Glider dive log

NASCAR Dec16 * SG528 * Dive index * Mission links * Dive 652 * 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 652 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 21 ALTIM_PING_DELTA 10

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 24 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 2867 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 2867 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 21 VBD_MIN 500

DEVICE6 -1 MISSION 3 R_STBD_OVSHOOT 24 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 652 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 100617,181034,320.0039,5647.2520,28,0.8,30,-2.3,0.5,131.6,9,9.0 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 0.72 MHEAD_RNG_PITCHd_Wd 103.1,1742732,-19.0,-6.346,-29.47,1557

_SM_ANGLEo -69.0 D_GRID 1000

GPS2 100617,181601,319.9489,5647.2949,7,0.9,11,-2.3,0.6,93.9,9,9.4

Post-dive calculations and measurements:

FINISH -0.4,1.021931 _10V_AH 13.08,0.000

SM_CCo 54629,98.00,0.074,0,0,1031,450.12 FG_AHR_24Vo 0.000

SM_GC 0.70,9.75,0.00,98.00,0.066,0.000,0.074,169,2356,1031,-9.41,0.17,450.12,0,0,0,0,0,0,14.40,14.97,14.33 FG_AHR_10Vo 0.000

IRIDIUM_FIX 314.20,5643.17,100617,023416 MEM 310248

TT8_MAMPS 0.024717,0.116844 DATA_FILE_SIZE 56712,1313

HUMID 48.70 CAP_FILE_SIZE 227520,0

INTERNAL_PRESSURE 9.70776 CFSIZE 2097872896,2007728128

TCM_TEMP 26.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 289 CURRENT 0.054,97.50,1

_24V_AH 12.57,187.545 GPS 110617,092959,319.685,5648.567,40,0.8,42,-2.3,0.0,109.1,9,9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 346 107.16 SBE_CT 623 23 182.05

Roll_motor 61 120 92.36 nil 0 0 0.00

VBD_pump_during_apogee 277 2119 7401.61 nil 0 0 0.00

VBD_pump_during_surface 98 74 91.41 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 216 171 466.82 nil 0 0 0.00

Transponder_ping 72 420 381.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 44 7.23

TT8 2900 11 434.74

LPSleep 49029 2 1404.46

TT8_Active 591 11 88.68

TT8_Sampling 2087 31 865.29

TT8_CF8 442 37 218.22

TT8_Kalman 0 0 0.00

Analog_circuits 1914 15 388.13

GPS_charging 0 0 0.00

Compass 1869 16 402.93

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.89 -87.6 168 2352 1039 1004 0.0 0.0 0 101 0.00 0.00 -83.10 0.000 16390 0.000 0.000 167 2353 3225 3082 3369 0 0 0 0 0 0 14.81 12.57 14.71

104 -0.89 -87.6 168 2353 3083 3368 1.6 0.0 1 117 11.40 0.00 0.00 0.000 2054 0.347 0.000 2925 2353 3227 3084 3370 0 0 0 0 0 0 13.97 14.41 14.32

382 -0.89 -87.6 2925 2353 3084 3373 46.8 -13.2 6 383 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2353 3228 3084 3373 0 0 0 0 0 0 14.93 14.95 14.95

679 -0.89 -87.6 2925 2353 3085 3375 78.9 -10.1 11 681 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2353 3229 3084 3375 0 0 0 0 0 0 15.00 15.01 15.01

979 -0.89 -87.6 2925 2353 3084 3377 104.2 -8.3 16 981 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2353 3230 3084 3377 0 0 0 0 0 0 15.02 15.04 15.03

1279 -0.89 -87.6 2925 2353 3085 3379 123.6 -6.6 21 1281 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2353 3232 3085 3379 0 0 0 0 0 0 15.03 15.05 15.05

1581 -0.89 -87.6 2925 2353 3086 3379 144.0 -6.9 26 1582 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2353 3232 3086 3379 0 0 0 0 0 0 15.02 15.04 15.04

1879 -0.89 -87.6 2925 2353 3086 3379 161.9 -5.9 31 1881 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2353 3232 3086 3379 0 0 0 0 0 0 15.04 15.07 15.06

2179 -0.89 -87.6 2925 2353 3086 3379 176.4 -4.5 36 2181 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2353 3232 3086 3379 0 0 0 0 0 0 15.04 15.07 15.07

2479 -0.89 -87.6 2925 2353 3086 3378 190.0 -4.7 41 2481 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2353 3232 3086 3379 0 0 0 0 0 0 15.04 15.07 15.07

2781 -0.89 -87.6 2925 2353 3086 3378 206.6 -5.6 46 2782 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2354 3232 3086 3378 0 0 0 0 0 0 15.03 15.05 15.05

3079 -0.89 -87.6 2925 2353 3086 3375 226.1 -6.5 51 3081 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2353 3230 3086 3375 0 0 0 0 0 0 15.04 15.07 15.06

3379 -0.89 -87.6 2925 2353 3086 3372 245.6 -6.5 56 3381 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2353 3228 3086 3371 0 0 0 0 0 0 15.04 15.07 15.06

3679 -0.89 -87.6 2925 2353 3084 3370 264.2 -6.1 61 3681 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2353 3226 3084 3369 0 0 0 0 0 0 15.04 15.07 15.06

3981 -0.89 -87.6 2925 2353 3082 3368 280.7 -5.5 66 3982 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2353 3225 3082 3368 0 0 0 0 0 0 15.03 15.05 15.05

