Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 83 * 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 83 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 80 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 68 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 195 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 9000 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 152.0

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 9000

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 195

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 152.0 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 80 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 68 XPDR_INHIBIT 90

DIVE 83 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 060921,112931,4751.1406,-12510.2109,3,1.2,5,15.7,0.5,159.2,9,9.8 SPEED_LIMITS 0.173,0.234

_CALLS 1 TGT_NAME SE_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4750.360,-12508.720

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.51 MHEAD_RNG_PITCHd_Wd 111.3,2363,-18.1,-10.000,-23.17,1779

_SM_ANGLEo -62.5 D_GRID 240

GPS2 060921,113203,4751.1582,-12510.2031,4,1.2,6,15.7,0.3,269.7,9,8.0

Post-dive calculations and measurements:

FINISH 1.4,1.025058 _24V_AH 24.33,16.105

SM_CCo 10946,0.00,0.000,0,0,550,527.40 _10V_AH 10.21,9.243

SM_GC 0.45,7.72,1.40,0.00,0.077,0.030,0.000,176,1999,550,-7.39,-1.44,527.40,0,0,0,0,0,0,26.23,26.19,25.43 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4751.26,-12509.51,060921,112716 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.186501 MEM 211276

HUMID 52.59 DATA_FILE_SIZE 93430,1996

INTERNAL_PRESSURE 8.72826 CAP_FILE_SIZE 193456,0

TCM_TEMP 15.40 CFSIZE 260030464,243707904

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

CP_FREE 115802963968.000000 CURRENT 0.031,144.40,1

CP_POWER 323.310000 GPS 060921,143639,4750.901,-12510.041,20,0.7,29,15.7,0.5,136.5,12,2.2

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 210 91.62 SBE_CT 1370 64 2148.30

Roll_motor 11 67 18.22 WL_blue_red_Chl 4280 37 3899.98

VBD_pump_during_apogee 457 607 6759.22 nil 0 0 0.00

VBD_pump_during_surface 213 623 3244.30 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 10701 25 6508.88

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 17 11 2.18

TT8 4443 12 554.34

LPSleep 782 2 17.50

TT8_Active 890 12 111.16

TT8_Sampling 4338 37 1669.61

TT8_CF8 597 42 262.00

TT8_Kalman 0 0 0.00

Analog_circuits 2492 11 279.88

GPS_charging 0 0 0.00

Compass 4696 8 395.09

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 -116.8 183 2017 688 412 0.0 0.0 0 133 0.00 0.00 -105.50 0.011 16386 0.000 0.000 182 2018 3073 3062 3084 0 0 0 0 0 0 26.32 28.83 26.39

136 -0.79 -116.8 182 2018 3063 3084 4.0 -7.5 15 153 8.05 1.02 -2.17 0.037 18724 0.210 0.067 2318 2708 3179 3182 3176 0 0 0 0 0 0 25.89 24.88 26.06

314 -0.79 -116.8 2318 2708 3191 3171 37.4 -15.0 48 322 0.00 1.00 0.00 0.000 1030 0.000 0.041 2322 2008 3181 3191 3171 0 0 0 0 0 0 26.45 26.43 26.47

447 -0.79 -116.8 2322 2008 3194 3170 55.1 -12.6 73 455 0.00 1.02 0.00 0.000 516 0.000 0.039 2327 1313 3182 3194 3170 0 0 0 0 0 0 26.52 26.41 26.53

538 -0.79 -116.8 2327 1313 3195 3169 64.6 -10.5 89 545 0.00 1.00 0.00 0.000 1030 0.000 0.036 2324 1983 3182 3195 3169 0 0 0 0 0 0 26.51 26.48 26.53

675 -0.79 -116.8 2323 1982 3196 3169 79.3 -8.4 114 682 0.00 1.05 0.00 0.000 292 0.000 0.043 2319 2699 3182 3196 3169 0 0 0 0 0 0 26.58 26.51 26.63

795 end dive: TARGET_DEPTH_EXCEEDED

state 795 begin apogee

800 -0.18 0.0 2323 1800 3196 3169 90.3 -9.9 137 971 0.65 0.00 163.12 0.516 10246 0.161 0.000 2517 1799 2695 2749 2642 0 0 0 0 0 0 26.20 25.36 24.92

976 end apogee: CONTROL_FINISHED_OK

state 976 begin loiter

1116 -0.16 14.5 2517 1799 2735 2633 98.9 -1.9 186 1130 0.00 0.00 11.23 0.607 8230 0.000 0.000 2518 1799 2640 2698 2582 0 0 0 0 0 0 26.05 25.73 25.27

1253 -0.16 14.5 2517 1799 2685 2568 98.4 1.1 212 1260 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 1799 2627 2686 2569 0 0 0 0 0 0 26.17 26.24 26.22

