Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1155 * 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 1155 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 76.922546 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 274.78131 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 76.922546 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 274.78131 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 1155 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 160421,104830,4707.903,-12501.396,31,1.3,32,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.52 KALMAN_CONTROL 0.000,0.000

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

GPS2 160421,105546,4707.880,-12501.344,2,0.6,5,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 269.5,856,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 9015.14,0.00,0.008,0,563.7,561.6,565.9,474.97 _10V_AH 14.75,0.000

SM_GC -0.80,0.00,18.90,3.40,0.008,0.091,0.050,563.7,561.6,565.9,175.4,2079.3,0,0,0,30.36,15.13,15.35 FG_AHR_24Vo 275.007

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 76.953

IRIDIUM_FIX 4709.86,-12501.34,160421,080642 MEM 1103656,39,73472,56

TCM_TEMP 176.47 DATA_FILE_SIZE 35349,976

XPDR_PINGS 18,14.0,11.5 CAP_FILE_SIZE 511434,0

SC_FREEKB 3416544 SDSIZE 3918848,3603360

HUMID 58.81 SDFILEDIR 5801,1

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

INTERNAL_PRESSURE 7.78142 GPS 160421,132636,4707.996,-12502.153,2,1.2,8,15.6

_24V_AH 14.06,314.860

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 669 1637 15400.67 legato 0 0 0.00

Pitch_motor 41 254 147.89 nil 0 0 0.00

Roll_motor 235 227 753.92 nil 0 0 0.00

Iridium 193 194 531.04 nil 0 0 0.00

Transponder_ping 4 420 26.57 nil 0 0 0.00

GPS 14 15 3.29 nil 0 0 0.00

Core 3568 11 621.13 SciCon 8907 5 682.25

LPSleep 5671 2 234.22 nil 0 0 0.00

Compass 1848 5 136.31 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

8.47 16386 -74.33 -1.59 0.00 558.2 559.9 556.4 170.4 2081.4 0.00 0.00 0 95.41 86.54 0.00 0.00 0.005 0.000 0.000 2574.00 2557.25 2590.75 170.38 2081.31 0 0 0 14.69 30.00 30.00

95.68 18695 -74.33 -1.59 80.00 2572.8 2555.8 2589.8 170.2 2081.7 4.44 -9.78 9 122.67 4.85 14.45 3.83 0.009 0.254 0.108 2802.88 2798.44 2807.31 1752.81 3475.00 0 0 0 14.87 14.84 14.65

170.88 1028 -74.33 -1.59 0.00 2802.4 2797.6 2807.3 1754.2 3476.1 23.03 -21.66 24 175.51 0.00 0.00 3.46 0.000 0.000 0.053 2802.97 2797.56 2808.38 1754.19 2082.06 0 0 0 30.00 30.00 15.32

240.90 516 -74.33 -1.59 -80.00 2802.2 2797.1 2807.4 1753.9 2082.6 34.87 -16.08 32 246.62 0.00 0.00 4.08 0.000 0.000 0.141 2803.47 2798.25 2808.69 1753.44 661.00 0 0 0 30.00 30.00 15.04

259.87 1028 -74.33 -1.59 0.00 2802.8 2797.6 2807.9 1754.3 660.8 38.32 -16.92 36 266.62 0.00 0.00 3.53 0.000 0.000 0.043 2804.38 2799.75 2809.00 1753.19 2123.00 0 0 0 30.00 30.00 15.37

325.96 0 -74.33 -1.59 0.00 2802.6 2797.5 2807.7 1754.3 2123.2 49.08 -16.59 43 327.29 0.00 0.00 0.00 0.000 0.000 0.000 2803.25 2798.00 2808.50 1753.81 2122.88 0 0 0 30.00 30.00 30.00

385.92 0 -74.33 -1.59 0.00 2802.9 2797.6 2808.2 1754.2 2123.0 58.52 -15.57 49 387.25 0.00 0.00 0.00 0.000 0.000 0.000 2803.28 2798.31 2808.25 1753.75 2123.12 0 0 0 30.00 30.00 30.00

445.92 260 -74.33 -1.59 80.00 2802.7 2797.4 2807.9 1754.1 2123.1 67.67 -15.38 55 451.57 0.00 0.00 3.64 0.000 0.000 0.100 2801.44 2796.88 2806.00 1754.12 3473.38 0 0 0 30.00 30.00 15.14

510.93 1028 -74.33 -1.59 0.00 2803.0 2797.7 2808.2 1754.0 3473.8 76.63 -13.96 68 515.52 0.00 0.00 3.39 0.000 0.000 0.048 2803.66 2798.19 2809.12 1754.31 2080.25 0 0 0 30.00 30.00 15.30

580.93 516 -74.33 -1.59 -80.00 2803.0 2797.5 2808.6 1754.1 2080.7 84.64 -11.37 76 586.66 0.00 0.00 4.01 0.000 0.000 0.141 2802.28 2797.19 2807.38 1754.19 660.62 0 0 0 30.00 30.00 14.98

669.85 1028 -74.33 -1.59 0.00 2803.1 2798.0 2808.1 1753.9 660.9 95.15 -11.55 94 676.67 0.00 0.00 3.51 0.000 0.000 0.042 2804.50 2799.50 2809.50 1754.00 2122.56 0 0 0 30.00 30.00 15.36

736.00 260 -74.33 -1.59 80.00 2803.1 2797.8 2808.4 1754.3 2123.1 101.91 -9.66 101 741.58 0.00 0.00 3.60 0.000 0.000 0.098 2801.47 2796.25 2806.69 1754.19 3477.50 0 0 0 30.00 30.00 15.13

764.86 1028 -74.33 -1.59 0.00 2803.0 2796.9 2809.1 1753.6 3477.6 105.03 -9.94 107 771.66 0.00 0.00 3.37 0.000 0.000 0.045 2804.03 2798.88 2809.19 1754.00 2082.00 0 0 0 30.00 30.00 15.30

831.01 516 -74.33 -1.59 -80.00 2802.9 2797.6 2808.3 1754.1 2082.1 111.23 -9.49 114 836.67 0.00 0.00 4.01 0.000 0.000 0.142 2802.53 2797.44 2807.62 1754.12 662.06 0 0 0 30.00 30.00 14.96

846.41 1028 -74.33 -1.59 0.00 2803.0 2797.6 2808.4 1754.2 661.9 112.89 -10.12 117 851.57 0.00 0.00 3.47 0.000 0.000 0.040 2803.94 2798.31 2809.56 1753.88 2125.00 0 0 0 30.00 30.00 15.39

