Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1012 * 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 1012 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 72.261925 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 242.23849 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 80 SC_NDIVE 1.0

HD_B 0.0099900002 ROLL_DEG 80 ALTIM_PING_DELTA 5

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 5 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 475

ALTIM_PING_DEPTH 80 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 72.261925 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 242.23849 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 1012 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 310321,053002,4707.689,-12500.805,3,0.9,20,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.39 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -64.8 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 310321,053637,4707.644,-12500.850,2,0.7,3,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 278.9,1592,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 593

Post-dive calculations and measurements:

SM_CCo 7953.33,0.01,0.351,0,564.7,565.5,563.9,474.72 _24V_AH 13.62,279.729

SM_GC -0.45,0.01,17.10,0.10,0.351,0.066,0.134,564.7,565.5,563.9,166.4,2065.4,0,0,0,30.36,15.31,15.61 _10V_AH 14.76,0.000

SUPER 27,71,254,1,0,0 FG_AHR_24Vo 242.455

IRIDIUM_FIX 4705.28,-12504.70,310321,031723 FG_AHR_10Vo 72.289

TCM_TEMP 174.91 MEM 1103668,40,73440,56

XPDR_PINGS 12,14.0,11.5 DATA_FILE_SIZE 29040,786

ALTIM_BOTTOM_PING 80.2,10.0 CAP_FILE_SIZE 452782,0

SC_FREEKB 3471488 SDSIZE 3918848,3643584

HUMID 58.70 SDFILEDIR 5086,1

TEMP 7.88 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77669 GPS 310321,075001,4708.316,-12501.546,4,0.9,23,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 644 2576 22623.14 legato 0 0 0.00

Pitch_motor 37 250 127.71 nil 0 0 0.00

Roll_motor 217 233 693.90 nil 0 0 0.00

Iridium 180 192 472.96 nil 0 0 0.00

Transponder_ping 3 420 20.02 nil 0 0 0.00

GPS 12 15 2.81 nil 0 0 0.00

Core 3037 11 529.10 SciCon 7811 5 613.69

LPSleep 5070 2 209.55 nil 0 0 0.00

Compass 1523 5 112.47 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 2 30 0.89

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

7.59 16386 -74.33 -1.59 0.00 559.5 560.4 558.7 166.6 2079.4 0.00 0.00 0 99.92 91.91 0.00 0.00 0.005 0.000 0.000 2657.69 2638.25 2677.12 166.44 2079.38 0 0 0 14.57 30.00 30.00

100.16 18727 -99.75 -1.67 80.00 2656.2 2636.4 2676.1 166.6 2079.4 4.47 -8.56 9 126.98 5.26 13.69 3.77 0.009 0.250 0.113 2903.91 2897.50 2910.31 1735.88 3475.69 0 0 0 14.82 15.06 14.66

275.22 1028 -99.75 -1.67 0.00 2906.2 2898.6 2913.8 1736.2 3475.4 46.31 -21.62 44 279.83 0.00 0.00 3.40 0.000 0.000 0.060 2906.31 2899.00 2913.62 1736.00 2081.44 0 0 0 30.00 30.00 15.52

345.23 260 -99.75 -1.67 80.00 2906.3 2898.9 2913.8 1735.6 2082.4 58.73 -17.12 52 350.89 0.00 0.00 3.70 0.000 0.000 0.106 2906.47 2899.31 2913.62 1735.88 3474.75 0 0 0 30.00 30.00 15.41

444.16 1028 -99.75 -1.67 0.00 2906.1 2898.4 2913.8 1736.2 3475.0 75.72 -15.46 72 450.94 0.00 0.00 3.37 0.000 0.000 0.058 2906.06 2898.75 2913.38 1736.19 2081.44 0 0 0 30.00 30.00 15.53

510.25 260 -99.75 -1.67 80.00 2906.2 2898.6 2913.8 1735.9 2081.6 86.29 -15.75 79 515.96 0.00 0.00 3.69 0.000 0.000 0.105 2904.12 2896.19 2912.06 1735.94 3475.25 0 0 0 30.00 30.00 15.43

549.16 1028 -99.75 -1.67 0.00 2906.0 2898.6 2913.4 1736.1 3474.1 92.21 -14.73 87 555.96 0.00 0.00 3.37 0.000 0.000 0.058 2906.12 2898.44 2913.81 1735.75 2081.31 0 0 0 30.00 30.00 15.54

615.31 0 -99.75 -1.67 0.00 2906.0 2898.4 2913.6 1735.6 2081.4 101.54 -13.68 94 616.64 0.00 0.00 0.00 0.000 0.000 0.000 2906.41 2898.69 2914.12 1736.19 2081.31 0 0 0 30.00 30.00 30.00

675.29 260 -99.75 -1.67 80.00 2906.1 2898.4 2913.8 1736.0 2081.1 109.68 -13.66 100 680.91 0.00 0.00 3.70 0.000 0.000 0.106 2907.66 2899.25 2916.06 1735.06 3475.50 0 0 0 30.00 30.00 15.43

734.19 1028 -99.75 -1.67 0.00 2906.7 2899.0 2914.3 1736.0 3475.9 118.59 -15.19 112 740.96 0.00 0.00 3.36 0.000 0.000 0.056 2906.81 2899.31 2914.31 1735.94 2080.94 0 0 0 30.00 30.00 15.56

800.33 516 -99.75 -1.67 -80.00 2906.6 2898.8 2914.4 1735.9 2081.6 127.17 -12.76 119 805.98 0.00 0.00 3.99 0.000 0.000 0.153 2905.03 2897.31 2912.75 1735.75 661.88 0 0 0 30.00 30.00 15.28

839.19 1028 -99.75 -1.67 0.00 2906.4 2898.3 2914.6 1735.9 662.2 133.01 -15.60 127 845.99 0.00 0.00 3.48 0.000 0.000 0.050 2907.22 2899.94 2914.50 1735.88 2123.44 0 0 0 30.00 30.00 15.62

905.35 0 -99.75 -1.67 0.00 2906.7 2899.1 2914.2 1735.6 2123.4 142.30 -14.07 134 906.67 0.00 0.00 0.00 0.000 0.000 0.000 2906.41 2898.38 2914.44 1735.69 2123.06 0 0 0 30.00 30.00 30.00

