Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1188 * 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 1188 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 78.017769 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 282.48349 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 78.017769 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 282.48349 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 1188 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 200421,054328,4708.200,-12501.547,1,1.8,7,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 2 TGT_RADIUS 3000.000

_SM_DEPTHo -1.50 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -63.4 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 200421,055240,4708.126,-12501.652,2,0.8,4,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 226.4,496,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 9499.14,0.00,0.016,0,563.7,562.6,564.8,474.98 _10V_AH 14.70,0.000

SM_GC -0.53,0.00,19.28,0.11,0.016,0.084,0.130,563.7,562.6,564.8,171.2,2072.2,0,0,0,30.36,15.11,15.35 FG_AHR_24Vo 282.706

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 78.050

IRIDIUM_FIX 4707.10,-12459.52,200421,054745 MEM 1103668,39,73460,56

TCM_TEMP 174.58 DATA_FILE_SIZE 35306,906

XPDR_PINGS 22,14.0,11.5 CAP_FILE_SIZE 464388,0

SC_FREEKB 3403872 SDSIZE 3918848,3594112

HUMID 58.98 SDFILEDIR 5966,1

TEMP 7.80 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78109 GPS 200421,083138,4708.394,-12502.913,13,1.0,13,15.6

_24V_AH 14.02,323.160

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 664 1629 15180.51 legato 0 0 0.00

Pitch_motor 41 251 146.15 nil 0 0 0.00

Roll_motor 185 224 583.67 nil 0 0 0.00

Iridium 245 197 680.73 nil 0 0 0.00

Transponder_ping 5 420 32.39 nil 0 0 0.00

GPS 12 15 2.86 nil 0 0 0.00

Core 3559 11 617.45 SciCon 9412 5 713.50

LPSleep 6304 2 259.49 nil 0 0 0.00

Compass 1800 5 132.31 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8.53 16386 -74.33 -1.59 0.00 559.7 561.0 558.4 170.2 2082.8 0.00 0.00 0 90.31 81.26 0.00 0.00 0.005 0.000 0.000 2430.31 2415.31 2445.31 170.19 2082.88 0 0 0 13.22 30.00 30.00

90.55 18727 -106.58 -1.69 80.00 2430.0 2415.2 2444.8 170.2 2082.4 3.44 -7.87 8 126.63 11.56 14.37 3.83 0.007 0.252 0.107 2934.91 2933.75 2936.06 1730.75 3476.00 0 0 0 13.54 14.80 14.58

283.78 1028 -106.58 -1.69 0.00 2934.2 2932.1 2936.3 1730.8 3475.5 43.03 -18.38 47 291.01 0.00 0.00 3.46 0.000 0.000 0.053 2936.72 2935.12 2938.31 1731.06 2080.62 0 0 0 30.00 30.00 15.20

349.93 516 -106.58 -1.69 -80.00 2934.7 2932.6 2936.7 1731.1 2081.2 53.83 -16.07 54 355.60 0.00 0.00 4.14 0.000 0.000 0.142 2932.66 2930.50 2934.81 1731.00 662.00 0 0 0 30.00 30.00 14.95

375.32 1028 -106.58 -1.69 0.00 2934.0 2931.8 2936.2 1731.1 662.0 58.15 -17.32 59 380.51 0.00 0.00 3.51 0.000 0.000 0.043 2934.44 2931.75 2937.12 1730.62 2121.50 0 0 0 30.00 30.00 15.32

439.87 260 -106.58 -1.69 80.00 2934.3 2932.1 2936.6 1731.1 2122.2 66.38 -12.07 66 445.54 0.00 0.00 3.61 0.000 0.000 0.096 2934.84 2933.38 2936.31 1729.69 3476.50 0 0 0 30.00 30.00 15.09

505.34 1028 -106.58 -1.69 0.00 2934.2 2931.9 2936.6 1730.9 3475.7 75.09 -12.96 79 510.54 0.00 0.00 3.36 0.000 0.000 0.047 2934.25 2932.06 2936.44 1730.69 2081.00 0 0 0 30.00 30.00 15.23

569.95 0 -106.58 -1.69 0.00 2934.4 2932.2 2936.5 1731.2 2081.6 82.50 -10.90 86 571.28 0.00 0.00 0.00 0.000 0.000 0.000 2934.59 2932.25 2936.94 1731.38 2081.25 0 0 0 30.00 30.00 30.00

629.92 0 -106.58 -1.69 0.00 2934.3 2931.9 2936.6 1731.1 2081.2 89.04 -10.88 92 631.25 0.00 0.00 0.00 0.000 0.000 0.000 2934.88 2932.69 2937.06 1731.00 2081.19 0 0 0 30.00 30.00 30.00

689.91 516 -106.58 -1.69 -80.00 2934.5 2932.2 2936.8 1730.9 2081.8 95.33 -10.42 98 695.62 0.00 0.00 4.03 0.000 0.000 0.140 2935.25 2933.12 2937.38 1731.44 660.69 0 0 0 30.00 30.00 14.92

715.35 1028 -106.58 -1.69 0.00 2934.3 2932.1 2936.6 1731.6 660.7 98.00 -10.44 103 720.53 0.00 0.00 3.50 0.000 0.000 0.040 2932.69 2929.69 2935.69 1731.38 2125.25 0 0 0 30.00 30.00 15.32

779.91 260 -106.58 -1.69 80.00 2934.5 2932.3 2936.6 1730.8 2125.4 104.76 -10.17 110 785.56 0.00 0.00 3.61 0.000 0.000 0.098 2936.22 2932.94 2939.50 1731.31 3476.88 0 0 0 30.00 30.00 15.06

835.37 1028 -106.58 -1.69 0.00 2934.8 2932.1 2937.4 1731.8 3476.0 111.10 -11.63 121 840.53 0.00 0.00 3.38 0.000 0.000 0.047 2935.81 2933.44 2938.19 1731.00 2080.44 0 0 0 30.00 30.00 15.22

899.98 0 -106.58 -1.69 0.00 2934.8 2932.0 2937.6 1731.2 2080.0 118.68 -11.29 128 901.30 0.00 0.00 0.00 0.000 0.000 0.000 2935.16 2932.44 2937.88 1730.94 2080.50 0 0 0 30.00 30.00 30.00

959.93 0 -106.58 -1.69 0.00 2934.5 2931.5 2937.4 1731.4 2080.1 125.44 -11.30 134 961.26 0.00 0.00 0.00 0.000 0.000 0.000 2935.31 2933.12 2937.50 1731.19 2080.38 0 0 0 30.00 30.00 30.00

