Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 77 * 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 77 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 85 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 90 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 2700 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 30 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 165 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 0.5 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 7200 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 80 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 90 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 140.0

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 90 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 30

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 7200

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 165

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 140.0 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 90 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2700 LOITER_D_TOP 80 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 0.5 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 85 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 65 XPDR_INHIBIT 90

DIVE 77 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 060921,013154,4750.4902,-12508.9316,1,0.6,2,15.7,0.3,125.7,12,7.5 SPEED_LIMITS 0.173,0.234

_CALLS 1 TGT_NAME NW_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4751.690,-12511.250

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.65 MHEAD_RNG_PITCHd_Wd 294.4,3669,-18.1,-10.000,-23.17,1779

_SM_ANGLEo -61.1 D_GRID 206

GPS2 060921,013430,4750.4805,-12508.9111,3,0.7,3,15.7,0.5,104.6,12,10.0

Post-dive calculations and measurements:

FINISH 0.1,1.025052 _24V_AH 24.31,15.369

SM_CCo 9337,-0.03,0.737,0,0,549,527.64 _10V_AH 10.23,8.790

SM_GC 0.54,7.57,1.40,-0.03,0.060,0.030,0.737,181,1992,549,-7.41,-1.58,527.64,0,0,0,0,0,0,26.15,26.11,25.08 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4751.65,-12513.98,060921,012943 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.185752 MEM 211264

HUMID 53.07 DATA_FILE_SIZE 79958,1690

INTERNAL_PRESSURE 8.72826 CAP_FILE_SIZE 193715,0

TCM_TEMP 15.30 CFSIZE 260030464,244215808

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

CP_FREE 117066498048.000000 CURRENT 0.078,23.24,1

CP_POWER 328.200000 GPS 060921,041231,4750.924,-12508.843,34,0.8,41,15.7,1.9,92.0,10,3.0

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 227 96.85 SBE_CT 1159 64 1815.39

Roll_motor 11 126 33.83 WL_blue_red_Chl 3625 37 3300.78

VBD_pump_during_apogee 469 513 5856.87 nil 0 0 0.00

VBD_pump_during_surface 204 615 3062.19 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 9102 25 5531.74

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 11 1.89

TT8 3761 12 470.28

LPSleep 649 2 14.56

TT8_Active 849 12 106.14

TT8_Sampling 3664 37 1412.95

TT8_CF8 517 42 227.14

TT8_Kalman 0 0 0.00

Analog_circuits 2231 11 251.07

GPS_charging 0 0 0.00

Compass 3967 8 334.43

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 -0.79 -116.8 175 2033 694 406 0.0 0.0 0 132 0.00 0.00 -104.30 0.010 16386 0.000 0.000 175 2031 3120 3110 3131 0 0 0 0 0 0 26.46 28.83 26.48

135 -0.79 -116.8 175 2032 3111 3132 4.1 -8.0 15 152 8.07 1.08 -1.15 0.066 18980 0.211 0.126 2323 1319 3181 3185 3177 0 0 0 0 0 0 26.04 24.95 26.17

313 -0.79 -116.8 2322 1319 3193 3171 36.5 -13.3 48 321 0.00 1.00 0.00 0.000 1030 0.000 0.037 2319 1983 3181 3193 3170 0 0 0 0 0 0 26.53 26.50 26.55

446 -0.79 -116.8 2318 1984 3195 3170 53.0 -11.3 73 453 0.00 0.00 0.00 0.000 6 0.000 0.000 2319 1983 3182 3195 3170 0 0 0 0 0 0 26.57 26.65 26.63

576 -0.79 -116.8 2318 1983 3196 3170 68.0 -10.1 98 584 0.00 1.05 0.00 0.000 260 0.000 0.043 2314 2708 3182 3196 3169 0 0 0 0 0 0 26.51 26.55 26.58

728 -0.79 -116.8 2313 2708 3197 3169 85.3 -12.0 125 737 0.05 0.98 0.00 0.000 3078 0.206 0.031 2326 2008 3183 3197 3169 0 0 0 0 0 0 26.34 26.63 26.41

