Glider dive log

SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 770 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 190 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 23 XPDR_INHIBIT 90

MISSION 9 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 50 INT_PRESSURE_SLOPE 0.0097660003

DIVE 770 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

N_DIVES 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0.5 DEEPGLIDER 0

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.1 MOTHERBOARD 4

D_SURF 3 SM_CC 500 VBD_MIN 350 DEVICE1 134

D_FLARE 2 N_FILEKB 8 VBD_MAX 3900 DEVICE2 -1

D_TGT 450 FILEMGR 0 C_VBD 2600 DEVICE3 -1

D_ABORT 1015 CALL_NDIVES 1 VBD_DBAND 2 DEVICE4 -1

D_NO_BLEED 50 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE5 -1

D_BOOST 120 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE6 -1

T_BOOST 5 N_NOCOMM 2 VBD_TIMEOUT 720 LOGGERS 0

D_FINISH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.00060000003 LOGGERDEVICE1 54

D_PITCH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERDEVICE2 85

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE3 67

D_CALL 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CALL_WAIT 60 UNCOM_BLEED 50 COMPASS_DEVICE 97

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 COMPASS2_DEVICE 150

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_DIVE 180 HEAPDBG 0 DBDW 0 GPS_DEVICE 32

T_MISSION 540 T_GPS 5 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_ABORT 1440 N_GPS 100440 PITCH_W_DBAND 0 XPDR_DEVICE 24

T_TURN 225 T_RSLEEP 2 CF8_MAXERRORS 20 SIM_W 0

T_TURN_SAMPINT -7 STROBE 0 AH0_24V 350 SIM_PITCH 0

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 SEABIRD_T_G 0.0043932092

T_LOITER 18000 RAFOS_CORR_THRESH 60 MINV_24V 10 SEABIRD_T_H 0.00063312391

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_10V 10 SEABIRD_T_I 2.6030159e-05

USE_BATHY 0 PITCH_MIN 225 MAXI_24V 0.60000002 SEABIRD_T_J 3.2258831e-06

USE_ICE 0 PITCH_MAX 3920 MAXI_10V 0.80000001 SEABIRD_C_G -9.8128548

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2200 FG_AHR_10V 0 SEABIRD_C_H 1.1245126

D_OFFGRID 1000 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_C_I -0.00070758193

T_WATCHDOG 10 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_C_J 0.00013654788

RELAUNCH 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -163.98293 SC_RECORDABOVE 2000.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PRESSURE_SLOPE 0.00010649362 SC_PROFILE 1.0

MAX_BUOY 100 PITCH_GAIN 26 AD7714Ch0Gain 1 SC_XMITPROFILE 1.0

COURSE_BIAS 0 PITCH_TIMEOUT 30 TCM_PITCH_OFFSET 0 PM_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_AD_RATE 50 TCM_ROLL_OFFSET 0 PM_PROFILE 3.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 PM_XMITPROFILE 3.0

RHO 1.0275 PITCH_ADJ_GAIN 0.015 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITRAW 0.0

MASS 53220 PITCH_ADJ_DBAND 3 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 0.0

MASS_COMP 0 ROLL_MIN 231 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 0.0

NAV_MODE 2 ROLL_MAX 3841 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 1.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 0 TM_RECORDABOVE 200.0

KALMAN_USE 2 C_ROLL_DIVE 2280 ALTIM_PING_DEPTH 0 TM_PROFILE 1.0

HD_A 0.0040899999 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 0 TM_XMITPROFILE 3.0

HD_B 0.0102 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13 TM_LOGSAMPLE 0.0

HD_C 4.5000002e-06 ROLL_CNV 0.028270001 ALTIM_PULSE 3 TM_XMITRAW 0.0

HEADING -1 ROLL_TIMEOUT 8 ALTIM_SENSITIVITY 2

ESCAPE_HEADING 0 R_PORT_OVSHOOT 41 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 41 VBD_CNV -0.24529999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 23 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 1.0 VBD_LP_IGNORE 0

DIVE 770 N_FILEKB 8 SC_RECORDABOVE 2000.0 VBD_MAX 3900

D_ABORT 1015 N_GPS 100440 SC_XMITPROFILE 1.0 VBD_MAXERRORS 1

D_BOOST 120 N_NOCOMM 2 SEABIRD_C_G -9.8128548 VBD_MIN 350

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_H 1.1245126 VBD_PUMP_AD_RATE_APOGEE 1

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_C_I -0.00070758193 VBD_PUMP_AD_RATE_SURFACE 1

D_FLARE 2 PHONE_SUPPLY -2 SEABIRD_C_J 0.00013654788 VBD_TIMEOUT 720

D_NO_BLEED 50 PITCH_ADJ_DBAND 3 SEABIRD_T_G 0.0043932092 W_ADJ_DBAND 0

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.015 SEABIRD_T_H 0.00063312391 XPDR_DEVICE 24

D_PITCH 0 PITCH_AD_RATE 50 SEABIRD_T_I 2.6030159e-05 XPDR_INHIBIT 90

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_J 3.2258831e-06 XPDR_VALID 6

D_SURF 3 PITCH_DBAND 0.1 SIM_PITCH 0

D_TGT 450 PITCH_GAIN 26 SIM_W 0

Pre-dive calculations and measurements:

GPS1 060417,194333,1000.2428,-12527.3564,26,0.9,27,9.2,0.0,188.8,9,8.2 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 0.77 MHEAD_RNG_PITCHd_Wd 120.5,61519,-19.5,-8.333,-22.22,1796

_SM_ANGLEo -61.9 D_GRID 450

GPS2 060417,194929,1000.2567,-12527.3926,16,0.9,18,9.2,1.1,15.0,9,8.8

Post-dive calculations and measurements:

FINISH 2.0,1.022100 _10V_AH 10.59,0.000

SM_CCo 24763,146.62,0.119,0,0,559,500.17 FG_AHR_24Vo 0.000

SM_GC 0.76,9.05,3.55,146.62,0.063,0.045,0.119,218,2282,559,-6.15,-0.51,500.17,0,0,0,0,0,0,11.07,11.06,11.00 FG_AHR_10Vo 0.000

IRIDIUM_FIX 956.07,-12528.95,060417,120721 MEM 334192

TT8_MAMPS 0.043442,0.291361 DATA_FILE_SIZE 33425,745

HUMID 58.74 CAP_FILE_SIZE 121729,0

INTERNAL_PRESSURE 9.11168 CFSIZE 260034560,168951808

TCM_TEMP 20.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 25 CURRENT 0.092,295.89,1

