Glider dive log

SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 891 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 220 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 19 XPDR_INHIBIT 90

MISSION 6 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 100 INT_PRESSURE_SLOPE 0.0097660003

DIVE 891 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 0.050000001 MOTHERBOARD 4

D_SURF 2 SM_CC 500 VBD_MIN 500 DEVICE1 -1

D_FLARE 3 N_FILEKB 8 VBD_MAX 3960 DEVICE2 -1

D_TGT 450 FILEMGR 0 C_VBD 2800 DEVICE3 -1

D_ABORT 1020 CALL_NDIVES 1 VBD_DBAND 2 DEVICE4 -1

D_NO_BLEED 50 COMM_SEQ 0 VBD_CNV -0.25119999 DEVICE5 -1

D_BOOST 120 PROTOCOL 0 VBD_LP_IGNORE 0 DEVICE6 -1

T_BOOST 5 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 60 COMPASS_DEVICE 97

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 COMPASS2_DEVICE 150

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 PHONE_DEVICE 48

T_DIVE 180 HEAPDBG 0 DBDW 0 GPS_DEVICE 64

T_MISSION 540 T_GPS 10 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 3 CF8_MAXERRORS 2 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 0.0044037569

T_LOITER 18000 RAFOS_CORR_THRESH 60 MINV_24V 9.3999996 SEABIRD_T_H 0.00063615869

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_10V 9.3999996 SEABIRD_T_I 2.4815216e-05

USE_BATHY 0 PITCH_MIN 190 MAXI_24V 0.60000002 SEABIRD_T_J 2.9729028e-06

USE_ICE 0 PITCH_MAX 3888 MAXI_10V 1 SEABIRD_C_G -9.8086529

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2900 FG_AHR_10V 0 SEABIRD_C_H 1.075657

D_OFFGRID 1000 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_C_I -0.0023452051

T_WATCHDOG 10 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_C_J 0.00023101401

RELAUNCH 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -168.7365 SC_RECORDABOVE 2000.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0.079999998 PRESSURE_SLOPE 0.0001077811 SC_PROFILE 1.0

MAX_BUOY 100 PITCH_GAIN 22 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 100 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 0.025 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITRAW 0.0

MASS 54354 PITCH_ADJ_DBAND 3 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 0.0

MASS_COMP 0 ROLL_MIN 265 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 0.0

NAV_MODE 2 ROLL_MAX 3829 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 1.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1 TM_RECORDABOVE 250.0

KALMAN_USE 2 C_ROLL_DIVE 2765 ALTIM_PING_DEPTH 0 TM_PROFILE 1.0

HD_A 0.0024999999 C_ROLL_CLIMB 2250 ALTIM_PING_DELTA 5 TM_XMITPROFILE 3.0

HD_B 0.014 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13 TM_LOGSAMPLE 0.0

HD_C 1.6e-05 ROLL_CNV 0.028270001 ALTIM_PULSE 3 TM_XMITRAW 0.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

ESCAPE_HEADING 0 R_PORT_OVSHOOT 33 XPDR_VALID 2

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_MAX 3888 SM_CC 500

AH0_10V 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SPEED_FACTOR 1

AH0_24V 350 FERRY_MAX 45 PITCH_MIN 190 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 5 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 64 PM_NDIVE 0.0 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 HD_A 0.0024999999 PM_PROFILE 3.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 HD_B 0.014 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 HD_C 1.6e-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 0.0001077811 TM_RECORDABOVE 250.0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -168.7365 TM_XMITPROFILE 3.0

CALL_WAIT 60 ID 220 PROTOCOL 0 TM_XMITRAW 0.0

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_ABORT 1440

CAPUPLOAD 0 INT_PRESSURE_YINT 0 P_OVSHOOT_WITHG 0.079999998 T_BOOST 5

CF8_MAXERRORS 2 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 10

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 2900 MASS 54354 ROLL_ADJ_DBAND 0.050000001 T_RSLEEP 3

C_ROLL_CLIMB 2250 MASS_COMP 0 ROLL_ADJ_GAIN 0.5 T_TURN 225

C_ROLL_DIVE 2765 MAXI_10V 1 ROLL_AD_RATE 100 T_TURN_SAMPINT -7

C_VBD 2800 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 T_WATCHDOG 10

DBDW 0 MAX_BUOY 100 ROLL_DEG 40 UNCOM_BLEED 60

DEEPGLIDER 0 MINV_10V 9.3999996 ROLL_MAX 3829 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MINV_24V 9.3999996 ROLL_MAXERRORS 1 USE_BATHY 0

DEVICE2 -1 MISSION 6 ROLL_MIN 265 USE_ICE 0

DEVICE3 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE4 -1 NAV_MODE 2 R_PORT_OVSHOOT 33 VBD_CNV -0.25119999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 19 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 1.0 VBD_LP_IGNORE 0

DIVE 891 N_FILEKB 8 SC_RECORDABOVE 2000.0 VBD_MAX 3960

D_ABORT 1020 N_GPS 100440 SC_XMITPROFILE 1.0 VBD_MAXERRORS 1

D_BOOST 120 N_NOCOMM 2 SEABIRD_C_G -9.8086529 VBD_MIN 500

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_H 1.075657 VBD_PUMP_AD_RATE_APOGEE 1

D_FINISH 0 PHONE_DEVICE 48 SEABIRD_C_I -0.0023452051 VBD_PUMP_AD_RATE_SURFACE 1

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_C_J 0.00023101401 VBD_TIMEOUT 720

D_NO_BLEED 50 PITCH_ADJ_DBAND 3 SEABIRD_T_G 0.0044037569 W_ADJ_DBAND 0

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.025 SEABIRD_T_H 0.00063615869 XPDR_DEVICE 24

D_PITCH 0 PITCH_AD_RATE 100 SEABIRD_T_I 2.4815216e-05 XPDR_INHIBIT 90

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_J 2.9729028e-06 XPDR_VALID 2

D_SURF 2 PITCH_DBAND 0.1 SIM_PITCH 0

D_TGT 450 PITCH_GAIN 22 SIM_W 0

Pre-dive calculations and measurements:

GPS1 100417,023401,1020.9849,-12527.3809,14,1.5,15,9.1,0.2,0.0,5,9.6 SPEED_LIMITS 0.144,0.169

_CALLS 1 TGT_NAME E

_XMS_NAKs 3 TGT_LATLONG 1000.000,-12440.610

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo -0.32 MHEAD_RNG_PITCHd_Wd 102.4,93914,-20.3,-8.333,-26.24,1745

