Glider dive log

NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 1043 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 8 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054949999 XPDR_VALID 6

DIVE 1043 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT -1

STOP_T 0 SM_CC 400 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 4 N_FILEKB 4 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 680 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 COMM_SEQ 7 C_VBD 2890 DEEPGLIDERMB 0

D_NO_BLEED 200 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0020000001 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 0

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 20000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 240 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 320 T_RSLEEP 1 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 120 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_EPIRB 0 PITCH_MIN 200 AH0_24V 506 NAV_DEVICE -1

USE_BATHY -1 PITCH_MAX 3000 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2390 MINV_24V 11 NETWORK_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

RELAUNCH 1 PITCH_GAIN 16 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 140.10745 SEABIRD_T_G 0.0043000001

MAX_BUOY 110 PITCH_MAXERRORS 1 FG_AHR_24V 295.37613 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_YINT -179.54233 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00021665409 SEABIRD_C_G -10

MASS 72955 C_PITCH_AUTO_MAX 0 COMPASS_USE 16388 SEABIRD_C_H 1

NAV_MODE 0 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.00177828 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.020747701 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HD_C 5.7000002e-06 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 60 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2240 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2100 ALTIM_PULSE 1

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 506 D_PITCH 0 N_FILEKB 4 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 4 N_NOCOMM 2 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 680 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 1 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 400

ALTIM_SENSITIVITY 3 FG_AHR_10V 140.10745 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 295.37613 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 16 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.00177828 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.020747701 PITCH_MAX 3000 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 20000 HD_C 5.7000002e-06 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 200 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0020000001 T_DIVE 240

COMPASS2_DEVICE -1 ID 249 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 16388 INT_PRESSURE_YINT -3 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2390 KALMAN_USE 2 PRESSURE_SLOPE 0.00021665409 T_MISSION 320

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -179.54233 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2240 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2890 LOGGERS 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.0275 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72955 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054949999 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 60 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 110 ROLL_MAX 3825 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 215 W_ADJ_DBAND 0

DIVE 1043 MISSION 8 ROLL_TIMEOUT 25 XPDR_DEVICE 21

D_ABORT 1010 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 SC_PROFILE 7.0 XPDR_INT -1

D_CALL 0 NAV_DEVICE -1 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_G -10

D_NO_BLEED 200 NOCOMM_ACTION 131 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 030523,130031,4652.602,-12459.227,23,0.8,24,15.5 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030523,130758,4652.603,-12459.311,2,0.6,3,15.5 MHEAD_RNG_PITCHd_Wd 294.6,1141,-19.6,-9.444,-30.00,2000,0.229

SPEED_LIMITS 0.164,0.174 D_GRID 718

TGT_NAME WESTPORT 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 4653.000,-12500.000

Post-dive calculations and measurements:

FINISH -0.4,0.999843 FG_AHR_24Vo 295.655

SM_CCo 14381.58,0.00,0.000,0,496.7,492.1,501.3,587.07 FG_AHR_10Vo 140.138

SM_GC 1.17,0.00,19.67,0.28,0.000,0.047,0.066,496.7,492.1,501.3,176.9,2280.4,0,0,0,30.00,15.75,15.80 MEM0 60108,1,0,0

SUPER 27,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4654.22,-12457.46,030523,085118 MEM2 951284,827,78784,98

TCM_TEMP 265.97 DATA_FILE_SIZE 48067,1633

XPDR_PINGS 0,13.0,10.5 CAP_FILE_SIZE 387425,0

HUMID 55.00 SDSIZE 4028416,3708928

TEMP 84.52 SDFILEDIR 6093,1

INTERNAL_PRESSURE 8.523 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

_24V_AH 14.31,355.785 GPS 030523,170840,4653.899,-12500.537,25,1.3,27,15.6

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 670 1873 17975.80 nil 0 0 0.00

Pitch_motor 42 197 119.09 nil 0 0 0.00

Roll_motor 202 120 347.61 nil 0 0 0.00

Iridium 192 213 588.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.26 nil 0 0 0.00

Core 6823 6 696.01 SciCon 0 0 0.00

Fast 188 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 7693 2 230.79

Compass 2568 5 192.65

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

16.25 16386 -107.06 -1.44 0.00 552.2 543.4 561.1 177.1 2156.2 0.00 0.00 0 94.66 54.48 0.00 0.00 0.005 0.000 0.000 1916.06 2073.38 1758.75 176.94 2156.50 0 0 0 14.89 30.00 30.00

96.88 18983 -107.06 -1.44 -60.00 1918.8 2071.9 1765.6 177.1 2156.6 3.37 -4.72 11 233.74 26.94 16.08 2.84 0.006 0.197 0.066 3328.91 3552.62 3105.19 2039.88 1134.06 0 0 0 15.04 15.27 14.80

310.16 3205 -107.06 -1.31 0.00 3330.7 3551.0 3110.4 2039.6 1133.4 41.64 -15.46 36 329.21 0.00 0.25 2.80 0.000 0.167 0.026 3332.25 3551.69 3112.81 2073.38 2266.25 0 0 0 30.00 15.48 15.81

514.56 516 -107.06 -1.31 -60.00 3331.1 3550.6 3111.6 2073.2 2266.1 72.11 -15.48 74 533.66 0.00 0.00 3.09 0.000 0.000 0.058 3331.44 3551.12 3111.75 2073.44 1134.31 0 0 0 30.00 30.00 15.65

544.51 1028 -107.06 -1.31 0.00 3331.2 3550.7 3111.8 2072.9 1134.2 76.31 -14.18 77 562.42 0.00 0.00 2.77 0.000 0.000 0.025 3331.31 3550.19 3112.44 2073.38 2267.06 0 0 0 30.00 30.00 15.84

747.79 260 -107.06 -1.31 60.00 3331.3 3550.3 3112.2 2073.7 2267.3 101.47 -12.57 114 767.27 0.00 0.00 3.15 0.000 0.000 0.083 3332.69 3551.25 3114.12 2072.31 3342.00 0 0 0 30.00 30.00 15.59

803.02 1028 -107.06 -1.31 0.00 3330.9 3547.5 3114.3 2073.6 3342.7 108.63 -13.10 122 820.91 0.00 0.00 2.72 0.000 0.000 0.018 3331.38 3548.06 3114.69 2073.25 2178.00 0 0 0 30.00 30.00 15.88

1126.27 516 -107.06 -1.31 -60.00 3331.7 3547.9 3115.6 2073.6 2175.1 144.88 -10.36 154 1144.56 0.00 0.00 2.87 0.000 0.000 0.064 3332.12 3548.38 3115.88 2073.38 1134.44 0 0 0 30.00 30.00 15.65

