Glider dive log

NASCAR Mar17 * SG137 * Dive index * Mission links * Dive 730 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 137 HD_B 0.023700001 ROLL_MIN 200 TCM_ROLL_OFFSET 0

MISSION 5 HD_C 7.0400001e-06 ROLL_MAX 3920 COMPASS_USE 4

DIVE 730 HEADING -1 ROLL_DEG 40 ALTIM_BOTTOM_PING_RANGE 0

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_DIVE 1800 ALTIM_TOP_PING_RANGE 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1870 ALTIM_BOTTOM_TURN_MARGIN 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 4 TGT_DEFAULT_LAT 7156.2998 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 1

D_TGT 800 TGT_DEFAULT_LON 2002.3 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 200

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 66 ALTIM_PING_DELTA 0

D_NO_BLEED 50 SM_CC 400 R_STBD_OVSHOOT 51 ALTIM_FREQUENCY 13

D_BOOST 20 N_FILEKB 8 ROLL_AD_RATE 250 ALTIM_PULSE 3

T_BOOST 5 FILEMGR 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 3

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_SAFE 0 PROTOCOL 9 VBD_MIN 450 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 N_NOCOMM 2 VBD_MAX 3900 INT_PRESSURE_YINT 0

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2590 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.245296 DEVICE1 2

T_DIVE 290 CALL_TRIES 8 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 900 CALL_WAIT 120 VBD_TIMEOUT 720 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE5 -1

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 3 DEVICE6 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 28800 N_GPS 100440 UNCOM_BLEED 20 LOGGERDEVICE1 -1

T_EPIRB 0 T_RSLEEP 3 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

USE_BATHY 0 STROBE 0 W_ADJ_DBAND 2.0999999 LOGGERDEVICE3 -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 DBDW 1700 LOGGERDEVICE4 -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 PITCH_W_GAIN 0 COMPASS_DEVICE 97

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 PITCH_W_DBAND 0 COMPASS2_DEVICE -1

T_WATCHDOG 10 RAFOS_MMODEM 0 CF8_MAXERRORS 1 PHONE_DEVICE 49

RELAUNCH 1 PITCH_MIN 100 AH0_24V 350 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MAX 3680 AH0_10V 0 RAFOS_DEVICE -1

MAX_BUOY 140 C_PITCH 3100 MINV_24V 11 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_DBAND 0.1 MINV_10V 9 SIM_W 0

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 MAXI_24V 0.60000002 SIM_PITCH 0

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 MAXI_10V 0.80000001 SEABIRD_T_G 0.004399877

RHO 1.0275 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SEABIRD_T_H 0.00063904078

MASS 54893 PITCH_GAIN 12 FG_AHR_24V 0 SEABIRD_T_I 2.611986e-05

MASS_COMP 0 PITCH_TIMEOUT 25 PHONE_SUPPLY -2 SEABIRD_T_J 3.2216672e-06

NAV_MODE 2 PITCH_AD_RATE 120 PRESSURE_YINT -84.34626 SEABIRD_C_G -9.9096279

FERRY_MAX 45 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.0001160319 SEABIRD_C_H 1.1330101

KALMAN_USE 2 PITCH_ADJ_GAIN 0.029999999 AD7714Ch0Gain 128 SEABIRD_C_I -0.0017902254

HD_A 0.0031300001 PITCH_ADJ_DBAND 1 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00021440489

AD7714Ch0Gain 128 D_PITCH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.2216672e-06

AH0_10V 0 D_SAFE 0 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_24V 350 D_SURF 3 PITCH_ADJ_DBAND 1 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 800 PITCH_ADJ_GAIN 0.029999999 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_AD_RATE 120 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0046000001 STOP_T 0

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DEPTH 200 FG_AHR_10V 0 PITCH_GAIN 12 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_MAX 3680 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MIN 100 TCM_PITCH_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 25 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0031300001 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 7156.2998

CALL_NDIVES 1 HD_B 0.023700001 PITCH_W_GAIN 0 TGT_DEFAULT_LON 2002.3

CALL_TRIES 8 HD_C 7.0400001e-06 PRESSURE_SLOPE 0.0001160319 T_ABORT 1440

CALL_WAIT 120 HEADING -1 PRESSURE_YINT -84.34626 T_BOOST 5

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PROTOCOL 9 T_DIVE 290

CAPUPLOAD 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_EPIRB 0

CF8_MAXERRORS 1 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0 T_GPS 5

COMM_SEQ 0 ID 137 RAFOS_CORR_THRESH 60 T_LOITER 28800

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_MISSION 900

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RAFOS_MMODEM 0 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE1 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_PITCH 3100 LOGGERDEVICE2 -1 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_CLIMB 1870 LOGGERDEVICE3 -1 RHO 1.0275 T_WATCHDOG 10

C_ROLL_DIVE 1800 LOGGERDEVICE4 -1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

C_VBD 2590 LOGGERS 0 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DBDW 1700 MASS 54893 ROLL_AD_RATE 250 USE_BATHY 0

DEEPGLIDER 0 MASS_COMP 0 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE1 2 MAXI_10V 0.80000001 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MAXI_24V 0.60000002 ROLL_MAX 3920 VBD_CNV -0.245296

DEVICE3 -1 MAX_BUOY 140 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE4 -1 MINV_10V 9 ROLL_MIN 200 VBD_LP_IGNORE 0

DEVICE5 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAX 3900

DEVICE6 -1 MISSION 5 R_PORT_OVSHOOT 66 VBD_MAXERRORS 1

DIVE 730 MOTHERBOARD 4 R_STBD_OVSHOOT 51 VBD_MIN 450

D_ABORT 1020 NAV_MODE 2 SEABIRD_C_G -9.9096279 VBD_PUMP_AD_RATE_APOGEE 3

D_BOOST 20 NOCOMM_ACTION 163 SEABIRD_C_H 1.1330101 VBD_PUMP_AD_RATE_SURFACE 4

D_CALL 0 N_DIVES 0 SEABIRD_C_I -0.0017902254 VBD_TIMEOUT 720

D_FINISH 0 N_FILEKB 8 SEABIRD_C_J 0.00021440489 W_ADJ_DBAND 2.0999999

D_FLARE 4 N_GPS 100440 SEABIRD_T_G 0.004399877 XPDR_DEVICE 24

D_NO_BLEED 50 N_NOCOMM 2 SEABIRD_T_H 0.00063904078 XPDR_INHIBIT 90

D_OFFGRID 1000 N_NOSURFACE 0 SEABIRD_T_I 2.611986e-05 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 260917,203406,755.3788,6954.4707,36,0.9,41,-2.4,0.7,100.3,10,9.2 SPEED_LIMITS 0.159,0.161

_CALLS 1 TGT_NAME MALDIVE1

_XMS_NAKs 0 TGT_LATLONG 430.000,7230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.89 MHEAD_RNG_PITCHd_Wd 154.8,476590,-23.0,-9.195,-29.68,2263

_SM_ANGLEo -67.6 D_GRID 800

GPS2 260917,203901,755.3778,6954.4634,8,0.9,18,-2.4,0.0,94.7,9,9.0

Post-dive calculations and measurements:

FINISH 2.0,1.012213 FG_AHR_24Vo 0.000

SM_CCo 37863,43.22,0.080,0,0,957,400.08 FG_AHR_10Vo 0.000

SM_GC 2.98,10.68,0.10,43.22,0.086,0.126,0.080,96,1778,957,-13.76,1.13,400.08,0,0,0,0,0,0,14.13,14.40,14.21 MEM 225360

IRIDIUM_FIX 753.81,6955.43,260917,094410 DATA_FILE_SIZE 43437,968

TT8_MAMPS 0.024717,0.129577 CAP_FILE_SIZE 174433,0

HUMID 57.16 CFSIZE 260034560,195526656

INTERNAL_PRESSURE 9.10191 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 23.80 INTR 0,36708.74,0x233daa,1,24

XPDR_PINGS 66 CURRENT 0.035,75.90,1

_24V_AH 12.56,271.981 GPS 270917,071255,754.898,6955.323,37,0.8,43,-2.4,0.4,30.0,10,9.4

_10V_AH 12.41,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 380 144.98 SBE_CT 448 24 135.28

Roll_motor 98 2025 2509.32 nil 0 0 0.00

VBD_pump_during_apogee 369 2589 12026.72 nil 0 0 0.00

VBD_pump_during_surface 43 79 43.19 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 nil 0 0 0.00

Iridium_during_xfer 179 181 408.47 nil 0 0 0.00

Transponder_ping 100 420 531.48 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 22 5.40

TT8 2157 9 264.23

LPSleep 33313 2 905.39

TT8_Active 548 9 67.14

TT8_Sampling 1798 27 621.53

TT8_CF8 394 34 169.46

TT8_Kalman 0 0 0.00

Analog_circuits 1572 15 304.52

GPS_charging 0 0 0.00

Compass 1382 6 115.65

RAFOS 0 0 0.00

Transponder 569 30 212.01

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

9 -2.09 -136.3 86 1763 851 1049 0.0 0.0 0 71 0.00 0.00 -60.70 0.000 16386 0.000 0.000 86 1764 2507 2422 2592 0 0 0 0 0 0 14.69 28.83 14.72

75 -2.09 -136.3 86 1764 2421 2593 4.0 -2.3 4 109 12.55 2.70 -14.60 0.000 18692 0.381 2.026 2631 3187 3146 3023 3270 0 0 0 0 0 0 13.91 13.21 14.14

211 -2.02 -136.3 2630 3188 3026 3270 29.3 -18.7 32 216 0.12 2.33 0.00 0.000 3206 0.274 0.032 2653 1802 3148 3026 3270 0 0 0 0 0 0 13.79 14.24 14.08

519 -1.97 -136.3 2652 1801 3027 3270 76.5 -13.5 53 524 0.00 2.45 0.00 0.000 388 0.000 0.047 2644 3198 3148 3027 3270 0 0 0 0 0 0 14.79 14.01 14.81

636 -1.97 -136.3 2644 3197 3028 3269 93.9 -13.5 76 643 0.12 2.38 0.00 0.000 3078 0.261 0.032 2667 1796 3149 3028 3270 0 0 0 0 0 0 13.64 14.12 13.93

942 -1.97 -136.3 2666 1796 3031 3270 129.8 -11.4 97 947 0.00 2.47 0.00 0.000 260 0.000 0.045 2658 3202 3150 3031 3269 0 0 0 0 0 0 14.84 13.93 14.86

1030 -1.97 -136.3 2658 3202 3031 3270 139.7 -10.8 114 1036 0.00 2.38 0.00 0.000 1030 0.000 0.033 2658 1804 3151 3032 3270 0 0 0 0 0 0 14.15 14.07 14.18

1335 -1.97 -136.3 2658 1804 3033 3270 173.1 -11.7 135 1341 0.00 2.47 0.00 0.000 516 0.000 0.053 2658 405 3152 3034 3270 0 0 0 0 0 0 14.85 13.89 14.88

1398 -1.97 -136.3 2658 405 3034 3269 181.2 -12.5 148 1403 0.10 2.38 0.00 0.000 3078 0.280 0.031 2664 1805 3151 3033 3270 0 0 0 0 0 0 13.63 14.05 13.86

1706 -1.97 -136.3 2664 1805 3033 3270 213.4 -10.5 169 1707 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 1806 3151 3033 3269 0 0 0 0 0 0 14.69 14.71 14.71

2006 -1.97 -136.3 2664 1805 3033 3269 244.5 -9.9 189 2011 0.00 2.42 0.00 0.000 260 0.000 0.047 2656 3194 3151 3034 3269 0 0 0 0 0 0 14.69 13.96 14.71

2081 -2.02 -136.3 2656 3193 3034 3270 252.3 -9.5 203 2086 0.00 2.40 0.00 0.000 1158 0.000 0.034 2656 1802 3151 3034 3269 0 0 0 0 0 0 14.12 14.04 14.15

2407 -2.02 -136.3 2655 1801 3033 3270 286.0 -10.9 217 2413 0.00 2.47 0.00 0.000 260 0.000 0.046 2646 3197 3151 3033 3269 0 0 0 0 0 0 14.72 13.82 14.74

2451 -2.02 -136.3 2645 3197 3033 3269 291.4 -11.7 225 2457 0.00 2.42 0.00 0.000 1030 0.000 0.034 2646 1797 3151 3033 3269 0 0 0 0 0 0 14.10 14.02 14.13

2776 -2.02 -136.3 2645 1797 3031 3269 328.6 -11.5 239 2782 0.00 2.50 0.00 0.000 260 0.000 0.049 2636 3196 3150 3031 3269 0 0 0 0 0 0 14.69 13.81 14.71

2861 -2.02 -136.3 2636 3196 3031 3269 339.1 -12.1 255 2868 0.10 2.42 0.00 0.000 3078 0.272 0.035 2655 1795 3150 3031 3269 0 0 0 0 0 0 13.58 14.03 13.72

3177 -2.02 -136.3 2655 1795 3030 3269 376.5 -12.0 267 3184 0.00 2.50 0.00 0.000 260 0.000 0.048 2646 3192 3149 3030 3269 0 0 0 0 0 0 14.68 13.83 14.70

3218 -2.05 -136.3 2646 3192 3030 3269 381.6 -11.6 274 3223 0.00 2.42 0.00 0.000 1158 0.000 0.035 2646 1801 3149 3030 3269 0 0 0 0 0 0 14.09 14.01 14.13

3549 -2.05 -136.3 2646 1800 3028 3268 421.3 -11.7 289 3555 0.00 2.47 0.00 0.000 260 0.000 0.047 2636 3192 3147 3028 3267 0 0 0 0 0 0 14.71 13.81 14.73

3628 -2.05 -136.3 2636 3191 3028 3266 431.2 -12.6 304 3633 0.00 2.42 0.00 0.000 1030 0.000 0.035 2636 1801 3147 3028 3266 0 0 0 0 0 0 14.09 14.01 14.13

3947 -2.05 -136.3 2636 1800 3025 3265 466.9 -11.0 317 3952 0.00 2.47 0.00 0.000 260 0.000 0.049 2627 3188 3145 3025 3265 0 0 0 0 0 0 14.68 13.83 14.69

