Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 479 * 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 479 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 19 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 300 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 300

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 479 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 19 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 200920,024955,7217.4023,-15129.0713,59,1.1,62,19.8,0.6,287.5,5,9.0 SPEED_LIMITS 0.191,0.245

_CALLS 1 TGT_NAME RECOV

_XMS_NAKs 0 TGT_LATLONG 7200.000,-15200.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.99 MHEAD_RNG_PITCHd_Wd 188.8,36806,-22.4,-11.000,-24.15,1361

_SM_ANGLEo -68.4 D_GRID 990

GPS2 200920,030251,7217.4531,-15129.2412,21,1.0,23,19.8,0.9,251.4,5,8.2 EXEC 4,999,2,0.000000,0.000000

Post-dive calculations and measurements:

SM_CCo 21288,310.23,1.099,0,0,550,541.62 _24V_AH 11.93,254.775

FINISH1 0.0,1.021990,282 _10V_AH 11.82,0.000

FINISH2 0.0 FG_AHR_24Vo 0.000

RAFOS_CLK 104 FG_AHR_10Vo 0.000

RAFOS_FIX 7215.441406,-15130.497070,200920,080818,0,1,0.18 MEM 334740

IRIDIUM_FIX 7218.33,-15129.02,190920,203704 DATA_FILE_SIZE 39942,1128

TT8_MAMPS 0.038199,0.286118 CAP_FILE_SIZE 140956,0

HUMID 52.63 CFSIZE 1047117824,981336064

INTERNAL_PRESSURE 8.85848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.60 SOUNDSPEED 1454.8

XPDR_PINGS 263 GPS 200920,085918,7215.441,-15130.497,0,1001.0,0,19.8,0.0,0.0,0,0.0

SC_FREEKB 3598880

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 449 88.66 nil 0 0 0.00

Roll_motor 87 126 132.18 nil 0 0 0.00

VBD_pump_during_apogee 582 2320 16116.98 nil 0 0 0.00

VBD_pump_during_surface 310 1098 4065.68 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 21763 8 2334.88

Iridium_during_xfer 477 184 1050.14 nil 0 0 0.00

Transponder_ping 65 420 329.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 21 8.80

TT8 0 0 0.00

LPSleep 18185 2 496.53

TT8_Active 1111 9 122.47

TT8_Sampling 2783 27 898.15

TT8_CF8 421 37 188.17

TT8_Kalman 0 0 0.00

Analog_circuits 2475 10 318.94

GPS_charging 0 0 0.00

Compass 1715 6 136.70

RAFOS 4399 33 1715.87

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 -0.87 -97.3 260 2042 895 946 0.0 0.0 0 92 0.00 0.00 -81.93 0.003 16386 0.000 0.000 260 2041 2189 2130 2248 0 0 0 0 0 0 14.49 28.83 14.52

95 -0.87 -97.3 260 2042 2125 2249 4.2 -6.3 8 140 12.45 2.55 -23.98 0.005 18724 0.449 0.126 2427 3367 3157 3250 3065 0 0 0 0 0 0 13.71 12.53 14.20

365 -0.87 -97.3 2428 3369 3251 3066 65.0 -16.1 61 372 0.00 2.38 0.00 0.000 1030 0.000 0.064 2427 2036 3158 3250 3066 0 0 0 0 0 0 14.17 14.04 14.21

731 -0.87 -97.3 2429 2037 3252 3067 120.7 -15.1 74 737 0.00 2.53 0.00 0.000 260 0.000 0.104 2427 3369 3158 3250 3066 0 0 0 0 0 0 14.52 13.90 14.54

962 -0.87 -97.3 2428 3369 3250 3066 154.3 -14.4 120 967 0.00 2.38 0.00 0.000 1030 0.000 0.063 2428 2035 3157 3250 3065 0 0 0 0 0 0 14.19 14.06 14.23

1332 -0.87 -97.3 2428 2036 3250 3070 201.0 -12.2 134 1338 0.00 2.53 0.00 0.000 260 0.000 0.105 2427 3372 3158 3250 3066 0 0 0 0 0 0 14.64 13.83 14.67

1428 -0.87 -97.3 2427 3372 3251 3066 212.6 -11.9 153 1433 0.00 2.40 0.00 0.000 1030 0.000 0.065 2428 2030 3155 3250 3061 0 0 0 0 0 0 14.18 14.04 14.22

1814 -0.87 -97.3 2428 2030 3251 3066 251.2 -9.5 170 1819 0.00 2.65 0.00 0.000 516 0.000 0.106 2427 629 3158 3250 3066 0 0 0 0 0 0 14.64 13.80 14.67

1920 -0.87 -97.3 2428 629 3251 3066 261.8 -9.8 191 1925 0.00 2.45 0.00 0.000 1030 0.000 0.086 2427 1951 3158 3251 3065 0 0 0 0 0 0 14.09 13.90 14.15

2295 -0.87 -97.3 2428 1951 3251 3066 295.7 -8.9 206 2297 0.00 0.00 0.00 0.000 38 0.000 0.000 2428 1950 3157 3250 3065 0 0 0 0 0 0 14.48 14.52 14.50

