Glider dive log

SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 742 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 190 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 48 XPDR_INHIBIT 90

MISSION 9 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 50 INT_PRESSURE_SLOPE 0.0097660003

DIVE 742 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

N_DIVES 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0.5 DEEPGLIDER 0

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.1 MOTHERBOARD 4

D_SURF 3 SM_CC 500 VBD_MIN 350 DEVICE1 134

D_FLARE 2 N_FILEKB 8 VBD_MAX 3900 DEVICE2 -1

D_TGT 450 FILEMGR 0 C_VBD 2740 DEVICE3 -1

D_ABORT 1015 CALL_NDIVES 1 VBD_DBAND 2 DEVICE4 -1

D_NO_BLEED 50 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE5 -1

D_BOOST 120 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE6 -1

T_BOOST 5 N_NOCOMM 2 VBD_TIMEOUT 720 LOGGERS 0

D_FINISH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.00060000003 LOGGERDEVICE1 54

D_PITCH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERDEVICE2 85

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE3 67

D_CALL 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CALL_WAIT 60 UNCOM_BLEED 50 COMPASS_DEVICE 97

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 COMPASS2_DEVICE 150

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_DIVE 180 HEAPDBG 0 DBDW 0 GPS_DEVICE 32

T_MISSION 540 T_GPS 5 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_ABORT 1440 N_GPS 100440 PITCH_W_DBAND 0 XPDR_DEVICE 24

T_TURN 225 T_RSLEEP 2 CF8_MAXERRORS 20 SIM_W 0

T_TURN_SAMPINT -7 STROBE 0 AH0_24V 350 SIM_PITCH 0

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 SEABIRD_T_G 0.0043932092

T_LOITER 18000 RAFOS_CORR_THRESH 60 MINV_24V 10 SEABIRD_T_H 0.00063312391

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_10V 10 SEABIRD_T_I 2.6030159e-05

USE_BATHY 0 PITCH_MIN 225 MAXI_24V 0.60000002 SEABIRD_T_J 3.2258831e-06

USE_ICE 0 PITCH_MAX 3920 MAXI_10V 0.80000001 SEABIRD_C_G -9.8128548

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2200 FG_AHR_10V 0 SEABIRD_C_H 1.1245126

D_OFFGRID 1000 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_C_I -0.00070758193

T_WATCHDOG 10 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_C_J 0.00013654788

RELAUNCH 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -163.98293 SC_RECORDABOVE 2000.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PRESSURE_SLOPE 0.00010649362 SC_PROFILE 3.0

MAX_BUOY 100 PITCH_GAIN 26 AD7714Ch0Gain 1 SC_XMITPROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 30 TCM_PITCH_OFFSET 0 PM_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_AD_RATE 50 TCM_ROLL_OFFSET 0 PM_PROFILE 3.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 PM_XMITPROFILE 3.0

RHO 1.0275 PITCH_ADJ_GAIN 0.015 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITRAW 0.0

MASS 53220 PITCH_ADJ_DBAND 3 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 0.0

MASS_COMP 0 ROLL_MIN 231 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 0.0

NAV_MODE 2 ROLL_MAX 3841 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 1.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 0 TM_RECORDABOVE 200.0

KALMAN_USE 2 C_ROLL_DIVE 2280 ALTIM_PING_DEPTH 0 TM_PROFILE 1.0

HD_A 0.0040899999 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 0 TM_XMITPROFILE 3.0

HD_B 0.0102 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13 TM_LOGSAMPLE 0.0

HD_C 4.5000002e-06 ROLL_CNV 0.028270001 ALTIM_PULSE 3 TM_XMITRAW 0.0

HEADING -1 ROLL_TIMEOUT 8 ALTIM_SENSITIVITY 2

ESCAPE_HEADING 0 R_PORT_OVSHOOT 65 XPDR_VALID 6

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_MAX 3920 SM_CC 500

AH0_10V 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SPEED_FACTOR 1

AH0_24V 350 FERRY_MAX 45 PITCH_MIN 225 STOP_T 0

ALTIM_BOTTOM_PING_RANGE 0 FG_AHR_10V 0 PITCH_TIMEOUT 30 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00060000003 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 FILEMGR 0 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 GLIDE_SLOPE 30 PM_MOTORS 0.0 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 GPS_DEVICE 32 PM_NDIVE 0.0 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 HD_A 0.0040899999 PM_PROFILE 3.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.0102 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 HD_C 4.5000002e-06 PM_SENDDEPTH 1.0 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_XMITPROFILE 3.0 TM_LOGSAMPLE 0.0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_XMITRAW 0.0 TM_PROFILE 1.0

CALL_NDIVES 1 HEAPDBG 0 PRESSURE_SLOPE 0.00010649362 TM_RECORDABOVE 200.0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -163.98293 TM_XMITPROFILE 3.0

CALL_WAIT 60 ID 190 PROTOCOL 9 TM_XMITRAW 0.0

CAPMAXSIZE 10000 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_ABORT 1440

CAPUPLOAD 0 INT_PRESSURE_YINT 0 P_OVSHOOT_WITHG 0 T_BOOST 5

CF8_MAXERRORS 20 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_DIVE 180

COMM_SEQ 0 LOGGERDEVICE1 54 RAFOS_DEVICE -1 T_EPIRB 0

COMPASS2_DEVICE 150 LOGGERDEVICE2 85 RAFOS_HIT_WINDOW 3600 T_GPS 5

COMPASS_DEVICE 97 LOGGERDEVICE3 67 RAFOS_PEAK_OFFSET 1.5 T_LOITER 18000

COMPASS_USE 4 LOGGERDEVICE4 -1 RELAUNCH 1 T_MISSION 540

COURSE_BIAS 0 LOGGERS 0 RHO 1.0275 T_NO_W 120

C_PITCH 2200 MASS 53220 ROLL_ADJ_DBAND 0.1 T_RSLEEP 2

C_ROLL_CLIMB 2200 MASS_COMP 0 ROLL_ADJ_GAIN 0.5 T_TURN 225

C_ROLL_DIVE 2280 MAXI_10V 0.80000001 ROLL_AD_RATE 50 T_TURN_SAMPINT -7

C_VBD 2740 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 T_WATCHDOG 10

DBDW 0 MAX_BUOY 100 ROLL_DEG 40 UNCOM_BLEED 50

DEEPGLIDER 0 MINV_10V 10 ROLL_MAX 3841 UPLOAD_DIVES_MAX -1

DEVICE1 134 MINV_24V 10 ROLL_MAXERRORS 1 USE_BATHY 0

DEVICE2 -1 MISSION 9 ROLL_MIN 231 USE_ICE 0

DEVICE3 -1 MOTHERBOARD 4 ROLL_TIMEOUT 8 VBD_BLEED_AD_RATE 8

DEVICE4 -1 NAV_MODE 2 R_PORT_OVSHOOT 65 VBD_CNV -0.24529999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 48 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 3.0 VBD_LP_IGNORE 0