1019.94 0 -106.58 -1.69 0.00 2934.7 2932.1 2937.4 1731.1 2079.8 132.06 -11.26 140 1021.27 0.00 0.00 0.00 0.000 0.000 0.000 2935.28 2932.81 2937.75 1731.50 2080.19 0 0 0 30.00 30.00 30.00

1079.95 0 -106.58 -1.69 0.00 2934.8 2932.1 2937.6 1731.2 2080.4 138.62 -10.66 146 1081.28 0.00 0.00 0.00 0.000 0.000 0.000 2935.41 2933.19 2937.62 1731.25 2080.31 0 0 0 30.00 30.00 30.00

1139.96 0 -106.58 -1.69 0.00 2934.7 2932.2 2937.2 1731.1 2080.1 145.39 -11.42 152 1141.29 0.00 0.00 0.00 0.000 0.000 0.000 2935.41 2932.75 2938.06 1731.31 2080.31 0 0 0 30.00 30.00 30.00

1199.96 0 -106.58 -1.69 0.00 2934.6 2932.1 2937.1 1731.1 2080.2 152.36 -11.69 158 1201.28 0.00 0.00 0.00 0.000 0.000 0.000 2935.25 2932.81 2937.69 1731.31 2080.25 0 0 0 30.00 30.00 30.00

1319.98 260 -106.58 -1.69 80.00 2934.7 2931.8 2937.5 1730.9 2080.4 165.82 -11.82 170 1325.62 0.00 0.00 3.79 0.000 0.000 0.101 2933.47 2930.25 2936.69 1731.31 3475.94 0 0 0 30.00 30.00 15.00

1365.41 1028 -106.58 -1.69 0.00 2934.8 2931.5 2938.2 1730.9 3475.7 171.53 -12.85 179 1370.57 0.00 0.00 3.40 0.000 0.000 0.049 2934.28 2931.00 2937.56 1731.44 2079.81 0 0 0 30.00 30.00 15.19

1489.98 260 -106.58 -1.69 80.00 2934.9 2932.3 2937.6 1731.1 2079.8 185.30 -10.35 192 1495.64 0.00 0.00 3.76 0.000 0.000 0.098 2934.31 2931.75 2936.88 1731.25 3476.19 0 0 0 30.00 30.00 15.01

1555.44 1028 -106.58 -1.69 0.00 2934.8 2932.2 2937.4 1731.2 3477.1 192.78 -11.19 205 1560.59 0.00 0.00 3.38 0.000 0.000 0.048 2933.94 2931.12 2936.75 1730.69 2081.62 0 0 0 30.00 30.00 15.19

1680.00 0 -106.58 -1.69 0.00 2934.8 2932.4 2937.2 1731.0 2081.0 206.47 -10.69 218 1681.33 0.00 0.00 0.00 0.000 0.000 0.000 2935.12 2932.44 2937.81 1731.31 2081.00 0 0 0 30.00 30.00 30.00

1800.01 0 -106.58 -1.69 0.00 2934.6 2932.1 2937.1 1731.0 2081.6 218.68 -10.28 230 1801.34 0.00 0.00 0.00 0.000 0.000 0.000 2935.03 2932.38 2937.69 1730.62 2080.94 0 0 0 30.00 30.00 30.00

1920.02 0 -106.58 -1.69 0.00 2934.7 2932.1 2937.2 1731.0 2081.4 231.67 -11.08 242 1921.35 0.00 0.00 0.00 0.000 0.000 0.000 2935.56 2932.44 2938.69 1731.00 2081.38 0 0 0 30.00 30.00 30.00

2040.05 260 -106.58 -1.69 80.00 2934.9 2932.2 2937.7 1731.2 2081.2 244.69 -11.10 254 2045.71 0.00 0.00 3.81 0.000 0.000 0.102 2933.47 2931.12 2935.81 1731.12 3477.31 0 0 0 30.00 30.00 14.97

2103.95 1028 -106.58 -1.69 0.00 2934.8 2932.3 2937.4 1731.1 3476.5 252.73 -12.79 267 2109.64 0.00 0.00 3.43 0.000 0.000 0.051 2936.59 2933.94 2939.25 1729.69 2081.19 0 0 0 30.00 30.00 15.12

2425.50 260 -106.58 -1.69 80.00 2935.0 2931.8 2938.2 1731.6 2081.4 287.46 -10.58 281 2430.73 0.00 0.00 3.83 0.000 0.000 0.101 2934.88 2933.06 2936.69 1730.62 3475.00 0 0 0 30.00 30.00 14.96

2473.97 1028 -106.58 -1.69 0.00 2934.8 2932.0 2937.5 1731.4 3475.3 293.16 -11.70 291 2481.20 0.00 0.00 3.41 0.000 0.000 0.049 2936.56 2934.50 2938.62 1730.44 2080.00 0 0 0 30.00 30.00 15.11

2780.06 260 -106.58 -1.69 80.00 2935.3 2932.4 2938.2 1731.4 2080.4 324.83 -10.36 302 2785.75 0.00 0.00 3.82 0.000 0.000 0.103 2933.53 2929.81 2937.25 1731.19 3474.75 0 0 0 30.00 30.00 14.93

2835.52 1028 -106.58 -1.69 0.00 2934.8 2931.9 2937.7 1730.9 3475.4 331.29 -12.80 313 2840.68 0.00 0.00 3.41 0.000 0.000 0.050 2935.19 2932.81 2937.56 1731.00 2082.00 0 0 0 30.00 30.00 15.13

3160.13 260 -106.58 -1.69 80.00 2935.2 2932.4 2937.9 1731.1 2082.1 367.02 -11.29 328 3165.76 0.00 0.00 3.84 0.000 0.000 0.103 2937.56 2934.50 2940.62 1731.12 3474.50 0 0 0 30.00 30.00 14.92

3209.00 1028 -106.58 -1.69 0.00 2934.7 2932.2 2937.1 1731.6 3475.2 373.37 -13.79 338 3216.23 0.00 0.00 3.44 0.000 0.000 0.051 2935.34 2933.12 2937.56 1731.19 2082.56 0 0 0 30.00 30.00 15.09

3515.55 260 -106.58 -1.69 80.00 2934.5 2931.8 2937.2 1731.2 2082.4 408.89 -12.49 349 3520.77 0.00 0.00 3.88 0.000 0.000 0.104 2933.66 2929.44 2937.88 1731.19 3473.81 0 0 0 30.00 30.00 14.90

