Glider dive log

NASCAR Dec16 * SG528 * Dive index * Mission links * Dive 646 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 528 HD_C 4.38354e-05 ROLL_DEG 40 ALTIM_BOTTOM_PING_RANGE 0

MISSION 3 HEADING -1 C_ROLL_DIVE 2350 ALTIM_TOP_PING_RANGE 0

DIVE 646 ESCAPE_HEADING 0 C_ROLL_CLIMB 2350 ALTIM_BOTTOM_TURN_MARGIN 12

N_DIVES 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 170 ALTIM_TOP_TURN_MARGIN 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 TGT_DEFAULT_LAT 4212 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LON -7043 R_PORT_OVSHOOT 17 ALTIM_PING_DELTA 10

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 20 ALTIM_FREQUENCY 13

D_NO_BLEED 50 SM_CC 450 ROLL_AD_RATE 250 ALTIM_PULSE 3

D_BOOST 20 N_FILEKB 8 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

T_BOOST 5 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_VALID 2

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_PITCH 0 COMM_SEQ 0 VBD_MIN 500 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 PROTOCOL 9 VBD_MAX 3959 INT_PRESSURE_YINT 0.85000002

D_CALL 0 N_NOCOMM 2 C_VBD 2967 DEEPGLIDER 0

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.245296 DEVICE1 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE2 -1

T_DIVE 520 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE3 -1

T_MISSION 1000 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00211 DEVICE4 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE5 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 DEVICE6 -1

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_NO_W 120 T_GPS 5 UNCOM_BLEED 50 LOGGERDEVICE1 -1

T_LOITER 28800 N_GPS 100440 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

T_EPIRB 0 T_RSLEEP 1 W_ADJ_DBAND 3 LOGGERDEVICE3 -1

USE_BATHY -6 STROBE 0 DBDW 0 LOGGERDEVICE4 -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 7 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0.5 COMPASS2_DEVICE -1

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 PHONE_DEVICE 49

T_WATCHDOG 10 PITCH_MIN 200 AH0_24V 350 GPS_DEVICE 32

RELAUNCH 1 PITCH_MAX 3970 AH0_10V 0 RAFOS_DEVICE -1

APOGEE_PITCH -5 C_PITCH 3220 MINV_24V 10.5 XPDR_DEVICE 24

MAX_BUOY 90 PITCH_DBAND 0.1 MINV_10V 10.5 SIM_W 0

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_24V 0.60000002 SIM_PITCH 0

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 MAXI_10V 0.80000001 SEABIRD_T_G 0.0043548695

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SEABIRD_T_H 0.0006268858

RHO 1.0275 PITCH_GAIN 27 FG_AHR_24V 0 SEABIRD_T_I 2.3578436e-05

MASS 52309 PITCH_TIMEOUT 16 PHONE_SUPPLY -2 SEABIRD_T_J 2.4722265e-06

MASS_COMP 0 PITCH_AD_RATE 120 PRESSURE_YINT -56.708107 SEABIRD_C_G -10.467909

NAV_MODE 2 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00011645618 SEABIRD_C_H 1.2025218

FERRY_MAX 45 PITCH_ADJ_GAIN 0 AD7714Ch0Gain 128 SEABIRD_C_I -0.00091677177

KALMAN_USE 2 PITCH_ADJ_DBAND 0 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00016246161

HD_A 0.0026437801 ROLL_MIN 300 TCM_ROLL_OFFSET 0

HD_B 0.018580301 ROLL_MAX 3830 COMPASS_USE 4

AD7714Ch0Gain 128 D_PITCH 0 PHONE_DEVICE 49 SIM_PITCH 0

AH0_10V 0 D_SAFE 0 PHONE_SUPPLY -2 SIM_W 0

AH0_24V 350 D_SURF 3 PITCH_ADJ_DBAND 0 SM_CC 450

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 12 ESCAPE_HEADING 0 PITCH_AD_RATE 120 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_GAIN 27 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_MAX 3970 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 16 TGT_DEFAULT_LAT 4212

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.00211 TGT_DEFAULT_LON -7043

APOGEE_PITCH -5 HD_A 0.0026437801 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_NDIVES 1 HD_B 0.018580301 PITCH_W_GAIN 7 T_BOOST 5

CALL_TRIES 5 HD_C 4.38354e-05 PRESSURE_SLOPE 0.00011645618 T_DIVE 520

CALL_WAIT 60 HEADING -1 PRESSURE_YINT -56.708107 T_EPIRB 0

CAPMAXSIZE 100000 HEAD_ERRBAND 170 PROTOCOL 9 T_GPS 5

CAPUPLOAD 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_LOITER 28800

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0 T_MISSION 1000

COMM_SEQ 0 ID 528 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_RSLEEP 1

COMPASS_DEVICE 33 INT_PRESSURE_YINT 0.85000002 RAFOS_HIT_WINDOW 3600 T_TURN 225

COMPASS_USE 4 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

COURSE_BIAS 0 LOGGERDEVICE1 -1 RELAUNCH 1 T_WATCHDOG 10

C_PITCH 3220 LOGGERDEVICE2 -1 RHO 1.0275 UNCOM_BLEED 50

C_ROLL_CLIMB 2350 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2350 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 USE_BATHY -6

C_VBD 2967 LOGGERS 0 ROLL_AD_RATE 250 USE_ICE 0

DBDW 0 MASS 52309 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS_COMP 0 ROLL_DEG 40 VBD_CNV -0.245296

DEVICE1 2 MAXI_10V 0.80000001 ROLL_MAX 3830 VBD_DBAND 2

DEVICE2 -1 MAXI_24V 0.60000002 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE3 -1 MAX_BUOY 90 ROLL_MIN 300 VBD_MAX 3959

DEVICE4 -1 MINV_10V 10.5 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE5 -1 MINV_24V 10.5 R_PORT_OVSHOOT 17 VBD_MIN 500

DEVICE6 -1 MISSION 3 R_STBD_OVSHOOT 20 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 646 MOTHERBOARD 4 SEABIRD_C_G -10.467909 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1020 NAV_MODE 2 SEABIRD_C_H 1.2025218 VBD_TIMEOUT 720

D_BOOST 20 NOCOMM_ACTION 163 SEABIRD_C_I -0.00091677177 W_ADJ_DBAND 3

D_CALL 0 N_DIVES 0 SEABIRD_C_J 0.00016246161 XPDR_DEVICE 24

D_FINISH 0 N_FILEKB 8 SEABIRD_T_G 0.0043548695 XPDR_INHIBIT 90

D_FLARE 3 N_GPS 100440 SEABIRD_T_H 0.0006268858 XPDR_VALID 2

D_NO_BLEED 50 N_NOCOMM 2 SEABIRD_T_I 2.3578436e-05

D_OFFGRID 1000 N_NOSURFACE 0 SEABIRD_T_J 2.4722265e-06

Pre-dive calculations and measurements:

GPS1 060617,214004,315.4587,5642.1943,30,0.8,32,-2.3,0.4,14.2,9,9.1 SPEED_LIMITS 0.110,0.112

_CALLS 1 TGT_NAME DIGURA

_XMS_NAKs 0 TGT_LATLONG 330.000,7230.000

_XMS_TOUTs 0 TGT_RADIUS 10000.000

_SM_DEPTHo 0.68 MHEAD_RNG_PITCHd_Wd 88.1,1752255,-19.0,-6.346,-29.47,1557

_SM_ANGLEo -69.5 D_GRID 1000

GPS2 060617,214630,315.4575,5642.2017,6,0.8,9,-2.3,0.5,221.4,10,9.2

Post-dive calculations and measurements:

FREEZE 65.24,29.214,-1.978,0,1,0 _10V_AH 12.45,0.000

SM_CCo 53916,312.50,0.841,0,0,499,605.15 FG_AHR_24Vo 0.000

SM_GC 0.54,10.77,0.00,0.00,0.120,0.000,0.000,200,2356,480,-9.40,0.17,610.05,0,0,0,0,0,0,14.19,14.75,14.34 FG_AHR_10Vo 0.000

IRIDIUM_FIX 314.20,5641.36,060617,072645 MEM 310180

TT8_MAMPS 0.024717,0.111601 DATA_FILE_SIZE 89865,2066

HUMID 51.14 CAP_FILE_SIZE 271703,0

INTERNAL_PRESSURE 9.62963 CFSIZE 2097872896,2008416256

TCM_TEMP 23.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 561 CURRENT 0.054,31.29,1

_24V_AH 12.54,186.136 GPS 070617,125536,316.777,5642.908,35,1.1,39,-2.3,0.5,57.9,7,9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 345 111.95 SBE_CT 846 23 246.51

Roll_motor 56 126 89.15 nil 0 0 0.00

VBD_pump_during_apogee 262 2108 6928.23 nil 0 0 0.00

VBD_pump_during_surface 312 840 3294.63 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 269 173 587.47 nil 0 0 0.00

Transponder_ping 140 420 738.67 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 10 44 6.03

TT8 4557 11 650.21

LPSleep 45749 2 1247.38

TT8_Active 804 11 114.81

TT8_Sampling 3245 31 1280.36

TT8_CF8 457 37 214.62

TT8_Kalman 0 0 0.00

Analog_circuits 2634 15 508.44

GPS_charging 0 0 0.00

Compass 2931 16 601.48

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.89 -87.6 184 2339 1121 1125 0.0 0.0 0 102 0.00 0.00 -83.32 0.000 16390 0.000 0.000 184 2340 3326 3170 3483 0 0 0 0 0 0 14.78 12.54 14.70

105 -0.89 -87.6 184 2339 3171 3483 1.6 -3.0 2 118 11.27 0.00 0.00 0.000 2054 0.345 0.000 2928 2340 3328 3171 3486 0 0 0 0 0 0 13.95 14.40 14.31

410 -0.89 -87.6 2927 2339 3171 3490 54.3 -14.1 13 412 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2340 3330 3171 3490 0 0 0 0 0 0 14.93 14.95 14.95

711 -0.89 -87.6 2927 2340 3171 3491 90.9 -11.5 23 712 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2339 3331 3171 3491 0 0 0 0 0 0 14.98 15.00 15.00

1011 -0.89 -87.6 2927 2340 3171 3495 116.9 -8.8 33 1012 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2340 3333 3171 3495 0 0 0 0 0 0 15.01 15.03 15.02

1310 -0.89 -87.6 2927 2339 3172 3496 136.2 -6.5 43 1312 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2340 3333 3171 3496 0 0 0 0 0 0 15.02 15.04 15.04

1610 -0.89 -87.6 2928 2340 3171 3496 158.5 -7.0 53 1612 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2339 3333 3171 3496 0 0 0 0 0 0 15.03 15.05 15.05

1911 -0.89 -87.6 2927 2340 3172 3496 178.4 -6.5 63 1912 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2340 3334 3172 3497 0 0 0 0 0 0 15.03 15.05 15.05

2211 -0.89 -87.6 2927 2339 3171 3497 199.0 -7.0 73 2217 0.00 2.55 0.00 0.000 516 0.000 0.122 2928 938 3334 3172 3497 0 0 0 0 0 0 15.04 14.21 15.05

2350 -0.89 -87.6 2928 938 3172 3496 208.8 -7.4 101 2359 0.00 2.42 0.00 0.000 1030 0.000 0.074 2928 2351 3334 3172 3497 0 0 0 0 0 0 14.53 14.39 14.57

2660 -0.89 -87.6 2927 2351 3172 3496 227.3 -6.2 113 2667 0.00 2.53 0.00 0.000 260 0.000 0.114 2928 3763 3334 3172 3496 0 0 0 0 0 0 15.03 14.23 15.05

2774 -0.89 -87.6 2928 3763 3172 3496 234.9 -6.8 136 2781 0.00 2.47 0.00 0.000 1030 0.000 0.081 2928 2341 3334 3172 3496 0 0 0 0 0 0 14.49 14.33 14.54

3080 -0.89 -87.6 2928 2342 3170 3495 254.8 -6.6 147 3082 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2342 3333 3172 3495 0 0 0 0 0 0 15.03 15.05 15.05

3380 -0.89 -87.6 2928 2342 3171 3490 273.5 -6.0 157 3382 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2342 3331 3171 3491 0 0 0 0 0 0 15.03 15.05 15.05

3680 -0.89 -87.6 2928 2342 3169 3489 292.9 -6.8 167 3682 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2342 3329 3169 3489 0 0 0 0 0 0 15.03 15.05 15.06

3980 -0.89 -87.6 2928 2342 3166 3488 314.1 -7.1 177 3982 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2342 3327 3166 3488 0 0 0 0 0 0 14.98 15.00 15.00

4280 -0.89 -87.6 2928 2342 3163 3487 334.0 -6.4 187 4282 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2342 3325 3163 3487 0 0 0 0 0 0 15.04 15.06 15.05

4580 -0.89 -87.6 2928 2342 3162 3484 351.0 -5.5 197 4582 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2342 3322 3162 3483 0 0 0 0 0 0 15.03 15.05 15.05

4880 -0.89 -87.6 2928 2342 3160 3482 368.9 -6.1 207 4882 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2342 3320 3159 3481 0 0 0 0 0 0 15.03 15.05 15.05

5180 -0.89 -87.6 2928 2342 3160 3477 389.2 -7.0 217 5182 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2342 3318 3159 3477 0 0 0 0 0 0 15.03 15.05 15.04

