Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 443 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 KALMAN_USE 2 ROLL_MIN 200 AD7714Ch0Gain 32

MISSION 4 HD_A 0.0026803601 ROLL_MAX 3700 COMPASS_USE 4

DIVE 443 HD_B 0.0139002 ROLL_DEG 40 ALTIM_PING_FIT 0

N_DIVES 0 HD_C 9.1750398e-06 C_ROLL_DIVE 1800 ALTIM_TOP_PING_RANGE 0

STOP_T 0 HEADING -1 C_ROLL_CLIMB 2250 ALTIM_BOTTOM_TURN_MARGIN 15

D_SURF 3 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 2

D_TGT 600 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_ABORT 1030 TGT_DEFAULT_LAT 3235 R_PORT_OVSHOOT 63 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 109 ALTIM_FREQUENCY 13

D_BOOST 20 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 ALTIM_PULSE 3

T_BOOST 5 SM_CC 400 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FINISH 0 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_VALID 5

D_PITCH 0 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_SAFE 0 CALL_NDIVES 1 VBD_MIN 400 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 COMM_SEQ 0 VBD_MAX 3900 INT_PRESSURE_YINT -1

SURFACE_URGENCY 0 PROTOCOL 9 C_VBD 3250 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 2 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 NOCOMM_ACTION 163 VBD_CNV -0.245296 DEVICE1 2

T_DIVE 240 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 500 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE3 -1

T_ABORT 1600 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00121 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE5 -1

T_TURN_SAMPINT -5 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 14400 HEAPDBG 0 UNCOM_BLEED 20 LOGGERDEVICE1 -1

T_EPIRB 0 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

EXEC_P 0 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE3 -1

EXEC_DT 0 T_RSLEEP 1 DBDW 0 LOGGERDEVICE4 -1

EXEC_T 0 STROBE 0 LOITER_W_DBAND 1 COMPASS_DEVICE 33

EXEC_N 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 400 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_NO_PUMP 500 PHONE_DEVICE 49

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 1 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 PITCH_W_GAIN 2 RAFOS_DEVICE -1

D_OFFGRID 1000 PITCH_MIN 250 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3750 CF8_MAXERRORS 20 SIM_W 0

RELAUNCH 1 C_PITCH 2760 AH0_24V 350 SEABIRD_T_G 0.0043553207

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_10V 0 SEABIRD_T_H 0.00062594062

MAX_BUOY 100 PITCH_CNV 0.003125763 MINV_24V 11 SEABIRD_T_I 2.3765557e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_10V 11 SEABIRD_T_J 2.606791e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_G -9.8755465

SPEED_FACTOR 1 PITCH_GAIN 34 MAXI_10V 0.80000001 SEABIRD_C_H 1.1390997

RHO 1.0275 PITCH_TIMEOUT 16 FG_AHR_10V 0 SEABIRD_C_I -0.0019936475

MASS 51713 PITCH_AD_RATE 175 FG_AHR_24V 0 SEABIRD_C_J 0.00023608611

MASS_COMP 0 PITCH_MAXERRORS 1 PHONE_SUPPLY -2

NAV_MODE 2 PITCH_ADJ_GAIN 0 PRESSURE_YINT -157.40906

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014074198

AD7714Ch0Gain 32 D_SURF 3 N_FILEKB 8 SEABIRD_T_H 0.00062594062

AH0_10V 0 D_TGT 600 N_GPS 100440 SEABIRD_T_I 2.3765557e-05

AH0_24V 350 ESCAPE_HEADING 0 N_NOCOMM 2 SEABIRD_T_J 2.606791e-06

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SIM_W 0

ALTIM_FREQUENCY 13 EXEC_DT 0 PHONE_DEVICE 49 SM_CC 400

ALTIM_PING_DELTA 50 EXEC_N 0 PHONE_SUPPLY -2 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 EXEC_P 0 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PING_FIT 0 EXEC_T 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_GAIN 34 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3750 TGT_DEFAULT_LAT 3235

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -11731

CALL_NDIVES 1 GPS_DEVICE 32 PITCH_MIN 250 T_ABORT 1600

CALL_TRIES 5 HD_A 0.0026803601 PITCH_TIMEOUT 16 T_BOOST 5

CALL_WAIT 60 HD_B 0.0139002 PITCH_VBD_SHIFT 0.00121 T_DIVE 240

CAPMAXSIZE 100000 HD_C 9.1750398e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

CAPUPLOAD 0 HEADING -1 PITCH_W_GAIN 2 T_GPS 5

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014074198 T_LOITER 14400

COMM_SEQ 0 HEAPDBG 0 PRESSURE_YINT -157.40906 T_MISSION 500

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_NO_W 120

COMPASS_DEVICE 33 ID 128 P_OVSHOOT 0.039999999 T_RSLEEP 1

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_YINT -1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_PITCH 2760 KALMAN_USE 2 RAFOS_DEVICE -1 T_WATCHDOG 10

C_ROLL_CLIMB 2250 LOGGERDEVICE1 -1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_ROLL_DIVE 1800 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD 3250 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_BATHY -6

DBDW 0 LOGGERDEVICE4 -1 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOGGERS 0 RHO 1.0275 VBD_BLEED_AD_RATE 8

DEVICE1 2 LOITER_DBDW 400 ROLL_ADJ_DBAND 0 VBD_CNV -0.245296

DEVICE2 -1 LOITER_D_NO_PUMP 500 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE3 -1 LOITER_N_DIVE 1 ROLL_AD_RATE 250 VBD_LP_IGNORE 0

DEVICE4 -1 LOITER_W_DBAND 1 ROLL_CNV 0.028270001 VBD_MAX 3900

DEVICE5 -1 MASS 51713 ROLL_DEG 40 VBD_MAXERRORS 1

DEVICE6 -1 MASS_COMP 0 ROLL_MAX 3700 VBD_MIN 400

DIVE 443 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 1030 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 20 MAX_BUOY 100 ROLL_TIMEOUT 15 VBD_TIMEOUT 540

D_CALL 0 MINV_10V 11 R_PORT_OVSHOOT 63 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 11 R_STBD_OVSHOOT 109 XPDR_DEVICE 24

D_FLARE 3 MISSION 4 SEABIRD_C_G -9.8755465 XPDR_INHIBIT 90

D_NO_BLEED 200 MOTHERBOARD 4 SEABIRD_C_H 1.1390997 XPDR_VALID 5

D_OFFGRID 1000 NAV_MODE 2 SEABIRD_C_I -0.0019936475

D_PITCH 0 NOCOMM_ACTION 163 SEABIRD_C_J 0.00023608611

D_SAFE 0 N_DIVES 0 SEABIRD_T_G 0.0043553207

Pre-dive calculations and measurements:

GPS1 180518,114159,-129.2962,5752.5317,35,1.7,57,-4.2,0.6,152.2,4,9.6 SPEED_LIMITS 0.144,0.173

_CALLS 1 TGT_NAME MALDIVE

_XMS_NAKs 0 TGT_LATLONG 430.000,7230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.84 MHEAD_RNG_PITCHd_Wd 58.9,1751019,-20.3,-8.333,-25.69,1777

_SM_ANGLEo -70.7 D_GRID 1000

GPS2 180518,114822,-129.3870,5752.7881,17,1.7,33,-4.2,1.2,98.1,4,7.3

Post-dive calculations and measurements:

FINISH -0.1,0.999469 _10V_AH 13.45,0.000

SM_CCo 28208,22.33,0.073,0,0,1618,400.08 FG_AHR_24Vo 0.000

SM_GC 1.03,8.80,0.82,22.33,0.099,0.034,0.073,245,1795,1618,-7.82,1.30,400.08,0,0,0,0,0,0,14.42,14.66,14.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -126.86,5750.76,180518,033314 MEM 302972

TT8_MAMPS 0.018725,0.15729 DATA_FILE_SIZE 66640,1465

HUMID 58.58 CAP_FILE_SIZE 189354,0

INTERNAL_PRESSURE 8.55115 CFSIZE 260034560,217890816

TCM_TEMP 24.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.096,104.44,1

_24V_AH 13.11,145.094 GPS 180518,194040,-129.803,5754.185,27,1.0,32,-4.2,1.5,107.8,8,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 413 123.61 SBE_CT 624 23 196.28

Roll_motor 156 78 162.05 nil 0 0 0.00

VBD_pump_during_apogee 477 1598 10003.00 nil 0 0 0.00

VBD_pump_during_surface 22 73 21.49 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 255 136 457.96 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 20 9.40

TT8 3256 9 414.83

LPSleep 22088 2 650.62

TT8_Active 651 9 82.93

TT8_Sampling 2284 28 866.01

TT8_CF8 336 34 154.69

TT8_Kalman 0 0 0.00

Analog_circuits 2120 16 456.41

GPS_charging 0 0 0.00

Compass 1915 17 443.82

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8 -0.72 -97.3 221 1762 1631 1618 0.0 0.0 0 70 0.00 0.00 -60.05 0.003 16386 0.000 0.000 222 1762 3573 3553 3594 0 0 0 0 0 0 14.85 28.83 14.88

