Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1165 * 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 1165 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 77.251999 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 277.1322 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 77.251999 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 277.1322 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 1165 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 170421,141309,4708.210,-12501.894,23,1.3,23,15.6 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.52 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -64.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 170421,142208,4708.176,-12501.918,2,0.7,4,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 182.0,342,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 1000

Post-dive calculations and measurements:

SM_CCo 9219.35,0.00,0.009,0,563.4,560.6,566.2,475.04 _10V_AH 14.72,0.000

SM_GC -0.70,0.00,18.85,3.45,0.009,0.074,0.037,563.4,560.6,566.2,171.8,2132.3,0,0,0,30.36,15.13,15.45 FG_AHR_24Vo 277.355

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 77.283

IRIDIUM_FIX 4707.10,-12459.52,170421,113213 MEM 1103752,36,73436,56

TCM_TEMP 174.72 DATA_FILE_SIZE 35466,942

XPDR_PINGS 19,14.0,11.5 CAP_FILE_SIZE 471911,0

SC_FREEKB 3412704 SDSIZE 3918848,3600544

HUMID 58.80 SDFILEDIR 5851,1

TEMP 7.69 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.7735 GPS 170421,165621,4707.061,-12502.125,3,1.4,8,15.5

_24V_AH 14.06,317.382

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 662 1630 15199.45 legato 0 0 0.00

Pitch_motor 40 252 145.04 nil 0 0 0.00

Roll_motor 192 232 628.50 nil 0 0 0.00

Iridium 299 205 863.99 nil 0 0 0.00

Transponder_ping 4 420 28.05 nil 0 0 0.00

GPS 12 15 2.85 nil 0 0 0.00

Core 3613 11 627.70 SciCon 9096 5 688.88

LPSleep 5919 2 243.97 nil 0 0 0.00

Compass 1823 5 134.23 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

8.49 16386 -74.33 -1.59 0.00 559.9 558.4 561.4 170.4 2082.9 0.00 0.00 0 90.31 81.36 0.00 0.00 0.005 0.000 0.000 2408.22 2392.62 2423.81 170.12 2083.00 0 0 0 14.65 30.00 30.00

90.55 18983 -114.22 -1.71 -80.00 2407.9 2391.9 2423.9 170.3 2082.5 3.09 -7.10 8 126.69 12.78 14.22 4.12 0.006 0.253 0.149 2965.56 2964.06 2967.06 1724.00 662.12 0 0 0 14.84 14.82 14.59

223.84 1028 -114.22 -1.71 0.00 2964.9 2963.2 2966.5 1724.6 661.9 32.84 -20.93 35 231.09 0.00 0.00 3.60 0.000 0.000 0.050 2964.84 2963.06 2966.62 1724.62 2119.31 0 0 0 30.00 30.00 15.33

289.98 260 -114.22 -1.71 80.00 2964.5 2962.5 2966.5 1724.6 2119.7 44.41 -17.50 42 295.59 0.00 0.00 3.72 0.000 0.000 0.105 2964.59 2962.62 2966.56 1723.81 3474.88 0 0 0 30.00 30.00 15.12

375.38 1028 -114.22 -1.71 0.00 2964.9 2962.9 2966.9 1724.5 3474.6 59.97 -19.24 59 380.56 0.00 0.00 3.45 0.000 0.000 0.053 2965.31 2963.56 2967.06 1724.75 2082.19 0 0 0 30.00 30.00 15.27

440.00 0 -114.22 -1.71 0.00 2964.6 2962.7 2966.6 1724.2 2082.4 70.24 -15.48 66 441.32 0.00 0.00 0.00 0.000 0.000 0.000 2965.31 2963.06 2967.56 1724.31 2081.88 0 0 0 30.00 30.00 30.00

499.95 0 -114.22 -1.71 0.00 2964.6 2962.2 2967.0 1724.2 2082.1 78.78 -14.12 72 501.28 0.00 0.00 0.00 0.000 0.000 0.000 2963.88 2961.56 2966.19 1724.12 2082.06 0 0 0 30.00 30.00 30.00

559.96 0 -114.22 -1.71 0.00 2965.2 2963.5 2966.8 1724.2 2082.3 86.24 -12.52 78 561.29 0.00 0.00 0.00 0.000 0.000 0.000 2965.31 2963.31 2967.31 1724.31 2081.75 0 0 0 30.00 30.00 30.00

619.96 260 -114.22 -1.71 80.00 2965.0 2963.2 2966.8 1724.7 2081.9 93.48 -12.12 84 625.63 0.00 0.00 3.78 0.000 0.000 0.102 2965.53 2963.12 2967.94 1724.12 3474.50 0 0 0 30.00 30.00 15.08

718.91 1028 -114.22 -1.71 0.00 2965.4 2962.8 2968.1 1724.4 3475.1 107.52 -14.13 104 726.12 0.00 0.00 3.42 0.000 0.000 0.050 2965.50 2963.38 2967.62 1724.56 2080.38 0 0 0 30.00 30.00 15.25

785.03 0 -114.22 -1.71 0.00 2965.1 2962.8 2967.5 1724.2 2080.2 115.32 -12.31 111 786.36 0.00 0.00 0.00 0.000 0.000 0.000 2965.75 2963.50 2968.00 1724.62 2079.94 0 0 0 30.00 30.00 30.00

844.99 0 -114.22 -1.71 0.00 2965.4 2962.9 2967.8 1724.4 2079.7 121.95 -11.28 117 846.32 0.00 0.00 0.00 0.000 0.000 0.000 2965.78 2963.12 2968.44 1724.19 2080.19 0 0 0 30.00 30.00 30.00

904.99 260 -114.22 -1.71 80.00 2965.4 2962.5 2968.2 1724.6 2080.2 129.28 -12.14 123 910.64 0.00 0.00 3.77 0.000 0.000 0.100 2966.34 2963.19 2969.50 1724.00 3473.56 0 0 0 30.00 30.00 15.07

