Glider dive log

SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 782 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 190 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 34 XPDR_INHIBIT 90

MISSION 9 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 50 INT_PRESSURE_SLOPE 0.0097660003

DIVE 782 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 36 XPDR_VALID 6

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_MAX 3920 SM_CC 500

AH0_10V 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SPEED_FACTOR 1

AH0_24V 350 FERRY_MAX 45 PITCH_MIN 225 STOP_T 0

ALTIM_BOTTOM_PING_RANGE 0 FG_AHR_10V 0 PITCH_TIMEOUT 30 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00060000003 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 FILEMGR 0 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 GLIDE_SLOPE 30 PM_MOTORS 0.0 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 GPS_DEVICE 32 PM_NDIVE 0.0 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 HD_A 0.0040899999 PM_PROFILE 3.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.0102 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 HD_C 4.5000002e-06 PM_SENDDEPTH 1.0 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_XMITPROFILE 3.0 TM_LOGSAMPLE 0.0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_XMITRAW 0.0 TM_PROFILE 1.0

CALL_NDIVES 1 HEAPDBG 0 PRESSURE_SLOPE 0.00010649362 TM_RECORDABOVE 200.0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -163.98293 TM_XMITPROFILE 3.0

CALL_WAIT 60 ID 190 PROTOCOL 9 TM_XMITRAW 0.0

CAPMAXSIZE 10000 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_ABORT 1440

CAPUPLOAD 0 INT_PRESSURE_YINT 0 P_OVSHOOT_WITHG 0 T_BOOST 5

CF8_MAXERRORS 20 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_DIVE 180

COMM_SEQ 0 LOGGERDEVICE1 54 RAFOS_DEVICE -1 T_EPIRB 0

COMPASS2_DEVICE 150 LOGGERDEVICE2 85 RAFOS_HIT_WINDOW 3600 T_GPS 5

COMPASS_DEVICE 97 LOGGERDEVICE3 67 RAFOS_PEAK_OFFSET 1.5 T_LOITER 18000

COMPASS_USE 4 LOGGERDEVICE4 -1 RELAUNCH 1 T_MISSION 540

COURSE_BIAS 0 LOGGERS 0 RHO 1.0275 T_NO_W 120

C_PITCH 2200 MASS 53220 ROLL_ADJ_DBAND 0.1 T_RSLEEP 2

C_ROLL_CLIMB 2200 MASS_COMP 0 ROLL_ADJ_GAIN 0.5 T_TURN 225

C_ROLL_DIVE 2280 MAXI_10V 0.80000001 ROLL_AD_RATE 50 T_TURN_SAMPINT -7

C_VBD 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 36 VBD_CNV -0.24529999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 34 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 1.0 VBD_LP_IGNORE 0

DIVE 782 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 100417,114604,1004.7232,-12530.8340,30,0.7,31,9.2,0.3,342.4,12,7.9 SPEED_LIMITS 0.144,0.204

_CALLS 5 TGT_NAME S

_XMS_NAKs 0 TGT_LATLONG 940.910,-12500.000

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.77 MHEAD_RNG_PITCHd_Wd 120.4,71554,-19.5,-8.333,-22.22,1796

_SM_ANGLEo -61.9 D_GRID 450

GPS2 100417,120140,1004.6586,-12530.9160,15,0.7,16,9.2,0.0,0.0,12,8.9

Post-dive calculations and measurements:

FINISH 0.2,1.022100 _10V_AH 10.10,0.000

SM_CCo 26522,97.40,0.119,0,0,561,500.17 FG_AHR_24Vo 0.000

SM_GC 0.77,8.95,0.17,97.40,0.044,0.064,0.119,216,2309,561,-6.15,-0.31,500.17,0,0,0,0,0,0,11.06,11.10,10.98 FG_AHR_10Vo 0.000

IRIDIUM_FIX 958.26,-12535.06,100417,115549 MEM 334140

TT8_MAMPS 0.044191,0.295855 DATA_FILE_SIZE 33406,816

HUMID 59.41 CAP_FILE_SIZE 140292,0

INTERNAL_PRESSURE 9.08238 CFSIZE 260034560,168226816

TCM_TEMP 22.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 30 CURRENT 0.080,305.63,1

_24V_AH 10.41,292.280 GPS 100417,192651,1004.982,-12531.351,37,0.8,38,9.2,0.0,0.0,9,7.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 392 116.53 SciConCT 585 25 152.28

Roll_motor 120 1593 2002.62 nil 0 0 0.00

VBD_pump_during_apogee 595 1302 8068.77 nil 0 0 0.00

VBD_pump_during_surface 97 118 120.23 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 559 190 1108.67 PMAR 0 0 0.00

Transponder_ping 7 420 32.79 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 22 3.97

TT8 0 0 0.00

LPSleep 23510 2 520.02

TT8_Active 843 10 91.77

TT8_Sampling 2591 28 752.57

TT8_CF8 599 35 214.76

TT8_Kalman 0 0 0.00

Analog_circuits 2131 11 251.88

GPS_charging 0 0 0.00

Compass 1641 0 12.43

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

9 -0.81 -97.3 196 2247 604 536 0.0 0.0 0 99 0.00 0.00 -89.00 0.000 16386 0.000 0.000 194 2246 2814 2826 2803 0 0 0 0 0 0 11.21 28.83 11.22

104 -0.81 -97.3 194 2247 2828 2804 3.0 -3.8 3 129 14.57 3.45 -3.15 0.000 18948 0.392 1.593 1929 871 2998 3042 2955 0 0 0 0 0 0 10.82 10.41 10.98

233 -0.60 -97.3 1930 871 3049 2950 44.6 -26.5 21 238 0.50 3.28 0.00 0.000 3206 0.276 0.047 1999 2270 2998 3048 2949 0 0 0 0 0 0 10.91 11.05 11.07

