Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 437 * 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 437 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 437 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 060920,194624,7300.7061,-14725.8105,0,1001.0,0,21.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.147,0.227

_CALLS 0 TGT_NAME SODAA

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14820.200

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 10.71 MHEAD_RNG_PITCHd_Wd 245.8,29479,-18.2,-8.462,-20.48,1768

_SM_ANGLEo -15.1 D_GRID 990

GPS2 060920,194624,7300.7061,-14725.8105,0,1001.0,0,21.7,0.0,0.0,0,0.0 EXEC 4,999,2,0.000000,0.000000

Post-dive calculations and measurements:

SM_CCo 27205,258.00,1.119,0,0,549,541.62 _24V_AH 12.00,232.508

FINISH1 10.4,1.020719,347 _10V_AH 12.35,0.000

FINISH2 10.4 FG_AHR_24Vo 0.000

RAFOS_CLK 326 FG_AHR_10Vo 0.000

RAFOS_FIX 7300.700684,-14710.036133,070920,111133,0,1,0.15 MEM 334772

IRIDIUM_FIX 7316.87,-14731.16,010920,110615 DATA_FILE_SIZE 43256,1307

TT8_MAMPS 0.03745,0.274883 CAP_FILE_SIZE 159197,0

HUMID 53.58 CFSIZE 1047117824,986251264

INTERNAL_PRESSURE 8.76082 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.10 SOUNDSPEED 1455.1

XPDR_PINGS 174 GPS 070920,110733,7300.701,-14710.036,0,1001.0,0,21.7,0.0,0.0,0,0.0

SC_FREEKB 3623072

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 220 13.75 nil 0 0 0.00

Roll_motor 106 143 183.24 nil 0 0 0.00

VBD_pump_during_apogee 678 2315 18860.32 nil 0 0 0.00

VBD_pump_during_surface 258 1119 3465.03 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 27758 10 3392.25

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 43 420 219.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 23747 2 677.48

TT8_Active 1107 9 127.45

TT8_Sampling 2714 27 915.08

TT8_CF8 258 37 120.80

TT8_Kalman 0 0 0.00

Analog_circuits 2116 10 284.93

GPS_charging 0 0 0.00

Compass 2000 6 166.55

RAFOS 4421 33 1801.78

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 2928 2032 682 728 0.0 0.0 0 83 0.00 0.00 -72.20 0.003 16390 0.000 0.000 2927 2032 3156 3249 3064 0 0 0 0 0 0 14.59 12.34 14.58

86 -0.73 -97.3 2927 2032 3251 3065 13.0 -5.0 7 92 1.52 2.55 0.00 0.000 4900 0.143 0.103 2479 3366 3157 3250 3065 0 0 0 0 0 0 14.00 14.04 14.28

317 -0.73 -97.3 2479 3367 3251 3065 60.1 -18.6 53 323 0.00 2.42 0.00 0.000 1030 0.000 0.066 2479 2029 3158 3251 3065 0 0 0 0 0 0 14.27 14.13 14.31

688 -0.73 -97.3 2479 2030 3251 3063 115.2 -13.2 67 693 0.00 2.50 0.00 0.000 260 0.000 0.102 2479 3361 3155 3249 3061 0 0 0 0 0 0 14.59 13.94 14.62

908 -0.73 -97.3 2480 3363 3251 3062 143.0 -12.2 111 913 0.00 2.40 0.00 0.000 1030 0.000 0.067 2479 2029 3156 3250 3062 0 0 0 0 0 0 14.23 14.09 14.28

1289 -0.73 -97.3 2479 2030 3251 3061 186.2 -11.0 127 1290 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2029 3155 3251 3060 0 0 0 0 0 0 14.58 14.61 14.60

1649 -0.73 -97.3 2479 2030 3249 3060 223.2 -10.4 139 1654 0.00 2.65 0.00 0.000 516 0.000 0.109 2480 629 3155 3251 3059 0 0 0 0 0 0 14.59 13.86 14.62

1729 -0.73 -97.3 2479 629 3250 3060 231.6 -10.1 155 1734 0.00 2.45 0.00 0.000 1030 0.000 0.088 2479 1952 3154 3250 3058 0 0 0 0 0 0 14.14 13.96 14.21

2101 -0.73 -97.3 2479 1953 3251 3058 263.7 -8.0 169 2103 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1952 3155 3251 3060 0 0 0 0 0 0 14.45 14.49 14.48

2459 -0.73 -97.3 2479 1953 3250 3056 291.7 -7.1 181 2461 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1952 3154 3251 3057 0 0 0 0 0 0 14.46 14.49 14.48

2819 -0.73 -97.3 2479 1953 3251 3058 317.2 -7.2 193 2821 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1952 3153 3250 3057 0 0 0 0 0 0 14.31 14.33 14.33

3180 -0.73 -97.3 2479 1953 3251 3057 343.1 -7.1 205 3181 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1952 3153 3251 3056 0 0 0 0 0 0 14.44 14.47 14.47

3539 -0.73 -97.3 2479 1952 3250 3057 367.7 -6.6 217 3545 0.00 2.70 0.00 0.000 260 0.000 0.109 2479 3362 3153 3251 3055 0 0 0 0 0 0 14.45 13.80 14.47

3625 -0.73 -97.3 2479 3363 3251 3056 373.1 -6.3 234 3632 0.00 2.42 0.00 0.000 1062 0.000 0.067 2478 2031 3153 3250 3056 0 0 0 0 0 0 14.08 13.95 14.14

3990 -0.73 -97.3 2479 2031 3251 3056 395.8 -6.4 247 3992 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2030 3152 3250 3055 0 0 0 0 0 0 14.44 14.47 14.47

4350 -0.73 -97.3 2479 2031 3251 3056 419.5 -6.6 259 4355 0.00 2.58 0.00 0.000 260 0.000 0.106 2479 3373 3153 3251 3055 0 0 0 0 0 0 14.54 13.78 14.56