940.43 1028 -114.22 -1.71 0.00 2965.8 2963.0 2968.6 1724.2 3473.9 133.50 -13.26 130 945.61 0.00 0.00 3.40 0.000 0.000 0.049 2965.41 2962.38 2968.44 1723.81 2080.44 0 0 0 30.00 30.00 15.27

1004.99 0 -114.22 -1.71 0.00 2965.5 2962.4 2968.6 1724.2 2079.8 140.91 -11.62 137 1006.32 0.00 0.00 0.00 0.000 0.000 0.000 2966.38 2963.38 2969.38 1724.38 2079.88 0 0 0 30.00 30.00 30.00

1065.01 0 -114.22 -1.71 0.00 2966.0 2963.2 2968.7 1724.5 2080.2 147.70 -11.06 143 1066.35 0.00 0.00 0.00 0.000 0.000 0.000 2966.09 2963.06 2969.12 1724.56 2080.25 0 0 0 30.00 30.00 30.00

1125.01 260 -114.22 -1.71 80.00 2966.0 2963.1 2969.0 1724.1 2080.2 154.37 -11.00 149 1130.67 0.00 0.00 3.76 0.000 0.000 0.100 2966.09 2962.69 2969.50 1723.25 3474.69 0 0 0 30.00 30.00 15.05

1150.50 1028 -114.22 -1.71 0.00 2965.8 2962.9 2968.8 1724.2 3474.8 157.55 -10.93 154 1155.61 0.00 0.00 3.40 0.000 0.000 0.048 2964.53 2962.00 2967.06 1724.31 2079.88 0 0 0 30.00 30.00 15.26

1275.04 0 -114.22 -1.71 0.00 2965.8 2962.8 2968.9 1724.2 2080.1 172.27 -12.48 167 1276.37 0.00 0.00 0.00 0.000 0.000 0.000 2966.12 2962.81 2969.44 1723.94 2080.19 0 0 0 30.00 30.00 30.00

1395.03 260 -114.22 -1.71 80.00 2966.2 2963.1 2969.2 1724.3 2080.1 186.64 -11.84 179 1400.70 0.00 0.00 3.79 0.000 0.000 0.102 2964.91 2961.88 2967.94 1724.62 3474.81 0 0 0 30.00 30.00 15.02

1493.96 1028 -114.22 -1.71 0.00 2965.4 2961.7 2969.1 1724.5 3474.9 200.09 -12.83 199 1501.19 0.00 0.00 3.41 0.000 0.000 0.050 2966.53 2963.44 2969.62 1724.06 2081.38 0 0 0 30.00 30.00 15.21

1620.06 516 -114.22 -1.71 -80.00 2966.0 2962.9 2969.1 1724.3 2081.5 215.32 -12.62 212 1625.79 0.00 0.00 4.14 0.000 0.000 0.143 2966.62 2963.50 2969.75 1724.38 662.00 0 0 0 30.00 30.00 14.92

1655.50 1028 -114.22 -1.71 0.00 2965.8 2962.4 2969.1 1724.5 661.8 219.91 -13.99 219 1660.70 0.00 0.00 3.51 0.000 0.000 0.043 2964.38 2961.00 2967.75 1724.25 2124.00 0 0 0 30.00 30.00 15.35

1780.07 260 -114.22 -1.71 80.00 2966.2 2962.9 2969.5 1724.1 2124.2 235.93 -12.25 232 1785.72 0.00 0.00 3.65 0.000 0.000 0.104 2965.59 2961.81 2969.38 1724.31 3474.62 0 0 0 30.00 30.00 15.02

1829.00 1028 -114.22 -1.71 0.00 2966.2 2962.6 2969.8 1724.2 3474.5 243.00 -14.38 242 1836.19 0.00 0.00 3.39 0.000 0.000 0.048 2967.59 2964.00 2971.19 1723.75 2081.12 0 0 0 30.00 30.00 15.21

1975.08 0 -114.22 -1.71 0.00 2965.9 2962.4 2969.5 1724.1 2080.9 261.07 -12.06 251 1976.40 0.00 0.00 0.00 0.000 0.000 0.000 2965.31 2961.94 2968.69 1724.25 2081.31 0 0 0 30.00 30.00 30.00

2275.08 260 -114.22 -1.71 80.00 2966.0 2962.5 2969.4 1724.3 2080.9 297.10 -11.98 261 2280.77 0.00 0.00 3.82 0.000 0.000 0.106 2964.84 2961.25 2968.44 1724.38 3474.88 0 0 0 30.00 30.00 14.97

2344.05 1028 -114.22 -1.71 0.00 2965.9 2962.2 2969.7 1724.4 3474.5 305.77 -12.25 275 2349.70 0.00 0.00 3.40 0.000 0.000 0.052 2966.22 2962.81 2969.62 1724.19 2081.25 0 0 0 30.00 30.00 15.16

2660.11 0 -114.22 -1.71 0.00 2966.1 2962.8 2969.3 1724.1 2081.0 341.36 -11.26 288 2661.44 0.00 0.00 0.00 0.000 0.000 0.000 2965.09 2962.12 2968.06 1724.44 2081.00 0 0 0 30.00 30.00 30.00

2960.10 260 -114.22 -1.71 80.00 2965.6 2962.4 2968.8 1724.4 2081.1 375.44 -11.80 298 2965.79 0.00 0.00 3.88 0.000 0.000 0.107 2965.09 2962.50 2967.69 1724.31 3475.69 0 0 0 30.00 30.00 14.94

3015.57 1028 -114.22 -1.71 0.00 2965.5 2962.0 2969.1 1724.4 3474.8 382.08 -11.77 309 3020.74 0.00 0.00 3.44 0.000 0.000 0.053 2965.12 2962.00 2968.25 1724.06 2080.75 0 0 0 30.00 30.00 15.16

3340.15 260 -114.22 -1.71 80.00 2966.2 2962.8 2969.6 1724.2 2080.9 422.15 -12.71 324 3345.82 0.00 0.00 3.88 0.000 0.000 0.107 2967.06 2963.31 2970.81 1723.38 3475.81 0 0 0 30.00 30.00 14.92