_24V_AH 10.41,289.540 GPS 070417,024610,1000.423,-12528.122,24,0.7,31,9.2,0.5,283.9,11,9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 405 119.24 SciConCT 3115 25 810.92

Roll_motor 99 1608 1671.41 nil 0 0 0.00

VBD_pump_during_apogee 491 1323 6770.07 nil 0 0 0.00

VBD_pump_during_surface 146 119 182.16 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 214 197 441.69 PMAR 0 0 0.00

Transponder_ping 6 420 27.33 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 22 4.63

TT8 0 0 0.00

LPSleep 19815 2 459.57

TT8_Active 711 10 81.20

TT8_Sampling 4190 28 1275.85

TT8_CF8 538 35 202.34

TT8_Kalman 0 0 0.00

Analog_circuits 1657 11 205.39

GPS_charging 0 0 0.00

Compass 3621 0 28.76

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

9 -0.81 -97.3 202 2257 600 530 0.0 0.0 0 100 0.00 0.00 -89.20 0.000 16386 0.000 0.000 199 2257 2838 2848 2829 0 0 0 0 0 0 11.24 28.83 11.26

104 -0.81 -97.3 199 2257 2852 2829 3.4 -4.6 3 129 15.23 3.42 -2.67 0.000 18948 0.405 1.609 1932 882 2998 3042 2954 0 0 0 0 0 0 10.85 10.41 11.02

191 -0.61 -97.3 1933 883 3050 2951 34.0 -26.5 15 196 0.45 3.30 0.00 0.000 3206 0.278 0.054 1994 2280 2999 3049 2950 0 0 0 0 0 0 10.93 11.06 11.10

531 -0.54 -97.3 1994 2280 3054 2949 95.4 -11.8 30 536 0.12 3.30 0.00 0.000 2436 0.252 0.067 2007 3702 3000 3052 2949 0 0 0 0 0 0 10.98 11.07 11.07

599 -0.54 -97.3 2007 3702 3053 2949 102.6 -9.4 40 605 0.00 3.12 0.00 0.000 1030 0.000 0.033 2007 2284 3000 3053 2948 0 0 0 0 0 0 11.16 11.11 11.17

928 -0.54 -97.3 2008 2285 3057 2949 126.2 -6.9 51 933 0.00 3.22 0.00 0.000 548 0.000 0.044 2007 879 3002 3057 2948 0 0 0 0 0 0 11.28 11.10 11.29

996 -0.54 -97.3 2008 879 3057 2949 132.0 -8.1 61 1003 0.00 3.33 0.00 0.000 1062 0.000 0.049 1999 2288 3002 3057 2948 0 0 0 0 0 0 11.16 11.10 11.17

1325 -0.54 -97.3 2000 2288 3057 2948 164.5 -10.6 72 1330 0.00 3.33 0.00 0.000 260 0.000 0.073 1999 3700 3002 3056 2948 0 0 0 0 0 0 11.28 11.08 11.29

1463 -0.54 -97.3 1999 3701 3058 2947 177.9 -8.8 92 1469 0.00 3.17 0.00 0.000 1030 0.000 0.033 1999 2275 3002 3057 2947 0 0 0 0 0 0 11.17 11.13 11.18

1833 -0.54 -97.3 1999 2276 3058 2945 210.9 -8.9 102 1838 0.00 3.28 0.00 0.000 516 0.000 0.048 1999 873 3000 3056 2945 0 0 0 0 0 0 11.29 11.10 11.30

1950 -0.54 -97.3 1999 873 3058 2943 221.4 -9.1 118 1954 0.00 3.35 0.00 0.000 1030 0.000 0.051 1999 2282 3000 3057 2943 0 0 0 0 0 0 11.17 11.10 11.18

2289 -0.54 -97.3 1999 2282 3058 2939 252.9 -9.4 131 2293 0.00 3.35 0.00 0.000 260 0.000 0.074 1998 3697 2997 3056 2939 0 0 0 0 0 0 11.29 11.08 11.30

2347 -0.54 -97.3 1999 3698 3058 2939 258.6 -9.8 139 2352 0.00 3.20 0.00 0.000 1030 0.000 0.034 1999 2265 2997 3056 2938 0 0 0 0 0 0 11.17 11.13 11.19

2688 -0.54 -97.3 1999 2265 3057 2935 290.8 -9.5 152 2693 0.00 3.22 0.00 0.000 516 0.000 0.048 1999 874 2995 3057 2934 0 0 0 0 0 0 11.29 11.10 11.30

2734 -0.54 -97.3 1998 875 3057 2934 295.7 -9.2 159 2746 0.00 3.38 0.00 0.000 1030 0.000 0.053 1998 2276 2994 3056 2933 0 0 0 0 0 0 11.12 11.08 11.14

3083 -0.54 -97.3 1999 2276 3057 2929 325.1 -8.5 166 3084 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2275 2992 3056 2928 0 0 0 0 0 0 11.29 11.31 11.30

3420 -0.54 -97.3 1999 2276 3057 2927 354.3 -8.8 172 3425 0.00 3.35 0.00 0.000 260 0.000 0.075 1997 3696 2991 3056 2926 0 0 0 0 0 0 11.29 11.09 11.30

3495 -0.54 -97.3 1998 3696 3056 2926 361.6 -8.6 183 3501 0.00 3.17 0.00 0.000 1030 0.000 0.037 1997 2276 2990 3055 2926 0 0 0 0 0 0 11.18 11.13 11.19

3816 -0.54 -97.3 1998 2277 3055 2923 389.2 -8.7 193 3821 0.00 3.28 0.00 0.000 516 0.000 0.050 1997 874 2988 3054 2923 0 0 0 0 0 0 11.29 11.10 11.31

3914 -0.54 -97.3 1998 874 3054 2923 398.1 -8.6 207 3919 0.00 3.35 0.00 0.000 1030 0.000 0.053 1997 2281 2987 3053 2922 0 0 0 0 0 0 11.17 11.10 11.19

4268 -0.54 -97.3 1998 2282 3054 2921 429.3 -9.1 215 4273 0.00 3.38 0.00 0.000 260 0.000 0.076 1997 3700 2986 3052 2920 0 0 0 0 0 0 11.29 11.10 11.31