763 end dive: TARGET_DEPTH_EXCEEDED

state 763 begin apogee

768 -0.18 0.0 2327 1785 3197 3169 90.1 -12.0 131 926 0.65 0.00 149.07 0.510 10246 0.162 0.000 2522 1784 2689 2742 2637 0 0 0 0 0 0 26.27 25.29 24.99

932 end apogee: CONTROL_FINISHED_OK

state 932 begin loiter

1071 -0.18 0.0 2522 1784 2724 2622 93.9 2.2 178 1078 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2673 2724 2622 0 0 0 0 0 0 26.06 26.14 26.13

1201 -0.18 0.0 2522 1784 2723 2622 91.0 2.2 203 1207 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1785 2672 2723 2621 0 0 0 0 0 0 26.28 26.34 26.34

1329 -0.18 0.0 2521 1784 2722 2621 89.2 0.5 228 1336 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2671 2722 2621 0 0 0 0 0 0 26.37 26.44 26.43

1459 -0.18 0.0 2522 1784 2721 2620 89.2 0.0 253 1465 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2670 2721 2620 0 0 0 0 0 0 26.47 26.54 26.53

1594 -0.18 0.0 2522 1784 2721 2620 89.0 0.3 278 1600 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2670 2721 2619 0 0 0 0 0 0 26.53 26.60 26.59

1723 -0.18 0.0 2522 1785 2720 2619 88.3 0.4 303 1729 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2669 2720 2619 0 0 0 0 0 0 26.51 26.56 26.57

1852 -0.18 0.0 2522 1784 2719 2618 88.4 -0.4 328 1858 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2669 2720 2618 0 0 0 0 0 0 26.62 26.70 26.68

1987 -0.17 5.8 2522 1784 2719 2618 89.2 -0.7 353 1994 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2668 2719 2617 0 0 0 0 0 0 26.66 26.72 26.69

2116 -0.16 13.8 2522 1784 2718 2617 90.4 -1.0 378 2123 0.00 0.00 2.72 0.513 8230 0.000 0.000 2523 1784 2647 2701 2593 0 0 0 0 0 0 26.68 26.26 25.32

2247 -0.16 13.8 2522 1784 2708 2599 90.6 0.3 403 2253 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2653 2708 2599 0 0 0 0 0 0 26.65 26.72 26.72

2376 -0.16 13.8 2522 1784 2708 2598 89.4 1.5 428 2382 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2653 2709 2598 0 0 0 0 0 0 26.67 26.74 26.74

2511 -0.16 13.8 2522 1784 2709 2598 85.7 3.5 453 2517 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2653 2708 2598 0 0 0 0 0 0 26.71 26.78 26.77

2640 -0.16 13.8 2522 1784 2708 2598 80.6 4.1 478 2646 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2653 2708 2598 0 0 0 0 0 0 26.72 26.78 26.77

2769 -0.20 -16.1 2522 1784 2709 2598 75.5 3.8 503 2775 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2652 2708 2597 0 0 0 0 0 0 26.74 26.80 26.80

2904 -0.23 -44.0 2522 1784 2708 2597 70.5 3.6 528 2911 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2652 2708 2597 0 0 0 0 0 0 26.68 26.75 26.74

3033 -0.25 -60.0 2522 1784 2708 2598 67.0 2.1 553 3040 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2652 2708 2597 0 0 0 0 0 0 26.71 26.79 26.77

3163 -0.25 -61.0 2522 1784 2707 2597 65.8 0.1 578 3170 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2652 2707 2597 0 0 0 0 0 0 26.76 26.83 26.82

3298 -0.25 -61.0 2522 1784 2707 2596 67.6 -2.6 603 3304 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2652 2707 2597 0 0 0 0 0 0 26.77 26.84 26.84

3427 -0.25 -61.0 2522 1784 2707 2597 76.0 -9.5 628 3434 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2652 2707 2597 0 0 0 0 0 0 26.79 26.77 26.79

