Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 438 * 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 438 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 16 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 438 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 16 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 070920,110733,7300.7007,-14710.0361,0,1001.0,0,21.7,0.0,0.0,0,0.0 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 10.70 MHEAD_RNG_PITCHd_Wd 246.3,38014,-18.2,-8.462,-20.48,1768

_SM_ANGLEo -19.5 D_GRID 990

GPS2 070920,110733,7300.7007,-14710.0361,0,1001.0,0,21.7,0.0,0.0,0,0.0 EXEC 4,999,2,0.000000,0.000000

Post-dive calculations and measurements:

SM_CCo 27104,191.27,1.112,0,0,550,541.62 _24V_AH 12.01,233.051

FINISH1 10.0,1.019820,394 _10V_AH 11.93,0.000

FINISH2 10.0 FG_AHR_24Vo 0.000

RAFOS_CLK 292 FG_AHR_10Vo 0.000

RAFOS_FIX 7300.743652,-14654.008789,070920,181807,0,1,0.31 MEM 334836

IRIDIUM_FIX 7316.87,-14731.16,010920,110615 DATA_FILE_SIZE 46633,1378

TT8_MAMPS 0.038948,0.303345 CAP_FILE_SIZE 162951,0

HUMID 52.12 CFSIZE 1047117824,986136576

INTERNAL_PRESSURE 8.79988 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.10 SOUNDSPEED 1454.6

XPDR_PINGS 119 GPS 070920,185107,7300.744,-14654.009,0,1001.0,0,21.7,0.0,0.0,0,0.0

SC_FREEKB 3622496

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 225 12.54 nil 0 0 0.00

Roll_motor 110 117 155.51 nil 0 0 0.00

VBD_pump_during_apogee 722 2308 20031.93 nil 0 0 0.00

VBD_pump_during_surface 191 1111 2553.46 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 27422 10 3316.44

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 29 420 150.06 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 23379 2 644.29

TT8_Active 1047 9 116.51

TT8_Sampling 2804 27 913.31

TT8_CF8 253 37 114.24

TT8_Kalman 0 0 0.00

Analog_circuits 2135 10 277.67

GPS_charging 0 0 0.00

Compass 2099 6 168.83

RAFOS 4406 33 1734.60

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 6 begin dive

9 -0.73 -97.3 2860 2042 676 723 0.0 0.0 0 83 0.00 0.00 -71.88 0.003 16390 0.000 0.000 2859 2042 3157 3250 3064 0 0 0 0 0 0 14.58 12.33 14.59

86 -0.73 -97.3 2860 2042 3252 3065 13.4 -5.6 7 92 1.20 2.50 0.00 0.000 4388 0.105 0.108 2479 3372 3158 3251 3065 0 0 0 0 0 0 14.08 14.03 14.17

316 -0.73 -97.3 2479 3372 3252 3065 63.1 -18.4 53 323 0.00 2.42 0.00 0.000 1030 0.000 0.070 2480 2031 3159 3253 3065 0 0 0 0 0 0 14.27 14.12 14.31

688 -0.73 -97.3 2480 2032 3252 3063 115.6 -12.9 67 693 0.00 2.55 0.00 0.000 260 0.000 0.106 2479 3372 3156 3251 3062 0 0 0 0 0 0 14.59 13.94 14.62

803 -0.73 -97.3 2479 3372 3251 3062 130.5 -12.9 90 810 0.00 2.42 0.00 0.000 1030 0.000 0.068 2480 2029 3156 3251 3061 0 0 0 0 0 0 14.25 14.10 14.29

1168 -0.73 -97.3 2479 2029 3251 3060 172.9 -11.2 103 1170 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2028 3155 3251 3060 0 0 0 0 0 0 14.59 14.62 14.61

1528 -0.73 -97.3 2480 2029 3251 3060 210.7 -10.3 115 1530 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2028 3155 3251 3059 0 0 0 0 0 0 14.75 14.78 14.78

1889 -0.73 -97.3 2479 2028 3251 3059 244.0 -9.0 127 1894 0.00 2.65 0.00 0.000 516 0.000 0.108 2480 633 3154 3251 3058 0 0 0 0 0 0 14.76 13.85 14.78

1979 -0.73 -97.3 2480 633 3253 3058 252.2 -8.8 145 1985 0.00 2.47 0.00 0.000 1030 0.000 0.090 2479 1961 3154 3251 3057 0 0 0 0 0 0 14.12 13.93 14.19

2370 -0.73 -97.3 2480 1962 3252 3058 282.9 -7.4 163 2372 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1961 3154 3251 3057 0 0 0 0 0 0 14.75 14.78 14.77

2740 -0.73 -97.3 2479 1962 3251 3057 309.1 -6.9 175 2742 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1961 3153 3251 3056 0 0 0 0 0 0 14.66 14.69 14.68

3090 -0.73 -97.3 2479 1962 3251 3057 334.3 -7.0 187 3092 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 1962 3153 3251 3056 0 0 0 0 0 0 14.46 14.48 14.48

3450 -0.73 -97.3 2480 1962 3252 3056 358.3 -6.6 199 3455 0.00 2.70 0.00 0.000 260 0.000 0.111 2479 3370 3152 3250 3055 0 0 0 0 0 0 14.45 13.78 14.47

3545 -0.73 -97.3 2479 3371 3252 3056 364.7 -6.7 218 3550 0.00 2.42 0.00 0.000 1030 0.000 0.068 2479 2040 3152 3250 3055 0 0 0 0 0 0 14.07 13.94 14.12

3930 -0.73 -97.3 2480 2041 3246 3056 389.9 -6.6 235 3932 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2040 3153 3251 3055 0 0 0 0 0 0 14.44 14.47 14.46

4290 -0.73 -97.3 2480 2045 3251 3056 413.5 -6.5 247 4295 0.00 2.55 0.00 0.000 260 0.000 0.106 2479 3372 3151 3251 3051 0 0 0 0 0 0 14.44 13.78 14.46