965.29 0 -99.75 -1.67 0.00 2906.3 2898.9 2913.7 1736.1 2123.5 150.03 -12.89 140 966.64 0.00 0.00 0.00 0.000 0.000 0.000 2907.09 2899.31 2914.88 1735.44 2122.62 0 0 0 30.00 30.00 30.00

1085.30 260 -99.75 -1.67 80.00 2907.1 2900.1 2914.1 1736.1 2123.4 164.69 -12.58 152 1090.93 0.00 0.00 3.57 0.000 0.000 0.109 2906.25 2899.06 2913.44 1735.56 3475.00 0 0 0 30.00 30.00 15.44

1120.29 1028 -99.75 -1.67 0.00 2907.0 2900.1 2913.9 1735.8 3475.0 169.05 -13.02 159 1124.90 0.00 0.00 3.34 0.000 0.000 0.055 2907.81 2900.56 2915.06 1736.38 2079.50 0 0 0 30.00 30.00 15.59

1250.32 0 -99.75 -1.67 0.00 2907.3 2899.8 2914.8 1735.8 2080.4 184.57 -12.18 173 1251.65 0.00 0.00 0.00 0.000 0.000 0.000 2906.94 2899.00 2914.88 1735.38 2079.62 0 0 0 30.00 30.00 30.00

1370.33 516 -99.75 -1.67 -80.00 2907.2 2900.1 2914.4 1736.1 2080.2 198.81 -12.19 185 1376.02 0.00 0.00 3.96 0.000 0.000 0.152 2906.31 2899.38 2913.25 1735.94 662.75 0 0 0 30.00 30.00 15.27

1395.77 1028 -99.75 -1.67 0.00 2907.2 2899.8 2914.6 1735.9 662.8 202.18 -13.39 190 1400.95 0.00 0.00 3.47 0.000 0.000 0.049 2907.53 2899.81 2915.25 1736.38 2122.56 0 0 0 30.00 30.00 15.65

1520.34 0 -99.75 -1.67 0.00 2907.3 2900.2 2914.4 1736.6 2122.7 217.35 -11.83 203 1521.67 0.00 0.00 0.00 0.000 0.000 0.000 2907.22 2899.56 2914.88 1735.62 2122.50 0 0 0 30.00 30.00 30.00

1640.35 516 -99.75 -1.67 -80.00 2907.6 2900.2 2914.9 1736.1 2122.9 232.32 -12.53 215 1646.07 0.00 0.00 4.09 0.000 0.000 0.151 2906.22 2899.25 2913.19 1735.88 663.00 0 0 0 30.00 30.00 15.26

1655.80 1028 -99.75 -1.67 0.00 2907.4 2900.3 2914.4 1735.8 662.8 234.26 -12.86 218 1660.97 0.00 0.00 3.46 0.000 0.000 0.050 2906.22 2899.94 2912.50 1736.50 2123.00 0 0 0 30.00 30.00 15.65

1780.36 260 -99.75 -1.67 80.00 2907.0 2900.4 2913.7 1736.1 2123.1 249.93 -12.27 231 1785.99 0.00 0.00 3.56 0.000 0.000 0.109 2906.09 2899.50 2912.69 1736.31 3474.38 0 0 0 30.00 30.00 15.44

1794.29 1028 -99.75 -1.67 0.00 2907.4 2900.4 2914.4 1735.6 3475.1 252.07 -12.56 234 1799.95 0.00 0.00 3.34 0.000 0.000 0.053 2907.47 2900.94 2914.00 1735.81 2079.19 0 0 0 30.00 30.00 15.58

2105.37 260 -99.75 -1.67 80.00 2907.8 2900.7 2914.9 1735.8 2078.8 289.59 -12.09 246 2111.04 0.00 0.00 3.70 0.000 0.000 0.108 2909.28 2902.50 2916.06 1735.44 3476.12 0 0 0 30.00 30.00 15.43

2154.28 1028 -99.75 -1.67 0.00 2908.0 2900.8 2915.2 1736.0 3475.4 295.97 -12.57 256 2161.07 0.00 0.00 3.35 0.000 0.000 0.055 2907.97 2900.94 2915.00 1735.94 2081.88 0 0 0 30.00 30.00 15.56

2460.38 260 -99.75 -1.67 80.00 2907.8 2900.6 2914.9 1735.8 2082.4 335.48 -12.77 267 2466.05 0.00 0.00 3.73 0.000 0.000 0.110 2910.06 2902.12 2918.00 1734.38 3474.81 0 0 0 30.00 30.00 15.42

2499.29 1028 -99.75 -1.67 0.00 2907.9 2900.7 2915.1 1736.4 3475.6 340.53 -12.50 275 2504.98 0.00 0.00 3.35 0.000 0.000 0.056 2908.25 2901.00 2915.50 1735.00 2082.44 0 0 0 30.00 30.00 15.55

2815.40 260 -99.75 -1.67 80.00 2907.7 2900.4 2914.9 1735.6 2081.9 379.15 -12.16 288 2821.04 0.00 0.00 3.69 0.000 0.000 0.110 2906.19 2899.12 2913.25 1735.94 3475.56 0 0 0 30.00 30.00 15.40

2879.33 1028 -99.75 -1.67 0.00 2907.5 2900.5 2914.6 1736.2 3474.8 387.84 -13.40 301 2884.99 0.00 0.00 3.34 0.000 0.000 0.057 2907.81 2900.56 2915.06 1735.88 2080.94 0 0 0 30.00 30.00 15.54

3200.42 260 -99.75 -1.67 80.00 2907.2 2900.2 2914.2 1735.1 2081.4 428.35 -12.45 315 3206.07 0.00 0.00 3.70 0.000 0.000 0.110 2908.66 2900.38 2916.94 1735.81 3475.69 0 0 0 30.00 30.00 15.39

3234.32 1028 -99.75 -1.67 0.00 2907.3 2900.4 2914.2 1735.9 3475.4 433.09 -12.58 322 3240.01 0.00 0.00 3.35 0.000 0.000 0.057 2907.50 2900.44 2914.56 1736.25 2082.25 0 0 0 30.00 30.00 15.53

3555.43 260 -99.75 -1.67 80.00 2906.8 2900.2 2913.4 1735.9 2082.1 467.06 -10.24 336 3561.09 0.00 0.00 3.71 0.000 0.000 0.113 2908.75 2902.69 2914.81 1735.25 3474.94 0 0 0 30.00 30.00 15.38

