Glider dive log

SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 787 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 191 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 64 XPDR_INHIBIT 90

MISSION 8 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 50 INT_PRESSURE_SLOPE 0.0097660003

DIVE 787 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 2.7

N_DIVES 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.050000001 MOTHERBOARD 4

D_SURF 2 SM_CC 515 VBD_MIN 500 DEVICE1 -1

D_FLARE 3 N_FILEKB 8 VBD_MAX 3960 DEVICE2 -1

D_TGT 450 FILEMGR 0 C_VBD 2793 DEVICE3 -1

D_ABORT 1010 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 6 N_NOCOMM 2 VBD_TIMEOUT 720 LOGGERS 1

D_FINISH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0012300001 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 149

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 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 720 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 0.0044184052

T_LOITER 18000 RAFOS_CORR_THRESH 60 MINV_24V 9.6999998 SEABIRD_T_H 0.00064843823

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_10V 9.6999998 SEABIRD_T_I 2.703744e-05

USE_BATHY -6 PITCH_MIN 165 MAXI_24V 0.60000002 SEABIRD_T_J 3.4046161e-06

USE_ICE 0 PITCH_MAX 3888 MAXI_10V 0.80000001 SEABIRD_C_G -9.8009434

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2930 FG_AHR_10V 0 SEABIRD_C_H 1.1236035

D_OFFGRID 1000 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_C_I -0.0016777924

T_WATCHDOG 10 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_C_J 0.00020399806

RELAUNCH 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -151.91774 SC_RECORDABOVE 2000.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PRESSURE_SLOPE 0.00010696654 SC_PROFILE 1.0

MAX_BUOY 100 PITCH_GAIN 24 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 0.029999999 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITRAW 0.0

MASS 54430 PITCH_ADJ_DBAND 3 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 0.0

MASS_COMP 0 ROLL_MIN 312 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 0.0

NAV_MODE 2 ROLL_MAX 3859 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 1.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 0 TM_RECORDABOVE 250.0

KALMAN_USE 2 C_ROLL_DIVE 1775 ALTIM_PING_DEPTH 0 TM_PROFILE 1.0

HD_A 0.0031999999 C_ROLL_CLIMB 1680 ALTIM_PING_DELTA 0 TM_XMITPROFILE 3.0

HD_B 0.0087299999 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13 TM_LOGSAMPLE 0.0

HD_C 7.1299997e-05 ROLL_CNV 0.028270001 ALTIM_PULSE 3 TM_XMITRAW 0.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

ESCAPE_HEADING 0 R_PORT_OVSHOOT 25 XPDR_VALID 2

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_MAX 3888 SM_CC 515

AH0_10V 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SPEED_FACTOR 1

AH0_24V 350 FERRY_MAX 45 PITCH_MIN 165 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 0.0012300001 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 3 HD_A 0.0031999999 PM_PROFILE 3.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.0087299999 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 HD_C 7.1299997e-05 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 0.00010696654 TM_RECORDABOVE 250.0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -151.91774 TM_XMITPROFILE 3.0

CALL_WAIT 60 ID 191 PROTOCOL 9 TM_XMITRAW 0.0

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_ABORT 720

CAPUPLOAD 0 INT_PRESSURE_YINT 2.7 P_OVSHOOT_WITHG 0 T_BOOST 6

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 149 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 1 RHO 1.0275 T_NO_W 120

C_PITCH 2930 MASS 54430 ROLL_ADJ_DBAND 0.050000001 T_RSLEEP 2

C_ROLL_CLIMB 1680 MASS_COMP 0 ROLL_ADJ_GAIN 0 T_TURN 225

C_ROLL_DIVE 1775 MAXI_10V 0.80000001 ROLL_AD_RATE 50 T_TURN_SAMPINT -7

C_VBD 2793 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 9.6999998 ROLL_MAX 3859 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MINV_24V 9.6999998 ROLL_MAXERRORS 1 USE_BATHY -6

DEVICE2 -1 MISSION 8 ROLL_MIN 312 USE_ICE 0

DEVICE3 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE4 -1 NAV_MODE 2 R_PORT_OVSHOOT 25 VBD_CNV -0.24529999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 64 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 1.0 VBD_LP_IGNORE 0

DIVE 787 N_FILEKB 8 SC_RECORDABOVE 2000.0 VBD_MAX 3960

D_ABORT 1010 N_GPS 100440 SC_XMITPROFILE 1.0 VBD_MAXERRORS 1

D_BOOST 120 N_NOCOMM 2 SEABIRD_C_G -9.8009434 VBD_MIN 500

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_H 1.1236035 VBD_PUMP_AD_RATE_APOGEE 1

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_C_I -0.0016777924 VBD_PUMP_AD_RATE_SURFACE 1

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_C_J 0.00020399806 VBD_TIMEOUT 720

D_NO_BLEED 50 PITCH_ADJ_DBAND 3 SEABIRD_T_G 0.0044184052 W_ADJ_DBAND 0

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.029999999 SEABIRD_T_H 0.00064843823 XPDR_DEVICE 24

D_PITCH 0 PITCH_AD_RATE 50 SEABIRD_T_I 2.703744e-05 XPDR_INHIBIT 90

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_J 3.4046161e-06 XPDR_VALID 2

D_SURF 2 PITCH_DBAND 0.1 SIM_PITCH 0

D_TGT 450 PITCH_GAIN 24 SIM_W 0

Pre-dive calculations and measurements:

GPS1 100417,045755,1009.5938,-12535.5088,33,0.8,39,9.2,0.6,330.2,11,4.5 SPEED_LIMITS 0.144,0.199

_CALLS 1 TGT_NAME SW

_XMS_NAKs 0 TGT_LATLONG 946.500,-12513.710

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.96 MHEAD_RNG_PITCHd_Wd 128.6,58549,-19.0,-8.333,-22.71,1613

