Glider dive log

SODA Sep18 * SG199 * Dive index * Mission links * Dive 83 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_PING_RANGE 20

MISSION 7 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 83 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7100 R_PORT_OVSHOOT 12 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 9 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 200 ALTIM_FREQUENCY 13

D_TGT 200 SM_CC 525 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 2

D_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2943 INT_PRESSURE_YINT 1.6

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.001 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 70 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 340 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 4 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 14400 STROBE 0 LOITER_W_DBAND 1 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 120 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 300 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.079999998 RAFOS_MMODEM 0 LOITER_N_DIVE 1 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 3 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3900 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2070 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0043925666

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.0006320356

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.5405934e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.1033937e-06

SPEED_FACTOR 1 PITCH_GAIN 27 MAXI_24V 0.60000002 SEABIRD_C_G -9.8267241

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 1 SEABIRD_C_H 1.1324162

MASS 53675 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0020002997

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00022812413

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -160.83926 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 218 PRESSURE_SLOPE 0.00010895507 SC_XMITPROFILE 3.0

HD_A 0.0019 ROLL_MAX 3771 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.016000001 ROLL_DEG 40 COMPASS_USE 4

HD_C 1.2e-06 C_ROLL_DIVE 2750 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043925666

AH0_10V 0 D_TGT 200 PHONE_DEVICE 49 SEABIRD_T_H 0.0006320356

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.5405934e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.1033937e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 525

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 27 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3900 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 20 HD_A 0.0019 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.016000001 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 1.2e-06 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 7100

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -14430

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010895507 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.079999998 PRESSURE_YINT -160.83926 T_DIVE 70

CAPUPLOAD 0 ID 199 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 P_OVSHOOT_WITHG 0 T_LOITER 14400

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 340

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2070 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2750 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 60

C_VBD 2943 LOITER_D_BOTTOM 300 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 120 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 1 ROLL_AD_RATE 200 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 1 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 53675 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3771 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 218 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 83 MINV_10V 11 R_PORT_OVSHOOT 12 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 9 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 7 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 4

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 0 SEABIRD_C_G -9.8267241 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1324162 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0020002997

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00022812413

Pre-dive calculations and measurements:

GPS1 091018,184451,7415.5498,-14631.0723,35,0.7,35,22.4,0.0,0.0,11,9.0 SPEED_LIMITS 0.165,0.207

_CALLS 2 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7415.000,-14625.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.65 MHEAD_RNG_PITCHd_Wd 108.7,3279,-16.5,-9.524,-24.67,2361

_SM_ANGLEo -61.6 D_GRID 200

GPS2 091018,185459,7415.5376,-14631.2158,7,0.7,8,22.4,0.0,0.0,11,10.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181009201636.001212,18,78,06,0067,0150,246,00,00,02,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*05 ALTIM_TOP_PING 20.0,20.9

FINISH -0.2,1.011647 _24V_AH 13.05,41.948

SM_CCo 18723,94.55,0.219,0,0,802,525.19 _10V_AH 13.07,0.000

SM_GC 0.86,7.70,2.10,94.55,0.096,0.159,0.219,194,2746,802,-5.80,0.34,525.19,0,0,0,0,0,0,13.96,13.89,13.83 FG_AHR_24Vo 0.000

RAFOS_CLK 27 FG_AHR_10Vo 0.000

MODEM 1,1539115533,74.43333,-147.95000,33.543,48377.8 MEM 334452

RAFOS_FIX 7423.420898,-14619.693359,091018,202036,3,255,3.21 DATA_FILE_SIZE 66584,2021

IRIDIUM_FIX 7418.59,-14636.24,091018,152314 CAP_FILE_SIZE 205164,0

TT8_MAMPS 0.078645,0.378245 CFSIZE 2097872896,2075394048

HUMID 47.99 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.46163 SOUNDSPEED 1442.5

TCM_TEMP 12.20 CURRENT 0.091,336.12,1

XPDR_PINGS 6 GPS 101018,001026,7416.272,-14631.446,37,0.8,37,22.4,0.0,0.0,12,6.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 474 119.15 nil 0 0 0.00

Roll_motor 61 216 173.12 nil 0 0 0.00

VBD_pump_during_apogee 490 1751 11219.59 nil 0 0 0.00

VBD_pump_during_surface 94 218 269.96 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 4337 35 2007.47

Iridium_during_xfer 368 182 874.85 nil 0 0 0.00

Transponder_ping 1 420 9.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 21 4.61

TT8 0 0 0.00

LPSleep 14142 2 426.99

TT8_Active 723 11 108.53

TT8_Sampling 4179 30 1649.88

TT8_CF8 379 36 179.58

TT8_Kalman 0 0 0.00

Analog_circuits 2540 9 315.48

GPS_charging 0 0 0.00

Compass 2867 7 280.75

RAFOS 4373 33 1886.12

Transponder 2 30 1.00

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

6 end surface: CONTROL_FINISHED_OK

state 7 begin dive

10 -0.76 -146.0 196 2756 785 800 0.0 0.0 0 102 0.00 0.00 -90.97 0.002 16386 0.000 0.000 195 2755 2169 2196 2143 0 0 0 0 0 0 14.31 28.83 14.33

105 -0.76 -146.0 195 2756 2198 2146 4.0 -6.1 9 156 9.05 2.78 -33.97 0.004 18948 0.474 0.177 1821 1330 3540 3590 3491 0 0 0 0 0 0 13.93 13.25 14.17

382 -0.76 -146.0 1821 1332 3590 3495 76.6 -20.7 63 387 0.00 2.85 0.00 0.000 1030 0.000 0.182 1812 2750 3541 3590 3493 0 0 0 0 0 0 14.26 14.12 14.28

572 -0.76 -146.0 1812 2750 3591 3494 110.9 -16.8 83 577 0.00 2.72 0.00 0.000 516 0.000 0.153 1812 1328 3542 3590 3494 0 0 0 0 0 0 14.45 14.18 14.47

729 -0.76 -146.0 1812 1329 3590 3495 135.0 -15.2 114 735 0.00 2.85 0.00 0.000 1030 0.000 0.183 1802 2754 3542 3590 3494 0 0 0 0 0 0 14.35 14.21 14.38

912 -0.76 -146.0 1802 2754 3591 3493 163.4 -14.9 133 913 0.00 0.00 0.00 0.000 6 0.000 0.000 1802 2754 3541 3589 3493 0 0 0 0 0 0 14.52 14.54 14.54