3584.33 1028 -99.75 -1.67 0.00 2906.9 2900.2 2913.6 1736.1 3474.6 470.34 -10.92 342 3590.03 0.00 0.00 3.35 0.000 0.000 0.057 2909.22 2901.69 2916.75 1735.44 2080.75 0 0 0 30.00 30.00 15.52

3911 end dive: TARGET_DEPTH_EXCEEDED

state 3911 begin apogee

3912.09 10243 0.00 -0.25 0.00 2907.1 2900.6 2913.7 1736.2 2121.7 503.35 -10.54 357 4002.76 85.15 2.67 0.09 1.647 0.156 0.234 2498.25 2505.50 2491.00 2080.12 2082.75 0 0 0 10.45 15.34 14.82

4006 end apogee: CONTROL_FINISHED_OK

state 4006 begin climb

4005.70 10503 99.75 1.67 80.00 2497.2 2504.5 2489.8 2079.6 2083.4 505.88 0.00 360 4106.38 91.64 3.19 3.87 1.588 0.080 0.112 2091.94 2103.31 2080.56 2548.44 3473.50 0 0 0 11.48 15.19 14.73

4113.58 11303 192.00 1.94 0.00 2090.2 2103.8 2076.6 2550.2 3472.9 501.77 1.84 380 4201.95 82.99 0.40 3.47 1.556 0.065 0.055 1715.06 1738.94 1691.19 2625.62 2079.44 0 0 0 11.48 15.06 15.15

4520.25 16902 192.00 1.94 -80.00 1706.0 1733.2 1678.8 2625.4 2080.1 441.21 15.25 411 4525.94 0.00 0.00 3.94 0.000 0.000 0.140 1706.09 1733.31 1678.88 2624.81 663.25 0 0 0 30.00 30.00 15.30

4699.17 17414 192.00 1.94 0.00 1704.8 1730.6 1679.0 2625.7 663.0 407.27 21.38 447 4704.88 0.00 0.00 3.47 0.000 0.000 0.049 1705.34 1730.56 1680.12 2625.56 2123.38 0 0 0 30.00 30.00 15.62

5025.28 16902 192.00 1.94 -80.00 1703.9 1730.1 1677.6 2625.6 2123.2 356.78 15.84 462 5031.00 0.00 0.00 4.03 0.000 0.000 0.135 1705.91 1732.31 1679.50 2623.94 662.44 0 0 0 30.00 30.00 15.33

5104.19 17414 192.00 1.94 0.00 1703.9 1729.8 1677.9 2625.8 662.8 342.75 18.31 478 5111.00 0.00 0.00 3.45 0.000 0.000 0.047 1704.38 1729.19 1679.56 2624.44 2126.12 0 0 0 30.00 30.00 15.66

5410.31 16902 192.00 1.94 -80.00 1703.1 1729.7 1676.6 2625.7 2126.0 293.91 15.75 489 5416.02 0.00 0.00 4.03 0.000 0.000 0.134 1701.88 1728.19 1675.56 2625.12 662.94 0 0 0 30.00 30.00 15.33

5439.21 17414 192.00 1.94 0.00 1703.0 1729.6 1676.3 2625.3 662.6 287.95 20.62 495 5444.92 0.00 0.00 3.45 0.000 0.000 0.046 1703.59 1729.12 1678.06 2624.94 2127.25 0 0 0 30.00 30.00 15.67

5745.32 16386 192.00 1.94 0.00 1702.6 1729.5 1675.8 2625.9 2127.3 243.10 13.28 512 5746.65 0.00 0.00 0.00 0.000 0.000 0.000 1701.81 1728.69 1674.94 2625.38 2126.94 0 0 0 30.00 30.00 30.00

5865.34 16646 192.00 1.94 80.00 1702.3 1729.5 1675.1 2625.5 2127.5 226.22 13.86 524 5870.99 0.00 0.00 3.61 0.000 0.000 0.112 1701.56 1728.81 1674.31 2625.50 3474.12 0 0 0 30.00 30.00 15.41

5930.79 17414 192.00 1.94 0.00 1701.9 1728.9 1674.8 2625.9 3474.6 216.22 14.65 537 5935.94 0.00 0.00 3.37 0.000 0.000 0.054 1701.44 1728.50 1674.38 2625.38 2075.88 0 0 0 30.00 30.00 15.63

6055.35 16902 192.00 1.94 -80.00 1701.8 1729.0 1674.7 2624.8 2075.5 199.49 13.07 550 6061.03 0.00 0.00 3.89 0.000 0.000 0.136 1700.44 1727.38 1673.50 2624.94 663.00 0 0 0 30.00 30.00 15.30

6110.80 17414 192.00 1.94 0.00 1701.7 1728.8 1674.6 2625.3 662.7 191.06 15.17 561 6115.96 0.00 0.00 3.42 0.000 0.000 0.045 1701.78 1728.62 1674.94 2624.62 2128.94 0 0 0 30.00 30.00 15.70

6235.36 16902 192.00 1.94 -80.00 1701.6 1728.6 1674.6 2626.1 2129.1 174.12 13.77 574 6241.07 0.00 0.00 4.02 0.000 0.000 0.129 1702.19 1729.12 1675.25 2624.44 662.75 0 0 0 30.00 30.00 15.31

6310.81 17414 192.00 1.94 0.00 1701.5 1728.6 1674.4 2625.1 662.7 162.25 15.59 589 6315.99 0.00 0.00 3.44 0.000 0.000 0.045 1700.44 1727.75 1673.12 2625.25 2127.44 0 0 0 30.00 30.00 15.69

6435.39 16902 192.00 1.94 -80.00 1701.5 1728.7 1674.4 2624.8 2127.7 145.02 13.13 602 6441.10 0.00 0.00 4.02 0.000 0.000 0.129 1700.84 1727.56 1674.12 2625.31 661.69 0 0 0 30.00 30.00 15.31

6500.88 17414 192.00 1.94 0.00 1701.5 1728.7 1674.3 2625.2 661.9 135.67 13.95 615 6506.02 0.00 0.00 3.44 0.000 0.000 0.045 1701.91 1728.06 1675.75 2623.69 2127.56 0 0 0 30.00 30.00 15.68