1382 -0.16 14.5 2517 1799 2684 2568 95.7 2.9 237 1388 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 1799 2626 2684 2568 0 0 0 0 0 0 26.30 26.36 26.36

1516 -0.16 14.5 2517 1799 2683 2567 91.0 3.7 262 1523 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 1799 2625 2683 2567 0 0 0 0 0 0 26.39 26.46 26.44

1646 -0.16 14.5 2517 1799 2683 2567 87.9 1.3 287 1652 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 1799 2625 2683 2567 0 0 0 0 0 0 26.46 26.53 26.52

1775 -0.15 19.7 2517 1799 2682 2566 88.1 -0.7 312 1782 0.08 0.00 0.00 0.000 2086 0.210 0.000 2532 1798 2624 2682 2567 0 0 0 0 0 0 26.28 26.44 26.40

1911 -0.15 19.7 2532 1799 2682 2566 89.1 -0.4 337 1917 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 1799 2623 2681 2566 0 0 0 0 0 0 26.55 26.63 26.61

2040 -0.15 19.7 2532 1799 2681 2566 87.9 1.9 362 2046 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 1798 2623 2681 2566 0 0 0 0 0 0 26.60 26.66 26.65

2168 -0.15 19.7 2532 1799 2681 2565 84.6 2.7 387 2175 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 1799 2623 2681 2566 0 0 0 0 0 0 26.44 26.55 26.51

2304 -0.15 19.7 2532 1799 2681 2565 82.9 0.2 412 2310 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 1799 2623 2681 2565 0 0 0 0 0 0 26.56 26.65 26.63

2433 -0.14 34.0 2532 1799 2680 2565 84.3 -1.8 437 2459 0.00 0.00 19.55 0.592 8230 0.000 0.000 2533 1799 2556 2627 2485 0 0 0 0 0 0 26.67 26.03 25.70

2585 -0.14 34.0 2532 1798 2618 2477 84.5 1.1 465 2591 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 1799 2548 2619 2477 0 0 0 0 0 0 26.50 26.56 26.55

2714 -0.14 34.0 2532 1799 2618 2477 82.3 2.6 490 2720 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 1799 2547 2618 2477 0 0 0 0 0 0 26.42 26.52 26.49

2848 -0.14 34.0 2531 1799 2618 2476 80.3 1.3 515 2854 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 1799 2547 2618 2477 0 0 0 0 0 0 26.60 26.65 26.63

2977 -0.16 16.4 2532 1799 2617 2476 77.5 2.3 540 2983 0.00 0.00 0.00 0.000 38 0.000 0.000 2533 1799 2547 2618 2476 0 0 0 0 0 0 26.62 26.69 26.68

3112 -0.17 3.1 2532 1799 2617 2476 74.9 1.7 565 3119 0.00 0.00 0.00 0.000 38 0.000 0.000 2534 1799 2546 2617 2476 0 0 0 0 0 0 26.60 26.70 26.67

3242 -0.19 -6.9 2532 1799 2617 2476 73.3 1.3 590 3248 0.00 0.00 0.00 0.000 38 0.000 0.000 2532 1798 2546 2617 2476 0 0 0 0 0 0 26.67 26.73 26.72

3371 -0.20 -20.3 2532 1799 2617 2475 71.3 1.7 615 3378 0.00 0.00 0.00 0.000 38 0.000 0.000 2533 1799 2546 2617 2476 0 0 0 0 0 0 26.69 26.76 26.74

3506 -0.22 -32.2 2532 1798 2616 2475 69.2 1.5 640 3513 0.00 0.00 0.00 0.000 38 0.000 0.000 2533 1799 2545 2616 2475 0 0 0 0 0 0 26.70 26.77 26.74

3635 -0.22 -36.5 2532 1799 2616 2474 67.9 0.6 665 3642 0.00 0.00 0.00 0.000 38 0.000 0.000 2533 1799 2545 2616 2475 0 0 0 0 0 0 26.72 26.78 26.77

3764 -0.24 -48.2 2532 1799 2616 2474 66.8 1.5 690 3771 0.00 0.00 0.00 0.000 38 0.000 0.000 2533 1799 2545 2616 2475 0 0 0 0 0 0 26.67 26.75 26.74

3900 -0.26 -70.8 2532 1799 2615 2474 63.6 2.9 715 3907 0.00 0.00 0.00 0.000 38 0.000 0.000 2533 1799 2545 2616 2474 0 0 0 0 0 0 26.68 26.76 26.74

4030 -0.27 -76.9 2532 1799 2615 2474 61.0 0.8 740 4036 0.00 0.00 0.00 0.000 38 0.000 0.000 2532 1799 2544 2615 2474 0 0 0 0 0 0 26.74 26.80 26.80

4159 -0.27 -76.9 2532 1799 2615 2474 62.4 -2.0 765 4165 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 1799 2544 2615 2473 0 0 0 0 0 0 26.69 26.77 26.76

