Glider dive log

SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 743 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 190 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 52 XPDR_INHIBIT 90

MISSION 9 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 50 INT_PRESSURE_SLOPE 0.0097660003

DIVE 743 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 36 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 36 VBD_CNV -0.24529999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 52 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 3.0 VBD_LP_IGNORE 0

DIVE 743 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 290317,102729,951.8397,-12515.2510,52,0.7,54,9.2,0.5,288.6,11,9.7 SPEED_LIMITS 0.144,0.204

_CALLS 1 TGT_NAME S

_XMS_NAKs 0 TGT_LATLONG 940.910,-12500.000

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.74 MHEAD_RNG_PITCHd_Wd 129.6,34581,-19.5,-8.333,-22.22,1796

_SM_ANGLEo -60.1 D_GRID 450

GPS2 290317,103258,951.8853,-12515.3242,15,0.7,16,9.2,0.7,21.5,11,9.9

Post-dive calculations and measurements:

FINISH 0.3,1.022100 _10V_AH 12.18,0.000

SM_CCo 23931,72.03,0.132,0,0,698,500.17 FG_AHR_24Vo 0.000

SM_GC 0.85,6.97,2.75,72.03,0.067,0.050,0.132,209,2285,698,-6.15,-0.68,500.17,0,0,0,0,0,0,14.14,14.00,14.16 FG_AHR_10Vo 0.000

IRIDIUM_FIX 947.31,-12513.69,290317,034329 MEM 334208

TT8_MAMPS 0.038948,0.294357 DATA_FILE_SIZE 33440,753

HUMID 59.84 CAP_FILE_SIZE 117270,0

INTERNAL_PRESSURE 9.09215 CFSIZE 260034560,170635264

TCM_TEMP 21.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 27 CURRENT 0.066,334.29,1

_24V_AH 12.71,283.647 GPS 290317,171433,952.283,-12515.494,37,0.8,37,9.2,0.0,0.0,10,8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 399 97.32 SciConCT 3259 25 1035.86

Roll_motor 67 2009 1711.36 nil 0 0 0.00

VBD_pump_during_apogee 382 1401 6818.74 nil 0 0 0.00

VBD_pump_during_surface 72 131 120.45 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 195 152 378.95 PMAR 0 0 0.00

Transponder_ping 6 420 36.03 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 22 5.71

TT8 0 0 0.00

LPSleep 18971 2 506.04

TT8_Active 551 10 72.36

TT8_Sampling 4296 28 1504.49

TT8_CF8 504 35 217.87

TT8_Kalman 0 0 0.00

Analog_circuits 1457 11 207.63

GPS_charging 0 0 0.00

Compass 3739 0 34.16

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

3 end surface: CONTROL_FINISHED_OK

state 3 begin dive

8 -0.81 -97.3 195 2316 745 654 0.0 0.0 0 98 0.00 0.00 -89.12 0.000 16386 0.000 0.000 193 2317 2973 3017 2929 0 0 0 0 0 0 14.57 28.83 14.59

103 -0.81 -97.3 194 2317 3019 2930 3.8 -5.3 3 128 8.82 2.90 -2.80 0.000 18948 0.399 2.010 1933 866 3142 3219 3065 0 0 0 0 0 0 13.88 12.71 14.15

222 -0.64 -97.3 1933 866 3227 3060 44.5 -26.6 19 227 0.30 2.50 0.00 0.000 3206 0.298 0.050 1987 2262 3142 3226 3059 0 0 0 0 0 0 13.56 14.09 13.93

562 -0.64 -97.3 1987 2264 3232 3059 84.8 -8.4 34 566 0.00 2.58 0.00 0.000 260 0.000 0.074 1977 3702 3145 3232 3058 0 0 0 0 0 0 14.73 14.00 14.78

715 -0.64 -97.3 1977 3703 3233 3058 99.5 -10.1 56 720 0.00 2.45 0.00 0.000 1030 0.000 0.038 1977 2263 3144 3232 3057 0 0 0 0 0 0 14.23 14.16 14.27

1072 -0.64 -97.3 1978 2263 3234 3058 135.1 -9.9 64 1077 0.00 2.47 0.00 0.000 516 0.000 0.053 1977 889 3145 3233 3057 0 0 0 0 0 0 14.75 14.00 14.77

1131 -0.64 -97.3 1977 889 3235 3057 141.0 -9.5 72 1136 0.00 2.55 0.00 0.000 1030 0.000 0.054 1972 2290 3145 3233 3057 0 0 0 0 0 0 14.13 14.01 14.18

1471 -0.64 -97.3 1972 2291 3234 3055 176.3 -10.7 85 1477 0.00 2.58 0.00 0.000 260 0.000 0.078 1967 3702 3144 3233 3055 0 0 0 0 0 0 14.75 13.92 14.76

