Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 417 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 KALMAN_USE 2 ROLL_MIN 200 AD7714Ch0Gain 32

MISSION 4 HD_A 0.0026803601 ROLL_MAX 3700 COMPASS_USE 4

DIVE 417 HD_B 0.0139002 ROLL_DEG 40 ALTIM_PING_FIT 0

N_DIVES 0 HD_C 9.1750398e-06 C_ROLL_DIVE 1800 ALTIM_TOP_PING_RANGE 0

STOP_T 0 HEADING -1 C_ROLL_CLIMB 2250 ALTIM_BOTTOM_TURN_MARGIN 15

D_SURF 3 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 2

D_TGT 950 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_ABORT 1030 TGT_DEFAULT_LAT 3235 R_PORT_OVSHOOT 55 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 39 ALTIM_FREQUENCY 13

D_BOOST 20 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 ALTIM_PULSE 3

T_BOOST 5 SM_CC 400 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FINISH 0 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_VALID 5

D_PITCH 0 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_SAFE 0 CALL_NDIVES 1 VBD_MIN 400 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 COMM_SEQ 0 VBD_MAX 3900 INT_PRESSURE_YINT -1

SURFACE_URGENCY 0 PROTOCOL 9 C_VBD 3346 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 2 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 NOCOMM_ACTION 163 VBD_CNV -0.245296 DEVICE1 2

T_DIVE 390 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 660 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00121 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE5 -1

T_TURN_SAMPINT -5 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 14400 HEAPDBG 0 UNCOM_BLEED 20 LOGGERDEVICE1 -1

T_EPIRB 0 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

EXEC_P 0 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE3 -1

EXEC_DT 0 T_RSLEEP 1 DBDW 0 LOGGERDEVICE4 -1

EXEC_T 0 STROBE 0 LOITER_W_DBAND 0.80000001 COMPASS_DEVICE 33

EXEC_N 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 500 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_NO_PUMP 500 PHONE_DEVICE 49

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 1 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 PITCH_W_GAIN 2 RAFOS_DEVICE -1

D_OFFGRID 1000 PITCH_MIN 250 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3750 CF8_MAXERRORS 20 SIM_W 0

RELAUNCH 1 C_PITCH 2760 AH0_24V 350 SEABIRD_T_G 0.0043553207

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_10V 0 SEABIRD_T_H 0.00062594062

MAX_BUOY 120 PITCH_CNV 0.003125763 MINV_24V 11 SEABIRD_T_I 2.3765557e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_10V 11 SEABIRD_T_J 2.606791e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_G -9.8755465

SPEED_FACTOR 1 PITCH_GAIN 34 MAXI_10V 0.80000001 SEABIRD_C_H 1.1390997

RHO 1.0275 PITCH_TIMEOUT 16 FG_AHR_10V 0 SEABIRD_C_I -0.0019936475

MASS 51713 PITCH_AD_RATE 175 FG_AHR_24V 0 SEABIRD_C_J 0.00023608611

MASS_COMP 0 PITCH_MAXERRORS 1 PHONE_SUPPLY -2

NAV_MODE 2 PITCH_ADJ_GAIN 0 PRESSURE_YINT -157.40906

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014074198

AD7714Ch0Gain 32 D_SURF 3 N_FILEKB 8 SEABIRD_T_H 0.00062594062

AH0_10V 0 D_TGT 950 N_GPS 100440 SEABIRD_T_I 2.3765557e-05

AH0_24V 350 ESCAPE_HEADING 0 N_NOCOMM 2 SEABIRD_T_J 2.606791e-06

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SIM_W 0

ALTIM_FREQUENCY 13 EXEC_DT 0 PHONE_DEVICE 49 SM_CC 400

ALTIM_PING_DELTA 50 EXEC_N 0 PHONE_SUPPLY -2 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 EXEC_P 0 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PING_FIT 0 EXEC_T 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_GAIN 34 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3750 TGT_DEFAULT_LAT 3235

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -11731

CALL_NDIVES 1 GPS_DEVICE 32 PITCH_MIN 250 T_ABORT 1440

CALL_TRIES 5 HD_A 0.0026803601 PITCH_TIMEOUT 16 T_BOOST 5

CALL_WAIT 60 HD_B 0.0139002 PITCH_VBD_SHIFT 0.00121 T_DIVE 390

CAPMAXSIZE 100000 HD_C 9.1750398e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

CAPUPLOAD 0 HEADING -1 PITCH_W_GAIN 2 T_GPS 5

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014074198 T_LOITER 14400

COMM_SEQ 0 HEAPDBG 0 PRESSURE_YINT -157.40906 T_MISSION 660

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_NO_W 120

COMPASS_DEVICE 33 ID 128 P_OVSHOOT 0.039999999 T_RSLEEP 1

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_YINT -1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_PITCH 2760 KALMAN_USE 2 RAFOS_DEVICE -1 T_WATCHDOG 10

C_ROLL_CLIMB 2250 LOGGERDEVICE1 -1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_ROLL_DIVE 1800 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD 3346 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_BATHY -6

DBDW 0 LOGGERDEVICE4 -1 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOGGERS 0 RHO 1.0275 VBD_BLEED_AD_RATE 8

DEVICE1 2 LOITER_DBDW 500 ROLL_ADJ_DBAND 0 VBD_CNV -0.245296

DEVICE2 -1 LOITER_D_NO_PUMP 500 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE3 -1 LOITER_N_DIVE 1 ROLL_AD_RATE 250 VBD_LP_IGNORE 0

DEVICE4 -1 LOITER_W_DBAND 0.80000001 ROLL_CNV 0.028270001 VBD_MAX 3900

DEVICE5 -1 MASS 51713 ROLL_DEG 40 VBD_MAXERRORS 1

DEVICE6 -1 MASS_COMP 0 ROLL_MAX 3700 VBD_MIN 400

DIVE 417 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 1030 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 20 MAX_BUOY 120 ROLL_TIMEOUT 15 VBD_TIMEOUT 540

D_CALL 0 MINV_10V 11 R_PORT_OVSHOOT 55 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 11 R_STBD_OVSHOOT 39 XPDR_DEVICE 24

D_FLARE 3 MISSION 4 SEABIRD_C_G -9.8755465 XPDR_INHIBIT 90

D_NO_BLEED 200 MOTHERBOARD 4 SEABIRD_C_H 1.1390997 XPDR_VALID 5

D_OFFGRID 1000 NAV_MODE 2 SEABIRD_C_I -0.0019936475

D_PITCH 0 NOCOMM_ACTION 163 SEABIRD_C_J 0.00023608611

D_SAFE 0 N_DIVES 0 SEABIRD_T_G 0.0043553207

Pre-dive calculations and measurements:

GPS1 300418,213355,-122.3624,5751.7417,37,1.0,39,-4.1,0.7,95.2,7,9.9 SPEED_LIMITS 0.141,0.187

_CALLS 1 TGT_NAME MALDIVE

_XMS_NAKs 0 TGT_LATLONG 430.000,7230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.80 MHEAD_RNG_PITCHd_Wd 79.7,1747704,-17.6,-8.120,-23.46,2180

