Glider dive log

SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 777 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 190 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 29 XPDR_INHIBIT 90

MISSION 9 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 50 INT_PRESSURE_SLOPE 0.0097660003

DIVE 777 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 26 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 26 VBD_CNV -0.24529999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 29 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 1.0 VBD_LP_IGNORE 0

DIVE 777 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 080417,233321,1003.4816,-12530.2725,37,0.8,38,9.2,1.0,179.7,10,9.3 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 0.75 MHEAD_RNG_PITCHd_Wd 126.2,69322,-19.5,-8.333,-22.22,1796

_SM_ANGLEo -60.2 D_GRID 450

GPS2 080417,233917,1003.4827,-12530.2900,15,0.8,17,9.2,0.7,254.9,10,8.7

Post-dive calculations and measurements:

FINISH 0.2,1.022100 _10V_AH 10.65,0.000

SM_CCo 26409,127.80,0.121,0,0,560,500.41 FG_AHR_24Vo 0.000

SM_GC 0.74,9.27,0.25,127.80,0.070,0.067,0.121,229,2287,560,-6.14,-0.45,500.41,0,0,0,0,0,0,11.01,11.07,10.98 FG_AHR_10Vo 0.000

IRIDIUM_FIX 958.26,-12532.01,080417,155340 MEM 334200

TT8_MAMPS 0.04494,0.29211 DATA_FILE_SIZE 33461,756

HUMID 59.49 CAP_FILE_SIZE 125954,0

INTERNAL_PRESSURE 9.10191 CFSIZE 260034560,168525824

TCM_TEMP 22.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 27 CURRENT 0.057,304.76,1

_24V_AH 10.38,291.207 GPS 090417,070303,1003.552,-12530.446,33,0.8,34,9.2,0.0,0.0,11,7.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 409 122.99 SciConCT 637 25 165.48

Roll_motor 93 1605 1563.41 nil 0 0 0.00

VBD_pump_during_apogee 714 1286 9540.71 nil 0 0 0.00

VBD_pump_during_surface 127 120 160.34 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 215 196 440.55 PMAR 0 0 0.00

Transponder_ping 6 420 29.43 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 22 5.31

TT8 0 0 0.00

LPSleep 23143 2 539.79

TT8_Active 991 10 113.76

TT8_Sampling 2213 28 677.87

TT8_CF8 529 35 200.10

TT8_Kalman 0 0 0.00

Analog_circuits 1868 11 232.86

GPS_charging 0 0 0.00

Compass 1599 0 12.78

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 -97.3 202 2307 601 532 0.0 0.0 0 98 0.00 0.00 -88.78 0.000 16386 0.000 0.000 201 2307 2788 2804 2772 0 0 0 0 0 0 11.19 28.83 11.21

103 -0.81 -97.3 201 2307 2806 2772 3.0 -3.7 3 129 15.60 3.70 -3.62 0.000 18948 0.409 1.606 1929 866 3000 3046 2954 0 0 0 0 0 0 10.81 10.38 10.98

207 -0.61 -97.3 1930 867 3052 2951 38.1 -26.1 18 219 0.45 3.38 0.00 0.000 3206 0.269 0.050 1996 2273 3000 3051 2950 0 0 0 0 0 0 10.89 11.01 11.02

527 -0.54 -97.3 1997 2274 3056 2949 88.7 -9.1 30 533 0.00 3.35 0.00 0.000 388 0.000 0.069 1986 3702 3002 3056 2949 0 0 0 0 0 0 11.22 11.02 11.24

756 -0.54 -97.3 1986 3702 3058 2949 112.3 -9.8 62 762 0.20 3.20 0.00 0.000 3078 0.216 0.031 2019 2264 3002 3057 2948 0 0 0 0 0 0 10.94 11.07 11.08

1097 -0.54 -97.3 2020 2265 3060 2949 137.5 -7.0 75 1102 0.00 3.20 0.00 0.000 548 0.000 0.045 2020 884 3003 3059 2948 0 0 0 0 0 0 11.23 11.05 11.24

1172 -0.54 -97.3 2020 885 3060 2949 143.5 -7.1 86 1178 0.00 3.30 0.00 0.000 1062 0.000 0.048 2015 2281 3003 3059 2948 0 0 0 0 0 0 11.11 11.05 11.12

1494 -0.54 -97.3 2016 2282 3060 2947 168.0 -8.0 96 1499 0.00 3.35 0.00 0.000 292 0.000 0.069 2012 3702 3003 3059 2947 0 0 0 0 0 0 11.24 11.03 11.24

1583 -0.54 -97.3 2012 3702 3060 2946 175.8 -8.5 109 1588 0.00 3.17 0.00 0.000 1030 0.000 0.032 2012 2279 3003 3060 2946 0 0 0 0 0 0 11.12 11.06 11.14

1946 -0.54 -97.3 2012 2281 3059 2943 206.7 -8.8 118 1952 0.00 3.28 0.00 0.000 516 0.000 0.047 2011 877 3001 3059 2943 0 0 0 0 0 0 11.24 11.05 11.24

2063 -0.54 -97.3 2012 878 3060 2942 216.8 -8.4 134 2068 0.00 3.35 0.00 0.000 1030 0.000 0.050 2011 2283 3000 3059 2941 0 0 0 0 0 0 11.12 11.05 11.13

