Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 426 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 HEADING -1 C_ROLL_CLIMB 2029 ALTIM_TOP_PING_RANGE 0

MISSION 20 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 426 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 115 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 17 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 50 ALTIM_FREQUENCY 13

D_TGT 990 SM_CC 450 ROLL_MAXERRORS 0 ALTIM_PULSE 3

D_ABORT 1010 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 400 FILEMGR 2 ROLL_ADJ_DBAND 0 XPDR_VALID 6

D_BOOST 2 CALL_NDIVES 1 VBD_MIN 550 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 PROTOCOL 9 C_VBD 2758 INT_PRESSURE_YINT 1.7

D_PITCH 2 N_NOCOMM 0 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 500 NOCOMM_ACTION 163 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 3 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 8 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 800 DEVICE2 -1

SURFACE_URGENCY_TRY 8 CALL_TRIES 3 PITCH_VBD_SHIFT 0.0013 DEVICE3 -1

SURFACE_URGENCY_FORCE 16 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 390 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 500 CAPMAXSIZE 10000 VBD_BLEED_AD_RATE 1 DEVICE6 -1

T_ABORT 4320 HEAPDBG 0 UNCOM_BLEED 500 LOGGERS 1

T_TURN 225 T_GPS 3 VBD_MAXERRORS 2 LOGGERDEVICE1 54

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP -120 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 400 COMPASS2_DEVICE 150

USE_ICE 1 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 700 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 275 PITCH_W_GAIN 2 RAFOS_DEVICE 101

T_WATCHDOG 10 PITCH_MAX 3850 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2715 CF8_MAXERRORS 0 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0044106129

MAX_BUOY 100 PITCH_CNV 0.0031256729 AH0_10V 0 SEABIRD_T_H 0.00064144889

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 0 SEABIRD_T_I 2.6068648e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 0 SEABIRD_T_J 3.2054108e-06

SPEED_FACTOR 1 PITCH_GAIN 30 MAXI_24V 2 SEABIRD_C_G -9.965229

RHO 1.0275 PITCH_TIMEOUT 40 MAXI_10V 2 SEABIRD_C_H 1.1036862

MASS 53734 PITCH_AD_RATE 20 FG_AHR_10V 0 SEABIRD_C_I -0.0021489244

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00024241477

NAV_MODE 0 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -161.88326 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010687162 SC_XMITPROFILE 3.0

HD_A 0.0041999999 ROLL_MAX 3858 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0082 ROLL_DEG 40 COMPASS_USE 4

HD_C 5.7000002e-06 C_ROLL_DIVE 1950 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.0044106129

AH0_10V 0 D_TGT 990 PHONE_DEVICE 49 SEABIRD_T_H 0.00064144889

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.6068648e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.2054108e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 20 SM_CC 450

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.0031256729 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 2 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 20 PITCH_GAIN 30 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3850 SURFACE_URGENCY 8

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 16

ALTIM_TOP_PING_RANGE 0 HD_A 0.0041999999 PITCH_MIN 275 SURFACE_URGENCY_TRY 8

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0082 PITCH_TIMEOUT 40 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0013 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_ABORT 4320

CALL_WAIT 45 HEAPDBG 0 PRESSURE_SLOPE 0.00010687162 T_BOOST 0

CAPMAXSIZE 10000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -161.88326 T_DIVE 390

CAPUPLOAD 0 ID 196 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 3

COMM_SEQ 0 INT_PRESSURE_YINT 1.7 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 150 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 500

COMPASS_DEVICE 97 LOGGERDEVICE1 54 RAFOS_DEVICE 101 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP -120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2715 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2029 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 1950 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 500

C_VBD 2758 LOITER_D_BOTTOM 700 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 400 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 50 USE_ICE 1

DEVICE1 -1 LOITER_W_DBAND 2 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 1

DEVICE2 -1 MASS 53734 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3858 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 2 ROLL_MAXERRORS 0 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 2 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 100 ROLL_TIMEOUT 30 VBD_MAXERRORS 2

DIVE 426 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 17 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 2 MISSION 20 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 3 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 800

D_FINISH 10 NAV_MODE 0 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 400 N_DIVES 0 SEABIRD_C_G -9.965229 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1036862 XPDR_VALID 6

D_PITCH 2 N_GPS 100440 SEABIRD_C_I -0.0021489244

D_SAFE 500 N_NOCOMM 0 SEABIRD_C_J 0.00024241477

Pre-dive calculations and measurements:

GPS1 030920,082529,7300.0430,-14754.3955,0,1001.0,0,21.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.147,0.227

_CALLS 0 TGT_NAME SODAA

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14820.200

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 9.94 MHEAD_RNG_PITCHd_Wd 248.0,13973,-18.2,-8.462,-20.48,1768

_SM_ANGLEo -24.4 D_GRID 990

GPS2 030920,082529,7300.0430,-14754.3955,0,1001.0,0,21.7,0.0,0.0,0,0.0 EXEC 4,999,2,0.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200903161829.973578,06,8164,39,0326,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-3.5,0.55,-100,2.45,-01,-0.01,71,925,0025*28 SC_FREEKB 3629408

FREEZE 9.20,-1.043,-1.285,2,8,0 _24V_AH 11.99,226.567

FINISH1 9.2,1.018882,442 _10V_AH 11.97,0.000

FINISH2 9.2 FG_AHR_24Vo 0.000

RAFOS_CLK 326 FG_AHR_10Vo 0.000

MODEM 0,1599149255,74.83892,-145.28152,155.358,225972.7 MEM 334836

RAFOS_FIX 7301.242188,-14832.749023,030920,161629,3,255,0.74 DATA_FILE_SIZE 46658,1380

IRIDIUM_FIX 7318.60,-14727.13,010920,031827 CAP_FILE_SIZE 156139,0

TT8_MAMPS 0.038948,0.286118 CFSIZE 1047117824,987545600

HUMID 52.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.74129 SOUNDSPEED 1453.5

TCM_TEMP 13.20 GPS 030920,161829,7301.242,-14832.749,0,4255.0,0,21.7,0.0,0.0,0,0.0

XPDR_PINGS 138

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 221 11.53 nil 0 0 0.00

Roll_motor 101 126 153.94 nil 0 0 0.00

VBD_pump_during_apogee 937 2294 25781.07 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 26366 10 3182.78

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 34 420 173.74 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 22403 2 619.46

TT8_Active 995 9 111.06

TT8_Sampling 2796 27 913.97

TT8_CF8 246 37 111.34

TT8_Kalman 0 0 0.00

Analog_circuits 2092 10 272.97

GPS_charging 0 0 0.00

Compass 2097 6 169.21

RAFOS 4407 33 1740.81

Transponder 0 5 0.03

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 pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

