Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1204 * 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 1204 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 78.562035 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 286.24567 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 78.562035 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 286.24567 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 1204 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 220421,023431,4707.511,-12501.151,20,0.8,21,15.5 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.64 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -58.8 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 220421,024159,4707.417,-12501.192,3,0.6,5,15.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 301.1,1483,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 593

Post-dive calculations and measurements:

SM_CCo 9086.34,0.00,0.016,0,563.5,561.2,565.9,475.02 _10V_AH 14.62,0.000

SM_GC -0.30,0.00,18.83,0.10,0.016,0.079,0.134,563.5,561.2,565.9,172.9,2073.6,0,0,0,30.36,15.09,15.34 FG_AHR_24Vo 286.472

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 78.593

IRIDIUM_FIX 4709.86,-12501.34,210421,235157 MEM 1103672,40,73436,56

TCM_TEMP 174.58 DATA_FILE_SIZE 35426,904

XPDR_PINGS 14,14.0,11.5 CAP_FILE_SIZE 490044,0

SC_FREEKB 3397728 SDSIZE 3918848,3589536

HUMID 59.13 SDFILEDIR 6046,1

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

INTERNAL_PRESSURE 7.78556 GPS 220421,051403,4707.670,-12501.140,2,1.8,10,15.5

_24V_AH 13.90,327.218

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 677 1621 15263.28 legato 0 0 0.00

Pitch_motor 41 246 142.79 nil 0 0 0.00

Roll_motor 223 237 736.35 nil 0 0 0.00

Iridium 199 201 558.12 nil 0 0 0.00

Transponder_ping 3 420 20.43 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 3465 11 597.82 SciCon 8961 5 666.97

LPSleep 5839 2 239.03 nil 0 0 0.00

Compass 1753 5 128.16 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

8.60 16386 -74.33 -1.59 0.00 559.5 560.2 558.8 169.0 2078.1 0.00 0.00 0 100.57 91.48 0.00 0.00 0.005 0.000 0.000 2732.03 2716.06 2748.00 168.94 2078.62 0 0 0 13.18 30.00 30.00

100.79 18695 -74.33 -1.59 80.00 2731.4 2715.5 2747.2 169.2 2077.8 5.57 -11.77 9 126.79 1.38 14.65 3.87 0.021 0.247 0.107 2803.31 2794.56 2812.06 1753.56 3475.88 0 0 0 13.25 14.80 14.71

190.02 1028 -74.33 -1.59 0.00 2802.6 2794.2 2811.0 1753.5 3476.2 26.34 -18.47 27 194.77 0.00 0.00 3.46 0.000 0.000 0.054 2805.12 2796.62 2813.62 1753.06 2080.81 0 0 0 30.00 30.00 15.22

260.03 260 -74.33 -1.59 80.00 2802.8 2794.9 2810.8 1753.8 2081.3 36.59 -14.07 35 265.72 0.00 0.00 3.81 0.000 0.000 0.100 2801.00 2792.62 2809.38 1753.25 3476.50 0 0 0 30.00 30.00 15.07

305.48 1028 -74.33 -1.59 0.00 2803.1 2794.8 2811.4 1753.3 3476.0 43.88 -17.09 44 310.65 0.00 0.00 3.43 0.000 0.000 0.052 2802.66 2794.56 2810.75 1753.56 2080.31 0 0 0 30.00 30.00 15.21

370.10 260 -74.33 -1.59 80.00 2802.9 2794.8 2810.9 1753.8 2080.1 53.40 -14.60 51 375.73 0.00 0.00 3.81 0.000 0.000 0.099 2802.78 2795.31 2810.25 1753.44 3475.31 0 0 0 30.00 30.00 15.06

395.48 1028 -74.33 -1.59 0.00 2803.2 2795.5 2811.0 1753.4 3476.3 56.90 -14.72 56 400.67 0.00 0.00 3.42 0.000 0.000 0.051 2801.81 2794.00 2809.62 1753.31 2080.75 0 0 0 30.00 30.00 15.21

460.10 260 -74.33 -1.59 80.00 2803.0 2794.9 2811.1 1753.6 2080.9 65.81 -13.05 63 465.71 0.00 0.00 3.80 0.000 0.000 0.100 2803.88 2796.19 2811.56 1753.12 3475.25 0 0 0 30.00 30.00 15.06

488.96 1028 -74.33 -1.59 0.00 2803.2 2795.2 2811.1 1753.4 3475.2 69.48 -12.26 69 495.77 0.00 0.00 3.43 0.000 0.000 0.051 2804.53 2796.25 2812.81 1753.44 2080.44 0 0 0 30.00 30.00 15.19

555.13 516 -74.33 -1.59 -80.00 2803.0 2795.2 2810.7 1752.9 2080.2 76.09 -9.66 76 560.78 0.00 0.00 4.10 0.000 0.000 0.143 2801.66 2793.69 2809.62 1753.62 662.38 0 0 0 30.00 30.00 14.95

580.50 1028 -74.33 -1.59 0.00 2803.2 2795.4 2811.1 1753.2 662.6 78.61 -10.08 81 585.70 0.00 0.00 3.55 0.000 0.000 0.043 2803.78 2796.56 2811.00 1753.00 2124.06 0 0 0 30.00 30.00 15.30

645.07 16678 -97.00 -1.66 80.00 2802.8 2795.9 2809.8 1753.8 2124.2 84.43 -8.83 88 650.76 0.69 0.00 3.63 0.034 0.000 0.104 2895.09 2893.62 2896.56 1753.44 3475.81 0 0 0 14.72 30.00 14.67

723.98 1028 -97.00 -1.66 0.00 2896.4 2894.6 2898.3 1753.7 3474.6 93.77 -11.29 104 730.77 0.00 0.00 3.40 0.000 0.000 0.049 2899.56 2897.94 2901.19 1753.31 2080.38 0 0 0 30.00 30.00 15.20

790.13 516 -97.00 -1.66 -80.00 2897.2 2895.1 2899.3 1753.8 2080.5 99.80 -9.15 111 795.81 0.00 0.00 4.09 0.000 0.000 0.142 2895.28 2893.75 2896.81 1753.50 661.75 0 0 0 30.00 30.00 14.96

818.99 1028 -97.00 -1.66 0.00 2897.5 2895.5 2899.4 1753.1 662.0 103.06 -10.20 117 825.81 0.00 0.00 3.52 0.000 0.000 0.042 2897.59 2895.69 2899.50 1753.62 2124.81 0 0 0 30.00 30.00 15.29