_SM_ANGLEo -75.7 D_GRID 1000

GPS2 300418,214121,-122.4540,5751.8975,16,1.0,19,-4.1,1.3,136.8,7,8.7

Post-dive calculations and measurements:

FINISH -0.0,1.021995 _10V_AH 12.68,0.000

SM_CCo 37418,4.15,0.077,0,0,1714,400.08 FG_AHR_24Vo 0.000

SM_GC 1.58,8.82,0.80,4.15,0.093,0.038,0.077,247,1804,1714,-7.81,1.72,400.08,0,0,0,0,0,0,14.40,14.61,14.47 FG_AHR_10Vo 0.000

IRIDIUM_FIX -120.36,5755.56,300418,104841 MEM 302964

TT8_MAMPS 0.018725,0.158788 DATA_FILE_SIZE 93375,2062

HUMID 59.33 CAP_FILE_SIZE 266821,0

INTERNAL_PRESSURE 8.52185 CFSIZE 260034560,220913664

TCM_TEMP 23.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.036,336.73,1

_24V_AH 12.68,136.939 GPS 010518,080701,-121.789,5752.031,39,0.8,40,-4.1,1.3,123.3,11,8.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 406 116.15 SBE_CT 837 23 254.65

Roll_motor 287 81 298.01 nil 0 0 0.00

VBD_pump_during_apogee 539 1930 13210.58 nil 0 0 0.00

VBD_pump_during_surface 4 77 4.07 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 nil 0 0 0.00

Iridium_during_xfer 314 141 564.92 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 20 5.29

TT8 4335 9 520.58

LPSleep 29116 2 808.53

TT8_Active 782 9 94.00

TT8_Sampling 3193 28 1141.66

TT8_CF8 429 34 186.34

TT8_Kalman 0 0 0.00

Analog_circuits 2831 16 574.43

GPS_charging 0 0 0.00

Compass 2757 17 602.52

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

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 5 begin dive

7 -0.66 -116.8 242 1778 1728 1721 0.0 0.0 0 73 0.00 0.00 -63.35 0.003 16386 0.000 0.000 242 1779 3744 3722 3767 0 0 0 0 0 0 14.83 28.83 14.85

76 -0.66 -116.8 242 1779 3723 3768 4.5 -13.2 11 98 11.60 2.33 -1.23 0.070 18948 0.406 0.070 2537 409 3826 3823 3829 0 0 0 0 0 0 14.06 13.50 14.48

121 -0.66 -116.8 2537 408 3819 3829 17.8 -18.9 18 128 0.00 2.30 0.00 0.000 1030 0.000 0.039 2537 1802 3824 3820 3829 0 0 0 0 0 0 14.59 14.50 14.61

436 -0.66 -116.8 2537 1801 3838 3829 57.7 -10.9 73 441 0.00 2.42 0.00 0.000 260 0.000 0.064 2537 3211 3833 3838 3828 0 0 0 0 0 0 14.95 14.47 14.97

471 -0.66 -116.8 2537 3210 3837 3829 62.4 -12.8 80 478 0.00 2.35 0.00 0.000 1030 0.000 0.036 2537 1794 3832 3836 3829 0 0 0 0 0 0 14.64 14.56 14.68

778 -0.66 -116.8 2537 1789 3841 3829 97.4 -10.6 111 787 0.00 2.45 0.00 0.000 260 0.000 0.061 2537 3202 3834 3840 3829 0 0 0 0 0 0 15.01 14.52 15.03

813 -0.66 -116.8 2537 3201 3841 3829 101.2 -10.9 118 820 0.00 2.33 0.00 0.000 1030 0.000 0.032 2537 1780 3835 3842 3829 0 0 0 0 0 0 14.71 14.65 14.74

1120 -0.66 -116.8 2536 1780 3847 3829 125.9 -7.4 149 1125 0.00 2.47 0.00 0.000 260 0.000 0.061 2537 3209 3838 3847 3829 0 0 0 0 0 0 15.04 14.54 15.05

1193 -0.66 -116.8 2537 3208 3848 3829 130.7 -6.4 163 1197 0.00 2.30 0.00 0.000 1030 0.000 0.033 2537 1794 3838 3848 3828 0 0 0 0 0 0 14.74 14.68 14.77

1505 -0.66 -116.8 2537 1788 3852 3829 152.7 -8.1 195 1514 0.00 2.45 0.00 0.000 260 0.000 0.062 2537 3210 3840 3852 3829 0 0 0 0 0 0 15.06 14.56 15.08

1530 -0.66 -116.8 2537 3209 3852 3828 154.9 -8.5 200 1537 0.00 2.33 0.00 0.000 1030 0.000 0.034 2537 1782 3840 3852 3829 0 0 0 0 0 0 14.76 14.69 14.78

1837 -0.66 -116.8 2537 1782 3853 3829 184.4 -9.9 231 1846 0.00 2.45 0.00 0.000 260 0.000 0.062 2537 3205 3841 3854 3829 0 0 0 0 0 0 15.07 14.57 15.09

1909 -0.66 -116.8 2537 3205 3853 3829 191.2 -9.2 245 1914 0.00 2.28 0.00 0.000 1030 0.000 0.032 2537 1800 3841 3853 3829 0 0 0 0 0 0 14.77 14.71 14.79

2221 -0.66 -116.8 2537 1794 3853 3829 217.1 -8.1 277 2226 0.00 2.28 0.00 0.000 516 0.000 0.048 2537 418 3841 3853 3829 0 0 0 0 0 0 15.08 14.59 15.10

2254 -0.66 -116.8 2537 418 3853 3829 219.8 -9.0 283 2258 0.00 2.28 0.00 0.000 1030 0.000 0.040 2537 1809 3840 3853 3828 0 0 0 0 0 0 14.73 14.64 14.76

2566 -0.66 -116.8 2537 1808 3850 3826 248.3 -9.5 315 2570 0.00 2.40 0.00 0.000 260 0.000 0.065 2537 3205 3838 3850 3826 0 0 0 0 0 0 15.08 14.55 15.10

2629 -0.66 -116.8 2537 3205 3849 3826 254.3 -9.7 327 2633 0.00 2.30 0.00 0.000 1030 0.000 0.033 2537 1790 3838 3849 3827 0 0 0 0 0 0 14.76 14.71 14.78

2961 -0.66 -116.8 2537 1783 3824 3823 282.6 -7.7 343 2965 0.00 2.28 0.00 0.000 516 0.000 0.052 2537 418 3823 3823 3823 0 0 0 0 0 0 15.10 14.58 15.11

2976 -0.66 -116.8 2537 418 3825 3823 283.9 -7.3 346 2980 0.00 2.30 0.00 0.000 1030 0.000 0.041 2537 1804 3823 3824 3823 0 0 0 0 0 0 14.73 14.64 14.76

