Glider dive log

NASCAR Dec16 * SG528 * Dive index * Mission links * Dive 653 * 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 653 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 25 ALTIM_PING_DELTA 10

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 23 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 25 VBD_MIN 500

DEVICE6 -1 MISSION 3 R_STBD_OVSHOOT 23 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 653 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 110617,092959,319.6853,5648.5669,40,0.8,42,-2.3,0.0,109.1,9,9.8 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 0.66 MHEAD_RNG_PITCHd_Wd 87.8,1740287,-19.0,-6.346,-29.47,1557

_SM_ANGLEo -69.7 D_GRID 1000

GPS2 110617,093544,319.6298,5648.6211,7,0.7,9,-2.3,0.0,187.7,10,9.6

Post-dive calculations and measurements:

FINISH -0.5,1.007756 _10V_AH 13.07,0.000

SM_CCo 55349,95.80,0.075,0,0,1031,450.12 FG_AHR_24Vo 0.000

SM_GC 0.71,9.90,0.00,95.80,0.057,0.000,0.075,174,2352,1031,-9.41,0.06,450.12,0,0,0,0,0,0,14.38,14.64,14.32 FG_AHR_10Vo 0.000

IRIDIUM_FIX 316.36,5649.15,100617,181232 MEM 310232

TT8_MAMPS 0.025466,0.108605 DATA_FILE_SIZE 50066,1084

HUMID 48.70 CAP_FILE_SIZE 214740,0

INTERNAL_PRESSURE 9.70776 CFSIZE 2097872896,2007597056

TCM_TEMP 26.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 284 CURRENT 0.053,69.18,1

_24V_AH 12.55,187.766 GPS 120617,010135,320.242,5650.064,35,0.8,37,-2.3,0.6,127.8,10,8.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 345 111.93 SBE_CT 633 23 184.49

Roll_motor 25 124 39.98 nil 0 0 0.00

VBD_pump_during_apogee 283 2119 7539.48 nil 0 0 0.00

VBD_pump_during_surface 95 74 90.14 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 236 170 506.23 nil 0 0 0.00

Transponder_ping 71 420 374.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 9 44 5.75

TT8 2823 11 422.84

LPSleep 50171 2 1436.09

TT8_Active 589 11 88.34

TT8_Sampling 1772 31 734.29

TT8_CF8 427 37 210.32

TT8_Kalman 0 0 0.00

Analog_circuits 1760 15 356.69

GPS_charging 0 0 0.00

Compass 1545 16 332.95

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.89 -87.6 168 2366 1038 1003 0.0 0.0 0 103 0.00 0.00 -84.05 0.000 16390 0.000 0.000 168 2366 3226 3085 3368 0 0 0 0 0 0 14.79 12.55 14.69

105 -0.89 -87.6 168 2366 3086 3368 1.4 0.0 1 119 11.40 0.00 0.00 0.000 2054 0.345 0.000 2930 2366 3229 3088 3370 0 0 0 0 0 0 13.93 14.39 14.30

382 -0.89 -87.6 2930 2366 3088 3374 45.9 -13.2 6 383 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2366 3231 3088 3374 0 0 0 0 0 0 14.92 14.94 14.94

679 -0.89 -87.6 2930 2366 3088 3377 80.3 -10.9 11 681 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2366 3232 3088 3377 0 0 0 0 0 0 14.98 15.00 15.00

979 -0.89 -87.6 2930 2366 3087 3379 101.4 -6.8 16 981 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2366 3233 3088 3379 0 0 0 0 0 0 15.01 15.03 15.02

1279 -0.89 -87.6 2930 2366 3089 3381 122.6 -7.0 21 1281 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2367 3235 3089 3381 0 0 0 0 0 0 15.02 15.04 15.04

1581 -0.89 -87.6 2929 2366 3090 3381 139.8 -5.6 26 1582 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2367 3235 3090 3381 0 0 0 0 0 0 15.02 15.04 15.04

1879 -0.89 -87.6 2930 2366 3090 3380 153.1 -4.5 31 1881 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2366 3234 3088 3381 0 0 0 0 0 0 15.04 15.06 15.06

2179 -0.89 -87.6 2930 2366 3089 3381 170.7 -6.0 36 2181 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2366 3235 3089 3381 0 0 0 0 0 0 15.04 15.06 15.06

2479 -0.89 -87.6 2929 2367 3090 3381 191.4 -6.9 41 2481 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2366 3234 3089 3380 0 0 0 0 0 0 15.04 15.06 15.06

2781 -0.89 -87.6 2930 2366 3089 3379 210.0 -6.1 46 2787 0.00 2.62 0.00 0.000 516 0.000 0.125 2931 941 3234 3089 3380 0 0 0 0 0 0 15.03 14.11 15.05

2933 -0.89 -87.6 2930 942 3089 3377 218.6 -5.7 77 2937 0.00 2.47 0.00 0.000 1030 0.000 0.083 2930 2353 3233 3089 3378 0 0 0 0 0 0 14.45 14.28 14.50

3260 -0.89 -87.6 2930 2353 3090 3373 236.6 -5.7 87 3261 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2353 3231 3089 3374 0 0 0 0 0 0 14.97 15.00 15.00