4315 -0.54 -97.3 1998 3701 3053 2920 434.2 -9.4 222 4326 0.00 3.25 0.00 0.000 1030 0.000 0.037 1997 2268 2986 3052 2920 0 0 0 0 0 0 11.14 11.10 11.16

4491 end dive: TARGET_DEPTH_EXCEEDED

state 4491 begin apogee

4502 -0.19 0.0 1998 2179 3053 2919 450.4 -9.3 226 4633 0.65 0.10 128.88 1.323 10244 0.190 0.114 2129 2215 2599 2706 2492 0 0 0 0 0 0 11.02 10.98 10.48

4634 end apogee: CONTROL_FINISHED_OK

state 4634 begin loiter

4867 -0.17 31.2 2129 2215 2686 2479 461.2 -1.8 261 4919 0.00 0.00 43.97 1.295 9254 0.000 0.000 2129 2215 2462 2577 2347 0 0 0 0 0 0 11.26 11.24 10.47

5256 -0.33 31.2 2129 2215 2565 2342 455.6 2.0 274 5258 0.15 0.00 0.00 0.000 4230 0.097 0.000 2083 2214 2452 2564 2341 0 0 0 0 0 0 11.08 11.15 11.14

5592 -0.43 31.2 2083 2215 2561 2339 450.2 1.5 280 5593 0.00 0.00 0.00 0.000 134 0.000 0.000 2083 2215 2449 2559 2339 0 0 0 0 0 0 11.26 11.27 11.27

5930 -0.52 31.2 2083 2215 2559 2339 446.5 1.1 286 5931 0.20 0.00 0.00 0.000 4230 0.085 0.000 2026 2214 2448 2558 2338 0 0 0 0 0 0 11.10 11.17 11.16

6264 -0.52 31.2 2027 2215 2555 2338 441.0 1.8 292 6265 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2445 2554 2337 0 0 0 0 0 0 11.27 11.29 11.29

6600 -0.52 31.2 2027 2215 2554 2337 434.3 2.0 298 6601 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2445 2553 2337 0 0 0 0 0 0 11.27 11.29 11.29

6936 -0.52 31.2 2026 2214 2553 2336 427.2 2.1 304 6937 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2444 2552 2336 0 0 0 0 0 0 11.28 11.29 11.29

7274 -0.52 31.2 2026 2215 2552 2336 420.9 1.8 310 7274 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2443 2551 2336 0 0 0 0 0 0 11.27 11.29 11.29

7608 -0.52 31.2 2026 2215 2551 2336 415.0 1.8 316 7609 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2442 2549 2336 0 0 0 0 0 0 11.28 11.28 11.29

7944 -0.52 31.2 2027 2215 2549 2335 406.9 2.5 322 7945 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2441 2548 2335 0 0 0 0 0 0 11.28 11.29 11.30

8280 -0.52 31.2 2027 2215 2547 2335 398.4 2.4 328 8281 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2441 2547 2335 0 0 0 0 0 0 11.29 11.30 11.29

8618 -0.52 31.2 2027 2215 2547 2334 392.0 1.8 334 8618 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2440 2547 2334 0 0 0 0 0 0 11.28 11.29 11.29

8952 -0.52 31.2 2026 2215 2547 2334 387.5 1.2 340 8953 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2440 2546 2334 0 0 0 0 0 0 11.29 11.30 11.30

9288 -0.52 31.2 2026 2215 2547 2334 382.4 1.6 346 9289 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2439 2545 2334 0 0 0 0 0 0 11.29 11.30 11.30

9624 -0.52 31.2 2026 2215 2546 2333 375.0 2.2 352 9625 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2439 2545 2333 0 0 0 0 0 0 11.29 11.30 11.30

9962 -0.52 31.2 2025 2215 2545 2333 367.7 2.2 358 9963 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2438 2544 2333 0 0 0 0 0 0 11.29 11.30 11.30

10296 -0.52 31.2 2026 2214 2546 2333 361.6 1.8 364 10297 0.00 0.00 0.00 0.000 6 0.000 0.000 2025 2214 2438 2544 2333 0 0 0 0 0 0 11.29 11.31 11.30

10632 -0.52 31.2 2026 2215 2545 2333 354.8 2.1 370 10633 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2438 2544 2333 0 0 0 0 0 0 11.29 11.31 11.31

10968 -0.52 31.2 2026 2215 2545 2333 348.1 1.9 376 10969 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2438 2543 2333 0 0 0 0 0 0 11.29 11.31 11.31

11306 -0.52 31.2 2027 2215 2543 2333 340.7 2.3 382 11307 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2438 2543 2333 0 0 0 0 0 0 11.29 11.30 11.30

11640 -0.52 31.2 2026 2215 2543 2333 333.5 2.0 388 11641 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2438 2543 2333 0 0 0 0 0 0 11.29 11.31 11.31

11976 -0.52 31.2 2026 2215 2543 2333 327.1 1.9 394 11977 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2542 2333 0 0 0 0 0 0 11.29 11.31 11.31

12314 -0.52 31.2 2027 2215 2543 2333 322.8 1.2 400 12314 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2542 2333 0 0 0 0 0 0 11.29 11.30 11.30

12648 -0.52 31.2 2027 2215 2543 2333 317.2 1.7 406 12649 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2542 2333 0 0 0 0 0 0 11.29 11.31 11.31

12984 -0.52 31.2 2027 2215 2543 2333 310.8 2.0 412 12985 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2542 2333 0 0 0 0 0 0 11.29 11.31 11.31

13320 -0.52 31.2 2027 2215 2543 2333 303.6 2.2 418 13321 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2437 2542 2333 0 0 0 0 0 0 11.30 11.31 11.31

13659 -0.52 31.2 2026 2215 2543 2333 295.0 2.6 424 13659 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2437 2542 2333 0 0 0 0 0 0 11.30 11.30 11.30

13992 -0.52 31.2 2027 2215 2542 2333 286.4 2.4 430 13993 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2542 2333 0 0 0 0 0 0 11.29 11.31 11.31

14328 -0.52 31.2 2026 2215 2542 2333 280.2 1.8 436 14329 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2437 2542 2333 0 0 0 0 0 0 11.30 11.31 11.31

14664 -0.52 31.2 2026 2215 2542 2333 273.7 2.0 442 14665 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2542 2333 0 0 0 0 0 0 11.29 11.31 11.31

