Glider dive log

POSYDON Mar17 * SG202 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 202 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

MISSION 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PULSE 3

DIVE 8 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 76 ALTIM_SENSITIVITY 0

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 43 XPDR_VALID 1

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 350 XPDR_INHIBIT 90

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 SM_CC 450 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_TGT 750 N_FILEKB 4 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_ABORT 1020 FILEMGR 0 VBD_MIN 500 MOTHERBOARD 4

D_NO_BLEED 500 CALL_NDIVES 1 VBD_MAX 3960 DEVICE1 -1

D_BOOST 20 COMM_SEQ 0 C_VBD 3154 DEVICE2 -1

T_BOOST 0 PROTOCOL 9 VBD_DBAND 2 DEVICE3 -1

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE4 -1

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE5 -1

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE6 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.00030000001 LOGGERS 3

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 51

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 85

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_DIVE 200 CAPMAXSIZE 100000 UNCOM_BLEED 60 LOGGERDEVICE4 -1

T_MISSION 330 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 33

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 COMPASS2_DEVICE -1

T_TURN 225 N_GPS 100740 DBDW 0 PHONE_DEVICE 49

T_TURN_SAMPINT -5 T_RSLEEP 1 PITCH_W_GAIN 0 GPS_DEVICE 32

T_NO_W 120 STROBE 0 PITCH_W_DBAND 0 RAFOS_DEVICE -1

T_LOITER 3600 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_EPIRB 0 RAFOS_CORR_THRESH 60 AH0_24V 150 SIM_W 0

USE_BATHY -5 RAFOS_HIT_WINDOW 3600 AH0_10V 97 SIM_PITCH 0

USE_ICE 0 RAFOS_MMODEM 0 MINV_24V 19 SEABIRD_T_G 0.004404821

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 208 MINV_10V 8 SEABIRD_T_H 0.00064488029

D_OFFGRID 1020 PITCH_MAX 3892 MAXI_24V 0.60000002 SEABIRD_T_I 2.8507879e-05

T_WATCHDOG 10 C_PITCH 3020 MAXI_10V 0.80000001 SEABIRD_T_J 3.3644449e-06

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_C_G -9.8029137

APOGEE_PITCH -5 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_C_H 1.1050078

MAX_BUOY 250 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_C_I -0.0015785076

COURSE_BIAS 0 P_OVSHOOT_WITHG -6.8056469e+38 PRESSURE_YINT -61.796719 SEABIRD_C_J 0.00020331096

GLIDE_SLOPE 30 PITCH_GAIN 25 PRESSURE_SLOPE 0.0001168043 SC_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_TIMEOUT 25 AD7714Ch0Gain 128 SC_PROFILE 7.0

RHO 1.0275 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SC_XMITPROFILE 3.0

MASS 51899 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_NDIVE 1.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 COMPASS_USE 4 PM_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 7.0

FERRY_MAX 45 ROLL_MIN 303 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MAX 3831 ALTIM_BOTTOM_TURN_MARGIN 0 PM_NDIVE 1.0

HD_A 0.003 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_B 0.0099999998 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HD_C 9.9999997e-06 C_ROLL_CLIMB 2700 ALTIM_PING_DEPTH 0 PM_SENDDEPTH 0.0

HEADING -1 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

AD7714Ch0Gain 128 D_TGT 750 PITCH_DBAND 0.1 SEABIRD_T_H 0.00064488029

AH0_10V 97 ESCAPE_HEADING 0 PITCH_GAIN 25 SEABIRD_T_I 2.8507879e-05

AH0_24V 150 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3892 SEABIRD_T_J 3.3644449e-06

ALTIM_BOTTOM_PING_RANGE 0 FERRY_MAX 45 PITCH_MAXERRORS 1 SIM_PITCH 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_10V 0 PITCH_MIN 208 SIM_W 0

ALTIM_FREQUENCY 13 FG_AHR_24V 0 PITCH_TIMEOUT 25 SM_CC 450

ALTIM_PING_DELTA 0 FILEMGR 0 PITCH_VBD_SHIFT 0.00030000001 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 STOP_T 0

ALTIM_PULSE 3 GLIDE_SLOPE 30 PITCH_W_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 0 GPS_DEVICE 32 PM_MOTORS 1.0 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_A 0.003 PM_NDIVE 1.0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_B 0.0099999998 PM_PROFILE 7.0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_C 9.9999997e-06 PM_RECORDABOVE 2000.0 TCM_PITCH_OFFSET 0

APOGEE_PITCH -5 HEADING -1 PM_SENDDEPTH 0.0 TCM_ROLL_OFFSET 0

CALL_NDIVES 1 HEAD_ERRBAND 10 PM_XMITPROFILE 3.0 TGT_AUTO_DEFAULT 0

CALL_TRIES 5 HEAPDBG 0 PM_XMITRAW 0.0 TGT_DEFAULT_LAT 4736

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.0001168043 TGT_DEFAULT_LON -12218

CAPMAXSIZE 100000 ID 202 PRESSURE_YINT -61.796719 T_ABORT 1440

CAPUPLOAD 0 INT_PRESSURE_SLOPE 0.0097660003 PROTOCOL 9 T_BOOST 0

CF8_MAXERRORS 20 INT_PRESSURE_YINT 0.5 P_OVSHOOT 0.039999999 T_DIVE 200

COMM_SEQ 0 KALMAN_USE 2 P_OVSHOOT_WITHG -6.8056469e+38 T_EPIRB 0

COMPASS2_DEVICE -1 LOGGERDEVICE1 51 RAFOS_CORR_THRESH 60 T_GPS 5

COMPASS_DEVICE 33 LOGGERDEVICE2 85 RAFOS_DEVICE -1 T_LOITER 3600

COMPASS_USE 4 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 3600 T_MISSION 330

COURSE_BIAS 0 LOGGERDEVICE4 -1 RAFOS_MMODEM 0 T_NO_W 120

C_PITCH 3020 LOGGERS 3 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 1

C_ROLL_CLIMB 2700 MASS 51899 RELAUNCH 1 T_TURN 225

C_ROLL_DIVE 2500 MASS_COMP 0 RHO 1.0275 T_TURN_SAMPINT -5

C_VBD 3154 MAXI_10V 0.80000001 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

DBDW 0 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

DEEPGLIDER 0 MAX_BUOY 250 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MINV_10V 8 ROLL_CNV 0.028270001 USE_BATHY -5

DEVICE2 -1 MINV_24V 19 ROLL_DEG 40 USE_ICE 0

DEVICE3 -1 MISSION 2 ROLL_MAX 3831 VBD_BLEED_AD_RATE 8

DEVICE4 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE5 -1 NAV_MODE 2 ROLL_MIN 303 VBD_DBAND 2

DEVICE6 -1 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DIVE 8 N_DIVES 0 R_PORT_OVSHOOT 76 VBD_MAX 3960