1561 -0.64 -97.3 1968 3702 3234 3055 187.5 -11.4 98 1566 0.00 2.45 0.00 0.000 1030 0.000 0.039 1967 2275 3143 3233 3054 0 0 0 0 0 0 14.19 14.12 14.22

1923 -0.64 -97.3 1968 2276 3234 3053 228.2 -11.4 107 1928 0.00 2.53 0.00 0.000 516 0.000 0.052 1967 886 3142 3233 3052 0 0 0 0 0 0 14.76 14.00 14.78

1992 -0.64 -97.3 1967 885 3233 3053 236.6 -11.4 117 1998 0.15 2.58 0.00 0.000 3078 0.244 0.055 1993 2297 3142 3233 3051 0 0 0 0 0 0 13.62 13.97 13.87

2319 -0.64 -97.3 1992 2298 3234 3048 269.3 -10.1 128 2323 0.00 2.55 0.00 0.000 260 0.000 0.075 1985 3701 3140 3233 3048 0 0 0 0 0 0 14.76 13.88 14.78

2443 -0.64 -97.3 1985 3701 3234 3047 282.3 -10.0 146 2448 0.00 2.47 0.00 0.000 1030 0.000 0.041 1985 2275 3140 3233 3047 0 0 0 0 0 0 14.12 14.00 14.16

2771 -0.64 -97.3 1985 2276 3234 3044 314.8 -10.1 157 2777 0.00 2.53 0.00 0.000 516 0.000 0.054 1985 880 3138 3233 3044 0 0 0 0 0 0 14.75 13.94 14.77

2831 -0.64 -97.3 1985 881 3234 3044 321.0 -10.1 165 2837 0.00 2.60 0.00 0.000 1030 0.000 0.057 1985 2292 3138 3233 3043 0 0 0 0 0 0 14.09 13.96 14.14

3171 -0.64 -97.3 1985 2292 3233 3039 355.3 -10.2 178 3175 0.00 2.58 0.00 0.000 260 0.000 0.080 1980 3699 3135 3233 3038 0 0 0 0 0 0 14.76 13.86 14.78

3275 -0.64 -97.3 1981 3700 3233 3038 366.4 -10.2 193 3287 0.00 2.50 0.00 0.000 1030 0.000 0.041 1980 2290 3135 3233 3038 0 0 0 0 0 0 13.97 13.93 14.00

3622 -0.64 -97.3 1981 2291 3233 3036 402.4 -10.5 200 3627 0.00 2.60 0.00 0.000 516 0.000 0.057 1981 873 3133 3232 3035 0 0 0 0 0 0 14.76 13.91 14.76

3705 -0.64 -97.3 1980 874 3232 3035 411.4 -10.1 212 3710 0.00 2.60 0.00 0.000 1030 0.000 0.057 1973 2285 3133 3232 3034 0 0 0 0 0 0 14.06 13.93 14.12

4074 -0.64 -97.3 1973 2285 3231 3033 449.9 -10.6 222 4079 0.00 2.60 0.00 0.000 260 0.000 0.083 1971 3695 3131 3230 3033 0 0 0 0 0 0 14.76 13.83 14.77

4081 end dive: TARGET_DEPTH_EXCEEDED

state 4081 begin apogee

4092 -0.19 0.0 1973 2199 3232 3033 451.6 -10.6 224 4203 0.62 0.00 100.45 1.401 10244 0.210 0.000 2135 2189 2731 2852 2611 0 0 0 0 0 0 13.64 13.66 13.12

4204 end apogee: CONTROL_FINISHED_OK

state 4204 begin loiter

4441 -0.15 67.9 2136 2189 2840 2610 464.1 -3.9 259 4518 0.00 0.00 73.72 1.378 9254 0.000 0.000 2135 2188 2459 2588 2331 0 0 0 0 0 0 14.57 14.57 13.14

4837 -0.33 67.9 2136 2189 2568 2328 460.4 1.9 279 4838 0.15 0.00 0.00 0.000 4230 0.114 0.000 2070 2188 2446 2566 2327 0 0 0 0 0 0 14.19 14.28 14.26

5168 -0.41 67.9 2071 2189 2561 2326 454.3 1.9 285 5169 0.00 0.00 0.00 0.000 134 0.000 0.000 2070 2188 2442 2560 2325 0 0 0 0 0 0 14.69 14.71 14.71

5504 -0.48 67.9 2071 2189 2559 2325 446.6 2.4 291 5505 0.00 0.00 0.00 0.000 134 0.000 0.000 2070 2189 2441 2558 2324 0 0 0 0 0 0 14.70 14.72 14.72

5840 -0.57 67.9 2071 2189 2556 2324 436.8 3.0 297 5841 0.17 0.00 0.00 0.000 4230 0.110 0.000 1999 2189 2439 2555 2324 0 0 0 0 0 0 14.19 14.26 14.24

6177 -0.57 67.9 2000 2189 2551 2324 423.7 4.1 303 6178 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2437 2551 2323 0 0 0 0 0 0 14.71 14.73 14.73