6565.39 16902 192.00 1.94 -80.00 1700.9 1728.5 1673.3 2624.9 2128.0 127.50 12.19 622 6571.12 0.00 0.00 4.01 0.000 0.000 0.128 1700.78 1727.94 1673.62 2625.88 662.31 0 0 0 30.00 30.00 15.28

6620.85 17414 192.00 1.94 0.00 1701.0 1728.4 1673.6 2626.5 662.6 119.90 14.91 633 6626.02 0.00 0.00 3.43 0.000 0.000 0.045 1700.81 1728.00 1673.62 2625.38 2128.69 0 0 0 30.00 30.00 15.67

6685.40 16386 192.00 1.94 0.00 1701.1 1728.8 1673.5 2625.1 2128.8 112.31 11.40 640 6686.73 0.00 0.00 0.00 0.000 0.000 0.000 1700.72 1728.06 1673.38 2625.56 2129.56 0 0 0 30.00 30.00 30.00

6745.42 16902 192.00 1.94 -80.00 1700.9 1728.3 1673.5 2624.7 2129.2 105.25 11.89 646 6751.16 0.00 0.00 4.00 0.000 0.000 0.128 1700.81 1728.38 1673.25 2625.12 662.94 0 0 0 30.00 30.00 15.28

6814.38 17414 192.00 1.94 0.00 1701.1 1728.7 1673.4 2625.4 662.7 95.20 14.38 660 6821.13 0.00 0.00 3.45 0.000 0.000 0.044 1701.06 1727.50 1674.62 2625.50 2127.38 0 0 0 30.00 30.00 15.67

6880.48 16902 192.00 1.94 -80.00 1701.0 1728.7 1673.4 2626.0 2128.2 87.30 11.59 667 6886.12 0.00 0.00 3.99 0.000 0.000 0.126 1701.56 1729.12 1674.00 2624.69 663.00 0 0 0 30.00 30.00 15.28

6915.87 17414 192.00 1.94 0.00 1700.9 1728.4 1673.3 2625.5 662.9 82.87 13.55 674 6921.04 0.00 0.00 3.43 0.000 0.000 0.043 1699.91 1727.69 1672.12 2626.38 2129.19 0 0 0 30.00 30.00 15.70

6980.44 8226 212.05 2.00 0.00 1700.8 1728.3 1673.4 2625.9 2129.3 76.73 9.10 681 7001.92 20.74 0.00 0.00 1.096 0.000 0.000 1634.78 1661.88 1607.69 2625.62 2129.81 0 0 0 10.52 30.00 30.00

7065.51 8486 236.25 2.08 80.00 1632.8 1661.1 1604.6 2625.8 2129.5 69.87 8.68 691 7100.74 29.09 0.00 3.59 1.090 0.000 0.109 1535.12 1563.12 1507.12 2625.56 3474.94 0 0 0 11.57 30.00 15.07

7125.91 3141 236.25 2.11 0.00 1533.8 1562.2 1505.4 2625.9 3474.2 64.18 9.91 703 7131.10 0.00 0.17 3.39 0.000 0.089 0.050 1534.16 1562.69 1505.62 2661.75 2076.19 0 0 0 30.00 15.36 15.53

7190.45 260 236.25 2.11 80.00 1533.4 1562.5 1504.4 2662.8 2076.9 57.49 10.72 710 7196.11 0.00 0.00 3.70 0.000 0.000 0.104 1532.50 1561.88 1503.12 2662.25 3474.50 0 0 0 30.00 30.00 15.40

7205.90 1028 236.25 2.11 0.00 1532.4 1561.0 1503.9 2662.4 3475.3 55.88 10.91 713 7211.05 0.00 0.00 3.35 0.000 0.000 0.050 1532.53 1560.56 1504.50 2661.88 2074.81 0 0 0 30.00 30.00 15.53

7270.53 8742 267.00 2.21 -80.00 1532.2 1561.2 1503.2 2662.9 2075.2 50.20 8.02 720 7312.44 35.36 0.00 3.87 1.066 0.000 0.133 1411.56 1440.75 1382.38 2662.12 662.38 0 0 0 11.51 30.00 15.03

7384.60 1092 267.00 2.24 0.00 1409.7 1437.9 1381.4 2662.6 662.6 39.33 9.83 743 7391.38 0.00 0.00 3.46 0.000 0.000 0.042 1409.69 1438.38 1381.00 2662.94 2131.38 0 0 0 30.00 30.00 15.51

7450.74 10275 297.65 2.34 0.00 1408.8 1438.1 1379.4 2662.4 2131.9 34.18 8.03 750 7486.46 34.76 0.28 0.00 1.037 0.068 0.000 1286.91 1314.25 1259.56 2717.12 2131.44 0 0 0 11.38 15.55 30.00

7540.70 516 297.65 2.34 -80.00 1283.7 1313.4 1253.9 2718.3 2131.4 24.49 11.68 759 7546.40 0.00 0.00 4.01 0.000 0.000 0.126 1283.12 1312.69 1253.56 2718.06 660.56 0 0 0 30.00 30.00 15.28

7566.12 1028 297.65 2.34 0.00 1283.5 1313.1 1253.9 2717.9 660.6 21.11 12.82 764 7571.31 0.00 0.00 3.46 0.000 0.000 0.042 1282.75 1312.31 1253.19 2718.19 2129.31 0 0 0 30.00 30.00 15.50

7630.69 0 297.65 2.34 0.00 1282.8 1312.6 1253.0 2718.6 2129.5 13.12 12.21 771 7632.01 0.00 0.00 0.00 0.000 0.000 0.000 1282.34 1311.94 1252.75 2718.25 2129.12 0 0 0 30.00 30.00 30.00

7690.71 516 297.65 2.34 -80.00 1282.8 1312.8 1252.8 2718.5 2129.6 6.09 11.70 777 7696.40 0.00 0.00 3.97 0.000 0.000 0.126 1282.34 1312.06 1252.62 2718.06 661.94 0 0 0 30.00 30.00 15.29

7716.15 1092 297.65 2.35 0.00 1282.4 1312.3 1252.4 2718.2 661.8 3.07 10.49 782 7721.32 0.00 0.00 3.45 0.000 0.000 0.042 1281.94 1311.69 1252.19 2717.75 2131.00 0 0 0 30.00 30.00 15.60

