Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1167 * 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 1167 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 77.317322 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 277.60495 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 77.317322 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 277.60495 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 1167 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 170421,194045,4707.457,-12501.227,4,1.1,10,15.5 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.47 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -64.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 170421,194809,4707.437,-12501.234,4,0.7,18,15.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 301.7,1421,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 565

Post-dive calculations and measurements:

SM_CCo 8382.42,0.00,0.013,0,564.4,556.7,572.1,474.81 _10V_AH 14.73,0.000

SM_GC -0.64,0.00,17.75,3.37,0.013,0.064,0.047,564.4,556.7,572.1,170.4,2076.9,0,0,0,30.36,15.14,15.37 FG_AHR_24Vo 277.831

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 77.346

IRIDIUM_FIX 4707.10,-12459.52,170421,170028 MEM 1103708,37,73460,56

TCM_TEMP 174.66 DATA_FILE_SIZE 32171,843

XPDR_PINGS 18,14.0,11.5 CAP_FILE_SIZE 458245,0

SC_FREEKB 3411936 SDSIZE 3918848,3600064

HUMID 58.84 SDFILEDIR 5861,1

TEMP 7.70 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.76997 GPS 170421,220839,4708.156,-12500.864,19,1.1,20,15.5

_24V_AH 13.67,317.893

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 667 2588 23616.90 legato 0 0 0.00

Pitch_motor 39 260 140.21 nil 0 0 0.00

Roll_motor 205 224 630.01 nil 0 0 0.00

Iridium 188 199 512.50 nil 0 0 0.00

Transponder_ping 4 420 25.84 nil 0 0 0.00

GPS 26 15 5.96 nil 0 0 0.00

Core 3261 11 566.88 SciCon 8269 5 639.95

LPSleep 5337 2 220.15 nil 0 0 0.00

Compass 1627 5 119.86 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

8.51 16386 -74.33 -1.59 0.00 559.0 556.4 561.6 171.6 2114.8 0.00 0.00 0 90.32 81.28 0.00 0.00 0.005 0.000 0.000 2404.38 2389.12 2419.62 171.44 2114.94 0 0 0 14.68 30.00 30.00

90.57 18727 -118.30 -1.72 80.00 2403.7 2387.7 2419.6 171.6 2115.1 3.06 -6.69 8 126.66 13.34 14.26 3.70 0.006 0.260 0.109 2981.16 2979.69 2982.62 1722.69 3475.81 0 0 0 14.82 14.81 14.61

243.81 1028 -118.30 -1.72 0.00 2981.8 2979.4 2984.2 1722.6 3476.5 35.84 -18.16 39 250.59 0.00 0.00 3.44 0.000 0.000 0.052 2982.00 2979.75 2984.25 1721.88 2080.81 0 0 0 30.00 30.00 15.27

309.95 260 -118.30 -1.72 80.00 2981.8 2979.6 2983.9 1722.4 2081.1 46.67 -16.96 46 315.56 0.00 0.00 3.77 0.000 0.000 0.098 2982.09 2979.69 2984.50 1722.50 3474.38 0 0 0 30.00 30.00 15.13

405.35 1028 -118.30 -1.72 0.00 2981.7 2979.2 2984.2 1722.0 3474.9 63.25 -17.25 65 410.53 0.00 0.00 3.42 0.000 0.000 0.050 2982.03 2979.38 2984.69 1722.69 2081.38 0 0 0 30.00 30.00 15.28

469.97 516 -118.30 -1.72 -80.00 2981.8 2979.1 2984.4 1722.3 2081.4 72.59 -14.05 72 475.64 0.00 0.00 4.07 0.000 0.000 0.143 2979.97 2977.25 2982.69 1722.00 660.94 0 0 0 30.00 30.00 14.98

508.83 1028 -118.30 -1.72 0.00 2982.3 2979.4 2985.2 1722.6 660.9 78.59 -15.58 80 515.68 0.00 0.00 3.50 0.000 0.000 0.042 2982.34 2979.44 2985.25 1722.38 2124.38 0 0 0 30.00 30.00 15.35

575.12 260 -118.30 -1.72 80.00 2981.7 2979.1 2984.2 1722.4 2124.2 86.07 -11.27 87 580.57 0.00 0.00 3.61 0.000 0.000 0.099 2980.47 2978.19 2982.75 1722.62 3475.44 0 0 0 30.00 30.00 15.12

619.93 1028 -118.30 -1.72 0.00 2982.2 2979.6 2984.9 1722.4 3475.9 92.13 -14.49 96 624.52 0.00 0.00 3.39 0.000 0.000 0.047 2983.62 2980.44 2986.81 1722.06 2081.12 0 0 0 30.00 30.00 15.28

689.93 260 -118.30 -1.72 80.00 2981.8 2978.9 2984.8 1722.8 2080.8 101.30 -13.13 104 695.61 0.00 0.00 3.75 0.000 0.000 0.097 2982.62 2980.19 2985.06 1721.88 3474.00 0 0 0 30.00 30.00 15.10

738.86 1028 -118.30 -1.72 0.00 2981.2 2978.6 2983.9 1722.8 3474.2 108.25 -14.28 114 745.63 0.00 0.00 3.39 0.000 0.000 0.047 2983.66 2980.94 2986.38 1722.44 2081.50 0 0 0 30.00 30.00 15.26

805.00 0 -118.30 -1.72 0.00 2982.3 2979.4 2985.3 1722.0 2080.8 116.88 -13.37 121 806.33 0.00 0.00 0.00 0.000 0.000 0.000 2981.50 2978.50 2984.50 1722.25 2081.38 0 0 0 30.00 30.00 30.00

864.96 0 -118.30 -1.72 0.00 2982.1 2979.1 2985.1 1722.7 2080.8 125.26 -14.12 127 866.28 0.00 0.00 0.00 0.000 0.000 0.000 2981.47 2978.75 2984.19 1721.81 2080.31 0 0 0 30.00 30.00 30.00

924.96 0 -118.30 -1.72 0.00 2982.1 2979.5 2984.8 1722.1 2081.5 133.71 -13.90 133 926.29 0.00 0.00 0.00 0.000 0.000 0.000 2981.50 2978.62 2984.38 1722.06 2080.94 0 0 0 30.00 30.00 30.00

