Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 691 * 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 691 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 4 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 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 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 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 2330 FG_AHR_10V 67.01532 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 181.41333 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 0.0025118899 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.018861501 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 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 425

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 67.01532 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 181.41333 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 0.0025118899 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.018861501 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 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 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 2330 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 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 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 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 691 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 181021,085725,4747.562,-12515.158,44,1.4,45,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 181021,090526,4747.469,-12515.090,3,1.4,4,15.9 MHEAD_RNG_PITCHd_Wd 338.9,10205,-21.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 597

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 0.2,1.024042 FG_AHR_10Vo 67.058

SM_CCo 14551.40,43.92,1.140,0,1043.3,1008.1,1078.6,424.78 MEM0 60876,1,0,0

SM_GC 0.34,43.92,16.55,0.12,1.140,0.054,0.123,1043.3,1008.1,1078.6,184.1,2358.1,0,0,0,11.50,15.76,15.79 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971372,30,75456,57

IRIDIUM_FIX 4747.96,-12514.75,181021,041717 DATA_FILE_SIZE 93005,2096

TCM_TEMP 267.58 CAP_FILE_SIZE 345983,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3857856

HUMID 49.61 SDFILEDIR 2831,1

TEMP 82.24 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.87716 CURRENT 0.127,150.6,1

_24V_AH 14.78,234.408 IMPLIED_C_PITCH 2343,13.02,1711

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2780,30.653738,1557

FG_AHR_24Vo 181.609 GPS 181021,130937,4747.656,-12514.362,78,0.9,79,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 464 1905 13090.39 legato 8973 20 2652.51

Pitch_motor 36 247 132.76 nil 0 0 0.00

Roll_motor 170 168 424.61 nil 0 0 0.00

Iridium 239 235 831.38 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 12 15 2.90 nil 0 0 0.00

Core 9256 11 1638.36 SciCon 0 0 0.00

LPSleep 5612 2 235.72 nil 0 0 0.00

Compass 1344 5 100.86 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

5.39 16386 -82.73 -1.35 0.00 1034.3 1008.9 1059.8 180.6 2239.1 0.00 0.00 0 72.03 65.50 0.00 0.00 0.005 0.000 0.000 2662.66 2832.19 2493.12 180.56 2238.94 0 0 0 15.14 30.00 30.00

72.78 18983 -82.73 -1.35 -60.00 2662.0 2831.0 2493.0 180.8 2238.8 3.52 -5.82 12 105.55 9.91 14.56 2.47 0.007 0.248 0.067 3112.72 3325.25 2900.19 2003.00 1208.31 0 0 0 15.26 15.48 15.14

122.62 1028 -82.73 -1.35 0.00 3112.6 3324.6 2900.6 2003.5 1208.3 14.53 -17.69 22 128.17 0.00 0.00 2.65 0.000 0.000 0.028 3112.66 3324.19 2901.12 2004.25 2350.75 0 0 0 30.00 30.00 15.76

313.02 516 -82.73 -1.35 -60.00 3112.6 3324.1 2901.2 2003.9 2350.6 44.05 -14.74 60 318.21 0.00 0.00 2.76 0.000 0.000 0.058 3113.00 3324.12 2901.88 2004.25 1207.38 0 0 0 30.00 30.00 15.81

337.64 1028 -82.73 -1.35 0.00 3112.6 3323.6 2901.6 2003.8 1207.1 47.64 -14.38 65 343.40 0.00 0.00 2.63 0.000 0.000 0.028 3113.06 3324.25 2901.88 2004.12 2352.31 0 0 0 30.00 30.00 15.82

528.20 516 -82.73 -1.35 -60.00 3112.9 3323.6 2902.3 2003.8 2352.0 70.87 -11.18 103 533.25 0.00 0.00 2.74 0.000 0.000 0.058 3114.66 3325.38 2903.94 2002.94 1207.31 0 0 0 30.00 30.00 15.85

632.71 1028 -82.73 -1.35 0.00 3113.3 3323.8 2902.9 2003.7 1207.2 81.89 -10.30 124 638.26 0.00 0.00 2.62 0.000 0.000 0.027 3113.94 3323.19 2904.69 2003.88 2353.62 0 0 0 30.00 30.00 15.87

823.13 516 -82.73 -1.35 -60.00 3113.7 3324.0 2903.3 2004.0 2353.9 99.92 -8.87 162 828.31 0.00 0.00 2.73 0.000 0.000 0.057 3113.66 3324.06 2903.25 2004.12 1207.31 0 0 0 30.00 30.00 15.88

877.75 1028 -82.73 -1.35 0.00 3113.5 3323.5 2903.5 2003.5 1207.2 104.57 -8.44 173 883.30 0.00 0.00 2.62 0.000 0.000 0.027 3114.06 3323.81 2904.31 2004.06 2356.56 0 0 0 30.00 30.00 15.90

1187.84 260 -82.73 -1.35 60.00 3114.3 3323.8 2904.8 2003.8 2356.6 128.29 -7.43 235 1193.38 0.00 0.00 2.66 0.000 0.000 0.086 3114.25 3323.12 2905.38 2002.81 3426.38 0 0 0 30.00 30.00 15.89

1422.90 1028 -82.73 -1.35 0.00 3114.0 3322.4 2905.6 2003.9 3426.2 147.63 -7.87 282 1428.43 0.00 0.00 2.55 0.000 0.000 0.020 3114.75 3323.00 2906.50 2003.94 2243.38 0 0 0 30.00 30.00 15.93

1733.01 260 -82.73 -1.35 60.00 3114.1 3322.1 2906.1 2003.9 2241.6 170.07 -7.34 344 1738.77 0.00 0.00 2.94 0.000 0.000 0.081 3114.09 3322.12 2906.06 2003.81 3426.00 0 0 0 30.00 30.00 15.91

1968.07 1028 -82.73 -1.35 0.00 3113.9 3321.9 2905.9 2003.9 3426.9 190.59 -9.39 391 1973.61 0.00 0.00 2.55 0.000 0.000 0.020 3114.03 3322.31 2905.75 2004.31 2245.88 0 0 0 30.00 30.00 15.96

