2126.62 0 0 0 30.00 30.00 15.37

4413.81 8742 137.87 1.78 -80.00 2020.8 2038.8 2002.9 2559.7 2125.9 459.61 8.73 426 4440.95 21.66 0.00 3.96 1.452 0.000 0.136 1937.06 1955.56 1918.56 2559.44 660.50 0 0 0 11.52 30.00 15.13

4573.11 1028 137.87 1.78 0.00 1933.1 1949.8 1916.4 2560.2 661.1 439.81 16.80 458 4578.81 0.00 0.00 3.47 0.000 0.000 0.047 1932.94 1950.19 1915.69 2560.44 2124.81 0 0 0 30.00 30.00 15.50

4889.22 516 137.87 1.78 -80.00 1930.0 1949.8 1910.2 2559.9 2125.2 407.04 11.03 471 4894.93 0.00 0.00 4.03 0.000 0.000 0.134 1930.59 1950.44 1910.75 2559.38 660.75 0 0 0 30.00 30.00 15.19

5048.15 17414 137.87 1.78 0.00 1929.1 1948.0 1910.2 2560.3 660.6 385.39 14.11 503 5053.85 0.00 0.00 3.46 0.000 0.000 0.046 1930.88 1949.56 1912.19 2559.94 2125.19 0 0 0 30.00 30.00 15.51

5364.26 16966 137.87 1.80 -80.00 1928.1 1947.5 1908.7 2559.9 2125.3 351.94 10.57 516 5369.96 0.00 0.00 4.01 0.000 0.000 0.131 1927.94 1947.69 1908.19 2560.38 660.69 0 0 0 30.00 30.00 15.13

5488.17 17414 137.87 1.80 0.00 1927.9 1947.5 1908.2 2559.6 660.9 336.63 12.87 541 5493.87 0.00 0.00 3.46 0.000 0.000 0.046 1929.19 1948.56 1909.81 2560.06 2126.31 0 0 0 30.00 30.00 15.50

5809.28 16902 137.87 1.80 -80.00 1927.6 1947.5 1907.6 2560.6 2126.0 303.25 10.86 555 5814.99 0.00 0.00 4.05 0.000 0.000 0.130 1926.09 1946.00 1906.19 2560.25 660.69 0 0 0 30.00 30.00 15.09

5888.20 17414 137.87 1.80 0.00 1927.1 1946.8 1907.4 2560.1 660.5 294.24 12.19 571 5895.01 0.00 0.00 3.47 0.000 0.000 0.046 1927.66 1947.31 1908.00 2559.81 2126.06 0 0 0 30.00 30.00 15.49

6194.32 16710 137.87 1.83 80.00 1926.7 1946.8 1906.6 2560.6 2125.9 263.27 9.99 582 6199.96 0.00 0.00 3.63 0.000 0.000 0.111 1925.97 1945.88 1906.06 2560.12 3475.69 0 0 0 30.00 30.00 15.14

6219.37 19527 137.87 1.87 0.00 1926.7 1947.1 1906.3 2561.1 3475.0 260.70 9.93 587 6224.97 0.00 0.20 3.36 0.000 0.079 0.052 1925.00 1945.25 1904.75 2606.31 2075.88 0 0 0 30.00 15.20 15.40

6524.35 8742 163.77 1.95 -80.00 1926.6 1946.9 1906.2 2606.8 2075.6 232.79 8.51 614 6556.05 23.44 0.00 3.85 1.312 0.000 0.135 1831.59 1852.81 1810.38 2605.50 660.94 0 0 0 11.33 30.00 15.19

6654.79 1028 163.77 1.95 0.00 1828.3 1847.6 1809.0 2606.5 661.2 217.51 12.32 640 6660.00 0.00 0.00 3.44 0.000 0.000 0.045 1828.28 1847.56 1809.00 2605.94 2128.75 0 0 0 30.00 30.00 15.58

6779.39 580 163.77 1.97 -80.00 1826.7 1847.8 1805.6 2606.5 2128.3 204.49 10.29 653 6785.07 0.00 0.00 3.96 0.000 0.000 0.127 1825.41 1846.44 1804.38 2606.50 660.00 0 0 0 30.00 30.00 15.24

6888.31 1028 163.77 1.97 0.00 1826.5 1847.6 1805.4 2606.4 659.8 190.26 13.17 675 6895.10 0.00 0.00 3.45 0.000 0.000 0.044 1826.88 1847.75 1806.00 2606.50 2127.75 0 0 0 30.00 30.00 15.53