3559.00 1028 -106.58 -1.69 0.00 2935.0 2932.5 2937.4 1731.9 3474.0 414.92 -13.74 358 3564.70 0.00 0.00 3.43 0.000 0.000 0.051 2935.09 2932.81 2937.38 1731.62 2080.88 0 0 0 30.00 30.00 15.07

3870.11 0 -106.58 -1.69 0.00 2934.6 2932.1 2937.1 1731.2 2080.9 449.90 -11.56 370 3871.44 0.00 0.00 0.00 0.000 0.000 0.000 2934.84 2932.00 2937.69 1731.06 2081.06 0 0 0 30.00 30.00 30.00

4170.11 260 -106.58 -1.69 80.00 2934.5 2932.5 2936.6 1731.2 2081.6 485.58 -12.05 380 4175.81 0.00 0.00 3.90 0.000 0.000 0.108 2933.38 2931.75 2935.00 1731.25 3474.81 0 0 0 30.00 30.00 14.86

4239.12 1028 -106.58 -1.69 0.00 2934.4 2932.1 2936.6 1731.1 3475.2 494.68 -11.60 394 4244.76 0.00 0.00 3.44 0.000 0.000 0.053 2935.19 2933.38 2937.00 1730.75 2082.12 0 0 0 30.00 30.00 15.05

4285 end dive: TARGET_DEPTH_EXCEEDED

state 4285 begin apogee

4286.28 10243 0.00 -0.25 0.00 2934.4 2932.1 2936.7 1730.9 2121.6 500.20 -11.55 398 4379.74 89.56 2.92 0.09 1.630 0.159 0.224 2501.22 2510.88 2491.56 2077.69 2083.81 0 0 0 11.04 14.80 14.82

4382 end apogee: CONTROL_FINISHED_OK

state 4382 begin climb

4383.02 10243 106.58 1.69 0.00 2497.8 2507.3 2488.2 2078.8 2082.9 503.72 0.00 401 4485.82 97.59 3.49 0.00 1.573 0.079 0.000 2062.88 2075.75 2050.00 2553.81 2083.81 0 0 0 11.34 15.03 30.00

4765.16 16966 106.58 1.74 -80.00 2053.1 2071.0 2035.2 2553.6 2084.0 474.73 9.50 414 4770.87 0.00 0.00 4.05 0.000 0.000 0.134 2053.84 2070.31 2037.38 2552.00 660.44 0 0 0 30.00 30.00 15.11

4899.10 17414 106.58 1.74 0.00 2051.2 2067.5 2035.0 2553.9 660.6 459.98 10.68 441 4904.80 0.00 0.00 3.50 0.000 0.000 0.041 2051.97 2068.19 2035.75 2554.44 2126.69 0 0 0 30.00 30.00 15.40

5210.23 16450 106.58 1.77 0.00 2049.5 2067.8 2031.2 2554.1 2126.6 430.18 9.89 453 5211.56 0.00 0.00 0.00 0.000 0.000 0.000 2049.94 2067.81 2032.06 2553.75 2126.62 0 0 0 30.00 30.00 30.00

5510.22 10791 130.97 1.85 -80.00 2048.3 2067.1 2029.6 2553.9 2126.7 403.54 8.66 463 5537.48 21.40 0.22 4.08 1.433 0.072 0.131 1963.50 1980.62 1946.38 2600.19 662.00 0 0 0 11.50 15.54 15.22

5729.73 1028 130.97 1.85 0.00 1961.2 1976.8 1945.6 2600.6 662.2 378.30 12.45 507 5735.40 0.00 0.00 3.51 0.000 0.000 0.042 1962.88 1978.69 1947.06 2600.50 2127.38 0 0 0 30.00 30.00 15.42

6045.83 8226 156.21 1.92 0.00 1958.8 1976.6 1941.1 2600.0 2127.1 349.92 8.57 520 6070.68 24.22 0.00 0.00 1.404 0.000 0.000 1862.66 1882.56 1842.75 2600.19 2127.12 0 0 0 11.51 30.00 30.00

6345.78 516 156.21 1.92 -80.00 1857.2 1880.4 1833.9 2600.2 2127.2 318.22 11.25 530 6351.52 0.00 0.00 4.14 0.000 0.000 0.129 1856.16 1879.50 1832.81 2599.50 660.94 0 0 0 30.00 30.00 15.13

6454.72 1028 156.21 1.92 0.00 1855.9 1878.3 1833.4 2600.1 660.7 304.61 12.14 552 6461.53 0.00 0.00 3.51 0.000 0.000 0.041 1856.94 1879.19 1834.69 2600.56 2127.06 0 0 0 30.00 30.00 15.40

6760.81 516 156.21 1.92 -80.00 1855.2 1878.0 1832.4 2600.4 2127.2 270.16 11.12 563 6766.55 0.00 0.00 4.15 0.000 0.000 0.127 1854.16 1877.25 1831.06 2600.00 662.38 0 0 0 30.00 30.00 15.04

6804.74 17478 156.21 1.95 0.00 1854.9 1877.5 1832.3 2600.0 662.2 265.01 10.31 572 6810.44 0.00 0.00 3.52 0.000 0.000 0.043 1856.00 1878.38 1833.62 2599.88 2127.06 0 0 0 30.00 30.00 15.38

7115.86 10791 184.66 2.03 -80.00 1854.4 1877.1 1831.6 2600.1 2126.8 235.75 8.25 594 7147.75 25.91 0.21 4.07 1.312 0.074 0.129 1746.19 1768.19 1724.19 2643.94 661.50 0 0 0 11.42 15.47 15.23

7226.48 1028 184.66 2.03 0.00 1743.9 1764.2 1723.5 2644.0 661.9 221.05 14.33 616 7231.62 0.00 0.00 3.51 0.000 0.000 0.043 1743.97 1764.00 1723.94 2642.88 2127.94 0 0 0 30.00 30.00 15.45

7351.00 516 184.66 2.03 -80.00 1741.8 1764.2 1719.4 2643.8 2127.9 206.16 11.90 629 7356.70 0.00 0.00 4.10 0.000 0.000 0.124 1743.69 1765.88 1721.50 2643.75 660.56 0 0 0 30.00 30.00 15.15

7389.90 1028 184.66 2.03 0.00 1741.7 1764.0 1719.4 2643.9 660.6 200.61 14.35 637 7396.71 0.00 0.00 3.50 0.000 0.000 0.040 1743.22 1765.38 1721.06 2643.75 2127.50 0 0 0 30.00 30.00 15.41

