Glider dive log

SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 765 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 191 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 43 XPDR_INHIBIT 90

MISSION 8 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 50 INT_PRESSURE_SLOPE 0.0097660003

DIVE 765 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 2.7

N_DIVES 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.050000001 MOTHERBOARD 4

D_SURF 2 SM_CC 515 VBD_MIN 500 DEVICE1 -1

D_FLARE 3 N_FILEKB 8 VBD_MAX 3960 DEVICE2 -1

D_TGT 450 FILEMGR 0 C_VBD 2793 DEVICE3 -1

D_ABORT 1010 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 6 N_NOCOMM 2 VBD_TIMEOUT 720 LOGGERS 1

D_FINISH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0012300001 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 149

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 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 720 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 0.0044184052

T_LOITER 18000 RAFOS_CORR_THRESH 60 MINV_24V 9.6999998 SEABIRD_T_H 0.00064843823

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_10V 9.6999998 SEABIRD_T_I 2.703744e-05

USE_BATHY -6 PITCH_MIN 165 MAXI_24V 0.60000002 SEABIRD_T_J 3.4046161e-06

USE_ICE 0 PITCH_MAX 3888 MAXI_10V 0.80000001 SEABIRD_C_G -9.8009434

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2930 FG_AHR_10V 0 SEABIRD_C_H 1.1236035

D_OFFGRID 1000 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_C_I -0.0016777924

T_WATCHDOG 10 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_C_J 0.00020399806

RELAUNCH 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -151.91774 SC_RECORDABOVE 2000.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PRESSURE_SLOPE 0.00010696654 SC_PROFILE 3.0

MAX_BUOY 100 PITCH_GAIN 24 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 0.029999999 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITRAW 0.0

MASS 54430 PITCH_ADJ_DBAND 3 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 0.0

MASS_COMP 0 ROLL_MIN 312 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 0.0

NAV_MODE 2 ROLL_MAX 3859 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 1.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 0 TM_RECORDABOVE 250.0

KALMAN_USE 2 C_ROLL_DIVE 1775 ALTIM_PING_DEPTH 0 TM_PROFILE 1.0

HD_A 0.0031999999 C_ROLL_CLIMB 1680 ALTIM_PING_DELTA 0 TM_XMITPROFILE 3.0

HD_B 0.0087299999 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13 TM_LOGSAMPLE 0.0

HD_C 7.1299997e-05 ROLL_CNV 0.028270001 ALTIM_PULSE 3 TM_XMITRAW 0.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

ESCAPE_HEADING 0 R_PORT_OVSHOOT 23 XPDR_VALID 2

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_MAX 3888 SM_CC 515

AH0_10V 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SPEED_FACTOR 1

AH0_24V 350 FERRY_MAX 45 PITCH_MIN 165 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 0.0012300001 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 3 HD_A 0.0031999999 PM_PROFILE 3.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.0087299999 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 HD_C 7.1299997e-05 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 0.00010696654 TM_RECORDABOVE 250.0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -151.91774 TM_XMITPROFILE 3.0

CALL_WAIT 60 ID 191 PROTOCOL 9 TM_XMITRAW 0.0

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_ABORT 720

CAPUPLOAD 0 INT_PRESSURE_YINT 2.7 P_OVSHOOT_WITHG 0 T_BOOST 6

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 149 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 1 RHO 1.0275 T_NO_W 120

C_PITCH 2930 MASS 54430 ROLL_ADJ_DBAND 0.050000001 T_RSLEEP 2

C_ROLL_CLIMB 1680 MASS_COMP 0 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_DIVE 1775 MAXI_10V 0.80000001 ROLL_AD_RATE 50 T_TURN_SAMPINT -7

C_VBD 2793 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 9.6999998 ROLL_MAX 3859 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MINV_24V 9.6999998 ROLL_MAXERRORS 1 USE_BATHY -6

DEVICE2 -1 MISSION 8 ROLL_MIN 312 USE_ICE 0

DEVICE3 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE4 -1 NAV_MODE 2 R_PORT_OVSHOOT 23 VBD_CNV -0.24529999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 43 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 3.0 VBD_LP_IGNORE 0

DIVE 765 N_FILEKB 8 SC_RECORDABOVE 2000.0 VBD_MAX 3960

D_ABORT 1010 N_GPS 100440 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

D_BOOST 120 N_NOCOMM 2 SEABIRD_C_G -9.8009434 VBD_MIN 500

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_H 1.1236035 VBD_PUMP_AD_RATE_APOGEE 1

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_C_I -0.0016777924 VBD_PUMP_AD_RATE_SURFACE 1

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_C_J 0.00020399806 VBD_TIMEOUT 720

D_NO_BLEED 50 PITCH_ADJ_DBAND 3 SEABIRD_T_G 0.0044184052 W_ADJ_DBAND 0

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.029999999 SEABIRD_T_H 0.00064843823 XPDR_DEVICE 24

D_PITCH 0 PITCH_AD_RATE 50 SEABIRD_T_I 2.703744e-05 XPDR_INHIBIT 90

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_J 3.4046161e-06 XPDR_VALID 2

D_SURF 2 PITCH_DBAND 0.1 SIM_PITCH 0

D_TGT 450 PITCH_GAIN 24 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030417,065833,1001.3553,-12525.5771,26,0.7,27,9.2,0.7,271.3,12,7.9 SPEED_LIMITS 0.144,0.199

_CALLS 1 TGT_NAME SW

_XMS_NAKs 0 TGT_LATLONG 946.500,-12513.710

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 1.01 MHEAD_RNG_PITCHd_Wd 119.9,35168,-19.0,-8.333,-22.71,1613

_SM_ANGLEo -69.4 D_GRID 1000

GPS2 030417,070747,1001.4208,-12525.6289,17,0.7,18,9.2,0.7,251.1,12,9.6

Post-dive calculations and measurements:

FINISH 0.1,0.999992 _10V_AH 10.18,0.000

SM_CCo 24749,153.60,0.109,0,0,692,515.13 FG_AHR_24Vo 0.000

SM_GC 0.98,12.85,0.20,153.60,0.063,0.054,0.109,163,1791,692,-8.61,-1.22,515.13,0,0,0,0,0,0,11.12,11.17,11.07 FG_AHR_10Vo 0.000

IRIDIUM_FIX 956.07,-12522.84,020417,232735 MEM 311944

TT8_MAMPS 0.047187,0.240429 DATA_FILE_SIZE 26739,748

HUMID 62.64 CAP_FILE_SIZE 123793,0

INTERNAL_PRESSURE 9.15533 CFSIZE 260034560,144707584

TCM_TEMP 24.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.118,313.21,1

SC_FREEKB 7478144 GPS 030417,140450,1002.294,-12526.393,51,0.7,51,9.2,0.6,322.2,12,8.8

_24V_AH 10.51,286.919

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 39 389 163.29 nil 0 0 0.00

Roll_motor 90 1625 1541.52 nil 0 0 0.00

VBD_pump_during_apogee 615 1460 9452.08 nil 0 0 0.00

VBD_pump_during_surface 153 108 175.37 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 6756 7 497.89

Iridium_during_xfer 242 195 498.41 PMAR 0 0 0.00

Transponder_ping 0 420 0.00 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 20 5.06

TT8 0 0 0.00

LPSleep 22053 2 491.67

TT8_Active 894 9 88.03

TT8_Sampling 1724 29 511.71

TT8_CF8 773 34 270.76

TT8_Kalman 0 0 0.00

Analog_circuits 1788 11 205.76

GPS_charging 0 0 0.00

Compass 1069 6 73.38

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

17 -0.91 -97.3 142 1763 897 510 0.0 0.0 0 102 0.00 0.00 -83.35 0.000 16386 0.000 0.000 141 1769 3176 3221 3132 0 0 0 0 0 0 11.28 28.83 11.29

108 -0.91 -97.3 141 1769 3222 3132 4.7 -6.4 3 135 20.88 3.50 -0.20 0.000 18948 0.389 1.626 2636 363 3192 3245 3139 0 0 0 0 0 0 10.93 10.51 11.14

233 -0.54 -97.3 2636 363 3247 3141 45.5 -24.2 21 239 0.73 3.12 0.00 0.000 3206 0.260 0.028 2749 1768 3192 3246 3139 0 0 0 0 0 0 11.00 11.14 11.15

555 -0.54 -97.3 2749 1769 3247 3141 79.2 -7.2 34 560 0.00 3.17 0.00 0.000 292 0.000 0.047 2741 3175 3193 3246 3141 0 0 0 0 0 0 11.29 11.12 11.31

632 -0.54 -97.3 2741 3176 3247 3142 86.2 -9.5 45 639 0.00 3.15 0.00 0.000 1030 0.000 0.034 2741 1764 3194 3246 3142 0 0 0 0 0 0 11.19 11.14 11.20

975 -0.54 -97.3 2741 1764 3247 3143 113.4 -7.0 55 980 0.00 3.22 0.00 0.000 292 0.000 0.047 2731 3179 3194 3246 3142 0 0 0 0 0 0 11.30 11.13 11.31

1040 -0.54 -97.3 2732 3180 3247 3143 117.9 -7.4 64 1044 0.00 3.15 0.00 0.000 1062 0.000 0.034 2731 1770 3194 3246 3142 0 0 0 0 0 0 11.19 11.14 11.21

1367 -0.54 -97.3 2732 1770 3246 3143 146.8 -9.0 76 1372 0.00 3.25 0.00 0.000 516 0.000 0.052 2731 365 3194 3246 3142 0 0 0 0 0 0 11.30 11.12 11.32

1530 -0.54 -97.3 2731 366 3247 3142 161.8 -8.9 99 1536 0.17 3.15 0.00 0.000 3078 0.214 0.028 2749 1790 3194 3246 3142 0 0 0 0 0 0 11.04 11.16 11.17

1871 -0.64 -97.3 2749 1789 3246 3140 188.3 -7.9 106 1876 0.00 3.15 0.00 0.000 420 0.000 0.050 2741 3174 3192 3246 3139 0 0 0 0 0 0 11.31 11.13 11.32

1962 -0.76 -97.3 2741 3173 3246 3138 195.8 -8.3 119 1968 0.22 3.17 0.00 0.000 5286 0.073 0.035 2677 1765 3192 3246 3138 0 0 0 0 0 0 11.15 11.14 11.19

2321 -0.76 -97.3 2677 1765 3246 3131 232.4 -10.1 128 2326 0.00 3.28 0.00 0.000 516 0.000 0.054 2677 359 3188 3245 3132 0 0 0 0 0 0 11.30 11.12 11.31

2506 -0.76 -97.3 2677 359 3246 3131 252.1 -10.8 154 2511 0.00 3.17 0.00 0.000 1030 0.000 0.028 2667 1779 3187 3245 3130 0 0 0 0 0 0 11.21 11.17 11.21

2828 -0.76 -97.3 2667 1780 3247 3126 286.5 -10.7 165 2834 0.00 3.20 0.00 0.000 260 0.000 0.050 2657 3179 3185 3246 3125 0 0 0 0 0 0 11.30 11.13 11.31

2876 -0.76 -97.3 2657 3180 3246 3126 292.0 -11.2 172 2882 0.00 3.17 0.00 0.000 1030 0.000 0.037 2654 1773 3185 3245 3125 0 0 0 0 0 0 11.19 11.14 11.21

3220 -0.76 -97.3 2657 1773 3246 3122 331.5 -11.4 179 3225 0.00 3.30 0.00 0.000 516 0.000 0.055 2657 361 3183 3245 3121 0 0 0 0 0 0 11.31 11.12 11.32

3340 -0.65 -97.3 2657 362 3246 3120 346.1 -12.1 196 3346 0.38 3.17 0.00 0.000 3206 0.220 0.029 2712 1784 3182 3245 3119 0 0 0 0 0 0 11.04 11.17 11.17