_SM_ANGLEo -63.9 D_GRID 450

GPS2 100417,024210,1021.0277,-12527.4668,2,1.5,5,9.1,1.1,243.9,5,8.7

Post-dive calculations and measurements:

FINISH -1.0,1.027093 _10V_AH 10.72,0.000

SM_CCo 26578,124.00,0.129,0,0,808,500.14 FG_AHR_24Vo 0.000

SM_GC -0.17,11.77,1.25,124.00,0.034,0.049,0.129,167,2776,808,-8.43,-0.54,500.14,0,0,0,0,0,0,11.13,11.07,10.98 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1017.98,-12528.44,090417,182605 MEM 334744

TT8_MAMPS 0.045689,0.100366 DATA_FILE_SIZE 30075,823

HUMID 55.19 CAP_FILE_SIZE 134289,0

INTERNAL_PRESSURE 9.32653 CFSIZE 1024409600,878264320

TCM_TEMP 22.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.085,296.64,1

SC_FREEKB 3571872 GPS 100417,100830,1021.332,-12528.145,19,0.9,19,9.1,0.3,352.6,9,3.4

_24V_AH 10.41,292.395

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 363 132.96 nil 0 0 0.00

Roll_motor 96 123 124.50 nil 0 0 0.00

VBD_pump_during_apogee 443 1455 6726.09 nil 0 0 0.00

VBD_pump_during_surface 124 129 166.89 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 31 6 2.20

Iridium_during_xfer 265 200 554.79 PMAR 0 0 0.00

Transponder_ping 0 420 0.00 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 9 0.72

TT8 0 0 0.00

LPSleep 23894 2 560.98

TT8_Active 741 8 70.46

TT8_Sampling 1877 28 570.61

TT8_CF8 657 39 279.14

TT8_Kalman 0 0 0.00

Analog_circuits 1682 12 218.27

GPS_charging 0 0 0.00

Compass 1173 7 94.24

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

15 -1.04 -97.3 131 2789 854 772 0.0 0.0 0 99 0.00 0.00 -82.35 0.000 16390 0.000 0.000 122 2791 3190 3177 3203 0 0 0 0 0 0 11.22 10.43 11.21

104 -1.04 -97.3 123 2790 3178 3205 3.5 -6.5 3 127 17.92 3.40 0.00 0.000 2564 0.363 0.034 2554 1355 3191 3180 3203 0 0 0 0 0 0 10.86 11.02 11.06

177 -0.77 -97.3 2554 1356 3184 3202 28.5 -23.8 14 184 0.55 3.47 0.00 0.000 3206 0.251 0.063 2643 2762 3192 3183 3202 0 0 0 0 0 0 10.91 11.00 11.07

492 -0.77 -97.3 2643 2762 3185 3204 71.5 -7.6 26 493 0.00 0.00 0.00 0.000 38 0.000 0.000 2643 2762 3193 3185 3202 0 0 0 0 0 0 11.26 11.26 11.26

800 -0.77 -97.3 2643 2762 3187 3202 60.7 16.6 37 801 0.00 0.00 0.00 0.000 38 0.000 0.000 2643 2762 3194 3186 3202 0 0 0 0 0 0 11.26 11.26 11.26

1108 -0.77 -97.3 2644 2762 3187 3203 113.3 -7.0 45 1114 0.00 2.60 0.00 0.000 292 0.000 0.099 2635 3833 3194 3186 3202 0 0 0 0 0 0 11.26 11.01 11.26

1346 -0.77 -97.3 2635 3833 3188 3201 130.3 -6.8 79 1351 0.00 2.35 0.00 0.000 1062 0.000 0.033 2634 2736 3194 3187 3201 0 0 0 0 0 0 11.14 11.12 11.16

1668 -0.77 -97.3 2634 2738 3187 3198 151.5 -6.7 90 1673 0.00 2.70 0.00 0.000 292 0.000 0.096 2626 3832 3192 3186 3198 0 0 0 0 0 0 11.26 11.02 11.27

1731 -0.77 -97.3 2627 3832 3187 3199 155.9 -7.3 99 1736 0.00 2.30 0.00 0.000 1062 0.000 0.033 2625 2764 3192 3186 3198 0 0 0 0 0 0 11.15 11.12 11.16

2060 -0.77 -97.3 2626 2765 3187 3195 181.4 -7.9 111 2065 0.00 2.62 0.00 0.000 292 0.000 0.096 2618 3828 3190 3186 3194 0 0 0 0 0 0 11.27 11.02 11.27

2102 -0.77 -97.3 2619 3828 3187 3196 185.0 -8.9 117 2108 0.15 2.30 0.00 0.000 3078 0.199 0.034 2648 2772 3190 3186 3194 0 0 0 0 0 0 10.98 11.12 11.11

2452 -0.77 -97.3 2649 2772 3186 3191 210.1 -7.0 125 2458 0.00 3.30 0.00 0.000 548 0.000 0.037 2649 1372 3187 3186 3189 0 0 0 0 0 0 11.27 11.07 11.27

2611 -0.84 -97.3 2650 1372 3187 3189 221.1 -7.0 147 2616 0.00 3.45 0.00 0.000 1190 0.000 0.059 2639 2779 3186 3186 3187 0 0 0 0 0 0 11.13 11.04 11.14

2960 -0.84 -97.3 2639 2780 3187 3184 245.9 -7.0 155 2965 0.00 3.35 0.00 0.000 548 0.000 0.034 2639 1368 3185 3186 3184 0 0 0 0 0 0 11.27 11.07 11.27

3008 -0.84 -97.3 2639 1369 3187 3185 249.4 -7.2 162 3015 0.00 3.45 0.00 0.000 1062 0.000 0.058 2629 2766 3185 3186 3184 0 0 0 0 0 0 11.14 11.04 11.14

3352 -0.84 -97.3 2629 2765 3187 3181 275.6 -7.7 169 3357 0.00 3.33 0.00 0.000 548 0.000 0.033 2628 1365 3182 3187 3178 0 0 0 0 0 0 11.27 11.07 11.27

3400 -0.84 -97.3 2627 1365 3187 3179 279.4 -7.7 176 3407 0.00 3.42 0.00 0.000 1062 0.000 0.058 2618 2762 3182 3186 3178 0 0 0 0 0 0 11.14 11.05 11.15