73 -0.72 -97.3 221 1762 3554 3595 4.9 -14.3 10 95 11.82 2.28 -1.15 0.071 18948 0.413 0.073 2519 416 3651 3648 3655 0 0 0 0 0 0 14.07 13.11 14.49

138 -0.72 -97.3 2519 416 3653 3655 22.6 -16.2 21 145 0.00 2.17 0.00 0.000 1030 0.000 0.039 2519 1731 3654 3653 3655 0 0 0 0 0 0 14.61 14.52 14.63

449 -0.72 -97.3 2519 1731 3651 3655 72.7 -15.2 68 458 0.00 2.42 0.00 0.000 260 0.000 0.064 2519 3132 3652 3651 3653 0 0 0 0 0 0 14.97 14.48 14.98

574 -0.72 -97.3 2519 3131 3647 3653 87.5 -8.6 93 580 0.00 2.20 0.00 0.000 1030 0.000 0.033 2519 1797 3650 3647 3654 0 0 0 0 0 0 14.69 14.62 14.71

880 -0.72 -97.3 2519 1794 3652 3654 111.3 -8.1 124 884 0.00 2.33 0.00 0.000 260 0.000 0.059 2519 3141 3653 3653 3654 0 0 0 0 0 0 15.03 14.54 15.04

942 -0.72 -97.3 2519 3141 3653 3653 116.8 -9.0 136 946 0.00 2.20 0.00 0.000 1030 0.000 0.033 2520 1797 3653 3653 3654 0 0 0 0 0 0 14.73 14.67 14.76

1253 -0.72 -97.3 2519 1793 3658 3654 150.1 -10.8 168 1258 0.00 2.28 0.00 0.000 516 0.000 0.049 2519 413 3656 3658 3654 0 0 0 0 0 0 15.06 14.59 15.08

1335 -0.72 -97.3 2519 413 3658 3657 158.9 -10.4 184 1339 0.00 2.12 0.00 0.000 1030 0.000 0.038 2519 1730 3657 3658 3656 0 0 0 0 0 0 14.73 14.65 14.76

1646 -0.72 -97.3 2519 1729 3658 3656 188.0 -8.3 216 1650 0.00 2.17 0.00 0.000 516 0.000 0.050 2519 407 3657 3658 3656 0 0 0 0 0 0 15.07 14.59 15.09

1662 -0.72 -97.3 2519 407 3658 3657 189.4 -8.6 219 1668 0.00 2.15 0.00 0.000 1030 0.000 0.041 2519 1733 3657 3658 3657 0 0 0 0 0 0 14.73 14.65 14.77

1968 -0.72 -97.3 2519 1732 3658 3657 215.5 -9.7 250 1973 0.00 2.17 0.00 0.000 516 0.000 0.049 2519 414 3657 3658 3657 0 0 0 0 0 0 15.08 14.59 15.10

1980 -0.72 -97.3 2519 414 3658 3657 216.7 -9.6 252 1984 0.00 2.15 0.00 0.000 1030 0.000 0.042 2519 1735 3657 3658 3656 0 0 0 0 0 0 14.73 14.64 14.76

2292 -0.72 -97.3 2519 1734 3657 3656 243.3 -8.2 284 2302 0.00 2.40 0.00 0.000 260 0.000 0.063 2519 3133 3655 3657 3654 0 0 0 0 0 0 15.08 14.55 15.10

2345 -0.72 -97.3 2520 3133 3657 3654 247.4 -8.1 294 2350 0.00 2.17 0.00 0.000 1030 0.000 0.033 2519 1798 3655 3656 3654 0 0 0 0 0 0 14.77 14.71 14.79

2678 -0.72 -97.3 2519 1793 3645 3653 276.2 -9.1 308 2682 0.00 2.28 0.00 0.000 516 0.000 0.050 2519 411 3649 3645 3653 0 0 0 0 0 0 15.11 14.58 15.12

2713 -0.72 -97.3 2519 410 3644 3652 279.6 -9.3 315 2717 0.00 2.15 0.00 0.000 1030 0.000 0.041 2519 1733 3648 3644 3652 0 0 0 0 0 0 14.73 14.65 14.77

3040 -0.72 -97.3 2519 1732 3641 3650 308.2 -8.5 330 3045 0.00 2.40 0.00 0.000 260 0.000 0.063 2520 3131 3645 3641 3650 0 0 0 0 0 0 15.10 14.55 15.12

3117 -0.72 -97.3 2519 3131 3651 3648 314.7 -8.5 345 3121 0.00 2.20 0.00 0.000 1030 0.000 0.034 2519 1787 3649 3651 3648 0 0 0 0 0 0 14.77 14.71 14.79

3433 -0.72 -97.3 2519 1782 3666 3646 338.6 -7.4 358 3438 0.00 2.28 0.00 0.000 516 0.000 0.053 2520 410 3655 3665 3646 0 0 0 0 0 0 15.11 14.57 15.13

3455 -0.72 -97.3 2518 410 3665 3646 340.4 -7.9 362 3460 0.00 2.17 0.00 0.000 1030 0.000 0.041 2519 1737 3655 3665 3646 0 0 0 0 0 0 14.73 14.64 14.76

3767 -0.72 -97.3 2519 1736 3663 3644 365.2 -8.1 374 3768 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1736 3653 3663 3644 0 0 0 0 0 0 15.11 15.13 15.13

4067 -0.72 -97.3 2519 1736 3660 3642 391.0 -9.0 384 4068 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1736 3651 3660 3642 0 0 0 0 0 0 15.11 15.13 15.13

4368 -0.72 -97.3 2519 1736 3659 3641 420.8 -10.1 394 4369 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1736 3649 3659 3640 0 0 0 0 0 0 15.10 15.12 15.12

4667 -0.72 -97.3 2519 1736 3658 3638 448.8 -9.0 404 4671 0.00 2.22 0.00 0.000 516 0.000 0.054 2519 416 3648 3658 3638 0 0 0 0 0 0 15.11 14.54 15.14

4752 -0.72 -97.3 2519 416 3657 3637 456.6 -8.9 421 4759 0.00 2.17 0.00 0.000 1030 0.000 0.044 2519 1728 3646 3656 3637 0 0 0 0 0 0 14.70 14.60 14.73

5059 -0.72 -97.3 2519 1728 3653 3635 480.2 -7.4 432 5066 0.00 2.45 0.00 0.000 772 0.000 0.068 2519 3133 3644 3653 3635 0 0 0 0 0 0 15.10 14.48 15.12

5102 -0.72 -97.3 2519 3133 3653 3634 483.4 -7.3 441 5106 0.00 2.22 0.00 0.000 1030 0.000 0.037 2519 1794 3643 3652 3634 0 0 0 0 0 0 14.73 14.66 14.76

5419 -0.72 -97.3 2519 1788 3640 3633 503.9 -6.4 454 5424 0.00 2.35 0.00 0.000 260 0.000 0.065 2519 3130 3637 3641 3633 0 0 0 0 0 0 15.10 14.48 15.12

5501 -0.72 -97.3 2519 3130 3641 3631 509.6 -7.0 470 5506 0.00 2.22 0.00 0.000 1030 0.000 0.037 2519 1792 3636 3641 3631 0 0 0 0 0 0 14.71 14.64 14.74

5813 -0.72 -97.3 2519 1787 3646 3631 533.8 -8.3 482 5818 0.00 2.30 0.00 0.000 516 0.000 0.056 2519 417 3637 3645 3630 0 0 0 0 0 0 15.11 14.50 15.13

5880 -0.72 -97.3 2519 417 3646 3630 539.9 -9.5 495 5884 0.00 2.17 0.00 0.000 1030 0.000 0.045 2519 1728 3638 3647 3630 0 0 0 0 0 0 14.66 14.57 14.70

6206 -0.72 -97.3 2519 1727 3646 3628 571.9 -10.1 510 6211 0.00 2.47 0.00 0.000 260 0.000 0.068 2519 3139 3637 3646 3628 0 0 0 0 0 0 15.10 14.45 15.12

6257 -0.72 -97.3 2519 3138 3646 3627 577.2 -10.3 520 6261 0.00 2.22 0.00 0.000 1030 0.000 0.037 2519 1801 3636 3646 3627 0 0 0 0 0 0 14.71 14.64 14.73

6506 end dive: TARGET_DEPTH_EXCEEDED

state 6507 begin apogee

6513 -0.15 0.0 2519 2195 3645 3626 601.0 -9.1 530 6634 0.70 0.00 118.07 1.425 10246 0.232 0.000 2704 2195 3249 3269 3230 0 0 0 0 0 0 14.00 14.20 13.38

