Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1208 * 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 1208 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 78.697937 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 287.18719 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 78.697937 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 287.18719 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 1208 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 220421,134202,4708.177,-12502.256,28,1.1,30,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 2 TGT_RADIUS 3000.000

_SM_DEPTHo -1.54 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -63.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 220421,135133,4708.082,-12502.218,2,0.8,7,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 103.4,314,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 9313.09,0.22,0.160,0,564.7,560.7,568.6,474.74 _10V_AH 14.58,0.000

SM_GC -0.77,0.22,18.92,3.43,0.160,0.076,0.035,564.7,560.7,568.6,179.0,2141.8,0,0,0,14.91,15.07,15.39 FG_AHR_24Vo 287.418

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 78.730

IRIDIUM_FIX 4708.39,-12501.34,220421,134624 MEM 1103708,38,73440,56

TCM_TEMP 174.78 DATA_FILE_SIZE 38582,1008

XPDR_PINGS 18,14.0,11.5 CAP_FILE_SIZE 531999,0

SC_FREEKB 3396192 SDSIZE 3918848,3588320

HUMID 59.05 SDFILEDIR 6066,1

TEMP 7.78 ERRORS 0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78171 GPS 220421,162731,4707.400,-12501.136,17,0.9,18,15.5

_24V_AH 13.53,328.230

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 673 2557 23320.12 legato 0 0 0.00

Pitch_motor 41 247 140.35 nil 0 0 0.00

Roll_motor 251 223 761.51 nil 0 0 0.00

Iridium 257 198 693.66 nil 0 0 0.00

Transponder_ping 4 420 25.57 nil 0 0 0.00

GPS 16 15 3.55 nil 0 0 0.00

Core 3780 11 650.37 SciCon 9185 5 686.86

LPSleep 5861 2 239.29 nil 0 0 0.00

Compass 1934 5 141.00 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

8.58 16386 -74.33 -1.59 0.00 559.7 561.0 558.4 171.4 2080.7 0.00 0.00 0 100.54 91.47 0.00 0.00 0.005 0.000 0.000 2677.16 2659.75 2694.56 171.44 2079.69 0 0 0 13.15 30.00 30.00

100.76 18695 -74.33 -1.59 80.00 2675.5 2658.3 2692.8 171.6 2079.6 4.33 -9.14 9 126.79 2.68 14.68 3.85 0.013 0.247 0.111 2802.59 2797.00 2808.19 1754.00 3476.50 0 0 0 13.40 14.76 14.65

350.49 1028 -74.33 -1.59 0.00 2802.4 2796.6 2808.2 1753.9 3475.8 51.55 -15.72 59 355.65 0.00 0.00 3.49 0.000 0.000 0.056 2805.16 2799.06 2811.25 1753.69 2082.69 0 0 0 30.00 30.00 15.14

415.10 516 -74.33 -1.59 -80.00 2802.4 2796.7 2808.1 1753.8 2081.9 61.09 -14.34 66 420.78 0.00 0.00 4.18 0.000 0.000 0.143 2800.75 2795.38 2806.12 1754.06 661.75 0 0 0 30.00 30.00 14.92

470.50 1028 -74.33 -1.59 0.00 2802.2 2796.1 2808.2 1754.2 661.7 69.20 -14.93 77 475.68 0.00 0.00 3.56 0.000 0.000 0.047 2803.50 2797.44 2809.56 1754.06 2123.62 0 0 0 30.00 30.00 15.24

535.05 260 -74.33 -1.59 80.00 2802.7 2797.6 2807.8 1753.9 2123.4 76.62 -11.25 84 540.71 0.00 0.00 3.65 0.000 0.000 0.101 2804.56 2798.25 2810.88 1753.81 3475.69 0 0 0 30.00 30.00 15.01

620.51 1028 -74.33 -1.59 0.00 2802.9 2797.4 2808.4 1754.3 3475.2 86.80 -11.99 101 625.70 0.00 0.00 3.41 0.000 0.000 0.049 2803.16 2797.31 2809.00 1754.00 2080.19 0 0 0 30.00 30.00 15.17

685.13 0 -74.33 -1.59 0.00 2802.7 2796.7 2808.8 1754.1 2080.4 93.12 -9.69 108 686.46 0.00 0.00 0.00 0.000 0.000 0.000 2803.09 2797.75 2808.44 1754.62 2080.38 0 0 0 30.00 30.00 30.00

745.08 516 -74.33 -1.59 -80.00 2802.9 2797.0 2808.8 1754.2 2080.7 99.06 -10.09 114 750.81 0.00 0.00 4.12 0.000 0.000 0.140 2802.09 2796.06 2808.12 1754.38 660.31 0 0 0 30.00 30.00 14.89

804.00 1028 -74.33 -1.59 0.00 2802.6 2796.9 2808.2 1753.8 660.6 105.65 -10.80 126 810.81 0.00 0.00 3.54 0.000 0.000 0.042 2802.62 2796.88 2808.38 1754.31 2124.50 0 0 0 30.00 30.00 15.23

870.10 16678 -95.65 -1.66 80.00 2802.8 2797.3 2808.4 1753.9 2124.1 111.78 -8.97 133 875.79 0.56 0.00 3.61 0.040 0.000 0.102 2893.69 2892.94 2894.44 1754.06 3475.06 0 0 0 14.69 30.00 14.67

949.01 1028 -95.65 -1.66 0.00 2893.1 2891.7 2894.4 1753.8 3474.8 120.67 -11.32 149 955.82 0.00 0.00 3.40 0.000 0.000 0.046 2893.19 2891.62 2894.75 1754.44 2080.38 0 0 0 30.00 30.00 15.16

1015.16 516 -95.65 -1.66 -80.00 2893.2 2891.7 2894.7 1754.1 2081.4 127.40 -10.14 156 1020.84 0.00 0.00 4.10 0.000 0.000 0.141 2895.19 2894.06 2896.31 1753.19 660.81 0 0 0 30.00 30.00 14.91

1050.57 1028 -95.65 -1.66 0.00 2892.8 2891.6 2894.0 1753.9 660.7 131.74 -11.99 163 1055.78 0.00 0.00 3.53 0.000 0.000 0.042 2891.66 2890.94 2892.38 1753.50 2123.00 0 0 0 30.00 30.00 15.27

