Arducopter 3.0 RC3 loiter isue

This is my first test with my new DIY 1000mm octo +. ESC's turnigy plush 40A with simonk firm. Motors
HL W48-30 420KV from himodel. Battery turnigy 5000mah 5s.APM 1 2560mb and GPS ublox LEA 6H
I've tried with standard PID's.

In stabilize mode and a bit windy all it's almost ok, but when I engaged Loiter, the copter descends like it was in "Land" mode.

I want to analize the log just when I engaged Loiter but I don't know how to see the mode setting.

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2013-06-03 00-22 5.log

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  • Does anyone understand this?

    I've found when loiter starts and ends, 1724 to 1834 (about 12 sec gps time). 

    In this period of time the barometer (green) shows a fall from 6 to 2 meters and the height of the GPS (blue) indicates a steeper fall.


    3692735224?profile=original

    I've seen also Vcc that is about 4.6 ~ 4.7 volt 

    3692735338?profile=original

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