Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 65 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 8 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 170

DIVE 65 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 48 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 41 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -151 ROLL_AD_RATE 350 ALTIM_PULSE 2

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 4

D_FLARE 3 SM_CC 603.25 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 150 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 1000 FILEMGR 0 VBD_MIN 550 XPDR_INT 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3960 XPDR_REP 0

D_BOOST 0 COMM_SEQ 0 C_VBD 2800 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 4 PROTOCOL 9 VBD_DBAND 4 INT_PRESSURE_YINT 0.74000001

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEEPGLIDER 0

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 MOTHERBOARD 4

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE1 2

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012000001 DEVICE2 115

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 DEVICE5 -1

T_DIVE 60 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 135 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 1

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE1 135

T_TURN 225 N_GPS 100840 DBDW 0 LOGGERDEVICE2 -1

T_TURN_SAMPINT -5 T_RSLEEP 1 LOITER_W_DBAND 1 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 3600 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 0 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

USE_BATHY -10 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 1 PHONE_DEVICE 49

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 210 PITCH_W_DBAND 0 RAFOS_DEVICE -1

D_OFFGRID 150 PITCH_MAX 3900 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_WATCHDOG 10 C_PITCH 2600 AH0_24V 127.5 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 100 SEABIRD_T_G 0.0043722652

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 16 SEABIRD_T_H 0.00063104689

MAX_BUOY 120 P_OVSHOOT 0.079999998 MINV_10V 9.5 SEABIRD_T_I 2.5179608e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 1.5 SEABIRD_T_J 2.8304141e-06

GLIDE_SLOPE 30 PITCH_GAIN 28 MAXI_10V 0.80000001 SEABIRD_C_G -10.191285

SPEED_FACTOR 1 PITCH_TIMEOUT 17 FG_AHR_10V 0 SEABIRD_C_H 1.1531761

RHO 1.0275 PITCH_AD_RATE 140 FG_AHR_24V 0 SEABIRD_C_I -0.0027973817

MASS 55599 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SEABIRD_C_J 0.00030337134

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_YINT -171.54095 CP_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014064999 CP_PROFILE 7.0

FERRY_MAX 45 ROLL_MIN 236 AD7714Ch0Gain 32 CP_XMITPROFILE 7.0

KALMAN_USE 2 ROLL_MAX 3704 COMPASS_USE 4 CP_UPLOADMAX 100000.0

HD_A 0.0019952599 ROLL_DEG 20 ALTIM_PING_FIT 0 CP_STARTS 116.0

HD_B 0.0099999998 C_ROLL_DIVE 2000 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1800 ALTIM_BOTTOM_TURN_MARGIN 20

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00063104689

AH0_10V 100 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_T_I 2.5179608e-05

AH0_24V 127.5 D_OFFGRID 150 N_GPS 100840 SEABIRD_T_J 2.8304141e-06

ALTIM_BOTTOM_TURN_MARGIN 20 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 603.25

ALTIM_PING_DELTA 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 170 D_TGT 150 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PULSE 2 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_AD_RATE 140 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_DBAND 0.1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_GAIN 28 TGT_DEFAULT_LAT 57.182999

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 TGT_DEFAULT_LON -151

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 64 PITCH_MIN 210 T_BOOST 4

CALL_WAIT 60 HD_A 0.0019952599 PITCH_TIMEOUT 17 T_DIVE 60

CAPMAXSIZE 200000 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012000001 T_EPIRB 0

CAPUPLOAD 0 HD_C 5.7000002e-06 PITCH_W_DBAND 0 T_GPS 5

CF8_MAXERRORS 20 HEADING -1 PITCH_W_GAIN 0 T_LOITER 3600

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 135

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -171.54095 T_NO_W 120

COMPASS_DEVICE 97 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_RSLEEP 1

COMPASS_USE 4 ID 204 P_OVSHOOT 0.079999998 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097655999 P_OVSHOOT_WITHG 0 T_TURN_SAMPINT -5

CP_NDIVE 1.0 INT_PRESSURE_YINT 0.74000001 RAFOS_CORR_THRESH 60 T_WATCHDOG 10

CP_PROFILE 7.0 KALMAN_USE 2 RAFOS_DEVICE -1 UNCOM_BLEED 60

CP_RECORDABOVE 2000.0 LOGGERDEVICE1 135 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

CP_STARTS 116.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -10

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 7.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2600 LOGGERS 1 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1800 LOITER_DBDW 800 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2000 LOITER_D_BOTTOM 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 0 ROLL_AD_RATE 350 VBD_MAX 3960