3292 -0.66 -116.8 2537 1803 3841 3820 307.4 -7.9 359 3297 0.00 2.45 0.00 0.000 260 0.000 0.068 2537 3211 3830 3841 3820 0 0 0 0 0 0 15.11 14.54 15.13

3344 -0.66 -116.8 2537 3210 3835 3820 311.7 -8.5 369 3349 0.00 2.30 0.00 0.000 1030 0.000 0.035 2537 1804 3828 3836 3820 0 0 0 0 0 0 14.77 14.71 14.79

3656 -0.66 -116.8 2537 1799 3827 3818 338.9 -9.0 381 3661 0.00 2.30 0.00 0.000 516 0.000 0.051 2537 418 3822 3826 3818 0 0 0 0 0 0 15.11 14.58 15.12

3683 -0.66 -116.8 2537 418 3821 3818 341.5 -9.2 386 3690 0.00 2.30 0.00 0.000 1030 0.000 0.042 2537 1805 3820 3822 3818 0 0 0 0 0 0 14.73 14.63 14.76

3988 -0.66 -116.8 2537 1805 3836 3815 368.2 -8.3 397 3993 0.00 2.42 0.00 0.000 260 0.000 0.067 2537 3206 3825 3836 3814 0 0 0 0 0 0 15.11 14.54 15.13

4029 -0.66 -116.8 2537 3206 3834 3814 371.5 -8.0 405 4034 0.00 2.33 0.00 0.000 1030 0.000 0.034 2537 1786 3824 3834 3814 0 0 0 0 0 0 14.76 14.70 14.79

4352 -0.66 -116.8 2537 1780 3832 3813 395.0 -7.2 419 4356 0.00 2.28 0.00 0.000 516 0.000 0.053 2537 421 3822 3832 3812 0 0 0 0 0 0 15.11 14.56 15.12

4367 -0.66 -116.8 2537 421 3831 3813 396.3 -7.4 422 4371 0.00 2.30 0.00 0.000 1030 0.000 0.043 2537 1808 3822 3831 3813 0 0 0 0 0 0 14.72 14.62 14.76

4683 -0.66 -116.8 2537 1807 3826 3811 420.2 -7.7 435 4690 0.00 2.42 0.00 0.000 260 0.000 0.070 2537 3201 3818 3826 3811 0 0 0 0 0 0 15.11 14.51 15.13

4738 -0.66 -116.8 2537 3201 3829 3810 424.5 -7.8 446 4744 0.00 2.33 0.00 0.000 1030 0.000 0.036 2537 1784 3819 3829 3810 0 0 0 0 0 0 14.75 14.68 14.77

5043 -0.66 -116.8 2537 1785 3836 3810 448.7 -8.0 457 5048 0.00 2.28 0.00 0.000 516 0.000 0.054 2537 429 3823 3836 3810 0 0 0 0 0 0 15.11 14.54 15.13

5084 -0.66 -116.8 2537 429 3835 3810 452.4 -8.5 465 5089 0.00 2.28 0.00 0.000 1030 0.000 0.043 2537 1800 3822 3835 3810 0 0 0 0 0 0 14.71 14.61 14.74

5407 -0.66 -116.8 2537 1799 3833 3808 476.7 -7.3 479 5413 0.00 2.45 0.00 0.000 260 0.000 0.069 2537 3208 3820 3833 3807 0 0 0 0 0 0 15.10 14.50 15.11

5454 -0.66 -116.8 2537 3207 3831 3807 480.3 -7.4 489 5459 0.00 2.30 0.00 0.000 1030 0.000 0.035 2537 1805 3819 3831 3807 0 0 0 0 0 0 14.74 14.68 14.77

5767 -0.66 -116.8 2537 1800 3830 3805 503.3 -7.6 501 5772 0.00 2.33 0.00 0.000 516 0.000 0.053 2537 415 3817 3830 3804 0 0 0 0 0 0 15.11 14.53 15.12

5808 -0.66 -116.8 2537 415 3830 3805 506.8 -8.2 509 5813 0.00 2.30 0.00 0.000 1030 0.000 0.042 2537 1802 3817 3830 3805 0 0 0 0 0 0 14.69 14.59 14.73

6131 -0.66 -116.8 2537 1801 3825 3803 534.7 -9.1 523 6137 0.00 2.45 0.00 0.000 260 0.000 0.070 2537 3199 3813 3824 3802 0 0 0 0 0 0 15.11 14.47 15.13

6179 -0.66 -116.8 2537 3199 3823 3802 539.4 -9.8 533 6184 0.00 2.33 0.00 0.000 1030 0.000 0.037 2537 1796 3812 3823 3802 0 0 0 0 0 0 14.73 14.66 14.75

6492 -0.66 -116.8 2537 1791 3822 3801 570.0 -10.0 545 6497 0.00 2.30 0.00 0.000 516 0.000 0.053 2537 421 3811 3822 3801 0 0 0 0 0 0 15.10 14.51 15.11

6524 -0.66 -116.8 2537 422 3822 3801 573.3 -9.9 551 6528 0.00 2.30 0.00 0.000 1030 0.000 0.044 2537 1796 3811 3821 3801 0 0 0 0 0 0 14.67 14.57 14.71

6856 -0.66 -116.8 2536 1796 3819 3798 603.9 -8.8 567 6862 0.00 2.47 0.00 0.000 260 0.000 0.071 2537 3207 3808 3818 3798 0 0 0 0 0 0 15.11 14.45 15.12

6904 -0.66 -116.8 2537 3207 3816 3798 608.0 -8.4 577 6909 0.00 2.35 0.00 0.000 1030 0.000 0.037 2537 1789 3807 3816 3798 0 0 0 0 0 0 14.71 14.64 14.74

7216 -0.66 -116.8 2537 1784 3799 3797 631.6 -7.2 589 7221 0.00 2.30 0.00 0.000 516 0.000 0.054 2537 424 3798 3799 3797 0 0 0 0 0 0 15.11 14.49 15.12

7257 -0.66 -116.8 2537 425 3800 3797 634.7 -7.3 597 7262 0.00 2.33 0.00 0.000 1030 0.000 0.045 2537 1811 3799 3800 3798 0 0 0 0 0 0 14.66 14.55 14.69

7580 -0.66 -116.8 2537 1810 3816 3796 656.7 -6.8 611 7581 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 1810 3806 3816 3796 0 0 0 0 0 0 15.09 15.11 15.11

7879 -0.66 -116.8 2537 1809 3820 3795 678.2 -7.4 621 7884 0.00 2.38 0.00 0.000 516 0.000 0.054 2537 421 3807 3820 3795 0 0 0 0 0 0 15.11 14.48 15.12

7895 -0.66 -116.8 2537 421 3820 3795 679.5 -7.5 624 7899 0.00 2.33 0.00 0.000 1030 0.000 0.044 2537 1807 3807 3820 3795 0 0 0 0 0 0 14.65 14.55 14.69