558 -0.54 -97.3 1999 2271 3052 2948 96.7 -10.8 34 564 0.00 3.35 0.00 0.000 388 0.000 0.068 1989 3699 2999 3051 2948 0 0 0 0 0 0 11.24 11.03 11.25

797 -0.54 -97.3 1989 3699 3054 2948 120.3 -10.0 68 803 0.17 3.17 0.00 0.000 3078 0.206 0.034 2019 2287 2999 3052 2947 0 0 0 0 0 0 10.96 11.08 11.10

1125 -0.54 -97.3 2020 2289 3053 2947 148.1 -8.4 79 1130 0.00 3.25 0.00 0.000 516 0.000 0.044 2020 880 2999 3053 2946 0 0 0 0 0 0 11.24 11.06 11.26

1173 -0.54 -97.3 2019 880 3053 2946 152.3 -8.2 86 1184 0.00 3.38 0.00 0.000 1062 0.000 0.049 2015 2295 2999 3053 2946 0 0 0 0 0 0 11.08 11.05 11.10

1520 -0.54 -97.3 2015 2296 3053 2944 181.6 -8.7 93 1525 0.00 3.35 0.00 0.000 516 0.000 0.045 2016 878 2997 3052 2943 0 0 0 0 0 0 11.24 11.06 11.26

1553 -0.54 -97.3 2016 879 3053 2943 185.1 -9.5 98 1559 0.00 3.38 0.00 0.000 1030 0.000 0.049 2015 2303 2997 3052 2943 0 0 0 0 0 0 11.12 11.05 11.14

1916 -0.54 -97.3 2016 2304 3053 2938 219.1 -9.7 107 1921 0.00 3.33 0.00 0.000 260 0.000 0.070 2012 3702 2995 3052 2938 0 0 0 0 0 0 11.24 11.05 11.26

1949 -0.54 -97.3 2012 3702 3053 2939 222.9 -9.6 112 1954 0.00 3.17 0.00 0.000 1030 0.000 0.034 2012 2285 2995 3052 2938 0 0 0 0 0 0 11.14 11.09 11.14

2311 -0.54 -97.3 2012 2287 3053 2933 255.2 -8.8 121 2316 0.00 3.30 0.00 0.000 516 0.000 0.047 2012 879 2992 3052 2933 0 0 0 0 0 0 11.25 11.07 11.26

2428 -0.54 -97.3 2012 880 3053 2931 264.8 -8.2 137 2434 0.00 3.38 0.00 0.000 1062 0.000 0.050 2012 2290 2991 3052 2931 0 0 0 0 0 0 11.13 11.07 11.14

2768 -0.54 -97.3 2012 2291 3053 2927 293.6 -8.6 150 2773 0.00 3.35 0.00 0.000 260 0.000 0.074 2012 3695 2989 3052 2927 0 0 0 0 0 0 11.25 11.05 11.26

2801 -0.54 -97.3 2012 3695 3053 2927 297.1 -9.1 155 2806 0.00 3.17 0.00 0.000 1030 0.000 0.036 2012 2284 2989 3052 2926 0 0 0 0 0 0 11.14 11.10 11.15

3165 -0.54 -97.3 2012 2284 3053 2923 330.4 -9.4 164 3170 0.00 3.30 0.00 0.000 516 0.000 0.048 2012 873 2987 3052 2922 0 0 0 0 0 0 11.25 11.07 11.26

3261 -0.59 -97.3 2012 874 3052 2922 340.2 -9.2 178 3267 0.00 3.38 0.00 0.000 1158 0.000 0.050 2012 2294 2986 3052 2921 0 0 0 0 0 0 11.14 11.07 11.15

3617 -0.59 -97.3 2012 2295 3050 2919 372.7 -9.3 186 3622 0.00 3.35 0.00 0.000 260 0.000 0.076 2012 3695 2984 3050 2918 0 0 0 0 0 0 11.26 11.05 11.27

3659 -0.65 -97.3 2012 3695 3051 2918 376.8 -9.2 192 3664 0.00 3.20 0.00 0.000 1158 0.000 0.036 2011 2275 2984 3050 2918 0 0 0 0 0 0 11.14 11.10 11.15

4012 -0.65 -97.3 2012 2276 3049 2917 408.5 -9.0 200 4017 0.00 3.28 0.00 0.000 516 0.000 0.050 2012 879 2982 3048 2916 0 0 0 0 0 0 11.25 11.07 11.27

4116 -0.69 -97.3 2012 880 3049 2916 418.5 -9.1 215 4127 0.10 3.40 0.00 0.000 5254 0.076 0.052 1976 2283 2982 3048 2916 0 0 0 0 0 0 11.06 11.05 11.10

4460 end dive: TARGET_DEPTH_EXCEEDED

state 4460 begin apogee

4470 -0.19 0.0 1977 2190 3048 2914 454.1 -10.3 222 4603 0.77 0.08 130.18 1.302 10244 0.200 0.125 2129 2208 2599 2706 2492 0 0 0 0 0 0 10.98 10.96 10.48

4604 end apogee: CONTROL_FINISHED_OK

state 4604 begin loiter

4836 -0.18 14.5 2130 2208 2684 2477 460.8 -0.8 257 4860 0.00 0.00 19.62 1.252 9254 0.000 0.000 2129 2208 2535 2645 2426 0 0 0 0 0 0 11.24 11.24 10.53

5220 -0.33 28.2 2129 2209 2631 2417 463.4 -0.8 270 5249 0.15 0.00 27.52 1.108 12454 0.097 0.000 2084 2208 2484 2597 2372 0 0 0 0 0 0 11.07 11.01 10.60

5557 -0.43 15.1 2085 2209 2584 2364 462.0 0.7 276 5558 0.00 0.00 0.00 0.000 166 0.000 0.000 2084 2208 2473 2583 2363 0 0 0 0 0 0 11.24 11.26 11.26

5892 -0.52 10.9 2084 2209 2581 2363 460.8 0.2 282 5893 0.20 0.00 0.00 0.000 4262 0.086 0.000 2027 2208 2471 2580 2363 0 0 0 0 0 0 11.07 11.14 11.13