4351 -0.73 -97.3 2478 3373 3251 3055 417.5 -6.8 259 4355 0.00 2.42 0.00 0.000 1030 0.000 0.067 2479 2037 3153 3251 3055 0 0 0 0 0 0 14.07 13.93 14.11

4741 -0.73 -97.3 2479 2039 3252 3056 442.9 -6.4 277 4743 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2037 3153 3251 3055 0 0 0 0 0 0 14.43 14.46 14.46

5101 -0.73 -97.3 2480 2038 3251 3056 465.6 -6.3 289 5102 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2037 3153 3251 3055 0 0 0 0 0 0 14.70 14.73 14.73

5461 -0.73 -97.3 2480 2038 3252 3055 487.9 -6.1 301 5467 0.00 2.55 0.00 0.000 292 0.000 0.106 2479 3373 3153 3251 3055 0 0 0 0 0 0 14.54 13.76 14.57

5517 -0.73 -97.3 2480 3374 3252 3055 491.4 -6.3 312 5524 0.00 2.42 0.00 0.000 1062 0.000 0.066 2479 2036 3153 3251 3055 0 0 0 0 0 0 14.12 13.98 14.16

5883 -0.73 -97.3 2480 2037 3251 3055 514.0 -6.3 325 5884 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2037 3153 3251 3055 0 0 0 0 0 0 14.78 14.77 14.76

6243 -0.73 -97.3 2480 2037 3252 3056 535.8 -6.0 337 6244 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2036 3153 3251 3055 0 0 0 0 0 0 14.54 14.57 14.56

6603 -0.73 -97.3 2480 2037 3252 3056 557.5 -6.0 349 6609 0.00 2.55 0.00 0.000 292 0.000 0.106 2479 3370 3153 3251 3055 0 0 0 0 0 0 14.54 13.71 14.56

6679 -0.73 -97.3 2480 3372 3251 3054 562.2 -6.2 364 6684 0.00 2.42 0.00 0.000 1062 0.000 0.067 2479 2034 3153 3251 3055 0 0 0 0 0 0 14.09 13.95 14.14

7054 -0.73 -97.3 2480 2034 3252 3056 584.8 -6.0 379 7056 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2033 3153 3251 3055 0 0 0 0 0 0 14.54 14.57 14.57

7414 -0.73 -97.3 2480 2034 3252 3055 606.2 -5.9 391 7419 0.00 2.55 0.00 0.000 292 0.000 0.105 2479 3365 3153 3251 3055 0 0 0 0 0 0 14.52 13.70 14.55

7469 -0.73 -97.3 2480 3371 3252 3056 609.5 -6.1 402 7475 0.00 2.40 0.00 0.000 1062 0.000 0.065 2480 2040 3153 3251 3055 0 0 0 0 0 0 14.09 13.94 14.14

7834 -0.73 -97.3 2480 2041 3252 3056 630.8 -5.9 415 7836 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2040 3153 3251 3055 0 0 0 0 0 0 14.52 14.55 14.58

8195 -0.73 -97.3 2480 2041 3252 3056 651.8 -5.9 427 8196 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2040 3153 3251 3055 0 0 0 0 0 0 14.52 14.55 14.54

8554 -0.73 -97.3 2480 2041 3252 3056 672.8 -5.9 439 8556 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2040 3155 3255 3055 0 0 0 0 0 0 14.52 14.54 14.54

8915 -0.73 -97.3 2480 2041 3251 3055 694.4 -6.1 451 8920 0.00 2.55 0.00 0.000 292 0.000 0.106 2480 3370 3153 3251 3055 0 0 0 0 0 0 14.52 13.69 14.54

8990 -0.73 -97.3 2479 3371 3252 3056 699.2 -6.3 466 8995 0.00 2.42 0.00 0.000 1062 0.000 0.066 2479 2027 3153 3251 3055 0 0 0 0 0 0 14.07 13.92 14.12

9365 -0.73 -97.3 2479 2029 3251 3055 721.4 -5.8 481 9367 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2027 3152 3251 3054 0 0 0 0 0 0 14.51 14.54 14.54

9726 -0.73 -97.3 2479 2028 3251 3056 742.6 -5.8 493 9731 0.00 2.58 0.00 0.000 292 0.000 0.106 2479 3368 3153 3251 3055 0 0 0 0 0 0 14.51 13.59 14.54

9801 -0.73 -97.3 2480 3368 3252 3056 747.3 -6.1 508 9806 0.00 2.42 0.00 0.000 1062 0.000 0.066 2479 2029 3153 3252 3055 0 0 0 0 0 0 14.06 13.92 14.12

10177 -0.73 -97.3 2479 2030 3251 3055 769.0 -5.7 523 10178 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2029 3150 3246 3055 0 0 0 0 0 0 14.51 14.54 14.53

10537 -0.73 -97.3 2480 2030 3252 3056 789.0 -5.5 535 10542 0.00 2.58 0.00 0.000 292 0.000 0.107 2479 3367 3153 3251 3055 0 0 0 0 0 0 14.73 13.65 14.76

10617 -0.73 -97.3 2480 3369 3251 3054 793.4 -5.7 551 10622 0.00 2.42 0.00 0.000 1062 0.000 0.064 2479 2030 3153 3250 3056 0 0 0 0 0 0 14.04 13.90 14.09

10987 -0.73 -97.3 2479 2031 3249 3055 814.9 -5.8 565 10989 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2030 3153 3251 3055 0 0 0 0 0 0 14.50 14.53 14.53

11347 -0.73 -97.3 2480 2031 3251 3054 835.2 -5.6 577 11349 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2031 3153 3251 3055 0 0 0 0 0 0 14.50 14.53 14.52

11707 -0.73 -97.3 2480 2030 3252 3056 855.1 -5.7 589 11709 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2031 3152 3251 3054 0 0 0 0 0 0 14.73 14.76 14.73

12067 -0.73 -97.3 2480 2031 3252 3056 875.7 -5.7 601 12073 0.00 2.60 0.00 0.000 292 0.000 0.106 2479 3373 3153 3251 3055 0 0 0 0 0 0 14.49 13.64 14.52