3668 -0.65 -97.3 2712 1784 3246 3116 376.3 -9.1 208 3673 0.00 3.20 0.00 0.000 260 0.000 0.052 2704 3179 3180 3245 3115 0 0 0 0 0 0 11.30 11.13 11.30

3703 -0.65 -97.3 2704 3179 3248 3115 379.6 -9.6 213 3709 0.00 3.20 0.00 0.000 1030 0.000 0.037 2704 1765 3180 3245 3115 0 0 0 0 0 0 11.20 11.14 11.21

4062 -0.65 -97.3 2704 1766 3246 3111 414.3 -9.7 222 4067 0.00 3.28 0.00 0.000 516 0.000 0.056 2704 366 3178 3246 3111 0 0 0 0 0 0 11.30 11.12 11.32

4159 -0.65 -97.3 2704 366 3245 3111 424.0 -9.7 236 4164 0.00 3.17 0.00 0.000 1030 0.000 0.031 2694 1785 3177 3245 3110 0 0 0 0 0 0 11.20 11.16 11.21

4448 end dive: TARGET_DEPTH_EXCEEDED

state 4448 begin apogee

4459 -0.21 0.0 2695 1656 3246 3107 451.6 -9.4 243 4581 0.85 0.00 119.75 1.460 10246 0.213 0.000 2853 1654 2792 2911 2674 0 0 0 0 0 0 11.04 11.07 10.52

4582 end apogee: CONTROL_FINISHED_OK

state 4582 begin loiter

4903 -0.15 45.0 2854 1654 2909 2654 467.0 -2.9 251 4960 0.00 0.00 56.08 1.456 8230 0.000 0.000 2853 1654 2609 2726 2492 0 0 0 0 0 0 11.30 11.05 10.55

5293 -0.43 45.0 2853 1654 2723 2473 463.6 1.7 258 5294 0.28 0.00 0.00 0.000 4230 0.071 0.000 2779 1654 2597 2722 2473 0 0 0 0 0 0 11.14 11.20 11.19

5633 -0.56 45.0 2779 1655 2723 2470 458.2 1.6 264 5634 0.00 0.00 0.00 0.000 134 0.000 0.000 2779 1653 2596 2722 2470 0 0 0 0 0 0 11.30 11.31 11.31

5965 -0.67 45.0 2779 1655 2723 2468 452.6 1.7 270 5966 0.28 0.00 0.00 0.000 4230 0.073 0.000 2704 1654 2595 2722 2468 0 0 0 0 0 0 11.14 11.21 11.19

6301 -0.67 45.0 2704 1655 2713 2467 444.8 2.5 276 6302 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2589 2712 2467 0 0 0 0 0 0 11.32 11.33 11.33

6637 -0.67 45.0 2705 1654 2712 2468 437.1 2.2 282 6638 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2590 2713 2467 0 0 0 0 0 0 11.32 11.34 11.34

6974 -0.67 45.0 2704 1654 2713 2468 428.8 2.5 288 6975 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2589 2712 2467 0 0 0 0 0 0 11.32 11.33 11.33

7309 -0.67 45.0 2705 1654 2714 2464 420.4 2.5 294 7310 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2588 2712 2465 0 0 0 0 0 0 11.33 11.34 11.34

7645 -0.67 45.0 2704 1653 2713 2465 411.7 2.6 300 7645 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2588 2713 2464 0 0 0 0 0 0 11.33 11.35 11.35

7982 -0.67 45.0 2704 1654 2713 2463 402.9 2.6 306 7983 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2588 2712 2464 0 0 0 0 0 0 11.32 11.34 11.33

8317 -0.67 45.0 2705 1653 2713 2464 395.1 2.4 312 8317 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2587 2712 2463 0 0 0 0 0 0 11.33 11.35 11.35

8653 -0.67 45.0 2705 1654 2713 2463 387.9 2.1 318 8654 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2587 2712 2462 0 0 0 0 0 0 11.33 11.35 11.35

8989 -0.67 45.0 2704 1655 2713 2462 381.0 2.1 324 8989 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2587 2712 2462 0 0 0 0 0 0 11.33 11.35 11.35

9326 -0.67 45.0 2705 1654 2712 2463 373.8 2.1 330 9327 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2587 2712 2462 0 0 0 0 0 0 11.33 11.35 11.34

9661 -0.67 45.0 2705 1653 2713 2462 365.6 2.5 336 9661 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.34 11.36 11.36

9999 -0.67 45.0 2704 1654 2713 2462 356.2 2.8 342 10000 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.33 11.35 11.35

10333 -0.67 45.0 2704 1655 2714 2460 347.5 2.5 348 10333 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.34 11.36 11.36

10670 -0.67 45.0 2704 1654 2713 2462 339.9 2.3 354 10671 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2460 0 0 0 0 0 0 11.33 11.33 11.35

11005 -0.67 45.0 2704 1654 2713 2461 331.2 2.6 360 11005 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 1654 2587 2713 2461 0 0 0 0 0 0 11.34 11.36 11.36

11341 -0.67 45.0 2705 1653 2712 2461 324.0 2.0 366 11342 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.34 11.36 11.36

11677 -0.67 45.0 2704 1654 2713 2462 317.7 1.9 372 11678 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.34 11.36 11.36

12014 -0.67 45.0 2704 1654 2713 2462 310.6 2.2 378 12015 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.34 11.35 11.35

12349 -0.67 45.0 2704 1655 2713 2460 303.7 2.1 384 12349 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.35 11.36 11.36

12685 -0.67 45.0 2704 1654 2713 2461 295.7 2.5 390 12686 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2587 2713 2461 0 0 0 0 0 0 11.34 11.36 11.36

13021 -0.67 45.0 2705 1655 2714 2460 287.1 2.6 396 13022 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.35 11.36 11.36

