Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1210 * 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 1210 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 475 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 500 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 FILEMGR 0 C_VBD 2500 DEEPGLIDERMB 0

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 120

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.003 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 2 LOGGERS 1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 150 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 195 T_GPS 5 LOITER_D_TOP 150 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 250 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 1 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 180 RAFOS_PEAK_OFFSET 0 AH0_24V 575 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE -1

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -1 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 190 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3920 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 990 C_PITCH 2140 FG_AHR_10V 78.766418 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 287.65677 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 180 PITCH_GAIN 20 PRESSURE_YINT -170.66119 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00022638284 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72660 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 0 PITCH_W_GAIN 3 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 7.0

KALMAN_USE 2 ROLL_MIN 670 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 7.0

HD_A 0.003 ROLL_MAX 3465 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0099900002 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 1.6e-05 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2100 ALTIM_PULSE 2

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 575 D_SURF 2 N_NOCOMM 2 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 500 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 475

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 78.766418 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 287.65677 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 1210 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 1010 MINV_24V 11 SC_PROFILE 7.0 XPDR_DEVICE 21

D_BOOST 2 MISSION 2 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 7.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 0 SEABIRD_C_G -10 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 4

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 990 N_DIVES 0 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 220421,192020,4707.424,-12501.338,1,1.1,8,15.5 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.54 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -61.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 220421,192752,4707.311,-12501.380,2,0.8,3,15.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 313.0,1497,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 593

Post-dive calculations and measurements:

SM_CCo 9388.69,0.22,0.157,0,564.7,560.1,569.2,474.74 _10V_AH 14.57,0.000

SM_GC -0.75,0.22,19.65,3.38,0.157,0.077,0.043,564.7,560.1,569.2,171.6,2076.4,0,0,0,14.91,14.99,15.23 FG_AHR_24Vo 287.883

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 78.798

IRIDIUM_FIX 4707.34,-12515.34,220421,163150 MEM 1103692,39,73436,56

TCM_TEMP 176.32 DATA_FILE_SIZE 35458,963

XPDR_PINGS 17,14.0,11.5 CAP_FILE_SIZE 521284,0

SC_FREEKB 3395424 SDSIZE 3918848,3587776

HUMID 59.09 SDFILEDIR 6076,1

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

INTERNAL_PRESSURE 7.78429 GPS 220421,220520,4707.364,-12501.246,21,0.9,32,15.5

_24V_AH 13.50,328.734

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 676 2553 23314.37 legato 0 0 0.00

Pitch_motor 43 244 142.50 nil 0 0 0.00

Roll_motor 243 223 732.94 nil 0 0 0.00

Iridium 199 203 548.37 nil 0 0 0.00

Transponder_ping 4 420 24.10 nil 0 0 0.00

GPS 12 15 2.80 nil 0 0 0.00

Core 3592 11 617.65 SciCon 9290 5 683.95

LPSleep 6028 2 245.93 nil 0 0 0.00

Compass 1837 5 133.85 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8.58 16386 -74.33 -1.59 0.00 559.2 559.3 559.1 170.2 2079.9 0.00 0.00 0 100.55 91.57 0.00 0.00 0.005 0.000 0.000 2696.88 2681.75 2712.00 170.44 2080.00 0 0 0 13.28 30.00 30.00

100.77 18435 -74.33 -1.59 0.00 2695.9 2680.6 2711.3 170.3 2080.2 4.83 -10.48 9 121.59 2.19 14.72 0.00 0.015 0.245 0.000 2801.72 2795.62 2807.81 1754.38 2080.25 0 0 0 13.37 14.82 30.00

178.71 260 -74.33 -1.59 80.00 2802.3 2796.6 2808.1 1754.4 2079.8 20.64 -16.15 17 184.35 0.00 0.00 3.87 0.000 0.000 0.106 2802.75 2796.94 2808.56 1753.31 3474.50 0 0 0 30.00 30.00 15.09

243.68 1028 -74.33 -1.59 0.00 2802.6 2797.3 2807.8 1754.3 3473.8 31.85 -16.35 30 248.29 0.00 0.00 3.45 0.000 0.000 0.051 2803.84 2798.88 2808.81 1753.56 2080.50 0 0 0 30.00 30.00 15.20

313.69 260 -74.33 -1.59 80.00 2802.5 2797.2 2807.8 1754.4 2080.8 41.48 -13.38 38 319.38 0.00 0.00 3.81 0.000 0.000 0.098 2804.66 2799.38 2809.94 1753.81 3474.50 0 0 0 30.00 30.00 15.06

322.62 1028 -74.33 -1.59 0.00 2802.7 2797.4 2808.0 1753.8 3474.5 42.69 -13.36 40 329.40 0.00 0.00 3.42 0.000 0.000 0.046 2802.84 2797.44 2808.25 1754.25 2080.19 0 0 0 30.00 30.00 15.20

388.75 260 -74.33 -1.59 80.00 2802.6 2797.2 2808.0 1754.2 2080.1 51.77 -13.80 47 394.36 0.00 0.00 3.79 0.000 0.000 0.097 2801.03 2795.50 2806.56 1754.69 3475.62 0 0 0 30.00 30.00 15.05

454.17 1028 -74.33 -1.59 0.00 2802.6 2796.8 2808.4 1754.0 3474.7 60.54 -13.28 60 459.32 0.00 0.00 3.41 0.000 0.000 0.047 2803.62 2797.75 2809.50 1753.50 2081.19 0 0 0 30.00 30.00 15.20

518.77 516 -74.33 -1.59 -80.00 2802.9 2797.2 2808.6 1753.9 2080.8 68.36 -12.10 67 524.44 0.00 0.00 4.11 0.000 0.000 0.140 2805.62 2799.75 2811.50 1753.88 661.81 0 0 0 30.00 30.00 14.95

574.20 1028 -74.33 -1.59 0.00 2802.8 2797.2 2808.5 1753.6 661.6 75.89 -14.05 78 579.39 0.00 0.00 3.50 0.000 0.000 0.041 2804.16 2798.06 2810.25 1753.88 2124.38 0 0 0 30.00 30.00 15.28

638.77 516 -74.33 -1.59 -80.00 2802.6 2797.2 2808.1 1753.9 2124.3 82.90 -10.40 85 644.47 0.00 0.00 4.18 0.000 0.000 0.136 2801.16 2795.56 2806.75 1754.38 660.62 0 0 0 30.00 30.00 14.95

667.63 1028 -74.33 -1.59 0.00 2803.4 2798.2 2808.5 1754.2 660.9 86.24 -10.19 91 674.43 0.00 0.00 3.49 0.000 0.000 0.040 2802.84 2797.69 2808.00 1754.12 2124.56 0 0 0 30.00 30.00 15.27

733.79 16678 -95.52 -1.65 80.00 2802.9 2797.1 2808.8 1754.1 2124.4 92.47 -8.98 98 739.41 0.62 0.00 3.60 0.036 0.000 0.102 2889.31 2888.06 2890.56 1754.31 3476.19 0 0 0 14.71 30.00 14.67

