Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 276 * 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 276 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 0 XPDR_REP -1

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 425 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 -1

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 0.0020000001 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 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 390 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 450 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 34

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 37.728611 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 79.714111 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 -180.00272 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00021665409 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 0.0063095698 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0094307503 ROLL_DEG 60 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2320 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2240 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 2 N_NOCOMM 2 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 425

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 37.728611 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 79.714111 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 0.0063095698 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0094307503 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 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_DIVE 390

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.00021665409 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -180.00272 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 450

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 2240 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 1 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 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 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 276 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 020721,105807,4748.258,-12518.479,105,1.0,106,16.0 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020721,110819,4748.210,-12518.508,4,1.0,6,16.0 MHEAD_RNG_PITCHd_Wd 48.4,12338,-21.6,-8.462,-23.21

SPEED_LIMITS 0.147,0.197 D_GRID 586

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 -0.1,1.023343 FG_AHR_10Vo 37.799

SM_CCo 14262.49,64.90,1.150,0,1043.4,987.6,1099.2,424.76 MEM0 60876,1,0,0

SM_GC 4.84,64.90,16.67,2.80,1.150,0.055,0.032,1043.4,987.6,1099.2,180.6,2363.6,0,0,0,12.56,15.86,15.91 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971796,17,75332,55

IRIDIUM_FIX 4750.72,-12516.60,020721,110144 DATA_FILE_SIZE 54468,1837

TCM_TEMP 267.26 CAP_FILE_SIZE 298790,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3949696

SC_FREEKB 3755040 SDFILEDIR 1416,1

HUMID 48.89 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.34 CURRENT 0.066,299.5,1

INTERNAL_PRESSURE 8.86152 IMPLIED_C_PITCH 2342,13.76,1408

_24V_AH 14.92,89.417 IMPLIED_C_VBD 2895,34.562225,630

_10V_AH 15.00,0.000 GPS 020721,150801,4749.004,-12517.261,90,1.2,91,16.0

FG_AHR_24Vo 79.891

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 443 1879 12442.36 nil 0 0 0.00

Pitch_motor 35 253 134.58 nil 0 0 0.00

Roll_motor 132 204 403.95 nil 0 0 0.00

Iridium 350 237 1240.88 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.46 nil 0 0 0.00

Core 5128 11 907.73 SciCon 14198 10 2302.42

LPSleep 9640 2 404.90 nil 0 0 0.00

Compass 2738 5 205.37 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

4 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.80 16386 -82.73 -1.37 0.00 1034.1 1014.1 1054.1 181.9 2242.3 0.00 0.00 0 56.50 48.51 0.00 0.00 0.005 0.000 0.000 2279.88 2430.69 2129.06 181.81 2242.81 0 0 0 15.70 30.00 30.00

57.23 18983 -82.73 -1.37 -60.00 2278.7 2429.5 2127.8 181.9 2242.6 3.68 -4.09 9 100.39 19.26 13.62 2.47 0.006 0.253 0.066 3112.31 3315.56 2909.06 1988.62 1206.25 0 0 0 15.74 15.73 15.69

258.38 1028 -82.73 -1.37 0.00 3113.0 3315.1 2910.9 1988.6 1206.2 39.13 -16.38 49 263.93 0.00 0.00 2.63 0.000 0.000 0.030 3113.03 3314.19 2911.88 1988.69 2354.31 0 0 0 30.00 30.00 15.91

448.80 516 -82.73 -1.37 -60.00 3112.7 3314.2 2911.1 1988.5 2354.4 64.51 -11.00 87 454.18 0.00 0.00 2.72 0.000 0.000 0.058 3112.66 3313.75 2911.56 1988.44 1208.19 0 0 0 30.00 30.00 15.96

523.58 1028 -82.73 -1.37 0.00 3112.8 3314.0 2911.6 1988.9 1208.4 74.13 -13.45 102 529.00 0.00 0.00 2.62 0.000 0.000 0.028 3114.47 3315.81 2913.12 1988.81 2353.94 0 0 0 30.00 30.00 15.96

713.93 260 -82.73 -1.37 60.00 3113.3 3314.2 2912.4 1988.4 2354.5 94.21 -11.27 140 719.04 0.00 0.00 2.62 0.000 0.000 0.082 3114.28 3315.00 2913.56 1988.81 3429.12 0 0 0 30.00 30.00 15.98

778.06 1028 -82.73 -1.37 0.00 3113.5 3312.8 2914.1 1989.0 3428.1 101.43 -10.77 153 784.07 0.00 0.00 2.56 0.000 0.000 0.020 3113.78 3313.31 2914.25 1988.50 2240.25 0 0 0 30.00 30.00 16.00

1093.54 516 -82.73 -1.37 -60.00 3113.9 3313.1 2914.8 1988.6 2240.7 130.54 -8.74 185 1098.19 0.00 0.00 2.45 0.000 0.000 0.065 3114.94 3313.00 2916.88 1988.38 1207.94 0 0 0 30.00 30.00 16.03

1208.10 1028 -82.73 -1.37 0.00 3114.4 3313.1 2915.8 1988.4 1207.3 140.73 -8.83 208 1214.11 0.00 0.00 2.61 0.000 0.000 0.028 3114.25 3312.62 2915.88 1988.62 2354.56 0 0 0 30.00 30.00 16.06

1523.61 516 -82.73 -1.37 -60.00 3114.6 3313.6 2915.6 1988.7 2354.8 166.92 -7.97 240 1528.70 0.00 0.00 2.72 0.000 0.000 0.060 3114.03 3313.38 2914.69 1988.56 1207.62 0 0 0 30.00 30.00 16.06

1588.16 1028 -82.73 -1.37 0.00 3114.4 3313.0 2915.8 1988.6 1207.6 172.63 -8.80 253 1594.16 0.00 0.00 2.60 0.000 0.000 0.028 3114.72 3312.75 2916.69 1988.56 2356.06 0 0 0 30.00 30.00 16.06

