Glider dive log

SODA Oct18 * SG228 * Dive index * Mission links * Dive 15 * 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 15 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 20 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 15 MINV_10V 11 R_PORT_OVSHOOT 20 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 121018,103520,7427.9937,-14626.8574,33,0.8,34,18.3,0.3,29.4,10,3.1 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 1.61 MHEAD_RNG_PITCHd_Wd 133.7,24168,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -74.1 D_GRID 150

GPS2 121018,104314,7428.0381,-14627.0352,4,0.8,4,18.3,0.3,333.8,10,7.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181012121619.716054,18,7300,38,0067,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*03 ALTIM_TOP_PING 19.9,5.7

FINISH 0.5,1.021218 _24V_AH 13.34,76.354

SM_CCo 14541,82.28,0.802,1,0,540,567.62 _10V_AH 13.03,0.000

SM_GC 1.16,10.82,0.57,82.28,0.193,0.069,0.802,194,2402,540,-6.84,-0.90,567.62,0,0,0,0,1,0,14.14,14.16,13.50 FG_AHR_24Vo 0.000

RAFOS_CLK 666 FG_AHR_10Vo 0.000

MODEM 0,1539345721,73.00043,-148.33627,121.685,175531.1 MEM 326304

RAFOS_FIX 7428.574707,-14627.705078,121018,121219,4,255,0.19 DATA_FILE_SIZE 49956,1534

IRIDIUM_FIX 7430.10,-14627.53,121018,062034 CAP_FILE_SIZE 163192,0

TT8_MAMPS 0.040446,0.92876 CFSIZE 2097872896,2092859392

HUMID 43.62 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 9.30029 SOUNDSPEED 1442.6

TCM_TEMP 14.50 CURRENT 0.164,308.15,1

XPDR_PINGS 10 GPS 121018,145031,7428.587,-14630.462,124,0.7,125,18.3,0.1,0.0,12,2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 444 146.15 nil 0 0 0.00

Roll_motor 81 133 144.84 nil 0 0 0.00

VBD_pump_during_apogee 576 1771 13634.45 nil 0 0 0.00

VBD_pump_during_surface 82 801 879.93 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 3138 32 1366.17

Iridium_during_xfer 309 192 792.27 nil 0 0 0.00

Transponder_ping 2 420 15.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 6 1.34

TT8 0 0 0.00

LPSleep 10805 2 325.22

TT8_Active 785 11 118.48

TT8_Sampling 3233 31 1307.73

TT8_CF8 285 36 135.00

TT8_Kalman 0 0 0.00

Analog_circuits 2238 10 317.99

GPS_charging 0 0 0.00

Compass 2180 6 191.51

RAFOS 2210 33 950.28

Transponder 2 30 0.98

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 -146.0 207 2394 464 517 0.0 0.0 0 82 0.00 0.00 -71.80 0.003 16386 0.000 0.000 205 2393 1756 1863 1650 0 0 0 0 0 0 14.45 28.83 14.47

85 -0.82 -146.0 206 2395 1864 1654 5.0 -8.8 7 141 9.90 5.07 -36.45 0.005 18948 0.444 0.078 2149 704 3455 3572 3338 0 0 0 0 0 0 14.03 13.34 14.29

166 -0.82 -146.0 2150 705 3573 3340 40.3 -50.1 22 173 0.00 5.03 0.00 0.000 1030 0.000 0.060 2130 2399 3455 3572 3339 0 0 0 0 0 0 14.33 14.25 14.35

358 -0.82 -146.0 2130 2399 3573 3340 97.9 -22.2 42 358 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2399 3455 3572 3339 0 0 0 0 0 0 14.52 14.54 14.52

538 -0.82 -146.0 2131 2400 3573 3340 134.6 -19.7 60 549 0.00 5.00 0.00 0.000 516 0.000 0.069 2138 704 3454 3570 3339 0 0 0 0 0 0 14.59 14.39 14.61

558 -0.82 -146.0 2135 704 3571 3340 138.9 -20.8 64 569 0.00 4.97 0.00 0.000 1030 0.000 0.056 2119 2407 3455 3571 3339 0 0 0 0 0 0 14.51 14.40 14.50

616 end dive: TARGET_DEPTH_EXCEEDED

state 616 begin apogee

622 -0.11 0.0 2119 2177 3572 3340 150.8 -19.8 71 751 0.98 0.10 124.00 1.629 10246 0.299 0.134 2354 2223 2854 2930 2778 0 0 0 0 0 0 14.25 13.97 13.38

752 end apogee: CONTROL_FINISHED_OK

state 752 begin loiter

929 -0.04 22.0 2357 2223 2926 2776 170.9 -5.7 102 950 0.00 0.00 20.00 1.577 8230 0.000 0.000 2357 2223 2762 2836 2688 0 0 0 0 0 0 14.40 14.14 13.49