7516.07 516 184.66 2.03 -80.00 1741.0 1764.2 1717.7 2643.9 2127.2 186.27 12.06 650 7521.72 0.00 0.00 4.10 0.000 0.000 0.124 1740.41 1763.31 1717.50 2644.06 662.00 0 0 0 30.00 30.00 15.11

7561.48 1028 184.66 2.03 0.00 1740.9 1764.1 1717.7 2644.1 662.1 179.75 14.75 659 7566.62 0.00 0.00 3.49 0.000 0.000 0.041 1740.16 1763.38 1716.94 2643.38 2128.31 0 0 0 30.00 30.00 15.43

7686.03 0 184.66 2.03 0.00 1740.5 1764.1 1716.9 2643.6 2128.5 165.78 11.32 672 7687.35 0.00 0.00 0.00 0.000 0.000 0.000 1740.72 1764.19 1717.25 2643.69 2128.38 0 0 0 30.00 30.00 30.00

7806.04 0 184.66 2.03 0.00 1740.3 1763.8 1716.9 2643.5 2128.4 152.58 11.33 684 7807.37 0.00 0.00 0.00 0.000 0.000 0.000 1739.88 1763.69 1716.06 2643.94 2128.38 0 0 0 30.00 30.00 30.00

7926.04 516 184.66 2.03 -80.00 1740.5 1764.2 1716.7 2643.8 2129.0 138.60 12.13 696 7931.77 0.00 0.00 4.17 0.000 0.000 0.125 1738.94 1762.94 1714.94 2644.44 662.25 0 0 0 30.00 30.00 15.02

8054.97 1028 184.66 2.03 0.00 1740.2 1763.9 1716.5 2643.8 662.1 121.92 12.02 722 8061.78 0.00 0.00 3.53 0.000 0.000 0.043 1741.09 1764.50 1717.69 2643.69 2128.25 0 0 0 30.00 30.00 15.34

8121.07 64 184.66 2.05 0.00 1739.9 1763.4 1716.4 2643.8 2128.4 114.98 10.56 729 8122.40 0.00 0.00 0.00 0.000 0.000 0.000 1740.16 1764.06 1716.25 2643.75 2128.31 0 0 0 30.00 30.00 30.00

8181.08 260 184.66 2.05 80.00 1739.9 1763.6 1716.3 2644.4 2128.6 108.58 10.62 735 8186.71 0.00 0.00 3.64 0.000 0.000 0.105 1741.50 1765.25 1717.75 2643.88 3473.56 0 0 0 30.00 30.00 15.07

8209.99 17478 184.66 2.06 0.00 1738.9 1762.8 1715.1 2643.9 3474.6 105.10 10.57 741 8216.78 0.00 0.00 3.40 0.000 0.000 0.047 1739.75 1763.31 1716.19 2643.88 2073.81 0 0 0 30.00 30.00 15.26

8276.13 516 184.66 2.06 -80.00 1739.1 1762.9 1715.2 2643.9 2073.8 98.11 10.83 748 8281.77 0.00 0.00 3.95 0.000 0.000 0.125 1740.50 1763.81 1717.19 2643.69 661.69 0 0 0 30.00 30.00 15.04

8314.99 1028 184.66 2.06 0.00 1739.4 1763.3 1715.6 2643.8 662.0 93.24 12.68 756 8321.80 0.00 0.00 3.46 0.000 0.000 0.038 1739.75 1763.50 1716.00 2644.19 2129.19 0 0 0 30.00 30.00 15.38

8381.08 0 184.66 2.06 0.00 1739.2 1763.0 1715.4 2644.4 2129.9 85.86 11.05 763 8382.41 0.00 0.00 0.00 0.000 0.000 0.000 1738.69 1762.25 1715.12 2644.44 2129.50 0 0 0 30.00 30.00 30.00

8441.11 64 184.66 2.09 0.00 1739.1 1762.8 1715.4 2644.2 2129.9 79.87 10.17 769 8442.44 0.00 0.00 0.00 0.000 0.000 0.000 1739.31 1763.25 1715.38 2644.38 2129.38 0 0 0 30.00 30.00 30.00

8501.11 8226 212.42 2.18 0.00 1739.0 1762.9 1715.0 2644.0 2129.0 74.57 8.32 775 8535.68 32.67 0.00 0.00 1.118 0.000 0.000 1633.47 1657.81 1609.12 2644.62 2129.62 0 0 0 11.33 30.00 30.00

8601.11 10791 245.71 2.28 -80.00 1630.4 1656.0 1604.9 2643.9 2129.3 66.70 7.77 787 8646.82 39.56 0.31 4.09 1.094 0.062 0.126 1499.41 1524.25 1474.56 2700.00 660.81 0 0 0 11.53 15.46 15.04

8871.64 9254 278.46 2.37 0.00 1494.2 1517.9 1470.5 2701.2 660.8 40.28 7.82 841 8915.61 37.33 0.00 3.53 1.060 0.000 0.042 1364.69 1391.12 1338.25 2701.62 2131.56 0 0 0 11.49 30.00 15.40

8981.20 10275 321.42 2.50 0.00 1361.8 1390.0 1333.5 2700.7 2131.1 33.25 6.79 857 9032.26 47.67 0.31 0.00 1.043 0.063 0.000 1190.25 1216.56 1163.94 2757.62 2131.50 0 0 0 11.55 15.39 30.00

9091.21 580 321.42 2.56 -80.00 1187.1 1216.1 1158.1 2757.4 2131.7 24.22 9.30 871 9096.92 0.00 0.00 4.15 0.000 0.000 0.124 1187.56 1216.12 1159.00 2757.38 660.88 0 0 0 30.00 30.00 15.09

9150.14 1028 321.42 2.56 0.00 1186.6 1214.8 1158.4 2756.2 660.8 17.86 10.64 883 9156.93 0.00 0.00 3.55 0.000 0.000 0.042 1186.62 1214.94 1158.31 2757.44 2130.38 0 0 0 30.00 30.00 15.35

9216.22 8226 349.66 2.64 0.00 1185.7 1214.9 1156.6 2757.3 2131.1 12.47 8.27 890 9248.82 31.06 0.00 0.00 1.001 0.000 0.000 1074.75 1102.62 1046.88 2757.00 2130.69 0 0 0 11.50 30.00 30.00

9306.22 10275 371.27 2.71 0.00 1072.7 1101.8 1043.6 2757.0 2130.8 4.61 8.94 899 9331.72 23.83 0.25 0.00 0.970 0.066 0.000 986.34 1012.62 960.06 2806.69 2130.44 0 0 0 11.49 15.37 30.00

