Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 441 * 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 441 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 441 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 080920,101551,7300.4595,-14622.8076,0,1001.0,0,21.7,0.0,0.0,0,0.0 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 28.90 MHEAD_RNG_PITCHd_Wd 247.5,63570,-18.2,-8.462,-20.48,1768

_SM_ANGLEo -11.4 D_GRID 990

GPS2 080920,101551,7300.4595,-14622.8076,0,1001.0,0,21.7,0.0,0.0,0,0.0 EXEC 4,999,2,0.000000,0.000000

Post-dive calculations and measurements:

SM_CCo 25942,296.45,1.112,0,0,550,541.87 _24V_AH 12.01,234.708

FINISH1 10.0,1.020979,334 _10V_AH 11.90,0.000

FINISH2 11.2 FG_AHR_24Vo 0.000

RAFOS_CLK 167 FG_AHR_10Vo 0.000

RAFOS_FIX 7300.208496,-14607.647461,080920,171729,0,1,0.31 MEM 334772

IRIDIUM_FIX 7316.87,-14731.16,010920,110615 DATA_FILE_SIZE 40022,1187

TT8_MAMPS 0.038948,0.261401 CAP_FILE_SIZE 145205,0

HUMID 53.22 CFSIZE 1047117824,985808896

INTERNAL_PRESSURE 8.82918 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.20 SOUNDSPEED 1455.1

XPDR_PINGS 122 GPS 080920,173529,7300.208,-14607.647,0,1001.0,0,21.7,0.0,0.0,0,0.0

SC_FREEKB 3620768

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 218 10.97 nil 0 0 0.00

Roll_motor 86 123 127.29 nil 0 0 0.00

VBD_pump_during_apogee 646 2305 17891.53 nil 0 0 0.00

VBD_pump_during_surface 296 1112 3960.23 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 26452 10 3219.46

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 30 420 153.85 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 22736 2 625.00

TT8_Active 1077 9 119.50

TT8_Sampling 2476 27 804.70

TT8_CF8 234 37 105.63

TT8_Kalman 0 0 0.00

Analog_circuits 1976 10 256.41

GPS_charging 0 0 0.00

Compass 1822 6 146.21

RAFOS 4403 33 1729.06

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 2716 2028 2821 2705 0.0 0.0 0 21 0.00 0.00 -6.22 0.016 16390 0.000 0.000 2716 2028 3157 3243 3071 0 0 0 0 0 0 14.55 13.15 14.54

24 -0.73 -97.3 2717 2028 3244 3072 31.9 0.0 1 31 0.75 2.60 0.00 0.000 4612 0.079 0.107 2463 636 3157 3243 3071 0 0 0 0 0 0 14.23 14.03 14.33

256 -0.73 -97.3 2464 637 3244 3072 77.9 -16.2 47 261 0.00 2.42 0.00 0.000 1030 0.000 0.087 2464 1955 3157 3244 3071 0 0 0 0 0 0 14.21 14.04 14.26

626 -0.73 -97.3 2464 1956 3244 3073 129.7 -13.1 61 632 0.00 2.47 0.00 0.000 516 0.000 0.102 2471 634 3155 3243 3067 0 0 0 0 0 0 14.71 13.99 14.74

857 -0.73 -97.3 2464 638 3245 3073 160.2 -12.9 107 862 0.00 2.45 0.00 0.000 1030 0.000 0.088 2463 1962 3158 3244 3072 0 0 0 0 0 0 14.21 14.02 14.27

1228 -0.73 -97.3 2464 1964 3244 3073 204.0 -11.4 121 1234 0.00 2.50 0.00 0.000 516 0.000 0.104 2463 633 3157 3243 3072 0 0 0 0 0 0 14.60 13.93 14.62

1459 -0.73 -97.3 2463 633 3244 3072 230.3 -11.0 167 1464 0.00 2.45 0.00 0.000 1030 0.000 0.089 2463 1962 3157 3243 3072 0 0 0 0 0 0 14.17 13.99 14.23

1829 -0.73 -97.3 2464 1963 3244 3071 264.2 -8.8 181 1831 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 1962 3156 3242 3071 0 0 0 0 0 0 14.74 14.77 14.77

2189 -0.73 -97.3 2464 1963 3244 3073 293.5 -8.0 193 2190 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 1962 3157 3244 3071 0 0 0 0 0 0 14.57 14.60 14.60

2549 -0.73 -97.3 2464 1963 3245 3072 321.4 -7.6 205 2550 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 1963 3157 3243 3071 0 0 0 0 0 0 14.75 14.78 14.77

2909 -0.73 -97.3 2464 1962 3244 3073 348.1 -7.3 217 2911 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 1963 3157 3243 3072 0 0 0 0 0 0 14.74 14.78 14.77

3269 -0.73 -97.3 2464 1964 3244 3073 373.5 -6.9 229 3271 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 1963 3157 3244 3071 0 0 0 0 0 0 14.74 14.77 14.77

3629 -0.73 -97.3 2464 1964 3244 3072 398.4 -6.9 241 3631 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 1964 3157 3243 3072 0 0 0 0 0 0 14.74 14.78 14.77

3989 -0.73 -97.3 2464 1964 3244 3073 423.8 -7.0 253 3995 0.00 2.70 0.00 0.000 260 0.000 0.110 2463 3373 3157 3243 3071 0 0 0 0 0 0 14.54 13.79 14.57

4045 -0.73 -97.3 2464 3374 3244 3073 427.8 -7.2 264 4051 0.00 2.40 0.00 0.000 1030 0.000 0.063 2464 2037 3157 3243 3072 0 0 0 0 0 0 14.15 14.01 14.20