3556 -0.23 -40.8 2523 1784 2706 2597 82.9 -2.6 653 3563 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2651 2706 2597 0 0 0 0 0 0 26.72 26.81 26.79

3692 -0.23 -40.8 2522 1784 2705 2597 82.7 3.4 678 3699 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2651 2705 2597 0 0 0 0 0 0 26.80 26.86 26.86

3821 -0.24 -48.1 2521 1784 2705 2597 79.6 0.9 703 3828 0.00 0.00 0.00 0.000 38 0.000 0.000 2523 1784 2651 2705 2597 0 0 0 0 0 0 26.81 26.87 26.87

3950 -0.24 -51.2 2522 1784 2704 2597 79.5 0.4 728 3957 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2650 2704 2597 0 0 0 0 0 0 26.72 26.79 26.77

4085 -0.24 -51.2 2522 1784 2704 2597 78.5 -0.4 753 4091 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2650 2704 2596 0 0 0 0 0 0 26.81 26.87 26.86

4214 -0.24 -51.2 2522 1784 2704 2596 79.3 -1.2 778 4220 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2650 2704 2596 0 0 0 0 0 0 26.79 26.86 26.85

4343 -0.22 -37.4 2521 1784 2705 2596 81.5 -1.8 803 4349 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2650 2704 2596 0 0 0 0 0 0 26.82 26.87 26.88

4478 -0.21 -25.9 2522 1784 2703 2595 83.9 -1.5 828 4485 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2649 2703 2596 0 0 0 0 0 0 26.74 26.82 26.79

4607 -0.20 -14.7 2522 1784 2703 2596 86.0 -1.4 853 4614 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2649 2703 2595 0 0 0 0 0 0 26.77 26.85 26.84

4737 -0.20 -14.7 2521 1784 2703 2595 86.4 0.8 878 4744 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1783 2649 2703 2595 0 0 0 0 0 0 26.83 26.89 26.89

4872 -0.20 -14.7 2522 1784 2703 2595 84.0 2.2 903 4879 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2649 2703 2595 0 0 0 0 0 0 26.84 26.90 26.89

5001 -0.20 -14.7 2522 1784 2703 2595 81.2 1.6 928 5007 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2648 2702 2595 0 0 0 0 0 0 26.82 26.89 26.89

5130 -0.19 -10.7 2521 1784 2702 2595 80.8 -0.5 953 5137 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2648 2702 2595 0 0 0 0 0 0 26.83 26.90 26.89

5265 -0.19 -10.7 2522 1784 2702 2594 81.7 -0.4 978 5272 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2648 2702 2595 0 0 0 0 0 0 26.84 26.90 26.89

5394 -0.19 -10.7 2522 1784 2702 2594 81.0 1.0 1003 5400 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2648 2702 2594 0 0 0 0 0 0 26.84 26.90 26.92

5523 -0.20 -18.4 2522 1784 2702 2594 79.4 1.0 1028 5530 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2648 2702 2594 0 0 0 0 0 0 26.84 26.90 26.90

5658 -0.21 -25.7 2522 1784 2702 2593 78.0 0.9 1053 5665 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2648 2702 2594 0 0 0 0 0 0 26.82 26.89 26.88

5788 -0.21 -25.7 2522 1784 2702 2594 77.5 -0.1 1078 5794 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2648 2702 2594 0 0 0 0 0 0 26.82 26.89 26.89

5917 -0.21 -25.7 2522 1784 2702 2594 78.2 -0.9 1103 5923 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2648 2702 2594 0 0 0 0 0 0 26.83 26.90 26.89

6052 -0.21 -25.7 2521 1784 2701 2594 79.0 -0.2 1128 6058 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2647 2701 2594 0 0 0 0 0 0 26.82 26.90 26.89

6181 -0.22 -30.9 2522 1784 2701 2593 78.5 0.7 1153 6188 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2647 2701 2593 0 0 0 0 0 0 26.84 26.91 26.90

