Glider dive log

SODA Oct18 * SG228 * Dive index * Mission links * Dive 16 * 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 16 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 24 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 19 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 16 MINV_10V 11 R_PORT_OVSHOOT 24 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 19 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 121018,145031,7428.5874,-14630.4619,124,0.7,125,18.3,0.1,0.0,12,2.9 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 1.65 MHEAD_RNG_PITCHd_Wd 128.4,25351,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -75.2 D_GRID 150

GPS2 121018,145733,7428.6060,-14630.5254,4,0.6,5,18.3,0.1,0.0,12,5.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181012161619.249238,18,28701,44,0147,0150,246,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3B ALTIM_TOP_PING 19.1,5.8

FINISH 0.3,1.021025 _24V_AH 13.35,76.755

SM_CCo 14860,0.00,0.000,0,0,494,578.91 _10V_AH 13.08,0.000

SM_GC 1.19,9.88,0.62,0.00,0.127,0.066,0.000,196,2410,494,-6.85,-0.52,578.91,0,0,0,0,0,0,14.09,14.13,14.19 FG_AHR_24Vo 0.000

RAFOS_CLK 736 FG_AHR_10Vo 0.000

MODEM 0,1539360122,73.00043,-148.33627,122.096,176137.0 MEM 326388

RAFOS_FIX 7438.248047,-14624.825195,121018,161648,4,255,3.86 DATA_FILE_SIZE 53303,1571

IRIDIUM_FIX 7432.40,-14623.07,121018,103813 CAP_FILE_SIZE 162456,0

TT8_MAMPS 0.041944,0.892808 CFSIZE 2097872896,2092662784

HUMID 43.77 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.28076 SOUNDSPEED 1442.6

TCM_TEMP 14.50 CURRENT 0.134,324.54,1

XPDR_PINGS 9 GPS 121018,190709,7429.205,-14632.162,27,1.5,28,18.3,0.4,220.2,5,8.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 441 138.48 nil 0 0 0.00

Roll_motor 71 203 194.85 nil 0 0 0.00

VBD_pump_during_apogee 641 1759 15059.01 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 3402 35 1619.88

Iridium_during_xfer 263 192 678.34 nil 0 0 0.00

Transponder_ping 2 420 14.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 6 1.52

TT8 0 0 0.00

LPSleep 11022 2 333.05

TT8_Active 740 11 112.01

TT8_Sampling 3252 31 1320.68

TT8_CF8 283 36 134.58

TT8_Kalman 0 0 0.00

Analog_circuits 2169 10 309.28

GPS_charging 0 0 0.00

Compass 2233 6 196.93

RAFOS 2211 33 954.36

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 -146.0 194 2403 497 570 0.0 0.0 0 92 0.00 0.00 -81.38 0.003 16386 0.000 0.000 194 2403 2019 2120 1919 0 0 0 0 0 0 14.44 28.83 14.46

95 -0.82 -146.0 194 2404 2120 1923 6.8 -12.7 8 140 9.90 5.05 -27.38 0.005 18948 0.441 0.075 2146 711 3451 3564 3338 0 0 0 0 0 0 14.04 13.61 14.31

260 -0.82 -146.0 2146 712 3565 3341 72.0 -26.4 40 272 0.00 4.97 0.00 0.000 1030 0.000 0.056 2128 2397 3452 3564 3340 0 0 0 0 0 0 14.34 14.26 14.35

451 -0.82 -146.0 2127 2397 3563 3340 115.7 -21.3 60 451 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2396 3452 3563 3341 0 0 0 0 0 0 14.54 14.57 14.56

628 end dive: TARGET_DEPTH_EXCEEDED

state 628 begin apogee

634 -0.11 0.0 2128 2185 3562 3340 151.4 -19.1 78 763 0.93 0.05 124.12 1.623 10246 0.294 0.203 2356 2210 2850 2923 2778 0 0 0 0 0 0 14.23 13.92 13.35

764 end apogee: CONTROL_FINISHED_OK

state 764 begin loiter

940 -0.05 20.5 2356 2211 2920 2776 171.1 -5.3 109 962 0.00 0.00 18.30 1.562 8230 0.000 0.000 2356 2210 2767 2838 2696 0 0 0 0 0 0 14.40 14.14 13.50

1140 0.00 37.7 2356 2211 2838 2696 180.6 -4.4 129 1162 0.17 0.00 16.50 1.581 10278 0.273 0.000 2395 2209 2695 2763 2628 0 0 0 0 0 0 14.16 14.22 13.56

1342 0.04 48.9 2396 2211 2764 2629 186.7 -2.9 149 1355 0.00 0.00 11.20 1.551 8230 0.000 0.000 2395 2210 2651 2715 2587 0 0 0 0 0 0 14.52 14.28 13.61

1530 0.07 59.5 2395 2211 2714 2587 191.9 -2.7 168 1543 0.00 0.00 10.98 1.567 8230 0.000 0.000 2395 2210 2608 2668 2548 0 0 0 0 0 0 14.57 14.33 13.65