15002 -0.52 31.2 2027 2214 2543 2333 265.9 2.3 448 15003 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2542 2332 0 0 0 0 0 0 11.29 11.31 11.31

15336 -0.52 31.2 2026 2215 2543 2333 257.9 2.3 454 15337 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2542 2333 0 0 0 0 0 0 11.30 11.31 11.31

15672 -0.52 31.2 2026 2215 2543 2334 250.7 2.2 460 15673 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2437 2541 2333 0 0 0 0 0 0 11.30 11.31 11.31

16008 -0.52 31.2 2026 2215 2542 2333 243.4 2.1 466 16009 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2437 2541 2333 0 0 0 0 0 0 11.30 11.31 11.31

16346 -0.52 31.2 2026 2215 2542 2333 238.6 1.3 472 16346 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2541 2333 0 0 0 0 0 0 11.29 11.31 11.31

16680 -0.53 15.6 2026 2215 2542 2333 235.6 0.9 478 16681 0.00 0.00 0.00 0.000 38 0.000 0.000 2026 2215 2437 2541 2333 0 0 0 0 0 0 11.30 11.31 11.31

17016 -0.54 2.7 2026 2214 2542 2333 233.2 0.7 484 17017 0.00 0.00 0.00 0.000 38 0.000 0.000 2026 2214 2437 2541 2333 0 0 0 0 0 0 11.30 11.31 11.31

17353 -0.54 2.7 2026 2215 2543 2333 229.2 1.3 490 17353 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2214 2437 2541 2333 0 0 0 0 0 0 11.29 11.31 11.31

17690 -0.54 2.7 2027 2215 2542 2333 222.9 2.1 496 17691 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2541 2333 0 0 0 0 0 0 11.29 11.31 11.31

18024 -0.54 2.7 2027 2215 2542 2333 213.8 2.8 502 18025 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2541 2333 0 0 0 0 0 0 11.30 11.31 11.31

18360 -0.54 2.7 2027 2215 2542 2333 205.9 2.3 508 18361 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2541 2333 0 0 0 0 0 0 11.30 11.31 11.31

18696 -0.54 2.7 2026 2215 2542 2333 199.7 1.8 514 18697 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2437 2542 2333 0 0 0 0 0 0 11.30 11.31 11.31

19034 -0.54 2.7 2026 2215 2542 2333 194.5 1.5 520 19034 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2541 2333 0 0 0 0 0 0 11.29 11.31 11.31

19368 -0.54 2.7 2027 2215 2542 2334 189.2 1.6 526 19369 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2437 2542 2333 0 0 0 0 0 0 11.30 11.31 11.31

19704 -0.54 -6.5 2026 2215 2542 2333 187.0 0.5 532 19705 0.00 0.00 0.00 0.000 38 0.000 0.000 2026 2214 2437 2541 2333 0 0 0 0 0 0 11.30 11.31 11.31

20040 -0.54 -6.5 2025 2215 2543 2333 181.8 1.8 538 20041 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2437 2541 2333 0 0 0 0 0 0 11.30 11.31 11.31

20378 -0.54 -6.5 2026 2215 2543 2333 175.9 1.7 544 20378 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2215 2437 2541 2333 0 0 0 0 0 0 11.29 11.33 11.31

20712 -0.54 -6.5 2026 2215 2542 2333 169.8 1.7 550 20713 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2436 2541 2332 0 0 0 0 0 0 11.30 11.31 11.31

21049 -0.54 -6.5 2026 2215 2543 2333 163.0 1.8 556 21049 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2541 2333 0 0 0 0 0 0 11.30 11.31 11.31

21386 -0.54 -12.7 2026 2215 2542 2333 161.2 0.4 562 21387 0.00 0.00 0.00 0.000 38 0.000 0.000 2026 2215 2437 2541 2333 0 0 0 0 0 0 11.29 11.31 11.31

21720 -0.55 -19.7 2026 2215 2543 2332 160.4 0.4 568 21721 0.00 0.00 0.00 0.000 38 0.000 0.000 2026 2214 2437 2541 2333 0 0 0 0 0 0 11.30 11.31 11.31

22056 -0.55 -19.7 2026 2215 2543 2333 156.4 1.3 574 22057 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2214 2437 2541 2333 0 0 0 0 0 0 11.30 11.31 11.31

22392 -0.55 -29.5 2027 2215 2542 2334 154.2 0.6 580 22393 0.00 0.00 0.00 0.000 38 0.000 0.000 2026 2214 2437 2541 2333 0 0 0 0 0 0 11.30 11.31 11.31

22612 end loiter: LOITER_COMPLETE

state 22612 begin climb

22618 0.81 97.3 2026 2215 2543 2333 152.9 0.0 584 22707 2.10 3.45 80.03 0.978 10756 0.203 0.055 2451 805 2193 2318 2069 0 0 0 0 0 0 11.00 11.00 10.59

22758 0.83 137.5 2451 807 2304 2063 147.6 6.0 605 22814 0.00 3.33 50.62 0.953 9254 0.000 0.048 2451 2202 2040 2169 1911 0 0 0 0 0 0 11.12 11.06 10.58

23175 0.83 137.5 2452 2202 2128 1896 114.2 8.4 621 23179 0.00 3.40 0.00 0.000 260 0.000 0.074 2451 3621 2011 2128 1895 0 0 0 0 0 0 11.25 11.05 11.26

23290 0.83 137.5 2452 3622 2127 1896 102.2 10.2 637 23295 0.00 3.25 0.00 0.000 1030 0.000 0.044 2460 2209 2010 2125 1895 0 0 0 0 0 0 11.14 11.08 11.16

23632 0.85 160.1 2461 2209 2124 1896 76.5 7.0 655 23658 0.00 3.45 14.12 0.286 8740 0.000 0.057 2468 783 1953 2067 1840 0 0 0 0 0 0 11.26 11.04 10.88

23694 0.94 215.5 2468 784 2067 1850 72.9 5.2 664 23762 0.12 3.38 60.90 0.342 11430 0.118 0.046 2500 2210 1725 1828 1622 0 0 0 0 0 0 11.07 11.07 10.86

24085 1.09 323.3 2500 2210 1828 1638 56.0 2.2 686 24205 0.17 3.35 112.88 0.282 11172 0.094 0.070 2556 3620 1281 1351 1211 0 0 0 0 0 0 11.08 11.01 10.89