9341 end climb: SURFACE_DEPTH_REACHED

state 9341 begin surface coast

9361 end surface coast: CONTROL_FINISHED_OK

state 9361 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	1188	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	78.017769	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	282.48349	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	200421,054328,4708.200,-12501.547,1,1.8,7,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	2	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.50	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-63.4	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	200421,055240,4708.126,-12501.652,2,0.8,4,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	226.4,496,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	9499.14,0.00,0.016,0,563.7,562.6,564.8,474.98	_10V_AH	14.70,0.000
SM_GC	-0.53,0.00,19.28,0.11,0.016,0.084,0.130,563.7,562.6,564.8,171.2,2072.2,0,0,0,30.36,15.11,15.35	FG_AHR_24Vo	282.706
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	78.050
IRIDIUM_FIX	4707.10,-12459.52,200421,054745	MEM	1103668,39,73460,56
TCM_TEMP	174.58	DATA_FILE_SIZE	35306,906
XPDR_PINGS	22,14.0,11.5	CAP_FILE_SIZE	464388,0
SC_FREEKB	3403872	SDSIZE	3918848,3594112
HUMID	58.98	SDFILEDIR	5966,1
TEMP	7.80	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78109	GPS	200421,083138,4708.394,-12502.913,13,1.0,13,15.6
_24V_AH	14.02,323.160

