Glider dive log

SODA Oct18 * SG228 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 228 HEADING -1 C_ROLL_CLIMB 2200 ALTIM_TOP_PING_RANGE 20

MISSION 15 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 13 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7545 R_PORT_OVSHOOT 36 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 18 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 150 SM_CC 567.43622 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 5

D_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2854 INT_PRESSURE_YINT 1.8

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.003 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 50 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 260 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 4 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 11400 STROBE 0 LOITER_W_DBAND 1 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 120 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 250 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 1 GPS_DEVICE 64

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 3 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3810 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2400 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 575 SEABIRD_T_G 0.0044279573

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.000658612

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.7901522e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.4987197e-06

SPEED_FACTOR 1 PITCH_GAIN 46 MAXI_24V 0.60000002 SEABIRD_C_G -9.9235325

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 1.4 SEABIRD_C_H 1.1433685

MASS 72009 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0023654797

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00025343007

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -154.09409 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010809835 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3950 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 COMPASS_USE 4

HD_C 1.6100001e-05 C_ROLL_DIVE 2400 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044279573

AH0_10V 0 D_TGT 150 PHONE_DEVICE 49 SEABIRD_T_H 0.000658612

AH0_24V 575 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.7901522e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.4987197e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 567.43622

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 46 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3810 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 64 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 20 HD_A 0.003 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 1.6100001e-05 PITCH_VBD_SHIFT 0.003 TGT_DEFAULT_LAT 7545

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -15041

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010809835 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -154.09409 T_DIVE 50

CAPUPLOAD 0 ID 228 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 1.8 P_OVSHOOT_WITHG 0 T_LOITER 11400

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 260

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2400 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 60

C_VBD 2854 LOITER_D_BOTTOM 250 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 120 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 1 ROLL_AD_RATE 100 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 1 ROLL_CNV 0.047120001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 72009 ROLL_DEG 80 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3950 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 13 MINV_10V 11 R_PORT_OVSHOOT 36 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 18 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 15 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 4

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 0 SEABIRD_C_G -9.9235325 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1433685 XPDR_VALID 5

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0023654797

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00025343007

Pre-dive calculations and measurements:

GPS1 121018,020554,7427.0649,-14620.6875,4,1.0,7,18.4,0.3,4.0,7,8.9 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7415.000,-14625.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.51 MHEAD_RNG_PITCHd_Wd 152.3,22484,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -74.2 D_GRID 150

GPS2 121018,020918,7427.0854,-14620.7432,4,1.0,7,18.4,0.4,327.7,7,9.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181012042824.320813,18,550,27,0045,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*37 _24V_AH 13.38,75.557

FINISH 0.1,1.021263 _10V_AH 13.11,0.000

SM_CCo 14642,0.00,0.000,0,0,491,579.64 FG_AHR_24Vo 0.000

SM_GC 1.69,10.20,0.65,0.00,0.124,0.068,0.000,196,2399,491,-6.84,-0.99,579.64,0,0,0,0,0,0,14.07,14.09,14.15 FG_AHR_10Vo 0.000

RAFOS_CLK 532 MEM 326348

MODEM 0,1539316920,73.00043,-148.33627,120.498,176530.0 DATA_FILE_SIZE 49900,1536

RAFOS_FIX 7426.763672,-14625.125977,121018,040424,5,255,0.27 CAP_FILE_SIZE 175748,0

IRIDIUM_FIX 7428.37,-14631.96,121018,020250 CFSIZE 2097872896,2093219840

TT8_MAMPS 0.042693,0.874832 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 44.99 INTR 0,16440.02,0x214798,7,24

INTERNAL_PRESSURE 9.30029 SOUNDSPEED 1442.9

TCM_TEMP 14.50 CURRENT 0.151,312.54,1

XPDR_PINGS 30 GPS 121018,061535,7427.610,-14623.753,42,1.8,43,18.4,0.3,20.2,5,8.4

ALTIM_TOP_PING 17.9,5.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 465 154.03 nil 0 0 0.00

Roll_motor 79 85 90.97 nil 0 0 0.00

VBD_pump_during_apogee 621 1776 14771.37 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 3160 34 1449.68

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 7 420 43.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 6 1.50

TT8 0 0 0.00

LPSleep 10854 2 328.71

TT8_Active 754 11 114.38

TT8_Sampling 2939 31 1196.06

TT8_CF8 197 36 93.90

TT8_Kalman 0 0 0.00

Analog_circuits 1897 10 271.19

GPS_charging 0 0 0.00

Compass 2181 6 192.78

RAFOS 2212 33 956.98

Transponder 2 30 0.99

Altimeter Analysis:

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

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

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.82 -146.0 196 2403 463 515 0.0 0.0 0 103 0.00 0.00 -91.68 0.003 16386 0.000 0.000 196 2402 2077 2178 1976 0 0 0 0 0 0 14.62 28.83 14.64

105 -0.82 -146.0 197 2404 2180 1981 6.4 -11.7 9 151 10.18 5.00 -26.00 0.005 18948 0.465 0.082 2146 721 3454 3569 3340 0 0 0 0 0 0 14.14 13.46 14.42

207 -0.82 -146.0 2146 721 3568 3341 53.1 -33.7 28 215 0.00 4.93 0.00 0.000 1030 0.000 0.060 2127 2399 3452 3564 3341 0 0 0 0 0 0 14.50 14.42 14.52

