Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 439 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 KALMAN_USE 2 ROLL_MIN 200 AD7714Ch0Gain 32

MISSION 4 HD_A 0.0026803601 ROLL_MAX 3700 COMPASS_USE 4

DIVE 439 HD_B 0.0139002 ROLL_DEG 40 ALTIM_PING_FIT 0

N_DIVES 0 HD_C 9.1750398e-06 C_ROLL_DIVE 1800 ALTIM_TOP_PING_RANGE 0

STOP_T 0 HEADING -1 C_ROLL_CLIMB 2250 ALTIM_BOTTOM_TURN_MARGIN 15

D_SURF 3 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 2

D_TGT 600 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_ABORT 1030 TGT_DEFAULT_LAT 3235 R_PORT_OVSHOOT 51 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 109 ALTIM_FREQUENCY 13

D_BOOST 20 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 ALTIM_PULSE 3

T_BOOST 5 SM_CC 400 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FINISH 0 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_VALID 5

D_PITCH 0 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_SAFE 0 CALL_NDIVES 1 VBD_MIN 400 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 COMM_SEQ 0 VBD_MAX 3900 INT_PRESSURE_YINT -1

SURFACE_URGENCY 0 PROTOCOL 9 C_VBD 3250 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 2 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 NOCOMM_ACTION 163 VBD_CNV -0.245296 DEVICE1 2

T_DIVE 240 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 500 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE3 -1

T_ABORT 1600 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00121 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE5 -1

T_TURN_SAMPINT -5 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 14400 HEAPDBG 0 UNCOM_BLEED 20 LOGGERDEVICE1 -1

T_EPIRB 0 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

EXEC_P 0 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE3 -1

EXEC_DT 0 T_RSLEEP 1 DBDW 0 LOGGERDEVICE4 -1

EXEC_T 0 STROBE 0 LOITER_W_DBAND 1 COMPASS_DEVICE 33

EXEC_N 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 400 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_NO_PUMP 500 PHONE_DEVICE 49

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 1 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 PITCH_W_GAIN 2 RAFOS_DEVICE -1

D_OFFGRID 1000 PITCH_MIN 250 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3750 CF8_MAXERRORS 20 SIM_W 0

RELAUNCH 1 C_PITCH 2760 AH0_24V 350 SEABIRD_T_G 0.0043553207

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_10V 0 SEABIRD_T_H 0.00062594062

MAX_BUOY 100 PITCH_CNV 0.003125763 MINV_24V 11 SEABIRD_T_I 2.3765557e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_10V 11 SEABIRD_T_J 2.606791e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_G -9.8755465

SPEED_FACTOR 1 PITCH_GAIN 34 MAXI_10V 0.80000001 SEABIRD_C_H 1.1390997

RHO 1.0275 PITCH_TIMEOUT 16 FG_AHR_10V 0 SEABIRD_C_I -0.0019936475

MASS 51713 PITCH_AD_RATE 175 FG_AHR_24V 0 SEABIRD_C_J 0.00023608611

MASS_COMP 0 PITCH_MAXERRORS 1 PHONE_SUPPLY -2

NAV_MODE 2 PITCH_ADJ_GAIN 0 PRESSURE_YINT -157.40906

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014074198

AD7714Ch0Gain 32 D_SURF 3 N_FILEKB 8 SEABIRD_T_H 0.00062594062

AH0_10V 0 D_TGT 600 N_GPS 100440 SEABIRD_T_I 2.3765557e-05

AH0_24V 350 ESCAPE_HEADING 0 N_NOCOMM 2 SEABIRD_T_J 2.606791e-06

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SIM_W 0

ALTIM_FREQUENCY 13 EXEC_DT 0 PHONE_DEVICE 49 SM_CC 400

ALTIM_PING_DELTA 50 EXEC_N 0 PHONE_SUPPLY -2 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 EXEC_P 0 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PING_FIT 0 EXEC_T 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_GAIN 34 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3750 TGT_DEFAULT_LAT 3235

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -11731

CALL_NDIVES 1 GPS_DEVICE 32 PITCH_MIN 250 T_ABORT 1600

CALL_TRIES 5 HD_A 0.0026803601 PITCH_TIMEOUT 16 T_BOOST 5

CALL_WAIT 60 HD_B 0.0139002 PITCH_VBD_SHIFT 0.00121 T_DIVE 240

CAPMAXSIZE 100000 HD_C 9.1750398e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

CAPUPLOAD 0 HEADING -1 PITCH_W_GAIN 2 T_GPS 5

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014074198 T_LOITER 14400

COMM_SEQ 0 HEAPDBG 0 PRESSURE_YINT -157.40906 T_MISSION 500

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_NO_W 120

COMPASS_DEVICE 33 ID 128 P_OVSHOOT 0.039999999 T_RSLEEP 1

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_YINT -1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_PITCH 2760 KALMAN_USE 2 RAFOS_DEVICE -1 T_WATCHDOG 10

C_ROLL_CLIMB 2250 LOGGERDEVICE1 -1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_ROLL_DIVE 1800 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD 3250 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_BATHY -6

DBDW 0 LOGGERDEVICE4 -1 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOGGERS 0 RHO 1.0275 VBD_BLEED_AD_RATE 8

DEVICE1 2 LOITER_DBDW 400 ROLL_ADJ_DBAND 0 VBD_CNV -0.245296

DEVICE2 -1 LOITER_D_NO_PUMP 500 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE3 -1 LOITER_N_DIVE 1 ROLL_AD_RATE 250 VBD_LP_IGNORE 0

DEVICE4 -1 LOITER_W_DBAND 1 ROLL_CNV 0.028270001 VBD_MAX 3900

DEVICE5 -1 MASS 51713 ROLL_DEG 40 VBD_MAXERRORS 1

DEVICE6 -1 MASS_COMP 0 ROLL_MAX 3700 VBD_MIN 400

DIVE 439 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 1030 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 20 MAX_BUOY 100 ROLL_TIMEOUT 15 VBD_TIMEOUT 540

D_CALL 0 MINV_10V 11 R_PORT_OVSHOOT 51 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 11 R_STBD_OVSHOOT 109 XPDR_DEVICE 24

D_FLARE 3 MISSION 4 SEABIRD_C_G -9.8755465 XPDR_INHIBIT 90

D_NO_BLEED 200 MOTHERBOARD 4 SEABIRD_C_H 1.1390997 XPDR_VALID 5

D_OFFGRID 1000 NAV_MODE 2 SEABIRD_C_I -0.0019936475

D_PITCH 0 NOCOMM_ACTION 163 SEABIRD_C_J 0.00023608611

D_SAFE 0 N_DIVES 0 SEABIRD_T_G 0.0043553207

Pre-dive calculations and measurements:

GPS1 170518,031007,-126.6262,5747.5869,40,0.8,42,-4.2,1.0,144.2,11,8.4 SPEED_LIMITS 0.144,0.173

_CALLS 2 TGT_NAME MALDIVE

_XMS_NAKs 0 TGT_LATLONG 430.000,7230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.82 MHEAD_RNG_PITCHd_Wd 59.8,1757746,-20.3,-8.333,-25.69,1777

_SM_ANGLEo -74.1 D_GRID 1000

GPS2 170518,031921,-126.7220,5747.7612,14,0.8,17,-4.2,0.4,13.1,12,8.4

Post-dive calculations and measurements:

FINISH 0.2,1.021536 _10V_AH 12.37,0.000

SM_CCo 28629,24.45,0.076,0,0,1618,400.08 FG_AHR_24Vo 0.000

SM_GC 0.90,8.93,0.73,24.45,0.096,0.038,0.076,247,1781,1618,-7.81,1.44,400.08,0,0,0,0,0,0,14.41,14.62,14.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -122.51,5745.96,170518,031155 MEM 302876

TT8_MAMPS 0.018725,0.159537 DATA_FILE_SIZE 70136,1518

HUMID 59.01 CAP_FILE_SIZE 196530,0

INTERNAL_PRESSURE 8.54138 CFSIZE 260034560,218230784

TCM_TEMP 24.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.071,132.37,1

_24V_AH 12.67,144.088 GPS 170518,111858,-127.430,5748.652,42,0.9,47,-4.2,0.5,140.3,6,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 404 116.39 SBE_CT 621 23 188.85

Roll_motor 161 76 156.56 nil 0 0 0.00

VBD_pump_during_apogee 425 1628 8790.18 nil 0 0 0.00

VBD_pump_during_surface 24 75 23.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 383 136 661.94 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 20 4.89

TT8 3278 9 384.00

LPSleep 22516 2 609.99

TT8_Active 595 9 69.76

TT8_Sampling 2463 28 858.88

TT8_CF8 357 34 151.15

TT8_Kalman 0 0 0.00

Analog_circuits 2231 16 441.62

GPS_charging 0 0 0.00

Compass 1989 17 424.13

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 -0.72 -97.3 235 1767 1629 1621 0.0 0.0 0 74 0.00 0.00 -63.08 0.003 16390 0.000 0.000 235 1767 3648 3632 3665 0 0 0 0 0 0 14.85 12.67 14.79