984.97 0 -118.30 -1.72 0.00 2982.4 2979.6 2985.2 1722.6 2081.4 141.49 -12.85 139 986.29 0.00 0.00 0.00 0.000 0.000 0.000 2981.66 2978.62 2984.69 1722.12 2080.62 0 0 0 30.00 30.00 30.00

1044.97 0 -118.30 -1.72 0.00 2982.0 2979.2 2984.9 1722.3 2081.4 149.16 -12.72 145 1046.30 0.00 0.00 0.00 0.000 0.000 0.000 2981.47 2978.19 2984.75 1722.25 2081.19 0 0 0 30.00 30.00 30.00

1104.98 260 -118.30 -1.72 80.00 2982.2 2978.8 2985.6 1722.5 2081.1 157.14 -13.19 151 1110.64 0.00 0.00 3.79 0.000 0.000 0.100 2982.97 2980.00 2985.94 1722.19 3475.88 0 0 0 30.00 30.00 15.06

1133.88 1028 -118.30 -1.72 0.00 2981.8 2978.5 2985.0 1722.2 3475.8 161.10 -13.19 157 1140.68 0.00 0.00 3.39 0.000 0.000 0.049 2983.09 2979.88 2986.31 1722.19 2080.62 0 0 0 30.00 30.00 15.23

1259.99 0 -118.30 -1.72 0.00 2982.3 2979.3 2985.2 1722.2 2081.3 175.48 -11.22 170 1261.32 0.00 0.00 0.00 0.000 0.000 0.000 2981.66 2979.25 2984.06 1722.00 2081.06 0 0 0 30.00 30.00 30.00

1380.00 0 -118.30 -1.72 0.00 2981.9 2978.7 2985.1 1721.9 2081.6 188.31 -10.79 182 1381.32 0.00 0.00 0.00 0.000 0.000 0.000 2981.66 2978.56 2984.75 1722.19 2080.88 0 0 0 30.00 30.00 30.00

1500.01 0 -118.30 -1.72 0.00 2982.2 2979.1 2985.2 1722.8 2081.9 201.44 -11.00 194 1501.33 0.00 0.00 0.00 0.000 0.000 0.000 2981.72 2978.88 2984.56 1722.19 2080.69 0 0 0 30.00 30.00 30.00

1620.02 0 -118.30 -1.72 0.00 2982.6 2979.6 2985.6 1721.6 2080.4 214.98 -11.18 206 1621.34 0.00 0.00 0.00 0.000 0.000 0.000 2981.69 2978.56 2984.81 1722.19 2081.50 0 0 0 30.00 30.00 30.00

1740.03 260 -118.30 -1.72 80.00 2982.2 2979.4 2984.9 1722.2 2081.3 229.76 -12.23 218 1745.71 0.00 0.00 3.83 0.000 0.000 0.104 2980.88 2977.75 2984.00 1722.19 3475.69 0 0 0 30.00 30.00 15.01

1805.48 1028 -118.30 -1.72 0.00 2982.1 2978.8 2985.3 1722.5 3476.0 238.61 -13.08 231 1810.65 0.00 0.00 3.44 0.000 0.000 0.051 2982.16 2979.50 2984.81 1722.12 2080.38 0 0 0 30.00 30.00 15.22

1930.04 0 -118.30 -1.72 0.00 2982.7 2979.5 2985.8 1722.1 2081.4 254.27 -12.19 242 1931.37 0.00 0.00 0.00 0.000 0.000 0.000 2981.72 2978.94 2984.50 1722.00 2080.69 0 0 0 30.00 30.00 30.00

2230.04 260 -118.30 -1.72 80.00 2982.4 2979.5 2985.2 1722.1 2081.4 290.45 -11.93 252 2235.76 0.00 0.00 3.84 0.000 0.000 0.104 2980.53 2977.00 2984.06 1722.25 3475.81 0 0 0 30.00 30.00 14.99

2249.02 1028 -118.30 -1.72 0.00 2982.7 2979.9 2985.5 1722.7 3474.6 293.14 -11.45 256 2255.76 0.00 0.00 3.41 0.000 0.000 0.049 2982.31 2979.44 2985.19 1722.50 2080.12 0 0 0 30.00 30.00 15.19

2555.06 260 -118.30 -1.72 80.00 2982.1 2979.2 2984.9 1722.4 2080.4 330.23 -12.07 267 2560.75 0.00 0.00 3.82 0.000 0.000 0.104 2981.47 2978.19 2984.75 1722.31 3476.81 0 0 0 30.00 30.00 14.97

2588.97 1028 -118.30 -1.72 0.00 2982.1 2978.7 2985.5 1722.3 3475.8 334.58 -13.12 274 2594.68 0.00 0.00 3.42 0.000 0.000 0.050 2983.62 2980.81 2986.44 1722.75 2081.38 0 0 0 30.00 30.00 15.16

2910.08 260 -118.30 -1.72 80.00 2982.9 2979.9 2985.9 1722.3 2082.1 372.72 -11.60 288 2915.76 0.00 0.00 3.87 0.000 0.000 0.106 2981.56 2978.19 2984.94 1722.75 3475.06 0 0 0 30.00 30.00 14.95

2943.99 1028 -118.30 -1.72 0.00 2982.6 2979.6 2985.6 1722.4 3476.2 377.27 -13.68 295 2949.70 0.00 0.00 3.45 0.000 0.000 0.051 2983.06 2980.19 2985.94 1722.44 2081.12 0 0 0 30.00 30.00 15.15

3265.09 260 -118.30 -1.72 80.00 2982.1 2978.9 2985.2 1722.8 2081.0 413.59 -10.67 309 3270.77 0.00 0.00 3.87 0.000 0.000 0.107 2981.84 2978.62 2985.06 1721.88 3474.38 0 0 0 30.00 30.00 14.93

3329.01 1028 -118.30 -1.72 0.00 2982.1 2978.4 2985.8 1722.6 3474.2 421.29 -11.74 322 3334.70 0.00 0.00 3.46 0.000 0.000 0.054 2984.47 2981.12 2987.81 1721.62 2082.94 0 0 0 30.00 30.00 15.12