7014.42 580 163.77 1.99 -80.00 1825.6 1847.5 1803.8 2606.6 2128.1 176.29 10.60 688 7020.10 0.00 0.00 3.97 0.000 0.000 0.126 1824.22 1846.50 1801.94 2606.12 659.62 0 0 0 30.00 30.00 15.19

7053.31 1028 163.77 1.99 0.00 1825.5 1847.2 1803.8 2606.8 659.8 171.50 11.29 696 7060.11 0.00 0.00 3.43 0.000 0.000 0.044 1826.56 1848.62 1804.50 2606.38 2129.50 0 0 0 30.00 30.00 15.52

7179.43 516 163.77 1.99 -80.00 1824.9 1847.3 1802.5 2606.9 2129.6 157.88 11.18 709 7185.13 0.00 0.00 3.95 0.000 0.000 0.126 1825.81 1847.69 1803.94 2606.88 661.12 0 0 0 30.00 30.00 15.15

7208.34 1028 163.77 1.99 0.00 1825.0 1847.6 1802.3 2606.0 661.2 153.95 12.07 715 7215.14 0.00 0.00 3.43 0.000 0.000 0.044 1825.00 1847.44 1802.56 2606.44 2129.00 0 0 0 30.00 30.00 15.51

7334.46 64 163.77 2.00 0.00 1825.0 1847.4 1802.6 2606.6 2129.8 140.62 10.51 728 7335.79 0.00 0.00 0.00 0.000 0.000 0.000 1825.25 1848.12 1802.38 2606.50 2129.19 0 0 0 30.00 30.00 30.00

7394.48 2629 163.77 2.05 -80.00 1824.8 1847.6 1801.9 2606.4 2129.0 134.84 9.50 734 7400.24 0.00 0.20 4.01 0.000 0.079 0.125 1826.22 1848.12 1804.31 2650.25 661.62 0 0 0 30.00 15.64 15.13

7483.39 1028 163.77 2.05 0.00 1824.8 1847.2 1802.4 2650.9 661.8 123.12 13.95 752 7490.18 0.00 0.00 3.47 0.000 0.000 0.045 1824.62 1846.12 1803.12 2650.12 2129.56 0 0 0 30.00 30.00 15.48

7549.54 64 163.77 2.10 0.00 1824.8 1847.4 1802.3 2650.9 2129.4 116.59 9.40 759 7550.87 0.00 0.00 0.00 0.000 0.000 0.000 1825.22 1847.88 1802.56 2650.12 2129.38 0 0 0 30.00 30.00 30.00

7609.50 580 163.77 2.15 -80.00 1824.8 1847.2 1802.2 2650.5 2129.2 110.82 9.49 765 7615.20 0.00 0.00 4.01 0.000 0.000 0.125 1823.75 1845.81 1801.69 2650.56 660.56 0 0 0 30.00 30.00 15.11

7744.97 1028 163.77 2.15 0.00 1824.7 1847.1 1802.2 2650.6 660.9 96.56 11.34 792 7750.13 0.00 0.00 3.46 0.000 0.000 0.045 1824.00 1846.31 1801.69 2650.50 2129.44 0 0 0 30.00 30.00 15.49

7809.53 324 163.77 2.20 80.00 1825.1 1847.6 1802.5 2650.2 2129.4 90.24 9.48 799 7815.15 0.00 0.00 3.55 0.000 0.000 0.106 1823.34 1845.19 1801.50 2650.81 3474.69 0 0 0 30.00 30.00 15.18

7894.53 19527 163.77 2.23 0.00 1824.2 1846.4 1801.9 2650.0 3474.3 82.24 9.99 816 7900.19 0.00 0.19 3.35 0.000 0.073 0.050 1822.66 1844.69 1800.62 2693.69 2078.06 0 0 0 30.00 15.22 15.43

7959.54 8742 202.71 2.35 -80.00 1824.2 1846.1 1802.2 2693.7 2077.9 77.54 7.20 823 8011.62 44.54 0.00 3.84 1.138 0.000 0.128 1672.72 1695.38 1650.06 2693.94 660.94 0 0 0 11.35 30.00 15.11

8190.40 11303 228.90 2.43 0.00 1669.8 1690.6 1649.0 2693.1 660.7 55.17 8.48 869 8226.29 30.65 0.22 3.44 1.073 0.064 0.042 1566.06 1587.81 1544.31 2742.00 2132.75 0 0 0 11.60 15.32 15.54