77 -0.72 -97.3 235 1767 3632 3666 4.4 -12.4 11 98 11.55 2.38 0.00 0.000 2308 0.405 0.059 2511 3135 3653 3643 3664 0 0 0 0 0 0 14.07 14.50 14.45

136 -0.72 -97.3 2511 3134 3646 3661 21.2 -17.6 21 144 0.00 2.22 0.00 0.000 1030 0.000 0.034 2511 1800 3653 3646 3660 0 0 0 0 0 0 14.62 14.55 14.64

447 -0.72 -97.3 2510 1795 3646 3658 74.7 -13.8 68 451 0.00 2.30 0.00 0.000 516 0.000 0.050 2511 405 3652 3647 3658 0 0 0 0 0 0 14.98 14.52 15.00

491 -0.72 -97.3 2511 404 3645 3658 80.6 -12.5 77 499 0.00 2.17 0.00 0.000 1030 0.000 0.038 2511 1732 3651 3644 3658 0 0 0 0 0 0 14.68 14.59 14.71

799 -0.72 -97.3 2511 1732 3641 3658 109.3 -9.3 108 803 0.00 2.40 0.00 0.000 260 0.000 0.060 2511 3140 3649 3641 3658 0 0 0 0 0 0 15.02 14.55 15.04

882 -0.72 -97.3 2511 3141 3644 3657 117.6 -10.0 124 886 0.00 2.20 0.00 0.000 1030 0.000 0.032 2511 1791 3651 3645 3657 0 0 0 0 0 0 14.75 14.69 14.77

1193 -0.72 -97.3 2511 1786 3647 3657 145.6 -7.7 156 1197 0.00 2.25 0.00 0.000 516 0.000 0.050 2511 414 3651 3647 3656 0 0 0 0 0 0 15.06 14.59 15.08

1235 -0.72 -97.3 2511 414 3647 3658 149.2 -9.0 164 1239 0.00 2.15 0.00 0.000 1030 0.000 0.039 2511 1735 3652 3647 3658 0 0 0 0 0 0 14.74 14.65 14.77

1547 -0.72 -97.3 2510 1734 3648 3658 176.0 -9.9 196 1556 0.00 2.40 0.00 0.000 260 0.000 0.060 2511 3141 3652 3648 3657 0 0 0 0 0 0 15.08 14.58 15.10

1609 -0.72 -97.3 2510 3141 3648 3657 181.9 -9.6 208 1613 0.00 2.20 0.00 0.000 1030 0.000 0.033 2511 1794 3652 3648 3657 0 0 0 0 0 0 14.78 14.71 14.80

1920 -0.72 -97.3 2510 1789 3648 3657 204.2 -6.8 240 1925 0.00 2.28 0.00 0.000 516 0.000 0.050 2511 410 3652 3648 3657 0 0 0 0 0 0 15.09 14.60 15.11

1962 -0.72 -97.3 2510 410 3647 3658 207.3 -7.7 248 1966 0.00 2.15 0.00 0.000 1030 0.000 0.039 2511 1729 3653 3648 3658 0 0 0 0 0 0 14.75 14.66 14.78

2273 -0.72 -97.3 2510 1729 3648 3657 231.2 -8.2 280 2283 0.00 2.40 0.00 0.000 260 0.000 0.061 2510 3132 3651 3648 3655 0 0 0 0 0 0 15.09 14.57 15.11

2330 -0.72 -97.3 2511 3131 3649 3655 236.0 -8.5 291 2337 0.00 2.20 0.00 0.000 1030 0.000 0.033 2511 1787 3651 3648 3655 0 0 0 0 0 0 14.77 14.71 14.79

2649 -0.72 -97.3 2510 1788 3653 3653 264.7 -9.5 313 2654 0.00 2.28 0.00 0.000 516 0.000 0.051 2511 417 3653 3653 3653 0 0 0 0 0 0 15.08 14.59 15.10

2675 -0.72 -97.3 2511 416 3653 3654 267.6 -10.2 318 2682 0.00 2.17 0.00 0.000 1030 0.000 0.041 2511 1735 3653 3653 3653 0 0 0 0 0 0 14.74 14.65 14.77

2981 -0.72 -97.3 2511 1734 3649 3651 297.7 -9.6 329 2986 0.00 2.40 0.00 0.000 260 0.000 0.063 2511 3130 3650 3650 3651 0 0 0 0 0 0 15.11 14.56 15.13

3033 -0.72 -97.3 2511 3130 3651 3649 302.6 -9.5 339 3037 0.00 2.17 0.00 0.000 1030 0.000 0.035 2511 1810 3650 3651 3649 0 0 0 0 0 0 14.77 14.71 14.80

3344 -0.72 -97.3 2511 1804 3658 3647 327.4 -7.2 351 3348 0.00 2.30 0.00 0.000 516 0.000 0.051 2511 417 3652 3657 3647 0 0 0 0 0 0 15.11 14.59 15.13

3406 -0.72 -97.3 2511 417 3656 3647 331.7 -6.8 363 3410 0.00 2.17 0.00 0.000 1030 0.000 0.042 2511 1739 3651 3656 3647 0 0 0 0 0 0 14.73 14.64 14.76

3738 -0.72 -97.3 2511 1739 3659 3643 352.3 -6.5 379 3743 0.00 2.42 0.00 0.000 260 0.000 0.065 2511 3130 3651 3659 3644 0 0 0 0 0 0 15.11 14.53 15.13

3814 -0.72 -97.3 2511 3130 3660 3642 358.1 -7.7 394 3818 0.00 2.20 0.00 0.000 1030 0.000 0.037 2511 1799 3651 3661 3642 0 0 0 0 0 0 14.76 14.69 14.78

4131 -0.72 -97.3 2511 1793 3658 3641 385.0 -9.0 407 4135 0.00 2.30 0.00 0.000 516 0.000 0.052 2511 414 3649 3658 3641 0 0 0 0 0 0 15.10 14.57 15.12

4166 -0.72 -97.3 2511 414 3658 3641 388.6 -9.6 414 4170 0.00 2.17 0.00 0.000 1030 0.000 0.042 2511 1729 3649 3657 3641 0 0 0 0 0 0 14.72 14.63 14.75

4493 -0.72 -97.3 2511 1729 3658 3638 418.8 -9.1 429 4498 0.00 2.45 0.00 0.000 260 0.000 0.066 2511 3137 3648 3658 3638 0 0 0 0 0 0 15.11 14.52 15.13

4556 -0.72 -97.3 2511 3137 3657 3637 424.3 -8.8 441 4561 0.00 2.22 0.00 0.000 1030 0.000 0.036 2511 1791 3647 3658 3637 0 0 0 0 0 0 14.75 14.68 14.77

4889 -0.72 -97.3 2511 1786 3654 3635 451.4 -7.8 457 4894 0.00 2.30 0.00 0.000 516 0.000 0.053 2511 411 3644 3654 3635 0 0 0 0 0 0 15.11 14.54 15.13

4910 -0.72 -97.3 2511 410 3654 3635 453.2 -8.1 461 4915 0.00 2.20 0.00 0.000 1030 0.000 0.043 2511 1737 3644 3654 3635 0 0 0 0 0 0 14.71 14.61 14.73

5223 -0.72 -97.3 2511 1736 3651 3633 476.2 -7.3 473 5224 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 1736 3642 3651 3633 0 0 0 0 0 0 15.10 15.13 15.12

5523 -0.72 -97.3 2511 1736 3650 3631 498.1 -7.6 483 5524 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 1736 3640 3650 3631 0 0 0 0 0 0 15.11 15.14 15.13

5823 -0.72 -97.3 2511 1736 3647 3629 524.1 -9.0 493 5824 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 1736 3638 3648 3629 0 0 0 0 0 0 15.11 15.14 15.13

6123 -0.72 -97.3 2511 1736 3647 3627 551.8 -9.1 503 6127 0.00 2.25 0.00 0.000 516 0.000 0.054 2511 412 3637 3647 3627 0 0 0 0 0 0 15.11 14.51 15.13

6138 -0.72 -97.3 2510 412 3646 3627 553.4 -9.2 506 6142 0.00 2.20 0.00 0.000 1030 0.000 0.044 2511 1731 3636 3646 3627 0 0 0 0 0 0 14.68 14.58 14.71

6454 -0.72 -97.3 2511 1730 3645 3626 581.2 -8.7 519 6461 0.00 2.45 0.00 0.000 260 0.000 0.067 2511 3129 3635 3645 3625 0 0 0 0 0 0 15.11 14.45 15.13