5481 -0.89 -87.6 2928 2342 3157 3477 411.4 -7.4 227 5482 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2342 3317 3157 3477 0 0 0 0 0 0 14.97 15.00 15.00

5781 -0.89 -87.6 2928 2342 3156 3474 433.5 -7.2 237 5782 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2341 3315 3156 3475 0 0 0 0 0 0 15.03 15.05 15.05

6081 -0.89 -87.6 2928 2342 3155 3472 453.6 -6.6 247 6082 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2342 3313 3155 3472 0 0 0 0 0 0 15.03 15.05 15.04

6380 -0.89 -87.6 2928 2342 3153 3470 472.5 -6.1 257 6382 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2342 3311 3153 3470 0 0 0 0 0 0 15.03 15.04 15.04

6680 -0.89 -87.6 2928 2342 3152 3468 491.3 -6.3 267 6682 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2342 3310 3152 3468 0 0 0 0 0 0 15.03 15.04 15.04

6980 -0.89 -87.6 2928 2342 3151 3466 511.0 -6.6 277 6987 0.00 2.60 0.00 0.000 260 0.000 0.112 2928 3754 3308 3151 3466 0 0 0 0 0 0 14.96 14.04 14.99

7089 -0.89 -87.6 2928 3754 3151 3465 518.8 -7.0 299 7093 0.00 2.53 0.00 0.000 1030 0.000 0.093 2928 2355 3308 3151 3465 0 0 0 0 0 0 14.33 14.13 14.40

7401 -0.89 -87.6 2928 2355 3150 3463 540.0 -6.9 311 7402 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3306 3149 3464 0 0 0 0 0 0 15.02 15.04 15.03

7701 -0.89 -87.6 2928 2355 3149 3462 560.4 -6.8 321 7702 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3306 3150 3462 0 0 0 0 0 0 15.02 15.04 15.04

8001 -0.89 -87.6 2928 2355 3148 3461 580.0 -6.3 331 8002 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3304 3148 3461 0 0 0 0 0 0 15.02 15.04 15.04

8301 -0.89 -87.6 2928 2355 3148 3461 597.8 -5.7 341 8302 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3304 3147 3461 0 0 0 0 0 0 15.02 15.04 15.04

8601 -0.89 -87.6 2928 2355 3148 3459 613.9 -5.4 351 8602 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2354 3303 3148 3459 0 0 0 0 0 0 14.96 14.98 14.97

8901 -0.89 -87.6 2928 2354 3146 3459 629.7 -5.4 361 8902 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3302 3146 3458 0 0 0 0 0 0 15.02 15.03 15.03

9201 -0.89 -87.6 2928 2355 3146 3458 646.9 -5.9 371 9202 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3301 3146 3457 0 0 0 0 0 0 14.95 14.97 14.97

9501 -0.89 -87.6 2928 2355 3146 3456 665.7 -6.5 381 9502 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3300 3145 3456 0 0 0 0 0 0 14.95 14.97 14.97

9801 -0.89 -87.6 2928 2355 3144 3455 686.0 -6.8 391 9802 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3300 3144 3456 0 0 0 0 0 0 14.95 14.97 14.97

10101 -0.89 -87.6 2928 2355 3144 3455 706.7 -6.9 401 10102 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3299 3143 3455 0 0 0 0 0 0 14.95 14.97 14.96

10401 -0.89 -87.6 2928 2355 3143 3454 727.3 -6.7 411 10402 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3298 3143 3454 0 0 0 0 0 0 14.95 14.97 14.96

10701 -0.89 -87.6 2928 2355 3143 3453 747.0 -6.6 421 10702 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3298 3143 3453 0 0 0 0 0 0 15.01 15.03 15.03

11001 -0.89 -87.6 2928 2355 3143 3453 767.3 -6.8 431 11002 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3298 3143 3453 0 0 0 0 0 0 14.95 14.96 14.96

11301 -0.89 -87.6 2928 2355 3142 3453 787.1 -6.7 441 11302 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3297 3142 3453 0 0 0 0 0 0 14.94 14.96 14.95

11602 -0.89 -87.6 2928 2355 3142 3451 805.3 -6.1 451 11603 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2354 3296 3142 3451 0 0 0 0 0 0 14.95 14.97 14.97

11900 -0.89 -87.6 2928 2354 3141 3450 823.0 -5.8 461 11902 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3296 3142 3450 0 0 0 0 0 0 14.94 14.95 14.95

12201 -0.89 -87.6 2928 2354 3141 3449 840.5 -5.9 471 12202 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3295 3141 3449 0 0 0 0 0 0 14.93 14.95 14.95

12500 -0.89 -87.6 2928 2354 3141 3449 860.3 -6.8 481 12502 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3295 3141 3449 0 0 0 0 0 0 14.93 14.95 14.95

12801 -0.89 -87.6 2928 2354 3140 3449 882.1 -7.5 491 12802 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2354 3294 3140 3449 0 0 0 0 0 0 14.94 14.95 14.95

13101 -0.89 -87.6 2928 2354 3140 3448 904.7 -7.6 501 13102 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3294 3140 3448 0 0 0 0 0 0 14.93 14.95 14.95

13401 -0.89 -87.6 2928 2354 3140 3447 927.9 -7.6 511 13402 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2355 3293 3140 3447 0 0 0 0 0 0 14.93 14.95 14.95

13701 -0.89 -87.6 2928 2354 3140 3446 950.0 -7.1 521 13702 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2354 3293 3140 3446 0 0 0 0 0 0 14.92 14.95 14.95

14001 -0.89 -87.6 2928 2354 3140 3446 970.6 -6.5 531 14002 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2354 3293 3140 3446 0 0 0 0 0 0 14.92 14.95 14.94

14301 -0.89 -87.6 2928 2353 3139 3445 988.5 -5.8 541 14302 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2354 3292 3139 3445 0 0 0 0 0 0 14.92 14.95 14.95

14328 end dive: TARGET_DEPTH_EXCEEDED

state 14328 begin apogee

14334 -0.19 0.0 2928 2354 3139 3445 990.1 -5.6 542 14420 0.77 0.00 78.57 2.108 10246 0.204 0.000 3155 2354 2964 2836 3092 0 0 0 0 0 0 13.69 13.95 12.75

14421 end apogee: CONTROL_FINISHED_OK

state 14421 begin loiter

14721 -0.19 -1.7 3155 2354 2831 3088 992.5 0.1 555 14722 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2355 2959 2831 3088 0 0 0 0 0 0 14.78 14.80 14.79

15021 -0.19 -4.2 3155 2354 2829 3088 991.9 0.2 565 15022 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2354 2958 2828 3088 0 0 0 0 0 0 14.85 14.88 14.88

15321 -0.19 -0.0 3154 2354 2828 3087 992.2 -0.3 575 15322 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2354 2957 2828 3087 0 0 0 0 0 0 14.90 14.91 14.91

