Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1186 * 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 1186 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 77.951454 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 282.02435 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 77.951454 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 282.02435 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 1186 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 200421,001801,4708.487,-12501.421,22,0.8,23,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.48 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -63.1 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 200421,002533,4708.443,-12501.415,2,0.6,5,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 206.4,1103,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 593

Post-dive calculations and measurements:

SM_CCo 9128.23,0.00,0.010,0,563.5,559.8,567.2,475.02 _10V_AH 14.66,0.000

SM_GC -0.52,0.00,19.33,0.10,0.010,0.088,0.137,563.5,559.8,567.2,171.5,2073.1,0,0,0,30.36,15.03,15.37 FG_AHR_24Vo 282.242

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 77.982

IRIDIUM_FIX 4708.39,-12501.34,190421,213338 MEM 1103652,41,73436,56

TCM_TEMP 174.60 DATA_FILE_SIZE 35410,910

XPDR_PINGS 19,14.0,11.5 CAP_FILE_SIZE 467506,0

SC_FREEKB 3404640 SDSIZE 3918848,3594656

HUMID 58.93 SDFILEDIR 5956,1

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

INTERNAL_PRESSURE 7.77742 GPS 200421,025831,4708.126,-12502.479,7,0.8,23,15.6

_24V_AH 13.89,322.659

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 639 1636 14536.83 legato 0 0 0.00

Pitch_motor 41 261 151.09 nil 0 0 0.00

Roll_motor 193 233 628.43 nil 0 0 0.00

Iridium 203 195 552.94 nil 0 0 0.00

Transponder_ping 4 420 27.71 nil 0 0 0.00

GPS 13 15 3.03 nil 0 0 0.00

Core 3622 11 626.72 SciCon 9002 5 698.78

LPSleep 5897 2 242.09 nil 0 0 0.00

Compass 1793 5 131.49 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

8.55 16386 -74.33 -1.59 0.00 558.0 558.2 557.7 170.4 2082.9 0.00 0.00 0 90.33 81.25 0.00 0.00 0.005 0.000 0.000 2482.06 2465.81 2498.31 170.00 2083.06 0 0 0 14.64 30.00 30.00

90.58 18727 -98.32 -1.66 80.00 2480.8 2464.8 2496.9 170.2 2082.8 4.00 -8.70 8 122.76 9.27 14.55 3.86 0.007 0.262 0.109 2899.75 2897.50 2902.00 1735.81 3476.12 0 0 0 14.82 14.79 14.57

241.44 1028 -98.32 -1.66 0.00 2900.8 2898.0 2903.6 1736.1 3475.9 34.64 -18.00 38 246.61 0.00 0.00 3.47 0.000 0.000 0.054 2900.66 2897.50 2903.81 1735.56 2081.56 0 0 0 30.00 30.00 15.24

306.69 516 -98.32 -1.66 -80.00 2900.6 2897.4 2903.7 1736.4 2081.0 45.41 -16.47 45 312.73 0.00 0.00 4.16 0.000 0.000 0.145 2902.97 2899.94 2906.00 1736.06 662.12 0 0 0 30.00 30.00 14.96

361.45 1028 -98.32 -1.66 0.00 2900.7 2897.8 2903.6 1736.1 662.1 55.35 -16.61 56 366.64 0.00 0.00 3.56 0.000 0.000 0.046 2899.47 2896.06 2902.88 1736.12 2122.62 0 0 0 30.00 30.00 15.31

426.00 0 -98.32 -1.66 0.00 2900.7 2897.4 2903.9 1736.2 2122.4 64.36 -13.35 63 427.33 0.00 0.00 0.00 0.000 0.000 0.000 2900.88 2897.38 2904.38 1736.06 2122.25 0 0 0 30.00 30.00 30.00

486.01 0 -98.32 -1.66 0.00 2900.6 2897.7 2903.6 1736.1 2122.4 72.49 -13.15 69 487.34 0.00 0.00 0.00 0.000 0.000 0.000 2900.78 2897.38 2904.19 1736.25 2122.50 0 0 0 30.00 30.00 30.00

546.02 0 -98.32 -1.66 0.00 2900.6 2897.2 2903.9 1735.8 2122.2 80.11 -12.46 75 547.35 0.00 0.00 0.00 0.000 0.000 0.000 2900.94 2897.81 2904.06 1735.81 2121.94 0 0 0 30.00 30.00 30.00

606.03 0 -98.32 -1.66 0.00 2901.1 2898.0 2904.2 1736.1 2122.2 87.42 -12.28 81 607.36 0.00 0.00 0.00 0.000 0.000 0.000 2901.34 2897.94 2904.75 1735.81 2122.31 0 0 0 30.00 30.00 30.00

666.03 260 -98.32 -1.66 80.00 2900.3 2897.0 2903.6 1736.1 2122.5 94.82 -12.75 87 671.67 0.00 0.00 3.69 0.000 0.000 0.102 2900.81 2897.12 2904.50 1735.50 3474.94 0 0 0 30.00 30.00 15.05

721.48 1028 -98.32 -1.66 0.00 2900.9 2897.2 2904.6 1735.8 3475.2 102.82 -15.13 98 726.67 0.00 0.00 3.44 0.000 0.000 0.050 2899.72 2896.06 2903.38 1735.44 2080.12 0 0 0 30.00 30.00 15.22

786.03 0 -98.32 -1.66 0.00 2900.8 2897.1 2904.6 1735.5 2080.8 110.83 -11.70 105 787.36 0.00 0.00 0.00 0.000 0.000 0.000 2901.09 2897.62 2904.56 1735.75 2080.38 0 0 0 30.00 30.00 30.00

846.05 0 -98.32 -1.66 0.00 2901.2 2897.7 2904.7 1736.1 2080.0 117.79 -10.94 111 847.38 0.00 0.00 0.00 0.000 0.000 0.000 2901.47 2898.00 2904.94 1736.25 2080.19 0 0 0 30.00 30.00 30.00

906.05 0 -98.32 -1.66 0.00 2900.9 2897.3 2904.6 1736.1 2080.8 124.01 -10.52 117 907.38 0.00 0.00 0.00 0.000 0.000 0.000 2901.75 2898.12 2905.38 1736.31 2080.38 0 0 0 30.00 30.00 30.00

966.06 260 -98.32 -1.66 80.00 2901.1 2897.4 2904.9 1735.8 2080.4 130.06 -10.23 123 971.73 0.00 0.00 3.82 0.000 0.000 0.101 2899.53 2895.81 2903.25 1736.12 3475.88 0 0 0 30.00 30.00 15.02