3744 -0.84 -97.3 2619 2763 3188 3175 306.6 -7.9 183 3744 0.00 0.00 0.00 0.000 38 0.000 0.000 2618 2762 3180 3186 3175 0 0 0 0 0 0 11.27 11.27 11.28

4079 -0.84 -97.3 2618 2763 3187 3173 334.7 -8.5 189 4085 0.00 3.33 0.00 0.000 516 0.000 0.034 2617 1369 3179 3186 3172 0 0 0 0 0 0 11.28 11.07 11.28

4156 -0.84 -97.3 2618 1370 3187 3172 341.3 -8.7 200 4161 0.00 3.42 0.00 0.000 1030 0.000 0.059 2607 2767 3179 3186 3172 0 0 0 0 0 0 11.14 11.05 11.15

4471 -0.84 -97.3 2609 2766 3186 3169 368.5 -8.6 210 4472 0.00 0.00 0.00 0.000 6 0.000 0.000 2608 2766 3177 3186 3168 0 0 0 0 0 0 11.28 11.28 11.28

4807 -0.84 -97.3 2608 2766 3187 3166 394.3 -7.5 216 4812 0.00 3.33 0.00 0.000 548 0.000 0.034 2607 1375 3175 3186 3164 0 0 0 0 0 0 11.28 11.08 11.27

4849 -0.84 -97.3 2607 1375 3187 3165 397.5 -7.5 222 4855 0.12 3.42 0.00 0.000 3110 0.217 0.059 2621 2768 3174 3186 3163 0 0 0 0 0 0 10.98 11.05 11.12

5200 -0.84 -97.3 2621 2769 3187 3163 422.0 -7.1 230 5205 0.00 2.62 0.00 0.000 292 0.000 0.100 2614 3832 3174 3186 3163 0 0 0 0 0 0 11.27 11.02 11.28

5270 -0.84 -97.3 2614 3834 3188 3162 427.5 -7.9 240 5274 0.00 2.38 0.00 0.000 1062 0.000 0.036 2613 2757 3174 3186 3162 0 0 0 0 0 0 11.16 11.12 11.17

5586 end dive: TARGET_DEPTH_EXCEEDED

state 5586 begin apogee

5598 -0.23 0.0 2614 2231 3187 3160 451.3 -7.3 251 5747 1.00 0.10 145.62 1.299 10244 0.182 0.124 2820 2267 2800 2840 2761 0 0 0 0 0 0 10.99 10.95 10.50

5747 end apogee: CONTROL_FINISHED_OK

state 5747 begin loiter

5979 -0.23 -4.1 2821 2268 2837 2746 455.3 0.2 286 5984 0.00 0.00 0.00 0.000 1062 0.000 0.000 2820 2267 2791 2835 2747 0 0 0 0 0 0 11.24 11.24 11.24

6309 -0.60 -10.1 2821 2268 2837 2744 454.1 0.4 298 6310 0.38 0.00 0.00 0.000 4262 0.049 0.000 2707 2267 2789 2835 2744 0 0 0 0 0 0 11.07 11.13 11.12

6644 -0.76 -17.2 2708 2267 2836 2742 452.9 0.4 304 6646 0.12 0.00 0.00 0.000 4262 0.072 0.000 2651 2267 2788 2835 2741 0 0 0 0 0 0 11.10 11.14 11.13

6980 -0.77 -28.3 2650 2268 2836 2739 450.9 0.7 310 6981 0.00 0.00 0.00 0.000 38 0.000 0.000 2651 2267 2787 2835 2739 0 0 0 0 0 0 11.26 11.26 11.26

7316 -0.77 -28.3 2651 2268 2836 2736 447.6 1.1 316 7317 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2786 2835 2737 0 0 0 0 0 0 11.26 11.26 11.26

7652 -0.77 -28.3 2651 2267 2836 2737 442.9 1.4 322 7653 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2785 2835 2735 0 0 0 0 0 0 11.26 11.26 11.26

7988 -0.79 -42.9 2651 2268 2836 2734 439.6 0.9 328 7989 0.00 0.00 0.00 0.000 38 0.000 0.000 2651 2267 2785 2836 2734 0 0 0 0 0 0 11.26 11.27 11.26

8324 -0.78 -38.1 2651 2267 2835 2735 439.9 -0.3 334 8325 0.00 0.00 0.00 0.000 38 0.000 0.000 2651 2267 2784 2835 2733 0 0 0 0 0 0 11.26 11.27 11.27

8660 -0.76 -19.6 2651 2268 2836 2731 443.2 -1.1 340 8661 0.00 0.00 0.00 0.000 38 0.000 0.000 2651 2267 2782 2834 2731 0 0 0 0 0 0 11.27 11.27 11.27

8996 -0.74 -0.7 2651 2268 2836 2730 447.0 -1.1 346 8997 0.00 0.00 0.00 0.000 38 0.000 0.000 2651 2266 2782 2835 2730 0 0 0 0 0 0 11.27 11.27 11.28

9332 -0.72 17.0 2651 2268 2836 2729 450.5 -1.0 352 9353 0.00 0.00 19.98 1.456 8230 0.000 0.000 2651 2267 2732 2782 2682 0 0 0 0 0 0 11.26 11.00 10.41

9668 -0.72 17.0 2652 2266 2768 2672 444.1 2.5 358 9669 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2719 2768 2670 0 0 0 0 0 0 11.26 11.26 11.26

10004 -0.72 17.0 2651 2267 2768 2671 432.9 3.4 364 10005 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2718 2767 2670 0 0 0 0 0 0 11.27 11.27 11.27

10340 -0.72 17.0 2651 2268 2769 2669 423.2 2.8 370 10341 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2267 2718 2767 2669 0 0 0 0 0 0 11.27 11.26 11.27

10677 -0.72 17.0 2651 2268 2769 2668 415.9 2.0 376 10678 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2718 2767 2669 0 0 0 0 0 0 11.26 11.27 11.27

11012 -0.73 3.1 2651 2267 2768 2670 412.5 0.8 382 11013 0.00 0.00 0.00 0.000 38 0.000 0.000 2651 2267 2717 2767 2668 0 0 0 0 0 0 11.28 11.28 11.28

11348 -0.73 3.1 2652 2267 2768 2669 408.3 1.4 388 11349 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2668 0 0 0 0 0 0 11.27 11.28 11.28

11684 -0.73 3.1 2651 2268 2768 2668 400.9 2.2 394 11685 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2668 0 0 0 0 0 0 11.28 11.27 11.28

