Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 439 * 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 439 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 439 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 070920,185107,7300.7437,-14654.0088,0,1001.0,0,21.7,0.0,0.0,0,0.0 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 11.84 MHEAD_RNG_PITCHd_Wd 246.6,46691,-18.2,-8.462,-20.48,1768

_SM_ANGLEo -12.7 D_GRID 990

GPS2 070920,185107,7300.7437,-14654.0088,0,1001.0,0,21.7,0.0,0.0,0,0.0 EXEC 4,999,2,0.000000,0.000000

Post-dive calculations and measurements:

SM_CCo 27316,89.60,1.093,0,0,550,542.11 _24V_AH 11.99,233.597

FINISH1 9.0,1.019329,419 _10V_AH 12.34,0.000

FINISH2 9.0 FG_AHR_24Vo 0.000

RAFOS_CLK 255 FG_AHR_10Vo 0.000

RAFOS_FIX 7300.601562,-14637.959961,080920,020224,0,1,0.31 MEM 334772

IRIDIUM_FIX 7316.87,-14731.16,010920,110615 DATA_FILE_SIZE 46667,1392

TT8_MAMPS 0.038948,0.281624 CAP_FILE_SIZE 162334,0

HUMID 52.28 CFSIZE 1047117824,986021888

INTERNAL_PRESSURE 8.79012 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.20 SOUNDSPEED 1454.3

XPDR_PINGS 160 GPS 080920,023324,7300.602,-14637.960,0,1001.0,0,21.7,0.0,0.0,0,0.0

SC_FREEKB 3621920

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 221 12.70 nil 0 0 0.00

Roll_motor 113 140 191.22 nil 0 0 0.00

VBD_pump_during_apogee 834 2309 23103.56 nil 0 0 0.00

VBD_pump_during_surface 89 1093 1174.41 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 27511 10 3326.94

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 40 420 201.43 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 23489 2 669.57

TT8_Active 1004 9 115.49

TT8_Sampling 2819 27 949.89

TT8_CF8 258 37 120.53

TT8_Kalman 0 0 0.00

Analog_circuits 2121 10 285.39

GPS_charging 0 0 0.00

Compass 2119 6 176.30

RAFOS 4407 33 1794.62

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.73 -97.3 2880 2023 1130 1182 0.0 0.0 0 73 0.00 0.00 -56.38 0.004 16390 0.000 0.000 2879 2023 3156 3249 3063 0 0 0 0 0 0 14.53 13.14 14.55

76 -0.73 -97.3 2880 2024 3250 3065 14.6 -6.3 6 81 1.30 2.65 0.00 0.000 4644 0.112 0.110 2478 624 3156 3249 3063 0 0 0 0 0 0 14.10 14.03 14.16

306 -0.73 -97.3 2478 624 3250 3065 64.2 -17.9 52 311 0.00 2.47 0.00 0.000 1030 0.000 0.090 2478 1967 3157 3250 3064 0 0 0 0 0 0 14.24 14.07 14.29

677 -0.73 -97.3 2478 1967 3250 3065 116.9 -13.3 66 682 0.00 2.53 0.00 0.000 516 0.000 0.109 2478 631 3156 3249 3063 0 0 0 0 0 0 14.59 13.95 14.62

782 -0.73 -97.3 2479 631 3250 3064 131.2 -13.4 87 787 0.00 2.45 0.00 0.000 1030 0.000 0.090 2475 1963 3156 3249 3063 0 0 0 0 0 0 14.21 14.03 14.27

1157 -0.73 -97.3 2478 1963 3250 3063 175.3 -11.2 102 1159 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1962 3155 3249 3062 0 0 0 0 0 0 14.59 14.62 14.62

1517 -0.73 -97.3 2477 1963 3250 3062 213.6 -10.4 114 1519 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1963 3155 3249 3062 0 0 0 0 0 0 14.59 14.62 14.62

1877 -0.73 -97.3 2479 1964 3250 3062 246.7 -8.4 126 1879 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1963 3155 3249 3061 0 0 0 0 0 0 14.57 14.62 14.61

2237 -0.73 -97.3 2478 1964 3250 3061 275.0 -7.6 138 2239 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1963 3154 3249 3060 0 0 0 0 0 0 14.57 14.60 14.59

2597 -0.73 -97.3 2478 1964 3250 3061 301.7 -7.3 150 2599 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1963 3154 3249 3060 0 0 0 0 0 0 14.75 14.78 14.77

2957 -0.73 -97.3 2478 1964 3250 3060 327.2 -6.9 162 2959 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1963 3154 3249 3059 0 0 0 0 0 0 14.75 14.78 14.77

3317 -0.73 -97.3 2477 1964 3250 3060 351.2 -6.6 174 3322 0.00 2.70 0.00 0.000 260 0.000 0.112 2478 3372 3154 3249 3059 0 0 0 0 0 0 14.75 13.83 14.77

3367 -0.73 -97.3 2478 3372 3250 3059 354.6 -6.9 184 3372 0.00 2.42 0.00 0.000 1030 0.000 0.069 2478 2033 3153 3249 3058 0 0 0 0 0 0 14.16 14.01 14.21

3738 -0.73 -97.3 2478 2034 3250 3059 379.5 -6.7 198 3739 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2033 3153 3249 3058 0 0 0 0 0 0 14.75 14.78 14.77

4098 -0.73 -97.3 2478 2034 3250 3059 403.7 -6.7 210 4099 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2033 3156 3249 3064 0 0 0 0 0 0 14.46 14.50 14.49

4458 -0.73 -97.3 2478 2033 3250 3059 427.1 -6.4 222 4463 0.00 2.58 0.00 0.000 292 0.000 0.106 2478 3375 3153 3249 3058 0 0 0 0 0 0 14.45 13.80 14.47