2403 -0.54 -97.3 2012 2283 3059 2938 244.6 -8.2 147 2404 0.00 0.00 0.00 0.000 38 0.000 0.000 2011 2282 2998 3058 2938 0 0 0 0 0 0 11.24 11.25 11.25

2740 -0.54 -97.3 2012 2283 3060 2933 273.7 -8.8 153 2745 0.00 3.38 0.00 0.000 260 0.000 0.073 2012 3702 2995 3058 2933 0 0 0 0 0 0 11.24 11.04 11.25

2780 -0.59 -97.3 2012 3703 3059 2933 277.5 -8.5 159 2785 0.00 3.22 0.00 0.000 1158 0.000 0.034 2011 2262 2995 3058 2933 0 0 0 0 0 0 11.13 11.08 11.14

3135 -0.59 -97.3 2012 2263 3060 2928 306.2 -8.2 167 3140 0.00 3.22 0.00 0.000 548 0.000 0.047 2011 879 2993 3059 2927 0 0 0 0 0 0 11.24 11.06 11.26

3204 -0.59 -97.3 2012 879 3059 2928 312.3 -8.4 177 3209 0.00 3.33 0.00 0.000 1030 0.000 0.050 2011 2277 2992 3058 2927 0 0 0 0 0 0 11.12 11.05 11.14

3531 -0.59 -97.3 2012 2278 3058 2926 338.0 -8.0 188 3532 0.00 0.00 0.00 0.000 38 0.000 0.000 2011 2277 2991 3057 2926 0 0 0 0 0 0 11.24 11.26 11.26

3867 -0.59 -97.3 2011 2277 3057 2923 363.1 -7.4 194 3867 0.00 0.00 0.00 0.000 38 0.000 0.000 2011 2277 2989 3056 2923 0 0 0 0 0 0 11.24 11.26 11.26

4204 -0.59 -97.3 2012 2278 3056 2921 389.8 -8.1 200 4205 0.00 0.00 0.00 0.000 38 0.000 0.000 2011 2277 2987 3055 2920 0 0 0 0 0 0 11.24 11.26 11.26

4539 -0.59 -97.3 2012 2277 3054 2919 419.1 -8.9 206 4545 0.00 3.45 0.00 0.000 260 0.000 0.076 2011 3702 2985 3052 2918 0 0 0 0 0 0 11.25 11.05 11.26

4565 -0.59 -97.3 2011 3702 3054 2918 422.0 -9.1 210 4572 0.00 3.25 0.00 0.000 1030 0.000 0.037 2011 2268 2985 3053 2918 0 0 0 0 0 0 11.14 11.08 11.15

4875 end dive: TARGET_DEPTH_EXCEEDED

state 4875 begin apogee

4885 -0.19 0.0 2012 2200 3053 2917 450.6 -9.3 219 5217 0.60 0.00 329.02 0.970 10244 0.182 0.000 2133 2199 2600 2707 2494 0 0 0 0 0 0 10.98 10.99 10.57

5217 end apogee: CONTROL_FINISHED_OK

state 5217 begin loiter

5448 -0.18 28.3 2133 2200 2695 2488 468.5 -1.6 258 5496 0.00 0.00 42.95 1.287 9254 0.000 0.000 2134 2199 2477 2593 2361 0 0 0 0 0 0 11.24 11.23 10.46

5835 -0.34 28.3 2133 2200 2579 2354 462.2 2.4 271 5836 0.17 0.00 0.00 0.000 4230 0.089 0.000 2082 2199 2466 2578 2354 0 0 0 0 0 0 11.05 11.12 11.10

6169 -0.43 28.3 2083 2200 2576 2353 454.8 2.2 277 6170 0.00 0.00 0.00 0.000 134 0.000 0.000 2082 2199 2464 2575 2353 0 0 0 0 0 0 11.24 11.26 11.26

6505 -0.52 28.3 2083 2199 2573 2351 447.4 2.2 283 6507 0.20 0.00 0.00 0.000 4230 0.089 0.000 2027 2199 2461 2572 2350 0 0 0 0 0 0 11.06 11.14 11.12

6842 -0.52 28.3 2028 2200 2571 2350 439.3 2.4 289 6843 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2460 2570 2350 0 0 0 0 0 0 11.25 11.26 11.26

7177 -0.52 28.3 2027 2200 2570 2350 432.2 2.0 295 7178 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2199 2459 2569 2350 0 0 0 0 0 0 11.26 11.28 11.28

7513 -0.53 13.6 2027 2199 2569 2350 428.7 0.8 301 7514 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2458 2568 2349 0 0 0 0 0 0 11.26 11.28 11.28

7851 -0.53 13.4 2027 2200 2568 2350 428.2 0.0 307 7851 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2458 2567 2349 0 0 0 0 0 0 11.26 11.27 11.27

8185 -0.53 7.6 2028 2200 2566 2350 427.5 0.3 313 8186 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2457 2566 2349 0 0 0 0 0 0 11.27 11.29 11.29

8521 -0.53 7.6 2028 2199 2565 2349 423.3 1.5 319 8522 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2456 2565 2348 0 0 0 0 0 0 11.27 11.29 11.29