1011.50 1028 -98.32 -1.66 0.00 2901.2 2897.5 2904.8 1736.6 3475.6 135.02 -11.00 132 1016.68 0.00 0.00 3.43 0.000 0.000 0.051 2899.75 2895.94 2903.56 1735.81 2080.88 0 0 0 30.00 30.00 15.21

1076.06 0 -98.32 -1.66 0.00 2901.7 2898.1 2905.4 1735.6 2081.5 141.27 -9.14 139 1077.39 0.00 0.00 0.00 0.000 0.000 0.000 2901.31 2897.75 2904.88 1735.44 2081.25 0 0 0 30.00 30.00 30.00

1136.08 0 -98.32 -1.66 0.00 2901.0 2897.5 2904.4 1736.1 2081.7 146.96 -9.73 145 1137.40 0.00 0.00 0.00 0.000 0.000 0.000 2901.16 2897.25 2905.06 1736.12 2081.31 0 0 0 30.00 30.00 30.00

1196.08 0 -98.32 -1.66 0.00 2901.1 2897.2 2904.9 1736.2 2080.8 152.66 -9.65 151 1197.41 0.00 0.00 0.00 0.000 0.000 0.000 2900.75 2897.00 2904.50 1736.31 2081.31 0 0 0 30.00 30.00 30.00

1316.14 260 -98.32 -1.66 80.00 2901.3 2897.5 2905.2 1735.8 2081.5 164.66 -9.97 163 1321.76 0.00 0.00 3.84 0.000 0.000 0.102 2902.97 2898.44 2907.50 1736.25 3475.50 0 0 0 30.00 30.00 15.00

1351.53 1028 -98.32 -1.66 0.00 2901.8 2898.0 2905.6 1736.0 3475.0 168.66 -11.41 170 1356.72 0.00 0.00 3.44 0.000 0.000 0.051 2902.59 2898.88 2906.31 1735.94 2082.88 0 0 0 30.00 30.00 15.19

1476.10 0 -98.32 -1.66 0.00 2901.3 2897.5 2905.1 1736.1 2082.4 182.08 -10.88 183 1477.43 0.00 0.00 0.00 0.000 0.000 0.000 2902.12 2897.88 2906.38 1736.19 2082.19 0 0 0 30.00 30.00 30.00

1596.11 260 -98.32 -1.66 80.00 2901.7 2897.8 2905.6 1735.9 2082.2 194.83 -10.62 195 1601.79 0.00 0.00 3.84 0.000 0.000 0.103 2902.66 2898.62 2906.69 1736.19 3475.75 0 0 0 30.00 30.00 14.98

1661.57 1028 -98.32 -1.66 0.00 2901.4 2897.1 2905.6 1736.0 3476.1 202.13 -11.40 208 1666.73 0.00 0.00 3.45 0.000 0.000 0.053 2902.34 2898.00 2906.69 1736.25 2081.44 0 0 0 30.00 30.00 15.16

1786.14 516 -98.32 -1.66 -80.00 2901.8 2897.8 2905.8 1736.2 2081.4 215.33 -10.35 221 1791.87 0.00 0.00 4.16 0.000 0.000 0.148 2900.69 2897.00 2904.38 1736.00 662.25 0 0 0 30.00 30.00 14.87

1821.58 1028 -98.32 -1.66 0.00 2901.7 2897.5 2905.8 1735.9 661.9 219.16 -11.93 228 1826.78 0.00 0.00 3.54 0.000 0.000 0.045 2899.88 2895.69 2904.06 1736.25 2123.44 0 0 0 30.00 30.00 15.28

1946.16 260 -98.32 -1.66 80.00 2901.9 2898.1 2905.8 1736.1 2122.9 232.24 -10.71 241 1951.82 0.00 0.00 3.69 0.000 0.000 0.104 2899.75 2896.44 2903.06 1736.31 3475.62 0 0 0 30.00 30.00 14.99

2055.11 1028 -98.32 -1.66 0.00 2901.8 2897.2 2906.5 1736.2 3475.2 245.70 -13.00 263 2062.34 0.00 0.00 3.42 0.000 0.000 0.052 2902.22 2898.75 2905.69 1736.25 2081.06 0 0 0 30.00 30.00 15.13

2191.19 260 -98.32 -1.66 80.00 2901.6 2897.4 2905.8 1735.6 2081.1 260.23 -11.02 271 2196.86 0.00 0.00 3.80 0.000 0.000 0.102 2902.62 2898.50 2906.75 1736.19 3475.81 0 0 0 30.00 30.00 14.97

2216.70 1028 -98.32 -1.66 0.00 2902.0 2897.4 2906.6 1735.9 3476.1 263.04 -11.00 276 2221.82 0.00 0.00 3.43 0.000 0.000 0.053 2902.88 2898.88 2906.88 1735.31 2081.94 0 0 0 30.00 30.00 15.15

2541.23 260 -98.32 -1.66 80.00 2901.7 2897.3 2906.1 1736.7 2082.1 297.36 -10.17 291 2546.90 0.00 0.00 3.82 0.000 0.000 0.105 2901.94 2897.56 2906.31 1734.62 3474.62 0 0 0 30.00 30.00 14.93

2566.66 1028 -98.32 -1.66 0.00 2901.8 2897.6 2905.9 1735.9 3474.4 300.15 -10.06 296 2571.84 0.00 0.00 3.43 0.000 0.000 0.053 2900.31 2896.12 2904.50 1736.44 2079.19 0 0 0 30.00 30.00 15.13

2891.24 260 -98.32 -1.66 80.00 2901.8 2897.4 2906.2 1736.7 2078.9 335.02 -10.77 311 2896.93 0.00 0.00 3.83 0.000 0.000 0.106 2900.91 2896.50 2905.31 1735.62 3477.38 0 0 0 30.00 30.00 14.92

2930.15 1028 -98.32 -1.66 0.00 2901.8 2897.6 2906.1 1736.2 3477.1 339.39 -12.11 319 2935.85 0.00 0.00 3.44 0.000 0.000 0.055 2902.72 2898.25 2907.19 1736.06 2082.12 0 0 0 30.00 30.00 15.09

3246.26 260 -98.32 -1.66 80.00 2901.8 2897.8 2905.9 1735.9 2082.2 374.05 -11.02 332 3251.94 0.00 0.00 3.83 0.000 0.000 0.107 2899.91 2895.88 2903.94 1736.31 3473.81 0 0 0 30.00 30.00 14.89

