Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1212 * 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 1212 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 78.835304 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 288.12717 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 78.835304 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 2 FG_AHR_24V 288.12717 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 1212 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 230421,010140,4707.399,-12501.193,20,0.7,21,15.5 TGT_LATLONG 4708.000,-12502.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.58 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -63.2 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 230421,010907,4707.398,-12501.188,3,0.6,4,15.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.290 MHEAD_RNG_PITCHd_Wd 301.9,1512,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 593

Post-dive calculations and measurements:

SM_CCo 9670.02,0.00,2.547,0,564.4,555.9,573.0,474.79 _10V_AH 14.56,0.000

SM_GC -0.67,0.00,19.42,3.47,2.547,0.073,0.036,564.4,555.9,573.0,177.7,2131.4,0,0,0,30.36,15.08,15.29 FG_AHR_24Vo 288.347

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 78.868

IRIDIUM_FIX 4707.48,-12503.93,220421,221251 MEM 1103708,37,73460,56

TCM_TEMP 176.14 DATA_FILE_SIZE 35415,916

XPDR_PINGS 13,14.0,11.5 CAP_FILE_SIZE 502502,0

SC_FREEKB 3394656 SDSIZE 3918848,3587200

HUMID 59.02 SDFILEDIR 6086,1

TEMP 7.79 ERRORS 0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78577 GPS 230421,035109,4707.613,-12501.133,7,0.8,25,15.5

_24V_AH 13.47,329.240

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 671 2547 23037.07 legato 0 0 0.00

Pitch_motor 41 250 141.11 nil 0 0 0.00

Roll_motor 230 222 691.12 nil 0 0 0.00

Iridium 195 204 539.14 nil 0 0 0.00

Transponder_ping 3 420 18.39 nil 0 0 0.00

GPS 11 15 2.61 nil 0 0 0.00

Core 3665 11 629.72 SciCon 9573 5 718.38

LPSleep 6391 2 260.55 nil 0 0 0.00

Compass 1802 5 131.25 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

8.59 16386 -74.33 -1.59 0.00 559.5 556.5 562.5 170.4 2079.7 0.00 0.00 0 95.40 86.44 0.00 0.00 0.005 0.000 0.000 2525.19 2508.62 2541.75 170.25 2079.44 0 0 0 13.33 30.00 30.00

95.68 18983 -106.66 -1.69 -80.00 2524.9 2508.9 2540.9 170.3 2079.3 3.56 -7.86 9 127.92 9.04 14.51 4.13 0.007 0.250 0.148 2935.16 2932.75 2937.56 1730.38 663.12 0 0 0 13.21 14.76 14.51

186.59 1028 -106.66 -1.69 0.00 2934.7 2932.1 2937.2 1730.6 663.0 25.88 -21.60 27 191.78 0.00 0.00 3.57 0.000 0.000 0.049 2935.06 2932.38 2937.75 1730.75 2122.62 0 0 0 30.00 30.00 15.26

251.15 260 -106.66 -1.69 80.00 2934.3 2931.4 2937.1 1730.7 2122.9 37.06 -16.90 34 256.80 0.00 0.00 3.68 0.000 0.000 0.104 2933.22 2930.56 2935.88 1730.75 3475.44 0 0 0 30.00 30.00 15.07

340.08 1028 -106.66 -1.69 0.00 2934.7 2931.8 2937.6 1730.1 3476.1 52.75 -16.57 52 346.88 0.00 0.00 3.44 0.000 0.000 0.052 2935.88 2932.88 2938.88 1730.75 2079.94 0 0 0 30.00 30.00 15.16

406.23 516 -106.66 -1.69 -80.00 2934.8 2932.1 2937.4 1730.7 2080.4 61.67 -13.18 59 411.91 0.00 0.00 4.09 0.000 0.000 0.140 2932.88 2929.88 2935.88 1730.12 661.62 0 0 0 30.00 30.00 14.96

445.10 1028 -106.66 -1.69 0.00 2934.9 2931.8 2938.1 1730.4 662.0 67.39 -14.39 67 451.91 0.00 0.00 3.56 0.000 0.000 0.044 2937.34 2934.50 2940.19 1730.62 2123.19 0 0 0 30.00 30.00 15.24

511.25 0 -106.66 -1.69 0.00 2934.7 2931.8 2937.6 1730.8 2123.1 75.98 -13.31 74 512.57 0.00 0.00 0.00 0.000 0.000 0.000 2935.03 2931.94 2938.12 1730.75 2123.12 0 0 0 30.00 30.00 30.00

571.26 260 -106.66 -1.69 80.00 2934.8 2931.9 2937.6 1730.9 2122.9 84.14 -13.52 80 576.85 0.00 0.00 3.66 0.000 0.000 0.101 2935.03 2931.88 2938.19 1730.38 3473.94 0 0 0 30.00 30.00 15.03

610.11 1028 -106.66 -1.69 0.00 2934.8 2931.8 2937.8 1730.0 3474.4 89.58 -13.87 88 616.89 0.00 0.00 3.40 0.000 0.000 0.049 2935.38 2932.62 2938.12 1730.00 2079.50 0 0 0 30.00 30.00 15.17

676.27 516 -106.66 -1.69 -80.00 2934.8 2931.9 2937.8 1730.6 2079.6 97.55 -11.84 95 681.95 0.00 0.00 4.07 0.000 0.000 0.141 2933.31 2929.81 2936.81 1730.25 660.88 0 0 0 30.00 30.00 14.94

691.67 1028 -106.66 -1.69 0.00 2935.2 2932.2 2938.1 1730.8 660.8 99.43 -11.71 98 696.85 0.00 0.00 3.53 0.000 0.000 0.043 2934.53 2931.44 2937.62 1730.56 2123.81 0 0 0 30.00 30.00 15.28

756.22 0 -106.66 -1.69 0.00 2934.7 2931.8 2937.6 1730.7 2124.2 106.80 -10.83 105 757.54 0.00 0.00 0.00 0.000 0.000 0.000 2934.94 2932.19 2937.69 1730.44 2124.19 0 0 0 30.00 30.00 30.00

816.24 0 -106.66 -1.69 0.00 2934.8 2932.1 2937.6 1730.9 2124.1 113.44 -10.78 111 817.56 0.00 0.00 0.00 0.000 0.000 0.000 2934.94 2931.88 2938.00 1730.75 2124.12 0 0 0 30.00 30.00 30.00

876.24 0 -106.66 -1.69 0.00 2935.2 2932.2 2938.1 1730.9 2124.4 119.84 -10.84 117 877.57 0.00 0.00 0.00 0.000 0.000 0.000 2935.72 2932.81 2938.62 1730.75 2124.56 0 0 0 30.00 30.00 30.00

936.25 260 -106.66 -1.69 80.00 2934.9 2931.8 2938.1 1730.1 2123.9 126.35 -10.64 123 941.89 0.00 0.00 3.64 0.000 0.000 0.102 2933.84 2930.88 2936.81 1730.94 3474.25 0 0 0 30.00 30.00 15.00

