Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1157 * 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 1157 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 76.98954 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 275.2515 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 76.98954 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 275.2515 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 1157 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 160421,162131,4707.673,-12501.284,30,0.9,32,15.5 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.52 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -62.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 160421,162852,4707.592,-12501.332,2,0.6,4,15.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 296.4,1131,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 593

Post-dive calculations and measurements:

SM_CCo 9344.39,0.00,0.013,0,564.8,557.2,572.2,474.72 _10V_AH 14.74,0.000

SM_GC -0.65,0.00,19.20,0.34,0.013,0.088,0.077,564.8,557.2,572.2,171.4,2132.1,0,0,0,30.36,15.12,15.41 FG_AHR_24Vo 275.479

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 77.021

IRIDIUM_FIX 4709.86,-12501.34,160421,133052 MEM 1103688,39,73440,56

TCM_TEMP 174.53 DATA_FILE_SIZE 35324,941

XPDR_PINGS 19,14.0,11.5 CAP_FILE_SIZE 519580,0

SC_FREEKB 3415776 SDSIZE 3918848,3602784

HUMID 58.75 SDFILEDIR 5811,1

TEMP 7.68 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.7795 GPS 160421,190532,4707.954,-12501.506,27,1.0,28,15.6

_24V_AH 13.66,315.366

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 672 2587 23782.21 legato 0 0 0.00

Pitch_motor 41 255 143.69 nil 0 0 0.00

Roll_motor 249 236 805.07 nil 0 0 0.00

Iridium 195 202 540.53 nil 0 0 0.00

Transponder_ping 4 420 27.25 nil 0 0 0.00

GPS 13 15 3.01 nil 0 0 0.00

Core 3701 11 643.77 SciCon 9236 5 702.07

LPSleep 6023 2 248.61 nil 0 0 0.00

Compass 1807 5 133.23 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

8.50 16386 -74.33 -1.59 0.00 559.2 556.3 562.2 170.4 2085.1 0.00 0.00 0 90.33 81.42 0.00 0.00 0.005 0.000 0.000 2416.56 2401.75 2431.38 170.19 2085.12 0 0 0 14.69 30.00 30.00

90.58 18727 -118.15 -1.72 80.00 2415.7 2400.8 2430.6 170.2 2085.2 3.04 -6.71 8 126.68 12.82 14.23 3.86 0.006 0.256 0.112 2980.97 2979.81 2982.12 1721.88 3475.12 0 0 0 14.87 14.82 14.64

163.81 1028 -118.15 -1.72 0.00 2981.0 2978.9 2983.1 1721.8 3475.0 20.86 -22.07 23 170.61 0.00 0.00 3.46 0.000 0.000 0.053 2981.03 2979.12 2982.94 1722.50 2081.06 0 0 0 30.00 30.00 15.31

229.96 260 -118.15 -1.72 80.00 2981.3 2979.6 2983.0 1721.8 2081.5 33.60 -18.71 30 235.56 0.00 0.00 3.77 0.000 0.000 0.100 2981.41 2978.94 2983.88 1721.69 3475.81 0 0 0 30.00 30.00 15.17

285.37 1028 -118.15 -1.72 0.00 2981.1 2979.1 2983.1 1722.0 3475.5 44.24 -18.28 41 290.53 0.00 0.00 3.41 0.000 0.000 0.050 2982.38 2981.12 2983.62 1720.56 2080.44 0 0 0 30.00 30.00 15.31

349.97 0 -118.15 -1.72 0.00 2980.9 2978.7 2983.1 1722.2 2080.9 55.21 -17.37 48 351.30 0.00 0.00 0.00 0.000 0.000 0.000 2981.91 2979.31 2984.50 1721.88 2080.94 0 0 0 30.00 30.00 30.00

409.93 260 -118.15 -1.72 80.00 2980.9 2978.9 2983.0 1722.2 2080.9 65.28 -16.67 54 415.59 0.00 0.00 3.74 0.000 0.000 0.099 2982.97 2981.94 2984.00 1720.44 3475.62 0 0 0 30.00 30.00 15.14

428.84 1028 -118.15 -1.72 0.00 2981.5 2978.9 2984.1 1721.5 3475.6 68.49 -15.65 58 435.61 0.00 0.00 3.39 0.000 0.000 0.047 2982.22 2979.69 2984.75 1721.81 2079.88 0 0 0 30.00 30.00 15.28

494.98 0 -118.15 -1.72 0.00 2981.6 2979.2 2983.9 1721.9 2080.1 78.04 -15.03 65 496.31 0.00 0.00 0.00 0.000 0.000 0.000 2982.06 2979.81 2984.31 1721.75 2080.00 0 0 0 30.00 30.00 30.00

555.06 260 -118.15 -1.72 80.00 2981.5 2979.2 2983.8 1721.8 2080.4 86.21 -13.79 71 560.60 0.00 0.00 3.76 0.000 0.000 0.100 2981.19 2979.06 2983.31 1721.56 3474.06 0 0 0 30.00 30.00 15.13

600.40 1028 -118.15 -1.72 0.00 2981.5 2978.7 2984.4 1722.4 3474.4 92.43 -13.65 80 605.54 0.00 0.00 3.38 0.000 0.000 0.048 2980.56 2977.94 2983.19 1721.38 2080.69 0 0 0 30.00 30.00 15.30

665.00 516 -118.15 -1.72 -80.00 2981.7 2979.3 2984.0 1722.1 2080.9 100.47 -12.26 87 670.65 0.00 0.00 4.05 0.000 0.000 0.145 2982.94 2980.44 2985.44 1721.75 662.00 0 0 0 30.00 30.00 14.97

690.39 1028 -118.15 -1.72 0.00 2981.5 2978.9 2984.1 1721.6 662.0 103.36 -11.79 92 695.57 0.00 0.00 3.49 0.000 0.000 0.046 2980.22 2977.56 2982.88 1721.50 2122.69 0 0 0 30.00 30.00 15.38

755.00 260 -118.15 -1.72 80.00 2981.8 2979.2 2984.4 1722.1 2122.8 111.31 -11.48 99 760.60 0.00 0.00 3.61 0.000 0.000 0.104 2980.38 2978.38 2982.38 1722.06 3475.44 0 0 0 30.00 30.00 15.11

810.42 1028 -118.15 -1.72 0.00 2982.2 2979.4 2984.9 1721.9 3475.5 117.95 -12.60 110 815.56 0.00 0.00 3.39 0.000 0.000 0.050 2982.53 2979.50 2985.56 1721.94 2081.56 0 0 0 30.00 30.00 15.29

875.02 0 -118.15 -1.72 0.00 2982.0 2979.2 2984.8 1721.8 2081.2 124.69 -10.02 117 876.35 0.00 0.00 0.00 0.000 0.000 0.000 2981.66 2978.75 2984.56 1721.56 2080.94 0 0 0 30.00 30.00 30.00