13358 -0.67 45.0 2704 1655 2713 2460 280.3 2.0 402 13359 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2587 2713 2461 0 0 0 0 0 0 11.34 11.36 11.35

13693 -0.67 45.0 2704 1654 2713 2462 273.7 1.9 408 13693 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.33 11.36 11.36

14029 -0.67 45.0 2704 1655 2714 2461 266.7 2.1 414 14029 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2711 2461 0 0 0 0 0 0 11.35 11.36 11.36

14367 -0.67 45.0 2704 1653 2714 2462 261.4 1.4 420 14368 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.33 11.36 11.36

14703 -0.67 45.0 2704 1655 2713 2461 256.9 1.4 426 14703 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.34 11.36 11.36

15037 -0.67 45.0 2704 1653 2713 2461 250.2 2.1 432 15037 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.35 11.37 11.36

15373 -0.67 45.0 2704 1653 2713 2461 245.1 1.2 438 15373 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1653 2586 2712 2461 0 0 0 0 0 0 11.35 11.36 11.36

15709 -0.67 46.4 2705 1653 2713 2461 244.7 -0.1 444 15710 0.00 0.00 0.00 0.000 38 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.35 11.36 11.36

16047 -0.67 46.4 2703 1655 2713 2460 242.3 1.1 450 16047 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.34 11.36 11.36

16381 -0.67 46.4 2704 1655 2713 2460 236.8 1.4 456 16381 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1653 2587 2713 2461 0 0 0 0 0 0 11.35 11.36 11.36

16717 -0.67 46.4 2705 1654 2713 2462 232.1 1.5 462 16718 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2587 2713 2461 0 0 0 0 0 0 11.35 11.37 11.36

17053 -0.67 46.4 2704 1655 2714 2460 222.6 3.0 468 17054 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.35 11.37 11.36

17391 -0.67 46.4 2704 1654 2713 2461 214.7 2.2 474 17391 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2587 2713 2461 0 0 0 0 0 0 11.34 11.36 11.38

17725 -0.67 46.4 2704 1654 2713 2462 206.0 2.5 480 17725 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.36 11.37 11.37

18061 -0.67 46.4 2704 1655 2714 2460 202.3 1.1 486 18062 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1654 2586 2712 2461 0 0 0 0 0 0 11.35 11.37 11.36

18397 -0.58 46.4 2704 1654 2713 2462 194.7 2.5 492 18398 0.20 0.00 0.00 0.000 2182 0.231 0.000 2734 1654 2586 2712 2461 0 0 0 0 0 0 11.05 11.23 11.21

18735 -0.58 46.4 2734 1654 2713 2460 185.9 2.6 498 18735 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1654 2586 2712 2461 0 0 0 0 0 0 11.35 11.36 11.36

19069 -0.58 46.4 2734 1655 2713 2460 179.8 1.7 504 19069 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1654 2586 2712 2461 0 0 0 0 0 0 11.36 11.37 11.36

19405 -0.58 46.4 2734 1655 2713 2461 171.8 2.6 510 19406 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1654 2586 2712 2461 0 0 0 0 0 0 11.36 11.37 11.37

19743 -0.58 46.4 2734 1655 2713 2461 164.4 2.1 516 19743 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1654 2586 2713 2460 0 0 0 0 0 0 11.35 11.36 11.36

20077 -0.58 46.4 2734 1654 2713 2462 157.4 2.0 522 20077 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1654 2586 2712 2461 0 0 0 0 0 0 11.36 11.37 11.37

20413 -0.60 33.5 2734 1655 2713 2461 154.5 0.8 528 20414 0.00 0.00 0.00 0.000 38 0.000 0.000 2734 1654 2586 2712 2460 0 0 0 0 0 0 11.36 11.37 11.37

20749 -0.60 33.5 2734 1653 2713 2462 149.3 1.6 534 20750 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1654 2586 2712 2460 0 0 0 0 0 0 11.36 11.37 11.37

21087 -0.61 25.6 2734 1654 2713 2462 146.9 0.5 540 21087 0.00 0.00 0.00 0.000 38 0.000 0.000 2734 1654 2587 2713 2461 0 0 0 0 0 0 11.35 11.36 11.36

21421 -0.62 16.3 2734 1653 2713 2462 145.6 0.6 546 21422 0.00 0.00 0.00 0.000 38 0.000 0.000 2734 1654 2586 2712 2461 0 0 0 0 0 0 11.36 11.37 11.37

21757 -0.64 3.3 2735 1654 2713 2462 143.2 0.8 552 21758 0.00 0.00 0.00 0.000 38 0.000 0.000 2734 1654 2586 2712 2461 0 0 0 0 0 0 11.36 11.37 11.37

22093 -0.64 3.3 2734 1654 2713 2462 137.9 1.6 558 22094 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1654 2587 2713 2461 0 0 0 0 0 0 11.36 11.38 11.37

22431 -0.64 3.3 2734 1653 2713 2462 134.6 1.0 564 22431 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1654 2587 2713 2461 0 0 0 0 0 0 11.35 11.37 11.35

22592 end loiter: LOITER_COMPLETE

state 22592 begin climb

22597 0.91 97.3 2734 1655 2713 2461 133.2 0.0 567 22666 2.47 3.38 61.33 1.080 10500 0.222 0.041 3213 3091 2388 2520 2257 0 0 0 0 0 0 11.07 11.08 10.63

22837 0.98 155.1 3214 3092 2519 2245 124.3 4.7 601 22910 0.00 3.17 67.47 1.050 9254 0.000 0.033 3226 1680 2160 2316 2005 0 0 0 0 0 0 11.20 11.16 10.64

23239 1.10 167.7 3222 1683 2311 1981 96.7 7.5 620 23260 0.20 3.28 11.62 0.263 10916 0.083 0.055 3291 318 2113 2270 1956 0 0 0 0 0 0 11.12 11.10 10.92

