Glider dive log

SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 783 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 190 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 37 XPDR_INHIBIT 90

MISSION 9 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 50 INT_PRESSURE_SLOPE 0.0097660003

DIVE 783 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 45 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 45 VBD_CNV -0.24529999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 37 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 1.0 VBD_LP_IGNORE 0

DIVE 783 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 100417,192651,1004.9818,-12531.3506,37,0.8,38,9.2,0.0,0.0,9,7.4 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 0.84 MHEAD_RNG_PITCHd_Wd 117.8,72590,-19.5,-8.333,-22.22,1796

_SM_ANGLEo -62.4 D_GRID 450

GPS2 100417,193316,1004.9799,-12531.3809,16,0.9,17,9.2,0.8,306.1,9,9.7

Post-dive calculations and measurements:

FINISH -0.0,1.022100 _10V_AH 10.56,0.000

SM_CCo 24239,122.12,0.118,0,0,560,500.17 FG_AHR_24Vo 0.000

SM_GC 0.72,9.12,3.55,122.12,0.063,0.041,0.118,225,2300,560,-6.14,-0.34,500.17,0,0,0,0,0,0,11.05,11.07,11.00 FG_AHR_10Vo 0.000

IRIDIUM_FIX 958.26,-12448.22,100417,115814 MEM 334160

TT8_MAMPS 0.04494,0.295106 DATA_FILE_SIZE 30199,740

HUMID 57.99 CAP_FILE_SIZE 119138,0

INTERNAL_PRESSURE 9.13121 CFSIZE 260034560,168194048

TCM_TEMP 22.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 33 CURRENT 0.054,302.89,1

_24V_AH 10.37,292.470 GPS 110417,022103,1005.120,-12531.608,48,0.7,49,9.2,0.6,164.9,11,7.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 406 122.29 SciConCT 565 25 146.57

Roll_motor 93 1611 1560.43 nil 0 0 0.00

VBD_pump_during_apogee 584 1185 7186.22 nil 0 0 0.00

VBD_pump_during_surface 122 117 149.20 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 247 195 499.81 PMAR 0 0 0.00

Transponder_ping 8 420 35.93 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 22 4.59

TT8 0 0 0.00

LPSleep 21252 2 491.50

TT8_Active 824 10 93.80

TT8_Sampling 2141 28 650.12

TT8_CF8 518 35 194.47

TT8_Kalman 0 0 0.00

Analog_circuits 1737 11 214.73

GPS_charging 0 0 0.00

Compass 1518 0 12.03

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 -97.3 193 2253 605 534 0.0 0.0 0 98 0.00 0.00 -89.28 0.000 16386 0.000 0.000 191 2256 2842 2857 2827 0 0 0 0 0 0 11.21 28.83 11.22

103 -0.81 -97.3 191 2256 2859 2828 3.6 -4.8 3 128 15.43 3.47 -2.55 0.000 18948 0.407 1.611 1933 893 2999 3045 2954 0 0 0 0 0 0 10.82 10.37 10.98

191 -0.60 -97.3 1933 893 3049 2952 35.3 -26.7 15 196 0.47 3.25 0.00 0.000 3206 0.283 0.049 1997 2271 3000 3049 2951 0 0 0 0 0 0 10.90 11.03 11.07

531 -0.54 -97.3 1998 2271 3053 2950 94.5 -10.4 30 536 0.00 3.33 0.00 0.000 388 0.000 0.069 1987 3694 3001 3053 2949 0 0 0 0 0 0 11.24 11.03 11.24

769 -0.54 -97.3 1988 3694 3054 2950 117.6 -8.5 64 774 0.20 3.12 0.00 0.000 3078 0.208 0.034 2022 2296 3001 3054 2949 0 0 0 0 0 0 10.96 11.08 11.10

1096 -0.54 -97.3 2022 2297 3056 2949 147.2 -9.6 75 1101 0.00 3.33 0.00 0.000 516 0.000 0.047 2022 869 3002 3055 2949 0 0 0 0 0 0 11.24 11.05 11.25

1187 -0.54 -97.3 2022 869 3056 2948 156.6 -9.6 88 1192 0.00 3.35 0.00 0.000 1030 0.000 0.047 2015 2297 3001 3055 2947 0 0 0 0 0 0 11.12 11.06 11.14

1548 -0.54 -97.3 2016 2297 3056 2946 191.3 -9.6 97 1554 0.00 3.33 0.00 0.000 260 0.000 0.073 2012 3699 3000 3055 2946 0 0 0 0 0 0 11.24 11.05 11.26

1582 -0.54 -97.3 2012 3699 3056 2946 194.7 -8.8 102 1587 0.00 3.20 0.00 0.000 1030 0.000 0.034 2012 2274 3000 3055 2946 0 0 0 0 0 0 11.14 11.09 11.15