4538 -0.73 -97.3 2478 3375 3251 3059 432.4 -6.6 238 4543 0.00 2.45 0.00 0.000 1030 0.000 0.067 2478 2038 3153 3249 3058 0 0 0 0 0 0 14.07 13.94 14.11

4908 -0.73 -97.3 2478 2032 3250 3059 456.0 -6.3 252 4910 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2031 3153 3249 3058 0 0 0 0 0 0 14.42 14.45 14.45

5269 -0.73 -97.3 2478 2032 3249 3059 478.9 -6.4 264 5270 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2031 3153 3249 3058 0 0 0 0 0 0 14.40 14.45 14.45

5628 -0.73 -97.3 2479 2032 3250 3059 502.1 -6.4 276 5633 0.00 2.55 0.00 0.000 292 0.000 0.106 2476 3365 3153 3249 3058 0 0 0 0 0 0 14.43 13.78 14.45

5699 -0.73 -97.3 2478 3365 3250 3059 506.7 -6.6 290 5704 0.00 2.42 0.00 0.000 1030 0.000 0.063 2478 2026 3153 3248 3058 0 0 0 0 0 0 14.07 13.94 14.11

6079 -0.73 -97.3 2479 2027 3251 3059 530.7 -6.3 306 6081 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2026 3153 3249 3058 0 0 0 0 0 0 14.43 14.46 14.45

6439 -0.73 -97.3 2478 2027 3251 3059 552.6 -6.1 318 6444 0.00 2.55 0.00 0.000 292 0.000 0.106 2478 3365 3153 3249 3058 0 0 0 0 0 0 14.50 13.78 14.52

6479 -0.73 -97.3 2478 3364 3250 3059 555.1 -6.2 326 6484 0.00 2.40 0.00 0.000 1062 0.000 0.063 2478 2032 3153 3249 3058 0 0 0 0 0 0 14.17 14.00 14.19

6860 -0.73 -97.3 2478 2032 3250 3059 577.4 -5.8 342 6861 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2031 3154 3249 3059 0 0 0 0 0 0 14.50 14.54 14.53

7220 -0.73 -97.3 2478 2032 3250 3059 598.7 -6.0 354 7225 0.00 2.58 0.00 0.000 292 0.000 0.106 2478 3370 3153 3249 3058 0 0 0 0 0 0 14.51 13.73 14.53

7280 -0.73 -97.3 2478 3371 3250 3059 602.5 -6.3 366 7285 0.00 2.40 0.00 0.000 1062 0.000 0.063 2478 2037 3154 3250 3058 0 0 0 0 0 0 14.10 13.96 14.16

7671 -0.73 -97.3 2479 2038 3250 3059 626.4 -6.1 384 7672 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2037 3153 3249 3058 0 0 0 0 0 0 14.52 14.55 14.54

8031 -0.73 -97.3 2478 2038 3252 3059 648.4 -6.1 396 8036 0.00 2.58 0.00 0.000 292 0.000 0.105 2478 3372 3153 3249 3058 0 0 0 0 0 0 14.52 13.71 14.54

8091 -0.73 -97.3 2478 3372 3250 3059 652.2 -6.2 408 8096 0.00 2.42 0.00 0.000 1062 0.000 0.063 2478 2033 3153 3249 3058 0 0 0 0 0 0 14.09 13.95 14.14

8482 -0.73 -97.3 2478 2033 3250 3059 675.6 -5.9 426 8484 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2033 3153 3249 3058 0 0 0 0 0 0 14.73 14.77 14.76

8842 -0.73 -97.3 2478 2033 3250 3059 697.2 -6.0 438 8847 0.00 2.58 0.00 0.000 292 0.000 0.105 2478 3373 3153 3249 3058 0 0 0 0 0 0 14.52 13.69 14.54

8907 -0.73 -97.3 2478 3374 3250 3059 701.3 -6.3 451 8912 0.00 2.42 0.00 0.000 1062 0.000 0.064 2478 2033 3153 3249 3058 0 0 0 0 0 0 14.08 13.94 14.13

9293 -0.73 -97.3 2479 2034 3250 3059 724.2 -6.0 468 9294 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2033 3153 3249 3058 0 0 0 0 0 0 14.51 14.54 14.54

9653 -0.73 -97.3 2479 2034 3250 3059 746.0 -6.1 480 9658 0.00 2.58 0.00 0.000 292 0.000 0.104 2478 3372 3153 3249 3058 0 0 0 0 0 0 14.73 13.68 14.76

9703 -0.73 -97.3 2479 3373 3251 3059 749.3 -6.3 490 9708 0.00 2.42 0.00 0.000 1062 0.000 0.064 2478 2033 3153 3249 3058 0 0 0 0 0 0 14.07 13.93 14.12

10074 -0.73 -97.3 2478 2033 3250 3059 771.3 -5.8 504 10075 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2033 3153 3249 3058 0 0 0 0 0 0 14.73 14.76 14.76

10434 -0.73 -97.3 2479 2034 3250 3057 791.7 -5.6 516 10435 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2033 3153 3249 3058 0 0 0 0 0 0 14.51 14.54 14.53

10794 -0.73 -97.3 2478 2033 3248 3058 811.4 -5.5 528 10796 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2033 3154 3250 3058 0 0 0 0 0 0 14.52 14.55 14.54

11154 -0.73 -97.3 2478 2033 3250 3059 831.1 -5.5 540 11155 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2033 3153 3249 3058 0 0 0 0 0 0 14.50 14.53 14.52

11514 -0.73 -97.3 2478 2032 3250 3059 850.7 -5.5 552 11519 0.00 2.58 0.00 0.000 292 0.000 0.105 2478 3373 3154 3249 3059 0 0 0 0 0 0 14.50 13.64 14.52

11579 -0.73 -97.3 2478 3374 3250 3059 855.0 -5.8 565 11585 0.00 2.42 0.00 0.000 1062 0.000 0.064 2478 2037 3154 3250 3058 0 0 0 0 0 0 14.04 13.90 14.09

