Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1158 * 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 1158 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 77.022362 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 275.49023 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 77.022362 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 275.49023 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 1158 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 160421,190532,4707.954,-12501.506,27,1.0,28,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.50 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -62.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 160421,191259,4707.935,-12501.563,2,0.7,5,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 266.8,563,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 9072.67,0.00,0.016,0,564.3,561.3,567.3,474.82 _10V_AH 14.73,0.000

SM_GC -0.65,0.00,18.61,0.11,0.016,0.085,0.134,564.3,561.3,567.3,170.1,2068.8,0,0,0,30.36,15.19,15.41 FG_AHR_24Vo 275.714

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 77.053

IRIDIUM_FIX 4707.10,-12459.52,160421,162549 MEM 1103708,37,73460,56

TCM_TEMP 174.69 DATA_FILE_SIZE 35382,915

XPDR_PINGS 19,14.0,11.5 CAP_FILE_SIZE 482192,0

SC_FREEKB 3415392 SDSIZE 3918848,3602528

HUMID 58.66 SDFILEDIR 5816,1

TEMP 7.79 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77563 GPS 160421,214502,4708.215,-12502.176,22,1.1,23,15.6

_24V_AH 13.64,315.618

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 662 2582 23347.02 legato 0 0 0.00

Pitch_motor 40 253 139.11 nil 0 0 0.00

Roll_motor 212 225 654.48 nil 0 0 0.00

Iridium 204 196 545.77 nil 0 0 0.00

Transponder_ping 4 420 27.21 nil 0 0 0.00

GPS 14 15 3.14 nil 0 0 0.00

Core 3459 11 601.37 SciCon 8948 5 674.84

LPSleep 5829 2 240.43 nil 0 0 0.00

Compass 1767 5 130.15 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

8.48 16386 -74.33 -1.59 0.00 560.1 557.4 562.8 171.1 2078.2 0.00 0.00 0 90.32 81.35 0.00 0.00 0.005 0.000 0.000 2419.66 2404.19 2435.12 171.50 2078.88 0 0 0 14.68 30.00 30.00

90.57 18727 -119.45 -1.73 80.00 2418.1 2402.7 2433.5 171.1 2078.5 3.09 -6.58 8 126.63 12.80 14.19 3.81 0.006 0.253 0.111 2985.38 2984.50 2986.25 1721.06 3476.19 0 0 0 14.86 14.84 14.62

209.84 1028 -119.45 -1.73 0.00 2985.5 2984.1 2986.9 1721.5 3476.2 30.56 -20.02 32 214.46 0.00 0.00 3.45 0.000 0.000 0.057 2985.66 2984.50 2986.81 1721.25 2082.94 0 0 0 30.00 30.00 15.29

279.86 260 -119.45 -1.73 80.00 2985.5 2984.2 2986.8 1720.9 2083.6 42.94 -16.96 40 285.53 0.00 0.00 3.77 0.000 0.000 0.102 2986.47 2984.62 2988.31 1720.56 3474.94 0 0 0 30.00 30.00 15.16

315.31 1028 -119.45 -1.73 0.00 2985.4 2984.0 2986.8 1721.2 3474.7 48.53 -15.92 47 320.49 0.00 0.00 3.41 0.000 0.000 0.055 2986.25 2984.88 2987.62 1720.88 2081.12 0 0 0 30.00 30.00 15.29

379.93 516 -119.45 -1.73 -80.00 2986.0 2984.7 2987.2 1721.4 2080.8 58.36 -15.16 54 385.60 0.00 0.00 4.07 0.000 0.000 0.147 2985.00 2983.31 2986.69 1721.12 660.69 0 0 0 30.00 30.00 14.98

388.98 1028 -119.45 -1.73 0.00 2985.5 2984.1 2986.9 1720.2 661.1 60.07 -15.78 56 395.60 0.00 0.00 3.53 0.000 0.000 0.047 2986.53 2985.00 2988.06 1721.38 2120.94 0 0 0 30.00 30.00 15.37

454.93 260 -119.45 -1.73 80.00 2985.6 2984.1 2987.1 1721.1 2121.6 69.35 -14.03 63 460.52 0.00 0.00 3.61 0.000 0.000 0.102 2986.19 2984.88 2987.50 1720.69 3475.12 0 0 0 30.00 30.00 15.14

490.32 1028 -119.45 -1.73 0.00 2985.7 2984.2 2987.1 1721.3 3475.6 73.94 -13.71 70 495.48 0.00 0.00 3.39 0.000 0.000 0.053 2985.88 2984.62 2987.12 1720.75 2079.06 0 0 0 30.00 30.00 15.29

554.95 516 -119.45 -1.73 -80.00 2986.0 2983.9 2988.1 1721.4 2079.2 81.11 -10.95 77 560.61 0.00 0.00 4.03 0.000 0.000 0.146 2988.41 2986.44 2990.38 1719.81 661.69 0 0 0 30.00 30.00 14.97

583.79 1028 -119.45 -1.73 0.00 2986.0 2984.8 2987.2 1721.4 662.1 85.12 -13.40 83 590.62 0.00 0.00 3.52 0.000 0.000 0.046 2986.16 2984.38 2987.94 1721.31 2122.75 0 0 0 30.00 30.00 15.36

649.95 260 -119.45 -1.73 80.00 2985.8 2984.2 2987.4 1721.3 2123.1 92.80 -11.51 90 655.54 0.00 0.00 3.61 0.000 0.000 0.103 2985.03 2983.44 2986.62 1721.38 3476.31 0 0 0 30.00 30.00 15.13

758.83 1028 -119.45 -1.73 0.00 2986.2 2984.1 2988.4 1720.7 3476.1 107.98 -13.73 112 765.60 0.00 0.00 3.39 0.000 0.000 0.052 2988.22 2986.12 2990.31 1720.44 2080.69 0 0 0 30.00 30.00 15.26

824.97 0 -119.45 -1.73 0.00 2986.3 2983.8 2988.9 1720.9 2081.1 116.86 -13.78 119 826.29 0.00 0.00 0.00 0.000 0.000 0.000 2985.62 2983.44 2987.81 1720.44 2081.12 0 0 0 30.00 30.00 30.00

884.93 0 -119.45 -1.73 0.00 2986.4 2984.4 2988.4 1721.4 2081.2 125.29 -13.84 125 886.26 0.00 0.00 0.00 0.000 0.000 0.000 2985.62 2983.75 2987.50 1720.88 2080.75 0 0 0 30.00 30.00 30.00