1944 -0.54 -97.3 2012 2275 3056 2943 227.8 -9.5 111 1949 0.00 3.28 0.00 0.000 516 0.000 0.049 2012 872 2998 3055 2941 0 0 0 0 0 0 11.25 11.06 11.26

2013 -0.54 -97.3 2012 872 3056 2941 235.0 -9.8 121 2019 0.00 3.38 0.00 0.000 1030 0.000 0.051 2011 2290 2997 3055 2940 0 0 0 0 0 0 11.13 11.07 11.14

2339 -0.54 -97.3 2012 2291 3056 2938 267.0 -10.0 132 2344 0.00 3.38 0.00 0.000 260 0.000 0.076 2012 3700 2996 3055 2937 0 0 0 0 0 0 11.25 11.05 11.26

2398 -0.60 -97.3 2011 3701 3056 2937 272.8 -9.8 140 2403 0.00 3.22 0.00 0.000 1158 0.000 0.034 2011 2268 2996 3055 2937 0 0 0 0 0 0 11.14 11.10 11.15

2739 -0.60 -97.3 2011 2269 3056 2933 305.9 -9.8 153 2744 0.00 3.28 0.00 0.000 516 0.000 0.048 2011 873 2993 3055 2932 0 0 0 0 0 0 11.25 11.07 11.26

2829 -0.60 -97.3 2012 873 3055 2932 314.9 -8.9 166 2834 0.00 3.38 0.00 0.000 1030 0.000 0.050 2011 2285 2993 3055 2931 0 0 0 0 0 0 11.13 11.07 11.14

3192 -0.60 -97.3 2012 2286 3056 2927 346.5 -8.8 175 3198 0.00 3.40 0.00 0.000 260 0.000 0.076 2011 3701 2990 3054 2927 0 0 0 0 0 0 11.25 11.05 11.26

3268 -0.66 -97.3 2011 3701 3055 2927 353.6 -8.4 186 3273 0.00 3.22 0.00 0.000 1158 0.000 0.035 2011 2268 2990 3054 2927 0 0 0 0 0 0 11.14 11.10 11.15

3588 -0.66 -97.3 2011 2269 3054 2925 380.7 -8.6 196 3593 0.00 3.28 0.00 0.000 516 0.000 0.050 2011 876 2988 3053 2924 0 0 0 0 0 0 11.25 11.07 11.26

3693 -0.70 -97.3 2011 876 3054 2924 390.0 -8.3 211 3704 0.10 3.40 0.00 0.000 5286 0.073 0.053 1976 2281 2988 3053 2923 0 0 0 0 0 0 11.06 11.05 11.09

4039 -0.70 -97.3 1976 2281 3053 2922 424.5 -10.2 218 4045 0.00 3.40 0.00 0.000 260 0.000 0.075 1970 3695 2986 3051 2922 0 0 0 0 0 0 11.26 11.05 11.26

4086 -0.70 -97.3 1970 3695 3053 2922 429.8 -10.2 225 4099 0.00 3.28 0.00 0.000 1030 0.000 0.037 1970 2269 2986 3051 2921 0 0 0 0 0 0 11.10 11.07 11.12

4319 end dive: TARGET_DEPTH_EXCEEDED

state 4319 begin apogee

4329 -0.19 0.0 1971 2199 3051 2921 453.8 -10.5 230 4503 0.80 0.00 171.27 1.164 10244 0.197 0.000 2129 2199 2600 2704 2496 0 0 0 0 0 0 10.98 10.99 10.53

4503 end apogee: CONTROL_FINISHED_OK

state 4504 begin loiter

4736 -0.16 50.8 2129 2199 2687 2485 468.8 -2.9 266 4825 0.00 0.00 84.40 1.186 9254 0.000 0.000 2129 2199 2389 2516 2262 0 0 0 0 0 0 11.24 11.24 10.60

5179 -0.33 50.8 2129 2199 2499 2255 463.2 2.1 287 5180 0.15 0.00 0.00 0.000 4230 0.097 0.000 2084 2199 2376 2498 2255 0 0 0 0 0 0 11.05 11.12 11.11

5511 -0.42 50.8 2085 2199 2494 2254 454.9 2.6 293 5512 0.00 0.00 0.00 0.000 134 0.000 0.000 2084 2199 2374 2495 2253 0 0 0 0 0 0 11.25 11.27 11.26

5849 -0.51 50.8 2085 2199 2493 2253 444.5 3.1 299 5850 0.20 0.00 0.00 0.000 4230 0.090 0.000 2029 2199 2372 2493 2252 0 0 0 0 0 0 11.07 11.14 11.12

