Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 939 * 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 939 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 70.352013 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 226.14525 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 160 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 300 SC_NDIVE 1.0

HD_B 0.0099900002 ROLL_DEG 80 ALTIM_PING_DELTA 20

HD_C 1.6e-05 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2100 ALTIM_PULSE 1

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 20 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 475

ALTIM_PING_DEPTH 300 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 70.352013 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 226.14525 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 160 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 939 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 250321,031553,4707.944,-12459.924,3,1.4,8,15.6 TGT_LATLONG 4708.000,-12500.600

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.59 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -59.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 250321,032216,4707.928,-12459.945,4,1.5,11,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.275 MHEAD_RNG_PITCHd_Wd 263.6,835,-27.4,-11.111,-30.00

TGT_NAME HOLD D_GRID 427

Post-dive calculations and measurements:

SM_CCo 7923.55,0.07,0.232,0,564.7,566.9,562.6,474.72 _10V_AH 14.77,0.000

SM_GC -0.72,0.07,17.52,3.39,0.232,0.081,0.055,564.7,566.9,562.6,164.0,2075.8,0,0,0,15.16,15.32,15.57 FG_AHR_24Vo 226.343

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 70.382

IRIDIUM_FIX 4707.10,-12459.52,250321,020951 MEM 1103688,39,73440,56

TCM_TEMP 175.35 DATA_FILE_SIZE 32172,868

XPDR_PINGS 5,14.0,11.5 CAP_FILE_SIZE 422447,0

SC_FREEKB 3499520 SDSIZE 3918848,3662080

HUMID 58.51 SDFILEDIR 4721,1

TEMP 8.11 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.79124 GPS 250321,053519,4708.190,-12500.626,32,1.6,33,15.6

_24V_AH 13.72,262.340

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 619 2590 22012.30 legato 0 0 0.00

Pitch_motor 37 247 127.15 nil 0 0 0.00

Roll_motor 158 229 500.06 nil 0 0 0.00

Iridium 183 192 482.27 nil 0 0 0.00

Transponder_ping 3 420 17.29 nil 0 0 0.00

GPS 20 15 4.55 nil 0 0 0.00

Core 3411 11 594.54 SciCon 7789 6 748.47

LPSleep 4683 2 193.69 nil 0 0 0.00

Compass 1965 5 145.16 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 7 30 3.10

Altimeter Analysis:

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

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

Guidance and control:

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7.47 16386 -74.33 -1.59 0.00 558.8 567.2 550.4 164.1 2117.4 0.00 0.00 0 93.18 85.20 0.00 0.00 0.005 0.000 0.000 2530.59 2511.25 2549.94 164.19 2118.31 0 0 0 14.54 30.00 30.00

93.42 18695 -74.33 -1.59 80.00 2529.7 2510.4 2548.9 164.1 2118.1 3.59 -13.94 16 120.30 5.96 13.64 3.64 0.008 0.247 0.108 2804.12 2796.69 2811.56 1753.06 3474.88 0 0 0 14.78 15.18 14.62

123.59 1028 -74.33 -1.59 0.00 2802.3 2795.4 2809.2 1753.4 3475.5 12.32 -26.11 22 129.23 0.00 0.00 3.40 0.000 0.000 0.057 2802.75 2795.75 2809.75 1753.50 2081.50 0 0 0 30.00 30.00 15.56

188.54 260 -74.33 -1.59 80.00 2802.4 2795.4 2809.5 1753.6 2081.2 26.94 -22.72 35 194.27 0.00 0.00 3.68 0.000 0.000 0.103 2802.47 2795.56 2809.38 1754.12 3475.38 0 0 0 30.00 30.00 15.49

238.54 1028 -74.33 -1.59 0.00 2802.1 2795.2 2809.0 1753.4 3475.4 37.93 -21.59 45 244.68 0.00 0.00 3.38 0.000 0.000 0.056 2801.84 2794.81 2808.88 1753.62 2082.06 0 0 0 30.00 30.00 15.59

303.55 0 -74.33 -1.59 0.00 2802.2 2795.2 2809.3 1753.3 2081.7 51.28 -20.36 58 307.87 0.00 0.00 0.00 0.000 0.000 0.000 2802.53 2795.88 2809.19 1753.38 2082.19 0 0 0 30.00 30.00 30.00

368.56 260 -74.33 -1.59 80.00 2802.5 2795.1 2809.9 1753.4 2082.4 63.23 -17.30 71 374.30 0.00 0.00 3.66 0.000 0.000 0.102 2803.03 2796.12 2809.94 1753.50 3474.44 0 0 0 30.00 30.00 15.53

379.01 1028 -74.33 -1.59 0.00 2802.1 2794.6 2809.5 1753.0 3475.3 65.07 -17.03 73 384.70 0.00 0.00 3.36 0.000 0.000 0.055 2803.03 2796.00 2810.06 1753.25 2082.12 0 0 0 30.00 30.00 15.62

443.58 260 -74.33 -1.59 80.00 2802.2 2795.4 2809.1 1753.6 2082.4 74.87 -14.20 86 449.32 0.00 0.00 3.67 0.000 0.000 0.103 2802.72 2795.81 2809.62 1753.31 3475.81 0 0 0 30.00 30.00 15.53

454.04 1028 -74.33 -1.59 0.00 2802.2 2795.1 2809.4 1753.3 3475.5 76.30 -14.08 88 459.26 0.00 0.00 3.35 0.000 0.000 0.053 2803.56 2796.62 2810.50 1753.38 2080.00 0 0 0 30.00 30.00 15.64