1092 -0.76 -146.0 1802 2756 3591 3494 189.5 -14.0 151 1093 0.00 0.00 0.00 0.000 6 0.000 0.000 1802 2754 3541 3590 3493 0 0 0 0 0 0 14.54 14.57 14.56

1170 end dive: TARGET_DEPTH_EXCEEDED

state 1170 begin apogee

1176 -0.19 0.0 1803 2596 3590 3501 200.6 -13.7 159 1296 0.80 0.00 116.95 1.697 10246 0.278 0.000 2003 2596 2939 3027 2851 0 0 0 0 0 0 14.26 13.72 13.05

1297 end apogee: CONTROL_FINISHED_OK

state 1298 begin loiter

1473 -0.17 10.5 2003 2595 3027 2840 212.2 -2.7 189 1484 0.00 0.00 9.25 1.472 8230 0.000 0.000 2003 2595 2896 2990 2803 0 0 0 0 0 0 14.26 14.01 13.30

1663 -0.17 19.3 2003 2594 2990 2798 216.8 -2.3 208 1674 0.00 0.00 8.50 1.479 8230 0.000 0.000 2003 2595 2859 2951 2768 0 0 0 0 0 0 14.36 14.11 13.38

1853 -0.16 26.1 2002 2596 2951 2766 220.3 -1.7 227 1863 0.00 0.00 7.00 1.441 8230 0.000 0.000 2003 2595 2832 2920 2745 0 0 0 0 0 0 14.42 14.19 13.44

2043 -0.15 30.2 2003 2596 2920 2745 222.6 -1.1 246 2053 0.00 0.00 4.82 1.270 8230 0.000 0.000 2003 2595 2816 2902 2730 0 0 0 0 0 0 14.47 14.25 13.48

2233 -0.13 30.2 2003 2595 2903 2729 224.2 -0.9 265 2234 0.00 0.00 0.00 0.000 70 0.000 0.000 2003 2595 2815 2902 2729 0 0 0 0 0 0 14.53 14.54 14.54

2413 -0.12 34.6 2003 2596 2902 2729 226.1 -1.1 283 2423 0.00 0.00 5.40 1.362 8230 0.000 0.000 2003 2595 2796 2883 2710 0 0 0 0 0 0 14.59 14.19 13.56

2603 -0.12 34.6 2003 2596 2884 2709 227.1 -0.3 302 2603 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 2595 2796 2883 2709 0 0 0 0 0 0 14.60 14.62 14.62

2783 -0.12 34.6 2003 2596 2884 2709 227.1 0.2 320 2784 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 2595 2795 2883 2708 0 0 0 0 0 0 14.64 14.66 14.66

2963 -0.12 34.6 2003 2595 2884 2708 226.4 0.5 338 2963 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 2595 2795 2883 2708 0 0 0 0 0 0 14.68 14.70 14.70

3143 -0.12 34.6 2003 2596 2884 2708 226.1 -0.1 356 3143 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 2595 2795 2883 2707 0 0 0 0 0 0 14.71 14.73 14.73

3323 -0.11 34.6 2003 2596 2884 2708 227.0 -0.6 374 3324 0.12 0.00 0.00 0.000 2118 0.266 0.000 2031 2595 2794 2882 2707 0 0 0 0 0 0 14.44 14.61 14.58

3503 -0.11 34.6 2032 2595 2884 2706 227.5 -0.1 392 3503 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2795 2883 2707 0 0 0 0 0 0 14.75 14.77 14.77

3683 -0.11 34.6 2032 2595 2884 2707 227.4 0.1 410 3684 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2595 2794 2883 2706 0 0 0 0 0 0 14.77 14.78 14.78

3866 -0.11 34.6 2032 2595 2884 2706 227.5 -0.1 428 3867 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2794 2883 2706 0 0 0 0 0 0 14.72 14.74 14.73

4044 -0.11 34.6 2032 2596 2884 2707 227.8 -0.2 446 4045 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2594 2794 2883 2706 0 0 0 0 0 0 14.71 14.73 14.72

4224 -0.11 34.6 2031 2595 2884 2706 228.1 -0.2 464 4225 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2794 2883 2706 0 0 0 0 0 0 14.69 14.71 14.71

4404 -0.11 34.6 2031 2595 2883 2706 228.2 -0.0 482 4405 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2794 2883 2706 0 0 0 0 0 0 14.68 14.70 14.69

4584 -0.11 34.6 2031 2596 2883 2707 228.3 -0.2 500 4585 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2794 2883 2706 0 0 0 0 0 0 14.66 14.69 14.69

4764 -0.11 34.6 2031 2596 2884 2707 229.0 -0.5 518 4765 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2794 2883 2705 0 0 0 0 0 0 14.66 14.68 14.68

4944 -0.11 34.6 2031 2595 2884 2705 229.4 0.0 536 4945 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2794 2883 2705 0 0 0 0 0 0 14.65 14.67 14.66

5124 -0.11 34.6 2032 2596 2884 2706 228.9 0.3 554 5125 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2595 2794 2883 2705 0 0 0 0 0 0 14.64 14.68 14.66

5304 -0.11 34.6 2032 2595 2883 2705 228.7 0.0 572 5305 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2794 2883 2705 0 0 0 0 0 0 14.64 14.66 14.68

5484 -0.11 34.6 2031 2595 2884 2704 228.6 0.1 590 5485 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2793 2883 2704 0 0 0 0 0 0 14.64 14.66 14.66

5664 -0.11 34.6 2032 2595 2884 2704 228.3 0.2 608 5665 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2793 2883 2704 0 0 0 0 0 0 14.64 14.66 14.66

5844 -0.11 34.6 2032 2595 2884 2704 228.3 -0.1 626 5845 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2793 2883 2704 0 0 0 0 0 0 14.64 14.66 14.66

6024 -0.11 34.6 2031 2596 2884 2705 228.6 -0.2 644 6025 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2793 2883 2704 0 0 0 0 0 0 14.64 14.65 14.65

6206 -0.11 34.6 2032 2595 2884 2702 228.6 -0.0 662 6207 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2793 2883 2704 0 0 0 0 0 0 14.69 14.71 14.71

6384 -0.11 34.6 2032 2596 2884 2705 228.9 -0.3 680 6385 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2793 2883 2704 0 0 0 0 0 0 14.73 14.75 14.75