934.97 0 -118.15 -1.72 0.00 2981.6 2978.8 2984.4 1722.0 2081.0 130.72 -10.86 123 936.30 0.00 0.00 0.00 0.000 0.000 0.000 2982.69 2979.38 2986.00 1721.75 2081.12 0 0 0 30.00 30.00 30.00

994.98 260 -118.15 -1.72 80.00 2982.0 2979.4 2984.6 1721.4 2081.2 137.44 -11.22 129 1000.64 0.00 0.00 3.78 0.000 0.000 0.103 2984.03 2982.12 2985.94 1720.75 3475.75 0 0 0 30.00 30.00 15.07

1090.43 1028 -118.15 -1.72 0.00 2981.9 2979.1 2984.6 1722.0 3475.6 149.89 -13.84 148 1095.60 0.00 0.00 3.41 0.000 0.000 0.054 2981.41 2978.19 2984.62 1721.38 2082.25 0 0 0 30.00 30.00 15.26

1154.99 516 -118.15 -1.72 -80.00 2982.0 2978.9 2985.1 1721.9 2082.3 157.00 -10.83 155 1160.71 0.00 0.00 4.04 0.000 0.000 0.147 2980.69 2977.69 2983.69 1722.00 663.00 0 0 0 30.00 30.00 14.93

1170.44 1028 -118.15 -1.72 0.00 2982.7 2979.4 2985.9 1722.4 663.2 158.67 -11.11 158 1175.62 0.00 0.00 3.53 0.000 0.000 0.046 2980.72 2977.94 2983.50 1722.25 2123.94 0 0 0 30.00 30.00 15.37

1295.02 0 -118.15 -1.72 0.00 2982.5 2979.5 2985.6 1722.1 2123.9 173.33 -11.76 171 1296.35 0.00 0.00 0.00 0.000 0.000 0.000 2982.44 2979.88 2985.00 1721.38 2124.25 0 0 0 30.00 30.00 30.00

1415.02 260 -118.15 -1.72 80.00 2982.1 2978.6 2985.6 1722.1 2124.3 187.44 -11.62 183 1420.66 0.00 0.00 3.64 0.000 0.000 0.105 2983.34 2979.94 2986.75 1721.25 3475.50 0 0 0 30.00 30.00 15.05

1490.53 1028 -118.15 -1.72 0.00 2982.2 2978.9 2985.4 1722.2 3474.2 196.73 -12.94 198 1495.64 0.00 0.00 3.39 0.000 0.000 0.053 2982.62 2979.81 2985.44 1721.88 2080.62 0 0 0 30.00 30.00 15.25

1615.04 0 -118.15 -1.72 0.00 2982.3 2979.2 2985.4 1722.0 2080.4 210.25 -10.53 211 1616.37 0.00 0.00 0.00 0.000 0.000 0.000 2982.84 2979.38 2986.31 1722.00 2080.50 0 0 0 30.00 30.00 30.00

1735.05 0 -118.15 -1.72 0.00 2982.2 2979.0 2985.4 1721.4 2080.6 222.93 -10.74 223 1736.38 0.00 0.00 0.00 0.000 0.000 0.000 2981.09 2978.00 2984.19 1721.69 2080.88 0 0 0 30.00 30.00 30.00

1855.06 0 -118.15 -1.72 0.00 2981.9 2978.8 2984.9 1722.0 2080.6 235.71 -10.43 235 1856.38 0.00 0.00 0.00 0.000 0.000 0.000 2982.94 2980.25 2985.62 1722.12 2080.44 0 0 0 30.00 30.00 30.00

1975.07 260 -118.15 -1.72 80.00 2982.4 2979.6 2985.2 1722.2 2080.5 249.15 -11.33 247 1980.73 0.00 0.00 3.80 0.000 0.000 0.107 2982.62 2979.69 2985.56 1721.31 3474.56 0 0 0 30.00 30.00 15.00

2003.97 1028 -118.15 -1.72 0.00 2982.3 2979.3 2985.4 1721.9 3474.4 252.94 -11.50 253 2009.67 0.00 0.00 3.39 0.000 0.000 0.054 2982.19 2979.19 2985.19 1722.00 2081.06 0 0 0 30.00 30.00 15.20

2330.09 260 -118.15 -1.72 80.00 2982.5 2979.5 2985.5 1722.0 2081.6 291.55 -12.06 268 2335.75 0.00 0.00 3.80 0.000 0.000 0.108 2982.78 2979.12 2986.44 1721.25 3473.62 0 0 0 30.00 30.00 14.97

2358.99 1028 -118.15 -1.72 0.00 2982.2 2979.2 2985.2 1721.4 3473.9 295.27 -12.40 274 2364.70 0.00 0.00 3.42 0.000 0.000 0.054 2982.84 2979.62 2986.06 1721.81 2080.69 0 0 0 30.00 30.00 15.17

2685.11 260 -118.15 -1.72 80.00 2982.4 2979.1 2985.8 1721.9 2081.1 334.73 -12.28 289 2690.78 0.00 0.00 3.84 0.000 0.000 0.108 2980.62 2976.88 2984.38 1721.56 3474.56 0 0 0 30.00 30.00 14.97

2740.56 1028 -118.15 -1.72 0.00 2982.6 2979.2 2985.9 1721.8 3475.1 341.97 -13.98 300 2745.73 0.00 0.00 3.42 0.000 0.000 0.056 2981.12 2977.69 2984.56 1721.75 2080.75 0 0 0 30.00 30.00 15.18

3065.12 260 -118.15 -1.72 80.00 2982.2 2979.2 2985.2 1721.5 2080.6 381.94 -12.12 315 3070.79 0.00 0.00 3.85 0.000 0.000 0.109 2982.03 2979.12 2984.94 1721.94 3474.31 0 0 0 30.00 30.00 14.94

3084.07 1028 -118.15 -1.72 0.00 2982.4 2979.1 2985.7 1722.0 3473.9 383.82 -11.64 319 3090.82 0.00 0.00 3.43 0.000 0.000 0.055 2983.81 2980.88 2986.75 1721.12 2081.50 0 0 0 30.00 30.00 15.15

3390.12 260 -118.15 -1.72 80.00 2982.1 2979.0 2985.2 1722.2 2082.0 419.73 -11.78 330 3395.80 0.00 0.00 3.84 0.000 0.000 0.109 2980.84 2978.25 2983.44 1721.50 3476.31 0 0 0 30.00 30.00 14.93

3429.03 1028 -118.15 -1.72 0.00 2981.8 2978.8 2984.7 1721.6 3476.5 424.48 -13.31 338 3434.74 0.00 0.00 3.44 0.000 0.000 0.056 2983.34 2980.31 2986.38 1720.81 2081.88 0 0 0 30.00 30.00 15.13

3745.15 260 -118.15 -1.72 80.00 2981.8 2978.9 2984.8 1721.9 2081.9 458.52 -11.25 351 3750.82 0.00 0.00 3.85 0.000 0.000 0.111 2982.38 2979.44 2985.31 1721.50 3476.12 0 0 0 30.00 30.00 14.91