3429.07 1028 -114.22 -1.71 0.00 2965.5 2961.8 2969.2 1724.5 3475.5 433.51 -13.44 342 3434.77 0.00 0.00 3.44 0.000 0.000 0.053 2966.66 2963.00 2970.31 1724.12 2082.25 0 0 0 30.00 30.00 15.12

3755.19 260 -114.22 -1.71 80.00 2965.4 2962.7 2968.1 1724.8 2083.0 472.14 -11.15 357 3760.87 0.00 0.00 3.88 0.000 0.000 0.109 2967.00 2963.38 2970.62 1723.19 3474.56 0 0 0 30.00 30.00 14.90

3789.09 1028 -114.22 -1.71 0.00 2965.8 2962.2 2969.3 1724.8 3474.4 476.48 -12.39 364 3794.80 0.00 0.00 3.43 0.000 0.000 0.053 2965.69 2963.00 2968.38 1724.31 2082.81 0 0 0 30.00 30.00 15.10

4020 end dive: TARGET_DEPTH_EXCEEDED

state 4020 begin apogee

4021.34 10243 0.00 -0.25 0.00 2964.8 2962.4 2967.2 1724.7 2121.6 501.56 -10.85 375 4120.99 95.42 2.95 0.09 1.631 0.156 0.232 2498.56 2507.69 2489.44 2079.06 2084.44 0 0 0 10.97 14.84 14.85

4124 end apogee: CONTROL_FINISHED_OK

state 4124 begin climb

4124.22 10243 114.22 1.71 0.00 2497.5 2506.6 2488.4 2079.9 2084.3 503.80 0.00 378 4232.98 103.64 3.53 0.00 1.573 0.078 0.000 2034.47 2048.62 2020.31 2559.69 2084.75 0 0 0 11.23 15.06 30.00

4530.23 16966 114.22 1.73 -80.00 2021.7 2040.3 2003.0 2560.0 2084.6 466.15 10.33 392 4535.93 0.00 0.00 4.08 0.000 0.000 0.135 2019.94 2039.00 2000.88 2559.62 662.06 0 0 0 30.00 30.00 15.15

4675.69 17478 114.22 1.77 0.00 2019.9 2037.1 2002.8 2560.0 661.8 448.71 9.80 421 4680.87 0.00 0.00 3.54 0.000 0.000 0.044 2018.28 2035.31 2001.25 2559.94 2125.19 0 0 0 30.00 30.00 15.45

5000.32 10791 137.34 1.84 -80.00 2018.3 2036.9 1999.8 2560.4 2124.8 419.48 8.79 436 5026.46 20.46 0.17 4.09 1.420 0.080 0.131 1938.16 1956.62 1919.69 2600.62 660.94 0 0 0 11.51 15.56 15.23

5115.71 1028 137.34 1.84 0.00 1936.0 1952.8 1919.2 2601.0 660.9 407.19 11.49 459 5120.89 0.00 0.00 3.53 0.000 0.000 0.042 1935.09 1952.00 1918.19 2600.56 2125.25 0 0 0 30.00 30.00 15.50

5440.35 580 137.34 1.89 -80.00 1933.1 1952.5 1913.7 2601.2 2125.3 377.62 9.44 474 5446.00 0.00 0.00 4.14 0.000 0.000 0.129 1933.66 1953.06 1914.25 2600.69 661.06 0 0 0 30.00 30.00 15.14

5569.20 1028 137.34 1.89 0.00 1932.8 1952.1 1913.4 2601.2 660.9 363.17 11.15 500 5574.93 0.00 0.00 3.51 0.000 0.000 0.041 1932.78 1951.75 1913.81 2600.50 2125.50 0 0 0 30.00 30.00 15.44

5885.34 16966 137.34 1.91 -80.00 1931.9 1951.9 1912.0 2600.9 2126.5 330.43 10.54 513 5891.06 0.00 0.00 4.14 0.000 0.000 0.127 1933.56 1952.62 1914.50 2599.94 660.50 0 0 0 30.00 30.00 15.06

6074.26 17414 137.34 1.91 0.00 1931.3 1950.8 1911.9 2600.8 660.7 306.85 13.13 551 6079.96 0.00 0.00 3.51 0.000 0.000 0.041 1932.59 1951.69 1913.50 2600.94 2126.88 0 0 0 30.00 30.00 15.41

6390.37 16450 137.34 1.93 0.00 1930.5 1950.7 1910.3 2600.6 2126.8 274.51 10.38 564 6391.70 0.00 0.00 0.00 0.000 0.000 0.000 1930.78 1950.94 1910.62 2601.62 2126.81 0 0 0 30.00 30.00 30.00

6690.40 16966 137.34 1.96 -80.00 1930.6 1951.1 1910.0 2601.0 2127.8 242.61 10.16 578 6696.10 0.00 0.00 4.17 0.000 0.000 0.126 1930.06 1950.81 1909.31 2600.62 661.00 0 0 0 30.00 30.00 14.98

6839.31 17414 137.34 1.96 0.00 1930.0 1950.4 1909.6 2600.7 660.6 224.70 11.98 608 6846.14 0.00 0.00 3.54 0.000 0.000 0.041 1930.16 1950.44 1909.88 2601.00 2128.94 0 0 0 30.00 30.00 15.38

6965.42 10791 165.20 2.04 -80.00 1930.0 1949.9 1910.1 2601.1 2128.4 213.50 8.31 621 6997.32 25.14 0.23 4.05 1.291 0.071 0.125 1825.06 1845.31 1804.81 2648.25 660.50 0 0 0 11.36 15.58 15.24

7136.07 1028 165.20 2.04 0.00 1821.5 1840.2 1802.8 2648.9 660.6 192.39 13.39 655 7141.21 0.00 0.00 3.51 0.000 0.000 0.040 1822.00 1840.75 1803.25 2648.06 2128.50 0 0 0 30.00 30.00 15.49

