Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 90 * 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 90 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 375 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 3 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 20.202135 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 37.384033 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 375

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 20.202135 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 37.384033 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 3

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 90 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 160521,035438,4748.117,-12518.195,76,1.0,76,16.0 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160521,040237,4748.077,-12518.158,4,1.2,8,16.0 MHEAD_RNG_PITCHd_Wd 29.9,12124,-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 0.1,1.013835 FG_AHR_10Vo 20.267

SM_CCo 13080.06,54.15,1.187,0,1246.8,1236.0,1257.5,374.88 MEM0 60876,1,0,0

SM_GC 1.31,54.15,16.08,0.34,1.187,0.058,0.066,1246.8,1236.0,1257.5,187.9,2356.8,0,0,0,12.94,15.97,15.99 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971808,17,75320,55

IRIDIUM_FIX 4745.42,-12528.91,150521,230515 DATA_FILE_SIZE 48066,1696

TCM_TEMP 266.10 CAP_FILE_SIZE 272668,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3996256

SC_FREEKB 3838400 SDFILEDIR 486,1

HUMID 48.41 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.49 CURRENT 0.073,129.3,1

INTERNAL_PRESSURE 8.8415 MAGCAL 1.000000,0.168752,0.145686,0.343945,1.005222,-0.306651,-0.234616,-0.388906,1.582701,463.2,67.7,-136.6,31,0.1284,0

_24V_AH 14.97,36.469 IMPLIED_C_PITCH 2345,13.53,1295

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2809,30.603754,627

FG_AHR_24Vo 37.550 GPS 160521,074131,4748.825,-12516.032,24,1.2,25,16.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 409 1876 11513.13 nil 0 0 0.00

Pitch_motor 34 263 137.50 nil 0 0 0.00

Roll_motor 118 126 223.38 nil 0 0 0.00

Iridium 295 241 1066.63 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 17 15 3.99 nil 0 0 0.00

Core 4601 11 814.47 SciCon 13020 10 2091.86

LPSleep 8766 2 368.21 nil 0 0 0.00

Compass 2517 5 188.79 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

6.42 16386 -82.73 -1.37 0.00 1234.5 1236.6 1232.4 181.8 2257.8 0.00 0.00 0 64.85 57.29 0.00 0.00 0.005 0.000 0.000 2591.28 2720.75 2461.81 181.88 2256.50 0 0 0 15.78 30.00 30.00

65.58 18983 -82.73 -1.37 -60.00 2590.6 2719.3 2461.9 181.7 2256.1 3.02 -3.13 11 103.69 13.66 13.79 2.57 0.006 0.264 0.072 3112.25 3278.50 2946.00 1988.50 1208.69 0 0 0 15.81 15.74 15.78

331.74 1028 -82.73 -1.37 0.00 3112.5 3277.6 2947.4 1988.6 1208.6 51.75 -15.70 64 337.29 0.00 0.00 2.67 0.000 0.000 0.032 3113.06 3277.62 2948.50 1988.81 2349.19 0 0 0 30.00 30.00 15.93

522.21 516 -82.73 -1.37 -60.00 3113.0 3277.9 2948.2 1988.6 2349.4 80.98 -13.41 102 527.70 0.00 0.00 2.78 0.000 0.000 0.063 3112.91 3277.75 2948.06 1988.44 1209.69 0 0 0 30.00 30.00 15.97

682.03 1028 -82.73 -1.37 0.00 3112.8 3277.1 2948.6 1989.2 1209.9 99.14 -10.52 134 687.46 0.00 0.00 2.66 0.000 0.000 0.032 3113.41 3277.69 2949.12 1988.38 2350.50 0 0 0 30.00 30.00 16.00

871.95 260 -82.73 -1.37 60.00 3113.2 3277.8 2948.6 1988.8 2349.9 119.07 -10.18 154 877.04 0.00 0.00 2.70 0.000 0.000 0.089 3113.34 3278.00 2948.69 1988.88 3427.12 0 0 0 30.00 30.00 16.02

946.51 1028 -82.73 -1.37 0.00 3113.2 3277.9 2948.5 1988.4 3426.8 127.49 -11.73 169 952.51 0.00 0.00 2.61 0.000 0.000 0.024 3114.34 3278.81 2949.88 1988.06 2248.56 0 0 0 30.00 30.00 16.04

1262.03 260 -82.73 -1.37 60.00 3113.2 3277.2 2949.1 1988.6 2249.8 160.55 -9.49 201 1267.17 0.00 0.00 2.97 0.000 0.000 0.085 3115.56 3279.56 2951.56 1988.62 3426.25 0 0 0 30.00 30.00 16.06

1427.01 1028 -82.73 -1.37 0.00 3113.6 3278.0 2949.2 1988.2 3426.8 177.53 -9.98 234 1432.61 0.00 0.00 2.59 0.000 0.000 0.024 3114.34 3278.00 2950.69 1988.19 2253.25 0 0 0 30.00 30.00 16.07

1742.15 516 -82.73 -1.37 -60.00 3113.6 3277.8 2949.3 1988.5 2253.2 204.63 -8.48 266 1747.21 0.00 0.00 2.51 0.000 0.000 0.069 3113.53 3277.62 2949.44 1988.69 1209.81 0 0 0 30.00 30.00 16.09