911.03 16678 -94.47 -1.65 80.00 2803.3 2797.9 2808.8 1754.0 2125.4 118.82 -9.09 124 916.64 0.51 0.00 3.58 0.042 0.000 0.103 2886.22 2886.56 2885.88 1753.62 3476.88 0 0 0 14.69 30.00 14.70

936.03 21543 -116.16 -1.72 0.00 2886.8 2886.4 2887.2 1754.3 3476.8 121.40 -8.93 129 941.70 0.52 0.31 3.37 0.042 0.067 0.046 2974.78 2976.06 2973.50 1709.19 2080.00 0 0 0 14.81 15.11 15.33

1000.98 516 -116.16 -1.72 -80.00 2975.7 2976.3 2975.1 1708.7 2079.9 128.58 -11.29 136 1006.67 0.00 0.00 3.97 0.000 0.000 0.141 2975.66 2976.50 2974.81 1708.50 660.88 0 0 0 30.00 30.00 15.01

1029.88 1028 -116.16 -1.72 0.00 2975.9 2976.4 2975.4 1708.2 660.8 132.82 -14.10 142 1036.68 0.00 0.00 3.48 0.000 0.000 0.041 2976.38 2977.12 2975.62 1708.88 2124.19 0 0 0 30.00 30.00 15.38

1096.04 0 -116.16 -1.72 0.00 2976.1 2976.7 2975.6 1709.0 2124.0 140.91 -12.47 149 1097.37 0.00 0.00 0.00 0.000 0.000 0.000 2976.53 2976.81 2976.25 1709.00 2123.94 0 0 0 30.00 30.00 30.00

1155.99 0 -116.16 -1.72 0.00 2976.1 2976.6 2975.6 1709.2 2124.8 148.54 -12.61 155 1157.32 0.00 0.00 0.00 0.000 0.000 0.000 2976.75 2977.12 2976.38 1709.38 2124.00 0 0 0 30.00 30.00 30.00

1216.00 260 -116.16 -1.72 80.00 2976.4 2976.9 2975.9 1708.6 2124.4 156.66 -13.49 161 1221.69 0.00 0.00 3.62 0.000 0.000 0.101 2975.22 2974.75 2975.69 1708.75 3476.12 0 0 0 30.00 30.00 15.08

1254.90 1028 -116.16 -1.72 0.00 2976.6 2976.9 2976.4 1708.5 3476.1 162.62 -15.49 169 1261.69 0.00 0.00 3.38 0.000 0.000 0.048 2977.62 2978.00 2977.25 1708.19 2080.12 0 0 0 30.00 30.00 15.27

1381.01 260 -116.16 -1.72 80.00 2976.4 2976.6 2976.1 1708.5 2080.0 179.71 -13.42 182 1386.67 0.00 0.00 3.76 0.000 0.000 0.099 2975.75 2976.06 2975.44 1708.69 3474.38 0 0 0 30.00 30.00 15.08

1406.06 1028 -116.16 -1.72 0.00 2976.8 2976.9 2976.6 1709.2 3474.7 183.34 -14.76 187 1410.62 0.00 0.00 3.38 0.000 0.000 0.047 2976.66 2976.94 2976.38 1709.19 2079.88 0 0 0 30.00 30.00 15.27

1536.03 260 -116.16 -1.72 80.00 2976.9 2977.4 2976.4 1708.9 2080.2 199.52 -12.29 201 1541.68 0.00 0.00 3.76 0.000 0.000 0.100 2977.34 2977.00 2977.69 1708.81 3475.69 0 0 0 30.00 30.00 15.06

1584.94 1028 -116.16 -1.72 0.00 2976.7 2977.1 2976.3 1708.6 3475.9 205.81 -12.95 211 1591.73 0.00 0.00 3.38 0.000 0.000 0.050 2976.53 2976.50 2976.56 1708.44 2080.06 0 0 0 30.00 30.00 15.23

1711.04 260 -116.16 -1.72 80.00 2976.5 2976.2 2976.9 1708.8 2080.0 220.27 -11.55 224 1716.69 0.00 0.00 3.77 0.000 0.000 0.101 2977.03 2976.62 2977.44 1708.62 3474.56 0 0 0 30.00 30.00 15.05

1746.03 1028 -116.16 -1.72 0.00 2977.2 2977.2 2977.2 1708.8 3474.5 224.36 -11.68 231 1750.63 0.00 0.00 3.39 0.000 0.000 0.050 2978.56 2979.00 2978.12 1707.50 2080.94 0 0 0 30.00 30.00 15.25

1876.06 0 -116.16 -1.72 0.00 2976.7 2976.4 2976.9 1708.2 2081.1 239.51 -11.52 245 1877.39 0.00 0.00 0.00 0.000 0.000 0.000 2977.44 2977.81 2977.06 1708.50 2080.56 0 0 0 30.00 30.00 30.00

1996.06 260 -116.16 -1.72 80.00 2976.7 2976.3 2977.1 1708.1 2081.0 253.49 -11.58 255 2001.73 0.00 0.00 3.76 0.000 0.000 0.103 2976.81 2976.69 2976.94 1708.25 3474.69 0 0 0 30.00 30.00 15.02

2044.98 1028 -116.16 -1.72 0.00 2976.9 2976.8 2977.0 1708.3 3474.5 260.00 -13.09 265 2051.76 0.00 0.00 3.39 0.000 0.000 0.050 2977.03 2976.94 2977.12 1708.38 2082.38 0 0 0 30.00 30.00 15.22

2351.08 260 -116.16 -1.72 80.00 2976.9 2976.6 2977.2 1707.5 2082.1 297.06 -12.37 276 2356.75 0.00 0.00 3.81 0.000 0.000 0.105 2977.41 2977.25 2977.56 1706.69 3474.06 0 0 0 30.00 30.00 15.00

2410.01 1028 -116.16 -1.72 0.00 2977.2 2976.9 2977.6 1708.4 3474.8 304.97 -13.63 288 2415.68 0.00 0.00 3.40 0.000 0.000 0.050 2977.00 2976.25 2977.75 1708.56 2082.19 0 0 0 30.00 30.00 15.19