6512 -0.57 67.9 1999 2189 2549 2323 410.6 3.8 309 6513 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2435 2548 2323 0 0 0 0 0 0 14.73 14.75 14.74

6848 -0.57 67.9 2000 2189 2547 2324 400.6 2.9 315 6849 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2189 2434 2546 2323 0 0 0 0 0 0 14.73 14.75 14.75

7184 -0.57 67.9 1999 2189 2545 2323 391.3 2.7 321 7185 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2189 2433 2544 2322 0 0 0 0 0 0 14.73 14.76 14.75

7521 -0.57 67.9 1999 2189 2544 2323 382.1 2.8 327 7522 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2433 2543 2323 0 0 0 0 0 0 14.72 14.74 14.74

7856 -0.57 67.9 1999 2189 2543 2323 372.5 2.9 333 7857 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2189 2432 2542 2323 0 0 0 0 0 0 14.73 14.75 14.75

8192 -0.57 67.9 2000 2189 2542 2323 362.4 3.0 339 8193 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2432 2541 2323 0 0 0 0 0 0 14.73 14.76 14.75

8528 -0.57 67.9 1999 2189 2542 2322 351.5 3.2 345 8529 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2189 2431 2541 2322 0 0 0 0 0 0 14.73 14.76 14.76

8865 -0.57 67.9 2000 2189 2540 2322 342.5 2.6 351 8866 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2189 2431 2540 2322 0 0 0 0 0 0 14.72 14.74 14.73

9200 -0.57 67.9 1999 2189 2540 2322 333.3 2.8 357 9201 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2430 2539 2322 0 0 0 0 0 0 14.73 14.76 14.76

9536 -0.57 67.9 1999 2189 2539 2322 325.2 2.3 363 9537 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2189 2429 2538 2321 0 0 0 0 0 0 14.73 14.75 14.75

9873 -0.57 67.9 1999 2189 2539 2322 320.2 1.3 369 9874 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2430 2538 2322 0 0 0 0 0 0 14.72 14.74 14.74

10208 -0.57 67.9 1999 2188 2538 2322 316.7 1.0 375 10209 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2429 2537 2322 0 0 0 0 0 0 14.73 14.75 14.75

10544 -0.57 67.9 1999 2189 2537 2322 312.2 1.5 381 10545 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2429 2537 2321 0 0 0 0 0 0 14.73 14.76 14.75

10880 -0.57 67.9 1999 2189 2537 2322 304.3 2.5 387 10881 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2188 2429 2536 2322 0 0 0 0 0 0 14.73 14.75 14.75

11217 -0.57 67.9 2000 2189 2537 2322 294.7 2.9 393 11218 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2429 2536 2322 0 0 0 0 0 0 14.72 14.74 14.74

11552 -0.57 67.9 2000 2189 2537 2322 287.6 2.0 399 11553 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2429 2536 2322 0 0 0 0 0 0 14.73 14.75 14.75

11888 -0.57 67.9 1999 2189 2537 2322 280.7 2.2 405 11889 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2189 2428 2536 2321 0 0 0 0 0 0 14.73 14.75 14.75

12224 -0.57 67.9 2000 2189 2537 2323 270.6 3.3 411 12225 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2429 2536 2322 0 0 0 0 0 0 14.73 14.75 14.75

12561 -0.57 67.9 2000 2189 2536 2322 260.6 2.8 417 12562 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2428 2535 2322 0 0 0 0 0 0 14.72 14.73 14.73

12896 -0.57 67.9 1999 2189 2536 2322 251.4 2.6 423 12897 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2428 2535 2322 0 0 0 0 0 0 14.73 14.75 14.75

13232 -0.57 67.9 2000 2188 2536 2322 244.4 2.1 429 13233 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2428 2535 2322 0 0 0 0 0 0 14.73 14.75 14.75

13568 -0.57 67.9 1999 2189 2535 2322 237.0 2.3 435 13569 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2189 2428 2535 2322 0 0 0 0 0 0 14.73 14.75 14.75

13905 -0.57 67.9 2000 2189 2536 2322 229.7 2.2 441 13906 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2428 2535 2322 0 0 0 0 0 0 14.71 14.73 14.73

14240 -0.57 67.9 2000 2189 2536 2322 221.0 2.8 447 14241 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2428 2535 2322 0 0 0 0 0 0 14.73 14.75 14.75

14576 -0.57 67.9 2000 2189 2536 2322 212.3 2.5 453 14577 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2428 2535 2321 0 0 0 0 0 0 14.73 14.75 14.75

14912 -0.57 67.9 1999 2189 2536 2321 203.3 2.6 459 14913 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2428 2535 2322 0 0 0 0 0 0 14.73 14.75 14.75

15249 -0.57 67.9 2000 2189 2535 2322 194.2 2.8 465 15250 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2428 2535 2322 0 0 0 0 0 0 14.72 14.73 14.73