6503 -0.72 -97.3 2511 3129 3645 3625 585.6 -9.2 529 6508 0.00 2.22 0.00 0.000 1030 0.000 0.038 2511 1798 3635 3645 3625 0 0 0 0 0 0 14.71 14.63 14.73

6694 end dive: TARGET_DEPTH_EXCEEDED

state 6694 begin apogee

6700 -0.15 0.0 2510 2192 3643 3624 602.1 -8.4 537 6792 0.75 0.00 89.00 1.614 10246 0.235 0.000 2707 2192 3249 3270 3229 0 0 0 0 0 0 13.99 14.23 13.30

6793 end apogee: CONTROL_FINISHED_OK

state 6793 begin loiter

7086 -0.14 9.0 2707 2192 3260 3221 613.2 -2.3 545 7096 0.00 0.00 8.77 1.574 8230 0.000 0.000 2707 2192 3213 3233 3193 0 0 0 0 0 0 14.90 14.47 13.49

7386 -0.13 13.3 2707 2192 3222 3186 616.9 -1.1 550 7388 0.00 0.00 0.93 0.123 8230 0.000 0.000 2707 2192 3195 3215 3176 0 0 0 0 0 0 14.97 14.49 14.16

7686 -0.12 13.3 2706 2192 3224 3177 618.9 -0.6 555 7687 0.00 0.00 0.00 0.000 70 0.000 0.000 2707 2192 3201 3225 3177 0 0 0 0 0 0 15.03 15.04 15.05

7984 -0.12 13.3 2706 2192 3224 3177 620.1 -0.4 560 7986 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3200 3224 3177 0 0 0 0 0 0 15.07 15.09 15.09

8287 -0.10 13.3 2707 2192 3222 3177 622.4 -0.8 565 8288 0.00 0.00 0.00 0.000 70 0.000 0.000 2707 2192 3199 3222 3177 0 0 0 0 0 0 15.07 15.09 15.09

8585 -0.10 19.0 2706 2192 3220 3177 626.6 -1.5 570 8596 0.00 0.00 9.07 1.629 8230 0.000 0.000 2707 2191 3171 3191 3152 0 0 0 0 0 0 15.10 14.59 13.57

8885 -0.10 19.0 2707 2192 3183 3146 625.8 0.5 575 8887 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3164 3183 3146 0 0 0 0 0 0 15.07 15.08 15.08

9184 -0.10 19.0 2707 2192 3182 3145 623.8 0.7 580 9186 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3163 3182 3145 0 0 0 0 0 0 15.09 15.11 15.11

9486 -0.10 19.0 2707 2192 3181 3145 621.0 1.0 585 9487 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3163 3182 3144 0 0 0 0 0 0 15.09 15.11 15.11

9784 -0.10 19.0 2707 2192 3181 3144 617.3 1.2 590 9786 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3162 3181 3144 0 0 0 0 0 0 15.11 15.14 15.14

10086 -0.10 19.0 2707 2192 3180 3143 613.4 1.3 595 10087 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3161 3180 3143 0 0 0 0 0 0 15.11 15.13 15.13

10386 -0.10 19.0 2706 2192 3179 3142 608.0 1.9 600 10387 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3160 3179 3142 0 0 0 0 0 0 15.11 15.13 15.13

10686 -0.10 19.0 2707 2192 3178 3142 602.5 1.8 605 10688 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3160 3178 3142 0 0 0 0 0 0 15.11 15.13 15.12

10986 -0.10 19.0 2707 2192 3177 3141 599.6 0.9 610 10987 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3159 3178 3141 0 0 0 0 0 0 15.11 15.13 15.13

11286 -0.10 19.0 2707 2192 3177 3141 598.3 0.4 615 11287 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3159 3177 3141 0 0 0 0 0 0 15.11 15.14 15.13

11586 -0.10 19.0 2707 2192 3176 3141 595.0 1.2 620 11587 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3158 3176 3141 0 0 0 0 0 0 15.11 15.14 15.14

11886 -0.10 19.0 2707 2192 3175 3140 590.8 1.4 625 11888 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3158 3175 3141 0 0 0 0 0 0 15.10 15.13 15.12

12186 -0.10 19.0 2706 2192 3175 3140 587.3 1.1 630 12187 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3157 3175 3140 0 0 0 0 0 0 15.11 15.14 15.14

12486 -0.10 19.0 2706 2192 3175 3140 583.1 1.4 635 12487 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2191 3157 3175 3140 0 0 0 0 0 0 15.11 15.13 15.13

12786 -0.10 19.0 2707 2192 3175 3140 578.8 1.4 640 12787 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3157 3175 3140 0 0 0 0 0 0 15.11 15.14 15.13

13087 -0.10 19.0 2706 2192 3175 3140 575.7 1.0 645 13088 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3157 3175 3140 0 0 0 0 0 0 15.10 15.12 15.12

13387 -0.10 19.0 2706 2192 3175 3139 574.8 0.2 650 13388 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3156 3174 3139 0 0 0 0 0 0 15.10 15.12 15.12

13686 -0.10 19.0 2707 2192 3174 3139 576.1 -0.5 655 13687 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3156 3174 3139 0 0 0 0 0 0 15.11 15.13 15.13

13986 -0.10 19.0 2707 2192 3174 3139 577.2 -0.3 660 13987 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3156 3174 3139 0 0 0 0 0 0 15.11 15.13 15.13

14286 -0.10 19.0 2706 2192 3174 3138 576.1 0.5 665 14287 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3156 3174 3138 0 0 0 0 0 0 15.11 15.13 15.13

14587 -0.10 19.0 2707 2192 3173 3138 573.7 0.8 670 14588 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3155 3173 3138 0 0 0 0 0 0 15.10 15.12 15.12

14886 -0.10 19.0 2707 2192 3172 3138 572.9 0.2 675 14887 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2192 3155 3173 3138 0 0 0 0 0 0 15.11 15.13 15.12

15186 -0.10 19.0 2707 2192 3173 3138 573.7 -0.3 680 15187 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3155 3173 3138 0 0 0 0 0 0 15.11 15.13 15.13

15486 -0.10 19.0 2707 2191 3172 3138 574.5 -0.3 685 15487 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3155 3173 3138 0 0 0 0 0 0 15.11 15.13 15.12

15787 -0.10 19.0 2707 2192 3172 3138 573.1 0.6 690 15788 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2191 3155 3172 3138 0 0 0 0 0 0 15.10 15.11 15.11

16086 -0.10 19.0 2707 2192 3172 3137 569.1 1.4 695 16087 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3154 3172 3137 0 0 0 0 0 0 15.11 15.13 15.12

16386 -0.10 19.0 2706 2192 3172 3138 566.6 0.7 700 16387 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3154 3172 3137 0 0 0 0 0 0 15.10 15.12 15.12

16686 -0.10 19.0 2707 2192 3172 3137 566.7 -0.1 705 16687 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3154 3172 3137 0 0 0 0 0 0 15.10 15.13 15.12

16987 -0.08 19.0 2706 2192 3172 3137 568.5 -0.6 710 16988 0.00 0.00 0.00 0.000 70 0.000 0.000 2707 2191 3154 3172 3137 0 0 0 0 0 0 15.09 15.11 15.11

17286 -0.08 19.0 2706 2192 3172 3137 569.7 -0.4 715 17287 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3154 3172 3137 0 0 0 0 0 0 15.11 15.12 15.12

17586 -0.08 19.0 2707 2192 3172 3137 568.9 0.4 720 17587 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3154 3172 3136 0 0 0 0 0 0 15.10 15.11 15.12

17886 -0.08 19.0 2707 2192 3172 3137 567.1 0.6 725 17887 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2192 3154 3172 3136 0 0 0 0 0 0 15.10 15.11 15.12

18187 -0.08 19.0 2706 2192 3172 3137 566.7 0.0 730 18188 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2192 3154 3171 3137 0 0 0 0 0 0 15.09 15.11 15.11

18486 -0.08 19.0 2707 2192 3171 3137 568.0 -0.5 735 18487 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2192 3154 3172 3137 0 0 0 0 0 0 15.10 15.13 15.12

18786 -0.07 19.0 2706 2192 3171 3137 570.2 -0.8 740 18788 0.00 0.00 0.00 0.000 70 0.000 0.000 2707 2192 3154 3171 3137 0 0 0 0 0 0 15.09 15.11 15.11

19086 -0.05 19.0 2706 2192 3171 3137 572.5 -0.8 745 19088 0.12 0.00 0.00 0.000 2118 0.236 0.000 2739 2192 3154 3171 3137 0 0 0 0 0 0 14.34 14.57 14.51

19387 -0.05 19.0 2738 2192 3171 3137 573.9 -0.4 750 19388 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2191 3153 3171 3136 0 0 0 0 0 0 15.09 15.11 15.11

19686 -0.05 19.0 2738 2192 3171 3137 574.5 -0.2 755 19687 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2192 3153 3171 3136 0 0 0 0 0 0 15.10 15.12 15.12