6310 -0.22 -35.7 2522 1784 2701 2593 77.7 0.6 1178 6317 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2647 2701 2593 0 0 0 0 0 0 26.84 26.91 26.90

6445 -0.23 -40.0 2521 1784 2701 2593 77.2 0.5 1203 6452 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2647 2701 2593 0 0 0 0 0 0 26.70 26.74 26.75

6575 -0.23 -43.0 2522 1784 2701 2593 76.5 0.4 1228 6582 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2647 2701 2593 0 0 0 0 0 0 26.79 26.82 26.82

6704 -0.23 -43.0 2522 1784 2701 2593 76.6 -0.2 1253 6711 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2647 2701 2593 0 0 0 0 0 0 26.84 26.84 26.87

6839 -0.23 -45.5 2522 1784 2701 2593 76.6 0.3 1278 6846 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2647 2701 2593 0 0 0 0 0 0 26.84 26.91 26.91

6968 -0.23 -45.5 2522 1784 2701 2593 76.5 -0.2 1303 6975 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2647 2701 2593 0 0 0 0 0 0 26.84 26.89 26.91

7097 -0.23 -45.5 2522 1784 2701 2593 77.4 -0.9 1328 7103 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2647 2701 2593 0 0 0 0 0 0 26.87 26.91 26.89

7232 -0.23 -45.5 2522 1784 2701 2593 78.2 -0.2 1353 7239 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1784 2646 2701 2592 0 0 0 0 0 0 26.84 26.91 26.90

7361 -0.23 -45.5 2522 1784 2701 2592 78.8 -0.7 1378 7367 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1785 2646 2701 2592 0 0 0 0 0 0 26.84 26.90 26.90

7490 -0.24 -48.5 2521 1784 2701 2592 79.1 0.4 1403 7496 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2646 2701 2592 0 0 0 0 0 0 26.79 26.85 26.86

7625 -0.25 -57.7 2521 1784 2700 2592 77.7 1.2 1428 7632 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2646 2701 2592 0 0 0 0 0 0 26.79 26.87 26.86

7755 -0.25 -58.8 2522 1784 2700 2592 77.0 0.1 1453 7761 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2646 2700 2592 0 0 0 0 0 0 26.84 26.91 26.90

7884 -0.26 -67.9 2522 1784 2700 2591 76.2 1.2 1478 7891 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2646 2700 2592 0 0 0 0 0 0 26.84 26.83 26.86

8019 -0.27 -77.2 2522 1784 2701 2592 74.2 1.2 1503 8026 0.00 0.00 0.00 0.000 38 0.000 0.000 2522 1784 2646 2700 2592 0 0 0 0 0 0 26.84 26.91 26.91

8126 end loiter: LOITER_COMPLETE

state 8126 begin climb

8128 0.79 116.8 2522 1784 2700 2592 74.0 0.0 1524 8322 0.95 1.02 182.23 0.509 10756 0.116 0.043 2841 1138 2215 2336 2094 0 0 0 0 0 0 26.51 25.25 24.94

8432 0.83 155.4 2840 1138 2309 2075 58.9 7.8 1572 8489 0.00 1.02 50.25 0.507 9254 0.000 0.035 2837 1806 2060 2193 1927 0 0 0 0 0 0 25.97 25.94 25.06

8616 0.87 184.6 2837 1806 2166 1898 41.3 8.3 1604 8660 0.10 1.05 34.35 0.508 10532 0.228 0.041 2854 2492 1936 2076 1796 0 0 0 0 0 0 25.72 25.48 25.18

8755 0.87 184.6 2854 2491 2054 1772 29.7 10.4 1628 8763 0.00 1.00 0.00 0.000 1030 0.000 0.101 2858 1832 1912 2054 1771 0 0 0 0 0 0 26.04 26.01 26.04

8892 0.91 222.5 2857 1831 2051 1770 17.2 7.8 1653 8950 0.08 1.17 50.72 0.493 11044 0.177 0.045 2884 1099 1788 1935 1641 0 0 0 0 0 0 26.02 25.68 25.21