4410 -0.73 -97.3 2464 2038 3245 3072 452.8 -6.8 277 4412 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2037 3157 3243 3072 0 0 0 0 0 0 14.53 14.57 14.57

4770 -0.73 -97.3 2463 2038 3244 3073 477.4 -6.8 289 4772 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2037 3157 3243 3071 0 0 0 0 0 0 14.54 14.57 14.56

5130 -0.73 -97.3 2465 2037 3245 3073 501.6 -6.7 301 5131 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2038 3157 3243 3072 0 0 0 0 0 0 14.54 14.57 14.56

5490 -0.73 -97.3 2464 2037 3244 3072 525.4 -6.6 313 5492 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2036 3157 3243 3072 0 0 0 0 0 0 14.54 14.57 14.56

5850 -0.73 -97.3 2463 2037 3245 3072 549.4 -6.6 325 5852 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2036 3158 3244 3072 0 0 0 0 0 0 14.53 14.56 14.55

6210 -0.73 -97.3 2463 2037 3244 3072 573.4 -6.7 337 6211 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2036 3157 3244 3071 0 0 0 0 0 0 14.45 14.47 14.47

6570 -0.73 -97.3 2464 2037 3244 3073 597.3 -6.6 349 6572 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2036 3156 3242 3071 0 0 0 0 0 0 14.43 14.47 14.46

6930 -0.73 -97.3 2464 2037 3243 3074 621.2 -6.6 361 6932 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2037 3158 3244 3072 0 0 0 0 0 0 14.29 14.32 14.31

7290 -0.73 -97.3 2464 2037 3244 3072 644.5 -6.4 373 7296 0.00 2.55 0.00 0.000 292 0.000 0.106 2464 3366 3158 3244 3072 0 0 0 0 0 0 14.28 13.79 14.31

7346 -0.73 -97.3 2464 3367 3245 3072 648.2 -6.6 384 7352 0.00 2.42 0.00 0.000 1030 0.000 0.065 2463 2033 3157 3243 3072 0 0 0 0 0 0 14.07 13.93 14.11

7711 -0.73 -97.3 2462 2033 3244 3072 671.2 -6.3 397 7713 0.00 0.00 0.00 0.000 38 0.000 0.000 2463 2033 3158 3244 3072 0 0 0 0 0 0 14.28 14.31 14.31

8071 -0.73 -97.3 2463 2033 3244 3072 693.9 -6.3 409 8073 0.00 0.00 0.00 0.000 38 0.000 0.000 2463 2033 3158 3244 3072 0 0 0 0 0 0 14.42 14.45 14.45

8431 -0.73 -97.3 2464 2033 3245 3073 716.5 -6.2 421 8433 0.00 0.00 0.00 0.000 38 0.000 0.000 2463 2033 3158 3244 3072 0 0 0 0 0 0 14.51 14.54 14.54

8791 -0.73 -97.3 2464 2033 3244 3072 739.1 -6.3 433 8793 0.00 0.00 0.00 0.000 38 0.000 0.000 2464 2032 3158 3244 3072 0 0 0 0 0 0 14.52 14.54 14.54

9151 -0.73 -97.3 2464 2032 3245 3073 761.5 -6.2 445 9153 0.00 0.00 0.00 0.000 38 0.000 0.000 2464 2032 3157 3243 3072 0 0 0 0 0 0 14.52 14.54 14.54

9512 -0.73 -97.3 2464 2032 3244 3072 783.6 -6.1 457 9513 0.00 0.00 0.00 0.000 38 0.000 0.000 2463 2032 3158 3244 3072 0 0 0 0 0 0 14.51 14.54 14.54

9871 -0.73 -97.3 2464 2032 3245 3070 805.7 -6.2 469 9873 0.00 0.00 0.00 0.000 38 0.000 0.000 2463 2032 3157 3243 3072 0 0 0 0 0 0 14.51 14.54 14.53

10231 -0.73 -97.3 2464 2032 3249 3072 828.1 -6.3 481 10238 0.00 2.55 0.00 0.000 292 0.000 0.106 2463 3363 3157 3243 3072 0 0 0 0 0 0 14.51 13.59 14.53

10293 -0.73 -97.3 2462 3363 3244 3072 831.7 -6.5 493 10298 0.00 2.42 0.00 0.000 1030 0.000 0.067 2464 2029 3157 3243 3071 0 0 0 0 0 0 14.04 13.90 14.10

10684 -0.73 -97.3 2464 2030 3245 3071 856.1 -6.3 511 10685 0.00 0.00 0.00 0.000 38 0.000 0.000 2463 2029 3157 3244 3071 0 0 0 0 0 0 14.50 14.52 14.53

11044 -0.73 -97.3 2463 2029 3244 3072 878.9 -6.3 523 11045 0.00 0.00 0.00 0.000 38 0.000 0.000 2463 2029 3158 3244 3072 0 0 0 0 0 0 14.50 14.52 14.52

11404 -0.73 -97.3 2463 2031 3244 3072 901.2 -6.2 535 11406 0.00 0.00 0.00 0.000 38 0.000 0.000 2463 2029 3157 3245 3070 0 0 0 0 0 0 14.50 14.52 14.52

11764 -0.73 -97.3 2464 2028 3245 3073 923.2 -6.1 547 11765 0.00 0.00 0.00 0.000 38 0.000 0.000 2463 2029 3157 3244 3071 0 0 0 0 0 0 14.49 14.52 14.52