1115.12 260 -95.65 -1.66 80.00 2893.3 2892.0 2894.6 1754.1 2123.5 138.28 -9.96 170 1120.78 0.00 0.00 3.64 0.000 0.000 0.098 2895.59 2894.06 2897.12 1753.44 3477.06 0 0 0 30.00 30.00 15.02

1174.06 1028 -95.65 -1.66 0.00 2893.2 2892.2 2894.1 1753.7 3475.5 144.59 -10.88 182 1180.87 0.00 0.00 3.41 0.000 0.000 0.047 2893.81 2892.44 2895.19 1754.00 2080.56 0 0 0 30.00 30.00 15.14

1240.21 0 -95.65 -1.66 0.00 2893.4 2892.1 2894.7 1754.3 2081.2 150.88 -9.13 189 1241.55 0.00 0.00 0.00 0.000 0.000 0.000 2893.88 2892.31 2895.44 1754.31 2081.19 0 0 0 30.00 30.00 30.00

1360.18 21031 -120.80 -1.73 -80.00 2893.3 2891.8 2894.8 1754.1 2081.1 162.02 -8.58 201 1367.02 0.53 0.34 4.09 0.042 0.063 0.143 2994.09 2995.38 2992.81 1703.69 660.94 0 0 0 14.67 15.43 14.64

1429.22 1028 -120.80 -1.73 0.00 2995.8 2996.2 2995.4 1703.9 660.9 170.73 -13.32 215 1436.04 0.00 0.00 3.55 0.000 0.000 0.043 2997.88 2998.94 2996.81 1704.25 2124.31 0 0 0 30.00 30.00 15.24

1555.33 260 -120.80 -1.73 80.00 2996.1 2996.9 2995.2 1703.4 2124.0 184.63 -11.01 228 1560.98 0.00 0.00 3.67 0.000 0.000 0.099 2995.56 2996.12 2995.00 1704.06 3476.38 0 0 0 30.00 30.00 15.01

1650.34 1028 -120.80 -1.73 0.00 2996.3 2997.2 2995.5 1703.4 3477.0 196.86 -12.75 247 1654.96 0.00 0.00 3.41 0.000 0.000 0.047 2997.47 2998.19 2996.75 1703.44 2080.38 0 0 0 30.00 30.00 15.14

1780.36 516 -120.80 -1.73 -80.00 2996.2 2996.9 2995.4 1703.7 2080.4 211.71 -11.40 261 1786.09 0.00 0.00 4.14 0.000 0.000 0.141 2998.81 3000.06 2997.56 1703.69 660.56 0 0 0 30.00 30.00 14.87

1815.81 1028 -120.80 -1.73 0.00 2996.3 2996.9 2995.6 1704.0 660.9 216.46 -13.36 268 1821.00 0.00 0.00 3.53 0.000 0.000 0.042 2996.50 2997.12 2995.88 1703.88 2122.94 0 0 0 30.00 30.00 15.25

1940.38 260 -120.80 -1.73 80.00 2995.8 2996.4 2995.2 1703.4 2123.8 231.39 -11.25 281 1946.03 0.00 0.00 3.66 0.000 0.000 0.099 2996.72 2997.94 2995.50 1704.00 3476.81 0 0 0 30.00 30.00 14.98

1985.38 1028 -120.80 -1.73 0.00 2996.6 2997.2 2996.0 1704.0 3476.5 237.21 -13.55 290 1989.97 0.00 0.00 3.39 0.000 0.000 0.047 2996.00 2996.75 2995.25 1703.44 2081.69 0 0 0 30.00 30.00 15.13

2125.41 260 -120.80 -1.73 80.00 2996.1 2996.8 2995.4 1703.9 2081.2 254.31 -12.52 303 2131.06 0.00 0.00 3.80 0.000 0.000 0.101 2996.91 2997.38 2996.44 1703.94 3475.12 0 0 0 30.00 30.00 14.95

2184.32 1028 -120.80 -1.73 0.00 2996.4 2997.2 2995.6 1704.1 3475.6 262.31 -13.82 315 2190.01 0.00 0.00 3.41 0.000 0.000 0.048 2997.56 2997.94 2997.19 1703.56 2080.69 0 0 0 30.00 30.00 15.09

2510.43 260 -120.80 -1.73 80.00 2996.6 2997.5 2995.6 1703.7 2080.8 301.12 -12.13 330 2516.10 0.00 0.00 3.84 0.000 0.000 0.102 2994.56 2995.25 2993.88 1704.00 3475.62 0 0 0 30.00 30.00 14.92

2599.34 1028 -120.80 -1.73 0.00 2996.3 2996.8 2995.9 1703.4 3475.6 312.62 -12.34 348 2605.03 0.00 0.00 3.44 0.000 0.000 0.051 2998.59 2999.38 2997.81 1704.25 2081.88 0 0 0 30.00 30.00 15.05

2925.44 260 -120.80 -1.73 80.00 2996.4 2997.2 2995.6 1703.6 2082.2 352.60 -12.42 363 2931.11 0.00 0.00 3.86 0.000 0.000 0.104 2996.34 2997.31 2995.38 1703.31 3475.94 0 0 0 30.00 30.00 14.89

2969.35 1028 -120.80 -1.73 0.00 2996.2 2997.2 2995.1 1703.7 3476.2 358.53 -14.44 372 2975.08 0.00 0.00 3.45 0.000 0.000 0.052 2996.88 2997.94 2995.81 1703.88 2082.38 0 0 0 30.00 30.00 15.03

3280.46 260 -120.80 -1.73 80.00 2996.1 2997.1 2995.1 1703.8 2081.9 396.69 -12.44 384 3286.13 0.00 0.00 3.88 0.000 0.000 0.105 2995.06 2996.75 2993.38 1703.69 3475.00 0 0 0 30.00 30.00 14.88

3344.38 1028 -120.80 -1.73 0.00 2996.2 2997.3 2995.0 1703.2 3476.5 405.26 -14.66 397 3350.08 0.00 0.00 3.45 0.000 0.000 0.052 2996.44 2997.50 2995.38 1703.75 2080.38 0 0 0 30.00 30.00 15.03

3665.53 0 -120.80 -1.73 0.00 2996.1 2997.4 2994.8 1703.9 2080.9 445.46 -12.51 411 3666.86 0.00 0.00 0.00 0.000 0.000 0.000 2996.66 2997.44 2995.88 1703.94 2081.25 0 0 0 30.00 30.00 30.00

