Glider dive log

SODA Sep18 * SG199 * Dive index * Mission links * Dive 93 * 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 93 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 2 ROLL_TIMEOUT 30 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7100 R_PORT_OVSHOOT 13 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 50 ALTIM_FREQUENCY 13

D_TGT 150 SM_CC 525 ROLL_MAXERRORS 0 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 FILEMGR 2 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 10 PROTOCOL 9 C_VBD 2943 INT_PRESSURE_YINT 1.6

D_PITCH 2 N_NOCOMM 0 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 500 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 3 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 4 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 4 CALL_TRIES 3 PITCH_VBD_SHIFT 0.001 DEVICE3 -1

SURFACE_URGENCY_FORCE 8 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 50 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 260 CAPMAXSIZE 10000 VBD_BLEED_AD_RATE 1 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 500 LOGGERS 1

T_TURN 225 T_GPS 3 VBD_MAXERRORS 2 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 11400 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 1 RAFOS_HIT_WINDOW 25200 LOITER_D_BOTTOM 200 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 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 0 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 0 SEABIRD_T_I 2.5405934e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 0 SEABIRD_T_J 3.1033937e-06

SPEED_FACTOR 1 PITCH_GAIN 27 MAXI_24V 2 SEABIRD_C_G -9.8267241

RHO 1.0275 PITCH_TIMEOUT 40 MAXI_10V 2 SEABIRD_C_H 1.1324162

MASS 53675 PITCH_AD_RATE 20 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 150 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 20 SM_CC 525

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 2 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 2 PITCH_GAIN 27 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3900 SURFACE_URGENCY 4

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 20 HD_A 0.0019 PITCH_MIN 200 SURFACE_URGENCY_TRY 4

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.016000001 PITCH_TIMEOUT 40 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 3 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 45 HEAPDBG 0 PRESSURE_SLOPE 0.00010895507 T_BOOST 0

CAPMAXSIZE 10000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -160.83926 T_DIVE 50

CAPUPLOAD 0 ID 199 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 3

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 P_OVSHOOT_WITHG 0 T_LOITER 11400

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 260

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 25200 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 500

C_VBD 2943 LOITER_D_BOTTOM 200 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 120 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 1 ROLL_AD_RATE 50 USE_ICE 1

DEVICE1 -1 LOITER_W_DBAND 1 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 1

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 2 ROLL_MAXERRORS 0 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 2 ROLL_MIN 218 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 30 VBD_MAXERRORS 2

DIVE 93 MINV_10V 0 R_PORT_OVSHOOT 13 VBD_MIN 500

D_ABORT 1020 MINV_24V 0 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 3 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 10 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 2 N_GPS 100440 SEABIRD_C_I -0.0020002997

D_SAFE 500 N_NOCOMM 0 SEABIRD_C_J 0.00022812413

Pre-dive calculations and measurements:

GPS1 121018,193202,7413.4185,-14633.0068,32,0.9,32,22.4,0.0,0.0,9,7.7 SPEED_LIMITS 0.173,0.210

_CALLS 1 TGT_NAME AB1

_XMS_NAKs 0 TGT_LATLONG 7337.500,-14725.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.63 MHEAD_RNG_PITCHd_Wd 177.3,71857,-17.7,-10.000,-25.48,2242

_SM_ANGLEo -61.9 D_GRID 150

GPS2 121018,193951,7413.4243,-14633.0068,11,0.9,11,22.4,0.0,0.0,10,7.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181012201638.912772,18,52,17,0136,0150,246,00,00,00,00,-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 19.0,19.3

FREEZE 0.40,-1.114,-1.430,2,1,0 _24V_AH 13.07,46.270

FINISH 0.4,1.021092 _10V_AH 13.32,0.000

SM_CCo 14832,178.12,0.216,0,0,801,525.19 FG_AHR_24Vo 0.000

SM_GC 0.65,7.47,2.08,178.12,0.072,0.162,0.216,191,2745,801,-5.81,0.31,525.19,0,0,0,0,0,0,14.10,14.04,13.95 FG_AHR_10Vo 0.000

RAFOS_CLK 630 MEM 334736

MODEM 0,1539374503,73.00000,-148.33333,103.415,149123.0 DATA_FILE_SIZE 53298,1573

RAFOS_FIX 7433.389648,-14555.712891,121018,202034,5,255,19.39 CAP_FILE_SIZE 166859,0

IRIDIUM_FIX 7416.86,-14640.60,121018,151342 CFSIZE 2097872896,2073264128

TT8_MAMPS 0.041944,0.68908 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

HUMID 48.89 SOUNDSPEED 1442.0

INTERNAL_PRESSURE 9.45186 CURRENT 0.080,355.78,1

TCM_TEMP 12.20 GPS 121018,235156,7413.809,-14633.126,35,0.9,35,22.4,0.0,0.0,8,7.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 478 121.54 nil 0 0 0.00

Roll_motor 31 214 87.49 nil 0 0 0.00

VBD_pump_during_apogee 442 1704 9853.02 nil 0 0 0.00

VBD_pump_during_surface 178 216 504.02 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 3443 37 1678.41

Iridium_during_xfer 287 183 689.18 nil 0 0 0.00

Transponder_ping 0 420 1.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 21 6.13

TT8 0 0 0.00

LPSleep 11134 2 342.59

TT8_Active 746 11 114.03

TT8_Sampling 3281 30 1320.10

TT8_CF8 321 36 154.89

TT8_Kalman 0 0 0.00

Analog_circuits 2163 9 273.72

GPS_charging 0 0 0.00

Compass 2234 7 222.97

RAFOS 2219 33 975.38

Transponder 2 30 1.01

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

10 -0.80 -146.0 191 2764 781 807 0.0 0.0 0 115 0.00 0.00 -103.10 0.002 16386 0.000 0.000 189 2764 2423 2448 2399 0 0 0 0 0 0 14.29 28.83 14.31

