Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 458 * 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 458 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 18 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 458 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 18 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 130920,214702,7259.1748,-15003.8984,0,1001.0,0,20.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.147,0.227

_CALLS 3 TGT_NAME RECOV

_XMS_NAKs 0 TGT_LATLONG 7200.000,-15200.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.52 MHEAD_RNG_PITCHd_Wd 190.7,128161,-18.2,-8.462,-20.48,1768

_SM_ANGLEo -75.0 D_GRID 990

GPS2 130920,214702,7259.1748,-15003.8984,181,99.0,181,20.5,0.0,0.0,0,0.0 EXEC 4,999,2,0.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200914043907.739199,06,10540,40,0303,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-34.0,0.36,-100,2.64,-01,0.03,74,925,0025*09 SC_FREEKB 3610976

SM_CCo 26590,291.88,1.105,0,0,551,541.87 _24V_AH 12.02,244.130

FINISH1 10.6,1.020699,348 _10V_AH 11.87,0.000

FINISH2 10.6 FG_AHR_24Vo 0.000

RAFOS_CLK 155 FG_AHR_10Vo 0.000

MODEM 6,1600058347,75.33060,-142.67570,247.739,360342.5 MEM 334600

RAFOS_FIX 7247.432129,-15036.285156,140920,040407,1,2,1.14 DATA_FILE_SIZE 43316,1302

IRIDIUM_FIX 7317.94,-15032.01,110920,233544 CAP_FILE_SIZE 161470,0

TT8_MAMPS 0.038948,0.281624 CFSIZE 1047117824,983793664

HUMID 53.26 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.79012 SOUNDSPEED 1455.1

TCM_TEMP 13.40 GPS 140920,043907,7247.432,-15036.285,0,2002.0,0,20.5,0.0,0.0,0,0.0

XPDR_PINGS 184

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 461 91.63 nil 0 0 0.00

Roll_motor 101 126 154.24 nil 0 0 0.00

VBD_pump_during_apogee 625 2301 17308.60 nil 0 0 0.00

VBD_pump_during_surface 291 1105 3878.20 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 27043 9 2935.59

Iridium_during_xfer 127 43 66.84 nil 0 0 0.00

Transponder_ping 46 420 232.23 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 180 21 46.60

TT8 0 0 0.00

LPSleep 23183 2 635.69

TT8_Active 1073 9 118.78

TT8_Sampling 2995 27 970.53

TT8_CF8 507 37 227.86

TT8_Kalman 0 0 0.00

Analog_circuits 2233 10 288.93

GPS_charging 0 0 0.00

Compass 1989 6 159.18

RAFOS 4413 33 1728.62

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

10 -0.73 -97.3 257 2031 515 578 0.0 0.0 0 62 0.00 0.00 -51.33 0.004 16386 0.000 0.000 256 2030 1523 1429 1618 0 0 0 0 0 0 14.64 28.83 14.66

65 -0.73 -97.3 257 2031 1431 1618 5.6 -9.4 5 121 13.05 2.58 -37.40 0.005 18692 0.461 0.127 2472 3364 3157 3250 3064 0 0 0 0 0 0 13.72 12.65 14.19

321 -0.73 -97.3 2472 3365 3252 3065 61.7 -16.9 55 327 0.00 2.38 0.00 0.000 1030 0.000 0.065 2472 2034 3158 3251 3065 0 0 0 0 0 0 14.18 14.05 14.22

702 -0.73 -97.3 2472 2035 3251 3064 115.7 -13.2 71 704 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2034 3156 3250 3063 0 0 0 0 0 0 14.54 14.57 14.57

1062 -0.73 -97.3 2472 2035 3251 3062 159.2 -11.8 83 1064 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2034 3156 3251 3061 0 0 0 0 0 0 14.54 14.57 14.56

1423 -0.73 -97.3 2473 2035 3253 3060 199.1 -10.5 95 1428 0.00 2.72 0.00 0.000 516 0.000 0.106 2472 625 3155 3251 3059 0 0 0 0 0 0 14.72 13.81 14.74

1484 -0.73 -97.3 2472 626 3252 3059 205.9 -11.1 107 1490 0.00 2.47 0.00 0.000 1030 0.000 0.086 2472 1955 3154 3251 3058 0 0 0 0 0 0 14.11 13.92 14.16

1875 -0.73 -97.3 2472 1956 3252 3059 242.1 -8.7 125 1880 0.00 2.55 0.00 0.000 516 0.000 0.106 2472 626 3154 3251 3057 0 0 0 0 0 0 14.50 13.78 14.52

1940 -0.73 -97.3 2473 626 3252 3057 247.7 -8.5 138 1945 0.00 2.47 0.00 0.000 1030 0.000 0.087 2472 1953 3154 3251 3057 0 0 0 0 0 0 14.09 13.90 14.15

2325 -0.73 -97.3 2472 1953 3252 3057 277.3 -7.5 155 2327 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1952 3153 3251 3056 0 0 0 0 0 0 14.50 14.54 14.53

2685 -0.73 -97.3 2473 1953 3252 3057 304.3 -7.4 167 2691 0.00 2.72 0.00 0.000 260 0.000 0.110 2472 3368 3153 3251 3055 0 0 0 0 0 0 14.50 13.71 14.52

2761 -0.73 -97.3 2473 3373 3250 3056 310.0 -7.5 182 2767 0.00 2.45 0.00 0.000 1030 0.000 0.071 2472 2041 3151 3251 3051 0 0 0 0 0 0 14.09 13.94 14.14

3137 -0.73 -97.3 2473 2041 3252 3064 336.2 -6.8 197 3139 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2041 3153 3251 3055 0 0 0 0 0 0 14.49 14.52 14.52

3497 -0.73 -97.3 2473 2041 3252 3056 361.0 -6.8 209 3499 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2041 3153 3251 3055 0 0 0 0 0 0 14.48 14.52 14.51

3857 -0.73 -97.3 2473 2042 3252 3055 385.4 -6.8 221 3859 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2041 3153 3251 3055 0 0 0 0 0 0 14.48 14.51 14.50