D_ABORT 1020 N_FILEKB 4 R_STBD_OVSHOOT 43 VBD_MAXERRORS 1

D_BOOST 20 N_GPS 100740 SC_NDIVE 1.0 VBD_MIN 500

D_CALL 0 N_NOCOMM 2 SC_PROFILE 7.0 VBD_PUMP_AD_RATE_APOGEE 4

D_FINISH 0 N_NOSURFACE 0 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_SURFACE 5

D_FLARE 3 PHONE_DEVICE 49 SC_XMITPROFILE 3.0 VBD_TIMEOUT 720

D_NO_BLEED 500 PHONE_SUPPLY -2 SEABIRD_C_G -9.8029137 W_ADJ_DBAND 0

D_OFFGRID 1020 PITCH_ADJ_DBAND 0 SEABIRD_C_H 1.1050078 XPDR_DEVICE 24

D_PITCH 0 PITCH_ADJ_GAIN 0 SEABIRD_C_I -0.0015785076 XPDR_INHIBIT 90

D_SAFE 0 PITCH_AD_RATE 160 SEABIRD_C_J 0.00020331096 XPDR_VALID 1

D_SURF 2 PITCH_CNV 0.003125763 SEABIRD_T_G 0.004404821

Pre-dive calculations and measurements:

GPS1 170317,214533,2908.4490,-7607.1582,10,1.4,27,-9.0,0.8,56.5,7,4.7 SPEED_LIMITS 0.217,0.352

_CALLS 1 TGT_NAME WS

_XMS_NAKs 0 TGT_LATLONG 2906.500,-7615.500

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 1.18 MHEAD_RNG_PITCHd_Wd 267.9,14129,-16.2,-12.500,-19.57,2967

_SM_ANGLEo -58.1 D_GRID 5012

GPS2 170317,215050,2908.4402,-7607.0552,13,1.5,46,-9.0,1.3,64.8,9,4.3

Post-dive calculations and measurements:

FINISH 0.5,1.015939 _24V_AH 24.29,1.914

SM_CCo 16126,6.62,0.150,0,0,1315,450.13 _10V_AH 10.39,1.486

SM_GC 1.86,7.80,0.20,6.62,0.027,0.053,0.150,178,2490,1315,-8.80,2.43,450.13,0,0,0,0,0,0,26.66,26.70,26.48 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2855.60,-7608.00,170317,200951 FG_AHR_10Vo 0.000

TT8_MAMPS 0.051681,0.277879 MEM 152976

HUMID 35.46 DATA_FILE_SIZE 43272,1221

INTERNAL_PRESSURE 9.60191 CAP_FILE_SIZE 149217,0

TCM_TEMP 23.70 CFSIZE 1024409600,1018839040

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 7898336 CURRENT 0.344,111.14,1

PM_FREEKB 62127936 GPS 180317,022104,2907.764,-7606.083,35,1.2,35,-9.0,0.0,0.0,8,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 228 107.65 nil 0 0 0.00

Roll_motor 119 1278 3710.51 nil 0 0 0.00

VBD_pump_during_apogee 456 1337 14835.28 nil 0 0 0.00

VBD_pump_during_surface 6 149 24.13 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 16098 7 2834.12

Iridium_during_xfer 197 99 478.06 PMAR 16102 11 4670.73

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 47 50 24.65

TT8 0 0 0.00

LPSleep 12935 2 294.34

TT8_Active 708 19 145.76

TT8_Sampling 2753 39 1138.67

TT8_CF8 66 45 31.57

TT8_Kalman 0 0 0.00

Analog_circuits 2016 12 251.43

GPS_charging 0 0 0.00

Compass 1746 15 272.24

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

10 -0.72 -243.3 174 2483 473 513 0.0 0.0 0 110 0.00 0.00 -95.40 0.000 16386 0.000 0.000 173 2482 3354 3421 3287 0 0 0 0 0 0 26.98 28.83 26.98

111 -0.72 -243.3 174 2483 3421 3291 3.5 -7.0 16 138 9.82 2.17 -10.95 0.000 19236 0.229 1.278 2769 3821 3964 4036 3892 0 0 0 0 0 0 26.50 25.69 26.71

362 -0.72 -243.3 2769 3822 4036 3892 43.0 -13.7 65 371 0.00 1.92 0.00 0.000 1030 0.000 0.028 2769 2502 3963 4036 3891 0 0 0 0 0 0 26.84 26.81 26.85

549 -0.72 -243.3 2770 2503 4036 3891 67.7 -13.1 89 557 0.00 2.00 0.00 0.000 260 0.000 0.047 2761 3822 3964 4037 3891 0 0 0 0 0 0 27.10 26.79 27.10

711 -0.72 -243.3 2760 3823 4038 3894 90.2 -13.9 121 719 0.00 1.92 0.00 0.000 1030 0.000 0.027 2761 2501 3964 4037 3891 0 0 0 0 0 0 26.92 26.90 26.94

1022 -0.72 -243.3 2760 2501 4038 3893 133.7 -14.3 153 1030 0.00 2.03 0.00 0.000 260 0.000 0.047 2752 3815 3965 4038 3892 0 0 0 0 0 0 27.19 26.88 27.19

1103 -0.72 -243.3 2751 3816 4038 3893 145.2 -14.5 169 1112 0.08 1.92 0.00 0.000 3078 0.130 0.027 2780 2484 3964 4037 3892 0 0 0 0 0 0 26.82 26.96 26.91

1415 -0.72 -243.3 2778 2484 4039 3892 182.3 -11.5 201 1423 0.00 2.00 0.00 0.000 292 0.000 0.047 2770 3820 3965 4038 3892 0 0 0 0 0 0 27.24 26.92 27.23

1477 -0.72 -243.3 2772 3821 4038 3892 189.7 -12.2 213 1484 0.00 1.90 0.00 0.000 1062 0.000 0.028 2771 2502 3965 4038 3892 0 0 0 0 0 0 27.02 27.00 27.04

1808 -0.72 -243.3 2771 2503 4039 3890 229.1 -11.5 231 1815 0.00 1.98 0.00 0.000 292 0.000 0.046 2762 3821 3965 4039 3892 0 0 0 0 0 0 27.26 26.95 27.26

1874 -0.72 -243.3 2763 3822 4040 3892 236.9 -11.8 244 1881 0.00 1.88 0.00 0.000 1062 0.000 0.027 2762 2483 3966 4040 3892 0 0 0 0 0 0 27.07 27.02 27.08

2199 -0.72 -243.3 2764 2483 4041 3893 273.4 -11.0 259 2206 0.00 2.00 0.00 0.000 292 0.000 0.046 2754 3818 3966 4040 3892 0 0 0 0 0 0 27.27 26.97 27.27

2260 -0.72 -243.3 2753 3819 4042 3893 280.4 -11.9 271 2267 0.08 1.90 0.00 0.000 3110 0.129 0.028 2781 2501 3969 4047 3892 0 0 0 0 0 0 26.90 27.04 26.99