3784.06 1028 -118.15 -1.72 0.00 2982.3 2979.6 2985.1 1721.8 3475.1 463.24 -12.48 359 3789.76 0.00 0.00 3.45 0.000 0.000 0.058 2983.78 2981.19 2986.38 1721.38 2081.94 0 0 0 30.00 30.00 15.11

4100.17 260 -118.15 -1.72 80.00 2981.3 2978.4 2984.2 1721.5 2082.0 497.95 -10.70 372 4105.85 0.00 0.00 3.85 0.000 0.000 0.113 2980.41 2977.75 2983.06 1721.69 3475.12 0 0 0 30.00 30.00 14.89

4113 end dive: TARGET_DEPTH_EXCEEDED

state 4113 begin apogee

4118.92 10243 0.00 -0.25 0.00 2981.4 2979.1 2983.6 1721.9 2081.2 500.42 -10.92 375 4221.96 98.58 2.98 0.08 1.639 0.162 0.237 2499.53 2508.56 2490.50 2079.88 2120.56 0 0 0 11.13 14.84 14.84

4224 end apogee: CONTROL_FINISHED_OK

state 4225 begin climb

4225.17 10243 118.15 1.72 0.00 2497.5 2506.6 2488.3 2080.0 2120.6 504.00 0.00 380 4340.17 106.64 3.52 0.00 1.580 0.077 0.000 2017.50 2032.94 2002.06 2563.88 2120.81 0 0 0 11.33 15.07 30.00

4637.35 16966 118.15 1.77 -80.00 2005.8 2024.9 1986.7 2563.9 2120.2 470.19 9.38 394 4643.06 0.00 0.00 4.12 0.000 0.000 0.137 2003.94 2022.62 1985.25 2563.94 661.69 0 0 0 30.00 30.00 15.15

4806.26 17414 118.15 1.77 0.00 2003.8 2021.1 1986.6 2563.4 661.8 450.89 10.74 428 4813.08 0.00 0.00 3.52 0.000 0.000 0.046 2004.00 2020.88 1987.12 2563.69 2125.06 0 0 0 30.00 30.00 15.44

5112.38 16966 118.15 1.80 -80.00 2002.0 2021.5 1982.6 2563.9 2124.9 420.35 10.19 439 5118.10 0.00 0.00 4.13 0.000 0.000 0.133 2001.03 2020.69 1981.38 2563.50 662.12 0 0 0 30.00 30.00 15.14

5271.32 17414 118.15 1.80 0.00 2001.8 2020.6 1983.1 2564.1 662.0 401.59 11.20 471 5277.02 0.00 0.00 3.53 0.000 0.000 0.047 2001.53 2020.25 1982.81 2563.38 2125.56 0 0 0 30.00 30.00 15.42

5587.42 16966 118.15 1.85 -80.00 2000.9 2020.2 1981.6 2563.7 2125.2 370.31 9.55 484 5593.12 0.00 0.00 4.12 0.000 0.000 0.132 2001.44 2020.50 1982.38 2562.62 660.94 0 0 0 30.00 30.00 15.07

5736.34 19463 118.15 1.85 0.00 2000.9 2020.1 1981.7 2563.2 660.8 354.95 11.47 514 5742.11 0.00 0.16 3.53 0.000 0.083 0.046 2001.41 2020.25 1982.56 2600.38 2126.00 0 0 0 30.00 15.19 15.42

6062.44 8486 141.17 1.92 80.00 2000.4 2019.8 1981.0 2600.8 2126.6 323.68 8.80 529 6087.51 19.80 0.00 3.65 1.368 0.000 0.116 1924.00 1942.75 1905.25 2600.62 3473.12 0 0 0 11.42 30.00 15.25

6106.35 1092 141.17 1.95 0.00 1921.5 1940.7 1902.4 2601.7 3473.5 319.08 10.03 538 6112.02 0.00 0.00 3.40 0.000 0.000 0.054 1923.22 1941.88 1904.56 2600.38 2078.94 0 0 0 30.00 30.00 15.47

6422.46 580 141.17 1.99 -80.00 1919.1 1941.0 1897.2 2601.2 2078.8 286.51 9.98 551 6428.14 0.00 0.00 3.98 0.000 0.000 0.133 1917.53 1939.06 1896.00 2600.88 660.69 0 0 0 30.00 30.00 15.16

6431.38 3141 141.17 2.02 0.00 1918.3 1939.3 1897.2 2601.8 660.7 285.46 9.85 553 6437.12 0.00 0.19 3.49 0.000 0.074 0.043 1918.75 1940.56 1896.94 2643.19 2127.12 0 0 0 30.00 15.27 15.49

6747.52 324 141.17 2.04 80.00 1917.9 1939.1 1896.8 2643.4 2127.3 251.66 10.57 566 6753.10 0.00 0.00 3.67 0.000 0.000 0.113 1917.69 1939.00 1896.38 2643.06 3473.31 0 0 0 30.00 30.00 15.15

6976.40 1028 141.17 2.04 0.00 1917.4 1938.4 1896.4 2643.2 3474.1 225.58 11.74 612 6983.20 0.00 0.00 3.43 0.000 0.000 0.054 1918.19 1939.38 1897.00 2642.56 2078.56 0 0 0 30.00 30.00 15.30

7102.52 580 141.17 2.06 -80.00 1917.4 1938.8 1895.9 2644.0 2079.1 212.53 10.33 625 7108.23 0.00 0.00 3.96 0.000 0.000 0.131 1916.84 1937.94 1895.75 2643.31 660.94 0 0 0 30.00 30.00 15.05

7167.97 1028 141.17 2.06 0.00 1917.0 1938.5 1895.5 2644.3 660.6 204.90 11.72 638 7173.13 0.00 0.00 3.49 0.000 0.000 0.044 1915.44 1936.69 1894.19 2644.19 2127.19 0 0 0 30.00 30.00 15.44

7292.60 580 141.17 2.11 -80.00 1916.9 1938.3 1895.6 2644.1 2127.1 192.43 9.65 651 7298.24 0.00 0.00 4.09 0.000 0.000 0.125 1917.16 1938.56 1895.75 2643.69 660.88 0 0 0 30.00 30.00 15.05

7337.98 1028 141.17 2.11 0.00 1916.9 1938.0 1895.8 2643.8 660.8 187.70 11.90 660 7343.15 0.00 0.00 3.48 0.000 0.000 0.042 1915.25 1936.56 1893.94 2643.69 2128.12 0 0 0 30.00 30.00 15.45

7462.56 8742 162.78 2.17 -80.00 1916.6 1937.8 1895.3 2643.9 2128.8 176.96 8.94 673 7488.72 20.25 0.00 4.01 1.242 0.000 0.127 1834.56 1855.81 1813.31 2642.88 659.69 0 0 0 11.53 30.00 15.25

