Glider dive log

NASCAR Mar17 * SG137 * Dive index * Mission links * Dive 684 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 137 HD_B 0.023700001 ROLL_MIN 200 TCM_ROLL_OFFSET 0

MISSION 5 HD_C 7.0400001e-06 ROLL_MAX 3920 COMPASS_USE 4

DIVE 684 HEADING -1 ROLL_DEG 40 ALTIM_BOTTOM_PING_RANGE 0

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_DIVE 1800 ALTIM_TOP_PING_RANGE 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1870 ALTIM_BOTTOM_TURN_MARGIN 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 4 TGT_DEFAULT_LAT 7156.2998 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 1

D_TGT 800 TGT_DEFAULT_LON 2002.3 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 200

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 43 ALTIM_PING_DELTA 0

D_NO_BLEED 50 SM_CC 400 R_STBD_OVSHOOT 41 ALTIM_FREQUENCY 13

D_BOOST 20 N_FILEKB 8 ROLL_AD_RATE 250 ALTIM_PULSE 3

T_BOOST 5 FILEMGR 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 3

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_SAFE 0 PROTOCOL 9 VBD_MIN 450 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 N_NOCOMM 2 VBD_MAX 3900 INT_PRESSURE_YINT 0

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2590 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.245296 DEVICE1 2

T_DIVE 290 CALL_TRIES 8 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 900 CALL_WAIT 120 VBD_TIMEOUT 720 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE5 -1

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 3 DEVICE6 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 28800 N_GPS 100440 UNCOM_BLEED 20 LOGGERDEVICE1 -1

T_EPIRB 0 T_RSLEEP 3 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

USE_BATHY 0 STROBE 0 W_ADJ_DBAND 2.0999999 LOGGERDEVICE3 -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 DBDW 1700 LOGGERDEVICE4 -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 PITCH_W_GAIN 0 COMPASS_DEVICE 97

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 PITCH_W_DBAND 0 COMPASS2_DEVICE -1

T_WATCHDOG 10 RAFOS_MMODEM 0 CF8_MAXERRORS 1 PHONE_DEVICE 49

RELAUNCH 1 PITCH_MIN 100 AH0_24V 350 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MAX 3680 AH0_10V 0 RAFOS_DEVICE -1

MAX_BUOY 140 C_PITCH 3100 MINV_24V 11 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_DBAND 0.1 MINV_10V 9 SIM_W 0

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 MAXI_24V 0.60000002 SIM_PITCH 0

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 MAXI_10V 0.80000001 SEABIRD_T_G 0.004399877

RHO 1.0275 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SEABIRD_T_H 0.00063904078

MASS 54893 PITCH_GAIN 12 FG_AHR_24V 0 SEABIRD_T_I 2.611986e-05

MASS_COMP 0 PITCH_TIMEOUT 25 PHONE_SUPPLY -2 SEABIRD_T_J 3.2216672e-06

NAV_MODE 2 PITCH_AD_RATE 120 PRESSURE_YINT -84.34626 SEABIRD_C_G -9.9096279

FERRY_MAX 45 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.0001160319 SEABIRD_C_H 1.1330101

KALMAN_USE 2 PITCH_ADJ_GAIN 0.029999999 AD7714Ch0Gain 128 SEABIRD_C_I -0.0017902254

HD_A 0.0031300001 PITCH_ADJ_DBAND 1 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00021440489

AD7714Ch0Gain 128 D_PITCH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.2216672e-06

AH0_10V 0 D_SAFE 0 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_24V 350 D_SURF 3 PITCH_ADJ_DBAND 1 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 800 PITCH_ADJ_GAIN 0.029999999 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_AD_RATE 120 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0046000001 STOP_T 0

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DEPTH 200 FG_AHR_10V 0 PITCH_GAIN 12 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_MAX 3680 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MIN 100 TCM_PITCH_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 25 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0031300001 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 7156.2998

CALL_NDIVES 1 HD_B 0.023700001 PITCH_W_GAIN 0 TGT_DEFAULT_LON 2002.3

CALL_TRIES 8 HD_C 7.0400001e-06 PRESSURE_SLOPE 0.0001160319 T_ABORT 1440

CALL_WAIT 120 HEADING -1 PRESSURE_YINT -84.34626 T_BOOST 5

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PROTOCOL 9 T_DIVE 290

CAPUPLOAD 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_EPIRB 0

CF8_MAXERRORS 1 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0 T_GPS 5

COMM_SEQ 0 ID 137 RAFOS_CORR_THRESH 60 T_LOITER 28800

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_MISSION 900

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RAFOS_MMODEM 0 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE1 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_PITCH 3100 LOGGERDEVICE2 -1 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_CLIMB 1870 LOGGERDEVICE3 -1 RHO 1.0275 T_WATCHDOG 10

C_ROLL_DIVE 1800 LOGGERDEVICE4 -1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

C_VBD 2590 LOGGERS 0 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DBDW 1700 MASS 54893 ROLL_AD_RATE 250 USE_BATHY 0

DEEPGLIDER 0 MASS_COMP 0 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE1 2 MAXI_10V 0.80000001 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MAXI_24V 0.60000002 ROLL_MAX 3920 VBD_CNV -0.245296

DEVICE3 -1 MAX_BUOY 140 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE4 -1 MINV_10V 9 ROLL_MIN 200 VBD_LP_IGNORE 0

DEVICE5 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAX 3900

DEVICE6 -1 MISSION 5 R_PORT_OVSHOOT 43 VBD_MAXERRORS 1

DIVE 684 MOTHERBOARD 4 R_STBD_OVSHOOT 41 VBD_MIN 450

D_ABORT 1020 NAV_MODE 2 SEABIRD_C_G -9.9096279 VBD_PUMP_AD_RATE_APOGEE 3

D_BOOST 20 NOCOMM_ACTION 163 SEABIRD_C_H 1.1330101 VBD_PUMP_AD_RATE_SURFACE 4

D_CALL 0 N_DIVES 0 SEABIRD_C_I -0.0017902254 VBD_TIMEOUT 720

D_FINISH 0 N_FILEKB 8 SEABIRD_C_J 0.00021440489 W_ADJ_DBAND 2.0999999

D_FLARE 4 N_GPS 100440 SEABIRD_T_G 0.004399877 XPDR_DEVICE 24

D_NO_BLEED 50 N_NOCOMM 2 SEABIRD_T_H 0.00063904078 XPDR_INHIBIT 90

D_OFFGRID 1000 N_NOSURFACE 0 SEABIRD_T_I 2.611986e-05 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 050917,161543,750.8512,6901.2393,35,0.9,47,-2.3,0.3,24.8,9,9.9 SPEED_LIMITS 0.159,0.161

_CALLS 3 TGT_NAME MALDIVE1

_XMS_NAKs 0 TGT_LATLONG 430.000,7230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.88 MHEAD_RNG_PITCHd_Wd 158.4,535553,-23.0,-9.195,-29.68,2263

_SM_ANGLEo -67.8 D_GRID 800

GPS2 050917,162851,750.8042,6901.2695,14,0.8,23,-2.3,0.0,2.8,10,9.9

Post-dive calculations and measurements:

