Glider dive log

SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 752 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 190 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 40 XPDR_INHIBIT 90

MISSION 9 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 50 INT_PRESSURE_SLOPE 0.0097660003

DIVE 752 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 3.0

MAX_BUOY 100 PITCH_GAIN 26 AD7714Ch0Gain 1 SC_XMITPROFILE 3.0

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 49 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 49 VBD_CNV -0.24529999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 40 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 3.0 VBD_LP_IGNORE 0

DIVE 752 N_FILEKB 8 SC_RECORDABOVE 2000.0 VBD_MAX 3900

D_ABORT 1015 N_GPS 100440 SC_XMITPROFILE 3.0 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 010417,050650,953.4077,-12519.6162,38,0.8,38,9.2,0.0,0.0,10,8.5 SPEED_LIMITS 0.144,0.204

_CALLS 3 TGT_NAME S

_XMS_NAKs 0 TGT_LATLONG 940.910,-12500.000

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.78 MHEAD_RNG_PITCHd_Wd 109.8,42868,-19.5,-8.333,-22.22,1796

_SM_ANGLEo -61.1 D_GRID 450

GPS2 010417,051858,953.4196,-12519.7568,17,0.8,18,9.2,0.9,306.1,10,7.2

Post-dive calculations and measurements:

FINISH 0.0,1.022100 _10V_AH 11.57,0.000

SM_CCo 25904,116.53,0.132,0,0,557,500.17 FG_AHR_24Vo 0.000

SM_GC 0.78,7.57,2.95,116.53,0.079,0.053,0.132,222,2293,557,-6.14,-0.51,500.17,0,0,0,0,0,0,13.38,13.33,13.33 FG_AHR_10Vo 0.000

IRIDIUM_FIX 947.31,-12516.74,010417,050909 MEM 334192

TT8_MAMPS 0.040446,0.292859 DATA_FILE_SIZE 36773,838

HUMID 58.42 CAP_FILE_SIZE 135402,0

INTERNAL_PRESSURE 9.08238 CFSIZE 260034560,170057728

TCM_TEMP 18.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 24 CURRENT 0.063,332.07,1

_24V_AH 12.22,285.536 GPS 010417,123404,953.972,-12519.778,32,0.7,33,9.2,0.5,23.9,12,9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 400 103.77 SciConCT 3274 25 1000.22

Roll_motor 92 1910 2148.70 nil 0 0 0.00

VBD_pump_during_apogee 401 1427 6997.63 nil 0 0 0.00

VBD_pump_during_surface 116 131 187.36 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 460 152 857.14 PMAR 0 0 0.00

Transponder_ping 6 420 30.79 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 22 5.14

TT8 0 0 0.00

LPSleep 20802 2 527.09

TT8_Active 645 10 80.38

TT8_Sampling 4714 28 1568.37

TT8_CF8 568 35 233.60

TT8_Kalman 0 0 0.00

Analog_circuits 1880 11 254.52

GPS_charging 0 0 0.00

Compass 3877 0 33.65

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 -97.3 198 2317 597 533 0.0 0.0 0 98 0.00 0.00 -89.25 0.000 16386 0.000 0.000 197 2316 2830 2843 2817 0 0 0 0 0 0 13.74 28.83 13.76

103 -0.81 -97.3 198 2317 2846 2817 3.2 -4.2 3 128 9.82 3.05 -3.08 0.000 18948 0.400 1.910 1933 889 3001 3051 2951 0 0 0 0 0 0 13.12 12.22 13.37

230 -0.60 -97.3 1933 889 3055 2947 41.4 -26.6 21 236 0.38 2.65 0.00 0.000 3206 0.281 0.053 2001 2278 3000 3054 2947 0 0 0 0 0 0 12.99 13.38 13.31

557 -0.60 -97.3 2001 2279 3059 2946 81.7 -8.0 34 562 0.00 2.67 0.00 0.000 292 0.000 0.070 1991 3700 3001 3057 2946 0 0 0 0 0 0 13.95 13.40 13.96

740 -0.60 -97.3 1991 3700 3059 2946 97.0 -8.5 60 745 0.00 2.55 0.00 0.000 1030 0.000 0.037 1991 2279 3002 3059 2946 0 0 0 0 0 0 13.61 13.54 13.63

1069 -0.60 -97.3 1990 2280 3061 2946 122.8 -7.9 68 1074 0.00 2.62 0.00 0.000 548 0.000 0.049 1991 880 3003 3060 2946 0 0 0 0 0 0 14.06 13.48 14.07

1128 -0.60 -97.3 1991 880 3061 2946 128.1 -8.7 76 1133 0.00 2.67 0.00 0.000 1030 0.000 0.052 1986 2291 3002 3060 2945 0 0 0 0 0 0 13.59 13.47 13.62

1467 -0.60 -97.3 1986 2291 3060 2945 157.9 -8.9 89 1473 0.00 2.67 0.00 0.000 260 0.000 0.076 1978 3699 3002 3060 2944 0 0 0 0 0 0 14.10 13.43 14.12

1584 -0.60 -97.3 1978 3700 3061 2944 169.1 -9.7 105 1590 0.00 2.58 0.00 0.000 1030 0.000 0.037 1978 2278 3001 3060 2943 0 0 0 0 0 0 13.65 13.58 13.67

1924 -0.60 -97.3 1978 2278 3060 2940 202.1 -9.7 118 1929 0.00 2.62 0.00 0.000 516 0.000 0.050 1978 884 2999 3060 2939 0 0 0 0 0 0 14.11 13.48 14.14