944.93 260 -119.45 -1.73 80.00 2986.7 2984.7 2988.6 1721.2 2081.2 133.06 -13.26 131 950.60 0.00 0.00 3.74 0.000 0.000 0.101 2985.97 2984.31 2987.62 1721.44 3476.94 0 0 0 30.00 30.00 15.10

969.98 1028 -119.45 -1.73 0.00 2986.3 2983.9 2988.7 1720.9 3476.9 137.00 -15.74 136 974.54 0.00 0.00 3.39 0.000 0.000 0.052 2987.59 2985.12 2990.06 1720.62 2080.44 0 0 0 30.00 30.00 15.26

1039.93 0 -119.45 -1.73 0.00 2986.7 2984.1 2989.2 1721.1 2080.5 146.79 -13.86 144 1041.26 0.00 0.00 0.00 0.000 0.000 0.000 2987.25 2984.62 2989.88 1721.38 2080.44 0 0 0 30.00 30.00 30.00

1099.95 0 -119.45 -1.73 0.00 2986.3 2984.5 2988.2 1721.1 2080.6 154.77 -13.05 150 1101.28 0.00 0.00 0.00 0.000 0.000 0.000 2986.88 2984.62 2989.12 1721.25 2080.62 0 0 0 30.00 30.00 30.00

1219.95 0 -119.45 -1.73 0.00 2986.5 2984.1 2988.9 1721.3 2080.7 170.03 -12.34 162 1221.28 0.00 0.00 0.00 0.000 0.000 0.000 2986.19 2984.19 2988.19 1721.38 2080.88 0 0 0 30.00 30.00 30.00

1339.96 260 -119.45 -1.73 80.00 2986.5 2984.2 2988.8 1721.6 2080.4 184.38 -11.35 174 1345.62 0.00 0.00 3.77 0.000 0.000 0.103 2984.84 2982.00 2987.69 1721.12 3474.94 0 0 0 30.00 30.00 15.05

1358.89 1028 -119.45 -1.73 0.00 2986.7 2984.3 2989.1 1720.8 3474.9 186.91 -12.14 178 1365.65 0.00 0.00 3.39 0.000 0.000 0.052 2986.81 2983.94 2989.69 1721.19 2081.06 0 0 0 30.00 30.00 15.23

1484.98 260 -119.45 -1.73 80.00 2986.8 2984.5 2989.2 1721.2 2081.4 202.17 -12.25 191 1490.63 0.00 0.00 3.76 0.000 0.000 0.102 2986.34 2983.75 2988.94 1720.81 3476.62 0 0 0 30.00 30.00 15.05

1499.97 1028 -119.45 -1.73 0.00 2986.7 2984.1 2989.2 1721.4 3475.6 203.76 -12.09 194 1504.56 0.00 0.00 3.39 0.000 0.000 0.052 2986.91 2984.50 2989.31 1720.62 2079.00 0 0 0 30.00 30.00 15.24

1629.99 0 -119.45 -1.73 0.00 2986.9 2984.5 2989.2 1721.2 2079.2 219.42 -11.65 208 1631.32 0.00 0.00 0.00 0.000 0.000 0.000 2986.12 2983.62 2988.62 1720.81 2079.06 0 0 0 30.00 30.00 30.00

1750.00 260 -119.45 -1.73 80.00 2987.0 2984.8 2989.2 1721.7 2078.8 233.65 -11.66 220 1755.65 0.00 0.00 3.78 0.000 0.000 0.103 2986.28 2983.31 2989.25 1721.19 3476.44 0 0 0 30.00 30.00 15.02

1795.44 1028 -119.45 -1.73 0.00 2986.7 2984.1 2989.2 1720.9 3476.9 239.14 -12.29 229 1800.60 0.00 0.00 3.38 0.000 0.000 0.053 2988.50 2985.31 2991.69 1720.62 2077.88 0 0 0 30.00 30.00 15.22

1920.01 0 -119.45 -1.73 0.00 2987.0 2984.7 2989.2 1721.0 2077.8 253.87 -11.35 240 1921.34 0.00 0.00 0.00 0.000 0.000 0.000 2986.06 2983.19 2988.94 1720.75 2078.00 0 0 0 30.00 30.00 30.00

2220.01 260 -119.45 -1.73 80.00 2986.9 2984.6 2989.3 1721.0 2077.7 291.83 -13.02 250 2225.68 0.00 0.00 3.79 0.000 0.000 0.107 2988.22 2985.38 2991.06 1720.44 3476.00 0 0 0 30.00 30.00 14.99

2263.93 1028 -119.45 -1.73 0.00 2986.7 2983.3 2990.0 1721.5 3476.1 298.29 -15.18 259 2269.64 0.00 0.00 3.41 0.000 0.000 0.054 2987.94 2984.88 2991.00 1720.94 2081.44 0 0 0 30.00 30.00 15.17

2575.03 260 -119.45 -1.73 80.00 2987.0 2984.5 2989.6 1721.5 2080.8 338.75 -12.92 271 2580.71 0.00 0.00 3.82 0.000 0.000 0.107 2987.56 2985.06 2990.06 1721.62 3474.69 0 0 0 30.00 30.00 14.97

2653.95 1028 -119.45 -1.73 0.00 2987.0 2984.4 2989.5 1721.3 3474.4 349.74 -13.73 287 2660.76 0.00 0.00 3.42 0.000 0.000 0.056 2987.56 2984.94 2990.19 1721.38 2082.00 0 0 0 30.00 30.00 15.15

2960.06 260 -119.45 -1.73 80.00 2986.9 2984.8 2989.1 1721.4 2082.5 386.68 -11.79 298 2965.73 0.00 0.00 3.80 0.000 0.000 0.107 2985.47 2982.31 2988.62 1721.56 3474.81 0 0 0 30.00 30.00 14.97

2988.97 1028 -119.45 -1.73 0.00 2986.5 2984.1 2988.9 1721.2 3475.1 390.50 -13.12 304 2994.68 0.00 0.00 3.41 0.000 0.000 0.055 2988.34 2985.00 2991.69 1721.38 2081.12 0 0 0 30.00 30.00 15.15

3315.08 260 -119.45 -1.73 80.00 2987.0 2984.6 2989.3 1721.2 2081.2 429.83 -11.89 319 3320.76 0.00 0.00 3.82 0.000 0.000 0.108 2985.12 2983.06 2987.19 1720.94 3474.75 0 0 0 30.00 30.00 14.94