19986 -0.05 19.0 2738 2192 3171 3136 574.6 -0.0 760 19987 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2192 3154 3171 3137 0 0 0 0 0 0 15.10 15.12 15.11

20286 -0.05 19.0 2738 2192 3171 3136 574.7 -0.0 765 20287 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2192 3153 3171 3136 0 0 0 0 0 0 15.10 15.12 15.11

20587 -0.05 19.0 2738 2192 3171 3136 574.7 -0.0 770 20588 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2192 3154 3171 3137 0 0 0 0 0 0 15.09 15.11 15.11

20886 -0.05 19.0 2738 2192 3172 3136 576.0 -0.5 775 20887 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2192 3153 3171 3136 0 0 0 0 0 0 15.09 15.11 15.11

21184 end loiter: LOITER_COMPLETE

state 21184 begin climb

21186 0.72 97.3 2738 2192 3171 3136 578.0 0.0 780 21279 0.82 2.45 83.62 1.512 10500 0.146 0.076 2987 3583 2847 2870 2824 0 0 0 0 0 0 14.05 14.25 13.28

21377 0.78 149.4 2987 3582 2863 2819 570.5 5.3 817 21443 0.00 2.15 58.67 1.471 9254 0.000 0.040 2987 2244 2636 2671 2602 0 0 0 0 0 0 14.47 14.40 13.26

21766 0.80 149.4 2987 2245 2660 2594 544.8 7.1 844 21770 0.00 2.33 0.00 0.000 324 0.000 0.075 2987 3588 2626 2658 2594 0 0 0 0 0 0 14.84 14.38 14.86

21821 0.84 149.4 2987 3588 2656 2593 540.8 6.6 855 21829 0.12 2.12 0.00 0.000 3142 0.152 0.037 3035 2245 2625 2657 2593 0 0 0 0 0 0 14.40 14.51 14.54

22129 0.86 149.4 3035 2245 2656 2593 518.3 7.3 866 22133 0.00 2.28 0.00 0.000 324 0.000 0.071 3035 3582 2624 2655 2593 0 0 0 0 0 0 14.95 14.42 14.96

22192 0.88 149.4 3035 3582 2653 2592 513.3 7.5 878 22196 0.00 2.10 0.00 0.000 1094 0.000 0.040 3042 2265 2623 2654 2592 0 0 0 0 0 0 14.62 14.55 14.66

22524 0.88 149.4 3041 2262 2653 2592 488.0 7.9 894 22531 0.00 2.50 0.00 0.000 516 0.000 0.053 3045 846 2622 2653 2592 0 0 0 0 0 0 15.00 14.48 15.02

22603 0.89 149.4 3045 847 2653 2592 481.6 7.6 910 22612 0.00 2.38 0.00 0.000 1094 0.000 0.047 3045 2182 2622 2653 2591 0 0 0 0 0 0 14.61 14.51 14.66

22914 0.89 149.4 3045 2182 2652 2591 455.0 8.9 922 22918 0.00 2.35 0.00 0.000 260 0.000 0.072 3045 3579 2621 2652 2591 0 0 0 0 0 0 15.02 14.42 15.04

22979 0.89 149.4 3045 3579 2651 2591 448.5 9.7 935 22983 0.00 2.15 0.00 0.000 1030 0.000 0.040 3053 2237 2621 2651 2591 0 0 0 0 0 0 14.64 14.56 14.67

23307 0.89 149.4 3054 2233 2651 2590 417.9 9.4 950 23313 0.00 2.33 0.00 0.000 260 0.000 0.070 3054 3591 2620 2650 2591 0 0 0 0 0 0 15.03 14.42 15.05

23324 0.89 149.4 3054 3591 2650 2591 415.9 9.7 953 23329 0.00 2.15 0.00 0.000 1030 0.000 0.041 3056 2256 2620 2650 2591 0 0 0 0 0 0 14.64 14.56 14.68

23643 0.89 149.4 3055 2255 2649 2591 387.5 8.6 966 23649 0.00 2.50 0.00 0.000 516 0.000 0.055 3061 848 2620 2650 2591 0 0 0 0 0 0 15.04 14.45 15.07

23695 0.91 149.4 3060 849 2650 2591 383.2 7.4 977 23703 0.00 2.38 0.00 0.000 1094 0.000 0.046 3060 2183 2621 2651 2591 0 0 0 0 0 0 14.61 14.51 14.65

24002 0.95 149.4 3060 2183 2650 2591 362.6 6.4 988 24006 0.00 2.38 0.00 0.000 324 0.000 0.072 3061 3588 2620 2650 2591 0 0 0 0 0 0 15.06 14.39 15.07

24069 0.97 149.4 3060 3588 2649 2590 357.9 7.0 1001 24074 0.00 2.15 0.00 0.000 1094 0.000 0.038 3068 2239 2619 2649 2590 0 0 0 0 0 0 14.64 14.56 14.67

24397 0.99 149.4 3068 2236 2649 2590 334.5 7.6 1016 24404 0.00 2.47 0.00 0.000 580 0.000 0.055 3070 848 2619 2649 2590 0 0 0 0 0 0 15.06 14.43 15.08

24430 1.00 149.4 3069 848 2649 2590 331.8 7.7 1023 24434 0.00 2.38 0.00 0.000 1094 0.000 0.047 3069 2179 2619 2649 2590 0 0 0 0 0 0 14.59 14.49 14.64

24753 1.01 149.4 3069 2178 2649 2590 307.0 7.7 1037 24758 0.00 2.38 0.00 0.000 580 0.000 0.052 3076 856 2619 2649 2590 0 0 0 0 0 0 15.05 14.45 15.07

24834 1.02 149.4 3075 856 2649 2590 300.6 7.7 1053 24839 0.00 2.38 0.00 0.000 1094 0.000 0.045 3076 2188 2619 2649 2590 0 0 0 0 0 0 14.59 14.48 14.64

25147 1.02 149.4 3075 2187 2649 2590 274.9 8.2 1065 25152 0.00 2.35 0.00 0.000 260 0.000 0.071 3076 3580 2619 2649 2590 0 0 0 0 0 0 15.06 14.37 15.08

25228 1.02 149.4 3075 3579 2648 2589 267.6 8.6 1081 25233 0.00 2.12 0.00 0.000 1030 0.000 0.040 3080 2256 2619 2648 2590 0 0 0 0 0 0 14.61 14.52 14.65

25542 1.04 149.4 3080 2252 2648 2590 243.6 7.3 1097 25547 0.00 2.28 0.00 0.000 324 0.000 0.070 3081 3592 2619 2648 2590 0 0 0 0 0 0 15.05 14.36 15.07

25596 1.07 149.4 3080 3592 2648 2589 239.5 7.1 1107 25600 0.00 2.15 0.00 0.000 1094 0.000 0.039 3083 2249 2618 2648 2589 0 0 0 0 0 0 14.62 14.54 14.66

25907 1.13 202.8 3083 2249 2648 2589 222.5 5.2 1139 25969 0.12 2.33 54.35 1.165 10532 0.157 0.069 3131 3584 2417 2455 2380 0 0 0 0 0 0 14.52 14.46 13.64

26007 1.13 202.8 3131 3583 2453 2379 214.5 9.5 1158 26013 0.00 2.15 0.00 0.000 1030 0.000 0.040 3139 2252 2416 2453 2379 0 0 0 0 0 0 14.55 14.48 14.57

26311 1.13 202.8 3139 2253 2449 2377 180.7 11.7 1189 26316 0.00 2.28 0.00 0.000 260 0.000 0.068 3140 3586 2413 2449 2377 0 0 0 0 0 0 14.91 14.38 14.93

26364 1.13 202.8 3139 3586 2448 2376 174.2 12.0 1199 26368 0.00 2.15 0.00 0.000 1030 0.000 0.037 3148 2242 2412 2448 2376 0 0 0 0 0 0 14.59 14.52 14.62

26675 1.13 202.8 3148 2238 2448 2375 139.6 8.5 1231 26680 0.00 2.30 0.00 0.000 260 0.000 0.067 3148 3587 2411 2448 2375 0 0 0 0 0 0 14.97 14.40 14.99

26718 1.15 202.8 3148 3587 2447 2375 136.2 7.6 1239 26722 0.00 2.15 0.00 0.000 1094 0.000 0.038 3155 2249 2411 2447 2375 0 0 0 0 0 0 14.61 14.53 14.64

27031 1.15 202.8 3155 2244 2447 2374 113.3 8.4 1271 27035 0.00 2.28 0.00 0.000 260 0.000 0.068 3156 3582 2410 2447 2374 0 0 0 0 0 0 15.00 14.40 15.01

27083 1.15 202.8 3155 3582 2446 2374 108.0 10.2 1281 27088 0.15 2.12 0.00 0.000 5126 0.315 0.038 3136 2257 2410 2446 2374 0 0 0 0 0 0 13.97 14.54 14.36

