Glider dive log

SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 772 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 190 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 22 XPDR_INHIBIT 90

MISSION 9 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 50 INT_PRESSURE_SLOPE 0.0097660003

DIVE 772 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 1.0

MAX_BUOY 100 PITCH_GAIN 26 AD7714Ch0Gain 1 SC_XMITPROFILE 1.0

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 25 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 25 VBD_CNV -0.24529999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 22 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 1.0 VBD_LP_IGNORE 0

DIVE 772 N_FILEKB 8 SC_RECORDABOVE 2000.0 VBD_MAX 3900

D_ABORT 1015 N_GPS 100440 SC_XMITPROFILE 1.0 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 070417,095032,1000.7273,-12528.8926,31,0.7,31,9.2,0.9,286.2,11,9.6 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 0.75 MHEAD_RNG_PITCHd_Wd 111.4,64389,-19.5,-8.333,-22.22,1796

_SM_ANGLEo -59.2 D_GRID 450

GPS2 070417,095616,1000.7405,-12528.9697,18,0.7,19,9.2,0.8,313.6,11,8.5

Post-dive calculations and measurements:

FINISH 0.0,1.022100 _10V_AH 10.21,0.000

SM_CCo 25101,108.43,0.119,0,0,560,500.17 FG_AHR_24Vo 0.000

SM_GC 0.79,9.35,0.28,108.43,0.067,0.076,0.119,224,2288,560,-6.13,-0.37,500.17,0,0,0,0,0,0,11.05,11.05,10.98 FG_AHR_10Vo 0.000

IRIDIUM_FIX 953.88,-12525.90,070417,024818 MEM 334208

TT8_MAMPS 0.04494,0.289114 DATA_FILE_SIZE 33493,762

HUMID 59.56 CAP_FILE_SIZE 122413,0

INTERNAL_PRESSURE 9.12144 CFSIZE 260034560,168845312

TCM_TEMP 20.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 31 CURRENT 0.090,313.11,1

_24V_AH 10.39,290.001 GPS 070417,165826,1001.414,-12529.394,66,0.8,66,9.2,0.7,26.3,10,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 406 121.97 SciConCT 3174 25 824.69

Roll_motor 93 1606 1557.32 nil 0 0 0.00

VBD_pump_during_apogee 550 1345 7698.02 nil 0 0 0.00

VBD_pump_during_surface 108 119 134.44 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 207 191 411.82 PMAR 0 0 0.00

Transponder_ping 7 420 33.82 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 22 4.68

TT8 0 0 0.00

LPSleep 20048 2 448.28

TT8_Active 701 10 77.16

TT8_Sampling 4259 28 1250.33

TT8_CF8 534 35 193.75

TT8_Kalman 0 0 0.00

Analog_circuits 1661 11 198.48

GPS_charging 0 0 0.00

Compass 3693 0 28.28

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 -97.3 202 2306 600 530 0.0 0.0 0 98 0.00 0.00 -88.90 0.000 16386 0.000 0.000 199 2305 2819 2831 2808 0 0 0 0 0 0 11.21 28.83 11.23

103 -0.81 -97.3 201 2305 2834 2809 3.4 -4.5 3 128 15.38 3.60 -2.97 0.000 18948 0.406 1.607 1933 866 2999 3044 2955 0 0 0 0 0 0 10.81 10.39 10.98

178 -0.62 -97.3 1933 866 3051 2952 32.9 -28.0 14 189 0.40 3.40 0.00 0.000 3206 0.272 0.051 1990 2281 3000 3051 2950 0 0 0 0 0 0 10.90 11.02 11.01

499 -0.55 -97.3 1991 2281 3055 2949 84.2 -10.2 26 505 0.12 3.28 0.00 0.000 2692 0.256 0.041 2012 867 3002 3055 2949 0 0 0 0 0 0 10.94 11.05 11.05

588 -0.55 -97.3 2012 868 3057 2949 91.5 -7.5 38 593 0.00 3.35 0.00 0.000 1062 0.000 0.047 2011 2288 3002 3056 2948 0 0 0 0 0 0 11.12 11.05 11.13

929 -0.55 -97.3 2012 2288 3059 2949 119.6 -8.2 49 934 0.00 3.30 0.00 0.000 292 0.000 0.070 2011 3699 3003 3058 2948 0 0 0 0 0 0 11.24 11.04 11.25

1026 -0.55 -97.3 2011 3699 3060 2948 128.2 -8.4 63 1031 0.00 3.17 0.00 0.000 1030 0.000 0.031 2011 2259 3003 3059 2948 0 0 0 0 0 0 11.13 11.08 11.14

1381 -0.55 -97.3 2012 2260 3059 2948 158.3 -8.7 71 1386 0.00 3.20 0.00 0.000 516 0.000 0.044 2011 876 3003 3059 2947 0 0 0 0 0 0 11.25 11.07 11.26

1498 -0.55 -97.3 2012 876 3059 2946 168.4 -8.6 87 1504 0.00 3.33 0.00 0.000 1030 0.000 0.049 2012 2277 3002 3058 2946 0 0 0 0 0 0 11.12 11.06 11.14