7558.02 1028 162.78 2.17 0.00 1832.1 1851.8 1812.5 2643.8 659.6 166.36 13.04 692 7563.18 0.00 0.00 3.50 0.000 0.000 0.044 1830.72 1850.50 1810.94 2643.75 2128.06 0 0 0 30.00 30.00 15.52

7682.59 2629 162.78 2.20 -80.00 1830.8 1851.7 1809.8 2643.8 2128.4 153.51 10.23 705 7688.34 0.00 0.19 4.06 0.000 0.077 0.125 1829.69 1850.75 1808.62 2685.38 660.94 0 0 0 30.00 15.56 15.22

7728.02 1028 162.78 2.20 0.00 1831.0 1852.1 1809.9 2685.2 660.9 148.43 12.35 714 7733.22 0.00 0.00 3.52 0.000 0.000 0.043 1829.56 1850.88 1808.25 2684.88 2128.06 0 0 0 30.00 30.00 15.50

7792.58 0 162.78 2.20 0.00 1830.6 1852.1 1809.1 2685.4 2128.4 141.15 10.64 721 7793.90 0.00 0.00 0.00 0.000 0.000 0.000 1830.16 1851.50 1808.81 2684.94 2128.94 0 0 0 30.00 30.00 30.00

7852.61 64 162.78 2.25 0.00 1830.4 1851.9 1808.9 2684.8 2128.8 135.40 9.34 727 7853.94 0.00 0.00 0.00 0.000 0.000 0.000 1830.09 1851.25 1808.94 2684.94 2128.44 0 0 0 30.00 30.00 30.00

7912.61 8742 185.83 2.32 -80.00 1830.2 1851.7 1808.8 2685.4 2128.7 130.04 8.79 733 7944.46 26.45 0.00 4.04 1.160 0.000 0.126 1742.16 1764.19 1720.12 2684.31 659.56 0 0 0 11.53 30.00 15.20

8013.15 1028 185.83 2.32 0.00 1739.3 1759.6 1719.1 2684.9 659.5 117.77 13.46 753 8018.32 0.00 0.00 3.51 0.000 0.000 0.044 1738.41 1758.94 1717.88 2684.94 2127.44 0 0 0 30.00 30.00 15.50

8077.69 0 185.83 2.32 0.00 1738.3 1759.8 1716.8 2685.1 2127.4 110.07 11.91 760 8079.02 0.00 0.00 0.00 0.000 0.000 0.000 1738.09 1759.69 1716.50 2685.12 2127.56 0 0 0 30.00 30.00 30.00

8137.71 516 185.83 2.32 -80.00 1737.8 1759.6 1715.9 2685.2 2127.4 103.07 11.59 766 8143.41 0.00 0.00 4.05 0.000 0.000 0.123 1737.44 1759.06 1715.81 2685.06 660.81 0 0 0 30.00 30.00 15.19

8216.61 1028 185.83 2.32 0.00 1737.8 1759.4 1716.1 2685.7 660.5 92.37 13.08 782 8223.42 0.00 0.00 3.50 0.000 0.000 0.044 1738.53 1760.19 1716.88 2684.81 2128.06 0 0 0 30.00 30.00 15.45

8282.70 260 185.83 2.32 80.00 1736.8 1759.2 1714.4 2684.9 2128.7 84.70 11.69 789 8288.37 0.00 0.00 3.61 0.000 0.000 0.109 1738.00 1760.00 1716.00 2683.31 3473.75 0 0 0 30.00 30.00 15.20

8348.18 3141 185.83 2.35 0.00 1736.4 1759.0 1713.9 2685.1 3474.7 78.00 10.04 802 8353.38 0.00 0.16 3.41 0.000 0.090 0.053 1737.84 1759.56 1716.12 2718.81 2080.00 0 0 0 30.00 15.16 15.37

8412.73 8742 209.73 2.42 -80.00 1736.0 1758.7 1713.2 2720.6 2079.9 72.09 8.71 809 8448.07 28.65 0.00 3.90 1.100 0.000 0.130 1644.16 1667.19 1621.12 2721.25 659.62 0 0 0 11.61 30.00 15.18

8523.20 1092 209.73 2.45 0.00 1642.1 1663.0 1621.1 2720.5 659.8 60.74 10.25 831 8528.36 0.00 0.00 3.52 0.000 0.000 0.045 1641.69 1662.69 1620.69 2721.50 2130.75 0 0 0 30.00 30.00 15.50

8587.74 10535 246.47 2.56 80.00 1640.5 1663.2 1617.9 2720.4 2130.9 55.96 7.42 838 8639.83 42.66 0.27 3.60 1.085 0.066 0.107 1494.84 1517.94 1471.75 2773.88 3473.62 0 0 0 11.55 15.51 15.07

8678.56 1092 246.47 2.59 0.00 1492.2 1515.8 1468.5 2774.2 3473.1 48.32 10.23 856 8683.66 0.00 0.00 3.41 0.000 0.000 0.052 1493.59 1517.19 1470.00 2772.06 2075.75 0 0 0 30.00 30.00 15.38

8743.06 8742 268.41 2.65 -80.00 1491.3 1515.8 1466.8 2774.1 2075.8 42.54 8.91 863 8774.80 25.83 0.00 3.90 1.034 0.000 0.129 1406.06 1431.19 1380.94 2774.31 659.81 0 0 0 11.57 30.00 15.06

8883.55 1092 268.41 2.68 0.00 1403.5 1427.2 1379.8 2773.4 659.6 28.85 10.11 891 8888.66 0.00 0.00 3.53 0.000 0.000 0.045 1402.69 1426.31 1379.06 2774.00 2129.75 0 0 0 30.00 30.00 15.43

8953.10 10535 302.46 2.78 80.00 1401.5 1427.0 1376.0 2773.9 2129.6 23.20 7.69 899 8998.60 37.60 0.26 3.59 1.034 0.065 0.105 1266.31 1292.06 1240.56 2828.44 3473.62 0 0 0 11.55 15.45 15.09

9027.03 9254 351.51 2.93 0.00 1265.5 1291.4 1239.5 2827.5 3473.6 18.08 6.18 914 9085.86 53.34 0.00 3.40 1.021 0.000 0.050 1067.09 1090.94 1043.25 2827.62 2075.69 0 0 0 11.55 30.00 15.39

9149.13 516 351.51 2.93 -80.00 1064.5 1090.5 1038.5 2827.6 2076.2 6.71 11.29 932 9154.78 0.00 0.00 3.91 0.000 0.000 0.127 1063.91 1090.00 1037.81 2828.75 660.88 0 0 0 30.00 30.00 15.15

9184.54 1028 351.51 2.93 0.00 1063.9 1089.4 1038.4 2828.3 660.6 2.26 13.32 939 9188.64 0.00 0.00 3.10 0.000 0.000 0.041 1064.16 1089.88 1038.44 2828.62 1952.94 0 0 0 30.00 30.00 15.40