24340 1.14 323.3 2556 3620 1352 1220 36.2 8.9 722 24345 0.00 3.28 0.00 0.000 1158 0.000 0.042 2564 2187 1285 1351 1220 0 0 0 0 0 0 11.13 11.07 11.14

24680 1.19 323.3 2564 2188 1353 1220 8.0 8.6 737 24685 0.00 3.30 0.00 0.000 644 0.000 0.057 2568 790 1285 1351 1220 0 0 0 0 0 0 11.26 11.06 11.26

24723 end climb: SURFACE_DEPTH_REACHED

state 24723 begin surface coast

24735 end surface coast: CONTROL_FINISHED_OK

state 24735 begin surface

ID	190	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	23	XPDR_INHIBIT	90
MISSION	9	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	50	INT_PRESSURE_SLOPE	0.0097660003
DIVE	770	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0.5	DEEPGLIDER	0
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.1	MOTHERBOARD	4
D_SURF	3	SM_CC	500	VBD_MIN	350	DEVICE1	134
D_FLARE	2	N_FILEKB	8	VBD_MAX	3900	DEVICE2	-1
D_TGT	450	FILEMGR	0	C_VBD	2600	DEVICE3	-1
D_ABORT	1015	CALL_NDIVES	1	VBD_DBAND	2	DEVICE4	-1
D_NO_BLEED	50	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE5	-1
D_BOOST	120	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE6	-1
T_BOOST	5	N_NOCOMM	2	VBD_TIMEOUT	720	LOGGERS	0
D_FINISH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.00060000003	LOGGERDEVICE1	54
D_PITCH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERDEVICE2	85
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE3	67
D_CALL	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CALL_WAIT	60	UNCOM_BLEED	50	COMPASS_DEVICE	97
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	150
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_DIVE	180	HEAPDBG	0	DBDW	0	GPS_DEVICE	32
T_MISSION	540	T_GPS	5	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_ABORT	1440	N_GPS	100440	PITCH_W_DBAND	0	XPDR_DEVICE	24
T_TURN	225	T_RSLEEP	2	CF8_MAXERRORS	20	SIM_W	0
T_TURN_SAMPINT	-7	STROBE	0	AH0_24V	350	SIM_PITCH	0
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	SEABIRD_T_G	0.0043932092
T_LOITER	18000	RAFOS_CORR_THRESH	60	MINV_24V	10	SEABIRD_T_H	0.00063312391
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_10V	10	SEABIRD_T_I	2.6030159e-05
USE_BATHY	0	PITCH_MIN	225	MAXI_24V	0.60000002	SEABIRD_T_J	3.2258831e-06
USE_ICE	0	PITCH_MAX	3920	MAXI_10V	0.80000001	SEABIRD_C_G	-9.8128548
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2200	FG_AHR_10V	0	SEABIRD_C_H	1.1245126
D_OFFGRID	1000	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_C_I	-0.00070758193
T_WATCHDOG	10	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00013654788
RELAUNCH	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-163.98293	SC_RECORDABOVE	2000.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PRESSURE_SLOPE	0.00010649362	SC_PROFILE	1.0
MAX_BUOY	100	PITCH_GAIN	26	AD7714Ch0Gain	1	SC_XMITPROFILE	1.0
COURSE_BIAS	0	PITCH_TIMEOUT	30	TCM_PITCH_OFFSET	0	PM_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_AD_RATE	50	TCM_ROLL_OFFSET	0	PM_PROFILE	3.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	PM_XMITPROFILE	3.0
RHO	1.0275	PITCH_ADJ_GAIN	0.015	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITRAW	0.0
MASS	53220	PITCH_ADJ_DBAND	3	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	0.0
MASS_COMP	0	ROLL_MIN	231	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	0.0
NAV_MODE	2	ROLL_MAX	3841	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	1.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	0	TM_RECORDABOVE	200.0
KALMAN_USE	2	C_ROLL_DIVE	2280	ALTIM_PING_DEPTH	0	TM_PROFILE	1.0
HD_A	0.0040899999	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	0	TM_XMITPROFILE	3.0
HD_B	0.0102	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13	TM_LOGSAMPLE	0.0
HD_C	4.5000002e-06	ROLL_CNV	0.028270001	ALTIM_PULSE	3	TM_XMITRAW	0.0
HEADING	-1	ROLL_TIMEOUT	8	ALTIM_SENSITIVITY	2
ESCAPE_HEADING	0	R_PORT_OVSHOOT	41	XPDR_VALID	6

GPS1	060417,194333,1000.2428,-12527.3564,26,0.9,27,9.2,0.0,188.8,9,8.2	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	0.77	MHEAD_RNG_PITCHd_Wd	120.5,61519,-19.5,-8.333,-22.22,1796
_SM_ANGLEo	-61.9	D_GRID	450
GPS2	060417,194929,1000.2567,-12527.3926,16,0.9,18,9.2,1.1,15.0,9,8.8