3650.12 0 -118.30 -1.72 0.00 2982.2 2979.2 2985.1 1722.2 2083.6 459.27 -11.11 336 3651.44 0.00 0.00 0.00 0.000 0.000 0.000 2981.62 2978.62 2984.62 1721.44 2082.94 0 0 0 30.00 30.00 30.00

3950.11 260 -118.30 -1.72 80.00 2981.8 2979.0 2984.5 1722.3 2083.4 493.84 -11.32 346 3955.83 0.00 0.00 3.91 0.000 0.000 0.112 2981.53 2978.69 2984.38 1722.12 3473.81 0 0 0 30.00 30.00 14.89

3994.03 1028 -118.30 -1.72 0.00 2981.4 2978.9 2983.9 1722.4 3473.8 498.89 -11.07 355 3999.74 0.00 0.00 3.47 0.000 0.000 0.056 2982.91 2980.50 2985.31 1722.44 2083.00 0 0 0 30.00 30.00 15.08

4005 end dive: TARGET_DEPTH_EXCEEDED

state 4005 begin apogee

4006.27 10243 0.00 -0.25 0.00 2981.7 2978.9 2984.4 1722.6 2122.6 500.77 -16.30 357 4109.70 98.67 2.94 0.09 1.629 0.158 0.224 2498.06 2506.38 2489.75 2079.81 2082.69 0 0 0 11.08 14.86 14.83

4112 end apogee: CONTROL_FINISHED_OK

state 4112 begin climb

4112.97 10503 118.30 1.72 80.00 2497.7 2507.1 2488.2 2080.1 2082.9 504.27 0.00 360 4230.25 107.21 3.50 3.93 1.574 0.077 0.107 2016.19 2031.44 2000.94 2563.00 3472.50 0 0 0 11.32 15.05 14.59

4232.48 11303 192.97 1.95 0.00 2014.7 2029.5 1999.9 2562.4 3472.3 500.05 3.61 369 4306.60 68.54 0.33 3.55 1.528 0.061 0.049 1713.16 1735.50 1690.81 2621.25 2082.81 0 0 0 11.22 14.78 14.94

4614.83 16902 192.97 1.95 -80.00 1703.7 1728.6 1678.8 2621.0 2082.6 449.41 14.50 395 4620.54 0.00 0.00 4.03 0.000 0.000 0.134 1702.84 1727.81 1677.88 2621.56 660.12 0 0 0 30.00 30.00 15.15

4760.30 17414 192.97 1.95 0.00 1702.8 1726.9 1678.7 2621.1 660.6 425.32 16.92 424 4765.46 0.00 0.00 3.49 0.000 0.000 0.041 1701.62 1726.31 1676.94 2621.75 2124.75 0 0 0 30.00 30.00 15.45

5084.92 16902 192.97 1.95 -80.00 1701.5 1726.5 1676.5 2621.1 2125.1 379.45 14.07 439 5090.58 0.00 0.00 4.09 0.000 0.000 0.130 1700.53 1726.06 1675.00 2620.75 660.94 0 0 0 30.00 30.00 15.12

5128.78 17414 192.97 1.95 0.00 1701.3 1726.2 1676.4 2621.2 661.0 372.32 16.74 448 5134.48 0.00 0.00 3.48 0.000 0.000 0.042 1701.81 1727.00 1676.62 2621.88 2125.06 0 0 0 30.00 30.00 15.44

5439.88 16902 192.97 1.95 -80.00 1700.1 1725.7 1674.6 2621.2 2125.2 330.54 13.23 460 5445.61 0.00 0.00 4.12 0.000 0.000 0.130 1699.22 1724.44 1674.00 2621.50 660.62 0 0 0 30.00 30.00 15.06

5578.80 17414 192.97 1.95 0.00 1700.1 1725.5 1674.7 2621.2 660.7 308.68 12.22 488 5585.83 0.00 0.00 3.48 0.000 0.000 0.041 1700.88 1726.25 1675.50 2621.44 2125.38 0 0 0 30.00 30.00 15.42

5884.90 16902 192.97 1.95 -80.00 1699.5 1725.4 1673.6 2621.0 2125.2 268.60 12.88 499 5890.63 0.00 0.00 4.12 0.000 0.000 0.128 1699.91 1725.69 1674.12 2621.25 661.56 0 0 0 30.00 30.00 15.03

6008.82 17414 192.97 1.95 0.00 1699.6 1725.4 1673.8 2620.2 661.6 249.64 15.10 524 6014.54 0.00 0.00 3.51 0.000 0.000 0.043 1699.38 1725.25 1673.50 2621.31 2125.75 0 0 0 30.00 30.00 15.39

6319.94 16902 192.97 1.95 -80.00 1698.6 1724.8 1672.4 2621.4 2126.4 211.04 12.26 557 6325.67 0.00 0.00 4.14 0.000 0.000 0.128 1699.69 1725.12 1674.25 2620.56 661.44 0 0 0 30.00 30.00 14.99

6398.85 17414 192.97 1.95 0.00 1698.5 1724.6 1672.4 2621.2 661.3 198.73 16.08 573 6405.70 0.00 0.00 3.51 0.000 0.000 0.041 1699.06 1725.12 1673.00 2621.69 2127.00 0 0 0 30.00 30.00 15.38

6524.96 16646 192.97 1.95 80.00 1698.2 1724.2 1672.2 2621.4 2127.3 183.57 12.25 586 6530.62 0.00 0.00 3.68 0.000 0.000 0.106 1697.12 1722.94 1671.31 2620.94 3473.19 0 0 0 30.00 30.00 15.08

6550.47 17478 192.97 1.97 0.00 1697.5 1723.0 1672.1 2621.2 3473.6 180.44 10.41 591 6555.55 0.00 0.00 3.39 0.000 0.000 0.047 1698.03 1723.81 1672.25 2621.06 2076.69 0 0 0 30.00 30.00 15.35

6674.98 16902 192.97 1.97 -80.00 1697.4 1723.1 1671.7 2621.4 2076.9 164.84 12.08 604 6680.68 0.00 0.00 3.98 0.000 0.000 0.128 1697.69 1723.38 1672.00 2621.00 661.00 0 0 0 30.00 30.00 15.01