885.15 20515 -117.20 -1.72 0.00 2897.3 2895.2 2899.4 1753.6 2124.8 109.30 -9.08 124 886.68 0.52 0.31 0.00 0.043 0.062 0.000 2978.31 2979.38 2977.25 1705.94 2125.00 0 0 0 14.73 15.44 30.00

945.08 260 -117.20 -1.72 80.00 2981.2 2981.7 2980.8 1705.5 2124.7 116.12 -11.63 130 950.74 0.00 0.00 3.64 0.000 0.000 0.100 2980.19 2980.75 2979.62 1706.12 3475.56 0 0 0 30.00 30.00 15.06

1000.54 1028 -117.20 -1.72 0.00 2981.1 2982.1 2980.2 1705.6 3475.5 123.22 -13.53 141 1005.70 0.00 0.00 3.39 0.000 0.000 0.049 2979.66 2980.94 2978.38 1705.19 2080.44 0 0 0 30.00 30.00 15.21

1065.16 0 -117.20 -1.72 0.00 2981.0 2981.6 2980.4 1705.9 2081.2 131.39 -12.13 148 1066.48 0.00 0.00 0.00 0.000 0.000 0.000 2981.81 2982.38 2981.25 1706.12 2081.06 0 0 0 30.00 30.00 30.00

1125.11 260 -117.20 -1.72 80.00 2981.2 2981.5 2980.8 1706.2 2080.9 139.04 -12.59 154 1130.76 0.00 0.00 3.78 0.000 0.000 0.099 2981.25 2981.75 2980.75 1705.75 3477.00 0 0 0 30.00 30.00 15.04

1160.55 1028 -117.20 -1.72 0.00 2981.4 2981.6 2981.2 1706.1 3476.1 143.84 -13.97 161 1165.76 0.00 0.00 3.39 0.000 0.000 0.047 2983.16 2982.50 2983.81 1705.75 2080.19 0 0 0 30.00 30.00 15.20

1225.11 0 -117.20 -1.72 0.00 2981.1 2981.2 2980.9 1705.9 2079.6 152.11 -12.39 168 1226.44 0.00 0.00 0.00 0.000 0.000 0.000 2981.81 2982.06 2981.56 1705.88 2080.38 0 0 0 30.00 30.00 30.00

1345.12 0 -117.20 -1.72 0.00 2980.9 2981.2 2980.6 1705.6 2080.1 167.17 -12.32 180 1346.45 0.00 0.00 0.00 0.000 0.000 0.000 2981.44 2981.56 2981.31 1706.00 2079.44 0 0 0 30.00 30.00 30.00

1465.13 260 -117.20 -1.72 80.00 2981.1 2981.6 2980.6 1705.9 2080.4 181.98 -12.27 192 1470.82 0.00 0.00 3.83 0.000 0.000 0.100 2982.03 2982.00 2982.06 1705.62 3474.50 0 0 0 30.00 30.00 15.00

1530.60 1028 -117.20 -1.72 0.00 2981.4 2981.4 2981.4 1706.1 3474.5 190.61 -12.62 205 1535.76 0.00 0.00 3.41 0.000 0.000 0.049 2979.94 2980.00 2979.88 1705.88 2080.19 0 0 0 30.00 30.00 15.17

1655.16 0 -117.20 -1.72 0.00 2981.2 2981.4 2981.1 1706.0 2080.4 206.53 -12.46 218 1656.49 0.00 0.00 0.00 0.000 0.000 0.000 2981.44 2981.38 2981.50 1705.81 2080.06 0 0 0 30.00 30.00 30.00

1775.17 0 -117.20 -1.72 0.00 2981.3 2981.1 2981.5 1706.2 2079.9 221.92 -12.89 230 1776.50 0.00 0.00 0.00 0.000 0.000 0.000 2981.84 2981.44 2982.25 1705.62 2079.81 0 0 0 30.00 30.00 30.00

1895.18 0 -117.20 -1.72 0.00 2981.3 2981.5 2981.2 1705.8 2080.0 237.02 -12.32 242 1896.51 0.00 0.00 0.00 0.000 0.000 0.000 2981.88 2981.44 2982.31 1706.06 2080.25 0 0 0 30.00 30.00 30.00

2035.20 0 -117.20 -1.72 0.00 2980.9 2981.0 2980.9 1705.8 2080.1 254.57 -12.93 254 2036.53 0.00 0.00 0.00 0.000 0.000 0.000 2981.78 2981.44 2982.12 1706.06 2080.19 0 0 0 30.00 30.00 30.00

2335.20 260 -117.20 -1.72 80.00 2981.1 2980.8 2981.4 1706.2 2080.2 294.22 -13.71 264 2340.89 0.00 0.00 3.91 0.000 0.000 0.106 2980.62 2980.62 2980.62 1705.81 3474.25 0 0 0 30.00 30.00 14.94

2399.14 1028 -117.20 -1.72 0.00 2981.4 2980.4 2982.4 1706.1 3475.5 303.74 -15.14 277 2404.83 0.00 0.00 3.46 0.000 0.000 0.053 2982.91 2982.44 2983.38 1705.62 2081.88 0 0 0 30.00 30.00 15.09

2720.26 260 -117.20 -1.72 80.00 2981.2 2981.1 2981.4 1705.9 2082.6 349.90 -14.55 291 2725.93 0.00 0.00 3.90 0.000 0.000 0.106 2982.12 2981.75 2982.50 1705.88 3475.88 0 0 0 30.00 30.00 14.91

2789.20 1028 -117.20 -1.72 0.00 2982.0 2981.9 2982.1 1705.6 3475.9 360.87 -14.95 305 2794.86 0.00 0.00 3.46 0.000 0.000 0.053 2981.44 2981.94 2980.94 1706.19 2081.94 0 0 0 30.00 30.00 15.08

3105.26 260 -117.20 -1.72 80.00 2981.0 2981.0 2981.0 1705.7 2081.5 406.14 -14.43 318 3110.95 0.00 0.00 3.91 0.000 0.000 0.105 2983.31 2983.50 2983.12 1705.62 3476.31 0 0 0 30.00 30.00 14.91

