Glider dive log

SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 746 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 190 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 53 XPDR_INHIBIT 90

MISSION 9 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 50 INT_PRESSURE_SLOPE 0.0097660003

DIVE 746 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 2600 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 68 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 2600 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 68 VBD_CNV -0.24529999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 53 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 3.0 VBD_LP_IGNORE 0

DIVE 746 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 300317,080404,951.8838,-12516.1670,27,0.8,29,9.2,0.5,78.2,11,9.3 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 0.81 MHEAD_RNG_PITCHd_Wd 105.7,35826,-19.5,-8.333,-22.22,1796

_SM_ANGLEo -60.8 D_GRID 450

GPS2 300317,080950,951.8891,-12516.1572,18,0.8,23,9.2,0.7,26.4,10,9.1

Post-dive calculations and measurements:

FINISH -0.1,1.022100 _10V_AH 12.40,0.000

SM_CCo 24537,111.62,0.133,0,0,558,500.17 FG_AHR_24Vo 0.000

SM_GC 0.76,7.25,0.17,111.62,0.085,0.080,0.133,216,2302,558,-6.14,-0.65,500.17,0,0,0,0,0,0,14.16,14.20,14.03 FG_AHR_10Vo 0.000

IRIDIUM_FIX 949.50,-12546.51,300317,010127 MEM 334220

TT8_MAMPS 0.038948,0.29211 DATA_FILE_SIZE 30123,675

HUMID 58.97 CAP_FILE_SIZE 120520,0

INTERNAL_PRESSURE 9.09215 CFSIZE 260034560,170450944

TCM_TEMP 18.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0

XPDR_PINGS 24 CURRENT 0.089,263.08,1

_24V_AH 12.63,284.233 GPS 300317,150221,951.406,-12516.991,48,0.7,49,9.2,0.6,1.7,11,6.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 390 98.13 SciConCT 3194 25 1008.68

Roll_motor 72 1997 1820.15 nil 0 0 0.00

VBD_pump_during_apogee 356 1328 5973.34 nil 0 0 0.00

VBD_pump_during_surface 111 133 187.66 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 205 165 429.24 PMAR 0 0 0.00

Transponder_ping 6 420 31.83 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 22 6.74

TT8 0 0 0.00

LPSleep 19732 2 535.85

TT8_Active 584 10 78.08

TT8_Sampling 4137 28 1475.03

TT8_CF8 528 35 232.79

TT8_Kalman 0 0 0.00

Analog_circuits 1443 11 209.48

GPS_charging 0 0 0.00

Compass 3591 0 33.40

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 -97.3 201 2243 596 524 0.0 0.0 0 98 0.00 0.00 -88.75 0.000 16386 0.000 0.000 199 2236 2835 2854 2816 0 0 0 0 0 0 14.46 28.83 14.47

103 -0.81 -97.3 200 2237 2855 2816 3.6 -4.8 3 128 8.73 2.70 -3.00 0.000 18948 0.391 1.997 1933 902 3002 3053 2951 0 0 0 0 0 0 13.75 12.63 14.03

178 -0.62 -97.3 1933 903 3058 2947 31.2 -28.1 14 190 0.30 2.53 0.00 0.000 3206 0.281 0.056 1994 2251 3002 3058 2946 0 0 0 0 0 0 13.41 13.85 13.62

498 -0.56 -97.3 1994 2253 3062 2947 74.8 -10.1 26 503 0.00 2.60 0.00 0.000 388 0.000 0.070 1984 3709 3004 3062 2946 0 0 0 0 0 0 14.66 13.95 14.67

736 -0.56 -97.3 1984 3709 3064 2946 97.3 -8.5 60 742 0.15 2.45 0.00 0.000 3078 0.244 0.038 2016 2286 3004 3063 2946 0 0 0 0 0 0 13.59 14.07 13.85

1064 -0.56 -97.3 2017 2288 3066 2946 121.9 -7.6 68 1069 0.00 2.62 0.00 0.000 292 0.000 0.072 2010 3703 3005 3065 2946 0 0 0 0 0 0 14.70 13.88 14.72

1139 -0.56 -97.3 2011 3704 3065 2946 128.7 -8.4 79 1144 0.00 2.47 0.00 0.000 1030 0.000 0.037 2010 2274 3005 3065 2946 0 0 0 0 0 0 14.14 14.07 14.17

1461 -0.56 -97.3 2010 2275 3065 2946 155.6 -8.5 89 1467 0.00 2.55 0.00 0.000 516 0.000 0.052 2010 882 3004 3064 2945 0 0 0 0 0 0 14.70 13.91 14.72

1501 -0.56 -97.3 2010 882 3066 2945 159.6 -8.9 95 1507 0.00 2.58 0.00 0.000 1030 0.000 0.054 2003 2296 3004 3065 2944 0 0 0 0 0 0 14.06 13.95 14.11

1857 -0.56 -97.3 2003 2296 3066 2943 189.5 -8.5 103 1862 0.00 2.58 0.00 0.000 260 0.000 0.076 1999 3703 3003 3064 2942 0 0 0 0 0 0 14.71 13.83 14.73