7731 end climb: SURFACE_DEPTH_REACHED

state 7731 begin surface coast

7751 end surface coast: CONTROL_FINISHED_OK

state 7751 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	1012	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	72.261925	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	242.23849	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	80	SC_NDIVE	1.0
HD_B	0.0099900002	ROLL_DEG	80	ALTIM_PING_DELTA	5
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	2

GPS1	310321,053002,4707.689,-12500.805,3,0.9,20,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.39	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-64.8	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	310321,053637,4707.644,-12500.850,2,0.7,3,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	278.9,1592,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	593

SM_CCo	7953.33,0.01,0.351,0,564.7,565.5,563.9,474.72	_24V_AH	13.62,279.729
SM_GC	-0.45,0.01,17.10,0.10,0.351,0.066,0.134,564.7,565.5,563.9,166.4,2065.4,0,0,0,30.36,15.31,15.61	_10V_AH	14.76,0.000
SUPER	27,71,254,1,0,0	FG_AHR_24Vo	242.455
IRIDIUM_FIX	4705.28,-12504.70,310321,031723	FG_AHR_10Vo	72.289
TCM_TEMP	174.91	MEM	1103668,40,73440,56
XPDR_PINGS	12,14.0,11.5	DATA_FILE_SIZE	29040,786
ALTIM_BOTTOM_PING	80.2,10.0	CAP_FILE_SIZE	452782,0
SC_FREEKB	3471488	SDSIZE	3918848,3643584
HUMID	58.70	SDFILEDIR	5086,1
TEMP	7.88	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77669	GPS	310321,075001,4708.316,-12501.546,4,0.9,23,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	644	2576	22623.14	legato	0	0	0.00
Pitch_motor	37	250	127.71	nil	0	0	0.00
Roll_motor	217	233	693.90	nil	0	0	0.00
Iridium	180	192	472.96	nil	0	0	0.00
Transponder_ping	3	420	20.02	nil	0	0	0.00
GPS	12	15	2.81	nil	0	0	0.00
Core	3037	11	529.10	SciCon	7811	5	613.69
LPSleep	5070	2	209.55	nil	0	0	0.00
Compass	1523	5	112.47	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	2	30	0.89