782.65 1028 -95.52 -1.65 0.00 2891.2 2890.1 2892.2 1754.2 3476.4 97.38 -10.75 108 789.42 0.00 0.00 3.38 0.000 0.000 0.046 2891.28 2890.06 2892.50 1753.88 2079.94 0 0 0 30.00 30.00 15.20

848.80 20775 -119.69 -1.73 80.00 2891.3 2890.1 2892.6 1754.1 2079.8 103.08 -8.68 115 855.54 0.64 0.33 3.70 0.035 0.059 0.099 2987.75 2989.81 2985.69 1704.00 3476.12 0 0 0 14.75 15.43 14.67

893.76 1028 -119.69 -1.73 0.00 2989.4 2990.8 2988.1 1703.4 3475.7 108.30 -12.56 124 898.36 0.00 0.00 3.39 0.000 0.000 0.047 2989.59 2991.00 2988.19 1703.12 2078.88 0 0 0 30.00 30.00 15.22

963.76 0 -119.69 -1.73 0.00 2989.6 2990.4 2988.7 1704.2 2079.1 116.68 -11.87 132 965.09 0.00 0.00 0.00 0.000 0.000 0.000 2990.19 2991.50 2988.88 1703.31 2078.88 0 0 0 30.00 30.00 30.00

1023.78 260 -119.69 -1.73 80.00 2989.6 2990.4 2988.9 1703.6 2079.7 123.50 -11.46 138 1029.43 0.00 0.00 3.74 0.000 0.000 0.097 2991.41 2992.25 2990.56 1704.06 3476.75 0 0 0 30.00 30.00 15.03

1062.69 1028 -119.69 -1.73 0.00 2990.1 2990.8 2989.4 1703.8 3477.2 128.89 -13.48 146 1069.47 0.00 0.00 3.38 0.000 0.000 0.046 2990.03 2991.00 2989.06 1703.75 2079.31 0 0 0 30.00 30.00 15.17

1128.83 0 -119.69 -1.73 0.00 2989.8 2990.7 2988.8 1704.1 2079.2 136.83 -12.36 153 1130.16 0.00 0.00 0.00 0.000 0.000 0.000 2990.38 2991.00 2989.75 1703.81 2079.81 0 0 0 30.00 30.00 30.00

1188.79 0 -119.69 -1.73 0.00 2990.2 2990.9 2989.4 1703.7 2079.4 144.57 -12.73 159 1190.12 0.00 0.00 0.00 0.000 0.000 0.000 2990.00 2990.88 2989.12 1704.12 2079.31 0 0 0 30.00 30.00 30.00

1248.80 0 -119.69 -1.73 0.00 2989.9 2990.4 2989.4 1703.5 2079.9 152.02 -12.69 165 1250.13 0.00 0.00 0.00 0.000 0.000 0.000 2990.38 2991.19 2989.56 1703.81 2079.44 0 0 0 30.00 30.00 30.00

1368.80 260 -119.69 -1.73 80.00 2989.9 2990.5 2989.3 1703.9 2079.6 167.16 -12.78 177 1374.46 0.00 0.00 3.78 0.000 0.000 0.099 2990.81 2991.69 2989.94 1703.44 3476.06 0 0 0 30.00 30.00 14.98

1437.73 1028 -119.69 -1.73 0.00 2990.2 2990.4 2990.1 1703.2 3476.4 177.46 -14.54 191 1444.52 0.00 0.00 3.42 0.000 0.000 0.049 2991.78 2991.94 2991.62 1703.88 2079.69 0 0 0 30.00 30.00 15.12

1563.84 0 -119.69 -1.73 0.00 2990.2 2990.8 2989.6 1703.3 2079.9 193.70 -13.02 204 1565.16 0.00 0.00 0.00 0.000 0.000 0.000 2990.69 2990.94 2990.44 1703.56 2080.06 0 0 0 30.00 30.00 30.00

1683.84 260 -119.69 -1.73 80.00 2990.0 2990.4 2989.7 1703.7 2079.5 208.20 -12.04 216 1689.52 0.00 0.00 3.83 0.000 0.000 0.101 2988.59 2989.25 2987.94 1703.50 3476.25 0 0 0 30.00 30.00 14.96

1758.91 1028 -119.69 -1.73 0.00 2990.4 2991.0 2989.9 1703.9 3476.8 218.34 -14.02 231 1763.45 0.00 0.00 3.44 0.000 0.000 0.051 2990.50 2990.69 2990.31 1703.81 2080.81 0 0 0 30.00 30.00 15.12

1888.86 260 -119.69 -1.73 80.00 2990.0 2990.2 2989.8 1704.0 2081.2 233.54 -11.35 245 1894.52 0.00 0.00 3.79 0.000 0.000 0.100 2989.00 2989.75 2988.25 1704.06 3475.94 0 0 0 30.00 30.00 14.96

1913.91 1028 -119.69 -1.73 0.00 2989.9 2990.1 2989.8 1703.6 3475.4 236.91 -11.81 250 1918.46 0.00 0.00 3.40 0.000 0.000 0.049 2990.41 2991.00 2989.81 1703.69 2080.62 0 0 0 30.00 30.00 15.13

2043.88 516 -119.69 -1.73 -80.00 2990.2 2990.8 2989.6 1703.2 2081.3 251.03 -10.37 264 2049.59 0.00 0.00 4.10 0.000 0.000 0.143 2988.91 2989.62 2988.19 1703.19 660.50 0 0 0 30.00 30.00 14.85

2057.84 1028 -119.69 -1.73 0.00 2990.3 2990.5 2990.2 1703.4 660.9 252.79 -10.31 267 2063.50 0.00 0.00 3.51 0.000 0.000 0.043 2990.28 2990.12 2990.44 1702.94 2125.06 0 0 0 30.00 30.00 15.23

2368.89 260 -119.69 -1.73 80.00 2990.2 2990.8 2989.6 1703.3 2125.2 287.43 -11.22 279 2374.53 0.00 0.00 3.63 0.000 0.000 0.104 2992.72 2992.62 2992.81 1703.38 3477.62 0 0 0 30.00 30.00 14.94

2462.80 1028 -119.69 -1.73 0.00 2989.7 2990.4 2989.0 1702.8 3477.1 299.34 -13.44 298 2468.50 0.00 0.00 3.41 0.000 0.000 0.049 2991.78 2991.88 2991.69 1702.81 2081.06 0 0 0 30.00 30.00 15.07

2783.91 260 -119.69 -1.73 80.00 2990.3 2990.7 2989.9 1703.4 2081.0 334.89 -11.25 312 2789.59 0.00 0.00 3.82 0.000 0.000 0.103 2992.19 2992.62 2991.75 1703.44 3474.81 0 0 0 30.00 30.00 14.92

2862.82 1028 -119.69 -1.73 0.00 2989.7 2990.1 2989.3 1703.2 3475.4 344.75 -12.60 328 2869.62 0.00 0.00 3.43 0.000 0.000 0.051 2991.25 2991.94 2990.56 1703.62 2083.25 0 0 0 30.00 30.00 15.05