8213 -0.66 -116.8 2537 1805 3819 3793 704.4 -8.1 637 8218 0.00 2.38 0.00 0.000 516 0.000 0.053 2537 416 3806 3820 3793 0 0 0 0 0 0 15.09 14.47 15.11

8223 -0.66 -116.8 2537 416 3819 3793 705.4 -8.2 639 8228 0.00 2.35 0.00 0.000 1030 0.000 0.044 2537 1808 3806 3819 3793 0 0 0 0 0 0 14.64 14.54 14.68

8546 -0.66 -116.8 2537 1806 3817 3791 731.8 -8.2 653 8547 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 1806 3804 3817 3792 0 0 0 0 0 0 15.10 15.12 15.12

8846 -0.66 -116.8 2537 1806 3814 3790 755.2 -7.6 663 8852 0.00 2.38 0.00 0.000 516 0.000 0.054 2537 422 3802 3814 3790 0 0 0 0 0 0 15.09 14.47 15.11

8875 -0.66 -116.8 2536 422 3811 3790 757.5 -8.0 669 8881 0.00 2.35 0.00 0.000 1030 0.000 0.046 2537 1808 3800 3811 3790 0 0 0 0 0 0 14.63 14.52 14.66

9208 -0.66 -116.8 2537 1807 3790 3789 780.8 -6.9 685 9213 0.00 2.47 0.00 0.000 260 0.000 0.073 2537 3207 3789 3790 3789 0 0 0 0 0 0 15.10 14.39 15.12

9259 -0.66 -116.8 2537 3206 3792 3789 784.2 -6.7 695 9264 0.00 2.35 0.00 0.000 1030 0.000 0.037 2537 1798 3791 3793 3789 0 0 0 0 0 0 14.67 14.61 14.70

9566 -0.66 -116.8 2537 1793 3802 3788 805.1 -6.9 706 9570 0.00 2.35 0.00 0.000 516 0.000 0.054 2537 412 3795 3802 3788 0 0 0 0 0 0 15.09 14.44 15.11

9629 -0.66 -116.8 2537 410 3802 3788 809.8 -7.6 718 9633 0.00 2.35 0.00 0.000 1030 0.000 0.044 2537 1801 3795 3802 3788 0 0 0 0 0 0 14.62 14.51 14.65

9962 -0.66 -116.8 2537 1800 3800 3787 834.7 -7.7 734 9968 0.00 2.50 0.00 0.000 260 0.000 0.073 2538 3222 3793 3799 3787 0 0 0 0 0 0 15.09 14.34 15.11

10009 -0.66 -116.8 2537 3222 3799 3787 838.6 -8.2 744 10013 0.00 2.40 0.00 0.000 1030 0.000 0.039 2537 1790 3793 3799 3787 0 0 0 0 0 0 14.65 14.57 14.68

10316 -0.66 -116.8 2537 1785 3797 3786 863.7 -8.3 755 10320 0.00 2.35 0.00 0.000 516 0.000 0.057 2537 413 3791 3796 3786 0 0 0 0 0 0 15.09 14.40 15.11

10378 -0.66 -116.8 2537 412 3795 3786 869.1 -8.6 767 10384 0.00 2.35 0.00 0.000 1030 0.000 0.044 2537 1807 3790 3795 3786 0 0 0 0 0 0 14.60 14.50 14.64

10708 -0.66 -116.8 2537 1807 3792 3785 896.2 -8.0 783 10713 0.00 2.50 0.00 0.000 260 0.000 0.076 2537 3202 3788 3792 3785 0 0 0 0 0 0 15.09 14.34 15.11

10745 -0.66 -116.8 2536 3202 3791 3785 899.1 -7.7 790 10751 0.00 2.38 0.00 0.000 1030 0.000 0.039 2537 1782 3788 3791 3785 0 0 0 0 0 0 14.64 14.57 14.67

11070 -0.66 -116.8 2537 1782 3794 3784 922.7 -6.9 805 11075 0.00 2.33 0.00 0.000 516 0.000 0.057 2537 426 3789 3794 3784 0 0 0 0 0 0 15.09 14.38 15.11

11117 -0.66 -116.8 2538 426 3794 3784 926.0 -7.0 814 11121 0.00 2.33 0.00 0.000 1030 0.000 0.046 2537 1801 3789 3794 3784 0 0 0 0 0 0 14.59 14.48 14.63

11434 -0.66 -116.8 2537 1800 3790 3783 944.9 -5.7 827 11441 0.00 2.38 0.00 0.000 548 0.000 0.055 2537 417 3785 3787 3783 0 0 0 0 0 0 15.08 14.38 15.09

11452 -0.66 -116.8 2537 417 3789 3783 946.1 -6.0 831 11456 0.00 2.35 0.00 0.000 1062 0.000 0.046 2537 1806 3785 3788 3783 0 0 0 0 0 0 14.59 14.48 14.63

11551 end dive: TARGET_DEPTH_EXCEEDED

state 11551 begin apogee

11557 -0.15 0.0 2537 2248 3787 3783 951.6 -5.5 836 11675 0.62 0.00 115.18 1.895 10246 0.206 0.000 2709 2248 3345 3356 3335 0 0 0 0 0 0 14.05 14.07 13.07

11676 end apogee: CONTROL_FINISHED_OK

state 11676 begin loiter

11974 -0.14 5.5 2709 2248 3343 3327 958.3 -1.1 845 11977 0.00 0.00 2.05 0.247 8230 0.000 0.000 2709 2248 3324 3333 3315 0 0 0 0 0 0 14.83 14.31 12.68

12272 -0.13 14.7 2709 2247 3345 3315 963.7 -1.9 850 12290 0.00 0.00 15.85 1.877 8230 0.000 0.000 2709 2247 3284 3293 3276 0 0 0 0 0 0 14.95 14.50 13.51

12574 -0.12 25.3 2709 2247 3282 3268 970.1 -2.2 855 12587 0.00 0.00 11.32 1.909 8230 0.000 0.000 2709 2247 3241 3251 3232 0 0 0 0 0 0 14.92 14.52 13.54

12872 -0.10 34.8 2709 2247 3241 3225 976.1 -2.0 860 12884 0.00 0.00 10.18 1.931 8230 0.000 0.000 2709 2247 3204 3214 3194 0 0 0 0 0 0 14.95 14.53 13.61

13173 -0.10 34.8 2709 2247 3205 3187 977.8 -0.3 865 13174 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3195 3204 3187 0 0 0 0 0 0 14.95 14.97 14.97

13472 -0.10 34.8 2709 2247 3205 3187 978.2 -0.1 870 13473 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3196 3205 3187 0 0 0 0 0 0 15.01 15.02 15.03

13773 -0.10 34.8 2709 2247 3205 3187 976.5 0.7 875 13774 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3196 3206 3187 0 0 0 0 0 0 15.03 15.05 15.04

14072 -0.10 34.8 2709 2247 3205 3187 972.5 1.4 880 14073 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2248 3196 3206 3187 0 0 0 0 0 0 15.06 15.09 15.08