DBDW 0 LOITER_N_DIVE 1 ROLL_CNV 0.028270001 VBD_MAXERRORS 1

DEEPGLIDER 0 LOITER_W_DBAND 1 ROLL_DEG 20 VBD_MIN 550

DEVICE1 2 MASS 55599 ROLL_MAX 3704 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE2 115 MASS_COMP 0 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE3 -1 MAXI_10V 0.80000001 ROLL_MIN 236 VBD_TIMEOUT 720

DEVICE4 -1 MAXI_24V 1.5 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 120 R_PORT_OVSHOOT 48 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 41 XPDR_INHIBIT 90

DIVE 65 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 1000 MISSION 8 SEABIRD_C_H 1.1531761 XPDR_REP 0

D_BOOST 0 MOTHERBOARD 4 SEABIRD_C_I -0.0027973817 XPDR_VALID 4

D_CALL 0 NAV_MODE 2 SEABIRD_C_J 0.00030337134

D_FINISH 0 NOCOMM_ACTION 163 SEABIRD_T_G 0.0043722652

Pre-dive calculations and measurements:

GPS1 050921,034101,4750.9150,-12510.0801,10,0.8,26,15.7,0.4,337.2,10,6.6 SPEED_LIMITS 0.144,0.220

_CALLS 1 TGT_NAME MOORING

_XMS_NAKs 0 TGT_LATLONG 4751.000,-12510.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.36 MHEAD_RNG_PITCHd_Wd 21.6,249,-25.4,-8.333,-30.00,885

_SM_ANGLEo -56.5 D_GRID 264

GPS2 050921,034737,4750.8848,-12510.1035,4,0.8,5,15.7,0.3,0.0,12,7.6

Post-dive calculations and measurements:

FINISH -0.5,1.017569 _24V_AH 24.29,13.971

SM_CCo 7403,0.05,1.756,0,0,550,551.92 _10V_AH 10.26,7.900

SM_GC 0.37,7.78,0.30,0.05,0.054,0.054,1.756,174,2023,550,-7.39,-1.33,551.92,0,0,0,0,0,0,25.82,25.77,24.31 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4751.48,-12525.55,050921,013419 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.146804 MEM 211720

HUMID 52.48 DATA_FILE_SIZE 46782,955

INTERNAL_PRESSURE 8.7185 CAP_FILE_SIZE 113319,0

TCM_TEMP 15.10 CFSIZE 260030464,245301248

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 118992338944.000000 CURRENT 0.080,317.53,1

CP_POWER 328.180000 GPS 050921,055301,4751.242,-12510.300,4,0.8,19,15.7,0.7,236.7,11,2.1

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 218 96.19 SBE_CT 612 64 958.13

Roll_motor 23 83 48.15 WL_blue_red_Chl 1917 37 1743.99

VBD_pump_during_apogee 368 718 6428.41 nil 0 0 0.00

VBD_pump_during_surface 228 1756 9760.44 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 NCP 7177 25 4358.23

Iridium_during_xfer 254 110 684.57 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.09

TT8 2216 12 277.93

LPSleep 2259 2 50.76

TT8_Active 683 12 85.65

TT8_Sampling 2300 37 889.48

TT8_CF8 372 42 164.27

TT8_Kalman 0 0 0.00

Analog_circuits 1760 11 198.69

GPS_charging 0 0 0.00

Compass 2163 8 182.89

RAFOS 0 0 0.00

Transponder 1 5 0.05

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -0.97 -48.2 165 1986 687 410 0.0 0.0 0 132 0.00 0.00 -104.10 0.010 16386 0.000 0.000 165 1983 2961 2950 2972 0 0 0 0 0 0 26.08 28.83 26.15

135 -0.98 -56.1 165 1986 2951 2972 3.7 -7.4 15 152 8.12 1.12 -1.48 0.052 18724 0.219 0.072 2259 2712 3029 3029 3030 0 0 0 0 0 0 25.76 24.79 25.94

298 -0.98 -56.1 2258 2712 3042 3025 34.7 -11.4 45 306 0.00 1.05 0.00 0.000 1030 0.000 0.034 2262 1987 3033 3042 3025 0 0 0 0 0 0 26.27 26.26 26.31

437 -0.98 -56.1 2261 1986 3044 3023 50.2 -13.7 70 445 0.00 1.00 0.00 0.000 516 0.000 0.039 2267 1310 3033 3044 3023 0 0 0 0 0 0 26.41 26.34 26.44

468 -0.98 -56.1 2266 1310 3044 3023 54.8 -14.8 75 476 0.00 1.05 0.00 0.000 1030 0.000 0.044 2264 2007 3033 3044 3023 0 0 0 0 0 0 26.41 26.38 26.43