1918 -0.56 -97.3 1998 3703 3065 2942 194.5 -8.7 111 1922 0.00 2.47 0.00 0.000 1030 0.000 0.039 1998 2277 3002 3064 2941 0 0 0 0 0 0 14.13 14.06 14.16

2256 -0.56 -97.3 1999 2278 3065 2939 225.3 -9.2 124 2261 0.00 2.58 0.00 0.000 516 0.000 0.053 1998 874 3001 3064 2938 0 0 0 0 0 0 14.72 13.88 14.73

2296 -0.56 -97.3 1999 874 3065 2938 229.6 -9.9 130 2301 0.00 2.60 0.00 0.000 1030 0.000 0.056 1998 2285 3001 3064 2938 0 0 0 0 0 0 14.04 13.92 14.09

2653 -0.56 -97.3 1998 2286 3066 2935 261.7 -9.1 138 2658 0.00 2.60 0.00 0.000 260 0.000 0.077 1990 3701 2999 3064 2935 0 0 0 0 0 0 14.71 13.81 14.73

2712 -0.56 -97.3 1990 3702 3065 2934 267.2 -9.3 146 2717 0.00 2.50 0.00 0.000 1030 0.000 0.040 1990 2273 2999 3064 2934 0 0 0 0 0 0 14.13 14.04 14.16

3051 -0.56 -97.3 1991 2274 3065 2930 301.1 -10.3 159 3056 0.00 2.58 0.00 0.000 516 0.000 0.056 1990 875 2996 3064 2929 0 0 0 0 0 0 14.72 13.85 14.73

3078 -0.56 -97.3 1990 876 3065 2929 304.5 -10.7 163 3083 0.15 2.62 0.00 0.000 3078 0.239 0.057 2019 2300 2996 3064 2929 0 0 0 0 0 0 13.58 13.91 13.83

3446 -0.60 -97.3 2019 2301 3065 2927 337.9 -8.9 173 3452 0.00 2.58 0.00 0.000 388 0.000 0.077 2012 3702 2995 3064 2927 0 0 0 0 0 0 14.72 13.78 14.73

3522 -0.66 -97.3 2011 3702 3065 2926 344.8 -8.2 184 3527 0.00 2.47 0.00 0.000 1190 0.000 0.041 2012 2277 2995 3064 2926 0 0 0 0 0 0 14.10 14.02 14.13

3844 -0.66 -97.3 2012 2278 3065 2923 370.8 -8.2 194 3848 0.00 2.55 0.00 0.000 548 0.000 0.055 2012 880 2993 3064 2922 0 0 0 0 0 0 14.71 13.85 14.73

3912 -0.70 -97.3 2012 880 3065 2922 377.0 -8.1 204 3917 0.15 2.65 0.00 0.000 5286 0.121 0.057 1958 2302 2992 3063 2922 0 0 0 0 0 0 13.89 13.89 14.01

4240 -0.70 -97.3 1958 2303 3063 2920 409.6 -10.1 215 4241 0.00 0.00 0.00 0.000 6 0.000 0.000 1958 2303 2991 3062 2920 0 0 0 0 0 0 14.71 14.73 14.73

4575 -0.70 -97.3 1958 2304 3063 2918 440.8 -9.2 221 4581 0.00 2.58 0.00 0.000 260 0.000 0.078 1947 3700 2990 3062 2918 0 0 0 0 0 0 14.72 13.77 14.73

4608 -0.70 -97.3 1948 3700 3062 2918 444.4 -9.9 226 4614 0.00 2.50 0.00 0.000 1030 0.000 0.042 1947 2272 2989 3061 2918 0 0 0 0 0 0 14.09 14.00 14.12

4687 end dive: TARGET_DEPTH_EXCEEDED

state 4687 begin apogee

4697 -0.19 0.0 1948 2184 3062 2918 452.1 -10.0 230 4812 0.73 0.00 112.68 1.328 10244 0.230 0.000 2130 2184 2599 2710 2488 0 0 0 0 0 0 13.58 13.64 12.94

4813 end apogee: CONTROL_FINISHED_OK

state 4813 begin loiter

4847 -0.18 13.9 2130 2185 2693 2474 456.4 -0.8 237 4873 0.00 0.00 14.43 1.298 9254 0.000 0.000 2130 2184 2536 2648 2424 0 0 0 0 0 0 14.05 14.05 12.87

5210 -0.35 2.3 2130 2185 2637 2419 454.8 0.7 246 5211 0.15 0.00 0.00 0.000 4262 0.118 0.000 2068 2184 2527 2636 2418 0 0 0 0 0 0 14.05 14.12 14.11

5547 -0.42 2.3 2069 2184 2632 2418 449.5 1.8 252 5548 0.00 0.00 0.00 0.000 134 0.000 0.000 2069 2184 2524 2632 2417 0 0 0 0 0 0 14.64 14.66 14.65

5882 -0.49 2.3 2069 2185 2631 2417 444.2 1.4 258 5883 0.00 0.00 0.00 0.000 134 0.000 0.000 2069 2184 2523 2630 2416 0 0 0 0 0 0 14.67 14.69 14.69

6218 -0.57 -13.7 2069 2184 2628 2416 440.9 0.9 264 6219 0.17 0.00 0.00 0.000 4262 0.112 0.000 2000 2185 2521 2628 2415 0 0 0 0 0 0 14.10 14.16 14.14