FINISH	2.0,1.022100	_10V_AH	10.59,0.000
SM_CCo	24763,146.62,0.119,0,0,559,500.17	FG_AHR_24Vo	0.000
SM_GC	0.76,9.05,3.55,146.62,0.063,0.045,0.119,218,2282,559,-6.15,-0.51,500.17,0,0,0,0,0,0,11.07,11.06,11.00	FG_AHR_10Vo	0.000
IRIDIUM_FIX	956.07,-12528.95,060417,120721	MEM	334192
TT8_MAMPS	0.043442,0.291361	DATA_FILE_SIZE	33425,745
HUMID	58.74	CAP_FILE_SIZE	121729,0
INTERNAL_PRESSURE	9.11168	CFSIZE	260034560,168951808
TCM_TEMP	20.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	25	CURRENT	0.092,295.89,1
_24V_AH	10.41,289.540	GPS	070417,024610,1000.423,-12528.122,24,0.7,31,9.2,0.5,283.9,11,9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	405	119.24	SciConCT	3115	25	810.92
Roll_motor	99	1608	1671.41	nil	0	0	0.00
VBD_pump_during_apogee	491	1323	6770.07	nil	0	0	0.00
VBD_pump_during_surface	146	119	182.16	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	214	197	441.69	PMAR	0	0	0.00
Transponder_ping	6	420	27.33	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	22	4.63
TT8	0	0	0.00
LPSleep	19815	2	459.57
TT8_Active	711	10	81.20
TT8_Sampling	4190	28	1275.85
TT8_CF8	538	35	202.34
TT8_Kalman	0	0	0.00
Analog_circuits	1657	11	205.39
GPS_charging	0	0	0.00
Compass	3621	0	28.76
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
9	-0.81	-97.3	202	2257	600	530	0.0	0.0	0	100	0.00	0.00	-89.20	0.000	16386	0.000	0.000	199	2257	2838	2848	2829	0	0	0	0	0	0	11.24	28.83	11.26
104	-0.81	-97.3	199	2257	2852	2829	3.4	-4.6	3	129	15.23	3.42	-2.67	0.000	18948	0.405	1.609	1932	882	2998	3042	2954	0	0	0	0	0	0	10.85	10.41	11.02
191	-0.61	-97.3	1933	883	3050	2951	34.0	-26.5	15	196	0.45	3.30	0.00	0.000	3206	0.278	0.054	1994	2280	2999	3049	2950	0	0	0	0	0	0	10.93	11.06	11.10
531	-0.54	-97.3	1994	2280	3054	2949	95.4	-11.8	30	536	0.12	3.30	0.00	0.000	2436	0.252	0.067	2007	3702	3000	3052	2949	0	0	0	0	0	0	10.98	11.07	11.07
599	-0.54	-97.3	2007	3702	3053	2949	102.6	-9.4	40	605	0.00	3.12	0.00	0.000	1030	0.000	0.033	2007	2284	3000	3053	2948	0	0	0	0	0	0	11.16	11.11	11.17
928	-0.54	-97.3	2008	2285	3057	2949	126.2	-6.9	51	933	0.00	3.22	0.00	0.000	548	0.000	0.044	2007	879	3002	3057	2948	0	0	0	0	0	0	11.28	11.10	11.29
996	-0.54	-97.3	2008	879	3057	2949	132.0	-8.1	61	1003	0.00	3.33	0.00	0.000	1062	0.000	0.049	1999	2288	3002	3057	2948	0	0	0	0	0	0	11.16	11.10	11.17
1325	-0.54	-97.3	2000	2288	3057	2948	164.5	-10.6	72	1330	0.00	3.33	0.00	0.000	260	0.000	0.073	1999	3700	3002	3056	2948	0	0	0	0	0	0	11.28	11.08	11.29
1463	-0.54	-97.3	1999	3701	3058	2947	177.9	-8.8	92	1469	0.00	3.17	0.00	0.000	1030	0.000	0.033	1999	2275	3002	3057	2947	0	0	0	0	0	0	11.17	11.13	11.18
1833	-0.54	-97.3	1999	2276	3058	2945	210.9	-8.9	102	1838	0.00	3.28	0.00	0.000	516	0.000	0.048	1999	873	3000	3056	2945	0	0	0	0	0	0	11.29	11.10	11.30
1950	-0.54	-97.3	1999	873	3058	2943	221.4	-9.1	118	1954	0.00	3.35	0.00	0.000	1030	0.000	0.051	1999	2282	3000	3057	2943	0	0	0	0	0	0	11.17	11.10	11.18
2289	-0.54	-97.3	1999	2282	3058	2939	252.9	-9.4	131	2293	0.00	3.35	0.00	0.000	260	0.000	0.074	1998	3697	2997	3056	2939	0	0	0	0	0	0	11.29	11.08	11.30
2347	-0.54	-97.3	1999	3698	3058	2939	258.6	-9.8	139	2352	0.00	3.20	0.00	0.000	1030	0.000	0.034	1999	2265	2997	3056	2938	0	0	0	0	0	0	11.17	11.13	11.19
2688	-0.54	-97.3	1999	2265	3057	2935	290.8	-9.5	152	2693	0.00	3.22	0.00	0.000	516	0.000	0.048	1999	874	2995	3057	2934	0	0	0	0	0	0	11.29	11.10	11.30
2734	-0.54	-97.3	1998	875	3057	2934	295.7	-9.2	159	2746	0.00	3.38	0.00	0.000	1030	0.000	0.053	1998	2276	2994	3056	2933	0	0	0	0	0	0	11.12	11.08	11.14
3083	-0.54	-97.3	1999	2276	3057	2929	325.1	-8.5	166	3084	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2275	2992	3056	2928	0	0	0	0	0	0	11.29	11.31	11.30
3420	-0.54	-97.3	1999	2276	3057	2927	354.3	-8.8	172	3425	0.00	3.35	0.00	0.000	260	0.000	0.075	1997	3696	2991	3056	2926	0	0	0	0	0	0	11.29	11.09	11.30
3495	-0.54	-97.3	1998	3696	3056	2926	361.6	-8.6	183	3501	0.00	3.17	0.00	0.000	1030	0.000	0.037	1997	2276	2990	3055	2926	0	0	0	0	0	0	11.18	11.13	11.19
3816	-0.54	-97.3	1998	2277	3055	2923	389.2	-8.7	193	3821	0.00	3.28	0.00	0.000	516	0.000	0.050	1997	874	2988	3054	2923	0	0	0	0	0	0	11.29	11.10	11.31
3914	-0.54	-97.3	1998	874	3054	2923	398.1	-8.6	207	3919	0.00	3.35	0.00	0.000	1030	0.000	0.053	1997	2281	2987	3053	2922	0	0	0	0	0	0	11.17	11.10	11.19
4268	-0.54	-97.3	1998	2282	3054	2921	429.3	-9.1	215	4273	0.00	3.38	0.00	0.000	260	0.000	0.076	1997	3700	2986	3052	2920	0	0	0	0	0	0	11.29	11.10	11.31
4315	-0.54	-97.3	1998	3701	3053	2920	434.2	-9.4	222	4326	0.00	3.25	0.00	0.000	1030	0.000	0.037	1997	2268	2986	3052	2920	0	0	0	0	0	0	11.14	11.10	11.16
4491	end dive: TARGET_DEPTH_EXCEEDED
state	4491	begin apogee
4502	-0.19	0.0	1998	2179	3053	2919	450.4	-9.3	226	4633	0.65	0.10	128.88	1.323	10244	0.190	0.114	2129	2215	2599	2706	2492	0	0	0	0	0	0	11.02	10.98	10.48
4634	end apogee: CONTROL_FINISHED_OK
state	4634	begin loiter