2655 -0.87 -97.3 2428 1951 3251 3066 326.0 -8.2 218 2657 0.00 0.00 0.00 0.000 38 0.000 0.000 2428 1951 3157 3250 3064 0 0 0 0 0 0 14.47 14.50 14.50

3015 -0.87 -97.3 2428 1951 3251 3066 355.5 -8.3 230 3017 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 1950 3157 3250 3065 0 0 0 0 0 0 14.47 14.50 14.49

3376 -0.87 -97.3 2428 1952 3252 3066 385.2 -8.2 242 3377 0.00 0.00 0.00 0.000 38 0.000 0.000 2428 1951 3157 3250 3064 0 0 0 0 0 0 14.47 14.50 14.50

3735 -0.87 -97.3 2428 1952 3251 3066 414.8 -8.3 254 3737 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 1951 3157 3250 3065 0 0 0 0 0 0 14.40 14.43 14.42

4095 -0.87 -97.3 2428 1953 3250 3065 444.4 -8.3 266 4097 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 1952 3157 3250 3064 0 0 0 0 0 0 14.42 14.45 14.45

4455 -0.87 -97.3 2428 1953 3251 3065 473.4 -8.0 278 4457 0.00 0.00 0.00 0.000 38 0.000 0.000 2434 1952 3157 3250 3065 0 0 0 0 0 0 14.42 14.44 14.45

4816 -0.87 -97.3 2428 1953 3251 3066 502.3 -8.0 290 4817 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 1952 3157 3250 3065 0 0 0 0 0 0 14.42 14.45 14.45

5175 -0.87 -97.3 2427 1953 3251 3065 531.0 -8.0 302 5177 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 1952 3157 3250 3065 0 0 0 0 0 0 14.42 14.46 14.45

5535 -0.87 -97.3 2428 1953 3251 3065 559.4 -7.9 314 5537 0.00 0.00 0.00 0.000 38 0.000 0.000 2428 1952 3157 3250 3064 0 0 0 0 0 0 14.29 14.32 14.31

5896 -0.87 -97.3 2428 1953 3251 3066 587.9 -7.9 326 5897 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 1952 3157 3250 3065 0 0 0 0 0 0 14.52 14.56 14.55

6255 -0.87 -97.3 2428 1952 3251 3065 616.4 -7.9 338 6261 0.00 2.55 0.00 0.000 548 0.000 0.105 2428 628 3157 3250 3065 0 0 0 0 0 0 14.47 13.76 14.50

6336 -0.87 -97.3 2428 626 3251 3065 623.3 -8.6 354 6342 0.00 2.50 0.00 0.000 1062 0.000 0.085 2428 1959 3157 3250 3064 0 0 0 0 0 0 14.04 13.86 14.11

6708 -0.87 -97.3 2428 1960 3251 3065 651.9 -7.7 368 6710 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 1959 3157 3250 3064 0 0 0 0 0 0 14.45 14.48 14.47

7068 -0.87 -97.3 2428 1960 3251 3065 679.7 -7.6 380 7070 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 1959 3157 3251 3064 0 0 0 0 0 0 14.44 14.47 14.46

7428 -0.87 -97.3 2428 1960 3251 3065 707.1 -7.6 392 7430 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 1959 3157 3250 3064 0 0 0 0 0 0 14.45 14.48 14.48

7788 -0.87 -97.3 2427 1960 3251 3065 734.5 -7.6 404 7790 0.00 0.00 0.00 0.000 38 0.000 0.000 2428 1959 3157 3250 3064 0 0 0 0 0 0 14.42 14.45 14.45

8148 -0.87 -97.3 2428 1960 3251 3065 761.8 -7.6 416 8150 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 1959 3157 3250 3064 0 0 0 0 0 0 14.42 14.45 14.44

8508 -0.87 -97.3 2428 1957 3251 3065 789.1 -7.5 428 8510 0.00 0.00 0.00 0.000 38 0.000 0.000 2428 1960 3157 3250 3064 0 0 0 0 0 0 14.40 14.44 14.44

8868 -0.87 -97.3 2428 1961 3251 3065 815.6 -7.3 440 8870 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 1960 3157 3251 3064 0 0 0 0 0 0 14.40 14.43 14.42

9228 -0.87 -97.3 2428 1961 3252 3065 840.9 -6.7 452 9230 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 1962 3157 3251 3064 0 0 0 0 0 0 14.42 14.45 14.45

9588 -0.87 -97.3 2428 1961 3251 3065 866.1 -6.9 464 9590 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 1960 3157 3250 3064 0 0 0 0 0 0 14.40 14.43 14.42

9948 -0.87 -97.3 2428 1961 3250 3065 891.0 -6.8 476 9950 0.00 0.00 0.00 0.000 38 0.000 0.000 2423 1960 3157 3250 3064 0 0 0 0 0 0 14.40 14.42 14.42

10308 -0.87 -97.3 2427 1961 3251 3065 915.8 -6.9 488 10310 0.00 0.00 0.00 0.000 38 0.000 0.000 2428 1960 3157 3250 3064 0 0 0 0 0 0 14.39 14.42 14.42

10668 -0.87 -97.3 2428 1961 3251 3065 940.6 -6.8 500 10673 0.00 2.72 0.00 0.000 292 0.000 0.109 2428 3373 3156 3250 3063 0 0 0 0 0 0 14.66 13.73 14.69