3965.48 260 -120.80 -1.73 80.00 2995.9 2997.0 2994.9 1703.9 2080.9 484.07 -12.84 421 3971.18 0.00 0.00 3.91 0.000 0.000 0.107 2997.94 2999.38 2996.50 1703.94 3475.56 0 0 0 30.00 30.00 14.86

4024.42 1028 -120.80 -1.73 0.00 2995.3 2996.4 2994.2 1704.0 3476.0 493.00 -14.81 433 4030.10 0.00 0.00 3.47 0.000 0.000 0.054 2997.12 2998.25 2996.00 1703.81 2082.88 0 0 0 30.00 30.00 15.00

4080 end dive: TARGET_DEPTH_EXCEEDED

state 4080 begin apogee

4081.69 10243 0.00 -0.25 0.00 2995.8 2997.1 2994.6 1703.8 2122.0 500.09 -11.25 439 4188.29 102.08 3.32 0.09 1.625 0.163 0.224 2497.41 2507.81 2487.00 2079.69 2084.06 0 0 0 10.98 14.75 14.69

4191 end apogee: CONTROL_FINISHED_OK

state 4191 begin climb

4191.58 10243 120.80 1.73 0.00 2498.0 2508.1 2487.9 2079.6 2084.6 504.43 0.00 442 4308.47 111.92 3.65 0.00 1.560 0.079 0.000 2004.97 2019.88 1990.06 2564.75 2084.38 0 0 0 11.20 14.90 30.00

4590.52 8742 140.82 1.79 -80.00 1996.0 2016.1 1975.9 2565.1 2084.2 475.78 9.10 456 4615.65 18.99 0.00 4.11 1.407 0.000 0.138 1924.81 1943.94 1905.69 2564.88 661.94 0 0 0 11.35 30.00 14.95

4659.43 1028 140.82 1.79 0.00 1922.2 1939.4 1904.9 2564.7 662.0 467.77 12.31 470 4665.13 0.00 0.00 3.56 0.000 0.000 0.043 1923.59 1941.00 1906.19 2565.06 2126.94 0 0 0 30.00 30.00 15.27

4980.54 580 140.82 1.82 -80.00 1918.0 1939.2 1896.8 2565.0 2126.8 435.22 10.28 484 4986.26 0.00 0.00 4.17 0.000 0.000 0.129 1917.88 1938.94 1896.81 2564.94 659.81 0 0 0 30.00 30.00 15.09

5126.00 17414 140.82 1.82 0.00 1917.7 1938.3 1897.1 2564.4 659.9 418.65 12.04 513 5131.18 0.00 0.00 3.51 0.000 0.000 0.040 1917.97 1938.31 1897.62 2565.12 2125.25 0 0 0 30.00 30.00 15.36

5450.62 10791 161.05 1.88 -80.00 1916.5 1938.2 1894.8 2565.1 2125.1 388.57 9.08 528 5475.79 19.45 0.19 4.11 1.393 0.073 0.130 1842.94 1864.88 1821.00 2608.50 660.69 0 0 0 11.37 15.50 15.19

5579.48 1028 161.05 1.88 0.00 1840.0 1859.4 1820.6 2608.6 660.7 372.56 12.93 554 5585.19 0.00 0.00 3.50 0.000 0.000 0.041 1840.00 1859.56 1820.44 2607.88 2126.25 0 0 0 30.00 30.00 15.40

5900.61 580 161.05 1.90 -80.00 1837.2 1859.0 1815.4 2607.8 2126.6 339.22 10.40 568 5906.33 0.00 0.00 4.15 0.000 0.000 0.126 1836.72 1858.81 1814.62 2607.38 661.88 0 0 0 30.00 30.00 15.09

6004.52 1028 161.05 1.90 0.00 1837.2 1858.7 1815.6 2606.9 662.0 326.06 11.77 589 6010.24 0.00 0.00 3.51 0.000 0.000 0.040 1838.25 1860.19 1816.31 2608.12 2126.50 0 0 0 30.00 30.00 15.34

6315.64 580 161.05 1.92 -80.00 1835.8 1858.6 1813.1 2607.6 2127.6 293.89 10.36 601 6321.35 0.00 0.00 4.17 0.000 0.000 0.126 1837.88 1860.75 1815.00 2607.12 661.06 0 0 0 30.00 30.00 15.02

6414.55 1028 161.05 1.92 0.00 1835.8 1858.6 1812.9 2607.1 660.9 281.25 12.27 621 6420.26 0.00 0.00 3.51 0.000 0.000 0.040 1836.22 1858.75 1813.69 2607.69 2126.06 0 0 0 30.00 30.00 15.32

6720.65 516 161.05 1.92 -80.00 1835.5 1858.6 1812.3 2607.1 2126.5 247.56 11.05 635 6726.38 0.00 0.00 4.16 0.000 0.000 0.125 1834.28 1857.75 1810.81 2607.56 660.56 0 0 0 30.00 30.00 14.98

6769.56 17414 161.05 1.92 0.00 1835.2 1858.4 1812.1 2607.3 660.9 241.16 13.36 645 6776.38 0.00 0.00 3.51 0.000 0.000 0.040 1835.62 1858.88 1812.38 2608.19 2126.69 0 0 0 30.00 30.00 15.31

6895.67 16646 161.05 1.92 80.00 1835.0 1858.2 1811.9 2607.3 2126.8 226.80 11.77 658 6901.30 0.00 0.00 3.69 0.000 0.000 0.106 1834.62 1857.38 1811.88 2604.81 3476.12 0 0 0 30.00 30.00 15.05

6920.72 17414 161.05 1.92 0.00 1834.5 1857.4 1811.6 2607.8 3477.1 224.00 11.00 663 6925.28 0.00 0.00 3.42 0.000 0.000 0.047 1834.56 1857.50 1811.62 2607.25 2075.44 0 0 0 30.00 30.00 15.25

7050.68 16902 161.05 1.92 -80.00 1834.8 1857.8 1811.8 2607.9 2075.2 209.95 10.87 677 7056.39 0.00 0.00 4.02 0.000 0.000 0.128 1835.03 1858.25 1811.81 2607.44 660.75 0 0 0 30.00 30.00 14.99

7146.13 17414 161.05 1.92 0.00 1835.0 1857.9 1812.1 2608.1 660.8 197.72 13.24 696 7151.31 0.00 0.00 3.50 0.000 0.000 0.039 1834.25 1857.62 1810.88 2608.25 2127.44 0 0 0 30.00 30.00 15.32

