Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 451 * 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 451 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 41 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 451 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 41 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 210518,045408,-134.0531,5804.1548,29,0.9,32,-4.3,1.4,144.5,9,8.9 SPEED_LIMITS 0.144,0.173

_CALLS 1 TGT_NAME MALDIVE

_XMS_NAKs 0 TGT_LATLONG 430.000,7230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.80 MHEAD_RNG_PITCHd_Wd 41.9,1734723,-20.3,-8.333,-25.69,1777

_SM_ANGLEo -73.7 D_GRID 1000

GPS2 210518,050030,-134.1664,5804.3457,14,1.2,19,-4.3,1.1,141.9,8,9.4

Post-dive calculations and measurements:

FINISH 0.6,1.021931 _10V_AH 12.27,0.000

SM_CCo 28806,28.95,0.073,0,0,1618,400.08 FG_AHR_24Vo 0.000

SM_GC 1.23,8.88,0.82,28.95,0.090,0.036,0.073,244,1799,1618,-7.81,1.27,400.08,0,0,0,0,0,0,14.45,14.62,14.49 FG_AHR_10Vo 0.000

IRIDIUM_FIX -135.52,5801.51,200518,205001 MEM 302964

TT8_MAMPS 0.018725,0.159537 DATA_FILE_SIZE 69953,1568

HUMID 57.91 CAP_FILE_SIZE 199321,0

INTERNAL_PRESSURE 8.56091 CFSIZE 260034560,217186304

TCM_TEMP 24.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.091,119.47,1

_24V_AH 13.09,147.057 GPS 210518,130304,-134.817,5805.583,38,0.9,43,-4.3,0.6,103.4,8,9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 408 121.92 SBE_CT 637 23 200.13

Roll_motor 172 78 175.94 nil 0 0 0.00

VBD_pump_during_apogee 426 1601 8934.89 nil 0 0 0.00

VBD_pump_during_surface 28 73 27.83 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 268 141 497.32 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 20 5.04

TT8 3371 9 391.77

LPSleep 22449 2 603.24

TT8_Active 608 9 70.69

TT8_Sampling 2427 28 839.51

TT8_CF8 361 34 151.73

TT8_Kalman 0 0 0.00

Analog_circuits 2171 16 426.26

GPS_charging 0 0 0.00

Compass 2060 17 435.65

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

7 -0.72 -97.3 244 1765 1628 1620 0.0 0.0 0 73 0.00 0.00 -63.35 0.003 16386 0.000 0.000 245 1766 3644 3624 3664 0 0 0 0 0 0 14.85 28.83 14.88

76 -0.72 -97.3 245 1766 3625 3665 4.4 -12.3 11 96 11.60 2.38 0.00 0.000 2308 0.409 0.054 2509 3141 3648 3634 3662 0 0 0 0 0 0 14.05 14.50 14.45

170 -0.72 -97.3 2509 3141 3642 3660 27.5 -16.4 28 176 0.00 2.28 0.00 0.000 1030 0.000 0.037 2510 1790 3651 3643 3659 0 0 0 0 0 0 14.61 14.52 14.64

479 -0.72 -97.3 2509 1784 3641 3657 75.4 -11.5 71 484 0.00 2.28 0.00 0.000 516 0.000 0.050 2511 399 3648 3640 3657 0 0 0 0 0 0 14.98 14.46 15.00

521 -0.72 -97.3 2509 399 3636 3657 79.2 -9.0 79 525 0.00 2.17 0.00 0.000 1030 0.000 0.038 2510 1733 3646 3636 3657 0 0 0 0 0 0 14.67 14.59 14.70

834 -0.72 -97.3 2509 1734 3640 3656 104.8 -7.7 111 838 0.00 2.22 0.00 0.000 516 0.000 0.050 2509 394 3648 3640 3656 0 0 0 0 0 0 15.02 14.54 15.04

896 -0.72 -97.3 2509 394 3641 3657 109.5 -7.7 123 900 0.00 2.17 0.00 0.000 1030 0.000 0.038 2510 1733 3649 3641 3657 0 0 0 0 0 0 14.71 14.63 14.74

1207 -0.72 -97.3 2509 1733 3645 3657 137.0 -10.2 155 1211 0.00 2.22 0.00 0.000 516 0.000 0.049 2509 391 3651 3645 3657 0 0 0 0 0 0 15.06 14.57 15.08

1272 -0.72 -97.3 2509 391 3645 3657 144.1 -10.5 168 1279 0.00 2.17 0.00 0.000 1030 0.000 0.038 2509 1730 3651 3646 3657 0 0 0 0 0 0 14.73 14.64 14.76

1579 -0.72 -97.3 2509 1730 3649 3657 174.7 -9.2 199 1583 0.00 2.22 0.00 0.000 516 0.000 0.050 2509 392 3653 3649 3657 0 0 0 0 0 0 15.07 14.58 15.09

1614 -0.72 -97.3 2509 392 3649 3657 178.1 -9.9 206 1621 0.00 2.20 0.00 0.000 1030 0.000 0.040 2510 1739 3653 3650 3657 0 0 0 0 0 0 14.73 14.64 14.76

1920 -0.72 -97.3 2509 1739 3652 3657 201.8 -6.7 237 1925 0.00 2.22 0.00 0.000 516 0.000 0.047 2509 396 3654 3651 3657 0 0 0 0 0 0 15.08 14.59 15.10

1964 -0.72 -97.3 2509 396 3652 3657 204.8 -7.1 245 1969 0.00 2.20 0.00 0.000 1030 0.000 0.041 2509 1737 3654 3652 3657 0 0 0 0 0 0 14.73 14.64 14.76

2276 -0.72 -97.3 2509 1736 3647 3657 228.8 -8.5 277 2277 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 1736 3651 3647 3656 0 0 0 0 0 0 15.09 15.11 15.10

2589 -0.72 -97.3 2509 1736 3649 3654 258.6 -9.5 302 2590 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 1736 3651 3649 3654 0 0 0 0 0 0 15.07 15.09 15.09

2886 -0.72 -97.3 2509 1736 3641 3652 284.3 -8.6 312 2890 0.00 2.25 0.00 0.000 516 0.000 0.051 2509 399 3646 3641 3652 0 0 0 0 0 0 15.10 14.58 15.12

2901 -0.72 -97.3 2510 399 3641 3651 285.8 -8.8 315 2905 0.00 2.20 0.00 0.000 1030 0.000 0.045 2509 1729 3646 3641 3651 0 0 0 0 0 0 14.73 14.63 14.76

3219 -0.72 -97.3 2509 1728 3653 3649 315.2 -9.7 328 3226 0.00 2.45 0.00 0.000 260 0.000 0.066 2509 3141 3650 3653 3647 0 0 0 0 0 0 15.10 14.54 15.12

3271 -0.72 -97.3 2509 3140 3651 3647 320.6 -9.7 339 3278 0.00 2.25 0.00 0.000 1030 0.000 0.034 2509 1769 3649 3651 3647 0 0 0 0 0 0 14.76 14.70 14.78

3579 -0.72 -97.3 2509 1770 3661 3644 348.1 -8.8 350 3583 0.00 2.25 0.00 0.000 516 0.000 0.051 2510 415 3653 3661 3645 0 0 0 0 0 0 15.11 14.57 15.13

3629 -0.72 -97.3 2509 415 3661 3643 352.9 -9.3 360 3633 0.00 2.17 0.00 0.000 1030 0.000 0.041 2509 1739 3651 3660 3643 0 0 0 0 0 0 14.73 14.64 14.76

3941 -0.72 -97.3 2509 1738 3659 3642 378.7 -8.1 372 3948 0.00 2.42 0.00 0.000 260 0.000 0.066 2510 3138 3651 3660 3642 0 0 0 0 0 0 15.11 14.52 15.13

3984 -0.72 -97.3 2509 3138 3659 3641 382.4 -8.4 381 3989 0.00 2.20 0.00 0.000 1030 0.000 0.034 2509 1802 3650 3660 3641 0 0 0 0 0 0 14.76 14.69 14.78