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	664	1629	15180.51	legato	0	0	0.00
Pitch_motor	41	251	146.15	nil	0	0	0.00
Roll_motor	185	224	583.67	nil	0	0	0.00
Iridium	245	197	680.73	nil	0	0	0.00
Transponder_ping	5	420	32.39	nil	0	0	0.00
GPS	12	15	2.86	nil	0	0	0.00
Core	3559	11	617.45	SciCon	9412	5	713.50
LPSleep	6304	2	259.49	nil	0	0	0.00
Compass	1800	5	132.31	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8.53	16386	-74.33	-1.59	0.00	559.7	561.0	558.4	170.2	2082.8	0.00	0.00	0	90.31	81.26	0.00	0.00	0.005	0.000	0.000	2430.31	2415.31	2445.31	170.19	2082.88	0	0	0	13.22	30.00	30.00
90.55	18727	-106.58	-1.69	80.00	2430.0	2415.2	2444.8	170.2	2082.4	3.44	-7.87	8	126.63	11.56	14.37	3.83	0.007	0.252	0.107	2934.91	2933.75	2936.06	1730.75	3476.00	0	0	0	13.54	14.80	14.58
283.78	1028	-106.58	-1.69	0.00	2934.2	2932.1	2936.3	1730.8	3475.5	43.03	-18.38	47	291.01	0.00	0.00	3.46	0.000	0.000	0.053	2936.72	2935.12	2938.31	1731.06	2080.62	0	0	0	30.00	30.00	15.20
349.93	516	-106.58	-1.69	-80.00	2934.7	2932.6	2936.7	1731.1	2081.2	53.83	-16.07	54	355.60	0.00	0.00	4.14	0.000	0.000	0.142	2932.66	2930.50	2934.81	1731.00	662.00	0	0	0	30.00	30.00	14.95
375.32	1028	-106.58	-1.69	0.00	2934.0	2931.8	2936.2	1731.1	662.0	58.15	-17.32	59	380.51	0.00	0.00	3.51	0.000	0.000	0.043	2934.44	2931.75	2937.12	1730.62	2121.50	0	0	0	30.00	30.00	15.32
439.87	260	-106.58	-1.69	80.00	2934.3	2932.1	2936.6	1731.1	2122.2	66.38	-12.07	66	445.54	0.00	0.00	3.61	0.000	0.000	0.096	2934.84	2933.38	2936.31	1729.69	3476.50	0	0	0	30.00	30.00	15.09
505.34	1028	-106.58	-1.69	0.00	2934.2	2931.9	2936.6	1730.9	3475.7	75.09	-12.96	79	510.54	0.00	0.00	3.36	0.000	0.000	0.047	2934.25	2932.06	2936.44	1730.69	2081.00	0	0	0	30.00	30.00	15.23
569.95	0	-106.58	-1.69	0.00	2934.4	2932.2	2936.5	1731.2	2081.6	82.50	-10.90	86	571.28	0.00	0.00	0.00	0.000	0.000	0.000	2934.59	2932.25	2936.94	1731.38	2081.25	0	0	0	30.00	30.00	30.00
629.92	0	-106.58	-1.69	0.00	2934.3	2931.9	2936.6	1731.1	2081.2	89.04	-10.88	92	631.25	0.00	0.00	0.00	0.000	0.000	0.000	2934.88	2932.69	2937.06	1731.00	2081.19	0	0	0	30.00	30.00	30.00
689.91	516	-106.58	-1.69	-80.00	2934.5	2932.2	2936.8	1730.9	2081.8	95.33	-10.42	98	695.62	0.00	0.00	4.03	0.000	0.000	0.140	2935.25	2933.12	2937.38	1731.44	660.69	0	0	0	30.00	30.00	14.92
715.35	1028	-106.58	-1.69	0.00	2934.3	2932.1	2936.6	1731.6	660.7	98.00	-10.44	103	720.53	0.00	0.00	3.50	0.000	0.000	0.040	2932.69	2929.69	2935.69	1731.38	2125.25	0	0	0	30.00	30.00	15.32
779.91	260	-106.58	-1.69	80.00	2934.5	2932.3	2936.6	1730.8	2125.4	104.76	-10.17	110	785.56	0.00	0.00	3.61	0.000	0.000	0.098	2936.22	2932.94	2939.50	1731.31	3476.88	0	0	0	30.00	30.00	15.06
835.37	1028	-106.58	-1.69	0.00	2934.8	2932.1	2937.4	1731.8	3476.0	111.10	-11.63	121	840.53	0.00	0.00	3.38	0.000	0.000	0.047	2935.81	2933.44	2938.19	1731.00	2080.44	0	0	0	30.00	30.00	15.22
899.98	0	-106.58	-1.69	0.00	2934.8	2932.0	2937.6	1731.2	2080.0	118.68	-11.29	128	901.30	0.00	0.00	0.00	0.000	0.000	0.000	2935.16	2932.44	2937.88	1730.94	2080.50	0	0	0	30.00	30.00	30.00
959.93	0	-106.58	-1.69	0.00	2934.5	2931.5	2937.4	1731.4	2080.1	125.44	-11.30	134	961.26	0.00	0.00	0.00	0.000	0.000	0.000	2935.31	2933.12	2937.50	1731.19	2080.38	0	0	0	30.00	30.00	30.00
1019.94	0	-106.58	-1.69	0.00	2934.7	2932.1	2937.4	1731.1	2079.8	132.06	-11.26	140	1021.27	0.00	0.00	0.00	0.000	0.000	0.000	2935.28	2932.81	2937.75	1731.50	2080.19	0	0	0	30.00	30.00	30.00
1079.95	0	-106.58	-1.69	0.00	2934.8	2932.1	2937.6	1731.2	2080.4	138.62	-10.66	146	1081.28	0.00	0.00	0.00	0.000	0.000	0.000	2935.41	2933.19	2937.62	1731.25	2080.31	0	0	0	30.00	30.00	30.00
1139.96	0	-106.58	-1.69	0.00	2934.7	2932.2	2937.2	1731.1	2080.1	145.39	-11.42	152	1141.29	0.00	0.00	0.00	0.000	0.000	0.000	2935.41	2932.75	2938.06	1731.31	2080.31	0	0	0	30.00	30.00	30.00
1199.96	0	-106.58	-1.69	0.00	2934.6	2932.1	2937.1	1731.1	2080.2	152.36	-11.69	158	1201.28	0.00	0.00	0.00	0.000	0.000	0.000	2935.25	2932.81	2937.69	1731.31	2080.25	0	0	0	30.00	30.00	30.00
1319.98	260	-106.58	-1.69	80.00	2934.7	2931.8	2937.5	1730.9	2080.4	165.82	-11.82	170	1325.62	0.00	0.00	3.79	0.000	0.000	0.101	2933.47	2930.25	2936.69	1731.31	3475.94	0	0	0	30.00	30.00	15.00
1365.41	1028	-106.58	-1.69	0.00	2934.8	2931.5	2938.2	1730.9	3475.7	171.53	-12.85	179	1370.57	0.00	0.00	3.40	0.000	0.000	0.049	2934.28	2931.00	2937.56	1731.44	2079.81	0	0	0	30.00	30.00	15.19
1489.98	260	-106.58	-1.69	80.00	2934.9	2932.3	2937.6	1731.1	2079.8	185.30	-10.35	192	1495.64	0.00	0.00	3.76	0.000	0.000	0.098	2934.31	2931.75	2936.88	1731.25	3476.19	0	0	0	30.00	30.00	15.01
1555.44	1028	-106.58	-1.69	0.00	2934.8	2932.2	2937.4	1731.2	3477.1	192.78	-11.19	205	1560.59	0.00	0.00	3.38	0.000	0.000	0.048	2933.94	2931.12	2936.75	1730.69	2081.62	0	0	0	30.00	30.00	15.19
1680.00	0	-106.58	-1.69	0.00	2934.8	2932.4	2937.2	1731.0	2081.0	206.47	-10.69	218	1681.33	0.00	0.00	0.00	0.000	0.000	0.000	2935.12	2932.44	2937.81	1731.31	2081.00	0	0	0	30.00	30.00	30.00
