Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 749 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 124 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 250 XPDR_VALID 5

MISSION 26 TGT_DEFAULT_LAT 47.599998 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 749 TGT_DEFAULT_LON -122.3 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

STOP_T 0 SM_CC 350 VBD_MIN 550 DEEPGLIDER 0

D_SURF 3 N_FILEKB 8 VBD_MAX 3990 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 2600 DEVICE1 -1

D_TGT 500 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 1030 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

D_NO_BLEED 50 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_BOOST 2.5 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE5 -1

T_BOOST 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0014 DEVICE6 -1

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERS 0

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE1 53

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 71

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 50 LOGGERDEVICE3 134

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 149

T_DIVE 180 T_GPS 5 LOITER_W_DBAND 2 PHONE_DEVICE 49

T_MISSION 460 N_GPS 100440 LOITER_DBDW 400 GPS_DEVICE 32

T_ABORT 1440 T_RSLEEP 2 LOITER_D_TOP 400 RAFOS_DEVICE -1

T_TURN 225 STROBE 0 LOITER_D_BOTTOM 600 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 1.5 LOITER_N_DIVE 1 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 PITCH_W_GAIN 0 SEABIRD_T_G 0.0043545738

T_LOITER 14400 RAFOS_HIT_WINDOW 3600 PITCH_W_DBAND 0 SEABIRD_T_H 0.00062548259

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 SEABIRD_T_I 2.3693661e-05

USE_BATHY 0 PITCH_MIN 75 AH0_24V 0 SEABIRD_T_J 2.5207949e-06

USE_ICE 0 PITCH_MAX 100 AH0_10V 350 SEABIRD_C_G -9.9945526

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2130 MINV_24V 11 SEABIRD_C_H 1.1183146

D_OFFGRID 1000 PITCH_DBAND 0.1 MINV_10V 11 SEABIRD_C_I -0.0026370776

T_WATCHDOG 10 PITCH_CNV 0.0046000001 MAXI_24V 0.60000002 SEABIRD_C_J 0.00028069684

RELAUNCH 1 P_OVSHOOT 0.039999999 MAXI_10V 1.5 SC_RECORDABOVE 2000.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SC_PROFILE 3.0

MAX_BUOY 75 PITCH_GAIN 40 FG_AHR_24V 0 SC_XMITPROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PHONE_SUPPLY -2 SC_NDIVE 1.0

GLIDE_SLOPE 30 PITCH_AD_RATE 135 PRESSURE_YINT -165.43451 TM_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010836 TM_PROFILE 3.0

RHO 1.0275 PITCH_ADJ_GAIN 0 AD7714Ch0Gain 1 TM_XMITPROFILE 3.0

MASS 55793 PITCH_ADJ_DBAND 0 COMPASS_USE 4 TM_NDIVE 1.0

MASS_COMP 0 ROLL_MIN 1700 ALTIM_PING_FIT 0 TM_LOGSAMPLE 0.0

NAV_MODE 2 ROLL_MAX 1800 ALTIM_TOP_PING_RANGE 0 TM_XMITRAW 0.0

FERRY_MAX 40 ROLL_DEG 15 ALTIM_BOTTOM_TURN_MARGIN 0 CP_RECORDABOVE 2000.0

KALMAN_USE 2 C_ROLL_DIVE 1750 ALTIM_TOP_TURN_MARGIN 0 CP_PROFILE 2.0

HD_A 0.003 C_ROLL_CLIMB 1750 ALTIM_TOP_MIN_OBSTACLE 0 CP_XMITPROFILE 2.0

HD_B 0.0099999998 HEAD_ERRBAND 170 ALTIM_PING_DEPTH 0 CP_UPLOADMAX 100000.0

HD_C 1.6100001e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 CP_STARTS 785.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 CP_NDIVE 1.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 26 ALTIM_PULSE 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 46 ALTIM_SENSITIVITY 4

AD7714Ch0Gain 1 D_OFFGRID 1000 N_NOSURFACE 0 SEABIRD_T_J 2.5207949e-06

AH0_10V 350 D_PITCH 0 PHONE_DEVICE 49 SIM_W 0

AH0_24V 0 D_SAFE 0 PHONE_SUPPLY -2 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 500 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_AD_RATE 135 STROBE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0046000001 SURFACE_URGENCY 0

ALTIM_PING_FIT 0 FERRY_MAX 40 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FG_AHR_10V 0 PITCH_GAIN 40 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MAX 100 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MIN 75 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 20 TM_LOGSAMPLE 0.0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0014 TM_NDIVE 1.0

CALL_NDIVES 1 HD_A 0.003 PITCH_W_DBAND 0 TM_PROFILE 3.0

CALL_TRIES 5 HD_B 0.0099999998 PITCH_W_GAIN 0 TM_RECORDABOVE 2000.0

CALL_WAIT 60 HD_C 1.6100001e-05 PRESSURE_SLOPE 0.00010836 TM_XMITPROFILE 3.0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -165.43451 TM_XMITRAW 0.0

CAPUPLOAD 0 HEAD_ERRBAND 170 PROTOCOL 9 T_ABORT 1440

CF8_MAXERRORS 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_BOOST 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0 T_DIVE 180

COMPASS2_DEVICE 149 ID 124 RAFOS_CORR_THRESH 60 T_EPIRB 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_GPS 5

COMPASS_USE 4 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_LOITER 14400

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_MMODEM 0 T_MISSION 460

CP_NDIVE 1.0 LOGGERDEVICE1 53 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

CP_PROFILE 2.0 LOGGERDEVICE2 71 RELAUNCH 1 T_RSLEEP 2

CP_RECORDABOVE 2000.0 LOGGERDEVICE3 134 RHO 1.0275 T_TURN 225

CP_STARTS 785.0 LOGGERDEVICE4 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -5