6564 -0.11 34.6 2031 2596 2884 2703 229.7 -0.4 698 6565 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2793 2883 2703 0 0 0 0 0 0 14.75 14.77 14.77

6744 -0.11 34.6 2032 2595 2884 2703 230.1 -0.0 716 6745 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2793 2883 2703 0 0 0 0 0 0 14.76 14.79 14.78

6924 -0.11 34.6 2032 2596 2884 2704 229.9 0.1 734 6925 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2793 2883 2703 0 0 0 0 0 0 14.78 14.81 14.80

7104 -0.11 34.6 2031 2596 2883 2703 229.9 -0.0 752 7105 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2594 2793 2883 2703 0 0 0 0 0 0 14.79 14.81 14.81

7284 -0.11 34.6 2031 2596 2884 2703 230.0 -0.1 770 7285 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2882 2702 0 0 0 0 0 0 14.81 14.83 14.82

7464 -0.11 34.6 2032 2595 2884 2702 230.1 -0.1 788 7465 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2702 0 0 0 0 0 0 14.81 14.83 14.83

7644 -0.11 34.6 2032 2595 2883 2702 230.5 -0.2 806 7645 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2702 0 0 0 0 0 0 14.82 14.84 14.84

7824 -0.11 34.6 2032 2595 2884 2702 230.8 -0.1 824 7825 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2702 0 0 0 0 0 0 14.83 14.85 14.85

8004 -0.11 34.6 2031 2596 2884 2703 230.8 -0.1 842 8005 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2702 0 0 0 0 0 0 14.83 14.85 14.85

8184 -0.11 34.6 2032 2596 2884 2703 231.3 -0.3 860 8185 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2702 0 0 0 0 0 0 14.84 14.86 14.86

8364 -0.11 34.6 2032 2595 2884 2701 231.6 -0.1 878 8365 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2595 2792 2883 2701 0 0 0 0 0 0 14.85 14.87 14.86

8544 -0.11 34.6 2031 2596 2884 2702 231.7 -0.2 896 8545 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2702 0 0 0 0 0 0 14.85 14.87 14.87

8724 -0.11 34.6 2032 2595 2884 2701 232.5 -0.5 914 8725 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2701 0 0 0 0 0 0 14.85 14.88 14.88

8904 -0.11 34.6 2032 2595 2884 2701 233.0 -0.1 932 8905 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2884 2701 0 0 0 0 0 0 14.85 14.88 14.88

9084 -0.11 34.6 2031 2595 2884 2702 232.9 0.1 950 9085 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2701 0 0 0 0 0 0 14.85 14.88 14.88

9264 -0.11 34.6 2032 2595 2884 2701 233.1 -0.3 968 9265 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2701 0 0 0 0 0 0 14.86 14.88 14.88

9444 -0.11 34.6 2031 2596 2884 2702 233.4 -0.0 986 9445 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2701 0 0 0 0 0 0 14.87 14.89 14.88

9624 -0.11 34.6 2032 2595 2884 2701 232.8 0.4 1004 9625 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2701 0 0 0 0 0 0 14.87 14.89 14.89

9804 -0.11 34.6 2031 2596 2884 2702 232.5 0.0 1022 9805 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2701 0 0 0 0 0 0 14.87 14.89 14.89

9984 -0.11 34.6 2031 2595 2884 2701 232.5 -0.0 1040 9985 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2701 0 0 0 0 0 0 14.88 14.90 14.90

10164 -0.11 34.6 2032 2596 2884 2702 232.4 0.1 1058 10165 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2701 0 0 0 0 0 0 14.88 14.90 14.90

10344 -0.11 34.6 2032 2596 2884 2702 232.3 0.0 1076 10345 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.88 14.90 14.90

10524 -0.11 34.6 2031 2596 2884 2702 232.4 -0.1 1094 10525 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2701 0 0 0 0 0 0 14.88 14.90 14.90

10704 -0.11 34.6 2032 2595 2884 2701 232.5 -0.0 1112 10705 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2701 0 0 0 0 0 0 14.88 14.90 14.90

10884 -0.11 34.6 2032 2596 2884 2702 232.7 -0.2 1130 10885 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.88 14.90 14.90

11064 -0.11 34.6 2032 2596 2884 2702 233.2 -0.3 1148 11065 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2701 0 0 0 0 0 0 14.88 14.90 14.90

11244 -0.11 34.6 2032 2595 2884 2700 233.3 0.0 1166 11245 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.88 14.90 14.90

11424 -0.11 34.6 2032 2595 2884 2700 232.9 0.3 1184 11425 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2883 2701 0 0 0 0 0 0 14.89 14.91 14.90

11604 -0.11 34.6 2031 2595 2884 2699 232.5 0.1 1202 11605 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.89 14.91 14.91

11784 -0.11 34.6 2032 2596 2884 2701 232.8 -0.2 1220 11785 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.89 14.91 14.91

11964 -0.11 34.6 2032 2595 2884 2700 233.2 -0.1 1238 11965 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.89 14.91 14.91

12144 -0.11 34.6 2031 2595 2884 2700 233.3 -0.1 1256 12145 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2596 2791 2883 2700 0 0 0 0 0 0 14.89 14.91 14.91

12324 -0.11 34.6 2032 2595 2884 2700 233.5 -0.2 1274 12325 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.89 14.91 14.91

12504 -0.11 34.6 2032 2595 2885 2700 233.6 0.1 1292 12505 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.89 14.91 14.91

12684 -0.11 34.6 2032 2595 2885 2700 233.2 0.3 1310 12685 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.89 14.92 14.91

12864 -0.11 34.6 2031 2596 2885 2701 232.7 0.1 1328 12865 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.90 14.92 14.91

13044 -0.11 34.6 2032 2596 2884 2701 233.1 -0.3 1346 13045 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.90 14.92 14.91

13224 -0.11 34.6 2032 2595 2883 2700 233.8 -0.3 1364 13225 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2792 2884 2700 0 0 0 0 0 0 14.90 14.92 14.91

13404 -0.11 34.6 2032 2595 2885 2700 233.8 0.1 1382 13405 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.89 14.92 14.91

13584 -0.11 34.6 2032 2596 2884 2701 233.7 0.0 1400 13585 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.90 14.92 14.92

13764 -0.11 34.6 2032 2595 2884 2700 233.9 -0.2 1418 13765 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2790 2883 2698 0 0 0 0 0 0 14.90 14.92 14.91