2071 -0.60 -97.3 1978 884 3060 2938 217.1 -9.3 139 2076 0.15 2.67 0.00 0.000 3078 0.236 0.054 2004 2283 2999 3060 2938 0 0 0 0 0 0 13.15 13.46 13.43

2432 -0.60 -97.3 2004 2282 3061 2935 246.3 -8.2 148 2437 0.00 2.67 0.00 0.000 292 0.000 0.076 1997 3698 2996 3059 2934 0 0 0 0 0 0 14.12 13.41 14.14

2551 -0.60 -97.3 1997 3698 3060 2933 257.0 -9.1 165 2556 0.00 2.58 0.00 0.000 1030 0.000 0.039 1997 2278 2996 3059 2933 0 0 0 0 0 0 13.65 13.58 13.67

2884 -0.60 -97.3 1997 2280 3061 2928 287.9 -9.4 177 2889 0.00 2.65 0.00 0.000 516 0.000 0.052 1997 884 2993 3059 2927 0 0 0 0 0 0 14.12 13.47 14.14

2981 -0.60 -97.3 1998 885 3060 2927 297.5 -9.2 191 2986 0.00 2.70 0.00 0.000 1030 0.000 0.055 1997 2294 2993 3059 2927 0 0 0 0 0 0 13.57 13.46 13.62

3337 -0.60 -97.3 1998 2294 3060 2924 329.4 -9.1 199 3342 0.00 2.70 0.00 0.000 260 0.000 0.079 1990 3701 2991 3059 2924 0 0 0 0 0 0 14.12 13.40 14.14

3397 -0.60 -97.3 1990 3701 3059 2924 335.0 -9.4 207 3401 0.00 2.60 0.00 0.000 1030 0.000 0.041 1989 2270 2991 3058 2924 0 0 0 0 0 0 13.65 13.58 13.69

3735 -0.60 -97.3 1990 2270 3058 2921 365.7 -9.0 220 3740 0.00 2.65 0.00 0.000 516 0.000 0.055 1990 876 2988 3057 2920 0 0 0 0 0 0 14.13 13.45 14.15

3812 -0.60 -97.3 1990 877 3058 2920 372.8 -8.5 231 3816 0.00 2.70 0.00 0.000 1030 0.000 0.057 1985 2282 2988 3057 2920 0 0 0 0 0 0 13.57 13.44 13.61

4131 -0.60 -97.3 1986 2283 3056 2918 401.0 -9.0 241 4137 0.00 2.72 0.00 0.000 260 0.000 0.080 1982 3704 2986 3055 2918 0 0 0 0 0 0 14.12 13.40 14.14

4191 -0.60 -97.3 1983 3705 3056 2918 406.4 -9.2 249 4196 0.00 2.60 0.00 0.000 1030 0.000 0.041 1982 2276 2986 3054 2918 0 0 0 0 0 0 13.64 13.57 13.67

4532 -0.60 -97.3 1983 2277 3054 2917 438.1 -9.4 262 4537 0.00 2.65 0.00 0.000 516 0.000 0.053 1982 882 2984 3053 2915 0 0 0 0 0 0 14.11 13.45 14.13

4621 -0.60 -97.3 1982 883 3054 2916 447.3 -9.5 275 4626 0.00 2.70 0.00 0.000 1030 0.000 0.056 1977 2285 2984 3053 2915 0 0 0 0 0 0 13.55 13.43 13.59

4699 end dive: TARGET_DEPTH_EXCEEDED

state 4699 begin apogee

4708 -0.19 0.0 1978 2183 3053 2916 454.5 -9.3 279 4822 0.62 0.08 111.35 1.348 10244 0.206 0.146 2134 2210 2599 2708 2490 0 0 0 0 0 0 13.13 13.13 12.47

4823 end apogee: CONTROL_FINISHED_OK

state 4823 begin loiter

5055 -0.18 13.9 2135 2209 2687 2477 460.9 -0.8 314 5074 0.00 0.00 15.38 1.340 9254 0.000 0.000 2134 2210 2537 2647 2428 0 0 0 0 0 0 13.67 13.66 12.60

5391 -0.35 5.6 2134 2209 2635 2421 459.9 0.5 326 5393 0.17 0.00 0.00 0.000 4262 0.101 0.000 2068 2209 2527 2634 2421 0 0 0 0 0 0 13.43 13.52 13.50

5725 -0.42 9.0 2067 2210 2631 2420 460.1 -0.2 332 5726 0.00 0.00 0.00 0.000 166 0.000 0.000 2068 2209 2525 2630 2420 0 0 0 0 0 0 13.94 13.95 13.95

6062 -0.48 28.8 2068 2209 2628 2419 463.4 -1.1 338 6079 0.00 0.00 16.45 1.427 8358 0.000 0.000 2068 2209 2481 2592 2370 0 0 0 0 0 0 14.00 13.54 12.76

6399 -0.56 12.6 2068 2209 2577 2361 461.1 0.9 344 6400 0.17 0.00 0.00 0.000 4262 0.106 0.000 1999 2209 2468 2576 2361 0 0 0 0 0 0 13.51 13.62 13.59

6733 -0.56 12.6 2000 2209 2572 2360 456.8 1.4 350 6734 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2465 2571 2360 0 0 0 0 0 0 14.02 14.04 14.04

7069 -0.56 12.6 2000 2210 2571 2360 450.2 2.1 356 7070 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2464 2570 2359 0 0 0 0 0 0 14.05 14.07 14.07

7407 -0.56 12.6 1999 2210 2570 2359 441.3 2.7 362 7407 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2464 2569 2359 0 0 0 0 0 0 14.05 14.07 14.07

7741 -0.56 12.6 1999 2210 2569 2359 431.0 3.1 368 7742 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2463 2568 2358 0 0 0 0 0 0 14.07 14.09 14.09