CP_UPLOADMAX 100000.0 LOGGERS 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

CP_XMITPROFILE 2.0 LOITER_DBDW 400 ROLL_AD_RATE 250 UNCOM_BLEED 50

C_PITCH 2130 LOITER_D_BOTTOM 600 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1750 LOITER_D_TOP 400 ROLL_DEG 15 USE_BATHY 0

C_ROLL_DIVE 1750 LOITER_N_DIVE 1 ROLL_MAX 1800 USE_ICE 0

C_VBD 2600 LOITER_W_DBAND 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DBDW 0 MASS 55793 ROLL_MIN 1700 VBD_CNV -0.24529999

DEEPGLIDER 0 MASS_COMP 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 1.5 R_PORT_OVSHOOT 26 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 46 VBD_MAX 3990

DEVICE3 -1 MAX_BUOY 75 SC_NDIVE 1.0 VBD_MAXERRORS 1

DEVICE4 -1 MINV_10V 11 SC_PROFILE 3.0 VBD_MIN 550

DEVICE5 -1 MINV_24V 11 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE6 -1 MISSION 26 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 1

DIVE 749 MOTHERBOARD 4 SEABIRD_C_G -9.9945526 VBD_TIMEOUT 720

D_ABORT 1030 NAV_MODE 2 SEABIRD_C_H 1.1183146 W_ADJ_DBAND 0

D_BOOST 2.5 NOCOMM_ACTION 163 SEABIRD_C_I -0.0026370776 XPDR_DEVICE 24

D_CALL 0 N_DIVES 0 SEABIRD_C_J 0.00028069684 XPDR_INHIBIT 90

D_FINISH 0 N_FILEKB 8 SEABIRD_T_G 0.0043545738 XPDR_VALID 5

D_FLARE 3 N_GPS 100440 SEABIRD_T_H 0.00062548259

D_NO_BLEED 50 N_NOCOMM 2 SEABIRD_T_I 2.3693661e-05

Pre-dive calculations and measurements:

GPS1 170119,135813,6052.3091,-2800.3889,35,2.0,44,-19.1,0.0,319.0,4,8.9 SPEED_LIMITS 0.160,0.182

_CALLS 2 TGT_NAME ICELAND

_XMS_NAKs 0 TGT_LATLONG 6300.000,-2230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.00 MHEAD_RNG_PITCHd_Wd 70.6,364831,-23.8,-9.259,-26.95,1201

_SM_ANGLEo -68.5 D_GRID 500

GPS2 170119,140503,6052.3213,-2800.4355,12,1.2,35,-19.1,0.5,65.9,8,6.4

Post-dive calculations and measurements:

SM_CCo 17941,203.27,0.911,0,0,1172,350.04 FG_AHR_24Vo 0.000

SM_GC 0.99,0.22,0.00,203.27,0.086,0.000,0.911,32,1750,1172,-9.40,0.00,350.04,0,0,0,0,0,0,14.05,14.69,12.71 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6051.55,-2758.89,170119,140004 MEM 333920

TT8_MAMPS 0.020972,0.073402 DATA_FILE_SIZE 16732,470

HUMID 43.89 CAP_FILE_SIZE 89461,0

INTERNAL_PRESSURE 7.92999 CFSIZE 260165632,165609472

TCM_TEMP 18.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.037,18.90,1

_24V_AH 11.95,0.000 GPS 170119,190934,6052.667,-2800.283,29,1.0,29,-19.1,0.0,0.0,8,7.9

_10V_AH 12.89,249.878

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 116 12.64 nil 0 0 0.00

Roll_motor 0 403 0.84 nil 0 0 0.00

VBD_pump_during_apogee 125 1546 2313.13 nil 0 0 0.00

VBD_pump_during_surface 203 911 2213.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 0 0 0.00

Iridium_during_xfer 212 132 336.31 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 45 20 11.97

TT8 500 8 55.97

LPSleep 16424 2 463.64

TT8_Active 446 8 49.90

TT8_Sampling 928 26 318.87

TT8_CF8 279 31 112.13

TT8_Kalman 0 0 0.00

Analog_circuits 1050 10 146.29

GPS_charging 0 0 0.00

Compass 682 6 59.33

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 5 begin dive

9 -0.70 -73.0 29 1756 1337 1002 0.0 0.0 0 102 0.00 0.17 -89.55 0.006 16390 0.000 0.404 29 1751 2898 2865 2932 0 0 0 0 0 0 14.40 11.95 14.26

106 -0.70 -73.0 29 1750 2865 2933 1.7 -1.1 4 110 0.20 0.00 0.00 0.000 2054 0.094 0.000 137 1750 2898 2867 2929 0 0 0 0 0 0 14.00 14.04 14.02

430 -0.70 -73.0 136 1750 2867 2928 90.8 -31.1 21 432 0.15 0.00 0.00 0.000 4102 0.111 0.000 53 1750 2898 2868 2928 0 0 0 0 0 0 14.12 14.14 14.14

750 -0.70 -73.0 52 1750 2868 2928 192.9 -31.6 30 752 0.17 0.00 0.00 0.000 2054 0.105 0.000 144 1750 2898 2868 2928 0 0 0 0 0 0 14.13 14.16 14.14

1072 -0.70 -73.0 143 1750 2868 2928 290.3 -30.6 38 1074 0.17 0.00 0.00 0.000 4102 0.101 0.000 50 1750 2898 2868 2928 0 0 0 0 0 0 14.14 14.19 14.18

1390 -0.70 -73.0 49 1750 2868 2928 386.0 -29.8 46 1392 0.17 0.00 0.00 0.000 2054 0.103 0.000 141 1750 2898 2868 2928 0 0 0 0 0 0 14.19 14.20 14.19