6183 -0.51 50.8 2029 2199 2491 2253 434.9 2.7 305 6184 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2371 2490 2252 0 0 0 0 0 0 11.26 11.28 11.28

6519 -0.51 50.8 2030 2199 2489 2251 427.4 2.2 311 6520 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2369 2488 2250 0 0 0 0 0 0 11.26 11.29 11.29

6857 -0.51 50.8 2028 2200 2488 2250 418.8 2.7 317 6857 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2368 2487 2250 0 0 0 0 0 0 11.26 11.28 11.28

7191 -0.51 50.8 2030 2199 2487 2251 407.9 3.4 323 7192 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2199 2368 2486 2250 0 0 0 0 0 0 11.27 11.29 11.29

7527 -0.51 50.8 2030 2199 2486 2250 395.4 3.7 329 7528 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2367 2485 2249 0 0 0 0 0 0 11.28 11.29 11.29

7863 -0.51 50.8 2030 2199 2486 2250 384.9 2.9 335 7864 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2366 2484 2249 0 0 0 0 0 0 11.28 11.29 11.29

8201 -0.51 50.8 2030 2199 2484 2250 378.2 1.9 341 8201 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2366 2483 2249 0 0 0 0 0 0 11.27 11.29 11.29

8535 -0.51 50.8 2029 2200 2483 2250 372.5 1.7 347 8536 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2199 2365 2482 2249 0 0 0 0 0 0 11.29 11.29 11.29

8871 -0.51 50.8 2030 2199 2483 2250 364.6 2.5 353 8872 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2365 2482 2249 0 0 0 0 0 0 11.29 11.30 11.29

9207 -0.51 50.8 2030 2199 2482 2249 355.7 2.5 359 9208 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2365 2481 2249 0 0 0 0 0 0 11.29 11.30 11.30

9545 -0.51 50.8 2030 2199 2481 2250 349.2 1.9 365 9545 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2365 2481 2249 0 0 0 0 0 0 11.28 11.29 11.29

9879 -0.51 50.8 2030 2199 2482 2248 342.9 1.9 371 9880 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2198 2364 2481 2248 0 0 0 0 0 0 11.29 11.30 11.30

10215 -0.51 50.8 2030 2199 2482 2248 336.0 2.1 377 10216 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2364 2481 2248 0 0 0 0 0 0 11.29 11.30 11.30

10551 -0.51 50.8 2030 2199 2481 2248 329.8 1.8 383 10552 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2364 2480 2248 0 0 0 0 0 0 11.29 11.31 11.31

10889 -0.51 50.8 2030 2199 2481 2249 323.6 1.9 389 10889 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2364 2480 2248 0 0 0 0 0 0 11.28 11.29 11.29

11223 -0.51 50.8 2030 2199 2481 2248 317.0 2.0 395 11224 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2364 2480 2248 0 0 0 0 0 0 11.29 11.31 11.31

11559 -0.51 50.8 2029 2200 2481 2248 307.6 2.9 401 11560 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2364 2480 2248 0 0 0 0 0 0 11.29 11.31 11.31

11895 -0.51 50.8 2030 2199 2481 2249 299.4 2.3 407 11896 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2364 2480 2248 0 0 0 0 0 0 11.29 11.31 11.31

12233 -0.51 50.8 2030 2199 2480 2249 292.3 2.2 413 12233 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2364 2480 2248 0 0 0 0 0 0 11.29 11.30 11.30

12567 -0.51 50.8 2030 2199 2481 2248 282.6 3.0 419 12568 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2364 2480 2248 0 0 0 0 0 0 11.29 11.31 11.31

12903 -0.51 50.8 2029 2199 2480 2248 270.9 3.6 425 12904 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.29 11.31 11.31

13239 -0.51 50.8 2030 2199 2481 2248 258.5 3.6 431 13240 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.29 11.31 11.31

13577 -0.51 50.8 2030 2199 2481 2249 248.3 3.0 437 13577 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.29 11.30 11.29

13911 -0.51 50.8 2030 2199 2480 2249 237.8 3.1 443 13912 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

14247 -0.51 50.8 2029 2200 2481 2248 229.1 2.4 449 14248 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.29 11.31 11.31

14583 -0.51 50.8 2030 2199 2480 2248 223.2 1.8 455 14584 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

14921 -0.51 50.8 2029 2199 2480 2248 215.3 2.5 461 14921 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.29 11.30 11.30

15255 -0.51 50.8 2030 2199 2480 2248 205.0 3.0 467 15256 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

15591 -0.51 50.8 2030 2199 2480 2249 198.3 1.8 473 15592 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

