Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 68 * 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 68 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 49 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 61 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 122.0

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 122.0 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 49 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 61 XPDR_INHIBIT 90

DIVE 68 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 050921,101131,4751.2427,-12510.1328,3,0.9,19,15.7,0.7,49.3,9,2.2 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 0.44 MHEAD_RNG_PITCHd_Wd 152.7,523,-20.6,-8.333,-25.76,1263

_SM_ANGLEo -60.3 D_GRID 243

GPS2 050921,101805,4751.2700,-12510.1240,6,0.7,6,15.7,0.4,225.6,12,5.7

Post-dive calculations and measurements:

FINISH -0.3,1.025422 _24V_AH 24.31,14.335

SM_CCo 7083,-0.03,0.739,0,0,551,551.92 _10V_AH 10.27,8.139

SM_GC 0.51,7.55,0.77,-0.03,0.060,0.034,0.739,168,2004,551,-7.40,1.33,551.92,0,0,0,0,0,0,26.26,26.21,25.03 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4750.87,-12505.04,050921,080725 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.146804 MEM 211696

HUMID 52.55 DATA_FILE_SIZE 43492,885

INTERNAL_PRESSURE 8.73803 CAP_FILE_SIZE 109240,0

TCM_TEMP 15.50 CFSIZE 260030464,245030912

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

CP_FREE 118415294464.000000 CURRENT 0.055,174.79,1

CP_POWER 328.190000 GPS 050921,121835,4750.836,-12509.980,11,1.2,37,15.7,0.8,77.5,8,2.4

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 216 93.42 SBE_CT 576 64 902.01

Roll_motor 21 80 41.01 WL_blue_red_Chl 1807 37 1645.15

VBD_pump_during_apogee 410 635 6340.87 nil 0 0 0.00

VBD_pump_during_surface 225 618 3386.60 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 6859 25 4168.56

Iridium_during_xfer 254 107 661.90 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 2.20

TT8 2078 12 260.87

LPSleep 2159 2 48.57

TT8_Active 716 12 89.94

TT8_Sampling 2210 37 855.66

TT8_CF8 354 42 156.11

TT8_Kalman 0 0 0.00

Analog_circuits 1759 11 198.77

GPS_charging 0 0 0.00

Compass 2028 8 171.62

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 -0.82 -69.0 165 2020 681 421 0.0 0.0 0 134 0.00 0.00 -105.55 0.010 16386 0.000 0.000 165 2018 3022 3015 3030 0 0 0 0 0 0 26.08 28.83 26.17

136 -0.85 -90.8 165 2018 3016 3031 3.7 -6.6 15 152 8.25 1.05 -3.30 0.047 18724 0.216 0.074 2292 2697 3173 3179 3168 0 0 0 0 0 0 25.83 24.78 25.98

314 -0.85 -90.8 2291 2696 3189 3164 40.4 -16.4 48 322 0.05 1.02 0.00 0.000 3078 0.190 0.034 2305 1996 3176 3188 3164 0 0 0 0 0 0 26.07 26.33 26.17

449 -0.85 -90.8 2305 1995 3189 3163 60.4 -15.2 73 457 0.00 1.02 0.00 0.000 260 0.000 0.080 2302 2678 3176 3190 3163 0 0 0 0 0 0 26.48 25.56 26.46

528 -0.85 -90.8 2302 2678 3190 3163 70.6 -11.2 87 535 0.00 1.00 0.00 0.000 1030 0.000 0.041 2304 1994 3177 3191 3163 0 0 0 0 0 0 26.44 26.42 26.46

664 -0.85 -90.8 2304 1993 3191 3162 84.2 -9.5 112 671 0.00 1.02 0.00 0.000 516 0.000 0.041 2306 1306 3176 3191 3162 0 0 0 0 0 0 26.56 26.43 26.59

759 -0.85 -90.8 2305 1306 3191 3162 94.3 -11.3 129 767 0.00 1.02 0.00 0.000 1030 0.000 0.036 2303 1984 3176 3191 3162 0 0 0 0 0 0 26.52 26.48 26.52

