Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 66 * 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 66 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 48 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 65 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 118.0

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 118.0 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 65 XPDR_INHIBIT 90

DIVE 66 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 050921,055301,4751.2422,-12510.2998,4,0.8,19,15.7,0.7,236.7,11,2.1 SPEED_LIMITS 0.144,0.220

_CALLS 2 TGT_NAME MOORING

_XMS_NAKs 0 TGT_LATLONG 4751.000,-12510.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.44 MHEAD_RNG_PITCHd_Wd 119.3,650,-14.8,-8.333,-20.75,2124

_SM_ANGLEo -60.0 D_GRID 243

GPS2 050921,060228,4751.2417,-12510.3789,4,0.7,5,15.7,0.6,241.1,12,4.5

Post-dive calculations and measurements:

FINISH 1.2,1.025412 _24V_AH 24.31,14.097

SM_CCo 7231,-0.28,0.170,0,0,550,551.92 _10V_AH 10.21,7.982

SM_GC 0.41,7.75,0.28,-0.28,0.076,0.049,0.170,172,2003,550,-7.41,-1.53,551.92,0,0,0,0,0,0,25.96,25.96,25.30 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.89,-12512.13,050921,055529 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.180509 MEM 211628

HUMID 53.07 DATA_FILE_SIZE 46782,924

INTERNAL_PRESSURE 8.7185 CAP_FILE_SIZE 111866,0

TCM_TEMP 15.20 CFSIZE 260030464,245207040

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

CP_FREE 118796746752.000000 CURRENT 0.092,344.47,1

CP_POWER 328.190000 GPS 050921,080501,4751.372,-12510.337,22,1.2,23,15.7,0.8,277.9,9,5.6

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 219 95.14 SBE_CT 583 64 914.23

Roll_motor 24 64 38.70 WL_blue_red_Chl 1835 37 1671.20

VBD_pump_during_apogee 545 674 8955.05 nil 0 0 0.00

VBD_pump_during_surface 200 615 2992.66 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 7033 25 4274.31

Iridium_during_xfer 365 104 924.87 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.08

TT8 2080 12 259.54

LPSleep 2228 2 49.84

TT8_Active 787 12 98.28

TT8_Sampling 2376 37 914.58

TT8_CF8 355 42 155.77

TT8_Kalman 0 0 0.00

Analog_circuits 2004 11 225.08

GPS_charging 0 0 0.00

Compass 2106 8 177.20

RAFOS 0 0 0.00

Transponder 1 5 0.10

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

26 -0.67 -116.8 171 2029 690 412 0.0 0.0 0 134 0.00 0.00 -105.75 0.010 16386 0.000 0.000 172 2028 3020 3010 3030 0 0 0 0 0 0 26.06 28.83 26.14

137 -0.67 -116.8 171 2027 3012 3030 3.6 -6.7 15 160 8.52 0.98 -5.45 0.031 18724 0.220 0.064 2359 2695 3276 3280 3273 0 0 0 0 0 0 25.77 25.56 25.94

172 -0.67 -116.8 2358 2695 3282 3272 13.7 -24.4 20 180 0.00 1.02 0.00 0.000 1030 0.000 0.032 2362 1988 3277 3283 3272 0 0 0 0 0 0 26.25 26.23 26.27

311 -0.67 -116.8 2361 1987 3287 3268 33.7 -13.3 45 319 0.00 1.00 0.00 0.000 516 0.000 0.039 2367 1315 3278 3287 3269 0 0 0 0 0 0 26.39 26.30 26.44

411 -0.67 -116.8 2367 1315 3289 3268 46.0 -11.6 63 418 0.00 1.02 0.00 0.000 1030 0.000 0.036 2364 1994 3278 3289 3268 0 0 0 0 0 0 26.39 26.36 26.39

543 -0.67 -116.8 2364 1994 3290 3267 62.0 -13.5 88 550 0.00 1.02 0.00 0.000 260 0.000 0.043 2359 2692 3278 3290 3267 0 0 0 0 0 0 26.51 26.41 26.57

663 -0.67 -116.8 2358 2692 3290 3267 77.8 -12.0 110 671 0.00 1.00 0.00 0.000 1030 0.000 0.033 2362 1992 3279 3291 3268 0 0 0 0 0 0 26.46 26.46 26.46

