Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1180 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 6 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054949999 XPDR_VALID 6

DIVE 1180 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT -1

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 2 XPDR_REP -1

D_SURF 4 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 400 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 990 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 FILEMGR 0 C_VBD 2775 DEEPGLIDERMB 0

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 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 4 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0020000001 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 0

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 390 CAPMAXSIZE 5000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 510 T_GPS 5 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 2 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 550 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 56

USE_ICE 0 PITCH_MIN 200 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3000 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 1000 C_PITCH 2320 FG_AHR_10V 99.670364 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 310.5181 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 85 PITCH_GAIN 18 PRESSURE_YINT -14.5 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.0014504 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72946 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 2 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.0039810701 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.029864 ROLL_DEG 60 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2320 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 550 D_SURF 4 N_NOCOMM 4 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 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 400

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 99.670364 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 310.5181 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 18 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3000 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0039810701 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.029864 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0020000001 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPMAXSIZE 5000 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_DIVE 390

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 56 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.0014504 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -14.5 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 510

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 2

C_PITCH 2320 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 2320 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2775 LOGGERS 0 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY -1

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0.029999999 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 2 VBD_CNV -0.24529999

DEVICE1 120 LOITER_N_DIVE 0 ROLL_CNV 0.054949999 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 60 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72946 ROLL_MAX 3825 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 215 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 85 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 1180 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 1000 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 MISSION 6 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT -1

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10 XPDR_REP -1

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 6

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 1000 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 270222,120339,4750.403,-12516.969,18,1.0,19,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270222,121130,4750.403,-12516.954,5,1.2,6,15.9 MHEAD_RNG_PITCHd_Wd 82.7,8774,-21.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 436

TGT_NAME SHELF IRON 1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000

TGT_LATLONG 4751.930,-12510.270

Post-dive calculations and measurements:

FINISH 0.1,1.023934 FG_AHR_10Vo 99.707

SM_CCo 11759.00,21.15,1.106,0,1144.3,1120.4,1168.2,400.00 MEM0 60876,1,0,0

SM_GC 0.84,21.15,16.91,0.46,1.106,0.052,0.057,1144.3,1120.4,1168.2,178.1,2357.5,0,0,0,11.18,15.79,15.83 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 971332,32,75456,57

IRIDIUM_FIX 4750.72,-12516.60,270222,084743 DATA_FILE_SIZE 83524,1903

TCM_TEMP 266.85 CAP_FILE_SIZE 301443,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3744384

HUMID 50.90 SDFILEDIR 4298,1

TEMP 82.08 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.90129 CURRENT 0.087,337.2,1

_24V_AH 14.50,423.055 IMPLIED_C_PITCH 2365,12.51,1630

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2805,27.621071,1593

FG_AHR_24Vo 310.698 GPS 270222,152824,4750.803,-12516.198,36,1.1,36,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 455 1664 10990.45 legato 7350 20 2131.79

Pitch_motor 37 242 130.28 nil 0 0 0.00

Roll_motor 132 126 243.99 nil 0 0 0.00

Iridium 229 220 734.27 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.38 nil 0 0 0.00

Core 6948 11 1229.90 SciCon 0 0 0.00

LPSleep 5131 2 215.50 nil 0 0 0.00

Compass 1223 5 91.78 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 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

2 end surface: CONTROL_FINISHED_OK

state 3 begin dive

5.95 16386 -82.73 -1.35 0.00 1140.8 1136.7 1144.9 178.3 2287.2 0.00 0.00 0 77.12 70.01 0.00 0.00 0.005 0.000 0.000 2813.22 2995.56 2630.88 178.50 2286.50 0 0 0 14.91 30.00 30.00

77.85 18695 -82.73 -1.35 60.00 2812.3 2994.4 2630.2 178.2 2286.2 3.68 -6.48 13 109.98 7.01 14.65 2.96 0.008 0.242 0.081 3113.06 3327.75 2898.38 1992.62 3425.38 0 0 0 15.11 15.37 14.93

242.09 1028 -82.73 -1.35 0.00 3112.3 3326.2 2898.4 1992.1 3425.4 28.17 -13.55 46 247.64 0.00 0.00 2.62 0.000 0.000 0.018 3112.97 3327.19 2898.75 1992.62 2253.94 0 0 0 30.00 30.00 15.84

432.54 516 -82.73 -1.35 -60.00 3112.3 3326.2 2898.4 1992.7 2253.0 51.97 -11.33 84 437.90 0.00 0.00 2.62 0.000 0.000 0.064 3113.31 3327.19 2899.44 1992.25 1209.00 0 0 0 30.00 30.00 15.82

527.31 1028 -82.73 -1.35 -1.28 3112.2 3326.3 2898.1 1992.2 1209.0 62.67 -10.80 103 532.75 0.00 0.00 2.63 0.000 0.000 0.025 3112.78 3326.19 2899.38 1992.44 2329.06 0 0 0 30.00 30.00 15.90

717.66 0 -82.73 -1.35 -1.28 3112.0 3325.8 2898.3 1992.8 2329.1 81.36 -9.78 141 718.99 0.00 0.00 0.00 0.000 0.000 0.000 3112.31 3326.00 2898.62 1992.00 2329.00 0 0 0 30.00 30.00 30.00

902.32 260 -82.73 -1.35 60.00 3112.3 3326.1 2898.6 1992.7 2329.4 98.27 -9.08 178 907.90 0.00 0.00 2.85 0.000 0.000 0.084 3113.38 3327.38 2899.38 1992.38 3426.44 0 0 0 30.00 30.00 15.82