2278.18 260 -82.73 -1.35 60.00 3114.2 3322.2 2906.1 2004.2 2244.2 216.92 -8.62 453 2283.77 0.00 0.00 2.93 0.000 0.000 0.081 3114.56 3322.50 2906.62 2004.12 3424.94 0 0 0 30.00 30.00 15.92

2333.19 1028 -82.73 -1.35 0.00 3113.7 3321.4 2906.0 2004.3 3424.9 222.39 -10.26 464 2338.72 0.00 0.00 2.54 0.000 0.000 0.020 3114.81 3323.06 2906.56 2003.25 2245.38 0 0 0 30.00 30.00 15.96

2643.29 0 -82.73 -1.35 0.00 3114.2 3322.1 2906.2 2004.1 2244.0 251.47 -9.52 526 2644.62 0.00 0.00 0.00 0.000 0.000 0.000 3113.09 3321.25 2904.94 2003.50 2243.88 0 0 0 30.00 30.00 30.00

2948.37 260 -82.73 -1.35 60.00 3112.9 3320.4 2905.5 2003.9 2244.1 280.28 -8.66 587 2953.97 0.00 0.00 2.95 0.000 0.000 0.082 3113.84 3321.19 2906.50 2003.75 3426.06 0 0 0 30.00 30.00 15.93

2993.38 1028 -82.73 -1.35 0.00 3113.3 3320.3 2906.2 2003.8 3426.0 284.55 -9.61 596 2998.92 0.00 0.00 2.53 0.000 0.000 0.021 3114.75 3322.25 2907.25 2003.75 2245.19 0 0 0 30.00 30.00 15.97

3305.11 260 -82.73 -1.35 60.00 3113.5 3320.9 2906.2 2004.1 2244.1 313.83 -9.77 643 3309.79 0.00 0.00 2.93 0.000 0.000 0.083 3113.56 3321.75 2905.38 2004.06 3426.31 0 0 0 30.00 30.00 15.94

3343.65 1028 -82.73 -1.35 0.00 3113.3 3320.5 2906.1 2004.2 3425.9 317.75 -10.26 649 3358.75 0.00 0.00 2.53 0.000 0.000 0.021 3113.38 3320.69 2906.06 2004.06 2245.19 0 0 0 30.00 30.00 15.99

3660.61 260 -82.73 -1.35 60.00 3113.2 3319.9 2906.5 2003.8 2245.4 347.76 -9.08 678 3665.28 0.00 0.00 2.93 0.000 0.000 0.083 3113.88 3320.19 2907.56 2004.38 3426.69 0 0 0 30.00 30.00 15.94

3762.11 1028 -82.73 -1.35 0.00 3113.2 3319.9 2906.5 2003.4 3425.9 357.04 -9.34 692 3777.03 0.00 0.00 2.53 0.000 0.000 0.021 3113.38 3320.06 2906.69 2003.62 2245.56 0 0 0 30.00 30.00 15.99

4078.27 516 -82.73 -1.35 -60.00 3112.8 3318.8 2906.8 2003.8 2245.4 383.11 -8.22 721 4082.87 0.00 0.00 2.43 0.000 0.000 0.067 3112.97 3319.00 2906.94 2003.75 1207.19 0 0 0 30.00 30.00 15.97

4164.02 1028 -82.73 -1.35 0.00 3112.8 3319.0 2906.6 2004.1 1206.9 390.66 -8.94 733 4178.97 0.00 0.00 2.61 0.000 0.000 0.029 3113.53 3319.94 2907.12 2003.88 2353.62 0 0 0 30.00 30.00 16.00

4480.21 516 -82.73 -1.35 -60.00 3112.6 3318.6 2906.7 2003.9 2353.4 418.90 -9.49 762 4484.84 0.00 0.00 2.70 0.000 0.000 0.061 3111.66 3318.94 2904.38 2004.00 1208.25 0 0 0 30.00 30.00 15.97

4581.69 1028 -82.73 -1.35 0.00 3112.4 3318.7 2906.1 2003.7 1208.2 428.20 -9.24 776 4596.61 0.00 0.00 2.60 0.000 0.000 0.029 3112.62 3319.12 2906.12 2003.75 2354.44 0 0 0 30.00 30.00 16.00

4898.61 0 -82.73 -1.35 0.00 3111.8 3317.6 2906.1 2004.1 2354.6 455.32 -8.20 805 4909.67 0.00 0.00 0.00 0.000 0.000 0.000 3112.09 3317.88 2906.31 2004.06 2355.00 0 0 0 30.00 30.00 30.00

5211.40 260 -82.73 -1.35 60.00 3111.6 3316.6 2906.6 2003.9 2354.6 479.72 -7.63 834 5216.03 0.00 0.00 2.68 0.000 0.000 0.090 3112.75 3317.25 2908.25 2002.81 3427.44 0 0 0 30.00 30.00 15.92

5295.80 1028 -82.73 -1.35 0.00 3111.4 3316.9 2905.8 2003.8 3427.5 486.60 -8.11 845 5300.60 0.00 0.00 2.54 0.000 0.000 0.021 3110.69 3315.69 2905.69 2003.75 2245.12 0 0 0 30.00 30.00 15.99

5604.85 516 -82.73 -1.35 -60.00 3111.2 3316.4 2905.9 2004.4 2243.9 508.31 -7.70 871 5609.44 0.00 0.00 2.45 0.000 0.000 0.067 3111.47 3317.06 2905.88 2003.12 1207.50 0 0 0 30.00 30.00 15.96

5664.13 1028 -82.73 -1.35 0.00 3110.9 3315.6 2906.2 2004.0 1207.6 512.77 -7.70 880 5669.69 0.00 0.00 2.62 0.000 0.000 0.029 3110.53 3315.69 2905.38 2003.38 2355.00 0 0 0 30.00 30.00 16.01

5983.53 260 -82.73 -1.35 60.00 3110.6 3314.9 2906.4 2003.9 2354.9 534.90 -7.08 902 5988.16 0.00 0.00 2.68 0.000 0.000 0.090 3109.34 3314.50 2904.19 2004.25 3426.56 0 0 0 30.00 30.00 15.92

6062.21 1028 -82.73 -1.35 0.00 3110.4 3314.9 2905.9 2004.1 3425.9 541.29 -8.02 913 6066.82 0.00 0.00 2.54 0.000 0.000 0.021 3111.38 3316.19 2906.56 2003.69 2247.88 0 0 0 30.00 30.00 16.00