1170.31 1028 -107.06 -1.31 0.00 3331.8 3547.9 3115.6 2074.1 1134.2 149.55 -10.52 160 1188.60 0.00 0.00 2.75 0.000 0.000 0.024 3331.50 3547.94 3115.06 2073.56 2268.19 0 0 0 30.00 30.00 15.86

1493.99 516 -107.06 -1.31 -60.00 3331.7 3547.6 3115.9 2073.3 2268.2 183.29 -11.40 192 1513.88 0.00 0.00 3.11 0.000 0.000 0.060 3332.25 3548.25 3116.25 2073.69 1134.50 0 0 0 30.00 30.00 15.65

1549.62 1028 -107.06 -1.31 0.00 3331.8 3548.1 3115.5 2073.5 1134.4 189.93 -11.79 200 1567.53 0.00 0.00 2.76 0.000 0.000 0.025 3331.88 3548.00 3115.75 2073.50 2268.56 0 0 0 30.00 30.00 15.87

1872.92 516 -107.06 -1.31 -60.00 3331.7 3547.3 3116.0 2073.1 2269.1 227.09 -11.60 232 1892.66 0.00 0.00 3.13 0.000 0.000 0.061 3332.44 3548.31 3116.56 2073.25 1133.06 0 0 0 30.00 30.00 15.65

1923.55 1028 -107.06 -1.31 0.00 3331.9 3547.8 3116.0 2074.0 1133.0 233.22 -12.19 239 1942.05 0.00 0.00 2.76 0.000 0.000 0.025 3333.31 3548.62 3118.00 2072.44 2267.19 0 0 0 30.00 30.00 15.87

2247.45 516 -107.06 -1.31 -60.00 3331.9 3547.6 3116.1 2073.5 2267.2 270.42 -11.28 271 2267.59 0.00 0.00 3.12 0.000 0.000 0.061 3332.25 3547.44 3117.06 2073.88 1134.00 0 0 0 30.00 30.00 15.64

2318.36 1028 -107.06 -1.31 0.00 3332.2 3547.9 3116.4 2073.3 1133.7 278.31 -10.81 282 2336.88 0.00 0.00 2.78 0.000 0.000 0.024 3333.22 3548.75 3117.69 2072.75 2267.06 0 0 0 30.00 30.00 15.86

2642.27 516 -107.06 -1.31 -60.00 3332.1 3548.1 3116.2 2073.4 2267.4 312.82 -10.32 314 2662.00 0.00 0.00 3.13 0.000 0.000 0.061 3332.84 3548.25 3117.44 2073.62 1134.62 0 0 0 30.00 30.00 15.64

2672.78 1028 -107.06 -1.31 0.00 3331.8 3547.2 3116.3 2073.4 1134.2 315.94 -10.52 317 2690.90 0.00 0.00 2.77 0.000 0.000 0.025 3332.94 3548.81 3117.06 2073.81 2267.31 0 0 0 30.00 30.00 15.86

2996.30 516 -107.06 -1.31 -60.00 3332.1 3547.8 3116.4 2073.6 2267.7 347.66 -9.89 349 3016.42 0.00 0.00 3.14 0.000 0.000 0.061 3332.16 3548.38 3115.94 2073.69 1134.50 0 0 0 30.00 30.00 15.63

3062.21 1028 -107.06 -1.31 0.00 3332.0 3547.4 3116.6 2073.6 1134.2 354.18 -9.86 359 3080.32 0.00 0.00 2.77 0.000 0.000 0.025 3333.06 3548.88 3117.25 2073.50 2267.38 0 0 0 30.00 30.00 15.86

3385.78 516 -107.06 -1.31 -60.00 3332.0 3548.0 3116.1 2073.7 2266.8 387.50 -11.26 391 3405.90 0.00 0.00 3.12 0.000 0.000 0.061 3333.00 3548.00 3118.00 2071.31 1134.69 0 0 0 30.00 30.00 15.63

3436.80 1028 -107.06 -1.31 0.00 3332.3 3547.6 3116.9 2073.4 1134.2 393.50 -11.89 398 3454.91 0.00 0.00 2.78 0.000 0.000 0.025 3333.31 3548.75 3117.88 2073.25 2267.06 0 0 0 30.00 30.00 15.85

3760.32 516 -107.06 -1.31 -60.00 3331.8 3547.6 3116.1 2073.4 2267.4 430.55 -11.42 430 3780.05 0.00 0.00 3.14 0.000 0.000 0.062 3333.00 3547.50 3118.50 2072.44 1134.25 0 0 0 30.00 30.00 15.62

3795.83 1028 -107.06 -1.31 0.00 3332.3 3547.7 3116.9 2073.7 1134.6 434.63 -11.76 434 3813.94 0.00 0.00 2.78 0.000 0.000 0.025 3332.00 3547.00 3117.00 2073.56 2267.94 0 0 0 30.00 30.00 15.85

4119.34 516 -107.06 -1.31 -60.00 3331.7 3546.8 3116.6 2073.2 2267.4 467.74 -9.50 466 4139.08 0.00 0.00 3.13 0.000 0.000 0.062 3332.12 3547.75 3116.50 2073.00 1133.50 0 0 0 30.00 30.00 15.62

4149.86 1028 -107.06 -1.31 0.00 3331.5 3546.4 3116.6 2073.6 1133.5 470.69 -9.61 469 4167.98 0.00 0.00 2.78 0.000 0.000 0.025 3331.72 3546.69 3116.75 2073.56 2267.00 0 0 0 30.00 30.00 15.85

4473.78 548 -107.06 -1.31 -60.00 3330.5 3545.0 3116.1 2074.3 2267.4 499.78 -9.18 501 4493.51 0.00 0.00 3.12 0.000 0.000 0.062 3331.16 3545.31 3117.00 2073.69 1135.38 0 0 0 30.00 30.00 15.61

4519.70 1060 -107.06 -1.31 0.00 3330.5 3544.9 3116.1 2073.1 1135.2 503.91 -9.08 507 4537.81 0.00 0.00 2.77 0.000 0.000 0.025 3330.88 3545.69 3116.06 2073.50 2267.00 0 0 0 30.00 30.00 15.84

4843.24 0 -107.06 -1.31 0.00 3330.1 3544.2 3116.0 2073.4 2267.6 535.53 -10.53 539 4847.61 0.00 0.00 0.00 0.000 0.000 0.000 3329.12 3544.19 3114.06 2073.69 2267.00 0 0 0 30.00 30.00 30.00

5153.24 516 -107.06 -1.31 -60.00 3329.9 3543.8 3116.1 2073.3 2267.4 570.53 -11.22 570 5172.97 0.00 0.00 3.12 0.000 0.000 0.063 3330.66 3544.62 3116.69 2073.38 1134.81 0 0 0 30.00 30.00 15.60