8857 -0.53 7.6 2028 2199 2564 2349 415.3 2.5 325 8858 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2456 2564 2348 0 0 0 0 0 0 11.27 11.29 11.29

9194 -0.53 7.6 2027 2200 2564 2348 406.5 2.6 331 9195 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2456 2564 2348 0 0 0 0 0 0 11.26 11.28 11.28

9529 -0.53 7.6 2028 2200 2562 2348 398.8 2.2 337 9530 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2454 2561 2348 0 0 0 0 0 0 11.28 11.27 11.29

9865 -0.53 7.6 2027 2200 2563 2348 392.8 1.7 343 9866 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2454 2561 2348 0 0 0 0 0 0 11.28 11.29 11.29

10201 -0.53 7.6 2028 2200 2561 2349 386.7 1.9 349 10202 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2454 2561 2348 0 0 0 0 0 0 11.28 11.29 11.29

10538 -0.53 7.6 2027 2200 2561 2348 379.3 2.2 355 10539 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2454 2560 2348 0 0 0 0 0 0 11.27 11.29 11.29

10873 -0.53 7.6 2028 2200 2561 2348 372.1 2.1 361 10874 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2454 2560 2348 0 0 0 0 0 0 11.28 11.29 11.29

11209 -0.53 7.6 2027 2200 2560 2348 364.1 2.5 367 11210 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2453 2559 2347 0 0 0 0 0 0 11.28 11.29 11.29

11545 -0.53 7.6 2028 2199 2559 2348 355.3 2.6 373 11546 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2454 2560 2348 0 0 0 0 0 0 11.29 11.29 11.30

11883 -0.53 7.6 2028 2200 2560 2348 349.7 1.5 379 11883 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2200 2453 2559 2348 0 0 0 0 0 0 11.28 11.29 11.29

12217 -0.54 -4.6 2027 2199 2560 2348 346.7 0.7 385 12218 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2453 2559 2348 0 0 0 0 0 0 11.29 11.30 11.30

12553 -0.54 -4.6 2028 2199 2559 2348 342.8 1.3 391 12554 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2199 2453 2559 2348 0 0 0 0 0 0 11.29 11.30 11.30

12889 -0.54 -4.6 2028 2200 2559 2347 337.9 1.5 397 12890 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2453 2559 2348 0 0 0 0 0 0 11.29 11.30 11.29

13226 -0.54 -4.6 2027 2200 2559 2348 331.4 2.0 403 13227 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2453 2558 2348 0 0 0 0 0 0 11.28 11.29 11.29

13561 -0.54 -4.6 2028 2199 2559 2348 325.0 1.8 409 13562 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2453 2558 2348 0 0 0 0 0 0 11.29 11.30 11.30

13897 -0.54 -4.6 2027 2199 2559 2348 320.9 1.1 415 13898 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2453 2558 2348 0 0 0 0 0 0 11.29 11.30 11.30

14233 -0.54 -9.0 2028 2200 2559 2348 319.5 0.3 421 14234 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2452 2557 2348 0 0 0 0 0 0 11.28 11.30 11.30

14571 -0.54 -8.0 2027 2200 2558 2349 319.9 -0.1 427 14572 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2452 2557 2348 0 0 0 0 0 0 11.27 11.29 11.29

14905 -0.54 -8.0 2028 2199 2558 2348 316.7 1.1 433 14906 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2452 2557 2348 0 0 0 0 0 0 11.29 11.30 11.30

15241 -0.54 -8.0 2028 2199 2557 2348 311.3 1.8 439 15242 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.31 11.29

15577 -0.54 -8.0 2028 2200 2557 2348 304.7 1.9 445 15578 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2452 2557 2348 0 0 0 0 0 0 11.29 11.31 11.30

15915 -0.55 -24.8 2027 2200 2558 2348 301.0 1.0 451 15915 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2452 2557 2348 0 0 0 0 0 0 11.28 11.29 11.29

16249 -0.55 -26.9 2028 2199 2557 2348 300.3 0.1 457 16250 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.30 11.30

16585 -0.55 -30.2 2028 2199 2557 2347 299.9 0.2 463 16586 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2451 2556 2347 0 0 0 0 0 0 11.29 11.31 11.30

16922 -0.55 -30.2 2027 2200 2558 2348 296.0 1.4 469 16923 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.29 11.29

17257 -0.55 -30.2 2027 2200 2557 2348 290.8 1.4 475 17258 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.31 11.31

17593 -0.55 -30.2 2028 2199 2557 2347 286.5 1.2 481 17594 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.31 11.30

17929 -0.55 -30.2 2027 2199 2557 2348 282.1 1.3 487 17930 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.31 11.31

18267 -0.55 -31.7 2027 2200 2557 2348 281.0 0.1 493 18267 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.30 11.30

18601 -0.56 -37.1 2027 2200 2557 2348 280.4 0.3 499 18602 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.31 11.31

18937 -0.56 -37.1 2029 2199 2557 2348 274.2 2.2 505 18938 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.31 11.31

19273 -0.56 -37.1 2027 2199 2557 2348 266.8 2.1 511 19274 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.31 11.31