7260.61 580 165.20 2.08 -80.00 1819.9 1840.8 1799.1 2648.9 2128.4 179.38 9.90 668 7266.30 0.00 0.00 4.08 0.000 0.000 0.122 1818.41 1839.12 1797.69 2648.88 660.56 0 0 0 30.00 30.00 15.19

7296.03 1028 165.20 2.08 0.00 1819.7 1840.6 1798.9 2649.1 660.7 175.07 12.10 675 7301.21 0.00 0.00 3.48 0.000 0.000 0.039 1819.16 1840.25 1798.06 2648.44 2129.00 0 0 0 30.00 30.00 15.47

7420.62 64 165.20 2.12 0.00 1819.2 1840.2 1798.1 2648.8 2128.4 162.27 9.85 688 7421.95 0.00 0.00 0.00 0.000 0.000 0.000 1819.19 1840.69 1797.69 2648.44 2128.31 0 0 0 30.00 30.00 30.00

7540.63 580 165.20 2.14 -80.00 1818.8 1840.1 1797.4 2649.1 2128.2 149.87 10.46 700 7546.32 0.00 0.00 4.06 0.000 0.000 0.123 1819.22 1840.56 1797.88 2647.56 660.19 0 0 0 30.00 30.00 15.11

7626.07 1028 165.20 2.14 0.00 1818.7 1840.3 1797.1 2648.8 660.3 139.21 12.39 717 7631.24 0.00 0.00 3.47 0.000 0.000 0.040 1817.72 1839.12 1796.31 2649.06 2127.25 0 0 0 30.00 30.00 15.45

7690.64 8226 186.04 2.20 0.00 1818.4 1840.2 1796.6 2648.9 2127.4 132.85 9.02 724 7714.14 22.90 0.00 0.00 1.160 0.000 0.000 1740.94 1763.31 1718.56 2649.25 2127.12 0 0 0 11.57 30.00 30.00

7770.72 2113 186.04 2.25 0.00 1738.9 1761.8 1715.9 2648.9 2127.4 125.26 9.35 732 7772.17 0.00 0.25 0.00 0.000 0.070 0.000 1739.06 1762.12 1716.00 2697.19 2127.25 0 0 0 30.00 15.53 30.00

7830.71 580 186.04 2.27 -80.00 1737.8 1760.6 1714.9 2697.9 2127.4 119.02 10.51 738 7836.36 0.00 0.00 4.03 0.000 0.000 0.121 1736.44 1758.81 1714.06 2697.56 661.38 0 0 0 30.00 30.00 15.24

7996.19 1028 186.04 2.27 0.00 1737.4 1759.7 1715.1 2697.3 661.2 99.15 11.55 771 8001.28 0.00 0.00 3.48 0.000 0.000 0.041 1736.31 1758.62 1714.00 2696.94 2129.00 0 0 0 30.00 30.00 15.46

8060.67 516 186.04 2.27 -80.00 1736.5 1759.4 1713.6 2697.7 2128.3 91.67 11.22 778 8066.40 0.00 0.00 4.04 0.000 0.000 0.118 1735.41 1758.56 1712.25 2697.44 659.69 0 0 0 30.00 30.00 15.15

8119.60 1028 186.04 2.27 0.00 1736.4 1759.5 1713.3 2696.7 659.8 83.58 14.27 790 8126.39 0.00 0.00 3.47 0.000 0.000 0.038 1736.34 1759.19 1713.50 2697.44 2130.88 0 0 0 30.00 30.00 15.46

8185.75 324 186.04 2.30 80.00 1735.9 1759.2 1712.6 2697.8 2131.2 76.92 10.15 797 8191.33 0.00 0.00 3.62 0.000 0.000 0.104 1736.16 1759.81 1712.50 2696.50 3474.62 0 0 0 30.00 30.00 15.18

8404.70 1092 186.04 2.33 0.00 1735.1 1758.2 1712.0 2697.4 3474.6 52.29 10.01 841 8411.42 0.00 0.00 3.38 0.000 0.000 0.047 1735.22 1758.62 1711.81 2697.38 2079.12 0 0 0 30.00 30.00 15.34

8470.81 10791 240.34 2.50 -80.00 1735.0 1758.6 1711.3 2697.3 2079.0 48.57 5.65 848 8537.78 61.08 0.31 3.88 1.105 0.061 0.124 1518.81 1542.81 1494.81 2754.38 660.75 0 0 0 11.49 15.57 15.08

8676.52 9254 276.63 2.61 0.00 1517.1 1539.8 1494.4 2754.7 660.7 34.42 7.46 889 8722.50 40.69 0.00 3.51 1.054 0.000 0.038 1372.66 1397.00 1348.31 2754.25 2134.56 0 0 0 11.51 30.00 15.43

8781.03 10535 307.87 2.70 80.00 1370.2 1395.9 1344.4 2754.6 2134.7 27.27 7.97 904 8822.74 35.44 0.26 3.59 1.023 0.066 0.103 1244.31 1269.31 1219.31 2805.25 3475.06 0 0 0 11.48 15.34 15.00

8864.93 1028 307.87 2.70 0.00 1242.5 1267.9 1217.1 2804.8 3474.8 18.68 10.92 921 8871.71 0.00 0.00 3.39 0.000 0.000 0.047 1242.38 1267.94 1216.81 2805.31 2075.81 0 0 0 30.00 30.00 15.33

8931.09 8226 330.62 2.77 0.00 1241.4 1268.1 1214.8 2805.0 2075.8 12.80 8.83 928 8957.49 25.60 0.00 0.00 0.980 0.000 0.000 1151.34 1177.81 1124.88 2805.00 2075.62 0 0 0 11.49 30.00 30.00

9016.09 516 330.62 2.77 -80.00 1149.8 1177.4 1122.3 2805.3 2075.8 3.46 11.48 937 9021.71 0.00 0.00 3.90 0.000 0.000 0.125 1149.69 1177.00 1122.38 2805.31 661.12 0 0 0 30.00 30.00 15.19