5213.76 1028 -107.06 -1.31 0.00 3329.7 3543.2 3116.2 2072.9 1134.8 577.60 -11.49 579 5231.87 0.00 0.00 2.79 0.000 0.000 0.026 3330.22 3544.19 3116.25 2073.50 2266.31 0 0 0 30.00 30.00 15.84

5537.28 516 -107.06 -1.31 -60.00 3329.3 3542.8 3115.9 2073.4 2266.1 614.60 -11.31 611 5557.02 0.00 0.00 3.12 0.000 0.000 0.063 3330.56 3543.44 3117.69 2073.50 1134.62 0 0 0 30.00 30.00 15.59

5572.80 1028 -107.06 -1.31 0.00 3329.2 3542.2 3116.1 2073.4 1134.3 618.54 -11.68 615 5590.90 0.00 0.00 2.80 0.000 0.000 0.026 3330.72 3543.06 3118.38 2072.44 2266.25 0 0 0 30.00 30.00 15.83

5896.29 516 -107.06 -1.31 -60.00 3329.1 3542.1 3116.1 2074.0 2266.1 652.19 -9.66 647 5916.02 0.00 0.00 3.13 0.000 0.000 0.063 3329.03 3542.00 3116.06 2073.38 1134.62 0 0 0 30.00 30.00 15.58

5967.21 1060 -107.06 -1.31 0.00 3328.9 3541.6 3116.2 2073.1 1134.1 658.99 -9.43 658 5985.33 0.00 0.00 2.80 0.000 0.000 0.026 3329.22 3542.12 3116.31 2073.56 2266.00 0 0 0 30.00 30.00 15.82

6200 end dive: TARGET_DEPTH_EXCEEDED

state 6200 begin apogee

6206.97 10243 0.00 -0.31 0.00 3328.5 3540.4 3116.5 2073.8 2042.2 680.45 -9.44 681 6340.48 84.67 1.83 0.19 1.874 0.133 0.120 2889.72 3020.81 2758.62 2314.62 2151.81 0 0 0 10.25 15.42 15.14

6344 end apogee: CONTROL_FINISHED_OK

state 6345 begin climb

6348.27 10759 107.06 1.44 -60.00 2886.9 3019.6 2754.1 2314.4 2151.1 685.41 0.00 690 6509.34 88.89 2.97 3.37 1.829 0.089 0.077 2451.00 2532.94 2369.06 2744.56 997.50 0 0 0 11.58 15.55 15.04

6730.70 11303 345.30 1.92 0.00 2441.6 2529.0 2354.2 2744.6 997.4 701.00 -2.80 753 7022.52 192.26 0.70 2.78 1.849 0.053 0.022 1482.88 1538.69 1427.06 2868.31 2135.94 0 0 0 11.57 15.56 15.75

7328.51 8486 357.97 1.94 60.00 1472.1 1538.4 1405.8 2867.2 2135.8 656.84 8.79 823 7368.20 11.54 0.00 3.12 1.463 0.000 0.086 1430.66 1496.62 1364.69 2867.69 3199.56 0 0 0 11.41 30.00 15.32

7479.15 1028 357.97 1.94 0.00 1428.5 1496.2 1360.8 2868.4 3199.4 642.78 9.72 849 7497.47 0.00 0.00 2.78 0.000 0.000 0.023 1428.28 1496.19 1360.38 2868.62 2062.50 0 0 0 30.00 30.00 15.79

7803.32 8742 374.33 1.98 -60.00 1427.2 1496.1 1358.2 2868.2 2063.1 615.27 8.60 881 7846.32 16.24 0.00 3.07 1.568 0.000 0.084 1363.66 1430.19 1297.12 2867.62 997.62 0 0 0 11.45 30.00 15.36

7877.55 9254 384.04 2.00 0.00 1362.2 1429.9 1294.6 2868.8 997.6 608.75 8.95 891 7914.48 10.98 0.00 2.77 1.426 0.000 0.023 1324.16 1391.06 1257.25 2868.56 2133.31 0 0 0 11.74 30.00 15.81

8220.32 8742 395.81 2.02 -60.00 1321.1 1391.2 1251.1 2868.5 2133.1 579.45 8.84 926 8260.83 12.10 0.00 3.27 1.460 0.000 0.079 1276.06 1342.44 1209.69 2868.12 997.44 0 0 0 11.62 30.00 15.38

8311.66 1028 395.81 2.02 0.00 1275.0 1342.1 1207.9 2868.4 997.8 570.53 10.16 940 8330.63 0.00 0.00 2.78 0.000 0.000 0.023 1275.69 1342.69 1208.69 2868.12 2131.62 0 0 0 30.00 30.00 15.82

8636.20 0 395.81 2.02 0.00 1274.2 1342.2 1206.2 2868.1 2132.0 540.01 9.62 972 8640.30 0.00 0.00 0.00 0.000 0.000 0.000 1274.12 1342.25 1206.00 2868.31 2131.69 0 0 0 30.00 30.00 30.00

8946.25 516 395.81 2.02 -60.00 1273.9 1341.9 1206.0 2868.2 2132.1 510.22 9.60 1003 8966.61 0.00 0.00 3.26 0.000 0.000 0.077 1274.00 1341.75 1206.25 2867.44 997.25 0 0 0 30.00 30.00 15.61

9007.43 1028 395.81 2.02 0.00 1273.8 1342.4 1205.1 2869.0 997.2 503.87 10.29 1012 9025.76 0.00 0.00 2.76 0.000 0.000 0.023 1273.56 1342.25 1204.88 2868.06 2131.50 0 0 0 30.00 30.00 15.88

9331.63 8742 404.82 2.04 -60.00 1273.2 1342.1 1204.2 2868.1 2131.7 472.91 8.98 1044 9366.16 9.92 0.00 3.25 1.311 0.000 0.079 1239.50 1307.25 1171.75 2868.44 996.25 0 0 0 11.24 30.00 15.42

9382.00 1028 404.82 2.04 0.00 1239.1 1306.3 1171.9 2868.6 996.6 467.89 9.86 1050 9400.71 0.00 0.00 2.75 0.000 0.000 0.023 1239.31 1306.19 1172.44 2868.62 2132.50 0 0 0 30.00 30.00 15.88

9706.58 10535 425.15 2.08 60.00 1238.0 1306.2 1169.7 2868.7 2131.9 439.23 8.40 1082 9756.49 19.59 0.16 3.12 1.476 0.091 0.086 1157.25 1215.12 1099.38 2905.56 3199.88 0 0 0 11.60 15.82 15.38

9762.30 1028 425.15 2.08 0.00 1156.1 1214.7 1097.5 2906.4 3201.3 433.93 9.86 1087 9780.62 0.00 0.00 2.76 0.000 0.000 0.023 1156.22 1215.06 1097.38 2906.50 2061.50 0 0 0 30.00 30.00 15.84