1129 0.01 40.1 2355 2223 2834 2686 181.0 -4.6 122 1150 0.17 0.00 16.92 1.590 10278 0.277 0.000 2396 2223 2687 2756 2618 0 0 0 0 0 0 14.15 14.21 13.55

1330 0.04 51.1 2395 2223 2755 2619 187.4 -2.8 142 1343 0.00 0.00 11.10 1.558 8230 0.000 0.000 2395 2223 2644 2710 2578 0 0 0 0 0 0 14.51 14.28 13.61

1519 0.08 61.8 2396 2224 2708 2577 192.4 -2.7 161 1531 0.00 0.00 10.73 1.567 8230 0.000 0.000 2396 2223 2600 2663 2538 0 0 0 0 0 0 14.57 14.33 13.64

1709 0.10 70.4 2396 2224 2662 2538 196.9 -2.2 180 1720 0.12 0.00 9.38 1.558 10278 0.275 0.000 2424 2223 2564 2625 2503 0 0 0 0 0 0 14.28 14.36 13.67

1900 0.12 75.2 2423 2223 2624 2505 199.6 -1.2 199 1910 0.00 0.00 5.78 1.412 8230 0.000 0.000 2424 2223 2545 2604 2486 0 0 0 0 0 0 14.62 14.40 13.67

2089 0.14 75.2 2425 2224 2606 2487 201.2 -0.7 218 2089 0.00 0.00 0.00 0.000 70 0.000 0.000 2424 2222 2545 2604 2486 0 0 0 0 0 0 14.66 14.68 14.67

2269 0.16 75.2 2423 2223 2604 2486 202.5 -0.8 236 2270 0.00 0.00 0.00 0.000 70 0.000 0.000 2424 2223 2545 2604 2486 0 0 0 0 0 0 14.71 14.72 14.71

2449 0.17 79.2 2424 2223 2605 2486 204.3 -1.0 254 2459 0.00 0.00 5.15 1.398 8230 0.000 0.000 2424 2223 2527 2586 2469 0 0 0 0 0 0 14.73 14.34 13.70

2639 0.17 79.2 2425 2224 2588 2470 205.2 -0.2 273 2639 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2223 2528 2587 2470 0 0 0 0 0 0 14.75 14.77 14.80

2819 0.19 79.2 2425 2224 2588 2470 205.9 -0.5 291 2820 0.12 0.00 0.00 0.000 2118 0.268 0.000 2454 2223 2528 2587 2470 0 0 0 0 0 0 14.47 14.64 14.62

2999 0.22 79.2 2453 2224 2588 2471 207.1 -0.9 309 2999 0.00 0.00 0.00 0.000 70 0.000 0.000 2454 2223 2528 2587 2469 0 0 0 0 0 0 14.81 14.82 14.82

3179 0.24 79.2 2453 2223 2586 2470 208.8 -0.8 327 3179 0.00 0.00 0.00 0.000 70 0.000 0.000 2454 2223 2528 2587 2470 0 0 0 0 0 0 14.82 14.84 14.84

3359 0.26 79.2 2454 2224 2588 2470 210.1 -0.7 345 3359 0.00 0.00 0.00 0.000 70 0.000 0.000 2454 2223 2528 2587 2469 0 0 0 0 0 0 14.84 14.86 14.85

3539 0.26 79.2 2454 2224 2588 2471 211.2 -0.5 363 3539 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2223 2528 2587 2469 0 0 0 0 0 0 14.85 14.88 14.88

3719 0.26 79.2 2453 2223 2587 2470 211.9 -0.3 381 3720 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2223 2528 2587 2469 0 0 0 0 0 0 14.87 14.89 14.88

3899 0.28 79.2 2453 2223 2587 2470 212.8 -0.7 399 3900 0.12 0.00 0.00 0.000 2118 0.246 0.000 2485 2223 2527 2587 2468 0 0 0 0 0 0 14.57 14.75 14.72

4079 0.31 79.2 2486 2224 2589 2470 214.3 -0.9 417 4079 0.00 0.00 0.00 0.000 70 0.000 0.000 2485 2223 2528 2587 2469 0 0 0 0 0 0 14.89 14.91 14.91

4259 0.33 79.2 2485 2224 2589 2470 215.7 -0.6 435 4259 0.00 0.00 0.00 0.000 70 0.000 0.000 2485 2223 2528 2587 2469 0 0 0 0 0 0 14.90 14.92 14.92

4439 0.33 79.2 2485 2223 2587 2469 216.1 -0.0 453 4439 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2528 2587 2469 0 0 0 0 0 0 14.91 14.93 14.93

4629 0.33 79.2 2485 2224 2588 2470 216.4 -0.3 471 4630 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2223 2528 2587 2469 0 0 0 0 0 0 14.85 14.87 14.87

4808 0.33 79.2 2486 2224 2588 2469 217.1 -0.4 489 4809 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2528 2587 2469 0 0 0 0 0 0 14.84 14.86 14.85

4988 0.33 79.2 2485 2224 2588 2470 217.7 -0.4 507 4989 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2528 2587 2469 0 0 0 0 0 0 14.83 14.85 14.85