4303 -0.72 -97.3 2509 1796 3658 3640 408.5 -8.2 394 4307 0.00 2.30 0.00 0.000 516 0.000 0.052 2509 416 3648 3657 3640 0 0 0 0 0 0 15.10 14.54 15.12

4348 -0.72 -97.3 2509 416 3657 3639 412.6 -8.6 403 4352 0.00 2.17 0.00 0.000 1030 0.000 0.042 2509 1733 3648 3657 3639 0 0 0 0 0 0 14.71 14.62 14.74

4664 -0.72 -97.3 2509 1732 3654 3636 437.4 -7.8 416 4671 0.00 2.42 0.00 0.000 260 0.000 0.065 2509 3131 3645 3654 3636 0 0 0 0 0 0 15.11 14.50 15.13

4714 -0.72 -97.3 2509 3130 3654 3636 441.4 -8.1 426 4718 0.00 2.22 0.00 0.000 1030 0.000 0.038 2509 1792 3645 3654 3636 0 0 0 0 0 0 14.73 14.66 14.76

5026 -0.72 -97.3 2509 1787 3654 3635 465.9 -7.8 438 5030 0.00 2.30 0.00 0.000 516 0.000 0.053 2509 413 3643 3653 3634 0 0 0 0 0 0 15.11 14.52 15.12

5093 -0.72 -97.3 2509 413 3653 3634 471.3 -7.7 451 5097 0.00 2.17 0.00 0.000 1030 0.000 0.041 2509 1730 3643 3653 3633 0 0 0 0 0 0 14.70 14.61 14.73

5421 -0.72 -97.3 2508 1729 3651 3631 496.4 -7.8 466 5427 0.00 2.45 0.00 0.000 260 0.000 0.065 2509 3136 3640 3651 3630 0 0 0 0 0 0 15.09 14.48 15.11

5480 -0.72 -97.3 2509 3136 3651 3630 501.1 -7.8 478 5484 0.00 2.22 0.00 0.000 1030 0.000 0.037 2509 1798 3641 3651 3631 0 0 0 0 0 0 14.73 14.65 14.75

5813 -0.72 -97.3 2509 1793 3647 3630 526.8 -7.7 494 5817 0.00 2.33 0.00 0.000 516 0.000 0.055 2509 412 3638 3647 3630 0 0 0 0 0 0 15.09 14.49 15.11

5858 -0.72 -97.3 2509 412 3647 3629 530.8 -8.4 503 5862 0.00 2.20 0.00 0.000 1030 0.000 0.043 2509 1732 3638 3647 3629 0 0 0 0 0 0 14.67 14.57 14.71

6175 -0.72 -97.3 2509 1731 3646 3627 555.1 -7.7 516 6179 0.00 2.25 0.00 0.000 516 0.000 0.054 2510 414 3636 3646 3626 0 0 0 0 0 0 15.10 14.48 15.12

6261 -0.72 -97.3 2509 414 3645 3626 562.2 -8.5 533 6268 0.00 2.20 0.00 0.000 1030 0.000 0.043 2509 1732 3635 3644 3626 0 0 0 0 0 0 14.66 14.57 14.69

6567 -0.72 -97.3 2509 1732 3642 3625 586.6 -8.1 544 6574 0.00 2.45 0.00 0.000 260 0.000 0.067 2509 3132 3633 3643 3624 0 0 0 0 0 0 15.10 14.44 15.12

6659 -0.72 -97.3 2509 3132 3642 3624 594.6 -7.9 563 6664 0.00 2.25 0.00 0.000 1030 0.000 0.038 2509 1788 3633 3642 3624 0 0 0 0 0 0 14.69 14.62 14.71

6745 end dive: TARGET_DEPTH_EXCEEDED

state 6745 begin apogee

6752 -0.15 0.0 2509 2194 3641 3624 601.7 -8.3 570 6845 0.75 0.00 89.65 1.594 10246 0.239 0.000 2703 2193 3249 3269 3229 0 0 0 0 0 0 13.96 14.21 13.26

6846 end apogee: CONTROL_FINISHED_OK

state 6846 begin loiter

7136 -0.14 6.7 2703 2193 3258 3221 611.3 -1.7 578 7141 0.00 0.00 3.65 1.125 8230 0.000 0.000 2703 2193 3222 3241 3204 0 0 0 0 0 0 14.90 14.39 13.13

7437 -0.13 11.0 2703 2194 3250 3204 614.7 -1.1 583 7444 0.00 0.00 5.00 1.415 8230 0.000 0.000 2703 2193 3205 3224 3186 0 0 0 0 0 0 14.97 14.50 13.27

7736 -0.12 11.0 2703 2193 3233 3186 617.3 -0.9 588 7737 0.00 0.00 0.00 0.000 70 0.000 0.000 2704 2193 3210 3233 3187 0 0 0 0 0 0 15.02 15.04 15.04

8037 -0.11 17.1 2703 2193 3231 3186 621.8 -1.6 593 8048 0.00 0.00 9.70 1.602 8230 0.000 0.000 2704 2193 3179 3199 3160 0 0 0 0 0 0 15.05 14.59 13.62

8335 -0.11 17.1 2703 2193 3189 3155 622.4 0.1 598 8337 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2193 3172 3189 3155 0 0 0 0 0 0 15.04 15.07 15.06

8637 -0.11 17.1 2703 2193 3188 3154 621.6 0.3 603 8638 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2193 3170 3187 3154 0 0 0 0 0 0 15.06 15.08 15.08

8935 -0.11 17.1 2703 2193 3186 3153 618.8 1.0 608 8936 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2193 3170 3187 3153 0 0 0 0 0 0 15.09 15.11 15.11

9237 -0.11 17.1 2703 2193 3186 3152 614.6 1.4 613 9238 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2193 3169 3186 3153 0 0 0 0 0 0 15.09 15.11 15.11

9537 -0.11 17.1 2703 2193 3185 3152 611.0 1.2 618 9538 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2193 3168 3185 3152 0 0 0 0 0 0 15.10 15.12 15.11

9837 -0.11 17.1 2703 2193 3184 3151 607.5 1.2 623 9838 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2193 3167 3184 3151 0 0 0 0 0 0 15.10 15.12 15.12

10137 -0.11 17.1 2703 2193 3183 3151 604.2 1.1 628 10138 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2193 3166 3182 3151 0 0 0 0 0 0 15.11 15.13 15.13

10437 -0.11 17.1 2703 2193 3182 3150 602.1 0.7 633 10438 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2193 3166 3182 3151 0 0 0 0 0 0 15.11 15.13 15.13

10737 -0.11 17.1 2703 2193 3181 3150 602.2 -0.1 638 10738 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2193 3165 3180 3150 0 0 0 0 0 0 15.11 15.13 15.13

11038 -0.10 17.1 2703 2193 3180 3150 604.0 -0.6 643 11039 0.00 0.00 0.00 0.000 70 0.000 0.000 2704 2193 3165 3181 3150 0 0 0 0 0 0 15.10 15.12 15.12

11337 -0.09 17.1 2703 2193 3180 3150 605.7 -0.5 648 11338 0.00 0.00 0.00 0.000 70 0.000 0.000 2703 2193 3164 3180 3149 0 0 0 0 0 0 15.11 15.13 15.13

11637 -0.09 17.1 2703 2193 3179 3148 605.8 0.0 653 11638 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2193 3164 3179 3149 0 0 0 0 0 0 15.11 15.13 15.13

11937 -0.09 17.1 2703 2193 3179 3149 604.0 0.7 658 11938 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2193 3164 3179 3149 0 0 0 0 0 0 15.11 15.13 15.13

12237 -0.09 17.1 2703 2193 3179 3149 600.2 1.3 663 12239 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2193 3163 3178 3149 0 0 0 0 0 0 15.10 15.12 15.12