1800.01	0	-106.58	-1.69	0.00	2934.6	2932.1	2937.1	1731.0	2081.6	218.68	-10.28	230	1801.34	0.00	0.00	0.00	0.000	0.000	0.000	2935.03	2932.38	2937.69	1730.62	2080.94	0	0	0	30.00	30.00	30.00
1920.02	0	-106.58	-1.69	0.00	2934.7	2932.1	2937.2	1731.0	2081.4	231.67	-11.08	242	1921.35	0.00	0.00	0.00	0.000	0.000	0.000	2935.56	2932.44	2938.69	1731.00	2081.38	0	0	0	30.00	30.00	30.00
2040.05	260	-106.58	-1.69	80.00	2934.9	2932.2	2937.7	1731.2	2081.2	244.69	-11.10	254	2045.71	0.00	0.00	3.81	0.000	0.000	0.102	2933.47	2931.12	2935.81	1731.12	3477.31	0	0	0	30.00	30.00	14.97
2103.95	1028	-106.58	-1.69	0.00	2934.8	2932.3	2937.4	1731.1	3476.5	252.73	-12.79	267	2109.64	0.00	0.00	3.43	0.000	0.000	0.051	2936.59	2933.94	2939.25	1729.69	2081.19	0	0	0	30.00	30.00	15.12
2425.50	260	-106.58	-1.69	80.00	2935.0	2931.8	2938.2	1731.6	2081.4	287.46	-10.58	281	2430.73	0.00	0.00	3.83	0.000	0.000	0.101	2934.88	2933.06	2936.69	1730.62	3475.00	0	0	0	30.00	30.00	14.96
2473.97	1028	-106.58	-1.69	0.00	2934.8	2932.0	2937.5	1731.4	3475.3	293.16	-11.70	291	2481.20	0.00	0.00	3.41	0.000	0.000	0.049	2936.56	2934.50	2938.62	1730.44	2080.00	0	0	0	30.00	30.00	15.11
2780.06	260	-106.58	-1.69	80.00	2935.3	2932.4	2938.2	1731.4	2080.4	324.83	-10.36	302	2785.75	0.00	0.00	3.82	0.000	0.000	0.103	2933.53	2929.81	2937.25	1731.19	3474.75	0	0	0	30.00	30.00	14.93
2835.52	1028	-106.58	-1.69	0.00	2934.8	2931.9	2937.7	1730.9	3475.4	331.29	-12.80	313	2840.68	0.00	0.00	3.41	0.000	0.000	0.050	2935.19	2932.81	2937.56	1731.00	2082.00	0	0	0	30.00	30.00	15.13
3160.13	260	-106.58	-1.69	80.00	2935.2	2932.4	2937.9	1731.1	2082.1	367.02	-11.29	328	3165.76	0.00	0.00	3.84	0.000	0.000	0.103	2937.56	2934.50	2940.62	1731.12	3474.50	0	0	0	30.00	30.00	14.92
3209.00	1028	-106.58	-1.69	0.00	2934.7	2932.2	2937.1	1731.6	3475.2	373.37	-13.79	338	3216.23	0.00	0.00	3.44	0.000	0.000	0.051	2935.34	2933.12	2937.56	1731.19	2082.56	0	0	0	30.00	30.00	15.09
3515.55	260	-106.58	-1.69	80.00	2934.5	2931.8	2937.2	1731.2	2082.4	408.89	-12.49	349	3520.77	0.00	0.00	3.88	0.000	0.000	0.104	2933.66	2929.44	2937.88	1731.19	3473.81	0	0	0	30.00	30.00	14.90
3559.00	1028	-106.58	-1.69	0.00	2935.0	2932.5	2937.4	1731.9	3474.0	414.92	-13.74	358	3564.70	0.00	0.00	3.43	0.000	0.000	0.051	2935.09	2932.81	2937.38	1731.62	2080.88	0	0	0	30.00	30.00	15.07
3870.11	0	-106.58	-1.69	0.00	2934.6	2932.1	2937.1	1731.2	2080.9	449.90	-11.56	370	3871.44	0.00	0.00	0.00	0.000	0.000	0.000	2934.84	2932.00	2937.69	1731.06	2081.06	0	0	0	30.00	30.00	30.00
4170.11	260	-106.58	-1.69	80.00	2934.5	2932.5	2936.6	1731.2	2081.6	485.58	-12.05	380	4175.81	0.00	0.00	3.90	0.000	0.000	0.108	2933.38	2931.75	2935.00	1731.25	3474.81	0	0	0	30.00	30.00	14.86
4239.12	1028	-106.58	-1.69	0.00	2934.4	2932.1	2936.6	1731.1	3475.2	494.68	-11.60	394	4244.76	0.00	0.00	3.44	0.000	0.000	0.053	2935.19	2933.38	2937.00	1730.75	2082.12	0	0	0	30.00	30.00	15.05
4285	end dive: TARGET_DEPTH_EXCEEDED
state	4285	begin apogee
4286.28	10243	0.00	-0.25	0.00	2934.4	2932.1	2936.7	1730.9	2121.6	500.20	-11.55	398	4379.74	89.56	2.92	0.09	1.630	0.159	0.224	2501.22	2510.88	2491.56	2077.69	2083.81	0	0	0	11.04	14.80	14.82
4382	end apogee: CONTROL_FINISHED_OK
state	4382	begin climb
4383.02	10243	106.58	1.69	0.00	2497.8	2507.3	2488.2	2078.8	2082.9	503.72	0.00	401	4485.82	97.59	3.49	0.00	1.573	0.079	0.000	2062.88	2075.75	2050.00	2553.81	2083.81	0	0	0	11.34	15.03	30.00
4765.16	16966	106.58	1.74	-80.00	2053.1	2071.0	2035.2	2553.6	2084.0	474.73	9.50	414	4770.87	0.00	0.00	4.05	0.000	0.000	0.134	2053.84	2070.31	2037.38	2552.00	660.44	0	0	0	30.00	30.00	15.11
4899.10	17414	106.58	1.74	0.00	2051.2	2067.5	2035.0	2553.9	660.6	459.98	10.68	441	4904.80	0.00	0.00	3.50	0.000	0.000	0.041	2051.97	2068.19	2035.75	2554.44	2126.69	0	0	0	30.00	30.00	15.40
5210.23	16450	106.58	1.77	0.00	2049.5	2067.8	2031.2	2554.1	2126.6	430.18	9.89	453	5211.56	0.00	0.00	0.00	0.000	0.000	0.000	2049.94	2067.81	2032.06	2553.75	2126.62	0	0	0	30.00	30.00	30.00
5510.22	10791	130.97	1.85	-80.00	2048.3	2067.1	2029.6	2553.9	2126.7	403.54	8.66	463	5537.48	21.40	0.22	4.08	1.433	0.072	0.131	1963.50	1980.62	1946.38	2600.19	662.00	0	0	0	11.50	15.54	15.22
5729.73	1028	130.97	1.85	0.00	1961.2	1976.8	1945.6	2600.6	662.2	378.30	12.45	507	5735.40	0.00	0.00	3.51	0.000	0.000	0.042	1962.88	1978.69	1947.06	2600.50	2127.38	0	0	0	30.00	30.00	15.42
6045.83	8226	156.21	1.92	0.00	1958.8	1976.6	1941.1	2600.0	2127.1	349.92	8.57	520	6070.68	24.22	0.00	0.00	1.404	0.000	0.000	1862.66	1882.56	1842.75	2600.19	2127.12	0	0	0	11.51	30.00	30.00
6345.78	516	156.21	1.92	-80.00	1857.2	1880.4	1833.9	2600.2	2127.2	318.22	11.25	530	6351.52	0.00	0.00	4.14	0.000	0.000	0.129	1856.16	1879.50	1832.81	2599.50	660.94	0	0	0	30.00	30.00	15.13
6454.72	1028	156.21	1.92	0.00	1855.9	1878.3	1833.4	2600.1	660.7	304.61	12.14	552	6461.53	0.00	0.00	3.51	0.000	0.000	0.041	1856.94	1879.19	1834.69	2600.56	2127.06	0	0	0	30.00	30.00	15.40
6760.81	516	156.21	1.92	-80.00	1855.2	1878.0	1832.4	2600.4	2127.2	270.16	11.12	563	6766.55	0.00	0.00	4.15	0.000	0.000	0.127	1854.16	1877.25	1831.06	2600.00	662.38	0	0	0	30.00	30.00	15.04