15584 -0.57 67.9 2000 2189 2536 2322 186.7 2.1 471 15585 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2428 2535 2322 0 0 0 0 0 0 14.73 14.75 14.75

15920 -0.57 67.9 2000 2189 2536 2322 182.5 1.0 477 15921 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2428 2535 2322 0 0 0 0 0 0 14.73 14.75 14.75

16256 -0.57 67.9 2000 2188 2536 2322 177.5 1.8 483 16257 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2428 2535 2322 0 0 0 0 0 0 14.73 14.75 14.75

16593 -0.57 67.9 1999 2189 2536 2322 169.3 2.5 489 16594 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2428 2535 2322 0 0 0 0 0 0 14.72 14.74 14.73

16928 -0.57 67.9 1999 2189 2535 2322 160.7 2.6 495 16929 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2188 2428 2535 2322 0 0 0 0 0 0 14.73 14.75 14.77

17264 -0.52 67.9 2000 2189 2536 2322 153.1 2.0 501 17265 0.12 0.00 0.00 0.000 2182 0.267 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 13.77 13.97 13.91

17601 -0.52 67.9 2026 2188 2536 2322 147.1 1.8 507 17602 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.72 14.74 14.73

17936 -0.52 67.9 2026 2189 2536 2322 141.7 1.7 513 17937 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.73 14.75 14.75

18272 -0.52 67.9 2026 2189 2536 2322 137.8 1.2 519 18273 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.73 14.75 14.75

18608 -0.52 67.9 2026 2189 2536 2322 128.5 3.1 525 18609 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.73 14.75 14.75

18945 -0.52 67.9 2026 2189 2536 2322 119.6 2.4 531 18946 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.72 14.74 14.74

19280 -0.53 55.1 2025 2189 2536 2322 116.9 0.7 537 19281 0.00 0.00 0.00 0.000 38 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.73 14.75 14.75

19616 -0.53 55.1 2025 2189 2536 2322 109.4 2.7 543 19617 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.73 14.75 14.75

19952 -0.53 55.1 2025 2189 2536 2322 104.1 1.2 549 19953 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.73 14.78 14.74

20289 -0.53 55.1 2026 2189 2536 2322 99.5 1.5 555 20290 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.72 14.74 14.73

20596 -0.54 43.5 2025 2189 2536 2322 97.6 0.7 566 20597 0.00 0.00 0.00 0.000 38 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.71 14.73 14.73

20904 -0.54 31.0 2025 2189 2536 2322 95.2 0.7 577 20905 0.00 0.00 0.00 0.000 38 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.71 14.73 14.73

21213 -0.54 34.4 2026 2188 2536 2322 96.0 -0.2 588 21214 0.00 0.00 0.00 0.000 38 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.69 14.71 14.71

21520 -0.54 33.0 2025 2189 2536 2322 96.2 0.1 599 21521 0.00 0.00 0.00 0.000 38 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.72 14.73 14.73

21828 -0.53 57.6 2026 2189 2536 2322 100.0 -1.4 610 21830 0.00 0.00 0.00 0.000 38 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.71 14.73 14.73

22137 -0.53 57.6 2026 2189 2535 2322 98.6 1.1 616 22138 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2188 2428 2535 2322 0 0 0 0 0 0 14.71 14.73 14.73

22216 end loiter: LOITER_COMPLETE

state 22216 begin climb

22220 0.81 97.3 2025 2189 2536 2322 97.0 0.0 619 22249 1.65 2.65 16.45 0.404 10500 0.223 0.074 2449 3622 2345 2468 2223 0 0 0 0 0 0 13.46 14.02 13.66

22485 0.81 184.4 2449 3622 2468 2228 86.3 3.4 656 22552 0.00 2.55 58.90 0.399 9382 0.000 0.047 2458 2201 1991 2111 1871 0 0 0 0 0 0 14.13 14.05 13.85

22877 0.86 253.0 2459 2201 2112 1874 65.7 4.4 678 22929 0.00 0.00 44.53 0.329 8230 0.000 0.000 2459 2200 1716 1811 1621 0 0 0 0 0 0 14.68 14.15 13.93

23239 1.03 329.7 2459 2201 1809 1622 49.7 3.9 691 23298 0.20 2.65 51.20 0.280 10660 0.099 0.074 2552 3621 1395 1491 1300 0 0 0 0 0 0 14.14 14.26 14.02

23384 1.11 368.8 2552 3621 1493 1306 42.0 6.1 711 23418 0.00 2.55 26.92 0.253 9382 0.000 0.050 2560 2187 1234 1312 1157 0 0 0 0 0 0 14.19 14.09 13.99

23752 1.20 385.3 2561 2188 1313 1158 15.2 7.4 730 23776 0.00 2.60 10.62 0.170 8868 0.000 0.064 2569 794 1168 1243 1094 0 0 0 0 0 0 14.66 14.17 14.09