15621 -0.16 11.6 3155 2355 2827 3087 994.1 -0.8 585 15634 0.00 0.00 11.40 1.947 8198 0.000 0.000 3156 2354 2918 2786 3051 0 0 0 0 0 0 14.91 14.36 13.21

15921 -0.17 7.4 3155 2355 2777 3050 993.4 0.3 595 15922 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2354 2914 2778 3050 0 0 0 0 0 0 14.88 14.90 14.90

16221 -0.17 8.9 3155 2354 2777 3050 993.5 -0.1 605 16225 0.00 2.65 0.00 0.000 260 0.000 0.118 3156 3757 2913 2777 3050 0 0 0 0 0 0 14.90 14.13 14.92

16237 -0.14 20.6 3155 3757 2777 3050 993.7 -0.8 608 16253 0.00 2.50 10.20 1.926 9222 0.000 0.076 3156 2330 2879 2746 3013 0 0 0 0 0 0 14.47 14.33 13.22

16553 -0.15 16.9 3155 2330 2744 3010 992.8 0.2 621 16554 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2330 2877 2744 3010 0 0 0 0 0 0 14.88 14.90 14.90

16853 -0.18 3.4 3155 2330 2744 3009 990.7 0.9 631 16854 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2876 2743 3009 0 0 0 0 0 0 14.90 14.92 14.92

17153 -0.18 3.4 3155 2330 2743 3008 986.5 1.6 641 17154 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2875 2743 3008 0 0 0 0 0 0 14.97 15.00 14.99

17453 -0.18 3.4 3155 2330 2743 3008 979.8 2.5 651 17454 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2875 2743 3008 0 0 0 0 0 0 14.92 14.94 14.94

17753 -0.18 3.4 3155 2330 2743 3008 971.5 2.9 661 17754 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2875 2742 3008 0 0 0 0 0 0 14.92 14.95 14.95

18053 -0.18 3.4 3155 2330 2741 3008 962.4 3.0 671 18054 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2331 2875 2742 3008 0 0 0 0 0 0 14.92 14.95 14.95

18353 -0.18 3.4 3155 2330 2741 3008 954.1 2.6 681 18354 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2874 2741 3008 0 0 0 0 0 0 14.93 14.95 14.95

18653 -0.18 3.4 3155 2330 2741 3006 947.1 2.2 691 18654 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2873 2741 3006 0 0 0 0 0 0 14.93 14.95 14.95

18953 -0.18 3.4 3155 2331 2741 3006 940.8 2.1 701 18954 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2873 2741 3006 0 0 0 0 0 0 15.00 15.02 15.02

19253 -0.18 3.4 3155 2330 2741 3006 934.1 2.2 711 19254 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2330 2873 2741 3006 0 0 0 0 0 0 15.00 15.02 15.02

19553 -0.18 3.4 3155 2330 2741 3005 927.1 2.4 721 19554 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2330 2873 2741 3005 0 0 0 0 0 0 14.92 14.95 14.95

19853 -0.18 3.4 3155 2330 2741 3005 920.4 2.2 731 19854 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2873 2741 3005 0 0 0 0 0 0 14.92 14.94 14.95

20153 -0.18 3.4 3156 2331 2741 3004 914.7 1.8 741 20154 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2331 2873 2741 3005 0 0 0 0 0 0 15.00 15.02 15.02

20453 -0.18 3.4 3155 2331 2741 3004 909.9 1.5 751 20454 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2331 2872 2741 3004 0 0 0 0 0 0 15.00 15.02 15.02

20753 -0.18 3.4 3156 2330 2741 3004 905.8 1.5 761 20754 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2873 2741 3005 0 0 0 0 0 0 15.00 15.02 15.02

21053 -0.18 3.4 3155 2331 2741 3004 901.4 1.6 771 21054 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2331 2872 2741 3004 0 0 0 0 0 0 15.00 15.02 15.02

21353 -0.18 3.4 3155 2330 2740 3004 895.7 2.1 781 21354 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2331 2872 2740 3004 0 0 0 0 0 0 15.00 15.02 15.02

21653 -0.18 3.4 3155 2330 2740 3005 888.8 2.3 791 21654 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2331 2872 2740 3004 0 0 0 0 0 0 15.00 15.02 15.02

21953 -0.18 3.4 3155 2331 2740 3004 881.4 2.5 801 21954 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2872 2741 3004 0 0 0 0 0 0 15.00 15.02 15.01

22253 -0.18 3.4 3156 2330 2740 3004 874.9 2.0 811 22254 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2331 2872 2740 3004 0 0 0 0 0 0 15.00 15.02 15.02

22553 -0.18 3.4 3155 2330 2740 3004 870.9 1.1 821 22554 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2871 2739 3004 0 0 0 0 0 0 15.00 15.02 15.02

22853 -0.18 1.6 3155 2330 2740 3004 869.8 0.1 831 22854 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2331 2872 2740 3004 0 0 0 0 0 0 15.00 15.01 15.01

23153 -0.18 1.7 3156 2331 2740 3004 870.1 -0.0 841 23154 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2331 2872 2740 3004 0 0 0 0 0 0 15.00 15.02 15.01

23453 -0.19 -3.6 3155 2330 2740 3004 869.9 0.4 851 23454 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2331 2871 2739 3004 0 0 0 0 0 0 15.00 15.02 15.01

23753 -0.19 -3.6 3155 2331 2740 3004 867.1 1.3 861 23754 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2872 2740 3004 0 0 0 0 0 0 15.00 15.02 15.01

24053 -0.19 -3.6 3155 2330 2740 3003 862.1 1.8 871 24054 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2871 2740 3003 0 0 0 0 0 0 15.00 15.01 15.01

24353 -0.19 -3.6 3155 2330 2740 3003 855.4 2.3 881 24354 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2331 2872 2740 3004 0 0 0 0 0 0 15.00 15.02 15.01

24653 -0.19 -3.6 3155 2330 2740 3004 848.7 2.2 891 24654 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2331 2871 2740 3003 0 0 0 0 0 0 15.00 15.01 15.01

24953 -0.19 -3.6 3155 2330 2740 3003 842.3 1.9 901 24954 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2331 2871 2740 3003 0 0 0 0 0 0 15.00 15.01 15.01

25253 -0.19 -3.6 3155 2331 2740 3003 836.4 1.9 911 25254 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2872 2740 3004 0 0 0 0 0 0 15.00 15.02 15.01

25553 -0.19 -3.6 3155 2331 2739 3004 832.1 1.3 921 25554 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2331 2871 2740 3003 0 0 0 0 0 0 14.99 15.01 15.01

25853 -0.19 -3.6 3156 2330 2740 3003 828.8 1.0 931 25854 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2330 2871 2740 3003 0 0 0 0 0 0 14.99 15.01 15.01