601 -0.98 -56.1 2264 2007 3046 3023 71.5 -10.7 100 609 0.00 1.05 0.00 0.000 516 0.000 0.038 2267 1304 3034 3046 3023 0 0 0 0 0 0 26.46 26.42 26.51

841 -0.98 -56.1 2266 1304 3047 3023 94.5 -9.0 146 848 0.00 1.05 0.00 0.000 1030 0.000 0.035 2264 2006 3035 3047 3023 0 0 0 0 0 0 26.55 26.52 26.56

978 -0.98 -56.1 2264 2006 3047 3022 108.1 -10.4 164 983 0.00 1.02 0.00 0.000 516 0.000 0.040 2267 1317 3034 3047 3022 0 0 0 0 0 0 26.63 26.47 26.67

1114 -0.98 -56.1 2266 1317 3048 3022 123.6 -10.1 190 1118 0.00 1.02 0.00 0.000 1030 0.000 0.034 2264 2003 3035 3048 3022 0 0 0 0 0 0 26.56 26.53 26.59

1246 -0.98 -56.1 2264 2004 3048 3022 138.8 -11.6 204 1250 0.00 1.00 0.00 0.000 260 0.000 0.043 2259 2693 3035 3048 3022 0 0 0 0 0 0 26.70 26.56 26.72

1349 end dive: TARGET_DEPTH_EXCEEDED

state 1349 begin apogee

1354 -0.18 0.0 2263 1787 3048 3021 150.3 -11.5 224 1442 0.85 0.00 83.85 0.563 10246 0.155 0.000 2519 1786 2800 2845 2756 0 0 0 0 0 0 26.25 25.65 25.19

1446 end apogee: CONTROL_FINISHED_OK

state 1446 begin loiter

1572 -0.16 11.4 2518 1786 2824 2736 156.1 -1.5 245 1583 0.00 0.00 8.95 0.712 8230 0.000 0.000 2519 1786 2754 2799 2710 0 0 0 0 0 0 26.15 25.80 25.34

1701 -0.16 11.4 2518 1786 2789 2699 156.4 0.6 258 1703 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2744 2789 2699 0 0 0 0 0 0 26.22 26.27 26.28

1821 -0.16 11.4 2518 1786 2788 2698 155.4 0.8 270 1823 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2744 2790 2698 0 0 0 0 0 0 26.34 26.40 26.39

1941 -0.16 11.4 2518 1786 2788 2698 154.9 0.3 282 1943 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2743 2788 2698 0 0 0 0 0 0 26.42 26.48 26.48

2061 -0.16 11.4 2518 1787 2787 2698 155.1 -0.5 294 2063 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2742 2787 2698 0 0 0 0 0 0 26.51 26.49 26.53

2181 -0.16 11.4 2518 1786 2787 2698 155.8 -0.5 306 2183 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2742 2787 2698 0 0 0 0 0 0 26.53 26.61 26.58

2301 -0.16 11.4 2518 1786 2787 2698 156.3 -0.4 318 2303 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2742 2787 2698 0 0 0 0 0 0 26.57 26.63 26.63

2421 -0.16 11.4 2518 1786 2787 2698 156.3 0.1 330 2423 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2742 2787 2698 0 0 0 0 0 0 26.60 26.65 26.65

2541 -0.16 11.4 2518 1786 2786 2697 155.6 0.8 342 2543 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2741 2786 2697 0 0 0 0 0 0 26.63 26.65 26.69

2661 -0.16 11.4 2518 1786 2786 2697 154.4 1.1 354 2663 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2741 2786 2697 0 0 0 0 0 0 26.65 26.74 26.71

2781 -0.16 11.4 2518 1786 2786 2697 153.6 0.5 366 2783 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2741 2786 2697 0 0 0 0 0 0 26.67 26.73 26.72

2901 -0.16 11.4 2518 1786 2786 2697 153.3 0.2 378 2903 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2741 2786 2697 0 0 0 0 0 0 26.65 26.67 26.67

3021 -0.16 11.4 2518 1786 2786 2697 153.3 -0.3 390 3023 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2741 2786 2697 0 0 0 0 0 0 26.70 26.77 26.76

3141 -0.16 11.4 2518 1786 2786 2697 153.1 0.3 402 3143 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 1786 2741 2785 2697 0 0 0 0 0 0 26.71 26.79 26.77

3261 -0.16 11.4 2518 1786 2785 2696 152.5 0.5 414 3263 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2740 2785 2696 0 0 0 0 0 0 26.67 26.71 26.70

3381 -0.16 11.4 2518 1786 2785 2696 152.0 0.4 426 3383 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2740 2785 2696 0 0 0 0 0 0 26.74 26.80 26.80

3501 -0.16 11.4 2518 1786 2785 2696 151.7 -0.1 438 3503 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2740 2785 2696 0 0 0 0 0 0 26.74 26.81 26.80