3168.92 260 -119.69 -1.73 80.00 2990.1 2990.2 2989.9 1703.0 2083.0 379.96 -11.34 339 3174.60 0.00 0.00 3.83 0.000 0.000 0.105 2989.09 2989.94 2988.25 1703.38 3475.19 0 0 0 30.00 30.00 14.90

3237.91 1028 -119.69 -1.73 0.00 2989.6 2990.4 2988.8 1703.3 3475.0 388.74 -12.80 353 3243.54 0.00 0.00 3.43 0.000 0.000 0.051 2990.00 2990.38 2989.62 1703.69 2081.50 0 0 0 30.00 30.00 15.04

3553.96 260 -119.69 -1.73 80.00 2990.0 2990.4 2989.7 1703.2 2081.7 425.60 -11.79 366 3559.62 0.00 0.00 3.84 0.000 0.000 0.106 2990.44 2990.94 2989.94 1702.88 3475.06 0 0 0 30.00 30.00 14.89

3597.86 1028 -119.69 -1.73 0.00 2989.5 2990.2 2988.9 1703.1 3476.2 431.54 -13.46 375 3603.56 0.00 0.00 3.44 0.000 0.000 0.052 2991.59 2991.50 2991.69 1703.00 2080.88 0 0 0 30.00 30.00 15.03

3908.96 0 -119.69 -1.73 0.00 2989.8 2990.4 2989.1 1703.6 2081.4 468.33 -11.47 387 3910.29 0.00 0.00 0.00 0.000 0.000 0.000 2990.12 2990.69 2989.56 1703.12 2080.75 0 0 0 30.00 30.00 30.00

4208 end dive: TARGET_DEPTH_EXCEEDED

state 4208 begin apogee

4210.10 10243 0.00 -0.25 0.00 2989.0 2989.9 2988.1 1703.2 2123.2 502.78 -11.29 397 4315.48 100.61 3.35 0.09 1.628 0.160 0.223 2499.69 2509.44 2489.94 2079.06 2083.12 0 0 0 10.96 14.75 14.68

4318 end apogee: CONTROL_FINISHED_OK

state 4318 begin climb

4318.79 10759 119.69 1.73 -80.00 2497.5 2507.6 2487.4 2079.5 2082.1 506.04 0.00 400 4441.45 110.44 3.65 4.30 1.568 0.077 0.135 2009.03 2023.12 1994.94 2564.12 661.19 0 0 0 11.18 14.89 14.25

4500.12 1028 119.69 1.73 0.00 2004.8 2019.4 1990.2 2564.2 660.8 494.24 11.95 436 4505.33 0.00 0.00 3.64 0.000 0.000 0.042 2006.00 2020.12 1991.88 2563.50 2124.00 0 0 0 30.00 30.00 14.88

4824.75 16966 119.69 1.77 -80.00 1999.5 2017.9 1981.0 2563.8 2124.1 462.30 9.66 451 4830.42 0.00 0.00 4.16 0.000 0.000 0.130 1997.69 2015.88 1979.50 2563.50 660.88 0 0 0 30.00 30.00 15.07

5030.18 17478 119.69 1.79 0.00 1997.6 2014.9 1980.4 2564.0 660.3 440.02 10.52 492 5035.35 0.00 0.00 3.53 0.000 0.000 0.042 1997.69 2014.44 1980.94 2564.12 2126.00 0 0 0 30.00 30.00 15.35

5354.79 16966 119.69 1.85 -80.00 1995.5 2014.6 1976.4 2564.0 2126.1 410.07 9.19 507 5360.46 0.00 0.00 4.18 0.000 0.000 0.128 1997.53 2016.31 1978.75 2563.25 660.38 0 0 0 30.00 30.00 15.08

5483.65 17414 119.69 1.85 0.00 1994.6 2013.1 1976.0 2563.1 660.8 396.85 11.09 533 5489.37 0.00 0.00 3.52 0.000 0.000 0.041 1996.91 2015.00 1978.81 2564.19 2125.25 0 0 0 30.00 30.00 15.32

5799.78 10275 150.73 1.94 0.00 1994.9 2014.0 1975.8 2564.1 2124.9 371.35 7.99 546 5830.44 27.32 0.31 0.00 1.427 0.061 0.000 1886.91 1907.12 1866.69 2623.00 2125.38 0 0 0 11.37 15.46 30.00

6129.76 516 150.73 1.94 -80.00 1879.1 1901.7 1856.6 2622.8 2125.3 336.25 11.36 557 6135.49 0.00 0.00 4.18 0.000 0.000 0.127 1878.56 1900.94 1856.19 2621.00 660.56 0 0 0 30.00 30.00 15.09

6263.68 1028 150.73 1.94 0.00 1877.7 1898.9 1856.5 2623.4 661.0 318.46 11.86 584 6269.40 0.00 0.00 3.52 0.000 0.000 0.042 1877.81 1899.00 1856.62 2623.44 2126.06 0 0 0 30.00 30.00 15.34

6574.79 16902 150.73 1.94 -80.00 1876.8 1898.7 1854.8 2622.9 2125.9 282.97 11.59 596 6580.52 0.00 0.00 4.20 0.000 0.000 0.125 1875.66 1897.56 1853.75 2623.38 661.94 0 0 0 30.00 30.00 15.03

6638.76 17414 150.73 1.94 0.00 1876.2 1897.9 1854.6 2623.1 662.0 273.81 15.41 609 6644.42 0.00 0.00 3.53 0.000 0.000 0.042 1876.06 1897.50 1854.62 2622.38 2126.81 0 0 0 30.00 30.00 15.32

6949.82 16902 150.73 1.94 -80.00 1876.0 1897.8 1854.1 2623.2 2126.8 236.38 11.28 630 6955.57 0.00 0.00 4.21 0.000 0.000 0.125 1876.34 1898.25 1854.44 2622.81 662.00 0 0 0 30.00 30.00 15.00

7118.74 17414 150.73 1.94 0.00 1875.8 1897.8 1853.8 2623.0 661.9 214.94 13.55 664 7125.58 0.00 0.00 3.55 0.000 0.000 0.043 1877.72 1899.56 1855.88 2623.00 2127.88 0 0 0 30.00 30.00 15.29

7244.87 16450 150.73 1.98 0.00 1875.5 1897.6 1853.4 2623.3 2127.2 202.48 9.91 677 7246.20 0.00 0.00 0.00 0.000 0.000 0.000 1875.81 1897.88 1853.75 2622.44 2127.69 0 0 0 30.00 30.00 30.00

7364.88 16966 150.73 2.02 -80.00 1875.4 1897.4 1853.4 2622.6 2127.3 190.82 9.69 689 7370.59 0.00 0.00 4.20 0.000 0.000 0.123 1874.44 1896.69 1852.19 2622.75 661.62 0 0 0 30.00 30.00 14.98

7400.31 17414 150.73 2.02 0.00 1875.7 1897.9 1853.4 2623.3 661.6 186.86 11.34 696 7405.50 0.00 0.00 3.51 0.000 0.000 0.039 1875.81 1897.44 1854.19 2622.75 2128.00 0 0 0 30.00 30.00 15.34