4294 -0.28 -85.8 2532 1799 2615 2473 63.0 1.1 790 4301 0.00 0.00 0.00 0.000 38 0.000 0.000 2533 1799 2544 2615 2473 0 0 0 0 0 0 26.74 26.74 26.76

4423 -0.31 -106.7 2532 1799 2615 2473 60.0 2.7 815 4430 0.00 0.00 0.00 0.000 38 0.000 0.000 2532 1799 2543 2614 2473 0 0 0 0 0 0 26.63 26.66 26.67

4552 -0.32 -117.6 2532 1799 2614 2473 57.3 1.4 840 4560 0.10 0.00 0.00 0.000 4134 0.144 0.000 2500 1799 2544 2615 2473 0 0 0 0 0 0 26.54 26.67 26.63

4688 -0.32 -117.6 2499 1799 2614 2473 56.8 -0.2 865 4695 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1799 2543 2614 2473 0 0 0 0 0 0 26.64 26.70 26.67

4818 -0.32 -117.6 2499 1799 2614 2472 57.1 -0.0 890 4824 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1799 2543 2614 2472 0 0 0 0 0 0 26.77 26.84 26.83

4947 -0.32 -120.1 2499 1799 2613 2472 57.1 0.3 915 4953 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1799 2542 2613 2472 0 0 0 0 0 0 26.70 26.80 26.77

5082 -0.34 -132.2 2499 1799 2613 2472 55.8 1.6 940 5089 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1799 2543 2614 2472 0 0 0 0 0 0 26.33 26.60 26.51

5212 -0.34 -132.2 2499 1799 2613 2472 54.6 -0.1 965 5218 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1799 2542 2613 2472 0 0 0 0 0 0 26.77 26.84 26.83

5341 -0.34 -132.2 2499 1799 2613 2472 56.3 -1.7 990 5347 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1798 2542 2613 2472 0 0 0 0 0 0 26.77 26.84 26.84

5476 -0.34 -132.2 2499 1799 2613 2472 57.5 -0.3 1015 5482 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1799 2542 2613 2472 0 0 0 0 0 0 26.77 26.84 26.84

5605 -0.35 -142.5 2499 1799 2612 2471 56.8 1.3 1040 5612 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1799 2542 2612 2472 0 0 0 0 0 0 26.79 26.85 26.84

5734 -0.36 -151.4 2499 1798 2613 2471 55.1 1.1 1065 5741 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1799 2541 2612 2471 0 0 0 0 0 0 26.78 26.84 26.84

5869 -0.36 -153.4 2499 1799 2612 2472 54.3 0.3 1090 5876 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1799 2542 2612 2472 0 0 0 0 0 0 26.72 26.77 26.76

5998 -0.36 -153.4 2499 1799 2612 2471 54.7 -0.5 1115 6005 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1799 2542 2612 2472 0 0 0 0 0 0 26.82 26.86 26.85

6127 -0.36 -153.4 2499 1799 2612 2472 55.4 -0.7 1140 6133 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1799 2541 2612 2471 0 0 0 0 0 0 26.79 26.86 26.85

6262 -0.36 -153.4 2499 1799 2612 2471 56.7 -1.3 1165 6269 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1799 2541 2611 2471 0 0 0 0 0 0 26.79 26.89 26.86

6391 -0.36 -153.4 2499 1799 2612 2471 58.1 -0.7 1190 6398 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1799 2541 2611 2471 0 0 0 0 0 0 26.79 26.86 26.86

6520 -0.37 -156.6 2499 1799 2612 2471 58.4 0.4 1215 6527 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1799 2541 2611 2471 0 0 0 0 0 0 26.80 26.89 26.86

6655 -0.38 -166.5 2499 1799 2611 2471 57.2 1.3 1240 6662 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1798 2540 2610 2471 0 0 0 0 0 0 26.75 26.83 26.82

6785 -0.38 -168.9 2499 1799 2611 2471 56.2 0.3 1265 6792 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1799 2541 2611 2471 0 0 0 0 0 0 26.80 26.86 26.86

6914 -0.38 -168.9 2499 1799 2611 2471 56.0 0.0 1290 6921 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1799 2540 2610 2471 0 0 0 0 0 0 26.79 26.78 26.81

7048 -0.38 -170.1 2499 1799 2611 2471 55.8 0.2 1315 7055 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1798 2540 2610 2471 0 0 0 0 0 0 26.64 26.73 26.71

7178 -0.38 -170.1 2499 1799 2610 2471 56.4 -1.0 1340 7184 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1799 2540 2610 2471 0 0 0 0 0 0 26.79 26.85 26.84

7307 -0.38 -170.1 2499 1799 2609 2471 57.8 -0.5 1365 7313 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1799 2540 2610 2471 0 0 0 0 0 0 26.79 26.86 26.85

7441 -0.39 -177.1 2499 1799 2610 2471 57.2 0.9 1390 7447 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1798 2540 2610 2471 0 0 0 0 0 0 26.80 26.86 26.86