DIVE 742 N_FILEKB 8 SC_RECORDABOVE 2000.0 VBD_MAX 3900

D_ABORT 1015 N_GPS 100440 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

D_BOOST 120 N_NOCOMM 2 SEABIRD_C_G -9.8128548 VBD_MIN 350

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_H 1.1245126 VBD_PUMP_AD_RATE_APOGEE 1

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_C_I -0.00070758193 VBD_PUMP_AD_RATE_SURFACE 1

D_FLARE 2 PHONE_SUPPLY -2 SEABIRD_C_J 0.00013654788 VBD_TIMEOUT 720

D_NO_BLEED 50 PITCH_ADJ_DBAND 3 SEABIRD_T_G 0.0043932092 W_ADJ_DBAND 0

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.015 SEABIRD_T_H 0.00063312391 XPDR_DEVICE 24

D_PITCH 0 PITCH_AD_RATE 50 SEABIRD_T_I 2.6030159e-05 XPDR_INHIBIT 90

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_J 3.2258831e-06 XPDR_VALID 6

D_SURF 3 PITCH_DBAND 0.1 SIM_PITCH 0

D_TGT 450 PITCH_GAIN 26 SIM_W 0

Pre-dive calculations and measurements:

GPS1 290317,033933,950.7763,-12514.6279,32,0.8,33,9.2,0.5,11.3,10,8.3 SPEED_LIMITS 0.144,0.204

_CALLS 2 TGT_NAME S

_XMS_NAKs 0 TGT_LATLONG 940.910,-12500.000

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.77 MHEAD_RNG_PITCHd_Wd 111.5,32526,-19.5,-8.333,-22.22,1796

_SM_ANGLEo -57.0 D_GRID 450

GPS2 290317,034640,950.8033,-12514.7207,17,0.7,18,9.2,0.7,316.7,11,8.0

Post-dive calculations and measurements:

FINISH -0.1,1.022100 _10V_AH 12.08,0.000

SM_CCo 23862,81.97,0.130,0,0,700,500.17 FG_AHR_24Vo 0.000

SM_GC 0.73,7.07,0.12,81.97,0.071,0.096,0.130,210,2311,700,-6.15,-0.71,500.17,0,0,0,0,0,0,14.15,14.35,14.17 FG_AHR_10Vo 0.000

IRIDIUM_FIX 945.12,-12513.69,280317,204017 MEM 334184

TT8_MAMPS 0.038199,0.294357 DATA_FILE_SIZE 33418,719

HUMID 59.05 CAP_FILE_SIZE 116993,0

INTERNAL_PRESSURE 9.11168 CFSIZE 260034560,170688512

TCM_TEMP 18.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 24 CURRENT 0.123,327.54,1

_24V_AH 12.80,283.463 GPS 290317,102729,951.840,-12515.251,52,0.7,54,9.2,0.5,288.6,11,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 387 94.39 SciConCT 3252 25 1040.95

Roll_motor 67 2021 1735.27 nil 0 0 0.00

VBD_pump_during_apogee 371 1380 6569.19 nil 0 0 0.00

VBD_pump_during_surface 81 130 136.46 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 0 0 0.00

Iridium_during_xfer 224 156 448.85 PMAR 0 0 0.00

Transponder_ping 6 420 32.26 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 22 5.20

TT8 0 0 0.00

LPSleep 19055 2 504.12

TT8_Active 532 10 69.30

TT8_Sampling 4264 28 1480.91

TT8_CF8 503 35 215.65

TT8_Kalman 0 0 0.00

Analog_circuits 1458 11 206.11

GPS_charging 0 0 0.00

Compass 3693 0 33.46

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

8 -0.81 -97.3 198 2241 745 655 0.0 0.0 0 100 0.00 0.00 -90.00 0.000 16386 0.000 0.000 196 2240 3027 3072 2982 0 0 0 0 0 0 14.59 28.83 14.60

104 -0.81 -97.3 196 2241 3075 2982 4.0 -5.5 3 129 8.60 2.67 -1.88 0.000 18948 0.387 2.022 1933 906 3141 3217 3066 0 0 0 0 0 0 13.86 12.80 14.14

192 -0.63 -97.3 1933 907 3225 3061 35.2 -27.1 15 197 0.32 2.45 0.00 0.000 3206 0.285 0.055 1995 2263 3142 3225 3060 0 0 0 0 0 0 13.62 14.10 13.97

531 -0.63 -97.3 1995 2264 3232 3059 75.9 -8.6 30 536 0.00 2.55 0.00 0.000 260 0.000 0.072 1985 3699 3144 3231 3058 0 0 0 0 0 0 14.73 14.02 14.74

594 -0.63 -97.3 1985 3699 3232 3058 82.2 -9.7 39 599 0.00 2.38 0.00 0.000 1030 0.000 0.037 1984 2295 3145 3232 3058 0 0 0 0 0 0 14.26 14.19 14.30

955 -0.63 -97.3 1985 2296 3234 3058 117.1 -9.9 51 960 0.00 2.58 0.00 0.000 516 0.000 0.053 1985 876 3145 3232 3058 0 0 0 0 0 0 14.76 14.01 14.78

995 -0.63 -97.3 1985 877 3233 3058 121.5 -9.8 57 1000 0.00 2.58 0.00 0.000 1030 0.000 0.054 1984 2294 3144 3232 3057 0 0 0 0 0 0 14.15 14.02 14.19

1352 -0.63 -97.3 1985 2295 3233 3057 154.7 -9.5 65 1356 0.00 2.53 0.00 0.000 260 0.000 0.072 1975 3702 3144 3232 3056 0 0 0 0 0 0 14.75 13.95 14.76

1455 -0.63 -97.3 1976 3702 3233 3056 166.1 -10.5 80 1466 0.00 2.47 0.00 0.000 1030 0.000 0.038 1975 2290 3143 3232 3055 0 0 0 0 0 0 14.01 13.97 14.04

1803 -0.63 -97.3 1975 2291 3233 3054 202.7 -10.7 87 1808 0.00 2.55 0.00 0.000 516 0.000 0.054 1975 876 3142 3232 3053 0 0 0 0 0 0 14.76 13.97 14.78