		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
7.59	16386	-74.33	-1.59	0.00	559.5	560.4	558.7	166.6	2079.4	0.00	0.00	0	99.92	91.91	0.00	0.00	0.005	0.000	0.000	2657.69	2638.25	2677.12	166.44	2079.38	0	0	0	14.57	30.00	30.00
100.16	18727	-99.75	-1.67	80.00	2656.2	2636.4	2676.1	166.6	2079.4	4.47	-8.56	9	126.98	5.26	13.69	3.77	0.009	0.250	0.113	2903.91	2897.50	2910.31	1735.88	3475.69	0	0	0	14.82	15.06	14.66
275.22	1028	-99.75	-1.67	0.00	2906.2	2898.6	2913.8	1736.2	3475.4	46.31	-21.62	44	279.83	0.00	0.00	3.40	0.000	0.000	0.060	2906.31	2899.00	2913.62	1736.00	2081.44	0	0	0	30.00	30.00	15.52
345.23	260	-99.75	-1.67	80.00	2906.3	2898.9	2913.8	1735.6	2082.4	58.73	-17.12	52	350.89	0.00	0.00	3.70	0.000	0.000	0.106	2906.47	2899.31	2913.62	1735.88	3474.75	0	0	0	30.00	30.00	15.41
444.16	1028	-99.75	-1.67	0.00	2906.1	2898.4	2913.8	1736.2	3475.0	75.72	-15.46	72	450.94	0.00	0.00	3.37	0.000	0.000	0.058	2906.06	2898.75	2913.38	1736.19	2081.44	0	0	0	30.00	30.00	15.53
510.25	260	-99.75	-1.67	80.00	2906.2	2898.6	2913.8	1735.9	2081.6	86.29	-15.75	79	515.96	0.00	0.00	3.69	0.000	0.000	0.105	2904.12	2896.19	2912.06	1735.94	3475.25	0	0	0	30.00	30.00	15.43
549.16	1028	-99.75	-1.67	0.00	2906.0	2898.6	2913.4	1736.1	3474.1	92.21	-14.73	87	555.96	0.00	0.00	3.37	0.000	0.000	0.058	2906.12	2898.44	2913.81	1735.75	2081.31	0	0	0	30.00	30.00	15.54
615.31	0	-99.75	-1.67	0.00	2906.0	2898.4	2913.6	1735.6	2081.4	101.54	-13.68	94	616.64	0.00	0.00	0.00	0.000	0.000	0.000	2906.41	2898.69	2914.12	1736.19	2081.31	0	0	0	30.00	30.00	30.00
675.29	260	-99.75	-1.67	80.00	2906.1	2898.4	2913.8	1736.0	2081.1	109.68	-13.66	100	680.91	0.00	0.00	3.70	0.000	0.000	0.106	2907.66	2899.25	2916.06	1735.06	3475.50	0	0	0	30.00	30.00	15.43
734.19	1028	-99.75	-1.67	0.00	2906.7	2899.0	2914.3	1736.0	3475.9	118.59	-15.19	112	740.96	0.00	0.00	3.36	0.000	0.000	0.056	2906.81	2899.31	2914.31	1735.94	2080.94	0	0	0	30.00	30.00	15.56
800.33	516	-99.75	-1.67	-80.00	2906.6	2898.8	2914.4	1735.9	2081.6	127.17	-12.76	119	805.98	0.00	0.00	3.99	0.000	0.000	0.153	2905.03	2897.31	2912.75	1735.75	661.88	0	0	0	30.00	30.00	15.28
839.19	1028	-99.75	-1.67	0.00	2906.4	2898.3	2914.6	1735.9	662.2	133.01	-15.60	127	845.99	0.00	0.00	3.48	0.000	0.000	0.050	2907.22	2899.94	2914.50	1735.88	2123.44	0	0	0	30.00	30.00	15.62
905.35	0	-99.75	-1.67	0.00	2906.7	2899.1	2914.2	1735.6	2123.4	142.30	-14.07	134	906.67	0.00	0.00	0.00	0.000	0.000	0.000	2906.41	2898.38	2914.44	1735.69	2123.06	0	0	0	30.00	30.00	30.00
965.29	0	-99.75	-1.67	0.00	2906.3	2898.9	2913.7	1736.1	2123.5	150.03	-12.89	140	966.64	0.00	0.00	0.00	0.000	0.000	0.000	2907.09	2899.31	2914.88	1735.44	2122.62	0	0	0	30.00	30.00	30.00
1085.30	260	-99.75	-1.67	80.00	2907.1	2900.1	2914.1	1736.1	2123.4	164.69	-12.58	152	1090.93	0.00	0.00	3.57	0.000	0.000	0.109	2906.25	2899.06	2913.44	1735.56	3475.00	0	0	0	30.00	30.00	15.44
1120.29	1028	-99.75	-1.67	0.00	2907.0	2900.1	2913.9	1735.8	3475.0	169.05	-13.02	159	1124.90	0.00	0.00	3.34	0.000	0.000	0.055	2907.81	2900.56	2915.06	1736.38	2079.50	0	0	0	30.00	30.00	15.59
1250.32	0	-99.75	-1.67	0.00	2907.3	2899.8	2914.8	1735.8	2080.4	184.57	-12.18	173	1251.65	0.00	0.00	0.00	0.000	0.000	0.000	2906.94	2899.00	2914.88	1735.38	2079.62	0	0	0	30.00	30.00	30.00
1370.33	516	-99.75	-1.67	-80.00	2907.2	2900.1	2914.4	1736.1	2080.2	198.81	-12.19	185	1376.02	0.00	0.00	3.96	0.000	0.000	0.152	2906.31	2899.38	2913.25	1735.94	662.75	0	0	0	30.00	30.00	15.27
1395.77	1028	-99.75	-1.67	0.00	2907.2	2899.8	2914.6	1735.9	662.8	202.18	-13.39	190	1400.95	0.00	0.00	3.47	0.000	0.000	0.049	2907.53	2899.81	2915.25	1736.38	2122.56	0	0	0	30.00	30.00	15.65
1520.34	0	-99.75	-1.67	0.00	2907.3	2900.2	2914.4	1736.6	2122.7	217.35	-11.83	203	1521.67	0.00	0.00	0.00	0.000	0.000	0.000	2907.22	2899.56	2914.88	1735.62	2122.50	0	0	0	30.00	30.00	30.00
1640.35	516	-99.75	-1.67	-80.00	2907.6	2900.2	2914.9	1736.1	2122.9	232.32	-12.53	215	1646.07	0.00	0.00	4.09	0.000	0.000	0.151	2906.22	2899.25	2913.19	1735.88	663.00	0	0	0	30.00	30.00	15.26
1655.80	1028	-99.75	-1.67	0.00	2907.4	2900.3	2914.4	1735.8	662.8	234.26	-12.86	218	1660.97	0.00	0.00	3.46	0.000	0.000	0.050	2906.22	2899.94	2912.50	1736.50	2123.00	0	0	0	30.00	30.00	15.65
1780.36	260	-99.75	-1.67	80.00	2907.0	2900.4	2913.7	1736.1	2123.1	249.93	-12.27	231	1785.99	0.00	0.00	3.56	0.000	0.000	0.109	2906.09	2899.50	2912.69	1736.31	3474.38	0	0	0	30.00	30.00	15.44
1794.29	1028	-99.75	-1.67	0.00	2907.4	2900.4	2914.4	1735.6	3475.1	252.07	-12.56	234	1799.95	0.00	0.00	3.34	0.000	0.000	0.053	2907.47	2900.94	2914.00	1735.81	2079.19	0	0	0	30.00	30.00	15.58
