Glider dive log

SODA Sep18 * SG199 * Dive index * Mission links * Dive 79 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_PING_RANGE 20

MISSION 7 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 79 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7100 R_PORT_OVSHOOT 12 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 9 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 200 ALTIM_FREQUENCY 13

D_TGT 200 SM_CC 525 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 2

D_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2943 INT_PRESSURE_YINT 1.6

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.001 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 70 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 220 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 4 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 7200 STROBE 0 LOITER_W_DBAND 1 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 120 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 300 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.079999998 RAFOS_MMODEM 0 LOITER_N_DIVE 1 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 3 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3900 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2070 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0043925666

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.0006320356

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.5405934e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.1033937e-06

SPEED_FACTOR 1 PITCH_GAIN 27 MAXI_24V 0.60000002 SEABIRD_C_G -9.8267241

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 1 SEABIRD_C_H 1.1324162

MASS 53675 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0020002997

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00022812413

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -160.83926 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 218 PRESSURE_SLOPE 0.00010895507 SC_XMITPROFILE 3.0

HD_A 0.0019 ROLL_MAX 3771 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.016000001 ROLL_DEG 40 COMPASS_USE 4

HD_C 1.2e-06 C_ROLL_DIVE 2750 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043925666

AH0_10V 0 D_TGT 200 PHONE_DEVICE 49 SEABIRD_T_H 0.0006320356

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.5405934e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.1033937e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 525

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 27 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3900 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 20 HD_A 0.0019 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.016000001 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 1.2e-06 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 7100

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -14430

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010895507 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.079999998 PRESSURE_YINT -160.83926 T_DIVE 70

CAPUPLOAD 0 ID 199 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 P_OVSHOOT_WITHG 0 T_LOITER 7200

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 220

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2070 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2750 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 60

C_VBD 2943 LOITER_D_BOTTOM 300 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 120 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 1 ROLL_AD_RATE 200 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 1 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 53675 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3771 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 218 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 79 MINV_10V 11 R_PORT_OVSHOOT 12 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 9 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 7 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 4

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 0 SEABIRD_C_G -9.8267241 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1324162 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0020002997

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00022812413

Pre-dive calculations and measurements:

GPS1 091018,045703,7412.4028,-14630.7842,26,0.8,26,22.4,0.5,359.4,9,8.3 SPEED_LIMITS 0.165,0.207

_CALLS 2 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7415.000,-14625.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.69 MHEAD_RNG_PITCHd_Wd 23.1,5581,-16.5,-9.524,-24.67,2361

_SM_ANGLEo -66.3 D_GRID 200

GPS2 091018,050704,7412.4302,-14630.7969,6,0.8,9,22.4,0.0,0.0,10,8.4

Post-dive calculations and measurements:

FINISH -0.0,1.020664 _24V_AH 13.05,40.573

SM_CCo 11605,165.93,0.220,0,0,803,525.19 _10V_AH 13.21,0.000

SM_GC 0.64,7.72,0.38,165.93,0.099,0.217,0.220,197,2761,803,-5.80,-0.08,525.19,0,0,0,0,0,0,14.01,13.93,13.86 FG_AHR_24Vo 0.000

RAFOS_CLK 68 FG_AHR_10Vo 0.000

RAFOS_FIX 7412.708496,-14630.930664,091018,080833,0,1,0.04 MEM 334452

IRIDIUM_FIX 7410.54,-14636.09,091018,023345 DATA_FILE_SIZE 43280,1318

TT8_MAMPS 0.079394,0.60669 CAP_FILE_SIZE 134780,0

HUMID 45.94 CFSIZE 2097872896,2076278784

INTERNAL_PRESSURE 9.46163 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 12.20 SOUNDSPEED 1442.1

XPDR_PINGS 0 CURRENT 0.108,348.49,1

ALTIM_TOP_PING 19.6,20.5 GPS 091018,082503,7413.386,-14630.887,27,0.8,28,22.4,0.0,0.0,11,7.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 475 120.62 nil 0 0 0.00

Roll_motor 45 217 130.35 nil 0 0 0.00

VBD_pump_during_apogee 451 1744 10274.11 nil 0 0 0.00

VBD_pump_during_surface 165 219 475.41 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 4421 35 2036.89

Iridium_during_xfer 364 178 848.21 nil 0 0 0.00

Transponder_ping 0 420 1.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 21 5.38