1710 -0.70 -73.0 141 1750 2869 2928 481.1 -29.8 54 1712 0.15 0.00 0.00 0.000 4102 0.113 0.000 59 1750 2898 2868 2928 0 0 0 0 0 0 14.24 14.25 14.24

1786 end dive: TARGET_DEPTH_EXCEEDED

state 1786 begin apogee

1795 -0.12 0.0 59 1750 2868 2928 504.7 -29.7 56 1859 0.15 0.00 61.47 1.546 10246 0.113 0.000 141 1750 2598 2642 2554 0 0 0 0 0 0 14.15 13.64 12.76

1860 end apogee: CONTROL_FINISHED_OK

state 1860 begin loiter

2152 -0.12 0.0 141 1750 2642 2557 521.3 4.9 65 2154 0.15 0.00 0.00 0.000 4102 0.109 0.000 61 1750 2599 2642 2557 0 0 0 0 0 0 13.88 13.91 13.90

2470 -0.12 0.0 60 1750 2642 2558 500.5 6.3 73 2472 0.15 0.00 0.00 0.000 2054 0.112 0.000 142 1750 2599 2642 2557 0 0 0 0 0 0 14.03 14.04 14.04

2790 -0.12 0.0 142 1750 2642 2557 483.1 5.2 81 2792 0.15 0.00 0.00 0.000 4102 0.111 0.000 60 1750 2600 2642 2558 0 0 0 0 0 0 14.09 14.12 14.11

3110 -0.12 0.0 60 1750 2642 2557 466.3 5.3 89 3112 0.15 0.00 0.00 0.000 2054 0.112 0.000 142 1750 2600 2642 2558 0 0 0 0 0 0 14.14 14.16 14.15

3430 -0.12 0.0 142 1750 2642 2557 449.9 5.1 97 3432 0.15 0.00 0.00 0.000 4102 0.112 0.000 59 1750 2600 2642 2558 0 0 0 0 0 0 14.18 14.19 14.17

3750 -0.12 0.0 59 1750 2642 2557 435.4 4.3 105 3752 0.15 0.00 0.00 0.000 2054 0.113 0.000 142 1750 2599 2641 2557 0 0 0 0 0 0 14.19 14.21 14.21

4070 -0.12 0.0 142 1750 2642 2557 424.7 2.9 113 4072 0.15 0.00 0.00 0.000 4102 0.114 0.000 59 1750 2599 2642 2557 0 0 0 0 0 0 14.22 14.21 14.21

4392 -0.12 0.0 59 1750 2642 2558 420.1 1.0 121 4393 0.15 0.00 0.00 0.000 2054 0.113 0.000 143 1750 2599 2642 2557 0 0 0 0 0 0 14.22 14.22 14.22

4710 -0.12 0.0 142 1750 2642 2557 419.5 -0.0 129 4712 0.15 0.00 0.00 0.000 4102 0.115 0.000 60 1750 2600 2642 2558 0 0 0 0 0 0 14.23 14.23 14.23

5030 -0.12 0.0 60 1750 2642 2557 420.8 -0.5 137 5032 0.15 0.00 0.00 0.000 2054 0.116 0.000 143 1750 2599 2642 2557 0 0 0 0 0 0 14.24 14.24 14.23

5350 -0.12 0.0 143 1750 2642 2557 422.2 -0.4 145 5352 0.15 0.00 0.00 0.000 4102 0.114 0.000 59 1750 2599 2642 2557 0 0 0 0 0 0 14.26 14.25 14.27

5670 -0.12 0.0 59 1750 2642 2557 422.5 0.1 153 5672 0.15 0.00 0.00 0.000 2054 0.114 0.000 142 1750 2599 2642 2557 0 0 0 0 0 0 14.25 14.25 14.24

5990 -0.12 0.0 142 1750 2642 2557 420.9 0.6 161 5992 0.15 0.00 0.00 0.000 4102 0.113 0.000 59 1750 2599 2642 2557 0 0 0 0 0 0 14.25 14.25 14.26

6310 -0.12 0.0 59 1750 2642 2557 418.4 0.9 169 6312 0.15 0.00 0.00 0.000 2054 0.113 0.000 141 1750 2599 2642 2557 0 0 0 0 0 0 14.26 14.25 14.25

6632 -0.12 0.0 141 1750 2642 2558 414.5 1.3 177 6634 0.15 0.00 0.00 0.000 4102 0.111 0.000 58 1750 2599 2642 2557 0 0 0 0 0 0 14.25 14.25 14.24

6950 -0.12 0.0 58 1750 2642 2557 409.9 1.5 185 6952 0.15 0.00 0.00 0.000 2054 0.114 0.000 141 1750 2599 2642 2557 0 0 0 0 0 0 14.26 14.26 14.26

7270 -0.12 0.0 141 1750 2642 2557 405.5 1.3 193 7272 0.15 0.00 0.00 0.000 4102 0.112 0.000 57 1750 2599 2642 2557 0 0 0 0 0 0 14.26 14.26 14.26

7590 -0.12 0.0 57 1750 2642 2557 402.6 0.8 201 7592 0.15 0.00 0.00 0.000 2054 0.116 0.000 140 1750 2599 2642 2557 0 0 0 0 0 0 14.26 14.25 14.25

7910 -0.12 0.0 140 1750 2642 2557 401.7 0.1 209 7912 0.15 0.00 0.00 0.000 4102 0.112 0.000 57 1750 2599 2642 2557 0 0 0 0 0 0 14.27 14.27 14.26

8230 -0.12 0.0 56 1750 2642 2557 402.7 -0.4 217 8232 0.15 0.00 0.00 0.000 2054 0.116 0.000 139 1750 2599 2642 2557 0 0 0 0 0 0 14.26 14.25 14.25