5168 0.33 79.2 2485 2223 2587 2469 218.4 -0.4 525 5169 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2528 2588 2469 0 0 0 0 0 0 14.83 14.85 14.84

5348 0.33 79.2 2484 2223 2587 2469 218.9 -0.2 543 5349 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2223 2527 2587 2468 0 0 0 0 0 0 14.82 14.84 14.85

5528 0.33 79.2 2484 2223 2586 2469 219.2 -0.1 561 5529 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2585 2469 0 0 0 0 0 0 14.81 14.83 14.83

5708 0.33 79.2 2484 2223 2587 2469 219.0 0.1 579 5709 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2528 2587 2469 0 0 0 0 0 0 14.81 14.83 14.83

5888 0.33 79.2 2484 2223 2586 2469 219.2 -0.2 597 5889 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2222 2527 2586 2469 0 0 0 0 0 0 14.79 14.83 14.82

6068 0.33 79.2 2485 2223 2587 2469 219.7 -0.2 615 6069 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2587 2468 0 0 0 0 0 0 14.80 14.82 14.82

6248 0.33 79.2 2485 2224 2587 2469 219.7 0.1 633 6249 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2587 2468 0 0 0 0 0 0 14.80 14.83 14.81

6428 0.33 79.2 2486 2224 2588 2469 219.3 0.2 651 6429 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.79 14.81 14.81

6608 0.33 79.2 2485 2223 2587 2469 219.3 -0.1 669 6609 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2587 2468 0 0 0 0 0 0 14.79 14.81 14.81

6788 0.33 79.2 2484 2224 2587 2469 219.7 -0.3 687 6789 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.84 14.86 14.86

6968 0.33 79.2 2485 2223 2587 2469 220.1 -0.1 705 6969 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.85 14.88 14.88

7148 0.33 79.2 2484 2223 2587 2468 220.2 -0.1 723 7149 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2587 2468 0 0 0 0 0 0 14.88 14.89 14.89

7328 0.33 79.2 2484 2223 2586 2469 220.6 -0.3 741 7329 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.89 14.90 14.90

7508 0.33 79.2 2485 2223 2587 2469 220.8 0.0 759 7509 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2587 2468 0 0 0 0 0 0 14.90 14.92 14.91

7688 0.33 79.2 2485 2224 2588 2469 220.3 0.3 777 7689 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2526 2585 2468 0 0 0 0 0 0 14.90 14.93 14.92

7868 0.33 79.2 2485 2224 2587 2469 220.2 -0.2 795 7869 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.91 14.93 14.93

8048 0.33 79.2 2486 2224 2588 2469 220.9 -0.4 813 8049 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.92 14.94 14.94

8228 0.33 79.2 2485 2224 2587 2469 221.1 0.0 831 8229 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.92 14.95 14.95

8408 0.33 79.2 2486 2224 2587 2469 221.1 -0.1 849 8409 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2587 2468 0 0 0 0 0 0 14.93 14.95 14.95

8588 0.33 79.2 2486 2224 2587 2469 221.6 -0.4 867 8589 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.94 14.96 14.96

8768 0.33 79.2 2486 2224 2588 2469 222.0 -0.1 885 8769 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.95 14.97 14.96

8948 0.33 79.2 2485 2223 2586 2468 221.7 0.2 903 8949 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2587 2468 0 0 0 0 0 0 14.95 14.97 14.97

9128 0.33 79.2 2486 2224 2587 2469 221.5 0.0 921 9129 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.95 14.97 14.97

9308 0.33 79.2 2485 2223 2586 2468 221.6 -0.0 939 9309 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.96 14.98 14.97

9488 0.33 79.2 2485 2223 2588 2469 221.6 -0.0 957 9489 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.96 14.98 14.98

9668 0.33 79.2 2485 2223 2587 2469 221.6 0.0 975 9669 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.97 14.99 14.98

9848 0.33 79.2 2485 2224 2587 2469 221.7 -0.1 993 9849 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 15.00 14.99 14.99

10028 0.33 79.2 2485 2223 2586 2468 222.0 -0.1 1011 10029 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2222 2527 2586 2468 0 0 0 0 0 0 14.97 15.00 14.99

10208 0.33 79.2 2485 2223 2586 2468 221.8 0.3 1029 10209 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.97 15.00 15.00

10388 0.33 79.2 2485 2223 2586 2468 221.2 0.2 1047 10389 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.97 15.00 15.00

10568 0.33 79.2 2486 2224 2587 2469 221.2 -0.1 1065 10569 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2222 2527 2587 2468 0 0 0 0 0 0 14.98 15.00 15.00

10748 0.33 79.2 2485 2224 2587 2469 221.3 -0.0 1083 10749 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.98 15.00 15.00

10928 0.33 79.2 2485 2223 2586 2468 221.2 0.0 1101 10929 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2223 2527 2586 2468 0 0 0 0 0 0 14.98 15.00 15.00