118 -0.80 -146.0 191 2764 2449 2401 5.4 -10.1 10 156 9.12 2.80 -24.52 0.005 18948 0.478 0.173 1804 1325 3543 3598 3488 0 0 0 0 0 0 13.88 13.46 14.17

381 -0.80 -146.0 1804 1326 3592 3494 78.7 -20.7 62 387 0.00 2.90 0.00 0.000 1030 0.000 0.184 1795 2764 3539 3591 3488 0 0 0 0 0 0 14.29 14.14 14.31

572 -0.80 -146.0 1795 2765 3592 3493 115.1 -17.4 82 577 0.00 2.78 0.00 0.000 516 0.000 0.153 1795 1324 3542 3591 3493 0 0 0 0 0 0 14.45 14.17 14.47

709 -0.80 -146.0 1796 1324 3593 3492 136.9 -16.1 109 716 0.00 2.88 0.00 0.000 1030 0.000 0.184 1785 2757 3542 3592 3493 0 0 0 0 0 0 14.35 14.17 14.37

790 end dive: TARGET_DEPTH_EXCEEDED

state 790 begin apogee

796 -0.19 0.0 1786 2600 3592 3494 151.0 -16.7 118 916 0.90 0.00 115.60 1.623 10246 0.300 0.000 2003 2599 2938 3030 2847 0 0 0 0 0 0 14.17 13.72 13.07

917 end apogee: CONTROL_FINISHED_OK

state 917 begin loiter

1092 -0.17 14.1 2003 2600 3030 2837 165.4 -3.6 148 1105 0.00 0.00 11.93 1.496 8230 0.000 0.000 2002 2599 2884 2980 2788 0 0 0 0 0 0 14.24 13.98 13.30

1284 -0.16 25.6 2003 2599 2977 2781 171.5 -3.0 167 1295 0.00 0.00 10.27 1.509 8230 0.000 0.000 2003 2599 2838 2927 2749 0 0 0 0 0 0 14.27 14.04 13.33

1474 -0.15 35.2 2003 2599 2922 2741 176.5 -2.5 186 1485 0.00 0.00 8.95 1.467 8230 0.000 0.000 2003 2599 2795 2883 2708 0 0 0 0 0 0 14.32 14.10 13.40

1664 -0.14 42.4 2003 2600 2883 2707 180.2 -1.9 205 1675 0.00 0.00 7.15 1.388 8230 0.000 0.000 2003 2599 2767 2855 2679 0 0 0 0 0 0 14.35 14.15 13.43

1854 -0.14 49.0 2003 2599 2857 2676 183.4 -1.7 224 1865 0.00 0.00 7.03 1.398 8230 0.000 0.000 2003 2599 2739 2829 2650 0 0 0 0 0 0 14.39 14.18 13.45

2044 -0.11 49.0 2003 2600 2830 2649 185.5 -0.8 243 2045 0.00 0.00 0.00 0.000 70 0.000 0.000 2003 2599 2738 2829 2647 0 0 0 0 0 0 14.42 14.43 14.43

2224 -0.09 49.0 2003 2600 2829 2648 186.9 -0.9 261 2226 0.15 0.00 0.00 0.000 2118 0.281 0.000 2037 2599 2737 2828 2647 0 0 0 0 0 0 14.16 14.36 14.33

2404 -0.06 49.0 2037 2600 2829 2647 188.4 -0.8 279 2405 0.00 0.00 0.00 0.000 70 0.000 0.000 2037 2599 2737 2829 2646 0 0 0 0 0 0 14.50 14.52 14.52

2584 -0.03 49.0 2037 2600 2830 2647 190.1 -1.0 297 2585 0.00 0.00 0.00 0.000 70 0.000 0.000 2037 2599 2737 2829 2646 0 0 0 0 0 0 14.52 14.54 14.54

2764 -0.01 49.0 2038 2600 2829 2646 191.7 -0.8 315 2765 0.00 0.00 0.00 0.000 70 0.000 0.000 2037 2599 2737 2829 2645 0 0 0 0 0 0 14.54 14.57 14.56

2944 -0.01 49.0 2038 2599 2830 2645 192.8 -0.5 333 2945 0.00 0.00 0.00 0.000 6 0.000 0.000 2037 2599 2737 2829 2645 0 0 0 0 0 0 14.54 14.58 14.58

3124 0.01 49.0 2038 2599 2830 2644 193.6 -0.5 351 3126 0.15 0.00 0.00 0.000 2118 0.238 0.000 2074 2599 2736 2829 2644 0 0 0 0 0 0 14.32 14.47 14.45

3304 0.03 49.0 2075 2600 2830 2646 194.6 -0.6 369 3305 0.00 0.00 0.00 0.000 70 0.000 0.000 2074 2599 2736 2829 2644 0 0 0 0 0 0 14.58 14.60 14.59

3484 0.03 49.0 2075 2600 2829 2645 195.7 -0.5 387 3485 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2736 2829 2644 0 0 0 0 0 0 14.66 14.68 14.68

3664 0.03 49.0 2075 2600 2829 2645 196.2 -0.1 405 3665 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2736 2829 2643 0 0 0 0 0 0 14.69 14.71 14.71

3844 0.03 49.0 2075 2600 2829 2645 196.2 -0.0 423 3845 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2736 2829 2643 0 0 0 0 0 0 14.72 14.73 14.73

4024 0.03 49.0 2075 2600 2829 2644 196.5 -0.3 441 4025 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2735 2828 2643 0 0 0 0 0 0 14.73 14.76 14.76

4204 0.05 49.0 2075 2599 2830 2643 197.4 -0.7 459 4205 0.00 0.00 0.00 0.000 70 0.000 0.000 2074 2599 2736 2829 2643 0 0 0 0 0 0 14.76 14.78 14.78