1903.87 0 -82.73 -1.37 0.00 3114.3 3312.4 2916.2 1989.0 2355.8 201.78 -9.61 285 1905.20 0.00 0.00 0.00 0.000 0.000 0.000 3113.78 3312.31 2915.25 1988.69 2356.06 0 0 0 30.00 30.00 30.00

2214.14 516 -82.73 -1.37 -60.00 3114.0 3312.0 2915.9 1988.8 2355.5 231.00 -9.30 316 2219.04 0.00 0.00 2.73 0.000 0.000 0.061 3113.88 3312.25 2915.50 1988.38 1207.62 0 0 0 30.00 30.00 16.08

2388.85 1028 -82.73 -1.37 0.00 3113.6 3311.4 2915.8 1988.7 1208.2 248.10 -10.45 351 2394.36 0.00 0.00 2.61 0.000 0.000 0.029 3113.75 3311.75 2915.75 1988.62 2356.00 0 0 0 30.00 30.00 16.10

2703.89 0 -82.73 -1.37 0.00 3113.2 3310.6 2915.8 1988.4 2355.8 278.94 -9.75 383 2705.21 0.00 0.00 0.00 0.000 0.000 0.000 3113.38 3311.75 2915.00 1988.62 2355.06 0 0 0 30.00 30.00 30.00

3014.34 260 -82.73 -1.37 60.00 3113.0 3310.1 2916.0 1988.5 2356.1 309.01 -9.50 414 3019.04 0.00 0.00 2.61 0.000 0.000 0.086 3113.16 3310.19 2916.12 1989.31 3428.75 0 0 0 30.00 30.00 16.10

3093.97 1028 -82.73 -1.37 0.00 3113.0 3308.8 2917.2 1988.8 3428.1 317.53 -10.95 430 3099.04 0.00 0.00 2.56 0.000 0.000 0.022 3112.78 3308.44 2917.12 1988.56 2248.75 0 0 0 30.00 30.00 16.11

3404.04 516 -82.73 -1.37 -60.00 3112.5 3307.9 2917.1 1989.4 2246.3 346.45 -9.03 462 3408.68 0.00 0.00 2.46 0.000 0.000 0.067 3114.22 3309.25 2919.19 1987.50 1208.12 0 0 0 30.00 30.00 16.12

3478.59 1028 -82.73 -1.37 0.00 3112.5 3307.4 2917.5 1989.6 1208.4 353.23 -9.26 477 3484.58 0.00 0.00 2.60 0.000 0.000 0.030 3112.59 3307.56 2917.62 1989.44 2354.38 0 0 0 30.00 30.00 16.13

3794.13 0 -82.73 -1.37 0.00 3112.2 3307.4 2917.1 1989.1 2354.8 381.87 -9.36 509 3795.46 0.00 0.00 0.00 0.000 0.000 0.000 3111.84 3307.25 2916.44 1989.12 2355.00 0 0 0 30.00 30.00 30.00

4104.57 0 -82.73 -1.37 0.00 3111.2 3305.9 2916.5 1989.4 2354.7 411.16 -9.52 540 4105.90 0.00 0.00 0.00 0.000 0.000 0.000 3110.81 3305.12 2916.50 1989.44 2354.88 0 0 0 30.00 30.00 30.00

4414.64 260 -82.73 -1.37 60.00 3110.8 3304.4 2917.2 1989.7 2353.9 441.90 -10.01 571 4419.33 0.00 0.00 2.62 0.000 0.000 0.089 3112.06 3306.06 2918.06 1988.81 3428.38 0 0 0 30.00 30.00 16.12

4464.26 1028 -82.73 -1.37 0.00 3110.5 3304.2 2916.8 1989.7 3428.4 447.45 -11.35 581 4469.33 0.00 0.00 2.56 0.000 0.000 0.022 3110.38 3303.81 2916.94 1989.50 2244.75 0 0 0 30.00 30.00 16.14

4774.51 0 -82.73 -1.37 0.00 3110.2 3303.4 2916.9 1990.3 2243.6 476.88 -9.29 613 4775.84 0.00 0.00 0.00 0.000 0.000 0.000 3109.06 3302.12 2916.00 1989.94 2243.69 0 0 0 30.00 30.00 30.00

5084.92 260 -82.73 -1.37 60.00 3109.8 3302.8 2916.8 1989.6 2243.6 505.78 -9.10 644 5089.49 0.00 0.00 2.91 0.000 0.000 0.085 3111.16 3304.06 2918.25 1989.31 3427.31 0 0 0 30.00 30.00 16.14

5139.12 1028 -82.73 -1.37 0.00 3109.7 3302.6 2916.8 1989.2 3427.2 511.46 -10.31 655 5144.89 0.00 0.00 2.55 0.000 0.000 0.023 3111.03 3303.56 2918.50 1989.69 2247.75 0 0 0 30.00 30.00 16.15

5454.41 260 -82.73 -1.37 60.00 3109.4 3301.6 2917.2 1989.6 2247.5 538.84 -8.84 687 5459.53 0.00 0.00 2.90 0.000 0.000 0.086 3109.38 3301.38 2917.38 1989.69 3426.31 0 0 0 30.00 30.00 16.14

5534.43 1028 -82.73 -1.37 0.00 3109.4 3301.6 2917.1 1989.8 3426.2 546.53 -9.32 703 5539.49 0.00 0.00 2.53 0.000 0.000 0.023 3111.00 3302.94 2919.06 1988.12 2247.38 0 0 0 30.00 30.00 16.15

5844.47 0 -82.73 -1.37 0.00 3108.6 3299.8 2917.4 1989.8 2247.2 570.56 -7.59 735 5845.80 0.00 0.00 0.00 0.000 0.000 0.000 3108.03 3300.25 2915.81 1990.44 2247.00 0 0 0 30.00 30.00 30.00