_SM_ANGLEo -66.0 D_GRID 1000

GPS2 100417,050610,1009.6807,-12535.5234,18,0.9,18,9.2,0.0,0.0,10,8.9

Post-dive calculations and measurements:

FINISH -0.0,1.027020 _10V_AH 10.63,0.000

SM_CCo 24865,153.62,0.108,0,0,693,515.38 FG_AHR_24Vo 0.000

SM_GC 1.11,12.85,0.12,153.62,0.073,0.073,0.108,164,1784,693,-8.61,-1.41,515.38,0,0,0,0,0,0,11.11,11.18,11.07 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1004.83,-12538.12,090417,213138 MEM 311932

TT8_MAMPS 0.046438,0.074151 DATA_FILE_SIZE 26733,738

HUMID 61.49 CAP_FILE_SIZE 122019,0

INTERNAL_PRESSURE 9.18462 CFSIZE 260034560,143237120

TCM_TEMP 25.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.077,308.67,1

SC_FREEKB 7473984 GPS 100417,120456,1009.827,-12535.989,44,0.9,44,9.2,0.5,146.9,10,9.7

_24V_AH 10.50,291.868

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 38 371 150.49 nil 0 0 0.00

Roll_motor 82 72 63.30 nil 0 0 0.00

VBD_pump_during_apogee 663 1462 10196.27 nil 0 0 0.00

VBD_pump_during_surface 153 107 173.99 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 50 5 3.11

Iridium_during_xfer 237 198 493.74 PMAR 0 0 0.00

Transponder_ping 0 420 0.00 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 20 4.50

TT8 0 0 0.00

LPSleep 22154 2 515.76

TT8_Active 931 9 95.78

TT8_Sampling 1686 29 522.57

TT8_CF8 722 34 264.23

TT8_Kalman 0 0 0.00

Analog_circuits 1811 11 217.60

GPS_charging 0 0 0.00

Compass 1053 6 75.49

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

16 -0.91 -97.3 132 1797 900 503 0.0 0.0 0 100 0.00 0.00 -82.65 0.000 16390 0.000 0.000 131 1801 3191 3232 3151 0 0 0 0 0 0 11.28 10.55 11.30

105 -0.91 -97.3 131 1802 3233 3153 5.0 -6.9 3 133 19.73 3.33 0.00 0.000 2564 0.372 0.046 2636 367 3194 3236 3152 0 0 0 0 0 0 10.93 11.09 11.12

206 -0.54 -97.3 2637 368 3238 3152 42.1 -26.5 18 212 0.73 3.05 0.00 0.000 3206 0.266 0.029 2748 1748 3194 3237 3151 0 0 0 0 0 0 11.01 11.15 11.16

521 -0.54 -97.3 2748 1748 3245 3146 81.8 -8.3 30 526 0.00 3.25 0.00 0.000 292 0.000 0.047 2740 3187 3194 3244 3145 0 0 0 0 0 0 11.33 11.13 11.34

656 -0.54 -97.3 2740 3186 3245 3146 92.5 -7.8 49 662 0.00 3.15 0.00 0.000 1062 0.000 0.034 2740 1773 3194 3244 3145 0 0 0 0 0 0 11.20 11.14 11.21

997 -0.54 -97.3 2740 1772 3250 3145 116.8 -6.9 58 1002 0.00 3.22 0.00 0.000 292 0.000 0.047 2730 3186 3196 3249 3144 0 0 0 0 0 0 11.33 11.14 11.35

1055 -0.54 -97.3 2730 3188 3250 3144 121.1 -7.9 66 1060 0.00 3.17 0.00 0.000 1062 0.000 0.034 2730 1769 3196 3249 3144 0 0 0 0 0 0 11.20 11.14 11.21

1390 -0.54 -97.3 2731 1768 3250 3144 147.4 -7.7 79 1394 0.00 3.25 0.00 0.000 548 0.000 0.053 2730 363 3195 3249 3142 0 0 0 0 0 0 11.33 11.13 11.35

1494 -0.54 -97.3 2731 364 3250 3142 156.4 -8.8 94 1501 0.20 3.15 0.00 0.000 3078 0.208 0.027 2753 1794 3195 3249 3142 0 0 0 0 0 0 11.05 11.17 11.18

1840 -0.64 -97.3 2753 1794 3250 3139 183.9 -8.1 101 1840 0.00 0.00 0.00 0.000 166 0.000 0.000 2753 1794 3193 3249 3138 0 0 0 0 0 0 11.33 11.34 11.34

2174 -0.75 -97.3 2753 1794 3250 3133 211.8 -8.3 107 2175 0.28 0.00 0.00 0.000 4230 0.073 0.000 2678 1794 3190 3249 3132 0 0 0 0 0 0 11.16 11.23 11.21

2509 -0.75 -97.3 2679 1794 3249 3129 246.6 -10.3 113 2516 0.00 3.35 0.00 0.000 516 0.000 0.052 2678 363 3188 3249 3128 0 0 0 0 0 0 11.33 11.14 11.35

2567 -0.75 -97.3 2679 363 3250 3129 252.4 -10.4 121 2573 0.00 3.15 0.00 0.000 1030 0.000 0.029 2669 1783 3188 3249 3127 0 0 0 0 0 0 11.21 11.17 11.22

2903 -0.75 -97.3 2669 1784 3250 3122 286.3 -10.1 134 2908 0.00 3.17 0.00 0.000 260 0.000 0.050 2659 3174 3185 3249 3122 0 0 0 0 0 0 11.34 11.14 11.36