1082.38 1028 -82.73 -1.35 -1.92 3112.7 3326.2 2899.2 1992.5 3426.4 116.45 -10.22 214 1087.94 0.00 0.00 2.70 0.000 0.000 0.018 3112.97 3326.50 2899.44 1992.44 2218.38 0 0 0 30.00 30.00 15.93

1392.46 548 -82.73 -1.35 -60.00 3112.6 3325.7 2899.4 1992.5 2217.0 137.77 -5.08 276 1397.96 0.00 0.00 2.51 0.000 0.000 0.065 3113.78 3326.62 2900.94 1991.00 1209.06 0 0 0 30.00 30.00 15.88

1447.46 1060 -82.73 -1.35 -1.50 3112.8 3325.4 2900.1 1992.7 1209.2 140.73 -5.32 287 1452.97 0.00 0.00 2.60 0.000 0.000 0.025 3112.50 3325.25 2899.75 1992.62 2328.25 0 0 0 30.00 30.00 15.95

1757.52 548 -82.73 -1.35 -60.00 3113.0 3326.3 2899.6 1992.7 2328.2 159.16 -6.33 349 1763.06 0.00 0.00 2.79 0.000 0.000 0.059 3112.47 3325.69 2899.25 1991.56 1209.94 0 0 0 30.00 30.00 15.88

1782.50 1028 -82.73 -1.35 -1.63 3113.0 3326.2 2899.8 1992.4 1209.8 161.03 -7.06 354 1788.03 0.00 0.00 2.59 0.000 0.000 0.025 3113.91 3326.50 2901.31 1992.69 2325.50 0 0 0 30.00 30.00 15.96

2092.61 0 -82.73 -1.35 -1.63 3112.6 3325.1 2900.1 1992.1 2325.7 185.78 -8.52 416 2093.94 0.00 0.00 0.00 0.000 0.000 0.000 3111.88 3325.19 2898.56 1992.31 2325.75 0 0 0 30.00 30.00 30.00

2397.58 516 -82.73 -1.35 -60.00 3113.4 3326.1 2900.8 1992.4 2325.2 211.51 -8.34 477 2403.16 0.00 0.00 2.79 0.000 0.000 0.060 3114.56 3327.50 2901.62 1992.75 1207.81 0 0 0 30.00 30.00 15.89

2432.58 1028 -82.73 -1.35 -1.74 3112.7 3325.1 2900.2 1991.9 1207.9 214.51 -8.49 484 2438.12 0.00 0.00 2.58 0.000 0.000 0.025 3113.28 3325.50 2901.06 1992.38 2324.38 0 0 0 30.00 30.00 15.96

2742.64 260 -82.73 -1.35 60.00 3113.3 3325.8 2900.9 1992.4 2324.1 236.79 -6.88 546 2748.21 0.00 0.00 2.85 0.000 0.000 0.084 3114.44 3326.88 2902.00 1992.06 3425.19 0 0 0 30.00 30.00 15.85

2822.64 1028 -82.73 -1.35 -1.65 3113.4 3325.5 2901.3 1992.5 3426.0 243.13 -8.06 562 2828.19 0.00 0.00 2.67 0.000 0.000 0.018 3113.75 3325.81 2901.69 1992.62 2219.19 0 0 0 30.00 30.00 15.96

3132.70 260 -82.73 -1.35 60.00 3113.5 3325.5 2901.6 1992.3 2216.9 264.07 -7.19 624 3138.32 0.00 0.00 3.11 0.000 0.000 0.080 3113.78 3326.00 2901.56 1992.19 3425.31 0 0 0 30.00 30.00 15.82

3157.69 1028 -82.73 -1.35 -1.32 3113.6 3325.3 2901.9 1992.4 3425.4 266.04 -7.55 629 3163.24 0.00 0.00 2.65 0.000 0.000 0.019 3114.56 3326.31 2902.81 1992.50 2223.94 0 0 0 30.00 30.00 15.96

3467.93 516 -82.73 -1.35 -60.00 3113.5 3325.6 2901.4 1992.6 2222.3 288.49 -7.20 691 3473.32 0.00 0.00 2.51 0.000 0.000 0.065 3114.00 3326.44 2901.56 1992.31 1209.75 0 0 0 30.00 30.00 15.89

3522.75 1028 -82.73 -1.35 -1.45 3113.5 3325.2 2901.7 1992.4 1209.3 292.65 -7.62 702 3528.27 0.00 0.00 2.59 0.000 0.000 0.025 3114.91 3327.12 2902.69 1991.25 2329.50 0 0 0 30.00 30.00 15.96

3835.49 0 -82.73 -1.35 -1.45 3113.2 3325.0 2901.5 1992.2 2329.1 315.42 -7.30 741 3846.56 0.00 0.00 0.00 0.000 0.000 0.000 3113.31 3325.38 2901.25 1991.88 2329.44 0 0 0 30.00 30.00 30.00

4148.30 0 -82.73 -1.35 -1.45 3113.4 3325.6 2901.1 1992.6 2328.7 337.52 -7.06 770 4159.38 0.00 0.00 0.00 0.000 0.000 0.000 3113.69 3326.06 2901.31 1992.81 2328.88 0 0 0 30.00 30.00 30.00

4461.02 516 -82.73 -1.35 -60.00 3113.5 3325.6 2901.5 1992.4 2329.1 358.52 -6.47 799 4465.67 0.00 0.00 2.78 0.000 0.000 0.061 3113.16 3325.62 2900.69 1992.38 1210.62 0 0 0 30.00 30.00 15.90

4499.74 1028 -82.73 -1.35 -1.68 3112.9 3325.0 2900.9 1992.4 1211.1 361.14 -6.76 805 4514.49 0.00 0.00 2.59 0.000 0.000 0.025 3114.06 3325.69 2902.44 1992.12 2324.50 0 0 0 30.00 30.00 15.99