6044 end dive: TARGET_DEPTH_EXCEEDED

state 6044 begin apogee

6046.28 10243 0.00 -0.28 0.00 3108.3 3299.4 2917.3 1989.9 2183.9 586.42 -8.28 755 6108.76 58.48 1.77 0.15 1.880 0.150 0.158 2773.50 2899.31 2647.69 2253.69 2288.38 0 0 0 12.63 16.08 15.79

6110 end apogee: CONTROL_FINISHED_OK

state 6110 begin climb

6110.95 10243 82.73 1.37 0.00 2773.5 2899.8 2647.2 2254.1 2288.6 588.16 0.00 761 6177.19 61.38 2.60 0.00 1.814 0.099 0.000 2437.00 2513.44 2360.56 2656.25 2288.69 0 0 0 12.86 15.81 30.00

6484.53 580 82.73 1.40 -60.00 2432.2 2513.8 2350.6 2655.9 2288.7 565.90 6.90 801 6489.64 0.00 0.00 2.83 0.000 0.000 0.074 2433.19 2514.62 2351.75 2655.38 1130.06 0 0 0 30.00 30.00 15.86

6584.55 1092 82.73 1.42 0.00 2431.5 2513.4 2349.5 2656.4 1130.1 558.48 7.36 821 6589.62 0.00 0.00 2.64 0.000 0.000 0.029 2432.88 2513.88 2351.88 2654.00 2274.06 0 0 0 30.00 30.00 15.90

6894.98 64 82.73 1.44 0.00 2430.5 2513.5 2347.5 2655.9 2273.4 536.84 7.32 853 6896.31 0.00 0.00 0.00 0.000 0.000 0.000 2428.78 2512.44 2345.12 2655.75 2274.19 0 0 0 30.00 30.00 30.00

7205.05 64 82.73 1.48 0.00 2429.7 2513.1 2346.2 2656.0 2273.7 515.57 6.62 884 7206.38 0.00 0.00 0.00 0.000 0.000 0.000 2428.41 2511.50 2345.31 2655.88 2273.75 0 0 0 30.00 30.00 30.00

7515.11 2629 82.73 1.51 -60.00 2429.7 2513.4 2346.0 2656.3 2274.1 494.33 6.85 915 7519.86 0.00 0.17 2.77 0.000 0.092 0.073 2430.00 2512.88 2347.12 2700.88 1129.94 0 0 0 30.00 16.02 16.03

7564.73 1028 82.73 1.51 0.00 2429.9 2513.4 2346.4 2701.4 1130.1 490.27 8.04 925 7569.81 0.00 0.00 2.61 0.000 0.000 0.030 2429.72 2512.69 2346.75 2701.19 2273.50 0 0 0 30.00 30.00 16.06

7875.19 64 82.73 1.54 0.00 2429.6 2513.4 2345.8 2701.9 2274.1 468.50 6.84 957 7876.52 0.00 0.00 0.00 0.000 0.000 0.000 2429.19 2513.75 2344.62 2701.31 2273.94 0 0 0 30.00 30.00 30.00

8185.26 8486 120.77 1.62 60.00 2429.1 2513.8 2344.3 2701.2 2274.0 449.13 5.86 988 8220.14 28.55 0.00 2.67 1.660 0.000 0.093 2282.53 2354.31 2210.75 2701.38 3346.81 0 0 0 12.70 30.00 15.90

8259.42 1028 120.77 1.62 0.00 2279.8 2352.5 2207.1 2701.9 3346.8 443.76 8.03 1002 8265.59 0.00 0.00 2.58 0.000 0.000 0.024 2279.97 2353.12 2206.81 2701.88 2186.56 0 0 0 30.00 30.00 15.98

8575.52 580 120.77 1.63 -60.00 2277.5 2352.2 2202.7 2701.5 2186.7 419.55 7.84 1034 8580.01 0.00 0.00 2.54 0.000 0.000 0.078 2277.62 2352.62 2202.62 2701.38 1130.50 0 0 0 30.00 30.00 16.00

8609.49 1028 120.77 1.63 0.00 2277.1 2352.1 2202.2 2701.6 1130.7 416.71 8.20 1041 8615.50 0.00 0.00 2.62 0.000 0.000 0.030 2277.69 2353.12 2202.25 2702.06 2272.81 0 0 0 30.00 30.00 16.03

8925.02 516 120.77 1.63 -60.00 2276.9 2352.6 2201.2 2701.9 2273.7 389.36 8.70 1073 8930.11 0.00 0.00 2.77 0.000 0.000 0.073 2278.19 2353.62 2202.75 2701.75 1130.06 0 0 0 30.00 30.00 16.05

8979.78 1028 120.77 1.63 0.00 2277.0 2352.8 2201.2 2701.6 1129.8 384.41 8.93 1084 8985.58 0.00 0.00 2.61 0.000 0.000 0.030 2277.47 2353.75 2201.19 2701.62 2276.06 0 0 0 30.00 30.00 16.05

9295.51 64 120.77 1.64 0.00 2276.7 2353.3 2200.1 2701.6 2276.1 358.78 7.91 1116 9296.84 0.00 0.00 0.00 0.000 0.000 0.000 2275.62 2352.88 2198.38 2701.50 2275.94 0 0 0 30.00 30.00 30.00

9605.56 516 120.77 1.64 -60.00 2276.0 2352.8 2199.2 2701.6 2275.8 334.14 8.26 1147 9610.27 0.00 0.00 2.76 0.000 0.000 0.073 2277.38 2354.00 2200.75 2701.19 1130.38 0 0 0 30.00 30.00 16.10

9655.19 1028 120.77 1.64 0.00 2276.3 2353.4 2199.2 2701.8 1130.6 329.67 8.99 1157 9660.27 0.00 0.00 2.61 0.000 0.000 0.030 2276.91 2353.94 2199.88 2701.25 2274.94 0 0 0 30.00 30.00 16.10