19611 -0.56 -37.1 2027 2200 2558 2348 261.5 1.4 517 19611 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2451 2556 2347 0 0 0 0 0 0 11.29 11.31 11.29

19945 -0.56 -37.1 2028 2199 2557 2348 257.4 1.3 523 19946 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.31 11.31

20281 -0.56 -48.9 2027 2200 2558 2348 254.6 0.7 529 20282 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.31 11.31

20617 -0.57 -56.9 2028 2199 2557 2349 252.9 0.5 535 20618 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.31 11.31

20955 -0.57 -61.0 2028 2200 2557 2348 252.0 0.2 541 20955 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.30 11.30

21289 -0.57 -65.4 2027 2200 2558 2348 251.1 0.3 547 21290 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.31 11.31

21625 -0.58 -80.9 2028 2199 2557 2348 248.6 0.9 553 21626 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.31 11.31

21962 -0.58 -80.9 2028 2199 2557 2349 244.4 1.2 559 21963 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.30 11.30

22297 -0.58 -80.9 2027 2200 2557 2348 239.8 1.3 565 22298 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2451 2556 2347 0 0 0 0 0 0 11.29 11.31 11.31

22633 -0.59 -89.2 2027 2200 2557 2348 238.1 0.5 571 22634 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.31 11.31

22969 -0.59 -89.2 2028 2199 2557 2348 234.7 1.2 577 22970 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2199 2452 2556 2348 0 0 0 0 0 0 11.29 11.31 11.31

23245 end loiter: LOITER_COMPLETE

state 23245 begin climb

23250 0.81 97.3 2027 2200 2557 2348 232.7 0.0 582 23342 2.10 0.00 88.43 1.085 10246 0.197 0.000 2451 2199 2202 2331 2074 0 0 0 0 0 0 11.00 10.99 10.52

23641 0.82 121.5 2451 2199 2299 2059 210.2 6.9 589 23674 0.00 0.00 31.30 1.040 8230 0.000 0.000 2450 2199 2103 2232 1975 0 0 0 0 0 0 11.26 11.00 10.53

23977 0.82 121.5 2451 2199 2202 1960 181.9 8.8 595 23983 0.00 3.47 0.00 0.000 260 0.000 0.073 2450 3619 2080 2201 1960 0 0 0 0 0 0 11.26 11.03 11.27

24012 0.82 121.5 2452 3619 2200 1961 178.3 10.3 600 24017 0.00 3.30 0.00 0.000 1030 0.000 0.045 2460 2203 2079 2199 1960 0 0 0 0 0 0 11.12 11.05 11.14

24369 0.82 121.5 2460 2204 2199 1960 144.4 9.4 609 24374 0.00 3.42 0.00 0.000 516 0.000 0.060 2470 787 2079 2198 1960 0 0 0 0 0 0 11.26 11.05 11.28

24425 0.82 121.5 2470 788 2197 1960 139.6 8.6 617 24430 0.00 3.38 0.00 0.000 1030 0.000 0.048 2470 2202 2078 2196 1960 0 0 0 0 0 0 11.12 11.05 11.14

24763 0.82 121.5 2470 2202 2197 1960 110.4 8.8 630 24767 0.00 3.40 0.00 0.000 260 0.000 0.073 2470 3616 2077 2195 1960 0 0 0 0 0 0 11.26 11.05 11.27

24838 0.82 121.5 2471 3616 2196 1960 103.4 9.5 641 24843 0.00 3.28 0.00 0.000 1030 0.000 0.045 2480 2194 2077 2195 1960 0 0 0 0 0 0 11.13 11.08 11.14

25153 0.85 174.2 2480 2196 2195 1961 85.6 5.3 655 25208 0.00 3.50 45.80 0.372 8484 0.000 0.070 2480 3608 1892 2014 1770 0 0 0 0 0 0 11.27 11.00 10.83

25298 0.86 178.8 2480 3608 2016 1781 76.4 8.1 675 25310 0.00 3.25 6.28 0.243 9254 0.000 0.043 2489 2199 1874 1993 1755 0 0 0 0 0 0 11.08 11.05 10.86

25636 0.98 277.2 2489 2199 1995 1776 62.1 2.7 690 25743 0.00 3.38 99.75 0.307 8868 0.000 0.059 2488 789 1474 1573 1376 0 0 0 0 0 0 11.25 11.02 10.86

25791 1.19 346.5 2489 789 1574 1387 56.2 4.4 709 25868 0.35 3.33 70.80 0.285 11430 0.064 0.045 2587 2199 1186 1259 1113 0 0 0 0 0 0 11.06 11.05 10.87

26192 1.19 346.5 2588 2199 1260 1120 18.9 9.8 734 26197 0.00 3.35 0.00 0.000 260 0.000 0.069 2588 3614 1189 1259 1119 0 0 0 0 0 0 11.25 11.03 11.26

26320 1.19 346.5 2588 3614 1261 1121 5.5 11.5 752 26324 0.00 3.25 0.00 0.000 1030 0.000 0.044 2597 2195 1190 1260 1121 0 0 0 0 0 0 11.12 11.06 11.13