12124 -0.73 -97.3 2463 2030 3244 3072 944.6 -5.9 559 12129 0.00 2.60 0.00 0.000 292 0.000 0.106 2464 3372 3157 3243 3072 0 0 0 0 0 0 14.49 13.66 14.51

12204 -0.73 -97.3 2464 3372 3244 3073 950.2 -6.1 575 12209 0.00 2.45 0.00 0.000 1062 0.000 0.067 2463 2034 3157 3243 3072 0 0 0 0 0 0 14.04 13.90 14.09

12575 -0.73 -97.3 2463 2035 3244 3072 970.6 -5.7 589 12576 0.00 0.00 0.00 0.000 38 0.000 0.000 2463 2034 3158 3244 3072 0 0 0 0 0 0 14.49 14.52 14.51

12932 end dive: TARGET_DEPTH_EXCEEDED

state 12932 begin apogee

12937 -0.17 0.0 2464 2040 3244 3072 990.7 -5.6 601 13046 0.77 0.00 106.78 2.306 10246 0.219 0.000 2655 2034 2758 2876 2640 0 0 0 0 0 0 13.69 13.63 12.55

13048 end apogee: CONTROL_FINISHED_OK

state 13048 begin climb

13050 0.73 97.3 2655 2035 2875 2641 992.8 0.0 604 13171 1.00 2.75 109.18 2.237 10756 0.138 0.115 2945 716 2358 2478 2239 0 0 0 0 0 0 13.60 13.12 12.01

13191 0.73 97.3 2952 717 2474 2238 982.9 10.6 631 13196 0.00 2.60 0.00 0.000 1030 0.000 0.087 2941 2039 2355 2474 2237 0 0 0 0 0 0 13.42 13.27 13.46

13567 0.73 97.3 2945 2041 2468 2232 949.2 8.9 646 13572 0.00 2.65 0.00 0.000 260 0.000 0.111 2944 3450 2350 2469 2231 0 0 0 0 0 0 14.54 14.09 14.57

13627 0.73 97.3 2945 3451 2472 2232 944.0 10.1 658 13632 0.00 2.40 0.00 0.000 1030 0.000 0.075 2944 2116 2349 2467 2231 0 0 0 0 0 0 14.33 14.19 14.38

14017 0.73 97.3 2945 2116 2466 2230 908.7 8.8 676 14019 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2116 2347 2465 2229 0 0 0 0 0 0 14.64 14.67 14.69

14377 0.73 97.3 2944 2116 2465 2229 878.0 8.5 688 14379 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2116 2350 2465 2236 0 0 0 0 0 0 14.66 14.69 14.68

14737 0.73 97.3 2942 2116 2464 2228 847.1 8.7 700 14739 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2115 2347 2465 2229 0 0 0 0 0 0 14.66 14.69 14.69

15097 0.73 97.3 2945 2116 2466 2228 816.8 8.3 712 15099 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2115 2345 2464 2227 0 0 0 0 0 0 14.77 14.81 14.80

15457 0.73 97.3 2944 2116 2466 2227 786.6 8.4 724 15462 0.00 2.53 0.00 0.000 260 0.000 0.108 2945 3450 2345 2464 2227 0 0 0 0 0 0 14.61 14.05 14.65

15532 0.73 97.3 2944 3450 2465 2227 779.3 9.5 739 15538 0.00 2.42 0.00 0.000 1030 0.000 0.074 2949 2111 2346 2465 2227 0 0 0 0 0 0 14.28 14.13 14.35

15908 0.73 97.3 2945 2112 2465 2228 748.2 8.3 754 15909 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2111 2346 2465 2227 0 0 0 0 0 0 14.61 14.64 14.64

16268 0.73 97.3 2945 2112 2465 2226 718.2 8.3 766 16269 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2110 2346 2465 2227 0 0 0 0 0 0 14.61 14.64 14.63

16628 0.73 97.3 2945 2112 2466 2228 688.7 8.1 778 16629 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2111 2345 2464 2226 0 0 0 0 0 0 14.60 14.63 14.63

16988 0.73 97.3 2945 2112 2465 2227 659.4 8.2 790 16989 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2111 2345 2464 2226 0 0 0 0 0 0 14.59 14.62 14.62

17348 0.73 97.3 2945 2110 2465 2227 629.8 8.2 802 17350 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2111 2345 2464 2226 0 0 0 0 0 0 14.59 14.62 14.62

17708 0.73 97.3 2945 2112 2464 2226 600.3 8.2 814 17713 0.00 2.58 0.00 0.000 260 0.000 0.107 2945 3460 2345 2464 2227 0 0 0 0 0 0 14.59 13.94 14.62

17763 0.73 97.3 2945 3461 2465 2226 595.3 9.3 825 17770 0.00 2.45 0.00 0.000 1030 0.000 0.073 2943 2111 2345 2464 2226 0 0 0 0 0 0 14.23 14.07 14.30

18128 0.73 97.3 2944 2112 2464 2227 565.7 8.1 838 18130 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2111 2345 2464 2226 0 0 0 0 0 0 14.76 14.79 14.79

18488 0.73 97.3 2944 2112 2464 2227 536.5 8.1 850 18490 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2111 2345 2464 2226 0 0 0 0 0 0 14.57 14.60 14.59

18848 0.73 97.3 2945 2112 2465 2227 507.3 8.1 862 18853 0.00 2.58 0.00 0.000 260 0.000 0.106 2945 3462 2344 2463 2226 0 0 0 0 0 0 14.57 13.90 14.60

18893 0.73 97.3 2945 3463 2464 2227 503.3 9.1 871 18898 0.00 2.45 0.00 0.000 1030 0.000 0.073 2944 2110 2344 2464 2225 0 0 0 0 0 0 14.19 14.04 14.26