3621 -0.16 11.4 2518 1786 2786 2696 151.7 -0.1 450 3623 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2740 2785 2696 0 0 0 0 0 0 26.72 26.73 26.72

3741 -0.16 11.4 2518 1786 2785 2696 152.4 -0.8 462 3743 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1786 2740 2785 2696 0 0 0 0 0 0 26.76 26.82 26.81

3861 -0.15 22.1 2518 1786 2785 2696 153.9 -1.4 474 3881 0.08 0.00 12.40 0.718 10278 0.205 0.000 2534 1786 2702 2751 2654 0 0 0 0 0 0 26.49 26.17 25.80

4001 -0.15 22.1 2533 1786 2746 2650 154.0 0.5 488 4003 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 1786 2698 2746 2650 0 0 0 0 0 0 26.54 26.60 26.57

4121 -0.15 22.1 2534 1786 2745 2650 153.0 1.0 500 4123 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 1786 2697 2745 2650 0 0 0 0 0 0 26.65 26.71 26.70

4241 -0.15 22.1 2534 1786 2746 2650 151.8 1.0 512 4243 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 1786 2697 2745 2650 0 0 0 0 0 0 26.67 26.74 26.72

4361 -0.15 22.1 2534 1786 2745 2650 150.7 0.7 524 4363 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 1786 2697 2745 2650 0 0 0 0 0 0 26.61 26.69 26.66

4481 -0.15 22.1 2534 1786 2746 2650 150.0 0.5 536 4483 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 1786 2697 2744 2650 0 0 0 0 0 0 26.71 26.77 26.76

4601 -0.15 22.1 2534 1786 2744 2650 149.7 0.1 548 4603 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 1786 2697 2744 2650 0 0 0 0 0 0 26.71 26.78 26.77

4721 -0.15 22.1 2534 1786 2745 2650 149.5 0.2 560 4723 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 1786 2697 2744 2650 0 0 0 0 0 0 26.65 26.70 26.70

4841 -0.15 22.1 2533 1786 2744 2650 149.0 1.0 572 4843 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 1786 2697 2744 2650 0 0 0 0 0 0 26.74 26.80 26.79

4963 -0.15 22.1 2534 1786 2744 2650 147.3 1.6 584 4970 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 1786 2697 2744 2650 0 0 0 0 0 0 26.71 26.72 26.72

5039 end loiter: LOITER_COMPLETE

state 5039 begin climb

5041 0.98 56.1 2533 1786 2744 2650 145.9 0.0 592 5103 1.12 1.12 56.40 0.588 10500 0.191 0.042 2892 2503 2569 2631 2507 0 0 0 0 0 0 26.42 25.93 25.44

5343 0.98 56.6 2891 2503 2616 2488 124.7 8.3 649 5351 0.00 1.05 0.00 0.000 1062 0.000 0.083 2894 1799 2552 2616 2489 0 0 0 0 0 0 26.31 25.60 26.33

5471 0.98 60.6 2894 1799 2616 2489 114.4 7.9 662 5476 0.00 1.05 0.00 0.000 292 0.000 0.044 2892 2495 2552 2616 2488 0 0 0 0 0 0 26.46 26.34 26.51

5560 0.98 60.6 2891 2495 2616 2488 106.7 8.4 678 5564 0.00 1.05 0.00 0.000 1030 0.000 0.037 2895 1788 2551 2615 2488 0 0 0 0 0 0 26.44 26.40 26.46

5688 1.00 76.1 2894 1788 2615 2488 97.8 6.5 694 5715 0.00 0.00 21.20 0.608 8230 0.000 0.000 2894 1788 2481 2559 2404 0 0 0 0 0 0 26.53 25.89 25.57

5844 1.00 76.7 2894 1788 2551 2393 85.6 8.3 722 5851 0.00 1.05 0.00 0.000 292 0.000 0.042 2891 2487 2471 2550 2393 0 0 0 0 0 0 26.40 26.29 26.46

5894 1.00 76.7 2891 2486 2549 2393 80.7 9.4 731 5901 0.00 1.02 0.00 0.000 1030 0.000 0.036 2895 1793 2470 2548 2393 0 0 0 0 0 0 26.37 26.38 26.38

6031 1.01 88.9 2894 1793 2549 2393 68.8 6.9 756 6040 0.00 1.08 4.00 0.686 8740 0.000 0.049 2900 1107 2439 2524 2354 0 0 0 0 0 0 26.50 26.21 25.49

6272 1.04 112.4 2899 1108 2530 2357 55.3 5.6 802 6322 0.05 1.05 40.78 0.548 11302 0.119 0.037 2922 1799 2333 2436 2230 0 0 0 0 0 0 26.28 26.45 25.43