6228 -0.53 0.4 2027 2208 2578 2363 459.2 0.6 288 6228 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2469 2577 2362 0 0 0 0 0 0 11.26 11.28 11.28

6564 -0.54 -16.3 2027 2209 2576 2362 456.0 1.0 294 6564 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2469 2576 2362 0 0 0 0 0 0 11.26 11.29 11.28

6901 -0.54 -25.8 2027 2208 2575 2363 454.0 0.5 300 6902 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2467 2574 2361 0 0 0 0 0 0 11.26 11.28 11.28

7235 -0.54 -26.8 2027 2209 2573 2362 453.4 0.1 306 7236 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2466 2572 2361 0 0 0 0 0 0 11.27 11.29 11.29

7572 -0.54 -15.4 2027 2209 2572 2361 455.2 -0.7 312 7572 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2209 2466 2571 2361 0 0 0 0 0 0 11.28 11.29 11.29

7909 -0.52 5.2 2027 2209 2572 2361 459.0 -1.2 318 7910 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2465 2571 2360 0 0 0 0 0 0 11.27 11.29 11.29

8244 -0.52 18.7 2027 2209 2571 2360 461.9 -0.8 324 8244 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2465 2570 2360 0 0 0 0 0 0 11.28 11.29 11.29

8580 -0.51 22.2 2027 2209 2571 2360 462.8 -0.2 330 8580 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2465 2570 2360 0 0 0 0 0 0 11.28 11.29 11.29

8916 -0.51 22.5 2027 2209 2570 2360 463.0 -0.0 336 8916 0.00 0.00 0.00 0.000 38 0.000 0.000 2026 2208 2464 2569 2359 0 0 0 0 0 0 11.28 11.29 11.29

9253 -0.51 25.2 2027 2209 2570 2359 463.4 -0.2 342 9254 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2463 2568 2359 0 0 0 0 0 0 11.28 11.29 11.29

9587 -0.50 40.0 2027 2209 2569 2359 465.8 -0.9 348 9603 0.00 0.00 14.20 1.226 8230 0.000 0.000 2027 2208 2438 2546 2330 0 0 0 0 0 0 11.29 11.02 10.54

9924 -0.51 23.8 2027 2208 2535 2322 463.5 0.9 354 9924 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2427 2534 2321 0 0 0 0 0 0 11.28 11.29 11.29

10260 -0.51 23.8 2027 2209 2534 2322 459.8 1.2 360 10260 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2208 2427 2533 2321 0 0 0 0 0 0 11.28 11.29 11.29

10597 -0.51 23.8 2026 2209 2532 2323 454.8 1.5 366 10598 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2208 2427 2532 2322 0 0 0 0 0 0 11.28 11.29 11.29

10931 -0.51 23.8 2027 2209 2532 2322 451.1 1.0 372 10932 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2208 2426 2531 2322 0 0 0 0 0 0 11.29 11.30 11.30

11268 -0.52 10.9 2027 2209 2531 2322 448.5 0.7 378 11268 0.00 0.00 0.00 0.000 38 0.000 0.000 2026 2208 2426 2530 2322 0 0 0 0 0 0 11.29 11.30 11.30

11605 -0.52 10.9 2027 2209 2531 2322 444.3 1.4 384 11606 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2208 2426 2530 2322 0 0 0 0 0 0 11.28 11.29 11.29

11939 -0.52 10.9 2027 2209 2531 2322 438.8 1.6 390 11940 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2208 2425 2530 2321 0 0 0 0 0 0 11.29 11.30 11.30

12276 -0.52 10.9 2027 2209 2529 2322 434.0 1.4 396 12276 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2208 2425 2529 2322 0 0 0 0 0 0 11.29 11.30 11.30

12611 -0.52 10.9 2027 2209 2530 2322 429.5 1.3 402 12612 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2208 2425 2529 2322 0 0 0 0 0 0 11.29 11.31 11.31

12949 -0.53 -6.4 2027 2209 2529 2322 426.0 1.0 408 12950 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2425 2528 2322 0 0 0 0 0 0 11.28 11.29 11.28

13283 -0.53 -11.4 2027 2209 2529 2322 424.7 0.3 414 13284 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2425 2528 2322 0 0 0 0 0 0 11.29 11.31 11.30

13620 -0.55 -28.8 2027 2209 2529 2322 421.9 1.0 420 13620 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2425 2528 2322 0 0 0 0 0 0 11.29 11.31 11.31

13955 -0.55 -28.8 2027 2209 2529 2322 417.3 1.4 426 13956 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2208 2424 2527 2322 0 0 0 0 0 0 11.29 11.31 11.31

14293 -0.55 -28.8 2027 2209 2528 2322 412.9 1.3 432 14294 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2208 2424 2527 2322 0 0 0 0 0 0 11.29 11.30 11.30

14628 -0.55 -36.8 2027 2209 2528 2322 411.0 0.5 438 14628 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.29 11.31 11.31

14964 -0.55 -42.7 2027 2209 2528 2322 409.9 0.3 444 14964 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.29 11.31 11.31

15300 -0.56 -51.9 2027 2208 2527 2322 408.2 0.5 450 15300 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.29 11.31 11.31

15637 -0.57 -67.4 2027 2209 2527 2322 405.4 0.9 456 15638 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.29 11.30 11.30

15972 -0.58 -80.4 2028 2209 2527 2322 402.7 0.7 462 15972 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.29 11.31 11.31

16308 -0.58 -91.2 2027 2209 2528 2322 400.6 0.6 468 16308 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2423 2526 2321 0 0 0 0 0 0 11.29 11.31 11.31

16645 -0.58 -91.2 2027 2209 2527 2322 397.3 1.1 474 16646 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2208 2424 2526 2322 0 0 0 0 0 0 11.29 11.30 11.30

