Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 731 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 124 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 250 XPDR_VALID 5

MISSION 26 TGT_DEFAULT_LAT 47.599998 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 731 TGT_DEFAULT_LON -122.3 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

STOP_T 0 SM_CC 350 VBD_MIN 550 DEEPGLIDER 0

D_SURF 3 N_FILEKB 8 VBD_MAX 3990 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 3181 DEVICE1 -1

D_TGT 500 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 1030 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

D_NO_BLEED 50 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_BOOST 2.5 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE5 -1

T_BOOST 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0014 DEVICE6 -1

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERS 0

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE1 53

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 71

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 50 LOGGERDEVICE3 134

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 149

T_DIVE 180 T_GPS 5 LOITER_W_DBAND 2 PHONE_DEVICE 49

T_MISSION 460 N_GPS 100440 LOITER_DBDW 200 GPS_DEVICE 32

T_ABORT 1440 T_RSLEEP 2 LOITER_D_TOP 400 RAFOS_DEVICE -1

T_TURN 225 STROBE 0 LOITER_D_BOTTOM 800 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 1.5 LOITER_N_DIVE 1 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 PITCH_W_GAIN 0 SEABIRD_T_G 0.0043545738

T_LOITER 14400 RAFOS_HIT_WINDOW 3600 PITCH_W_DBAND 0 SEABIRD_T_H 0.00062548259

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 SEABIRD_T_I 2.3693661e-05

USE_BATHY 0 PITCH_MIN 75 AH0_24V 0 SEABIRD_T_J 2.5207949e-06

USE_ICE 0 PITCH_MAX 100 AH0_10V 350 SEABIRD_C_G -9.9945526

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2130 MINV_24V 11 SEABIRD_C_H 1.1183146

D_OFFGRID 1000 PITCH_DBAND 0.1 MINV_10V 11 SEABIRD_C_I -0.0026370776

T_WATCHDOG 10 PITCH_CNV 0.0046000001 MAXI_24V 0.60000002 SEABIRD_C_J 0.00028069684

RELAUNCH 1 P_OVSHOOT 0.039999999 MAXI_10V 1.5 SC_RECORDABOVE 2000.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SC_PROFILE 3.0

MAX_BUOY 75 PITCH_GAIN 40 FG_AHR_24V 0 SC_XMITPROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PHONE_SUPPLY -2 SC_NDIVE 1.0

GLIDE_SLOPE 30 PITCH_AD_RATE 135 PRESSURE_YINT -165.43451 TM_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010836 TM_PROFILE 3.0

RHO 1.0275 PITCH_ADJ_GAIN 0 AD7714Ch0Gain 1 TM_XMITPROFILE 3.0

MASS 55793 PITCH_ADJ_DBAND 0 COMPASS_USE 4 TM_NDIVE 1.0

MASS_COMP 0 ROLL_MIN 1700 ALTIM_PING_FIT 0 TM_LOGSAMPLE 0.0

NAV_MODE 2 ROLL_MAX 1800 ALTIM_TOP_PING_RANGE 0 TM_XMITRAW 0.0

FERRY_MAX 40 ROLL_DEG 15 ALTIM_BOTTOM_TURN_MARGIN 0 CP_RECORDABOVE 2000.0

KALMAN_USE 2 C_ROLL_DIVE 1750 ALTIM_TOP_TURN_MARGIN 0 CP_PROFILE 2.0

HD_A 0.003 C_ROLL_CLIMB 1750 ALTIM_TOP_MIN_OBSTACLE 0 CP_XMITPROFILE 2.0

HD_B 0.0099999998 HEAD_ERRBAND 170 ALTIM_PING_DEPTH 0 CP_UPLOADMAX 100000.0

HD_C 1.6100001e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 CP_STARTS 785.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 CP_NDIVE 1.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 47 ALTIM_PULSE 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 43 ALTIM_SENSITIVITY 4

AD7714Ch0Gain 1 D_OFFGRID 1000 N_NOSURFACE 0 SEABIRD_T_J 2.5207949e-06

AH0_10V 350 D_PITCH 0 PHONE_DEVICE 49 SIM_W 0

AH0_24V 0 D_SAFE 0 PHONE_SUPPLY -2 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 500 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_AD_RATE 135 STROBE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0046000001 SURFACE_URGENCY 0

ALTIM_PING_FIT 0 FERRY_MAX 40 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FG_AHR_10V 0 PITCH_GAIN 40 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MAX 100 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MIN 75 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 20 TM_LOGSAMPLE 0.0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0014 TM_NDIVE 1.0

CALL_NDIVES 1 HD_A 0.003 PITCH_W_DBAND 0 TM_PROFILE 3.0

CALL_TRIES 5 HD_B 0.0099999998 PITCH_W_GAIN 0 TM_RECORDABOVE 2000.0

CALL_WAIT 60 HD_C 1.6100001e-05 PRESSURE_SLOPE 0.00010836 TM_XMITPROFILE 3.0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -165.43451 TM_XMITRAW 0.0

CAPUPLOAD 0 HEAD_ERRBAND 170 PROTOCOL 9 T_ABORT 1440

CF8_MAXERRORS 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_BOOST 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0 T_DIVE 180