8078 -0.56 12.6 1999 2209 2568 2359 424.0 1.8 374 8078 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2209 2462 2567 2358 0 0 0 0 0 0 14.07 14.09 14.09

8414 -0.56 12.6 1999 2210 2567 2358 420.4 1.0 380 8414 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2461 2565 2358 0 0 0 0 0 0 14.07 14.09 14.09

8751 -0.57 7.0 2000 2209 2565 2358 418.8 0.3 386 8752 0.00 0.00 0.00 0.000 38 0.000 0.000 1999 2209 2461 2565 2357 0 0 0 0 0 0 14.06 14.08 14.08

9085 -0.58 -6.9 1999 2209 2565 2358 416.6 0.8 392 9086 0.00 0.00 0.00 0.000 38 0.000 0.000 1999 2209 2460 2564 2357 0 0 0 0 0 0 14.07 14.09 14.09

9421 -0.58 -6.9 1999 2210 2566 2358 411.4 1.7 398 9422 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2460 2563 2357 0 0 0 0 0 0 14.08 14.09 14.09

9757 -0.58 -6.9 1999 2210 2564 2357 406.0 1.5 404 9758 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2460 2563 2357 0 0 0 0 0 0 14.07 14.09 14.09

10095 -0.58 -6.9 1999 2210 2563 2357 402.0 1.2 410 10095 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2459 2563 2356 0 0 0 0 0 0 14.07 14.08 14.08

10429 -0.58 -6.9 2000 2210 2563 2357 397.2 1.5 416 10430 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2459 2561 2357 0 0 0 0 0 0 14.07 14.09 14.09

10765 -0.58 -6.9 1999 2209 2562 2357 392.0 1.6 422 10766 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2458 2561 2356 0 0 0 0 0 0 14.07 14.09 14.09

11101 -0.58 -6.9 1999 2210 2562 2357 385.9 1.8 428 11102 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2458 2560 2357 0 0 0 0 0 0 14.07 14.09 14.09

11439 -0.58 -6.9 2000 2210 2561 2357 381.0 1.4 434 11439 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2458 2560 2356 0 0 0 0 0 0 14.06 14.07 14.08

11774 -0.58 -22.2 1999 2210 2561 2357 377.8 0.9 440 11775 0.00 0.00 0.00 0.000 38 0.000 0.000 1999 2209 2458 2560 2357 0 0 0 0 0 0 14.07 14.08 14.08

12110 -0.58 -22.2 1999 2210 2561 2357 371.7 2.1 446 12110 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2458 2560 2357 0 0 0 0 0 0 14.07 14.08 14.08

12446 -0.58 -22.2 2000 2210 2560 2357 362.4 2.9 452 12446 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2458 2560 2357 0 0 0 0 0 0 14.07 14.08 14.08

12783 -0.58 -22.2 2000 2210 2560 2358 352.7 2.9 458 12784 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2457 2559 2356 0 0 0 0 0 0 14.05 14.07 14.07

13117 -0.58 -22.2 2000 2210 2560 2357 347.3 1.3 464 13118 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2457 2559 2356 0 0 0 0 0 0 14.06 14.08 14.08

13453 -0.58 -17.1 1999 2210 2560 2357 347.9 -0.3 470 13454 0.00 0.00 0.00 0.000 38 0.000 0.000 1999 2209 2458 2559 2357 0 0 0 0 0 0 14.06 14.08 14.08

13789 -0.58 -22.6 2000 2210 2560 2357 347.5 0.3 476 13790 0.00 0.00 0.00 0.000 38 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.06 14.08 14.07

14127 -0.58 -22.6 2000 2209 2559 2357 342.3 1.8 482 14127 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2458 2559 2357 0 0 0 0 0 0 14.04 14.07 14.07

14461 -0.58 -22.6 2000 2210 2560 2357 331.1 3.5 488 14462 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2458 2559 2357 0 0 0 0 0 0 14.05 14.07 14.07

14797 -0.59 -39.5 2000 2209 2559 2357 325.7 1.0 494 14798 0.00 0.00 0.00 0.000 38 0.000 0.000 1999 2209 2458 2559 2357 0 0 0 0 0 0 14.05 14.07 14.07

15135 -0.59 -35.7 2000 2210 2560 2356 326.6 -0.2 500 15136 0.00 0.00 0.00 0.000 38 0.000 0.000 1999 2209 2458 2559 2357 0 0 0 0 0 0 14.04 14.06 14.06

15470 -0.59 -35.7 2000 2210 2559 2357 323.3 1.3 506 15470 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2458 2559 2357 0 0 0 0 0 0 14.04 14.07 14.09

15806 -0.59 -35.7 2000 2210 2560 2357 317.1 1.8 512 15806 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.04 14.07 14.06

16141 -0.59 -35.7 2000 2209 2559 2357 312.5 1.2 518 16142 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2458 2559 2357 0 0 0 0 0 0 14.04 14.06 14.06

16479 -0.59 -35.7 2000 2210 2559 2357 306.2 2.2 524 16480 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2458 2559 2357 0 0 0 0 0 0 14.03 14.05 14.04

16813 -0.59 -35.7 2000 2210 2560 2357 296.2 3.0 530 16814 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.04 14.06 14.06

17149 -0.59 -35.7 2000 2210 2560 2357 287.8 2.4 536 17150 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.04 14.06 14.06

17485 -0.59 -35.7 1999 2210 2560 2357 282.4 1.4 542 17486 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.04 14.06 14.06

17823 -0.59 -35.7 1999 2210 2560 2357 278.5 1.1 548 17823 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2209 2457 2558 2357 0 0 0 0 0 0 14.01 14.05 14.04