26153 -0.22 -16.8 3155 2330 2740 3003 826.1 0.9 941 26154 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2330 2871 2740 3003 0 0 0 0 0 0 14.99 15.01 15.01

26453 -0.23 -22.9 3155 2331 2740 3004 824.4 0.4 951 26454 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2331 2871 2740 3003 0 0 0 0 0 0 14.99 15.01 15.01

26753 -0.24 -27.4 3155 2331 2740 3003 823.2 0.3 961 26757 0.00 2.62 0.00 0.000 516 0.000 0.116 3155 943 2871 2740 3002 0 0 0 0 0 0 14.99 13.78 15.00

26905 -0.24 -23.8 3155 943 2739 3000 822.7 -0.2 991 26911 0.00 2.50 0.00 0.000 1030 0.000 0.068 3156 2355 2870 2739 3001 0 0 0 0 0 0 14.17 14.03 14.24

27235 -0.24 -23.8 3155 2355 2740 3000 820.4 1.0 1007 27236 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2354 2869 2739 3000 0 0 0 0 0 0 14.98 15.00 15.00

27535 -0.24 -23.8 3155 2354 2739 3000 815.8 1.8 1017 27536 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2354 2869 2739 3000 0 0 0 0 0 0 14.98 15.00 15.00

27835 -0.24 -23.8 3155 2354 2740 3000 809.4 2.1 1027 27836 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2354 2869 2739 3000 0 0 0 0 0 0 14.98 15.00 15.00

28135 -0.24 -23.8 3155 2354 2740 3000 803.4 1.9 1037 28136 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2354 2870 2740 3001 0 0 0 0 0 0 14.98 15.00 15.00

28435 -0.24 -23.8 3155 2354 2740 3001 799.4 1.1 1047 28436 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2354 2869 2739 3000 0 0 0 0 0 0 14.98 15.00 15.00

28736 -0.25 -29.9 3155 2354 2739 3000 798.0 0.4 1057 28737 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2354 2870 2740 3000 0 0 0 0 0 0 14.97 15.00 15.00

29036 -0.25 -28.5 3155 2354 2740 3000 798.0 -0.1 1067 29037 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2354 2869 2739 3000 0 0 0 0 0 0 14.97 15.00 15.00

29336 -0.25 -30.4 3155 2354 2740 3000 797.8 0.1 1077 29337 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2354 2870 2739 3001 0 0 0 0 0 0 14.98 15.00 15.00

29636 -0.26 -36.7 3155 2354 2739 3000 796.7 0.4 1087 29637 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2354 2870 2740 3000 0 0 0 0 0 0 14.98 15.00 15.00

29936 -0.29 -50.2 3155 2354 2740 3000 794.3 0.9 1097 29937 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2354 2870 2740 3001 0 0 0 0 0 0 14.97 15.00 15.00

30235 -0.29 -50.2 3155 2354 2739 3001 790.9 1.2 1107 30236 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2354 2869 2739 3000 0 0 0 0 0 0 14.98 15.00 15.00

30535 -0.29 -50.2 3155 2354 2740 3000 786.2 1.6 1117 30536 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2354 2870 2740 3000 0 0 0 0 0 0 14.97 15.00 15.00

30835 -0.29 -50.2 3155 2354 2739 3000 781.8 1.4 1127 30836 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2354 2870 2739 3001 0 0 0 0 0 0 14.98 15.00 15.00

31135 -0.29 -50.2 3155 2354 2740 3000 778.1 1.2 1137 31136 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2354 2870 2739 3001 0 0 0 0 0 0 14.97 15.00 15.00

31435 -0.29 -50.2 3155 2354 2740 3000 774.8 1.0 1147 31436 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2354 2870 2739 3001 0 0 0 0 0 0 14.98 15.00 15.00

31735 -0.29 -50.2 3155 2354 2740 3000 771.6 1.0 1157 31736 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2354 2870 2740 3000 0 0 0 0 0 0 14.97 15.00 15.00

32035 -0.29 -50.2 3155 2354 2739 3001 768.7 1.0 1167 32036 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2354 2870 2740 3000 0 0 0 0 0 0 14.98 15.00 15.00

32335 -0.29 -50.2 3155 2354 2740 3000 765.6 1.1 1177 32336 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2354 2870 2740 3001 0 0 0 0 0 0 14.97 15.00 15.00

32636 -0.32 -65.1 3155 2354 2740 3000 762.6 1.0 1187 32638 0.15 0.00 0.00 0.000 4102 0.117 0.000 3097 2354 2870 2740 3000 0 0 0 0 0 0 14.49 14.53 14.52

32936 -0.34 -74.8 3096 2354 2739 3000 760.3 0.6 1197 32937 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2354 2869 2739 3000 0 0 0 0 0 0 14.97 15.00 15.00

33236 -0.36 -81.4 3096 2354 2740 3000 758.7 0.4 1207 33237 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2355 2870 2740 3000 0 0 0 0 0 0 14.97 15.00 15.00

33536 -0.37 -87.4 3096 2354 2740 3000 757.3 0.4 1217 33540 0.00 2.65 0.00 0.000 260 0.000 0.114 3096 3756 2870 2740 3000 0 0 0 0 0 0 14.97 13.70 14.99

33556 -0.37 -88.8 3095 3756 2740 3000 757.2 0.1 1221 33561 0.00 2.50 0.00 0.000 1030 0.000 0.066 3096 2343 2870 2740 3000 0 0 0 0 0 0 14.20 14.09 14.26

33869 -0.38 -94.6 3096 2332 2740 3000 756.3 0.4 1233 33870 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2332 2870 2740 3000 0 0 0 0 0 0 14.97 15.00 15.00

34169 -0.41 -106.1 3095 2332 2740 3000 754.5 0.8 1243 34170 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2333 2870 2739 3001 0 0 0 0 0 0 14.97 15.00 15.00

34469 -0.44 -120.8 3096 2333 2740 3000 751.9 1.0 1253 34470 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2332 2870 2740 3000 0 0 0 0 0 0 14.98 15.00 15.00

34769 -0.44 -120.8 3095 2332 2739 3000 748.3 1.2 1263 34770 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2333 2869 2739 3000 0 0 0 0 0 0 14.98 15.00 15.00

35069 -0.44 -120.8 3096 2333 2739 3001 744.5 1.3 1273 35070 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2332 2870 2739 3001 0 0 0 0 0 0 14.98 15.00 15.00

35369 -0.44 -120.8 3096 2333 2740 3000 741.1 1.1 1283 35370 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2332 2870 2740 3000 0 0 0 0 0 0 14.98 15.00 15.00

35669 -0.47 -135.7 3096 2333 2740 3000 738.2 1.0 1293 35670 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2333 2870 2740 3000 0 0 0 0 0 0 14.98 15.00 15.00