FINISH 1.8,1.001326 FG_AHR_24Vo 0.000

SM_CCo 37861,33.85,0.078,0,0,959,400.08 FG_AHR_10Vo 0.000

SM_GC 2.75,10.40,0.15,33.85,0.068,0.095,0.078,97,1768,959,-13.76,0.90,400.08,0,0,0,0,0,0,14.16,14.44,14.27 MEM 225348

IRIDIUM_FIX 745.10,6902.44,050917,162250 DATA_FILE_SIZE 43486,924

TT8_MAMPS 0.023968,0.158788 CAP_FILE_SIZE 175785,0

HUMID 55.67 CFSIZE 260034560,198959104

INTERNAL_PRESSURE 9.12144 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 24.20 INTR 0,6691.17,0x233daa,0,24

XPDR_PINGS 34 CURRENT 0.055,45.93,1

_24V_AH 12.69,258.314 GPS 060917,030300,750.706,6902.484,69,0.8,74,-2.3,0.6,230.3,10,10.0

_10V_AH 12.38,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 397 155.61 SBE_CT 450 24 137.12

Roll_motor 97 2010 2496.37 nil 0 0 0.00

VBD_pump_during_apogee 389 2582 12771.91 nil 0 0 0.00

VBD_pump_during_surface 33 78 33.52 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 nil 0 0 0.00

Iridium_during_xfer 426 181 982.14 nil 0 0 0.00

Transponder_ping 89 420 475.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 22 6.77

TT8 2125 9 259.74

LPSleep 33649 2 912.32

TT8_Active 556 9 67.98

TT8_Sampling 1975 27 680.74

TT8_CF8 383 34 164.28

TT8_Kalman 0 0 0.00

Analog_circuits 1812 15 350.00

GPS_charging 0 0 0.00

Compass 1320 6 110.18

RAFOS 0 0 0.00

Transponder 544 30 202.11

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

9 -2.09 -136.3 88 1827 848 1051 0.0 0.0 0 86 0.00 0.00 -75.82 0.000 16386 0.000 0.000 87 1828 3050 2961 3139 0 0 0 0 0 0 14.78 28.83 14.81

91 -2.09 -136.3 86 1828 2961 3139 6.2 -4.9 5 116 13.10 2.60 -1.58 0.000 18724 0.398 2.010 2628 3199 3147 3045 3250 0 0 0 0 0 0 13.88 13.19 14.34

240 -1.99 -136.3 2628 3200 3045 3251 42.0 -17.5 35 247 0.17 2.35 0.00 0.000 3206 0.274 0.034 2663 1787 3148 3045 3252 0 0 0 0 0 0 13.88 14.37 14.19

558 -1.95 -136.3 2663 1787 3045 3251 93.3 -16.4 58 559 0.00 0.00 0.00 0.000 134 0.000 0.000 2663 1787 3148 3045 3251 0 0 0 0 0 0 14.87 14.89 14.89

857 -1.95 -136.3 2663 1787 3045 3252 129.6 -11.0 78 858 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 1787 3149 3046 3253 0 0 0 0 0 0 14.90 14.92 14.92

1156 -1.95 -136.3 2663 1787 3047 3254 164.8 -12.7 98 1162 0.00 2.38 0.00 0.000 516 0.000 0.053 2664 409 3150 3047 3254 0 0 0 0 0 0 14.92 14.00 14.94

1239 -1.92 -136.3 2663 409 3047 3253 176.4 -13.8 115 1246 0.12 2.35 0.00 0.000 3206 0.278 0.028 2677 1819 3150 3047 3254 0 0 0 0 0 0 13.74 14.26 14.01

1546 -1.92 -136.3 2677 1820 3046 3254 213.0 -12.0 136 1551 0.00 2.38 0.00 0.000 260 0.000 0.048 2670 3195 3150 3046 3254 0 0 0 0 0 0 14.80 14.07 14.82

1649 -1.97 -136.3 2669 3194 3046 3254 225.4 -11.7 155 1656 0.00 2.35 0.00 0.000 1158 0.000 0.034 2670 1803 3149 3046 3253 0 0 0 0 0 0 14.29 14.21 14.32

1979 -1.97 -136.3 2669 1802 3047 3254 258.9 -9.8 175 1980 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 1803 3150 3047 3253 0 0 0 0 0 0 14.81 14.83 14.83

2283 -2.00 -136.3 2669 1802 3045 3253 290.4 -10.5 185 2290 0.00 2.45 0.00 0.000 388 0.000 0.047 2660 3196 3149 3045 3253 0 0 0 0 0 0 14.79 14.02 14.82

2354 -2.04 -136.3 2660 3196 3045 3254 298.7 -11.1 198 2359 0.00 2.38 0.00 0.000 1158 0.000 0.034 2660 1801 3149 3045 3253 0 0 0 0 0 0 14.23 14.14 14.26

2683 -2.04 -136.3 2659 1801 3039 3254 334.0 -10.6 213 2691 0.00 2.47 0.00 0.000 516 0.000 0.055 2660 399 3146 3039 3253 0 0 0 0 0 0 14.80 13.94 14.82

2721 -2.04 -136.3 2660 399 3039 3253 338.3 -11.4 219 2726 0.00 2.38 0.00 0.000 1030 0.000 0.030 2650 1800 3146 3039 3254 0 0 0 0 0 0 14.24 14.17 14.27

3054 -2.04 -136.3 2649 1800 3036 3253 375.7 -11.5 235 3059 0.00 2.42 0.00 0.000 260 0.000 0.047 2639 3202 3144 3036 3253 0 0 0 0 0 0 14.80 14.00 14.82

3112 -2.04 -136.3 2639 3201 3036 3253 382.3 -12.0 245 3117 0.00 2.40 0.00 0.000 1030 0.000 0.034 2639 1800 3145 3036 3254 0 0 0 0 0 0 14.19 14.11 14.22

3428 -2.04 -136.3 2639 1800 3033 3253 419.3 -11.7 257 3434 0.00 2.47 0.00 0.000 516 0.000 0.057 2639 397 3143 3033 3253 0 0 0 0 0 0 14.81 13.88 14.84

3447 -2.04 -136.3 2639 396 3033 3254 422.1 -12.0 260 3453 0.10 2.40 0.00 0.000 3078 0.288 0.033 2650 1806 3143 3033 3253 0 0 0 0 0 0 13.58 14.13 13.72

3767 -2.04 -136.3 2650 1806 3030 3253 457.4 -11.1 273 3773 0.00 2.42 0.00 0.000 260 0.000 0.049 2642 3199 3142 3031 3254 0 0 0 0 0 0 14.78 13.95 14.81

3803 -2.04 -136.3 2641 3199 3030 3253 461.3 -10.8 279 3808 0.00 2.42 0.00 0.000 1030 0.000 0.036 2642 1800 3141 3030 3253 0 0 0 0 0 0 14.15 14.07 14.19

4138 -2.04 -136.3 2641 1799 3028 3253 499.6 -11.5 295 4144 0.00 2.50 0.00 0.000 516 0.000 0.059 2642 399 3140 3028 3253 0 0 0 0 0 0 14.82 13.74 14.84

4179 -2.00 -136.3 2641 400 3028 3253 504.6 -12.2 302 4184 0.12 2.40 0.00 0.000 3206 0.285 0.031 2657 1808 3140 3028 3253 0 0 0 0 0 0 13.49 14.11 13.66

