Glider dive log

SODA Sep18 * SG199 * Dive index * Mission links * Dive 80 * 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 80 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 10 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 80 MINV_10V 11 R_PORT_OVSHOOT 12 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 10 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 091018,082503,7413.3862,-14630.8867,27,0.8,28,22.4,0.0,0.0,11,7.9 SPEED_LIMITS 0.165,0.207

_CALLS 1 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7415.000,-14625.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.67 MHEAD_RNG_PITCHd_Wd 49.6,4180,-16.5,-9.524,-24.67,2361

_SM_ANGLEo -65.6 D_GRID 200

GPS2 091018,083331,7413.4307,-14630.9756,7,0.8,9,22.4,0.0,261.4,11,9.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181009082037.351633,18,411,26,0040,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3C ALTIM_TOP_PING 19.5,20.7

FINISH -0.0,1.020669 _24V_AH 13.03,40.888

SM_CCo 11485,173.82,0.219,0,0,799,525.19 _10V_AH 13.23,0.000

SM_GC 0.69,7.65,0.32,173.82,0.101,0.229,0.219,194,2753,799,-5.80,-0.28,525.19,0,0,0,0,0,0,14.14,14.06,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 519 FG_AHR_10Vo 0.000

MODEM 1,1539072335,74.43333,-147.95000,35.004,50478.5 MEM 334556

RAFOS_FIX 7420.288086,-14616.908203,091018,080838,3,255,0.00 DATA_FILE_SIZE 43278,1317

IRIDIUM_FIX 7412.27,-14631.74,091018,050149 CAP_FILE_SIZE 136126,0

TT8_MAMPS 0.039697,0.874832 CFSIZE 2097872896,2076082176

HUMID 49.01 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.45186 SOUNDSPEED 1442.2

TCM_TEMP 12.40 CURRENT 0.136,342.89,1

XPDR_PINGS 0 GPS 091018,114939,7414.459,-14631.549,17,0.7,23,22.4,0.3,308.2,12,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 476 120.79 nil 0 0 0.00

Roll_motor 50 228 150.66 nil 0 0 0.00

VBD_pump_during_apogee 448 1741 10165.50 nil 0 0 0.00

VBD_pump_during_surface 173 218 495.55 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 4301 35 1981.59

Iridium_during_xfer 330 181 781.48 nil 0 0 0.00

Transponder_ping 0 420 1.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 21 4.95

TT8 0 0 0.00

LPSleep 8330 2 254.60

TT8_Active 726 11 110.30

TT8_Sampling 2839 30 1134.47

TT8_CF8 288 36 138.24

TT8_Kalman 0 0 0.00

Analog_circuits 2035 9 255.85

GPS_charging 0 0 0.00

Compass 1875 7 185.85

RAFOS 0 0 0.00

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 -146.0 196 2765 780 806 0.0 0.0 0 103 0.00 0.00 -91.75 0.002 16386 0.000 0.000 196 2765 2213 2240 2186 0 0 0 0 0 0 14.20 28.83 14.22

106 -0.76 -146.0 197 2765 2242 2187 4.5 -7.9 9 153 9.15 2.80 -31.10 0.005 18948 0.477 0.174 1816 1337 3540 3589 3492 0 0 0 0 0 0 13.79 13.17 14.06

380 -0.76 -146.0 1816 1336 3590 3494 77.7 -19.2 62 386 0.00 2.85 0.00 0.000 1030 0.000 0.180 1806 2748 3541 3589 3494 0 0 0 0 0 0 14.23 14.08 14.24

565 -0.76 -146.0 1807 2747 3590 3494 111.0 -16.8 81 571 0.00 2.72 0.00 0.000 516 0.000 0.148 1806 1329 3540 3589 3492 0 0 0 0 0 0 14.42 14.16 14.43

796 -0.76 -146.0 1807 1330 3590 3494 146.7 -14.6 127 801 0.00 2.85 0.00 0.000 1030 0.000 0.180 1797 2755 3542 3589 3496 0 0 0 0 0 0 14.35 14.20 14.37

986 -0.76 -146.0 1797 2756 3590 3495 175.2 -14.9 147 987 0.00 0.00 0.00 0.000 6 0.000 0.000 1797 2755 3541 3589 3494 0 0 0 0 0 0 14.52 14.54 14.54