3345.18 1028 -98.32 -1.66 0.00 2901.4 2897.0 2905.8 1736.1 3474.1 385.73 -11.63 352 3350.88 0.00 0.00 3.43 0.000 0.000 0.055 2903.38 2899.19 2907.56 1735.69 2081.12 0 0 0 30.00 30.00 15.06

3661.29 0 -98.32 -1.66 0.00 2901.1 2897.4 2904.8 1736.1 2080.9 418.66 -10.25 365 3662.61 0.00 0.00 0.00 0.000 0.000 0.000 2901.44 2897.62 2905.25 1736.25 2081.38 0 0 0 30.00 30.00 30.00

3961.29 0 -98.32 -1.66 0.00 2900.9 2897.2 2904.6 1736.2 2081.3 450.69 -11.01 375 3962.61 0.00 0.00 0.00 0.000 0.000 0.000 2901.44 2898.12 2904.75 1736.12 2081.06 0 0 0 30.00 30.00 30.00

4261.30 260 -98.32 -1.66 80.00 2901.0 2897.8 2904.1 1735.9 2081.2 482.54 -11.04 385 4267.00 0.00 0.00 3.88 0.000 0.000 0.110 2898.84 2895.19 2902.50 1735.69 3474.69 0 0 0 30.00 30.00 14.85

4325.23 1028 -98.32 -1.66 0.00 2900.8 2897.4 2904.2 1735.9 3474.4 490.83 -12.42 398 4330.92 0.00 0.00 3.46 0.000 0.000 0.058 2901.75 2898.00 2905.50 1736.25 2083.25 0 0 0 30.00 30.00 15.02

4436 end dive: TARGET_DEPTH_EXCEEDED

state 4436 begin apogee

4437.51 10243 0.00 -0.25 0.00 2900.3 2897.6 2903.1 1735.6 2120.9 501.65 -9.28 405 4527.68 82.50 2.86 0.09 1.636 0.156 0.234 2500.69 2508.94 2492.44 2079.06 2085.50 0 0 0 11.04 14.80 14.85

4530 end apogee: CONTROL_FINISHED_OK

state 4530 begin climb

4530.94 10503 98.32 1.66 80.00 2497.8 2507.7 2487.9 2079.1 2085.8 505.79 0.00 408 4630.66 89.83 3.43 3.98 1.579 0.080 0.109 2095.56 2108.62 2082.50 2547.81 3475.00 0 0 0 11.29 15.06 14.58

4632.94 11303 174.12 1.89 0.00 2096.8 2109.5 2084.1 2547.6 3475.6 499.97 3.49 417 4709.94 69.83 0.34 3.55 1.539 0.061 0.052 1789.25 1809.88 1768.62 2606.88 2082.69 0 0 0 11.24 14.74 14.89

5018.89 16902 174.12 1.89 -80.00 1779.1 1803.5 1754.7 2607.7 2082.0 451.16 13.73 444 5024.59 0.00 0.00 4.05 0.000 0.000 0.136 1778.53 1802.31 1754.75 2605.75 660.81 0 0 0 30.00 30.00 15.13

5152.82 17414 174.12 1.89 0.00 1778.0 1800.8 1755.2 2607.8 660.7 429.50 17.20 471 5158.52 0.00 0.00 3.52 0.000 0.000 0.045 1779.47 1802.38 1756.56 2607.31 2125.69 0 0 0 30.00 30.00 15.40

5463.92 16902 174.12 1.89 -80.00 1776.2 1800.8 1751.6 2607.5 2125.2 389.41 12.92 483 5469.65 0.00 0.00 4.12 0.000 0.000 0.132 1776.03 1800.69 1751.38 2606.88 662.12 0 0 0 30.00 30.00 15.11

5592.84 17414 174.12 1.89 0.00 1775.4 1799.5 1751.3 2607.2 662.0 369.80 15.63 509 5598.56 0.00 0.00 3.54 0.000 0.000 0.047 1775.97 1800.00 1751.94 2607.25 2126.19 0 0 0 30.00 30.00 15.40

5908.96 16902 174.12 1.89 -80.00 1775.2 1800.2 1750.3 2607.6 2125.9 330.03 12.57 522 5914.67 0.00 0.00 4.14 0.000 0.000 0.130 1774.66 1799.44 1749.88 2607.19 660.69 0 0 0 30.00 30.00 15.06

5952.86 17414 174.12 1.89 0.00 1775.0 1799.7 1750.3 2607.6 660.8 322.79 14.58 531 5958.57 0.00 0.00 3.55 0.000 0.000 0.045 1775.88 1800.62 1751.12 2607.38 2125.75 0 0 0 30.00 30.00 15.39

6263.96 16902 174.12 1.89 -80.00 1774.8 1799.5 1750.0 2607.0 2125.9 282.09 13.22 543 6269.69 0.00 0.00 4.16 0.000 0.000 0.130 1773.41 1798.44 1748.38 2607.88 660.75 0 0 0 30.00 30.00 15.02

6352.88 17414 174.12 1.89 0.00 1774.6 1799.3 1749.9 2607.5 661.1 267.81 16.80 561 6358.60 0.00 0.00 3.53 0.000 0.000 0.045 1774.47 1799.62 1749.31 2607.56 2127.50 0 0 0 30.00 30.00 15.37

6659.04 16386 174.12 1.89 0.00 1774.0 1799.2 1748.8 2607.6 2127.6 230.05 11.07 586 6660.37 0.00 0.00 0.00 0.000 0.000 0.000 1774.25 1798.94 1749.56 2607.50 2127.50 0 0 0 30.00 30.00 30.00

6779.01 16386 174.12 1.89 0.00 1773.7 1798.4 1749.1 2607.4 2127.4 216.62 10.65 598 6780.34 0.00 0.00 0.00 0.000 0.000 0.000 1773.16 1798.12 1748.19 2607.75 2127.56 0 0 0 30.00 30.00 30.00

6899.03 16966 174.12 1.91 -80.00 1773.9 1798.9 1748.9 2607.7 2127.3 204.82 10.43 610 6904.74 0.00 0.00 4.18 0.000 0.000 0.131 1773.47 1798.62 1748.31 2607.38 661.56 0 0 0 30.00 30.00 14.96

7007.95 17414 174.12 1.91 0.00 1773.6 1798.1 1749.1 2606.9 661.8 190.94 12.77 632 7014.75 0.00 0.00 3.55 0.000 0.000 0.046 1775.38 1799.62 1751.12 2607.81 2125.62 0 0 0 30.00 30.00 15.34