10764 -0.87 -97.3 2428 3374 3251 3065 948.1 -7.1 519 10769 0.00 2.45 0.00 0.000 1062 0.000 0.064 2428 2030 3156 3250 3063 0 0 0 0 0 0 14.02 13.88 14.07

11149 -0.87 -97.3 2428 2031 3251 3064 973.0 -6.7 536 11151 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 2030 3157 3250 3064 0 0 0 0 0 0 14.38 14.40 14.40

11416 end dive: TARGET_DEPTH_EXCEEDED

state 11417 begin apogee

11422 -0.17 0.0 2428 2031 3251 3064 991.1 -6.7 545 11532 0.95 0.00 106.62 2.320 10246 0.246 0.000 2655 2030 2757 2875 2639 0 0 0 0 0 0 13.76 13.63 12.62

11533 end apogee: CONTROL_FINISHED_OK

state 11533 begin climb

11536 0.87 97.3 2656 2031 2874 2641 993.3 0.0 548 11649 1.17 0.00 109.78 2.238 10758 0.140 0.000 2991 2029 2361 2478 2244 0 0 0 0 0 0 13.55 12.93 11.93

11989 0.87 97.3 2991 2030 2466 2235 948.3 10.7 569 11994 0.00 2.70 0.00 0.000 260 0.000 0.108 2991 3450 2349 2465 2234 0 0 0 0 0 0 14.40 13.95 14.43

12044 0.87 97.3 2991 3451 2465 2235 942.5 12.1 580 12050 0.00 2.42 0.00 0.000 1030 0.000 0.070 2991 2105 2349 2465 2234 0 0 0 0 0 0 14.21 14.07 14.26

12409 0.87 97.3 2992 2106 2465 2233 902.8 10.6 593 12411 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2106 2347 2464 2231 0 0 0 0 0 0 14.57 14.59 14.59

12770 0.87 97.3 2991 2106 2464 2231 864.7 10.6 605 12771 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2106 2347 2464 2230 0 0 0 0 0 0 14.59 14.62 14.62

13129 0.87 97.3 2992 2106 2463 2230 826.5 10.5 617 13134 0.00 2.53 0.00 0.000 260 0.000 0.107 2991 3448 2346 2463 2230 0 0 0 0 0 0 14.59 14.03 14.62

13210 0.87 97.3 2992 3448 2463 2230 817.2 11.7 633 13215 0.00 2.40 0.00 0.000 1030 0.000 0.070 2991 2110 2346 2463 2230 0 0 0 0 0 0 14.29 14.14 14.35

13581 0.89 97.3 2991 2110 2463 2231 779.1 10.4 647 13582 0.00 0.00 0.00 0.000 70 0.000 0.000 2991 2110 2346 2463 2230 0 0 0 0 0 0 14.57 14.59 14.59

13941 0.90 97.3 2992 2110 2464 2230 742.1 10.2 659 13942 0.00 0.00 0.00 0.000 70 0.000 0.000 2991 2110 2346 2463 2229 0 0 0 0 0 0 14.56 14.59 14.58

14300 0.91 97.3 2992 2111 2463 2230 705.4 10.3 671 14305 0.00 2.53 0.00 0.000 324 0.000 0.108 2991 3445 2346 2463 2229 0 0 0 0 0 0 14.55 13.99 14.58

14356 0.91 97.3 2991 3445 2463 2229 699.1 11.7 682 14363 0.00 2.40 0.00 0.000 1030 0.000 0.069 2991 2111 2346 2463 2229 0 0 0 0 0 0 14.25 14.10 14.31

14721 0.93 97.3 2992 2112 2464 2230 661.0 10.4 695 14723 0.00 0.00 0.00 0.000 70 0.000 0.000 2991 2111 2345 2462 2229 0 0 0 0 0 0 14.54 14.57 14.56

15081 0.94 97.3 2992 2108 2462 2230 624.2 10.2 707 15083 0.00 0.00 0.00 0.000 70 0.000 0.000 2991 2111 2345 2462 2228 0 0 0 0 0 0 14.54 14.57 14.57

15441 0.96 97.3 2991 2112 2462 2229 587.9 10.1 719 15446 0.00 2.55 0.00 0.000 324 0.000 0.106 2991 3461 2345 2462 2228 0 0 0 0 0 0 14.52 13.94 14.54

15502 0.96 97.3 2991 3457 2463 2229 581.1 11.3 731 15507 0.00 2.40 0.00 0.000 1030 0.000 0.066 2991 2118 2345 2462 2228 0 0 0 0 0 0 14.21 14.06 14.28

15892 0.98 97.3 2992 2118 2462 2228 542.1 9.9 749 15894 0.15 0.00 0.00 0.000 2118 0.137 0.000 3053 2117 2345 2462 2228 0 0 0 0 0 0 14.12 14.27 14.23

16252 0.98 97.3 3053 2118 2461 2229 499.0 12.1 761 16254 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2117 2345 2462 2228 0 0 0 0 0 0 14.51 14.54 14.53