893 -0.85 -90.8 2302 1985 3191 3162 110.6 -12.4 146 896 0.00 1.05 0.00 0.000 260 0.000 0.044 2297 2701 3177 3192 3162 0 0 0 0 0 0 26.59 26.52 26.65

959 -0.85 -90.8 2297 2701 3191 3162 119.3 -12.0 159 967 0.00 1.02 0.00 0.000 1030 0.000 0.033 2297 1995 3177 3192 3162 0 0 0 0 0 0 26.57 26.55 26.59

1089 -0.85 -90.8 2297 1994 3192 3162 135.6 -13.5 172 1097 0.08 0.00 0.00 0.000 2054 0.200 0.000 2310 1994 3177 3192 3162 0 0 0 0 0 0 26.38 26.55 26.51

1205 end dive: TARGET_DEPTH_EXCEEDED

state 1206 begin apogee

1211 -0.18 0.0 2311 1780 3192 3162 150.9 -12.5 184 1358 0.70 0.00 142.35 0.543 10246 0.162 0.000 2520 1778 2798 2849 2748 0 0 0 0 0 0 26.19 25.39 24.94

1362 end apogee: CONTROL_FINISHED_OK

state 1362 begin loiter

1513 -0.18 0.0 2519 1778 2834 2737 159.4 -0.8 211 1515 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1778 2785 2834 2736 0 0 0 0 0 0 26.06 26.16 26.12

1633 -0.18 0.0 2519 1778 2833 2736 160.1 -0.5 223 1635 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1778 2784 2833 2736 0 0 0 0 0 0 26.23 26.30 26.29

1753 -0.18 0.0 2519 1778 2832 2736 160.8 -0.7 235 1755 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1778 2783 2831 2736 0 0 0 0 0 0 26.34 26.39 26.39

1873 -0.17 8.1 2518 1778 2832 2735 161.8 -1.0 247 1875 0.00 0.00 0.00 0.000 38 0.000 0.000 2520 1778 2783 2832 2735 0 0 0 0 0 0 26.43 26.48 26.48

1993 -0.16 16.7 2519 1778 2832 2735 163.2 -1.1 259 2015 0.00 0.00 19.65 0.636 8230 0.000 0.000 2519 1778 2732 2784 2681 0 0 0 0 0 0 26.49 26.01 25.52

2133 -0.16 16.7 2519 1778 2767 2665 162.1 1.7 273 2135 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1777 2716 2767 2665 0 0 0 0 0 0 26.35 26.41 26.40

2253 -0.16 16.7 2519 1778 2766 2665 160.1 1.6 285 2255 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1778 2715 2766 2665 0 0 0 0 0 0 26.44 26.48 26.49

2373 -0.16 16.7 2519 1778 2766 2665 158.4 1.3 297 2375 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1777 2715 2766 2665 0 0 0 0 0 0 26.50 26.56 26.53

2493 -0.16 16.7 2519 1778 2765 2664 157.1 0.8 309 2495 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1778 2715 2765 2665 0 0 0 0 0 0 26.53 26.60 26.60

2613 -0.16 16.7 2519 1778 2765 2665 156.6 0.3 321 2615 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1778 2715 2765 2665 0 0 0 0 0 0 26.57 26.64 26.63

2733 -0.16 16.7 2519 1778 2764 2665 156.3 0.2 333 2735 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1778 2714 2765 2664 0 0 0 0 0 0 26.61 26.67 26.66

2853 -0.16 16.7 2519 1778 2764 2664 155.8 0.7 345 2855 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1778 2714 2765 2664 0 0 0 0 0 0 26.63 26.70 26.69

2973 -0.16 16.7 2519 1778 2765 2664 154.8 0.9 357 2975 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1778 2714 2765 2664 0 0 0 0 0 0 26.65 26.72 26.71

3093 -0.16 16.7 2519 1778 2764 2664 153.9 0.5 369 3095 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1778 2714 2764 2664 0 0 0 0 0 0 26.67 26.74 26.73