1908 -0.63 -97.3 1976 875 3233 3053 214.2 -10.4 102 1919 0.00 2.65 0.00 0.000 1030 0.000 0.056 1973 2295 3142 3232 3053 0 0 0 0 0 0 13.91 13.85 13.97

2255 -0.63 -97.3 1973 2295 3234 3051 252.3 -11.3 109 2260 0.00 2.58 0.00 0.000 260 0.000 0.079 1971 3699 3141 3232 3050 0 0 0 0 0 0 14.76 13.89 14.78

2358 -0.63 -97.3 1971 3699 3233 3049 264.5 -11.1 124 2369 0.00 2.50 0.00 0.000 1030 0.000 0.040 1971 2283 3140 3232 3048 0 0 0 0 0 0 13.99 13.95 14.02

2707 -0.63 -97.3 1972 2284 3233 3046 302.6 -11.1 131 2712 0.00 2.55 0.00 0.000 516 0.000 0.053 1971 875 3138 3231 3045 0 0 0 0 0 0 14.74 13.97 14.76

2810 -0.63 -97.3 1971 875 3233 3044 314.7 -10.6 146 2823 0.00 2.65 0.00 0.000 1030 0.000 0.057 1971 2285 3138 3232 3044 0 0 0 0 0 0 13.88 13.82 13.94

3159 -0.63 -97.3 1971 2285 3233 3039 353.2 -11.4 153 3164 0.00 2.60 0.00 0.000 260 0.000 0.079 1963 3702 3135 3232 3039 0 0 0 0 0 0 14.76 13.88 14.77

3256 -0.63 -97.3 1963 3703 3233 3038 364.7 -11.3 167 3261 0.15 2.47 0.00 0.000 3078 0.227 0.041 1997 2270 3135 3232 3038 0 0 0 0 0 0 13.62 14.10 13.85

3611 -0.63 -97.3 1998 2271 3232 3036 399.9 -10.0 175 3615 0.00 2.53 0.00 0.000 516 0.000 0.056 1997 880 3133 3232 3035 0 0 0 0 0 0 14.76 13.92 14.79

3670 -0.67 -97.3 1996 881 3232 3035 406.0 -10.3 183 3675 0.00 2.62 0.00 0.000 1158 0.000 0.057 1997 2299 3133 3232 3035 0 0 0 0 0 0 14.08 13.95 14.14

4010 -0.67 -97.3 1997 2300 3232 3033 440.3 -10.1 196 4015 0.00 2.58 0.00 0.000 260 0.000 0.078 1988 3702 3131 3231 3032 0 0 0 0 0 0 14.74 13.85 14.76

4095 end dive: TARGET_DEPTH_EXCEEDED

state 4095 begin apogee

4106 -0.19 0.0 1989 2191 3230 3033 450.3 -10.7 209 4217 0.55 0.00 102.62 1.381 10244 0.205 0.000 2133 2180 2730 2851 2610 0 0 0 0 0 0 13.62 13.68 13.15

4218 end apogee: CONTROL_FINISHED_OK

state 4218 begin loiter

4327 -0.15 67.3 2133 2180 2841 2607 460.5 -3.9 226 4405 0.00 0.00 72.93 1.363 9254 0.000 0.000 2133 2180 2458 2586 2330 0 0 0 0 0 0 14.41 14.40 13.05

4731 -0.33 67.3 2134 2180 2565 2326 458.6 1.7 248 4732 0.15 0.00 0.00 0.000 4230 0.115 0.000 2070 2180 2445 2565 2325 0 0 0 0 0 0 14.18 14.27 14.25

5065 -0.40 67.3 2070 2180 2560 2324 450.9 2.4 254 5065 0.00 0.00 0.00 0.000 134 0.000 0.000 2070 2180 2441 2559 2324 0 0 0 0 0 0 14.67 14.69 14.69

5399 -0.48 67.3 2070 2180 2557 2324 442.4 2.5 260 5400 0.00 0.00 0.00 0.000 134 0.000 0.000 2070 2180 2439 2556 2323 0 0 0 0 0 0 14.70 14.72 14.72

5735 -0.55 67.3 2070 2181 2555 2323 434.7 2.2 266 5736 0.17 0.00 0.00 0.000 4230 0.111 0.000 1999 2180 2438 2554 2322 0 0 0 0 0 0 14.19 14.27 14.25

6072 -0.55 67.3 2000 2181 2549 2323 427.6 2.0 272 6073 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2435 2549 2322 0 0 0 0 0 0 14.71 14.73 14.73

6407 -0.55 67.3 1999 2180 2548 2323 420.4 2.2 278 6408 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2180 2435 2547 2323 0 0 0 0 0 0 14.73 14.75 14.75

6743 -0.55 67.3 2000 2180 2545 2322 409.8 3.3 284 6744 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2432 2544 2321 0 0 0 0 0 0 14.73 14.76 14.75

7079 -0.55 67.3 2000 2180 2544 2322 397.4 3.7 290 7080 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2432 2543 2321 0 0 0 0 0 0 14.73 14.76 14.76

7416 -0.55 67.3 1999 2180 2543 2322 386.9 3.0 296 7417 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2432 2542 2322 0 0 0 0 0 0 14.72 14.74 14.74

7751 -0.55 67.3 2000 2180 2542 2321 378.8 2.3 302 7752 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2431 2541 2321 0 0 0 0 0 0 14.73 14.76 14.76

8087 -0.55 67.3 2000 2180 2541 2321 371.2 2.3 308 8088 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2430 2540 2321 0 0 0 0 0 0 14.73 14.76 14.75

8423 -0.55 67.3 2000 2180 2540 2321 361.9 2.8 314 8424 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2429 2539 2320 0 0 0 0 0 0 14.73 14.76 14.78

8760 -0.55 67.3 2000 2180 2539 2321 351.4 3.1 320 8761 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2430 2539 2321 0 0 0 0 0 0 14.73 14.74 14.74

9095 -0.55 67.3 1999 2180 2539 2321 343.2 2.2 326 9096 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2429 2538 2320 0 0 0 0 0 0 14.73 14.76 14.75

9431 -0.55 67.3 2000 2180 2539 2320 337.5 1.7 332 9432 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2429 2538 2320 0 0 0 0 0 0 14.73 14.76 14.76

9767 -0.55 67.3 2000 2180 2538 2320 332.1 1.6 338 9768 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2428 2537 2319 0 0 0 0 0 0 14.73 14.76 14.76