23320 1.10 167.7 3291 319 2272 1965 89.3 9.4 632 23325 0.00 3.05 0.00 0.000 1030 0.000 0.024 3291 1704 2117 2270 1965 0 0 0 0 0 0 11.19 11.16 11.20

23656 1.16 211.8 3292 1706 2271 1965 65.6 5.5 647 23751 0.00 3.17 86.10 0.282 8484 0.000 0.041 3291 3072 1931 2096 1767 0 0 0 0 0 0 11.30 11.10 10.96

23833 1.22 263.7 3292 3073 2097 1776 56.4 5.0 672 23937 0.00 3.15 95.85 0.261 9254 0.000 0.034 3299 1678 1720 1897 1544 0 0 0 0 0 0 11.18 11.13 10.97

24247 1.48 334.7 3299 1679 1898 1557 44.7 3.8 698 24369 0.40 3.20 114.38 0.220 10660 0.063 0.040 3409 3074 1430 1621 1239 0 0 0 0 0 0 11.12 11.10 10.99

24518 1.48 334.7 3410 3075 1621 1254 19.5 11.5 737 24531 0.00 3.15 3.25 0.120 9222 0.000 0.034 3418 1676 1428 1621 1235 0 0 0 0 0 0 11.18 11.13 11.07

24688 end climb: SURFACE_DEPTH_REACHED

state 24689 begin surface coast

24717 end surface coast: CONTROL_FINISHED_OK

state 24717 begin surface

ID	191	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	43	XPDR_INHIBIT	90
MISSION	8	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	50	INT_PRESSURE_SLOPE	0.0097660003
DIVE	765	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	2.7
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.050000001	MOTHERBOARD	4
D_SURF	2	SM_CC	515	VBD_MIN	500	DEVICE1	-1
D_FLARE	3	N_FILEKB	8	VBD_MAX	3960	DEVICE2	-1
D_TGT	450	FILEMGR	0	C_VBD	2793	DEVICE3	-1
D_ABORT	1010	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	6	N_NOCOMM	2	VBD_TIMEOUT	720	LOGGERS	1
D_FINISH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0012300001	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	149
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	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	720	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	0.0044184052
T_LOITER	18000	RAFOS_CORR_THRESH	60	MINV_24V	9.6999998	SEABIRD_T_H	0.00064843823
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_10V	9.6999998	SEABIRD_T_I	2.703744e-05
USE_BATHY	-6	PITCH_MIN	165	MAXI_24V	0.60000002	SEABIRD_T_J	3.4046161e-06
USE_ICE	0	PITCH_MAX	3888	MAXI_10V	0.80000001	SEABIRD_C_G	-9.8009434
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2930	FG_AHR_10V	0	SEABIRD_C_H	1.1236035
D_OFFGRID	1000	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_C_I	-0.0016777924
T_WATCHDOG	10	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00020399806
RELAUNCH	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-151.91774	SC_RECORDABOVE	2000.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PRESSURE_SLOPE	0.00010696654	SC_PROFILE	3.0
MAX_BUOY	100	PITCH_GAIN	24	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	0.029999999	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITRAW	0.0
MASS	54430	PITCH_ADJ_DBAND	3	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	0.0
MASS_COMP	0	ROLL_MIN	312	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	0.0
NAV_MODE	2	ROLL_MAX	3859	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	1.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	0	TM_RECORDABOVE	250.0
KALMAN_USE	2	C_ROLL_DIVE	1775	ALTIM_PING_DEPTH	0	TM_PROFILE	1.0
HD_A	0.0031999999	C_ROLL_CLIMB	1680	ALTIM_PING_DELTA	0	TM_XMITPROFILE	3.0
HD_B	0.0087299999	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13	TM_LOGSAMPLE	0.0
HD_C	7.1299997e-05	ROLL_CNV	0.028270001	ALTIM_PULSE	3	TM_XMITRAW	0.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
ESCAPE_HEADING	0	R_PORT_OVSHOOT	23	XPDR_VALID	2

GPS1	030417,065833,1001.3553,-12525.5771,26,0.7,27,9.2,0.7,271.3,12,7.9	SPEED_LIMITS	0.144,0.199
_CALLS	1	TGT_NAME	SW
_XMS_NAKs	0	TGT_LATLONG	946.500,-12513.710
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	1.01	MHEAD_RNG_PITCHd_Wd	119.9,35168,-19.0,-8.333,-22.71,1613
_SM_ANGLEo	-69.4	D_GRID	1000
GPS2	030417,070747,1001.4208,-12525.6289,17,0.7,18,9.2,0.7,251.1,12,9.6

FINISH	0.1,0.999992	_10V_AH	10.18,0.000
SM_CCo	24749,153.60,0.109,0,0,692,515.13	FG_AHR_24Vo	0.000
SM_GC	0.98,12.85,0.20,153.60,0.063,0.054,0.109,163,1791,692,-8.61,-1.22,515.13,0,0,0,0,0,0,11.12,11.17,11.07	FG_AHR_10Vo	0.000
IRIDIUM_FIX	956.07,-12522.84,020417,232735	MEM	311944
TT8_MAMPS	0.047187,0.240429	DATA_FILE_SIZE	26739,748
HUMID	62.64	CAP_FILE_SIZE	123793,0
INTERNAL_PRESSURE	9.15533	CFSIZE	260034560,144707584
TCM_TEMP	24.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.118,313.21,1
SC_FREEKB	7478144	GPS	030417,140450,1002.294,-12526.393,51,0.7,51,9.2,0.6,322.2,12,8.8
_24V_AH	10.51,286.919