11965 -0.73 -97.3 2479 2037 3249 3059 875.9 -5.6 582 11967 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2037 3153 3249 3058 0 0 0 0 0 0 14.49 14.52 14.51

12325 -0.73 -97.3 2479 2037 3249 3058 895.3 -5.4 594 12327 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2037 3153 3249 3058 0 0 0 0 0 0 14.49 14.52 14.51

12686 -0.73 -97.3 2479 2037 3250 3059 914.7 -5.4 606 12687 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2036 3153 3249 3058 0 0 0 0 0 0 14.48 14.51 14.51

13045 -0.73 -97.3 2478 2037 3249 3059 934.3 -5.4 618 13047 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2036 3154 3250 3058 0 0 0 0 0 0 14.48 14.51 14.50

13405 -0.73 -97.3 2475 2038 3250 3059 954.1 -5.6 630 13407 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 2036 3154 3250 3058 0 0 0 0 0 0 14.47 14.51 14.50

13765 -0.73 -97.3 2478 2037 3250 3059 974.3 -5.6 642 13771 0.00 2.58 0.00 0.000 292 0.000 0.106 2478 3366 3153 3249 3058 0 0 0 0 0 0 14.47 13.66 14.50

13831 -0.73 -97.3 2478 3366 3250 3059 979.0 -5.9 655 13836 0.00 2.42 0.00 0.000 1062 0.000 0.066 2478 2039 3153 3249 3058 0 0 0 0 0 0 14.01 13.85 14.07

14064 end dive: TARGET_DEPTH_EXCEEDED

state 14064 begin apogee

14069 -0.17 0.0 2479 2039 3250 3059 991.2 -5.5 667 14177 0.73 0.00 105.60 2.310 10246 0.222 0.000 2656 2038 2758 2879 2637 0 0 0 0 0 0 13.68 13.63 12.54

14179 end apogee: CONTROL_FINISHED_OK

state 14179 begin climb

14181 0.73 97.3 2657 2039 2878 2638 993.6 0.0 670 14296 1.00 0.00 108.28 2.241 10758 0.137 0.000 2945 2038 2361 2484 2239 0 0 0 0 0 0 13.61 13.09 11.99

14668 0.73 97.3 2945 2039 2474 2231 954.5 8.6 706 14670 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2038 2352 2474 2230 0 0 0 0 0 0 14.62 14.65 14.64

15028 0.73 97.3 2945 2039 2473 2229 923.7 8.5 718 15033 0.00 2.67 0.00 0.000 260 0.000 0.109 2948 3458 2351 2472 2230 0 0 0 0 0 0 14.63 14.12 14.66

15093 0.73 97.3 2945 3458 2473 2229 918.1 9.8 731 15099 0.00 2.40 0.00 0.000 1030 0.000 0.073 2945 2117 2350 2472 2228 0 0 0 0 0 0 14.36 14.21 14.42

15479 0.73 97.3 2945 2118 2471 2232 884.1 8.5 748 15481 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2117 2348 2470 2227 0 0 0 0 0 0 14.66 14.69 14.69

15839 0.73 97.3 2945 2117 2470 2227 853.3 8.4 760 15841 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2117 2348 2470 2226 0 0 0 0 0 0 14.66 14.69 14.69

16200 0.73 97.3 2945 2118 2471 2227 823.5 8.0 772 16205 0.00 2.53 0.00 0.000 260 0.000 0.108 2945 3455 2347 2469 2226 0 0 0 0 0 0 14.63 14.04 14.65

16255 0.73 97.3 2945 3452 2470 2227 817.9 9.5 783 16262 0.00 2.40 0.00 0.000 1030 0.000 0.071 2945 2117 2348 2470 2226 0 0 0 0 0 0 14.31 14.16 14.36

16620 0.73 97.3 2945 2118 2470 2227 788.0 8.2 796 16622 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2117 2347 2469 2226 0 0 0 0 0 0 14.62 14.66 14.65

16980 0.73 97.3 2946 2118 2468 2227 758.3 8.3 808 16982 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2117 2347 2469 2226 0 0 0 0 0 0 14.61 14.64 14.63

17340 0.73 97.3 2945 2118 2470 2227 728.3 8.3 820 17342 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2117 2347 2469 2226 0 0 0 0 0 0 14.60 14.63 14.63

17700 0.73 97.3 2945 2119 2464 2227 698.5 8.2 832 17702 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2117 2347 2468 2226 0 0 0 0 0 0 14.59 14.62 14.62

18060 0.73 97.3 2945 2118 2469 2226 669.2 8.1 844 18065 0.00 2.53 0.00 0.000 260 0.000 0.108 2945 3445 2347 2468 2226 0 0 0 0 0 0 14.77 13.95 14.80

18110 0.73 97.3 2945 3446 2469 2226 664.6 9.2 854 18115 0.00 2.40 0.00 0.000 1030 0.000 0.070 2945 2112 2346 2468 2225 0 0 0 0 0 0 14.26 14.11 14.32

18480 0.73 97.3 2945 2111 2469 2226 634.7 8.0 868 18482 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2111 2346 2468 2225 0 0 0 0 0 0 14.53 14.56 14.55

18840 0.73 97.3 2946 2112 2469 2226 606.0 8.0 880 18842 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2111 2346 2468 2225 0 0 0 0 0 0 14.52 14.55 14.54

19200 0.73 97.3 2945 2112 2468 2226 577.1 8.0 892 19202 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2111 2346 2468 2225 0 0 0 0 0 0 14.50 14.53 14.53

19561 0.73 97.3 2945 2112 2469 2221 548.1 8.0 904 19566 0.00 2.55 0.00 0.000 260 0.000 0.108 2945 3457 2346 2468 2225 0 0 0 0 0 0 14.50 13.97 14.53

19615 0.73 97.3 2945 3458 2469 2226 543.1 9.2 915 19623 0.00 2.42 0.00 0.000 1030 0.000 0.070 2945 2112 2350 2468 2233 0 0 0 0 0 0 14.19 14.06 14.24