23878 end climb: SURFACE_DEPTH_REACHED

state 23882 begin surface coast

23907 end surface coast: CONTROL_FINISHED_OK

state 23907 begin surface

ID	190	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	52	XPDR_INHIBIT	90
MISSION	9	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	50	INT_PRESSURE_SLOPE	0.0097660003
DIVE	743	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	36	XPDR_VALID	6

GPS1	290317,102729,951.8397,-12515.2510,52,0.7,54,9.2,0.5,288.6,11,9.7	SPEED_LIMITS	0.144,0.204
_CALLS	1	TGT_NAME	S
_XMS_NAKs	0	TGT_LATLONG	940.910,-12500.000
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.74	MHEAD_RNG_PITCHd_Wd	129.6,34581,-19.5,-8.333,-22.22,1796
_SM_ANGLEo	-60.1	D_GRID	450
GPS2	290317,103258,951.8853,-12515.3242,15,0.7,16,9.2,0.7,21.5,11,9.9

FINISH	0.3,1.022100	_10V_AH	12.18,0.000
SM_CCo	23931,72.03,0.132,0,0,698,500.17	FG_AHR_24Vo	0.000
SM_GC	0.85,6.97,2.75,72.03,0.067,0.050,0.132,209,2285,698,-6.15,-0.68,500.17,0,0,0,0,0,0,14.14,14.00,14.16	FG_AHR_10Vo	0.000
IRIDIUM_FIX	947.31,-12513.69,290317,034329	MEM	334208
TT8_MAMPS	0.038948,0.294357	DATA_FILE_SIZE	33440,753
HUMID	59.84	CAP_FILE_SIZE	117270,0
INTERNAL_PRESSURE	9.09215	CFSIZE	260034560,170635264
TCM_TEMP	21.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	27	CURRENT	0.066,334.29,1
_24V_AH	12.71,283.647	GPS	290317,171433,952.283,-12515.494,37,0.8,37,9.2,0.0,0.0,10,8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	399	97.32	SciConCT	3259	25	1035.86
Roll_motor	67	2009	1711.36	nil	0	0	0.00
VBD_pump_during_apogee	382	1401	6818.74	nil	0	0	0.00
VBD_pump_during_surface	72	131	120.45	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	195	152	378.95	PMAR	0	0	0.00
Transponder_ping	6	420	36.03	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	22	5.71
TT8	0	0	0.00
LPSleep	18971	2	506.04
TT8_Active	551	10	72.36
TT8_Sampling	4296	28	1504.49
TT8_CF8	504	35	217.87
TT8_Kalman	0	0	0.00
Analog_circuits	1457	11	207.63
GPS_charging	0	0	0.00
Compass	3739	0	34.16
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
3	end surface: CONTROL_FINISHED_OK
state	3	begin dive
8	-0.81	-97.3	195	2316	745	654	0.0	0.0	0	98	0.00	0.00	-89.12	0.000	16386	0.000	0.000	193	2317	2973	3017	2929	0	0	0	0	0	0	14.57	28.83	14.59
103	-0.81	-97.3	194	2317	3019	2930	3.8	-5.3	3	128	8.82	2.90	-2.80	0.000	18948	0.399	2.010	1933	866	3142	3219	3065	0	0	0	0	0	0	13.88	12.71	14.15
222	-0.64	-97.3	1933	866	3227	3060	44.5	-26.6	19	227	0.30	2.50	0.00	0.000	3206	0.298	0.050	1987	2262	3142	3226	3059	0	0	0	0	0	0	13.56	14.09	13.93
562	-0.64	-97.3	1987	2264	3232	3059	84.8	-8.4	34	566	0.00	2.58	0.00	0.000	260	0.000	0.074	1977	3702	3145	3232	3058	0	0	0	0	0	0	14.73	14.00	14.78
715	-0.64	-97.3	1977	3703	3233	3058	99.5	-10.1	56	720	0.00	2.45	0.00	0.000	1030	0.000	0.038	1977	2263	3144	3232	3057	0	0	0	0	0	0	14.23	14.16	14.27
1072	-0.64	-97.3	1978	2263	3234	3058	135.1	-9.9	64	1077	0.00	2.47	0.00	0.000	516	0.000	0.053	1977	889	3145	3233	3057	0	0	0	0	0	0	14.75	14.00	14.77
1131	-0.64	-97.3	1977	889	3235	3057	141.0	-9.5	72	1136	0.00	2.55	0.00	0.000	1030	0.000	0.054	1972	2290	3145	3233	3057	0	0	0	0	0	0	14.13	14.01	14.18
1471	-0.64	-97.3	1972	2291	3234	3055	176.3	-10.7	85	1477	0.00	2.58	0.00	0.000	260	0.000	0.078	1967	3702	3144	3233	3055	0	0	0	0	0	0	14.75	13.92	14.76
1561	-0.64	-97.3	1968	3702	3234	3055	187.5	-11.4	98	1566	0.00	2.45	0.00	0.000	1030	0.000	0.039	1967	2275	3143	3233	3054	0	0	0	0	0	0	14.19	14.12	14.22
1923	-0.64	-97.3	1968	2276	3234	3053	228.2	-11.4	107	1928	0.00	2.53	0.00	0.000	516	0.000	0.052	1967	886	3142	3233	3052	0	0	0	0	0	0	14.76	14.00	14.78
1992	-0.64	-97.3	1967	885	3233	3053	236.6	-11.4	117	1998	0.15	2.58	0.00	0.000	3078	0.244	0.055	1993	2297	3142	3233	3051	0	0	0	0	0	0	13.62	13.97	13.87