3984 -2.05 -136.3 2627 3188 3025 3264 470.6 -10.2 323 3989 0.10 2.42 0.00 0.000 3078 0.269 0.037 2645 1799 3144 3025 3264 0 0 0 0 0 0 13.56 13.99 13.70

4319 -2.05 -136.3 2645 1799 3022 3263 504.2 -9.9 339 4324 0.00 2.50 0.00 0.000 260 0.000 0.050 2637 3188 3142 3022 3263 0 0 0 0 0 0 14.71 13.81 14.73

4379 -2.05 -136.3 2636 3188 3022 3262 510.6 -10.7 350 4387 0.00 2.42 0.00 0.000 1030 0.000 0.037 2637 1802 3142 3022 3262 0 0 0 0 0 0 14.17 14.08 14.20

4684 -2.05 -136.3 2637 1802 3021 3261 543.1 -10.8 361 4692 0.00 2.50 0.00 0.000 260 0.000 0.050 2628 3190 3141 3021 3261 0 0 0 0 0 0 14.66 13.89 14.69

4720 -2.05 -136.3 2628 3190 3021 3260 547.0 -10.6 367 4726 0.12 2.45 0.00 0.000 3078 0.272 0.037 2651 1799 3140 3021 3260 0 0 0 0 0 0 13.49 14.00 13.66

5055 -2.05 -136.3 2651 1798 3019 3259 583.0 -10.8 383 5059 0.00 2.53 0.00 0.000 260 0.000 0.052 2643 3195 3139 3019 3259 0 0 0 0 0 0 14.66 13.85 14.69

5162 -2.09 -136.3 2642 3195 3019 3258 594.8 -10.8 403 5167 0.00 2.47 0.00 0.000 1158 0.000 0.041 2642 1796 3138 3019 3258 0 0 0 0 0 0 14.09 14.04 14.12

5489 -2.09 -136.3 2642 1796 3017 3257 630.2 -11.0 417 5490 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 1796 3137 3017 3257 0 0 0 0 0 0 14.69 14.71 14.71

5789 -2.09 -136.3 2642 1796 3016 3257 662.8 -10.7 427 5794 0.00 2.55 0.00 0.000 260 0.000 0.054 2633 3192 3136 3016 3256 0 0 0 0 0 0 14.63 13.80 14.65

5840 -2.09 -136.3 2632 3192 3016 3255 668.5 -11.5 436 5847 0.00 2.47 0.00 0.000 1030 0.000 0.041 2633 1803 3135 3016 3255 0 0 0 0 0 0 14.07 14.01 14.09

6162 -2.09 -136.3 2632 1803 3014 3254 703.2 -10.9 449 6168 0.00 2.47 0.00 0.000 260 0.000 0.053 2623 3192 3134 3015 3254 0 0 0 0 0 0 14.69 13.88 14.71

6206 -2.09 -136.3 2623 3192 3014 3253 708.8 -11.8 457 6213 0.05 2.47 0.00 0.000 3078 0.243 0.041 2635 1789 3134 3015 3253 0 0 0 0 0 0 13.69 14.02 13.81

6533 -2.09 -136.3 2634 1789 3013 3252 744.6 -11.2 471 6540 0.00 2.55 0.00 0.000 260 0.000 0.055 2626 3192 3132 3013 3252 0 0 0 0 0 0 14.64 13.88 14.66

6585 -2.09 -136.3 2626 3192 3013 3252 750.9 -12.1 480 6590 0.00 2.47 0.00 0.000 1030 0.000 0.044 2626 1806 3132 3013 3252 0 0 0 0 0 0 14.07 14.01 14.10

6904 -2.09 -136.3 2625 1806 3012 3251 788.9 -12.1 493 6905 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 1806 3132 3012 3252 0 0 0 0 0 0 14.64 14.66 14.66

7021 end dive: TARGET_DEPTH_EXCEEDED

state 7021 begin apogee

7028 -0.42 0.0 2626 1888 3012 3251 803.6 -12.3 497 7155 1.62 0.00 122.35 2.513 10246 0.278 0.000 3006 1890 2589 2462 2716 0 0 0 0 0 0 13.80 13.72 12.56

7156 end apogee: CONTROL_FINISHED_OK

state 7156 begin loiter

7504 -0.42 0.0 3006 1890 2448 2714 817.2 -2.2 504 7505 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 1890 2581 2448 2714 0 0 0 0 0 0 14.76 14.78 14.78

8104 -1.00 0.0 3006 1890 2445 2712 826.2 -1.4 509 8106 0.45 0.00 0.00 0.000 4230 0.125 0.000 2876 1891 2578 2445 2712 0 0 0 0 0 0 13.74 14.04 13.97

8705 -1.33 0.0 2876 1891 2443 2708 835.4 -1.6 514 8707 0.22 0.00 0.00 0.000 4230 0.124 0.000 2810 1891 2575 2442 2708 0 0 0 0 0 0 13.97 14.07 14.04

9305 -1.45 58.9 2810 1892 2440 2706 855.6 -3.6 519 9362 0.12 0.00 54.62 2.590 12454 0.177 0.000 2776 1891 2348 2219 2478 0 0 0 0 0 0 14.16 13.96 12.77

9904 -1.59 58.9 2776 1892 2203 2475 844.8 2.4 524 9906 0.10 0.00 0.00 0.000 4230 0.184 0.000 2745 1892 2339 2203 2475 0 0 0 0 0 0 14.31 14.35 14.33

10505 -1.68 58.9 2745 1892 2201 2472 823.2 3.7 529 10506 0.00 0.00 0.00 0.000 134 0.000 0.000 2745 1891 2337 2202 2472 0 0 0 0 0 0 14.83 14.85 14.85

11104 -1.76 58.9 2745 1892 2200 2471 797.6 4.3 534 11106 0.12 0.00 0.00 0.000 4230 0.156 0.000 2709 1891 2335 2200 2471 0 0 0 0 0 0 14.26 14.25 14.25

11703 -1.76 58.9 2709 1891 2200 2470 771.2 4.3 539 11705 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1891 2334 2200 2469 0 0 0 0 0 0 14.66 14.69 14.69

12303 -1.76 58.9 2709 1891 2199 2469 748.2 3.8 544 12304 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1891 2334 2199 2469 0 0 0 0 0 0 14.85 14.88 14.87

12904 -1.76 58.9 2709 1891 2199 2468 726.5 3.6 549 12905 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1891 2333 2199 2468 0 0 0 0 0 0 14.63 14.66 14.65

13503 -1.76 58.9 2709 1891 2198 2468 700.9 4.4 554 13504 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1891 2333 2198 2468 0 0 0 0 0 0 14.64 14.66 14.66

14103 -1.76 58.9 2709 1891 2198 2468 673.1 4.6 559 14105 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1891 2333 2198 2468 0 0 0 0 0 0 14.85 14.87 14.87

14703 -1.76 58.9 2709 1891 2197 2467 655.1 2.8 564 14704 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1891 2333 2198 2468 0 0 0 0 0 0 14.85 14.88 14.87

15304 -1.76 58.9 2709 1891 2198 2468 635.6 3.5 569 15305 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1891 2332 2197 2467 0 0 0 0 0 0 14.61 14.64 14.63