9965.65 580 120.77 1.66 -60.00 2275.8 2352.9 2198.6 2702.0 2274.4 304.56 7.62 1189 9971.15 0.00 0.00 2.74 0.000 0.000 0.072 2276.09 2353.75 2198.44 2701.44 1130.75 0 0 0 30.00 30.00 16.09

10109.84 1028 120.77 1.66 0.00 2275.9 2353.5 2198.3 2701.5 1131.4 292.52 7.99 1218 10116.03 0.00 0.00 2.61 0.000 0.000 0.030 2276.12 2354.06 2198.19 2701.88 2274.38 0 0 0 30.00 30.00 16.11

10425.86 2113 120.77 1.68 0.00 2275.8 2353.7 2197.9 2701.3 2275.1 268.78 7.42 1250 10427.29 0.00 0.16 0.00 0.000 0.092 0.000 2274.44 2352.56 2196.31 2741.38 2274.81 0 0 0 30.00 16.09 30.00

10735.38 0 120.77 1.68 0.00 2275.6 2353.9 2197.4 2742.0 2274.9 243.00 8.74 1281 10736.70 0.00 0.00 0.00 0.000 0.000 0.000 2275.44 2353.31 2197.56 2741.81 2274.50 0 0 0 30.00 30.00 30.00

11045.81 260 120.77 1.68 60.00 2275.8 2354.0 2197.6 2741.4 2274.8 215.66 9.18 1312 11050.50 0.00 0.00 2.62 0.000 0.000 0.090 2277.00 2354.88 2199.12 2741.12 3346.88 0 0 0 30.00 30.00 16.07

11105.44 1028 120.77 1.68 0.00 2275.8 2353.8 2197.7 2741.4 3347.1 209.46 10.67 1324 11110.51 0.00 0.00 2.55 0.000 0.000 0.024 2275.91 2354.44 2197.38 2741.81 2185.31 0 0 0 30.00 30.00 16.08

11415.88 580 120.77 1.70 -60.00 2275.8 2354.1 2197.6 2741.1 2185.2 183.76 7.58 1356 11420.53 0.00 0.00 2.52 0.000 0.000 0.077 2275.28 2354.06 2196.50 2741.25 1129.12 0 0 0 30.00 30.00 16.10

11535.52 1092 120.77 1.72 0.00 2275.5 2353.8 2197.2 2741.6 1128.4 174.81 7.26 1380 11540.58 0.00 0.00 2.61 0.000 0.000 0.030 2276.50 2354.81 2198.19 2741.00 2275.88 0 0 0 30.00 30.00 16.12

11845.94 580 120.77 1.75 -60.00 2275.5 2354.2 2196.8 2741.9 2275.5 152.94 6.92 1412 11850.63 0.00 0.00 2.74 0.000 0.000 0.072 2275.59 2354.62 2196.56 2741.75 1130.44 0 0 0 30.00 30.00 16.12

12080.16 9254 151.05 1.82 0.00 2275.5 2354.1 2196.9 2741.8 1130.5 136.50 6.40 1459 12107.95 22.98 0.00 2.59 1.295 0.000 0.030 2157.22 2217.88 2096.56 2741.31 2275.25 0 0 0 12.49 30.00 16.12

12411.58 324 151.05 1.83 60.00 2154.4 2219.7 2089.1 2742.5 2275.2 112.76 7.77 1495 12416.08 0.00 0.00 2.64 0.000 0.000 0.089 2155.03 2220.75 2089.31 2742.00 3345.75 0 0 0 30.00 30.00 16.05

12495.57 3141 151.05 1.86 0.00 2154.6 2220.5 2088.7 2742.6 3346.1 106.57 6.98 1512 12501.60 0.00 0.17 2.56 0.000 0.092 0.024 2154.72 2220.88 2088.56 2783.69 2183.81 0 0 0 30.00 16.02 16.06

12806.15 580 151.05 1.88 -60.00 2154.3 2220.1 2088.6 2783.0 2184.0 83.43 7.35 1565 12811.65 0.00 0.00 2.52 0.000 0.000 0.077 2155.41 2221.25 2089.56 2782.62 1130.06 0 0 0 30.00 30.00 16.03

13001.21 9254 199.41 1.98 0.00 2153.7 2219.6 2087.8 2783.3 1130.1 71.68 5.16 1604 13042.80 36.05 0.00 2.60 1.237 0.000 0.028 1962.31 2003.19 1921.44 2782.50 2275.12 0 0 0 12.52 30.00 16.07

13226.29 10791 247.38 2.07 -60.00 1956.0 2002.5 1909.4 2783.1 2276.1 60.33 5.19 1649 13267.97 36.13 0.24 2.79 1.204 0.078 0.073 1767.19 1791.62 1742.75 2836.44 1129.94 0 0 0 12.71 15.94 15.82

13496.75 17478 247.38 2.11 0.00 1757.3 1787.8 1726.8 2837.1 1130.1 37.86 6.81 1703 13502.51 0.00 0.00 2.63 0.000 0.000 0.029 1757.81 1788.44 1727.19 2837.19 2275.75 0 0 0 30.00 30.00 15.92

13686.40 8226 302.10 2.22 0.00 1756.2 1787.9 1724.6 2837.2 2275.7 28.46 4.73 1741 13728.19 40.60 0.00 0.00 1.163 0.000 0.000 1543.62 1562.75 1524.50 2836.19 2275.06 0 0 0 12.59 30.00 30.00

13911.45 10791 336.65 2.29 -60.00 1535.7 1562.6 1508.8 2837.4 2275.4 14.32 6.10 1786 13942.98 26.78 0.22 2.81 1.109 0.074 0.073 1402.69 1417.69 1387.69 2889.88 1130.62 0 0 0 12.73 15.88 15.76