4815.88 32 -82.73 -1.35 -1.68 3112.9 3324.6 2901.2 1992.5 2324.1 381.97 -6.19 834 4826.95 0.00 0.00 0.00 0.000 0.000 0.000 3113.31 3325.25 2901.38 1992.75 2324.00 0 0 0 30.00 30.00 30.00

5128.61 32 -82.73 -1.35 -1.68 3113.2 3324.8 2901.6 1992.5 2324.7 401.10 -6.17 863 5139.68 0.00 0.00 0.00 0.000 0.000 0.000 3113.09 3324.81 2901.38 1992.56 2324.38 0 0 0 30.00 30.00 30.00

5441.67 32 -82.73 -1.35 -1.68 3113.1 3324.6 2901.5 1992.6 2324.2 420.16 -6.11 892 5452.74 0.00 0.00 0.00 0.000 0.000 0.000 3112.91 3324.75 2901.06 1992.44 2324.38 0 0 0 30.00 30.00 30.00

5678 end dive: TARGET_DEPTH_EXCEEDED

state 5678 begin apogee

5680.75 10243 0.00 -0.28 0.00 3112.9 3324.2 2901.5 1992.8 2044.1 436.18 -7.33 914 5748.35 63.47 1.82 0.17 1.665 0.132 0.127 2775.03 2916.12 2633.94 2253.94 2162.25 0 0 0 10.41 15.76 15.27

5750 end apogee: CONTROL_FINISHED_OK

state 5750 begin climb

5751.26 11271 82.73 1.35 0.00 2773.7 2915.6 2631.9 2254.4 2162.4 438.26 0.00 920 5821.04 64.94 2.65 0.19 1.619 0.091 0.077 2437.53 2521.06 2354.00 2651.56 2033.75 0 0 0 11.69 15.58 15.69

6126.01 10535 209.66 1.61 60.00 2433.1 2522.1 2344.1 2653.1 2034.2 425.90 4.13 957 6241.04 100.90 0.34 3.11 1.626 0.063 0.078 1918.53 1948.31 1888.75 2725.69 3203.69 0 0 0 11.16 15.74 15.16

6336.46 1028 209.66 1.61 0.40 1913.2 1948.4 1877.9 2725.8 3203.6 409.52 8.99 983 6341.10 0.00 0.00 2.64 0.000 0.000 0.023 1912.88 1948.94 1876.81 2725.88 2068.50 0 0 0 30.00 30.00 15.64

6648.49 16966 209.66 1.62 -60.00 1908.6 1948.4 1868.8 2725.6 2068.0 384.28 7.72 1012 6653.13 0.00 0.00 2.77 0.000 0.000 0.083 1908.50 1948.38 1868.62 2725.19 995.00 0 0 0 30.00 30.00 15.74

6687.04 17478 209.66 1.63 0.57 1908.0 1948.7 1867.4 2725.1 995.1 381.25 7.86 1018 6702.15 0.00 0.00 2.68 0.000 0.000 0.023 1908.88 1949.06 1868.69 2726.06 2152.25 0 0 0 30.00 30.00 15.83

7003.73 16710 209.66 1.67 60.00 1906.7 1948.7 1864.6 2725.7 2151.8 359.08 6.65 1047 7008.38 0.00 0.00 2.70 0.000 0.000 0.081 1905.56 1947.94 1863.19 2725.38 3204.69 0 0 0 30.00 30.00 15.81

7026.55 17478 209.66 1.70 0.31 1906.8 1948.9 1864.8 2725.7 3205.5 357.54 6.88 1051 7041.48 0.00 0.00 2.61 0.000 0.000 0.024 1906.47 1949.31 1863.62 2725.00 2063.31 0 0 0 30.00 30.00 15.89

7342.78 16966 209.66 1.74 -60.00 1905.8 1949.1 1862.4 2725.5 2063.4 336.72 6.64 1080 7347.43 0.00 0.00 2.74 0.000 0.000 0.083 1906.38 1949.31 1863.44 2725.88 994.62 0 0 0 30.00 30.00 15.82

7397.07 17478 209.66 1.76 0.19 1905.2 1949.2 1861.1 2725.8 994.6 332.89 7.10 1088 7412.01 0.00 0.00 2.65 0.000 0.000 0.023 1905.59 1949.44 1861.75 2726.00 2144.62 0 0 0 30.00 30.00 15.94

7713.30 18499 209.66 1.78 0.19 1905.2 1949.4 1860.9 2725.7 2144.4 310.17 7.85 1117 7724.48 0.00 0.14 0.00 0.000 0.095 0.000 1905.97 1950.25 1861.69 2764.50 2144.44 0 0 0 30.00 15.89 30.00

8029.67 16902 209.66 1.78 -60.00 1904.7 1949.3 1860.1 2764.7 2144.8 282.42 8.58 1167 8035.27 0.00 0.00 2.96 0.000 0.000 0.078 1904.66 1949.69 1859.62 2764.94 994.56 0 0 0 30.00 30.00 15.83

8104.67 17414 209.66 1.78 -0.43 1904.1 1949.1 1859.1 2765.4 994.4 275.37 9.41 1182 8110.23 0.00 0.00 2.64 0.000 0.000 0.023 1904.38 1949.38 1859.38 2765.12 2134.12 0 0 0 30.00 30.00 15.94

8414.73 16902 209.66 1.78 -60.00 1904.0 1949.1 1858.9 2765.1 2134.1 249.44 8.18 1244 8420.32 0.00 0.00 2.94 0.000 0.000 0.078 1904.97 1950.31 1859.62 2764.94 994.62 0 0 0 30.00 30.00 15.83