4867	-0.17	31.2	2129	2215	2686	2479	461.2	-1.8	261	4919	0.00	0.00	43.97	1.295	9254	0.000	0.000	2129	2215	2462	2577	2347	0	0	0	0	0	0	11.26	11.24	10.47
5256	-0.33	31.2	2129	2215	2565	2342	455.6	2.0	274	5258	0.15	0.00	0.00	0.000	4230	0.097	0.000	2083	2214	2452	2564	2341	0	0	0	0	0	0	11.08	11.15	11.14
5592	-0.43	31.2	2083	2215	2561	2339	450.2	1.5	280	5593	0.00	0.00	0.00	0.000	134	0.000	0.000	2083	2215	2449	2559	2339	0	0	0	0	0	0	11.26	11.27	11.27
5930	-0.52	31.2	2083	2215	2559	2339	446.5	1.1	286	5931	0.20	0.00	0.00	0.000	4230	0.085	0.000	2026	2214	2448	2558	2338	0	0	0	0	0	0	11.10	11.17	11.16
6264	-0.52	31.2	2027	2215	2555	2338	441.0	1.8	292	6265	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2445	2554	2337	0	0	0	0	0	0	11.27	11.29	11.29
6600	-0.52	31.2	2027	2215	2554	2337	434.3	2.0	298	6601	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2445	2553	2337	0	0	0	0	0	0	11.27	11.29	11.29
6936	-0.52	31.2	2026	2214	2553	2336	427.2	2.1	304	6937	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2444	2552	2336	0	0	0	0	0	0	11.28	11.29	11.29
7274	-0.52	31.2	2026	2215	2552	2336	420.9	1.8	310	7274	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2443	2551	2336	0	0	0	0	0	0	11.27	11.29	11.29
7608	-0.52	31.2	2026	2215	2551	2336	415.0	1.8	316	7609	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2442	2549	2336	0	0	0	0	0	0	11.28	11.28	11.29
7944	-0.52	31.2	2027	2215	2549	2335	406.9	2.5	322	7945	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2441	2548	2335	0	0	0	0	0	0	11.28	11.29	11.30
8280	-0.52	31.2	2027	2215	2547	2335	398.4	2.4	328	8281	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2441	2547	2335	0	0	0	0	0	0	11.29	11.30	11.29
8618	-0.52	31.2	2027	2215	2547	2334	392.0	1.8	334	8618	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2440	2547	2334	0	0	0	0	0	0	11.28	11.29	11.29
8952	-0.52	31.2	2026	2215	2547	2334	387.5	1.2	340	8953	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2440	2546	2334	0	0	0	0	0	0	11.29	11.30	11.30
9288	-0.52	31.2	2026	2215	2547	2334	382.4	1.6	346	9289	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2439	2545	2334	0	0	0	0	0	0	11.29	11.30	11.30
9624	-0.52	31.2	2026	2215	2546	2333	375.0	2.2	352	9625	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2439	2545	2333	0	0	0	0	0	0	11.29	11.30	11.30
9962	-0.52	31.2	2025	2215	2545	2333	367.7	2.2	358	9963	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2438	2544	2333	0	0	0	0	0	0	11.29	11.30	11.30
10296	-0.52	31.2	2026	2214	2546	2333	361.6	1.8	364	10297	0.00	0.00	0.00	0.000	6	0.000	0.000	2025	2214	2438	2544	2333	0	0	0	0	0	0	11.29	11.31	11.30
10632	-0.52	31.2	2026	2215	2545	2333	354.8	2.1	370	10633	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2438	2544	2333	0	0	0	0	0	0	11.29	11.31	11.31
10968	-0.52	31.2	2026	2215	2545	2333	348.1	1.9	376	10969	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2438	2543	2333	0	0	0	0	0	0	11.29	11.31	11.31
11306	-0.52	31.2	2027	2215	2543	2333	340.7	2.3	382	11307	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2438	2543	2333	0	0	0	0	0	0	11.29	11.30	11.30
11640	-0.52	31.2	2026	2215	2543	2333	333.5	2.0	388	11641	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2438	2543	2333	0	0	0	0	0	0	11.29	11.31	11.31
11976	-0.52	31.2	2026	2215	2543	2333	327.1	1.9	394	11977	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2542	2333	0	0	0	0	0	0	11.29	11.31	11.31
12314	-0.52	31.2	2027	2215	2543	2333	322.8	1.2	400	12314	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2542	2333	0	0	0	0	0	0	11.29	11.30	11.30
12648	-0.52	31.2	2027	2215	2543	2333	317.2	1.7	406	12649	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2542	2333	0	0	0	0	0	0	11.29	11.31	11.31
12984	-0.52	31.2	2027	2215	2543	2333	310.8	2.0	412	12985	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2542	2333	0	0	0	0	0	0	11.29	11.31	11.31
13320	-0.52	31.2	2027	2215	2543	2333	303.6	2.2	418	13321	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2437	2542	2333	0	0	0	0	0	0	11.30	11.31	11.31
13659	-0.52	31.2	2026	2215	2543	2333	295.0	2.6	424	13659	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2437	2542	2333	0	0	0	0	0	0	11.30	11.30	11.30
13992	-0.52	31.2	2027	2215	2542	2333	286.4	2.4	430	13993	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2542	2333	0	0	0	0	0	0	11.29	11.31	11.31
14328	-0.52	31.2	2026	2215	2542	2333	280.2	1.8	436	14329	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2437	2542	2333	0	0	0	0	0	0	11.30	11.31	11.31
14664	-0.52	31.2	2026	2215	2542	2333	273.7	2.0	442	14665	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2542	2333	0	0	0	0	0	0	11.29	11.31	11.31
15002	-0.52	31.2	2027	2214	2543	2333	265.9	2.3	448	15003	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2542	2332	0	0	0	0	0	0	11.29	11.31	11.31
15336	-0.52	31.2	2026	2215	2543	2333	257.9	2.3	454	15337	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2542	2333	0	0	0	0	0	0	11.30	11.31	11.31