6635 end apogee: CONTROL_FINISHED_OK

state 6636 begin loiter

6928 -0.15 0.0 2704 2195 3261 3223 609.4 -0.8 539 6929 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2195 3242 3261 3223 0 0 0 0 0 0 14.90 14.92 14.91

7227 -0.15 0.0 2704 2195 3258 3222 610.1 -0.2 544 7228 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2195 3240 3259 3222 0 0 0 0 0 0 15.00 15.02 15.02

7529 -0.13 0.0 2703 2195 3257 3220 612.2 -0.8 549 7530 0.00 0.00 0.00 0.000 70 0.000 0.000 2704 2194 3239 3257 3221 0 0 0 0 0 0 15.03 15.05 15.05

7827 -0.12 7.1 2703 2195 3256 3220 617.4 -1.8 554 7833 0.00 0.00 3.35 1.056 8230 0.000 0.000 2704 2195 3221 3239 3204 0 0 0 0 0 0 15.07 14.48 13.16

8128 -0.11 16.7 2703 2195 3250 3204 624.6 -2.5 559 8145 0.00 0.00 15.07 1.590 8230 0.000 0.000 2704 2195 3180 3199 3162 0 0 0 0 0 0 15.07 14.59 13.64

8428 -0.10 16.7 2703 2195 3187 3154 627.1 -0.5 564 8429 0.00 0.00 0.00 0.000 70 0.000 0.000 2704 2194 3170 3187 3154 0 0 0 0 0 0 15.02 15.04 15.04

8728 -0.10 16.7 2703 2194 3188 3154 628.0 -0.3 569 8729 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2195 3171 3188 3154 0 0 0 0 0 0 15.06 15.08 15.08

9028 -0.10 16.7 2703 2195 3187 3153 627.6 0.2 574 9029 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2194 3170 3187 3153 0 0 0 0 0 0 15.08 15.10 15.10

9328 -0.10 16.7 2703 2194 3186 3152 623.9 1.4 579 9329 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2195 3169 3186 3152 0 0 0 0 0 0 15.09 15.11 15.11

9629 -0.10 16.7 2703 2194 3185 3152 618.1 2.0 584 9630 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2195 3168 3185 3152 0 0 0 0 0 0 15.09 15.11 15.11

9928 -0.10 16.7 2703 2194 3183 3151 613.1 1.6 589 9929 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2194 3167 3184 3151 0 0 0 0 0 0 15.11 15.13 15.13

10228 -0.10 16.7 2703 2194 3183 3150 610.8 0.7 594 10230 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2195 3167 3183 3151 0 0 0 0 0 0 15.11 15.13 15.13

10528 -0.10 16.7 2703 2194 3183 3150 610.3 0.1 599 10529 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2194 3167 3183 3151 0 0 0 0 0 0 15.11 15.14 15.13

10829 -0.10 16.7 2703 2194 3182 3150 609.7 0.2 604 10830 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2195 3166 3182 3150 0 0 0 0 0 0 15.11 15.13 15.13

11128 -0.10 16.7 2703 2194 3181 3150 608.7 0.3 609 11129 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2194 3165 3182 3149 0 0 0 0 0 0 15.12 15.14 15.13

11428 -0.10 16.7 2703 2194 3181 3149 609.6 -0.4 614 11430 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2194 3165 3181 3149 0 0 0 0 0 0 15.11 15.14 15.13

11729 -0.08 16.7 2703 2194 3182 3149 611.9 -0.8 619 11730 0.00 0.00 0.00 0.000 70 0.000 0.000 2704 2194 3165 3181 3149 0 0 0 0 0 0 15.11 15.13 15.13

12030 -0.07 16.7 2703 2194 3181 3148 613.8 -0.6 624 12032 0.12 0.00 0.00 0.000 2118 0.232 0.000 2737 2194 3164 3181 3148 0 0 0 0 0 0 14.42 14.66 14.60

12328 -0.07 16.7 2736 2195 3181 3148 614.7 -0.3 629 12329 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3164 3181 3148 0 0 0 0 0 0 15.11 15.14 15.13

12628 -0.07 16.7 2736 2195 3181 3147 615.0 -0.1 634 12630 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3163 3180 3147 0 0 0 0 0 0 15.11 15.14 15.13

12928 -0.07 16.7 2736 2195 3180 3147 613.9 0.4 639 12929 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3164 3181 3147 0 0 0 0 0 0 15.11 15.13 15.13

13229 -0.07 16.7 2736 2194 3180 3147 611.0 1.0 644 13230 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3163 3179 3147 0 0 0 0 0 0 15.10 15.13 15.12

13528 -0.07 16.7 2736 2194 3179 3147 608.5 0.8 649 13529 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3163 3180 3147 0 0 0 0 0 0 15.11 15.13 15.13

13828 -0.07 16.7 2736 2194 3179 3147 609.2 -0.3 654 13830 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3163 3179 3147 0 0 0 0 0 0 15.11 15.13 15.13

14129 -0.07 21.9 2736 2194 3179 3147 612.9 -1.3 659 14130 0.00 0.00 0.00 0.000 38 0.000 0.000 2736 2194 3163 3179 3147 0 0 0 0 0 0 15.11 15.13 15.12

14430 -0.06 27.1 2736 2194 3179 3147 617.0 -1.3 664 14436 0.00 0.00 5.10 1.472 8230 0.000 0.000 2736 2194 3140 3158 3122 0 0 0 0 0 0 15.10 14.43 13.19

14728 -0.06 27.1 2736 2194 3166 3122 616.7 0.3 669 14729 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2195 3144 3166 3123 0 0 0 0 0 0 15.09 15.11 15.11

15027 -0.06 27.1 2736 2194 3166 3122 612.5 1.5 674 15028 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2194 3144 3166 3122 0 0 0 0 0 0 15.11 15.12 15.12

15328 -0.06 27.1 2736 2194 3166 3122 606.0 2.2 679 15329 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3144 3166 3122 0 0 0 0 0 0 15.10 15.12 15.12

15628 -0.06 27.1 2735 2194 3166 3122 601.3 1.5 684 15629 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3144 3166 3122 0 0 0 0 0 0 15.11 15.12 15.12

15928 -0.06 27.1 2736 2194 3166 3123 600.1 0.3 689 15929 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3144 3166 3122 0 0 0 0 0 0 15.10 15.12 15.12

16228 -0.06 27.1 2736 2194 3166 3122 599.5 0.2 694 16230 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3144 3166 3122 0 0 0 0 0 0 15.11 15.12 15.12

16528 -0.06 27.1 2735 2194 3166 3122 596.2 1.2 699 16529 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3144 3166 3123 0 0 0 0 0 0 15.11 15.13 15.12

16829 -0.06 27.1 2736 2194 3166 3122 590.7 1.9 704 16830 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3144 3166 3122 0 0 0 0 0 0 15.09 15.11 15.11

17128 -0.06 27.1 2736 2193 3166 3122 586.6 1.3 709 17129 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2195 3144 3166 3122 0 0 0 0 0 0 15.10 15.13 15.12

17428 -0.06 27.1 2736 2194 3166 3123 584.8 0.5 714 17430 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3144 3166 3122 0 0 0 0 0 0 15.10 15.13 15.12

17728 -0.06 27.1 2736 2194 3166 3123 585.4 -0.3 719 17729 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3144 3166 3122 0 0 0 0 0 0 15.11 15.11 15.12

18029 -0.05 31.5 2736 2194 3166 3122 588.6 -1.1 724 18040 0.00 0.00 8.23 1.598 8230 0.000 0.000 2736 2194 3121 3140 3102 0 0 0 0 0 0 15.09 14.45 13.35

18328 -0.05 31.5 2735 2194 3133 3096 589.5 -0.1 729 18329 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3114 3133 3096 0 0 0 0 0 0 15.07 15.09 15.09

18627 -0.05 31.5 2735 2194 3132 3096 587.4 0.8 734 18628 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3114 3133 3096 0 0 0 0 0 0 15.09 15.11 15.11

18928 -0.05 31.5 2736 2194 3132 3096 581.0 2.3 739 18929 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3114 3132 3096 0 0 0 0 0 0 15.09 15.11 15.11

19228 -0.05 31.5 2736 2194 3132 3096 572.5 2.8 744 19229 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3114 3133 3096 0 0 0 0 0 0 15.09 15.11 15.11

19528 -0.05 31.5 2736 2194 3132 3096 565.7 2.2 749 19529 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3114 3133 3096 0 0 0 0 0 0 15.09 15.11 15.11

19828 -0.05 31.5 2736 2194 3132 3096 561.2 1.5 754 19830 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3114 3132 3096 0 0 0 0 0 0 15.09 15.11 15.11