6447 1.05 116.4 2921 1800 2422 2217 42.3 7.9 833 6455 0.00 0.00 0.00 0.000 38 0.000 0.000 2922 1800 2319 2422 2217 0 0 0 0 0 0 26.25 26.29 26.27

6583 1.05 122.0 2921 1800 2420 2217 31.9 7.7 858 6591 0.00 1.05 0.00 0.000 292 0.000 0.044 2918 2508 2318 2419 2217 0 0 0 0 0 0 26.32 26.27 26.37

6828 1.09 152.1 2918 2508 2416 2216 18.7 4.8 904 6892 0.00 1.05 59.60 0.511 9254 0.000 0.044 2922 1800 2179 2302 2057 0 0 0 0 0 0 26.40 26.23 25.31

7018 1.13 182.0 2921 1800 2278 2031 6.7 4.9 937 7063 0.10 1.12 40.55 0.500 10532 0.152 0.044 2942 2506 2056 2189 1923 0 0 0 0 0 0 25.99 25.70 25.23

7071 1.17 214.2 2941 2506 2177 1908 4.4 4.6 944 7115 0.00 1.08 40.70 0.483 9250 0.000 0.037 2945 1802 1943 2084 1803 0 0 0 0 0 0 25.85 25.82 25.87

7116 end climb: SURFACE_DEPTH_REACHED

state 7116 begin surface coast

7143 end surface coast: CONTROL_FINISHED_OK

state 7143 begin surface

ID	204	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	8	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	170
DIVE	65	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	48	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	41	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-151	ROLL_AD_RATE	350	ALTIM_PULSE	2
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	4
D_FLARE	3	SM_CC	603.25	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	150	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	1000	FILEMGR	0	VBD_MIN	550	XPDR_INT	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3960	XPDR_REP	0
D_BOOST	0	COMM_SEQ	0	C_VBD	2800	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	4	PROTOCOL	9	VBD_DBAND	4	INT_PRESSURE_YINT	0.74000001
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEEPGLIDER	0
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	MOTHERBOARD	4
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE1	2
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012000001	DEVICE2	115
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	DEVICE5	-1
T_DIVE	60	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	135	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	1
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE1	135
T_TURN	225	N_GPS	100840	DBDW	0	LOGGERDEVICE2	-1
T_TURN_SAMPINT	-5	T_RSLEEP	1	LOITER_W_DBAND	1	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	3600	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	0	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
USE_BATHY	-10	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	1	PHONE_DEVICE	49
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	210	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
D_OFFGRID	150	PITCH_MAX	3900	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_WATCHDOG	10	C_PITCH	2600	AH0_24V	127.5	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	100	SEABIRD_T_G	0.0043722652
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	16	SEABIRD_T_H	0.00063104689
MAX_BUOY	120	P_OVSHOOT	0.079999998	MINV_10V	9.5	SEABIRD_T_I	2.5179608e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	1.5	SEABIRD_T_J	2.8304141e-06
GLIDE_SLOPE	30	PITCH_GAIN	28	MAXI_10V	0.80000001	SEABIRD_C_G	-10.191285
SPEED_FACTOR	1	PITCH_TIMEOUT	17	FG_AHR_10V	0	SEABIRD_C_H	1.1531761
RHO	1.0275	PITCH_AD_RATE	140	FG_AHR_24V	0	SEABIRD_C_I	-0.0027973817
MASS	55599	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00030337134
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-171.54095	CP_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014064999	CP_PROFILE	7.0
FERRY_MAX	45	ROLL_MIN	236	AD7714Ch0Gain	32	CP_XMITPROFILE	7.0
KALMAN_USE	2	ROLL_MAX	3704	COMPASS_USE	4	CP_UPLOADMAX	100000.0
HD_A	0.0019952599	ROLL_DEG	20	ALTIM_PING_FIT	0	CP_STARTS	116.0
HD_B	0.0099999998	C_ROLL_DIVE	2000	ALTIM_TOP_PING_RANGE	0	CP_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1800	ALTIM_BOTTOM_TURN_MARGIN	20
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	050921,034101,4750.9150,-12510.0801,10,0.8,26,15.7,0.4,337.2,10,6.6	SPEED_LIMITS	0.144,0.220
_CALLS	1	TGT_NAME	MOORING
_XMS_NAKs	0	TGT_LATLONG	4751.000,-12510.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.36	MHEAD_RNG_PITCHd_Wd	21.6,249,-25.4,-8.333,-30.00,885
_SM_ANGLEo	-56.5	D_GRID	264
GPS2	050921,034737,4750.8848,-12510.1035,4,0.8,5,15.7,0.3,0.0,12,7.6