14121 end climb: SURFACE_DEPTH_REACHED

state 14121 begin surface coast

14166 end surface coast: CONTROL_FINISHED_OK

state 14166 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	276	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	0	XPDR_REP	-1
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	425	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	-1
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	0.0020000001	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	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	390	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	450	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	34
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	37.728611	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	79.714111	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	-180.00272	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00021665409	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	0.0063095698	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0094307503	ROLL_DEG	60	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2240	ALTIM_PULSE	1

GPS1	020721,105807,4748.258,-12518.479,105,1.0,106,16.0	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020721,110819,4748.210,-12518.508,4,1.0,6,16.0	MHEAD_RNG_PITCHd_Wd	48.4,12338,-21.6,-8.462,-23.21
SPEED_LIMITS	0.147,0.197	D_GRID	586
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	-0.1,1.023343	FG_AHR_10Vo	37.799
SM_CCo	14262.49,64.90,1.150,0,1043.4,987.6,1099.2,424.76	MEM0	60876,1,0,0
SM_GC	4.84,64.90,16.67,2.80,1.150,0.055,0.032,1043.4,987.6,1099.2,180.6,2363.6,0,0,0,12.56,15.86,15.91	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971796,17,75332,55
IRIDIUM_FIX	4750.72,-12516.60,020721,110144	DATA_FILE_SIZE	54468,1837
TCM_TEMP	267.26	CAP_FILE_SIZE	298790,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3949696
SC_FREEKB	3755040	SDFILEDIR	1416,1
HUMID	48.89	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.34	CURRENT	0.066,299.5,1
INTERNAL_PRESSURE	8.86152	IMPLIED_C_PITCH	2342,13.76,1408
_24V_AH	14.92,89.417	IMPLIED_C_VBD	2895,34.562225,630
_10V_AH	15.00,0.000	GPS	020721,150801,4749.004,-12517.261,90,1.2,91,16.0
FG_AHR_24Vo	79.891