12537 -0.09 17.1 2704 2193 3179 3148 596.1 1.4 668 12538 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2193 3163 3179 3148 0 0 0 0 0 0 15.11 15.13 15.13

12837 -0.09 17.1 2703 2193 3179 3148 593.5 0.8 673 12838 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2193 3163 3178 3148 0 0 0 0 0 0 15.11 15.13 15.13

13137 -0.09 17.1 2703 2193 3179 3147 593.2 0.0 678 13138 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2193 3162 3178 3147 0 0 0 0 0 0 15.11 15.13 15.13

13438 -0.07 17.1 2703 2193 3178 3147 595.5 -0.9 683 13440 0.12 0.00 0.00 0.000 2118 0.233 0.000 2735 2193 3162 3178 3147 0 0 0 0 0 0 14.40 14.63 14.57

13737 -0.06 22.3 2735 2193 3178 3147 599.5 -1.3 688 13738 0.00 0.00 0.00 0.000 38 0.000 0.000 2735 2193 3162 3178 3147 0 0 0 0 0 0 15.10 15.12 15.12

14037 -0.06 26.3 2735 2193 3178 3147 602.8 -1.0 693 14043 0.00 0.00 4.53 1.386 8230 0.000 0.000 2735 2193 3142 3158 3127 0 0 0 0 0 0 15.10 14.42 13.09

14335 -0.06 26.3 2735 2193 3167 3127 602.3 0.3 698 14337 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2193 3147 3167 3127 0 0 0 0 0 0 15.09 15.12 15.11

14637 -0.06 26.3 2735 2193 3167 3127 599.7 0.9 703 14638 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3147 3167 3127 0 0 0 0 0 0 15.09 15.11 15.11

14935 -0.06 26.3 2735 2193 3167 3127 595.4 1.5 708 14936 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3147 3167 3127 0 0 0 0 0 0 15.11 15.13 15.12

15237 -0.06 26.3 2735 2193 3167 3127 591.0 1.5 713 15238 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3147 3167 3127 0 0 0 0 0 0 15.10 15.11 15.11

15537 -0.06 26.3 2735 2193 3167 3127 588.2 0.8 718 15538 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3147 3168 3127 0 0 0 0 0 0 15.10 15.12 15.11

15837 -0.06 26.3 2735 2193 3167 3127 588.5 -0.2 723 15839 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3147 3167 3127 0 0 0 0 0 0 15.09 15.11 15.11

16137 -0.04 26.3 2735 2193 3167 3127 590.7 -0.8 728 16138 0.00 0.00 0.00 0.000 70 0.000 0.000 2736 2192 3147 3167 3127 0 0 0 0 0 0 15.10 15.12 15.11

16437 -0.03 26.3 2735 2193 3167 3127 592.4 -0.5 733 16438 0.00 0.00 0.00 0.000 70 0.000 0.000 2735 2193 3147 3167 3127 0 0 0 0 0 0 15.09 15.11 15.11

16737 -0.03 26.3 2735 2192 3167 3127 592.9 -0.1 738 16738 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3147 3167 3127 0 0 0 0 0 0 15.10 15.12 15.11

17037 -0.03 26.3 2735 2193 3167 3127 592.0 0.4 743 17039 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3147 3167 3127 0 0 0 0 0 0 15.09 15.11 15.11

17337 -0.03 26.3 2735 2193 3167 3127 590.4 0.5 748 17338 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3147 3167 3127 0 0 0 0 0 0 15.10 15.12 15.11

17637 -0.03 26.3 2735 2193 3166 3127 590.0 0.1 753 17638 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3147 3167 3127 0 0 0 0 0 0 15.10 15.12 15.12

17937 -0.03 26.3 2735 2193 3166 3127 590.3 -0.1 758 17938 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3146 3166 3127 0 0 0 0 0 0 15.10 15.12 15.11

18237 -0.03 26.3 2735 2193 3166 3127 588.4 0.7 763 18238 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3146 3166 3127 0 0 0 0 0 0 15.09 15.11 15.11

18537 -0.03 26.3 2735 2193 3166 3127 585.5 1.0 768 18538 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3146 3166 3127 0 0 0 0 0 0 15.10 15.12 15.11

18837 -0.03 26.3 2735 2193 3166 3127 583.6 0.6 773 18838 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3146 3166 3127 0 0 0 0 0 0 15.10 15.12 15.11

19137 -0.03 26.3 2735 2193 3166 3127 583.0 0.2 778 19138 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3146 3166 3127 0 0 0 0 0 0 15.10 15.12 15.11

19437 -0.03 26.3 2735 2193 3166 3127 582.3 0.3 783 19439 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3146 3166 3127 0 0 0 0 0 0 15.09 15.11 15.11

19737 -0.03 26.3 2735 2193 3166 3127 580.8 0.5 788 19738 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2193 3146 3166 3127 0 0 0 0 0 0 15.09 15.12 15.11

20037 -0.03 26.3 2735 2193 3166 3127 578.9 0.7 793 20038 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3146 3166 3127 0 0 0 0 0 0 15.09 15.11 15.11

20337 -0.03 26.3 2735 2193 3166 3127 577.1 0.6 798 20338 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3146 3166 3127 0 0 0 0 0 0 15.09 15.11 15.11

20637 -0.03 26.3 2735 2193 3166 3127 575.4 0.5 803 20638 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3146 3166 3127 0 0 0 0 0 0 15.09 15.11 15.11

20937 -0.03 26.3 2735 2193 3166 3127 574.4 0.3 808 20938 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2193 3146 3166 3127 0 0 0 0 0 0 15.09 15.11 15.11

21235 end loiter: LOITER_COMPLETE

state 21235 begin climb

21237 0.72 97.3 2735 2193 3166 3127 574.1 0.0 813 21329 0.80 2.45 82.82 1.492 10500 0.150 0.078 2979 3586 2846 2868 2825 0 0 0 0 0 0 14.03 14.24 13.27

21403 0.78 151.4 2978 3586 2862 2822 567.5 5.2 845 21473 0.00 2.15 62.30 1.447 9254 0.000 0.039 2983 2241 2626 2660 2592 0 0 0 0 0 0 14.46 14.39 13.23

21788 0.82 186.1 2982 2241 2647 2585 543.4 6.3 871 21834 0.12 2.35 39.45 1.431 10532 0.155 0.075 3035 3580 2483 2522 2445 0 0 0 0 0 0 14.43 14.28 13.43

21851 0.83 186.1 3035 3581 2517 2445 538.5 7.8 884 21855 0.00 2.15 0.00 0.000 1094 0.000 0.041 3041 2253 2481 2517 2445 0 0 0 0 0 0 14.44 14.36 14.46

22179 0.83 186.1 3041 2249 2511 2441 512.5 8.1 899 22183 0.00 2.28 0.00 0.000 260 0.000 0.070 3043 3585 2476 2511 2441 0 0 0 0 0 0 14.87 14.40 14.89

22250 0.83 186.1 3041 3585 2509 2441 505.9 9.0 913 22254 0.00 2.15 0.00 0.000 1030 0.000 0.040 3047 2237 2474 2509 2440 0 0 0 0 0 0 14.59 14.52 14.63

22572 0.83 186.1 3047 2233 2508 2439 477.8 8.9 927 22576 0.00 2.30 0.00 0.000 260 0.000 0.072 3047 3586 2473 2508 2439 0 0 0 0 0 0 14.96 14.42 14.98

22623 0.83 186.1 3047 3586 2507 2439 472.7 9.6 937 22627 0.00 2.12 0.00 0.000 1030 0.000 0.039 3054 2253 2473 2507 2439 0 0 0 0 0 0 14.63 14.55 14.66

22935 0.83 186.1 3054 2250 2507 2438 445.6 8.6 949 22942 0.00 2.50 0.00 0.000 516 0.000 0.057 3055 851 2472 2506 2438 0 0 0 0 0 0 15.00 14.46 15.02