10104 -0.55 67.3 2000 2180 2537 2320 325.3 2.3 344 10105 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2428 2536 2320 0 0 0 0 0 0 14.72 14.74 14.74

10439 -0.55 67.3 2000 2180 2536 2320 315.1 3.1 350 10440 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2427 2536 2319 0 0 0 0 0 0 14.73 14.75 14.76

10775 -0.55 67.3 2000 2180 2537 2320 303.9 3.4 356 10776 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2428 2536 2320 0 0 0 0 0 0 14.73 14.76 14.75

11111 -0.55 67.3 2000 2180 2537 2320 293.3 3.0 362 11112 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2428 2536 2320 0 0 0 0 0 0 14.73 14.76 14.75

11448 -0.55 67.3 2000 2180 2536 2320 283.3 3.0 368 11449 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2427 2535 2319 0 0 0 0 0 0 14.72 14.74 14.74

11783 -0.55 67.3 2000 2181 2536 2320 273.6 2.7 374 11784 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2427 2535 2320 0 0 0 0 0 0 14.73 14.75 14.75

12119 -0.55 67.3 2000 2180 2536 2320 265.2 2.4 380 12120 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2427 2535 2320 0 0 0 0 0 0 14.73 14.75 14.73

12455 -0.55 67.3 1999 2180 2535 2320 258.1 2.0 386 12456 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2179 2427 2534 2320 0 0 0 0 0 0 14.73 14.76 14.75

12792 -0.55 67.3 2000 2179 2535 2320 249.8 2.8 392 12793 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2427 2534 2320 0 0 0 0 0 0 14.72 14.74 14.74

13127 -0.55 67.3 2000 2180 2535 2321 240.6 2.5 398 13128 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2180 2427 2535 2320 0 0 0 0 0 0 14.73 14.73 14.75

13463 -0.55 67.3 2000 2180 2535 2320 236.0 1.4 404 13464 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2426 2534 2319 0 0 0 0 0 0 14.73 14.76 14.75

13800 -0.55 67.3 1999 2180 2535 2320 226.4 3.1 410 13801 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2426 2534 2319 0 0 0 0 0 0 14.72 14.74 14.74

14135 -0.55 67.3 1999 2180 2535 2319 216.8 2.9 416 14136 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2427 2534 2320 0 0 0 0 0 0 14.73 14.75 14.75

14471 -0.55 67.3 2000 2180 2535 2320 206.7 3.1 422 14472 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2427 2534 2320 0 0 0 0 0 0 14.73 14.75 14.75

14807 -0.55 67.3 2001 2180 2535 2319 198.0 2.4 428 14808 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2180 2427 2534 2320 0 0 0 0 0 0 14.73 14.75 14.75

15144 -0.55 67.3 1999 2180 2535 2320 192.2 1.7 434 15145 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2426 2533 2320 0 0 0 0 0 0 14.73 14.74 14.74

15479 -0.55 67.3 2000 2180 2535 2320 185.7 2.0 440 15480 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2180 2427 2534 2320 0 0 0 0 0 0 14.73 14.76 14.76

15815 -0.55 67.3 2000 2180 2535 2320 180.5 1.3 446 15816 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2180 2427 2534 2320 0 0 0 0 0 0 14.73 14.76 14.76

16151 -0.51 67.3 2000 2180 2535 2319 175.0 1.8 452 16152 0.15 0.00 0.00 0.000 2182 0.261 0.000 2031 2180 2426 2534 2319 0 0 0 0 0 0 13.62 13.91 13.83

16488 -0.51 67.3 2032 2181 2535 2320 163.5 3.8 458 16489 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2180 2427 2534 2320 0 0 0 0 0 0 14.73 14.74 14.74

16823 -0.51 67.3 2032 2180 2535 2320 152.5 3.1 464 16824 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2180 2426 2534 2319 0 0 0 0 0 0 14.73 14.76 14.75

17159 -0.51 67.3 2032 2180 2535 2320 144.7 2.1 470 17160 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2180 2426 2534 2319 0 0 0 0 0 0 14.73 14.76 14.76

17495 -0.51 54.0 2032 2180 2536 2320 141.2 0.8 476 17496 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2180 2427 2534 2320 0 0 0 0 0 0 14.73 14.76 14.76

17832 -0.51 54.0 2032 2180 2535 2320 136.8 1.6 482 17833 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2180 2427 2534 2320 0 0 0 0 0 0 14.72 14.74 14.74

18167 -0.51 54.0 2032 2180 2535 2320 130.7 1.9 488 18168 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2180 2427 2534 2320 0 0 0 0 0 0 14.73 14.76 14.76

18503 -0.51 54.0 2032 2180 2535 2320 122.1 2.5 494 18504 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2180 2427 2534 2320 0 0 0 0 0 0 14.73 14.76 14.76

18839 -0.51 54.0 2032 2180 2533 2320 117.3 1.1 500 18840 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2180 2427 2534 2320 0 0 0 0 0 0 14.73 14.76 14.77

19176 -0.51 54.0 2031 2180 2535 2320 114.2 1.0 506 19177 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2180 2427 2534 2320 0 0 0 0 0 0 14.73 14.74 14.74

19511 -0.51 54.0 2031 2180 2536 2319 108.6 1.9 512 19512 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2180 2427 2534 2320 0 0 0 0 0 0 14.74 14.76 14.76

19847 -0.51 54.0 2032 2180 2534 2320 103.7 1.4 518 19848 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2180 2427 2534 2320 0 0 0 0 0 0 14.73 14.76 14.76

20184 -0.52 47.7 2032 2180 2535 2320 101.8 0.4 524 20185 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2179 2427 2534 2320 0 0 0 0 0 0 14.75 14.74 14.74

20519 -0.53 35.5 2032 2180 2535 2320 99.6 0.7 530 20520 0.00 0.00 0.00 0.000 38 0.000 0.000 2032 2180 2427 2534 2320 0 0 0 0 0 0 14.73 14.76 14.76

20827 -0.54 18.4 2032 2180 2535 2320 96.8 1.0 541 20828 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2180 2427 2534 2320 0 0 0 0 0 0 14.72 14.74 14.74

21135 -0.53 22.4 2031 2180 2535 2320 94.9 -0.2 552 21136 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2180 2427 2535 2320 0 0 0 0 0 0 14.72 14.73 14.73

21444 -0.54 18.3 2032 2180 2535 2320 94.8 0.2 563 21445 0.00 0.00 0.00 0.000 38 0.000 0.000 2032 2180 2427 2534 2320 0 0 0 0 0 0 14.71 14.73 14.73