9073 end climb: SURFACE_DEPTH_REACHED

state 9073 begin surface coast

9101 end surface coast: CONTROL_FINISHED_OK

state 9101 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	77	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	85	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	90	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	2700	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	30	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	165	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	0.5	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	7200	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	80	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	90	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	140.0
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	060921,013154,4750.4902,-12508.9316,1,0.6,2,15.7,0.3,125.7,12,7.5	SPEED_LIMITS	0.173,0.234
_CALLS	1	TGT_NAME	NW_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4751.690,-12511.250
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.65	MHEAD_RNG_PITCHd_Wd	294.4,3669,-18.1,-10.000,-23.17,1779
_SM_ANGLEo	-61.1	D_GRID	206
GPS2	060921,013430,4750.4805,-12508.9111,3,0.7,3,15.7,0.5,104.6,12,10.0

FINISH	0.1,1.025052	_24V_AH	24.31,15.369
SM_CCo	9337,-0.03,0.737,0,0,549,527.64	_10V_AH	10.23,8.790
SM_GC	0.54,7.57,1.40,-0.03,0.060,0.030,0.737,181,1992,549,-7.41,-1.58,527.64,0,0,0,0,0,0,26.15,26.11,25.08	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4751.65,-12513.98,060921,012943	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.185752	MEM	211264
HUMID	53.07	DATA_FILE_SIZE	79958,1690
INTERNAL_PRESSURE	8.72826	CAP_FILE_SIZE	193715,0
TCM_TEMP	15.30	CFSIZE	260030464,244215808
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	117066498048.000000	CURRENT	0.078,23.24,1
CP_POWER	328.200000	GPS	060921,041231,4750.924,-12508.843,34,0.8,41,15.7,1.9,92.0,10,3.0
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	227	96.85	SBE_CT	1159	64	1815.39
Roll_motor	11	126	33.83	WL_blue_red_Chl	3625	37	3300.78
VBD_pump_during_apogee	469	513	5856.87	nil	0	0	0.00
VBD_pump_during_surface	204	615	3062.19	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	9102	25	5531.74
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	11	1.89
TT8	3761	12	470.28
LPSleep	649	2	14.56
TT8_Active	849	12	106.14
TT8_Sampling	3664	37	1412.95
TT8_CF8	517	42	227.14
TT8_Kalman	0	0	0.00
Analog_circuits	2231	11	251.07
GPS_charging	0	0	0.00
Compass	3967	8	334.43
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	-0.79	-116.8	175	2033	694	406	0.0	0.0	0	132	0.00	0.00	-104.30	0.010	16386	0.000	0.000	175	2031	3120	3110	3131	0	0	0	0	0	0	26.46	28.83	26.48
135	-0.79	-116.8	175	2032	3111	3132	4.1	-8.0	15	152	8.07	1.08	-1.15	0.066	18980	0.211	0.126	2323	1319	3181	3185	3177	0	0	0	0	0	0	26.04	24.95	26.17
313	-0.79	-116.8	2322	1319	3193	3171	36.5	-13.3	48	321	0.00	1.00	0.00	0.000	1030	0.000	0.037	2319	1983	3181	3193	3170	0	0	0	0	0	0	26.53	26.50	26.55
446	-0.79	-116.8	2318	1984	3195	3170	53.0	-11.3	73	453	0.00	0.00	0.00	0.000	6	0.000	0.000	2319	1983	3182	3195	3170	0	0	0	0	0	0	26.57	26.65	26.63
576	-0.79	-116.8	2318	1983	3196	3170	68.0	-10.1	98	584	0.00	1.05	0.00	0.000	260	0.000	0.043	2314	2708	3182	3196	3169	0	0	0	0	0	0	26.51	26.55	26.58