4384 0.07 49.0 2075 2599 2830 2643 198.7 -0.6 477 4385 0.00 0.00 0.00 0.000 70 0.000 0.000 2075 2599 2736 2829 2643 0 0 0 0 0 0 14.77 14.79 14.79

4564 0.07 49.0 2075 2600 2830 2644 199.3 -0.2 495 4565 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2735 2829 2642 0 0 0 0 0 0 14.78 14.81 14.81

4744 0.07 49.0 2075 2600 2830 2643 199.6 -0.1 513 4745 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2735 2829 2642 0 0 0 0 0 0 14.80 14.82 14.82

4924 0.07 49.0 2075 2600 2829 2643 199.9 -0.2 531 4925 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2735 2829 2642 0 0 0 0 0 0 14.81 14.83 14.83

5104 0.07 50.1 2075 2599 2830 2642 200.4 -0.3 549 5105 0.00 0.00 0.00 0.000 38 0.000 0.000 2075 2599 2735 2829 2642 0 0 0 0 0 0 14.81 14.84 14.83

5284 0.07 50.7 2075 2599 2830 2641 200.8 -0.2 567 5285 0.00 0.00 0.00 0.000 38 0.000 0.000 2075 2599 2735 2829 2642 0 0 0 0 0 0 14.83 14.84 14.84

5464 0.07 50.9 2075 2599 2830 2641 200.9 -0.0 585 5465 0.00 0.00 0.00 0.000 38 0.000 0.000 2075 2599 2735 2829 2641 0 0 0 0 0 0 14.83 14.85 14.85

5644 0.07 51.6 2075 2600 2830 2642 201.1 -0.2 603 5645 0.00 0.00 0.00 0.000 38 0.000 0.000 2074 2599 2735 2829 2641 0 0 0 0 0 0 14.83 14.85 14.85

5824 0.07 52.3 2075 2600 2828 2642 201.5 -0.2 621 5825 0.00 0.00 0.00 0.000 38 0.000 0.000 2075 2599 2735 2829 2641 0 0 0 0 0 0 14.84 14.86 14.86

6004 0.07 52.5 2075 2599 2830 2641 201.7 -0.1 639 6005 0.00 0.00 0.00 0.000 38 0.000 0.000 2075 2599 2735 2829 2641 0 0 0 0 0 0 14.85 14.87 14.87

6184 0.07 52.5 2075 2600 2829 2642 201.7 0.0 657 6185 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 2599 2735 2829 2641 0 0 0 0 0 0 14.85 14.88 14.88

6364 0.07 52.8 2075 2598 2831 2641 201.8 -0.1 675 6365 0.00 0.00 0.00 0.000 38 0.000 0.000 2075 2599 2735 2829 2641 0 0 0 0 0 0 14.85 14.88 14.88

6544 0.07 54.0 2075 2599 2830 2641 202.1 -0.3 693 6555 0.00 0.00 4.97 1.387 8230 0.000 0.000 2073 2599 2717 2811 2624 0 0 0 0 0 0 14.86 14.43 13.75

6734 0.07 54.0 2075 2599 2812 2626 201.3 0.6 712 6735 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 2599 2718 2811 2625 0 0 0 0 0 0 14.83 14.85 14.85

6914 0.07 54.0 2075 2599 2812 2625 200.4 0.6 730 6915 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 2599 2718 2811 2625 0 0 0 0 0 0 14.83 14.85 14.85

7094 0.07 54.0 2075 2598 2812 2624 199.1 0.8 748 7095 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2718 2811 2625 0 0 0 0 0 0 14.85 14.87 14.87

7274 0.07 54.0 2075 2600 2812 2626 197.7 0.7 766 7275 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2718 2811 2625 0 0 0 0 0 0 14.85 14.87 14.87

7454 0.07 54.0 2075 2599 2812 2625 196.7 0.5 784 7455 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2718 2811 2625 0 0 0 0 0 0 14.85 14.88 14.88

7634 0.07 54.0 2074 2600 2813 2626 195.9 0.4 802 7635 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2718 2811 2625 0 0 0 0 0 0 14.86 14.88 14.88

7814 0.07 54.0 2075 2599 2813 2624 195.0 0.6 820 7815 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2717 2811 2624 0 0 0 0 0 0 14.86 14.88 14.88

7994 0.07 54.0 2075 2600 2812 2625 194.1 0.4 838 7995 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2717 2811 2624 0 0 0 0 0 0 14.87 14.89 14.88

8174 0.07 54.0 2075 2599 2812 2624 193.9 -0.0 856 8175 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 2599 2717 2811 2624 0 0 0 0 0 0 14.87 14.89 14.89

8354 0.07 54.0 2075 2599 2812 2624 193.8 0.0 874 8355 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2717 2811 2624 0 0 0 0 0 0 14.88 14.90 14.89

8534 0.07 54.0 2075 2599 2813 2625 193.7 0.0 892 8535 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2717 2811 2624 0 0 0 0 0 0 14.88 14.90 14.89

8714 0.07 54.0 2075 2598 2811 2624 193.8 -0.1 910 8715 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2598 2717 2811 2624 0 0 0 0 0 0 14.88 14.90 14.90

8894 0.07 54.0 2075 2600 2812 2624 194.2 -0.2 928 8895 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2717 2811 2624 0 0 0 0 0 0 14.88 14.90 14.90

9074 0.07 54.0 2074 2599 2811 2625 194.5 -0.1 946 9075 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 2599 2717 2811 2624 0 0 0 0 0 0 14.88 14.90 14.90

9254 0.07 54.0 2075 2600 2811 2625 194.7 -0.1 964 9255 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2718 2812 2624 0 0 0 0 0 0 14.88 14.90 14.90

9434 0.07 54.0 2075 2600 2812 2625 194.9 -0.0 982 9435 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2718 2812 2624 0 0 0 0 0 0 14.88 14.91 14.90