15672	-0.52	31.2	2026	2215	2543	2334	250.7	2.2	460	15673	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2437	2541	2333	0	0	0	0	0	0	11.30	11.31	11.31
16008	-0.52	31.2	2026	2215	2542	2333	243.4	2.1	466	16009	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2437	2541	2333	0	0	0	0	0	0	11.30	11.31	11.31
16346	-0.52	31.2	2026	2215	2542	2333	238.6	1.3	472	16346	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2541	2333	0	0	0	0	0	0	11.29	11.31	11.31
16680	-0.53	15.6	2026	2215	2542	2333	235.6	0.9	478	16681	0.00	0.00	0.00	0.000	38	0.000	0.000	2026	2215	2437	2541	2333	0	0	0	0	0	0	11.30	11.31	11.31
17016	-0.54	2.7	2026	2214	2542	2333	233.2	0.7	484	17017	0.00	0.00	0.00	0.000	38	0.000	0.000	2026	2214	2437	2541	2333	0	0	0	0	0	0	11.30	11.31	11.31
17353	-0.54	2.7	2026	2215	2543	2333	229.2	1.3	490	17353	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2214	2437	2541	2333	0	0	0	0	0	0	11.29	11.31	11.31
17690	-0.54	2.7	2027	2215	2542	2333	222.9	2.1	496	17691	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2541	2333	0	0	0	0	0	0	11.29	11.31	11.31
18024	-0.54	2.7	2027	2215	2542	2333	213.8	2.8	502	18025	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2541	2333	0	0	0	0	0	0	11.30	11.31	11.31
18360	-0.54	2.7	2027	2215	2542	2333	205.9	2.3	508	18361	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2541	2333	0	0	0	0	0	0	11.30	11.31	11.31
18696	-0.54	2.7	2026	2215	2542	2333	199.7	1.8	514	18697	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2437	2542	2333	0	0	0	0	0	0	11.30	11.31	11.31
19034	-0.54	2.7	2026	2215	2542	2333	194.5	1.5	520	19034	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2541	2333	0	0	0	0	0	0	11.29	11.31	11.31
19368	-0.54	2.7	2027	2215	2542	2334	189.2	1.6	526	19369	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2437	2542	2333	0	0	0	0	0	0	11.30	11.31	11.31
19704	-0.54	-6.5	2026	2215	2542	2333	187.0	0.5	532	19705	0.00	0.00	0.00	0.000	38	0.000	0.000	2026	2214	2437	2541	2333	0	0	0	0	0	0	11.30	11.31	11.31
20040	-0.54	-6.5	2025	2215	2543	2333	181.8	1.8	538	20041	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2437	2541	2333	0	0	0	0	0	0	11.30	11.31	11.31
20378	-0.54	-6.5	2026	2215	2543	2333	175.9	1.7	544	20378	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2215	2437	2541	2333	0	0	0	0	0	0	11.29	11.33	11.31
20712	-0.54	-6.5	2026	2215	2542	2333	169.8	1.7	550	20713	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2436	2541	2332	0	0	0	0	0	0	11.30	11.31	11.31
21049	-0.54	-6.5	2026	2215	2543	2333	163.0	1.8	556	21049	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2541	2333	0	0	0	0	0	0	11.30	11.31	11.31
21386	-0.54	-12.7	2026	2215	2542	2333	161.2	0.4	562	21387	0.00	0.00	0.00	0.000	38	0.000	0.000	2026	2215	2437	2541	2333	0	0	0	0	0	0	11.29	11.31	11.31
21720	-0.55	-19.7	2026	2215	2543	2332	160.4	0.4	568	21721	0.00	0.00	0.00	0.000	38	0.000	0.000	2026	2214	2437	2541	2333	0	0	0	0	0	0	11.30	11.31	11.31
22056	-0.55	-19.7	2026	2215	2543	2333	156.4	1.3	574	22057	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2214	2437	2541	2333	0	0	0	0	0	0	11.30	11.31	11.31
22392	-0.55	-29.5	2027	2215	2542	2334	154.2	0.6	580	22393	0.00	0.00	0.00	0.000	38	0.000	0.000	2026	2214	2437	2541	2333	0	0	0	0	0	0	11.30	11.31	11.31
22612	end loiter: LOITER_COMPLETE
state	22612	begin climb
22618	0.81	97.3	2026	2215	2543	2333	152.9	0.0	584	22707	2.10	3.45	80.03	0.978	10756	0.203	0.055	2451	805	2193	2318	2069	0	0	0	0	0	0	11.00	11.00	10.59
22758	0.83	137.5	2451	807	2304	2063	147.6	6.0	605	22814	0.00	3.33	50.62	0.953	9254	0.000	0.048	2451	2202	2040	2169	1911	0	0	0	0	0	0	11.12	11.06	10.58
23175	0.83	137.5	2452	2202	2128	1896	114.2	8.4	621	23179	0.00	3.40	0.00	0.000	260	0.000	0.074	2451	3621	2011	2128	1895	0	0	0	0	0	0	11.25	11.05	11.26
23290	0.83	137.5	2452	3622	2127	1896	102.2	10.2	637	23295	0.00	3.25	0.00	0.000	1030	0.000	0.044	2460	2209	2010	2125	1895	0	0	0	0	0	0	11.14	11.08	11.16
23632	0.85	160.1	2461	2209	2124	1896	76.5	7.0	655	23658	0.00	3.45	14.12	0.286	8740	0.000	0.057	2468	783	1953	2067	1840	0	0	0	0	0	0	11.26	11.04	10.88
23694	0.94	215.5	2468	784	2067	1850	72.9	5.2	664	23762	0.12	3.38	60.90	0.342	11430	0.118	0.046	2500	2210	1725	1828	1622	0	0	0	0	0	0	11.07	11.07	10.86
24085	1.09	323.3	2500	2210	1828	1638	56.0	2.2	686	24205	0.17	3.35	112.88	0.282	11172	0.094	0.070	2556	3620	1281	1351	1211	0	0	0	0	0	0	11.08	11.01	10.89
24340	1.14	323.3	2556	3620	1352	1220	36.2	8.9	722	24345	0.00	3.28	0.00	0.000	1158	0.000	0.042	2564	2187	1285	1351	1220	0	0	0	0	0	0	11.13	11.07	11.14
24680	1.19	323.3	2564	2188	1353	1220	8.0	8.6	737	24685	0.00	3.30	0.00	0.000	644	0.000	0.057	2568	790	1285	1351	1220	0	0	0	0	0	0	11.26	11.06	11.26
24723	end climb: SURFACE_DEPTH_REACHED
state	24723	begin surface coast
24735	end surface coast: CONTROL_FINISHED_OK
state	24735	begin surface