3134.16 1028 -117.20 -1.72 0.00 2981.6 2982.1 2981.1 1705.6 3475.2 410.37 -14.07 324 3139.88 0.00 0.00 3.45 0.000 0.000 0.052 2983.59 2983.44 2983.75 1705.00 2080.56 0 0 0 30.00 30.00 15.06

3460.28 260 -117.20 -1.72 80.00 2980.7 2980.4 2980.9 1705.7 2080.8 453.27 -12.85 339 3465.97 0.00 0.00 3.96 0.000 0.000 0.107 2979.78 2980.00 2979.56 1705.19 3475.69 0 0 0 30.00 30.00 14.89

3504.19 1028 -117.20 -1.72 0.00 2980.7 2981.5 2979.9 1705.3 3475.6 459.34 -15.01 348 3509.89 0.00 0.00 3.47 0.000 0.000 0.053 2981.78 2982.12 2981.44 1705.50 2082.12 0 0 0 30.00 30.00 15.05

3815.31 260 -117.20 -1.72 80.00 2980.8 2981.3 2980.3 1705.3 2081.8 494.29 -10.81 360 3820.99 0.00 0.00 3.94 0.000 0.000 0.108 2979.12 2980.12 2978.12 1705.44 3475.19 0 0 0 30.00 30.00 14.89

3864 end dive: TARGET_DEPTH_EXCEEDED

state 3864 begin apogee

3869.01 10243 0.00 -0.25 0.00 2980.9 2980.4 2981.4 1705.6 2081.9 500.30 -11.79 370 3973.12 99.25 3.28 0.07 1.622 0.167 0.237 2497.28 2506.44 2488.12 2079.62 2119.62 0 0 0 11.15 14.75 14.73

3976 end apogee: CONTROL_FINISHED_OK

state 3976 begin climb

3976.43 10243 117.20 1.72 0.00 2498.0 2507.8 2488.1 2080.4 2119.6 503.29 0.00 374 4089.31 107.94 3.61 0.00 1.563 0.078 0.000 2022.78 2037.56 2008.00 2562.94 2119.56 0 0 0 11.23 14.94 30.00

4382.45 16966 117.20 1.76 -80.00 2010.5 2029.8 1991.2 2562.4 2119.4 467.22 9.91 388 4388.17 0.00 0.00 4.21 0.000 0.000 0.134 2008.78 2027.69 1989.88 2562.94 662.00 0 0 0 30.00 30.00 15.05

4446.40 17414 117.20 1.76 0.00 2009.3 2027.1 1991.5 2562.4 662.0 459.44 11.81 401 4452.06 0.00 0.00 3.56 0.000 0.000 0.043 2009.62 2027.81 1991.44 2563.38 2125.69 0 0 0 30.00 30.00 15.31

4767.47 16450 117.20 1.78 0.00 2007.6 2027.4 1987.8 2562.4 2125.2 427.67 10.27 415 4768.80 0.00 0.00 0.00 0.000 0.000 0.000 2007.84 2027.56 1988.12 2562.81 2125.50 0 0 0 30.00 30.00 30.00

5067.47 10791 139.39 1.85 -80.00 2006.8 2027.3 1986.2 2562.9 2125.0 399.80 8.88 425 5093.68 19.89 0.17 4.14 1.404 0.080 0.133 1929.12 1948.81 1909.44 2599.81 661.94 0 0 0 11.45 15.51 15.19

5116.37 1028 139.39 1.85 0.00 1928.6 1947.0 1910.2 2600.5 661.9 393.44 12.12 435 5123.19 0.00 0.00 3.56 0.000 0.000 0.045 1929.56 1947.69 1911.44 2599.94 2125.06 0 0 0 30.00 30.00 15.39

5422.47 260 139.39 1.85 80.00 1925.6 1946.3 1904.8 2600.2 2125.1 358.06 11.64 446 5428.13 0.00 0.00 3.73 0.000 0.000 0.111 1926.94 1947.12 1906.75 2599.94 3476.06 0 0 0 30.00 30.00 15.17

5651.41 1028 139.39 1.85 0.00 1924.8 1945.4 1904.2 2600.4 3475.9 330.48 11.80 492 5658.22 0.00 0.00 3.48 0.000 0.000 0.052 1926.34 1946.62 1906.06 2600.06 2077.88 0 0 0 30.00 30.00 15.27

5957.53 580 139.39 1.87 -80.00 1924.0 1945.1 1902.8 2600.1 2077.9 299.08 10.38 503 5963.24 0.00 0.00 4.07 0.000 0.000 0.131 1922.62 1943.69 1901.56 2600.38 662.00 0 0 0 30.00 30.00 15.04

5996.44 17414 139.39 1.87 0.00 1923.3 1943.6 1903.1 2599.9 662.0 294.69 12.43 511 6002.14 0.00 0.00 3.54 0.000 0.000 0.041 1923.69 1944.12 1903.25 2600.00 2127.38 0 0 0 30.00 30.00 15.37

6312.55 16966 139.39 1.91 -80.00 1923.0 1943.9 1902.1 2599.9 2127.6 264.33 9.84 524 6318.28 0.00 0.00 4.22 0.000 0.000 0.128 1921.47 1942.19 1900.75 2600.56 661.88 0 0 0 30.00 30.00 15.00

6441.46 17414 139.39 1.91 0.00 1922.6 1943.1 1902.1 2601.0 662.1 248.69 13.06 550 6447.18 0.00 0.00 3.55 0.000 0.000 0.043 1922.69 1943.50 1901.88 2601.31 2125.69 0 0 0 30.00 30.00 15.33

6747.60 8742 159.97 1.97 -80.00 1922.2 1943.4 1901.1 2601.1 2126.1 219.16 9.04 582 6772.75 19.17 0.00 4.11 1.266 0.000 0.129 1846.78 1868.25 1825.31 2601.12 661.94 0 0 0 11.29 30.00 15.26

6928.12 1028 159.97 1.97 0.00 1843.9 1863.1 1824.6 2600.8 661.8 197.38 12.70 618 6933.25 0.00 0.00 3.55 0.000 0.000 0.042 1845.34 1865.25 1825.44 2601.00 2127.19 0 0 0 30.00 30.00 15.45

7052.64 516 159.97 1.97 -80.00 1842.1 1863.6 1820.6 2600.8 2128.0 183.99 10.76 631 7058.38 0.00 0.00 4.16 0.000 0.000 0.122 1843.88 1865.19 1822.56 2599.81 660.50 0 0 0 30.00 30.00 15.14