6378.68 260 -82.73 -1.35 60.00 3110.6 3315.2 2906.0 2003.6 2246.9 563.83 -7.16 935 6383.35 0.00 0.00 2.95 0.000 0.000 0.085 3109.69 3313.94 2905.44 2004.06 3426.25 0 0 0 30.00 30.00 15.91

6437.95 1028 -82.73 -1.35 0.00 3110.2 3314.2 2906.1 2003.7 3426.2 568.57 -7.96 944 6443.49 0.00 0.00 2.56 0.000 0.000 0.022 3110.91 3314.81 2907.00 2003.94 2246.88 0 0 0 30.00 30.00 16.00

6757.38 516 -82.73 -1.35 -60.00 3110.1 3313.9 2906.2 2003.7 2247.6 593.30 -7.66 966 6761.98 0.00 0.00 2.48 0.000 0.000 0.068 3109.72 3312.19 2907.25 2003.25 1208.25 0 0 0 30.00 30.00 15.95

6814 end dive: TARGET_DEPTH_EXCEEDED

state 6815 begin apogee

6819.01 10243 0.00 -0.28 0.00 3110.0 3313.8 2906.2 2003.4 2276.5 597.76 -7.74 974 6893.44 61.81 1.80 0.12 1.906 0.145 0.168 2774.91 2909.19 2640.62 2263.81 2163.38 0 0 0 10.67 15.81 15.58

6894 end apogee: CONTROL_FINISHED_OK

state 6895 begin climb

6895.84 10243 82.73 1.35 0.00 2773.4 2908.4 2638.4 2263.7 2162.6 599.87 0.00 979 6975.43 63.60 2.59 0.00 1.836 0.092 0.000 2437.81 2518.94 2356.69 2661.69 2162.94 0 0 0 12.19 15.67 30.00

7288.08 8742 130.03 1.44 -60.00 2432.2 2518.4 2345.9 2662.6 2162.6 579.55 5.93 1007 7331.92 38.17 0.00 2.56 1.774 0.000 0.078 2243.72 2304.50 2182.94 2662.25 1130.25 0 0 0 11.59 30.00 15.47

7417.44 1092 130.03 1.47 0.00 2240.5 2303.9 2177.1 2662.0 1130.1 570.67 7.19 1026 7422.59 0.00 0.00 2.66 0.000 0.000 0.028 2240.91 2304.19 2177.62 2662.19 2273.56 0 0 0 30.00 30.00 15.67

7736.46 2629 130.03 1.48 -60.00 2238.0 2303.8 2172.2 2662.0 2273.5 546.75 7.85 1048 7741.17 0.00 0.14 2.80 0.000 0.096 0.070 2238.59 2304.56 2172.62 2702.12 1131.06 0 0 0 30.00 15.75 15.72

7780.01 1028 130.03 1.48 0.00 2237.8 2303.5 2172.1 2701.8 1130.8 543.43 8.48 1055 7794.95 0.00 0.00 2.63 0.000 0.000 0.028 2238.97 2306.00 2171.94 2701.06 2272.94 0 0 0 30.00 30.00 15.81

8109.41 260 130.03 1.48 60.00 2237.2 2303.6 2170.9 2702.1 2272.6 515.18 8.36 1077 8114.05 0.00 0.00 2.71 0.000 0.000 0.090 2236.69 2303.94 2169.44 2701.94 3346.19 0 0 0 30.00 30.00 15.84

8215.15 1028 130.03 1.48 0.00 2237.2 2303.9 2170.6 2702.4 3345.8 506.31 8.94 1093 8230.25 0.00 0.00 2.59 0.000 0.000 0.023 2237.62 2304.19 2171.06 2701.88 2185.25 0 0 0 30.00 30.00 15.89

8541.05 16966 130.03 1.52 -60.00 2236.8 2303.9 2169.6 2702.1 2183.6 482.59 6.57 1121 8545.66 0.00 0.00 2.56 0.000 0.000 0.075 2236.53 2303.00 2170.06 2701.19 1129.88 0 0 0 30.00 30.00 15.90

8769.10 9254 181.77 1.62 0.00 2236.2 2303.8 2168.6 2701.7 1129.7 468.84 5.69 1151 8816.26 40.97 0.00 2.63 1.728 0.000 0.029 2033.25 2071.50 1995.00 2701.94 2273.81 0 0 0 11.31 30.00 15.94

9117.91 0 181.77 1.62 0.00 2027.6 2072.0 1983.1 2702.2 2274.0 441.72 8.41 1184 9128.98 0.00 0.00 0.00 0.000 0.000 0.000 2027.69 2072.12 1983.25 2701.88 2273.69 0 0 0 30.00 30.00 30.00

9431.00 580 181.77 1.63 -60.00 2026.1 2071.8 1980.4 2702.1 2273.9 416.50 7.82 1213 9435.64 0.00 0.00 2.79 0.000 0.000 0.071 2025.97 2072.25 1979.69 2701.44 1130.81 0 0 0 30.00 30.00 15.87

9609.80 17414 181.77 1.63 0.00 2025.2 2071.8 1978.8 2701.5 1131.1 401.11 8.77 1236 9614.44 0.00 0.00 2.64 0.000 0.000 0.029 2025.91 2072.44 1979.38 2701.31 2270.88 0 0 0 30.00 30.00 15.90

9921.78 18499 181.77 1.65 0.00 2024.4 2071.6 1977.2 2701.7 2271.2 376.53 7.47 1265 9932.96 0.00 0.17 0.00 0.000 0.086 0.000 2024.88 2072.31 1977.44 2743.75 2271.44 0 0 0 30.00 15.88 30.00

10234.92 16902 181.77 1.65 -60.00 2024.3 2072.0 1976.6 2743.4 2271.3 348.27 8.41 1294 10239.56 0.00 0.00 2.77 0.000 0.000 0.071 2024.91 2072.06 1977.75 2742.19 1129.62 0 0 0 30.00 30.00 15.92

10367.87 17414 181.77 1.65 0.00 2024.1 2071.9 1976.2 2743.8 1129.9 334.15 11.02 1312 10382.99 0.00 0.00 2.63 0.000 0.000 0.029 2024.28 2072.38 1976.19 2743.75 2274.06 0 0 0 30.00 30.00 15.96