8284.99 10535 291.13 2.62 80.00 1563.9 1587.2 1540.6 2743.2 2133.2 50.48 4.86 882 8361.17 69.22 0.19 3.57 1.071 0.073 0.106 1312.41 1336.94 1287.88 2788.75 3473.62 0 0 0 11.68 15.46 14.94

8428.85 1028 291.13 2.62 0.00 1309.4 1334.4 1284.5 2788.6 3473.4 36.33 12.92 911 8435.63 0.00 0.00 3.38 0.000 0.000 0.050 1309.28 1334.50 1284.06 2789.19 2075.75 0 0 0 30.00 30.00 15.36

8495.00 516 291.13 2.62 -80.00 1308.6 1334.4 1282.8 2788.8 2075.7 28.41 12.36 918 8500.62 0.00 0.00 3.86 0.000 0.000 0.126 1309.09 1334.75 1283.44 2789.00 659.69 0 0 0 30.00 30.00 15.20

8559.97 1028 291.13 2.62 0.00 1307.9 1333.4 1282.4 2789.1 659.8 19.92 13.05 931 8564.55 0.00 0.00 3.45 0.000 0.000 0.042 1308.50 1333.88 1283.12 2789.19 2130.44 0 0 0 30.00 30.00 15.48

8629.96 324 291.13 2.63 80.00 1306.8 1333.4 1280.2 2788.9 2131.3 12.28 10.52 939 8634.58 0.00 0.00 3.53 0.000 0.000 0.104 1306.62 1333.25 1280.00 2788.81 3476.25 0 0 0 30.00 30.00 15.25

8693.89 1092 291.13 2.65 0.00 1306.1 1333.0 1279.1 2788.7 3475.7 5.28 10.56 952 8700.66 0.00 0.00 3.35 0.000 0.000 0.050 1306.00 1332.75 1279.25 2788.62 2076.38 0 0 0 30.00 30.00 15.41

8739 end climb: SURFACE_DEPTH_REACHED

state 8739 begin surface coast

8759 end surface coast: CONTROL_FINISHED_OK

state 8759 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	1113	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	75.55545	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	265.00171	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	110421,170609,4708.188,-12502.477,4,0.7,23,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	2	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.47	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-61.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	110421,171450,4708.132,-12502.434,2,0.6,4,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	98.6,599,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	8970.13,0.00,0.012,0,564.6,562.9,566.3,474.76	_10V_AH	14.75,0.000
SM_GC	-0.38,0.00,18.42,0.08,0.012,0.083,0.138,564.6,562.9,566.3,181.2,2132.1,0,0,0,30.36,15.19,15.57	FG_AHR_24Vo	265.222
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	75.585
IRIDIUM_FIX	4709.47,-12456.93,110421,171010	MEM	1103668,40,73440,56
TCM_TEMP	174.88	DATA_FILE_SIZE	35364,959
XPDR_PINGS	8,14.0,11.5	CAP_FILE_SIZE	503804,0
SC_FREEKB	3432672	SDSIZE	3918848,3615264
HUMID	58.48	SDFILEDIR	5591,1
TEMP	7.84	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77801	GPS	110421,194455,4707.750,-12501.061,2,1.9,9,15.6
_24V_AH	13.62,304.298