7134.06 16450 174.12 1.95 0.00 1773.1 1797.4 1748.7 2607.4 2126.6 178.56 9.87 645 7135.39 0.00 0.00 0.00 0.000 0.000 0.000 1773.47 1797.56 1749.38 2607.38 2126.88 0 0 0 30.00 30.00 30.00

7254.05 16386 174.12 1.95 0.00 1772.8 1797.0 1748.7 2607.8 2126.6 165.74 11.22 657 7255.38 0.00 0.00 0.00 0.000 0.000 0.000 1773.28 1797.69 1748.88 2607.62 2126.62 0 0 0 30.00 30.00 30.00

7374.08 16450 174.12 1.99 0.00 1773.1 1797.7 1748.5 2607.7 2126.4 153.24 9.62 669 7375.41 0.00 0.00 0.00 0.000 0.000 0.000 1772.72 1797.00 1748.44 2607.38 2126.69 0 0 0 30.00 30.00 30.00

7494.10 16966 174.12 2.03 -80.00 1772.8 1797.4 1748.3 2607.7 2126.4 140.52 9.92 681 7499.82 0.00 0.00 4.18 0.000 0.000 0.128 1775.16 1799.69 1750.62 2606.81 661.88 0 0 0 30.00 30.00 14.94

7579.53 17414 174.12 2.03 0.00 1772.9 1797.1 1748.7 2607.8 661.8 130.11 12.13 698 7584.72 0.00 0.00 3.55 0.000 0.000 0.045 1772.28 1796.12 1748.44 2607.88 2128.31 0 0 0 30.00 30.00 15.33

7644.10 18759 174.12 2.07 80.00 1772.5 1796.8 1748.2 2607.8 2128.4 123.60 9.62 705 7649.81 0.00 0.23 3.68 0.000 0.071 0.108 1772.81 1796.75 1748.88 2654.56 3473.25 0 0 0 30.00 15.51 15.05

7689.54 17414 174.12 2.07 0.00 1772.0 1795.9 1748.1 2654.2 3473.9 118.40 11.45 714 7694.71 0.00 0.00 3.41 0.000 0.000 0.050 1771.84 1795.69 1748.00 2654.75 2075.50 0 0 0 30.00 30.00 15.26

7754.11 16966 174.12 2.10 -80.00 1772.4 1796.2 1748.6 2654.2 2075.6 111.72 10.19 721 7759.82 0.00 0.00 4.01 0.000 0.000 0.127 1771.62 1795.19 1748.06 2654.75 660.94 0 0 0 30.00 30.00 15.00

7803.02 17414 174.12 2.10 0.00 1772.0 1795.8 1748.2 2653.9 661.0 105.81 12.20 731 7809.85 0.00 0.00 3.52 0.000 0.000 0.042 1772.16 1796.06 1748.25 2654.69 2128.69 0 0 0 30.00 30.00 15.36

7869.12 16450 174.12 2.16 0.00 1772.1 1795.8 1748.4 2654.3 2129.2 99.83 9.31 738 7870.45 0.00 0.00 0.00 0.000 0.000 0.000 1772.31 1795.94 1748.69 2654.56 2128.69 0 0 0 30.00 30.00 30.00

7929.14 16966 174.12 2.20 -80.00 1772.2 1796.1 1748.4 2654.3 2128.8 94.00 9.56 744 7934.85 0.00 0.00 4.12 0.000 0.000 0.122 1771.97 1795.31 1748.62 2652.94 660.56 0 0 0 30.00 30.00 14.99

8064.59 17414 174.12 2.20 0.00 1772.3 1796.1 1748.4 2654.2 660.8 79.29 11.57 771 8069.78 0.00 0.00 3.53 0.000 0.000 0.042 1771.78 1795.62 1747.94 2654.75 2129.75 0 0 0 30.00 30.00 15.36

8129.17 18759 174.12 2.25 80.00 1771.9 1795.6 1748.2 2654.6 2129.4 73.05 9.43 778 8134.86 0.00 0.20 3.63 0.000 0.074 0.104 1771.88 1795.62 1748.12 2694.25 3473.00 0 0 0 30.00 15.55 15.04

8188.10 17478 174.12 2.30 0.00 1772.2 1796.2 1748.2 2694.2 3473.1 66.99 9.56 790 8194.86 0.00 0.00 3.39 0.000 0.000 0.048 1773.88 1797.25 1750.50 2695.38 2078.44 0 0 0 30.00 30.00 15.26

8254.24 10791 206.54 2.40 -80.00 1772.2 1795.8 1748.6 2695.0 2078.4 61.88 7.85 797 8296.22 34.46 0.17 3.88 1.121 0.086 0.125 1658.44 1681.62 1635.25 2731.31 659.56 0 0 0 11.33 15.53 15.16

8464.93 9254 234.17 2.48 0.00 1654.5 1676.6 1632.4 2730.8 659.5 42.25 8.33 839 8501.82 32.15 0.00 3.49 1.071 0.000 0.041 1544.47 1568.44 1520.50 2731.44 2133.00 0 0 0 11.62 30.00 15.46

8559.57 10275 308.90 2.70 0.00 1542.7 1568.3 1517.1 2730.8 2132.4 38.70 3.60 852 8645.16 82.12 0.44 0.00 1.064 0.060 0.000 1241.91 1265.81 1218.00 2802.88 2132.38 0 0 0 11.53 15.39 30.00

8709.50 516 308.90 2.70 -80.00 1237.6 1263.8 1211.4 2803.9 2132.5 25.45 11.51 875 8715.24 0.00 0.00 4.10 0.000 0.000 0.121 1237.00 1263.44 1210.56 2802.88 660.94 0 0 0 30.00 30.00 15.07

8825.02 1028 308.90 2.70 0.00 1236.5 1261.6 1211.4 2803.3 661.0 10.47 12.15 898 8830.16 0.00 0.00 3.52 0.000 0.000 0.042 1235.78 1260.88 1210.69 2803.88 2129.56 0 0 0 30.00 30.00 15.37

8889.54 64 308.90 2.75 0.00 1235.4 1261.4 1209.4 2804.1 2129.2 4.15 9.54 905 8890.87 0.00 0.00 0.00 0.000 0.000 0.000 1235.66 1261.75 1209.56 2803.88 2129.00 0 0 0 30.00 30.00 30.00