19269 0.75 97.3 2945 2111 2465 2227 473.4 7.9 886 19271 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2110 2344 2463 2226 0 0 0 0 0 0 14.57 14.60 14.60

19629 0.76 97.3 2945 2111 2464 2228 445.4 7.7 898 19630 0.00 0.00 0.00 0.000 70 0.000 0.000 2944 2110 2345 2464 2226 0 0 0 0 0 0 14.57 14.59 14.59

19989 0.78 97.3 2945 2111 2464 2227 417.5 7.7 910 19991 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2110 2344 2463 2226 0 0 0 0 0 0 14.57 14.59 14.59

20349 0.79 97.3 2945 2111 2464 2226 390.1 7.6 922 20351 0.00 0.00 0.00 0.000 70 0.000 0.000 2944 2110 2344 2463 2226 0 0 0 0 0 0 14.56 14.59 14.59

20709 0.81 97.3 2944 2111 2464 2227 363.2 7.4 934 20714 0.00 2.55 0.00 0.000 324 0.000 0.105 2945 3457 2344 2463 2226 0 0 0 0 0 0 14.51 14.00 14.53

20754 0.81 97.3 2945 3455 2465 2227 359.5 8.4 943 20759 0.00 2.45 0.00 0.000 1030 0.000 0.071 2945 2116 2344 2463 2226 0 0 0 0 0 0 14.18 14.03 14.23

21129 0.84 97.3 2945 2111 2465 2227 332.2 7.1 958 21131 0.15 0.00 0.00 0.000 2118 0.125 0.000 3000 2110 2344 2463 2226 0 0 0 0 0 0 14.12 14.23 14.21

21489 0.84 97.3 2999 2109 2464 2227 300.1 9.0 970 21491 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2110 2344 2463 2226 0 0 0 0 0 0 14.48 14.51 14.51

21849 0.84 97.3 2999 2111 2464 2225 268.7 8.6 982 21851 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 2110 2344 2463 2226 0 0 0 0 0 0 14.47 14.51 14.50

22210 0.86 97.3 3000 2111 2463 2226 241.5 7.2 994 22215 0.00 2.55 0.00 0.000 324 0.000 0.104 3000 3452 2344 2463 2226 0 0 0 0 0 0 14.47 13.94 14.50

22260 0.88 97.3 3000 3452 2464 2227 237.6 7.6 1004 22265 0.00 2.42 0.00 0.000 1094 0.000 0.070 3001 2117 2344 2463 2226 0 0 0 0 0 0 14.16 14.02 14.21

22630 0.96 155.2 3002 2117 2463 2227 216.2 5.1 1018 22684 0.00 0.00 52.58 1.448 8230 0.000 0.000 3001 2115 2125 2238 2013 0 0 0 0 0 0 14.47 14.00 13.16

23020 0.99 155.2 3001 2117 2226 2011 190.2 6.7 1031 23022 0.12 0.00 0.00 0.000 2118 0.148 0.000 3054 2116 2117 2226 2009 0 0 0 0 0 0 14.23 14.36 14.33

23380 1.01 155.2 3055 2117 2225 2009 162.3 7.6 1043 23382 0.00 0.00 0.00 0.000 70 0.000 0.000 3054 2116 2116 2224 2009 0 0 0 0 0 0 14.54 14.58 14.57

23740 1.05 155.2 3054 2117 2219 2009 136.9 6.7 1055 23745 0.00 2.70 0.00 0.000 580 0.000 0.113 3055 706 2115 2223 2008 0 0 0 0 0 0 14.53 13.95 14.56

23805 1.08 155.2 3055 707 2223 2008 132.6 6.6 1068 23810 0.00 2.47 0.00 0.000 1094 0.000 0.088 3055 2041 2116 2224 2008 0 0 0 0 0 0 14.14 13.97 14.22

24191 1.13 192.7 3056 2041 2223 2008 108.1 6.3 1085 24242 0.00 0.00 49.30 1.292 8230 0.000 0.000 3055 2041 1971 2074 1869 0 0 0 0 0 0 14.55 14.11 13.30

24581 1.19 236.2 3055 2041 2063 1867 82.8 5.9 1098 24647 0.15 0.00 63.80 1.233 10278 0.129 0.000 3108 2041 1796 1884 1709 0 0 0 0 0 0 14.26 14.02 13.22

25001 1.25 286.0 3108 2038 1875 1705 53.9 5.6 1112 25103 0.00 0.00 99.88 1.180 8742 0.000 0.000 3108 2041 1592 1661 1523 0 0 0 0 0 0 14.55 13.94 13.17

25453 1.36 371.6 3108 2042 1654 1522 34.7 3.5 1132 25623 0.15 2.78 164.60 1.145 10532 0.127 0.112 3168 3457 1242 1273 1211 0 0 0 0 0 0 14.20 13.85 13.09

25658 1.39 371.6 3168 3458 1272 1211 21.5 7.4 1152 25664 0.00 2.45 0.00 0.000 1094 0.000 0.073 3169 2116 1240 1271 1210 0 0 0 0 0 0 14.11 14.00 14.15

25941 end climb: NO_VERTICAL_VELOCITY

state 25941 begin subsurface finish

26374 0.43 334.0 3169 2117 520 577 10.0 1.4 1181 26408 1.08 2.67 -24.83 0.006 21252 0.145 0.123 2858 713 1398 1341 1456 0 0 0 0 0 0 13.91 12.38 14.02