19981 0.74 97.3 2945 2112 2468 2226 513.7 8.0 928 19983 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2111 2347 2469 2225 0 0 0 0 0 0 14.49 14.52 14.52

20341 0.76 97.3 2945 2112 2468 2226 485.1 7.9 940 20343 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2111 2346 2468 2224 0 0 0 0 0 0 14.49 14.52 14.52

20701 0.77 97.3 2945 2112 2468 2226 456.8 7.8 952 20703 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2111 2346 2468 2225 0 0 0 0 0 0 14.69 14.71 14.71

21061 0.78 97.3 2946 2114 2469 2226 428.7 7.8 964 21063 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2111 2350 2467 2233 0 0 0 0 0 0 14.54 14.57 14.56

21421 0.79 97.3 2945 2112 2469 2226 400.5 7.8 976 21426 0.00 2.55 0.00 0.000 324 0.000 0.107 2945 3446 2346 2467 2225 0 0 0 0 0 0 14.75 13.86 14.78

21476 0.79 97.3 2945 3446 2468 2226 395.8 8.6 987 21483 0.00 2.42 0.00 0.000 1030 0.000 0.068 2945 2106 2346 2467 2225 0 0 0 0 0 0 14.16 14.01 14.23

21841 0.82 97.3 2946 2108 2468 2226 368.6 7.3 1000 21843 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2107 2346 2467 2225 0 0 0 0 0 0 14.75 14.78 14.78

22202 0.84 97.3 2945 2108 2468 2226 342.5 7.3 1012 22204 0.15 0.00 0.00 0.000 2118 0.128 0.000 3000 2107 2346 2467 2225 0 0 0 0 0 0 14.17 14.30 14.27

22561 0.84 97.3 3001 2107 2468 2226 309.9 9.0 1024 22563 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2107 2345 2466 2225 0 0 0 0 0 0 14.52 14.56 14.55

22921 0.84 97.3 3001 2107 2468 2226 278.7 8.6 1036 22926 0.00 2.58 0.00 0.000 260 0.000 0.106 3000 3446 2346 2467 2225 0 0 0 0 0 0 14.52 13.83 14.55

22971 0.84 97.3 3001 3447 2468 2226 273.9 9.7 1046 22976 0.00 2.42 0.00 0.000 1030 0.000 0.070 3001 2117 2345 2467 2224 0 0 0 0 0 0 14.13 13.97 14.20

23342 0.87 97.3 3001 2118 2468 2226 246.4 6.9 1060 23344 0.00 0.00 0.00 0.000 70 0.000 0.000 3001 2117 2349 2473 2225 0 0 0 0 0 0 14.54 14.57 14.56

23702 0.92 136.5 3001 2118 2468 2226 223.3 6.2 1072 23743 0.00 2.62 35.62 1.457 8740 0.000 0.109 3002 711 2198 2320 2077 0 0 0 0 0 0 14.75 13.94 13.28

23824 0.96 136.5 3002 712 2314 2077 215.3 6.8 1096 23829 0.00 2.42 0.00 0.000 1094 0.000 0.088 3002 2042 2194 2313 2076 0 0 0 0 0 0 14.31 14.15 14.36

24214 1.02 181.4 3002 2043 2312 2075 191.9 5.9 1114 24257 0.15 0.00 41.42 1.408 10278 0.132 0.000 3064 2042 2018 2124 1912 0 0 0 0 0 0 14.26 14.09 13.23

24604 1.02 181.4 3063 2043 2110 1908 157.6 8.5 1127 24606 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2042 2008 2109 1908 0 0 0 0 0 0 14.56 14.59 14.59

24964 1.03 181.4 3064 2043 2108 1905 128.7 7.7 1139 24966 0.00 0.00 0.00 0.000 70 0.000 0.000 3064 2042 2007 2108 1906 0 0 0 0 0 0 14.57 14.60 14.60

25324 1.06 181.4 3064 2042 2108 1906 102.9 7.0 1151 25326 0.00 0.00 0.00 0.000 70 0.000 0.000 3064 2042 2006 2107 1905 0 0 0 0 0 0 14.56 14.59 14.59

25684 1.13 232.1 3063 2043 2108 1906 80.9 5.5 1163 25765 0.00 2.65 75.10 1.257 8484 0.000 0.110 3064 3447 1810 1901 1719 0 0 0 0 0 0 14.55 13.81 13.21

25855 1.15 232.1 3071 3448 1895 1721 69.5 7.2 1192 25860 0.00 2.42 0.00 0.000 1094 0.000 0.072 3064 2112 1807 1894 1720 0 0 0 0 0 0 14.23 14.09 14.26

26225 1.26 314.2 3064 2112 1893 1717 52.1 3.7 1206 26399 0.17 2.78 160.57 1.180 10788 0.122 0.112 3129 708 1477 1534 1420 0 0 0 0 0 0 14.18 13.85 13.07

26624 1.32 363.8 3129 708 1528 1414 31.9 5.6 1285 26725 0.00 2.45 92.65 1.141 9254 0.000 0.089 3129 2035 1275 1312 1239 0 0 0 0 0 0 14.19 14.02 13.14

27021 1.48 487.9 3129 2036 1310 1236 14.0 1.3 1334 27245 0.17 2.72 215.07 1.119 10532 0.119 0.107 3201 3457 767 747 787 0 0 0 0 0 0 14.19 13.59 13.04

27313 end climb: NO_VERTICAL_VELOCITY

state 27315 begin subsurface finish

27447 0.54 419.2 3202 2118 522 574 9.0 8.3 1388 27469 1.10 2.55 -14.77 0.009 20740 0.166 0.124 2890 3457 1049 1030 1069 0 0 0 0 0 0 13.84 13.14 13.96

