Glider dive log

SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 764 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 190 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 34 XPDR_INHIBIT 90

MISSION 9 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 50 INT_PRESSURE_SLOPE 0.0097660003

DIVE 764 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 29 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 29 VBD_CNV -0.24529999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 34 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 3.0 VBD_LP_IGNORE 0

DIVE 764 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 040417,224733,957.7566,-12524.9023,33,0.8,34,9.2,0.0,0.0,11,8.8 SPEED_LIMITS 0.144,0.204

_CALLS 1 TGT_NAME S

_XMS_NAKs 0 TGT_LATLONG 940.910,-12500.000

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.76 MHEAD_RNG_PITCHd_Wd 109.1,55249,-19.5,-8.333,-22.22,1796

_SM_ANGLEo -62.3 D_GRID 450

GPS2 040417,225317,957.7866,-12524.9551,13,0.7,14,9.2,0.0,327.6,12,9.5

Post-dive calculations and measurements:

FINISH 0.0,1.022100 FG_AHR_24Vo 0.000

SM_CCo 24713,109.93,0.122,0,0,559,500.17 FG_AHR_10Vo 0.000

SM_GC 0.70,8.65,0.20,109.93,0.064,0.079,0.122,219,2291,559,-6.15,-0.45,500.17,0,0,0,0,0,0,11.73,11.71,11.66 MEM 334192

IRIDIUM_FIX 953.88,-12522.84,040417,151725 DATA_FILE_SIZE 33367,701

TT8_MAMPS 0.043442,0.292859 CAP_FILE_SIZE 118695,0

HUMID 58.15 CFSIZE 260034560,169320448

INTERNAL_PRESSURE 9.13121 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 21.20 INTR 0,4885.96,0x213b74,3,24

XPDR_PINGS 34 CURRENT 0.107,312.46,1

_24V_AH 10.91,288.161 GPS 050417,054833,958.482,-12525.622,37,0.8,37,9.2,0.7,6.3,11,7.5

_10V_AH 10.49,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 397 112.62 SciConCT 3135 25 855.18

Roll_motor 75 1688 1389.32 nil 0 0 0.00

VBD_pump_during_apogee 474 1328 6885.47 nil 0 0 0.00

VBD_pump_during_surface 109 122 146.79 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 207 186 422.67 PMAR 0 0 0.00

Transponder_ping 8 420 38.95 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 22 3.80

TT8 0 0 0.00

LPSleep 19874 2 456.57

TT8_Active 635 10 71.78

TT8_Sampling 4119 28 1242.43

TT8_CF8 525 35 195.72

TT8_Kalman 0 0 0.00

Analog_circuits 1552 11 190.57

GPS_charging 0 0 0.00

Compass 3567 0 28.07

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 -97.3 208 2310 604 531 0.0 0.0 0 98 0.00 0.00 -89.35 0.000 16386 0.000 0.000 207 2310 2779 2793 2765 0 0 0 0 0 0 11.95 28.83 11.97

103 -0.81 -97.3 208 2311 2795 2765 2.6 -3.0 3 128 12.95 3.45 -4.07 0.000 18948 0.398 1.688 1933 857 2998 3049 2948 0 0 0 0 0 0 11.49 10.96 11.78

193 -0.61 -97.3 1933 856 3053 2947 31.7 -26.5 16 198 0.43 3.12 0.00 0.000 3206 0.280 0.053 1995 2270 2999 3052 2946 0 0 0 0 0 0 11.54 11.74 11.76

526 -0.54 -97.3 1995 2270 3057 2946 86.9 -11.2 30 531 0.00 3.12 0.00 0.000 388 0.000 0.070 1985 3703 3001 3056 2946 0 0 0 0 0 0 12.03 11.74 12.05

765 -0.49 -97.3 1985 3703 3059 2946 110.1 -9.8 64 770 0.28 2.97 0.00 0.000 3206 0.222 0.034 2038 2266 3002 3058 2946 0 0 0 0 0 0 11.59 11.82 11.79

1092 -0.49 -97.3 2038 2267 3062 2946 130.1 -5.9 75 1097 0.00 3.20 0.00 0.000 292 0.000 0.070 2031 3698 3002 3060 2945 0 0 0 0 0 0 12.08 11.76 12.09

1132 -0.49 -97.3 2032 3699 3061 2946 133.1 -7.0 81 1138 0.00 2.95 0.00 0.000 1062 0.000 0.035 2031 2282 3003 3061 2946 0 0 0 0 0 0 11.90 11.84 11.91

1489 -0.49 -97.3 2032 2283 3062 2944 160.8 -8.2 89 1495 0.00 3.08 0.00 0.000 548 0.000 0.048 2031 875 3002 3061 2944 0 0 0 0 0 0 12.09 11.80 12.09

1593 -0.53 -97.3 2032 875 3061 2943 170.7 -9.0 104 1604 0.00 3.17 0.00 0.000 1158 0.000 0.050 2029 2289 3001 3060 2943 0 0 0 0 0 0 11.80 11.75 11.83