4279 -0.89 -87.6 2925 2353 3082 3364 298.3 -5.9 71 4286 0.00 2.60 0.00 0.000 516 0.000 0.119 2925 941 3222 3082 3363 0 0 0 0 0 0 15.04 14.15 15.06

4415 -0.89 -87.6 2925 941 3081 3363 307.2 -6.6 98 4421 0.00 2.42 0.00 0.000 1030 0.000 0.076 2926 2346 3221 3080 3363 0 0 0 0 0 0 14.36 14.28 14.39

4760 -0.89 -87.6 2925 2346 3078 3361 328.8 -6.3 112 4761 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2346 3219 3078 3361 0 0 0 0 0 0 15.03 15.05 15.05

5059 -0.89 -87.6 2925 2346 3076 3359 348.2 -6.5 117 5061 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2346 3217 3076 3359 0 0 0 0 0 0 15.04 15.06 15.05

5360 -0.89 -87.6 2925 2346 3076 3356 367.3 -6.4 122 5361 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2346 3216 3076 3356 0 0 0 0 0 0 15.03 15.06 15.05

5661 -0.89 -87.6 2925 2346 3074 3354 385.3 -5.9 127 5667 0.00 2.58 0.00 0.000 516 0.000 0.114 2925 946 3213 3074 3353 0 0 0 0 0 0 15.03 14.04 15.04

5806 -0.89 -87.6 2925 946 3073 3352 394.1 -6.3 156 5812 0.00 2.45 0.00 0.000 1030 0.000 0.073 2926 2357 3212 3073 3352 0 0 0 0 0 0 14.30 14.21 14.35

6141 -0.89 -87.6 2925 2357 3072 3351 413.8 -6.0 168 6142 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3211 3071 3351 0 0 0 0 0 0 15.02 15.04 15.04

6440 -0.89 -87.6 2925 2357 3070 3349 433.4 -6.6 173 6441 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3209 3070 3349 0 0 0 0 0 0 15.03 15.05 15.04

6740 -0.89 -87.6 2925 2357 3069 3347 455.2 -7.3 178 6741 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3208 3069 3347 0 0 0 0 0 0 15.03 15.05 15.04

7040 -0.89 -87.6 2926 2357 3068 3345 476.8 -7.2 183 7041 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3206 3068 3345 0 0 0 0 0 0 15.03 15.05 15.05

7341 -0.89 -87.6 2925 2357 3068 3343 495.9 -6.3 188 7342 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3206 3068 3344 0 0 0 0 0 0 15.02 15.04 15.04

7640 -0.89 -87.6 2926 2357 3067 3343 512.4 -5.4 193 7641 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3205 3067 3343 0 0 0 0 0 0 15.03 15.05 15.04

7940 -0.89 -87.6 2926 2357 3066 3342 528.1 -5.2 198 7941 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3204 3066 3342 0 0 0 0 0 0 15.02 15.04 15.04

8240 -0.89 -87.6 2925 2357 3066 3340 545.9 -6.0 203 8241 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3203 3066 3340 0 0 0 0 0 0 15.03 15.05 15.04

8541 -0.89 -87.6 2925 2357 3063 3340 566.2 -6.9 208 8542 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3201 3063 3340 0 0 0 0 0 0 15.02 15.04 15.04

8840 -0.89 -87.6 2925 2357 3063 3338 588.2 -7.3 213 8841 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2356 3200 3063 3338 0 0 0 0 0 0 15.03 15.04 15.04

9140 -0.89 -87.6 2925 2357 3063 3337 610.7 -7.5 218 9141 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3200 3063 3337 0 0 0 0 0 0 15.02 15.04 15.04

9440 -0.89 -87.6 2926 2357 3062 3336 633.4 -7.6 223 9441 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3199 3062 3336 0 0 0 0 0 0 14.95 14.97 14.97

9741 -0.89 -87.6 2925 2357 3061 3336 655.8 -7.4 228 9742 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3198 3061 3336 0 0 0 0 0 0 14.96 14.98 14.98

10040 -0.89 -87.6 2925 2357 3062 3335 677.3 -7.2 233 10041 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3197 3061 3334 0 0 0 0 0 0 14.95 14.97 14.97

10340 -0.89 -87.6 2925 2357 3061 3334 696.8 -6.5 238 10341 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3197 3061 3334 0 0 0 0 0 0 14.95 14.97 14.97

10640 -0.89 -87.6 2925 2357 3059 3334 714.6 -5.9 243 10641 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3196 3059 3334 0 0 0 0 0 0 14.95 14.97 14.97

10941 -0.89 -87.6 2925 2357 3059 3334 730.2 -5.2 248 10942 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3196 3059 3334 0 0 0 0 0 0 14.96 14.97 14.97

11240 -0.89 -87.6 2925 2357 3059 3333 744.2 -4.6 253 11241 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2357 3196 3059 3333 0 0 0 0 0 0 14.95 14.97 14.96

11540 -0.89 -87.6 2925 2357 3058 3332 758.4 -4.8 258 11541 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3195 3058 3332 0 0 0 0 0 0 14.95 14.97 14.96

11840 -0.89 -87.6 2925 2357 3058 3332 773.9 -5.2 263 11841 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2357 3195 3058 3332 0 0 0 0 0 0 14.94 14.96 14.96

12141 -0.89 -87.6 2925 2357 3058 3331 791.2 -5.7 268 12142 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3194 3057 3331 0 0 0 0 0 0 14.95 14.97 14.97