13944 -0.11 34.6 2032 2595 2884 2700 233.9 0.1 1436 13945 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.90 14.92 14.91

14124 -0.11 34.6 2031 2596 2884 2701 233.7 0.1 1454 14125 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.90 14.92 14.92

14304 -0.11 34.6 2032 2595 2884 2700 233.7 -0.1 1472 14305 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.90 14.92 14.92

14484 -0.11 34.6 2032 2596 2884 2701 233.9 -0.0 1490 14485 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.90 14.92 14.92

14664 -0.11 34.6 2032 2595 2884 2700 233.7 0.2 1508 14665 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2699 0 0 0 0 0 0 14.90 14.92 14.92

14844 -0.11 34.6 2032 2595 2884 2700 233.4 0.0 1526 14845 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.90 14.92 14.92

15024 -0.11 34.6 2031 2596 2884 2701 233.7 -0.3 1544 15025 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.90 14.92 14.92

15204 -0.11 34.6 2031 2595 2884 2700 234.0 -0.1 1562 15205 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.90 14.92 14.92

15384 -0.11 34.6 2032 2595 2884 2700 233.9 0.1 1580 15385 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.90 14.92 14.92

15564 -0.11 34.6 2032 2595 2882 2700 234.0 -0.0 1598 15565 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2595 2791 2883 2700 0 0 0 0 0 0 14.90 14.92 14.92

15692 end loiter: LOITER_COMPLETE

state 15692 begin climb

15694 0.76 146.0 2031 2596 2883 2700 234.0 0.0 1611 15791 0.90 2.58 89.82 1.751 10500 0.183 0.216 2305 3776 2342 2439 2245 0 0 0 0 0 0 14.60 13.85 13.27

15834 0.84 146.0 2306 3776 2441 2239 227.8 6.8 1635 15838 0.00 2.33 0.00 0.000 1094 0.000 0.167 2312 2599 2339 2439 2239 0 0 0 0 0 0 14.12 14.00 14.14

16024 0.93 146.0 2312 2599 2441 2231 215.4 6.4 1655 16029 0.15 2.72 0.00 0.000 2628 0.133 0.156 2385 1185 2335 2439 2231 0 0 0 0 0 0 14.22 14.15 14.26

16075 0.98 146.0 2385 1184 2440 2231 211.5 8.0 1665 16080 0.00 2.83 0.00 0.000 1094 0.000 0.178 2385 2601 2334 2439 2230 0 0 0 0 0 0 14.29 14.14 14.33

16265 1.01 146.0 2385 2602 2440 2229 195.8 8.5 1685 16270 0.00 2.40 0.00 0.000 324 0.000 0.216 2385 3778 2331 2439 2223 0 0 0 0 0 0 14.48 14.19 14.50

16306 1.01 146.0 2385 3779 2440 2228 191.9 9.8 1693 16311 0.00 2.30 0.00 0.000 1030 0.000 0.168 2393 2589 2333 2439 2227 0 0 0 0 0 0 14.37 14.24 14.40

16496 1.05 146.0 2395 2591 2440 2227 175.6 8.3 1713 16497 0.00 0.00 0.00 0.000 70 0.000 0.000 2393 2590 2332 2439 2226 0 0 0 0 0 0 14.54 14.55 14.55

16676 1.10 146.0 2393 2591 2440 2227 161.2 7.7 1731 16681 0.00 2.67 0.00 0.000 580 0.000 0.159 2404 1182 2332 2439 2225 0 0 0 0 0 0 14.57 14.30 14.58

16737 1.17 146.0 2404 1182 2440 2225 156.8 7.2 1743 16742 0.12 2.80 0.00 0.000 3142 0.149 0.178 2450 2601 2332 2439 2225 0 0 0 0 0 0 14.33 14.24 14.40

16929 1.20 146.0 2451 2601 2441 2224 140.6 8.4 1763 16934 0.00 2.38 0.00 0.000 324 0.000 0.216 2451 3770 2331 2439 2224 0 0 0 0 0 0 14.59 14.28 14.60

17045 1.20 146.0 2451 3770 2440 2230 129.7 9.3 1786 17051 0.00 2.25 0.00 0.000 1030 0.000 0.167 2460 2599 2332 2440 2224 0 0 0 0 0 0 14.46 14.33 14.49

17230 1.27 146.0 2460 2600 2440 2224 115.6 7.4 1805 17235 0.00 2.40 0.00 0.000 324 0.000 0.213 2458 3773 2331 2439 2223 0 0 0 0 0 0 14.59 14.29 14.61

17367 1.33 146.0 2460 3773 2440 2222 105.1 7.5 1832 17374 0.00 2.28 0.00 0.000 1094 0.000 0.168 2469 2592 2331 2440 2223 0 0 0 0 0 0 14.42 14.29 14.45

17550 1.42 239.5 2469 2592 2440 2222 94.3 5.5 1851 17635 0.15 2.55 74.35 1.543 10532 0.131 0.212 2526 3766 1959 2081 1837 0 0 0 0 0 0 14.37 13.79 13.26

17662 1.42 239.5 2526 3767 2082 1834 84.4 13.5 1870 17668 0.00 2.33 0.00 0.000 1030 0.000 0.164 2535 2595 1956 2081 1832 0 0 0 0 0 0 14.02 13.91 14.05

17845 1.49 239.5 2535 2601 2082 1824 65.0 7.3 1889 17850 0.00 2.72 0.00 0.000 580 0.000 0.155 2545 1183 1952 2081 1823 0 0 0 0 0 0 14.32 14.07 14.33

17896 1.59 342.3 2546 1181 2082 1823 62.2 5.1 1899 17984 0.12 2.85 79.85 1.450 11302 0.155 0.176 2592 2606 1540 1608 1473 0 0 0 0 0 0 14.16 14.07 13.15

18160 1.64 342.3 2592 2606 1601 1464 38.2 7.9 1933 18165 0.00 2.42 0.00 0.000 324 0.000 0.208 2592 3776 1532 1600 1464 0 0 0 0 0 0 14.21 13.93 14.22

18399 1.76 460.2 2592 3775 1598 1461 23.8 4.4 1979 18500 0.00 2.33 95.03 1.400 9254 0.000 0.164 2601 2592 1062 1088 1036 0 0 0 0 0 0 14.15 14.03 13.10