1943 -0.53 -97.3 2030 2289 3061 2940 198.4 -7.8 111 1948 0.00 3.15 0.00 0.000 292 0.000 0.075 2025 3703 2999 3060 2939 0 0 0 0 0 0 12.09 11.77 12.10

2011 -0.60 -97.3 2025 3703 3061 2938 204.1 -7.5 121 2017 0.00 2.97 0.00 0.000 1190 0.000 0.035 2025 2274 2999 3060 2938 0 0 0 0 0 0 11.91 11.86 11.93

2339 -0.60 -97.3 2025 2275 3062 2935 229.7 -8.0 132 2343 0.00 3.05 0.00 0.000 548 0.000 0.050 2025 873 2997 3060 2935 0 0 0 0 0 0 12.11 11.81 12.12

2422 -0.65 -97.3 2026 874 3061 2934 236.8 -8.1 144 2428 0.12 3.15 0.00 0.000 5286 0.120 0.050 1987 2292 2996 3060 2933 0 0 0 0 0 0 11.80 11.81 11.88

2790 -0.65 -97.3 1988 2293 3061 2929 273.3 -10.3 154 2795 0.00 3.12 0.00 0.000 260 0.000 0.077 1983 3696 2994 3060 2928 0 0 0 0 0 0 12.12 11.78 12.12

2837 -0.65 -97.3 1983 3696 3061 2929 278.5 -10.1 161 2849 0.00 3.03 0.00 0.000 1030 0.000 0.038 1983 2277 2994 3060 2928 0 0 0 0 0 0 11.84 11.81 11.86

3187 -0.65 -97.3 1983 2277 3060 2926 312.6 -10.0 168 3191 0.00 3.05 0.00 0.000 516 0.000 0.051 1983 873 2992 3059 2926 0 0 0 0 0 0 12.10 11.81 12.12

3247 -0.65 -97.3 1982 872 3060 2926 319.2 -9.6 177 3253 0.00 3.15 0.00 0.000 1030 0.000 0.053 1974 2291 2992 3059 2925 0 0 0 0 0 0 11.90 11.81 11.92

3582 -0.65 -97.3 1974 2291 3057 2923 350.8 -9.5 189 3583 0.00 0.00 0.00 0.000 6 0.000 0.000 1973 2291 2989 3057 2922 0 0 0 0 0 0 12.12 12.12 12.12

3920 -0.65 -97.3 1974 2292 3057 2921 379.9 -8.6 195 3924 0.00 3.15 0.00 0.000 516 0.000 0.052 1973 869 2988 3057 2920 0 0 0 0 0 0 12.11 11.81 12.12

3945 -0.65 -97.3 1974 869 3056 2920 382.7 -8.7 199 3950 0.00 3.15 0.00 0.000 1030 0.000 0.055 1973 2280 2988 3056 2920 0 0 0 0 0 0 11.90 11.81 11.93

4314 -0.65 -97.3 1973 2281 3054 2917 417.0 -9.8 209 4315 0.00 0.00 0.00 0.000 6 0.000 0.000 1973 2280 2985 3053 2918 0 0 0 0 0 0 12.13 12.14 12.14

4646 end dive: TARGET_DEPTH_EXCEEDED

state 4646 begin apogee

4657 -0.19 0.0 1974 2182 3053 2917 452.2 -10.6 215 4782 0.75 0.05 122.28 1.329 10244 0.206 0.159 2132 2214 2600 2708 2493 0 0 0 0 0 0 11.64 11.54 11.00

4783 end apogee: CONTROL_FINISHED_OK

state 4783 begin loiter

4835 -0.17 37.3 2133 2214 2693 2482 459.4 -2.1 224 4886 0.00 0.00 49.88 1.308 9254 0.000 0.000 2132 2214 2446 2566 2327 0 0 0 0 0 0 11.86 11.86 10.91

5229 -0.34 37.3 2133 2214 2541 2313 454.1 2.0 238 5230 0.17 0.00 0.00 0.000 4230 0.091 0.000 2078 2215 2426 2540 2313 0 0 0 0 0 0 11.64 11.72 11.71

5565 -0.43 37.3 2079 2215 2536 2311 446.9 2.2 244 5565 0.00 0.00 0.00 0.000 134 0.000 0.000 2079 2215 2422 2535 2310 0 0 0 0 0 0 11.95 11.96 11.96

5901 -0.51 37.3 2079 2215 2534 2310 438.2 2.7 250 5902 0.17 0.00 0.00 0.000 4230 0.094 0.000 2025 2215 2421 2533 2309 0 0 0 0 0 0 11.73 11.81 11.80

6238 -0.51 37.3 2025 2215 2531 2309 427.7 3.2 256 6239 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2419 2530 2309 0 0 0 0 0 0 12.02 12.04 12.04

6572 -0.51 37.3 2025 2215 2529 2309 417.7 3.0 262 6573 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2418 2528 2308 0 0 0 0 0 0 12.05 12.07 12.07