12440 -0.89 -87.6 2926 2357 3057 3330 808.7 -5.8 273 12441 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3193 3056 3330 0 0 0 0 0 0 14.94 14.96 14.95

12740 -0.89 -87.6 2926 2357 3057 3328 824.8 -5.3 278 12741 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3193 3057 3329 0 0 0 0 0 0 14.94 14.96 14.96

13040 -0.89 -87.6 2925 2357 3057 3328 838.5 -4.5 283 13041 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3192 3057 3328 0 0 0 0 0 0 14.94 14.95 14.95

13341 -0.89 -87.6 2925 2357 3057 3328 850.6 -4.1 288 13342 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3192 3057 3328 0 0 0 0 0 0 14.95 14.96 14.96

13640 -0.89 -87.6 2925 2357 3056 3328 863.5 -4.4 293 13641 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3192 3056 3328 0 0 0 0 0 0 15.01 15.04 15.03

13940 -0.89 -87.6 2925 2357 3056 3327 879.3 -5.4 298 13941 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3191 3056 3327 0 0 0 0 0 0 14.93 14.95 14.95

14240 -0.89 -87.6 2925 2357 3056 3327 899.0 -6.7 303 14241 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3191 3056 3327 0 0 0 0 0 0 14.93 14.95 14.95

14541 -0.89 -87.6 2925 2357 3056 3326 922.2 -7.8 308 14542 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3191 3056 3327 0 0 0 0 0 0 14.94 14.96 14.96

14840 -0.89 -87.6 2925 2357 3056 3326 946.3 -7.9 313 14841 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2357 3191 3056 3326 0 0 0 0 0 0 14.92 14.95 14.94

15140 -0.89 -87.6 2926 2357 3056 3326 968.0 -7.2 318 15141 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2357 3191 3056 3326 0 0 0 0 0 0 15.01 15.02 15.02

15440 -0.89 -87.6 2925 2357 3055 3326 986.0 -5.8 323 15441 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2357 3190 3055 3326 0 0 0 0 0 0 14.92 14.95 14.94

15557 end dive: TARGET_DEPTH_EXCEEDED

state 15557 begin apogee

15563 -0.19 0.0 2926 2357 3055 3326 992.0 -5.3 325 15645 0.77 0.00 78.20 2.120 10246 0.206 0.000 3150 2357 2866 2745 2987 0 0 0 0 0 0 13.61 13.93 12.72

15646 end apogee: CONTROL_FINISHED_OK

state 15646 begin loiter

15921 -0.19 0.0 3150 2357 2737 2982 984.3 3.6 331 15927 0.00 2.65 0.00 0.000 772 0.000 0.120 3151 936 2858 2737 2980 0 0 0 0 0 0 14.80 14.07 14.81

16153 -0.19 0.0 3151 936 2734 2979 975.4 3.6 378 16160 0.00 2.50 0.00 0.000 1030 0.000 0.071 3150 2361 2857 2734 2980 0 0 0 0 0 0 14.41 14.28 14.46

16461 -0.19 0.0 3150 2361 2735 2979 964.6 3.5 384 16462 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2361 2857 2735 2979 0 0 0 0 0 0 14.88 14.90 14.90

16760 -0.19 0.0 3150 2361 2734 2979 956.3 2.7 389 16761 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2360 2856 2733 2979 0 0 0 0 0 0 14.96 14.98 14.98

17060 -0.19 0.0 3150 2361 2733 2979 950.4 1.9 394 17061 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2361 2856 2733 2979 0 0 0 0 0 0 14.92 14.94 14.94

17360 -0.19 0.0 3150 2361 2733 2979 946.9 1.2 399 17361 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2360 2855 2732 2979 0 0 0 0 0 0 14.99 15.01 15.01

17661 -0.19 0.0 3150 2360 2731 2979 943.4 1.2 404 17662 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2361 2855 2732 2979 0 0 0 0 0 0 14.99 15.01 15.01

17960 -0.19 0.0 3150 2360 2732 2979 939.0 1.5 409 17961 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2361 2855 2732 2979 0 0 0 0 0 0 15.00 15.02 15.02

18260 -0.19 0.0 3150 2360 2731 2979 933.9 1.8 414 18261 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2361 2855 2731 2979 0 0 0 0 0 0 15.00 15.02 15.02

18560 -0.19 0.0 3150 2361 2731 2977 927.4 2.2 419 18561 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2360 2854 2731 2977 0 0 0 0 0 0 15.00 15.02 15.02

18861 -0.19 0.0 3150 2360 2731 2977 920.4 2.3 424 18862 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2360 2854 2731 2977 0 0 0 0 0 0 15.00 15.02 15.02

19160 -0.19 0.0 3150 2360 2731 2977 914.4 2.0 429 19161 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2361 2854 2731 2977 0 0 0 0 0 0 15.00 15.02 15.02

19460 -0.19 0.0 3150 2361 2731 2977 908.7 1.9 434 19461 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2361 2854 2731 2977 0 0 0 0 0 0 15.00 15.02 15.02

19760 -0.19 0.0 3150 2360 2731 2975 902.9 1.9 439 19761 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2361 2853 2731 2975 0 0 0 0 0 0 15.00 15.02 15.02

20061 -0.19 0.0 3149 2359 2731 2975 897.6 1.8 444 20062 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2361 2853 2731 2976 0 0 0 0 0 0 15.00 15.02 15.02

20360 -0.19 0.0 3150 2361 2731 2975 892.4 1.7 449 20361 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2361 2853 2731 2975 0 0 0 0 0 0 15.00 15.02 15.02

