Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 462 * 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 462 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 462 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 150920,041859,7245.9077,-15035.3936,0,2002.0,0,20.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.147,0.227

_CALLS 0 TGT_NAME RECOV

_XMS_NAKs 0 TGT_LATLONG 7200.000,-15200.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 14.08 MHEAD_RNG_PITCHd_Wd 189.2,97842,-18.2,-8.462,-20.48,1768

_SM_ANGLEo -12.7 D_GRID 990

GPS2 150920,041859,7245.9077,-15035.3936,0,2002.0,0,20.5,0.0,0.0,0,0.0 EXEC 4,999,2,0.000000,0.000000

Post-dive calculations and measurements:

SM_CCo 27284,56.85,1.079,0,0,550,541.62 _24V_AH 12.00,246.289

FINISH1 10.0,1.019372,417 _10V_AH 11.88,0.000

FINISH2 10.3 FG_AHR_24Vo 0.000

RAFOS_CLK 39 FG_AHR_10Vo 0.000

RAFOS_FIX 7243.452148,-15037.730469,150920,121248,0,1,0.16 MEM 334768

IRIDIUM_FIX 7317.94,-15032.01,110920,233544 DATA_FILE_SIZE 46633,1378

TT8_MAMPS 0.078645,0.328811 CAP_FILE_SIZE 157201,0

HUMID 53.42 CFSIZE 1047117824,983318528

INTERNAL_PRESSURE 8.80965 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.30 SOUNDSPEED 1454.5

XPDR_PINGS 160 GPS 150920,122348,7243.452,-15037.730,0,1001.0,0,20.5,0.0,0.0,0,0.0

SC_FREEKB 3608672

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 221 13.33 nil 0 0 0.00

Roll_motor 90 123 134.89 nil 0 0 0.00

VBD_pump_during_apogee 862 2301 23822.44 nil 0 0 0.00

VBD_pump_during_surface 56 1078 735.86 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 27447 9 2979.76

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 40 420 201.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 23475 2 644.23

TT8_Active 969 9 107.30

TT8_Sampling 2820 27 914.73

TT8_CF8 256 37 115.18

TT8_Kalman 0 0 0.00

Analog_circuits 2072 10 268.39

GPS_charging 0 0 0.00

Compass 2100 6 168.19

RAFOS 4415 33 1730.86

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 2887 2033 1067 1116 0.0 0.0 0 64 0.00 0.00 -52.72 0.004 16390 0.000 0.000 2885 2033 3158 3250 3066 0 0 0 0 0 0 14.54 12.41 14.54

67 -0.73 -97.3 2886 2033 3260 3067 16.0 -4.8 5 74 1.33 2.50 0.00 0.000 4388 0.116 0.103 2479 3370 3158 3251 3066 0 0 0 0 0 0 14.04 14.03 14.14

299 -0.73 -97.3 2479 3371 3252 3067 63.7 -16.5 51 304 0.00 2.40 0.00 0.000 1030 0.000 0.067 2479 2032 3159 3252 3066 0 0 0 0 0 0 14.27 14.13 14.31

670 -0.73 -97.3 2479 2032 3252 3066 114.0 -12.8 65 676 0.00 2.50 0.00 0.000 260 0.000 0.104 2479 3365 3158 3251 3065 0 0 0 0 0 0 14.54 13.93 14.57

901 -0.73 -97.3 2479 3366 3252 3066 142.2 -11.8 111 906 0.00 2.38 0.00 0.000 1030 0.000 0.066 2486 2038 3157 3251 3064 0 0 0 0 0 0 14.23 14.09 14.28

1271 -0.73 -97.3 2479 2038 3252 3065 183.0 -10.5 125 1273 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2037 3157 3251 3064 0 0 0 0 0 0 14.54 14.58 14.57

1631 -0.73 -97.3 2479 2037 3252 3064 218.8 -9.5 137 1633 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2037 3158 3252 3064 0 0 0 0 0 0 14.54 14.57 14.56

1991 -0.73 -97.3 2479 2037 3252 3064 248.3 -7.7 149 1993 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2037 3157 3251 3063 0 0 0 0 0 0 14.72 14.75 14.75

2351 -0.73 -97.3 2479 2037 3252 3063 274.5 -7.2 161 2353 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2037 3156 3251 3062 0 0 0 0 0 0 14.71 14.74 14.73

2711 -0.73 -97.3 2479 2038 3252 3061 300.1 -7.0 173 2713 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2037 3156 3251 3061 0 0 0 0 0 0 14.71 14.76 14.74

3071 -0.73 -97.3 2479 2037 3252 3062 324.6 -6.8 185 3073 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2037 3156 3251 3061 0 0 0 0 0 0 14.51 14.54 14.54

3431 -0.73 -97.3 2479 2037 3253 3062 349.0 -6.7 197 3433 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2036 3156 3251 3061 0 0 0 0 0 0 14.71 14.74 14.74

3791 -0.73 -97.3 2479 2037 3252 3061 372.5 -6.5 209 3793 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2036 3155 3251 3060 0 0 0 0 0 0 14.71 14.74 14.73

4151 -0.73 -97.3 2478 2038 3252 3061 395.4 -6.3 221 4153 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2036 3155 3251 3060 0 0 0 0 0 0 14.49 14.52 14.51

4511 -0.73 -97.3 2479 2037 3251 3061 418.4 -6.4 233 4513 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2036 3155 3251 3060 0 0 0 0 0 0 14.71 14.73 14.73

4871 -0.73 -97.3 2478 2037 3252 3061 441.1 -6.3 245 4873 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2036 3155 3251 3060 0 0 0 0 0 0 14.71 14.73 14.73