20128 -0.05 31.5 2736 2195 3132 3095 557.0 1.4 759 20129 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3114 3132 3096 0 0 0 0 0 0 15.09 15.11 15.12

20429 -0.05 31.5 2736 2194 3132 3096 553.4 1.2 764 20430 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3114 3132 3096 0 0 0 0 0 0 15.09 15.11 15.11

20728 -0.05 31.5 2736 2194 3132 3096 549.5 1.3 769 20729 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2194 3114 3132 3096 0 0 0 0 0 0 15.10 15.12 15.12

21027 end loiter: LOITER_COMPLETE

state 21027 begin climb

21029 0.72 97.3 2735 2194 3132 3096 545.3 0.0 774 21112 0.85 2.42 74.90 1.463 10500 0.149 0.079 2987 3586 2846 2869 2824 0 0 0 0 0 0 14.07 14.28 13.34

21149 0.78 151.2 2987 3586 2864 2822 540.6 5.2 793 21217 0.00 2.12 60.83 1.431 9254 0.000 0.039 2987 2251 2629 2663 2595 0 0 0 0 0 0 14.46 14.39 13.24

21540 0.82 187.1 2987 2251 2648 2585 516.6 6.3 821 21587 0.12 2.58 40.00 1.413 10788 0.146 0.055 3047 851 2479 2519 2440 0 0 0 0 0 0 14.45 14.31 13.45

21625 0.82 187.1 3047 851 2516 2436 510.1 8.0 838 21632 0.00 2.40 0.00 0.000 1030 0.000 0.050 3047 2178 2476 2516 2436 0 0 0 0 0 0 14.44 14.35 14.47

21930 0.82 187.1 3047 2176 2510 2434 483.0 9.3 849 21934 0.00 2.38 0.00 0.000 260 0.000 0.073 3047 3589 2472 2510 2434 0 0 0 0 0 0 14.88 14.40 14.90

21950 0.82 187.1 3047 3589 2508 2433 480.8 10.0 853 21954 0.00 2.12 0.00 0.000 1030 0.000 0.040 3053 2261 2470 2508 2433 0 0 0 0 0 0 14.59 14.50 14.62

22263 0.82 187.1 3053 2260 2507 2432 451.1 9.4 865 22269 0.00 2.53 0.00 0.000 516 0.000 0.058 3059 845 2469 2507 2432 0 0 0 0 0 0 14.95 14.45 14.97

22322 0.82 187.1 3059 845 2508 2433 445.9 8.2 877 22329 0.15 2.38 0.00 0.000 5126 0.232 0.049 3025 2179 2470 2507 2433 0 0 0 0 0 0 14.20 14.50 14.48

22653 0.87 224.9 3024 2178 2507 2432 424.0 6.1 893 22699 0.00 2.42 40.95 1.347 8740 0.000 0.058 3029 845 2327 2368 2286 0 0 0 0 0 0 15.00 14.46 13.62

22737 0.90 224.9 3028 845 2364 2284 418.5 6.7 910 22744 0.00 2.40 0.00 0.000 1094 0.000 0.047 3029 2186 2324 2364 2284 0 0 0 0 0 0 14.54 14.45 14.57

23043 0.90 224.9 3028 2185 2360 2281 395.3 8.0 921 23047 0.00 2.35 0.00 0.000 260 0.000 0.073 3029 3585 2320 2360 2281 0 0 0 0 0 0 14.90 14.41 14.92

23098 0.90 224.9 3028 3585 2360 2281 390.4 8.5 932 23105 0.00 2.15 0.00 0.000 1030 0.000 0.039 3029 2229 2320 2360 2281 0 0 0 0 0 0 14.62 14.54 14.64

23405 0.90 224.9 3028 2229 2359 2281 363.6 8.9 943 23409 0.00 2.30 0.00 0.000 260 0.000 0.070 3029 3589 2319 2359 2280 0 0 0 0 0 0 14.98 14.43 15.00

23420 0.90 224.9 3028 3588 2358 2281 361.9 9.0 946 23424 0.00 2.12 0.00 0.000 1030 0.000 0.041 3029 2260 2319 2358 2281 0 0 0 0 0 0 14.64 14.56 14.67

23738 0.90 224.9 3028 2257 2357 2281 333.6 8.8 959 23742 0.00 2.50 0.00 0.000 516 0.000 0.057 3031 848 2319 2358 2281 0 0 0 0 0 0 15.00 14.46 15.02

23764 0.90 224.9 3031 848 2357 2281 331.3 8.2 964 23771 0.00 2.38 0.00 0.000 1030 0.000 0.047 3031 2179 2318 2357 2280 0 0 0 0 0 0 14.62 14.52 14.66

24071 0.92 224.9 3031 2178 2356 2280 307.6 7.4 975 24077 0.00 2.35 0.00 0.000 324 0.000 0.074 3031 3579 2318 2356 2280 0 0 0 0 0 0 15.02 14.42 15.04

24105 0.93 224.9 3030 3579 2356 2280 305.0 7.7 981 24109 0.00 2.12 0.00 0.000 1094 0.000 0.040 3035 2232 2318 2356 2280 0 0 0 0 0 0 14.66 14.58 14.69

24436 0.93 224.9 3035 2229 2355 2280 277.7 9.0 997 24440 0.00 2.28 0.00 0.000 260 0.000 0.071 3036 3582 2318 2356 2280 0 0 0 0 0 0 15.04 14.42 15.06

24457 0.93 224.9 3035 3582 2355 2280 275.5 9.7 1001 24461 0.00 2.10 0.00 0.000 1030 0.000 0.040 3040 2260 2317 2355 2280 0 0 0 0 0 0 14.66 14.58 14.70

24770 0.93 224.9 3040 2256 2355 2280 248.7 8.1 1013 24774 0.00 2.25 0.00 0.000 260 0.000 0.071 3040 3588 2317 2355 2280 0 0 0 0 0 0 15.04 14.38 15.07

24825 0.93 224.9 3040 3588 2354 2280 243.7 8.4 1024 24832 0.00 2.15 0.00 0.000 1030 0.000 0.039 3041 2226 2317 2354 2280 0 0 0 0 0 0 14.66 14.58 14.69

25133 0.93 224.9 3041 2226 2354 2280 218.1 8.6 1055 25138 0.00 2.30 0.00 0.000 260 0.000 0.070 3041 3585 2317 2354 2280 0 0 0 0 0 0 15.03 14.40 15.06

25196 0.93 224.9 3041 3584 2354 2280 212.3 8.6 1067 25201 0.00 2.10 0.00 0.000 1030 0.000 0.038 3042 2256 2317 2354 2280 0 0 0 0 0 0 14.65 14.57 14.69

25509 0.95 224.9 3042 2252 2354 2280 191.5 7.4 1099 25514 0.00 2.50 0.00 0.000 580 0.000 0.055 3042 842 2317 2354 2280 0 0 0 0 0 0 15.04 14.43 15.07

25572 0.95 224.9 3042 843 2354 2280 186.3 8.1 1111 25577 0.00 2.38 0.00 0.000 1030 0.000 0.044 3042 2189 2317 2354 2280 0 0 0 0 0 0 14.62 14.52 14.65

25885 0.98 224.9 3042 2189 2354 2280 161.5 7.0 1143 25890 0.00 2.40 0.00 0.000 580 0.000 0.053 3044 851 2317 2354 2280 0 0 0 0 0 0 15.04 14.44 15.06

25911 1.01 224.9 3042 851 2354 2280 159.7 6.8 1148 25919 0.12 2.38 0.00 0.000 3142 0.143 0.043 3089 2192 2317 2354 2280 0 0 0 0 0 0 14.44 14.51 14.58

26217 1.01 224.9 3089 2192 2354 2280 133.9 10.7 1179 26222 0.00 2.33 0.00 0.000 260 0.000 0.069 3089 3588 2317 2354 2280 0 0 0 0 0 0 15.04 14.40 15.07

26233 1.01 224.9 3089 3587 2353 2280 132.0 10.6 1182 26240 0.00 2.12 0.00 0.000 1030 0.000 0.039 3091 2259 2317 2354 2280 0 0 0 0 0 0 14.64 14.56 14.67

26540 1.01 224.9 3091 2256 2354 2280 108.8 9.5 1213 26549 0.00 2.53 0.00 0.000 516 0.000 0.056 3091 838 2316 2353 2280 0 0 0 0 0 0 15.04 14.40 15.06

26582 1.01 224.9 3091 838 2353 2280 104.4 10.3 1221 26591 0.00 2.38 0.00 0.000 1030 0.000 0.043 3091 2187 2316 2353 2280 0 0 0 0 0 0 14.61 14.52 14.65

26893 1.11 304.8 3090 2186 2353 2279 86.3 3.7 1253 26973 0.00 2.38 73.80 0.986 8484 0.000 0.067 3091 3583 2001 2043 1960 0 0 0 0 0 0 15.03 14.42 13.72