6 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.73 -97.3 2718 2040 960 980 0.0 0.0 0 73 0.00 0.00 -62.38 0.003 16386 0.000 0.000 2718 2039 3015 3083 2948 0 0 0 0 0 0 14.59 28.83 14.62

76 -0.73 -97.3 2718 2040 3085 2949 13.3 -8.0 6 88 0.75 2.65 -3.53 0.031 20996 0.084 0.127 2464 632 3159 3248 3070 0 0 0 0 0 0 14.18 12.36 14.24

312 -0.73 -97.3 2465 634 3249 3072 67.0 -17.8 53 320 0.00 2.45 0.00 0.000 1030 0.000 0.090 2465 1960 3159 3248 3071 0 0 0 0 0 0 14.25 14.07 14.31

678 -0.73 -97.3 2465 1961 3247 3072 120.4 -13.5 66 683 0.00 2.50 0.00 0.000 516 0.000 0.105 2465 633 3159 3248 3071 0 0 0 0 0 0 14.52 13.91 14.54

908 -0.73 -97.3 2465 633 3247 3071 151.9 -13.3 112 913 0.00 2.47 0.00 0.000 1030 0.000 0.089 2465 1962 3159 3248 3071 0 0 0 0 0 0 14.12 13.94 14.17

1278 -0.73 -97.3 2465 1963 3249 3071 196.0 -11.5 126 1283 0.00 2.53 0.00 0.000 516 0.000 0.106 2465 630 3158 3248 3069 0 0 0 0 0 0 14.49 13.87 14.52

1508 -0.73 -97.3 2465 631 3248 3070 222.8 -11.0 172 1513 0.00 2.47 0.00 0.000 1030 0.000 0.089 2465 1960 3159 3248 3070 0 0 0 0 0 0 14.09 13.90 14.14

1878 -0.73 -97.3 2465 1960 3248 3070 259.5 -9.8 186 1883 0.00 2.55 0.00 0.000 516 0.000 0.109 2465 627 3158 3248 3069 0 0 0 0 0 0 14.49 13.84 14.51

2109 -0.73 -97.3 2465 626 3249 3069 281.1 -9.3 232 2114 0.00 2.50 0.00 0.000 1030 0.000 0.089 2465 1965 3158 3248 3068 0 0 0 0 0 0 14.07 13.89 14.12

2479 -0.73 -97.3 2466 1966 3249 3068 310.6 -7.8 246 2481 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1965 3157 3248 3067 0 0 0 0 0 0 14.47 14.50 14.50

2839 -0.73 -97.3 2465 1966 3249 3067 338.1 -7.7 258 2840 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1965 3157 3248 3067 0 0 0 0 0 0 14.55 14.58 14.57

3199 -0.73 -97.3 2465 1966 3249 3068 365.0 -7.5 270 3200 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1965 3157 3248 3067 0 0 0 0 0 0 14.57 14.59 14.59

3559 -0.73 -97.3 2464 1966 3253 3068 391.4 -7.2 282 3560 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1965 3157 3248 3067 0 0 0 0 0 0 14.76 14.78 14.78

3919 -0.73 -97.3 2465 1967 3248 3068 416.5 -7.0 294 3920 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1966 3157 3248 3067 0 0 0 0 0 0 14.76 14.79 14.78

4279 -0.73 -97.3 2465 1967 3248 3068 441.6 -7.0 306 4281 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1966 3157 3248 3067 0 0 0 0 0 0 14.58 14.61 14.61

4639 -0.73 -97.3 2465 1967 3248 3068 466.3 -6.8 318 4644 0.00 2.67 0.00 0.000 260 0.000 0.110 2465 3369 3157 3248 3067 0 0 0 0 0 0 14.57 13.79 14.59

4694 -0.73 -97.3 2465 3370 3248 3068 470.1 -6.9 329 4701 0.00 2.40 0.00 0.000 1030 0.000 0.067 2465 2037 3157 3248 3067 0 0 0 0 0 0 14.15 14.00 14.20

5059 -0.73 -97.3 2465 2038 3247 3067 494.7 -6.8 342 5061 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2037 3157 3248 3067 0 0 0 0 0 0 14.76 14.79 14.78

5419 -0.73 -97.3 2465 2038 3249 3068 518.8 -6.7 354 5421 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2037 3157 3248 3067 0 0 0 0 0 0 14.58 14.62 14.61

5779 -0.73 -97.3 2465 2037 3248 3069 542.3 -6.5 366 5781 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2036 3157 3248 3067 0 0 0 0 0 0 14.57 14.60 14.59

6139 -0.73 -97.3 2465 2037 3249 3067 566.0 -6.6 378 6141 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2036 3157 3248 3067 0 0 0 0 0 0 14.57 14.59 14.59

6499 -0.73 -97.3 2465 2037 3249 3068 589.6 -6.6 390 6501 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2036 3157 3248 3067 0 0 0 0 0 0 14.76 14.79 14.78

6859 -0.73 -97.3 2465 2037 3249 3067 613.0 -6.5 402 6864 0.00 2.55 0.00 0.000 260 0.000 0.105 2465 3367 3157 3248 3067 0 0 0 0 0 0 14.56 13.74 14.58

6929 -0.73 -97.3 2465 3368 3248 3068 617.8 -6.7 416 6934 0.00 2.42 0.00 0.000 1030 0.000 0.067 2465 2033 3157 3248 3067 0 0 0 0 0 0 14.11 13.96 14.16

7310 -0.73 -97.3 2465 2033 3249 3067 642.5 -6.5 432 7311 0.00 0.00 0.00 0.000 38 0.000 0.000 2465 2033 3157 3248 3067 0 0 0 0 0 0 14.56 14.59 14.58

7669 -0.73 -97.3 2465 2034 3249 3067 665.9 -6.5 444 7671 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2033 3157 3248 3067 0 0 0 0 0 0 14.56 14.59 14.58

8030 -0.73 -97.3 2465 2033 3248 3067 688.8 -6.3 456 8035 0.00 2.55 0.00 0.000 292 0.000 0.104 2465 3370 3157 3248 3067 0 0 0 0 0 0 14.55 13.72 14.58

8095 -0.73 -97.3 2465 3370 3248 3067 693.1 -6.5 469 8101 0.00 2.42 0.00 0.000 1030 0.000 0.068 2465 2033 3157 3248 3067 0 0 0 0 0 0 14.09 13.95 14.15

8481 -0.73 -97.3 2465 2034 3249 3068 717.0 -6.1 486 8483 0.00 0.00 0.00 0.000 38 0.000 0.000 2465 2033 3156 3248 3065 0 0 0 0 0 0 14.54 14.57 14.57