18157 -0.60 -40.2 2000 2209 2559 2357 276.9 0.3 554 18158 0.00 0.00 0.00 0.000 38 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.03 14.05 14.05

18493 -0.60 -49.7 1999 2210 2559 2357 275.9 0.5 560 18494 0.00 0.00 0.00 0.000 38 0.000 0.000 1999 2209 2458 2559 2357 0 0 0 0 0 0 14.04 14.05 14.04

18829 -0.60 -49.7 1999 2210 2559 2357 269.9 1.9 566 18830 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.03 14.05 14.05

19167 -0.60 -49.7 2000 2210 2559 2357 264.5 1.5 572 19167 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.02 14.04 14.04

19501 -0.61 -66.4 2000 2209 2559 2357 261.0 1.0 578 19502 0.00 0.00 0.00 0.000 38 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.03 14.04 14.04

19837 -0.62 -80.1 2000 2209 2559 2357 258.2 0.8 584 19838 0.00 0.00 0.00 0.000 38 0.000 0.000 1999 2209 2458 2559 2357 0 0 0 0 0 0 14.02 14.04 14.02

20173 -0.62 -80.1 2000 2210 2560 2357 254.4 1.4 590 20174 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.02 14.04 14.04

20511 -0.62 -80.1 2000 2210 2559 2357 247.7 1.9 596 20511 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.01 14.03 14.02

20845 -0.62 -85.8 1999 2210 2560 2357 245.4 0.3 602 20846 0.00 0.00 0.00 0.000 38 0.000 0.000 1999 2209 2458 2559 2357 0 0 0 0 0 0 14.02 14.04 14.03

21181 -0.63 -99.5 2000 2210 2559 2357 243.5 0.8 608 21182 0.00 0.00 0.00 0.000 38 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.02 14.04 14.03

21519 -0.63 -99.5 1999 2210 2560 2357 236.8 2.3 614 21519 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.01 14.02 14.02

21853 -0.63 -99.5 1999 2210 2560 2357 227.8 2.4 620 21854 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.02 14.03 14.03

22189 -0.64 -109.6 2000 2209 2560 2357 225.7 0.6 626 22190 0.00 0.00 0.00 0.000 38 0.000 0.000 2000 2209 2457 2558 2357 0 0 0 0 0 0 14.02 14.03 14.03

22525 -0.64 -109.6 2000 2208 2559 2357 220.8 1.4 632 22526 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2209 2457 2558 2357 0 0 0 0 0 0 14.01 14.02 14.05

22857 end loiter: LOITER_COMPLETE

state 22857 begin climb

22863 0.81 97.3 1999 2210 2560 2357 221.9 0.0 638 22954 1.88 2.80 80.30 1.148 10500 0.220 0.073 2452 3615 2193 2314 2073 0 0 0 0 0 0 12.88 13.26 12.61

23109 0.81 107.9 2453 3615 2297 2072 208.8 7.7 674 23123 0.00 2.65 4.72 0.931 9254 0.000 0.048 2462 2210 2160 2275 2046 0 0 0 0 0 0 13.35 13.26 12.53

23481 0.81 109.1 2462 2210 2276 2053 179.2 8.3 684 23490 0.00 2.78 1.80 0.173 8740 0.000 0.061 2473 795 2155 2266 2044 0 0 0 0 0 0 13.81 13.35 13.24

23652 0.82 118.8 2473 796 2268 2054 165.0 7.8 709 23678 0.00 2.72 18.45 1.094 9254 0.000 0.050 2472 2203 2108 2226 1991 0 0 0 0 0 0 13.41 13.31 12.78

24044 0.82 118.8 2473 2203 2212 1985 132.1 8.8 722 24049 0.00 2.75 0.00 0.000 260 0.000 0.076 2473 3615 2098 2211 1985 0 0 0 0 0 0 13.84 13.25 13.85

24147 0.77 118.8 2473 3615 2210 1985 121.6 9.2 737 24159 0.12 2.70 0.00 0.000 5254 0.225 0.048 2451 2201 2097 2210 1985 0 0 0 0 0 0 12.92 13.27 13.09

24497 0.79 151.1 2452 2200 2211 1985 98.2 6.5 744 24523 0.00 0.00 20.62 0.407 8742 0.000 0.000 2451 2201 1984 2104 1865 0 0 0 0 0 0 13.87 13.31 12.99

24832 0.88 207.7 2451 2202 2106 1879 79.0 5.1 759 24887 0.00 2.80 42.60 0.372 8612 0.000 0.075 2451 3617 1761 1859 1664 0 0 0 0 0 0 13.87 13.43 13.14

24931 0.98 247.7 2452 3617 1859 1668 74.5 6.0 770 24978 0.20 2.70 31.60 0.351 11430 0.105 0.049 2524 2180 1601 1688 1514 0 0 0 0 0 0 13.33 13.36 13.09

25289 1.11 325.2 2525 2180 1688 1514 53.5 3.9 787 25355 0.12 2.83 57.88 0.289 10660 0.126 0.073 2579 3611 1275 1347 1203 0 0 0 0 0 0 13.40 13.43 13.19

25418 1.11 325.2 2579 3612 1349 1208 43.5 9.6 806 25430 0.00 2.72 0.00 0.000 1030 0.000 0.049 2587 2185 1277 1347 1208 0 0 0 0 0 0 13.31 13.26 13.37

25734 1.11 325.2 2587 2186 1348 1208 15.1 8.9 818 25739 0.00 2.70 0.00 0.000 516 0.000 0.060 2596 781 1277 1347 1208 0 0 0 0 0 0 13.83 13.28 13.84