10086.08 516 425.15 2.08 -60.00 1154.9 1214.9 1094.9 2905.9 2061.1 400.96 10.89 1119 10105.65 0.00 0.00 3.05 0.000 0.000 0.081 1155.12 1215.19 1095.06 2906.44 997.38 0 0 0 30.00 30.00 15.62

10151.59 1028 425.15 2.08 0.00 1154.5 1214.7 1094.3 2906.6 998.1 393.21 11.68 1129 10170.30 0.00 0.00 2.74 0.000 0.000 0.023 1154.94 1215.19 1094.69 2907.12 2132.38 0 0 0 30.00 30.00 15.87

10475.74 516 425.15 2.08 -60.00 1154.3 1214.8 1093.8 2906.3 2132.9 355.22 11.55 1161 10496.10 0.00 0.00 3.25 0.000 0.000 0.077 1154.19 1214.69 1093.69 2905.62 996.31 0 0 0 30.00 30.00 15.59

10567.05 1028 425.15 2.08 0.00 1154.0 1214.6 1093.4 2905.9 996.3 344.44 11.77 1176 10585.38 0.00 0.00 2.78 0.000 0.000 0.024 1154.19 1214.94 1093.44 2906.69 2129.06 0 0 0 30.00 30.00 15.87

10890.81 516 425.15 2.08 -60.00 1153.8 1214.7 1092.9 2906.1 2129.4 310.74 9.75 1208 10911.19 0.00 0.00 3.26 0.000 0.000 0.077 1153.94 1214.38 1093.50 2905.00 997.25 0 0 0 30.00 30.00 15.57

10962.02 1028 425.15 2.08 0.00 1153.7 1214.8 1092.6 2907.1 997.5 303.75 9.79 1219 10980.34 0.00 0.00 2.77 0.000 0.000 0.023 1154.03 1214.88 1093.19 2906.25 2130.69 0 0 0 30.00 30.00 15.88

11285.78 516 425.15 2.08 -60.00 1153.7 1214.9 1092.6 2906.2 2130.7 272.29 10.49 1251 11306.38 0.00 0.00 3.26 0.000 0.000 0.077 1153.91 1215.00 1092.81 2906.00 996.38 0 0 0 30.00 30.00 15.56

11322.21 1028 425.15 2.08 0.00 1153.5 1214.7 1092.2 2906.5 996.5 268.35 10.88 1255 11340.54 0.00 0.00 2.77 0.000 0.000 0.023 1154.09 1215.38 1092.81 2906.69 2129.38 0 0 0 30.00 30.00 15.87

11646.38 548 426.07 2.08 -60.00 1153.3 1214.6 1092.1 2906.2 2129.7 236.13 9.40 1287 11666.75 0.00 0.00 3.25 0.000 0.000 0.076 1152.91 1213.69 1092.12 2907.19 996.56 0 0 0 30.00 30.00 15.55

11732.69 1028 426.07 2.08 0.00 1153.4 1214.6 1092.2 2906.8 996.4 227.49 10.04 1301 11751.40 0.00 0.00 2.76 0.000 0.000 0.023 1154.06 1215.19 1092.94 2905.00 2130.19 0 0 0 30.00 30.00 15.88

12057.25 8742 434.86 2.10 -60.00 1153.4 1214.8 1092.1 2906.7 2131.0 197.49 8.99 1333 12093.59 10.31 0.00 3.24 1.098 0.000 0.078 1117.22 1175.75 1058.69 2906.62 997.69 0 0 0 10.93 30.00 15.39

12109.42 1028 434.86 2.10 0.00 1116.8 1175.6 1057.9 2906.8 997.5 192.25 10.09 1339 12127.74 0.00 0.00 2.74 0.000 0.000 0.023 1116.72 1175.69 1057.75 2906.75 2132.38 0 0 0 30.00 30.00 15.89

12433.21 516 434.86 2.10 -60.00 1116.0 1175.5 1056.5 2907.1 2132.2 158.14 10.68 1371 12453.58 0.00 0.00 3.25 0.000 0.000 0.076 1115.59 1174.94 1056.25 2906.00 997.19 0 0 0 30.00 30.00 15.58

12474.40 1028 434.86 2.10 0.00 1115.8 1175.2 1056.3 2906.2 997.3 153.44 11.44 1376 12492.73 0.00 0.00 2.74 0.000 0.000 0.022 1116.44 1175.81 1057.06 2906.12 2130.19 0 0 0 30.00 30.00 15.88

12798.19 260 434.86 2.10 60.00 1115.8 1175.6 1055.9 2906.8 2130.6 121.59 9.83 1408 12818.56 0.00 0.00 3.12 0.000 0.000 0.082 1115.62 1174.94 1056.31 2906.50 3200.44 0 0 0 30.00 30.00 15.56

12829.37 1028 434.86 2.10 0.00 1115.6 1175.2 1056.0 2906.4 3201.0 118.37 10.49 1411 12847.93 0.00 0.00 2.73 0.000 0.000 0.022 1115.75 1175.38 1056.12 2906.06 2059.62 0 0 0 30.00 30.00 15.89

13153.89 8486 501.45 2.23 60.00 1115.3 1175.0 1055.6 2905.9 2060.4 93.53 6.02 1453 13251.95 54.67 0.00 3.30 1.156 0.000 0.078 845.72 874.81 816.62 2906.62 3201.06 0 0 0 11.15 30.00 15.34

13259.72 11431 511.26 2.38 0.00 843.8 874.1 813.6 2906.4 3201.2 85.26 8.94 1466 13294.70 10.15 0.40 2.76 0.948 0.066 0.022 806.78 833.69 779.88 2974.94 2060.12 0 0 0 11.71 15.60 15.78

13480.26 0 511.26 2.38 0.00 803.2 833.2 773.1 2976.4 2059.9 60.46 11.48 1506 13486.91 0.00 0.00 0.00 0.000 0.000 0.000 803.28 833.31 773.25 2976.44 2060.06 0 0 0 30.00 30.00 30.00

13672.75 8742 543.55 2.44 -60.00 802.5 833.4 771.7 2976.0 2060.1 42.49 7.79 1544 13733.64 27.20 0.00 3.03 1.051 0.000 0.082 673.81 689.00 658.62 2976.44 996.44 0 0 0 11.46 30.00 15.32

13749.87 9254 566.97 2.49 0.00 671.8 687.5 656.0 2976.7 996.7 36.42 8.24 1554 13796.88 20.58 0.00 2.74 1.008 0.000 0.022 579.41 582.50 576.31 2976.56 2134.56 0 0 0 11.72 30.00 15.80

13983.52 10919 578.29 2.65 -60.00 575.8 581.2 570.4 2976.9 2134.9 16.77 8.86 1596 14024.86 11.06 0.14 3.22 0.902 0.095 0.076 533.25 533.62 532.88 3011.19 996.31 0 0 0 11.69 15.74 15.30