8449.96 17414 209.66 1.78 -0.99 1903.8 1949.1 1858.4 2764.4 994.8 246.47 8.40 1251 8455.31 0.00 0.00 2.60 0.000 0.000 0.022 1903.94 1949.44 1858.44 2765.06 2125.44 0 0 0 30.00 30.00 15.95

8759.77 16646 209.66 1.78 60.00 1903.6 1949.2 1858.0 2765.0 2125.6 221.45 8.32 1313 8765.33 0.00 0.00 2.77 0.000 0.000 0.080 1904.44 1950.12 1858.75 2765.62 3205.25 0 0 0 30.00 30.00 15.84

8794.77 17414 209.66 1.78 -0.99 1904.1 1949.9 1858.3 2764.9 3205.1 218.43 8.54 1320 8800.33 0.00 0.00 2.67 0.000 0.000 0.024 1904.84 1950.38 1859.31 2765.06 2041.88 0 0 0 30.00 30.00 15.95

9104.88 16710 209.66 1.79 60.00 1903.4 1949.6 1857.2 2765.1 2041.5 193.74 7.88 1382 9110.46 0.00 0.00 2.99 0.000 0.000 0.076 1903.94 1950.44 1857.44 2765.19 3203.44 0 0 0 30.00 30.00 15.83

9129.87 17414 209.66 1.79 -0.89 1903.7 1950.4 1857.1 2765.1 3203.2 191.69 8.08 1387 9135.43 0.00 0.00 2.65 0.000 0.000 0.024 1903.88 1950.44 1857.31 2765.06 2043.12 0 0 0 30.00 30.00 15.96

9440.00 16710 209.66 1.82 60.00 1903.5 1950.4 1856.7 2765.6 2042.9 167.82 6.98 1449 9445.57 0.00 0.00 3.00 0.000 0.000 0.076 1904.56 1951.62 1857.50 2765.38 3205.12 0 0 0 30.00 30.00 15.83

9505.01 17478 209.66 1.84 -0.40 1903.8 1950.8 1856.8 2764.6 3204.8 163.07 7.39 1462 9510.54 0.00 0.00 2.63 0.000 0.000 0.024 1903.94 1950.62 1857.25 2765.00 2049.00 0 0 0 30.00 30.00 15.95

9815.18 16966 209.66 1.88 -60.00 1903.4 1950.6 1856.2 2764.7 2049.1 141.90 6.54 1524 9820.66 0.00 0.00 2.70 0.000 0.000 0.083 1903.31 1950.62 1856.00 2765.19 994.38 0 0 0 30.00 30.00 15.81

9855.23 17478 209.66 1.91 0.07 1903.2 1950.7 1855.7 2764.9 994.8 139.13 6.84 1532 9860.67 0.00 0.00 2.67 0.000 0.000 0.022 1903.59 1951.31 1855.88 2765.38 2144.25 0 0 0 30.00 30.00 15.96

10165.24 16450 209.66 1.94 0.07 1903.2 1951.0 1855.4 2765.7 2144.9 118.75 7.01 1594 10166.57 0.00 0.00 0.00 0.000 0.000 0.000 1902.66 1950.19 1855.12 2765.25 2144.94 0 0 0 30.00 30.00 30.00

10470.33 10791 295.86 2.11 -60.00 1903.2 1950.6 1855.8 2765.5 2144.1 98.54 5.52 1655 10543.41 66.54 0.41 3.01 1.279 0.061 0.079 1569.59 1590.06 1549.12 2844.94 993.38 0 0 0 10.62 15.91 15.35

10585.67 1028 295.86 2.11 0.18 1565.3 1589.3 1541.2 2845.5 993.5 89.75 9.33 1678 10591.06 0.00 0.00 2.70 0.000 0.000 0.022 1565.03 1589.50 1540.56 2846.12 2145.56 0 0 0 30.00 30.00 15.76

10775.54 324 295.86 2.14 60.00 1561.2 1589.9 1532.5 2846.0 2145.5 75.07 7.04 1716 10781.10 0.00 0.00 2.75 0.000 0.000 0.078 1561.50 1590.19 1532.81 2846.00 3203.69 0 0 0 30.00 30.00 15.75

11010.56 17414 295.86 2.14 1.83 1559.8 1589.6 1530.0 2845.4 3204.1 55.64 8.73 1763 11016.27 0.00 0.00 2.56 0.000 0.000 0.023 1559.50 1590.00 1529.00 2845.69 2089.56 0 0 0 30.00 30.00 15.86

11200.61 10791 373.77 2.30 -60.00 1558.8 1590.8 1526.8 2845.6 2089.4 42.56 5.80 1801 11268.11 61.30 0.19 2.86 1.186 0.085 0.084 1251.81 1254.06 1249.56 2889.44 994.38 0 0 0 11.09 15.84 15.37

11425.61 1028 373.77 2.30 0.18 1245.4 1253.3 1237.4 2889.4 994.6 25.24 8.78 1846 11431.18 0.00 0.00 2.71 0.000 0.000 0.022 1245.19 1253.38 1237.00 2889.75 2144.44 0 0 0 30.00 30.00 15.79

11615.64 516 373.77 2.30 -60.00 1243.9 1255.1 1232.7 2888.6 2144.4 7.83 9.21 1884 11621.25 0.00 0.00 2.97 0.000 0.000 0.074 1244.69 1255.88 1233.50 2889.50 994.69 0 0 0 30.00 30.00 15.75