7524.90 16710 150.73 2.05 80.00 1875.4 1897.5 1853.3 2623.1 2128.2 174.42 9.94 709 7530.52 0.00 0.00 3.66 0.000 0.000 0.104 1875.78 1898.19 1853.38 2623.62 3473.56 0 0 0 30.00 30.00 15.03

7550.40 17414 150.73 2.05 0.00 1875.0 1897.2 1852.8 2622.8 3472.6 171.45 10.64 714 7555.49 0.00 0.00 3.41 0.000 0.000 0.046 1874.75 1896.94 1852.56 2622.56 2076.94 0 0 0 30.00 30.00 15.24

7674.91 10791 174.74 2.13 -80.00 1875.0 1897.2 1852.8 2623.5 2077.2 160.48 8.70 727 7706.66 22.75 0.22 3.92 1.208 0.080 0.126 1788.06 1809.81 1766.31 2664.06 660.69 0 0 0 11.32 15.44 15.18

7815.35 1028 174.74 2.13 0.00 1783.4 1803.0 1763.8 2663.9 660.8 142.36 13.68 755 7820.52 0.00 0.00 3.49 0.000 0.000 0.039 1784.47 1803.38 1765.56 2664.31 2128.88 0 0 0 30.00 30.00 15.43

7879.90 0 174.74 2.13 0.00 1782.0 1802.6 1761.4 2663.4 2128.2 134.62 11.65 762 7881.23 0.00 0.00 0.00 0.000 0.000 0.000 1782.44 1803.12 1761.75 2664.19 2128.88 0 0 0 30.00 30.00 30.00

7939.92 0 174.74 2.13 0.00 1781.5 1802.7 1760.4 2663.8 2128.2 128.11 10.61 768 7941.25 0.00 0.00 0.00 0.000 0.000 0.000 1782.00 1803.62 1760.38 2664.12 2128.12 0 0 0 30.00 30.00 30.00

7999.94 64 174.74 2.18 0.00 1781.2 1803.0 1759.4 2663.6 2128.7 122.19 9.37 774 8001.27 0.00 0.00 0.00 0.000 0.000 0.000 1781.69 1803.44 1759.94 2664.06 2128.62 0 0 0 30.00 30.00 30.00

8059.94 64 174.74 2.19 0.00 1781.2 1803.4 1759.1 2664.0 2128.2 115.68 10.57 780 8061.27 0.00 0.00 0.00 0.000 0.000 0.000 1781.12 1803.06 1759.19 2663.81 2128.12 0 0 0 30.00 30.00 30.00

8119.95 580 174.74 2.22 -80.00 1780.8 1802.8 1758.8 2663.9 2128.5 109.65 10.28 786 8125.68 0.00 0.00 4.12 0.000 0.000 0.121 1779.72 1802.31 1757.12 2664.31 661.88 0 0 0 30.00 30.00 15.08

8185.43 1028 174.74 2.22 0.00 1781.0 1803.1 1758.9 2663.4 661.9 102.47 11.52 799 8190.56 0.00 0.00 3.51 0.000 0.000 0.040 1780.59 1802.31 1758.88 2664.06 2128.56 0 0 0 30.00 30.00 15.36

8249.95 10535 194.71 2.28 80.00 1780.7 1803.2 1758.2 2664.2 2128.3 96.31 9.10 806 8281.67 24.96 0.19 3.60 1.109 0.081 0.104 1705.56 1728.38 1682.75 2703.50 3474.94 0 0 0 11.44 15.45 15.17

8300.41 1092 194.71 2.33 0.00 1703.8 1725.7 1681.9 2703.7 3475.1 91.39 9.50 816 8305.57 0.00 0.00 3.40 0.000 0.000 0.045 1702.62 1724.62 1680.62 2703.44 2075.00 0 0 0 30.00 30.00 15.35

8364.95 516 194.71 2.33 -80.00 1702.7 1725.6 1679.8 2703.0 2074.6 84.43 10.72 823 8370.66 0.00 0.00 3.92 0.000 0.000 0.124 1701.81 1724.75 1678.88 2703.62 660.69 0 0 0 30.00 30.00 15.16

8473.89 1028 194.71 2.33 0.00 1702.2 1725.1 1679.4 2704.2 660.8 70.90 11.52 845 8480.68 0.00 0.00 3.48 0.000 0.000 0.039 1702.28 1725.06 1679.50 2703.38 2131.81 0 0 0 30.00 30.00 15.39

8540.07 8486 214.97 2.39 80.00 1701.9 1725.0 1678.9 2704.1 2131.9 64.73 9.07 852 8571.22 24.72 0.00 3.58 1.074 0.000 0.104 1621.88 1645.38 1598.38 2703.94 3475.06 0 0 0 11.44 30.00 15.14

8573.96 3141 214.97 2.43 0.00 1621.6 1645.1 1598.1 2703.6 3474.2 61.43 9.64 858 8580.72 0.00 0.17 3.38 0.000 0.080 0.044 1622.31 1645.69 1598.94 2741.12 2074.88 0 0 0 30.00 15.17 15.34

8640.00 580 214.97 2.45 -80.00 1620.7 1644.7 1596.8 2742.1 2075.1 54.46 10.45 865 8645.67 0.00 0.00 3.88 0.000 0.000 0.121 1619.81 1643.75 1595.88 2742.38 660.75 0 0 0 30.00 30.00 15.15

8735.47 1092 214.97 2.49 0.00 1620.2 1643.7 1596.7 2741.9 660.8 44.42 10.01 884 8740.62 0.00 0.00 3.48 0.000 0.000 0.037 1619.12 1642.50 1595.75 2742.00 2130.69 0 0 0 30.00 30.00 15.40

8800.02 10791 252.05 2.60 -80.00 1619.7 1643.5 1595.9 2742.6 2132.1 39.64 7.38 891 8851.91 42.56 0.18 4.01 1.070 0.080 0.117 1471.91 1495.81 1448.00 2778.88 659.56 0 0 0 11.46 15.43 15.04

8854.18 9254 295.20 2.73 0.00 1471.8 1495.6 1448.0 2779.0 659.5 35.86 6.77 902 8907.83 48.97 0.00 3.50 1.037 0.000 0.036 1297.75 1322.31 1273.19 2778.75 2132.44 0 0 0 11.46 30.00 15.31

8965.28 260 295.20 2.73 80.00 1293.6 1319.4 1267.8 2778.9 2132.8 24.61 10.82 918 8970.89 0.00 0.00 3.59 0.000 0.000 0.103 1292.91 1318.69 1267.12 2778.81 3474.50 0 0 0 30.00 30.00 15.08

9040.33 1028 295.20 2.73 0.00 1291.8 1318.2 1265.2 2779.4 3475.0 15.27 11.24 933 9044.89 0.00 0.00 3.41 0.000 0.000 0.045 1291.56 1318.12 1265.00 2778.94 2072.50 0 0 0 30.00 30.00 15.24

9110.29 10535 344.14 2.87 80.00 1291.1 1318.4 1263.8 2778.9 2072.9 10.71 6.19 941 9168.10 52.12 0.37 3.76 1.015 0.062 0.099 1096.69 1122.12 1071.25 2845.44 3474.50 0 0 0 11.34 15.33 14.96