3213 -0.16 16.7 2519 1778 2764 2664 153.2 0.4 381 3215 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1778 2713 2764 2662 0 0 0 0 0 0 26.68 26.75 26.74

3335 -0.16 16.7 2519 1778 2764 2663 152.3 1.0 393 3342 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1778 2713 2764 2663 0 0 0 0 0 0 26.72 26.77 26.77

3463 -0.16 16.7 2519 1778 2764 2663 150.4 1.6 406 3465 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1779 2712 2763 2662 0 0 0 0 0 0 26.70 26.78 26.77

3583 -0.16 16.7 2519 1778 2763 2663 148.4 1.7 418 3585 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1778 2713 2764 2663 0 0 0 0 0 0 26.72 26.79 26.79

3703 -0.16 16.7 2519 1778 2763 2663 146.5 1.4 430 3705 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1778 2713 2763 2663 0 0 0 0 0 0 26.73 26.79 26.77

3823 -0.16 16.7 2519 1778 2763 2662 145.3 0.9 442 3825 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1778 2713 2763 2663 0 0 0 0 0 0 26.74 26.81 26.80

3943 -0.16 16.7 2519 1778 2763 2662 144.3 0.9 454 3945 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1778 2712 2763 2662 0 0 0 0 0 0 26.75 26.82 26.82

4063 -0.16 16.7 2519 1778 2763 2662 143.5 0.7 466 4065 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1778 2712 2763 2662 0 0 0 0 0 0 26.76 26.82 26.82

4183 -0.16 16.7 2520 1778 2763 2662 142.6 0.8 478 4185 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1778 2712 2763 2662 0 0 0 0 0 0 26.76 26.83 26.82

4303 -0.16 16.7 2519 1778 2763 2662 141.9 0.7 490 4305 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1778 2712 2762 2662 0 0 0 0 0 0 26.76 26.84 26.83

4423 -0.16 16.7 2519 1778 2761 2662 141.0 1.0 502 4425 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1778 2712 2762 2662 0 0 0 0 0 0 26.77 26.84 26.83

4543 -0.16 16.7 2519 1778 2762 2662 139.8 0.9 514 4545 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1778 2712 2763 2662 0 0 0 0 0 0 26.77 26.84 26.83

4663 -0.16 16.7 2518 1777 2763 2662 139.0 0.5 526 4665 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1778 2712 2763 2662 0 0 0 0 0 0 26.78 26.85 26.84

4783 -0.16 16.7 2519 1778 2762 2661 138.7 -0.0 538 4785 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1778 2711 2762 2661 0 0 0 0 0 0 26.78 26.84 26.84

4903 -0.16 16.7 2519 1778 2762 2661 139.0 -0.4 550 4905 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1778 2711 2762 2661 0 0 0 0 0 0 26.79 26.85 26.84

4961 end loiter: LOITER_COMPLETE

state 4961 begin climb

4963 0.85 90.8 2519 1778 2762 2661 139.4 0.0 556 5088 1.00 1.12 114.00 0.558 10500 0.119 0.051 2843 2527 2421 2522 2320 0 0 0 0 0 0 26.46 25.00 24.72

5325 0.85 90.8 2842 2527 2499 2305 114.4 9.4 625 5334 0.00 1.05 0.00 0.000 1030 0.000 0.037 2846 1825 2402 2499 2305 0 0 0 0 0 0 26.19 26.16 26.18

5454 0.85 90.8 2845 1824 2499 2305 101.0 10.5 638 5459 0.00 1.02 0.00 0.000 260 0.000 0.044 2843 2497 2402 2499 2305 0 0 0 0 0 0 26.31 26.21 26.37

5580 0.85 90.8 2842 2498 2498 2304 88.3 10.8 662 5587 0.00 1.05 0.00 0.000 1030 0.000 0.037 2846 1791 2401 2498 2305 0 0 0 0 0 0 26.37 26.34 26.43

5719 0.86 99.0 2846 1791 2498 2305 76.8 7.7 687 5727 0.00 1.08 0.00 0.000 292 0.000 0.046 2843 2508 2401 2497 2305 0 0 0 0 0 0 26.42 26.37 26.47