5231 -0.73 -97.3 2479 2037 3252 3061 463.8 -6.3 257 5233 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2036 3155 3251 3060 0 0 0 0 0 0 14.47 14.50 14.50

5591 -0.73 -97.3 2479 2037 3252 3061 486.6 -6.3 269 5593 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2036 3155 3251 3060 0 0 0 0 0 0 14.47 14.50 14.50

5951 -0.73 -97.3 2479 2037 3253 3061 509.0 -6.2 281 5953 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2035 3153 3251 3056 0 0 0 0 0 0 14.47 14.50 14.50

6311 -0.73 -97.3 2480 2037 3252 3061 531.4 -6.2 293 6313 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2036 3155 3251 3060 0 0 0 0 0 0 14.47 14.50 14.50

6672 -0.73 -97.3 2479 2037 3252 3059 553.1 -6.0 305 6677 0.00 2.58 0.00 0.000 292 0.000 0.106 2479 3370 3156 3252 3060 0 0 0 0 0 0 14.48 13.72 14.51

6743 -0.73 -97.3 2479 3367 3252 3060 557.5 -6.2 319 6748 0.00 2.45 0.00 0.000 1062 0.000 0.065 2479 2029 3155 3251 3060 0 0 0 0 0 0 14.08 13.94 14.14

7123 -0.73 -97.3 2479 2028 3252 3061 580.1 -5.9 335 7125 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2029 3155 3251 3060 0 0 0 0 0 0 14.47 14.50 14.49

7483 -0.73 -97.3 2479 2030 3251 3060 601.4 -6.0 347 7485 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2029 3158 3257 3060 0 0 0 0 0 0 14.46 14.49 14.49

7843 -0.73 -97.3 2479 2030 3252 3061 623.1 -6.0 359 7848 0.00 2.60 0.00 0.000 292 0.000 0.106 2479 3366 3155 3251 3060 0 0 0 0 0 0 14.45 13.69 14.47

7928 -0.73 -97.3 2479 3367 3252 3057 628.4 -6.2 376 7935 0.00 2.42 0.00 0.000 1062 0.000 0.065 2479 2039 3155 3251 3060 0 0 0 0 0 0 14.07 13.93 14.12

8293 -0.73 -97.3 2479 2039 3252 3061 650.4 -6.1 389 8295 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2038 3155 3251 3060 0 0 0 0 0 0 14.50 14.48 14.47

8653 -0.73 -97.3 2479 2038 3253 3061 672.3 -6.1 401 8655 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2039 3156 3251 3061 0 0 0 0 0 0 14.45 14.47 14.47

9014 -0.73 -97.3 2479 2039 3252 3061 694.0 -6.1 413 9015 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2039 3155 3251 3060 0 0 0 0 0 0 14.45 14.47 14.47

9373 -0.73 -97.3 2479 2039 3252 3061 715.9 -6.1 425 9379 0.00 2.58 0.00 0.000 292 0.000 0.108 2479 3370 3155 3251 3060 0 0 0 0 0 0 14.44 13.69 14.47

9435 -0.73 -97.3 2479 3371 3252 3061 719.7 -6.3 437 9441 0.00 2.45 0.00 0.000 1062 0.000 0.068 2478 2030 3155 3251 3060 0 0 0 0 0 0 14.04 13.89 14.09

9826 -0.73 -97.3 2479 2030 3252 3061 743.1 -5.9 455 9828 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2029 3155 3251 3060 0 0 0 0 0 0 14.44 14.47 14.47

10186 -0.73 -97.3 2478 2031 3252 3061 764.1 -5.8 467 10191 0.00 2.58 0.00 0.000 292 0.000 0.106 2479 3367 3155 3251 3060 0 0 0 0 0 0 14.44 13.68 14.46

10257 -0.73 -97.3 2479 3368 3252 3061 768.0 -6.1 481 10262 0.00 2.45 0.00 0.000 1062 0.000 0.069 2481 2030 3156 3251 3061 0 0 0 0 0 0 14.03 13.88 14.08

10638 -0.73 -97.3 2480 2030 3252 3061 789.5 -5.5 497 10640 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2030 3155 3251 3060 0 0 0 0 0 0 14.69 14.72 14.72

10998 -0.73 -97.3 2479 2030 3252 3061 809.1 -5.4 509 11004 0.00 2.58 0.00 0.000 292 0.000 0.107 2479 3366 3155 3251 3060 0 0 0 0 0 0 14.43 13.68 14.46

11089 -0.73 -97.3 2479 3367 3252 3061 813.8 -5.6 527 11094 0.00 2.45 0.00 0.000 1062 0.000 0.070 2478 2031 3155 3251 3060 0 0 0 0 0 0 14.01 13.86 14.07

11480 -0.73 -97.3 2479 2031 3250 3062 834.8 -5.3 545 11481 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2036 3155 3251 3060 0 0 0 0 0 0 14.43 14.46 14.45

11840 -0.73 -97.3 2479 2031 3252 3059 853.5 -5.3 557 11846 0.00 2.58 0.00 0.000 292 0.000 0.108 2479 3375 3155 3251 3060 0 0 0 0 0 0 14.22 13.76 14.25

11936 -0.73 -97.3 2479 3375 3252 3061 859.4 -5.6 576 11941 0.00 2.45 0.00 0.000 1062 0.000 0.070 2479 2040 3153 3246 3060 0 0 0 0 0 0 14.05 13.92 14.09

12321 -0.73 -97.3 2479 2041 3252 3061 879.9 -5.5 593 12323 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2040 3155 3251 3060 0 0 0 0 0 0 14.23 14.26 14.26