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	39	389	163.29	nil	0	0	0.00
Roll_motor	90	1625	1541.52	nil	0	0	0.00
VBD_pump_during_apogee	615	1460	9452.08	nil	0	0	0.00
VBD_pump_during_surface	153	108	175.37	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	6756	7	497.89
Iridium_during_xfer	242	195	498.41	PMAR	0	0	0.00
Transponder_ping	0	420	0.00	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	20	5.06
TT8	0	0	0.00
LPSleep	22053	2	491.67
TT8_Active	894	9	88.03
TT8_Sampling	1724	29	511.71
TT8_CF8	773	34	270.76
TT8_Kalman	0	0	0.00
Analog_circuits	1788	11	205.76
GPS_charging	0	0	0.00
Compass	1069	6	73.38
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
17	-0.91	-97.3	142	1763	897	510	0.0	0.0	0	102	0.00	0.00	-83.35	0.000	16386	0.000	0.000	141	1769	3176	3221	3132	0	0	0	0	0	0	11.28	28.83	11.29
108	-0.91	-97.3	141	1769	3222	3132	4.7	-6.4	3	135	20.88	3.50	-0.20	0.000	18948	0.389	1.626	2636	363	3192	3245	3139	0	0	0	0	0	0	10.93	10.51	11.14
233	-0.54	-97.3	2636	363	3247	3141	45.5	-24.2	21	239	0.73	3.12	0.00	0.000	3206	0.260	0.028	2749	1768	3192	3246	3139	0	0	0	0	0	0	11.00	11.14	11.15
555	-0.54	-97.3	2749	1769	3247	3141	79.2	-7.2	34	560	0.00	3.17	0.00	0.000	292	0.000	0.047	2741	3175	3193	3246	3141	0	0	0	0	0	0	11.29	11.12	11.31
632	-0.54	-97.3	2741	3176	3247	3142	86.2	-9.5	45	639	0.00	3.15	0.00	0.000	1030	0.000	0.034	2741	1764	3194	3246	3142	0	0	0	0	0	0	11.19	11.14	11.20
975	-0.54	-97.3	2741	1764	3247	3143	113.4	-7.0	55	980	0.00	3.22	0.00	0.000	292	0.000	0.047	2731	3179	3194	3246	3142	0	0	0	0	0	0	11.30	11.13	11.31
1040	-0.54	-97.3	2732	3180	3247	3143	117.9	-7.4	64	1044	0.00	3.15	0.00	0.000	1062	0.000	0.034	2731	1770	3194	3246	3142	0	0	0	0	0	0	11.19	11.14	11.21
1367	-0.54	-97.3	2732	1770	3246	3143	146.8	-9.0	76	1372	0.00	3.25	0.00	0.000	516	0.000	0.052	2731	365	3194	3246	3142	0	0	0	0	0	0	11.30	11.12	11.32
1530	-0.54	-97.3	2731	366	3247	3142	161.8	-8.9	99	1536	0.17	3.15	0.00	0.000	3078	0.214	0.028	2749	1790	3194	3246	3142	0	0	0	0	0	0	11.04	11.16	11.17
1871	-0.64	-97.3	2749	1789	3246	3140	188.3	-7.9	106	1876	0.00	3.15	0.00	0.000	420	0.000	0.050	2741	3174	3192	3246	3139	0	0	0	0	0	0	11.31	11.13	11.32
1962	-0.76	-97.3	2741	3173	3246	3138	195.8	-8.3	119	1968	0.22	3.17	0.00	0.000	5286	0.073	0.035	2677	1765	3192	3246	3138	0	0	0	0	0	0	11.15	11.14	11.19
2321	-0.76	-97.3	2677	1765	3246	3131	232.4	-10.1	128	2326	0.00	3.28	0.00	0.000	516	0.000	0.054	2677	359	3188	3245	3132	0	0	0	0	0	0	11.30	11.12	11.31
2506	-0.76	-97.3	2677	359	3246	3131	252.1	-10.8	154	2511	0.00	3.17	0.00	0.000	1030	0.000	0.028	2667	1779	3187	3245	3130	0	0	0	0	0	0	11.21	11.17	11.21
2828	-0.76	-97.3	2667	1780	3247	3126	286.5	-10.7	165	2834	0.00	3.20	0.00	0.000	260	0.000	0.050	2657	3179	3185	3246	3125	0	0	0	0	0	0	11.30	11.13	11.31
2876	-0.76	-97.3	2657	3180	3246	3126	292.0	-11.2	172	2882	0.00	3.17	0.00	0.000	1030	0.000	0.037	2654	1773	3185	3245	3125	0	0	0	0	0	0	11.19	11.14	11.21
3220	-0.76	-97.3	2657	1773	3246	3122	331.5	-11.4	179	3225	0.00	3.30	0.00	0.000	516	0.000	0.055	2657	361	3183	3245	3121	0	0	0	0	0	0	11.31	11.12	11.32
3340	-0.65	-97.3	2657	362	3246	3120	346.1	-12.1	196	3346	0.38	3.17	0.00	0.000	3206	0.220	0.029	2712	1784	3182	3245	3119	0	0	0	0	0	0	11.04	11.17	11.17
3668	-0.65	-97.3	2712	1784	3246	3116	376.3	-9.1	208	3673	0.00	3.20	0.00	0.000	260	0.000	0.052	2704	3179	3180	3245	3115	0	0	0	0	0	0	11.30	11.13	11.30
3703	-0.65	-97.3	2704	3179	3248	3115	379.6	-9.6	213	3709	0.00	3.20	0.00	0.000	1030	0.000	0.037	2704	1765	3180	3245	3115	0	0	0	0	0	0	11.20	11.14	11.21
4062	-0.65	-97.3	2704	1766	3246	3111	414.3	-9.7	222	4067	0.00	3.28	0.00	0.000	516	0.000	0.056	2704	366	3178	3246	3111	0	0	0	0	0	0	11.30	11.12	11.32
4159	-0.65	-97.3	2704	366	3245	3111	424.0	-9.7	236	4164	0.00	3.17	0.00	0.000	1030	0.000	0.031	2694	1785	3177	3245	3110	0	0	0	0	0	0	11.20	11.16	11.21
4448	end dive: TARGET_DEPTH_EXCEEDED
state	4448	begin apogee
4459	-0.21	0.0	2695	1656	3246	3107	451.6	-9.4	243	4581	0.85	0.00	119.75	1.460	10246	0.213	0.000	2853	1654	2792	2911	2674	0	0	0	0	0	0	11.04	11.07	10.52
4582	end apogee: CONTROL_FINISHED_OK
state	4582	begin loiter
4903	-0.15	45.0	2854	1654	2909	2654	467.0	-2.9	251	4960	0.00	0.00	56.08	1.456	8230	0.000	0.000	2853	1654	2609	2726	2492	0	0	0	0	0	0	11.30	11.05	10.55
5293	-0.43	45.0	2853	1654	2723	2473	463.6	1.7	258	5294	0.28	0.00	0.00	0.000	4230	0.071	0.000	2779	1654	2597	2722	2473	0	0	0	0	0	0	11.14	11.20	11.19