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	443	1879	12442.36	nil	0	0	0.00
Pitch_motor	35	253	134.58	nil	0	0	0.00
Roll_motor	132	204	403.95	nil	0	0	0.00
Iridium	350	237	1240.88	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.46	nil	0	0	0.00
Core	5128	11	907.73	SciCon	14198	10	2302.42
LPSleep	9640	2	404.90	nil	0	0	0.00
Compass	2738	5	205.37	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
4	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.80	16386	-82.73	-1.37	0.00	1034.1	1014.1	1054.1	181.9	2242.3	0.00	0.00	0	56.50	48.51	0.00	0.00	0.005	0.000	0.000	2279.88	2430.69	2129.06	181.81	2242.81	0	0	0	15.70	30.00	30.00
57.23	18983	-82.73	-1.37	-60.00	2278.7	2429.5	2127.8	181.9	2242.6	3.68	-4.09	9	100.39	19.26	13.62	2.47	0.006	0.253	0.066	3112.31	3315.56	2909.06	1988.62	1206.25	0	0	0	15.74	15.73	15.69
258.38	1028	-82.73	-1.37	0.00	3113.0	3315.1	2910.9	1988.6	1206.2	39.13	-16.38	49	263.93	0.00	0.00	2.63	0.000	0.000	0.030	3113.03	3314.19	2911.88	1988.69	2354.31	0	0	0	30.00	30.00	15.91
448.80	516	-82.73	-1.37	-60.00	3112.7	3314.2	2911.1	1988.5	2354.4	64.51	-11.00	87	454.18	0.00	0.00	2.72	0.000	0.000	0.058	3112.66	3313.75	2911.56	1988.44	1208.19	0	0	0	30.00	30.00	15.96
523.58	1028	-82.73	-1.37	0.00	3112.8	3314.0	2911.6	1988.9	1208.4	74.13	-13.45	102	529.00	0.00	0.00	2.62	0.000	0.000	0.028	3114.47	3315.81	2913.12	1988.81	2353.94	0	0	0	30.00	30.00	15.96
713.93	260	-82.73	-1.37	60.00	3113.3	3314.2	2912.4	1988.4	2354.5	94.21	-11.27	140	719.04	0.00	0.00	2.62	0.000	0.000	0.082	3114.28	3315.00	2913.56	1988.81	3429.12	0	0	0	30.00	30.00	15.98
778.06	1028	-82.73	-1.37	0.00	3113.5	3312.8	2914.1	1989.0	3428.1	101.43	-10.77	153	784.07	0.00	0.00	2.56	0.000	0.000	0.020	3113.78	3313.31	2914.25	1988.50	2240.25	0	0	0	30.00	30.00	16.00
1093.54	516	-82.73	-1.37	-60.00	3113.9	3313.1	2914.8	1988.6	2240.7	130.54	-8.74	185	1098.19	0.00	0.00	2.45	0.000	0.000	0.065	3114.94	3313.00	2916.88	1988.38	1207.94	0	0	0	30.00	30.00	16.03
1208.10	1028	-82.73	-1.37	0.00	3114.4	3313.1	2915.8	1988.4	1207.3	140.73	-8.83	208	1214.11	0.00	0.00	2.61	0.000	0.000	0.028	3114.25	3312.62	2915.88	1988.62	2354.56	0	0	0	30.00	30.00	16.06
1523.61	516	-82.73	-1.37	-60.00	3114.6	3313.6	2915.6	1988.7	2354.8	166.92	-7.97	240	1528.70	0.00	0.00	2.72	0.000	0.000	0.060	3114.03	3313.38	2914.69	1988.56	1207.62	0	0	0	30.00	30.00	16.06
1588.16	1028	-82.73	-1.37	0.00	3114.4	3313.0	2915.8	1988.6	1207.6	172.63	-8.80	253	1594.16	0.00	0.00	2.60	0.000	0.000	0.028	3114.72	3312.75	2916.69	1988.56	2356.06	0	0	0	30.00	30.00	16.06
1903.87	0	-82.73	-1.37	0.00	3114.3	3312.4	2916.2	1989.0	2355.8	201.78	-9.61	285	1905.20	0.00	0.00	0.00	0.000	0.000	0.000	3113.78	3312.31	2915.25	1988.69	2356.06	0	0	0	30.00	30.00	30.00
2214.14	516	-82.73	-1.37	-60.00	3114.0	3312.0	2915.9	1988.8	2355.5	231.00	-9.30	316	2219.04	0.00	0.00	2.73	0.000	0.000	0.061	3113.88	3312.25	2915.50	1988.38	1207.62	0	0	0	30.00	30.00	16.08
2388.85	1028	-82.73	-1.37	0.00	3113.6	3311.4	2915.8	1988.7	1208.2	248.10	-10.45	351	2394.36	0.00	0.00	2.61	0.000	0.000	0.029	3113.75	3311.75	2915.75	1988.62	2356.00	0	0	0	30.00	30.00	16.10
2703.89	0	-82.73	-1.37	0.00	3113.2	3310.6	2915.8	1988.4	2355.8	278.94	-9.75	383	2705.21	0.00	0.00	0.00	0.000	0.000	0.000	3113.38	3311.75	2915.00	1988.62	2355.06	0	0	0	30.00	30.00	30.00
3014.34	260	-82.73	-1.37	60.00	3113.0	3310.1	2916.0	1988.5	2356.1	309.01	-9.50	414	3019.04	0.00	0.00	2.61	0.000	0.000	0.086	3113.16	3310.19	2916.12	1989.31	3428.75	0	0	0	30.00	30.00	16.10
3093.97	1028	-82.73	-1.37	0.00	3113.0	3308.8	2917.2	1988.8	3428.1	317.53	-10.95	430	3099.04	0.00	0.00	2.56	0.000	0.000	0.022	3112.78	3308.44	2917.12	1988.56	2248.75	0	0	0	30.00	30.00	16.11
3404.04	516	-82.73	-1.37	-60.00	3112.5	3307.9	2917.1	1989.4	2246.3	346.45	-9.03	462	3408.68	0.00	0.00	2.46	0.000	0.000	0.067	3114.22	3309.25	2919.19	1987.50	1208.12	0	0	0	30.00	30.00	16.12
3478.59	1028	-82.73	-1.37	0.00	3112.5	3307.4	2917.5	1989.6	1208.4	353.23	-9.26	477	3484.58	0.00	0.00	2.60	0.000	0.000	0.030	3112.59	3307.56	2917.62	1989.44	2354.38	0	0	0	30.00	30.00	16.13
3794.13	0	-82.73	-1.37	0.00	3112.2	3307.4	2917.1	1989.1	2354.8	381.87	-9.36	509	3795.46	0.00	0.00	0.00	0.000	0.000	0.000	3111.84	3307.25	2916.44	1989.12	2355.00	0	0	0	30.00	30.00	30.00
4104.57	0	-82.73	-1.37	0.00	3111.2	3305.9	2916.5	1989.4	2354.7	411.16	-9.52	540	4105.90	0.00	0.00	0.00	0.000	0.000	0.000	3110.81	3305.12	2916.50	1989.44	2354.88	0	0	0	30.00	30.00	30.00