9031 end climb: SURFACE_DEPTH_REACHED

state 9031 begin surface coast

9041 end surface coast: CONTROL_FINISHED_OK

state 9041 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	1165	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	77.251999	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	277.1322	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	170421,141309,4708.210,-12501.894,23,1.3,23,15.6	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.52	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-64.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	170421,142208,4708.176,-12501.918,2,0.7,4,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	182.0,342,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	1000

SM_CCo	9219.35,0.00,0.009,0,563.4,560.6,566.2,475.04	_10V_AH	14.72,0.000
SM_GC	-0.70,0.00,18.85,3.45,0.009,0.074,0.037,563.4,560.6,566.2,171.8,2132.3,0,0,0,30.36,15.13,15.45	FG_AHR_24Vo	277.355
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	77.283
IRIDIUM_FIX	4707.10,-12459.52,170421,113213	MEM	1103752,36,73436,56
TCM_TEMP	174.72	DATA_FILE_SIZE	35466,942
XPDR_PINGS	19,14.0,11.5	CAP_FILE_SIZE	471911,0
SC_FREEKB	3412704	SDSIZE	3918848,3600544
HUMID	58.80	SDFILEDIR	5851,1
TEMP	7.69	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.7735	GPS	170421,165621,4707.061,-12502.125,3,1.4,8,15.5
_24V_AH	14.06,317.382