4217 -0.73 -97.3 2472 2041 3251 3055 409.5 -6.6 233 4219 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2041 3152 3251 3054 0 0 0 0 0 0 14.71 14.74 14.73

4577 -0.73 -97.3 2473 2041 3252 3055 432.9 -6.5 245 4579 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2040 3152 3251 3054 0 0 0 0 0 0 14.66 14.69 14.69

4937 -0.73 -97.3 2473 2041 3252 3056 456.8 -6.6 257 4939 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2041 3153 3251 3055 0 0 0 0 0 0 14.66 14.69 14.68

5297 -0.73 -97.3 2473 2042 3252 3055 480.8 -6.7 269 5299 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2041 3152 3251 3054 0 0 0 0 0 0 14.66 14.69 14.69

5657 -0.73 -97.3 2472 2041 3251 3055 504.9 -6.6 281 5662 0.00 2.55 0.00 0.000 260 0.000 0.107 2472 3365 3151 3250 3053 0 0 0 0 0 0 14.65 13.74 14.68

5742 -0.73 -97.3 2473 3365 3252 3055 510.7 -6.9 298 5749 0.00 2.42 0.00 0.000 1030 0.000 0.068 2472 2037 3152 3251 3053 0 0 0 0 0 0 14.07 13.93 14.12

6108 -0.73 -97.3 2473 2038 3252 3055 534.6 -6.5 311 6109 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2037 3151 3249 3053 0 0 0 0 0 0 14.47 14.50 14.49

6468 -0.73 -97.3 2472 2037 3251 3054 557.9 -6.4 323 6470 0.00 0.00 0.00 0.000 38 0.000 0.000 2472 2037 3152 3251 3053 0 0 0 0 0 0 14.48 14.50 14.50

6828 -0.73 -97.3 2472 2038 3252 3055 580.8 -6.3 335 6834 0.00 2.58 0.00 0.000 292 0.000 0.106 2472 3370 3152 3251 3054 0 0 0 0 0 0 14.46 13.68 14.49

6914 -0.73 -97.3 2472 3370 3252 3054 586.3 -6.4 352 6920 0.00 2.45 0.00 0.000 1062 0.000 0.067 2472 2036 3152 3251 3054 0 0 0 0 0 0 14.04 13.89 14.09

7281 -0.73 -97.3 2472 2035 3250 3054 608.4 -6.1 365 7283 0.00 0.00 0.00 0.000 38 0.000 0.000 2472 2035 3152 3251 3053 0 0 0 0 0 0 14.30 14.32 14.32

7639 -0.73 -97.3 2473 2036 3251 3053 630.4 -6.1 377 7641 0.00 0.00 0.00 0.000 38 0.000 0.000 2472 2035 3152 3251 3054 0 0 0 0 0 0 14.41 14.44 14.43

7999 -0.73 -97.3 2473 2036 3252 3055 652.3 -6.1 389 8004 0.00 2.58 0.00 0.000 292 0.000 0.107 2472 3372 3152 3251 3054 0 0 0 0 0 0 14.40 13.82 14.43

8079 -0.73 -97.3 2471 3372 3251 3054 657.4 -6.4 405 8084 0.00 2.45 0.00 0.000 1062 0.000 0.063 2472 2028 3149 3245 3054 0 0 0 0 0 0 14.07 13.94 14.11

8450 -0.73 -97.3 2473 2028 3252 3054 679.6 -6.0 419 8451 0.00 0.00 0.00 0.000 38 0.000 0.000 2472 2027 3151 3250 3053 0 0 0 0 0 0 14.28 14.31 14.29

8810 -0.73 -97.3 2471 2028 3251 3054 701.2 -6.0 431 8812 0.00 0.00 0.00 0.000 38 0.000 0.000 2472 2027 3151 3250 3053 0 0 0 0 0 0 14.27 14.31 14.30

9170 -0.73 -97.3 2473 2028 3252 3055 722.8 -6.0 443 9175 0.00 2.58 0.00 0.000 292 0.000 0.107 2472 3370 3152 3251 3053 0 0 0 0 0 0 14.25 13.80 14.27

9246 -0.73 -97.3 2473 3371 3252 3054 727.6 -6.2 458 9251 0.00 2.45 0.00 0.000 1062 0.000 0.063 2475 2027 3152 3251 3053 0 0 0 0 0 0 14.07 13.95 14.12

9621 -0.73 -97.3 2472 2027 3251 3054 749.9 -6.0 473 9623 0.00 0.00 0.00 0.000 38 0.000 0.000 2470 2028 3152 3251 3054 0 0 0 0 0 0 14.47 14.50 14.50

9981 -0.73 -97.3 2472 2028 3251 3054 771.4 -6.0 485 9983 0.00 0.00 0.00 0.000 38 0.000 0.000 2472 2026 3152 3251 3053 0 0 0 0 0 0 14.47 14.50 14.50

10341 -0.73 -97.3 2479 2028 3252 3054 792.6 -5.8 497 10346 0.00 2.60 0.00 0.000 292 0.000 0.107 2472 3364 3152 3251 3054 0 0 0 0 0 0 14.46 13.66 14.48

10412 -0.73 -97.3 2472 3365 3251 3054 796.7 -6.1 511 10417 0.00 2.42 0.00 0.000 1062 0.000 0.064 2473 2040 3152 3251 3053 0 0 0 0 0 0 14.01 13.86 14.07

10793 -0.73 -97.3 2473 2041 3251 3063 818.7 -5.7 527 10795 0.00 0.00 0.00 0.000 38 0.000 0.000 2472 2040 3153 3252 3054 0 0 0 0 0 0 14.45 14.48 14.47

11153 -0.73 -97.3 2471 2041 3250 3053 839.1 -5.6 539 11159 0.00 2.58 0.00 0.000 292 0.000 0.107 2472 3370 3152 3251 3053 0 0 0 0 0 0 14.71 13.64 14.73

11204 -0.73 -97.3 2472 3371 3251 3053 842.8 -6.2 549 11209 0.00 2.45 0.00 0.000 1062 0.000 0.066 2470 2035 3152 3251 3053 0 0 0 0 0 0 14.00 13.85 14.06