1956.74 1028 -82.73 -1.37 0.00 3114.1 3277.8 2950.5 1988.2 1209.7 224.42 -9.10 309 1962.75 0.00 0.00 2.65 0.000 0.000 0.032 3114.22 3277.50 2950.94 1988.25 2351.06 0 0 0 30.00 30.00 16.11

2272.29 0 -82.73 -1.37 0.00 3113.7 3277.6 2949.8 1989.1 2352.0 251.04 -7.99 341 2273.62 0.00 0.00 0.00 0.000 0.000 0.000 3113.16 3277.38 2948.94 1988.50 2351.88 0 0 0 30.00 30.00 30.00

2582.96 516 -82.73 -1.37 -60.00 3113.9 3277.7 2950.1 1988.8 2351.8 276.33 -8.76 372 2587.43 0.00 0.00 2.76 0.000 0.000 0.065 3115.03 3278.81 2951.25 1988.50 1208.75 0 0 0 30.00 30.00 16.15

2697.07 1028 -82.73 -1.37 0.00 3113.5 3277.4 2949.5 1988.7 1208.5 287.94 -10.36 395 2702.89 0.00 0.00 2.65 0.000 0.000 0.032 3114.38 3277.81 2950.94 1988.19 2350.62 0 0 0 30.00 30.00 16.15

3012.38 260 -82.73 -1.37 60.00 3113.4 3277.6 2949.2 1988.3 2350.1 320.42 -10.28 427 3017.47 0.00 0.00 2.70 0.000 0.000 0.092 3114.50 3278.62 2950.38 1988.25 3426.25 0 0 0 30.00 30.00 16.15

3056.93 1028 -82.73 -1.37 0.00 3113.4 3277.2 2949.6 1988.4 3426.4 325.57 -11.54 436 3062.91 0.00 0.00 2.58 0.000 0.000 0.025 3113.62 3277.62 2949.62 1988.38 2250.75 0 0 0 30.00 30.00 16.15

3372.43 516 -82.73 -1.37 -60.00 3113.8 3277.3 2950.2 1988.5 2250.2 356.66 -9.61 468 3377.49 0.00 0.00 2.51 0.000 0.000 0.070 3113.88 3277.88 2949.88 1988.56 1210.38 0 0 0 30.00 30.00 16.17

3442.43 1028 -82.73 -1.37 0.00 3113.7 3277.1 2950.2 1988.4 1209.9 363.47 -9.76 482 3447.53 0.00 0.00 2.64 0.000 0.000 0.032 3114.84 3278.31 2951.38 1988.25 2351.56 0 0 0 30.00 30.00 16.18

3752.48 0 -82.73 -1.37 0.00 3113.5 3277.2 2949.7 1988.4 2351.6 394.88 -10.08 514 3753.81 0.00 0.00 0.00 0.000 0.000 0.000 3112.47 3275.69 2949.25 1988.62 2351.88 0 0 0 30.00 30.00 30.00

4062.89 0 -82.73 -1.37 0.00 3113.4 3277.1 2949.8 1988.2 2352.3 424.38 -9.34 545 4064.22 0.00 0.00 0.00 0.000 0.000 0.000 3112.72 3277.00 2948.44 1988.50 2352.00 0 0 0 30.00 30.00 30.00

4372.93 0 -82.73 -1.37 0.00 3113.0 3275.9 2950.0 1988.5 2351.6 452.65 -9.51 576 4374.26 0.00 0.00 0.00 0.000 0.000 0.000 3112.34 3276.12 2948.56 1988.31 2351.62 0 0 0 30.00 30.00 30.00

4682.97 260 -82.73 -1.37 60.00 3112.6 3275.4 2949.8 1988.3 2351.5 482.71 -9.86 607 4687.66 0.00 0.00 2.70 0.000 0.000 0.094 3112.56 3275.44 2949.69 1988.69 3427.06 0 0 0 30.00 30.00 16.19

4742.78 1028 -82.73 -1.37 0.00 3112.6 3275.3 2949.9 1988.4 3427.5 489.48 -11.24 619 4747.72 0.00 0.00 2.58 0.000 0.000 0.025 3112.78 3275.94 2949.62 1988.69 2254.31 0 0 0 30.00 30.00 16.20

5052.67 516 -82.73 -1.37 -60.00 3112.6 3275.5 2949.8 1988.2 2253.0 519.55 -9.25 651 5057.94 0.00 0.00 2.52 0.000 0.000 0.072 3113.41 3275.88 2950.94 1987.62 1210.25 0 0 0 30.00 30.00 16.21

5262.73 1028 -82.73 -1.37 0.00 3112.4 3274.4 2950.3 1988.8 1210.8 539.80 -9.40 693 5267.83 0.00 0.00 2.63 0.000 0.000 0.033 3112.94 3275.50 2950.38 1988.62 2349.50 0 0 0 30.00 30.00 16.22

5572.80 516 -82.73 -1.37 -60.00 3112.1 3273.8 2950.5 1988.2 2350.3 566.88 -8.41 725 5577.90 0.00 0.00 2.74 0.000 0.000 0.067 3113.47 3275.94 2951.00 1988.12 1208.12 0 0 0 30.00 30.00 16.22

5647.36 1028 -82.73 -1.37 0.00 3111.7 3273.9 2949.4 1987.9 1208.6 573.26 -8.29 740 5653.37 0.00 0.00 2.64 0.000 0.000 0.033 3112.19 3274.62 2949.75 1988.38 2351.75 0 0 0 30.00 30.00 16.21