26356 end climb: SURFACE_DEPTH_REACHED

state 26356 begin surface coast

26384 end surface coast: CONTROL_FINISHED_OK

state 26384 begin surface

ID	190	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	29	XPDR_INHIBIT	90
MISSION	9	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	50	INT_PRESSURE_SLOPE	0.0097660003
DIVE	777	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	26	XPDR_VALID	6

GPS1	080417,233321,1003.4816,-12530.2725,37,0.8,38,9.2,1.0,179.7,10,9.3	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	0.75	MHEAD_RNG_PITCHd_Wd	126.2,69322,-19.5,-8.333,-22.22,1796
_SM_ANGLEo	-60.2	D_GRID	450
GPS2	080417,233917,1003.4827,-12530.2900,15,0.8,17,9.2,0.7,254.9,10,8.7

FINISH	0.2,1.022100	_10V_AH	10.65,0.000
SM_CCo	26409,127.80,0.121,0,0,560,500.41	FG_AHR_24Vo	0.000
SM_GC	0.74,9.27,0.25,127.80,0.070,0.067,0.121,229,2287,560,-6.14,-0.45,500.41,0,0,0,0,0,0,11.01,11.07,10.98	FG_AHR_10Vo	0.000
IRIDIUM_FIX	958.26,-12532.01,080417,155340	MEM	334200
TT8_MAMPS	0.04494,0.29211	DATA_FILE_SIZE	33461,756
HUMID	59.49	CAP_FILE_SIZE	125954,0
INTERNAL_PRESSURE	9.10191	CFSIZE	260034560,168525824
TCM_TEMP	22.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	27	CURRENT	0.057,304.76,1
_24V_AH	10.38,291.207	GPS	090417,070303,1003.552,-12530.446,33,0.8,34,9.2,0.0,0.0,11,7.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	409	122.99	SciConCT	637	25	165.48
Roll_motor	93	1605	1563.41	nil	0	0	0.00
VBD_pump_during_apogee	714	1286	9540.71	nil	0	0	0.00
VBD_pump_during_surface	127	120	160.34	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	215	196	440.55	PMAR	0	0	0.00
Transponder_ping	6	420	29.43	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	22	5.31
TT8	0	0	0.00
LPSleep	23143	2	539.79
TT8_Active	991	10	113.76
TT8_Sampling	2213	28	677.87
TT8_CF8	529	35	200.10
TT8_Kalman	0	0	0.00
Analog_circuits	1868	11	232.86
GPS_charging	0	0	0.00
Compass	1599	0	12.78
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	202	2307	601	532	0.0	0.0	0	98	0.00	0.00	-88.78	0.000	16386	0.000	0.000	201	2307	2788	2804	2772	0	0	0	0	0	0	11.19	28.83	11.21
103	-0.81	-97.3	201	2307	2806	2772	3.0	-3.7	3	129	15.60	3.70	-3.62	0.000	18948	0.409	1.606	1929	866	3000	3046	2954	0	0	0	0	0	0	10.81	10.38	10.98
207	-0.61	-97.3	1930	867	3052	2951	38.1	-26.1	18	219	0.45	3.38	0.00	0.000	3206	0.269	0.050	1996	2273	3000	3051	2950	0	0	0	0	0	0	10.89	11.01	11.02
527	-0.54	-97.3	1997	2274	3056	2949	88.7	-9.1	30	533	0.00	3.35	0.00	0.000	388	0.000	0.069	1986	3702	3002	3056	2949	0	0	0	0	0	0	11.22	11.02	11.24
756	-0.54	-97.3	1986	3702	3058	2949	112.3	-9.8	62	762	0.20	3.20	0.00	0.000	3078	0.216	0.031	2019	2264	3002	3057	2948	0	0	0	0	0	0	10.94	11.07	11.08
1097	-0.54	-97.3	2020	2265	3060	2949	137.5	-7.0	75	1102	0.00	3.20	0.00	0.000	548	0.000	0.045	2020	884	3003	3059	2948	0	0	0	0	0	0	11.23	11.05	11.24
1172	-0.54	-97.3	2020	885	3060	2949	143.5	-7.1	86	1178	0.00	3.30	0.00	0.000	1062	0.000	0.048	2015	2281	3003	3059	2948	0	0	0	0	0	0	11.11	11.05	11.12
1494	-0.54	-97.3	2016	2282	3060	2947	168.0	-8.0	96	1499	0.00	3.35	0.00	0.000	292	0.000	0.069	2012	3702	3003	3059	2947	0	0	0	0	0	0	11.24	11.03	11.24
1583	-0.54	-97.3	2012	3702	3060	2946	175.8	-8.5	109	1588	0.00	3.17	0.00	0.000	1030	0.000	0.032	2012	2279	3003	3060	2946	0	0	0	0	0	0	11.12	11.06	11.14
1946	-0.54	-97.3	2012	2281	3059	2943	206.7	-8.8	118	1952	0.00	3.28	0.00	0.000	516	0.000	0.047	2011	877	3001	3059	2943	0	0	0	0	0	0	11.24	11.05	11.24
2063	-0.54	-97.3	2012	878	3060	2942	216.8	-8.4	134	2068	0.00	3.35	0.00	0.000	1030	0.000	0.050	2011	2283	3000	3059	2941	0	0	0	0	0	0	11.12	11.05	11.13
2403	-0.54	-97.3	2012	2283	3059	2938	244.6	-8.2	147	2404	0.00	0.00	0.00	0.000	38	0.000	0.000	2011	2282	2998	3058	2938	0	0	0	0	0	0	11.24	11.25	11.25
2740	-0.54	-97.3	2012	2283	3060	2933	273.7	-8.8	153	2745	0.00	3.38	0.00	0.000	260	0.000	0.073	2012	3702	2995	3058	2933	0	0	0	0	0	0	11.24	11.04	11.25