7270.72 16902 161.05 1.92 -80.00 1834.7 1857.9 1811.5 2607.8 2126.6 183.58 10.87 709 7276.43 0.00 0.00 4.17 0.000 0.000 0.121 1835.12 1858.31 1811.94 2607.88 660.56 0 0 0 30.00 30.00 14.98

7346.15 17414 161.05 1.92 0.00 1834.5 1857.8 1811.2 2607.3 660.8 174.71 13.04 724 7351.34 0.00 0.00 3.51 0.000 0.000 0.038 1834.12 1857.19 1811.06 2607.56 2128.81 0 0 0 30.00 30.00 15.31

7470.74 16450 161.05 1.97 0.00 1834.3 1857.6 1811.0 2607.2 2129.0 163.40 9.36 737 7472.08 0.00 0.00 0.00 0.000 0.000 0.000 1834.47 1857.81 1811.12 2607.50 2129.44 0 0 0 30.00 30.00 30.00

7590.75 10791 183.88 2.04 -80.00 1834.2 1857.8 1810.6 2606.9 2129.0 151.82 8.82 749 7622.47 21.95 0.18 4.08 1.204 0.086 0.125 1749.91 1772.69 1727.12 2643.44 659.19 0 0 0 11.18 15.42 15.23

7701.19 1028 183.88 2.04 0.00 1747.0 1767.8 1726.1 2643.9 659.6 139.05 12.22 771 7706.36 0.00 0.00 3.49 0.000 0.000 0.039 1746.56 1767.25 1725.88 2643.88 2129.31 0 0 0 30.00 30.00 15.45

7765.74 260 183.88 2.04 80.00 1745.9 1768.3 1723.6 2644.2 2129.0 131.72 10.94 778 7771.41 0.00 0.00 3.62 0.000 0.000 0.103 1745.25 1767.50 1723.00 2644.12 3476.62 0 0 0 30.00 30.00 15.21

7784.67 1028 183.88 2.04 0.00 1745.0 1767.5 1722.4 2643.9 3476.8 129.38 11.22 782 7791.44 0.00 0.00 3.38 0.000 0.000 0.044 1747.03 1769.12 1724.94 2643.12 2074.75 0 0 0 30.00 30.00 15.34

7850.80 516 183.88 2.04 -80.00 1745.0 1767.6 1722.4 2644.2 2074.6 122.44 10.83 789 7856.45 0.00 0.00 3.93 0.000 0.000 0.124 1746.88 1769.56 1724.19 2643.44 660.38 0 0 0 30.00 30.00 15.14

7936.20 1028 183.88 2.04 0.00 1745.0 1767.8 1722.1 2644.2 660.4 111.96 12.69 806 7941.38 0.00 0.00 3.46 0.000 0.000 0.039 1745.22 1767.81 1722.62 2644.69 2129.25 0 0 0 30.00 30.00 15.41

8000.83 580 183.88 2.09 -80.00 1744.5 1767.7 1721.2 2644.5 2129.4 105.65 9.47 813 8006.48 0.00 0.00 4.06 0.000 0.000 0.120 1744.56 1767.56 1721.56 2643.69 660.62 0 0 0 30.00 30.00 15.10

8116.27 1028 183.88 2.09 0.00 1744.6 1767.6 1721.5 2643.9 660.4 92.14 11.75 836 8121.40 0.00 0.00 3.47 0.000 0.000 0.039 1744.22 1767.62 1720.81 2644.56 2130.62 0 0 0 30.00 30.00 15.38

8180.81 324 183.88 2.14 80.00 1744.4 1767.7 1721.1 2644.3 2130.5 85.78 9.46 843 8186.42 0.00 0.00 3.55 0.000 0.000 0.102 1744.06 1767.44 1720.69 2643.50 3475.81 0 0 0 30.00 30.00 15.12

8189.72 3141 183.88 2.19 0.00 1743.8 1767.1 1720.6 2643.9 3475.8 85.03 9.42 845 8196.53 0.00 0.18 3.36 0.000 0.080 0.043 1745.12 1768.56 1721.69 2682.56 2074.69 0 0 0 30.00 15.09 15.30

8255.81 580 183.88 2.24 -80.00 1744.0 1767.4 1720.6 2682.4 2074.8 78.74 9.46 852 8261.49 0.00 0.00 3.90 0.000 0.000 0.123 1742.81 1765.94 1719.69 2682.75 660.62 0 0 0 30.00 30.00 15.08

8281.25 1092 183.88 2.28 0.00 1743.9 1767.1 1720.7 2682.6 660.6 76.14 9.66 857 8286.42 0.00 0.00 3.45 0.000 0.000 0.037 1744.50 1767.50 1721.50 2682.94 2133.00 0 0 0 30.00 30.00 15.41

8345.81 10535 217.11 2.38 80.00 1744.0 1767.3 1720.6 2682.4 2133.9 70.92 7.77 864 8391.33 39.19 0.24 3.51 1.115 0.077 0.104 1614.47 1637.88 1591.06 2727.88 3475.25 0 0 0 11.45 15.44 15.11

8485.84 1092 217.11 2.41 0.00 1610.7 1633.8 1587.7 2727.8 3475.6 56.41 10.29 892 8490.41 0.00 0.00 3.38 0.000 0.000 0.045 1610.72 1633.44 1588.00 2727.19 2076.50 0 0 0 30.00 30.00 15.30

8555.84 8742 248.11 2.50 -80.00 1610.1 1634.1 1586.1 2728.1 2076.6 50.54 8.00 900 8597.83 36.08 0.00 3.90 1.073 0.000 0.124 1487.81 1512.75 1462.88 2727.94 659.62 0 0 0 11.41 30.00 15.03

8820.00 11303 276.04 2.59 0.00 1485.1 1508.4 1461.7 2728.4 659.6 25.46 8.30 953 8857.56 31.93 0.27 3.47 1.037 0.061 0.037 1373.94 1398.06 1349.81 2778.81 2134.88 0 0 0 11.50 15.15 15.37

8916.16 8742 317.10 2.71 -80.00 1371.2 1397.0 1345.4 2778.5 2134.6 19.22 6.98 966 8968.49 45.40 0.00 4.06 1.023 0.000 0.119 1208.03 1231.75 1184.31 2777.88 659.75 0 0 0 11.43 30.00 14.95