7570 -0.39 -180.4 2499 1799 2610 2471 56.3 0.4 1415 7577 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1799 2540 2610 2471 0 0 0 0 0 0 26.80 26.83 26.86

7699 -0.39 -180.4 2499 1799 2610 2470 56.5 -0.2 1440 7705 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1798 2540 2610 2471 0 0 0 0 0 0 26.78 26.84 26.84

7833 -0.40 -186.3 2499 1799 2610 2470 56.0 0.8 1465 7840 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1799 2540 2610 2471 0 0 0 0 0 0 26.83 26.82 26.86

7962 -0.40 -187.8 2499 1799 2610 2470 54.9 0.2 1490 7969 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1799 2540 2610 2471 0 0 0 0 0 0 26.80 26.79 26.82

8091 -0.40 -187.8 2499 1799 2610 2471 55.4 -0.5 1515 8098 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1799 2540 2610 2470 0 0 0 0 0 0 26.80 26.82 26.86

8226 -0.40 -187.8 2499 1799 2610 2471 56.5 -0.8 1540 8232 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1799 2540 2610 2470 0 0 0 0 0 0 26.79 26.86 26.84

8355 -0.41 -191.9 2499 1799 2610 2470 56.9 0.5 1565 8362 0.00 0.00 0.00 0.000 38 0.000 0.000 2500 1799 2540 2610 2470 0 0 0 0 0 0 26.80 26.86 26.85

8484 -0.42 -200.4 2499 1799 2610 2470 55.7 1.1 1590 8491 0.08 0.00 0.00 0.000 4134 0.190 0.000 2479 1799 2540 2610 2470 0 0 0 0 0 0 26.55 26.63 26.60

8621 -0.42 -202.7 2479 1799 2610 2470 54.8 0.3 1615 8628 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 1799 2539 2609 2470 0 0 0 0 0 0 26.78 26.85 26.84

8751 -0.42 -202.7 2478 1799 2609 2470 54.7 -0.1 1640 8757 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1799 2539 2609 2470 0 0 0 0 0 0 26.79 26.86 26.84

8880 -0.42 -202.7 2478 1799 2609 2470 55.0 -0.4 1665 8886 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1799 2540 2610 2470 0 0 0 0 0 0 26.79 26.86 26.85

9015 -0.42 -202.7 2478 1799 2609 2470 55.8 -0.7 1690 9021 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1799 2539 2609 2470 0 0 0 0 0 0 26.79 26.86 26.85

9144 -0.42 -202.7 2479 1799 2609 2470 57.4 -1.4 1715 9150 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1799 2539 2609 2470 0 0 0 0 0 0 26.74 26.82 26.81

9273 -0.42 -203.4 2478 1798 2609 2470 58.5 0.1 1740 9279 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 1799 2539 2609 2470 0 0 0 0 0 0 26.80 26.86 26.86

9408 -0.43 -209.3 2479 1799 2609 2470 57.4 0.8 1765 9415 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 1799 2539 2609 2470 0 0 0 0 0 0 26.68 26.77 26.74

9538 -0.44 -217.2 2478 1799 2609 2470 56.3 1.0 1790 9544 0.00 0.00 0.00 0.000 38 0.000 0.000 2478 1799 2539 2609 2470 0 0 0 0 0 0 26.82 26.86 26.86

9667 -0.44 -217.2 2479 1799 2609 2470 55.8 -0.1 1815 9673 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1799 2539 2609 2470 0 0 0 0 0 0 26.80 26.86 26.86

9802 -0.44 -217.2 2478 1799 2609 2470 56.4 -0.3 1840 9809 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1799 2539 2609 2470 0 0 0 0 0 0 26.79 26.87 26.86

9931 -0.45 -227.9 2478 1798 2609 2470 55.4 1.4 1865 9938 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 1799 2539 2609 2470 0 0 0 0 0 0 26.72 26.82 26.80

9968 end loiter: LOITER_COMPLETE

state 9968 begin climb

9970 0.79 116.8 2479 1798 2610 2470 54.9 0.0 1872 10118 1.12 1.12 138.07 0.517 10756 0.139 0.043 2834 1091 2215 2337 2093 0 0 0 0 0 0 26.30 25.34 25.04

10220 0.88 196.5 2834 1091 2318 2079 44.7 5.4 1912 10354 0.10 1.08 125.40 0.487 11302 0.160 0.034 2861 1792 1891 2034 1748 0 0 0 0 0 0 25.69 25.95 24.86

10480 0.88 196.5 2860 1792 2005 1720 17.6 11.0 1955 10488 0.00 1.10 0.00 0.000 516 0.000 0.046 2867 1101 1863 2006 1721 0 0 0 0 0 0 25.91 25.88 25.99