TT8 0 0 0.00

LPSleep 8496 2 259.28

TT8_Active 729 11 110.48

TT8_Sampling 2873 30 1146.53

TT8_CF8 285 36 136.47

TT8_Kalman 0 0 0.00

Analog_circuits 2061 9 258.68

GPS_charging 0 0 0.00

Compass 1876 7 185.68

RAFOS 2217 33 966.46

Transponder 2 30 1.01

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

10 -0.76 -146.0 193 2749 780 807 0.0 0.0 0 103 0.00 0.00 -91.18 0.002 16386 0.000 0.000 192 2748 2200 2228 2172 0 0 0 0 0 0 14.31 28.83 14.33

106 -0.76 -146.0 193 2748 2229 2175 4.5 -7.7 9 152 9.02 2.80 -31.55 0.004 18948 0.476 0.171 1817 1327 3542 3591 3493 0 0 0 0 0 0 13.90 13.26 14.17

378 -0.76 -146.0 1817 1328 3591 3497 78.2 -19.3 62 384 0.00 2.85 0.00 0.000 1030 0.000 0.177 1808 2759 3543 3590 3496 0 0 0 0 0 0 14.28 14.14 14.30

563 -0.76 -146.0 1808 2759 3592 3496 111.4 -16.9 81 569 0.00 2.72 0.00 0.000 516 0.000 0.148 1808 1325 3543 3591 3496 0 0 0 0 0 0 14.45 14.19 14.47

779 -0.76 -146.0 1808 1325 3592 3495 145.2 -14.7 124 785 0.00 2.83 0.00 0.000 1030 0.000 0.178 1798 2753 3543 3591 3496 0 0 0 0 0 0 14.38 14.23 14.40

964 -0.76 -146.0 1798 2753 3592 3496 173.3 -14.8 143 965 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2753 3543 3591 3496 0 0 0 0 0 0 14.54 14.57 14.56

1144 -0.76 -146.0 1797 2752 3592 3496 199.6 -14.7 161 1150 0.00 2.05 0.00 0.000 260 0.000 0.212 1790 3777 3543 3590 3496 0 0 0 0 0 0 14.57 14.25 14.59

1152 end dive: TARGET_DEPTH_EXCEEDED

state 1152 begin apogee

1160 -0.19 0.0 1791 2599 3592 3497 201.1 -14.1 163 1279 0.82 0.00 116.45 1.699 10246 0.291 0.000 1998 2598 2942 3030 2855 0 0 0 0 0 0 14.23 13.72 13.05

1280 end apogee: CONTROL_FINISHED_OK

state 1280 begin loiter

1455 -0.17 11.0 1998 2600 3027 2841 213.6 -2.8 193 1467 0.00 0.00 9.52 1.471 8230 0.000 0.000 1998 2599 2895 2989 2801 0 0 0 0 0 0 14.26 14.02 13.32

1646 -0.16 20.5 1999 2600 2988 2797 218.4 -2.4 212 1657 0.00 0.00 8.95 1.480 8230 0.000 0.000 1998 2599 2855 2946 2765 0 0 0 0 0 0 14.37 14.12 13.40

1836 -0.16 28.1 1998 2598 2946 2761 222.2 -1.9 231 1846 0.00 0.00 7.65 1.454 8230 0.000 0.000 1998 2598 2824 2911 2737 0 0 0 0 0 0 14.43 14.19 13.46

2026 -0.15 34.3 1998 2598 2912 2734 225.4 -1.6 250 2036 0.00 0.00 6.28 1.397 8230 0.000 0.000 1998 2598 2800 2887 2713 0 0 0 0 0 0 14.48 14.10 13.50

2215 -0.15 34.3 1998 2598 2888 2711 227.0 -0.5 269 2216 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2799 2887 2711 0 0 0 0 0 0 14.52 14.54 14.54

2396 -0.15 34.3 1998 2599 2888 2710 227.2 -0.1 287 2396 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2798 2887 2710 0 0 0 0 0 0 14.58 14.60 14.60

2575 -0.15 34.3 1998 2600 2887 2710 227.7 -0.5 305 2576 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2798 2886 2710 0 0 0 0 0 0 14.64 14.65 14.65

2756 -0.13 34.3 1998 2600 2888 2709 228.8 -0.6 323 2756 0.00 0.00 0.00 0.000 70 0.000 0.000 1998 2598 2797 2886 2709 0 0 0 0 0 0 14.67 14.69 14.69

2935 -0.13 34.3 1999 2598 2888 2708 229.5 -0.2 341 2936 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2797 2887 2708 0 0 0 0 0 0 14.70 14.72 14.72

3115 -0.13 34.3 1998 2600 2888 2709 229.7 -0.1 359 3116 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2797 2887 2708 0 0 0 0 0 0 14.73 14.74 14.74

3295 -0.13 34.3 1998 2600 2888 2708 229.9 -0.0 377 3296 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2797 2887 2707 0 0 0 0 0 0 14.75 14.77 14.76