4390 -0.73 -97.3 2478 3374 3251 3056 422.2 -6.8 267 4395 0.00 2.42 0.00 0.000 1030 0.000 0.067 2479 2040 3152 3250 3055 0 0 0 0 0 0 14.13 13.98 14.19

4771 -0.73 -97.3 2479 2041 3252 3056 446.9 -6.3 283 4773 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2040 3153 3251 3055 0 0 0 0 0 0 14.55 14.58 14.58

5131 -0.73 -97.3 2474 2041 3251 3056 469.4 -6.2 295 5133 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2040 3152 3250 3055 0 0 0 0 0 0 14.56 14.58 14.58

5491 -0.73 -97.3 2479 2041 3252 3056 492.1 -6.3 307 5496 0.00 2.55 0.00 0.000 292 0.000 0.104 2479 3374 3153 3251 3055 0 0 0 0 0 0 14.74 13.75 14.77

5551 -0.73 -97.3 2479 3374 3251 3056 496.0 -6.5 319 5556 0.00 2.42 0.00 0.000 1030 0.000 0.067 2476 2040 3152 3250 3055 0 0 0 0 0 0 14.11 13.96 14.16

5941 -0.73 -97.3 2479 2040 3252 3056 520.2 -6.2 337 5943 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2039 3153 3251 3055 0 0 0 0 0 0 14.54 14.57 14.56

6301 -0.73 -97.3 2479 2040 3251 3056 542.3 -6.0 349 6303 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2040 3153 3251 3055 0 0 0 0 0 0 14.54 14.57 14.56

6662 -0.73 -97.3 2479 2040 3251 3056 563.8 -5.9 361 6667 0.00 2.58 0.00 0.000 292 0.000 0.104 2479 3372 3154 3251 3057 0 0 0 0 0 0 14.54 13.72 14.57

6713 -0.73 -97.3 2479 3372 3251 3056 567.0 -6.2 371 6718 0.00 2.45 0.00 0.000 1062 0.000 0.066 2479 2030 3153 3251 3055 0 0 0 0 0 0 14.08 13.94 14.14

7083 -0.73 -97.3 2479 2030 3251 3056 588.9 -5.9 385 7085 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2031 3151 3251 3051 0 0 0 0 0 0 14.53 14.56 14.55

7443 -0.73 -97.3 2480 2031 3252 3057 610.1 -5.9 397 7449 0.00 2.58 0.00 0.000 292 0.000 0.105 2482 3371 3152 3250 3055 0 0 0 0 0 0 14.53 13.70 14.55

7499 -0.73 -97.3 2479 3374 3251 3056 613.5 -6.1 408 7505 0.00 2.45 0.00 0.000 1062 0.000 0.067 2479 2029 3153 3251 3055 0 0 0 0 0 0 14.08 13.93 14.13

7864 -0.73 -97.3 2479 2029 3251 3057 635.5 -6.0 421 7866 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2028 3150 3245 3055 0 0 0 0 0 0 14.52 14.55 14.54

8225 -0.73 -97.3 2479 2029 3252 3056 657.4 -6.1 433 8226 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2029 3153 3251 3056 0 0 0 0 0 0 14.54 14.57 14.57

8584 -0.73 -97.3 2479 2029 3252 3056 679.0 -6.0 445 8590 0.00 2.58 0.00 0.000 292 0.000 0.104 2479 3372 3152 3250 3055 0 0 0 0 0 0 14.52 13.69 14.54

8655 -0.73 -97.3 2479 3373 3252 3056 683.5 -6.3 459 8660 0.00 2.45 0.00 0.000 1062 0.000 0.067 2479 2029 3153 3251 3055 0 0 0 0 0 0 14.07 13.92 14.09

9035 -0.73 -97.3 2479 2030 3251 3056 705.9 -5.8 475 9037 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2029 3153 3251 3055 0 0 0 0 0 0 14.73 14.76 14.76

9395 -0.73 -97.3 2479 2029 3252 3056 727.1 -5.8 487 9400 0.00 2.58 0.00 0.000 292 0.000 0.105 2479 3372 3153 3251 3055 0 0 0 0 0 0 14.51 13.67 14.53

9461 -0.73 -97.3 2478 3373 3251 3056 731.0 -6.0 500 9466 0.00 2.45 0.00 0.000 1062 0.000 0.067 2479 2028 3153 3251 3055 0 0 0 0 0 0 14.06 13.91 14.11

9846 -0.73 -97.3 2479 2028 3252 3056 752.8 -5.6 517 9852 0.00 2.60 0.00 0.000 292 0.000 0.104 2479 3375 3153 3251 3055 0 0 0 0 0 0 14.51 13.68 14.54

9907 -0.73 -97.3 2479 3375 3258 3056 756.4 -5.9 529 9913 0.00 2.45 0.00 0.000 1062 0.000 0.068 2479 2035 3151 3250 3053 0 0 0 0 0 0 14.05 13.90 14.10

10298 -0.73 -97.3 2479 2036 3252 3056 778.3 -5.6 547 10300 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2035 3152 3250 3055 0 0 0 0 0 0 14.50 14.53 14.53

10658 -0.73 -97.3 2479 2036 3251 3056 798.2 -5.5 559 10660 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2035 3153 3251 3055 0 0 0 0 0 0 14.50 14.53 14.52

11019 -0.73 -97.3 2479 2036 3252 3056 818.2 -5.6 571 11020 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2034 3153 3251 3056 0 0 0 0 0 0 14.52 14.54 14.54

11378 -0.73 -97.3 2479 2035 3252 3056 838.0 -5.2 583 11380 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2034 3153 3251 3055 0 0 0 0 0 0 14.50 14.52 14.52

11738 -0.73 -97.3 2480 2036 3246 3056 858.6 -5.7 595 11740 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2034 3153 3251 3055 0 0 0 0 0 0 14.48 14.52 14.52

12098 -0.73 -97.3 2479 2035 3252 3055 879.1 -5.7 607 12104 0.00 2.60 0.00 0.000 292 0.000 0.105 2479 3370 3153 3251 3055 0 0 0 0 0 0 14.49 13.64 14.52