27015 1.11 304.8 3091 3582 2039 1958 78.3 8.2 1277 27019 0.00 2.12 0.00 0.000 1030 0.000 0.035 3091 2226 1998 2039 1958 0 0 0 0 0 0 14.54 14.47 14.56

27327 1.15 344.7 3090 2222 2045 1958 59.7 6.0 1309 27367 0.12 0.00 37.15 0.948 10534 0.155 0.000 3146 2222 1842 1884 1800 0 0 0 0 0 0 14.48 14.42 13.78

27671 1.17 344.7 3145 2222 1871 1795 37.0 7.5 1366 27677 0.00 2.40 0.00 0.000 580 0.000 0.049 3147 856 1834 1872 1796 0 0 0 0 0 0 14.87 14.47 14.89

27715 1.20 344.7 3146 856 1874 1795 33.6 7.0 1374 27722 0.00 2.33 0.00 0.000 1094 0.000 0.038 3147 2188 1835 1875 1796 0 0 0 0 0 0 14.61 14.53 14.64

28028 1.21 344.7 3146 2186 1881 1796 10.5 7.6 1435 28036 0.00 2.28 0.00 0.000 324 0.000 0.064 3146 3586 1837 1881 1794 0 0 0 0 0 0 14.95 14.48 14.97

28080 1.21 344.7 3146 3586 1881 1796 6.5 7.9 1444 28087 0.00 2.05 0.00 0.000 1030 0.000 0.034 3146 2260 1839 1882 1796 0 0 0 0 0 0 14.67 14.61 14.69

28132 end climb: SURFACE_DEPTH_REACHED

state 28133 begin surface coast

28190 end surface coast: CONTROL_FINISHED_OK

state 28190 begin surface

ID	128	KALMAN_USE	2	ROLL_MIN	200	AD7714Ch0Gain	32
MISSION	4	HD_A	0.0026803601	ROLL_MAX	3700	COMPASS_USE	4
DIVE	443	HD_B	0.0139002	ROLL_DEG	40	ALTIM_PING_FIT	0
N_DIVES	0	HD_C	9.1750398e-06	C_ROLL_DIVE	1800	ALTIM_TOP_PING_RANGE	0
STOP_T	0	HEADING	-1	C_ROLL_CLIMB	2250	ALTIM_BOTTOM_TURN_MARGIN	15
D_SURF	3	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	2
D_TGT	600	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_ABORT	1030	TGT_DEFAULT_LAT	3235	R_PORT_OVSHOOT	63	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	109	ALTIM_FREQUENCY	13
D_BOOST	20	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	ALTIM_PULSE	3
T_BOOST	5	SM_CC	400	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FINISH	0	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_VALID	5
D_PITCH	0	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_SAFE	0	CALL_NDIVES	1	VBD_MIN	400	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	COMM_SEQ	0	VBD_MAX	3900	INT_PRESSURE_YINT	-1
SURFACE_URGENCY	0	PROTOCOL	9	C_VBD	3250	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	2	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	NOCOMM_ACTION	163	VBD_CNV	-0.245296	DEVICE1	2
T_DIVE	240	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	500	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE3	-1
T_ABORT	1600	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00121	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE5	-1
T_TURN_SAMPINT	-5	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	14400	HEAPDBG	0	UNCOM_BLEED	20	LOGGERDEVICE1	-1
T_EPIRB	0	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
EXEC_P	0	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE3	-1
EXEC_DT	0	T_RSLEEP	1	DBDW	0	LOGGERDEVICE4	-1
EXEC_T	0	STROBE	0	LOITER_W_DBAND	1	COMPASS_DEVICE	33
EXEC_N	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	400	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_NO_PUMP	500	PHONE_DEVICE	49
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	1	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	PITCH_W_GAIN	2	RAFOS_DEVICE	-1
D_OFFGRID	1000	PITCH_MIN	250	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3750	CF8_MAXERRORS	20	SIM_W	0
RELAUNCH	1	C_PITCH	2760	AH0_24V	350	SEABIRD_T_G	0.0043553207
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_10V	0	SEABIRD_T_H	0.00062594062
MAX_BUOY	100	PITCH_CNV	0.003125763	MINV_24V	11	SEABIRD_T_I	2.3765557e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_10V	11	SEABIRD_T_J	2.606791e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8755465
SPEED_FACTOR	1	PITCH_GAIN	34	MAXI_10V	0.80000001	SEABIRD_C_H	1.1390997
RHO	1.0275	PITCH_TIMEOUT	16	FG_AHR_10V	0	SEABIRD_C_I	-0.0019936475
MASS	51713	PITCH_AD_RATE	175	FG_AHR_24V	0	SEABIRD_C_J	0.00023608611
MASS_COMP	0	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2
NAV_MODE	2	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-157.40906
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014074198

GPS1	180518,114159,-129.2962,5752.5317,35,1.7,57,-4.2,0.6,152.2,4,9.6	SPEED_LIMITS	0.144,0.173
_CALLS	1	TGT_NAME	MALDIVE
_XMS_NAKs	0	TGT_LATLONG	430.000,7230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.84	MHEAD_RNG_PITCHd_Wd	58.9,1751019,-20.3,-8.333,-25.69,1777
_SM_ANGLEo	-70.7	D_GRID	1000
GPS2	180518,114822,-129.3870,5752.7881,17,1.7,33,-4.2,1.2,98.1,4,7.3

FINISH	-0.1,0.999469	_10V_AH	13.45,0.000
SM_CCo	28208,22.33,0.073,0,0,1618,400.08	FG_AHR_24Vo	0.000
SM_GC	1.03,8.80,0.82,22.33,0.099,0.034,0.073,245,1795,1618,-7.82,1.30,400.08,0,0,0,0,0,0,14.42,14.66,14.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-126.86,5750.76,180518,033314	MEM	302972
TT8_MAMPS	0.018725,0.15729	DATA_FILE_SIZE	66640,1465
HUMID	58.58	CAP_FILE_SIZE	189354,0
INTERNAL_PRESSURE	8.55115	CFSIZE	260034560,217890816
TCM_TEMP	24.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.096,104.44,1
_24V_AH	13.11,145.094	GPS	180518,194040,-129.803,5754.185,27,1.0,32,-4.2,1.5,107.8,8,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	413	123.61	SBE_CT	624	23	196.28
Roll_motor	156	78	162.05	nil	0	0	0.00
VBD_pump_during_apogee	477	1598	10003.00	nil	0	0	0.00
VBD_pump_during_surface	22	73	21.49	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	255	136	457.96	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	20	9.40
TT8	3256	9	414.83
LPSleep	22088	2	650.62
TT8_Active	651	9	82.93
TT8_Sampling	2284	28	866.01
TT8_CF8	336	34	154.69
TT8_Kalman	0	0	0.00
Analog_circuits	2120	16	456.41
GPS_charging	0	0	0.00
Compass	1915	17	443.82
RAFOS	0	0	0.00
Transponder	0	5	0.04