3384.05 1028 -119.45 -1.73 0.00 2986.7 2984.2 2989.2 1721.6 3474.9 439.01 -11.97 333 3389.70 0.00 0.00 3.43 0.000 0.000 0.056 2987.25 2984.69 2989.81 1721.19 2083.31 0 0 0 30.00 30.00 15.12

3700.10 260 -119.45 -1.73 80.00 2986.5 2984.1 2988.8 1721.1 2083.4 477.47 -12.12 346 3705.77 0.00 0.00 3.84 0.000 0.000 0.110 2988.88 2986.25 2991.50 1720.06 3474.44 0 0 0 30.00 30.00 14.93

3734.02 1028 -119.45 -1.73 0.00 2986.4 2983.9 2988.9 1721.0 3476.0 482.46 -12.38 353 3739.72 0.00 0.00 3.44 0.000 0.000 0.057 2987.09 2984.62 2989.56 1721.38 2081.94 0 0 0 30.00 30.00 15.11

3874 end dive: TARGET_DEPTH_EXCEEDED

state 3875 begin apogee

3876.23 10243 0.00 -0.25 0.00 2986.1 2983.8 2988.5 1721.5 2121.3 500.75 -12.71 361 3980.35 99.62 2.97 0.09 1.634 0.158 0.225 2497.06 2506.31 2487.81 2079.19 2084.94 0 0 0 10.94 14.86 14.83

3983 end apogee: CONTROL_FINISHED_OK

state 3983 begin climb

3983.61 10243 119.45 1.73 0.00 2497.6 2506.6 2488.5 2080.0 2084.9 504.61 0.00 364 4095.98 107.87 3.51 0.00 1.576 0.078 0.000 2012.31 2026.38 1998.25 2563.62 2084.38 0 0 0 11.32 15.06 30.00

4385.19 16966 119.45 1.76 -80.00 2001.0 2020.4 1981.7 2564.1 2084.2 473.23 9.88 383 4390.85 0.00 0.00 4.01 0.000 0.000 0.138 2000.59 2019.94 1981.25 2563.25 661.81 0 0 0 30.00 30.00 15.15

4449.05 17414 119.45 1.76 0.00 1999.9 2018.4 1981.4 2563.3 662.1 464.63 14.21 396 4454.73 0.00 0.00 3.50 0.000 0.000 0.045 2000.62 2019.19 1982.06 2563.38 2125.94 0 0 0 30.00 30.00 15.42

4770.15 16646 119.45 1.76 80.00 1998.1 2018.6 1977.7 2563.6 2127.1 428.75 10.76 410 4775.80 0.00 0.00 3.64 0.000 0.000 0.113 1998.25 2018.75 1977.75 2562.44 3473.25 0 0 0 30.00 30.00 15.20

4999.11 17414 119.45 1.76 0.00 1997.4 2017.0 1977.8 2563.9 3474.1 401.92 12.68 456 5005.93 0.00 0.00 3.41 0.000 0.000 0.055 1997.31 2017.50 1977.12 2563.88 2080.94 0 0 0 30.00 30.00 15.35

5305.23 16902 119.45 1.76 -80.00 1996.3 2017.5 1975.2 2563.8 2081.2 368.92 11.09 467 5310.92 0.00 0.00 3.99 0.000 0.000 0.135 1994.97 2015.31 1974.62 2563.75 661.06 0 0 0 30.00 30.00 15.08

5404.16 17414 119.45 1.76 0.00 1995.5 2015.7 1975.2 2564.0 660.6 356.44 13.86 487 5409.84 0.00 0.00 3.50 0.000 0.000 0.044 1996.44 2016.44 1976.44 2564.06 2128.12 0 0 0 30.00 30.00 15.44

5720.27 8226 141.85 1.83 0.00 1995.0 2015.4 1974.6 2564.0 2128.6 326.73 8.86 500 5740.16 19.27 0.00 0.00 1.359 0.000 0.000 1919.28 1938.56 1900.00 2563.81 2128.19 0 0 0 11.43 30.00 30.00

6020.33 2373 141.85 1.87 80.00 1916.3 1938.8 1893.8 2563.4 2127.6 297.14 9.68 510 6025.96 0.00 0.19 3.65 0.000 0.077 0.112 1915.91 1938.62 1893.19 2607.31 3473.12 0 0 0 30.00 15.56 15.24

6249.22 9254 163.96 1.94 0.00 1916.1 1938.5 1893.7 2607.3 3473.4 272.49 8.89 556 6275.36 21.35 0.00 3.41 1.328 0.000 0.054 1831.97 1854.19 1809.75 2606.88 2077.38 0 0 0 11.63 30.00 15.33

6575.31 0 163.96 1.94 0.00 1826.1 1850.6 1801.7 2607.4 2078.1 236.41 11.26 580 6576.64 0.00 0.00 0.00 0.000 0.000 0.000 1825.66 1850.31 1801.00 2607.12 2077.62 0 0 0 30.00 30.00 30.00

6695.32 516 163.96 1.94 -80.00 1825.4 1850.4 1800.4 2607.6 2077.9 222.73 11.89 592 6701.02 0.00 0.00 3.99 0.000 0.000 0.135 1824.88 1849.56 1800.19 2608.69 661.00 0 0 0 30.00 30.00 15.11

6720.76 1028 163.96 1.94 0.00 1824.9 1849.3 1800.5 2607.1 660.9 220.42 10.70 597 6725.95 0.00 0.00 3.52 0.000 0.000 0.047 1826.03 1850.06 1802.00 2606.00 2126.31 0 0 0 30.00 30.00 15.47

6845.34 516 163.96 1.94 -80.00 1824.8 1849.3 1800.2 2607.5 2127.3 206.08 11.28 610 6851.04 0.00 0.00 4.08 0.000 0.000 0.131 1823.62 1848.06 1799.19 2607.12 660.88 0 0 0 30.00 30.00 15.10

6900.79 1028 163.96 1.94 0.00 1824.2 1848.4 1800.1 2607.1 660.8 199.58 12.82 621 6905.97 0.00 0.00 3.53 0.000 0.000 0.048 1825.06 1848.44 1801.69 2606.62 2128.19 0 0 0 30.00 30.00 15.45

7025.37 8226 185.94 2.01 0.00 1823.5 1848.0 1799.1 2607.8 2128.2 187.04 8.90 634 7046.82 20.15 0.00 0.00 1.240 0.000 0.000 1740.31 1764.56 1716.06 2607.75 2128.50 0 0 0 11.50 30.00 30.00