1838 -0.55 -97.3 2012 2278 3060 2945 196.6 -8.4 100 1838 0.00 0.00 0.00 0.000 6 0.000 0.000 2011 2277 3001 3058 2944 0 0 0 0 0 0 11.25 11.26 11.26

2175 -0.55 -97.3 2011 2278 3060 2941 224.1 -8.2 106 2180 0.00 3.35 0.00 0.000 292 0.000 0.072 2011 3699 2999 3058 2940 0 0 0 0 0 0 11.25 11.05 11.26

2215 -0.55 -97.3 2012 3699 3059 2940 228.0 -8.5 112 2220 0.00 3.20 0.00 0.000 1030 0.000 0.034 2011 2258 2998 3058 2939 0 0 0 0 0 0 11.14 11.10 11.15

2570 -0.55 -97.3 2011 2260 3060 2936 258.3 -8.6 120 2575 0.00 3.22 0.00 0.000 516 0.000 0.046 2011 876 2997 3058 2936 0 0 0 0 0 0 11.25 11.07 11.26

2629 -0.55 -97.3 2012 876 3059 2936 263.3 -8.5 128 2634 0.00 3.35 0.00 0.000 1030 0.000 0.050 2011 2281 2996 3058 2935 0 0 0 0 0 0 11.16 11.06 11.13

2970 -0.55 -97.3 2011 2281 3059 2931 289.5 -7.6 141 2976 0.00 3.35 0.00 0.000 292 0.000 0.073 2011 3695 2994 3058 2930 0 0 0 0 0 0 11.25 11.05 11.26

3004 -0.55 -97.3 2012 3695 3059 2931 292.6 -7.9 146 3009 0.00 3.17 0.00 0.000 1062 0.000 0.034 2011 2269 2994 3058 2930 0 0 0 0 0 0 11.14 11.10 11.15

3366 -0.55 -97.3 2012 2270 3059 2927 321.1 -8.0 155 3371 0.00 3.22 0.00 0.000 548 0.000 0.047 2011 877 2992 3058 2926 0 0 0 0 0 0 11.26 11.07 11.27

3426 -0.55 -97.3 2011 877 3059 2927 325.9 -8.1 163 3431 0.00 3.35 0.00 0.000 1062 0.000 0.050 2011 2281 2992 3058 2926 0 0 0 0 0 0 11.13 11.06 11.14

3765 -0.55 -97.3 2011 2281 3057 2924 351.6 -7.6 176 3770 0.00 3.35 0.00 0.000 292 0.000 0.071 2005 3702 2990 3057 2924 0 0 0 0 0 0 11.26 11.06 11.27

3835 -0.60 -97.3 2005 3702 3058 2924 357.3 -8.1 186 3840 0.00 3.20 0.00 0.000 1190 0.000 0.034 2005 2261 2990 3056 2924 0 0 0 0 0 0 11.14 11.10 11.15

4161 -0.60 -97.3 2006 2263 3057 2922 384.1 -8.4 197 4166 0.00 3.20 0.00 0.000 516 0.000 0.047 2004 881 2988 3056 2921 0 0 0 0 0 0 11.26 11.07 11.27

4236 -0.60 -97.3 2005 882 3056 2921 391.2 -8.7 208 4242 0.00 3.33 0.00 0.000 1030 0.000 0.050 1999 2276 2987 3055 2920 0 0 0 0 0 0 11.13 11.07 11.15

4558 -0.60 -97.3 1999 2276 3054 2919 418.5 -8.8 218 4563 0.00 3.40 0.00 0.000 260 0.000 0.076 1999 3702 2986 3053 2919 0 0 0 0 0 0 11.26 11.05 11.26

4626 -0.65 -97.3 1999 3702 3053 2919 425.1 -8.6 228 4632 0.00 3.22 0.00 0.000 1158 0.000 0.036 1999 2263 2985 3052 2919 0 0 0 0 0 0 11.14 11.10 11.16

4949 end dive: TARGET_DEPTH_EXCEEDED

state 4950 begin apogee

4960 -0.19 0.0 2000 2199 3053 2918 454.9 -9.4 239 5092 0.65 0.00 129.57 1.346 10244 0.189 0.000 2129 2199 2599 2706 2493 0 0 0 0 0 0 10.98 10.99 10.46

5092 end apogee: CONTROL_FINISHED_OK

state 5092 begin loiter

5324 -0.17 33.9 2130 2199 2686 2479 466.2 -1.9 274 5378 0.00 0.00 47.33 1.314 9254 0.000 0.000 2129 2199 2452 2569 2336 0 0 0 0 0 0 11.23 11.22 10.45

5717 -0.34 33.9 2129 2199 2554 2329 458.9 2.6 287 5718 0.15 0.00 0.00 0.000 4230 0.095 0.000 2085 2199 2441 2553 2329 0 0 0 0 0 0 11.06 11.12 11.11

6051 -0.44 33.9 2085 2199 2550 2329 448.4 3.2 293 6052 0.00 0.00 0.00 0.000 134 0.000 0.000 2085 2199 2438 2549 2328 0 0 0 0 0 0 11.23 11.24 11.24

6388 -0.53 33.9 2085 2199 2548 2328 439.8 2.4 299 6389 0.22 0.00 0.00 0.000 4230 0.085 0.000 2022 2199 2437 2547 2327 0 0 0 0 0 0 11.06 11.14 11.12