5802 end dive: TARGET_DEPTH_EXCEEDED

state 5802 begin apogee

5804.68 10243 0.00 -0.28 0.00 3111.3 3273.2 2949.4 1988.7 2161.0 586.13 -7.98 756 5868.16 58.90 1.76 0.21 1.876 0.157 0.126 2776.25 2889.94 2662.56 2254.12 2280.38 0 0 0 13.00 16.16 15.79

5869 end apogee: CONTROL_FINISHED_OK

state 5869 begin climb

5870.00 10243 82.73 1.37 0.00 2773.9 2888.1 2659.7 2254.3 2281.1 587.57 0.00 762 5936.61 61.10 2.59 0.00 1.818 0.103 0.000 2436.00 2503.56 2368.44 2655.50 2281.00 0 0 0 12.96 15.83 30.00

6243.08 64 82.73 1.39 0.00 2431.6 2503.8 2359.4 2655.1 2281.0 562.73 7.22 800 6244.41 0.00 0.00 0.00 0.000 0.000 0.000 2430.72 2503.56 2357.88 2655.31 2280.50 0 0 0 30.00 30.00 30.00

6553.54 580 82.73 1.43 -60.00 2430.7 2504.5 2356.9 2655.1 2281.0 541.44 6.69 831 6558.24 0.00 0.00 2.85 0.000 0.000 0.076 2431.62 2505.06 2358.19 2654.88 1131.19 0 0 0 30.00 30.00 15.96

6617.70 1092 82.73 1.45 0.00 2429.9 2504.1 2355.8 2654.9 1131.4 536.83 7.14 844 6623.69 0.00 0.00 2.67 0.000 0.000 0.032 2430.12 2504.00 2356.25 2655.81 2272.62 0 0 0 30.00 30.00 15.98

6933.62 10791 129.12 1.55 -60.00 2429.7 2504.8 2354.6 2655.4 2272.1 517.33 5.30 876 6974.89 34.81 0.23 2.85 1.747 0.080 0.077 2247.16 2306.69 2187.62 2709.38 1131.31 0 0 0 13.01 16.01 15.78

7087.78 1028 129.12 1.55 0.00 2243.7 2306.1 2181.2 2709.4 1130.8 504.57 9.14 907 7093.80 0.00 0.00 2.69 0.000 0.000 0.032 2244.09 2306.88 2181.31 2709.50 2273.12 0 0 0 30.00 30.00 15.91

7403.32 0 129.12 1.55 0.00 2242.8 2306.4 2179.1 2709.1 2272.9 477.91 8.50 939 7404.65 0.00 0.00 0.00 0.000 0.000 0.000 2241.66 2305.94 2177.38 2709.12 2272.44 0 0 0 30.00 30.00 30.00

7713.74 0 129.12 1.55 0.00 2241.8 2306.6 2177.1 2709.1 2272.4 449.95 9.15 970 7715.07 0.00 0.00 0.00 0.000 0.000 0.000 2241.03 2305.69 2176.38 2709.19 2272.50 0 0 0 30.00 30.00 30.00

8023.77 260 129.12 1.55 60.00 2241.5 2306.6 2176.4 2709.8 2272.8 420.96 9.24 1001 8028.49 0.00 0.00 2.72 0.000 0.000 0.093 2241.59 2306.50 2176.69 2709.00 3345.69 0 0 0 30.00 30.00 16.07

8063.40 1028 129.12 1.55 0.00 2241.5 2306.8 2176.2 2709.9 3345.4 417.06 9.75 1009 8068.65 0.00 0.00 2.60 0.000 0.000 0.026 2241.25 2306.94 2175.56 2709.56 2188.69 0 0 0 30.00 30.00 16.09

8373.55 0 129.12 1.55 0.00 2241.2 2307.4 2174.9 2709.8 2189.2 387.25 9.69 1041 8374.88 0.00 0.00 0.00 0.000 0.000 0.000 2240.28 2306.81 2173.75 2709.12 2189.25 0 0 0 30.00 30.00 30.00

8683.85 516 129.12 1.55 -60.00 2240.5 2306.8 2174.2 2709.1 2189.0 356.64 10.06 1072 8688.52 0.00 0.00 2.58 0.000 0.000 0.080 2241.16 2308.06 2174.25 2709.44 1130.94 0 0 0 30.00 30.00 16.12

8808.03 17414 129.12 1.55 0.00 2240.1 2307.1 2173.2 2709.5 1131.3 343.50 10.85 1097 8814.05 0.00 0.00 2.65 0.000 0.000 0.033 2240.44 2307.12 2173.75 2709.19 2270.69 0 0 0 30.00 30.00 16.14

9123.54 16386 129.12 1.55 0.00 2239.9 2306.7 2173.1 2709.8 2270.1 312.96 9.18 1129 9124.87 0.00 0.00 0.00 0.000 0.000 0.000 2238.94 2306.38 2171.50 2709.25 2270.56 0 0 0 30.00 30.00 30.00

9433.96 16646 129.12 1.55 60.00 2239.9 2306.8 2173.0 2709.0 2270.6 285.57 8.97 1160 9438.67 0.00 0.00 2.72 0.000 0.000 0.093 2240.50 2307.88 2173.12 2709.12 3344.31 0 0 0 30.00 30.00 16.14

9488.12 17414 129.12 1.55 0.00 2239.3 2306.8 2171.8 2709.7 3344.4 280.17 10.04 1171 9494.11 0.00 0.00 2.60 0.000 0.000 0.027 2241.84 2309.12 2174.56 2709.44 2188.19 0 0 0 30.00 30.00 16.15