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	657	2577	23067.89	legato	0	0	0.00
Pitch_motor	39	248	134.33	nil	0	0	0.00
Roll_motor	232	240	761.68	nil	0	0	0.00
Iridium	228	195	610.22	nil	0	0	0.00
Transponder_ping	2	420	11.44	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	3524	11	613.50	SciCon	8824	5	666.26
LPSleep	5712	2	235.93	nil	0	0	0.00
Compass	1822	5	134.41	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	559.0	560.1	557.9	166.6	2117.2	0.00	0.00	0	90.30	81.41	0.00	0.00	0.005	0.000	0.000	2413.47	2399.12	2427.81	166.69	2117.81	0	0	0	14.72	30.00	30.00
90.54	18983	-114.13	-1.71	-80.00	2412.7	2398.2	2427.2	166.5	2117.8	3.10	-7.11	8	126.64	12.74	13.93	4.14	0.007	0.249	0.149	2965.44	2963.44	2967.44	1725.00	660.69	0	0	0	14.85	14.90	14.67
229.87	1028	-114.13	-1.71	0.00	2964.2	2962.8	2965.6	1724.8	660.6	33.92	-20.03	36	234.50	0.00	0.00	3.55	0.000	0.000	0.055	2963.94	2962.25	2965.62	1724.94	2119.62	0	0	0	30.00	30.00	15.40
299.88	260	-114.13	-1.71	80.00	2964.2	2962.6	2965.8	1725.1	2121.4	46.97	-18.39	44	305.52	0.00	0.00	3.60	0.000	0.000	0.108	2964.69	2962.94	2966.44	1722.81	3476.12	0	0	0	30.00	30.00	15.20
344.88	1028	-114.13	-1.71	0.00	2963.9	2962.2	2965.6	1724.6	3476.2	55.46	-18.87	53	349.48	0.00	0.00	3.36	0.000	0.000	0.055	2965.22	2963.12	2967.31	1723.88	2079.81	0	0	0	30.00	30.00	15.36
414.89	0	-114.13	-1.71	0.00	2964.2	2962.5	2966.0	1725.1	2080.4	67.29	-16.63	61	416.22	0.00	0.00	0.00	0.000	0.000	0.000	2964.69	2962.94	2966.44	1724.69	2079.94	0	0	0	30.00	30.00	30.00
474.91	0	-114.13	-1.71	0.00	2964.0	2962.2	2965.7	1724.6	2080.1	77.18	-16.34	67	476.24	0.00	0.00	0.00	0.000	0.000	0.000	2964.03	2962.00	2966.06	1724.62	2080.12	0	0	0	30.00	30.00	30.00
534.91	516	-114.13	-1.71	-80.00	2964.3	2962.3	2966.3	1724.8	2080.9	86.71	-16.15	73	540.60	0.00	0.00	3.99	0.000	0.000	0.147	2963.44	2961.88	2965.00	1725.00	661.88	0	0	0	30.00	30.00	15.02
573.82	1028	-114.13	-1.71	0.00	2964.4	2962.4	2966.4	1725.2	661.8	93.29	-17.26	81	580.62	0.00	0.00	3.47	0.000	0.000	0.049	2966.47	2965.00	2967.94	1724.25	2123.50	0	0	0	30.00	30.00	15.42
639.97	260	-114.13	-1.71	80.00	2964.2	2962.1	2966.4	1725.2	2123.6	102.59	-14.33	88	645.57	0.00	0.00	3.56	0.000	0.000	0.104	2964.72	2962.81	2966.62	1724.81	3476.50	0	0	0	30.00	30.00	15.20
698.84	1028	-114.13	-1.71	0.00	2964.0	2962.3	2965.8	1724.9	3477.2	112.20	-17.10	100	705.61	0.00	0.00	3.36	0.000	0.000	0.054	2965.12	2963.62	2966.62	1724.75	2079.88	0	0	0	30.00	30.00	15.35
764.98	0	-114.13	-1.71	0.00	2964.1	2962.3	2965.9	1724.9	2079.9	121.85	-14.92	107	766.30	0.00	0.00	0.00	0.000	0.000	0.000	2964.81	2962.88	2966.75	1724.88	2080.12	0	0	0	30.00	30.00	30.00
824.94	260	-114.13	-1.71	80.00	2964.2	2962.1	2966.3	1724.8	2079.9	129.15	-12.23	113	830.59	0.00	0.00	3.66	0.000	0.000	0.103	2965.22	2963.00	2967.44	1724.62	3476.12	0	0	0	30.00	30.00	15.20