11575 -0.73 -97.3 2472 2035 3251 3054 864.1 -5.9 563 11577 0.00 0.00 0.00 0.000 38 0.000 0.000 2472 2034 3152 3251 3053 0 0 0 0 0 0 14.46 14.49 14.48

11935 -0.73 -97.3 2473 2035 3252 3054 885.5 -6.0 575 11941 0.00 2.58 0.00 0.000 292 0.000 0.107 2472 3364 3152 3251 3053 0 0 0 0 0 0 14.43 13.64 14.46

11976 -0.73 -97.3 2472 3365 3252 3053 888.6 -6.2 583 11982 0.00 2.42 0.00 0.000 1062 0.000 0.065 2472 2038 3152 3251 3053 0 0 0 0 0 0 14.00 13.84 14.05

12357 -0.73 -97.3 2473 2038 3252 3054 910.3 -5.8 599 12359 0.00 0.00 0.00 0.000 38 0.000 0.000 2472 2037 3150 3251 3049 0 0 0 0 0 0 14.69 14.72 14.71

12717 -0.73 -97.3 2472 2038 3252 3054 931.4 -5.9 611 12719 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2037 3152 3251 3053 0 0 0 0 0 0 14.42 14.46 14.45

13077 -0.73 -97.3 2472 2038 3252 3054 952.0 -5.7 623 13079 0.00 0.00 0.00 0.000 38 0.000 0.000 2472 2037 3152 3251 3053 0 0 0 0 0 0 14.42 14.45 14.45

13437 -0.73 -97.3 2472 2038 3252 3054 972.1 -5.6 635 13443 0.00 2.58 0.00 0.000 292 0.000 0.107 2472 3366 3152 3251 3053 0 0 0 0 0 0 14.42 13.66 14.45

13499 -0.73 -97.3 2472 3367 3251 3053 976.4 -5.7 647 13505 0.00 2.45 0.00 0.000 1062 0.000 0.067 2472 2032 3151 3250 3053 0 0 0 0 0 0 13.97 13.82 14.03

13768 end dive: TARGET_DEPTH_EXCEEDED

state 13768 begin apogee

13773 -0.17 0.0 2473 2033 3252 3054 990.6 -5.5 661 13880 0.75 0.00 104.70 2.301 10246 0.223 0.000 2658 2033 2760 2876 2644 0 0 0 0 0 0 13.73 13.65 12.61

13882 end apogee: CONTROL_FINISHED_OK

state 13882 begin climb

13884 0.73 97.3 2658 2033 2874 2645 992.9 0.0 664 13999 1.00 0.00 109.07 2.234 10758 0.138 0.000 2947 2032 2362 2478 2246 0 0 0 0 0 0 13.59 13.05 12.02

14376 0.73 97.3 2947 2033 2465 2237 952.5 8.8 701 14378 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2032 2351 2465 2237 0 0 0 0 0 0 14.50 14.52 14.52

14736 0.73 97.3 2947 2033 2465 2236 920.8 8.9 713 14741 0.00 2.67 0.00 0.000 260 0.000 0.109 2946 3457 2349 2464 2235 0 0 0 0 0 0 14.61 14.09 14.63

14807 0.73 97.3 2947 3458 2465 2236 914.5 10.2 727 14813 0.00 2.40 0.00 0.000 1030 0.000 0.073 2947 2120 2350 2465 2236 0 0 0 0 0 0 14.33 14.17 14.38

15188 0.73 97.3 2948 2120 2465 2235 880.0 8.7 743 15189 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2120 2349 2464 2234 0 0 0 0 0 0 14.74 14.77 14.77

15548 0.73 97.3 2947 2116 2463 2234 848.9 8.7 755 15549 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2120 2348 2463 2233 0 0 0 0 0 0 14.63 14.64 14.66

15908 0.73 97.3 2947 2120 2464 2234 817.8 8.5 767 15909 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2120 2348 2463 2233 0 0 0 0 0 0 14.72 14.75 14.74

16268 0.73 97.3 2948 2121 2465 2234 785.9 8.8 779 16269 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2120 2348 2462 2234 0 0 0 0 0 0 14.72 14.75 14.74

16628 0.73 97.3 2946 2121 2464 2234 754.6 8.7 791 16630 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2120 2348 2463 2233 0 0 0 0 0 0 14.71 14.73 14.73

16988 0.73 97.3 2947 2120 2463 2233 723.4 8.7 803 16993 0.00 2.53 0.00 0.000 260 0.000 0.108 2947 3452 2346 2460 2233 0 0 0 0 0 0 14.71 14.00 14.74

17054 0.73 97.3 2947 3453 2463 2233 717.2 9.6 816 17059 0.00 2.42 0.00 0.000 1030 0.000 0.072 2947 2112 2347 2462 2232 0 0 0 0 0 0 14.26 14.11 14.33

17439 0.73 97.3 2948 2113 2463 2233 685.0 8.3 833 17441 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2113 2347 2462 2233 0 0 0 0 0 0 14.74 14.81 14.77

17799 0.73 97.3 2947 2113 2463 2233 655.2 8.3 845 17801 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2113 2347 2462 2232 0 0 0 0 0 0 14.73 14.77 14.76

18159 0.73 97.3 2947 2114 2463 2233 625.1 8.4 857 18161 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2113 2347 2462 2232 0 0 0 0 0 0 14.56 14.59 14.58

18519 0.73 97.3 2947 2113 2463 2233 594.8 8.4 869 18521 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2113 2347 2462 2232 0 0 0 0 0 0 14.55 14.58 14.59

18879 0.73 97.3 2947 2113 2463 2233 564.2 8.5 881 18881 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2113 2347 2462 2232 0 0 0 0 0 0 14.54 14.57 14.57

19239 0.73 97.3 2947 2113 2462 2232 533.6 8.4 893 19244 0.00 2.58 0.00 0.000 260 0.000 0.107 2947 3450 2346 2461 2232 0 0 0 0 0 0 14.54 13.90 14.57