6555 -0.57 -14.4 2001 2184 2624 2415 440.2 0.0 270 6556 0.00 0.00 0.00 0.000 38 0.000 0.000 2000 2184 2519 2624 2414 0 0 0 0 0 0 14.66 14.69 14.68

6890 -0.56 0.0 2000 2185 2624 2414 442.5 -0.8 276 6891 0.00 0.00 0.00 0.000 38 0.000 0.000 2000 2184 2518 2623 2414 0 0 0 0 0 0 14.69 14.70 14.70

7226 -0.55 18.7 2001 2184 2623 2414 446.1 -1.1 282 7227 0.00 0.00 0.00 0.000 38 0.000 0.000 2000 2184 2517 2622 2413 0 0 0 0 0 0 14.69 14.71 14.70

7562 -0.54 40.4 2001 2184 2621 2413 450.2 -1.2 288 7598 0.00 0.00 35.50 1.305 8230 0.000 0.000 2000 2184 2434 2548 2321 0 0 0 0 0 0 14.69 14.04 13.31

7899 -0.54 40.4 2000 2185 2531 2309 440.9 3.5 294 7900 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2419 2530 2309 0 0 0 0 0 0 14.62 14.64 14.64

8234 -0.54 40.4 2000 2185 2527 2309 428.4 3.8 300 8235 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2417 2526 2309 0 0 0 0 0 0 14.67 14.69 14.69

8570 -0.54 40.4 2000 2184 2527 2309 416.5 3.5 306 8571 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2417 2526 2308 0 0 0 0 0 0 14.68 14.70 14.70

8907 -0.54 40.4 2000 2184 2526 2309 407.1 2.7 312 8908 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2416 2525 2308 0 0 0 0 0 0 14.67 14.69 14.69

9242 -0.54 40.4 2000 2185 2525 2309 399.0 2.3 318 9242 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2415 2523 2308 0 0 0 0 0 0 14.69 14.70 14.70

9578 -0.54 40.4 2001 2184 2523 2309 391.9 2.2 324 9579 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2415 2523 2308 0 0 0 0 0 0 14.69 14.70 14.70

9914 -0.54 40.4 2001 2184 2523 2308 381.4 3.3 330 9915 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2415 2522 2308 0 0 0 0 0 0 14.69 14.71 14.70

10251 -0.54 40.4 2000 2184 2522 2309 369.6 3.5 336 10252 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2415 2522 2308 0 0 0 0 0 0 14.67 14.69 14.69

10586 -0.54 40.4 2000 2184 2522 2308 360.0 2.8 342 10586 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2414 2520 2308 0 0 0 0 0 0 14.69 14.71 14.70

10922 -0.54 40.4 2000 2184 2522 2309 352.4 2.1 348 10923 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2414 2521 2308 0 0 0 0 0 0 14.69 14.70 14.71

11258 -0.55 26.7 2001 2184 2521 2308 349.3 0.8 354 11259 0.00 0.00 0.00 0.000 38 0.000 0.000 2000 2184 2414 2520 2308 0 0 0 0 0 0 14.69 14.69 14.70

11595 -0.55 26.7 2000 2185 2521 2308 343.2 2.1 360 11596 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2414 2520 2308 0 0 0 0 0 0 14.67 14.69 14.69

11930 -0.55 26.7 2000 2184 2521 2309 335.8 2.1 366 11931 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2414 2520 2308 0 0 0 0 0 0 14.69 14.71 14.70

12266 -0.55 26.7 2001 2183 2520 2308 325.6 3.5 372 12267 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2414 2520 2308 0 0 0 0 0 0 14.69 14.71 14.71

12602 -0.55 26.7 2000 2184 2521 2308 309.5 4.7 378 12603 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.71 14.71

12939 -0.55 26.7 2000 2184 2521 2308 300.8 2.1 384 12940 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2414 2520 2308 0 0 0 0 0 0 14.68 14.70 14.69

13274 -0.55 26.7 2000 2184 2520 2309 297.0 1.2 390 13275 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.71 14.71

13610 -0.55 26.7 2000 2185 2520 2308 287.6 3.0 396 13611 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.71 14.70

13946 -0.55 26.7 2001 2184 2520 2308 279.4 2.3 402 13947 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.71 14.71

14283 -0.55 26.7 2000 2184 2520 2308 272.9 1.9 408 14284 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2414 2520 2308 0 0 0 0 0 0 14.68 14.70 14.70

14618 -0.55 26.7 2000 2184 2520 2308 264.3 2.7 414 14619 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.71 14.71

14954 -0.55 26.7 1999 2184 2520 2309 252.3 3.7 420 14955 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.71 14.71

15290 -0.55 26.7 2001 2184 2519 2308 241.0 3.1 426 15291 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2518 2308 0 0 0 0 0 0 14.69 14.71 14.71

15627 -0.55 26.7 2000 2184 2520 2308 234.5 1.8 432 15628 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2185 2413 2519 2308 0 0 0 0 0 0 14.68 14.70 14.69

15962 -0.55 26.7 2000 2184 2520 2308 227.6 2.2 438 15963 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2519 2308 0 0 0 0 0 0 14.72 14.71 14.71