8841 -0.73 -97.3 2465 2033 3248 3067 739.0 -6.1 498 8843 0.00 0.00 0.00 0.000 38 0.000 0.000 2465 2033 3157 3248 3067 0 0 0 0 0 0 14.76 14.78 14.78

9201 -0.73 -97.3 2465 2034 3249 3068 761.3 -6.2 510 9206 0.00 2.55 0.00 0.000 292 0.000 0.103 2465 3366 3157 3248 3067 0 0 0 0 0 0 14.54 13.70 14.57

9256 -0.73 -97.3 2465 3367 3249 3068 765.0 -6.5 521 9263 0.00 2.42 0.00 0.000 1030 0.000 0.067 2464 2030 3157 3248 3067 0 0 0 0 0 0 14.08 13.93 14.14

9622 -0.73 -97.3 2465 2031 3248 3068 787.6 -6.2 534 9623 0.00 0.00 0.00 0.000 38 0.000 0.000 2465 2031 3157 3248 3067 0 0 0 0 0 0 14.54 14.57 14.57

9982 -0.73 -97.3 2465 2032 3250 3068 809.4 -6.0 546 9987 0.00 2.58 0.00 0.000 292 0.000 0.103 2465 3372 3157 3248 3067 0 0 0 0 0 0 14.56 13.69 14.58

10042 -0.73 -97.3 2465 3372 3249 3068 812.8 -6.2 558 10047 0.00 2.45 0.00 0.000 1062 0.000 0.068 2465 2034 3157 3248 3067 0 0 0 0 0 0 14.06 13.88 14.12

10433 -0.73 -97.3 2465 2034 3249 3068 836.1 -5.9 576 10438 0.00 2.55 0.00 0.000 292 0.000 0.103 2465 3366 3157 3248 3067 0 0 0 0 0 0 14.54 13.68 14.56

10478 -0.73 -97.3 2465 3367 3249 3068 838.5 -6.1 585 10484 0.00 2.42 0.00 0.000 1062 0.000 0.067 2465 2034 3157 3248 3067 0 0 0 0 0 0 14.06 13.90 14.13

10854 -0.73 -97.3 2465 2035 3249 3068 860.6 -5.9 600 10856 0.00 0.00 0.00 0.000 38 0.000 0.000 2465 2033 3157 3248 3067 0 0 0 0 0 0 14.53 14.56 14.55

11214 -0.73 -97.3 2465 2034 3248 3067 881.8 -5.8 612 11216 0.00 0.00 0.00 0.000 38 0.000 0.000 2465 2034 3157 3248 3067 0 0 0 0 0 0 14.75 14.78 14.78

11574 -0.73 -97.3 2464 2034 3249 3067 902.9 -5.8 624 11575 0.00 0.00 0.00 0.000 38 0.000 0.000 2464 2040 3157 3248 3067 0 0 0 0 0 0 14.53 14.56 14.55

11934 -0.73 -97.3 2465 2033 3248 3067 923.4 -5.7 636 11939 0.00 2.58 0.00 0.000 292 0.000 0.105 2465 3371 3157 3248 3067 0 0 0 0 0 0 14.52 13.66 14.55

12014 -0.73 -97.3 2465 3372 3249 3068 928.9 -6.0 652 12019 0.00 2.42 0.00 0.000 1062 0.000 0.069 2465 2038 3157 3248 3067 0 0 0 0 0 0 14.06 13.90 14.11

12384 -0.73 -97.3 2464 2039 3249 3068 949.3 -5.7 666 12386 0.00 0.00 0.00 0.000 38 0.000 0.000 2465 2038 3157 3248 3066 0 0 0 0 0 0 14.52 14.55 14.54

12744 -0.73 -97.3 2465 2038 3249 3068 970.0 -5.7 678 12746 0.00 0.00 0.00 0.000 38 0.000 0.000 2465 2038 3157 3248 3067 0 0 0 0 0 0 14.52 14.55 14.54

13102 end dive: TARGET_DEPTH_EXCEEDED

state 13102 begin apogee

13107 -0.17 0.0 2465 2038 3249 3067 990.5 -5.7 690 13217 0.77 0.00 107.47 2.294 10246 0.221 0.000 2655 2038 2758 2880 2636 0 0 0 0 0 0 13.64 13.63 12.51

13219 end apogee: CONTROL_FINISHED_OK

state 13219 begin climb

13221 0.73 97.3 2656 2039 2879 2637 992.7 0.0 693 13342 1.00 2.75 109.10 2.231 10756 0.138 0.114 2946 714 2358 2482 2235 0 0 0 0 0 0 13.64 13.16 11.99

13367 0.73 97.3 2946 715 2479 2234 982.6 8.4 721 13372 0.00 2.58 0.00 0.000 1030 0.000 0.088 2946 2036 2355 2478 2233 0 0 0 0 0 0 13.51 13.36 13.54

13738 0.73 97.3 2946 2036 2473 2228 949.6 8.8 735 13743 0.00 2.67 0.00 0.000 260 0.000 0.111 2946 3453 2347 2472 2222 0 0 0 0 0 0 14.64 14.08 14.67

13803 0.73 97.3 2946 3454 2472 2227 944.0 10.1 748 13808 0.00 2.42 0.00 0.000 1030 0.000 0.076 2946 2111 2346 2471 2221 0 0 0 0 0 0 14.33 14.18 14.38

14188 0.73 97.3 2946 2113 2470 2226 909.1 8.8 765 14190 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2111 2347 2470 2225 0 0 0 0 0 0 14.65 14.68 14.67

14548 0.73 97.3 2946 2112 2470 2224 878.3 8.4 777 14550 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2112 2347 2469 2225 0 0 0 0 0 0 14.67 14.70 14.69

14908 0.73 97.3 2946 2112 2467 2225 848.0 8.5 789 14910 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2111 2346 2468 2225 0 0 0 0 0 0 14.60 14.63 14.63

15268 0.73 97.3 2946 2112 2469 2225 817.7 8.3 801 15273 0.00 2.53 0.00 0.000 260 0.000 0.107 2946 3444 2346 2468 2224 0 0 0 0 0 0 14.55 14.01 14.58

15318 0.73 97.3 2946 3444 2464 2225 812.6 9.8 811 15323 0.00 2.42 0.00 0.000 1030 0.000 0.076 2946 2114 2346 2468 2224 0 0 0 0 0 0 14.21 14.07 14.27

15689 0.73 97.3 2946 2114 2468 2224 781.2 8.5 825 15690 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2114 2346 2468 2224 0 0 0 0 0 0 14.54 14.57 14.56