9107 end climb: SURFACE_DEPTH_REACHED

state 9107 begin surface coast

9127 end surface coast: CONTROL_FINISHED_OK

state 9127 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	1208	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	78.697937	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	287.18719	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	220421,134202,4708.177,-12502.256,28,1.1,30,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	2	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.54	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-63.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	220421,135133,4708.082,-12502.218,2,0.8,7,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	103.4,314,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	9313.09,0.22,0.160,0,564.7,560.7,568.6,474.74	_10V_AH	14.58,0.000
SM_GC	-0.77,0.22,18.92,3.43,0.160,0.076,0.035,564.7,560.7,568.6,179.0,2141.8,0,0,0,14.91,15.07,15.39	FG_AHR_24Vo	287.418
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	78.730
IRIDIUM_FIX	4708.39,-12501.34,220421,134624	MEM	1103708,38,73440,56
TCM_TEMP	174.78	DATA_FILE_SIZE	38582,1008
XPDR_PINGS	18,14.0,11.5	CAP_FILE_SIZE	531999,0
SC_FREEKB	3396192	SDSIZE	3918848,3588320
HUMID	59.05	SDFILEDIR	6066,1
TEMP	7.78	ERRORS	0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78171	GPS	220421,162731,4707.400,-12501.136,17,0.9,18,15.5
_24V_AH	13.53,328.230