5633	-0.56	45.0	2779	1655	2723	2470	458.2	1.6	264	5634	0.00	0.00	0.00	0.000	134	0.000	0.000	2779	1653	2596	2722	2470	0	0	0	0	0	0	11.30	11.31	11.31
5965	-0.67	45.0	2779	1655	2723	2468	452.6	1.7	270	5966	0.28	0.00	0.00	0.000	4230	0.073	0.000	2704	1654	2595	2722	2468	0	0	0	0	0	0	11.14	11.21	11.19
6301	-0.67	45.0	2704	1655	2713	2467	444.8	2.5	276	6302	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2589	2712	2467	0	0	0	0	0	0	11.32	11.33	11.33
6637	-0.67	45.0	2705	1654	2712	2468	437.1	2.2	282	6638	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2590	2713	2467	0	0	0	0	0	0	11.32	11.34	11.34
6974	-0.67	45.0	2704	1654	2713	2468	428.8	2.5	288	6975	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2589	2712	2467	0	0	0	0	0	0	11.32	11.33	11.33
7309	-0.67	45.0	2705	1654	2714	2464	420.4	2.5	294	7310	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2588	2712	2465	0	0	0	0	0	0	11.33	11.34	11.34
7645	-0.67	45.0	2704	1653	2713	2465	411.7	2.6	300	7645	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2588	2713	2464	0	0	0	0	0	0	11.33	11.35	11.35
7982	-0.67	45.0	2704	1654	2713	2463	402.9	2.6	306	7983	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2588	2712	2464	0	0	0	0	0	0	11.32	11.34	11.33
8317	-0.67	45.0	2705	1653	2713	2464	395.1	2.4	312	8317	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2587	2712	2463	0	0	0	0	0	0	11.33	11.35	11.35
8653	-0.67	45.0	2705	1654	2713	2463	387.9	2.1	318	8654	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2587	2712	2462	0	0	0	0	0	0	11.33	11.35	11.35
8989	-0.67	45.0	2704	1655	2713	2462	381.0	2.1	324	8989	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2587	2712	2462	0	0	0	0	0	0	11.33	11.35	11.35
9326	-0.67	45.0	2705	1654	2712	2463	373.8	2.1	330	9327	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2587	2712	2462	0	0	0	0	0	0	11.33	11.35	11.34
9661	-0.67	45.0	2705	1653	2713	2462	365.6	2.5	336	9661	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.34	11.36	11.36
9999	-0.67	45.0	2704	1654	2713	2462	356.2	2.8	342	10000	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.33	11.35	11.35
10333	-0.67	45.0	2704	1655	2714	2460	347.5	2.5	348	10333	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.34	11.36	11.36
10670	-0.67	45.0	2704	1654	2713	2462	339.9	2.3	354	10671	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2460	0	0	0	0	0	0	11.33	11.33	11.35
11005	-0.67	45.0	2704	1654	2713	2461	331.2	2.6	360	11005	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	1654	2587	2713	2461	0	0	0	0	0	0	11.34	11.36	11.36
11341	-0.67	45.0	2705	1653	2712	2461	324.0	2.0	366	11342	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.34	11.36	11.36
11677	-0.67	45.0	2704	1654	2713	2462	317.7	1.9	372	11678	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.34	11.36	11.36
12014	-0.67	45.0	2704	1654	2713	2462	310.6	2.2	378	12015	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.34	11.35	11.35
12349	-0.67	45.0	2704	1655	2713	2460	303.7	2.1	384	12349	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.35	11.36	11.36
12685	-0.67	45.0	2704	1654	2713	2461	295.7	2.5	390	12686	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2587	2713	2461	0	0	0	0	0	0	11.34	11.36	11.36
13021	-0.67	45.0	2705	1655	2714	2460	287.1	2.6	396	13022	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.35	11.36	11.36
13358	-0.67	45.0	2704	1655	2713	2460	280.3	2.0	402	13359	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2587	2713	2461	0	0	0	0	0	0	11.34	11.36	11.35
13693	-0.67	45.0	2704	1654	2713	2462	273.7	1.9	408	13693	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.33	11.36	11.36
14029	-0.67	45.0	2704	1655	2714	2461	266.7	2.1	414	14029	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2711	2461	0	0	0	0	0	0	11.35	11.36	11.36
14367	-0.67	45.0	2704	1653	2714	2462	261.4	1.4	420	14368	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.33	11.36	11.36
14703	-0.67	45.0	2704	1655	2713	2461	256.9	1.4	426	14703	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.34	11.36	11.36
15037	-0.67	45.0	2704	1653	2713	2461	250.2	2.1	432	15037	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.35	11.37	11.36
15373	-0.67	45.0	2704	1653	2713	2461	245.1	1.2	438	15373	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1653	2586	2712	2461	0	0	0	0	0	0	11.35	11.36	11.36
15709	-0.67	46.4	2705	1653	2713	2461	244.7	-0.1	444	15710	0.00	0.00	0.00	0.000	38	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.35	11.36	11.36
