Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 164 * 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 164 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 0 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 800 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 PITCH_VBD_SHIFT 0.0013 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 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 540 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 86400 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 1850 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 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0041999999 PITCH_MIN 275 SURFACE_URGENCY_TRY 0

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 86400

COMPASS2_DEVICE 150 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 540

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 1850 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 164 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 060120,203520,7522.6797,-14347.7412,0,6255.0,0,23.4,0.0,0.0,0,0.0 SPEED_LIMITS 0.147,0.227

_CALLS 0 TGT_NAME 9_52

_XMS_NAKs 0 TGT_LATLONG 7530.781,-14419.238

_XMS_TOUTs 0 TGT_RADIUS 4000.000

_SM_DEPTHo 12.37 MHEAD_RNG_PITCHd_Wd 292.4,20929,-18.2,-8.462,-20.48,1768

_SM_ANGLEo -8.4 D_GRID 990

GPS2 060120,203520,7522.6797,-14347.7412,0,6255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,152,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200107042652.707559,06,12412,34,0408,0150,455,00,00,01,01,-1,-01,-01,1,3,0,0,150,-32.4,0.49,-100,2.51,-01,0.17,64,925,0025*0B SC_FREEKB 3780288

FREEZE 9.40,-1.498,-1.507,2,68,0 _24V_AH 12.38,86.695

FINISH1 9.4,1.022120,275 _10V_AH 12.56,0.000

FINISH2 9.0 FG_AHR_24Vo 0.000

RAFOS_CLK 85 FG_AHR_10Vo 0.000

MODEM 0,1578355550,74.83892,-145.28152,50.749,73821.4 MEM 334840

RAFOS_FIX 7524.720703,-14353.383789,070120,040452,5,255,0.16 DATA_FILE_SIZE 39948,1136

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 143821,0

TT8_MAMPS 0.038948,0.282373 CFSIZE 1047117824,1020870656

HUMID 51.96 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.82918 SOUNDSPEED 1456.0

TCM_TEMP 13.30 GPS 070120,042652,7524.721,-14353.384,0,6255.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 117

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 232 12.81 nil 0 0 0.00

Roll_motor 99 120 148.63 nil 0 0 0.00

VBD_pump_during_apogee 615 2318 17669.07 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 25361 8 2802.17

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 29 420 152.09 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 22120 2 641.79

TT8_Active 804 9 94.15

TT8_Sampling 2405 27 824.80

TT8_CF8 139 37 66.27

TT8_Kalman 0 0 0.00

Analog_circuits 1686 10 230.88

GPS_charging 0 0 0.00

Compass 1747 6 147.95

RAFOS 4422 33 1832.83

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 2830 1945 1679 1742 0.0 0.0 0 51 0.00 0.00 -37.28 0.005 16390 0.000 0.000 2829 1942 3158 3260 3056 0 0 0 0 0 0 14.36 13.21 14.39

53 -0.73 -97.3 2829 1943 3261 3053 15.6 -5.7 4 61 1.20 0.00 0.00 0.000 4102 0.145 0.000 2477 1943 3158 3260 3057 0 0 0 0 0 0 14.04 14.26 14.21

369 -0.73 -97.3 2477 1943 3261 3057 80.5 -18.3 20 375 0.00 2.67 0.00 0.000 516 0.000 0.121 2472 531 3158 3260 3056 0 0 0 0 0 0 14.51 14.04 14.53

464 -0.73 -97.3 2477 532 3261 3057 96.9 -16.1 39 470 0.00 2.45 0.00 0.000 1030 0.000 0.090 2477 1849 3158 3260 3056 0 0 0 0 0 0 14.23 14.14 14.28

849 -0.73 -97.3 2477 1850 3260 3057 148.3 -12.8 56 851 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 1849 3158 3260 3056 0 0 0 0 0 0 14.59 14.62 14.62

1210 -0.73 -97.3 2477 1850 3260 3057 193.8 -12.5 68 1211 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 1849 3158 3260 3056 0 0 0 0 0 0 14.62 14.65 14.64

1569 -0.73 -97.3 2477 1851 3260 3056 235.5 -11.1 80 1571 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 1851 3158 3260 3056 0 0 0 0 0 0 14.74 14.78 14.77

1929 -0.73 -97.3 2477 1851 3261 3057 269.3 -8.5 92 1931 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 1851 3157 3259 3056 0 0 0 0 0 0 14.65 14.68 14.67

2289 -0.73 -97.3 2477 1851 3261 3057 299.8 -8.1 104 2295 0.00 2.65 0.00 0.000 260 0.000 0.109 2477 3275 3158 3260 3057 0 0 0 0 0 0 14.77 14.14 14.80

2350 -0.73 -97.3 2477 3276 3261 3057 304.6 -8.0 116 2355 0.00 2.42 0.00 0.000 1030 0.000 0.076 2477 1942 3158 3260 3056 0 0 0 0 0 0 14.39 14.16 14.42

2740 -0.73 -97.3 2477 1942 3261 3057 333.9 -7.5 134 2741 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 1942 3157 3260 3055 0 0 0 0 0 0 14.66 14.69 14.68

3100 -0.73 -97.3 2477 1943 3259 3057 359.4 -6.8 146 3106 0.00 2.50 0.00 0.000 260 0.000 0.105 2477 3269 3158 3260 3056 0 0 0 0 0 0 14.78 14.13 14.81

3156 -0.73 -97.3 2477 3270 3261 3056 363.3 -7.0 157 3163 0.00 2.38 0.00 0.000 1030 0.000 0.076 2477 1942 3157 3259 3055 0 0 0 0 0 0 14.40 14.23 14.45

3521 -0.73 -97.3 2477 1943 3261 3056 387.5 -6.5 170 3522 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 1942 3158 3260 3056 0 0 0 0 0 0 14.66 14.69 14.69

3881 -0.73 -97.3 2477 1943 3261 3056 411.8 -6.8 182 3887 0.00 2.45 0.00 0.000 260 0.000 0.103 2477 3268 3157 3260 3055 0 0 0 0 0 0 14.79 14.16 14.81