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	673	2557	23320.12	legato	0	0	0.00
Pitch_motor	41	247	140.35	nil	0	0	0.00
Roll_motor	251	223	761.51	nil	0	0	0.00
Iridium	257	198	693.66	nil	0	0	0.00
Transponder_ping	4	420	25.57	nil	0	0	0.00
GPS	16	15	3.55	nil	0	0	0.00
Core	3780	11	650.37	SciCon	9185	5	686.86
LPSleep	5861	2	239.29	nil	0	0	0.00
Compass	1934	5	141.00	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
8.58	16386	-74.33	-1.59	0.00	559.7	561.0	558.4	171.4	2080.7	0.00	0.00	0	100.54	91.47	0.00	0.00	0.005	0.000	0.000	2677.16	2659.75	2694.56	171.44	2079.69	0	0	0	13.15	30.00	30.00
100.76	18695	-74.33	-1.59	80.00	2675.5	2658.3	2692.8	171.6	2079.6	4.33	-9.14	9	126.79	2.68	14.68	3.85	0.013	0.247	0.111	2802.59	2797.00	2808.19	1754.00	3476.50	0	0	0	13.40	14.76	14.65
350.49	1028	-74.33	-1.59	0.00	2802.4	2796.6	2808.2	1753.9	3475.8	51.55	-15.72	59	355.65	0.00	0.00	3.49	0.000	0.000	0.056	2805.16	2799.06	2811.25	1753.69	2082.69	0	0	0	30.00	30.00	15.14
415.10	516	-74.33	-1.59	-80.00	2802.4	2796.7	2808.1	1753.8	2081.9	61.09	-14.34	66	420.78	0.00	0.00	4.18	0.000	0.000	0.143	2800.75	2795.38	2806.12	1754.06	661.75	0	0	0	30.00	30.00	14.92
470.50	1028	-74.33	-1.59	0.00	2802.2	2796.1	2808.2	1754.2	661.7	69.20	-14.93	77	475.68	0.00	0.00	3.56	0.000	0.000	0.047	2803.50	2797.44	2809.56	1754.06	2123.62	0	0	0	30.00	30.00	15.24
535.05	260	-74.33	-1.59	80.00	2802.7	2797.6	2807.8	1753.9	2123.4	76.62	-11.25	84	540.71	0.00	0.00	3.65	0.000	0.000	0.101	2804.56	2798.25	2810.88	1753.81	3475.69	0	0	0	30.00	30.00	15.01
620.51	1028	-74.33	-1.59	0.00	2802.9	2797.4	2808.4	1754.3	3475.2	86.80	-11.99	101	625.70	0.00	0.00	3.41	0.000	0.000	0.049	2803.16	2797.31	2809.00	1754.00	2080.19	0	0	0	30.00	30.00	15.17
685.13	0	-74.33	-1.59	0.00	2802.7	2796.7	2808.8	1754.1	2080.4	93.12	-9.69	108	686.46	0.00	0.00	0.00	0.000	0.000	0.000	2803.09	2797.75	2808.44	1754.62	2080.38	0	0	0	30.00	30.00	30.00
745.08	516	-74.33	-1.59	-80.00	2802.9	2797.0	2808.8	1754.2	2080.7	99.06	-10.09	114	750.81	0.00	0.00	4.12	0.000	0.000	0.140	2802.09	2796.06	2808.12	1754.38	660.31	0	0	0	30.00	30.00	14.89
804.00	1028	-74.33	-1.59	0.00	2802.6	2796.9	2808.2	1753.8	660.6	105.65	-10.80	126	810.81	0.00	0.00	3.54	0.000	0.000	0.042	2802.62	2796.88	2808.38	1754.31	2124.50	0	0	0	30.00	30.00	15.23
870.10	16678	-95.65	-1.66	80.00	2802.8	2797.3	2808.4	1753.9	2124.1	111.78	-8.97	133	875.79	0.56	0.00	3.61	0.040	0.000	0.102	2893.69	2892.94	2894.44	1754.06	3475.06	0	0	0	14.69	30.00	14.67
949.01	1028	-95.65	-1.66	0.00	2893.1	2891.7	2894.4	1753.8	3474.8	120.67	-11.32	149	955.82	0.00	0.00	3.40	0.000	0.000	0.046	2893.19	2891.62	2894.75	1754.44	2080.38	0	0	0	30.00	30.00	15.16
1015.16	516	-95.65	-1.66	-80.00	2893.2	2891.7	2894.7	1754.1	2081.4	127.40	-10.14	156	1020.84	0.00	0.00	4.10	0.000	0.000	0.141	2895.19	2894.06	2896.31	1753.19	660.81	0	0	0	30.00	30.00	14.91
1050.57	1028	-95.65	-1.66	0.00	2892.8	2891.6	2894.0	1753.9	660.7	131.74	-11.99	163	1055.78	0.00	0.00	3.53	0.000	0.000	0.042	2891.66	2890.94	2892.38	1753.50	2123.00	0	0	0	30.00	30.00	15.27
1115.12	260	-95.65	-1.66	80.00	2893.3	2892.0	2894.6	1754.1	2123.5	138.28	-9.96	170	1120.78	0.00	0.00	3.64	0.000	0.000	0.098	2895.59	2894.06	2897.12	1753.44	3477.06	0	0	0	30.00	30.00	15.02
1174.06	1028	-95.65	-1.66	0.00	2893.2	2892.2	2894.1	1753.7	3475.5	144.59	-10.88	182	1180.87	0.00	0.00	3.41	0.000	0.000	0.047	2893.81	2892.44	2895.19	1754.00	2080.56	0	0	0	30.00	30.00	15.14
1240.21	0	-95.65	-1.66	0.00	2893.4	2892.1	2894.7	1754.3	2081.2	150.88	-9.13	189	1241.55	0.00	0.00	0.00	0.000	0.000	0.000	2893.88	2892.31	2895.44	1754.31	2081.19	0	0	0	30.00	30.00	30.00
1360.18	21031	-120.80	-1.73	-80.00	2893.3	2891.8	2894.8	1754.1	2081.1	162.02	-8.58	201	1367.02	0.53	0.34	4.09	0.042	0.063	0.143	2994.09	2995.38	2992.81	1703.69	660.94	0	0	0	14.67	15.43	14.64
1429.22	1028	-120.80	-1.73	0.00	2995.8	2996.2	2995.4	1703.9	660.9	170.73	-13.32	215	1436.04	0.00	0.00	3.55	0.000	0.000	0.043	2997.88	2998.94	2996.81	1704.25	2124.31	0	0	0	30.00	30.00	15.24
1555.33	260	-120.80	-1.73	80.00	2996.1	2996.9	2995.2	1703.4	2124.0	184.63	-11.01	228	1560.98	0.00	0.00	3.67	0.000	0.000	0.099	2995.56	2996.12	2995.00	1704.06	3476.38	0	0	0	30.00	30.00	15.01
1650.34	1028	-120.80	-1.73	0.00	2996.3	2997.2	2995.5	1703.4	3477.0	196.86	-12.75	247	1654.96	0.00	0.00	3.41	0.000	0.000	0.047	2997.47	2998.19	2996.75	1703.44	2080.38	0	0	0	30.00	30.00	15.14
1780.36	516	-120.80	-1.73	-80.00	2996.2	2996.9	2995.4	1703.7	2080.4	211.71	-11.40	261	1786.09	0.00	0.00	4.14	0.000	0.000	0.141	2998.81	3000.06	2997.56	1703.69	660.56	0	0	0	30.00	30.00	14.87
1815.81	1028	-120.80	-1.73	0.00	2996.3	2996.9	2995.6	1704.0	660.9	216.46	-13.36	268	1821.00	0.00	0.00	3.53	0.000	0.000	0.042	2996.50	2997.12	2995.88	1703.88	2122.94	0	0	0	30.00	30.00	15.25
1940.38	260	-120.80	-1.73	80.00	2995.8	2996.4	2995.2	1703.4	2123.8	231.39	-11.25	281	1946.03	0.00	0.00	3.66	0.000	0.000	0.099	2996.72	2997.94	2995.50	1704.00	3476.81	0	0	0	30.00	30.00	14.98