9614 0.07 54.0 2075 2599 2812 2624 194.8 0.1 1000 9615 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2599 2717 2811 2624 0 0 0 0 0 0 14.88 14.91 14.90

9794 0.07 54.0 2075 2599 2812 2624 194.7 0.1 1018 9795 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2718 2812 2624 0 0 0 0 0 0 14.89 14.91 14.90

9974 0.07 54.0 2075 2599 2813 2623 194.5 0.1 1036 9975 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2717 2811 2624 0 0 0 0 0 0 14.89 14.91 14.90

10154 0.07 54.0 2075 2600 2812 2625 194.4 0.0 1054 10155 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2717 2811 2624 0 0 0 0 0 0 14.89 14.91 14.91

10334 0.07 54.0 2075 2599 2812 2623 194.4 -0.0 1072 10335 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2598 2717 2811 2624 0 0 0 0 0 0 14.89 14.91 14.91

10514 0.07 54.0 2075 2599 2812 2623 194.4 0.0 1090 10515 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 2599 2718 2812 2624 0 0 0 0 0 0 14.88 14.92 14.91

10694 0.07 54.0 2075 2599 2812 2623 194.2 0.1 1108 10695 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2717 2811 2623 0 0 0 0 0 0 14.90 14.91 14.93

10874 0.07 54.0 2075 2599 2812 2623 194.3 -0.1 1126 10875 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 2599 2717 2811 2623 0 0 0 0 0 0 14.90 14.92 14.91

11054 0.07 54.0 2075 2599 2813 2623 194.8 -0.3 1144 11055 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 2599 2717 2811 2623 0 0 0 0 0 0 14.90 14.91 14.91

11234 0.07 54.0 2075 2600 2812 2625 195.0 -0.0 1162 11235 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2717 2811 2623 0 0 0 0 0 0 14.90 14.92 14.91

11414 0.07 54.0 2075 2600 2812 2625 195.0 -0.1 1180 11415 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 2599 2716 2811 2622 0 0 0 0 0 0 14.90 14.92 14.91

11594 0.07 54.0 2074 2600 2813 2624 195.1 -0.0 1198 11595 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 2599 2717 2811 2623 0 0 0 0 0 0 14.90 14.92 14.92

11774 0.07 54.0 2075 2599 2812 2623 194.8 0.2 1216 11775 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 2599 2717 2811 2623 0 0 0 0 0 0 14.90 14.92 14.91

11954 0.07 54.0 2075 2600 2812 2624 194.6 0.1 1234 11955 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2717 2811 2623 0 0 0 0 0 0 14.90 14.92 14.92

12134 0.07 54.0 2075 2600 2812 2624 194.9 -0.3 1252 12135 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2599 2717 2811 2623 0 0 0 0 0 0 14.90 14.92 14.92

12312 end loiter: LOITER_COMPLETE

state 12312 begin climb

12314 0.80 146.0 2075 2600 2812 2624 195.3 0.0 1270 12401 0.85 2.53 74.62 1.704 10500 0.174 0.214 2336 3776 2341 2440 2242 0 0 0 0 0 0 14.61 13.96 13.39

12472 0.87 146.0 2337 3777 2441 2237 187.4 7.5 1298 12477 0.00 2.30 0.00 0.000 1094 0.000 0.164 2343 2596 2337 2440 2235 0 0 0 0 0 0 14.23 14.09 14.28

12662 0.98 146.0 2343 2596 2441 2230 174.7 6.5 1318 12663 0.15 0.00 0.00 0.000 2118 0.132 0.000 2399 2596 2335 2440 2230 0 0 0 0 0 0 14.28 14.38 14.36

12842 1.04 146.0 2399 2596 2440 2227 160.6 7.9 1336 12847 0.00 2.70 0.00 0.000 580 0.000 0.158 2409 1181 2333 2439 2227 0 0 0 0 0 0 14.52 14.24 14.54

12960 1.12 146.0 2409 1181 2441 2226 151.9 7.5 1359 12967 0.00 2.83 0.00 0.000 1094 0.000 0.177 2409 2605 2333 2440 2226 0 0 0 0 0 0 14.42 14.25 14.44

13143 1.20 146.0 2409 2606 2441 2226 138.2 7.3 1378 13144 0.15 0.00 0.00 0.000 2118 0.129 0.000 2461 2605 2332 2440 2225 0 0 0 0 0 0 14.39 14.47 14.47

13323 1.26 146.0 2462 2606 2441 2226 123.6 8.2 1396 13324 0.00 0.00 0.00 0.000 70 0.000 0.000 2461 2605 2332 2440 2225 0 0 0 0 0 0 14.60 14.62 14.62

13503 1.35 146.0 2462 2604 2441 2224 110.1 6.8 1414 13508 0.12 2.38 0.00 0.000 2372 0.142 0.212 2515 3781 2332 2440 2224 0 0 0 0 0 0 14.42 14.27 14.47

13584 1.40 146.0 2518 3783 2440 2224 103.3 8.4 1430 13589 0.00 2.28 0.00 0.000 1094 0.000 0.165 2525 2595 2332 2440 2224 0 0 0 0 0 0 14.45 14.32 14.47

13774 1.52 265.6 2525 2596 2441 2225 92.6 4.5 1450 13875 0.00 0.00 93.60 1.522 8486 0.000 0.000 2524 2595 1854 1963 1745 0 0 0 0 0 0 14.59 13.85 13.24

14054 1.55 265.6 2525 2596 1964 1731 65.4 8.9 1484 14055 0.15 0.00 0.00 0.000 2118 0.142 0.000 2577 2595 1846 1963 1729 0 0 0 0 0 0 14.13 14.17 14.16

14234 1.67 265.6 2577 2595 1963 1725 52.8 6.0 1502 14235 0.00 0.00 0.00 0.000 70 0.000 0.000 2577 2595 1844 1964 1725 0 0 0 0 0 0 14.38 14.40 14.40