6725 -0.53 33.9 2023 2199 2545 2327 434.1 1.5 305 6725 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2435 2544 2326 0 0 0 0 0 0 11.24 11.25 11.25

7059 -0.53 33.9 2022 2199 2543 2326 430.3 1.1 311 7060 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2434 2542 2326 0 0 0 0 0 0 11.24 11.25 11.26

7395 -0.53 33.9 2022 2199 2542 2325 425.9 1.4 317 7396 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2433 2541 2325 0 0 0 0 0 0 11.24 11.25 11.26

7731 -0.53 33.9 2022 2199 2542 2326 419.2 2.1 323 7732 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2432 2540 2325 0 0 0 0 0 0 11.24 11.26 11.26

8068 -0.53 33.9 2022 2199 2540 2325 410.7 2.6 329 8069 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2432 2539 2325 0 0 0 0 0 0 11.24 11.26 11.26

8403 -0.53 33.9 2023 2199 2539 2325 401.4 2.8 335 8404 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2431 2538 2325 0 0 0 0 0 0 11.25 11.26 11.26

8739 -0.53 33.9 2022 2199 2538 2324 392.8 2.5 341 8740 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2430 2537 2324 0 0 0 0 0 0 11.25 11.26 11.26

9075 -0.53 33.9 2023 2199 2537 2324 384.9 2.3 347 9076 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2430 2537 2324 0 0 0 0 0 0 11.25 11.26 11.26

9412 -0.53 33.9 2023 2199 2537 2323 376.4 2.5 353 9413 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 2199 2429 2536 2323 0 0 0 0 0 0 11.25 11.26 11.26

9747 -0.53 33.9 2023 2199 2537 2323 367.7 2.6 359 9748 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2429 2536 2323 0 0 0 0 0 0 11.25 11.27 11.26

10083 -0.53 33.9 2023 2199 2536 2323 360.0 2.3 365 10084 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2429 2535 2323 0 0 0 0 0 0 11.25 11.26 11.25

10419 -0.53 33.9 2023 2199 2536 2323 351.6 2.6 371 10420 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2429 2535 2323 0 0 0 0 0 0 11.26 11.27 11.26

10756 -0.53 33.9 2023 2199 2535 2323 343.4 2.3 377 10757 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2429 2535 2323 0 0 0 0 0 0 11.25 11.27 11.26

11091 -0.53 33.9 2022 2199 2536 2323 336.9 1.9 383 11092 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 2198 2428 2534 2323 0 0 0 0 0 0 11.25 11.27 11.27

11427 -0.53 33.9 2023 2199 2534 2323 328.9 2.5 389 11428 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 2198 2428 2534 2323 0 0 0 0 0 0 11.26 11.27 11.27

11763 -0.53 33.9 2023 2199 2535 2323 319.2 2.9 395 11764 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2198 2428 2533 2323 0 0 0 0 0 0 11.26 11.27 11.27

12100 -0.53 33.9 2023 2199 2534 2323 311.7 2.1 401 12101 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.27

12435 -0.53 33.9 2023 2199 2534 2323 304.8 2.1 407 12436 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2428 2533 2323 0 0 0 0 0 0 11.26 11.27 11.27

12771 -0.53 33.9 2022 2199 2533 2323 296.8 2.4 413 12772 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2428 2533 2323 0 0 0 0 0 0 11.26 11.27 11.27

13107 -0.53 33.9 2023 2199 2533 2323 288.3 2.6 419 13108 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2198 2428 2533 2323 0 0 0 0 0 0 11.26 11.27 11.27

13445 -0.53 33.9 2023 2199 2534 2323 280.2 2.4 425 13446 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.26

13779 -0.53 33.9 2023 2199 2533 2323 274.1 1.7 431 13780 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2198 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.28

14115 -0.53 27.2 2022 2199 2533 2323 271.9 0.4 437 14116 0.00 0.00 0.00 0.000 38 0.000 0.000 2022 2199 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.27

14453 -0.54 20.1 2023 2199 2533 2324 271.0 0.4 443 14453 0.00 0.00 0.00 0.000 38 0.000 0.000 2022 2198 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.26

14787 -0.54 20.1 2022 2199 2533 2323 267.5 1.2 449 14788 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 2198 2427 2532 2323 0 0 0 0 0 0 11.26 11.28 11.27

15123 -0.54 20.1 2023 2199 2533 2323 258.0 3.3 455 15124 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2427 2532 2322 0 0 0 0 0 0 11.29 11.28 11.27

15459 -0.54 20.1 2022 2199 2534 2323 246.6 3.3 461 15460 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2198 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.28

15797 -0.54 20.1 2023 2199 2533 2323 237.8 2.5 467 15797 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2198 2427 2532 2322 0 0 0 0 0 0 11.26 11.27 11.27

16131 -0.54 20.1 2023 2199 2532 2323 229.6 2.3 473 16132 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.27

16467 -0.54 20.1 2023 2199 2533 2323 224.7 1.4 479 16468 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 2198 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.27

16803 -0.54 20.1 2023 2199 2533 2323 219.6 1.5 485 16804 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.27

17141 -0.54 20.1 2023 2199 2533 2323 214.6 1.5 491 17142 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.27