9210 end climb: SURFACE_DEPTH_REACHED

state 9210 begin surface coast

9220 end surface coast: CONTROL_FINISHED_OK

state 9220 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	1210	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	475	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	500	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	FILEMGR	0	C_VBD	2500	DEEPGLIDERMB	0
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	120
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.003	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	2	LOGGERS	1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	150	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	195	T_GPS	5	LOITER_D_TOP	150	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	250	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	1	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	180	RAFOS_PEAK_OFFSET	0	AH0_24V	575	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	-1
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-1	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	190	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3920	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	990	C_PITCH	2140	FG_AHR_10V	78.766418	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	287.65677	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	180	PITCH_GAIN	20	PRESSURE_YINT	-170.66119	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00022638284	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72660	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	0	PITCH_W_GAIN	3	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	7.0
KALMAN_USE	2	ROLL_MIN	670	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	7.0
HD_A	0.003	ROLL_MAX	3465	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0099900002	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	2

GPS1	220421,192020,4707.424,-12501.338,1,1.1,8,15.5	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.54	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-61.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	220421,192752,4707.311,-12501.380,2,0.8,3,15.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	313.0,1497,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	593

SM_CCo	9388.69,0.22,0.157,0,564.7,560.1,569.2,474.74	_10V_AH	14.57,0.000
SM_GC	-0.75,0.22,19.65,3.38,0.157,0.077,0.043,564.7,560.1,569.2,171.6,2076.4,0,0,0,14.91,14.99,15.23	FG_AHR_24Vo	287.883
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	78.798
IRIDIUM_FIX	4707.34,-12515.34,220421,163150	MEM	1103692,39,73436,56
TCM_TEMP	176.32	DATA_FILE_SIZE	35458,963
XPDR_PINGS	17,14.0,11.5	CAP_FILE_SIZE	521284,0
SC_FREEKB	3395424	SDSIZE	3918848,3587776
HUMID	59.09	SDFILEDIR	6076,1
TEMP	7.78	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78429	GPS	220421,220520,4707.364,-12501.246,21,0.9,32,15.5
_24V_AH	13.50,328.734