16298 -0.55 26.7 2000 2184 2520 2308 217.0 3.4 444 16298 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.71 14.71

16634 -0.55 26.7 2001 2184 2519 2309 206.1 3.3 450 16635 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.71 14.71

16971 -0.55 26.7 2001 2184 2519 2309 196.5 2.7 456 16972 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2518 2308 0 0 0 0 0 0 14.68 14.70 14.70

17306 -0.55 26.7 2001 2183 2519 2309 190.3 1.6 462 17307 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2185 2413 2519 2308 0 0 0 0 0 0 14.69 14.71 14.71

17642 -0.55 26.7 2001 2184 2520 2308 186.1 1.3 468 17643 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.71 14.71

17978 -0.55 26.7 2001 2184 2520 2309 178.6 2.4 474 17979 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.70 14.71

18315 -0.55 26.7 2000 2184 2520 2308 170.9 2.3 480 18316 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2519 2308 0 0 0 0 0 0 14.68 14.70 14.70

18650 -0.55 26.7 2000 2185 2520 2308 162.6 2.6 486 18651 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.71 14.71

18986 -0.50 26.7 2000 2184 2520 2308 155.6 1.8 492 18987 0.15 0.00 0.00 0.000 2182 0.263 0.000 2032 2184 2413 2519 2308 0 0 0 0 0 0 13.55 13.83 13.74

19323 -0.50 26.7 2032 2185 2520 2308 148.9 2.1 498 19324 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2184 2413 2519 2308 0 0 0 0 0 0 14.68 14.70 14.70

19658 -0.50 26.7 2032 2184 2519 2309 143.2 1.7 504 19658 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.71 14.71

19994 -0.50 26.7 2033 2184 2520 2308 136.7 1.9 510 19995 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.71 14.71

20330 -0.50 26.7 2033 2184 2519 2309 130.0 1.8 516 20330 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.71 14.71

20667 -0.50 26.7 2033 2184 2520 2309 125.8 1.3 522 20668 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2184 2413 2519 2308 0 0 0 0 0 0 14.69 14.70 14.70

21002 -0.50 26.7 2033 2184 2519 2309 118.3 2.3 528 21002 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2184 2413 2518 2308 0 0 0 0 0 0 14.69 14.71 14.71

21338 -0.50 26.7 2032 2184 2520 2308 113.1 1.3 534 21339 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2184 2413 2519 2308 0 0 0 0 0 0 14.70 14.71 14.71

21674 -0.50 26.7 2032 2184 2519 2309 106.1 2.1 540 21675 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2184 2413 2519 2308 0 0 0 0 0 0 14.70 14.71 14.71

22012 -0.51 11.9 2033 2185 2519 2309 103.2 0.8 546 22012 0.00 0.00 0.00 0.000 38 0.000 0.000 2032 2184 2413 2519 2308 0 0 0 0 0 0 14.68 14.70 14.70

22346 -0.51 11.9 2032 2184 2520 2308 100.6 1.0 552 22346 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2184 2413 2519 2308 0 0 0 0 0 0 14.70 14.71 14.71

22654 -0.52 4.7 2033 2184 2520 2309 97.9 0.4 562 22655 0.00 0.00 0.00 0.000 38 0.000 0.000 2032 2184 2413 2519 2308 0 0 0 0 0 0 14.68 14.70 14.70

22818 end loiter: LOITER_COMPLETE

state 22818 begin climb

22823 0.81 97.3 2033 2184 2519 2309 97.0 0.0 568 22864 1.65 0.00 38.17 0.426 10246 0.218 0.000 2452 2184 2203 2327 2079 0 0 0 0 0 0 13.40 14.15 13.69

23158 0.85 161.3 2452 2184 2329 2091 84.1 4.7 580 23213 0.00 2.65 45.17 0.387 8484 0.000 0.076 2452 3610 1945 2063 1827 0 0 0 0 0 0 14.66 14.00 13.74

23275 0.85 176.1 2452 3610 2064 1834 77.2 7.5 596 23291 0.00 2.50 11.20 0.336 9254 0.000 0.049 2462 2212 1881 1998 1764 0 0 0 0 0 0 14.06 13.95 13.75

23609 0.94 212.3 2461 2212 1998 1783 57.1 6.3 610 23640 0.12 2.60 25.42 0.294 10916 0.133 0.063 2527 792 1736 1836 1637 0 0 0 0 0 0 14.12 14.21 13.89

23683 0.97 249.1 2528 791 1836 1647 52.0 6.2 621 23723 0.00 2.65 25.88 0.284 9254 0.000 0.053 2528 2205 1589 1685 1494 0 0 0 0 0 0 13.90 13.83 13.81

24036 1.11 319.6 2528 2206 1686 1503 38.6 4.3 637 24092 0.00 2.55 47.67 0.243 8612 0.000 0.074 2528 3607 1296 1375 1217 0 0 0 0 0 0 14.60 14.14 13.94

24204 1.20 320.5 2528 3607 1376 1223 27.1 8.3 661 24210 0.17 2.50 0.00 0.000 3238 0.103 0.048 2598 2202 1299 1375 1223 0 0 0 0 0 0 13.98 14.00 14.07