COMPASS2_DEVICE 149 ID 124 RAFOS_CORR_THRESH 60 T_EPIRB 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_GPS 5

COMPASS_USE 4 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_LOITER 14400

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_MMODEM 0 T_MISSION 460

CP_NDIVE 1.0 LOGGERDEVICE1 53 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

CP_PROFILE 2.0 LOGGERDEVICE2 71 RELAUNCH 1 T_RSLEEP 2

CP_RECORDABOVE 2000.0 LOGGERDEVICE3 134 RHO 1.0275 T_TURN 225

CP_STARTS 785.0 LOGGERDEVICE4 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -5

CP_UPLOADMAX 100000.0 LOGGERS 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

CP_XMITPROFILE 2.0 LOITER_DBDW 200 ROLL_AD_RATE 250 UNCOM_BLEED 50

C_PITCH 2130 LOITER_D_BOTTOM 800 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1750 LOITER_D_TOP 400 ROLL_DEG 15 USE_BATHY 0

C_ROLL_DIVE 1750 LOITER_N_DIVE 1 ROLL_MAX 1800 USE_ICE 0

C_VBD 3181 LOITER_W_DBAND 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DBDW 0 MASS 55793 ROLL_MIN 1700 VBD_CNV -0.24529999

DEEPGLIDER 0 MASS_COMP 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 1.5 R_PORT_OVSHOOT 47 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 43 VBD_MAX 3990

DEVICE3 -1 MAX_BUOY 75 SC_NDIVE 1.0 VBD_MAXERRORS 1

DEVICE4 -1 MINV_10V 11 SC_PROFILE 3.0 VBD_MIN 550

DEVICE5 -1 MINV_24V 11 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE6 -1 MISSION 26 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 1

DIVE 731 MOTHERBOARD 4 SEABIRD_C_G -9.9945526 VBD_TIMEOUT 720

D_ABORT 1030 NAV_MODE 2 SEABIRD_C_H 1.1183146 W_ADJ_DBAND 0

D_BOOST 2.5 NOCOMM_ACTION 163 SEABIRD_C_I -0.0026370776 XPDR_DEVICE 24

D_CALL 0 N_DIVES 0 SEABIRD_C_J 0.00028069684 XPDR_INHIBIT 90

D_FINISH 0 N_FILEKB 8 SEABIRD_T_G 0.0043545738 XPDR_VALID 5

D_FLARE 3 N_GPS 100440 SEABIRD_T_H 0.00062548259

D_NO_BLEED 50 N_NOCOMM 2 SEABIRD_T_I 2.3693661e-05

Pre-dive calculations and measurements:

GPS1 130119,191704,6050.1880,-2758.1665,37,1.1,37,-19.1,0.0,0.0,8,8.3 SPEED_LIMITS 0.160,0.182

_CALLS 1 TGT_NAME ICELAND

_XMS_NAKs 0 TGT_LATLONG 6300.000,-2230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.45 MHEAD_RNG_PITCHd_Wd 51.3,365965,-23.8,-9.259,-26.95,1201

_SM_ANGLEo -75.3 D_GRID 500

GPS2 130119,192116,6050.1772,-2758.1482,9,1.3,14,-19.1,0.7,138.5,7,6.2

Post-dive calculations and measurements:

FREEZE 730.43,0.000,0.000,0,1,0 _10V_AH 12.31,246.324

SM_CCo 15774,477.98,1.712,0,0,551,645.38 FG_AHR_24Vo 0.000

SM_GC 1.31,0.20,0.00,0.00,0.094,0.000,0.000,34,1727,553,-9.41,-0.65,643.67,0,0,0,0,0,0,14.18,14.85,14.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6053.48,-2754.99,130119,154409 MEM 333924

TT8_MAMPS 0.019474,0.065912 DATA_FILE_SIZE 13449,429

HUMID 46.18 CAP_FILE_SIZE 88135,0

INTERNAL_PRESSURE 7.8421 CFSIZE 260165632,166334464

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.064,247.01,1

_24V_AH 12.04,0.000 GPS 140119,001621,6049.938,-2759.303,26,1.6,43,-19.1,0.6,63.3,7,7.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 156 14.40 nil 0 0 0.00

Roll_motor 0 0 0.00 nil 0 0 0.00

VBD_pump_during_apogee 177 1821 3897.59 nil 0 0 0.00

VBD_pump_during_surface 477 1712 9852.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 0 0 0.00

Iridium_during_xfer 139 121 204.59 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 20 6.24

TT8 485 8 51.81

LPSleep 15561 2 419.53

TT8_Active 757 8 80.82

TT8_Sampling 774 26 253.97

TT8_CF8 264 31 101.43

TT8_Kalman 0 0 0.00

Analog_circuits 1283 10 170.60

GPS_charging 0 0 0.00

Compass 624 6 51.83

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

9 -0.70 -73.0 119 1728 1925 1587 0.0 0.0 0 93 0.00 0.00 -81.10 0.006 16390 0.000 0.000 119 1728 3479 3418 3541 0 0 0 0 0 0 14.82 12.47 14.66

97 -0.70 -73.0 119 1728 3418 3541 4.2 -4.4 4 99 0.10 0.00 0.00 0.000 4102 0.157 0.000 55 1728 3479 3418 3541 0 0 0 0 0 0 14.42 14.51 14.48