26409 end subsurface finish: CONTROL_FINISHED_OK

state 26409 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	441	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	080920,101551,7300.4595,-14622.8076,0,1001.0,0,21.7,0.0,0.0,0,0.0	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	28.90	MHEAD_RNG_PITCHd_Wd	247.5,63570,-18.2,-8.462,-20.48,1768
_SM_ANGLEo	-11.4	D_GRID	990
GPS2	080920,101551,7300.4595,-14622.8076,0,1001.0,0,21.7,0.0,0.0,0,0.0	EXEC	4,999,2,0.000000,0.000000

SM_CCo	25942,296.45,1.112,0,0,550,541.87	_24V_AH	12.01,234.708
FINISH1	10.0,1.020979,334	_10V_AH	11.90,0.000
FINISH2	11.2	FG_AHR_24Vo	0.000
RAFOS_CLK	167	FG_AHR_10Vo	0.000
RAFOS_FIX	7300.208496,-14607.647461,080920,171729,0,1,0.31	MEM	334772
IRIDIUM_FIX	7316.87,-14731.16,010920,110615	DATA_FILE_SIZE	40022,1187
TT8_MAMPS	0.038948,0.261401	CAP_FILE_SIZE	145205,0
HUMID	53.22	CFSIZE	1047117824,985808896
INTERNAL_PRESSURE	8.82918	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.20	SOUNDSPEED	1455.1
XPDR_PINGS	122	GPS	080920,173529,7300.208,-14607.647,0,1001.0,0,21.7,0.0,0.0,0,0.0
SC_FREEKB	3620768