1720 0.09 67.9 2395 2211 2667 2548 196.1 -2.2 187 1732 0.12 0.00 9.10 1.549 10278 0.274 0.000 2424 2210 2574 2632 2516 0 0 0 0 0 0 14.28 14.37 13.68

1912 0.11 73.3 2425 2211 2633 2518 199.0 -1.4 206 1921 0.00 0.00 6.45 1.453 8230 0.000 0.000 2424 2210 2551 2609 2493 0 0 0 0 0 0 14.62 14.40 13.69

2101 0.13 73.3 2425 2211 2610 2494 200.6 -0.8 225 2101 0.00 0.00 0.00 0.000 70 0.000 0.000 2424 2210 2551 2609 2494 0 0 0 0 0 0 14.66 14.68 14.67

2281 0.15 78.0 2424 2211 2610 2493 202.5 -1.2 243 2291 0.00 0.00 5.88 1.446 8230 0.000 0.000 2424 2210 2532 2588 2476 0 0 0 0 0 0 14.70 14.32 13.69

2470 0.15 78.0 2424 2210 2589 2478 203.3 0.0 262 2471 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2210 2533 2590 2477 0 0 0 0 0 0 14.72 14.74 14.73

2651 0.15 78.0 2425 2211 2590 2478 202.9 0.2 280 2651 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2210 2533 2589 2477 0 0 0 0 0 0 14.74 14.77 14.77

2830 0.15 78.0 2424 2211 2591 2478 203.1 -0.4 298 2831 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2210 2533 2589 2477 0 0 0 0 0 0 14.78 14.81 14.80

3010 0.17 78.0 2424 2211 2590 2477 204.2 -0.7 316 3011 0.00 0.00 0.00 0.000 70 0.000 0.000 2425 2210 2533 2589 2477 0 0 0 0 0 0 14.81 14.83 14.82

3190 0.17 78.0 2424 2210 2588 2478 205.2 -0.4 334 3191 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2210 2533 2589 2477 0 0 0 0 0 0 14.83 14.85 14.87

3370 0.17 78.0 2425 2211 2591 2478 205.9 -0.4 352 3371 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2210 2533 2589 2477 0 0 0 0 0 0 14.84 14.86 14.86

3550 0.19 78.0 2425 2211 2591 2478 206.8 -0.6 370 3552 0.12 0.00 0.00 0.000 2118 0.267 0.000 2454 2210 2533 2589 2477 0 0 0 0 0 0 14.54 14.72 14.69

3734 0.20 78.0 2453 2210 2590 2477 207.8 -0.6 388 3734 0.00 0.00 0.00 0.000 70 0.000 0.000 2454 2210 2533 2589 2477 0 0 0 0 0 0 14.81 14.83 14.82

3912 0.20 78.0 2454 2211 2589 2478 208.6 -0.3 406 3913 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2533 2589 2477 0 0 0 0 0 0 14.80 14.82 14.82

4092 0.20 78.0 2454 2211 2589 2477 209.2 -0.3 424 4093 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2533 2590 2477 0 0 0 0 0 0 14.80 14.82 14.82

4272 0.20 78.0 2453 2211 2589 2478 209.9 -0.4 442 4273 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2533 2589 2477 0 0 0 0 0 0 14.79 14.81 14.81

4452 0.20 78.0 2454 2211 2590 2477 210.5 -0.3 460 4453 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2532 2589 2476 0 0 0 0 0 0 14.79 14.81 14.81

4632 0.22 78.0 2455 2211 2590 2477 211.4 -0.5 478 4633 0.00 0.00 0.00 0.000 70 0.000 0.000 2454 2210 2532 2589 2476 0 0 0 0 0 0 14.78 14.81 14.81

4812 0.24 78.0 2454 2211 2589 2477 212.4 -0.6 496 4813 0.00 0.00 0.00 0.000 70 0.000 0.000 2454 2210 2532 2589 2476 0 0 0 0 0 0 14.78 14.81 14.80

4992 0.24 78.0 2453 2211 2589 2477 213.4 -0.4 514 4993 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2532 2589 2476 0 0 0 0 0 0 14.78 14.80 14.80

5172 0.24 78.0 2454 2211 2590 2477 213.5 0.1 532 5173 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2532 2589 2476 0 0 0 0 0 0 14.78 14.81 14.80

5352 0.24 78.0 2454 2210 2589 2477 213.3 0.0 550 5353 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2532 2589 2476 0 0 0 0 0 0 14.78 14.80 14.80

5532 0.24 78.0 2455 2211 2590 2478 213.9 -0.4 568 5533 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2532 2589 2476 0 0 0 0 0 0 14.78 14.80 14.79

5712 0.24 78.0 2455 2211 2590 2477 214.7 -0.4 586 5713 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2210 2532 2589 2476 0 0 0 0 0 0 14.78 14.80 14.79

5892 0.24 78.0 2455 2211 2590 2477 214.9 0.1 604 5893 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2531 2589 2474 0 0 0 0 0 0 14.78 14.80 14.80

6072 0.24 78.0 2453 2210 2589 2476 214.6 0.2 622 6072 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2532 2589 2476 0 0 0 0 0 0 14.85 14.87 14.86