5852 0.88 117.3 2842 2507 2496 2304 66.8 6.8 711 5889 0.03 1.05 30.05 0.558 11302 0.201 0.038 2855 1793 2318 2430 2206 0 0 0 0 0 0 26.26 26.41 25.52

6015 0.92 151.5 2854 1793 2411 2185 57.4 5.6 740 6067 0.10 1.12 45.15 0.532 10532 0.165 0.044 2880 2498 2179 2306 2052 0 0 0 0 0 0 26.10 25.75 25.27

6085 0.94 165.5 2880 2499 2291 2033 52.9 7.2 750 6094 0.00 1.05 4.62 0.597 9254 0.000 0.043 2883 1807 2127 2260 1994 0 0 0 0 0 0 25.84 25.84 25.22

6221 0.94 165.5 2882 1808 2268 1994 40.7 10.6 775 6229 0.00 1.05 0.00 0.000 260 0.000 0.044 2881 2499 2131 2267 1995 0 0 0 0 0 0 26.16 26.08 26.22

6273 0.94 165.5 2880 2498 2267 1995 35.2 10.6 784 6280 0.00 1.05 0.00 0.000 1030 0.000 0.037 2883 1799 2130 2266 1995 0 0 0 0 0 0 26.19 26.15 26.20

6412 0.94 165.8 2883 1799 2265 1995 21.2 8.3 809 6420 0.00 0.00 0.00 0.000 38 0.000 0.000 2884 1799 2130 2265 1996 0 0 0 0 0 0 26.29 26.38 26.36

6546 0.97 195.3 2883 1799 2265 1995 13.3 5.9 834 6610 0.00 1.10 54.47 0.502 8484 0.000 0.044 2881 2505 1992 2134 1851 0 0 0 0 0 0 26.44 25.78 25.30

6779 end climb: SURFACE_DEPTH_REACHED

state 6779 begin surface coast

6826 end surface coast: CONTROL_FINISHED_OK

state 6827 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	68	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	49	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	61	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	122.0
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	050921,101131,4751.2427,-12510.1328,3,0.9,19,15.7,0.7,49.3,9,2.2	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	0.44	MHEAD_RNG_PITCHd_Wd	152.7,523,-20.6,-8.333,-25.76,1263
_SM_ANGLEo	-60.3	D_GRID	243
GPS2	050921,101805,4751.2700,-12510.1240,6,0.7,6,15.7,0.4,225.6,12,5.7