4508 -2.04 -136.3 2656 1807 3025 3251 540.3 -10.9 317 4516 0.00 2.42 0.00 0.000 388 0.000 0.050 2648 3190 3138 3025 3252 0 0 0 0 0 0 14.80 13.92 14.82

4566 -2.08 -136.3 2648 3190 3025 3251 546.8 -11.7 327 4571 0.00 2.42 0.00 0.000 1158 0.000 0.037 2648 1798 3138 3025 3251 0 0 0 0 0 0 14.11 14.02 14.14

4881 -2.08 -136.3 2648 1798 3022 3250 581.8 -11.2 339 4886 0.00 2.47 0.00 0.000 260 0.000 0.050 2638 3191 3137 3024 3250 0 0 0 0 0 0 14.76 13.88 14.78

4919 -2.08 -136.3 2638 3191 3022 3249 586.4 -11.2 346 4924 0.00 2.42 0.00 0.000 1030 0.000 0.037 2638 1798 3135 3022 3249 0 0 0 0 0 0 14.10 14.02 14.14

5249 -2.08 -136.3 2638 1798 3020 3248 623.7 -11.6 361 5250 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 1798 3134 3020 3248 0 0 0 0 0 0 14.81 14.83 14.83

5550 -2.08 -136.3 2638 1798 3020 3245 658.6 -11.7 371 5554 0.00 2.47 0.00 0.000 260 0.000 0.051 2629 3186 3132 3020 3245 0 0 0 0 0 0 14.74 13.83 14.76

5627 -2.08 -136.3 2629 3186 3020 3245 668.0 -11.4 385 5632 0.00 2.42 0.00 0.000 1030 0.000 0.038 2629 1800 3132 3020 3245 0 0 0 0 0 0 14.08 13.98 14.11

5951 -2.08 -136.3 2628 1800 3020 3243 706.4 -12.0 399 5956 0.00 2.50 0.00 0.000 260 0.000 0.051 2619 3196 3131 3020 3242 0 0 0 0 0 0 14.76 13.83 14.78

5989 -2.08 -136.3 2619 3196 3020 3242 711.3 -11.9 406 5995 0.10 2.47 0.00 0.000 3078 0.256 0.041 2642 1771 3131 3020 3242 0 0 0 0 0 0 13.41 13.97 13.58

6320 -2.08 -136.3 2641 1770 3018 3241 748.9 -11.3 421 6325 0.00 2.50 0.00 0.000 516 0.000 0.065 2642 388 3129 3018 3241 0 0 0 0 0 0 14.80 13.80 14.81

6348 -2.08 -136.3 2641 388 3018 3241 752.6 -12.2 426 6356 0.00 2.45 0.00 0.000 1030 0.000 0.033 2633 1796 3130 3019 3241 0 0 0 0 0 0 14.12 14.04 14.15

6655 -2.08 -136.3 2633 1796 3017 3240 786.7 -11.1 437 6661 0.00 2.55 0.00 0.000 516 0.000 0.062 2633 408 3128 3017 3240 0 0 0 0 0 0 14.79 13.75 14.81

6691 -2.04 -136.3 2633 409 3017 3239 790.8 -11.5 443 6702 0.15 2.42 0.00 0.000 3206 0.275 0.034 2650 1810 3127 3016 3239 0 0 0 0 0 0 13.42 13.99 13.76

6790 end dive: TARGET_DEPTH_EXCEEDED

state 6790 begin apogee

6797 -0.42 0.0 2650 1889 3016 3239 801.4 -10.2 451 6922 1.50 0.00 120.88 2.494 10246 0.276 0.000 3006 1892 2589 2464 2715 0 0 0 0 0 0 13.84 13.90 12.69

6923 end apogee: CONTROL_FINISHED_OK

state 6923 begin loiter

7271 -0.42 0.0 3006 1892 2449 2712 810.1 -1.3 458 7272 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 1892 2580 2449 2712 0 0 0 0 0 0 14.84 14.87 14.87

7870 -0.99 0.0 3006 1892 2446 2710 822.0 -2.1 463 7872 0.43 0.00 0.00 0.000 4230 0.116 0.000 2879 1893 2578 2446 2710 0 0 0 0 0 0 13.97 14.21 14.14

8470 -1.32 0.0 2878 1893 2444 2708 833.2 -1.8 468 8472 0.22 0.00 0.00 0.000 4230 0.122 0.000 2811 1893 2575 2443 2707 0 0 0 0 0 0 14.14 14.25 14.22

9071 -1.52 0.0 2810 1893 2442 2705 841.7 -1.3 473 9073 0.17 0.00 0.00 0.000 4230 0.155 0.000 2759 1893 2573 2442 2704 0 0 0 0 0 0 14.09 14.21 14.18

9671 -1.62 0.0 2758 1893 2441 2702 853.2 -2.0 478 9673 0.00 0.00 0.00 0.000 134 0.000 0.000 2759 1893 2571 2441 2702 0 0 0 0 0 0 14.90 14.93 14.92

10271 -1.66 56.0 2759 1893 2440 2701 872.9 -3.4 483 10325 0.00 0.00 52.83 2.583 8358 0.000 0.000 2759 1893 2361 2233 2489 0 0 0 0 0 0 14.91 13.98 12.71

10871 -1.78 56.0 2759 1893 2218 2487 859.3 2.8 488 10873 0.17 0.00 0.00 0.000 4230 0.138 0.000 2707 1892 2352 2218 2487 0 0 0 0 0 0 14.26 14.40 14.37

11470 -1.78 56.0 2707 1892 2216 2485 835.7 4.0 493 11471 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1892 2350 2216 2485 0 0 0 0 0 0 14.90 14.92 14.92

12070 -1.78 56.0 2707 1892 2215 2484 810.1 4.3 498 12071 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1893 2349 2215 2484 0 0 0 0 0 0 14.90 14.92 14.92

12670 -1.78 56.0 2707 1892 2214 2483 786.3 3.9 503 12671 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1893 2348 2214 2483 0 0 0 0 0 0 14.90 14.93 14.93

13271 -1.78 56.0 2707 1892 2213 2482 764.4 3.6 508 13272 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1892 2347 2213 2482 0 0 0 0 0 0 14.90 14.92 14.92

13870 -1.78 56.0 2707 1892 2213 2482 742.5 3.6 513 13871 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1892 2347 2213 2482 0 0 0 0 0 0 14.90 14.93 14.93

14470 -1.78 56.0 2707 1892 2213 2481 720.5 3.7 518 14471 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1892 2347 2213 2481 0 0 0 0 0 0 14.90 14.92 14.92

15070 -1.78 56.0 2707 1892 2213 2481 697.8 3.8 523 15071 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1892 2347 2213 2481 0 0 0 0 0 0 14.73 14.76 14.76

15671 -1.78 56.0 2707 1892 2212 2481 673.8 4.0 528 15672 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 1892 2346 2212 2481 0 0 0 0 0 0 14.90 14.92 14.92

16270 -1.78 56.0 2707 1892 2211 2481 652.4 3.5 533 16271 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 1892 2346 2212 2481 0 0 0 0 0 0 14.72 14.75 14.75