15903 -1.76 58.9 2709 1891 2197 2467 605.0 5.2 574 15904 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1891 2333 2198 2468 0 0 0 0 0 0 14.85 14.87 14.87

16503 -1.76 58.9 2709 1891 2198 2467 580.0 4.0 579 16505 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1891 2332 2197 2467 0 0 0 0 0 0 14.62 14.65 14.64

17105 -1.76 58.9 2709 1891 2198 2467 566.3 2.2 584 17106 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 1891 2332 2197 2467 0 0 0 0 0 0 14.83 14.85 14.85

17704 -1.76 58.9 2710 1891 2197 2467 546.5 3.5 589 17705 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1891 2332 2197 2467 0 0 0 0 0 0 14.83 14.86 14.85

18303 -1.76 58.9 2709 1891 2197 2467 516.2 5.2 594 18304 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1891 2332 2197 2468 0 0 0 0 0 0 14.61 14.63 14.63

18903 -1.76 58.9 2709 1891 2197 2467 495.6 3.2 599 18905 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1891 2332 2198 2467 0 0 0 0 0 0 14.84 14.87 14.86

19503 -1.76 58.9 2709 1891 2197 2467 478.9 2.8 604 19504 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1891 2332 2198 2467 0 0 0 0 0 0 14.85 14.87 14.87

20104 -1.76 58.9 2709 1894 2197 2467 457.1 3.8 609 20105 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1894 2332 2197 2468 0 0 0 0 0 0 14.59 14.62 14.62

20703 -1.76 58.9 2709 1894 2197 2467 438.0 3.0 614 20704 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1894 2332 2197 2467 0 0 0 0 0 0 14.85 14.88 14.87

21303 -1.76 58.9 2709 1894 2197 2468 418.0 3.4 619 21305 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1894 2332 2197 2467 0 0 0 0 0 0 14.62 14.64 14.64

21903 -1.76 58.9 2709 1894 2197 2467 398.8 3.2 624 21904 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1894 2332 2197 2467 0 0 0 0 0 0 14.85 14.87 14.88

22503 -1.76 58.9 2709 1894 2198 2467 380.5 3.0 629 22504 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1894 2332 2197 2467 0 0 0 0 0 0 14.60 14.63 14.62

23104 -1.76 58.9 2709 1894 2197 2467 366.8 2.2 634 23105 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1894 2332 2198 2467 0 0 0 0 0 0 14.84 14.86 14.86

23703 -1.76 58.9 2709 1894 2197 2467 349.7 3.0 639 23705 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1894 2332 2197 2467 0 0 0 0 0 0 14.84 14.87 14.87

24303 -1.76 58.9 2709 1894 2197 2467 329.1 3.4 644 24304 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1894 2332 2197 2467 0 0 0 0 0 0 14.85 14.88 14.87

24903 -1.76 58.9 2709 1894 2197 2467 308.1 3.5 649 24904 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1894 2332 2197 2467 0 0 0 0 0 0 14.85 14.88 14.87

25504 -1.76 58.9 2709 1894 2198 2467 290.0 2.9 654 25505 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 1894 2332 2197 2467 0 0 0 0 0 0 14.59 14.62 14.62

26103 -1.76 58.9 2709 1894 2197 2467 280.3 1.6 659 26105 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1894 2332 2197 2467 0 0 0 0 0 0 14.85 14.88 14.87

26703 -1.76 58.9 2710 1894 2198 2467 265.5 2.7 664 26704 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1894 2332 2197 2467 0 0 0 0 0 0 14.85 14.88 14.87

27303 -1.76 58.9 2709 1894 2198 2467 244.7 3.6 669 27304 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1894 2332 2198 2467 0 0 0 0 0 0 14.85 14.88 14.88

27904 -1.76 58.9 2709 1894 2198 2467 227.4 2.7 674 27905 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1894 2332 2197 2467 0 0 0 0 0 0 14.60 14.62 14.62

28503 -1.76 58.9 2709 1894 2197 2467 217.6 1.5 679 28505 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 1894 2332 2197 2467 0 0 0 0 0 0 14.85 14.88 14.88

29103 -1.76 58.9 2709 1894 2198 2467 198.5 3.5 684 29104 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 1894 2332 2197 2467 0 0 0 0 0 0 14.85 14.88 14.88

29704 -1.73 58.9 2709 1894 2197 2467 190.5 1.1 689 29705 0.00 0.00 0.00 0.000 134 0.000 0.000 2709 1894 2332 2197 2468 0 0 0 0 0 0 14.85 14.88 14.87

30305 -1.69 58.9 2709 1894 2198 2467 181.5 1.6 694 30307 0.10 0.00 0.00 0.000 2182 0.275 0.000 2725 1894 2332 2198 2467 0 0 0 0 0 0 14.00 13.98 13.97

30903 -1.69 58.9 2725 1894 2198 2467 171.0 1.7 699 30905 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 1894 2332 2198 2467 0 0 0 0 0 0 14.85 14.88 14.88

31503 -1.69 58.9 2725 1894 2198 2467 168.8 0.3 704 31504 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 1894 2332 2198 2467 0 0 0 0 0 0 14.85 14.88 14.88

32105 -1.69 58.9 2724 1894 2198 2468 164.7 0.9 709 32106 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 1894 2333 2198 2468 0 0 0 0 0 0 14.84 14.87 14.87

32703 -1.69 58.9 2724 1894 2199 2467 162.6 0.3 714 32704 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 1894 2333 2199 2467 0 0 0 0 0 0 14.86 14.88 14.88

33303 -1.69 58.9 2725 1894 2200 2467 156.9 0.7 719 33305 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 1894 2333 2199 2467 0 0 0 0 0 0 14.86 14.88 14.88

33904 -1.66 58.9 2725 1894 2199 2467 156.5 0.4 724 33905 0.00 0.00 0.00 0.000 134 0.000 0.000 2725 1894 2333 2200 2467 0 0 0 0 0 0 14.86 14.88 14.88

34504 -1.66 58.9 2725 1894 2200 2467 154.6 0.3 729 34505 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 1894 2333 2200 2467 0 0 0 0 0 0 14.85 14.88 14.88

35104 -1.63 58.9 2725 1894 2200 2467 154.0 0.1 734 35105 0.00 0.00 0.00 0.000 134 0.000 0.000 2725 1894 2334 2201 2467 0 0 0 0 0 0 14.86 14.89 14.88

35704 -1.60 58.9 2725 1894 2201 2467 152.8 -0.1 739 35706 0.12 0.00 0.00 0.000 2182 0.296 0.000 2749 1894 2334 2202 2467 0 0 0 0 0 0 13.70 13.83 13.78

35940 end loiter: LOITER_COMPLETE

state 35941 begin climb

35943 2.09 136.3 2749 1894 2201 2468 150.4 0.0 741 36019 3.35 2.42 63.50 1.488 11012 0.243 0.054 3541 3255 2029 1898 2160 0 0 0 0 0 0 13.27 13.90 13.21

36166 1.95 136.3 3541 3255 1898 2152 135.9 7.8 785 36173 0.12 2.50 0.00 0.000 5254 0.298 0.044 3529 1861 2024 1897 2152 0 0 0 0 0 0 13.42 13.89 13.77