518.59 260 -74.33 -1.59 80.00 2802.0 2794.8 2809.1 1753.2 2080.2 85.36 -13.93 101 524.33 0.00 0.00 3.67 0.000 0.000 0.102 2802.66 2795.81 2809.50 1753.56 3475.38 0 0 0 30.00 30.00 15.53

534.04 1028 -74.33 -1.59 0.00 2802.5 2795.4 2809.5 1753.7 3475.7 87.49 -14.01 104 539.90 0.00 0.00 3.35 0.000 0.000 0.052 2803.16 2796.44 2809.88 1753.50 2080.38 0 0 0 30.00 30.00 15.64

598.60 260 -74.33 -1.59 80.00 2802.1 2794.6 2809.6 1753.5 2079.9 96.18 -13.06 117 604.34 0.00 0.00 3.66 0.000 0.000 0.102 2802.97 2796.50 2809.44 1753.19 3475.44 0 0 0 30.00 30.00 15.54

634.04 1028 -74.33 -1.59 0.00 2802.4 2795.5 2809.4 1753.7 3475.2 100.85 -13.26 124 639.73 0.00 0.00 3.32 0.000 0.000 0.054 2803.38 2796.06 2810.69 1753.75 2080.19 0 0 0 30.00 30.00 15.65

698.62 516 -74.33 -1.59 -80.00 2802.1 2795.4 2808.9 1753.6 2080.1 107.88 -10.02 137 704.85 0.00 0.00 3.94 0.000 0.000 0.149 2804.44 2796.94 2811.94 1753.25 662.81 0 0 0 30.00 30.00 15.40

719.13 1028 -74.33 -1.59 0.00 2802.0 2794.9 2809.0 1753.2 662.9 110.35 -10.98 141 724.79 0.00 0.00 3.43 0.000 0.000 0.046 2802.81 2796.06 2809.56 1753.50 2124.88 0 0 0 30.00 30.00 15.71

783.64 260 -74.33 -1.59 80.00 2802.0 2795.6 2808.5 1753.6 2124.4 117.56 -10.57 154 789.39 0.00 0.00 3.53 0.000 0.000 0.105 2802.53 2795.62 2809.44 1753.19 3475.75 0 0 0 30.00 30.00 15.54

849.11 1028 -74.33 -1.59 0.00 2802.2 2795.2 2809.1 1753.1 3475.1 125.91 -13.27 167 854.78 0.00 0.00 3.33 0.000 0.000 0.053 2803.62 2796.38 2810.88 1753.69 2081.62 0 0 0 30.00 30.00 15.66

913.68 0 -74.33 -1.59 0.00 2802.3 2794.9 2809.7 1753.6 2081.7 133.88 -11.75 180 918.03 0.00 0.00 0.00 0.000 0.000 0.000 2803.06 2796.00 2810.12 1753.25 2081.75 0 0 0 30.00 30.00 30.00

978.69 516 -74.33 -1.59 -80.00 2802.4 2795.2 2809.7 1753.9 2081.4 141.27 -11.82 193 984.91 0.00 0.00 3.99 0.000 0.000 0.151 2803.69 2796.31 2811.06 1753.38 661.75 0 0 0 30.00 30.00 15.40

1049.13 1028 -74.33 -1.59 0.00 2801.8 2795.3 2808.2 1753.6 661.7 150.76 -14.22 207 1054.32 0.00 0.00 3.44 0.000 0.000 0.049 2801.03 2794.25 2807.81 1752.94 2122.25 0 0 0 30.00 30.00 15.73

1353.73 0 -74.33 -1.59 0.00 2802.3 2795.2 2809.5 1753.6 2122.3 186.43 -11.67 238 1355.05 0.00 0.00 0.00 0.000 0.000 0.000 2802.91 2796.19 2809.62 1753.69 2122.31 0 0 0 30.00 30.00 30.00

1653.75 0 -74.33 -1.59 0.00 2802.2 2795.3 2809.2 1753.5 2122.4 221.64 -11.63 268 1655.08 0.00 0.00 0.00 0.000 0.000 0.000 2801.53 2794.56 2808.50 1753.00 2122.69 0 0 0 30.00 30.00 30.00

1963.83 0 -74.33 -1.59 0.00 2802.0 2795.0 2808.9 1753.4 2122.8 257.65 -11.56 295 1965.15 0.00 0.00 0.00 0.000 0.000 0.000 2801.59 2794.69 2808.50 1752.69 2122.50 0 0 0 30.00 30.00 30.00

2263.77 260 -74.33 -1.59 80.00 2802.1 2795.0 2809.1 1753.6 2122.2 292.26 -11.80 305 2269.42 0.00 0.00 3.60 0.000 0.000 0.112 2801.44 2795.69 2807.19 1753.31 3476.12 0 0 0 30.00 30.00 15.55

2292.69 1028 -74.33 -1.59 0.00 2802.2 2795.5 2809.0 1752.9 3475.2 295.82 -11.83 311 2298.38 0.00 0.00 3.36 0.000 0.000 0.056 2804.25 2796.69 2811.81 1752.69 2080.44 0 0 0 30.00 30.00 15.66

2618.85 260 -74.33 -1.59 80.00 2802.0 2795.4 2808.6 1753.3 2081.3 332.52 -11.24 326 2624.47 0.00 0.00 3.72 0.000 0.000 0.110 2802.00 2795.62 2808.38 1753.25 3475.25 0 0 0 30.00 30.00 15.53