2736.10 260 -116.16 -1.72 80.00 2976.8 2976.9 2976.6 1708.4 2082.1 344.04 -11.83 303 2741.80 0.00 0.00 3.81 0.000 0.000 0.105 2975.28 2974.75 2975.81 1707.81 3474.69 0 0 0 30.00 30.00 14.98

2765.01 1028 -116.16 -1.72 0.00 2976.6 2976.4 2976.8 1708.4 3474.3 348.11 -13.57 309 2770.71 0.00 0.00 3.40 0.000 0.000 0.052 2979.00 2979.38 2978.62 1707.81 2082.12 0 0 0 30.00 30.00 15.18

3091.13 260 -116.16 -1.72 80.00 2976.8 2976.6 2977.0 1707.9 2082.2 388.09 -12.24 324 3096.80 0.00 0.00 3.83 0.000 0.000 0.106 2975.72 2976.06 2975.38 1708.12 3475.25 0 0 0 30.00 30.00 14.96

3176.14 1028 -116.16 -1.72 0.00 2976.8 2976.7 2976.8 1708.2 3474.6 399.50 -14.45 341 3180.75 0.00 0.00 3.43 0.000 0.000 0.053 2977.78 2977.69 2977.88 1708.25 2081.19 0 0 0 30.00 30.00 15.17

3506.22 260 -116.16 -1.72 80.00 2976.8 2976.3 2977.4 1708.3 2081.5 440.79 -12.65 357 3511.85 0.00 0.00 3.87 0.000 0.000 0.108 2976.06 2975.25 2976.88 1708.44 3475.56 0 0 0 30.00 30.00 14.93

3555.09 1028 -116.16 -1.72 0.00 2977.0 2976.8 2977.2 1708.7 3474.4 447.50 -15.61 367 3561.89 0.00 0.00 3.41 0.000 0.000 0.054 2978.38 2978.12 2978.62 1707.94 2081.12 0 0 0 30.00 30.00 15.14

3861.19 260 -116.16 -1.72 80.00 2976.8 2977.0 2976.6 1708.5 2080.9 487.86 -13.05 378 3866.87 0.00 0.00 3.85 0.000 0.000 0.110 2975.84 2975.56 2976.12 1708.62 3474.81 0 0 0 30.00 30.00 14.92

3905.11 1028 -116.16 -1.72 0.00 2976.8 2976.6 2976.9 1708.6 3474.6 494.55 -15.26 387 3910.81 0.00 0.00 3.41 0.000 0.000 0.053 2977.38 2976.88 2977.88 1707.88 2082.31 0 0 0 30.00 30.00 15.12

3976 end dive: TARGET_DEPTH_EXCEEDED

state 3976 begin apogee

3977.35 10243 0.00 -0.25 0.00 2976.5 2976.8 2976.2 1707.9 2120.0 503.30 -12.83 391 4079.84 97.78 3.20 0.09 1.637 0.160 0.228 2497.91 2506.88 2488.94 2078.81 2082.81 0 0 0 11.01 14.86 14.84

4082 end apogee: CONTROL_FINISHED_OK

state 4082 begin climb

4083.10 10243 116.16 1.72 0.00 2497.8 2506.9 2488.6 2078.4 2081.8 506.15 0.00 394 4192.85 105.11 3.50 0.00 1.580 0.078 0.000 2026.47 2040.81 2012.12 2559.75 2082.00 0 0 0 11.27 15.07 30.00

4516.24 8742 140.11 1.79 -80.00 2013.8 2033.1 1994.6 2561.1 2082.3 469.77 8.70 429 4543.38 21.86 0.00 3.97 1.448 0.000 0.138 1927.97 1946.44 1909.50 2559.25 660.81 0 0 0 11.50 30.00 15.10

4635.53 1028 140.11 1.79 0.00 1924.2 1940.5 1907.8 2561.3 661.1 456.96 10.76 453 4641.24 0.00 0.00 3.51 0.000 0.000 0.043 1923.69 1941.38 1906.00 2561.75 2125.94 0 0 0 30.00 30.00 15.44

4961.69 10791 165.67 1.87 -80.00 1920.6 1940.6 1900.5 2561.2 2126.1 427.35 8.54 468 4993.52 24.18 0.19 4.05 1.452 0.075 0.132 1824.50 1845.88 1803.12 2605.62 661.25 0 0 0 11.62 15.54 15.17

5065.72 1028 165.67 1.87 0.00 1821.0 1840.2 1801.9 2605.9 661.6 414.07 14.03 489 5071.37 0.00 0.00 3.51 0.000 0.000 0.042 1820.94 1839.75 1802.12 2606.44 2125.56 0 0 0 30.00 30.00 15.48

5381.77 516 165.67 1.87 -80.00 1817.7 1840.2 1795.2 2606.4 2125.8 376.89 11.49 502 5387.47 0.00 0.00 4.09 0.000 0.000 0.130 1818.09 1840.56 1795.62 2604.75 660.56 0 0 0 30.00 30.00 15.14

5497.30 1092 165.67 1.90 0.00 1817.2 1839.2 1795.1 2606.4 660.8 361.26 9.84 525 5502.39 0.00 0.00 3.49 0.000 0.000 0.042 1817.00 1839.19 1794.81 2606.12 2126.75 0 0 0 30.00 30.00 15.47

5821.84 16902 165.67 1.90 -80.00 1816.1 1839.0 1793.2 2605.9 2127.1 325.15 11.01 540 5827.51 0.00 0.00 4.11 0.000 0.000 0.128 1815.12 1837.88 1792.38 2606.38 661.56 0 0 0 30.00 30.00 15.08

6005.73 17414 165.67 1.90 0.00 1815.6 1837.8 1793.4 2606.4 661.7 299.60 13.86 577 6011.42 0.00 0.00 3.50 0.000 0.000 0.043 1815.69 1838.31 1793.06 2606.19 2125.75 0 0 0 30.00 30.00 15.41

6326.83 16902 165.67 1.90 -80.00 1814.6 1837.8 1791.4 2606.5 2125.1 260.80 12.34 591 6332.56 0.00 0.00 4.11 0.000 0.000 0.126 1815.16 1838.56 1791.75 2605.94 661.88 0 0 0 30.00 30.00 15.02

6382.28 17414 165.67 1.90 0.00 1814.5 1838.0 1790.9 2606.3 661.9 252.93 15.15 602 6387.47 0.00 0.00 3.49 0.000 0.000 0.041 1813.97 1837.25 1790.69 2606.00 2128.19 0 0 0 30.00 30.00 15.42