3560 -0.89 -87.6 2930 2353 3088 3371 255.5 -6.3 92 3561 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 2353 3229 3088 3371 0 0 0 0 0 0 15.03 15.05 15.05

3860 -0.89 -87.6 2931 2353 3085 3371 273.7 -6.0 97 3861 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2353 3227 3084 3371 0 0 0 0 0 0 15.04 15.05 15.05

4160 -0.89 -87.6 2930 2353 3084 3367 293.5 -6.7 102 4162 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2353 3225 3084 3367 0 0 0 0 0 0 15.03 15.05 15.05

4461 -0.89 -87.6 2930 2353 3082 3366 315.7 -7.6 107 4463 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2353 3224 3082 3366 0 0 0 0 0 0 15.02 15.04 15.04

4760 -0.89 -87.6 2930 2354 3082 3362 336.6 -6.9 112 4761 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3221 3081 3362 0 0 0 0 0 0 15.03 15.05 15.05

5060 -0.89 -87.6 2930 2354 3080 3360 355.3 -6.2 117 5061 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3220 3080 3360 0 0 0 0 0 0 15.03 15.05 15.05

5360 -0.89 -87.6 2930 2354 3077 3358 373.4 -6.0 122 5362 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3218 3077 3359 0 0 0 0 0 0 15.02 15.05 15.05

5661 -0.89 -87.6 2930 2354 3077 3356 392.5 -6.3 127 5663 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 2354 3216 3077 3356 0 0 0 0 0 0 15.02 15.04 15.04

5960 -0.89 -87.6 2930 2354 3076 3354 412.4 -6.6 132 5961 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3214 3075 3354 0 0 0 0 0 0 15.03 15.04 15.04

6260 -0.89 -87.6 2930 2354 3074 3353 433.4 -7.0 137 6261 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3213 3074 3353 0 0 0 0 0 0 15.03 15.04 15.04

6561 -0.89 -87.6 2930 2354 3073 3350 454.0 -6.9 142 6562 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3212 3073 3351 0 0 0 0 0 0 15.02 15.04 15.04

6861 -0.89 -87.6 2930 2355 3071 3349 474.3 -6.8 147 6863 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3210 3072 3349 0 0 0 0 0 0 15.02 15.04 15.04

7160 -0.89 -87.6 2930 2354 3071 3348 494.0 -6.5 152 7161 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 2354 3209 3071 3347 0 0 0 0 0 0 15.02 15.04 15.04

7460 -0.89 -87.6 2930 2354 3069 3346 512.3 -6.0 157 7461 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 2354 3208 3070 3346 0 0 0 0 0 0 15.03 15.04 15.04

7760 -0.89 -87.6 2930 2354 3069 3345 529.1 -5.6 162 7762 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3207 3069 3345 0 0 0 0 0 0 15.02 15.04 15.04

8061 -0.89 -87.6 2930 2354 3069 3343 545.9 -5.6 167 8063 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3206 3069 3344 0 0 0 0 0 0 15.02 15.04 15.03

8360 -0.89 -87.6 2930 2354 3068 3343 563.9 -6.1 172 8361 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3205 3068 3343 0 0 0 0 0 0 14.95 14.97 14.97

8660 -0.89 -87.6 2930 2354 3067 3342 582.3 -6.1 177 8661 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3205 3067 3343 0 0 0 0 0 0 15.02 15.04 15.04

8960 -0.89 -87.6 2930 2354 3067 3341 600.7 -6.1 182 8962 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3204 3067 3341 0 0 0 0 0 0 15.02 15.04 15.04

9261 -0.89 -87.6 2930 2354 3066 3340 619.3 -6.2 187 9263 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3203 3067 3340 0 0 0 0 0 0 14.96 14.98 14.98

9560 -0.89 -87.6 2930 2354 3065 3339 637.4 -6.0 192 9561 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3201 3064 3339 0 0 0 0 0 0 14.95 14.97 14.97

9860 -0.89 -87.6 2930 2354 3066 3338 654.4 -5.7 197 9861 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3201 3065 3338 0 0 0 0 0 0 14.95 14.97 14.97

10160 -0.89 -87.6 2930 2354 3065 3337 671.1 -5.6 202 10162 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2353 3201 3065 3337 0 0 0 0 0 0 14.95 14.97 14.97

10461 -0.89 -87.6 2930 2354 3064 3337 688.1 -5.7 207 10463 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3200 3064 3337 0 0 0 0 0 0 14.95 14.97 14.97

10760 -0.89 -87.6 2930 2354 3063 3336 706.3 -6.0 212 10761 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3199 3063 3336 0 0 0 0 0 0 14.95 14.96 14.96

11060 -0.89 -87.6 2930 2354 3063 3336 724.4 -6.0 217 11061 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3198 3062 3335 0 0 0 0 0 0 14.94 14.96 14.96

11360 -0.89 -87.6 2930 2354 3063 3335 741.1 -5.5 222 11362 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3199 3063 3335 0 0 0 0 0 0 14.95 14.97 14.96