27396 1.19 241.5 3135 2253 2446 2374 82.1 6.1 1313 27441 0.00 2.47 38.25 1.015 8740 0.000 0.047 3145 829 2258 2298 2219 0 0 0 0 0 0 15.02 14.32 13.80

27492 1.23 241.5 3145 829 2296 2219 75.8 6.6 1332 27499 0.00 2.40 0.00 0.000 1094 0.000 0.041 3145 2195 2257 2296 2219 0 0 0 0 0 0 14.59 14.51 14.63

27800 1.35 339.2 3145 2194 2295 2219 63.2 2.7 1363 27893 0.12 2.50 83.30 0.961 10788 0.158 0.050 3194 846 1858 1901 1816 0 0 0 0 0 0 14.50 14.35 13.70

27943 1.35 339.2 3193 846 1897 1815 53.6 8.8 1391 27948 0.00 2.38 0.00 0.000 1030 0.000 0.041 3194 2181 1856 1897 1815 0 0 0 0 0 0 14.47 14.39 14.50

28251 1.35 339.2 3193 2180 1897 1815 29.3 8.4 1449 28259 0.00 2.40 0.00 0.000 516 0.000 0.050 3194 845 1856 1897 1815 0 0 0 0 0 0 14.85 14.46 14.88

28282 1.35 339.2 3194 845 1896 1814 26.6 8.4 1454 28289 0.00 2.35 0.00 0.000 1030 0.000 0.040 3194 2182 1855 1896 1815 0 0 0 0 0 0 14.59 14.51 14.62

28571 end climb: SURFACE_DEPTH_REACHED

state 28571 begin surface coast

28611 end surface coast: CONTROL_FINISHED_OK

state 28611 begin surface

ID	128	KALMAN_USE	2	ROLL_MIN	200	AD7714Ch0Gain	32
MISSION	4	HD_A	0.0026803601	ROLL_MAX	3700	COMPASS_USE	4
DIVE	439	HD_B	0.0139002	ROLL_DEG	40	ALTIM_PING_FIT	0
N_DIVES	0	HD_C	9.1750398e-06	C_ROLL_DIVE	1800	ALTIM_TOP_PING_RANGE	0
STOP_T	0	HEADING	-1	C_ROLL_CLIMB	2250	ALTIM_BOTTOM_TURN_MARGIN	15
D_SURF	3	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	2
D_TGT	600	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_ABORT	1030	TGT_DEFAULT_LAT	3235	R_PORT_OVSHOOT	51	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	109	ALTIM_FREQUENCY	13
D_BOOST	20	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	ALTIM_PULSE	3
T_BOOST	5	SM_CC	400	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FINISH	0	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_VALID	5
D_PITCH	0	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_SAFE	0	CALL_NDIVES	1	VBD_MIN	400	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	COMM_SEQ	0	VBD_MAX	3900	INT_PRESSURE_YINT	-1
SURFACE_URGENCY	0	PROTOCOL	9	C_VBD	3250	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	2	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	NOCOMM_ACTION	163	VBD_CNV	-0.245296	DEVICE1	2
T_DIVE	240	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	500	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE3	-1
T_ABORT	1600	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00121	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE5	-1
T_TURN_SAMPINT	-5	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	14400	HEAPDBG	0	UNCOM_BLEED	20	LOGGERDEVICE1	-1
T_EPIRB	0	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
EXEC_P	0	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE3	-1
EXEC_DT	0	T_RSLEEP	1	DBDW	0	LOGGERDEVICE4	-1
EXEC_T	0	STROBE	0	LOITER_W_DBAND	1	COMPASS_DEVICE	33
EXEC_N	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	400	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_NO_PUMP	500	PHONE_DEVICE	49
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	1	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	PITCH_W_GAIN	2	RAFOS_DEVICE	-1
D_OFFGRID	1000	PITCH_MIN	250	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3750	CF8_MAXERRORS	20	SIM_W	0
RELAUNCH	1	C_PITCH	2760	AH0_24V	350	SEABIRD_T_G	0.0043553207
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_10V	0	SEABIRD_T_H	0.00062594062
MAX_BUOY	100	PITCH_CNV	0.003125763	MINV_24V	11	SEABIRD_T_I	2.3765557e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_10V	11	SEABIRD_T_J	2.606791e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8755465
SPEED_FACTOR	1	PITCH_GAIN	34	MAXI_10V	0.80000001	SEABIRD_C_H	1.1390997
RHO	1.0275	PITCH_TIMEOUT	16	FG_AHR_10V	0	SEABIRD_C_I	-0.0019936475
MASS	51713	PITCH_AD_RATE	175	FG_AHR_24V	0	SEABIRD_C_J	0.00023608611
MASS_COMP	0	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2
NAV_MODE	2	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-157.40906
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014074198

GPS1	170518,031007,-126.6262,5747.5869,40,0.8,42,-4.2,1.0,144.2,11,8.4	SPEED_LIMITS	0.144,0.173
_CALLS	2	TGT_NAME	MALDIVE
_XMS_NAKs	0	TGT_LATLONG	430.000,7230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.82	MHEAD_RNG_PITCHd_Wd	59.8,1757746,-20.3,-8.333,-25.69,1777
_SM_ANGLEo	-74.1	D_GRID	1000
GPS2	170518,031921,-126.7220,5747.7612,14,0.8,17,-4.2,0.4,13.1,12,8.4

FINISH	0.2,1.021536	_10V_AH	12.37,0.000
SM_CCo	28629,24.45,0.076,0,0,1618,400.08	FG_AHR_24Vo	0.000
SM_GC	0.90,8.93,0.73,24.45,0.096,0.038,0.076,247,1781,1618,-7.81,1.44,400.08,0,0,0,0,0,0,14.41,14.62,14.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-122.51,5745.96,170518,031155	MEM	302876
TT8_MAMPS	0.018725,0.159537	DATA_FILE_SIZE	70136,1518
HUMID	59.01	CAP_FILE_SIZE	196530,0
INTERNAL_PRESSURE	8.54138	CFSIZE	260034560,218230784
TCM_TEMP	24.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.071,132.37,1
_24V_AH	12.67,144.088	GPS	170518,111858,-127.430,5748.652,42,0.9,47,-4.2,0.5,140.3,6,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	404	116.39	SBE_CT	621	23	188.85
Roll_motor	161	76	156.56	nil	0	0	0.00
VBD_pump_during_apogee	425	1628	8790.18	nil	0	0	0.00
VBD_pump_during_surface	24	75	23.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	383	136	661.94	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	20	4.89
TT8	3278	9	384.00
LPSleep	22516	2	609.99
TT8_Active	595	9	69.76
TT8_Sampling	2463	28	858.88
TT8_CF8	357	34	151.15
TT8_Kalman	0	0	0.00
Analog_circuits	2231	16	441.62
GPS_charging	0	0	0.00
Compass	1989	17	424.13
RAFOS	0	0	0.00
Transponder	0	5	0.03