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	676	2553	23314.37	legato	0	0	0.00
Pitch_motor	43	244	142.50	nil	0	0	0.00
Roll_motor	243	223	732.94	nil	0	0	0.00
Iridium	199	203	548.37	nil	0	0	0.00
Transponder_ping	4	420	24.10	nil	0	0	0.00
GPS	12	15	2.80	nil	0	0	0.00
Core	3592	11	617.65	SciCon	9290	5	683.95
LPSleep	6028	2	245.93	nil	0	0	0.00
Compass	1837	5	133.85	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8.58	16386	-74.33	-1.59	0.00	559.2	559.3	559.1	170.2	2079.9	0.00	0.00	0	100.55	91.57	0.00	0.00	0.005	0.000	0.000	2696.88	2681.75	2712.00	170.44	2080.00	0	0	0	13.28	30.00	30.00
100.77	18435	-74.33	-1.59	0.00	2695.9	2680.6	2711.3	170.3	2080.2	4.83	-10.48	9	121.59	2.19	14.72	0.00	0.015	0.245	0.000	2801.72	2795.62	2807.81	1754.38	2080.25	0	0	0	13.37	14.82	30.00
178.71	260	-74.33	-1.59	80.00	2802.3	2796.6	2808.1	1754.4	2079.8	20.64	-16.15	17	184.35	0.00	0.00	3.87	0.000	0.000	0.106	2802.75	2796.94	2808.56	1753.31	3474.50	0	0	0	30.00	30.00	15.09
243.68	1028	-74.33	-1.59	0.00	2802.6	2797.3	2807.8	1754.3	3473.8	31.85	-16.35	30	248.29	0.00	0.00	3.45	0.000	0.000	0.051	2803.84	2798.88	2808.81	1753.56	2080.50	0	0	0	30.00	30.00	15.20
313.69	260	-74.33	-1.59	80.00	2802.5	2797.2	2807.8	1754.4	2080.8	41.48	-13.38	38	319.38	0.00	0.00	3.81	0.000	0.000	0.098	2804.66	2799.38	2809.94	1753.81	3474.50	0	0	0	30.00	30.00	15.06
322.62	1028	-74.33	-1.59	0.00	2802.7	2797.4	2808.0	1753.8	3474.5	42.69	-13.36	40	329.40	0.00	0.00	3.42	0.000	0.000	0.046	2802.84	2797.44	2808.25	1754.25	2080.19	0	0	0	30.00	30.00	15.20
388.75	260	-74.33	-1.59	80.00	2802.6	2797.2	2808.0	1754.2	2080.1	51.77	-13.80	47	394.36	0.00	0.00	3.79	0.000	0.000	0.097	2801.03	2795.50	2806.56	1754.69	3475.62	0	0	0	30.00	30.00	15.05
454.17	1028	-74.33	-1.59	0.00	2802.6	2796.8	2808.4	1754.0	3474.7	60.54	-13.28	60	459.32	0.00	0.00	3.41	0.000	0.000	0.047	2803.62	2797.75	2809.50	1753.50	2081.19	0	0	0	30.00	30.00	15.20
518.77	516	-74.33	-1.59	-80.00	2802.9	2797.2	2808.6	1753.9	2080.8	68.36	-12.10	67	524.44	0.00	0.00	4.11	0.000	0.000	0.140	2805.62	2799.75	2811.50	1753.88	661.81	0	0	0	30.00	30.00	14.95
574.20	1028	-74.33	-1.59	0.00	2802.8	2797.2	2808.5	1753.6	661.6	75.89	-14.05	78	579.39	0.00	0.00	3.50	0.000	0.000	0.041	2804.16	2798.06	2810.25	1753.88	2124.38	0	0	0	30.00	30.00	15.28
638.77	516	-74.33	-1.59	-80.00	2802.6	2797.2	2808.1	1753.9	2124.3	82.90	-10.40	85	644.47	0.00	0.00	4.18	0.000	0.000	0.136	2801.16	2795.56	2806.75	1754.38	660.62	0	0	0	30.00	30.00	14.95
667.63	1028	-74.33	-1.59	0.00	2803.4	2798.2	2808.5	1754.2	660.9	86.24	-10.19	91	674.43	0.00	0.00	3.49	0.000	0.000	0.040	2802.84	2797.69	2808.00	1754.12	2124.56	0	0	0	30.00	30.00	15.27
733.79	16678	-95.52	-1.65	80.00	2802.9	2797.1	2808.8	1754.1	2124.4	92.47	-8.98	98	739.41	0.62	0.00	3.60	0.036	0.000	0.102	2889.31	2888.06	2890.56	1754.31	3476.19	0	0	0	14.71	30.00	14.67
782.65	1028	-95.52	-1.65	0.00	2891.2	2890.1	2892.2	1754.2	3476.4	97.38	-10.75	108	789.42	0.00	0.00	3.38	0.000	0.000	0.046	2891.28	2890.06	2892.50	1753.88	2079.94	0	0	0	30.00	30.00	15.20
848.80	20775	-119.69	-1.73	80.00	2891.3	2890.1	2892.6	1754.1	2079.8	103.08	-8.68	115	855.54	0.64	0.33	3.70	0.035	0.059	0.099	2987.75	2989.81	2985.69	1704.00	3476.12	0	0	0	14.75	15.43	14.67
893.76	1028	-119.69	-1.73	0.00	2989.4	2990.8	2988.1	1703.4	3475.7	108.30	-12.56	124	898.36	0.00	0.00	3.39	0.000	0.000	0.047	2989.59	2991.00	2988.19	1703.12	2078.88	0	0	0	30.00	30.00	15.22
963.76	0	-119.69	-1.73	0.00	2989.6	2990.4	2988.7	1704.2	2079.1	116.68	-11.87	132	965.09	0.00	0.00	0.00	0.000	0.000	0.000	2990.19	2991.50	2988.88	1703.31	2078.88	0	0	0	30.00	30.00	30.00
1023.78	260	-119.69	-1.73	80.00	2989.6	2990.4	2988.9	1703.6	2079.7	123.50	-11.46	138	1029.43	0.00	0.00	3.74	0.000	0.000	0.097	2991.41	2992.25	2990.56	1704.06	3476.75	0	0	0	30.00	30.00	15.03
1062.69	1028	-119.69	-1.73	0.00	2990.1	2990.8	2989.4	1703.8	3477.2	128.89	-13.48	146	1069.47	0.00	0.00	3.38	0.000	0.000	0.046	2990.03	2991.00	2989.06	1703.75	2079.31	0	0	0	30.00	30.00	15.17
1128.83	0	-119.69	-1.73	0.00	2989.8	2990.7	2988.8	1704.1	2079.2	136.83	-12.36	153	1130.16	0.00	0.00	0.00	0.000	0.000	0.000	2990.38	2991.00	2989.75	1703.81	2079.81	0	0	0	30.00	30.00	30.00
1188.79	0	-119.69	-1.73	0.00	2990.2	2990.9	2989.4	1703.7	2079.4	144.57	-12.73	159	1190.12	0.00	0.00	0.00	0.000	0.000	0.000	2990.00	2990.88	2989.12	1704.12	2079.31	0	0	0	30.00	30.00	30.00
1248.80	0	-119.69	-1.73	0.00	2989.9	2990.4	2989.4	1703.5	2079.9	152.02	-12.69	165	1250.13	0.00	0.00	0.00	0.000	0.000	0.000	2990.38	2991.19	2989.56	1703.81	2079.44	0	0	0	30.00	30.00	30.00
1368.80	260	-119.69	-1.73	80.00	2989.9	2990.5	2989.3	1703.9	2079.6	167.16	-12.78	177	1374.46	0.00	0.00	3.78	0.000	0.000	0.099	2990.81	2991.69	2989.94	1703.44	3476.06	0	0	0	30.00	30.00	14.98
1437.73	1028	-119.69	-1.73	0.00	2990.2	2990.4	2990.1	1703.2	3476.4	177.46	-14.54	191	1444.52	0.00	0.00	3.42	0.000	0.000	0.049	2991.78	2991.94	2991.62	1703.88	2079.69	0	0	0	30.00	30.00	15.12
1563.84	0	-119.69	-1.73	0.00	2990.2	2990.8	2989.6	1703.3	2079.9	193.70	-13.02	204	1565.16	0.00	0.00	0.00	0.000	0.000	0.000	2990.69	2990.94	2990.44	1703.56	2080.06	0	0	0	30.00	30.00	30.00
1683.84	260	-119.69	-1.73	80.00	2990.0	2990.4	2989.7	1703.7	2079.5	208.20	-12.04	216	1689.52	0.00	0.00	3.83	0.000	0.000	0.101	2988.59	2989.25	2987.94	1703.50	3476.25	0	0	0	30.00	30.00	14.96