24484 end climb: SURFACE_DEPTH_REACHED

state 24484 begin surface coast

24512 end surface coast: CONTROL_FINISHED_OK

state 24516 begin surface

ID	190	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	53	XPDR_INHIBIT	90
MISSION	9	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	50	INT_PRESSURE_SLOPE	0.0097660003
DIVE	746	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	2600	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	68	XPDR_VALID	6

GPS1	300317,080404,951.8838,-12516.1670,27,0.8,29,9.2,0.5,78.2,11,9.3	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	0.81	MHEAD_RNG_PITCHd_Wd	105.7,35826,-19.5,-8.333,-22.22,1796
_SM_ANGLEo	-60.8	D_GRID	450
GPS2	300317,080950,951.8891,-12516.1572,18,0.8,23,9.2,0.7,26.4,10,9.1

FINISH	-0.1,1.022100	_10V_AH	12.40,0.000
SM_CCo	24537,111.62,0.133,0,0,558,500.17	FG_AHR_24Vo	0.000
SM_GC	0.76,7.25,0.17,111.62,0.085,0.080,0.133,216,2302,558,-6.14,-0.65,500.17,0,0,0,0,0,0,14.16,14.20,14.03	FG_AHR_10Vo	0.000
IRIDIUM_FIX	949.50,-12546.51,300317,010127	MEM	334220
TT8_MAMPS	0.038948,0.29211	DATA_FILE_SIZE	30123,675
HUMID	58.97	CAP_FILE_SIZE	120520,0
INTERNAL_PRESSURE	9.09215	CFSIZE	260034560,170450944
TCM_TEMP	18.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
XPDR_PINGS	24	CURRENT	0.089,263.08,1
_24V_AH	12.63,284.233	GPS	300317,150221,951.406,-12516.991,48,0.7,49,9.2,0.6,1.7,11,6.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	390	98.13	SciConCT	3194	25	1008.68
Roll_motor	72	1997	1820.15	nil	0	0	0.00
VBD_pump_during_apogee	356	1328	5973.34	nil	0	0	0.00
VBD_pump_during_surface	111	133	187.66	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	205	165	429.24	PMAR	0	0	0.00
Transponder_ping	6	420	31.83	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	22	6.74
TT8	0	0	0.00
LPSleep	19732	2	535.85
TT8_Active	584	10	78.08
TT8_Sampling	4137	28	1475.03
TT8_CF8	528	35	232.79
TT8_Kalman	0	0	0.00
Analog_circuits	1443	11	209.48
GPS_charging	0	0	0.00
Compass	3591	0	33.40
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	201	2243	596	524	0.0	0.0	0	98	0.00	0.00	-88.75	0.000	16386	0.000	0.000	199	2236	2835	2854	2816	0	0	0	0	0	0	14.46	28.83	14.47
103	-0.81	-97.3	200	2237	2855	2816	3.6	-4.8	3	128	8.73	2.70	-3.00	0.000	18948	0.391	1.997	1933	902	3002	3053	2951	0	0	0	0	0	0	13.75	12.63	14.03
178	-0.62	-97.3	1933	903	3058	2947	31.2	-28.1	14	190	0.30	2.53	0.00	0.000	3206	0.281	0.056	1994	2251	3002	3058	2946	0	0	0	0	0	0	13.41	13.85	13.62
498	-0.56	-97.3	1994	2253	3062	2947	74.8	-10.1	26	503	0.00	2.60	0.00	0.000	388	0.000	0.070	1984	3709	3004	3062	2946	0	0	0	0	0	0	14.66	13.95	14.67
736	-0.56	-97.3	1984	3709	3064	2946	97.3	-8.5	60	742	0.15	2.45	0.00	0.000	3078	0.244	0.038	2016	2286	3004	3063	2946	0	0	0	0	0	0	13.59	14.07	13.85
1064	-0.56	-97.3	2017	2288	3066	2946	121.9	-7.6	68	1069	0.00	2.62	0.00	0.000	292	0.000	0.072	2010	3703	3005	3065	2946	0	0	0	0	0	0	14.70	13.88	14.72
1139	-0.56	-97.3	2011	3704	3065	2946	128.7	-8.4	79	1144	0.00	2.47	0.00	0.000	1030	0.000	0.037	2010	2274	3005	3065	2946	0	0	0	0	0	0	14.14	14.07	14.17
1461	-0.56	-97.3	2010	2275	3065	2946	155.6	-8.5	89	1467	0.00	2.55	0.00	0.000	516	0.000	0.052	2010	882	3004	3064	2945	0	0	0	0	0	0	14.70	13.91	14.72
1501	-0.56	-97.3	2010	882	3066	2945	159.6	-8.9	95	1507	0.00	2.58	0.00	0.000	1030	0.000	0.054	2003	2296	3004	3065	2944	0	0	0	0	0	0	14.06	13.95	14.11
1857	-0.56	-97.3	2003	2296	3066	2943	189.5	-8.5	103	1862	0.00	2.58	0.00	0.000	260	0.000	0.076	1999	3703	3003	3064	2942	0	0	0	0	0	0	14.71	13.83	14.73
1918	-0.56	-97.3	1998	3703	3065	2942	194.5	-8.7	111	1922	0.00	2.47	0.00	0.000	1030	0.000	0.039	1998	2277	3002	3064	2941	0	0	0	0	0	0	14.13	14.06	14.16
2256	-0.56	-97.3	1999	2278	3065	2939	225.3	-9.2	124	2261	0.00	2.58	0.00	0.000	516	0.000	0.053	1998	874	3001	3064	2938	0	0	0	0	0	0	14.72	13.88	14.73