36477 1.87 136.3 3529 1862 1894 2152 111.2 8.0 806 36482 0.00 2.53 0.00 0.000 388 0.000 0.054 3519 3247 2023 1894 2152 0 0 0 0 0 0 14.77 13.95 14.79

36700 1.88 207.4 3519 3247 1894 2152 97.6 4.9 850 36765 0.00 2.45 55.60 1.447 9382 0.000 0.042 3526 1872 1739 1596 1883 0 0 0 0 0 0 14.12 14.04 13.33

37066 2.00 303.4 3526 1872 1584 1882 72.9 3.4 883 37146 0.00 2.50 73.70 1.393 8484 0.000 0.052 3523 3247 1349 1190 1509 0 0 0 0 0 0 14.76 14.14 13.35

37202 2.00 303.4 3522 3247 1185 1506 63.5 10.3 910 37207 0.00 2.42 0.00 0.000 1030 0.000 0.038 3530 1861 1344 1183 1506 0 0 0 0 0 0 14.19 14.10 14.22

37524 2.03 303.4 3529 1861 1173 1506 30.7 9.3 933 37531 0.00 2.45 0.00 0.000 644 0.000 0.065 3539 471 1339 1173 1506 0 0 0 0 0 0 14.74 14.07 14.76

37614 2.03 303.4 3539 471 1171 1506 21.7 9.4 951 37620 0.00 2.35 0.00 0.000 1030 0.000 0.036 3532 1850 1338 1171 1506 0 0 0 0 0 0 14.19 14.14 14.23

37807 end climb: SURFACE_DEPTH_REACHED

state 37808 begin surface coast

37841 end surface coast: CONTROL_FINISHED_OK

state 37842 begin surface

ID	137	HD_B	0.023700001	ROLL_MIN	200	TCM_ROLL_OFFSET	0
MISSION	5	HD_C	7.0400001e-06	ROLL_MAX	3920	COMPASS_USE	4
DIVE	730	HEADING	-1	ROLL_DEG	40	ALTIM_BOTTOM_PING_RANGE	0
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_DIVE	1800	ALTIM_TOP_PING_RANGE	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1870	ALTIM_BOTTOM_TURN_MARGIN	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	4	TGT_DEFAULT_LAT	7156.2998	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	1
D_TGT	800	TGT_DEFAULT_LON	2002.3	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	200
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	66	ALTIM_PING_DELTA	0
D_NO_BLEED	50	SM_CC	400	R_STBD_OVSHOOT	51	ALTIM_FREQUENCY	13
D_BOOST	20	N_FILEKB	8	ROLL_AD_RATE	250	ALTIM_PULSE	3
T_BOOST	5	FILEMGR	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	3
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_SAFE	0	PROTOCOL	9	VBD_MIN	450	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	N_NOCOMM	2	VBD_MAX	3900	INT_PRESSURE_YINT	0
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2590	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.245296	DEVICE1	2
T_DIVE	290	CALL_TRIES	8	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	900	CALL_WAIT	120	VBD_TIMEOUT	720	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE5	-1
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	3	DEVICE6	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	28800	N_GPS	100440	UNCOM_BLEED	20	LOGGERDEVICE1	-1
T_EPIRB	0	T_RSLEEP	3	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
USE_BATHY	0	STROBE	0	W_ADJ_DBAND	2.0999999	LOGGERDEVICE3	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	DBDW	1700	LOGGERDEVICE4	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	PITCH_W_GAIN	0	COMPASS_DEVICE	97
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	PITCH_W_DBAND	0	COMPASS2_DEVICE	-1
T_WATCHDOG	10	RAFOS_MMODEM	0	CF8_MAXERRORS	1	PHONE_DEVICE	49
RELAUNCH	1	PITCH_MIN	100	AH0_24V	350	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MAX	3680	AH0_10V	0	RAFOS_DEVICE	-1
MAX_BUOY	140	C_PITCH	3100	MINV_24V	11	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_DBAND	0.1	MINV_10V	9	SIM_W	0
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	MAXI_24V	0.60000002	SIM_PITCH	0
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	MAXI_10V	0.80000001	SEABIRD_T_G	0.004399877
RHO	1.0275	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SEABIRD_T_H	0.00063904078
MASS	54893	PITCH_GAIN	12	FG_AHR_24V	0	SEABIRD_T_I	2.611986e-05
MASS_COMP	0	PITCH_TIMEOUT	25	PHONE_SUPPLY	-2	SEABIRD_T_J	3.2216672e-06
NAV_MODE	2	PITCH_AD_RATE	120	PRESSURE_YINT	-84.34626	SEABIRD_C_G	-9.9096279
FERRY_MAX	45	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.0001160319	SEABIRD_C_H	1.1330101
KALMAN_USE	2	PITCH_ADJ_GAIN	0.029999999	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0017902254
HD_A	0.0031300001	PITCH_ADJ_DBAND	1	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00021440489

GPS1	260917,203406,755.3788,6954.4707,36,0.9,41,-2.4,0.7,100.3,10,9.2	SPEED_LIMITS	0.159,0.161
_CALLS	1	TGT_NAME	MALDIVE1
_XMS_NAKs	0	TGT_LATLONG	430.000,7230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.89	MHEAD_RNG_PITCHd_Wd	154.8,476590,-23.0,-9.195,-29.68,2263
_SM_ANGLEo	-67.6	D_GRID	800
GPS2	260917,203901,755.3778,6954.4634,8,0.9,18,-2.4,0.0,94.7,9,9.0

FINISH	2.0,1.012213	FG_AHR_24Vo	0.000
SM_CCo	37863,43.22,0.080,0,0,957,400.08	FG_AHR_10Vo	0.000
SM_GC	2.98,10.68,0.10,43.22,0.086,0.126,0.080,96,1778,957,-13.76,1.13,400.08,0,0,0,0,0,0,14.13,14.40,14.21	MEM	225360
IRIDIUM_FIX	753.81,6955.43,260917,094410	DATA_FILE_SIZE	43437,968
TT8_MAMPS	0.024717,0.129577	CAP_FILE_SIZE	174433,0
HUMID	57.16	CFSIZE	260034560,195526656
INTERNAL_PRESSURE	9.10191	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	23.80	INTR	0,36708.74,0x233daa,1,24
XPDR_PINGS	66	CURRENT	0.035,75.90,1
_24V_AH	12.56,271.981	GPS	270917,071255,754.898,6955.323,37,0.8,43,-2.4,0.4,30.0,10,9.4
_10V_AH	12.41,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	380	144.98	SBE_CT	448	24	135.28
Roll_motor	98	2025	2509.32	nil	0	0	0.00
VBD_pump_during_apogee	369	2589	12026.72	nil	0	0	0.00
VBD_pump_during_surface	43	79	43.19	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	nil	0	0	0.00
Iridium_during_xfer	179	181	408.47	nil	0	0	0.00
Transponder_ping	100	420	531.48	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	22	5.40
TT8	2157	9	264.23
LPSleep	33313	2	905.39
TT8_Active	548	9	67.14
TT8_Sampling	1798	27	621.53
TT8_CF8	394	34	169.46
TT8_Kalman	0	0	0.00
Analog_circuits	1572	15	304.52
GPS_charging	0	0	0.00
Compass	1382	6	115.65
RAFOS	0	0	0.00
Transponder	569	30	212.01