25847 end climb: SURFACE_DEPTH_REACHED

state 25847 begin surface coast

25881 end surface coast: CONTROL_FINISHED_OK

state 25881 begin surface

ID	190	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	40	XPDR_INHIBIT	90
MISSION	9	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	50	INT_PRESSURE_SLOPE	0.0097660003
DIVE	752	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	3.0
MAX_BUOY	100	PITCH_GAIN	26	AD7714Ch0Gain	1	SC_XMITPROFILE	3.0
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	49	XPDR_VALID	6

GPS1	010417,050650,953.4077,-12519.6162,38,0.8,38,9.2,0.0,0.0,10,8.5	SPEED_LIMITS	0.144,0.204
_CALLS	3	TGT_NAME	S
_XMS_NAKs	0	TGT_LATLONG	940.910,-12500.000
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.78	MHEAD_RNG_PITCHd_Wd	109.8,42868,-19.5,-8.333,-22.22,1796
_SM_ANGLEo	-61.1	D_GRID	450
GPS2	010417,051858,953.4196,-12519.7568,17,0.8,18,9.2,0.9,306.1,10,7.2

FINISH	0.0,1.022100	_10V_AH	11.57,0.000
SM_CCo	25904,116.53,0.132,0,0,557,500.17	FG_AHR_24Vo	0.000
SM_GC	0.78,7.57,2.95,116.53,0.079,0.053,0.132,222,2293,557,-6.14,-0.51,500.17,0,0,0,0,0,0,13.38,13.33,13.33	FG_AHR_10Vo	0.000
IRIDIUM_FIX	947.31,-12516.74,010417,050909	MEM	334192
TT8_MAMPS	0.040446,0.292859	DATA_FILE_SIZE	36773,838
HUMID	58.42	CAP_FILE_SIZE	135402,0
INTERNAL_PRESSURE	9.08238	CFSIZE	260034560,170057728
TCM_TEMP	18.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	24	CURRENT	0.063,332.07,1
_24V_AH	12.22,285.536	GPS	010417,123404,953.972,-12519.778,32,0.7,33,9.2,0.5,23.9,12,9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	400	103.77	SciConCT	3274	25	1000.22
Roll_motor	92	1910	2148.70	nil	0	0	0.00
VBD_pump_during_apogee	401	1427	6997.63	nil	0	0	0.00
VBD_pump_during_surface	116	131	187.36	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	460	152	857.14	PMAR	0	0	0.00
Transponder_ping	6	420	30.79	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	22	5.14
TT8	0	0	0.00
LPSleep	20802	2	527.09
TT8_Active	645	10	80.38
TT8_Sampling	4714	28	1568.37
TT8_CF8	568	35	233.60
TT8_Kalman	0	0	0.00
Analog_circuits	1880	11	254.52
GPS_charging	0	0	0.00
Compass	3877	0	33.65
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	198	2317	597	533	0.0	0.0	0	98	0.00	0.00	-89.25	0.000	16386	0.000	0.000	197	2316	2830	2843	2817	0	0	0	0	0	0	13.74	28.83	13.76
103	-0.81	-97.3	198	2317	2846	2817	3.2	-4.2	3	128	9.82	3.05	-3.08	0.000	18948	0.400	1.910	1933	889	3001	3051	2951	0	0	0	0	0	0	13.12	12.22	13.37
230	-0.60	-97.3	1933	889	3055	2947	41.4	-26.6	21	236	0.38	2.65	0.00	0.000	3206	0.281	0.053	2001	2278	3000	3054	2947	0	0	0	0	0	0	12.99	13.38	13.31
557	-0.60	-97.3	2001	2279	3059	2946	81.7	-8.0	34	562	0.00	2.67	0.00	0.000	292	0.000	0.070	1991	3700	3001	3057	2946	0	0	0	0	0	0	13.95	13.40	13.96
740	-0.60	-97.3	1991	3700	3059	2946	97.0	-8.5	60	745	0.00	2.55	0.00	0.000	1030	0.000	0.037	1991	2279	3002	3059	2946	0	0	0	0	0	0	13.61	13.54	13.63
1069	-0.60	-97.3	1990	2280	3061	2946	122.8	-7.9	68	1074	0.00	2.62	0.00	0.000	548	0.000	0.049	1991	880	3003	3060	2946	0	0	0	0	0	0	14.06	13.48	14.07
1128	-0.60	-97.3	1991	880	3061	2946	128.1	-8.7	76	1133	0.00	2.67	0.00	0.000	1030	0.000	0.052	1986	2291	3002	3060	2945	0	0	0	0	0	0	13.59	13.47	13.62
1467	-0.60	-97.3	1986	2291	3060	2945	157.9	-8.9	89	1473	0.00	2.67	0.00	0.000	260	0.000	0.076	1978	3699	3002	3060	2944	0	0	0	0	0	0	14.10	13.43	14.12
1584	-0.60	-97.3	1978	3700	3061	2944	169.1	-9.7	105	1590	0.00	2.58	0.00	0.000	1030	0.000	0.037	1978	2278	3001	3060	2943	0	0	0	0	0	0	13.65	13.58	13.67
1924	-0.60	-97.3	1978	2278	3060	2940	202.1	-9.7	118	1929	0.00	2.62	0.00	0.000	516	0.000	0.050	1978	884	2999	3060	2939	0	0	0	0	0	0	14.11	13.48	14.14
2071	-0.60	-97.3	1978	884	3060	2938	217.1	-9.3	139	2076	0.15	2.67	0.00	0.000	3078	0.236	0.054	2004	2283	2999	3060	2938	0	0	0	0	0	0	13.15	13.46	13.43
2432	-0.60	-97.3	2004	2282	3061	2935	246.3	-8.2	148	2437	0.00	2.67	0.00	0.000	292	0.000	0.076	1997	3698	2996	3059	2934	0	0	0	0	0	0	14.12	13.41	14.14