12174 -0.73 -97.3 2479 3372 3252 3056 884.0 -5.9 622 12179 0.00 2.45 0.00 0.000 1062 0.000 0.067 2479 2034 3153 3251 3055 0 0 0 0 0 0 14.02 13.88 14.08

12549 -0.73 -97.3 2479 2034 3251 3056 904.5 -5.6 637 12551 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2033 3152 3250 3055 0 0 0 0 0 0 14.49 14.52 14.50

12909 -0.73 -97.3 2479 2034 3252 3055 924.3 -5.5 649 12911 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2033 3153 3251 3055 0 0 0 0 0 0 14.49 14.52 14.51

13269 -0.73 -97.3 2479 2034 3253 3055 944.1 -5.5 661 13271 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2034 3153 3251 3055 0 0 0 0 0 0 14.49 14.51 14.50

13630 -0.73 -97.3 2479 2034 3252 3056 963.7 -5.4 673 13635 0.00 2.60 0.00 0.000 292 0.000 0.106 2479 3373 3152 3250 3055 0 0 0 0 0 0 14.48 13.64 14.51

13681 -0.73 -97.3 2479 3374 3251 3056 967.3 -5.6 683 13686 0.00 2.45 0.00 0.000 1062 0.000 0.065 2479 2036 3153 3251 3056 0 0 0 0 0 0 14.01 13.85 14.07

14051 -0.73 -97.3 2479 2037 3251 3056 985.7 -5.1 697 14053 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2036 3152 3250 3055 0 0 0 0 0 0 14.48 14.51 14.50

14138 end dive: TARGET_DEPTH_EXCEEDED

state 14138 begin apogee

14144 -0.17 0.0 2479 2037 3251 3056 990.3 -5.1 700 14253 0.75 0.00 105.88 2.316 10246 0.220 0.000 2664 2034 2758 2878 2638 0 0 0 0 0 0 13.67 13.62 12.54

14254 end apogee: CONTROL_FINISHED_OK

state 14254 begin climb

14257 0.73 97.3 2665 2037 2877 2639 992.3 0.0 703 14377 0.98 2.70 108.82 2.245 10756 0.135 0.112 2948 714 2359 2479 2239 0 0 0 0 0 0 13.62 13.14 12.00

14382 0.73 97.3 2948 715 2478 2243 983.7 11.4 727 14387 0.00 2.60 0.00 0.000 1030 0.000 0.087 2948 2039 2356 2476 2237 0 0 0 0 0 0 13.33 13.23 13.38

14773 0.73 97.3 2948 2040 2467 2228 948.0 9.1 745 14778 0.00 2.65 0.00 0.000 260 0.000 0.109 2948 3450 2349 2467 2231 0 0 0 0 0 0 14.64 14.05 14.66

14823 0.73 97.3 2948 3451 2468 2232 943.7 10.4 755 14829 0.00 2.40 0.00 0.000 1030 0.000 0.076 2948 2111 2349 2467 2231 0 0 0 0 0 0 14.21 14.14 14.27

15194 0.73 97.3 2948 2112 2465 2229 909.5 9.0 769 15196 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2111 2347 2466 2229 0 0 0 0 0 0 14.64 14.67 14.67

15554 0.73 97.3 2948 2112 2466 2229 877.7 8.8 781 15556 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2111 2346 2465 2228 0 0 0 0 0 0 14.67 14.71 14.70

15914 0.73 97.3 2948 2112 2464 2228 845.6 9.1 793 15920 0.00 2.53 0.00 0.000 260 0.000 0.107 2948 3450 2346 2465 2227 0 0 0 0 0 0 14.66 14.05 14.69

15970 0.73 97.3 2948 3451 2465 2228 840.7 10.0 804 15976 0.00 2.40 0.00 0.000 1030 0.000 0.077 2948 2119 2345 2464 2227 0 0 0 0 0 0 14.31 14.16 14.41

16335 0.73 97.3 2948 2119 2466 2228 808.5 8.8 817 16337 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2118 2344 2462 2227 0 0 0 0 0 0 14.57 14.59 14.59

16695 0.73 97.3 2948 2119 2465 2228 776.8 8.8 829 16697 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2119 2346 2465 2227 0 0 0 0 0 0 14.54 14.57 14.57

17055 0.73 97.3 2948 2119 2465 2227 746.3 8.4 841 17057 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2119 2345 2464 2226 0 0 0 0 0 0 14.53 14.56 14.56

17415 0.73 97.3 2949 2119 2466 2228 716.5 8.2 853 17421 0.00 2.53 0.00 0.000 260 0.000 0.107 2948 3450 2345 2465 2226 0 0 0 0 0 0 14.52 14.00 14.55

17461 0.73 97.3 2948 3451 2465 2227 712.4 9.3 862 17466 0.00 2.42 0.00 0.000 1030 0.000 0.076 2948 2117 2344 2463 2226 0 0 0 0 0 0 14.22 14.07 14.28

17836 0.73 97.3 2949 2118 2466 2227 681.2 8.3 877 17838 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2117 2345 2464 2227 0 0 0 0 0 0 14.52 14.54 14.54

18196 0.73 97.3 2948 2118 2465 2227 650.9 8.4 889 18198 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2117 2345 2464 2226 0 0 0 0 0 0 14.51 14.54 14.54

18556 0.73 97.3 2948 2115 2465 2227 621.3 8.2 901 18558 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2118 2345 2464 2226 0 0 0 0 0 0 14.73 14.73 14.72

18916 0.73 97.3 2948 2118 2465 2227 592.0 8.2 913 18918 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2117 2345 2464 2226 0 0 0 0 0 0 14.57 14.60 14.59

19276 0.75 97.3 2948 2118 2465 2227 563.1 7.9 925 19278 0.00 0.00 0.00 0.000 70 0.000 0.000 2946 2117 2344 2462 2226 0 0 0 0 0 0 14.59 14.62 14.62

19636 0.76 97.3 2947 2118 2464 2227 534.8 7.8 937 19642 0.00 2.55 0.00 0.000 324 0.000 0.107 2948 3454 2344 2463 2226 0 0 0 0 0 0 14.57 13.88 14.60