6252 0.24 78.0 2454 2211 2590 2477 214.5 -0.1 640 6253 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2532 2589 2476 0 0 0 0 0 0 14.86 14.88 14.88

6432 0.24 78.0 2454 2211 2589 2476 214.8 -0.1 658 6433 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2532 2589 2476 0 0 0 0 0 0 14.88 14.90 14.89

6612 0.24 78.0 2455 2211 2590 2477 214.7 0.1 676 6613 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2532 2588 2476 0 0 0 0 0 0 14.88 14.90 14.90

6792 0.24 78.0 2454 2211 2589 2476 214.2 0.4 694 6793 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2532 2588 2476 0 0 0 0 0 0 14.90 14.92 14.91

6972 0.24 78.0 2454 2211 2589 2476 213.4 0.3 712 6973 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2532 2589 2476 0 0 0 0 0 0 14.90 14.92 14.92

7152 0.24 78.0 2455 2211 2590 2476 213.6 -0.3 730 7153 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2532 2589 2476 0 0 0 0 0 0 14.91 14.93 14.93

7332 0.26 78.0 2454 2210 2588 2476 214.6 -0.6 748 7333 0.00 0.00 0.00 0.000 70 0.000 0.000 2454 2210 2532 2588 2476 0 0 0 0 0 0 14.92 14.94 14.94

7512 0.26 78.0 2454 2210 2588 2476 215.2 -0.1 766 7513 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2531 2588 2475 0 0 0 0 0 0 14.92 14.95 14.95

7692 0.26 78.0 2455 2211 2590 2476 214.8 0.2 784 7693 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2531 2588 2475 0 0 0 0 0 0 14.93 14.95 14.95

7872 0.26 78.0 2454 2211 2589 2476 214.9 -0.2 802 7873 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2531 2588 2475 0 0 0 0 0 0 14.94 14.96 14.95

8052 0.26 78.0 2455 2211 2589 2476 215.4 -0.2 820 8053 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2531 2588 2475 0 0 0 0 0 0 14.95 14.97 14.96

8232 0.26 78.0 2454 2211 2589 2477 215.2 0.3 838 8233 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2531 2588 2475 0 0 0 0 0 0 14.95 14.97 14.97

8412 0.26 78.0 2454 2211 2589 2475 214.9 -0.1 856 8413 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2210 2531 2588 2475 0 0 0 0 0 0 14.95 14.97 14.97

8592 0.28 78.0 2455 2211 2589 2476 215.8 -0.6 874 8593 0.12 0.00 0.00 0.000 2118 0.246 0.000 2485 2210 2531 2587 2476 0 0 0 0 0 0 14.65 14.82 14.79

8772 0.28 78.0 2486 2211 2589 2476 216.3 -0.1 892 8773 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2210 2531 2588 2475 0 0 0 0 0 0 14.96 14.98 14.98

8952 0.28 78.0 2486 2211 2589 2476 215.9 0.3 910 8953 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2211 2531 2588 2475 0 0 0 0 0 0 14.97 14.98 14.98

9132 0.28 78.0 2486 2211 2589 2477 215.7 -0.1 928 9133 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2210 2531 2588 2474 0 0 0 0 0 0 14.97 14.99 14.99

9312 0.28 78.0 2485 2211 2588 2476 216.1 -0.2 946 9313 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2210 2531 2587 2475 0 0 0 0 0 0 14.97 15.00 14.99

9492 0.28 78.0 2485 2210 2588 2476 216.5 -0.3 964 9493 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2210 2531 2588 2475 0 0 0 0 0 0 15.00 15.00 15.00

9672 0.28 78.0 2485 2211 2588 2476 217.0 -0.2 982 9673 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2210 2531 2588 2475 0 0 0 0 0 0 14.97 15.00 15.00

9852 0.28 78.0 2486 2211 2589 2476 217.3 -0.1 1000 9853 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2210 2531 2588 2475 0 0 0 0 0 0 14.98 15.00 15.00

10032 0.28 78.0 2485 2210 2588 2476 217.4 -0.0 1018 10033 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2210 2531 2588 2475 0 0 0 0 0 0 14.97 15.00 15.00

10212 0.28 78.0 2486 2211 2589 2476 217.4 0.0 1036 10213 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2210 2531 2588 2475 0 0 0 0 0 0 14.97 15.00 15.00

10392 0.28 78.0 2485 2211 2588 2476 217.5 -0.2 1054 10393 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2210 2531 2588 2475 0 0 0 0 0 0 14.98 15.00 15.00

10572 0.28 78.0 2485 2211 2588 2476 218.0 -0.3 1072 10573 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2210 2531 2588 2475 0 0 0 0 0 0 14.99 15.01 15.00

10752 0.28 78.0 2486 2211 2589 2476 218.4 -0.2 1090 10753 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2209 2531 2588 2475 0 0 0 0 0 0 14.99 15.01 15.00

10932 0.28 78.0 2485 2211 2588 2476 218.6 -0.0 1108 10933 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2210 2531 2588 2475 0 0 0 0 0 0 14.99 15.02 15.01

11112 0.28 78.0 2486 2211 2590 2476 218.3 0.2 1126 11113 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2210 2531 2587 2475 0 0 0 0 0 0 15.00 15.01 15.01