21751 -0.54 10.1 2032 2180 2535 2320 94.3 0.5 574 21752 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2180 2427 2534 2320 0 0 0 0 0 0 14.72 14.74 14.74

22061 -0.55 0.2 2031 2181 2534 2320 92.7 0.6 585 22061 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2180 2427 2534 2320 0 0 0 0 0 0 14.71 14.73 14.73

22223 end loiter: LOITER_COMPLETE

state 22223 begin climb

22227 0.81 97.3 2032 2180 2535 2320 92.0 0.0 591 22256 1.62 2.65 16.17 0.388 10500 0.221 0.075 2450 3616 2346 2469 2224 0 0 0 0 0 0 13.47 14.04 13.67

22493 0.86 193.3 2450 3615 2470 2228 84.3 2.8 628 22563 0.00 2.53 64.72 0.391 9254 0.000 0.047 2460 2206 1950 2071 1830 0 0 0 0 0 0 14.16 14.07 13.86

22879 0.94 239.0 2460 2206 2070 1849 60.1 5.7 649 22914 0.12 2.65 29.52 0.306 10916 0.138 0.062 2522 784 1769 1870 1668 0 0 0 0 0 0 14.20 14.31 14.00

22983 1.00 248.1 2522 784 1870 1678 53.2 7.8 664 22994 0.00 2.65 7.40 0.262 9382 0.000 0.055 2522 2205 1727 1827 1627 0 0 0 0 0 0 14.03 13.97 13.93

23298 1.15 365.6 2522 2204 1829 1645 45.3 1.6 676 23382 0.12 2.65 78.30 0.267 10916 0.127 0.060 2584 783 1247 1325 1170 0 0 0 0 0 0 14.25 14.31 14.04

23504 1.24 365.6 2585 783 1327 1173 32.5 9.1 704 23509 0.00 2.58 0.00 0.000 1158 0.000 0.054 2584 2196 1248 1325 1172 0 0 0 0 0 0 14.19 14.07 14.23

23811 end climb: SURFACE_DEPTH_REACHED

state 23811 begin surface coast

23839 end surface coast: CONTROL_FINISHED_OK

state 23839 begin surface

ID	190	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	48	XPDR_INHIBIT	90
MISSION	9	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	50	INT_PRESSURE_SLOPE	0.0097660003
DIVE	742	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0.5	DEEPGLIDER	0
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.1	MOTHERBOARD	4
D_SURF	3	SM_CC	500	VBD_MIN	350	DEVICE1	134
D_FLARE	2	N_FILEKB	8	VBD_MAX	3900	DEVICE2	-1
D_TGT	450	FILEMGR	0	C_VBD	2740	DEVICE3	-1
D_ABORT	1015	CALL_NDIVES	1	VBD_DBAND	2	DEVICE4	-1
D_NO_BLEED	50	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE5	-1
D_BOOST	120	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE6	-1
T_BOOST	5	N_NOCOMM	2	VBD_TIMEOUT	720	LOGGERS	0
D_FINISH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.00060000003	LOGGERDEVICE1	54
D_PITCH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERDEVICE2	85
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE3	67
D_CALL	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CALL_WAIT	60	UNCOM_BLEED	50	COMPASS_DEVICE	97
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	150
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_DIVE	180	HEAPDBG	0	DBDW	0	GPS_DEVICE	32
T_MISSION	540	T_GPS	5	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_ABORT	1440	N_GPS	100440	PITCH_W_DBAND	0	XPDR_DEVICE	24
T_TURN	225	T_RSLEEP	2	CF8_MAXERRORS	20	SIM_W	0
T_TURN_SAMPINT	-7	STROBE	0	AH0_24V	350	SIM_PITCH	0
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	SEABIRD_T_G	0.0043932092
T_LOITER	18000	RAFOS_CORR_THRESH	60	MINV_24V	10	SEABIRD_T_H	0.00063312391
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_10V	10	SEABIRD_T_I	2.6030159e-05
USE_BATHY	0	PITCH_MIN	225	MAXI_24V	0.60000002	SEABIRD_T_J	3.2258831e-06
USE_ICE	0	PITCH_MAX	3920	MAXI_10V	0.80000001	SEABIRD_C_G	-9.8128548
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2200	FG_AHR_10V	0	SEABIRD_C_H	1.1245126
D_OFFGRID	1000	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_C_I	-0.00070758193
T_WATCHDOG	10	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00013654788
RELAUNCH	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-163.98293	SC_RECORDABOVE	2000.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PRESSURE_SLOPE	0.00010649362	SC_PROFILE	3.0
MAX_BUOY	100	PITCH_GAIN	26	AD7714Ch0Gain	1	SC_XMITPROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	30	TCM_PITCH_OFFSET	0	PM_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_AD_RATE	50	TCM_ROLL_OFFSET	0	PM_PROFILE	3.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	PM_XMITPROFILE	3.0
RHO	1.0275	PITCH_ADJ_GAIN	0.015	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITRAW	0.0
MASS	53220	PITCH_ADJ_DBAND	3	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	0.0
MASS_COMP	0	ROLL_MIN	231	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	0.0
NAV_MODE	2	ROLL_MAX	3841	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	1.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	0	TM_RECORDABOVE	200.0
KALMAN_USE	2	C_ROLL_DIVE	2280	ALTIM_PING_DEPTH	0	TM_PROFILE	1.0
HD_A	0.0040899999	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	0	TM_XMITPROFILE	3.0
HD_B	0.0102	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13	TM_LOGSAMPLE	0.0
HD_C	4.5000002e-06	ROLL_CNV	0.028270001	ALTIM_PULSE	3	TM_XMITRAW	0.0
HEADING	-1	ROLL_TIMEOUT	8	ALTIM_SENSITIVITY	2
ESCAPE_HEADING	0	R_PORT_OVSHOOT	65	XPDR_VALID	6

GPS1	290317,033933,950.7763,-12514.6279,32,0.8,33,9.2,0.5,11.3,10,8.3	SPEED_LIMITS	0.144,0.204
_CALLS	2	TGT_NAME	S
_XMS_NAKs	0	TGT_LATLONG	940.910,-12500.000
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.77	MHEAD_RNG_PITCHd_Wd	111.5,32526,-19.5,-8.333,-22.22,1796
_SM_ANGLEo	-57.0	D_GRID	450
GPS2	290317,034640,950.8033,-12514.7207,17,0.7,18,9.2,0.7,316.7,11,8.0