2296	-0.56	-97.3	1999	874	3065	2938	229.6	-9.9	130	2301	0.00	2.60	0.00	0.000	1030	0.000	0.056	1998	2285	3001	3064	2938	0	0	0	0	0	0	14.04	13.92	14.09
2653	-0.56	-97.3	1998	2286	3066	2935	261.7	-9.1	138	2658	0.00	2.60	0.00	0.000	260	0.000	0.077	1990	3701	2999	3064	2935	0	0	0	0	0	0	14.71	13.81	14.73
2712	-0.56	-97.3	1990	3702	3065	2934	267.2	-9.3	146	2717	0.00	2.50	0.00	0.000	1030	0.000	0.040	1990	2273	2999	3064	2934	0	0	0	0	0	0	14.13	14.04	14.16
3051	-0.56	-97.3	1991	2274	3065	2930	301.1	-10.3	159	3056	0.00	2.58	0.00	0.000	516	0.000	0.056	1990	875	2996	3064	2929	0	0	0	0	0	0	14.72	13.85	14.73
3078	-0.56	-97.3	1990	876	3065	2929	304.5	-10.7	163	3083	0.15	2.62	0.00	0.000	3078	0.239	0.057	2019	2300	2996	3064	2929	0	0	0	0	0	0	13.58	13.91	13.83
3446	-0.60	-97.3	2019	2301	3065	2927	337.9	-8.9	173	3452	0.00	2.58	0.00	0.000	388	0.000	0.077	2012	3702	2995	3064	2927	0	0	0	0	0	0	14.72	13.78	14.73
3522	-0.66	-97.3	2011	3702	3065	2926	344.8	-8.2	184	3527	0.00	2.47	0.00	0.000	1190	0.000	0.041	2012	2277	2995	3064	2926	0	0	0	0	0	0	14.10	14.02	14.13
3844	-0.66	-97.3	2012	2278	3065	2923	370.8	-8.2	194	3848	0.00	2.55	0.00	0.000	548	0.000	0.055	2012	880	2993	3064	2922	0	0	0	0	0	0	14.71	13.85	14.73
3912	-0.70	-97.3	2012	880	3065	2922	377.0	-8.1	204	3917	0.15	2.65	0.00	0.000	5286	0.121	0.057	1958	2302	2992	3063	2922	0	0	0	0	0	0	13.89	13.89	14.01
4240	-0.70	-97.3	1958	2303	3063	2920	409.6	-10.1	215	4241	0.00	0.00	0.00	0.000	6	0.000	0.000	1958	2303	2991	3062	2920	0	0	0	0	0	0	14.71	14.73	14.73
4575	-0.70	-97.3	1958	2304	3063	2918	440.8	-9.2	221	4581	0.00	2.58	0.00	0.000	260	0.000	0.078	1947	3700	2990	3062	2918	0	0	0	0	0	0	14.72	13.77	14.73
4608	-0.70	-97.3	1948	3700	3062	2918	444.4	-9.9	226	4614	0.00	2.50	0.00	0.000	1030	0.000	0.042	1947	2272	2989	3061	2918	0	0	0	0	0	0	14.09	14.00	14.12
4687	end dive: TARGET_DEPTH_EXCEEDED
state	4687	begin apogee
4697	-0.19	0.0	1948	2184	3062	2918	452.1	-10.0	230	4812	0.73	0.00	112.68	1.328	10244	0.230	0.000	2130	2184	2599	2710	2488	0	0	0	0	0	0	13.58	13.64	12.94
4813	end apogee: CONTROL_FINISHED_OK
state	4813	begin loiter
4847	-0.18	13.9	2130	2185	2693	2474	456.4	-0.8	237	4873	0.00	0.00	14.43	1.298	9254	0.000	0.000	2130	2184	2536	2648	2424	0	0	0	0	0	0	14.05	14.05	12.87
5210	-0.35	2.3	2130	2185	2637	2419	454.8	0.7	246	5211	0.15	0.00	0.00	0.000	4262	0.118	0.000	2068	2184	2527	2636	2418	0	0	0	0	0	0	14.05	14.12	14.11
5547	-0.42	2.3	2069	2184	2632	2418	449.5	1.8	252	5548	0.00	0.00	0.00	0.000	134	0.000	0.000	2069	2184	2524	2632	2417	0	0	0	0	0	0	14.64	14.66	14.65
5882	-0.49	2.3	2069	2185	2631	2417	444.2	1.4	258	5883	0.00	0.00	0.00	0.000	134	0.000	0.000	2069	2184	2523	2630	2416	0	0	0	0	0	0	14.67	14.69	14.69
6218	-0.57	-13.7	2069	2184	2628	2416	440.9	0.9	264	6219	0.17	0.00	0.00	0.000	4262	0.112	0.000	2000	2185	2521	2628	2415	0	0	0	0	0	0	14.10	14.16	14.14
6555	-0.57	-14.4	2001	2184	2624	2415	440.2	0.0	270	6556	0.00	0.00	0.00	0.000	38	0.000	0.000	2000	2184	2519	2624	2414	0	0	0	0	0	0	14.66	14.69	14.68
6890	-0.56	0.0	2000	2185	2624	2414	442.5	-0.8	276	6891	0.00	0.00	0.00	0.000	38	0.000	0.000	2000	2184	2518	2623	2414	0	0	0	0	0	0	14.69	14.70	14.70
7226	-0.55	18.7	2001	2184	2623	2414	446.1	-1.1	282	7227	0.00	0.00	0.00	0.000	38	0.000	0.000	2000	2184	2517	2622	2413	0	0	0	0	0	0	14.69	14.71	14.70
7562	-0.54	40.4	2001	2184	2621	2413	450.2	-1.2	288	7598	0.00	0.00	35.50	1.305	8230	0.000	0.000	2000	2184	2434	2548	2321	0	0	0	0	0	0	14.69	14.04	13.31
7899	-0.54	40.4	2000	2185	2531	2309	440.9	3.5	294	7900	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2419	2530	2309	0	0	0	0	0	0	14.62	14.64	14.64
8234	-0.54	40.4	2000	2185	2527	2309	428.4	3.8	300	8235	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2417	2526	2309	0	0	0	0	0	0	14.67	14.69	14.69