16612 0.98 97.3 3053 2118 2463 2229 456.0 12.0 773 16617 0.00 2.55 0.00 0.000 260 0.000 0.103 3053 3458 2344 2461 2228 0 0 0 0 0 0 14.50 13.85 14.53

16683 0.98 97.3 3053 3459 2462 2229 446.8 13.3 787 16688 0.00 2.42 0.00 0.000 1030 0.000 0.066 3054 2113 2344 2461 2228 0 0 0 0 0 0 14.19 14.04 14.26

17063 0.98 97.3 3054 2113 2463 2229 401.8 11.7 803 17065 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2113 2345 2462 2228 0 0 0 0 0 0 14.70 14.73 14.73

17423 0.98 97.3 3054 2113 2462 2226 359.7 11.6 815 17428 0.00 2.55 0.00 0.000 260 0.000 0.103 3053 3456 2348 2462 2235 0 0 0 0 0 0 14.50 13.88 14.53

17533 0.98 97.3 3054 3456 2463 2229 345.8 12.6 837 17539 0.00 2.45 0.00 0.000 1030 0.000 0.066 3054 2105 2345 2462 2228 0 0 0 0 0 0 14.18 14.03 14.24

17904 0.98 97.3 3054 2106 2463 2230 304.3 11.3 851 17906 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2105 2345 2462 2228 0 0 0 0 0 0 14.49 14.52 14.52

18264 0.98 97.3 3054 2106 2463 2230 264.9 11.3 863 18269 0.00 2.53 0.00 0.000 260 0.000 0.103 3054 3446 2344 2461 2228 0 0 0 0 0 0 14.47 13.98 14.50

18415 0.98 97.3 3060 3446 2463 2229 247.0 11.7 893 18420 0.00 2.40 0.00 0.000 1030 0.000 0.067 3053 2114 2345 2462 2228 0 0 0 0 0 0 14.19 14.05 14.24

18805 1.02 127.6 3059 2114 2462 2229 210.4 8.7 911 18837 0.00 2.70 27.30 1.435 8740 0.000 0.113 3061 715 2236 2354 2118 0 0 0 0 0 0 14.46 14.03 13.35

18977 1.06 127.6 3054 716 2347 2117 194.6 9.1 940 18982 0.00 2.42 0.00 0.000 1094 0.000 0.085 3053 2035 2231 2346 2117 0 0 0 0 0 0 14.21 14.04 14.25

19348 1.12 177.0 3056 2035 2345 2116 165.5 7.3 954 19413 0.00 2.55 58.88 1.323 8740 0.000 0.112 3054 716 2035 2135 1936 0 0 0 0 0 0 14.39 13.97 13.26

19459 1.16 177.0 3054 717 2131 1936 156.7 9.0 966 19465 0.12 2.42 0.00 0.000 3142 0.146 0.086 3097 2031 2032 2129 1935 0 0 0 0 0 0 14.02 13.95 14.14

19830 1.19 177.0 3097 2032 2125 1933 120.4 9.5 980 19835 0.00 2.65 0.00 0.000 324 0.000 0.108 3098 3444 2028 2124 1932 0 0 0 0 0 0 14.43 14.02 14.45

19865 1.19 177.0 3098 3444 2125 1933 116.6 10.8 987 19870 0.00 2.40 0.00 0.000 1030 0.000 0.069 3098 2106 2028 2124 1932 0 0 0 0 0 0 14.22 14.09 14.26

20251 1.24 210.6 3099 2106 2124 1931 82.2 8.5 1004 20301 0.00 0.00 48.08 1.240 8230 0.000 0.000 3099 2105 1902 1997 1807 0 0 0 0 0 0 14.42 14.07 13.34

20641 1.29 254.0 3100 2107 1981 1805 48.5 7.7 1017 20722 0.00 2.65 75.50 1.188 8740 0.000 0.112 3099 713 1722 1801 1644 0 0 0 0 0 0 14.53 13.84 13.29

20812 1.38 321.9 3099 714 1796 1645 37.2 5.9 1051 20944 0.20 2.45 124.03 1.143 11302 0.115 0.086 3176 2041 1447 1497 1397 0 0 0 0 0 0 14.06 13.95 13.12

21252 1.56 459.6 3176 2042 1490 1393 16.8 0.6 1107 21286 0.12 0.00 32.08 1.131 10786 0.133 0.000 3232 2041 1369 1411 1327 0 0 0 0 0 0 14.17 28.83 14.22

21287 end climb: NO_VERTICAL_VELOCITY

state 21287 begin subsurface finish

21639 0.37 282.0 3233 2042 519 578 0.0 55.0 1113 21720 1.38 2.62 -70.75 0.004 20996 0.124 0.126 2828 708 1607 1560 1655 0 0 0 0 0 0 13.64 12.31 13.71

21720 end subsurface finish: CONTROL_FINISHED_OK

state 21720 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	479	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	19	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	300	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	200920,024955,7217.4023,-15129.0713,59,1.1,62,19.8,0.6,287.5,5,9.0	SPEED_LIMITS	0.191,0.245
_CALLS	1	TGT_NAME	RECOV
_XMS_NAKs	0	TGT_LATLONG	7200.000,-15200.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.99	MHEAD_RNG_PITCHd_Wd	188.8,36806,-22.4,-11.000,-24.15,1361
_SM_ANGLEo	-68.4	D_GRID	990
GPS2	200920,030251,7217.4531,-15129.2412,21,1.0,23,19.8,0.9,251.4,5,8.2	EXEC	4,999,2,0.000000,0.000000