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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
9	-2.09	-136.3	86	1763	851	1049	0.0	0.0	0	71	0.00	0.00	-60.70	0.000	16386	0.000	0.000	86	1764	2507	2422	2592	0	0	0	0	0	0	14.69	28.83	14.72
75	-2.09	-136.3	86	1764	2421	2593	4.0	-2.3	4	109	12.55	2.70	-14.60	0.000	18692	0.381	2.026	2631	3187	3146	3023	3270	0	0	0	0	0	0	13.91	13.21	14.14
211	-2.02	-136.3	2630	3188	3026	3270	29.3	-18.7	32	216	0.12	2.33	0.00	0.000	3206	0.274	0.032	2653	1802	3148	3026	3270	0	0	0	0	0	0	13.79	14.24	14.08
519	-1.97	-136.3	2652	1801	3027	3270	76.5	-13.5	53	524	0.00	2.45	0.00	0.000	388	0.000	0.047	2644	3198	3148	3027	3270	0	0	0	0	0	0	14.79	14.01	14.81
636	-1.97	-136.3	2644	3197	3028	3269	93.9	-13.5	76	643	0.12	2.38	0.00	0.000	3078	0.261	0.032	2667	1796	3149	3028	3270	0	0	0	0	0	0	13.64	14.12	13.93
942	-1.97	-136.3	2666	1796	3031	3270	129.8	-11.4	97	947	0.00	2.47	0.00	0.000	260	0.000	0.045	2658	3202	3150	3031	3269	0	0	0	0	0	0	14.84	13.93	14.86
1030	-1.97	-136.3	2658	3202	3031	3270	139.7	-10.8	114	1036	0.00	2.38	0.00	0.000	1030	0.000	0.033	2658	1804	3151	3032	3270	0	0	0	0	0	0	14.15	14.07	14.18
1335	-1.97	-136.3	2658	1804	3033	3270	173.1	-11.7	135	1341	0.00	2.47	0.00	0.000	516	0.000	0.053	2658	405	3152	3034	3270	0	0	0	0	0	0	14.85	13.89	14.88
1398	-1.97	-136.3	2658	405	3034	3269	181.2	-12.5	148	1403	0.10	2.38	0.00	0.000	3078	0.280	0.031	2664	1805	3151	3033	3270	0	0	0	0	0	0	13.63	14.05	13.86
1706	-1.97	-136.3	2664	1805	3033	3270	213.4	-10.5	169	1707	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	1806	3151	3033	3269	0	0	0	0	0	0	14.69	14.71	14.71
2006	-1.97	-136.3	2664	1805	3033	3269	244.5	-9.9	189	2011	0.00	2.42	0.00	0.000	260	0.000	0.047	2656	3194	3151	3034	3269	0	0	0	0	0	0	14.69	13.96	14.71
2081	-2.02	-136.3	2656	3193	3034	3270	252.3	-9.5	203	2086	0.00	2.40	0.00	0.000	1158	0.000	0.034	2656	1802	3151	3034	3269	0	0	0	0	0	0	14.12	14.04	14.15
2407	-2.02	-136.3	2655	1801	3033	3270	286.0	-10.9	217	2413	0.00	2.47	0.00	0.000	260	0.000	0.046	2646	3197	3151	3033	3269	0	0	0	0	0	0	14.72	13.82	14.74
2451	-2.02	-136.3	2645	3197	3033	3269	291.4	-11.7	225	2457	0.00	2.42	0.00	0.000	1030	0.000	0.034	2646	1797	3151	3033	3269	0	0	0	0	0	0	14.10	14.02	14.13
2776	-2.02	-136.3	2645	1797	3031	3269	328.6	-11.5	239	2782	0.00	2.50	0.00	0.000	260	0.000	0.049	2636	3196	3150	3031	3269	0	0	0	0	0	0	14.69	13.81	14.71
2861	-2.02	-136.3	2636	3196	3031	3269	339.1	-12.1	255	2868	0.10	2.42	0.00	0.000	3078	0.272	0.035	2655	1795	3150	3031	3269	0	0	0	0	0	0	13.58	14.03	13.72
3177	-2.02	-136.3	2655	1795	3030	3269	376.5	-12.0	267	3184	0.00	2.50	0.00	0.000	260	0.000	0.048	2646	3192	3149	3030	3269	0	0	0	0	0	0	14.68	13.83	14.70
3218	-2.05	-136.3	2646	3192	3030	3269	381.6	-11.6	274	3223	0.00	2.42	0.00	0.000	1158	0.000	0.035	2646	1801	3149	3030	3269	0	0	0	0	0	0	14.09	14.01	14.13
3549	-2.05	-136.3	2646	1800	3028	3268	421.3	-11.7	289	3555	0.00	2.47	0.00	0.000	260	0.000	0.047	2636	3192	3147	3028	3267	0	0	0	0	0	0	14.71	13.81	14.73
3628	-2.05	-136.3	2636	3191	3028	3266	431.2	-12.6	304	3633	0.00	2.42	0.00	0.000	1030	0.000	0.035	2636	1801	3147	3028	3266	0	0	0	0	0	0	14.09	14.01	14.13
3947	-2.05	-136.3	2636	1800	3025	3265	466.9	-11.0	317	3952	0.00	2.47	0.00	0.000	260	0.000	0.049	2627	3188	3145	3025	3265	0	0	0	0	0	0	14.68	13.83	14.69
3984	-2.05	-136.3	2627	3188	3025	3264	470.6	-10.2	323	3989	0.10	2.42	0.00	0.000	3078	0.269	0.037	2645	1799	3144	3025	3264	0	0	0	0	0	0	13.56	13.99	13.70
4319	-2.05	-136.3	2645	1799	3022	3263	504.2	-9.9	339	4324	0.00	2.50	0.00	0.000	260	0.000	0.050	2637	3188	3142	3022	3263	0	0	0	0	0	0	14.71	13.81	14.73
4379	-2.05	-136.3	2636	3188	3022	3262	510.6	-10.7	350	4387	0.00	2.42	0.00	0.000	1030	0.000	0.037	2637	1802	3142	3022	3262	0	0	0	0	0	0	14.17	14.08	14.20
4684	-2.05	-136.3	2637	1802	3021	3261	543.1	-10.8	361	4692	0.00	2.50	0.00	0.000	260	0.000	0.050	2628	3190	3141	3021	3261	0	0	0	0	0	0	14.66	13.89	14.69
4720	-2.05	-136.3	2628	3190	3021	3260	547.0	-10.6	367	4726	0.12	2.45	0.00	0.000	3078	0.272	0.037	2651	1799	3140	3021	3260	0	0	0	0	0	0	13.49	14.00	13.66
5055	-2.05	-136.3	2651	1798	3019	3259	583.0	-10.8	383	5059	0.00	2.53	0.00	0.000	260	0.000	0.052	2643	3195	3139	3019	3259	0	0	0	0	0	0	14.66	13.85	14.69
5162	-2.09	-136.3	2642	3195	3019	3258	594.8	-10.8	403	5167	0.00	2.47	0.00	0.000	1158	0.000	0.041	2642	1796	3138	3019	3258	0	0	0	0	0	0	14.09	14.04	14.12
5489	-2.09	-136.3	2642	1796	3017	3257	630.2	-11.0	417	5490	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	1796	3137	3017	3257	0	0	0	0	0	0	14.69	14.71	14.71
5789	-2.09	-136.3	2642	1796	3016	3257	662.8	-10.7	427	5794	0.00	2.55	0.00	0.000	260	0.000	0.054	2633	3192	3136	3016	3256	0	0	0	0	0	0	14.63	13.80	14.65
5840	-2.09	-136.3	2632	3192	3016	3255	668.5	-11.5	436	5847	0.00	2.47	0.00	0.000	1030	0.000	0.041	2633	1803	3135	3016	3255	0	0	0	0	0	0	14.07	14.01	14.09
6162	-2.09	-136.3	2632	1803	3014	3254	703.2	-10.9	449	6168	0.00	2.47	0.00	0.000	260	0.000	0.053	2623	3192	3134	3015	3254	0	0	0	0	0	0	14.69	13.88	14.71