6820.43 17414 192.97 1.97 0.00 1697.7 1723.4 1671.9 2621.1 661.0 143.86 14.66 633 6825.62 0.00 0.00 3.51 0.000 0.000 0.039 1698.53 1723.50 1673.56 2620.31 2128.94 0 0 0 30.00 30.00 15.41

6884.99 16386 192.97 1.97 0.00 1697.5 1723.4 1671.7 2621.2 2129.6 136.71 10.90 640 6886.32 0.00 0.00 0.00 0.000 0.000 0.000 1696.91 1722.50 1671.31 2620.44 2129.06 0 0 0 30.00 30.00 30.00

6945.00 16902 192.97 1.97 -80.00 1697.4 1723.1 1671.8 2621.7 2129.0 129.69 11.91 646 6950.73 0.00 0.00 4.09 0.000 0.000 0.123 1696.94 1722.81 1671.06 2621.12 661.62 0 0 0 30.00 30.00 14.98

6980.44 17414 192.97 1.97 0.00 1697.3 1723.2 1671.5 2621.2 661.6 125.02 13.29 653 6985.62 0.00 0.00 3.49 0.000 0.000 0.039 1697.22 1722.81 1671.62 2620.12 2128.38 0 0 0 30.00 30.00 15.41

7045.00 16902 192.97 1.97 -80.00 1697.7 1723.6 1671.8 2620.9 2128.2 117.55 11.14 660 7050.72 0.00 0.00 4.07 0.000 0.000 0.121 1696.41 1722.38 1670.44 2621.25 662.00 0 0 0 30.00 30.00 15.03

7133.94 17414 192.97 1.97 0.00 1697.6 1723.2 1671.9 2621.6 661.9 105.81 12.55 678 7140.73 0.00 0.00 3.48 0.000 0.000 0.038 1697.78 1723.50 1672.06 2620.62 2130.38 0 0 0 30.00 30.00 15.40

7200.10 16450 192.97 1.99 0.00 1697.2 1722.8 1671.5 2621.2 2130.8 98.83 10.51 685 7201.43 0.00 0.00 0.00 0.000 0.000 0.000 1697.44 1723.06 1671.81 2620.94 2129.88 0 0 0 30.00 30.00 30.00

7260.05 16966 192.97 2.02 -80.00 1697.5 1723.0 1671.9 2621.6 2130.4 92.90 9.94 691 7265.74 0.00 0.00 4.10 0.000 0.000 0.122 1698.50 1723.25 1673.75 2620.81 660.94 0 0 0 30.00 30.00 14.97

7328.94 17414 192.97 2.02 0.00 1697.2 1722.9 1671.6 2620.8 660.7 85.02 12.44 705 7335.75 0.00 0.00 3.49 0.000 0.000 0.039 1698.22 1724.19 1672.25 2620.56 2130.38 0 0 0 30.00 30.00 15.40

7395.11 10535 216.04 2.09 80.00 1697.1 1723.0 1671.2 2621.8 2130.4 79.17 8.79 712 7426.43 25.30 0.16 3.58 1.110 0.082 0.106 1619.22 1644.38 1594.06 2658.50 3473.56 0 0 0 11.31 15.59 15.23

7485.56 9254 239.60 2.16 0.00 1616.8 1642.2 1591.3 2659.8 3474.2 70.62 8.74 730 7520.31 29.03 0.00 3.37 1.091 0.000 0.045 1523.44 1550.00 1496.88 2659.56 2075.88 0 0 0 11.67 30.00 15.46

7585.08 10791 276.12 2.27 -80.00 1520.0 1548.1 1491.8 2659.1 2076.2 63.03 7.44 744 7637.15 42.90 0.20 3.88 1.086 0.078 0.127 1373.94 1400.69 1347.19 2698.44 659.75 0 0 0 11.56 15.43 15.00

7715.84 1028 276.12 2.27 0.00 1371.8 1397.0 1346.7 2698.8 659.9 49.41 13.21 770 7721.02 0.00 0.00 3.51 0.000 0.000 0.038 1370.97 1395.94 1346.00 2699.12 2131.31 0 0 0 30.00 30.00 15.41

7780.39 0 276.12 2.27 0.00 1370.6 1396.8 1344.4 2698.6 2131.7 42.25 11.20 777 7781.71 0.00 0.00 0.00 0.000 0.000 0.000 1370.38 1396.50 1344.25 2698.56 2131.50 0 0 0 30.00 30.00 30.00

7840.42 8486 299.34 2.34 80.00 1370.2 1396.5 1344.0 2699.2 2131.6 36.89 8.78 783 7872.70 26.64 0.00 3.61 1.031 0.000 0.106 1279.53 1307.31 1251.75 2698.75 3475.56 0 0 0 11.55 30.00 15.12

7879.89 1092 299.34 2.39 0.00 1279.0 1306.7 1251.2 2698.4 3475.8 33.04 9.51 791 7886.67 0.00 0.00 3.40 0.000 0.000 0.045 1278.84 1306.69 1251.00 2698.44 2074.75 0 0 0 30.00 30.00 15.38

7946.03 10791 327.50 2.47 -80.00 1277.8 1306.8 1248.7 2697.9 2074.8 27.76 8.28 798 7987.44 32.41 0.26 3.88 1.023 0.073 0.127 1164.84 1192.44 1137.25 2752.06 661.62 0 0 0 11.59 15.40 15.06

7989.89 1028 327.50 2.47 0.00 1164.9 1192.5 1137.2 2752.4 661.9 23.09 11.12 807 7996.68 0.00 0.00 3.47 0.000 0.000 0.037 1165.06 1192.38 1137.75 2752.00 2131.81 0 0 0 30.00 30.00 15.38

8056.05 324 327.50 2.51 80.00 1163.6 1192.3 1134.9 2752.2 2131.8 16.45 9.79 814 8061.60 0.00 0.00 3.59 0.000 0.000 0.101 1162.75 1191.50 1134.00 2752.25 3475.12 0 0 0 30.00 30.00 15.24