FINISH	-0.3,1.025422	_24V_AH	24.31,14.335
SM_CCo	7083,-0.03,0.739,0,0,551,551.92	_10V_AH	10.27,8.139
SM_GC	0.51,7.55,0.77,-0.03,0.060,0.034,0.739,168,2004,551,-7.40,1.33,551.92,0,0,0,0,0,0,26.26,26.21,25.03	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4750.87,-12505.04,050921,080725	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.146804	MEM	211696
HUMID	52.55	DATA_FILE_SIZE	43492,885
INTERNAL_PRESSURE	8.73803	CAP_FILE_SIZE	109240,0
TCM_TEMP	15.50	CFSIZE	260030464,245030912
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	118415294464.000000	CURRENT	0.055,174.79,1
CP_POWER	328.190000	GPS	050921,121835,4750.836,-12509.980,11,1.2,37,15.7,0.8,77.5,8,2.4
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	216	93.42	SBE_CT	576	64	902.01
Roll_motor	21	80	41.01	WL_blue_red_Chl	1807	37	1645.15
VBD_pump_during_apogee	410	635	6340.87	nil	0	0	0.00
VBD_pump_during_surface	225	618	3386.60	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	6859	25	4168.56
Iridium_during_xfer	254	107	661.90	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	2.20
TT8	2078	12	260.87
LPSleep	2159	2	48.57
TT8_Active	716	12	89.94
TT8_Sampling	2210	37	855.66
TT8_CF8	354	42	156.11
TT8_Kalman	0	0	0.00
Analog_circuits	1759	11	198.77
GPS_charging	0	0	0.00
Compass	2028	8	171.62
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	-0.82	-69.0	165	2020	681	421	0.0	0.0	0	134	0.00	0.00	-105.55	0.010	16386	0.000	0.000	165	2018	3022	3015	3030	0	0	0	0	0	0	26.08	28.83	26.17
136	-0.85	-90.8	165	2018	3016	3031	3.7	-6.6	15	152	8.25	1.05	-3.30	0.047	18724	0.216	0.074	2292	2697	3173	3179	3168	0	0	0	0	0	0	25.83	24.78	25.98
314	-0.85	-90.8	2291	2696	3189	3164	40.4	-16.4	48	322	0.05	1.02	0.00	0.000	3078	0.190	0.034	2305	1996	3176	3188	3164	0	0	0	0	0	0	26.07	26.33	26.17
449	-0.85	-90.8	2305	1995	3189	3163	60.4	-15.2	73	457	0.00	1.02	0.00	0.000	260	0.000	0.080	2302	2678	3176	3190	3163	0	0	0	0	0	0	26.48	25.56	26.46
528	-0.85	-90.8	2302	2678	3190	3163	70.6	-11.2	87	535	0.00	1.00	0.00	0.000	1030	0.000	0.041	2304	1994	3177	3191	3163	0	0	0	0	0	0	26.44	26.42	26.46
664	-0.85	-90.8	2304	1993	3191	3162	84.2	-9.5	112	671	0.00	1.02	0.00	0.000	516	0.000	0.041	2306	1306	3176	3191	3162	0	0	0	0	0	0	26.56	26.43	26.59
759	-0.85	-90.8	2305	1306	3191	3162	94.3	-11.3	129	767	0.00	1.02	0.00	0.000	1030	0.000	0.036	2303	1984	3176	3191	3162	0	0	0	0	0	0	26.52	26.48	26.52
893	-0.85	-90.8	2302	1985	3191	3162	110.6	-12.4	146	896	0.00	1.05	0.00	0.000	260	0.000	0.044	2297	2701	3177	3192	3162	0	0	0	0	0	0	26.59	26.52	26.65
959	-0.85	-90.8	2297	2701	3191	3162	119.3	-12.0	159	967	0.00	1.02	0.00	0.000	1030	0.000	0.033	2297	1995	3177	3192	3162	0	0	0	0	0	0	26.57	26.55	26.59
1089	-0.85	-90.8	2297	1994	3192	3162	135.6	-13.5	172	1097	0.08	0.00	0.00	0.000	2054	0.200	0.000	2310	1994	3177	3192	3162	0	0	0	0	0	0	26.38	26.55	26.51
1205	end dive: TARGET_DEPTH_EXCEEDED
state	1206	begin apogee
1211	-0.18	0.0	2311	1780	3192	3162	150.9	-12.5	184	1358	0.70	0.00	142.35	0.543	10246	0.162	0.000	2520	1778	2798	2849	2748	0	0	0	0	0	0	26.19	25.39	24.94
1362	end apogee: CONTROL_FINISHED_OK
state	1362	begin loiter
1513	-0.18	0.0	2519	1778	2834	2737	159.4	-0.8	211	1515	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1778	2785	2834	2736	0	0	0	0	0	0	26.06	26.16	26.12