12020 -0.73 3.1 2652 2267 2768 2669 395.1 1.6 400 12021 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2718 2768 2668 0 0 0 0 0 0 11.28 11.28 11.28

12356 -0.73 3.1 2652 2267 2768 2669 388.7 2.0 406 12357 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.28 11.28 11.28

12692 -0.73 3.1 2652 2267 2768 2669 382.2 1.8 412 12693 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2267 2717 2768 2667 0 0 0 0 0 0 11.29 11.28 11.29

13028 -0.73 3.1 2651 2267 2768 2669 377.6 1.3 418 13029 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.28 11.28 11.29

13364 -0.75 -10.8 2652 2267 2768 2668 374.6 0.8 424 13365 0.00 0.00 0.00 0.000 38 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.28 11.28 11.29

13700 -0.75 -10.8 2651 2268 2768 2667 369.9 1.6 430 13701 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

14036 -0.75 -10.8 2652 2267 2768 2668 360.7 2.9 436 14037 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.28 11.29

14372 -0.75 -10.8 2651 2267 2768 2668 350.4 3.0 442 14373 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

14708 -0.75 -10.8 2651 2268 2769 2667 343.1 2.0 448 14709 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2768 2667 0 0 0 0 0 0 11.29 11.29 11.29

15044 -0.76 -21.0 2651 2268 2768 2667 340.2 0.6 454 15045 0.00 0.00 0.00 0.000 38 0.000 0.000 2651 2267 2717 2768 2667 0 0 0 0 0 0 11.29 11.28 11.28

15380 -0.77 -24.7 2651 2268 2769 2667 339.5 0.2 460 15381 0.00 0.00 0.00 0.000 38 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

15717 -0.77 -24.7 2651 2268 2768 2666 335.3 1.4 466 15717 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.28 11.29 11.29

16052 -0.77 -24.7 2651 2268 2768 2667 329.8 1.7 472 16053 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

16388 -0.77 -24.7 2650 2268 2769 2667 322.1 2.4 478 16389 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

16724 -0.77 -24.7 2651 2268 2769 2667 315.4 1.8 484 16725 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

17060 -0.79 -38.8 2651 2268 2769 2667 312.1 0.8 490 17061 0.00 0.00 0.00 0.000 38 0.000 0.000 2651 2267 2717 2767 2668 0 0 0 0 0 0 11.29 11.29 11.29

17396 -0.79 -43.4 2651 2268 2769 2667 310.9 0.3 496 17397 0.00 0.00 0.00 0.000 38 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

17732 -0.79 -43.4 2651 2267 2768 2667 308.0 1.0 502 17733 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

18068 -0.79 -43.4 2652 2268 2769 2667 302.9 1.6 508 18069 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2267 2717 2768 2667 0 0 0 0 0 0 11.29 11.29 11.29

18404 -0.79 -43.4 2651 2268 2769 2667 298.0 1.4 514 18405 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2768 2667 0 0 0 0 0 0 11.29 11.29 11.29

18740 -0.79 -43.4 2651 2268 2769 2667 291.0 2.2 520 18741 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

19076 -0.79 -43.4 2651 2268 2769 2667 284.9 1.7 526 19077 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2266 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

19412 -0.79 -43.4 2651 2268 2769 2667 279.9 1.5 532 19413 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

19748 -0.79 -43.4 2651 2268 2768 2667 275.7 1.1 538 19749 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2266 2716 2766 2667 0 0 0 0 0 0 11.29 11.29 11.29

20084 -0.79 -43.4 2651 2268 2769 2667 272.2 1.1 544 20085 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

20420 -0.79 -43.4 2651 2268 2768 2667 265.4 2.2 550 20421 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2768 2667 0 0 0 0 0 0 11.29 11.29 11.29

20756 -0.79 -43.4 2651 2267 2768 2668 259.2 1.8 556 20757 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

21093 -0.81 -60.0 2651 2267 2768 2668 255.3 1.0 562 21094 0.00 0.00 0.00 0.000 38 0.000 0.000 2651 2266 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

21428 -0.81 -60.0 2651 2268 2769 2667 252.1 1.0 568 21429 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2768 2667 0 0 0 0 0 0 11.29 11.29 11.29

21764 -0.81 -60.0 2651 2268 2769 2666 246.1 1.9 574 21765 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2768 2667 0 0 0 0 0 0 11.28 11.29 11.29

22100 -0.81 -60.0 2651 2267 2768 2669 239.6 2.0 580 22101 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.30

22436 -0.81 -60.0 2650 2268 2768 2667 232.7 2.0 586 22437 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

22772 -0.81 -60.0 2651 2267 2768 2669 226.3 1.9 592 22773 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

23108 -0.81 -60.0 2651 2268 2769 2667 220.0 1.8 598 23109 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2267 2717 2767 2667 0 0 0 0 0 0 11.29 11.29 11.29

23444 -0.82 -68.7 2652 2267 2768 2668 217.7 0.5 604 23445 0.00 0.00 0.00 0.000 38 0.000 0.000 2651 2267 2717 2768 2667 0 0 0 0 0 0 11.29 11.29 11.29

23719 end loiter: LOITER_COMPLETE

state 23719 begin climb

23724 1.04 97.3 2652 2267 2768 2668 215.1 0.0 609 23827 2.62 3.45 91.82 1.167 10756 0.171 0.051 3224 873 2402 2460 2345 0 0 0 0 0 0 11.01 10.98 10.50

24025 1.04 97.3 3224 874 2460 2331 194.2 9.3 652 24030 0.00 3.25 0.00 0.000 1030 0.000 0.042 3224 2248 2395 2459 2331 0 0 0 0 0 0 11.12 11.04 11.13

24340 1.04 97.3 3224 2249 2458 2327 166.3 8.7 662 24346 0.00 3.47 0.00 0.000 260 0.000 0.088 3224 3655 2393 2459 2328 0 0 0 0 0 0 11.26 11.01 11.26

24396 0.91 97.3 3224 3656 2460 2328 161.0 9.8 670 24402 0.17 3.15 0.00 0.000 5254 0.213 0.033 3200 2268 2393 2458 2328 0 0 0 0 0 0 10.96 11.09 11.11

24733 0.91 97.3 3201 2266 2459 2328 132.7 8.4 683 24734 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2267 2393 2459 2327 0 0 0 0 0 0 11.26 11.26 11.26