6206	-2.09	-136.3	2623	3192	3014	3253	708.8	-11.8	457	6213	0.05	2.47	0.00	0.000	3078	0.243	0.041	2635	1789	3134	3015	3253	0	0	0	0	0	0	13.69	14.02	13.81
6533	-2.09	-136.3	2634	1789	3013	3252	744.6	-11.2	471	6540	0.00	2.55	0.00	0.000	260	0.000	0.055	2626	3192	3132	3013	3252	0	0	0	0	0	0	14.64	13.88	14.66
6585	-2.09	-136.3	2626	3192	3013	3252	750.9	-12.1	480	6590	0.00	2.47	0.00	0.000	1030	0.000	0.044	2626	1806	3132	3013	3252	0	0	0	0	0	0	14.07	14.01	14.10
6904	-2.09	-136.3	2625	1806	3012	3251	788.9	-12.1	493	6905	0.00	0.00	0.00	0.000	6	0.000	0.000	2626	1806	3132	3012	3252	0	0	0	0	0	0	14.64	14.66	14.66
7021	end dive: TARGET_DEPTH_EXCEEDED
state	7021	begin apogee
7028	-0.42	0.0	2626	1888	3012	3251	803.6	-12.3	497	7155	1.62	0.00	122.35	2.513	10246	0.278	0.000	3006	1890	2589	2462	2716	0	0	0	0	0	0	13.80	13.72	12.56
7156	end apogee: CONTROL_FINISHED_OK
state	7156	begin loiter
7504	-0.42	0.0	3006	1890	2448	2714	817.2	-2.2	504	7505	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	1890	2581	2448	2714	0	0	0	0	0	0	14.76	14.78	14.78
8104	-1.00	0.0	3006	1890	2445	2712	826.2	-1.4	509	8106	0.45	0.00	0.00	0.000	4230	0.125	0.000	2876	1891	2578	2445	2712	0	0	0	0	0	0	13.74	14.04	13.97
8705	-1.33	0.0	2876	1891	2443	2708	835.4	-1.6	514	8707	0.22	0.00	0.00	0.000	4230	0.124	0.000	2810	1891	2575	2442	2708	0	0	0	0	0	0	13.97	14.07	14.04
9305	-1.45	58.9	2810	1892	2440	2706	855.6	-3.6	519	9362	0.12	0.00	54.62	2.590	12454	0.177	0.000	2776	1891	2348	2219	2478	0	0	0	0	0	0	14.16	13.96	12.77
9904	-1.59	58.9	2776	1892	2203	2475	844.8	2.4	524	9906	0.10	0.00	0.00	0.000	4230	0.184	0.000	2745	1892	2339	2203	2475	0	0	0	0	0	0	14.31	14.35	14.33
10505	-1.68	58.9	2745	1892	2201	2472	823.2	3.7	529	10506	0.00	0.00	0.00	0.000	134	0.000	0.000	2745	1891	2337	2202	2472	0	0	0	0	0	0	14.83	14.85	14.85
11104	-1.76	58.9	2745	1892	2200	2471	797.6	4.3	534	11106	0.12	0.00	0.00	0.000	4230	0.156	0.000	2709	1891	2335	2200	2471	0	0	0	0	0	0	14.26	14.25	14.25
11703	-1.76	58.9	2709	1891	2200	2470	771.2	4.3	539	11705	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1891	2334	2200	2469	0	0	0	0	0	0	14.66	14.69	14.69
12303	-1.76	58.9	2709	1891	2199	2469	748.2	3.8	544	12304	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1891	2334	2199	2469	0	0	0	0	0	0	14.85	14.88	14.87
12904	-1.76	58.9	2709	1891	2199	2468	726.5	3.6	549	12905	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1891	2333	2199	2468	0	0	0	0	0	0	14.63	14.66	14.65
13503	-1.76	58.9	2709	1891	2198	2468	700.9	4.4	554	13504	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1891	2333	2198	2468	0	0	0	0	0	0	14.64	14.66	14.66
14103	-1.76	58.9	2709	1891	2198	2468	673.1	4.6	559	14105	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1891	2333	2198	2468	0	0	0	0	0	0	14.85	14.87	14.87
14703	-1.76	58.9	2709	1891	2197	2467	655.1	2.8	564	14704	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1891	2333	2198	2468	0	0	0	0	0	0	14.85	14.88	14.87
15304	-1.76	58.9	2709	1891	2198	2468	635.6	3.5	569	15305	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1891	2332	2197	2467	0	0	0	0	0	0	14.61	14.64	14.63
15903	-1.76	58.9	2709	1891	2197	2467	605.0	5.2	574	15904	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1891	2333	2198	2468	0	0	0	0	0	0	14.85	14.87	14.87
16503	-1.76	58.9	2709	1891	2198	2467	580.0	4.0	579	16505	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1891	2332	2197	2467	0	0	0	0	0	0	14.62	14.65	14.64
17105	-1.76	58.9	2709	1891	2198	2467	566.3	2.2	584	17106	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	1891	2332	2197	2467	0	0	0	0	0	0	14.83	14.85	14.85
17704	-1.76	58.9	2710	1891	2197	2467	546.5	3.5	589	17705	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1891	2332	2197	2467	0	0	0	0	0	0	14.83	14.86	14.85
18303	-1.76	58.9	2709	1891	2197	2467	516.2	5.2	594	18304	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1891	2332	2197	2468	0	0	0	0	0	0	14.61	14.63	14.63
18903	-1.76	58.9	2709	1891	2197	2467	495.6	3.2	599	18905	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1891	2332	2198	2467	0	0	0	0	0	0	14.84	14.87	14.86
19503	-1.76	58.9	2709	1891	2197	2467	478.9	2.8	604	19504	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1891	2332	2198	2467	0	0	0	0	0	0	14.85	14.87	14.87
20104	-1.76	58.9	2709	1894	2197	2467	457.1	3.8	609	20105	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1894	2332	2197	2468	0	0	0	0	0	0	14.59	14.62	14.62
20703	-1.76	58.9	2709	1894	2197	2467	438.0	3.0	614	20704	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1894	2332	2197	2467	0	0	0	0	0	0	14.85	14.88	14.87
21303	-1.76	58.9	2709	1894	2197	2468	418.0	3.4	619	21305	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1894	2332	2197	2467	0	0	0	0	0	0	14.62	14.64	14.64
21903	-1.76	58.9	2709	1894	2197	2467	398.8	3.2	624	21904	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1894	2332	2197	2467	0	0	0	0	0	0	14.85	14.87	14.88
22503	-1.76	58.9	2709	1894	2198	2467	380.5	3.0	629	22504	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1894	2332	2197	2467	0	0	0	0	0	0	14.60	14.63	14.62