795 -0.67 -116.8 2361 1992 3291 3267 90.8 -9.0 135 802 0.00 1.00 0.00 0.000 516 0.000 0.040 2367 1314 3279 3291 3267 0 0 0 0 0 0 26.58 26.48 26.64

857 -0.67 -116.8 2367 1314 3291 3267 96.6 -9.1 146 864 0.00 1.02 0.00 0.000 1030 0.000 0.034 2364 1999 3278 3291 3266 0 0 0 0 0 0 26.52 26.51 26.60

990 -0.67 -116.8 2364 1999 3291 3266 108.0 -8.2 162 993 0.00 1.02 0.00 0.000 548 0.000 0.038 2367 1318 3278 3291 3266 0 0 0 0 0 0 26.62 26.52 26.67

1086 -0.67 -116.8 2366 1318 3291 3266 115.6 -7.6 180 1089 0.00 1.02 0.00 0.000 1062 0.000 0.036 2364 2004 3278 3291 3266 0 0 0 0 0 0 26.58 26.55 26.60

1220 -0.67 -116.8 2363 2004 3291 3266 126.4 -8.6 194 1224 0.00 1.00 0.00 0.000 260 0.000 0.044 2359 2690 3278 3291 3266 0 0 0 0 0 0 26.67 26.55 26.72

1308 -0.67 -116.8 2358 2690 3291 3265 134.8 -9.3 211 1316 0.00 0.98 0.00 0.000 1030 0.000 0.031 2362 2003 3278 3292 3265 0 0 0 0 0 0 26.63 26.61 26.64

1436 -0.67 -116.8 2361 2003 3291 3264 145.9 -8.6 224 1440 0.00 1.00 0.00 0.000 516 0.000 0.041 2367 1320 3278 3292 3265 0 0 0 0 0 0 26.70 26.58 26.75

1480 end dive: TARGET_DEPTH_EXCEEDED

state 1480 begin apogee

1485 -0.18 0.0 2365 1810 3292 3264 150.1 -8.6 233 1685 0.55 0.00 189.98 0.535 10246 0.144 0.000 2528 1811 2792 2846 2738 0 0 0 0 0 0 26.32 25.15 24.86

1690 end apogee: CONTROL_FINISHED_OK

state 1690 begin loiter

1815 -0.18 0.0 2528 1811 2834 2730 154.1 -0.3 265 1817 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2782 2834 2730 0 0 0 0 0 0 25.99 26.06 26.04

1935 -0.18 0.0 2528 1811 2832 2730 154.6 -0.7 277 1937 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1812 2781 2832 2730 0 0 0 0 0 0 26.18 26.25 26.25

2055 -0.16 12.8 2527 1812 2832 2729 156.2 -1.6 289 2074 0.00 0.00 11.45 0.675 8230 0.000 0.000 2528 1811 2740 2794 2687 0 0 0 0 0 0 26.30 25.94 25.44

2195 -0.16 12.8 2528 1811 2785 2680 157.5 -0.5 303 2197 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2733 2786 2680 0 0 0 0 0 0 26.31 26.37 26.36

2315 -0.16 12.8 2528 1811 2784 2679 157.1 0.9 315 2317 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2731 2784 2679 0 0 0 0 0 0 26.39 26.46 26.46

2435 -0.16 12.8 2528 1811 2784 2679 155.8 1.1 327 2437 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1811 2731 2784 2679 0 0 0 0 0 0 26.46 26.53 26.52

2555 -0.16 12.8 2528 1811 2783 2679 154.5 1.3 339 2557 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2731 2783 2679 0 0 0 0 0 0 26.51 26.58 26.58

2675 -0.16 12.8 2528 1811 2783 2679 153.1 0.9 351 2677 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2731 2783 2679 0 0 0 0 0 0 26.55 26.62 26.62

2795 -0.16 12.8 2528 1811 2782 2678 152.3 0.5 363 2797 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2730 2783 2678 0 0 0 0 0 0 26.59 26.65 26.65