12682 -0.73 -97.3 2479 2040 3252 3061 899.4 -5.5 605 12683 0.00 0.00 0.00 0.000 38 0.000 0.000 2484 2040 3155 3251 3060 0 0 0 0 0 0 14.39 14.42 14.42

13042 -0.73 -97.3 2475 2040 3252 3061 919.2 -5.5 617 13043 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2041 3155 3251 3060 0 0 0 0 0 0 14.27 14.30 14.29

13402 -0.73 -97.3 2479 2041 3251 3061 939.4 -5.6 629 13403 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2040 3155 3251 3060 0 0 0 0 0 0 14.40 14.42 14.42

13762 -0.73 -97.3 2479 2041 3252 3061 959.3 -5.5 641 13767 0.00 2.55 0.00 0.000 292 0.000 0.109 2479 3366 3156 3251 3061 0 0 0 0 0 0 14.40 13.81 14.42

13833 -0.73 -97.3 2479 3367 3251 3061 964.1 -5.7 655 13838 0.00 2.45 0.00 0.000 1062 0.000 0.070 2479 2033 3154 3249 3060 0 0 0 0 0 0 14.06 13.92 14.10

14213 -0.73 -97.3 2479 2033 3252 3060 984.1 -5.5 671 14215 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2033 3155 3251 3060 0 0 0 0 0 0 14.45 14.48 14.47

14330 end dive: TARGET_DEPTH_EXCEEDED

state 14330 begin apogee

14336 -0.17 0.0 2479 2033 3250 3060 990.7 -5.5 675 14445 0.73 0.00 106.38 2.302 10246 0.221 0.000 2657 2033 2757 2879 2636 0 0 0 0 0 0 13.68 13.64 12.62

14446 end apogee: CONTROL_FINISHED_OK

state 14446 begin climb

14449 0.73 97.3 2657 2033 2878 2637 993.0 0.0 678 14562 1.00 0.00 109.10 2.232 10758 0.137 0.000 2945 2032 2361 2486 2237 0 0 0 0 0 0 13.62 13.01 12.00

14903 0.73 97.3 2946 2033 2473 2229 956.1 8.8 709 14904 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2032 2350 2472 2228 0 0 0 0 0 0 14.55 14.58 14.58

15263 0.73 97.3 2946 2033 2471 2227 924.2 9.0 721 15269 0.00 2.67 0.00 0.000 260 0.000 0.109 2945 3450 2348 2470 2226 0 0 0 0 0 0 14.58 14.07 14.61

15344 0.73 97.3 2946 3451 2471 2225 916.6 10.3 737 15350 0.00 2.42 0.00 0.000 1030 0.000 0.078 2945 2110 2348 2470 2226 0 0 0 0 0 0 14.31 14.16 14.37

15715 0.73 97.3 2945 2111 2469 2226 882.5 8.8 751 15717 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2110 2347 2469 2225 0 0 0 0 0 0 14.62 14.64 14.64

16075 0.73 97.3 2940 2111 2468 2226 850.3 8.9 763 16077 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2110 2346 2468 2225 0 0 0 0 0 0 14.62 14.64 14.64

16435 0.73 97.3 2945 2111 2468 2225 819.3 8.3 775 16437 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2110 2346 2468 2225 0 0 0 0 0 0 14.59 14.62 14.61

16795 0.73 97.3 2946 2111 2468 2225 788.7 8.5 787 16800 0.00 2.55 0.00 0.000 260 0.000 0.111 2945 3450 2346 2467 2225 0 0 0 0 0 0 14.58 13.98 14.60

16845 0.73 97.3 2945 3451 2469 2225 783.8 9.5 797 16851 0.00 2.42 0.00 0.000 1030 0.000 0.076 2945 2116 2346 2468 2225 0 0 0 0 0 0 14.25 14.11 14.32

17216 0.73 97.3 2945 2117 2468 2225 753.0 8.3 811 17218 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2117 2344 2465 2224 0 0 0 0 0 0 14.57 14.59 14.59

17576 0.73 97.3 2945 2118 2468 2225 723.2 8.3 823 17578 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2117 2345 2467 2224 0 0 0 0 0 0 14.56 14.59 14.58

17936 0.73 97.3 2946 2118 2468 2225 693.3 8.3 835 17938 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2117 2345 2467 2224 0 0 0 0 0 0 14.54 14.58 14.58

18297 0.73 97.3 2944 2118 2468 2225 663.9 8.1 847 18298 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2117 2345 2466 2224 0 0 0 0 0 0 14.54 14.57 14.57

18657 0.73 97.3 2945 2118 2467 2223 635.0 8.0 859 18658 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2117 2345 2466 2224 0 0 0 0 0 0 14.55 14.58 14.58

19017 0.75 97.3 2945 2117 2467 2224 606.5 7.9 871 19022 0.00 2.55 0.00 0.000 324 0.000 0.109 2945 3448 2345 2466 2224 0 0 0 0 0 0 14.54 13.90 14.56

19077 0.75 97.3 2945 3449 2466 2224 601.2 9.0 883 19082 0.00 2.45 0.00 0.000 1030 0.000 0.077 2945 2110 2345 2466 2224 0 0 0 0 0 0 14.19 14.04 14.27

19467 0.76 97.3 2946 2111 2467 2225 570.5 7.9 901 19469 0.00 0.00 0.00 0.000 70 0.000 0.000 2946 2110 2345 2466 2224 0 0 0 0 0 0 14.52 14.55 14.55

19827 0.77 97.3 2946 2111 2467 2225 542.2 7.8 913 19829 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2111 2344 2465 2224 0 0 0 0 0 0 14.52 14.54 14.54