955.16 1028 -106.66 -1.69 0.00 2935.4 2932.5 2938.4 1730.6 3472.8 128.45 -10.65 127 961.94 0.00 0.00 3.39 0.000 0.000 0.048 2935.66 2932.31 2939.00 1730.56 2079.88 0 0 0 30.00 30.00 15.15

1021.30 516 -106.66 -1.69 -80.00 2935.2 2932.2 2938.2 1730.6 2080.0 136.23 -11.87 134 1026.97 0.00 0.00 4.08 0.000 0.000 0.141 2934.94 2931.88 2938.00 1729.69 661.88 0 0 0 30.00 30.00 14.91

1046.69 1028 -106.66 -1.69 0.00 2934.9 2931.8 2938.1 1730.6 661.8 139.52 -12.17 139 1051.90 0.00 0.00 3.53 0.000 0.000 0.043 2934.72 2931.06 2938.38 1730.44 2123.38 0 0 0 30.00 30.00 15.27

1111.26 260 -106.66 -1.69 80.00 2935.2 2931.9 2938.4 1730.8 2123.4 147.37 -11.78 146 1116.91 0.00 0.00 3.64 0.000 0.000 0.101 2933.50 2930.75 2936.25 1730.44 3476.31 0 0 0 30.00 30.00 15.03

1176.72 1028 -106.66 -1.69 0.00 2935.0 2931.1 2938.9 1730.8 3475.8 155.40 -12.46 159 1181.88 0.00 0.00 3.38 0.000 0.000 0.047 2933.97 2930.88 2937.06 1730.69 2079.69 0 0 0 30.00 30.00 15.16

1301.29 0 -106.66 -1.69 0.00 2935.4 2931.8 2939.1 1731.0 2079.2 170.38 -11.69 172 1302.62 0.00 0.00 0.00 0.000 0.000 0.000 2934.09 2930.75 2937.44 1730.56 2079.56 0 0 0 30.00 30.00 30.00

1421.29 0 -106.66 -1.69 0.00 2935.3 2931.9 2938.8 1730.7 2079.6 183.75 -11.10 184 1422.62 0.00 0.00 0.00 0.000 0.000 0.000 2936.19 2932.56 2939.81 1730.75 2079.75 0 0 0 30.00 30.00 30.00

1541.30 516 -106.66 -1.69 -80.00 2936.0 2932.1 2939.9 1730.0 2079.9 197.00 -11.02 196 1547.02 0.00 0.00 4.09 0.000 0.000 0.142 2936.47 2932.12 2940.81 1730.44 661.75 0 0 0 30.00 30.00 14.87

1550.22 1028 -106.66 -1.69 0.00 2935.6 2931.9 2939.2 1730.2 662.0 197.95 -11.01 198 1557.03 0.00 0.00 3.53 0.000 0.000 0.043 2936.97 2932.88 2941.06 1729.81 2124.31 0 0 0 30.00 30.00 15.23

1676.34 0 -106.66 -1.69 0.00 2936.1 2932.1 2940.0 1730.5 2124.3 211.12 -10.30 211 1677.66 0.00 0.00 0.00 0.000 0.000 0.000 2936.41 2932.50 2940.31 1730.75 2124.31 0 0 0 30.00 30.00 30.00

1796.33 0 -106.66 -1.69 0.00 2936.2 2932.6 2939.9 1730.5 2124.1 223.61 -10.13 223 1797.65 0.00 0.00 0.00 0.000 0.000 0.000 2936.56 2932.50 2940.62 1730.88 2124.69 0 0 0 30.00 30.00 30.00

1916.34 0 -106.66 -1.69 0.00 2936.3 2931.9 2940.7 1730.7 2124.8 236.19 -10.40 235 1917.67 0.00 0.00 0.00 0.000 0.000 0.000 2936.47 2932.31 2940.62 1730.56 2123.94 0 0 0 30.00 30.00 30.00

2036.35 0 -106.66 -1.69 0.00 2936.3 2931.9 2940.7 1730.2 2124.1 249.48 -11.55 247 2037.68 0.00 0.00 0.00 0.000 0.000 0.000 2936.66 2932.94 2940.38 1730.31 2123.94 0 0 0 30.00 30.00 30.00

2166.36 260 -106.66 -1.69 80.00 2936.5 2932.5 2940.4 1730.5 2124.5 263.96 -11.17 252 2172.00 0.00 0.00 3.69 0.000 0.000 0.106 2937.75 2932.94 2942.56 1730.38 3476.50 0 0 0 30.00 30.00 14.94

2200.26 1028 -106.66 -1.69 0.00 2936.5 2932.4 2940.6 1730.8 3476.5 268.36 -12.44 259 2205.97 0.00 0.00 3.42 0.000 0.000 0.050 2937.44 2932.69 2942.19 1730.06 2080.62 0 0 0 30.00 30.00 15.08

2521.38 260 -106.66 -1.69 80.00 2936.5 2932.1 2940.8 1730.6 2080.4 305.84 -11.65 273 2527.05 0.00 0.00 3.83 0.000 0.000 0.102 2936.91 2932.69 2941.12 1730.25 3476.19 0 0 0 30.00 30.00 14.92

2576.83 1028 -106.66 -1.69 0.00 2936.6 2932.4 2940.8 1730.6 3476.4 312.77 -12.39 284 2582.00 0.00 0.00 3.44 0.000 0.000 0.051 2935.97 2931.81 2940.12 1730.38 2080.56 0 0 0 30.00 30.00 15.09

2901.39 516 -106.66 -1.69 -80.00 2936.2 2932.0 2940.5 1730.4 2079.8 348.84 -10.93 299 2907.13 0.00 0.00 4.16 0.000 0.000 0.146 2935.28 2931.62 2938.94 1730.56 662.88 0 0 0 30.00 30.00 14.79

2915.35 1028 -106.66 -1.69 0.00 2936.2 2932.0 2940.4 1730.4 662.9 350.85 -10.10 302 2921.02 0.00 0.00 3.54 0.000 0.000 0.043 2936.78 2932.50 2941.06 1730.56 2122.62 0 0 0 30.00 30.00 15.19

3226.40 260 -106.66 -1.69 80.00 2936.1 2931.9 2940.3 1730.5 2122.6 384.04 -10.56 314 3232.05 0.00 0.00 3.73 0.000 0.000 0.104 2936.88 2932.50 2941.25 1728.94 3475.50 0 0 0 30.00 30.00 14.91

3285.32 1028 -106.66 -1.69 0.00 2936.6 2932.4 2940.7 1730.5 3475.8 390.28 -10.65 326 3291.07 0.00 0.00 3.44 0.000 0.000 0.051 2938.03 2933.88 2942.19 1730.06 2083.88 0 0 0 30.00 30.00 15.03

3611.43 260 -106.66 -1.69 80.00 2935.6 2931.9 2939.2 1730.4 2083.1 423.50 -10.05 341 3617.10 0.00 0.00 3.88 0.000 0.000 0.105 2934.50 2930.75 2938.25 1730.56 3473.62 0 0 0 30.00 30.00 14.88