1758.91	1028	-119.69	-1.73	0.00	2990.4	2991.0	2989.9	1703.9	3476.8	218.34	-14.02	231	1763.45	0.00	0.00	3.44	0.000	0.000	0.051	2990.50	2990.69	2990.31	1703.81	2080.81	0	0	0	30.00	30.00	15.12
1888.86	260	-119.69	-1.73	80.00	2990.0	2990.2	2989.8	1704.0	2081.2	233.54	-11.35	245	1894.52	0.00	0.00	3.79	0.000	0.000	0.100	2989.00	2989.75	2988.25	1704.06	3475.94	0	0	0	30.00	30.00	14.96
1913.91	1028	-119.69	-1.73	0.00	2989.9	2990.1	2989.8	1703.6	3475.4	236.91	-11.81	250	1918.46	0.00	0.00	3.40	0.000	0.000	0.049	2990.41	2991.00	2989.81	1703.69	2080.62	0	0	0	30.00	30.00	15.13
2043.88	516	-119.69	-1.73	-80.00	2990.2	2990.8	2989.6	1703.2	2081.3	251.03	-10.37	264	2049.59	0.00	0.00	4.10	0.000	0.000	0.143	2988.91	2989.62	2988.19	1703.19	660.50	0	0	0	30.00	30.00	14.85
2057.84	1028	-119.69	-1.73	0.00	2990.3	2990.5	2990.2	1703.4	660.9	252.79	-10.31	267	2063.50	0.00	0.00	3.51	0.000	0.000	0.043	2990.28	2990.12	2990.44	1702.94	2125.06	0	0	0	30.00	30.00	15.23
2368.89	260	-119.69	-1.73	80.00	2990.2	2990.8	2989.6	1703.3	2125.2	287.43	-11.22	279	2374.53	0.00	0.00	3.63	0.000	0.000	0.104	2992.72	2992.62	2992.81	1703.38	3477.62	0	0	0	30.00	30.00	14.94
2462.80	1028	-119.69	-1.73	0.00	2989.7	2990.4	2989.0	1702.8	3477.1	299.34	-13.44	298	2468.50	0.00	0.00	3.41	0.000	0.000	0.049	2991.78	2991.88	2991.69	1702.81	2081.06	0	0	0	30.00	30.00	15.07
2783.91	260	-119.69	-1.73	80.00	2990.3	2990.7	2989.9	1703.4	2081.0	334.89	-11.25	312	2789.59	0.00	0.00	3.82	0.000	0.000	0.103	2992.19	2992.62	2991.75	1703.44	3474.81	0	0	0	30.00	30.00	14.92
2862.82	1028	-119.69	-1.73	0.00	2989.7	2990.1	2989.3	1703.2	3475.4	344.75	-12.60	328	2869.62	0.00	0.00	3.43	0.000	0.000	0.051	2991.25	2991.94	2990.56	1703.62	2083.25	0	0	0	30.00	30.00	15.05
3168.92	260	-119.69	-1.73	80.00	2990.1	2990.2	2989.9	1703.0	2083.0	379.96	-11.34	339	3174.60	0.00	0.00	3.83	0.000	0.000	0.105	2989.09	2989.94	2988.25	1703.38	3475.19	0	0	0	30.00	30.00	14.90
3237.91	1028	-119.69	-1.73	0.00	2989.6	2990.4	2988.8	1703.3	3475.0	388.74	-12.80	353	3243.54	0.00	0.00	3.43	0.000	0.000	0.051	2990.00	2990.38	2989.62	1703.69	2081.50	0	0	0	30.00	30.00	15.04
3553.96	260	-119.69	-1.73	80.00	2990.0	2990.4	2989.7	1703.2	2081.7	425.60	-11.79	366	3559.62	0.00	0.00	3.84	0.000	0.000	0.106	2990.44	2990.94	2989.94	1702.88	3475.06	0	0	0	30.00	30.00	14.89
3597.86	1028	-119.69	-1.73	0.00	2989.5	2990.2	2988.9	1703.1	3476.2	431.54	-13.46	375	3603.56	0.00	0.00	3.44	0.000	0.000	0.052	2991.59	2991.50	2991.69	1703.00	2080.88	0	0	0	30.00	30.00	15.03
3908.96	0	-119.69	-1.73	0.00	2989.8	2990.4	2989.1	1703.6	2081.4	468.33	-11.47	387	3910.29	0.00	0.00	0.00	0.000	0.000	0.000	2990.12	2990.69	2989.56	1703.12	2080.75	0	0	0	30.00	30.00	30.00
4208	end dive: TARGET_DEPTH_EXCEEDED
state	4208	begin apogee
4210.10	10243	0.00	-0.25	0.00	2989.0	2989.9	2988.1	1703.2	2123.2	502.78	-11.29	397	4315.48	100.61	3.35	0.09	1.628	0.160	0.223	2499.69	2509.44	2489.94	2079.06	2083.12	0	0	0	10.96	14.75	14.68
4318	end apogee: CONTROL_FINISHED_OK
state	4318	begin climb
4318.79	10759	119.69	1.73	-80.00	2497.5	2507.6	2487.4	2079.5	2082.1	506.04	0.00	400	4441.45	110.44	3.65	4.30	1.568	0.077	0.135	2009.03	2023.12	1994.94	2564.12	661.19	0	0	0	11.18	14.89	14.25
4500.12	1028	119.69	1.73	0.00	2004.8	2019.4	1990.2	2564.2	660.8	494.24	11.95	436	4505.33	0.00	0.00	3.64	0.000	0.000	0.042	2006.00	2020.12	1991.88	2563.50	2124.00	0	0	0	30.00	30.00	14.88
4824.75	16966	119.69	1.77	-80.00	1999.5	2017.9	1981.0	2563.8	2124.1	462.30	9.66	451	4830.42	0.00	0.00	4.16	0.000	0.000	0.130	1997.69	2015.88	1979.50	2563.50	660.88	0	0	0	30.00	30.00	15.07
5030.18	17478	119.69	1.79	0.00	1997.6	2014.9	1980.4	2564.0	660.3	440.02	10.52	492	5035.35	0.00	0.00	3.53	0.000	0.000	0.042	1997.69	2014.44	1980.94	2564.12	2126.00	0	0	0	30.00	30.00	15.35
5354.79	16966	119.69	1.85	-80.00	1995.5	2014.6	1976.4	2564.0	2126.1	410.07	9.19	507	5360.46	0.00	0.00	4.18	0.000	0.000	0.128	1997.53	2016.31	1978.75	2563.25	660.38	0	0	0	30.00	30.00	15.08
5483.65	17414	119.69	1.85	0.00	1994.6	2013.1	1976.0	2563.1	660.8	396.85	11.09	533	5489.37	0.00	0.00	3.52	0.000	0.000	0.041	1996.91	2015.00	1978.81	2564.19	2125.25	0	0	0	30.00	30.00	15.32
5799.78	10275	150.73	1.94	0.00	1994.9	2014.0	1975.8	2564.1	2124.9	371.35	7.99	546	5830.44	27.32	0.31	0.00	1.427	0.061	0.000	1886.91	1907.12	1866.69	2623.00	2125.38	0	0	0	11.37	15.46	30.00
6129.76	516	150.73	1.94	-80.00	1879.1	1901.7	1856.6	2622.8	2125.3	336.25	11.36	557	6135.49	0.00	0.00	4.18	0.000	0.000	0.127	1878.56	1900.94	1856.19	2621.00	660.56	0	0	0	30.00	30.00	15.09
6263.68	1028	150.73	1.94	0.00	1877.7	1898.9	1856.5	2623.4	661.0	318.46	11.86	584	6269.40	0.00	0.00	3.52	0.000	0.000	0.042	1877.81	1899.00	1856.62	2623.44	2126.06	0	0	0	30.00	30.00	15.34
6574.79	16902	150.73	1.94	-80.00	1876.8	1898.7	1854.8	2622.9	2125.9	282.97	11.59	596	6580.52	0.00	0.00	4.20	0.000	0.000	0.125	1875.66	1897.56	1853.75	2623.38	661.94	0	0	0	30.00	30.00	15.03
6638.76	17414	150.73	1.94	0.00	1876.2	1897.9	1854.6	2623.1	662.0	273.81	15.41	609	6644.42	0.00	0.00	3.53	0.000	0.000	0.042	1876.06	1897.50	1854.62	2622.38	2126.81	0	0	0	30.00	30.00	15.32
6949.82	16902	150.73	1.94	-80.00	1876.0	1897.8	1854.1	2623.2	2126.8	236.38	11.28	630	6955.57	0.00	0.00	4.21	0.000	0.000	0.125	1876.34	1898.25	1854.44	2622.81	662.00	0	0	0	30.00	30.00	15.00