7098.09 1028 159.97 1.97 0.00 1841.9 1863.2 1820.7 2601.2 660.3 178.94 11.17 640 7103.27 0.00 0.00 3.53 0.000 0.000 0.039 1843.94 1865.19 1822.69 2600.56 2128.75 0 0 0 30.00 30.00 15.42

7222.68 64 159.97 2.00 0.00 1841.7 1863.1 1820.2 2601.1 2128.8 166.23 10.15 653 7224.00 0.00 0.00 0.00 0.000 0.000 0.000 1841.91 1863.38 1820.44 2600.50 2128.56 0 0 0 30.00 30.00 30.00

7342.68 2629 159.97 2.03 -80.00 1841.8 1863.5 1820.1 2601.2 2128.8 154.15 10.12 665 7348.47 0.00 0.21 4.18 0.000 0.079 0.123 1843.53 1865.12 1821.94 2642.62 660.81 0 0 0 30.00 15.46 15.08

7371.59 1028 159.97 2.03 0.00 1841.7 1863.6 1819.8 2642.6 660.8 150.67 11.57 671 7378.39 0.00 0.00 3.54 0.000 0.000 0.041 1843.53 1865.00 1822.06 2643.12 2127.94 0 0 0 30.00 30.00 15.38

7497.70 580 159.97 2.07 -80.00 1841.7 1863.2 1820.1 2642.8 2128.3 138.56 9.57 684 7503.41 0.00 0.00 4.18 0.000 0.000 0.121 1840.19 1861.56 1818.81 2643.25 660.88 0 0 0 30.00 30.00 15.06

7566.59 1028 159.97 2.07 0.00 1841.8 1863.2 1820.5 2642.6 660.9 130.41 11.80 698 7573.44 0.00 0.00 3.53 0.000 0.000 0.039 1842.41 1863.94 1820.88 2643.00 2128.94 0 0 0 30.00 30.00 15.37

7632.71 8226 180.77 2.14 0.00 1841.5 1863.1 1820.0 2643.4 2129.1 124.67 9.02 705 7662.26 25.16 0.00 0.00 1.147 0.000 0.000 1761.19 1783.81 1738.56 2642.69 2129.44 0 0 0 11.35 30.00 30.00

7722.78 580 180.77 2.17 -80.00 1759.1 1782.2 1735.9 2643.7 2129.2 115.99 9.94 714 7728.43 0.00 0.00 4.11 0.000 0.000 0.121 1760.69 1784.31 1737.06 2643.00 660.56 0 0 0 30.00 30.00 15.20

7771.62 1028 180.77 2.17 0.00 1758.4 1781.3 1735.5 2642.9 660.7 110.23 12.11 724 7778.43 0.00 0.00 3.53 0.000 0.000 0.040 1760.16 1782.44 1737.88 2642.62 2127.38 0 0 0 30.00 30.00 15.43

7837.76 260 180.77 2.17 80.00 1757.8 1781.4 1734.1 2643.1 2127.4 103.00 10.92 731 7843.36 0.00 0.00 3.70 0.000 0.000 0.104 1756.41 1780.38 1732.44 2642.56 3474.62 0 0 0 30.00 30.00 15.20

7903.18 1028 180.77 2.17 0.00 1757.0 1780.1 1734.0 2643.1 3475.2 95.79 10.72 744 7908.35 0.00 0.00 3.42 0.000 0.000 0.047 1755.88 1779.25 1732.50 2642.50 2074.25 0 0 0 30.00 30.00 15.33

7967.74 2629 180.77 2.19 -80.00 1756.9 1780.2 1733.7 2643.1 2074.2 89.06 10.38 751 7973.48 0.00 0.19 3.97 0.000 0.079 0.124 1756.31 1779.81 1732.81 2683.12 660.69 0 0 0 30.00 15.47 15.12

8186.67 9254 211.36 2.29 0.00 1756.7 1780.1 1733.4 2683.8 660.6 66.32 8.04 795 8228.17 35.74 0.00 3.52 1.104 0.000 0.040 1637.97 1661.88 1614.06 2683.00 2131.75 0 0 0 11.48 30.00 15.36

8292.77 10275 242.23 2.38 0.00 1635.5 1661.1 1610.0 2683.2 2131.6 58.39 8.01 810 8333.55 36.69 0.22 0.00 1.073 0.075 0.000 1512.00 1536.69 1487.31 2726.12 2131.69 0 0 0 11.45 15.40 30.00

8392.83 8742 272.97 2.47 -80.00 1509.3 1535.8 1482.9 2726.5 2131.6 50.25 8.02 822 8434.82 36.01 0.00 4.13 1.053 0.000 0.123 1386.78 1412.62 1360.94 2725.69 660.75 0 0 0 11.44 30.00 14.96

8437.07 11303 294.26 2.53 0.00 1386.3 1412.1 1360.6 2725.8 660.8 46.40 8.97 831 8468.33 25.43 0.18 3.56 1.000 0.074 0.039 1300.72 1325.81 1275.62 2764.62 2129.69 0 0 0 11.46 15.09 15.23

8533.05 260 294.26 2.53 80.00 1297.2 1324.8 1269.7 2764.5 2130.0 36.27 10.88 844 8538.69 0.00 0.00 3.67 0.000 0.000 0.103 1297.28 1324.19 1270.38 2764.56 3474.25 0 0 0 30.00 30.00 15.12

8661.96 1028 294.26 2.53 0.00 1295.4 1323.1 1267.8 2763.9 3473.8 20.79 11.54 870 8668.78 0.00 0.00 3.42 0.000 0.000 0.047 1295.34 1322.88 1267.81 2764.06 2079.12 0 0 0 30.00 30.00 15.26

8728.13 8742 323.19 2.62 -80.00 1295.1 1322.9 1267.2 2763.9 2079.2 15.30 8.20 877 8765.49 31.94 0.00 3.97 1.007 0.000 0.128 1182.66 1210.31 1155.00 2764.00 660.94 0 0 0 11.41 30.00 15.07

8813.72 1028 323.19 2.62 0.00 1181.3 1207.9 1154.7 2764.7 661.4 5.97 13.45 894 8818.61 0.00 0.00 3.54 0.000 0.000 0.041 1180.72 1207.56 1153.88 2764.50 2121.94 0 0 0 30.00 30.00 15.33