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	662	1630	15199.45	legato	0	0	0.00
Pitch_motor	40	252	145.04	nil	0	0	0.00
Roll_motor	192	232	628.50	nil	0	0	0.00
Iridium	299	205	863.99	nil	0	0	0.00
Transponder_ping	4	420	28.05	nil	0	0	0.00
GPS	12	15	2.85	nil	0	0	0.00
Core	3613	11	627.70	SciCon	9096	5	688.88
LPSleep	5919	2	243.97	nil	0	0	0.00
Compass	1823	5	134.23	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
8.49	16386	-74.33	-1.59	0.00	559.9	558.4	561.4	170.4	2082.9	0.00	0.00	0	90.31	81.36	0.00	0.00	0.005	0.000	0.000	2408.22	2392.62	2423.81	170.12	2083.00	0	0	0	14.65	30.00	30.00
90.55	18983	-114.22	-1.71	-80.00	2407.9	2391.9	2423.9	170.3	2082.5	3.09	-7.10	8	126.69	12.78	14.22	4.12	0.006	0.253	0.149	2965.56	2964.06	2967.06	1724.00	662.12	0	0	0	14.84	14.82	14.59
223.84	1028	-114.22	-1.71	0.00	2964.9	2963.2	2966.5	1724.6	661.9	32.84	-20.93	35	231.09	0.00	0.00	3.60	0.000	0.000	0.050	2964.84	2963.06	2966.62	1724.62	2119.31	0	0	0	30.00	30.00	15.33
289.98	260	-114.22	-1.71	80.00	2964.5	2962.5	2966.5	1724.6	2119.7	44.41	-17.50	42	295.59	0.00	0.00	3.72	0.000	0.000	0.105	2964.59	2962.62	2966.56	1723.81	3474.88	0	0	0	30.00	30.00	15.12
375.38	1028	-114.22	-1.71	0.00	2964.9	2962.9	2966.9	1724.5	3474.6	59.97	-19.24	59	380.56	0.00	0.00	3.45	0.000	0.000	0.053	2965.31	2963.56	2967.06	1724.75	2082.19	0	0	0	30.00	30.00	15.27
440.00	0	-114.22	-1.71	0.00	2964.6	2962.7	2966.6	1724.2	2082.4	70.24	-15.48	66	441.32	0.00	0.00	0.00	0.000	0.000	0.000	2965.31	2963.06	2967.56	1724.31	2081.88	0	0	0	30.00	30.00	30.00
499.95	0	-114.22	-1.71	0.00	2964.6	2962.2	2967.0	1724.2	2082.1	78.78	-14.12	72	501.28	0.00	0.00	0.00	0.000	0.000	0.000	2963.88	2961.56	2966.19	1724.12	2082.06	0	0	0	30.00	30.00	30.00
559.96	0	-114.22	-1.71	0.00	2965.2	2963.5	2966.8	1724.2	2082.3	86.24	-12.52	78	561.29	0.00	0.00	0.00	0.000	0.000	0.000	2965.31	2963.31	2967.31	1724.31	2081.75	0	0	0	30.00	30.00	30.00
619.96	260	-114.22	-1.71	80.00	2965.0	2963.2	2966.8	1724.7	2081.9	93.48	-12.12	84	625.63	0.00	0.00	3.78	0.000	0.000	0.102	2965.53	2963.12	2967.94	1724.12	3474.50	0	0	0	30.00	30.00	15.08
718.91	1028	-114.22	-1.71	0.00	2965.4	2962.8	2968.1	1724.4	3475.1	107.52	-14.13	104	726.12	0.00	0.00	3.42	0.000	0.000	0.050	2965.50	2963.38	2967.62	1724.56	2080.38	0	0	0	30.00	30.00	15.25
785.03	0	-114.22	-1.71	0.00	2965.1	2962.8	2967.5	1724.2	2080.2	115.32	-12.31	111	786.36	0.00	0.00	0.00	0.000	0.000	0.000	2965.75	2963.50	2968.00	1724.62	2079.94	0	0	0	30.00	30.00	30.00
844.99	0	-114.22	-1.71	0.00	2965.4	2962.9	2967.8	1724.4	2079.7	121.95	-11.28	117	846.32	0.00	0.00	0.00	0.000	0.000	0.000	2965.78	2963.12	2968.44	1724.19	2080.19	0	0	0	30.00	30.00	30.00
904.99	260	-114.22	-1.71	80.00	2965.4	2962.5	2968.2	1724.6	2080.2	129.28	-12.14	123	910.64	0.00	0.00	3.77	0.000	0.000	0.100	2966.34	2963.19	2969.50	1724.00	3473.56	0	0	0	30.00	30.00	15.07
940.43	1028	-114.22	-1.71	0.00	2965.8	2963.0	2968.6	1724.2	3473.9	133.50	-13.26	130	945.61	0.00	0.00	3.40	0.000	0.000	0.049	2965.41	2962.38	2968.44	1723.81	2080.44	0	0	0	30.00	30.00	15.27
1004.99	0	-114.22	-1.71	0.00	2965.5	2962.4	2968.6	1724.2	2079.8	140.91	-11.62	137	1006.32	0.00	0.00	0.00	0.000	0.000	0.000	2966.38	2963.38	2969.38	1724.38	2079.88	0	0	0	30.00	30.00	30.00
1065.01	0	-114.22	-1.71	0.00	2966.0	2963.2	2968.7	1724.5	2080.2	147.70	-11.06	143	1066.35	0.00	0.00	0.00	0.000	0.000	0.000	2966.09	2963.06	2969.12	1724.56	2080.25	0	0	0	30.00	30.00	30.00
1125.01	260	-114.22	-1.71	80.00	2966.0	2963.1	2969.0	1724.1	2080.2	154.37	-11.00	149	1130.67	0.00	0.00	3.76	0.000	0.000	0.100	2966.09	2962.69	2969.50	1723.25	3474.69	0	0	0	30.00	30.00	15.05
1150.50	1028	-114.22	-1.71	0.00	2965.8	2962.9	2968.8	1724.2	3474.8	157.55	-10.93	154	1155.61	0.00	0.00	3.40	0.000	0.000	0.048	2964.53	2962.00	2967.06	1724.31	2079.88	0	0	0	30.00	30.00	15.26
1275.04	0	-114.22	-1.71	0.00	2965.8	2962.8	2968.9	1724.2	2080.1	172.27	-12.48	167	1276.37	0.00	0.00	0.00	0.000	0.000	0.000	2966.12	2962.81	2969.44	1723.94	2080.19	0	0	0	30.00	30.00	30.00
1395.03	260	-114.22	-1.71	80.00	2966.2	2963.1	2969.2	1724.3	2080.1	186.64	-11.84	179	1400.70	0.00	0.00	3.79	0.000	0.000	0.102	2964.91	2961.88	2967.94	1724.62	3474.81	0	0	0	30.00	30.00	15.02
1493.96	1028	-114.22	-1.71	0.00	2965.4	2961.7	2969.1	1724.5	3474.9	200.09	-12.83	199	1501.19	0.00	0.00	3.41	0.000	0.000	0.050	2966.53	2963.44	2969.62	1724.06	2081.38	0	0	0	30.00	30.00	15.21
1620.06	516	-114.22	-1.71	-80.00	2966.0	2962.9	2969.1	1724.3	2081.5	215.32	-12.62	212	1625.79	0.00	0.00	4.14	0.000	0.000	0.143	2966.62	2963.50	2969.75	1724.38	662.00	0	0	0	30.00	30.00	14.92