6909 -0.51 37.3 2026 2215 2526 2309 408.5 2.6 268 6909 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2417 2526 2308 0 0 0 0 0 0 12.06 12.07 12.07

7244 -0.51 37.3 2025 2215 2526 2308 400.3 2.4 274 7245 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2416 2525 2308 0 0 0 0 0 0 12.06 12.05 12.07

7582 -0.51 37.3 2026 2215 2524 2308 391.6 2.6 280 7583 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2416 2524 2308 0 0 0 0 0 0 12.06 12.07 12.07

7917 -0.51 37.3 2025 2215 2524 2308 382.5 2.7 286 7918 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2415 2523 2307 0 0 0 0 0 0 12.07 12.08 12.08

8253 -0.51 37.3 2025 2215 2523 2307 375.7 1.9 292 8254 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2215 2414 2522 2306 0 0 0 0 0 0 12.07 12.09 12.09

8589 -0.51 37.3 2026 2215 2523 2307 370.2 1.7 298 8589 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2413 2521 2306 0 0 0 0 0 0 12.07 12.09 12.09

8926 -0.51 37.3 2025 2215 2522 2306 363.7 1.9 304 8927 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2413 2521 2306 0 0 0 0 0 0 12.07 12.08 12.08

9261 -0.51 37.3 2026 2215 2521 2307 356.9 2.0 310 9261 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2413 2521 2306 0 0 0 0 0 0 12.07 12.09 12.09

9597 -0.51 37.3 2026 2214 2520 2307 349.2 2.3 316 9597 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2413 2520 2306 0 0 0 0 0 0 12.08 12.09 12.09

9933 -0.51 37.3 2025 2215 2521 2306 341.2 2.3 322 9933 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2413 2520 2306 0 0 0 0 0 0 12.08 12.11 12.09

10270 -0.51 37.3 2025 2215 2521 2306 334.1 2.2 328 10271 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2215 2413 2520 2306 0 0 0 0 0 0 12.07 12.09 12.09

10604 -0.51 37.3 2026 2215 2520 2307 327.6 1.9 334 10605 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2412 2519 2306 0 0 0 0 0 0 12.08 12.10 12.09

10941 -0.51 37.3 2026 2215 2520 2306 320.0 2.4 340 10941 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2215 2412 2519 2306 0 0 0 0 0 0 12.09 12.10 12.10

11277 -0.51 37.3 2025 2215 2520 2306 311.9 2.3 346 11277 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2412 2519 2305 0 0 0 0 0 0 12.09 12.10 12.10

11614 -0.51 37.3 2025 2215 2520 2306 305.3 1.9 352 11615 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2412 2519 2306 0 0 0 0 0 0 12.08 12.09 12.09

11948 -0.51 37.3 2025 2215 2519 2306 299.3 1.7 358 11949 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2518 2305 0 0 0 0 0 0 12.09 12.11 12.10

12284 -0.51 37.3 2025 2215 2518 2305 292.9 2.0 364 12285 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2412 2518 2306 0 0 0 0 0 0 12.09 12.11 12.11

12621 -0.51 37.3 2026 2215 2519 2306 283.6 2.8 370 12621 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2215 2412 2518 2306 0 0 0 0 0 0 12.09 12.11 12.11

12958 -0.51 37.3 2025 2215 2518 2306 273.5 3.0 376 12959 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2412 2518 2306 0 0 0 0 0 0 12.09 12.10 12.09

13292 -0.51 37.3 2025 2215 2518 2306 263.5 3.0 382 13293 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.09 12.12 12.11

13629 -0.51 37.3 2025 2215 2518 2305 255.9 2.1 388 13629 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2305 0 0 0 0 0 0 12.09 12.11 12.11

13966 -0.51 37.3 2026 2215 2518 2306 249.1 2.0 394 13967 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2213 2411 2517 2306 0 0 0 0 0 0 12.09 12.10 12.10

14301 -0.51 37.3 2026 2215 2518 2306 241.5 2.3 400 14301 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2215 2411 2517 2306 0 0 0 0 0 0 12.10 12.12 12.12

14637 -0.51 37.3 2025 2215 2518 2306 231.7 3.0 406 14637 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2215 2411 2517 2306 0 0 0 0 0 0 12.10 12.11 12.12

14973 -0.51 37.3 2025 2215 2518 2306 224.2 2.0 412 14974 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2305 0 0 0 0 0 0 12.12 12.11 12.11

15310 -0.51 37.3 2025 2214 2518 2306 218.9 1.6 418 15311 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.09 12.10 12.10

15644 -0.51 37.3 2026 2215 2517 2306 214.4 1.4 424 15645 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.10 12.12 12.12

15980 -0.51 37.3 2025 2215 2516 2306 208.3 1.9 430 15981 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.10 12.12 12.12

16316 -0.51 37.3 2026 2215 2517 2306 200.1 2.6 436 16317 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.10 12.12 12.12