7170.37 516 185.94 2.01 -80.00 1737.9 1763.1 1712.8 2607.8 2127.9 172.00 11.12 649 7176.09 0.00 0.00 4.05 0.000 0.000 0.131 1739.56 1764.75 1714.38 2605.69 660.88 0 0 0 30.00 30.00 15.23

7299.30 1028 185.94 2.01 0.00 1737.2 1761.9 1712.5 2607.8 660.8 155.25 12.88 675 7306.13 0.00 0.00 3.54 0.000 0.000 0.049 1738.06 1762.38 1713.75 2607.19 2126.00 0 0 0 30.00 30.00 15.45

7425.43 2113 185.94 2.06 0.00 1736.3 1761.2 1711.3 2607.8 2126.8 142.66 9.39 688 7426.89 0.00 0.21 0.00 0.000 0.082 0.000 1736.06 1761.00 1711.12 2649.50 2125.94 0 0 0 30.00 15.56 30.00

7485.46 0 185.94 2.06 0.00 1736.2 1761.2 1711.2 2649.5 2126.2 135.98 11.18 694 7486.79 0.00 0.00 0.00 0.000 0.000 0.000 1737.31 1762.06 1712.56 2648.19 2125.94 0 0 0 30.00 30.00 30.00

7545.44 580 185.94 2.08 -80.00 1735.9 1760.6 1711.2 2649.1 2126.3 129.66 10.53 700 7551.13 0.00 0.00 4.05 0.000 0.000 0.129 1734.78 1759.31 1710.25 2649.44 661.19 0 0 0 30.00 30.00 15.09

7580.87 1028 185.94 2.08 0.00 1735.6 1760.1 1711.1 2649.1 661.4 125.08 13.15 707 7586.06 0.00 0.00 3.52 0.000 0.000 0.047 1734.91 1759.81 1710.00 2648.69 2127.25 0 0 0 30.00 30.00 15.45

7645.44 64 185.94 2.10 0.00 1735.4 1760.2 1710.6 2650.1 2127.1 118.19 10.13 714 7646.77 0.00 0.00 0.00 0.000 0.000 0.000 1735.41 1760.62 1710.19 2648.62 2127.50 0 0 0 30.00 30.00 30.00

7705.46 516 185.94 2.10 -80.00 1735.6 1760.4 1710.8 2649.0 2127.3 111.77 10.98 720 7711.16 0.00 0.00 4.07 0.000 0.000 0.127 1735.19 1759.88 1710.50 2649.38 661.69 0 0 0 30.00 30.00 15.07

7730.88 1028 185.94 2.10 0.00 1735.4 1760.1 1710.6 2649.1 661.7 108.94 10.81 725 7736.07 0.00 0.00 3.52 0.000 0.000 0.046 1736.12 1760.75 1711.50 2648.06 2128.19 0 0 0 30.00 30.00 15.44

7795.51 324 185.94 2.16 80.00 1735.3 1760.1 1710.5 2648.9 2127.9 102.38 9.17 732 7801.10 0.00 0.00 3.63 0.000 0.000 0.108 1734.19 1759.31 1709.06 2648.88 3476.19 0 0 0 30.00 30.00 15.16

7824.35 1028 185.94 2.16 0.00 1735.0 1759.5 1710.5 2649.9 3476.5 98.96 11.38 738 7831.14 0.00 0.00 3.39 0.000 0.000 0.053 1735.16 1759.88 1710.44 2649.38 2076.69 0 0 0 30.00 30.00 15.34

7890.51 516 185.94 2.16 -80.00 1735.0 1759.6 1710.5 2648.9 2076.9 92.34 10.72 745 7896.15 0.00 0.00 3.95 0.000 0.000 0.129 1736.69 1761.62 1711.75 2648.25 660.81 0 0 0 30.00 30.00 15.09

8119.45 1092 185.94 2.18 0.00 1734.8 1759.6 1710.1 2649.2 660.6 65.77 10.40 791 8126.23 0.00 0.00 3.53 0.000 0.000 0.046 1735.84 1760.50 1711.19 2649.50 2129.75 0 0 0 30.00 30.00 15.40

8185.52 10791 237.16 2.34 -80.00 1734.7 1759.6 1709.9 2648.9 2129.2 61.73 5.96 798 8251.53 57.97 0.38 4.01 1.114 0.060 0.125 1532.00 1556.56 1507.44 2717.38 660.62 0 0 0 11.45 15.58 15.10

8286.00 9254 262.37 2.41 0.00 1530.7 1553.8 1507.6 2717.5 660.2 54.71 8.58 818 8320.82 29.80 0.00 3.53 1.046 0.000 0.045 1431.19 1455.56 1406.81 2717.56 2127.88 0 0 0 11.56 30.00 15.42

8385.60 516 262.37 2.41 -80.00 1427.2 1454.7 1399.7 2717.6 2128.1 44.28 10.73 832 8391.25 0.00 0.00 4.05 0.000 0.000 0.124 1426.38 1454.25 1398.50 2717.50 659.62 0 0 0 30.00 30.00 15.18

8414.46 1092 262.37 2.44 0.00 1426.7 1453.8 1399.5 2717.1 659.8 41.16 10.36 838 8421.25 0.00 0.00 3.50 0.000 0.000 0.044 1427.72 1454.81 1400.62 2716.44 2129.94 0 0 0 30.00 30.00 15.40

8480.64 10275 288.42 2.51 0.00 1425.8 1453.8 1397.7 2717.7 2129.8 35.30 8.49 845 8511.22 29.39 0.20 0.00 1.028 0.076 0.000 1324.34 1350.62 1298.06 2760.31 2129.75 0 0 0 11.55 15.45 30.00

8570.57 580 288.42 2.54 -80.00 1321.8 1349.9 1293.8 2759.9 2129.1 26.48 10.18 855 8576.27 0.00 0.00 4.05 0.000 0.000 0.125 1322.53 1350.19 1294.88 2760.31 660.94 0 0 0 30.00 30.00 15.19

8799.53 9254 322.68 2.64 0.00 1320.9 1348.1 1293.6 2760.4 660.9 7.63 7.67 901 8841.00 36.74 0.00 3.50 1.015 0.000 0.045 1185.53 1212.69 1158.38 2760.38 2130.31 0 0 0 11.54 30.00 15.43