10684.51 16902 181.77 1.65 -60.00 2023.8 2071.8 1975.8 2743.8 2274.4 304.66 8.90 1341 10689.16 0.00 0.00 2.77 0.000 0.000 0.069 2023.91 2072.19 1975.62 2742.94 1128.44 0 0 0 30.00 30.00 15.93

10769.56 17414 181.77 1.65 0.00 2023.5 2071.7 1975.2 2744.0 1128.6 296.59 9.57 1354 10775.11 0.00 0.00 2.62 0.000 0.000 0.029 2024.12 2072.12 1976.12 2743.75 2273.56 0 0 0 30.00 30.00 15.95

11079.61 16902 181.77 1.65 -60.00 2023.3 2071.3 1975.2 2744.0 2274.4 271.07 8.09 1416 11085.17 0.00 0.00 2.76 0.000 0.000 0.069 2024.25 2072.69 1975.81 2743.75 1129.12 0 0 0 30.00 30.00 15.93

11119.61 17414 181.77 1.65 0.00 2023.4 2072.1 1974.6 2743.8 1129.0 267.68 8.42 1424 11125.15 0.00 0.00 2.62 0.000 0.000 0.028 2023.94 2072.56 1975.31 2744.50 2274.12 0 0 0 30.00 30.00 15.96

11429.65 16902 181.77 1.65 -60.00 2023.1 2071.8 1974.4 2743.9 2273.8 241.84 8.46 1486 11435.22 0.00 0.00 2.76 0.000 0.000 0.069 2023.88 2072.75 1975.00 2743.44 1128.88 0 0 0 30.00 30.00 15.93

11509.83 17414 181.77 1.65 0.00 2023.0 2071.8 1974.3 2743.9 1128.5 234.61 9.03 1502 11515.21 0.00 0.00 2.61 0.000 0.000 0.028 2023.34 2071.75 1974.94 2745.25 2275.19 0 0 0 30.00 30.00 15.97

11819.71 16902 181.77 1.65 -60.00 2022.7 2071.8 1973.6 2744.4 2275.4 208.21 8.79 1564 11825.26 0.00 0.00 2.76 0.000 0.000 0.069 2022.97 2071.44 1974.50 2744.75 1129.94 0 0 0 30.00 30.00 15.93

11844.70 17414 181.77 1.65 0.00 2023.0 2071.9 1974.1 2745.1 1129.8 205.87 9.19 1569 11850.43 0.00 0.00 2.61 0.000 0.000 0.028 2023.81 2072.69 1974.94 2744.25 2275.25 0 0 0 30.00 30.00 15.97

12154.75 16386 181.77 1.65 0.00 2023.0 2072.1 1973.9 2744.8 2275.4 176.48 9.73 1631 12156.08 0.00 0.00 0.00 0.000 0.000 0.000 2022.12 2070.88 1973.38 2743.81 2275.44 0 0 0 30.00 30.00 30.00

12459.81 16902 181.77 1.65 -60.00 2023.2 2072.1 1974.2 2744.1 2275.6 147.58 9.45 1692 12465.37 0.00 0.00 2.74 0.000 0.000 0.068 2022.78 2072.00 1973.56 2744.56 1129.88 0 0 0 30.00 30.00 15.93

12569.84 17414 181.77 1.65 0.00 2022.7 2071.8 1973.6 2744.5 1130.2 135.91 10.38 1714 12575.40 0.00 0.00 2.61 0.000 0.000 0.028 2023.03 2072.25 1973.81 2744.75 2275.38 0 0 0 30.00 30.00 15.99

12879.96 16966 181.77 1.68 -60.00 2022.8 2071.8 1973.7 2744.8 2275.2 109.59 7.13 1776 12885.50 0.00 0.00 2.75 0.000 0.000 0.068 2022.91 2072.19 1973.62 2744.31 1129.75 0 0 0 30.00 30.00 15.93

12979.99 17478 181.77 1.70 0.00 2022.4 2071.6 1973.2 2744.4 1129.6 102.18 7.42 1796 12985.50 0.00 0.00 2.60 0.000 0.000 0.027 2023.03 2072.38 1973.69 2744.69 2275.31 0 0 0 30.00 30.00 15.98

13290.09 10535 257.93 1.85 60.00 2022.8 2072.1 1973.6 2745.0 2275.6 87.48 4.38 1858 13352.76 57.05 0.20 2.70 1.273 0.080 0.089 1723.72 1741.50 1705.94 2794.56 3347.25 0 0 0 11.04 15.94 15.70

13580.17 1028 257.93 1.85 0.00 1717.6 1741.2 1693.9 2794.3 3347.1 61.31 9.50 1916 13585.69 0.00 0.00 2.59 0.000 0.000 0.022 1717.19 1741.56 1692.81 2794.94 2183.50 0 0 0 30.00 30.00 15.84

13770.23 8486 312.86 1.96 60.00 1714.4 1741.6 1687.3 2794.8 2184.1 47.78 5.52 1954 13816.96 41.96 0.00 2.94 1.184 0.000 0.085 1500.44 1516.00 1484.88 2795.06 3345.50 0 0 0 11.52 30.00 15.64

13895.24 1028 312.86 1.96 0.00 1496.6 1515.8 1477.4 2794.6 3345.5 38.44 8.50 1979 13900.79 0.00 0.00 2.59 0.000 0.000 0.022 1496.44 1515.81 1477.06 2794.44 2183.75 0 0 0 30.00 30.00 15.77

14085.31 10791 366.68 2.07 -60.00 1492.5 1516.6 1468.4 2794.6 2183.8 26.82 5.58 2017 14132.06 41.86 0.23 2.57 1.147 0.080 0.076 1280.69 1285.19 1276.19 2846.44 1128.88 0 0 0 11.55 15.77 15.60

14360.38 1092 366.68 2.09 0.00 1273.3 1285.1 1261.6 2845.9 1129.4 6.99 7.27 2072 14366.09 0.00 0.00 2.65 0.000 0.000 0.027 1273.72 1285.69 1261.75 2847.00 2276.50 0 0 0 30.00 30.00 15.78