8180 end climb: SURFACE_DEPTH_REACHED

state 8180 begin surface coast

8200 end surface coast: CONTROL_FINISHED_OK

state 8200 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	1167	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	77.317322	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	277.60495	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	170421,194045,4707.457,-12501.227,4,1.1,10,15.5	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.47	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-64.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	170421,194809,4707.437,-12501.234,4,0.7,18,15.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	301.7,1421,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	565

SM_CCo	8382.42,0.00,0.013,0,564.4,556.7,572.1,474.81	_10V_AH	14.73,0.000
SM_GC	-0.64,0.00,17.75,3.37,0.013,0.064,0.047,564.4,556.7,572.1,170.4,2076.9,0,0,0,30.36,15.14,15.37	FG_AHR_24Vo	277.831
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	77.346
IRIDIUM_FIX	4707.10,-12459.52,170421,170028	MEM	1103708,37,73460,56
TCM_TEMP	174.66	DATA_FILE_SIZE	32171,843
XPDR_PINGS	18,14.0,11.5	CAP_FILE_SIZE	458245,0
SC_FREEKB	3411936	SDSIZE	3918848,3600064
HUMID	58.84	SDFILEDIR	5861,1
TEMP	7.70	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.76997	GPS	170421,220839,4708.156,-12500.864,19,1.1,20,15.5
_24V_AH	13.67,317.893