2591 -0.72 -243.3 2781 2501 4043 3892 313.2 -9.8 287 2598 0.00 1.98 0.00 0.000 292 0.000 0.047 2773 3817 3966 4040 3892 0 0 0 0 0 0 27.29 26.97 27.29

2632 -0.72 -243.3 2773 3819 4041 3890 317.4 -10.4 295 2639 0.00 1.90 0.00 0.000 1062 0.000 0.028 2773 2501 3966 4041 3892 0 0 0 0 0 0 27.08 27.05 27.08

2952 -0.72 -243.3 2773 2504 4042 3893 350.1 -10.1 309 2960 0.00 1.98 0.00 0.000 292 0.000 0.047 2765 3820 3966 4041 3892 0 0 0 0 0 0 27.29 26.98 27.29

3019 -0.72 -243.3 2764 3820 4043 3893 357.2 -10.5 322 3026 0.00 1.85 0.00 0.000 1062 0.000 0.028 2765 2501 3966 4041 3892 0 0 0 0 0 0 27.10 27.05 27.11

3345 -0.72 -243.3 2765 2496 4041 3892 393.1 -11.1 337 3352 0.00 1.98 0.00 0.000 292 0.000 0.047 2757 3817 3966 4041 3892 0 0 0 0 0 0 27.29 26.99 27.29

3416 -0.72 -243.3 2757 3818 4041 3892 401.3 -11.2 351 3423 0.00 1.90 0.00 0.000 1062 0.000 0.028 2757 2502 3966 4041 3892 0 0 0 0 0 0 27.09 27.07 27.10

3736 -0.72 -243.3 2756 2503 4042 3893 439.7 -12.1 365 3744 0.00 2.03 0.00 0.000 292 0.000 0.047 2748 3821 3965 4041 3889 0 0 0 0 0 0 27.30 27.00 27.30

3798 -0.72 -243.3 2749 3822 4040 3892 447.3 -11.9 377 3806 0.10 1.90 0.00 0.000 3110 0.116 0.028 2785 2504 3966 4041 3892 0 0 0 0 0 0 26.93 27.07 27.01

4129 -0.72 -243.3 2785 2504 4041 3892 478.7 -9.1 393 4137 0.00 1.98 0.00 0.000 292 0.000 0.047 2776 3827 3969 4047 3892 0 0 0 0 0 0 27.30 27.00 27.31

4211 -0.72 -243.3 2775 3827 4042 3893 486.2 -8.9 409 4219 0.00 1.88 0.00 0.000 1062 0.000 0.028 2776 2483 3966 4041 3892 0 0 0 0 0 0 27.11 27.07 27.13

4523 -0.72 -243.3 2777 2483 4041 3892 514.9 -9.3 421 4530 0.00 2.03 0.00 0.000 292 0.000 0.047 2768 3826 3966 4041 3892 0 0 0 0 0 0 27.31 27.00 27.31

4594 -0.72 -243.3 2768 3826 4043 3893 521.8 -9.9 435 4601 0.00 1.90 0.00 0.000 1062 0.000 0.028 2768 2504 3966 4041 3892 0 0 0 0 0 0 27.10 27.07 27.09

4915 -0.72 -243.3 2767 2504 4042 3893 553.1 -9.7 449 4922 0.00 2.03 0.00 0.000 292 0.000 0.047 2759 3847 3966 4041 3892 0 0 0 0 0 0 27.31 27.00 27.31

4971 -0.72 -243.3 2760 3847 4041 3892 558.7 -10.2 460 4980 0.00 1.90 0.00 0.000 1062 0.000 0.028 2759 2491 3966 4041 3892 0 0 0 0 0 0 27.10 27.07 27.13

5276 -0.72 -243.3 2758 2492 4042 3893 589.3 -10.1 471 5283 0.00 2.00 0.00 0.000 292 0.000 0.047 2751 3817 3965 4041 3889 0 0 0 0 0 0 27.31 27.00 27.31

5326 -0.72 -243.3 2748 3817 4040 3892 594.8 -10.8 481 5334 0.10 1.90 0.00 0.000 3110 0.118 0.028 2784 2502 3966 4041 3892 0 0 0 0 0 0 26.94 27.07 27.01

5638 -0.72 -243.3 2787 2502 4042 3893 621.2 -8.2 493 5646 0.00 2.00 0.00 0.000 292 0.000 0.047 2779 3824 3966 4040 3892 0 0 0 0 0 0 27.32 27.01 27.32

5729 -0.72 -243.3 2779 3825 4039 3892 629.0 -8.4 511 5736 0.00 1.92 0.00 0.000 1062 0.000 0.028 2779 2484 3965 4039 3892 0 0 0 0 0 0 27.10 27.08 27.11

6060 -0.72 -243.3 2778 2484 4040 3893 654.9 -7.4 527 6067 0.00 2.03 0.00 0.000 292 0.000 0.048 2771 3820 3964 4038 3891 0 0 0 0 0 0 27.32 27.00 27.32

6141 -0.72 -243.3 2770 3820 4039 3892 661.1 -7.7 543 6148 0.00 1.90 0.00 0.000 1062 0.000 0.028 2771 2505 3964 4037 3891 0 0 0 0 0 0 27.09 27.08 27.11

6452 -0.72 -243.3 2770 2505 4038 3893 684.4 -7.6 555 6458 0.00 2.00 0.00 0.000 292 0.000 0.048 2763 3826 3963 4036 3891 0 0 0 0 0 0 27.32 27.01 27.32

6537 -0.72 -243.3 2763 3826 4035 3892 691.8 -9.4 572 6545 0.00 1.92 0.00 0.000 1062 0.000 0.028 2763 2494 3963 4035 3891 0 0 0 0 0 0 27.10 27.08 27.12

6842 -0.72 -243.3 2763 2494 4036 3892 718.2 -8.6 583 6849 0.00 2.05 0.00 0.000 292 0.000 0.049 2755 3813 3963 4034 3892 0 0 0 0 0 0 27.32 26.99 27.32

6903 -0.72 -243.3 2754 3814 4036 3892 724.0 -9.5 595 6910 0.10 1.88 0.00 0.000 3110 0.133 0.029 2790 2488 3963 4034 3892 0 0 0 0 0 0 26.94 27.07 27.05

7234 -0.72 -243.3 2790 2489 4034 3892 748.2 -7.3 611 7241 0.00 2.08 0.00 0.000 292 0.000 0.049 2782 3821 3962 4033 3892 0 0 0 0 0 0 27.32 27.01 27.32

7259 end dive: TARGET_DEPTH_EXCEEDED

state 7259 begin apogee

7262 -0.20 0.0 2784 2713 4032 3898 750.1 -8.3 616 7419 0.47 0.00 152.38 1.331 10246 0.095 0.000 2956 2712 3154 3181 3127 0 0 0 0 0 0 26.95 25.08 24.30