410 -0.70 -73.0 56 1728 3423 3536 179.8 -57.6 17 412 0.15 0.00 0.00 0.000 2054 0.116 0.000 139 1728 3479 3423 3536 0 0 0 0 0 0 14.40 14.43 14.45

730 -0.70 -73.0 138 1728 3425 3534 359.1 -56.1 25 734 0.12 0.00 0.00 0.000 4612 0.129 0.000 60 1728 3479 3425 3534 0 0 0 0 0 0 14.40 14.40 14.39

852 -0.70 -73.0 60 1728 3425 3533 427.3 -56.5 49 855 0.10 0.00 0.00 0.000 3078 0.148 0.000 134 1728 3479 3425 3533 0 0 0 0 0 0 14.38 14.86 14.38

1009 end dive: TARGET_DEPTH_EXCEEDED

state 1009 begin apogee

1018 -0.12 0.0 134 1728 3426 3532 518.3 -56.5 60 1079 0.15 0.00 57.83 1.577 12294 0.116 0.000 53 1728 3180 3199 3162 0 0 0 0 0 0 14.30 14.23 13.46

1079 end apogee: CONTROL_FINISHED_OK

state 1080 begin loiter

1374 -0.01 81.9 53 1728 3204 3164 679.5 -42.1 69 1445 0.17 0.00 67.43 1.757 10278 0.106 0.000 144 1728 2847 2925 2770 0 0 0 0 0 0 14.35 14.10 13.32

1735 0.05 126.8 143 1728 2924 2778 774.7 -23.1 78 1776 0.15 0.00 38.97 1.821 12326 0.114 0.000 62 1728 2662 2771 2554 0 0 0 0 0 0 14.39 14.25 13.44

2094 0.05 126.8 62 1728 2769 2558 794.5 0.2 87 2096 0.15 0.00 0.00 0.000 2054 0.117 0.000 144 1728 2663 2769 2558 0 0 0 0 0 0 14.41 14.48 14.45

2413 0.05 126.8 143 1728 2769 2559 787.5 2.1 95 2415 0.17 0.00 0.00 0.000 4102 0.106 0.000 52 1728 2664 2769 2559 0 0 0 0 0 0 14.38 14.43 14.41

2733 0.05 126.8 51 1728 2769 2559 784.1 0.7 103 2735 0.17 0.00 0.00 0.000 2054 0.106 0.000 142 1728 2664 2769 2559 0 0 0 0 0 0 14.35 14.40 14.38

3053 0.05 126.8 142 1728 2768 2559 785.7 -0.9 111 3055 0.15 0.00 0.00 0.000 4102 0.116 0.000 62 1728 2663 2768 2559 0 0 0 0 0 0 14.37 14.40 14.38

3373 0.06 130.8 62 1728 2768 2559 791.5 -2.0 119 3380 0.15 0.00 4.30 1.111 10278 0.118 0.000 142 1728 2646 2750 2543 0 0 0 0 0 0 14.38 14.52 13.48

3694 0.06 130.8 142 1728 2749 2552 789.9 1.6 127 3696 0.15 0.00 0.00 0.000 4102 0.116 0.000 62 1728 2650 2748 2552 0 0 0 0 0 0 14.35 14.39 14.38

4013 0.06 130.8 62 1728 2749 2552 782.5 2.2 135 4015 0.15 0.00 0.00 0.000 2054 0.117 0.000 142 1728 2650 2749 2552 0 0 0 0 0 0 14.35 14.38 14.37

4333 0.06 130.8 142 1728 2749 2552 778.1 1.0 143 4335 0.15 0.00 0.00 0.000 4102 0.116 0.000 62 1728 2650 2749 2552 0 0 0 0 0 0 14.35 14.37 14.35

4653 0.06 130.8 62 1728 2748 2552 777.5 -0.0 151 4655 0.15 0.00 0.00 0.000 2054 0.117 0.000 142 1728 2650 2748 2552 0 0 0 0 0 0 14.35 14.37 14.34

4973 0.06 130.8 142 1728 2748 2552 779.0 -0.6 159 4975 0.15 0.00 0.00 0.000 4102 0.116 0.000 62 1728 2650 2748 2552 0 0 0 0 0 0 14.35 14.36 14.36

5293 0.06 130.8 62 1728 2748 2552 781.3 -0.7 167 5295 0.15 0.00 0.00 0.000 2054 0.118 0.000 142 1728 2650 2748 2552 0 0 0 0 0 0 14.35 14.37 14.38

5613 0.06 130.8 142 1728 2748 2551 783.1 -0.5 175 5615 0.15 0.00 0.00 0.000 4102 0.116 0.000 62 1728 2650 2748 2552 0 0 0 0 0 0 14.35 14.35 14.36

5934 0.06 130.8 62 1728 2748 2552 783.8 -0.2 183 5936 0.15 0.00 0.00 0.000 2054 0.115 0.000 142 1727 2649 2748 2550 0 0 0 0 0 0 14.35 14.36 14.35

6253 0.06 130.8 142 1728 2747 2552 784.7 -0.4 191 6255 0.15 0.00 0.00 0.000 4102 0.117 0.000 62 1728 2649 2747 2552 0 0 0 0 0 0 14.37 14.35 14.35

6573 0.06 130.8 62 1728 2747 2552 786.6 -0.7 199 6575 0.15 0.00 0.00 0.000 2054 0.117 0.000 142 1728 2649 2747 2552 0 0 0 0 0 0 14.35 14.36 14.36