		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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8	-0.72	-97.3	221	1762	1631	1618	0.0	0.0	0	70	0.00	0.00	-60.05	0.003	16386	0.000	0.000	222	1762	3573	3553	3594	0	0	0	0	0	0	14.85	28.83	14.88
73	-0.72	-97.3	221	1762	3554	3595	4.9	-14.3	10	95	11.82	2.28	-1.15	0.071	18948	0.413	0.073	2519	416	3651	3648	3655	0	0	0	0	0	0	14.07	13.11	14.49
138	-0.72	-97.3	2519	416	3653	3655	22.6	-16.2	21	145	0.00	2.17	0.00	0.000	1030	0.000	0.039	2519	1731	3654	3653	3655	0	0	0	0	0	0	14.61	14.52	14.63
449	-0.72	-97.3	2519	1731	3651	3655	72.7	-15.2	68	458	0.00	2.42	0.00	0.000	260	0.000	0.064	2519	3132	3652	3651	3653	0	0	0	0	0	0	14.97	14.48	14.98
574	-0.72	-97.3	2519	3131	3647	3653	87.5	-8.6	93	580	0.00	2.20	0.00	0.000	1030	0.000	0.033	2519	1797	3650	3647	3654	0	0	0	0	0	0	14.69	14.62	14.71
880	-0.72	-97.3	2519	1794	3652	3654	111.3	-8.1	124	884	0.00	2.33	0.00	0.000	260	0.000	0.059	2519	3141	3653	3653	3654	0	0	0	0	0	0	15.03	14.54	15.04
942	-0.72	-97.3	2519	3141	3653	3653	116.8	-9.0	136	946	0.00	2.20	0.00	0.000	1030	0.000	0.033	2520	1797	3653	3653	3654	0	0	0	0	0	0	14.73	14.67	14.76
1253	-0.72	-97.3	2519	1793	3658	3654	150.1	-10.8	168	1258	0.00	2.28	0.00	0.000	516	0.000	0.049	2519	413	3656	3658	3654	0	0	0	0	0	0	15.06	14.59	15.08
1335	-0.72	-97.3	2519	413	3658	3657	158.9	-10.4	184	1339	0.00	2.12	0.00	0.000	1030	0.000	0.038	2519	1730	3657	3658	3656	0	0	0	0	0	0	14.73	14.65	14.76
1646	-0.72	-97.3	2519	1729	3658	3656	188.0	-8.3	216	1650	0.00	2.17	0.00	0.000	516	0.000	0.050	2519	407	3657	3658	3656	0	0	0	0	0	0	15.07	14.59	15.09
1662	-0.72	-97.3	2519	407	3658	3657	189.4	-8.6	219	1668	0.00	2.15	0.00	0.000	1030	0.000	0.041	2519	1733	3657	3658	3657	0	0	0	0	0	0	14.73	14.65	14.77
1968	-0.72	-97.3	2519	1732	3658	3657	215.5	-9.7	250	1973	0.00	2.17	0.00	0.000	516	0.000	0.049	2519	414	3657	3658	3657	0	0	0	0	0	0	15.08	14.59	15.10
1980	-0.72	-97.3	2519	414	3658	3657	216.7	-9.6	252	1984	0.00	2.15	0.00	0.000	1030	0.000	0.042	2519	1735	3657	3658	3656	0	0	0	0	0	0	14.73	14.64	14.76
2292	-0.72	-97.3	2519	1734	3657	3656	243.3	-8.2	284	2302	0.00	2.40	0.00	0.000	260	0.000	0.063	2519	3133	3655	3657	3654	0	0	0	0	0	0	15.08	14.55	15.10
2345	-0.72	-97.3	2520	3133	3657	3654	247.4	-8.1	294	2350	0.00	2.17	0.00	0.000	1030	0.000	0.033	2519	1798	3655	3656	3654	0	0	0	0	0	0	14.77	14.71	14.79
2678	-0.72	-97.3	2519	1793	3645	3653	276.2	-9.1	308	2682	0.00	2.28	0.00	0.000	516	0.000	0.050	2519	411	3649	3645	3653	0	0	0	0	0	0	15.11	14.58	15.12
2713	-0.72	-97.3	2519	410	3644	3652	279.6	-9.3	315	2717	0.00	2.15	0.00	0.000	1030	0.000	0.041	2519	1733	3648	3644	3652	0	0	0	0	0	0	14.73	14.65	14.77
3040	-0.72	-97.3	2519	1732	3641	3650	308.2	-8.5	330	3045	0.00	2.40	0.00	0.000	260	0.000	0.063	2520	3131	3645	3641	3650	0	0	0	0	0	0	15.10	14.55	15.12
3117	-0.72	-97.3	2519	3131	3651	3648	314.7	-8.5	345	3121	0.00	2.20	0.00	0.000	1030	0.000	0.034	2519	1787	3649	3651	3648	0	0	0	0	0	0	14.77	14.71	14.79
3433	-0.72	-97.3	2519	1782	3666	3646	338.6	-7.4	358	3438	0.00	2.28	0.00	0.000	516	0.000	0.053	2520	410	3655	3665	3646	0	0	0	0	0	0	15.11	14.57	15.13
3455	-0.72	-97.3	2518	410	3665	3646	340.4	-7.9	362	3460	0.00	2.17	0.00	0.000	1030	0.000	0.041	2519	1737	3655	3665	3646	0	0	0	0	0	0	14.73	14.64	14.76
3767	-0.72	-97.3	2519	1736	3663	3644	365.2	-8.1	374	3768	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1736	3653	3663	3644	0	0	0	0	0	0	15.11	15.13	15.13
4067	-0.72	-97.3	2519	1736	3660	3642	391.0	-9.0	384	4068	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1736	3651	3660	3642	0	0	0	0	0	0	15.11	15.13	15.13
4368	-0.72	-97.3	2519	1736	3659	3641	420.8	-10.1	394	4369	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1736	3649	3659	3640	0	0	0	0	0	0	15.10	15.12	15.12
4667	-0.72	-97.3	2519	1736	3658	3638	448.8	-9.0	404	4671	0.00	2.22	0.00	0.000	516	0.000	0.054	2519	416	3648	3658	3638	0	0	0	0	0	0	15.11	14.54	15.14
4752	-0.72	-97.3	2519	416	3657	3637	456.6	-8.9	421	4759	0.00	2.17	0.00	0.000	1030	0.000	0.044	2519	1728	3646	3656	3637	0	0	0	0	0	0	14.70	14.60	14.73
5059	-0.72	-97.3	2519	1728	3653	3635	480.2	-7.4	432	5066	0.00	2.45	0.00	0.000	772	0.000	0.068	2519	3133	3644	3653	3635	0	0	0	0	0	0	15.10	14.48	15.12
5102	-0.72	-97.3	2519	3133	3653	3634	483.4	-7.3	441	5106	0.00	2.22	0.00	0.000	1030	0.000	0.037	2519	1794	3643	3652	3634	0	0	0	0	0	0	14.73	14.66	14.76
5419	-0.72	-97.3	2519	1788	3640	3633	503.9	-6.4	454	5424	0.00	2.35	0.00	0.000	260	0.000	0.065	2519	3130	3637	3641	3633	0	0	0	0	0	0	15.10	14.48	15.12
5501	-0.72	-97.3	2519	3130	3641	3631	509.6	-7.0	470	5506	0.00	2.22	0.00	0.000	1030	0.000	0.037	2519	1792	3636	3641	3631	0	0	0	0	0	0	14.71	14.64	14.74
5813	-0.72	-97.3	2519	1787	3646	3631	533.8	-8.3	482	5818	0.00	2.30	0.00	0.000	516	0.000	0.056	2519	417	3637	3645	3630	0	0	0	0	0	0	15.11	14.50	15.13
5880	-0.72	-97.3	2519	417	3646	3630	539.9	-9.5	495	5884	0.00	2.17	0.00	0.000	1030	0.000	0.045	2519	1728	3638	3647	3630	0	0	0	0	0	0	14.66	14.57	14.70
6206	-0.72	-97.3	2519	1727	3646	3628	571.9	-10.1	510	6211	0.00	2.47	0.00	0.000	260	0.000	0.068	2519	3139	3637	3646	3628	0	0	0	0	0	0	15.10	14.45	15.12
6257	-0.72	-97.3	2519	3138	3646	3627	577.2	-10.3	520	6261	0.00	2.22	0.00	0.000	1030	0.000	0.037	2519	1801	3636	3646	3627	0	0	0	0	0	0	14.71	14.64	14.73
6506	end dive: TARGET_DEPTH_EXCEEDED
state	6507	begin apogee
6513	-0.15	0.0	2519	2195	3645	3626	601.0	-9.1	530	6634	0.70	0.00	118.07	1.425	10246	0.232	0.000	2704	2195	3249	3269	3230	0	0	0	0	0	0	14.00	14.20	13.38
6635	end apogee: CONTROL_FINISHED_OK
state	6636	begin loiter
6928	-0.15	0.0	2704	2195	3261	3223	609.4	-0.8	539	6929	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2195	3242	3261	3223	0	0	0	0	0	0	14.90	14.92	14.91
7227	-0.15	0.0	2704	2195	3258	3222	610.1	-0.2	544	7228	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2195	3240	3259	3222	0	0	0	0	0	0	15.00	15.02	15.02
7529	-0.13	0.0	2703	2195	3257	3220	612.2	-0.8	549	7530	0.00	0.00	0.00	0.000	70	0.000	0.000	2704	2194	3239	3257	3221	0	0	0	0	0	0	15.03	15.05	15.05
7827	-0.12	7.1	2703	2195	3256	3220	617.4	-1.8	554	7833	0.00	0.00	3.35	1.056	8230	0.000	0.000	2704	2195	3221	3239	3204	0	0	0	0	0	0	15.07	14.48	13.16
8128	-0.11	16.7	2703	2195	3250	3204	624.6	-2.5	559	8145	0.00	0.00	15.07	1.590	8230	0.000	0.000	2704	2195	3180	3199	3162	0	0	0	0	0	0	15.07	14.59	13.64