849.98	1028	-114.13	-1.71	0.00	2964.0	2962.2	2965.8	1724.8	3476.2	132.53	-13.52	118	854.52	0.00	0.00	3.32	0.000	0.000	0.053	2965.25	2962.50	2968.00	1724.06	2080.75	0	0	0	30.00	30.00	15.37
919.93	516	-114.13	-1.71	-80.00	2964.2	2962.0	2966.4	1724.6	2080.9	141.34	-12.57	126	925.64	0.00	0.00	3.94	0.000	0.000	0.146	2962.69	2960.38	2965.00	1724.69	660.81	0	0	0	30.00	30.00	15.01
965.39	1028	-114.13	-1.71	0.00	2964.1	2961.8	2966.4	1725.1	660.8	147.63	-14.11	135	970.57	0.00	0.00	3.46	0.000	0.000	0.047	2963.59	2962.00	2965.19	1725.00	2123.31	0	0	0	30.00	30.00	15.45
1029.95	260	-114.13	-1.71	80.00	2964.2	2961.9	2966.6	1725.1	2123.1	155.03	-11.58	142	1034.58	0.00	0.00	3.55	0.000	0.000	0.104	2963.84	2961.69	2966.00	1724.62	3475.00	0	0	0	30.00	30.00	15.19
1079.96	1028	-114.13	-1.71	0.00	2964.6	2962.5	2966.8	1725.6	3476.6	161.63	-13.46	152	1084.56	0.00	0.00	3.34	0.000	0.000	0.052	2964.25	2962.25	2966.25	1724.94	2079.19	0	0	0	30.00	30.00	15.37
1209.98	516	-114.13	-1.71	-80.00	2964.2	2961.9	2966.6	1724.9	2079.9	177.41	-11.81	166	1215.67	0.00	0.00	3.93	0.000	0.000	0.146	2962.84	2960.69	2965.00	1725.25	660.88	0	0	0	30.00	30.00	14.99
1248.89	1028	-114.13	-1.71	0.00	2964.6	2963.2	2965.9	1724.8	660.9	183.09	-14.80	174	1255.68	0.00	0.00	3.45	0.000	0.000	0.047	2964.75	2962.75	2966.75	1724.94	2125.06	0	0	0	30.00	30.00	15.43
1374.99	0	-114.13	-1.71	0.00	2963.9	2961.6	2966.2	1724.9	2125.0	198.47	-12.36	187	1376.32	0.00	0.00	0.00	0.000	0.000	0.000	2964.94	2962.88	2967.00	1724.25	2125.25	0	0	0	30.00	30.00	30.00
1494.99	260	-114.13	-1.71	80.00	2964.5	2962.2	2966.8	1724.9	2124.5	212.70	-11.55	199	1500.62	0.00	0.00	3.57	0.000	0.000	0.108	2963.47	2961.69	2965.25	1724.88	3475.00	0	0	0	30.00	30.00	15.15
1540.00	1028	-114.13	-1.71	0.00	2964.5	2962.2	2966.8	1724.7	3475.2	218.54	-12.40	208	1544.59	0.00	0.00	3.33	0.000	0.000	0.053	2965.53	2963.19	2967.88	1725.12	2080.31	0	0	0	30.00	30.00	15.34
1670.03	0	-114.13	-1.71	0.00	2964.7	2962.1	2967.3	1725.2	2080.7	234.65	-11.86	222	1671.36	0.00	0.00	0.00	0.000	0.000	0.000	2964.81	2962.62	2967.00	1724.75	2080.12	0	0	0	30.00	30.00	30.00
1790.02	260	-114.13	-1.71	80.00	2964.8	2962.9	2966.8	1724.8	2079.9	249.38	-12.36	234	1795.67	0.00	0.00	3.70	0.000	0.000	0.106	2963.38	2961.38	2965.38	1724.50	3476.19	0	0	0	30.00	30.00	15.15
1833.93	1028	-114.13	-1.71	0.00	2964.6	2962.4	2966.8	1724.9	3476.1	255.20	-14.27	243	1839.61	0.00	0.00	3.35	0.000	0.000	0.054	2965.53	2963.12	2967.94	1724.50	2079.81	0	0	0	30.00	30.00	15.31
2145.04	260	-114.13	-1.71	80.00	2964.4	2962.2	2966.6	1724.9	2080.1	292.26	-11.49	255	2150.70	0.00	0.00	3.73	0.000	0.000	0.107	2963.91	2961.75	2966.06	1725.12	3475.81	0	0	0	30.00	30.00	15.13
2223.95	1028	-114.13	-1.71	0.00	2964.5	2961.5	2967.6	1724.2	3475.4	303.24	-15.10	271	2230.73	0.00	0.00	3.35	0.000	0.000	0.054	2965.16	2962.81	2967.50	1725.00	2082.50	0	0	0	30.00	30.00	15.31