11645.64 1028 373.77 2.30 -0.28 1243.5 1255.4 1231.6 2888.8 994.8 5.13 9.07 1890 11651.19 0.00 0.00 2.67 0.000 0.000 0.022 1243.84 1255.69 1232.00 2888.38 2137.25 0 0 0 30.00 30.00 15.85

11660 end climb: SURFACE_DEPTH_REACHED

state 11660 begin surface coast

11710 end surface coast: CONTROL_FINISHED_OK

state 11710 begin surface

ID	249	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	6	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054949999	XPDR_VALID	6
DIVE	1180	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	-1
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	2	XPDR_REP	-1
D_SURF	4	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	400	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	990	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	FILEMGR	0	C_VBD	2775	DEEPGLIDERMB	0
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	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	4	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0020000001	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	0
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	390	CAPMAXSIZE	5000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	510	T_GPS	5	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	2	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	550	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	56
USE_ICE	0	PITCH_MIN	200	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3000	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	1000	C_PITCH	2320	FG_AHR_10V	99.670364	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	310.5181	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	85	PITCH_GAIN	18	PRESSURE_YINT	-14.5	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.0014504	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72946	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	2	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.0039810701	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.029864	ROLL_DEG	60	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	270222,120339,4750.403,-12516.969,18,1.0,19,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270222,121130,4750.403,-12516.954,5,1.2,6,15.9	MHEAD_RNG_PITCHd_Wd	82.7,8774,-21.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	436
TGT_NAME	SHELF	IRON	1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
TGT_LATLONG	4751.930,-12510.270