7421 end apogee: CONTROL_FINISHED_OK

state 7421 begin loiter

7709 -0.17 110.2 2956 2713 3183 3128 767.0 -3.8 631 7803 0.00 0.00 86.15 1.338 8230 0.000 0.000 2955 2714 2703 2719 2688 0 0 0 0 0 0 26.70 24.97 24.29

8100 -0.17 110.2 2956 2712 2720 2688 759.7 3.0 644 8103 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2712 2701 2719 2683 0 0 0 0 0 0 26.70 26.70 26.70

8399 -0.17 110.2 2956 2713 2716 2688 749.8 3.6 654 8402 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2712 2702 2716 2688 0 0 0 0 0 0 26.92 26.92 26.92

8699 -0.17 110.2 2955 2713 2717 2691 737.6 4.1 664 8702 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2712 2701 2715 2688 0 0 0 0 0 0 27.03 27.03 27.03

8999 -0.17 110.2 2956 2713 2709 2688 724.7 4.1 674 9002 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2713 2701 2714 2688 0 0 0 0 0 0 27.10 27.10 27.10

9300 -0.17 110.2 2955 2713 2714 2688 713.4 3.5 684 9303 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2712 2699 2712 2687 0 0 0 0 0 0 27.15 27.15 27.15

9599 -0.17 110.2 2955 2712 2713 2688 703.6 3.1 694 9602 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2712 2699 2711 2687 0 0 0 0 0 0 27.18 27.18 27.17

9899 -0.17 110.2 2955 2713 2712 2688 694.2 3.1 704 9903 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2712 2698 2710 2687 0 0 0 0 0 0 27.20 27.21 27.21

10199 -0.17 110.2 2955 2713 2712 2688 683.5 3.8 714 10203 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2712 2698 2710 2687 0 0 0 0 0 0 27.22 27.23 27.23

10499 -0.17 110.2 2956 2713 2711 2689 672.1 3.8 724 10502 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2712 2698 2709 2687 0 0 0 0 0 0 27.24 27.24 27.24

10799 -0.17 110.2 2957 2713 2708 2688 661.5 3.4 734 10802 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2712 2698 2709 2687 0 0 0 0 0 0 27.25 27.25 27.25

11008 end loiter: LOITER_COMPLETE

state 11008 begin climb

11009 0.72 243.3 2955 2713 2710 2694 654.5 0.0 741 11122 0.82 1.88 101.62 1.268 10500 0.066 0.050 3271 3810 2162 2163 2162 0 0 0 0 0 0 26.94 25.18 24.38

11335 0.72 243.3 3269 3815 2159 2163 618.2 13.5 806 11344 0.00 1.67 0.00 0.000 1030 0.000 0.029 3270 2691 2159 2157 2162 0 0 0 0 0 0 26.36 26.34 26.37

11641 0.73 271.8 3271 2691 2154 2163 583.0 11.5 817 11673 0.00 1.85 22.55 1.177 8484 0.000 0.049 3270 3815 2048 2046 2050 0 0 0 0 0 0 26.86 26.01 25.21

11717 0.73 271.8 3271 3816 2046 2050 572.8 14.4 832 11724 0.00 1.67 0.00 0.000 1030 0.000 0.029 3271 2701 2047 2045 2050 0 0 0 0 0 0 26.26 26.24 26.28

12033 0.73 271.8 3269 2701 2042 2050 531.2 13.3 845 12040 0.00 2.10 0.00 0.000 516 0.000 0.034 3271 1307 2046 2042 2050 0 0 0 0 0 0 26.84 26.56 26.85

12053 0.74 283.9 3271 1307 2042 2050 528.6 12.1 849 12072 0.00 2.12 11.35 1.090 9254 0.000 0.033 3270 2693 1996 1994 1998 0 0 0 0 0 0 26.62 26.57 25.47

12396 0.74 283.9 3270 2693 1996 1999 483.4 12.8 867 12404 0.00 1.75 0.00 0.000 260 0.000 0.050 3270 3812 1996 1994 1998 0 0 0 0 0 0 26.89 26.59 26.89

12507 0.74 283.9 3270 3813 1995 2000 467.5 14.0 889 12514 0.00 1.65 0.00 0.000 1030 0.000 0.029 3275 2691 1996 1994 1998 0 0 0 0 0 0 26.73 26.71 26.74

12818 0.74 283.9 3274 2691 1995 1999 426.5 13.3 901 12825 0.00 1.77 0.00 0.000 260 0.000 0.048 3275 3817 1995 1993 1998 0 0 0 0 0 0 27.04 26.74 27.04

12868 0.74 283.9 3279 3818 1996 1999 419.0 15.4 911 12876 0.00 1.65 0.00 0.000 1030 0.000 0.028 3277 2689 1996 1994 1999 0 0 0 0 0 0 26.84 26.82 26.85

13180 0.74 285.7 3276 2690 1996 1999 378.3 12.4 923 13187 0.00 1.77 0.00 0.000 292 0.000 0.047 3277 3819 1996 1994 1998 0 0 0 0 0 0 27.11 26.80 27.10

13216 0.74 285.7 3276 3819 1996 1999 373.3 13.4 930 13223 0.00 1.62 0.00 0.000 1030 0.000 0.028 3282 2696 1996 1994 1998 0 0 0 0 0 0 26.90 26.88 26.91

13542 0.74 287.6 3278 2697 1996 1999 333.3 12.4 945 13554 0.00 1.73 4.57 0.869 8484 0.000 0.048 3278 3822 1979 1975 1984 0 0 0 0 0 0 27.15 26.73 25.91

13652 0.74 287.6 3278 3823 1975 1985 317.5 14.7 967 13660 0.00 1.62 0.00 0.000 1030 0.000 0.028 3278 2699 1979 1975 1984 0 0 0 0 0 0 26.89 26.86 26.90

13964 0.74 303.1 3277 2700 1977 1985 279.4 12.0 979 13986 0.00 1.77 13.23 0.968 8484 0.000 0.047 3278 3817 1918 1911 1926 0 0 0 0 0 0 27.15 26.54 25.81

14044 0.74 303.1 3277 3818 1913 1926 268.1 14.9 995 14052 0.00 1.62 0.00 0.000 1030 0.000 0.028 3278 2708 1918 1911 1926 0 0 0 0 0 0 26.71 26.70 26.73

14356 0.75 329.3 3278 2709 1910 1926 230.0 11.6 1007 14384 0.00 1.73 21.92 0.971 8484 0.000 0.044 3278 3822 1810 1791 1830 0 0 0 0 0 0 27.05 26.15 25.56

14412 0.75 329.3 3279 3823 1791 1831 223.1 13.4 1018 14421 0.00 1.65 0.00 0.000 1030 0.000 0.027 3278 2702 1809 1789 1830 0 0 0 0 0 0 26.46 26.43 26.46