3475 -0.13 34.3 1998 2598 2888 2707 229.6 0.2 395 3476 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2797 2887 2707 0 0 0 0 0 0 14.76 14.78 14.78

3656 -0.13 34.3 1998 2599 2888 2708 229.4 -0.0 413 3656 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2797 2887 2707 0 0 0 0 0 0 14.78 14.81 14.80

3835 -0.13 34.3 1998 2600 2888 2708 229.8 -0.3 431 3836 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2797 2887 2707 0 0 0 0 0 0 14.80 14.81 14.81

4015 -0.13 34.3 1998 2598 2888 2706 230.5 -0.4 449 4016 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2796 2887 2706 0 0 0 0 0 0 14.81 14.83 14.83

4195 -0.13 34.3 1998 2598 2887 2706 231.4 -0.4 467 4196 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2796 2886 2706 0 0 0 0 0 0 14.81 14.84 14.84

4375 -0.13 34.3 1998 2598 2889 2706 231.8 -0.1 485 4376 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2796 2887 2706 0 0 0 0 0 0 14.83 14.85 14.85

4555 -0.13 34.3 1998 2599 2888 2706 231.7 -0.0 503 4556 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2796 2887 2706 0 0 0 0 0 0 14.83 14.85 14.85

4735 -0.13 34.3 1998 2599 2888 2706 232.0 -0.1 521 4736 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2796 2887 2706 0 0 0 0 0 0 14.84 14.86 14.86

4916 -0.13 34.3 1998 2599 2888 2705 232.0 0.0 539 4916 0.00 0.00 0.00 0.000 6 0.000 0.000 1997 2599 2796 2887 2705 0 0 0 0 0 0 14.85 14.87 14.87

5095 -0.13 34.3 1998 2600 2888 2706 232.2 -0.3 557 5096 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2796 2888 2705 0 0 0 0 0 0 14.85 14.88 14.88

5275 -0.13 34.3 1998 2600 2888 2706 233.0 -0.4 575 5276 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2796 2887 2705 0 0 0 0 0 0 14.86 14.88 14.88

5455 -0.13 34.3 1998 2600 2888 2706 233.3 -0.0 593 5456 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2796 2887 2705 0 0 0 0 0 0 14.86 14.89 14.88

5635 -0.13 34.3 1998 2600 2887 2706 233.4 -0.1 611 5636 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2796 2887 2705 0 0 0 0 0 0 14.88 14.89 14.89

5815 -0.13 34.3 1997 2600 2888 2705 233.9 -0.3 629 5816 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2795 2887 2704 0 0 0 0 0 0 14.88 14.90 14.89

5995 -0.13 34.3 1998 2600 2887 2705 234.3 -0.1 647 5996 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2795 2887 2704 0 0 0 0 0 0 14.88 14.90 14.90

6176 -0.13 34.3 1998 2598 2888 2704 234.0 0.3 665 6176 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2795 2887 2704 0 0 0 0 0 0 14.88 14.90 14.90

6355 -0.13 34.3 1999 2599 2888 2704 233.8 -0.1 683 6356 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2795 2887 2704 0 0 0 0 0 0 14.89 14.90 14.90

6535 -0.13 34.3 1998 2598 2888 2703 234.5 -0.3 701 6536 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2794 2886 2703 0 0 0 0 0 0 14.89 14.91 14.90

6715 -0.13 34.3 1998 2599 2888 2702 234.4 0.3 719 6716 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2795 2887 2703 0 0 0 0 0 0 14.89 14.91 14.91

6895 -0.13 34.3 1998 2599 2888 2704 233.8 0.1 737 6896 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2795 2887 2703 0 0 0 0 0 0 14.90 14.91 14.91

7075 -0.13 34.3 1998 2599 2888 2703 234.0 -0.2 755 7076 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2795 2887 2703 0 0 0 0 0 0 14.90 14.92 14.91

7255 -0.13 34.3 1998 2599 2887 2704 234.2 -0.1 773 7256 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2795 2887 2703 0 0 0 0 0 0 14.90 14.92 14.92

7436 -0.13 34.3 1998 2600 2888 2704 234.4 -0.1 791 7436 0.00 0.00 0.00 0.000 6 0.000 0.000 1997 2599 2794 2887 2702 0 0 0 0 0 0 14.90 14.92 14.92

7615 -0.13 34.3 1998 2600 2888 2703 234.3 0.1 809 7616 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2794 2887 2702 0 0 0 0 0 0 14.90 14.92 14.92

7795 -0.13 34.3 1998 2599 2888 2702 234.3 -0.1 827 7796 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2794 2887 2702 0 0 0 0 0 0 14.90 14.92 14.92