2959 -0.75 -97.3 2659 3175 3250 3121 292.1 -10.5 142 2964 0.00 3.17 0.00 0.000 1030 0.000 0.037 2658 1765 3185 3249 3122 0 0 0 0 0 0 11.21 11.16 11.22

3297 -0.75 -97.3 2659 1764 3250 3118 330.1 -11.6 155 3302 0.00 3.25 0.00 0.000 516 0.000 0.054 2658 364 3183 3249 3117 0 0 0 0 0 0 11.33 11.14 11.34

3408 -0.65 -97.3 2659 365 3250 3116 344.7 -13.0 171 3413 0.38 3.15 0.00 0.000 3206 0.215 0.028 2715 1777 3182 3249 3115 0 0 0 0 0 0 11.05 11.18 11.19

3745 -0.65 -97.3 2715 1777 3250 3111 380.1 -10.5 184 3750 0.00 3.20 0.00 0.000 260 0.000 0.050 2706 3174 3180 3249 3111 0 0 0 0 0 0 11.33 11.14 11.35

3793 -0.65 -97.3 2707 3175 3249 3110 385.2 -10.3 191 3799 0.00 3.17 0.00 0.000 1030 0.000 0.037 2706 1768 3179 3249 3110 0 0 0 0 0 0 11.21 11.16 11.23

4136 -0.65 -97.3 2707 1768 3249 3108 419.7 -9.9 198 4141 0.00 3.28 0.00 0.000 516 0.000 0.056 2706 364 3177 3248 3107 0 0 0 0 0 0 11.34 11.14 11.37

4208 -0.65 -97.3 2707 364 3249 3107 426.6 -9.7 208 4213 0.00 3.17 0.00 0.000 1030 0.000 0.028 2697 1788 3177 3249 3105 0 0 0 0 0 0 11.25 11.18 11.23

4468 end dive: TARGET_DEPTH_EXCEEDED

state 4468 begin apogee

4479 -0.21 0.0 2697 1661 3250 3102 451.1 -9.2 218 4600 0.82 0.00 119.05 1.463 10246 0.206 0.000 2853 1660 2794 2913 2675 0 0 0 0 0 0 11.05 11.07 10.52

4601 end apogee: CONTROL_FINISHED_OK

state 4601 begin loiter

4921 -0.18 21.9 2853 1661 2910 2655 460.7 -1.4 226 4950 0.00 0.00 27.52 1.430 8230 0.000 0.000 2853 1660 2703 2816 2590 0 0 0 0 0 0 11.31 11.07 10.53

5259 -0.45 30.7 2853 1661 2812 2574 462.8 -0.6 232 5266 0.28 0.00 5.25 1.134 12454 0.070 0.000 2777 1660 2666 2778 2555 0 0 0 0 0 0 11.14 11.10 10.50

5593 -0.53 47.7 2777 1660 2778 2557 466.2 -1.1 238 5623 0.00 0.00 28.73 1.454 8358 0.000 0.000 2777 1660 2597 2709 2486 0 0 0 0 0 0 11.31 11.06 10.52

5931 -0.64 47.7 2777 1661 2707 2471 460.5 2.0 244 5932 0.22 0.00 0.00 0.000 4230 0.079 0.000 2716 1660 2588 2706 2470 0 0 0 0 0 0 11.14 11.21 11.19

6265 -0.64 47.7 2715 1661 2707 2468 452.6 2.5 250 6266 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2587 2706 2468 0 0 0 0 0 0 11.32 11.33 11.33

6601 -0.64 47.7 2716 1660 2707 2469 442.4 3.1 256 6601 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2586 2706 2467 0 0 0 0 0 0 11.32 11.33 11.33

6937 -0.64 47.7 2716 1661 2707 2465 431.4 3.3 262 6938 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2585 2706 2465 0 0 0 0 0 0 11.33 11.34 11.34

7275 -0.64 47.7 2715 1661 2707 2464 422.1 2.6 268 7276 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2585 2706 2464 0 0 0 0 0 0 11.32 11.33 11.33

7609 -0.64 47.7 2716 1660 2707 2464 414.9 2.1 274 7609 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2584 2706 2463 0 0 0 0 0 0 11.33 11.35 11.34

7945 -0.64 47.7 2716 1660 2706 2464 410.7 1.0 280 7946 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1660 2584 2706 2463 0 0 0 0 0 0 11.33 11.35 11.35

8281 -0.65 34.0 2716 1660 2707 2463 408.0 0.9 286 8282 0.00 0.00 0.00 0.000 38 0.000 0.000 2716 1660 2584 2706 2462 0 0 0 0 0 0 11.33 11.35 11.35

8618 -0.65 34.0 2716 1661 2707 2461 402.0 2.0 292 8619 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2583 2706 2461 0 0 0 0 0 0 11.33 11.34 11.34

8953 -0.65 34.0 2716 1660 2707 2463 392.9 2.8 298 8953 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2584 2706 2462 0 0 0 0 0 0 11.33 11.36 11.35

9289 -0.65 34.0 2717 1660 2706 2462 383.7 2.7 304 9290 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2583 2706 2461 0 0 0 0 0 0 11.34 11.36 11.36

9625 -0.65 34.0 2716 1661 2706 2459 374.5 2.8 310 9626 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2583 2706 2460 0 0 0 0 0 0 11.33 11.36 11.36

9963 -0.65 34.0 2716 1661 2707 2459 364.7 2.9 316 9963 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.33 11.37 11.35

10297 -0.65 34.0 2716 1661 2707 2459 357.9 1.9 322 10297 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1660 2582 2706 2459 0 0 0 0 0 0 11.34 11.36 11.36