9188 end climb: SURFACE_DEPTH_REACHED

state 9188 begin surface coast

9193 end surface coast: CONTROL_FINISHED_OK

state 9194 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	1157	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	76.98954	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	275.2515	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	160421,162131,4707.673,-12501.284,30,0.9,32,15.5	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.52	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-62.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	160421,162852,4707.592,-12501.332,2,0.6,4,15.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	296.4,1131,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	593

SM_CCo	9344.39,0.00,0.013,0,564.8,557.2,572.2,474.72	_10V_AH	14.74,0.000
SM_GC	-0.65,0.00,19.20,0.34,0.013,0.088,0.077,564.8,557.2,572.2,171.4,2132.1,0,0,0,30.36,15.12,15.41	FG_AHR_24Vo	275.479
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	77.021
IRIDIUM_FIX	4709.86,-12501.34,160421,133052	MEM	1103688,39,73440,56
TCM_TEMP	174.53	DATA_FILE_SIZE	35324,941
XPDR_PINGS	19,14.0,11.5	CAP_FILE_SIZE	519580,0
SC_FREEKB	3415776	SDSIZE	3918848,3602784
HUMID	58.75	SDFILEDIR	5811,1
TEMP	7.68	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.7795	GPS	160421,190532,4707.954,-12501.506,27,1.0,28,15.6
_24V_AH	13.66,315.366