16654 -0.51 37.3 2025 2215 2518 2306 189.8 2.9 442 16655 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2305 0 0 0 0 0 0 12.09 12.11 12.11

16988 -0.51 37.3 2025 2215 2518 2306 183.7 1.8 448 16989 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.11 12.12 12.12

17324 -0.51 37.3 2025 2215 2518 2306 177.9 1.7 454 17325 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.10 12.12 12.12

17661 -0.51 37.3 2025 2215 2518 2306 172.4 1.6 460 17661 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.10 12.12 12.12

17998 -0.51 37.3 2026 2215 2517 2306 166.6 1.7 466 17999 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2305 0 0 0 0 0 0 12.09 12.11 12.11

18332 -0.51 37.3 2026 2215 2517 2306 160.3 1.9 472 18333 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2516 2306 0 0 0 0 0 0 12.10 12.12 12.12

18669 -0.51 37.3 2026 2215 2518 2306 154.1 1.5 478 18670 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.10 12.12 12.12

19005 -0.51 37.3 2025 2215 2518 2306 149.8 1.5 484 19006 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.10 12.12 12.12

19342 -0.51 37.3 2025 2215 2518 2306 142.8 2.0 490 19343 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.10 12.11 12.11

19677 -0.51 37.3 2025 2215 2518 2306 134.6 2.5 496 19677 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2516 2306 0 0 0 0 0 0 12.10 12.12 12.12

20013 -0.51 37.3 2025 2215 2518 2306 129.8 1.2 502 20013 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.10 12.12 12.12

20349 -0.51 39.0 2026 2215 2517 2306 129.6 -0.1 508 20349 0.00 0.00 0.00 0.000 38 0.000 0.000 2025 2214 2411 2516 2306 0 0 0 0 0 0 12.10 12.12 12.12

20686 -0.51 39.0 2025 2215 2518 2306 124.7 2.0 514 20687 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.09 12.11 12.11

21020 -0.51 39.0 2026 2215 2518 2306 119.3 1.3 520 21021 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.11 12.12 12.12

21357 -0.52 26.1 2026 2215 2518 2306 116.1 0.7 526 21357 0.00 0.00 0.00 0.000 38 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.10 12.12 12.12

21693 -0.53 11.8 2026 2215 2518 2306 113.7 0.8 532 21693 0.00 0.00 0.00 0.000 38 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.11 12.12 12.12

22030 -0.52 21.5 2026 2214 2517 2306 114.6 -0.6 538 22031 0.00 0.00 0.00 0.000 38 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.09 12.11 12.11

22367 -0.53 14.8 2026 2215 2518 2306 115.0 0.4 544 22367 0.00 0.00 0.00 0.000 38 0.000 0.000 2025 2214 2410 2516 2305 0 0 0 0 0 0 12.09 12.11 12.10

22701 -0.52 18.0 2026 2215 2517 2307 114.3 -0.2 550 22702 0.00 0.00 0.00 0.000 38 0.000 0.000 2025 2214 2411 2517 2306 0 0 0 0 0 0 12.10 12.12 12.12

22809 end loiter: LOITER_COMPLETE

state 22809 begin climb

22814 0.81 97.3 2026 2215 2518 2306 115.0 0.0 552 22873 2.00 3.22 51.08 0.481 10756 0.215 0.054 2457 796 2204 2329 2080 0 0 0 0 0 0 11.57 11.70 11.45

23006 0.82 125.1 2458 796 2330 2096 106.1 6.7 580 23044 0.00 3.12 29.65 0.437 9254 0.000 0.048 2457 2205 2091 2219 1963 0 0 0 0 0 0 11.86 11.78 11.44

23383 0.88 215.2 2458 2205 2220 1977 86.6 3.2 601 23470 0.00 0.00 85.18 0.395 8742 0.000 0.000 2457 2205 1721 1831 1612 0 0 0 0 0 0 12.02 11.74 11.45

23802 1.01 259.4 2458 2205 1831 1632 67.1 5.8 625 23853 0.22 3.20 42.83 0.318 10660 0.088 0.072 2531 3614 1546 1645 1448 0 0 0 0 0 0 11.73 11.67 11.48

24006 1.05 314.0 2532 3614 1646 1460 55.1 5.2 653 24066 0.00 3.05 53.12 0.284 9254 0.000 0.044 2539 2202 1318 1400 1237 0 0 0 0 0 0 11.81 11.75 11.51

24406 1.14 329.1 2539 2201 1401 1245 26.2 7.5 676 24430 0.00 3.20 14.65 0.185 8868 0.000 0.063 2544 794 1258 1328 1189 0 0 0 0 0 0 11.98 11.70 11.59

24510 1.27 358.6 2545 794 1329 1192 18.2 6.6 691 24549 0.20 3.12 26.30 0.167 11430 0.057 0.047 2615 2191 1136 1209 1064 0 0 0 0 0 0 11.71 11.69 11.61