9803.82 16386 129.12 1.55 0.00 2239.4 2306.9 2172.0 2709.4 2188.1 251.18 9.45 1203 9805.15 0.00 0.00 0.00 0.000 0.000 0.000 2239.06 2307.19 2170.94 2709.12 2187.69 0 0 0 30.00 30.00 30.00

10114.10 16902 129.12 1.55 -60.00 2239.4 2306.8 2171.9 2709.2 2188.1 224.92 8.70 1234 10118.77 0.00 0.00 2.58 0.000 0.000 0.080 2239.62 2307.31 2171.94 2709.50 1131.44 0 0 0 30.00 30.00 16.14

10183.73 17414 129.12 1.55 0.00 2239.5 2307.1 2171.9 2709.7 1131.1 217.96 10.10 1248 10188.82 0.00 0.00 2.65 0.000 0.000 0.032 2241.62 2308.88 2174.38 2708.69 2272.44 0 0 0 30.00 30.00 16.18

10494.20 16902 129.12 1.55 -60.00 2239.4 2306.9 2171.8 2709.2 2272.4 189.18 9.12 1280 10499.08 0.00 0.00 2.79 0.000 0.000 0.074 2240.31 2308.19 2172.44 2709.06 1131.00 0 0 0 30.00 30.00 16.17

10583.94 17414 129.12 1.55 0.00 2239.3 2306.8 2171.8 2709.5 1131.3 181.12 8.89 1298 10588.92 0.00 0.00 2.65 0.000 0.000 0.032 2241.19 2308.19 2174.19 2708.44 2271.94 0 0 0 30.00 30.00 16.17

10894.30 16450 129.12 1.57 0.00 2239.4 2306.8 2171.9 2709.3 2272.9 157.03 7.37 1330 10895.63 0.00 0.00 0.00 0.000 0.000 0.000 2238.59 2306.25 2170.94 2709.56 2272.12 0 0 0 30.00 30.00 30.00

11204.36 8742 167.40 1.64 -60.00 2239.7 2307.0 2172.3 2709.1 2273.3 137.20 5.85 1361 11239.26 28.45 0.00 2.81 1.349 0.000 0.076 2091.56 2144.31 2038.81 2709.69 1130.06 0 0 0 13.03 30.00 15.99

11424.02 1028 167.40 1.64 0.00 2086.6 2142.8 2030.4 2709.6 1130.4 119.32 9.50 1405 11429.11 0.00 0.00 2.66 0.000 0.000 0.032 2086.84 2143.31 2030.38 2709.62 2270.38 0 0 0 30.00 30.00 16.08

11734.11 10535 205.38 1.72 60.00 2085.6 2143.1 2028.1 2709.5 2270.1 96.46 5.87 1443 11769.91 28.99 0.17 2.75 1.293 0.094 0.094 1936.91 1979.88 1893.94 2749.44 3346.75 0 0 0 13.00 16.08 15.90

11804.12 1028 205.38 1.72 0.00 1935.1 1979.9 1890.2 2749.9 3346.9 90.90 8.95 1457 11809.67 0.00 0.00 2.61 0.000 0.000 0.026 1936.97 1982.00 1891.94 2749.62 2189.69 0 0 0 30.00 30.00 15.96

11994.18 0 205.38 1.72 0.00 1931.1 1979.8 1882.4 2751.0 2189.5 73.11 9.00 1495 11995.51 0.00 0.00 0.00 0.000 0.000 0.000 1930.28 1978.75 1881.81 2750.50 2188.81 0 0 0 30.00 30.00 30.00

12179.33 8742 238.49 1.79 -60.00 1930.5 1979.9 1881.1 2750.2 2189.1 59.53 6.20 1532 12210.66 25.62 0.00 2.59 1.231 0.000 0.080 1802.28 1844.56 1760.00 2749.69 1130.12 0 0 0 12.98 30.00 15.87

12349.33 11303 301.04 1.91 0.00 1796.1 1842.9 1749.2 2750.7 1129.9 51.03 4.19 1566 12401.55 46.92 0.20 2.68 1.231 0.085 0.030 1547.81 1572.94 1522.69 2798.19 2275.38 0 0 0 12.97 15.95 15.97

12584.89 16646 301.04 1.91 60.00 1539.2 1572.7 1505.8 2798.1 2275.6 33.22 9.01 1613 12590.12 0.00 0.00 2.76 0.000 0.000 0.090 1539.97 1573.12 1506.81 2797.69 3344.12 0 0 0 30.00 30.00 15.86

12664.58 17414 301.04 1.91 0.00 1538.7 1572.4 1505.1 2798.1 3345.1 25.35 10.00 1629 12670.12 0.00 0.00 2.63 0.000 0.000 0.025 1539.84 1573.75 1505.94 2797.50 2190.81 0 0 0 30.00 30.00 15.90

12854.67 16450 301.04 1.93 0.00 1536.3 1573.0 1499.6 2798.2 2191.4 9.83 7.66 1667 12856.00 0.00 0.00 0.00 0.000 0.000 0.000 1535.81 1572.44 1499.19 2798.19 2191.62 0 0 0 30.00 30.00 30.00