22998 0.85 186.1 3056 852 2506 2438 440.4 7.7 962 23003 0.00 2.38 0.00 0.000 1094 0.000 0.045 3055 2180 2471 2506 2437 0 0 0 0 0 0 14.62 14.52 14.66

23327 0.85 186.1 3055 2179 2506 2437 413.9 8.1 977 23334 0.00 2.42 0.00 0.000 516 0.000 0.053 3062 835 2471 2506 2437 0 0 0 0 0 0 15.02 14.48 15.04

23365 0.85 186.1 3061 835 2506 2437 410.6 8.3 985 23369 0.00 2.40 0.00 0.000 1030 0.000 0.047 3062 2182 2471 2506 2436 0 0 0 0 0 0 14.62 14.52 14.66

23682 0.85 186.1 3061 2180 2506 2436 382.4 9.3 998 23687 0.00 2.42 0.00 0.000 516 0.000 0.054 3068 842 2470 2505 2436 0 0 0 0 0 0 15.04 14.44 15.06

23729 0.85 186.1 3068 842 2505 2437 378.1 8.9 1007 23736 0.15 2.40 0.00 0.000 5126 0.230 0.047 3034 2188 2470 2505 2436 0 0 0 0 0 0 14.15 14.51 14.45

24044 0.85 186.1 3034 2187 2505 2436 351.6 8.3 1020 24048 0.00 2.42 0.00 0.000 516 0.000 0.054 3040 850 2470 2505 2436 0 0 0 0 0 0 15.04 14.46 15.07

24117 0.86 186.1 3039 849 2505 2436 345.9 7.6 1034 24121 0.00 2.38 0.00 0.000 1094 0.000 0.044 3040 2185 2470 2505 2436 0 0 0 0 0 0 14.62 14.52 14.66

24439 0.88 186.1 3039 2183 2505 2436 321.0 7.3 1048 24443 0.00 2.42 0.00 0.000 580 0.000 0.054 3043 843 2470 2505 2435 0 0 0 0 0 0 15.05 14.45 15.07

24501 0.92 186.1 3042 842 2504 2436 317.0 6.3 1060 24508 0.00 2.40 0.00 0.000 1094 0.000 0.047 3042 2180 2470 2505 2436 0 0 0 0 0 0 14.60 14.50 14.65

24832 0.94 186.1 3042 2180 2504 2435 293.8 7.2 1076 24837 0.00 2.35 0.00 0.000 324 0.000 0.070 3042 3582 2469 2504 2435 0 0 0 0 0 0 15.04 14.39 15.07

24913 0.97 186.1 3042 3581 2503 2435 287.4 7.1 1092 24918 0.00 2.12 0.00 0.000 1094 0.000 0.039 3045 2243 2469 2503 2435 0 0 0 0 0 0 14.62 14.55 14.63

25227 1.00 186.1 3044 2240 2503 2435 266.4 6.8 1104 25234 0.12 2.45 0.00 0.000 2628 0.148 0.051 3095 856 2469 2503 2435 0 0 0 0 0 0 14.56 14.41 14.59

25290 1.00 186.1 3094 856 2503 2435 260.4 9.3 1117 25294 0.00 2.40 0.00 0.000 1030 0.000 0.045 3095 2191 2469 2503 2435 0 0 0 0 0 0 14.59 14.49 14.64

25598 1.00 186.1 3095 2189 2503 2435 229.2 8.7 1144 25601 0.00 2.42 0.00 0.000 516 0.000 0.054 3097 851 2469 2503 2435 0 0 0 0 0 0 15.05 14.42 15.07

25669 1.03 186.1 3097 850 2503 2435 224.0 6.8 1158 25674 0.00 2.38 0.00 0.000 1094 0.000 0.047 3098 2176 2469 2503 2435 0 0 0 0 0 0 14.58 14.47 14.63

25982 1.03 186.1 3097 2175 2503 2435 202.2 8.4 1190 25987 0.00 2.40 0.00 0.000 516 0.000 0.054 3098 850 2469 2503 2435 0 0 0 0 0 0 15.04 14.42 15.07

26044 1.03 186.1 3097 850 2503 2435 196.7 8.5 1202 26049 0.00 2.38 0.00 0.000 1030 0.000 0.047 3097 2177 2469 2503 2435 0 0 0 0 0 0 14.57 14.47 14.62

26357 1.05 186.1 3097 2176 2503 2435 171.6 7.1 1234 26362 0.00 2.35 0.00 0.000 324 0.000 0.071 3098 3580 2469 2503 2435 0 0 0 0 0 0 15.04 14.35 15.06

26383 1.05 186.1 3097 3580 2503 2436 169.3 8.2 1239 26390 0.00 2.12 0.00 0.000 1030 0.000 0.040 3098 2254 2468 2503 2434 0 0 0 0 0 0 14.61 14.52 14.65

26690 1.07 186.1 3098 2254 2503 2435 146.3 7.6 1270 26695 0.00 2.53 0.00 0.000 580 0.000 0.056 3098 842 2468 2502 2435 0 0 0 0 0 0 15.04 14.38 15.06

26723 1.09 186.1 3098 842 2503 2435 143.9 7.1 1276 26732 0.00 2.40 0.00 0.000 1094 0.000 0.047 3098 2186 2468 2502 2435 0 0 0 0 0 0 14.57 14.47 14.62

27033 1.09 186.1 3098 2185 2502 2435 118.7 7.9 1308 27037 0.00 2.45 0.00 0.000 516 0.000 0.054 3099 836 2469 2503 2435 0 0 0 0 0 0 15.04 14.40 15.06

27094 1.14 222.1 3099 834 2502 2435 114.4 6.3 1320 27137 0.00 2.40 36.03 1.037 9254 0.000 0.044 3099 2186 2338 2377 2299 0 0 0 0 0 0 14.58 14.48 13.76

27445 1.17 222.1 3099 2186 2370 2294 89.9 6.5 1360 27455 0.12 2.33 0.00 0.000 2372 0.153 0.066 3154 3589 2331 2368 2294 0 0 0 0 0 0 14.51 14.41 14.54

27488 1.17 222.1 3154 3589 2368 2294 85.9 10.0 1368 27494 0.00 2.12 0.00 0.000 1030 0.000 0.037 3163 2240 2331 2368 2294 0 0 0 0 0 0 14.62 14.54 14.65

27801 1.26 294.6 3163 2236 2367 2292 69.5 4.1 1400 27872 0.00 2.53 63.62 0.955 8740 0.000 0.050 3165 851 2041 2082 2000 0 0 0 0 0 0 14.98 14.43 13.76

27906 1.29 294.6 3164 851 2078 1999 63.4 7.1 1420 27915 0.00 2.38 0.00 0.000 1094 0.000 0.043 3165 2184 2038 2078 1999 0 0 0 0 0 0 14.52 14.43 14.54

28216 1.33 329.4 3164 2183 2075 1998 44.1 6.3 1460 28253 0.00 2.40 29.35 0.912 8740 0.000 0.051 3166 847 1898 1937 1860 0 0 0 0 0 0 14.88 14.48 13.78

28277 1.37 329.4 3165 847 1936 1859 40.3 6.4 1470 28285 0.00 2.38 0.00 0.000 1094 0.000 0.041 3166 2190 1898 1937 1859 0 0 0 0 0 0 14.57 14.49 14.59

28591 1.38 329.4 3165 2189 1945 1860 17.0 7.5 1531 28598 0.12 2.28 0.00 0.000 2372 0.155 0.061 3211 3585 1902 1945 1860 0 0 0 0 0 0 14.45 14.46 14.48

28637 1.42 329.4 3211 3585 1945 1861 13.7 6.6 1539 28644 0.00 2.08 0.00 0.000 1094 0.000 0.034 3215 2254 1903 1945 1861 0 0 0 0 0 0 14.64 14.57 14.66