19295 0.73 97.3 2948 3450 2463 2231 528.4 9.3 904 19301 0.00 2.42 0.00 0.000 1030 0.000 0.073 2947 2121 2346 2461 2232 0 0 0 0 0 0 14.19 14.02 14.26

19660 0.73 97.3 2947 2121 2462 2232 498.7 8.0 917 19661 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2121 2346 2461 2231 0 0 0 0 0 0 14.53 14.57 14.56

20020 0.75 97.3 2948 2122 2462 2232 470.4 7.8 929 20022 0.00 0.00 0.00 0.000 70 0.000 0.000 2947 2121 2346 2462 2231 0 0 0 0 0 0 14.53 14.56 14.56

20381 0.76 97.3 2948 2121 2462 2232 442.0 7.9 941 20382 0.00 0.00 0.00 0.000 70 0.000 0.000 2947 2121 2346 2461 2232 0 0 0 0 0 0 14.54 14.57 14.57

20740 0.77 97.3 2947 2121 2462 2232 414.3 7.7 953 20741 0.00 0.00 0.00 0.000 70 0.000 0.000 2947 2121 2346 2461 2232 0 0 0 0 0 0 14.74 14.76 14.76

21100 0.79 97.3 2948 2121 2462 2233 386.2 7.9 965 21101 0.00 0.00 0.00 0.000 70 0.000 0.000 2947 2121 2346 2461 2232 0 0 0 0 0 0 14.52 14.55 14.55

21460 0.80 97.3 2947 2121 2462 2232 358.1 7.7 977 21465 0.00 2.58 0.00 0.000 324 0.000 0.106 2947 3455 2346 2461 2232 0 0 0 0 0 0 14.52 13.80 14.54

21515 0.80 97.3 2947 3455 2462 2228 353.3 8.6 988 21521 0.00 2.45 0.00 0.000 1030 0.000 0.072 2947 2117 2345 2460 2231 0 0 0 0 0 0 14.15 14.00 14.23

21882 0.82 97.3 2947 2118 2461 2232 326.1 7.4 1001 21884 0.00 0.00 0.00 0.000 70 0.000 0.000 2947 2117 2346 2461 2231 0 0 0 0 0 0 14.47 14.51 14.50

22241 0.85 97.3 2947 2118 2461 2228 299.8 7.2 1013 22243 0.15 0.00 0.00 0.000 2118 0.125 0.000 3002 2117 2346 2461 2232 0 0 0 0 0 0 14.12 14.24 14.21

22600 0.85 97.3 3003 2118 2462 2232 268.4 8.6 1025 22602 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2116 2346 2461 2231 0 0 0 0 0 0 14.47 14.51 14.50

22960 0.87 97.3 3003 2118 2462 2233 239.4 7.6 1037 22962 0.00 0.00 0.00 0.000 70 0.000 0.000 3002 2117 2346 2461 2232 0 0 0 0 0 0 14.33 14.37 14.37

23320 0.92 139.7 3002 2117 2461 2232 215.2 6.0 1049 23366 0.00 2.75 38.30 1.439 8740 0.000 0.115 3005 711 2185 2298 2073 0 0 0 0 0 0 14.47 13.97 13.25

23396 0.95 139.7 3005 712 2296 2074 210.7 6.9 1064 23401 0.00 2.45 0.00 0.000 1094 0.000 0.086 3012 2037 2181 2290 2072 0 0 0 0 0 0 14.16 14.00 14.20

23772 0.99 139.7 3005 2038 2291 2070 185.5 6.5 1079 23778 0.00 2.62 0.00 0.000 324 0.000 0.109 3005 3461 2180 2289 2071 0 0 0 0 0 0 14.42 14.07 14.45

23834 1.02 139.7 3005 3462 2289 2071 181.2 7.1 1091 23840 0.12 2.45 0.00 0.000 3142 0.141 0.076 3060 2109 2179 2288 2070 0 0 0 0 0 0 14.19 14.13 14.32

24227 1.06 139.7 3060 2110 2288 2071 154.3 6.6 1109 24229 0.00 0.00 0.00 0.000 70 0.000 0.000 3059 2109 2179 2287 2071 0 0 0 0 0 0 14.58 14.61 14.61

24585 1.10 139.7 3061 2110 2288 2070 131.1 6.5 1121 24590 0.00 2.67 0.00 0.000 580 0.000 0.116 3060 715 2178 2287 2070 0 0 0 0 0 0 14.56 13.93 14.59

24646 1.15 181.3 3061 716 2287 2069 127.4 6.0 1133 24708 0.00 2.42 52.33 1.300 9254 0.000 0.085 3060 2035 2018 2117 1919 0 0 0 0 0 0 14.19 14.00 13.31

25066 1.17 181.3 3061 2036 2109 1916 95.9 7.3 1157 25068 0.00 0.00 0.00 0.000 70 0.000 0.000 3060 2035 2011 2108 1915 0 0 0 0 0 0 14.54 14.57 14.57

25426 1.25 237.5 3061 2036 2107 1915 73.5 5.2 1169 25518 0.17 0.00 85.72 1.231 10278 0.122 0.000 3120 2035 1788 1870 1706 0 0 0 0 0 0 14.16 13.80 13.23

25876 1.32 293.9 3121 2036 1862 1702 44.3 5.2 1184 25991 0.00 2.72 105.85 1.173 8484 0.000 0.112 3121 3445 1560 1623 1497 0 0 0 0 0 0 14.50 13.95 13.19

26218 1.41 366.2 3121 3445 1619 1498 25.8 4.3 1252 26356 0.15 2.42 129.80 1.137 11302 0.125 0.077 3186 2111 1266 1297 1236 0 0 0 0 0 0 14.13 14.06 13.14

26589 end climb: NO_VERTICAL_VELOCITY

state 26589 begin subsurface finish

26990 0.45 348.5 3185 2112 521 581 10.6 0.3 1301 26999 1.12 0.00 -5.55 0.021 20482 0.153 0.000 2863 2111 760 743 778 0 0 0 0 0 0 13.86 28.83 13.95