391 -0.82 -146.0 2128 2400 3568 3342 102.0 -21.4 47 402 0.00 4.68 0.00 0.000 260 0.000 0.086 2107 3949 3454 3565 3343 0 0 0 0 0 0 14.65 14.40 14.67

427 -0.82 -146.0 2107 3950 3560 3348 110.3 -23.7 54 434 0.00 4.43 0.00 0.000 1030 0.000 0.044 2110 2409 3453 3560 3347 0 0 0 0 0 0 14.52 14.45 14.53

612 -0.82 -146.0 2110 2409 3560 3348 149.0 -20.3 73 623 0.00 4.97 0.00 0.000 516 0.000 0.069 2110 701 3452 3559 3346 0 0 0 0 0 0 14.69 14.48 14.71

626 end dive: TARGET_DEPTH_EXCEEDED

state 626 begin apogee

635 -0.11 0.0 2095 2213 3560 3349 152.4 -21.0 76 763 1.10 0.00 124.20 1.642 10246 0.319 0.000 2360 2211 2853 2925 2782 0 0 0 0 0 0 14.31 14.02 13.40

764 end apogee: CONTROL_FINISHED_OK

state 764 begin loiter

939 -0.05 20.3 2360 2213 2917 2777 173.2 -5.2 107 960 0.00 0.00 17.85 1.577 8230 0.000 0.000 2360 2211 2769 2839 2699 0 0 0 0 0 0 14.45 14.19 13.54

1139 0.01 39.7 2360 2212 2838 2696 183.3 -5.0 127 1160 0.15 0.00 17.92 1.599 10278 0.281 0.000 2393 2212 2690 2756 2625 0 0 0 0 0 0 14.19 14.26 13.60

1341 0.05 52.1 2395 2212 2754 2623 190.5 -3.2 147 1360 0.00 0.00 12.23 1.576 8230 0.000 0.000 2394 2212 2638 2700 2577 0 0 0 0 0 0 14.54 14.32 13.64

1539 0.08 61.7 2394 2213 2700 2577 195.8 -2.5 167 1550 0.00 0.00 9.60 1.550 8230 0.000 0.000 2394 2212 2600 2659 2542 0 0 0 0 0 0 14.59 14.36 13.68

1729 0.10 70.3 2393 2212 2657 2541 200.1 -2.2 186 1740 0.12 0.00 9.43 1.565 10278 0.276 0.000 2424 2212 2564 2622 2507 0 0 0 0 0 0 14.31 14.40 13.71

1920 0.12 75.9 2423 2212 2621 2507 202.8 -1.4 205 1930 0.00 0.00 6.40 1.457 8230 0.000 0.000 2423 2212 2542 2598 2486 0 0 0 0 0 0 14.64 14.43 13.71

2109 0.13 80.6 2423 2212 2598 2486 205.3 -1.2 224 2120 0.00 0.00 5.95 1.440 8230 0.000 0.000 2423 2212 2523 2578 2468 0 0 0 0 0 0 14.69 14.32 13.71

2299 0.13 80.6 2424 2213 2579 2469 206.5 -0.5 243 2299 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2212 2522 2577 2468 0 0 0 0 0 0 14.71 14.73 14.72

2479 0.16 80.6 2423 2212 2577 2468 207.7 -0.8 261 2480 0.00 0.00 0.00 0.000 70 0.000 0.000 2424 2211 2522 2577 2468 0 0 0 0 0 0 14.74 14.76 14.76

2659 0.18 80.6 2423 2212 2576 2467 209.3 -0.9 279 2660 0.12 0.00 0.00 0.000 2118 0.266 0.000 2453 2212 2521 2576 2467 0 0 0 0 0 0 14.46 14.64 14.62

2839 0.20 80.6 2453 2212 2577 2467 210.6 -0.6 297 2840 0.00 0.00 0.00 0.000 70 0.000 0.000 2453 2212 2521 2576 2467 0 0 0 0 0 0 14.80 14.83 14.82

3019 0.20 80.6 2453 2212 2576 2467 211.3 -0.3 315 3019 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2212 2521 2576 2466 0 0 0 0 0 0 14.83 14.84 14.84

3199 0.20 80.6 2453 2213 2576 2466 211.8 -0.4 333 3199 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2212 2521 2576 2466 0 0 0 0 0 0 14.84 14.86 14.86

3379 0.23 80.6 2453 2212 2576 2466 213.2 -0.9 351 3380 0.00 0.00 0.00 0.000 70 0.000 0.000 2453 2212 2521 2576 2466 0 0 0 0 0 0 14.85 14.88 14.88

3559 0.26 80.6 2453 2212 2576 2466 215.0 -0.9 369 3560 0.00 0.00 0.00 0.000 70 0.000 0.000 2453 2212 2520 2576 2465 0 0 0 0 0 0 14.87 14.89 14.89

3739 0.26 80.6 2453 2212 2576 2466 215.9 -0.3 387 3740 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2212 2520 2575 2465 0 0 0 0 0 0 14.88 14.90 14.90

3919 0.26 80.6 2453 2213 2576 2465 215.8 0.1 405 3919 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2211 2520 2575 2465 0 0 0 0 0 0 14.90 14.92 14.92

4099 0.26 80.6 2453 2212 2575 2465 215.8 -0.2 423 4100 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2212 2520 2575 2465 0 0 0 0 0 0 14.91 14.92 14.92

4279 0.26 80.6 2453 2212 2575 2465 216.6 -0.4 441 4279 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2212 2520 2575 2465 0 0 0 0 0 0 14.91 14.94 14.92