12133 -0.73 -97.3 2480 3374 3252 3056 880.1 -6.0 614 12138 0.00 2.42 0.00 0.000 1062 0.000 0.066 2480 2038 3153 3251 3055 0 0 0 0 0 0 14.03 13.89 14.09

12519 -0.73 -97.3 2480 2038 3250 3056 900.7 -5.3 631 12520 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2037 3153 3251 3055 0 0 0 0 0 0 14.47 14.50 14.50

12879 -0.73 -97.3 2480 2038 3251 3054 919.9 -5.3 643 12880 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2038 3152 3251 3054 0 0 0 0 0 0 14.47 14.50 14.50

13239 -0.73 -97.3 2480 2038 3251 3056 938.8 -5.3 655 13240 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2037 3152 3250 3054 0 0 0 0 0 0 14.46 14.49 14.49

13599 -0.73 -97.3 2480 2038 3252 3056 957.9 -5.2 667 13601 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2037 3153 3251 3055 0 0 0 0 0 0 14.48 14.50 14.50

13959 -0.73 -97.3 2481 2039 3252 3056 976.6 -5.2 679 13960 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2037 3153 3251 3055 0 0 0 0 0 0 14.46 14.49 14.49

14226 end dive: TARGET_DEPTH_EXCEEDED

state 14226 begin apogee

14232 -0.17 0.0 2478 2038 3251 3056 991.0 -5.4 688 14340 0.73 0.00 105.78 2.308 10246 0.226 0.000 2656 2037 2758 2878 2639 0 0 0 0 0 0 13.68 13.64 12.52

14341 end apogee: CONTROL_FINISHED_OK

state 14341 begin climb

14344 0.73 97.3 2657 2038 2877 2639 993.3 0.0 691 14464 1.02 2.72 109.15 2.242 10756 0.138 0.116 2950 711 2359 2479 2239 0 0 0 0 0 0 13.60 13.14 12.01

14474 0.73 97.3 2951 712 2477 2239 984.7 11.5 716 14479 0.00 2.60 0.00 0.000 1030 0.000 0.087 2950 2037 2356 2475 2238 0 0 0 0 0 0 13.39 13.25 13.43

14860 0.73 97.3 2951 2038 2468 2232 949.7 9.2 733 14865 0.00 2.65 0.00 0.000 260 0.000 0.112 2951 3444 2349 2467 2231 0 0 0 0 0 0 14.64 14.07 14.66

14915 0.73 97.3 2951 3445 2468 2232 944.8 10.5 744 14922 0.00 2.40 0.00 0.000 1030 0.000 0.076 2950 2110 2346 2461 2231 0 0 0 0 0 0 14.33 14.19 14.38

15281 0.73 97.3 2951 2110 2465 2230 910.8 9.0 757 15283 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2110 2347 2465 2230 0 0 0 0 0 0 14.65 14.68 14.68

15641 0.73 97.3 2951 2111 2465 2231 878.8 8.9 769 15643 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2110 2347 2465 2229 0 0 0 0 0 0 14.69 14.69 14.68

16001 0.73 97.3 2951 2111 2464 2228 846.9 8.8 781 16006 0.00 2.55 0.00 0.000 260 0.000 0.108 2950 3457 2346 2465 2228 0 0 0 0 0 0 14.66 14.06 14.69

16066 0.73 97.3 2951 3458 2466 2229 841.0 10.0 794 16072 0.00 2.42 0.00 0.000 1030 0.000 0.074 2958 2116 2346 2465 2228 0 0 0 0 0 0 14.32 14.16 14.38

16452 0.73 97.3 2951 2116 2465 2228 807.0 8.7 811 16454 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2115 2346 2464 2228 0 0 0 0 0 0 14.63 14.66 14.66

16812 0.73 97.3 2951 2116 2466 2228 776.4 8.5 823 16814 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2115 2346 2465 2227 0 0 0 0 0 0 14.62 14.65 14.64

17172 0.73 97.3 2950 2122 2465 2228 746.2 8.4 835 17177 0.00 2.55 0.00 0.000 260 0.000 0.106 2951 3457 2346 2464 2228 0 0 0 0 0 0 14.55 13.99 14.58

17222 0.73 97.3 2951 3458 2466 2228 741.5 9.6 845 17228 0.00 2.45 0.00 0.000 1030 0.000 0.074 2951 2111 2345 2464 2227 0 0 0 0 0 0 14.23 14.09 14.28

17593 0.73 97.3 2950 2112 2463 2228 709.8 8.6 859 17595 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2116 2345 2464 2227 0 0 0 0 0 0 14.53 14.56 14.56

17953 0.73 97.3 2951 2112 2465 2227 678.9 8.5 871 17955 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2111 2345 2464 2226 0 0 0 0 0 0 14.52 14.55 14.54

18313 0.73 97.3 2951 2112 2465 2228 648.1 8.6 883 18318 0.00 2.53 0.00 0.000 260 0.000 0.105 2950 3444 2344 2463 2225 0 0 0 0 0 0 14.51 13.98 14.54

18368 0.73 97.3 2951 3445 2464 2227 642.9 9.7 894 18374 0.00 2.42 0.00 0.000 1030 0.000 0.075 2951 2115 2345 2464 2227 0 0 0 0 0 0 14.21 14.07 14.26

18733 0.73 97.3 2951 2116 2464 2228 611.9 8.4 907 18735 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2115 2345 2464 2227 0 0 0 0 0 0 14.51 14.54 14.54

19094 0.73 97.3 2951 2116 2465 2226 581.7 8.4 919 19095 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2115 2345 2464 2226 0 0 0 0 0 0 14.52 14.53 14.53

19453 0.73 97.3 2951 2116 2464 2227 551.8 8.3 931 19455 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2115 2345 2464 2226 0 0 0 0 0 0 14.70 14.73 14.72