FINISH	-0.1,1.022100	_10V_AH	12.08,0.000
SM_CCo	23862,81.97,0.130,0,0,700,500.17	FG_AHR_24Vo	0.000
SM_GC	0.73,7.07,0.12,81.97,0.071,0.096,0.130,210,2311,700,-6.15,-0.71,500.17,0,0,0,0,0,0,14.15,14.35,14.17	FG_AHR_10Vo	0.000
IRIDIUM_FIX	945.12,-12513.69,280317,204017	MEM	334184
TT8_MAMPS	0.038199,0.294357	DATA_FILE_SIZE	33418,719
HUMID	59.05	CAP_FILE_SIZE	116993,0
INTERNAL_PRESSURE	9.11168	CFSIZE	260034560,170688512
TCM_TEMP	18.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	24	CURRENT	0.123,327.54,1
_24V_AH	12.80,283.463	GPS	290317,102729,951.840,-12515.251,52,0.7,54,9.2,0.5,288.6,11,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	387	94.39	SciConCT	3252	25	1040.95
Roll_motor	67	2021	1735.27	nil	0	0	0.00
VBD_pump_during_apogee	371	1380	6569.19	nil	0	0	0.00
VBD_pump_during_surface	81	130	136.46	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	0	0	0.00
Iridium_during_xfer	224	156	448.85	PMAR	0	0	0.00
Transponder_ping	6	420	32.26	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	22	5.20
TT8	0	0	0.00
LPSleep	19055	2	504.12
TT8_Active	532	10	69.30
TT8_Sampling	4264	28	1480.91
TT8_CF8	503	35	215.65
TT8_Kalman	0	0	0.00
Analog_circuits	1458	11	206.11
GPS_charging	0	0	0.00
Compass	3693	0	33.46
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
8	-0.81	-97.3	198	2241	745	655	0.0	0.0	0	100	0.00	0.00	-90.00	0.000	16386	0.000	0.000	196	2240	3027	3072	2982	0	0	0	0	0	0	14.59	28.83	14.60
104	-0.81	-97.3	196	2241	3075	2982	4.0	-5.5	3	129	8.60	2.67	-1.88	0.000	18948	0.387	2.022	1933	906	3141	3217	3066	0	0	0	0	0	0	13.86	12.80	14.14
192	-0.63	-97.3	1933	907	3225	3061	35.2	-27.1	15	197	0.32	2.45	0.00	0.000	3206	0.285	0.055	1995	2263	3142	3225	3060	0	0	0	0	0	0	13.62	14.10	13.97
531	-0.63	-97.3	1995	2264	3232	3059	75.9	-8.6	30	536	0.00	2.55	0.00	0.000	260	0.000	0.072	1985	3699	3144	3231	3058	0	0	0	0	0	0	14.73	14.02	14.74
594	-0.63	-97.3	1985	3699	3232	3058	82.2	-9.7	39	599	0.00	2.38	0.00	0.000	1030	0.000	0.037	1984	2295	3145	3232	3058	0	0	0	0	0	0	14.26	14.19	14.30
955	-0.63	-97.3	1985	2296	3234	3058	117.1	-9.9	51	960	0.00	2.58	0.00	0.000	516	0.000	0.053	1985	876	3145	3232	3058	0	0	0	0	0	0	14.76	14.01	14.78
995	-0.63	-97.3	1985	877	3233	3058	121.5	-9.8	57	1000	0.00	2.58	0.00	0.000	1030	0.000	0.054	1984	2294	3144	3232	3057	0	0	0	0	0	0	14.15	14.02	14.19
1352	-0.63	-97.3	1985	2295	3233	3057	154.7	-9.5	65	1356	0.00	2.53	0.00	0.000	260	0.000	0.072	1975	3702	3144	3232	3056	0	0	0	0	0	0	14.75	13.95	14.76
1455	-0.63	-97.3	1976	3702	3233	3056	166.1	-10.5	80	1466	0.00	2.47	0.00	0.000	1030	0.000	0.038	1975	2290	3143	3232	3055	0	0	0	0	0	0	14.01	13.97	14.04
1803	-0.63	-97.3	1975	2291	3233	3054	202.7	-10.7	87	1808	0.00	2.55	0.00	0.000	516	0.000	0.054	1975	876	3142	3232	3053	0	0	0	0	0	0	14.76	13.97	14.78
1908	-0.63	-97.3	1976	875	3233	3053	214.2	-10.4	102	1919	0.00	2.65	0.00	0.000	1030	0.000	0.056	1973	2295	3142	3232	3053	0	0	0	0	0	0	13.91	13.85	13.97
2255	-0.63	-97.3	1973	2295	3234	3051	252.3	-11.3	109	2260	0.00	2.58	0.00	0.000	260	0.000	0.079	1971	3699	3141	3232	3050	0	0	0	0	0	0	14.76	13.89	14.78
2358	-0.63	-97.3	1971	3699	3233	3049	264.5	-11.1	124	2369	0.00	2.50	0.00	0.000	1030	0.000	0.040	1971	2283	3140	3232	3048	0	0	0	0	0	0	13.99	13.95	14.02
2707	-0.63	-97.3	1972	2284	3233	3046	302.6	-11.1	131	2712	0.00	2.55	0.00	0.000	516	0.000	0.053	1971	875	3138	3231	3045	0	0	0	0	0	0	14.74	13.97	14.76
2810	-0.63	-97.3	1971	875	3233	3044	314.7	-10.6	146	2823	0.00	2.65	0.00	0.000	1030	0.000	0.057	1971	2285	3138	3232	3044	0	0	0	0	0	0	13.88	13.82	13.94
3159	-0.63	-97.3	1971	2285	3233	3039	353.2	-11.4	153	3164	0.00	2.60	0.00	0.000	260	0.000	0.079	1963	3702	3135	3232	3039	0	0	0	0	0	0	14.76	13.88	14.77
3256	-0.63	-97.3	1963	3703	3233	3038	364.7	-11.3	167	3261	0.15	2.47	0.00	0.000	3078	0.227	0.041	1997	2270	3135	3232	3038	0	0	0	0	0	0	13.62	14.10	13.85
3611	-0.63	-97.3	1998	2271	3232	3036	399.9	-10.0	175	3615	0.00	2.53	0.00	0.000	516	0.000	0.056	1997	880	3133	3232	3035	0	0	0	0	0	0	14.76	13.92	14.79
3670	-0.67	-97.3	1996	881	3232	3035	406.0	-10.3	183	3675	0.00	2.62	0.00	0.000	1158	0.000	0.057	1997	2299	3133	3232	3035	0	0	0	0	0	0	14.08	13.95	14.14
4010	-0.67	-97.3	1997	2300	3232	3033	440.3	-10.1	196	4015	0.00	2.58	0.00	0.000	260	0.000	0.078	1988	3702	3131	3231	3032	0	0	0	0	0	0	14.74	13.85	14.76
4095	end dive: TARGET_DEPTH_EXCEEDED
state	4095	begin apogee
4106	-0.19	0.0	1989	2191	3230	3033	450.3	-10.7	209	4217	0.55	0.00	102.62	1.381	10244	0.205	0.000	2133	2180	2730	2851	2610	0	0	0	0	0	0	13.62	13.68	13.15
4218	end apogee: CONTROL_FINISHED_OK
state	4218	begin loiter
4327	-0.15	67.3	2133	2180	2841	2607	460.5	-3.9	226	4405	0.00	0.00	72.93	1.363	9254	0.000	0.000	2133	2180	2458	2586	2330	0	0	0	0	0	0	14.41	14.40	13.05