14414 1.81 403.7 2577 2595 1964 1723 44.4 3.7 1520 14526 0.22 0.00 108.18 1.421 10534 0.119 0.000 2658 2595 1292 1326 1259 0 0 0 0 0 0 14.20 13.75 13.18

14704 1.81 403.7 2658 2596 1317 1253 14.6 11.0 1551 14710 0.00 2.47 0.00 0.000 260 0.000 0.207 2658 3773 1284 1317 1252 0 0 0 0 0 0 14.20 13.91 14.21

14803 end climb: SURFACE_DEPTH_REACHED

state 14803 begin surface coast

14813 end surface coast: CONTROL_FINISHED_OK

state 14813 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	93	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	2	ROLL_TIMEOUT	30	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7100	R_PORT_OVSHOOT	13	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	50	ALTIM_FREQUENCY	13
D_TGT	150	SM_CC	525	ROLL_MAXERRORS	0	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	FILEMGR	2	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	10	PROTOCOL	9	C_VBD	2943	INT_PRESSURE_YINT	1.6
D_PITCH	2	N_NOCOMM	0	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	500	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	3	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	4	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	4	CALL_TRIES	3	PITCH_VBD_SHIFT	0.001	DEVICE3	-1
SURFACE_URGENCY_FORCE	8	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	50	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	260	CAPMAXSIZE	10000	VBD_BLEED_AD_RATE	1	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	500	LOGGERS	1
T_TURN	225	T_GPS	3	VBD_MAXERRORS	2	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	11400	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	1	RAFOS_HIT_WINDOW	25200	LOITER_D_BOTTOM	200	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	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	0	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	0	SEABIRD_T_I	2.5405934e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	0	SEABIRD_T_J	3.1033937e-06
SPEED_FACTOR	1	PITCH_GAIN	27	MAXI_24V	2	SEABIRD_C_G	-9.8267241
RHO	1.0275	PITCH_TIMEOUT	40	MAXI_10V	2	SEABIRD_C_H	1.1324162
MASS	53675	PITCH_AD_RATE	20	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	121018,193202,7413.4185,-14633.0068,32,0.9,32,22.4,0.0,0.0,9,7.7	SPEED_LIMITS	0.173,0.210
_CALLS	1	TGT_NAME	AB1
_XMS_NAKs	0	TGT_LATLONG	7337.500,-14725.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.63	MHEAD_RNG_PITCHd_Wd	177.3,71857,-17.7,-10.000,-25.48,2242
_SM_ANGLEo	-61.9	D_GRID	150
GPS2	121018,193951,7413.4243,-14633.0068,11,0.9,11,22.4,0.0,0.0,10,7.8

MODEM_MSG	CACST,6,1,20181012201638.912772,18,52,17,0136,0150,246,00,00,00,00,-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	19.0,19.3
FREEZE	0.40,-1.114,-1.430,2,1,0	_24V_AH	13.07,46.270
FINISH	0.4,1.021092	_10V_AH	13.32,0.000
SM_CCo	14832,178.12,0.216,0,0,801,525.19	FG_AHR_24Vo	0.000
SM_GC	0.65,7.47,2.08,178.12,0.072,0.162,0.216,191,2745,801,-5.81,0.31,525.19,0,0,0,0,0,0,14.10,14.04,13.95	FG_AHR_10Vo	0.000
RAFOS_CLK	630	MEM	334736
MODEM	0,1539374503,73.00000,-148.33333,103.415,149123.0	DATA_FILE_SIZE	53298,1573
RAFOS_FIX	7433.389648,-14555.712891,121018,202034,5,255,19.39	CAP_FILE_SIZE	166859,0
IRIDIUM_FIX	7416.86,-14640.60,121018,151342	CFSIZE	2097872896,2073264128
TT8_MAMPS	0.041944,0.68908	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
HUMID	48.89	SOUNDSPEED	1442.0
INTERNAL_PRESSURE	9.45186	CURRENT	0.080,355.78,1
TCM_TEMP	12.20	GPS	121018,235156,7413.809,-14633.126,35,0.9,35,22.4,0.0,0.0,8,7.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	478	121.54	nil	0	0	0.00
Roll_motor	31	214	87.49	nil	0	0	0.00
VBD_pump_during_apogee	442	1704	9853.02	nil	0	0	0.00
VBD_pump_during_surface	178	216	504.02	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	3443	37	1678.41
Iridium_during_xfer	287	183	689.18	nil	0	0	0.00
Transponder_ping	0	420	1.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	21	6.13
TT8	0	0	0.00
LPSleep	11134	2	342.59
TT8_Active	746	11	114.03
TT8_Sampling	3281	30	1320.10
TT8_CF8	321	36	154.89
TT8_Kalman	0	0	0.00
Analog_circuits	2163	9	273.72
GPS_charging	0	0	0.00
Compass	2234	7	222.97
RAFOS	2219	33	975.38
Transponder	2	30	1.01