728	-0.79	-116.8	2313	2708	3197	3169	85.3	-12.0	125	737	0.05	0.98	0.00	0.000	3078	0.206	0.031	2326	2008	3183	3197	3169	0	0	0	0	0	0	26.34	26.63	26.41
763	end dive: TARGET_DEPTH_EXCEEDED
state	763	begin apogee
768	-0.18	0.0	2327	1785	3197	3169	90.1	-12.0	131	926	0.65	0.00	149.07	0.510	10246	0.162	0.000	2522	1784	2689	2742	2637	0	0	0	0	0	0	26.27	25.29	24.99
932	end apogee: CONTROL_FINISHED_OK
state	932	begin loiter
1071	-0.18	0.0	2522	1784	2724	2622	93.9	2.2	178	1078	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2673	2724	2622	0	0	0	0	0	0	26.06	26.14	26.13
1201	-0.18	0.0	2522	1784	2723	2622	91.0	2.2	203	1207	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1785	2672	2723	2621	0	0	0	0	0	0	26.28	26.34	26.34
1329	-0.18	0.0	2521	1784	2722	2621	89.2	0.5	228	1336	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2671	2722	2621	0	0	0	0	0	0	26.37	26.44	26.43
1459	-0.18	0.0	2522	1784	2721	2620	89.2	0.0	253	1465	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2670	2721	2620	0	0	0	0	0	0	26.47	26.54	26.53
1594	-0.18	0.0	2522	1784	2721	2620	89.0	0.3	278	1600	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2670	2721	2619	0	0	0	0	0	0	26.53	26.60	26.59
1723	-0.18	0.0	2522	1785	2720	2619	88.3	0.4	303	1729	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2669	2720	2619	0	0	0	0	0	0	26.51	26.56	26.57
1852	-0.18	0.0	2522	1784	2719	2618	88.4	-0.4	328	1858	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2669	2720	2618	0	0	0	0	0	0	26.62	26.70	26.68
1987	-0.17	5.8	2522	1784	2719	2618	89.2	-0.7	353	1994	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2668	2719	2617	0	0	0	0	0	0	26.66	26.72	26.69
2116	-0.16	13.8	2522	1784	2718	2617	90.4	-1.0	378	2123	0.00	0.00	2.72	0.513	8230	0.000	0.000	2523	1784	2647	2701	2593	0	0	0	0	0	0	26.68	26.26	25.32
2247	-0.16	13.8	2522	1784	2708	2599	90.6	0.3	403	2253	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2653	2708	2599	0	0	0	0	0	0	26.65	26.72	26.72
2376	-0.16	13.8	2522	1784	2708	2598	89.4	1.5	428	2382	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2653	2709	2598	0	0	0	0	0	0	26.67	26.74	26.74
2511	-0.16	13.8	2522	1784	2709	2598	85.7	3.5	453	2517	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2653	2708	2598	0	0	0	0	0	0	26.71	26.78	26.77
2640	-0.16	13.8	2522	1784	2708	2598	80.6	4.1	478	2646	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2653	2708	2598	0	0	0	0	0	0	26.72	26.78	26.77
2769	-0.20	-16.1	2522	1784	2709	2598	75.5	3.8	503	2775	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2652	2708	2597	0	0	0	0	0	0	26.74	26.80	26.80
2904	-0.23	-44.0	2522	1784	2708	2597	70.5	3.6	528	2911	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2652	2708	2597	0	0	0	0	0	0	26.68	26.75	26.74
3033	-0.25	-60.0	2522	1784	2708	2598	67.0	2.1	553	3040	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2652	2708	2597	0	0	0	0	0	0	26.71	26.79	26.77
3163	-0.25	-61.0	2522	1784	2707	2597	65.8	0.1	578	3170	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2652	2707	2597	0	0	0	0	0	0	26.76	26.83	26.82
3298	-0.25	-61.0	2522	1784	2707	2596	67.6	-2.6	603	3304	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2652	2707	2597	0	0	0	0	0	0	26.77	26.84	26.84