7118.74	17414	150.73	1.94	0.00	1875.8	1897.8	1853.8	2623.0	661.9	214.94	13.55	664	7125.58	0.00	0.00	3.55	0.000	0.000	0.043	1877.72	1899.56	1855.88	2623.00	2127.88	0	0	0	30.00	30.00	15.29
7244.87	16450	150.73	1.98	0.00	1875.5	1897.6	1853.4	2623.3	2127.2	202.48	9.91	677	7246.20	0.00	0.00	0.00	0.000	0.000	0.000	1875.81	1897.88	1853.75	2622.44	2127.69	0	0	0	30.00	30.00	30.00
7364.88	16966	150.73	2.02	-80.00	1875.4	1897.4	1853.4	2622.6	2127.3	190.82	9.69	689	7370.59	0.00	0.00	4.20	0.000	0.000	0.123	1874.44	1896.69	1852.19	2622.75	661.62	0	0	0	30.00	30.00	14.98
7400.31	17414	150.73	2.02	0.00	1875.7	1897.9	1853.4	2623.3	661.6	186.86	11.34	696	7405.50	0.00	0.00	3.51	0.000	0.000	0.039	1875.81	1897.44	1854.19	2622.75	2128.00	0	0	0	30.00	30.00	15.34
7524.90	16710	150.73	2.05	80.00	1875.4	1897.5	1853.3	2623.1	2128.2	174.42	9.94	709	7530.52	0.00	0.00	3.66	0.000	0.000	0.104	1875.78	1898.19	1853.38	2623.62	3473.56	0	0	0	30.00	30.00	15.03
7550.40	17414	150.73	2.05	0.00	1875.0	1897.2	1852.8	2622.8	3472.6	171.45	10.64	714	7555.49	0.00	0.00	3.41	0.000	0.000	0.046	1874.75	1896.94	1852.56	2622.56	2076.94	0	0	0	30.00	30.00	15.24
7674.91	10791	174.74	2.13	-80.00	1875.0	1897.2	1852.8	2623.5	2077.2	160.48	8.70	727	7706.66	22.75	0.22	3.92	1.208	0.080	0.126	1788.06	1809.81	1766.31	2664.06	660.69	0	0	0	11.32	15.44	15.18
7815.35	1028	174.74	2.13	0.00	1783.4	1803.0	1763.8	2663.9	660.8	142.36	13.68	755	7820.52	0.00	0.00	3.49	0.000	0.000	0.039	1784.47	1803.38	1765.56	2664.31	2128.88	0	0	0	30.00	30.00	15.43
7879.90	0	174.74	2.13	0.00	1782.0	1802.6	1761.4	2663.4	2128.2	134.62	11.65	762	7881.23	0.00	0.00	0.00	0.000	0.000	0.000	1782.44	1803.12	1761.75	2664.19	2128.88	0	0	0	30.00	30.00	30.00
7939.92	0	174.74	2.13	0.00	1781.5	1802.7	1760.4	2663.8	2128.2	128.11	10.61	768	7941.25	0.00	0.00	0.00	0.000	0.000	0.000	1782.00	1803.62	1760.38	2664.12	2128.12	0	0	0	30.00	30.00	30.00
7999.94	64	174.74	2.18	0.00	1781.2	1803.0	1759.4	2663.6	2128.7	122.19	9.37	774	8001.27	0.00	0.00	0.00	0.000	0.000	0.000	1781.69	1803.44	1759.94	2664.06	2128.62	0	0	0	30.00	30.00	30.00
8059.94	64	174.74	2.19	0.00	1781.2	1803.4	1759.1	2664.0	2128.2	115.68	10.57	780	8061.27	0.00	0.00	0.00	0.000	0.000	0.000	1781.12	1803.06	1759.19	2663.81	2128.12	0	0	0	30.00	30.00	30.00
8119.95	580	174.74	2.22	-80.00	1780.8	1802.8	1758.8	2663.9	2128.5	109.65	10.28	786	8125.68	0.00	0.00	4.12	0.000	0.000	0.121	1779.72	1802.31	1757.12	2664.31	661.88	0	0	0	30.00	30.00	15.08
8185.43	1028	174.74	2.22	0.00	1781.0	1803.1	1758.9	2663.4	661.9	102.47	11.52	799	8190.56	0.00	0.00	3.51	0.000	0.000	0.040	1780.59	1802.31	1758.88	2664.06	2128.56	0	0	0	30.00	30.00	15.36
8249.95	10535	194.71	2.28	80.00	1780.7	1803.2	1758.2	2664.2	2128.3	96.31	9.10	806	8281.67	24.96	0.19	3.60	1.109	0.081	0.104	1705.56	1728.38	1682.75	2703.50	3474.94	0	0	0	11.44	15.45	15.17
8300.41	1092	194.71	2.33	0.00	1703.8	1725.7	1681.9	2703.7	3475.1	91.39	9.50	816	8305.57	0.00	0.00	3.40	0.000	0.000	0.045	1702.62	1724.62	1680.62	2703.44	2075.00	0	0	0	30.00	30.00	15.35
8364.95	516	194.71	2.33	-80.00	1702.7	1725.6	1679.8	2703.0	2074.6	84.43	10.72	823	8370.66	0.00	0.00	3.92	0.000	0.000	0.124	1701.81	1724.75	1678.88	2703.62	660.69	0	0	0	30.00	30.00	15.16
8473.89	1028	194.71	2.33	0.00	1702.2	1725.1	1679.4	2704.2	660.8	70.90	11.52	845	8480.68	0.00	0.00	3.48	0.000	0.000	0.039	1702.28	1725.06	1679.50	2703.38	2131.81	0	0	0	30.00	30.00	15.39
8540.07	8486	214.97	2.39	80.00	1701.9	1725.0	1678.9	2704.1	2131.9	64.73	9.07	852	8571.22	24.72	0.00	3.58	1.074	0.000	0.104	1621.88	1645.38	1598.38	2703.94	3475.06	0	0	0	11.44	30.00	15.14
8573.96	3141	214.97	2.43	0.00	1621.6	1645.1	1598.1	2703.6	3474.2	61.43	9.64	858	8580.72	0.00	0.17	3.38	0.000	0.080	0.044	1622.31	1645.69	1598.94	2741.12	2074.88	0	0	0	30.00	15.17	15.34
8640.00	580	214.97	2.45	-80.00	1620.7	1644.7	1596.8	2742.1	2075.1	54.46	10.45	865	8645.67	0.00	0.00	3.88	0.000	0.000	0.121	1619.81	1643.75	1595.88	2742.38	660.75	0	0	0	30.00	30.00	15.15
8735.47	1092	214.97	2.49	0.00	1620.2	1643.7	1596.7	2741.9	660.8	44.42	10.01	884	8740.62	0.00	0.00	3.48	0.000	0.000	0.037	1619.12	1642.50	1595.75	2742.00	2130.69	0	0	0	30.00	30.00	15.40
8800.02	10791	252.05	2.60	-80.00	1619.7	1643.5	1595.9	2742.6	2132.1	39.64	7.38	891	8851.91	42.56	0.18	4.01	1.070	0.080	0.117	1471.91	1495.81	1448.00	2778.88	659.56	0	0	0	11.46	15.43	15.04
8854.18	9254	295.20	2.73	0.00	1471.8	1495.6	1448.0	2779.0	659.5	35.86	6.77	902	8907.83	48.97	0.00	3.50	1.037	0.000	0.036	1297.75	1322.31	1273.19	2778.75	2132.44	0	0	0	11.46	30.00	15.31
8965.28	260	295.20	2.73	80.00	1293.6	1319.4	1267.8	2778.9	2132.8	24.61	10.82	918	8970.89	0.00	0.00	3.59	0.000	0.000	0.103	1292.91	1318.69	1267.12	2778.81	3474.50	0	0	0	30.00	30.00	15.08
9040.33	1028	295.20	2.73	0.00	1291.8	1318.2	1265.2	2779.4	3475.0	15.27	11.24	933	9044.89	0.00	0.00	3.41	0.000	0.000	0.045	1291.56	1318.12	1265.00	2778.94	2072.50	0	0	0	30.00	30.00	15.24
9110.29	10535	344.14	2.87	80.00	1291.1	1318.4	1263.8	2778.9	2072.9	10.71	6.19	941	9168.10	52.12	0.37	3.76	1.015	0.062	0.099	1096.69	1122.12	1071.25	2845.44	3474.50	0	0	0	11.34	15.33	14.96
9210	end climb: SURFACE_DEPTH_REACHED
state	9210	begin surface coast
9220	end surface coast: CONTROL_FINISHED_OK
state	9220	begin surface