1154 end dive: TARGET_DEPTH_EXCEEDED

state 1154 begin apogee

1160 -0.19 0.0 1798 2596 3585 3494 200.2 -14.5 164 1280 0.82 0.00 116.70 1.688 10246 0.282 0.000 2003 2596 2942 3030 2855 0 0 0 0 0 0 14.23 13.70 13.03

1281 end apogee: CONTROL_FINISHED_OK

state 1281 begin loiter

1456 -0.17 11.4 2003 2597 3027 2841 212.9 -2.9 194 1468 0.00 0.00 10.00 1.482 8230 0.000 0.000 2003 2596 2895 2989 2801 0 0 0 0 0 0 14.25 14.00 13.30

1646 -0.17 19.9 2002 2596 2987 2794 217.2 -2.2 213 1657 0.00 0.00 8.25 1.457 8230 0.000 0.000 2003 2596 2856 2948 2765 0 0 0 0 0 0 14.35 14.11 13.39

1836 -0.16 26.3 2003 2596 2948 2762 220.6 -1.6 232 1847 0.00 0.00 6.53 1.390 8230 0.000 0.000 2002 2596 2832 2920 2744 0 0 0 0 0 0 14.42 14.19 13.46

2026 -0.15 31.4 2003 2596 2920 2744 223.1 -1.3 251 2037 0.00 0.00 5.60 1.345 8230 0.000 0.000 2003 2596 2810 2897 2724 0 0 0 0 0 0 14.48 14.10 13.50

2217 -0.13 31.4 2003 2596 2898 2723 224.8 -0.8 270 2217 0.00 0.00 0.00 0.000 70 0.000 0.000 2003 2596 2810 2897 2723 0 0 0 0 0 0 14.52 14.54 14.54

2397 -0.11 31.4 2003 2596 2898 2722 226.0 -0.7 288 2398 0.00 0.00 0.00 0.000 70 0.000 0.000 2003 2596 2809 2897 2722 0 0 0 0 0 0 14.59 14.60 14.60

2577 -0.08 31.4 2003 2596 2898 2721 227.5 -0.9 306 2578 0.15 0.00 0.00 0.000 2118 0.272 0.000 2038 2596 2809 2897 2721 0 0 0 0 0 0 14.31 14.50 14.47

2756 -0.06 31.4 2038 2597 2898 2722 229.1 -0.9 324 2757 0.00 0.00 0.00 0.000 70 0.000 0.000 2038 2596 2809 2897 2721 0 0 0 0 0 0 14.67 14.69 14.69

2936 -0.04 31.4 2038 2597 2898 2722 230.5 -0.7 342 2937 0.00 0.00 0.00 0.000 70 0.000 0.000 2038 2596 2808 2897 2720 0 0 0 0 0 0 14.70 14.72 14.72

3116 -0.04 31.4 2038 2596 2899 2720 231.3 -0.4 360 3117 0.00 0.00 0.00 0.000 6 0.000 0.000 2038 2596 2808 2897 2720 0 0 0 0 0 0 14.73 14.74 14.74

3297 -0.02 31.4 2038 2595 2898 2720 232.2 -0.7 378 3297 0.00 0.00 0.00 0.000 70 0.000 0.000 2038 2596 2808 2897 2719 0 0 0 0 0 0 14.74 14.76 14.76

3477 0.01 31.4 2038 2597 2898 2721 233.6 -0.8 396 3478 0.12 0.00 0.00 0.000 2118 0.250 0.000 2069 2596 2808 2897 2719 0 0 0 0 0 0 14.49 14.64 14.62

3656 0.01 31.4 2070 2597 2898 2721 234.7 -0.3 414 3657 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2808 2897 2720 0 0 0 0 0 0 14.78 14.80 14.80

3836 0.01 31.4 2070 2597 2898 2721 234.7 0.1 432 3837 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2808 2897 2719 0 0 0 0 0 0 14.79 14.81 14.81

4016 0.01 31.4 2070 2597 2898 2720 234.7 -0.1 450 4017 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2808 2897 2719 0 0 0 0 0 0 14.80 14.83 14.83

4197 0.01 31.4 2070 2595 2899 2718 235.0 -0.3 468 4197 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2808 2897 2719 0 0 0 0 0 0 14.81 14.83 14.83

4376 0.01 31.4 2070 2596 2898 2718 235.6 -0.4 486 4377 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2808 2897 2719 0 0 0 0 0 0 14.83 14.85 14.84