		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	-0.72	-97.3	235	1767	1629	1621	0.0	0.0	0	74	0.00	0.00	-63.08	0.003	16390	0.000	0.000	235	1767	3648	3632	3665	0	0	0	0	0	0	14.85	12.67	14.79
77	-0.72	-97.3	235	1767	3632	3666	4.4	-12.4	11	98	11.55	2.38	0.00	0.000	2308	0.405	0.059	2511	3135	3653	3643	3664	0	0	0	0	0	0	14.07	14.50	14.45
136	-0.72	-97.3	2511	3134	3646	3661	21.2	-17.6	21	144	0.00	2.22	0.00	0.000	1030	0.000	0.034	2511	1800	3653	3646	3660	0	0	0	0	0	0	14.62	14.55	14.64
447	-0.72	-97.3	2510	1795	3646	3658	74.7	-13.8	68	451	0.00	2.30	0.00	0.000	516	0.000	0.050	2511	405	3652	3647	3658	0	0	0	0	0	0	14.98	14.52	15.00
491	-0.72	-97.3	2511	404	3645	3658	80.6	-12.5	77	499	0.00	2.17	0.00	0.000	1030	0.000	0.038	2511	1732	3651	3644	3658	0	0	0	0	0	0	14.68	14.59	14.71
799	-0.72	-97.3	2511	1732	3641	3658	109.3	-9.3	108	803	0.00	2.40	0.00	0.000	260	0.000	0.060	2511	3140	3649	3641	3658	0	0	0	0	0	0	15.02	14.55	15.04
882	-0.72	-97.3	2511	3141	3644	3657	117.6	-10.0	124	886	0.00	2.20	0.00	0.000	1030	0.000	0.032	2511	1791	3651	3645	3657	0	0	0	0	0	0	14.75	14.69	14.77
1193	-0.72	-97.3	2511	1786	3647	3657	145.6	-7.7	156	1197	0.00	2.25	0.00	0.000	516	0.000	0.050	2511	414	3651	3647	3656	0	0	0	0	0	0	15.06	14.59	15.08
1235	-0.72	-97.3	2511	414	3647	3658	149.2	-9.0	164	1239	0.00	2.15	0.00	0.000	1030	0.000	0.039	2511	1735	3652	3647	3658	0	0	0	0	0	0	14.74	14.65	14.77
1547	-0.72	-97.3	2510	1734	3648	3658	176.0	-9.9	196	1556	0.00	2.40	0.00	0.000	260	0.000	0.060	2511	3141	3652	3648	3657	0	0	0	0	0	0	15.08	14.58	15.10
1609	-0.72	-97.3	2510	3141	3648	3657	181.9	-9.6	208	1613	0.00	2.20	0.00	0.000	1030	0.000	0.033	2511	1794	3652	3648	3657	0	0	0	0	0	0	14.78	14.71	14.80
1920	-0.72	-97.3	2510	1789	3648	3657	204.2	-6.8	240	1925	0.00	2.28	0.00	0.000	516	0.000	0.050	2511	410	3652	3648	3657	0	0	0	0	0	0	15.09	14.60	15.11
1962	-0.72	-97.3	2510	410	3647	3658	207.3	-7.7	248	1966	0.00	2.15	0.00	0.000	1030	0.000	0.039	2511	1729	3653	3648	3658	0	0	0	0	0	0	14.75	14.66	14.78
2273	-0.72	-97.3	2510	1729	3648	3657	231.2	-8.2	280	2283	0.00	2.40	0.00	0.000	260	0.000	0.061	2510	3132	3651	3648	3655	0	0	0	0	0	0	15.09	14.57	15.11
2330	-0.72	-97.3	2511	3131	3649	3655	236.0	-8.5	291	2337	0.00	2.20	0.00	0.000	1030	0.000	0.033	2511	1787	3651	3648	3655	0	0	0	0	0	0	14.77	14.71	14.79
2649	-0.72	-97.3	2510	1788	3653	3653	264.7	-9.5	313	2654	0.00	2.28	0.00	0.000	516	0.000	0.051	2511	417	3653	3653	3653	0	0	0	0	0	0	15.08	14.59	15.10
2675	-0.72	-97.3	2511	416	3653	3654	267.6	-10.2	318	2682	0.00	2.17	0.00	0.000	1030	0.000	0.041	2511	1735	3653	3653	3653	0	0	0	0	0	0	14.74	14.65	14.77
2981	-0.72	-97.3	2511	1734	3649	3651	297.7	-9.6	329	2986	0.00	2.40	0.00	0.000	260	0.000	0.063	2511	3130	3650	3650	3651	0	0	0	0	0	0	15.11	14.56	15.13
3033	-0.72	-97.3	2511	3130	3651	3649	302.6	-9.5	339	3037	0.00	2.17	0.00	0.000	1030	0.000	0.035	2511	1810	3650	3651	3649	0	0	0	0	0	0	14.77	14.71	14.80
3344	-0.72	-97.3	2511	1804	3658	3647	327.4	-7.2	351	3348	0.00	2.30	0.00	0.000	516	0.000	0.051	2511	417	3652	3657	3647	0	0	0	0	0	0	15.11	14.59	15.13
3406	-0.72	-97.3	2511	417	3656	3647	331.7	-6.8	363	3410	0.00	2.17	0.00	0.000	1030	0.000	0.042	2511	1739	3651	3656	3647	0	0	0	0	0	0	14.73	14.64	14.76
3738	-0.72	-97.3	2511	1739	3659	3643	352.3	-6.5	379	3743	0.00	2.42	0.00	0.000	260	0.000	0.065	2511	3130	3651	3659	3644	0	0	0	0	0	0	15.11	14.53	15.13
3814	-0.72	-97.3	2511	3130	3660	3642	358.1	-7.7	394	3818	0.00	2.20	0.00	0.000	1030	0.000	0.037	2511	1799	3651	3661	3642	0	0	0	0	0	0	14.76	14.69	14.78
4131	-0.72	-97.3	2511	1793	3658	3641	385.0	-9.0	407	4135	0.00	2.30	0.00	0.000	516	0.000	0.052	2511	414	3649	3658	3641	0	0	0	0	0	0	15.10	14.57	15.12
4166	-0.72	-97.3	2511	414	3658	3641	388.6	-9.6	414	4170	0.00	2.17	0.00	0.000	1030	0.000	0.042	2511	1729	3649	3657	3641	0	0	0	0	0	0	14.72	14.63	14.75
4493	-0.72	-97.3	2511	1729	3658	3638	418.8	-9.1	429	4498	0.00	2.45	0.00	0.000	260	0.000	0.066	2511	3137	3648	3658	3638	0	0	0	0	0	0	15.11	14.52	15.13
4556	-0.72	-97.3	2511	3137	3657	3637	424.3	-8.8	441	4561	0.00	2.22	0.00	0.000	1030	0.000	0.036	2511	1791	3647	3658	3637	0	0	0	0	0	0	14.75	14.68	14.77
4889	-0.72	-97.3	2511	1786	3654	3635	451.4	-7.8	457	4894	0.00	2.30	0.00	0.000	516	0.000	0.053	2511	411	3644	3654	3635	0	0	0	0	0	0	15.11	14.54	15.13
4910	-0.72	-97.3	2511	410	3654	3635	453.2	-8.1	461	4915	0.00	2.20	0.00	0.000	1030	0.000	0.043	2511	1737	3644	3654	3635	0	0	0	0	0	0	14.71	14.61	14.73
5223	-0.72	-97.3	2511	1736	3651	3633	476.2	-7.3	473	5224	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	1736	3642	3651	3633	0	0	0	0	0	0	15.10	15.13	15.12
5523	-0.72	-97.3	2511	1736	3650	3631	498.1	-7.6	483	5524	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	1736	3640	3650	3631	0	0	0	0	0	0	15.11	15.14	15.13
5823	-0.72	-97.3	2511	1736	3647	3629	524.1	-9.0	493	5824	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	1736	3638	3648	3629	0	0	0	0	0	0	15.11	15.14	15.13
6123	-0.72	-97.3	2511	1736	3647	3627	551.8	-9.1	503	6127	0.00	2.25	0.00	0.000	516	0.000	0.054	2511	412	3637	3647	3627	0	0	0	0	0	0	15.11	14.51	15.13
6138	-0.72	-97.3	2510	412	3646	3627	553.4	-9.2	506	6142	0.00	2.20	0.00	0.000	1030	0.000	0.044	2511	1731	3636	3646	3627	0	0	0	0	0	0	14.68	14.58	14.71
6454	-0.72	-97.3	2511	1730	3645	3626	581.2	-8.7	519	6461	0.00	2.45	0.00	0.000	260	0.000	0.067	2511	3129	3635	3645	3625	0	0	0	0	0	0	15.11	14.45	15.13
6503	-0.72	-97.3	2511	3129	3645	3625	585.6	-9.2	529	6508	0.00	2.22	0.00	0.000	1030	0.000	0.038	2511	1798	3635	3645	3625	0	0	0	0	0	0	14.71	14.63	14.73
6694	end dive: TARGET_DEPTH_EXCEEDED
state	6694	begin apogee
6700	-0.15	0.0	2510	2192	3643	3624	602.1	-8.4	537	6792	0.75	0.00	89.00	1.614	10246	0.235	0.000	2707	2192	3249	3270	3229	0	0	0	0	0	0	13.99	14.23	13.30
6793	end apogee: CONTROL_FINISHED_OK
state	6793	begin loiter
7086	-0.14	9.0	2707	2192	3260	3221	613.2	-2.3	545	7096	0.00	0.00	8.77	1.574	8230	0.000	0.000	2707	2192	3213	3233	3193	0	0	0	0	0	0	14.90	14.47	13.49
7386	-0.13	13.3	2707	2192	3222	3186	616.9	-1.1	550	7388	0.00	0.00	0.93	0.123	8230	0.000	0.000	2707	2192	3195	3215	3176	0	0	0	0	0	0	14.97	14.49	14.16
7686	-0.12	13.3	2706	2192	3224	3177	618.9	-0.6	555	7687	0.00	0.00	0.00	0.000	70	0.000	0.000	2707	2192	3201	3225	3177	0	0	0	0	0	0	15.03	15.04	15.05
7984	-0.12	13.3	2706	2192	3224	3177	620.1	-0.4	560	7986	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3200	3224	3177	0	0	0	0	0	0	15.07	15.09	15.09