2551	-0.60	-97.3	1997	3698	3060	2933	257.0	-9.1	165	2556	0.00	2.58	0.00	0.000	1030	0.000	0.039	1997	2278	2996	3059	2933	0	0	0	0	0	0	13.65	13.58	13.67
2884	-0.60	-97.3	1997	2280	3061	2928	287.9	-9.4	177	2889	0.00	2.65	0.00	0.000	516	0.000	0.052	1997	884	2993	3059	2927	0	0	0	0	0	0	14.12	13.47	14.14
2981	-0.60	-97.3	1998	885	3060	2927	297.5	-9.2	191	2986	0.00	2.70	0.00	0.000	1030	0.000	0.055	1997	2294	2993	3059	2927	0	0	0	0	0	0	13.57	13.46	13.62
3337	-0.60	-97.3	1998	2294	3060	2924	329.4	-9.1	199	3342	0.00	2.70	0.00	0.000	260	0.000	0.079	1990	3701	2991	3059	2924	0	0	0	0	0	0	14.12	13.40	14.14
3397	-0.60	-97.3	1990	3701	3059	2924	335.0	-9.4	207	3401	0.00	2.60	0.00	0.000	1030	0.000	0.041	1989	2270	2991	3058	2924	0	0	0	0	0	0	13.65	13.58	13.69
3735	-0.60	-97.3	1990	2270	3058	2921	365.7	-9.0	220	3740	0.00	2.65	0.00	0.000	516	0.000	0.055	1990	876	2988	3057	2920	0	0	0	0	0	0	14.13	13.45	14.15
3812	-0.60	-97.3	1990	877	3058	2920	372.8	-8.5	231	3816	0.00	2.70	0.00	0.000	1030	0.000	0.057	1985	2282	2988	3057	2920	0	0	0	0	0	0	13.57	13.44	13.61
4131	-0.60	-97.3	1986	2283	3056	2918	401.0	-9.0	241	4137	0.00	2.72	0.00	0.000	260	0.000	0.080	1982	3704	2986	3055	2918	0	0	0	0	0	0	14.12	13.40	14.14
4191	-0.60	-97.3	1983	3705	3056	2918	406.4	-9.2	249	4196	0.00	2.60	0.00	0.000	1030	0.000	0.041	1982	2276	2986	3054	2918	0	0	0	0	0	0	13.64	13.57	13.67
4532	-0.60	-97.3	1983	2277	3054	2917	438.1	-9.4	262	4537	0.00	2.65	0.00	0.000	516	0.000	0.053	1982	882	2984	3053	2915	0	0	0	0	0	0	14.11	13.45	14.13
4621	-0.60	-97.3	1982	883	3054	2916	447.3	-9.5	275	4626	0.00	2.70	0.00	0.000	1030	0.000	0.056	1977	2285	2984	3053	2915	0	0	0	0	0	0	13.55	13.43	13.59
4699	end dive: TARGET_DEPTH_EXCEEDED
state	4699	begin apogee
4708	-0.19	0.0	1978	2183	3053	2916	454.5	-9.3	279	4822	0.62	0.08	111.35	1.348	10244	0.206	0.146	2134	2210	2599	2708	2490	0	0	0	0	0	0	13.13	13.13	12.47
4823	end apogee: CONTROL_FINISHED_OK
state	4823	begin loiter
5055	-0.18	13.9	2135	2209	2687	2477	460.9	-0.8	314	5074	0.00	0.00	15.38	1.340	9254	0.000	0.000	2134	2210	2537	2647	2428	0	0	0	0	0	0	13.67	13.66	12.60
5391	-0.35	5.6	2134	2209	2635	2421	459.9	0.5	326	5393	0.17	0.00	0.00	0.000	4262	0.101	0.000	2068	2209	2527	2634	2421	0	0	0	0	0	0	13.43	13.52	13.50
5725	-0.42	9.0	2067	2210	2631	2420	460.1	-0.2	332	5726	0.00	0.00	0.00	0.000	166	0.000	0.000	2068	2209	2525	2630	2420	0	0	0	0	0	0	13.94	13.95	13.95
6062	-0.48	28.8	2068	2209	2628	2419	463.4	-1.1	338	6079	0.00	0.00	16.45	1.427	8358	0.000	0.000	2068	2209	2481	2592	2370	0	0	0	0	0	0	14.00	13.54	12.76
6399	-0.56	12.6	2068	2209	2577	2361	461.1	0.9	344	6400	0.17	0.00	0.00	0.000	4262	0.106	0.000	1999	2209	2468	2576	2361	0	0	0	0	0	0	13.51	13.62	13.59
6733	-0.56	12.6	2000	2209	2572	2360	456.8	1.4	350	6734	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2465	2571	2360	0	0	0	0	0	0	14.02	14.04	14.04
7069	-0.56	12.6	2000	2210	2571	2360	450.2	2.1	356	7070	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2464	2570	2359	0	0	0	0	0	0	14.05	14.07	14.07
7407	-0.56	12.6	1999	2210	2570	2359	441.3	2.7	362	7407	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2464	2569	2359	0	0	0	0	0	0	14.05	14.07	14.07
7741	-0.56	12.6	1999	2210	2569	2359	431.0	3.1	368	7742	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2463	2568	2358	0	0	0	0	0	0	14.07	14.09	14.09
8078	-0.56	12.6	1999	2209	2568	2359	424.0	1.8	374	8078	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2209	2462	2567	2358	0	0	0	0	0	0	14.07	14.09	14.09
8414	-0.56	12.6	1999	2210	2567	2358	420.4	1.0	380	8414	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2461	2565	2358	0	0	0	0	0	0	14.07	14.09	14.09
8751	-0.57	7.0	2000	2209	2565	2358	418.8	0.3	386	8752	0.00	0.00	0.00	0.000	38	0.000	0.000	1999	2209	2461	2565	2357	0	0	0	0	0	0	14.06	14.08	14.08
9085	-0.58	-6.9	1999	2209	2565	2358	416.6	0.8	392	9086	0.00	0.00	0.00	0.000	38	0.000	0.000	1999	2209	2460	2564	2357	0	0	0	0	0	0	14.07	14.09	14.09