4556 0.01 31.4 2069 2597 2898 2719 236.0 -0.0 504 4557 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2807 2897 2718 0 0 0 0 0 0 14.83 14.85 14.85

4736 0.01 31.4 2070 2597 2898 2719 235.6 0.3 522 4737 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2807 2897 2718 0 0 0 0 0 0 14.84 14.86 14.86

4916 0.01 31.4 2070 2595 2898 2717 235.7 -0.2 540 4917 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2807 2897 2718 0 0 0 0 0 0 14.85 14.87 14.87

5096 0.01 31.4 2069 2597 2898 2719 235.6 0.3 558 5097 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2807 2897 2717 0 0 0 0 0 0 14.85 14.88 14.88

5276 0.01 31.4 2070 2597 2898 2719 235.1 0.1 576 5277 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2807 2897 2717 0 0 0 0 0 0 14.86 14.88 14.88

5457 0.01 31.4 2070 2596 2898 2717 235.6 -0.4 594 5457 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2807 2897 2717 0 0 0 0 0 0 14.87 14.89 14.88

5636 0.01 31.4 2070 2596 2898 2717 236.0 -0.1 612 5637 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2807 2897 2717 0 0 0 0 0 0 14.87 14.90 14.89

5816 0.01 31.4 2069 2597 2897 2717 235.8 0.2 630 5817 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2807 2897 2717 0 0 0 0 0 0 14.88 14.90 14.90

5996 0.01 31.4 2070 2597 2898 2718 235.8 -0.1 648 5997 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2806 2897 2716 0 0 0 0 0 0 14.88 14.90 14.90

6176 0.01 31.4 2070 2595 2898 2716 236.5 -0.5 666 6177 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2806 2897 2715 0 0 0 0 0 0 14.88 14.90 14.90

6356 0.01 31.4 2070 2597 2897 2717 237.1 -0.2 684 6357 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2806 2897 2716 0 0 0 0 0 0 14.89 14.91 14.90

6536 0.01 31.4 2070 2595 2898 2716 237.2 -0.0 702 6537 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2806 2897 2716 0 0 0 0 0 0 14.89 14.91 14.95

6717 0.01 31.4 2070 2596 2898 2716 237.1 0.1 720 6717 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2806 2897 2716 0 0 0 0 0 0 14.89 14.91 14.91

6896 0.01 31.4 2069 2596 2898 2717 236.7 0.2 738 6897 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2806 2897 2716 0 0 0 0 0 0 14.90 14.92 14.91

7076 0.01 31.4 2070 2596 2898 2715 236.7 -0.1 756 7077 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2806 2897 2716 0 0 0 0 0 0 14.90 14.92 14.92

7256 0.01 31.4 2070 2597 2898 2717 237.1 -0.2 774 7257 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2806 2897 2715 0 0 0 0 0 0 14.90 14.92 14.92

7436 0.01 31.4 2070 2596 2898 2715 237.3 0.1 792 7437 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2806 2897 2715 0 0 0 0 0 0 14.90 14.92 14.92

7616 0.01 31.4 2070 2597 2898 2716 237.0 0.2 810 7617 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2806 2897 2715 0 0 0 0 0 0 14.90 14.92 14.92

7796 0.01 31.4 2070 2597 2898 2716 236.8 0.0 828 7797 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2806 2897 2715 0 0 0 0 0 0 14.90 14.92 14.92

7977 0.01 31.4 2068 2597 2898 2716 236.7 0.0 846 7977 0.00 0.00 0.00 0.000 6 0.000 0.000 2070 2596 2806 2897 2716 0 0 0 0 0 0 14.90 14.92 14.92

8156 0.01 31.4 2070 2596 2898 2715 236.9 -0.2 864 8157 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2806 2897 2715 0 0 0 0 0 0 14.91 14.93 14.92

8336 0.01 31.4 2070 2596 2899 2715 237.1 0.0 882 8337 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2596 2806 2897 2715 0 0 0 0 0 0 14.91 14.93 14.92

8474 end loiter: LOITER_COMPLETE

state 8474 begin climb

8476 0.76 146.0 2069 2596 2898 2717 237.1 0.0 896 8578 0.80 2.53 92.53 1.741 10500 0.164 0.213 2313 3766 2341 2440 2242 0 0 0 0 0 0 14.64 13.83 13.28