4731	-0.33	67.3	2134	2180	2565	2326	458.6	1.7	248	4732	0.15	0.00	0.00	0.000	4230	0.115	0.000	2070	2180	2445	2565	2325	0	0	0	0	0	0	14.18	14.27	14.25
5065	-0.40	67.3	2070	2180	2560	2324	450.9	2.4	254	5065	0.00	0.00	0.00	0.000	134	0.000	0.000	2070	2180	2441	2559	2324	0	0	0	0	0	0	14.67	14.69	14.69
5399	-0.48	67.3	2070	2180	2557	2324	442.4	2.5	260	5400	0.00	0.00	0.00	0.000	134	0.000	0.000	2070	2180	2439	2556	2323	0	0	0	0	0	0	14.70	14.72	14.72
5735	-0.55	67.3	2070	2181	2555	2323	434.7	2.2	266	5736	0.17	0.00	0.00	0.000	4230	0.111	0.000	1999	2180	2438	2554	2322	0	0	0	0	0	0	14.19	14.27	14.25
6072	-0.55	67.3	2000	2181	2549	2323	427.6	2.0	272	6073	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2435	2549	2322	0	0	0	0	0	0	14.71	14.73	14.73
6407	-0.55	67.3	1999	2180	2548	2323	420.4	2.2	278	6408	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2180	2435	2547	2323	0	0	0	0	0	0	14.73	14.75	14.75
6743	-0.55	67.3	2000	2180	2545	2322	409.8	3.3	284	6744	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2432	2544	2321	0	0	0	0	0	0	14.73	14.76	14.75
7079	-0.55	67.3	2000	2180	2544	2322	397.4	3.7	290	7080	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2432	2543	2321	0	0	0	0	0	0	14.73	14.76	14.76
7416	-0.55	67.3	1999	2180	2543	2322	386.9	3.0	296	7417	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2432	2542	2322	0	0	0	0	0	0	14.72	14.74	14.74
7751	-0.55	67.3	2000	2180	2542	2321	378.8	2.3	302	7752	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2431	2541	2321	0	0	0	0	0	0	14.73	14.76	14.76
8087	-0.55	67.3	2000	2180	2541	2321	371.2	2.3	308	8088	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2430	2540	2321	0	0	0	0	0	0	14.73	14.76	14.75
8423	-0.55	67.3	2000	2180	2540	2321	361.9	2.8	314	8424	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2429	2539	2320	0	0	0	0	0	0	14.73	14.76	14.78
8760	-0.55	67.3	2000	2180	2539	2321	351.4	3.1	320	8761	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2430	2539	2321	0	0	0	0	0	0	14.73	14.74	14.74
9095	-0.55	67.3	1999	2180	2539	2321	343.2	2.2	326	9096	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2429	2538	2320	0	0	0	0	0	0	14.73	14.76	14.75
9431	-0.55	67.3	2000	2180	2539	2320	337.5	1.7	332	9432	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2429	2538	2320	0	0	0	0	0	0	14.73	14.76	14.76
9767	-0.55	67.3	2000	2180	2538	2320	332.1	1.6	338	9768	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2428	2537	2319	0	0	0	0	0	0	14.73	14.76	14.76
10104	-0.55	67.3	2000	2180	2537	2320	325.3	2.3	344	10105	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2428	2536	2320	0	0	0	0	0	0	14.72	14.74	14.74
10439	-0.55	67.3	2000	2180	2536	2320	315.1	3.1	350	10440	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2427	2536	2319	0	0	0	0	0	0	14.73	14.75	14.76
10775	-0.55	67.3	2000	2180	2537	2320	303.9	3.4	356	10776	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2428	2536	2320	0	0	0	0	0	0	14.73	14.76	14.75
11111	-0.55	67.3	2000	2180	2537	2320	293.3	3.0	362	11112	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2428	2536	2320	0	0	0	0	0	0	14.73	14.76	14.75
11448	-0.55	67.3	2000	2180	2536	2320	283.3	3.0	368	11449	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2427	2535	2319	0	0	0	0	0	0	14.72	14.74	14.74
11783	-0.55	67.3	2000	2181	2536	2320	273.6	2.7	374	11784	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2427	2535	2320	0	0	0	0	0	0	14.73	14.75	14.75
12119	-0.55	67.3	2000	2180	2536	2320	265.2	2.4	380	12120	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2427	2535	2320	0	0	0	0	0	0	14.73	14.75	14.73
12455	-0.55	67.3	1999	2180	2535	2320	258.1	2.0	386	12456	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2179	2427	2534	2320	0	0	0	0	0	0	14.73	14.76	14.75
12792	-0.55	67.3	2000	2179	2535	2320	249.8	2.8	392	12793	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2427	2534	2320	0	0	0	0	0	0	14.72	14.74	14.74
13127	-0.55	67.3	2000	2180	2535	2321	240.6	2.5	398	13128	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2180	2427	2535	2320	0	0	0	0	0	0	14.73	14.73	14.75
13463	-0.55	67.3	2000	2180	2535	2320	236.0	1.4	404	13464	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2426	2534	2319	0	0	0	0	0	0	14.73	14.76	14.75
13800	-0.55	67.3	1999	2180	2535	2320	226.4	3.1	410	13801	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2426	2534	2319	0	0	0	0	0	0	14.72	14.74	14.74
14135	-0.55	67.3	1999	2180	2535	2319	216.8	2.9	416	14136	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2427	2534	2320	0	0	0	0	0	0	14.73	14.75	14.75
14471	-0.55	67.3	2000	2180	2535	2320	206.7	3.1	422	14472	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2427	2534	2320	0	0	0	0	0	0	14.73	14.75	14.75