1655.50	1028	-114.22	-1.71	0.00	2965.8	2962.4	2969.1	1724.5	661.8	219.91	-13.99	219	1660.70	0.00	0.00	3.51	0.000	0.000	0.043	2964.38	2961.00	2967.75	1724.25	2124.00	0	0	0	30.00	30.00	15.35
1780.07	260	-114.22	-1.71	80.00	2966.2	2962.9	2969.5	1724.1	2124.2	235.93	-12.25	232	1785.72	0.00	0.00	3.65	0.000	0.000	0.104	2965.59	2961.81	2969.38	1724.31	3474.62	0	0	0	30.00	30.00	15.02
1829.00	1028	-114.22	-1.71	0.00	2966.2	2962.6	2969.8	1724.2	3474.5	243.00	-14.38	242	1836.19	0.00	0.00	3.39	0.000	0.000	0.048	2967.59	2964.00	2971.19	1723.75	2081.12	0	0	0	30.00	30.00	15.21
1975.08	0	-114.22	-1.71	0.00	2965.9	2962.4	2969.5	1724.1	2080.9	261.07	-12.06	251	1976.40	0.00	0.00	0.00	0.000	0.000	0.000	2965.31	2961.94	2968.69	1724.25	2081.31	0	0	0	30.00	30.00	30.00
2275.08	260	-114.22	-1.71	80.00	2966.0	2962.5	2969.4	1724.3	2080.9	297.10	-11.98	261	2280.77	0.00	0.00	3.82	0.000	0.000	0.106	2964.84	2961.25	2968.44	1724.38	3474.88	0	0	0	30.00	30.00	14.97
2344.05	1028	-114.22	-1.71	0.00	2965.9	2962.2	2969.7	1724.4	3474.5	305.77	-12.25	275	2349.70	0.00	0.00	3.40	0.000	0.000	0.052	2966.22	2962.81	2969.62	1724.19	2081.25	0	0	0	30.00	30.00	15.16
2660.11	0	-114.22	-1.71	0.00	2966.1	2962.8	2969.3	1724.1	2081.0	341.36	-11.26	288	2661.44	0.00	0.00	0.00	0.000	0.000	0.000	2965.09	2962.12	2968.06	1724.44	2081.00	0	0	0	30.00	30.00	30.00
2960.10	260	-114.22	-1.71	80.00	2965.6	2962.4	2968.8	1724.4	2081.1	375.44	-11.80	298	2965.79	0.00	0.00	3.88	0.000	0.000	0.107	2965.09	2962.50	2967.69	1724.31	3475.69	0	0	0	30.00	30.00	14.94
3015.57	1028	-114.22	-1.71	0.00	2965.5	2962.0	2969.1	1724.4	3474.8	382.08	-11.77	309	3020.74	0.00	0.00	3.44	0.000	0.000	0.053	2965.12	2962.00	2968.25	1724.06	2080.75	0	0	0	30.00	30.00	15.16
3340.15	260	-114.22	-1.71	80.00	2966.2	2962.8	2969.6	1724.2	2080.9	422.15	-12.71	324	3345.82	0.00	0.00	3.88	0.000	0.000	0.107	2967.06	2963.31	2970.81	1723.38	3475.81	0	0	0	30.00	30.00	14.92
3429.07	1028	-114.22	-1.71	0.00	2965.5	2961.8	2969.2	1724.5	3475.5	433.51	-13.44	342	3434.77	0.00	0.00	3.44	0.000	0.000	0.053	2966.66	2963.00	2970.31	1724.12	2082.25	0	0	0	30.00	30.00	15.12
3755.19	260	-114.22	-1.71	80.00	2965.4	2962.7	2968.1	1724.8	2083.0	472.14	-11.15	357	3760.87	0.00	0.00	3.88	0.000	0.000	0.109	2967.00	2963.38	2970.62	1723.19	3474.56	0	0	0	30.00	30.00	14.90
3789.09	1028	-114.22	-1.71	0.00	2965.8	2962.2	2969.3	1724.8	3474.4	476.48	-12.39	364	3794.80	0.00	0.00	3.43	0.000	0.000	0.053	2965.69	2963.00	2968.38	1724.31	2082.81	0	0	0	30.00	30.00	15.10
4020	end dive: TARGET_DEPTH_EXCEEDED
state	4020	begin apogee
4021.34	10243	0.00	-0.25	0.00	2964.8	2962.4	2967.2	1724.7	2121.6	501.56	-10.85	375	4120.99	95.42	2.95	0.09	1.631	0.156	0.232	2498.56	2507.69	2489.44	2079.06	2084.44	0	0	0	10.97	14.84	14.85
4124	end apogee: CONTROL_FINISHED_OK
state	4124	begin climb
4124.22	10243	114.22	1.71	0.00	2497.5	2506.6	2488.4	2079.9	2084.3	503.80	0.00	378	4232.98	103.64	3.53	0.00	1.573	0.078	0.000	2034.47	2048.62	2020.31	2559.69	2084.75	0	0	0	11.23	15.06	30.00
4530.23	16966	114.22	1.73	-80.00	2021.7	2040.3	2003.0	2560.0	2084.6	466.15	10.33	392	4535.93	0.00	0.00	4.08	0.000	0.000	0.135	2019.94	2039.00	2000.88	2559.62	662.06	0	0	0	30.00	30.00	15.15
4675.69	17478	114.22	1.77	0.00	2019.9	2037.1	2002.8	2560.0	661.8	448.71	9.80	421	4680.87	0.00	0.00	3.54	0.000	0.000	0.044	2018.28	2035.31	2001.25	2559.94	2125.19	0	0	0	30.00	30.00	15.45
5000.32	10791	137.34	1.84	-80.00	2018.3	2036.9	1999.8	2560.4	2124.8	419.48	8.79	436	5026.46	20.46	0.17	4.09	1.420	0.080	0.131	1938.16	1956.62	1919.69	2600.62	660.94	0	0	0	11.51	15.56	15.23
5115.71	1028	137.34	1.84	0.00	1936.0	1952.8	1919.2	2601.0	660.9	407.19	11.49	459	5120.89	0.00	0.00	3.53	0.000	0.000	0.042	1935.09	1952.00	1918.19	2600.56	2125.25	0	0	0	30.00	30.00	15.50
5440.35	580	137.34	1.89	-80.00	1933.1	1952.5	1913.7	2601.2	2125.3	377.62	9.44	474	5446.00	0.00	0.00	4.14	0.000	0.000	0.129	1933.66	1953.06	1914.25	2600.69	661.06	0	0	0	30.00	30.00	15.14
5569.20	1028	137.34	1.89	0.00	1932.8	1952.1	1913.4	2601.2	660.9	363.17	11.15	500	5574.93	0.00	0.00	3.51	0.000	0.000	0.041	1932.78	1951.75	1913.81	2600.50	2125.50	0	0	0	30.00	30.00	15.44
5885.34	16966	137.34	1.91	-80.00	1931.9	1951.9	1912.0	2600.9	2126.5	330.43	10.54	513	5891.06	0.00	0.00	4.14	0.000	0.000	0.127	1933.56	1952.62	1914.50	2599.94	660.50	0	0	0	30.00	30.00	15.06
6074.26	17414	137.34	1.91	0.00	1931.3	1950.8	1911.9	2600.8	660.7	306.85	13.13	551	6079.96	0.00	0.00	3.51	0.000	0.000	0.041	1932.59	1951.69	1913.50	2600.94	2126.88	0	0	0	30.00	30.00	15.41