14096.21 11303 620.51 2.73 0.00 531.3 530.6 532.1 3012.5 996.0 7.38 7.28 1614 14128.29 8.77 0.00 2.75 0.837 0.000 0.021 500.44 496.06 504.81 3012.69 2136.88 0 0 0 11.72 30.00 15.81

14143 end climb: SURFACE_DEPTH_REACHED

state 14143 begin surface coast

14209 end surface coast: CONTROL_FINISHED_OK

state 14209 begin surface

ID	249	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	8	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054949999	XPDR_VALID	6
DIVE	1043	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	-1
STOP_T	0	SM_CC	400	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	4	N_FILEKB	4	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	680	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	COMM_SEQ	7	C_VBD	2890	DEEPGLIDERMB	0
D_NO_BLEED	200	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0020000001	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	0
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	20000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	240	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	320	T_RSLEEP	1	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	120	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_EPIRB	0	PITCH_MIN	200	AH0_24V	506	NAV_DEVICE	-1
USE_BATHY	-1	PITCH_MAX	3000	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2390	MINV_24V	11	NETWORK_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
RELAUNCH	1	PITCH_GAIN	16	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	140.10745	SEABIRD_T_G	0.0043000001
MAX_BUOY	110	PITCH_MAXERRORS	1	FG_AHR_24V	295.37613	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-179.54233	SEABIRD_T_J	4.3e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00021665409	SEABIRD_C_G	-10
MASS	72955	C_PITCH_AUTO_MAX	0	COMPASS_USE	16388	SEABIRD_C_H	1
NAV_MODE	0	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.00177828	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.020747701	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HD_C	5.7000002e-06	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	60	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2240	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	030523,130031,4652.602,-12459.227,23,0.8,24,15.5	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030523,130758,4652.603,-12459.311,2,0.6,3,15.5	MHEAD_RNG_PITCHd_Wd	294.6,1141,-19.6,-9.444,-30.00,2000,0.229
SPEED_LIMITS	0.164,0.174	D_GRID	718
TGT_NAME	WESTPORT	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	4653.000,-12500.000