10633 -0.65 34.0 2716 1661 2707 2459 353.6 1.2 328 10634 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.34 11.36 11.36

10969 -0.65 34.0 2716 1662 2707 2459 349.1 1.4 334 10970 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.34 11.36 11.36

11307 -0.65 34.0 2716 1661 2707 2459 342.4 2.2 340 11307 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.33 11.36 11.35

11641 -0.65 34.0 2716 1660 2707 2460 332.3 3.1 346 11642 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.34 11.36 11.36

11977 -0.65 34.0 2716 1661 2707 2459 322.1 3.0 352 11977 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.34 11.36 11.36

12313 -0.65 34.0 2716 1660 2706 2460 312.7 2.7 358 12314 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.35 11.36 11.36

12651 -0.65 34.0 2716 1660 2706 2460 307.4 1.4 364 12651 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.33 11.36 11.36

12985 -0.67 20.7 2716 1660 2706 2460 304.3 0.8 370 12986 0.00 0.00 0.00 0.000 38 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.35 11.36 11.36

13321 -0.67 20.7 2716 1661 2707 2459 299.7 1.5 376 13322 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.35 11.36 11.36

13659 -0.67 20.7 2716 1661 2707 2459 292.3 2.3 382 13659 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2583 2706 2460 0 0 0 0 0 0 11.34 11.36 11.36

13993 -0.67 20.7 2716 1660 2707 2460 285.7 1.9 388 13993 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.35 11.36 11.36

14329 -0.67 20.7 2716 1661 2707 2459 280.1 1.7 394 14330 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1661 2582 2706 2459 0 0 0 0 0 0 11.35 11.36 11.36

14665 -0.67 20.7 2716 1660 2706 2460 275.2 1.4 400 14666 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2705 2459 0 0 0 0 0 0 11.35 11.36 11.36

15003 -0.67 20.7 2716 1661 2707 2459 270.7 1.3 406 15003 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.34 11.36 11.36

15337 -0.67 20.7 2717 1659 2707 2460 264.5 1.9 412 15337 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.35 11.37 11.36

15673 -0.67 20.7 2716 1661 2708 2459 256.9 2.3 418 15674 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2583 2706 2460 0 0 0 0 0 0 11.35 11.37 11.36

16009 -0.67 20.7 2716 1660 2706 2460 250.8 1.7 424 16010 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.35 11.36 11.36

16347 -0.67 20.7 2716 1660 2707 2461 245.6 1.6 430 16348 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.34 11.36 11.36

16681 -0.67 20.7 2716 1661 2707 2459 239.2 1.8 436 16682 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.35 11.37 11.37

17017 -0.67 20.7 2716 1661 2707 2459 233.4 1.9 442 17018 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.35 11.37 11.37

17353 -0.67 20.7 2716 1661 2707 2459 226.8 2.0 448 17354 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.36 11.37 11.37

17691 -0.67 20.7 2716 1660 2707 2461 221.6 1.5 454 17691 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.34 11.36 11.36

18025 -0.67 20.7 2716 1661 2707 2459 216.1 1.7 460 18025 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.36 11.37 11.37

18361 -0.67 20.7 2716 1660 2706 2460 209.4 2.0 466 18362 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.36 11.37 11.37

18697 -0.67 20.7 2716 1660 2707 2460 203.3 1.8 472 18698 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.36 11.37 11.37

19035 -0.67 20.7 2716 1660 2706 2461 193.7 3.1 478 19035 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.35 11.36 11.36

19369 -0.67 20.7 2716 1661 2707 2460 185.9 2.0 484 19369 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.36 11.38 11.37

19705 -0.67 20.7 2716 1660 2706 2460 180.1 1.7 490 19706 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.36 11.37 11.37

20041 -0.67 20.7 2716 1660 2706 2460 174.9 1.5 496 20042 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.36 11.37 11.37

20379 -0.67 20.7 2717 1660 2706 2460 169.3 1.7 502 20379 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.35 11.36 11.36

20713 -0.67 20.7 2716 1661 2707 2459 162.5 2.0 508 20713 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.36 11.37 11.37

21049 -0.69 7.1 2716 1661 2707 2459 159.2 0.9 514 21050 0.00 0.00 0.00 0.000 38 0.000 0.000 2716 1661 2582 2706 2459 0 0 0 0 0 0 11.36 11.37 11.37

21385 -0.69 7.1 2716 1660 2707 2460 152.4 2.2 520 21385 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.36 11.37 11.37

21723 -0.69 7.1 2715 1661 2707 2459 147.7 1.1 526 21723 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2705 2459 0 0 0 0 0 0 11.35 11.36 11.36

22057 -0.69 7.1 2716 1661 2707 2459 144.6 1.1 532 22057 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.36 11.38 11.38

22393 -0.69 7.1 2716 1660 2706 2461 139.5 1.4 538 22394 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1660 2582 2706 2459 0 0 0 0 0 0 11.36 11.38 11.37

22612 end loiter: LOITER_COMPLETE

state 22612 begin climb

22617 0.91 97.3 2716 1661 2707 2459 136.7 0.0 542 22685 2.65 3.15 59.90 1.086 10756 0.230 0.053 3228 320 2391 2523 2259 0 0 0 0 0 0 11.07 10.98 10.62

22898 0.96 138.7 3228 320 2523 2246 124.1 5.7 582 22954 0.00 3.03 49.85 1.053 9254 0.000 0.024 3228 1707 2224 2378 2070 0 0 0 0 0 0 11.21 11.18 10.63

23292 1.01 171.9 3228 1707 2375 2050 99.4 6.2 596 23358 0.00 3.12 56.92 0.371 8484 0.000 0.041 3228 3060 2098 2253 1944 0 0 0 0 0 0 11.31 11.09 10.90