16870 -1.78 56.0 2707 1892 2212 2481 634.6 2.9 538 16871 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1892 2346 2212 2481 0 0 0 0 0 0 14.73 14.76 14.75

17470 -1.78 56.0 2707 1892 2212 2481 615.6 3.2 543 17471 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1892 2346 2212 2481 0 0 0 0 0 0 14.72 14.74 14.74

18071 -1.78 56.0 2708 1892 2212 2481 592.8 3.9 548 18072 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1892 2346 2212 2481 0 0 0 0 0 0 14.89 14.92 14.92

18670 -1.78 56.0 2707 1892 2212 2481 570.2 3.7 553 18671 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1893 2346 2212 2481 0 0 0 0 0 0 14.90 14.92 14.92

19270 -1.78 56.0 2707 1893 2212 2481 550.9 3.2 558 19271 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1892 2346 2212 2481 0 0 0 0 0 0 14.72 14.75 14.75

19870 -1.78 56.0 2707 1892 2212 2481 532.0 3.2 563 19871 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1892 2347 2213 2481 0 0 0 0 0 0 14.90 14.92 14.92

20471 -1.78 56.0 2707 1892 2212 2481 509.8 3.7 568 20472 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1892 2346 2212 2481 0 0 0 0 0 0 14.90 14.92 14.92

21070 -1.78 56.0 2707 1893 2212 2481 486.0 3.9 573 21071 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 1892 2346 2212 2481 0 0 0 0 0 0 14.90 14.92 14.92

21670 -1.78 56.0 2707 1892 2212 2481 467.7 2.9 578 21671 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1892 2346 2212 2481 0 0 0 0 0 0 14.90 14.92 14.92

22270 -1.78 56.0 2708 1892 2212 2481 450.6 2.9 583 22271 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1892 2346 2212 2481 0 0 0 0 0 0 14.90 14.92 14.92

22871 -1.78 56.0 2707 1892 2212 2481 429.9 3.5 588 22872 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1893 2346 2212 2481 0 0 0 0 0 0 14.90 14.92 14.92

23470 -1.78 56.0 2707 1893 2212 2481 410.4 3.2 593 23471 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1893 2346 2212 2481 0 0 0 0 0 0 14.90 14.92 14.92

24070 -1.78 56.0 2707 1893 2212 2481 390.9 3.3 598 24071 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1893 2346 2212 2481 0 0 0 0 0 0 14.90 14.92 14.92

24670 -1.78 56.0 2707 1893 2212 2481 369.9 3.5 603 24671 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 1893 2346 2212 2481 0 0 0 0 0 0 14.90 14.92 14.92

25271 -1.78 56.0 2707 1893 2212 2480 349.1 3.5 608 25272 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 1893 2346 2212 2481 0 0 0 0 0 0 14.90 14.92 14.92

25870 -1.78 56.0 2707 1893 2211 2481 331.5 2.8 613 25871 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1893 2346 2212 2481 0 0 0 0 0 0 14.90 14.93 14.93

26470 -1.78 56.0 2707 1893 2212 2481 318.8 2.2 618 26471 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 1894 2346 2212 2481 0 0 0 0 0 0 14.90 14.92 14.92

27070 -1.78 56.0 2707 1893 2212 2481 303.6 2.5 623 27071 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1893 2346 2212 2481 0 0 0 0 0 0 14.90 14.93 14.92

27671 -1.78 56.0 2707 1893 2212 2481 286.9 2.9 628 27672 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 1893 2346 2212 2481 0 0 0 0 0 0 14.90 14.92 14.92

28270 -1.75 56.0 2707 1893 2212 2481 266.3 3.5 633 28271 0.00 0.00 0.00 0.000 134 0.000 0.000 2707 1893 2346 2212 2481 0 0 0 0 0 0 14.90 14.93 14.92

28872 -1.72 56.0 2707 1893 2212 2481 249.8 2.6 638 28873 0.00 0.00 0.00 0.000 134 0.000 0.000 2707 1893 2346 2212 2481 0 0 0 0 0 0 14.89 14.92 14.91

29470 -1.68 56.0 2707 1893 2212 2481 239.8 1.6 643 29472 0.12 0.00 0.00 0.000 2182 0.276 0.000 2729 1894 2347 2213 2481 0 0 0 0 0 0 13.81 13.95 13.90

30071 -1.68 56.0 2729 1894 2212 2481 226.4 2.1 648 30072 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1894 2346 2212 2481 0 0 0 0 0 0 14.90 14.93 14.92

30670 -1.68 56.0 2729 1894 2212 2481 214.8 2.1 653 30671 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1894 2346 2212 2481 0 0 0 0 0 0 14.91 14.94 14.93

31270 -1.68 56.0 2729 1894 2212 2481 207.4 1.1 658 31271 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1894 2346 2212 2481 0 0 0 0 0 0 14.91 14.93 14.93

31870 -1.68 56.0 2729 1894 2212 2481 202.4 0.8 663 31871 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1894 2346 2212 2481 0 0 0 0 0 0 14.91 14.94 14.93

32471 -1.68 56.0 2729 1894 2212 2481 200.3 0.3 668 32472 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1894 2347 2213 2481 0 0 0 0 0 0 14.90 14.93 14.92

33070 -1.68 56.0 2729 1894 2213 2481 195.5 1.0 673 33071 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1894 2347 2213 2481 0 0 0 0 0 0 14.92 14.94 14.94

33670 -1.68 56.0 2729 1894 2214 2481 192.5 0.4 678 33671 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1894 2347 2214 2481 0 0 0 0 0 0 14.91 14.94 14.93

34270 -1.68 56.0 2729 1894 2215 2481 189.4 0.5 683 34271 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1894 2348 2215 2481 0 0 0 0 0 0 14.92 14.94 14.94

34871 -1.68 56.0 2729 1894 2215 2481 184.7 0.5 688 34872 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1894 2348 2215 2481 0 0 0 0 0 0 14.91 14.94 14.93

35470 -1.68 56.0 2729 1894 2216 2481 182.9 -0.0 693 35471 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1895 2348 2216 2481 0 0 0 0 0 0 14.92 14.95 14.94

35707 end loiter: LOITER_COMPLETE

state 35707 begin climb

35710 2.09 136.3 2729 1894 2215 2481 179.2 0.0 695 35789 3.42 2.45 67.07 1.515 10500 0.242 0.058 3543 3245 2030 1899 2161 0 0 0 0 0 0 13.26 14.12 13.17

35871 1.95 136.3 3542 3245 1899 2155 167.6 9.6 727 35879 0.12 2.47 0.00 0.000 5254 0.282 0.046 3529 1864 2027 1899 2155 0 0 0 0 0 0 13.49 13.92 13.78

36181 1.93 183.4 3529 1864 1894 2155 146.6 6.3 748 36225 0.00 2.47 38.08 1.489 8868 0.000 0.067 3538 464 1838 1701 1976 0 0 0 0 0 0 14.83 14.23 13.31

36286 1.84 183.4 3537 464 1693 1976 138.0 9.9 769 36293 0.12 2.40 0.00 0.000 5254 0.315 0.039 3503 1853 1834 1692 1976 0 0 0 0 0 0 13.64 14.18 13.86