35969 -0.47 -135.7 3095 2333 2740 2999 734.9 1.1 1303 35970 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2333 2869 2739 3000 0 0 0 0 0 0 14.98 15.00 15.00

36269 -0.47 -135.7 3096 2333 2740 3001 731.0 1.5 1313 36270 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 2333 2870 2739 3001 0 0 0 0 0 0 14.98 15.00 15.00

36569 -0.47 -135.7 3096 2333 2739 3000 726.1 1.6 1323 36570 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2333 2870 2740 3000 0 0 0 0 0 0 14.98 15.00 15.00

36869 -0.47 -135.7 3095 2333 2740 3000 721.2 1.6 1333 36870 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2333 2870 2740 3000 0 0 0 0 0 0 14.98 15.00 15.00

37169 -0.47 -135.7 3096 2333 2740 3000 717.1 1.4 1343 37170 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 2333 2869 2739 3000 0 0 0 0 0 0 14.98 15.00 15.00

37469 -0.47 -135.7 3096 2333 2740 3000 713.1 1.3 1353 37470 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2333 2870 2739 3001 0 0 0 0 0 0 14.99 15.00 15.00

37769 -0.50 -149.6 3096 2333 2739 3000 709.9 0.9 1363 37771 0.15 0.00 0.00 0.000 4102 0.122 0.000 3029 2333 2870 2740 3000 0 0 0 0 0 0 14.46 14.51 14.50

38069 -0.50 -149.6 3029 2332 2740 3001 706.7 1.0 1373 38073 0.00 2.62 0.00 0.000 516 0.000 0.106 3029 947 2869 2739 3000 0 0 0 0 0 0 14.98 13.74 15.00

38124 -0.50 -149.6 3029 947 2740 2999 706.2 1.0 1384 38131 0.00 2.53 0.00 0.000 1030 0.000 0.068 3029 2359 2869 2740 2999 0 0 0 0 0 0 14.11 13.97 14.18

38431 -0.50 -149.6 3029 2359 2740 3000 703.1 1.1 1395 38432 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2359 2869 2740 2999 0 0 0 0 0 0 14.97 15.00 15.00

38731 -0.50 -149.6 3029 2359 2740 2999 699.9 1.1 1405 38732 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2359 2869 2740 2999 0 0 0 0 0 0 14.97 15.00 15.00

39031 -0.53 -163.6 3029 2359 2739 2999 696.8 0.9 1415 39032 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2359 2869 2740 2999 0 0 0 0 0 0 14.97 15.00 15.00

39331 -0.55 -172.5 3029 2359 2739 2999 694.6 0.6 1425 39332 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2359 2870 2740 3000 0 0 0 0 0 0 14.97 15.00 15.00

39632 -0.54 -170.3 3029 2359 2740 2999 694.1 -0.2 1435 39633 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2359 2869 2740 2999 0 0 0 0 0 0 14.97 15.00 15.00

39931 -0.53 -162.8 3029 2359 2740 2999 695.3 -0.5 1445 39932 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2359 2869 2739 2999 0 0 0 0 0 0 14.98 15.00 15.00

40231 -0.51 -154.4 3029 2359 2740 2999 697.1 -0.6 1455 40232 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2359 2869 2739 2999 0 0 0 0 0 0 14.98 15.00 15.00

40531 -0.51 -153.1 3029 2359 2740 2999 697.9 -0.1 1465 40532 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2359 2869 2739 2999 0 0 0 0 0 0 14.98 15.00 15.00

40831 -0.53 -162.5 3028 2359 2739 2999 696.8 0.6 1475 40832 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2359 2869 2739 2999 0 0 0 0 0 0 14.97 15.00 15.00

41131 -0.53 -162.5 3029 2359 2740 2999 693.4 1.3 1485 41132 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2359 2869 2740 2999 0 0 0 0 0 0 14.98 15.00 15.00

41431 -0.53 -162.5 3029 2359 2740 2999 688.5 1.8 1495 41432 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2359 2869 2740 2999 0 0 0 0 0 0 14.97 15.00 15.00

41731 -0.53 -162.5 3029 2359 2740 2999 683.3 1.7 1505 41732 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2359 2869 2739 2999 0 0 0 0 0 0 14.98 15.00 15.00

42031 -0.53 -162.5 3029 2359 2740 3000 679.3 1.2 1515 42037 0.00 2.62 0.00 0.000 260 0.000 0.112 3029 3754 2869 2739 2999 0 0 0 0 0 0 14.98 13.66 15.00

42265 -0.53 -162.6 3029 3754 2740 3000 677.8 0.0 1562 42271 0.00 2.50 0.00 0.000 1030 0.000 0.064 3029 2334 2869 2739 2999 0 0 0 0 0 0 14.16 14.04 14.21

42571 -0.53 -163.9 3029 2334 2740 2999 677.3 0.1 1573 42572 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2334 2870 2740 3000 0 0 0 0 0 0 14.97 14.99 14.99

42871 -0.53 -164.7 3029 2334 2740 3000 677.2 0.0 1583 42872 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2334 2869 2740 2999 0 0 0 0 0 0 14.97 15.00 15.00

43171 -0.55 -172.4 3029 2334 2740 2999 676.3 0.5 1593 43172 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2334 2869 2739 2999 0 0 0 0 0 0 14.97 15.00 15.00

43229 end loiter: LOITER_COMPLETE

state 43229 begin climb

43231 0.89 87.6 3028 2334 2740 2999 676.0 0.0 1595 43304 1.58 0.00 63.35 1.900 10246 0.177 0.000 3504 2334 2609 2500 2718 0 0 0 0 1 0 13.64 13.96 12.81

43591 0.94 87.6 3503 2334 2497 2718 658.7 5.5 1607 43592 0.00 0.00 0.00 0.000 6 0.000 0.000 3504 2334 2607 2497 2718 0 0 0 0 0 0 14.78 14.79 14.79

43891 1.01 87.6 3502 2334 2496 2718 642.1 5.4 1617 43893 0.12 0.00 0.00 0.000 2054 0.134 0.000 3556 2335 2606 2495 2718 0 0 0 0 0 0 14.45 14.52 14.50

44191 1.05 87.6 3555 2334 2496 2718 624.7 5.7 1627 44192 0.00 0.00 0.00 0.000 6 0.000 0.000 3555 2335 2607 2496 2718 0 0 0 0 0 0 14.90 14.92 14.92

44491 1.14 87.6 3555 2334 2495 2718 609.0 5.1 1637 44492 0.00 0.00 0.00 0.000 6 0.000 0.000 3556 2334 2606 2495 2718 0 0 0 0 0 0 14.88 14.90 14.90

44791 1.27 87.6 3555 2334 2495 2718 594.9 4.5 1647 44793 0.20 0.00 0.00 0.000 2054 0.107 0.000 3629 2335 2606 2495 2718 0 0 0 0 0 0 14.42 14.53 14.50