8287	-0.10	13.3	2707	2192	3222	3177	622.4	-0.8	565	8288	0.00	0.00	0.00	0.000	70	0.000	0.000	2707	2192	3199	3222	3177	0	0	0	0	0	0	15.07	15.09	15.09
8585	-0.10	19.0	2706	2192	3220	3177	626.6	-1.5	570	8596	0.00	0.00	9.07	1.629	8230	0.000	0.000	2707	2191	3171	3191	3152	0	0	0	0	0	0	15.10	14.59	13.57
8885	-0.10	19.0	2707	2192	3183	3146	625.8	0.5	575	8887	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3164	3183	3146	0	0	0	0	0	0	15.07	15.08	15.08
9184	-0.10	19.0	2707	2192	3182	3145	623.8	0.7	580	9186	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3163	3182	3145	0	0	0	0	0	0	15.09	15.11	15.11
9486	-0.10	19.0	2707	2192	3181	3145	621.0	1.0	585	9487	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3163	3182	3144	0	0	0	0	0	0	15.09	15.11	15.11
9784	-0.10	19.0	2707	2192	3181	3144	617.3	1.2	590	9786	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3162	3181	3144	0	0	0	0	0	0	15.11	15.14	15.14
10086	-0.10	19.0	2707	2192	3180	3143	613.4	1.3	595	10087	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3161	3180	3143	0	0	0	0	0	0	15.11	15.13	15.13
10386	-0.10	19.0	2706	2192	3179	3142	608.0	1.9	600	10387	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3160	3179	3142	0	0	0	0	0	0	15.11	15.13	15.13
10686	-0.10	19.0	2707	2192	3178	3142	602.5	1.8	605	10688	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3160	3178	3142	0	0	0	0	0	0	15.11	15.13	15.12
10986	-0.10	19.0	2707	2192	3177	3141	599.6	0.9	610	10987	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3159	3178	3141	0	0	0	0	0	0	15.11	15.13	15.13
11286	-0.10	19.0	2707	2192	3177	3141	598.3	0.4	615	11287	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3159	3177	3141	0	0	0	0	0	0	15.11	15.14	15.13
11586	-0.10	19.0	2707	2192	3176	3141	595.0	1.2	620	11587	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3158	3176	3141	0	0	0	0	0	0	15.11	15.14	15.14
11886	-0.10	19.0	2707	2192	3175	3140	590.8	1.4	625	11888	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3158	3175	3141	0	0	0	0	0	0	15.10	15.13	15.12
12186	-0.10	19.0	2706	2192	3175	3140	587.3	1.1	630	12187	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3157	3175	3140	0	0	0	0	0	0	15.11	15.14	15.14
12486	-0.10	19.0	2706	2192	3175	3140	583.1	1.4	635	12487	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2191	3157	3175	3140	0	0	0	0	0	0	15.11	15.13	15.13
12786	-0.10	19.0	2707	2192	3175	3140	578.8	1.4	640	12787	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3157	3175	3140	0	0	0	0	0	0	15.11	15.14	15.13
13087	-0.10	19.0	2706	2192	3175	3140	575.7	1.0	645	13088	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3157	3175	3140	0	0	0	0	0	0	15.10	15.12	15.12
13387	-0.10	19.0	2706	2192	3175	3139	574.8	0.2	650	13388	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3156	3174	3139	0	0	0	0	0	0	15.10	15.12	15.12
13686	-0.10	19.0	2707	2192	3174	3139	576.1	-0.5	655	13687	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3156	3174	3139	0	0	0	0	0	0	15.11	15.13	15.13
13986	-0.10	19.0	2707	2192	3174	3139	577.2	-0.3	660	13987	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3156	3174	3139	0	0	0	0	0	0	15.11	15.13	15.13
14286	-0.10	19.0	2706	2192	3174	3138	576.1	0.5	665	14287	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3156	3174	3138	0	0	0	0	0	0	15.11	15.13	15.13
14587	-0.10	19.0	2707	2192	3173	3138	573.7	0.8	670	14588	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3155	3173	3138	0	0	0	0	0	0	15.10	15.12	15.12
14886	-0.10	19.0	2707	2192	3172	3138	572.9	0.2	675	14887	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2192	3155	3173	3138	0	0	0	0	0	0	15.11	15.13	15.12
15186	-0.10	19.0	2707	2192	3173	3138	573.7	-0.3	680	15187	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3155	3173	3138	0	0	0	0	0	0	15.11	15.13	15.13
15486	-0.10	19.0	2707	2191	3172	3138	574.5	-0.3	685	15487	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3155	3173	3138	0	0	0	0	0	0	15.11	15.13	15.12
15787	-0.10	19.0	2707	2192	3172	3138	573.1	0.6	690	15788	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2191	3155	3172	3138	0	0	0	0	0	0	15.10	15.11	15.11
16086	-0.10	19.0	2707	2192	3172	3137	569.1	1.4	695	16087	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3154	3172	3137	0	0	0	0	0	0	15.11	15.13	15.12
16386	-0.10	19.0	2706	2192	3172	3138	566.6	0.7	700	16387	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3154	3172	3137	0	0	0	0	0	0	15.10	15.12	15.12
16686	-0.10	19.0	2707	2192	3172	3137	566.7	-0.1	705	16687	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3154	3172	3137	0	0	0	0	0	0	15.10	15.13	15.12
16987	-0.08	19.0	2706	2192	3172	3137	568.5	-0.6	710	16988	0.00	0.00	0.00	0.000	70	0.000	0.000	2707	2191	3154	3172	3137	0	0	0	0	0	0	15.09	15.11	15.11
17286	-0.08	19.0	2706	2192	3172	3137	569.7	-0.4	715	17287	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3154	3172	3137	0	0	0	0	0	0	15.11	15.12	15.12
17586	-0.08	19.0	2707	2192	3172	3137	568.9	0.4	720	17587	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3154	3172	3136	0	0	0	0	0	0	15.10	15.11	15.12
17886	-0.08	19.0	2707	2192	3172	3137	567.1	0.6	725	17887	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2192	3154	3172	3136	0	0	0	0	0	0	15.10	15.11	15.12
18187	-0.08	19.0	2706	2192	3172	3137	566.7	0.0	730	18188	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2192	3154	3171	3137	0	0	0	0	0	0	15.09	15.11	15.11
18486	-0.08	19.0	2707	2192	3171	3137	568.0	-0.5	735	18487	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2192	3154	3172	3137	0	0	0	0	0	0	15.10	15.13	15.12
18786	-0.07	19.0	2706	2192	3171	3137	570.2	-0.8	740	18788	0.00	0.00	0.00	0.000	70	0.000	0.000	2707	2192	3154	3171	3137	0	0	0	0	0	0	15.09	15.11	15.11
19086	-0.05	19.0	2706	2192	3171	3137	572.5	-0.8	745	19088	0.12	0.00	0.00	0.000	2118	0.236	0.000	2739	2192	3154	3171	3137	0	0	0	0	0	0	14.34	14.57	14.51
19387	-0.05	19.0	2738	2192	3171	3137	573.9	-0.4	750	19388	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2191	3153	3171	3136	0	0	0	0	0	0	15.09	15.11	15.11
19686	-0.05	19.0	2738	2192	3171	3137	574.5	-0.2	755	19687	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2192	3153	3171	3136	0	0	0	0	0	0	15.10	15.12	15.12
19986	-0.05	19.0	2738	2192	3171	3136	574.6	-0.0	760	19987	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2192	3154	3171	3137	0	0	0	0	0	0	15.10	15.12	15.11
20286	-0.05	19.0	2738	2192	3171	3136	574.7	-0.0	765	20287	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2192	3153	3171	3136	0	0	0	0	0	0	15.10	15.12	15.11