17475 -0.54 20.1 2023 2199 2532 2323 209.5 1.5 497 17476 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.27

17811 -0.54 20.1 2023 2199 2532 2323 203.3 1.8 503 17812 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2198 2427 2532 2323 0 0 0 0 0 0 11.26 11.28 11.27

18147 -0.54 20.1 2022 2199 2533 2323 196.3 2.1 509 18148 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2427 2532 2323 0 0 0 0 0 0 11.26 11.28 11.27

18484 -0.54 20.1 2023 2199 2532 2323 187.8 2.6 515 18485 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2198 2427 2531 2323 0 0 0 0 0 0 11.26 11.27 11.27

18819 -0.54 20.1 2022 2199 2533 2322 183.4 1.0 521 18820 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2198 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.28

19155 -0.55 8.8 2023 2199 2533 2323 181.4 0.6 527 19156 0.00 0.00 0.00 0.000 38 0.000 0.000 2022 2198 2427 2532 2323 0 0 0 0 0 0 11.26 11.28 11.28

19491 -0.55 8.8 2023 2199 2533 2323 176.1 1.9 533 19492 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 2199 2427 2532 2323 0 0 0 0 0 0 11.26 11.28 11.28

19829 -0.55 8.8 2023 2198 2533 2323 169.8 1.8 539 19829 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2198 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.27

20163 -0.56 -8.5 2023 2199 2533 2323 165.9 1.0 545 20164 0.00 0.00 0.00 0.000 38 0.000 0.000 2022 2199 2427 2532 2323 0 0 0 0 0 0 11.26 11.28 11.27

20499 -0.56 -8.5 2023 2199 2533 2323 162.0 1.2 551 20500 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 2199 2427 2532 2323 0 0 0 0 0 0 11.26 11.28 11.27

20835 -0.56 -8.5 2023 2199 2532 2323 157.0 1.6 557 20836 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2198 2428 2533 2323 0 0 0 0 0 0 11.26 11.28 11.28

21173 -0.56 -8.5 2023 2199 2533 2323 150.9 1.7 563 21174 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2198 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.27

21507 -0.56 -8.5 2023 2199 2533 2323 146.2 1.3 569 21508 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2198 2427 2532 2323 0 0 0 0 0 0 11.26 11.29 11.28

21843 -0.56 -8.5 2023 2199 2533 2323 142.3 1.3 575 21844 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2199 2427 2532 2323 0 0 0 0 0 0 11.26 11.28 11.28

22181 -0.56 -18.1 2023 2199 2533 2323 140.2 0.6 581 22181 0.00 0.00 0.00 0.000 38 0.000 0.000 2022 2199 2427 2532 2323 0 0 0 0 0 0 11.26 11.27 11.27

22515 -0.56 -18.1 2023 2199 2533 2323 133.9 1.9 587 22516 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 2198 2427 2532 2323 0 0 0 0 0 0 11.26 11.28 11.28

22851 -0.57 -31.4 2023 2199 2533 2323 131.0 0.8 593 22852 0.00 0.00 0.00 0.000 38 0.000 0.000 2022 2199 2427 2532 2323 0 0 0 0 0 0 11.26 11.28 11.28

23071 end loiter: LOITER_COMPLETE

state 23071 begin climb

23075 0.81 97.3 2022 2199 2533 2322 129.3 0.0 597 23161 2.15 3.53 77.47 0.943 10500 0.208 0.070 2448 3615 2193 2318 2069 0 0 0 0 0 0 10.97 10.97 10.57

23309 0.83 141.6 2448 3616 2294 2067 119.3 5.8 631 23358 0.00 3.25 43.15 0.470 9254 0.000 0.044 2457 2207 2025 2149 1901 0 0 0 0 0 0 11.12 11.06 10.76

23692 0.84 156.7 2458 2207 2150 1920 91.9 7.5 650 23715 0.00 0.00 19.55 0.356 8230 0.000 0.000 2458 2207 1968 2081 1856 0 0 0 0 0 0 11.23 11.06 10.82

24023 0.94 228.6 2458 2207 2086 1866 74.8 4.2 662 24112 0.15 3.50 79.22 0.344 11172 0.103 0.070 2502 3614 1676 1773 1579 0 0 0 0 0 0 11.05 10.99 10.83

24347 1.05 325.8 2503 3615 1773 1588 56.8 2.8 708 24460 0.00 3.28 104.60 0.291 9382 0.000 0.041 2512 2178 1271 1344 1198 0 0 0 0 0 0 11.12 11.08 10.86

24788 1.26 374.2 2512 2178 1345 1205 34.9 5.6 737 24843 0.32 3.53 49.70 0.212 10660 0.062 0.069 2614 3619 1073 1147 999 0 0 0 0 0 0 11.06 11.01 10.92

24909 1.26 374.2 2615 3619 1150 1006 22.0 12.8 753 24914 0.00 3.30 0.00 0.000 1030 0.000 0.044 2624 2190 1077 1150 1005 0 0 0 0 0 0 11.11 11.05 11.12