26999 end subsurface finish: NO_VERTICAL_VELOCITY

state 26999 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	458	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	18	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	130920,214702,7259.1748,-15003.8984,0,1001.0,0,20.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.147,0.227
_CALLS	3	TGT_NAME	RECOV
_XMS_NAKs	0	TGT_LATLONG	7200.000,-15200.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.52	MHEAD_RNG_PITCHd_Wd	190.7,128161,-18.2,-8.462,-20.48,1768
_SM_ANGLEo	-75.0	D_GRID	990
GPS2	130920,214702,7259.1748,-15003.8984,181,99.0,181,20.5,0.0,0.0,0,0.0	EXEC	4,999,2,0.000000,0.000000

MODEM_MSG	CACST,6,1,20200914043907.739199,06,10540,40,0303,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-34.0,0.36,-100,2.64,-01,0.03,74,925,0025*09	SC_FREEKB	3610976
SM_CCo	26590,291.88,1.105,0,0,551,541.87	_24V_AH	12.02,244.130
FINISH1	10.6,1.020699,348	_10V_AH	11.87,0.000
FINISH2	10.6	FG_AHR_24Vo	0.000
RAFOS_CLK	155	FG_AHR_10Vo	0.000
MODEM	6,1600058347,75.33060,-142.67570,247.739,360342.5	MEM	334600
RAFOS_FIX	7247.432129,-15036.285156,140920,040407,1,2,1.14	DATA_FILE_SIZE	43316,1302
IRIDIUM_FIX	7317.94,-15032.01,110920,233544	CAP_FILE_SIZE	161470,0
TT8_MAMPS	0.038948,0.281624	CFSIZE	1047117824,983793664
HUMID	53.26	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.79012	SOUNDSPEED	1455.1
TCM_TEMP	13.40	GPS	140920,043907,7247.432,-15036.285,0,2002.0,0,20.5,0.0,0.0,0,0.0
XPDR_PINGS	184