2105.37	260	-99.75	-1.67	80.00	2907.8	2900.7	2914.9	1735.8	2078.8	289.59	-12.09	246	2111.04	0.00	0.00	3.70	0.000	0.000	0.108	2909.28	2902.50	2916.06	1735.44	3476.12	0	0	0	30.00	30.00	15.43
2154.28	1028	-99.75	-1.67	0.00	2908.0	2900.8	2915.2	1736.0	3475.4	295.97	-12.57	256	2161.07	0.00	0.00	3.35	0.000	0.000	0.055	2907.97	2900.94	2915.00	1735.94	2081.88	0	0	0	30.00	30.00	15.56
2460.38	260	-99.75	-1.67	80.00	2907.8	2900.6	2914.9	1735.8	2082.4	335.48	-12.77	267	2466.05	0.00	0.00	3.73	0.000	0.000	0.110	2910.06	2902.12	2918.00	1734.38	3474.81	0	0	0	30.00	30.00	15.42
2499.29	1028	-99.75	-1.67	0.00	2907.9	2900.7	2915.1	1736.4	3475.6	340.53	-12.50	275	2504.98	0.00	0.00	3.35	0.000	0.000	0.056	2908.25	2901.00	2915.50	1735.00	2082.44	0	0	0	30.00	30.00	15.55
2815.40	260	-99.75	-1.67	80.00	2907.7	2900.4	2914.9	1735.6	2081.9	379.15	-12.16	288	2821.04	0.00	0.00	3.69	0.000	0.000	0.110	2906.19	2899.12	2913.25	1735.94	3475.56	0	0	0	30.00	30.00	15.40
2879.33	1028	-99.75	-1.67	0.00	2907.5	2900.5	2914.6	1736.2	3474.8	387.84	-13.40	301	2884.99	0.00	0.00	3.34	0.000	0.000	0.057	2907.81	2900.56	2915.06	1735.88	2080.94	0	0	0	30.00	30.00	15.54
3200.42	260	-99.75	-1.67	80.00	2907.2	2900.2	2914.2	1735.1	2081.4	428.35	-12.45	315	3206.07	0.00	0.00	3.70	0.000	0.000	0.110	2908.66	2900.38	2916.94	1735.81	3475.69	0	0	0	30.00	30.00	15.39
3234.32	1028	-99.75	-1.67	0.00	2907.3	2900.4	2914.2	1735.9	3475.4	433.09	-12.58	322	3240.01	0.00	0.00	3.35	0.000	0.000	0.057	2907.50	2900.44	2914.56	1736.25	2082.25	0	0	0	30.00	30.00	15.53
3555.43	260	-99.75	-1.67	80.00	2906.8	2900.2	2913.4	1735.9	2082.1	467.06	-10.24	336	3561.09	0.00	0.00	3.71	0.000	0.000	0.113	2908.75	2902.69	2914.81	1735.25	3474.94	0	0	0	30.00	30.00	15.38
3584.33	1028	-99.75	-1.67	0.00	2906.9	2900.2	2913.6	1736.1	3474.6	470.34	-10.92	342	3590.03	0.00	0.00	3.35	0.000	0.000	0.057	2909.22	2901.69	2916.75	1735.44	2080.75	0	0	0	30.00	30.00	15.52
3911	end dive: TARGET_DEPTH_EXCEEDED
state	3911	begin apogee
3912.09	10243	0.00	-0.25	0.00	2907.1	2900.6	2913.7	1736.2	2121.7	503.35	-10.54	357	4002.76	85.15	2.67	0.09	1.647	0.156	0.234	2498.25	2505.50	2491.00	2080.12	2082.75	0	0	0	10.45	15.34	14.82
4006	end apogee: CONTROL_FINISHED_OK
state	4006	begin climb
4005.70	10503	99.75	1.67	80.00	2497.2	2504.5	2489.8	2079.6	2083.4	505.88	0.00	360	4106.38	91.64	3.19	3.87	1.588	0.080	0.112	2091.94	2103.31	2080.56	2548.44	3473.50	0	0	0	11.48	15.19	14.73
4113.58	11303	192.00	1.94	0.00	2090.2	2103.8	2076.6	2550.2	3472.9	501.77	1.84	380	4201.95	82.99	0.40	3.47	1.556	0.065	0.055	1715.06	1738.94	1691.19	2625.62	2079.44	0	0	0	11.48	15.06	15.15
4520.25	16902	192.00	1.94	-80.00	1706.0	1733.2	1678.8	2625.4	2080.1	441.21	15.25	411	4525.94	0.00	0.00	3.94	0.000	0.000	0.140	1706.09	1733.31	1678.88	2624.81	663.25	0	0	0	30.00	30.00	15.30
4699.17	17414	192.00	1.94	0.00	1704.8	1730.6	1679.0	2625.7	663.0	407.27	21.38	447	4704.88	0.00	0.00	3.47	0.000	0.000	0.049	1705.34	1730.56	1680.12	2625.56	2123.38	0	0	0	30.00	30.00	15.62
5025.28	16902	192.00	1.94	-80.00	1703.9	1730.1	1677.6	2625.6	2123.2	356.78	15.84	462	5031.00	0.00	0.00	4.03	0.000	0.000	0.135	1705.91	1732.31	1679.50	2623.94	662.44	0	0	0	30.00	30.00	15.33
5104.19	17414	192.00	1.94	0.00	1703.9	1729.8	1677.9	2625.8	662.8	342.75	18.31	478	5111.00	0.00	0.00	3.45	0.000	0.000	0.047	1704.38	1729.19	1679.56	2624.44	2126.12	0	0	0	30.00	30.00	15.66
5410.31	16902	192.00	1.94	-80.00	1703.1	1729.7	1676.6	2625.7	2126.0	293.91	15.75	489	5416.02	0.00	0.00	4.03	0.000	0.000	0.134	1701.88	1728.19	1675.56	2625.12	662.94	0	0	0	30.00	30.00	15.33
5439.21	17414	192.00	1.94	0.00	1703.0	1729.6	1676.3	2625.3	662.6	287.95	20.62	495	5444.92	0.00	0.00	3.45	0.000	0.000	0.046	1703.59	1729.12	1678.06	2624.94	2127.25	0	0	0	30.00	30.00	15.67
5745.32	16386	192.00	1.94	0.00	1702.6	1729.5	1675.8	2625.9	2127.3	243.10	13.28	512	5746.65	0.00	0.00	0.00	0.000	0.000	0.000	1701.81	1728.69	1674.94	2625.38	2126.94	0	0	0	30.00	30.00	30.00
5865.34	16646	192.00	1.94	80.00	1702.3	1729.5	1675.1	2625.5	2127.5	226.22	13.86	524	5870.99	0.00	0.00	3.61	0.000	0.000	0.112	1701.56	1728.81	1674.31	2625.50	3474.12	0	0	0	30.00	30.00	15.41
5930.79	17414	192.00	1.94	0.00	1701.9	1728.9	1674.8	2625.9	3474.6	216.22	14.65	537	5935.94	0.00	0.00	3.37	0.000	0.000	0.054	1701.44	1728.50	1674.38	2625.38	2075.88	0	0	0	30.00	30.00	15.63
6055.35	16902	192.00	1.94	-80.00	1701.8	1729.0	1674.7	2624.8	2075.5	199.49	13.07	550	6061.03	0.00	0.00	3.89	0.000	0.000	0.136	1700.44	1727.38	1673.50	2624.94	663.00	0	0	0	30.00	30.00	15.30
6110.80	17414	192.00	1.94	0.00	1701.7	1728.8	1674.6	2625.3	662.7	191.06	15.17	561	6115.96	0.00	0.00	3.42	0.000	0.000	0.045	1701.78	1728.62	1674.94	2624.62	2128.94	0	0	0	30.00	30.00	15.70