2915 -0.16 12.8 2528 1811 2782 2678 151.7 0.4 375 2917 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2730 2783 2678 0 0 0 0 0 0 26.63 26.70 26.68

3037 -0.16 12.8 2527 1811 2783 2677 151.3 0.5 387 3044 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2730 2783 2678 0 0 0 0 0 0 26.56 26.65 26.64

3165 -0.16 12.8 2528 1811 2782 2678 150.5 0.7 400 3167 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2729 2782 2677 0 0 0 0 0 0 26.66 26.72 26.72

3285 -0.16 12.8 2527 1811 2782 2677 149.4 1.0 412 3287 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2729 2782 2677 0 0 0 0 0 0 26.67 26.74 26.74

3405 -0.16 12.8 2528 1811 2782 2677 148.3 0.9 424 3407 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2729 2782 2677 0 0 0 0 0 0 26.70 26.76 26.76

3525 -0.16 12.8 2527 1811 2782 2677 147.0 1.1 436 3527 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2729 2782 2677 0 0 0 0 0 0 26.71 26.78 26.77

3645 -0.16 12.8 2528 1811 2782 2677 145.3 1.6 448 3647 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2729 2782 2677 0 0 0 0 0 0 26.72 26.78 26.78

3765 -0.16 12.8 2527 1811 2781 2677 143.1 2.1 460 3767 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2728 2780 2677 0 0 0 0 0 0 26.77 26.80 26.79

3885 -0.16 12.8 2528 1811 2781 2677 140.6 2.1 472 3887 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2728 2781 2676 0 0 0 0 0 0 26.73 26.81 26.80

4005 -0.16 12.8 2527 1811 2781 2676 138.2 1.9 484 4007 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2729 2781 2677 0 0 0 0 0 0 26.76 26.82 26.80

4125 -0.16 12.8 2528 1811 2781 2677 136.6 1.0 496 4127 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1810 2728 2781 2676 0 0 0 0 0 0 26.75 26.82 26.79

4245 -0.16 12.8 2527 1811 2781 2676 135.5 0.6 508 4247 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2728 2781 2676 0 0 0 0 0 0 26.75 26.83 26.82

4365 -0.16 12.8 2527 1811 2781 2676 134.3 1.2 520 4367 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2728 2781 2676 0 0 0 0 0 0 26.76 26.82 26.82

4485 -0.16 12.8 2527 1811 2781 2676 132.6 1.8 532 4487 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1812 2728 2780 2676 0 0 0 0 0 0 26.77 26.84 26.84

4605 -0.16 12.8 2528 1811 2781 2676 130.3 2.3 544 4607 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2728 2781 2676 0 0 0 0 0 0 26.76 26.84 26.84

4725 -0.16 12.8 2527 1811 2781 2676 128.0 1.8 556 4727 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2728 2781 2676 0 0 0 0 0 0 26.78 26.84 26.84

4845 -0.16 12.8 2528 1811 2781 2677 126.4 1.0 568 4847 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2728 2780 2676 0 0 0 0 0 0 26.79 26.85 26.84

4965 -0.16 12.8 2528 1811 2780 2676 126.3 -0.2 580 4967 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2728 2781 2676 0 0 0 0 0 0 26.79 26.85 26.85

5085 -0.16 12.8 2527 1811 2780 2675 127.0 -0.6 592 5087 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2728 2780 2676 0 0 0 0 0 0 26.79 26.86 26.84

5205 -0.16 12.8 2528 1811 2780 2676 127.8 -0.5 604 5207 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1811 2728 2780 2676 0 0 0 0 0 0 26.80 26.86 26.85

5283 end loiter: LOITER_COMPLETE

state 5283 begin climb

5285 0.67 116.8 2528 1811 2779 2676 128.0 0.0 612 5461 0.82 1.12 162.32 0.539 10756 0.125 0.045 2802 1118 2310 2430 2190 0 0 0 0 0 0 26.48 25.39 24.92

5698 0.72 158.3 2801 1118 2409 2178 105.0 6.3 691 5759 0.00 1.05 56.62 0.549 9254 0.000 0.035 2798 1798 2155 2284 2027 0 0 0 0 0 0 26.14 26.11 25.06