FINISH	-0.5,1.017569	_24V_AH	24.29,13.971
SM_CCo	7403,0.05,1.756,0,0,550,551.92	_10V_AH	10.26,7.900
SM_GC	0.37,7.78,0.30,0.05,0.054,0.054,1.756,174,2023,550,-7.39,-1.33,551.92,0,0,0,0,0,0,25.82,25.77,24.31	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4751.48,-12525.55,050921,013419	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.146804	MEM	211720
HUMID	52.48	DATA_FILE_SIZE	46782,955
INTERNAL_PRESSURE	8.7185	CAP_FILE_SIZE	113319,0
TCM_TEMP	15.10	CFSIZE	260030464,245301248
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	118992338944.000000	CURRENT	0.080,317.53,1
CP_POWER	328.180000	GPS	050921,055301,4751.242,-12510.300,4,0.8,19,15.7,0.7,236.7,11,2.1
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	218	96.19	SBE_CT	612	64	958.13
Roll_motor	23	83	48.15	WL_blue_red_Chl	1917	37	1743.99
VBD_pump_during_apogee	368	718	6428.41	nil	0	0	0.00
VBD_pump_during_surface	228	1756	9760.44	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	NCP	7177	25	4358.23
Iridium_during_xfer	254	110	684.57	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.09
TT8	2216	12	277.93
LPSleep	2259	2	50.76
TT8_Active	683	12	85.65
TT8_Sampling	2300	37	889.48
TT8_CF8	372	42	164.27
TT8_Kalman	0	0	0.00
Analog_circuits	1760	11	198.69
GPS_charging	0	0	0.00
Compass	2163	8	182.89
RAFOS	0	0	0.00
Transponder	1	5	0.05