14807	-0.55	67.3	2001	2180	2535	2319	198.0	2.4	428	14808	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2180	2427	2534	2320	0	0	0	0	0	0	14.73	14.75	14.75
15144	-0.55	67.3	1999	2180	2535	2320	192.2	1.7	434	15145	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2426	2533	2320	0	0	0	0	0	0	14.73	14.74	14.74
15479	-0.55	67.3	2000	2180	2535	2320	185.7	2.0	440	15480	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2180	2427	2534	2320	0	0	0	0	0	0	14.73	14.76	14.76
15815	-0.55	67.3	2000	2180	2535	2320	180.5	1.3	446	15816	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2180	2427	2534	2320	0	0	0	0	0	0	14.73	14.76	14.76
16151	-0.51	67.3	2000	2180	2535	2319	175.0	1.8	452	16152	0.15	0.00	0.00	0.000	2182	0.261	0.000	2031	2180	2426	2534	2319	0	0	0	0	0	0	13.62	13.91	13.83
16488	-0.51	67.3	2032	2181	2535	2320	163.5	3.8	458	16489	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2180	2427	2534	2320	0	0	0	0	0	0	14.73	14.74	14.74
16823	-0.51	67.3	2032	2180	2535	2320	152.5	3.1	464	16824	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2180	2426	2534	2319	0	0	0	0	0	0	14.73	14.76	14.75
17159	-0.51	67.3	2032	2180	2535	2320	144.7	2.1	470	17160	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2180	2426	2534	2319	0	0	0	0	0	0	14.73	14.76	14.76
17495	-0.51	54.0	2032	2180	2536	2320	141.2	0.8	476	17496	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2180	2427	2534	2320	0	0	0	0	0	0	14.73	14.76	14.76
17832	-0.51	54.0	2032	2180	2535	2320	136.8	1.6	482	17833	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2180	2427	2534	2320	0	0	0	0	0	0	14.72	14.74	14.74
18167	-0.51	54.0	2032	2180	2535	2320	130.7	1.9	488	18168	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2180	2427	2534	2320	0	0	0	0	0	0	14.73	14.76	14.76
18503	-0.51	54.0	2032	2180	2535	2320	122.1	2.5	494	18504	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2180	2427	2534	2320	0	0	0	0	0	0	14.73	14.76	14.76
18839	-0.51	54.0	2032	2180	2533	2320	117.3	1.1	500	18840	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2180	2427	2534	2320	0	0	0	0	0	0	14.73	14.76	14.77
19176	-0.51	54.0	2031	2180	2535	2320	114.2	1.0	506	19177	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2180	2427	2534	2320	0	0	0	0	0	0	14.73	14.74	14.74
19511	-0.51	54.0	2031	2180	2536	2319	108.6	1.9	512	19512	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2180	2427	2534	2320	0	0	0	0	0	0	14.74	14.76	14.76
19847	-0.51	54.0	2032	2180	2534	2320	103.7	1.4	518	19848	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2180	2427	2534	2320	0	0	0	0	0	0	14.73	14.76	14.76
20184	-0.52	47.7	2032	2180	2535	2320	101.8	0.4	524	20185	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2179	2427	2534	2320	0	0	0	0	0	0	14.75	14.74	14.74
20519	-0.53	35.5	2032	2180	2535	2320	99.6	0.7	530	20520	0.00	0.00	0.00	0.000	38	0.000	0.000	2032	2180	2427	2534	2320	0	0	0	0	0	0	14.73	14.76	14.76
20827	-0.54	18.4	2032	2180	2535	2320	96.8	1.0	541	20828	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2180	2427	2534	2320	0	0	0	0	0	0	14.72	14.74	14.74
21135	-0.53	22.4	2031	2180	2535	2320	94.9	-0.2	552	21136	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2180	2427	2535	2320	0	0	0	0	0	0	14.72	14.73	14.73
21444	-0.54	18.3	2032	2180	2535	2320	94.8	0.2	563	21445	0.00	0.00	0.00	0.000	38	0.000	0.000	2032	2180	2427	2534	2320	0	0	0	0	0	0	14.71	14.73	14.73
21751	-0.54	10.1	2032	2180	2535	2320	94.3	0.5	574	21752	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2180	2427	2534	2320	0	0	0	0	0	0	14.72	14.74	14.74
22061	-0.55	0.2	2031	2181	2534	2320	92.7	0.6	585	22061	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2180	2427	2534	2320	0	0	0	0	0	0	14.71	14.73	14.73
22223	end loiter: LOITER_COMPLETE
state	22223	begin climb
22227	0.81	97.3	2032	2180	2535	2320	92.0	0.0	591	22256	1.62	2.65	16.17	0.388	10500	0.221	0.075	2450	3616	2346	2469	2224	0	0	0	0	0	0	13.47	14.04	13.67
22493	0.86	193.3	2450	3615	2470	2228	84.3	2.8	628	22563	0.00	2.53	64.72	0.391	9254	0.000	0.047	2460	2206	1950	2071	1830	0	0	0	0	0	0	14.16	14.07	13.86
22879	0.94	239.0	2460	2206	2070	1849	60.1	5.7	649	22914	0.12	2.65	29.52	0.306	10916	0.138	0.062	2522	784	1769	1870	1668	0	0	0	0	0	0	14.20	14.31	14.00
22983	1.00	248.1	2522	784	1870	1678	53.2	7.8	664	22994	0.00	2.65	7.40	0.262	9382	0.000	0.055	2522	2205	1727	1827	1627	0	0	0	0	0	0	14.03	13.97	13.93
23298	1.15	365.6	2522	2204	1829	1645	45.3	1.6	676	23382	0.12	2.65	78.30	0.267	10916	0.127	0.060	2584	783	1247	1325	1170	0	0	0	0	0	0	14.25	14.31	14.04
23504	1.24	365.6	2585	783	1327	1173	32.5	9.1	704	23509	0.00	2.58	0.00	0.000	1158	0.000	0.054	2584	2196	1248	1325	1172	0	0	0	0	0	0	14.19	14.07	14.23
23811	end climb: SURFACE_DEPTH_REACHED
state	23811	begin surface coast
23839	end surface coast: CONTROL_FINISHED_OK
state	23839	begin surface