6804.74	17478	156.21	1.95	0.00	1854.9	1877.5	1832.3	2600.0	662.2	265.01	10.31	572	6810.44	0.00	0.00	3.52	0.000	0.000	0.043	1856.00	1878.38	1833.62	2599.88	2127.06	0	0	0	30.00	30.00	15.38
7115.86	10791	184.66	2.03	-80.00	1854.4	1877.1	1831.6	2600.1	2126.8	235.75	8.25	594	7147.75	25.91	0.21	4.07	1.312	0.074	0.129	1746.19	1768.19	1724.19	2643.94	661.50	0	0	0	11.42	15.47	15.23
7226.48	1028	184.66	2.03	0.00	1743.9	1764.2	1723.5	2644.0	661.9	221.05	14.33	616	7231.62	0.00	0.00	3.51	0.000	0.000	0.043	1743.97	1764.00	1723.94	2642.88	2127.94	0	0	0	30.00	30.00	15.45
7351.00	516	184.66	2.03	-80.00	1741.8	1764.2	1719.4	2643.8	2127.9	206.16	11.90	629	7356.70	0.00	0.00	4.10	0.000	0.000	0.124	1743.69	1765.88	1721.50	2643.75	660.56	0	0	0	30.00	30.00	15.15
7389.90	1028	184.66	2.03	0.00	1741.7	1764.0	1719.4	2643.9	660.6	200.61	14.35	637	7396.71	0.00	0.00	3.50	0.000	0.000	0.040	1743.22	1765.38	1721.06	2643.75	2127.50	0	0	0	30.00	30.00	15.41
7516.07	516	184.66	2.03	-80.00	1741.0	1764.2	1717.7	2643.9	2127.2	186.27	12.06	650	7521.72	0.00	0.00	4.10	0.000	0.000	0.124	1740.41	1763.31	1717.50	2644.06	662.00	0	0	0	30.00	30.00	15.11
7561.48	1028	184.66	2.03	0.00	1740.9	1764.1	1717.7	2644.1	662.1	179.75	14.75	659	7566.62	0.00	0.00	3.49	0.000	0.000	0.041	1740.16	1763.38	1716.94	2643.38	2128.31	0	0	0	30.00	30.00	15.43
7686.03	0	184.66	2.03	0.00	1740.5	1764.1	1716.9	2643.6	2128.5	165.78	11.32	672	7687.35	0.00	0.00	0.00	0.000	0.000	0.000	1740.72	1764.19	1717.25	2643.69	2128.38	0	0	0	30.00	30.00	30.00
7806.04	0	184.66	2.03	0.00	1740.3	1763.8	1716.9	2643.5	2128.4	152.58	11.33	684	7807.37	0.00	0.00	0.00	0.000	0.000	0.000	1739.88	1763.69	1716.06	2643.94	2128.38	0	0	0	30.00	30.00	30.00
7926.04	516	184.66	2.03	-80.00	1740.5	1764.2	1716.7	2643.8	2129.0	138.60	12.13	696	7931.77	0.00	0.00	4.17	0.000	0.000	0.125	1738.94	1762.94	1714.94	2644.44	662.25	0	0	0	30.00	30.00	15.02
8054.97	1028	184.66	2.03	0.00	1740.2	1763.9	1716.5	2643.8	662.1	121.92	12.02	722	8061.78	0.00	0.00	3.53	0.000	0.000	0.043	1741.09	1764.50	1717.69	2643.69	2128.25	0	0	0	30.00	30.00	15.34
8121.07	64	184.66	2.05	0.00	1739.9	1763.4	1716.4	2643.8	2128.4	114.98	10.56	729	8122.40	0.00	0.00	0.00	0.000	0.000	0.000	1740.16	1764.06	1716.25	2643.75	2128.31	0	0	0	30.00	30.00	30.00
8181.08	260	184.66	2.05	80.00	1739.9	1763.6	1716.3	2644.4	2128.6	108.58	10.62	735	8186.71	0.00	0.00	3.64	0.000	0.000	0.105	1741.50	1765.25	1717.75	2643.88	3473.56	0	0	0	30.00	30.00	15.07
8209.99	17478	184.66	2.06	0.00	1738.9	1762.8	1715.1	2643.9	3474.6	105.10	10.57	741	8216.78	0.00	0.00	3.40	0.000	0.000	0.047	1739.75	1763.31	1716.19	2643.88	2073.81	0	0	0	30.00	30.00	15.26
8276.13	516	184.66	2.06	-80.00	1739.1	1762.9	1715.2	2643.9	2073.8	98.11	10.83	748	8281.77	0.00	0.00	3.95	0.000	0.000	0.125	1740.50	1763.81	1717.19	2643.69	661.69	0	0	0	30.00	30.00	15.04
8314.99	1028	184.66	2.06	0.00	1739.4	1763.3	1715.6	2643.8	662.0	93.24	12.68	756	8321.80	0.00	0.00	3.46	0.000	0.000	0.038	1739.75	1763.50	1716.00	2644.19	2129.19	0	0	0	30.00	30.00	15.38
8381.08	0	184.66	2.06	0.00	1739.2	1763.0	1715.4	2644.4	2129.9	85.86	11.05	763	8382.41	0.00	0.00	0.00	0.000	0.000	0.000	1738.69	1762.25	1715.12	2644.44	2129.50	0	0	0	30.00	30.00	30.00
8441.11	64	184.66	2.09	0.00	1739.1	1762.8	1715.4	2644.2	2129.9	79.87	10.17	769	8442.44	0.00	0.00	0.00	0.000	0.000	0.000	1739.31	1763.25	1715.38	2644.38	2129.38	0	0	0	30.00	30.00	30.00
8501.11	8226	212.42	2.18	0.00	1739.0	1762.9	1715.0	2644.0	2129.0	74.57	8.32	775	8535.68	32.67	0.00	0.00	1.118	0.000	0.000	1633.47	1657.81	1609.12	2644.62	2129.62	0	0	0	11.33	30.00	30.00
8601.11	10791	245.71	2.28	-80.00	1630.4	1656.0	1604.9	2643.9	2129.3	66.70	7.77	787	8646.82	39.56	0.31	4.09	1.094	0.062	0.126	1499.41	1524.25	1474.56	2700.00	660.81	0	0	0	11.53	15.46	15.04
8871.64	9254	278.46	2.37	0.00	1494.2	1517.9	1470.5	2701.2	660.8	40.28	7.82	841	8915.61	37.33	0.00	3.53	1.060	0.000	0.042	1364.69	1391.12	1338.25	2701.62	2131.56	0	0	0	11.49	30.00	15.40
8981.20	10275	321.42	2.50	0.00	1361.8	1390.0	1333.5	2700.7	2131.1	33.25	6.79	857	9032.26	47.67	0.31	0.00	1.043	0.063	0.000	1190.25	1216.56	1163.94	2757.62	2131.50	0	0	0	11.55	15.39	30.00
9091.21	580	321.42	2.56	-80.00	1187.1	1216.1	1158.1	2757.4	2131.7	24.22	9.30	871	9096.92	0.00	0.00	4.15	0.000	0.000	0.124	1187.56	1216.12	1159.00	2757.38	660.88	0	0	0	30.00	30.00	15.09
9150.14	1028	321.42	2.56	0.00	1186.6	1214.8	1158.4	2756.2	660.8	17.86	10.64	883	9156.93	0.00	0.00	3.55	0.000	0.000	0.042	1186.62	1214.94	1158.31	2757.44	2130.38	0	0	0	30.00	30.00	15.35
9216.22	8226	349.66	2.64	0.00	1185.7	1214.9	1156.6	2757.3	2131.1	12.47	8.27	890	9248.82	31.06	0.00	0.00	1.001	0.000	0.000	1074.75	1102.62	1046.88	2757.00	2130.69	0	0	0	11.50	30.00	30.00
9306.22	10275	371.27	2.71	0.00	1072.7	1101.8	1043.6	2757.0	2130.8	4.61	8.94	899	9331.72	23.83	0.25	0.00	0.970	0.066	0.000	986.34	1012.62	960.06	2806.69	2130.44	0	0	0	11.49	15.37	30.00
9341	end climb: SURFACE_DEPTH_REACHED
state	9341	begin surface coast
9361	end surface coast: CONTROL_FINISHED_OK
state	9361	begin surface