2717.73 1028 -74.33 -1.59 0.00 2802.0 2795.2 2808.8 1753.2 3475.5 345.62 -12.46 346 2723.41 0.00 0.00 3.37 0.000 0.000 0.059 2802.12 2796.00 2808.25 1753.62 2081.88 0 0 0 30.00 30.00 15.65

3033.83 0 -74.33 -1.59 0.00 2801.8 2795.0 2808.7 1753.0 2081.6 379.46 -10.66 359 3035.16 0.00 0.00 0.00 0.000 0.000 0.000 2802.62 2796.12 2809.12 1753.50 2081.94 0 0 0 30.00 30.00 30.00

3333.83 260 -74.33 -1.59 80.00 2801.9 2795.4 2808.4 1753.4 2081.9 411.51 -10.90 369 3339.50 0.00 0.00 3.78 0.000 0.000 0.113 2802.25 2795.25 2809.25 1752.75 3474.38 0 0 0 30.00 30.00 15.50

3372.76 1028 -74.33 -1.59 0.00 2801.6 2794.7 2808.4 1753.2 3474.6 416.80 -14.25 377 3378.44 0.00 0.00 3.40 0.000 0.000 0.059 2802.41 2795.81 2809.00 1753.31 2083.62 0 0 0 30.00 30.00 15.63

3480 end dive: TARGET_DEPTH_EXCEEDED

state 3480 begin apogee

3480.89 10243 0.00 -0.25 0.00 2801.9 2795.2 2808.6 1752.9 2121.3 428.61 -10.98 383 3549.41 64.39 2.50 0.09 1.538 0.153 0.229 2497.31 2506.50 2488.12 2079.50 2082.56 0 0 0 10.55 15.50 14.99

3558 end apogee: CONTROL_FINISHED_OK

state 3558 begin climb

3558.30 10243 74.33 1.59 0.00 2497.3 2506.6 2488.1 2080.6 2083.0 430.31 0.00 385 3630.92 68.31 3.01 0.00 1.496 0.074 0.000 2195.91 2207.44 2184.38 2533.06 2082.12 0 0 0 11.67 15.34 30.00

3928.87 10275 119.78 1.73 -80.00 2185.4 2201.6 2169.2 2532.5 2081.9 408.32 6.54 403 3973.62 41.35 0.16 0.00 1.451 0.083 0.000 2010.72 2028.44 1993.00 2579.81 2082.56 0 0 0 11.17 15.58 30.00

4288.88 16646 119.78 1.73 80.00 2002.2 2023.2 1981.1 2579.4 2082.0 369.42 11.04 420 4294.55 0.00 0.00 3.81 0.000 0.000 0.112 2001.34 2022.44 1980.25 2579.44 3473.69 0 0 0 30.00 30.00 15.48

4313.92 17414 119.78 1.73 0.00 2002.3 2023.2 1981.4 2580.0 3473.3 365.77 11.87 425 4318.46 0.00 0.00 3.40 0.000 0.000 0.056 2004.22 2024.62 1983.81 2578.50 2079.12 0 0 0 30.00 30.00 15.61

4643.93 16902 119.78 1.73 -80.00 2000.5 2023.1 1977.9 2580.1 2079.4 330.12 10.91 441 4649.58 0.00 0.00 3.95 0.000 0.000 0.137 2000.91 2023.50 1978.31 2578.94 661.75 0 0 0 30.00 30.00 15.42

4692.83 17414 119.78 1.73 0.00 1999.6 2021.3 1977.9 2579.6 661.6 323.90 12.62 451 4699.60 0.00 0.00 3.46 0.000 0.000 0.047 1999.50 2021.31 1977.69 2579.50 2125.44 0 0 0 30.00 30.00 15.71

4998.91 8226 143.48 1.80 0.00 1999.0 2021.3 1976.6 2580.4 2125.5 296.01 8.73 462 5021.79 21.74 0.00 0.00 1.328 0.000 0.000 1913.81 1936.00 1891.62 2579.56 2125.75 0 0 0 10.92 30.00 30.00

5298.96 260 143.48 1.80 80.00 1909.6 1934.6 1884.6 2579.7 2125.8 262.88 11.25 472 5304.56 0.00 0.00 3.65 0.000 0.000 0.115 1908.28 1933.12 1883.44 2579.69 3474.81 0 0 0 30.00 30.00 15.49

5337.82 1028 143.48 1.80 0.00 1909.1 1933.7 1884.4 2579.2 3475.3 257.44 13.70 480 5343.51 0.00 0.00 3.39 0.000 0.000 0.055 1910.03 1934.56 1885.50 2579.75 2077.62 0 0 0 30.00 30.00 15.65

5643.95 580 143.48 1.81 -80.00 1908.0 1933.6 1882.3 2579.5 2077.8 223.39 10.59 508 5649.65 0.00 0.00 3.94 0.000 0.000 0.135 1906.94 1932.88 1881.00 2580.50 661.38 0 0 0 30.00 30.00 15.40

5692.86 1028 143.48 1.81 0.00 1907.2 1932.5 1881.8 2579.7 662.1 217.02 13.11 518 5699.69 0.00 0.00 3.46 0.000 0.000 0.046 1907.59 1933.00 1882.19 2580.19 2126.19 0 0 0 30.00 30.00 15.71