7975 -0.13 34.3 1998 2600 2887 2703 234.4 -0.0 845 7976 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2794 2887 2702 0 0 0 0 0 0 14.90 14.92 14.92

8155 -0.13 34.3 1998 2598 2888 2701 234.1 0.2 863 8156 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2599 2794 2887 2702 0 0 0 0 0 0 14.90 14.92 14.92

8335 -0.13 34.3 1998 2599 2888 2701 233.8 0.1 881 8336 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2598 2794 2887 2702 0 0 0 0 0 0 14.90 14.92 14.93

8473 end loiter: LOITER_COMPLETE

state 8473 begin climb

8475 0.76 146.0 1998 2600 2887 2702 233.9 0.0 895 8573 1.02 2.47 89.78 1.744 10500 0.200 0.206 2304 3776 2341 2441 2241 0 0 0 0 0 0 14.62 13.85 13.30

8800 0.84 146.0 2304 3777 2441 2229 215.3 6.7 956 8807 0.00 2.30 0.00 0.000 1094 0.000 0.162 2310 2591 2334 2441 2227 0 0 0 0 0 0 14.26 14.14 14.28

8985 0.95 146.0 2311 2592 2437 2226 204.2 6.1 975 8990 0.17 2.42 0.00 0.000 2372 0.124 0.210 2380 3775 2333 2441 2225 0 0 0 0 0 0 14.28 14.19 14.33

9103 0.95 146.0 2381 3775 2449 2226 193.2 9.6 998 9109 0.00 2.28 0.00 0.000 1030 0.000 0.163 2390 2591 2333 2441 2225 0 0 0 0 0 0 14.38 14.26 14.40

9286 1.00 146.0 2391 2590 2442 2223 177.9 7.8 1017 9287 0.00 0.00 0.00 0.000 70 0.000 0.000 2390 2590 2331 2440 2223 0 0 0 0 0 0 14.54 14.55 14.55

9466 1.07 146.0 2391 2592 2442 2223 164.6 7.3 1035 9467 0.00 0.00 0.00 0.000 70 0.000 0.000 2390 2591 2331 2441 2222 0 0 0 0 0 0 14.56 14.58 14.57

9646 1.14 146.0 2391 2591 2442 2221 151.6 7.1 1053 9651 0.12 2.65 0.00 0.000 2628 0.140 0.153 2453 1186 2331 2441 2221 0 0 0 0 0 0 14.40 14.33 14.42

9707 1.18 146.0 2454 1185 2442 2221 146.6 8.1 1065 9712 0.00 2.78 0.00 0.000 1094 0.000 0.172 2453 2607 2330 2440 2221 0 0 0 0 0 0 14.46 14.31 14.49

9897 1.20 146.0 2454 2607 2442 2220 130.7 8.7 1085 9898 0.00 0.00 0.00 0.000 70 0.000 0.000 2453 2607 2330 2441 2220 0 0 0 0 0 0 14.60 14.62 14.62

10077 1.28 146.0 2453 2608 2442 2221 117.3 7.0 1103 10082 0.00 2.33 0.00 0.000 324 0.000 0.210 2453 3770 2330 2441 2220 0 0 0 0 0 0 14.60 14.33 14.62

10194 1.35 146.0 2454 3770 2442 2219 108.5 7.2 1126 10201 0.12 2.25 0.00 0.000 3142 0.140 0.163 2509 2589 2330 2441 2220 0 0 0 0 0 0 14.40 14.34 14.47

10379 1.44 146.0 2509 2589 2442 2219 95.9 6.5 1145 10380 0.00 0.00 0.00 0.000 70 0.000 0.000 2508 2589 2329 2440 2219 0 0 0 0 0 0 14.54 14.56 14.56

10559 1.58 281.0 2509 2590 2447 2220 88.2 3.6 1163 10670 0.20 2.88 104.62 1.519 10788 0.129 0.151 2593 1181 1793 1893 1694 0 0 0 0 0 0 14.34 13.69 13.16

10818 1.60 281.0 2593 1182 1888 1686 61.2 8.9 1212 10825 0.00 2.88 0.00 0.000 1094 0.000 0.170 2593 2604 1785 1885 1685 0 0 0 0 0 0 14.06 13.92 14.09

11002 1.70 281.0 2593 2608 1885 1680 48.1 6.1 1231 11003 0.00 0.00 0.00 0.000 70 0.000 0.000 2593 2607 1782 1885 1679 0 0 0 0 0 0 14.27 14.28 14.28

11183 1.83 417.5 2593 2607 1886 1676 40.6 3.6 1249 11299 0.20 2.50 108.12 1.419 10532 0.132 0.203 2660 3777 1234 1267 1201 0 0 0 0 0 0 14.13 13.56 13.07