24658 end climb: SURFACE_DEPTH_REACHED

state 24658 begin surface coast

24691 end surface coast: CONTROL_FINISHED_OK

state 24691 begin surface

ID	190	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	34	XPDR_INHIBIT	90
MISSION	9	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	50	INT_PRESSURE_SLOPE	0.0097660003
DIVE	764	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	29	XPDR_VALID	6

GPS1	040417,224733,957.7566,-12524.9023,33,0.8,34,9.2,0.0,0.0,11,8.8	SPEED_LIMITS	0.144,0.204
_CALLS	1	TGT_NAME	S
_XMS_NAKs	0	TGT_LATLONG	940.910,-12500.000
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.76	MHEAD_RNG_PITCHd_Wd	109.1,55249,-19.5,-8.333,-22.22,1796
_SM_ANGLEo	-62.3	D_GRID	450
GPS2	040417,225317,957.7866,-12524.9551,13,0.7,14,9.2,0.0,327.6,12,9.5

FINISH	0.0,1.022100	FG_AHR_24Vo	0.000
SM_CCo	24713,109.93,0.122,0,0,559,500.17	FG_AHR_10Vo	0.000
SM_GC	0.70,8.65,0.20,109.93,0.064,0.079,0.122,219,2291,559,-6.15,-0.45,500.17,0,0,0,0,0,0,11.73,11.71,11.66	MEM	334192
IRIDIUM_FIX	953.88,-12522.84,040417,151725	DATA_FILE_SIZE	33367,701
TT8_MAMPS	0.043442,0.292859	CAP_FILE_SIZE	118695,0
HUMID	58.15	CFSIZE	260034560,169320448
INTERNAL_PRESSURE	9.13121	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	21.20	INTR	0,4885.96,0x213b74,3,24
XPDR_PINGS	34	CURRENT	0.107,312.46,1
_24V_AH	10.91,288.161	GPS	050417,054833,958.482,-12525.622,37,0.8,37,9.2,0.7,6.3,11,7.5
_10V_AH	10.49,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	397	112.62	SciConCT	3135	25	855.18
Roll_motor	75	1688	1389.32	nil	0	0	0.00
VBD_pump_during_apogee	474	1328	6885.47	nil	0	0	0.00
VBD_pump_during_surface	109	122	146.79	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	207	186	422.67	PMAR	0	0	0.00
Transponder_ping	8	420	38.95	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	22	3.80
TT8	0	0	0.00
LPSleep	19874	2	456.57
TT8_Active	635	10	71.78
TT8_Sampling	4119	28	1242.43
TT8_CF8	525	35	195.72
TT8_Kalman	0	0	0.00
Analog_circuits	1552	11	190.57
GPS_charging	0	0	0.00
Compass	3567	0	28.07
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	208	2310	604	531	0.0	0.0	0	98	0.00	0.00	-89.35	0.000	16386	0.000	0.000	207	2310	2779	2793	2765	0	0	0	0	0	0	11.95	28.83	11.97
103	-0.81	-97.3	208	2311	2795	2765	2.6	-3.0	3	128	12.95	3.45	-4.07	0.000	18948	0.398	1.688	1933	857	2998	3049	2948	0	0	0	0	0	0	11.49	10.96	11.78
193	-0.61	-97.3	1933	856	3053	2947	31.7	-26.5	16	198	0.43	3.12	0.00	0.000	3206	0.280	0.053	1995	2270	2999	3052	2946	0	0	0	0	0	0	11.54	11.74	11.76
526	-0.54	-97.3	1995	2270	3057	2946	86.9	-11.2	30	531	0.00	3.12	0.00	0.000	388	0.000	0.070	1985	3703	3001	3056	2946	0	0	0	0	0	0	12.03	11.74	12.05
765	-0.49	-97.3	1985	3703	3059	2946	110.1	-9.8	64	770	0.28	2.97	0.00	0.000	3206	0.222	0.034	2038	2266	3002	3058	2946	0	0	0	0	0	0	11.59	11.82	11.79
1092	-0.49	-97.3	2038	2267	3062	2946	130.1	-5.9	75	1097	0.00	3.20	0.00	0.000	292	0.000	0.070	2031	3698	3002	3060	2945	0	0	0	0	0	0	12.08	11.76	12.09
1132	-0.49	-97.3	2032	3699	3061	2946	133.1	-7.0	81	1138	0.00	2.95	0.00	0.000	1062	0.000	0.035	2031	2282	3003	3061	2946	0	0	0	0	0	0	11.90	11.84	11.91
1489	-0.49	-97.3	2032	2283	3062	2944	160.8	-8.2	89	1495	0.00	3.08	0.00	0.000	548	0.000	0.048	2031	875	3002	3061	2944	0	0	0	0	0	0	12.09	11.80	12.09
1593	-0.53	-97.3	2032	875	3061	2943	170.7	-9.0	104	1604	0.00	3.17	0.00	0.000	1158	0.000	0.050	2029	2289	3001	3060	2943	0	0	0	0	0	0	11.80	11.75	11.83
1943	-0.53	-97.3	2030	2289	3061	2940	198.4	-7.8	111	1948	0.00	3.15	0.00	0.000	292	0.000	0.075	2025	3703	2999	3060	2939	0	0	0	0	0	0	12.09	11.77	12.10
2011	-0.60	-97.3	2025	3703	3061	2938	204.1	-7.5	121	2017	0.00	2.97	0.00	0.000	1190	0.000	0.035	2025	2274	2999	3060	2938	0	0	0	0	0	0	11.91	11.86	11.93