11661 -0.89 -87.6 2930 2354 3062 3334 754.9 -4.5 227 11663 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3198 3062 3334 0 0 0 0 0 0 14.95 14.97 14.97

11960 -0.89 -87.6 2930 2354 3062 3334 766.8 -3.9 232 11961 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3197 3061 3334 0 0 0 0 0 0 14.94 14.96 14.95

12260 -0.89 -87.6 2930 2354 3061 3334 778.6 -4.0 237 12261 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3198 3062 3334 0 0 0 0 0 0 14.94 14.96 14.95

12560 -0.89 -87.6 2930 2354 3061 3334 792.8 -4.9 242 12562 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3197 3061 3334 0 0 0 0 0 0 14.94 14.96 14.96

12861 -0.89 -87.6 2930 2354 3062 3333 810.6 -6.1 247 12863 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3197 3061 3333 0 0 0 0 0 0 14.95 14.97 14.96

13160 -0.89 -87.6 2930 2354 3060 3333 830.5 -6.7 252 13161 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3197 3061 3333 0 0 0 0 0 0 14.93 14.95 14.95

13460 -0.89 -87.6 2930 2354 3060 3332 850.4 -6.6 257 13461 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3196 3060 3332 0 0 0 0 0 0 14.93 14.95 14.95

13760 -0.89 -87.6 2930 2354 3060 3332 869.0 -6.1 262 13762 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 2354 3196 3059 3333 0 0 0 0 0 0 14.93 14.95 14.95

14061 -0.89 -87.6 2930 2354 3059 3331 885.5 -5.4 267 14063 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3195 3059 3331 0 0 0 0 0 0 14.93 14.96 14.95

14360 -0.89 -87.6 2930 2354 3059 3330 900.4 -5.0 272 14361 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3195 3059 3331 0 0 0 0 0 0 15.01 15.02 15.02

14660 -0.89 -87.6 2930 2354 3059 3329 915.0 -4.9 277 14661 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3194 3059 3329 0 0 0 0 0 0 14.92 14.95 14.94

14960 -0.89 -87.6 2930 2354 3059 3329 930.2 -5.1 282 14962 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2354 3194 3059 3329 0 0 0 0 0 0 15.00 15.02 15.02

15261 -0.89 -87.6 2930 2354 3058 3329 946.6 -5.6 287 15263 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 2354 3193 3058 3329 0 0 0 0 0 0 15.00 15.02 15.00

15560 -0.89 -87.6 2930 2354 3058 3329 964.4 -5.9 292 15561 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 2355 3193 3057 3329 0 0 0 0 0 0 15.00 15.02 15.02

15860 -0.89 -87.6 2930 2354 3057 3328 983.2 -6.2 297 15861 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 2354 3193 3058 3328 0 0 0 0 0 0 15.00 15.02 15.02

15978 end dive: TARGET_DEPTH_EXCEEDED

state 15978 begin apogee

15983 -0.19 0.0 2931 2354 3057 3328 990.7 -6.4 299 16066 0.77 0.00 79.03 2.120 10246 0.203 0.000 3157 2354 2866 2746 2987 0 0 0 0 0 0 13.59 13.93 12.71

16067 end apogee: CONTROL_FINISHED_OK

state 16067 begin loiter

16341 -0.19 0.0 3157 2355 2737 2983 990.0 1.5 305 16346 0.00 2.65 0.00 0.000 516 0.000 0.119 3157 941 2859 2737 2981 0 0 0 0 0 0 14.79 14.12 14.81

16357 -0.19 0.0 3157 941 2737 2980 989.9 1.8 308 16361 0.00 2.50 0.00 0.000 1030 0.000 0.073 3157 2364 2858 2736 2980 0 0 0 0 0 0 14.38 14.24 14.44

16699 -0.19 0.0 3157 2364 2737 2979 982.9 2.2 321 16700 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2364 2858 2737 2980 0 0 0 0 0 0 14.85 14.87 14.87

17001 -0.19 0.0 3157 2364 2736 2980 975.3 2.5 326 17002 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2364 2858 2736 2980 0 0 0 0 0 0 14.93 14.95 14.95

17299 -0.19 0.0 3157 2364 2735 2980 967.9 2.4 331 17300 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2364 2857 2735 2980 0 0 0 0 0 0 14.97 14.99 14.98

17599 -0.19 0.0 3156 2364 2734 2980 961.0 2.3 336 17600 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2364 2857 2734 2980 0 0 0 0 0 0 14.92 14.95 14.94

17899 -0.19 0.0 3156 2364 2734 2980 954.8 2.1 341 17900 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2364 2856 2733 2979 0 0 0 0 0 0 14.99 15.01 15.01

18201 -0.19 0.0 3157 2364 2733 2980 948.1 2.2 346 18202 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2364 2856 2733 2980 0 0 0 0 0 0 14.98 15.00 15.00

18499 -0.19 0.0 3157 2364 2733 2978 941.2 2.3 351 18500 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2364 2855 2733 2978 0 0 0 0 0 0 15.00 15.02 15.02

18799 -0.19 0.0 3156 2364 2733 2978 934.4 2.3 356 18800 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2364 2855 2733 2978 0 0 0 0 0 0 15.00 15.02 15.02