8428	-0.10	16.7	2703	2195	3187	3154	627.1	-0.5	564	8429	0.00	0.00	0.00	0.000	70	0.000	0.000	2704	2194	3170	3187	3154	0	0	0	0	0	0	15.02	15.04	15.04
8728	-0.10	16.7	2703	2194	3188	3154	628.0	-0.3	569	8729	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2195	3171	3188	3154	0	0	0	0	0	0	15.06	15.08	15.08
9028	-0.10	16.7	2703	2195	3187	3153	627.6	0.2	574	9029	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2194	3170	3187	3153	0	0	0	0	0	0	15.08	15.10	15.10
9328	-0.10	16.7	2703	2194	3186	3152	623.9	1.4	579	9329	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2195	3169	3186	3152	0	0	0	0	0	0	15.09	15.11	15.11
9629	-0.10	16.7	2703	2194	3185	3152	618.1	2.0	584	9630	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2195	3168	3185	3152	0	0	0	0	0	0	15.09	15.11	15.11
9928	-0.10	16.7	2703	2194	3183	3151	613.1	1.6	589	9929	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2194	3167	3184	3151	0	0	0	0	0	0	15.11	15.13	15.13
10228	-0.10	16.7	2703	2194	3183	3150	610.8	0.7	594	10230	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2195	3167	3183	3151	0	0	0	0	0	0	15.11	15.13	15.13
10528	-0.10	16.7	2703	2194	3183	3150	610.3	0.1	599	10529	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2194	3167	3183	3151	0	0	0	0	0	0	15.11	15.14	15.13
10829	-0.10	16.7	2703	2194	3182	3150	609.7	0.2	604	10830	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2195	3166	3182	3150	0	0	0	0	0	0	15.11	15.13	15.13
11128	-0.10	16.7	2703	2194	3181	3150	608.7	0.3	609	11129	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2194	3165	3182	3149	0	0	0	0	0	0	15.12	15.14	15.13
11428	-0.10	16.7	2703	2194	3181	3149	609.6	-0.4	614	11430	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2194	3165	3181	3149	0	0	0	0	0	0	15.11	15.14	15.13
11729	-0.08	16.7	2703	2194	3182	3149	611.9	-0.8	619	11730	0.00	0.00	0.00	0.000	70	0.000	0.000	2704	2194	3165	3181	3149	0	0	0	0	0	0	15.11	15.13	15.13
12030	-0.07	16.7	2703	2194	3181	3148	613.8	-0.6	624	12032	0.12	0.00	0.00	0.000	2118	0.232	0.000	2737	2194	3164	3181	3148	0	0	0	0	0	0	14.42	14.66	14.60
12328	-0.07	16.7	2736	2195	3181	3148	614.7	-0.3	629	12329	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3164	3181	3148	0	0	0	0	0	0	15.11	15.14	15.13
12628	-0.07	16.7	2736	2195	3181	3147	615.0	-0.1	634	12630	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3163	3180	3147	0	0	0	0	0	0	15.11	15.14	15.13
12928	-0.07	16.7	2736	2195	3180	3147	613.9	0.4	639	12929	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3164	3181	3147	0	0	0	0	0	0	15.11	15.13	15.13
13229	-0.07	16.7	2736	2194	3180	3147	611.0	1.0	644	13230	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3163	3179	3147	0	0	0	0	0	0	15.10	15.13	15.12
13528	-0.07	16.7	2736	2194	3179	3147	608.5	0.8	649	13529	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3163	3180	3147	0	0	0	0	0	0	15.11	15.13	15.13
13828	-0.07	16.7	2736	2194	3179	3147	609.2	-0.3	654	13830	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3163	3179	3147	0	0	0	0	0	0	15.11	15.13	15.13
14129	-0.07	21.9	2736	2194	3179	3147	612.9	-1.3	659	14130	0.00	0.00	0.00	0.000	38	0.000	0.000	2736	2194	3163	3179	3147	0	0	0	0	0	0	15.11	15.13	15.12
14430	-0.06	27.1	2736	2194	3179	3147	617.0	-1.3	664	14436	0.00	0.00	5.10	1.472	8230	0.000	0.000	2736	2194	3140	3158	3122	0	0	0	0	0	0	15.10	14.43	13.19
14728	-0.06	27.1	2736	2194	3166	3122	616.7	0.3	669	14729	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2195	3144	3166	3123	0	0	0	0	0	0	15.09	15.11	15.11
15027	-0.06	27.1	2736	2194	3166	3122	612.5	1.5	674	15028	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2194	3144	3166	3122	0	0	0	0	0	0	15.11	15.12	15.12
15328	-0.06	27.1	2736	2194	3166	3122	606.0	2.2	679	15329	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3144	3166	3122	0	0	0	0	0	0	15.10	15.12	15.12
15628	-0.06	27.1	2735	2194	3166	3122	601.3	1.5	684	15629	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3144	3166	3122	0	0	0	0	0	0	15.11	15.12	15.12
15928	-0.06	27.1	2736	2194	3166	3123	600.1	0.3	689	15929	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3144	3166	3122	0	0	0	0	0	0	15.10	15.12	15.12
16228	-0.06	27.1	2736	2194	3166	3122	599.5	0.2	694	16230	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3144	3166	3122	0	0	0	0	0	0	15.11	15.12	15.12
16528	-0.06	27.1	2735	2194	3166	3122	596.2	1.2	699	16529	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3144	3166	3123	0	0	0	0	0	0	15.11	15.13	15.12
16829	-0.06	27.1	2736	2194	3166	3122	590.7	1.9	704	16830	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3144	3166	3122	0	0	0	0	0	0	15.09	15.11	15.11
17128	-0.06	27.1	2736	2193	3166	3122	586.6	1.3	709	17129	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2195	3144	3166	3122	0	0	0	0	0	0	15.10	15.13	15.12
17428	-0.06	27.1	2736	2194	3166	3123	584.8	0.5	714	17430	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3144	3166	3122	0	0	0	0	0	0	15.10	15.13	15.12
17728	-0.06	27.1	2736	2194	3166	3123	585.4	-0.3	719	17729	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3144	3166	3122	0	0	0	0	0	0	15.11	15.11	15.12
18029	-0.05	31.5	2736	2194	3166	3122	588.6	-1.1	724	18040	0.00	0.00	8.23	1.598	8230	0.000	0.000	2736	2194	3121	3140	3102	0	0	0	0	0	0	15.09	14.45	13.35
18328	-0.05	31.5	2735	2194	3133	3096	589.5	-0.1	729	18329	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3114	3133	3096	0	0	0	0	0	0	15.07	15.09	15.09
18627	-0.05	31.5	2735	2194	3132	3096	587.4	0.8	734	18628	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3114	3133	3096	0	0	0	0	0	0	15.09	15.11	15.11
18928	-0.05	31.5	2736	2194	3132	3096	581.0	2.3	739	18929	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3114	3132	3096	0	0	0	0	0	0	15.09	15.11	15.11
19228	-0.05	31.5	2736	2194	3132	3096	572.5	2.8	744	19229	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3114	3133	3096	0	0	0	0	0	0	15.09	15.11	15.11
19528	-0.05	31.5	2736	2194	3132	3096	565.7	2.2	749	19529	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3114	3133	3096	0	0	0	0	0	0	15.09	15.11	15.11
19828	-0.05	31.5	2736	2194	3132	3096	561.2	1.5	754	19830	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3114	3132	3096	0	0	0	0	0	0	15.09	15.11	15.11
20128	-0.05	31.5	2736	2195	3132	3095	557.0	1.4	759	20129	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3114	3132	3096	0	0	0	0	0	0	15.09	15.11	15.12
20429	-0.05	31.5	2736	2194	3132	3096	553.4	1.2	764	20430	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3114	3132	3096	0	0	0	0	0	0	15.09	15.11	15.11