4459 0.26 80.6 2454 2213 2576 2465 217.4 -0.4 459 4459 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2212 2519 2574 2464 0 0 0 0 0 0 14.92 14.95 14.94

4639 0.26 80.6 2454 2212 2576 2465 217.5 0.1 477 4640 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2211 2520 2575 2465 0 0 0 0 0 0 14.92 14.95 14.95

4819 0.26 80.6 2453 2212 2574 2465 217.1 0.2 495 4819 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2212 2519 2574 2464 0 0 0 0 0 0 14.94 14.95 14.95

4999 0.26 80.6 2453 2212 2574 2465 216.8 0.1 513 4999 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2212 2519 2574 2464 0 0 0 0 0 0 14.94 14.96 14.96

5179 0.26 80.6 2453 2212 2574 2465 217.1 -0.3 531 5179 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2212 2519 2574 2464 0 0 0 0 0 0 14.95 14.97 14.97

5359 0.27 80.6 2454 2212 2574 2464 218.0 -0.5 549 5360 0.12 0.00 0.00 0.000 2118 0.250 0.000 2484 2212 2519 2574 2464 0 0 0 0 0 0 14.64 14.82 14.78

5539 0.27 80.6 2485 2213 2575 2465 218.6 -0.3 567 5540 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2519 2574 2464 0 0 0 0 0 0 14.95 14.98 14.97

5719 0.27 80.6 2485 2213 2575 2465 219.3 -0.4 585 5719 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2212 2519 2574 2464 0 0 0 0 0 0 14.96 14.98 14.98

5899 0.27 80.6 2485 2213 2575 2465 219.9 -0.2 603 5899 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2519 2574 2464 0 0 0 0 0 0 14.97 14.99 14.98

6079 0.27 80.6 2484 2212 2574 2464 219.7 0.2 621 6079 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2211 2519 2574 2464 0 0 0 0 0 0 14.97 14.99 14.99

6259 0.27 80.6 2484 2212 2574 2464 219.4 0.0 639 6259 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2519 2574 2464 0 0 0 0 0 0 14.97 15.00 15.00

6439 0.27 80.6 2484 2212 2574 2464 219.9 -0.4 657 6439 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2519 2574 2464 0 0 0 0 0 0 14.97 15.00 14.99

6621 0.27 80.6 2485 2212 2576 2464 220.7 -0.3 675 6622 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2574 2463 0 0 0 0 0 0 14.91 14.93 14.92

6800 0.27 80.6 2484 2212 2574 2464 220.8 0.0 693 6801 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2574 2463 0 0 0 0 0 0 14.90 14.92 14.92

6980 0.27 80.6 2485 2213 2575 2464 220.8 -0.1 711 6981 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2573 2463 0 0 0 0 0 0 14.89 14.91 14.90

7160 0.27 80.6 2485 2212 2575 2464 221.2 -0.4 729 7161 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2574 2463 0 0 0 0 0 0 14.88 14.90 14.89

7340 0.27 80.6 2485 2212 2573 2464 221.9 -0.3 747 7341 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2211 2518 2573 2463 0 0 0 0 0 0 14.86 14.89 14.88

7520 0.27 80.6 2484 2213 2574 2464 222.1 -0.1 765 7521 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2573 2463 0 0 0 0 0 0 14.85 14.88 14.88

7700 0.27 80.6 2484 2212 2573 2466 222.2 -0.1 783 7701 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2574 2462 0 0 0 0 0 0 14.85 14.87 14.87

7880 0.27 80.6 2484 2212 2573 2464 222.4 -0.2 801 7881 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2517 2572 2463 0 0 0 0 0 0 14.84 14.86 14.86

8060 0.27 80.6 2484 2212 2575 2464 222.7 -0.1 819 8061 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2214 2518 2574 2463 0 0 0 0 0 0 14.83 14.85 14.85

8240 0.27 80.6 2484 2212 2574 2463 222.6 0.1 837 8241 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2573 2463 0 0 0 0 0 0 14.83 14.85 14.85

8420 0.27 80.6 2484 2212 2574 2464 222.5 -0.0 855 8421 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2573 2463 0 0 0 0 0 0 14.82 14.84 14.84

8600 0.27 80.6 2485 2213 2575 2464 223.0 -0.4 873 8601 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2574 2463 0 0 0 0 0 0 14.82 14.84 14.83

8780 0.27 80.6 2485 2212 2575 2464 223.8 -0.5 891 8781 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2573 2463 0 0 0 0 0 0 14.81 14.83 14.83

8960 0.27 80.6 2484 2212 2572 2463 224.2 0.0 909 8960 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2573 2463 0 0 0 0 0 0 14.88 14.90 14.90

9140 0.27 80.6 2484 2212 2573 2463 223.7 0.4 927 9141 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2573 2463 0 0 0 0 0 0 14.90 14.91 14.91

9320 0.27 80.6 2485 2213 2575 2464 223.4 -0.0 945 9321 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2573 2463 0 0 0 0 0 0 14.90 14.92 14.92

9500 0.29 80.6 2484 2212 2573 2463 224.1 -0.5 963 9501 0.00 0.00 0.00 0.000 70 0.000 0.000 2484 2212 2518 2573 2463 0 0 0 0 0 0 14.91 14.93 14.93

9680 0.29 80.6 2485 2213 2575 2464 224.7 -0.1 981 9681 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2573 2463 0 0 0 0 0 0 14.92 14.95 14.94