SM_CCo	21288,310.23,1.099,0,0,550,541.62	_24V_AH	11.93,254.775
FINISH1	0.0,1.021990,282	_10V_AH	11.82,0.000
FINISH2	0.0	FG_AHR_24Vo	0.000
RAFOS_CLK	104	FG_AHR_10Vo	0.000
RAFOS_FIX	7215.441406,-15130.497070,200920,080818,0,1,0.18	MEM	334740
IRIDIUM_FIX	7218.33,-15129.02,190920,203704	DATA_FILE_SIZE	39942,1128
TT8_MAMPS	0.038199,0.286118	CAP_FILE_SIZE	140956,0
HUMID	52.63	CFSIZE	1047117824,981336064
INTERNAL_PRESSURE	8.85848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.60	SOUNDSPEED	1454.8
XPDR_PINGS	263	GPS	200920,085918,7215.441,-15130.497,0,1001.0,0,19.8,0.0,0.0,0,0.0
SC_FREEKB	3598880

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	449	88.66	nil	0	0	0.00
Roll_motor	87	126	132.18	nil	0	0	0.00
VBD_pump_during_apogee	582	2320	16116.98	nil	0	0	0.00
VBD_pump_during_surface	310	1098	4065.68	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	21763	8	2334.88
Iridium_during_xfer	477	184	1050.14	nil	0	0	0.00
Transponder_ping	65	420	329.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	21	8.80
TT8	0	0	0.00
LPSleep	18185	2	496.53
TT8_Active	1111	9	122.47
TT8_Sampling	2783	27	898.15
TT8_CF8	421	37	188.17
TT8_Kalman	0	0	0.00
Analog_circuits	2475	10	318.94
GPS_charging	0	0	0.00
Compass	1715	6	136.70
RAFOS	4399	33	1715.87
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	-0.87	-97.3	260	2042	895	946	0.0	0.0	0	92	0.00	0.00	-81.93	0.003	16386	0.000	0.000	260	2041	2189	2130	2248	0	0	0	0	0	0	14.49	28.83	14.52
95	-0.87	-97.3	260	2042	2125	2249	4.2	-6.3	8	140	12.45	2.55	-23.98	0.005	18724	0.449	0.126	2427	3367	3157	3250	3065	0	0	0	0	0	0	13.71	12.53	14.20
365	-0.87	-97.3	2428	3369	3251	3066	65.0	-16.1	61	372	0.00	2.38	0.00	0.000	1030	0.000	0.064	2427	2036	3158	3250	3066	0	0	0	0	0	0	14.17	14.04	14.21
731	-0.87	-97.3	2429	2037	3252	3067	120.7	-15.1	74	737	0.00	2.53	0.00	0.000	260	0.000	0.104	2427	3369	3158	3250	3066	0	0	0	0	0	0	14.52	13.90	14.54
962	-0.87	-97.3	2428	3369	3250	3066	154.3	-14.4	120	967	0.00	2.38	0.00	0.000	1030	0.000	0.063	2428	2035	3157	3250	3065	0	0	0	0	0	0	14.19	14.06	14.23
1332	-0.87	-97.3	2428	2036	3250	3070	201.0	-12.2	134	1338	0.00	2.53	0.00	0.000	260	0.000	0.105	2427	3372	3158	3250	3066	0	0	0	0	0	0	14.64	13.83	14.67
1428	-0.87	-97.3	2427	3372	3251	3066	212.6	-11.9	153	1433	0.00	2.40	0.00	0.000	1030	0.000	0.065	2428	2030	3155	3250	3061	0	0	0	0	0	0	14.18	14.04	14.22
1814	-0.87	-97.3	2428	2030	3251	3066	251.2	-9.5	170	1819	0.00	2.65	0.00	0.000	516	0.000	0.106	2427	629	3158	3250	3066	0	0	0	0	0	0	14.64	13.80	14.67
1920	-0.87	-97.3	2428	629	3251	3066	261.8	-9.8	191	1925	0.00	2.45	0.00	0.000	1030	0.000	0.086	2427	1951	3158	3251	3065	0	0	0	0	0	0	14.09	13.90	14.15
2295	-0.87	-97.3	2428	1951	3251	3066	295.7	-8.9	206	2297	0.00	0.00	0.00	0.000	38	0.000	0.000	2428	1950	3157	3250	3065	0	0	0	0	0	0	14.48	14.52	14.50
2655	-0.87	-97.3	2428	1951	3251	3066	326.0	-8.2	218	2657	0.00	0.00	0.00	0.000	38	0.000	0.000	2428	1951	3157	3250	3064	0	0	0	0	0	0	14.47	14.50	14.50
3015	-0.87	-97.3	2428	1951	3251	3066	355.5	-8.3	230	3017	0.00	0.00	0.00	0.000	38	0.000	0.000	2427	1950	3157	3250	3065	0	0	0	0	0	0	14.47	14.50	14.49