19813 0.73 97.3 2949 2116 2464 2227 522.3 8.2 943 19818 0.00 2.55 0.00 0.000 260 0.000 0.106 2950 3453 2344 2463 2226 0 0 0 0 0 0 14.56 13.90 14.59

19874 0.73 97.3 2951 3454 2464 2227 516.8 9.2 955 19879 0.00 2.42 0.00 0.000 1030 0.000 0.073 2950 2119 2345 2464 2226 0 0 0 0 0 0 14.19 14.04 14.26

20264 0.73 97.3 2950 2119 2465 2227 485.3 8.0 973 20266 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2118 2345 2464 2226 0 0 0 0 0 0 14.54 14.58 14.58

20624 0.74 97.3 2951 2119 2464 2227 456.3 7.9 985 20626 0.00 0.00 0.00 0.000 70 0.000 0.000 2951 2119 2345 2464 2226 0 0 0 0 0 0 14.76 14.79 14.78

20984 0.76 97.3 2950 2119 2464 2227 427.7 7.9 997 20990 0.00 2.53 0.00 0.000 324 0.000 0.104 2951 3446 2344 2463 2226 0 0 0 0 0 0 14.54 13.85 14.57

21035 0.76 97.3 2950 3446 2464 2227 423.2 9.0 1007 21040 0.00 2.42 0.00 0.000 1030 0.000 0.073 2950 2116 2344 2463 2226 0 0 0 0 0 0 14.16 14.00 14.23

21406 0.77 97.3 2950 2117 2464 2227 394.5 7.7 1021 21408 0.00 0.00 0.00 0.000 70 0.000 0.000 2950 2116 2342 2463 2222 0 0 0 0 0 0 14.57 14.60 14.60

21766 0.79 97.3 2950 2117 2464 2227 366.7 7.7 1033 21767 0.00 0.00 0.00 0.000 70 0.000 0.000 2950 2116 2345 2464 2226 0 0 0 0 0 0 14.56 14.58 14.59

22126 0.80 97.3 2951 2117 2464 2225 339.3 7.5 1045 22127 0.00 0.00 0.00 0.000 70 0.000 0.000 2950 2116 2344 2463 2226 0 0 0 0 0 0 14.56 14.59 14.58

22486 0.83 97.3 2951 2117 2464 2225 312.8 7.3 1057 22487 0.00 0.00 0.00 0.000 70 0.000 0.000 2950 2116 2344 2463 2226 0 0 0 0 0 0 14.55 14.58 14.57

22846 0.86 97.3 2950 2117 2464 2227 287.0 7.1 1069 22848 0.15 0.00 0.00 0.000 2118 0.136 0.000 3004 2116 2344 2463 2226 0 0 0 0 0 0 14.15 14.28 14.25

23206 0.87 97.3 3004 2116 2464 2227 256.9 7.9 1081 23207 0.00 0.00 0.00 0.000 70 0.000 0.000 3004 2116 2344 2463 2226 0 0 0 0 0 0 14.56 14.59 14.59

23566 0.91 97.3 3004 2116 2464 2227 232.2 6.5 1093 23572 0.00 2.72 0.00 0.000 580 0.000 0.113 3005 713 2344 2463 2226 0 0 0 0 0 0 14.54 13.79 14.57

23694 0.97 147.0 3005 713 2462 2226 224.8 5.6 1118 23743 0.00 2.47 44.40 1.457 9254 0.000 0.086 3005 2041 2157 2272 2042 0 0 0 0 0 0 14.10 13.91 13.24

24110 1.02 184.4 3005 2042 2261 2039 196.5 6.3 1141 24147 0.12 0.00 34.05 1.401 10278 0.149 0.000 3059 2041 2007 2109 1905 0 0 0 0 0 0 14.26 14.11 13.24

24498 1.02 184.4 3059 2042 2099 1902 161.5 8.9 1154 24500 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2041 1999 2098 1901 0 0 0 0 0 0 14.55 14.57 14.58

24859 1.02 184.4 3059 2043 2096 1902 132.2 8.1 1166 24860 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2042 1999 2097 1901 0 0 0 0 0 0 14.57 14.59 14.59

25219 1.05 184.4 3059 2042 2097 1901 105.9 6.8 1178 25220 0.00 0.00 0.00 0.000 70 0.000 0.000 3059 2041 1998 2096 1900 0 0 0 0 0 0 14.57 14.59 14.59

25579 1.10 223.5 3059 2042 2097 1899 82.8 6.2 1190 25645 0.00 2.60 59.55 1.258 8740 0.000 0.117 3060 706 1850 1944 1756 0 0 0 0 0 0 14.55 14.03 13.26

25695 1.15 259.9 3060 707 1933 1756 76.0 6.3 1203 25761 0.00 2.45 57.53 1.209 9254 0.000 0.088 3060 2036 1699 1779 1619 0 0 0 0 0 0 14.19 14.03 13.13

26120 1.25 332.6 3060 2037 1771 1620 51.3 4.2 1228 26274 0.17 2.70 142.45 1.168 10532 0.126 0.112 3125 3444 1401 1450 1353 0 0 0 0 0 0 14.16 13.85 13.09

26459 1.27 332.6 3124 3445 1446 1352 31.0 7.2 1295 26465 0.00 2.42 0.00 0.000 1094 0.000 0.077 3125 2110 1398 1446 1351 0 0 0 0 0 0 14.14 14.04 14.18

26825 1.40 430.2 3126 2111 1445 1348 14.5 2.8 1334 27000 0.15 0.00 169.77 1.151 10534 0.130 0.000 3186 2110 1004 1005 1004 0 0 0 0 0 0 14.23 13.83 13.12

27103 end climb: NO_VERTICAL_VELOCITY

state 27103 begin subsurface finish

27358 0.51 393.8 3187 2110 521 577 10.0 -1.2 1374 27381 1.08 0.00 -17.33 0.008 20998 0.158 0.000 2881 2110 1154 1128 1181 0 0 0 0 0 0 13.87 12.53 13.98