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	672	2587	23782.21	legato	0	0	0.00
Pitch_motor	41	255	143.69	nil	0	0	0.00
Roll_motor	249	236	805.07	nil	0	0	0.00
Iridium	195	202	540.53	nil	0	0	0.00
Transponder_ping	4	420	27.25	nil	0	0	0.00
GPS	13	15	3.01	nil	0	0	0.00
Core	3701	11	643.77	SciCon	9236	5	702.07
LPSleep	6023	2	248.61	nil	0	0	0.00
Compass	1807	5	133.23	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
8.50	16386	-74.33	-1.59	0.00	559.2	556.3	562.2	170.4	2085.1	0.00	0.00	0	90.33	81.42	0.00	0.00	0.005	0.000	0.000	2416.56	2401.75	2431.38	170.19	2085.12	0	0	0	14.69	30.00	30.00
90.58	18727	-118.15	-1.72	80.00	2415.7	2400.8	2430.6	170.2	2085.2	3.04	-6.71	8	126.68	12.82	14.23	3.86	0.006	0.256	0.112	2980.97	2979.81	2982.12	1721.88	3475.12	0	0	0	14.87	14.82	14.64
163.81	1028	-118.15	-1.72	0.00	2981.0	2978.9	2983.1	1721.8	3475.0	20.86	-22.07	23	170.61	0.00	0.00	3.46	0.000	0.000	0.053	2981.03	2979.12	2982.94	1722.50	2081.06	0	0	0	30.00	30.00	15.31
229.96	260	-118.15	-1.72	80.00	2981.3	2979.6	2983.0	1721.8	2081.5	33.60	-18.71	30	235.56	0.00	0.00	3.77	0.000	0.000	0.100	2981.41	2978.94	2983.88	1721.69	3475.81	0	0	0	30.00	30.00	15.17
285.37	1028	-118.15	-1.72	0.00	2981.1	2979.1	2983.1	1722.0	3475.5	44.24	-18.28	41	290.53	0.00	0.00	3.41	0.000	0.000	0.050	2982.38	2981.12	2983.62	1720.56	2080.44	0	0	0	30.00	30.00	15.31
349.97	0	-118.15	-1.72	0.00	2980.9	2978.7	2983.1	1722.2	2080.9	55.21	-17.37	48	351.30	0.00	0.00	0.00	0.000	0.000	0.000	2981.91	2979.31	2984.50	1721.88	2080.94	0	0	0	30.00	30.00	30.00
409.93	260	-118.15	-1.72	80.00	2980.9	2978.9	2983.0	1722.2	2080.9	65.28	-16.67	54	415.59	0.00	0.00	3.74	0.000	0.000	0.099	2982.97	2981.94	2984.00	1720.44	3475.62	0	0	0	30.00	30.00	15.14
428.84	1028	-118.15	-1.72	0.00	2981.5	2978.9	2984.1	1721.5	3475.6	68.49	-15.65	58	435.61	0.00	0.00	3.39	0.000	0.000	0.047	2982.22	2979.69	2984.75	1721.81	2079.88	0	0	0	30.00	30.00	15.28
494.98	0	-118.15	-1.72	0.00	2981.6	2979.2	2983.9	1721.9	2080.1	78.04	-15.03	65	496.31	0.00	0.00	0.00	0.000	0.000	0.000	2982.06	2979.81	2984.31	1721.75	2080.00	0	0	0	30.00	30.00	30.00
555.06	260	-118.15	-1.72	80.00	2981.5	2979.2	2983.8	1721.8	2080.4	86.21	-13.79	71	560.60	0.00	0.00	3.76	0.000	0.000	0.100	2981.19	2979.06	2983.31	1721.56	3474.06	0	0	0	30.00	30.00	15.13
600.40	1028	-118.15	-1.72	0.00	2981.5	2978.7	2984.4	1722.4	3474.4	92.43	-13.65	80	605.54	0.00	0.00	3.38	0.000	0.000	0.048	2980.56	2977.94	2983.19	1721.38	2080.69	0	0	0	30.00	30.00	15.30
665.00	516	-118.15	-1.72	-80.00	2981.7	2979.3	2984.0	1722.1	2080.9	100.47	-12.26	87	670.65	0.00	0.00	4.05	0.000	0.000	0.145	2982.94	2980.44	2985.44	1721.75	662.00	0	0	0	30.00	30.00	14.97
690.39	1028	-118.15	-1.72	0.00	2981.5	2978.9	2984.1	1721.6	662.0	103.36	-11.79	92	695.57	0.00	0.00	3.49	0.000	0.000	0.046	2980.22	2977.56	2982.88	1721.50	2122.69	0	0	0	30.00	30.00	15.38
755.00	260	-118.15	-1.72	80.00	2981.8	2979.2	2984.4	1722.1	2122.8	111.31	-11.48	99	760.60	0.00	0.00	3.61	0.000	0.000	0.104	2980.38	2978.38	2982.38	1722.06	3475.44	0	0	0	30.00	30.00	15.11
810.42	1028	-118.15	-1.72	0.00	2982.2	2979.4	2984.9	1721.9	3475.5	117.95	-12.60	110	815.56	0.00	0.00	3.39	0.000	0.000	0.050	2982.53	2979.50	2985.56	1721.94	2081.56	0	0	0	30.00	30.00	15.29
875.02	0	-118.15	-1.72	0.00	2982.0	2979.2	2984.8	1721.8	2081.2	124.69	-10.02	117	876.35	0.00	0.00	0.00	0.000	0.000	0.000	2981.66	2978.75	2984.56	1721.56	2080.94	0	0	0	30.00	30.00	30.00
934.97	0	-118.15	-1.72	0.00	2981.6	2978.8	2984.4	1722.0	2081.0	130.72	-10.86	123	936.30	0.00	0.00	0.00	0.000	0.000	0.000	2982.69	2979.38	2986.00	1721.75	2081.12	0	0	0	30.00	30.00	30.00
994.98	260	-118.15	-1.72	80.00	2982.0	2979.4	2984.6	1721.4	2081.2	137.44	-11.22	129	1000.64	0.00	0.00	3.78	0.000	0.000	0.103	2984.03	2982.12	2985.94	1720.75	3475.75	0	0	0	30.00	30.00	15.07
1090.43	1028	-118.15	-1.72	0.00	2981.9	2979.1	2984.6	1722.0	3475.6	149.89	-13.84	148	1095.60	0.00	0.00	3.41	0.000	0.000	0.054	2981.41	2978.19	2984.62	1721.38	2082.25	0	0	0	30.00	30.00	15.26
1154.99	516	-118.15	-1.72	-80.00	2982.0	2978.9	2985.1	1721.9	2082.3	157.00	-10.83	155	1160.71	0.00	0.00	4.04	0.000	0.000	0.147	2980.69	2977.69	2983.69	1722.00	663.00	0	0	0	30.00	30.00	14.93
1170.44	1028	-118.15	-1.72	0.00	2982.7	2979.4	2985.9	1722.4	663.2	158.67	-11.11	158	1175.62	0.00	0.00	3.53	0.000	0.000	0.046	2980.72	2977.94	2983.50	1722.25	2123.94	0	0	0	30.00	30.00	15.37
1295.02	0	-118.15	-1.72	0.00	2982.5	2979.5	2985.6	1722.1	2123.9	173.33	-11.76	171	1296.35	0.00	0.00	0.00	0.000	0.000	0.000	2982.44	2979.88	2985.00	1721.38	2124.25	0	0	0	30.00	30.00	30.00
1415.02	260	-118.15	-1.72	80.00	2982.1	2978.6	2985.6	1722.1	2124.3	187.44	-11.62	183	1420.66	0.00	0.00	3.64	0.000	0.000	0.105	2983.34	2979.94	2986.75	1721.25	3475.50	0	0	0	30.00	30.00	15.05
1490.53	1028	-118.15	-1.72	0.00	2982.2	2978.9	2985.4	1722.2	3474.2	196.73	-12.94	198	1495.64	0.00	0.00	3.39	0.000	0.000	0.053	2982.62	2979.81	2985.44	1721.88	2080.62	0	0	0	30.00	30.00	15.25
1615.04	0	-118.15	-1.72	0.00	2982.3	2979.2	2985.4	1722.0	2080.4	210.25	-10.53	211	1616.37	0.00	0.00	0.00	0.000	0.000	0.000	2982.84	2979.38	2986.31	1722.00	2080.50	0	0	0	30.00	30.00	30.00
1735.05	0	-118.15	-1.72	0.00	2982.2	2979.0	2985.4	1721.4	2080.6	222.93	-10.74	223	1736.38	0.00	0.00	0.00	0.000	0.000	0.000	2981.09	2978.00	2984.19	1721.69	2080.88	0	0	0	30.00	30.00	30.00