8550 -0.12 0.0 139 1750 2642 2557 404.6 -0.6 225 8552 0.15 0.00 0.00 0.000 4102 0.113 0.000 55 1750 2600 2642 2558 0 0 0 0 0 0 14.27 14.27 14.26

8872 -0.12 0.0 55 1750 2642 2557 406.6 -0.6 233 8873 0.17 0.00 0.00 0.000 2054 0.105 0.000 146 1750 2599 2642 2557 0 0 0 0 0 0 14.20 14.20 14.20

9190 -0.12 0.0 146 1750 2642 2557 408.4 -0.6 241 9192 0.17 0.00 0.00 0.000 4102 0.102 0.000 53 1750 2599 2642 2557 0 0 0 0 0 0 14.22 14.22 14.22

9510 -0.12 0.0 53 1750 2642 2557 409.8 -0.4 249 9512 0.17 0.00 0.00 0.000 2054 0.106 0.000 143 1750 2599 2642 2557 0 0 0 0 0 0 14.21 14.21 14.21

9830 -0.12 0.0 143 1750 2642 2558 410.0 0.1 257 9832 0.17 0.00 0.00 0.000 4102 0.103 0.000 51 1750 2599 2642 2557 0 0 0 0 0 0 14.23 14.22 14.22

10150 -0.12 0.0 51 1750 2642 2557 408.4 0.6 265 10152 0.17 0.00 0.00 0.000 2054 0.106 0.000 142 1750 2599 2642 2557 0 0 0 0 0 0 14.21 14.21 14.19

10470 -0.12 0.0 142 1750 2642 2557 405.7 0.9 273 10472 0.15 0.00 0.00 0.000 4102 0.111 0.000 60 1750 2600 2642 2558 0 0 0 0 0 0 14.28 14.26 14.26

10790 -0.12 0.0 59 1750 2642 2557 402.7 0.9 281 10792 0.15 0.00 0.00 0.000 2054 0.115 0.000 142 1750 2599 2642 2557 0 0 0 0 0 0 14.26 14.26 14.26

11112 -0.12 0.0 142 1750 2642 2557 400.6 0.6 289 11114 0.15 0.00 0.00 0.000 4102 0.112 0.000 59 1749 2599 2642 2557 0 0 0 0 0 0 14.26 14.28 14.26

11430 -0.13 -1.0 59 1750 2642 2557 399.6 0.3 297 11432 0.15 0.00 0.00 0.000 2086 0.112 0.000 141 1750 2599 2641 2557 0 0 0 0 0 0 14.28 14.27 14.27

11750 -0.13 -1.4 141 1750 2642 2557 399.2 0.1 305 11752 0.15 0.00 0.00 0.000 4134 0.112 0.000 58 1750 2599 2642 2557 0 0 0 0 0 0 14.28 14.26 14.26

12071 -0.13 -1.7 57 1750 2642 2557 398.9 0.1 313 12073 0.15 0.00 0.00 0.000 2086 0.114 0.000 141 1750 2599 2642 2557 0 0 0 0 0 0 14.26 14.26 14.26

12390 -0.13 -1.9 140 1750 2641 2557 398.7 0.1 321 12392 0.15 0.00 0.00 0.000 4134 0.113 0.000 57 1750 2599 2642 2557 0 0 0 0 0 0 14.28 14.27 14.27

12710 -0.13 -1.9 57 1750 2642 2557 398.7 0.0 329 12712 0.15 0.00 0.00 0.000 2086 0.115 0.000 140 1750 2599 2642 2557 0 0 0 0 0 0 14.27 14.26 14.26

13030 -0.13 -1.9 140 1750 2642 2557 398.7 -0.0 337 13032 0.15 0.00 0.00 0.000 4102 0.112 0.000 56 1750 2599 2641 2557 0 0 0 0 0 0 14.28 14.27 14.27

13352 -0.13 -2.4 56 1749 2642 2557 398.4 0.1 345 13354 0.15 0.00 0.00 0.000 2086 0.115 0.000 140 1750 2600 2642 2558 0 0 0 0 0 0 14.26 14.25 14.25

13670 -0.13 -3.5 140 1750 2642 2557 397.7 0.3 353 13672 0.15 0.00 0.00 0.000 4134 0.112 0.000 56 1750 2599 2642 2557 0 0 0 0 0 0 14.28 14.27 14.27

13991 -0.13 -5.2 56 1750 2643 2557 396.4 0.4 361 13993 0.15 0.00 0.00 0.000 2086 0.116 0.000 140 1750 2599 2641 2557 0 0 0 0 0 0 14.26 14.26 14.25

14310 -0.13 -7.0 140 1750 2642 2557 394.9 0.5 369 14312 0.15 0.00 0.00 0.000 4134 0.112 0.000 57 1750 2599 2641 2557 0 0 0 0 0 0 14.27 14.26 14.27

14630 -0.14 -8.7 56 1750 2642 2558 393.5 0.4 377 14632 0.15 0.00 0.00 0.000 2086 0.113 0.000 139 1750 2599 2642 2557 0 0 0 0 0 0 14.27 14.26 14.25

14951 -0.14 -9.5 140 1750 2642 2557 392.5 0.2 385 14953 0.15 0.00 0.00 0.000 4134 0.112 0.000 56 1750 2599 2641 2557 0 0 0 0 0 0 14.28 14.27 14.27

15270 -0.14 -9.5 56 1750 2642 2557 392.7 -0.1 393 15272 0.15 0.00 0.00 0.000 2054 0.113 0.000 139 1750 2599 2642 2557 0 0 0 0 0 0 14.27 14.26 14.25

15592 -0.14 -9.5 139 1750 2642 2557 393.8 -0.4 401 15594 0.15 0.00 0.00 0.000 4102 0.112 0.000 56 1750 2599 2642 2557 0 0 0 0 0 0 14.27 14.26 14.26