2319	-0.64	-97.3	1992	2298	3234	3048	269.3	-10.1	128	2323	0.00	2.55	0.00	0.000	260	0.000	0.075	1985	3701	3140	3233	3048	0	0	0	0	0	0	14.76	13.88	14.78
2443	-0.64	-97.3	1985	3701	3234	3047	282.3	-10.0	146	2448	0.00	2.47	0.00	0.000	1030	0.000	0.041	1985	2275	3140	3233	3047	0	0	0	0	0	0	14.12	14.00	14.16
2771	-0.64	-97.3	1985	2276	3234	3044	314.8	-10.1	157	2777	0.00	2.53	0.00	0.000	516	0.000	0.054	1985	880	3138	3233	3044	0	0	0	0	0	0	14.75	13.94	14.77
2831	-0.64	-97.3	1985	881	3234	3044	321.0	-10.1	165	2837	0.00	2.60	0.00	0.000	1030	0.000	0.057	1985	2292	3138	3233	3043	0	0	0	0	0	0	14.09	13.96	14.14
3171	-0.64	-97.3	1985	2292	3233	3039	355.3	-10.2	178	3175	0.00	2.58	0.00	0.000	260	0.000	0.080	1980	3699	3135	3233	3038	0	0	0	0	0	0	14.76	13.86	14.78
3275	-0.64	-97.3	1981	3700	3233	3038	366.4	-10.2	193	3287	0.00	2.50	0.00	0.000	1030	0.000	0.041	1980	2290	3135	3233	3038	0	0	0	0	0	0	13.97	13.93	14.00
3622	-0.64	-97.3	1981	2291	3233	3036	402.4	-10.5	200	3627	0.00	2.60	0.00	0.000	516	0.000	0.057	1981	873	3133	3232	3035	0	0	0	0	0	0	14.76	13.91	14.76
3705	-0.64	-97.3	1980	874	3232	3035	411.4	-10.1	212	3710	0.00	2.60	0.00	0.000	1030	0.000	0.057	1973	2285	3133	3232	3034	0	0	0	0	0	0	14.06	13.93	14.12
4074	-0.64	-97.3	1973	2285	3231	3033	449.9	-10.6	222	4079	0.00	2.60	0.00	0.000	260	0.000	0.083	1971	3695	3131	3230	3033	0	0	0	0	0	0	14.76	13.83	14.77
4081	end dive: TARGET_DEPTH_EXCEEDED
state	4081	begin apogee
4092	-0.19	0.0	1973	2199	3232	3033	451.6	-10.6	224	4203	0.62	0.00	100.45	1.401	10244	0.210	0.000	2135	2189	2731	2852	2611	0	0	0	0	0	0	13.64	13.66	13.12
4204	end apogee: CONTROL_FINISHED_OK
state	4204	begin loiter
4441	-0.15	67.9	2136	2189	2840	2610	464.1	-3.9	259	4518	0.00	0.00	73.72	1.378	9254	0.000	0.000	2135	2188	2459	2588	2331	0	0	0	0	0	0	14.57	14.57	13.14
4837	-0.33	67.9	2136	2189	2568	2328	460.4	1.9	279	4838	0.15	0.00	0.00	0.000	4230	0.114	0.000	2070	2188	2446	2566	2327	0	0	0	0	0	0	14.19	14.28	14.26
5168	-0.41	67.9	2071	2189	2561	2326	454.3	1.9	285	5169	0.00	0.00	0.00	0.000	134	0.000	0.000	2070	2188	2442	2560	2325	0	0	0	0	0	0	14.69	14.71	14.71
5504	-0.48	67.9	2071	2189	2559	2325	446.6	2.4	291	5505	0.00	0.00	0.00	0.000	134	0.000	0.000	2070	2189	2441	2558	2324	0	0	0	0	0	0	14.70	14.72	14.72
5840	-0.57	67.9	2071	2189	2556	2324	436.8	3.0	297	5841	0.17	0.00	0.00	0.000	4230	0.110	0.000	1999	2189	2439	2555	2324	0	0	0	0	0	0	14.19	14.26	14.24
6177	-0.57	67.9	2000	2189	2551	2324	423.7	4.1	303	6178	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2437	2551	2323	0	0	0	0	0	0	14.71	14.73	14.73
6512	-0.57	67.9	1999	2189	2549	2323	410.6	3.8	309	6513	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2435	2548	2323	0	0	0	0	0	0	14.73	14.75	14.74
6848	-0.57	67.9	2000	2189	2547	2324	400.6	2.9	315	6849	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2189	2434	2546	2323	0	0	0	0	0	0	14.73	14.75	14.75
7184	-0.57	67.9	1999	2189	2545	2323	391.3	2.7	321	7185	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2189	2433	2544	2322	0	0	0	0	0	0	14.73	14.76	14.75
7521	-0.57	67.9	1999	2189	2544	2323	382.1	2.8	327	7522	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2433	2543	2323	0	0	0	0	0	0	14.72	14.74	14.74
7856	-0.57	67.9	1999	2189	2543	2323	372.5	2.9	333	7857	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2189	2432	2542	2323	0	0	0	0	0	0	14.73	14.75	14.75
8192	-0.57	67.9	2000	2189	2542	2323	362.4	3.0	339	8193	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2432	2541	2323	0	0	0	0	0	0	14.73	14.76	14.75
8528	-0.57	67.9	1999	2189	2542	2322	351.5	3.2	345	8529	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2189	2431	2541	2322	0	0	0	0	0	0	14.73	14.76	14.76