12964 end climb: SURFACE_DEPTH_REACHED

state 12964 begin surface coast

12999 end surface coast: CONTROL_FINISHED_OK

state 12999 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	90	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	375	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	3	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	20.202135	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	37.384033	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	160521,035438,4748.117,-12518.195,76,1.0,76,16.0	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160521,040237,4748.077,-12518.158,4,1.2,8,16.0	MHEAD_RNG_PITCHd_Wd	29.9,12124,-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	0.1,1.013835	FG_AHR_10Vo	20.267
SM_CCo	13080.06,54.15,1.187,0,1246.8,1236.0,1257.5,374.88	MEM0	60876,1,0,0
SM_GC	1.31,54.15,16.08,0.34,1.187,0.058,0.066,1246.8,1236.0,1257.5,187.9,2356.8,0,0,0,12.94,15.97,15.99	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971808,17,75320,55
IRIDIUM_FIX	4745.42,-12528.91,150521,230515	DATA_FILE_SIZE	48066,1696
TCM_TEMP	266.10	CAP_FILE_SIZE	272668,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3996256
SC_FREEKB	3838400	SDFILEDIR	486,1
HUMID	48.41	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.49	CURRENT	0.073,129.3,1
INTERNAL_PRESSURE	8.8415	MAGCAL	1.000000,0.168752,0.145686,0.343945,1.005222,-0.306651,-0.234616,-0.388906,1.582701,463.2,67.7,-136.6,31,0.1284,0
_24V_AH	14.97,36.469	IMPLIED_C_PITCH	2345,13.53,1295
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2809,30.603754,627
FG_AHR_24Vo	37.550	GPS	160521,074131,4748.825,-12516.032,24,1.2,25,16.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	409	1876	11513.13	nil	0	0	0.00
Pitch_motor	34	263	137.50	nil	0	0	0.00
Roll_motor	118	126	223.38	nil	0	0	0.00
Iridium	295	241	1066.63	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	17	15	3.99	nil	0	0	0.00
Core	4601	11	814.47	SciCon	13020	10	2091.86
LPSleep	8766	2	368.21	nil	0	0	0.00
Compass	2517	5	188.79	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
6.42	16386	-82.73	-1.37	0.00	1234.5	1236.6	1232.4	181.8	2257.8	0.00	0.00	0	64.85	57.29	0.00	0.00	0.005	0.000	0.000	2591.28	2720.75	2461.81	181.88	2256.50	0	0	0	15.78	30.00	30.00
65.58	18983	-82.73	-1.37	-60.00	2590.6	2719.3	2461.9	181.7	2256.1	3.02	-3.13	11	103.69	13.66	13.79	2.57	0.006	0.264	0.072	3112.25	3278.50	2946.00	1988.50	1208.69	0	0	0	15.81	15.74	15.78
331.74	1028	-82.73	-1.37	0.00	3112.5	3277.6	2947.4	1988.6	1208.6	51.75	-15.70	64	337.29	0.00	0.00	2.67	0.000	0.000	0.032	3113.06	3277.62	2948.50	1988.81	2349.19	0	0	0	30.00	30.00	15.93
522.21	516	-82.73	-1.37	-60.00	3113.0	3277.9	2948.2	1988.6	2349.4	80.98	-13.41	102	527.70	0.00	0.00	2.78	0.000	0.000	0.063	3112.91	3277.75	2948.06	1988.44	1209.69	0	0	0	30.00	30.00	15.97
682.03	1028	-82.73	-1.37	0.00	3112.8	3277.1	2948.6	1989.2	1209.9	99.14	-10.52	134	687.46	0.00	0.00	2.66	0.000	0.000	0.032	3113.41	3277.69	2949.12	1988.38	2350.50	0	0	0	30.00	30.00	16.00
871.95	260	-82.73	-1.37	60.00	3113.2	3277.8	2948.6	1988.8	2349.9	119.07	-10.18	154	877.04	0.00	0.00	2.70	0.000	0.000	0.089	3113.34	3278.00	2948.69	1988.88	3427.12	0	0	0	30.00	30.00	16.02
946.51	1028	-82.73	-1.37	0.00	3113.2	3277.9	2948.5	1988.4	3426.8	127.49	-11.73	169	952.51	0.00	0.00	2.61	0.000	0.000	0.024	3114.34	3278.81	2949.88	1988.06	2248.56	0	0	0	30.00	30.00	16.04