8873 end climb: SURFACE_DEPTH_REACHED

state 8873 begin surface coast

8903 end surface coast: CONTROL_FINISHED_OK

state 8903 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	1204	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	78.562035	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	286.24567	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	220421,023431,4707.511,-12501.151,20,0.8,21,15.5	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.64	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-58.8	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	220421,024159,4707.417,-12501.192,3,0.6,5,15.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	301.1,1483,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	593

SM_CCo	9086.34,0.00,0.016,0,563.5,561.2,565.9,475.02	_10V_AH	14.62,0.000
SM_GC	-0.30,0.00,18.83,0.10,0.016,0.079,0.134,563.5,561.2,565.9,172.9,2073.6,0,0,0,30.36,15.09,15.34	FG_AHR_24Vo	286.472
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	78.593
IRIDIUM_FIX	4709.86,-12501.34,210421,235157	MEM	1103672,40,73436,56
TCM_TEMP	174.58	DATA_FILE_SIZE	35426,904
XPDR_PINGS	14,14.0,11.5	CAP_FILE_SIZE	490044,0
SC_FREEKB	3397728	SDSIZE	3918848,3589536
HUMID	59.13	SDFILEDIR	6046,1
TEMP	7.81	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78556	GPS	220421,051403,4707.670,-12501.140,2,1.8,10,15.5
_24V_AH	13.90,327.218