19099 -0.19 0.0 3157 2364 2733 2978 927.4 2.3 361 19100 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2364 2854 2732 2977 0 0 0 0 0 0 15.00 15.02 15.02

19401 -0.19 0.0 3157 2364 2733 2977 919.9 2.5 366 19402 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2364 2855 2733 2977 0 0 0 0 0 0 14.99 15.01 15.01

19699 -0.19 0.0 3157 2364 2731 2977 912.6 2.5 371 19700 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2364 2854 2732 2977 0 0 0 0 0 0 15.00 15.02 15.02

19999 -0.19 0.0 3157 2364 2732 2977 906.1 2.2 376 20000 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2364 2854 2732 2977 0 0 0 0 0 0 15.00 15.02 15.02

20299 -0.19 0.0 3157 2364 2732 2977 900.6 1.8 381 20300 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2364 2854 2731 2977 0 0 0 0 0 0 15.00 15.02 15.02

20601 -0.19 0.0 3157 2364 2732 2977 895.9 1.5 386 20602 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2364 2854 2731 2977 0 0 0 0 0 0 14.99 15.01 15.01

20899 -0.19 0.0 3157 2364 2731 2977 891.5 1.6 391 20900 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2364 2854 2731 2977 0 0 0 0 0 0 15.00 15.02 15.02

21199 -0.19 0.0 3157 2364 2731 2976 886.9 1.5 396 21206 0.00 2.58 0.00 0.000 260 0.000 0.109 3157 3763 2853 2731 2976 0 0 0 0 0 0 15.00 13.88 15.02

21408 -0.19 0.0 3157 3763 2731 2975 883.2 2.1 438 21412 0.00 2.50 0.00 0.000 1030 0.000 0.069 3157 2340 2854 2732 2976 0 0 0 0 0 0 14.26 14.11 14.32

21735 -0.19 0.0 3157 2340 2731 2976 876.4 2.1 448 21736 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2853 2731 2976 0 0 0 0 0 0 14.99 15.01 15.01

22035 -0.19 0.0 3157 2340 2731 2976 868.6 2.7 453 22036 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2854 2732 2976 0 0 0 0 0 0 15.00 15.01 15.01

22335 -0.19 0.0 3157 2340 2732 2976 860.3 2.7 458 22336 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2341 2853 2731 2976 0 0 0 0 0 0 14.99 15.01 15.01

22636 -0.19 0.0 3157 2341 2731 2976 853.5 2.2 463 22637 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2853 2731 2976 0 0 0 0 0 0 14.99 15.01 15.00

22935 -0.19 0.0 3157 2341 2731 2976 848.7 1.5 468 22936 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2340 2853 2731 2976 0 0 0 0 0 0 15.00 15.02 15.02

23235 -0.21 -14.1 3157 2341 2731 2976 845.8 0.9 473 23236 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2853 2731 2976 0 0 0 0 0 0 15.00 15.02 15.01

23535 -0.24 -25.9 3157 2341 2731 2975 843.4 0.8 478 23537 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2731 2974 0 0 0 0 0 0 14.99 15.01 15.01

23836 -0.24 -25.9 3157 2341 2731 2974 840.2 1.1 483 23837 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2853 2731 2975 0 0 0 0 0 0 14.99 15.01 15.00

24135 -0.24 -25.9 3157 2341 2731 2974 835.7 1.5 488 24136 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2731 2974 0 0 0 0 0 0 15.00 15.02 15.01

24435 -0.24 -25.9 3157 2341 2731 2975 830.3 1.8 493 24436 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2730 2974 0 0 0 0 0 0 15.00 15.02 15.02

24735 -0.24 -25.9 3157 2341 2731 2975 824.0 2.1 498 24736 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2731 2974 0 0 0 0 0 0 14.99 15.02 15.01

25036 -0.24 -25.9 3157 2341 2731 2974 817.9 2.0 503 25037 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2853 2732 2974 0 0 0 0 0 0 14.98 15.00 15.00

25335 -0.24 -25.9 3157 2341 2731 2974 811.6 2.1 508 25336 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2731 2974 0 0 0 0 0 0 15.00 15.02 15.02

25635 -0.24 -25.9 3157 2341 2731 2974 805.8 2.0 513 25636 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2340 2852 2731 2974 0 0 0 0 0 0 15.00 15.01 15.02

25935 -0.24 -25.9 3157 2341 2731 2974 800.2 1.8 518 25936 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2731 2974 0 0 0 0 0 0 15.00 15.01 15.01

26236 -0.24 -25.9 3157 2341 2731 2974 795.9 1.5 523 26237 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2731 2974 0 0 0 0 0 0 14.98 15.00 15.00

26535 -0.24 -25.9 3157 2341 2731 2974 792.3 1.2 528 26536 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2731 2974 0 0 0 0 0 0 15.00 15.02 15.01

26835 -0.24 -25.9 3157 2341 2731 2974 788.7 1.2 533 26836 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2731 2974 0 0 0 0 0 0 15.00 15.02 15.01

27135 -0.24 -25.9 3157 2341 2731 2975 784.0 1.6 538 27136 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2731 2974 0 0 0 0 0 0 14.99 15.01 15.01