6893 0.06 130.8 141 1728 2747 2552 789.7 -1.1 207 6895 0.15 0.00 0.00 0.000 4102 0.116 0.000 62 1728 2649 2747 2552 0 0 0 0 0 0 14.34 14.36 14.35

7213 0.06 130.8 62 1728 2747 2552 794.0 -1.4 215 7215 0.15 0.00 0.00 0.000 2054 0.117 0.000 142 1728 2649 2747 2552 0 0 0 0 0 0 14.36 14.37 14.36

7533 0.06 130.8 142 1728 2747 2552 798.7 -1.5 223 7535 0.15 0.00 0.00 0.000 4102 0.117 0.000 62 1728 2649 2746 2552 0 0 0 0 0 0 14.36 14.35 14.36

7853 0.06 133.2 62 1728 2746 2552 802.8 -1.2 231 7858 0.15 0.00 2.50 0.555 10278 0.118 0.000 142 1728 2639 2734 2544 0 0 0 0 0 0 14.35 14.30 13.00

8174 0.06 133.2 142 1728 2734 2554 803.8 0.1 239 8176 0.15 0.00 0.00 0.000 4102 0.115 0.000 62 1728 2644 2734 2555 0 0 0 0 0 0 14.36 14.38 14.36

8493 0.06 133.2 62 1728 2734 2556 802.0 0.6 247 8495 0.15 0.00 0.00 0.000 2054 0.118 0.000 142 1728 2645 2734 2556 0 0 0 0 0 0 14.36 14.37 14.36

8813 0.06 133.2 141 1728 2734 2556 800.3 0.5 255 8815 0.15 0.00 0.00 0.000 4102 0.116 0.000 62 1728 2645 2734 2556 0 0 0 0 0 0 14.36 14.37 14.36

9133 0.06 133.2 62 1728 2734 2556 799.7 0.1 263 9135 0.15 0.00 0.00 0.000 2054 0.116 0.000 141 1728 2645 2734 2556 0 0 0 0 0 0 14.36 14.37 14.36

9453 0.06 134.1 141 1728 2734 2556 800.7 -0.5 271 9458 0.15 0.00 1.73 0.119 12326 0.116 0.000 61 1728 2636 2725 2548 0 0 0 0 0 0 14.36 13.88 13.65

9775 0.06 135.4 61 1728 2725 2560 802.8 -0.7 279 9781 0.15 0.00 3.85 0.994 10278 0.116 0.000 141 1728 2629 2716 2543 0 0 0 0 0 0 14.35 14.37 13.14

10094 0.06 135.4 141 1728 2717 2553 798.1 2.4 287 10096 0.15 0.00 0.00 0.000 4102 0.116 0.000 60 1728 2635 2717 2553 0 0 0 0 0 0 14.36 14.40 14.37

10413 0.06 135.4 60 1728 2717 2554 787.8 3.2 295 10415 0.15 0.00 0.00 0.000 2054 0.116 0.000 140 1728 2635 2717 2554 0 0 0 0 0 0 14.36 14.36 14.36

10733 0.06 135.4 140 1728 2717 2554 778.5 2.8 303 10735 0.15 0.00 0.00 0.000 4102 0.117 0.000 60 1728 2635 2716 2554 0 0 0 0 0 0 14.36 14.36 14.36

11053 0.06 135.4 60 1728 2717 2554 772.1 1.9 311 11057 0.15 0.00 1.12 0.114 10246 0.118 0.000 140 1728 2628 2712 2545 0 0 0 0 0 0 14.36 13.81 13.56

11373 0.06 135.4 140 1728 2713 2557 765.4 2.1 319 11375 0.15 0.00 0.00 0.000 4102 0.117 0.000 61 1728 2634 2712 2557 0 0 0 0 0 0 14.36 14.36 14.35

11693 0.06 135.4 61 1728 2713 2557 758.3 2.3 327 11695 0.15 0.00 0.00 0.000 2054 0.118 0.000 141 1728 2634 2712 2557 0 0 0 0 0 0 14.35 14.35 14.34

12014 0.06 135.4 140 1728 2713 2557 750.9 2.4 335 12016 0.15 0.00 0.00 0.000 4102 0.116 0.000 61 1728 2634 2712 2557 0 0 0 0 0 0 14.35 14.35 14.35

12333 0.06 135.4 60 1728 2712 2557 743.5 2.2 343 12335 0.15 0.00 0.00 0.000 2054 0.116 0.000 140 1728 2634 2712 2557 0 0 0 0 0 0 14.36 14.36 14.36

12653 0.06 135.4 140 1728 2713 2557 737.8 1.6 351 12655 0.15 0.00 0.00 0.000 4102 0.117 0.000 61 1728 2634 2712 2557 0 0 0 0 0 0 14.35 14.36 14.36

12973 0.06 135.4 60 1728 2713 2557 734.8 0.6 359 12975 0.15 0.00 0.00 0.000 2054 0.117 0.000 139 1728 2634 2711 2557 0 0 0 0 0 0 14.36 14.36 14.36

13293 0.06 135.4 139 1728 2712 2557 735.6 -0.4 367 13295 0.15 0.00 0.00 0.000 4102 0.116 0.000 61 1728 2634 2712 2557 0 0 0 0 0 0 14.36 14.35 14.35