25068 0.91 97.3 3200 2268 2460 2326 104.0 8.6 689 25073 0.00 3.40 0.00 0.000 516 0.000 0.051 3210 854 2392 2458 2327 0 0 0 0 0 0 11.27 11.05 11.27

25208 0.98 148.1 3211 853 2459 2327 96.2 5.3 709 25254 0.00 3.30 37.42 0.411 9254 0.000 0.042 3210 2253 2211 2282 2140 0 0 0 0 0 0 11.14 11.06 10.81

25577 1.05 210.1 3211 2253 2283 2159 74.2 4.7 728 25639 0.00 3.50 53.22 0.354 8740 0.000 0.055 3220 852 1965 2044 1886 0 0 0 0 0 0 11.25 11.00 10.85

25874 1.32 322.3 3221 852 2045 1894 57.4 1.7 771 25976 0.32 3.28 95.75 0.316 11430 0.047 0.040 3328 2250 1516 1600 1432 0 0 0 0 0 0 11.09 11.05 10.86

26300 1.32 322.3 3329 2250 1603 1440 23.2 10.3 799 26305 0.00 3.42 0.00 0.000 516 0.000 0.059 3338 855 1519 1600 1438 0 0 0 0 0 0 11.26 11.03 11.26

26419 1.32 322.3 3339 854 1601 1440 10.6 11.6 816 26424 0.00 3.25 0.00 0.000 1030 0.000 0.044 3338 2242 1519 1600 1439 0 0 0 0 0 0 11.13 11.05 11.13

26519 end climb: SURFACE_DEPTH_REACHED

state 26519 begin surface coast

26547 end surface coast: CONTROL_FINISHED_OK

state 26547 begin surface

ID	220	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	19	XPDR_INHIBIT	90
MISSION	6	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	100	INT_PRESSURE_SLOPE	0.0097660003
DIVE	891	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	0.050000001	MOTHERBOARD	4
D_SURF	2	SM_CC	500	VBD_MIN	500	DEVICE1	-1
D_FLARE	3	N_FILEKB	8	VBD_MAX	3960	DEVICE2	-1
D_TGT	450	FILEMGR	0	C_VBD	2800	DEVICE3	-1
D_ABORT	1020	CALL_NDIVES	1	VBD_DBAND	2	DEVICE4	-1
D_NO_BLEED	50	COMM_SEQ	0	VBD_CNV	-0.25119999	DEVICE5	-1
D_BOOST	120	PROTOCOL	0	VBD_LP_IGNORE	0	DEVICE6	-1
T_BOOST	5	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	60	COMPASS_DEVICE	97
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	150
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	PHONE_DEVICE	48
T_DIVE	180	HEAPDBG	0	DBDW	0	GPS_DEVICE	64
T_MISSION	540	T_GPS	10	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	3	CF8_MAXERRORS	2	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	0.0044037569
T_LOITER	18000	RAFOS_CORR_THRESH	60	MINV_24V	9.3999996	SEABIRD_T_H	0.00063615869
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_10V	9.3999996	SEABIRD_T_I	2.4815216e-05
USE_BATHY	0	PITCH_MIN	190	MAXI_24V	0.60000002	SEABIRD_T_J	2.9729028e-06
USE_ICE	0	PITCH_MAX	3888	MAXI_10V	1	SEABIRD_C_G	-9.8086529
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2900	FG_AHR_10V	0	SEABIRD_C_H	1.075657
D_OFFGRID	1000	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_C_I	-0.0023452051
T_WATCHDOG	10	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00023101401
RELAUNCH	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-168.7365	SC_RECORDABOVE	2000.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0.079999998	PRESSURE_SLOPE	0.0001077811	SC_PROFILE	1.0
MAX_BUOY	100	PITCH_GAIN	22	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	100	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	0.025	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITRAW	0.0
MASS	54354	PITCH_ADJ_DBAND	3	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	0.0
MASS_COMP	0	ROLL_MIN	265	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	0.0
NAV_MODE	2	ROLL_MAX	3829	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	1.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1	TM_RECORDABOVE	250.0
KALMAN_USE	2	C_ROLL_DIVE	2765	ALTIM_PING_DEPTH	0	TM_PROFILE	1.0
HD_A	0.0024999999	C_ROLL_CLIMB	2250	ALTIM_PING_DELTA	5	TM_XMITPROFILE	3.0
HD_B	0.014	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13	TM_LOGSAMPLE	0.0
HD_C	1.6e-05	ROLL_CNV	0.028270001	ALTIM_PULSE	3	TM_XMITRAW	0.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
ESCAPE_HEADING	0	R_PORT_OVSHOOT	33	XPDR_VALID	2

GPS1	100417,023401,1020.9849,-12527.3809,14,1.5,15,9.1,0.2,0.0,5,9.6	SPEED_LIMITS	0.144,0.169
_CALLS	1	TGT_NAME	E
_XMS_NAKs	3	TGT_LATLONG	1000.000,-12440.610
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	-0.32	MHEAD_RNG_PITCHd_Wd	102.4,93914,-20.3,-8.333,-26.24,1745
_SM_ANGLEo	-63.9	D_GRID	450
GPS2	100417,024210,1021.0277,-12527.4668,2,1.5,5,9.1,1.1,243.9,5,8.7

FINISH	-1.0,1.027093	_10V_AH	10.72,0.000
SM_CCo	26578,124.00,0.129,0,0,808,500.14	FG_AHR_24Vo	0.000
SM_GC	-0.17,11.77,1.25,124.00,0.034,0.049,0.129,167,2776,808,-8.43,-0.54,500.14,0,0,0,0,0,0,11.13,11.07,10.98	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1017.98,-12528.44,090417,182605	MEM	334744
TT8_MAMPS	0.045689,0.100366	DATA_FILE_SIZE	30075,823
HUMID	55.19	CAP_FILE_SIZE	134289,0
INTERNAL_PRESSURE	9.32653	CFSIZE	1024409600,878264320
TCM_TEMP	22.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.085,296.64,1
SC_FREEKB	3571872	GPS	100417,100830,1021.332,-12528.145,19,0.9,19,9.1,0.3,352.6,9,3.4
_24V_AH	10.41,292.395