3926 -0.73 -97.3 2477 3269 3262 3056 415.0 -7.0 191 3932 0.00 2.42 0.00 0.000 1030 0.000 0.076 2477 1937 3157 3260 3055 0 0 0 0 0 0 14.28 14.19 14.35

4301 -0.73 -97.3 2477 1933 3261 3056 440.0 -6.6 206 4303 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 1937 3157 3260 3055 0 0 0 0 0 0 14.66 14.69 14.68

4662 -0.73 -97.3 2477 1938 3261 3056 463.8 -6.5 218 4668 0.00 2.45 0.00 0.000 260 0.000 0.103 2476 3265 3157 3260 3055 0 0 0 0 0 0 14.79 14.17 14.81

4692 -0.73 -97.3 2477 3266 3260 3056 465.8 -6.8 224 4698 0.00 2.40 0.00 0.000 1030 0.000 0.076 2477 1938 3157 3260 3055 0 0 0 0 0 0 14.28 14.21 14.35

5083 -0.73 -97.3 2477 1940 3260 3056 490.7 -6.4 242 5084 0.00 0.00 0.00 0.000 38 0.000 0.000 2477 1939 3157 3260 3055 0 0 0 0 0 0 14.64 14.69 14.68

5443 -0.73 -97.3 2477 1940 3260 3056 513.5 -6.3 254 5449 0.00 2.45 0.00 0.000 292 0.000 0.103 2477 3268 3157 3260 3055 0 0 0 0 0 0 14.64 14.16 14.66

5523 -0.73 -97.3 2477 3268 3261 3056 518.8 -6.5 270 5530 0.00 2.42 0.00 0.000 1062 0.000 0.075 2477 1934 3157 3260 3055 0 0 0 0 0 0 14.28 14.19 14.33

5894 -0.73 -97.3 2477 1935 3260 3056 542.1 -6.3 284 5896 0.00 0.00 0.00 0.000 38 0.000 0.000 2477 1936 3157 3260 3055 0 0 0 0 0 0 14.65 14.69 14.68

6254 -0.73 -97.3 2477 1935 3260 3056 564.8 -6.3 296 6260 0.00 2.47 0.00 0.000 292 0.000 0.103 2477 3276 3157 3260 3055 0 0 0 0 0 0 14.65 14.15 14.68

6309 -0.73 -97.3 2477 3277 3261 3056 568.3 -6.5 307 6316 0.00 2.42 0.00 0.000 1030 0.000 0.076 2477 1944 3157 3260 3055 0 0 0 0 0 0 14.26 14.17 14.33

6674 -0.73 -97.3 2477 1945 3261 3055 591.2 -6.3 320 6676 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 1944 3157 3260 3055 0 0 0 0 0 0 14.65 14.68 14.67

7034 -0.73 -97.3 2477 1945 3261 3056 613.6 -6.2 332 7036 0.00 0.00 0.00 0.000 38 0.000 0.000 2477 1944 3157 3260 3055 0 0 0 0 0 0 14.66 14.69 14.68

7394 -0.73 -97.3 2477 1945 3261 3056 635.2 -5.9 344 7396 0.00 0.00 0.00 0.000 38 0.000 0.000 2477 1944 3157 3260 3055 0 0 0 0 0 0 14.65 14.69 14.68

7754 -0.73 -97.3 2477 1945 3261 3056 656.6 -6.0 356 7756 0.00 0.00 0.00 0.000 38 0.000 0.000 2477 1944 3158 3260 3057 0 0 0 0 0 0 14.66 14.69 14.68

8122 -0.73 -97.3 2477 1945 3258 3056 678.1 -6.0 368 8124 0.00 0.00 0.00 0.000 38 0.000 0.000 2477 1944 3157 3260 3055 0 0 0 0 0 0 14.72 14.76 14.75

8474 -0.73 -97.3 2477 1944 3261 3061 699.4 -5.9 380 8476 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 1943 3157 3260 3055 0 0 0 0 0 0 14.49 14.52 14.51

8834 -0.73 -97.3 2477 1944 3261 3056 720.7 -5.9 392 8836 0.00 0.00 0.00 0.000 38 0.000 0.000 2477 1944 3157 3260 3054 0 0 0 0 0 0 14.54 14.57 14.57

9194 -0.73 -97.3 2477 1944 3262 3055 742.3 -6.0 404 9196 0.00 0.00 0.00 0.000 38 0.000 0.000 2477 1943 3160 3260 3061 0 0 0 0 0 0 14.52 14.54 14.54

9554 -0.73 -97.3 2477 1944 3259 3056 764.0 -6.0 416 9556 0.00 0.00 0.00 0.000 38 0.000 0.000 2477 1944 3157 3260 3055 0 0 0 0 0 0 14.50 14.53 14.52

9914 -0.73 -97.3 2477 1944 3261 3056 785.3 -5.9 428 9916 0.00 0.00 0.00 0.000 38 0.000 0.000 2477 1944 3157 3260 3055 0 0 0 0 0 0 14.49 14.52 14.51

10274 -0.73 -97.3 2476 1950 3261 3056 806.9 -6.0 440 10280 0.00 2.50 0.00 0.000 292 0.000 0.104 2477 3275 3157 3260 3055 0 0 0 0 0 0 14.49 14.01 14.51

10329 -0.73 -97.3 2477 3275 3260 3056 810.0 -6.1 451 10336 0.00 2.45 0.00 0.000 1062 0.000 0.076 2477 1926 3157 3260 3055 0 0 0 0 0 0 14.19 14.03 14.24

10695 -0.73 -97.3 2477 1927 3261 3056 832.3 -6.0 464 10697 0.00 0.00 0.00 0.000 38 0.000 0.000 2477 1926 3157 3260 3055 0 0 0 0 0 0 14.57 14.60 14.59