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	218	10.97	nil	0	0	0.00
Roll_motor	86	123	127.29	nil	0	0	0.00
VBD_pump_during_apogee	646	2305	17891.53	nil	0	0	0.00
VBD_pump_during_surface	296	1112	3960.23	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	26452	10	3219.46
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	30	420	153.85	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	22736	2	625.00
TT8_Active	1077	9	119.50
TT8_Sampling	2476	27	804.70
TT8_CF8	234	37	105.63
TT8_Kalman	0	0	0.00
Analog_circuits	1976	10	256.41
GPS_charging	0	0	0.00
Compass	1822	6	146.21
RAFOS	4403	33	1729.06
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	2716	2028	2821	2705	0.0	0.0	0	21	0.00	0.00	-6.22	0.016	16390	0.000	0.000	2716	2028	3157	3243	3071	0	0	0	0	0	0	14.55	13.15	14.54
24	-0.73	-97.3	2717	2028	3244	3072	31.9	0.0	1	31	0.75	2.60	0.00	0.000	4612	0.079	0.107	2463	636	3157	3243	3071	0	0	0	0	0	0	14.23	14.03	14.33
256	-0.73	-97.3	2464	637	3244	3072	77.9	-16.2	47	261	0.00	2.42	0.00	0.000	1030	0.000	0.087	2464	1955	3157	3244	3071	0	0	0	0	0	0	14.21	14.04	14.26
626	-0.73	-97.3	2464	1956	3244	3073	129.7	-13.1	61	632	0.00	2.47	0.00	0.000	516	0.000	0.102	2471	634	3155	3243	3067	0	0	0	0	0	0	14.71	13.99	14.74
857	-0.73	-97.3	2464	638	3245	3073	160.2	-12.9	107	862	0.00	2.45	0.00	0.000	1030	0.000	0.088	2463	1962	3158	3244	3072	0	0	0	0	0	0	14.21	14.02	14.27
1228	-0.73	-97.3	2464	1964	3244	3073	204.0	-11.4	121	1234	0.00	2.50	0.00	0.000	516	0.000	0.104	2463	633	3157	3243	3072	0	0	0	0	0	0	14.60	13.93	14.62
1459	-0.73	-97.3	2463	633	3244	3072	230.3	-11.0	167	1464	0.00	2.45	0.00	0.000	1030	0.000	0.089	2463	1962	3157	3243	3072	0	0	0	0	0	0	14.17	13.99	14.23
1829	-0.73	-97.3	2464	1963	3244	3071	264.2	-8.8	181	1831	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	1962	3156	3242	3071	0	0	0	0	0	0	14.74	14.77	14.77
2189	-0.73	-97.3	2464	1963	3244	3073	293.5	-8.0	193	2190	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	1962	3157	3244	3071	0	0	0	0	0	0	14.57	14.60	14.60
2549	-0.73	-97.3	2464	1963	3245	3072	321.4	-7.6	205	2550	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	1963	3157	3243	3071	0	0	0	0	0	0	14.75	14.78	14.77
2909	-0.73	-97.3	2464	1962	3244	3073	348.1	-7.3	217	2911	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	1963	3157	3243	3072	0	0	0	0	0	0	14.74	14.78	14.77
3269	-0.73	-97.3	2464	1964	3244	3073	373.5	-6.9	229	3271	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	1963	3157	3244	3071	0	0	0	0	0	0	14.74	14.77	14.77
3629	-0.73	-97.3	2464	1964	3244	3072	398.4	-6.9	241	3631	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	1964	3157	3243	3072	0	0	0	0	0	0	14.74	14.78	14.77
3989	-0.73	-97.3	2464	1964	3244	3073	423.8	-7.0	253	3995	0.00	2.70	0.00	0.000	260	0.000	0.110	2463	3373	3157	3243	3071	0	0	0	0	0	0	14.54	13.79	14.57
4045	-0.73	-97.3	2464	3374	3244	3073	427.8	-7.2	264	4051	0.00	2.40	0.00	0.000	1030	0.000	0.063	2464	2037	3157	3243	3072	0	0	0	0	0	0	14.15	14.01	14.20
4410	-0.73	-97.3	2464	2038	3245	3072	452.8	-6.8	277	4412	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2037	3157	3243	3072	0	0	0	0	0	0	14.53	14.57	14.57
4770	-0.73	-97.3	2463	2038	3244	3073	477.4	-6.8	289	4772	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2037	3157	3243	3071	0	0	0	0	0	0	14.54	14.57	14.56
5130	-0.73	-97.3	2465	2037	3245	3073	501.6	-6.7	301	5131	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2038	3157	3243	3072	0	0	0	0	0	0	14.54	14.57	14.56
5490	-0.73	-97.3	2464	2037	3244	3072	525.4	-6.6	313	5492	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2036	3157	3243	3072	0	0	0	0	0	0	14.54	14.57	14.56
5850	-0.73	-97.3	2463	2037	3245	3072	549.4	-6.6	325	5852	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2036	3158	3244	3072	0	0	0	0	0	0	14.53	14.56	14.55
6210	-0.73	-97.3	2463	2037	3244	3072	573.4	-6.7	337	6211	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2036	3157	3244	3071	0	0	0	0	0	0	14.45	14.47	14.47
6570	-0.73	-97.3	2464	2037	3244	3073	597.3	-6.6	349	6572	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2036	3156	3242	3071	0	0	0	0	0	0	14.43	14.47	14.46
6930	-0.73	-97.3	2464	2037	3243	3074	621.2	-6.6	361	6932	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2037	3158	3244	3072	0	0	0	0	0	0	14.29	14.32	14.31
7290	-0.73	-97.3	2464	2037	3244	3072	644.5	-6.4	373	7296	0.00	2.55	0.00	0.000	292	0.000	0.106	2464	3366	3158	3244	3072	0	0	0	0	0	0	14.28	13.79	14.31
7346	-0.73	-97.3	2464	3367	3245	3072	648.2	-6.6	384	7352	0.00	2.42	0.00	0.000	1030	0.000	0.065	2463	2033	3157	3243	3072	0	0	0	0	0	0	14.07	13.93	14.11
7711	-0.73	-97.3	2462	2033	3244	3072	671.2	-6.3	397	7713	0.00	0.00	0.00	0.000	38	0.000	0.000	2463	2033	3158	3244	3072	0	0	0	0	0	0	14.28	14.31	14.31