14410 end climb: SURFACE_DEPTH_REACHED

state 14410 begin surface coast

14480 end surface coast: CONTROL_FINISHED_OK

state 14480 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	691	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	4	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	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	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	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	2330	FG_AHR_10V	67.01532	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	181.41333	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	0.0025118899	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.018861501	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	181021,085725,4747.562,-12515.158,44,1.4,45,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	181021,090526,4747.469,-12515.090,3,1.4,4,15.9	MHEAD_RNG_PITCHd_Wd	338.9,10205,-21.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	597
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	0.2,1.024042	FG_AHR_10Vo	67.058
SM_CCo	14551.40,43.92,1.140,0,1043.3,1008.1,1078.6,424.78	MEM0	60876,1,0,0
SM_GC	0.34,43.92,16.55,0.12,1.140,0.054,0.123,1043.3,1008.1,1078.6,184.1,2358.1,0,0,0,11.50,15.76,15.79	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971372,30,75456,57
IRIDIUM_FIX	4747.96,-12514.75,181021,041717	DATA_FILE_SIZE	93005,2096
TCM_TEMP	267.58	CAP_FILE_SIZE	345983,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3857856
HUMID	49.61	SDFILEDIR	2831,1
TEMP	82.24	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.87716	CURRENT	0.127,150.6,1
_24V_AH	14.78,234.408	IMPLIED_C_PITCH	2343,13.02,1711
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2780,30.653738,1557
FG_AHR_24Vo	181.609	GPS	181021,130937,4747.656,-12514.362,78,0.9,79,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	464	1905	13090.39	legato	8973	20	2652.51
Pitch_motor	36	247	132.76	nil	0	0	0.00
Roll_motor	170	168	424.61	nil	0	0	0.00
Iridium	239	235	831.38	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	12	15	2.90	nil	0	0	0.00
Core	9256	11	1638.36	SciCon	0	0	0.00
LPSleep	5612	2	235.72	nil	0	0	0.00
Compass	1344	5	100.86	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
5.39	16386	-82.73	-1.35	0.00	1034.3	1008.9	1059.8	180.6	2239.1	0.00	0.00	0	72.03	65.50	0.00	0.00	0.005	0.000	0.000	2662.66	2832.19	2493.12	180.56	2238.94	0	0	0	15.14	30.00	30.00
72.78	18983	-82.73	-1.35	-60.00	2662.0	2831.0	2493.0	180.8	2238.8	3.52	-5.82	12	105.55	9.91	14.56	2.47	0.007	0.248	0.067	3112.72	3325.25	2900.19	2003.00	1208.31	0	0	0	15.26	15.48	15.14
122.62	1028	-82.73	-1.35	0.00	3112.6	3324.6	2900.6	2003.5	1208.3	14.53	-17.69	22	128.17	0.00	0.00	2.65	0.000	0.000	0.028	3112.66	3324.19	2901.12	2004.25	2350.75	0	0	0	30.00	30.00	15.76
313.02	516	-82.73	-1.35	-60.00	3112.6	3324.1	2901.2	2003.9	2350.6	44.05	-14.74	60	318.21	0.00	0.00	2.76	0.000	0.000	0.058	3113.00	3324.12	2901.88	2004.25	1207.38	0	0	0	30.00	30.00	15.81
337.64	1028	-82.73	-1.35	0.00	3112.6	3323.6	2901.6	2003.8	1207.1	47.64	-14.38	65	343.40	0.00	0.00	2.63	0.000	0.000	0.028	3113.06	3324.25	2901.88	2004.12	2352.31	0	0	0	30.00	30.00	15.82
528.20	516	-82.73	-1.35	-60.00	3112.9	3323.6	2902.3	2003.8	2352.0	70.87	-11.18	103	533.25	0.00	0.00	2.74	0.000	0.000	0.058	3114.66	3325.38	2903.94	2002.94	1207.31	0	0	0	30.00	30.00	15.85
632.71	1028	-82.73	-1.35	0.00	3113.3	3323.8	2902.9	2003.7	1207.2	81.89	-10.30	124	638.26	0.00	0.00	2.62	0.000	0.000	0.027	3113.94	3323.19	2904.69	2003.88	2353.62	0	0	0	30.00	30.00	15.87
823.13	516	-82.73	-1.35	-60.00	3113.7	3324.0	2903.3	2004.0	2353.9	99.92	-8.87	162	828.31	0.00	0.00	2.73	0.000	0.000	0.057	3113.66	3324.06	2903.25	2004.12	1207.31	0	0	0	30.00	30.00	15.88
877.75	1028	-82.73	-1.35	0.00	3113.5	3323.5	2903.5	2003.5	1207.2	104.57	-8.44	173	883.30	0.00	0.00	2.62	0.000	0.000	0.027	3114.06	3323.81	2904.31	2004.06	2356.56	0	0	0	30.00	30.00	15.90