14373 -0.10 34.8 2709 2247 3205 3186 967.1 1.9 885 14374 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3195 3205 3186 0 0 0 0 0 0 15.07 15.09 15.09

14673 -0.10 34.8 2709 2248 3205 3186 961.4 1.9 890 14674 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3196 3206 3186 0 0 0 0 0 0 15.08 15.10 15.09

14974 -0.10 34.8 2709 2247 3206 3186 956.5 1.6 895 14975 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3196 3206 3186 0 0 0 0 0 0 15.08 15.10 15.09

15273 -0.10 34.8 2709 2247 3207 3186 953.1 1.0 900 15274 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3196 3206 3186 0 0 0 0 0 0 15.09 15.11 15.11

15573 -0.10 34.8 2709 2247 3205 3186 951.4 0.5 905 15574 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3195 3206 3185 0 0 0 0 0 0 15.09 15.11 15.11

15873 -0.10 34.8 2709 2247 3206 3185 950.6 0.3 910 15874 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3195 3205 3185 0 0 0 0 0 0 15.09 15.12 15.11

16174 -0.10 34.8 2709 2247 3205 3185 949.9 0.2 915 16175 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3195 3205 3185 0 0 0 0 0 0 15.09 15.11 15.11

16473 -0.10 34.8 2709 2247 3205 3185 949.0 0.3 920 16474 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3195 3205 3185 0 0 0 0 0 0 15.09 15.12 15.11

16773 -0.10 34.8 2709 2247 3205 3184 947.0 0.7 925 16774 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3194 3205 3184 0 0 0 0 0 0 15.10 15.12 15.12

17073 -0.10 34.8 2709 2247 3205 3184 944.0 1.0 930 17074 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3194 3205 3184 0 0 0 0 0 0 15.09 15.12 15.12

17374 -0.10 34.8 2709 2247 3204 3184 940.4 1.2 935 17375 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3194 3205 3184 0 0 0 0 0 0 15.09 15.11 15.11

17673 -0.10 34.8 2709 2247 3204 3184 936.6 1.3 940 17674 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3193 3204 3183 0 0 0 0 0 0 15.10 15.12 15.11

17973 -0.10 34.8 2709 2247 3204 3183 932.8 1.3 945 17974 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3193 3204 3183 0 0 0 0 0 0 15.10 15.12 15.12

18273 -0.10 34.8 2709 2247 3204 3183 929.4 1.1 950 18274 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3193 3204 3183 0 0 0 0 0 0 15.10 15.12 15.12

18574 -0.10 34.8 2708 2247 3204 3183 926.3 1.0 955 18575 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3193 3204 3183 0 0 0 0 0 0 15.09 15.11 15.11

18873 -0.10 34.8 2708 2246 3203 3183 923.8 0.8 960 18874 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3194 3204 3184 0 0 0 0 0 0 15.09 15.12 15.12

19173 -0.10 34.8 2709 2247 3203 3183 922.2 0.5 965 19174 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3193 3204 3183 0 0 0 0 0 0 15.09 15.12 15.11

19473 -0.10 34.8 2709 2247 3203 3183 921.6 0.2 970 19474 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3193 3203 3183 0 0 0 0 0 0 15.10 15.12 15.12

19774 -0.10 34.8 2709 2247 3203 3183 921.8 -0.1 975 19775 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3193 3204 3183 0 0 0 0 0 0 15.09 15.11 15.11

20073 -0.10 34.8 2709 2247 3203 3183 922.4 -0.2 980 20074 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3193 3204 3183 0 0 0 0 0 0 15.09 15.11 15.11

20373 -0.10 34.8 2709 2247 3203 3183 922.8 -0.1 985 20374 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3193 3203 3184 0 0 0 0 0 0 15.09 15.12 15.11

20673 -0.10 34.8 2709 2247 3203 3183 922.4 0.2 990 20674 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3193 3204 3183 0 0 0 0 0 0 15.09 15.11 15.11

20973 -0.10 34.8 2709 2247 3204 3183 920.7 0.6 995 20974 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3193 3204 3183 0 0 0 0 0 0 15.09 15.11 15.11

21274 -0.10 34.8 2709 2247 3203 3182 918.2 0.9 1000 21275 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3192 3203 3182 0 0 0 0 0 0 15.09 15.11 15.11

21573 -0.10 34.8 2709 2247 3203 3183 915.9 0.8 1005 21574 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3192 3203 3182 0 0 0 0 0 0 15.09 15.11 15.11

21873 -0.10 34.8 2709 2247 3203 3182 914.8 0.3 1010 21874 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3192 3203 3182 0 0 0 0 0 0 15.09 15.11 15.11

22173 -0.10 34.8 2709 2247 3203 3183 914.8 -0.1 1015 22174 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3192 3202 3183 0 0 0 0 0 0 15.09 15.11 15.11

22474 -0.10 34.8 2709 2247 3202 3183 915.8 -0.4 1020 22475 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3192 3203 3182 0 0 0 0 0 0 15.08 15.11 15.11

22773 -0.09 34.8 2709 2247 3203 3182 917.7 -0.6 1025 22774 0.00 0.00 0.00 0.000 70 0.000 0.000 2709 2248 3193 3203 3183 0 0 0 0 0 0 15.09 15.11 15.11

23073 -0.09 38.8 2708 2246 3203 3182 920.1 -0.8 1030 23075 0.00 0.00 0.00 0.000 38 0.000 0.000 2709 2247 3192 3203 3182 0 0 0 0 0 0 15.09 15.11 15.11

23374 -0.07 38.8 2709 2247 3203 3182 922.2 -0.7 1035 23375 0.00 0.00 0.00 0.000 70 0.000 0.000 2709 2247 3192 3203 3182 0 0 0 0 0 0 15.08 15.10 15.10

23673 -0.07 38.8 2709 2247 3203 3182 923.0 -0.2 1040 23674 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3192 3203 3182 0 0 0 0 0 0 15.09 15.11 15.11

23973 -0.07 38.8 2709 2247 3203 3182 922.2 0.3 1045 23974 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3192 3203 3182 0 0 0 0 0 0 15.09 15.11 15.11

24273 -0.07 38.8 2709 2246 3204 3182 920.2 0.7 1050 24274 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3192 3203 3182 0 0 0 0 0 0 15.09 15.11 15.11

24573 -0.07 38.8 2709 2247 3203 3182 918.3 0.6 1055 24574 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3192 3203 3182 0 0 0 0 0 0 15.09 15.11 15.11

24874 -0.07 38.8 2709 2248 3203 3182 917.7 0.2 1060 24875 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3192 3203 3182 0 0 0 0 0 0 15.08 15.10 15.10

25173 -0.07 38.8 2709 2247 3203 3182 918.0 -0.1 1065 25174 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3192 3203 3182 0 0 0 0 0 0 15.09 15.11 15.11