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	461	91.63	nil	0	0	0.00
Roll_motor	101	126	154.24	nil	0	0	0.00
VBD_pump_during_apogee	625	2301	17308.60	nil	0	0	0.00
VBD_pump_during_surface	291	1105	3878.20	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	27043	9	2935.59
Iridium_during_xfer	127	43	66.84	nil	0	0	0.00
Transponder_ping	46	420	232.23	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	180	21	46.60
TT8	0	0	0.00
LPSleep	23183	2	635.69
TT8_Active	1073	9	118.78
TT8_Sampling	2995	27	970.53
TT8_CF8	507	37	227.86
TT8_Kalman	0	0	0.00
Analog_circuits	2233	10	288.93
GPS_charging	0	0	0.00
Compass	1989	6	159.18
RAFOS	4413	33	1728.62
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
10	-0.73	-97.3	257	2031	515	578	0.0	0.0	0	62	0.00	0.00	-51.33	0.004	16386	0.000	0.000	256	2030	1523	1429	1618	0	0	0	0	0	0	14.64	28.83	14.66
65	-0.73	-97.3	257	2031	1431	1618	5.6	-9.4	5	121	13.05	2.58	-37.40	0.005	18692	0.461	0.127	2472	3364	3157	3250	3064	0	0	0	0	0	0	13.72	12.65	14.19
321	-0.73	-97.3	2472	3365	3252	3065	61.7	-16.9	55	327	0.00	2.38	0.00	0.000	1030	0.000	0.065	2472	2034	3158	3251	3065	0	0	0	0	0	0	14.18	14.05	14.22
702	-0.73	-97.3	2472	2035	3251	3064	115.7	-13.2	71	704	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2034	3156	3250	3063	0	0	0	0	0	0	14.54	14.57	14.57
1062	-0.73	-97.3	2472	2035	3251	3062	159.2	-11.8	83	1064	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2034	3156	3251	3061	0	0	0	0	0	0	14.54	14.57	14.56
1423	-0.73	-97.3	2473	2035	3253	3060	199.1	-10.5	95	1428	0.00	2.72	0.00	0.000	516	0.000	0.106	2472	625	3155	3251	3059	0	0	0	0	0	0	14.72	13.81	14.74
1484	-0.73	-97.3	2472	626	3252	3059	205.9	-11.1	107	1490	0.00	2.47	0.00	0.000	1030	0.000	0.086	2472	1955	3154	3251	3058	0	0	0	0	0	0	14.11	13.92	14.16
1875	-0.73	-97.3	2472	1956	3252	3059	242.1	-8.7	125	1880	0.00	2.55	0.00	0.000	516	0.000	0.106	2472	626	3154	3251	3057	0	0	0	0	0	0	14.50	13.78	14.52
1940	-0.73	-97.3	2473	626	3252	3057	247.7	-8.5	138	1945	0.00	2.47	0.00	0.000	1030	0.000	0.087	2472	1953	3154	3251	3057	0	0	0	0	0	0	14.09	13.90	14.15
2325	-0.73	-97.3	2472	1953	3252	3057	277.3	-7.5	155	2327	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	1952	3153	3251	3056	0	0	0	0	0	0	14.50	14.54	14.53
2685	-0.73	-97.3	2473	1953	3252	3057	304.3	-7.4	167	2691	0.00	2.72	0.00	0.000	260	0.000	0.110	2472	3368	3153	3251	3055	0	0	0	0	0	0	14.50	13.71	14.52
2761	-0.73	-97.3	2473	3373	3250	3056	310.0	-7.5	182	2767	0.00	2.45	0.00	0.000	1030	0.000	0.071	2472	2041	3151	3251	3051	0	0	0	0	0	0	14.09	13.94	14.14
3137	-0.73	-97.3	2473	2041	3252	3064	336.2	-6.8	197	3139	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2041	3153	3251	3055	0	0	0	0	0	0	14.49	14.52	14.52
3497	-0.73	-97.3	2473	2041	3252	3056	361.0	-6.8	209	3499	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2041	3153	3251	3055	0	0	0	0	0	0	14.48	14.52	14.51
3857	-0.73	-97.3	2473	2042	3252	3055	385.4	-6.8	221	3859	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2041	3153	3251	3055	0	0	0	0	0	0	14.48	14.51	14.50
4217	-0.73	-97.3	2472	2041	3251	3055	409.5	-6.6	233	4219	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2041	3152	3251	3054	0	0	0	0	0	0	14.71	14.74	14.73
4577	-0.73	-97.3	2473	2041	3252	3055	432.9	-6.5	245	4579	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2040	3152	3251	3054	0	0	0	0	0	0	14.66	14.69	14.69
4937	-0.73	-97.3	2473	2041	3252	3056	456.8	-6.6	257	4939	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2041	3153	3251	3055	0	0	0	0	0	0	14.66	14.69	14.68
5297	-0.73	-97.3	2473	2042	3252	3055	480.8	-6.7	269	5299	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2041	3152	3251	3054	0	0	0	0	0	0	14.66	14.69	14.69
5657	-0.73	-97.3	2472	2041	3251	3055	504.9	-6.6	281	5662	0.00	2.55	0.00	0.000	260	0.000	0.107	2472	3365	3151	3250	3053	0	0	0	0	0	0	14.65	13.74	14.68
5742	-0.73	-97.3	2473	3365	3252	3055	510.7	-6.9	298	5749	0.00	2.42	0.00	0.000	1030	0.000	0.068	2472	2037	3152	3251	3053	0	0	0	0	0	0	14.07	13.93	14.12
6108	-0.73	-97.3	2473	2038	3252	3055	534.6	-6.5	311	6109	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2037	3151	3249	3053	0	0	0	0	0	0	14.47	14.50	14.49
6468	-0.73	-97.3	2472	2037	3251	3054	557.9	-6.4	323	6470	0.00	0.00	0.00	0.000	38	0.000	0.000	2472	2037	3152	3251	3053	0	0	0	0	0	0	14.48	14.50	14.50
6828	-0.73	-97.3	2472	2038	3252	3055	580.8	-6.3	335	6834	0.00	2.58	0.00	0.000	292	0.000	0.106	2472	3370	3152	3251	3054	0	0	0	0	0	0	14.46	13.68	14.49
6914	-0.73	-97.3	2472	3370	3252	3054	586.3	-6.4	352	6920	0.00	2.45	0.00	0.000	1062	0.000	0.067	2472	2036	3152	3251	3054	0	0	0	0	0	0	14.04	13.89	14.09
7281	-0.73	-97.3	2472	2035	3250	3054	608.4	-6.1	365	7283	0.00	0.00	0.00	0.000	38	0.000	0.000	2472	2035	3152	3251	3053	0	0	0	0	0	0	14.30	14.32	14.32
7639	-0.73	-97.3	2473	2036	3251	3053	630.4	-6.1	377	7641	0.00	0.00	0.00	0.000	38	0.000	0.000	2472	2035	3152	3251	3054	0	0	0	0	0	0	14.41	14.44	14.43