9860 0.29 80.6 2483 2212 2573 2463 224.3 0.4 999 9861 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2517 2573 2462 0 0 0 0 0 0 14.93 14.95 14.95

10040 0.29 80.6 2485 2213 2574 2463 224.1 -0.1 1017 10041 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2517 2573 2462 0 0 0 0 0 0 14.94 14.95 14.95

10220 0.29 80.6 2485 2213 2576 2463 224.4 -0.2 1035 10221 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2518 2574 2462 0 0 0 0 0 0 14.95 14.96 14.96

10400 0.29 80.6 2483 2212 2573 2463 224.5 -0.0 1053 10401 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2517 2573 2462 0 0 0 0 0 0 14.95 14.97 14.97

10580 0.29 80.6 2484 2212 2573 2463 225.0 -0.5 1071 10581 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2517 2573 2462 0 0 0 0 0 0 14.95 14.97 14.97

10760 0.29 80.6 2485 2213 2574 2463 225.8 -0.3 1089 10761 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2517 2573 2462 0 0 0 0 0 0 14.96 14.98 14.97

10940 0.29 80.6 2485 2213 2574 2463 225.7 0.2 1107 10941 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2517 2573 2462 0 0 0 0 0 0 14.96 14.99 14.98

11120 0.29 80.6 2484 2212 2573 2463 225.5 -0.0 1125 11121 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2517 2573 2462 0 0 0 0 0 0 14.96 14.99 14.98

11300 0.29 80.6 2484 2212 2573 2463 225.7 -0.1 1143 11301 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2517 2573 2462 0 0 0 0 0 0 14.97 15.00 14.99

11480 0.29 80.6 2485 2213 2574 2463 226.0 -0.2 1161 11481 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2517 2573 2462 0 0 0 0 0 0 14.97 15.00 15.00

11660 0.29 80.6 2485 2212 2574 2463 226.5 -0.3 1179 11661 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2517 2573 2462 0 0 0 0 0 0 14.97 15.00 15.00

11840 0.29 80.6 2484 2212 2573 2462 226.7 0.0 1197 11841 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2517 2573 2462 0 0 0 0 0 0 14.97 15.00 15.00

12020 0.29 80.6 2484 2212 2573 2462 226.2 0.3 1215 12021 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2212 2517 2573 2462 0 0 0 0 0 0 14.98 15.00 15.00

12157 end loiter: LOITER_COMPLETE

state 12157 begin climb

12160 0.82 146.0 2484 2212 2573 2462 226.0 0.0 1229 12231 0.57 5.05 59.45 1.776 10756 0.162 0.080 2682 510 2254 2299 2209 0 0 0 0 0 0 14.69 14.35 13.79

12261 0.94 146.0 2683 511 2296 2210 222.7 6.2 1247 12272 0.00 4.90 0.00 0.000 1094 0.000 0.054 2683 2206 2251 2296 2206 0 0 0 0 0 0 14.48 14.42 14.50

12453 1.04 146.0 2684 2207 2298 2202 210.4 6.5 1267 12454 0.17 0.00 0.00 0.000 2118 0.166 0.000 2736 2206 2248 2296 2200 0 0 0 0 0 0 14.45 14.58 14.57

12631 1.11 146.0 2737 2207 2297 2200 196.4 7.7 1285 12643 0.00 5.00 0.00 0.000 580 0.000 0.078 2757 512 2246 2293 2200 0 0 0 0 0 0 14.71 14.44 14.72

12693 1.14 146.0 2757 513 2294 2201 190.9 8.9 1297 12705 0.00 4.85 0.00 0.000 1094 0.000 0.054 2757 2201 2245 2292 2199 0 0 0 0 0 0 14.59 14.52 14.62

12883 1.25 146.0 2758 2202 2293 2200 177.5 6.5 1317 12885 0.15 0.00 0.00 0.000 2118 0.177 0.000 2800 2201 2245 2292 2199 0 0 0 0 0 0 14.49 14.63 14.61

13063 1.35 146.0 2799 2201 2292 2195 164.9 6.7 1335 13064 0.00 0.00 0.00 0.000 70 0.000 0.000 2800 2201 2245 2292 2198 0 0 0 0 0 0 14.73 14.76 14.76

13243 1.68 257.9 2800 2202 2293 2199 154.4 4.8 1353 13351 0.45 5.20 96.55 1.657 10788 0.141 0.077 2962 509 1797 1832 1762 0 0 0 0 0 0 14.51 14.09 13.54

13361 1.68 257.9 2962 509 1828 1764 142.0 15.5 1366 13369 0.00 5.00 0.00 0.000 1030 0.000 0.054 2957 2201 1795 1827 1763 0 0 0 0 0 0 14.20 14.13 14.21

13546 1.68 257.9 2956 2202 1825 1753 109.9 15.6 1385 13558 0.00 5.10 0.00 0.000 516 0.000 0.076 2976 503 1787 1822 1752 0 0 0 0 0 0 14.47 14.25 14.49

13583 1.68 257.9 2976 503 1820 1754 103.8 17.0 1392 13590 0.15 4.97 0.00 0.000 5126 0.381 0.053 2947 2206 1786 1820 1753 0 0 0 0 0 0 14.12 14.32 14.36

13770 1.71 257.9 2947 2206 1820 1751 82.2 9.0 1411 13771 0.00 0.00 0.00 0.000 70 0.000 0.000 2947 2206 1785 1821 1750 0 0 0 0 0 0 14.53 14.56 14.56