11108 0.33 79.2 2486 2224 2588 2469 221.4 -0.1 1119 11109 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.99 15.01 15.00

11288 0.33 79.2 2485 2223 2586 2468 221.4 -0.0 1137 11289 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 14.99 15.01 15.00

11468 0.33 79.2 2486 2224 2589 2469 221.5 -0.1 1155 11469 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2526 2585 2468 0 0 0 0 0 0 14.99 15.01 15.01

11648 0.33 79.2 2485 2223 2586 2468 222.0 -0.3 1173 11649 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2222 2527 2586 2468 0 0 0 0 0 0 14.99 15.01 15.01

11828 0.33 79.2 2485 2223 2586 2468 222.3 -0.1 1191 11829 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2527 2586 2468 0 0 0 0 0 0 15.00 15.02 15.01

12008 0.33 79.2 2485 2223 2586 2468 222.5 -0.1 1209 12009 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2223 2526 2585 2467 0 0 0 0 0 0 15.00 15.02 15.01

12155 end loiter: LOITER_COMPLETE

state 12155 begin climb

12158 0.82 146.0 2485 2223 2586 2468 222.5 0.0 1224 12229 0.57 5.05 61.22 1.772 10500 0.159 0.087 2663 3883 2255 2301 2209 0 0 0 0 0 0 14.71 14.42 13.79

12269 0.92 146.0 2663 3884 2297 2210 218.3 6.8 1244 12281 0.00 4.82 0.00 0.000 1094 0.000 0.047 2684 2211 2252 2297 2208 0 0 0 0 0 0 14.48 14.42 14.49

12461 1.03 146.0 2684 2210 2296 2205 206.0 6.3 1264 12473 0.12 5.00 0.00 0.000 2628 0.178 0.073 2748 510 2249 2294 2204 0 0 0 0 0 0 14.45 14.47 14.52

12513 1.07 146.0 2748 511 2291 2204 201.4 8.7 1274 12524 0.00 4.82 0.00 0.000 1094 0.000 0.049 2744 2192 2247 2293 2202 0 0 0 0 0 0 14.57 14.50 14.59

12705 1.16 146.0 2745 2193 2295 2202 187.4 7.0 1294 12705 0.00 0.00 0.00 0.000 70 0.000 0.000 2744 2191 2247 2293 2202 0 0 0 0 0 0 14.69 14.71 14.71

12883 1.25 146.0 2744 2192 2293 2201 174.9 6.9 1312 12884 0.20 0.00 0.00 0.000 2118 0.165 0.000 2801 2192 2250 2293 2207 0 0 0 0 0 0 14.44 14.56 14.54

13063 1.36 146.0 2801 2192 2293 2201 162.3 6.5 1330 13074 0.12 4.95 0.00 0.000 2628 0.207 0.075 2862 514 2245 2291 2200 0 0 0 0 0 0 14.42 14.50 14.51

13099 1.38 146.0 2861 514 2290 2201 159.4 9.4 1337 13107 0.00 4.85 0.00 0.000 1094 0.000 0.051 2843 2204 2245 2290 2201 0 0 0 0 0 0 14.57 14.51 14.59

13284 1.48 146.0 2844 2205 2292 2201 145.2 6.4 1356 13297 0.00 4.97 0.00 0.000 580 0.000 0.070 2863 509 2245 2289 2201 0 0 0 0 0 0 14.74 14.54 14.76

13382 1.59 146.0 2862 510 2289 2201 138.6 6.3 1375 13389 0.22 4.85 0.00 0.000 3142 0.199 0.048 2902 2209 2244 2288 2201 0 0 0 0 0 0 14.47 14.58 14.62

13568 2.04 296.1 2903 2211 2288 2202 130.5 3.0 1394 13710 0.45 5.18 129.52 1.619 10788 0.174 0.069 3063 511 1639 1668 1610 0 0 0 0 0 0 14.47 14.02 13.45

13740 2.04 296.1 3064 511 1662 1611 104.5 27.9 1425 13747 0.00 5.00 0.00 0.000 1030 0.000 0.049 3054 2196 1635 1660 1610 0 0 0 0 0 0 14.16 14.09 14.17

13932 2.04 296.1 3053 2197 1660 1602 67.6 12.5 1445 13932 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 2197 1631 1661 1601 0 0 0 0 0 0 14.42 14.45 14.44

14112 2.72 522.0 3053 2198 1660 1599 66.9 -0.5 1463 14308 0.70 5.20 183.07 1.474 10788 0.163 0.070 3286 513 719 690 749 0 0 0 0 0 0 14.26 13.87 13.34

14448 2.72 522.0 3285 513 686 749 12.3 17.5 1526 14455 0.00 5.03 0.00 0.000 1030 0.000 0.048 3273 2206 717 686 748 0 0 0 0 0 0 14.12 14.07 14.14