25048 end climb: SURFACE_DEPTH_REACHED

state 25048 begin surface coast

25076 end surface coast: CONTROL_FINISHED_OK

state 25076 begin surface

ID	190	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	22	XPDR_INHIBIT	90
MISSION	9	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	50	INT_PRESSURE_SLOPE	0.0097660003
DIVE	772	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	1.0
MAX_BUOY	100	PITCH_GAIN	26	AD7714Ch0Gain	1	SC_XMITPROFILE	1.0
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	25	XPDR_VALID	6

GPS1	070417,095032,1000.7273,-12528.8926,31,0.7,31,9.2,0.9,286.2,11,9.6	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	0.75	MHEAD_RNG_PITCHd_Wd	111.4,64389,-19.5,-8.333,-22.22,1796
_SM_ANGLEo	-59.2	D_GRID	450
GPS2	070417,095616,1000.7405,-12528.9697,18,0.7,19,9.2,0.8,313.6,11,8.5

FINISH	0.0,1.022100	_10V_AH	10.21,0.000
SM_CCo	25101,108.43,0.119,0,0,560,500.17	FG_AHR_24Vo	0.000
SM_GC	0.79,9.35,0.28,108.43,0.067,0.076,0.119,224,2288,560,-6.13,-0.37,500.17,0,0,0,0,0,0,11.05,11.05,10.98	FG_AHR_10Vo	0.000
IRIDIUM_FIX	953.88,-12525.90,070417,024818	MEM	334208
TT8_MAMPS	0.04494,0.289114	DATA_FILE_SIZE	33493,762
HUMID	59.56	CAP_FILE_SIZE	122413,0
INTERNAL_PRESSURE	9.12144	CFSIZE	260034560,168845312
TCM_TEMP	20.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	31	CURRENT	0.090,313.11,1
_24V_AH	10.39,290.001	GPS	070417,165826,1001.414,-12529.394,66,0.8,66,9.2,0.7,26.3,10,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	406	121.97	SciConCT	3174	25	824.69
Roll_motor	93	1606	1557.32	nil	0	0	0.00
VBD_pump_during_apogee	550	1345	7698.02	nil	0	0	0.00
VBD_pump_during_surface	108	119	134.44	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	207	191	411.82	PMAR	0	0	0.00
Transponder_ping	7	420	33.82	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	22	4.68
TT8	0	0	0.00
LPSleep	20048	2	448.28
TT8_Active	701	10	77.16
TT8_Sampling	4259	28	1250.33
TT8_CF8	534	35	193.75
TT8_Kalman	0	0	0.00
Analog_circuits	1661	11	198.48
GPS_charging	0	0	0.00
Compass	3693	0	28.28
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	202	2306	600	530	0.0	0.0	0	98	0.00	0.00	-88.90	0.000	16386	0.000	0.000	199	2305	2819	2831	2808	0	0	0	0	0	0	11.21	28.83	11.23
103	-0.81	-97.3	201	2305	2834	2809	3.4	-4.5	3	128	15.38	3.60	-2.97	0.000	18948	0.406	1.607	1933	866	2999	3044	2955	0	0	0	0	0	0	10.81	10.39	10.98
178	-0.62	-97.3	1933	866	3051	2952	32.9	-28.0	14	189	0.40	3.40	0.00	0.000	3206	0.272	0.051	1990	2281	3000	3051	2950	0	0	0	0	0	0	10.90	11.02	11.01
499	-0.55	-97.3	1991	2281	3055	2949	84.2	-10.2	26	505	0.12	3.28	0.00	0.000	2692	0.256	0.041	2012	867	3002	3055	2949	0	0	0	0	0	0	10.94	11.05	11.05
588	-0.55	-97.3	2012	868	3057	2949	91.5	-7.5	38	593	0.00	3.35	0.00	0.000	1062	0.000	0.047	2011	2288	3002	3056	2948	0	0	0	0	0	0	11.12	11.05	11.13
929	-0.55	-97.3	2012	2288	3059	2949	119.6	-8.2	49	934	0.00	3.30	0.00	0.000	292	0.000	0.070	2011	3699	3003	3058	2948	0	0	0	0	0	0	11.24	11.04	11.25
1026	-0.55	-97.3	2011	3699	3060	2948	128.2	-8.4	63	1031	0.00	3.17	0.00	0.000	1030	0.000	0.031	2011	2259	3003	3059	2948	0	0	0	0	0	0	11.13	11.08	11.14
1381	-0.55	-97.3	2012	2260	3059	2948	158.3	-8.7	71	1386	0.00	3.20	0.00	0.000	516	0.000	0.044	2011	876	3003	3059	2947	0	0	0	0	0	0	11.25	11.07	11.26
1498	-0.55	-97.3	2012	876	3059	2946	168.4	-8.6	87	1504	0.00	3.33	0.00	0.000	1030	0.000	0.049	2012	2277	3002	3058	2946	0	0	0	0	0	0	11.12	11.06	11.14
1838	-0.55	-97.3	2012	2278	3060	2945	196.6	-8.4	100	1838	0.00	0.00	0.00	0.000	6	0.000	0.000	2011	2277	3001	3058	2944	0	0	0	0	0	0	11.25	11.26	11.26
2175	-0.55	-97.3	2011	2278	3060	2941	224.1	-8.2	106	2180	0.00	3.35	0.00	0.000	292	0.000	0.072	2011	3699	2999	3058	2940	0	0	0	0	0	0	11.25	11.05	11.26
2215	-0.55	-97.3	2012	3699	3059	2940	228.0	-8.5	112	2220	0.00	3.20	0.00	0.000	1030	0.000	0.034	2011	2258	2998	3058	2939	0	0	0	0	0	0	11.14	11.10	11.15