1985.38	1028	-120.80	-1.73	0.00	2996.6	2997.2	2996.0	1704.0	3476.5	237.21	-13.55	290	1989.97	0.00	0.00	3.39	0.000	0.000	0.047	2996.00	2996.75	2995.25	1703.44	2081.69	0	0	0	30.00	30.00	15.13
2125.41	260	-120.80	-1.73	80.00	2996.1	2996.8	2995.4	1703.9	2081.2	254.31	-12.52	303	2131.06	0.00	0.00	3.80	0.000	0.000	0.101	2996.91	2997.38	2996.44	1703.94	3475.12	0	0	0	30.00	30.00	14.95
2184.32	1028	-120.80	-1.73	0.00	2996.4	2997.2	2995.6	1704.1	3475.6	262.31	-13.82	315	2190.01	0.00	0.00	3.41	0.000	0.000	0.048	2997.56	2997.94	2997.19	1703.56	2080.69	0	0	0	30.00	30.00	15.09
2510.43	260	-120.80	-1.73	80.00	2996.6	2997.5	2995.6	1703.7	2080.8	301.12	-12.13	330	2516.10	0.00	0.00	3.84	0.000	0.000	0.102	2994.56	2995.25	2993.88	1704.00	3475.62	0	0	0	30.00	30.00	14.92
2599.34	1028	-120.80	-1.73	0.00	2996.3	2996.8	2995.9	1703.4	3475.6	312.62	-12.34	348	2605.03	0.00	0.00	3.44	0.000	0.000	0.051	2998.59	2999.38	2997.81	1704.25	2081.88	0	0	0	30.00	30.00	15.05
2925.44	260	-120.80	-1.73	80.00	2996.4	2997.2	2995.6	1703.6	2082.2	352.60	-12.42	363	2931.11	0.00	0.00	3.86	0.000	0.000	0.104	2996.34	2997.31	2995.38	1703.31	3475.94	0	0	0	30.00	30.00	14.89
2969.35	1028	-120.80	-1.73	0.00	2996.2	2997.2	2995.1	1703.7	3476.2	358.53	-14.44	372	2975.08	0.00	0.00	3.45	0.000	0.000	0.052	2996.88	2997.94	2995.81	1703.88	2082.38	0	0	0	30.00	30.00	15.03
3280.46	260	-120.80	-1.73	80.00	2996.1	2997.1	2995.1	1703.8	2081.9	396.69	-12.44	384	3286.13	0.00	0.00	3.88	0.000	0.000	0.105	2995.06	2996.75	2993.38	1703.69	3475.00	0	0	0	30.00	30.00	14.88
3344.38	1028	-120.80	-1.73	0.00	2996.2	2997.3	2995.0	1703.2	3476.5	405.26	-14.66	397	3350.08	0.00	0.00	3.45	0.000	0.000	0.052	2996.44	2997.50	2995.38	1703.75	2080.38	0	0	0	30.00	30.00	15.03
3665.53	0	-120.80	-1.73	0.00	2996.1	2997.4	2994.8	1703.9	2080.9	445.46	-12.51	411	3666.86	0.00	0.00	0.00	0.000	0.000	0.000	2996.66	2997.44	2995.88	1703.94	2081.25	0	0	0	30.00	30.00	30.00
3965.48	260	-120.80	-1.73	80.00	2995.9	2997.0	2994.9	1703.9	2080.9	484.07	-12.84	421	3971.18	0.00	0.00	3.91	0.000	0.000	0.107	2997.94	2999.38	2996.50	1703.94	3475.56	0	0	0	30.00	30.00	14.86
4024.42	1028	-120.80	-1.73	0.00	2995.3	2996.4	2994.2	1704.0	3476.0	493.00	-14.81	433	4030.10	0.00	0.00	3.47	0.000	0.000	0.054	2997.12	2998.25	2996.00	1703.81	2082.88	0	0	0	30.00	30.00	15.00
4080	end dive: TARGET_DEPTH_EXCEEDED
state	4080	begin apogee
4081.69	10243	0.00	-0.25	0.00	2995.8	2997.1	2994.6	1703.8	2122.0	500.09	-11.25	439	4188.29	102.08	3.32	0.09	1.625	0.163	0.224	2497.41	2507.81	2487.00	2079.69	2084.06	0	0	0	10.98	14.75	14.69
4191	end apogee: CONTROL_FINISHED_OK
state	4191	begin climb
4191.58	10243	120.80	1.73	0.00	2498.0	2508.1	2487.9	2079.6	2084.6	504.43	0.00	442	4308.47	111.92	3.65	0.00	1.560	0.079	0.000	2004.97	2019.88	1990.06	2564.75	2084.38	0	0	0	11.20	14.90	30.00
4590.52	8742	140.82	1.79	-80.00	1996.0	2016.1	1975.9	2565.1	2084.2	475.78	9.10	456	4615.65	18.99	0.00	4.11	1.407	0.000	0.138	1924.81	1943.94	1905.69	2564.88	661.94	0	0	0	11.35	30.00	14.95
4659.43	1028	140.82	1.79	0.00	1922.2	1939.4	1904.9	2564.7	662.0	467.77	12.31	470	4665.13	0.00	0.00	3.56	0.000	0.000	0.043	1923.59	1941.00	1906.19	2565.06	2126.94	0	0	0	30.00	30.00	15.27
4980.54	580	140.82	1.82	-80.00	1918.0	1939.2	1896.8	2565.0	2126.8	435.22	10.28	484	4986.26	0.00	0.00	4.17	0.000	0.000	0.129	1917.88	1938.94	1896.81	2564.94	659.81	0	0	0	30.00	30.00	15.09
5126.00	17414	140.82	1.82	0.00	1917.7	1938.3	1897.1	2564.4	659.9	418.65	12.04	513	5131.18	0.00	0.00	3.51	0.000	0.000	0.040	1917.97	1938.31	1897.62	2565.12	2125.25	0	0	0	30.00	30.00	15.36
5450.62	10791	161.05	1.88	-80.00	1916.5	1938.2	1894.8	2565.1	2125.1	388.57	9.08	528	5475.79	19.45	0.19	4.11	1.393	0.073	0.130	1842.94	1864.88	1821.00	2608.50	660.69	0	0	0	11.37	15.50	15.19
5579.48	1028	161.05	1.88	0.00	1840.0	1859.4	1820.6	2608.6	660.7	372.56	12.93	554	5585.19	0.00	0.00	3.50	0.000	0.000	0.041	1840.00	1859.56	1820.44	2607.88	2126.25	0	0	0	30.00	30.00	15.40
5900.61	580	161.05	1.90	-80.00	1837.2	1859.0	1815.4	2607.8	2126.6	339.22	10.40	568	5906.33	0.00	0.00	4.15	0.000	0.000	0.126	1836.72	1858.81	1814.62	2607.38	661.88	0	0	0	30.00	30.00	15.09
6004.52	1028	161.05	1.90	0.00	1837.2	1858.7	1815.6	2606.9	662.0	326.06	11.77	589	6010.24	0.00	0.00	3.51	0.000	0.000	0.040	1838.25	1860.19	1816.31	2608.12	2126.50	0	0	0	30.00	30.00	15.34
6315.64	580	161.05	1.92	-80.00	1835.8	1858.6	1813.1	2607.6	2127.6	293.89	10.36	601	6321.35	0.00	0.00	4.17	0.000	0.000	0.126	1837.88	1860.75	1815.00	2607.12	661.06	0	0	0	30.00	30.00	15.02
6414.55	1028	161.05	1.92	0.00	1835.8	1858.6	1812.9	2607.1	660.9	281.25	12.27	621	6420.26	0.00	0.00	3.51	0.000	0.000	0.040	1836.22	1858.75	1813.69	2607.69	2126.06	0	0	0	30.00	30.00	15.32
6720.65	516	161.05	1.92	-80.00	1835.5	1858.6	1812.3	2607.1	2126.5	247.56	11.05	635	6726.38	0.00	0.00	4.16	0.000	0.000	0.125	1834.28	1857.75	1810.81	2607.56	660.56	0	0	0	30.00	30.00	14.98