36604 1.90 226.2 3503 1853 1689 1976 113.6 6.6 792 36646 0.00 2.47 34.85 1.431 8484 0.000 0.058 3493 3270 1664 1515 1814 0 0 0 0 0 0 14.83 14.03 13.34

36769 1.90 226.2 3493 3270 1514 1807 99.3 9.4 825 36773 0.00 2.45 0.00 0.000 1030 0.000 0.041 3501 1864 1660 1514 1807 0 0 0 0 0 0 14.38 14.29 14.40

37089 2.08 323.7 3501 1864 1507 1807 81.5 3.3 848 37176 0.15 2.55 76.00 1.369 10916 0.118 0.066 3570 460 1267 1105 1430 0 0 0 0 0 0 14.31 14.14 13.28

37197 2.04 323.7 3570 460 1100 1430 73.9 10.8 870 37202 0.00 2.42 0.00 0.000 1158 0.000 0.036 3562 1871 1265 1100 1430 0 0 0 0 0 0 14.29 14.21 14.32

37512 2.04 323.7 3562 1872 1088 1430 37.5 12.9 892 37518 0.00 2.50 0.00 0.000 516 0.000 0.064 3571 474 1259 1088 1430 0 0 0 0 0 0 14.81 14.12 14.83

37571 2.00 323.7 3570 473 1088 1429 30.2 11.5 904 37578 0.10 2.35 0.00 0.000 5254 0.293 0.035 3539 1876 1258 1087 1429 0 0 0 0 0 0 13.74 14.23 13.95

37808 end climb: SURFACE_DEPTH_REACHED

state 37808 begin surface coast

37840 end surface coast: CONTROL_FINISHED_OK

state 37840 begin surface

ID	137	HD_B	0.023700001	ROLL_MIN	200	TCM_ROLL_OFFSET	0
MISSION	5	HD_C	7.0400001e-06	ROLL_MAX	3920	COMPASS_USE	4
DIVE	684	HEADING	-1	ROLL_DEG	40	ALTIM_BOTTOM_PING_RANGE	0
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_DIVE	1800	ALTIM_TOP_PING_RANGE	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1870	ALTIM_BOTTOM_TURN_MARGIN	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	4	TGT_DEFAULT_LAT	7156.2998	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	1
D_TGT	800	TGT_DEFAULT_LON	2002.3	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	200
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	43	ALTIM_PING_DELTA	0
D_NO_BLEED	50	SM_CC	400	R_STBD_OVSHOOT	41	ALTIM_FREQUENCY	13
D_BOOST	20	N_FILEKB	8	ROLL_AD_RATE	250	ALTIM_PULSE	3
T_BOOST	5	FILEMGR	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	3
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_SAFE	0	PROTOCOL	9	VBD_MIN	450	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	N_NOCOMM	2	VBD_MAX	3900	INT_PRESSURE_YINT	0
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2590	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.245296	DEVICE1	2
T_DIVE	290	CALL_TRIES	8	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	900	CALL_WAIT	120	VBD_TIMEOUT	720	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE5	-1
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	3	DEVICE6	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	28800	N_GPS	100440	UNCOM_BLEED	20	LOGGERDEVICE1	-1
T_EPIRB	0	T_RSLEEP	3	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
USE_BATHY	0	STROBE	0	W_ADJ_DBAND	2.0999999	LOGGERDEVICE3	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	DBDW	1700	LOGGERDEVICE4	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	PITCH_W_GAIN	0	COMPASS_DEVICE	97
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	PITCH_W_DBAND	0	COMPASS2_DEVICE	-1
T_WATCHDOG	10	RAFOS_MMODEM	0	CF8_MAXERRORS	1	PHONE_DEVICE	49
RELAUNCH	1	PITCH_MIN	100	AH0_24V	350	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MAX	3680	AH0_10V	0	RAFOS_DEVICE	-1
MAX_BUOY	140	C_PITCH	3100	MINV_24V	11	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_DBAND	0.1	MINV_10V	9	SIM_W	0
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	MAXI_24V	0.60000002	SIM_PITCH	0
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	MAXI_10V	0.80000001	SEABIRD_T_G	0.004399877
RHO	1.0275	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SEABIRD_T_H	0.00063904078
MASS	54893	PITCH_GAIN	12	FG_AHR_24V	0	SEABIRD_T_I	2.611986e-05
MASS_COMP	0	PITCH_TIMEOUT	25	PHONE_SUPPLY	-2	SEABIRD_T_J	3.2216672e-06
NAV_MODE	2	PITCH_AD_RATE	120	PRESSURE_YINT	-84.34626	SEABIRD_C_G	-9.9096279
FERRY_MAX	45	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.0001160319	SEABIRD_C_H	1.1330101
KALMAN_USE	2	PITCH_ADJ_GAIN	0.029999999	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0017902254
HD_A	0.0031300001	PITCH_ADJ_DBAND	1	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00021440489

GPS1	050917,161543,750.8512,6901.2393,35,0.9,47,-2.3,0.3,24.8,9,9.9	SPEED_LIMITS	0.159,0.161
_CALLS	3	TGT_NAME	MALDIVE1
_XMS_NAKs	0	TGT_LATLONG	430.000,7230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.88	MHEAD_RNG_PITCHd_Wd	158.4,535553,-23.0,-9.195,-29.68,2263
_SM_ANGLEo	-67.8	D_GRID	800
GPS2	050917,162851,750.8042,6901.2695,14,0.8,23,-2.3,0.0,2.8,10,9.9

FINISH	1.8,1.001326	FG_AHR_24Vo	0.000
SM_CCo	37861,33.85,0.078,0,0,959,400.08	FG_AHR_10Vo	0.000
SM_GC	2.75,10.40,0.15,33.85,0.068,0.095,0.078,97,1768,959,-13.76,0.90,400.08,0,0,0,0,0,0,14.16,14.44,14.27	MEM	225348
IRIDIUM_FIX	745.10,6902.44,050917,162250	DATA_FILE_SIZE	43486,924
TT8_MAMPS	0.023968,0.158788	CAP_FILE_SIZE	175785,0
HUMID	55.67	CFSIZE	260034560,198959104
INTERNAL_PRESSURE	9.12144	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	24.20	INTR	0,6691.17,0x233daa,0,24
XPDR_PINGS	34	CURRENT	0.055,45.93,1
_24V_AH	12.69,258.314	GPS	060917,030300,750.706,6902.484,69,0.8,74,-2.3,0.6,230.3,10,10.0
_10V_AH	12.38,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	397	155.61	SBE_CT	450	24	137.12
Roll_motor	97	2010	2496.37	nil	0	0	0.00
VBD_pump_during_apogee	389	2582	12771.91	nil	0	0	0.00
VBD_pump_during_surface	33	78	33.52	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	nil	0	0	0.00
Iridium_during_xfer	426	181	982.14	nil	0	0	0.00
Transponder_ping	89	420	475.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	22	6.77
TT8	2125	9	259.74
LPSleep	33649	2	912.32
TT8_Active	556	9	67.98
TT8_Sampling	1975	27	680.74
TT8_CF8	383	34	164.28
TT8_Kalman	0	0	0.00
Analog_circuits	1812	15	350.00
GPS_charging	0	0	0.00
Compass	1320	6	110.18
RAFOS	0	0	0.00
Transponder	544	30	202.11