11292 0.28 78.0 2485 2210 2588 2476 218.0 0.2 1144 11293 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2210 2531 2588 2475 0 0 0 0 0 0 14.99 15.01 15.01

11472 0.28 78.0 2487 2211 2589 2475 217.9 -0.0 1162 11473 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2210 2531 2588 2475 0 0 0 0 0 0 15.00 15.02 15.01

11652 0.28 78.0 2485 2211 2588 2475 218.2 -0.2 1180 11653 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2211 2531 2588 2475 0 0 0 0 0 0 15.00 15.02 15.02

11832 0.28 78.0 2485 2210 2588 2475 218.5 -0.2 1198 11833 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2210 2531 2588 2475 0 0 0 0 0 0 15.00 15.04 15.02

12012 0.28 78.0 2486 2211 2589 2476 218.7 -0.0 1216 12013 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2210 2531 2588 2474 0 0 0 0 0 0 15.00 15.02 15.02

12159 end loiter: LOITER_COMPLETE

state 12159 begin climb

12162 0.82 146.0 2485 2210 2588 2475 218.8 0.0 1231 12233 0.57 5.10 62.10 1.760 10500 0.158 0.086 2664 3888 2254 2300 2208 0 0 0 0 0 0 14.71 14.44 13.79

12383 0.89 146.0 2665 3889 2294 2210 206.0 7.8 1273 12394 0.00 4.85 0.00 0.000 1094 0.000 0.048 2685 2207 2249 2292 2206 0 0 0 0 0 0 14.55 14.46 14.54

12575 1.16 237.0 2686 2208 2293 2205 194.0 5.8 1293 12665 0.25 5.22 81.18 1.670 10788 0.145 0.077 2790 508 1880 1925 1836 0 0 0 0 0 0 14.46 14.13 13.54

12740 1.16 237.0 2790 508 1913 1838 176.8 12.3 1324 12747 0.00 4.97 0.00 0.000 1030 0.000 0.052 2790 2199 1873 1911 1836 0 0 0 0 0 0 14.31 14.24 14.33

12925 1.16 237.0 2790 2199 1911 1832 154.8 11.5 1343 12926 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2199 1869 1911 1827 0 0 0 0 0 0 14.52 14.54 14.53

13105 1.16 237.0 2791 2200 1912 1830 134.8 10.3 1361 13116 0.00 5.05 0.00 0.000 516 0.000 0.079 2811 514 1869 1909 1829 0 0 0 0 0 0 14.58 14.36 14.62

13141 1.16 237.0 2812 515 1910 1831 130.8 11.3 1368 13149 0.17 4.90 0.00 0.000 5126 0.310 0.052 2775 2205 1868 1909 1828 0 0 0 0 0 0 14.23 14.40 14.45

13328 1.21 237.0 2772 2205 1909 1826 114.5 8.3 1387 13328 0.00 0.00 0.00 0.000 70 0.000 0.000 2775 2204 1867 1909 1826 0 0 0 0 0 0 14.62 14.64 14.63

13506 1.32 237.0 2776 2205 1911 1826 101.7 6.5 1405 13517 0.12 5.03 0.00 0.000 2628 0.177 0.076 2838 511 1866 1908 1825 0 0 0 0 0 0 14.41 14.42 14.48

13572 1.34 237.0 2839 512 1909 1826 95.9 9.1 1418 13579 0.00 4.90 0.00 0.000 1094 0.000 0.051 2838 2206 1865 1907 1824 0 0 0 0 0 0 14.48 14.42 14.49

13758 1.65 338.6 2839 2207 1909 1824 83.8 5.3 1437 13854 0.25 5.18 88.20 1.527 10788 0.148 0.077 2940 508 1466 1501 1431 0 0 0 0 0 0 14.37 14.03 13.54

13886 1.67 338.6 2940 512 1491 1433 74.7 9.3 1456 13892 0.00 4.97 0.00 0.000 1094 0.000 0.050 2940 2203 1462 1491 1433 0 0 0 0 0 0 14.24 14.18 14.26

14077 2.00 448.6 2940 2205 1493 1428 61.3 4.9 1476 14179 0.30 0.00 95.18 1.444 10534 0.138 0.000 3037 2204 1018 1029 1007 0 0 0 0 0 0 14.19 13.88 13.43

14357 2.07 448.6 3038 2205 1027 1003 39.9 7.5 1509 14358 0.00 0.00 0.00 0.000 70 0.000 0.000 3036 2204 1014 1026 1002 0 0 0 0 0 0 14.35 14.38 14.38

14537 2.57 613.8 3037 2204 1026 1001 31.4 2.3 1527 14660 0.57 5.25 111.93 1.399 10788 0.124 0.080 3242 510 496 475 518 0 0 0 0 0 0 14.19 13.94 13.43

14757 2.57 613.8 3241 510 472 519 4.0 17.8 1568 14765 0.00 5.03 0.00 0.000 1030 0.000 0.054 3235 2197 495 473 517 0 0 0 0 0 0 14.14 14.08 14.16