20728	-0.05	31.5	2736	2194	3132	3096	549.5	1.3	769	20729	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2194	3114	3132	3096	0	0	0	0	0	0	15.10	15.12	15.12
21027	end loiter: LOITER_COMPLETE
state	21027	begin climb
21029	0.72	97.3	2735	2194	3132	3096	545.3	0.0	774	21112	0.85	2.42	74.90	1.463	10500	0.149	0.079	2987	3586	2846	2869	2824	0	0	0	0	0	0	14.07	14.28	13.34
21149	0.78	151.2	2987	3586	2864	2822	540.6	5.2	793	21217	0.00	2.12	60.83	1.431	9254	0.000	0.039	2987	2251	2629	2663	2595	0	0	0	0	0	0	14.46	14.39	13.24
21540	0.82	187.1	2987	2251	2648	2585	516.6	6.3	821	21587	0.12	2.58	40.00	1.413	10788	0.146	0.055	3047	851	2479	2519	2440	0	0	0	0	0	0	14.45	14.31	13.45
21625	0.82	187.1	3047	851	2516	2436	510.1	8.0	838	21632	0.00	2.40	0.00	0.000	1030	0.000	0.050	3047	2178	2476	2516	2436	0	0	0	0	0	0	14.44	14.35	14.47
21930	0.82	187.1	3047	2176	2510	2434	483.0	9.3	849	21934	0.00	2.38	0.00	0.000	260	0.000	0.073	3047	3589	2472	2510	2434	0	0	0	0	0	0	14.88	14.40	14.90
21950	0.82	187.1	3047	3589	2508	2433	480.8	10.0	853	21954	0.00	2.12	0.00	0.000	1030	0.000	0.040	3053	2261	2470	2508	2433	0	0	0	0	0	0	14.59	14.50	14.62
22263	0.82	187.1	3053	2260	2507	2432	451.1	9.4	865	22269	0.00	2.53	0.00	0.000	516	0.000	0.058	3059	845	2469	2507	2432	0	0	0	0	0	0	14.95	14.45	14.97
22322	0.82	187.1	3059	845	2508	2433	445.9	8.2	877	22329	0.15	2.38	0.00	0.000	5126	0.232	0.049	3025	2179	2470	2507	2433	0	0	0	0	0	0	14.20	14.50	14.48
22653	0.87	224.9	3024	2178	2507	2432	424.0	6.1	893	22699	0.00	2.42	40.95	1.347	8740	0.000	0.058	3029	845	2327	2368	2286	0	0	0	0	0	0	15.00	14.46	13.62
22737	0.90	224.9	3028	845	2364	2284	418.5	6.7	910	22744	0.00	2.40	0.00	0.000	1094	0.000	0.047	3029	2186	2324	2364	2284	0	0	0	0	0	0	14.54	14.45	14.57
23043	0.90	224.9	3028	2185	2360	2281	395.3	8.0	921	23047	0.00	2.35	0.00	0.000	260	0.000	0.073	3029	3585	2320	2360	2281	0	0	0	0	0	0	14.90	14.41	14.92
23098	0.90	224.9	3028	3585	2360	2281	390.4	8.5	932	23105	0.00	2.15	0.00	0.000	1030	0.000	0.039	3029	2229	2320	2360	2281	0	0	0	0	0	0	14.62	14.54	14.64
23405	0.90	224.9	3028	2229	2359	2281	363.6	8.9	943	23409	0.00	2.30	0.00	0.000	260	0.000	0.070	3029	3589	2319	2359	2280	0	0	0	0	0	0	14.98	14.43	15.00
23420	0.90	224.9	3028	3588	2358	2281	361.9	9.0	946	23424	0.00	2.12	0.00	0.000	1030	0.000	0.041	3029	2260	2319	2358	2281	0	0	0	0	0	0	14.64	14.56	14.67
23738	0.90	224.9	3028	2257	2357	2281	333.6	8.8	959	23742	0.00	2.50	0.00	0.000	516	0.000	0.057	3031	848	2319	2358	2281	0	0	0	0	0	0	15.00	14.46	15.02
23764	0.90	224.9	3031	848	2357	2281	331.3	8.2	964	23771	0.00	2.38	0.00	0.000	1030	0.000	0.047	3031	2179	2318	2357	2280	0	0	0	0	0	0	14.62	14.52	14.66
24071	0.92	224.9	3031	2178	2356	2280	307.6	7.4	975	24077	0.00	2.35	0.00	0.000	324	0.000	0.074	3031	3579	2318	2356	2280	0	0	0	0	0	0	15.02	14.42	15.04
24105	0.93	224.9	3030	3579	2356	2280	305.0	7.7	981	24109	0.00	2.12	0.00	0.000	1094	0.000	0.040	3035	2232	2318	2356	2280	0	0	0	0	0	0	14.66	14.58	14.69
24436	0.93	224.9	3035	2229	2355	2280	277.7	9.0	997	24440	0.00	2.28	0.00	0.000	260	0.000	0.071	3036	3582	2318	2356	2280	0	0	0	0	0	0	15.04	14.42	15.06
24457	0.93	224.9	3035	3582	2355	2280	275.5	9.7	1001	24461	0.00	2.10	0.00	0.000	1030	0.000	0.040	3040	2260	2317	2355	2280	0	0	0	0	0	0	14.66	14.58	14.70
24770	0.93	224.9	3040	2256	2355	2280	248.7	8.1	1013	24774	0.00	2.25	0.00	0.000	260	0.000	0.071	3040	3588	2317	2355	2280	0	0	0	0	0	0	15.04	14.38	15.07
24825	0.93	224.9	3040	3588	2354	2280	243.7	8.4	1024	24832	0.00	2.15	0.00	0.000	1030	0.000	0.039	3041	2226	2317	2354	2280	0	0	0	0	0	0	14.66	14.58	14.69
25133	0.93	224.9	3041	2226	2354	2280	218.1	8.6	1055	25138	0.00	2.30	0.00	0.000	260	0.000	0.070	3041	3585	2317	2354	2280	0	0	0	0	0	0	15.03	14.40	15.06
25196	0.93	224.9	3041	3584	2354	2280	212.3	8.6	1067	25201	0.00	2.10	0.00	0.000	1030	0.000	0.038	3042	2256	2317	2354	2280	0	0	0	0	0	0	14.65	14.57	14.69
25509	0.95	224.9	3042	2252	2354	2280	191.5	7.4	1099	25514	0.00	2.50	0.00	0.000	580	0.000	0.055	3042	842	2317	2354	2280	0	0	0	0	0	0	15.04	14.43	15.07
25572	0.95	224.9	3042	843	2354	2280	186.3	8.1	1111	25577	0.00	2.38	0.00	0.000	1030	0.000	0.044	3042	2189	2317	2354	2280	0	0	0	0	0	0	14.62	14.52	14.65
25885	0.98	224.9	3042	2189	2354	2280	161.5	7.0	1143	25890	0.00	2.40	0.00	0.000	580	0.000	0.053	3044	851	2317	2354	2280	0	0	0	0	0	0	15.04	14.44	15.06
25911	1.01	224.9	3042	851	2354	2280	159.7	6.8	1148	25919	0.12	2.38	0.00	0.000	3142	0.143	0.043	3089	2192	2317	2354	2280	0	0	0	0	0	0	14.44	14.51	14.58
26217	1.01	224.9	3089	2192	2354	2280	133.9	10.7	1179	26222	0.00	2.33	0.00	0.000	260	0.000	0.069	3089	3588	2317	2354	2280	0	0	0	0	0	0	15.04	14.40	15.07
26233	1.01	224.9	3089	3587	2353	2280	132.0	10.6	1182	26240	0.00	2.12	0.00	0.000	1030	0.000	0.039	3091	2259	2317	2354	2280	0	0	0	0	0	0	14.64	14.56	14.67
26540	1.01	224.9	3091	2256	2354	2280	108.8	9.5	1213	26549	0.00	2.53	0.00	0.000	516	0.000	0.056	3091	838	2316	2353	2280	0	0	0	0	0	0	15.04	14.40	15.06
26582	1.01	224.9	3091	838	2353	2280	104.4	10.3	1221	26591	0.00	2.38	0.00	0.000	1030	0.000	0.043	3091	2187	2316	2353	2280	0	0	0	0	0	0	14.61	14.52	14.65
26893	1.11	304.8	3090	2186	2353	2279	86.3	3.7	1253	26973	0.00	2.38	73.80	0.986	8484	0.000	0.067	3091	3583	2001	2043	1960	0	0	0	0	0	0	15.03	14.42	13.72
27015	1.11	304.8	3091	3582	2039	1958	78.3	8.2	1277	27019	0.00	2.12	0.00	0.000	1030	0.000	0.035	3091	2226	1998	2039	1958	0	0	0	0	0	0	14.54	14.47	14.56
27327	1.15	344.7	3090	2222	2045	1958	59.7	6.0	1309	27367	0.12	0.00	37.15	0.948	10534	0.155	0.000	3146	2222	1842	1884	1800	0	0	0	0	0	0	14.48	14.42	13.78
27671	1.17	344.7	3145	2222	1871	1795	37.0	7.5	1366	27677	0.00	2.40	0.00	0.000	580	0.000	0.049	3147	856	1834	1872	1796	0	0	0	0	0	0	14.87	14.47	14.89
27715	1.20	344.7	3146	856	1874	1795	33.6	7.0	1374	27722	0.00	2.33	0.00	0.000	1094	0.000	0.038	3147	2188	1835	1875	1796	0	0	0	0	0	0	14.61	14.53	14.64
28028	1.21	344.7	3146	2186	1881	1796	10.5	7.6	1435	28036	0.00	2.28	0.00	0.000	324	0.000	0.064	3146	3586	1837	1881	1794	0	0	0	0	0	0	14.95	14.48	14.97
28080	1.21	344.7	3146	3586	1881	1796	6.5	7.9	1444	28087	0.00	2.05	0.00	0.000	1030	0.000	0.034	3146	2260	1839	1882	1796	0	0	0	0	0	0	14.67	14.61	14.69
28132	end climb: SURFACE_DEPTH_REACHED
state	28133	begin surface coast
28190	end surface coast: CONTROL_FINISHED_OK
state	28190	begin surface