27382 end subsurface finish: CONTROL_FINISHED_OK

state 27382 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	438	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	16	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	070920,110733,7300.7007,-14710.0361,0,1001.0,0,21.7,0.0,0.0,0,0.0	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	10.70	MHEAD_RNG_PITCHd_Wd	246.3,38014,-18.2,-8.462,-20.48,1768
_SM_ANGLEo	-19.5	D_GRID	990
GPS2	070920,110733,7300.7007,-14710.0361,0,1001.0,0,21.7,0.0,0.0,0,0.0	EXEC	4,999,2,0.000000,0.000000

SM_CCo	27104,191.27,1.112,0,0,550,541.62	_24V_AH	12.01,233.051
FINISH1	10.0,1.019820,394	_10V_AH	11.93,0.000
FINISH2	10.0	FG_AHR_24Vo	0.000
RAFOS_CLK	292	FG_AHR_10Vo	0.000
RAFOS_FIX	7300.743652,-14654.008789,070920,181807,0,1,0.31	MEM	334836
IRIDIUM_FIX	7316.87,-14731.16,010920,110615	DATA_FILE_SIZE	46633,1378
TT8_MAMPS	0.038948,0.303345	CAP_FILE_SIZE	162951,0
HUMID	52.12	CFSIZE	1047117824,986136576
INTERNAL_PRESSURE	8.79988	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.10	SOUNDSPEED	1454.6
XPDR_PINGS	119	GPS	070920,185107,7300.744,-14654.009,0,1001.0,0,21.7,0.0,0.0,0,0.0
SC_FREEKB	3622496