5998.99 16386 143.48 1.81 0.00 1906.8 1932.6 1880.9 2580.1 2126.7 183.77 11.07 549 6000.32 0.00 0.00 0.00 0.000 0.000 0.000 1906.00 1931.62 1880.38 2580.31 2126.31 0 0 0 30.00 30.00 30.00

6299.01 16902 143.48 1.81 -80.00 1906.7 1932.4 1880.9 2579.8 2126.8 151.20 10.93 579 6304.73 0.00 0.00 4.09 0.000 0.000 0.132 1905.97 1931.31 1880.62 2580.19 662.69 0 0 0 30.00 30.00 15.39

6529.54 17414 143.48 1.81 0.00 1905.2 1929.9 1880.5 2579.9 662.6 123.20 11.14 625 6534.81 0.00 0.00 3.48 0.000 0.000 0.049 1906.38 1930.88 1881.88 2579.69 2126.31 0 0 0 30.00 30.00 15.72

6594.12 10275 178.74 1.92 0.00 1905.2 1929.6 1880.8 2580.1 2126.6 117.87 7.57 638 6629.88 31.35 0.16 0.00 1.186 0.086 0.000 1770.09 1796.19 1744.00 2625.62 2126.56 0 0 0 11.04 15.73 30.00

6689.11 0 178.74 1.92 0.00 1768.1 1794.6 1741.5 2625.2 2126.4 108.27 11.61 657 6693.44 0.00 0.00 0.00 0.000 0.000 0.000 1768.09 1794.75 1741.44 2624.94 2126.75 0 0 0 30.00 30.00 30.00

6754.13 516 178.74 1.92 -80.00 1766.3 1793.6 1739.0 2626.1 2126.6 101.33 10.83 670 6760.37 0.00 0.00 4.09 0.000 0.000 0.129 1767.50 1794.31 1740.69 2625.75 661.69 0 0 0 30.00 30.00 15.39

6884.58 1028 178.74 1.92 0.00 1764.9 1790.7 1739.2 2625.4 661.8 84.57 13.33 696 6889.87 0.00 0.00 3.51 0.000 0.000 0.049 1765.03 1790.50 1739.56 2625.56 2126.56 0 0 0 30.00 30.00 15.66

6949.16 8742 198.65 1.98 -80.00 1763.9 1790.2 1737.5 2625.8 2126.5 78.60 9.11 709 6980.88 22.04 0.00 4.05 1.084 0.000 0.128 1690.53 1716.56 1664.50 2624.75 662.56 0 0 0 11.39 30.00 15.21

7014.63 1028 198.65 1.98 0.00 1688.6 1714.0 1663.1 2625.3 662.4 71.93 10.82 722 7019.89 0.00 0.00 3.49 0.000 0.000 0.048 1688.38 1713.81 1662.94 2626.00 2127.81 0 0 0 30.00 30.00 15.59

7079.21 8226 229.50 2.07 0.00 1687.0 1713.9 1660.1 2625.3 2127.5 66.20 8.01 735 7115.02 35.06 0.00 0.00 1.080 0.000 0.000 1564.47 1592.38 1536.56 2625.88 2127.44 0 0 0 11.57 30.00 30.00

7174.21 10791 261.65 2.17 -80.00 1560.4 1588.9 1531.9 2625.2 2127.1 58.66 7.88 754 7216.32 36.26 0.25 4.11 1.058 0.065 0.128 1433.09 1461.81 1404.38 2680.19 661.56 0 0 0 11.44 15.51 15.08

7360.07 1092 261.65 2.20 0.00 1429.4 1456.2 1402.6 2680.1 661.6 38.96 10.20 791 7365.30 0.00 0.00 3.52 0.000 0.000 0.047 1429.28 1456.62 1401.94 2680.25 2128.75 0 0 0 30.00 30.00 15.56

7424.59 8226 290.35 2.28 0.00 1427.7 1456.2 1399.2 2680.6 2129.8 33.42 8.23 804 7460.23 31.37 0.00 0.00 1.021 0.000 0.000 1315.97 1346.25 1285.69 2679.94 2129.69 0 0 0 11.26 30.00 30.00

7519.60 324 290.35 2.31 80.00 1314.0 1344.9 1283.1 2679.8 2129.6 24.33 10.05 823 7525.38 0.00 0.00 3.64 0.000 0.000 0.110 1313.69 1344.62 1282.75 2680.31 3474.88 0 0 0 30.00 30.00 15.39

7559.59 1028 290.35 2.31 0.00 1313.1 1343.7 1282.5 2679.8 3474.8 19.57 11.99 831 7565.31 0.00 0.00 3.42 0.000 0.000 0.054 1312.94 1343.50 1282.38 2680.25 2079.06 0 0 0 30.00 30.00 15.53

7624.62 10275 317.91 2.40 0.00 1312.3 1343.5 1281.1 2679.9 2078.9 13.60 8.34 844 7655.30 29.85 0.26 0.00 0.996 0.066 0.000 1204.44 1233.56 1175.31 2740.06 2079.25 0 0 0 11.27 15.56 30.00

7714.61 260 317.91 2.40 80.00 1201.2 1232.2 1170.2 2739.5 2079.6 3.62 12.94 862 7720.38 0.00 0.00 3.79 0.000 0.000 0.109 1201.28 1232.50 1170.06 2740.06 3473.50 0 0 0 30.00 30.00 15.41