3636.86 1028 -106.66 -1.69 0.00 2935.5 2931.9 2939.1 1730.7 3473.6 426.18 -10.17 346 3642.04 0.00 0.00 3.43 0.000 0.000 0.052 2934.97 2931.00 2938.94 1730.56 2081.06 0 0 0 30.00 30.00 15.05

3961.44 0 -106.66 -1.69 0.00 2935.2 2931.7 2938.6 1730.9 2080.8 460.32 -10.63 361 3962.76 0.00 0.00 0.00 0.000 0.000 0.000 2935.38 2932.38 2938.38 1730.44 2081.19 0 0 0 30.00 30.00 30.00

4261.43 0 -106.66 -1.69 0.00 2934.8 2932.0 2937.5 1730.7 2081.2 493.41 -11.45 371 4262.76 0.00 0.00 0.00 0.000 0.000 0.000 2935.12 2931.69 2938.56 1730.50 2081.00 0 0 0 30.00 30.00 30.00

4351 end dive: TARGET_DEPTH_EXCEEDED

state 4351 begin apogee

4352.58 10243 0.00 -0.25 0.00 2934.3 2931.6 2937.1 1730.6 2122.1 502.71 -10.76 374 4446.88 90.29 2.94 0.09 1.631 0.159 0.222 2497.72 2507.38 2488.06 2078.50 2083.25 0 0 0 11.02 14.75 14.72

4449 end apogee: CONTROL_FINISHED_OK

state 4450 begin climb

4450.19 10759 106.66 1.69 -80.00 2497.7 2506.8 2488.6 2078.5 2083.2 504.92 0.00 377 4560.96 98.72 3.55 4.26 1.570 0.079 0.135 2063.47 2076.19 2050.75 2553.56 662.88 0 0 0 11.17 14.91 14.29

4573.15 9254 128.81 1.75 0.00 2059.8 2070.9 2048.6 2554.0 663.0 497.84 8.88 402 4601.40 22.52 0.00 3.67 1.432 0.000 0.040 1973.38 1989.56 1957.19 2553.62 2124.12 0 0 0 11.03 30.00 14.66

4924.65 16966 128.81 1.80 -80.00 1963.6 1983.5 1943.7 2553.5 2124.4 463.63 9.72 422 4930.36 0.00 0.00 4.15 0.000 0.000 0.130 1962.31 1981.62 1943.00 2554.38 661.19 0 0 0 30.00 30.00 15.06

5018.56 17414 128.81 1.80 0.00 1962.4 1981.1 1943.8 2553.4 661.1 452.05 11.68 441 5024.27 0.00 0.00 3.53 0.000 0.000 0.041 1962.69 1981.69 1943.69 2554.31 2125.44 0 0 0 30.00 30.00 15.33

5339.68 19015 128.81 1.84 -80.00 1960.8 1980.7 1940.9 2554.2 2126.4 419.44 9.65 455 5345.46 0.00 0.21 4.15 0.000 0.073 0.129 1959.59 1978.94 1940.25 2596.06 660.62 0 0 0 30.00 15.46 15.07

5468.59 17414 128.81 1.84 0.00 1960.3 1979.7 1941.0 2596.8 660.6 403.97 12.31 481 5474.31 0.00 0.00 3.53 0.000 0.000 0.041 1960.12 1979.56 1940.69 2597.00 2126.94 0 0 0 30.00 30.00 15.33

5784.71 16450 128.81 1.87 0.00 1959.3 1979.1 1939.4 2597.4 2126.4 372.56 10.11 494 5786.04 0.00 0.00 0.00 0.000 0.000 0.000 1959.75 1979.56 1939.94 2596.94 2126.12 0 0 0 30.00 30.00 30.00

6084.71 16450 128.81 1.92 0.00 1959.0 1979.3 1938.8 2597.2 2125.9 343.55 9.56 504 6086.04 0.00 0.00 0.00 0.000 0.000 0.000 1958.19 1978.75 1937.62 2597.88 2126.31 0 0 0 30.00 30.00 30.00

6384.72 16966 128.81 1.97 -80.00 1958.3 1978.9 1937.8 2597.3 2126.4 315.57 9.27 514 6390.44 0.00 0.00 4.20 0.000 0.000 0.130 1956.97 1977.31 1936.62 2597.06 661.62 0 0 0 30.00 30.00 14.98

6493.64 17414 128.81 1.97 0.00 1958.1 1978.2 1937.9 2597.4 661.8 303.54 11.61 536 6500.45 0.00 0.00 3.55 0.000 0.000 0.044 1958.66 1979.00 1938.31 2597.62 2126.81 0 0 0 30.00 30.00 15.28

6799.75 10535 148.81 2.03 80.00 1957.9 1978.2 1937.6 2596.9 2126.5 275.60 9.10 547 6824.76 17.33 0.24 3.64 1.309 0.071 0.109 1891.66 1912.00 1871.31 2642.50 3478.00 0 0 0 11.33 15.44 15.21

6838.64 1028 148.81 2.03 0.00 1891.2 1911.5 1870.8 2643.0 3477.5 272.16 10.63 555 6844.35 0.00 0.00 3.41 0.000 0.000 0.049 1890.94 1911.94 1869.94 2642.31 2077.00 0 0 0 30.00 30.00 15.33

7149.89 516 148.81 2.03 -80.00 1889.1 1911.6 1866.5 2642.9 2078.1 239.63 11.76 574 7155.45 0.00 0.00 3.97 0.000 0.000 0.130 1888.69 1911.75 1865.62 2641.06 661.69 0 0 0 30.00 30.00 15.10

7208.68 1028 148.81 2.03 0.00 1888.0 1909.6 1866.4 2643.4 662.1 232.15 13.46 586 7215.50 0.00 0.00 3.53 0.000 0.000 0.044 1889.94 1911.88 1868.00 2643.25 2128.31 0 0 0 30.00 30.00 15.35

7334.78 0 148.81 2.03 0.00 1887.6 1909.1 1866.0 2642.8 2128.4 218.58 10.97 599 7336.10 0.00 0.00 0.00 0.000 0.000 0.000 1888.22 1910.25 1866.19 2642.06 2128.12 0 0 0 30.00 30.00 30.00

7454.80 580 148.81 2.08 -80.00 1887.2 1909.4 1865.0 2642.9 2128.2 206.78 9.53 611 7460.51 0.00 0.00 4.12 0.000 0.000 0.125 1887.81 1910.19 1865.44 2642.62 660.69 0 0 0 30.00 30.00 15.05

7500.23 1028 148.81 2.08 0.00 1886.6 1908.1 1865.2 2642.9 660.7 201.73 11.20 620 7505.43 0.00 0.00 3.53 0.000 0.000 0.043 1887.41 1908.81 1866.00 2641.94 2128.62 0 0 0 30.00 30.00 15.36