2570	-0.55	-97.3	2011	2260	3060	2936	258.3	-8.6	120	2575	0.00	3.22	0.00	0.000	516	0.000	0.046	2011	876	2997	3058	2936	0	0	0	0	0	0	11.25	11.07	11.26
2629	-0.55	-97.3	2012	876	3059	2936	263.3	-8.5	128	2634	0.00	3.35	0.00	0.000	1030	0.000	0.050	2011	2281	2996	3058	2935	0	0	0	0	0	0	11.16	11.06	11.13
2970	-0.55	-97.3	2011	2281	3059	2931	289.5	-7.6	141	2976	0.00	3.35	0.00	0.000	292	0.000	0.073	2011	3695	2994	3058	2930	0	0	0	0	0	0	11.25	11.05	11.26
3004	-0.55	-97.3	2012	3695	3059	2931	292.6	-7.9	146	3009	0.00	3.17	0.00	0.000	1062	0.000	0.034	2011	2269	2994	3058	2930	0	0	0	0	0	0	11.14	11.10	11.15
3366	-0.55	-97.3	2012	2270	3059	2927	321.1	-8.0	155	3371	0.00	3.22	0.00	0.000	548	0.000	0.047	2011	877	2992	3058	2926	0	0	0	0	0	0	11.26	11.07	11.27
3426	-0.55	-97.3	2011	877	3059	2927	325.9	-8.1	163	3431	0.00	3.35	0.00	0.000	1062	0.000	0.050	2011	2281	2992	3058	2926	0	0	0	0	0	0	11.13	11.06	11.14
3765	-0.55	-97.3	2011	2281	3057	2924	351.6	-7.6	176	3770	0.00	3.35	0.00	0.000	292	0.000	0.071	2005	3702	2990	3057	2924	0	0	0	0	0	0	11.26	11.06	11.27
3835	-0.60	-97.3	2005	3702	3058	2924	357.3	-8.1	186	3840	0.00	3.20	0.00	0.000	1190	0.000	0.034	2005	2261	2990	3056	2924	0	0	0	0	0	0	11.14	11.10	11.15
4161	-0.60	-97.3	2006	2263	3057	2922	384.1	-8.4	197	4166	0.00	3.20	0.00	0.000	516	0.000	0.047	2004	881	2988	3056	2921	0	0	0	0	0	0	11.26	11.07	11.27
4236	-0.60	-97.3	2005	882	3056	2921	391.2	-8.7	208	4242	0.00	3.33	0.00	0.000	1030	0.000	0.050	1999	2276	2987	3055	2920	0	0	0	0	0	0	11.13	11.07	11.15
4558	-0.60	-97.3	1999	2276	3054	2919	418.5	-8.8	218	4563	0.00	3.40	0.00	0.000	260	0.000	0.076	1999	3702	2986	3053	2919	0	0	0	0	0	0	11.26	11.05	11.26
4626	-0.65	-97.3	1999	3702	3053	2919	425.1	-8.6	228	4632	0.00	3.22	0.00	0.000	1158	0.000	0.036	1999	2263	2985	3052	2919	0	0	0	0	0	0	11.14	11.10	11.16
4949	end dive: TARGET_DEPTH_EXCEEDED
state	4950	begin apogee
4960	-0.19	0.0	2000	2199	3053	2918	454.9	-9.4	239	5092	0.65	0.00	129.57	1.346	10244	0.189	0.000	2129	2199	2599	2706	2493	0	0	0	0	0	0	10.98	10.99	10.46
5092	end apogee: CONTROL_FINISHED_OK
state	5092	begin loiter
5324	-0.17	33.9	2130	2199	2686	2479	466.2	-1.9	274	5378	0.00	0.00	47.33	1.314	9254	0.000	0.000	2129	2199	2452	2569	2336	0	0	0	0	0	0	11.23	11.22	10.45
5717	-0.34	33.9	2129	2199	2554	2329	458.9	2.6	287	5718	0.15	0.00	0.00	0.000	4230	0.095	0.000	2085	2199	2441	2553	2329	0	0	0	0	0	0	11.06	11.12	11.11
6051	-0.44	33.9	2085	2199	2550	2329	448.4	3.2	293	6052	0.00	0.00	0.00	0.000	134	0.000	0.000	2085	2199	2438	2549	2328	0	0	0	0	0	0	11.23	11.24	11.24
6388	-0.53	33.9	2085	2199	2548	2328	439.8	2.4	299	6389	0.22	0.00	0.00	0.000	4230	0.085	0.000	2022	2199	2437	2547	2327	0	0	0	0	0	0	11.06	11.14	11.12
6725	-0.53	33.9	2023	2199	2545	2327	434.1	1.5	305	6725	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2435	2544	2326	0	0	0	0	0	0	11.24	11.25	11.25
7059	-0.53	33.9	2022	2199	2543	2326	430.3	1.1	311	7060	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2434	2542	2326	0	0	0	0	0	0	11.24	11.25	11.26
7395	-0.53	33.9	2022	2199	2542	2325	425.9	1.4	317	7396	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2433	2541	2325	0	0	0	0	0	0	11.24	11.25	11.26
7731	-0.53	33.9	2022	2199	2542	2326	419.2	2.1	323	7732	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2432	2540	2325	0	0	0	0	0	0	11.24	11.26	11.26
8068	-0.53	33.9	2022	2199	2540	2325	410.7	2.6	329	8069	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2432	2539	2325	0	0	0	0	0	0	11.24	11.26	11.26
8403	-0.53	33.9	2023	2199	2539	2325	401.4	2.8	335	8404	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2431	2538	2325	0	0	0	0	0	0	11.25	11.26	11.26
8739	-0.53	33.9	2022	2199	2538	2324	392.8	2.5	341	8740	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2430	2537	2324	0	0	0	0	0	0	11.25	11.26	11.26