16979 -0.58 -91.2 2027 2208 2527 2322 392.6 1.5 480 16980 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.29 11.31 11.31

17315 -0.58 -91.2 2027 2208 2527 2322 385.8 2.1 486 17316 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2208 2424 2526 2322 0 0 0 0 0 0 11.30 11.31 11.31

17652 -0.58 -91.2 2027 2209 2527 2322 379.8 1.7 492 17652 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.30 11.31 11.31

17989 -0.59 -102.7 2027 2209 2527 2322 377.1 0.7 498 17990 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2209 2424 2526 2322 0 0 0 0 0 0 11.29 11.30 11.30

18324 -0.60 -112.8 2028 2209 2526 2322 375.3 0.6 504 18324 0.00 0.00 0.00 0.000 38 0.000 0.000 2026 2208 2424 2526 2322 0 0 0 0 0 0 11.29 11.31 11.31

18660 -0.60 -112.8 2027 2209 2526 2322 371.3 1.3 510 18660 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2208 2423 2525 2322 0 0 0 0 0 0 11.30 11.31 11.31

18995 -0.60 -112.8 2028 2208 2526 2322 366.5 1.4 516 18996 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.29 11.31 11.31

19333 -0.60 -112.8 2027 2208 2527 2323 360.7 1.8 522 19334 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.30 11.31 11.31

19667 -0.60 -112.8 2027 2208 2527 2322 356.4 1.2 528 19668 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2208 2424 2526 2322 0 0 0 0 0 0 11.30 11.31 11.30

20004 -0.60 -125.9 2027 2208 2527 2322 353.7 0.8 534 20004 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.30 11.31 11.31

20340 -0.61 -133.9 2027 2209 2527 2322 352.0 0.5 540 20340 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.30 11.31 11.31

20677 -0.61 -145.0 2028 2209 2526 2322 350.0 0.6 546 20678 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.29 11.31 11.30

21011 -0.61 -145.0 2027 2208 2527 2322 346.1 1.2 552 21012 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.30 11.31 11.31

21347 -0.61 -145.0 2027 2209 2527 2322 341.9 1.2 558 21348 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.30 11.32 11.31

21685 -0.63 -162.5 2027 2209 2527 2322 338.4 1.0 564 21686 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.29 11.31 11.31

22020 -0.63 -175.4 2027 2209 2525 2322 335.9 0.7 570 22020 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2208 2424 2526 2322 0 0 0 0 0 0 11.30 11.31 11.31

22356 -0.64 -181.9 2027 2208 2526 2322 334.3 0.4 576 22357 0.12 0.00 0.00 0.000 4134 0.117 0.000 1993 2208 2424 2526 2322 0 0 0 0 0 0 11.10 11.18 11.16

22575 end loiter: LOITER_COMPLETE

state 22575 begin climb

22579 0.81 97.3 1993 2209 2527 2322 334.2 0.0 580 22676 2.28 3.55 84.53 1.196 10756 0.216 0.057 2452 798 2191 2314 2069 0 0 0 0 0 0 10.99 10.98 10.46

22703 0.84 156.2 2452 798 2305 2065 330.6 5.0 597 22788 0.00 3.35 78.95 1.175 9254 0.000 0.049 2452 2198 1962 2087 1838 0 0 0 0 0 0 11.10 11.03 10.47

23143 0.84 156.2 2452 2199 2045 1817 292.1 9.3 618 23149 0.00 3.45 0.00 0.000 260 0.000 0.075 2452 3617 1930 2043 1817 0 0 0 0 0 0 11.24 11.02 11.24

23234 0.84 156.2 2452 3618 2042 1817 282.2 10.5 631 23239 0.00 3.25 0.00 0.000 1030 0.000 0.046 2461 2215 1928 2040 1817 0 0 0 0 0 0 11.12 11.06 11.13

23591 0.84 156.2 2462 2216 2038 1817 246.4 10.1 640 23596 0.00 3.42 0.00 0.000 516 0.000 0.059 2471 790 1927 2038 1817 0 0 0 0 0 0 11.26 11.05 11.27

23683 0.84 156.2 2472 790 2038 1816 237.6 9.6 653 23688 0.00 3.38 0.00 0.000 1030 0.000 0.049 2471 2209 1926 2037 1816 0 0 0 0 0 0 11.12 11.05 11.14

24039 0.84 156.2 2471 2209 2037 1816 199.7 10.8 662 24045 0.00 3.38 0.00 0.000 260 0.000 0.073 2471 3617 1926 2036 1816 0 0 0 0 0 0 11.26 11.05 11.28

24123 0.84 156.2 2471 3617 2037 1817 189.9 11.9 674 24129 0.00 3.28 0.00 0.000 1030 0.000 0.045 2481 2200 1925 2035 1816 0 0 0 0 0 0 11.13 11.07 11.14

24488 0.84 156.2 2481 2202 2036 1817 150.3 10.9 684 24493 0.00 3.38 0.00 0.000 516 0.000 0.061 2492 784 1925 2035 1816 0 0 0 0 0 0 11.26 11.05 11.27

24577 0.84 156.2 2492 785 2035 1816 140.4 10.9 697 24583 0.00 3.40 0.00 0.000 1030 0.000 0.050 2492 2199 1925 2035 1816 0 0 0 0 0 0 11.13 11.06 11.14

24935 0.84 156.2 2492 2200 2035 1816 102.6 10.0 706 24941 0.00 3.38 0.00 0.000 260 0.000 0.074 2491 3611 1925 2035 1816 0 0 0 0 0 0 11.27 11.05 11.28

24985 0.80 156.2 2492 3612 2035 1816 97.2 11.1 713 24992 0.25 3.25 0.00 0.000 5254 0.228 0.044 2458 2193 1925 2035 1816 0 0 0 0 0 0 10.96 11.08 11.12

25299 0.83 208.5 2458 2194 2034 1816 77.7 5.3 725 25343 0.00 0.00 42.90 0.340 8742 0.000 0.000 2459 2193 1749 1857 1642 0 0 0 0 0 0 11.27 11.06 10.84