2339	-0.60	-97.3	2025	2275	3062	2935	229.7	-8.0	132	2343	0.00	3.05	0.00	0.000	548	0.000	0.050	2025	873	2997	3060	2935	0	0	0	0	0	0	12.11	11.81	12.12
2422	-0.65	-97.3	2026	874	3061	2934	236.8	-8.1	144	2428	0.12	3.15	0.00	0.000	5286	0.120	0.050	1987	2292	2996	3060	2933	0	0	0	0	0	0	11.80	11.81	11.88
2790	-0.65	-97.3	1988	2293	3061	2929	273.3	-10.3	154	2795	0.00	3.12	0.00	0.000	260	0.000	0.077	1983	3696	2994	3060	2928	0	0	0	0	0	0	12.12	11.78	12.12
2837	-0.65	-97.3	1983	3696	3061	2929	278.5	-10.1	161	2849	0.00	3.03	0.00	0.000	1030	0.000	0.038	1983	2277	2994	3060	2928	0	0	0	0	0	0	11.84	11.81	11.86
3187	-0.65	-97.3	1983	2277	3060	2926	312.6	-10.0	168	3191	0.00	3.05	0.00	0.000	516	0.000	0.051	1983	873	2992	3059	2926	0	0	0	0	0	0	12.10	11.81	12.12
3247	-0.65	-97.3	1982	872	3060	2926	319.2	-9.6	177	3253	0.00	3.15	0.00	0.000	1030	0.000	0.053	1974	2291	2992	3059	2925	0	0	0	0	0	0	11.90	11.81	11.92
3582	-0.65	-97.3	1974	2291	3057	2923	350.8	-9.5	189	3583	0.00	0.00	0.00	0.000	6	0.000	0.000	1973	2291	2989	3057	2922	0	0	0	0	0	0	12.12	12.12	12.12
3920	-0.65	-97.3	1974	2292	3057	2921	379.9	-8.6	195	3924	0.00	3.15	0.00	0.000	516	0.000	0.052	1973	869	2988	3057	2920	0	0	0	0	0	0	12.11	11.81	12.12
3945	-0.65	-97.3	1974	869	3056	2920	382.7	-8.7	199	3950	0.00	3.15	0.00	0.000	1030	0.000	0.055	1973	2280	2988	3056	2920	0	0	0	0	0	0	11.90	11.81	11.93
4314	-0.65	-97.3	1973	2281	3054	2917	417.0	-9.8	209	4315	0.00	0.00	0.00	0.000	6	0.000	0.000	1973	2280	2985	3053	2918	0	0	0	0	0	0	12.13	12.14	12.14
4646	end dive: TARGET_DEPTH_EXCEEDED
state	4646	begin apogee
4657	-0.19	0.0	1974	2182	3053	2917	452.2	-10.6	215	4782	0.75	0.05	122.28	1.329	10244	0.206	0.159	2132	2214	2600	2708	2493	0	0	0	0	0	0	11.64	11.54	11.00
4783	end apogee: CONTROL_FINISHED_OK
state	4783	begin loiter
4835	-0.17	37.3	2133	2214	2693	2482	459.4	-2.1	224	4886	0.00	0.00	49.88	1.308	9254	0.000	0.000	2132	2214	2446	2566	2327	0	0	0	0	0	0	11.86	11.86	10.91
5229	-0.34	37.3	2133	2214	2541	2313	454.1	2.0	238	5230	0.17	0.00	0.00	0.000	4230	0.091	0.000	2078	2215	2426	2540	2313	0	0	0	0	0	0	11.64	11.72	11.71
5565	-0.43	37.3	2079	2215	2536	2311	446.9	2.2	244	5565	0.00	0.00	0.00	0.000	134	0.000	0.000	2079	2215	2422	2535	2310	0	0	0	0	0	0	11.95	11.96	11.96
5901	-0.51	37.3	2079	2215	2534	2310	438.2	2.7	250	5902	0.17	0.00	0.00	0.000	4230	0.094	0.000	2025	2215	2421	2533	2309	0	0	0	0	0	0	11.73	11.81	11.80
6238	-0.51	37.3	2025	2215	2531	2309	427.7	3.2	256	6239	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2419	2530	2309	0	0	0	0	0	0	12.02	12.04	12.04
6572	-0.51	37.3	2025	2215	2529	2309	417.7	3.0	262	6573	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2418	2528	2308	0	0	0	0	0	0	12.05	12.07	12.07
6909	-0.51	37.3	2026	2215	2526	2309	408.5	2.6	268	6909	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2417	2526	2308	0	0	0	0	0	0	12.06	12.07	12.07
7244	-0.51	37.3	2025	2215	2526	2308	400.3	2.4	274	7245	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2416	2525	2308	0	0	0	0	0	0	12.06	12.05	12.07
7582	-0.51	37.3	2026	2215	2524	2308	391.6	2.6	280	7583	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2416	2524	2308	0	0	0	0	0	0	12.06	12.07	12.07
7917	-0.51	37.3	2025	2215	2524	2308	382.5	2.7	286	7918	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2415	2523	2307	0	0	0	0	0	0	12.07	12.08	12.08
8253	-0.51	37.3	2025	2215	2523	2307	375.7	1.9	292	8254	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2215	2414	2522	2306	0	0	0	0	0	0	12.07	12.09	12.09
8589	-0.51	37.3	2026	2215	2523	2307	370.2	1.7	298	8589	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2413	2521	2306	0	0	0	0	0	0	12.07	12.09	12.09