11055 -0.73 -97.3 2477 1927 3261 3054 854.0 -6.0 476 11056 0.00 0.00 0.00 0.000 38 0.000 0.000 2476 1926 3157 3260 3055 0 0 0 0 0 0 14.59 14.62 14.62

11414 -0.73 -97.3 2477 1927 3260 3056 874.6 -5.8 488 11420 0.00 2.50 0.00 0.000 292 0.000 0.105 2477 3267 3157 3260 3055 0 0 0 0 0 0 14.59 14.08 14.62

11489 -0.73 -97.3 2477 3268 3260 3056 879.5 -5.9 503 11495 0.00 2.42 0.00 0.000 1062 0.000 0.077 2478 1944 3157 3260 3055 0 0 0 0 0 0 14.19 14.10 14.25

11865 -0.73 -97.3 2477 1944 3261 3056 899.7 -5.5 518 11871 0.00 2.47 0.00 0.000 292 0.000 0.104 2476 3273 3157 3260 3055 0 0 0 0 0 0 14.74 14.08 14.77

11895 -0.73 -97.3 2477 3274 3260 3056 902.2 -6.1 524 11901 0.00 2.40 0.00 0.000 1062 0.000 0.076 2477 1935 3157 3260 3055 0 0 0 0 0 0 14.33 14.18 14.39

12286 -0.73 -97.3 2477 1936 3260 3054 923.6 -5.6 542 12292 0.00 2.47 0.00 0.000 292 0.000 0.104 2477 3266 3157 3260 3055 0 0 0 0 0 0 14.61 14.10 14.63

12366 -0.73 -97.3 2477 3267 3261 3056 929.0 -5.7 558 12373 0.00 2.38 0.00 0.000 1062 0.000 0.076 2477 1938 3157 3260 3055 0 0 0 0 0 0 14.33 14.18 14.38

12737 -0.73 -97.3 2477 1939 3261 3056 948.9 -5.6 572 12739 0.00 0.00 0.00 0.000 38 0.000 0.000 2477 1938 3157 3260 3055 0 0 0 0 0 0 14.64 14.67 14.66

13097 -0.73 -97.3 2477 1939 3261 3056 968.6 -5.4 584 13099 0.00 0.00 0.00 0.000 38 0.000 0.000 2477 1938 3157 3260 3055 0 0 0 0 0 0 14.62 14.65 14.64

13457 -0.73 -97.3 2475 1939 3260 3056 988.2 -5.5 596 13463 0.00 2.47 0.00 0.000 292 0.000 0.104 2477 3269 3157 3260 3055 0 0 0 0 0 0 14.62 14.11 14.65

13475 end dive: TARGET_DEPTH_EXCEEDED

state 13475 begin apogee

13481 -0.17 0.0 2478 2106 3261 3056 990.1 -10.5 600 13589 0.70 0.00 105.57 2.319 10246 0.233 0.000 2654 2106 2757 2882 2633 0 0 0 0 0 0 14.01 13.76 12.81

13591 end apogee: CONTROL_FINISHED_OK

state 13591 begin climb

13592 0.73 97.3 2654 2106 2882 2634 991.4 0.0 603 13707 1.02 2.83 105.05 2.261 10756 0.146 0.120 2950 717 2359 2482 2236 0 0 0 0 0 0 13.72 13.26 12.38

13736 0.73 97.3 2951 718 2478 2235 980.1 10.0 631 13742 0.00 2.58 0.00 0.000 1030 0.000 0.087 2951 2030 2355 2476 2234 0 0 0 0 0 0 13.50 13.43 13.54

14106 0.73 97.3 2951 2030 2472 2227 943.0 10.0 645 14108 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2029 2349 2471 2228 0 0 0 0 0 0 14.29 14.32 14.31

14466 0.73 97.3 2951 2031 2471 2226 906.7 10.1 657 14472 0.00 2.65 0.00 0.000 260 0.000 0.110 2950 3452 2347 2470 2225 0 0 0 0 0 0 14.50 14.12 14.52

14536 0.73 97.3 2950 3451 2471 2225 899.5 11.5 671 14542 0.00 2.45 0.00 0.000 1030 0.000 0.079 2950 2116 2347 2470 2225 0 0 0 0 0 0 14.21 14.12 14.27

14916 0.73 97.3 2951 2116 2470 2224 860.2 10.2 687 14918 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2116 2346 2469 2224 0 0 0 0 0 0 14.59 14.61 14.62

15277 0.73 97.3 2950 2117 2469 2224 824.2 10.0 699 15278 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2116 2346 2469 2223 0 0 0 0 0 0 14.66 14.69 14.69

15636 0.73 97.3 2951 2116 2469 2224 788.3 10.0 711 15638 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2116 2346 2469 2223 0 0 0 0 0 0 14.64 14.68 14.70

15996 0.73 97.3 2951 2116 2469 2224 752.7 9.9 723 16002 0.00 2.47 0.00 0.000 260 0.000 0.107 2950 3451 2345 2468 2223 0 0 0 0 0 0 14.65 14.19 14.69

16031 0.73 97.3 2951 3452 2469 2224 749.0 11.2 730 16038 0.00 2.42 0.00 0.000 1030 0.000 0.078 2951 2117 2345 2468 2222 0 0 0 0 0 0 14.31 14.23 14.35

16417 0.73 97.3 2946 2118 2469 2224 711.2 9.6 747 16419 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2117 2345 2468 2222 0 0 0 0 0 0 14.66 14.69 14.69

16777 0.73 97.3 2951 2118 2469 2223 677.4 9.3 759 16779 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2117 2345 2468 2222 0 0 0 0 0 0 14.66 14.69 14.69

17137 0.73 97.3 2951 2118 2469 2223 643.8 9.3 771 17143 0.00 2.47 0.00 0.000 260 0.000 0.109 2950 3446 2345 2468 2222 0 0 0 0 0 0 14.66 14.14 14.70

17177 0.73 97.3 2951 3447 2469 2223 639.6 10.5 779 17183 0.00 2.42 0.00 0.000 1030 0.000 0.079 2950 2091 2345 2468 2222 0 0 0 0 0 0 14.40 14.23 14.47