1633	-0.18	0.0	2519	1778	2833	2736	160.1	-0.5	223	1635	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1778	2784	2833	2736	0	0	0	0	0	0	26.23	26.30	26.29
1753	-0.18	0.0	2519	1778	2832	2736	160.8	-0.7	235	1755	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1778	2783	2831	2736	0	0	0	0	0	0	26.34	26.39	26.39
1873	-0.17	8.1	2518	1778	2832	2735	161.8	-1.0	247	1875	0.00	0.00	0.00	0.000	38	0.000	0.000	2520	1778	2783	2832	2735	0	0	0	0	0	0	26.43	26.48	26.48
1993	-0.16	16.7	2519	1778	2832	2735	163.2	-1.1	259	2015	0.00	0.00	19.65	0.636	8230	0.000	0.000	2519	1778	2732	2784	2681	0	0	0	0	0	0	26.49	26.01	25.52
2133	-0.16	16.7	2519	1778	2767	2665	162.1	1.7	273	2135	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1777	2716	2767	2665	0	0	0	0	0	0	26.35	26.41	26.40
2253	-0.16	16.7	2519	1778	2766	2665	160.1	1.6	285	2255	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1778	2715	2766	2665	0	0	0	0	0	0	26.44	26.48	26.49
2373	-0.16	16.7	2519	1778	2766	2665	158.4	1.3	297	2375	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1777	2715	2766	2665	0	0	0	0	0	0	26.50	26.56	26.53
2493	-0.16	16.7	2519	1778	2765	2664	157.1	0.8	309	2495	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1778	2715	2765	2665	0	0	0	0	0	0	26.53	26.60	26.60
2613	-0.16	16.7	2519	1778	2765	2665	156.6	0.3	321	2615	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1778	2715	2765	2665	0	0	0	0	0	0	26.57	26.64	26.63
2733	-0.16	16.7	2519	1778	2764	2665	156.3	0.2	333	2735	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1778	2714	2765	2664	0	0	0	0	0	0	26.61	26.67	26.66
2853	-0.16	16.7	2519	1778	2764	2664	155.8	0.7	345	2855	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1778	2714	2765	2664	0	0	0	0	0	0	26.63	26.70	26.69
2973	-0.16	16.7	2519	1778	2765	2664	154.8	0.9	357	2975	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1778	2714	2765	2664	0	0	0	0	0	0	26.65	26.72	26.71
3093	-0.16	16.7	2519	1778	2764	2664	153.9	0.5	369	3095	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1778	2714	2764	2664	0	0	0	0	0	0	26.67	26.74	26.73
3213	-0.16	16.7	2519	1778	2764	2664	153.2	0.4	381	3215	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1778	2713	2764	2662	0	0	0	0	0	0	26.68	26.75	26.74
3335	-0.16	16.7	2519	1778	2764	2663	152.3	1.0	393	3342	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1778	2713	2764	2663	0	0	0	0	0	0	26.72	26.77	26.77
3463	-0.16	16.7	2519	1778	2764	2663	150.4	1.6	406	3465	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1779	2712	2763	2662	0	0	0	0	0	0	26.70	26.78	26.77
3583	-0.16	16.7	2519	1778	2763	2663	148.4	1.7	418	3585	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1778	2713	2764	2663	0	0	0	0	0	0	26.72	26.79	26.79
3703	-0.16	16.7	2519	1778	2763	2663	146.5	1.4	430	3705	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1778	2713	2763	2663	0	0	0	0	0	0	26.73	26.79	26.77
3823	-0.16	16.7	2519	1778	2763	2662	145.3	0.9	442	3825	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1778	2713	2763	2663	0	0	0	0	0	0	26.74	26.81	26.80
3943	-0.16	16.7	2519	1778	2763	2662	144.3	0.9	454	3945	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1778	2712	2763	2662	0	0	0	0	0	0	26.75	26.82	26.82