27470 end subsurface finish: CONTROL_FINISHED_OK

state 27470 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	439	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	070920,185107,7300.7437,-14654.0088,0,1001.0,0,21.7,0.0,0.0,0,0.0	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	11.84	MHEAD_RNG_PITCHd_Wd	246.6,46691,-18.2,-8.462,-20.48,1768
_SM_ANGLEo	-12.7	D_GRID	990
GPS2	070920,185107,7300.7437,-14654.0088,0,1001.0,0,21.7,0.0,0.0,0,0.0	EXEC	4,999,2,0.000000,0.000000

SM_CCo	27316,89.60,1.093,0,0,550,542.11	_24V_AH	11.99,233.597
FINISH1	9.0,1.019329,419	_10V_AH	12.34,0.000
FINISH2	9.0	FG_AHR_24Vo	0.000
RAFOS_CLK	255	FG_AHR_10Vo	0.000
RAFOS_FIX	7300.601562,-14637.959961,080920,020224,0,1,0.31	MEM	334772
IRIDIUM_FIX	7316.87,-14731.16,010920,110615	DATA_FILE_SIZE	46667,1392
TT8_MAMPS	0.038948,0.281624	CAP_FILE_SIZE	162334,0
HUMID	52.28	CFSIZE	1047117824,986021888
INTERNAL_PRESSURE	8.79012	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.20	SOUNDSPEED	1454.3
XPDR_PINGS	160	GPS	080920,023324,7300.602,-14637.960,0,1001.0,0,21.7,0.0,0.0,0,0.0
SC_FREEKB	3621920