8570	-0.54	40.4	2000	2184	2527	2309	416.5	3.5	306	8571	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2417	2526	2308	0	0	0	0	0	0	14.68	14.70	14.70
8907	-0.54	40.4	2000	2184	2526	2309	407.1	2.7	312	8908	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2416	2525	2308	0	0	0	0	0	0	14.67	14.69	14.69
9242	-0.54	40.4	2000	2185	2525	2309	399.0	2.3	318	9242	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2415	2523	2308	0	0	0	0	0	0	14.69	14.70	14.70
9578	-0.54	40.4	2001	2184	2523	2309	391.9	2.2	324	9579	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2415	2523	2308	0	0	0	0	0	0	14.69	14.70	14.70
9914	-0.54	40.4	2001	2184	2523	2308	381.4	3.3	330	9915	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2415	2522	2308	0	0	0	0	0	0	14.69	14.71	14.70
10251	-0.54	40.4	2000	2184	2522	2309	369.6	3.5	336	10252	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2415	2522	2308	0	0	0	0	0	0	14.67	14.69	14.69
10586	-0.54	40.4	2000	2184	2522	2308	360.0	2.8	342	10586	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2414	2520	2308	0	0	0	0	0	0	14.69	14.71	14.70
10922	-0.54	40.4	2000	2184	2522	2309	352.4	2.1	348	10923	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2414	2521	2308	0	0	0	0	0	0	14.69	14.70	14.71
11258	-0.55	26.7	2001	2184	2521	2308	349.3	0.8	354	11259	0.00	0.00	0.00	0.000	38	0.000	0.000	2000	2184	2414	2520	2308	0	0	0	0	0	0	14.69	14.69	14.70
11595	-0.55	26.7	2000	2185	2521	2308	343.2	2.1	360	11596	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2414	2520	2308	0	0	0	0	0	0	14.67	14.69	14.69
11930	-0.55	26.7	2000	2184	2521	2309	335.8	2.1	366	11931	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2414	2520	2308	0	0	0	0	0	0	14.69	14.71	14.70
12266	-0.55	26.7	2001	2183	2520	2308	325.6	3.5	372	12267	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2414	2520	2308	0	0	0	0	0	0	14.69	14.71	14.71
12602	-0.55	26.7	2000	2184	2521	2308	309.5	4.7	378	12603	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.71	14.71
12939	-0.55	26.7	2000	2184	2521	2308	300.8	2.1	384	12940	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2414	2520	2308	0	0	0	0	0	0	14.68	14.70	14.69
13274	-0.55	26.7	2000	2184	2520	2309	297.0	1.2	390	13275	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.71	14.71
13610	-0.55	26.7	2000	2185	2520	2308	287.6	3.0	396	13611	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.71	14.70
13946	-0.55	26.7	2001	2184	2520	2308	279.4	2.3	402	13947	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.71	14.71
14283	-0.55	26.7	2000	2184	2520	2308	272.9	1.9	408	14284	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2414	2520	2308	0	0	0	0	0	0	14.68	14.70	14.70
14618	-0.55	26.7	2000	2184	2520	2308	264.3	2.7	414	14619	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.71	14.71
14954	-0.55	26.7	1999	2184	2520	2309	252.3	3.7	420	14955	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.71	14.71
15290	-0.55	26.7	2001	2184	2519	2308	241.0	3.1	426	15291	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2518	2308	0	0	0	0	0	0	14.69	14.71	14.71
15627	-0.55	26.7	2000	2184	2520	2308	234.5	1.8	432	15628	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2185	2413	2519	2308	0	0	0	0	0	0	14.68	14.70	14.69
15962	-0.55	26.7	2000	2184	2520	2308	227.6	2.2	438	15963	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2519	2308	0	0	0	0	0	0	14.72	14.71	14.71
16298	-0.55	26.7	2000	2184	2520	2308	217.0	3.4	444	16298	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.71	14.71
16634	-0.55	26.7	2001	2184	2519	2309	206.1	3.3	450	16635	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.71	14.71
16971	-0.55	26.7	2001	2184	2519	2309	196.5	2.7	456	16972	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2518	2308	0	0	0	0	0	0	14.68	14.70	14.70