45091 1.33 87.6 3628 2334 2495 2718 578.6 5.4 1657 45092 0.00 0.00 0.00 0.000 6 0.000 0.000 3628 2335 2606 2495 2718 0 0 0 0 0 0 14.96 14.98 14.98

45391 1.38 87.6 3628 2334 2495 2718 562.0 5.6 1667 45393 0.10 0.00 0.00 0.000 2054 0.162 0.000 3667 2334 2606 2495 2718 0 0 0 0 0 0 14.51 14.57 14.54

45691 1.38 87.6 3667 2334 2495 2718 542.4 6.8 1677 45692 0.00 0.00 0.00 0.000 6 0.000 0.000 3667 2334 2606 2495 2718 0 0 0 0 0 0 14.97 15.00 15.00

45991 1.38 87.6 3667 2334 2496 2718 521.3 7.2 1687 45992 0.00 0.00 0.00 0.000 6 0.000 0.000 3667 2334 2606 2495 2718 0 0 0 0 0 0 14.90 14.93 14.92

46291 1.38 87.6 3667 2334 2495 2717 498.5 7.7 1697 46292 0.00 0.00 0.00 0.000 6 0.000 0.000 3667 2334 2606 2495 2718 0 0 0 0 0 0 14.91 14.92 14.92

46591 1.38 87.6 3667 2334 2495 2718 475.9 7.4 1707 46592 0.00 0.00 0.00 0.000 6 0.000 0.000 3667 2334 2606 2495 2718 0 0 0 0 0 0 14.91 14.92 14.92

46891 1.38 87.6 3667 2334 2495 2718 455.1 6.7 1717 46892 0.00 0.00 0.00 0.000 6 0.000 0.000 3667 2334 2606 2495 2718 0 0 0 0 0 0 14.98 15.01 15.00

47191 1.38 87.6 3667 2334 2495 2718 436.3 6.1 1727 47192 0.00 0.00 0.00 0.000 6 0.000 0.000 3667 2334 2606 2495 2717 0 0 0 0 0 0 14.99 15.00 15.00

47491 1.47 87.6 3667 2335 2495 2718 420.1 5.1 1737 47492 0.00 0.00 0.00 0.000 6 0.000 0.000 3667 2335 2607 2496 2718 0 0 0 0 0 0 14.98 15.00 15.00

47791 1.61 87.6 3667 2334 2495 2718 407.6 4.3 1747 47793 0.20 0.00 0.00 0.000 2054 0.119 0.000 3738 2334 2606 2495 2717 0 0 0 0 0 0 14.35 14.47 14.43

48091 1.65 87.6 3738 2334 2495 2717 391.6 5.8 1757 48092 0.00 0.00 0.00 0.000 6 0.000 0.000 3738 2334 2606 2495 2717 0 0 0 0 0 0 14.91 14.93 14.93

48391 1.65 87.6 3738 2335 2495 2716 372.8 6.4 1767 48397 0.00 2.62 0.00 0.000 516 0.000 0.126 3741 958 2606 2495 2717 0 0 0 0 0 0 14.90 13.82 14.92

48625 1.65 87.6 3741 958 2495 2715 357.8 6.1 1814 48632 0.00 2.50 0.00 0.000 1030 0.000 0.076 3741 2353 2605 2495 2715 0 0 0 0 0 0 14.23 14.08 14.28

48931 1.69 87.6 3741 2353 2495 2716 339.6 5.7 1825 48932 0.00 0.00 0.00 0.000 6 0.000 0.000 3741 2352 2605 2495 2716 0 0 0 0 0 0 14.90 14.92 14.92

49231 1.78 87.6 3741 2353 2495 2715 323.7 5.2 1835 49233 0.15 0.00 0.00 0.000 2054 0.143 0.000 3793 2353 2605 2495 2715 0 0 0 0 0 0 14.37 14.47 14.44

49531 1.85 87.6 3793 2353 2495 2715 307.4 5.4 1845 49536 0.00 2.60 0.00 0.000 260 0.000 0.108 3793 3761 2605 2495 2715 0 0 0 0 0 0 14.90 13.89 14.92

49738 1.90 87.6 3792 3761 2495 2716 295.4 5.6 1886 49745 0.00 2.55 0.00 0.000 1030 0.000 0.087 3800 2365 2605 2495 2715 0 0 0 0 0 0 14.19 14.04 14.26

50044 1.90 87.6 3800 2365 2496 2715 277.4 6.0 1897 50045 0.00 0.00 0.00 0.000 6 0.000 0.000 3800 2365 2605 2495 2716 0 0 0 0 0 0 14.89 14.91 14.91

50344 1.90 87.6 3800 2365 2495 2715 257.5 7.0 1907 50350 0.00 2.67 0.00 0.000 516 0.000 0.116 3810 933 2605 2496 2715 0 0 0 0 0 0 14.90 13.87 14.91

50578 1.90 87.6 3811 933 2495 2714 241.3 6.9 1954 50585 0.00 2.58 0.00 0.000 1030 0.000 0.077 3813 2355 2605 2495 2715 0 0 0 0 0 0 14.19 14.04 14.25

50884 1.90 87.6 3813 2355 2495 2715 220.4 7.0 1965 50885 0.00 0.00 0.00 0.000 6 0.000 0.000 3813 2355 2604 2495 2714 0 0 0 0 0 0 14.89 14.91 14.90

51184 1.90 87.6 3812 2355 2495 2715 199.6 7.0 1975 51185 0.00 0.00 0.00 0.000 6 0.000 0.000 3813 2355 2605 2495 2715 0 0 0 0 0 0 14.97 15.00 15.00

51484 1.90 87.6 3813 2355 2495 2715 180.1 6.0 1985 51485 0.00 0.00 0.00 0.000 6 0.000 0.000 3813 2355 2605 2495 2715 0 0 0 0 0 0 14.90 14.92 14.92

51784 2.01 87.6 3813 2355 2495 2715 164.4 4.8 1995 51786 0.17 0.00 0.00 0.000 2054 0.125 0.000 3876 2355 2605 2495 2715 0 0 0 0 0 0 14.37 14.47 14.43

52084 2.14 87.6 3876 2355 2495 2715 151.0 4.5 2005 52086 0.00 0.00 0.00 0.000 6 0.000 0.000 3876 2355 2604 2495 2714 0 0 0 0 0 0 14.91 14.93 14.92

52384 2.29 87.6 3876 2355 2495 2715 135.2 4.2 2015 52386 0.22 0.00 0.00 0.000 2054 0.104 0.000 3958 2356 2605 2495 2715 0 0 0 0 0 0 14.39 14.49 14.45

52684 2.43 154.7 3958 2356 2495 2714 127.7 1.9 2025 52747 0.00 0.00 60.45 0.995 10246 0.000 0.000 3958 2356 2334 2270 2399 0 0 0 0 0 0 14.92 14.21 13.48