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	221	12.70	nil	0	0	0.00
Roll_motor	113	140	191.22	nil	0	0	0.00
VBD_pump_during_apogee	834	2309	23103.56	nil	0	0	0.00
VBD_pump_during_surface	89	1093	1174.41	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	27511	10	3326.94
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	40	420	201.43	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	23489	2	669.57
TT8_Active	1004	9	115.49
TT8_Sampling	2819	27	949.89
TT8_CF8	258	37	120.53
TT8_Kalman	0	0	0.00
Analog_circuits	2121	10	285.39
GPS_charging	0	0	0.00
Compass	2119	6	176.30
RAFOS	4407	33	1794.62
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-0.73	-97.3	2880	2023	1130	1182	0.0	0.0	0	73	0.00	0.00	-56.38	0.004	16390	0.000	0.000	2879	2023	3156	3249	3063	0	0	0	0	0	0	14.53	13.14	14.55
76	-0.73	-97.3	2880	2024	3250	3065	14.6	-6.3	6	81	1.30	2.65	0.00	0.000	4644	0.112	0.110	2478	624	3156	3249	3063	0	0	0	0	0	0	14.10	14.03	14.16
306	-0.73	-97.3	2478	624	3250	3065	64.2	-17.9	52	311	0.00	2.47	0.00	0.000	1030	0.000	0.090	2478	1967	3157	3250	3064	0	0	0	0	0	0	14.24	14.07	14.29
677	-0.73	-97.3	2478	1967	3250	3065	116.9	-13.3	66	682	0.00	2.53	0.00	0.000	516	0.000	0.109	2478	631	3156	3249	3063	0	0	0	0	0	0	14.59	13.95	14.62
782	-0.73	-97.3	2479	631	3250	3064	131.2	-13.4	87	787	0.00	2.45	0.00	0.000	1030	0.000	0.090	2475	1963	3156	3249	3063	0	0	0	0	0	0	14.21	14.03	14.27
1157	-0.73	-97.3	2478	1963	3250	3063	175.3	-11.2	102	1159	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1962	3155	3249	3062	0	0	0	0	0	0	14.59	14.62	14.62
1517	-0.73	-97.3	2477	1963	3250	3062	213.6	-10.4	114	1519	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1963	3155	3249	3062	0	0	0	0	0	0	14.59	14.62	14.62
1877	-0.73	-97.3	2479	1964	3250	3062	246.7	-8.4	126	1879	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1963	3155	3249	3061	0	0	0	0	0	0	14.57	14.62	14.61
2237	-0.73	-97.3	2478	1964	3250	3061	275.0	-7.6	138	2239	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1963	3154	3249	3060	0	0	0	0	0	0	14.57	14.60	14.59
2597	-0.73	-97.3	2478	1964	3250	3061	301.7	-7.3	150	2599	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1963	3154	3249	3060	0	0	0	0	0	0	14.75	14.78	14.77
2957	-0.73	-97.3	2478	1964	3250	3060	327.2	-6.9	162	2959	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1963	3154	3249	3059	0	0	0	0	0	0	14.75	14.78	14.77
3317	-0.73	-97.3	2477	1964	3250	3060	351.2	-6.6	174	3322	0.00	2.70	0.00	0.000	260	0.000	0.112	2478	3372	3154	3249	3059	0	0	0	0	0	0	14.75	13.83	14.77
3367	-0.73	-97.3	2478	3372	3250	3059	354.6	-6.9	184	3372	0.00	2.42	0.00	0.000	1030	0.000	0.069	2478	2033	3153	3249	3058	0	0	0	0	0	0	14.16	14.01	14.21
3738	-0.73	-97.3	2478	2034	3250	3059	379.5	-6.7	198	3739	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2033	3153	3249	3058	0	0	0	0	0	0	14.75	14.78	14.77
4098	-0.73	-97.3	2478	2034	3250	3059	403.7	-6.7	210	4099	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2033	3156	3249	3064	0	0	0	0	0	0	14.46	14.50	14.49
4458	-0.73	-97.3	2478	2033	3250	3059	427.1	-6.4	222	4463	0.00	2.58	0.00	0.000	292	0.000	0.106	2478	3375	3153	3249	3058	0	0	0	0	0	0	14.45	13.80	14.47
4538	-0.73	-97.3	2478	3375	3251	3059	432.4	-6.6	238	4543	0.00	2.45	0.00	0.000	1030	0.000	0.067	2478	2038	3153	3249	3058	0	0	0	0	0	0	14.07	13.94	14.11
4908	-0.73	-97.3	2478	2032	3250	3059	456.0	-6.3	252	4910	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2031	3153	3249	3058	0	0	0	0	0	0	14.42	14.45	14.45
5269	-0.73	-97.3	2478	2032	3249	3059	478.9	-6.4	264	5270	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2031	3153	3249	3058	0	0	0	0	0	0	14.40	14.45	14.45
5628	-0.73	-97.3	2479	2032	3250	3059	502.1	-6.4	276	5633	0.00	2.55	0.00	0.000	292	0.000	0.106	2476	3365	3153	3249	3058	0	0	0	0	0	0	14.43	13.78	14.45
5699	-0.73	-97.3	2478	3365	3250	3059	506.7	-6.6	290	5704	0.00	2.42	0.00	0.000	1030	0.000	0.063	2478	2026	3153	3248	3058	0	0	0	0	0	0	14.07	13.94	14.11
6079	-0.73	-97.3	2479	2027	3251	3059	530.7	-6.3	306	6081	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2026	3153	3249	3058	0	0	0	0	0	0	14.43	14.46	14.45
6439	-0.73	-97.3	2478	2027	3251	3059	552.6	-6.1	318	6444	0.00	2.55	0.00	0.000	292	0.000	0.106	2478	3365	3153	3249	3058	0	0	0	0	0	0	14.50	13.78	14.52
6479	-0.73	-97.3	2478	3364	3250	3059	555.1	-6.2	326	6484	0.00	2.40	0.00	0.000	1062	0.000	0.063	2478	2032	3153	3249	3058	0	0	0	0	0	0	14.17	14.00	14.19
6860	-0.73	-97.3	2478	2032	3250	3059	577.4	-5.8	342	6861	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2031	3154	3249	3059	0	0	0	0	0	0	14.50	14.54	14.53
7220	-0.73	-97.3	2478	2032	3250	3059	598.7	-6.0	354	7225	0.00	2.58	0.00	0.000	292	0.000	0.106	2478	3370	3153	3249	3058	0	0	0	0	0	0	14.51	13.73	14.53
7280	-0.73	-97.3	2478	3371	3250	3059	602.5	-6.3	366	7285	0.00	2.40	0.00	0.000	1062	0.000	0.063	2478	2037	3154	3250	3058	0	0	0	0	0	0	14.10	13.96	14.16
7671	-0.73	-97.3	2479	2038	3250	3059	626.4	-6.1	384	7672	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2037	3153	3249	3058	0	0	0	0	0	0	14.52	14.55	14.54
8031	-0.73	-97.3	2478	2038	3252	3059	648.4	-6.1	396	8036	0.00	2.58	0.00	0.000	292	0.000	0.105	2478	3372	3153	3249	3058	0	0	0	0	0	0	14.52	13.71	14.54