20188 0.78 97.3 2945 2111 2466 2224 513.9 7.9 925 20189 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2110 2344 2466 2223 0 0 0 0 0 0 14.51 14.54 14.54

20547 0.79 97.3 2946 2111 2467 2225 485.6 7.9 937 20549 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2110 2345 2466 2224 0 0 0 0 0 0 14.50 14.54 14.53

20907 0.81 97.3 2946 2111 2466 2225 457.0 7.9 949 20909 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2110 2344 2465 2223 0 0 0 0 0 0 14.50 14.53 14.54

21267 0.82 97.3 2945 2111 2466 2224 428.9 7.8 961 21269 0.12 0.00 0.00 0.000 2118 0.141 0.000 2994 2110 2344 2465 2224 0 0 0 0 0 0 14.09 14.18 14.16

21627 0.82 97.3 2993 2111 2466 2224 395.3 9.3 973 21633 0.00 2.58 0.00 0.000 260 0.000 0.108 2994 3453 2344 2465 2223 0 0 0 0 0 0 14.72 13.86 14.75

21688 0.82 97.3 2994 3454 2466 2223 389.0 10.5 985 21694 0.00 2.45 0.00 0.000 1030 0.000 0.075 2995 2113 2344 2465 2223 0 0 0 0 0 0 14.16 14.00 14.25

22080 0.82 97.3 2995 2113 2466 2224 352.1 9.5 1003 22081 0.00 0.00 0.00 0.000 6 0.000 0.000 2994 2113 2344 2465 2223 0 0 0 0 0 0 14.51 14.54 14.53

22440 0.82 97.3 2995 2113 2466 2224 318.5 9.2 1015 22441 0.00 0.00 0.00 0.000 6 0.000 0.000 2994 2112 2344 2465 2223 0 0 0 0 0 0 14.50 14.53 14.52

22800 0.82 97.3 2994 2113 2466 2224 285.9 9.0 1027 22802 0.00 0.00 0.00 0.000 6 0.000 0.000 2994 2113 2344 2465 2223 0 0 0 0 0 0 14.50 14.53 14.52

23160 0.82 97.3 2995 2113 2466 2224 255.0 8.4 1039 23161 0.00 0.00 0.00 0.000 6 0.000 0.000 2994 2112 2344 2465 2223 0 0 0 0 0 0 14.50 14.52 14.52

23520 0.86 97.3 2994 2113 2466 2224 228.0 6.6 1051 23521 0.00 0.00 0.00 0.000 70 0.000 0.000 2994 2112 2344 2465 2223 0 0 0 0 0 0 14.72 14.75 14.75

23880 0.92 148.7 2995 2113 2466 2224 206.7 5.5 1063 23930 0.00 2.72 46.05 1.430 8740 0.000 0.117 2994 709 2150 2268 2032 0 0 0 0 0 0 14.49 14.08 13.31

24026 0.95 148.7 2994 710 2259 2032 197.4 6.9 1092 24032 0.00 2.42 0.00 0.000 1094 0.000 0.086 2994 2035 2144 2258 2031 0 0 0 0 0 0 14.21 14.05 14.26

24391 1.01 192.8 2995 2035 2256 2031 174.0 5.9 1105 24452 0.15 0.00 55.80 1.308 10278 0.129 0.000 3056 2035 1972 2075 1869 0 0 0 0 0 0 14.28 13.85 13.26

24811 1.01 192.8 3056 2035 2065 1866 138.1 8.3 1119 24812 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2034 1964 2063 1865 0 0 0 0 0 0 14.64 14.67 14.67

25171 1.03 192.8 3056 2036 2063 1866 109.8 7.7 1131 25173 0.00 0.00 0.00 0.000 70 0.000 0.000 3056 2031 1963 2063 1864 0 0 0 0 0 0 14.64 14.67 14.67

25531 1.07 227.6 3056 2036 2062 1864 84.5 6.4 1143 25586 0.00 2.70 47.92 1.261 8484 0.000 0.114 3056 3445 1829 1920 1738 0 0 0 0 0 0 14.54 14.04 13.34

25636 1.07 227.6 3056 3445 1916 1738 77.1 8.1 1159 25641 0.00 2.42 0.00 0.000 1030 0.000 0.080 3057 2116 1827 1916 1738 0 0 0 0 0 0 14.23 14.09 14.26

26011 1.15 288.0 3056 2116 1914 1736 55.9 4.9 1174 26131 0.00 2.75 112.22 1.196 8740 0.000 0.114 3057 710 1584 1656 1513 0 0 0 0 0 0 14.62 13.72 13.17

26286 1.27 376.3 3051 710 1648 1513 44.0 3.3 1229 26455 0.22 2.45 160.52 1.148 11302 0.110 0.088 3132 2035 1226 1255 1197 0 0 0 0 0 0 14.04 13.97 13.03

26815 1.37 458.7 3133 2035 1257 1193 14.5 3.7 1295 26965 0.00 2.60 141.25 1.128 8740 0.000 0.110 3132 712 888 876 901 0 0 0 0 0 0 14.33 13.78 13.10

27192 1.55 594.2 3133 713 876 901 12.2 0.6 1358 27281 0.28 2.45 83.18 1.112 11298 0.095 0.086 3226 2040 692 667 718 0 0 0 0 0 0 14.07 13.97 14.16

27282 end climb: NO_VERTICAL_VELOCITY

state 27282 begin subsurface finish

27381 0.54 417.0 3226 2040 521 578 10.0 6.3 1374 27404 1.20 2.55 -14.25 0.009 20996 0.168 0.124 2892 709 1060 1038 1082 0 0 0 0 0 0 13.78 13.08 13.87