4414.64	260	-82.73	-1.37	60.00	3110.8	3304.4	2917.2	1989.7	2353.9	441.90	-10.01	571	4419.33	0.00	0.00	2.62	0.000	0.000	0.089	3112.06	3306.06	2918.06	1988.81	3428.38	0	0	0	30.00	30.00	16.12
4464.26	1028	-82.73	-1.37	0.00	3110.5	3304.2	2916.8	1989.7	3428.4	447.45	-11.35	581	4469.33	0.00	0.00	2.56	0.000	0.000	0.022	3110.38	3303.81	2916.94	1989.50	2244.75	0	0	0	30.00	30.00	16.14
4774.51	0	-82.73	-1.37	0.00	3110.2	3303.4	2916.9	1990.3	2243.6	476.88	-9.29	613	4775.84	0.00	0.00	0.00	0.000	0.000	0.000	3109.06	3302.12	2916.00	1989.94	2243.69	0	0	0	30.00	30.00	30.00
5084.92	260	-82.73	-1.37	60.00	3109.8	3302.8	2916.8	1989.6	2243.6	505.78	-9.10	644	5089.49	0.00	0.00	2.91	0.000	0.000	0.085	3111.16	3304.06	2918.25	1989.31	3427.31	0	0	0	30.00	30.00	16.14
5139.12	1028	-82.73	-1.37	0.00	3109.7	3302.6	2916.8	1989.2	3427.2	511.46	-10.31	655	5144.89	0.00	0.00	2.55	0.000	0.000	0.023	3111.03	3303.56	2918.50	1989.69	2247.75	0	0	0	30.00	30.00	16.15
5454.41	260	-82.73	-1.37	60.00	3109.4	3301.6	2917.2	1989.6	2247.5	538.84	-8.84	687	5459.53	0.00	0.00	2.90	0.000	0.000	0.086	3109.38	3301.38	2917.38	1989.69	3426.31	0	0	0	30.00	30.00	16.14
5534.43	1028	-82.73	-1.37	0.00	3109.4	3301.6	2917.1	1989.8	3426.2	546.53	-9.32	703	5539.49	0.00	0.00	2.53	0.000	0.000	0.023	3111.00	3302.94	2919.06	1988.12	2247.38	0	0	0	30.00	30.00	16.15
5844.47	0	-82.73	-1.37	0.00	3108.6	3299.8	2917.4	1989.8	2247.2	570.56	-7.59	735	5845.80	0.00	0.00	0.00	0.000	0.000	0.000	3108.03	3300.25	2915.81	1990.44	2247.00	0	0	0	30.00	30.00	30.00
6044	end dive: TARGET_DEPTH_EXCEEDED
state	6044	begin apogee
6046.28	10243	0.00	-0.28	0.00	3108.3	3299.4	2917.3	1989.9	2183.9	586.42	-8.28	755	6108.76	58.48	1.77	0.15	1.880	0.150	0.158	2773.50	2899.31	2647.69	2253.69	2288.38	0	0	0	12.63	16.08	15.79
6110	end apogee: CONTROL_FINISHED_OK
state	6110	begin climb
6110.95	10243	82.73	1.37	0.00	2773.5	2899.8	2647.2	2254.1	2288.6	588.16	0.00	761	6177.19	61.38	2.60	0.00	1.814	0.099	0.000	2437.00	2513.44	2360.56	2656.25	2288.69	0	0	0	12.86	15.81	30.00
6484.53	580	82.73	1.40	-60.00	2432.2	2513.8	2350.6	2655.9	2288.7	565.90	6.90	801	6489.64	0.00	0.00	2.83	0.000	0.000	0.074	2433.19	2514.62	2351.75	2655.38	1130.06	0	0	0	30.00	30.00	15.86
6584.55	1092	82.73	1.42	0.00	2431.5	2513.4	2349.5	2656.4	1130.1	558.48	7.36	821	6589.62	0.00	0.00	2.64	0.000	0.000	0.029	2432.88	2513.88	2351.88	2654.00	2274.06	0	0	0	30.00	30.00	15.90
6894.98	64	82.73	1.44	0.00	2430.5	2513.5	2347.5	2655.9	2273.4	536.84	7.32	853	6896.31	0.00	0.00	0.00	0.000	0.000	0.000	2428.78	2512.44	2345.12	2655.75	2274.19	0	0	0	30.00	30.00	30.00
7205.05	64	82.73	1.48	0.00	2429.7	2513.1	2346.2	2656.0	2273.7	515.57	6.62	884	7206.38	0.00	0.00	0.00	0.000	0.000	0.000	2428.41	2511.50	2345.31	2655.88	2273.75	0	0	0	30.00	30.00	30.00
7515.11	2629	82.73	1.51	-60.00	2429.7	2513.4	2346.0	2656.3	2274.1	494.33	6.85	915	7519.86	0.00	0.17	2.77	0.000	0.092	0.073	2430.00	2512.88	2347.12	2700.88	1129.94	0	0	0	30.00	16.02	16.03
7564.73	1028	82.73	1.51	0.00	2429.9	2513.4	2346.4	2701.4	1130.1	490.27	8.04	925	7569.81	0.00	0.00	2.61	0.000	0.000	0.030	2429.72	2512.69	2346.75	2701.19	2273.50	0	0	0	30.00	30.00	16.06
7875.19	64	82.73	1.54	0.00	2429.6	2513.4	2345.8	2701.9	2274.1	468.50	6.84	957	7876.52	0.00	0.00	0.00	0.000	0.000	0.000	2429.19	2513.75	2344.62	2701.31	2273.94	0	0	0	30.00	30.00	30.00
8185.26	8486	120.77	1.62	60.00	2429.1	2513.8	2344.3	2701.2	2274.0	449.13	5.86	988	8220.14	28.55	0.00	2.67	1.660	0.000	0.093	2282.53	2354.31	2210.75	2701.38	3346.81	0	0	0	12.70	30.00	15.90
8259.42	1028	120.77	1.62	0.00	2279.8	2352.5	2207.1	2701.9	3346.8	443.76	8.03	1002	8265.59	0.00	0.00	2.58	0.000	0.000	0.024	2279.97	2353.12	2206.81	2701.88	2186.56	0	0	0	30.00	30.00	15.98
8575.52	580	120.77	1.63	-60.00	2277.5	2352.2	2202.7	2701.5	2186.7	419.55	7.84	1034	8580.01	0.00	0.00	2.54	0.000	0.000	0.078	2277.62	2352.62	2202.62	2701.38	1130.50	0	0	0	30.00	30.00	16.00
8609.49	1028	120.77	1.63	0.00	2277.1	2352.1	2202.2	2701.6	1130.7	416.71	8.20	1041	8615.50	0.00	0.00	2.62	0.000	0.000	0.030	2277.69	2353.12	2202.25	2702.06	2272.81	0	0	0	30.00	30.00	16.03
8925.02	516	120.77	1.63	-60.00	2276.9	2352.6	2201.2	2701.9	2273.7	389.36	8.70	1073	8930.11	0.00	0.00	2.77	0.000	0.000	0.073	2278.19	2353.62	2202.75	2701.75	1130.06	0	0	0	30.00	30.00	16.05