20660 -0.19 0.0 3150 2360 2730 2975 888.2 1.4 454 20661 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2361 2852 2730 2975 0 0 0 0 0 0 15.00 15.02 15.02

20960 -0.19 0.0 3150 2360 2730 2975 884.1 1.4 459 20961 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2361 2853 2730 2976 0 0 0 0 0 0 15.00 15.02 15.02

21261 -0.19 0.0 3150 2360 2730 2976 879.8 1.4 464 21262 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2361 2853 2730 2976 0 0 0 0 0 0 15.00 15.01 15.01

21560 -0.19 0.0 3150 2360 2730 2975 875.0 1.7 469 21561 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2361 2853 2730 2976 0 0 0 0 0 0 15.00 15.02 15.02

21860 -0.19 0.0 3150 2361 2730 2976 869.5 1.9 474 21861 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2360 2853 2730 2976 0 0 0 0 0 0 15.00 15.02 15.02

22160 -0.19 0.0 3150 2360 2730 2975 862.8 2.3 479 22161 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2361 2852 2730 2975 0 0 0 0 0 0 15.00 15.02 15.02

22461 -0.19 0.0 3150 2361 2730 2975 855.3 2.5 484 22467 0.00 2.67 0.00 0.000 516 0.000 0.115 3151 947 2850 2729 2972 0 0 0 0 0 0 14.99 13.72 15.01

22693 -0.19 0.0 3151 948 2729 2971 849.3 2.6 531 22700 0.00 2.50 0.00 0.000 1030 0.000 0.070 3150 2355 2850 2729 2972 0 0 0 0 0 0 14.20 14.06 14.27

23001 -0.19 0.0 3150 2354 2730 2971 841.4 2.6 537 23003 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2354 2851 2730 2972 0 0 0 0 0 0 14.97 15.00 15.00

23300 -0.19 0.0 3150 2354 2729 2971 834.6 2.2 542 23301 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2354 2851 2730 2972 0 0 0 0 0 0 14.99 15.00 15.00

23600 -0.19 0.0 3150 2355 2729 2972 828.8 1.9 547 23601 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2354 2851 2730 2972 0 0 0 0 0 0 15.00 15.02 15.02

23900 -0.19 0.0 3150 2354 2729 2972 822.9 1.9 552 23901 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2354 2850 2730 2971 0 0 0 0 0 0 15.00 15.02 15.01

24201 -0.19 0.0 3150 2354 2729 2972 817.7 1.7 557 24202 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2354 2850 2729 2972 0 0 0 0 0 0 14.98 15.00 15.00

24500 -0.19 0.0 3150 2354 2729 2971 813.6 1.3 562 24501 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2354 2850 2729 2972 0 0 0 0 0 0 14.99 15.01 15.01

24800 -0.21 -12.4 3150 2354 2729 2972 811.0 0.8 567 24802 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2354 2850 2729 2972 0 0 0 0 0 0 14.99 15.02 15.01

25100 -0.24 -25.8 3150 2354 2730 2972 808.2 0.9 572 25102 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2354 2850 2729 2972 0 0 0 0 0 0 14.99 15.01 15.01

25401 -0.24 -25.8 3150 2354 2729 2972 804.5 1.3 577 25403 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2354 2850 2729 2972 0 0 0 0 0 0 14.98 15.00 15.00

25700 -0.24 -25.8 3150 2354 2729 2972 799.8 1.6 582 25702 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2355 2851 2730 2972 0 0 0 0 0 0 14.99 15.01 15.01

26000 -0.24 -25.8 3150 2354 2730 2972 793.9 2.0 587 26001 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2354 2850 2729 2972 0 0 0 0 0 0 14.99 15.02 15.01

26300 -0.24 -25.8 3150 2354 2729 2972 787.8 2.0 592 26301 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2354 2851 2730 2972 0 0 0 0 0 0 15.00 15.01 15.01

26601 -0.24 -25.8 3150 2354 2729 2972 782.1 1.9 597 26602 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2354 2850 2729 2972 0 0 0 0 0 0 14.98 15.00 15.00

26900 -0.24 -25.8 3150 2354 2730 2972 777.5 1.5 602 26902 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2354 2850 2730 2971 0 0 0 0 0 0 14.99 15.01 15.01

27200 -0.24 -25.8 3150 2354 2729 2972 773.9 1.1 607 27201 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2354 2850 2729 2972 0 0 0 0 0 0 14.99 15.01 15.01

27500 -0.24 -25.8 3150 2354 2729 2972 770.2 1.2 612 27501 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2354 2850 2729 2972 0 0 0 0 0 0 14.99 15.01 15.01

27801 -0.24 -25.8 3150 2354 2729 2972 766.4 1.3 617 27803 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2354 2850 2729 2972 0 0 0 0 0 0 14.97 15.00 15.00

28100 -0.24 -25.8 3150 2354 2729 2972 762.9 1.1 622 28102 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2354 2850 2729 2972 0 0 0 0 0 0 14.99 15.01 15.01

28400 -0.24 -25.8 3150 2354 2730 2971 759.1 1.3 627 28406 0.00 2.60 0.00 0.000 260 0.000 0.105 3150 3756 2850 2729 2972 0 0 0 0 0 0 15.00 13.76 15.01

28438 -0.24 -25.8 3150 3756 2730 2972 758.6 1.7 635 28443 0.00 2.47 0.00 0.000 1030 0.000 0.065 3152 2351 2851 2730 2972 0 0 0 0 0 0 14.21 14.11 14.28