8091	-0.73	-97.3	2478	3372	3250	3059	652.2	-6.2	408	8096	0.00	2.42	0.00	0.000	1062	0.000	0.063	2478	2033	3153	3249	3058	0	0	0	0	0	0	14.09	13.95	14.14
8482	-0.73	-97.3	2478	2033	3250	3059	675.6	-5.9	426	8484	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2033	3153	3249	3058	0	0	0	0	0	0	14.73	14.77	14.76
8842	-0.73	-97.3	2478	2033	3250	3059	697.2	-6.0	438	8847	0.00	2.58	0.00	0.000	292	0.000	0.105	2478	3373	3153	3249	3058	0	0	0	0	0	0	14.52	13.69	14.54
8907	-0.73	-97.3	2478	3374	3250	3059	701.3	-6.3	451	8912	0.00	2.42	0.00	0.000	1062	0.000	0.064	2478	2033	3153	3249	3058	0	0	0	0	0	0	14.08	13.94	14.13
9293	-0.73	-97.3	2479	2034	3250	3059	724.2	-6.0	468	9294	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2033	3153	3249	3058	0	0	0	0	0	0	14.51	14.54	14.54
9653	-0.73	-97.3	2479	2034	3250	3059	746.0	-6.1	480	9658	0.00	2.58	0.00	0.000	292	0.000	0.104	2478	3372	3153	3249	3058	0	0	0	0	0	0	14.73	13.68	14.76
9703	-0.73	-97.3	2479	3373	3251	3059	749.3	-6.3	490	9708	0.00	2.42	0.00	0.000	1062	0.000	0.064	2478	2033	3153	3249	3058	0	0	0	0	0	0	14.07	13.93	14.12
10074	-0.73	-97.3	2478	2033	3250	3059	771.3	-5.8	504	10075	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2033	3153	3249	3058	0	0	0	0	0	0	14.73	14.76	14.76
10434	-0.73	-97.3	2479	2034	3250	3057	791.7	-5.6	516	10435	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2033	3153	3249	3058	0	0	0	0	0	0	14.51	14.54	14.53
10794	-0.73	-97.3	2478	2033	3248	3058	811.4	-5.5	528	10796	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2033	3154	3250	3058	0	0	0	0	0	0	14.52	14.55	14.54
11154	-0.73	-97.3	2478	2033	3250	3059	831.1	-5.5	540	11155	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2033	3153	3249	3058	0	0	0	0	0	0	14.50	14.53	14.52
11514	-0.73	-97.3	2478	2032	3250	3059	850.7	-5.5	552	11519	0.00	2.58	0.00	0.000	292	0.000	0.105	2478	3373	3154	3249	3059	0	0	0	0	0	0	14.50	13.64	14.52
11579	-0.73	-97.3	2478	3374	3250	3059	855.0	-5.8	565	11585	0.00	2.42	0.00	0.000	1062	0.000	0.064	2478	2037	3154	3250	3058	0	0	0	0	0	0	14.04	13.90	14.09
11965	-0.73	-97.3	2479	2037	3249	3059	875.9	-5.6	582	11967	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2037	3153	3249	3058	0	0	0	0	0	0	14.49	14.52	14.51
12325	-0.73	-97.3	2479	2037	3249	3058	895.3	-5.4	594	12327	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2037	3153	3249	3058	0	0	0	0	0	0	14.49	14.52	14.51
12686	-0.73	-97.3	2479	2037	3250	3059	914.7	-5.4	606	12687	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2036	3153	3249	3058	0	0	0	0	0	0	14.48	14.51	14.51
13045	-0.73	-97.3	2478	2037	3249	3059	934.3	-5.4	618	13047	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2036	3154	3250	3058	0	0	0	0	0	0	14.48	14.51	14.50
13405	-0.73	-97.3	2475	2038	3250	3059	954.1	-5.6	630	13407	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	2036	3154	3250	3058	0	0	0	0	0	0	14.47	14.51	14.50
13765	-0.73	-97.3	2478	2037	3250	3059	974.3	-5.6	642	13771	0.00	2.58	0.00	0.000	292	0.000	0.106	2478	3366	3153	3249	3058	0	0	0	0	0	0	14.47	13.66	14.50
13831	-0.73	-97.3	2478	3366	3250	3059	979.0	-5.9	655	13836	0.00	2.42	0.00	0.000	1062	0.000	0.066	2478	2039	3153	3249	3058	0	0	0	0	0	0	14.01	13.85	14.07
14064	end dive: TARGET_DEPTH_EXCEEDED
state	14064	begin apogee
14069	-0.17	0.0	2479	2039	3250	3059	991.2	-5.5	667	14177	0.73	0.00	105.60	2.310	10246	0.222	0.000	2656	2038	2758	2879	2637	0	0	0	0	0	0	13.68	13.63	12.54
14179	end apogee: CONTROL_FINISHED_OK
state	14179	begin climb
14181	0.73	97.3	2657	2039	2878	2638	993.6	0.0	670	14296	1.00	0.00	108.28	2.241	10758	0.137	0.000	2945	2038	2361	2484	2239	0	0	0	0	0	0	13.61	13.09	11.99
14668	0.73	97.3	2945	2039	2474	2231	954.5	8.6	706	14670	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2038	2352	2474	2230	0	0	0	0	0	0	14.62	14.65	14.64
15028	0.73	97.3	2945	2039	2473	2229	923.7	8.5	718	15033	0.00	2.67	0.00	0.000	260	0.000	0.109	2948	3458	2351	2472	2230	0	0	0	0	0	0	14.63	14.12	14.66
15093	0.73	97.3	2945	3458	2473	2229	918.1	9.8	731	15099	0.00	2.40	0.00	0.000	1030	0.000	0.073	2945	2117	2350	2472	2228	0	0	0	0	0	0	14.36	14.21	14.42
15479	0.73	97.3	2945	2118	2471	2232	884.1	8.5	748	15481	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2117	2348	2470	2227	0	0	0	0	0	0	14.66	14.69	14.69
15839	0.73	97.3	2945	2117	2470	2227	853.3	8.4	760	15841	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2117	2348	2470	2226	0	0	0	0	0	0	14.66	14.69	14.69
16200	0.73	97.3	2945	2118	2471	2227	823.5	8.0	772	16205	0.00	2.53	0.00	0.000	260	0.000	0.108	2945	3455	2347	2469	2226	0	0	0	0	0	0	14.63	14.04	14.65
16255	0.73	97.3	2945	3452	2470	2227	817.9	9.5	783	16262	0.00	2.40	0.00	0.000	1030	0.000	0.071	2945	2117	2348	2470	2226	0	0	0	0	0	0	14.31	14.16	14.36
16620	0.73	97.3	2945	2118	2470	2227	788.0	8.2	796	16622	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2117	2347	2469	2226	0	0	0	0	0	0	14.62	14.66	14.65
16980	0.73	97.3	2946	2118	2468	2227	758.3	8.3	808	16982	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2117	2347	2469	2226	0	0	0	0	0	0	14.61	14.64	14.63
17340	0.73	97.3	2945	2118	2470	2227	728.3	8.3	820	17342	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2117	2347	2469	2226	0	0	0	0	0	0	14.60	14.63	14.63