14511 end climb: SURFACE_DEPTH_REACHED

state 14511 begin surface coast

14521 end surface coast: CONTROL_FINISHED_OK

state 14521 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	15	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	20	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	121018,103520,7427.9937,-14626.8574,33,0.8,34,18.3,0.3,29.4,10,3.1	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	1.61	MHEAD_RNG_PITCHd_Wd	133.7,24168,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-74.1	D_GRID	150
GPS2	121018,104314,7428.0381,-14627.0352,4,0.8,4,18.3,0.3,333.8,10,7.2

MODEM_MSG	CACST,6,1,20181012121619.716054,18,7300,38,0067,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*03	ALTIM_TOP_PING	19.9,5.7
FINISH	0.5,1.021218	_24V_AH	13.34,76.354
SM_CCo	14541,82.28,0.802,1,0,540,567.62	_10V_AH	13.03,0.000
SM_GC	1.16,10.82,0.57,82.28,0.193,0.069,0.802,194,2402,540,-6.84,-0.90,567.62,0,0,0,0,1,0,14.14,14.16,13.50	FG_AHR_24Vo	0.000
RAFOS_CLK	666	FG_AHR_10Vo	0.000
MODEM	0,1539345721,73.00043,-148.33627,121.685,175531.1	MEM	326304
RAFOS_FIX	7428.574707,-14627.705078,121018,121219,4,255,0.19	DATA_FILE_SIZE	49956,1534
IRIDIUM_FIX	7430.10,-14627.53,121018,062034	CAP_FILE_SIZE	163192,0
TT8_MAMPS	0.040446,0.92876	CFSIZE	2097872896,2092859392
HUMID	43.62	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	9.30029	SOUNDSPEED	1442.6
TCM_TEMP	14.50	CURRENT	0.164,308.15,1
XPDR_PINGS	10	GPS	121018,145031,7428.587,-14630.462,124,0.7,125,18.3,0.1,0.0,12,2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	444	146.15	nil	0	0	0.00
Roll_motor	81	133	144.84	nil	0	0	0.00
VBD_pump_during_apogee	576	1771	13634.45	nil	0	0	0.00
VBD_pump_during_surface	82	801	879.93	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	3138	32	1366.17
Iridium_during_xfer	309	192	792.27	nil	0	0	0.00
Transponder_ping	2	420	15.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	6	1.34
TT8	0	0	0.00
LPSleep	10805	2	325.22
TT8_Active	785	11	118.48
TT8_Sampling	3233	31	1307.73
TT8_CF8	285	36	135.00
TT8_Kalman	0	0	0.00
Analog_circuits	2238	10	317.99
GPS_charging	0	0	0.00
Compass	2180	6	191.51
RAFOS	2210	33	950.28
Transponder	2	30	0.98