14717 0.75 329.3 3278 2702 1792 1831 184.5 12.6 1037 14725 0.00 1.75 0.00 0.000 260 0.000 0.047 3278 3812 1810 1790 1830 0 0 0 0 0 0 26.92 26.62 26.92

14773 0.75 329.3 3279 3813 1790 1831 177.1 14.0 1048 14782 0.00 1.58 0.00 0.000 1030 0.000 0.028 3278 2692 1810 1790 1830 0 0 0 0 0 0 26.76 26.71 26.77

15078 0.75 330.0 3279 2691 1790 1831 139.8 12.5 1079 15086 0.00 1.73 0.00 0.000 292 0.000 0.047 3278 3825 1810 1790 1830 0 0 0 0 0 0 27.05 26.74 27.05

15150 0.75 330.0 3279 3826 1792 1832 129.8 14.5 1093 15157 0.00 1.62 0.00 0.000 1030 0.000 0.027 3278 2695 1810 1790 1830 0 0 0 0 0 0 26.86 26.84 26.88

15460 0.75 330.0 3278 2697 1792 1831 87.3 14.7 1125 15464 0.00 0.00 0.00 0.000 6 0.000 0.000 3278 2695 1810 1790 1830 0 0 0 0 0 0 27.13 27.13 27.13

15760 0.78 430.5 3279 2696 1790 1831 49.9 9.0 1155 15810 0.00 1.83 42.70 0.601 8484 0.000 0.047 3277 3829 1395 1363 1427 0 0 0 0 0 0 27.17 26.34 25.86

15859 0.78 430.5 3279 3830 1358 1428 36.9 12.8 1173 15867 0.00 1.65 0.00 0.000 1030 0.000 0.026 3278 2699 1392 1357 1427 0 0 0 0 0 0 26.53 26.51 26.53

16046 0.78 430.5 3279 2699 1352 1428 9.2 15.3 1210 16054 0.00 1.75 0.00 0.000 260 0.000 0.046 3278 3818 1390 1352 1428 0 0 0 0 0 0 26.89 26.59 26.89

16083 0.78 430.5 3280 3819 1353 1428 3.3 16.6 1217 16091 0.00 1.62 0.00 0.000 1030 0.000 0.026 3278 2695 1389 1351 1428 0 0 0 0 0 0 26.70 26.68 26.72

16093 end climb: SURFACE_DEPTH_REACHED

state 16093 begin surface coast

16104 end surface coast: CONTROL_FINISHED_OK

state 16104 begin surface

ID	202	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
MISSION	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PULSE	3
DIVE	8	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	76	ALTIM_SENSITIVITY	0
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	43	XPDR_VALID	1
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	350	XPDR_INHIBIT	90
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	SM_CC	450	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_TGT	750	N_FILEKB	4	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_ABORT	1020	FILEMGR	0	VBD_MIN	500	MOTHERBOARD	4
D_NO_BLEED	500	CALL_NDIVES	1	VBD_MAX	3960	DEVICE1	-1
D_BOOST	20	COMM_SEQ	0	C_VBD	3154	DEVICE2	-1
T_BOOST	0	PROTOCOL	9	VBD_DBAND	2	DEVICE3	-1
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE4	-1
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE5	-1
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE6	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.00030000001	LOGGERS	3
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	51
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	85
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_DIVE	200	CAPMAXSIZE	100000	UNCOM_BLEED	60	LOGGERDEVICE4	-1
T_MISSION	330	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	33
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	COMPASS2_DEVICE	-1
T_TURN	225	N_GPS	100740	DBDW	0	PHONE_DEVICE	49
T_TURN_SAMPINT	-5	T_RSLEEP	1	PITCH_W_GAIN	0	GPS_DEVICE	32
T_NO_W	120	STROBE	0	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
T_LOITER	3600	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_EPIRB	0	RAFOS_CORR_THRESH	60	AH0_24V	150	SIM_W	0
USE_BATHY	-5	RAFOS_HIT_WINDOW	3600	AH0_10V	97	SIM_PITCH	0
USE_ICE	0	RAFOS_MMODEM	0	MINV_24V	19	SEABIRD_T_G	0.004404821
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	208	MINV_10V	8	SEABIRD_T_H	0.00064488029
D_OFFGRID	1020	PITCH_MAX	3892	MAXI_24V	0.60000002	SEABIRD_T_I	2.8507879e-05
T_WATCHDOG	10	C_PITCH	3020	MAXI_10V	0.80000001	SEABIRD_T_J	3.3644449e-06
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_C_G	-9.8029137
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_C_H	1.1050078
MAX_BUOY	250	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_C_I	-0.0015785076
COURSE_BIAS	0	P_OVSHOOT_WITHG	-6.8056469e+38	PRESSURE_YINT	-61.796719	SEABIRD_C_J	0.00020331096
GLIDE_SLOPE	30	PITCH_GAIN	25	PRESSURE_SLOPE	0.0001168043	SC_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_TIMEOUT	25	AD7714Ch0Gain	128	SC_PROFILE	7.0
RHO	1.0275	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SC_XMITPROFILE	3.0
MASS	51899	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_NDIVE	1.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	COMPASS_USE	4	PM_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	7.0
FERRY_MAX	45	ROLL_MIN	303	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MAX	3831	ALTIM_BOTTOM_TURN_MARGIN	0	PM_NDIVE	1.0
HD_A	0.003	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_B	0.0099999998	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HD_C	9.9999997e-06	C_ROLL_CLIMB	2700	ALTIM_PING_DEPTH	0	PM_SENDDEPTH	0.0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0

GPS1	170317,214533,2908.4490,-7607.1582,10,1.4,27,-9.0,0.8,56.5,7,4.7	SPEED_LIMITS	0.217,0.352
_CALLS	1	TGT_NAME	WS
_XMS_NAKs	0	TGT_LATLONG	2906.500,-7615.500
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	1.18	MHEAD_RNG_PITCHd_Wd	267.9,14129,-16.2,-12.500,-19.57,2967
_SM_ANGLEo	-58.1	D_GRID	5012
GPS2	170317,215050,2908.4402,-7607.0552,13,1.5,46,-9.0,1.3,64.8,9,4.3