15927 -0.51 50.8 2030 2199 2480 2248 191.6 2.1 479 15928 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.29 11.33 11.31

16265 -0.51 50.8 2030 2199 2480 2248 183.5 2.4 485 16265 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.29 11.31 11.31

16599 -0.51 50.8 2030 2199 2479 2249 176.8 1.9 491 16600 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2364 2480 2248 0 0 0 0 0 0 11.30 11.31 11.31

16935 -0.51 50.8 2029 2199 2480 2248 168.7 2.7 497 16936 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

17271 -0.51 50.8 2029 2198 2480 2248 162.7 1.6 503 17272 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

17609 -0.51 50.8 2030 2199 2480 2248 159.0 1.1 509 17610 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.29 11.31 11.31

17943 -0.51 50.8 2029 2199 2481 2248 151.6 2.4 515 17944 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

18279 -0.51 50.8 2030 2199 2480 2249 145.8 1.4 521 18280 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2198 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

18617 -0.51 50.8 2030 2199 2480 2249 139.5 1.8 527 18618 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.29 11.31 11.31

18951 -0.52 35.8 2030 2199 2480 2248 136.6 0.9 533 18952 0.00 0.00 0.00 0.000 38 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.31 11.31 11.31

19287 -0.52 35.8 2029 2199 2479 2248 128.1 2.6 539 19288 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

19623 -0.52 35.8 2030 2199 2480 2247 123.8 1.0 545 19624 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

19961 -0.52 35.8 2031 2199 2480 2249 121.1 1.1 551 19961 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.29 11.31 11.31

20295 -0.52 35.8 2030 2199 2480 2249 117.3 1.0 557 20296 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

20631 -0.51 42.4 2030 2199 2480 2249 117.1 -0.4 563 20632 0.00 0.00 0.00 0.000 38 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

20967 -0.52 34.4 2030 2199 2480 2249 116.0 0.5 569 20968 0.00 0.00 0.00 0.000 38 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

21305 -0.52 28.5 2030 2199 2480 2248 114.7 0.3 575 21306 0.00 0.00 0.00 0.000 38 0.000 0.000 2030 2199 2363 2478 2248 0 0 0 0 0 0 11.29 11.31 11.31

21639 -0.52 27.0 2030 2199 2480 2249 113.0 0.1 581 21640 0.00 0.00 0.00 0.000 38 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

21975 -0.52 33.9 2030 2199 2480 2249 114.4 -0.4 587 21976 0.00 0.00 0.00 0.000 38 0.000 0.000 2030 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

22311 -0.52 28.9 2030 2199 2480 2249 113.9 0.3 593 22312 0.00 0.00 0.00 0.000 38 0.000 0.000 2029 2199 2363 2479 2248 0 0 0 0 0 0 11.30 11.31 11.31

22531 end loiter: LOITER_COMPLETE

state 22531 begin climb

22537 0.81 97.3 2030 2200 2481 2248 112.3 0.0 597 22591 2.10 3.45 43.95 0.451 10500 0.208 0.067 2448 3624 2210 2330 2090 0 0 0 0 0 0 10.99 11.03 10.79

22703 0.85 163.5 2448 3625 2331 2104 106.8 4.5 621 22785 0.00 3.28 75.22 0.449 9254 0.000 0.040 2457 2190 1937 2057 1817 0 0 0 0 0 0 11.15 11.10 10.80

23095 0.87 208.2 2457 2190 2059 1835 83.3 5.8 646 23151 0.00 3.38 48.72 0.366 8740 0.000 0.058 2460 795 1755 1859 1652 0 0 0 0 0 0 11.28 11.02 10.83

23172 1.00 274.4 2461 795 1860 1662 79.8 4.5 657 23255 0.22 3.30 73.05 0.365 11430 0.088 0.044 2521 2198 1487 1583 1391 0 0 0 0 0 0 11.05 11.06 10.83

23572 1.14 357.4 2521 2198 1585 1404 59.6 3.6 681 23668 0.17 3.40 87.80 0.292 10660 0.090 0.069 2570 3605 1147 1221 1073 0 0 0 0 0 0 11.07 11.00 10.88

23781 1.19 357.4 2570 3605 1225 1078 41.6 9.3 711 23787 0.00 3.22 0.00 0.000 1158 0.000 0.041 2580 2197 1151 1224 1078 0 0 0 0 0 0 11.12 11.07 11.14

24104 1.25 357.4 2580 2197 1225 1078 10.9 10.3 724 24109 0.00 3.35 0.00 0.000 644 0.000 0.059 2584 785 1151 1224 1078 0 0 0 0 0 0 11.28 11.05 11.28