7999	-0.73	-97.3	2473	2036	3252	3055	652.3	-6.1	389	8004	0.00	2.58	0.00	0.000	292	0.000	0.107	2472	3372	3152	3251	3054	0	0	0	0	0	0	14.40	13.82	14.43
8079	-0.73	-97.3	2471	3372	3251	3054	657.4	-6.4	405	8084	0.00	2.45	0.00	0.000	1062	0.000	0.063	2472	2028	3149	3245	3054	0	0	0	0	0	0	14.07	13.94	14.11
8450	-0.73	-97.3	2473	2028	3252	3054	679.6	-6.0	419	8451	0.00	0.00	0.00	0.000	38	0.000	0.000	2472	2027	3151	3250	3053	0	0	0	0	0	0	14.28	14.31	14.29
8810	-0.73	-97.3	2471	2028	3251	3054	701.2	-6.0	431	8812	0.00	0.00	0.00	0.000	38	0.000	0.000	2472	2027	3151	3250	3053	0	0	0	0	0	0	14.27	14.31	14.30
9170	-0.73	-97.3	2473	2028	3252	3055	722.8	-6.0	443	9175	0.00	2.58	0.00	0.000	292	0.000	0.107	2472	3370	3152	3251	3053	0	0	0	0	0	0	14.25	13.80	14.27
9246	-0.73	-97.3	2473	3371	3252	3054	727.6	-6.2	458	9251	0.00	2.45	0.00	0.000	1062	0.000	0.063	2475	2027	3152	3251	3053	0	0	0	0	0	0	14.07	13.95	14.12
9621	-0.73	-97.3	2472	2027	3251	3054	749.9	-6.0	473	9623	0.00	0.00	0.00	0.000	38	0.000	0.000	2470	2028	3152	3251	3054	0	0	0	0	0	0	14.47	14.50	14.50
9981	-0.73	-97.3	2472	2028	3251	3054	771.4	-6.0	485	9983	0.00	0.00	0.00	0.000	38	0.000	0.000	2472	2026	3152	3251	3053	0	0	0	0	0	0	14.47	14.50	14.50
10341	-0.73	-97.3	2479	2028	3252	3054	792.6	-5.8	497	10346	0.00	2.60	0.00	0.000	292	0.000	0.107	2472	3364	3152	3251	3054	0	0	0	0	0	0	14.46	13.66	14.48
10412	-0.73	-97.3	2472	3365	3251	3054	796.7	-6.1	511	10417	0.00	2.42	0.00	0.000	1062	0.000	0.064	2473	2040	3152	3251	3053	0	0	0	0	0	0	14.01	13.86	14.07
10793	-0.73	-97.3	2473	2041	3251	3063	818.7	-5.7	527	10795	0.00	0.00	0.00	0.000	38	0.000	0.000	2472	2040	3153	3252	3054	0	0	0	0	0	0	14.45	14.48	14.47
11153	-0.73	-97.3	2471	2041	3250	3053	839.1	-5.6	539	11159	0.00	2.58	0.00	0.000	292	0.000	0.107	2472	3370	3152	3251	3053	0	0	0	0	0	0	14.71	13.64	14.73
11204	-0.73	-97.3	2472	3371	3251	3053	842.8	-6.2	549	11209	0.00	2.45	0.00	0.000	1062	0.000	0.066	2470	2035	3152	3251	3053	0	0	0	0	0	0	14.00	13.85	14.06
11575	-0.73	-97.3	2472	2035	3251	3054	864.1	-5.9	563	11577	0.00	0.00	0.00	0.000	38	0.000	0.000	2472	2034	3152	3251	3053	0	0	0	0	0	0	14.46	14.49	14.48
11935	-0.73	-97.3	2473	2035	3252	3054	885.5	-6.0	575	11941	0.00	2.58	0.00	0.000	292	0.000	0.107	2472	3364	3152	3251	3053	0	0	0	0	0	0	14.43	13.64	14.46
11976	-0.73	-97.3	2472	3365	3252	3053	888.6	-6.2	583	11982	0.00	2.42	0.00	0.000	1062	0.000	0.065	2472	2038	3152	3251	3053	0	0	0	0	0	0	14.00	13.84	14.05
12357	-0.73	-97.3	2473	2038	3252	3054	910.3	-5.8	599	12359	0.00	0.00	0.00	0.000	38	0.000	0.000	2472	2037	3150	3251	3049	0	0	0	0	0	0	14.69	14.72	14.71
12717	-0.73	-97.3	2472	2038	3252	3054	931.4	-5.9	611	12719	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2037	3152	3251	3053	0	0	0	0	0	0	14.42	14.46	14.45
13077	-0.73	-97.3	2472	2038	3252	3054	952.0	-5.7	623	13079	0.00	0.00	0.00	0.000	38	0.000	0.000	2472	2037	3152	3251	3053	0	0	0	0	0	0	14.42	14.45	14.45
13437	-0.73	-97.3	2472	2038	3252	3054	972.1	-5.6	635	13443	0.00	2.58	0.00	0.000	292	0.000	0.107	2472	3366	3152	3251	3053	0	0	0	0	0	0	14.42	13.66	14.45
13499	-0.73	-97.3	2472	3367	3251	3053	976.4	-5.7	647	13505	0.00	2.45	0.00	0.000	1062	0.000	0.067	2472	2032	3151	3250	3053	0	0	0	0	0	0	13.97	13.82	14.03
13768	end dive: TARGET_DEPTH_EXCEEDED
state	13768	begin apogee
13773	-0.17	0.0	2473	2033	3252	3054	990.6	-5.5	661	13880	0.75	0.00	104.70	2.301	10246	0.223	0.000	2658	2033	2760	2876	2644	0	0	0	0	0	0	13.73	13.65	12.61
13882	end apogee: CONTROL_FINISHED_OK
state	13882	begin climb
13884	0.73	97.3	2658	2033	2874	2645	992.9	0.0	664	13999	1.00	0.00	109.07	2.234	10758	0.138	0.000	2947	2032	2362	2478	2246	0	0	0	0	0	0	13.59	13.05	12.02
14376	0.73	97.3	2947	2033	2465	2237	952.5	8.8	701	14378	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2032	2351	2465	2237	0	0	0	0	0	0	14.50	14.52	14.52
14736	0.73	97.3	2947	2033	2465	2236	920.8	8.9	713	14741	0.00	2.67	0.00	0.000	260	0.000	0.109	2946	3457	2349	2464	2235	0	0	0	0	0	0	14.61	14.09	14.63
14807	0.73	97.3	2947	3458	2465	2236	914.5	10.2	727	14813	0.00	2.40	0.00	0.000	1030	0.000	0.073	2947	2120	2350	2465	2236	0	0	0	0	0	0	14.33	14.17	14.38
15188	0.73	97.3	2948	2120	2465	2235	880.0	8.7	743	15189	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2120	2349	2464	2234	0	0	0	0	0	0	14.74	14.77	14.77
15548	0.73	97.3	2947	2116	2463	2234	848.9	8.7	755	15549	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2120	2348	2463	2233	0	0	0	0	0	0	14.63	14.64	14.66
15908	0.73	97.3	2947	2120	2464	2234	817.8	8.5	767	15909	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2120	2348	2463	2233	0	0	0	0	0	0	14.72	14.75	14.74
16268	0.73	97.3	2948	2121	2465	2234	785.9	8.8	779	16269	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2120	2348	2462	2234	0	0	0	0	0	0	14.72	14.75	14.74
16628	0.73	97.3	2946	2121	2464	2234	754.6	8.7	791	16630	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2120	2348	2463	2233	0	0	0	0	0	0	14.71	14.73	14.73
16988	0.73	97.3	2947	2120	2463	2233	723.4	8.7	803	16993	0.00	2.53	0.00	0.000	260	0.000	0.108	2947	3452	2346	2460	2233	0	0	0	0	0	0	14.71	14.00	14.74