20587	-0.05	19.0	2738	2192	3171	3136	574.7	-0.0	770	20588	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2192	3154	3171	3137	0	0	0	0	0	0	15.09	15.11	15.11
20886	-0.05	19.0	2738	2192	3172	3136	576.0	-0.5	775	20887	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2192	3153	3171	3136	0	0	0	0	0	0	15.09	15.11	15.11
21184	end loiter: LOITER_COMPLETE
state	21184	begin climb
21186	0.72	97.3	2738	2192	3171	3136	578.0	0.0	780	21279	0.82	2.45	83.62	1.512	10500	0.146	0.076	2987	3583	2847	2870	2824	0	0	0	0	0	0	14.05	14.25	13.28
21377	0.78	149.4	2987	3582	2863	2819	570.5	5.3	817	21443	0.00	2.15	58.67	1.471	9254	0.000	0.040	2987	2244	2636	2671	2602	0	0	0	0	0	0	14.47	14.40	13.26
21766	0.80	149.4	2987	2245	2660	2594	544.8	7.1	844	21770	0.00	2.33	0.00	0.000	324	0.000	0.075	2987	3588	2626	2658	2594	0	0	0	0	0	0	14.84	14.38	14.86
21821	0.84	149.4	2987	3588	2656	2593	540.8	6.6	855	21829	0.12	2.12	0.00	0.000	3142	0.152	0.037	3035	2245	2625	2657	2593	0	0	0	0	0	0	14.40	14.51	14.54
22129	0.86	149.4	3035	2245	2656	2593	518.3	7.3	866	22133	0.00	2.28	0.00	0.000	324	0.000	0.071	3035	3582	2624	2655	2593	0	0	0	0	0	0	14.95	14.42	14.96
22192	0.88	149.4	3035	3582	2653	2592	513.3	7.5	878	22196	0.00	2.10	0.00	0.000	1094	0.000	0.040	3042	2265	2623	2654	2592	0	0	0	0	0	0	14.62	14.55	14.66
22524	0.88	149.4	3041	2262	2653	2592	488.0	7.9	894	22531	0.00	2.50	0.00	0.000	516	0.000	0.053	3045	846	2622	2653	2592	0	0	0	0	0	0	15.00	14.48	15.02
22603	0.89	149.4	3045	847	2653	2592	481.6	7.6	910	22612	0.00	2.38	0.00	0.000	1094	0.000	0.047	3045	2182	2622	2653	2591	0	0	0	0	0	0	14.61	14.51	14.66
22914	0.89	149.4	3045	2182	2652	2591	455.0	8.9	922	22918	0.00	2.35	0.00	0.000	260	0.000	0.072	3045	3579	2621	2652	2591	0	0	0	0	0	0	15.02	14.42	15.04
22979	0.89	149.4	3045	3579	2651	2591	448.5	9.7	935	22983	0.00	2.15	0.00	0.000	1030	0.000	0.040	3053	2237	2621	2651	2591	0	0	0	0	0	0	14.64	14.56	14.67
23307	0.89	149.4	3054	2233	2651	2590	417.9	9.4	950	23313	0.00	2.33	0.00	0.000	260	0.000	0.070	3054	3591	2620	2650	2591	0	0	0	0	0	0	15.03	14.42	15.05
23324	0.89	149.4	3054	3591	2650	2591	415.9	9.7	953	23329	0.00	2.15	0.00	0.000	1030	0.000	0.041	3056	2256	2620	2650	2591	0	0	0	0	0	0	14.64	14.56	14.68
23643	0.89	149.4	3055	2255	2649	2591	387.5	8.6	966	23649	0.00	2.50	0.00	0.000	516	0.000	0.055	3061	848	2620	2650	2591	0	0	0	0	0	0	15.04	14.45	15.07
23695	0.91	149.4	3060	849	2650	2591	383.2	7.4	977	23703	0.00	2.38	0.00	0.000	1094	0.000	0.046	3060	2183	2621	2651	2591	0	0	0	0	0	0	14.61	14.51	14.65
24002	0.95	149.4	3060	2183	2650	2591	362.6	6.4	988	24006	0.00	2.38	0.00	0.000	324	0.000	0.072	3061	3588	2620	2650	2591	0	0	0	0	0	0	15.06	14.39	15.07
24069	0.97	149.4	3060	3588	2649	2590	357.9	7.0	1001	24074	0.00	2.15	0.00	0.000	1094	0.000	0.038	3068	2239	2619	2649	2590	0	0	0	0	0	0	14.64	14.56	14.67
24397	0.99	149.4	3068	2236	2649	2590	334.5	7.6	1016	24404	0.00	2.47	0.00	0.000	580	0.000	0.055	3070	848	2619	2649	2590	0	0	0	0	0	0	15.06	14.43	15.08
24430	1.00	149.4	3069	848	2649	2590	331.8	7.7	1023	24434	0.00	2.38	0.00	0.000	1094	0.000	0.047	3069	2179	2619	2649	2590	0	0	0	0	0	0	14.59	14.49	14.64
24753	1.01	149.4	3069	2178	2649	2590	307.0	7.7	1037	24758	0.00	2.38	0.00	0.000	580	0.000	0.052	3076	856	2619	2649	2590	0	0	0	0	0	0	15.05	14.45	15.07
24834	1.02	149.4	3075	856	2649	2590	300.6	7.7	1053	24839	0.00	2.38	0.00	0.000	1094	0.000	0.045	3076	2188	2619	2649	2590	0	0	0	0	0	0	14.59	14.48	14.64
25147	1.02	149.4	3075	2187	2649	2590	274.9	8.2	1065	25152	0.00	2.35	0.00	0.000	260	0.000	0.071	3076	3580	2619	2649	2590	0	0	0	0	0	0	15.06	14.37	15.08
25228	1.02	149.4	3075	3579	2648	2589	267.6	8.6	1081	25233	0.00	2.12	0.00	0.000	1030	0.000	0.040	3080	2256	2619	2648	2590	0	0	0	0	0	0	14.61	14.52	14.65
25542	1.04	149.4	3080	2252	2648	2590	243.6	7.3	1097	25547	0.00	2.28	0.00	0.000	324	0.000	0.070	3081	3592	2619	2648	2590	0	0	0	0	0	0	15.05	14.36	15.07
25596	1.07	149.4	3080	3592	2648	2589	239.5	7.1	1107	25600	0.00	2.15	0.00	0.000	1094	0.000	0.039	3083	2249	2618	2648	2589	0	0	0	0	0	0	14.62	14.54	14.66
25907	1.13	202.8	3083	2249	2648	2589	222.5	5.2	1139	25969	0.12	2.33	54.35	1.165	10532	0.157	0.069	3131	3584	2417	2455	2380	0	0	0	0	0	0	14.52	14.46	13.64
26007	1.13	202.8	3131	3583	2453	2379	214.5	9.5	1158	26013	0.00	2.15	0.00	0.000	1030	0.000	0.040	3139	2252	2416	2453	2379	0	0	0	0	0	0	14.55	14.48	14.57
26311	1.13	202.8	3139	2253	2449	2377	180.7	11.7	1189	26316	0.00	2.28	0.00	0.000	260	0.000	0.068	3140	3586	2413	2449	2377	0	0	0	0	0	0	14.91	14.38	14.93
26364	1.13	202.8	3139	3586	2448	2376	174.2	12.0	1199	26368	0.00	2.15	0.00	0.000	1030	0.000	0.037	3148	2242	2412	2448	2376	0	0	0	0	0	0	14.59	14.52	14.62
26675	1.13	202.8	3148	2238	2448	2375	139.6	8.5	1231	26680	0.00	2.30	0.00	0.000	260	0.000	0.067	3148	3587	2411	2448	2375	0	0	0	0	0	0	14.97	14.40	14.99
26718	1.15	202.8	3148	3587	2447	2375	136.2	7.6	1239	26722	0.00	2.15	0.00	0.000	1094	0.000	0.038	3155	2249	2411	2447	2375	0	0	0	0	0	0	14.61	14.53	14.64
27031	1.15	202.8	3155	2244	2447	2374	113.3	8.4	1271	27035	0.00	2.28	0.00	0.000	260	0.000	0.068	3156	3582	2410	2447	2374	0	0	0	0	0	0	15.00	14.40	15.01
27083	1.15	202.8	3155	3582	2446	2374	108.0	10.2	1281	27088	0.15	2.12	0.00	0.000	5126	0.315	0.038	3136	2257	2410	2446	2374	0	0	0	0	0	0	13.97	14.54	14.36
27396	1.19	241.5	3135	2253	2446	2374	82.1	6.1	1313	27441	0.00	2.47	38.25	1.015	8740	0.000	0.047	3145	829	2258	2298	2219	0	0	0	0	0	0	15.02	14.32	13.80
27492	1.23	241.5	3145	829	2296	2219	75.8	6.6	1332	27499	0.00	2.40	0.00	0.000	1094	0.000	0.041	3145	2195	2257	2296	2219	0	0	0	0	0	0	14.59	14.51	14.63
27800	1.35	339.2	3145	2194	2295	2219	63.2	2.7	1363	27893	0.12	2.50	83.30	0.961	10788	0.158	0.050	3194	846	1858	1901	1816	0	0	0	0	0	0	14.50	14.35	13.70
27943	1.35	339.2	3193	846	1897	1815	53.6	8.8	1391	27948	0.00	2.38	0.00	0.000	1030	0.000	0.041	3194	2181	1856	1897	1815	0	0	0	0	0	0	14.47	14.39	14.50
28251	1.35	339.2	3193	2180	1897	1815	29.3	8.4	1449	28259	0.00	2.40	0.00	0.000	516	0.000	0.050	3194	845	1856	1897	1815	0	0	0	0	0	0	14.85	14.46	14.88
28282	1.35	339.2	3194	845	1896	1814	26.6	8.4	1454	28289	0.00	2.35	0.00	0.000	1030	0.000	0.040	3194	2182	1855	1896	1815	0	0	0	0	0	0	14.59	14.51	14.62
28571	end climb: SURFACE_DEPTH_REACHED
state	28571	begin surface coast
28611	end surface coast: CONTROL_FINISHED_OK
state	28611	begin surface