13613 0.06 135.4 60 1728 2713 2557 738.0 -0.8 375 13615 0.15 0.00 0.00 0.000 2054 0.118 0.000 140 1728 2634 2712 2557 0 0 0 0 0 0 14.36 14.36 14.36

13933 0.06 135.4 139 1728 2713 2557 740.2 -0.7 383 13935 0.15 0.00 0.00 0.000 4102 0.116 0.000 60 1728 2634 2712 2557 0 0 0 0 0 0 14.38 14.36 14.36

14255 0.06 135.4 60 1728 2712 2557 740.2 0.4 391 14257 0.15 0.00 0.00 0.000 2054 0.118 0.000 139 1728 2634 2712 2557 0 0 0 0 0 0 14.35 14.36 14.35

14573 0.06 135.4 140 1728 2712 2557 738.2 0.5 399 14575 0.15 0.00 0.00 0.000 4102 0.116 0.000 60 1728 2634 2712 2557 0 0 0 0 0 0 14.37 14.35 14.37

14893 0.06 135.4 60 1728 2712 2557 736.4 0.6 407 14895 0.15 0.00 0.00 0.000 2054 0.118 0.000 140 1728 2634 2712 2556 0 0 0 0 0 0 14.36 14.36 14.35

15213 0.06 135.4 140 1728 2712 2557 734.2 0.7 415 15215 0.15 0.00 0.00 0.000 4102 0.116 0.000 61 1728 2634 2712 2557 0 0 0 0 0 0 14.37 14.36 14.36

15449 end loiter: LOITER_COMPLETE

state 15449 begin climb

15453 0.70 73.0 61 1728 2712 2557 731.5 0.0 421 15455 0.12 0.00 0.00 0.000 2054 0.133 0.000 134 1728 2634 2712 2557 0 0 0 0 0 0 14.40 14.40 14.39

15769 end climb: NO_VERTICAL_VELOCITY

state 15770 begin surface

ID	124	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	250	XPDR_VALID	5
MISSION	26	TGT_DEFAULT_LAT	47.599998	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	731	TGT_DEFAULT_LON	-122.3	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
STOP_T	0	SM_CC	350	VBD_MIN	550	DEEPGLIDER	0
D_SURF	3	N_FILEKB	8	VBD_MAX	3990	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	3181	DEVICE1	-1
D_TGT	500	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	1030	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_NO_BLEED	50	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_BOOST	2.5	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE5	-1
T_BOOST	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0014	DEVICE6	-1
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERS	0
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE1	53
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	71
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	50	LOGGERDEVICE3	134
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	149
T_DIVE	180	T_GPS	5	LOITER_W_DBAND	2	PHONE_DEVICE	49
T_MISSION	460	N_GPS	100440	LOITER_DBDW	200	GPS_DEVICE	32
T_ABORT	1440	T_RSLEEP	2	LOITER_D_TOP	400	RAFOS_DEVICE	-1
T_TURN	225	STROBE	0	LOITER_D_BOTTOM	800	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	1.5	LOITER_N_DIVE	1	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	PITCH_W_GAIN	0	SEABIRD_T_G	0.0043545738
T_LOITER	14400	RAFOS_HIT_WINDOW	3600	PITCH_W_DBAND	0	SEABIRD_T_H	0.00062548259
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	SEABIRD_T_I	2.3693661e-05
USE_BATHY	0	PITCH_MIN	75	AH0_24V	0	SEABIRD_T_J	2.5207949e-06
USE_ICE	0	PITCH_MAX	100	AH0_10V	350	SEABIRD_C_G	-9.9945526
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2130	MINV_24V	11	SEABIRD_C_H	1.1183146
D_OFFGRID	1000	PITCH_DBAND	0.1	MINV_10V	11	SEABIRD_C_I	-0.0026370776
T_WATCHDOG	10	PITCH_CNV	0.0046000001	MAXI_24V	0.60000002	SEABIRD_C_J	0.00028069684
RELAUNCH	1	P_OVSHOOT	0.039999999	MAXI_10V	1.5	SC_RECORDABOVE	2000.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SC_PROFILE	3.0
MAX_BUOY	75	PITCH_GAIN	40	FG_AHR_24V	0	SC_XMITPROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PHONE_SUPPLY	-2	SC_NDIVE	1.0
GLIDE_SLOPE	30	PITCH_AD_RATE	135	PRESSURE_YINT	-165.43451	TM_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010836	TM_PROFILE	3.0
RHO	1.0275	PITCH_ADJ_GAIN	0	AD7714Ch0Gain	1	TM_XMITPROFILE	3.0
MASS	55793	PITCH_ADJ_DBAND	0	COMPASS_USE	4	TM_NDIVE	1.0
MASS_COMP	0	ROLL_MIN	1700	ALTIM_PING_FIT	0	TM_LOGSAMPLE	0.0
NAV_MODE	2	ROLL_MAX	1800	ALTIM_TOP_PING_RANGE	0	TM_XMITRAW	0.0
FERRY_MAX	40	ROLL_DEG	15	ALTIM_BOTTOM_TURN_MARGIN	0	CP_RECORDABOVE	2000.0
KALMAN_USE	2	C_ROLL_DIVE	1750	ALTIM_TOP_TURN_MARGIN	0	CP_PROFILE	2.0
HD_A	0.003	C_ROLL_CLIMB	1750	ALTIM_TOP_MIN_OBSTACLE	0	CP_XMITPROFILE	2.0
HD_B	0.0099999998	HEAD_ERRBAND	170	ALTIM_PING_DEPTH	0	CP_UPLOADMAX	100000.0
HD_C	1.6100001e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	CP_STARTS	785.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	CP_NDIVE	1.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	47	ALTIM_PULSE	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	43	ALTIM_SENSITIVITY	4