9421	-0.58	-6.9	1999	2210	2566	2358	411.4	1.7	398	9422	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2460	2563	2357	0	0	0	0	0	0	14.08	14.09	14.09
9757	-0.58	-6.9	1999	2210	2564	2357	406.0	1.5	404	9758	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2460	2563	2357	0	0	0	0	0	0	14.07	14.09	14.09
10095	-0.58	-6.9	1999	2210	2563	2357	402.0	1.2	410	10095	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2459	2563	2356	0	0	0	0	0	0	14.07	14.08	14.08
10429	-0.58	-6.9	2000	2210	2563	2357	397.2	1.5	416	10430	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2459	2561	2357	0	0	0	0	0	0	14.07	14.09	14.09
10765	-0.58	-6.9	1999	2209	2562	2357	392.0	1.6	422	10766	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2458	2561	2356	0	0	0	0	0	0	14.07	14.09	14.09
11101	-0.58	-6.9	1999	2210	2562	2357	385.9	1.8	428	11102	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2458	2560	2357	0	0	0	0	0	0	14.07	14.09	14.09
11439	-0.58	-6.9	2000	2210	2561	2357	381.0	1.4	434	11439	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2458	2560	2356	0	0	0	0	0	0	14.06	14.07	14.08
11774	-0.58	-22.2	1999	2210	2561	2357	377.8	0.9	440	11775	0.00	0.00	0.00	0.000	38	0.000	0.000	1999	2209	2458	2560	2357	0	0	0	0	0	0	14.07	14.08	14.08
12110	-0.58	-22.2	1999	2210	2561	2357	371.7	2.1	446	12110	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2458	2560	2357	0	0	0	0	0	0	14.07	14.08	14.08
12446	-0.58	-22.2	2000	2210	2560	2357	362.4	2.9	452	12446	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2458	2560	2357	0	0	0	0	0	0	14.07	14.08	14.08
12783	-0.58	-22.2	2000	2210	2560	2358	352.7	2.9	458	12784	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2457	2559	2356	0	0	0	0	0	0	14.05	14.07	14.07
13117	-0.58	-22.2	2000	2210	2560	2357	347.3	1.3	464	13118	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2457	2559	2356	0	0	0	0	0	0	14.06	14.08	14.08
13453	-0.58	-17.1	1999	2210	2560	2357	347.9	-0.3	470	13454	0.00	0.00	0.00	0.000	38	0.000	0.000	1999	2209	2458	2559	2357	0	0	0	0	0	0	14.06	14.08	14.08
13789	-0.58	-22.6	2000	2210	2560	2357	347.5	0.3	476	13790	0.00	0.00	0.00	0.000	38	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.06	14.08	14.07
14127	-0.58	-22.6	2000	2209	2559	2357	342.3	1.8	482	14127	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2458	2559	2357	0	0	0	0	0	0	14.04	14.07	14.07
14461	-0.58	-22.6	2000	2210	2560	2357	331.1	3.5	488	14462	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2458	2559	2357	0	0	0	0	0	0	14.05	14.07	14.07
14797	-0.59	-39.5	2000	2209	2559	2357	325.7	1.0	494	14798	0.00	0.00	0.00	0.000	38	0.000	0.000	1999	2209	2458	2559	2357	0	0	0	0	0	0	14.05	14.07	14.07
15135	-0.59	-35.7	2000	2210	2560	2356	326.6	-0.2	500	15136	0.00	0.00	0.00	0.000	38	0.000	0.000	1999	2209	2458	2559	2357	0	0	0	0	0	0	14.04	14.06	14.06
15470	-0.59	-35.7	2000	2210	2559	2357	323.3	1.3	506	15470	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2458	2559	2357	0	0	0	0	0	0	14.04	14.07	14.09
15806	-0.59	-35.7	2000	2210	2560	2357	317.1	1.8	512	15806	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.04	14.07	14.06
16141	-0.59	-35.7	2000	2209	2559	2357	312.5	1.2	518	16142	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2458	2559	2357	0	0	0	0	0	0	14.04	14.06	14.06
16479	-0.59	-35.7	2000	2210	2559	2357	306.2	2.2	524	16480	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2458	2559	2357	0	0	0	0	0	0	14.03	14.05	14.04
16813	-0.59	-35.7	2000	2210	2560	2357	296.2	3.0	530	16814	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.04	14.06	14.06
17149	-0.59	-35.7	2000	2210	2560	2357	287.8	2.4	536	17150	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.04	14.06	14.06
17485	-0.59	-35.7	1999	2210	2560	2357	282.4	1.4	542	17486	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.04	14.06	14.06
17823	-0.59	-35.7	1999	2210	2560	2357	278.5	1.1	548	17823	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2209	2457	2558	2357	0	0	0	0	0	0	14.01	14.05	14.04