FINISH	0.1,1.023934	FG_AHR_10Vo	99.707
SM_CCo	11759.00,21.15,1.106,0,1144.3,1120.4,1168.2,400.00	MEM0	60876,1,0,0
SM_GC	0.84,21.15,16.91,0.46,1.106,0.052,0.057,1144.3,1120.4,1168.2,178.1,2357.5,0,0,0,11.18,15.79,15.83	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	971332,32,75456,57
IRIDIUM_FIX	4750.72,-12516.60,270222,084743	DATA_FILE_SIZE	83524,1903
TCM_TEMP	266.85	CAP_FILE_SIZE	301443,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3744384
HUMID	50.90	SDFILEDIR	4298,1
TEMP	82.08	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.90129	CURRENT	0.087,337.2,1
_24V_AH	14.50,423.055	IMPLIED_C_PITCH	2365,12.51,1630
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2805,27.621071,1593
FG_AHR_24Vo	310.698	GPS	270222,152824,4750.803,-12516.198,36,1.1,36,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	455	1664	10990.45	legato	7350	20	2131.79
Pitch_motor	37	242	130.28	nil	0	0	0.00
Roll_motor	132	126	243.99	nil	0	0	0.00
Iridium	229	220	734.27	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.38	nil	0	0	0.00
Core	6948	11	1229.90	SciCon	0	0	0.00
LPSleep	5131	2	215.50	nil	0	0	0.00
Compass	1223	5	91.78	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	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
2	end surface: CONTROL_FINISHED_OK
state	3	begin dive
5.95	16386	-82.73	-1.35	0.00	1140.8	1136.7	1144.9	178.3	2287.2	0.00	0.00	0	77.12	70.01	0.00	0.00	0.005	0.000	0.000	2813.22	2995.56	2630.88	178.50	2286.50	0	0	0	14.91	30.00	30.00
77.85	18695	-82.73	-1.35	60.00	2812.3	2994.4	2630.2	178.2	2286.2	3.68	-6.48	13	109.98	7.01	14.65	2.96	0.008	0.242	0.081	3113.06	3327.75	2898.38	1992.62	3425.38	0	0	0	15.11	15.37	14.93
242.09	1028	-82.73	-1.35	0.00	3112.3	3326.2	2898.4	1992.1	3425.4	28.17	-13.55	46	247.64	0.00	0.00	2.62	0.000	0.000	0.018	3112.97	3327.19	2898.75	1992.62	2253.94	0	0	0	30.00	30.00	15.84
432.54	516	-82.73	-1.35	-60.00	3112.3	3326.2	2898.4	1992.7	2253.0	51.97	-11.33	84	437.90	0.00	0.00	2.62	0.000	0.000	0.064	3113.31	3327.19	2899.44	1992.25	1209.00	0	0	0	30.00	30.00	15.82
527.31	1028	-82.73	-1.35	-1.28	3112.2	3326.3	2898.1	1992.2	1209.0	62.67	-10.80	103	532.75	0.00	0.00	2.63	0.000	0.000	0.025	3112.78	3326.19	2899.38	1992.44	2329.06	0	0	0	30.00	30.00	15.90
717.66	0	-82.73	-1.35	-1.28	3112.0	3325.8	2898.3	1992.8	2329.1	81.36	-9.78	141	718.99	0.00	0.00	0.00	0.000	0.000	0.000	3112.31	3326.00	2898.62	1992.00	2329.00	0	0	0	30.00	30.00	30.00
902.32	260	-82.73	-1.35	60.00	3112.3	3326.1	2898.6	1992.7	2329.4	98.27	-9.08	178	907.90	0.00	0.00	2.85	0.000	0.000	0.084	3113.38	3327.38	2899.38	1992.38	3426.44	0	0	0	30.00	30.00	15.82
1082.38	1028	-82.73	-1.35	-1.92	3112.7	3326.2	2899.2	1992.5	3426.4	116.45	-10.22	214	1087.94	0.00	0.00	2.70	0.000	0.000	0.018	3112.97	3326.50	2899.44	1992.44	2218.38	0	0	0	30.00	30.00	15.93
1392.46	548	-82.73	-1.35	-60.00	3112.6	3325.7	2899.4	1992.5	2217.0	137.77	-5.08	276	1397.96	0.00	0.00	2.51	0.000	0.000	0.065	3113.78	3326.62	2900.94	1991.00	1209.06	0	0	0	30.00	30.00	15.88
1447.46	1060	-82.73	-1.35	-1.50	3112.8	3325.4	2900.1	1992.7	1209.2	140.73	-5.32	287	1452.97	0.00	0.00	2.60	0.000	0.000	0.025	3112.50	3325.25	2899.75	1992.62	2328.25	0	0	0	30.00	30.00	15.95
1757.52	548	-82.73	-1.35	-60.00	3113.0	3326.3	2899.6	1992.7	2328.2	159.16	-6.33	349	1763.06	0.00	0.00	2.79	0.000	0.000	0.059	3112.47	3325.69	2899.25	1991.56	1209.94	0	0	0	30.00	30.00	15.88
1782.50	1028	-82.73	-1.35	-1.63	3113.0	3326.2	2899.8	1992.4	1209.8	161.03	-7.06	354	1788.03	0.00	0.00	2.59	0.000	0.000	0.025	3113.91	3326.50	2901.31	1992.69	2325.50	0	0	0	30.00	30.00	15.96
2092.61	0	-82.73	-1.35	-1.63	3112.6	3325.1	2900.1	1992.1	2325.7	185.78	-8.52	416	2093.94	0.00	0.00	0.00	0.000	0.000	0.000	3111.88	3325.19	2898.56	1992.31	2325.75	0	0	0	30.00	30.00	30.00
2397.58	516	-82.73	-1.35	-60.00	3113.4	3326.1	2900.8	1992.4	2325.2	211.51	-8.34	477	2403.16	0.00	0.00	2.79	0.000	0.000	0.060	3114.56	3327.50	2901.62	1992.75	1207.81	0	0	0	30.00	30.00	15.89
2432.58	1028	-82.73	-1.35	-1.74	3112.7	3325.1	2900.2	1991.9	1207.9	214.51	-8.49	484	2438.12	0.00	0.00	2.58	0.000	0.000	0.025	3113.28	3325.50	2901.06	1992.38	2324.38	0	0	0	30.00	30.00	15.96
2742.64	260	-82.73	-1.35	60.00	3113.3	3325.8	2900.9	1992.4	2324.1	236.79	-6.88	546	2748.21	0.00	0.00	2.85	0.000	0.000	0.084	3114.44	3326.88	2902.00	1992.06	3425.19	0	0	0	30.00	30.00	15.85