FINISH	-0.4,0.999843	FG_AHR_24Vo	295.655
SM_CCo	14381.58,0.00,0.000,0,496.7,492.1,501.3,587.07	FG_AHR_10Vo	140.138
SM_GC	1.17,0.00,19.67,0.28,0.000,0.047,0.066,496.7,492.1,501.3,176.9,2280.4,0,0,0,30.00,15.75,15.80	MEM0	60108,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4654.22,-12457.46,030523,085118	MEM2	951284,827,78784,98
TCM_TEMP	265.97	DATA_FILE_SIZE	48067,1633
XPDR_PINGS	0,13.0,10.5	CAP_FILE_SIZE	387425,0
HUMID	55.00	SDSIZE	4028416,3708928
TEMP	84.52	SDFILEDIR	6093,1
INTERNAL_PRESSURE	8.523	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	14.31,355.785	GPS	030523,170840,4653.899,-12500.537,25,1.3,27,15.6
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	670	1873	17975.80	nil	0	0	0.00
Pitch_motor	42	197	119.09	nil	0	0	0.00
Roll_motor	202	120	347.61	nil	0	0	0.00
Iridium	192	213	588.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.26	nil	0	0	0.00
Core	6823	6	696.01	SciCon	0	0	0.00
Fast	188	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	7693	2	230.79
Compass	2568	5	192.65
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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
16.25	16386	-107.06	-1.44	0.00	552.2	543.4	561.1	177.1	2156.2	0.00	0.00	0	94.66	54.48	0.00	0.00	0.005	0.000	0.000	1916.06	2073.38	1758.75	176.94	2156.50	0	0	0	14.89	30.00	30.00
96.88	18983	-107.06	-1.44	-60.00	1918.8	2071.9	1765.6	177.1	2156.6	3.37	-4.72	11	233.74	26.94	16.08	2.84	0.006	0.197	0.066	3328.91	3552.62	3105.19	2039.88	1134.06	0	0	0	15.04	15.27	14.80
310.16	3205	-107.06	-1.31	0.00	3330.7	3551.0	3110.4	2039.6	1133.4	41.64	-15.46	36	329.21	0.00	0.25	2.80	0.000	0.167	0.026	3332.25	3551.69	3112.81	2073.38	2266.25	0	0	0	30.00	15.48	15.81
514.56	516	-107.06	-1.31	-60.00	3331.1	3550.6	3111.6	2073.2	2266.1	72.11	-15.48	74	533.66	0.00	0.00	3.09	0.000	0.000	0.058	3331.44	3551.12	3111.75	2073.44	1134.31	0	0	0	30.00	30.00	15.65
544.51	1028	-107.06	-1.31	0.00	3331.2	3550.7	3111.8	2072.9	1134.2	76.31	-14.18	77	562.42	0.00	0.00	2.77	0.000	0.000	0.025	3331.31	3550.19	3112.44	2073.38	2267.06	0	0	0	30.00	30.00	15.84
747.79	260	-107.06	-1.31	60.00	3331.3	3550.3	3112.2	2073.7	2267.3	101.47	-12.57	114	767.27	0.00	0.00	3.15	0.000	0.000	0.083	3332.69	3551.25	3114.12	2072.31	3342.00	0	0	0	30.00	30.00	15.59
803.02	1028	-107.06	-1.31	0.00	3330.9	3547.5	3114.3	2073.6	3342.7	108.63	-13.10	122	820.91	0.00	0.00	2.72	0.000	0.000	0.018	3331.38	3548.06	3114.69	2073.25	2178.00	0	0	0	30.00	30.00	15.88
1126.27	516	-107.06	-1.31	-60.00	3331.7	3547.9	3115.6	2073.6	2175.1	144.88	-10.36	154	1144.56	0.00	0.00	2.87	0.000	0.000	0.064	3332.12	3548.38	3115.88	2073.38	1134.44	0	0	0	30.00	30.00	15.65
1170.31	1028	-107.06	-1.31	0.00	3331.8	3547.9	3115.6	2074.1	1134.2	149.55	-10.52	160	1188.60	0.00	0.00	2.75	0.000	0.000	0.024	3331.50	3547.94	3115.06	2073.56	2268.19	0	0	0	30.00	30.00	15.86
1493.99	516	-107.06	-1.31	-60.00	3331.7	3547.6	3115.9	2073.3	2268.2	183.29	-11.40	192	1513.88	0.00	0.00	3.11	0.000	0.000	0.060	3332.25	3548.25	3116.25	2073.69	1134.50	0	0	0	30.00	30.00	15.65
1549.62	1028	-107.06	-1.31	0.00	3331.8	3548.1	3115.5	2073.5	1134.4	189.93	-11.79	200	1567.53	0.00	0.00	2.76	0.000	0.000	0.025	3331.88	3548.00	3115.75	2073.50	2268.56	0	0	0	30.00	30.00	15.87
1872.92	516	-107.06	-1.31	-60.00	3331.7	3547.3	3116.0	2073.1	2269.1	227.09	-11.60	232	1892.66	0.00	0.00	3.13	0.000	0.000	0.061	3332.44	3548.31	3116.56	2073.25	1133.06	0	0	0	30.00	30.00	15.65
1923.55	1028	-107.06	-1.31	0.00	3331.9	3547.8	3116.0	2074.0	1133.0	233.22	-12.19	239	1942.05	0.00	0.00	2.76	0.000	0.000	0.025	3333.31	3548.62	3118.00	2072.44	2267.19	0	0	0	30.00	30.00	15.87
2247.45	516	-107.06	-1.31	-60.00	3331.9	3547.6	3116.1	2073.5	2267.2	270.42	-11.28	271	2267.59	0.00	0.00	3.12	0.000	0.000	0.061	3332.25	3547.44	3117.06	2073.88	1134.00	0	0	0	30.00	30.00	15.64
2318.36	1028	-107.06	-1.31	0.00	3332.2	3547.9	3116.4	2073.3	1133.7	278.31	-10.81	282	2336.88	0.00	0.00	2.78	0.000	0.000	0.024	3333.22	3548.75	3117.69	2072.75	2267.06	0	0	0	30.00	30.00	15.86
2642.27	516	-107.06	-1.31	-60.00	3332.1	3548.1	3116.2	2073.4	2267.4	312.82	-10.32	314	2662.00	0.00	0.00	3.13	0.000	0.000	0.061	3332.84	3548.25	3117.44	2073.62	1134.62	0	0	0	30.00	30.00	15.64
2672.78	1028	-107.06	-1.31	0.00	3331.8	3547.2	3116.3	2073.4	1134.2	315.94	-10.52	317	2690.90	0.00	0.00	2.77	0.000	0.000	0.025	3332.94	3548.81	3117.06	2073.81	2267.31	0	0	0	30.00	30.00	15.86
2996.30	516	-107.06	-1.31	-60.00	3332.1	3547.8	3116.4	2073.6	2267.7	347.66	-9.89	349	3016.42	0.00	0.00	3.14	0.000	0.000	0.061	3332.16	3548.38	3115.94	2073.69	1134.50	0	0	0	30.00	30.00	15.63
3062.21	1028	-107.06	-1.31	0.00	3332.0	3547.4	3116.6	2073.6	1134.2	354.18	-9.86	359	3080.32	0.00	0.00	2.77	0.000	0.000	0.025	3333.06	3548.88	3117.25	2073.50	2267.38	0	0	0	30.00	30.00	15.86
3385.78	516	-107.06	-1.31	-60.00	3332.0	3548.0	3116.1	2073.7	2266.8	387.50	-11.26	391	3405.90	0.00	0.00	3.12	0.000	0.000	0.061	3333.00	3548.00	3118.00	2071.31	1134.69	0	0	0	30.00	30.00	15.63
3436.80	1028	-107.06	-1.31	0.00	3332.3	3547.6	3116.9	2073.4	1134.2	393.50	-11.89	398	3454.91	0.00	0.00	2.78	0.000	0.000	0.025	3333.31	3548.75	3117.88	2073.25	2267.06	0	0	0	30.00	30.00	15.85