27404 end subsurface finish: CONTROL_FINISHED_OK

state 27404 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	462	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	150920,041859,7245.9077,-15035.3936,0,2002.0,0,20.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.147,0.227
_CALLS	0	TGT_NAME	RECOV
_XMS_NAKs	0	TGT_LATLONG	7200.000,-15200.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	14.08	MHEAD_RNG_PITCHd_Wd	189.2,97842,-18.2,-8.462,-20.48,1768
_SM_ANGLEo	-12.7	D_GRID	990
GPS2	150920,041859,7245.9077,-15035.3936,0,2002.0,0,20.5,0.0,0.0,0,0.0	EXEC	4,999,2,0.000000,0.000000

SM_CCo	27284,56.85,1.079,0,0,550,541.62	_24V_AH	12.00,246.289
FINISH1	10.0,1.019372,417	_10V_AH	11.88,0.000
FINISH2	10.3	FG_AHR_24Vo	0.000
RAFOS_CLK	39	FG_AHR_10Vo	0.000
RAFOS_FIX	7243.452148,-15037.730469,150920,121248,0,1,0.16	MEM	334768
IRIDIUM_FIX	7317.94,-15032.01,110920,233544	DATA_FILE_SIZE	46633,1378
TT8_MAMPS	0.078645,0.328811	CAP_FILE_SIZE	157201,0
HUMID	53.42	CFSIZE	1047117824,983318528
INTERNAL_PRESSURE	8.80965	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.30	SOUNDSPEED	1454.5
XPDR_PINGS	160	GPS	150920,122348,7243.452,-15037.730,0,1001.0,0,20.5,0.0,0.0,0,0.0
SC_FREEKB	3608672