28755 end climb: SURFACE_DEPTH_REACHED

state 28756 begin surface coast

28787 end surface coast: CONTROL_FINISHED_OK

state 28787 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	451	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	41	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	210518,045408,-134.0531,5804.1548,29,0.9,32,-4.3,1.4,144.5,9,8.9	SPEED_LIMITS	0.144,0.173
_CALLS	1	TGT_NAME	MALDIVE
_XMS_NAKs	0	TGT_LATLONG	430.000,7230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.80	MHEAD_RNG_PITCHd_Wd	41.9,1734723,-20.3,-8.333,-25.69,1777
_SM_ANGLEo	-73.7	D_GRID	1000
GPS2	210518,050030,-134.1664,5804.3457,14,1.2,19,-4.3,1.1,141.9,8,9.4

FINISH	0.6,1.021931	_10V_AH	12.27,0.000
SM_CCo	28806,28.95,0.073,0,0,1618,400.08	FG_AHR_24Vo	0.000
SM_GC	1.23,8.88,0.82,28.95,0.090,0.036,0.073,244,1799,1618,-7.81,1.27,400.08,0,0,0,0,0,0,14.45,14.62,14.49	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-135.52,5801.51,200518,205001	MEM	302964
TT8_MAMPS	0.018725,0.159537	DATA_FILE_SIZE	69953,1568
HUMID	57.91	CAP_FILE_SIZE	199321,0
INTERNAL_PRESSURE	8.56091	CFSIZE	260034560,217186304
TCM_TEMP	24.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.091,119.47,1
_24V_AH	13.09,147.057	GPS	210518,130304,-134.817,5805.583,38,0.9,43,-4.3,0.6,103.4,8,9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	408	121.92	SBE_CT	637	23	200.13
Roll_motor	172	78	175.94	nil	0	0	0.00
VBD_pump_during_apogee	426	1601	8934.89	nil	0	0	0.00
VBD_pump_during_surface	28	73	27.83	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	268	141	497.32	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	20	5.04
TT8	3371	9	391.77
LPSleep	22449	2	603.24
TT8_Active	608	9	70.69
TT8_Sampling	2427	28	839.51
TT8_CF8	361	34	151.73
TT8_Kalman	0	0	0.00
Analog_circuits	2171	16	426.26
GPS_charging	0	0	0.00
Compass	2060	17	435.65
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
7	-0.72	-97.3	244	1765	1628	1620	0.0	0.0	0	73	0.00	0.00	-63.35	0.003	16386	0.000	0.000	245	1766	3644	3624	3664	0	0	0	0	0	0	14.85	28.83	14.88
76	-0.72	-97.3	245	1766	3625	3665	4.4	-12.3	11	96	11.60	2.38	0.00	0.000	2308	0.409	0.054	2509	3141	3648	3634	3662	0	0	0	0	0	0	14.05	14.50	14.45
170	-0.72	-97.3	2509	3141	3642	3660	27.5	-16.4	28	176	0.00	2.28	0.00	0.000	1030	0.000	0.037	2510	1790	3651	3643	3659	0	0	0	0	0	0	14.61	14.52	14.64
479	-0.72	-97.3	2509	1784	3641	3657	75.4	-11.5	71	484	0.00	2.28	0.00	0.000	516	0.000	0.050	2511	399	3648	3640	3657	0	0	0	0	0	0	14.98	14.46	15.00
521	-0.72	-97.3	2509	399	3636	3657	79.2	-9.0	79	525	0.00	2.17	0.00	0.000	1030	0.000	0.038	2510	1733	3646	3636	3657	0	0	0	0	0	0	14.67	14.59	14.70
834	-0.72	-97.3	2509	1734	3640	3656	104.8	-7.7	111	838	0.00	2.22	0.00	0.000	516	0.000	0.050	2509	394	3648	3640	3656	0	0	0	0	0	0	15.02	14.54	15.04
896	-0.72	-97.3	2509	394	3641	3657	109.5	-7.7	123	900	0.00	2.17	0.00	0.000	1030	0.000	0.038	2510	1733	3649	3641	3657	0	0	0	0	0	0	14.71	14.63	14.74
1207	-0.72	-97.3	2509	1733	3645	3657	137.0	-10.2	155	1211	0.00	2.22	0.00	0.000	516	0.000	0.049	2509	391	3651	3645	3657	0	0	0	0	0	0	15.06	14.57	15.08
1272	-0.72	-97.3	2509	391	3645	3657	144.1	-10.5	168	1279	0.00	2.17	0.00	0.000	1030	0.000	0.038	2509	1730	3651	3646	3657	0	0	0	0	0	0	14.73	14.64	14.76
1579	-0.72	-97.3	2509	1730	3649	3657	174.7	-9.2	199	1583	0.00	2.22	0.00	0.000	516	0.000	0.050	2509	392	3653	3649	3657	0	0	0	0	0	0	15.07	14.58	15.09
1614	-0.72	-97.3	2509	392	3649	3657	178.1	-9.9	206	1621	0.00	2.20	0.00	0.000	1030	0.000	0.040	2510	1739	3653	3650	3657	0	0	0	0	0	0	14.73	14.64	14.76
1920	-0.72	-97.3	2509	1739	3652	3657	201.8	-6.7	237	1925	0.00	2.22	0.00	0.000	516	0.000	0.047	2509	396	3654	3651	3657	0	0	0	0	0	0	15.08	14.59	15.10
1964	-0.72	-97.3	2509	396	3652	3657	204.8	-7.1	245	1969	0.00	2.20	0.00	0.000	1030	0.000	0.041	2509	1737	3654	3652	3657	0	0	0	0	0	0	14.73	14.64	14.76
2276	-0.72	-97.3	2509	1736	3647	3657	228.8	-8.5	277	2277	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	1736	3651	3647	3656	0	0	0	0	0	0	15.09	15.11	15.10
2589	-0.72	-97.3	2509	1736	3649	3654	258.6	-9.5	302	2590	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	1736	3651	3649	3654	0	0	0	0	0	0	15.07	15.09	15.09
2886	-0.72	-97.3	2509	1736	3641	3652	284.3	-8.6	312	2890	0.00	2.25	0.00	0.000	516	0.000	0.051	2509	399	3646	3641	3652	0	0	0	0	0	0	15.10	14.58	15.12
2901	-0.72	-97.3	2510	399	3641	3651	285.8	-8.8	315	2905	0.00	2.20	0.00	0.000	1030	0.000	0.045	2509	1729	3646	3641	3651	0	0	0	0	0	0	14.73	14.63	14.76
3219	-0.72	-97.3	2509	1728	3653	3649	315.2	-9.7	328	3226	0.00	2.45	0.00	0.000	260	0.000	0.066	2509	3141	3650	3653	3647	0	0	0	0	0	0	15.10	14.54	15.12
3271	-0.72	-97.3	2509	3140	3651	3647	320.6	-9.7	339	3278	0.00	2.25	0.00	0.000	1030	0.000	0.034	2509	1769	3649	3651	3647	0	0	0	0	0	0	14.76	14.70	14.78
3579	-0.72	-97.3	2509	1770	3661	3644	348.1	-8.8	350	3583	0.00	2.25	0.00	0.000	516	0.000	0.051	2510	415	3653	3661	3645	0	0	0	0	0	0	15.11	14.57	15.13
3629	-0.72	-97.3	2509	415	3661	3643	352.9	-9.3	360	3633	0.00	2.17	0.00	0.000	1030	0.000	0.041	2509	1739	3651	3660	3643	0	0	0	0	0	0	14.73	14.64	14.76
3941	-0.72	-97.3	2509	1738	3659	3642	378.7	-8.1	372	3948	0.00	2.42	0.00	0.000	260	0.000	0.066	2510	3138	3651	3660	3642	0	0	0	0	0	0	15.11	14.52	15.13
3984	-0.72	-97.3	2509	3138	3659	3641	382.4	-8.4	381	3989	0.00	2.20	0.00	0.000	1030	0.000	0.034	2509	1802	3650	3660	3641	0	0	0	0	0	0	14.76	14.69	14.78