24184 end climb: SURFACE_DEPTH_REACHED

state 24184 begin surface coast

24211 end surface coast: CONTROL_FINISHED_OK

state 24211 begin surface

ID	190	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	37	XPDR_INHIBIT	90
MISSION	9	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	50	INT_PRESSURE_SLOPE	0.0097660003
DIVE	783	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	45	XPDR_VALID	6

GPS1	100417,192651,1004.9818,-12531.3506,37,0.8,38,9.2,0.0,0.0,9,7.4	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	0.84	MHEAD_RNG_PITCHd_Wd	117.8,72590,-19.5,-8.333,-22.22,1796
_SM_ANGLEo	-62.4	D_GRID	450
GPS2	100417,193316,1004.9799,-12531.3809,16,0.9,17,9.2,0.8,306.1,9,9.7

FINISH	-0.0,1.022100	_10V_AH	10.56,0.000
SM_CCo	24239,122.12,0.118,0,0,560,500.17	FG_AHR_24Vo	0.000
SM_GC	0.72,9.12,3.55,122.12,0.063,0.041,0.118,225,2300,560,-6.14,-0.34,500.17,0,0,0,0,0,0,11.05,11.07,11.00	FG_AHR_10Vo	0.000
IRIDIUM_FIX	958.26,-12448.22,100417,115814	MEM	334160
TT8_MAMPS	0.04494,0.295106	DATA_FILE_SIZE	30199,740
HUMID	57.99	CAP_FILE_SIZE	119138,0
INTERNAL_PRESSURE	9.13121	CFSIZE	260034560,168194048
TCM_TEMP	22.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	33	CURRENT	0.054,302.89,1
_24V_AH	10.37,292.470	GPS	110417,022103,1005.120,-12531.608,48,0.7,49,9.2,0.6,164.9,11,7.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	406	122.29	SciConCT	565	25	146.57
Roll_motor	93	1611	1560.43	nil	0	0	0.00
VBD_pump_during_apogee	584	1185	7186.22	nil	0	0	0.00
VBD_pump_during_surface	122	117	149.20	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	247	195	499.81	PMAR	0	0	0.00
Transponder_ping	8	420	35.93	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	22	4.59
TT8	0	0	0.00
LPSleep	21252	2	491.50
TT8_Active	824	10	93.80
TT8_Sampling	2141	28	650.12
TT8_CF8	518	35	194.47
TT8_Kalman	0	0	0.00
Analog_circuits	1737	11	214.73
GPS_charging	0	0	0.00
Compass	1518	0	12.03
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	193	2253	605	534	0.0	0.0	0	98	0.00	0.00	-89.28	0.000	16386	0.000	0.000	191	2256	2842	2857	2827	0	0	0	0	0	0	11.21	28.83	11.22
103	-0.81	-97.3	191	2256	2859	2828	3.6	-4.8	3	128	15.43	3.47	-2.55	0.000	18948	0.407	1.611	1933	893	2999	3045	2954	0	0	0	0	0	0	10.82	10.37	10.98
191	-0.60	-97.3	1933	893	3049	2952	35.3	-26.7	15	196	0.47	3.25	0.00	0.000	3206	0.283	0.049	1997	2271	3000	3049	2951	0	0	0	0	0	0	10.90	11.03	11.07
531	-0.54	-97.3	1998	2271	3053	2950	94.5	-10.4	30	536	0.00	3.33	0.00	0.000	388	0.000	0.069	1987	3694	3001	3053	2949	0	0	0	0	0	0	11.24	11.03	11.24
769	-0.54	-97.3	1988	3694	3054	2950	117.6	-8.5	64	774	0.20	3.12	0.00	0.000	3078	0.208	0.034	2022	2296	3001	3054	2949	0	0	0	0	0	0	10.96	11.08	11.10
1096	-0.54	-97.3	2022	2297	3056	2949	147.2	-9.6	75	1101	0.00	3.33	0.00	0.000	516	0.000	0.047	2022	869	3002	3055	2949	0	0	0	0	0	0	11.24	11.05	11.25
1187	-0.54	-97.3	2022	869	3056	2948	156.6	-9.6	88	1192	0.00	3.35	0.00	0.000	1030	0.000	0.047	2015	2297	3001	3055	2947	0	0	0	0	0	0	11.12	11.06	11.14
1548	-0.54	-97.3	2016	2297	3056	2946	191.3	-9.6	97	1554	0.00	3.33	0.00	0.000	260	0.000	0.073	2012	3699	3000	3055	2946	0	0	0	0	0	0	11.24	11.05	11.26
1582	-0.54	-97.3	2012	3699	3056	2946	194.7	-8.8	102	1587	0.00	3.20	0.00	0.000	1030	0.000	0.034	2012	2274	3000	3055	2946	0	0	0	0	0	0	11.14	11.09	11.15
1944	-0.54	-97.3	2012	2275	3056	2943	227.8	-9.5	111	1949	0.00	3.28	0.00	0.000	516	0.000	0.049	2012	872	2998	3055	2941	0	0	0	0	0	0	11.25	11.06	11.26
2013	-0.54	-97.3	2012	872	3056	2941	235.0	-9.8	121	2019	0.00	3.38	0.00	0.000	1030	0.000	0.051	2011	2290	2997	3055	2940	0	0	0	0	0	0	11.13	11.07	11.14