9075	-0.53	33.9	2023	2199	2537	2324	384.9	2.3	347	9076	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2430	2537	2324	0	0	0	0	0	0	11.25	11.26	11.26
9412	-0.53	33.9	2023	2199	2537	2323	376.4	2.5	353	9413	0.00	0.00	0.00	0.000	6	0.000	0.000	2023	2199	2429	2536	2323	0	0	0	0	0	0	11.25	11.26	11.26
9747	-0.53	33.9	2023	2199	2537	2323	367.7	2.6	359	9748	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2429	2536	2323	0	0	0	0	0	0	11.25	11.27	11.26
10083	-0.53	33.9	2023	2199	2536	2323	360.0	2.3	365	10084	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2429	2535	2323	0	0	0	0	0	0	11.25	11.26	11.25
10419	-0.53	33.9	2023	2199	2536	2323	351.6	2.6	371	10420	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2429	2535	2323	0	0	0	0	0	0	11.26	11.27	11.26
10756	-0.53	33.9	2023	2199	2535	2323	343.4	2.3	377	10757	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2429	2535	2323	0	0	0	0	0	0	11.25	11.27	11.26
11091	-0.53	33.9	2022	2199	2536	2323	336.9	1.9	383	11092	0.00	0.00	0.00	0.000	6	0.000	0.000	2023	2198	2428	2534	2323	0	0	0	0	0	0	11.25	11.27	11.27
11427	-0.53	33.9	2023	2199	2534	2323	328.9	2.5	389	11428	0.00	0.00	0.00	0.000	6	0.000	0.000	2023	2198	2428	2534	2323	0	0	0	0	0	0	11.26	11.27	11.27
11763	-0.53	33.9	2023	2199	2535	2323	319.2	2.9	395	11764	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2198	2428	2533	2323	0	0	0	0	0	0	11.26	11.27	11.27
12100	-0.53	33.9	2023	2199	2534	2323	311.7	2.1	401	12101	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.27
12435	-0.53	33.9	2023	2199	2534	2323	304.8	2.1	407	12436	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2428	2533	2323	0	0	0	0	0	0	11.26	11.27	11.27
12771	-0.53	33.9	2022	2199	2533	2323	296.8	2.4	413	12772	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2428	2533	2323	0	0	0	0	0	0	11.26	11.27	11.27
13107	-0.53	33.9	2023	2199	2533	2323	288.3	2.6	419	13108	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2198	2428	2533	2323	0	0	0	0	0	0	11.26	11.27	11.27
13445	-0.53	33.9	2023	2199	2534	2323	280.2	2.4	425	13446	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.26
13779	-0.53	33.9	2023	2199	2533	2323	274.1	1.7	431	13780	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2198	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.28
14115	-0.53	27.2	2022	2199	2533	2323	271.9	0.4	437	14116	0.00	0.00	0.00	0.000	38	0.000	0.000	2022	2199	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.27
14453	-0.54	20.1	2023	2199	2533	2324	271.0	0.4	443	14453	0.00	0.00	0.00	0.000	38	0.000	0.000	2022	2198	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.26
14787	-0.54	20.1	2022	2199	2533	2323	267.5	1.2	449	14788	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	2198	2427	2532	2323	0	0	0	0	0	0	11.26	11.28	11.27
15123	-0.54	20.1	2023	2199	2533	2323	258.0	3.3	455	15124	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2427	2532	2322	0	0	0	0	0	0	11.29	11.28	11.27
15459	-0.54	20.1	2022	2199	2534	2323	246.6	3.3	461	15460	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2198	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.28
15797	-0.54	20.1	2023	2199	2533	2323	237.8	2.5	467	15797	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2198	2427	2532	2322	0	0	0	0	0	0	11.26	11.27	11.27
16131	-0.54	20.1	2023	2199	2532	2323	229.6	2.3	473	16132	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.27
16467	-0.54	20.1	2023	2199	2533	2323	224.7	1.4	479	16468	0.00	0.00	0.00	0.000	6	0.000	0.000	2023	2198	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.27
16803	-0.54	20.1	2023	2199	2533	2323	219.6	1.5	485	16804	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.27
17141	-0.54	20.1	2023	2199	2533	2323	214.6	1.5	491	17142	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.27
17475	-0.54	20.1	2023	2199	2532	2323	209.5	1.5	497	17476	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.27