		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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
10	-0.80	-146.0	191	2764	781	807	0.0	0.0	0	115	0.00	0.00	-103.10	0.002	16386	0.000	0.000	189	2764	2423	2448	2399	0	0	0	0	0	0	14.29	28.83	14.31
118	-0.80	-146.0	191	2764	2449	2401	5.4	-10.1	10	156	9.12	2.80	-24.52	0.005	18948	0.478	0.173	1804	1325	3543	3598	3488	0	0	0	0	0	0	13.88	13.46	14.17
381	-0.80	-146.0	1804	1326	3592	3494	78.7	-20.7	62	387	0.00	2.90	0.00	0.000	1030	0.000	0.184	1795	2764	3539	3591	3488	0	0	0	0	0	0	14.29	14.14	14.31
572	-0.80	-146.0	1795	2765	3592	3493	115.1	-17.4	82	577	0.00	2.78	0.00	0.000	516	0.000	0.153	1795	1324	3542	3591	3493	0	0	0	0	0	0	14.45	14.17	14.47
709	-0.80	-146.0	1796	1324	3593	3492	136.9	-16.1	109	716	0.00	2.88	0.00	0.000	1030	0.000	0.184	1785	2757	3542	3592	3493	0	0	0	0	0	0	14.35	14.17	14.37
790	end dive: TARGET_DEPTH_EXCEEDED
state	790	begin apogee
796	-0.19	0.0	1786	2600	3592	3494	151.0	-16.7	118	916	0.90	0.00	115.60	1.623	10246	0.300	0.000	2003	2599	2938	3030	2847	0	0	0	0	0	0	14.17	13.72	13.07
917	end apogee: CONTROL_FINISHED_OK
state	917	begin loiter
1092	-0.17	14.1	2003	2600	3030	2837	165.4	-3.6	148	1105	0.00	0.00	11.93	1.496	8230	0.000	0.000	2002	2599	2884	2980	2788	0	0	0	0	0	0	14.24	13.98	13.30
1284	-0.16	25.6	2003	2599	2977	2781	171.5	-3.0	167	1295	0.00	0.00	10.27	1.509	8230	0.000	0.000	2003	2599	2838	2927	2749	0	0	0	0	0	0	14.27	14.04	13.33
1474	-0.15	35.2	2003	2599	2922	2741	176.5	-2.5	186	1485	0.00	0.00	8.95	1.467	8230	0.000	0.000	2003	2599	2795	2883	2708	0	0	0	0	0	0	14.32	14.10	13.40
1664	-0.14	42.4	2003	2600	2883	2707	180.2	-1.9	205	1675	0.00	0.00	7.15	1.388	8230	0.000	0.000	2003	2599	2767	2855	2679	0	0	0	0	0	0	14.35	14.15	13.43
1854	-0.14	49.0	2003	2599	2857	2676	183.4	-1.7	224	1865	0.00	0.00	7.03	1.398	8230	0.000	0.000	2003	2599	2739	2829	2650	0	0	0	0	0	0	14.39	14.18	13.45
2044	-0.11	49.0	2003	2600	2830	2649	185.5	-0.8	243	2045	0.00	0.00	0.00	0.000	70	0.000	0.000	2003	2599	2738	2829	2647	0	0	0	0	0	0	14.42	14.43	14.43
2224	-0.09	49.0	2003	2600	2829	2648	186.9	-0.9	261	2226	0.15	0.00	0.00	0.000	2118	0.281	0.000	2037	2599	2737	2828	2647	0	0	0	0	0	0	14.16	14.36	14.33
2404	-0.06	49.0	2037	2600	2829	2647	188.4	-0.8	279	2405	0.00	0.00	0.00	0.000	70	0.000	0.000	2037	2599	2737	2829	2646	0	0	0	0	0	0	14.50	14.52	14.52
2584	-0.03	49.0	2037	2600	2830	2647	190.1	-1.0	297	2585	0.00	0.00	0.00	0.000	70	0.000	0.000	2037	2599	2737	2829	2646	0	0	0	0	0	0	14.52	14.54	14.54
2764	-0.01	49.0	2038	2600	2829	2646	191.7	-0.8	315	2765	0.00	0.00	0.00	0.000	70	0.000	0.000	2037	2599	2737	2829	2645	0	0	0	0	0	0	14.54	14.57	14.56
2944	-0.01	49.0	2038	2599	2830	2645	192.8	-0.5	333	2945	0.00	0.00	0.00	0.000	6	0.000	0.000	2037	2599	2737	2829	2645	0	0	0	0	0	0	14.54	14.58	14.58
3124	0.01	49.0	2038	2599	2830	2644	193.6	-0.5	351	3126	0.15	0.00	0.00	0.000	2118	0.238	0.000	2074	2599	2736	2829	2644	0	0	0	0	0	0	14.32	14.47	14.45
3304	0.03	49.0	2075	2600	2830	2646	194.6	-0.6	369	3305	0.00	0.00	0.00	0.000	70	0.000	0.000	2074	2599	2736	2829	2644	0	0	0	0	0	0	14.58	14.60	14.59
3484	0.03	49.0	2075	2600	2829	2645	195.7	-0.5	387	3485	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2736	2829	2644	0	0	0	0	0	0	14.66	14.68	14.68
3664	0.03	49.0	2075	2600	2829	2645	196.2	-0.1	405	3665	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2736	2829	2643	0	0	0	0	0	0	14.69	14.71	14.71
3844	0.03	49.0	2075	2600	2829	2645	196.2	-0.0	423	3845	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2736	2829	2643	0	0	0	0	0	0	14.72	14.73	14.73
4024	0.03	49.0	2075	2600	2829	2644	196.5	-0.3	441	4025	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2735	2828	2643	0	0	0	0	0	0	14.73	14.76	14.76
4204	0.05	49.0	2075	2599	2830	2643	197.4	-0.7	459	4205	0.00	0.00	0.00	0.000	70	0.000	0.000	2074	2599	2736	2829	2643	0	0	0	0	0	0	14.76	14.78	14.78
4384	0.07	49.0	2075	2599	2830	2643	198.7	-0.6	477	4385	0.00	0.00	0.00	0.000	70	0.000	0.000	2075	2599	2736	2829	2643	0	0	0	0	0	0	14.77	14.79	14.79
4564	0.07	49.0	2075	2600	2830	2644	199.3	-0.2	495	4565	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2735	2829	2642	0	0	0	0	0	0	14.78	14.81	14.81
4744	0.07	49.0	2075	2600	2830	2643	199.6	-0.1	513	4745	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2735	2829	2642	0	0	0	0	0	0	14.80	14.82	14.82