13948 2.29 448.6 2948 2207 1822 1748 75.1 1.1 1429 14116 0.57 5.28 155.77 1.508 10532 0.141 0.085 3127 3890 1020 1024 1017 0 0 0 0 0 0 14.34 13.90 13.38

14342 2.97 677.1 3126 3890 1017 1014 32.7 -0.6 1504 14458 0.68 4.95 106.15 1.418 11302 0.149 0.043 3349 2186 496 470 522 0 0 0 0 0 0 14.13 14.20 13.40

14552 end climb: SURFACE_DEPTH_REACHED

state 14552 begin surface coast

14563 end surface coast: CONTROL_FINISHED_OK

state 14563 begin surface

ID	228	HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_TOP_PING_RANGE	20
MISSION	15	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	13	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7545	R_PORT_OVSHOOT	36	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	18	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	150	SM_CC	567.43622	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	5
D_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2854	INT_PRESSURE_YINT	1.8
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.003	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	50	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	260	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	4	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	11400	STROBE	0	LOITER_W_DBAND	1	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	120	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	250	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	1	GPS_DEVICE	64
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	3	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3810	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2400	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	575	SEABIRD_T_G	0.0044279573
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.000658612
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.7901522e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.4987197e-06
SPEED_FACTOR	1	PITCH_GAIN	46	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9235325
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	1.4	SEABIRD_C_H	1.1433685
MASS	72009	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0023654797
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00025343007
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-154.09409	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010809835	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3950	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	COMPASS_USE	4
HD_C	1.6100001e-05	C_ROLL_DIVE	2400	ALTIM_PING_FIT	0

GPS1	121018,020554,7427.0649,-14620.6875,4,1.0,7,18.4,0.3,4.0,7,8.9	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7415.000,-14625.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.51	MHEAD_RNG_PITCHd_Wd	152.3,22484,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-74.2	D_GRID	150
GPS2	121018,020918,7427.0854,-14620.7432,4,1.0,7,18.4,0.4,327.7,7,9.0

MODEM_MSG	CACST,6,1,20181012042824.320813,18,550,27,0045,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*37	_24V_AH	13.38,75.557
FINISH	0.1,1.021263	_10V_AH	13.11,0.000
SM_CCo	14642,0.00,0.000,0,0,491,579.64	FG_AHR_24Vo	0.000
SM_GC	1.69,10.20,0.65,0.00,0.124,0.068,0.000,196,2399,491,-6.84,-0.99,579.64,0,0,0,0,0,0,14.07,14.09,14.15	FG_AHR_10Vo	0.000
RAFOS_CLK	532	MEM	326348
MODEM	0,1539316920,73.00043,-148.33627,120.498,176530.0	DATA_FILE_SIZE	49900,1536
RAFOS_FIX	7426.763672,-14625.125977,121018,040424,5,255,0.27	CAP_FILE_SIZE	175748,0
IRIDIUM_FIX	7428.37,-14631.96,121018,020250	CFSIZE	2097872896,2093219840
TT8_MAMPS	0.042693,0.874832	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	44.99	INTR	0,16440.02,0x214798,7,24
INTERNAL_PRESSURE	9.30029	SOUNDSPEED	1442.9
TCM_TEMP	14.50	CURRENT	0.151,312.54,1
XPDR_PINGS	30	GPS	121018,061535,7427.610,-14623.753,42,1.8,43,18.4,0.3,20.2,5,8.4
ALTIM_TOP_PING	17.9,5.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	465	154.03	nil	0	0	0.00
Roll_motor	79	85	90.97	nil	0	0	0.00
VBD_pump_during_apogee	621	1776	14771.37	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	3160	34	1449.68
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	7	420	43.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	6	1.50
TT8	0	0	0.00
LPSleep	10854	2	328.71
TT8_Active	754	11	114.38
TT8_Sampling	2939	31	1196.06
TT8_CF8	197	36	93.90
TT8_Kalman	0	0	0.00
Analog_circuits	1897	10	271.19
GPS_charging	0	0	0.00
Compass	2181	6	192.78
RAFOS	2212	33	956.98
Transponder	2	30	0.99