		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	207	2394	464	517	0.0	0.0	0	82	0.00	0.00	-71.80	0.003	16386	0.000	0.000	205	2393	1756	1863	1650	0	0	0	0	0	0	14.45	28.83	14.47
85	-0.82	-146.0	206	2395	1864	1654	5.0	-8.8	7	141	9.90	5.07	-36.45	0.005	18948	0.444	0.078	2149	704	3455	3572	3338	0	0	0	0	0	0	14.03	13.34	14.29
166	-0.82	-146.0	2150	705	3573	3340	40.3	-50.1	22	173	0.00	5.03	0.00	0.000	1030	0.000	0.060	2130	2399	3455	3572	3339	0	0	0	0	0	0	14.33	14.25	14.35
358	-0.82	-146.0	2130	2399	3573	3340	97.9	-22.2	42	358	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2399	3455	3572	3339	0	0	0	0	0	0	14.52	14.54	14.52
538	-0.82	-146.0	2131	2400	3573	3340	134.6	-19.7	60	549	0.00	5.00	0.00	0.000	516	0.000	0.069	2138	704	3454	3570	3339	0	0	0	0	0	0	14.59	14.39	14.61
558	-0.82	-146.0	2135	704	3571	3340	138.9	-20.8	64	569	0.00	4.97	0.00	0.000	1030	0.000	0.056	2119	2407	3455	3571	3339	0	0	0	0	0	0	14.51	14.40	14.50
616	end dive: TARGET_DEPTH_EXCEEDED
state	616	begin apogee
622	-0.11	0.0	2119	2177	3572	3340	150.8	-19.8	71	751	0.98	0.10	124.00	1.629	10246	0.299	0.134	2354	2223	2854	2930	2778	0	0	0	0	0	0	14.25	13.97	13.38
752	end apogee: CONTROL_FINISHED_OK
state	752	begin loiter
929	-0.04	22.0	2357	2223	2926	2776	170.9	-5.7	102	950	0.00	0.00	20.00	1.577	8230	0.000	0.000	2357	2223	2762	2836	2688	0	0	0	0	0	0	14.40	14.14	13.49
1129	0.01	40.1	2355	2223	2834	2686	181.0	-4.6	122	1150	0.17	0.00	16.92	1.590	10278	0.277	0.000	2396	2223	2687	2756	2618	0	0	0	0	0	0	14.15	14.21	13.55
1330	0.04	51.1	2395	2223	2755	2619	187.4	-2.8	142	1343	0.00	0.00	11.10	1.558	8230	0.000	0.000	2395	2223	2644	2710	2578	0	0	0	0	0	0	14.51	14.28	13.61
1519	0.08	61.8	2396	2224	2708	2577	192.4	-2.7	161	1531	0.00	0.00	10.73	1.567	8230	0.000	0.000	2396	2223	2600	2663	2538	0	0	0	0	0	0	14.57	14.33	13.64
1709	0.10	70.4	2396	2224	2662	2538	196.9	-2.2	180	1720	0.12	0.00	9.38	1.558	10278	0.275	0.000	2424	2223	2564	2625	2503	0	0	0	0	0	0	14.28	14.36	13.67
1900	0.12	75.2	2423	2223	2624	2505	199.6	-1.2	199	1910	0.00	0.00	5.78	1.412	8230	0.000	0.000	2424	2223	2545	2604	2486	0	0	0	0	0	0	14.62	14.40	13.67
2089	0.14	75.2	2425	2224	2606	2487	201.2	-0.7	218	2089	0.00	0.00	0.00	0.000	70	0.000	0.000	2424	2222	2545	2604	2486	0	0	0	0	0	0	14.66	14.68	14.67
2269	0.16	75.2	2423	2223	2604	2486	202.5	-0.8	236	2270	0.00	0.00	0.00	0.000	70	0.000	0.000	2424	2223	2545	2604	2486	0	0	0	0	0	0	14.71	14.72	14.71
2449	0.17	79.2	2424	2223	2605	2486	204.3	-1.0	254	2459	0.00	0.00	5.15	1.398	8230	0.000	0.000	2424	2223	2527	2586	2469	0	0	0	0	0	0	14.73	14.34	13.70
2639	0.17	79.2	2425	2224	2588	2470	205.2	-0.2	273	2639	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2223	2528	2587	2470	0	0	0	0	0	0	14.75	14.77	14.80
2819	0.19	79.2	2425	2224	2588	2470	205.9	-0.5	291	2820	0.12	0.00	0.00	0.000	2118	0.268	0.000	2454	2223	2528	2587	2470	0	0	0	0	0	0	14.47	14.64	14.62
2999	0.22	79.2	2453	2224	2588	2471	207.1	-0.9	309	2999	0.00	0.00	0.00	0.000	70	0.000	0.000	2454	2223	2528	2587	2469	0	0	0	0	0	0	14.81	14.82	14.82
3179	0.24	79.2	2453	2223	2586	2470	208.8	-0.8	327	3179	0.00	0.00	0.00	0.000	70	0.000	0.000	2454	2223	2528	2587	2470	0	0	0	0	0	0	14.82	14.84	14.84
3359	0.26	79.2	2454	2224	2588	2470	210.1	-0.7	345	3359	0.00	0.00	0.00	0.000	70	0.000	0.000	2454	2223	2528	2587	2469	0	0	0	0	0	0	14.84	14.86	14.85
3539	0.26	79.2	2454	2224	2588	2471	211.2	-0.5	363	3539	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2223	2528	2587	2469	0	0	0	0	0	0	14.85	14.88	14.88
3719	0.26	79.2	2453	2223	2587	2470	211.9	-0.3	381	3720	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2223	2528	2587	2469	0	0	0	0	0	0	14.87	14.89	14.88
3899	0.28	79.2	2453	2223	2587	2470	212.8	-0.7	399	3900	0.12	0.00	0.00	0.000	2118	0.246	0.000	2485	2223	2527	2587	2468	0	0	0	0	0	0	14.57	14.75	14.72
4079	0.31	79.2	2486	2224	2589	2470	214.3	-0.9	417	4079	0.00	0.00	0.00	0.000	70	0.000	0.000	2485	2223	2528	2587	2469	0	0	0	0	0	0	14.89	14.91	14.91
4259	0.33	79.2	2485	2224	2589	2470	215.7	-0.6	435	4259	0.00	0.00	0.00	0.000	70	0.000	0.000	2485	2223	2528	2587	2469	0	0	0	0	0	0	14.90	14.92	14.92
4439	0.33	79.2	2485	2223	2587	2469	216.1	-0.0	453	4439	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2528	2587	2469	0	0	0	0	0	0	14.91	14.93	14.93