8071	-0.73	-97.3	2463	2033	3244	3072	693.9	-6.3	409	8073	0.00	0.00	0.00	0.000	38	0.000	0.000	2463	2033	3158	3244	3072	0	0	0	0	0	0	14.42	14.45	14.45
8431	-0.73	-97.3	2464	2033	3245	3073	716.5	-6.2	421	8433	0.00	0.00	0.00	0.000	38	0.000	0.000	2463	2033	3158	3244	3072	0	0	0	0	0	0	14.51	14.54	14.54
8791	-0.73	-97.3	2464	2033	3244	3072	739.1	-6.3	433	8793	0.00	0.00	0.00	0.000	38	0.000	0.000	2464	2032	3158	3244	3072	0	0	0	0	0	0	14.52	14.54	14.54
9151	-0.73	-97.3	2464	2032	3245	3073	761.5	-6.2	445	9153	0.00	0.00	0.00	0.000	38	0.000	0.000	2464	2032	3157	3243	3072	0	0	0	0	0	0	14.52	14.54	14.54
9512	-0.73	-97.3	2464	2032	3244	3072	783.6	-6.1	457	9513	0.00	0.00	0.00	0.000	38	0.000	0.000	2463	2032	3158	3244	3072	0	0	0	0	0	0	14.51	14.54	14.54
9871	-0.73	-97.3	2464	2032	3245	3070	805.7	-6.2	469	9873	0.00	0.00	0.00	0.000	38	0.000	0.000	2463	2032	3157	3243	3072	0	0	0	0	0	0	14.51	14.54	14.53
10231	-0.73	-97.3	2464	2032	3249	3072	828.1	-6.3	481	10238	0.00	2.55	0.00	0.000	292	0.000	0.106	2463	3363	3157	3243	3072	0	0	0	0	0	0	14.51	13.59	14.53
10293	-0.73	-97.3	2462	3363	3244	3072	831.7	-6.5	493	10298	0.00	2.42	0.00	0.000	1030	0.000	0.067	2464	2029	3157	3243	3071	0	0	0	0	0	0	14.04	13.90	14.10
10684	-0.73	-97.3	2464	2030	3245	3071	856.1	-6.3	511	10685	0.00	0.00	0.00	0.000	38	0.000	0.000	2463	2029	3157	3244	3071	0	0	0	0	0	0	14.50	14.52	14.53
11044	-0.73	-97.3	2463	2029	3244	3072	878.9	-6.3	523	11045	0.00	0.00	0.00	0.000	38	0.000	0.000	2463	2029	3158	3244	3072	0	0	0	0	0	0	14.50	14.52	14.52
11404	-0.73	-97.3	2463	2031	3244	3072	901.2	-6.2	535	11406	0.00	0.00	0.00	0.000	38	0.000	0.000	2463	2029	3157	3245	3070	0	0	0	0	0	0	14.50	14.52	14.52
11764	-0.73	-97.3	2464	2028	3245	3073	923.2	-6.1	547	11765	0.00	0.00	0.00	0.000	38	0.000	0.000	2463	2029	3157	3244	3071	0	0	0	0	0	0	14.49	14.52	14.52
12124	-0.73	-97.3	2463	2030	3244	3072	944.6	-5.9	559	12129	0.00	2.60	0.00	0.000	292	0.000	0.106	2464	3372	3157	3243	3072	0	0	0	0	0	0	14.49	13.66	14.51
12204	-0.73	-97.3	2464	3372	3244	3073	950.2	-6.1	575	12209	0.00	2.45	0.00	0.000	1062	0.000	0.067	2463	2034	3157	3243	3072	0	0	0	0	0	0	14.04	13.90	14.09
12575	-0.73	-97.3	2463	2035	3244	3072	970.6	-5.7	589	12576	0.00	0.00	0.00	0.000	38	0.000	0.000	2463	2034	3158	3244	3072	0	0	0	0	0	0	14.49	14.52	14.51
12932	end dive: TARGET_DEPTH_EXCEEDED
state	12932	begin apogee
12937	-0.17	0.0	2464	2040	3244	3072	990.7	-5.6	601	13046	0.77	0.00	106.78	2.306	10246	0.219	0.000	2655	2034	2758	2876	2640	0	0	0	0	0	0	13.69	13.63	12.55
13048	end apogee: CONTROL_FINISHED_OK
state	13048	begin climb
13050	0.73	97.3	2655	2035	2875	2641	992.8	0.0	604	13171	1.00	2.75	109.18	2.237	10756	0.138	0.115	2945	716	2358	2478	2239	0	0	0	0	0	0	13.60	13.12	12.01
13191	0.73	97.3	2952	717	2474	2238	982.9	10.6	631	13196	0.00	2.60	0.00	0.000	1030	0.000	0.087	2941	2039	2355	2474	2237	0	0	0	0	0	0	13.42	13.27	13.46
13567	0.73	97.3	2945	2041	2468	2232	949.2	8.9	646	13572	0.00	2.65	0.00	0.000	260	0.000	0.111	2944	3450	2350	2469	2231	0	0	0	0	0	0	14.54	14.09	14.57
13627	0.73	97.3	2945	3451	2472	2232	944.0	10.1	658	13632	0.00	2.40	0.00	0.000	1030	0.000	0.075	2944	2116	2349	2467	2231	0	0	0	0	0	0	14.33	14.19	14.38
14017	0.73	97.3	2945	2116	2466	2230	908.7	8.8	676	14019	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2116	2347	2465	2229	0	0	0	0	0	0	14.64	14.67	14.69
14377	0.73	97.3	2944	2116	2465	2229	878.0	8.5	688	14379	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2116	2350	2465	2236	0	0	0	0	0	0	14.66	14.69	14.68
14737	0.73	97.3	2942	2116	2464	2228	847.1	8.7	700	14739	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2115	2347	2465	2229	0	0	0	0	0	0	14.66	14.69	14.69
15097	0.73	97.3	2945	2116	2466	2228	816.8	8.3	712	15099	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2115	2345	2464	2227	0	0	0	0	0	0	14.77	14.81	14.80
15457	0.73	97.3	2944	2116	2466	2227	786.6	8.4	724	15462	0.00	2.53	0.00	0.000	260	0.000	0.108	2945	3450	2345	2464	2227	0	0	0	0	0	0	14.61	14.05	14.65
15532	0.73	97.3	2944	3450	2465	2227	779.3	9.5	739	15538	0.00	2.42	0.00	0.000	1030	0.000	0.074	2949	2111	2346	2465	2227	0	0	0	0	0	0	14.28	14.13	14.35
15908	0.73	97.3	2945	2112	2465	2228	748.2	8.3	754	15909	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2111	2346	2465	2227	0	0	0	0	0	0	14.61	14.64	14.64
16268	0.73	97.3	2945	2112	2465	2226	718.2	8.3	766	16269	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2110	2346	2465	2227	0	0	0	0	0	0	14.61	14.64	14.63
16628	0.73	97.3	2945	2112	2466	2228	688.7	8.1	778	16629	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2111	2345	2464	2226	0	0	0	0	0	0	14.60	14.63	14.63