6390.37	16450	137.34	1.93	0.00	1930.5	1950.7	1910.3	2600.6	2126.8	274.51	10.38	564	6391.70	0.00	0.00	0.00	0.000	0.000	0.000	1930.78	1950.94	1910.62	2601.62	2126.81	0	0	0	30.00	30.00	30.00
6690.40	16966	137.34	1.96	-80.00	1930.6	1951.1	1910.0	2601.0	2127.8	242.61	10.16	578	6696.10	0.00	0.00	4.17	0.000	0.000	0.126	1930.06	1950.81	1909.31	2600.62	661.00	0	0	0	30.00	30.00	14.98
6839.31	17414	137.34	1.96	0.00	1930.0	1950.4	1909.6	2600.7	660.6	224.70	11.98	608	6846.14	0.00	0.00	3.54	0.000	0.000	0.041	1930.16	1950.44	1909.88	2601.00	2128.94	0	0	0	30.00	30.00	15.38
6965.42	10791	165.20	2.04	-80.00	1930.0	1949.9	1910.1	2601.1	2128.4	213.50	8.31	621	6997.32	25.14	0.23	4.05	1.291	0.071	0.125	1825.06	1845.31	1804.81	2648.25	660.50	0	0	0	11.36	15.58	15.24
7136.07	1028	165.20	2.04	0.00	1821.5	1840.2	1802.8	2648.9	660.6	192.39	13.39	655	7141.21	0.00	0.00	3.51	0.000	0.000	0.040	1822.00	1840.75	1803.25	2648.06	2128.50	0	0	0	30.00	30.00	15.49
7260.61	580	165.20	2.08	-80.00	1819.9	1840.8	1799.1	2648.9	2128.4	179.38	9.90	668	7266.30	0.00	0.00	4.08	0.000	0.000	0.122	1818.41	1839.12	1797.69	2648.88	660.56	0	0	0	30.00	30.00	15.19
7296.03	1028	165.20	2.08	0.00	1819.7	1840.6	1798.9	2649.1	660.7	175.07	12.10	675	7301.21	0.00	0.00	3.48	0.000	0.000	0.039	1819.16	1840.25	1798.06	2648.44	2129.00	0	0	0	30.00	30.00	15.47
7420.62	64	165.20	2.12	0.00	1819.2	1840.2	1798.1	2648.8	2128.4	162.27	9.85	688	7421.95	0.00	0.00	0.00	0.000	0.000	0.000	1819.19	1840.69	1797.69	2648.44	2128.31	0	0	0	30.00	30.00	30.00
7540.63	580	165.20	2.14	-80.00	1818.8	1840.1	1797.4	2649.1	2128.2	149.87	10.46	700	7546.32	0.00	0.00	4.06	0.000	0.000	0.123	1819.22	1840.56	1797.88	2647.56	660.19	0	0	0	30.00	30.00	15.11
7626.07	1028	165.20	2.14	0.00	1818.7	1840.3	1797.1	2648.8	660.3	139.21	12.39	717	7631.24	0.00	0.00	3.47	0.000	0.000	0.040	1817.72	1839.12	1796.31	2649.06	2127.25	0	0	0	30.00	30.00	15.45
7690.64	8226	186.04	2.20	0.00	1818.4	1840.2	1796.6	2648.9	2127.4	132.85	9.02	724	7714.14	22.90	0.00	0.00	1.160	0.000	0.000	1740.94	1763.31	1718.56	2649.25	2127.12	0	0	0	11.57	30.00	30.00
7770.72	2113	186.04	2.25	0.00	1738.9	1761.8	1715.9	2648.9	2127.4	125.26	9.35	732	7772.17	0.00	0.25	0.00	0.000	0.070	0.000	1739.06	1762.12	1716.00	2697.19	2127.25	0	0	0	30.00	15.53	30.00
7830.71	580	186.04	2.27	-80.00	1737.8	1760.6	1714.9	2697.9	2127.4	119.02	10.51	738	7836.36	0.00	0.00	4.03	0.000	0.000	0.121	1736.44	1758.81	1714.06	2697.56	661.38	0	0	0	30.00	30.00	15.24
7996.19	1028	186.04	2.27	0.00	1737.4	1759.7	1715.1	2697.3	661.2	99.15	11.55	771	8001.28	0.00	0.00	3.48	0.000	0.000	0.041	1736.31	1758.62	1714.00	2696.94	2129.00	0	0	0	30.00	30.00	15.46
8060.67	516	186.04	2.27	-80.00	1736.5	1759.4	1713.6	2697.7	2128.3	91.67	11.22	778	8066.40	0.00	0.00	4.04	0.000	0.000	0.118	1735.41	1758.56	1712.25	2697.44	659.69	0	0	0	30.00	30.00	15.15
8119.60	1028	186.04	2.27	0.00	1736.4	1759.5	1713.3	2696.7	659.8	83.58	14.27	790	8126.39	0.00	0.00	3.47	0.000	0.000	0.038	1736.34	1759.19	1713.50	2697.44	2130.88	0	0	0	30.00	30.00	15.46
8185.75	324	186.04	2.30	80.00	1735.9	1759.2	1712.6	2697.8	2131.2	76.92	10.15	797	8191.33	0.00	0.00	3.62	0.000	0.000	0.104	1736.16	1759.81	1712.50	2696.50	3474.62	0	0	0	30.00	30.00	15.18
8404.70	1092	186.04	2.33	0.00	1735.1	1758.2	1712.0	2697.4	3474.6	52.29	10.01	841	8411.42	0.00	0.00	3.38	0.000	0.000	0.047	1735.22	1758.62	1711.81	2697.38	2079.12	0	0	0	30.00	30.00	15.34
8470.81	10791	240.34	2.50	-80.00	1735.0	1758.6	1711.3	2697.3	2079.0	48.57	5.65	848	8537.78	61.08	0.31	3.88	1.105	0.061	0.124	1518.81	1542.81	1494.81	2754.38	660.75	0	0	0	11.49	15.57	15.08
8676.52	9254	276.63	2.61	0.00	1517.1	1539.8	1494.4	2754.7	660.7	34.42	7.46	889	8722.50	40.69	0.00	3.51	1.054	0.000	0.038	1372.66	1397.00	1348.31	2754.25	2134.56	0	0	0	11.51	30.00	15.43
8781.03	10535	307.87	2.70	80.00	1370.2	1395.9	1344.4	2754.6	2134.7	27.27	7.97	904	8822.74	35.44	0.26	3.59	1.023	0.066	0.103	1244.31	1269.31	1219.31	2805.25	3475.06	0	0	0	11.48	15.34	15.00
8864.93	1028	307.87	2.70	0.00	1242.5	1267.9	1217.1	2804.8	3474.8	18.68	10.92	921	8871.71	0.00	0.00	3.39	0.000	0.000	0.047	1242.38	1267.94	1216.81	2805.31	2075.81	0	0	0	30.00	30.00	15.33
8931.09	8226	330.62	2.77	0.00	1241.4	1268.1	1214.8	2805.0	2075.8	12.80	8.83	928	8957.49	25.60	0.00	0.00	0.980	0.000	0.000	1151.34	1177.81	1124.88	2805.00	2075.62	0	0	0	11.49	30.00	30.00
9016.09	516	330.62	2.77	-80.00	1149.8	1177.4	1122.3	2805.3	2075.8	3.46	11.48	937	9021.71	0.00	0.00	3.90	0.000	0.000	0.125	1149.69	1177.00	1122.38	2805.31	661.12	0	0	0	30.00	30.00	15.19
9031	end climb: SURFACE_DEPTH_REACHED
state	9031	begin surface coast
9041	end surface coast: CONTROL_FINISHED_OK
state	9041	begin surface