8979.78	1028	120.77	1.63	0.00	2277.0	2352.8	2201.2	2701.6	1129.8	384.41	8.93	1084	8985.58	0.00	0.00	2.61	0.000	0.000	0.030	2277.47	2353.75	2201.19	2701.62	2276.06	0	0	0	30.00	30.00	16.05
9295.51	64	120.77	1.64	0.00	2276.7	2353.3	2200.1	2701.6	2276.1	358.78	7.91	1116	9296.84	0.00	0.00	0.00	0.000	0.000	0.000	2275.62	2352.88	2198.38	2701.50	2275.94	0	0	0	30.00	30.00	30.00
9605.56	516	120.77	1.64	-60.00	2276.0	2352.8	2199.2	2701.6	2275.8	334.14	8.26	1147	9610.27	0.00	0.00	2.76	0.000	0.000	0.073	2277.38	2354.00	2200.75	2701.19	1130.38	0	0	0	30.00	30.00	16.10
9655.19	1028	120.77	1.64	0.00	2276.3	2353.4	2199.2	2701.8	1130.6	329.67	8.99	1157	9660.27	0.00	0.00	2.61	0.000	0.000	0.030	2276.91	2353.94	2199.88	2701.25	2274.94	0	0	0	30.00	30.00	16.10
9965.65	580	120.77	1.66	-60.00	2275.8	2352.9	2198.6	2702.0	2274.4	304.56	7.62	1189	9971.15	0.00	0.00	2.74	0.000	0.000	0.072	2276.09	2353.75	2198.44	2701.44	1130.75	0	0	0	30.00	30.00	16.09
10109.84	1028	120.77	1.66	0.00	2275.9	2353.5	2198.3	2701.5	1131.4	292.52	7.99	1218	10116.03	0.00	0.00	2.61	0.000	0.000	0.030	2276.12	2354.06	2198.19	2701.88	2274.38	0	0	0	30.00	30.00	16.11
10425.86	2113	120.77	1.68	0.00	2275.8	2353.7	2197.9	2701.3	2275.1	268.78	7.42	1250	10427.29	0.00	0.16	0.00	0.000	0.092	0.000	2274.44	2352.56	2196.31	2741.38	2274.81	0	0	0	30.00	16.09	30.00
10735.38	0	120.77	1.68	0.00	2275.6	2353.9	2197.4	2742.0	2274.9	243.00	8.74	1281	10736.70	0.00	0.00	0.00	0.000	0.000	0.000	2275.44	2353.31	2197.56	2741.81	2274.50	0	0	0	30.00	30.00	30.00
11045.81	260	120.77	1.68	60.00	2275.8	2354.0	2197.6	2741.4	2274.8	215.66	9.18	1312	11050.50	0.00	0.00	2.62	0.000	0.000	0.090	2277.00	2354.88	2199.12	2741.12	3346.88	0	0	0	30.00	30.00	16.07
11105.44	1028	120.77	1.68	0.00	2275.8	2353.8	2197.7	2741.4	3347.1	209.46	10.67	1324	11110.51	0.00	0.00	2.55	0.000	0.000	0.024	2275.91	2354.44	2197.38	2741.81	2185.31	0	0	0	30.00	30.00	16.08
11415.88	580	120.77	1.70	-60.00	2275.8	2354.1	2197.6	2741.1	2185.2	183.76	7.58	1356	11420.53	0.00	0.00	2.52	0.000	0.000	0.077	2275.28	2354.06	2196.50	2741.25	1129.12	0	0	0	30.00	30.00	16.10
11535.52	1092	120.77	1.72	0.00	2275.5	2353.8	2197.2	2741.6	1128.4	174.81	7.26	1380	11540.58	0.00	0.00	2.61	0.000	0.000	0.030	2276.50	2354.81	2198.19	2741.00	2275.88	0	0	0	30.00	30.00	16.12
11845.94	580	120.77	1.75	-60.00	2275.5	2354.2	2196.8	2741.9	2275.5	152.94	6.92	1412	11850.63	0.00	0.00	2.74	0.000	0.000	0.072	2275.59	2354.62	2196.56	2741.75	1130.44	0	0	0	30.00	30.00	16.12
12080.16	9254	151.05	1.82	0.00	2275.5	2354.1	2196.9	2741.8	1130.5	136.50	6.40	1459	12107.95	22.98	0.00	2.59	1.295	0.000	0.030	2157.22	2217.88	2096.56	2741.31	2275.25	0	0	0	12.49	30.00	16.12
12411.58	324	151.05	1.83	60.00	2154.4	2219.7	2089.1	2742.5	2275.2	112.76	7.77	1495	12416.08	0.00	0.00	2.64	0.000	0.000	0.089	2155.03	2220.75	2089.31	2742.00	3345.75	0	0	0	30.00	30.00	16.05
12495.57	3141	151.05	1.86	0.00	2154.6	2220.5	2088.7	2742.6	3346.1	106.57	6.98	1512	12501.60	0.00	0.17	2.56	0.000	0.092	0.024	2154.72	2220.88	2088.56	2783.69	2183.81	0	0	0	30.00	16.02	16.06
12806.15	580	151.05	1.88	-60.00	2154.3	2220.1	2088.6	2783.0	2184.0	83.43	7.35	1565	12811.65	0.00	0.00	2.52	0.000	0.000	0.077	2155.41	2221.25	2089.56	2782.62	1130.06	0	0	0	30.00	30.00	16.03
13001.21	9254	199.41	1.98	0.00	2153.7	2219.6	2087.8	2783.3	1130.1	71.68	5.16	1604	13042.80	36.05	0.00	2.60	1.237	0.000	0.028	1962.31	2003.19	1921.44	2782.50	2275.12	0	0	0	12.52	30.00	16.07
13226.29	10791	247.38	2.07	-60.00	1956.0	2002.5	1909.4	2783.1	2276.1	60.33	5.19	1649	13267.97	36.13	0.24	2.79	1.204	0.078	0.073	1767.19	1791.62	1742.75	2836.44	1129.94	0	0	0	12.71	15.94	15.82
13496.75	17478	247.38	2.11	0.00	1757.3	1787.8	1726.8	2837.1	1130.1	37.86	6.81	1703	13502.51	0.00	0.00	2.63	0.000	0.000	0.029	1757.81	1788.44	1727.19	2837.19	2275.75	0	0	0	30.00	30.00	15.92
13686.40	8226	302.10	2.22	0.00	1756.2	1787.9	1724.6	2837.2	2275.7	28.46	4.73	1741	13728.19	40.60	0.00	0.00	1.163	0.000	0.000	1543.62	1562.75	1524.50	2836.19	2275.06	0	0	0	12.59	30.00	30.00
13911.45	10791	336.65	2.29	-60.00	1535.7	1562.6	1508.8	2837.4	2275.4	14.32	6.10	1786	13942.98	26.78	0.22	2.81	1.109	0.074	0.073	1402.69	1417.69	1387.69	2889.88	1130.62	0	0	0	12.73	15.88	15.76
14121	end climb: SURFACE_DEPTH_REACHED
state	14121	begin surface coast
14166	end surface coast: CONTROL_FINISHED_OK
state	14166	begin surface