25637 1.00 318.9 2460 2194 1858 1671 67.1 2.0 740 25761 0.22 3.53 118.22 0.322 10660 0.083 0.070 2526 3618 1301 1376 1226 0 0 0 0 0 0 11.07 11.00 10.86

25838 1.11 346.5 2527 3619 1377 1242 57.0 6.8 766 25878 0.00 3.30 32.65 0.275 9382 0.000 0.043 2532 2189 1186 1259 1114 0 0 0 0 0 0 11.10 11.05 10.86

26200 1.24 388.0 2533 2189 1269 1127 33.6 6.0 784 26251 0.22 3.35 43.42 0.207 10916 0.079 0.057 2609 779 1017 1094 941 0 0 0 0 0 0 11.06 11.02 10.93

26378 1.30 388.0 2610 780 1105 949 16.1 10.2 810 26390 0.00 3.35 3.10 0.127 9350 0.000 0.047 2609 2202 1017 1094 941 0 0 0 0 0 0 11.12 11.05 10.99

26471 end climb: SURFACE_DEPTH_REACHED

state 26471 begin surface coast

26499 end surface coast: CONTROL_FINISHED_OK

state 26499 begin surface

ID	190	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	34	XPDR_INHIBIT	90
MISSION	9	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	50	INT_PRESSURE_SLOPE	0.0097660003
DIVE	782	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	36	XPDR_VALID	6

GPS1	100417,114604,1004.7232,-12530.8340,30,0.7,31,9.2,0.3,342.4,12,7.9	SPEED_LIMITS	0.144,0.204
_CALLS	5	TGT_NAME	S
_XMS_NAKs	0	TGT_LATLONG	940.910,-12500.000
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.77	MHEAD_RNG_PITCHd_Wd	120.4,71554,-19.5,-8.333,-22.22,1796
_SM_ANGLEo	-61.9	D_GRID	450
GPS2	100417,120140,1004.6586,-12530.9160,15,0.7,16,9.2,0.0,0.0,12,8.9