14770 end climb: SURFACE_DEPTH_REACHED

state 14770 begin surface coast

14780 end surface coast: CONTROL_FINISHED_OK

state 14780 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	16	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	24	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	19	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	121018,145031,7428.5874,-14630.4619,124,0.7,125,18.3,0.1,0.0,12,2.9	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	1.65	MHEAD_RNG_PITCHd_Wd	128.4,25351,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-75.2	D_GRID	150
GPS2	121018,145733,7428.6060,-14630.5254,4,0.6,5,18.3,0.1,0.0,12,5.3

MODEM_MSG	CACST,6,1,20181012161619.249238,18,28701,44,0147,0150,246,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3B	ALTIM_TOP_PING	19.1,5.8
FINISH	0.3,1.021025	_24V_AH	13.35,76.755
SM_CCo	14860,0.00,0.000,0,0,494,578.91	_10V_AH	13.08,0.000
SM_GC	1.19,9.88,0.62,0.00,0.127,0.066,0.000,196,2410,494,-6.85,-0.52,578.91,0,0,0,0,0,0,14.09,14.13,14.19	FG_AHR_24Vo	0.000
RAFOS_CLK	736	FG_AHR_10Vo	0.000
MODEM	0,1539360122,73.00043,-148.33627,122.096,176137.0	MEM	326388
RAFOS_FIX	7438.248047,-14624.825195,121018,161648,4,255,3.86	DATA_FILE_SIZE	53303,1571
IRIDIUM_FIX	7432.40,-14623.07,121018,103813	CAP_FILE_SIZE	162456,0
TT8_MAMPS	0.041944,0.892808	CFSIZE	2097872896,2092662784
HUMID	43.77	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.28076	SOUNDSPEED	1442.6
TCM_TEMP	14.50	CURRENT	0.134,324.54,1
XPDR_PINGS	9	GPS	121018,190709,7429.205,-14632.162,27,1.5,28,18.3,0.4,220.2,5,8.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	441	138.48	nil	0	0	0.00
Roll_motor	71	203	194.85	nil	0	0	0.00
VBD_pump_during_apogee	641	1759	15059.01	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	3402	35	1619.88
Iridium_during_xfer	263	192	678.34	nil	0	0	0.00
Transponder_ping	2	420	14.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	6	1.52
TT8	0	0	0.00
LPSleep	11022	2	333.05
TT8_Active	740	11	112.01
TT8_Sampling	3252	31	1320.68
TT8_CF8	283	36	134.58
TT8_Kalman	0	0	0.00
Analog_circuits	2169	10	309.28
GPS_charging	0	0	0.00
Compass	2233	6	196.93
RAFOS	2211	33	954.36
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	194	2403	497	570	0.0	0.0	0	92	0.00	0.00	-81.38	0.003	16386	0.000	0.000	194	2403	2019	2120	1919	0	0	0	0	0	0	14.44	28.83	14.46
95	-0.82	-146.0	194	2404	2120	1923	6.8	-12.7	8	140	9.90	5.05	-27.38	0.005	18948	0.441	0.075	2146	711	3451	3564	3338	0	0	0	0	0	0	14.04	13.61	14.31
260	-0.82	-146.0	2146	712	3565	3341	72.0	-26.4	40	272	0.00	4.97	0.00	0.000	1030	0.000	0.056	2128	2397	3452	3564	3340	0	0	0	0	0	0	14.34	14.26	14.35
451	-0.82	-146.0	2127	2397	3563	3340	115.7	-21.3	60	451	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2396	3452	3563	3341	0	0	0	0	0	0	14.54	14.57	14.56
628	end dive: TARGET_DEPTH_EXCEEDED
state	628	begin apogee
634	-0.11	0.0	2128	2185	3562	3340	151.4	-19.1	78	763	0.93	0.05	124.12	1.623	10246	0.294	0.203	2356	2210	2850	2923	2778	0	0	0	0	0	0	14.23	13.92	13.35
764	end apogee: CONTROL_FINISHED_OK
state	764	begin loiter
940	-0.05	20.5	2356	2211	2920	2776	171.1	-5.3	109	962	0.00	0.00	18.30	1.562	8230	0.000	0.000	2356	2210	2767	2838	2696	0	0	0	0	0	0	14.40	14.14	13.50
1140	0.00	37.7	2356	2211	2838	2696	180.6	-4.4	129	1162	0.17	0.00	16.50	1.581	10278	0.273	0.000	2395	2209	2695	2763	2628	0	0	0	0	0	0	14.16	14.22	13.56
1342	0.04	48.9	2396	2211	2764	2629	186.7	-2.9	149	1355	0.00	0.00	11.20	1.551	8230	0.000	0.000	2395	2210	2651	2715	2587	0	0	0	0	0	0	14.52	14.28	13.61
1530	0.07	59.5	2395	2211	2714	2587	191.9	-2.7	168	1543	0.00	0.00	10.98	1.567	8230	0.000	0.000	2395	2210	2608	2668	2548	0	0	0	0	0	0	14.57	14.33	13.65
1720	0.09	67.9	2395	2211	2667	2548	196.1	-2.2	187	1732	0.12	0.00	9.10	1.549	10278	0.274	0.000	2424	2210	2574	2632	2516	0	0	0	0	0	0	14.28	14.37	13.68