28755 -0.24 -25.8 3151 2351 2730 2972 754.0 1.5 643 28757 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2351 2850 2729 2972 0 0 0 0 0 0 14.98 15.00 15.00

29055 -0.24 -25.8 3151 2351 2730 2972 749.0 1.7 648 29057 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2351 2850 2729 2972 0 0 0 0 0 0 14.98 15.00 15.00

29355 -0.24 -25.8 3151 2351 2729 2971 745.0 1.4 653 29360 0.00 2.65 0.00 0.000 260 0.000 0.100 3148 3762 2850 2729 2972 0 0 0 0 0 0 14.98 13.74 15.00

29521 -0.24 -25.8 3148 3762 2729 2971 742.9 1.3 686 29526 0.00 2.50 0.00 0.000 1030 0.000 0.065 3151 2350 2850 2729 2972 0 0 0 0 0 0 14.18 14.07 14.23

29833 -0.24 -25.8 3151 2350 2729 2972 739.6 1.1 693 29834 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2350 2850 2729 2972 0 0 0 0 0 0 14.98 15.00 15.00

30134 -0.27 -38.7 3151 2350 2729 2972 737.0 0.9 698 30135 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2350 2850 2729 2972 0 0 0 0 0 0 14.97 15.00 15.00

30434 -0.29 -50.7 3151 2350 2729 2972 734.6 0.8 703 30435 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2350 2850 2729 2972 0 0 0 0 0 0 14.98 15.00 15.00

30733 -0.29 -50.7 3151 2350 2730 2972 731.3 1.2 708 30740 0.00 2.65 0.00 0.000 516 0.000 0.119 3152 946 2850 2729 2972 0 0 0 0 0 0 14.98 13.66 15.00

30966 -0.29 -50.7 3151 946 2729 2972 727.3 2.2 755 30973 0.00 2.53 0.00 0.000 1030 0.000 0.069 3151 2354 2850 2729 2972 0 0 0 0 0 0 14.10 13.96 14.18

31273 -0.29 -50.7 3150 2354 2730 2972 720.1 2.5 761 31274 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2354 2851 2730 2972 0 0 0 0 0 0 14.97 15.00 15.00

31575 -0.29 -50.7 3151 2354 2729 2971 711.9 2.8 766 31576 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2354 2850 2729 2972 0 0 0 0 0 0 14.97 14.99 14.98

31873 -0.29 -50.7 3151 2354 2729 2972 704.1 2.6 771 31874 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2354 2850 2729 2971 0 0 0 0 0 0 14.98 15.00 15.00

32173 -0.29 -50.7 3150 2354 2729 2971 697.2 2.2 776 32175 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2354 2850 2730 2971 0 0 0 0 0 0 14.98 15.00 15.00

32473 -0.29 -50.7 3151 2354 2729 2971 691.8 1.8 781 32474 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2354 2850 2729 2971 0 0 0 0 0 0 14.99 15.00 15.00

32775 -0.29 -50.7 3151 2354 2729 2972 688.4 1.1 786 32776 0.00 0.00 0.00 0.000 6 0.000 0.000 3151 2354 2850 2730 2971 0 0 0 0 0 0 14.97 15.00 14.99

33074 -0.32 -63.5 3151 2354 2729 2971 685.7 0.8 791 33076 0.12 0.00 0.00 0.000 4102 0.132 0.000 3101 2354 2850 2729 2972 0 0 0 0 0 0 14.53 14.55 14.54

33374 -0.34 -72.0 3101 2354 2729 2971 684.0 0.6 796 33375 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2971 0 0 0 0 0 0 14.98 15.00 15.00

33674 -0.35 -77.3 3101 2354 2730 2972 682.8 0.4 801 33675 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2971 0 0 0 0 0 0 14.98 15.00 15.00

33975 -0.35 -78.0 3101 2354 2729 2971 682.6 0.0 806 33976 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2972 0 0 0 0 0 0 14.97 14.99 14.99

34274 -0.35 -80.2 3101 2354 2729 2972 682.3 0.1 811 34275 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2972 0 0 0 0 0 0 14.98 15.00 15.00

34574 -0.36 -84.9 3101 2354 2729 2971 681.4 0.3 816 34575 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2353 2850 2729 2971 0 0 0 0 0 0 14.99 15.00 15.00

34874 -0.38 -91.8 3101 2354 2730 2972 680.0 0.5 821 34875 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2971 0 0 0 0 0 0 14.99 15.00 15.01

35175 -0.41 -104.3 3101 2354 2729 2971 677.7 0.8 826 35176 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2972 0 0 0 0 0 0 14.97 14.99 14.99

35474 -0.44 -118.7 3101 2354 2729 2971 675.0 0.9 831 35475 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2972 0 0 0 0 0 0 14.98 15.00 15.00

35773 -0.44 -118.7 3101 2354 2729 2971 671.6 1.1 836 35774 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2971 0 0 0 0 0 0 14.99 15.01 15.01

36073 -0.44 -118.7 3101 2354 2730 2971 668.3 1.1 841 36074 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2730 2971 0 0 0 0 0 0 14.99 15.00 15.00

36375 -0.44 -118.7 3101 2354 2730 2971 664.7 1.2 846 36376 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2353 2850 2729 2972 0 0 0 0 0 0 14.97 15.00 14.99

36673 -0.44 -118.7 3101 2354 2729 2971 660.4 1.4 851 36674 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2730 2971 0 0 0 0 0 0 14.99 15.01 15.00