7730 end climb: SURFACE_DEPTH_REACHED

state 7730 begin surface coast

7745 end surface coast: CONTROL_FINISHED_OK

state 7745 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	939	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	70.352013	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	226.14525	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	160	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	300	SC_NDIVE	1.0
HD_B	0.0099900002	ROLL_DEG	80	ALTIM_PING_DELTA	20
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	250321,031553,4707.944,-12459.924,3,1.4,8,15.6	TGT_LATLONG	4708.000,-12500.600
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.59	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-59.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	250321,032216,4707.928,-12459.945,4,1.5,11,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.275	MHEAD_RNG_PITCHd_Wd	263.6,835,-27.4,-11.111,-30.00
TGT_NAME	HOLD	D_GRID	427

SM_CCo	7923.55,0.07,0.232,0,564.7,566.9,562.6,474.72	_10V_AH	14.77,0.000
SM_GC	-0.72,0.07,17.52,3.39,0.232,0.081,0.055,564.7,566.9,562.6,164.0,2075.8,0,0,0,15.16,15.32,15.57	FG_AHR_24Vo	226.343
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	70.382
IRIDIUM_FIX	4707.10,-12459.52,250321,020951	MEM	1103688,39,73440,56
TCM_TEMP	175.35	DATA_FILE_SIZE	32172,868
XPDR_PINGS	5,14.0,11.5	CAP_FILE_SIZE	422447,0
SC_FREEKB	3499520	SDSIZE	3918848,3662080
HUMID	58.51	SDFILEDIR	4721,1
TEMP	8.11	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.79124	GPS	250321,053519,4708.190,-12500.626,32,1.6,33,15.6
_24V_AH	13.72,262.340

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	619	2590	22012.30	legato	0	0	0.00
Pitch_motor	37	247	127.15	nil	0	0	0.00
Roll_motor	158	229	500.06	nil	0	0	0.00
Iridium	183	192	482.27	nil	0	0	0.00
Transponder_ping	3	420	17.29	nil	0	0	0.00
GPS	20	15	4.55	nil	0	0	0.00
Core	3411	11	594.54	SciCon	7789	6	748.47
LPSleep	4683	2	193.69	nil	0	0	0.00
Compass	1965	5	145.16	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	7	30	3.10