2822.64	1028	-82.73	-1.35	-1.65	3113.4	3325.5	2901.3	1992.5	3426.0	243.13	-8.06	562	2828.19	0.00	0.00	2.67	0.000	0.000	0.018	3113.75	3325.81	2901.69	1992.62	2219.19	0	0	0	30.00	30.00	15.96
3132.70	260	-82.73	-1.35	60.00	3113.5	3325.5	2901.6	1992.3	2216.9	264.07	-7.19	624	3138.32	0.00	0.00	3.11	0.000	0.000	0.080	3113.78	3326.00	2901.56	1992.19	3425.31	0	0	0	30.00	30.00	15.82
3157.69	1028	-82.73	-1.35	-1.32	3113.6	3325.3	2901.9	1992.4	3425.4	266.04	-7.55	629	3163.24	0.00	0.00	2.65	0.000	0.000	0.019	3114.56	3326.31	2902.81	1992.50	2223.94	0	0	0	30.00	30.00	15.96
3467.93	516	-82.73	-1.35	-60.00	3113.5	3325.6	2901.4	1992.6	2222.3	288.49	-7.20	691	3473.32	0.00	0.00	2.51	0.000	0.000	0.065	3114.00	3326.44	2901.56	1992.31	1209.75	0	0	0	30.00	30.00	15.89
3522.75	1028	-82.73	-1.35	-1.45	3113.5	3325.2	2901.7	1992.4	1209.3	292.65	-7.62	702	3528.27	0.00	0.00	2.59	0.000	0.000	0.025	3114.91	3327.12	2902.69	1991.25	2329.50	0	0	0	30.00	30.00	15.96
3835.49	0	-82.73	-1.35	-1.45	3113.2	3325.0	2901.5	1992.2	2329.1	315.42	-7.30	741	3846.56	0.00	0.00	0.00	0.000	0.000	0.000	3113.31	3325.38	2901.25	1991.88	2329.44	0	0	0	30.00	30.00	30.00
4148.30	0	-82.73	-1.35	-1.45	3113.4	3325.6	2901.1	1992.6	2328.7	337.52	-7.06	770	4159.38	0.00	0.00	0.00	0.000	0.000	0.000	3113.69	3326.06	2901.31	1992.81	2328.88	0	0	0	30.00	30.00	30.00
4461.02	516	-82.73	-1.35	-60.00	3113.5	3325.6	2901.5	1992.4	2329.1	358.52	-6.47	799	4465.67	0.00	0.00	2.78	0.000	0.000	0.061	3113.16	3325.62	2900.69	1992.38	1210.62	0	0	0	30.00	30.00	15.90
4499.74	1028	-82.73	-1.35	-1.68	3112.9	3325.0	2900.9	1992.4	1211.1	361.14	-6.76	805	4514.49	0.00	0.00	2.59	0.000	0.000	0.025	3114.06	3325.69	2902.44	1992.12	2324.50	0	0	0	30.00	30.00	15.99
4815.88	32	-82.73	-1.35	-1.68	3112.9	3324.6	2901.2	1992.5	2324.1	381.97	-6.19	834	4826.95	0.00	0.00	0.00	0.000	0.000	0.000	3113.31	3325.25	2901.38	1992.75	2324.00	0	0	0	30.00	30.00	30.00
5128.61	32	-82.73	-1.35	-1.68	3113.2	3324.8	2901.6	1992.5	2324.7	401.10	-6.17	863	5139.68	0.00	0.00	0.00	0.000	0.000	0.000	3113.09	3324.81	2901.38	1992.56	2324.38	0	0	0	30.00	30.00	30.00
5441.67	32	-82.73	-1.35	-1.68	3113.1	3324.6	2901.5	1992.6	2324.2	420.16	-6.11	892	5452.74	0.00	0.00	0.00	0.000	0.000	0.000	3112.91	3324.75	2901.06	1992.44	2324.38	0	0	0	30.00	30.00	30.00
5678	end dive: TARGET_DEPTH_EXCEEDED
state	5678	begin apogee
5680.75	10243	0.00	-0.28	0.00	3112.9	3324.2	2901.5	1992.8	2044.1	436.18	-7.33	914	5748.35	63.47	1.82	0.17	1.665	0.132	0.127	2775.03	2916.12	2633.94	2253.94	2162.25	0	0	0	10.41	15.76	15.27
5750	end apogee: CONTROL_FINISHED_OK
state	5750	begin climb
5751.26	11271	82.73	1.35	0.00	2773.7	2915.6	2631.9	2254.4	2162.4	438.26	0.00	920	5821.04	64.94	2.65	0.19	1.619	0.091	0.077	2437.53	2521.06	2354.00	2651.56	2033.75	0	0	0	11.69	15.58	15.69
6126.01	10535	209.66	1.61	60.00	2433.1	2522.1	2344.1	2653.1	2034.2	425.90	4.13	957	6241.04	100.90	0.34	3.11	1.626	0.063	0.078	1918.53	1948.31	1888.75	2725.69	3203.69	0	0	0	11.16	15.74	15.16
6336.46	1028	209.66	1.61	0.40	1913.2	1948.4	1877.9	2725.8	3203.6	409.52	8.99	983	6341.10	0.00	0.00	2.64	0.000	0.000	0.023	1912.88	1948.94	1876.81	2725.88	2068.50	0	0	0	30.00	30.00	15.64
6648.49	16966	209.66	1.62	-60.00	1908.6	1948.4	1868.8	2725.6	2068.0	384.28	7.72	1012	6653.13	0.00	0.00	2.77	0.000	0.000	0.083	1908.50	1948.38	1868.62	2725.19	995.00	0	0	0	30.00	30.00	15.74
6687.04	17478	209.66	1.63	0.57	1908.0	1948.7	1867.4	2725.1	995.1	381.25	7.86	1018	6702.15	0.00	0.00	2.68	0.000	0.000	0.023	1908.88	1949.06	1868.69	2726.06	2152.25	0	0	0	30.00	30.00	15.83
7003.73	16710	209.66	1.67	60.00	1906.7	1948.7	1864.6	2725.7	2151.8	359.08	6.65	1047	7008.38	0.00	0.00	2.70	0.000	0.000	0.081	1905.56	1947.94	1863.19	2725.38	3204.69	0	0	0	30.00	30.00	15.81
7026.55	17478	209.66	1.70	0.31	1906.8	1948.9	1864.8	2725.7	3205.5	357.54	6.88	1051	7041.48	0.00	0.00	2.61	0.000	0.000	0.024	1906.47	1949.31	1863.62	2725.00	2063.31	0	0	0	30.00	30.00	15.89
7342.78	16966	209.66	1.74	-60.00	1905.8	1949.1	1862.4	2725.5	2063.4	336.72	6.64	1080	7347.43	0.00	0.00	2.74	0.000	0.000	0.083	1906.38	1949.31	1863.44	2725.88	994.62	0	0	0	30.00	30.00	15.82
7397.07	17478	209.66	1.76	0.19	1905.2	1949.2	1861.1	2725.8	994.6	332.89	7.10	1088	7412.01	0.00	0.00	2.65	0.000	0.000	0.023	1905.59	1949.44	1861.75	2726.00	2144.62	0	0	0	30.00	30.00	15.94