19682 0.76 97.3 2948 3454 2460 2226 530.8 8.8 946 19687 0.00 2.45 0.00 0.000 1030 0.000 0.075 2948 2116 2345 2464 2226 0 0 0 0 0 0 14.19 14.02 14.25

20058 0.76 97.3 2948 2117 2465 2227 501.2 8.0 961 20059 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2116 2344 2463 2226 0 0 0 0 0 0 14.57 14.59 14.59

20417 0.76 97.3 2948 2117 2464 2226 471.6 8.3 973 20419 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2116 2344 2463 2226 0 0 0 0 0 0 14.57 14.61 14.60

20777 0.76 97.3 2948 2116 2464 2226 442.1 8.2 985 20779 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2115 2344 2463 2226 0 0 0 0 0 0 14.57 14.60 14.60

21138 0.77 97.3 2948 2117 2464 2227 413.4 7.8 997 21139 0.00 0.00 0.00 0.000 70 0.000 0.000 2948 2114 2344 2463 2226 0 0 0 0 0 0 14.57 14.60 14.59

21498 0.79 97.3 2948 2116 2464 2227 385.2 7.7 1009 21499 0.00 0.00 0.00 0.000 70 0.000 0.000 2948 2115 2345 2464 2226 0 0 0 0 0 0 14.58 14.61 14.61

21858 0.80 97.3 2948 2117 2464 2227 357.7 7.6 1021 21859 0.00 0.00 0.00 0.000 70 0.000 0.000 2948 2116 2344 2463 2226 0 0 0 0 0 0 14.76 14.79 14.80

22218 0.82 97.3 2948 2117 2464 2227 330.2 7.7 1033 22220 0.00 0.00 0.00 0.000 70 0.000 0.000 2948 2116 2344 2463 2226 0 0 0 0 0 0 14.57 14.60 14.60

22578 0.84 97.3 2948 2116 2464 2227 304.6 7.1 1045 22579 0.15 0.00 0.00 0.000 2118 0.131 0.000 3003 2116 2344 2463 2226 0 0 0 0 0 0 14.17 14.30 14.26

22937 0.84 97.3 3004 2117 2464 2227 274.3 8.1 1057 22939 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2116 2344 2463 2226 0 0 0 0 0 0 14.76 14.78 14.78

23298 0.87 97.3 3003 2116 2464 2226 246.9 7.3 1069 23304 0.00 2.72 0.00 0.000 580 0.000 0.116 3005 712 2344 2463 2226 0 0 0 0 0 0 14.57 13.79 14.59

23399 0.90 97.3 3005 713 2464 2222 239.7 6.8 1089 23405 0.00 2.47 0.00 0.000 1094 0.000 0.088 3005 2041 2344 2463 2226 0 0 0 0 0 0 14.11 13.91 14.19

23780 0.97 151.9 3004 2041 2464 2226 218.0 5.3 1105 23831 0.00 0.00 49.35 1.464 8230 0.000 0.000 3005 2041 2137 2252 2023 0 0 0 0 0 0 14.54 14.08 13.22

24170 1.00 151.9 3004 2042 2239 2022 192.1 7.0 1118 24172 0.00 0.00 0.00 0.000 70 0.000 0.000 3005 2039 2129 2238 2021 0 0 0 0 0 0 14.56 14.59 14.59

24530 1.06 194.2 3006 2041 2237 2020 169.7 6.0 1130 24581 0.17 0.00 49.05 1.334 10278 0.120 0.000 3076 2041 1966 2067 1866 0 0 0 0 0 0 14.26 14.08 13.24

24920 1.06 194.2 3078 2042 2056 1863 135.0 9.0 1143 24922 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2041 1958 2055 1862 0 0 0 0 0 0 14.69 14.72 14.71

25280 1.07 194.2 3077 2042 2054 1862 104.5 8.0 1155 25285 0.00 2.67 0.00 0.000 324 0.000 0.113 3077 3454 1957 2053 1861 0 0 0 0 0 0 14.58 13.99 14.63

25341 1.07 194.2 3077 3455 2054 1861 99.4 8.3 1167 25346 0.00 2.45 0.00 0.000 1030 0.000 0.077 3078 2112 1957 2053 1861 0 0 0 0 0 0 14.22 14.09 14.28

25731 1.12 237.4 3078 2112 2053 1861 73.8 6.0 1185 25807 0.00 2.67 71.15 1.235 8740 0.000 0.117 3078 711 1789 1876 1702 0 0 0 0 0 0 14.71 13.82 13.22

25874 1.16 237.4 3078 712 1874 1702 65.0 6.5 1208 25880 0.00 2.47 0.00 0.000 1094 0.000 0.089 3078 2041 1787 1873 1701 0 0 0 0 0 0 14.23 14.07 14.27

26245 1.28 329.5 3078 2042 1870 1701 48.7 3.1 1222 26430 0.15 0.00 182.00 1.177 10534 0.144 0.000 3138 2041 1414 1465 1363 0 0 0 0 0 0 14.12 13.80 13.05

26785 1.35 382.8 3136 2041 1460 1358 21.0 5.4 1260 26886 0.00 0.00 95.88 1.143 8486 0.000 0.000 3138 2041 1198 1224 1172 0 0 0 0 0 0 14.51 13.93 13.16

27185 1.54 530.9 3139 2042 1223 1168 11.4 -0.1 1303 27204 0.22 0.00 16.60 1.099 10786 0.101 0.000 3219 2042 1161 1184 1138 0 0 0 0 0 0 14.14 28.83 14.20

27204 end climb: NO_VERTICAL_VELOCITY

state 27204 begin subsurface finish

27710 0.45 347.4 3220 2042 521 576 10.4 0.1 1306 27717 1.25 0.00 -4.03 0.028 20994 0.155 0.000 2858 2042 699 676 722 0 0 0 0 0 0 13.93 28.83 14.05