		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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-0.97	-48.2	165	1986	687	410	0.0	0.0	0	132	0.00	0.00	-104.10	0.010	16386	0.000	0.000	165	1983	2961	2950	2972	0	0	0	0	0	0	26.08	28.83	26.15
135	-0.98	-56.1	165	1986	2951	2972	3.7	-7.4	15	152	8.12	1.12	-1.48	0.052	18724	0.219	0.072	2259	2712	3029	3029	3030	0	0	0	0	0	0	25.76	24.79	25.94
298	-0.98	-56.1	2258	2712	3042	3025	34.7	-11.4	45	306	0.00	1.05	0.00	0.000	1030	0.000	0.034	2262	1987	3033	3042	3025	0	0	0	0	0	0	26.27	26.26	26.31
437	-0.98	-56.1	2261	1986	3044	3023	50.2	-13.7	70	445	0.00	1.00	0.00	0.000	516	0.000	0.039	2267	1310	3033	3044	3023	0	0	0	0	0	0	26.41	26.34	26.44
468	-0.98	-56.1	2266	1310	3044	3023	54.8	-14.8	75	476	0.00	1.05	0.00	0.000	1030	0.000	0.044	2264	2007	3033	3044	3023	0	0	0	0	0	0	26.41	26.38	26.43
601	-0.98	-56.1	2264	2007	3046	3023	71.5	-10.7	100	609	0.00	1.05	0.00	0.000	516	0.000	0.038	2267	1304	3034	3046	3023	0	0	0	0	0	0	26.46	26.42	26.51
841	-0.98	-56.1	2266	1304	3047	3023	94.5	-9.0	146	848	0.00	1.05	0.00	0.000	1030	0.000	0.035	2264	2006	3035	3047	3023	0	0	0	0	0	0	26.55	26.52	26.56
978	-0.98	-56.1	2264	2006	3047	3022	108.1	-10.4	164	983	0.00	1.02	0.00	0.000	516	0.000	0.040	2267	1317	3034	3047	3022	0	0	0	0	0	0	26.63	26.47	26.67
1114	-0.98	-56.1	2266	1317	3048	3022	123.6	-10.1	190	1118	0.00	1.02	0.00	0.000	1030	0.000	0.034	2264	2003	3035	3048	3022	0	0	0	0	0	0	26.56	26.53	26.59
1246	-0.98	-56.1	2264	2004	3048	3022	138.8	-11.6	204	1250	0.00	1.00	0.00	0.000	260	0.000	0.043	2259	2693	3035	3048	3022	0	0	0	0	0	0	26.70	26.56	26.72
1349	end dive: TARGET_DEPTH_EXCEEDED
state	1349	begin apogee
1354	-0.18	0.0	2263	1787	3048	3021	150.3	-11.5	224	1442	0.85	0.00	83.85	0.563	10246	0.155	0.000	2519	1786	2800	2845	2756	0	0	0	0	0	0	26.25	25.65	25.19
1446	end apogee: CONTROL_FINISHED_OK
state	1446	begin loiter
1572	-0.16	11.4	2518	1786	2824	2736	156.1	-1.5	245	1583	0.00	0.00	8.95	0.712	8230	0.000	0.000	2519	1786	2754	2799	2710	0	0	0	0	0	0	26.15	25.80	25.34
1701	-0.16	11.4	2518	1786	2789	2699	156.4	0.6	258	1703	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2744	2789	2699	0	0	0	0	0	0	26.22	26.27	26.28
1821	-0.16	11.4	2518	1786	2788	2698	155.4	0.8	270	1823	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2744	2790	2698	0	0	0	0	0	0	26.34	26.40	26.39
1941	-0.16	11.4	2518	1786	2788	2698	154.9	0.3	282	1943	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2743	2788	2698	0	0	0	0	0	0	26.42	26.48	26.48
2061	-0.16	11.4	2518	1787	2787	2698	155.1	-0.5	294	2063	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2742	2787	2698	0	0	0	0	0	0	26.51	26.49	26.53
2181	-0.16	11.4	2518	1786	2787	2698	155.8	-0.5	306	2183	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2742	2787	2698	0	0	0	0	0	0	26.53	26.61	26.58
2301	-0.16	11.4	2518	1786	2787	2698	156.3	-0.4	318	2303	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2742	2787	2698	0	0	0	0	0	0	26.57	26.63	26.63
2421	-0.16	11.4	2518	1786	2787	2698	156.3	0.1	330	2423	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2742	2787	2698	0	0	0	0	0	0	26.60	26.65	26.65
2541	-0.16	11.4	2518	1786	2786	2697	155.6	0.8	342	2543	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2741	2786	2697	0	0	0	0	0	0	26.63	26.65	26.69
2661	-0.16	11.4	2518	1786	2786	2697	154.4	1.1	354	2663	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2741	2786	2697	0	0	0	0	0	0	26.65	26.74	26.71
2781	-0.16	11.4	2518	1786	2786	2697	153.6	0.5	366	2783	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2741	2786	2697	0	0	0	0	0	0	26.67	26.73	26.72
2901	-0.16	11.4	2518	1786	2786	2697	153.3	0.2	378	2903	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2741	2786	2697	0	0	0	0	0	0	26.65	26.67	26.67
3021	-0.16	11.4	2518	1786	2786	2697	153.3	-0.3	390	3023	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2741	2786	2697	0	0	0	0	0	0	26.70	26.77	26.76
3141	-0.16	11.4	2518	1786	2786	2697	153.1	0.3	402	3143	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	1786	2741	2785	2697	0	0	0	0	0	0	26.71	26.79	26.77
3261	-0.16	11.4	2518	1786	2785	2696	152.5	0.5	414	3263	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2740	2785	2696	0	0	0	0	0	0	26.67	26.71	26.70
3381	-0.16	11.4	2518	1786	2785	2696	152.0	0.4	426	3383	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2740	2785	2696	0	0	0	0	0	0	26.74	26.80	26.80