2339	-0.54	-97.3	2012	2291	3056	2938	267.0	-10.0	132	2344	0.00	3.38	0.00	0.000	260	0.000	0.076	2012	3700	2996	3055	2937	0	0	0	0	0	0	11.25	11.05	11.26
2398	-0.60	-97.3	2011	3701	3056	2937	272.8	-9.8	140	2403	0.00	3.22	0.00	0.000	1158	0.000	0.034	2011	2268	2996	3055	2937	0	0	0	0	0	0	11.14	11.10	11.15
2739	-0.60	-97.3	2011	2269	3056	2933	305.9	-9.8	153	2744	0.00	3.28	0.00	0.000	516	0.000	0.048	2011	873	2993	3055	2932	0	0	0	0	0	0	11.25	11.07	11.26
2829	-0.60	-97.3	2012	873	3055	2932	314.9	-8.9	166	2834	0.00	3.38	0.00	0.000	1030	0.000	0.050	2011	2285	2993	3055	2931	0	0	0	0	0	0	11.13	11.07	11.14
3192	-0.60	-97.3	2012	2286	3056	2927	346.5	-8.8	175	3198	0.00	3.40	0.00	0.000	260	0.000	0.076	2011	3701	2990	3054	2927	0	0	0	0	0	0	11.25	11.05	11.26
3268	-0.66	-97.3	2011	3701	3055	2927	353.6	-8.4	186	3273	0.00	3.22	0.00	0.000	1158	0.000	0.035	2011	2268	2990	3054	2927	0	0	0	0	0	0	11.14	11.10	11.15
3588	-0.66	-97.3	2011	2269	3054	2925	380.7	-8.6	196	3593	0.00	3.28	0.00	0.000	516	0.000	0.050	2011	876	2988	3053	2924	0	0	0	0	0	0	11.25	11.07	11.26
3693	-0.70	-97.3	2011	876	3054	2924	390.0	-8.3	211	3704	0.10	3.40	0.00	0.000	5286	0.073	0.053	1976	2281	2988	3053	2923	0	0	0	0	0	0	11.06	11.05	11.09
4039	-0.70	-97.3	1976	2281	3053	2922	424.5	-10.2	218	4045	0.00	3.40	0.00	0.000	260	0.000	0.075	1970	3695	2986	3051	2922	0	0	0	0	0	0	11.26	11.05	11.26
4086	-0.70	-97.3	1970	3695	3053	2922	429.8	-10.2	225	4099	0.00	3.28	0.00	0.000	1030	0.000	0.037	1970	2269	2986	3051	2921	0	0	0	0	0	0	11.10	11.07	11.12
4319	end dive: TARGET_DEPTH_EXCEEDED
state	4319	begin apogee
4329	-0.19	0.0	1971	2199	3051	2921	453.8	-10.5	230	4503	0.80	0.00	171.27	1.164	10244	0.197	0.000	2129	2199	2600	2704	2496	0	0	0	0	0	0	10.98	10.99	10.53
4503	end apogee: CONTROL_FINISHED_OK
state	4504	begin loiter
4736	-0.16	50.8	2129	2199	2687	2485	468.8	-2.9	266	4825	0.00	0.00	84.40	1.186	9254	0.000	0.000	2129	2199	2389	2516	2262	0	0	0	0	0	0	11.24	11.24	10.60
5179	-0.33	50.8	2129	2199	2499	2255	463.2	2.1	287	5180	0.15	0.00	0.00	0.000	4230	0.097	0.000	2084	2199	2376	2498	2255	0	0	0	0	0	0	11.05	11.12	11.11
5511	-0.42	50.8	2085	2199	2494	2254	454.9	2.6	293	5512	0.00	0.00	0.00	0.000	134	0.000	0.000	2084	2199	2374	2495	2253	0	0	0	0	0	0	11.25	11.27	11.26
5849	-0.51	50.8	2085	2199	2493	2253	444.5	3.1	299	5850	0.20	0.00	0.00	0.000	4230	0.090	0.000	2029	2199	2372	2493	2252	0	0	0	0	0	0	11.07	11.14	11.12
6183	-0.51	50.8	2029	2199	2491	2253	434.9	2.7	305	6184	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2371	2490	2252	0	0	0	0	0	0	11.26	11.28	11.28
6519	-0.51	50.8	2030	2199	2489	2251	427.4	2.2	311	6520	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2369	2488	2250	0	0	0	0	0	0	11.26	11.29	11.29
6857	-0.51	50.8	2028	2200	2488	2250	418.8	2.7	317	6857	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2368	2487	2250	0	0	0	0	0	0	11.26	11.28	11.28
7191	-0.51	50.8	2030	2199	2487	2251	407.9	3.4	323	7192	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2199	2368	2486	2250	0	0	0	0	0	0	11.27	11.29	11.29
7527	-0.51	50.8	2030	2199	2486	2250	395.4	3.7	329	7528	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2367	2485	2249	0	0	0	0	0	0	11.28	11.29	11.29
7863	-0.51	50.8	2030	2199	2486	2250	384.9	2.9	335	7864	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2366	2484	2249	0	0	0	0	0	0	11.28	11.29	11.29
8201	-0.51	50.8	2030	2199	2484	2250	378.2	1.9	341	8201	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2366	2483	2249	0	0	0	0	0	0	11.27	11.29	11.29