2780	-0.59	-97.3	2012	3703	3059	2933	277.5	-8.5	159	2785	0.00	3.22	0.00	0.000	1158	0.000	0.034	2011	2262	2995	3058	2933	0	0	0	0	0	0	11.13	11.08	11.14
3135	-0.59	-97.3	2012	2263	3060	2928	306.2	-8.2	167	3140	0.00	3.22	0.00	0.000	548	0.000	0.047	2011	879	2993	3059	2927	0	0	0	0	0	0	11.24	11.06	11.26
3204	-0.59	-97.3	2012	879	3059	2928	312.3	-8.4	177	3209	0.00	3.33	0.00	0.000	1030	0.000	0.050	2011	2277	2992	3058	2927	0	0	0	0	0	0	11.12	11.05	11.14
3531	-0.59	-97.3	2012	2278	3058	2926	338.0	-8.0	188	3532	0.00	0.00	0.00	0.000	38	0.000	0.000	2011	2277	2991	3057	2926	0	0	0	0	0	0	11.24	11.26	11.26
3867	-0.59	-97.3	2011	2277	3057	2923	363.1	-7.4	194	3867	0.00	0.00	0.00	0.000	38	0.000	0.000	2011	2277	2989	3056	2923	0	0	0	0	0	0	11.24	11.26	11.26
4204	-0.59	-97.3	2012	2278	3056	2921	389.8	-8.1	200	4205	0.00	0.00	0.00	0.000	38	0.000	0.000	2011	2277	2987	3055	2920	0	0	0	0	0	0	11.24	11.26	11.26
4539	-0.59	-97.3	2012	2277	3054	2919	419.1	-8.9	206	4545	0.00	3.45	0.00	0.000	260	0.000	0.076	2011	3702	2985	3052	2918	0	0	0	0	0	0	11.25	11.05	11.26
4565	-0.59	-97.3	2011	3702	3054	2918	422.0	-9.1	210	4572	0.00	3.25	0.00	0.000	1030	0.000	0.037	2011	2268	2985	3053	2918	0	0	0	0	0	0	11.14	11.08	11.15
4875	end dive: TARGET_DEPTH_EXCEEDED
state	4875	begin apogee
4885	-0.19	0.0	2012	2200	3053	2917	450.6	-9.3	219	5217	0.60	0.00	329.02	0.970	10244	0.182	0.000	2133	2199	2600	2707	2494	0	0	0	0	0	0	10.98	10.99	10.57
5217	end apogee: CONTROL_FINISHED_OK
state	5217	begin loiter
5448	-0.18	28.3	2133	2200	2695	2488	468.5	-1.6	258	5496	0.00	0.00	42.95	1.287	9254	0.000	0.000	2134	2199	2477	2593	2361	0	0	0	0	0	0	11.24	11.23	10.46
5835	-0.34	28.3	2133	2200	2579	2354	462.2	2.4	271	5836	0.17	0.00	0.00	0.000	4230	0.089	0.000	2082	2199	2466	2578	2354	0	0	0	0	0	0	11.05	11.12	11.10
6169	-0.43	28.3	2083	2200	2576	2353	454.8	2.2	277	6170	0.00	0.00	0.00	0.000	134	0.000	0.000	2082	2199	2464	2575	2353	0	0	0	0	0	0	11.24	11.26	11.26
6505	-0.52	28.3	2083	2199	2573	2351	447.4	2.2	283	6507	0.20	0.00	0.00	0.000	4230	0.089	0.000	2027	2199	2461	2572	2350	0	0	0	0	0	0	11.06	11.14	11.12
6842	-0.52	28.3	2028	2200	2571	2350	439.3	2.4	289	6843	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2460	2570	2350	0	0	0	0	0	0	11.25	11.26	11.26
7177	-0.52	28.3	2027	2200	2570	2350	432.2	2.0	295	7178	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2199	2459	2569	2350	0	0	0	0	0	0	11.26	11.28	11.28
7513	-0.53	13.6	2027	2199	2569	2350	428.7	0.8	301	7514	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2458	2568	2349	0	0	0	0	0	0	11.26	11.28	11.28
7851	-0.53	13.4	2027	2200	2568	2350	428.2	0.0	307	7851	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2458	2567	2349	0	0	0	0	0	0	11.26	11.27	11.27
8185	-0.53	7.6	2028	2200	2566	2350	427.5	0.3	313	8186	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2457	2566	2349	0	0	0	0	0	0	11.27	11.29	11.29
8521	-0.53	7.6	2028	2199	2565	2349	423.3	1.5	319	8522	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2456	2565	2348	0	0	0	0	0	0	11.27	11.29	11.29
8857	-0.53	7.6	2028	2199	2564	2349	415.3	2.5	325	8858	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2456	2564	2348	0	0	0	0	0	0	11.27	11.29	11.29
9194	-0.53	7.6	2027	2200	2564	2348	406.5	2.6	331	9195	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2456	2564	2348	0	0	0	0	0	0	11.26	11.28	11.28
9529	-0.53	7.6	2028	2200	2562	2348	398.8	2.2	337	9530	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2454	2561	2348	0	0	0	0	0	0	11.28	11.27	11.29
9865	-0.53	7.6	2027	2200	2563	2348	392.8	1.7	343	9866	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2454	2561	2348	0	0	0	0	0	0	11.28	11.29	11.29
10201	-0.53	7.6	2028	2200	2561	2349	386.7	1.9	349	10202	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2454	2561	2348	0	0	0	0	0	0	11.28	11.29	11.29