8919 end climb: SURFACE_DEPTH_REACHED

state 8919 begin surface coast

8939 end surface coast: CONTROL_FINISHED_OK

state 8939 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	1186	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	77.951454	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	282.02435	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	200421,001801,4708.487,-12501.421,22,0.8,23,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.48	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-63.1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	200421,002533,4708.443,-12501.415,2,0.6,5,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	206.4,1103,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	593

SM_CCo	9128.23,0.00,0.010,0,563.5,559.8,567.2,475.02	_10V_AH	14.66,0.000
SM_GC	-0.52,0.00,19.33,0.10,0.010,0.088,0.137,563.5,559.8,567.2,171.5,2073.1,0,0,0,30.36,15.03,15.37	FG_AHR_24Vo	282.242
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	77.982
IRIDIUM_FIX	4708.39,-12501.34,190421,213338	MEM	1103652,41,73436,56
TCM_TEMP	174.60	DATA_FILE_SIZE	35410,910
XPDR_PINGS	19,14.0,11.5	CAP_FILE_SIZE	467506,0
SC_FREEKB	3404640	SDSIZE	3918848,3594656
HUMID	58.93	SDFILEDIR	5956,1
TEMP	7.81	ERRORS	0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77742	GPS	200421,025831,4708.126,-12502.479,7,0.8,23,15.6
_24V_AH	13.89,322.659