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

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7.47	16386	-74.33	-1.59	0.00	558.8	567.2	550.4	164.1	2117.4	0.00	0.00	0	93.18	85.20	0.00	0.00	0.005	0.000	0.000	2530.59	2511.25	2549.94	164.19	2118.31	0	0	0	14.54	30.00	30.00
93.42	18695	-74.33	-1.59	80.00	2529.7	2510.4	2548.9	164.1	2118.1	3.59	-13.94	16	120.30	5.96	13.64	3.64	0.008	0.247	0.108	2804.12	2796.69	2811.56	1753.06	3474.88	0	0	0	14.78	15.18	14.62
123.59	1028	-74.33	-1.59	0.00	2802.3	2795.4	2809.2	1753.4	3475.5	12.32	-26.11	22	129.23	0.00	0.00	3.40	0.000	0.000	0.057	2802.75	2795.75	2809.75	1753.50	2081.50	0	0	0	30.00	30.00	15.56
188.54	260	-74.33	-1.59	80.00	2802.4	2795.4	2809.5	1753.6	2081.2	26.94	-22.72	35	194.27	0.00	0.00	3.68	0.000	0.000	0.103	2802.47	2795.56	2809.38	1754.12	3475.38	0	0	0	30.00	30.00	15.49
238.54	1028	-74.33	-1.59	0.00	2802.1	2795.2	2809.0	1753.4	3475.4	37.93	-21.59	45	244.68	0.00	0.00	3.38	0.000	0.000	0.056	2801.84	2794.81	2808.88	1753.62	2082.06	0	0	0	30.00	30.00	15.59
303.55	0	-74.33	-1.59	0.00	2802.2	2795.2	2809.3	1753.3	2081.7	51.28	-20.36	58	307.87	0.00	0.00	0.00	0.000	0.000	0.000	2802.53	2795.88	2809.19	1753.38	2082.19	0	0	0	30.00	30.00	30.00
368.56	260	-74.33	-1.59	80.00	2802.5	2795.1	2809.9	1753.4	2082.4	63.23	-17.30	71	374.30	0.00	0.00	3.66	0.000	0.000	0.102	2803.03	2796.12	2809.94	1753.50	3474.44	0	0	0	30.00	30.00	15.53
379.01	1028	-74.33	-1.59	0.00	2802.1	2794.6	2809.5	1753.0	3475.3	65.07	-17.03	73	384.70	0.00	0.00	3.36	0.000	0.000	0.055	2803.03	2796.00	2810.06	1753.25	2082.12	0	0	0	30.00	30.00	15.62
443.58	260	-74.33	-1.59	80.00	2802.2	2795.4	2809.1	1753.6	2082.4	74.87	-14.20	86	449.32	0.00	0.00	3.67	0.000	0.000	0.103	2802.72	2795.81	2809.62	1753.31	3475.81	0	0	0	30.00	30.00	15.53
454.04	1028	-74.33	-1.59	0.00	2802.2	2795.1	2809.4	1753.3	3475.5	76.30	-14.08	88	459.26	0.00	0.00	3.35	0.000	0.000	0.053	2803.56	2796.62	2810.50	1753.38	2080.00	0	0	0	30.00	30.00	15.64
518.59	260	-74.33	-1.59	80.00	2802.0	2794.8	2809.1	1753.2	2080.2	85.36	-13.93	101	524.33	0.00	0.00	3.67	0.000	0.000	0.102	2802.66	2795.81	2809.50	1753.56	3475.38	0	0	0	30.00	30.00	15.53
534.04	1028	-74.33	-1.59	0.00	2802.5	2795.4	2809.5	1753.7	3475.7	87.49	-14.01	104	539.90	0.00	0.00	3.35	0.000	0.000	0.052	2803.16	2796.44	2809.88	1753.50	2080.38	0	0	0	30.00	30.00	15.64
598.60	260	-74.33	-1.59	80.00	2802.1	2794.6	2809.6	1753.5	2079.9	96.18	-13.06	117	604.34	0.00	0.00	3.66	0.000	0.000	0.102	2802.97	2796.50	2809.44	1753.19	3475.44	0	0	0	30.00	30.00	15.54
634.04	1028	-74.33	-1.59	0.00	2802.4	2795.5	2809.4	1753.7	3475.2	100.85	-13.26	124	639.73	0.00	0.00	3.32	0.000	0.000	0.054	2803.38	2796.06	2810.69	1753.75	2080.19	0	0	0	30.00	30.00	15.65
698.62	516	-74.33	-1.59	-80.00	2802.1	2795.4	2808.9	1753.6	2080.1	107.88	-10.02	137	704.85	0.00	0.00	3.94	0.000	0.000	0.149	2804.44	2796.94	2811.94	1753.25	662.81	0	0	0	30.00	30.00	15.40
719.13	1028	-74.33	-1.59	0.00	2802.0	2794.9	2809.0	1753.2	662.9	110.35	-10.98	141	724.79	0.00	0.00	3.43	0.000	0.000	0.046	2802.81	2796.06	2809.56	1753.50	2124.88	0	0	0	30.00	30.00	15.71
783.64	260	-74.33	-1.59	80.00	2802.0	2795.6	2808.5	1753.6	2124.4	117.56	-10.57	154	789.39	0.00	0.00	3.53	0.000	0.000	0.105	2802.53	2795.62	2809.44	1753.19	3475.75	0	0	0	30.00	30.00	15.54
849.11	1028	-74.33	-1.59	0.00	2802.2	2795.2	2809.1	1753.1	3475.1	125.91	-13.27	167	854.78	0.00	0.00	3.33	0.000	0.000	0.053	2803.62	2796.38	2810.88	1753.69	2081.62	0	0	0	30.00	30.00	15.66
913.68	0	-74.33	-1.59	0.00	2802.3	2794.9	2809.7	1753.6	2081.7	133.88	-11.75	180	918.03	0.00	0.00	0.00	0.000	0.000	0.000	2803.06	2796.00	2810.12	1753.25	2081.75	0	0	0	30.00	30.00	30.00
978.69	516	-74.33	-1.59	-80.00	2802.4	2795.2	2809.7	1753.9	2081.4	141.27	-11.82	193	984.91	0.00	0.00	3.99	0.000	0.000	0.151	2803.69	2796.31	2811.06	1753.38	661.75	0	0	0	30.00	30.00	15.40