23421 1.05 207.4 3228 3060 2254 1946 91.8 6.1 614 23504 0.00 3.10 77.43 0.354 9254 0.000 0.034 3236 1686 1948 2120 1777 0 0 0 0 0 0 11.19 11.14 10.91

23822 1.32 271.3 3236 1686 2120 1789 67.9 4.3 639 23953 0.43 3.22 120.18 0.291 11172 0.062 0.038 3353 3069 1693 1865 1521 0 0 0 0 0 0 11.14 11.10 10.95

24108 1.39 334.0 3354 3069 1867 1524 55.8 4.3 679 24228 0.00 3.15 112.00 0.255 9254 0.000 0.034 3363 1668 1432 1629 1236 0 0 0 0 0 0 11.19 11.14 10.97

24553 1.40 335.9 3363 1668 1630 1252 23.9 8.2 710 24565 0.00 3.15 7.07 0.146 8740 0.000 0.052 3372 314 1424 1629 1219 0 0 0 0 0 0 11.31 11.11 11.03

24700 1.40 335.9 3373 314 1630 1234 10.2 8.9 730 24704 0.00 2.97 0.00 0.000 1030 0.000 0.022 3373 1689 1431 1629 1233 0 0 0 0 0 0 11.20 11.17 11.21

24805 end climb: SURFACE_DEPTH_REACHED

state 24805 begin surface coast

24833 end surface coast: CONTROL_FINISHED_OK

state 24833 begin surface

ID	191	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	64	XPDR_INHIBIT	90
MISSION	8	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	50	INT_PRESSURE_SLOPE	0.0097660003
DIVE	787	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	2.7
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.050000001	MOTHERBOARD	4
D_SURF	2	SM_CC	515	VBD_MIN	500	DEVICE1	-1
D_FLARE	3	N_FILEKB	8	VBD_MAX	3960	DEVICE2	-1
D_TGT	450	FILEMGR	0	C_VBD	2793	DEVICE3	-1
D_ABORT	1010	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	6	N_NOCOMM	2	VBD_TIMEOUT	720	LOGGERS	1
D_FINISH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0012300001	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	149
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	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	720	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	0.0044184052
T_LOITER	18000	RAFOS_CORR_THRESH	60	MINV_24V	9.6999998	SEABIRD_T_H	0.00064843823
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_10V	9.6999998	SEABIRD_T_I	2.703744e-05
USE_BATHY	-6	PITCH_MIN	165	MAXI_24V	0.60000002	SEABIRD_T_J	3.4046161e-06
USE_ICE	0	PITCH_MAX	3888	MAXI_10V	0.80000001	SEABIRD_C_G	-9.8009434
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2930	FG_AHR_10V	0	SEABIRD_C_H	1.1236035
D_OFFGRID	1000	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_C_I	-0.0016777924
T_WATCHDOG	10	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00020399806
RELAUNCH	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-151.91774	SC_RECORDABOVE	2000.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PRESSURE_SLOPE	0.00010696654	SC_PROFILE	1.0
MAX_BUOY	100	PITCH_GAIN	24	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	0.029999999	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITRAW	0.0
MASS	54430	PITCH_ADJ_DBAND	3	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	0.0
MASS_COMP	0	ROLL_MIN	312	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	0.0
NAV_MODE	2	ROLL_MAX	3859	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	1.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	0	TM_RECORDABOVE	250.0
KALMAN_USE	2	C_ROLL_DIVE	1775	ALTIM_PING_DEPTH	0	TM_PROFILE	1.0
HD_A	0.0031999999	C_ROLL_CLIMB	1680	ALTIM_PING_DELTA	0	TM_XMITPROFILE	3.0
HD_B	0.0087299999	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13	TM_LOGSAMPLE	0.0
HD_C	7.1299997e-05	ROLL_CNV	0.028270001	ALTIM_PULSE	3	TM_XMITRAW	0.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
ESCAPE_HEADING	0	R_PORT_OVSHOOT	25	XPDR_VALID	2

GPS1	100417,045755,1009.5938,-12535.5088,33,0.8,39,9.2,0.6,330.2,11,4.5	SPEED_LIMITS	0.144,0.199
_CALLS	1	TGT_NAME	SW
_XMS_NAKs	0	TGT_LATLONG	946.500,-12513.710
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.96	MHEAD_RNG_PITCHd_Wd	128.6,58549,-19.0,-8.333,-22.71,1613
_SM_ANGLEo	-66.0	D_GRID	1000
GPS2	100417,050610,1009.6807,-12535.5234,18,0.9,18,9.2,0.0,0.0,10,8.9

FINISH	-0.0,1.027020	_10V_AH	10.63,0.000
SM_CCo	24865,153.62,0.108,0,0,693,515.38	FG_AHR_24Vo	0.000
SM_GC	1.11,12.85,0.12,153.62,0.073,0.073,0.108,164,1784,693,-8.61,-1.41,515.38,0,0,0,0,0,0,11.11,11.18,11.07	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1004.83,-12538.12,090417,213138	MEM	311932
TT8_MAMPS	0.046438,0.074151	DATA_FILE_SIZE	26733,738
HUMID	61.49	CAP_FILE_SIZE	122019,0
INTERNAL_PRESSURE	9.18462	CFSIZE	260034560,143237120
TCM_TEMP	25.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.077,308.67,1
SC_FREEKB	7473984	GPS	100417,120456,1009.827,-12535.989,44,0.9,44,9.2,0.5,146.9,10,9.7
_24V_AH	10.50,291.868