5880 0.72 160.0 2798 1797 2253 1992 92.1 8.3 723 5888 0.10 1.08 0.00 0.000 2596 0.175 0.041 2830 1117 2122 2253 1992 0 0 0 0 0 0 25.84 25.96 25.97

5926 0.72 160.0 2830 1117 2251 1993 87.8 9.8 731 5934 0.00 1.05 0.00 0.000 1030 0.000 0.036 2827 1800 2122 2252 1992 0 0 0 0 0 0 26.08 26.06 26.11

6063 0.72 160.0 2826 1799 2251 1991 73.0 10.6 756 6071 0.00 1.08 0.00 0.000 516 0.000 0.046 2830 1117 2121 2251 1991 0 0 0 0 0 0 26.16 26.17 26.23

6237 0.72 160.0 2830 1117 2249 1991 55.4 8.7 788 6245 0.00 1.05 0.00 0.000 1030 0.000 0.035 2826 1809 2120 2249 1991 0 0 0 0 0 0 26.34 26.30 26.37

6374 0.73 172.5 2826 1809 2249 1989 44.5 7.7 813 6383 0.00 1.05 2.97 0.499 8484 0.000 0.044 2821 2496 2095 2230 1961 0 0 0 0 0 0 26.40 26.16 25.27

6495 0.76 194.3 2821 2496 2241 1966 35.2 7.3 835 6545 0.00 1.00 43.50 0.520 9254 0.000 0.046 2825 1817 2004 2145 1864 0 0 0 0 0 0 26.44 26.41 25.41

6671 0.80 228.1 2824 1817 2116 1837 23.9 6.7 866 6721 0.00 1.15 45.85 0.507 8740 0.000 0.047 2830 1108 1869 2014 1724 0 0 0 0 0 0 26.23 25.70 25.22

6955 0.85 269.5 2830 1107 1972 1694 4.2 6.3 918 6992 0.08 1.05 33.25 0.510 11298 0.151 0.035 2849 1799 1753 1899 1607 0 0 0 0 0 0 25.96 26.20 26.06

6993 end climb: SURFACE_DEPTH_REACHED

state 6994 begin surface coast

7000 end surface coast: CONTROL_FINISHED_OK

state 7000 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	66	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	48	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	65	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	118.0
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	050921,055301,4751.2422,-12510.2998,4,0.8,19,15.7,0.7,236.7,11,2.1	SPEED_LIMITS	0.144,0.220
_CALLS	2	TGT_NAME	MOORING
_XMS_NAKs	0	TGT_LATLONG	4751.000,-12510.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.44	MHEAD_RNG_PITCHd_Wd	119.3,650,-14.8,-8.333,-20.75,2124
_SM_ANGLEo	-60.0	D_GRID	243
GPS2	050921,060228,4751.2417,-12510.3789,4,0.7,5,15.7,0.6,241.1,12,4.5

FINISH	1.2,1.025412	_24V_AH	24.31,14.097
SM_CCo	7231,-0.28,0.170,0,0,550,551.92	_10V_AH	10.21,7.982
SM_GC	0.41,7.75,0.28,-0.28,0.076,0.049,0.170,172,2003,550,-7.41,-1.53,551.92,0,0,0,0,0,0,25.96,25.96,25.30	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.89,-12512.13,050921,055529	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.180509	MEM	211628
HUMID	53.07	DATA_FILE_SIZE	46782,924
INTERNAL_PRESSURE	8.7185	CAP_FILE_SIZE	111866,0
TCM_TEMP	15.20	CFSIZE	260030464,245207040
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	118796746752.000000	CURRENT	0.092,344.47,1
CP_POWER	328.190000	GPS	050921,080501,4751.372,-12510.337,22,1.2,23,15.7,0.8,277.9,9,5.6
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	219	95.14	SBE_CT	583	64	914.23
Roll_motor	24	64	38.70	WL_blue_red_Chl	1835	37	1671.20
VBD_pump_during_apogee	545	674	8955.05	nil	0	0	0.00
VBD_pump_during_surface	200	615	2992.66	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	7033	25	4274.31
Iridium_during_xfer	365	104	924.87	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.08
TT8	2080	12	259.54
LPSleep	2228	2	49.84
TT8_Active	787	12	98.28
TT8_Sampling	2376	37	914.58
TT8_CF8	355	42	155.77
TT8_Kalman	0	0	0.00
Analog_circuits	2004	11	225.08
GPS_charging	0	0	0.00
Compass	2106	8	177.20
RAFOS	0	0	0.00
Transponder	1	5	0.10