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	225	12.54	nil	0	0	0.00
Roll_motor	110	117	155.51	nil	0	0	0.00
VBD_pump_during_apogee	722	2308	20031.93	nil	0	0	0.00
VBD_pump_during_surface	191	1111	2553.46	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	27422	10	3316.44
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	29	420	150.06	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	23379	2	644.29
TT8_Active	1047	9	116.51
TT8_Sampling	2804	27	913.31
TT8_CF8	253	37	114.24
TT8_Kalman	0	0	0.00
Analog_circuits	2135	10	277.67
GPS_charging	0	0	0.00
Compass	2099	6	168.83
RAFOS	4406	33	1734.60
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	6	begin dive
9	-0.73	-97.3	2860	2042	676	723	0.0	0.0	0	83	0.00	0.00	-71.88	0.003	16390	0.000	0.000	2859	2042	3157	3250	3064	0	0	0	0	0	0	14.58	12.33	14.59
86	-0.73	-97.3	2860	2042	3252	3065	13.4	-5.6	7	92	1.20	2.50	0.00	0.000	4388	0.105	0.108	2479	3372	3158	3251	3065	0	0	0	0	0	0	14.08	14.03	14.17
316	-0.73	-97.3	2479	3372	3252	3065	63.1	-18.4	53	323	0.00	2.42	0.00	0.000	1030	0.000	0.070	2480	2031	3159	3253	3065	0	0	0	0	0	0	14.27	14.12	14.31
688	-0.73	-97.3	2480	2032	3252	3063	115.6	-12.9	67	693	0.00	2.55	0.00	0.000	260	0.000	0.106	2479	3372	3156	3251	3062	0	0	0	0	0	0	14.59	13.94	14.62
803	-0.73	-97.3	2479	3372	3251	3062	130.5	-12.9	90	810	0.00	2.42	0.00	0.000	1030	0.000	0.068	2480	2029	3156	3251	3061	0	0	0	0	0	0	14.25	14.10	14.29
1168	-0.73	-97.3	2479	2029	3251	3060	172.9	-11.2	103	1170	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2028	3155	3251	3060	0	0	0	0	0	0	14.59	14.62	14.61
1528	-0.73	-97.3	2480	2029	3251	3060	210.7	-10.3	115	1530	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2028	3155	3251	3059	0	0	0	0	0	0	14.75	14.78	14.78
1889	-0.73	-97.3	2479	2028	3251	3059	244.0	-9.0	127	1894	0.00	2.65	0.00	0.000	516	0.000	0.108	2480	633	3154	3251	3058	0	0	0	0	0	0	14.76	13.85	14.78
1979	-0.73	-97.3	2480	633	3253	3058	252.2	-8.8	145	1985	0.00	2.47	0.00	0.000	1030	0.000	0.090	2479	1961	3154	3251	3057	0	0	0	0	0	0	14.12	13.93	14.19
2370	-0.73	-97.3	2480	1962	3252	3058	282.9	-7.4	163	2372	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1961	3154	3251	3057	0	0	0	0	0	0	14.75	14.78	14.77
2740	-0.73	-97.3	2479	1962	3251	3057	309.1	-6.9	175	2742	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1961	3153	3251	3056	0	0	0	0	0	0	14.66	14.69	14.68
3090	-0.73	-97.3	2479	1962	3251	3057	334.3	-7.0	187	3092	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	1962	3153	3251	3056	0	0	0	0	0	0	14.46	14.48	14.48
3450	-0.73	-97.3	2480	1962	3252	3056	358.3	-6.6	199	3455	0.00	2.70	0.00	0.000	260	0.000	0.111	2479	3370	3152	3250	3055	0	0	0	0	0	0	14.45	13.78	14.47
3545	-0.73	-97.3	2479	3371	3252	3056	364.7	-6.7	218	3550	0.00	2.42	0.00	0.000	1030	0.000	0.068	2479	2040	3152	3250	3055	0	0	0	0	0	0	14.07	13.94	14.12
3930	-0.73	-97.3	2480	2041	3246	3056	389.9	-6.6	235	3932	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2040	3153	3251	3055	0	0	0	0	0	0	14.44	14.47	14.46
4290	-0.73	-97.3	2480	2045	3251	3056	413.5	-6.5	247	4295	0.00	2.55	0.00	0.000	260	0.000	0.106	2479	3372	3151	3251	3051	0	0	0	0	0	0	14.44	13.78	14.46
4351	-0.73	-97.3	2478	3373	3251	3055	417.5	-6.8	259	4355	0.00	2.42	0.00	0.000	1030	0.000	0.067	2479	2037	3153	3251	3055	0	0	0	0	0	0	14.07	13.93	14.11
4741	-0.73	-97.3	2479	2039	3252	3056	442.9	-6.4	277	4743	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2037	3153	3251	3055	0	0	0	0	0	0	14.43	14.46	14.46
5101	-0.73	-97.3	2480	2038	3251	3056	465.6	-6.3	289	5102	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2037	3153	3251	3055	0	0	0	0	0	0	14.70	14.73	14.73
5461	-0.73	-97.3	2480	2038	3252	3055	487.9	-6.1	301	5467	0.00	2.55	0.00	0.000	292	0.000	0.106	2479	3373	3153	3251	3055	0	0	0	0	0	0	14.54	13.76	14.57
5517	-0.73	-97.3	2480	3374	3252	3055	491.4	-6.3	312	5524	0.00	2.42	0.00	0.000	1062	0.000	0.066	2479	2036	3153	3251	3055	0	0	0	0	0	0	14.12	13.98	14.16
5883	-0.73	-97.3	2480	2037	3251	3055	514.0	-6.3	325	5884	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2037	3153	3251	3055	0	0	0	0	0	0	14.78	14.77	14.76
6243	-0.73	-97.3	2480	2037	3252	3056	535.8	-6.0	337	6244	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2036	3153	3251	3055	0	0	0	0	0	0	14.54	14.57	14.56
6603	-0.73	-97.3	2480	2037	3252	3056	557.5	-6.0	349	6609	0.00	2.55	0.00	0.000	292	0.000	0.106	2479	3370	3153	3251	3055	0	0	0	0	0	0	14.54	13.71	14.56
6679	-0.73	-97.3	2480	3372	3251	3054	562.2	-6.2	364	6684	0.00	2.42	0.00	0.000	1062	0.000	0.067	2479	2034	3153	3251	3055	0	0	0	0	0	0	14.09	13.95	14.14
7054	-0.73	-97.3	2480	2034	3252	3056	584.8	-6.0	379	7056	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2033	3153	3251	3055	0	0	0	0	0	0	14.54	14.57	14.57
7414	-0.73	-97.3	2480	2034	3252	3055	606.2	-5.9	391	7419	0.00	2.55	0.00	0.000	292	0.000	0.105	2479	3365	3153	3251	3055	0	0	0	0	0	0	14.52	13.70	14.55
7469	-0.73	-97.3	2480	3371	3252	3056	609.5	-6.1	402	7475	0.00	2.40	0.00	0.000	1062	0.000	0.065	2480	2040	3153	3251	3055	0	0	0	0	0	0	14.09	13.94	14.14
7834	-0.73	-97.3	2480	2041	3252	3056	630.8	-5.9	415	7836	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2040	3153	3251	3055	0	0	0	0	0	0	14.52	14.55	14.58