18675 1.78 460.2 2601 2591 1083 1030 2.3 8.8 2015 18681 0.12 2.50 0.00 0.000 2372 0.148 0.203 2648 3777 1055 1081 1030 0 0 0 0 0 0 13.90 13.82 13.94

18683 end climb: SURFACE_DEPTH_REACHED

state 18683 begin surface coast

18704 end surface coast: CONTROL_FINISHED_OK

state 18704 begin surface

ID	199	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_PING_RANGE	20
MISSION	7	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	83	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7100	R_PORT_OVSHOOT	12	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	9	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	200	ALTIM_FREQUENCY	13
D_TGT	200	SM_CC	525	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	2
D_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2943	INT_PRESSURE_YINT	1.6
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.001	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	70	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	340	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	4	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	14400	STROBE	0	LOITER_W_DBAND	1	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	120	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	300	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.079999998	RAFOS_MMODEM	0	LOITER_N_DIVE	1	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	3	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3900	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2070	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0043925666
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.0006320356
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.5405934e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.1033937e-06
SPEED_FACTOR	1	PITCH_GAIN	27	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8267241
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	1	SEABIRD_C_H	1.1324162
MASS	53675	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0020002997
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00022812413
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-160.83926	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	218	PRESSURE_SLOPE	0.00010895507	SC_XMITPROFILE	3.0
HD_A	0.0019	ROLL_MAX	3771	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.016000001	ROLL_DEG	40	COMPASS_USE	4
HD_C	1.2e-06	C_ROLL_DIVE	2750	ALTIM_PING_FIT	0

GPS1	091018,184451,7415.5498,-14631.0723,35,0.7,35,22.4,0.0,0.0,11,9.0	SPEED_LIMITS	0.165,0.207
_CALLS	2	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7415.000,-14625.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.65	MHEAD_RNG_PITCHd_Wd	108.7,3279,-16.5,-9.524,-24.67,2361
_SM_ANGLEo	-61.6	D_GRID	200
GPS2	091018,185459,7415.5376,-14631.2158,7,0.7,8,22.4,0.0,0.0,11,10.0

MODEM_MSG	CACST,6,1,20181009201636.001212,18,78,06,0067,0150,246,00,00,02,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*05	ALTIM_TOP_PING	20.0,20.9
FINISH	-0.2,1.011647	_24V_AH	13.05,41.948
SM_CCo	18723,94.55,0.219,0,0,802,525.19	_10V_AH	13.07,0.000
SM_GC	0.86,7.70,2.10,94.55,0.096,0.159,0.219,194,2746,802,-5.80,0.34,525.19,0,0,0,0,0,0,13.96,13.89,13.83	FG_AHR_24Vo	0.000
RAFOS_CLK	27	FG_AHR_10Vo	0.000
MODEM	1,1539115533,74.43333,-147.95000,33.543,48377.8	MEM	334452
RAFOS_FIX	7423.420898,-14619.693359,091018,202036,3,255,3.21	DATA_FILE_SIZE	66584,2021
IRIDIUM_FIX	7418.59,-14636.24,091018,152314	CAP_FILE_SIZE	205164,0
TT8_MAMPS	0.078645,0.378245	CFSIZE	2097872896,2075394048
HUMID	47.99	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.46163	SOUNDSPEED	1442.5
TCM_TEMP	12.20	CURRENT	0.091,336.12,1
XPDR_PINGS	6	GPS	101018,001026,7416.272,-14631.446,37,0.8,37,22.4,0.0,0.0,12,6.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	474	119.15	nil	0	0	0.00
Roll_motor	61	216	173.12	nil	0	0	0.00
VBD_pump_during_apogee	490	1751	11219.59	nil	0	0	0.00
VBD_pump_during_surface	94	218	269.96	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	4337	35	2007.47
Iridium_during_xfer	368	182	874.85	nil	0	0	0.00
Transponder_ping	1	420	9.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	21	4.61
TT8	0	0	0.00
LPSleep	14142	2	426.99
TT8_Active	723	11	108.53
TT8_Sampling	4179	30	1649.88
TT8_CF8	379	36	179.58
TT8_Kalman	0	0	0.00
Analog_circuits	2540	9	315.48
GPS_charging	0	0	0.00
Compass	2867	7	280.75
RAFOS	4373	33	1886.12
Transponder	2	30	1.00