8865	-0.57	67.9	2000	2189	2540	2322	342.5	2.6	351	8866	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2189	2431	2540	2322	0	0	0	0	0	0	14.72	14.74	14.73
9200	-0.57	67.9	1999	2189	2540	2322	333.3	2.8	357	9201	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2430	2539	2322	0	0	0	0	0	0	14.73	14.76	14.76
9536	-0.57	67.9	1999	2189	2539	2322	325.2	2.3	363	9537	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2189	2429	2538	2321	0	0	0	0	0	0	14.73	14.75	14.75
9873	-0.57	67.9	1999	2189	2539	2322	320.2	1.3	369	9874	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2430	2538	2322	0	0	0	0	0	0	14.72	14.74	14.74
10208	-0.57	67.9	1999	2188	2538	2322	316.7	1.0	375	10209	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2429	2537	2322	0	0	0	0	0	0	14.73	14.75	14.75
10544	-0.57	67.9	1999	2189	2537	2322	312.2	1.5	381	10545	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2429	2537	2321	0	0	0	0	0	0	14.73	14.76	14.75
10880	-0.57	67.9	1999	2189	2537	2322	304.3	2.5	387	10881	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2188	2429	2536	2322	0	0	0	0	0	0	14.73	14.75	14.75
11217	-0.57	67.9	2000	2189	2537	2322	294.7	2.9	393	11218	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2429	2536	2322	0	0	0	0	0	0	14.72	14.74	14.74
11552	-0.57	67.9	2000	2189	2537	2322	287.6	2.0	399	11553	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2429	2536	2322	0	0	0	0	0	0	14.73	14.75	14.75
11888	-0.57	67.9	1999	2189	2537	2322	280.7	2.2	405	11889	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2189	2428	2536	2321	0	0	0	0	0	0	14.73	14.75	14.75
12224	-0.57	67.9	2000	2189	2537	2323	270.6	3.3	411	12225	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2429	2536	2322	0	0	0	0	0	0	14.73	14.75	14.75
12561	-0.57	67.9	2000	2189	2536	2322	260.6	2.8	417	12562	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2428	2535	2322	0	0	0	0	0	0	14.72	14.73	14.73
12896	-0.57	67.9	1999	2189	2536	2322	251.4	2.6	423	12897	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2428	2535	2322	0	0	0	0	0	0	14.73	14.75	14.75
13232	-0.57	67.9	2000	2188	2536	2322	244.4	2.1	429	13233	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2428	2535	2322	0	0	0	0	0	0	14.73	14.75	14.75
13568	-0.57	67.9	1999	2189	2535	2322	237.0	2.3	435	13569	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2189	2428	2535	2322	0	0	0	0	0	0	14.73	14.75	14.75
13905	-0.57	67.9	2000	2189	2536	2322	229.7	2.2	441	13906	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2428	2535	2322	0	0	0	0	0	0	14.71	14.73	14.73
14240	-0.57	67.9	2000	2189	2536	2322	221.0	2.8	447	14241	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2428	2535	2322	0	0	0	0	0	0	14.73	14.75	14.75
14576	-0.57	67.9	2000	2189	2536	2322	212.3	2.5	453	14577	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2428	2535	2321	0	0	0	0	0	0	14.73	14.75	14.75
14912	-0.57	67.9	1999	2189	2536	2321	203.3	2.6	459	14913	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2428	2535	2322	0	0	0	0	0	0	14.73	14.75	14.75
15249	-0.57	67.9	2000	2189	2535	2322	194.2	2.8	465	15250	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2428	2535	2322	0	0	0	0	0	0	14.72	14.73	14.73
15584	-0.57	67.9	2000	2189	2536	2322	186.7	2.1	471	15585	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2428	2535	2322	0	0	0	0	0	0	14.73	14.75	14.75
15920	-0.57	67.9	2000	2189	2536	2322	182.5	1.0	477	15921	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2428	2535	2322	0	0	0	0	0	0	14.73	14.75	14.75
16256	-0.57	67.9	2000	2188	2536	2322	177.5	1.8	483	16257	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2428	2535	2322	0	0	0	0	0	0	14.73	14.75	14.75