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	221	13.33	nil	0	0	0.00
Roll_motor	90	123	134.89	nil	0	0	0.00
VBD_pump_during_apogee	862	2301	23822.44	nil	0	0	0.00
VBD_pump_during_surface	56	1078	735.86	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	27447	9	2979.76
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	40	420	201.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	23475	2	644.23
TT8_Active	969	9	107.30
TT8_Sampling	2820	27	914.73
TT8_CF8	256	37	115.18
TT8_Kalman	0	0	0.00
Analog_circuits	2072	10	268.39
GPS_charging	0	0	0.00
Compass	2100	6	168.19
RAFOS	4415	33	1730.86
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	2887	2033	1067	1116	0.0	0.0	0	64	0.00	0.00	-52.72	0.004	16390	0.000	0.000	2885	2033	3158	3250	3066	0	0	0	0	0	0	14.54	12.41	14.54
67	-0.73	-97.3	2886	2033	3260	3067	16.0	-4.8	5	74	1.33	2.50	0.00	0.000	4388	0.116	0.103	2479	3370	3158	3251	3066	0	0	0	0	0	0	14.04	14.03	14.14
299	-0.73	-97.3	2479	3371	3252	3067	63.7	-16.5	51	304	0.00	2.40	0.00	0.000	1030	0.000	0.067	2479	2032	3159	3252	3066	0	0	0	0	0	0	14.27	14.13	14.31
670	-0.73	-97.3	2479	2032	3252	3066	114.0	-12.8	65	676	0.00	2.50	0.00	0.000	260	0.000	0.104	2479	3365	3158	3251	3065	0	0	0	0	0	0	14.54	13.93	14.57
901	-0.73	-97.3	2479	3366	3252	3066	142.2	-11.8	111	906	0.00	2.38	0.00	0.000	1030	0.000	0.066	2486	2038	3157	3251	3064	0	0	0	0	0	0	14.23	14.09	14.28
1271	-0.73	-97.3	2479	2038	3252	3065	183.0	-10.5	125	1273	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2037	3157	3251	3064	0	0	0	0	0	0	14.54	14.58	14.57
1631	-0.73	-97.3	2479	2037	3252	3064	218.8	-9.5	137	1633	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2037	3158	3252	3064	0	0	0	0	0	0	14.54	14.57	14.56
1991	-0.73	-97.3	2479	2037	3252	3064	248.3	-7.7	149	1993	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2037	3157	3251	3063	0	0	0	0	0	0	14.72	14.75	14.75
2351	-0.73	-97.3	2479	2037	3252	3063	274.5	-7.2	161	2353	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2037	3156	3251	3062	0	0	0	0	0	0	14.71	14.74	14.73
2711	-0.73	-97.3	2479	2038	3252	3061	300.1	-7.0	173	2713	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2037	3156	3251	3061	0	0	0	0	0	0	14.71	14.76	14.74
3071	-0.73	-97.3	2479	2037	3252	3062	324.6	-6.8	185	3073	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2037	3156	3251	3061	0	0	0	0	0	0	14.51	14.54	14.54
3431	-0.73	-97.3	2479	2037	3253	3062	349.0	-6.7	197	3433	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2036	3156	3251	3061	0	0	0	0	0	0	14.71	14.74	14.74
3791	-0.73	-97.3	2479	2037	3252	3061	372.5	-6.5	209	3793	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2036	3155	3251	3060	0	0	0	0	0	0	14.71	14.74	14.73
4151	-0.73	-97.3	2478	2038	3252	3061	395.4	-6.3	221	4153	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2036	3155	3251	3060	0	0	0	0	0	0	14.49	14.52	14.51
4511	-0.73	-97.3	2479	2037	3251	3061	418.4	-6.4	233	4513	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2036	3155	3251	3060	0	0	0	0	0	0	14.71	14.73	14.73
4871	-0.73	-97.3	2478	2037	3252	3061	441.1	-6.3	245	4873	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2036	3155	3251	3060	0	0	0	0	0	0	14.71	14.73	14.73
5231	-0.73	-97.3	2479	2037	3252	3061	463.8	-6.3	257	5233	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2036	3155	3251	3060	0	0	0	0	0	0	14.47	14.50	14.50
5591	-0.73	-97.3	2479	2037	3252	3061	486.6	-6.3	269	5593	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2036	3155	3251	3060	0	0	0	0	0	0	14.47	14.50	14.50
5951	-0.73	-97.3	2479	2037	3253	3061	509.0	-6.2	281	5953	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2035	3153	3251	3056	0	0	0	0	0	0	14.47	14.50	14.50
6311	-0.73	-97.3	2480	2037	3252	3061	531.4	-6.2	293	6313	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2036	3155	3251	3060	0	0	0	0	0	0	14.47	14.50	14.50
6672	-0.73	-97.3	2479	2037	3252	3059	553.1	-6.0	305	6677	0.00	2.58	0.00	0.000	292	0.000	0.106	2479	3370	3156	3252	3060	0	0	0	0	0	0	14.48	13.72	14.51
6743	-0.73	-97.3	2479	3367	3252	3060	557.5	-6.2	319	6748	0.00	2.45	0.00	0.000	1062	0.000	0.065	2479	2029	3155	3251	3060	0	0	0	0	0	0	14.08	13.94	14.14
7123	-0.73	-97.3	2479	2028	3252	3061	580.1	-5.9	335	7125	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2029	3155	3251	3060	0	0	0	0	0	0	14.47	14.50	14.49
7483	-0.73	-97.3	2479	2030	3251	3060	601.4	-6.0	347	7485	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2029	3158	3257	3060	0	0	0	0	0	0	14.46	14.49	14.49
7843	-0.73	-97.3	2479	2030	3252	3061	623.1	-6.0	359	7848	0.00	2.60	0.00	0.000	292	0.000	0.106	2479	3366	3155	3251	3060	0	0	0	0	0	0	14.45	13.69	14.47
7928	-0.73	-97.3	2479	3367	3252	3057	628.4	-6.2	376	7935	0.00	2.42	0.00	0.000	1062	0.000	0.065	2479	2039	3155	3251	3060	0	0	0	0	0	0	14.07	13.93	14.12
8293	-0.73	-97.3	2479	2039	3252	3061	650.4	-6.1	389	8295	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2038	3155	3251	3060	0	0	0	0	0	0	14.50	14.48	14.47