8875 end climb: SURFACE_DEPTH_REACHED

state 8875 begin surface coast

8895 end surface coast: CONTROL_FINISHED_OK

state 8895 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	1158	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	77.022362	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	275.49023	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	160421,190532,4707.954,-12501.506,27,1.0,28,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.50	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-62.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	160421,191259,4707.935,-12501.563,2,0.7,5,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	266.8,563,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	9072.67,0.00,0.016,0,564.3,561.3,567.3,474.82	_10V_AH	14.73,0.000
SM_GC	-0.65,0.00,18.61,0.11,0.016,0.085,0.134,564.3,561.3,567.3,170.1,2068.8,0,0,0,30.36,15.19,15.41	FG_AHR_24Vo	275.714
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	77.053
IRIDIUM_FIX	4707.10,-12459.52,160421,162549	MEM	1103708,37,73460,56
TCM_TEMP	174.69	DATA_FILE_SIZE	35382,915
XPDR_PINGS	19,14.0,11.5	CAP_FILE_SIZE	482192,0
SC_FREEKB	3415392	SDSIZE	3918848,3602528
HUMID	58.66	SDFILEDIR	5816,1
TEMP	7.79	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77563	GPS	160421,214502,4708.215,-12502.176,22,1.1,23,15.6
_24V_AH	13.64,315.618