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	363	132.96	nil	0	0	0.00
Roll_motor	96	123	124.50	nil	0	0	0.00
VBD_pump_during_apogee	443	1455	6726.09	nil	0	0	0.00
VBD_pump_during_surface	124	129	166.89	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	31	6	2.20
Iridium_during_xfer	265	200	554.79	PMAR	0	0	0.00
Transponder_ping	0	420	0.00	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	9	0.72
TT8	0	0	0.00
LPSleep	23894	2	560.98
TT8_Active	741	8	70.46
TT8_Sampling	1877	28	570.61
TT8_CF8	657	39	279.14
TT8_Kalman	0	0	0.00
Analog_circuits	1682	12	218.27
GPS_charging	0	0	0.00
Compass	1173	7	94.24
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
15	-1.04	-97.3	131	2789	854	772	0.0	0.0	0	99	0.00	0.00	-82.35	0.000	16390	0.000	0.000	122	2791	3190	3177	3203	0	0	0	0	0	0	11.22	10.43	11.21
104	-1.04	-97.3	123	2790	3178	3205	3.5	-6.5	3	127	17.92	3.40	0.00	0.000	2564	0.363	0.034	2554	1355	3191	3180	3203	0	0	0	0	0	0	10.86	11.02	11.06
177	-0.77	-97.3	2554	1356	3184	3202	28.5	-23.8	14	184	0.55	3.47	0.00	0.000	3206	0.251	0.063	2643	2762	3192	3183	3202	0	0	0	0	0	0	10.91	11.00	11.07
492	-0.77	-97.3	2643	2762	3185	3204	71.5	-7.6	26	493	0.00	0.00	0.00	0.000	38	0.000	0.000	2643	2762	3193	3185	3202	0	0	0	0	0	0	11.26	11.26	11.26
800	-0.77	-97.3	2643	2762	3187	3202	60.7	16.6	37	801	0.00	0.00	0.00	0.000	38	0.000	0.000	2643	2762	3194	3186	3202	0	0	0	0	0	0	11.26	11.26	11.26
1108	-0.77	-97.3	2644	2762	3187	3203	113.3	-7.0	45	1114	0.00	2.60	0.00	0.000	292	0.000	0.099	2635	3833	3194	3186	3202	0	0	0	0	0	0	11.26	11.01	11.26
1346	-0.77	-97.3	2635	3833	3188	3201	130.3	-6.8	79	1351	0.00	2.35	0.00	0.000	1062	0.000	0.033	2634	2736	3194	3187	3201	0	0	0	0	0	0	11.14	11.12	11.16
1668	-0.77	-97.3	2634	2738	3187	3198	151.5	-6.7	90	1673	0.00	2.70	0.00	0.000	292	0.000	0.096	2626	3832	3192	3186	3198	0	0	0	0	0	0	11.26	11.02	11.27
1731	-0.77	-97.3	2627	3832	3187	3199	155.9	-7.3	99	1736	0.00	2.30	0.00	0.000	1062	0.000	0.033	2625	2764	3192	3186	3198	0	0	0	0	0	0	11.15	11.12	11.16
2060	-0.77	-97.3	2626	2765	3187	3195	181.4	-7.9	111	2065	0.00	2.62	0.00	0.000	292	0.000	0.096	2618	3828	3190	3186	3194	0	0	0	0	0	0	11.27	11.02	11.27
2102	-0.77	-97.3	2619	3828	3187	3196	185.0	-8.9	117	2108	0.15	2.30	0.00	0.000	3078	0.199	0.034	2648	2772	3190	3186	3194	0	0	0	0	0	0	10.98	11.12	11.11
2452	-0.77	-97.3	2649	2772	3186	3191	210.1	-7.0	125	2458	0.00	3.30	0.00	0.000	548	0.000	0.037	2649	1372	3187	3186	3189	0	0	0	0	0	0	11.27	11.07	11.27
2611	-0.84	-97.3	2650	1372	3187	3189	221.1	-7.0	147	2616	0.00	3.45	0.00	0.000	1190	0.000	0.059	2639	2779	3186	3186	3187	0	0	0	0	0	0	11.13	11.04	11.14
2960	-0.84	-97.3	2639	2780	3187	3184	245.9	-7.0	155	2965	0.00	3.35	0.00	0.000	548	0.000	0.034	2639	1368	3185	3186	3184	0	0	0	0	0	0	11.27	11.07	11.27
3008	-0.84	-97.3	2639	1369	3187	3185	249.4	-7.2	162	3015	0.00	3.45	0.00	0.000	1062	0.000	0.058	2629	2766	3185	3186	3184	0	0	0	0	0	0	11.14	11.04	11.14
3352	-0.84	-97.3	2629	2765	3187	3181	275.6	-7.7	169	3357	0.00	3.33	0.00	0.000	548	0.000	0.033	2628	1365	3182	3187	3178	0	0	0	0	0	0	11.27	11.07	11.27
3400	-0.84	-97.3	2627	1365	3187	3179	279.4	-7.7	176	3407	0.00	3.42	0.00	0.000	1062	0.000	0.058	2618	2762	3182	3186	3178	0	0	0	0	0	0	11.14	11.05	11.15
3744	-0.84	-97.3	2619	2763	3188	3175	306.6	-7.9	183	3744	0.00	0.00	0.00	0.000	38	0.000	0.000	2618	2762	3180	3186	3175	0	0	0	0	0	0	11.27	11.27	11.28
4079	-0.84	-97.3	2618	2763	3187	3173	334.7	-8.5	189	4085	0.00	3.33	0.00	0.000	516	0.000	0.034	2617	1369	3179	3186	3172	0	0	0	0	0	0	11.28	11.07	11.28
4156	-0.84	-97.3	2618	1370	3187	3172	341.3	-8.7	200	4161	0.00	3.42	0.00	0.000	1030	0.000	0.059	2607	2767	3179	3186	3172	0	0	0	0	0	0	11.14	11.05	11.15
4471	-0.84	-97.3	2609	2766	3186	3169	368.5	-8.6	210	4472	0.00	0.00	0.00	0.000	6	0.000	0.000	2608	2766	3177	3186	3168	0	0	0	0	0	0	11.28	11.28	11.28
4807	-0.84	-97.3	2608	2766	3187	3166	394.3	-7.5	216	4812	0.00	3.33	0.00	0.000	548	0.000	0.034	2607	1375	3175	3186	3164	0	0	0	0	0	0	11.28	11.08	11.27
4849	-0.84	-97.3	2607	1375	3187	3165	397.5	-7.5	222	4855	0.12	3.42	0.00	0.000	3110	0.217	0.059	2621	2768	3174	3186	3163	0	0	0	0	0	0	10.98	11.05	11.12
5200	-0.84	-97.3	2621	2769	3187	3163	422.0	-7.1	230	5205	0.00	2.62	0.00	0.000	292	0.000	0.100	2614	3832	3174	3186	3163	0	0	0	0	0	0	11.27	11.02	11.28
5270	-0.84	-97.3	2614	3834	3188	3162	427.5	-7.9	240	5274	0.00	2.38	0.00	0.000	1062	0.000	0.036	2613	2757	3174	3186	3162	0	0	0	0	0	0	11.16	11.12	11.17
5586	end dive: TARGET_DEPTH_EXCEEDED
state	5586	begin apogee
5598	-0.23	0.0	2614	2231	3187	3160	451.3	-7.3	251	5747	1.00	0.10	145.62	1.299	10244	0.182	0.124	2820	2267	2800	2840	2761	0	0	0	0	0	0	10.99	10.95	10.50
5747	end apogee: CONTROL_FINISHED_OK
state	5747	begin loiter