		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
26	-0.67	-116.8	171	2029	690	412	0.0	0.0	0	134	0.00	0.00	-105.75	0.010	16386	0.000	0.000	172	2028	3020	3010	3030	0	0	0	0	0	0	26.06	28.83	26.14
137	-0.67	-116.8	171	2027	3012	3030	3.6	-6.7	15	160	8.52	0.98	-5.45	0.031	18724	0.220	0.064	2359	2695	3276	3280	3273	0	0	0	0	0	0	25.77	25.56	25.94
172	-0.67	-116.8	2358	2695	3282	3272	13.7	-24.4	20	180	0.00	1.02	0.00	0.000	1030	0.000	0.032	2362	1988	3277	3283	3272	0	0	0	0	0	0	26.25	26.23	26.27
311	-0.67	-116.8	2361	1987	3287	3268	33.7	-13.3	45	319	0.00	1.00	0.00	0.000	516	0.000	0.039	2367	1315	3278	3287	3269	0	0	0	0	0	0	26.39	26.30	26.44
411	-0.67	-116.8	2367	1315	3289	3268	46.0	-11.6	63	418	0.00	1.02	0.00	0.000	1030	0.000	0.036	2364	1994	3278	3289	3268	0	0	0	0	0	0	26.39	26.36	26.39
543	-0.67	-116.8	2364	1994	3290	3267	62.0	-13.5	88	550	0.00	1.02	0.00	0.000	260	0.000	0.043	2359	2692	3278	3290	3267	0	0	0	0	0	0	26.51	26.41	26.57
663	-0.67	-116.8	2358	2692	3290	3267	77.8	-12.0	110	671	0.00	1.00	0.00	0.000	1030	0.000	0.033	2362	1992	3279	3291	3268	0	0	0	0	0	0	26.46	26.46	26.46
795	-0.67	-116.8	2361	1992	3291	3267	90.8	-9.0	135	802	0.00	1.00	0.00	0.000	516	0.000	0.040	2367	1314	3279	3291	3267	0	0	0	0	0	0	26.58	26.48	26.64
857	-0.67	-116.8	2367	1314	3291	3267	96.6	-9.1	146	864	0.00	1.02	0.00	0.000	1030	0.000	0.034	2364	1999	3278	3291	3266	0	0	0	0	0	0	26.52	26.51	26.60
990	-0.67	-116.8	2364	1999	3291	3266	108.0	-8.2	162	993	0.00	1.02	0.00	0.000	548	0.000	0.038	2367	1318	3278	3291	3266	0	0	0	0	0	0	26.62	26.52	26.67
1086	-0.67	-116.8	2366	1318	3291	3266	115.6	-7.6	180	1089	0.00	1.02	0.00	0.000	1062	0.000	0.036	2364	2004	3278	3291	3266	0	0	0	0	0	0	26.58	26.55	26.60
1220	-0.67	-116.8	2363	2004	3291	3266	126.4	-8.6	194	1224	0.00	1.00	0.00	0.000	260	0.000	0.044	2359	2690	3278	3291	3266	0	0	0	0	0	0	26.67	26.55	26.72
1308	-0.67	-116.8	2358	2690	3291	3265	134.8	-9.3	211	1316	0.00	0.98	0.00	0.000	1030	0.000	0.031	2362	2003	3278	3292	3265	0	0	0	0	0	0	26.63	26.61	26.64
1436	-0.67	-116.8	2361	2003	3291	3264	145.9	-8.6	224	1440	0.00	1.00	0.00	0.000	516	0.000	0.041	2367	1320	3278	3292	3265	0	0	0	0	0	0	26.70	26.58	26.75
1480	end dive: TARGET_DEPTH_EXCEEDED
state	1480	begin apogee
1485	-0.18	0.0	2365	1810	3292	3264	150.1	-8.6	233	1685	0.55	0.00	189.98	0.535	10246	0.144	0.000	2528	1811	2792	2846	2738	0	0	0	0	0	0	26.32	25.15	24.86
1690	end apogee: CONTROL_FINISHED_OK
state	1690	begin loiter
1815	-0.18	0.0	2528	1811	2834	2730	154.1	-0.3	265	1817	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2782	2834	2730	0	0	0	0	0	0	25.99	26.06	26.04
1935	-0.18	0.0	2528	1811	2832	2730	154.6	-0.7	277	1937	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1812	2781	2832	2730	0	0	0	0	0	0	26.18	26.25	26.25
2055	-0.16	12.8	2527	1812	2832	2729	156.2	-1.6	289	2074	0.00	0.00	11.45	0.675	8230	0.000	0.000	2528	1811	2740	2794	2687	0	0	0	0	0	0	26.30	25.94	25.44