11524 1.83 417.5 2661 3778 1260 1198 6.1 9.9 1311 11530 0.00 2.33 0.00 0.000 1030 0.000 0.160 2669 2600 1228 1259 1198 0 0 0 0 0 0 14.00 13.89 14.02

11567 end climb: SURFACE_DEPTH_REACHED

state 11567 begin surface coast

11587 end surface coast: CONTROL_FINISHED_OK

state 11587 begin surface

ID	199	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_PING_RANGE	20
MISSION	7	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	79	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7100	R_PORT_OVSHOOT	12	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	9	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	200	ALTIM_FREQUENCY	13
D_TGT	200	SM_CC	525	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	2
D_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2943	INT_PRESSURE_YINT	1.6
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.001	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	70	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	220	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	4	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	7200	STROBE	0	LOITER_W_DBAND	1	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	120	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	300	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.079999998	RAFOS_MMODEM	0	LOITER_N_DIVE	1	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	3	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3900	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2070	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0043925666
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.0006320356
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.5405934e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.1033937e-06
SPEED_FACTOR	1	PITCH_GAIN	27	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8267241
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	1	SEABIRD_C_H	1.1324162
MASS	53675	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0020002997
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00022812413
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-160.83926	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	218	PRESSURE_SLOPE	0.00010895507	SC_XMITPROFILE	3.0
HD_A	0.0019	ROLL_MAX	3771	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.016000001	ROLL_DEG	40	COMPASS_USE	4
HD_C	1.2e-06	C_ROLL_DIVE	2750	ALTIM_PING_FIT	0

GPS1	091018,045703,7412.4028,-14630.7842,26,0.8,26,22.4,0.5,359.4,9,8.3	SPEED_LIMITS	0.165,0.207
_CALLS	2	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7415.000,-14625.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.69	MHEAD_RNG_PITCHd_Wd	23.1,5581,-16.5,-9.524,-24.67,2361
_SM_ANGLEo	-66.3	D_GRID	200
GPS2	091018,050704,7412.4302,-14630.7969,6,0.8,9,22.4,0.0,0.0,10,8.4

FINISH	-0.0,1.020664	_24V_AH	13.05,40.573
SM_CCo	11605,165.93,0.220,0,0,803,525.19	_10V_AH	13.21,0.000
SM_GC	0.64,7.72,0.38,165.93,0.099,0.217,0.220,197,2761,803,-5.80,-0.08,525.19,0,0,0,0,0,0,14.01,13.93,13.86	FG_AHR_24Vo	0.000
RAFOS_CLK	68	FG_AHR_10Vo	0.000
RAFOS_FIX	7412.708496,-14630.930664,091018,080833,0,1,0.04	MEM	334452
IRIDIUM_FIX	7410.54,-14636.09,091018,023345	DATA_FILE_SIZE	43280,1318
TT8_MAMPS	0.079394,0.60669	CAP_FILE_SIZE	134780,0
HUMID	45.94	CFSIZE	2097872896,2076278784
INTERNAL_PRESSURE	9.46163	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	12.20	SOUNDSPEED	1442.1
XPDR_PINGS	0	CURRENT	0.108,348.49,1
ALTIM_TOP_PING	19.6,20.5	GPS	091018,082503,7413.386,-14630.887,27,0.8,28,22.4,0.0,0.0,11,7.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	475	120.62	nil	0	0	0.00
Roll_motor	45	217	130.35	nil	0	0	0.00
VBD_pump_during_apogee	451	1744	10274.11	nil	0	0	0.00
VBD_pump_during_surface	165	219	475.41	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	4421	35	2036.89
Iridium_during_xfer	364	178	848.21	nil	0	0	0.00
Transponder_ping	0	420	1.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	21	5.38
TT8	0	0	0.00
LPSleep	8496	2	259.28
TT8_Active	729	11	110.48
TT8_Sampling	2873	30	1146.53
TT8_CF8	285	36	136.47
TT8_Kalman	0	0	0.00
Analog_circuits	2061	9	258.68
GPS_charging	0	0	0.00
Compass	1876	7	185.68
RAFOS	2217	33	966.46
Transponder	2	30	1.01