FINISH	0.5,1.015939	_24V_AH	24.29,1.914
SM_CCo	16126,6.62,0.150,0,0,1315,450.13	_10V_AH	10.39,1.486
SM_GC	1.86,7.80,0.20,6.62,0.027,0.053,0.150,178,2490,1315,-8.80,2.43,450.13,0,0,0,0,0,0,26.66,26.70,26.48	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2855.60,-7608.00,170317,200951	FG_AHR_10Vo	0.000
TT8_MAMPS	0.051681,0.277879	MEM	152976
HUMID	35.46	DATA_FILE_SIZE	43272,1221
INTERNAL_PRESSURE	9.60191	CAP_FILE_SIZE	149217,0
TCM_TEMP	23.70	CFSIZE	1024409600,1018839040
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	7898336	CURRENT	0.344,111.14,1
PM_FREEKB	62127936	GPS	180317,022104,2907.764,-7606.083,35,1.2,35,-9.0,0.0,0.0,8,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	228	107.65	nil	0	0	0.00
Roll_motor	119	1278	3710.51	nil	0	0	0.00
VBD_pump_during_apogee	456	1337	14835.28	nil	0	0	0.00
VBD_pump_during_surface	6	149	24.13	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	16098	7	2834.12
Iridium_during_xfer	197	99	478.06	PMAR	16102	11	4670.73
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	47	50	24.65
TT8	0	0	0.00
LPSleep	12935	2	294.34
TT8_Active	708	19	145.76
TT8_Sampling	2753	39	1138.67
TT8_CF8	66	45	31.57
TT8_Kalman	0	0	0.00
Analog_circuits	2016	12	251.43
GPS_charging	0	0	0.00
Compass	1746	15	272.24
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
10	-0.72	-243.3	174	2483	473	513	0.0	0.0	0	110	0.00	0.00	-95.40	0.000	16386	0.000	0.000	173	2482	3354	3421	3287	0	0	0	0	0	0	26.98	28.83	26.98
111	-0.72	-243.3	174	2483	3421	3291	3.5	-7.0	16	138	9.82	2.17	-10.95	0.000	19236	0.229	1.278	2769	3821	3964	4036	3892	0	0	0	0	0	0	26.50	25.69	26.71
362	-0.72	-243.3	2769	3822	4036	3892	43.0	-13.7	65	371	0.00	1.92	0.00	0.000	1030	0.000	0.028	2769	2502	3963	4036	3891	0	0	0	0	0	0	26.84	26.81	26.85
549	-0.72	-243.3	2770	2503	4036	3891	67.7	-13.1	89	557	0.00	2.00	0.00	0.000	260	0.000	0.047	2761	3822	3964	4037	3891	0	0	0	0	0	0	27.10	26.79	27.10
711	-0.72	-243.3	2760	3823	4038	3894	90.2	-13.9	121	719	0.00	1.92	0.00	0.000	1030	0.000	0.027	2761	2501	3964	4037	3891	0	0	0	0	0	0	26.92	26.90	26.94
1022	-0.72	-243.3	2760	2501	4038	3893	133.7	-14.3	153	1030	0.00	2.03	0.00	0.000	260	0.000	0.047	2752	3815	3965	4038	3892	0	0	0	0	0	0	27.19	26.88	27.19
1103	-0.72	-243.3	2751	3816	4038	3893	145.2	-14.5	169	1112	0.08	1.92	0.00	0.000	3078	0.130	0.027	2780	2484	3964	4037	3892	0	0	0	0	0	0	26.82	26.96	26.91
1415	-0.72	-243.3	2778	2484	4039	3892	182.3	-11.5	201	1423	0.00	2.00	0.00	0.000	292	0.000	0.047	2770	3820	3965	4038	3892	0	0	0	0	0	0	27.24	26.92	27.23
1477	-0.72	-243.3	2772	3821	4038	3892	189.7	-12.2	213	1484	0.00	1.90	0.00	0.000	1062	0.000	0.028	2771	2502	3965	4038	3892	0	0	0	0	0	0	27.02	27.00	27.04
1808	-0.72	-243.3	2771	2503	4039	3890	229.1	-11.5	231	1815	0.00	1.98	0.00	0.000	292	0.000	0.046	2762	3821	3965	4039	3892	0	0	0	0	0	0	27.26	26.95	27.26
1874	-0.72	-243.3	2763	3822	4040	3892	236.9	-11.8	244	1881	0.00	1.88	0.00	0.000	1062	0.000	0.027	2762	2483	3966	4040	3892	0	0	0	0	0	0	27.07	27.02	27.08
2199	-0.72	-243.3	2764	2483	4041	3893	273.4	-11.0	259	2206	0.00	2.00	0.00	0.000	292	0.000	0.046	2754	3818	3966	4040	3892	0	0	0	0	0	0	27.27	26.97	27.27
2260	-0.72	-243.3	2753	3819	4042	3893	280.4	-11.9	271	2267	0.08	1.90	0.00	0.000	3110	0.129	0.028	2781	2501	3969	4047	3892	0	0	0	0	0	0	26.90	27.04	26.99
2591	-0.72	-243.3	2781	2501	4043	3892	313.2	-9.8	287	2598	0.00	1.98	0.00	0.000	292	0.000	0.047	2773	3817	3966	4040	3892	0	0	0	0	0	0	27.29	26.97	27.29
2632	-0.72	-243.3	2773	3819	4041	3890	317.4	-10.4	295	2639	0.00	1.90	0.00	0.000	1062	0.000	0.028	2773	2501	3966	4041	3892	0	0	0	0	0	0	27.08	27.05	27.08
2952	-0.72	-243.3	2773	2504	4042	3893	350.1	-10.1	309	2960	0.00	1.98	0.00	0.000	292	0.000	0.047	2765	3820	3966	4041	3892	0	0	0	0	0	0	27.29	26.98	27.29
3019	-0.72	-243.3	2764	3820	4043	3893	357.2	-10.5	322	3026	0.00	1.85	0.00	0.000	1062	0.000	0.028	2765	2501	3966	4041	3892	0	0	0	0	0	0	27.10	27.05	27.11
3345	-0.72	-243.3	2765	2496	4041	3892	393.1	-11.1	337	3352	0.00	1.98	0.00	0.000	292	0.000	0.047	2757	3817	3966	4041	3892	0	0	0	0	0	0	27.29	26.99	27.29
3416	-0.72	-243.3	2757	3818	4041	3892	401.3	-11.2	351	3423	0.00	1.90	0.00	0.000	1062	0.000	0.028	2757	2502	3966	4041	3892	0	0	0	0	0	0	27.09	27.07	27.10
3736	-0.72	-243.3	2756	2503	4042	3893	439.7	-12.1	365	3744	0.00	2.03	0.00	0.000	292	0.000	0.047	2748	3821	3965	4041	3889	0	0	0	0	0	0	27.30	27.00	27.30
3798	-0.72	-243.3	2749	3822	4040	3892	447.3	-11.9	377	3806	0.10	1.90	0.00	0.000	3110	0.116	0.028	2785	2504	3966	4041	3892	0	0	0	0	0	0	26.93	27.07	27.01