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	639	1636	14536.83	legato	0	0	0.00
Pitch_motor	41	261	151.09	nil	0	0	0.00
Roll_motor	193	233	628.43	nil	0	0	0.00
Iridium	203	195	552.94	nil	0	0	0.00
Transponder_ping	4	420	27.71	nil	0	0	0.00
GPS	13	15	3.03	nil	0	0	0.00
Core	3622	11	626.72	SciCon	9002	5	698.78
LPSleep	5897	2	242.09	nil	0	0	0.00
Compass	1793	5	131.49	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
8.55	16386	-74.33	-1.59	0.00	558.0	558.2	557.7	170.4	2082.9	0.00	0.00	0	90.33	81.25	0.00	0.00	0.005	0.000	0.000	2482.06	2465.81	2498.31	170.00	2083.06	0	0	0	14.64	30.00	30.00
90.58	18727	-98.32	-1.66	80.00	2480.8	2464.8	2496.9	170.2	2082.8	4.00	-8.70	8	122.76	9.27	14.55	3.86	0.007	0.262	0.109	2899.75	2897.50	2902.00	1735.81	3476.12	0	0	0	14.82	14.79	14.57
241.44	1028	-98.32	-1.66	0.00	2900.8	2898.0	2903.6	1736.1	3475.9	34.64	-18.00	38	246.61	0.00	0.00	3.47	0.000	0.000	0.054	2900.66	2897.50	2903.81	1735.56	2081.56	0	0	0	30.00	30.00	15.24
306.69	516	-98.32	-1.66	-80.00	2900.6	2897.4	2903.7	1736.4	2081.0	45.41	-16.47	45	312.73	0.00	0.00	4.16	0.000	0.000	0.145	2902.97	2899.94	2906.00	1736.06	662.12	0	0	0	30.00	30.00	14.96
361.45	1028	-98.32	-1.66	0.00	2900.7	2897.8	2903.6	1736.1	662.1	55.35	-16.61	56	366.64	0.00	0.00	3.56	0.000	0.000	0.046	2899.47	2896.06	2902.88	1736.12	2122.62	0	0	0	30.00	30.00	15.31
426.00	0	-98.32	-1.66	0.00	2900.7	2897.4	2903.9	1736.2	2122.4	64.36	-13.35	63	427.33	0.00	0.00	0.00	0.000	0.000	0.000	2900.88	2897.38	2904.38	1736.06	2122.25	0	0	0	30.00	30.00	30.00
486.01	0	-98.32	-1.66	0.00	2900.6	2897.7	2903.6	1736.1	2122.4	72.49	-13.15	69	487.34	0.00	0.00	0.00	0.000	0.000	0.000	2900.78	2897.38	2904.19	1736.25	2122.50	0	0	0	30.00	30.00	30.00
546.02	0	-98.32	-1.66	0.00	2900.6	2897.2	2903.9	1735.8	2122.2	80.11	-12.46	75	547.35	0.00	0.00	0.00	0.000	0.000	0.000	2900.94	2897.81	2904.06	1735.81	2121.94	0	0	0	30.00	30.00	30.00
606.03	0	-98.32	-1.66	0.00	2901.1	2898.0	2904.2	1736.1	2122.2	87.42	-12.28	81	607.36	0.00	0.00	0.00	0.000	0.000	0.000	2901.34	2897.94	2904.75	1735.81	2122.31	0	0	0	30.00	30.00	30.00
666.03	260	-98.32	-1.66	80.00	2900.3	2897.0	2903.6	1736.1	2122.5	94.82	-12.75	87	671.67	0.00	0.00	3.69	0.000	0.000	0.102	2900.81	2897.12	2904.50	1735.50	3474.94	0	0	0	30.00	30.00	15.05
721.48	1028	-98.32	-1.66	0.00	2900.9	2897.2	2904.6	1735.8	3475.2	102.82	-15.13	98	726.67	0.00	0.00	3.44	0.000	0.000	0.050	2899.72	2896.06	2903.38	1735.44	2080.12	0	0	0	30.00	30.00	15.22
786.03	0	-98.32	-1.66	0.00	2900.8	2897.1	2904.6	1735.5	2080.8	110.83	-11.70	105	787.36	0.00	0.00	0.00	0.000	0.000	0.000	2901.09	2897.62	2904.56	1735.75	2080.38	0	0	0	30.00	30.00	30.00
846.05	0	-98.32	-1.66	0.00	2901.2	2897.7	2904.7	1736.1	2080.0	117.79	-10.94	111	847.38	0.00	0.00	0.00	0.000	0.000	0.000	2901.47	2898.00	2904.94	1736.25	2080.19	0	0	0	30.00	30.00	30.00
906.05	0	-98.32	-1.66	0.00	2900.9	2897.3	2904.6	1736.1	2080.8	124.01	-10.52	117	907.38	0.00	0.00	0.00	0.000	0.000	0.000	2901.75	2898.12	2905.38	1736.31	2080.38	0	0	0	30.00	30.00	30.00
966.06	260	-98.32	-1.66	80.00	2901.1	2897.4	2904.9	1735.8	2080.4	130.06	-10.23	123	971.73	0.00	0.00	3.82	0.000	0.000	0.101	2899.53	2895.81	2903.25	1736.12	3475.88	0	0	0	30.00	30.00	15.02
1011.50	1028	-98.32	-1.66	0.00	2901.2	2897.5	2904.8	1736.6	3475.6	135.02	-11.00	132	1016.68	0.00	0.00	3.43	0.000	0.000	0.051	2899.75	2895.94	2903.56	1735.81	2080.88	0	0	0	30.00	30.00	15.21
1076.06	0	-98.32	-1.66	0.00	2901.7	2898.1	2905.4	1735.6	2081.5	141.27	-9.14	139	1077.39	0.00	0.00	0.00	0.000	0.000	0.000	2901.31	2897.75	2904.88	1735.44	2081.25	0	0	0	30.00	30.00	30.00
1136.08	0	-98.32	-1.66	0.00	2901.0	2897.5	2904.4	1736.1	2081.7	146.96	-9.73	145	1137.40	0.00	0.00	0.00	0.000	0.000	0.000	2901.16	2897.25	2905.06	1736.12	2081.31	0	0	0	30.00	30.00	30.00
1196.08	0	-98.32	-1.66	0.00	2901.1	2897.2	2904.9	1736.2	2080.8	152.66	-9.65	151	1197.41	0.00	0.00	0.00	0.000	0.000	0.000	2900.75	2897.00	2904.50	1736.31	2081.31	0	0	0	30.00	30.00	30.00
1316.14	260	-98.32	-1.66	80.00	2901.3	2897.5	2905.2	1735.8	2081.5	164.66	-9.97	163	1321.76	0.00	0.00	3.84	0.000	0.000	0.102	2902.97	2898.44	2907.50	1736.25	3475.50	0	0	0	30.00	30.00	15.00
1351.53	1028	-98.32	-1.66	0.00	2901.8	2898.0	2905.6	1736.0	3475.0	168.66	-11.41	170	1356.72	0.00	0.00	3.44	0.000	0.000	0.051	2902.59	2898.88	2906.31	1735.94	2082.88	0	0	0	30.00	30.00	15.19
1476.10	0	-98.32	-1.66	0.00	2901.3	2897.5	2905.1	1736.1	2082.4	182.08	-10.88	183	1477.43	0.00	0.00	0.00	0.000	0.000	0.000	2902.12	2897.88	2906.38	1736.19	2082.19	0	0	0	30.00	30.00	30.00
1596.11	260	-98.32	-1.66	80.00	2901.7	2897.8	2905.6	1735.9	2082.2	194.83	-10.62	195	1601.79	0.00	0.00	3.84	0.000	0.000	0.103	2902.66	2898.62	2906.69	1736.19	3475.75	0	0	0	30.00	30.00	14.98
1661.57	1028	-98.32	-1.66	0.00	2901.4	2897.1	2905.6	1736.0	3476.1	202.13	-11.40	208	1666.73	0.00	0.00	3.45	0.000	0.000	0.053	2902.34	2898.00	2906.69	1736.25	2081.44	0	0	0	30.00	30.00	15.16