4303	-0.72	-97.3	2509	1796	3658	3640	408.5	-8.2	394	4307	0.00	2.30	0.00	0.000	516	0.000	0.052	2509	416	3648	3657	3640	0	0	0	0	0	0	15.10	14.54	15.12
4348	-0.72	-97.3	2509	416	3657	3639	412.6	-8.6	403	4352	0.00	2.17	0.00	0.000	1030	0.000	0.042	2509	1733	3648	3657	3639	0	0	0	0	0	0	14.71	14.62	14.74
4664	-0.72	-97.3	2509	1732	3654	3636	437.4	-7.8	416	4671	0.00	2.42	0.00	0.000	260	0.000	0.065	2509	3131	3645	3654	3636	0	0	0	0	0	0	15.11	14.50	15.13
4714	-0.72	-97.3	2509	3130	3654	3636	441.4	-8.1	426	4718	0.00	2.22	0.00	0.000	1030	0.000	0.038	2509	1792	3645	3654	3636	0	0	0	0	0	0	14.73	14.66	14.76
5026	-0.72	-97.3	2509	1787	3654	3635	465.9	-7.8	438	5030	0.00	2.30	0.00	0.000	516	0.000	0.053	2509	413	3643	3653	3634	0	0	0	0	0	0	15.11	14.52	15.12
5093	-0.72	-97.3	2509	413	3653	3634	471.3	-7.7	451	5097	0.00	2.17	0.00	0.000	1030	0.000	0.041	2509	1730	3643	3653	3633	0	0	0	0	0	0	14.70	14.61	14.73
5421	-0.72	-97.3	2508	1729	3651	3631	496.4	-7.8	466	5427	0.00	2.45	0.00	0.000	260	0.000	0.065	2509	3136	3640	3651	3630	0	0	0	0	0	0	15.09	14.48	15.11
5480	-0.72	-97.3	2509	3136	3651	3630	501.1	-7.8	478	5484	0.00	2.22	0.00	0.000	1030	0.000	0.037	2509	1798	3641	3651	3631	0	0	0	0	0	0	14.73	14.65	14.75
5813	-0.72	-97.3	2509	1793	3647	3630	526.8	-7.7	494	5817	0.00	2.33	0.00	0.000	516	0.000	0.055	2509	412	3638	3647	3630	0	0	0	0	0	0	15.09	14.49	15.11
5858	-0.72	-97.3	2509	412	3647	3629	530.8	-8.4	503	5862	0.00	2.20	0.00	0.000	1030	0.000	0.043	2509	1732	3638	3647	3629	0	0	0	0	0	0	14.67	14.57	14.71
6175	-0.72	-97.3	2509	1731	3646	3627	555.1	-7.7	516	6179	0.00	2.25	0.00	0.000	516	0.000	0.054	2510	414	3636	3646	3626	0	0	0	0	0	0	15.10	14.48	15.12
6261	-0.72	-97.3	2509	414	3645	3626	562.2	-8.5	533	6268	0.00	2.20	0.00	0.000	1030	0.000	0.043	2509	1732	3635	3644	3626	0	0	0	0	0	0	14.66	14.57	14.69
6567	-0.72	-97.3	2509	1732	3642	3625	586.6	-8.1	544	6574	0.00	2.45	0.00	0.000	260	0.000	0.067	2509	3132	3633	3643	3624	0	0	0	0	0	0	15.10	14.44	15.12
6659	-0.72	-97.3	2509	3132	3642	3624	594.6	-7.9	563	6664	0.00	2.25	0.00	0.000	1030	0.000	0.038	2509	1788	3633	3642	3624	0	0	0	0	0	0	14.69	14.62	14.71
6745	end dive: TARGET_DEPTH_EXCEEDED
state	6745	begin apogee
6752	-0.15	0.0	2509	2194	3641	3624	601.7	-8.3	570	6845	0.75	0.00	89.65	1.594	10246	0.239	0.000	2703	2193	3249	3269	3229	0	0	0	0	0	0	13.96	14.21	13.26
6846	end apogee: CONTROL_FINISHED_OK
state	6846	begin loiter
7136	-0.14	6.7	2703	2193	3258	3221	611.3	-1.7	578	7141	0.00	0.00	3.65	1.125	8230	0.000	0.000	2703	2193	3222	3241	3204	0	0	0	0	0	0	14.90	14.39	13.13
7437	-0.13	11.0	2703	2194	3250	3204	614.7	-1.1	583	7444	0.00	0.00	5.00	1.415	8230	0.000	0.000	2703	2193	3205	3224	3186	0	0	0	0	0	0	14.97	14.50	13.27
7736	-0.12	11.0	2703	2193	3233	3186	617.3	-0.9	588	7737	0.00	0.00	0.00	0.000	70	0.000	0.000	2704	2193	3210	3233	3187	0	0	0	0	0	0	15.02	15.04	15.04
8037	-0.11	17.1	2703	2193	3231	3186	621.8	-1.6	593	8048	0.00	0.00	9.70	1.602	8230	0.000	0.000	2704	2193	3179	3199	3160	0	0	0	0	0	0	15.05	14.59	13.62
8335	-0.11	17.1	2703	2193	3189	3155	622.4	0.1	598	8337	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2193	3172	3189	3155	0	0	0	0	0	0	15.04	15.07	15.06
8637	-0.11	17.1	2703	2193	3188	3154	621.6	0.3	603	8638	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2193	3170	3187	3154	0	0	0	0	0	0	15.06	15.08	15.08
8935	-0.11	17.1	2703	2193	3186	3153	618.8	1.0	608	8936	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2193	3170	3187	3153	0	0	0	0	0	0	15.09	15.11	15.11
9237	-0.11	17.1	2703	2193	3186	3152	614.6	1.4	613	9238	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2193	3169	3186	3153	0	0	0	0	0	0	15.09	15.11	15.11
9537	-0.11	17.1	2703	2193	3185	3152	611.0	1.2	618	9538	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2193	3168	3185	3152	0	0	0	0	0	0	15.10	15.12	15.11
9837	-0.11	17.1	2703	2193	3184	3151	607.5	1.2	623	9838	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2193	3167	3184	3151	0	0	0	0	0	0	15.10	15.12	15.12
10137	-0.11	17.1	2703	2193	3183	3151	604.2	1.1	628	10138	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2193	3166	3182	3151	0	0	0	0	0	0	15.11	15.13	15.13
10437	-0.11	17.1	2703	2193	3182	3150	602.1	0.7	633	10438	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2193	3166	3182	3151	0	0	0	0	0	0	15.11	15.13	15.13
10737	-0.11	17.1	2703	2193	3181	3150	602.2	-0.1	638	10738	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2193	3165	3180	3150	0	0	0	0	0	0	15.11	15.13	15.13
11038	-0.10	17.1	2703	2193	3180	3150	604.0	-0.6	643	11039	0.00	0.00	0.00	0.000	70	0.000	0.000	2704	2193	3165	3181	3150	0	0	0	0	0	0	15.10	15.12	15.12
11337	-0.09	17.1	2703	2193	3180	3150	605.7	-0.5	648	11338	0.00	0.00	0.00	0.000	70	0.000	0.000	2703	2193	3164	3180	3149	0	0	0	0	0	0	15.11	15.13	15.13
11637	-0.09	17.1	2703	2193	3179	3148	605.8	0.0	653	11638	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2193	3164	3179	3149	0	0	0	0	0	0	15.11	15.13	15.13
11937	-0.09	17.1	2703	2193	3179	3149	604.0	0.7	658	11938	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2193	3164	3179	3149	0	0	0	0	0	0	15.11	15.13	15.13
12237	-0.09	17.1	2703	2193	3179	3149	600.2	1.3	663	12239	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2193	3163	3178	3149	0	0	0	0	0	0	15.10	15.12	15.12
12537	-0.09	17.1	2704	2193	3179	3148	596.1	1.4	668	12538	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2193	3163	3179	3148	0	0	0	0	0	0	15.11	15.13	15.13