3501	-0.16	11.4	2518	1786	2785	2696	151.7	-0.1	438	3503	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2740	2785	2696	0	0	0	0	0	0	26.74	26.81	26.80
3621	-0.16	11.4	2518	1786	2786	2696	151.7	-0.1	450	3623	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2740	2785	2696	0	0	0	0	0	0	26.72	26.73	26.72
3741	-0.16	11.4	2518	1786	2785	2696	152.4	-0.8	462	3743	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1786	2740	2785	2696	0	0	0	0	0	0	26.76	26.82	26.81
3861	-0.15	22.1	2518	1786	2785	2696	153.9	-1.4	474	3881	0.08	0.00	12.40	0.718	10278	0.205	0.000	2534	1786	2702	2751	2654	0	0	0	0	0	0	26.49	26.17	25.80
4001	-0.15	22.1	2533	1786	2746	2650	154.0	0.5	488	4003	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	1786	2698	2746	2650	0	0	0	0	0	0	26.54	26.60	26.57
4121	-0.15	22.1	2534	1786	2745	2650	153.0	1.0	500	4123	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	1786	2697	2745	2650	0	0	0	0	0	0	26.65	26.71	26.70
4241	-0.15	22.1	2534	1786	2746	2650	151.8	1.0	512	4243	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	1786	2697	2745	2650	0	0	0	0	0	0	26.67	26.74	26.72
4361	-0.15	22.1	2534	1786	2745	2650	150.7	0.7	524	4363	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	1786	2697	2745	2650	0	0	0	0	0	0	26.61	26.69	26.66
4481	-0.15	22.1	2534	1786	2746	2650	150.0	0.5	536	4483	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	1786	2697	2744	2650	0	0	0	0	0	0	26.71	26.77	26.76
4601	-0.15	22.1	2534	1786	2744	2650	149.7	0.1	548	4603	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	1786	2697	2744	2650	0	0	0	0	0	0	26.71	26.78	26.77
4721	-0.15	22.1	2534	1786	2745	2650	149.5	0.2	560	4723	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	1786	2697	2744	2650	0	0	0	0	0	0	26.65	26.70	26.70
4841	-0.15	22.1	2533	1786	2744	2650	149.0	1.0	572	4843	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	1786	2697	2744	2650	0	0	0	0	0	0	26.74	26.80	26.79
4963	-0.15	22.1	2534	1786	2744	2650	147.3	1.6	584	4970	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	1786	2697	2744	2650	0	0	0	0	0	0	26.71	26.72	26.72
5039	end loiter: LOITER_COMPLETE
state	5039	begin climb
5041	0.98	56.1	2533	1786	2744	2650	145.9	0.0	592	5103	1.12	1.12	56.40	0.588	10500	0.191	0.042	2892	2503	2569	2631	2507	0	0	0	0	0	0	26.42	25.93	25.44
5343	0.98	56.6	2891	2503	2616	2488	124.7	8.3	649	5351	0.00	1.05	0.00	0.000	1062	0.000	0.083	2894	1799	2552	2616	2489	0	0	0	0	0	0	26.31	25.60	26.33
5471	0.98	60.6	2894	1799	2616	2489	114.4	7.9	662	5476	0.00	1.05	0.00	0.000	292	0.000	0.044	2892	2495	2552	2616	2488	0	0	0	0	0	0	26.46	26.34	26.51
5560	0.98	60.6	2891	2495	2616	2488	106.7	8.4	678	5564	0.00	1.05	0.00	0.000	1030	0.000	0.037	2895	1788	2551	2615	2488	0	0	0	0	0	0	26.44	26.40	26.46
5688	1.00	76.1	2894	1788	2615	2488	97.8	6.5	694	5715	0.00	0.00	21.20	0.608	8230	0.000	0.000	2894	1788	2481	2559	2404	0	0	0	0	0	0	26.53	25.89	25.57
5844	1.00	76.7	2894	1788	2551	2393	85.6	8.3	722	5851	0.00	1.05	0.00	0.000	292	0.000	0.042	2891	2487	2471	2550	2393	0	0	0	0	0	0	26.40	26.29	26.46
5894	1.00	76.7	2891	2486	2549	2393	80.7	9.4	731	5901	0.00	1.02	0.00	0.000	1030	0.000	0.036	2895	1793	2470	2548	2393	0	0	0	0	0	0	26.37	26.38	26.38
6031	1.01	88.9	2894	1793	2549	2393	68.8	6.9	756	6040	0.00	1.08	4.00	0.686	8740	0.000	0.049	2900	1107	2439	2524	2354	0	0	0	0	0	0	26.50	26.21	25.49
6272	1.04	112.4	2899	1108	2530	2357	55.3	5.6	802	6322	0.05	1.05	40.78	0.548	11302	0.119	0.037	2922	1799	2333	2436	2230	0	0	0	0	0	0	26.28	26.45	25.43
6447	1.05	116.4	2921	1800	2422	2217	42.3	7.9	833	6455	0.00	0.00	0.00	0.000	38	0.000	0.000	2922	1800	2319	2422	2217	0	0	0	0	0	0	26.25	26.29	26.27
6583	1.05	122.0	2921	1800	2420	2217	31.9	7.7	858	6591	0.00	1.05	0.00	0.000	292	0.000	0.044	2918	2508	2318	2419	2217	0	0	0	0	0	0	26.32	26.27	26.37
6828	1.09	152.1	2918	2508	2416	2216	18.7	4.8	904	6892	0.00	1.05	59.60	0.511	9254	0.000	0.044	2922	1800	2179	2302	2057	0	0	0	0	0	0	26.40	26.23	25.31
7018	1.13	182.0	2921	1800	2278	2031	6.7	4.9	937	7063	0.10	1.12	40.55	0.500	10532	0.152	0.044	2942	2506	2056	2189	1923	0	0	0	0	0	0	25.99	25.70	25.23
7071	1.17	214.2	2941	2506	2177	1908	4.4	4.6	944	7115	0.00	1.08	40.70	0.483	9250	0.000	0.037	2945	1802	1943	2084	1803	0	0	0	0	0	0	25.85	25.82	25.87
7116	end climb: SURFACE_DEPTH_REACHED
state	7116	begin surface coast
7143	end surface coast: CONTROL_FINISHED_OK
state	7143	begin surface