18157	-0.60	-40.2	2000	2209	2559	2357	276.9	0.3	554	18158	0.00	0.00	0.00	0.000	38	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.03	14.05	14.05
18493	-0.60	-49.7	1999	2210	2559	2357	275.9	0.5	560	18494	0.00	0.00	0.00	0.000	38	0.000	0.000	1999	2209	2458	2559	2357	0	0	0	0	0	0	14.04	14.05	14.04
18829	-0.60	-49.7	1999	2210	2559	2357	269.9	1.9	566	18830	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.03	14.05	14.05
19167	-0.60	-49.7	2000	2210	2559	2357	264.5	1.5	572	19167	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.02	14.04	14.04
19501	-0.61	-66.4	2000	2209	2559	2357	261.0	1.0	578	19502	0.00	0.00	0.00	0.000	38	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.03	14.04	14.04
19837	-0.62	-80.1	2000	2209	2559	2357	258.2	0.8	584	19838	0.00	0.00	0.00	0.000	38	0.000	0.000	1999	2209	2458	2559	2357	0	0	0	0	0	0	14.02	14.04	14.02
20173	-0.62	-80.1	2000	2210	2560	2357	254.4	1.4	590	20174	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.02	14.04	14.04
20511	-0.62	-80.1	2000	2210	2559	2357	247.7	1.9	596	20511	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.01	14.03	14.02
20845	-0.62	-85.8	1999	2210	2560	2357	245.4	0.3	602	20846	0.00	0.00	0.00	0.000	38	0.000	0.000	1999	2209	2458	2559	2357	0	0	0	0	0	0	14.02	14.04	14.03
21181	-0.63	-99.5	2000	2210	2559	2357	243.5	0.8	608	21182	0.00	0.00	0.00	0.000	38	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.02	14.04	14.03
21519	-0.63	-99.5	1999	2210	2560	2357	236.8	2.3	614	21519	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.01	14.02	14.02
21853	-0.63	-99.5	1999	2210	2560	2357	227.8	2.4	620	21854	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.02	14.03	14.03
22189	-0.64	-109.6	2000	2209	2560	2357	225.7	0.6	626	22190	0.00	0.00	0.00	0.000	38	0.000	0.000	2000	2209	2457	2558	2357	0	0	0	0	0	0	14.02	14.03	14.03
22525	-0.64	-109.6	2000	2208	2559	2357	220.8	1.4	632	22526	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2209	2457	2558	2357	0	0	0	0	0	0	14.01	14.02	14.05
22857	end loiter: LOITER_COMPLETE
state	22857	begin climb
22863	0.81	97.3	1999	2210	2560	2357	221.9	0.0	638	22954	1.88	2.80	80.30	1.148	10500	0.220	0.073	2452	3615	2193	2314	2073	0	0	0	0	0	0	12.88	13.26	12.61
23109	0.81	107.9	2453	3615	2297	2072	208.8	7.7	674	23123	0.00	2.65	4.72	0.931	9254	0.000	0.048	2462	2210	2160	2275	2046	0	0	0	0	0	0	13.35	13.26	12.53
23481	0.81	109.1	2462	2210	2276	2053	179.2	8.3	684	23490	0.00	2.78	1.80	0.173	8740	0.000	0.061	2473	795	2155	2266	2044	0	0	0	0	0	0	13.81	13.35	13.24
23652	0.82	118.8	2473	796	2268	2054	165.0	7.8	709	23678	0.00	2.72	18.45	1.094	9254	0.000	0.050	2472	2203	2108	2226	1991	0	0	0	0	0	0	13.41	13.31	12.78
24044	0.82	118.8	2473	2203	2212	1985	132.1	8.8	722	24049	0.00	2.75	0.00	0.000	260	0.000	0.076	2473	3615	2098	2211	1985	0	0	0	0	0	0	13.84	13.25	13.85
24147	0.77	118.8	2473	3615	2210	1985	121.6	9.2	737	24159	0.12	2.70	0.00	0.000	5254	0.225	0.048	2451	2201	2097	2210	1985	0	0	0	0	0	0	12.92	13.27	13.09
24497	0.79	151.1	2452	2200	2211	1985	98.2	6.5	744	24523	0.00	0.00	20.62	0.407	8742	0.000	0.000	2451	2201	1984	2104	1865	0	0	0	0	0	0	13.87	13.31	12.99
24832	0.88	207.7	2451	2202	2106	1879	79.0	5.1	759	24887	0.00	2.80	42.60	0.372	8612	0.000	0.075	2451	3617	1761	1859	1664	0	0	0	0	0	0	13.87	13.43	13.14
24931	0.98	247.7	2452	3617	1859	1668	74.5	6.0	770	24978	0.20	2.70	31.60	0.351	11430	0.105	0.049	2524	2180	1601	1688	1514	0	0	0	0	0	0	13.33	13.36	13.09
25289	1.11	325.2	2525	2180	1688	1514	53.5	3.9	787	25355	0.12	2.83	57.88	0.289	10660	0.126	0.073	2579	3611	1275	1347	1203	0	0	0	0	0	0	13.40	13.43	13.19
25418	1.11	325.2	2579	3612	1349	1208	43.5	9.6	806	25430	0.00	2.72	0.00	0.000	1030	0.000	0.049	2587	2185	1277	1347	1208	0	0	0	0	0	0	13.31	13.26	13.37
25734	1.11	325.2	2587	2186	1348	1208	15.1	8.9	818	25739	0.00	2.70	0.00	0.000	516	0.000	0.060	2596	781	1277	1347	1208	0	0	0	0	0	0	13.83	13.28	13.84
25847	end climb: SURFACE_DEPTH_REACHED
state	25847	begin surface coast
25881	end surface coast: CONTROL_FINISHED_OK
state	25881	begin surface