1187.84	260	-82.73	-1.35	60.00	3114.3	3323.8	2904.8	2003.8	2356.6	128.29	-7.43	235	1193.38	0.00	0.00	2.66	0.000	0.000	0.086	3114.25	3323.12	2905.38	2002.81	3426.38	0	0	0	30.00	30.00	15.89
1422.90	1028	-82.73	-1.35	0.00	3114.0	3322.4	2905.6	2003.9	3426.2	147.63	-7.87	282	1428.43	0.00	0.00	2.55	0.000	0.000	0.020	3114.75	3323.00	2906.50	2003.94	2243.38	0	0	0	30.00	30.00	15.93
1733.01	260	-82.73	-1.35	60.00	3114.1	3322.1	2906.1	2003.9	2241.6	170.07	-7.34	344	1738.77	0.00	0.00	2.94	0.000	0.000	0.081	3114.09	3322.12	2906.06	2003.81	3426.00	0	0	0	30.00	30.00	15.91
1968.07	1028	-82.73	-1.35	0.00	3113.9	3321.9	2905.9	2003.9	3426.9	190.59	-9.39	391	1973.61	0.00	0.00	2.55	0.000	0.000	0.020	3114.03	3322.31	2905.75	2004.31	2245.88	0	0	0	30.00	30.00	15.96
2278.18	260	-82.73	-1.35	60.00	3114.2	3322.2	2906.1	2004.2	2244.2	216.92	-8.62	453	2283.77	0.00	0.00	2.93	0.000	0.000	0.081	3114.56	3322.50	2906.62	2004.12	3424.94	0	0	0	30.00	30.00	15.92
2333.19	1028	-82.73	-1.35	0.00	3113.7	3321.4	2906.0	2004.3	3424.9	222.39	-10.26	464	2338.72	0.00	0.00	2.54	0.000	0.000	0.020	3114.81	3323.06	2906.56	2003.25	2245.38	0	0	0	30.00	30.00	15.96
2643.29	0	-82.73	-1.35	0.00	3114.2	3322.1	2906.2	2004.1	2244.0	251.47	-9.52	526	2644.62	0.00	0.00	0.00	0.000	0.000	0.000	3113.09	3321.25	2904.94	2003.50	2243.88	0	0	0	30.00	30.00	30.00
2948.37	260	-82.73	-1.35	60.00	3112.9	3320.4	2905.5	2003.9	2244.1	280.28	-8.66	587	2953.97	0.00	0.00	2.95	0.000	0.000	0.082	3113.84	3321.19	2906.50	2003.75	3426.06	0	0	0	30.00	30.00	15.93
2993.38	1028	-82.73	-1.35	0.00	3113.3	3320.3	2906.2	2003.8	3426.0	284.55	-9.61	596	2998.92	0.00	0.00	2.53	0.000	0.000	0.021	3114.75	3322.25	2907.25	2003.75	2245.19	0	0	0	30.00	30.00	15.97
3305.11	260	-82.73	-1.35	60.00	3113.5	3320.9	2906.2	2004.1	2244.1	313.83	-9.77	643	3309.79	0.00	0.00	2.93	0.000	0.000	0.083	3113.56	3321.75	2905.38	2004.06	3426.31	0	0	0	30.00	30.00	15.94
3343.65	1028	-82.73	-1.35	0.00	3113.3	3320.5	2906.1	2004.2	3425.9	317.75	-10.26	649	3358.75	0.00	0.00	2.53	0.000	0.000	0.021	3113.38	3320.69	2906.06	2004.06	2245.19	0	0	0	30.00	30.00	15.99
3660.61	260	-82.73	-1.35	60.00	3113.2	3319.9	2906.5	2003.8	2245.4	347.76	-9.08	678	3665.28	0.00	0.00	2.93	0.000	0.000	0.083	3113.88	3320.19	2907.56	2004.38	3426.69	0	0	0	30.00	30.00	15.94
3762.11	1028	-82.73	-1.35	0.00	3113.2	3319.9	2906.5	2003.4	3425.9	357.04	-9.34	692	3777.03	0.00	0.00	2.53	0.000	0.000	0.021	3113.38	3320.06	2906.69	2003.62	2245.56	0	0	0	30.00	30.00	15.99
4078.27	516	-82.73	-1.35	-60.00	3112.8	3318.8	2906.8	2003.8	2245.4	383.11	-8.22	721	4082.87	0.00	0.00	2.43	0.000	0.000	0.067	3112.97	3319.00	2906.94	2003.75	1207.19	0	0	0	30.00	30.00	15.97
4164.02	1028	-82.73	-1.35	0.00	3112.8	3319.0	2906.6	2004.1	1206.9	390.66	-8.94	733	4178.97	0.00	0.00	2.61	0.000	0.000	0.029	3113.53	3319.94	2907.12	2003.88	2353.62	0	0	0	30.00	30.00	16.00
4480.21	516	-82.73	-1.35	-60.00	3112.6	3318.6	2906.7	2003.9	2353.4	418.90	-9.49	762	4484.84	0.00	0.00	2.70	0.000	0.000	0.061	3111.66	3318.94	2904.38	2004.00	1208.25	0	0	0	30.00	30.00	15.97
4581.69	1028	-82.73	-1.35	0.00	3112.4	3318.7	2906.1	2003.7	1208.2	428.20	-9.24	776	4596.61	0.00	0.00	2.60	0.000	0.000	0.029	3112.62	3319.12	2906.12	2003.75	2354.44	0	0	0	30.00	30.00	16.00
4898.61	0	-82.73	-1.35	0.00	3111.8	3317.6	2906.1	2004.1	2354.6	455.32	-8.20	805	4909.67	0.00	0.00	0.00	0.000	0.000	0.000	3112.09	3317.88	2906.31	2004.06	2355.00	0	0	0	30.00	30.00	30.00
5211.40	260	-82.73	-1.35	60.00	3111.6	3316.6	2906.6	2003.9	2354.6	479.72	-7.63	834	5216.03	0.00	0.00	2.68	0.000	0.000	0.090	3112.75	3317.25	2908.25	2002.81	3427.44	0	0	0	30.00	30.00	15.92
5295.80	1028	-82.73	-1.35	0.00	3111.4	3316.9	2905.8	2003.8	3427.5	486.60	-8.11	845	5300.60	0.00	0.00	2.54	0.000	0.000	0.021	3110.69	3315.69	2905.69	2003.75	2245.12	0	0	0	30.00	30.00	15.99
5604.85	516	-82.73	-1.35	-60.00	3111.2	3316.4	2905.9	2004.4	2243.9	508.31	-7.70	871	5609.44	0.00	0.00	2.45	0.000	0.000	0.067	3111.47	3317.06	2905.88	2003.12	1207.50	0	0	0	30.00	30.00	15.96
5664.13	1028	-82.73	-1.35	0.00	3110.9	3315.6	2906.2	2004.0	1207.6	512.77	-7.70	880	5669.69	0.00	0.00	2.62	0.000	0.000	0.029	3110.53	3315.69	2905.38	2003.38	2355.00	0	0	0	30.00	30.00	16.01