3760.32	516	-107.06	-1.31	-60.00	3331.8	3547.6	3116.1	2073.4	2267.4	430.55	-11.42	430	3780.05	0.00	0.00	3.14	0.000	0.000	0.062	3333.00	3547.50	3118.50	2072.44	1134.25	0	0	0	30.00	30.00	15.62
3795.83	1028	-107.06	-1.31	0.00	3332.3	3547.7	3116.9	2073.7	1134.6	434.63	-11.76	434	3813.94	0.00	0.00	2.78	0.000	0.000	0.025	3332.00	3547.00	3117.00	2073.56	2267.94	0	0	0	30.00	30.00	15.85
4119.34	516	-107.06	-1.31	-60.00	3331.7	3546.8	3116.6	2073.2	2267.4	467.74	-9.50	466	4139.08	0.00	0.00	3.13	0.000	0.000	0.062	3332.12	3547.75	3116.50	2073.00	1133.50	0	0	0	30.00	30.00	15.62
4149.86	1028	-107.06	-1.31	0.00	3331.5	3546.4	3116.6	2073.6	1133.5	470.69	-9.61	469	4167.98	0.00	0.00	2.78	0.000	0.000	0.025	3331.72	3546.69	3116.75	2073.56	2267.00	0	0	0	30.00	30.00	15.85
4473.78	548	-107.06	-1.31	-60.00	3330.5	3545.0	3116.1	2074.3	2267.4	499.78	-9.18	501	4493.51	0.00	0.00	3.12	0.000	0.000	0.062	3331.16	3545.31	3117.00	2073.69	1135.38	0	0	0	30.00	30.00	15.61
4519.70	1060	-107.06	-1.31	0.00	3330.5	3544.9	3116.1	2073.1	1135.2	503.91	-9.08	507	4537.81	0.00	0.00	2.77	0.000	0.000	0.025	3330.88	3545.69	3116.06	2073.50	2267.00	0	0	0	30.00	30.00	15.84
4843.24	0	-107.06	-1.31	0.00	3330.1	3544.2	3116.0	2073.4	2267.6	535.53	-10.53	539	4847.61	0.00	0.00	0.00	0.000	0.000	0.000	3329.12	3544.19	3114.06	2073.69	2267.00	0	0	0	30.00	30.00	30.00
5153.24	516	-107.06	-1.31	-60.00	3329.9	3543.8	3116.1	2073.3	2267.4	570.53	-11.22	570	5172.97	0.00	0.00	3.12	0.000	0.000	0.063	3330.66	3544.62	3116.69	2073.38	1134.81	0	0	0	30.00	30.00	15.60
5213.76	1028	-107.06	-1.31	0.00	3329.7	3543.2	3116.2	2072.9	1134.8	577.60	-11.49	579	5231.87	0.00	0.00	2.79	0.000	0.000	0.026	3330.22	3544.19	3116.25	2073.50	2266.31	0	0	0	30.00	30.00	15.84
5537.28	516	-107.06	-1.31	-60.00	3329.3	3542.8	3115.9	2073.4	2266.1	614.60	-11.31	611	5557.02	0.00	0.00	3.12	0.000	0.000	0.063	3330.56	3543.44	3117.69	2073.50	1134.62	0	0	0	30.00	30.00	15.59
5572.80	1028	-107.06	-1.31	0.00	3329.2	3542.2	3116.1	2073.4	1134.3	618.54	-11.68	615	5590.90	0.00	0.00	2.80	0.000	0.000	0.026	3330.72	3543.06	3118.38	2072.44	2266.25	0	0	0	30.00	30.00	15.83
5896.29	516	-107.06	-1.31	-60.00	3329.1	3542.1	3116.1	2074.0	2266.1	652.19	-9.66	647	5916.02	0.00	0.00	3.13	0.000	0.000	0.063	3329.03	3542.00	3116.06	2073.38	1134.62	0	0	0	30.00	30.00	15.58
5967.21	1060	-107.06	-1.31	0.00	3328.9	3541.6	3116.2	2073.1	1134.1	658.99	-9.43	658	5985.33	0.00	0.00	2.80	0.000	0.000	0.026	3329.22	3542.12	3116.31	2073.56	2266.00	0	0	0	30.00	30.00	15.82
6200	end dive: TARGET_DEPTH_EXCEEDED
state	6200	begin apogee
6206.97	10243	0.00	-0.31	0.00	3328.5	3540.4	3116.5	2073.8	2042.2	680.45	-9.44	681	6340.48	84.67	1.83	0.19	1.874	0.133	0.120	2889.72	3020.81	2758.62	2314.62	2151.81	0	0	0	10.25	15.42	15.14
6344	end apogee: CONTROL_FINISHED_OK
state	6345	begin climb
6348.27	10759	107.06	1.44	-60.00	2886.9	3019.6	2754.1	2314.4	2151.1	685.41	0.00	690	6509.34	88.89	2.97	3.37	1.829	0.089	0.077	2451.00	2532.94	2369.06	2744.56	997.50	0	0	0	11.58	15.55	15.04
6730.70	11303	345.30	1.92	0.00	2441.6	2529.0	2354.2	2744.6	997.4	701.00	-2.80	753	7022.52	192.26	0.70	2.78	1.849	0.053	0.022	1482.88	1538.69	1427.06	2868.31	2135.94	0	0	0	11.57	15.56	15.75
7328.51	8486	357.97	1.94	60.00	1472.1	1538.4	1405.8	2867.2	2135.8	656.84	8.79	823	7368.20	11.54	0.00	3.12	1.463	0.000	0.086	1430.66	1496.62	1364.69	2867.69	3199.56	0	0	0	11.41	30.00	15.32
7479.15	1028	357.97	1.94	0.00	1428.5	1496.2	1360.8	2868.4	3199.4	642.78	9.72	849	7497.47	0.00	0.00	2.78	0.000	0.000	0.023	1428.28	1496.19	1360.38	2868.62	2062.50	0	0	0	30.00	30.00	15.79
7803.32	8742	374.33	1.98	-60.00	1427.2	1496.1	1358.2	2868.2	2063.1	615.27	8.60	881	7846.32	16.24	0.00	3.07	1.568	0.000	0.084	1363.66	1430.19	1297.12	2867.62	997.62	0	0	0	11.45	30.00	15.36
7877.55	9254	384.04	2.00	0.00	1362.2	1429.9	1294.6	2868.8	997.6	608.75	8.95	891	7914.48	10.98	0.00	2.77	1.426	0.000	0.023	1324.16	1391.06	1257.25	2868.56	2133.31	0	0	0	11.74	30.00	15.81
8220.32	8742	395.81	2.02	-60.00	1321.1	1391.2	1251.1	2868.5	2133.1	579.45	8.84	926	8260.83	12.10	0.00	3.27	1.460	0.000	0.079	1276.06	1342.44	1209.69	2868.12	997.44	0	0	0	11.62	30.00	15.38
8311.66	1028	395.81	2.02	0.00	1275.0	1342.1	1207.9	2868.4	997.8	570.53	10.16	940	8330.63	0.00	0.00	2.78	0.000	0.000	0.023	1275.69	1342.69	1208.69	2868.12	2131.62	0	0	0	30.00	30.00	15.82
8636.20	0	395.81	2.02	0.00	1274.2	1342.2	1206.2	2868.1	2132.0	540.01	9.62	972	8640.30	0.00	0.00	0.00	0.000	0.000	0.000	1274.12	1342.25	1206.00	2868.31	2131.69	0	0	0	30.00	30.00	30.00
8946.25	516	395.81	2.02	-60.00	1273.9	1341.9	1206.0	2868.2	2132.1	510.22	9.60	1003	8966.61	0.00	0.00	3.26	0.000	0.000	0.077	1274.00	1341.75	1206.25	2867.44	997.25	0	0	0	30.00	30.00	15.61
9007.43	1028	395.81	2.02	0.00	1273.8	1342.4	1205.1	2869.0	997.2	503.87	10.29	1012	9025.76	0.00	0.00	2.76	0.000	0.000	0.023	1273.56	1342.25	1204.88	2868.06	2131.50	0	0	0	30.00	30.00	15.88
9331.63	8742	404.82	2.04	-60.00	1273.2	1342.1	1204.2	2868.1	2131.7	472.91	8.98	1044	9366.16	9.92	0.00	3.25	1.311	0.000	0.079	1239.50	1307.25	1171.75	2868.44	996.25	0	0	0	11.24	30.00	15.42