1786.14	516	-98.32	-1.66	-80.00	2901.8	2897.8	2905.8	1736.2	2081.4	215.33	-10.35	221	1791.87	0.00	0.00	4.16	0.000	0.000	0.148	2900.69	2897.00	2904.38	1736.00	662.25	0	0	0	30.00	30.00	14.87
1821.58	1028	-98.32	-1.66	0.00	2901.7	2897.5	2905.8	1735.9	661.9	219.16	-11.93	228	1826.78	0.00	0.00	3.54	0.000	0.000	0.045	2899.88	2895.69	2904.06	1736.25	2123.44	0	0	0	30.00	30.00	15.28
1946.16	260	-98.32	-1.66	80.00	2901.9	2898.1	2905.8	1736.1	2122.9	232.24	-10.71	241	1951.82	0.00	0.00	3.69	0.000	0.000	0.104	2899.75	2896.44	2903.06	1736.31	3475.62	0	0	0	30.00	30.00	14.99
2055.11	1028	-98.32	-1.66	0.00	2901.8	2897.2	2906.5	1736.2	3475.2	245.70	-13.00	263	2062.34	0.00	0.00	3.42	0.000	0.000	0.052	2902.22	2898.75	2905.69	1736.25	2081.06	0	0	0	30.00	30.00	15.13
2191.19	260	-98.32	-1.66	80.00	2901.6	2897.4	2905.8	1735.6	2081.1	260.23	-11.02	271	2196.86	0.00	0.00	3.80	0.000	0.000	0.102	2902.62	2898.50	2906.75	1736.19	3475.81	0	0	0	30.00	30.00	14.97
2216.70	1028	-98.32	-1.66	0.00	2902.0	2897.4	2906.6	1735.9	3476.1	263.04	-11.00	276	2221.82	0.00	0.00	3.43	0.000	0.000	0.053	2902.88	2898.88	2906.88	1735.31	2081.94	0	0	0	30.00	30.00	15.15
2541.23	260	-98.32	-1.66	80.00	2901.7	2897.3	2906.1	1736.7	2082.1	297.36	-10.17	291	2546.90	0.00	0.00	3.82	0.000	0.000	0.105	2901.94	2897.56	2906.31	1734.62	3474.62	0	0	0	30.00	30.00	14.93
2566.66	1028	-98.32	-1.66	0.00	2901.8	2897.6	2905.9	1735.9	3474.4	300.15	-10.06	296	2571.84	0.00	0.00	3.43	0.000	0.000	0.053	2900.31	2896.12	2904.50	1736.44	2079.19	0	0	0	30.00	30.00	15.13
2891.24	260	-98.32	-1.66	80.00	2901.8	2897.4	2906.2	1736.7	2078.9	335.02	-10.77	311	2896.93	0.00	0.00	3.83	0.000	0.000	0.106	2900.91	2896.50	2905.31	1735.62	3477.38	0	0	0	30.00	30.00	14.92
2930.15	1028	-98.32	-1.66	0.00	2901.8	2897.6	2906.1	1736.2	3477.1	339.39	-12.11	319	2935.85	0.00	0.00	3.44	0.000	0.000	0.055	2902.72	2898.25	2907.19	1736.06	2082.12	0	0	0	30.00	30.00	15.09
3246.26	260	-98.32	-1.66	80.00	2901.8	2897.8	2905.9	1735.9	2082.2	374.05	-11.02	332	3251.94	0.00	0.00	3.83	0.000	0.000	0.107	2899.91	2895.88	2903.94	1736.31	3473.81	0	0	0	30.00	30.00	14.89
3345.18	1028	-98.32	-1.66	0.00	2901.4	2897.0	2905.8	1736.1	3474.1	385.73	-11.63	352	3350.88	0.00	0.00	3.43	0.000	0.000	0.055	2903.38	2899.19	2907.56	1735.69	2081.12	0	0	0	30.00	30.00	15.06
3661.29	0	-98.32	-1.66	0.00	2901.1	2897.4	2904.8	1736.1	2080.9	418.66	-10.25	365	3662.61	0.00	0.00	0.00	0.000	0.000	0.000	2901.44	2897.62	2905.25	1736.25	2081.38	0	0	0	30.00	30.00	30.00
3961.29	0	-98.32	-1.66	0.00	2900.9	2897.2	2904.6	1736.2	2081.3	450.69	-11.01	375	3962.61	0.00	0.00	0.00	0.000	0.000	0.000	2901.44	2898.12	2904.75	1736.12	2081.06	0	0	0	30.00	30.00	30.00
4261.30	260	-98.32	-1.66	80.00	2901.0	2897.8	2904.1	1735.9	2081.2	482.54	-11.04	385	4267.00	0.00	0.00	3.88	0.000	0.000	0.110	2898.84	2895.19	2902.50	1735.69	3474.69	0	0	0	30.00	30.00	14.85
4325.23	1028	-98.32	-1.66	0.00	2900.8	2897.4	2904.2	1735.9	3474.4	490.83	-12.42	398	4330.92	0.00	0.00	3.46	0.000	0.000	0.058	2901.75	2898.00	2905.50	1736.25	2083.25	0	0	0	30.00	30.00	15.02
4436	end dive: TARGET_DEPTH_EXCEEDED
state	4436	begin apogee
4437.51	10243	0.00	-0.25	0.00	2900.3	2897.6	2903.1	1735.6	2120.9	501.65	-9.28	405	4527.68	82.50	2.86	0.09	1.636	0.156	0.234	2500.69	2508.94	2492.44	2079.06	2085.50	0	0	0	11.04	14.80	14.85
4530	end apogee: CONTROL_FINISHED_OK
state	4530	begin climb
4530.94	10503	98.32	1.66	80.00	2497.8	2507.7	2487.9	2079.1	2085.8	505.79	0.00	408	4630.66	89.83	3.43	3.98	1.579	0.080	0.109	2095.56	2108.62	2082.50	2547.81	3475.00	0	0	0	11.29	15.06	14.58
4632.94	11303	174.12	1.89	0.00	2096.8	2109.5	2084.1	2547.6	3475.6	499.97	3.49	417	4709.94	69.83	0.34	3.55	1.539	0.061	0.052	1789.25	1809.88	1768.62	2606.88	2082.69	0	0	0	11.24	14.74	14.89
5018.89	16902	174.12	1.89	-80.00	1779.1	1803.5	1754.7	2607.7	2082.0	451.16	13.73	444	5024.59	0.00	0.00	4.05	0.000	0.000	0.136	1778.53	1802.31	1754.75	2605.75	660.81	0	0	0	30.00	30.00	15.13
5152.82	17414	174.12	1.89	0.00	1778.0	1800.8	1755.2	2607.8	660.7	429.50	17.20	471	5158.52	0.00	0.00	3.52	0.000	0.000	0.045	1779.47	1802.38	1756.56	2607.31	2125.69	0	0	0	30.00	30.00	15.40
5463.92	16902	174.12	1.89	-80.00	1776.2	1800.8	1751.6	2607.5	2125.2	389.41	12.92	483	5469.65	0.00	0.00	4.12	0.000	0.000	0.132	1776.03	1800.69	1751.38	2606.88	662.12	0	0	0	30.00	30.00	15.11
5592.84	17414	174.12	1.89	0.00	1775.4	1799.5	1751.3	2607.2	662.0	369.80	15.63	509	5598.56	0.00	0.00	3.54	0.000	0.000	0.047	1775.97	1800.00	1751.94	2607.25	2126.19	0	0	0	30.00	30.00	15.40
5908.96	16902	174.12	1.89	-80.00	1775.2	1800.2	1750.3	2607.6	2125.9	330.03	12.57	522	5914.67	0.00	0.00	4.14	0.000	0.000	0.130	1774.66	1799.44	1749.88	2607.19	660.69	0	0	0	30.00	30.00	15.06
5952.86	17414	174.12	1.89	0.00	1775.0	1799.7	1750.3	2607.6	660.8	322.79	14.58	531	5958.57	0.00	0.00	3.55	0.000	0.000	0.045	1775.88	1800.62	1751.12	2607.38	2125.75	0	0	0	30.00	30.00	15.39
6263.96	16902	174.12	1.89	-80.00	1774.8	1799.5	1750.0	2607.0	2125.9	282.09	13.22	543	6269.69	0.00	0.00	4.16	0.000	0.000	0.130	1773.41	1798.44	1748.38	2607.88	660.75	0	0	0	30.00	30.00	15.02