5983.53	260	-82.73	-1.35	60.00	3110.6	3314.9	2906.4	2003.9	2354.9	534.90	-7.08	902	5988.16	0.00	0.00	2.68	0.000	0.000	0.090	3109.34	3314.50	2904.19	2004.25	3426.56	0	0	0	30.00	30.00	15.92
6062.21	1028	-82.73	-1.35	0.00	3110.4	3314.9	2905.9	2004.1	3425.9	541.29	-8.02	913	6066.82	0.00	0.00	2.54	0.000	0.000	0.021	3111.38	3316.19	2906.56	2003.69	2247.88	0	0	0	30.00	30.00	16.00
6378.68	260	-82.73	-1.35	60.00	3110.6	3315.2	2906.0	2003.6	2246.9	563.83	-7.16	935	6383.35	0.00	0.00	2.95	0.000	0.000	0.085	3109.69	3313.94	2905.44	2004.06	3426.25	0	0	0	30.00	30.00	15.91
6437.95	1028	-82.73	-1.35	0.00	3110.2	3314.2	2906.1	2003.7	3426.2	568.57	-7.96	944	6443.49	0.00	0.00	2.56	0.000	0.000	0.022	3110.91	3314.81	2907.00	2003.94	2246.88	0	0	0	30.00	30.00	16.00
6757.38	516	-82.73	-1.35	-60.00	3110.1	3313.9	2906.2	2003.7	2247.6	593.30	-7.66	966	6761.98	0.00	0.00	2.48	0.000	0.000	0.068	3109.72	3312.19	2907.25	2003.25	1208.25	0	0	0	30.00	30.00	15.95
6814	end dive: TARGET_DEPTH_EXCEEDED
state	6815	begin apogee
6819.01	10243	0.00	-0.28	0.00	3110.0	3313.8	2906.2	2003.4	2276.5	597.76	-7.74	974	6893.44	61.81	1.80	0.12	1.906	0.145	0.168	2774.91	2909.19	2640.62	2263.81	2163.38	0	0	0	10.67	15.81	15.58
6894	end apogee: CONTROL_FINISHED_OK
state	6895	begin climb
6895.84	10243	82.73	1.35	0.00	2773.4	2908.4	2638.4	2263.7	2162.6	599.87	0.00	979	6975.43	63.60	2.59	0.00	1.836	0.092	0.000	2437.81	2518.94	2356.69	2661.69	2162.94	0	0	0	12.19	15.67	30.00
7288.08	8742	130.03	1.44	-60.00	2432.2	2518.4	2345.9	2662.6	2162.6	579.55	5.93	1007	7331.92	38.17	0.00	2.56	1.774	0.000	0.078	2243.72	2304.50	2182.94	2662.25	1130.25	0	0	0	11.59	30.00	15.47
7417.44	1092	130.03	1.47	0.00	2240.5	2303.9	2177.1	2662.0	1130.1	570.67	7.19	1026	7422.59	0.00	0.00	2.66	0.000	0.000	0.028	2240.91	2304.19	2177.62	2662.19	2273.56	0	0	0	30.00	30.00	15.67
7736.46	2629	130.03	1.48	-60.00	2238.0	2303.8	2172.2	2662.0	2273.5	546.75	7.85	1048	7741.17	0.00	0.14	2.80	0.000	0.096	0.070	2238.59	2304.56	2172.62	2702.12	1131.06	0	0	0	30.00	15.75	15.72
7780.01	1028	130.03	1.48	0.00	2237.8	2303.5	2172.1	2701.8	1130.8	543.43	8.48	1055	7794.95	0.00	0.00	2.63	0.000	0.000	0.028	2238.97	2306.00	2171.94	2701.06	2272.94	0	0	0	30.00	30.00	15.81
8109.41	260	130.03	1.48	60.00	2237.2	2303.6	2170.9	2702.1	2272.6	515.18	8.36	1077	8114.05	0.00	0.00	2.71	0.000	0.000	0.090	2236.69	2303.94	2169.44	2701.94	3346.19	0	0	0	30.00	30.00	15.84
8215.15	1028	130.03	1.48	0.00	2237.2	2303.9	2170.6	2702.4	3345.8	506.31	8.94	1093	8230.25	0.00	0.00	2.59	0.000	0.000	0.023	2237.62	2304.19	2171.06	2701.88	2185.25	0	0	0	30.00	30.00	15.89
8541.05	16966	130.03	1.52	-60.00	2236.8	2303.9	2169.6	2702.1	2183.6	482.59	6.57	1121	8545.66	0.00	0.00	2.56	0.000	0.000	0.075	2236.53	2303.00	2170.06	2701.19	1129.88	0	0	0	30.00	30.00	15.90
8769.10	9254	181.77	1.62	0.00	2236.2	2303.8	2168.6	2701.7	1129.7	468.84	5.69	1151	8816.26	40.97	0.00	2.63	1.728	0.000	0.029	2033.25	2071.50	1995.00	2701.94	2273.81	0	0	0	11.31	30.00	15.94
9117.91	0	181.77	1.62	0.00	2027.6	2072.0	1983.1	2702.2	2274.0	441.72	8.41	1184	9128.98	0.00	0.00	0.00	0.000	0.000	0.000	2027.69	2072.12	1983.25	2701.88	2273.69	0	0	0	30.00	30.00	30.00
9431.00	580	181.77	1.63	-60.00	2026.1	2071.8	1980.4	2702.1	2273.9	416.50	7.82	1213	9435.64	0.00	0.00	2.79	0.000	0.000	0.071	2025.97	2072.25	1979.69	2701.44	1130.81	0	0	0	30.00	30.00	15.87
9609.80	17414	181.77	1.63	0.00	2025.2	2071.8	1978.8	2701.5	1131.1	401.11	8.77	1236	9614.44	0.00	0.00	2.64	0.000	0.000	0.029	2025.91	2072.44	1979.38	2701.31	2270.88	0	0	0	30.00	30.00	15.90
9921.78	18499	181.77	1.65	0.00	2024.4	2071.6	1977.2	2701.7	2271.2	376.53	7.47	1265	9932.96	0.00	0.17	0.00	0.000	0.086	0.000	2024.88	2072.31	1977.44	2743.75	2271.44	0	0	0	30.00	15.88	30.00
10234.92	16902	181.77	1.65	-60.00	2024.3	2072.0	1976.6	2743.4	2271.3	348.27	8.41	1294	10239.56	0.00	0.00	2.77	0.000	0.000	0.071	2024.91	2072.06	1977.75	2742.19	1129.62	0	0	0	30.00	30.00	15.92