8585 0.85 146.0 2313 3766 2439 2242 232.9 6.5 914 8590 0.00 2.33 0.00 0.000 1094 0.000 0.161 2321 2594 2340 2440 2240 0 0 0 0 0 0 14.04 13.93 14.07

8776 0.93 146.0 2321 2595 2440 2231 220.1 6.7 934 8781 0.12 2.42 0.00 0.000 2372 0.152 0.209 2369 3769 2334 2440 2229 0 0 0 0 0 0 14.19 14.08 14.24

9006 0.93 146.0 2370 3769 2441 2226 198.4 9.3 980 9011 0.00 2.25 0.00 0.000 1030 0.000 0.164 2377 2600 2333 2440 2226 0 0 0 0 0 0 14.35 14.23 14.38

9197 0.99 146.0 2377 2600 2440 2225 183.3 7.5 1000 9202 0.00 2.40 0.00 0.000 324 0.000 0.212 2377 3775 2331 2439 2224 0 0 0 0 0 0 14.52 14.23 14.54

9427 1.02 146.0 2378 3775 2440 2223 163.6 8.5 1046 9432 0.00 2.25 0.00 0.000 1094 0.000 0.165 2385 2600 2331 2439 2223 0 0 0 0 0 0 14.42 14.31 14.45

9618 1.10 146.0 2385 2600 2441 2221 149.6 7.0 1066 9623 0.12 2.38 0.00 0.000 2372 0.146 0.210 2436 3769 2330 2439 2222 0 0 0 0 0 0 14.39 14.28 14.44

9688 1.10 146.0 2436 3769 2441 2222 143.2 9.4 1080 9693 0.00 2.25 0.00 0.000 1030 0.000 0.164 2445 2591 2331 2440 2222 0 0 0 0 0 0 14.46 14.33 14.48

9879 1.15 146.0 2445 2592 2440 2223 127.6 7.7 1100 9880 0.00 0.00 0.00 0.000 70 0.000 0.000 2444 2591 2330 2440 2221 0 0 0 0 0 0 14.59 14.62 14.62

10059 1.25 146.0 2445 2592 2441 2221 115.4 6.4 1118 10064 0.00 2.40 0.00 0.000 324 0.000 0.212 2444 3773 2330 2440 2220 0 0 0 0 0 0 14.59 14.31 14.61

10124 1.31 146.0 2445 3774 2440 2222 110.6 7.6 1131 10131 0.12 2.25 0.00 0.000 3142 0.142 0.164 2499 2595 2329 2439 2220 0 0 0 0 0 0 14.40 14.35 14.47

10311 1.41 146.0 2500 2596 2441 2221 97.9 6.1 1150 10316 0.00 2.40 0.00 0.000 324 0.000 0.209 2499 3778 2329 2440 2219 0 0 0 0 0 0 14.59 14.30 14.61

10392 1.50 238.5 2500 3777 2441 2220 92.8 5.5 1166 10473 0.15 2.28 72.60 1.537 11302 0.134 0.164 2561 2590 1966 2090 1843 0 0 0 0 0 0 14.41 14.34 13.28

10658 1.50 238.5 2562 2589 2091 1828 65.2 9.7 1200 10659 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2590 1958 2090 1827 0 0 0 0 0 0 14.31 14.33 14.33

10838 1.68 411.8 2561 2590 2091 1826 57.8 2.0 1218 10983 0.12 2.62 135.88 1.431 10532 0.153 0.205 2606 3767 1258 1287 1229 0 0 0 0 0 0 14.19 13.55 13.09

11146 1.68 411.8 2606 3771 1278 1227 24.9 10.6 1276 11151 0.00 2.33 0.00 0.000 1030 0.000 0.160 2615 2596 1252 1278 1227 0 0 0 0 0 0 14.00 13.89 14.02

11338 1.77 411.8 2613 2597 1279 1222 10.2 6.4 1296 11343 0.00 2.72 0.00 0.000 580 0.000 0.151 2626 1184 1250 1278 1222 0 0 0 0 0 0 14.26 14.02 14.27

11408 1.84 411.8 2626 1184 1279 1222 5.1 7.2 1310 11414 0.10 2.85 0.00 0.000 3142 0.171 0.172 2663 2606 1248 1278 1219 0 0 0 0 0 0 14.08 14.03 14.16