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	38	371	150.49	nil	0	0	0.00
Roll_motor	82	72	63.30	nil	0	0	0.00
VBD_pump_during_apogee	663	1462	10196.27	nil	0	0	0.00
VBD_pump_during_surface	153	107	173.99	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	50	5	3.11
Iridium_during_xfer	237	198	493.74	PMAR	0	0	0.00
Transponder_ping	0	420	0.00	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	20	4.50
TT8	0	0	0.00
LPSleep	22154	2	515.76
TT8_Active	931	9	95.78
TT8_Sampling	1686	29	522.57
TT8_CF8	722	34	264.23
TT8_Kalman	0	0	0.00
Analog_circuits	1811	11	217.60
GPS_charging	0	0	0.00
Compass	1053	6	75.49
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
16	-0.91	-97.3	132	1797	900	503	0.0	0.0	0	100	0.00	0.00	-82.65	0.000	16390	0.000	0.000	131	1801	3191	3232	3151	0	0	0	0	0	0	11.28	10.55	11.30
105	-0.91	-97.3	131	1802	3233	3153	5.0	-6.9	3	133	19.73	3.33	0.00	0.000	2564	0.372	0.046	2636	367	3194	3236	3152	0	0	0	0	0	0	10.93	11.09	11.12
206	-0.54	-97.3	2637	368	3238	3152	42.1	-26.5	18	212	0.73	3.05	0.00	0.000	3206	0.266	0.029	2748	1748	3194	3237	3151	0	0	0	0	0	0	11.01	11.15	11.16
521	-0.54	-97.3	2748	1748	3245	3146	81.8	-8.3	30	526	0.00	3.25	0.00	0.000	292	0.000	0.047	2740	3187	3194	3244	3145	0	0	0	0	0	0	11.33	11.13	11.34
656	-0.54	-97.3	2740	3186	3245	3146	92.5	-7.8	49	662	0.00	3.15	0.00	0.000	1062	0.000	0.034	2740	1773	3194	3244	3145	0	0	0	0	0	0	11.20	11.14	11.21
997	-0.54	-97.3	2740	1772	3250	3145	116.8	-6.9	58	1002	0.00	3.22	0.00	0.000	292	0.000	0.047	2730	3186	3196	3249	3144	0	0	0	0	0	0	11.33	11.14	11.35
1055	-0.54	-97.3	2730	3188	3250	3144	121.1	-7.9	66	1060	0.00	3.17	0.00	0.000	1062	0.000	0.034	2730	1769	3196	3249	3144	0	0	0	0	0	0	11.20	11.14	11.21
1390	-0.54	-97.3	2731	1768	3250	3144	147.4	-7.7	79	1394	0.00	3.25	0.00	0.000	548	0.000	0.053	2730	363	3195	3249	3142	0	0	0	0	0	0	11.33	11.13	11.35
1494	-0.54	-97.3	2731	364	3250	3142	156.4	-8.8	94	1501	0.20	3.15	0.00	0.000	3078	0.208	0.027	2753	1794	3195	3249	3142	0	0	0	0	0	0	11.05	11.17	11.18
1840	-0.64	-97.3	2753	1794	3250	3139	183.9	-8.1	101	1840	0.00	0.00	0.00	0.000	166	0.000	0.000	2753	1794	3193	3249	3138	0	0	0	0	0	0	11.33	11.34	11.34
2174	-0.75	-97.3	2753	1794	3250	3133	211.8	-8.3	107	2175	0.28	0.00	0.00	0.000	4230	0.073	0.000	2678	1794	3190	3249	3132	0	0	0	0	0	0	11.16	11.23	11.21
2509	-0.75	-97.3	2679	1794	3249	3129	246.6	-10.3	113	2516	0.00	3.35	0.00	0.000	516	0.000	0.052	2678	363	3188	3249	3128	0	0	0	0	0	0	11.33	11.14	11.35
2567	-0.75	-97.3	2679	363	3250	3129	252.4	-10.4	121	2573	0.00	3.15	0.00	0.000	1030	0.000	0.029	2669	1783	3188	3249	3127	0	0	0	0	0	0	11.21	11.17	11.22
2903	-0.75	-97.3	2669	1784	3250	3122	286.3	-10.1	134	2908	0.00	3.17	0.00	0.000	260	0.000	0.050	2659	3174	3185	3249	3122	0	0	0	0	0	0	11.34	11.14	11.36
2959	-0.75	-97.3	2659	3175	3250	3121	292.1	-10.5	142	2964	0.00	3.17	0.00	0.000	1030	0.000	0.037	2658	1765	3185	3249	3122	0	0	0	0	0	0	11.21	11.16	11.22
3297	-0.75	-97.3	2659	1764	3250	3118	330.1	-11.6	155	3302	0.00	3.25	0.00	0.000	516	0.000	0.054	2658	364	3183	3249	3117	0	0	0	0	0	0	11.33	11.14	11.34
3408	-0.65	-97.3	2659	365	3250	3116	344.7	-13.0	171	3413	0.38	3.15	0.00	0.000	3206	0.215	0.028	2715	1777	3182	3249	3115	0	0	0	0	0	0	11.05	11.18	11.19
3745	-0.65	-97.3	2715	1777	3250	3111	380.1	-10.5	184	3750	0.00	3.20	0.00	0.000	260	0.000	0.050	2706	3174	3180	3249	3111	0	0	0	0	0	0	11.33	11.14	11.35
3793	-0.65	-97.3	2707	3175	3249	3110	385.2	-10.3	191	3799	0.00	3.17	0.00	0.000	1030	0.000	0.037	2706	1768	3179	3249	3110	0	0	0	0	0	0	11.21	11.16	11.23
4136	-0.65	-97.3	2707	1768	3249	3108	419.7	-9.9	198	4141	0.00	3.28	0.00	0.000	516	0.000	0.056	2706	364	3177	3248	3107	0	0	0	0	0	0	11.34	11.14	11.37
4208	-0.65	-97.3	2707	364	3249	3107	426.6	-9.7	208	4213	0.00	3.17	0.00	0.000	1030	0.000	0.028	2697	1788	3177	3249	3105	0	0	0	0	0	0	11.25	11.18	11.23
4468	end dive: TARGET_DEPTH_EXCEEDED
state	4468	begin apogee
4479	-0.21	0.0	2697	1661	3250	3102	451.1	-9.2	218	4600	0.82	0.00	119.05	1.463	10246	0.206	0.000	2853	1660	2794	2913	2675	0	0	0	0	0	0	11.05	11.07	10.52
4601	end apogee: CONTROL_FINISHED_OK
state	4601	begin loiter
4921	-0.18	21.9	2853	1661	2910	2655	460.7	-1.4	226	4950	0.00	0.00	27.52	1.430	8230	0.000	0.000	2853	1660	2703	2816	2590	0	0	0	0	0	0	11.31	11.07	10.53