23104	-1.76	58.9	2709	1894	2197	2467	366.8	2.2	634	23105	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1894	2332	2198	2467	0	0	0	0	0	0	14.84	14.86	14.86
23703	-1.76	58.9	2709	1894	2197	2467	349.7	3.0	639	23705	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1894	2332	2197	2467	0	0	0	0	0	0	14.84	14.87	14.87
24303	-1.76	58.9	2709	1894	2197	2467	329.1	3.4	644	24304	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1894	2332	2197	2467	0	0	0	0	0	0	14.85	14.88	14.87
24903	-1.76	58.9	2709	1894	2197	2467	308.1	3.5	649	24904	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1894	2332	2197	2467	0	0	0	0	0	0	14.85	14.88	14.87
25504	-1.76	58.9	2709	1894	2198	2467	290.0	2.9	654	25505	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	1894	2332	2197	2467	0	0	0	0	0	0	14.59	14.62	14.62
26103	-1.76	58.9	2709	1894	2197	2467	280.3	1.6	659	26105	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1894	2332	2197	2467	0	0	0	0	0	0	14.85	14.88	14.87
26703	-1.76	58.9	2710	1894	2198	2467	265.5	2.7	664	26704	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1894	2332	2197	2467	0	0	0	0	0	0	14.85	14.88	14.87
27303	-1.76	58.9	2709	1894	2198	2467	244.7	3.6	669	27304	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1894	2332	2198	2467	0	0	0	0	0	0	14.85	14.88	14.88
27904	-1.76	58.9	2709	1894	2198	2467	227.4	2.7	674	27905	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1894	2332	2197	2467	0	0	0	0	0	0	14.60	14.62	14.62
28503	-1.76	58.9	2709	1894	2197	2467	217.6	1.5	679	28505	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	1894	2332	2197	2467	0	0	0	0	0	0	14.85	14.88	14.88
29103	-1.76	58.9	2709	1894	2198	2467	198.5	3.5	684	29104	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	1894	2332	2197	2467	0	0	0	0	0	0	14.85	14.88	14.88
29704	-1.73	58.9	2709	1894	2197	2467	190.5	1.1	689	29705	0.00	0.00	0.00	0.000	134	0.000	0.000	2709	1894	2332	2197	2468	0	0	0	0	0	0	14.85	14.88	14.87
30305	-1.69	58.9	2709	1894	2198	2467	181.5	1.6	694	30307	0.10	0.00	0.00	0.000	2182	0.275	0.000	2725	1894	2332	2198	2467	0	0	0	0	0	0	14.00	13.98	13.97
30903	-1.69	58.9	2725	1894	2198	2467	171.0	1.7	699	30905	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	1894	2332	2198	2467	0	0	0	0	0	0	14.85	14.88	14.88
31503	-1.69	58.9	2725	1894	2198	2467	168.8	0.3	704	31504	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	1894	2332	2198	2467	0	0	0	0	0	0	14.85	14.88	14.88
32105	-1.69	58.9	2724	1894	2198	2468	164.7	0.9	709	32106	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	1894	2333	2198	2468	0	0	0	0	0	0	14.84	14.87	14.87
32703	-1.69	58.9	2724	1894	2199	2467	162.6	0.3	714	32704	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	1894	2333	2199	2467	0	0	0	0	0	0	14.86	14.88	14.88
33303	-1.69	58.9	2725	1894	2200	2467	156.9	0.7	719	33305	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	1894	2333	2199	2467	0	0	0	0	0	0	14.86	14.88	14.88
33904	-1.66	58.9	2725	1894	2199	2467	156.5	0.4	724	33905	0.00	0.00	0.00	0.000	134	0.000	0.000	2725	1894	2333	2200	2467	0	0	0	0	0	0	14.86	14.88	14.88
34504	-1.66	58.9	2725	1894	2200	2467	154.6	0.3	729	34505	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	1894	2333	2200	2467	0	0	0	0	0	0	14.85	14.88	14.88
35104	-1.63	58.9	2725	1894	2200	2467	154.0	0.1	734	35105	0.00	0.00	0.00	0.000	134	0.000	0.000	2725	1894	2334	2201	2467	0	0	0	0	0	0	14.86	14.89	14.88
35704	-1.60	58.9	2725	1894	2201	2467	152.8	-0.1	739	35706	0.12	0.00	0.00	0.000	2182	0.296	0.000	2749	1894	2334	2202	2467	0	0	0	0	0	0	13.70	13.83	13.78
35940	end loiter: LOITER_COMPLETE
state	35941	begin climb
35943	2.09	136.3	2749	1894	2201	2468	150.4	0.0	741	36019	3.35	2.42	63.50	1.488	11012	0.243	0.054	3541	3255	2029	1898	2160	0	0	0	0	0	0	13.27	13.90	13.21
36166	1.95	136.3	3541	3255	1898	2152	135.9	7.8	785	36173	0.12	2.50	0.00	0.000	5254	0.298	0.044	3529	1861	2024	1897	2152	0	0	0	0	0	0	13.42	13.89	13.77
36477	1.87	136.3	3529	1862	1894	2152	111.2	8.0	806	36482	0.00	2.53	0.00	0.000	388	0.000	0.054	3519	3247	2023	1894	2152	0	0	0	0	0	0	14.77	13.95	14.79
36700	1.88	207.4	3519	3247	1894	2152	97.6	4.9	850	36765	0.00	2.45	55.60	1.447	9382	0.000	0.042	3526	1872	1739	1596	1883	0	0	0	0	0	0	14.12	14.04	13.33
37066	2.00	303.4	3526	1872	1584	1882	72.9	3.4	883	37146	0.00	2.50	73.70	1.393	8484	0.000	0.052	3523	3247	1349	1190	1509	0	0	0	0	0	0	14.76	14.14	13.35
37202	2.00	303.4	3522	3247	1185	1506	63.5	10.3	910	37207	0.00	2.42	0.00	0.000	1030	0.000	0.038	3530	1861	1344	1183	1506	0	0	0	0	0	0	14.19	14.10	14.22
37524	2.03	303.4	3529	1861	1173	1506	30.7	9.3	933	37531	0.00	2.45	0.00	0.000	644	0.000	0.065	3539	471	1339	1173	1506	0	0	0	0	0	0	14.74	14.07	14.76
37614	2.03	303.4	3539	471	1171	1506	21.7	9.4	951	37620	0.00	2.35	0.00	0.000	1030	0.000	0.036	3532	1850	1338	1171	1506	0	0	0	0	0	0	14.19	14.14	14.23
37807	end climb: SURFACE_DEPTH_REACHED
state	37808	begin surface coast
37841	end surface coast: CONTROL_FINISHED_OK
state	37842	begin surface