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	677	1621	15263.28	legato	0	0	0.00
Pitch_motor	41	246	142.79	nil	0	0	0.00
Roll_motor	223	237	736.35	nil	0	0	0.00
Iridium	199	201	558.12	nil	0	0	0.00
Transponder_ping	3	420	20.43	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	3465	11	597.82	SciCon	8961	5	666.97
LPSleep	5839	2	239.03	nil	0	0	0.00
Compass	1753	5	128.16	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
8.60	16386	-74.33	-1.59	0.00	559.5	560.2	558.8	169.0	2078.1	0.00	0.00	0	100.57	91.48	0.00	0.00	0.005	0.000	0.000	2732.03	2716.06	2748.00	168.94	2078.62	0	0	0	13.18	30.00	30.00
100.79	18695	-74.33	-1.59	80.00	2731.4	2715.5	2747.2	169.2	2077.8	5.57	-11.77	9	126.79	1.38	14.65	3.87	0.021	0.247	0.107	2803.31	2794.56	2812.06	1753.56	3475.88	0	0	0	13.25	14.80	14.71
190.02	1028	-74.33	-1.59	0.00	2802.6	2794.2	2811.0	1753.5	3476.2	26.34	-18.47	27	194.77	0.00	0.00	3.46	0.000	0.000	0.054	2805.12	2796.62	2813.62	1753.06	2080.81	0	0	0	30.00	30.00	15.22
260.03	260	-74.33	-1.59	80.00	2802.8	2794.9	2810.8	1753.8	2081.3	36.59	-14.07	35	265.72	0.00	0.00	3.81	0.000	0.000	0.100	2801.00	2792.62	2809.38	1753.25	3476.50	0	0	0	30.00	30.00	15.07
305.48	1028	-74.33	-1.59	0.00	2803.1	2794.8	2811.4	1753.3	3476.0	43.88	-17.09	44	310.65	0.00	0.00	3.43	0.000	0.000	0.052	2802.66	2794.56	2810.75	1753.56	2080.31	0	0	0	30.00	30.00	15.21
370.10	260	-74.33	-1.59	80.00	2802.9	2794.8	2810.9	1753.8	2080.1	53.40	-14.60	51	375.73	0.00	0.00	3.81	0.000	0.000	0.099	2802.78	2795.31	2810.25	1753.44	3475.31	0	0	0	30.00	30.00	15.06
395.48	1028	-74.33	-1.59	0.00	2803.2	2795.5	2811.0	1753.4	3476.3	56.90	-14.72	56	400.67	0.00	0.00	3.42	0.000	0.000	0.051	2801.81	2794.00	2809.62	1753.31	2080.75	0	0	0	30.00	30.00	15.21
460.10	260	-74.33	-1.59	80.00	2803.0	2794.9	2811.1	1753.6	2080.9	65.81	-13.05	63	465.71	0.00	0.00	3.80	0.000	0.000	0.100	2803.88	2796.19	2811.56	1753.12	3475.25	0	0	0	30.00	30.00	15.06
488.96	1028	-74.33	-1.59	0.00	2803.2	2795.2	2811.1	1753.4	3475.2	69.48	-12.26	69	495.77	0.00	0.00	3.43	0.000	0.000	0.051	2804.53	2796.25	2812.81	1753.44	2080.44	0	0	0	30.00	30.00	15.19
555.13	516	-74.33	-1.59	-80.00	2803.0	2795.2	2810.7	1752.9	2080.2	76.09	-9.66	76	560.78	0.00	0.00	4.10	0.000	0.000	0.143	2801.66	2793.69	2809.62	1753.62	662.38	0	0	0	30.00	30.00	14.95
580.50	1028	-74.33	-1.59	0.00	2803.2	2795.4	2811.1	1753.2	662.6	78.61	-10.08	81	585.70	0.00	0.00	3.55	0.000	0.000	0.043	2803.78	2796.56	2811.00	1753.00	2124.06	0	0	0	30.00	30.00	15.30
645.07	16678	-97.00	-1.66	80.00	2802.8	2795.9	2809.8	1753.8	2124.2	84.43	-8.83	88	650.76	0.69	0.00	3.63	0.034	0.000	0.104	2895.09	2893.62	2896.56	1753.44	3475.81	0	0	0	14.72	30.00	14.67
723.98	1028	-97.00	-1.66	0.00	2896.4	2894.6	2898.3	1753.7	3474.6	93.77	-11.29	104	730.77	0.00	0.00	3.40	0.000	0.000	0.049	2899.56	2897.94	2901.19	1753.31	2080.38	0	0	0	30.00	30.00	15.20
790.13	516	-97.00	-1.66	-80.00	2897.2	2895.1	2899.3	1753.8	2080.5	99.80	-9.15	111	795.81	0.00	0.00	4.09	0.000	0.000	0.142	2895.28	2893.75	2896.81	1753.50	661.75	0	0	0	30.00	30.00	14.96
818.99	1028	-97.00	-1.66	0.00	2897.5	2895.5	2899.4	1753.1	662.0	103.06	-10.20	117	825.81	0.00	0.00	3.52	0.000	0.000	0.042	2897.59	2895.69	2899.50	1753.62	2124.81	0	0	0	30.00	30.00	15.29
885.15	20515	-117.20	-1.72	0.00	2897.3	2895.2	2899.4	1753.6	2124.8	109.30	-9.08	124	886.68	0.52	0.31	0.00	0.043	0.062	0.000	2978.31	2979.38	2977.25	1705.94	2125.00	0	0	0	14.73	15.44	30.00
945.08	260	-117.20	-1.72	80.00	2981.2	2981.7	2980.8	1705.5	2124.7	116.12	-11.63	130	950.74	0.00	0.00	3.64	0.000	0.000	0.100	2980.19	2980.75	2979.62	1706.12	3475.56	0	0	0	30.00	30.00	15.06
1000.54	1028	-117.20	-1.72	0.00	2981.1	2982.1	2980.2	1705.6	3475.5	123.22	-13.53	141	1005.70	0.00	0.00	3.39	0.000	0.000	0.049	2979.66	2980.94	2978.38	1705.19	2080.44	0	0	0	30.00	30.00	15.21
1065.16	0	-117.20	-1.72	0.00	2981.0	2981.6	2980.4	1705.9	2081.2	131.39	-12.13	148	1066.48	0.00	0.00	0.00	0.000	0.000	0.000	2981.81	2982.38	2981.25	1706.12	2081.06	0	0	0	30.00	30.00	30.00
1125.11	260	-117.20	-1.72	80.00	2981.2	2981.5	2980.8	1706.2	2080.9	139.04	-12.59	154	1130.76	0.00	0.00	3.78	0.000	0.000	0.099	2981.25	2981.75	2980.75	1705.75	3477.00	0	0	0	30.00	30.00	15.04
1160.55	1028	-117.20	-1.72	0.00	2981.4	2981.6	2981.2	1706.1	3476.1	143.84	-13.97	161	1165.76	0.00	0.00	3.39	0.000	0.000	0.047	2983.16	2982.50	2983.81	1705.75	2080.19	0	0	0	30.00	30.00	15.20
1225.11	0	-117.20	-1.72	0.00	2981.1	2981.2	2980.9	1705.9	2079.6	152.11	-12.39	168	1226.44	0.00	0.00	0.00	0.000	0.000	0.000	2981.81	2982.06	2981.56	1705.88	2080.38	0	0	0	30.00	30.00	30.00
1345.12	0	-117.20	-1.72	0.00	2980.9	2981.2	2980.6	1705.6	2080.1	167.17	-12.32	180	1346.45	0.00	0.00	0.00	0.000	0.000	0.000	2981.44	2981.56	2981.31	1706.00	2079.44	0	0	0	30.00	30.00	30.00
1465.13	260	-117.20	-1.72	80.00	2981.1	2981.6	2980.6	1705.9	2080.4	181.98	-12.27	192	1470.82	0.00	0.00	3.83	0.000	0.000	0.100	2982.03	2982.00	2982.06	1705.62	3474.50	0	0	0	30.00	30.00	15.00