8653	-0.73	-97.3	2479	2038	3253	3061	672.3	-6.1	401	8655	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2039	3156	3251	3061	0	0	0	0	0	0	14.45	14.47	14.47
9014	-0.73	-97.3	2479	2039	3252	3061	694.0	-6.1	413	9015	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2039	3155	3251	3060	0	0	0	0	0	0	14.45	14.47	14.47
9373	-0.73	-97.3	2479	2039	3252	3061	715.9	-6.1	425	9379	0.00	2.58	0.00	0.000	292	0.000	0.108	2479	3370	3155	3251	3060	0	0	0	0	0	0	14.44	13.69	14.47
9435	-0.73	-97.3	2479	3371	3252	3061	719.7	-6.3	437	9441	0.00	2.45	0.00	0.000	1062	0.000	0.068	2478	2030	3155	3251	3060	0	0	0	0	0	0	14.04	13.89	14.09
9826	-0.73	-97.3	2479	2030	3252	3061	743.1	-5.9	455	9828	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2029	3155	3251	3060	0	0	0	0	0	0	14.44	14.47	14.47
10186	-0.73	-97.3	2478	2031	3252	3061	764.1	-5.8	467	10191	0.00	2.58	0.00	0.000	292	0.000	0.106	2479	3367	3155	3251	3060	0	0	0	0	0	0	14.44	13.68	14.46
10257	-0.73	-97.3	2479	3368	3252	3061	768.0	-6.1	481	10262	0.00	2.45	0.00	0.000	1062	0.000	0.069	2481	2030	3156	3251	3061	0	0	0	0	0	0	14.03	13.88	14.08
10638	-0.73	-97.3	2480	2030	3252	3061	789.5	-5.5	497	10640	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2030	3155	3251	3060	0	0	0	0	0	0	14.69	14.72	14.72
10998	-0.73	-97.3	2479	2030	3252	3061	809.1	-5.4	509	11004	0.00	2.58	0.00	0.000	292	0.000	0.107	2479	3366	3155	3251	3060	0	0	0	0	0	0	14.43	13.68	14.46
11089	-0.73	-97.3	2479	3367	3252	3061	813.8	-5.6	527	11094	0.00	2.45	0.00	0.000	1062	0.000	0.070	2478	2031	3155	3251	3060	0	0	0	0	0	0	14.01	13.86	14.07
11480	-0.73	-97.3	2479	2031	3250	3062	834.8	-5.3	545	11481	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2036	3155	3251	3060	0	0	0	0	0	0	14.43	14.46	14.45
11840	-0.73	-97.3	2479	2031	3252	3059	853.5	-5.3	557	11846	0.00	2.58	0.00	0.000	292	0.000	0.108	2479	3375	3155	3251	3060	0	0	0	0	0	0	14.22	13.76	14.25
11936	-0.73	-97.3	2479	3375	3252	3061	859.4	-5.6	576	11941	0.00	2.45	0.00	0.000	1062	0.000	0.070	2479	2040	3153	3246	3060	0	0	0	0	0	0	14.05	13.92	14.09
12321	-0.73	-97.3	2479	2041	3252	3061	879.9	-5.5	593	12323	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2040	3155	3251	3060	0	0	0	0	0	0	14.23	14.26	14.26
12682	-0.73	-97.3	2479	2040	3252	3061	899.4	-5.5	605	12683	0.00	0.00	0.00	0.000	38	0.000	0.000	2484	2040	3155	3251	3060	0	0	0	0	0	0	14.39	14.42	14.42
13042	-0.73	-97.3	2475	2040	3252	3061	919.2	-5.5	617	13043	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2041	3155	3251	3060	0	0	0	0	0	0	14.27	14.30	14.29
13402	-0.73	-97.3	2479	2041	3251	3061	939.4	-5.6	629	13403	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2040	3155	3251	3060	0	0	0	0	0	0	14.40	14.42	14.42
13762	-0.73	-97.3	2479	2041	3252	3061	959.3	-5.5	641	13767	0.00	2.55	0.00	0.000	292	0.000	0.109	2479	3366	3156	3251	3061	0	0	0	0	0	0	14.40	13.81	14.42
13833	-0.73	-97.3	2479	3367	3251	3061	964.1	-5.7	655	13838	0.00	2.45	0.00	0.000	1062	0.000	0.070	2479	2033	3154	3249	3060	0	0	0	0	0	0	14.06	13.92	14.10
14213	-0.73	-97.3	2479	2033	3252	3060	984.1	-5.5	671	14215	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2033	3155	3251	3060	0	0	0	0	0	0	14.45	14.48	14.47
14330	end dive: TARGET_DEPTH_EXCEEDED
state	14330	begin apogee
14336	-0.17	0.0	2479	2033	3250	3060	990.7	-5.5	675	14445	0.73	0.00	106.38	2.302	10246	0.221	0.000	2657	2033	2757	2879	2636	0	0	0	0	0	0	13.68	13.64	12.62
14446	end apogee: CONTROL_FINISHED_OK
state	14446	begin climb
14449	0.73	97.3	2657	2033	2878	2637	993.0	0.0	678	14562	1.00	0.00	109.10	2.232	10758	0.137	0.000	2945	2032	2361	2486	2237	0	0	0	0	0	0	13.62	13.01	12.00
14903	0.73	97.3	2946	2033	2473	2229	956.1	8.8	709	14904	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2032	2350	2472	2228	0	0	0	0	0	0	14.55	14.58	14.58
15263	0.73	97.3	2946	2033	2471	2227	924.2	9.0	721	15269	0.00	2.67	0.00	0.000	260	0.000	0.109	2945	3450	2348	2470	2226	0	0	0	0	0	0	14.58	14.07	14.61
15344	0.73	97.3	2946	3451	2471	2225	916.6	10.3	737	15350	0.00	2.42	0.00	0.000	1030	0.000	0.078	2945	2110	2348	2470	2226	0	0	0	0	0	0	14.31	14.16	14.37
15715	0.73	97.3	2945	2111	2469	2226	882.5	8.8	751	15717	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2110	2347	2469	2225	0	0	0	0	0	0	14.62	14.64	14.64
16075	0.73	97.3	2940	2111	2468	2226	850.3	8.9	763	16077	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2110	2346	2468	2225	0	0	0	0	0	0	14.62	14.64	14.64
16435	0.73	97.3	2945	2111	2468	2225	819.3	8.3	775	16437	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2110	2346	2468	2225	0	0	0	0	0	0	14.59	14.62	14.61
16795	0.73	97.3	2946	2111	2468	2225	788.7	8.5	787	16800	0.00	2.55	0.00	0.000	260	0.000	0.111	2945	3450	2346	2467	2225	0	0	0	0	0	0	14.58	13.98	14.60
16845	0.73	97.3	2945	3451	2469	2225	783.8	9.5	797	16851	0.00	2.42	0.00	0.000	1030	0.000	0.076	2945	2116	2346	2468	2225	0	0	0	0	0	0	14.25	14.11	14.32
17216	0.73	97.3	2945	2117	2468	2225	753.0	8.3	811	17218	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2117	2344	2465	2224	0	0	0	0	0	0	14.57	14.59	14.59