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	667	2588	23616.90	legato	0	0	0.00
Pitch_motor	39	260	140.21	nil	0	0	0.00
Roll_motor	205	224	630.01	nil	0	0	0.00
Iridium	188	199	512.50	nil	0	0	0.00
Transponder_ping	4	420	25.84	nil	0	0	0.00
GPS	26	15	5.96	nil	0	0	0.00
Core	3261	11	566.88	SciCon	8269	5	639.95
LPSleep	5337	2	220.15	nil	0	0	0.00
Compass	1627	5	119.86	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
8.51	16386	-74.33	-1.59	0.00	559.0	556.4	561.6	171.6	2114.8	0.00	0.00	0	90.32	81.28	0.00	0.00	0.005	0.000	0.000	2404.38	2389.12	2419.62	171.44	2114.94	0	0	0	14.68	30.00	30.00
90.57	18727	-118.30	-1.72	80.00	2403.7	2387.7	2419.6	171.6	2115.1	3.06	-6.69	8	126.66	13.34	14.26	3.70	0.006	0.260	0.109	2981.16	2979.69	2982.62	1722.69	3475.81	0	0	0	14.82	14.81	14.61
243.81	1028	-118.30	-1.72	0.00	2981.8	2979.4	2984.2	1722.6	3476.5	35.84	-18.16	39	250.59	0.00	0.00	3.44	0.000	0.000	0.052	2982.00	2979.75	2984.25	1721.88	2080.81	0	0	0	30.00	30.00	15.27
309.95	260	-118.30	-1.72	80.00	2981.8	2979.6	2983.9	1722.4	2081.1	46.67	-16.96	46	315.56	0.00	0.00	3.77	0.000	0.000	0.098	2982.09	2979.69	2984.50	1722.50	3474.38	0	0	0	30.00	30.00	15.13
405.35	1028	-118.30	-1.72	0.00	2981.7	2979.2	2984.2	1722.0	3474.9	63.25	-17.25	65	410.53	0.00	0.00	3.42	0.000	0.000	0.050	2982.03	2979.38	2984.69	1722.69	2081.38	0	0	0	30.00	30.00	15.28
469.97	516	-118.30	-1.72	-80.00	2981.8	2979.1	2984.4	1722.3	2081.4	72.59	-14.05	72	475.64	0.00	0.00	4.07	0.000	0.000	0.143	2979.97	2977.25	2982.69	1722.00	660.94	0	0	0	30.00	30.00	14.98
508.83	1028	-118.30	-1.72	0.00	2982.3	2979.4	2985.2	1722.6	660.9	78.59	-15.58	80	515.68	0.00	0.00	3.50	0.000	0.000	0.042	2982.34	2979.44	2985.25	1722.38	2124.38	0	0	0	30.00	30.00	15.35
575.12	260	-118.30	-1.72	80.00	2981.7	2979.1	2984.2	1722.4	2124.2	86.07	-11.27	87	580.57	0.00	0.00	3.61	0.000	0.000	0.099	2980.47	2978.19	2982.75	1722.62	3475.44	0	0	0	30.00	30.00	15.12
619.93	1028	-118.30	-1.72	0.00	2982.2	2979.6	2984.9	1722.4	3475.9	92.13	-14.49	96	624.52	0.00	0.00	3.39	0.000	0.000	0.047	2983.62	2980.44	2986.81	1722.06	2081.12	0	0	0	30.00	30.00	15.28
689.93	260	-118.30	-1.72	80.00	2981.8	2978.9	2984.8	1722.8	2080.8	101.30	-13.13	104	695.61	0.00	0.00	3.75	0.000	0.000	0.097	2982.62	2980.19	2985.06	1721.88	3474.00	0	0	0	30.00	30.00	15.10
738.86	1028	-118.30	-1.72	0.00	2981.2	2978.6	2983.9	1722.8	3474.2	108.25	-14.28	114	745.63	0.00	0.00	3.39	0.000	0.000	0.047	2983.66	2980.94	2986.38	1722.44	2081.50	0	0	0	30.00	30.00	15.26
805.00	0	-118.30	-1.72	0.00	2982.3	2979.4	2985.3	1722.0	2080.8	116.88	-13.37	121	806.33	0.00	0.00	0.00	0.000	0.000	0.000	2981.50	2978.50	2984.50	1722.25	2081.38	0	0	0	30.00	30.00	30.00
864.96	0	-118.30	-1.72	0.00	2982.1	2979.1	2985.1	1722.7	2080.8	125.26	-14.12	127	866.28	0.00	0.00	0.00	0.000	0.000	0.000	2981.47	2978.75	2984.19	1721.81	2080.31	0	0	0	30.00	30.00	30.00
924.96	0	-118.30	-1.72	0.00	2982.1	2979.5	2984.8	1722.1	2081.5	133.71	-13.90	133	926.29	0.00	0.00	0.00	0.000	0.000	0.000	2981.50	2978.62	2984.38	1722.06	2080.94	0	0	0	30.00	30.00	30.00
984.97	0	-118.30	-1.72	0.00	2982.4	2979.6	2985.2	1722.6	2081.4	141.49	-12.85	139	986.29	0.00	0.00	0.00	0.000	0.000	0.000	2981.66	2978.62	2984.69	1722.12	2080.62	0	0	0	30.00	30.00	30.00
1044.97	0	-118.30	-1.72	0.00	2982.0	2979.2	2984.9	1722.3	2081.4	149.16	-12.72	145	1046.30	0.00	0.00	0.00	0.000	0.000	0.000	2981.47	2978.19	2984.75	1722.25	2081.19	0	0	0	30.00	30.00	30.00
1104.98	260	-118.30	-1.72	80.00	2982.2	2978.8	2985.6	1722.5	2081.1	157.14	-13.19	151	1110.64	0.00	0.00	3.79	0.000	0.000	0.100	2982.97	2980.00	2985.94	1722.19	3475.88	0	0	0	30.00	30.00	15.06
1133.88	1028	-118.30	-1.72	0.00	2981.8	2978.5	2985.0	1722.2	3475.8	161.10	-13.19	157	1140.68	0.00	0.00	3.39	0.000	0.000	0.049	2983.09	2979.88	2986.31	1722.19	2080.62	0	0	0	30.00	30.00	15.23
1259.99	0	-118.30	-1.72	0.00	2982.3	2979.3	2985.2	1722.2	2081.3	175.48	-11.22	170	1261.32	0.00	0.00	0.00	0.000	0.000	0.000	2981.66	2979.25	2984.06	1722.00	2081.06	0	0	0	30.00	30.00	30.00
1380.00	0	-118.30	-1.72	0.00	2981.9	2978.7	2985.1	1721.9	2081.6	188.31	-10.79	182	1381.32	0.00	0.00	0.00	0.000	0.000	0.000	2981.66	2978.56	2984.75	1722.19	2080.88	0	0	0	30.00	30.00	30.00
1500.01	0	-118.30	-1.72	0.00	2982.2	2979.1	2985.2	1722.8	2081.9	201.44	-11.00	194	1501.33	0.00	0.00	0.00	0.000	0.000	0.000	2981.72	2978.88	2984.56	1722.19	2080.69	0	0	0	30.00	30.00	30.00
1620.02	0	-118.30	-1.72	0.00	2982.6	2979.6	2985.6	1721.6	2080.4	214.98	-11.18	206	1621.34	0.00	0.00	0.00	0.000	0.000	0.000	2981.69	2978.56	2984.81	1722.19	2081.50	0	0	0	30.00	30.00	30.00
1740.03	260	-118.30	-1.72	80.00	2982.2	2979.4	2984.9	1722.2	2081.3	229.76	-12.23	218	1745.71	0.00	0.00	3.83	0.000	0.000	0.104	2980.88	2977.75	2984.00	1722.19	3475.69	0	0	0	30.00	30.00	15.01