53044 2.43 154.7 3958 2356 2263 2388 97.9 7.4 2037 53045 0.00 0.00 0.00 0.000 2054 0.000 0.000 3958 2356 2326 2264 2388 0 0 0 0 0 0 14.81 14.82 14.81

53345 2.53 201.2 3958 2356 2262 2387 86.6 3.3 2047 53385 0.00 0.00 38.08 0.939 10246 0.000 0.000 3958 2356 2145 2089 2201 0 0 0 0 0 0 14.92 14.28 13.59

53675 2.56 201.2 3958 2356 2078 2195 65.3 5.8 2058 53677 0.00 0.00 0.00 0.000 2054 0.000 0.000 3958 2357 2136 2078 2195 0 0 0 0 0 0 14.88 14.88 14.88

53913 end climb: NO_VERTICAL_VELOCITY

state 53913 begin surface

ID	528	HD_C	4.38354e-05	ROLL_DEG	40	ALTIM_BOTTOM_PING_RANGE	0
MISSION	3	HEADING	-1	C_ROLL_DIVE	2350	ALTIM_TOP_PING_RANGE	0
DIVE	646	ESCAPE_HEADING	0	C_ROLL_CLIMB	2350	ALTIM_BOTTOM_TURN_MARGIN	12
N_DIVES	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	170	ALTIM_TOP_TURN_MARGIN	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	TGT_DEFAULT_LAT	4212	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LON	-7043	R_PORT_OVSHOOT	17	ALTIM_PING_DELTA	10
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	20	ALTIM_FREQUENCY	13
D_NO_BLEED	50	SM_CC	450	ROLL_AD_RATE	250	ALTIM_PULSE	3
D_BOOST	20	N_FILEKB	8	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
T_BOOST	5	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_VALID	2
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_PITCH	0	COMM_SEQ	0	VBD_MIN	500	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	PROTOCOL	9	VBD_MAX	3959	INT_PRESSURE_YINT	0.85000002
D_CALL	0	N_NOCOMM	2	C_VBD	2967	DEEPGLIDER	0
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.245296	DEVICE1	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE2	-1
T_DIVE	520	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE3	-1
T_MISSION	1000	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00211	DEVICE4	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE5	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	DEVICE6	-1
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_NO_W	120	T_GPS	5	UNCOM_BLEED	50	LOGGERDEVICE1	-1
T_LOITER	28800	N_GPS	100440	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
T_EPIRB	0	T_RSLEEP	1	W_ADJ_DBAND	3	LOGGERDEVICE3	-1
USE_BATHY	-6	STROBE	0	DBDW	0	LOGGERDEVICE4	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	7	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0.5	COMPASS2_DEVICE	-1
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	PHONE_DEVICE	49
T_WATCHDOG	10	PITCH_MIN	200	AH0_24V	350	GPS_DEVICE	32
RELAUNCH	1	PITCH_MAX	3970	AH0_10V	0	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	C_PITCH	3220	MINV_24V	10.5	XPDR_DEVICE	24
MAX_BUOY	90	PITCH_DBAND	0.1	MINV_10V	10.5	SIM_W	0
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_24V	0.60000002	SIM_PITCH	0
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	MAXI_10V	0.80000001	SEABIRD_T_G	0.0043548695
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SEABIRD_T_H	0.0006268858
RHO	1.0275	PITCH_GAIN	27	FG_AHR_24V	0	SEABIRD_T_I	2.3578436e-05
MASS	52309	PITCH_TIMEOUT	16	PHONE_SUPPLY	-2	SEABIRD_T_J	2.4722265e-06
MASS_COMP	0	PITCH_AD_RATE	120	PRESSURE_YINT	-56.708107	SEABIRD_C_G	-10.467909
NAV_MODE	2	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00011645618	SEABIRD_C_H	1.2025218
FERRY_MAX	45	PITCH_ADJ_GAIN	0	AD7714Ch0Gain	128	SEABIRD_C_I	-0.00091677177
KALMAN_USE	2	PITCH_ADJ_DBAND	0	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00016246161
HD_A	0.0026437801	ROLL_MIN	300	TCM_ROLL_OFFSET	0
HD_B	0.018580301	ROLL_MAX	3830	COMPASS_USE	4

GPS1	060617,214004,315.4587,5642.1943,30,0.8,32,-2.3,0.4,14.2,9,9.1	SPEED_LIMITS	0.110,0.112
_CALLS	1	TGT_NAME	DIGURA
_XMS_NAKs	0	TGT_LATLONG	330.000,7230.000
_XMS_TOUTs	0	TGT_RADIUS	10000.000
_SM_DEPTHo	0.68	MHEAD_RNG_PITCHd_Wd	88.1,1752255,-19.0,-6.346,-29.47,1557
_SM_ANGLEo	-69.5	D_GRID	1000
GPS2	060617,214630,315.4575,5642.2017,6,0.8,9,-2.3,0.5,221.4,10,9.2

FREEZE	65.24,29.214,-1.978,0,1,0	_10V_AH	12.45,0.000
SM_CCo	53916,312.50,0.841,0,0,499,605.15	FG_AHR_24Vo	0.000
SM_GC	0.54,10.77,0.00,0.00,0.120,0.000,0.000,200,2356,480,-9.40,0.17,610.05,0,0,0,0,0,0,14.19,14.75,14.34	FG_AHR_10Vo	0.000
IRIDIUM_FIX	314.20,5641.36,060617,072645	MEM	310180
TT8_MAMPS	0.024717,0.111601	DATA_FILE_SIZE	89865,2066
HUMID	51.14	CAP_FILE_SIZE	271703,0
INTERNAL_PRESSURE	9.62963	CFSIZE	2097872896,2008416256
TCM_TEMP	23.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	561	CURRENT	0.054,31.29,1
_24V_AH	12.54,186.136	GPS	070617,125536,316.777,5642.908,35,1.1,39,-2.3,0.5,57.9,7,9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	345	111.95	SBE_CT	846	23	246.51
Roll_motor	56	126	89.15	nil	0	0	0.00
VBD_pump_during_apogee	262	2108	6928.23	nil	0	0	0.00
VBD_pump_during_surface	312	840	3294.63	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	269	173	587.47	nil	0	0	0.00
Transponder_ping	140	420	738.67	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	10	44	6.03
TT8	4557	11	650.21
LPSleep	45749	2	1247.38
TT8_Active	804	11	114.81
TT8_Sampling	3245	31	1280.36
TT8_CF8	457	37	214.62
TT8_Kalman	0	0	0.00
Analog_circuits	2634	15	508.44
GPS_charging	0	0	0.00
Compass	2931	16	601.48
RAFOS	0	0	0.00
Transponder	0	5	0.03