7624.82 580 148.81 2.13 -80.00 1886.6 1908.2 1864.9 2642.3 2128.3 189.78 9.47 633 7630.52 0.00 0.00 4.11 0.000 0.000 0.124 1885.31 1907.06 1863.56 2643.06 659.50 0 0 0 30.00 30.00 15.04

7730.26 1028 148.81 2.13 0.00 1886.3 1907.6 1865.1 2642.6 659.6 176.97 13.62 654 7735.44 0.00 0.00 3.53 0.000 0.000 0.043 1886.69 1907.94 1865.44 2642.88 2128.75 0 0 0 30.00 30.00 15.31

7854.84 324 148.81 2.16 80.00 1886.3 1907.6 1865.0 2642.7 2128.3 164.72 10.22 667 7860.47 0.00 0.00 3.65 0.000 0.000 0.104 1886.50 1907.81 1865.19 2642.94 3474.56 0 0 0 30.00 30.00 15.05

7900.27 1028 148.81 2.16 0.00 1886.1 1907.4 1864.9 2642.5 3474.9 160.11 11.44 676 7905.45 0.00 0.00 3.40 0.000 0.000 0.048 1884.88 1905.94 1863.81 2642.31 2076.19 0 0 0 30.00 30.00 15.23

8024.86 580 148.81 2.18 -80.00 1885.7 1907.1 1864.3 2642.9 2076.6 147.59 10.45 689 8030.53 0.00 0.00 3.98 0.000 0.000 0.127 1885.47 1906.75 1864.19 2642.88 660.25 0 0 0 30.00 30.00 14.98

8100.29 1028 148.81 2.18 0.00 1885.9 1907.3 1864.5 2643.2 660.4 138.67 11.46 704 8105.48 0.00 0.00 3.51 0.000 0.000 0.042 1886.06 1907.25 1864.88 2643.38 2130.62 0 0 0 30.00 30.00 15.32

8164.86 10791 172.25 2.25 -80.00 1885.7 1907.4 1863.9 2643.0 2130.1 132.68 8.76 711 8197.34 26.82 0.28 4.00 1.169 0.067 0.123 1797.91 1818.31 1777.50 2693.12 660.69 0 0 0 11.39 15.46 15.16

8274.53 1028 172.25 2.25 0.00 1795.2 1814.8 1775.6 2693.0 660.6 118.38 14.33 733 8281.30 0.00 0.00 3.52 0.000 0.000 0.043 1794.56 1814.44 1774.69 2692.69 2128.19 0 0 0 30.00 30.00 15.38

8340.57 516 172.25 2.25 -80.00 1793.6 1814.2 1772.9 2693.4 2128.2 110.30 12.25 740 8346.28 0.00 0.00 4.03 0.000 0.000 0.120 1793.00 1814.00 1772.00 2693.44 660.94 0 0 0 30.00 30.00 15.14

8429.51 1028 172.25 2.25 0.00 1793.5 1814.4 1772.6 2693.0 661.0 98.44 13.72 758 8436.36 0.00 0.00 3.51 0.000 0.000 0.043 1793.53 1814.88 1772.19 2693.56 2129.31 0 0 0 30.00 30.00 15.34

8495.64 580 172.25 2.28 -80.00 1793.0 1814.1 1771.9 2692.6 2129.7 91.95 9.82 765 8501.33 0.00 0.00 4.05 0.000 0.000 0.121 1792.03 1813.12 1770.94 2693.06 660.69 0 0 0 30.00 30.00 15.08

8564.52 1028 172.25 2.28 0.00 1793.1 1814.4 1771.8 2693.4 660.8 84.49 10.65 779 8571.35 0.00 0.00 3.51 0.000 0.000 0.041 1794.88 1815.56 1774.19 2693.62 2128.75 0 0 0 30.00 30.00 15.34

8630.63 8226 199.95 2.37 0.00 1793.0 1814.6 1771.4 2693.3 2128.5 78.89 8.33 786 8665.07 33.19 0.00 0.00 1.116 0.000 0.000 1683.62 1706.31 1660.94 2693.38 2128.50 0 0 0 11.50 30.00 30.00

8720.65 10275 233.33 2.47 0.00 1681.4 1704.7 1658.1 2694.1 2128.6 72.20 7.76 795 8761.55 39.75 0.30 0.00 1.092 0.065 0.000 1549.12 1571.94 1526.31 2747.06 2129.06 0 0 0 11.48 15.37 30.00

8820.65 0 233.33 2.47 0.00 1545.2 1569.2 1521.2 2747.3 2129.4 61.31 11.60 805 8821.98 0.00 0.00 0.00 0.000 0.000 0.000 1545.44 1569.62 1521.25 2747.25 2129.12 0 0 0 30.00 30.00 30.00

8880.65 516 233.33 2.47 -80.00 1544.4 1569.4 1519.4 2747.1 2129.7 54.18 11.77 811 8886.41 0.00 0.00 4.09 0.000 0.000 0.122 1544.62 1569.50 1519.75 2746.25 662.19 0 0 0 30.00 30.00 15.08

9109.60 9254 267.24 2.57 0.00 1543.3 1567.1 1519.6 2747.1 661.8 30.98 7.70 857 9152.13 37.76 0.00 3.54 1.048 0.000 0.043 1410.03 1435.38 1384.69 2747.50 2133.25 0 0 0 11.47 30.00 15.32

9210.70 10791 302.17 2.67 -80.00 1407.9 1434.7 1381.1 2747.1 2133.4 24.14 7.60 871 9256.43 39.38 0.28 4.11 1.022 0.065 0.122 1267.44 1292.69 1242.19 2798.50 661.88 0 0 0 11.34 15.30 14.94

9258.56 1092 302.17 2.73 0.00 1268.1 1293.6 1242.6 2799.2 661.6 19.73 9.21 879 9265.36 0.00 0.00 3.54 0.000 0.000 0.039 1268.00 1293.31 1242.69 2799.12 2131.75 0 0 0 30.00 30.00 15.22

9324.65 324 302.17 2.78 80.00 1265.8 1292.6 1239.1 2798.5 2131.6 13.79 9.37 886 9330.30 0.00 0.00 3.62 0.000 0.000 0.101 1264.78 1291.94 1237.62 2798.75 3475.31 0 0 0 30.00 30.00 15.13

9353.56 3141 302.17 2.82 0.00 1265.1 1291.9 1238.2 2798.6 3476.1 10.82 9.75 892 9361.35 0.00 0.17 3.41 0.000 0.086 0.047 1265.12 1292.25 1238.00 2834.44 2077.25 0 0 0 30.00 15.07 15.25

9419.66 8742 344.90 2.95 -80.00 1264.7 1292.1 1237.2 2834.5 2077.4 6.29 6.82 899 9471.41 44.92 0.00 3.95 1.004 0.000 0.125 1094.41 1119.75 1069.06 2834.56 661.94 0 0 0 11.35 30.00 14.96