1805.48	1028	-118.30	-1.72	0.00	2982.1	2978.8	2985.3	1722.5	3476.0	238.61	-13.08	231	1810.65	0.00	0.00	3.44	0.000	0.000	0.051	2982.16	2979.50	2984.81	1722.12	2080.38	0	0	0	30.00	30.00	15.22
1930.04	0	-118.30	-1.72	0.00	2982.7	2979.5	2985.8	1722.1	2081.4	254.27	-12.19	242	1931.37	0.00	0.00	0.00	0.000	0.000	0.000	2981.72	2978.94	2984.50	1722.00	2080.69	0	0	0	30.00	30.00	30.00
2230.04	260	-118.30	-1.72	80.00	2982.4	2979.5	2985.2	1722.1	2081.4	290.45	-11.93	252	2235.76	0.00	0.00	3.84	0.000	0.000	0.104	2980.53	2977.00	2984.06	1722.25	3475.81	0	0	0	30.00	30.00	14.99
2249.02	1028	-118.30	-1.72	0.00	2982.7	2979.9	2985.5	1722.7	3474.6	293.14	-11.45	256	2255.76	0.00	0.00	3.41	0.000	0.000	0.049	2982.31	2979.44	2985.19	1722.50	2080.12	0	0	0	30.00	30.00	15.19
2555.06	260	-118.30	-1.72	80.00	2982.1	2979.2	2984.9	1722.4	2080.4	330.23	-12.07	267	2560.75	0.00	0.00	3.82	0.000	0.000	0.104	2981.47	2978.19	2984.75	1722.31	3476.81	0	0	0	30.00	30.00	14.97
2588.97	1028	-118.30	-1.72	0.00	2982.1	2978.7	2985.5	1722.3	3475.8	334.58	-13.12	274	2594.68	0.00	0.00	3.42	0.000	0.000	0.050	2983.62	2980.81	2986.44	1722.75	2081.38	0	0	0	30.00	30.00	15.16
2910.08	260	-118.30	-1.72	80.00	2982.9	2979.9	2985.9	1722.3	2082.1	372.72	-11.60	288	2915.76	0.00	0.00	3.87	0.000	0.000	0.106	2981.56	2978.19	2984.94	1722.75	3475.06	0	0	0	30.00	30.00	14.95
2943.99	1028	-118.30	-1.72	0.00	2982.6	2979.6	2985.6	1722.4	3476.2	377.27	-13.68	295	2949.70	0.00	0.00	3.45	0.000	0.000	0.051	2983.06	2980.19	2985.94	1722.44	2081.12	0	0	0	30.00	30.00	15.15
3265.09	260	-118.30	-1.72	80.00	2982.1	2978.9	2985.2	1722.8	2081.0	413.59	-10.67	309	3270.77	0.00	0.00	3.87	0.000	0.000	0.107	2981.84	2978.62	2985.06	1721.88	3474.38	0	0	0	30.00	30.00	14.93
3329.01	1028	-118.30	-1.72	0.00	2982.1	2978.4	2985.8	1722.6	3474.2	421.29	-11.74	322	3334.70	0.00	0.00	3.46	0.000	0.000	0.054	2984.47	2981.12	2987.81	1721.62	2082.94	0	0	0	30.00	30.00	15.12
3650.12	0	-118.30	-1.72	0.00	2982.2	2979.2	2985.1	1722.2	2083.6	459.27	-11.11	336	3651.44	0.00	0.00	0.00	0.000	0.000	0.000	2981.62	2978.62	2984.62	1721.44	2082.94	0	0	0	30.00	30.00	30.00
3950.11	260	-118.30	-1.72	80.00	2981.8	2979.0	2984.5	1722.3	2083.4	493.84	-11.32	346	3955.83	0.00	0.00	3.91	0.000	0.000	0.112	2981.53	2978.69	2984.38	1722.12	3473.81	0	0	0	30.00	30.00	14.89
3994.03	1028	-118.30	-1.72	0.00	2981.4	2978.9	2983.9	1722.4	3473.8	498.89	-11.07	355	3999.74	0.00	0.00	3.47	0.000	0.000	0.056	2982.91	2980.50	2985.31	1722.44	2083.00	0	0	0	30.00	30.00	15.08
4005	end dive: TARGET_DEPTH_EXCEEDED
state	4005	begin apogee
4006.27	10243	0.00	-0.25	0.00	2981.7	2978.9	2984.4	1722.6	2122.6	500.77	-16.30	357	4109.70	98.67	2.94	0.09	1.629	0.158	0.224	2498.06	2506.38	2489.75	2079.81	2082.69	0	0	0	11.08	14.86	14.83
4112	end apogee: CONTROL_FINISHED_OK
state	4112	begin climb
4112.97	10503	118.30	1.72	80.00	2497.7	2507.1	2488.2	2080.1	2082.9	504.27	0.00	360	4230.25	107.21	3.50	3.93	1.574	0.077	0.107	2016.19	2031.44	2000.94	2563.00	3472.50	0	0	0	11.32	15.05	14.59
4232.48	11303	192.97	1.95	0.00	2014.7	2029.5	1999.9	2562.4	3472.3	500.05	3.61	369	4306.60	68.54	0.33	3.55	1.528	0.061	0.049	1713.16	1735.50	1690.81	2621.25	2082.81	0	0	0	11.22	14.78	14.94
4614.83	16902	192.97	1.95	-80.00	1703.7	1728.6	1678.8	2621.0	2082.6	449.41	14.50	395	4620.54	0.00	0.00	4.03	0.000	0.000	0.134	1702.84	1727.81	1677.88	2621.56	660.12	0	0	0	30.00	30.00	15.15
4760.30	17414	192.97	1.95	0.00	1702.8	1726.9	1678.7	2621.1	660.6	425.32	16.92	424	4765.46	0.00	0.00	3.49	0.000	0.000	0.041	1701.62	1726.31	1676.94	2621.75	2124.75	0	0	0	30.00	30.00	15.45
5084.92	16902	192.97	1.95	-80.00	1701.5	1726.5	1676.5	2621.1	2125.1	379.45	14.07	439	5090.58	0.00	0.00	4.09	0.000	0.000	0.130	1700.53	1726.06	1675.00	2620.75	660.94	0	0	0	30.00	30.00	15.12
5128.78	17414	192.97	1.95	0.00	1701.3	1726.2	1676.4	2621.2	661.0	372.32	16.74	448	5134.48	0.00	0.00	3.48	0.000	0.000	0.042	1701.81	1727.00	1676.62	2621.88	2125.06	0	0	0	30.00	30.00	15.44
5439.88	16902	192.97	1.95	-80.00	1700.1	1725.7	1674.6	2621.2	2125.2	330.54	13.23	460	5445.61	0.00	0.00	4.12	0.000	0.000	0.130	1699.22	1724.44	1674.00	2621.50	660.62	0	0	0	30.00	30.00	15.06
5578.80	17414	192.97	1.95	0.00	1700.1	1725.5	1674.7	2621.2	660.7	308.68	12.22	488	5585.83	0.00	0.00	3.48	0.000	0.000	0.041	1700.88	1726.25	1675.50	2621.44	2125.38	0	0	0	30.00	30.00	15.42
5884.90	16902	192.97	1.95	-80.00	1699.5	1725.4	1673.6	2621.0	2125.2	268.60	12.88	499	5890.63	0.00	0.00	4.12	0.000	0.000	0.128	1699.91	1725.69	1674.12	2621.25	661.56	0	0	0	30.00	30.00	15.03
6008.82	17414	192.97	1.95	0.00	1699.6	1725.4	1673.8	2620.2	661.6	249.64	15.10	524	6014.54	0.00	0.00	3.51	0.000	0.000	0.043	1699.38	1725.25	1673.50	2621.31	2125.75	0	0	0	30.00	30.00	15.39