17557 0.73 97.3 2951 2091 2469 2223 603.9 9.5 795 17559 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2090 2344 2467 2221 0 0 0 0 0 0 14.78 14.82 14.81

17917 0.73 97.3 2951 2091 2468 2222 569.7 9.5 807 17923 0.00 2.55 0.00 0.000 260 0.000 0.108 2951 3458 2344 2467 2222 0 0 0 0 0 0 14.67 14.14 14.69

17942 0.73 97.3 2951 3459 2469 2222 567.1 10.3 812 17949 0.00 2.45 0.00 0.000 1030 0.000 0.078 2951 2117 2345 2468 2222 0 0 0 0 0 0 14.29 14.21 14.35

18307 0.73 97.3 2951 2118 2467 2220 532.9 9.3 825 18309 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2117 2344 2468 2221 0 0 0 0 0 0 14.67 14.70 14.70

18667 0.73 97.3 2951 2118 2469 2222 500.0 9.1 837 18673 0.00 2.50 0.00 0.000 260 0.000 0.109 2951 3458 2344 2468 2221 0 0 0 0 0 0 14.67 14.13 14.70

18702 0.73 97.3 2951 3459 2468 2218 496.4 10.3 844 18708 0.00 2.45 0.00 0.000 1030 0.000 0.078 2951 2117 2345 2468 2222 0 0 0 0 0 0 14.29 14.19 14.35

19087 0.73 97.3 2951 2118 2469 2221 462.2 8.8 861 19089 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2117 2344 2468 2221 0 0 0 0 0 0 14.67 14.70 14.70

19447 0.73 97.3 2950 2118 2468 2222 430.3 8.8 873 19449 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2117 2344 2468 2221 0 0 0 0 0 0 14.67 14.70 14.70

19807 0.73 97.3 2951 2115 2468 2222 398.7 8.8 885 19809 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2117 2344 2468 2221 0 0 0 0 0 0 14.80 14.83 14.83

20167 0.73 97.3 2951 2118 2469 2222 366.9 8.8 897 20169 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2117 2344 2467 2221 0 0 0 0 0 0 14.67 14.70 14.70

20527 0.73 97.3 2950 2117 2468 2222 336.0 8.5 909 20529 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2117 2344 2467 2221 0 0 0 0 0 0 14.67 14.70 14.69

20887 0.73 97.3 2951 2118 2473 2222 307.0 8.0 921 20889 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2117 2344 2467 2221 0 0 0 0 0 0 14.66 14.70 14.70

21248 0.76 97.3 2951 2118 2468 2223 280.2 7.0 933 21249 0.00 0.00 0.00 0.000 70 0.000 0.000 2951 2117 2344 2467 2221 0 0 0 0 0 0 14.69 14.72 14.72

21607 0.83 147.4 2950 2118 2469 2222 258.0 5.6 945 21660 0.00 2.53 43.92 1.524 8484 0.000 0.112 2950 3453 2154 2273 2036 0 0 0 0 0 0 14.66 14.26 13.55

21710 0.84 147.4 2951 3454 2270 2037 251.2 7.8 965 21715 0.12 2.42 0.00 0.000 3142 0.147 0.079 3000 2113 2152 2269 2036 0 0 0 0 0 0 14.22 14.17 14.33

22090 0.85 147.4 3000 2113 2265 2034 220.1 8.0 981 22091 0.00 0.00 0.00 0.000 70 0.000 0.000 3000 2113 2148 2263 2033 0 0 0 0 0 0 14.52 14.56 14.55

22450 0.90 182.1 3000 2113 2263 2033 195.0 6.4 993 22482 0.00 0.00 31.38 1.442 8230 0.000 0.000 3000 2112 2014 2123 1906 0 0 0 0 0 0 14.57 14.31 13.57

22840 0.91 182.1 3000 2114 2110 1904 165.5 7.8 1006 22842 0.00 0.00 0.00 0.000 70 0.000 0.000 3000 2112 2005 2109 1902 0 0 0 0 0 0 14.46 14.50 14.49

23200 0.93 182.1 3000 2113 2108 1901 137.8 7.4 1018 23206 0.00 2.67 0.00 0.000 580 0.000 0.119 3000 715 2004 2108 1901 0 0 0 0 0 0 14.49 14.04 14.54

23255 0.97 182.1 3001 713 2109 1902 134.0 6.8 1029 23262 0.00 2.47 0.00 0.000 1094 0.000 0.091 3000 2032 2004 2108 1901 0 0 0 0 0 0 14.13 14.03 14.31

23621 1.02 223.3 3002 2032 2108 1902 110.4 6.1 1042 23675 0.15 0.00 51.10 1.317 10278 0.132 0.000 3061 2031 1847 1941 1753 0 0 0 0 0 0 14.19 14.17 13.48

24011 1.04 223.3 3061 2032 1929 1749 79.6 7.5 1055 24012 0.00 0.00 0.00 0.000 70 0.000 0.000 3061 2032 1839 1930 1749 0 0 0 0 0 0 14.40 14.44 14.42

24371 1.14 299.5 3061 2032 1929 1749 59.3 4.0 1067 24505 0.00 0.00 132.25 1.223 8230 0.000 0.000 3061 2032 1538 1607 1469 0 0 0 0 0 0 14.46 13.85 13.26

24851 1.25 381.4 3061 2032 1597 1465 35.6 3.7 1083 25004 0.17 0.00 146.25 1.161 10790 0.117 0.000 3127 2032 1201 1232 1171 0 0 0 0 0 0 14.15 13.80 13.20

25319 end climb: FINISH_DEPTH_REACHED

state 25319 begin subsurface finish

25323 0.36 275.3 3127 2032 1228 1167 9.4 6.9 1133 25343 1.08 0.00 -15.43 0.008 20998 0.192 0.000 2832 2032 1637 1619 1656 0 0 0 0 0 0 13.90 12.69 14.04