9483 end climb: SURFACE_DEPTH_REACHED

state 9483 begin surface coast

9503 end surface coast: CONTROL_FINISHED_OK

state 9503 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	1212	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	78.835304	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	288.12717	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	230421,010140,4707.399,-12501.193,20,0.7,21,15.5	TGT_LATLONG	4708.000,-12502.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.58	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-63.2	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	230421,010907,4707.398,-12501.188,3,0.6,4,15.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.290	MHEAD_RNG_PITCHd_Wd	301.9,1512,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	593

SM_CCo	9670.02,0.00,2.547,0,564.4,555.9,573.0,474.79	_10V_AH	14.56,0.000
SM_GC	-0.67,0.00,19.42,3.47,2.547,0.073,0.036,564.4,555.9,573.0,177.7,2131.4,0,0,0,30.36,15.08,15.29	FG_AHR_24Vo	288.347
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	78.868
IRIDIUM_FIX	4707.48,-12503.93,220421,221251	MEM	1103708,37,73460,56
TCM_TEMP	176.14	DATA_FILE_SIZE	35415,916
XPDR_PINGS	13,14.0,11.5	CAP_FILE_SIZE	502502,0
SC_FREEKB	3394656	SDSIZE	3918848,3587200
HUMID	59.02	SDFILEDIR	6086,1
TEMP	7.79	ERRORS	0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78577	GPS	230421,035109,4707.613,-12501.133,7,0.8,25,15.5
_24V_AH	13.47,329.240