6235.36	16902	192.00	1.94	-80.00	1701.6	1728.6	1674.6	2626.1	2129.1	174.12	13.77	574	6241.07	0.00	0.00	4.02	0.000	0.000	0.129	1702.19	1729.12	1675.25	2624.44	662.75	0	0	0	30.00	30.00	15.31
6310.81	17414	192.00	1.94	0.00	1701.5	1728.6	1674.4	2625.1	662.7	162.25	15.59	589	6315.99	0.00	0.00	3.44	0.000	0.000	0.045	1700.44	1727.75	1673.12	2625.25	2127.44	0	0	0	30.00	30.00	15.69
6435.39	16902	192.00	1.94	-80.00	1701.5	1728.7	1674.4	2624.8	2127.7	145.02	13.13	602	6441.10	0.00	0.00	4.02	0.000	0.000	0.129	1700.84	1727.56	1674.12	2625.31	661.69	0	0	0	30.00	30.00	15.31
6500.88	17414	192.00	1.94	0.00	1701.5	1728.7	1674.3	2625.2	661.9	135.67	13.95	615	6506.02	0.00	0.00	3.44	0.000	0.000	0.045	1701.91	1728.06	1675.75	2623.69	2127.56	0	0	0	30.00	30.00	15.68
6565.39	16902	192.00	1.94	-80.00	1700.9	1728.5	1673.3	2624.9	2128.0	127.50	12.19	622	6571.12	0.00	0.00	4.01	0.000	0.000	0.128	1700.78	1727.94	1673.62	2625.88	662.31	0	0	0	30.00	30.00	15.28
6620.85	17414	192.00	1.94	0.00	1701.0	1728.4	1673.6	2626.5	662.6	119.90	14.91	633	6626.02	0.00	0.00	3.43	0.000	0.000	0.045	1700.81	1728.00	1673.62	2625.38	2128.69	0	0	0	30.00	30.00	15.67
6685.40	16386	192.00	1.94	0.00	1701.1	1728.8	1673.5	2625.1	2128.8	112.31	11.40	640	6686.73	0.00	0.00	0.00	0.000	0.000	0.000	1700.72	1728.06	1673.38	2625.56	2129.56	0	0	0	30.00	30.00	30.00
6745.42	16902	192.00	1.94	-80.00	1700.9	1728.3	1673.5	2624.7	2129.2	105.25	11.89	646	6751.16	0.00	0.00	4.00	0.000	0.000	0.128	1700.81	1728.38	1673.25	2625.12	662.94	0	0	0	30.00	30.00	15.28
6814.38	17414	192.00	1.94	0.00	1701.1	1728.7	1673.4	2625.4	662.7	95.20	14.38	660	6821.13	0.00	0.00	3.45	0.000	0.000	0.044	1701.06	1727.50	1674.62	2625.50	2127.38	0	0	0	30.00	30.00	15.67
6880.48	16902	192.00	1.94	-80.00	1701.0	1728.7	1673.4	2626.0	2128.2	87.30	11.59	667	6886.12	0.00	0.00	3.99	0.000	0.000	0.126	1701.56	1729.12	1674.00	2624.69	663.00	0	0	0	30.00	30.00	15.28
6915.87	17414	192.00	1.94	0.00	1700.9	1728.4	1673.3	2625.5	662.9	82.87	13.55	674	6921.04	0.00	0.00	3.43	0.000	0.000	0.043	1699.91	1727.69	1672.12	2626.38	2129.19	0	0	0	30.00	30.00	15.70
6980.44	8226	212.05	2.00	0.00	1700.8	1728.3	1673.4	2625.9	2129.3	76.73	9.10	681	7001.92	20.74	0.00	0.00	1.096	0.000	0.000	1634.78	1661.88	1607.69	2625.62	2129.81	0	0	0	10.52	30.00	30.00
7065.51	8486	236.25	2.08	80.00	1632.8	1661.1	1604.6	2625.8	2129.5	69.87	8.68	691	7100.74	29.09	0.00	3.59	1.090	0.000	0.109	1535.12	1563.12	1507.12	2625.56	3474.94	0	0	0	11.57	30.00	15.07
7125.91	3141	236.25	2.11	0.00	1533.8	1562.2	1505.4	2625.9	3474.2	64.18	9.91	703	7131.10	0.00	0.17	3.39	0.000	0.089	0.050	1534.16	1562.69	1505.62	2661.75	2076.19	0	0	0	30.00	15.36	15.53
7190.45	260	236.25	2.11	80.00	1533.4	1562.5	1504.4	2662.8	2076.9	57.49	10.72	710	7196.11	0.00	0.00	3.70	0.000	0.000	0.104	1532.50	1561.88	1503.12	2662.25	3474.50	0	0	0	30.00	30.00	15.40
7205.90	1028	236.25	2.11	0.00	1532.4	1561.0	1503.9	2662.4	3475.3	55.88	10.91	713	7211.05	0.00	0.00	3.35	0.000	0.000	0.050	1532.53	1560.56	1504.50	2661.88	2074.81	0	0	0	30.00	30.00	15.53
7270.53	8742	267.00	2.21	-80.00	1532.2	1561.2	1503.2	2662.9	2075.2	50.20	8.02	720	7312.44	35.36	0.00	3.87	1.066	0.000	0.133	1411.56	1440.75	1382.38	2662.12	662.38	0	0	0	11.51	30.00	15.03
7384.60	1092	267.00	2.24	0.00	1409.7	1437.9	1381.4	2662.6	662.6	39.33	9.83	743	7391.38	0.00	0.00	3.46	0.000	0.000	0.042	1409.69	1438.38	1381.00	2662.94	2131.38	0	0	0	30.00	30.00	15.51
7450.74	10275	297.65	2.34	0.00	1408.8	1438.1	1379.4	2662.4	2131.9	34.18	8.03	750	7486.46	34.76	0.28	0.00	1.037	0.068	0.000	1286.91	1314.25	1259.56	2717.12	2131.44	0	0	0	11.38	15.55	30.00
7540.70	516	297.65	2.34	-80.00	1283.7	1313.4	1253.9	2718.3	2131.4	24.49	11.68	759	7546.40	0.00	0.00	4.01	0.000	0.000	0.126	1283.12	1312.69	1253.56	2718.06	660.56	0	0	0	30.00	30.00	15.28
7566.12	1028	297.65	2.34	0.00	1283.5	1313.1	1253.9	2717.9	660.6	21.11	12.82	764	7571.31	0.00	0.00	3.46	0.000	0.000	0.042	1282.75	1312.31	1253.19	2718.19	2129.31	0	0	0	30.00	30.00	15.50
7630.69	0	297.65	2.34	0.00	1282.8	1312.6	1253.0	2718.6	2129.5	13.12	12.21	771	7632.01	0.00	0.00	0.00	0.000	0.000	0.000	1282.34	1311.94	1252.75	2718.25	2129.12	0	0	0	30.00	30.00	30.00
7690.71	516	297.65	2.34	-80.00	1282.8	1312.8	1252.8	2718.5	2129.6	6.09	11.70	777	7696.40	0.00	0.00	3.97	0.000	0.000	0.126	1282.34	1312.06	1252.62	2718.06	661.94	0	0	0	30.00	30.00	15.29
7716.15	1092	297.65	2.35	0.00	1282.4	1312.3	1252.4	2718.2	661.8	3.07	10.49	782	7721.32	0.00	0.00	3.45	0.000	0.000	0.042	1281.94	1311.69	1252.19	2717.75	2131.00	0	0	0	30.00	30.00	15.60
7731	end climb: SURFACE_DEPTH_REACHED
state	7731	begin surface coast
7751	end surface coast: CONTROL_FINISHED_OK
state	7751	begin surface