1262.03	260	-82.73	-1.37	60.00	3113.2	3277.2	2949.1	1988.6	2249.8	160.55	-9.49	201	1267.17	0.00	0.00	2.97	0.000	0.000	0.085	3115.56	3279.56	2951.56	1988.62	3426.25	0	0	0	30.00	30.00	16.06
1427.01	1028	-82.73	-1.37	0.00	3113.6	3278.0	2949.2	1988.2	3426.8	177.53	-9.98	234	1432.61	0.00	0.00	2.59	0.000	0.000	0.024	3114.34	3278.00	2950.69	1988.19	2253.25	0	0	0	30.00	30.00	16.07
1742.15	516	-82.73	-1.37	-60.00	3113.6	3277.8	2949.3	1988.5	2253.2	204.63	-8.48	266	1747.21	0.00	0.00	2.51	0.000	0.000	0.069	3113.53	3277.62	2949.44	1988.69	1209.81	0	0	0	30.00	30.00	16.09
1956.74	1028	-82.73	-1.37	0.00	3114.1	3277.8	2950.5	1988.2	1209.7	224.42	-9.10	309	1962.75	0.00	0.00	2.65	0.000	0.000	0.032	3114.22	3277.50	2950.94	1988.25	2351.06	0	0	0	30.00	30.00	16.11
2272.29	0	-82.73	-1.37	0.00	3113.7	3277.6	2949.8	1989.1	2352.0	251.04	-7.99	341	2273.62	0.00	0.00	0.00	0.000	0.000	0.000	3113.16	3277.38	2948.94	1988.50	2351.88	0	0	0	30.00	30.00	30.00
2582.96	516	-82.73	-1.37	-60.00	3113.9	3277.7	2950.1	1988.8	2351.8	276.33	-8.76	372	2587.43	0.00	0.00	2.76	0.000	0.000	0.065	3115.03	3278.81	2951.25	1988.50	1208.75	0	0	0	30.00	30.00	16.15
2697.07	1028	-82.73	-1.37	0.00	3113.5	3277.4	2949.5	1988.7	1208.5	287.94	-10.36	395	2702.89	0.00	0.00	2.65	0.000	0.000	0.032	3114.38	3277.81	2950.94	1988.19	2350.62	0	0	0	30.00	30.00	16.15
3012.38	260	-82.73	-1.37	60.00	3113.4	3277.6	2949.2	1988.3	2350.1	320.42	-10.28	427	3017.47	0.00	0.00	2.70	0.000	0.000	0.092	3114.50	3278.62	2950.38	1988.25	3426.25	0	0	0	30.00	30.00	16.15
3056.93	1028	-82.73	-1.37	0.00	3113.4	3277.2	2949.6	1988.4	3426.4	325.57	-11.54	436	3062.91	0.00	0.00	2.58	0.000	0.000	0.025	3113.62	3277.62	2949.62	1988.38	2250.75	0	0	0	30.00	30.00	16.15
3372.43	516	-82.73	-1.37	-60.00	3113.8	3277.3	2950.2	1988.5	2250.2	356.66	-9.61	468	3377.49	0.00	0.00	2.51	0.000	0.000	0.070	3113.88	3277.88	2949.88	1988.56	1210.38	0	0	0	30.00	30.00	16.17
3442.43	1028	-82.73	-1.37	0.00	3113.7	3277.1	2950.2	1988.4	1209.9	363.47	-9.76	482	3447.53	0.00	0.00	2.64	0.000	0.000	0.032	3114.84	3278.31	2951.38	1988.25	2351.56	0	0	0	30.00	30.00	16.18
3752.48	0	-82.73	-1.37	0.00	3113.5	3277.2	2949.7	1988.4	2351.6	394.88	-10.08	514	3753.81	0.00	0.00	0.00	0.000	0.000	0.000	3112.47	3275.69	2949.25	1988.62	2351.88	0	0	0	30.00	30.00	30.00
4062.89	0	-82.73	-1.37	0.00	3113.4	3277.1	2949.8	1988.2	2352.3	424.38	-9.34	545	4064.22	0.00	0.00	0.00	0.000	0.000	0.000	3112.72	3277.00	2948.44	1988.50	2352.00	0	0	0	30.00	30.00	30.00
4372.93	0	-82.73	-1.37	0.00	3113.0	3275.9	2950.0	1988.5	2351.6	452.65	-9.51	576	4374.26	0.00	0.00	0.00	0.000	0.000	0.000	3112.34	3276.12	2948.56	1988.31	2351.62	0	0	0	30.00	30.00	30.00
4682.97	260	-82.73	-1.37	60.00	3112.6	3275.4	2949.8	1988.3	2351.5	482.71	-9.86	607	4687.66	0.00	0.00	2.70	0.000	0.000	0.094	3112.56	3275.44	2949.69	1988.69	3427.06	0	0	0	30.00	30.00	16.19
4742.78	1028	-82.73	-1.37	0.00	3112.6	3275.3	2949.9	1988.4	3427.5	489.48	-11.24	619	4747.72	0.00	0.00	2.58	0.000	0.000	0.025	3112.78	3275.94	2949.62	1988.69	2254.31	0	0	0	30.00	30.00	16.20
5052.67	516	-82.73	-1.37	-60.00	3112.6	3275.5	2949.8	1988.2	2253.0	519.55	-9.25	651	5057.94	0.00	0.00	2.52	0.000	0.000	0.072	3113.41	3275.88	2950.94	1987.62	1210.25	0	0	0	30.00	30.00	16.21
5262.73	1028	-82.73	-1.37	0.00	3112.4	3274.4	2950.3	1988.8	1210.8	539.80	-9.40	693	5267.83	0.00	0.00	2.63	0.000	0.000	0.033	3112.94	3275.50	2950.38	1988.62	2349.50	0	0	0	30.00	30.00	16.22