4129	-0.72	-243.3	2785	2504	4041	3892	478.7	-9.1	393	4137	0.00	1.98	0.00	0.000	292	0.000	0.047	2776	3827	3969	4047	3892	0	0	0	0	0	0	27.30	27.00	27.31
4211	-0.72	-243.3	2775	3827	4042	3893	486.2	-8.9	409	4219	0.00	1.88	0.00	0.000	1062	0.000	0.028	2776	2483	3966	4041	3892	0	0	0	0	0	0	27.11	27.07	27.13
4523	-0.72	-243.3	2777	2483	4041	3892	514.9	-9.3	421	4530	0.00	2.03	0.00	0.000	292	0.000	0.047	2768	3826	3966	4041	3892	0	0	0	0	0	0	27.31	27.00	27.31
4594	-0.72	-243.3	2768	3826	4043	3893	521.8	-9.9	435	4601	0.00	1.90	0.00	0.000	1062	0.000	0.028	2768	2504	3966	4041	3892	0	0	0	0	0	0	27.10	27.07	27.09
4915	-0.72	-243.3	2767	2504	4042	3893	553.1	-9.7	449	4922	0.00	2.03	0.00	0.000	292	0.000	0.047	2759	3847	3966	4041	3892	0	0	0	0	0	0	27.31	27.00	27.31
4971	-0.72	-243.3	2760	3847	4041	3892	558.7	-10.2	460	4980	0.00	1.90	0.00	0.000	1062	0.000	0.028	2759	2491	3966	4041	3892	0	0	0	0	0	0	27.10	27.07	27.13
5276	-0.72	-243.3	2758	2492	4042	3893	589.3	-10.1	471	5283	0.00	2.00	0.00	0.000	292	0.000	0.047	2751	3817	3965	4041	3889	0	0	0	0	0	0	27.31	27.00	27.31
5326	-0.72	-243.3	2748	3817	4040	3892	594.8	-10.8	481	5334	0.10	1.90	0.00	0.000	3110	0.118	0.028	2784	2502	3966	4041	3892	0	0	0	0	0	0	26.94	27.07	27.01
5638	-0.72	-243.3	2787	2502	4042	3893	621.2	-8.2	493	5646	0.00	2.00	0.00	0.000	292	0.000	0.047	2779	3824	3966	4040	3892	0	0	0	0	0	0	27.32	27.01	27.32
5729	-0.72	-243.3	2779	3825	4039	3892	629.0	-8.4	511	5736	0.00	1.92	0.00	0.000	1062	0.000	0.028	2779	2484	3965	4039	3892	0	0	0	0	0	0	27.10	27.08	27.11
6060	-0.72	-243.3	2778	2484	4040	3893	654.9	-7.4	527	6067	0.00	2.03	0.00	0.000	292	0.000	0.048	2771	3820	3964	4038	3891	0	0	0	0	0	0	27.32	27.00	27.32
6141	-0.72	-243.3	2770	3820	4039	3892	661.1	-7.7	543	6148	0.00	1.90	0.00	0.000	1062	0.000	0.028	2771	2505	3964	4037	3891	0	0	0	0	0	0	27.09	27.08	27.11
6452	-0.72	-243.3	2770	2505	4038	3893	684.4	-7.6	555	6458	0.00	2.00	0.00	0.000	292	0.000	0.048	2763	3826	3963	4036	3891	0	0	0	0	0	0	27.32	27.01	27.32
6537	-0.72	-243.3	2763	3826	4035	3892	691.8	-9.4	572	6545	0.00	1.92	0.00	0.000	1062	0.000	0.028	2763	2494	3963	4035	3891	0	0	0	0	0	0	27.10	27.08	27.12
6842	-0.72	-243.3	2763	2494	4036	3892	718.2	-8.6	583	6849	0.00	2.05	0.00	0.000	292	0.000	0.049	2755	3813	3963	4034	3892	0	0	0	0	0	0	27.32	26.99	27.32
6903	-0.72	-243.3	2754	3814	4036	3892	724.0	-9.5	595	6910	0.10	1.88	0.00	0.000	3110	0.133	0.029	2790	2488	3963	4034	3892	0	0	0	0	0	0	26.94	27.07	27.05
7234	-0.72	-243.3	2790	2489	4034	3892	748.2	-7.3	611	7241	0.00	2.08	0.00	0.000	292	0.000	0.049	2782	3821	3962	4033	3892	0	0	0	0	0	0	27.32	27.01	27.32
7259	end dive: TARGET_DEPTH_EXCEEDED
state	7259	begin apogee
7262	-0.20	0.0	2784	2713	4032	3898	750.1	-8.3	616	7419	0.47	0.00	152.38	1.331	10246	0.095	0.000	2956	2712	3154	3181	3127	0	0	0	0	0	0	26.95	25.08	24.30
7421	end apogee: CONTROL_FINISHED_OK
state	7421	begin loiter
7709	-0.17	110.2	2956	2713	3183	3128	767.0	-3.8	631	7803	0.00	0.00	86.15	1.338	8230	0.000	0.000	2955	2714	2703	2719	2688	0	0	0	0	0	0	26.70	24.97	24.29
8100	-0.17	110.2	2956	2712	2720	2688	759.7	3.0	644	8103	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2712	2701	2719	2683	0	0	0	0	0	0	26.70	26.70	26.70
8399	-0.17	110.2	2956	2713	2716	2688	749.8	3.6	654	8402	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2712	2702	2716	2688	0	0	0	0	0	0	26.92	26.92	26.92
8699	-0.17	110.2	2955	2713	2717	2691	737.6	4.1	664	8702	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2712	2701	2715	2688	0	0	0	0	0	0	27.03	27.03	27.03
8999	-0.17	110.2	2956	2713	2709	2688	724.7	4.1	674	9002	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2713	2701	2714	2688	0	0	0	0	0	0	27.10	27.10	27.10
9300	-0.17	110.2	2955	2713	2714	2688	713.4	3.5	684	9303	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2712	2699	2712	2687	0	0	0	0	0	0	27.15	27.15	27.15
9599	-0.17	110.2	2955	2712	2713	2688	703.6	3.1	694	9602	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2712	2699	2711	2687	0	0	0	0	0	0	27.18	27.18	27.17
9899	-0.17	110.2	2955	2713	2712	2688	694.2	3.1	704	9903	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2712	2698	2710	2687	0	0	0	0	0	0	27.20	27.21	27.21
10199	-0.17	110.2	2955	2713	2712	2688	683.5	3.8	714	10203	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2712	2698	2710	2687	0	0	0	0	0	0	27.22	27.23	27.23
10499	-0.17	110.2	2956	2713	2711	2689	672.1	3.8	724	10502	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2712	2698	2709	2687	0	0	0	0	0	0	27.24	27.24	27.24