16049 0.73 97.3 2946 2114 2468 2224 750.7 8.4 837 16050 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2114 2346 2468 2224 0 0 0 0 0 0 14.53 14.56 14.55

16409 0.73 97.3 2946 2114 2467 2224 720.0 8.6 849 16410 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2113 2345 2467 2224 0 0 0 0 0 0 14.53 14.55 14.55

16769 0.73 97.3 2946 2114 2467 2224 689.6 8.4 861 16774 0.00 2.53 0.00 0.000 260 0.000 0.106 2946 3443 2345 2467 2223 0 0 0 0 0 0 14.52 13.95 14.54

16829 0.73 97.3 2946 3444 2467 2225 684.0 9.5 873 16834 0.00 2.42 0.00 0.000 1030 0.000 0.075 2945 2113 2345 2467 2223 0 0 0 0 0 0 14.19 14.06 14.24

17219 0.73 97.3 2946 2114 2468 2224 651.0 8.4 891 17221 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2113 2343 2467 2220 0 0 0 0 0 0 14.70 14.73 14.73

17579 0.73 97.3 2946 2113 2476 2224 621.1 8.3 903 17581 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2113 2345 2467 2223 0 0 0 0 0 0 14.59 14.63 14.62

17939 0.73 97.3 2946 2114 2467 2224 591.5 8.1 915 17941 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2112 2344 2466 2223 0 0 0 0 0 0 14.60 14.63 14.63

18299 0.73 97.3 2946 2113 2467 2224 562.7 8.0 927 18301 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2113 2347 2466 2229 0 0 0 0 0 0 14.59 14.64 14.62

18659 0.73 97.3 2946 2114 2467 2224 533.5 8.1 939 18664 0.00 2.55 0.00 0.000 260 0.000 0.106 2946 3450 2344 2466 2223 0 0 0 0 0 0 14.59 13.89 14.63

18724 0.73 97.3 2946 3451 2466 2224 527.6 9.1 952 18729 0.00 2.45 0.00 0.000 1030 0.000 0.075 2946 2111 2344 2466 2223 0 0 0 0 0 0 14.18 14.01 14.26

19110 0.75 97.3 2946 2112 2467 2224 496.9 7.8 969 19111 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2111 2344 2466 2223 0 0 0 0 0 0 14.78 14.81 14.81

19470 0.76 97.3 2947 2112 2467 2224 468.4 7.8 981 19471 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2111 2347 2472 2223 0 0 0 0 0 0 14.59 14.62 14.62

19830 0.77 97.3 2946 2111 2466 2224 440.4 7.9 993 19832 0.00 0.00 0.00 0.000 70 0.000 0.000 2946 2111 2344 2466 2223 0 0 0 0 0 0 14.78 14.81 14.81

20190 0.79 97.3 2946 2111 2466 2224 412.2 7.8 1005 20191 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2111 2344 2466 2223 0 0 0 0 0 0 14.59 14.62 14.62

20550 0.80 97.3 2946 2112 2466 2224 384.3 7.7 1017 20552 0.00 0.00 0.00 0.000 70 0.000 0.000 2946 2110 2344 2466 2223 0 0 0 0 0 0 14.59 14.62 14.62

20910 0.82 97.3 2946 2111 2466 2224 357.1 7.4 1029 20911 0.12 0.00 0.00 0.000 2118 0.141 0.000 3001 2110 2344 2465 2223 0 0 0 0 0 0 14.32 14.39 14.38

21270 0.82 97.3 2996 2111 2466 2224 325.6 8.6 1041 21271 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2111 2347 2471 2223 0 0 0 0 0 0 14.59 14.62 14.62

21630 0.82 97.3 2996 2111 2466 2223 295.0 8.4 1053 21631 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2111 2344 2465 2223 0 0 0 0 0 0 14.58 14.61 14.61

21990 0.84 97.3 2996 2112 2467 2224 266.8 7.5 1065 21991 0.00 0.00 0.00 0.000 70 0.000 0.000 2996 2111 2344 2465 2223 0 0 0 0 0 0 14.57 14.60 14.60

22350 0.90 143.4 2996 2111 2466 2223 242.8 5.8 1077 22395 0.00 0.00 41.40 1.476 8742 0.000 0.000 2996 2110 2172 2293 2051 0 0 0 0 0 0 14.57 13.88 13.22

22772 0.93 143.4 2996 2111 2284 2048 212.9 7.0 1101 22777 0.00 2.67 0.00 0.000 580 0.000 0.116 2997 707 2167 2283 2051 0 0 0 0 0 0 14.62 14.02 14.64

22842 0.98 182.7 2997 707 2283 2048 208.4 6.2 1115 22884 0.12 2.42 36.15 1.419 11302 0.148 0.086 3047 2033 2011 2119 1904 0 0 0 0 0 0 14.16 14.09 13.20

23255 0.98 182.7 3047 2034 2109 1902 173.9 8.2 1137 23256 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 2033 2004 2108 1901 0 0 0 0 0 0 14.71 14.73 14.71

23615 1.00 182.7 3047 2034 2108 1901 145.6 7.7 1149 23616 0.00 0.00 0.00 0.000 70 0.000 0.000 3047 2033 2003 2107 1900 0 0 0 0 0 0 14.57 14.60 14.59

23975 1.03 182.7 3047 2034 2108 1899 120.3 6.7 1161 23977 0.00 0.00 0.00 0.000 70 0.000 0.000 3047 2033 2003 2107 1899 0 0 0 0 0 0 14.59 14.62 14.62

24335 1.08 218.8 3047 2033 2103 1898 96.5 6.4 1173 24386 0.00 0.00 48.80 1.284 8486 0.000 0.000 3046 2034 1866 1964 1768 0 0 0 0 0 0 14.71 14.09 13.26

24758 1.13 259.8 3046 2034 1957 1764 68.1 6.1 1197 24848 0.00 2.75 78.97 1.215 8484 0.000 0.112 3047 3447 1697 1780 1614 0 0 0 0 0 0 14.57 14.02 13.16

24928 1.16 259.8 3047 3453 1778 1615 56.6 6.9 1231 24933 0.15 2.42 0.00 0.000 3142 0.120 0.076 3100 2116 1695 1777 1613 0 0 0 0 0 0 14.19 14.12 14.28

25299 1.29 354.4 3101 2116 1774 1615 40.5 3.0 1245 25495 0.00 2.72 189.70 1.162 8740 0.000 0.116 3105 712 1313 1356 1271 0 0 0 0 0 0 14.50 13.62 13.05