		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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
10	-0.76	-146.0	193	2749	780	807	0.0	0.0	0	103	0.00	0.00	-91.18	0.002	16386	0.000	0.000	192	2748	2200	2228	2172	0	0	0	0	0	0	14.31	28.83	14.33
106	-0.76	-146.0	193	2748	2229	2175	4.5	-7.7	9	152	9.02	2.80	-31.55	0.004	18948	0.476	0.171	1817	1327	3542	3591	3493	0	0	0	0	0	0	13.90	13.26	14.17
378	-0.76	-146.0	1817	1328	3591	3497	78.2	-19.3	62	384	0.00	2.85	0.00	0.000	1030	0.000	0.177	1808	2759	3543	3590	3496	0	0	0	0	0	0	14.28	14.14	14.30
563	-0.76	-146.0	1808	2759	3592	3496	111.4	-16.9	81	569	0.00	2.72	0.00	0.000	516	0.000	0.148	1808	1325	3543	3591	3496	0	0	0	0	0	0	14.45	14.19	14.47
779	-0.76	-146.0	1808	1325	3592	3495	145.2	-14.7	124	785	0.00	2.83	0.00	0.000	1030	0.000	0.178	1798	2753	3543	3591	3496	0	0	0	0	0	0	14.38	14.23	14.40
964	-0.76	-146.0	1798	2753	3592	3496	173.3	-14.8	143	965	0.00	0.00	0.00	0.000	6	0.000	0.000	1798	2753	3543	3591	3496	0	0	0	0	0	0	14.54	14.57	14.56
1144	-0.76	-146.0	1797	2752	3592	3496	199.6	-14.7	161	1150	0.00	2.05	0.00	0.000	260	0.000	0.212	1790	3777	3543	3590	3496	0	0	0	0	0	0	14.57	14.25	14.59
1152	end dive: TARGET_DEPTH_EXCEEDED
state	1152	begin apogee
1160	-0.19	0.0	1791	2599	3592	3497	201.1	-14.1	163	1279	0.82	0.00	116.45	1.699	10246	0.291	0.000	1998	2598	2942	3030	2855	0	0	0	0	0	0	14.23	13.72	13.05
1280	end apogee: CONTROL_FINISHED_OK
state	1280	begin loiter
1455	-0.17	11.0	1998	2600	3027	2841	213.6	-2.8	193	1467	0.00	0.00	9.52	1.471	8230	0.000	0.000	1998	2599	2895	2989	2801	0	0	0	0	0	0	14.26	14.02	13.32
1646	-0.16	20.5	1999	2600	2988	2797	218.4	-2.4	212	1657	0.00	0.00	8.95	1.480	8230	0.000	0.000	1998	2599	2855	2946	2765	0	0	0	0	0	0	14.37	14.12	13.40
1836	-0.16	28.1	1998	2598	2946	2761	222.2	-1.9	231	1846	0.00	0.00	7.65	1.454	8230	0.000	0.000	1998	2598	2824	2911	2737	0	0	0	0	0	0	14.43	14.19	13.46
2026	-0.15	34.3	1998	2598	2912	2734	225.4	-1.6	250	2036	0.00	0.00	6.28	1.397	8230	0.000	0.000	1998	2598	2800	2887	2713	0	0	0	0	0	0	14.48	14.10	13.50
2215	-0.15	34.3	1998	2598	2888	2711	227.0	-0.5	269	2216	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2799	2887	2711	0	0	0	0	0	0	14.52	14.54	14.54
2396	-0.15	34.3	1998	2599	2888	2710	227.2	-0.1	287	2396	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2798	2887	2710	0	0	0	0	0	0	14.58	14.60	14.60
2575	-0.15	34.3	1998	2600	2887	2710	227.7	-0.5	305	2576	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2798	2886	2710	0	0	0	0	0	0	14.64	14.65	14.65
2756	-0.13	34.3	1998	2600	2888	2709	228.8	-0.6	323	2756	0.00	0.00	0.00	0.000	70	0.000	0.000	1998	2598	2797	2886	2709	0	0	0	0	0	0	14.67	14.69	14.69
2935	-0.13	34.3	1999	2598	2888	2708	229.5	-0.2	341	2936	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2797	2887	2708	0	0	0	0	0	0	14.70	14.72	14.72
3115	-0.13	34.3	1998	2600	2888	2709	229.7	-0.1	359	3116	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2797	2887	2708	0	0	0	0	0	0	14.73	14.74	14.74
3295	-0.13	34.3	1998	2600	2888	2708	229.9	-0.0	377	3296	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2797	2887	2707	0	0	0	0	0	0	14.75	14.77	14.76
3475	-0.13	34.3	1998	2598	2888	2707	229.6	0.2	395	3476	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2797	2887	2707	0	0	0	0	0	0	14.76	14.78	14.78
3656	-0.13	34.3	1998	2599	2888	2708	229.4	-0.0	413	3656	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2797	2887	2707	0	0	0	0	0	0	14.78	14.81	14.80