4063	-0.16	16.7	2519	1778	2763	2662	143.5	0.7	466	4065	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1778	2712	2763	2662	0	0	0	0	0	0	26.76	26.82	26.82
4183	-0.16	16.7	2520	1778	2763	2662	142.6	0.8	478	4185	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1778	2712	2763	2662	0	0	0	0	0	0	26.76	26.83	26.82
4303	-0.16	16.7	2519	1778	2763	2662	141.9	0.7	490	4305	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1778	2712	2762	2662	0	0	0	0	0	0	26.76	26.84	26.83
4423	-0.16	16.7	2519	1778	2761	2662	141.0	1.0	502	4425	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1778	2712	2762	2662	0	0	0	0	0	0	26.77	26.84	26.83
4543	-0.16	16.7	2519	1778	2762	2662	139.8	0.9	514	4545	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1778	2712	2763	2662	0	0	0	0	0	0	26.77	26.84	26.83
4663	-0.16	16.7	2518	1777	2763	2662	139.0	0.5	526	4665	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1778	2712	2763	2662	0	0	0	0	0	0	26.78	26.85	26.84
4783	-0.16	16.7	2519	1778	2762	2661	138.7	-0.0	538	4785	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1778	2711	2762	2661	0	0	0	0	0	0	26.78	26.84	26.84
4903	-0.16	16.7	2519	1778	2762	2661	139.0	-0.4	550	4905	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	1778	2711	2762	2661	0	0	0	0	0	0	26.79	26.85	26.84
4961	end loiter: LOITER_COMPLETE
state	4961	begin climb
4963	0.85	90.8	2519	1778	2762	2661	139.4	0.0	556	5088	1.00	1.12	114.00	0.558	10500	0.119	0.051	2843	2527	2421	2522	2320	0	0	0	0	0	0	26.46	25.00	24.72
5325	0.85	90.8	2842	2527	2499	2305	114.4	9.4	625	5334	0.00	1.05	0.00	0.000	1030	0.000	0.037	2846	1825	2402	2499	2305	0	0	0	0	0	0	26.19	26.16	26.18
5454	0.85	90.8	2845	1824	2499	2305	101.0	10.5	638	5459	0.00	1.02	0.00	0.000	260	0.000	0.044	2843	2497	2402	2499	2305	0	0	0	0	0	0	26.31	26.21	26.37
5580	0.85	90.8	2842	2498	2498	2304	88.3	10.8	662	5587	0.00	1.05	0.00	0.000	1030	0.000	0.037	2846	1791	2401	2498	2305	0	0	0	0	0	0	26.37	26.34	26.43
5719	0.86	99.0	2846	1791	2498	2305	76.8	7.7	687	5727	0.00	1.08	0.00	0.000	292	0.000	0.046	2843	2508	2401	2497	2305	0	0	0	0	0	0	26.42	26.37	26.47
5852	0.88	117.3	2842	2507	2496	2304	66.8	6.8	711	5889	0.03	1.05	30.05	0.558	11302	0.201	0.038	2855	1793	2318	2430	2206	0	0	0	0	0	0	26.26	26.41	25.52
6015	0.92	151.5	2854	1793	2411	2185	57.4	5.6	740	6067	0.10	1.12	45.15	0.532	10532	0.165	0.044	2880	2498	2179	2306	2052	0	0	0	0	0	0	26.10	25.75	25.27
6085	0.94	165.5	2880	2499	2291	2033	52.9	7.2	750	6094	0.00	1.05	4.62	0.597	9254	0.000	0.043	2883	1807	2127	2260	1994	0	0	0	0	0	0	25.84	25.84	25.22
6221	0.94	165.5	2882	1808	2268	1994	40.7	10.6	775	6229	0.00	1.05	0.00	0.000	260	0.000	0.044	2881	2499	2131	2267	1995	0	0	0	0	0	0	26.16	26.08	26.22
6273	0.94	165.5	2880	2498	2267	1995	35.2	10.6	784	6280	0.00	1.05	0.00	0.000	1030	0.000	0.037	2883	1799	2130	2266	1995	0	0	0	0	0	0	26.19	26.15	26.20
6412	0.94	165.8	2883	1799	2265	1995	21.2	8.3	809	6420	0.00	0.00	0.00	0.000	38	0.000	0.000	2884	1799	2130	2265	1996	0	0	0	0	0	0	26.29	26.38	26.36
6546	0.97	195.3	2883	1799	2265	1995	13.3	5.9	834	6610	0.00	1.10	54.47	0.502	8484	0.000	0.044	2881	2505	1992	2134	1851	0	0	0	0	0	0	26.44	25.78	25.30
6779	end climb: SURFACE_DEPTH_REACHED
state	6779	begin surface coast
6826	end surface coast: CONTROL_FINISHED_OK
state	6827	begin surface