27717 end subsurface finish: NO_VERTICAL_VELOCITY

state 27717 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	437	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	060920,194624,7300.7061,-14725.8105,0,1001.0,0,21.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.147,0.227
_CALLS	0	TGT_NAME	SODAA
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14820.200
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	10.71	MHEAD_RNG_PITCHd_Wd	245.8,29479,-18.2,-8.462,-20.48,1768
_SM_ANGLEo	-15.1	D_GRID	990
GPS2	060920,194624,7300.7061,-14725.8105,0,1001.0,0,21.7,0.0,0.0,0,0.0	EXEC	4,999,2,0.000000,0.000000

SM_CCo	27205,258.00,1.119,0,0,549,541.62	_24V_AH	12.00,232.508
FINISH1	10.4,1.020719,347	_10V_AH	12.35,0.000
FINISH2	10.4	FG_AHR_24Vo	0.000
RAFOS_CLK	326	FG_AHR_10Vo	0.000
RAFOS_FIX	7300.700684,-14710.036133,070920,111133,0,1,0.15	MEM	334772
IRIDIUM_FIX	7316.87,-14731.16,010920,110615	DATA_FILE_SIZE	43256,1307
TT8_MAMPS	0.03745,0.274883	CAP_FILE_SIZE	159197,0
HUMID	53.58	CFSIZE	1047117824,986251264
INTERNAL_PRESSURE	8.76082	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.10	SOUNDSPEED	1455.1
XPDR_PINGS	174	GPS	070920,110733,7300.701,-14710.036,0,1001.0,0,21.7,0.0,0.0,0,0.0
SC_FREEKB	3623072