10367.87	17414	181.77	1.65	0.00	2024.1	2071.9	1976.2	2743.8	1129.9	334.15	11.02	1312	10382.99	0.00	0.00	2.63	0.000	0.000	0.029	2024.28	2072.38	1976.19	2743.75	2274.06	0	0	0	30.00	30.00	15.96
10684.51	16902	181.77	1.65	-60.00	2023.8	2071.8	1975.8	2743.8	2274.4	304.66	8.90	1341	10689.16	0.00	0.00	2.77	0.000	0.000	0.069	2023.91	2072.19	1975.62	2742.94	1128.44	0	0	0	30.00	30.00	15.93
10769.56	17414	181.77	1.65	0.00	2023.5	2071.7	1975.2	2744.0	1128.6	296.59	9.57	1354	10775.11	0.00	0.00	2.62	0.000	0.000	0.029	2024.12	2072.12	1976.12	2743.75	2273.56	0	0	0	30.00	30.00	15.95
11079.61	16902	181.77	1.65	-60.00	2023.3	2071.3	1975.2	2744.0	2274.4	271.07	8.09	1416	11085.17	0.00	0.00	2.76	0.000	0.000	0.069	2024.25	2072.69	1975.81	2743.75	1129.12	0	0	0	30.00	30.00	15.93
11119.61	17414	181.77	1.65	0.00	2023.4	2072.1	1974.6	2743.8	1129.0	267.68	8.42	1424	11125.15	0.00	0.00	2.62	0.000	0.000	0.028	2023.94	2072.56	1975.31	2744.50	2274.12	0	0	0	30.00	30.00	15.96
11429.65	16902	181.77	1.65	-60.00	2023.1	2071.8	1974.4	2743.9	2273.8	241.84	8.46	1486	11435.22	0.00	0.00	2.76	0.000	0.000	0.069	2023.88	2072.75	1975.00	2743.44	1128.88	0	0	0	30.00	30.00	15.93
11509.83	17414	181.77	1.65	0.00	2023.0	2071.8	1974.3	2743.9	1128.5	234.61	9.03	1502	11515.21	0.00	0.00	2.61	0.000	0.000	0.028	2023.34	2071.75	1974.94	2745.25	2275.19	0	0	0	30.00	30.00	15.97
11819.71	16902	181.77	1.65	-60.00	2022.7	2071.8	1973.6	2744.4	2275.4	208.21	8.79	1564	11825.26	0.00	0.00	2.76	0.000	0.000	0.069	2022.97	2071.44	1974.50	2744.75	1129.94	0	0	0	30.00	30.00	15.93
11844.70	17414	181.77	1.65	0.00	2023.0	2071.9	1974.1	2745.1	1129.8	205.87	9.19	1569	11850.43	0.00	0.00	2.61	0.000	0.000	0.028	2023.81	2072.69	1974.94	2744.25	2275.25	0	0	0	30.00	30.00	15.97
12154.75	16386	181.77	1.65	0.00	2023.0	2072.1	1973.9	2744.8	2275.4	176.48	9.73	1631	12156.08	0.00	0.00	0.00	0.000	0.000	0.000	2022.12	2070.88	1973.38	2743.81	2275.44	0	0	0	30.00	30.00	30.00
12459.81	16902	181.77	1.65	-60.00	2023.2	2072.1	1974.2	2744.1	2275.6	147.58	9.45	1692	12465.37	0.00	0.00	2.74	0.000	0.000	0.068	2022.78	2072.00	1973.56	2744.56	1129.88	0	0	0	30.00	30.00	15.93
12569.84	17414	181.77	1.65	0.00	2022.7	2071.8	1973.6	2744.5	1130.2	135.91	10.38	1714	12575.40	0.00	0.00	2.61	0.000	0.000	0.028	2023.03	2072.25	1973.81	2744.75	2275.38	0	0	0	30.00	30.00	15.99
12879.96	16966	181.77	1.68	-60.00	2022.8	2071.8	1973.7	2744.8	2275.2	109.59	7.13	1776	12885.50	0.00	0.00	2.75	0.000	0.000	0.068	2022.91	2072.19	1973.62	2744.31	1129.75	0	0	0	30.00	30.00	15.93
12979.99	17478	181.77	1.70	0.00	2022.4	2071.6	1973.2	2744.4	1129.6	102.18	7.42	1796	12985.50	0.00	0.00	2.60	0.000	0.000	0.027	2023.03	2072.38	1973.69	2744.69	2275.31	0	0	0	30.00	30.00	15.98
13290.09	10535	257.93	1.85	60.00	2022.8	2072.1	1973.6	2745.0	2275.6	87.48	4.38	1858	13352.76	57.05	0.20	2.70	1.273	0.080	0.089	1723.72	1741.50	1705.94	2794.56	3347.25	0	0	0	11.04	15.94	15.70
13580.17	1028	257.93	1.85	0.00	1717.6	1741.2	1693.9	2794.3	3347.1	61.31	9.50	1916	13585.69	0.00	0.00	2.59	0.000	0.000	0.022	1717.19	1741.56	1692.81	2794.94	2183.50	0	0	0	30.00	30.00	15.84
13770.23	8486	312.86	1.96	60.00	1714.4	1741.6	1687.3	2794.8	2184.1	47.78	5.52	1954	13816.96	41.96	0.00	2.94	1.184	0.000	0.085	1500.44	1516.00	1484.88	2795.06	3345.50	0	0	0	11.52	30.00	15.64
13895.24	1028	312.86	1.96	0.00	1496.6	1515.8	1477.4	2794.6	3345.5	38.44	8.50	1979	13900.79	0.00	0.00	2.59	0.000	0.000	0.022	1496.44	1515.81	1477.06	2794.44	2183.75	0	0	0	30.00	30.00	15.77
14085.31	10791	366.68	2.07	-60.00	1492.5	1516.6	1468.4	2794.6	2183.8	26.82	5.58	2017	14132.06	41.86	0.23	2.57	1.147	0.080	0.076	1280.69	1285.19	1276.19	2846.44	1128.88	0	0	0	11.55	15.77	15.60
14360.38	1092	366.68	2.09	0.00	1273.3	1285.1	1261.6	2845.9	1129.4	6.99	7.27	2072	14366.09	0.00	0.00	2.65	0.000	0.000	0.027	1273.72	1285.69	1261.75	2847.00	2276.50	0	0	0	30.00	30.00	15.78
14410	end climb: SURFACE_DEPTH_REACHED
state	14410	begin surface coast
14480	end surface coast: CONTROL_FINISHED_OK
state	14480	begin surface