2195	-0.16	12.8	2528	1811	2785	2680	157.5	-0.5	303	2197	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2733	2786	2680	0	0	0	0	0	0	26.31	26.37	26.36
2315	-0.16	12.8	2528	1811	2784	2679	157.1	0.9	315	2317	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2731	2784	2679	0	0	0	0	0	0	26.39	26.46	26.46
2435	-0.16	12.8	2528	1811	2784	2679	155.8	1.1	327	2437	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	1811	2731	2784	2679	0	0	0	0	0	0	26.46	26.53	26.52
2555	-0.16	12.8	2528	1811	2783	2679	154.5	1.3	339	2557	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2731	2783	2679	0	0	0	0	0	0	26.51	26.58	26.58
2675	-0.16	12.8	2528	1811	2783	2679	153.1	0.9	351	2677	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2731	2783	2679	0	0	0	0	0	0	26.55	26.62	26.62
2795	-0.16	12.8	2528	1811	2782	2678	152.3	0.5	363	2797	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2730	2783	2678	0	0	0	0	0	0	26.59	26.65	26.65
2915	-0.16	12.8	2528	1811	2782	2678	151.7	0.4	375	2917	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2730	2783	2678	0	0	0	0	0	0	26.63	26.70	26.68
3037	-0.16	12.8	2527	1811	2783	2677	151.3	0.5	387	3044	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2730	2783	2678	0	0	0	0	0	0	26.56	26.65	26.64
3165	-0.16	12.8	2528	1811	2782	2678	150.5	0.7	400	3167	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2729	2782	2677	0	0	0	0	0	0	26.66	26.72	26.72
3285	-0.16	12.8	2527	1811	2782	2677	149.4	1.0	412	3287	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2729	2782	2677	0	0	0	0	0	0	26.67	26.74	26.74
3405	-0.16	12.8	2528	1811	2782	2677	148.3	0.9	424	3407	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2729	2782	2677	0	0	0	0	0	0	26.70	26.76	26.76
3525	-0.16	12.8	2527	1811	2782	2677	147.0	1.1	436	3527	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2729	2782	2677	0	0	0	0	0	0	26.71	26.78	26.77
3645	-0.16	12.8	2528	1811	2782	2677	145.3	1.6	448	3647	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2729	2782	2677	0	0	0	0	0	0	26.72	26.78	26.78
3765	-0.16	12.8	2527	1811	2781	2677	143.1	2.1	460	3767	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2728	2780	2677	0	0	0	0	0	0	26.77	26.80	26.79
3885	-0.16	12.8	2528	1811	2781	2677	140.6	2.1	472	3887	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2728	2781	2676	0	0	0	0	0	0	26.73	26.81	26.80
4005	-0.16	12.8	2527	1811	2781	2676	138.2	1.9	484	4007	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2729	2781	2677	0	0	0	0	0	0	26.76	26.82	26.80
4125	-0.16	12.8	2528	1811	2781	2677	136.6	1.0	496	4127	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1810	2728	2781	2676	0	0	0	0	0	0	26.75	26.82	26.79
4245	-0.16	12.8	2527	1811	2781	2676	135.5	0.6	508	4247	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2728	2781	2676	0	0	0	0	0	0	26.75	26.83	26.82