11447 end climb: SURFACE_DEPTH_REACHED

state 11447 begin surface coast

11467 end surface coast: CONTROL_FINISHED_OK

state 11467 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	80	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	10	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	091018,082503,7413.3862,-14630.8867,27,0.8,28,22.4,0.0,0.0,11,7.9	SPEED_LIMITS	0.165,0.207
_CALLS	1	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7415.000,-14625.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.67	MHEAD_RNG_PITCHd_Wd	49.6,4180,-16.5,-9.524,-24.67,2361
_SM_ANGLEo	-65.6	D_GRID	200
GPS2	091018,083331,7413.4307,-14630.9756,7,0.8,9,22.4,0.0,261.4,11,9.1

MODEM_MSG	CACST,6,1,20181009082037.351633,18,411,26,0040,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3C	ALTIM_TOP_PING	19.5,20.7
FINISH	-0.0,1.020669	_24V_AH	13.03,40.888
SM_CCo	11485,173.82,0.219,0,0,799,525.19	_10V_AH	13.23,0.000
SM_GC	0.69,7.65,0.32,173.82,0.101,0.229,0.219,194,2753,799,-5.80,-0.28,525.19,0,0,0,0,0,0,14.14,14.06,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	519	FG_AHR_10Vo	0.000
MODEM	1,1539072335,74.43333,-147.95000,35.004,50478.5	MEM	334556
RAFOS_FIX	7420.288086,-14616.908203,091018,080838,3,255,0.00	DATA_FILE_SIZE	43278,1317
IRIDIUM_FIX	7412.27,-14631.74,091018,050149	CAP_FILE_SIZE	136126,0
TT8_MAMPS	0.039697,0.874832	CFSIZE	2097872896,2076082176
HUMID	49.01	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.45186	SOUNDSPEED	1442.2
TCM_TEMP	12.40	CURRENT	0.136,342.89,1
XPDR_PINGS	0	GPS	091018,114939,7414.459,-14631.549,17,0.7,23,22.4,0.3,308.2,12,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	476	120.79	nil	0	0	0.00
Roll_motor	50	228	150.66	nil	0	0	0.00
VBD_pump_during_apogee	448	1741	10165.50	nil	0	0	0.00
VBD_pump_during_surface	173	218	495.55	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	4301	35	1981.59
Iridium_during_xfer	330	181	781.48	nil	0	0	0.00
Transponder_ping	0	420	1.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	21	4.95
TT8	0	0	0.00
LPSleep	8330	2	254.60
TT8_Active	726	11	110.30
TT8_Sampling	2839	30	1134.47
TT8_CF8	288	36	138.24
TT8_Kalman	0	0	0.00
Analog_circuits	2035	9	255.85
GPS_charging	0	0	0.00
Compass	1875	7	185.85
RAFOS	0	0	0.00
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	196	2765	780	806	0.0	0.0	0	103	0.00	0.00	-91.75	0.002	16386	0.000	0.000	196	2765	2213	2240	2186	0	0	0	0	0	0	14.20	28.83	14.22
106	-0.76	-146.0	197	2765	2242	2187	4.5	-7.9	9	153	9.15	2.80	-31.10	0.005	18948	0.477	0.174	1816	1337	3540	3589	3492	0	0	0	0	0	0	13.79	13.17	14.06
380	-0.76	-146.0	1816	1336	3590	3494	77.7	-19.2	62	386	0.00	2.85	0.00	0.000	1030	0.000	0.180	1806	2748	3541	3589	3494	0	0	0	0	0	0	14.23	14.08	14.24
565	-0.76	-146.0	1807	2747	3590	3494	111.0	-16.8	81	571	0.00	2.72	0.00	0.000	516	0.000	0.148	1806	1329	3540	3589	3492	0	0	0	0	0	0	14.42	14.16	14.43
796	-0.76	-146.0	1807	1330	3590	3494	146.7	-14.6	127	801	0.00	2.85	0.00	0.000	1030	0.000	0.180	1797	2755	3542	3589	3496	0	0	0	0	0	0	14.35	14.20	14.37