4924	0.07	49.0	2075	2600	2829	2643	199.9	-0.2	531	4925	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2735	2829	2642	0	0	0	0	0	0	14.81	14.83	14.83
5104	0.07	50.1	2075	2599	2830	2642	200.4	-0.3	549	5105	0.00	0.00	0.00	0.000	38	0.000	0.000	2075	2599	2735	2829	2642	0	0	0	0	0	0	14.81	14.84	14.83
5284	0.07	50.7	2075	2599	2830	2641	200.8	-0.2	567	5285	0.00	0.00	0.00	0.000	38	0.000	0.000	2075	2599	2735	2829	2642	0	0	0	0	0	0	14.83	14.84	14.84
5464	0.07	50.9	2075	2599	2830	2641	200.9	-0.0	585	5465	0.00	0.00	0.00	0.000	38	0.000	0.000	2075	2599	2735	2829	2641	0	0	0	0	0	0	14.83	14.85	14.85
5644	0.07	51.6	2075	2600	2830	2642	201.1	-0.2	603	5645	0.00	0.00	0.00	0.000	38	0.000	0.000	2074	2599	2735	2829	2641	0	0	0	0	0	0	14.83	14.85	14.85
5824	0.07	52.3	2075	2600	2828	2642	201.5	-0.2	621	5825	0.00	0.00	0.00	0.000	38	0.000	0.000	2075	2599	2735	2829	2641	0	0	0	0	0	0	14.84	14.86	14.86
6004	0.07	52.5	2075	2599	2830	2641	201.7	-0.1	639	6005	0.00	0.00	0.00	0.000	38	0.000	0.000	2075	2599	2735	2829	2641	0	0	0	0	0	0	14.85	14.87	14.87
6184	0.07	52.5	2075	2600	2829	2642	201.7	0.0	657	6185	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	2599	2735	2829	2641	0	0	0	0	0	0	14.85	14.88	14.88
6364	0.07	52.8	2075	2598	2831	2641	201.8	-0.1	675	6365	0.00	0.00	0.00	0.000	38	0.000	0.000	2075	2599	2735	2829	2641	0	0	0	0	0	0	14.85	14.88	14.88
6544	0.07	54.0	2075	2599	2830	2641	202.1	-0.3	693	6555	0.00	0.00	4.97	1.387	8230	0.000	0.000	2073	2599	2717	2811	2624	0	0	0	0	0	0	14.86	14.43	13.75
6734	0.07	54.0	2075	2599	2812	2626	201.3	0.6	712	6735	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	2599	2718	2811	2625	0	0	0	0	0	0	14.83	14.85	14.85
6914	0.07	54.0	2075	2599	2812	2625	200.4	0.6	730	6915	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	2599	2718	2811	2625	0	0	0	0	0	0	14.83	14.85	14.85
7094	0.07	54.0	2075	2598	2812	2624	199.1	0.8	748	7095	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2718	2811	2625	0	0	0	0	0	0	14.85	14.87	14.87
7274	0.07	54.0	2075	2600	2812	2626	197.7	0.7	766	7275	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2718	2811	2625	0	0	0	0	0	0	14.85	14.87	14.87
7454	0.07	54.0	2075	2599	2812	2625	196.7	0.5	784	7455	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2718	2811	2625	0	0	0	0	0	0	14.85	14.88	14.88
7634	0.07	54.0	2074	2600	2813	2626	195.9	0.4	802	7635	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2718	2811	2625	0	0	0	0	0	0	14.86	14.88	14.88
7814	0.07	54.0	2075	2599	2813	2624	195.0	0.6	820	7815	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2717	2811	2624	0	0	0	0	0	0	14.86	14.88	14.88
7994	0.07	54.0	2075	2600	2812	2625	194.1	0.4	838	7995	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2717	2811	2624	0	0	0	0	0	0	14.87	14.89	14.88
8174	0.07	54.0	2075	2599	2812	2624	193.9	-0.0	856	8175	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	2599	2717	2811	2624	0	0	0	0	0	0	14.87	14.89	14.89
8354	0.07	54.0	2075	2599	2812	2624	193.8	0.0	874	8355	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2717	2811	2624	0	0	0	0	0	0	14.88	14.90	14.89
8534	0.07	54.0	2075	2599	2813	2625	193.7	0.0	892	8535	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2717	2811	2624	0	0	0	0	0	0	14.88	14.90	14.89
8714	0.07	54.0	2075	2598	2811	2624	193.8	-0.1	910	8715	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2598	2717	2811	2624	0	0	0	0	0	0	14.88	14.90	14.90
8894	0.07	54.0	2075	2600	2812	2624	194.2	-0.2	928	8895	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2717	2811	2624	0	0	0	0	0	0	14.88	14.90	14.90
9074	0.07	54.0	2074	2599	2811	2625	194.5	-0.1	946	9075	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	2599	2717	2811	2624	0	0	0	0	0	0	14.88	14.90	14.90
9254	0.07	54.0	2075	2600	2811	2625	194.7	-0.1	964	9255	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2718	2812	2624	0	0	0	0	0	0	14.88	14.90	14.90
9434	0.07	54.0	2075	2600	2812	2625	194.9	-0.0	982	9435	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2718	2812	2624	0	0	0	0	0	0	14.88	14.91	14.90
9614	0.07	54.0	2075	2599	2812	2624	194.8	0.1	1000	9615	0.00	0.00	0.00	0.000	6	0.000	0.000	2073	2599	2717	2811	2624	0	0	0	0	0	0	14.88	14.91	14.90
9794	0.07	54.0	2075	2599	2812	2624	194.7	0.1	1018	9795	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2718	2812	2624	0	0	0	0	0	0	14.89	14.91	14.90
9974	0.07	54.0	2075	2599	2813	2623	194.5	0.1	1036	9975	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2717	2811	2624	0	0	0	0	0	0	14.89	14.91	14.90