4365	-0.16	12.8	2527	1811	2781	2676	134.3	1.2	520	4367	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2728	2781	2676	0	0	0	0	0	0	26.76	26.82	26.82
4485	-0.16	12.8	2527	1811	2781	2676	132.6	1.8	532	4487	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1812	2728	2780	2676	0	0	0	0	0	0	26.77	26.84	26.84
4605	-0.16	12.8	2528	1811	2781	2676	130.3	2.3	544	4607	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2728	2781	2676	0	0	0	0	0	0	26.76	26.84	26.84
4725	-0.16	12.8	2527	1811	2781	2676	128.0	1.8	556	4727	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2728	2781	2676	0	0	0	0	0	0	26.78	26.84	26.84
4845	-0.16	12.8	2528	1811	2781	2677	126.4	1.0	568	4847	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2728	2780	2676	0	0	0	0	0	0	26.79	26.85	26.84
4965	-0.16	12.8	2528	1811	2780	2676	126.3	-0.2	580	4967	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2728	2781	2676	0	0	0	0	0	0	26.79	26.85	26.85
5085	-0.16	12.8	2527	1811	2780	2675	127.0	-0.6	592	5087	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2728	2780	2676	0	0	0	0	0	0	26.79	26.86	26.84
5205	-0.16	12.8	2528	1811	2780	2676	127.8	-0.5	604	5207	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1811	2728	2780	2676	0	0	0	0	0	0	26.80	26.86	26.85
5283	end loiter: LOITER_COMPLETE
state	5283	begin climb
5285	0.67	116.8	2528	1811	2779	2676	128.0	0.0	612	5461	0.82	1.12	162.32	0.539	10756	0.125	0.045	2802	1118	2310	2430	2190	0	0	0	0	0	0	26.48	25.39	24.92
5698	0.72	158.3	2801	1118	2409	2178	105.0	6.3	691	5759	0.00	1.05	56.62	0.549	9254	0.000	0.035	2798	1798	2155	2284	2027	0	0	0	0	0	0	26.14	26.11	25.06
5880	0.72	160.0	2798	1797	2253	1992	92.1	8.3	723	5888	0.10	1.08	0.00	0.000	2596	0.175	0.041	2830	1117	2122	2253	1992	0	0	0	0	0	0	25.84	25.96	25.97
5926	0.72	160.0	2830	1117	2251	1993	87.8	9.8	731	5934	0.00	1.05	0.00	0.000	1030	0.000	0.036	2827	1800	2122	2252	1992	0	0	0	0	0	0	26.08	26.06	26.11
6063	0.72	160.0	2826	1799	2251	1991	73.0	10.6	756	6071	0.00	1.08	0.00	0.000	516	0.000	0.046	2830	1117	2121	2251	1991	0	0	0	0	0	0	26.16	26.17	26.23
6237	0.72	160.0	2830	1117	2249	1991	55.4	8.7	788	6245	0.00	1.05	0.00	0.000	1030	0.000	0.035	2826	1809	2120	2249	1991	0	0	0	0	0	0	26.34	26.30	26.37
6374	0.73	172.5	2826	1809	2249	1989	44.5	7.7	813	6383	0.00	1.05	2.97	0.499	8484	0.000	0.044	2821	2496	2095	2230	1961	0	0	0	0	0	0	26.40	26.16	25.27
6495	0.76	194.3	2821	2496	2241	1966	35.2	7.3	835	6545	0.00	1.00	43.50	0.520	9254	0.000	0.046	2825	1817	2004	2145	1864	0	0	0	0	0	0	26.44	26.41	25.41
6671	0.80	228.1	2824	1817	2116	1837	23.9	6.7	866	6721	0.00	1.15	45.85	0.507	8740	0.000	0.047	2830	1108	1869	2014	1724	0	0	0	0	0	0	26.23	25.70	25.22
6955	0.85	269.5	2830	1107	1972	1694	4.2	6.3	918	6992	0.08	1.05	33.25	0.510	11298	0.151	0.035	2849	1799	1753	1899	1607	0	0	0	0	0	0	25.96	26.20	26.06
6993	end climb: SURFACE_DEPTH_REACHED
state	6994	begin surface coast
7000	end surface coast: CONTROL_FINISHED_OK
state	7000	begin surface