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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
9	-2.09	-136.3	88	1827	848	1051	0.0	0.0	0	86	0.00	0.00	-75.82	0.000	16386	0.000	0.000	87	1828	3050	2961	3139	0	0	0	0	0	0	14.78	28.83	14.81
91	-2.09	-136.3	86	1828	2961	3139	6.2	-4.9	5	116	13.10	2.60	-1.58	0.000	18724	0.398	2.010	2628	3199	3147	3045	3250	0	0	0	0	0	0	13.88	13.19	14.34
240	-1.99	-136.3	2628	3200	3045	3251	42.0	-17.5	35	247	0.17	2.35	0.00	0.000	3206	0.274	0.034	2663	1787	3148	3045	3252	0	0	0	0	0	0	13.88	14.37	14.19
558	-1.95	-136.3	2663	1787	3045	3251	93.3	-16.4	58	559	0.00	0.00	0.00	0.000	134	0.000	0.000	2663	1787	3148	3045	3251	0	0	0	0	0	0	14.87	14.89	14.89
857	-1.95	-136.3	2663	1787	3045	3252	129.6	-11.0	78	858	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	1787	3149	3046	3253	0	0	0	0	0	0	14.90	14.92	14.92
1156	-1.95	-136.3	2663	1787	3047	3254	164.8	-12.7	98	1162	0.00	2.38	0.00	0.000	516	0.000	0.053	2664	409	3150	3047	3254	0	0	0	0	0	0	14.92	14.00	14.94
1239	-1.92	-136.3	2663	409	3047	3253	176.4	-13.8	115	1246	0.12	2.35	0.00	0.000	3206	0.278	0.028	2677	1819	3150	3047	3254	0	0	0	0	0	0	13.74	14.26	14.01
1546	-1.92	-136.3	2677	1820	3046	3254	213.0	-12.0	136	1551	0.00	2.38	0.00	0.000	260	0.000	0.048	2670	3195	3150	3046	3254	0	0	0	0	0	0	14.80	14.07	14.82
1649	-1.97	-136.3	2669	3194	3046	3254	225.4	-11.7	155	1656	0.00	2.35	0.00	0.000	1158	0.000	0.034	2670	1803	3149	3046	3253	0	0	0	0	0	0	14.29	14.21	14.32
1979	-1.97	-136.3	2669	1802	3047	3254	258.9	-9.8	175	1980	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	1803	3150	3047	3253	0	0	0	0	0	0	14.81	14.83	14.83
2283	-2.00	-136.3	2669	1802	3045	3253	290.4	-10.5	185	2290	0.00	2.45	0.00	0.000	388	0.000	0.047	2660	3196	3149	3045	3253	0	0	0	0	0	0	14.79	14.02	14.82
2354	-2.04	-136.3	2660	3196	3045	3254	298.7	-11.1	198	2359	0.00	2.38	0.00	0.000	1158	0.000	0.034	2660	1801	3149	3045	3253	0	0	0	0	0	0	14.23	14.14	14.26
2683	-2.04	-136.3	2659	1801	3039	3254	334.0	-10.6	213	2691	0.00	2.47	0.00	0.000	516	0.000	0.055	2660	399	3146	3039	3253	0	0	0	0	0	0	14.80	13.94	14.82
2721	-2.04	-136.3	2660	399	3039	3253	338.3	-11.4	219	2726	0.00	2.38	0.00	0.000	1030	0.000	0.030	2650	1800	3146	3039	3254	0	0	0	0	0	0	14.24	14.17	14.27
3054	-2.04	-136.3	2649	1800	3036	3253	375.7	-11.5	235	3059	0.00	2.42	0.00	0.000	260	0.000	0.047	2639	3202	3144	3036	3253	0	0	0	0	0	0	14.80	14.00	14.82
3112	-2.04	-136.3	2639	3201	3036	3253	382.3	-12.0	245	3117	0.00	2.40	0.00	0.000	1030	0.000	0.034	2639	1800	3145	3036	3254	0	0	0	0	0	0	14.19	14.11	14.22
3428	-2.04	-136.3	2639	1800	3033	3253	419.3	-11.7	257	3434	0.00	2.47	0.00	0.000	516	0.000	0.057	2639	397	3143	3033	3253	0	0	0	0	0	0	14.81	13.88	14.84
3447	-2.04	-136.3	2639	396	3033	3254	422.1	-12.0	260	3453	0.10	2.40	0.00	0.000	3078	0.288	0.033	2650	1806	3143	3033	3253	0	0	0	0	0	0	13.58	14.13	13.72
3767	-2.04	-136.3	2650	1806	3030	3253	457.4	-11.1	273	3773	0.00	2.42	0.00	0.000	260	0.000	0.049	2642	3199	3142	3031	3254	0	0	0	0	0	0	14.78	13.95	14.81
3803	-2.04	-136.3	2641	3199	3030	3253	461.3	-10.8	279	3808	0.00	2.42	0.00	0.000	1030	0.000	0.036	2642	1800	3141	3030	3253	0	0	0	0	0	0	14.15	14.07	14.19
4138	-2.04	-136.3	2641	1799	3028	3253	499.6	-11.5	295	4144	0.00	2.50	0.00	0.000	516	0.000	0.059	2642	399	3140	3028	3253	0	0	0	0	0	0	14.82	13.74	14.84
4179	-2.00	-136.3	2641	400	3028	3253	504.6	-12.2	302	4184	0.12	2.40	0.00	0.000	3206	0.285	0.031	2657	1808	3140	3028	3253	0	0	0	0	0	0	13.49	14.11	13.66
4508	-2.04	-136.3	2656	1807	3025	3251	540.3	-10.9	317	4516	0.00	2.42	0.00	0.000	388	0.000	0.050	2648	3190	3138	3025	3252	0	0	0	0	0	0	14.80	13.92	14.82
4566	-2.08	-136.3	2648	3190	3025	3251	546.8	-11.7	327	4571	0.00	2.42	0.00	0.000	1158	0.000	0.037	2648	1798	3138	3025	3251	0	0	0	0	0	0	14.11	14.02	14.14
4881	-2.08	-136.3	2648	1798	3022	3250	581.8	-11.2	339	4886	0.00	2.47	0.00	0.000	260	0.000	0.050	2638	3191	3137	3024	3250	0	0	0	0	0	0	14.76	13.88	14.78
4919	-2.08	-136.3	2638	3191	3022	3249	586.4	-11.2	346	4924	0.00	2.42	0.00	0.000	1030	0.000	0.037	2638	1798	3135	3022	3249	0	0	0	0	0	0	14.10	14.02	14.14
5249	-2.08	-136.3	2638	1798	3020	3248	623.7	-11.6	361	5250	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	1798	3134	3020	3248	0	0	0	0	0	0	14.81	14.83	14.83
5550	-2.08	-136.3	2638	1798	3020	3245	658.6	-11.7	371	5554	0.00	2.47	0.00	0.000	260	0.000	0.051	2629	3186	3132	3020	3245	0	0	0	0	0	0	14.74	13.83	14.76
5627	-2.08	-136.3	2629	3186	3020	3245	668.0	-11.4	385	5632	0.00	2.42	0.00	0.000	1030	0.000	0.038	2629	1800	3132	3020	3245	0	0	0	0	0	0	14.08	13.98	14.11
5951	-2.08	-136.3	2628	1800	3020	3243	706.4	-12.0	399	5956	0.00	2.50	0.00	0.000	260	0.000	0.051	2619	3196	3131	3020	3242	0	0	0	0	0	0	14.76	13.83	14.78
5989	-2.08	-136.3	2619	3196	3020	3242	711.3	-11.9	406	5995	0.10	2.47	0.00	0.000	3078	0.256	0.041	2642	1771	3131	3020	3242	0	0	0	0	0	0	13.41	13.97	13.58
6320	-2.08	-136.3	2641	1770	3018	3241	748.9	-11.3	421	6325	0.00	2.50	0.00	0.000	516	0.000	0.065	2642	388	3129	3018	3241	0	0	0	0	0	0	14.80	13.80	14.81