17306	-0.55	26.7	2001	2183	2519	2309	190.3	1.6	462	17307	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2185	2413	2519	2308	0	0	0	0	0	0	14.69	14.71	14.71
17642	-0.55	26.7	2001	2184	2520	2308	186.1	1.3	468	17643	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.71	14.71
17978	-0.55	26.7	2001	2184	2520	2309	178.6	2.4	474	17979	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.70	14.71
18315	-0.55	26.7	2000	2184	2520	2308	170.9	2.3	480	18316	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2519	2308	0	0	0	0	0	0	14.68	14.70	14.70
18650	-0.55	26.7	2000	2185	2520	2308	162.6	2.6	486	18651	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.71	14.71
18986	-0.50	26.7	2000	2184	2520	2308	155.6	1.8	492	18987	0.15	0.00	0.00	0.000	2182	0.263	0.000	2032	2184	2413	2519	2308	0	0	0	0	0	0	13.55	13.83	13.74
19323	-0.50	26.7	2032	2185	2520	2308	148.9	2.1	498	19324	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2184	2413	2519	2308	0	0	0	0	0	0	14.68	14.70	14.70
19658	-0.50	26.7	2032	2184	2519	2309	143.2	1.7	504	19658	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.71	14.71
19994	-0.50	26.7	2033	2184	2520	2308	136.7	1.9	510	19995	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.71	14.71
20330	-0.50	26.7	2033	2184	2519	2309	130.0	1.8	516	20330	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.71	14.71
20667	-0.50	26.7	2033	2184	2520	2309	125.8	1.3	522	20668	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2184	2413	2519	2308	0	0	0	0	0	0	14.69	14.70	14.70
21002	-0.50	26.7	2033	2184	2519	2309	118.3	2.3	528	21002	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2184	2413	2518	2308	0	0	0	0	0	0	14.69	14.71	14.71
21338	-0.50	26.7	2032	2184	2520	2308	113.1	1.3	534	21339	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2184	2413	2519	2308	0	0	0	0	0	0	14.70	14.71	14.71
21674	-0.50	26.7	2032	2184	2519	2309	106.1	2.1	540	21675	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2184	2413	2519	2308	0	0	0	0	0	0	14.70	14.71	14.71
22012	-0.51	11.9	2033	2185	2519	2309	103.2	0.8	546	22012	0.00	0.00	0.00	0.000	38	0.000	0.000	2032	2184	2413	2519	2308	0	0	0	0	0	0	14.68	14.70	14.70
22346	-0.51	11.9	2032	2184	2520	2308	100.6	1.0	552	22346	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2184	2413	2519	2308	0	0	0	0	0	0	14.70	14.71	14.71
22654	-0.52	4.7	2033	2184	2520	2309	97.9	0.4	562	22655	0.00	0.00	0.00	0.000	38	0.000	0.000	2032	2184	2413	2519	2308	0	0	0	0	0	0	14.68	14.70	14.70
22818	end loiter: LOITER_COMPLETE
state	22818	begin climb
22823	0.81	97.3	2033	2184	2519	2309	97.0	0.0	568	22864	1.65	0.00	38.17	0.426	10246	0.218	0.000	2452	2184	2203	2327	2079	0	0	0	0	0	0	13.40	14.15	13.69
23158	0.85	161.3	2452	2184	2329	2091	84.1	4.7	580	23213	0.00	2.65	45.17	0.387	8484	0.000	0.076	2452	3610	1945	2063	1827	0	0	0	0	0	0	14.66	14.00	13.74
23275	0.85	176.1	2452	3610	2064	1834	77.2	7.5	596	23291	0.00	2.50	11.20	0.336	9254	0.000	0.049	2462	2212	1881	1998	1764	0	0	0	0	0	0	14.06	13.95	13.75
23609	0.94	212.3	2461	2212	1998	1783	57.1	6.3	610	23640	0.12	2.60	25.42	0.294	10916	0.133	0.063	2527	792	1736	1836	1637	0	0	0	0	0	0	14.12	14.21	13.89
23683	0.97	249.1	2528	791	1836	1647	52.0	6.2	621	23723	0.00	2.65	25.88	0.284	9254	0.000	0.053	2528	2205	1589	1685	1494	0	0	0	0	0	0	13.90	13.83	13.81
24036	1.11	319.6	2528	2206	1686	1503	38.6	4.3	637	24092	0.00	2.55	47.67	0.243	8612	0.000	0.074	2528	3607	1296	1375	1217	0	0	0	0	0	0	14.60	14.14	13.94
24204	1.20	320.5	2528	3607	1376	1223	27.1	8.3	661	24210	0.17	2.50	0.00	0.000	3238	0.103	0.048	2598	2202	1299	1375	1223	0	0	0	0	0	0	13.98	14.00	14.07
24484	end climb: SURFACE_DEPTH_REACHED
state	24484	begin surface coast
24512	end surface coast: CONTROL_FINISHED_OK
state	24516	begin surface