5572.80	516	-82.73	-1.37	-60.00	3112.1	3273.8	2950.5	1988.2	2350.3	566.88	-8.41	725	5577.90	0.00	0.00	2.74	0.000	0.000	0.067	3113.47	3275.94	2951.00	1988.12	1208.12	0	0	0	30.00	30.00	16.22
5647.36	1028	-82.73	-1.37	0.00	3111.7	3273.9	2949.4	1987.9	1208.6	573.26	-8.29	740	5653.37	0.00	0.00	2.64	0.000	0.000	0.033	3112.19	3274.62	2949.75	1988.38	2351.75	0	0	0	30.00	30.00	16.21
5802	end dive: TARGET_DEPTH_EXCEEDED
state	5802	begin apogee
5804.68	10243	0.00	-0.28	0.00	3111.3	3273.2	2949.4	1988.7	2161.0	586.13	-7.98	756	5868.16	58.90	1.76	0.21	1.876	0.157	0.126	2776.25	2889.94	2662.56	2254.12	2280.38	0	0	0	13.00	16.16	15.79
5869	end apogee: CONTROL_FINISHED_OK
state	5869	begin climb
5870.00	10243	82.73	1.37	0.00	2773.9	2888.1	2659.7	2254.3	2281.1	587.57	0.00	762	5936.61	61.10	2.59	0.00	1.818	0.103	0.000	2436.00	2503.56	2368.44	2655.50	2281.00	0	0	0	12.96	15.83	30.00
6243.08	64	82.73	1.39	0.00	2431.6	2503.8	2359.4	2655.1	2281.0	562.73	7.22	800	6244.41	0.00	0.00	0.00	0.000	0.000	0.000	2430.72	2503.56	2357.88	2655.31	2280.50	0	0	0	30.00	30.00	30.00
6553.54	580	82.73	1.43	-60.00	2430.7	2504.5	2356.9	2655.1	2281.0	541.44	6.69	831	6558.24	0.00	0.00	2.85	0.000	0.000	0.076	2431.62	2505.06	2358.19	2654.88	1131.19	0	0	0	30.00	30.00	15.96
6617.70	1092	82.73	1.45	0.00	2429.9	2504.1	2355.8	2654.9	1131.4	536.83	7.14	844	6623.69	0.00	0.00	2.67	0.000	0.000	0.032	2430.12	2504.00	2356.25	2655.81	2272.62	0	0	0	30.00	30.00	15.98
6933.62	10791	129.12	1.55	-60.00	2429.7	2504.8	2354.6	2655.4	2272.1	517.33	5.30	876	6974.89	34.81	0.23	2.85	1.747	0.080	0.077	2247.16	2306.69	2187.62	2709.38	1131.31	0	0	0	13.01	16.01	15.78
7087.78	1028	129.12	1.55	0.00	2243.7	2306.1	2181.2	2709.4	1130.8	504.57	9.14	907	7093.80	0.00	0.00	2.69	0.000	0.000	0.032	2244.09	2306.88	2181.31	2709.50	2273.12	0	0	0	30.00	30.00	15.91
7403.32	0	129.12	1.55	0.00	2242.8	2306.4	2179.1	2709.1	2272.9	477.91	8.50	939	7404.65	0.00	0.00	0.00	0.000	0.000	0.000	2241.66	2305.94	2177.38	2709.12	2272.44	0	0	0	30.00	30.00	30.00
7713.74	0	129.12	1.55	0.00	2241.8	2306.6	2177.1	2709.1	2272.4	449.95	9.15	970	7715.07	0.00	0.00	0.00	0.000	0.000	0.000	2241.03	2305.69	2176.38	2709.19	2272.50	0	0	0	30.00	30.00	30.00
8023.77	260	129.12	1.55	60.00	2241.5	2306.6	2176.4	2709.8	2272.8	420.96	9.24	1001	8028.49	0.00	0.00	2.72	0.000	0.000	0.093	2241.59	2306.50	2176.69	2709.00	3345.69	0	0	0	30.00	30.00	16.07
8063.40	1028	129.12	1.55	0.00	2241.5	2306.8	2176.2	2709.9	3345.4	417.06	9.75	1009	8068.65	0.00	0.00	2.60	0.000	0.000	0.026	2241.25	2306.94	2175.56	2709.56	2188.69	0	0	0	30.00	30.00	16.09
8373.55	0	129.12	1.55	0.00	2241.2	2307.4	2174.9	2709.8	2189.2	387.25	9.69	1041	8374.88	0.00	0.00	0.00	0.000	0.000	0.000	2240.28	2306.81	2173.75	2709.12	2189.25	0	0	0	30.00	30.00	30.00
8683.85	516	129.12	1.55	-60.00	2240.5	2306.8	2174.2	2709.1	2189.0	356.64	10.06	1072	8688.52	0.00	0.00	2.58	0.000	0.000	0.080	2241.16	2308.06	2174.25	2709.44	1130.94	0	0	0	30.00	30.00	16.12
8808.03	17414	129.12	1.55	0.00	2240.1	2307.1	2173.2	2709.5	1131.3	343.50	10.85	1097	8814.05	0.00	0.00	2.65	0.000	0.000	0.033	2240.44	2307.12	2173.75	2709.19	2270.69	0	0	0	30.00	30.00	16.14
9123.54	16386	129.12	1.55	0.00	2239.9	2306.7	2173.1	2709.8	2270.1	312.96	9.18	1129	9124.87	0.00	0.00	0.00	0.000	0.000	0.000	2238.94	2306.38	2171.50	2709.25	2270.56	0	0	0	30.00	30.00	30.00
9433.96	16646	129.12	1.55	60.00	2239.9	2306.8	2173.0	2709.0	2270.6	285.57	8.97	1160	9438.67	0.00	0.00	2.72	0.000	0.000	0.093	2240.50	2307.88	2173.12	2709.12	3344.31	0	0	0	30.00	30.00	16.14