1530.60	1028	-117.20	-1.72	0.00	2981.4	2981.4	2981.4	1706.1	3474.5	190.61	-12.62	205	1535.76	0.00	0.00	3.41	0.000	0.000	0.049	2979.94	2980.00	2979.88	1705.88	2080.19	0	0	0	30.00	30.00	15.17
1655.16	0	-117.20	-1.72	0.00	2981.2	2981.4	2981.1	1706.0	2080.4	206.53	-12.46	218	1656.49	0.00	0.00	0.00	0.000	0.000	0.000	2981.44	2981.38	2981.50	1705.81	2080.06	0	0	0	30.00	30.00	30.00
1775.17	0	-117.20	-1.72	0.00	2981.3	2981.1	2981.5	1706.2	2079.9	221.92	-12.89	230	1776.50	0.00	0.00	0.00	0.000	0.000	0.000	2981.84	2981.44	2982.25	1705.62	2079.81	0	0	0	30.00	30.00	30.00
1895.18	0	-117.20	-1.72	0.00	2981.3	2981.5	2981.2	1705.8	2080.0	237.02	-12.32	242	1896.51	0.00	0.00	0.00	0.000	0.000	0.000	2981.88	2981.44	2982.31	1706.06	2080.25	0	0	0	30.00	30.00	30.00
2035.20	0	-117.20	-1.72	0.00	2980.9	2981.0	2980.9	1705.8	2080.1	254.57	-12.93	254	2036.53	0.00	0.00	0.00	0.000	0.000	0.000	2981.78	2981.44	2982.12	1706.06	2080.19	0	0	0	30.00	30.00	30.00
2335.20	260	-117.20	-1.72	80.00	2981.1	2980.8	2981.4	1706.2	2080.2	294.22	-13.71	264	2340.89	0.00	0.00	3.91	0.000	0.000	0.106	2980.62	2980.62	2980.62	1705.81	3474.25	0	0	0	30.00	30.00	14.94
2399.14	1028	-117.20	-1.72	0.00	2981.4	2980.4	2982.4	1706.1	3475.5	303.74	-15.14	277	2404.83	0.00	0.00	3.46	0.000	0.000	0.053	2982.91	2982.44	2983.38	1705.62	2081.88	0	0	0	30.00	30.00	15.09
2720.26	260	-117.20	-1.72	80.00	2981.2	2981.1	2981.4	1705.9	2082.6	349.90	-14.55	291	2725.93	0.00	0.00	3.90	0.000	0.000	0.106	2982.12	2981.75	2982.50	1705.88	3475.88	0	0	0	30.00	30.00	14.91
2789.20	1028	-117.20	-1.72	0.00	2982.0	2981.9	2982.1	1705.6	3475.9	360.87	-14.95	305	2794.86	0.00	0.00	3.46	0.000	0.000	0.053	2981.44	2981.94	2980.94	1706.19	2081.94	0	0	0	30.00	30.00	15.08
3105.26	260	-117.20	-1.72	80.00	2981.0	2981.0	2981.0	1705.7	2081.5	406.14	-14.43	318	3110.95	0.00	0.00	3.91	0.000	0.000	0.105	2983.31	2983.50	2983.12	1705.62	3476.31	0	0	0	30.00	30.00	14.91
3134.16	1028	-117.20	-1.72	0.00	2981.6	2982.1	2981.1	1705.6	3475.2	410.37	-14.07	324	3139.88	0.00	0.00	3.45	0.000	0.000	0.052	2983.59	2983.44	2983.75	1705.00	2080.56	0	0	0	30.00	30.00	15.06
3460.28	260	-117.20	-1.72	80.00	2980.7	2980.4	2980.9	1705.7	2080.8	453.27	-12.85	339	3465.97	0.00	0.00	3.96	0.000	0.000	0.107	2979.78	2980.00	2979.56	1705.19	3475.69	0	0	0	30.00	30.00	14.89
3504.19	1028	-117.20	-1.72	0.00	2980.7	2981.5	2979.9	1705.3	3475.6	459.34	-15.01	348	3509.89	0.00	0.00	3.47	0.000	0.000	0.053	2981.78	2982.12	2981.44	1705.50	2082.12	0	0	0	30.00	30.00	15.05
3815.31	260	-117.20	-1.72	80.00	2980.8	2981.3	2980.3	1705.3	2081.8	494.29	-10.81	360	3820.99	0.00	0.00	3.94	0.000	0.000	0.108	2979.12	2980.12	2978.12	1705.44	3475.19	0	0	0	30.00	30.00	14.89
3864	end dive: TARGET_DEPTH_EXCEEDED
state	3864	begin apogee
3869.01	10243	0.00	-0.25	0.00	2980.9	2980.4	2981.4	1705.6	2081.9	500.30	-11.79	370	3973.12	99.25	3.28	0.07	1.622	0.167	0.237	2497.28	2506.44	2488.12	2079.62	2119.62	0	0	0	11.15	14.75	14.73
3976	end apogee: CONTROL_FINISHED_OK
state	3976	begin climb
3976.43	10243	117.20	1.72	0.00	2498.0	2507.8	2488.1	2080.4	2119.6	503.29	0.00	374	4089.31	107.94	3.61	0.00	1.563	0.078	0.000	2022.78	2037.56	2008.00	2562.94	2119.56	0	0	0	11.23	14.94	30.00
4382.45	16966	117.20	1.76	-80.00	2010.5	2029.8	1991.2	2562.4	2119.4	467.22	9.91	388	4388.17	0.00	0.00	4.21	0.000	0.000	0.134	2008.78	2027.69	1989.88	2562.94	662.00	0	0	0	30.00	30.00	15.05
4446.40	17414	117.20	1.76	0.00	2009.3	2027.1	1991.5	2562.4	662.0	459.44	11.81	401	4452.06	0.00	0.00	3.56	0.000	0.000	0.043	2009.62	2027.81	1991.44	2563.38	2125.69	0	0	0	30.00	30.00	15.31
4767.47	16450	117.20	1.78	0.00	2007.6	2027.4	1987.8	2562.4	2125.2	427.67	10.27	415	4768.80	0.00	0.00	0.00	0.000	0.000	0.000	2007.84	2027.56	1988.12	2562.81	2125.50	0	0	0	30.00	30.00	30.00
5067.47	10791	139.39	1.85	-80.00	2006.8	2027.3	1986.2	2562.9	2125.0	399.80	8.88	425	5093.68	19.89	0.17	4.14	1.404	0.080	0.133	1929.12	1948.81	1909.44	2599.81	661.94	0	0	0	11.45	15.51	15.19
5116.37	1028	139.39	1.85	0.00	1928.6	1947.0	1910.2	2600.5	661.9	393.44	12.12	435	5123.19	0.00	0.00	3.56	0.000	0.000	0.045	1929.56	1947.69	1911.44	2599.94	2125.06	0	0	0	30.00	30.00	15.39
5422.47	260	139.39	1.85	80.00	1925.6	1946.3	1904.8	2600.2	2125.1	358.06	11.64	446	5428.13	0.00	0.00	3.73	0.000	0.000	0.111	1926.94	1947.12	1906.75	2599.94	3476.06	0	0	0	30.00	30.00	15.17
5651.41	1028	139.39	1.85	0.00	1924.8	1945.4	1904.2	2600.4	3475.9	330.48	11.80	492	5658.22	0.00	0.00	3.48	0.000	0.000	0.052	1926.34	1946.62	1906.06	2600.06	2077.88	0	0	0	30.00	30.00	15.27
5957.53	580	139.39	1.87	-80.00	1924.0	1945.1	1902.8	2600.1	2077.9	299.08	10.38	503	5963.24	0.00	0.00	4.07	0.000	0.000	0.131	1922.62	1943.69	1901.56	2600.38	662.00	0	0	0	30.00	30.00	15.04
5996.44	17414	139.39	1.87	0.00	1923.3	1943.6	1903.1	2599.9	662.0	294.69	12.43	511	6002.14	0.00	0.00	3.54	0.000	0.000	0.041	1923.69	1944.12	1903.25	2600.00	2127.38	0	0	0	30.00	30.00	15.37