3427	-0.25	-61.0	2522	1784	2707	2597	76.0	-9.5	628	3434	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2652	2707	2597	0	0	0	0	0	0	26.79	26.77	26.79
3556	-0.23	-40.8	2523	1784	2706	2597	82.9	-2.6	653	3563	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2651	2706	2597	0	0	0	0	0	0	26.72	26.81	26.79
3692	-0.23	-40.8	2522	1784	2705	2597	82.7	3.4	678	3699	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2651	2705	2597	0	0	0	0	0	0	26.80	26.86	26.86
3821	-0.24	-48.1	2521	1784	2705	2597	79.6	0.9	703	3828	0.00	0.00	0.00	0.000	38	0.000	0.000	2523	1784	2651	2705	2597	0	0	0	0	0	0	26.81	26.87	26.87
3950	-0.24	-51.2	2522	1784	2704	2597	79.5	0.4	728	3957	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2650	2704	2597	0	0	0	0	0	0	26.72	26.79	26.77
4085	-0.24	-51.2	2522	1784	2704	2597	78.5	-0.4	753	4091	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2650	2704	2596	0	0	0	0	0	0	26.81	26.87	26.86
4214	-0.24	-51.2	2522	1784	2704	2596	79.3	-1.2	778	4220	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2650	2704	2596	0	0	0	0	0	0	26.79	26.86	26.85
4343	-0.22	-37.4	2521	1784	2705	2596	81.5	-1.8	803	4349	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2650	2704	2596	0	0	0	0	0	0	26.82	26.87	26.88
4478	-0.21	-25.9	2522	1784	2703	2595	83.9	-1.5	828	4485	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2649	2703	2596	0	0	0	0	0	0	26.74	26.82	26.79
4607	-0.20	-14.7	2522	1784	2703	2596	86.0	-1.4	853	4614	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2649	2703	2595	0	0	0	0	0	0	26.77	26.85	26.84
4737	-0.20	-14.7	2521	1784	2703	2595	86.4	0.8	878	4744	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1783	2649	2703	2595	0	0	0	0	0	0	26.83	26.89	26.89
4872	-0.20	-14.7	2522	1784	2703	2595	84.0	2.2	903	4879	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2649	2703	2595	0	0	0	0	0	0	26.84	26.90	26.89
5001	-0.20	-14.7	2522	1784	2703	2595	81.2	1.6	928	5007	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2648	2702	2595	0	0	0	0	0	0	26.82	26.89	26.89
5130	-0.19	-10.7	2521	1784	2702	2595	80.8	-0.5	953	5137	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2648	2702	2595	0	0	0	0	0	0	26.83	26.90	26.89
5265	-0.19	-10.7	2522	1784	2702	2594	81.7	-0.4	978	5272	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2648	2702	2595	0	0	0	0	0	0	26.84	26.90	26.89
5394	-0.19	-10.7	2522	1784	2702	2594	81.0	1.0	1003	5400	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2648	2702	2594	0	0	0	0	0	0	26.84	26.90	26.92
5523	-0.20	-18.4	2522	1784	2702	2594	79.4	1.0	1028	5530	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2648	2702	2594	0	0	0	0	0	0	26.84	26.90	26.90
5658	-0.21	-25.7	2522	1784	2702	2593	78.0	0.9	1053	5665	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2648	2702	2594	0	0	0	0	0	0	26.82	26.89	26.88
5788	-0.21	-25.7	2522	1784	2702	2594	77.5	-0.1	1078	5794	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2648	2702	2594	0	0	0	0	0	0	26.82	26.89	26.89
5917	-0.21	-25.7	2522	1784	2702	2594	78.2	-0.9	1103	5923	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2648	2702	2594	0	0	0	0	0	0	26.83	26.90	26.89
6052	-0.21	-25.7	2521	1784	2701	2594	79.0	-0.2	1128	6058	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2647	2701	2594	0	0	0	0	0	0	26.82	26.90	26.89