FINISH	0.2,1.022100	_10V_AH	10.10,0.000
SM_CCo	26522,97.40,0.119,0,0,561,500.17	FG_AHR_24Vo	0.000
SM_GC	0.77,8.95,0.17,97.40,0.044,0.064,0.119,216,2309,561,-6.15,-0.31,500.17,0,0,0,0,0,0,11.06,11.10,10.98	FG_AHR_10Vo	0.000
IRIDIUM_FIX	958.26,-12535.06,100417,115549	MEM	334140
TT8_MAMPS	0.044191,0.295855	DATA_FILE_SIZE	33406,816
HUMID	59.41	CAP_FILE_SIZE	140292,0
INTERNAL_PRESSURE	9.08238	CFSIZE	260034560,168226816
TCM_TEMP	22.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	30	CURRENT	0.080,305.63,1
_24V_AH	10.41,292.280	GPS	100417,192651,1004.982,-12531.351,37,0.8,38,9.2,0.0,0.0,9,7.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	392	116.53	SciConCT	585	25	152.28
Roll_motor	120	1593	2002.62	nil	0	0	0.00
VBD_pump_during_apogee	595	1302	8068.77	nil	0	0	0.00
VBD_pump_during_surface	97	118	120.23	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	559	190	1108.67	PMAR	0	0	0.00
Transponder_ping	7	420	32.79	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	22	3.97
TT8	0	0	0.00
LPSleep	23510	2	520.02
TT8_Active	843	10	91.77
TT8_Sampling	2591	28	752.57
TT8_CF8	599	35	214.76
TT8_Kalman	0	0	0.00
Analog_circuits	2131	11	251.88
GPS_charging	0	0	0.00
Compass	1641	0	12.43
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
9	-0.81	-97.3	196	2247	604	536	0.0	0.0	0	99	0.00	0.00	-89.00	0.000	16386	0.000	0.000	194	2246	2814	2826	2803	0	0	0	0	0	0	11.21	28.83	11.22
104	-0.81	-97.3	194	2247	2828	2804	3.0	-3.8	3	129	14.57	3.45	-3.15	0.000	18948	0.392	1.593	1929	871	2998	3042	2955	0	0	0	0	0	0	10.82	10.41	10.98
233	-0.60	-97.3	1930	871	3049	2950	44.6	-26.5	21	238	0.50	3.28	0.00	0.000	3206	0.276	0.047	1999	2270	2998	3048	2949	0	0	0	0	0	0	10.91	11.05	11.07
558	-0.54	-97.3	1999	2271	3052	2948	96.7	-10.8	34	564	0.00	3.35	0.00	0.000	388	0.000	0.068	1989	3699	2999	3051	2948	0	0	0	0	0	0	11.24	11.03	11.25
797	-0.54	-97.3	1989	3699	3054	2948	120.3	-10.0	68	803	0.17	3.17	0.00	0.000	3078	0.206	0.034	2019	2287	2999	3052	2947	0	0	0	0	0	0	10.96	11.08	11.10
1125	-0.54	-97.3	2020	2289	3053	2947	148.1	-8.4	79	1130	0.00	3.25	0.00	0.000	516	0.000	0.044	2020	880	2999	3053	2946	0	0	0	0	0	0	11.24	11.06	11.26
1173	-0.54	-97.3	2019	880	3053	2946	152.3	-8.2	86	1184	0.00	3.38	0.00	0.000	1062	0.000	0.049	2015	2295	2999	3053	2946	0	0	0	0	0	0	11.08	11.05	11.10
1520	-0.54	-97.3	2015	2296	3053	2944	181.6	-8.7	93	1525	0.00	3.35	0.00	0.000	516	0.000	0.045	2016	878	2997	3052	2943	0	0	0	0	0	0	11.24	11.06	11.26
1553	-0.54	-97.3	2016	879	3053	2943	185.1	-9.5	98	1559	0.00	3.38	0.00	0.000	1030	0.000	0.049	2015	2303	2997	3052	2943	0	0	0	0	0	0	11.12	11.05	11.14
1916	-0.54	-97.3	2016	2304	3053	2938	219.1	-9.7	107	1921	0.00	3.33	0.00	0.000	260	0.000	0.070	2012	3702	2995	3052	2938	0	0	0	0	0	0	11.24	11.05	11.26
1949	-0.54	-97.3	2012	3702	3053	2939	222.9	-9.6	112	1954	0.00	3.17	0.00	0.000	1030	0.000	0.034	2012	2285	2995	3052	2938	0	0	0	0	0	0	11.14	11.09	11.14
2311	-0.54	-97.3	2012	2287	3053	2933	255.2	-8.8	121	2316	0.00	3.30	0.00	0.000	516	0.000	0.047	2012	879	2992	3052	2933	0	0	0	0	0	0	11.25	11.07	11.26
2428	-0.54	-97.3	2012	880	3053	2931	264.8	-8.2	137	2434	0.00	3.38	0.00	0.000	1062	0.000	0.050	2012	2290	2991	3052	2931	0	0	0	0	0	0	11.13	11.07	11.14
2768	-0.54	-97.3	2012	2291	3053	2927	293.6	-8.6	150	2773	0.00	3.35	0.00	0.000	260	0.000	0.074	2012	3695	2989	3052	2927	0	0	0	0	0	0	11.25	11.05	11.26
2801	-0.54	-97.3	2012	3695	3053	2927	297.1	-9.1	155	2806	0.00	3.17	0.00	0.000	1030	0.000	0.036	2012	2284	2989	3052	2926	0	0	0	0	0	0	11.14	11.10	11.15
3165	-0.54	-97.3	2012	2284	3053	2923	330.4	-9.4	164	3170	0.00	3.30	0.00	0.000	516	0.000	0.048	2012	873	2987	3052	2922	0	0	0	0	0	0	11.25	11.07	11.26
3261	-0.59	-97.3	2012	874	3052	2922	340.2	-9.2	178	3267	0.00	3.38	0.00	0.000	1158	0.000	0.050	2012	2294	2986	3052	2921	0	0	0	0	0	0	11.14	11.07	11.15
3617	-0.59	-97.3	2012	2295	3050	2919	372.7	-9.3	186	3622	0.00	3.35	0.00	0.000	260	0.000	0.076	2012	3695	2984	3050	2918	0	0	0	0	0	0	11.26	11.05	11.27
3659	-0.65	-97.3	2012	3695	3051	2918	376.8	-9.2	192	3664	0.00	3.20	0.00	0.000	1158	0.000	0.036	2011	2275	2984	3050	2918	0	0	0	0	0	0	11.14	11.10	11.15
4012	-0.65	-97.3	2012	2276	3049	2917	408.5	-9.0	200	4017	0.00	3.28	0.00	0.000	516	0.000	0.050	2012	879	2982	3048	2916	0	0	0	0	0	0	11.25	11.07	11.27
4116	-0.69	-97.3	2012	880	3049	2916	418.5	-9.1	215	4127	0.10	3.40	0.00	0.000	5254	0.076	0.052	1976	2283	2982	3048	2916	0	0	0	0	0	0	11.06	11.05	11.10
4460	end dive: TARGET_DEPTH_EXCEEDED
state	4460	begin apogee
4470	-0.19	0.0	1977	2190	3048	2914	454.1	-10.3	222	4603	0.77	0.08	130.18	1.302	10244	0.200	0.125	2129	2208	2599	2706	2492	0	0	0	0	0	0	10.98	10.96	10.48
4604	end apogee: CONTROL_FINISHED_OK
state	4604	begin loiter
4836	-0.18	14.5	2130	2208	2684	2477	460.8	-0.8	257	4860	0.00	0.00	19.62	1.252	9254	0.000	0.000	2129	2208	2535	2645	2426	0	0	0	0	0	0	11.24	11.24	10.53
5220	-0.33	28.2	2129	2209	2631	2417	463.4	-0.8	270	5249	0.15	0.00	27.52	1.108	12454	0.097	0.000	2084	2208	2484	2597	2372	0	0	0	0	0	0	11.07	11.01	10.60
5557	-0.43	15.1	2085	2209	2584	2364	462.0	0.7	276	5558	0.00	0.00	0.00	0.000	166	0.000	0.000	2084	2208	2473	2583	2363	0	0	0	0	0	0	11.24	11.26	11.26