6686.86 16902 165.67 1.90 -80.00 1814.1 1838.1 1790.1 2606.2 2128.8 216.24 11.57 635 6692.60 0.00 0.00 4.11 0.000 0.000 0.126 1813.06 1836.38 1789.75 2606.88 660.88 0 0 0 30.00 30.00 14.97

6712.30 17414 165.67 1.90 0.00 1814.3 1837.9 1790.8 2606.0 660.9 213.03 12.33 640 6717.48 0.00 0.00 3.49 0.000 0.000 0.040 1813.22 1836.62 1789.81 2606.56 2127.12 0 0 0 30.00 30.00 15.42

6836.88 16902 165.67 1.90 -80.00 1814.0 1837.6 1790.4 2606.9 2127.2 198.86 11.04 653 6842.60 0.00 0.00 4.11 0.000 0.000 0.124 1813.31 1837.06 1789.56 2606.81 660.56 0 0 0 30.00 30.00 15.01

6922.32 17414 165.67 1.90 0.00 1813.8 1837.6 1790.1 2606.8 660.7 187.50 13.67 670 6927.49 0.00 0.00 3.49 0.000 0.000 0.040 1813.50 1836.88 1790.12 2606.19 2128.56 0 0 0 30.00 30.00 15.42

7046.93 16450 165.67 1.95 0.00 1813.9 1837.6 1790.2 2606.4 2128.6 175.12 9.42 683 7048.26 0.00 0.00 0.00 0.000 0.000 0.000 1814.19 1837.44 1790.94 2606.62 2128.25 0 0 0 30.00 30.00 30.00

7166.92 16966 165.67 2.01 -80.00 1813.6 1837.4 1789.8 2606.8 2128.0 163.84 9.11 695 7172.63 0.00 0.00 4.12 0.000 0.000 0.124 1812.88 1836.88 1788.88 2606.12 660.88 0 0 0 30.00 30.00 14.95

7262.36 17414 165.67 2.01 0.00 1814.0 1837.5 1790.4 2606.0 660.9 152.98 12.15 714 7267.53 0.00 0.00 3.50 0.000 0.000 0.040 1813.06 1836.31 1789.81 2606.69 2128.25 0 0 0 30.00 30.00 15.42

7386.95 19015 165.67 2.04 -80.00 1813.7 1837.4 1789.9 2606.1 2128.3 140.38 10.15 727 7392.72 0.00 0.19 4.12 0.000 0.086 0.122 1812.56 1836.56 1788.56 2646.44 662.06 0 0 0 30.00 15.58 14.95

7422.38 17414 165.67 2.04 0.00 1813.5 1836.8 1790.2 2646.6 661.8 136.07 12.13 734 7427.56 0.00 0.00 3.49 0.000 0.000 0.040 1812.69 1836.62 1788.75 2646.81 2128.06 0 0 0 30.00 30.00 15.43

7486.93 16902 165.67 2.04 -80.00 1813.4 1836.8 1790.1 2646.5 2128.9 128.82 11.03 741 7492.65 0.00 0.00 4.10 0.000 0.000 0.120 1812.66 1836.44 1788.88 2646.31 661.25 0 0 0 30.00 30.00 14.99

7642.41 17414 165.67 2.04 0.00 1813.3 1836.7 1790.0 2646.9 661.4 109.87 10.89 772 7647.58 0.00 0.00 3.49 0.000 0.000 0.039 1813.59 1836.56 1790.62 2645.31 2130.62 0 0 0 30.00 30.00 15.42

7706.97 8742 194.09 2.13 -80.00 1813.3 1836.8 1789.9 2646.1 2130.6 104.20 8.25 779 7748.84 32.35 0.00 4.03 1.150 0.000 0.122 1708.22 1731.31 1685.12 2646.69 660.69 0 0 0 11.29 30.00 15.21

7941.01 11303 223.48 2.22 0.00 1705.3 1727.4 1683.1 2646.6 660.6 81.46 8.16 826 7982.53 35.49 0.20 3.49 1.115 0.076 0.040 1589.16 1612.56 1565.75 2688.62 2130.38 0 0 0 11.61 15.25 15.47

8047.10 8226 248.03 2.29 0.00 1585.2 1609.8 1560.7 2690.2 2130.2 73.02 8.64 841 8077.71 29.70 0.00 0.00 1.074 0.000 0.000 1489.31 1514.94 1463.69 2690.25 2130.00 0 0 0 11.59 30.00 30.00

8137.09 0 248.03 2.29 0.00 1486.1 1512.9 1459.2 2689.9 2130.0 62.11 12.55 850 8138.42 0.00 0.00 0.00 0.000 0.000 0.000 1486.38 1513.31 1459.44 2690.50 2129.94 0 0 0 30.00 30.00 30.00

8197.11 516 248.03 2.29 -80.00 1485.1 1512.4 1457.8 2689.9 2130.4 54.32 13.44 856 8202.82 0.00 0.00 4.07 0.000 0.000 0.122 1484.94 1512.75 1457.12 2689.44 660.50 0 0 0 30.00 30.00 15.18

8352.59 1028 248.03 2.29 0.00 1484.1 1510.5 1457.6 2690.2 660.3 33.79 10.90 887 8357.77 0.00 0.00 3.51 0.000 0.000 0.039 1484.19 1510.50 1457.88 2690.06 2131.56 0 0 0 30.00 30.00 15.46

8417.16 10535 277.53 2.38 80.00 1483.1 1510.4 1455.8 2690.2 2131.9 28.64 8.15 894 8458.82 33.51 0.17 3.59 1.048 0.079 0.105 1368.22 1395.19 1341.25 2728.62 3473.69 0 0 0 11.57 15.48 15.14

8681.18 11303 344.94 2.58 0.00 1365.2 1393.8 1336.7 2728.6 3473.6 17.46 4.34 947 8759.44 71.93 0.25 3.38 1.040 0.068 0.046 1094.41 1121.12 1067.69 2776.25 2078.00 0 0 0 11.56 15.19 15.40

8817.26 260 344.94 2.58 80.00 1091.3 1119.9 1062.8 2777.6 2077.8 5.29 11.73 968 8822.87 0.00 0.00 3.77 0.000 0.000 0.102 1090.88 1119.31 1062.44 2776.94 3474.19 0 0 0 30.00 30.00 15.21