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	671	2547	23037.07	legato	0	0	0.00
Pitch_motor	41	250	141.11	nil	0	0	0.00
Roll_motor	230	222	691.12	nil	0	0	0.00
Iridium	195	204	539.14	nil	0	0	0.00
Transponder_ping	3	420	18.39	nil	0	0	0.00
GPS	11	15	2.61	nil	0	0	0.00
Core	3665	11	629.72	SciCon	9573	5	718.38
LPSleep	6391	2	260.55	nil	0	0	0.00
Compass	1802	5	131.25	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
8.59	16386	-74.33	-1.59	0.00	559.5	556.5	562.5	170.4	2079.7	0.00	0.00	0	95.40	86.44	0.00	0.00	0.005	0.000	0.000	2525.19	2508.62	2541.75	170.25	2079.44	0	0	0	13.33	30.00	30.00
95.68	18983	-106.66	-1.69	-80.00	2524.9	2508.9	2540.9	170.3	2079.3	3.56	-7.86	9	127.92	9.04	14.51	4.13	0.007	0.250	0.148	2935.16	2932.75	2937.56	1730.38	663.12	0	0	0	13.21	14.76	14.51
186.59	1028	-106.66	-1.69	0.00	2934.7	2932.1	2937.2	1730.6	663.0	25.88	-21.60	27	191.78	0.00	0.00	3.57	0.000	0.000	0.049	2935.06	2932.38	2937.75	1730.75	2122.62	0	0	0	30.00	30.00	15.26
251.15	260	-106.66	-1.69	80.00	2934.3	2931.4	2937.1	1730.7	2122.9	37.06	-16.90	34	256.80	0.00	0.00	3.68	0.000	0.000	0.104	2933.22	2930.56	2935.88	1730.75	3475.44	0	0	0	30.00	30.00	15.07
340.08	1028	-106.66	-1.69	0.00	2934.7	2931.8	2937.6	1730.1	3476.1	52.75	-16.57	52	346.88	0.00	0.00	3.44	0.000	0.000	0.052	2935.88	2932.88	2938.88	1730.75	2079.94	0	0	0	30.00	30.00	15.16
406.23	516	-106.66	-1.69	-80.00	2934.8	2932.1	2937.4	1730.7	2080.4	61.67	-13.18	59	411.91	0.00	0.00	4.09	0.000	0.000	0.140	2932.88	2929.88	2935.88	1730.12	661.62	0	0	0	30.00	30.00	14.96
445.10	1028	-106.66	-1.69	0.00	2934.9	2931.8	2938.1	1730.4	662.0	67.39	-14.39	67	451.91	0.00	0.00	3.56	0.000	0.000	0.044	2937.34	2934.50	2940.19	1730.62	2123.19	0	0	0	30.00	30.00	15.24
511.25	0	-106.66	-1.69	0.00	2934.7	2931.8	2937.6	1730.8	2123.1	75.98	-13.31	74	512.57	0.00	0.00	0.00	0.000	0.000	0.000	2935.03	2931.94	2938.12	1730.75	2123.12	0	0	0	30.00	30.00	30.00
571.26	260	-106.66	-1.69	80.00	2934.8	2931.9	2937.6	1730.9	2122.9	84.14	-13.52	80	576.85	0.00	0.00	3.66	0.000	0.000	0.101	2935.03	2931.88	2938.19	1730.38	3473.94	0	0	0	30.00	30.00	15.03
610.11	1028	-106.66	-1.69	0.00	2934.8	2931.8	2937.8	1730.0	3474.4	89.58	-13.87	88	616.89	0.00	0.00	3.40	0.000	0.000	0.049	2935.38	2932.62	2938.12	1730.00	2079.50	0	0	0	30.00	30.00	15.17
676.27	516	-106.66	-1.69	-80.00	2934.8	2931.9	2937.8	1730.6	2079.6	97.55	-11.84	95	681.95	0.00	0.00	4.07	0.000	0.000	0.141	2933.31	2929.81	2936.81	1730.25	660.88	0	0	0	30.00	30.00	14.94
691.67	1028	-106.66	-1.69	0.00	2935.2	2932.2	2938.1	1730.8	660.8	99.43	-11.71	98	696.85	0.00	0.00	3.53	0.000	0.000	0.043	2934.53	2931.44	2937.62	1730.56	2123.81	0	0	0	30.00	30.00	15.28
756.22	0	-106.66	-1.69	0.00	2934.7	2931.8	2937.6	1730.7	2124.2	106.80	-10.83	105	757.54	0.00	0.00	0.00	0.000	0.000	0.000	2934.94	2932.19	2937.69	1730.44	2124.19	0	0	0	30.00	30.00	30.00
816.24	0	-106.66	-1.69	0.00	2934.8	2932.1	2937.6	1730.9	2124.1	113.44	-10.78	111	817.56	0.00	0.00	0.00	0.000	0.000	0.000	2934.94	2931.88	2938.00	1730.75	2124.12	0	0	0	30.00	30.00	30.00
876.24	0	-106.66	-1.69	0.00	2935.2	2932.2	2938.1	1730.9	2124.4	119.84	-10.84	117	877.57	0.00	0.00	0.00	0.000	0.000	0.000	2935.72	2932.81	2938.62	1730.75	2124.56	0	0	0	30.00	30.00	30.00
936.25	260	-106.66	-1.69	80.00	2934.9	2931.8	2938.1	1730.1	2123.9	126.35	-10.64	123	941.89	0.00	0.00	3.64	0.000	0.000	0.102	2933.84	2930.88	2936.81	1730.94	3474.25	0	0	0	30.00	30.00	15.00
955.16	1028	-106.66	-1.69	0.00	2935.4	2932.5	2938.4	1730.6	3472.8	128.45	-10.65	127	961.94	0.00	0.00	3.39	0.000	0.000	0.048	2935.66	2932.31	2939.00	1730.56	2079.88	0	0	0	30.00	30.00	15.15
1021.30	516	-106.66	-1.69	-80.00	2935.2	2932.2	2938.2	1730.6	2080.0	136.23	-11.87	134	1026.97	0.00	0.00	4.08	0.000	0.000	0.141	2934.94	2931.88	2938.00	1729.69	661.88	0	0	0	30.00	30.00	14.91
1046.69	1028	-106.66	-1.69	0.00	2934.9	2931.8	2938.1	1730.6	661.8	139.52	-12.17	139	1051.90	0.00	0.00	3.53	0.000	0.000	0.043	2934.72	2931.06	2938.38	1730.44	2123.38	0	0	0	30.00	30.00	15.27
1111.26	260	-106.66	-1.69	80.00	2935.2	2931.9	2938.4	1730.8	2123.4	147.37	-11.78	146	1116.91	0.00	0.00	3.64	0.000	0.000	0.101	2933.50	2930.75	2936.25	1730.44	3476.31	0	0	0	30.00	30.00	15.03
1176.72	1028	-106.66	-1.69	0.00	2935.0	2931.1	2938.9	1730.8	3475.8	155.40	-12.46	159	1181.88	0.00	0.00	3.38	0.000	0.000	0.047	2933.97	2930.88	2937.06	1730.69	2079.69	0	0	0	30.00	30.00	15.16
1301.29	0	-106.66	-1.69	0.00	2935.4	2931.8	2939.1	1731.0	2079.2	170.38	-11.69	172	1302.62	0.00	0.00	0.00	0.000	0.000	0.000	2934.09	2930.75	2937.44	1730.56	2079.56	0	0	0	30.00	30.00	30.00
1421.29	0	-106.66	-1.69	0.00	2935.3	2931.9	2938.8	1730.7	2079.6	183.75	-11.10	184	1422.62	0.00	0.00	0.00	0.000	0.000	0.000	2936.19	2932.56	2939.81	1730.75	2079.75	0	0	0	30.00	30.00	30.00
1541.30	516	-106.66	-1.69	-80.00	2936.0	2932.1	2939.9	1730.0	2079.9	197.00	-11.02	196	1547.02	0.00	0.00	4.09	0.000	0.000	0.142	2936.47	2932.12	2940.81	1730.44	661.75	0	0	0	30.00	30.00	14.87
1550.22	1028	-106.66	-1.69	0.00	2935.6	2931.9	2939.2	1730.2	662.0	197.95	-11.01	198	1557.03	0.00	0.00	3.53	0.000	0.000	0.043	2936.97	2932.88	2941.06	1729.81	2124.31	0	0	0	30.00	30.00	15.23
1676.34	0	-106.66	-1.69	0.00	2936.1	2932.1	2940.0	1730.5	2124.3	211.12	-10.30	211	1677.66	0.00	0.00	0.00	0.000	0.000	0.000	2936.41	2932.50	2940.31	1730.75	2124.31	0	0	0	30.00	30.00	30.00