		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
6	end surface: CONTROL_FINISHED_OK
state	7	begin dive
10	-0.76	-146.0	196	2756	785	800	0.0	0.0	0	102	0.00	0.00	-90.97	0.002	16386	0.000	0.000	195	2755	2169	2196	2143	0	0	0	0	0	0	14.31	28.83	14.33
105	-0.76	-146.0	195	2756	2198	2146	4.0	-6.1	9	156	9.05	2.78	-33.97	0.004	18948	0.474	0.177	1821	1330	3540	3590	3491	0	0	0	0	0	0	13.93	13.25	14.17
382	-0.76	-146.0	1821	1332	3590	3495	76.6	-20.7	63	387	0.00	2.85	0.00	0.000	1030	0.000	0.182	1812	2750	3541	3590	3493	0	0	0	0	0	0	14.26	14.12	14.28
572	-0.76	-146.0	1812	2750	3591	3494	110.9	-16.8	83	577	0.00	2.72	0.00	0.000	516	0.000	0.153	1812	1328	3542	3590	3494	0	0	0	0	0	0	14.45	14.18	14.47
729	-0.76	-146.0	1812	1329	3590	3495	135.0	-15.2	114	735	0.00	2.85	0.00	0.000	1030	0.000	0.183	1802	2754	3542	3590	3494	0	0	0	0	0	0	14.35	14.21	14.38
912	-0.76	-146.0	1802	2754	3591	3493	163.4	-14.9	133	913	0.00	0.00	0.00	0.000	6	0.000	0.000	1802	2754	3541	3589	3493	0	0	0	0	0	0	14.52	14.54	14.54
1092	-0.76	-146.0	1802	2756	3591	3494	189.5	-14.0	151	1093	0.00	0.00	0.00	0.000	6	0.000	0.000	1802	2754	3541	3590	3493	0	0	0	0	0	0	14.54	14.57	14.56
1170	end dive: TARGET_DEPTH_EXCEEDED
state	1170	begin apogee
1176	-0.19	0.0	1803	2596	3590	3501	200.6	-13.7	159	1296	0.80	0.00	116.95	1.697	10246	0.278	0.000	2003	2596	2939	3027	2851	0	0	0	0	0	0	14.26	13.72	13.05
1297	end apogee: CONTROL_FINISHED_OK
state	1298	begin loiter
1473	-0.17	10.5	2003	2595	3027	2840	212.2	-2.7	189	1484	0.00	0.00	9.25	1.472	8230	0.000	0.000	2003	2595	2896	2990	2803	0	0	0	0	0	0	14.26	14.01	13.30
1663	-0.17	19.3	2003	2594	2990	2798	216.8	-2.3	208	1674	0.00	0.00	8.50	1.479	8230	0.000	0.000	2003	2595	2859	2951	2768	0	0	0	0	0	0	14.36	14.11	13.38
1853	-0.16	26.1	2002	2596	2951	2766	220.3	-1.7	227	1863	0.00	0.00	7.00	1.441	8230	0.000	0.000	2003	2595	2832	2920	2745	0	0	0	0	0	0	14.42	14.19	13.44
2043	-0.15	30.2	2003	2596	2920	2745	222.6	-1.1	246	2053	0.00	0.00	4.82	1.270	8230	0.000	0.000	2003	2595	2816	2902	2730	0	0	0	0	0	0	14.47	14.25	13.48
2233	-0.13	30.2	2003	2595	2903	2729	224.2	-0.9	265	2234	0.00	0.00	0.00	0.000	70	0.000	0.000	2003	2595	2815	2902	2729	0	0	0	0	0	0	14.53	14.54	14.54
2413	-0.12	34.6	2003	2596	2902	2729	226.1	-1.1	283	2423	0.00	0.00	5.40	1.362	8230	0.000	0.000	2003	2595	2796	2883	2710	0	0	0	0	0	0	14.59	14.19	13.56
2603	-0.12	34.6	2003	2596	2884	2709	227.1	-0.3	302	2603	0.00	0.00	0.00	0.000	6	0.000	0.000	2003	2595	2796	2883	2709	0	0	0	0	0	0	14.60	14.62	14.62
2783	-0.12	34.6	2003	2596	2884	2709	227.1	0.2	320	2784	0.00	0.00	0.00	0.000	6	0.000	0.000	2003	2595	2795	2883	2708	0	0	0	0	0	0	14.64	14.66	14.66
2963	-0.12	34.6	2003	2595	2884	2708	226.4	0.5	338	2963	0.00	0.00	0.00	0.000	6	0.000	0.000	2003	2595	2795	2883	2708	0	0	0	0	0	0	14.68	14.70	14.70
3143	-0.12	34.6	2003	2596	2884	2708	226.1	-0.1	356	3143	0.00	0.00	0.00	0.000	6	0.000	0.000	2003	2595	2795	2883	2707	0	0	0	0	0	0	14.71	14.73	14.73
3323	-0.11	34.6	2003	2596	2884	2708	227.0	-0.6	374	3324	0.12	0.00	0.00	0.000	2118	0.266	0.000	2031	2595	2794	2882	2707	0	0	0	0	0	0	14.44	14.61	14.58
3503	-0.11	34.6	2032	2595	2884	2706	227.5	-0.1	392	3503	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2795	2883	2707	0	0	0	0	0	0	14.75	14.77	14.77
3683	-0.11	34.6	2032	2595	2884	2707	227.4	0.1	410	3684	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2595	2794	2883	2706	0	0	0	0	0	0	14.77	14.78	14.78
3866	-0.11	34.6	2032	2595	2884	2706	227.5	-0.1	428	3867	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2794	2883	2706	0	0	0	0	0	0	14.72	14.74	14.73
4044	-0.11	34.6	2032	2596	2884	2707	227.8	-0.2	446	4045	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2594	2794	2883	2706	0	0	0	0	0	0	14.71	14.73	14.72
4224	-0.11	34.6	2031	2595	2884	2706	228.1	-0.2	464	4225	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2794	2883	2706	0	0	0	0	0	0	14.69	14.71	14.71
4404	-0.11	34.6	2031	2595	2883	2706	228.2	-0.0	482	4405	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2794	2883	2706	0	0	0	0	0	0	14.68	14.70	14.69
4584	-0.11	34.6	2031	2596	2883	2707	228.3	-0.2	500	4585	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2794	2883	2706	0	0	0	0	0	0	14.66	14.69	14.69
4764	-0.11	34.6	2031	2596	2884	2707	229.0	-0.5	518	4765	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2794	2883	2705	0	0	0	0	0	0	14.66	14.68	14.68
4944	-0.11	34.6	2031	2595	2884	2705	229.4	0.0	536	4945	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2794	2883	2705	0	0	0	0	0	0	14.65	14.67	14.66
5124	-0.11	34.6	2032	2596	2884	2706	228.9	0.3	554	5125	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2595	2794	2883	2705	0	0	0	0	0	0	14.64	14.68	14.66
5304	-0.11	34.6	2032	2595	2883	2705	228.7	0.0	572	5305	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2794	2883	2705	0	0	0	0	0	0	14.64	14.66	14.68
5484	-0.11	34.6	2031	2595	2884	2704	228.6	0.1	590	5485	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2793	2883	2704	0	0	0	0	0	0	14.64	14.66	14.66
5664	-0.11	34.6	2032	2595	2884	2704	228.3	0.2	608	5665	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2793	2883	2704	0	0	0	0	0	0	14.64	14.66	14.66
5844	-0.11	34.6	2032	2595	2884	2704	228.3	-0.1	626	5845	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2793	2883	2704	0	0	0	0	0	0	14.64	14.66	14.66
6024	-0.11	34.6	2031	2596	2884	2705	228.6	-0.2	644	6025	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2793	2883	2704	0	0	0	0	0	0	14.64	14.65	14.65