8535	-0.51	50.8	2029	2200	2483	2250	372.5	1.7	347	8536	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2199	2365	2482	2249	0	0	0	0	0	0	11.29	11.29	11.29
8871	-0.51	50.8	2030	2199	2483	2250	364.6	2.5	353	8872	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2365	2482	2249	0	0	0	0	0	0	11.29	11.30	11.29
9207	-0.51	50.8	2030	2199	2482	2249	355.7	2.5	359	9208	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2365	2481	2249	0	0	0	0	0	0	11.29	11.30	11.30
9545	-0.51	50.8	2030	2199	2481	2250	349.2	1.9	365	9545	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2365	2481	2249	0	0	0	0	0	0	11.28	11.29	11.29
9879	-0.51	50.8	2030	2199	2482	2248	342.9	1.9	371	9880	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2198	2364	2481	2248	0	0	0	0	0	0	11.29	11.30	11.30
10215	-0.51	50.8	2030	2199	2482	2248	336.0	2.1	377	10216	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2364	2481	2248	0	0	0	0	0	0	11.29	11.30	11.30
10551	-0.51	50.8	2030	2199	2481	2248	329.8	1.8	383	10552	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2364	2480	2248	0	0	0	0	0	0	11.29	11.31	11.31
10889	-0.51	50.8	2030	2199	2481	2249	323.6	1.9	389	10889	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2364	2480	2248	0	0	0	0	0	0	11.28	11.29	11.29
11223	-0.51	50.8	2030	2199	2481	2248	317.0	2.0	395	11224	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2364	2480	2248	0	0	0	0	0	0	11.29	11.31	11.31
11559	-0.51	50.8	2029	2200	2481	2248	307.6	2.9	401	11560	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2364	2480	2248	0	0	0	0	0	0	11.29	11.31	11.31
11895	-0.51	50.8	2030	2199	2481	2249	299.4	2.3	407	11896	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2364	2480	2248	0	0	0	0	0	0	11.29	11.31	11.31
12233	-0.51	50.8	2030	2199	2480	2249	292.3	2.2	413	12233	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2364	2480	2248	0	0	0	0	0	0	11.29	11.30	11.30
12567	-0.51	50.8	2030	2199	2481	2248	282.6	3.0	419	12568	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2364	2480	2248	0	0	0	0	0	0	11.29	11.31	11.31
12903	-0.51	50.8	2029	2199	2480	2248	270.9	3.6	425	12904	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.29	11.31	11.31
13239	-0.51	50.8	2030	2199	2481	2248	258.5	3.6	431	13240	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.29	11.31	11.31
13577	-0.51	50.8	2030	2199	2481	2249	248.3	3.0	437	13577	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.29	11.30	11.29
13911	-0.51	50.8	2030	2199	2480	2249	237.8	3.1	443	13912	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
14247	-0.51	50.8	2029	2200	2481	2248	229.1	2.4	449	14248	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.29	11.31	11.31
14583	-0.51	50.8	2030	2199	2480	2248	223.2	1.8	455	14584	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
14921	-0.51	50.8	2029	2199	2480	2248	215.3	2.5	461	14921	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.29	11.30	11.30
15255	-0.51	50.8	2030	2199	2480	2248	205.0	3.0	467	15256	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
15591	-0.51	50.8	2030	2199	2480	2249	198.3	1.8	473	15592	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
15927	-0.51	50.8	2030	2199	2480	2248	191.6	2.1	479	15928	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.29	11.33	11.31
16265	-0.51	50.8	2030	2199	2480	2248	183.5	2.4	485	16265	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.29	11.31	11.31
16599	-0.51	50.8	2030	2199	2479	2249	176.8	1.9	491	16600	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2364	2480	2248	0	0	0	0	0	0	11.30	11.31	11.31