GPS1	130119,191704,6050.1880,-2758.1665,37,1.1,37,-19.1,0.0,0.0,8,8.3	SPEED_LIMITS	0.160,0.182
_CALLS	1	TGT_NAME	ICELAND
_XMS_NAKs	0	TGT_LATLONG	6300.000,-2230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.45	MHEAD_RNG_PITCHd_Wd	51.3,365965,-23.8,-9.259,-26.95,1201
_SM_ANGLEo	-75.3	D_GRID	500
GPS2	130119,192116,6050.1772,-2758.1482,9,1.3,14,-19.1,0.7,138.5,7,6.2

FREEZE	730.43,0.000,0.000,0,1,0	_10V_AH	12.31,246.324
SM_CCo	15774,477.98,1.712,0,0,551,645.38	FG_AHR_24Vo	0.000
SM_GC	1.31,0.20,0.00,0.00,0.094,0.000,0.000,34,1727,553,-9.41,-0.65,643.67,0,0,0,0,0,0,14.18,14.85,14.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6053.48,-2754.99,130119,154409	MEM	333924
TT8_MAMPS	0.019474,0.065912	DATA_FILE_SIZE	13449,429
HUMID	46.18	CAP_FILE_SIZE	88135,0
INTERNAL_PRESSURE	7.8421	CFSIZE	260165632,166334464
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.064,247.01,1
_24V_AH	12.04,0.000	GPS	140119,001621,6049.938,-2759.303,26,1.6,43,-19.1,0.6,63.3,7,7.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	156	14.40	nil	0	0	0.00
Roll_motor	0	0	0.00	nil	0	0	0.00
VBD_pump_during_apogee	177	1821	3897.59	nil	0	0	0.00
VBD_pump_during_surface	477	1712	9852.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	0	0	0.00
Iridium_during_xfer	139	121	204.59	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	20	6.24
TT8	485	8	51.81
LPSleep	15561	2	419.53
TT8_Active	757	8	80.82
TT8_Sampling	774	26	253.97
TT8_CF8	264	31	101.43
TT8_Kalman	0	0	0.00
Analog_circuits	1283	10	170.60
GPS_charging	0	0	0.00
Compass	624	6	51.83
RAFOS	0	0	0.00
Transponder	0	5	0.03