15910 -0.14 -9.5 56 1750 2642 2557 395.7 -0.7 409 15912 0.15 0.00 0.00 0.000 2054 0.116 0.000 139 1750 2599 2642 2557 0 0 0 0 0 0 14.27 14.26 14.26

16226 end loiter: LOITER_COMPLETE

state 16227 begin climb

16230 0.70 73.0 139 1750 2642 2557 398.3 0.0 417 16297 0.15 0.00 63.72 1.407 12294 0.112 0.000 57 1750 2301 2405 2198 0 0 0 0 0 0 14.28 13.69 12.86

16592 0.70 73.0 56 1750 2399 2202 323.9 24.2 426 16594 0.15 0.00 0.00 0.000 2054 0.112 0.000 137 1750 2300 2399 2202 0 0 0 0 0 0 13.93 13.96 13.95

16910 0.70 73.0 137 1750 2397 2202 247.0 23.6 434 16912 0.15 0.00 0.00 0.000 4102 0.115 0.000 55 1750 2299 2396 2203 0 0 0 0 0 0 14.04 14.06 14.06

17230 0.70 73.0 55 1750 2396 2202 169.5 24.5 442 17232 0.17 0.00 0.00 0.000 2054 0.103 0.000 146 1750 2298 2395 2202 0 0 0 0 0 0 14.07 14.09 14.08

17551 0.70 73.0 146 1750 2394 2202 89.2 25.5 451 17553 0.17 0.00 0.00 0.000 4102 0.102 0.000 54 1750 2298 2394 2202 0 0 0 0 0 0 14.12 14.12 14.12

17870 0.70 73.0 54 1750 2392 2203 9.9 24.3 467 17872 0.17 0.00 0.00 0.000 2054 0.107 0.000 144 1750 2297 2392 2202 0 0 0 0 0 0 14.14 14.14 14.14

17906 end climb: SURFACE_DEPTH_REACHED

state 17906 begin surface coast

17926 end surface coast: CONTROL_FINISHED_OK

state 17926 begin surface

ID	124	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	250	XPDR_VALID	5
MISSION	26	TGT_DEFAULT_LAT	47.599998	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	749	TGT_DEFAULT_LON	-122.3	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
STOP_T	0	SM_CC	350	VBD_MIN	550	DEEPGLIDER	0
D_SURF	3	N_FILEKB	8	VBD_MAX	3990	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	2600	DEVICE1	-1
D_TGT	500	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	1030	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_NO_BLEED	50	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_BOOST	2.5	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE5	-1
T_BOOST	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0014	DEVICE6	-1
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERS	0
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE1	53
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	71
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	50	LOGGERDEVICE3	134
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	149
T_DIVE	180	T_GPS	5	LOITER_W_DBAND	2	PHONE_DEVICE	49
T_MISSION	460	N_GPS	100440	LOITER_DBDW	400	GPS_DEVICE	32
T_ABORT	1440	T_RSLEEP	2	LOITER_D_TOP	400	RAFOS_DEVICE	-1
T_TURN	225	STROBE	0	LOITER_D_BOTTOM	600	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	1.5	LOITER_N_DIVE	1	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	PITCH_W_GAIN	0	SEABIRD_T_G	0.0043545738
T_LOITER	14400	RAFOS_HIT_WINDOW	3600	PITCH_W_DBAND	0	SEABIRD_T_H	0.00062548259
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	SEABIRD_T_I	2.3693661e-05
USE_BATHY	0	PITCH_MIN	75	AH0_24V	0	SEABIRD_T_J	2.5207949e-06
USE_ICE	0	PITCH_MAX	100	AH0_10V	350	SEABIRD_C_G	-9.9945526
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2130	MINV_24V	11	SEABIRD_C_H	1.1183146
D_OFFGRID	1000	PITCH_DBAND	0.1	MINV_10V	11	SEABIRD_C_I	-0.0026370776
T_WATCHDOG	10	PITCH_CNV	0.0046000001	MAXI_24V	0.60000002	SEABIRD_C_J	0.00028069684
RELAUNCH	1	P_OVSHOOT	0.039999999	MAXI_10V	1.5	SC_RECORDABOVE	2000.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SC_PROFILE	3.0
MAX_BUOY	75	PITCH_GAIN	40	FG_AHR_24V	0	SC_XMITPROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PHONE_SUPPLY	-2	SC_NDIVE	1.0
GLIDE_SLOPE	30	PITCH_AD_RATE	135	PRESSURE_YINT	-165.43451	TM_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010836	TM_PROFILE	3.0
RHO	1.0275	PITCH_ADJ_GAIN	0	AD7714Ch0Gain	1	TM_XMITPROFILE	3.0
MASS	55793	PITCH_ADJ_DBAND	0	COMPASS_USE	4	TM_NDIVE	1.0
MASS_COMP	0	ROLL_MIN	1700	ALTIM_PING_FIT	0	TM_LOGSAMPLE	0.0
NAV_MODE	2	ROLL_MAX	1800	ALTIM_TOP_PING_RANGE	0	TM_XMITRAW	0.0
FERRY_MAX	40	ROLL_DEG	15	ALTIM_BOTTOM_TURN_MARGIN	0	CP_RECORDABOVE	2000.0
KALMAN_USE	2	C_ROLL_DIVE	1750	ALTIM_TOP_TURN_MARGIN	0	CP_PROFILE	2.0
HD_A	0.003	C_ROLL_CLIMB	1750	ALTIM_TOP_MIN_OBSTACLE	0	CP_XMITPROFILE	2.0
HD_B	0.0099999998	HEAD_ERRBAND	170	ALTIM_PING_DEPTH	0	CP_UPLOADMAX	100000.0
HD_C	1.6100001e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	CP_STARTS	785.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	CP_NDIVE	1.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	26	ALTIM_PULSE	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	46	ALTIM_SENSITIVITY	4