36973 -0.44 -118.7 3100 2354 2730 2972 654.6 2.0 856 36974 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2972 0 0 0 0 0 0 14.99 15.01 15.00

37273 -0.44 -118.7 3100 2354 2730 2971 647.5 2.4 861 37274 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2851 2730 2972 0 0 0 0 0 0 14.99 15.01 15.01

37575 -0.44 -118.7 3101 2354 2729 2971 640.4 2.3 866 37576 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2972 0 0 0 0 0 0 14.97 15.00 15.00

37873 -0.44 -118.7 3101 2354 2730 2971 635.0 1.7 871 37874 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2972 0 0 0 0 0 0 14.99 15.01 15.00

38174 -0.46 -130.5 3101 2354 2730 2972 632.4 0.8 876 38175 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2851 2730 2972 0 0 0 0 0 0 14.98 15.00 15.00

38474 -0.46 -130.2 3101 2354 2730 2972 632.3 -0.0 881 38475 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2971 0 0 0 0 0 0 14.99 15.00 15.00

38775 -0.45 -126.7 3100 2354 2730 2972 633.0 -0.2 886 38776 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2972 0 0 0 0 0 0 14.97 15.00 14.99

39074 -0.45 -124.9 3101 2354 2729 2971 633.5 -0.1 891 39075 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2972 0 0 0 0 0 0 14.98 15.00 15.00

39374 -0.45 -125.7 3101 2354 2729 2971 633.4 0.1 896 39375 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2851 2730 2972 0 0 0 0 0 0 14.99 15.00 15.00

39674 -0.45 -127.4 3101 2354 2730 2971 632.9 0.1 901 39675 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2730 2971 0 0 0 0 0 0 14.99 15.01 15.00

39975 -0.46 -128.9 3101 2353 2730 2972 632.5 0.1 906 39976 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2354 2850 2729 2972 0 0 0 0 0 0 14.97 14.99 15.00

40274 -0.46 -129.0 3101 2354 2730 2972 632.4 0.0 911 40279 0.00 2.70 0.00 0.000 516 0.000 0.112 3101 946 2850 2730 2971 0 0 0 0 0 0 14.99 13.61 15.00

40507 -0.46 -128.0 3101 946 2730 2971 632.3 -0.1 958 40514 0.00 2.53 0.00 0.000 1030 0.000 0.068 3101 2351 2851 2730 2972 0 0 0 0 0 0 14.08 13.94 14.15

40815 -0.46 -131.1 3100 2351 2729 2971 631.5 0.2 964 40816 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2351 2850 2729 2972 0 0 0 0 0 0 14.96 14.98 14.97

41114 -0.47 -137.2 3100 2351 2730 2971 630.4 0.4 969 41115 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2351 2850 2729 2972 0 0 0 0 0 0 14.98 15.00 15.00

41414 -0.49 -145.5 3100 2351 2730 2972 628.6 0.5 974 41416 0.15 0.00 0.00 0.000 4102 0.128 0.000 3038 2351 2850 2729 2972 0 0 0 0 0 0 14.43 14.48 14.47

41714 -0.51 -155.9 3038 2351 2729 2971 626.6 0.7 979 41715 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2351 2850 2729 2971 0 0 0 0 0 0 14.98 15.00 15.00

42015 -0.54 -170.5 3038 2351 2730 2972 623.8 1.0 984 42016 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2351 2850 2729 2972 0 0 0 0 0 0 14.97 14.99 14.99

42313 -0.54 -170.5 3038 2351 2729 2971 619.9 1.4 989 42314 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2351 2850 2729 2972 0 0 0 0 0 0 14.99 15.01 15.00

42614 -0.54 -170.5 3038 2351 2728 2971 614.8 1.7 994 42615 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2351 2850 2729 2971 0 0 0 0 0 0 14.99 15.00 15.00

42913 -0.54 -170.5 3037 2351 2729 2971 609.2 1.9 999 42914 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2351 2850 2730 2971 0 0 0 0 0 0 14.99 15.01 15.00

43215 -0.54 -170.5 3038 2351 2730 2972 604.3 1.6 1004 43216 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2351 2850 2730 2971 0 0 0 0 0 0 14.97 15.00 15.00

43514 -0.57 -184.5 3038 2351 2729 2972 601.3 0.9 1009 43515 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2351 2850 2730 2971 0 0 0 0 0 0 14.98 15.00 15.00

43814 -0.58 -189.3 3038 2351 2729 2971 600.3 0.3 1014 43815 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2351 2851 2730 2972 0 0 0 0 0 0 14.98 15.00 15.00

44114 -0.59 -191.5 3038 2351 2729 2971 599.9 0.1 1019 44115 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2351 2851 2730 2972 0 0 0 0 0 0 14.98 15.00 15.00

44415 -0.60 -195.8 3038 2351 2729 2971 599.2 0.3 1024 44416 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2351 2850 2729 2971 0 0 0 0 0 0 14.97 15.00 15.00

44471 end loiter: LOITER_COMPLETE

state 44471 begin climb

44473 0.89 87.6 3037 2351 2730 2971 598.7 0.0 1025 44561 1.55 0.00 83.65 1.590 10246 0.180 0.000 3501 2351 2508 2411 2605 0 0 0 0 0 0 13.59 13.91 12.89

44835 0.97 87.6 3501 2351 2403 2595 582.3 5.1 1031 44837 0.00 0.00 0.00 0.000 6 0.000 0.000 3501 2351 2499 2403 2595 0 0 0 0 0 0 14.76 14.78 14.78