1855.06	0	-118.15	-1.72	0.00	2981.9	2978.8	2984.9	1722.0	2080.6	235.71	-10.43	235	1856.38	0.00	0.00	0.00	0.000	0.000	0.000	2982.94	2980.25	2985.62	1722.12	2080.44	0	0	0	30.00	30.00	30.00
1975.07	260	-118.15	-1.72	80.00	2982.4	2979.6	2985.2	1722.2	2080.5	249.15	-11.33	247	1980.73	0.00	0.00	3.80	0.000	0.000	0.107	2982.62	2979.69	2985.56	1721.31	3474.56	0	0	0	30.00	30.00	15.00
2003.97	1028	-118.15	-1.72	0.00	2982.3	2979.3	2985.4	1721.9	3474.4	252.94	-11.50	253	2009.67	0.00	0.00	3.39	0.000	0.000	0.054	2982.19	2979.19	2985.19	1722.00	2081.06	0	0	0	30.00	30.00	15.20
2330.09	260	-118.15	-1.72	80.00	2982.5	2979.5	2985.5	1722.0	2081.6	291.55	-12.06	268	2335.75	0.00	0.00	3.80	0.000	0.000	0.108	2982.78	2979.12	2986.44	1721.25	3473.62	0	0	0	30.00	30.00	14.97
2358.99	1028	-118.15	-1.72	0.00	2982.2	2979.2	2985.2	1721.4	3473.9	295.27	-12.40	274	2364.70	0.00	0.00	3.42	0.000	0.000	0.054	2982.84	2979.62	2986.06	1721.81	2080.69	0	0	0	30.00	30.00	15.17
2685.11	260	-118.15	-1.72	80.00	2982.4	2979.1	2985.8	1721.9	2081.1	334.73	-12.28	289	2690.78	0.00	0.00	3.84	0.000	0.000	0.108	2980.62	2976.88	2984.38	1721.56	3474.56	0	0	0	30.00	30.00	14.97
2740.56	1028	-118.15	-1.72	0.00	2982.6	2979.2	2985.9	1721.8	3475.1	341.97	-13.98	300	2745.73	0.00	0.00	3.42	0.000	0.000	0.056	2981.12	2977.69	2984.56	1721.75	2080.75	0	0	0	30.00	30.00	15.18
3065.12	260	-118.15	-1.72	80.00	2982.2	2979.2	2985.2	1721.5	2080.6	381.94	-12.12	315	3070.79	0.00	0.00	3.85	0.000	0.000	0.109	2982.03	2979.12	2984.94	1721.94	3474.31	0	0	0	30.00	30.00	14.94
3084.07	1028	-118.15	-1.72	0.00	2982.4	2979.1	2985.7	1722.0	3473.9	383.82	-11.64	319	3090.82	0.00	0.00	3.43	0.000	0.000	0.055	2983.81	2980.88	2986.75	1721.12	2081.50	0	0	0	30.00	30.00	15.15
3390.12	260	-118.15	-1.72	80.00	2982.1	2979.0	2985.2	1722.2	2082.0	419.73	-11.78	330	3395.80	0.00	0.00	3.84	0.000	0.000	0.109	2980.84	2978.25	2983.44	1721.50	3476.31	0	0	0	30.00	30.00	14.93
3429.03	1028	-118.15	-1.72	0.00	2981.8	2978.8	2984.7	1721.6	3476.5	424.48	-13.31	338	3434.74	0.00	0.00	3.44	0.000	0.000	0.056	2983.34	2980.31	2986.38	1720.81	2081.88	0	0	0	30.00	30.00	15.13
3745.15	260	-118.15	-1.72	80.00	2981.8	2978.9	2984.8	1721.9	2081.9	458.52	-11.25	351	3750.82	0.00	0.00	3.85	0.000	0.000	0.111	2982.38	2979.44	2985.31	1721.50	3476.12	0	0	0	30.00	30.00	14.91
3784.06	1028	-118.15	-1.72	0.00	2982.3	2979.6	2985.1	1721.8	3475.1	463.24	-12.48	359	3789.76	0.00	0.00	3.45	0.000	0.000	0.058	2983.78	2981.19	2986.38	1721.38	2081.94	0	0	0	30.00	30.00	15.11
4100.17	260	-118.15	-1.72	80.00	2981.3	2978.4	2984.2	1721.5	2082.0	497.95	-10.70	372	4105.85	0.00	0.00	3.85	0.000	0.000	0.113	2980.41	2977.75	2983.06	1721.69	3475.12	0	0	0	30.00	30.00	14.89
4113	end dive: TARGET_DEPTH_EXCEEDED
state	4113	begin apogee
4118.92	10243	0.00	-0.25	0.00	2981.4	2979.1	2983.6	1721.9	2081.2	500.42	-10.92	375	4221.96	98.58	2.98	0.08	1.639	0.162	0.237	2499.53	2508.56	2490.50	2079.88	2120.56	0	0	0	11.13	14.84	14.84
4224	end apogee: CONTROL_FINISHED_OK
state	4225	begin climb
4225.17	10243	118.15	1.72	0.00	2497.5	2506.6	2488.3	2080.0	2120.6	504.00	0.00	380	4340.17	106.64	3.52	0.00	1.580	0.077	0.000	2017.50	2032.94	2002.06	2563.88	2120.81	0	0	0	11.33	15.07	30.00
4637.35	16966	118.15	1.77	-80.00	2005.8	2024.9	1986.7	2563.9	2120.2	470.19	9.38	394	4643.06	0.00	0.00	4.12	0.000	0.000	0.137	2003.94	2022.62	1985.25	2563.94	661.69	0	0	0	30.00	30.00	15.15
4806.26	17414	118.15	1.77	0.00	2003.8	2021.1	1986.6	2563.4	661.8	450.89	10.74	428	4813.08	0.00	0.00	3.52	0.000	0.000	0.046	2004.00	2020.88	1987.12	2563.69	2125.06	0	0	0	30.00	30.00	15.44
5112.38	16966	118.15	1.80	-80.00	2002.0	2021.5	1982.6	2563.9	2124.9	420.35	10.19	439	5118.10	0.00	0.00	4.13	0.000	0.000	0.133	2001.03	2020.69	1981.38	2563.50	662.12	0	0	0	30.00	30.00	15.14
5271.32	17414	118.15	1.80	0.00	2001.8	2020.6	1983.1	2564.1	662.0	401.59	11.20	471	5277.02	0.00	0.00	3.53	0.000	0.000	0.047	2001.53	2020.25	1982.81	2563.38	2125.56	0	0	0	30.00	30.00	15.42
5587.42	16966	118.15	1.85	-80.00	2000.9	2020.2	1981.6	2563.7	2125.2	370.31	9.55	484	5593.12	0.00	0.00	4.12	0.000	0.000	0.132	2001.44	2020.50	1982.38	2562.62	660.94	0	0	0	30.00	30.00	15.07
5736.34	19463	118.15	1.85	0.00	2000.9	2020.1	1981.7	2563.2	660.8	354.95	11.47	514	5742.11	0.00	0.16	3.53	0.000	0.083	0.046	2001.41	2020.25	1982.56	2600.38	2126.00	0	0	0	30.00	15.19	15.42
6062.44	8486	141.17	1.92	80.00	2000.4	2019.8	1981.0	2600.8	2126.6	323.68	8.80	529	6087.51	19.80	0.00	3.65	1.368	0.000	0.116	1924.00	1942.75	1905.25	2600.62	3473.12	0	0	0	11.42	30.00	15.25
6106.35	1092	141.17	1.95	0.00	1921.5	1940.7	1902.4	2601.7	3473.5	319.08	10.03	538	6112.02	0.00	0.00	3.40	0.000	0.000	0.054	1923.22	1941.88	1904.56	2600.38	2078.94	0	0	0	30.00	30.00	15.47
6422.46	580	141.17	1.99	-80.00	1919.1	1941.0	1897.2	2601.2	2078.8	286.51	9.98	551	6428.14	0.00	0.00	3.98	0.000	0.000	0.133	1917.53	1939.06	1896.00	2600.88	660.69	0	0	0	30.00	30.00	15.16
6431.38	3141	141.17	2.02	0.00	1918.3	1939.3	1897.2	2601.8	660.7	285.46	9.85	553	6437.12	0.00	0.19	3.49	0.000	0.074	0.043	1918.75	1940.56	1896.94	2643.19	2127.12	0	0	0	30.00	15.27	15.49
6747.52	324	141.17	2.04	80.00	1917.9	1939.1	1896.8	2643.4	2127.3	251.66	10.57	566	6753.10	0.00	0.00	3.67	0.000	0.000	0.113	1917.69	1939.00	1896.38	2643.06	3473.31	0	0	0	30.00	30.00	15.15