1912	0.11	73.3	2425	2211	2633	2518	199.0	-1.4	206	1921	0.00	0.00	6.45	1.453	8230	0.000	0.000	2424	2210	2551	2609	2493	0	0	0	0	0	0	14.62	14.40	13.69
2101	0.13	73.3	2425	2211	2610	2494	200.6	-0.8	225	2101	0.00	0.00	0.00	0.000	70	0.000	0.000	2424	2210	2551	2609	2494	0	0	0	0	0	0	14.66	14.68	14.67
2281	0.15	78.0	2424	2211	2610	2493	202.5	-1.2	243	2291	0.00	0.00	5.88	1.446	8230	0.000	0.000	2424	2210	2532	2588	2476	0	0	0	0	0	0	14.70	14.32	13.69
2470	0.15	78.0	2424	2210	2589	2478	203.3	0.0	262	2471	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2210	2533	2590	2477	0	0	0	0	0	0	14.72	14.74	14.73
2651	0.15	78.0	2425	2211	2590	2478	202.9	0.2	280	2651	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2210	2533	2589	2477	0	0	0	0	0	0	14.74	14.77	14.77
2830	0.15	78.0	2424	2211	2591	2478	203.1	-0.4	298	2831	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2210	2533	2589	2477	0	0	0	0	0	0	14.78	14.81	14.80
3010	0.17	78.0	2424	2211	2590	2477	204.2	-0.7	316	3011	0.00	0.00	0.00	0.000	70	0.000	0.000	2425	2210	2533	2589	2477	0	0	0	0	0	0	14.81	14.83	14.82
3190	0.17	78.0	2424	2210	2588	2478	205.2	-0.4	334	3191	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2210	2533	2589	2477	0	0	0	0	0	0	14.83	14.85	14.87
3370	0.17	78.0	2425	2211	2591	2478	205.9	-0.4	352	3371	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2210	2533	2589	2477	0	0	0	0	0	0	14.84	14.86	14.86
3550	0.19	78.0	2425	2211	2591	2478	206.8	-0.6	370	3552	0.12	0.00	0.00	0.000	2118	0.267	0.000	2454	2210	2533	2589	2477	0	0	0	0	0	0	14.54	14.72	14.69
3734	0.20	78.0	2453	2210	2590	2477	207.8	-0.6	388	3734	0.00	0.00	0.00	0.000	70	0.000	0.000	2454	2210	2533	2589	2477	0	0	0	0	0	0	14.81	14.83	14.82
3912	0.20	78.0	2454	2211	2589	2478	208.6	-0.3	406	3913	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2533	2589	2477	0	0	0	0	0	0	14.80	14.82	14.82
4092	0.20	78.0	2454	2211	2589	2477	209.2	-0.3	424	4093	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2533	2590	2477	0	0	0	0	0	0	14.80	14.82	14.82
4272	0.20	78.0	2453	2211	2589	2478	209.9	-0.4	442	4273	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2533	2589	2477	0	0	0	0	0	0	14.79	14.81	14.81
4452	0.20	78.0	2454	2211	2590	2477	210.5	-0.3	460	4453	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2532	2589	2476	0	0	0	0	0	0	14.79	14.81	14.81
4632	0.22	78.0	2455	2211	2590	2477	211.4	-0.5	478	4633	0.00	0.00	0.00	0.000	70	0.000	0.000	2454	2210	2532	2589	2476	0	0	0	0	0	0	14.78	14.81	14.81
4812	0.24	78.0	2454	2211	2589	2477	212.4	-0.6	496	4813	0.00	0.00	0.00	0.000	70	0.000	0.000	2454	2210	2532	2589	2476	0	0	0	0	0	0	14.78	14.81	14.80
4992	0.24	78.0	2453	2211	2589	2477	213.4	-0.4	514	4993	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2532	2589	2476	0	0	0	0	0	0	14.78	14.80	14.80
5172	0.24	78.0	2454	2211	2590	2477	213.5	0.1	532	5173	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2532	2589	2476	0	0	0	0	0	0	14.78	14.81	14.80
5352	0.24	78.0	2454	2210	2589	2477	213.3	0.0	550	5353	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2532	2589	2476	0	0	0	0	0	0	14.78	14.80	14.80
5532	0.24	78.0	2455	2211	2590	2478	213.9	-0.4	568	5533	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2532	2589	2476	0	0	0	0	0	0	14.78	14.80	14.79
5712	0.24	78.0	2455	2211	2590	2477	214.7	-0.4	586	5713	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2210	2532	2589	2476	0	0	0	0	0	0	14.78	14.80	14.79
5892	0.24	78.0	2455	2211	2590	2477	214.9	0.1	604	5893	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2531	2589	2474	0	0	0	0	0	0	14.78	14.80	14.80
6072	0.24	78.0	2453	2210	2589	2476	214.6	0.2	622	6072	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2532	2589	2476	0	0	0	0	0	0	14.85	14.87	14.86
6252	0.24	78.0	2454	2211	2590	2477	214.5	-0.1	640	6253	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2532	2589	2476	0	0	0	0	0	0	14.86	14.88	14.88