25565 1.34 398.6 3100 713 1354 1268 28.4 5.9 1273 25653 0.15 2.45 81.68 1.120 11302 0.134 0.088 3160 2033 1135 1151 1120 0 0 0 0 0 0 14.03 13.94 13.07

25958 1.53 545.9 3160 2034 1149 1116 10.5 -0.1 1320 26210 0.15 2.72 243.95 1.116 10532 0.130 0.109 3219 3444 549 522 577 0 0 0 0 0 0 14.19 13.54 12.98

26310 end climb: NO_VERTICAL_VELOCITY

state 26310 begin subsurface finish

26318 0.58 442.4 3220 2116 520 576 9.2 -0.4 1379 26324 1.12 0.00 -3.47 0.031 20994 0.151 0.000 2895 2115 670 646 695 0 0 0 0 0 0 13.87 28.83 13.99

26324 end subsurface finish: NO_VERTICAL_VELOCITY

state 26324 begin surface

ID	196	HEADING	-1	C_ROLL_CLIMB	2029	ALTIM_TOP_PING_RANGE	0
MISSION	20	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	426	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	115	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	17	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	50	ALTIM_FREQUENCY	13
D_TGT	990	SM_CC	450	ROLL_MAXERRORS	0	ALTIM_PULSE	3
D_ABORT	1010	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	400	FILEMGR	2	ROLL_ADJ_DBAND	0	XPDR_VALID	6
D_BOOST	2	CALL_NDIVES	1	VBD_MIN	550	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	PROTOCOL	9	C_VBD	2758	INT_PRESSURE_YINT	1.7
D_PITCH	2	N_NOCOMM	0	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	500	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	3	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	8	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	800	DEVICE2	-1
SURFACE_URGENCY_TRY	8	CALL_TRIES	3	PITCH_VBD_SHIFT	0.0013	DEVICE3	-1
SURFACE_URGENCY_FORCE	16	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	390	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	500	CAPMAXSIZE	10000	VBD_BLEED_AD_RATE	1	DEVICE6	-1
T_ABORT	4320	HEAPDBG	0	UNCOM_BLEED	500	LOGGERS	1
T_TURN	225	T_GPS	3	VBD_MAXERRORS	2	LOGGERDEVICE1	54
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	-120	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	400	COMPASS2_DEVICE	150
USE_ICE	1	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	700	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	275	PITCH_W_GAIN	2	RAFOS_DEVICE	101
T_WATCHDOG	10	PITCH_MAX	3850	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2715	CF8_MAXERRORS	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0044106129
MAX_BUOY	100	PITCH_CNV	0.0031256729	AH0_10V	0	SEABIRD_T_H	0.00064144889
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	0	SEABIRD_T_I	2.6068648e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	0	SEABIRD_T_J	3.2054108e-06
SPEED_FACTOR	1	PITCH_GAIN	30	MAXI_24V	2	SEABIRD_C_G	-9.965229
RHO	1.0275	PITCH_TIMEOUT	40	MAXI_10V	2	SEABIRD_C_H	1.1036862
MASS	53734	PITCH_AD_RATE	20	FG_AHR_10V	0	SEABIRD_C_I	-0.0021489244
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00024241477
NAV_MODE	0	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-161.88326	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010687162	SC_XMITPROFILE	3.0
HD_A	0.0041999999	ROLL_MAX	3858	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0082	ROLL_DEG	40	COMPASS_USE	4
HD_C	5.7000002e-06	C_ROLL_DIVE	1950	ALTIM_PING_FIT	0

GPS1	030920,082529,7300.0430,-14754.3955,0,1001.0,0,21.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.147,0.227
_CALLS	0	TGT_NAME	SODAA
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14820.200
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	9.94	MHEAD_RNG_PITCHd_Wd	248.0,13973,-18.2,-8.462,-20.48,1768
_SM_ANGLEo	-24.4	D_GRID	990
GPS2	030920,082529,7300.0430,-14754.3955,0,1001.0,0,21.7,0.0,0.0,0,0.0	EXEC	4,999,2,0.000000,0.000000

MODEM_MSG	CACST,6,1,20200903161829.973578,06,8164,39,0326,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-3.5,0.55,-100,2.45,-01,-0.01,71,925,0025*28	SC_FREEKB	3629408
FREEZE	9.20,-1.043,-1.285,2,8,0	_24V_AH	11.99,226.567
FINISH1	9.2,1.018882,442	_10V_AH	11.97,0.000
FINISH2	9.2	FG_AHR_24Vo	0.000
RAFOS_CLK	326	FG_AHR_10Vo	0.000
MODEM	0,1599149255,74.83892,-145.28152,155.358,225972.7	MEM	334836
RAFOS_FIX	7301.242188,-14832.749023,030920,161629,3,255,0.74	DATA_FILE_SIZE	46658,1380
IRIDIUM_FIX	7318.60,-14727.13,010920,031827	CAP_FILE_SIZE	156139,0
TT8_MAMPS	0.038948,0.286118	CFSIZE	1047117824,987545600
HUMID	52.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.74129	SOUNDSPEED	1453.5
TCM_TEMP	13.20	GPS	030920,161829,7301.242,-14832.749,0,4255.0,0,21.7,0.0,0.0,0,0.0
XPDR_PINGS	138

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	221	11.53	nil	0	0	0.00
Roll_motor	101	126	153.94	nil	0	0	0.00
VBD_pump_during_apogee	937	2294	25781.07	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	26366	10	3182.78
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	34	420	173.74	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	22403	2	619.46
TT8_Active	995	9	111.06
TT8_Sampling	2796	27	913.97
TT8_CF8	246	37	111.34
TT8_Kalman	0	0	0.00
Analog_circuits	2092	10	272.97
GPS_charging	0	0	0.00
Compass	2097	6	169.21
RAFOS	4407	33	1740.81
Transponder	0	5	0.03