17576	0.73	97.3	2945	2118	2468	2225	723.2	8.3	823	17578	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2117	2345	2467	2224	0	0	0	0	0	0	14.56	14.59	14.58
17936	0.73	97.3	2946	2118	2468	2225	693.3	8.3	835	17938	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2117	2345	2467	2224	0	0	0	0	0	0	14.54	14.58	14.58
18297	0.73	97.3	2944	2118	2468	2225	663.9	8.1	847	18298	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2117	2345	2466	2224	0	0	0	0	0	0	14.54	14.57	14.57
18657	0.73	97.3	2945	2118	2467	2223	635.0	8.0	859	18658	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2117	2345	2466	2224	0	0	0	0	0	0	14.55	14.58	14.58
19017	0.75	97.3	2945	2117	2467	2224	606.5	7.9	871	19022	0.00	2.55	0.00	0.000	324	0.000	0.109	2945	3448	2345	2466	2224	0	0	0	0	0	0	14.54	13.90	14.56
19077	0.75	97.3	2945	3449	2466	2224	601.2	9.0	883	19082	0.00	2.45	0.00	0.000	1030	0.000	0.077	2945	2110	2345	2466	2224	0	0	0	0	0	0	14.19	14.04	14.27
19467	0.76	97.3	2946	2111	2467	2225	570.5	7.9	901	19469	0.00	0.00	0.00	0.000	70	0.000	0.000	2946	2110	2345	2466	2224	0	0	0	0	0	0	14.52	14.55	14.55
19827	0.77	97.3	2946	2111	2467	2225	542.2	7.8	913	19829	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2111	2344	2465	2224	0	0	0	0	0	0	14.52	14.54	14.54
20188	0.78	97.3	2945	2111	2466	2224	513.9	7.9	925	20189	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2110	2344	2466	2223	0	0	0	0	0	0	14.51	14.54	14.54
20547	0.79	97.3	2946	2111	2467	2225	485.6	7.9	937	20549	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2110	2345	2466	2224	0	0	0	0	0	0	14.50	14.54	14.53
20907	0.81	97.3	2946	2111	2466	2225	457.0	7.9	949	20909	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2110	2344	2465	2223	0	0	0	0	0	0	14.50	14.53	14.54
21267	0.82	97.3	2945	2111	2466	2224	428.9	7.8	961	21269	0.12	0.00	0.00	0.000	2118	0.141	0.000	2994	2110	2344	2465	2224	0	0	0	0	0	0	14.09	14.18	14.16
21627	0.82	97.3	2993	2111	2466	2224	395.3	9.3	973	21633	0.00	2.58	0.00	0.000	260	0.000	0.108	2994	3453	2344	2465	2223	0	0	0	0	0	0	14.72	13.86	14.75
21688	0.82	97.3	2994	3454	2466	2223	389.0	10.5	985	21694	0.00	2.45	0.00	0.000	1030	0.000	0.075	2995	2113	2344	2465	2223	0	0	0	0	0	0	14.16	14.00	14.25
22080	0.82	97.3	2995	2113	2466	2224	352.1	9.5	1003	22081	0.00	0.00	0.00	0.000	6	0.000	0.000	2994	2113	2344	2465	2223	0	0	0	0	0	0	14.51	14.54	14.53
22440	0.82	97.3	2995	2113	2466	2224	318.5	9.2	1015	22441	0.00	0.00	0.00	0.000	6	0.000	0.000	2994	2112	2344	2465	2223	0	0	0	0	0	0	14.50	14.53	14.52
22800	0.82	97.3	2994	2113	2466	2224	285.9	9.0	1027	22802	0.00	0.00	0.00	0.000	6	0.000	0.000	2994	2113	2344	2465	2223	0	0	0	0	0	0	14.50	14.53	14.52
23160	0.82	97.3	2995	2113	2466	2224	255.0	8.4	1039	23161	0.00	0.00	0.00	0.000	6	0.000	0.000	2994	2112	2344	2465	2223	0	0	0	0	0	0	14.50	14.52	14.52
23520	0.86	97.3	2994	2113	2466	2224	228.0	6.6	1051	23521	0.00	0.00	0.00	0.000	70	0.000	0.000	2994	2112	2344	2465	2223	0	0	0	0	0	0	14.72	14.75	14.75
23880	0.92	148.7	2995	2113	2466	2224	206.7	5.5	1063	23930	0.00	2.72	46.05	1.430	8740	0.000	0.117	2994	709	2150	2268	2032	0	0	0	0	0	0	14.49	14.08	13.31
24026	0.95	148.7	2994	710	2259	2032	197.4	6.9	1092	24032	0.00	2.42	0.00	0.000	1094	0.000	0.086	2994	2035	2144	2258	2031	0	0	0	0	0	0	14.21	14.05	14.26
24391	1.01	192.8	2995	2035	2256	2031	174.0	5.9	1105	24452	0.15	0.00	55.80	1.308	10278	0.129	0.000	3056	2035	1972	2075	1869	0	0	0	0	0	0	14.28	13.85	13.26
24811	1.01	192.8	3056	2035	2065	1866	138.1	8.3	1119	24812	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2034	1964	2063	1865	0	0	0	0	0	0	14.64	14.67	14.67
25171	1.03	192.8	3056	2036	2063	1866	109.8	7.7	1131	25173	0.00	0.00	0.00	0.000	70	0.000	0.000	3056	2031	1963	2063	1864	0	0	0	0	0	0	14.64	14.67	14.67
25531	1.07	227.6	3056	2036	2062	1864	84.5	6.4	1143	25586	0.00	2.70	47.92	1.261	8484	0.000	0.114	3056	3445	1829	1920	1738	0	0	0	0	0	0	14.54	14.04	13.34
25636	1.07	227.6	3056	3445	1916	1738	77.1	8.1	1159	25641	0.00	2.42	0.00	0.000	1030	0.000	0.080	3057	2116	1827	1916	1738	0	0	0	0	0	0	14.23	14.09	14.26
26011	1.15	288.0	3056	2116	1914	1736	55.9	4.9	1174	26131	0.00	2.75	112.22	1.196	8740	0.000	0.114	3057	710	1584	1656	1513	0	0	0	0	0	0	14.62	13.72	13.17
26286	1.27	376.3	3051	710	1648	1513	44.0	3.3	1229	26455	0.22	2.45	160.52	1.148	11302	0.110	0.088	3132	2035	1226	1255	1197	0	0	0	0	0	0	14.04	13.97	13.03
26815	1.37	458.7	3133	2035	1257	1193	14.5	3.7	1295	26965	0.00	2.60	141.25	1.128	8740	0.000	0.110	3132	712	888	876	901	0	0	0	0	0	0	14.33	13.78	13.10
27192	1.55	594.2	3133	713	876	901	12.2	0.6	1358	27281	0.28	2.45	83.18	1.112	11298	0.095	0.086	3226	2040	692	667	718	0	0	0	0	0	0	14.07	13.97	14.16
27282	end climb: NO_VERTICAL_VELOCITY
state	27282	begin subsurface finish
27381	0.54	417.0	3226	2040	521	578	10.0	6.3	1374	27404	1.20	2.55	-14.25	0.009	20996	0.168	0.124	2892	709	1060	1038	1082	0	0	0	0	0	0	13.78	13.08	13.87
27404	end subsurface finish: CONTROL_FINISHED_OK
state	27404	begin surface