6348	-2.08	-136.3	2641	388	3018	3241	752.6	-12.2	426	6356	0.00	2.45	0.00	0.000	1030	0.000	0.033	2633	1796	3130	3019	3241	0	0	0	0	0	0	14.12	14.04	14.15
6655	-2.08	-136.3	2633	1796	3017	3240	786.7	-11.1	437	6661	0.00	2.55	0.00	0.000	516	0.000	0.062	2633	408	3128	3017	3240	0	0	0	0	0	0	14.79	13.75	14.81
6691	-2.04	-136.3	2633	409	3017	3239	790.8	-11.5	443	6702	0.15	2.42	0.00	0.000	3206	0.275	0.034	2650	1810	3127	3016	3239	0	0	0	0	0	0	13.42	13.99	13.76
6790	end dive: TARGET_DEPTH_EXCEEDED
state	6790	begin apogee
6797	-0.42	0.0	2650	1889	3016	3239	801.4	-10.2	451	6922	1.50	0.00	120.88	2.494	10246	0.276	0.000	3006	1892	2589	2464	2715	0	0	0	0	0	0	13.84	13.90	12.69
6923	end apogee: CONTROL_FINISHED_OK
state	6923	begin loiter
7271	-0.42	0.0	3006	1892	2449	2712	810.1	-1.3	458	7272	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	1892	2580	2449	2712	0	0	0	0	0	0	14.84	14.87	14.87
7870	-0.99	0.0	3006	1892	2446	2710	822.0	-2.1	463	7872	0.43	0.00	0.00	0.000	4230	0.116	0.000	2879	1893	2578	2446	2710	0	0	0	0	0	0	13.97	14.21	14.14
8470	-1.32	0.0	2878	1893	2444	2708	833.2	-1.8	468	8472	0.22	0.00	0.00	0.000	4230	0.122	0.000	2811	1893	2575	2443	2707	0	0	0	0	0	0	14.14	14.25	14.22
9071	-1.52	0.0	2810	1893	2442	2705	841.7	-1.3	473	9073	0.17	0.00	0.00	0.000	4230	0.155	0.000	2759	1893	2573	2442	2704	0	0	0	0	0	0	14.09	14.21	14.18
9671	-1.62	0.0	2758	1893	2441	2702	853.2	-2.0	478	9673	0.00	0.00	0.00	0.000	134	0.000	0.000	2759	1893	2571	2441	2702	0	0	0	0	0	0	14.90	14.93	14.92
10271	-1.66	56.0	2759	1893	2440	2701	872.9	-3.4	483	10325	0.00	0.00	52.83	2.583	8358	0.000	0.000	2759	1893	2361	2233	2489	0	0	0	0	0	0	14.91	13.98	12.71
10871	-1.78	56.0	2759	1893	2218	2487	859.3	2.8	488	10873	0.17	0.00	0.00	0.000	4230	0.138	0.000	2707	1892	2352	2218	2487	0	0	0	0	0	0	14.26	14.40	14.37
11470	-1.78	56.0	2707	1892	2216	2485	835.7	4.0	493	11471	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1892	2350	2216	2485	0	0	0	0	0	0	14.90	14.92	14.92
12070	-1.78	56.0	2707	1892	2215	2484	810.1	4.3	498	12071	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1893	2349	2215	2484	0	0	0	0	0	0	14.90	14.92	14.92
12670	-1.78	56.0	2707	1892	2214	2483	786.3	3.9	503	12671	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1893	2348	2214	2483	0	0	0	0	0	0	14.90	14.93	14.93
13271	-1.78	56.0	2707	1892	2213	2482	764.4	3.6	508	13272	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1892	2347	2213	2482	0	0	0	0	0	0	14.90	14.92	14.92
13870	-1.78	56.0	2707	1892	2213	2482	742.5	3.6	513	13871	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1892	2347	2213	2482	0	0	0	0	0	0	14.90	14.93	14.93
14470	-1.78	56.0	2707	1892	2213	2481	720.5	3.7	518	14471	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1892	2347	2213	2481	0	0	0	0	0	0	14.90	14.92	14.92
15070	-1.78	56.0	2707	1892	2213	2481	697.8	3.8	523	15071	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1892	2347	2213	2481	0	0	0	0	0	0	14.73	14.76	14.76
15671	-1.78	56.0	2707	1892	2212	2481	673.8	4.0	528	15672	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	1892	2346	2212	2481	0	0	0	0	0	0	14.90	14.92	14.92
16270	-1.78	56.0	2707	1892	2211	2481	652.4	3.5	533	16271	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	1892	2346	2212	2481	0	0	0	0	0	0	14.72	14.75	14.75
16870	-1.78	56.0	2707	1892	2212	2481	634.6	2.9	538	16871	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1892	2346	2212	2481	0	0	0	0	0	0	14.73	14.76	14.75
17470	-1.78	56.0	2707	1892	2212	2481	615.6	3.2	543	17471	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1892	2346	2212	2481	0	0	0	0	0	0	14.72	14.74	14.74
18071	-1.78	56.0	2708	1892	2212	2481	592.8	3.9	548	18072	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1892	2346	2212	2481	0	0	0	0	0	0	14.89	14.92	14.92
18670	-1.78	56.0	2707	1892	2212	2481	570.2	3.7	553	18671	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1893	2346	2212	2481	0	0	0	0	0	0	14.90	14.92	14.92
19270	-1.78	56.0	2707	1893	2212	2481	550.9	3.2	558	19271	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1892	2346	2212	2481	0	0	0	0	0	0	14.72	14.75	14.75
19870	-1.78	56.0	2707	1892	2212	2481	532.0	3.2	563	19871	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1892	2347	2213	2481	0	0	0	0	0	0	14.90	14.92	14.92
20471	-1.78	56.0	2707	1892	2212	2481	509.8	3.7	568	20472	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1892	2346	2212	2481	0	0	0	0	0	0	14.90	14.92	14.92
21070	-1.78	56.0	2707	1893	2212	2481	486.0	3.9	573	21071	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	1892	2346	2212	2481	0	0	0	0	0	0	14.90	14.92	14.92
21670	-1.78	56.0	2707	1892	2212	2481	467.7	2.9	578	21671	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1892	2346	2212	2481	0	0	0	0	0	0	14.90	14.92	14.92
22270	-1.78	56.0	2708	1892	2212	2481	450.6	2.9	583	22271	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1892	2346	2212	2481	0	0	0	0	0	0	14.90	14.92	14.92
22871	-1.78	56.0	2707	1892	2212	2481	429.9	3.5	588	22872	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1893	2346	2212	2481	0	0	0	0	0	0	14.90	14.92	14.92