8846 end climb: SURFACE_DEPTH_REACHED

state 8846 begin surface coast

8856 end surface coast: CONTROL_FINISHED_OK

state 8856 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	1155	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	76.922546	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	274.78131	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	160421,104830,4707.903,-12501.396,31,1.3,32,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.52	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-63.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	160421,105546,4707.880,-12501.344,2,0.6,5,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	269.5,856,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	9015.14,0.00,0.008,0,563.7,561.6,565.9,474.97	_10V_AH	14.75,0.000
SM_GC	-0.80,0.00,18.90,3.40,0.008,0.091,0.050,563.7,561.6,565.9,175.4,2079.3,0,0,0,30.36,15.13,15.35	FG_AHR_24Vo	275.007
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	76.953
IRIDIUM_FIX	4709.86,-12501.34,160421,080642	MEM	1103656,39,73472,56
TCM_TEMP	176.47	DATA_FILE_SIZE	35349,976
XPDR_PINGS	18,14.0,11.5	CAP_FILE_SIZE	511434,0
SC_FREEKB	3416544	SDSIZE	3918848,3603360
HUMID	58.81	SDFILEDIR	5801,1
TEMP	7.82	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78142	GPS	160421,132636,4707.996,-12502.153,2,1.2,8,15.6
_24V_AH	14.06,314.860