3835	-0.13	34.3	1998	2600	2888	2708	229.8	-0.3	431	3836	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2797	2887	2707	0	0	0	0	0	0	14.80	14.81	14.81
4015	-0.13	34.3	1998	2598	2888	2706	230.5	-0.4	449	4016	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2796	2887	2706	0	0	0	0	0	0	14.81	14.83	14.83
4195	-0.13	34.3	1998	2598	2887	2706	231.4	-0.4	467	4196	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2796	2886	2706	0	0	0	0	0	0	14.81	14.84	14.84
4375	-0.13	34.3	1998	2598	2889	2706	231.8	-0.1	485	4376	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2796	2887	2706	0	0	0	0	0	0	14.83	14.85	14.85
4555	-0.13	34.3	1998	2599	2888	2706	231.7	-0.0	503	4556	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2796	2887	2706	0	0	0	0	0	0	14.83	14.85	14.85
4735	-0.13	34.3	1998	2599	2888	2706	232.0	-0.1	521	4736	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2796	2887	2706	0	0	0	0	0	0	14.84	14.86	14.86
4916	-0.13	34.3	1998	2599	2888	2705	232.0	0.0	539	4916	0.00	0.00	0.00	0.000	6	0.000	0.000	1997	2599	2796	2887	2705	0	0	0	0	0	0	14.85	14.87	14.87
5095	-0.13	34.3	1998	2600	2888	2706	232.2	-0.3	557	5096	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2796	2888	2705	0	0	0	0	0	0	14.85	14.88	14.88
5275	-0.13	34.3	1998	2600	2888	2706	233.0	-0.4	575	5276	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2796	2887	2705	0	0	0	0	0	0	14.86	14.88	14.88
5455	-0.13	34.3	1998	2600	2888	2706	233.3	-0.0	593	5456	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2796	2887	2705	0	0	0	0	0	0	14.86	14.89	14.88
5635	-0.13	34.3	1998	2600	2887	2706	233.4	-0.1	611	5636	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2796	2887	2705	0	0	0	0	0	0	14.88	14.89	14.89
5815	-0.13	34.3	1997	2600	2888	2705	233.9	-0.3	629	5816	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2795	2887	2704	0	0	0	0	0	0	14.88	14.90	14.89
5995	-0.13	34.3	1998	2600	2887	2705	234.3	-0.1	647	5996	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2795	2887	2704	0	0	0	0	0	0	14.88	14.90	14.90
6176	-0.13	34.3	1998	2598	2888	2704	234.0	0.3	665	6176	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2795	2887	2704	0	0	0	0	0	0	14.88	14.90	14.90
6355	-0.13	34.3	1999	2599	2888	2704	233.8	-0.1	683	6356	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2795	2887	2704	0	0	0	0	0	0	14.89	14.90	14.90
6535	-0.13	34.3	1998	2598	2888	2703	234.5	-0.3	701	6536	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2794	2886	2703	0	0	0	0	0	0	14.89	14.91	14.90
6715	-0.13	34.3	1998	2599	2888	2702	234.4	0.3	719	6716	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2795	2887	2703	0	0	0	0	0	0	14.89	14.91	14.91
6895	-0.13	34.3	1998	2599	2888	2704	233.8	0.1	737	6896	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2795	2887	2703	0	0	0	0	0	0	14.90	14.91	14.91
7075	-0.13	34.3	1998	2599	2888	2703	234.0	-0.2	755	7076	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2795	2887	2703	0	0	0	0	0	0	14.90	14.92	14.91
7255	-0.13	34.3	1998	2599	2887	2704	234.2	-0.1	773	7256	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2795	2887	2703	0	0	0	0	0	0	14.90	14.92	14.92
7436	-0.13	34.3	1998	2600	2888	2704	234.4	-0.1	791	7436	0.00	0.00	0.00	0.000	6	0.000	0.000	1997	2599	2794	2887	2702	0	0	0	0	0	0	14.90	14.92	14.92
7615	-0.13	34.3	1998	2600	2888	2703	234.3	0.1	809	7616	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2794	2887	2702	0	0	0	0	0	0	14.90	14.92	14.92