27436 -0.24 -25.9 3157 2341 2731 2974 777.7 2.1 543 27437 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2853 2731 2975 0 0 0 0 0 0 14.98 15.00 15.00

27735 -0.24 -25.9 3157 2341 2732 2974 770.5 2.4 548 27736 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2731 2974 0 0 0 0 0 0 15.00 15.01 15.01

28035 -0.24 -25.9 3157 2341 2731 2975 763.6 2.3 553 28036 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2731 2974 0 0 0 0 0 0 14.99 15.01 15.01

28335 -0.24 -25.9 3157 2341 2731 2974 758.2 1.7 558 28336 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2731 2974 0 0 0 0 0 0 14.99 15.01 15.01

28636 -0.24 -25.9 3157 2341 2731 2974 754.6 1.2 563 28637 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2731 2974 0 0 0 0 0 0 14.98 15.00 15.00

28935 -0.26 -36.1 3157 2341 2731 2975 752.4 0.7 568 28936 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2853 2731 2975 0 0 0 0 0 0 14.99 15.01 15.01

29235 -0.28 -47.0 3157 2341 2731 2974 750.2 0.7 573 29236 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2341 2852 2731 2974 0 0 0 0 0 0 14.99 15.01 15.01

29535 -0.31 -60.8 3157 2341 2732 2974 747.6 0.9 578 29537 0.15 0.00 0.00 0.000 4102 0.119 0.000 3097 2341 2853 2731 2975 0 0 0 0 0 0 14.49 14.52 14.51

29836 -0.34 -75.7 3097 2341 2731 2973 744.6 1.0 583 29838 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2341 2852 2731 2973 0 0 0 0 0 0 14.97 15.00 15.00

30135 -0.38 -90.5 3096 2341 2731 2973 741.5 1.0 588 30136 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2340 2851 2731 2972 0 0 0 0 0 0 14.99 15.01 15.01

30435 -0.38 -90.5 3096 2341 2731 2973 738.5 1.0 593 30436 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2341 2852 2731 2973 0 0 0 0 0 0 15.00 15.01 15.00

30735 -0.41 -104.8 3096 2341 2731 2973 735.6 0.9 598 30737 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.01

31036 -0.43 -114.9 3096 2341 2731 2973 733.6 0.7 603 31038 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2341 2852 2731 2973 0 0 0 0 0 0 14.97 15.00 15.00

31335 -0.44 -118.9 3096 2341 2731 2973 732.7 0.3 608 31336 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2340 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.00

31635 -0.45 -123.6 3096 2341 2731 2973 731.8 0.3 613 31636 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2341 2852 2732 2973 0 0 0 0 0 0 14.99 15.01 15.00

31935 -0.47 -134.8 3096 2341 2731 2973 729.7 0.7 618 31937 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2341 2852 2731 2973 0 0 0 0 0 0 14.98 15.00 15.00

32236 -0.47 -134.8 3096 2341 2731 2973 726.3 1.2 623 32237 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2341 2852 2731 2973 0 0 0 0 0 0 14.98 15.00 15.00

32535 -0.47 -134.8 3096 2341 2731 2973 721.0 1.8 628 32536 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.01

32835 -0.47 -134.8 3096 2341 2731 2973 715.6 1.8 633 32836 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.01

33135 -0.47 -134.8 3096 2341 2731 2973 711.4 1.4 638 33136 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.00 15.01

33436 -0.47 -134.8 3097 2341 2731 2973 708.3 1.0 643 33437 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2341 2851 2731 2972 0 0 0 0 0 0 14.97 15.00 15.00

33735 -0.47 -134.8 3096 2341 2731 2973 705.3 1.1 648 33736 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.01

34035 -0.50 -147.9 3096 2341 2731 2973 702.7 0.9 653 34037 0.15 0.00 0.00 0.000 4102 0.124 0.000 3031 2341 2851 2731 2972 0 0 0 0 0 0 14.46 14.50 14.49

34335 -0.51 -154.9 3031 2341 2732 2973 701.3 0.5 658 34337 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.98 15.00 15.00

34637 -0.53 -162.9 3031 2341 2731 2973 699.6 0.5 663 34638 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.97 15.00 15.00

34935 -0.56 -176.9 3031 2341 2732 2973 697.0 0.9 668 34936 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.00

35235 -0.56 -176.9 3031 2341 2731 2973 693.0 1.4 673 35236 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.01

35535 -0.56 -176.9 3031 2341 2731 2973 689.6 1.2 678 35536 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2340 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.00

35836 -0.57 -184.2 3031 2341 2731 2973 687.7 0.5 683 35838 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.97 15.00 15.00

36135 -0.57 -180.3 3031 2341 2731 2972 688.2 -0.3 688 36136 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.00

36435 -0.55 -172.9 3031 2341 2731 2973 689.7 -0.5 693 36436 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2851 2731 2972 0 0 0 0 0 0 14.99 15.01 15.00

36735 -0.54 -170.1 3031 2341 2731 2973 690.5 -0.2 698 36737 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.00