5892	-0.52	10.9	2084	2209	2581	2363	460.8	0.2	282	5893	0.20	0.00	0.00	0.000	4262	0.086	0.000	2027	2208	2471	2580	2363	0	0	0	0	0	0	11.07	11.14	11.13
6228	-0.53	0.4	2027	2208	2578	2363	459.2	0.6	288	6228	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2469	2577	2362	0	0	0	0	0	0	11.26	11.28	11.28
6564	-0.54	-16.3	2027	2209	2576	2362	456.0	1.0	294	6564	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2469	2576	2362	0	0	0	0	0	0	11.26	11.29	11.28
6901	-0.54	-25.8	2027	2208	2575	2363	454.0	0.5	300	6902	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2467	2574	2361	0	0	0	0	0	0	11.26	11.28	11.28
7235	-0.54	-26.8	2027	2209	2573	2362	453.4	0.1	306	7236	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2466	2572	2361	0	0	0	0	0	0	11.27	11.29	11.29
7572	-0.54	-15.4	2027	2209	2572	2361	455.2	-0.7	312	7572	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2209	2466	2571	2361	0	0	0	0	0	0	11.28	11.29	11.29
7909	-0.52	5.2	2027	2209	2572	2361	459.0	-1.2	318	7910	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2465	2571	2360	0	0	0	0	0	0	11.27	11.29	11.29
8244	-0.52	18.7	2027	2209	2571	2360	461.9	-0.8	324	8244	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2465	2570	2360	0	0	0	0	0	0	11.28	11.29	11.29
8580	-0.51	22.2	2027	2209	2571	2360	462.8	-0.2	330	8580	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2465	2570	2360	0	0	0	0	0	0	11.28	11.29	11.29
8916	-0.51	22.5	2027	2209	2570	2360	463.0	-0.0	336	8916	0.00	0.00	0.00	0.000	38	0.000	0.000	2026	2208	2464	2569	2359	0	0	0	0	0	0	11.28	11.29	11.29
9253	-0.51	25.2	2027	2209	2570	2359	463.4	-0.2	342	9254	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2463	2568	2359	0	0	0	0	0	0	11.28	11.29	11.29
9587	-0.50	40.0	2027	2209	2569	2359	465.8	-0.9	348	9603	0.00	0.00	14.20	1.226	8230	0.000	0.000	2027	2208	2438	2546	2330	0	0	0	0	0	0	11.29	11.02	10.54
9924	-0.51	23.8	2027	2208	2535	2322	463.5	0.9	354	9924	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2427	2534	2321	0	0	0	0	0	0	11.28	11.29	11.29
10260	-0.51	23.8	2027	2209	2534	2322	459.8	1.2	360	10260	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2208	2427	2533	2321	0	0	0	0	0	0	11.28	11.29	11.29
10597	-0.51	23.8	2026	2209	2532	2323	454.8	1.5	366	10598	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2208	2427	2532	2322	0	0	0	0	0	0	11.28	11.29	11.29
10931	-0.51	23.8	2027	2209	2532	2322	451.1	1.0	372	10932	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2208	2426	2531	2322	0	0	0	0	0	0	11.29	11.30	11.30
11268	-0.52	10.9	2027	2209	2531	2322	448.5	0.7	378	11268	0.00	0.00	0.00	0.000	38	0.000	0.000	2026	2208	2426	2530	2322	0	0	0	0	0	0	11.29	11.30	11.30
11605	-0.52	10.9	2027	2209	2531	2322	444.3	1.4	384	11606	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2208	2426	2530	2322	0	0	0	0	0	0	11.28	11.29	11.29
11939	-0.52	10.9	2027	2209	2531	2322	438.8	1.6	390	11940	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2208	2425	2530	2321	0	0	0	0	0	0	11.29	11.30	11.30
12276	-0.52	10.9	2027	2209	2529	2322	434.0	1.4	396	12276	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2208	2425	2529	2322	0	0	0	0	0	0	11.29	11.30	11.30
12611	-0.52	10.9	2027	2209	2530	2322	429.5	1.3	402	12612	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2208	2425	2529	2322	0	0	0	0	0	0	11.29	11.31	11.31
12949	-0.53	-6.4	2027	2209	2529	2322	426.0	1.0	408	12950	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2425	2528	2322	0	0	0	0	0	0	11.28	11.29	11.28
13283	-0.53	-11.4	2027	2209	2529	2322	424.7	0.3	414	13284	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2425	2528	2322	0	0	0	0	0	0	11.29	11.31	11.30
13620	-0.55	-28.8	2027	2209	2529	2322	421.9	1.0	420	13620	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2425	2528	2322	0	0	0	0	0	0	11.29	11.31	11.31
13955	-0.55	-28.8	2027	2209	2529	2322	417.3	1.4	426	13956	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2208	2424	2527	2322	0	0	0	0	0	0	11.29	11.31	11.31
14293	-0.55	-28.8	2027	2209	2528	2322	412.9	1.3	432	14294	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2208	2424	2527	2322	0	0	0	0	0	0	11.29	11.30	11.30
14628	-0.55	-36.8	2027	2209	2528	2322	411.0	0.5	438	14628	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.29	11.31	11.31
14964	-0.55	-42.7	2027	2209	2528	2322	409.9	0.3	444	14964	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.29	11.31	11.31
15300	-0.56	-51.9	2027	2208	2527	2322	408.2	0.5	450	15300	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.29	11.31	11.31
15637	-0.57	-67.4	2027	2209	2527	2322	405.4	0.9	456	15638	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.29	11.30	11.30
15972	-0.58	-80.4	2028	2209	2527	2322	402.7	0.7	462	15972	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.29	11.31	11.31
16308	-0.58	-91.2	2027	2209	2528	2322	400.6	0.6	468	16308	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2423	2526	2321	0	0	0	0	0	0	11.29	11.31	11.31
16645	-0.58	-91.2	2027	2209	2527	2322	397.3	1.1	474	16646	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2208	2424	2526	2322	0	0	0	0	0	0	11.29	11.30	11.30
16979	-0.58	-91.2	2027	2208	2527	2322	392.6	1.5	480	16980	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.29	11.31	11.31