25473 -0.07 38.8 2709 2247 3203 3182 918.1 -0.0 1070 25474 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3192 3203 3182 0 0 0 0 0 0 15.09 15.11 15.11

25773 -0.07 38.8 2709 2247 3203 3182 917.2 0.3 1075 25774 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2247 3192 3203 3182 0 0 0 0 0 0 15.09 15.11 15.10

26071 end loiter: LOITER_COMPLETE

state 26071 begin climb

26074 0.66 116.8 2709 2247 3203 3182 915.1 0.0 1080 26187 0.88 2.53 101.57 1.734 10500 0.160 0.081 2967 3668 2861 2880 2842 0 0 0 0 0 0 13.90 14.11 13.19

26258 0.69 116.8 2966 3668 2873 2836 905.8 6.4 1117 26263 0.00 2.28 0.00 0.000 1094 0.000 0.041 2973 2261 2854 2873 2836 0 0 0 0 0 0 14.36 14.29 14.39

26586 0.73 116.8 2973 2257 2869 2833 885.1 6.3 1132 26590 0.00 2.42 0.00 0.000 324 0.000 0.080 2973 3667 2851 2870 2833 0 0 0 0 0 0 14.83 14.32 14.85

26686 0.78 159.2 2973 3666 2868 2832 878.8 6.1 1152 26747 0.12 2.28 51.22 1.698 11302 0.160 0.042 3014 2237 2689 2717 2662 0 0 0 0 0 0 14.34 14.47 13.31

27072 0.81 159.2 3013 2237 2707 2655 852.1 6.9 1178 27078 0.00 2.53 0.00 0.000 580 0.000 0.058 3016 858 2680 2706 2655 0 0 0 0 0 0 14.81 14.38 14.83

27140 0.87 208.8 3015 858 2706 2654 847.7 5.8 1192 27210 0.00 2.55 63.03 1.636 9254 0.000 0.051 3015 2263 2493 2530 2457 0 0 0 0 0 0 14.52 14.42 13.33

27523 0.88 208.8 3015 2263 2513 2446 819.1 7.5 1218 27530 0.00 2.38 0.00 0.000 324 0.000 0.082 3016 3659 2479 2513 2446 0 0 0 0 0 0 14.80 14.33 14.82

27576 0.88 208.8 3015 3659 2513 2446 814.6 8.1 1229 27584 0.00 2.25 0.00 0.000 1030 0.000 0.042 3022 2250 2479 2512 2446 0 0 0 0 0 0 14.55 14.47 14.58

27882 0.88 208.8 3022 2250 2511 2445 790.6 8.0 1240 27886 0.00 2.40 0.00 0.000 260 0.000 0.076 3022 3665 2478 2511 2445 0 0 0 0 0 0 14.91 14.40 14.93

27902 0.88 208.8 3022 3665 2509 2445 788.8 8.8 1244 27906 0.00 2.25 0.00 0.000 1030 0.000 0.044 3028 2262 2477 2510 2445 0 0 0 0 0 0 14.60 14.52 14.64

28215 0.88 208.8 3028 2258 2509 2445 762.5 8.6 1256 28222 0.00 2.50 0.00 0.000 516 0.000 0.057 3029 851 2476 2508 2444 0 0 0 0 0 0 14.95 14.45 14.97

28237 0.88 208.8 3028 852 2508 2444 760.3 8.0 1261 28246 0.00 2.53 0.00 0.000 1030 0.000 0.047 3029 2258 2476 2508 2444 0 0 0 0 0 0 14.60 14.50 14.65

28544 0.88 208.8 3028 2258 2508 2443 733.3 8.9 1272 28548 0.00 2.35 0.00 0.000 260 0.000 0.076 3028 3656 2476 2508 2444 0 0 0 0 0 0 14.99 14.40 15.01

28579 0.88 208.8 3028 3657 2508 2443 729.8 9.6 1279 28583 0.00 2.28 0.00 0.000 1030 0.000 0.043 3028 2228 2475 2507 2443 0 0 0 0 0 0 14.64 14.56 14.68

28906 0.88 208.8 3028 2225 2507 2443 700.0 9.2 1294 28913 0.00 2.45 0.00 0.000 772 0.000 0.075 3028 3663 2475 2507 2443 0 0 0 0 0 0 15.00 14.40 15.02

28929 0.88 208.8 3028 3663 2507 2443 697.6 9.9 1299 28936 0.00 2.25 0.00 0.000 1030 0.000 0.042 3029 2251 2475 2507 2443 0 0 0 0 0 0 14.64 14.56 14.68

29237 0.88 208.8 3028 2251 2507 2442 669.4 9.2 1310 29244 0.00 2.53 0.00 0.000 516 0.000 0.058 3028 852 2474 2506 2443 0 0 0 0 0 0 15.01 14.45 15.03

29275 0.88 208.8 3028 852 2506 2443 665.9 8.4 1318 29282 0.00 2.50 0.00 0.000 1030 0.000 0.047 3029 2249 2474 2507 2442 0 0 0 0 0 0 14.61 14.51 14.66

29596 0.88 208.8 3028 2248 2506 2442 637.4 8.8 1332 29603 0.00 2.38 0.00 0.000 260 0.000 0.077 3028 3666 2474 2506 2442 0 0 0 0 0 0 15.02 14.38 15.05

29629 0.88 208.8 3028 3665 2506 2442 634.2 9.5 1339 29634 0.00 2.25 0.00 0.000 1030 0.000 0.043 3029 2256 2474 2506 2442 0 0 0 0 0 0 14.64 14.56 14.68

29957 0.88 208.8 3028 2252 2506 2442 606.7 8.2 1354 29964 0.00 2.53 0.00 0.000 516 0.000 0.058 3029 849 2474 2506 2442 0 0 0 0 0 0 15.04 14.42 15.05

30062 0.90 208.8 3029 849 2505 2441 599.2 6.9 1375 30068 0.00 2.53 0.00 0.000 1094 0.000 0.047 3029 2260 2473 2506 2441 0 0 0 0 0 0 14.59 14.49 14.64

30377 0.92 208.8 3028 2259 2505 2441 575.5 7.5 1388 30378 0.00 0.00 0.00 0.000 70 0.000 0.000 3029 2259 2473 2505 2441 0 0 0 0 0 0 15.04 15.06 15.06

30678 0.93 208.8 3028 2259 2505 2441 553.4 7.4 1398 30684 0.00 2.55 0.00 0.000 580 0.000 0.056 3028 844 2473 2505 2441 0 0 0 0 0 0 15.04 14.38 15.07

30710 0.95 208.8 3028 845 2505 2441 551.0 6.9 1405 30716 0.12 2.53 0.00 0.000 3142 0.147 0.049 3077 2251 2473 2506 2441 0 0 0 0 0 0 14.42 14.48 14.57

31039 0.95 208.8 3077 2250 2505 2441 522.8 8.7 1420 31046 0.00 2.55 0.00 0.000 516 0.000 0.058 3084 853 2473 2505 2441 0 0 0 0 0 0 15.05 14.40 15.07