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	220	13.75	nil	0	0	0.00
Roll_motor	106	143	183.24	nil	0	0	0.00
VBD_pump_during_apogee	678	2315	18860.32	nil	0	0	0.00
VBD_pump_during_surface	258	1119	3465.03	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	27758	10	3392.25
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	43	420	219.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	23747	2	677.48
TT8_Active	1107	9	127.45
TT8_Sampling	2714	27	915.08
TT8_CF8	258	37	120.80
TT8_Kalman	0	0	0.00
Analog_circuits	2116	10	284.93
GPS_charging	0	0	0.00
Compass	2000	6	166.55
RAFOS	4421	33	1801.78
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	2928	2032	682	728	0.0	0.0	0	83	0.00	0.00	-72.20	0.003	16390	0.000	0.000	2927	2032	3156	3249	3064	0	0	0	0	0	0	14.59	12.34	14.58
86	-0.73	-97.3	2927	2032	3251	3065	13.0	-5.0	7	92	1.52	2.55	0.00	0.000	4900	0.143	0.103	2479	3366	3157	3250	3065	0	0	0	0	0	0	14.00	14.04	14.28
317	-0.73	-97.3	2479	3367	3251	3065	60.1	-18.6	53	323	0.00	2.42	0.00	0.000	1030	0.000	0.066	2479	2029	3158	3251	3065	0	0	0	0	0	0	14.27	14.13	14.31
688	-0.73	-97.3	2479	2030	3251	3063	115.2	-13.2	67	693	0.00	2.50	0.00	0.000	260	0.000	0.102	2479	3361	3155	3249	3061	0	0	0	0	0	0	14.59	13.94	14.62
908	-0.73	-97.3	2480	3363	3251	3062	143.0	-12.2	111	913	0.00	2.40	0.00	0.000	1030	0.000	0.067	2479	2029	3156	3250	3062	0	0	0	0	0	0	14.23	14.09	14.28
1289	-0.73	-97.3	2479	2030	3251	3061	186.2	-11.0	127	1290	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2029	3155	3251	3060	0	0	0	0	0	0	14.58	14.61	14.60
1649	-0.73	-97.3	2479	2030	3249	3060	223.2	-10.4	139	1654	0.00	2.65	0.00	0.000	516	0.000	0.109	2480	629	3155	3251	3059	0	0	0	0	0	0	14.59	13.86	14.62
1729	-0.73	-97.3	2479	629	3250	3060	231.6	-10.1	155	1734	0.00	2.45	0.00	0.000	1030	0.000	0.088	2479	1952	3154	3250	3058	0	0	0	0	0	0	14.14	13.96	14.21
2101	-0.73	-97.3	2479	1953	3251	3058	263.7	-8.0	169	2103	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1952	3155	3251	3060	0	0	0	0	0	0	14.45	14.49	14.48
2459	-0.73	-97.3	2479	1953	3250	3056	291.7	-7.1	181	2461	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1952	3154	3251	3057	0	0	0	0	0	0	14.46	14.49	14.48
2819	-0.73	-97.3	2479	1953	3251	3058	317.2	-7.2	193	2821	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1952	3153	3250	3057	0	0	0	0	0	0	14.31	14.33	14.33
3180	-0.73	-97.3	2479	1953	3251	3057	343.1	-7.1	205	3181	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1952	3153	3251	3056	0	0	0	0	0	0	14.44	14.47	14.47
3539	-0.73	-97.3	2479	1952	3250	3057	367.7	-6.6	217	3545	0.00	2.70	0.00	0.000	260	0.000	0.109	2479	3362	3153	3251	3055	0	0	0	0	0	0	14.45	13.80	14.47
3625	-0.73	-97.3	2479	3363	3251	3056	373.1	-6.3	234	3632	0.00	2.42	0.00	0.000	1062	0.000	0.067	2478	2031	3153	3250	3056	0	0	0	0	0	0	14.08	13.95	14.14
3990	-0.73	-97.3	2479	2031	3251	3056	395.8	-6.4	247	3992	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2030	3152	3250	3055	0	0	0	0	0	0	14.44	14.47	14.47
4350	-0.73	-97.3	2479	2031	3251	3056	419.5	-6.6	259	4355	0.00	2.58	0.00	0.000	260	0.000	0.106	2479	3373	3153	3251	3055	0	0	0	0	0	0	14.54	13.78	14.56
4390	-0.73	-97.3	2478	3374	3251	3056	422.2	-6.8	267	4395	0.00	2.42	0.00	0.000	1030	0.000	0.067	2479	2040	3152	3250	3055	0	0	0	0	0	0	14.13	13.98	14.19
4771	-0.73	-97.3	2479	2041	3252	3056	446.9	-6.3	283	4773	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2040	3153	3251	3055	0	0	0	0	0	0	14.55	14.58	14.58
5131	-0.73	-97.3	2474	2041	3251	3056	469.4	-6.2	295	5133	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2040	3152	3250	3055	0	0	0	0	0	0	14.56	14.58	14.58
5491	-0.73	-97.3	2479	2041	3252	3056	492.1	-6.3	307	5496	0.00	2.55	0.00	0.000	292	0.000	0.104	2479	3374	3153	3251	3055	0	0	0	0	0	0	14.74	13.75	14.77
5551	-0.73	-97.3	2479	3374	3251	3056	496.0	-6.5	319	5556	0.00	2.42	0.00	0.000	1030	0.000	0.067	2476	2040	3152	3250	3055	0	0	0	0	0	0	14.11	13.96	14.16
5941	-0.73	-97.3	2479	2040	3252	3056	520.2	-6.2	337	5943	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2039	3153	3251	3055	0	0	0	0	0	0	14.54	14.57	14.56
6301	-0.73	-97.3	2479	2040	3251	3056	542.3	-6.0	349	6303	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2040	3153	3251	3055	0	0	0	0	0	0	14.54	14.57	14.56
6662	-0.73	-97.3	2479	2040	3251	3056	563.8	-5.9	361	6667	0.00	2.58	0.00	0.000	292	0.000	0.104	2479	3372	3154	3251	3057	0	0	0	0	0	0	14.54	13.72	14.57
6713	-0.73	-97.3	2479	3372	3251	3056	567.0	-6.2	371	6718	0.00	2.45	0.00	0.000	1062	0.000	0.066	2479	2030	3153	3251	3055	0	0	0	0	0	0	14.08	13.94	14.14
7083	-0.73	-97.3	2479	2030	3251	3056	588.9	-5.9	385	7085	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2031	3151	3251	3051	0	0	0	0	0	0	14.53	14.56	14.55
7443	-0.73	-97.3	2480	2031	3252	3057	610.1	-5.9	397	7449	0.00	2.58	0.00	0.000	292	0.000	0.105	2482	3371	3152	3250	3055	0	0	0	0	0	0	14.53	13.70	14.55
7499	-0.73	-97.3	2479	3374	3251	3056	613.5	-6.1	408	7505	0.00	2.45	0.00	0.000	1062	0.000	0.067	2479	2029	3153	3251	3055	0	0	0	0	0	0	14.08	13.93	14.13
7864	-0.73	-97.3	2479	2029	3251	3057	635.5	-6.0	421	7866	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2028	3150	3245	3055	0	0	0	0	0	0	14.52	14.55	14.54