		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
9	-0.70	-73.0	119	1728	1925	1587	0.0	0.0	0	93	0.00	0.00	-81.10	0.006	16390	0.000	0.000	119	1728	3479	3418	3541	0	0	0	0	0	0	14.82	12.47	14.66
97	-0.70	-73.0	119	1728	3418	3541	4.2	-4.4	4	99	0.10	0.00	0.00	0.000	4102	0.157	0.000	55	1728	3479	3418	3541	0	0	0	0	0	0	14.42	14.51	14.48
410	-0.70	-73.0	56	1728	3423	3536	179.8	-57.6	17	412	0.15	0.00	0.00	0.000	2054	0.116	0.000	139	1728	3479	3423	3536	0	0	0	0	0	0	14.40	14.43	14.45
730	-0.70	-73.0	138	1728	3425	3534	359.1	-56.1	25	734	0.12	0.00	0.00	0.000	4612	0.129	0.000	60	1728	3479	3425	3534	0	0	0	0	0	0	14.40	14.40	14.39
852	-0.70	-73.0	60	1728	3425	3533	427.3	-56.5	49	855	0.10	0.00	0.00	0.000	3078	0.148	0.000	134	1728	3479	3425	3533	0	0	0	0	0	0	14.38	14.86	14.38
1009	end dive: TARGET_DEPTH_EXCEEDED
state	1009	begin apogee
1018	-0.12	0.0	134	1728	3426	3532	518.3	-56.5	60	1079	0.15	0.00	57.83	1.577	12294	0.116	0.000	53	1728	3180	3199	3162	0	0	0	0	0	0	14.30	14.23	13.46
1079	end apogee: CONTROL_FINISHED_OK
state	1080	begin loiter
1374	-0.01	81.9	53	1728	3204	3164	679.5	-42.1	69	1445	0.17	0.00	67.43	1.757	10278	0.106	0.000	144	1728	2847	2925	2770	0	0	0	0	0	0	14.35	14.10	13.32
1735	0.05	126.8	143	1728	2924	2778	774.7	-23.1	78	1776	0.15	0.00	38.97	1.821	12326	0.114	0.000	62	1728	2662	2771	2554	0	0	0	0	0	0	14.39	14.25	13.44
2094	0.05	126.8	62	1728	2769	2558	794.5	0.2	87	2096	0.15	0.00	0.00	0.000	2054	0.117	0.000	144	1728	2663	2769	2558	0	0	0	0	0	0	14.41	14.48	14.45
2413	0.05	126.8	143	1728	2769	2559	787.5	2.1	95	2415	0.17	0.00	0.00	0.000	4102	0.106	0.000	52	1728	2664	2769	2559	0	0	0	0	0	0	14.38	14.43	14.41
2733	0.05	126.8	51	1728	2769	2559	784.1	0.7	103	2735	0.17	0.00	0.00	0.000	2054	0.106	0.000	142	1728	2664	2769	2559	0	0	0	0	0	0	14.35	14.40	14.38
3053	0.05	126.8	142	1728	2768	2559	785.7	-0.9	111	3055	0.15	0.00	0.00	0.000	4102	0.116	0.000	62	1728	2663	2768	2559	0	0	0	0	0	0	14.37	14.40	14.38
3373	0.06	130.8	62	1728	2768	2559	791.5	-2.0	119	3380	0.15	0.00	4.30	1.111	10278	0.118	0.000	142	1728	2646	2750	2543	0	0	0	0	0	0	14.38	14.52	13.48
3694	0.06	130.8	142	1728	2749	2552	789.9	1.6	127	3696	0.15	0.00	0.00	0.000	4102	0.116	0.000	62	1728	2650	2748	2552	0	0	0	0	0	0	14.35	14.39	14.38
4013	0.06	130.8	62	1728	2749	2552	782.5	2.2	135	4015	0.15	0.00	0.00	0.000	2054	0.117	0.000	142	1728	2650	2749	2552	0	0	0	0	0	0	14.35	14.38	14.37
4333	0.06	130.8	142	1728	2749	2552	778.1	1.0	143	4335	0.15	0.00	0.00	0.000	4102	0.116	0.000	62	1728	2650	2749	2552	0	0	0	0	0	0	14.35	14.37	14.35
4653	0.06	130.8	62	1728	2748	2552	777.5	-0.0	151	4655	0.15	0.00	0.00	0.000	2054	0.117	0.000	142	1728	2650	2748	2552	0	0	0	0	0	0	14.35	14.37	14.34
4973	0.06	130.8	142	1728	2748	2552	779.0	-0.6	159	4975	0.15	0.00	0.00	0.000	4102	0.116	0.000	62	1728	2650	2748	2552	0	0	0	0	0	0	14.35	14.36	14.36
5293	0.06	130.8	62	1728	2748	2552	781.3	-0.7	167	5295	0.15	0.00	0.00	0.000	2054	0.118	0.000	142	1728	2650	2748	2552	0	0	0	0	0	0	14.35	14.37	14.38
5613	0.06	130.8	142	1728	2748	2551	783.1	-0.5	175	5615	0.15	0.00	0.00	0.000	4102	0.116	0.000	62	1728	2650	2748	2552	0	0	0	0	0	0	14.35	14.35	14.36
5934	0.06	130.8	62	1728	2748	2552	783.8	-0.2	183	5936	0.15	0.00	0.00	0.000	2054	0.115	0.000	142	1727	2649	2748	2550	0	0	0	0	0	0	14.35	14.36	14.35
6253	0.06	130.8	142	1728	2747	2552	784.7	-0.4	191	6255	0.15	0.00	0.00	0.000	4102	0.117	0.000	62	1728	2649	2747	2552	0	0	0	0	0	0	14.37	14.35	14.35
6573	0.06	130.8	62	1728	2747	2552	786.6	-0.7	199	6575	0.15	0.00	0.00	0.000	2054	0.117	0.000	142	1728	2649	2747	2552	0	0	0	0	0	0	14.35	14.36	14.36
6893	0.06	130.8	141	1728	2747	2552	789.7	-1.1	207	6895	0.15	0.00	0.00	0.000	4102	0.116	0.000	62	1728	2649	2747	2552	0	0	0	0	0	0	14.34	14.36	14.35
7213	0.06	130.8	62	1728	2747	2552	794.0	-1.4	215	7215	0.15	0.00	0.00	0.000	2054	0.117	0.000	142	1728	2649	2747	2552	0	0	0	0	0	0	14.36	14.37	14.36