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	669	1637	15400.67	legato	0	0	0.00
Pitch_motor	41	254	147.89	nil	0	0	0.00
Roll_motor	235	227	753.92	nil	0	0	0.00
Iridium	193	194	531.04	nil	0	0	0.00
Transponder_ping	4	420	26.57	nil	0	0	0.00
GPS	14	15	3.29	nil	0	0	0.00
Core	3568	11	621.13	SciCon	8907	5	682.25
LPSleep	5671	2	234.22	nil	0	0	0.00
Compass	1848	5	136.31	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
8.47	16386	-74.33	-1.59	0.00	558.2	559.9	556.4	170.4	2081.4	0.00	0.00	0	95.41	86.54	0.00	0.00	0.005	0.000	0.000	2574.00	2557.25	2590.75	170.38	2081.31	0	0	0	14.69	30.00	30.00
95.68	18695	-74.33	-1.59	80.00	2572.8	2555.8	2589.8	170.2	2081.7	4.44	-9.78	9	122.67	4.85	14.45	3.83	0.009	0.254	0.108	2802.88	2798.44	2807.31	1752.81	3475.00	0	0	0	14.87	14.84	14.65
170.88	1028	-74.33	-1.59	0.00	2802.4	2797.6	2807.3	1754.2	3476.1	23.03	-21.66	24	175.51	0.00	0.00	3.46	0.000	0.000	0.053	2802.97	2797.56	2808.38	1754.19	2082.06	0	0	0	30.00	30.00	15.32
240.90	516	-74.33	-1.59	-80.00	2802.2	2797.1	2807.4	1753.9	2082.6	34.87	-16.08	32	246.62	0.00	0.00	4.08	0.000	0.000	0.141	2803.47	2798.25	2808.69	1753.44	661.00	0	0	0	30.00	30.00	15.04
259.87	1028	-74.33	-1.59	0.00	2802.8	2797.6	2807.9	1754.3	660.8	38.32	-16.92	36	266.62	0.00	0.00	3.53	0.000	0.000	0.043	2804.38	2799.75	2809.00	1753.19	2123.00	0	0	0	30.00	30.00	15.37
325.96	0	-74.33	-1.59	0.00	2802.6	2797.5	2807.7	1754.3	2123.2	49.08	-16.59	43	327.29	0.00	0.00	0.00	0.000	0.000	0.000	2803.25	2798.00	2808.50	1753.81	2122.88	0	0	0	30.00	30.00	30.00
385.92	0	-74.33	-1.59	0.00	2802.9	2797.6	2808.2	1754.2	2123.0	58.52	-15.57	49	387.25	0.00	0.00	0.00	0.000	0.000	0.000	2803.28	2798.31	2808.25	1753.75	2123.12	0	0	0	30.00	30.00	30.00
445.92	260	-74.33	-1.59	80.00	2802.7	2797.4	2807.9	1754.1	2123.1	67.67	-15.38	55	451.57	0.00	0.00	3.64	0.000	0.000	0.100	2801.44	2796.88	2806.00	1754.12	3473.38	0	0	0	30.00	30.00	15.14
510.93	1028	-74.33	-1.59	0.00	2803.0	2797.7	2808.2	1754.0	3473.8	76.63	-13.96	68	515.52	0.00	0.00	3.39	0.000	0.000	0.048	2803.66	2798.19	2809.12	1754.31	2080.25	0	0	0	30.00	30.00	15.30
580.93	516	-74.33	-1.59	-80.00	2803.0	2797.5	2808.6	1754.1	2080.7	84.64	-11.37	76	586.66	0.00	0.00	4.01	0.000	0.000	0.141	2802.28	2797.19	2807.38	1754.19	660.62	0	0	0	30.00	30.00	14.98
669.85	1028	-74.33	-1.59	0.00	2803.1	2798.0	2808.1	1753.9	660.9	95.15	-11.55	94	676.67	0.00	0.00	3.51	0.000	0.000	0.042	2804.50	2799.50	2809.50	1754.00	2122.56	0	0	0	30.00	30.00	15.36
736.00	260	-74.33	-1.59	80.00	2803.1	2797.8	2808.4	1754.3	2123.1	101.91	-9.66	101	741.58	0.00	0.00	3.60	0.000	0.000	0.098	2801.47	2796.25	2806.69	1754.19	3477.50	0	0	0	30.00	30.00	15.13
764.86	1028	-74.33	-1.59	0.00	2803.0	2796.9	2809.1	1753.6	3477.6	105.03	-9.94	107	771.66	0.00	0.00	3.37	0.000	0.000	0.045	2804.03	2798.88	2809.19	1754.00	2082.00	0	0	0	30.00	30.00	15.30
831.01	516	-74.33	-1.59	-80.00	2802.9	2797.6	2808.3	1754.1	2082.1	111.23	-9.49	114	836.67	0.00	0.00	4.01	0.000	0.000	0.142	2802.53	2797.44	2807.62	1754.12	662.06	0	0	0	30.00	30.00	14.96
846.41	1028	-74.33	-1.59	0.00	2803.0	2797.6	2808.4	1754.2	661.9	112.89	-10.12	117	851.57	0.00	0.00	3.47	0.000	0.000	0.040	2803.94	2798.31	2809.56	1753.88	2125.00	0	0	0	30.00	30.00	15.39
911.03	16678	-94.47	-1.65	80.00	2803.3	2797.9	2808.8	1754.0	2125.4	118.82	-9.09	124	916.64	0.51	0.00	3.58	0.042	0.000	0.103	2886.22	2886.56	2885.88	1753.62	3476.88	0	0	0	14.69	30.00	14.70
936.03	21543	-116.16	-1.72	0.00	2886.8	2886.4	2887.2	1754.3	3476.8	121.40	-8.93	129	941.70	0.52	0.31	3.37	0.042	0.067	0.046	2974.78	2976.06	2973.50	1709.19	2080.00	0	0	0	14.81	15.11	15.33
1000.98	516	-116.16	-1.72	-80.00	2975.7	2976.3	2975.1	1708.7	2079.9	128.58	-11.29	136	1006.67	0.00	0.00	3.97	0.000	0.000	0.141	2975.66	2976.50	2974.81	1708.50	660.88	0	0	0	30.00	30.00	15.01
1029.88	1028	-116.16	-1.72	0.00	2975.9	2976.4	2975.4	1708.2	660.8	132.82	-14.10	142	1036.68	0.00	0.00	3.48	0.000	0.000	0.041	2976.38	2977.12	2975.62	1708.88	2124.19	0	0	0	30.00	30.00	15.38
1096.04	0	-116.16	-1.72	0.00	2976.1	2976.7	2975.6	1709.0	2124.0	140.91	-12.47	149	1097.37	0.00	0.00	0.00	0.000	0.000	0.000	2976.53	2976.81	2976.25	1709.00	2123.94	0	0	0	30.00	30.00	30.00
1155.99	0	-116.16	-1.72	0.00	2976.1	2976.6	2975.6	1709.2	2124.8	148.54	-12.61	155	1157.32	0.00	0.00	0.00	0.000	0.000	0.000	2976.75	2977.12	2976.38	1709.38	2124.00	0	0	0	30.00	30.00	30.00
1216.00	260	-116.16	-1.72	80.00	2976.4	2976.9	2975.9	1708.6	2124.4	156.66	-13.49	161	1221.69	0.00	0.00	3.62	0.000	0.000	0.101	2975.22	2974.75	2975.69	1708.75	3476.12	0	0	0	30.00	30.00	15.08
1254.90	1028	-116.16	-1.72	0.00	2976.6	2976.9	2976.4	1708.5	3476.1	162.62	-15.49	169	1261.69	0.00	0.00	3.38	0.000	0.000	0.048	2977.62	2978.00	2977.25	1708.19	2080.12	0	0	0	30.00	30.00	15.27
1381.01	260	-116.16	-1.72	80.00	2976.4	2976.6	2976.1	1708.5	2080.0	179.71	-13.42	182	1386.67	0.00	0.00	3.76	0.000	0.000	0.099	2975.75	2976.06	2975.44	1708.69	3474.38	0	0	0	30.00	30.00	15.08