5979	-0.23	-4.1	2821	2268	2837	2746	455.3	0.2	286	5984	0.00	0.00	0.00	0.000	1062	0.000	0.000	2820	2267	2791	2835	2747	0	0	0	0	0	0	11.24	11.24	11.24
6309	-0.60	-10.1	2821	2268	2837	2744	454.1	0.4	298	6310	0.38	0.00	0.00	0.000	4262	0.049	0.000	2707	2267	2789	2835	2744	0	0	0	0	0	0	11.07	11.13	11.12
6644	-0.76	-17.2	2708	2267	2836	2742	452.9	0.4	304	6646	0.12	0.00	0.00	0.000	4262	0.072	0.000	2651	2267	2788	2835	2741	0	0	0	0	0	0	11.10	11.14	11.13
6980	-0.77	-28.3	2650	2268	2836	2739	450.9	0.7	310	6981	0.00	0.00	0.00	0.000	38	0.000	0.000	2651	2267	2787	2835	2739	0	0	0	0	0	0	11.26	11.26	11.26
7316	-0.77	-28.3	2651	2268	2836	2736	447.6	1.1	316	7317	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2786	2835	2737	0	0	0	0	0	0	11.26	11.26	11.26
7652	-0.77	-28.3	2651	2267	2836	2737	442.9	1.4	322	7653	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2785	2835	2735	0	0	0	0	0	0	11.26	11.26	11.26
7988	-0.79	-42.9	2651	2268	2836	2734	439.6	0.9	328	7989	0.00	0.00	0.00	0.000	38	0.000	0.000	2651	2267	2785	2836	2734	0	0	0	0	0	0	11.26	11.27	11.26
8324	-0.78	-38.1	2651	2267	2835	2735	439.9	-0.3	334	8325	0.00	0.00	0.00	0.000	38	0.000	0.000	2651	2267	2784	2835	2733	0	0	0	0	0	0	11.26	11.27	11.27
8660	-0.76	-19.6	2651	2268	2836	2731	443.2	-1.1	340	8661	0.00	0.00	0.00	0.000	38	0.000	0.000	2651	2267	2782	2834	2731	0	0	0	0	0	0	11.27	11.27	11.27
8996	-0.74	-0.7	2651	2268	2836	2730	447.0	-1.1	346	8997	0.00	0.00	0.00	0.000	38	0.000	0.000	2651	2266	2782	2835	2730	0	0	0	0	0	0	11.27	11.27	11.28
9332	-0.72	17.0	2651	2268	2836	2729	450.5	-1.0	352	9353	0.00	0.00	19.98	1.456	8230	0.000	0.000	2651	2267	2732	2782	2682	0	0	0	0	0	0	11.26	11.00	10.41
9668	-0.72	17.0	2652	2266	2768	2672	444.1	2.5	358	9669	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2719	2768	2670	0	0	0	0	0	0	11.26	11.26	11.26
10004	-0.72	17.0	2651	2267	2768	2671	432.9	3.4	364	10005	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2718	2767	2670	0	0	0	0	0	0	11.27	11.27	11.27
10340	-0.72	17.0	2651	2268	2769	2669	423.2	2.8	370	10341	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2267	2718	2767	2669	0	0	0	0	0	0	11.27	11.26	11.27
10677	-0.72	17.0	2651	2268	2769	2668	415.9	2.0	376	10678	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2718	2767	2669	0	0	0	0	0	0	11.26	11.27	11.27
11012	-0.73	3.1	2651	2267	2768	2670	412.5	0.8	382	11013	0.00	0.00	0.00	0.000	38	0.000	0.000	2651	2267	2717	2767	2668	0	0	0	0	0	0	11.28	11.28	11.28
11348	-0.73	3.1	2652	2267	2768	2669	408.3	1.4	388	11349	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2668	0	0	0	0	0	0	11.27	11.28	11.28
11684	-0.73	3.1	2651	2268	2768	2668	400.9	2.2	394	11685	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2668	0	0	0	0	0	0	11.28	11.27	11.28
12020	-0.73	3.1	2652	2267	2768	2669	395.1	1.6	400	12021	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2718	2768	2668	0	0	0	0	0	0	11.28	11.28	11.28
12356	-0.73	3.1	2652	2267	2768	2669	388.7	2.0	406	12357	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.28	11.28	11.28
12692	-0.73	3.1	2652	2267	2768	2669	382.2	1.8	412	12693	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2267	2717	2768	2667	0	0	0	0	0	0	11.29	11.28	11.29
13028	-0.73	3.1	2651	2267	2768	2669	377.6	1.3	418	13029	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.28	11.28	11.29
13364	-0.75	-10.8	2652	2267	2768	2668	374.6	0.8	424	13365	0.00	0.00	0.00	0.000	38	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.28	11.28	11.29
13700	-0.75	-10.8	2651	2268	2768	2667	369.9	1.6	430	13701	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
14036	-0.75	-10.8	2652	2267	2768	2668	360.7	2.9	436	14037	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.28	11.29
14372	-0.75	-10.8	2651	2267	2768	2668	350.4	3.0	442	14373	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
14708	-0.75	-10.8	2651	2268	2769	2667	343.1	2.0	448	14709	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2768	2667	0	0	0	0	0	0	11.29	11.29	11.29
15044	-0.76	-21.0	2651	2268	2768	2667	340.2	0.6	454	15045	0.00	0.00	0.00	0.000	38	0.000	0.000	2651	2267	2717	2768	2667	0	0	0	0	0	0	11.29	11.28	11.28
15380	-0.77	-24.7	2651	2268	2769	2667	339.5	0.2	460	15381	0.00	0.00	0.00	0.000	38	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
15717	-0.77	-24.7	2651	2268	2768	2666	335.3	1.4	466	15717	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.28	11.29	11.29
16052	-0.77	-24.7	2651	2268	2768	2667	329.8	1.7	472	16053	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
16388	-0.77	-24.7	2650	2268	2769	2667	322.1	2.4	478	16389	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
16724	-0.77	-24.7	2651	2268	2769	2667	315.4	1.8	484	16725	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