6432	0.24	78.0	2454	2211	2589	2476	214.8	-0.1	658	6433	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2532	2589	2476	0	0	0	0	0	0	14.88	14.90	14.89
6612	0.24	78.0	2455	2211	2590	2477	214.7	0.1	676	6613	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2532	2588	2476	0	0	0	0	0	0	14.88	14.90	14.90
6792	0.24	78.0	2454	2211	2589	2476	214.2	0.4	694	6793	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2532	2588	2476	0	0	0	0	0	0	14.90	14.92	14.91
6972	0.24	78.0	2454	2211	2589	2476	213.4	0.3	712	6973	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2532	2589	2476	0	0	0	0	0	0	14.90	14.92	14.92
7152	0.24	78.0	2455	2211	2590	2476	213.6	-0.3	730	7153	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2532	2589	2476	0	0	0	0	0	0	14.91	14.93	14.93
7332	0.26	78.0	2454	2210	2588	2476	214.6	-0.6	748	7333	0.00	0.00	0.00	0.000	70	0.000	0.000	2454	2210	2532	2588	2476	0	0	0	0	0	0	14.92	14.94	14.94
7512	0.26	78.0	2454	2210	2588	2476	215.2	-0.1	766	7513	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2531	2588	2475	0	0	0	0	0	0	14.92	14.95	14.95
7692	0.26	78.0	2455	2211	2590	2476	214.8	0.2	784	7693	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2531	2588	2475	0	0	0	0	0	0	14.93	14.95	14.95
7872	0.26	78.0	2454	2211	2589	2476	214.9	-0.2	802	7873	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2531	2588	2475	0	0	0	0	0	0	14.94	14.96	14.95
8052	0.26	78.0	2455	2211	2589	2476	215.4	-0.2	820	8053	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2531	2588	2475	0	0	0	0	0	0	14.95	14.97	14.96
8232	0.26	78.0	2454	2211	2589	2477	215.2	0.3	838	8233	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2531	2588	2475	0	0	0	0	0	0	14.95	14.97	14.97
8412	0.26	78.0	2454	2211	2589	2475	214.9	-0.1	856	8413	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2210	2531	2588	2475	0	0	0	0	0	0	14.95	14.97	14.97
8592	0.28	78.0	2455	2211	2589	2476	215.8	-0.6	874	8593	0.12	0.00	0.00	0.000	2118	0.246	0.000	2485	2210	2531	2587	2476	0	0	0	0	0	0	14.65	14.82	14.79
8772	0.28	78.0	2486	2211	2589	2476	216.3	-0.1	892	8773	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2210	2531	2588	2475	0	0	0	0	0	0	14.96	14.98	14.98
8952	0.28	78.0	2486	2211	2589	2476	215.9	0.3	910	8953	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2211	2531	2588	2475	0	0	0	0	0	0	14.97	14.98	14.98
9132	0.28	78.0	2486	2211	2589	2477	215.7	-0.1	928	9133	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2210	2531	2588	2474	0	0	0	0	0	0	14.97	14.99	14.99
9312	0.28	78.0	2485	2211	2588	2476	216.1	-0.2	946	9313	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2210	2531	2587	2475	0	0	0	0	0	0	14.97	15.00	14.99
9492	0.28	78.0	2485	2210	2588	2476	216.5	-0.3	964	9493	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2210	2531	2588	2475	0	0	0	0	0	0	15.00	15.00	15.00
9672	0.28	78.0	2485	2211	2588	2476	217.0	-0.2	982	9673	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2210	2531	2588	2475	0	0	0	0	0	0	14.97	15.00	15.00
9852	0.28	78.0	2486	2211	2589	2476	217.3	-0.1	1000	9853	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2210	2531	2588	2475	0	0	0	0	0	0	14.98	15.00	15.00
10032	0.28	78.0	2485	2210	2588	2476	217.4	-0.0	1018	10033	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2210	2531	2588	2475	0	0	0	0	0	0	14.97	15.00	15.00
10212	0.28	78.0	2486	2211	2589	2476	217.4	0.0	1036	10213	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2210	2531	2588	2475	0	0	0	0	0	0	14.97	15.00	15.00
10392	0.28	78.0	2485	2211	2588	2476	217.5	-0.2	1054	10393	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2210	2531	2588	2475	0	0	0	0	0	0	14.98	15.00	15.00
10572	0.28	78.0	2485	2211	2588	2476	218.0	-0.3	1072	10573	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2210	2531	2588	2475	0	0	0	0	0	0	14.99	15.01	15.00
10752	0.28	78.0	2486	2211	2589	2476	218.4	-0.2	1090	10753	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2209	2531	2588	2475	0	0	0	0	0	0	14.99	15.01	15.00