10538	-0.53	7.6	2027	2200	2561	2348	379.3	2.2	355	10539	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2454	2560	2348	0	0	0	0	0	0	11.27	11.29	11.29
10873	-0.53	7.6	2028	2200	2561	2348	372.1	2.1	361	10874	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2454	2560	2348	0	0	0	0	0	0	11.28	11.29	11.29
11209	-0.53	7.6	2027	2200	2560	2348	364.1	2.5	367	11210	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2453	2559	2347	0	0	0	0	0	0	11.28	11.29	11.29
11545	-0.53	7.6	2028	2199	2559	2348	355.3	2.6	373	11546	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2454	2560	2348	0	0	0	0	0	0	11.29	11.29	11.30
11883	-0.53	7.6	2028	2200	2560	2348	349.7	1.5	379	11883	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2200	2453	2559	2348	0	0	0	0	0	0	11.28	11.29	11.29
12217	-0.54	-4.6	2027	2199	2560	2348	346.7	0.7	385	12218	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2453	2559	2348	0	0	0	0	0	0	11.29	11.30	11.30
12553	-0.54	-4.6	2028	2199	2559	2348	342.8	1.3	391	12554	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2199	2453	2559	2348	0	0	0	0	0	0	11.29	11.30	11.30
12889	-0.54	-4.6	2028	2200	2559	2347	337.9	1.5	397	12890	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2453	2559	2348	0	0	0	0	0	0	11.29	11.30	11.29
13226	-0.54	-4.6	2027	2200	2559	2348	331.4	2.0	403	13227	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2453	2558	2348	0	0	0	0	0	0	11.28	11.29	11.29
13561	-0.54	-4.6	2028	2199	2559	2348	325.0	1.8	409	13562	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2453	2558	2348	0	0	0	0	0	0	11.29	11.30	11.30
13897	-0.54	-4.6	2027	2199	2559	2348	320.9	1.1	415	13898	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2453	2558	2348	0	0	0	0	0	0	11.29	11.30	11.30
14233	-0.54	-9.0	2028	2200	2559	2348	319.5	0.3	421	14234	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2452	2557	2348	0	0	0	0	0	0	11.28	11.30	11.30
14571	-0.54	-8.0	2027	2200	2558	2349	319.9	-0.1	427	14572	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2452	2557	2348	0	0	0	0	0	0	11.27	11.29	11.29
14905	-0.54	-8.0	2028	2199	2558	2348	316.7	1.1	433	14906	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2452	2557	2348	0	0	0	0	0	0	11.29	11.30	11.30
15241	-0.54	-8.0	2028	2199	2557	2348	311.3	1.8	439	15242	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.31	11.29
15577	-0.54	-8.0	2028	2200	2557	2348	304.7	1.9	445	15578	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2452	2557	2348	0	0	0	0	0	0	11.29	11.31	11.30
15915	-0.55	-24.8	2027	2200	2558	2348	301.0	1.0	451	15915	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2452	2557	2348	0	0	0	0	0	0	11.28	11.29	11.29
16249	-0.55	-26.9	2028	2199	2557	2348	300.3	0.1	457	16250	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.30	11.30
16585	-0.55	-30.2	2028	2199	2557	2347	299.9	0.2	463	16586	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2451	2556	2347	0	0	0	0	0	0	11.29	11.31	11.30
16922	-0.55	-30.2	2027	2200	2558	2348	296.0	1.4	469	16923	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.29	11.29
17257	-0.55	-30.2	2027	2200	2557	2348	290.8	1.4	475	17258	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.31	11.31
17593	-0.55	-30.2	2028	2199	2557	2347	286.5	1.2	481	17594	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.31	11.30
17929	-0.55	-30.2	2027	2199	2557	2348	282.1	1.3	487	17930	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.31	11.31
18267	-0.55	-31.7	2027	2200	2557	2348	281.0	0.1	493	18267	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.30	11.30
18601	-0.56	-37.1	2027	2200	2557	2348	280.4	0.3	499	18602	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.31	11.31
18937	-0.56	-37.1	2029	2199	2557	2348	274.2	2.2	505	18938	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.31	11.31
19273	-0.56	-37.1	2027	2199	2557	2348	266.8	2.1	511	19274	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.31	11.31