1049.13	1028	-74.33	-1.59	0.00	2801.8	2795.3	2808.2	1753.6	661.7	150.76	-14.22	207	1054.32	0.00	0.00	3.44	0.000	0.000	0.049	2801.03	2794.25	2807.81	1752.94	2122.25	0	0	0	30.00	30.00	15.73
1353.73	0	-74.33	-1.59	0.00	2802.3	2795.2	2809.5	1753.6	2122.3	186.43	-11.67	238	1355.05	0.00	0.00	0.00	0.000	0.000	0.000	2802.91	2796.19	2809.62	1753.69	2122.31	0	0	0	30.00	30.00	30.00
1653.75	0	-74.33	-1.59	0.00	2802.2	2795.3	2809.2	1753.5	2122.4	221.64	-11.63	268	1655.08	0.00	0.00	0.00	0.000	0.000	0.000	2801.53	2794.56	2808.50	1753.00	2122.69	0	0	0	30.00	30.00	30.00
1963.83	0	-74.33	-1.59	0.00	2802.0	2795.0	2808.9	1753.4	2122.8	257.65	-11.56	295	1965.15	0.00	0.00	0.00	0.000	0.000	0.000	2801.59	2794.69	2808.50	1752.69	2122.50	0	0	0	30.00	30.00	30.00
2263.77	260	-74.33	-1.59	80.00	2802.1	2795.0	2809.1	1753.6	2122.2	292.26	-11.80	305	2269.42	0.00	0.00	3.60	0.000	0.000	0.112	2801.44	2795.69	2807.19	1753.31	3476.12	0	0	0	30.00	30.00	15.55
2292.69	1028	-74.33	-1.59	0.00	2802.2	2795.5	2809.0	1752.9	3475.2	295.82	-11.83	311	2298.38	0.00	0.00	3.36	0.000	0.000	0.056	2804.25	2796.69	2811.81	1752.69	2080.44	0	0	0	30.00	30.00	15.66
2618.85	260	-74.33	-1.59	80.00	2802.0	2795.4	2808.6	1753.3	2081.3	332.52	-11.24	326	2624.47	0.00	0.00	3.72	0.000	0.000	0.110	2802.00	2795.62	2808.38	1753.25	3475.25	0	0	0	30.00	30.00	15.53
2717.73	1028	-74.33	-1.59	0.00	2802.0	2795.2	2808.8	1753.2	3475.5	345.62	-12.46	346	2723.41	0.00	0.00	3.37	0.000	0.000	0.059	2802.12	2796.00	2808.25	1753.62	2081.88	0	0	0	30.00	30.00	15.65
3033.83	0	-74.33	-1.59	0.00	2801.8	2795.0	2808.7	1753.0	2081.6	379.46	-10.66	359	3035.16	0.00	0.00	0.00	0.000	0.000	0.000	2802.62	2796.12	2809.12	1753.50	2081.94	0	0	0	30.00	30.00	30.00
3333.83	260	-74.33	-1.59	80.00	2801.9	2795.4	2808.4	1753.4	2081.9	411.51	-10.90	369	3339.50	0.00	0.00	3.78	0.000	0.000	0.113	2802.25	2795.25	2809.25	1752.75	3474.38	0	0	0	30.00	30.00	15.50
3372.76	1028	-74.33	-1.59	0.00	2801.6	2794.7	2808.4	1753.2	3474.6	416.80	-14.25	377	3378.44	0.00	0.00	3.40	0.000	0.000	0.059	2802.41	2795.81	2809.00	1753.31	2083.62	0	0	0	30.00	30.00	15.63
3480	end dive: TARGET_DEPTH_EXCEEDED
state	3480	begin apogee
3480.89	10243	0.00	-0.25	0.00	2801.9	2795.2	2808.6	1752.9	2121.3	428.61	-10.98	383	3549.41	64.39	2.50	0.09	1.538	0.153	0.229	2497.31	2506.50	2488.12	2079.50	2082.56	0	0	0	10.55	15.50	14.99
3558	end apogee: CONTROL_FINISHED_OK
state	3558	begin climb
3558.30	10243	74.33	1.59	0.00	2497.3	2506.6	2488.1	2080.6	2083.0	430.31	0.00	385	3630.92	68.31	3.01	0.00	1.496	0.074	0.000	2195.91	2207.44	2184.38	2533.06	2082.12	0	0	0	11.67	15.34	30.00
3928.87	10275	119.78	1.73	-80.00	2185.4	2201.6	2169.2	2532.5	2081.9	408.32	6.54	403	3973.62	41.35	0.16	0.00	1.451	0.083	0.000	2010.72	2028.44	1993.00	2579.81	2082.56	0	0	0	11.17	15.58	30.00
4288.88	16646	119.78	1.73	80.00	2002.2	2023.2	1981.1	2579.4	2082.0	369.42	11.04	420	4294.55	0.00	0.00	3.81	0.000	0.000	0.112	2001.34	2022.44	1980.25	2579.44	3473.69	0	0	0	30.00	30.00	15.48
4313.92	17414	119.78	1.73	0.00	2002.3	2023.2	1981.4	2580.0	3473.3	365.77	11.87	425	4318.46	0.00	0.00	3.40	0.000	0.000	0.056	2004.22	2024.62	1983.81	2578.50	2079.12	0	0	0	30.00	30.00	15.61
4643.93	16902	119.78	1.73	-80.00	2000.5	2023.1	1977.9	2580.1	2079.4	330.12	10.91	441	4649.58	0.00	0.00	3.95	0.000	0.000	0.137	2000.91	2023.50	1978.31	2578.94	661.75	0	0	0	30.00	30.00	15.42
4692.83	17414	119.78	1.73	0.00	1999.6	2021.3	1977.9	2579.6	661.6	323.90	12.62	451	4699.60	0.00	0.00	3.46	0.000	0.000	0.047	1999.50	2021.31	1977.69	2579.50	2125.44	0	0	0	30.00	30.00	15.71
4998.91	8226	143.48	1.80	0.00	1999.0	2021.3	1976.6	2580.4	2125.5	296.01	8.73	462	5021.79	21.74	0.00	0.00	1.328	0.000	0.000	1913.81	1936.00	1891.62	2579.56	2125.75	0	0	0	10.92	30.00	30.00
5298.96	260	143.48	1.80	80.00	1909.6	1934.6	1884.6	2579.7	2125.8	262.88	11.25	472	5304.56	0.00	0.00	3.65	0.000	0.000	0.115	1908.28	1933.12	1883.44	2579.69	3474.81	0	0	0	30.00	30.00	15.49