3376	-0.87	-97.3	2428	1952	3252	3066	385.2	-8.2	242	3377	0.00	0.00	0.00	0.000	38	0.000	0.000	2428	1951	3157	3250	3064	0	0	0	0	0	0	14.47	14.50	14.50
3735	-0.87	-97.3	2428	1952	3251	3066	414.8	-8.3	254	3737	0.00	0.00	0.00	0.000	38	0.000	0.000	2427	1951	3157	3250	3065	0	0	0	0	0	0	14.40	14.43	14.42
4095	-0.87	-97.3	2428	1953	3250	3065	444.4	-8.3	266	4097	0.00	0.00	0.00	0.000	38	0.000	0.000	2427	1952	3157	3250	3064	0	0	0	0	0	0	14.42	14.45	14.45
4455	-0.87	-97.3	2428	1953	3251	3065	473.4	-8.0	278	4457	0.00	0.00	0.00	0.000	38	0.000	0.000	2434	1952	3157	3250	3065	0	0	0	0	0	0	14.42	14.44	14.45
4816	-0.87	-97.3	2428	1953	3251	3066	502.3	-8.0	290	4817	0.00	0.00	0.00	0.000	38	0.000	0.000	2427	1952	3157	3250	3065	0	0	0	0	0	0	14.42	14.45	14.45
5175	-0.87	-97.3	2427	1953	3251	3065	531.0	-8.0	302	5177	0.00	0.00	0.00	0.000	38	0.000	0.000	2427	1952	3157	3250	3065	0	0	0	0	0	0	14.42	14.46	14.45
5535	-0.87	-97.3	2428	1953	3251	3065	559.4	-7.9	314	5537	0.00	0.00	0.00	0.000	38	0.000	0.000	2428	1952	3157	3250	3064	0	0	0	0	0	0	14.29	14.32	14.31
5896	-0.87	-97.3	2428	1953	3251	3066	587.9	-7.9	326	5897	0.00	0.00	0.00	0.000	38	0.000	0.000	2427	1952	3157	3250	3065	0	0	0	0	0	0	14.52	14.56	14.55
6255	-0.87	-97.3	2428	1952	3251	3065	616.4	-7.9	338	6261	0.00	2.55	0.00	0.000	548	0.000	0.105	2428	628	3157	3250	3065	0	0	0	0	0	0	14.47	13.76	14.50
6336	-0.87	-97.3	2428	626	3251	3065	623.3	-8.6	354	6342	0.00	2.50	0.00	0.000	1062	0.000	0.085	2428	1959	3157	3250	3064	0	0	0	0	0	0	14.04	13.86	14.11
6708	-0.87	-97.3	2428	1960	3251	3065	651.9	-7.7	368	6710	0.00	0.00	0.00	0.000	38	0.000	0.000	2427	1959	3157	3250	3064	0	0	0	0	0	0	14.45	14.48	14.47
7068	-0.87	-97.3	2428	1960	3251	3065	679.7	-7.6	380	7070	0.00	0.00	0.00	0.000	38	0.000	0.000	2427	1959	3157	3251	3064	0	0	0	0	0	0	14.44	14.47	14.46
7428	-0.87	-97.3	2428	1960	3251	3065	707.1	-7.6	392	7430	0.00	0.00	0.00	0.000	38	0.000	0.000	2427	1959	3157	3250	3064	0	0	0	0	0	0	14.45	14.48	14.48
7788	-0.87	-97.3	2427	1960	3251	3065	734.5	-7.6	404	7790	0.00	0.00	0.00	0.000	38	0.000	0.000	2428	1959	3157	3250	3064	0	0	0	0	0	0	14.42	14.45	14.45
8148	-0.87	-97.3	2428	1960	3251	3065	761.8	-7.6	416	8150	0.00	0.00	0.00	0.000	38	0.000	0.000	2427	1959	3157	3250	3064	0	0	0	0	0	0	14.42	14.45	14.44
8508	-0.87	-97.3	2428	1957	3251	3065	789.1	-7.5	428	8510	0.00	0.00	0.00	0.000	38	0.000	0.000	2428	1960	3157	3250	3064	0	0	0	0	0	0	14.40	14.44	14.44
8868	-0.87	-97.3	2428	1961	3251	3065	815.6	-7.3	440	8870	0.00	0.00	0.00	0.000	38	0.000	0.000	2427	1960	3157	3251	3064	0	0	0	0	0	0	14.40	14.43	14.42
9228	-0.87	-97.3	2428	1961	3252	3065	840.9	-6.7	452	9230	0.00	0.00	0.00	0.000	38	0.000	0.000	2427	1962	3157	3251	3064	0	0	0	0	0	0	14.42	14.45	14.45
9588	-0.87	-97.3	2428	1961	3251	3065	866.1	-6.9	464	9590	0.00	0.00	0.00	0.000	38	0.000	0.000	2427	1960	3157	3250	3064	0	0	0	0	0	0	14.40	14.43	14.42
9948	-0.87	-97.3	2428	1961	3250	3065	891.0	-6.8	476	9950	0.00	0.00	0.00	0.000	38	0.000	0.000	2423	1960	3157	3250	3064	0	0	0	0	0	0	14.40	14.42	14.42
10308	-0.87	-97.3	2427	1961	3251	3065	915.8	-6.9	488	10310	0.00	0.00	0.00	0.000	38	0.000	0.000	2428	1960	3157	3250	3064	0	0	0	0	0	0	14.39	14.42	14.42