10932	0.28	78.0	2485	2211	2588	2476	218.6	-0.0	1108	10933	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2210	2531	2588	2475	0	0	0	0	0	0	14.99	15.02	15.01
11112	0.28	78.0	2486	2211	2590	2476	218.3	0.2	1126	11113	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2210	2531	2587	2475	0	0	0	0	0	0	15.00	15.01	15.01
11292	0.28	78.0	2485	2210	2588	2476	218.0	0.2	1144	11293	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2210	2531	2588	2475	0	0	0	0	0	0	14.99	15.01	15.01
11472	0.28	78.0	2487	2211	2589	2475	217.9	-0.0	1162	11473	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2210	2531	2588	2475	0	0	0	0	0	0	15.00	15.02	15.01
11652	0.28	78.0	2485	2211	2588	2475	218.2	-0.2	1180	11653	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2211	2531	2588	2475	0	0	0	0	0	0	15.00	15.02	15.02
11832	0.28	78.0	2485	2210	2588	2475	218.5	-0.2	1198	11833	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2210	2531	2588	2475	0	0	0	0	0	0	15.00	15.04	15.02
12012	0.28	78.0	2486	2211	2589	2476	218.7	-0.0	1216	12013	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2210	2531	2588	2474	0	0	0	0	0	0	15.00	15.02	15.02
12159	end loiter: LOITER_COMPLETE
state	12159	begin climb
12162	0.82	146.0	2485	2210	2588	2475	218.8	0.0	1231	12233	0.57	5.10	62.10	1.760	10500	0.158	0.086	2664	3888	2254	2300	2208	0	0	0	0	0	0	14.71	14.44	13.79
12383	0.89	146.0	2665	3889	2294	2210	206.0	7.8	1273	12394	0.00	4.85	0.00	0.000	1094	0.000	0.048	2685	2207	2249	2292	2206	0	0	0	0	0	0	14.55	14.46	14.54
12575	1.16	237.0	2686	2208	2293	2205	194.0	5.8	1293	12665	0.25	5.22	81.18	1.670	10788	0.145	0.077	2790	508	1880	1925	1836	0	0	0	0	0	0	14.46	14.13	13.54
12740	1.16	237.0	2790	508	1913	1838	176.8	12.3	1324	12747	0.00	4.97	0.00	0.000	1030	0.000	0.052	2790	2199	1873	1911	1836	0	0	0	0	0	0	14.31	14.24	14.33
12925	1.16	237.0	2790	2199	1911	1832	154.8	11.5	1343	12926	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2199	1869	1911	1827	0	0	0	0	0	0	14.52	14.54	14.53
13105	1.16	237.0	2791	2200	1912	1830	134.8	10.3	1361	13116	0.00	5.05	0.00	0.000	516	0.000	0.079	2811	514	1869	1909	1829	0	0	0	0	0	0	14.58	14.36	14.62
13141	1.16	237.0	2812	515	1910	1831	130.8	11.3	1368	13149	0.17	4.90	0.00	0.000	5126	0.310	0.052	2775	2205	1868	1909	1828	0	0	0	0	0	0	14.23	14.40	14.45
13328	1.21	237.0	2772	2205	1909	1826	114.5	8.3	1387	13328	0.00	0.00	0.00	0.000	70	0.000	0.000	2775	2204	1867	1909	1826	0	0	0	0	0	0	14.62	14.64	14.63
13506	1.32	237.0	2776	2205	1911	1826	101.7	6.5	1405	13517	0.12	5.03	0.00	0.000	2628	0.177	0.076	2838	511	1866	1908	1825	0	0	0	0	0	0	14.41	14.42	14.48
13572	1.34	237.0	2839	512	1909	1826	95.9	9.1	1418	13579	0.00	4.90	0.00	0.000	1094	0.000	0.051	2838	2206	1865	1907	1824	0	0	0	0	0	0	14.48	14.42	14.49
13758	1.65	338.6	2839	2207	1909	1824	83.8	5.3	1437	13854	0.25	5.18	88.20	1.527	10788	0.148	0.077	2940	508	1466	1501	1431	0	0	0	0	0	0	14.37	14.03	13.54
13886	1.67	338.6	2940	512	1491	1433	74.7	9.3	1456	13892	0.00	4.97	0.00	0.000	1094	0.000	0.050	2940	2203	1462	1491	1433	0	0	0	0	0	0	14.24	14.18	14.26
14077	2.00	448.6	2940	2205	1493	1428	61.3	4.9	1476	14179	0.30	0.00	95.18	1.444	10534	0.138	0.000	3037	2204	1018	1029	1007	0	0	0	0	0	0	14.19	13.88	13.43
14357	2.07	448.6	3038	2205	1027	1003	39.9	7.5	1509	14358	0.00	0.00	0.00	0.000	70	0.000	0.000	3036	2204	1014	1026	1002	0	0	0	0	0	0	14.35	14.38	14.38
14537	2.57	613.8	3037	2204	1026	1001	31.4	2.3	1527	14660	0.57	5.25	111.93	1.399	10788	0.124	0.080	3242	510	496	475	518	0	0	0	0	0	0	14.19	13.94	13.43
14757	2.57	613.8	3241	510	472	519	4.0	17.8	1568	14765	0.00	5.03	0.00	0.000	1030	0.000	0.054	3235	2197	495	473	517	0	0	0	0	0	0	14.14	14.08	14.16
14770	end climb: SURFACE_DEPTH_REACHED
state	14770	begin surface coast
14780	end surface coast: CONTROL_FINISHED_OK
state	14780	begin surface