6206	-0.11	34.6	2032	2595	2884	2702	228.6	-0.0	662	6207	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2793	2883	2704	0	0	0	0	0	0	14.69	14.71	14.71
6384	-0.11	34.6	2032	2596	2884	2705	228.9	-0.3	680	6385	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2793	2883	2704	0	0	0	0	0	0	14.73	14.75	14.75
6564	-0.11	34.6	2031	2596	2884	2703	229.7	-0.4	698	6565	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2793	2883	2703	0	0	0	0	0	0	14.75	14.77	14.77
6744	-0.11	34.6	2032	2595	2884	2703	230.1	-0.0	716	6745	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2793	2883	2703	0	0	0	0	0	0	14.76	14.79	14.78
6924	-0.11	34.6	2032	2596	2884	2704	229.9	0.1	734	6925	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2793	2883	2703	0	0	0	0	0	0	14.78	14.81	14.80
7104	-0.11	34.6	2031	2596	2883	2703	229.9	-0.0	752	7105	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2594	2793	2883	2703	0	0	0	0	0	0	14.79	14.81	14.81
7284	-0.11	34.6	2031	2596	2884	2703	230.0	-0.1	770	7285	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2882	2702	0	0	0	0	0	0	14.81	14.83	14.82
7464	-0.11	34.6	2032	2595	2884	2702	230.1	-0.1	788	7465	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2702	0	0	0	0	0	0	14.81	14.83	14.83
7644	-0.11	34.6	2032	2595	2883	2702	230.5	-0.2	806	7645	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2702	0	0	0	0	0	0	14.82	14.84	14.84
7824	-0.11	34.6	2032	2595	2884	2702	230.8	-0.1	824	7825	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2702	0	0	0	0	0	0	14.83	14.85	14.85
8004	-0.11	34.6	2031	2596	2884	2703	230.8	-0.1	842	8005	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2702	0	0	0	0	0	0	14.83	14.85	14.85
8184	-0.11	34.6	2032	2596	2884	2703	231.3	-0.3	860	8185	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2702	0	0	0	0	0	0	14.84	14.86	14.86
8364	-0.11	34.6	2032	2595	2884	2701	231.6	-0.1	878	8365	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2595	2792	2883	2701	0	0	0	0	0	0	14.85	14.87	14.86
8544	-0.11	34.6	2031	2596	2884	2702	231.7	-0.2	896	8545	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2702	0	0	0	0	0	0	14.85	14.87	14.87
8724	-0.11	34.6	2032	2595	2884	2701	232.5	-0.5	914	8725	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2701	0	0	0	0	0	0	14.85	14.88	14.88
8904	-0.11	34.6	2032	2595	2884	2701	233.0	-0.1	932	8905	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2884	2701	0	0	0	0	0	0	14.85	14.88	14.88
9084	-0.11	34.6	2031	2595	2884	2702	232.9	0.1	950	9085	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2701	0	0	0	0	0	0	14.85	14.88	14.88
9264	-0.11	34.6	2032	2595	2884	2701	233.1	-0.3	968	9265	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2701	0	0	0	0	0	0	14.86	14.88	14.88
9444	-0.11	34.6	2031	2596	2884	2702	233.4	-0.0	986	9445	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2701	0	0	0	0	0	0	14.87	14.89	14.88
9624	-0.11	34.6	2032	2595	2884	2701	232.8	0.4	1004	9625	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2701	0	0	0	0	0	0	14.87	14.89	14.89
9804	-0.11	34.6	2031	2596	2884	2702	232.5	0.0	1022	9805	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2701	0	0	0	0	0	0	14.87	14.89	14.89
9984	-0.11	34.6	2031	2595	2884	2701	232.5	-0.0	1040	9985	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2701	0	0	0	0	0	0	14.88	14.90	14.90
10164	-0.11	34.6	2032	2596	2884	2702	232.4	0.1	1058	10165	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2701	0	0	0	0	0	0	14.88	14.90	14.90
10344	-0.11	34.6	2032	2596	2884	2702	232.3	0.0	1076	10345	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.88	14.90	14.90
10524	-0.11	34.6	2031	2596	2884	2702	232.4	-0.1	1094	10525	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2701	0	0	0	0	0	0	14.88	14.90	14.90
10704	-0.11	34.6	2032	2595	2884	2701	232.5	-0.0	1112	10705	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2701	0	0	0	0	0	0	14.88	14.90	14.90
10884	-0.11	34.6	2032	2596	2884	2702	232.7	-0.2	1130	10885	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.88	14.90	14.90
11064	-0.11	34.6	2032	2596	2884	2702	233.2	-0.3	1148	11065	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2701	0	0	0	0	0	0	14.88	14.90	14.90
11244	-0.11	34.6	2032	2595	2884	2700	233.3	0.0	1166	11245	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.88	14.90	14.90
11424	-0.11	34.6	2032	2595	2884	2700	232.9	0.3	1184	11425	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2883	2701	0	0	0	0	0	0	14.89	14.91	14.90
11604	-0.11	34.6	2031	2595	2884	2699	232.5	0.1	1202	11605	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.89	14.91	14.91
11784	-0.11	34.6	2032	2596	2884	2701	232.8	-0.2	1220	11785	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.89	14.91	14.91
11964	-0.11	34.6	2032	2595	2884	2700	233.2	-0.1	1238	11965	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.89	14.91	14.91
12144	-0.11	34.6	2031	2595	2884	2700	233.3	-0.1	1256	12145	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2596	2791	2883	2700	0	0	0	0	0	0	14.89	14.91	14.91
12324	-0.11	34.6	2032	2595	2884	2700	233.5	-0.2	1274	12325	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.89	14.91	14.91
12504	-0.11	34.6	2032	2595	2885	2700	233.6	0.1	1292	12505	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.89	14.91	14.91
12684	-0.11	34.6	2032	2595	2885	2700	233.2	0.3	1310	12685	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.89	14.92	14.91