4629	0.33	79.2	2485	2224	2588	2470	216.4	-0.3	471	4630	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2223	2528	2587	2469	0	0	0	0	0	0	14.85	14.87	14.87
4808	0.33	79.2	2486	2224	2588	2469	217.1	-0.4	489	4809	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2528	2587	2469	0	0	0	0	0	0	14.84	14.86	14.85
4988	0.33	79.2	2485	2224	2588	2470	217.7	-0.4	507	4989	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2528	2587	2469	0	0	0	0	0	0	14.83	14.85	14.85
5168	0.33	79.2	2485	2223	2587	2469	218.4	-0.4	525	5169	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2528	2588	2469	0	0	0	0	0	0	14.83	14.85	14.84
5348	0.33	79.2	2484	2223	2587	2469	218.9	-0.2	543	5349	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2223	2527	2587	2468	0	0	0	0	0	0	14.82	14.84	14.85
5528	0.33	79.2	2484	2223	2586	2469	219.2	-0.1	561	5529	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2585	2469	0	0	0	0	0	0	14.81	14.83	14.83
5708	0.33	79.2	2484	2223	2587	2469	219.0	0.1	579	5709	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2528	2587	2469	0	0	0	0	0	0	14.81	14.83	14.83
5888	0.33	79.2	2484	2223	2586	2469	219.2	-0.2	597	5889	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2222	2527	2586	2469	0	0	0	0	0	0	14.79	14.83	14.82
6068	0.33	79.2	2485	2223	2587	2469	219.7	-0.2	615	6069	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2587	2468	0	0	0	0	0	0	14.80	14.82	14.82
6248	0.33	79.2	2485	2224	2587	2469	219.7	0.1	633	6249	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2587	2468	0	0	0	0	0	0	14.80	14.83	14.81
6428	0.33	79.2	2486	2224	2588	2469	219.3	0.2	651	6429	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.79	14.81	14.81
6608	0.33	79.2	2485	2223	2587	2469	219.3	-0.1	669	6609	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2587	2468	0	0	0	0	0	0	14.79	14.81	14.81
6788	0.33	79.2	2484	2224	2587	2469	219.7	-0.3	687	6789	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.84	14.86	14.86
6968	0.33	79.2	2485	2223	2587	2469	220.1	-0.1	705	6969	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.85	14.88	14.88
7148	0.33	79.2	2484	2223	2587	2468	220.2	-0.1	723	7149	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2587	2468	0	0	0	0	0	0	14.88	14.89	14.89
7328	0.33	79.2	2484	2223	2586	2469	220.6	-0.3	741	7329	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.89	14.90	14.90
7508	0.33	79.2	2485	2223	2587	2469	220.8	0.0	759	7509	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2587	2468	0	0	0	0	0	0	14.90	14.92	14.91
7688	0.33	79.2	2485	2224	2588	2469	220.3	0.3	777	7689	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2526	2585	2468	0	0	0	0	0	0	14.90	14.93	14.92
7868	0.33	79.2	2485	2224	2587	2469	220.2	-0.2	795	7869	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.91	14.93	14.93
8048	0.33	79.2	2486	2224	2588	2469	220.9	-0.4	813	8049	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.92	14.94	14.94
8228	0.33	79.2	2485	2224	2587	2469	221.1	0.0	831	8229	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.92	14.95	14.95
8408	0.33	79.2	2486	2224	2587	2469	221.1	-0.1	849	8409	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2587	2468	0	0	0	0	0	0	14.93	14.95	14.95
8588	0.33	79.2	2486	2224	2587	2469	221.6	-0.4	867	8589	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.94	14.96	14.96
8768	0.33	79.2	2486	2224	2588	2469	222.0	-0.1	885	8769	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.95	14.97	14.96
8948	0.33	79.2	2485	2223	2586	2468	221.7	0.2	903	8949	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2587	2468	0	0	0	0	0	0	14.95	14.97	14.97
9128	0.33	79.2	2486	2224	2587	2469	221.5	0.0	921	9129	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.95	14.97	14.97
9308	0.33	79.2	2485	2223	2586	2468	221.6	-0.0	939	9309	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.96	14.98	14.97
9488	0.33	79.2	2485	2223	2588	2469	221.6	-0.0	957	9489	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.96	14.98	14.98
9668	0.33	79.2	2485	2223	2587	2469	221.6	0.0	975	9669	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.97	14.99	14.98
9848	0.33	79.2	2485	2224	2587	2469	221.7	-0.1	993	9849	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	15.00	14.99	14.99