GPS1	170119,135813,6052.3091,-2800.3889,35,2.0,44,-19.1,0.0,319.0,4,8.9	SPEED_LIMITS	0.160,0.182
_CALLS	2	TGT_NAME	ICELAND
_XMS_NAKs	0	TGT_LATLONG	6300.000,-2230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.00	MHEAD_RNG_PITCHd_Wd	70.6,364831,-23.8,-9.259,-26.95,1201
_SM_ANGLEo	-68.5	D_GRID	500
GPS2	170119,140503,6052.3213,-2800.4355,12,1.2,35,-19.1,0.5,65.9,8,6.4

SM_CCo	17941,203.27,0.911,0,0,1172,350.04	FG_AHR_24Vo	0.000
SM_GC	0.99,0.22,0.00,203.27,0.086,0.000,0.911,32,1750,1172,-9.40,0.00,350.04,0,0,0,0,0,0,14.05,14.69,12.71	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6051.55,-2758.89,170119,140004	MEM	333920
TT8_MAMPS	0.020972,0.073402	DATA_FILE_SIZE	16732,470
HUMID	43.89	CAP_FILE_SIZE	89461,0
INTERNAL_PRESSURE	7.92999	CFSIZE	260165632,165609472
TCM_TEMP	18.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.037,18.90,1
_24V_AH	11.95,0.000	GPS	170119,190934,6052.667,-2800.283,29,1.0,29,-19.1,0.0,0.0,8,7.9
_10V_AH	12.89,249.878