		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	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.73	-97.3	2718	2040	960	980	0.0	0.0	0	73	0.00	0.00	-62.38	0.003	16386	0.000	0.000	2718	2039	3015	3083	2948	0	0	0	0	0	0	14.59	28.83	14.62
76	-0.73	-97.3	2718	2040	3085	2949	13.3	-8.0	6	88	0.75	2.65	-3.53	0.031	20996	0.084	0.127	2464	632	3159	3248	3070	0	0	0	0	0	0	14.18	12.36	14.24
312	-0.73	-97.3	2465	634	3249	3072	67.0	-17.8	53	320	0.00	2.45	0.00	0.000	1030	0.000	0.090	2465	1960	3159	3248	3071	0	0	0	0	0	0	14.25	14.07	14.31
678	-0.73	-97.3	2465	1961	3247	3072	120.4	-13.5	66	683	0.00	2.50	0.00	0.000	516	0.000	0.105	2465	633	3159	3248	3071	0	0	0	0	0	0	14.52	13.91	14.54
908	-0.73	-97.3	2465	633	3247	3071	151.9	-13.3	112	913	0.00	2.47	0.00	0.000	1030	0.000	0.089	2465	1962	3159	3248	3071	0	0	0	0	0	0	14.12	13.94	14.17
1278	-0.73	-97.3	2465	1963	3249	3071	196.0	-11.5	126	1283	0.00	2.53	0.00	0.000	516	0.000	0.106	2465	630	3158	3248	3069	0	0	0	0	0	0	14.49	13.87	14.52
1508	-0.73	-97.3	2465	631	3248	3070	222.8	-11.0	172	1513	0.00	2.47	0.00	0.000	1030	0.000	0.089	2465	1960	3159	3248	3070	0	0	0	0	0	0	14.09	13.90	14.14
1878	-0.73	-97.3	2465	1960	3248	3070	259.5	-9.8	186	1883	0.00	2.55	0.00	0.000	516	0.000	0.109	2465	627	3158	3248	3069	0	0	0	0	0	0	14.49	13.84	14.51
2109	-0.73	-97.3	2465	626	3249	3069	281.1	-9.3	232	2114	0.00	2.50	0.00	0.000	1030	0.000	0.089	2465	1965	3158	3248	3068	0	0	0	0	0	0	14.07	13.89	14.12
2479	-0.73	-97.3	2466	1966	3249	3068	310.6	-7.8	246	2481	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	1965	3157	3248	3067	0	0	0	0	0	0	14.47	14.50	14.50
2839	-0.73	-97.3	2465	1966	3249	3067	338.1	-7.7	258	2840	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	1965	3157	3248	3067	0	0	0	0	0	0	14.55	14.58	14.57
3199	-0.73	-97.3	2465	1966	3249	3068	365.0	-7.5	270	3200	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	1965	3157	3248	3067	0	0	0	0	0	0	14.57	14.59	14.59
3559	-0.73	-97.3	2464	1966	3253	3068	391.4	-7.2	282	3560	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	1965	3157	3248	3067	0	0	0	0	0	0	14.76	14.78	14.78
3919	-0.73	-97.3	2465	1967	3248	3068	416.5	-7.0	294	3920	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	1966	3157	3248	3067	0	0	0	0	0	0	14.76	14.79	14.78
4279	-0.73	-97.3	2465	1967	3248	3068	441.6	-7.0	306	4281	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	1966	3157	3248	3067	0	0	0	0	0	0	14.58	14.61	14.61
4639	-0.73	-97.3	2465	1967	3248	3068	466.3	-6.8	318	4644	0.00	2.67	0.00	0.000	260	0.000	0.110	2465	3369	3157	3248	3067	0	0	0	0	0	0	14.57	13.79	14.59
4694	-0.73	-97.3	2465	3370	3248	3068	470.1	-6.9	329	4701	0.00	2.40	0.00	0.000	1030	0.000	0.067	2465	2037	3157	3248	3067	0	0	0	0	0	0	14.15	14.00	14.20
5059	-0.73	-97.3	2465	2038	3247	3067	494.7	-6.8	342	5061	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2037	3157	3248	3067	0	0	0	0	0	0	14.76	14.79	14.78
5419	-0.73	-97.3	2465	2038	3249	3068	518.8	-6.7	354	5421	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2037	3157	3248	3067	0	0	0	0	0	0	14.58	14.62	14.61
5779	-0.73	-97.3	2465	2037	3248	3069	542.3	-6.5	366	5781	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2036	3157	3248	3067	0	0	0	0	0	0	14.57	14.60	14.59
6139	-0.73	-97.3	2465	2037	3249	3067	566.0	-6.6	378	6141	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2036	3157	3248	3067	0	0	0	0	0	0	14.57	14.59	14.59
6499	-0.73	-97.3	2465	2037	3249	3068	589.6	-6.6	390	6501	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2036	3157	3248	3067	0	0	0	0	0	0	14.76	14.79	14.78
6859	-0.73	-97.3	2465	2037	3249	3067	613.0	-6.5	402	6864	0.00	2.55	0.00	0.000	260	0.000	0.105	2465	3367	3157	3248	3067	0	0	0	0	0	0	14.56	13.74	14.58
6929	-0.73	-97.3	2465	3368	3248	3068	617.8	-6.7	416	6934	0.00	2.42	0.00	0.000	1030	0.000	0.067	2465	2033	3157	3248	3067	0	0	0	0	0	0	14.11	13.96	14.16
7310	-0.73	-97.3	2465	2033	3249	3067	642.5	-6.5	432	7311	0.00	0.00	0.00	0.000	38	0.000	0.000	2465	2033	3157	3248	3067	0	0	0	0	0	0	14.56	14.59	14.58
7669	-0.73	-97.3	2465	2034	3249	3067	665.9	-6.5	444	7671	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2033	3157	3248	3067	0	0	0	0	0	0	14.56	14.59	14.58
8030	-0.73	-97.3	2465	2033	3248	3067	688.8	-6.3	456	8035	0.00	2.55	0.00	0.000	292	0.000	0.104	2465	3370	3157	3248	3067	0	0	0	0	0	0	14.55	13.72	14.58
8095	-0.73	-97.3	2465	3370	3248	3067	693.1	-6.5	469	8101	0.00	2.42	0.00	0.000	1030	0.000	0.068	2465	2033	3157	3248	3067	0	0	0	0	0	0	14.09	13.95	14.15
8481	-0.73	-97.3	2465	2034	3249	3068	717.0	-6.1	486	8483	0.00	0.00	0.00	0.000	38	0.000	0.000	2465	2033	3156	3248	3065	0	0	0	0	0	0	14.54	14.57	14.57