5337.82	1028	143.48	1.80	0.00	1909.1	1933.7	1884.4	2579.2	3475.3	257.44	13.70	480	5343.51	0.00	0.00	3.39	0.000	0.000	0.055	1910.03	1934.56	1885.50	2579.75	2077.62	0	0	0	30.00	30.00	15.65
5643.95	580	143.48	1.81	-80.00	1908.0	1933.6	1882.3	2579.5	2077.8	223.39	10.59	508	5649.65	0.00	0.00	3.94	0.000	0.000	0.135	1906.94	1932.88	1881.00	2580.50	661.38	0	0	0	30.00	30.00	15.40
5692.86	1028	143.48	1.81	0.00	1907.2	1932.5	1881.8	2579.7	662.1	217.02	13.11	518	5699.69	0.00	0.00	3.46	0.000	0.000	0.046	1907.59	1933.00	1882.19	2580.19	2126.19	0	0	0	30.00	30.00	15.71
5998.99	16386	143.48	1.81	0.00	1906.8	1932.6	1880.9	2580.1	2126.7	183.77	11.07	549	6000.32	0.00	0.00	0.00	0.000	0.000	0.000	1906.00	1931.62	1880.38	2580.31	2126.31	0	0	0	30.00	30.00	30.00
6299.01	16902	143.48	1.81	-80.00	1906.7	1932.4	1880.9	2579.8	2126.8	151.20	10.93	579	6304.73	0.00	0.00	4.09	0.000	0.000	0.132	1905.97	1931.31	1880.62	2580.19	662.69	0	0	0	30.00	30.00	15.39
6529.54	17414	143.48	1.81	0.00	1905.2	1929.9	1880.5	2579.9	662.6	123.20	11.14	625	6534.81	0.00	0.00	3.48	0.000	0.000	0.049	1906.38	1930.88	1881.88	2579.69	2126.31	0	0	0	30.00	30.00	15.72
6594.12	10275	178.74	1.92	0.00	1905.2	1929.6	1880.8	2580.1	2126.6	117.87	7.57	638	6629.88	31.35	0.16	0.00	1.186	0.086	0.000	1770.09	1796.19	1744.00	2625.62	2126.56	0	0	0	11.04	15.73	30.00
6689.11	0	178.74	1.92	0.00	1768.1	1794.6	1741.5	2625.2	2126.4	108.27	11.61	657	6693.44	0.00	0.00	0.00	0.000	0.000	0.000	1768.09	1794.75	1741.44	2624.94	2126.75	0	0	0	30.00	30.00	30.00
6754.13	516	178.74	1.92	-80.00	1766.3	1793.6	1739.0	2626.1	2126.6	101.33	10.83	670	6760.37	0.00	0.00	4.09	0.000	0.000	0.129	1767.50	1794.31	1740.69	2625.75	661.69	0	0	0	30.00	30.00	15.39
6884.58	1028	178.74	1.92	0.00	1764.9	1790.7	1739.2	2625.4	661.8	84.57	13.33	696	6889.87	0.00	0.00	3.51	0.000	0.000	0.049	1765.03	1790.50	1739.56	2625.56	2126.56	0	0	0	30.00	30.00	15.66
6949.16	8742	198.65	1.98	-80.00	1763.9	1790.2	1737.5	2625.8	2126.5	78.60	9.11	709	6980.88	22.04	0.00	4.05	1.084	0.000	0.128	1690.53	1716.56	1664.50	2624.75	662.56	0	0	0	11.39	30.00	15.21
7014.63	1028	198.65	1.98	0.00	1688.6	1714.0	1663.1	2625.3	662.4	71.93	10.82	722	7019.89	0.00	0.00	3.49	0.000	0.000	0.048	1688.38	1713.81	1662.94	2626.00	2127.81	0	0	0	30.00	30.00	15.59
7079.21	8226	229.50	2.07	0.00	1687.0	1713.9	1660.1	2625.3	2127.5	66.20	8.01	735	7115.02	35.06	0.00	0.00	1.080	0.000	0.000	1564.47	1592.38	1536.56	2625.88	2127.44	0	0	0	11.57	30.00	30.00
7174.21	10791	261.65	2.17	-80.00	1560.4	1588.9	1531.9	2625.2	2127.1	58.66	7.88	754	7216.32	36.26	0.25	4.11	1.058	0.065	0.128	1433.09	1461.81	1404.38	2680.19	661.56	0	0	0	11.44	15.51	15.08
7360.07	1092	261.65	2.20	0.00	1429.4	1456.2	1402.6	2680.1	661.6	38.96	10.20	791	7365.30	0.00	0.00	3.52	0.000	0.000	0.047	1429.28	1456.62	1401.94	2680.25	2128.75	0	0	0	30.00	30.00	15.56
7424.59	8226	290.35	2.28	0.00	1427.7	1456.2	1399.2	2680.6	2129.8	33.42	8.23	804	7460.23	31.37	0.00	0.00	1.021	0.000	0.000	1315.97	1346.25	1285.69	2679.94	2129.69	0	0	0	11.26	30.00	30.00
7519.60	324	290.35	2.31	80.00	1314.0	1344.9	1283.1	2679.8	2129.6	24.33	10.05	823	7525.38	0.00	0.00	3.64	0.000	0.000	0.110	1313.69	1344.62	1282.75	2680.31	3474.88	0	0	0	30.00	30.00	15.39
7559.59	1028	290.35	2.31	0.00	1313.1	1343.7	1282.5	2679.8	3474.8	19.57	11.99	831	7565.31	0.00	0.00	3.42	0.000	0.000	0.054	1312.94	1343.50	1282.38	2680.25	2079.06	0	0	0	30.00	30.00	15.53
7624.62	10275	317.91	2.40	0.00	1312.3	1343.5	1281.1	2679.9	2078.9	13.60	8.34	844	7655.30	29.85	0.26	0.00	0.996	0.066	0.000	1204.44	1233.56	1175.31	2740.06	2079.25	0	0	0	11.27	15.56	30.00
7714.61	260	317.91	2.40	80.00	1201.2	1232.2	1170.2	2739.5	2079.6	3.62	12.94	862	7720.38	0.00	0.00	3.79	0.000	0.000	0.109	1201.28	1232.50	1170.06	2740.06	3473.50	0	0	0	30.00	30.00	15.41
7730	end climb: SURFACE_DEPTH_REACHED
state	7730	begin surface coast
7745	end surface coast: CONTROL_FINISHED_OK
state	7745	begin surface