6319.94	16902	192.97	1.95	-80.00	1698.6	1724.8	1672.4	2621.4	2126.4	211.04	12.26	557	6325.67	0.00	0.00	4.14	0.000	0.000	0.128	1699.69	1725.12	1674.25	2620.56	661.44	0	0	0	30.00	30.00	14.99
6398.85	17414	192.97	1.95	0.00	1698.5	1724.6	1672.4	2621.2	661.3	198.73	16.08	573	6405.70	0.00	0.00	3.51	0.000	0.000	0.041	1699.06	1725.12	1673.00	2621.69	2127.00	0	0	0	30.00	30.00	15.38
6524.96	16646	192.97	1.95	80.00	1698.2	1724.2	1672.2	2621.4	2127.3	183.57	12.25	586	6530.62	0.00	0.00	3.68	0.000	0.000	0.106	1697.12	1722.94	1671.31	2620.94	3473.19	0	0	0	30.00	30.00	15.08
6550.47	17478	192.97	1.97	0.00	1697.5	1723.0	1672.1	2621.2	3473.6	180.44	10.41	591	6555.55	0.00	0.00	3.39	0.000	0.000	0.047	1698.03	1723.81	1672.25	2621.06	2076.69	0	0	0	30.00	30.00	15.35
6674.98	16902	192.97	1.97	-80.00	1697.4	1723.1	1671.7	2621.4	2076.9	164.84	12.08	604	6680.68	0.00	0.00	3.98	0.000	0.000	0.128	1697.69	1723.38	1672.00	2621.00	661.00	0	0	0	30.00	30.00	15.01
6820.43	17414	192.97	1.97	0.00	1697.7	1723.4	1671.9	2621.1	661.0	143.86	14.66	633	6825.62	0.00	0.00	3.51	0.000	0.000	0.039	1698.53	1723.50	1673.56	2620.31	2128.94	0	0	0	30.00	30.00	15.41
6884.99	16386	192.97	1.97	0.00	1697.5	1723.4	1671.7	2621.2	2129.6	136.71	10.90	640	6886.32	0.00	0.00	0.00	0.000	0.000	0.000	1696.91	1722.50	1671.31	2620.44	2129.06	0	0	0	30.00	30.00	30.00
6945.00	16902	192.97	1.97	-80.00	1697.4	1723.1	1671.8	2621.7	2129.0	129.69	11.91	646	6950.73	0.00	0.00	4.09	0.000	0.000	0.123	1696.94	1722.81	1671.06	2621.12	661.62	0	0	0	30.00	30.00	14.98
6980.44	17414	192.97	1.97	0.00	1697.3	1723.2	1671.5	2621.2	661.6	125.02	13.29	653	6985.62	0.00	0.00	3.49	0.000	0.000	0.039	1697.22	1722.81	1671.62	2620.12	2128.38	0	0	0	30.00	30.00	15.41
7045.00	16902	192.97	1.97	-80.00	1697.7	1723.6	1671.8	2620.9	2128.2	117.55	11.14	660	7050.72	0.00	0.00	4.07	0.000	0.000	0.121	1696.41	1722.38	1670.44	2621.25	662.00	0	0	0	30.00	30.00	15.03
7133.94	17414	192.97	1.97	0.00	1697.6	1723.2	1671.9	2621.6	661.9	105.81	12.55	678	7140.73	0.00	0.00	3.48	0.000	0.000	0.038	1697.78	1723.50	1672.06	2620.62	2130.38	0	0	0	30.00	30.00	15.40
7200.10	16450	192.97	1.99	0.00	1697.2	1722.8	1671.5	2621.2	2130.8	98.83	10.51	685	7201.43	0.00	0.00	0.00	0.000	0.000	0.000	1697.44	1723.06	1671.81	2620.94	2129.88	0	0	0	30.00	30.00	30.00
7260.05	16966	192.97	2.02	-80.00	1697.5	1723.0	1671.9	2621.6	2130.4	92.90	9.94	691	7265.74	0.00	0.00	4.10	0.000	0.000	0.122	1698.50	1723.25	1673.75	2620.81	660.94	0	0	0	30.00	30.00	14.97
7328.94	17414	192.97	2.02	0.00	1697.2	1722.9	1671.6	2620.8	660.7	85.02	12.44	705	7335.75	0.00	0.00	3.49	0.000	0.000	0.039	1698.22	1724.19	1672.25	2620.56	2130.38	0	0	0	30.00	30.00	15.40
7395.11	10535	216.04	2.09	80.00	1697.1	1723.0	1671.2	2621.8	2130.4	79.17	8.79	712	7426.43	25.30	0.16	3.58	1.110	0.082	0.106	1619.22	1644.38	1594.06	2658.50	3473.56	0	0	0	11.31	15.59	15.23
7485.56	9254	239.60	2.16	0.00	1616.8	1642.2	1591.3	2659.8	3474.2	70.62	8.74	730	7520.31	29.03	0.00	3.37	1.091	0.000	0.045	1523.44	1550.00	1496.88	2659.56	2075.88	0	0	0	11.67	30.00	15.46
7585.08	10791	276.12	2.27	-80.00	1520.0	1548.1	1491.8	2659.1	2076.2	63.03	7.44	744	7637.15	42.90	0.20	3.88	1.086	0.078	0.127	1373.94	1400.69	1347.19	2698.44	659.75	0	0	0	11.56	15.43	15.00
7715.84	1028	276.12	2.27	0.00	1371.8	1397.0	1346.7	2698.8	659.9	49.41	13.21	770	7721.02	0.00	0.00	3.51	0.000	0.000	0.038	1370.97	1395.94	1346.00	2699.12	2131.31	0	0	0	30.00	30.00	15.41
7780.39	0	276.12	2.27	0.00	1370.6	1396.8	1344.4	2698.6	2131.7	42.25	11.20	777	7781.71	0.00	0.00	0.00	0.000	0.000	0.000	1370.38	1396.50	1344.25	2698.56	2131.50	0	0	0	30.00	30.00	30.00
7840.42	8486	299.34	2.34	80.00	1370.2	1396.5	1344.0	2699.2	2131.6	36.89	8.78	783	7872.70	26.64	0.00	3.61	1.031	0.000	0.106	1279.53	1307.31	1251.75	2698.75	3475.56	0	0	0	11.55	30.00	15.12
7879.89	1092	299.34	2.39	0.00	1279.0	1306.7	1251.2	2698.4	3475.8	33.04	9.51	791	7886.67	0.00	0.00	3.40	0.000	0.000	0.045	1278.84	1306.69	1251.00	2698.44	2074.75	0	0	0	30.00	30.00	15.38
7946.03	10791	327.50	2.47	-80.00	1277.8	1306.8	1248.7	2697.9	2074.8	27.76	8.28	798	7987.44	32.41	0.26	3.88	1.023	0.073	0.127	1164.84	1192.44	1137.25	2752.06	661.62	0	0	0	11.59	15.40	15.06
7989.89	1028	327.50	2.47	0.00	1164.9	1192.5	1137.2	2752.4	661.9	23.09	11.12	807	7996.68	0.00	0.00	3.47	0.000	0.000	0.037	1165.06	1192.38	1137.75	2752.00	2131.81	0	0	0	30.00	30.00	15.38
8056.05	324	327.50	2.51	80.00	1163.6	1192.3	1134.9	2752.2	2131.8	16.45	9.79	814	8061.60	0.00	0.00	3.59	0.000	0.000	0.101	1162.75	1191.50	1134.00	2752.25	3475.12	0	0	0	30.00	30.00	15.24
8180	end climb: SURFACE_DEPTH_REACHED
state	8180	begin surface coast
8200	end surface coast: CONTROL_FINISHED_OK
state	8200	begin surface