12837	-0.09	17.1	2703	2193	3179	3148	593.5	0.8	673	12838	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2193	3163	3178	3148	0	0	0	0	0	0	15.11	15.13	15.13
13137	-0.09	17.1	2703	2193	3179	3147	593.2	0.0	678	13138	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2193	3162	3178	3147	0	0	0	0	0	0	15.11	15.13	15.13
13438	-0.07	17.1	2703	2193	3178	3147	595.5	-0.9	683	13440	0.12	0.00	0.00	0.000	2118	0.233	0.000	2735	2193	3162	3178	3147	0	0	0	0	0	0	14.40	14.63	14.57
13737	-0.06	22.3	2735	2193	3178	3147	599.5	-1.3	688	13738	0.00	0.00	0.00	0.000	38	0.000	0.000	2735	2193	3162	3178	3147	0	0	0	0	0	0	15.10	15.12	15.12
14037	-0.06	26.3	2735	2193	3178	3147	602.8	-1.0	693	14043	0.00	0.00	4.53	1.386	8230	0.000	0.000	2735	2193	3142	3158	3127	0	0	0	0	0	0	15.10	14.42	13.09
14335	-0.06	26.3	2735	2193	3167	3127	602.3	0.3	698	14337	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2193	3147	3167	3127	0	0	0	0	0	0	15.09	15.12	15.11
14637	-0.06	26.3	2735	2193	3167	3127	599.7	0.9	703	14638	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3147	3167	3127	0	0	0	0	0	0	15.09	15.11	15.11
14935	-0.06	26.3	2735	2193	3167	3127	595.4	1.5	708	14936	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3147	3167	3127	0	0	0	0	0	0	15.11	15.13	15.12
15237	-0.06	26.3	2735	2193	3167	3127	591.0	1.5	713	15238	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3147	3167	3127	0	0	0	0	0	0	15.10	15.11	15.11
15537	-0.06	26.3	2735	2193	3167	3127	588.2	0.8	718	15538	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3147	3168	3127	0	0	0	0	0	0	15.10	15.12	15.11
15837	-0.06	26.3	2735	2193	3167	3127	588.5	-0.2	723	15839	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3147	3167	3127	0	0	0	0	0	0	15.09	15.11	15.11
16137	-0.04	26.3	2735	2193	3167	3127	590.7	-0.8	728	16138	0.00	0.00	0.00	0.000	70	0.000	0.000	2736	2192	3147	3167	3127	0	0	0	0	0	0	15.10	15.12	15.11
16437	-0.03	26.3	2735	2193	3167	3127	592.4	-0.5	733	16438	0.00	0.00	0.00	0.000	70	0.000	0.000	2735	2193	3147	3167	3127	0	0	0	0	0	0	15.09	15.11	15.11
16737	-0.03	26.3	2735	2192	3167	3127	592.9	-0.1	738	16738	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3147	3167	3127	0	0	0	0	0	0	15.10	15.12	15.11
17037	-0.03	26.3	2735	2193	3167	3127	592.0	0.4	743	17039	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3147	3167	3127	0	0	0	0	0	0	15.09	15.11	15.11
17337	-0.03	26.3	2735	2193	3167	3127	590.4	0.5	748	17338	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3147	3167	3127	0	0	0	0	0	0	15.10	15.12	15.11
17637	-0.03	26.3	2735	2193	3166	3127	590.0	0.1	753	17638	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3147	3167	3127	0	0	0	0	0	0	15.10	15.12	15.12
17937	-0.03	26.3	2735	2193	3166	3127	590.3	-0.1	758	17938	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3146	3166	3127	0	0	0	0	0	0	15.10	15.12	15.11
18237	-0.03	26.3	2735	2193	3166	3127	588.4	0.7	763	18238	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3146	3166	3127	0	0	0	0	0	0	15.09	15.11	15.11
18537	-0.03	26.3	2735	2193	3166	3127	585.5	1.0	768	18538	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3146	3166	3127	0	0	0	0	0	0	15.10	15.12	15.11
18837	-0.03	26.3	2735	2193	3166	3127	583.6	0.6	773	18838	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3146	3166	3127	0	0	0	0	0	0	15.10	15.12	15.11
19137	-0.03	26.3	2735	2193	3166	3127	583.0	0.2	778	19138	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3146	3166	3127	0	0	0	0	0	0	15.10	15.12	15.11
19437	-0.03	26.3	2735	2193	3166	3127	582.3	0.3	783	19439	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3146	3166	3127	0	0	0	0	0	0	15.09	15.11	15.11
19737	-0.03	26.3	2735	2193	3166	3127	580.8	0.5	788	19738	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2193	3146	3166	3127	0	0	0	0	0	0	15.09	15.12	15.11
20037	-0.03	26.3	2735	2193	3166	3127	578.9	0.7	793	20038	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3146	3166	3127	0	0	0	0	0	0	15.09	15.11	15.11
20337	-0.03	26.3	2735	2193	3166	3127	577.1	0.6	798	20338	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3146	3166	3127	0	0	0	0	0	0	15.09	15.11	15.11
20637	-0.03	26.3	2735	2193	3166	3127	575.4	0.5	803	20638	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3146	3166	3127	0	0	0	0	0	0	15.09	15.11	15.11
20937	-0.03	26.3	2735	2193	3166	3127	574.4	0.3	808	20938	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2193	3146	3166	3127	0	0	0	0	0	0	15.09	15.11	15.11
21235	end loiter: LOITER_COMPLETE
state	21235	begin climb
21237	0.72	97.3	2735	2193	3166	3127	574.1	0.0	813	21329	0.80	2.45	82.82	1.492	10500	0.150	0.078	2979	3586	2846	2868	2825	0	0	0	0	0	0	14.03	14.24	13.27
21403	0.78	151.4	2978	3586	2862	2822	567.5	5.2	845	21473	0.00	2.15	62.30	1.447	9254	0.000	0.039	2983	2241	2626	2660	2592	0	0	0	0	0	0	14.46	14.39	13.23
21788	0.82	186.1	2982	2241	2647	2585	543.4	6.3	871	21834	0.12	2.35	39.45	1.431	10532	0.155	0.075	3035	3580	2483	2522	2445	0	0	0	0	0	0	14.43	14.28	13.43
21851	0.83	186.1	3035	3581	2517	2445	538.5	7.8	884	21855	0.00	2.15	0.00	0.000	1094	0.000	0.041	3041	2253	2481	2517	2445	0	0	0	0	0	0	14.44	14.36	14.46
22179	0.83	186.1	3041	2249	2511	2441	512.5	8.1	899	22183	0.00	2.28	0.00	0.000	260	0.000	0.070	3043	3585	2476	2511	2441	0	0	0	0	0	0	14.87	14.40	14.89
22250	0.83	186.1	3041	3585	2509	2441	505.9	9.0	913	22254	0.00	2.15	0.00	0.000	1030	0.000	0.040	3047	2237	2474	2509	2440	0	0	0	0	0	0	14.59	14.52	14.63