37036 -0.57 -182.4 3031 2341 2731 2973 688.3 0.8 703 37038 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.97 15.00 15.00

37335 -0.57 -182.4 3031 2341 2731 2973 683.7 1.6 708 37336 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.01

37635 -0.57 -182.4 3031 2341 2731 2973 677.7 2.1 713 37636 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2732 2973 0 0 0 0 0 0 14.99 15.01 15.01

37935 -0.57 -182.4 3031 2341 2731 2973 671.7 2.0 718 37936 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.00

38236 -0.57 -182.4 3031 2341 2731 2973 666.6 1.7 723 38237 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.98 15.00 15.00

38535 -0.57 -182.4 3031 2341 2732 2973 662.5 1.4 728 38536 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.01

38835 -0.60 -196.6 3031 2341 2731 2973 659.5 0.9 733 38836 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2732 2973 0 0 0 0 0 0 14.99 15.01 15.01

39135 -0.62 -206.0 3031 2341 2731 2973 657.6 0.6 738 39137 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.00 15.00

39436 -0.64 -213.8 3031 2341 2731 2973 656.0 0.5 743 39438 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2340 2852 2731 2973 0 0 0 0 0 0 14.97 15.00 15.00

39735 -0.65 -220.0 3031 2341 2731 2973 654.7 0.4 748 39736 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.00

40035 -0.66 -225.9 3031 2340 2731 2973 653.7 0.4 753 40036 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.00

40335 -0.67 -230.9 3031 2340 2732 2973 652.7 0.3 758 40337 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.00

40637 -0.68 -236.0 3031 2341 2732 2973 651.7 0.3 763 40638 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2341 2852 2731 2973 0 0 0 0 0 0 14.98 15.00 15.00

40935 -0.69 -241.5 3031 2341 2731 2972 650.7 0.4 768 40937 0.12 0.00 0.00 0.000 4102 0.130 0.000 2979 2341 2852 2731 2973 0 0 0 0 0 0 14.53 14.54 14.54

41235 -0.71 -250.3 2979 2341 2731 2972 649.0 0.6 773 41236 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.00

41535 -0.73 -256.3 2978 2341 2731 2973 647.7 0.4 778 41537 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.00 15.00

41837 -0.73 -259.9 2979 2341 2731 2973 647.0 0.2 783 41838 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2341 2851 2731 2972 0 0 0 0 0 0 14.97 15.00 15.00

42135 -0.75 -266.4 2978 2341 2731 2973 645.9 0.4 788 42136 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.01

42435 -0.76 -273.9 2979 2341 2731 2972 644.5 0.5 793 42436 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.01

42735 -0.78 -280.4 2978 2340 2731 2973 643.2 0.4 798 42737 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2341 2851 2731 2972 0 0 0 0 0 0 14.99 15.01 15.00

43037 -0.79 -287.4 2978 2341 2731 2973 641.7 0.5 803 43038 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2341 2852 2731 2973 0 0 0 0 0 0 14.97 15.00 15.00

43335 -0.81 -296.1 2978 2341 2731 2973 640.0 0.6 808 43336 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.00

43635 -0.83 -305.8 2978 2341 2731 2973 638.3 0.6 813 43636 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.01

43936 -0.86 -318.1 2978 2341 2731 2973 635.9 0.8 818 43938 0.15 0.00 0.00 0.000 4102 0.122 0.000 2909 2341 2852 2731 2973 0 0 0 0 0 0 14.46 14.50 14.49

44236 -0.86 -318.1 2909 2341 2731 2973 632.3 1.3 823 44238 0.15 0.00 0.00 0.000 2054 0.247 0.000 2939 2341 2852 2731 2973 0 0 0 0 0 0 13.99 14.23 14.16

44535 -0.86 -318.1 2939 2341 2731 2973 628.2 1.4 828 44536 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.01

44835 -0.86 -318.1 2939 2341 2731 2972 623.9 1.4 833 44836 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2341 2852 2731 2973 0 0 0 0 0 0 14.99 15.01 15.01

44893 end loiter: LOITER_COMPLETE

state 44893 begin climb

44895 0.89 87.6 2939 2341 2731 2973 623.0 0.0 834 44984 1.92 0.00 84.60 1.618 10246 0.203 0.000 3501 2340 2507 2410 2605 0 0 0 0 0 0 13.56 13.90 12.88

45257 0.95 87.6 3501 2341 2401 2596 605.0 5.4 840 45258 0.00 0.00 0.00 0.000 6 0.000 0.000 3501 2340 2498 2401 2596 0 0 0 0 0 0 14.76 14.78 14.78

45555 1.07 87.6 3501 2341 2399 2596 590.9 4.7 845 45557 0.17 0.00 0.00 0.000 2054 0.112 0.000 3570 2341 2498 2399 2597 0 0 0 0 0 0 14.40 14.50 14.47

45856 1.17 87.6 3569 2341 2399 2594 576.2 4.9 850 45857 0.00 0.00 0.00 0.000 6 0.000 0.000 3570 2341 2496 2399 2594 0 0 0 0 0 0 14.91 14.93 14.92