7713.30	18499	209.66	1.78	0.19	1905.2	1949.4	1860.9	2725.7	2144.4	310.17	7.85	1117	7724.48	0.00	0.14	0.00	0.000	0.095	0.000	1905.97	1950.25	1861.69	2764.50	2144.44	0	0	0	30.00	15.89	30.00
8029.67	16902	209.66	1.78	-60.00	1904.7	1949.3	1860.1	2764.7	2144.8	282.42	8.58	1167	8035.27	0.00	0.00	2.96	0.000	0.000	0.078	1904.66	1949.69	1859.62	2764.94	994.56	0	0	0	30.00	30.00	15.83
8104.67	17414	209.66	1.78	-0.43	1904.1	1949.1	1859.1	2765.4	994.4	275.37	9.41	1182	8110.23	0.00	0.00	2.64	0.000	0.000	0.023	1904.38	1949.38	1859.38	2765.12	2134.12	0	0	0	30.00	30.00	15.94
8414.73	16902	209.66	1.78	-60.00	1904.0	1949.1	1858.9	2765.1	2134.1	249.44	8.18	1244	8420.32	0.00	0.00	2.94	0.000	0.000	0.078	1904.97	1950.31	1859.62	2764.94	994.62	0	0	0	30.00	30.00	15.83
8449.96	17414	209.66	1.78	-0.99	1903.8	1949.1	1858.4	2764.4	994.8	246.47	8.40	1251	8455.31	0.00	0.00	2.60	0.000	0.000	0.022	1903.94	1949.44	1858.44	2765.06	2125.44	0	0	0	30.00	30.00	15.95
8759.77	16646	209.66	1.78	60.00	1903.6	1949.2	1858.0	2765.0	2125.6	221.45	8.32	1313	8765.33	0.00	0.00	2.77	0.000	0.000	0.080	1904.44	1950.12	1858.75	2765.62	3205.25	0	0	0	30.00	30.00	15.84
8794.77	17414	209.66	1.78	-0.99	1904.1	1949.9	1858.3	2764.9	3205.1	218.43	8.54	1320	8800.33	0.00	0.00	2.67	0.000	0.000	0.024	1904.84	1950.38	1859.31	2765.06	2041.88	0	0	0	30.00	30.00	15.95
9104.88	16710	209.66	1.79	60.00	1903.4	1949.6	1857.2	2765.1	2041.5	193.74	7.88	1382	9110.46	0.00	0.00	2.99	0.000	0.000	0.076	1903.94	1950.44	1857.44	2765.19	3203.44	0	0	0	30.00	30.00	15.83
9129.87	17414	209.66	1.79	-0.89	1903.7	1950.4	1857.1	2765.1	3203.2	191.69	8.08	1387	9135.43	0.00	0.00	2.65	0.000	0.000	0.024	1903.88	1950.44	1857.31	2765.06	2043.12	0	0	0	30.00	30.00	15.96
9440.00	16710	209.66	1.82	60.00	1903.5	1950.4	1856.7	2765.6	2042.9	167.82	6.98	1449	9445.57	0.00	0.00	3.00	0.000	0.000	0.076	1904.56	1951.62	1857.50	2765.38	3205.12	0	0	0	30.00	30.00	15.83
9505.01	17478	209.66	1.84	-0.40	1903.8	1950.8	1856.8	2764.6	3204.8	163.07	7.39	1462	9510.54	0.00	0.00	2.63	0.000	0.000	0.024	1903.94	1950.62	1857.25	2765.00	2049.00	0	0	0	30.00	30.00	15.95
9815.18	16966	209.66	1.88	-60.00	1903.4	1950.6	1856.2	2764.7	2049.1	141.90	6.54	1524	9820.66	0.00	0.00	2.70	0.000	0.000	0.083	1903.31	1950.62	1856.00	2765.19	994.38	0	0	0	30.00	30.00	15.81
9855.23	17478	209.66	1.91	0.07	1903.2	1950.7	1855.7	2764.9	994.8	139.13	6.84	1532	9860.67	0.00	0.00	2.67	0.000	0.000	0.022	1903.59	1951.31	1855.88	2765.38	2144.25	0	0	0	30.00	30.00	15.96
10165.24	16450	209.66	1.94	0.07	1903.2	1951.0	1855.4	2765.7	2144.9	118.75	7.01	1594	10166.57	0.00	0.00	0.00	0.000	0.000	0.000	1902.66	1950.19	1855.12	2765.25	2144.94	0	0	0	30.00	30.00	30.00
10470.33	10791	295.86	2.11	-60.00	1903.2	1950.6	1855.8	2765.5	2144.1	98.54	5.52	1655	10543.41	66.54	0.41	3.01	1.279	0.061	0.079	1569.59	1590.06	1549.12	2844.94	993.38	0	0	0	10.62	15.91	15.35
10585.67	1028	295.86	2.11	0.18	1565.3	1589.3	1541.2	2845.5	993.5	89.75	9.33	1678	10591.06	0.00	0.00	2.70	0.000	0.000	0.022	1565.03	1589.50	1540.56	2846.12	2145.56	0	0	0	30.00	30.00	15.76
10775.54	324	295.86	2.14	60.00	1561.2	1589.9	1532.5	2846.0	2145.5	75.07	7.04	1716	10781.10	0.00	0.00	2.75	0.000	0.000	0.078	1561.50	1590.19	1532.81	2846.00	3203.69	0	0	0	30.00	30.00	15.75
11010.56	17414	295.86	2.14	1.83	1559.8	1589.6	1530.0	2845.4	3204.1	55.64	8.73	1763	11016.27	0.00	0.00	2.56	0.000	0.000	0.023	1559.50	1590.00	1529.00	2845.69	2089.56	0	0	0	30.00	30.00	15.86
11200.61	10791	373.77	2.30	-60.00	1558.8	1590.8	1526.8	2845.6	2089.4	42.56	5.80	1801	11268.11	61.30	0.19	2.86	1.186	0.085	0.084	1251.81	1254.06	1249.56	2889.44	994.38	0	0	0	11.09	15.84	15.37
11425.61	1028	373.77	2.30	0.18	1245.4	1253.3	1237.4	2889.4	994.6	25.24	8.78	1846	11431.18	0.00	0.00	2.71	0.000	0.000	0.022	1245.19	1253.38	1237.00	2889.75	2144.44	0	0	0	30.00	30.00	15.79
11615.64	516	373.77	2.30	-60.00	1243.9	1255.1	1232.7	2888.6	2144.4	7.83	9.21	1884	11621.25	0.00	0.00	2.97	0.000	0.000	0.074	1244.69	1255.88	1233.50	2889.50	994.69	0	0	0	30.00	30.00	15.75
11645.64	1028	373.77	2.30	-0.28	1243.5	1255.4	1231.6	2888.8	994.8	5.13	9.07	1890	11651.19	0.00	0.00	2.67	0.000	0.000	0.022	1243.84	1255.69	1232.00	2888.38	2137.25	0	0	0	30.00	30.00	15.85
11660	end climb: SURFACE_DEPTH_REACHED
state	11660	begin surface coast
11710	end surface coast: CONTROL_FINISHED_OK
state	11710	begin surface