6976.40	1028	141.17	2.04	0.00	1917.4	1938.4	1896.4	2643.2	3474.1	225.58	11.74	612	6983.20	0.00	0.00	3.43	0.000	0.000	0.054	1918.19	1939.38	1897.00	2642.56	2078.56	0	0	0	30.00	30.00	15.30
7102.52	580	141.17	2.06	-80.00	1917.4	1938.8	1895.9	2644.0	2079.1	212.53	10.33	625	7108.23	0.00	0.00	3.96	0.000	0.000	0.131	1916.84	1937.94	1895.75	2643.31	660.94	0	0	0	30.00	30.00	15.05
7167.97	1028	141.17	2.06	0.00	1917.0	1938.5	1895.5	2644.3	660.6	204.90	11.72	638	7173.13	0.00	0.00	3.49	0.000	0.000	0.044	1915.44	1936.69	1894.19	2644.19	2127.19	0	0	0	30.00	30.00	15.44
7292.60	580	141.17	2.11	-80.00	1916.9	1938.3	1895.6	2644.1	2127.1	192.43	9.65	651	7298.24	0.00	0.00	4.09	0.000	0.000	0.125	1917.16	1938.56	1895.75	2643.69	660.88	0	0	0	30.00	30.00	15.05
7337.98	1028	141.17	2.11	0.00	1916.9	1938.0	1895.8	2643.8	660.8	187.70	11.90	660	7343.15	0.00	0.00	3.48	0.000	0.000	0.042	1915.25	1936.56	1893.94	2643.69	2128.12	0	0	0	30.00	30.00	15.45
7462.56	8742	162.78	2.17	-80.00	1916.6	1937.8	1895.3	2643.9	2128.8	176.96	8.94	673	7488.72	20.25	0.00	4.01	1.242	0.000	0.127	1834.56	1855.81	1813.31	2642.88	659.69	0	0	0	11.53	30.00	15.25
7558.02	1028	162.78	2.17	0.00	1832.1	1851.8	1812.5	2643.8	659.6	166.36	13.04	692	7563.18	0.00	0.00	3.50	0.000	0.000	0.044	1830.72	1850.50	1810.94	2643.75	2128.06	0	0	0	30.00	30.00	15.52
7682.59	2629	162.78	2.20	-80.00	1830.8	1851.7	1809.8	2643.8	2128.4	153.51	10.23	705	7688.34	0.00	0.19	4.06	0.000	0.077	0.125	1829.69	1850.75	1808.62	2685.38	660.94	0	0	0	30.00	15.56	15.22
7728.02	1028	162.78	2.20	0.00	1831.0	1852.1	1809.9	2685.2	660.9	148.43	12.35	714	7733.22	0.00	0.00	3.52	0.000	0.000	0.043	1829.56	1850.88	1808.25	2684.88	2128.06	0	0	0	30.00	30.00	15.50
7792.58	0	162.78	2.20	0.00	1830.6	1852.1	1809.1	2685.4	2128.4	141.15	10.64	721	7793.90	0.00	0.00	0.00	0.000	0.000	0.000	1830.16	1851.50	1808.81	2684.94	2128.94	0	0	0	30.00	30.00	30.00
7852.61	64	162.78	2.25	0.00	1830.4	1851.9	1808.9	2684.8	2128.8	135.40	9.34	727	7853.94	0.00	0.00	0.00	0.000	0.000	0.000	1830.09	1851.25	1808.94	2684.94	2128.44	0	0	0	30.00	30.00	30.00
7912.61	8742	185.83	2.32	-80.00	1830.2	1851.7	1808.8	2685.4	2128.7	130.04	8.79	733	7944.46	26.45	0.00	4.04	1.160	0.000	0.126	1742.16	1764.19	1720.12	2684.31	659.56	0	0	0	11.53	30.00	15.20
8013.15	1028	185.83	2.32	0.00	1739.3	1759.6	1719.1	2684.9	659.5	117.77	13.46	753	8018.32	0.00	0.00	3.51	0.000	0.000	0.044	1738.41	1758.94	1717.88	2684.94	2127.44	0	0	0	30.00	30.00	15.50
8077.69	0	185.83	2.32	0.00	1738.3	1759.8	1716.8	2685.1	2127.4	110.07	11.91	760	8079.02	0.00	0.00	0.00	0.000	0.000	0.000	1738.09	1759.69	1716.50	2685.12	2127.56	0	0	0	30.00	30.00	30.00
8137.71	516	185.83	2.32	-80.00	1737.8	1759.6	1715.9	2685.2	2127.4	103.07	11.59	766	8143.41	0.00	0.00	4.05	0.000	0.000	0.123	1737.44	1759.06	1715.81	2685.06	660.81	0	0	0	30.00	30.00	15.19
8216.61	1028	185.83	2.32	0.00	1737.8	1759.4	1716.1	2685.7	660.5	92.37	13.08	782	8223.42	0.00	0.00	3.50	0.000	0.000	0.044	1738.53	1760.19	1716.88	2684.81	2128.06	0	0	0	30.00	30.00	15.45
8282.70	260	185.83	2.32	80.00	1736.8	1759.2	1714.4	2684.9	2128.7	84.70	11.69	789	8288.37	0.00	0.00	3.61	0.000	0.000	0.109	1738.00	1760.00	1716.00	2683.31	3473.75	0	0	0	30.00	30.00	15.20
8348.18	3141	185.83	2.35	0.00	1736.4	1759.0	1713.9	2685.1	3474.7	78.00	10.04	802	8353.38	0.00	0.16	3.41	0.000	0.090	0.053	1737.84	1759.56	1716.12	2718.81	2080.00	0	0	0	30.00	15.16	15.37
8412.73	8742	209.73	2.42	-80.00	1736.0	1758.7	1713.2	2720.6	2079.9	72.09	8.71	809	8448.07	28.65	0.00	3.90	1.100	0.000	0.130	1644.16	1667.19	1621.12	2721.25	659.62	0	0	0	11.61	30.00	15.18
8523.20	1092	209.73	2.45	0.00	1642.1	1663.0	1621.1	2720.5	659.8	60.74	10.25	831	8528.36	0.00	0.00	3.52	0.000	0.000	0.045	1641.69	1662.69	1620.69	2721.50	2130.75	0	0	0	30.00	30.00	15.50
8587.74	10535	246.47	2.56	80.00	1640.5	1663.2	1617.9	2720.4	2130.9	55.96	7.42	838	8639.83	42.66	0.27	3.60	1.085	0.066	0.107	1494.84	1517.94	1471.75	2773.88	3473.62	0	0	0	11.55	15.51	15.07
8678.56	1092	246.47	2.59	0.00	1492.2	1515.8	1468.5	2774.2	3473.1	48.32	10.23	856	8683.66	0.00	0.00	3.41	0.000	0.000	0.052	1493.59	1517.19	1470.00	2772.06	2075.75	0	0	0	30.00	30.00	15.38
8743.06	8742	268.41	2.65	-80.00	1491.3	1515.8	1466.8	2774.1	2075.8	42.54	8.91	863	8774.80	25.83	0.00	3.90	1.034	0.000	0.129	1406.06	1431.19	1380.94	2774.31	659.81	0	0	0	11.57	30.00	15.06
8883.55	1092	268.41	2.68	0.00	1403.5	1427.2	1379.8	2773.4	659.6	28.85	10.11	891	8888.66	0.00	0.00	3.53	0.000	0.000	0.045	1402.69	1426.31	1379.06	2774.00	2129.75	0	0	0	30.00	30.00	15.43
8953.10	10535	302.46	2.78	80.00	1401.5	1427.0	1376.0	2773.9	2129.6	23.20	7.69	899	8998.60	37.60	0.26	3.59	1.034	0.065	0.105	1266.31	1292.06	1240.56	2828.44	3473.62	0	0	0	11.55	15.45	15.09
9027.03	9254	351.51	2.93	0.00	1265.5	1291.4	1239.5	2827.5	3473.6	18.08	6.18	914	9085.86	53.34	0.00	3.40	1.021	0.000	0.050	1067.09	1090.94	1043.25	2827.62	2075.69	0	0	0	11.55	30.00	15.39
9149.13	516	351.51	2.93	-80.00	1064.5	1090.5	1038.5	2827.6	2076.2	6.71	11.29	932	9154.78	0.00	0.00	3.91	0.000	0.000	0.127	1063.91	1090.00	1037.81	2828.75	660.88	0	0	0	30.00	30.00	15.15
9184.54	1028	351.51	2.93	0.00	1063.9	1089.4	1038.4	2828.3	660.6	2.26	13.32	939	9188.64	0.00	0.00	3.10	0.000	0.000	0.041	1064.16	1089.88	1038.44	2828.62	1952.94	0	0	0	30.00	30.00	15.40
9188	end climb: SURFACE_DEPTH_REACHED
state	9188	begin surface coast
9193	end surface coast: CONTROL_FINISHED_OK
state	9194	begin surface