46155 1.28 87.6 3570 2341 2398 2594 561.8 4.8 855 46157 0.15 0.00 0.00 0.000 2054 0.122 0.000 3636 2341 2496 2399 2594 0 0 0 0 0 0 14.43 14.53 14.50

46456 1.28 87.6 3635 2341 2399 2594 543.1 6.4 860 46457 0.00 0.00 0.00 0.000 6 0.000 0.000 3635 2341 2496 2399 2594 0 0 0 0 0 0 14.95 14.97 14.97

46755 1.28 87.6 3635 2341 2399 2593 521.9 7.2 865 46756 0.00 0.00 0.00 0.000 6 0.000 0.000 3636 2341 2496 2399 2593 0 0 0 0 0 0 14.90 14.92 14.92

47055 1.28 87.6 3635 2341 2399 2593 498.3 7.9 870 47056 0.00 0.00 0.00 0.000 6 0.000 0.000 3636 2341 2496 2399 2593 0 0 0 0 0 0 14.91 14.93 14.92

47355 1.28 87.6 3635 2341 2399 2593 474.5 7.8 875 47356 0.00 0.00 0.00 0.000 6 0.000 0.000 3635 2341 2496 2399 2593 0 0 0 0 0 0 14.91 14.93 14.93

47656 1.28 87.6 3635 2341 2398 2593 453.6 6.8 880 47657 0.00 0.00 0.00 0.000 6 0.000 0.000 3636 2341 2496 2399 2593 0 0 0 0 0 0 14.98 15.00 15.00

47955 1.28 87.6 3635 2341 2399 2593 435.0 6.2 885 47956 0.00 0.00 0.00 0.000 6 0.000 0.000 3635 2341 2496 2399 2593 0 0 0 0 0 0 14.91 14.93 14.93

48255 1.28 87.6 3635 2341 2398 2593 417.0 5.9 890 48256 0.00 0.00 0.00 0.000 6 0.000 0.000 3635 2341 2495 2398 2593 0 0 0 0 0 0 14.92 14.94 14.93

48555 1.28 87.6 3635 2341 2398 2593 399.0 6.0 895 48556 0.00 0.00 0.00 0.000 6 0.000 0.000 3635 2341 2495 2398 2593 0 0 0 0 0 0 14.91 14.93 14.93

48856 1.28 87.6 3635 2341 2398 2593 381.0 6.0 900 48857 0.00 0.00 0.00 0.000 6 0.000 0.000 3635 2341 2495 2398 2593 0 0 0 0 0 0 14.98 15.00 15.00

49155 1.28 87.6 3635 2340 2398 2593 362.9 6.0 905 49156 0.00 0.00 0.00 0.000 6 0.000 0.000 3635 2342 2495 2398 2593 0 0 0 0 0 0 14.91 14.93 14.93

49455 1.28 87.6 3635 2340 2398 2592 343.8 6.4 910 49456 0.00 0.00 0.00 0.000 6 0.000 0.000 3635 2341 2495 2398 2593 0 0 0 0 0 0 14.92 14.94 14.93

49755 1.28 87.6 3635 2341 2398 2593 322.7 7.0 915 49756 0.00 0.00 0.00 0.000 6 0.000 0.000 3635 2340 2495 2398 2593 0 0 0 0 0 0 15.00 15.02 15.02

50057 1.28 87.6 3635 2341 2398 2593 303.1 6.4 920 50058 0.00 0.00 0.00 0.000 6 0.000 0.000 3635 2341 2495 2398 2593 0 0 0 0 0 0 14.92 14.94 14.94

50355 1.36 87.6 3635 2341 2398 2593 287.2 5.2 925 50356 0.00 0.00 0.00 0.000 6 0.000 0.000 3635 2341 2495 2398 2593 0 0 0 0 0 0 14.91 14.93 14.93

50656 1.46 87.6 3634 2341 2398 2593 272.7 4.9 930 50658 0.17 0.00 0.00 0.000 2054 0.114 0.000 3700 2341 2495 2398 2593 0 0 0 0 0 0 14.45 14.52 14.50

50955 1.46 87.6 3700 2341 2398 2593 251.9 7.1 935 50956 0.00 0.00 0.00 0.000 6 0.000 0.000 3700 2341 2495 2398 2593 0 0 0 0 0 0 14.91 14.93 14.92

51256 1.46 87.6 3700 2341 2398 2593 229.3 7.5 940 51257 0.00 0.00 0.00 0.000 6 0.000 0.000 3700 2341 2495 2398 2593 0 0 0 0 0 0 14.99 15.01 15.00

51555 1.46 87.6 3700 2341 2398 2593 209.6 6.5 945 51556 0.00 0.00 0.00 0.000 6 0.000 0.000 3700 2341 2495 2397 2593 0 0 0 0 0 0 14.90 14.92 14.92

51855 1.46 87.6 3700 2341 2398 2593 189.3 6.8 950 51861 0.00 2.62 0.00 0.000 516 0.000 0.123 3702 955 2495 2398 2592 0 0 0 0 0 0 14.91 13.72 14.93

52054 1.46 87.6 3702 955 2398 2591 175.4 6.8 990 52058 0.00 2.47 0.00 0.000 1030 0.000 0.068 3701 2355 2494 2398 2591 0 0 0 0 0 0 14.20 14.06 14.28