10687 end climb: SURFACE_DEPTH_REACHED

state 10688 begin surface coast

10699 end surface coast: CONTROL_FINISHED_OK

state 10699 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	83	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	80	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	68	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	195	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	9000	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	152.0
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	060921,112931,4751.1406,-12510.2109,3,1.2,5,15.7,0.5,159.2,9,9.8	SPEED_LIMITS	0.173,0.234
_CALLS	1	TGT_NAME	SE_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4750.360,-12508.720
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.51	MHEAD_RNG_PITCHd_Wd	111.3,2363,-18.1,-10.000,-23.17,1779
_SM_ANGLEo	-62.5	D_GRID	240
GPS2	060921,113203,4751.1582,-12510.2031,4,1.2,6,15.7,0.3,269.7,9,8.0

FINISH	1.4,1.025058	_24V_AH	24.33,16.105
SM_CCo	10946,0.00,0.000,0,0,550,527.40	_10V_AH	10.21,9.243
SM_GC	0.45,7.72,1.40,0.00,0.077,0.030,0.000,176,1999,550,-7.39,-1.44,527.40,0,0,0,0,0,0,26.23,26.19,25.43	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4751.26,-12509.51,060921,112716	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.186501	MEM	211276
HUMID	52.59	DATA_FILE_SIZE	93430,1996
INTERNAL_PRESSURE	8.72826	CAP_FILE_SIZE	193456,0
TCM_TEMP	15.40	CFSIZE	260030464,243707904
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	115802963968.000000	CURRENT	0.031,144.40,1
CP_POWER	323.310000	GPS	060921,143639,4750.901,-12510.041,20,0.7,29,15.7,0.5,136.5,12,2.2
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	210	91.62	SBE_CT	1370	64	2148.30
Roll_motor	11	67	18.22	WL_blue_red_Chl	4280	37	3899.98
VBD_pump_during_apogee	457	607	6759.22	nil	0	0	0.00
VBD_pump_during_surface	213	623	3244.30	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	10701	25	6508.88
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	17	11	2.18
TT8	4443	12	554.34
LPSleep	782	2	17.50
TT8_Active	890	12	111.16
TT8_Sampling	4338	37	1669.61
TT8_CF8	597	42	262.00
TT8_Kalman	0	0	0.00
Analog_circuits	2492	11	279.88
GPS_charging	0	0	0.00
Compass	4696	8	395.09
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	183	2017	688	412	0.0	0.0	0	133	0.00	0.00	-105.50	0.011	16386	0.000	0.000	182	2018	3073	3062	3084	0	0	0	0	0	0	26.32	28.83	26.39
136	-0.79	-116.8	182	2018	3063	3084	4.0	-7.5	15	153	8.05	1.02	-2.17	0.037	18724	0.210	0.067	2318	2708	3179	3182	3176	0	0	0	0	0	0	25.89	24.88	26.06
314	-0.79	-116.8	2318	2708	3191	3171	37.4	-15.0	48	322	0.00	1.00	0.00	0.000	1030	0.000	0.041	2322	2008	3181	3191	3171	0	0	0	0	0	0	26.45	26.43	26.47
447	-0.79	-116.8	2322	2008	3194	3170	55.1	-12.6	73	455	0.00	1.02	0.00	0.000	516	0.000	0.039	2327	1313	3182	3194	3170	0	0	0	0	0	0	26.52	26.41	26.53
538	-0.79	-116.8	2327	1313	3195	3169	64.6	-10.5	89	545	0.00	1.00	0.00	0.000	1030	0.000	0.036	2324	1983	3182	3195	3169	0	0	0	0	0	0	26.51	26.48	26.53
675	-0.79	-116.8	2323	1982	3196	3169	79.3	-8.4	114	682	0.00	1.05	0.00	0.000	292	0.000	0.043	2319	2699	3182	3196	3169	0	0	0	0	0	0	26.58	26.51	26.63
795	end dive: TARGET_DEPTH_EXCEEDED
state	795	begin apogee
800	-0.18	0.0	2323	1800	3196	3169	90.3	-9.9	137	971	0.65	0.00	163.12	0.516	10246	0.161	0.000	2517	1799	2695	2749	2642	0	0	0	0	0	0	26.20	25.36	24.92
976	end apogee: CONTROL_FINISHED_OK
state	976	begin loiter
1116	-0.16	14.5	2517	1799	2735	2633	98.9	-1.9	186	1130	0.00	0.00	11.23	0.607	8230	0.000	0.000	2518	1799	2640	2698	2582	0	0	0	0	0	0	26.05	25.73	25.27
1253	-0.16	14.5	2517	1799	2685	2568	98.4	1.1	212	1260	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	1799	2627	2686	2569	0	0	0	0	0	0	26.17	26.24	26.22