25344 end subsurface finish: CONTROL_FINISHED_OK

state 25344 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	164	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	0	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	800	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	PITCH_VBD_SHIFT	0.0013	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	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	540	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	86400	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	1850	ALTIM_PING_FIT	0

GPS1	060120,203520,7522.6797,-14347.7412,0,6255.0,0,23.4,0.0,0.0,0,0.0	SPEED_LIMITS	0.147,0.227
_CALLS	0	TGT_NAME	9_52
_XMS_NAKs	0	TGT_LATLONG	7530.781,-14419.238
_XMS_TOUTs	0	TGT_RADIUS	4000.000
_SM_DEPTHo	12.37	MHEAD_RNG_PITCHd_Wd	292.4,20929,-18.2,-8.462,-20.48,1768
_SM_ANGLEo	-8.4	D_GRID	990
GPS2	060120,203520,7522.6797,-14347.7412,0,6255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,152,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20200107042652.707559,06,12412,34,0408,0150,455,00,00,01,01,-1,-01,-01,1,3,0,0,150,-32.4,0.49,-100,2.51,-01,0.17,64,925,0025*0B	SC_FREEKB	3780288
FREEZE	9.40,-1.498,-1.507,2,68,0	_24V_AH	12.38,86.695
FINISH1	9.4,1.022120,275	_10V_AH	12.56,0.000
FINISH2	9.0	FG_AHR_24Vo	0.000
RAFOS_CLK	85	FG_AHR_10Vo	0.000
MODEM	0,1578355550,74.83892,-145.28152,50.749,73821.4	MEM	334840
RAFOS_FIX	7524.720703,-14353.383789,070120,040452,5,255,0.16	DATA_FILE_SIZE	39948,1136
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	143821,0
TT8_MAMPS	0.038948,0.282373	CFSIZE	1047117824,1020870656
HUMID	51.96	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.82918	SOUNDSPEED	1456.0
TCM_TEMP	13.30	GPS	070120,042652,7524.721,-14353.384,0,6255.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	117