52392 1.53 87.6 3701 2355 2398 2592 155.7 5.4 1002 52398 0.00 2.62 0.00 0.000 516 0.000 0.099 3702 946 2494 2398 2591 0 0 0 0 0 0 14.90 13.80 14.92

52564 1.63 87.6 3702 947 2398 2591 147.1 4.8 1037 52573 0.12 2.50 0.00 0.000 3078 0.133 0.068 3749 2350 2495 2398 2592 0 0 0 0 0 0 14.09 14.06 14.23

52871 1.70 87.6 3749 2350 2398 2591 131.0 5.4 1043 52872 0.00 0.00 0.00 0.000 6 0.000 0.000 3749 2350 2495 2398 2592 0 0 0 0 0 0 14.90 14.92 14.92

53171 1.85 87.6 3749 2350 2398 2591 118.0 4.2 1048 53173 0.20 0.00 0.00 0.000 2054 0.103 0.000 3829 2350 2495 2398 2592 0 0 0 0 0 0 14.40 14.50 14.47

53473 1.94 87.6 3829 2350 2398 2592 103.1 5.0 1053 53474 0.00 0.00 0.00 0.000 6 0.000 0.000 3829 2350 2494 2398 2591 0 0 0 0 0 0 14.92 14.94 14.93

53773 2.10 162.7 3828 2351 2398 2591 98.0 1.4 1058 53838 0.20 0.00 62.58 0.960 10246 0.106 0.000 3908 2350 2202 2139 2265 0 0 0 0 0 0 14.41 14.20 13.45

54132 2.10 162.7 3908 2350 2129 2254 73.2 7.0 1064 54133 0.00 0.00 0.00 0.000 6 0.000 0.000 3909 2350 2191 2130 2253 0 0 0 0 0 0 14.85 14.87 14.87

54431 2.26 236.3 3908 2350 2128 2253 66.3 1.5 1069 54494 0.10 0.00 57.20 0.894 10246 0.155 0.000 3959 2350 1899 1843 1956 0 0 0 0 0 0 14.54 14.21 13.54

54792 2.26 236.3 3959 2350 1834 1954 38.0 9.3 1075 54793 0.00 0.00 0.00 0.000 6 0.000 0.000 3960 2350 1894 1834 1954 0 0 0 0 0 0 14.85 14.87 14.87

55091 2.26 236.3 3959 2350 1833 1954 15.9 7.2 1080 55092 0.00 0.00 0.00 0.000 6 0.000 0.000 3959 2350 1894 1834 1954 0 0 0 0 0 0 14.93 14.95 14.94

55268 end climb: SURFACE_DEPTH_REACHED

state 55268 begin surface coast

55329 end surface coast: CONTROL_FINISHED_OK

state 55330 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	653	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	25	ALTIM_PING_DELTA	10
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	23	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	110617,092959,319.6853,5648.5669,40,0.8,42,-2.3,0.0,109.1,9,9.8	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	0.66	MHEAD_RNG_PITCHd_Wd	87.8,1740287,-19.0,-6.346,-29.47,1557
_SM_ANGLEo	-69.7	D_GRID	1000
GPS2	110617,093544,319.6298,5648.6211,7,0.7,9,-2.3,0.0,187.7,10,9.6

FINISH	-0.5,1.007756	_10V_AH	13.07,0.000
SM_CCo	55349,95.80,0.075,0,0,1031,450.12	FG_AHR_24Vo	0.000
SM_GC	0.71,9.90,0.00,95.80,0.057,0.000,0.075,174,2352,1031,-9.41,0.06,450.12,0,0,0,0,0,0,14.38,14.64,14.32	FG_AHR_10Vo	0.000
IRIDIUM_FIX	316.36,5649.15,100617,181232	MEM	310232
TT8_MAMPS	0.025466,0.108605	DATA_FILE_SIZE	50066,1084
HUMID	48.70	CAP_FILE_SIZE	214740,0
INTERNAL_PRESSURE	9.70776	CFSIZE	2097872896,2007597056
TCM_TEMP	26.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	284	CURRENT	0.053,69.18,1
_24V_AH	12.55,187.766	GPS	120617,010135,320.242,5650.064,35,0.8,37,-2.3,0.6,127.8,10,8.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	345	111.93	SBE_CT	633	23	184.49
Roll_motor	25	124	39.98	nil	0	0	0.00
VBD_pump_during_apogee	283	2119	7539.48	nil	0	0	0.00
VBD_pump_during_surface	95	74	90.14	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	236	170	506.23	nil	0	0	0.00
Transponder_ping	71	420	374.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	9	44	5.75
TT8	2823	11	422.84
LPSleep	50171	2	1436.09
TT8_Active	589	11	88.34
TT8_Sampling	1772	31	734.29
TT8_CF8	427	37	210.32
TT8_Kalman	0	0	0.00
Analog_circuits	1760	15	356.69
GPS_charging	0	0	0.00
Compass	1545	16	332.95
RAFOS	0	0	0.00
Transponder	0	5	0.04