1796.33	0	-106.66	-1.69	0.00	2936.2	2932.6	2939.9	1730.5	2124.1	223.61	-10.13	223	1797.65	0.00	0.00	0.00	0.000	0.000	0.000	2936.56	2932.50	2940.62	1730.88	2124.69	0	0	0	30.00	30.00	30.00
1916.34	0	-106.66	-1.69	0.00	2936.3	2931.9	2940.7	1730.7	2124.8	236.19	-10.40	235	1917.67	0.00	0.00	0.00	0.000	0.000	0.000	2936.47	2932.31	2940.62	1730.56	2123.94	0	0	0	30.00	30.00	30.00
2036.35	0	-106.66	-1.69	0.00	2936.3	2931.9	2940.7	1730.2	2124.1	249.48	-11.55	247	2037.68	0.00	0.00	0.00	0.000	0.000	0.000	2936.66	2932.94	2940.38	1730.31	2123.94	0	0	0	30.00	30.00	30.00
2166.36	260	-106.66	-1.69	80.00	2936.5	2932.5	2940.4	1730.5	2124.5	263.96	-11.17	252	2172.00	0.00	0.00	3.69	0.000	0.000	0.106	2937.75	2932.94	2942.56	1730.38	3476.50	0	0	0	30.00	30.00	14.94
2200.26	1028	-106.66	-1.69	0.00	2936.5	2932.4	2940.6	1730.8	3476.5	268.36	-12.44	259	2205.97	0.00	0.00	3.42	0.000	0.000	0.050	2937.44	2932.69	2942.19	1730.06	2080.62	0	0	0	30.00	30.00	15.08
2521.38	260	-106.66	-1.69	80.00	2936.5	2932.1	2940.8	1730.6	2080.4	305.84	-11.65	273	2527.05	0.00	0.00	3.83	0.000	0.000	0.102	2936.91	2932.69	2941.12	1730.25	3476.19	0	0	0	30.00	30.00	14.92
2576.83	1028	-106.66	-1.69	0.00	2936.6	2932.4	2940.8	1730.6	3476.4	312.77	-12.39	284	2582.00	0.00	0.00	3.44	0.000	0.000	0.051	2935.97	2931.81	2940.12	1730.38	2080.56	0	0	0	30.00	30.00	15.09
2901.39	516	-106.66	-1.69	-80.00	2936.2	2932.0	2940.5	1730.4	2079.8	348.84	-10.93	299	2907.13	0.00	0.00	4.16	0.000	0.000	0.146	2935.28	2931.62	2938.94	1730.56	662.88	0	0	0	30.00	30.00	14.79
2915.35	1028	-106.66	-1.69	0.00	2936.2	2932.0	2940.4	1730.4	662.9	350.85	-10.10	302	2921.02	0.00	0.00	3.54	0.000	0.000	0.043	2936.78	2932.50	2941.06	1730.56	2122.62	0	0	0	30.00	30.00	15.19
3226.40	260	-106.66	-1.69	80.00	2936.1	2931.9	2940.3	1730.5	2122.6	384.04	-10.56	314	3232.05	0.00	0.00	3.73	0.000	0.000	0.104	2936.88	2932.50	2941.25	1728.94	3475.50	0	0	0	30.00	30.00	14.91
3285.32	1028	-106.66	-1.69	0.00	2936.6	2932.4	2940.7	1730.5	3475.8	390.28	-10.65	326	3291.07	0.00	0.00	3.44	0.000	0.000	0.051	2938.03	2933.88	2942.19	1730.06	2083.88	0	0	0	30.00	30.00	15.03
3611.43	260	-106.66	-1.69	80.00	2935.6	2931.9	2939.2	1730.4	2083.1	423.50	-10.05	341	3617.10	0.00	0.00	3.88	0.000	0.000	0.105	2934.50	2930.75	2938.25	1730.56	3473.62	0	0	0	30.00	30.00	14.88
3636.86	1028	-106.66	-1.69	0.00	2935.5	2931.9	2939.1	1730.7	3473.6	426.18	-10.17	346	3642.04	0.00	0.00	3.43	0.000	0.000	0.052	2934.97	2931.00	2938.94	1730.56	2081.06	0	0	0	30.00	30.00	15.05
3961.44	0	-106.66	-1.69	0.00	2935.2	2931.7	2938.6	1730.9	2080.8	460.32	-10.63	361	3962.76	0.00	0.00	0.00	0.000	0.000	0.000	2935.38	2932.38	2938.38	1730.44	2081.19	0	0	0	30.00	30.00	30.00
4261.43	0	-106.66	-1.69	0.00	2934.8	2932.0	2937.5	1730.7	2081.2	493.41	-11.45	371	4262.76	0.00	0.00	0.00	0.000	0.000	0.000	2935.12	2931.69	2938.56	1730.50	2081.00	0	0	0	30.00	30.00	30.00
4351	end dive: TARGET_DEPTH_EXCEEDED
state	4351	begin apogee
4352.58	10243	0.00	-0.25	0.00	2934.3	2931.6	2937.1	1730.6	2122.1	502.71	-10.76	374	4446.88	90.29	2.94	0.09	1.631	0.159	0.222	2497.72	2507.38	2488.06	2078.50	2083.25	0	0	0	11.02	14.75	14.72
4449	end apogee: CONTROL_FINISHED_OK
state	4450	begin climb
4450.19	10759	106.66	1.69	-80.00	2497.7	2506.8	2488.6	2078.5	2083.2	504.92	0.00	377	4560.96	98.72	3.55	4.26	1.570	0.079	0.135	2063.47	2076.19	2050.75	2553.56	662.88	0	0	0	11.17	14.91	14.29
4573.15	9254	128.81	1.75	0.00	2059.8	2070.9	2048.6	2554.0	663.0	497.84	8.88	402	4601.40	22.52	0.00	3.67	1.432	0.000	0.040	1973.38	1989.56	1957.19	2553.62	2124.12	0	0	0	11.03	30.00	14.66
4924.65	16966	128.81	1.80	-80.00	1963.6	1983.5	1943.7	2553.5	2124.4	463.63	9.72	422	4930.36	0.00	0.00	4.15	0.000	0.000	0.130	1962.31	1981.62	1943.00	2554.38	661.19	0	0	0	30.00	30.00	15.06
5018.56	17414	128.81	1.80	0.00	1962.4	1981.1	1943.8	2553.4	661.1	452.05	11.68	441	5024.27	0.00	0.00	3.53	0.000	0.000	0.041	1962.69	1981.69	1943.69	2554.31	2125.44	0	0	0	30.00	30.00	15.33
5339.68	19015	128.81	1.84	-80.00	1960.8	1980.7	1940.9	2554.2	2126.4	419.44	9.65	455	5345.46	0.00	0.21	4.15	0.000	0.073	0.129	1959.59	1978.94	1940.25	2596.06	660.62	0	0	0	30.00	15.46	15.07
5468.59	17414	128.81	1.84	0.00	1960.3	1979.7	1941.0	2596.8	660.6	403.97	12.31	481	5474.31	0.00	0.00	3.53	0.000	0.000	0.041	1960.12	1979.56	1940.69	2597.00	2126.94	0	0	0	30.00	30.00	15.33
5784.71	16450	128.81	1.87	0.00	1959.3	1979.1	1939.4	2597.4	2126.4	372.56	10.11	494	5786.04	0.00	0.00	0.00	0.000	0.000	0.000	1959.75	1979.56	1939.94	2596.94	2126.12	0	0	0	30.00	30.00	30.00
6084.71	16450	128.81	1.92	0.00	1959.0	1979.3	1938.8	2597.2	2125.9	343.55	9.56	504	6086.04	0.00	0.00	0.00	0.000	0.000	0.000	1958.19	1978.75	1937.62	2597.88	2126.31	0	0	0	30.00	30.00	30.00
6384.72	16966	128.81	1.97	-80.00	1958.3	1978.9	1937.8	2597.3	2126.4	315.57	9.27	514	6390.44	0.00	0.00	4.20	0.000	0.000	0.130	1956.97	1977.31	1936.62	2597.06	661.62	0	0	0	30.00	30.00	14.98
6493.64	17414	128.81	1.97	0.00	1958.1	1978.2	1937.9	2597.4	661.8	303.54	11.61	536	6500.45	0.00	0.00	3.55	0.000	0.000	0.044	1958.66	1979.00	1938.31	2597.62	2126.81	0	0	0	30.00	30.00	15.28
6799.75	10535	148.81	2.03	80.00	1957.9	1978.2	1937.6	2596.9	2126.5	275.60	9.10	547	6824.76	17.33	0.24	3.64	1.309	0.071	0.109	1891.66	1912.00	1871.31	2642.50	3478.00	0	0	0	11.33	15.44	15.21