986	-0.76	-146.0	1797	2756	3590	3495	175.2	-14.9	147	987	0.00	0.00	0.00	0.000	6	0.000	0.000	1797	2755	3541	3589	3494	0	0	0	0	0	0	14.52	14.54	14.54
1154	end dive: TARGET_DEPTH_EXCEEDED
state	1154	begin apogee
1160	-0.19	0.0	1798	2596	3585	3494	200.2	-14.5	164	1280	0.82	0.00	116.70	1.688	10246	0.282	0.000	2003	2596	2942	3030	2855	0	0	0	0	0	0	14.23	13.70	13.03
1281	end apogee: CONTROL_FINISHED_OK
state	1281	begin loiter
1456	-0.17	11.4	2003	2597	3027	2841	212.9	-2.9	194	1468	0.00	0.00	10.00	1.482	8230	0.000	0.000	2003	2596	2895	2989	2801	0	0	0	0	0	0	14.25	14.00	13.30
1646	-0.17	19.9	2002	2596	2987	2794	217.2	-2.2	213	1657	0.00	0.00	8.25	1.457	8230	0.000	0.000	2003	2596	2856	2948	2765	0	0	0	0	0	0	14.35	14.11	13.39
1836	-0.16	26.3	2003	2596	2948	2762	220.6	-1.6	232	1847	0.00	0.00	6.53	1.390	8230	0.000	0.000	2002	2596	2832	2920	2744	0	0	0	0	0	0	14.42	14.19	13.46
2026	-0.15	31.4	2003	2596	2920	2744	223.1	-1.3	251	2037	0.00	0.00	5.60	1.345	8230	0.000	0.000	2003	2596	2810	2897	2724	0	0	0	0	0	0	14.48	14.10	13.50
2217	-0.13	31.4	2003	2596	2898	2723	224.8	-0.8	270	2217	0.00	0.00	0.00	0.000	70	0.000	0.000	2003	2596	2810	2897	2723	0	0	0	0	0	0	14.52	14.54	14.54
2397	-0.11	31.4	2003	2596	2898	2722	226.0	-0.7	288	2398	0.00	0.00	0.00	0.000	70	0.000	0.000	2003	2596	2809	2897	2722	0	0	0	0	0	0	14.59	14.60	14.60
2577	-0.08	31.4	2003	2596	2898	2721	227.5	-0.9	306	2578	0.15	0.00	0.00	0.000	2118	0.272	0.000	2038	2596	2809	2897	2721	0	0	0	0	0	0	14.31	14.50	14.47
2756	-0.06	31.4	2038	2597	2898	2722	229.1	-0.9	324	2757	0.00	0.00	0.00	0.000	70	0.000	0.000	2038	2596	2809	2897	2721	0	0	0	0	0	0	14.67	14.69	14.69
2936	-0.04	31.4	2038	2597	2898	2722	230.5	-0.7	342	2937	0.00	0.00	0.00	0.000	70	0.000	0.000	2038	2596	2808	2897	2720	0	0	0	0	0	0	14.70	14.72	14.72
3116	-0.04	31.4	2038	2596	2899	2720	231.3	-0.4	360	3117	0.00	0.00	0.00	0.000	6	0.000	0.000	2038	2596	2808	2897	2720	0	0	0	0	0	0	14.73	14.74	14.74
3297	-0.02	31.4	2038	2595	2898	2720	232.2	-0.7	378	3297	0.00	0.00	0.00	0.000	70	0.000	0.000	2038	2596	2808	2897	2719	0	0	0	0	0	0	14.74	14.76	14.76
3477	0.01	31.4	2038	2597	2898	2721	233.6	-0.8	396	3478	0.12	0.00	0.00	0.000	2118	0.250	0.000	2069	2596	2808	2897	2719	0	0	0	0	0	0	14.49	14.64	14.62
3656	0.01	31.4	2070	2597	2898	2721	234.7	-0.3	414	3657	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2808	2897	2720	0	0	0	0	0	0	14.78	14.80	14.80
3836	0.01	31.4	2070	2597	2898	2721	234.7	0.1	432	3837	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2808	2897	2719	0	0	0	0	0	0	14.79	14.81	14.81
4016	0.01	31.4	2070	2597	2898	2720	234.7	-0.1	450	4017	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2808	2897	2719	0	0	0	0	0	0	14.80	14.83	14.83
4197	0.01	31.4	2070	2595	2899	2718	235.0	-0.3	468	4197	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2808	2897	2719	0	0	0	0	0	0	14.81	14.83	14.83
4376	0.01	31.4	2070	2596	2898	2718	235.6	-0.4	486	4377	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2808	2897	2719	0	0	0	0	0	0	14.83	14.85	14.84
4556	0.01	31.4	2069	2597	2898	2719	236.0	-0.0	504	4557	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2807	2897	2718	0	0	0	0	0	0	14.83	14.85	14.85