10799	-0.17	110.2	2957	2713	2708	2688	661.5	3.4	734	10802	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2712	2698	2709	2687	0	0	0	0	0	0	27.25	27.25	27.25
11008	end loiter: LOITER_COMPLETE
state	11008	begin climb
11009	0.72	243.3	2955	2713	2710	2694	654.5	0.0	741	11122	0.82	1.88	101.62	1.268	10500	0.066	0.050	3271	3810	2162	2163	2162	0	0	0	0	0	0	26.94	25.18	24.38
11335	0.72	243.3	3269	3815	2159	2163	618.2	13.5	806	11344	0.00	1.67	0.00	0.000	1030	0.000	0.029	3270	2691	2159	2157	2162	0	0	0	0	0	0	26.36	26.34	26.37
11641	0.73	271.8	3271	2691	2154	2163	583.0	11.5	817	11673	0.00	1.85	22.55	1.177	8484	0.000	0.049	3270	3815	2048	2046	2050	0	0	0	0	0	0	26.86	26.01	25.21
11717	0.73	271.8	3271	3816	2046	2050	572.8	14.4	832	11724	0.00	1.67	0.00	0.000	1030	0.000	0.029	3271	2701	2047	2045	2050	0	0	0	0	0	0	26.26	26.24	26.28
12033	0.73	271.8	3269	2701	2042	2050	531.2	13.3	845	12040	0.00	2.10	0.00	0.000	516	0.000	0.034	3271	1307	2046	2042	2050	0	0	0	0	0	0	26.84	26.56	26.85
12053	0.74	283.9	3271	1307	2042	2050	528.6	12.1	849	12072	0.00	2.12	11.35	1.090	9254	0.000	0.033	3270	2693	1996	1994	1998	0	0	0	0	0	0	26.62	26.57	25.47
12396	0.74	283.9	3270	2693	1996	1999	483.4	12.8	867	12404	0.00	1.75	0.00	0.000	260	0.000	0.050	3270	3812	1996	1994	1998	0	0	0	0	0	0	26.89	26.59	26.89
12507	0.74	283.9	3270	3813	1995	2000	467.5	14.0	889	12514	0.00	1.65	0.00	0.000	1030	0.000	0.029	3275	2691	1996	1994	1998	0	0	0	0	0	0	26.73	26.71	26.74
12818	0.74	283.9	3274	2691	1995	1999	426.5	13.3	901	12825	0.00	1.77	0.00	0.000	260	0.000	0.048	3275	3817	1995	1993	1998	0	0	0	0	0	0	27.04	26.74	27.04
12868	0.74	283.9	3279	3818	1996	1999	419.0	15.4	911	12876	0.00	1.65	0.00	0.000	1030	0.000	0.028	3277	2689	1996	1994	1999	0	0	0	0	0	0	26.84	26.82	26.85
13180	0.74	285.7	3276	2690	1996	1999	378.3	12.4	923	13187	0.00	1.77	0.00	0.000	292	0.000	0.047	3277	3819	1996	1994	1998	0	0	0	0	0	0	27.11	26.80	27.10
13216	0.74	285.7	3276	3819	1996	1999	373.3	13.4	930	13223	0.00	1.62	0.00	0.000	1030	0.000	0.028	3282	2696	1996	1994	1998	0	0	0	0	0	0	26.90	26.88	26.91
13542	0.74	287.6	3278	2697	1996	1999	333.3	12.4	945	13554	0.00	1.73	4.57	0.869	8484	0.000	0.048	3278	3822	1979	1975	1984	0	0	0	0	0	0	27.15	26.73	25.91
13652	0.74	287.6	3278	3823	1975	1985	317.5	14.7	967	13660	0.00	1.62	0.00	0.000	1030	0.000	0.028	3278	2699	1979	1975	1984	0	0	0	0	0	0	26.89	26.86	26.90
13964	0.74	303.1	3277	2700	1977	1985	279.4	12.0	979	13986	0.00	1.77	13.23	0.968	8484	0.000	0.047	3278	3817	1918	1911	1926	0	0	0	0	0	0	27.15	26.54	25.81
14044	0.74	303.1	3277	3818	1913	1926	268.1	14.9	995	14052	0.00	1.62	0.00	0.000	1030	0.000	0.028	3278	2708	1918	1911	1926	0	0	0	0	0	0	26.71	26.70	26.73
14356	0.75	329.3	3278	2709	1910	1926	230.0	11.6	1007	14384	0.00	1.73	21.92	0.971	8484	0.000	0.044	3278	3822	1810	1791	1830	0	0	0	0	0	0	27.05	26.15	25.56
14412	0.75	329.3	3279	3823	1791	1831	223.1	13.4	1018	14421	0.00	1.65	0.00	0.000	1030	0.000	0.027	3278	2702	1809	1789	1830	0	0	0	0	0	0	26.46	26.43	26.46
14717	0.75	329.3	3278	2702	1792	1831	184.5	12.6	1037	14725	0.00	1.75	0.00	0.000	260	0.000	0.047	3278	3812	1810	1790	1830	0	0	0	0	0	0	26.92	26.62	26.92
14773	0.75	329.3	3279	3813	1790	1831	177.1	14.0	1048	14782	0.00	1.58	0.00	0.000	1030	0.000	0.028	3278	2692	1810	1790	1830	0	0	0	0	0	0	26.76	26.71	26.77
15078	0.75	330.0	3279	2691	1790	1831	139.8	12.5	1079	15086	0.00	1.73	0.00	0.000	292	0.000	0.047	3278	3825	1810	1790	1830	0	0	0	0	0	0	27.05	26.74	27.05
15150	0.75	330.0	3279	3826	1792	1832	129.8	14.5	1093	15157	0.00	1.62	0.00	0.000	1030	0.000	0.027	3278	2695	1810	1790	1830	0	0	0	0	0	0	26.86	26.84	26.88
15460	0.75	330.0	3278	2697	1792	1831	87.3	14.7	1125	15464	0.00	0.00	0.00	0.000	6	0.000	0.000	3278	2695	1810	1790	1830	0	0	0	0	0	0	27.13	27.13	27.13
15760	0.78	430.5	3279	2696	1790	1831	49.9	9.0	1155	15810	0.00	1.83	42.70	0.601	8484	0.000	0.047	3277	3829	1395	1363	1427	0	0	0	0	0	0	27.17	26.34	25.86
15859	0.78	430.5	3279	3830	1358	1428	36.9	12.8	1173	15867	0.00	1.65	0.00	0.000	1030	0.000	0.026	3278	2699	1392	1357	1427	0	0	0	0	0	0	26.53	26.51	26.53
16046	0.78	430.5	3279	2699	1352	1428	9.2	15.3	1210	16054	0.00	1.75	0.00	0.000	260	0.000	0.046	3278	3818	1390	1352	1428	0	0	0	0	0	0	26.89	26.59	26.89
16083	0.78	430.5	3280	3819	1353	1428	3.3	16.6	1217	16091	0.00	1.62	0.00	0.000	1030	0.000	0.026	3278	2695	1389	1351	1428	0	0	0	0	0	0	26.70	26.68	26.72
16093	end climb: SURFACE_DEPTH_REACHED
state	16093	begin surface coast
16104	end surface coast: CONTROL_FINISHED_OK
state	16104	begin surface