8926	-0.51	37.3	2025	2215	2522	2306	363.7	1.9	304	8927	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2413	2521	2306	0	0	0	0	0	0	12.07	12.08	12.08
9261	-0.51	37.3	2026	2215	2521	2307	356.9	2.0	310	9261	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2413	2521	2306	0	0	0	0	0	0	12.07	12.09	12.09
9597	-0.51	37.3	2026	2214	2520	2307	349.2	2.3	316	9597	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2413	2520	2306	0	0	0	0	0	0	12.08	12.09	12.09
9933	-0.51	37.3	2025	2215	2521	2306	341.2	2.3	322	9933	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2413	2520	2306	0	0	0	0	0	0	12.08	12.11	12.09
10270	-0.51	37.3	2025	2215	2521	2306	334.1	2.2	328	10271	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2215	2413	2520	2306	0	0	0	0	0	0	12.07	12.09	12.09
10604	-0.51	37.3	2026	2215	2520	2307	327.6	1.9	334	10605	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2412	2519	2306	0	0	0	0	0	0	12.08	12.10	12.09
10941	-0.51	37.3	2026	2215	2520	2306	320.0	2.4	340	10941	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2215	2412	2519	2306	0	0	0	0	0	0	12.09	12.10	12.10
11277	-0.51	37.3	2025	2215	2520	2306	311.9	2.3	346	11277	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2412	2519	2305	0	0	0	0	0	0	12.09	12.10	12.10
11614	-0.51	37.3	2025	2215	2520	2306	305.3	1.9	352	11615	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2412	2519	2306	0	0	0	0	0	0	12.08	12.09	12.09
11948	-0.51	37.3	2025	2215	2519	2306	299.3	1.7	358	11949	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2518	2305	0	0	0	0	0	0	12.09	12.11	12.10
12284	-0.51	37.3	2025	2215	2518	2305	292.9	2.0	364	12285	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2412	2518	2306	0	0	0	0	0	0	12.09	12.11	12.11
12621	-0.51	37.3	2026	2215	2519	2306	283.6	2.8	370	12621	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2215	2412	2518	2306	0	0	0	0	0	0	12.09	12.11	12.11
12958	-0.51	37.3	2025	2215	2518	2306	273.5	3.0	376	12959	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2412	2518	2306	0	0	0	0	0	0	12.09	12.10	12.09
13292	-0.51	37.3	2025	2215	2518	2306	263.5	3.0	382	13293	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.09	12.12	12.11
13629	-0.51	37.3	2025	2215	2518	2305	255.9	2.1	388	13629	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2305	0	0	0	0	0	0	12.09	12.11	12.11
13966	-0.51	37.3	2026	2215	2518	2306	249.1	2.0	394	13967	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2213	2411	2517	2306	0	0	0	0	0	0	12.09	12.10	12.10
14301	-0.51	37.3	2026	2215	2518	2306	241.5	2.3	400	14301	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2215	2411	2517	2306	0	0	0	0	0	0	12.10	12.12	12.12
14637	-0.51	37.3	2025	2215	2518	2306	231.7	3.0	406	14637	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2215	2411	2517	2306	0	0	0	0	0	0	12.10	12.11	12.12
14973	-0.51	37.3	2025	2215	2518	2306	224.2	2.0	412	14974	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2305	0	0	0	0	0	0	12.12	12.11	12.11
15310	-0.51	37.3	2025	2214	2518	2306	218.9	1.6	418	15311	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.09	12.10	12.10
15644	-0.51	37.3	2026	2215	2517	2306	214.4	1.4	424	15645	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.10	12.12	12.12
15980	-0.51	37.3	2025	2215	2516	2306	208.3	1.9	430	15981	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.10	12.12	12.12
16316	-0.51	37.3	2026	2215	2517	2306	200.1	2.6	436	16317	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.10	12.12	12.12
16654	-0.51	37.3	2025	2215	2518	2306	189.8	2.9	442	16655	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2305	0	0	0	0	0	0	12.09	12.11	12.11
16988	-0.51	37.3	2025	2215	2518	2306	183.7	1.8	448	16989	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.11	12.12	12.12