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	662	2582	23347.02	legato	0	0	0.00
Pitch_motor	40	253	139.11	nil	0	0	0.00
Roll_motor	212	225	654.48	nil	0	0	0.00
Iridium	204	196	545.77	nil	0	0	0.00
Transponder_ping	4	420	27.21	nil	0	0	0.00
GPS	14	15	3.14	nil	0	0	0.00
Core	3459	11	601.37	SciCon	8948	5	674.84
LPSleep	5829	2	240.43	nil	0	0	0.00
Compass	1767	5	130.15	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
8.48	16386	-74.33	-1.59	0.00	560.1	557.4	562.8	171.1	2078.2	0.00	0.00	0	90.32	81.35	0.00	0.00	0.005	0.000	0.000	2419.66	2404.19	2435.12	171.50	2078.88	0	0	0	14.68	30.00	30.00
90.57	18727	-119.45	-1.73	80.00	2418.1	2402.7	2433.5	171.1	2078.5	3.09	-6.58	8	126.63	12.80	14.19	3.81	0.006	0.253	0.111	2985.38	2984.50	2986.25	1721.06	3476.19	0	0	0	14.86	14.84	14.62
209.84	1028	-119.45	-1.73	0.00	2985.5	2984.1	2986.9	1721.5	3476.2	30.56	-20.02	32	214.46	0.00	0.00	3.45	0.000	0.000	0.057	2985.66	2984.50	2986.81	1721.25	2082.94	0	0	0	30.00	30.00	15.29
279.86	260	-119.45	-1.73	80.00	2985.5	2984.2	2986.8	1720.9	2083.6	42.94	-16.96	40	285.53	0.00	0.00	3.77	0.000	0.000	0.102	2986.47	2984.62	2988.31	1720.56	3474.94	0	0	0	30.00	30.00	15.16
315.31	1028	-119.45	-1.73	0.00	2985.4	2984.0	2986.8	1721.2	3474.7	48.53	-15.92	47	320.49	0.00	0.00	3.41	0.000	0.000	0.055	2986.25	2984.88	2987.62	1720.88	2081.12	0	0	0	30.00	30.00	15.29
379.93	516	-119.45	-1.73	-80.00	2986.0	2984.7	2987.2	1721.4	2080.8	58.36	-15.16	54	385.60	0.00	0.00	4.07	0.000	0.000	0.147	2985.00	2983.31	2986.69	1721.12	660.69	0	0	0	30.00	30.00	14.98
388.98	1028	-119.45	-1.73	0.00	2985.5	2984.1	2986.9	1720.2	661.1	60.07	-15.78	56	395.60	0.00	0.00	3.53	0.000	0.000	0.047	2986.53	2985.00	2988.06	1721.38	2120.94	0	0	0	30.00	30.00	15.37
454.93	260	-119.45	-1.73	80.00	2985.6	2984.1	2987.1	1721.1	2121.6	69.35	-14.03	63	460.52	0.00	0.00	3.61	0.000	0.000	0.102	2986.19	2984.88	2987.50	1720.69	3475.12	0	0	0	30.00	30.00	15.14
490.32	1028	-119.45	-1.73	0.00	2985.7	2984.2	2987.1	1721.3	3475.6	73.94	-13.71	70	495.48	0.00	0.00	3.39	0.000	0.000	0.053	2985.88	2984.62	2987.12	1720.75	2079.06	0	0	0	30.00	30.00	15.29
554.95	516	-119.45	-1.73	-80.00	2986.0	2983.9	2988.1	1721.4	2079.2	81.11	-10.95	77	560.61	0.00	0.00	4.03	0.000	0.000	0.146	2988.41	2986.44	2990.38	1719.81	661.69	0	0	0	30.00	30.00	14.97
583.79	1028	-119.45	-1.73	0.00	2986.0	2984.8	2987.2	1721.4	662.1	85.12	-13.40	83	590.62	0.00	0.00	3.52	0.000	0.000	0.046	2986.16	2984.38	2987.94	1721.31	2122.75	0	0	0	30.00	30.00	15.36
649.95	260	-119.45	-1.73	80.00	2985.8	2984.2	2987.4	1721.3	2123.1	92.80	-11.51	90	655.54	0.00	0.00	3.61	0.000	0.000	0.103	2985.03	2983.44	2986.62	1721.38	3476.31	0	0	0	30.00	30.00	15.13
758.83	1028	-119.45	-1.73	0.00	2986.2	2984.1	2988.4	1720.7	3476.1	107.98	-13.73	112	765.60	0.00	0.00	3.39	0.000	0.000	0.052	2988.22	2986.12	2990.31	1720.44	2080.69	0	0	0	30.00	30.00	15.26
824.97	0	-119.45	-1.73	0.00	2986.3	2983.8	2988.9	1720.9	2081.1	116.86	-13.78	119	826.29	0.00	0.00	0.00	0.000	0.000	0.000	2985.62	2983.44	2987.81	1720.44	2081.12	0	0	0	30.00	30.00	30.00
884.93	0	-119.45	-1.73	0.00	2986.4	2984.4	2988.4	1721.4	2081.2	125.29	-13.84	125	886.26	0.00	0.00	0.00	0.000	0.000	0.000	2985.62	2983.75	2987.50	1720.88	2080.75	0	0	0	30.00	30.00	30.00
944.93	260	-119.45	-1.73	80.00	2986.7	2984.7	2988.6	1721.2	2081.2	133.06	-13.26	131	950.60	0.00	0.00	3.74	0.000	0.000	0.101	2985.97	2984.31	2987.62	1721.44	3476.94	0	0	0	30.00	30.00	15.10
969.98	1028	-119.45	-1.73	0.00	2986.3	2983.9	2988.7	1720.9	3476.9	137.00	-15.74	136	974.54	0.00	0.00	3.39	0.000	0.000	0.052	2987.59	2985.12	2990.06	1720.62	2080.44	0	0	0	30.00	30.00	15.26
1039.93	0	-119.45	-1.73	0.00	2986.7	2984.1	2989.2	1721.1	2080.5	146.79	-13.86	144	1041.26	0.00	0.00	0.00	0.000	0.000	0.000	2987.25	2984.62	2989.88	1721.38	2080.44	0	0	0	30.00	30.00	30.00
1099.95	0	-119.45	-1.73	0.00	2986.3	2984.5	2988.2	1721.1	2080.6	154.77	-13.05	150	1101.28	0.00	0.00	0.00	0.000	0.000	0.000	2986.88	2984.62	2989.12	1721.25	2080.62	0	0	0	30.00	30.00	30.00
1219.95	0	-119.45	-1.73	0.00	2986.5	2984.1	2988.9	1721.3	2080.7	170.03	-12.34	162	1221.28	0.00	0.00	0.00	0.000	0.000	0.000	2986.19	2984.19	2988.19	1721.38	2080.88	0	0	0	30.00	30.00	30.00
1339.96	260	-119.45	-1.73	80.00	2986.5	2984.2	2988.8	1721.6	2080.4	184.38	-11.35	174	1345.62	0.00	0.00	3.77	0.000	0.000	0.103	2984.84	2982.00	2987.69	1721.12	3474.94	0	0	0	30.00	30.00	15.05
1358.89	1028	-119.45	-1.73	0.00	2986.7	2984.3	2989.1	1720.8	3474.9	186.91	-12.14	178	1365.65	0.00	0.00	3.39	0.000	0.000	0.052	2986.81	2983.94	2989.69	1721.19	2081.06	0	0	0	30.00	30.00	15.23
1484.98	260	-119.45	-1.73	80.00	2986.8	2984.5	2989.2	1721.2	2081.4	202.17	-12.25	191	1490.63	0.00	0.00	3.76	0.000	0.000	0.102	2986.34	2983.75	2988.94	1720.81	3476.62	0	0	0	30.00	30.00	15.05
1499.97	1028	-119.45	-1.73	0.00	2986.7	2984.1	2989.2	1721.4	3475.6	203.76	-12.09	194	1504.56	0.00	0.00	3.39	0.000	0.000	0.052	2986.91	2984.50	2989.31	1720.62	2079.00	0	0	0	30.00	30.00	15.24