1406.06	1028	-116.16	-1.72	0.00	2976.8	2976.9	2976.6	1709.2	3474.7	183.34	-14.76	187	1410.62	0.00	0.00	3.38	0.000	0.000	0.047	2976.66	2976.94	2976.38	1709.19	2079.88	0	0	0	30.00	30.00	15.27
1536.03	260	-116.16	-1.72	80.00	2976.9	2977.4	2976.4	1708.9	2080.2	199.52	-12.29	201	1541.68	0.00	0.00	3.76	0.000	0.000	0.100	2977.34	2977.00	2977.69	1708.81	3475.69	0	0	0	30.00	30.00	15.06
1584.94	1028	-116.16	-1.72	0.00	2976.7	2977.1	2976.3	1708.6	3475.9	205.81	-12.95	211	1591.73	0.00	0.00	3.38	0.000	0.000	0.050	2976.53	2976.50	2976.56	1708.44	2080.06	0	0	0	30.00	30.00	15.23
1711.04	260	-116.16	-1.72	80.00	2976.5	2976.2	2976.9	1708.8	2080.0	220.27	-11.55	224	1716.69	0.00	0.00	3.77	0.000	0.000	0.101	2977.03	2976.62	2977.44	1708.62	3474.56	0	0	0	30.00	30.00	15.05
1746.03	1028	-116.16	-1.72	0.00	2977.2	2977.2	2977.2	1708.8	3474.5	224.36	-11.68	231	1750.63	0.00	0.00	3.39	0.000	0.000	0.050	2978.56	2979.00	2978.12	1707.50	2080.94	0	0	0	30.00	30.00	15.25
1876.06	0	-116.16	-1.72	0.00	2976.7	2976.4	2976.9	1708.2	2081.1	239.51	-11.52	245	1877.39	0.00	0.00	0.00	0.000	0.000	0.000	2977.44	2977.81	2977.06	1708.50	2080.56	0	0	0	30.00	30.00	30.00
1996.06	260	-116.16	-1.72	80.00	2976.7	2976.3	2977.1	1708.1	2081.0	253.49	-11.58	255	2001.73	0.00	0.00	3.76	0.000	0.000	0.103	2976.81	2976.69	2976.94	1708.25	3474.69	0	0	0	30.00	30.00	15.02
2044.98	1028	-116.16	-1.72	0.00	2976.9	2976.8	2977.0	1708.3	3474.5	260.00	-13.09	265	2051.76	0.00	0.00	3.39	0.000	0.000	0.050	2977.03	2976.94	2977.12	1708.38	2082.38	0	0	0	30.00	30.00	15.22
2351.08	260	-116.16	-1.72	80.00	2976.9	2976.6	2977.2	1707.5	2082.1	297.06	-12.37	276	2356.75	0.00	0.00	3.81	0.000	0.000	0.105	2977.41	2977.25	2977.56	1706.69	3474.06	0	0	0	30.00	30.00	15.00
2410.01	1028	-116.16	-1.72	0.00	2977.2	2976.9	2977.6	1708.4	3474.8	304.97	-13.63	288	2415.68	0.00	0.00	3.40	0.000	0.000	0.050	2977.00	2976.25	2977.75	1708.56	2082.19	0	0	0	30.00	30.00	15.19
2736.10	260	-116.16	-1.72	80.00	2976.8	2976.9	2976.6	1708.4	2082.1	344.04	-11.83	303	2741.80	0.00	0.00	3.81	0.000	0.000	0.105	2975.28	2974.75	2975.81	1707.81	3474.69	0	0	0	30.00	30.00	14.98
2765.01	1028	-116.16	-1.72	0.00	2976.6	2976.4	2976.8	1708.4	3474.3	348.11	-13.57	309	2770.71	0.00	0.00	3.40	0.000	0.000	0.052	2979.00	2979.38	2978.62	1707.81	2082.12	0	0	0	30.00	30.00	15.18
3091.13	260	-116.16	-1.72	80.00	2976.8	2976.6	2977.0	1707.9	2082.2	388.09	-12.24	324	3096.80	0.00	0.00	3.83	0.000	0.000	0.106	2975.72	2976.06	2975.38	1708.12	3475.25	0	0	0	30.00	30.00	14.96
3176.14	1028	-116.16	-1.72	0.00	2976.8	2976.7	2976.8	1708.2	3474.6	399.50	-14.45	341	3180.75	0.00	0.00	3.43	0.000	0.000	0.053	2977.78	2977.69	2977.88	1708.25	2081.19	0	0	0	30.00	30.00	15.17
3506.22	260	-116.16	-1.72	80.00	2976.8	2976.3	2977.4	1708.3	2081.5	440.79	-12.65	357	3511.85	0.00	0.00	3.87	0.000	0.000	0.108	2976.06	2975.25	2976.88	1708.44	3475.56	0	0	0	30.00	30.00	14.93
3555.09	1028	-116.16	-1.72	0.00	2977.0	2976.8	2977.2	1708.7	3474.4	447.50	-15.61	367	3561.89	0.00	0.00	3.41	0.000	0.000	0.054	2978.38	2978.12	2978.62	1707.94	2081.12	0	0	0	30.00	30.00	15.14
3861.19	260	-116.16	-1.72	80.00	2976.8	2977.0	2976.6	1708.5	2080.9	487.86	-13.05	378	3866.87	0.00	0.00	3.85	0.000	0.000	0.110	2975.84	2975.56	2976.12	1708.62	3474.81	0	0	0	30.00	30.00	14.92
3905.11	1028	-116.16	-1.72	0.00	2976.8	2976.6	2976.9	1708.6	3474.6	494.55	-15.26	387	3910.81	0.00	0.00	3.41	0.000	0.000	0.053	2977.38	2976.88	2977.88	1707.88	2082.31	0	0	0	30.00	30.00	15.12
3976	end dive: TARGET_DEPTH_EXCEEDED
state	3976	begin apogee
3977.35	10243	0.00	-0.25	0.00	2976.5	2976.8	2976.2	1707.9	2120.0	503.30	-12.83	391	4079.84	97.78	3.20	0.09	1.637	0.160	0.228	2497.91	2506.88	2488.94	2078.81	2082.81	0	0	0	11.01	14.86	14.84
4082	end apogee: CONTROL_FINISHED_OK
state	4082	begin climb
4083.10	10243	116.16	1.72	0.00	2497.8	2506.9	2488.6	2078.4	2081.8	506.15	0.00	394	4192.85	105.11	3.50	0.00	1.580	0.078	0.000	2026.47	2040.81	2012.12	2559.75	2082.00	0	0	0	11.27	15.07	30.00
4516.24	8742	140.11	1.79	-80.00	2013.8	2033.1	1994.6	2561.1	2082.3	469.77	8.70	429	4543.38	21.86	0.00	3.97	1.448	0.000	0.138	1927.97	1946.44	1909.50	2559.25	660.81	0	0	0	11.50	30.00	15.10
4635.53	1028	140.11	1.79	0.00	1924.2	1940.5	1907.8	2561.3	661.1	456.96	10.76	453	4641.24	0.00	0.00	3.51	0.000	0.000	0.043	1923.69	1941.38	1906.00	2561.75	2125.94	0	0	0	30.00	30.00	15.44
4961.69	10791	165.67	1.87	-80.00	1920.6	1940.6	1900.5	2561.2	2126.1	427.35	8.54	468	4993.52	24.18	0.19	4.05	1.452	0.075	0.132	1824.50	1845.88	1803.12	2605.62	661.25	0	0	0	11.62	15.54	15.17
5065.72	1028	165.67	1.87	0.00	1821.0	1840.2	1801.9	2605.9	661.6	414.07	14.03	489	5071.37	0.00	0.00	3.51	0.000	0.000	0.042	1820.94	1839.75	1802.12	2606.44	2125.56	0	0	0	30.00	30.00	15.48
5381.77	516	165.67	1.87	-80.00	1817.7	1840.2	1795.2	2606.4	2125.8	376.89	11.49	502	5387.47	0.00	0.00	4.09	0.000	0.000	0.130	1818.09	1840.56	1795.62	2604.75	660.56	0	0	0	30.00	30.00	15.14