4736	0.01	31.4	2070	2597	2898	2719	235.6	0.3	522	4737	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2807	2897	2718	0	0	0	0	0	0	14.84	14.86	14.86
4916	0.01	31.4	2070	2595	2898	2717	235.7	-0.2	540	4917	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2807	2897	2718	0	0	0	0	0	0	14.85	14.87	14.87
5096	0.01	31.4	2069	2597	2898	2719	235.6	0.3	558	5097	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2807	2897	2717	0	0	0	0	0	0	14.85	14.88	14.88
5276	0.01	31.4	2070	2597	2898	2719	235.1	0.1	576	5277	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2807	2897	2717	0	0	0	0	0	0	14.86	14.88	14.88
5457	0.01	31.4	2070	2596	2898	2717	235.6	-0.4	594	5457	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2807	2897	2717	0	0	0	0	0	0	14.87	14.89	14.88
5636	0.01	31.4	2070	2596	2898	2717	236.0	-0.1	612	5637	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2807	2897	2717	0	0	0	0	0	0	14.87	14.90	14.89
5816	0.01	31.4	2069	2597	2897	2717	235.8	0.2	630	5817	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2807	2897	2717	0	0	0	0	0	0	14.88	14.90	14.90
5996	0.01	31.4	2070	2597	2898	2718	235.8	-0.1	648	5997	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2806	2897	2716	0	0	0	0	0	0	14.88	14.90	14.90
6176	0.01	31.4	2070	2595	2898	2716	236.5	-0.5	666	6177	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2806	2897	2715	0	0	0	0	0	0	14.88	14.90	14.90
6356	0.01	31.4	2070	2597	2897	2717	237.1	-0.2	684	6357	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2806	2897	2716	0	0	0	0	0	0	14.89	14.91	14.90
6536	0.01	31.4	2070	2595	2898	2716	237.2	-0.0	702	6537	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2806	2897	2716	0	0	0	0	0	0	14.89	14.91	14.95
6717	0.01	31.4	2070	2596	2898	2716	237.1	0.1	720	6717	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2806	2897	2716	0	0	0	0	0	0	14.89	14.91	14.91
6896	0.01	31.4	2069	2596	2898	2717	236.7	0.2	738	6897	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2806	2897	2716	0	0	0	0	0	0	14.90	14.92	14.91
7076	0.01	31.4	2070	2596	2898	2715	236.7	-0.1	756	7077	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2806	2897	2716	0	0	0	0	0	0	14.90	14.92	14.92
7256	0.01	31.4	2070	2597	2898	2717	237.1	-0.2	774	7257	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2806	2897	2715	0	0	0	0	0	0	14.90	14.92	14.92
7436	0.01	31.4	2070	2596	2898	2715	237.3	0.1	792	7437	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2806	2897	2715	0	0	0	0	0	0	14.90	14.92	14.92
7616	0.01	31.4	2070	2597	2898	2716	237.0	0.2	810	7617	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2806	2897	2715	0	0	0	0	0	0	14.90	14.92	14.92
7796	0.01	31.4	2070	2597	2898	2716	236.8	0.0	828	7797	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2806	2897	2715	0	0	0	0	0	0	14.90	14.92	14.92
7977	0.01	31.4	2068	2597	2898	2716	236.7	0.0	846	7977	0.00	0.00	0.00	0.000	6	0.000	0.000	2070	2596	2806	2897	2716	0	0	0	0	0	0	14.90	14.92	14.92
8156	0.01	31.4	2070	2596	2898	2715	236.9	-0.2	864	8157	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2806	2897	2715	0	0	0	0	0	0	14.91	14.93	14.92