6838.64	1028	148.81	2.03	0.00	1891.2	1911.5	1870.8	2643.0	3477.5	272.16	10.63	555	6844.35	0.00	0.00	3.41	0.000	0.000	0.049	1890.94	1911.94	1869.94	2642.31	2077.00	0	0	0	30.00	30.00	15.33
7149.89	516	148.81	2.03	-80.00	1889.1	1911.6	1866.5	2642.9	2078.1	239.63	11.76	574	7155.45	0.00	0.00	3.97	0.000	0.000	0.130	1888.69	1911.75	1865.62	2641.06	661.69	0	0	0	30.00	30.00	15.10
7208.68	1028	148.81	2.03	0.00	1888.0	1909.6	1866.4	2643.4	662.1	232.15	13.46	586	7215.50	0.00	0.00	3.53	0.000	0.000	0.044	1889.94	1911.88	1868.00	2643.25	2128.31	0	0	0	30.00	30.00	15.35
7334.78	0	148.81	2.03	0.00	1887.6	1909.1	1866.0	2642.8	2128.4	218.58	10.97	599	7336.10	0.00	0.00	0.00	0.000	0.000	0.000	1888.22	1910.25	1866.19	2642.06	2128.12	0	0	0	30.00	30.00	30.00
7454.80	580	148.81	2.08	-80.00	1887.2	1909.4	1865.0	2642.9	2128.2	206.78	9.53	611	7460.51	0.00	0.00	4.12	0.000	0.000	0.125	1887.81	1910.19	1865.44	2642.62	660.69	0	0	0	30.00	30.00	15.05
7500.23	1028	148.81	2.08	0.00	1886.6	1908.1	1865.2	2642.9	660.7	201.73	11.20	620	7505.43	0.00	0.00	3.53	0.000	0.000	0.043	1887.41	1908.81	1866.00	2641.94	2128.62	0	0	0	30.00	30.00	15.36
7624.82	580	148.81	2.13	-80.00	1886.6	1908.2	1864.9	2642.3	2128.3	189.78	9.47	633	7630.52	0.00	0.00	4.11	0.000	0.000	0.124	1885.31	1907.06	1863.56	2643.06	659.50	0	0	0	30.00	30.00	15.04
7730.26	1028	148.81	2.13	0.00	1886.3	1907.6	1865.1	2642.6	659.6	176.97	13.62	654	7735.44	0.00	0.00	3.53	0.000	0.000	0.043	1886.69	1907.94	1865.44	2642.88	2128.75	0	0	0	30.00	30.00	15.31
7854.84	324	148.81	2.16	80.00	1886.3	1907.6	1865.0	2642.7	2128.3	164.72	10.22	667	7860.47	0.00	0.00	3.65	0.000	0.000	0.104	1886.50	1907.81	1865.19	2642.94	3474.56	0	0	0	30.00	30.00	15.05
7900.27	1028	148.81	2.16	0.00	1886.1	1907.4	1864.9	2642.5	3474.9	160.11	11.44	676	7905.45	0.00	0.00	3.40	0.000	0.000	0.048	1884.88	1905.94	1863.81	2642.31	2076.19	0	0	0	30.00	30.00	15.23
8024.86	580	148.81	2.18	-80.00	1885.7	1907.1	1864.3	2642.9	2076.6	147.59	10.45	689	8030.53	0.00	0.00	3.98	0.000	0.000	0.127	1885.47	1906.75	1864.19	2642.88	660.25	0	0	0	30.00	30.00	14.98
8100.29	1028	148.81	2.18	0.00	1885.9	1907.3	1864.5	2643.2	660.4	138.67	11.46	704	8105.48	0.00	0.00	3.51	0.000	0.000	0.042	1886.06	1907.25	1864.88	2643.38	2130.62	0	0	0	30.00	30.00	15.32
8164.86	10791	172.25	2.25	-80.00	1885.7	1907.4	1863.9	2643.0	2130.1	132.68	8.76	711	8197.34	26.82	0.28	4.00	1.169	0.067	0.123	1797.91	1818.31	1777.50	2693.12	660.69	0	0	0	11.39	15.46	15.16
8274.53	1028	172.25	2.25	0.00	1795.2	1814.8	1775.6	2693.0	660.6	118.38	14.33	733	8281.30	0.00	0.00	3.52	0.000	0.000	0.043	1794.56	1814.44	1774.69	2692.69	2128.19	0	0	0	30.00	30.00	15.38
8340.57	516	172.25	2.25	-80.00	1793.6	1814.2	1772.9	2693.4	2128.2	110.30	12.25	740	8346.28	0.00	0.00	4.03	0.000	0.000	0.120	1793.00	1814.00	1772.00	2693.44	660.94	0	0	0	30.00	30.00	15.14
8429.51	1028	172.25	2.25	0.00	1793.5	1814.4	1772.6	2693.0	661.0	98.44	13.72	758	8436.36	0.00	0.00	3.51	0.000	0.000	0.043	1793.53	1814.88	1772.19	2693.56	2129.31	0	0	0	30.00	30.00	15.34
8495.64	580	172.25	2.28	-80.00	1793.0	1814.1	1771.9	2692.6	2129.7	91.95	9.82	765	8501.33	0.00	0.00	4.05	0.000	0.000	0.121	1792.03	1813.12	1770.94	2693.06	660.69	0	0	0	30.00	30.00	15.08
8564.52	1028	172.25	2.28	0.00	1793.1	1814.4	1771.8	2693.4	660.8	84.49	10.65	779	8571.35	0.00	0.00	3.51	0.000	0.000	0.041	1794.88	1815.56	1774.19	2693.62	2128.75	0	0	0	30.00	30.00	15.34
8630.63	8226	199.95	2.37	0.00	1793.0	1814.6	1771.4	2693.3	2128.5	78.89	8.33	786	8665.07	33.19	0.00	0.00	1.116	0.000	0.000	1683.62	1706.31	1660.94	2693.38	2128.50	0	0	0	11.50	30.00	30.00
8720.65	10275	233.33	2.47	0.00	1681.4	1704.7	1658.1	2694.1	2128.6	72.20	7.76	795	8761.55	39.75	0.30	0.00	1.092	0.065	0.000	1549.12	1571.94	1526.31	2747.06	2129.06	0	0	0	11.48	15.37	30.00
8820.65	0	233.33	2.47	0.00	1545.2	1569.2	1521.2	2747.3	2129.4	61.31	11.60	805	8821.98	0.00	0.00	0.00	0.000	0.000	0.000	1545.44	1569.62	1521.25	2747.25	2129.12	0	0	0	30.00	30.00	30.00
8880.65	516	233.33	2.47	-80.00	1544.4	1569.4	1519.4	2747.1	2129.7	54.18	11.77	811	8886.41	0.00	0.00	4.09	0.000	0.000	0.122	1544.62	1569.50	1519.75	2746.25	662.19	0	0	0	30.00	30.00	15.08
9109.60	9254	267.24	2.57	0.00	1543.3	1567.1	1519.6	2747.1	661.8	30.98	7.70	857	9152.13	37.76	0.00	3.54	1.048	0.000	0.043	1410.03	1435.38	1384.69	2747.50	2133.25	0	0	0	11.47	30.00	15.32
9210.70	10791	302.17	2.67	-80.00	1407.9	1434.7	1381.1	2747.1	2133.4	24.14	7.60	871	9256.43	39.38	0.28	4.11	1.022	0.065	0.122	1267.44	1292.69	1242.19	2798.50	661.88	0	0	0	11.34	15.30	14.94
9258.56	1092	302.17	2.73	0.00	1268.1	1293.6	1242.6	2799.2	661.6	19.73	9.21	879	9265.36	0.00	0.00	3.54	0.000	0.000	0.039	1268.00	1293.31	1242.69	2799.12	2131.75	0	0	0	30.00	30.00	15.22
9324.65	324	302.17	2.78	80.00	1265.8	1292.6	1239.1	2798.5	2131.6	13.79	9.37	886	9330.30	0.00	0.00	3.62	0.000	0.000	0.101	1264.78	1291.94	1237.62	2798.75	3475.31	0	0	0	30.00	30.00	15.13
9353.56	3141	302.17	2.82	0.00	1265.1	1291.9	1238.2	2798.6	3476.1	10.82	9.75	892	9361.35	0.00	0.17	3.41	0.000	0.086	0.047	1265.12	1292.25	1238.00	2834.44	2077.25	0	0	0	30.00	15.07	15.25
9419.66	8742	344.90	2.95	-80.00	1264.7	1292.1	1237.2	2834.5	2077.4	6.29	6.82	899	9471.41	44.92	0.00	3.95	1.004	0.000	0.125	1094.41	1119.75	1069.06	2834.56	661.94	0	0	0	11.35	30.00	14.96
9483	end climb: SURFACE_DEPTH_REACHED
state	9483	begin surface coast
9503	end surface coast: CONTROL_FINISHED_OK
state	9503	begin surface