16593	-0.57	67.9	1999	2189	2536	2322	169.3	2.5	489	16594	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2428	2535	2322	0	0	0	0	0	0	14.72	14.74	14.73
16928	-0.57	67.9	1999	2189	2535	2322	160.7	2.6	495	16929	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2188	2428	2535	2322	0	0	0	0	0	0	14.73	14.75	14.77
17264	-0.52	67.9	2000	2189	2536	2322	153.1	2.0	501	17265	0.12	0.00	0.00	0.000	2182	0.267	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	13.77	13.97	13.91
17601	-0.52	67.9	2026	2188	2536	2322	147.1	1.8	507	17602	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.72	14.74	14.73
17936	-0.52	67.9	2026	2189	2536	2322	141.7	1.7	513	17937	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.73	14.75	14.75
18272	-0.52	67.9	2026	2189	2536	2322	137.8	1.2	519	18273	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.73	14.75	14.75
18608	-0.52	67.9	2026	2189	2536	2322	128.5	3.1	525	18609	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.73	14.75	14.75
18945	-0.52	67.9	2026	2189	2536	2322	119.6	2.4	531	18946	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.72	14.74	14.74
19280	-0.53	55.1	2025	2189	2536	2322	116.9	0.7	537	19281	0.00	0.00	0.00	0.000	38	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.73	14.75	14.75
19616	-0.53	55.1	2025	2189	2536	2322	109.4	2.7	543	19617	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.73	14.75	14.75
19952	-0.53	55.1	2025	2189	2536	2322	104.1	1.2	549	19953	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.73	14.78	14.74
20289	-0.53	55.1	2026	2189	2536	2322	99.5	1.5	555	20290	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.72	14.74	14.73
20596	-0.54	43.5	2025	2189	2536	2322	97.6	0.7	566	20597	0.00	0.00	0.00	0.000	38	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.71	14.73	14.73
20904	-0.54	31.0	2025	2189	2536	2322	95.2	0.7	577	20905	0.00	0.00	0.00	0.000	38	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.71	14.73	14.73
21213	-0.54	34.4	2026	2188	2536	2322	96.0	-0.2	588	21214	0.00	0.00	0.00	0.000	38	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.69	14.71	14.71
21520	-0.54	33.0	2025	2189	2536	2322	96.2	0.1	599	21521	0.00	0.00	0.00	0.000	38	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.72	14.73	14.73
21828	-0.53	57.6	2026	2189	2536	2322	100.0	-1.4	610	21830	0.00	0.00	0.00	0.000	38	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.71	14.73	14.73
22137	-0.53	57.6	2026	2189	2535	2322	98.6	1.1	616	22138	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2188	2428	2535	2322	0	0	0	0	0	0	14.71	14.73	14.73
22216	end loiter: LOITER_COMPLETE
state	22216	begin climb
22220	0.81	97.3	2025	2189	2536	2322	97.0	0.0	619	22249	1.65	2.65	16.45	0.404	10500	0.223	0.074	2449	3622	2345	2468	2223	0	0	0	0	0	0	13.46	14.02	13.66
22485	0.81	184.4	2449	3622	2468	2228	86.3	3.4	656	22552	0.00	2.55	58.90	0.399	9382	0.000	0.047	2458	2201	1991	2111	1871	0	0	0	0	0	0	14.13	14.05	13.85
22877	0.86	253.0	2459	2201	2112	1874	65.7	4.4	678	22929	0.00	0.00	44.53	0.329	8230	0.000	0.000	2459	2200	1716	1811	1621	0	0	0	0	0	0	14.68	14.15	13.93
23239	1.03	329.7	2459	2201	1809	1622	49.7	3.9	691	23298	0.20	2.65	51.20	0.280	10660	0.099	0.074	2552	3621	1395	1491	1300	0	0	0	0	0	0	14.14	14.26	14.02
23384	1.11	368.8	2552	3621	1493	1306	42.0	6.1	711	23418	0.00	2.55	26.92	0.253	9382	0.000	0.050	2560	2187	1234	1312	1157	0	0	0	0	0	0	14.19	14.09	13.99
23752	1.20	385.3	2561	2188	1313	1158	15.2	7.4	730	23776	0.00	2.60	10.62	0.170	8868	0.000	0.064	2569	794	1168	1243	1094	0	0	0	0	0	0	14.66	14.17	14.09
23878	end climb: SURFACE_DEPTH_REACHED
state	23882	begin surface coast
23907	end surface coast: CONTROL_FINISHED_OK
state	23907	begin surface