5259	-0.45	30.7	2853	1661	2812	2574	462.8	-0.6	232	5266	0.28	0.00	5.25	1.134	12454	0.070	0.000	2777	1660	2666	2778	2555	0	0	0	0	0	0	11.14	11.10	10.50
5593	-0.53	47.7	2777	1660	2778	2557	466.2	-1.1	238	5623	0.00	0.00	28.73	1.454	8358	0.000	0.000	2777	1660	2597	2709	2486	0	0	0	0	0	0	11.31	11.06	10.52
5931	-0.64	47.7	2777	1661	2707	2471	460.5	2.0	244	5932	0.22	0.00	0.00	0.000	4230	0.079	0.000	2716	1660	2588	2706	2470	0	0	0	0	0	0	11.14	11.21	11.19
6265	-0.64	47.7	2715	1661	2707	2468	452.6	2.5	250	6266	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2587	2706	2468	0	0	0	0	0	0	11.32	11.33	11.33
6601	-0.64	47.7	2716	1660	2707	2469	442.4	3.1	256	6601	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2586	2706	2467	0	0	0	0	0	0	11.32	11.33	11.33
6937	-0.64	47.7	2716	1661	2707	2465	431.4	3.3	262	6938	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2585	2706	2465	0	0	0	0	0	0	11.33	11.34	11.34
7275	-0.64	47.7	2715	1661	2707	2464	422.1	2.6	268	7276	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2585	2706	2464	0	0	0	0	0	0	11.32	11.33	11.33
7609	-0.64	47.7	2716	1660	2707	2464	414.9	2.1	274	7609	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2584	2706	2463	0	0	0	0	0	0	11.33	11.35	11.34
7945	-0.64	47.7	2716	1660	2706	2464	410.7	1.0	280	7946	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	1660	2584	2706	2463	0	0	0	0	0	0	11.33	11.35	11.35
8281	-0.65	34.0	2716	1660	2707	2463	408.0	0.9	286	8282	0.00	0.00	0.00	0.000	38	0.000	0.000	2716	1660	2584	2706	2462	0	0	0	0	0	0	11.33	11.35	11.35
8618	-0.65	34.0	2716	1661	2707	2461	402.0	2.0	292	8619	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2583	2706	2461	0	0	0	0	0	0	11.33	11.34	11.34
8953	-0.65	34.0	2716	1660	2707	2463	392.9	2.8	298	8953	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2584	2706	2462	0	0	0	0	0	0	11.33	11.36	11.35
9289	-0.65	34.0	2717	1660	2706	2462	383.7	2.7	304	9290	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2583	2706	2461	0	0	0	0	0	0	11.34	11.36	11.36
9625	-0.65	34.0	2716	1661	2706	2459	374.5	2.8	310	9626	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2583	2706	2460	0	0	0	0	0	0	11.33	11.36	11.36
9963	-0.65	34.0	2716	1661	2707	2459	364.7	2.9	316	9963	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.33	11.37	11.35
10297	-0.65	34.0	2716	1661	2707	2459	357.9	1.9	322	10297	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	1660	2582	2706	2459	0	0	0	0	0	0	11.34	11.36	11.36
10633	-0.65	34.0	2716	1661	2707	2459	353.6	1.2	328	10634	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.34	11.36	11.36
10969	-0.65	34.0	2716	1662	2707	2459	349.1	1.4	334	10970	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.34	11.36	11.36
11307	-0.65	34.0	2716	1661	2707	2459	342.4	2.2	340	11307	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.33	11.36	11.35
11641	-0.65	34.0	2716	1660	2707	2460	332.3	3.1	346	11642	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.34	11.36	11.36
11977	-0.65	34.0	2716	1661	2707	2459	322.1	3.0	352	11977	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.34	11.36	11.36
12313	-0.65	34.0	2716	1660	2706	2460	312.7	2.7	358	12314	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.35	11.36	11.36
12651	-0.65	34.0	2716	1660	2706	2460	307.4	1.4	364	12651	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.33	11.36	11.36
12985	-0.67	20.7	2716	1660	2706	2460	304.3	0.8	370	12986	0.00	0.00	0.00	0.000	38	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.35	11.36	11.36
13321	-0.67	20.7	2716	1661	2707	2459	299.7	1.5	376	13322	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.35	11.36	11.36
13659	-0.67	20.7	2716	1661	2707	2459	292.3	2.3	382	13659	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2583	2706	2460	0	0	0	0	0	0	11.34	11.36	11.36
13993	-0.67	20.7	2716	1660	2707	2460	285.7	1.9	388	13993	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.35	11.36	11.36
14329	-0.67	20.7	2716	1661	2707	2459	280.1	1.7	394	14330	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1661	2582	2706	2459	0	0	0	0	0	0	11.35	11.36	11.36
14665	-0.67	20.7	2716	1660	2706	2460	275.2	1.4	400	14666	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2705	2459	0	0	0	0	0	0	11.35	11.36	11.36
15003	-0.67	20.7	2716	1661	2707	2459	270.7	1.3	406	15003	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.34	11.36	11.36