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

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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-0.82	-146.0	196	2403	463	515	0.0	0.0	0	103	0.00	0.00	-91.68	0.003	16386	0.000	0.000	196	2402	2077	2178	1976	0	0	0	0	0	0	14.62	28.83	14.64
105	-0.82	-146.0	197	2404	2180	1981	6.4	-11.7	9	151	10.18	5.00	-26.00	0.005	18948	0.465	0.082	2146	721	3454	3569	3340	0	0	0	0	0	0	14.14	13.46	14.42
207	-0.82	-146.0	2146	721	3568	3341	53.1	-33.7	28	215	0.00	4.93	0.00	0.000	1030	0.000	0.060	2127	2399	3452	3564	3341	0	0	0	0	0	0	14.50	14.42	14.52
391	-0.82	-146.0	2128	2400	3568	3342	102.0	-21.4	47	402	0.00	4.68	0.00	0.000	260	0.000	0.086	2107	3949	3454	3565	3343	0	0	0	0	0	0	14.65	14.40	14.67
427	-0.82	-146.0	2107	3950	3560	3348	110.3	-23.7	54	434	0.00	4.43	0.00	0.000	1030	0.000	0.044	2110	2409	3453	3560	3347	0	0	0	0	0	0	14.52	14.45	14.53
612	-0.82	-146.0	2110	2409	3560	3348	149.0	-20.3	73	623	0.00	4.97	0.00	0.000	516	0.000	0.069	2110	701	3452	3559	3346	0	0	0	0	0	0	14.69	14.48	14.71
626	end dive: TARGET_DEPTH_EXCEEDED
state	626	begin apogee
635	-0.11	0.0	2095	2213	3560	3349	152.4	-21.0	76	763	1.10	0.00	124.20	1.642	10246	0.319	0.000	2360	2211	2853	2925	2782	0	0	0	0	0	0	14.31	14.02	13.40
764	end apogee: CONTROL_FINISHED_OK
state	764	begin loiter
939	-0.05	20.3	2360	2213	2917	2777	173.2	-5.2	107	960	0.00	0.00	17.85	1.577	8230	0.000	0.000	2360	2211	2769	2839	2699	0	0	0	0	0	0	14.45	14.19	13.54
1139	0.01	39.7	2360	2212	2838	2696	183.3	-5.0	127	1160	0.15	0.00	17.92	1.599	10278	0.281	0.000	2393	2212	2690	2756	2625	0	0	0	0	0	0	14.19	14.26	13.60
1341	0.05	52.1	2395	2212	2754	2623	190.5	-3.2	147	1360	0.00	0.00	12.23	1.576	8230	0.000	0.000	2394	2212	2638	2700	2577	0	0	0	0	0	0	14.54	14.32	13.64
1539	0.08	61.7	2394	2213	2700	2577	195.8	-2.5	167	1550	0.00	0.00	9.60	1.550	8230	0.000	0.000	2394	2212	2600	2659	2542	0	0	0	0	0	0	14.59	14.36	13.68
1729	0.10	70.3	2393	2212	2657	2541	200.1	-2.2	186	1740	0.12	0.00	9.43	1.565	10278	0.276	0.000	2424	2212	2564	2622	2507	0	0	0	0	0	0	14.31	14.40	13.71
1920	0.12	75.9	2423	2212	2621	2507	202.8	-1.4	205	1930	0.00	0.00	6.40	1.457	8230	0.000	0.000	2423	2212	2542	2598	2486	0	0	0	0	0	0	14.64	14.43	13.71
2109	0.13	80.6	2423	2212	2598	2486	205.3	-1.2	224	2120	0.00	0.00	5.95	1.440	8230	0.000	0.000	2423	2212	2523	2578	2468	0	0	0	0	0	0	14.69	14.32	13.71
2299	0.13	80.6	2424	2213	2579	2469	206.5	-0.5	243	2299	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2212	2522	2577	2468	0	0	0	0	0	0	14.71	14.73	14.72
2479	0.16	80.6	2423	2212	2577	2468	207.7	-0.8	261	2480	0.00	0.00	0.00	0.000	70	0.000	0.000	2424	2211	2522	2577	2468	0	0	0	0	0	0	14.74	14.76	14.76
2659	0.18	80.6	2423	2212	2576	2467	209.3	-0.9	279	2660	0.12	0.00	0.00	0.000	2118	0.266	0.000	2453	2212	2521	2576	2467	0	0	0	0	0	0	14.46	14.64	14.62
2839	0.20	80.6	2453	2212	2577	2467	210.6	-0.6	297	2840	0.00	0.00	0.00	0.000	70	0.000	0.000	2453	2212	2521	2576	2467	0	0	0	0	0	0	14.80	14.83	14.82
3019	0.20	80.6	2453	2212	2576	2467	211.3	-0.3	315	3019	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2212	2521	2576	2466	0	0	0	0	0	0	14.83	14.84	14.84
3199	0.20	80.6	2453	2213	2576	2466	211.8	-0.4	333	3199	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2212	2521	2576	2466	0	0	0	0	0	0	14.84	14.86	14.86
3379	0.23	80.6	2453	2212	2576	2466	213.2	-0.9	351	3380	0.00	0.00	0.00	0.000	70	0.000	0.000	2453	2212	2521	2576	2466	0	0	0	0	0	0	14.85	14.88	14.88
3559	0.26	80.6	2453	2212	2576	2466	215.0	-0.9	369	3560	0.00	0.00	0.00	0.000	70	0.000	0.000	2453	2212	2520	2576	2465	0	0	0	0	0	0	14.87	14.89	14.89
3739	0.26	80.6	2453	2212	2576	2466	215.9	-0.3	387	3740	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2212	2520	2575	2465	0	0	0	0	0	0	14.88	14.90	14.90
3919	0.26	80.6	2453	2213	2576	2465	215.8	0.1	405	3919	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2211	2520	2575	2465	0	0	0	0	0	0	14.90	14.92	14.92
4099	0.26	80.6	2453	2212	2575	2465	215.8	-0.2	423	4100	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2212	2520	2575	2465	0	0	0	0	0	0	14.91	14.92	14.92
4279	0.26	80.6	2453	2212	2575	2465	216.6	-0.4	441	4279	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2212	2520	2575	2465	0	0	0	0	0	0	14.91	14.94	14.92
4459	0.26	80.6	2454	2213	2576	2465	217.4	-0.4	459	4459	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2212	2519	2574	2464	0	0	0	0	0	0	14.92	14.95	14.94