1629.99	0	-119.45	-1.73	0.00	2986.9	2984.5	2989.2	1721.2	2079.2	219.42	-11.65	208	1631.32	0.00	0.00	0.00	0.000	0.000	0.000	2986.12	2983.62	2988.62	1720.81	2079.06	0	0	0	30.00	30.00	30.00
1750.00	260	-119.45	-1.73	80.00	2987.0	2984.8	2989.2	1721.7	2078.8	233.65	-11.66	220	1755.65	0.00	0.00	3.78	0.000	0.000	0.103	2986.28	2983.31	2989.25	1721.19	3476.44	0	0	0	30.00	30.00	15.02
1795.44	1028	-119.45	-1.73	0.00	2986.7	2984.1	2989.2	1720.9	3476.9	239.14	-12.29	229	1800.60	0.00	0.00	3.38	0.000	0.000	0.053	2988.50	2985.31	2991.69	1720.62	2077.88	0	0	0	30.00	30.00	15.22
1920.01	0	-119.45	-1.73	0.00	2987.0	2984.7	2989.2	1721.0	2077.8	253.87	-11.35	240	1921.34	0.00	0.00	0.00	0.000	0.000	0.000	2986.06	2983.19	2988.94	1720.75	2078.00	0	0	0	30.00	30.00	30.00
2220.01	260	-119.45	-1.73	80.00	2986.9	2984.6	2989.3	1721.0	2077.7	291.83	-13.02	250	2225.68	0.00	0.00	3.79	0.000	0.000	0.107	2988.22	2985.38	2991.06	1720.44	3476.00	0	0	0	30.00	30.00	14.99
2263.93	1028	-119.45	-1.73	0.00	2986.7	2983.3	2990.0	1721.5	3476.1	298.29	-15.18	259	2269.64	0.00	0.00	3.41	0.000	0.000	0.054	2987.94	2984.88	2991.00	1720.94	2081.44	0	0	0	30.00	30.00	15.17
2575.03	260	-119.45	-1.73	80.00	2987.0	2984.5	2989.6	1721.5	2080.8	338.75	-12.92	271	2580.71	0.00	0.00	3.82	0.000	0.000	0.107	2987.56	2985.06	2990.06	1721.62	3474.69	0	0	0	30.00	30.00	14.97
2653.95	1028	-119.45	-1.73	0.00	2987.0	2984.4	2989.5	1721.3	3474.4	349.74	-13.73	287	2660.76	0.00	0.00	3.42	0.000	0.000	0.056	2987.56	2984.94	2990.19	1721.38	2082.00	0	0	0	30.00	30.00	15.15
2960.06	260	-119.45	-1.73	80.00	2986.9	2984.8	2989.1	1721.4	2082.5	386.68	-11.79	298	2965.73	0.00	0.00	3.80	0.000	0.000	0.107	2985.47	2982.31	2988.62	1721.56	3474.81	0	0	0	30.00	30.00	14.97
2988.97	1028	-119.45	-1.73	0.00	2986.5	2984.1	2988.9	1721.2	3475.1	390.50	-13.12	304	2994.68	0.00	0.00	3.41	0.000	0.000	0.055	2988.34	2985.00	2991.69	1721.38	2081.12	0	0	0	30.00	30.00	15.15
3315.08	260	-119.45	-1.73	80.00	2987.0	2984.6	2989.3	1721.2	2081.2	429.83	-11.89	319	3320.76	0.00	0.00	3.82	0.000	0.000	0.108	2985.12	2983.06	2987.19	1720.94	3474.75	0	0	0	30.00	30.00	14.94
3384.05	1028	-119.45	-1.73	0.00	2986.7	2984.2	2989.2	1721.6	3474.9	439.01	-11.97	333	3389.70	0.00	0.00	3.43	0.000	0.000	0.056	2987.25	2984.69	2989.81	1721.19	2083.31	0	0	0	30.00	30.00	15.12
3700.10	260	-119.45	-1.73	80.00	2986.5	2984.1	2988.8	1721.1	2083.4	477.47	-12.12	346	3705.77	0.00	0.00	3.84	0.000	0.000	0.110	2988.88	2986.25	2991.50	1720.06	3474.44	0	0	0	30.00	30.00	14.93
3734.02	1028	-119.45	-1.73	0.00	2986.4	2983.9	2988.9	1721.0	3476.0	482.46	-12.38	353	3739.72	0.00	0.00	3.44	0.000	0.000	0.057	2987.09	2984.62	2989.56	1721.38	2081.94	0	0	0	30.00	30.00	15.11
3874	end dive: TARGET_DEPTH_EXCEEDED
state	3875	begin apogee
3876.23	10243	0.00	-0.25	0.00	2986.1	2983.8	2988.5	1721.5	2121.3	500.75	-12.71	361	3980.35	99.62	2.97	0.09	1.634	0.158	0.225	2497.06	2506.31	2487.81	2079.19	2084.94	0	0	0	10.94	14.86	14.83
3983	end apogee: CONTROL_FINISHED_OK
state	3983	begin climb
3983.61	10243	119.45	1.73	0.00	2497.6	2506.6	2488.5	2080.0	2084.9	504.61	0.00	364	4095.98	107.87	3.51	0.00	1.576	0.078	0.000	2012.31	2026.38	1998.25	2563.62	2084.38	0	0	0	11.32	15.06	30.00
4385.19	16966	119.45	1.76	-80.00	2001.0	2020.4	1981.7	2564.1	2084.2	473.23	9.88	383	4390.85	0.00	0.00	4.01	0.000	0.000	0.138	2000.59	2019.94	1981.25	2563.25	661.81	0	0	0	30.00	30.00	15.15
4449.05	17414	119.45	1.76	0.00	1999.9	2018.4	1981.4	2563.3	662.1	464.63	14.21	396	4454.73	0.00	0.00	3.50	0.000	0.000	0.045	2000.62	2019.19	1982.06	2563.38	2125.94	0	0	0	30.00	30.00	15.42
4770.15	16646	119.45	1.76	80.00	1998.1	2018.6	1977.7	2563.6	2127.1	428.75	10.76	410	4775.80	0.00	0.00	3.64	0.000	0.000	0.113	1998.25	2018.75	1977.75	2562.44	3473.25	0	0	0	30.00	30.00	15.20
4999.11	17414	119.45	1.76	0.00	1997.4	2017.0	1977.8	2563.9	3474.1	401.92	12.68	456	5005.93	0.00	0.00	3.41	0.000	0.000	0.055	1997.31	2017.50	1977.12	2563.88	2080.94	0	0	0	30.00	30.00	15.35
5305.23	16902	119.45	1.76	-80.00	1996.3	2017.5	1975.2	2563.8	2081.2	368.92	11.09	467	5310.92	0.00	0.00	3.99	0.000	0.000	0.135	1994.97	2015.31	1974.62	2563.75	661.06	0	0	0	30.00	30.00	15.08
5404.16	17414	119.45	1.76	0.00	1995.5	2015.7	1975.2	2564.0	660.6	356.44	13.86	487	5409.84	0.00	0.00	3.50	0.000	0.000	0.044	1996.44	2016.44	1976.44	2564.06	2128.12	0	0	0	30.00	30.00	15.44
5720.27	8226	141.85	1.83	0.00	1995.0	2015.4	1974.6	2564.0	2128.6	326.73	8.86	500	5740.16	19.27	0.00	0.00	1.359	0.000	0.000	1919.28	1938.56	1900.00	2563.81	2128.19	0	0	0	11.43	30.00	30.00
6020.33	2373	141.85	1.87	80.00	1916.3	1938.8	1893.8	2563.4	2127.6	297.14	9.68	510	6025.96	0.00	0.19	3.65	0.000	0.077	0.112	1915.91	1938.62	1893.19	2607.31	3473.12	0	0	0	30.00	15.56	15.24
6249.22	9254	163.96	1.94	0.00	1916.1	1938.5	1893.7	2607.3	3473.4	272.49	8.89	556	6275.36	21.35	0.00	3.41	1.328	0.000	0.054	1831.97	1854.19	1809.75	2606.88	2077.38	0	0	0	11.63	30.00	15.33