15337	-0.67	20.7	2717	1659	2707	2460	264.5	1.9	412	15337	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.35	11.37	11.36
15673	-0.67	20.7	2716	1661	2708	2459	256.9	2.3	418	15674	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2583	2706	2460	0	0	0	0	0	0	11.35	11.37	11.36
16009	-0.67	20.7	2716	1660	2706	2460	250.8	1.7	424	16010	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.35	11.36	11.36
16347	-0.67	20.7	2716	1660	2707	2461	245.6	1.6	430	16348	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.34	11.36	11.36
16681	-0.67	20.7	2716	1661	2707	2459	239.2	1.8	436	16682	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.35	11.37	11.37
17017	-0.67	20.7	2716	1661	2707	2459	233.4	1.9	442	17018	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.35	11.37	11.37
17353	-0.67	20.7	2716	1661	2707	2459	226.8	2.0	448	17354	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.36	11.37	11.37
17691	-0.67	20.7	2716	1660	2707	2461	221.6	1.5	454	17691	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.34	11.36	11.36
18025	-0.67	20.7	2716	1661	2707	2459	216.1	1.7	460	18025	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.36	11.37	11.37
18361	-0.67	20.7	2716	1660	2706	2460	209.4	2.0	466	18362	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.36	11.37	11.37
18697	-0.67	20.7	2716	1660	2707	2460	203.3	1.8	472	18698	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.36	11.37	11.37
19035	-0.67	20.7	2716	1660	2706	2461	193.7	3.1	478	19035	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.35	11.36	11.36
19369	-0.67	20.7	2716	1661	2707	2460	185.9	2.0	484	19369	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.36	11.38	11.37
19705	-0.67	20.7	2716	1660	2706	2460	180.1	1.7	490	19706	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.36	11.37	11.37
20041	-0.67	20.7	2716	1660	2706	2460	174.9	1.5	496	20042	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.36	11.37	11.37
20379	-0.67	20.7	2717	1660	2706	2460	169.3	1.7	502	20379	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.35	11.36	11.36
20713	-0.67	20.7	2716	1661	2707	2459	162.5	2.0	508	20713	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.36	11.37	11.37
21049	-0.69	7.1	2716	1661	2707	2459	159.2	0.9	514	21050	0.00	0.00	0.00	0.000	38	0.000	0.000	2716	1661	2582	2706	2459	0	0	0	0	0	0	11.36	11.37	11.37
21385	-0.69	7.1	2716	1660	2707	2460	152.4	2.2	520	21385	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.36	11.37	11.37
21723	-0.69	7.1	2715	1661	2707	2459	147.7	1.1	526	21723	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2705	2459	0	0	0	0	0	0	11.35	11.36	11.36
22057	-0.69	7.1	2716	1661	2707	2459	144.6	1.1	532	22057	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.36	11.38	11.38
22393	-0.69	7.1	2716	1660	2706	2461	139.5	1.4	538	22394	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1660	2582	2706	2459	0	0	0	0	0	0	11.36	11.38	11.37
22612	end loiter: LOITER_COMPLETE
state	22612	begin climb
22617	0.91	97.3	2716	1661	2707	2459	136.7	0.0	542	22685	2.65	3.15	59.90	1.086	10756	0.230	0.053	3228	320	2391	2523	2259	0	0	0	0	0	0	11.07	10.98	10.62
22898	0.96	138.7	3228	320	2523	2246	124.1	5.7	582	22954	0.00	3.03	49.85	1.053	9254	0.000	0.024	3228	1707	2224	2378	2070	0	0	0	0	0	0	11.21	11.18	10.63
23292	1.01	171.9	3228	1707	2375	2050	99.4	6.2	596	23358	0.00	3.12	56.92	0.371	8484	0.000	0.041	3228	3060	2098	2253	1944	0	0	0	0	0	0	11.31	11.09	10.90
23421	1.05	207.4	3228	3060	2254	1946	91.8	6.1	614	23504	0.00	3.10	77.43	0.354	9254	0.000	0.034	3236	1686	1948	2120	1777	0	0	0	0	0	0	11.19	11.14	10.91
23822	1.32	271.3	3236	1686	2120	1789	67.9	4.3	639	23953	0.43	3.22	120.18	0.291	11172	0.062	0.038	3353	3069	1693	1865	1521	0	0	0	0	0	0	11.14	11.10	10.95
24108	1.39	334.0	3354	3069	1867	1524	55.8	4.3	679	24228	0.00	3.15	112.00	0.255	9254	0.000	0.034	3363	1668	1432	1629	1236	0	0	0	0	0	0	11.19	11.14	10.97
24553	1.40	335.9	3363	1668	1630	1252	23.9	8.2	710	24565	0.00	3.15	7.07	0.146	8740	0.000	0.052	3372	314	1424	1629	1219	0	0	0	0	0	0	11.31	11.11	11.03
24700	1.40	335.9	3373	314	1630	1234	10.2	8.9	730	24704	0.00	2.97	0.00	0.000	1030	0.000	0.022	3373	1689	1431	1629	1233	0	0	0	0	0	0	11.20	11.17	11.21
24805	end climb: SURFACE_DEPTH_REACHED
state	24805	begin surface coast
24833	end surface coast: CONTROL_FINISHED_OK
state	24833	begin surface