1382	-0.16	14.5	2517	1799	2684	2568	95.7	2.9	237	1388	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	1799	2626	2684	2568	0	0	0	0	0	0	26.30	26.36	26.36
1516	-0.16	14.5	2517	1799	2683	2567	91.0	3.7	262	1523	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	1799	2625	2683	2567	0	0	0	0	0	0	26.39	26.46	26.44
1646	-0.16	14.5	2517	1799	2683	2567	87.9	1.3	287	1652	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	1799	2625	2683	2567	0	0	0	0	0	0	26.46	26.53	26.52
1775	-0.15	19.7	2517	1799	2682	2566	88.1	-0.7	312	1782	0.08	0.00	0.00	0.000	2086	0.210	0.000	2532	1798	2624	2682	2567	0	0	0	0	0	0	26.28	26.44	26.40
1911	-0.15	19.7	2532	1799	2682	2566	89.1	-0.4	337	1917	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	1799	2623	2681	2566	0	0	0	0	0	0	26.55	26.63	26.61
2040	-0.15	19.7	2532	1799	2681	2566	87.9	1.9	362	2046	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	1798	2623	2681	2566	0	0	0	0	0	0	26.60	26.66	26.65
2168	-0.15	19.7	2532	1799	2681	2565	84.6	2.7	387	2175	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	1799	2623	2681	2566	0	0	0	0	0	0	26.44	26.55	26.51
2304	-0.15	19.7	2532	1799	2681	2565	82.9	0.2	412	2310	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	1799	2623	2681	2565	0	0	0	0	0	0	26.56	26.65	26.63
2433	-0.14	34.0	2532	1799	2680	2565	84.3	-1.8	437	2459	0.00	0.00	19.55	0.592	8230	0.000	0.000	2533	1799	2556	2627	2485	0	0	0	0	0	0	26.67	26.03	25.70
2585	-0.14	34.0	2532	1798	2618	2477	84.5	1.1	465	2591	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	1799	2548	2619	2477	0	0	0	0	0	0	26.50	26.56	26.55
2714	-0.14	34.0	2532	1799	2618	2477	82.3	2.6	490	2720	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	1799	2547	2618	2477	0	0	0	0	0	0	26.42	26.52	26.49
2848	-0.14	34.0	2531	1799	2618	2476	80.3	1.3	515	2854	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	1799	2547	2618	2477	0	0	0	0	0	0	26.60	26.65	26.63
2977	-0.16	16.4	2532	1799	2617	2476	77.5	2.3	540	2983	0.00	0.00	0.00	0.000	38	0.000	0.000	2533	1799	2547	2618	2476	0	0	0	0	0	0	26.62	26.69	26.68
3112	-0.17	3.1	2532	1799	2617	2476	74.9	1.7	565	3119	0.00	0.00	0.00	0.000	38	0.000	0.000	2534	1799	2546	2617	2476	0	0	0	0	0	0	26.60	26.70	26.67
3242	-0.19	-6.9	2532	1799	2617	2476	73.3	1.3	590	3248	0.00	0.00	0.00	0.000	38	0.000	0.000	2532	1798	2546	2617	2476	0	0	0	0	0	0	26.67	26.73	26.72
3371	-0.20	-20.3	2532	1799	2617	2475	71.3	1.7	615	3378	0.00	0.00	0.00	0.000	38	0.000	0.000	2533	1799	2546	2617	2476	0	0	0	0	0	0	26.69	26.76	26.74
3506	-0.22	-32.2	2532	1798	2616	2475	69.2	1.5	640	3513	0.00	0.00	0.00	0.000	38	0.000	0.000	2533	1799	2545	2616	2475	0	0	0	0	0	0	26.70	26.77	26.74
3635	-0.22	-36.5	2532	1799	2616	2474	67.9	0.6	665	3642	0.00	0.00	0.00	0.000	38	0.000	0.000	2533	1799	2545	2616	2475	0	0	0	0	0	0	26.72	26.78	26.77
3764	-0.24	-48.2	2532	1799	2616	2474	66.8	1.5	690	3771	0.00	0.00	0.00	0.000	38	0.000	0.000	2533	1799	2545	2616	2475	0	0	0	0	0	0	26.67	26.75	26.74
3900	-0.26	-70.8	2532	1799	2615	2474	63.6	2.9	715	3907	0.00	0.00	0.00	0.000	38	0.000	0.000	2533	1799	2545	2616	2474	0	0	0	0	0	0	26.68	26.76	26.74
4030	-0.27	-76.9	2532	1799	2615	2474	61.0	0.8	740	4036	0.00	0.00	0.00	0.000	38	0.000	0.000	2532	1799	2544	2615	2474	0	0	0	0	0	0	26.74	26.80	26.80
4159	-0.27	-76.9	2532	1799	2615	2474	62.4	-2.0	765	4165	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	1799	2544	2615	2473	0	0	0	0	0	0	26.69	26.77	26.76
4294	-0.28	-85.8	2532	1799	2615	2473	63.0	1.1	790	4301	0.00	0.00	0.00	0.000	38	0.000	0.000	2533	1799	2544	2615	2473	0	0	0	0	0	0	26.74	26.74	26.76
4423	-0.31	-106.7	2532	1799	2615	2473	60.0	2.7	815	4430	0.00	0.00	0.00	0.000	38	0.000	0.000	2532	1799	2543	2614	2473	0	0	0	0	0	0	26.63	26.66	26.67