10668	-0.87	-97.3	2428	1961	3251	3065	940.6	-6.8	500	10673	0.00	2.72	0.00	0.000	292	0.000	0.109	2428	3373	3156	3250	3063	0	0	0	0	0	0	14.66	13.73	14.69
10764	-0.87	-97.3	2428	3374	3251	3065	948.1	-7.1	519	10769	0.00	2.45	0.00	0.000	1062	0.000	0.064	2428	2030	3156	3250	3063	0	0	0	0	0	0	14.02	13.88	14.07
11149	-0.87	-97.3	2428	2031	3251	3064	973.0	-6.7	536	11151	0.00	0.00	0.00	0.000	38	0.000	0.000	2427	2030	3157	3250	3064	0	0	0	0	0	0	14.38	14.40	14.40
11416	end dive: TARGET_DEPTH_EXCEEDED
state	11417	begin apogee
11422	-0.17	0.0	2428	2031	3251	3064	991.1	-6.7	545	11532	0.95	0.00	106.62	2.320	10246	0.246	0.000	2655	2030	2757	2875	2639	0	0	0	0	0	0	13.76	13.63	12.62
11533	end apogee: CONTROL_FINISHED_OK
state	11533	begin climb
11536	0.87	97.3	2656	2031	2874	2641	993.3	0.0	548	11649	1.17	0.00	109.78	2.238	10758	0.140	0.000	2991	2029	2361	2478	2244	0	0	0	0	0	0	13.55	12.93	11.93
11989	0.87	97.3	2991	2030	2466	2235	948.3	10.7	569	11994	0.00	2.70	0.00	0.000	260	0.000	0.108	2991	3450	2349	2465	2234	0	0	0	0	0	0	14.40	13.95	14.43
12044	0.87	97.3	2991	3451	2465	2235	942.5	12.1	580	12050	0.00	2.42	0.00	0.000	1030	0.000	0.070	2991	2105	2349	2465	2234	0	0	0	0	0	0	14.21	14.07	14.26
12409	0.87	97.3	2992	2106	2465	2233	902.8	10.6	593	12411	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2106	2347	2464	2231	0	0	0	0	0	0	14.57	14.59	14.59
12770	0.87	97.3	2991	2106	2464	2231	864.7	10.6	605	12771	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2106	2347	2464	2230	0	0	0	0	0	0	14.59	14.62	14.62
13129	0.87	97.3	2992	2106	2463	2230	826.5	10.5	617	13134	0.00	2.53	0.00	0.000	260	0.000	0.107	2991	3448	2346	2463	2230	0	0	0	0	0	0	14.59	14.03	14.62
13210	0.87	97.3	2992	3448	2463	2230	817.2	11.7	633	13215	0.00	2.40	0.00	0.000	1030	0.000	0.070	2991	2110	2346	2463	2230	0	0	0	0	0	0	14.29	14.14	14.35
13581	0.89	97.3	2991	2110	2463	2231	779.1	10.4	647	13582	0.00	0.00	0.00	0.000	70	0.000	0.000	2991	2110	2346	2463	2230	0	0	0	0	0	0	14.57	14.59	14.59
13941	0.90	97.3	2992	2110	2464	2230	742.1	10.2	659	13942	0.00	0.00	0.00	0.000	70	0.000	0.000	2991	2110	2346	2463	2229	0	0	0	0	0	0	14.56	14.59	14.58
14300	0.91	97.3	2992	2111	2463	2230	705.4	10.3	671	14305	0.00	2.53	0.00	0.000	324	0.000	0.108	2991	3445	2346	2463	2229	0	0	0	0	0	0	14.55	13.99	14.58
14356	0.91	97.3	2991	3445	2463	2229	699.1	11.7	682	14363	0.00	2.40	0.00	0.000	1030	0.000	0.069	2991	2111	2346	2463	2229	0	0	0	0	0	0	14.25	14.10	14.31
14721	0.93	97.3	2992	2112	2464	2230	661.0	10.4	695	14723	0.00	0.00	0.00	0.000	70	0.000	0.000	2991	2111	2345	2462	2229	0	0	0	0	0	0	14.54	14.57	14.56
15081	0.94	97.3	2992	2108	2462	2230	624.2	10.2	707	15083	0.00	0.00	0.00	0.000	70	0.000	0.000	2991	2111	2345	2462	2228	0	0	0	0	0	0	14.54	14.57	14.57
15441	0.96	97.3	2991	2112	2462	2229	587.9	10.1	719	15446	0.00	2.55	0.00	0.000	324	0.000	0.106	2991	3461	2345	2462	2228	0	0	0	0	0	0	14.52	13.94	14.54
15502	0.96	97.3	2991	3457	2463	2229	581.1	11.3	731	15507	0.00	2.40	0.00	0.000	1030	0.000	0.066	2991	2118	2345	2462	2228	0	0	0	0	0	0	14.21	14.06	14.28
15892	0.98	97.3	2992	2118	2462	2228	542.1	9.9	749	15894	0.15	0.00	0.00	0.000	2118	0.137	0.000	3053	2117	2345	2462	2228	0	0	0	0	0	0	14.12	14.27	14.23