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	232	12.81	nil	0	0	0.00
Roll_motor	99	120	148.63	nil	0	0	0.00
VBD_pump_during_apogee	615	2318	17669.07	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	25361	8	2802.17
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	29	420	152.09	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	22120	2	641.79
TT8_Active	804	9	94.15
TT8_Sampling	2405	27	824.80
TT8_CF8	139	37	66.27
TT8_Kalman	0	0	0.00
Analog_circuits	1686	10	230.88
GPS_charging	0	0	0.00
Compass	1747	6	147.95
RAFOS	4422	33	1832.83
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	2830	1945	1679	1742	0.0	0.0	0	51	0.00	0.00	-37.28	0.005	16390	0.000	0.000	2829	1942	3158	3260	3056	0	0	0	0	0	0	14.36	13.21	14.39
53	-0.73	-97.3	2829	1943	3261	3053	15.6	-5.7	4	61	1.20	0.00	0.00	0.000	4102	0.145	0.000	2477	1943	3158	3260	3057	0	0	0	0	0	0	14.04	14.26	14.21
369	-0.73	-97.3	2477	1943	3261	3057	80.5	-18.3	20	375	0.00	2.67	0.00	0.000	516	0.000	0.121	2472	531	3158	3260	3056	0	0	0	0	0	0	14.51	14.04	14.53
464	-0.73	-97.3	2477	532	3261	3057	96.9	-16.1	39	470	0.00	2.45	0.00	0.000	1030	0.000	0.090	2477	1849	3158	3260	3056	0	0	0	0	0	0	14.23	14.14	14.28
849	-0.73	-97.3	2477	1850	3260	3057	148.3	-12.8	56	851	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	1849	3158	3260	3056	0	0	0	0	0	0	14.59	14.62	14.62
1210	-0.73	-97.3	2477	1850	3260	3057	193.8	-12.5	68	1211	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	1849	3158	3260	3056	0	0	0	0	0	0	14.62	14.65	14.64
1569	-0.73	-97.3	2477	1851	3260	3056	235.5	-11.1	80	1571	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	1851	3158	3260	3056	0	0	0	0	0	0	14.74	14.78	14.77
1929	-0.73	-97.3	2477	1851	3261	3057	269.3	-8.5	92	1931	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	1851	3157	3259	3056	0	0	0	0	0	0	14.65	14.68	14.67
2289	-0.73	-97.3	2477	1851	3261	3057	299.8	-8.1	104	2295	0.00	2.65	0.00	0.000	260	0.000	0.109	2477	3275	3158	3260	3057	0	0	0	0	0	0	14.77	14.14	14.80
2350	-0.73	-97.3	2477	3276	3261	3057	304.6	-8.0	116	2355	0.00	2.42	0.00	0.000	1030	0.000	0.076	2477	1942	3158	3260	3056	0	0	0	0	0	0	14.39	14.16	14.42
2740	-0.73	-97.3	2477	1942	3261	3057	333.9	-7.5	134	2741	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	1942	3157	3260	3055	0	0	0	0	0	0	14.66	14.69	14.68
3100	-0.73	-97.3	2477	1943	3259	3057	359.4	-6.8	146	3106	0.00	2.50	0.00	0.000	260	0.000	0.105	2477	3269	3158	3260	3056	0	0	0	0	0	0	14.78	14.13	14.81
3156	-0.73	-97.3	2477	3270	3261	3056	363.3	-7.0	157	3163	0.00	2.38	0.00	0.000	1030	0.000	0.076	2477	1942	3157	3259	3055	0	0	0	0	0	0	14.40	14.23	14.45
3521	-0.73	-97.3	2477	1943	3261	3056	387.5	-6.5	170	3522	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	1942	3158	3260	3056	0	0	0	0	0	0	14.66	14.69	14.69
3881	-0.73	-97.3	2477	1943	3261	3056	411.8	-6.8	182	3887	0.00	2.45	0.00	0.000	260	0.000	0.103	2477	3268	3157	3260	3055	0	0	0	0	0	0	14.79	14.16	14.81
3926	-0.73	-97.3	2477	3269	3262	3056	415.0	-7.0	191	3932	0.00	2.42	0.00	0.000	1030	0.000	0.076	2477	1937	3157	3260	3055	0	0	0	0	0	0	14.28	14.19	14.35
4301	-0.73	-97.3	2477	1933	3261	3056	440.0	-6.6	206	4303	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	1937	3157	3260	3055	0	0	0	0	0	0	14.66	14.69	14.68
4662	-0.73	-97.3	2477	1938	3261	3056	463.8	-6.5	218	4668	0.00	2.45	0.00	0.000	260	0.000	0.103	2476	3265	3157	3260	3055	0	0	0	0	0	0	14.79	14.17	14.81
4692	-0.73	-97.3	2477	3266	3260	3056	465.8	-6.8	224	4698	0.00	2.40	0.00	0.000	1030	0.000	0.076	2477	1938	3157	3260	3055	0	0	0	0	0	0	14.28	14.21	14.35
5083	-0.73	-97.3	2477	1940	3260	3056	490.7	-6.4	242	5084	0.00	0.00	0.00	0.000	38	0.000	0.000	2477	1939	3157	3260	3055	0	0	0	0	0	0	14.64	14.69	14.68
5443	-0.73	-97.3	2477	1940	3260	3056	513.5	-6.3	254	5449	0.00	2.45	0.00	0.000	292	0.000	0.103	2477	3268	3157	3260	3055	0	0	0	0	0	0	14.64	14.16	14.66
5523	-0.73	-97.3	2477	3268	3261	3056	518.8	-6.5	270	5530	0.00	2.42	0.00	0.000	1062	0.000	0.075	2477	1934	3157	3260	3055	0	0	0	0	0	0	14.28	14.19	14.33
5894	-0.73	-97.3	2477	1935	3260	3056	542.1	-6.3	284	5896	0.00	0.00	0.00	0.000	38	0.000	0.000	2477	1936	3157	3260	3055	0	0	0	0	0	0	14.65	14.69	14.68
6254	-0.73	-97.3	2477	1935	3260	3056	564.8	-6.3	296	6260	0.00	2.47	0.00	0.000	292	0.000	0.103	2477	3276	3157	3260	3055	0	0	0	0	0	0	14.65	14.15	14.68
6309	-0.73	-97.3	2477	3277	3261	3056	568.3	-6.5	307	6316	0.00	2.42	0.00	0.000	1030	0.000	0.076	2477	1944	3157	3260	3055	0	0	0	0	0	0	14.26	14.17	14.33
6674	-0.73	-97.3	2477	1945	3261	3055	591.2	-6.3	320	6676	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	1944	3157	3260	3055	0	0	0	0	0	0	14.65	14.68	14.67
7034	-0.73	-97.3	2477	1945	3261	3056	613.6	-6.2	332	7036	0.00	0.00	0.00	0.000	38	0.000	0.000	2477	1944	3157	3260	3055	0	0	0	0	0	0	14.66	14.69	14.68