4552	-0.32	-117.6	2532	1799	2614	2473	57.3	1.4	840	4560	0.10	0.00	0.00	0.000	4134	0.144	0.000	2500	1799	2544	2615	2473	0	0	0	0	0	0	26.54	26.67	26.63
4688	-0.32	-117.6	2499	1799	2614	2473	56.8	-0.2	865	4695	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	1799	2543	2614	2473	0	0	0	0	0	0	26.64	26.70	26.67
4818	-0.32	-117.6	2499	1799	2614	2472	57.1	-0.0	890	4824	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	1799	2543	2614	2472	0	0	0	0	0	0	26.77	26.84	26.83
4947	-0.32	-120.1	2499	1799	2613	2472	57.1	0.3	915	4953	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1799	2542	2613	2472	0	0	0	0	0	0	26.70	26.80	26.77
5082	-0.34	-132.2	2499	1799	2613	2472	55.8	1.6	940	5089	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1799	2543	2614	2472	0	0	0	0	0	0	26.33	26.60	26.51
5212	-0.34	-132.2	2499	1799	2613	2472	54.6	-0.1	965	5218	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	1799	2542	2613	2472	0	0	0	0	0	0	26.77	26.84	26.83
5341	-0.34	-132.2	2499	1799	2613	2472	56.3	-1.7	990	5347	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	1798	2542	2613	2472	0	0	0	0	0	0	26.77	26.84	26.84
5476	-0.34	-132.2	2499	1799	2613	2472	57.5	-0.3	1015	5482	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	1799	2542	2613	2472	0	0	0	0	0	0	26.77	26.84	26.84
5605	-0.35	-142.5	2499	1799	2612	2471	56.8	1.3	1040	5612	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1799	2542	2612	2472	0	0	0	0	0	0	26.79	26.85	26.84
5734	-0.36	-151.4	2499	1798	2613	2471	55.1	1.1	1065	5741	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1799	2541	2612	2471	0	0	0	0	0	0	26.78	26.84	26.84
5869	-0.36	-153.4	2499	1799	2612	2472	54.3	0.3	1090	5876	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1799	2542	2612	2472	0	0	0	0	0	0	26.72	26.77	26.76
5998	-0.36	-153.4	2499	1799	2612	2471	54.7	-0.5	1115	6005	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	1799	2542	2612	2472	0	0	0	0	0	0	26.82	26.86	26.85
6127	-0.36	-153.4	2499	1799	2612	2472	55.4	-0.7	1140	6133	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	1799	2541	2612	2471	0	0	0	0	0	0	26.79	26.86	26.85
6262	-0.36	-153.4	2499	1799	2612	2471	56.7	-1.3	1165	6269	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	1799	2541	2611	2471	0	0	0	0	0	0	26.79	26.89	26.86
6391	-0.36	-153.4	2499	1799	2612	2471	58.1	-0.7	1190	6398	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	1799	2541	2611	2471	0	0	0	0	0	0	26.79	26.86	26.86
6520	-0.37	-156.6	2499	1799	2612	2471	58.4	0.4	1215	6527	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1799	2541	2611	2471	0	0	0	0	0	0	26.80	26.89	26.86
6655	-0.38	-166.5	2499	1799	2611	2471	57.2	1.3	1240	6662	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1798	2540	2610	2471	0	0	0	0	0	0	26.75	26.83	26.82
6785	-0.38	-168.9	2499	1799	2611	2471	56.2	0.3	1265	6792	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1799	2541	2611	2471	0	0	0	0	0	0	26.80	26.86	26.86
6914	-0.38	-168.9	2499	1799	2611	2471	56.0	0.0	1290	6921	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1799	2540	2610	2471	0	0	0	0	0	0	26.79	26.78	26.81
7048	-0.38	-170.1	2499	1799	2611	2471	55.8	0.2	1315	7055	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1798	2540	2610	2471	0	0	0	0	0	0	26.64	26.73	26.71
7178	-0.38	-170.1	2499	1799	2610	2471	56.4	-1.0	1340	7184	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	1799	2540	2610	2471	0	0	0	0	0	0	26.79	26.85	26.84
7307	-0.38	-170.1	2499	1799	2609	2471	57.8	-0.5	1365	7313	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	1799	2540	2610	2471	0	0	0	0	0	0	26.79	26.86	26.85
7441	-0.39	-177.1	2499	1799	2610	2471	57.2	0.9	1390	7447	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1798	2540	2610	2471	0	0	0	0	0	0	26.80	26.86	26.86