7795	-0.13	34.3	1998	2599	2888	2702	234.3	-0.1	827	7796	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2794	2887	2702	0	0	0	0	0	0	14.90	14.92	14.92
7975	-0.13	34.3	1998	2600	2887	2703	234.4	-0.0	845	7976	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2794	2887	2702	0	0	0	0	0	0	14.90	14.92	14.92
8155	-0.13	34.3	1998	2598	2888	2701	234.1	0.2	863	8156	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2599	2794	2887	2702	0	0	0	0	0	0	14.90	14.92	14.92
8335	-0.13	34.3	1998	2599	2888	2701	233.8	0.1	881	8336	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	2598	2794	2887	2702	0	0	0	0	0	0	14.90	14.92	14.93
8473	end loiter: LOITER_COMPLETE
state	8473	begin climb
8475	0.76	146.0	1998	2600	2887	2702	233.9	0.0	895	8573	1.02	2.47	89.78	1.744	10500	0.200	0.206	2304	3776	2341	2441	2241	0	0	0	0	0	0	14.62	13.85	13.30
8800	0.84	146.0	2304	3777	2441	2229	215.3	6.7	956	8807	0.00	2.30	0.00	0.000	1094	0.000	0.162	2310	2591	2334	2441	2227	0	0	0	0	0	0	14.26	14.14	14.28
8985	0.95	146.0	2311	2592	2437	2226	204.2	6.1	975	8990	0.17	2.42	0.00	0.000	2372	0.124	0.210	2380	3775	2333	2441	2225	0	0	0	0	0	0	14.28	14.19	14.33
9103	0.95	146.0	2381	3775	2449	2226	193.2	9.6	998	9109	0.00	2.28	0.00	0.000	1030	0.000	0.163	2390	2591	2333	2441	2225	0	0	0	0	0	0	14.38	14.26	14.40
9286	1.00	146.0	2391	2590	2442	2223	177.9	7.8	1017	9287	0.00	0.00	0.00	0.000	70	0.000	0.000	2390	2590	2331	2440	2223	0	0	0	0	0	0	14.54	14.55	14.55
9466	1.07	146.0	2391	2592	2442	2223	164.6	7.3	1035	9467	0.00	0.00	0.00	0.000	70	0.000	0.000	2390	2591	2331	2441	2222	0	0	0	0	0	0	14.56	14.58	14.57
9646	1.14	146.0	2391	2591	2442	2221	151.6	7.1	1053	9651	0.12	2.65	0.00	0.000	2628	0.140	0.153	2453	1186	2331	2441	2221	0	0	0	0	0	0	14.40	14.33	14.42
9707	1.18	146.0	2454	1185	2442	2221	146.6	8.1	1065	9712	0.00	2.78	0.00	0.000	1094	0.000	0.172	2453	2607	2330	2440	2221	0	0	0	0	0	0	14.46	14.31	14.49
9897	1.20	146.0	2454	2607	2442	2220	130.7	8.7	1085	9898	0.00	0.00	0.00	0.000	70	0.000	0.000	2453	2607	2330	2441	2220	0	0	0	0	0	0	14.60	14.62	14.62
10077	1.28	146.0	2453	2608	2442	2221	117.3	7.0	1103	10082	0.00	2.33	0.00	0.000	324	0.000	0.210	2453	3770	2330	2441	2220	0	0	0	0	0	0	14.60	14.33	14.62
10194	1.35	146.0	2454	3770	2442	2219	108.5	7.2	1126	10201	0.12	2.25	0.00	0.000	3142	0.140	0.163	2509	2589	2330	2441	2220	0	0	0	0	0	0	14.40	14.34	14.47
10379	1.44	146.0	2509	2589	2442	2219	95.9	6.5	1145	10380	0.00	0.00	0.00	0.000	70	0.000	0.000	2508	2589	2329	2440	2219	0	0	0	0	0	0	14.54	14.56	14.56
10559	1.58	281.0	2509	2590	2447	2220	88.2	3.6	1163	10670	0.20	2.88	104.62	1.519	10788	0.129	0.151	2593	1181	1793	1893	1694	0	0	0	0	0	0	14.34	13.69	13.16
10818	1.60	281.0	2593	1182	1888	1686	61.2	8.9	1212	10825	0.00	2.88	0.00	0.000	1094	0.000	0.170	2593	2604	1785	1885	1685	0	0	0	0	0	0	14.06	13.92	14.09
11002	1.70	281.0	2593	2608	1885	1680	48.1	6.1	1231	11003	0.00	0.00	0.00	0.000	70	0.000	0.000	2593	2607	1782	1885	1679	0	0	0	0	0	0	14.27	14.28	14.28
11183	1.83	417.5	2593	2607	1886	1676	40.6	3.6	1249	11299	0.20	2.50	108.12	1.419	10532	0.132	0.203	2660	3777	1234	1267	1201	0	0	0	0	0	0	14.13	13.56	13.07
11524	1.83	417.5	2661	3778	1260	1198	6.1	9.9	1311	11530	0.00	2.33	0.00	0.000	1030	0.000	0.160	2669	2600	1228	1259	1198	0	0	0	0	0	0	14.00	13.89	14.02
11567	end climb: SURFACE_DEPTH_REACHED
state	11567	begin surface coast
11587	end surface coast: CONTROL_FINISHED_OK
state	11587	begin surface