17054	0.73	97.3	2947	3453	2463	2233	717.2	9.6	816	17059	0.00	2.42	0.00	0.000	1030	0.000	0.072	2947	2112	2347	2462	2232	0	0	0	0	0	0	14.26	14.11	14.33
17439	0.73	97.3	2948	2113	2463	2233	685.0	8.3	833	17441	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2113	2347	2462	2233	0	0	0	0	0	0	14.74	14.81	14.77
17799	0.73	97.3	2947	2113	2463	2233	655.2	8.3	845	17801	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2113	2347	2462	2232	0	0	0	0	0	0	14.73	14.77	14.76
18159	0.73	97.3	2947	2114	2463	2233	625.1	8.4	857	18161	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2113	2347	2462	2232	0	0	0	0	0	0	14.56	14.59	14.58
18519	0.73	97.3	2947	2113	2463	2233	594.8	8.4	869	18521	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2113	2347	2462	2232	0	0	0	0	0	0	14.55	14.58	14.59
18879	0.73	97.3	2947	2113	2463	2233	564.2	8.5	881	18881	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2113	2347	2462	2232	0	0	0	0	0	0	14.54	14.57	14.57
19239	0.73	97.3	2947	2113	2462	2232	533.6	8.4	893	19244	0.00	2.58	0.00	0.000	260	0.000	0.107	2947	3450	2346	2461	2232	0	0	0	0	0	0	14.54	13.90	14.57
19295	0.73	97.3	2948	3450	2463	2231	528.4	9.3	904	19301	0.00	2.42	0.00	0.000	1030	0.000	0.073	2947	2121	2346	2461	2232	0	0	0	0	0	0	14.19	14.02	14.26
19660	0.73	97.3	2947	2121	2462	2232	498.7	8.0	917	19661	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2121	2346	2461	2231	0	0	0	0	0	0	14.53	14.57	14.56
20020	0.75	97.3	2948	2122	2462	2232	470.4	7.8	929	20022	0.00	0.00	0.00	0.000	70	0.000	0.000	2947	2121	2346	2462	2231	0	0	0	0	0	0	14.53	14.56	14.56
20381	0.76	97.3	2948	2121	2462	2232	442.0	7.9	941	20382	0.00	0.00	0.00	0.000	70	0.000	0.000	2947	2121	2346	2461	2232	0	0	0	0	0	0	14.54	14.57	14.57
20740	0.77	97.3	2947	2121	2462	2232	414.3	7.7	953	20741	0.00	0.00	0.00	0.000	70	0.000	0.000	2947	2121	2346	2461	2232	0	0	0	0	0	0	14.74	14.76	14.76
21100	0.79	97.3	2948	2121	2462	2233	386.2	7.9	965	21101	0.00	0.00	0.00	0.000	70	0.000	0.000	2947	2121	2346	2461	2232	0	0	0	0	0	0	14.52	14.55	14.55
21460	0.80	97.3	2947	2121	2462	2232	358.1	7.7	977	21465	0.00	2.58	0.00	0.000	324	0.000	0.106	2947	3455	2346	2461	2232	0	0	0	0	0	0	14.52	13.80	14.54
21515	0.80	97.3	2947	3455	2462	2228	353.3	8.6	988	21521	0.00	2.45	0.00	0.000	1030	0.000	0.072	2947	2117	2345	2460	2231	0	0	0	0	0	0	14.15	14.00	14.23
21882	0.82	97.3	2947	2118	2461	2232	326.1	7.4	1001	21884	0.00	0.00	0.00	0.000	70	0.000	0.000	2947	2117	2346	2461	2231	0	0	0	0	0	0	14.47	14.51	14.50
22241	0.85	97.3	2947	2118	2461	2228	299.8	7.2	1013	22243	0.15	0.00	0.00	0.000	2118	0.125	0.000	3002	2117	2346	2461	2232	0	0	0	0	0	0	14.12	14.24	14.21
22600	0.85	97.3	3003	2118	2462	2232	268.4	8.6	1025	22602	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2116	2346	2461	2231	0	0	0	0	0	0	14.47	14.51	14.50
22960	0.87	97.3	3003	2118	2462	2233	239.4	7.6	1037	22962	0.00	0.00	0.00	0.000	70	0.000	0.000	3002	2117	2346	2461	2232	0	0	0	0	0	0	14.33	14.37	14.37
23320	0.92	139.7	3002	2117	2461	2232	215.2	6.0	1049	23366	0.00	2.75	38.30	1.439	8740	0.000	0.115	3005	711	2185	2298	2073	0	0	0	0	0	0	14.47	13.97	13.25
23396	0.95	139.7	3005	712	2296	2074	210.7	6.9	1064	23401	0.00	2.45	0.00	0.000	1094	0.000	0.086	3012	2037	2181	2290	2072	0	0	0	0	0	0	14.16	14.00	14.20
23772	0.99	139.7	3005	2038	2291	2070	185.5	6.5	1079	23778	0.00	2.62	0.00	0.000	324	0.000	0.109	3005	3461	2180	2289	2071	0	0	0	0	0	0	14.42	14.07	14.45
23834	1.02	139.7	3005	3462	2289	2071	181.2	7.1	1091	23840	0.12	2.45	0.00	0.000	3142	0.141	0.076	3060	2109	2179	2288	2070	0	0	0	0	0	0	14.19	14.13	14.32
24227	1.06	139.7	3060	2110	2288	2071	154.3	6.6	1109	24229	0.00	0.00	0.00	0.000	70	0.000	0.000	3059	2109	2179	2287	2071	0	0	0	0	0	0	14.58	14.61	14.61
24585	1.10	139.7	3061	2110	2288	2070	131.1	6.5	1121	24590	0.00	2.67	0.00	0.000	580	0.000	0.116	3060	715	2178	2287	2070	0	0	0	0	0	0	14.56	13.93	14.59
24646	1.15	181.3	3061	716	2287	2069	127.4	6.0	1133	24708	0.00	2.42	52.33	1.300	9254	0.000	0.085	3060	2035	2018	2117	1919	0	0	0	0	0	0	14.19	14.00	13.31
25066	1.17	181.3	3061	2036	2109	1916	95.9	7.3	1157	25068	0.00	0.00	0.00	0.000	70	0.000	0.000	3060	2035	2011	2108	1915	0	0	0	0	0	0	14.54	14.57	14.57
25426	1.25	237.5	3061	2036	2107	1915	73.5	5.2	1169	25518	0.17	0.00	85.72	1.231	10278	0.122	0.000	3120	2035	1788	1870	1706	0	0	0	0	0	0	14.16	13.80	13.23
25876	1.32	293.9	3121	2036	1862	1702	44.3	5.2	1184	25991	0.00	2.72	105.85	1.173	8484	0.000	0.112	3121	3445	1560	1623	1497	0	0	0	0	0	0	14.50	13.95	13.19
26218	1.41	366.2	3121	3445	1619	1498	25.8	4.3	1252	26356	0.15	2.42	129.80	1.137	11302	0.125	0.077	3186	2111	1266	1297	1236	0	0	0	0	0	0	14.13	14.06	13.14
26589	end climb: NO_VERTICAL_VELOCITY
state	26589	begin subsurface finish
26990	0.45	348.5	3185	2112	521	581	10.6	0.3	1301	26999	1.12	0.00	-5.55	0.021	20482	0.153	0.000	2863	2111	760	743	778	0	0	0	0	0	0	13.86	28.83	13.95
26999	end subsurface finish: NO_VERTICAL_VELOCITY
state	26999	begin surface