6312.55	16966	139.39	1.91	-80.00	1923.0	1943.9	1902.1	2599.9	2127.6	264.33	9.84	524	6318.28	0.00	0.00	4.22	0.000	0.000	0.128	1921.47	1942.19	1900.75	2600.56	661.88	0	0	0	30.00	30.00	15.00
6441.46	17414	139.39	1.91	0.00	1922.6	1943.1	1902.1	2601.0	662.1	248.69	13.06	550	6447.18	0.00	0.00	3.55	0.000	0.000	0.043	1922.69	1943.50	1901.88	2601.31	2125.69	0	0	0	30.00	30.00	15.33
6747.60	8742	159.97	1.97	-80.00	1922.2	1943.4	1901.1	2601.1	2126.1	219.16	9.04	582	6772.75	19.17	0.00	4.11	1.266	0.000	0.129	1846.78	1868.25	1825.31	2601.12	661.94	0	0	0	11.29	30.00	15.26
6928.12	1028	159.97	1.97	0.00	1843.9	1863.1	1824.6	2600.8	661.8	197.38	12.70	618	6933.25	0.00	0.00	3.55	0.000	0.000	0.042	1845.34	1865.25	1825.44	2601.00	2127.19	0	0	0	30.00	30.00	15.45
7052.64	516	159.97	1.97	-80.00	1842.1	1863.6	1820.6	2600.8	2128.0	183.99	10.76	631	7058.38	0.00	0.00	4.16	0.000	0.000	0.122	1843.88	1865.19	1822.56	2599.81	660.50	0	0	0	30.00	30.00	15.14
7098.09	1028	159.97	1.97	0.00	1841.9	1863.2	1820.7	2601.2	660.3	178.94	11.17	640	7103.27	0.00	0.00	3.53	0.000	0.000	0.039	1843.94	1865.19	1822.69	2600.56	2128.75	0	0	0	30.00	30.00	15.42
7222.68	64	159.97	2.00	0.00	1841.7	1863.1	1820.2	2601.1	2128.8	166.23	10.15	653	7224.00	0.00	0.00	0.00	0.000	0.000	0.000	1841.91	1863.38	1820.44	2600.50	2128.56	0	0	0	30.00	30.00	30.00
7342.68	2629	159.97	2.03	-80.00	1841.8	1863.5	1820.1	2601.2	2128.8	154.15	10.12	665	7348.47	0.00	0.21	4.18	0.000	0.079	0.123	1843.53	1865.12	1821.94	2642.62	660.81	0	0	0	30.00	15.46	15.08
7371.59	1028	159.97	2.03	0.00	1841.7	1863.6	1819.8	2642.6	660.8	150.67	11.57	671	7378.39	0.00	0.00	3.54	0.000	0.000	0.041	1843.53	1865.00	1822.06	2643.12	2127.94	0	0	0	30.00	30.00	15.38
7497.70	580	159.97	2.07	-80.00	1841.7	1863.2	1820.1	2642.8	2128.3	138.56	9.57	684	7503.41	0.00	0.00	4.18	0.000	0.000	0.121	1840.19	1861.56	1818.81	2643.25	660.88	0	0	0	30.00	30.00	15.06
7566.59	1028	159.97	2.07	0.00	1841.8	1863.2	1820.5	2642.6	660.9	130.41	11.80	698	7573.44	0.00	0.00	3.53	0.000	0.000	0.039	1842.41	1863.94	1820.88	2643.00	2128.94	0	0	0	30.00	30.00	15.37
7632.71	8226	180.77	2.14	0.00	1841.5	1863.1	1820.0	2643.4	2129.1	124.67	9.02	705	7662.26	25.16	0.00	0.00	1.147	0.000	0.000	1761.19	1783.81	1738.56	2642.69	2129.44	0	0	0	11.35	30.00	30.00
7722.78	580	180.77	2.17	-80.00	1759.1	1782.2	1735.9	2643.7	2129.2	115.99	9.94	714	7728.43	0.00	0.00	4.11	0.000	0.000	0.121	1760.69	1784.31	1737.06	2643.00	660.56	0	0	0	30.00	30.00	15.20
7771.62	1028	180.77	2.17	0.00	1758.4	1781.3	1735.5	2642.9	660.7	110.23	12.11	724	7778.43	0.00	0.00	3.53	0.000	0.000	0.040	1760.16	1782.44	1737.88	2642.62	2127.38	0	0	0	30.00	30.00	15.43
7837.76	260	180.77	2.17	80.00	1757.8	1781.4	1734.1	2643.1	2127.4	103.00	10.92	731	7843.36	0.00	0.00	3.70	0.000	0.000	0.104	1756.41	1780.38	1732.44	2642.56	3474.62	0	0	0	30.00	30.00	15.20
7903.18	1028	180.77	2.17	0.00	1757.0	1780.1	1734.0	2643.1	3475.2	95.79	10.72	744	7908.35	0.00	0.00	3.42	0.000	0.000	0.047	1755.88	1779.25	1732.50	2642.50	2074.25	0	0	0	30.00	30.00	15.33
7967.74	2629	180.77	2.19	-80.00	1756.9	1780.2	1733.7	2643.1	2074.2	89.06	10.38	751	7973.48	0.00	0.19	3.97	0.000	0.079	0.124	1756.31	1779.81	1732.81	2683.12	660.69	0	0	0	30.00	15.47	15.12
8186.67	9254	211.36	2.29	0.00	1756.7	1780.1	1733.4	2683.8	660.6	66.32	8.04	795	8228.17	35.74	0.00	3.52	1.104	0.000	0.040	1637.97	1661.88	1614.06	2683.00	2131.75	0	0	0	11.48	30.00	15.36
8292.77	10275	242.23	2.38	0.00	1635.5	1661.1	1610.0	2683.2	2131.6	58.39	8.01	810	8333.55	36.69	0.22	0.00	1.073	0.075	0.000	1512.00	1536.69	1487.31	2726.12	2131.69	0	0	0	11.45	15.40	30.00
8392.83	8742	272.97	2.47	-80.00	1509.3	1535.8	1482.9	2726.5	2131.6	50.25	8.02	822	8434.82	36.01	0.00	4.13	1.053	0.000	0.123	1386.78	1412.62	1360.94	2725.69	660.75	0	0	0	11.44	30.00	14.96
8437.07	11303	294.26	2.53	0.00	1386.3	1412.1	1360.6	2725.8	660.8	46.40	8.97	831	8468.33	25.43	0.18	3.56	1.000	0.074	0.039	1300.72	1325.81	1275.62	2764.62	2129.69	0	0	0	11.46	15.09	15.23
8533.05	260	294.26	2.53	80.00	1297.2	1324.8	1269.7	2764.5	2130.0	36.27	10.88	844	8538.69	0.00	0.00	3.67	0.000	0.000	0.103	1297.28	1324.19	1270.38	2764.56	3474.25	0	0	0	30.00	30.00	15.12
8661.96	1028	294.26	2.53	0.00	1295.4	1323.1	1267.8	2763.9	3473.8	20.79	11.54	870	8668.78	0.00	0.00	3.42	0.000	0.000	0.047	1295.34	1322.88	1267.81	2764.06	2079.12	0	0	0	30.00	30.00	15.26
8728.13	8742	323.19	2.62	-80.00	1295.1	1322.9	1267.2	2763.9	2079.2	15.30	8.20	877	8765.49	31.94	0.00	3.97	1.007	0.000	0.128	1182.66	1210.31	1155.00	2764.00	660.94	0	0	0	11.41	30.00	15.07
8813.72	1028	323.19	2.62	0.00	1181.3	1207.9	1154.7	2764.7	661.4	5.97	13.45	894	8818.61	0.00	0.00	3.54	0.000	0.000	0.041	1180.72	1207.56	1153.88	2764.50	2121.94	0	0	0	30.00	30.00	15.33
8873	end climb: SURFACE_DEPTH_REACHED
state	8873	begin surface coast
8903	end surface coast: CONTROL_FINISHED_OK
state	8903	begin surface