22572	0.83	186.1	3047	2233	2508	2439	477.8	8.9	927	22576	0.00	2.30	0.00	0.000	260	0.000	0.072	3047	3586	2473	2508	2439	0	0	0	0	0	0	14.96	14.42	14.98
22623	0.83	186.1	3047	3586	2507	2439	472.7	9.6	937	22627	0.00	2.12	0.00	0.000	1030	0.000	0.039	3054	2253	2473	2507	2439	0	0	0	0	0	0	14.63	14.55	14.66
22935	0.83	186.1	3054	2250	2507	2438	445.6	8.6	949	22942	0.00	2.50	0.00	0.000	516	0.000	0.057	3055	851	2472	2506	2438	0	0	0	0	0	0	15.00	14.46	15.02
22998	0.85	186.1	3056	852	2506	2438	440.4	7.7	962	23003	0.00	2.38	0.00	0.000	1094	0.000	0.045	3055	2180	2471	2506	2437	0	0	0	0	0	0	14.62	14.52	14.66
23327	0.85	186.1	3055	2179	2506	2437	413.9	8.1	977	23334	0.00	2.42	0.00	0.000	516	0.000	0.053	3062	835	2471	2506	2437	0	0	0	0	0	0	15.02	14.48	15.04
23365	0.85	186.1	3061	835	2506	2437	410.6	8.3	985	23369	0.00	2.40	0.00	0.000	1030	0.000	0.047	3062	2182	2471	2506	2436	0	0	0	0	0	0	14.62	14.52	14.66
23682	0.85	186.1	3061	2180	2506	2436	382.4	9.3	998	23687	0.00	2.42	0.00	0.000	516	0.000	0.054	3068	842	2470	2505	2436	0	0	0	0	0	0	15.04	14.44	15.06
23729	0.85	186.1	3068	842	2505	2437	378.1	8.9	1007	23736	0.15	2.40	0.00	0.000	5126	0.230	0.047	3034	2188	2470	2505	2436	0	0	0	0	0	0	14.15	14.51	14.45
24044	0.85	186.1	3034	2187	2505	2436	351.6	8.3	1020	24048	0.00	2.42	0.00	0.000	516	0.000	0.054	3040	850	2470	2505	2436	0	0	0	0	0	0	15.04	14.46	15.07
24117	0.86	186.1	3039	849	2505	2436	345.9	7.6	1034	24121	0.00	2.38	0.00	0.000	1094	0.000	0.044	3040	2185	2470	2505	2436	0	0	0	0	0	0	14.62	14.52	14.66
24439	0.88	186.1	3039	2183	2505	2436	321.0	7.3	1048	24443	0.00	2.42	0.00	0.000	580	0.000	0.054	3043	843	2470	2505	2435	0	0	0	0	0	0	15.05	14.45	15.07
24501	0.92	186.1	3042	842	2504	2436	317.0	6.3	1060	24508	0.00	2.40	0.00	0.000	1094	0.000	0.047	3042	2180	2470	2505	2436	0	0	0	0	0	0	14.60	14.50	14.65
24832	0.94	186.1	3042	2180	2504	2435	293.8	7.2	1076	24837	0.00	2.35	0.00	0.000	324	0.000	0.070	3042	3582	2469	2504	2435	0	0	0	0	0	0	15.04	14.39	15.07
24913	0.97	186.1	3042	3581	2503	2435	287.4	7.1	1092	24918	0.00	2.12	0.00	0.000	1094	0.000	0.039	3045	2243	2469	2503	2435	0	0	0	0	0	0	14.62	14.55	14.63
25227	1.00	186.1	3044	2240	2503	2435	266.4	6.8	1104	25234	0.12	2.45	0.00	0.000	2628	0.148	0.051	3095	856	2469	2503	2435	0	0	0	0	0	0	14.56	14.41	14.59
25290	1.00	186.1	3094	856	2503	2435	260.4	9.3	1117	25294	0.00	2.40	0.00	0.000	1030	0.000	0.045	3095	2191	2469	2503	2435	0	0	0	0	0	0	14.59	14.49	14.64
25598	1.00	186.1	3095	2189	2503	2435	229.2	8.7	1144	25601	0.00	2.42	0.00	0.000	516	0.000	0.054	3097	851	2469	2503	2435	0	0	0	0	0	0	15.05	14.42	15.07
25669	1.03	186.1	3097	850	2503	2435	224.0	6.8	1158	25674	0.00	2.38	0.00	0.000	1094	0.000	0.047	3098	2176	2469	2503	2435	0	0	0	0	0	0	14.58	14.47	14.63
25982	1.03	186.1	3097	2175	2503	2435	202.2	8.4	1190	25987	0.00	2.40	0.00	0.000	516	0.000	0.054	3098	850	2469	2503	2435	0	0	0	0	0	0	15.04	14.42	15.07
26044	1.03	186.1	3097	850	2503	2435	196.7	8.5	1202	26049	0.00	2.38	0.00	0.000	1030	0.000	0.047	3097	2177	2469	2503	2435	0	0	0	0	0	0	14.57	14.47	14.62
26357	1.05	186.1	3097	2176	2503	2435	171.6	7.1	1234	26362	0.00	2.35	0.00	0.000	324	0.000	0.071	3098	3580	2469	2503	2435	0	0	0	0	0	0	15.04	14.35	15.06
26383	1.05	186.1	3097	3580	2503	2436	169.3	8.2	1239	26390	0.00	2.12	0.00	0.000	1030	0.000	0.040	3098	2254	2468	2503	2434	0	0	0	0	0	0	14.61	14.52	14.65
26690	1.07	186.1	3098	2254	2503	2435	146.3	7.6	1270	26695	0.00	2.53	0.00	0.000	580	0.000	0.056	3098	842	2468	2502	2435	0	0	0	0	0	0	15.04	14.38	15.06
26723	1.09	186.1	3098	842	2503	2435	143.9	7.1	1276	26732	0.00	2.40	0.00	0.000	1094	0.000	0.047	3098	2186	2468	2502	2435	0	0	0	0	0	0	14.57	14.47	14.62
27033	1.09	186.1	3098	2185	2502	2435	118.7	7.9	1308	27037	0.00	2.45	0.00	0.000	516	0.000	0.054	3099	836	2469	2503	2435	0	0	0	0	0	0	15.04	14.40	15.06
27094	1.14	222.1	3099	834	2502	2435	114.4	6.3	1320	27137	0.00	2.40	36.03	1.037	9254	0.000	0.044	3099	2186	2338	2377	2299	0	0	0	0	0	0	14.58	14.48	13.76
27445	1.17	222.1	3099	2186	2370	2294	89.9	6.5	1360	27455	0.12	2.33	0.00	0.000	2372	0.153	0.066	3154	3589	2331	2368	2294	0	0	0	0	0	0	14.51	14.41	14.54
27488	1.17	222.1	3154	3589	2368	2294	85.9	10.0	1368	27494	0.00	2.12	0.00	0.000	1030	0.000	0.037	3163	2240	2331	2368	2294	0	0	0	0	0	0	14.62	14.54	14.65
27801	1.26	294.6	3163	2236	2367	2292	69.5	4.1	1400	27872	0.00	2.53	63.62	0.955	8740	0.000	0.050	3165	851	2041	2082	2000	0	0	0	0	0	0	14.98	14.43	13.76
27906	1.29	294.6	3164	851	2078	1999	63.4	7.1	1420	27915	0.00	2.38	0.00	0.000	1094	0.000	0.043	3165	2184	2038	2078	1999	0	0	0	0	0	0	14.52	14.43	14.54
28216	1.33	329.4	3164	2183	2075	1998	44.1	6.3	1460	28253	0.00	2.40	29.35	0.912	8740	0.000	0.051	3166	847	1898	1937	1860	0	0	0	0	0	0	14.88	14.48	13.78
28277	1.37	329.4	3165	847	1936	1859	40.3	6.4	1470	28285	0.00	2.38	0.00	0.000	1094	0.000	0.041	3166	2190	1898	1937	1859	0	0	0	0	0	0	14.57	14.49	14.59
28591	1.38	329.4	3165	2189	1945	1860	17.0	7.5	1531	28598	0.12	2.28	0.00	0.000	2372	0.155	0.061	3211	3585	1902	1945	1860	0	0	0	0	0	0	14.45	14.46	14.48
28637	1.42	329.4	3211	3585	1945	1861	13.7	6.6	1539	28644	0.00	2.08	0.00	0.000	1094	0.000	0.034	3215	2254	1903	1945	1861	0	0	0	0	0	0	14.64	14.57	14.66
28755	end climb: SURFACE_DEPTH_REACHED
state	28756	begin surface coast
28787	end surface coast: CONTROL_FINISHED_OK
state	28787	begin surface