8841	-0.73	-97.3	2465	2033	3248	3067	739.0	-6.1	498	8843	0.00	0.00	0.00	0.000	38	0.000	0.000	2465	2033	3157	3248	3067	0	0	0	0	0	0	14.76	14.78	14.78
9201	-0.73	-97.3	2465	2034	3249	3068	761.3	-6.2	510	9206	0.00	2.55	0.00	0.000	292	0.000	0.103	2465	3366	3157	3248	3067	0	0	0	0	0	0	14.54	13.70	14.57
9256	-0.73	-97.3	2465	3367	3249	3068	765.0	-6.5	521	9263	0.00	2.42	0.00	0.000	1030	0.000	0.067	2464	2030	3157	3248	3067	0	0	0	0	0	0	14.08	13.93	14.14
9622	-0.73	-97.3	2465	2031	3248	3068	787.6	-6.2	534	9623	0.00	0.00	0.00	0.000	38	0.000	0.000	2465	2031	3157	3248	3067	0	0	0	0	0	0	14.54	14.57	14.57
9982	-0.73	-97.3	2465	2032	3250	3068	809.4	-6.0	546	9987	0.00	2.58	0.00	0.000	292	0.000	0.103	2465	3372	3157	3248	3067	0	0	0	0	0	0	14.56	13.69	14.58
10042	-0.73	-97.3	2465	3372	3249	3068	812.8	-6.2	558	10047	0.00	2.45	0.00	0.000	1062	0.000	0.068	2465	2034	3157	3248	3067	0	0	0	0	0	0	14.06	13.88	14.12
10433	-0.73	-97.3	2465	2034	3249	3068	836.1	-5.9	576	10438	0.00	2.55	0.00	0.000	292	0.000	0.103	2465	3366	3157	3248	3067	0	0	0	0	0	0	14.54	13.68	14.56
10478	-0.73	-97.3	2465	3367	3249	3068	838.5	-6.1	585	10484	0.00	2.42	0.00	0.000	1062	0.000	0.067	2465	2034	3157	3248	3067	0	0	0	0	0	0	14.06	13.90	14.13
10854	-0.73	-97.3	2465	2035	3249	3068	860.6	-5.9	600	10856	0.00	0.00	0.00	0.000	38	0.000	0.000	2465	2033	3157	3248	3067	0	0	0	0	0	0	14.53	14.56	14.55
11214	-0.73	-97.3	2465	2034	3248	3067	881.8	-5.8	612	11216	0.00	0.00	0.00	0.000	38	0.000	0.000	2465	2034	3157	3248	3067	0	0	0	0	0	0	14.75	14.78	14.78
11574	-0.73	-97.3	2464	2034	3249	3067	902.9	-5.8	624	11575	0.00	0.00	0.00	0.000	38	0.000	0.000	2464	2040	3157	3248	3067	0	0	0	0	0	0	14.53	14.56	14.55
11934	-0.73	-97.3	2465	2033	3248	3067	923.4	-5.7	636	11939	0.00	2.58	0.00	0.000	292	0.000	0.105	2465	3371	3157	3248	3067	0	0	0	0	0	0	14.52	13.66	14.55
12014	-0.73	-97.3	2465	3372	3249	3068	928.9	-6.0	652	12019	0.00	2.42	0.00	0.000	1062	0.000	0.069	2465	2038	3157	3248	3067	0	0	0	0	0	0	14.06	13.90	14.11
12384	-0.73	-97.3	2464	2039	3249	3068	949.3	-5.7	666	12386	0.00	0.00	0.00	0.000	38	0.000	0.000	2465	2038	3157	3248	3066	0	0	0	0	0	0	14.52	14.55	14.54
12744	-0.73	-97.3	2465	2038	3249	3068	970.0	-5.7	678	12746	0.00	0.00	0.00	0.000	38	0.000	0.000	2465	2038	3157	3248	3067	0	0	0	0	0	0	14.52	14.55	14.54
13102	end dive: TARGET_DEPTH_EXCEEDED
state	13102	begin apogee
13107	-0.17	0.0	2465	2038	3249	3067	990.5	-5.7	690	13217	0.77	0.00	107.47	2.294	10246	0.221	0.000	2655	2038	2758	2880	2636	0	0	0	0	0	0	13.64	13.63	12.51
13219	end apogee: CONTROL_FINISHED_OK
state	13219	begin climb
13221	0.73	97.3	2656	2039	2879	2637	992.7	0.0	693	13342	1.00	2.75	109.10	2.231	10756	0.138	0.114	2946	714	2358	2482	2235	0	0	0	0	0	0	13.64	13.16	11.99
13367	0.73	97.3	2946	715	2479	2234	982.6	8.4	721	13372	0.00	2.58	0.00	0.000	1030	0.000	0.088	2946	2036	2355	2478	2233	0	0	0	0	0	0	13.51	13.36	13.54
13738	0.73	97.3	2946	2036	2473	2228	949.6	8.8	735	13743	0.00	2.67	0.00	0.000	260	0.000	0.111	2946	3453	2347	2472	2222	0	0	0	0	0	0	14.64	14.08	14.67
13803	0.73	97.3	2946	3454	2472	2227	944.0	10.1	748	13808	0.00	2.42	0.00	0.000	1030	0.000	0.076	2946	2111	2346	2471	2221	0	0	0	0	0	0	14.33	14.18	14.38
14188	0.73	97.3	2946	2113	2470	2226	909.1	8.8	765	14190	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2111	2347	2470	2225	0	0	0	0	0	0	14.65	14.68	14.67
14548	0.73	97.3	2946	2112	2470	2224	878.3	8.4	777	14550	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2112	2347	2469	2225	0	0	0	0	0	0	14.67	14.70	14.69
14908	0.73	97.3	2946	2112	2467	2225	848.0	8.5	789	14910	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2111	2346	2468	2225	0	0	0	0	0	0	14.60	14.63	14.63
15268	0.73	97.3	2946	2112	2469	2225	817.7	8.3	801	15273	0.00	2.53	0.00	0.000	260	0.000	0.107	2946	3444	2346	2468	2224	0	0	0	0	0	0	14.55	14.01	14.58
15318	0.73	97.3	2946	3444	2464	2225	812.6	9.8	811	15323	0.00	2.42	0.00	0.000	1030	0.000	0.076	2946	2114	2346	2468	2224	0	0	0	0	0	0	14.21	14.07	14.27
15689	0.73	97.3	2946	2114	2468	2224	781.2	8.5	825	15690	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2114	2346	2468	2224	0	0	0	0	0	0	14.54	14.57	14.56
16049	0.73	97.3	2946	2114	2468	2224	750.7	8.4	837	16050	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2114	2346	2468	2224	0	0	0	0	0	0	14.53	14.56	14.55
16409	0.73	97.3	2946	2114	2467	2224	720.0	8.6	849	16410	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2113	2345	2467	2224	0	0	0	0	0	0	14.53	14.55	14.55
16769	0.73	97.3	2946	2114	2467	2224	689.6	8.4	861	16774	0.00	2.53	0.00	0.000	260	0.000	0.106	2946	3443	2345	2467	2223	0	0	0	0	0	0	14.52	13.95	14.54