8195	-0.73	-97.3	2480	2041	3252	3056	651.8	-5.9	427	8196	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2040	3153	3251	3055	0	0	0	0	0	0	14.52	14.55	14.54
8554	-0.73	-97.3	2480	2041	3252	3056	672.8	-5.9	439	8556	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2040	3155	3255	3055	0	0	0	0	0	0	14.52	14.54	14.54
8915	-0.73	-97.3	2480	2041	3251	3055	694.4	-6.1	451	8920	0.00	2.55	0.00	0.000	292	0.000	0.106	2480	3370	3153	3251	3055	0	0	0	0	0	0	14.52	13.69	14.54
8990	-0.73	-97.3	2479	3371	3252	3056	699.2	-6.3	466	8995	0.00	2.42	0.00	0.000	1062	0.000	0.066	2479	2027	3153	3251	3055	0	0	0	0	0	0	14.07	13.92	14.12
9365	-0.73	-97.3	2479	2029	3251	3055	721.4	-5.8	481	9367	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2027	3152	3251	3054	0	0	0	0	0	0	14.51	14.54	14.54
9726	-0.73	-97.3	2479	2028	3251	3056	742.6	-5.8	493	9731	0.00	2.58	0.00	0.000	292	0.000	0.106	2479	3368	3153	3251	3055	0	0	0	0	0	0	14.51	13.59	14.54
9801	-0.73	-97.3	2480	3368	3252	3056	747.3	-6.1	508	9806	0.00	2.42	0.00	0.000	1062	0.000	0.066	2479	2029	3153	3252	3055	0	0	0	0	0	0	14.06	13.92	14.12
10177	-0.73	-97.3	2479	2030	3251	3055	769.0	-5.7	523	10178	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2029	3150	3246	3055	0	0	0	0	0	0	14.51	14.54	14.53
10537	-0.73	-97.3	2480	2030	3252	3056	789.0	-5.5	535	10542	0.00	2.58	0.00	0.000	292	0.000	0.107	2479	3367	3153	3251	3055	0	0	0	0	0	0	14.73	13.65	14.76
10617	-0.73	-97.3	2480	3369	3251	3054	793.4	-5.7	551	10622	0.00	2.42	0.00	0.000	1062	0.000	0.064	2479	2030	3153	3250	3056	0	0	0	0	0	0	14.04	13.90	14.09
10987	-0.73	-97.3	2479	2031	3249	3055	814.9	-5.8	565	10989	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2030	3153	3251	3055	0	0	0	0	0	0	14.50	14.53	14.53
11347	-0.73	-97.3	2480	2031	3251	3054	835.2	-5.6	577	11349	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2031	3153	3251	3055	0	0	0	0	0	0	14.50	14.53	14.52
11707	-0.73	-97.3	2480	2030	3252	3056	855.1	-5.7	589	11709	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2031	3152	3251	3054	0	0	0	0	0	0	14.73	14.76	14.73
12067	-0.73	-97.3	2480	2031	3252	3056	875.7	-5.7	601	12073	0.00	2.60	0.00	0.000	292	0.000	0.106	2479	3373	3153	3251	3055	0	0	0	0	0	0	14.49	13.64	14.52
12133	-0.73	-97.3	2480	3374	3252	3056	880.1	-6.0	614	12138	0.00	2.42	0.00	0.000	1062	0.000	0.066	2480	2038	3153	3251	3055	0	0	0	0	0	0	14.03	13.89	14.09
12519	-0.73	-97.3	2480	2038	3250	3056	900.7	-5.3	631	12520	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2037	3153	3251	3055	0	0	0	0	0	0	14.47	14.50	14.50
12879	-0.73	-97.3	2480	2038	3251	3054	919.9	-5.3	643	12880	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2038	3152	3251	3054	0	0	0	0	0	0	14.47	14.50	14.50
13239	-0.73	-97.3	2480	2038	3251	3056	938.8	-5.3	655	13240	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2037	3152	3250	3054	0	0	0	0	0	0	14.46	14.49	14.49
13599	-0.73	-97.3	2480	2038	3252	3056	957.9	-5.2	667	13601	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2037	3153	3251	3055	0	0	0	0	0	0	14.48	14.50	14.50
13959	-0.73	-97.3	2481	2039	3252	3056	976.6	-5.2	679	13960	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2037	3153	3251	3055	0	0	0	0	0	0	14.46	14.49	14.49
14226	end dive: TARGET_DEPTH_EXCEEDED
state	14226	begin apogee
14232	-0.17	0.0	2478	2038	3251	3056	991.0	-5.4	688	14340	0.73	0.00	105.78	2.308	10246	0.226	0.000	2656	2037	2758	2878	2639	0	0	0	0	0	0	13.68	13.64	12.52
14341	end apogee: CONTROL_FINISHED_OK
state	14341	begin climb
14344	0.73	97.3	2657	2038	2877	2639	993.3	0.0	691	14464	1.02	2.72	109.15	2.242	10756	0.138	0.116	2950	711	2359	2479	2239	0	0	0	0	0	0	13.60	13.14	12.01
14474	0.73	97.3	2951	712	2477	2239	984.7	11.5	716	14479	0.00	2.60	0.00	0.000	1030	0.000	0.087	2950	2037	2356	2475	2238	0	0	0	0	0	0	13.39	13.25	13.43
14860	0.73	97.3	2951	2038	2468	2232	949.7	9.2	733	14865	0.00	2.65	0.00	0.000	260	0.000	0.112	2951	3444	2349	2467	2231	0	0	0	0	0	0	14.64	14.07	14.66
14915	0.73	97.3	2951	3445	2468	2232	944.8	10.5	744	14922	0.00	2.40	0.00	0.000	1030	0.000	0.076	2950	2110	2346	2461	2231	0	0	0	0	0	0	14.33	14.19	14.38
15281	0.73	97.3	2951	2110	2465	2230	910.8	9.0	757	15283	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2110	2347	2465	2230	0	0	0	0	0	0	14.65	14.68	14.68
15641	0.73	97.3	2951	2111	2465	2231	878.8	8.9	769	15643	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2110	2347	2465	2229	0	0	0	0	0	0	14.69	14.69	14.68
16001	0.73	97.3	2951	2111	2464	2228	846.9	8.8	781	16006	0.00	2.55	0.00	0.000	260	0.000	0.108	2950	3457	2346	2465	2228	0	0	0	0	0	0	14.66	14.06	14.69
16066	0.73	97.3	2951	3458	2466	2229	841.0	10.0	794	16072	0.00	2.42	0.00	0.000	1030	0.000	0.074	2958	2116	2346	2465	2228	0	0	0	0	0	0	14.32	14.16	14.38
16452	0.73	97.3	2951	2116	2465	2228	807.0	8.7	811	16454	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2115	2346	2464	2228	0	0	0	0	0	0	14.63	14.66	14.66
16812	0.73	97.3	2951	2116	2466	2228	776.4	8.5	823	16814	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2115	2346	2465	2227	0	0	0	0	0	0	14.62	14.65	14.64
17172	0.73	97.3	2950	2122	2465	2228	746.2	8.4	835	17177	0.00	2.55	0.00	0.000	260	0.000	0.106	2951	3457	2346	2464	2228	0	0	0	0	0	0	14.55	13.99	14.58