6575.31	0	163.96	1.94	0.00	1826.1	1850.6	1801.7	2607.4	2078.1	236.41	11.26	580	6576.64	0.00	0.00	0.00	0.000	0.000	0.000	1825.66	1850.31	1801.00	2607.12	2077.62	0	0	0	30.00	30.00	30.00
6695.32	516	163.96	1.94	-80.00	1825.4	1850.4	1800.4	2607.6	2077.9	222.73	11.89	592	6701.02	0.00	0.00	3.99	0.000	0.000	0.135	1824.88	1849.56	1800.19	2608.69	661.00	0	0	0	30.00	30.00	15.11
6720.76	1028	163.96	1.94	0.00	1824.9	1849.3	1800.5	2607.1	660.9	220.42	10.70	597	6725.95	0.00	0.00	3.52	0.000	0.000	0.047	1826.03	1850.06	1802.00	2606.00	2126.31	0	0	0	30.00	30.00	15.47
6845.34	516	163.96	1.94	-80.00	1824.8	1849.3	1800.2	2607.5	2127.3	206.08	11.28	610	6851.04	0.00	0.00	4.08	0.000	0.000	0.131	1823.62	1848.06	1799.19	2607.12	660.88	0	0	0	30.00	30.00	15.10
6900.79	1028	163.96	1.94	0.00	1824.2	1848.4	1800.1	2607.1	660.8	199.58	12.82	621	6905.97	0.00	0.00	3.53	0.000	0.000	0.048	1825.06	1848.44	1801.69	2606.62	2128.19	0	0	0	30.00	30.00	15.45
7025.37	8226	185.94	2.01	0.00	1823.5	1848.0	1799.1	2607.8	2128.2	187.04	8.90	634	7046.82	20.15	0.00	0.00	1.240	0.000	0.000	1740.31	1764.56	1716.06	2607.75	2128.50	0	0	0	11.50	30.00	30.00
7170.37	516	185.94	2.01	-80.00	1737.9	1763.1	1712.8	2607.8	2127.9	172.00	11.12	649	7176.09	0.00	0.00	4.05	0.000	0.000	0.131	1739.56	1764.75	1714.38	2605.69	660.88	0	0	0	30.00	30.00	15.23
7299.30	1028	185.94	2.01	0.00	1737.2	1761.9	1712.5	2607.8	660.8	155.25	12.88	675	7306.13	0.00	0.00	3.54	0.000	0.000	0.049	1738.06	1762.38	1713.75	2607.19	2126.00	0	0	0	30.00	30.00	15.45
7425.43	2113	185.94	2.06	0.00	1736.3	1761.2	1711.3	2607.8	2126.8	142.66	9.39	688	7426.89	0.00	0.21	0.00	0.000	0.082	0.000	1736.06	1761.00	1711.12	2649.50	2125.94	0	0	0	30.00	15.56	30.00
7485.46	0	185.94	2.06	0.00	1736.2	1761.2	1711.2	2649.5	2126.2	135.98	11.18	694	7486.79	0.00	0.00	0.00	0.000	0.000	0.000	1737.31	1762.06	1712.56	2648.19	2125.94	0	0	0	30.00	30.00	30.00
7545.44	580	185.94	2.08	-80.00	1735.9	1760.6	1711.2	2649.1	2126.3	129.66	10.53	700	7551.13	0.00	0.00	4.05	0.000	0.000	0.129	1734.78	1759.31	1710.25	2649.44	661.19	0	0	0	30.00	30.00	15.09
7580.87	1028	185.94	2.08	0.00	1735.6	1760.1	1711.1	2649.1	661.4	125.08	13.15	707	7586.06	0.00	0.00	3.52	0.000	0.000	0.047	1734.91	1759.81	1710.00	2648.69	2127.25	0	0	0	30.00	30.00	15.45
7645.44	64	185.94	2.10	0.00	1735.4	1760.2	1710.6	2650.1	2127.1	118.19	10.13	714	7646.77	0.00	0.00	0.00	0.000	0.000	0.000	1735.41	1760.62	1710.19	2648.62	2127.50	0	0	0	30.00	30.00	30.00
7705.46	516	185.94	2.10	-80.00	1735.6	1760.4	1710.8	2649.0	2127.3	111.77	10.98	720	7711.16	0.00	0.00	4.07	0.000	0.000	0.127	1735.19	1759.88	1710.50	2649.38	661.69	0	0	0	30.00	30.00	15.07
7730.88	1028	185.94	2.10	0.00	1735.4	1760.1	1710.6	2649.1	661.7	108.94	10.81	725	7736.07	0.00	0.00	3.52	0.000	0.000	0.046	1736.12	1760.75	1711.50	2648.06	2128.19	0	0	0	30.00	30.00	15.44
7795.51	324	185.94	2.16	80.00	1735.3	1760.1	1710.5	2648.9	2127.9	102.38	9.17	732	7801.10	0.00	0.00	3.63	0.000	0.000	0.108	1734.19	1759.31	1709.06	2648.88	3476.19	0	0	0	30.00	30.00	15.16
7824.35	1028	185.94	2.16	0.00	1735.0	1759.5	1710.5	2649.9	3476.5	98.96	11.38	738	7831.14	0.00	0.00	3.39	0.000	0.000	0.053	1735.16	1759.88	1710.44	2649.38	2076.69	0	0	0	30.00	30.00	15.34
7890.51	516	185.94	2.16	-80.00	1735.0	1759.6	1710.5	2648.9	2076.9	92.34	10.72	745	7896.15	0.00	0.00	3.95	0.000	0.000	0.129	1736.69	1761.62	1711.75	2648.25	660.81	0	0	0	30.00	30.00	15.09
8119.45	1092	185.94	2.18	0.00	1734.8	1759.6	1710.1	2649.2	660.6	65.77	10.40	791	8126.23	0.00	0.00	3.53	0.000	0.000	0.046	1735.84	1760.50	1711.19	2649.50	2129.75	0	0	0	30.00	30.00	15.40
8185.52	10791	237.16	2.34	-80.00	1734.7	1759.6	1709.9	2648.9	2129.2	61.73	5.96	798	8251.53	57.97	0.38	4.01	1.114	0.060	0.125	1532.00	1556.56	1507.44	2717.38	660.62	0	0	0	11.45	15.58	15.10
8286.00	9254	262.37	2.41	0.00	1530.7	1553.8	1507.6	2717.5	660.2	54.71	8.58	818	8320.82	29.80	0.00	3.53	1.046	0.000	0.045	1431.19	1455.56	1406.81	2717.56	2127.88	0	0	0	11.56	30.00	15.42
8385.60	516	262.37	2.41	-80.00	1427.2	1454.7	1399.7	2717.6	2128.1	44.28	10.73	832	8391.25	0.00	0.00	4.05	0.000	0.000	0.124	1426.38	1454.25	1398.50	2717.50	659.62	0	0	0	30.00	30.00	15.18
8414.46	1092	262.37	2.44	0.00	1426.7	1453.8	1399.5	2717.1	659.8	41.16	10.36	838	8421.25	0.00	0.00	3.50	0.000	0.000	0.044	1427.72	1454.81	1400.62	2716.44	2129.94	0	0	0	30.00	30.00	15.40
8480.64	10275	288.42	2.51	0.00	1425.8	1453.8	1397.7	2717.7	2129.8	35.30	8.49	845	8511.22	29.39	0.20	0.00	1.028	0.076	0.000	1324.34	1350.62	1298.06	2760.31	2129.75	0	0	0	11.55	15.45	30.00
8570.57	580	288.42	2.54	-80.00	1321.8	1349.9	1293.8	2759.9	2129.1	26.48	10.18	855	8576.27	0.00	0.00	4.05	0.000	0.000	0.125	1322.53	1350.19	1294.88	2760.31	660.94	0	0	0	30.00	30.00	15.19
8799.53	9254	322.68	2.64	0.00	1320.9	1348.1	1293.6	2760.4	660.9	7.63	7.67	901	8841.00	36.74	0.00	3.50	1.015	0.000	0.045	1185.53	1212.69	1158.38	2760.38	2130.31	0	0	0	11.54	30.00	15.43
8875	end climb: SURFACE_DEPTH_REACHED
state	8875	begin surface coast
8895	end surface coast: CONTROL_FINISHED_OK
state	8895	begin surface