7394	-0.73	-97.3	2477	1945	3261	3056	635.2	-5.9	344	7396	0.00	0.00	0.00	0.000	38	0.000	0.000	2477	1944	3157	3260	3055	0	0	0	0	0	0	14.65	14.69	14.68
7754	-0.73	-97.3	2477	1945	3261	3056	656.6	-6.0	356	7756	0.00	0.00	0.00	0.000	38	0.000	0.000	2477	1944	3158	3260	3057	0	0	0	0	0	0	14.66	14.69	14.68
8122	-0.73	-97.3	2477	1945	3258	3056	678.1	-6.0	368	8124	0.00	0.00	0.00	0.000	38	0.000	0.000	2477	1944	3157	3260	3055	0	0	0	0	0	0	14.72	14.76	14.75
8474	-0.73	-97.3	2477	1944	3261	3061	699.4	-5.9	380	8476	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	1943	3157	3260	3055	0	0	0	0	0	0	14.49	14.52	14.51
8834	-0.73	-97.3	2477	1944	3261	3056	720.7	-5.9	392	8836	0.00	0.00	0.00	0.000	38	0.000	0.000	2477	1944	3157	3260	3054	0	0	0	0	0	0	14.54	14.57	14.57
9194	-0.73	-97.3	2477	1944	3262	3055	742.3	-6.0	404	9196	0.00	0.00	0.00	0.000	38	0.000	0.000	2477	1943	3160	3260	3061	0	0	0	0	0	0	14.52	14.54	14.54
9554	-0.73	-97.3	2477	1944	3259	3056	764.0	-6.0	416	9556	0.00	0.00	0.00	0.000	38	0.000	0.000	2477	1944	3157	3260	3055	0	0	0	0	0	0	14.50	14.53	14.52
9914	-0.73	-97.3	2477	1944	3261	3056	785.3	-5.9	428	9916	0.00	0.00	0.00	0.000	38	0.000	0.000	2477	1944	3157	3260	3055	0	0	0	0	0	0	14.49	14.52	14.51
10274	-0.73	-97.3	2476	1950	3261	3056	806.9	-6.0	440	10280	0.00	2.50	0.00	0.000	292	0.000	0.104	2477	3275	3157	3260	3055	0	0	0	0	0	0	14.49	14.01	14.51
10329	-0.73	-97.3	2477	3275	3260	3056	810.0	-6.1	451	10336	0.00	2.45	0.00	0.000	1062	0.000	0.076	2477	1926	3157	3260	3055	0	0	0	0	0	0	14.19	14.03	14.24
10695	-0.73	-97.3	2477	1927	3261	3056	832.3	-6.0	464	10697	0.00	0.00	0.00	0.000	38	0.000	0.000	2477	1926	3157	3260	3055	0	0	0	0	0	0	14.57	14.60	14.59
11055	-0.73	-97.3	2477	1927	3261	3054	854.0	-6.0	476	11056	0.00	0.00	0.00	0.000	38	0.000	0.000	2476	1926	3157	3260	3055	0	0	0	0	0	0	14.59	14.62	14.62
11414	-0.73	-97.3	2477	1927	3260	3056	874.6	-5.8	488	11420	0.00	2.50	0.00	0.000	292	0.000	0.105	2477	3267	3157	3260	3055	0	0	0	0	0	0	14.59	14.08	14.62
11489	-0.73	-97.3	2477	3268	3260	3056	879.5	-5.9	503	11495	0.00	2.42	0.00	0.000	1062	0.000	0.077	2478	1944	3157	3260	3055	0	0	0	0	0	0	14.19	14.10	14.25
11865	-0.73	-97.3	2477	1944	3261	3056	899.7	-5.5	518	11871	0.00	2.47	0.00	0.000	292	0.000	0.104	2476	3273	3157	3260	3055	0	0	0	0	0	0	14.74	14.08	14.77
11895	-0.73	-97.3	2477	3274	3260	3056	902.2	-6.1	524	11901	0.00	2.40	0.00	0.000	1062	0.000	0.076	2477	1935	3157	3260	3055	0	0	0	0	0	0	14.33	14.18	14.39
12286	-0.73	-97.3	2477	1936	3260	3054	923.6	-5.6	542	12292	0.00	2.47	0.00	0.000	292	0.000	0.104	2477	3266	3157	3260	3055	0	0	0	0	0	0	14.61	14.10	14.63
12366	-0.73	-97.3	2477	3267	3261	3056	929.0	-5.7	558	12373	0.00	2.38	0.00	0.000	1062	0.000	0.076	2477	1938	3157	3260	3055	0	0	0	0	0	0	14.33	14.18	14.38
12737	-0.73	-97.3	2477	1939	3261	3056	948.9	-5.6	572	12739	0.00	0.00	0.00	0.000	38	0.000	0.000	2477	1938	3157	3260	3055	0	0	0	0	0	0	14.64	14.67	14.66
13097	-0.73	-97.3	2477	1939	3261	3056	968.6	-5.4	584	13099	0.00	0.00	0.00	0.000	38	0.000	0.000	2477	1938	3157	3260	3055	0	0	0	0	0	0	14.62	14.65	14.64
13457	-0.73	-97.3	2475	1939	3260	3056	988.2	-5.5	596	13463	0.00	2.47	0.00	0.000	292	0.000	0.104	2477	3269	3157	3260	3055	0	0	0	0	0	0	14.62	14.11	14.65
13475	end dive: TARGET_DEPTH_EXCEEDED
state	13475	begin apogee
13481	-0.17	0.0	2478	2106	3261	3056	990.1	-10.5	600	13589	0.70	0.00	105.57	2.319	10246	0.233	0.000	2654	2106	2757	2882	2633	0	0	0	0	0	0	14.01	13.76	12.81
13591	end apogee: CONTROL_FINISHED_OK
state	13591	begin climb
13592	0.73	97.3	2654	2106	2882	2634	991.4	0.0	603	13707	1.02	2.83	105.05	2.261	10756	0.146	0.120	2950	717	2359	2482	2236	0	0	0	0	0	0	13.72	13.26	12.38
13736	0.73	97.3	2951	718	2478	2235	980.1	10.0	631	13742	0.00	2.58	0.00	0.000	1030	0.000	0.087	2951	2030	2355	2476	2234	0	0	0	0	0	0	13.50	13.43	13.54
14106	0.73	97.3	2951	2030	2472	2227	943.0	10.0	645	14108	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2029	2349	2471	2228	0	0	0	0	0	0	14.29	14.32	14.31
14466	0.73	97.3	2951	2031	2471	2226	906.7	10.1	657	14472	0.00	2.65	0.00	0.000	260	0.000	0.110	2950	3452	2347	2470	2225	0	0	0	0	0	0	14.50	14.12	14.52
14536	0.73	97.3	2950	3451	2471	2225	899.5	11.5	671	14542	0.00	2.45	0.00	0.000	1030	0.000	0.079	2950	2116	2347	2470	2225	0	0	0	0	0	0	14.21	14.12	14.27
14916	0.73	97.3	2951	2116	2470	2224	860.2	10.2	687	14918	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2116	2346	2469	2224	0	0	0	0	0	0	14.59	14.61	14.62
15277	0.73	97.3	2950	2117	2469	2224	824.2	10.0	699	15278	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2116	2346	2469	2223	0	0	0	0	0	0	14.66	14.69	14.69
15636	0.73	97.3	2951	2116	2469	2224	788.3	10.0	711	15638	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2116	2346	2469	2223	0	0	0	0	0	0	14.64	14.68	14.70
15996	0.73	97.3	2951	2116	2469	2224	752.7	9.9	723	16002	0.00	2.47	0.00	0.000	260	0.000	0.107	2950	3451	2345	2468	2223	0	0	0	0	0	0	14.65	14.19	14.69