4639	0.26	80.6	2454	2212	2576	2465	217.5	0.1	477	4640	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2211	2520	2575	2465	0	0	0	0	0	0	14.92	14.95	14.95
4819	0.26	80.6	2453	2212	2574	2465	217.1	0.2	495	4819	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2212	2519	2574	2464	0	0	0	0	0	0	14.94	14.95	14.95
4999	0.26	80.6	2453	2212	2574	2465	216.8	0.1	513	4999	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2212	2519	2574	2464	0	0	0	0	0	0	14.94	14.96	14.96
5179	0.26	80.6	2453	2212	2574	2465	217.1	-0.3	531	5179	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2212	2519	2574	2464	0	0	0	0	0	0	14.95	14.97	14.97
5359	0.27	80.6	2454	2212	2574	2464	218.0	-0.5	549	5360	0.12	0.00	0.00	0.000	2118	0.250	0.000	2484	2212	2519	2574	2464	0	0	0	0	0	0	14.64	14.82	14.78
5539	0.27	80.6	2485	2213	2575	2465	218.6	-0.3	567	5540	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2519	2574	2464	0	0	0	0	0	0	14.95	14.98	14.97
5719	0.27	80.6	2485	2213	2575	2465	219.3	-0.4	585	5719	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2212	2519	2574	2464	0	0	0	0	0	0	14.96	14.98	14.98
5899	0.27	80.6	2485	2213	2575	2465	219.9	-0.2	603	5899	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2519	2574	2464	0	0	0	0	0	0	14.97	14.99	14.98
6079	0.27	80.6	2484	2212	2574	2464	219.7	0.2	621	6079	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2211	2519	2574	2464	0	0	0	0	0	0	14.97	14.99	14.99
6259	0.27	80.6	2484	2212	2574	2464	219.4	0.0	639	6259	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2519	2574	2464	0	0	0	0	0	0	14.97	15.00	15.00
6439	0.27	80.6	2484	2212	2574	2464	219.9	-0.4	657	6439	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2519	2574	2464	0	0	0	0	0	0	14.97	15.00	14.99
6621	0.27	80.6	2485	2212	2576	2464	220.7	-0.3	675	6622	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2574	2463	0	0	0	0	0	0	14.91	14.93	14.92
6800	0.27	80.6	2484	2212	2574	2464	220.8	0.0	693	6801	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2574	2463	0	0	0	0	0	0	14.90	14.92	14.92
6980	0.27	80.6	2485	2213	2575	2464	220.8	-0.1	711	6981	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2573	2463	0	0	0	0	0	0	14.89	14.91	14.90
7160	0.27	80.6	2485	2212	2575	2464	221.2	-0.4	729	7161	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2574	2463	0	0	0	0	0	0	14.88	14.90	14.89
7340	0.27	80.6	2485	2212	2573	2464	221.9	-0.3	747	7341	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2211	2518	2573	2463	0	0	0	0	0	0	14.86	14.89	14.88
7520	0.27	80.6	2484	2213	2574	2464	222.1	-0.1	765	7521	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2573	2463	0	0	0	0	0	0	14.85	14.88	14.88
7700	0.27	80.6	2484	2212	2573	2466	222.2	-0.1	783	7701	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2574	2462	0	0	0	0	0	0	14.85	14.87	14.87
7880	0.27	80.6	2484	2212	2573	2464	222.4	-0.2	801	7881	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2517	2572	2463	0	0	0	0	0	0	14.84	14.86	14.86
8060	0.27	80.6	2484	2212	2575	2464	222.7	-0.1	819	8061	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2214	2518	2574	2463	0	0	0	0	0	0	14.83	14.85	14.85
8240	0.27	80.6	2484	2212	2574	2463	222.6	0.1	837	8241	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2573	2463	0	0	0	0	0	0	14.83	14.85	14.85
8420	0.27	80.6	2484	2212	2574	2464	222.5	-0.0	855	8421	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2573	2463	0	0	0	0	0	0	14.82	14.84	14.84
8600	0.27	80.6	2485	2213	2575	2464	223.0	-0.4	873	8601	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2574	2463	0	0	0	0	0	0	14.82	14.84	14.83
8780	0.27	80.6	2485	2212	2575	2464	223.8	-0.5	891	8781	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2573	2463	0	0	0	0	0	0	14.81	14.83	14.83
8960	0.27	80.6	2484	2212	2572	2463	224.2	0.0	909	8960	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2573	2463	0	0	0	0	0	0	14.88	14.90	14.90
9140	0.27	80.6	2484	2212	2573	2463	223.7	0.4	927	9141	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2573	2463	0	0	0	0	0	0	14.90	14.91	14.91
9320	0.27	80.6	2485	2213	2575	2464	223.4	-0.0	945	9321	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2573	2463	0	0	0	0	0	0	14.90	14.92	14.92
9500	0.29	80.6	2484	2212	2573	2463	224.1	-0.5	963	9501	0.00	0.00	0.00	0.000	70	0.000	0.000	2484	2212	2518	2573	2463	0	0	0	0	0	0	14.91	14.93	14.93
9680	0.29	80.6	2485	2213	2575	2464	224.7	-0.1	981	9681	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2573	2463	0	0	0	0	0	0	14.92	14.95	14.94