7533	0.06	130.8	142	1728	2747	2552	798.7	-1.5	223	7535	0.15	0.00	0.00	0.000	4102	0.117	0.000	62	1728	2649	2746	2552	0	0	0	0	0	0	14.36	14.35	14.36
7853	0.06	133.2	62	1728	2746	2552	802.8	-1.2	231	7858	0.15	0.00	2.50	0.555	10278	0.118	0.000	142	1728	2639	2734	2544	0	0	0	0	0	0	14.35	14.30	13.00
8174	0.06	133.2	142	1728	2734	2554	803.8	0.1	239	8176	0.15	0.00	0.00	0.000	4102	0.115	0.000	62	1728	2644	2734	2555	0	0	0	0	0	0	14.36	14.38	14.36
8493	0.06	133.2	62	1728	2734	2556	802.0	0.6	247	8495	0.15	0.00	0.00	0.000	2054	0.118	0.000	142	1728	2645	2734	2556	0	0	0	0	0	0	14.36	14.37	14.36
8813	0.06	133.2	141	1728	2734	2556	800.3	0.5	255	8815	0.15	0.00	0.00	0.000	4102	0.116	0.000	62	1728	2645	2734	2556	0	0	0	0	0	0	14.36	14.37	14.36
9133	0.06	133.2	62	1728	2734	2556	799.7	0.1	263	9135	0.15	0.00	0.00	0.000	2054	0.116	0.000	141	1728	2645	2734	2556	0	0	0	0	0	0	14.36	14.37	14.36
9453	0.06	134.1	141	1728	2734	2556	800.7	-0.5	271	9458	0.15	0.00	1.73	0.119	12326	0.116	0.000	61	1728	2636	2725	2548	0	0	0	0	0	0	14.36	13.88	13.65
9775	0.06	135.4	61	1728	2725	2560	802.8	-0.7	279	9781	0.15	0.00	3.85	0.994	10278	0.116	0.000	141	1728	2629	2716	2543	0	0	0	0	0	0	14.35	14.37	13.14
10094	0.06	135.4	141	1728	2717	2553	798.1	2.4	287	10096	0.15	0.00	0.00	0.000	4102	0.116	0.000	60	1728	2635	2717	2553	0	0	0	0	0	0	14.36	14.40	14.37
10413	0.06	135.4	60	1728	2717	2554	787.8	3.2	295	10415	0.15	0.00	0.00	0.000	2054	0.116	0.000	140	1728	2635	2717	2554	0	0	0	0	0	0	14.36	14.36	14.36
10733	0.06	135.4	140	1728	2717	2554	778.5	2.8	303	10735	0.15	0.00	0.00	0.000	4102	0.117	0.000	60	1728	2635	2716	2554	0	0	0	0	0	0	14.36	14.36	14.36
11053	0.06	135.4	60	1728	2717	2554	772.1	1.9	311	11057	0.15	0.00	1.12	0.114	10246	0.118	0.000	140	1728	2628	2712	2545	0	0	0	0	0	0	14.36	13.81	13.56
11373	0.06	135.4	140	1728	2713	2557	765.4	2.1	319	11375	0.15	0.00	0.00	0.000	4102	0.117	0.000	61	1728	2634	2712	2557	0	0	0	0	0	0	14.36	14.36	14.35
11693	0.06	135.4	61	1728	2713	2557	758.3	2.3	327	11695	0.15	0.00	0.00	0.000	2054	0.118	0.000	141	1728	2634	2712	2557	0	0	0	0	0	0	14.35	14.35	14.34
12014	0.06	135.4	140	1728	2713	2557	750.9	2.4	335	12016	0.15	0.00	0.00	0.000	4102	0.116	0.000	61	1728	2634	2712	2557	0	0	0	0	0	0	14.35	14.35	14.35
12333	0.06	135.4	60	1728	2712	2557	743.5	2.2	343	12335	0.15	0.00	0.00	0.000	2054	0.116	0.000	140	1728	2634	2712	2557	0	0	0	0	0	0	14.36	14.36	14.36
12653	0.06	135.4	140	1728	2713	2557	737.8	1.6	351	12655	0.15	0.00	0.00	0.000	4102	0.117	0.000	61	1728	2634	2712	2557	0	0	0	0	0	0	14.35	14.36	14.36
12973	0.06	135.4	60	1728	2713	2557	734.8	0.6	359	12975	0.15	0.00	0.00	0.000	2054	0.117	0.000	139	1728	2634	2711	2557	0	0	0	0	0	0	14.36	14.36	14.36
13293	0.06	135.4	139	1728	2712	2557	735.6	-0.4	367	13295	0.15	0.00	0.00	0.000	4102	0.116	0.000	61	1728	2634	2712	2557	0	0	0	0	0	0	14.36	14.35	14.35
13613	0.06	135.4	60	1728	2713	2557	738.0	-0.8	375	13615	0.15	0.00	0.00	0.000	2054	0.118	0.000	140	1728	2634	2712	2557	0	0	0	0	0	0	14.36	14.36	14.36
13933	0.06	135.4	139	1728	2713	2557	740.2	-0.7	383	13935	0.15	0.00	0.00	0.000	4102	0.116	0.000	60	1728	2634	2712	2557	0	0	0	0	0	0	14.38	14.36	14.36
14255	0.06	135.4	60	1728	2712	2557	740.2	0.4	391	14257	0.15	0.00	0.00	0.000	2054	0.118	0.000	139	1728	2634	2712	2557	0	0	0	0	0	0	14.35	14.36	14.35
14573	0.06	135.4	140	1728	2712	2557	738.2	0.5	399	14575	0.15	0.00	0.00	0.000	4102	0.116	0.000	60	1728	2634	2712	2557	0	0	0	0	0	0	14.37	14.35	14.37
14893	0.06	135.4	60	1728	2712	2557	736.4	0.6	407	14895	0.15	0.00	0.00	0.000	2054	0.118	0.000	140	1728	2634	2712	2556	0	0	0	0	0	0	14.36	14.36	14.35
15213	0.06	135.4	140	1728	2712	2557	734.2	0.7	415	15215	0.15	0.00	0.00	0.000	4102	0.116	0.000	61	1728	2634	2712	2557	0	0	0	0	0	0	14.37	14.36	14.36
15449	end loiter: LOITER_COMPLETE
state	15449	begin climb
15453	0.70	73.0	61	1728	2712	2557	731.5	0.0	421	15455	0.12	0.00	0.00	0.000	2054	0.133	0.000	134	1728	2634	2712	2557	0	0	0	0	0	0	14.40	14.40	14.39
15769	end climb: NO_VERTICAL_VELOCITY
state	15770	begin surface