5497.30	1092	165.67	1.90	0.00	1817.2	1839.2	1795.1	2606.4	660.8	361.26	9.84	525	5502.39	0.00	0.00	3.49	0.000	0.000	0.042	1817.00	1839.19	1794.81	2606.12	2126.75	0	0	0	30.00	30.00	15.47
5821.84	16902	165.67	1.90	-80.00	1816.1	1839.0	1793.2	2605.9	2127.1	325.15	11.01	540	5827.51	0.00	0.00	4.11	0.000	0.000	0.128	1815.12	1837.88	1792.38	2606.38	661.56	0	0	0	30.00	30.00	15.08
6005.73	17414	165.67	1.90	0.00	1815.6	1837.8	1793.4	2606.4	661.7	299.60	13.86	577	6011.42	0.00	0.00	3.50	0.000	0.000	0.043	1815.69	1838.31	1793.06	2606.19	2125.75	0	0	0	30.00	30.00	15.41
6326.83	16902	165.67	1.90	-80.00	1814.6	1837.8	1791.4	2606.5	2125.1	260.80	12.34	591	6332.56	0.00	0.00	4.11	0.000	0.000	0.126	1815.16	1838.56	1791.75	2605.94	661.88	0	0	0	30.00	30.00	15.02
6382.28	17414	165.67	1.90	0.00	1814.5	1838.0	1790.9	2606.3	661.9	252.93	15.15	602	6387.47	0.00	0.00	3.49	0.000	0.000	0.041	1813.97	1837.25	1790.69	2606.00	2128.19	0	0	0	30.00	30.00	15.42
6686.86	16902	165.67	1.90	-80.00	1814.1	1838.1	1790.1	2606.2	2128.8	216.24	11.57	635	6692.60	0.00	0.00	4.11	0.000	0.000	0.126	1813.06	1836.38	1789.75	2606.88	660.88	0	0	0	30.00	30.00	14.97
6712.30	17414	165.67	1.90	0.00	1814.3	1837.9	1790.8	2606.0	660.9	213.03	12.33	640	6717.48	0.00	0.00	3.49	0.000	0.000	0.040	1813.22	1836.62	1789.81	2606.56	2127.12	0	0	0	30.00	30.00	15.42
6836.88	16902	165.67	1.90	-80.00	1814.0	1837.6	1790.4	2606.9	2127.2	198.86	11.04	653	6842.60	0.00	0.00	4.11	0.000	0.000	0.124	1813.31	1837.06	1789.56	2606.81	660.56	0	0	0	30.00	30.00	15.01
6922.32	17414	165.67	1.90	0.00	1813.8	1837.6	1790.1	2606.8	660.7	187.50	13.67	670	6927.49	0.00	0.00	3.49	0.000	0.000	0.040	1813.50	1836.88	1790.12	2606.19	2128.56	0	0	0	30.00	30.00	15.42
7046.93	16450	165.67	1.95	0.00	1813.9	1837.6	1790.2	2606.4	2128.6	175.12	9.42	683	7048.26	0.00	0.00	0.00	0.000	0.000	0.000	1814.19	1837.44	1790.94	2606.62	2128.25	0	0	0	30.00	30.00	30.00
7166.92	16966	165.67	2.01	-80.00	1813.6	1837.4	1789.8	2606.8	2128.0	163.84	9.11	695	7172.63	0.00	0.00	4.12	0.000	0.000	0.124	1812.88	1836.88	1788.88	2606.12	660.88	0	0	0	30.00	30.00	14.95
7262.36	17414	165.67	2.01	0.00	1814.0	1837.5	1790.4	2606.0	660.9	152.98	12.15	714	7267.53	0.00	0.00	3.50	0.000	0.000	0.040	1813.06	1836.31	1789.81	2606.69	2128.25	0	0	0	30.00	30.00	15.42
7386.95	19015	165.67	2.04	-80.00	1813.7	1837.4	1789.9	2606.1	2128.3	140.38	10.15	727	7392.72	0.00	0.19	4.12	0.000	0.086	0.122	1812.56	1836.56	1788.56	2646.44	662.06	0	0	0	30.00	15.58	14.95
7422.38	17414	165.67	2.04	0.00	1813.5	1836.8	1790.2	2646.6	661.8	136.07	12.13	734	7427.56	0.00	0.00	3.49	0.000	0.000	0.040	1812.69	1836.62	1788.75	2646.81	2128.06	0	0	0	30.00	30.00	15.43
7486.93	16902	165.67	2.04	-80.00	1813.4	1836.8	1790.1	2646.5	2128.9	128.82	11.03	741	7492.65	0.00	0.00	4.10	0.000	0.000	0.120	1812.66	1836.44	1788.88	2646.31	661.25	0	0	0	30.00	30.00	14.99
7642.41	17414	165.67	2.04	0.00	1813.3	1836.7	1790.0	2646.9	661.4	109.87	10.89	772	7647.58	0.00	0.00	3.49	0.000	0.000	0.039	1813.59	1836.56	1790.62	2645.31	2130.62	0	0	0	30.00	30.00	15.42
7706.97	8742	194.09	2.13	-80.00	1813.3	1836.8	1789.9	2646.1	2130.6	104.20	8.25	779	7748.84	32.35	0.00	4.03	1.150	0.000	0.122	1708.22	1731.31	1685.12	2646.69	660.69	0	0	0	11.29	30.00	15.21
7941.01	11303	223.48	2.22	0.00	1705.3	1727.4	1683.1	2646.6	660.6	81.46	8.16	826	7982.53	35.49	0.20	3.49	1.115	0.076	0.040	1589.16	1612.56	1565.75	2688.62	2130.38	0	0	0	11.61	15.25	15.47
8047.10	8226	248.03	2.29	0.00	1585.2	1609.8	1560.7	2690.2	2130.2	73.02	8.64	841	8077.71	29.70	0.00	0.00	1.074	0.000	0.000	1489.31	1514.94	1463.69	2690.25	2130.00	0	0	0	11.59	30.00	30.00
8137.09	0	248.03	2.29	0.00	1486.1	1512.9	1459.2	2689.9	2130.0	62.11	12.55	850	8138.42	0.00	0.00	0.00	0.000	0.000	0.000	1486.38	1513.31	1459.44	2690.50	2129.94	0	0	0	30.00	30.00	30.00
8197.11	516	248.03	2.29	-80.00	1485.1	1512.4	1457.8	2689.9	2130.4	54.32	13.44	856	8202.82	0.00	0.00	4.07	0.000	0.000	0.122	1484.94	1512.75	1457.12	2689.44	660.50	0	0	0	30.00	30.00	15.18
8352.59	1028	248.03	2.29	0.00	1484.1	1510.5	1457.6	2690.2	660.3	33.79	10.90	887	8357.77	0.00	0.00	3.51	0.000	0.000	0.039	1484.19	1510.50	1457.88	2690.06	2131.56	0	0	0	30.00	30.00	15.46
8417.16	10535	277.53	2.38	80.00	1483.1	1510.4	1455.8	2690.2	2131.9	28.64	8.15	894	8458.82	33.51	0.17	3.59	1.048	0.079	0.105	1368.22	1395.19	1341.25	2728.62	3473.69	0	0	0	11.57	15.48	15.14
8681.18	11303	344.94	2.58	0.00	1365.2	1393.8	1336.7	2728.6	3473.6	17.46	4.34	947	8759.44	71.93	0.25	3.38	1.040	0.068	0.046	1094.41	1121.12	1067.69	2776.25	2078.00	0	0	0	11.56	15.19	15.40
8817.26	260	344.94	2.58	80.00	1091.3	1119.9	1062.8	2777.6	2077.8	5.29	11.73	968	8822.87	0.00	0.00	3.77	0.000	0.000	0.102	1090.88	1119.31	1062.44	2776.94	3474.19	0	0	0	30.00	30.00	15.21
8846	end climb: SURFACE_DEPTH_REACHED
state	8846	begin surface coast
8856	end surface coast: CONTROL_FINISHED_OK
state	8856	begin surface