8336	0.01	31.4	2070	2596	2899	2715	237.1	0.0	882	8337	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2596	2806	2897	2715	0	0	0	0	0	0	14.91	14.93	14.92
8474	end loiter: LOITER_COMPLETE
state	8474	begin climb
8476	0.76	146.0	2069	2596	2898	2717	237.1	0.0	896	8578	0.80	2.53	92.53	1.741	10500	0.164	0.213	2313	3766	2341	2440	2242	0	0	0	0	0	0	14.64	13.83	13.28
8585	0.85	146.0	2313	3766	2439	2242	232.9	6.5	914	8590	0.00	2.33	0.00	0.000	1094	0.000	0.161	2321	2594	2340	2440	2240	0	0	0	0	0	0	14.04	13.93	14.07
8776	0.93	146.0	2321	2595	2440	2231	220.1	6.7	934	8781	0.12	2.42	0.00	0.000	2372	0.152	0.209	2369	3769	2334	2440	2229	0	0	0	0	0	0	14.19	14.08	14.24
9006	0.93	146.0	2370	3769	2441	2226	198.4	9.3	980	9011	0.00	2.25	0.00	0.000	1030	0.000	0.164	2377	2600	2333	2440	2226	0	0	0	0	0	0	14.35	14.23	14.38
9197	0.99	146.0	2377	2600	2440	2225	183.3	7.5	1000	9202	0.00	2.40	0.00	0.000	324	0.000	0.212	2377	3775	2331	2439	2224	0	0	0	0	0	0	14.52	14.23	14.54
9427	1.02	146.0	2378	3775	2440	2223	163.6	8.5	1046	9432	0.00	2.25	0.00	0.000	1094	0.000	0.165	2385	2600	2331	2439	2223	0	0	0	0	0	0	14.42	14.31	14.45
9618	1.10	146.0	2385	2600	2441	2221	149.6	7.0	1066	9623	0.12	2.38	0.00	0.000	2372	0.146	0.210	2436	3769	2330	2439	2222	0	0	0	0	0	0	14.39	14.28	14.44
9688	1.10	146.0	2436	3769	2441	2222	143.2	9.4	1080	9693	0.00	2.25	0.00	0.000	1030	0.000	0.164	2445	2591	2331	2440	2222	0	0	0	0	0	0	14.46	14.33	14.48
9879	1.15	146.0	2445	2592	2440	2223	127.6	7.7	1100	9880	0.00	0.00	0.00	0.000	70	0.000	0.000	2444	2591	2330	2440	2221	0	0	0	0	0	0	14.59	14.62	14.62
10059	1.25	146.0	2445	2592	2441	2221	115.4	6.4	1118	10064	0.00	2.40	0.00	0.000	324	0.000	0.212	2444	3773	2330	2440	2220	0	0	0	0	0	0	14.59	14.31	14.61
10124	1.31	146.0	2445	3774	2440	2222	110.6	7.6	1131	10131	0.12	2.25	0.00	0.000	3142	0.142	0.164	2499	2595	2329	2439	2220	0	0	0	0	0	0	14.40	14.35	14.47
10311	1.41	146.0	2500	2596	2441	2221	97.9	6.1	1150	10316	0.00	2.40	0.00	0.000	324	0.000	0.209	2499	3778	2329	2440	2219	0	0	0	0	0	0	14.59	14.30	14.61
10392	1.50	238.5	2500	3777	2441	2220	92.8	5.5	1166	10473	0.15	2.28	72.60	1.537	11302	0.134	0.164	2561	2590	1966	2090	1843	0	0	0	0	0	0	14.41	14.34	13.28
10658	1.50	238.5	2562	2589	2091	1828	65.2	9.7	1200	10659	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2590	1958	2090	1827	0	0	0	0	0	0	14.31	14.33	14.33
10838	1.68	411.8	2561	2590	2091	1826	57.8	2.0	1218	10983	0.12	2.62	135.88	1.431	10532	0.153	0.205	2606	3767	1258	1287	1229	0	0	0	0	0	0	14.19	13.55	13.09
11146	1.68	411.8	2606	3771	1278	1227	24.9	10.6	1276	11151	0.00	2.33	0.00	0.000	1030	0.000	0.160	2615	2596	1252	1278	1227	0	0	0	0	0	0	14.00	13.89	14.02
11338	1.77	411.8	2613	2597	1279	1222	10.2	6.4	1296	11343	0.00	2.72	0.00	0.000	580	0.000	0.151	2626	1184	1250	1278	1222	0	0	0	0	0	0	14.26	14.02	14.27
11408	1.84	411.8	2626	1184	1279	1222	5.1	7.2	1310	11414	0.10	2.85	0.00	0.000	3142	0.171	0.172	2663	2606	1248	1278	1219	0	0	0	0	0	0	14.08	14.03	14.16
11447	end climb: SURFACE_DEPTH_REACHED
state	11447	begin surface coast
11467	end surface coast: CONTROL_FINISHED_OK
state	11467	begin surface