17811	-0.54	20.1	2023	2199	2532	2323	203.3	1.8	503	17812	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2198	2427	2532	2323	0	0	0	0	0	0	11.26	11.28	11.27
18147	-0.54	20.1	2022	2199	2533	2323	196.3	2.1	509	18148	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2427	2532	2323	0	0	0	0	0	0	11.26	11.28	11.27
18484	-0.54	20.1	2023	2199	2532	2323	187.8	2.6	515	18485	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2198	2427	2531	2323	0	0	0	0	0	0	11.26	11.27	11.27
18819	-0.54	20.1	2022	2199	2533	2322	183.4	1.0	521	18820	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2198	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.28
19155	-0.55	8.8	2023	2199	2533	2323	181.4	0.6	527	19156	0.00	0.00	0.00	0.000	38	0.000	0.000	2022	2198	2427	2532	2323	0	0	0	0	0	0	11.26	11.28	11.28
19491	-0.55	8.8	2023	2199	2533	2323	176.1	1.9	533	19492	0.00	0.00	0.00	0.000	6	0.000	0.000	2023	2199	2427	2532	2323	0	0	0	0	0	0	11.26	11.28	11.28
19829	-0.55	8.8	2023	2198	2533	2323	169.8	1.8	539	19829	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2198	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.27
20163	-0.56	-8.5	2023	2199	2533	2323	165.9	1.0	545	20164	0.00	0.00	0.00	0.000	38	0.000	0.000	2022	2199	2427	2532	2323	0	0	0	0	0	0	11.26	11.28	11.27
20499	-0.56	-8.5	2023	2199	2533	2323	162.0	1.2	551	20500	0.00	0.00	0.00	0.000	6	0.000	0.000	2023	2199	2427	2532	2323	0	0	0	0	0	0	11.26	11.28	11.27
20835	-0.56	-8.5	2023	2199	2532	2323	157.0	1.6	557	20836	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2198	2428	2533	2323	0	0	0	0	0	0	11.26	11.28	11.28
21173	-0.56	-8.5	2023	2199	2533	2323	150.9	1.7	563	21174	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2198	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.27
21507	-0.56	-8.5	2023	2199	2533	2323	146.2	1.3	569	21508	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2198	2427	2532	2323	0	0	0	0	0	0	11.26	11.29	11.28
21843	-0.56	-8.5	2023	2199	2533	2323	142.3	1.3	575	21844	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2199	2427	2532	2323	0	0	0	0	0	0	11.26	11.28	11.28
22181	-0.56	-18.1	2023	2199	2533	2323	140.2	0.6	581	22181	0.00	0.00	0.00	0.000	38	0.000	0.000	2022	2199	2427	2532	2323	0	0	0	0	0	0	11.26	11.27	11.27
22515	-0.56	-18.1	2023	2199	2533	2323	133.9	1.9	587	22516	0.00	0.00	0.00	0.000	6	0.000	0.000	2023	2198	2427	2532	2323	0	0	0	0	0	0	11.26	11.28	11.28
22851	-0.57	-31.4	2023	2199	2533	2323	131.0	0.8	593	22852	0.00	0.00	0.00	0.000	38	0.000	0.000	2022	2199	2427	2532	2323	0	0	0	0	0	0	11.26	11.28	11.28
23071	end loiter: LOITER_COMPLETE
state	23071	begin climb
23075	0.81	97.3	2022	2199	2533	2322	129.3	0.0	597	23161	2.15	3.53	77.47	0.943	10500	0.208	0.070	2448	3615	2193	2318	2069	0	0	0	0	0	0	10.97	10.97	10.57
23309	0.83	141.6	2448	3616	2294	2067	119.3	5.8	631	23358	0.00	3.25	43.15	0.470	9254	0.000	0.044	2457	2207	2025	2149	1901	0	0	0	0	0	0	11.12	11.06	10.76
23692	0.84	156.7	2458	2207	2150	1920	91.9	7.5	650	23715	0.00	0.00	19.55	0.356	8230	0.000	0.000	2458	2207	1968	2081	1856	0	0	0	0	0	0	11.23	11.06	10.82
24023	0.94	228.6	2458	2207	2086	1866	74.8	4.2	662	24112	0.15	3.50	79.22	0.344	11172	0.103	0.070	2502	3614	1676	1773	1579	0	0	0	0	0	0	11.05	10.99	10.83
24347	1.05	325.8	2503	3615	1773	1588	56.8	2.8	708	24460	0.00	3.28	104.60	0.291	9382	0.000	0.041	2512	2178	1271	1344	1198	0	0	0	0	0	0	11.12	11.08	10.86
24788	1.26	374.2	2512	2178	1345	1205	34.9	5.6	737	24843	0.32	3.53	49.70	0.212	10660	0.062	0.069	2614	3619	1073	1147	999	0	0	0	0	0	0	11.06	11.01	10.92
24909	1.26	374.2	2615	3619	1150	1006	22.0	12.8	753	24914	0.00	3.30	0.00	0.000	1030	0.000	0.044	2624	2190	1077	1150	1005	0	0	0	0	0	0	11.11	11.05	11.12
25048	end climb: SURFACE_DEPTH_REACHED
state	25048	begin surface coast
25076	end surface coast: CONTROL_FINISHED_OK
state	25076	begin surface