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	116	12.64	nil	0	0	0.00
Roll_motor	0	403	0.84	nil	0	0	0.00
VBD_pump_during_apogee	125	1546	2313.13	nil	0	0	0.00
VBD_pump_during_surface	203	911	2213.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	0	0	0.00
Iridium_during_xfer	212	132	336.31	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	45	20	11.97
TT8	500	8	55.97
LPSleep	16424	2	463.64
TT8_Active	446	8	49.90
TT8_Sampling	928	26	318.87
TT8_CF8	279	31	112.13
TT8_Kalman	0	0	0.00
Analog_circuits	1050	10	146.29
GPS_charging	0	0	0.00
Compass	682	6	59.33
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	5	begin dive
9	-0.70	-73.0	29	1756	1337	1002	0.0	0.0	0	102	0.00	0.17	-89.55	0.006	16390	0.000	0.404	29	1751	2898	2865	2932	0	0	0	0	0	0	14.40	11.95	14.26
106	-0.70	-73.0	29	1750	2865	2933	1.7	-1.1	4	110	0.20	0.00	0.00	0.000	2054	0.094	0.000	137	1750	2898	2867	2929	0	0	0	0	0	0	14.00	14.04	14.02
430	-0.70	-73.0	136	1750	2867	2928	90.8	-31.1	21	432	0.15	0.00	0.00	0.000	4102	0.111	0.000	53	1750	2898	2868	2928	0	0	0	0	0	0	14.12	14.14	14.14
750	-0.70	-73.0	52	1750	2868	2928	192.9	-31.6	30	752	0.17	0.00	0.00	0.000	2054	0.105	0.000	144	1750	2898	2868	2928	0	0	0	0	0	0	14.13	14.16	14.14
1072	-0.70	-73.0	143	1750	2868	2928	290.3	-30.6	38	1074	0.17	0.00	0.00	0.000	4102	0.101	0.000	50	1750	2898	2868	2928	0	0	0	0	0	0	14.14	14.19	14.18
1390	-0.70	-73.0	49	1750	2868	2928	386.0	-29.8	46	1392	0.17	0.00	0.00	0.000	2054	0.103	0.000	141	1750	2898	2868	2928	0	0	0	0	0	0	14.19	14.20	14.19
1710	-0.70	-73.0	141	1750	2869	2928	481.1	-29.8	54	1712	0.15	0.00	0.00	0.000	4102	0.113	0.000	59	1750	2898	2868	2928	0	0	0	0	0	0	14.24	14.25	14.24
1786	end dive: TARGET_DEPTH_EXCEEDED
state	1786	begin apogee
1795	-0.12	0.0	59	1750	2868	2928	504.7	-29.7	56	1859	0.15	0.00	61.47	1.546	10246	0.113	0.000	141	1750	2598	2642	2554	0	0	0	0	0	0	14.15	13.64	12.76
1860	end apogee: CONTROL_FINISHED_OK
state	1860	begin loiter
2152	-0.12	0.0	141	1750	2642	2557	521.3	4.9	65	2154	0.15	0.00	0.00	0.000	4102	0.109	0.000	61	1750	2599	2642	2557	0	0	0	0	0	0	13.88	13.91	13.90
2470	-0.12	0.0	60	1750	2642	2558	500.5	6.3	73	2472	0.15	0.00	0.00	0.000	2054	0.112	0.000	142	1750	2599	2642	2557	0	0	0	0	0	0	14.03	14.04	14.04
2790	-0.12	0.0	142	1750	2642	2557	483.1	5.2	81	2792	0.15	0.00	0.00	0.000	4102	0.111	0.000	60	1750	2600	2642	2558	0	0	0	0	0	0	14.09	14.12	14.11
3110	-0.12	0.0	60	1750	2642	2557	466.3	5.3	89	3112	0.15	0.00	0.00	0.000	2054	0.112	0.000	142	1750	2600	2642	2558	0	0	0	0	0	0	14.14	14.16	14.15
3430	-0.12	0.0	142	1750	2642	2557	449.9	5.1	97	3432	0.15	0.00	0.00	0.000	4102	0.112	0.000	59	1750	2600	2642	2558	0	0	0	0	0	0	14.18	14.19	14.17
3750	-0.12	0.0	59	1750	2642	2557	435.4	4.3	105	3752	0.15	0.00	0.00	0.000	2054	0.113	0.000	142	1750	2599	2641	2557	0	0	0	0	0	0	14.19	14.21	14.21
4070	-0.12	0.0	142	1750	2642	2557	424.7	2.9	113	4072	0.15	0.00	0.00	0.000	4102	0.114	0.000	59	1750	2599	2642	2557	0	0	0	0	0	0	14.22	14.21	14.21
4392	-0.12	0.0	59	1750	2642	2558	420.1	1.0	121	4393	0.15	0.00	0.00	0.000	2054	0.113	0.000	143	1750	2599	2642	2557	0	0	0	0	0	0	14.22	14.22	14.22
4710	-0.12	0.0	142	1750	2642	2557	419.5	-0.0	129	4712	0.15	0.00	0.00	0.000	4102	0.115	0.000	60	1750	2600	2642	2558	0	0	0	0	0	0	14.23	14.23	14.23
5030	-0.12	0.0	60	1750	2642	2557	420.8	-0.5	137	5032	0.15	0.00	0.00	0.000	2054	0.116	0.000	143	1750	2599	2642	2557	0	0	0	0	0	0	14.24	14.24	14.23
5350	-0.12	0.0	143	1750	2642	2557	422.2	-0.4	145	5352	0.15	0.00	0.00	0.000	4102	0.114	0.000	59	1750	2599	2642	2557	0	0	0	0	0	0	14.26	14.25	14.27
5670	-0.12	0.0	59	1750	2642	2557	422.5	0.1	153	5672	0.15	0.00	0.00	0.000	2054	0.114	0.000	142	1750	2599	2642	2557	0	0	0	0	0	0	14.25	14.25	14.24
5990	-0.12	0.0	142	1750	2642	2557	420.9	0.6	161	5992	0.15	0.00	0.00	0.000	4102	0.113	0.000	59	1750	2599	2642	2557	0	0	0	0	0	0	14.25	14.25	14.26
6310	-0.12	0.0	59	1750	2642	2557	418.4	0.9	169	6312	0.15	0.00	0.00	0.000	2054	0.113	0.000	141	1750	2599	2642	2557	0	0	0	0	0	0	14.26	14.25	14.25
6632	-0.12	0.0	141	1750	2642	2558	414.5	1.3	177	6634	0.15	0.00	0.00	0.000	4102	0.111	0.000	58	1750	2599	2642	2557	0	0	0	0	0	0	14.25	14.25	14.24
6950	-0.12	0.0	58	1750	2642	2557	409.9	1.5	185	6952	0.15	0.00	0.00	0.000	2054	0.114	0.000	141	1750	2599	2642	2557	0	0	0	0	0	0	14.26	14.26	14.26
7270	-0.12	0.0	141	1750	2642	2557	405.5	1.3	193	7272	0.15	0.00	0.00	0.000	4102	0.112	0.000	57	1750	2599	2642	2557	0	0	0	0	0	0	14.26	14.26	14.26
7590	-0.12	0.0	57	1750	2642	2557	402.6	0.8	201	7592	0.15	0.00	0.00	0.000	2054	0.116	0.000	140	1750	2599	2642	2557	0	0	0	0	0	0	14.26	14.25	14.25
7910	-0.12	0.0	140	1750	2642	2557	401.7	0.1	209	7912	0.15	0.00	0.00	0.000	4102	0.112	0.000	57	1750	2599	2642	2557	0	0	0	0	0	0	14.27	14.27	14.26