2530.05	260	-114.13	-1.71	80.00	2964.8	2962.2	2967.4	1725.0	2082.2	342.08	-12.99	282	2535.72	0.00	0.00	3.73	0.000	0.000	0.108	2963.62	2961.00	2966.25	1725.19	3475.38	0	0	0	30.00	30.00	15.11
2578.97	1028	-114.13	-1.71	0.00	2964.7	2961.8	2967.6	1724.8	3476.4	349.04	-14.47	292	2585.77	0.00	0.00	3.35	0.000	0.000	0.055	2964.75	2962.31	2967.19	1725.25	2079.81	0	0	0	30.00	30.00	15.29
2885.07	260	-114.13	-1.71	80.00	2965.0	2962.6	2967.4	1724.8	2079.8	388.71	-13.03	303	2890.73	0.00	0.00	3.73	0.000	0.000	0.110	2965.56	2962.81	2968.31	1723.44	3473.00	0	0	0	30.00	30.00	15.07
2948.99	1028	-114.13	-1.71	0.00	2964.6	2962.1	2967.0	1725.0	3473.3	397.49	-13.47	316	2954.66	0.00	0.00	3.37	0.000	0.000	0.057	2965.88	2963.06	2968.69	1725.31	2081.38	0	0	0	30.00	30.00	15.27
3270.09	260	-114.13	-1.71	80.00	2964.2	2961.9	2966.4	1724.7	2081.2	436.67	-11.78	330	3275.75	0.00	0.00	3.76	0.000	0.000	0.111	2964.94	2962.44	2967.44	1724.44	3476.19	0	0	0	30.00	30.00	15.07
3308.99	1028	-114.13	-1.71	0.00	2964.5	2962.0	2967.1	1724.9	3476.0	442.46	-14.45	338	3314.68	0.00	0.00	3.37	0.000	0.000	0.057	2964.50	2962.12	2966.88	1724.25	2082.38	0	0	0	30.00	30.00	15.26
3625.10	516	-114.13	-1.71	-80.00	2964.5	2962.3	2966.8	1725.0	2082.4	481.98	-12.51	351	3630.81	0.00	0.00	4.07	0.000	0.000	0.155	2962.94	2960.88	2965.00	1725.25	660.69	0	0	0	30.00	30.00	14.85
3659.01	1028	-114.13	-1.71	0.00	2963.7	2961.3	2966.1	1724.7	660.9	487.99	-15.49	358	3664.89	0.00	0.00	3.51	0.000	0.000	0.052	2963.97	2962.12	2965.81	1725.00	2121.19	0	0	0	30.00	30.00	15.35
3770	end dive: TARGET_DEPTH_EXCEEDED
state	3770	begin apogee
3771.24	10243	0.00	-0.25	0.00	2964.1	2962.2	2966.0	1724.8	2081.1	502.20	-12.67	365	3871.61	95.68	2.86	0.08	1.636	0.154	0.241	2498.78	2506.88	2490.69	2078.69	2118.50	0	0	0	10.82	15.02	14.85
3874	end apogee: CONTROL_FINISHED_OK
state	3874	begin climb
3874.75	10759	114.13	1.71	-80.00	2497.9	2506.8	2489.1	2080.2	2118.4	505.49	0.00	368	3990.55	103.59	3.43	4.11	1.584	0.077	0.135	2032.59	2046.75	2018.44	2560.25	661.69	0	0	0	11.48	15.11	14.68
4097.68	17414	114.13	1.71	0.00	2025.7	2039.5	2011.8	2559.8	661.8	488.18	12.26	413	4103.39	0.00	0.00	3.50	0.000	0.000	0.046	2025.50	2039.38	2011.62	2559.94	2126.62	0	0	0	30.00	30.00	15.37
4413.81	8742	137.87	1.78	-80.00	2020.8	2038.8	2002.9	2559.7	2125.9	459.61	8.73	426	4440.95	21.66	0.00	3.96	1.452	0.000	0.136	1937.06	1955.56	1918.56	2559.44	660.50	0	0	0	11.52	30.00	15.13
4573.11	1028	137.87	1.78	0.00	1933.1	1949.8	1916.4	2560.2	661.1	439.81	16.80	458	4578.81	0.00	0.00	3.47	0.000	0.000	0.047	1932.94	1950.19	1915.69	2560.44	2124.81	0	0	0	30.00	30.00	15.50
4889.22	516	137.87	1.78	-80.00	1930.0	1949.8	1910.2	2559.9	2125.2	407.04	11.03	471	4894.93	0.00	0.00	4.03	0.000	0.000	0.134	1930.59	1950.44	1910.75	2559.38	660.75	0	0	0	30.00	30.00	15.19
5048.15	17414	137.87	1.78	0.00	1929.1	1948.0	1910.2	2560.3	660.6	385.39	14.11	503	5053.85	0.00	0.00	3.46	0.000	0.000	0.046	1930.88	1949.56	1912.19	2559.94	2125.19	0	0	0	30.00	30.00	15.51