8225	-0.73	-97.3	2479	2029	3252	3056	657.4	-6.1	433	8226	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2029	3153	3251	3056	0	0	0	0	0	0	14.54	14.57	14.57
8584	-0.73	-97.3	2479	2029	3252	3056	679.0	-6.0	445	8590	0.00	2.58	0.00	0.000	292	0.000	0.104	2479	3372	3152	3250	3055	0	0	0	0	0	0	14.52	13.69	14.54
8655	-0.73	-97.3	2479	3373	3252	3056	683.5	-6.3	459	8660	0.00	2.45	0.00	0.000	1062	0.000	0.067	2479	2029	3153	3251	3055	0	0	0	0	0	0	14.07	13.92	14.09
9035	-0.73	-97.3	2479	2030	3251	3056	705.9	-5.8	475	9037	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2029	3153	3251	3055	0	0	0	0	0	0	14.73	14.76	14.76
9395	-0.73	-97.3	2479	2029	3252	3056	727.1	-5.8	487	9400	0.00	2.58	0.00	0.000	292	0.000	0.105	2479	3372	3153	3251	3055	0	0	0	0	0	0	14.51	13.67	14.53
9461	-0.73	-97.3	2478	3373	3251	3056	731.0	-6.0	500	9466	0.00	2.45	0.00	0.000	1062	0.000	0.067	2479	2028	3153	3251	3055	0	0	0	0	0	0	14.06	13.91	14.11
9846	-0.73	-97.3	2479	2028	3252	3056	752.8	-5.6	517	9852	0.00	2.60	0.00	0.000	292	0.000	0.104	2479	3375	3153	3251	3055	0	0	0	0	0	0	14.51	13.68	14.54
9907	-0.73	-97.3	2479	3375	3258	3056	756.4	-5.9	529	9913	0.00	2.45	0.00	0.000	1062	0.000	0.068	2479	2035	3151	3250	3053	0	0	0	0	0	0	14.05	13.90	14.10
10298	-0.73	-97.3	2479	2036	3252	3056	778.3	-5.6	547	10300	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2035	3152	3250	3055	0	0	0	0	0	0	14.50	14.53	14.53
10658	-0.73	-97.3	2479	2036	3251	3056	798.2	-5.5	559	10660	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2035	3153	3251	3055	0	0	0	0	0	0	14.50	14.53	14.52
11019	-0.73	-97.3	2479	2036	3252	3056	818.2	-5.6	571	11020	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2034	3153	3251	3056	0	0	0	0	0	0	14.52	14.54	14.54
11378	-0.73	-97.3	2479	2035	3252	3056	838.0	-5.2	583	11380	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2034	3153	3251	3055	0	0	0	0	0	0	14.50	14.52	14.52
11738	-0.73	-97.3	2480	2036	3246	3056	858.6	-5.7	595	11740	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2034	3153	3251	3055	0	0	0	0	0	0	14.48	14.52	14.52
12098	-0.73	-97.3	2479	2035	3252	3055	879.1	-5.7	607	12104	0.00	2.60	0.00	0.000	292	0.000	0.105	2479	3370	3153	3251	3055	0	0	0	0	0	0	14.49	13.64	14.52
12174	-0.73	-97.3	2479	3372	3252	3056	884.0	-5.9	622	12179	0.00	2.45	0.00	0.000	1062	0.000	0.067	2479	2034	3153	3251	3055	0	0	0	0	0	0	14.02	13.88	14.08
12549	-0.73	-97.3	2479	2034	3251	3056	904.5	-5.6	637	12551	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2033	3152	3250	3055	0	0	0	0	0	0	14.49	14.52	14.50
12909	-0.73	-97.3	2479	2034	3252	3055	924.3	-5.5	649	12911	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2033	3153	3251	3055	0	0	0	0	0	0	14.49	14.52	14.51
13269	-0.73	-97.3	2479	2034	3253	3055	944.1	-5.5	661	13271	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2034	3153	3251	3055	0	0	0	0	0	0	14.49	14.51	14.50
13630	-0.73	-97.3	2479	2034	3252	3056	963.7	-5.4	673	13635	0.00	2.60	0.00	0.000	292	0.000	0.106	2479	3373	3152	3250	3055	0	0	0	0	0	0	14.48	13.64	14.51
13681	-0.73	-97.3	2479	3374	3251	3056	967.3	-5.6	683	13686	0.00	2.45	0.00	0.000	1062	0.000	0.065	2479	2036	3153	3251	3056	0	0	0	0	0	0	14.01	13.85	14.07
14051	-0.73	-97.3	2479	2037	3251	3056	985.7	-5.1	697	14053	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2036	3152	3250	3055	0	0	0	0	0	0	14.48	14.51	14.50
14138	end dive: TARGET_DEPTH_EXCEEDED
state	14138	begin apogee
14144	-0.17	0.0	2479	2037	3251	3056	990.3	-5.1	700	14253	0.75	0.00	105.88	2.316	10246	0.220	0.000	2664	2034	2758	2878	2638	0	0	0	0	0	0	13.67	13.62	12.54
14254	end apogee: CONTROL_FINISHED_OK
state	14254	begin climb
14257	0.73	97.3	2665	2037	2877	2639	992.3	0.0	703	14377	0.98	2.70	108.82	2.245	10756	0.135	0.112	2948	714	2359	2479	2239	0	0	0	0	0	0	13.62	13.14	12.00
14382	0.73	97.3	2948	715	2478	2243	983.7	11.4	727	14387	0.00	2.60	0.00	0.000	1030	0.000	0.087	2948	2039	2356	2476	2237	0	0	0	0	0	0	13.33	13.23	13.38
14773	0.73	97.3	2948	2040	2467	2228	948.0	9.1	745	14778	0.00	2.65	0.00	0.000	260	0.000	0.109	2948	3450	2349	2467	2231	0	0	0	0	0	0	14.64	14.05	14.66
14823	0.73	97.3	2948	3451	2468	2232	943.7	10.4	755	14829	0.00	2.40	0.00	0.000	1030	0.000	0.076	2948	2111	2349	2467	2231	0	0	0	0	0	0	14.21	14.14	14.27
15194	0.73	97.3	2948	2112	2465	2229	909.5	9.0	769	15196	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2111	2347	2466	2229	0	0	0	0	0	0	14.64	14.67	14.67
15554	0.73	97.3	2948	2112	2466	2229	877.7	8.8	781	15556	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2111	2346	2465	2228	0	0	0	0	0	0	14.67	14.71	14.70
15914	0.73	97.3	2948	2112	2464	2228	845.6	9.1	793	15920	0.00	2.53	0.00	0.000	260	0.000	0.107	2948	3450	2346	2465	2227	0	0	0	0	0	0	14.66	14.05	14.69
15970	0.73	97.3	2948	3451	2465	2228	840.7	10.0	804	15976	0.00	2.40	0.00	0.000	1030	0.000	0.077	2948	2119	2345	2464	2227	0	0	0	0	0	0	14.31	14.16	14.41
16335	0.73	97.3	2948	2119	2466	2228	808.5	8.8	817	16337	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2118	2344	2462	2227	0	0	0	0	0	0	14.57	14.59	14.59
16695	0.73	97.3	2948	2119	2465	2228	776.8	8.8	829	16697	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2119	2346	2465	2227	0	0	0	0	0	0	14.54	14.57	14.57