16988	0.73	97.3	2945	2112	2465	2227	659.4	8.2	790	16989	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2111	2345	2464	2226	0	0	0	0	0	0	14.59	14.62	14.62
17348	0.73	97.3	2945	2110	2465	2227	629.8	8.2	802	17350	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2111	2345	2464	2226	0	0	0	0	0	0	14.59	14.62	14.62
17708	0.73	97.3	2945	2112	2464	2226	600.3	8.2	814	17713	0.00	2.58	0.00	0.000	260	0.000	0.107	2945	3460	2345	2464	2227	0	0	0	0	0	0	14.59	13.94	14.62
17763	0.73	97.3	2945	3461	2465	2226	595.3	9.3	825	17770	0.00	2.45	0.00	0.000	1030	0.000	0.073	2943	2111	2345	2464	2226	0	0	0	0	0	0	14.23	14.07	14.30
18128	0.73	97.3	2944	2112	2464	2227	565.7	8.1	838	18130	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2111	2345	2464	2226	0	0	0	0	0	0	14.76	14.79	14.79
18488	0.73	97.3	2944	2112	2464	2227	536.5	8.1	850	18490	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2111	2345	2464	2226	0	0	0	0	0	0	14.57	14.60	14.59
18848	0.73	97.3	2945	2112	2465	2227	507.3	8.1	862	18853	0.00	2.58	0.00	0.000	260	0.000	0.106	2945	3462	2344	2463	2226	0	0	0	0	0	0	14.57	13.90	14.60
18893	0.73	97.3	2945	3463	2464	2227	503.3	9.1	871	18898	0.00	2.45	0.00	0.000	1030	0.000	0.073	2944	2110	2344	2464	2225	0	0	0	0	0	0	14.19	14.04	14.26
19269	0.75	97.3	2945	2111	2465	2227	473.4	7.9	886	19271	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2110	2344	2463	2226	0	0	0	0	0	0	14.57	14.60	14.60
19629	0.76	97.3	2945	2111	2464	2228	445.4	7.7	898	19630	0.00	0.00	0.00	0.000	70	0.000	0.000	2944	2110	2345	2464	2226	0	0	0	0	0	0	14.57	14.59	14.59
19989	0.78	97.3	2945	2111	2464	2227	417.5	7.7	910	19991	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2110	2344	2463	2226	0	0	0	0	0	0	14.57	14.59	14.59
20349	0.79	97.3	2945	2111	2464	2226	390.1	7.6	922	20351	0.00	0.00	0.00	0.000	70	0.000	0.000	2944	2110	2344	2463	2226	0	0	0	0	0	0	14.56	14.59	14.59
20709	0.81	97.3	2944	2111	2464	2227	363.2	7.4	934	20714	0.00	2.55	0.00	0.000	324	0.000	0.105	2945	3457	2344	2463	2226	0	0	0	0	0	0	14.51	14.00	14.53
20754	0.81	97.3	2945	3455	2465	2227	359.5	8.4	943	20759	0.00	2.45	0.00	0.000	1030	0.000	0.071	2945	2116	2344	2463	2226	0	0	0	0	0	0	14.18	14.03	14.23
21129	0.84	97.3	2945	2111	2465	2227	332.2	7.1	958	21131	0.15	0.00	0.00	0.000	2118	0.125	0.000	3000	2110	2344	2463	2226	0	0	0	0	0	0	14.12	14.23	14.21
21489	0.84	97.3	2999	2109	2464	2227	300.1	9.0	970	21491	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	2110	2344	2463	2226	0	0	0	0	0	0	14.48	14.51	14.51
21849	0.84	97.3	2999	2111	2464	2225	268.7	8.6	982	21851	0.00	0.00	0.00	0.000	6	0.000	0.000	2999	2110	2344	2463	2226	0	0	0	0	0	0	14.47	14.51	14.50
22210	0.86	97.3	3000	2111	2463	2226	241.5	7.2	994	22215	0.00	2.55	0.00	0.000	324	0.000	0.104	3000	3452	2344	2463	2226	0	0	0	0	0	0	14.47	13.94	14.50
22260	0.88	97.3	3000	3452	2464	2227	237.6	7.6	1004	22265	0.00	2.42	0.00	0.000	1094	0.000	0.070	3001	2117	2344	2463	2226	0	0	0	0	0	0	14.16	14.02	14.21
22630	0.96	155.2	3002	2117	2463	2227	216.2	5.1	1018	22684	0.00	0.00	52.58	1.448	8230	0.000	0.000	3001	2115	2125	2238	2013	0	0	0	0	0	0	14.47	14.00	13.16
23020	0.99	155.2	3001	2117	2226	2011	190.2	6.7	1031	23022	0.12	0.00	0.00	0.000	2118	0.148	0.000	3054	2116	2117	2226	2009	0	0	0	0	0	0	14.23	14.36	14.33
23380	1.01	155.2	3055	2117	2225	2009	162.3	7.6	1043	23382	0.00	0.00	0.00	0.000	70	0.000	0.000	3054	2116	2116	2224	2009	0	0	0	0	0	0	14.54	14.58	14.57
23740	1.05	155.2	3054	2117	2219	2009	136.9	6.7	1055	23745	0.00	2.70	0.00	0.000	580	0.000	0.113	3055	706	2115	2223	2008	0	0	0	0	0	0	14.53	13.95	14.56
23805	1.08	155.2	3055	707	2223	2008	132.6	6.6	1068	23810	0.00	2.47	0.00	0.000	1094	0.000	0.088	3055	2041	2116	2224	2008	0	0	0	0	0	0	14.14	13.97	14.22
24191	1.13	192.7	3056	2041	2223	2008	108.1	6.3	1085	24242	0.00	0.00	49.30	1.292	8230	0.000	0.000	3055	2041	1971	2074	1869	0	0	0	0	0	0	14.55	14.11	13.30
24581	1.19	236.2	3055	2041	2063	1867	82.8	5.9	1098	24647	0.15	0.00	63.80	1.233	10278	0.129	0.000	3108	2041	1796	1884	1709	0	0	0	0	0	0	14.26	14.02	13.22
25001	1.25	286.0	3108	2038	1875	1705	53.9	5.6	1112	25103	0.00	0.00	99.88	1.180	8742	0.000	0.000	3108	2041	1592	1661	1523	0	0	0	0	0	0	14.55	13.94	13.17
25453	1.36	371.6	3108	2042	1654	1522	34.7	3.5	1132	25623	0.15	2.78	164.60	1.145	10532	0.127	0.112	3168	3457	1242	1273	1211	0	0	0	0	0	0	14.20	13.85	13.09
25658	1.39	371.6	3168	3458	1272	1211	21.5	7.4	1152	25664	0.00	2.45	0.00	0.000	1094	0.000	0.073	3169	2116	1240	1271	1210	0	0	0	0	0	0	14.11	14.00	14.15
25941	end climb: NO_VERTICAL_VELOCITY
state	25941	begin subsurface finish
26374	0.43	334.0	3169	2117	520	577	10.0	1.4	1181	26408	1.08	2.67	-24.83	0.006	21252	0.145	0.123	2858	713	1398	1341	1456	0	0	0	0	0	0	13.91	12.38	14.02
26409	end subsurface finish: CONTROL_FINISHED_OK
state	26409	begin surface