5364.26	16966	137.87	1.80	-80.00	1928.1	1947.5	1908.7	2559.9	2125.3	351.94	10.57	516	5369.96	0.00	0.00	4.01	0.000	0.000	0.131	1927.94	1947.69	1908.19	2560.38	660.69	0	0	0	30.00	30.00	15.13
5488.17	17414	137.87	1.80	0.00	1927.9	1947.5	1908.2	2559.6	660.9	336.63	12.87	541	5493.87	0.00	0.00	3.46	0.000	0.000	0.046	1929.19	1948.56	1909.81	2560.06	2126.31	0	0	0	30.00	30.00	15.50
5809.28	16902	137.87	1.80	-80.00	1927.6	1947.5	1907.6	2560.6	2126.0	303.25	10.86	555	5814.99	0.00	0.00	4.05	0.000	0.000	0.130	1926.09	1946.00	1906.19	2560.25	660.69	0	0	0	30.00	30.00	15.09
5888.20	17414	137.87	1.80	0.00	1927.1	1946.8	1907.4	2560.1	660.5	294.24	12.19	571	5895.01	0.00	0.00	3.47	0.000	0.000	0.046	1927.66	1947.31	1908.00	2559.81	2126.06	0	0	0	30.00	30.00	15.49
6194.32	16710	137.87	1.83	80.00	1926.7	1946.8	1906.6	2560.6	2125.9	263.27	9.99	582	6199.96	0.00	0.00	3.63	0.000	0.000	0.111	1925.97	1945.88	1906.06	2560.12	3475.69	0	0	0	30.00	30.00	15.14
6219.37	19527	137.87	1.87	0.00	1926.7	1947.1	1906.3	2561.1	3475.0	260.70	9.93	587	6224.97	0.00	0.20	3.36	0.000	0.079	0.052	1925.00	1945.25	1904.75	2606.31	2075.88	0	0	0	30.00	15.20	15.40
6524.35	8742	163.77	1.95	-80.00	1926.6	1946.9	1906.2	2606.8	2075.6	232.79	8.51	614	6556.05	23.44	0.00	3.85	1.312	0.000	0.135	1831.59	1852.81	1810.38	2605.50	660.94	0	0	0	11.33	30.00	15.19
6654.79	1028	163.77	1.95	0.00	1828.3	1847.6	1809.0	2606.5	661.2	217.51	12.32	640	6660.00	0.00	0.00	3.44	0.000	0.000	0.045	1828.28	1847.56	1809.00	2605.94	2128.75	0	0	0	30.00	30.00	15.58
6779.39	580	163.77	1.97	-80.00	1826.7	1847.8	1805.6	2606.5	2128.3	204.49	10.29	653	6785.07	0.00	0.00	3.96	0.000	0.000	0.127	1825.41	1846.44	1804.38	2606.50	660.00	0	0	0	30.00	30.00	15.24
6888.31	1028	163.77	1.97	0.00	1826.5	1847.6	1805.4	2606.4	659.8	190.26	13.17	675	6895.10	0.00	0.00	3.45	0.000	0.000	0.044	1826.88	1847.75	1806.00	2606.50	2127.75	0	0	0	30.00	30.00	15.53
7014.42	580	163.77	1.99	-80.00	1825.6	1847.5	1803.8	2606.6	2128.1	176.29	10.60	688	7020.10	0.00	0.00	3.97	0.000	0.000	0.126	1824.22	1846.50	1801.94	2606.12	659.62	0	0	0	30.00	30.00	15.19
7053.31	1028	163.77	1.99	0.00	1825.5	1847.2	1803.8	2606.8	659.8	171.50	11.29	696	7060.11	0.00	0.00	3.43	0.000	0.000	0.044	1826.56	1848.62	1804.50	2606.38	2129.50	0	0	0	30.00	30.00	15.52
7179.43	516	163.77	1.99	-80.00	1824.9	1847.3	1802.5	2606.9	2129.6	157.88	11.18	709	7185.13	0.00	0.00	3.95	0.000	0.000	0.126	1825.81	1847.69	1803.94	2606.88	661.12	0	0	0	30.00	30.00	15.15
7208.34	1028	163.77	1.99	0.00	1825.0	1847.6	1802.3	2606.0	661.2	153.95	12.07	715	7215.14	0.00	0.00	3.43	0.000	0.000	0.044	1825.00	1847.44	1802.56	2606.44	2129.00	0	0	0	30.00	30.00	15.51
7334.46	64	163.77	2.00	0.00	1825.0	1847.4	1802.6	2606.6	2129.8	140.62	10.51	728	7335.79	0.00	0.00	0.00	0.000	0.000	0.000	1825.25	1848.12	1802.38	2606.50	2129.19	0	0	0	30.00	30.00	30.00