16031	0.73	97.3	2951	3452	2469	2224	749.0	11.2	730	16038	0.00	2.42	0.00	0.000	1030	0.000	0.078	2951	2117	2345	2468	2222	0	0	0	0	0	0	14.31	14.23	14.35
16417	0.73	97.3	2946	2118	2469	2224	711.2	9.6	747	16419	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2117	2345	2468	2222	0	0	0	0	0	0	14.66	14.69	14.69
16777	0.73	97.3	2951	2118	2469	2223	677.4	9.3	759	16779	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2117	2345	2468	2222	0	0	0	0	0	0	14.66	14.69	14.69
17137	0.73	97.3	2951	2118	2469	2223	643.8	9.3	771	17143	0.00	2.47	0.00	0.000	260	0.000	0.109	2950	3446	2345	2468	2222	0	0	0	0	0	0	14.66	14.14	14.70
17177	0.73	97.3	2951	3447	2469	2223	639.6	10.5	779	17183	0.00	2.42	0.00	0.000	1030	0.000	0.079	2950	2091	2345	2468	2222	0	0	0	0	0	0	14.40	14.23	14.47
17557	0.73	97.3	2951	2091	2469	2223	603.9	9.5	795	17559	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2090	2344	2467	2221	0	0	0	0	0	0	14.78	14.82	14.81
17917	0.73	97.3	2951	2091	2468	2222	569.7	9.5	807	17923	0.00	2.55	0.00	0.000	260	0.000	0.108	2951	3458	2344	2467	2222	0	0	0	0	0	0	14.67	14.14	14.69
17942	0.73	97.3	2951	3459	2469	2222	567.1	10.3	812	17949	0.00	2.45	0.00	0.000	1030	0.000	0.078	2951	2117	2345	2468	2222	0	0	0	0	0	0	14.29	14.21	14.35
18307	0.73	97.3	2951	2118	2467	2220	532.9	9.3	825	18309	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2117	2344	2468	2221	0	0	0	0	0	0	14.67	14.70	14.70
18667	0.73	97.3	2951	2118	2469	2222	500.0	9.1	837	18673	0.00	2.50	0.00	0.000	260	0.000	0.109	2951	3458	2344	2468	2221	0	0	0	0	0	0	14.67	14.13	14.70
18702	0.73	97.3	2951	3459	2468	2218	496.4	10.3	844	18708	0.00	2.45	0.00	0.000	1030	0.000	0.078	2951	2117	2345	2468	2222	0	0	0	0	0	0	14.29	14.19	14.35
19087	0.73	97.3	2951	2118	2469	2221	462.2	8.8	861	19089	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2117	2344	2468	2221	0	0	0	0	0	0	14.67	14.70	14.70
19447	0.73	97.3	2950	2118	2468	2222	430.3	8.8	873	19449	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2117	2344	2468	2221	0	0	0	0	0	0	14.67	14.70	14.70
19807	0.73	97.3	2951	2115	2468	2222	398.7	8.8	885	19809	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2117	2344	2468	2221	0	0	0	0	0	0	14.80	14.83	14.83
20167	0.73	97.3	2951	2118	2469	2222	366.9	8.8	897	20169	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2117	2344	2467	2221	0	0	0	0	0	0	14.67	14.70	14.70
20527	0.73	97.3	2950	2117	2468	2222	336.0	8.5	909	20529	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2117	2344	2467	2221	0	0	0	0	0	0	14.67	14.70	14.69
20887	0.73	97.3	2951	2118	2473	2222	307.0	8.0	921	20889	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2117	2344	2467	2221	0	0	0	0	0	0	14.66	14.70	14.70
21248	0.76	97.3	2951	2118	2468	2223	280.2	7.0	933	21249	0.00	0.00	0.00	0.000	70	0.000	0.000	2951	2117	2344	2467	2221	0	0	0	0	0	0	14.69	14.72	14.72
21607	0.83	147.4	2950	2118	2469	2222	258.0	5.6	945	21660	0.00	2.53	43.92	1.524	8484	0.000	0.112	2950	3453	2154	2273	2036	0	0	0	0	0	0	14.66	14.26	13.55
21710	0.84	147.4	2951	3454	2270	2037	251.2	7.8	965	21715	0.12	2.42	0.00	0.000	3142	0.147	0.079	3000	2113	2152	2269	2036	0	0	0	0	0	0	14.22	14.17	14.33
22090	0.85	147.4	3000	2113	2265	2034	220.1	8.0	981	22091	0.00	0.00	0.00	0.000	70	0.000	0.000	3000	2113	2148	2263	2033	0	0	0	0	0	0	14.52	14.56	14.55
22450	0.90	182.1	3000	2113	2263	2033	195.0	6.4	993	22482	0.00	0.00	31.38	1.442	8230	0.000	0.000	3000	2112	2014	2123	1906	0	0	0	0	0	0	14.57	14.31	13.57
22840	0.91	182.1	3000	2114	2110	1904	165.5	7.8	1006	22842	0.00	0.00	0.00	0.000	70	0.000	0.000	3000	2112	2005	2109	1902	0	0	0	0	0	0	14.46	14.50	14.49
23200	0.93	182.1	3000	2113	2108	1901	137.8	7.4	1018	23206	0.00	2.67	0.00	0.000	580	0.000	0.119	3000	715	2004	2108	1901	0	0	0	0	0	0	14.49	14.04	14.54
23255	0.97	182.1	3001	713	2109	1902	134.0	6.8	1029	23262	0.00	2.47	0.00	0.000	1094	0.000	0.091	3000	2032	2004	2108	1901	0	0	0	0	0	0	14.13	14.03	14.31
23621	1.02	223.3	3002	2032	2108	1902	110.4	6.1	1042	23675	0.15	0.00	51.10	1.317	10278	0.132	0.000	3061	2031	1847	1941	1753	0	0	0	0	0	0	14.19	14.17	13.48
24011	1.04	223.3	3061	2032	1929	1749	79.6	7.5	1055	24012	0.00	0.00	0.00	0.000	70	0.000	0.000	3061	2032	1839	1930	1749	0	0	0	0	0	0	14.40	14.44	14.42
24371	1.14	299.5	3061	2032	1929	1749	59.3	4.0	1067	24505	0.00	0.00	132.25	1.223	8230	0.000	0.000	3061	2032	1538	1607	1469	0	0	0	0	0	0	14.46	13.85	13.26
24851	1.25	381.4	3061	2032	1597	1465	35.6	3.7	1083	25004	0.17	0.00	146.25	1.161	10790	0.117	0.000	3127	2032	1201	1232	1171	0	0	0	0	0	0	14.15	13.80	13.20
25319	end climb: FINISH_DEPTH_REACHED
state	25319	begin subsurface finish
25323	0.36	275.3	3127	2032	1228	1167	9.4	6.9	1133	25343	1.08	0.00	-15.43	0.008	20998	0.192	0.000	2832	2032	1637	1619	1656	0	0	0	0	0	0	13.90	12.69	14.04
25344	end subsurface finish: CONTROL_FINISHED_OK
state	25344	begin surface