9382.00	1028	404.82	2.04	0.00	1239.1	1306.3	1171.9	2868.6	996.6	467.89	9.86	1050	9400.71	0.00	0.00	2.75	0.000	0.000	0.023	1239.31	1306.19	1172.44	2868.62	2132.50	0	0	0	30.00	30.00	15.88
9706.58	10535	425.15	2.08	60.00	1238.0	1306.2	1169.7	2868.7	2131.9	439.23	8.40	1082	9756.49	19.59	0.16	3.12	1.476	0.091	0.086	1157.25	1215.12	1099.38	2905.56	3199.88	0	0	0	11.60	15.82	15.38
9762.30	1028	425.15	2.08	0.00	1156.1	1214.7	1097.5	2906.4	3201.3	433.93	9.86	1087	9780.62	0.00	0.00	2.76	0.000	0.000	0.023	1156.22	1215.06	1097.38	2906.50	2061.50	0	0	0	30.00	30.00	15.84
10086.08	516	425.15	2.08	-60.00	1154.9	1214.9	1094.9	2905.9	2061.1	400.96	10.89	1119	10105.65	0.00	0.00	3.05	0.000	0.000	0.081	1155.12	1215.19	1095.06	2906.44	997.38	0	0	0	30.00	30.00	15.62
10151.59	1028	425.15	2.08	0.00	1154.5	1214.7	1094.3	2906.6	998.1	393.21	11.68	1129	10170.30	0.00	0.00	2.74	0.000	0.000	0.023	1154.94	1215.19	1094.69	2907.12	2132.38	0	0	0	30.00	30.00	15.87
10475.74	516	425.15	2.08	-60.00	1154.3	1214.8	1093.8	2906.3	2132.9	355.22	11.55	1161	10496.10	0.00	0.00	3.25	0.000	0.000	0.077	1154.19	1214.69	1093.69	2905.62	996.31	0	0	0	30.00	30.00	15.59
10567.05	1028	425.15	2.08	0.00	1154.0	1214.6	1093.4	2905.9	996.3	344.44	11.77	1176	10585.38	0.00	0.00	2.78	0.000	0.000	0.024	1154.19	1214.94	1093.44	2906.69	2129.06	0	0	0	30.00	30.00	15.87
10890.81	516	425.15	2.08	-60.00	1153.8	1214.7	1092.9	2906.1	2129.4	310.74	9.75	1208	10911.19	0.00	0.00	3.26	0.000	0.000	0.077	1153.94	1214.38	1093.50	2905.00	997.25	0	0	0	30.00	30.00	15.57
10962.02	1028	425.15	2.08	0.00	1153.7	1214.8	1092.6	2907.1	997.5	303.75	9.79	1219	10980.34	0.00	0.00	2.77	0.000	0.000	0.023	1154.03	1214.88	1093.19	2906.25	2130.69	0	0	0	30.00	30.00	15.88
11285.78	516	425.15	2.08	-60.00	1153.7	1214.9	1092.6	2906.2	2130.7	272.29	10.49	1251	11306.38	0.00	0.00	3.26	0.000	0.000	0.077	1153.91	1215.00	1092.81	2906.00	996.38	0	0	0	30.00	30.00	15.56
11322.21	1028	425.15	2.08	0.00	1153.5	1214.7	1092.2	2906.5	996.5	268.35	10.88	1255	11340.54	0.00	0.00	2.77	0.000	0.000	0.023	1154.09	1215.38	1092.81	2906.69	2129.38	0	0	0	30.00	30.00	15.87
11646.38	548	426.07	2.08	-60.00	1153.3	1214.6	1092.1	2906.2	2129.7	236.13	9.40	1287	11666.75	0.00	0.00	3.25	0.000	0.000	0.076	1152.91	1213.69	1092.12	2907.19	996.56	0	0	0	30.00	30.00	15.55
11732.69	1028	426.07	2.08	0.00	1153.4	1214.6	1092.2	2906.8	996.4	227.49	10.04	1301	11751.40	0.00	0.00	2.76	0.000	0.000	0.023	1154.06	1215.19	1092.94	2905.00	2130.19	0	0	0	30.00	30.00	15.88
12057.25	8742	434.86	2.10	-60.00	1153.4	1214.8	1092.1	2906.7	2131.0	197.49	8.99	1333	12093.59	10.31	0.00	3.24	1.098	0.000	0.078	1117.22	1175.75	1058.69	2906.62	997.69	0	0	0	10.93	30.00	15.39
12109.42	1028	434.86	2.10	0.00	1116.8	1175.6	1057.9	2906.8	997.5	192.25	10.09	1339	12127.74	0.00	0.00	2.74	0.000	0.000	0.023	1116.72	1175.69	1057.75	2906.75	2132.38	0	0	0	30.00	30.00	15.89
12433.21	516	434.86	2.10	-60.00	1116.0	1175.5	1056.5	2907.1	2132.2	158.14	10.68	1371	12453.58	0.00	0.00	3.25	0.000	0.000	0.076	1115.59	1174.94	1056.25	2906.00	997.19	0	0	0	30.00	30.00	15.58
12474.40	1028	434.86	2.10	0.00	1115.8	1175.2	1056.3	2906.2	997.3	153.44	11.44	1376	12492.73	0.00	0.00	2.74	0.000	0.000	0.022	1116.44	1175.81	1057.06	2906.12	2130.19	0	0	0	30.00	30.00	15.88
12798.19	260	434.86	2.10	60.00	1115.8	1175.6	1055.9	2906.8	2130.6	121.59	9.83	1408	12818.56	0.00	0.00	3.12	0.000	0.000	0.082	1115.62	1174.94	1056.31	2906.50	3200.44	0	0	0	30.00	30.00	15.56
12829.37	1028	434.86	2.10	0.00	1115.6	1175.2	1056.0	2906.4	3201.0	118.37	10.49	1411	12847.93	0.00	0.00	2.73	0.000	0.000	0.022	1115.75	1175.38	1056.12	2906.06	2059.62	0	0	0	30.00	30.00	15.89
13153.89	8486	501.45	2.23	60.00	1115.3	1175.0	1055.6	2905.9	2060.4	93.53	6.02	1453	13251.95	54.67	0.00	3.30	1.156	0.000	0.078	845.72	874.81	816.62	2906.62	3201.06	0	0	0	11.15	30.00	15.34
13259.72	11431	511.26	2.38	0.00	843.8	874.1	813.6	2906.4	3201.2	85.26	8.94	1466	13294.70	10.15	0.40	2.76	0.948	0.066	0.022	806.78	833.69	779.88	2974.94	2060.12	0	0	0	11.71	15.60	15.78
13480.26	0	511.26	2.38	0.00	803.2	833.2	773.1	2976.4	2059.9	60.46	11.48	1506	13486.91	0.00	0.00	0.00	0.000	0.000	0.000	803.28	833.31	773.25	2976.44	2060.06	0	0	0	30.00	30.00	30.00
13672.75	8742	543.55	2.44	-60.00	802.5	833.4	771.7	2976.0	2060.1	42.49	7.79	1544	13733.64	27.20	0.00	3.03	1.051	0.000	0.082	673.81	689.00	658.62	2976.44	996.44	0	0	0	11.46	30.00	15.32
13749.87	9254	566.97	2.49	0.00	671.8	687.5	656.0	2976.7	996.7	36.42	8.24	1554	13796.88	20.58	0.00	2.74	1.008	0.000	0.022	579.41	582.50	576.31	2976.56	2134.56	0	0	0	11.72	30.00	15.80
13983.52	10919	578.29	2.65	-60.00	575.8	581.2	570.4	2976.9	2134.9	16.77	8.86	1596	14024.86	11.06	0.14	3.22	0.902	0.095	0.076	533.25	533.62	532.88	3011.19	996.31	0	0	0	11.69	15.74	15.30
14096.21	11303	620.51	2.73	0.00	531.3	530.6	532.1	3012.5	996.0	7.38	7.28	1614	14128.29	8.77	0.00	2.75	0.837	0.000	0.021	500.44	496.06	504.81	3012.69	2136.88	0	0	0	11.72	30.00	15.81
14143	end climb: SURFACE_DEPTH_REACHED
state	14143	begin surface coast
14209	end surface coast: CONTROL_FINISHED_OK
state	14209	begin surface