9860	0.29	80.6	2483	2212	2573	2463	224.3	0.4	999	9861	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2517	2573	2462	0	0	0	0	0	0	14.93	14.95	14.95
10040	0.29	80.6	2485	2213	2574	2463	224.1	-0.1	1017	10041	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2517	2573	2462	0	0	0	0	0	0	14.94	14.95	14.95
10220	0.29	80.6	2485	2213	2576	2463	224.4	-0.2	1035	10221	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2518	2574	2462	0	0	0	0	0	0	14.95	14.96	14.96
10400	0.29	80.6	2483	2212	2573	2463	224.5	-0.0	1053	10401	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2517	2573	2462	0	0	0	0	0	0	14.95	14.97	14.97
10580	0.29	80.6	2484	2212	2573	2463	225.0	-0.5	1071	10581	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2517	2573	2462	0	0	0	0	0	0	14.95	14.97	14.97
10760	0.29	80.6	2485	2213	2574	2463	225.8	-0.3	1089	10761	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2517	2573	2462	0	0	0	0	0	0	14.96	14.98	14.97
10940	0.29	80.6	2485	2213	2574	2463	225.7	0.2	1107	10941	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2517	2573	2462	0	0	0	0	0	0	14.96	14.99	14.98
11120	0.29	80.6	2484	2212	2573	2463	225.5	-0.0	1125	11121	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2517	2573	2462	0	0	0	0	0	0	14.96	14.99	14.98
11300	0.29	80.6	2484	2212	2573	2463	225.7	-0.1	1143	11301	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2517	2573	2462	0	0	0	0	0	0	14.97	15.00	14.99
11480	0.29	80.6	2485	2213	2574	2463	226.0	-0.2	1161	11481	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2517	2573	2462	0	0	0	0	0	0	14.97	15.00	15.00
11660	0.29	80.6	2485	2212	2574	2463	226.5	-0.3	1179	11661	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2517	2573	2462	0	0	0	0	0	0	14.97	15.00	15.00
11840	0.29	80.6	2484	2212	2573	2462	226.7	0.0	1197	11841	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2517	2573	2462	0	0	0	0	0	0	14.97	15.00	15.00
12020	0.29	80.6	2484	2212	2573	2462	226.2	0.3	1215	12021	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2212	2517	2573	2462	0	0	0	0	0	0	14.98	15.00	15.00
12157	end loiter: LOITER_COMPLETE
state	12157	begin climb
12160	0.82	146.0	2484	2212	2573	2462	226.0	0.0	1229	12231	0.57	5.05	59.45	1.776	10756	0.162	0.080	2682	510	2254	2299	2209	0	0	0	0	0	0	14.69	14.35	13.79
12261	0.94	146.0	2683	511	2296	2210	222.7	6.2	1247	12272	0.00	4.90	0.00	0.000	1094	0.000	0.054	2683	2206	2251	2296	2206	0	0	0	0	0	0	14.48	14.42	14.50
12453	1.04	146.0	2684	2207	2298	2202	210.4	6.5	1267	12454	0.17	0.00	0.00	0.000	2118	0.166	0.000	2736	2206	2248	2296	2200	0	0	0	0	0	0	14.45	14.58	14.57
12631	1.11	146.0	2737	2207	2297	2200	196.4	7.7	1285	12643	0.00	5.00	0.00	0.000	580	0.000	0.078	2757	512	2246	2293	2200	0	0	0	0	0	0	14.71	14.44	14.72
12693	1.14	146.0	2757	513	2294	2201	190.9	8.9	1297	12705	0.00	4.85	0.00	0.000	1094	0.000	0.054	2757	2201	2245	2292	2199	0	0	0	0	0	0	14.59	14.52	14.62
12883	1.25	146.0	2758	2202	2293	2200	177.5	6.5	1317	12885	0.15	0.00	0.00	0.000	2118	0.177	0.000	2800	2201	2245	2292	2199	0	0	0	0	0	0	14.49	14.63	14.61
13063	1.35	146.0	2799	2201	2292	2195	164.9	6.7	1335	13064	0.00	0.00	0.00	0.000	70	0.000	0.000	2800	2201	2245	2292	2198	0	0	0	0	0	0	14.73	14.76	14.76
13243	1.68	257.9	2800	2202	2293	2199	154.4	4.8	1353	13351	0.45	5.20	96.55	1.657	10788	0.141	0.077	2962	509	1797	1832	1762	0	0	0	0	0	0	14.51	14.09	13.54
13361	1.68	257.9	2962	509	1828	1764	142.0	15.5	1366	13369	0.00	5.00	0.00	0.000	1030	0.000	0.054	2957	2201	1795	1827	1763	0	0	0	0	0	0	14.20	14.13	14.21
13546	1.68	257.9	2956	2202	1825	1753	109.9	15.6	1385	13558	0.00	5.10	0.00	0.000	516	0.000	0.076	2976	503	1787	1822	1752	0	0	0	0	0	0	14.47	14.25	14.49
13583	1.68	257.9	2976	503	1820	1754	103.8	17.0	1392	13590	0.15	4.97	0.00	0.000	5126	0.381	0.053	2947	2206	1786	1820	1753	0	0	0	0	0	0	14.12	14.32	14.36
13770	1.71	257.9	2947	2206	1820	1751	82.2	9.0	1411	13771	0.00	0.00	0.00	0.000	70	0.000	0.000	2947	2206	1785	1821	1750	0	0	0	0	0	0	14.53	14.56	14.56
13948	2.29	448.6	2948	2207	1822	1748	75.1	1.1	1429	14116	0.57	5.28	155.77	1.508	10532	0.141	0.085	3127	3890	1020	1024	1017	0	0	0	0	0	0	14.34	13.90	13.38
14342	2.97	677.1	3126	3890	1017	1014	32.7	-0.6	1504	14458	0.68	4.95	106.15	1.418	11302	0.149	0.043	3349	2186	496	470	522	0	0	0	0	0	0	14.13	14.20	13.40
14552	end climb: SURFACE_DEPTH_REACHED
state	14552	begin surface coast
14563	end surface coast: CONTROL_FINISHED_OK
state	14563	begin surface