7570	-0.39	-180.4	2499	1799	2610	2471	56.3	0.4	1415	7577	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1799	2540	2610	2471	0	0	0	0	0	0	26.80	26.83	26.86
7699	-0.39	-180.4	2499	1799	2610	2470	56.5	-0.2	1440	7705	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	1798	2540	2610	2471	0	0	0	0	0	0	26.78	26.84	26.84
7833	-0.40	-186.3	2499	1799	2610	2470	56.0	0.8	1465	7840	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1799	2540	2610	2471	0	0	0	0	0	0	26.83	26.82	26.86
7962	-0.40	-187.8	2499	1799	2610	2470	54.9	0.2	1490	7969	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1799	2540	2610	2471	0	0	0	0	0	0	26.80	26.79	26.82
8091	-0.40	-187.8	2499	1799	2610	2471	55.4	-0.5	1515	8098	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	1799	2540	2610	2470	0	0	0	0	0	0	26.80	26.82	26.86
8226	-0.40	-187.8	2499	1799	2610	2471	56.5	-0.8	1540	8232	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	1799	2540	2610	2470	0	0	0	0	0	0	26.79	26.86	26.84
8355	-0.41	-191.9	2499	1799	2610	2470	56.9	0.5	1565	8362	0.00	0.00	0.00	0.000	38	0.000	0.000	2500	1799	2540	2610	2470	0	0	0	0	0	0	26.80	26.86	26.85
8484	-0.42	-200.4	2499	1799	2610	2470	55.7	1.1	1590	8491	0.08	0.00	0.00	0.000	4134	0.190	0.000	2479	1799	2540	2610	2470	0	0	0	0	0	0	26.55	26.63	26.60
8621	-0.42	-202.7	2479	1799	2610	2470	54.8	0.3	1615	8628	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	1799	2539	2609	2470	0	0	0	0	0	0	26.78	26.85	26.84
8751	-0.42	-202.7	2478	1799	2609	2470	54.7	-0.1	1640	8757	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1799	2539	2609	2470	0	0	0	0	0	0	26.79	26.86	26.84
8880	-0.42	-202.7	2478	1799	2609	2470	55.0	-0.4	1665	8886	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1799	2540	2610	2470	0	0	0	0	0	0	26.79	26.86	26.85
9015	-0.42	-202.7	2478	1799	2609	2470	55.8	-0.7	1690	9021	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1799	2539	2609	2470	0	0	0	0	0	0	26.79	26.86	26.85
9144	-0.42	-202.7	2479	1799	2609	2470	57.4	-1.4	1715	9150	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1799	2539	2609	2470	0	0	0	0	0	0	26.74	26.82	26.81
9273	-0.42	-203.4	2478	1798	2609	2470	58.5	0.1	1740	9279	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	1799	2539	2609	2470	0	0	0	0	0	0	26.80	26.86	26.86
9408	-0.43	-209.3	2479	1799	2609	2470	57.4	0.8	1765	9415	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	1799	2539	2609	2470	0	0	0	0	0	0	26.68	26.77	26.74
9538	-0.44	-217.2	2478	1799	2609	2470	56.3	1.0	1790	9544	0.00	0.00	0.00	0.000	38	0.000	0.000	2478	1799	2539	2609	2470	0	0	0	0	0	0	26.82	26.86	26.86
9667	-0.44	-217.2	2479	1799	2609	2470	55.8	-0.1	1815	9673	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1799	2539	2609	2470	0	0	0	0	0	0	26.80	26.86	26.86
9802	-0.44	-217.2	2478	1799	2609	2470	56.4	-0.3	1840	9809	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1799	2539	2609	2470	0	0	0	0	0	0	26.79	26.87	26.86
9931	-0.45	-227.9	2478	1798	2609	2470	55.4	1.4	1865	9938	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	1799	2539	2609	2470	0	0	0	0	0	0	26.72	26.82	26.80
9968	end loiter: LOITER_COMPLETE
state	9968	begin climb
9970	0.79	116.8	2479	1798	2610	2470	54.9	0.0	1872	10118	1.12	1.12	138.07	0.517	10756	0.139	0.043	2834	1091	2215	2337	2093	0	0	0	0	0	0	26.30	25.34	25.04
10220	0.88	196.5	2834	1091	2318	2079	44.7	5.4	1912	10354	0.10	1.08	125.40	0.487	11302	0.160	0.034	2861	1792	1891	2034	1748	0	0	0	0	0	0	25.69	25.95	24.86
10480	0.88	196.5	2860	1792	2005	1720	17.6	11.0	1955	10488	0.00	1.10	0.00	0.000	516	0.000	0.046	2867	1101	1863	2006	1721	0	0	0	0	0	0	25.91	25.88	25.99
10687	end climb: SURFACE_DEPTH_REACHED
state	10688	begin surface coast
10699	end surface coast: CONTROL_FINISHED_OK
state	10699	begin surface