17222	0.73	97.3	2951	3458	2466	2228	741.5	9.6	845	17228	0.00	2.45	0.00	0.000	1030	0.000	0.074	2951	2111	2345	2464	2227	0	0	0	0	0	0	14.23	14.09	14.28
17593	0.73	97.3	2950	2112	2463	2228	709.8	8.6	859	17595	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2116	2345	2464	2227	0	0	0	0	0	0	14.53	14.56	14.56
17953	0.73	97.3	2951	2112	2465	2227	678.9	8.5	871	17955	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2111	2345	2464	2226	0	0	0	0	0	0	14.52	14.55	14.54
18313	0.73	97.3	2951	2112	2465	2228	648.1	8.6	883	18318	0.00	2.53	0.00	0.000	260	0.000	0.105	2950	3444	2344	2463	2225	0	0	0	0	0	0	14.51	13.98	14.54
18368	0.73	97.3	2951	3445	2464	2227	642.9	9.7	894	18374	0.00	2.42	0.00	0.000	1030	0.000	0.075	2951	2115	2345	2464	2227	0	0	0	0	0	0	14.21	14.07	14.26
18733	0.73	97.3	2951	2116	2464	2228	611.9	8.4	907	18735	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2115	2345	2464	2227	0	0	0	0	0	0	14.51	14.54	14.54
19094	0.73	97.3	2951	2116	2465	2226	581.7	8.4	919	19095	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2115	2345	2464	2226	0	0	0	0	0	0	14.52	14.53	14.53
19453	0.73	97.3	2951	2116	2464	2227	551.8	8.3	931	19455	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2115	2345	2464	2226	0	0	0	0	0	0	14.70	14.73	14.72
19813	0.73	97.3	2949	2116	2464	2227	522.3	8.2	943	19818	0.00	2.55	0.00	0.000	260	0.000	0.106	2950	3453	2344	2463	2226	0	0	0	0	0	0	14.56	13.90	14.59
19874	0.73	97.3	2951	3454	2464	2227	516.8	9.2	955	19879	0.00	2.42	0.00	0.000	1030	0.000	0.073	2950	2119	2345	2464	2226	0	0	0	0	0	0	14.19	14.04	14.26
20264	0.73	97.3	2950	2119	2465	2227	485.3	8.0	973	20266	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2118	2345	2464	2226	0	0	0	0	0	0	14.54	14.58	14.58
20624	0.74	97.3	2951	2119	2464	2227	456.3	7.9	985	20626	0.00	0.00	0.00	0.000	70	0.000	0.000	2951	2119	2345	2464	2226	0	0	0	0	0	0	14.76	14.79	14.78
20984	0.76	97.3	2950	2119	2464	2227	427.7	7.9	997	20990	0.00	2.53	0.00	0.000	324	0.000	0.104	2951	3446	2344	2463	2226	0	0	0	0	0	0	14.54	13.85	14.57
21035	0.76	97.3	2950	3446	2464	2227	423.2	9.0	1007	21040	0.00	2.42	0.00	0.000	1030	0.000	0.073	2950	2116	2344	2463	2226	0	0	0	0	0	0	14.16	14.00	14.23
21406	0.77	97.3	2950	2117	2464	2227	394.5	7.7	1021	21408	0.00	0.00	0.00	0.000	70	0.000	0.000	2950	2116	2342	2463	2222	0	0	0	0	0	0	14.57	14.60	14.60
21766	0.79	97.3	2950	2117	2464	2227	366.7	7.7	1033	21767	0.00	0.00	0.00	0.000	70	0.000	0.000	2950	2116	2345	2464	2226	0	0	0	0	0	0	14.56	14.58	14.59
22126	0.80	97.3	2951	2117	2464	2225	339.3	7.5	1045	22127	0.00	0.00	0.00	0.000	70	0.000	0.000	2950	2116	2344	2463	2226	0	0	0	0	0	0	14.56	14.59	14.58
22486	0.83	97.3	2951	2117	2464	2225	312.8	7.3	1057	22487	0.00	0.00	0.00	0.000	70	0.000	0.000	2950	2116	2344	2463	2226	0	0	0	0	0	0	14.55	14.58	14.57
22846	0.86	97.3	2950	2117	2464	2227	287.0	7.1	1069	22848	0.15	0.00	0.00	0.000	2118	0.136	0.000	3004	2116	2344	2463	2226	0	0	0	0	0	0	14.15	14.28	14.25
23206	0.87	97.3	3004	2116	2464	2227	256.9	7.9	1081	23207	0.00	0.00	0.00	0.000	70	0.000	0.000	3004	2116	2344	2463	2226	0	0	0	0	0	0	14.56	14.59	14.59
23566	0.91	97.3	3004	2116	2464	2227	232.2	6.5	1093	23572	0.00	2.72	0.00	0.000	580	0.000	0.113	3005	713	2344	2463	2226	0	0	0	0	0	0	14.54	13.79	14.57
23694	0.97	147.0	3005	713	2462	2226	224.8	5.6	1118	23743	0.00	2.47	44.40	1.457	9254	0.000	0.086	3005	2041	2157	2272	2042	0	0	0	0	0	0	14.10	13.91	13.24
24110	1.02	184.4	3005	2042	2261	2039	196.5	6.3	1141	24147	0.12	0.00	34.05	1.401	10278	0.149	0.000	3059	2041	2007	2109	1905	0	0	0	0	0	0	14.26	14.11	13.24
24498	1.02	184.4	3059	2042	2099	1902	161.5	8.9	1154	24500	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2041	1999	2098	1901	0	0	0	0	0	0	14.55	14.57	14.58
24859	1.02	184.4	3059	2043	2096	1902	132.2	8.1	1166	24860	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2042	1999	2097	1901	0	0	0	0	0	0	14.57	14.59	14.59
25219	1.05	184.4	3059	2042	2097	1901	105.9	6.8	1178	25220	0.00	0.00	0.00	0.000	70	0.000	0.000	3059	2041	1998	2096	1900	0	0	0	0	0	0	14.57	14.59	14.59
25579	1.10	223.5	3059	2042	2097	1899	82.8	6.2	1190	25645	0.00	2.60	59.55	1.258	8740	0.000	0.117	3060	706	1850	1944	1756	0	0	0	0	0	0	14.55	14.03	13.26
25695	1.15	259.9	3060	707	1933	1756	76.0	6.3	1203	25761	0.00	2.45	57.53	1.209	9254	0.000	0.088	3060	2036	1699	1779	1619	0	0	0	0	0	0	14.19	14.03	13.13
26120	1.25	332.6	3060	2037	1771	1620	51.3	4.2	1228	26274	0.17	2.70	142.45	1.168	10532	0.126	0.112	3125	3444	1401	1450	1353	0	0	0	0	0	0	14.16	13.85	13.09
26459	1.27	332.6	3124	3445	1446	1352	31.0	7.2	1295	26465	0.00	2.42	0.00	0.000	1094	0.000	0.077	3125	2110	1398	1446	1351	0	0	0	0	0	0	14.14	14.04	14.18
26825	1.40	430.2	3126	2111	1445	1348	14.5	2.8	1334	27000	0.15	0.00	169.77	1.151	10534	0.130	0.000	3186	2110	1004	1005	1004	0	0	0	0	0	0	14.23	13.83	13.12
27103	end climb: NO_VERTICAL_VELOCITY
state	27103	begin subsurface finish
27358	0.51	393.8	3187	2110	521	577	10.0	-1.2	1374	27381	1.08	0.00	-17.33	0.008	20998	0.158	0.000	2881	2110	1154	1128	1181	0	0	0	0	0	0	13.87	12.53	13.98
27382	end subsurface finish: CONTROL_FINISHED_OK
state	27382	begin surface