12864	-0.11	34.6	2031	2596	2885	2701	232.7	0.1	1328	12865	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.90	14.92	14.91
13044	-0.11	34.6	2032	2596	2884	2701	233.1	-0.3	1346	13045	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.90	14.92	14.91
13224	-0.11	34.6	2032	2595	2883	2700	233.8	-0.3	1364	13225	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2792	2884	2700	0	0	0	0	0	0	14.90	14.92	14.91
13404	-0.11	34.6	2032	2595	2885	2700	233.8	0.1	1382	13405	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.89	14.92	14.91
13584	-0.11	34.6	2032	2596	2884	2701	233.7	0.0	1400	13585	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.90	14.92	14.92
13764	-0.11	34.6	2032	2595	2884	2700	233.9	-0.2	1418	13765	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2790	2883	2698	0	0	0	0	0	0	14.90	14.92	14.91
13944	-0.11	34.6	2032	2595	2884	2700	233.9	0.1	1436	13945	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.90	14.92	14.91
14124	-0.11	34.6	2031	2596	2884	2701	233.7	0.1	1454	14125	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.90	14.92	14.92
14304	-0.11	34.6	2032	2595	2884	2700	233.7	-0.1	1472	14305	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.90	14.92	14.92
14484	-0.11	34.6	2032	2596	2884	2701	233.9	-0.0	1490	14485	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.90	14.92	14.92
14664	-0.11	34.6	2032	2595	2884	2700	233.7	0.2	1508	14665	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2699	0	0	0	0	0	0	14.90	14.92	14.92
14844	-0.11	34.6	2032	2595	2884	2700	233.4	0.0	1526	14845	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.90	14.92	14.92
15024	-0.11	34.6	2031	2596	2884	2701	233.7	-0.3	1544	15025	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.90	14.92	14.92
15204	-0.11	34.6	2031	2595	2884	2700	234.0	-0.1	1562	15205	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.90	14.92	14.92
15384	-0.11	34.6	2032	2595	2884	2700	233.9	0.1	1580	15385	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.90	14.92	14.92
15564	-0.11	34.6	2032	2595	2882	2700	234.0	-0.0	1598	15565	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2595	2791	2883	2700	0	0	0	0	0	0	14.90	14.92	14.92
15692	end loiter: LOITER_COMPLETE
state	15692	begin climb
15694	0.76	146.0	2031	2596	2883	2700	234.0	0.0	1611	15791	0.90	2.58	89.82	1.751	10500	0.183	0.216	2305	3776	2342	2439	2245	0	0	0	0	0	0	14.60	13.85	13.27
15834	0.84	146.0	2306	3776	2441	2239	227.8	6.8	1635	15838	0.00	2.33	0.00	0.000	1094	0.000	0.167	2312	2599	2339	2439	2239	0	0	0	0	0	0	14.12	14.00	14.14
16024	0.93	146.0	2312	2599	2441	2231	215.4	6.4	1655	16029	0.15	2.72	0.00	0.000	2628	0.133	0.156	2385	1185	2335	2439	2231	0	0	0	0	0	0	14.22	14.15	14.26
16075	0.98	146.0	2385	1184	2440	2231	211.5	8.0	1665	16080	0.00	2.83	0.00	0.000	1094	0.000	0.178	2385	2601	2334	2439	2230	0	0	0	0	0	0	14.29	14.14	14.33
16265	1.01	146.0	2385	2602	2440	2229	195.8	8.5	1685	16270	0.00	2.40	0.00	0.000	324	0.000	0.216	2385	3778	2331	2439	2223	0	0	0	0	0	0	14.48	14.19	14.50
16306	1.01	146.0	2385	3779	2440	2228	191.9	9.8	1693	16311	0.00	2.30	0.00	0.000	1030	0.000	0.168	2393	2589	2333	2439	2227	0	0	0	0	0	0	14.37	14.24	14.40
16496	1.05	146.0	2395	2591	2440	2227	175.6	8.3	1713	16497	0.00	0.00	0.00	0.000	70	0.000	0.000	2393	2590	2332	2439	2226	0	0	0	0	0	0	14.54	14.55	14.55
16676	1.10	146.0	2393	2591	2440	2227	161.2	7.7	1731	16681	0.00	2.67	0.00	0.000	580	0.000	0.159	2404	1182	2332	2439	2225	0	0	0	0	0	0	14.57	14.30	14.58
16737	1.17	146.0	2404	1182	2440	2225	156.8	7.2	1743	16742	0.12	2.80	0.00	0.000	3142	0.149	0.178	2450	2601	2332	2439	2225	0	0	0	0	0	0	14.33	14.24	14.40
16929	1.20	146.0	2451	2601	2441	2224	140.6	8.4	1763	16934	0.00	2.38	0.00	0.000	324	0.000	0.216	2451	3770	2331	2439	2224	0	0	0	0	0	0	14.59	14.28	14.60
17045	1.20	146.0	2451	3770	2440	2230	129.7	9.3	1786	17051	0.00	2.25	0.00	0.000	1030	0.000	0.167	2460	2599	2332	2440	2224	0	0	0	0	0	0	14.46	14.33	14.49
17230	1.27	146.0	2460	2600	2440	2224	115.6	7.4	1805	17235	0.00	2.40	0.00	0.000	324	0.000	0.213	2458	3773	2331	2439	2223	0	0	0	0	0	0	14.59	14.29	14.61
17367	1.33	146.0	2460	3773	2440	2222	105.1	7.5	1832	17374	0.00	2.28	0.00	0.000	1094	0.000	0.168	2469	2592	2331	2440	2223	0	0	0	0	0	0	14.42	14.29	14.45
17550	1.42	239.5	2469	2592	2440	2222	94.3	5.5	1851	17635	0.15	2.55	74.35	1.543	10532	0.131	0.212	2526	3766	1959	2081	1837	0	0	0	0	0	0	14.37	13.79	13.26
17662	1.42	239.5	2526	3767	2082	1834	84.4	13.5	1870	17668	0.00	2.33	0.00	0.000	1030	0.000	0.164	2535	2595	1956	2081	1832	0	0	0	0	0	0	14.02	13.91	14.05
17845	1.49	239.5	2535	2601	2082	1824	65.0	7.3	1889	17850	0.00	2.72	0.00	0.000	580	0.000	0.155	2545	1183	1952	2081	1823	0	0	0	0	0	0	14.32	14.07	14.33
17896	1.59	342.3	2546	1181	2082	1823	62.2	5.1	1899	17984	0.12	2.85	79.85	1.450	11302	0.155	0.176	2592	2606	1540	1608	1473	0	0	0	0	0	0	14.16	14.07	13.15
18160	1.64	342.3	2592	2606	1601	1464	38.2	7.9	1933	18165	0.00	2.42	0.00	0.000	324	0.000	0.208	2592	3776	1532	1600	1464	0	0	0	0	0	0	14.21	13.93	14.22
18399	1.76	460.2	2592	3775	1598	1461	23.8	4.4	1979	18500	0.00	2.33	95.03	1.400	9254	0.000	0.164	2601	2592	1062	1088	1036	0	0	0	0	0	0	14.15	14.03	13.10
18675	1.78	460.2	2601	2591	1083	1030	2.3	8.8	2015	18681	0.12	2.50	0.00	0.000	2372	0.148	0.203	2648	3777	1055	1081	1030	0	0	0	0	0	0	13.90	13.82	13.94
18683	end climb: SURFACE_DEPTH_REACHED
state	18683	begin surface coast
18704	end surface coast: CONTROL_FINISHED_OK
state	18704	begin surface