10154	0.07	54.0	2075	2600	2812	2625	194.4	0.0	1054	10155	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2717	2811	2624	0	0	0	0	0	0	14.89	14.91	14.91
10334	0.07	54.0	2075	2599	2812	2623	194.4	-0.0	1072	10335	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2598	2717	2811	2624	0	0	0	0	0	0	14.89	14.91	14.91
10514	0.07	54.0	2075	2599	2812	2623	194.4	0.0	1090	10515	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	2599	2718	2812	2624	0	0	0	0	0	0	14.88	14.92	14.91
10694	0.07	54.0	2075	2599	2812	2623	194.2	0.1	1108	10695	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2717	2811	2623	0	0	0	0	0	0	14.90	14.91	14.93
10874	0.07	54.0	2075	2599	2812	2623	194.3	-0.1	1126	10875	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	2599	2717	2811	2623	0	0	0	0	0	0	14.90	14.92	14.91
11054	0.07	54.0	2075	2599	2813	2623	194.8	-0.3	1144	11055	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	2599	2717	2811	2623	0	0	0	0	0	0	14.90	14.91	14.91
11234	0.07	54.0	2075	2600	2812	2625	195.0	-0.0	1162	11235	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2717	2811	2623	0	0	0	0	0	0	14.90	14.92	14.91
11414	0.07	54.0	2075	2600	2812	2625	195.0	-0.1	1180	11415	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	2599	2716	2811	2622	0	0	0	0	0	0	14.90	14.92	14.91
11594	0.07	54.0	2074	2600	2813	2624	195.1	-0.0	1198	11595	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	2599	2717	2811	2623	0	0	0	0	0	0	14.90	14.92	14.92
11774	0.07	54.0	2075	2599	2812	2623	194.8	0.2	1216	11775	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	2599	2717	2811	2623	0	0	0	0	0	0	14.90	14.92	14.91
11954	0.07	54.0	2075	2600	2812	2624	194.6	0.1	1234	11955	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2717	2811	2623	0	0	0	0	0	0	14.90	14.92	14.92
12134	0.07	54.0	2075	2600	2812	2624	194.9	-0.3	1252	12135	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2599	2717	2811	2623	0	0	0	0	0	0	14.90	14.92	14.92
12312	end loiter: LOITER_COMPLETE
state	12312	begin climb
12314	0.80	146.0	2075	2600	2812	2624	195.3	0.0	1270	12401	0.85	2.53	74.62	1.704	10500	0.174	0.214	2336	3776	2341	2440	2242	0	0	0	0	0	0	14.61	13.96	13.39
12472	0.87	146.0	2337	3777	2441	2237	187.4	7.5	1298	12477	0.00	2.30	0.00	0.000	1094	0.000	0.164	2343	2596	2337	2440	2235	0	0	0	0	0	0	14.23	14.09	14.28
12662	0.98	146.0	2343	2596	2441	2230	174.7	6.5	1318	12663	0.15	0.00	0.00	0.000	2118	0.132	0.000	2399	2596	2335	2440	2230	0	0	0	0	0	0	14.28	14.38	14.36
12842	1.04	146.0	2399	2596	2440	2227	160.6	7.9	1336	12847	0.00	2.70	0.00	0.000	580	0.000	0.158	2409	1181	2333	2439	2227	0	0	0	0	0	0	14.52	14.24	14.54
12960	1.12	146.0	2409	1181	2441	2226	151.9	7.5	1359	12967	0.00	2.83	0.00	0.000	1094	0.000	0.177	2409	2605	2333	2440	2226	0	0	0	0	0	0	14.42	14.25	14.44
13143	1.20	146.0	2409	2606	2441	2226	138.2	7.3	1378	13144	0.15	0.00	0.00	0.000	2118	0.129	0.000	2461	2605	2332	2440	2225	0	0	0	0	0	0	14.39	14.47	14.47
13323	1.26	146.0	2462	2606	2441	2226	123.6	8.2	1396	13324	0.00	0.00	0.00	0.000	70	0.000	0.000	2461	2605	2332	2440	2225	0	0	0	0	0	0	14.60	14.62	14.62
13503	1.35	146.0	2462	2604	2441	2224	110.1	6.8	1414	13508	0.12	2.38	0.00	0.000	2372	0.142	0.212	2515	3781	2332	2440	2224	0	0	0	0	0	0	14.42	14.27	14.47
13584	1.40	146.0	2518	3783	2440	2224	103.3	8.4	1430	13589	0.00	2.28	0.00	0.000	1094	0.000	0.165	2525	2595	2332	2440	2224	0	0	0	0	0	0	14.45	14.32	14.47
13774	1.52	265.6	2525	2596	2441	2225	92.6	4.5	1450	13875	0.00	0.00	93.60	1.522	8486	0.000	0.000	2524	2595	1854	1963	1745	0	0	0	0	0	0	14.59	13.85	13.24
14054	1.55	265.6	2525	2596	1964	1731	65.4	8.9	1484	14055	0.15	0.00	0.00	0.000	2118	0.142	0.000	2577	2595	1846	1963	1729	0	0	0	0	0	0	14.13	14.17	14.16
14234	1.67	265.6	2577	2595	1963	1725	52.8	6.0	1502	14235	0.00	0.00	0.00	0.000	70	0.000	0.000	2577	2595	1844	1964	1725	0	0	0	0	0	0	14.38	14.40	14.40
14414	1.81	403.7	2577	2595	1964	1723	44.4	3.7	1520	14526	0.22	0.00	108.18	1.421	10534	0.119	0.000	2658	2595	1292	1326	1259	0	0	0	0	0	0	14.20	13.75	13.18
14704	1.81	403.7	2658	2596	1317	1253	14.6	11.0	1551	14710	0.00	2.47	0.00	0.000	260	0.000	0.207	2658	3773	1284	1317	1252	0	0	0	0	0	0	14.20	13.91	14.21
14803	end climb: SURFACE_DEPTH_REACHED
state	14803	begin surface coast
14813	end surface coast: CONTROL_FINISHED_OK
state	14813	begin surface