45134 1.06 87.6 3501 2351 2400 2595 566.9 5.1 1036 45136 0.17 0.00 0.00 0.000 2054 0.112 0.000 3569 2351 2497 2400 2595 0 0 0 0 0 0 14.40 14.49 14.47

45434 1.11 87.6 3568 2351 2400 2594 550.0 5.7 1041 45435 0.00 0.00 0.00 0.000 6 0.000 0.000 3568 2351 2497 2400 2594 0 0 0 0 0 0 14.85 14.88 14.88

45734 1.18 87.6 3568 2351 2400 2594 534.1 5.2 1046 45735 0.00 0.00 0.00 0.000 6 0.000 0.000 3569 2351 2497 2400 2594 0 0 0 0 0 0 14.94 14.96 14.96

46035 1.28 87.6 3568 2350 2400 2594 519.0 5.0 1051 46037 0.17 0.00 0.00 0.000 2054 0.115 0.000 3643 2352 2496 2399 2594 0 0 0 0 0 0 14.42 14.52 14.50

46333 1.28 87.6 3638 2352 2400 2594 500.2 6.4 1056 46334 0.00 0.00 0.00 0.000 6 0.000 0.000 3638 2352 2496 2399 2594 0 0 0 0 0 0 14.97 14.99 14.99

46633 1.28 87.6 3638 2352 2399 2593 478.7 7.2 1061 46634 0.00 0.00 0.00 0.000 6 0.000 0.000 3638 2352 2497 2400 2594 0 0 0 0 0 0 14.97 15.00 15.00

46933 1.28 87.6 3638 2351 2400 2594 457.7 6.9 1066 46934 0.00 0.00 0.00 0.000 6 0.000 0.000 3639 2351 2496 2399 2593 0 0 0 0 0 0 14.98 15.01 15.00

47235 1.28 87.6 3638 2352 2399 2593 439.1 6.2 1071 47241 0.00 2.67 0.00 0.000 516 0.000 0.116 3645 942 2495 2399 2592 0 0 0 0 0 0 14.92 13.81 14.94

47402 1.34 87.6 3644 942 2399 2591 429.5 5.4 1105 47407 0.00 2.50 0.00 0.000 1030 0.000 0.070 3644 2356 2495 2399 2591 0 0 0 0 0 0 14.26 14.12 14.34

47709 1.34 87.6 3644 2356 2399 2591 411.5 6.0 1111 47710 0.00 0.00 0.00 0.000 6 0.000 0.000 3644 2356 2495 2399 2591 0 0 0 0 0 0 14.91 14.92 14.92

48010 1.34 87.6 3643 2356 2399 2591 391.1 6.9 1116 48011 0.00 0.00 0.00 0.000 6 0.000 0.000 3644 2356 2495 2399 2591 0 0 0 0 0 0 14.92 14.94 14.93

48309 1.34 87.6 3643 2356 2399 2592 369.0 7.3 1121 48315 0.00 2.55 0.00 0.000 772 0.000 0.100 3644 3757 2495 2399 2591 0 0 0 0 0 0 14.90 13.94 14.93

48327 1.34 87.6 3643 3757 2399 2591 367.6 7.1 1125 48332 0.00 2.47 0.00 0.000 1030 0.000 0.068 3645 2347 2495 2399 2591 0 0 0 0 0 0 14.27 14.13 14.34

48666 1.34 87.6 3644 2347 2399 2591 343.0 7.3 1137 48667 0.00 0.00 0.00 0.000 6 0.000 0.000 3644 2347 2495 2399 2591 0 0 0 0 0 0 14.91 14.93 14.93

48964 1.34 87.6 3644 2347 2399 2591 321.2 7.2 1142 48966 0.00 0.00 0.00 0.000 6 0.000 0.000 3645 2347 2495 2399 2591 0 0 0 0 0 0 14.91 14.92 14.92

49265 1.34 87.6 3644 2347 2399 2592 301.9 6.3 1147 49266 0.00 0.00 0.00 0.000 6 0.000 0.000 3644 2347 2495 2399 2591 0 0 0 0 0 0 14.99 15.01 15.00

49564 1.34 87.6 3644 2347 2399 2591 284.1 5.9 1152 49566 0.00 0.00 0.00 0.000 6 0.000 0.000 3644 2347 2495 2399 2591 0 0 0 0 0 0 14.99 15.01 15.01

49866 1.42 87.6 3644 2347 2399 2591 268.2 5.2 1157 49867 0.00 0.00 0.00 0.000 6 0.000 0.000 3644 2347 2495 2399 2591 0 0 0 0 0 0 14.97 15.00 15.00

50165 1.50 87.6 3644 2347 2399 2591 252.6 5.3 1162 50167 0.17 0.00 0.00 0.000 2054 0.111 0.000 3708 2347 2495 2399 2591 0 0 0 0 0 0 14.42 14.51 14.48

50465 1.50 87.6 3708 2347 2399 2591 233.0 6.6 1167 50467 0.00 0.00 0.00 0.000 6 0.000 0.000 3708 2347 2495 2400 2591 0 0 0 0 0 0 14.92 14.94 14.94

50764 1.50 87.6 3708 2347 2399 2591 212.3 6.9 1172 50766 0.00 0.00 0.00 0.000 6 0.000 0.000 3708 2347 2495 2400 2591 0 0 0 0 0 0 14.99 15.01 15.01