16047	-0.67	46.4	2703	1655	2713	2460	242.3	1.1	450	16047	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.34	11.36	11.36
16381	-0.67	46.4	2704	1655	2713	2460	236.8	1.4	456	16381	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1653	2587	2713	2461	0	0	0	0	0	0	11.35	11.36	11.36
16717	-0.67	46.4	2705	1654	2713	2462	232.1	1.5	462	16718	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2587	2713	2461	0	0	0	0	0	0	11.35	11.37	11.36
17053	-0.67	46.4	2704	1655	2714	2460	222.6	3.0	468	17054	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.35	11.37	11.36
17391	-0.67	46.4	2704	1654	2713	2461	214.7	2.2	474	17391	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2587	2713	2461	0	0	0	0	0	0	11.34	11.36	11.38
17725	-0.67	46.4	2704	1654	2713	2462	206.0	2.5	480	17725	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.36	11.37	11.37
18061	-0.67	46.4	2704	1655	2714	2460	202.3	1.1	486	18062	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1654	2586	2712	2461	0	0	0	0	0	0	11.35	11.37	11.36
18397	-0.58	46.4	2704	1654	2713	2462	194.7	2.5	492	18398	0.20	0.00	0.00	0.000	2182	0.231	0.000	2734	1654	2586	2712	2461	0	0	0	0	0	0	11.05	11.23	11.21
18735	-0.58	46.4	2734	1654	2713	2460	185.9	2.6	498	18735	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1654	2586	2712	2461	0	0	0	0	0	0	11.35	11.36	11.36
19069	-0.58	46.4	2734	1655	2713	2460	179.8	1.7	504	19069	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1654	2586	2712	2461	0	0	0	0	0	0	11.36	11.37	11.36
19405	-0.58	46.4	2734	1655	2713	2461	171.8	2.6	510	19406	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1654	2586	2712	2461	0	0	0	0	0	0	11.36	11.37	11.37
19743	-0.58	46.4	2734	1655	2713	2461	164.4	2.1	516	19743	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1654	2586	2713	2460	0	0	0	0	0	0	11.35	11.36	11.36
20077	-0.58	46.4	2734	1654	2713	2462	157.4	2.0	522	20077	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1654	2586	2712	2461	0	0	0	0	0	0	11.36	11.37	11.37
20413	-0.60	33.5	2734	1655	2713	2461	154.5	0.8	528	20414	0.00	0.00	0.00	0.000	38	0.000	0.000	2734	1654	2586	2712	2460	0	0	0	0	0	0	11.36	11.37	11.37
20749	-0.60	33.5	2734	1653	2713	2462	149.3	1.6	534	20750	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1654	2586	2712	2460	0	0	0	0	0	0	11.36	11.37	11.37
21087	-0.61	25.6	2734	1654	2713	2462	146.9	0.5	540	21087	0.00	0.00	0.00	0.000	38	0.000	0.000	2734	1654	2587	2713	2461	0	0	0	0	0	0	11.35	11.36	11.36
21421	-0.62	16.3	2734	1653	2713	2462	145.6	0.6	546	21422	0.00	0.00	0.00	0.000	38	0.000	0.000	2734	1654	2586	2712	2461	0	0	0	0	0	0	11.36	11.37	11.37
21757	-0.64	3.3	2735	1654	2713	2462	143.2	0.8	552	21758	0.00	0.00	0.00	0.000	38	0.000	0.000	2734	1654	2586	2712	2461	0	0	0	0	0	0	11.36	11.37	11.37
22093	-0.64	3.3	2734	1654	2713	2462	137.9	1.6	558	22094	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1654	2587	2713	2461	0	0	0	0	0	0	11.36	11.38	11.37
22431	-0.64	3.3	2734	1653	2713	2462	134.6	1.0	564	22431	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1654	2587	2713	2461	0	0	0	0	0	0	11.35	11.37	11.35
22592	end loiter: LOITER_COMPLETE
state	22592	begin climb
22597	0.91	97.3	2734	1655	2713	2461	133.2	0.0	567	22666	2.47	3.38	61.33	1.080	10500	0.222	0.041	3213	3091	2388	2520	2257	0	0	0	0	0	0	11.07	11.08	10.63
22837	0.98	155.1	3214	3092	2519	2245	124.3	4.7	601	22910	0.00	3.17	67.47	1.050	9254	0.000	0.033	3226	1680	2160	2316	2005	0	0	0	0	0	0	11.20	11.16	10.64
23239	1.10	167.7	3222	1683	2311	1981	96.7	7.5	620	23260	0.20	3.28	11.62	0.263	10916	0.083	0.055	3291	318	2113	2270	1956	0	0	0	0	0	0	11.12	11.10	10.92
23320	1.10	167.7	3291	319	2272	1965	89.3	9.4	632	23325	0.00	3.05	0.00	0.000	1030	0.000	0.024	3291	1704	2117	2270	1965	0	0	0	0	0	0	11.19	11.16	11.20
23656	1.16	211.8	3292	1706	2271	1965	65.6	5.5	647	23751	0.00	3.17	86.10	0.282	8484	0.000	0.041	3291	3072	1931	2096	1767	0	0	0	0	0	0	11.30	11.10	10.96
23833	1.22	263.7	3292	3073	2097	1776	56.4	5.0	672	23937	0.00	3.15	95.85	0.261	9254	0.000	0.034	3299	1678	1720	1897	1544	0	0	0	0	0	0	11.18	11.13	10.97
24247	1.48	334.7	3299	1679	1898	1557	44.7	3.8	698	24369	0.40	3.20	114.38	0.220	10660	0.063	0.040	3409	3074	1430	1621	1239	0	0	0	0	0	0	11.12	11.10	10.99
24518	1.48	334.7	3410	3075	1621	1254	19.5	11.5	737	24531	0.00	3.15	3.25	0.120	9222	0.000	0.034	3418	1676	1428	1621	1235	0	0	0	0	0	0	11.18	11.13	11.07
24688	end climb: SURFACE_DEPTH_REACHED
state	24689	begin surface coast
24717	end surface coast: CONTROL_FINISHED_OK
state	24717	begin surface