17700	0.73	97.3	2945	2119	2464	2227	698.5	8.2	832	17702	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2117	2347	2468	2226	0	0	0	0	0	0	14.59	14.62	14.62
18060	0.73	97.3	2945	2118	2469	2226	669.2	8.1	844	18065	0.00	2.53	0.00	0.000	260	0.000	0.108	2945	3445	2347	2468	2226	0	0	0	0	0	0	14.77	13.95	14.80
18110	0.73	97.3	2945	3446	2469	2226	664.6	9.2	854	18115	0.00	2.40	0.00	0.000	1030	0.000	0.070	2945	2112	2346	2468	2225	0	0	0	0	0	0	14.26	14.11	14.32
18480	0.73	97.3	2945	2111	2469	2226	634.7	8.0	868	18482	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2111	2346	2468	2225	0	0	0	0	0	0	14.53	14.56	14.55
18840	0.73	97.3	2946	2112	2469	2226	606.0	8.0	880	18842	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2111	2346	2468	2225	0	0	0	0	0	0	14.52	14.55	14.54
19200	0.73	97.3	2945	2112	2468	2226	577.1	8.0	892	19202	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2111	2346	2468	2225	0	0	0	0	0	0	14.50	14.53	14.53
19561	0.73	97.3	2945	2112	2469	2221	548.1	8.0	904	19566	0.00	2.55	0.00	0.000	260	0.000	0.108	2945	3457	2346	2468	2225	0	0	0	0	0	0	14.50	13.97	14.53
19615	0.73	97.3	2945	3458	2469	2226	543.1	9.2	915	19623	0.00	2.42	0.00	0.000	1030	0.000	0.070	2945	2112	2350	2468	2233	0	0	0	0	0	0	14.19	14.06	14.24
19981	0.74	97.3	2945	2112	2468	2226	513.7	8.0	928	19983	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2111	2347	2469	2225	0	0	0	0	0	0	14.49	14.52	14.52
20341	0.76	97.3	2945	2112	2468	2226	485.1	7.9	940	20343	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2111	2346	2468	2224	0	0	0	0	0	0	14.49	14.52	14.52
20701	0.77	97.3	2945	2112	2468	2226	456.8	7.8	952	20703	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2111	2346	2468	2225	0	0	0	0	0	0	14.69	14.71	14.71
21061	0.78	97.3	2946	2114	2469	2226	428.7	7.8	964	21063	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2111	2350	2467	2233	0	0	0	0	0	0	14.54	14.57	14.56
21421	0.79	97.3	2945	2112	2469	2226	400.5	7.8	976	21426	0.00	2.55	0.00	0.000	324	0.000	0.107	2945	3446	2346	2467	2225	0	0	0	0	0	0	14.75	13.86	14.78
21476	0.79	97.3	2945	3446	2468	2226	395.8	8.6	987	21483	0.00	2.42	0.00	0.000	1030	0.000	0.068	2945	2106	2346	2467	2225	0	0	0	0	0	0	14.16	14.01	14.23
21841	0.82	97.3	2946	2108	2468	2226	368.6	7.3	1000	21843	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2107	2346	2467	2225	0	0	0	0	0	0	14.75	14.78	14.78
22202	0.84	97.3	2945	2108	2468	2226	342.5	7.3	1012	22204	0.15	0.00	0.00	0.000	2118	0.128	0.000	3000	2107	2346	2467	2225	0	0	0	0	0	0	14.17	14.30	14.27
22561	0.84	97.3	3001	2107	2468	2226	309.9	9.0	1024	22563	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	2107	2345	2466	2225	0	0	0	0	0	0	14.52	14.56	14.55
22921	0.84	97.3	3001	2107	2468	2226	278.7	8.6	1036	22926	0.00	2.58	0.00	0.000	260	0.000	0.106	3000	3446	2346	2467	2225	0	0	0	0	0	0	14.52	13.83	14.55
22971	0.84	97.3	3001	3447	2468	2226	273.9	9.7	1046	22976	0.00	2.42	0.00	0.000	1030	0.000	0.070	3001	2117	2345	2467	2224	0	0	0	0	0	0	14.13	13.97	14.20
23342	0.87	97.3	3001	2118	2468	2226	246.4	6.9	1060	23344	0.00	0.00	0.00	0.000	70	0.000	0.000	3001	2117	2349	2473	2225	0	0	0	0	0	0	14.54	14.57	14.56
23702	0.92	136.5	3001	2118	2468	2226	223.3	6.2	1072	23743	0.00	2.62	35.62	1.457	8740	0.000	0.109	3002	711	2198	2320	2077	0	0	0	0	0	0	14.75	13.94	13.28
23824	0.96	136.5	3002	712	2314	2077	215.3	6.8	1096	23829	0.00	2.42	0.00	0.000	1094	0.000	0.088	3002	2042	2194	2313	2076	0	0	0	0	0	0	14.31	14.15	14.36
24214	1.02	181.4	3002	2043	2312	2075	191.9	5.9	1114	24257	0.15	0.00	41.42	1.408	10278	0.132	0.000	3064	2042	2018	2124	1912	0	0	0	0	0	0	14.26	14.09	13.23
24604	1.02	181.4	3063	2043	2110	1908	157.6	8.5	1127	24606	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2042	2008	2109	1908	0	0	0	0	0	0	14.56	14.59	14.59
24964	1.03	181.4	3064	2043	2108	1905	128.7	7.7	1139	24966	0.00	0.00	0.00	0.000	70	0.000	0.000	3064	2042	2007	2108	1906	0	0	0	0	0	0	14.57	14.60	14.60
25324	1.06	181.4	3064	2042	2108	1906	102.9	7.0	1151	25326	0.00	0.00	0.00	0.000	70	0.000	0.000	3064	2042	2006	2107	1905	0	0	0	0	0	0	14.56	14.59	14.59
25684	1.13	232.1	3063	2043	2108	1906	80.9	5.5	1163	25765	0.00	2.65	75.10	1.257	8484	0.000	0.110	3064	3447	1810	1901	1719	0	0	0	0	0	0	14.55	13.81	13.21
25855	1.15	232.1	3071	3448	1895	1721	69.5	7.2	1192	25860	0.00	2.42	0.00	0.000	1094	0.000	0.072	3064	2112	1807	1894	1720	0	0	0	0	0	0	14.23	14.09	14.26
26225	1.26	314.2	3064	2112	1893	1717	52.1	3.7	1206	26399	0.17	2.78	160.57	1.180	10788	0.122	0.112	3129	708	1477	1534	1420	0	0	0	0	0	0	14.18	13.85	13.07
26624	1.32	363.8	3129	708	1528	1414	31.9	5.6	1285	26725	0.00	2.45	92.65	1.141	9254	0.000	0.089	3129	2035	1275	1312	1239	0	0	0	0	0	0	14.19	14.02	13.14
27021	1.48	487.9	3129	2036	1310	1236	14.0	1.3	1334	27245	0.17	2.72	215.07	1.119	10532	0.119	0.107	3201	3457	767	747	787	0	0	0	0	0	0	14.19	13.59	13.04
27313	end climb: NO_VERTICAL_VELOCITY
state	27315	begin subsurface finish
27447	0.54	419.2	3202	2118	522	574	9.0	8.3	1388	27469	1.10	2.55	-14.77	0.009	20740	0.166	0.124	2890	3457	1049	1030	1069	0	0	0	0	0	0	13.84	13.14	13.96
27470	end subsurface finish: CONTROL_FINISHED_OK
state	27470	begin surface