17055	0.73	97.3	2948	2119	2465	2227	746.3	8.4	841	17057	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2119	2345	2464	2226	0	0	0	0	0	0	14.53	14.56	14.56
17415	0.73	97.3	2949	2119	2466	2228	716.5	8.2	853	17421	0.00	2.53	0.00	0.000	260	0.000	0.107	2948	3450	2345	2465	2226	0	0	0	0	0	0	14.52	14.00	14.55
17461	0.73	97.3	2948	3451	2465	2227	712.4	9.3	862	17466	0.00	2.42	0.00	0.000	1030	0.000	0.076	2948	2117	2344	2463	2226	0	0	0	0	0	0	14.22	14.07	14.28
17836	0.73	97.3	2949	2118	2466	2227	681.2	8.3	877	17838	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2117	2345	2464	2227	0	0	0	0	0	0	14.52	14.54	14.54
18196	0.73	97.3	2948	2118	2465	2227	650.9	8.4	889	18198	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2117	2345	2464	2226	0	0	0	0	0	0	14.51	14.54	14.54
18556	0.73	97.3	2948	2115	2465	2227	621.3	8.2	901	18558	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2118	2345	2464	2226	0	0	0	0	0	0	14.73	14.73	14.72
18916	0.73	97.3	2948	2118	2465	2227	592.0	8.2	913	18918	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2117	2345	2464	2226	0	0	0	0	0	0	14.57	14.60	14.59
19276	0.75	97.3	2948	2118	2465	2227	563.1	7.9	925	19278	0.00	0.00	0.00	0.000	70	0.000	0.000	2946	2117	2344	2462	2226	0	0	0	0	0	0	14.59	14.62	14.62
19636	0.76	97.3	2947	2118	2464	2227	534.8	7.8	937	19642	0.00	2.55	0.00	0.000	324	0.000	0.107	2948	3454	2344	2463	2226	0	0	0	0	0	0	14.57	13.88	14.60
19682	0.76	97.3	2948	3454	2460	2226	530.8	8.8	946	19687	0.00	2.45	0.00	0.000	1030	0.000	0.075	2948	2116	2345	2464	2226	0	0	0	0	0	0	14.19	14.02	14.25
20058	0.76	97.3	2948	2117	2465	2227	501.2	8.0	961	20059	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2116	2344	2463	2226	0	0	0	0	0	0	14.57	14.59	14.59
20417	0.76	97.3	2948	2117	2464	2226	471.6	8.3	973	20419	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2116	2344	2463	2226	0	0	0	0	0	0	14.57	14.61	14.60
20777	0.76	97.3	2948	2116	2464	2226	442.1	8.2	985	20779	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2115	2344	2463	2226	0	0	0	0	0	0	14.57	14.60	14.60
21138	0.77	97.3	2948	2117	2464	2227	413.4	7.8	997	21139	0.00	0.00	0.00	0.000	70	0.000	0.000	2948	2114	2344	2463	2226	0	0	0	0	0	0	14.57	14.60	14.59
21498	0.79	97.3	2948	2116	2464	2227	385.2	7.7	1009	21499	0.00	0.00	0.00	0.000	70	0.000	0.000	2948	2115	2345	2464	2226	0	0	0	0	0	0	14.58	14.61	14.61
21858	0.80	97.3	2948	2117	2464	2227	357.7	7.6	1021	21859	0.00	0.00	0.00	0.000	70	0.000	0.000	2948	2116	2344	2463	2226	0	0	0	0	0	0	14.76	14.79	14.80
22218	0.82	97.3	2948	2117	2464	2227	330.2	7.7	1033	22220	0.00	0.00	0.00	0.000	70	0.000	0.000	2948	2116	2344	2463	2226	0	0	0	0	0	0	14.57	14.60	14.60
22578	0.84	97.3	2948	2116	2464	2227	304.6	7.1	1045	22579	0.15	0.00	0.00	0.000	2118	0.131	0.000	3003	2116	2344	2463	2226	0	0	0	0	0	0	14.17	14.30	14.26
22937	0.84	97.3	3004	2117	2464	2227	274.3	8.1	1057	22939	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2116	2344	2463	2226	0	0	0	0	0	0	14.76	14.78	14.78
23298	0.87	97.3	3003	2116	2464	2226	246.9	7.3	1069	23304	0.00	2.72	0.00	0.000	580	0.000	0.116	3005	712	2344	2463	2226	0	0	0	0	0	0	14.57	13.79	14.59
23399	0.90	97.3	3005	713	2464	2222	239.7	6.8	1089	23405	0.00	2.47	0.00	0.000	1094	0.000	0.088	3005	2041	2344	2463	2226	0	0	0	0	0	0	14.11	13.91	14.19
23780	0.97	151.9	3004	2041	2464	2226	218.0	5.3	1105	23831	0.00	0.00	49.35	1.464	8230	0.000	0.000	3005	2041	2137	2252	2023	0	0	0	0	0	0	14.54	14.08	13.22
24170	1.00	151.9	3004	2042	2239	2022	192.1	7.0	1118	24172	0.00	0.00	0.00	0.000	70	0.000	0.000	3005	2039	2129	2238	2021	0	0	0	0	0	0	14.56	14.59	14.59
24530	1.06	194.2	3006	2041	2237	2020	169.7	6.0	1130	24581	0.17	0.00	49.05	1.334	10278	0.120	0.000	3076	2041	1966	2067	1866	0	0	0	0	0	0	14.26	14.08	13.24
24920	1.06	194.2	3078	2042	2056	1863	135.0	9.0	1143	24922	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2041	1958	2055	1862	0	0	0	0	0	0	14.69	14.72	14.71
25280	1.07	194.2	3077	2042	2054	1862	104.5	8.0	1155	25285	0.00	2.67	0.00	0.000	324	0.000	0.113	3077	3454	1957	2053	1861	0	0	0	0	0	0	14.58	13.99	14.63
25341	1.07	194.2	3077	3455	2054	1861	99.4	8.3	1167	25346	0.00	2.45	0.00	0.000	1030	0.000	0.077	3078	2112	1957	2053	1861	0	0	0	0	0	0	14.22	14.09	14.28
25731	1.12	237.4	3078	2112	2053	1861	73.8	6.0	1185	25807	0.00	2.67	71.15	1.235	8740	0.000	0.117	3078	711	1789	1876	1702	0	0	0	0	0	0	14.71	13.82	13.22
25874	1.16	237.4	3078	712	1874	1702	65.0	6.5	1208	25880	0.00	2.47	0.00	0.000	1094	0.000	0.089	3078	2041	1787	1873	1701	0	0	0	0	0	0	14.23	14.07	14.27
26245	1.28	329.5	3078	2042	1870	1701	48.7	3.1	1222	26430	0.15	0.00	182.00	1.177	10534	0.144	0.000	3138	2041	1414	1465	1363	0	0	0	0	0	0	14.12	13.80	13.05
26785	1.35	382.8	3136	2041	1460	1358	21.0	5.4	1260	26886	0.00	0.00	95.88	1.143	8486	0.000	0.000	3138	2041	1198	1224	1172	0	0	0	0	0	0	14.51	13.93	13.16
27185	1.54	530.9	3139	2042	1223	1168	11.4	-0.1	1303	27204	0.22	0.00	16.60	1.099	10786	0.101	0.000	3219	2042	1161	1184	1138	0	0	0	0	0	0	14.14	28.83	14.20
27204	end climb: NO_VERTICAL_VELOCITY
state	27204	begin subsurface finish
27710	0.45	347.4	3220	2042	521	576	10.4	0.1	1306	27717	1.25	0.00	-4.03	0.028	20994	0.155	0.000	2858	2042	699	676	722	0	0	0	0	0	0	13.93	28.83	14.05
27717	end subsurface finish: NO_VERTICAL_VELOCITY
state	27717	begin surface