6352.88	17414	174.12	1.89	0.00	1774.6	1799.3	1749.9	2607.5	661.1	267.81	16.80	561	6358.60	0.00	0.00	3.53	0.000	0.000	0.045	1774.47	1799.62	1749.31	2607.56	2127.50	0	0	0	30.00	30.00	15.37
6659.04	16386	174.12	1.89	0.00	1774.0	1799.2	1748.8	2607.6	2127.6	230.05	11.07	586	6660.37	0.00	0.00	0.00	0.000	0.000	0.000	1774.25	1798.94	1749.56	2607.50	2127.50	0	0	0	30.00	30.00	30.00
6779.01	16386	174.12	1.89	0.00	1773.7	1798.4	1749.1	2607.4	2127.4	216.62	10.65	598	6780.34	0.00	0.00	0.00	0.000	0.000	0.000	1773.16	1798.12	1748.19	2607.75	2127.56	0	0	0	30.00	30.00	30.00
6899.03	16966	174.12	1.91	-80.00	1773.9	1798.9	1748.9	2607.7	2127.3	204.82	10.43	610	6904.74	0.00	0.00	4.18	0.000	0.000	0.131	1773.47	1798.62	1748.31	2607.38	661.56	0	0	0	30.00	30.00	14.96
7007.95	17414	174.12	1.91	0.00	1773.6	1798.1	1749.1	2606.9	661.8	190.94	12.77	632	7014.75	0.00	0.00	3.55	0.000	0.000	0.046	1775.38	1799.62	1751.12	2607.81	2125.62	0	0	0	30.00	30.00	15.34
7134.06	16450	174.12	1.95	0.00	1773.1	1797.4	1748.7	2607.4	2126.6	178.56	9.87	645	7135.39	0.00	0.00	0.00	0.000	0.000	0.000	1773.47	1797.56	1749.38	2607.38	2126.88	0	0	0	30.00	30.00	30.00
7254.05	16386	174.12	1.95	0.00	1772.8	1797.0	1748.7	2607.8	2126.6	165.74	11.22	657	7255.38	0.00	0.00	0.00	0.000	0.000	0.000	1773.28	1797.69	1748.88	2607.62	2126.62	0	0	0	30.00	30.00	30.00
7374.08	16450	174.12	1.99	0.00	1773.1	1797.7	1748.5	2607.7	2126.4	153.24	9.62	669	7375.41	0.00	0.00	0.00	0.000	0.000	0.000	1772.72	1797.00	1748.44	2607.38	2126.69	0	0	0	30.00	30.00	30.00
7494.10	16966	174.12	2.03	-80.00	1772.8	1797.4	1748.3	2607.7	2126.4	140.52	9.92	681	7499.82	0.00	0.00	4.18	0.000	0.000	0.128	1775.16	1799.69	1750.62	2606.81	661.88	0	0	0	30.00	30.00	14.94
7579.53	17414	174.12	2.03	0.00	1772.9	1797.1	1748.7	2607.8	661.8	130.11	12.13	698	7584.72	0.00	0.00	3.55	0.000	0.000	0.045	1772.28	1796.12	1748.44	2607.88	2128.31	0	0	0	30.00	30.00	15.33
7644.10	18759	174.12	2.07	80.00	1772.5	1796.8	1748.2	2607.8	2128.4	123.60	9.62	705	7649.81	0.00	0.23	3.68	0.000	0.071	0.108	1772.81	1796.75	1748.88	2654.56	3473.25	0	0	0	30.00	15.51	15.05
7689.54	17414	174.12	2.07	0.00	1772.0	1795.9	1748.1	2654.2	3473.9	118.40	11.45	714	7694.71	0.00	0.00	3.41	0.000	0.000	0.050	1771.84	1795.69	1748.00	2654.75	2075.50	0	0	0	30.00	30.00	15.26
7754.11	16966	174.12	2.10	-80.00	1772.4	1796.2	1748.6	2654.2	2075.6	111.72	10.19	721	7759.82	0.00	0.00	4.01	0.000	0.000	0.127	1771.62	1795.19	1748.06	2654.75	660.94	0	0	0	30.00	30.00	15.00
7803.02	17414	174.12	2.10	0.00	1772.0	1795.8	1748.2	2653.9	661.0	105.81	12.20	731	7809.85	0.00	0.00	3.52	0.000	0.000	0.042	1772.16	1796.06	1748.25	2654.69	2128.69	0	0	0	30.00	30.00	15.36
7869.12	16450	174.12	2.16	0.00	1772.1	1795.8	1748.4	2654.3	2129.2	99.83	9.31	738	7870.45	0.00	0.00	0.00	0.000	0.000	0.000	1772.31	1795.94	1748.69	2654.56	2128.69	0	0	0	30.00	30.00	30.00
7929.14	16966	174.12	2.20	-80.00	1772.2	1796.1	1748.4	2654.3	2128.8	94.00	9.56	744	7934.85	0.00	0.00	4.12	0.000	0.000	0.122	1771.97	1795.31	1748.62	2652.94	660.56	0	0	0	30.00	30.00	14.99
8064.59	17414	174.12	2.20	0.00	1772.3	1796.1	1748.4	2654.2	660.8	79.29	11.57	771	8069.78	0.00	0.00	3.53	0.000	0.000	0.042	1771.78	1795.62	1747.94	2654.75	2129.75	0	0	0	30.00	30.00	15.36
8129.17	18759	174.12	2.25	80.00	1771.9	1795.6	1748.2	2654.6	2129.4	73.05	9.43	778	8134.86	0.00	0.20	3.63	0.000	0.074	0.104	1771.88	1795.62	1748.12	2694.25	3473.00	0	0	0	30.00	15.55	15.04
8188.10	17478	174.12	2.30	0.00	1772.2	1796.2	1748.2	2694.2	3473.1	66.99	9.56	790	8194.86	0.00	0.00	3.39	0.000	0.000	0.048	1773.88	1797.25	1750.50	2695.38	2078.44	0	0	0	30.00	30.00	15.26
8254.24	10791	206.54	2.40	-80.00	1772.2	1795.8	1748.6	2695.0	2078.4	61.88	7.85	797	8296.22	34.46	0.17	3.88	1.121	0.086	0.125	1658.44	1681.62	1635.25	2731.31	659.56	0	0	0	11.33	15.53	15.16
8464.93	9254	234.17	2.48	0.00	1654.5	1676.6	1632.4	2730.8	659.5	42.25	8.33	839	8501.82	32.15	0.00	3.49	1.071	0.000	0.041	1544.47	1568.44	1520.50	2731.44	2133.00	0	0	0	11.62	30.00	15.46
8559.57	10275	308.90	2.70	0.00	1542.7	1568.3	1517.1	2730.8	2132.4	38.70	3.60	852	8645.16	82.12	0.44	0.00	1.064	0.060	0.000	1241.91	1265.81	1218.00	2802.88	2132.38	0	0	0	11.53	15.39	30.00
8709.50	516	308.90	2.70	-80.00	1237.6	1263.8	1211.4	2803.9	2132.5	25.45	11.51	875	8715.24	0.00	0.00	4.10	0.000	0.000	0.121	1237.00	1263.44	1210.56	2802.88	660.94	0	0	0	30.00	30.00	15.07
8825.02	1028	308.90	2.70	0.00	1236.5	1261.6	1211.4	2803.3	661.0	10.47	12.15	898	8830.16	0.00	0.00	3.52	0.000	0.000	0.042	1235.78	1260.88	1210.69	2803.88	2129.56	0	0	0	30.00	30.00	15.37
8889.54	64	308.90	2.75	0.00	1235.4	1261.4	1209.4	2804.1	2129.2	4.15	9.54	905	8890.87	0.00	0.00	0.00	0.000	0.000	0.000	1235.66	1261.75	1209.56	2803.88	2129.00	0	0	0	30.00	30.00	30.00
8919	end climb: SURFACE_DEPTH_REACHED
state	8919	begin surface coast
8939	end surface coast: CONTROL_FINISHED_OK
state	8939	begin surface