17060	-0.79	-38.8	2651	2268	2769	2667	312.1	0.8	490	17061	0.00	0.00	0.00	0.000	38	0.000	0.000	2651	2267	2717	2767	2668	0	0	0	0	0	0	11.29	11.29	11.29
17396	-0.79	-43.4	2651	2268	2769	2667	310.9	0.3	496	17397	0.00	0.00	0.00	0.000	38	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
17732	-0.79	-43.4	2651	2267	2768	2667	308.0	1.0	502	17733	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
18068	-0.79	-43.4	2652	2268	2769	2667	302.9	1.6	508	18069	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2267	2717	2768	2667	0	0	0	0	0	0	11.29	11.29	11.29
18404	-0.79	-43.4	2651	2268	2769	2667	298.0	1.4	514	18405	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2768	2667	0	0	0	0	0	0	11.29	11.29	11.29
18740	-0.79	-43.4	2651	2268	2769	2667	291.0	2.2	520	18741	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
19076	-0.79	-43.4	2651	2268	2769	2667	284.9	1.7	526	19077	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2266	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
19412	-0.79	-43.4	2651	2268	2769	2667	279.9	1.5	532	19413	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
19748	-0.79	-43.4	2651	2268	2768	2667	275.7	1.1	538	19749	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2266	2716	2766	2667	0	0	0	0	0	0	11.29	11.29	11.29
20084	-0.79	-43.4	2651	2268	2769	2667	272.2	1.1	544	20085	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
20420	-0.79	-43.4	2651	2268	2768	2667	265.4	2.2	550	20421	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2768	2667	0	0	0	0	0	0	11.29	11.29	11.29
20756	-0.79	-43.4	2651	2267	2768	2668	259.2	1.8	556	20757	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
21093	-0.81	-60.0	2651	2267	2768	2668	255.3	1.0	562	21094	0.00	0.00	0.00	0.000	38	0.000	0.000	2651	2266	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
21428	-0.81	-60.0	2651	2268	2769	2667	252.1	1.0	568	21429	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2768	2667	0	0	0	0	0	0	11.29	11.29	11.29
21764	-0.81	-60.0	2651	2268	2769	2666	246.1	1.9	574	21765	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2768	2667	0	0	0	0	0	0	11.28	11.29	11.29
22100	-0.81	-60.0	2651	2267	2768	2669	239.6	2.0	580	22101	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.30
22436	-0.81	-60.0	2650	2268	2768	2667	232.7	2.0	586	22437	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
22772	-0.81	-60.0	2651	2267	2768	2669	226.3	1.9	592	22773	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
23108	-0.81	-60.0	2651	2268	2769	2667	220.0	1.8	598	23109	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2267	2717	2767	2667	0	0	0	0	0	0	11.29	11.29	11.29
23444	-0.82	-68.7	2652	2267	2768	2668	217.7	0.5	604	23445	0.00	0.00	0.00	0.000	38	0.000	0.000	2651	2267	2717	2768	2667	0	0	0	0	0	0	11.29	11.29	11.29
23719	end loiter: LOITER_COMPLETE
state	23719	begin climb
23724	1.04	97.3	2652	2267	2768	2668	215.1	0.0	609	23827	2.62	3.45	91.82	1.167	10756	0.171	0.051	3224	873	2402	2460	2345	0	0	0	0	0	0	11.01	10.98	10.50
24025	1.04	97.3	3224	874	2460	2331	194.2	9.3	652	24030	0.00	3.25	0.00	0.000	1030	0.000	0.042	3224	2248	2395	2459	2331	0	0	0	0	0	0	11.12	11.04	11.13
24340	1.04	97.3	3224	2249	2458	2327	166.3	8.7	662	24346	0.00	3.47	0.00	0.000	260	0.000	0.088	3224	3655	2393	2459	2328	0	0	0	0	0	0	11.26	11.01	11.26
24396	0.91	97.3	3224	3656	2460	2328	161.0	9.8	670	24402	0.17	3.15	0.00	0.000	5254	0.213	0.033	3200	2268	2393	2458	2328	0	0	0	0	0	0	10.96	11.09	11.11
24733	0.91	97.3	3201	2266	2459	2328	132.7	8.4	683	24734	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2267	2393	2459	2327	0	0	0	0	0	0	11.26	11.26	11.26
25068	0.91	97.3	3200	2268	2460	2326	104.0	8.6	689	25073	0.00	3.40	0.00	0.000	516	0.000	0.051	3210	854	2392	2458	2327	0	0	0	0	0	0	11.27	11.05	11.27
25208	0.98	148.1	3211	853	2459	2327	96.2	5.3	709	25254	0.00	3.30	37.42	0.411	9254	0.000	0.042	3210	2253	2211	2282	2140	0	0	0	0	0	0	11.14	11.06	10.81
25577	1.05	210.1	3211	2253	2283	2159	74.2	4.7	728	25639	0.00	3.50	53.22	0.354	8740	0.000	0.055	3220	852	1965	2044	1886	0	0	0	0	0	0	11.25	11.00	10.85
25874	1.32	322.3	3221	852	2045	1894	57.4	1.7	771	25976	0.32	3.28	95.75	0.316	11430	0.047	0.040	3328	2250	1516	1600	1432	0	0	0	0	0	0	11.09	11.05	10.86
26300	1.32	322.3	3329	2250	1603	1440	23.2	10.3	799	26305	0.00	3.42	0.00	0.000	516	0.000	0.059	3338	855	1519	1600	1438	0	0	0	0	0	0	11.26	11.03	11.26
26419	1.32	322.3	3339	854	1601	1440	10.6	11.6	816	26424	0.00	3.25	0.00	0.000	1030	0.000	0.044	3338	2242	1519	1600	1439	0	0	0	0	0	0	11.13	11.05	11.13
26519	end climb: SURFACE_DEPTH_REACHED
state	26519	begin surface coast
26547	end surface coast: CONTROL_FINISHED_OK
state	26547	begin surface