6181	-0.22	-30.9	2522	1784	2701	2593	78.5	0.7	1153	6188	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2647	2701	2593	0	0	0	0	0	0	26.84	26.91	26.90
6310	-0.22	-35.7	2522	1784	2701	2593	77.7	0.6	1178	6317	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2647	2701	2593	0	0	0	0	0	0	26.84	26.91	26.90
6445	-0.23	-40.0	2521	1784	2701	2593	77.2	0.5	1203	6452	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2647	2701	2593	0	0	0	0	0	0	26.70	26.74	26.75
6575	-0.23	-43.0	2522	1784	2701	2593	76.5	0.4	1228	6582	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2647	2701	2593	0	0	0	0	0	0	26.79	26.82	26.82
6704	-0.23	-43.0	2522	1784	2701	2593	76.6	-0.2	1253	6711	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2647	2701	2593	0	0	0	0	0	0	26.84	26.84	26.87
6839	-0.23	-45.5	2522	1784	2701	2593	76.6	0.3	1278	6846	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2647	2701	2593	0	0	0	0	0	0	26.84	26.91	26.91
6968	-0.23	-45.5	2522	1784	2701	2593	76.5	-0.2	1303	6975	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2647	2701	2593	0	0	0	0	0	0	26.84	26.89	26.91
7097	-0.23	-45.5	2522	1784	2701	2593	77.4	-0.9	1328	7103	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2647	2701	2593	0	0	0	0	0	0	26.87	26.91	26.89
7232	-0.23	-45.5	2522	1784	2701	2593	78.2	-0.2	1353	7239	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1784	2646	2701	2592	0	0	0	0	0	0	26.84	26.91	26.90
7361	-0.23	-45.5	2522	1784	2701	2592	78.8	-0.7	1378	7367	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	1785	2646	2701	2592	0	0	0	0	0	0	26.84	26.90	26.90
7490	-0.24	-48.5	2521	1784	2701	2592	79.1	0.4	1403	7496	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2646	2701	2592	0	0	0	0	0	0	26.79	26.85	26.86
7625	-0.25	-57.7	2521	1784	2700	2592	77.7	1.2	1428	7632	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2646	2701	2592	0	0	0	0	0	0	26.79	26.87	26.86
7755	-0.25	-58.8	2522	1784	2700	2592	77.0	0.1	1453	7761	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2646	2700	2592	0	0	0	0	0	0	26.84	26.91	26.90
7884	-0.26	-67.9	2522	1784	2700	2591	76.2	1.2	1478	7891	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2646	2700	2592	0	0	0	0	0	0	26.84	26.83	26.86
8019	-0.27	-77.2	2522	1784	2701	2592	74.2	1.2	1503	8026	0.00	0.00	0.00	0.000	38	0.000	0.000	2522	1784	2646	2700	2592	0	0	0	0	0	0	26.84	26.91	26.91
8126	end loiter: LOITER_COMPLETE
state	8126	begin climb
8128	0.79	116.8	2522	1784	2700	2592	74.0	0.0	1524	8322	0.95	1.02	182.23	0.509	10756	0.116	0.043	2841	1138	2215	2336	2094	0	0	0	0	0	0	26.51	25.25	24.94
8432	0.83	155.4	2840	1138	2309	2075	58.9	7.8	1572	8489	0.00	1.02	50.25	0.507	9254	0.000	0.035	2837	1806	2060	2193	1927	0	0	0	0	0	0	25.97	25.94	25.06
8616	0.87	184.6	2837	1806	2166	1898	41.3	8.3	1604	8660	0.10	1.05	34.35	0.508	10532	0.228	0.041	2854	2492	1936	2076	1796	0	0	0	0	0	0	25.72	25.48	25.18
8755	0.87	184.6	2854	2491	2054	1772	29.7	10.4	1628	8763	0.00	1.00	0.00	0.000	1030	0.000	0.101	2858	1832	1912	2054	1771	0	0	0	0	0	0	26.04	26.01	26.04
8892	0.91	222.5	2857	1831	2051	1770	17.2	7.8	1653	8950	0.08	1.17	50.72	0.493	11044	0.177	0.045	2884	1099	1788	1935	1641	0	0	0	0	0	0	26.02	25.68	25.21
9073	end climb: SURFACE_DEPTH_REACHED
state	9073	begin surface coast
9101	end surface coast: CONTROL_FINISHED_OK
state	9101	begin surface