9488.12	17414	129.12	1.55	0.00	2239.3	2306.8	2171.8	2709.7	3344.4	280.17	10.04	1171	9494.11	0.00	0.00	2.60	0.000	0.000	0.027	2241.84	2309.12	2174.56	2709.44	2188.19	0	0	0	30.00	30.00	16.15
9803.82	16386	129.12	1.55	0.00	2239.4	2306.9	2172.0	2709.4	2188.1	251.18	9.45	1203	9805.15	0.00	0.00	0.00	0.000	0.000	0.000	2239.06	2307.19	2170.94	2709.12	2187.69	0	0	0	30.00	30.00	30.00
10114.10	16902	129.12	1.55	-60.00	2239.4	2306.8	2171.9	2709.2	2188.1	224.92	8.70	1234	10118.77	0.00	0.00	2.58	0.000	0.000	0.080	2239.62	2307.31	2171.94	2709.50	1131.44	0	0	0	30.00	30.00	16.14
10183.73	17414	129.12	1.55	0.00	2239.5	2307.1	2171.9	2709.7	1131.1	217.96	10.10	1248	10188.82	0.00	0.00	2.65	0.000	0.000	0.032	2241.62	2308.88	2174.38	2708.69	2272.44	0	0	0	30.00	30.00	16.18
10494.20	16902	129.12	1.55	-60.00	2239.4	2306.9	2171.8	2709.2	2272.4	189.18	9.12	1280	10499.08	0.00	0.00	2.79	0.000	0.000	0.074	2240.31	2308.19	2172.44	2709.06	1131.00	0	0	0	30.00	30.00	16.17
10583.94	17414	129.12	1.55	0.00	2239.3	2306.8	2171.8	2709.5	1131.3	181.12	8.89	1298	10588.92	0.00	0.00	2.65	0.000	0.000	0.032	2241.19	2308.19	2174.19	2708.44	2271.94	0	0	0	30.00	30.00	16.17
10894.30	16450	129.12	1.57	0.00	2239.4	2306.8	2171.9	2709.3	2272.9	157.03	7.37	1330	10895.63	0.00	0.00	0.00	0.000	0.000	0.000	2238.59	2306.25	2170.94	2709.56	2272.12	0	0	0	30.00	30.00	30.00
11204.36	8742	167.40	1.64	-60.00	2239.7	2307.0	2172.3	2709.1	2273.3	137.20	5.85	1361	11239.26	28.45	0.00	2.81	1.349	0.000	0.076	2091.56	2144.31	2038.81	2709.69	1130.06	0	0	0	13.03	30.00	15.99
11424.02	1028	167.40	1.64	0.00	2086.6	2142.8	2030.4	2709.6	1130.4	119.32	9.50	1405	11429.11	0.00	0.00	2.66	0.000	0.000	0.032	2086.84	2143.31	2030.38	2709.62	2270.38	0	0	0	30.00	30.00	16.08
11734.11	10535	205.38	1.72	60.00	2085.6	2143.1	2028.1	2709.5	2270.1	96.46	5.87	1443	11769.91	28.99	0.17	2.75	1.293	0.094	0.094	1936.91	1979.88	1893.94	2749.44	3346.75	0	0	0	13.00	16.08	15.90
11804.12	1028	205.38	1.72	0.00	1935.1	1979.9	1890.2	2749.9	3346.9	90.90	8.95	1457	11809.67	0.00	0.00	2.61	0.000	0.000	0.026	1936.97	1982.00	1891.94	2749.62	2189.69	0	0	0	30.00	30.00	15.96
11994.18	0	205.38	1.72	0.00	1931.1	1979.8	1882.4	2751.0	2189.5	73.11	9.00	1495	11995.51	0.00	0.00	0.00	0.000	0.000	0.000	1930.28	1978.75	1881.81	2750.50	2188.81	0	0	0	30.00	30.00	30.00
12179.33	8742	238.49	1.79	-60.00	1930.5	1979.9	1881.1	2750.2	2189.1	59.53	6.20	1532	12210.66	25.62	0.00	2.59	1.231	0.000	0.080	1802.28	1844.56	1760.00	2749.69	1130.12	0	0	0	12.98	30.00	15.87
12349.33	11303	301.04	1.91	0.00	1796.1	1842.9	1749.2	2750.7	1129.9	51.03	4.19	1566	12401.55	46.92	0.20	2.68	1.231	0.085	0.030	1547.81	1572.94	1522.69	2798.19	2275.38	0	0	0	12.97	15.95	15.97
12584.89	16646	301.04	1.91	60.00	1539.2	1572.7	1505.8	2798.1	2275.6	33.22	9.01	1613	12590.12	0.00	0.00	2.76	0.000	0.000	0.090	1539.97	1573.12	1506.81	2797.69	3344.12	0	0	0	30.00	30.00	15.86
12664.58	17414	301.04	1.91	0.00	1538.7	1572.4	1505.1	2798.1	3345.1	25.35	10.00	1629	12670.12	0.00	0.00	2.63	0.000	0.000	0.025	1539.84	1573.75	1505.94	2797.50	2190.81	0	0	0	30.00	30.00	15.90
12854.67	16450	301.04	1.93	0.00	1536.3	1573.0	1499.6	2798.2	2191.4	9.83	7.66	1667	12856.00	0.00	0.00	0.00	0.000	0.000	0.000	1535.81	1572.44	1499.19	2798.19	2191.62	0	0	0	30.00	30.00	30.00
12964	end climb: SURFACE_DEPTH_REACHED
state	12964	begin surface coast
12999	end surface coast: CONTROL_FINISHED_OK
state	12999	begin surface