7394.48	2629	163.77	2.05	-80.00	1824.8	1847.6	1801.9	2606.4	2129.0	134.84	9.50	734	7400.24	0.00	0.20	4.01	0.000	0.079	0.125	1826.22	1848.12	1804.31	2650.25	661.62	0	0	0	30.00	15.64	15.13
7483.39	1028	163.77	2.05	0.00	1824.8	1847.2	1802.4	2650.9	661.8	123.12	13.95	752	7490.18	0.00	0.00	3.47	0.000	0.000	0.045	1824.62	1846.12	1803.12	2650.12	2129.56	0	0	0	30.00	30.00	15.48
7549.54	64	163.77	2.10	0.00	1824.8	1847.4	1802.3	2650.9	2129.4	116.59	9.40	759	7550.87	0.00	0.00	0.00	0.000	0.000	0.000	1825.22	1847.88	1802.56	2650.12	2129.38	0	0	0	30.00	30.00	30.00
7609.50	580	163.77	2.15	-80.00	1824.8	1847.2	1802.2	2650.5	2129.2	110.82	9.49	765	7615.20	0.00	0.00	4.01	0.000	0.000	0.125	1823.75	1845.81	1801.69	2650.56	660.56	0	0	0	30.00	30.00	15.11
7744.97	1028	163.77	2.15	0.00	1824.7	1847.1	1802.2	2650.6	660.9	96.56	11.34	792	7750.13	0.00	0.00	3.46	0.000	0.000	0.045	1824.00	1846.31	1801.69	2650.50	2129.44	0	0	0	30.00	30.00	15.49
7809.53	324	163.77	2.20	80.00	1825.1	1847.6	1802.5	2650.2	2129.4	90.24	9.48	799	7815.15	0.00	0.00	3.55	0.000	0.000	0.106	1823.34	1845.19	1801.50	2650.81	3474.69	0	0	0	30.00	30.00	15.18
7894.53	19527	163.77	2.23	0.00	1824.2	1846.4	1801.9	2650.0	3474.3	82.24	9.99	816	7900.19	0.00	0.19	3.35	0.000	0.073	0.050	1822.66	1844.69	1800.62	2693.69	2078.06	0	0	0	30.00	15.22	15.43
7959.54	8742	202.71	2.35	-80.00	1824.2	1846.1	1802.2	2693.7	2077.9	77.54	7.20	823	8011.62	44.54	0.00	3.84	1.138	0.000	0.128	1672.72	1695.38	1650.06	2693.94	660.94	0	0	0	11.35	30.00	15.11
8190.40	11303	228.90	2.43	0.00	1669.8	1690.6	1649.0	2693.1	660.7	55.17	8.48	869	8226.29	30.65	0.22	3.44	1.073	0.064	0.042	1566.06	1587.81	1544.31	2742.00	2132.75	0	0	0	11.60	15.32	15.54
8284.99	10535	291.13	2.62	80.00	1563.9	1587.2	1540.6	2743.2	2133.2	50.48	4.86	882	8361.17	69.22	0.19	3.57	1.071	0.073	0.106	1312.41	1336.94	1287.88	2788.75	3473.62	0	0	0	11.68	15.46	14.94
8428.85	1028	291.13	2.62	0.00	1309.4	1334.4	1284.5	2788.6	3473.4	36.33	12.92	911	8435.63	0.00	0.00	3.38	0.000	0.000	0.050	1309.28	1334.50	1284.06	2789.19	2075.75	0	0	0	30.00	30.00	15.36
8495.00	516	291.13	2.62	-80.00	1308.6	1334.4	1282.8	2788.8	2075.7	28.41	12.36	918	8500.62	0.00	0.00	3.86	0.000	0.000	0.126	1309.09	1334.75	1283.44	2789.00	659.69	0	0	0	30.00	30.00	15.20
8559.97	1028	291.13	2.62	0.00	1307.9	1333.4	1282.4	2789.1	659.8	19.92	13.05	931	8564.55	0.00	0.00	3.45	0.000	0.000	0.042	1308.50	1333.88	1283.12	2789.19	2130.44	0	0	0	30.00	30.00	15.48
8629.96	324	291.13	2.63	80.00	1306.8	1333.4	1280.2	2788.9	2131.3	12.28	10.52	939	8634.58	0.00	0.00	3.53	0.000	0.000	0.104	1306.62	1333.25	1280.00	2788.81	3476.25	0	0	0	30.00	30.00	15.25
8693.89	1092	291.13	2.65	0.00	1306.1	1333.0	1279.1	2788.7	3475.7	5.28	10.56	952	8700.66	0.00	0.00	3.35	0.000	0.000	0.050	1306.00	1332.75	1279.25	2788.62	2076.38	0	0	0	30.00	30.00	15.41
8739	end climb: SURFACE_DEPTH_REACHED
state	8739	begin surface coast
8759	end surface coast: CONTROL_FINISHED_OK
state	8759	begin surface