16829	0.73	97.3	2946	3444	2467	2225	684.0	9.5	873	16834	0.00	2.42	0.00	0.000	1030	0.000	0.075	2945	2113	2345	2467	2223	0	0	0	0	0	0	14.19	14.06	14.24
17219	0.73	97.3	2946	2114	2468	2224	651.0	8.4	891	17221	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2113	2343	2467	2220	0	0	0	0	0	0	14.70	14.73	14.73
17579	0.73	97.3	2946	2113	2476	2224	621.1	8.3	903	17581	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2113	2345	2467	2223	0	0	0	0	0	0	14.59	14.63	14.62
17939	0.73	97.3	2946	2114	2467	2224	591.5	8.1	915	17941	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2112	2344	2466	2223	0	0	0	0	0	0	14.60	14.63	14.63
18299	0.73	97.3	2946	2113	2467	2224	562.7	8.0	927	18301	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2113	2347	2466	2229	0	0	0	0	0	0	14.59	14.64	14.62
18659	0.73	97.3	2946	2114	2467	2224	533.5	8.1	939	18664	0.00	2.55	0.00	0.000	260	0.000	0.106	2946	3450	2344	2466	2223	0	0	0	0	0	0	14.59	13.89	14.63
18724	0.73	97.3	2946	3451	2466	2224	527.6	9.1	952	18729	0.00	2.45	0.00	0.000	1030	0.000	0.075	2946	2111	2344	2466	2223	0	0	0	0	0	0	14.18	14.01	14.26
19110	0.75	97.3	2946	2112	2467	2224	496.9	7.8	969	19111	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2111	2344	2466	2223	0	0	0	0	0	0	14.78	14.81	14.81
19470	0.76	97.3	2947	2112	2467	2224	468.4	7.8	981	19471	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2111	2347	2472	2223	0	0	0	0	0	0	14.59	14.62	14.62
19830	0.77	97.3	2946	2111	2466	2224	440.4	7.9	993	19832	0.00	0.00	0.00	0.000	70	0.000	0.000	2946	2111	2344	2466	2223	0	0	0	0	0	0	14.78	14.81	14.81
20190	0.79	97.3	2946	2111	2466	2224	412.2	7.8	1005	20191	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2111	2344	2466	2223	0	0	0	0	0	0	14.59	14.62	14.62
20550	0.80	97.3	2946	2112	2466	2224	384.3	7.7	1017	20552	0.00	0.00	0.00	0.000	70	0.000	0.000	2946	2110	2344	2466	2223	0	0	0	0	0	0	14.59	14.62	14.62
20910	0.82	97.3	2946	2111	2466	2224	357.1	7.4	1029	20911	0.12	0.00	0.00	0.000	2118	0.141	0.000	3001	2110	2344	2465	2223	0	0	0	0	0	0	14.32	14.39	14.38
21270	0.82	97.3	2996	2111	2466	2224	325.6	8.6	1041	21271	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	2111	2347	2471	2223	0	0	0	0	0	0	14.59	14.62	14.62
21630	0.82	97.3	2996	2111	2466	2223	295.0	8.4	1053	21631	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	2111	2344	2465	2223	0	0	0	0	0	0	14.58	14.61	14.61
21990	0.84	97.3	2996	2112	2467	2224	266.8	7.5	1065	21991	0.00	0.00	0.00	0.000	70	0.000	0.000	2996	2111	2344	2465	2223	0	0	0	0	0	0	14.57	14.60	14.60
22350	0.90	143.4	2996	2111	2466	2223	242.8	5.8	1077	22395	0.00	0.00	41.40	1.476	8742	0.000	0.000	2996	2110	2172	2293	2051	0	0	0	0	0	0	14.57	13.88	13.22
22772	0.93	143.4	2996	2111	2284	2048	212.9	7.0	1101	22777	0.00	2.67	0.00	0.000	580	0.000	0.116	2997	707	2167	2283	2051	0	0	0	0	0	0	14.62	14.02	14.64
22842	0.98	182.7	2997	707	2283	2048	208.4	6.2	1115	22884	0.12	2.42	36.15	1.419	11302	0.148	0.086	3047	2033	2011	2119	1904	0	0	0	0	0	0	14.16	14.09	13.20
23255	0.98	182.7	3047	2034	2109	1902	173.9	8.2	1137	23256	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	2033	2004	2108	1901	0	0	0	0	0	0	14.71	14.73	14.71
23615	1.00	182.7	3047	2034	2108	1901	145.6	7.7	1149	23616	0.00	0.00	0.00	0.000	70	0.000	0.000	3047	2033	2003	2107	1900	0	0	0	0	0	0	14.57	14.60	14.59
23975	1.03	182.7	3047	2034	2108	1899	120.3	6.7	1161	23977	0.00	0.00	0.00	0.000	70	0.000	0.000	3047	2033	2003	2107	1899	0	0	0	0	0	0	14.59	14.62	14.62
24335	1.08	218.8	3047	2033	2103	1898	96.5	6.4	1173	24386	0.00	0.00	48.80	1.284	8486	0.000	0.000	3046	2034	1866	1964	1768	0	0	0	0	0	0	14.71	14.09	13.26
24758	1.13	259.8	3046	2034	1957	1764	68.1	6.1	1197	24848	0.00	2.75	78.97	1.215	8484	0.000	0.112	3047	3447	1697	1780	1614	0	0	0	0	0	0	14.57	14.02	13.16
24928	1.16	259.8	3047	3453	1778	1615	56.6	6.9	1231	24933	0.15	2.42	0.00	0.000	3142	0.120	0.076	3100	2116	1695	1777	1613	0	0	0	0	0	0	14.19	14.12	14.28
25299	1.29	354.4	3101	2116	1774	1615	40.5	3.0	1245	25495	0.00	2.72	189.70	1.162	8740	0.000	0.116	3105	712	1313	1356	1271	0	0	0	0	0	0	14.50	13.62	13.05
25565	1.34	398.6	3100	713	1354	1268	28.4	5.9	1273	25653	0.15	2.45	81.68	1.120	11302	0.134	0.088	3160	2033	1135	1151	1120	0	0	0	0	0	0	14.03	13.94	13.07
25958	1.53	545.9	3160	2034	1149	1116	10.5	-0.1	1320	26210	0.15	2.72	243.95	1.116	10532	0.130	0.109	3219	3444	549	522	577	0	0	0	0	0	0	14.19	13.54	12.98
26310	end climb: NO_VERTICAL_VELOCITY
state	26310	begin subsurface finish
26318	0.58	442.4	3220	2116	520	576	9.2	-0.4	1379	26324	1.12	0.00	-3.47	0.031	20994	0.151	0.000	2895	2115	670	646	695	0	0	0	0	0	0	13.87	28.83	13.99
26324	end subsurface finish: NO_VERTICAL_VELOCITY
state	26324	begin surface