17324	-0.51	37.3	2025	2215	2518	2306	177.9	1.7	454	17325	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.10	12.12	12.12
17661	-0.51	37.3	2025	2215	2518	2306	172.4	1.6	460	17661	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.10	12.12	12.12
17998	-0.51	37.3	2026	2215	2517	2306	166.6	1.7	466	17999	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2305	0	0	0	0	0	0	12.09	12.11	12.11
18332	-0.51	37.3	2026	2215	2517	2306	160.3	1.9	472	18333	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2516	2306	0	0	0	0	0	0	12.10	12.12	12.12
18669	-0.51	37.3	2026	2215	2518	2306	154.1	1.5	478	18670	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.10	12.12	12.12
19005	-0.51	37.3	2025	2215	2518	2306	149.8	1.5	484	19006	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.10	12.12	12.12
19342	-0.51	37.3	2025	2215	2518	2306	142.8	2.0	490	19343	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.10	12.11	12.11
19677	-0.51	37.3	2025	2215	2518	2306	134.6	2.5	496	19677	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2516	2306	0	0	0	0	0	0	12.10	12.12	12.12
20013	-0.51	37.3	2025	2215	2518	2306	129.8	1.2	502	20013	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.10	12.12	12.12
20349	-0.51	39.0	2026	2215	2517	2306	129.6	-0.1	508	20349	0.00	0.00	0.00	0.000	38	0.000	0.000	2025	2214	2411	2516	2306	0	0	0	0	0	0	12.10	12.12	12.12
20686	-0.51	39.0	2025	2215	2518	2306	124.7	2.0	514	20687	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.09	12.11	12.11
21020	-0.51	39.0	2026	2215	2518	2306	119.3	1.3	520	21021	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.11	12.12	12.12
21357	-0.52	26.1	2026	2215	2518	2306	116.1	0.7	526	21357	0.00	0.00	0.00	0.000	38	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.10	12.12	12.12
21693	-0.53	11.8	2026	2215	2518	2306	113.7	0.8	532	21693	0.00	0.00	0.00	0.000	38	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.11	12.12	12.12
22030	-0.52	21.5	2026	2214	2517	2306	114.6	-0.6	538	22031	0.00	0.00	0.00	0.000	38	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.09	12.11	12.11
22367	-0.53	14.8	2026	2215	2518	2306	115.0	0.4	544	22367	0.00	0.00	0.00	0.000	38	0.000	0.000	2025	2214	2410	2516	2305	0	0	0	0	0	0	12.09	12.11	12.10
22701	-0.52	18.0	2026	2215	2517	2307	114.3	-0.2	550	22702	0.00	0.00	0.00	0.000	38	0.000	0.000	2025	2214	2411	2517	2306	0	0	0	0	0	0	12.10	12.12	12.12
22809	end loiter: LOITER_COMPLETE
state	22809	begin climb
22814	0.81	97.3	2026	2215	2518	2306	115.0	0.0	552	22873	2.00	3.22	51.08	0.481	10756	0.215	0.054	2457	796	2204	2329	2080	0	0	0	0	0	0	11.57	11.70	11.45
23006	0.82	125.1	2458	796	2330	2096	106.1	6.7	580	23044	0.00	3.12	29.65	0.437	9254	0.000	0.048	2457	2205	2091	2219	1963	0	0	0	0	0	0	11.86	11.78	11.44
23383	0.88	215.2	2458	2205	2220	1977	86.6	3.2	601	23470	0.00	0.00	85.18	0.395	8742	0.000	0.000	2457	2205	1721	1831	1612	0	0	0	0	0	0	12.02	11.74	11.45
23802	1.01	259.4	2458	2205	1831	1632	67.1	5.8	625	23853	0.22	3.20	42.83	0.318	10660	0.088	0.072	2531	3614	1546	1645	1448	0	0	0	0	0	0	11.73	11.67	11.48
24006	1.05	314.0	2532	3614	1646	1460	55.1	5.2	653	24066	0.00	3.05	53.12	0.284	9254	0.000	0.044	2539	2202	1318	1400	1237	0	0	0	0	0	0	11.81	11.75	11.51
24406	1.14	329.1	2539	2201	1401	1245	26.2	7.5	676	24430	0.00	3.20	14.65	0.185	8868	0.000	0.063	2544	794	1258	1328	1189	0	0	0	0	0	0	11.98	11.70	11.59
24510	1.27	358.6	2545	794	1329	1192	18.2	6.6	691	24549	0.20	3.12	26.30	0.167	11430	0.057	0.047	2615	2191	1136	1209	1064	0	0	0	0	0	0	11.71	11.69	11.61
24658	end climb: SURFACE_DEPTH_REACHED
state	24658	begin surface coast
24691	end surface coast: CONTROL_FINISHED_OK
state	24691	begin surface