16935	-0.51	50.8	2029	2199	2480	2248	168.7	2.7	497	16936	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
17271	-0.51	50.8	2029	2198	2480	2248	162.7	1.6	503	17272	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
17609	-0.51	50.8	2030	2199	2480	2248	159.0	1.1	509	17610	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.29	11.31	11.31
17943	-0.51	50.8	2029	2199	2481	2248	151.6	2.4	515	17944	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
18279	-0.51	50.8	2030	2199	2480	2249	145.8	1.4	521	18280	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2198	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
18617	-0.51	50.8	2030	2199	2480	2249	139.5	1.8	527	18618	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.29	11.31	11.31
18951	-0.52	35.8	2030	2199	2480	2248	136.6	0.9	533	18952	0.00	0.00	0.00	0.000	38	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.31	11.31	11.31
19287	-0.52	35.8	2029	2199	2479	2248	128.1	2.6	539	19288	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
19623	-0.52	35.8	2030	2199	2480	2247	123.8	1.0	545	19624	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
19961	-0.52	35.8	2031	2199	2480	2249	121.1	1.1	551	19961	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.29	11.31	11.31
20295	-0.52	35.8	2030	2199	2480	2249	117.3	1.0	557	20296	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
20631	-0.51	42.4	2030	2199	2480	2249	117.1	-0.4	563	20632	0.00	0.00	0.00	0.000	38	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
20967	-0.52	34.4	2030	2199	2480	2249	116.0	0.5	569	20968	0.00	0.00	0.00	0.000	38	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
21305	-0.52	28.5	2030	2199	2480	2248	114.7	0.3	575	21306	0.00	0.00	0.00	0.000	38	0.000	0.000	2030	2199	2363	2478	2248	0	0	0	0	0	0	11.29	11.31	11.31
21639	-0.52	27.0	2030	2199	2480	2249	113.0	0.1	581	21640	0.00	0.00	0.00	0.000	38	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
21975	-0.52	33.9	2030	2199	2480	2249	114.4	-0.4	587	21976	0.00	0.00	0.00	0.000	38	0.000	0.000	2030	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
22311	-0.52	28.9	2030	2199	2480	2249	113.9	0.3	593	22312	0.00	0.00	0.00	0.000	38	0.000	0.000	2029	2199	2363	2479	2248	0	0	0	0	0	0	11.30	11.31	11.31
22531	end loiter: LOITER_COMPLETE
state	22531	begin climb
22537	0.81	97.3	2030	2200	2481	2248	112.3	0.0	597	22591	2.10	3.45	43.95	0.451	10500	0.208	0.067	2448	3624	2210	2330	2090	0	0	0	0	0	0	10.99	11.03	10.79
22703	0.85	163.5	2448	3625	2331	2104	106.8	4.5	621	22785	0.00	3.28	75.22	0.449	9254	0.000	0.040	2457	2190	1937	2057	1817	0	0	0	0	0	0	11.15	11.10	10.80
23095	0.87	208.2	2457	2190	2059	1835	83.3	5.8	646	23151	0.00	3.38	48.72	0.366	8740	0.000	0.058	2460	795	1755	1859	1652	0	0	0	0	0	0	11.28	11.02	10.83
23172	1.00	274.4	2461	795	1860	1662	79.8	4.5	657	23255	0.22	3.30	73.05	0.365	11430	0.088	0.044	2521	2198	1487	1583	1391	0	0	0	0	0	0	11.05	11.06	10.83
23572	1.14	357.4	2521	2198	1585	1404	59.6	3.6	681	23668	0.17	3.40	87.80	0.292	10660	0.090	0.069	2570	3605	1147	1221	1073	0	0	0	0	0	0	11.07	11.00	10.88
23781	1.19	357.4	2570	3605	1225	1078	41.6	9.3	711	23787	0.00	3.22	0.00	0.000	1158	0.000	0.041	2580	2197	1151	1224	1078	0	0	0	0	0	0	11.12	11.07	11.14
24104	1.25	357.4	2580	2197	1225	1078	10.9	10.3	724	24109	0.00	3.35	0.00	0.000	644	0.000	0.059	2584	785	1151	1224	1078	0	0	0	0	0	0	11.28	11.05	11.28
24184	end climb: SURFACE_DEPTH_REACHED
state	24184	begin surface coast
24211	end surface coast: CONTROL_FINISHED_OK
state	24211	begin surface