31062 0.95 208.8 3083 853 2505 2441 520.7 8.7 1425 31070 0.00 2.53 0.00 0.000 1030 0.000 0.050 3084 2249 2473 2505 2441 0 0 0 0 0 0 14.58 14.47 14.63

31370 0.95 208.8 3083 2248 2505 2441 493.7 8.9 1436 31377 0.00 2.58 0.00 0.000 516 0.000 0.058 3084 830 2472 2505 2440 0 0 0 0 0 0 15.04 14.37 15.07

31409 0.95 208.8 3084 830 2505 2441 490.1 8.6 1444 31414 0.00 2.55 0.00 0.000 1030 0.000 0.047 3085 2253 2473 2505 2441 0 0 0 0 0 0 14.58 14.47 14.63

31726 0.95 208.8 3085 2252 2504 2441 460.9 9.7 1457 31731 0.00 2.55 0.00 0.000 516 0.000 0.056 3090 850 2473 2506 2441 0 0 0 0 0 0 15.05 14.40 15.07

31749 0.95 208.8 3090 850 2505 2441 458.7 10.2 1461 31754 0.00 2.53 0.00 0.000 1030 0.000 0.050 3090 2250 2472 2505 2440 0 0 0 0 0 0 14.57 14.46 14.62

32062 0.95 208.8 3090 2249 2505 2441 427.2 10.1 1473 32067 0.00 2.38 0.00 0.000 260 0.000 0.076 3090 3664 2472 2504 2441 0 0 0 0 0 0 15.06 14.33 15.07

32148 0.95 208.8 3090 3664 2504 2441 418.1 10.0 1490 32155 0.00 2.28 0.00 0.000 1030 0.000 0.041 3097 2236 2472 2504 2441 0 0 0 0 0 0 14.60 14.52 14.64

32455 0.95 208.8 3096 2236 2504 2441 390.3 8.8 1501 32460 0.00 2.50 0.00 0.000 516 0.000 0.058 3097 856 2472 2504 2441 0 0 0 0 0 0 15.04 14.38 15.07

32490 0.95 208.8 3097 855 2504 2441 387.0 8.5 1508 32495 0.00 2.53 0.00 0.000 1030 0.000 0.048 3097 2258 2472 2504 2441 0 0 0 0 0 0 14.57 14.45 14.62

32814 0.95 208.8 3097 2258 2505 2441 357.9 9.7 1522 32820 0.00 2.55 0.00 0.000 516 0.000 0.054 3103 844 2472 2504 2441 0 0 0 0 0 0 15.05 14.38 15.07

32861 0.95 208.8 3102 845 2504 2441 353.0 9.7 1532 32866 0.15 2.55 0.00 0.000 5126 0.233 0.049 3069 2251 2472 2504 2441 0 0 0 0 0 0 14.09 14.45 14.38

33174 0.95 208.8 3068 2250 2504 2441 322.7 9.8 1544 33178 0.00 2.35 0.00 0.000 260 0.000 0.073 3069 3656 2472 2504 2441 0 0 0 0 0 0 15.06 14.33 15.08

33219 0.95 208.8 3068 3655 2504 2441 317.9 10.3 1553 33225 0.00 2.25 0.00 0.000 1030 0.000 0.042 3070 2254 2472 2504 2441 0 0 0 0 0 0 14.60 14.51 14.64

33538 0.97 208.8 3070 2250 2504 2441 292.5 7.2 1566 33545 0.00 2.40 0.00 0.000 324 0.000 0.073 3070 3667 2472 2504 2441 0 0 0 0 0 0 15.05 14.33 15.07

33586 0.98 208.8 3070 3666 2504 2441 288.6 7.5 1576 33590 0.00 2.28 0.00 0.000 1094 0.000 0.041 3071 2238 2472 2504 2441 0 0 0 0 0 0 14.60 14.52 14.64

33898 0.98 208.8 3071 2234 2503 2441 264.0 8.4 1588 33906 0.00 2.50 0.00 0.000 516 0.000 0.056 3074 839 2472 2504 2441 0 0 0 0 0 0 15.06 14.40 15.07

33941 0.98 208.8 3074 839 2503 2441 260.3 7.9 1597 33946 0.00 2.53 0.00 0.000 1030 0.000 0.047 3074 2251 2472 2504 2441 0 0 0 0 0 0 14.57 14.45 14.62

34251 0.98 208.8 3074 2250 2503 2441 235.8 7.7 1621 34256 0.00 2.35 0.00 0.000 260 0.000 0.073 3074 3659 2472 2503 2441 0 0 0 0 0 0 15.03 14.32 15.05

34296 0.98 208.8 3074 3660 2504 2441 231.8 8.3 1630 34303 0.00 2.25 0.00 0.000 1030 0.000 0.040 3080 2247 2472 2504 2441 0 0 0 0 0 0 14.60 14.52 14.64

34603 0.98 208.8 3080 2248 2504 2441 207.6 8.4 1661 34608 0.00 2.40 0.00 0.000 260 0.000 0.072 3081 3666 2472 2504 2441 0 0 0 0 0 0 15.04 14.32 15.06

34705 0.98 208.8 3080 3666 2504 2441 198.2 9.3 1681 34710 0.00 2.25 0.00 0.000 1030 0.000 0.040 3086 2249 2472 2504 2441 0 0 0 0 0 0 14.59 14.51 14.63

35018 0.98 208.8 3085 2245 2504 2441 172.5 7.9 1713 35023 0.00 2.40 0.00 0.000 260 0.000 0.072 3087 3658 2472 2504 2441 0 0 0 0 0 0 15.04 14.31 15.05

35104 0.98 208.8 3086 3659 2504 2441 165.0 8.9 1730 35111 0.00 2.25 0.00 0.000 1030 0.000 0.039 3086 2250 2472 2504 2441 0 0 0 0 0 0 14.59 14.51 14.63

35411 0.98 208.8 3086 2250 2504 2440 142.9 7.7 1761 35416 0.00 2.40 0.00 0.000 260 0.000 0.073 3086 3666 2472 2504 2441 0 0 0 0 0 0 15.03 14.31 15.05

35523 0.98 208.8 3086 3665 2504 2441 133.6 8.1 1783 35527 0.00 2.25 0.00 0.000 1030 0.000 0.037 3086 2246 2472 2504 2441 0 0 0 0 0 0 14.59 14.52 14.63

35835 1.10 301.8 3086 2242 2502 2441 116.4 3.7 1815 35936 0.00 2.47 93.50 0.994 8484 0.000 0.071 3086 3661 2108 2146 2071 0 0 0 0 0 0 15.02 14.33 13.69

36013 1.12 301.8 3086 3661 2145 2071 106.1 7.0 1850 36021 0.10 2.25 0.00 0.000 3142 0.172 0.037 3121 2240 2107 2145 2070 0 0 0 0 0 0 14.29 14.40 14.44