6769.56	17414	161.05	1.92	0.00	1835.2	1858.4	1812.1	2607.3	660.9	241.16	13.36	645	6776.38	0.00	0.00	3.51	0.000	0.000	0.040	1835.62	1858.88	1812.38	2608.19	2126.69	0	0	0	30.00	30.00	15.31
6895.67	16646	161.05	1.92	80.00	1835.0	1858.2	1811.9	2607.3	2126.8	226.80	11.77	658	6901.30	0.00	0.00	3.69	0.000	0.000	0.106	1834.62	1857.38	1811.88	2604.81	3476.12	0	0	0	30.00	30.00	15.05
6920.72	17414	161.05	1.92	0.00	1834.5	1857.4	1811.6	2607.8	3477.1	224.00	11.00	663	6925.28	0.00	0.00	3.42	0.000	0.000	0.047	1834.56	1857.50	1811.62	2607.25	2075.44	0	0	0	30.00	30.00	15.25
7050.68	16902	161.05	1.92	-80.00	1834.8	1857.8	1811.8	2607.9	2075.2	209.95	10.87	677	7056.39	0.00	0.00	4.02	0.000	0.000	0.128	1835.03	1858.25	1811.81	2607.44	660.75	0	0	0	30.00	30.00	14.99
7146.13	17414	161.05	1.92	0.00	1835.0	1857.9	1812.1	2608.1	660.8	197.72	13.24	696	7151.31	0.00	0.00	3.50	0.000	0.000	0.039	1834.25	1857.62	1810.88	2608.25	2127.44	0	0	0	30.00	30.00	15.32
7270.72	16902	161.05	1.92	-80.00	1834.7	1857.9	1811.5	2607.8	2126.6	183.58	10.87	709	7276.43	0.00	0.00	4.17	0.000	0.000	0.121	1835.12	1858.31	1811.94	2607.88	660.56	0	0	0	30.00	30.00	14.98
7346.15	17414	161.05	1.92	0.00	1834.5	1857.8	1811.2	2607.3	660.8	174.71	13.04	724	7351.34	0.00	0.00	3.51	0.000	0.000	0.038	1834.12	1857.19	1811.06	2607.56	2128.81	0	0	0	30.00	30.00	15.31
7470.74	16450	161.05	1.97	0.00	1834.3	1857.6	1811.0	2607.2	2129.0	163.40	9.36	737	7472.08	0.00	0.00	0.00	0.000	0.000	0.000	1834.47	1857.81	1811.12	2607.50	2129.44	0	0	0	30.00	30.00	30.00
7590.75	10791	183.88	2.04	-80.00	1834.2	1857.8	1810.6	2606.9	2129.0	151.82	8.82	749	7622.47	21.95	0.18	4.08	1.204	0.086	0.125	1749.91	1772.69	1727.12	2643.44	659.19	0	0	0	11.18	15.42	15.23
7701.19	1028	183.88	2.04	0.00	1747.0	1767.8	1726.1	2643.9	659.6	139.05	12.22	771	7706.36	0.00	0.00	3.49	0.000	0.000	0.039	1746.56	1767.25	1725.88	2643.88	2129.31	0	0	0	30.00	30.00	15.45
7765.74	260	183.88	2.04	80.00	1745.9	1768.3	1723.6	2644.2	2129.0	131.72	10.94	778	7771.41	0.00	0.00	3.62	0.000	0.000	0.103	1745.25	1767.50	1723.00	2644.12	3476.62	0	0	0	30.00	30.00	15.21
7784.67	1028	183.88	2.04	0.00	1745.0	1767.5	1722.4	2643.9	3476.8	129.38	11.22	782	7791.44	0.00	0.00	3.38	0.000	0.000	0.044	1747.03	1769.12	1724.94	2643.12	2074.75	0	0	0	30.00	30.00	15.34
7850.80	516	183.88	2.04	-80.00	1745.0	1767.6	1722.4	2644.2	2074.6	122.44	10.83	789	7856.45	0.00	0.00	3.93	0.000	0.000	0.124	1746.88	1769.56	1724.19	2643.44	660.38	0	0	0	30.00	30.00	15.14
7936.20	1028	183.88	2.04	0.00	1745.0	1767.8	1722.1	2644.2	660.4	111.96	12.69	806	7941.38	0.00	0.00	3.46	0.000	0.000	0.039	1745.22	1767.81	1722.62	2644.69	2129.25	0	0	0	30.00	30.00	15.41
8000.83	580	183.88	2.09	-80.00	1744.5	1767.7	1721.2	2644.5	2129.4	105.65	9.47	813	8006.48	0.00	0.00	4.06	0.000	0.000	0.120	1744.56	1767.56	1721.56	2643.69	660.62	0	0	0	30.00	30.00	15.10
8116.27	1028	183.88	2.09	0.00	1744.6	1767.6	1721.5	2643.9	660.4	92.14	11.75	836	8121.40	0.00	0.00	3.47	0.000	0.000	0.039	1744.22	1767.62	1720.81	2644.56	2130.62	0	0	0	30.00	30.00	15.38
8180.81	324	183.88	2.14	80.00	1744.4	1767.7	1721.1	2644.3	2130.5	85.78	9.46	843	8186.42	0.00	0.00	3.55	0.000	0.000	0.102	1744.06	1767.44	1720.69	2643.50	3475.81	0	0	0	30.00	30.00	15.12
8189.72	3141	183.88	2.19	0.00	1743.8	1767.1	1720.6	2643.9	3475.8	85.03	9.42	845	8196.53	0.00	0.18	3.36	0.000	0.080	0.043	1745.12	1768.56	1721.69	2682.56	2074.69	0	0	0	30.00	15.09	15.30
8255.81	580	183.88	2.24	-80.00	1744.0	1767.4	1720.6	2682.4	2074.8	78.74	9.46	852	8261.49	0.00	0.00	3.90	0.000	0.000	0.123	1742.81	1765.94	1719.69	2682.75	660.62	0	0	0	30.00	30.00	15.08
8281.25	1092	183.88	2.28	0.00	1743.9	1767.1	1720.7	2682.6	660.6	76.14	9.66	857	8286.42	0.00	0.00	3.45	0.000	0.000	0.037	1744.50	1767.50	1721.50	2682.94	2133.00	0	0	0	30.00	30.00	15.41
8345.81	10535	217.11	2.38	80.00	1744.0	1767.3	1720.6	2682.4	2133.9	70.92	7.77	864	8391.33	39.19	0.24	3.51	1.115	0.077	0.104	1614.47	1637.88	1591.06	2727.88	3475.25	0	0	0	11.45	15.44	15.11
8485.84	1092	217.11	2.41	0.00	1610.7	1633.8	1587.7	2727.8	3475.6	56.41	10.29	892	8490.41	0.00	0.00	3.38	0.000	0.000	0.045	1610.72	1633.44	1588.00	2727.19	2076.50	0	0	0	30.00	30.00	15.30
8555.84	8742	248.11	2.50	-80.00	1610.1	1634.1	1586.1	2728.1	2076.6	50.54	8.00	900	8597.83	36.08	0.00	3.90	1.073	0.000	0.124	1487.81	1512.75	1462.88	2727.94	659.62	0	0	0	11.41	30.00	15.03
8820.00	11303	276.04	2.59	0.00	1485.1	1508.4	1461.7	2728.4	659.6	25.46	8.30	953	8857.56	31.93	0.27	3.47	1.037	0.061	0.037	1373.94	1398.06	1349.81	2778.81	2134.88	0	0	0	11.50	15.15	15.37
8916.16	8742	317.10	2.71	-80.00	1371.2	1397.0	1345.4	2778.5	2134.6	19.22	6.98	966	8968.49	45.40	0.00	4.06	1.023	0.000	0.119	1208.03	1231.75	1184.31	2777.88	659.75	0	0	0	11.43	30.00	14.95
9107	end climb: SURFACE_DEPTH_REACHED
state	9107	begin surface coast
9127	end surface coast: CONTROL_FINISHED_OK
state	9127	begin surface