19611	-0.56	-37.1	2027	2200	2558	2348	261.5	1.4	517	19611	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2451	2556	2347	0	0	0	0	0	0	11.29	11.31	11.29
19945	-0.56	-37.1	2028	2199	2557	2348	257.4	1.3	523	19946	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.31	11.31
20281	-0.56	-48.9	2027	2200	2558	2348	254.6	0.7	529	20282	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.31	11.31
20617	-0.57	-56.9	2028	2199	2557	2349	252.9	0.5	535	20618	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.31	11.31
20955	-0.57	-61.0	2028	2200	2557	2348	252.0	0.2	541	20955	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.30	11.30
21289	-0.57	-65.4	2027	2200	2558	2348	251.1	0.3	547	21290	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.31	11.31
21625	-0.58	-80.9	2028	2199	2557	2348	248.6	0.9	553	21626	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.31	11.31
21962	-0.58	-80.9	2028	2199	2557	2349	244.4	1.2	559	21963	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.30	11.30
22297	-0.58	-80.9	2027	2200	2557	2348	239.8	1.3	565	22298	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2451	2556	2347	0	0	0	0	0	0	11.29	11.31	11.31
22633	-0.59	-89.2	2027	2200	2557	2348	238.1	0.5	571	22634	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.31	11.31
22969	-0.59	-89.2	2028	2199	2557	2348	234.7	1.2	577	22970	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2199	2452	2556	2348	0	0	0	0	0	0	11.29	11.31	11.31
23245	end loiter: LOITER_COMPLETE
state	23245	begin climb
23250	0.81	97.3	2027	2200	2557	2348	232.7	0.0	582	23342	2.10	0.00	88.43	1.085	10246	0.197	0.000	2451	2199	2202	2331	2074	0	0	0	0	0	0	11.00	10.99	10.52
23641	0.82	121.5	2451	2199	2299	2059	210.2	6.9	589	23674	0.00	0.00	31.30	1.040	8230	0.000	0.000	2450	2199	2103	2232	1975	0	0	0	0	0	0	11.26	11.00	10.53
23977	0.82	121.5	2451	2199	2202	1960	181.9	8.8	595	23983	0.00	3.47	0.00	0.000	260	0.000	0.073	2450	3619	2080	2201	1960	0	0	0	0	0	0	11.26	11.03	11.27
24012	0.82	121.5	2452	3619	2200	1961	178.3	10.3	600	24017	0.00	3.30	0.00	0.000	1030	0.000	0.045	2460	2203	2079	2199	1960	0	0	0	0	0	0	11.12	11.05	11.14
24369	0.82	121.5	2460	2204	2199	1960	144.4	9.4	609	24374	0.00	3.42	0.00	0.000	516	0.000	0.060	2470	787	2079	2198	1960	0	0	0	0	0	0	11.26	11.05	11.28
24425	0.82	121.5	2470	788	2197	1960	139.6	8.6	617	24430	0.00	3.38	0.00	0.000	1030	0.000	0.048	2470	2202	2078	2196	1960	0	0	0	0	0	0	11.12	11.05	11.14
24763	0.82	121.5	2470	2202	2197	1960	110.4	8.8	630	24767	0.00	3.40	0.00	0.000	260	0.000	0.073	2470	3616	2077	2195	1960	0	0	0	0	0	0	11.26	11.05	11.27
24838	0.82	121.5	2471	3616	2196	1960	103.4	9.5	641	24843	0.00	3.28	0.00	0.000	1030	0.000	0.045	2480	2194	2077	2195	1960	0	0	0	0	0	0	11.13	11.08	11.14
25153	0.85	174.2	2480	2196	2195	1961	85.6	5.3	655	25208	0.00	3.50	45.80	0.372	8484	0.000	0.070	2480	3608	1892	2014	1770	0	0	0	0	0	0	11.27	11.00	10.83
25298	0.86	178.8	2480	3608	2016	1781	76.4	8.1	675	25310	0.00	3.25	6.28	0.243	9254	0.000	0.043	2489	2199	1874	1993	1755	0	0	0	0	0	0	11.08	11.05	10.86
25636	0.98	277.2	2489	2199	1995	1776	62.1	2.7	690	25743	0.00	3.38	99.75	0.307	8868	0.000	0.059	2488	789	1474	1573	1376	0	0	0	0	0	0	11.25	11.02	10.86
25791	1.19	346.5	2489	789	1574	1387	56.2	4.4	709	25868	0.35	3.33	70.80	0.285	11430	0.064	0.045	2587	2199	1186	1259	1113	0	0	0	0	0	0	11.06	11.05	10.87
26192	1.19	346.5	2588	2199	1260	1120	18.9	9.8	734	26197	0.00	3.35	0.00	0.000	260	0.000	0.069	2588	3614	1189	1259	1119	0	0	0	0	0	0	11.25	11.03	11.26
26320	1.19	346.5	2588	3614	1261	1121	5.5	11.5	752	26324	0.00	3.25	0.00	0.000	1030	0.000	0.044	2597	2195	1190	1260	1121	0	0	0	0	0	0	11.12	11.06	11.13
26356	end climb: SURFACE_DEPTH_REACHED
state	26356	begin surface coast
26384	end surface coast: CONTROL_FINISHED_OK
state	26384	begin surface