23470	-1.78	56.0	2707	1893	2212	2481	410.4	3.2	593	23471	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1893	2346	2212	2481	0	0	0	0	0	0	14.90	14.92	14.92
24070	-1.78	56.0	2707	1893	2212	2481	390.9	3.3	598	24071	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1893	2346	2212	2481	0	0	0	0	0	0	14.90	14.92	14.92
24670	-1.78	56.0	2707	1893	2212	2481	369.9	3.5	603	24671	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	1893	2346	2212	2481	0	0	0	0	0	0	14.90	14.92	14.92
25271	-1.78	56.0	2707	1893	2212	2480	349.1	3.5	608	25272	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	1893	2346	2212	2481	0	0	0	0	0	0	14.90	14.92	14.92
25870	-1.78	56.0	2707	1893	2211	2481	331.5	2.8	613	25871	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1893	2346	2212	2481	0	0	0	0	0	0	14.90	14.93	14.93
26470	-1.78	56.0	2707	1893	2212	2481	318.8	2.2	618	26471	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	1894	2346	2212	2481	0	0	0	0	0	0	14.90	14.92	14.92
27070	-1.78	56.0	2707	1893	2212	2481	303.6	2.5	623	27071	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1893	2346	2212	2481	0	0	0	0	0	0	14.90	14.93	14.92
27671	-1.78	56.0	2707	1893	2212	2481	286.9	2.9	628	27672	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	1893	2346	2212	2481	0	0	0	0	0	0	14.90	14.92	14.92
28270	-1.75	56.0	2707	1893	2212	2481	266.3	3.5	633	28271	0.00	0.00	0.00	0.000	134	0.000	0.000	2707	1893	2346	2212	2481	0	0	0	0	0	0	14.90	14.93	14.92
28872	-1.72	56.0	2707	1893	2212	2481	249.8	2.6	638	28873	0.00	0.00	0.00	0.000	134	0.000	0.000	2707	1893	2346	2212	2481	0	0	0	0	0	0	14.89	14.92	14.91
29470	-1.68	56.0	2707	1893	2212	2481	239.8	1.6	643	29472	0.12	0.00	0.00	0.000	2182	0.276	0.000	2729	1894	2347	2213	2481	0	0	0	0	0	0	13.81	13.95	13.90
30071	-1.68	56.0	2729	1894	2212	2481	226.4	2.1	648	30072	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1894	2346	2212	2481	0	0	0	0	0	0	14.90	14.93	14.92
30670	-1.68	56.0	2729	1894	2212	2481	214.8	2.1	653	30671	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1894	2346	2212	2481	0	0	0	0	0	0	14.91	14.94	14.93
31270	-1.68	56.0	2729	1894	2212	2481	207.4	1.1	658	31271	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1894	2346	2212	2481	0	0	0	0	0	0	14.91	14.93	14.93
31870	-1.68	56.0	2729	1894	2212	2481	202.4	0.8	663	31871	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1894	2346	2212	2481	0	0	0	0	0	0	14.91	14.94	14.93
32471	-1.68	56.0	2729	1894	2212	2481	200.3	0.3	668	32472	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1894	2347	2213	2481	0	0	0	0	0	0	14.90	14.93	14.92
33070	-1.68	56.0	2729	1894	2213	2481	195.5	1.0	673	33071	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1894	2347	2213	2481	0	0	0	0	0	0	14.92	14.94	14.94
33670	-1.68	56.0	2729	1894	2214	2481	192.5	0.4	678	33671	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1894	2347	2214	2481	0	0	0	0	0	0	14.91	14.94	14.93
34270	-1.68	56.0	2729	1894	2215	2481	189.4	0.5	683	34271	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1894	2348	2215	2481	0	0	0	0	0	0	14.92	14.94	14.94
34871	-1.68	56.0	2729	1894	2215	2481	184.7	0.5	688	34872	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1894	2348	2215	2481	0	0	0	0	0	0	14.91	14.94	14.93
35470	-1.68	56.0	2729	1894	2216	2481	182.9	-0.0	693	35471	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1895	2348	2216	2481	0	0	0	0	0	0	14.92	14.95	14.94
35707	end loiter: LOITER_COMPLETE
state	35707	begin climb
35710	2.09	136.3	2729	1894	2215	2481	179.2	0.0	695	35789	3.42	2.45	67.07	1.515	10500	0.242	0.058	3543	3245	2030	1899	2161	0	0	0	0	0	0	13.26	14.12	13.17
35871	1.95	136.3	3542	3245	1899	2155	167.6	9.6	727	35879	0.12	2.47	0.00	0.000	5254	0.282	0.046	3529	1864	2027	1899	2155	0	0	0	0	0	0	13.49	13.92	13.78
36181	1.93	183.4	3529	1864	1894	2155	146.6	6.3	748	36225	0.00	2.47	38.08	1.489	8868	0.000	0.067	3538	464	1838	1701	1976	0	0	0	0	0	0	14.83	14.23	13.31
36286	1.84	183.4	3537	464	1693	1976	138.0	9.9	769	36293	0.12	2.40	0.00	0.000	5254	0.315	0.039	3503	1853	1834	1692	1976	0	0	0	0	0	0	13.64	14.18	13.86
36604	1.90	226.2	3503	1853	1689	1976	113.6	6.6	792	36646	0.00	2.47	34.85	1.431	8484	0.000	0.058	3493	3270	1664	1515	1814	0	0	0	0	0	0	14.83	14.03	13.34
36769	1.90	226.2	3493	3270	1514	1807	99.3	9.4	825	36773	0.00	2.45	0.00	0.000	1030	0.000	0.041	3501	1864	1660	1514	1807	0	0	0	0	0	0	14.38	14.29	14.40
37089	2.08	323.7	3501	1864	1507	1807	81.5	3.3	848	37176	0.15	2.55	76.00	1.369	10916	0.118	0.066	3570	460	1267	1105	1430	0	0	0	0	0	0	14.31	14.14	13.28
37197	2.04	323.7	3570	460	1100	1430	73.9	10.8	870	37202	0.00	2.42	0.00	0.000	1158	0.000	0.036	3562	1871	1265	1100	1430	0	0	0	0	0	0	14.29	14.21	14.32
37512	2.04	323.7	3562	1872	1088	1430	37.5	12.9	892	37518	0.00	2.50	0.00	0.000	516	0.000	0.064	3571	474	1259	1088	1430	0	0	0	0	0	0	14.81	14.12	14.83
37571	2.00	323.7	3570	473	1088	1429	30.2	11.5	904	37578	0.10	2.35	0.00	0.000	5254	0.293	0.035	3539	1876	1258	1087	1429	0	0	0	0	0	0	13.74	14.23	13.95
37808	end climb: SURFACE_DEPTH_REACHED
state	37808	begin surface coast
37840	end surface coast: CONTROL_FINISHED_OK
state	37840	begin surface