10028	0.33	79.2	2485	2223	2586	2468	222.0	-0.1	1011	10029	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2222	2527	2586	2468	0	0	0	0	0	0	14.97	15.00	14.99
10208	0.33	79.2	2485	2223	2586	2468	221.8	0.3	1029	10209	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.97	15.00	15.00
10388	0.33	79.2	2485	2223	2586	2468	221.2	0.2	1047	10389	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.97	15.00	15.00
10568	0.33	79.2	2486	2224	2587	2469	221.2	-0.1	1065	10569	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2222	2527	2587	2468	0	0	0	0	0	0	14.98	15.00	15.00
10748	0.33	79.2	2485	2224	2587	2469	221.3	-0.0	1083	10749	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.98	15.00	15.00
10928	0.33	79.2	2485	2223	2586	2468	221.2	0.0	1101	10929	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2223	2527	2586	2468	0	0	0	0	0	0	14.98	15.00	15.00
11108	0.33	79.2	2486	2224	2588	2469	221.4	-0.1	1119	11109	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.99	15.01	15.00
11288	0.33	79.2	2485	2223	2586	2468	221.4	-0.0	1137	11289	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	14.99	15.01	15.00
11468	0.33	79.2	2486	2224	2589	2469	221.5	-0.1	1155	11469	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2526	2585	2468	0	0	0	0	0	0	14.99	15.01	15.01
11648	0.33	79.2	2485	2223	2586	2468	222.0	-0.3	1173	11649	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2222	2527	2586	2468	0	0	0	0	0	0	14.99	15.01	15.01
11828	0.33	79.2	2485	2223	2586	2468	222.3	-0.1	1191	11829	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2527	2586	2468	0	0	0	0	0	0	15.00	15.02	15.01
12008	0.33	79.2	2485	2223	2586	2468	222.5	-0.1	1209	12009	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2223	2526	2585	2467	0	0	0	0	0	0	15.00	15.02	15.01
12155	end loiter: LOITER_COMPLETE
state	12155	begin climb
12158	0.82	146.0	2485	2223	2586	2468	222.5	0.0	1224	12229	0.57	5.05	61.22	1.772	10500	0.159	0.087	2663	3883	2255	2301	2209	0	0	0	0	0	0	14.71	14.42	13.79
12269	0.92	146.0	2663	3884	2297	2210	218.3	6.8	1244	12281	0.00	4.82	0.00	0.000	1094	0.000	0.047	2684	2211	2252	2297	2208	0	0	0	0	0	0	14.48	14.42	14.49
12461	1.03	146.0	2684	2210	2296	2205	206.0	6.3	1264	12473	0.12	5.00	0.00	0.000	2628	0.178	0.073	2748	510	2249	2294	2204	0	0	0	0	0	0	14.45	14.47	14.52
12513	1.07	146.0	2748	511	2291	2204	201.4	8.7	1274	12524	0.00	4.82	0.00	0.000	1094	0.000	0.049	2744	2192	2247	2293	2202	0	0	0	0	0	0	14.57	14.50	14.59
12705	1.16	146.0	2745	2193	2295	2202	187.4	7.0	1294	12705	0.00	0.00	0.00	0.000	70	0.000	0.000	2744	2191	2247	2293	2202	0	0	0	0	0	0	14.69	14.71	14.71
12883	1.25	146.0	2744	2192	2293	2201	174.9	6.9	1312	12884	0.20	0.00	0.00	0.000	2118	0.165	0.000	2801	2192	2250	2293	2207	0	0	0	0	0	0	14.44	14.56	14.54
13063	1.36	146.0	2801	2192	2293	2201	162.3	6.5	1330	13074	0.12	4.95	0.00	0.000	2628	0.207	0.075	2862	514	2245	2291	2200	0	0	0	0	0	0	14.42	14.50	14.51
13099	1.38	146.0	2861	514	2290	2201	159.4	9.4	1337	13107	0.00	4.85	0.00	0.000	1094	0.000	0.051	2843	2204	2245	2290	2201	0	0	0	0	0	0	14.57	14.51	14.59
13284	1.48	146.0	2844	2205	2292	2201	145.2	6.4	1356	13297	0.00	4.97	0.00	0.000	580	0.000	0.070	2863	509	2245	2289	2201	0	0	0	0	0	0	14.74	14.54	14.76
13382	1.59	146.0	2862	510	2289	2201	138.6	6.3	1375	13389	0.22	4.85	0.00	0.000	3142	0.199	0.048	2902	2209	2244	2288	2201	0	0	0	0	0	0	14.47	14.58	14.62
13568	2.04	296.1	2903	2211	2288	2202	130.5	3.0	1394	13710	0.45	5.18	129.52	1.619	10788	0.174	0.069	3063	511	1639	1668	1610	0	0	0	0	0	0	14.47	14.02	13.45
13740	2.04	296.1	3064	511	1662	1611	104.5	27.9	1425	13747	0.00	5.00	0.00	0.000	1030	0.000	0.049	3054	2196	1635	1660	1610	0	0	0	0	0	0	14.16	14.09	14.17
13932	2.04	296.1	3053	2197	1660	1602	67.6	12.5	1445	13932	0.00	0.00	0.00	0.000	6	0.000	0.000	3054	2197	1631	1661	1601	0	0	0	0	0	0	14.42	14.45	14.44
14112	2.72	522.0	3053	2198	1660	1599	66.9	-0.5	1463	14308	0.70	5.20	183.07	1.474	10788	0.163	0.070	3286	513	719	690	749	0	0	0	0	0	0	14.26	13.87	13.34
14448	2.72	522.0	3285	513	686	749	12.3	17.5	1526	14455	0.00	5.03	0.00	0.000	1030	0.000	0.048	3273	2206	717	686	748	0	0	0	0	0	0	14.12	14.07	14.14
14511	end climb: SURFACE_DEPTH_REACHED
state	14511	begin surface coast
14521	end surface coast: CONTROL_FINISHED_OK
state	14521	begin surface