16252	0.98	97.3	3053	2118	2461	2229	499.0	12.1	761	16254	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2117	2345	2462	2228	0	0	0	0	0	0	14.51	14.54	14.53
16612	0.98	97.3	3053	2118	2463	2229	456.0	12.0	773	16617	0.00	2.55	0.00	0.000	260	0.000	0.103	3053	3458	2344	2461	2228	0	0	0	0	0	0	14.50	13.85	14.53
16683	0.98	97.3	3053	3459	2462	2229	446.8	13.3	787	16688	0.00	2.42	0.00	0.000	1030	0.000	0.066	3054	2113	2344	2461	2228	0	0	0	0	0	0	14.19	14.04	14.26
17063	0.98	97.3	3054	2113	2463	2229	401.8	11.7	803	17065	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2113	2345	2462	2228	0	0	0	0	0	0	14.70	14.73	14.73
17423	0.98	97.3	3054	2113	2462	2226	359.7	11.6	815	17428	0.00	2.55	0.00	0.000	260	0.000	0.103	3053	3456	2348	2462	2235	0	0	0	0	0	0	14.50	13.88	14.53
17533	0.98	97.3	3054	3456	2463	2229	345.8	12.6	837	17539	0.00	2.45	0.00	0.000	1030	0.000	0.066	3054	2105	2345	2462	2228	0	0	0	0	0	0	14.18	14.03	14.24
17904	0.98	97.3	3054	2106	2463	2230	304.3	11.3	851	17906	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2105	2345	2462	2228	0	0	0	0	0	0	14.49	14.52	14.52
18264	0.98	97.3	3054	2106	2463	2230	264.9	11.3	863	18269	0.00	2.53	0.00	0.000	260	0.000	0.103	3054	3446	2344	2461	2228	0	0	0	0	0	0	14.47	13.98	14.50
18415	0.98	97.3	3060	3446	2463	2229	247.0	11.7	893	18420	0.00	2.40	0.00	0.000	1030	0.000	0.067	3053	2114	2345	2462	2228	0	0	0	0	0	0	14.19	14.05	14.24
18805	1.02	127.6	3059	2114	2462	2229	210.4	8.7	911	18837	0.00	2.70	27.30	1.435	8740	0.000	0.113	3061	715	2236	2354	2118	0	0	0	0	0	0	14.46	14.03	13.35
18977	1.06	127.6	3054	716	2347	2117	194.6	9.1	940	18982	0.00	2.42	0.00	0.000	1094	0.000	0.085	3053	2035	2231	2346	2117	0	0	0	0	0	0	14.21	14.04	14.25
19348	1.12	177.0	3056	2035	2345	2116	165.5	7.3	954	19413	0.00	2.55	58.88	1.323	8740	0.000	0.112	3054	716	2035	2135	1936	0	0	0	0	0	0	14.39	13.97	13.26
19459	1.16	177.0	3054	717	2131	1936	156.7	9.0	966	19465	0.12	2.42	0.00	0.000	3142	0.146	0.086	3097	2031	2032	2129	1935	0	0	0	0	0	0	14.02	13.95	14.14
19830	1.19	177.0	3097	2032	2125	1933	120.4	9.5	980	19835	0.00	2.65	0.00	0.000	324	0.000	0.108	3098	3444	2028	2124	1932	0	0	0	0	0	0	14.43	14.02	14.45
19865	1.19	177.0	3098	3444	2125	1933	116.6	10.8	987	19870	0.00	2.40	0.00	0.000	1030	0.000	0.069	3098	2106	2028	2124	1932	0	0	0	0	0	0	14.22	14.09	14.26
20251	1.24	210.6	3099	2106	2124	1931	82.2	8.5	1004	20301	0.00	0.00	48.08	1.240	8230	0.000	0.000	3099	2105	1902	1997	1807	0	0	0	0	0	0	14.42	14.07	13.34
20641	1.29	254.0	3100	2107	1981	1805	48.5	7.7	1017	20722	0.00	2.65	75.50	1.188	8740	0.000	0.112	3099	713	1722	1801	1644	0	0	0	0	0	0	14.53	13.84	13.29
20812	1.38	321.9	3099	714	1796	1645	37.2	5.9	1051	20944	0.20	2.45	124.03	1.143	11302	0.115	0.086	3176	2041	1447	1497	1397	0	0	0	0	0	0	14.06	13.95	13.12
21252	1.56	459.6	3176	2042	1490	1393	16.8	0.6	1107	21286	0.12	0.00	32.08	1.131	10786	0.133	0.000	3232	2041	1369	1411	1327	0	0	0	0	0	0	14.17	28.83	14.22
21287	end climb: NO_VERTICAL_VELOCITY
state	21287	begin subsurface finish
21639	0.37	282.0	3233	2042	519	578	0.0	55.0	1113	21720	1.38	2.62	-70.75	0.004	20996	0.124	0.126	2828	708	1607	1560	1655	0	0	0	0	0	0	13.64	12.31	13.71
21720	end subsurface finish: CONTROL_FINISHED_OK
state	21720	begin surface