36319 1.12 301.8 3120 2240 2144 2070 79.4 10.0 1881 36324 0.00 2.40 0.00 0.000 260 0.000 0.070 3120 3659 2107 2144 2070 0 0 0 0 0 0 14.87 14.35 14.89

36375 1.12 301.8 3120 3658 2143 2070 73.4 10.4 1892 36382 0.00 2.22 0.00 0.000 1030 0.000 0.037 3123 2251 2107 2143 2071 0 0 0 0 0 0 14.57 14.50 14.61

36682 1.23 389.7 3123 2251 2142 2070 54.4 4.0 1923 36765 0.00 2.42 75.68 0.907 8484 0.000 0.068 3123 3666 1749 1790 1709 0 0 0 0 0 0 14.94 14.35 13.78

36793 1.24 389.7 3122 3665 1788 1709 48.5 7.5 1945 36802 0.12 2.25 0.00 0.000 3142 0.150 0.036 3168 2230 1748 1788 1709 0 0 0 0 0 0 14.34 14.42 14.45

37109 1.24 389.7 3168 2231 1800 1710 24.6 8.0 2006 37115 0.00 2.40 0.00 0.000 260 0.000 0.068 3168 3667 1755 1799 1711 0 0 0 0 0 0 14.84 14.40 14.85

37183 1.24 389.7 3168 3667 1801 1713 17.8 8.7 2020 37190 0.00 2.20 0.00 0.000 1030 0.000 0.034 3168 2252 1757 1802 1713 0 0 0 0 0 0 14.61 14.54 14.64

37362 end climb: SURFACE_DEPTH_REACHED

state 37362 begin surface coast

37400 end surface coast: CONTROL_FINISHED_OK

state 37400 begin surface

ID	128	KALMAN_USE	2	ROLL_MIN	200	AD7714Ch0Gain	32
MISSION	4	HD_A	0.0026803601	ROLL_MAX	3700	COMPASS_USE	4
DIVE	417	HD_B	0.0139002	ROLL_DEG	40	ALTIM_PING_FIT	0
N_DIVES	0	HD_C	9.1750398e-06	C_ROLL_DIVE	1800	ALTIM_TOP_PING_RANGE	0
STOP_T	0	HEADING	-1	C_ROLL_CLIMB	2250	ALTIM_BOTTOM_TURN_MARGIN	15
D_SURF	3	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	2
D_TGT	950	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_ABORT	1030	TGT_DEFAULT_LAT	3235	R_PORT_OVSHOOT	55	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	39	ALTIM_FREQUENCY	13
D_BOOST	20	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	ALTIM_PULSE	3
T_BOOST	5	SM_CC	400	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FINISH	0	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_VALID	5
D_PITCH	0	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_SAFE	0	CALL_NDIVES	1	VBD_MIN	400	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	COMM_SEQ	0	VBD_MAX	3900	INT_PRESSURE_YINT	-1
SURFACE_URGENCY	0	PROTOCOL	9	C_VBD	3346	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	2	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	NOCOMM_ACTION	163	VBD_CNV	-0.245296	DEVICE1	2
T_DIVE	390	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	660	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00121	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE5	-1
T_TURN_SAMPINT	-5	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	14400	HEAPDBG	0	UNCOM_BLEED	20	LOGGERDEVICE1	-1
T_EPIRB	0	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
EXEC_P	0	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE3	-1
EXEC_DT	0	T_RSLEEP	1	DBDW	0	LOGGERDEVICE4	-1
EXEC_T	0	STROBE	0	LOITER_W_DBAND	0.80000001	COMPASS_DEVICE	33
EXEC_N	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	500	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_NO_PUMP	500	PHONE_DEVICE	49
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	1	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	PITCH_W_GAIN	2	RAFOS_DEVICE	-1
D_OFFGRID	1000	PITCH_MIN	250	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3750	CF8_MAXERRORS	20	SIM_W	0
RELAUNCH	1	C_PITCH	2760	AH0_24V	350	SEABIRD_T_G	0.0043553207
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_10V	0	SEABIRD_T_H	0.00062594062
MAX_BUOY	120	PITCH_CNV	0.003125763	MINV_24V	11	SEABIRD_T_I	2.3765557e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_10V	11	SEABIRD_T_J	2.606791e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8755465
SPEED_FACTOR	1	PITCH_GAIN	34	MAXI_10V	0.80000001	SEABIRD_C_H	1.1390997
RHO	1.0275	PITCH_TIMEOUT	16	FG_AHR_10V	0	SEABIRD_C_I	-0.0019936475
MASS	51713	PITCH_AD_RATE	175	FG_AHR_24V	0	SEABIRD_C_J	0.00023608611
MASS_COMP	0	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2
NAV_MODE	2	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-157.40906
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014074198

GPS1	300418,213355,-122.3624,5751.7417,37,1.0,39,-4.1,0.7,95.2,7,9.9	SPEED_LIMITS	0.141,0.187
_CALLS	1	TGT_NAME	MALDIVE
_XMS_NAKs	0	TGT_LATLONG	430.000,7230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.80	MHEAD_RNG_PITCHd_Wd	79.7,1747704,-17.6,-8.120,-23.46,2180
_SM_ANGLEo	-75.7	D_GRID	1000
GPS2	300418,214121,-122.4540,5751.8975,16,1.0,19,-4.1,1.3,136.8,7,8.7

FINISH	-0.0,1.021995	_10V_AH	12.68,0.000
SM_CCo	37418,4.15,0.077,0,0,1714,400.08	FG_AHR_24Vo	0.000
SM_GC	1.58,8.82,0.80,4.15,0.093,0.038,0.077,247,1804,1714,-7.81,1.72,400.08,0,0,0,0,0,0,14.40,14.61,14.47	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-120.36,5755.56,300418,104841	MEM	302964
TT8_MAMPS	0.018725,0.158788	DATA_FILE_SIZE	93375,2062
HUMID	59.33	CAP_FILE_SIZE	266821,0
INTERNAL_PRESSURE	8.52185	CFSIZE	260034560,220913664
TCM_TEMP	23.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.036,336.73,1
_24V_AH	12.68,136.939	GPS	010518,080701,-121.789,5752.031,39,0.8,40,-4.1,1.3,123.3,11,8.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	406	116.15	SBE_CT	837	23	254.65
Roll_motor	287	81	298.01	nil	0	0	0.00
VBD_pump_during_apogee	539	1930	13210.58	nil	0	0	0.00
VBD_pump_during_surface	4	77	4.07	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	nil	0	0	0.00
Iridium_during_xfer	314	141	564.92	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	20	5.29
TT8	4335	9	520.58
LPSleep	29116	2	808.53
TT8_Active	782	9	94.00
TT8_Sampling	3193	28	1141.66
TT8_CF8	429	34	186.34
TT8_Kalman	0	0	0.00
Analog_circuits	2831	16	574.43
GPS_charging	0	0	0.00
Compass	2757	17	602.52
RAFOS	0	0	0.00
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R