51066 1.50 87.6 3707 2347 2399 2591 193.6 6.0 1177 51067 0.00 0.00 0.00 0.000 6 0.000 0.000 3708 2347 2495 2399 2592 0 0 0 0 0 0 14.92 14.94 14.94

51364 1.50 87.6 3708 2347 2399 2591 173.9 6.6 1182 51366 0.00 0.00 0.00 0.000 6 0.000 0.000 3708 2347 2494 2399 2590 0 0 0 0 0 0 14.91 14.92 14.92

51665 1.50 87.6 3708 2348 2399 2591 155.0 6.2 1187 51666 0.00 0.00 0.00 0.000 6 0.000 0.000 3708 2347 2495 2399 2591 0 0 0 0 0 0 14.99 15.01 15.00

51964 1.50 87.6 3708 2347 2399 2591 136.4 6.1 1192 51966 0.00 0.00 0.00 0.000 6 0.000 0.000 3708 2347 2495 2399 2591 0 0 0 0 0 0 14.91 14.92 14.92

52266 1.50 87.6 3707 2347 2399 2591 117.3 6.4 1197 52273 0.00 2.58 0.00 0.000 772 0.000 0.093 3708 3754 2495 2399 2591 0 0 0 0 0 0 14.92 13.81 14.94

52349 1.58 87.6 3708 3754 2399 2591 112.8 5.2 1214 52354 0.00 2.47 0.00 0.000 1030 0.000 0.064 3713 2344 2495 2399 2591 0 0 0 0 0 0 14.24 14.12 14.31

52687 1.73 162.4 3713 2344 2398 2591 105.1 1.4 1226 52753 0.17 0.00 63.08 0.977 10246 0.104 0.000 3787 2344 2204 2137 2272 0 0 0 0 0 0 14.45 14.19 13.43

53049 1.73 162.4 3787 2344 2127 2262 81.5 6.7 1232 53050 0.00 0.00 0.00 0.000 6 0.000 0.000 3787 2345 2194 2126 2263 0 0 0 0 0 0 14.85 14.86 14.86

53348 1.92 162.4 3787 2344 2125 2262 67.9 3.7 1237 53350 0.15 0.00 0.00 0.000 2054 0.115 0.000 3852 2345 2193 2125 2262 0 0 0 0 0 0 14.48 14.55 14.53

53647 2.06 231.5 3851 2344 2125 2261 61.8 1.8 1242 53707 0.00 2.47 52.85 0.886 8708 0.000 0.096 3857 943 1920 1860 1981 0 0 0 0 0 0 14.95 14.04 13.55

53935 2.06 231.5 3857 943 1852 1980 44.2 8.2 1299 53942 0.00 2.45 0.00 0.000 1030 0.000 0.067 3860 2356 1916 1852 1980 0 0 0 0 0 0 14.37 14.25 14.41

54251 2.06 231.5 3860 2356 1851 1980 23.6 6.2 1307 54252 0.00 0.00 0.00 0.000 6 0.000 0.000 3860 2356 1915 1851 1980 0 0 0 0 0 0 14.92 14.94 14.93

54549 end climb: SURFACE_DEPTH_REACHED

state 54549 begin surface coast

54609 end surface coast: CONTROL_FINISHED_OK

state 54609 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	652	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	21	ALTIM_PING_DELTA	10
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	24	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	2867	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	100617,181034,320.0039,5647.2520,28,0.8,30,-2.3,0.5,131.6,9,9.0	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	0.72	MHEAD_RNG_PITCHd_Wd	103.1,1742732,-19.0,-6.346,-29.47,1557
_SM_ANGLEo	-69.0	D_GRID	1000
GPS2	100617,181601,319.9489,5647.2949,7,0.9,11,-2.3,0.6,93.9,9,9.4

FINISH	-0.4,1.021931	_10V_AH	13.08,0.000
SM_CCo	54629,98.00,0.074,0,0,1031,450.12	FG_AHR_24Vo	0.000
SM_GC	0.70,9.75,0.00,98.00,0.066,0.000,0.074,169,2356,1031,-9.41,0.17,450.12,0,0,0,0,0,0,14.40,14.97,14.33	FG_AHR_10Vo	0.000
IRIDIUM_FIX	314.20,5643.17,100617,023416	MEM	310248
TT8_MAMPS	0.024717,0.116844	DATA_FILE_SIZE	56712,1313
HUMID	48.70	CAP_FILE_SIZE	227520,0
INTERNAL_PRESSURE	9.70776	CFSIZE	2097872896,2007728128
TCM_TEMP	26.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	289	CURRENT	0.054,97.50,1
_24V_AH	12.57,187.545	GPS	110617,092959,319.685,5648.567,40,0.8,42,-2.3,0.0,109.1,9,9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	346	107.16	SBE_CT	623	23	182.05
Roll_motor	61	120	92.36	nil	0	0	0.00
VBD_pump_during_apogee	277	2119	7401.61	nil	0	0	0.00
VBD_pump_during_surface	98	74	91.41	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	216	171	466.82	nil	0	0	0.00
Transponder_ping	72	420	381.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	44	7.23
TT8	2900	11	434.74
LPSleep	49029	2	1404.46
TT8_Active	591	11	88.68
TT8_Sampling	2087	31	865.29
TT8_CF8	442	37	218.22
TT8_Kalman	0	0	0.00
Analog_circuits	1914	15	388.13
GPS_charging	0	0	0.00
Compass	1869	16	402.93
RAFOS	0	0	0.00
Transponder	0	5	0.04