17315	-0.58	-91.2	2027	2208	2527	2322	385.8	2.1	486	17316	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2208	2424	2526	2322	0	0	0	0	0	0	11.30	11.31	11.31
17652	-0.58	-91.2	2027	2209	2527	2322	379.8	1.7	492	17652	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.30	11.31	11.31
17989	-0.59	-102.7	2027	2209	2527	2322	377.1	0.7	498	17990	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2209	2424	2526	2322	0	0	0	0	0	0	11.29	11.30	11.30
18324	-0.60	-112.8	2028	2209	2526	2322	375.3	0.6	504	18324	0.00	0.00	0.00	0.000	38	0.000	0.000	2026	2208	2424	2526	2322	0	0	0	0	0	0	11.29	11.31	11.31
18660	-0.60	-112.8	2027	2209	2526	2322	371.3	1.3	510	18660	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2208	2423	2525	2322	0	0	0	0	0	0	11.30	11.31	11.31
18995	-0.60	-112.8	2028	2208	2526	2322	366.5	1.4	516	18996	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.29	11.31	11.31
19333	-0.60	-112.8	2027	2208	2527	2323	360.7	1.8	522	19334	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.30	11.31	11.31
19667	-0.60	-112.8	2027	2208	2527	2322	356.4	1.2	528	19668	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2208	2424	2526	2322	0	0	0	0	0	0	11.30	11.31	11.30
20004	-0.60	-125.9	2027	2208	2527	2322	353.7	0.8	534	20004	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.30	11.31	11.31
20340	-0.61	-133.9	2027	2209	2527	2322	352.0	0.5	540	20340	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.30	11.31	11.31
20677	-0.61	-145.0	2028	2209	2526	2322	350.0	0.6	546	20678	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.29	11.31	11.30
21011	-0.61	-145.0	2027	2208	2527	2322	346.1	1.2	552	21012	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.30	11.31	11.31
21347	-0.61	-145.0	2027	2209	2527	2322	341.9	1.2	558	21348	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.30	11.32	11.31
21685	-0.63	-162.5	2027	2209	2527	2322	338.4	1.0	564	21686	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.29	11.31	11.31
22020	-0.63	-175.4	2027	2209	2525	2322	335.9	0.7	570	22020	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2208	2424	2526	2322	0	0	0	0	0	0	11.30	11.31	11.31
22356	-0.64	-181.9	2027	2208	2526	2322	334.3	0.4	576	22357	0.12	0.00	0.00	0.000	4134	0.117	0.000	1993	2208	2424	2526	2322	0	0	0	0	0	0	11.10	11.18	11.16
22575	end loiter: LOITER_COMPLETE
state	22575	begin climb
22579	0.81	97.3	1993	2209	2527	2322	334.2	0.0	580	22676	2.28	3.55	84.53	1.196	10756	0.216	0.057	2452	798	2191	2314	2069	0	0	0	0	0	0	10.99	10.98	10.46
22703	0.84	156.2	2452	798	2305	2065	330.6	5.0	597	22788	0.00	3.35	78.95	1.175	9254	0.000	0.049	2452	2198	1962	2087	1838	0	0	0	0	0	0	11.10	11.03	10.47
23143	0.84	156.2	2452	2199	2045	1817	292.1	9.3	618	23149	0.00	3.45	0.00	0.000	260	0.000	0.075	2452	3617	1930	2043	1817	0	0	0	0	0	0	11.24	11.02	11.24
23234	0.84	156.2	2452	3618	2042	1817	282.2	10.5	631	23239	0.00	3.25	0.00	0.000	1030	0.000	0.046	2461	2215	1928	2040	1817	0	0	0	0	0	0	11.12	11.06	11.13
23591	0.84	156.2	2462	2216	2038	1817	246.4	10.1	640	23596	0.00	3.42	0.00	0.000	516	0.000	0.059	2471	790	1927	2038	1817	0	0	0	0	0	0	11.26	11.05	11.27
23683	0.84	156.2	2472	790	2038	1816	237.6	9.6	653	23688	0.00	3.38	0.00	0.000	1030	0.000	0.049	2471	2209	1926	2037	1816	0	0	0	0	0	0	11.12	11.05	11.14
24039	0.84	156.2	2471	2209	2037	1816	199.7	10.8	662	24045	0.00	3.38	0.00	0.000	260	0.000	0.073	2471	3617	1926	2036	1816	0	0	0	0	0	0	11.26	11.05	11.28
24123	0.84	156.2	2471	3617	2037	1817	189.9	11.9	674	24129	0.00	3.28	0.00	0.000	1030	0.000	0.045	2481	2200	1925	2035	1816	0	0	0	0	0	0	11.13	11.07	11.14
24488	0.84	156.2	2481	2202	2036	1817	150.3	10.9	684	24493	0.00	3.38	0.00	0.000	516	0.000	0.061	2492	784	1925	2035	1816	0	0	0	0	0	0	11.26	11.05	11.27
24577	0.84	156.2	2492	785	2035	1816	140.4	10.9	697	24583	0.00	3.40	0.00	0.000	1030	0.000	0.050	2492	2199	1925	2035	1816	0	0	0	0	0	0	11.13	11.06	11.14
24935	0.84	156.2	2492	2200	2035	1816	102.6	10.0	706	24941	0.00	3.38	0.00	0.000	260	0.000	0.074	2491	3611	1925	2035	1816	0	0	0	0	0	0	11.27	11.05	11.28
24985	0.80	156.2	2492	3612	2035	1816	97.2	11.1	713	24992	0.25	3.25	0.00	0.000	5254	0.228	0.044	2458	2193	1925	2035	1816	0	0	0	0	0	0	10.96	11.08	11.12
25299	0.83	208.5	2458	2194	2034	1816	77.7	5.3	725	25343	0.00	0.00	42.90	0.340	8742	0.000	0.000	2459	2193	1749	1857	1642	0	0	0	0	0	0	11.27	11.06	10.84
25637	1.00	318.9	2460	2194	1858	1671	67.1	2.0	740	25761	0.22	3.53	118.22	0.322	10660	0.083	0.070	2526	3618	1301	1376	1226	0	0	0	0	0	0	11.07	11.00	10.86
25838	1.11	346.5	2527	3619	1377	1242	57.0	6.8	766	25878	0.00	3.30	32.65	0.275	9382	0.000	0.043	2532	2189	1186	1259	1114	0	0	0	0	0	0	11.10	11.05	10.86
26200	1.24	388.0	2533	2189	1269	1127	33.6	6.0	784	26251	0.22	3.35	43.42	0.207	10916	0.079	0.057	2609	779	1017	1094	941	0	0	0	0	0	0	11.06	11.02	10.93
26378	1.30	388.0	2610	780	1105	949	16.1	10.2	810	26390	0.00	3.35	3.10	0.127	9350	0.000	0.047	2609	2202	1017	1094	941	0	0	0	0	0	0	11.12	11.05	10.99
26471	end climb: SURFACE_DEPTH_REACHED
state	26471	begin surface coast
26499	end surface coast: CONTROL_FINISHED_OK
state	26499	begin surface