8230	-0.12	0.0	56	1750	2642	2557	402.7	-0.4	217	8232	0.15	0.00	0.00	0.000	2054	0.116	0.000	139	1750	2599	2642	2557	0	0	0	0	0	0	14.26	14.25	14.25
8550	-0.12	0.0	139	1750	2642	2557	404.6	-0.6	225	8552	0.15	0.00	0.00	0.000	4102	0.113	0.000	55	1750	2600	2642	2558	0	0	0	0	0	0	14.27	14.27	14.26
8872	-0.12	0.0	55	1750	2642	2557	406.6	-0.6	233	8873	0.17	0.00	0.00	0.000	2054	0.105	0.000	146	1750	2599	2642	2557	0	0	0	0	0	0	14.20	14.20	14.20
9190	-0.12	0.0	146	1750	2642	2557	408.4	-0.6	241	9192	0.17	0.00	0.00	0.000	4102	0.102	0.000	53	1750	2599	2642	2557	0	0	0	0	0	0	14.22	14.22	14.22
9510	-0.12	0.0	53	1750	2642	2557	409.8	-0.4	249	9512	0.17	0.00	0.00	0.000	2054	0.106	0.000	143	1750	2599	2642	2557	0	0	0	0	0	0	14.21	14.21	14.21
9830	-0.12	0.0	143	1750	2642	2558	410.0	0.1	257	9832	0.17	0.00	0.00	0.000	4102	0.103	0.000	51	1750	2599	2642	2557	0	0	0	0	0	0	14.23	14.22	14.22
10150	-0.12	0.0	51	1750	2642	2557	408.4	0.6	265	10152	0.17	0.00	0.00	0.000	2054	0.106	0.000	142	1750	2599	2642	2557	0	0	0	0	0	0	14.21	14.21	14.19
10470	-0.12	0.0	142	1750	2642	2557	405.7	0.9	273	10472	0.15	0.00	0.00	0.000	4102	0.111	0.000	60	1750	2600	2642	2558	0	0	0	0	0	0	14.28	14.26	14.26
10790	-0.12	0.0	59	1750	2642	2557	402.7	0.9	281	10792	0.15	0.00	0.00	0.000	2054	0.115	0.000	142	1750	2599	2642	2557	0	0	0	0	0	0	14.26	14.26	14.26
11112	-0.12	0.0	142	1750	2642	2557	400.6	0.6	289	11114	0.15	0.00	0.00	0.000	4102	0.112	0.000	59	1749	2599	2642	2557	0	0	0	0	0	0	14.26	14.28	14.26
11430	-0.13	-1.0	59	1750	2642	2557	399.6	0.3	297	11432	0.15	0.00	0.00	0.000	2086	0.112	0.000	141	1750	2599	2641	2557	0	0	0	0	0	0	14.28	14.27	14.27
11750	-0.13	-1.4	141	1750	2642	2557	399.2	0.1	305	11752	0.15	0.00	0.00	0.000	4134	0.112	0.000	58	1750	2599	2642	2557	0	0	0	0	0	0	14.28	14.26	14.26
12071	-0.13	-1.7	57	1750	2642	2557	398.9	0.1	313	12073	0.15	0.00	0.00	0.000	2086	0.114	0.000	141	1750	2599	2642	2557	0	0	0	0	0	0	14.26	14.26	14.26
12390	-0.13	-1.9	140	1750	2641	2557	398.7	0.1	321	12392	0.15	0.00	0.00	0.000	4134	0.113	0.000	57	1750	2599	2642	2557	0	0	0	0	0	0	14.28	14.27	14.27
12710	-0.13	-1.9	57	1750	2642	2557	398.7	0.0	329	12712	0.15	0.00	0.00	0.000	2086	0.115	0.000	140	1750	2599	2642	2557	0	0	0	0	0	0	14.27	14.26	14.26
13030	-0.13	-1.9	140	1750	2642	2557	398.7	-0.0	337	13032	0.15	0.00	0.00	0.000	4102	0.112	0.000	56	1750	2599	2641	2557	0	0	0	0	0	0	14.28	14.27	14.27
13352	-0.13	-2.4	56	1749	2642	2557	398.4	0.1	345	13354	0.15	0.00	0.00	0.000	2086	0.115	0.000	140	1750	2600	2642	2558	0	0	0	0	0	0	14.26	14.25	14.25
13670	-0.13	-3.5	140	1750	2642	2557	397.7	0.3	353	13672	0.15	0.00	0.00	0.000	4134	0.112	0.000	56	1750	2599	2642	2557	0	0	0	0	0	0	14.28	14.27	14.27
13991	-0.13	-5.2	56	1750	2643	2557	396.4	0.4	361	13993	0.15	0.00	0.00	0.000	2086	0.116	0.000	140	1750	2599	2641	2557	0	0	0	0	0	0	14.26	14.26	14.25
14310	-0.13	-7.0	140	1750	2642	2557	394.9	0.5	369	14312	0.15	0.00	0.00	0.000	4134	0.112	0.000	57	1750	2599	2641	2557	0	0	0	0	0	0	14.27	14.26	14.27
14630	-0.14	-8.7	56	1750	2642	2558	393.5	0.4	377	14632	0.15	0.00	0.00	0.000	2086	0.113	0.000	139	1750	2599	2642	2557	0	0	0	0	0	0	14.27	14.26	14.25
14951	-0.14	-9.5	140	1750	2642	2557	392.5	0.2	385	14953	0.15	0.00	0.00	0.000	4134	0.112	0.000	56	1750	2599	2641	2557	0	0	0	0	0	0	14.28	14.27	14.27
15270	-0.14	-9.5	56	1750	2642	2557	392.7	-0.1	393	15272	0.15	0.00	0.00	0.000	2054	0.113	0.000	139	1750	2599	2642	2557	0	0	0	0	0	0	14.27	14.26	14.25
15592	-0.14	-9.5	139	1750	2642	2557	393.8	-0.4	401	15594	0.15	0.00	0.00	0.000	4102	0.112	0.000	56	1750	2599	2642	2557	0	0	0	0	0	0	14.27	14.26	14.26
15910	-0.14	-9.5	56	1750	2642	2557	395.7	-0.7	409	15912	0.15	0.00	0.00	0.000	2054	0.116	0.000	139	1750	2599	2642	2557	0	0	0	0	0	0	14.27	14.26	14.26
16226	end loiter: LOITER_COMPLETE
state	16227	begin climb
16230	0.70	73.0	139	1750	2642	2557	398.3	0.0	417	16297	0.15	0.00	63.72	1.407	12294	0.112	0.000	57	1750	2301	2405	2198	0	0	0	0	0	0	14.28	13.69	12.86
16592	0.70	73.0	56	1750	2399	2202	323.9	24.2	426	16594	0.15	0.00	0.00	0.000	2054	0.112	0.000	137	1750	2300	2399	2202	0	0	0	0	0	0	13.93	13.96	13.95
16910	0.70	73.0	137	1750	2397	2202	247.0	23.6	434	16912	0.15	0.00	0.00	0.000	4102	0.115	0.000	55	1750	2299	2396	2203	0	0	0	0	0	0	14.04	14.06	14.06
17230	0.70	73.0	55	1750	2396	2202	169.5	24.5	442	17232	0.17	0.00	0.00	0.000	2054	0.103	0.000	146	1750	2298	2395	2202	0	0	0	0	0	0	14.07	14.09	14.08
17551	0.70	73.0	146	1750	2394	2202	89.2	25.5	451	17553	0.17	0.00	0.00	0.000	4102	0.102	0.000	54	1750	2298	2394	2202	0	0	0	0	0	0	14.12	14.12	14.12
17870	0.70	73.0	54	1750	2392	2203	9.9	24.3	467	17872	0.17	0.00	0.00	0.000	2054	0.107	0.000	144	1750	2297	2392	2202	0	0	0	0	0	0	14.14	14.14	14.14
17906	end climb: SURFACE_DEPTH_REACHED
state	17906	begin surface coast
17926	end surface coast: CONTROL_FINISHED_OK
state	17926	begin surface