Glider dive log

SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 438 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_C 9.8500004e-06 C_ROLL_DIVE 1812 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 3 HEADING 340 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0

DIVE 438 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 50

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_SURF 3 TGT_DEFAULT_LAT 4743.3999 R_PORT_OVSHOOT 28 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12224.2 R_STBD_OVSHOOT 33 ALTIM_PULSE 3

D_TGT 1000 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 2

D_ABORT 1020 SM_CC 515.36688 ROLL_MAXERRORS 1 XPDR_VALID 2

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 600 INT_PRESSURE_YINT 3.1600001

D_FINISH 5 COMM_SEQ 0 VBD_MAX 3960 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 C_VBD 2701 MOTHERBOARD 4

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE1 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE2 -1

SURFACE_URGENCY 0 N_NOSURFACE 2 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_DIVE 333 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_MISSION 343 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_ABORT 358 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_LOITER 0 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 17

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 310 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 117 AH0_10V 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3869 MINV_24V 11.5 SIM_W 0

RELAUNCH 0 C_PITCH 2759 MINV_10V 10 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_24V 3 SEABIRD_T_G 0.0042907312

MAX_BUOY 250 PITCH_CNV 0.003125763 MAXI_10V 2 SEABIRD_T_H 0.00061813911

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.1013675e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.0586713e-06

SPEED_FACTOR 1 PITCH_GAIN 30 PHONE_SUPPLY 2 SEABIRD_C_G -9.7689371

RHO 1.0275 PITCH_TIMEOUT 25 PRESSURE_YINT -148.54955 SEABIRD_C_H 1.1415389

MASS 53998 PITCH_AD_RATE 125 PRESSURE_SLOPE 0.0001058 SEABIRD_C_I -0.0022330475

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 SEABIRD_C_J 0.00024789109

NAV_MODE 0 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 301 COMPASS_USE 0 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3936 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 1 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 0 D_SURF 3 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 310 D_TGT 1000 PITCH_AD_RATE 125 SM_CC 515.36688

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 30 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3869 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 50 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 117 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 25 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4743.3999

APOGEE_PITCH -5 HD_B 0.0101 PRESSURE_SLOPE 0.0001058 TGT_DEFAULT_LON -12224.2

CALL_NDIVES 1 HD_C 9.8500004e-06 PRESSURE_YINT -148.54955 T_ABORT 358

CALL_TRIES 5 HEADING 340 PROTOCOL 9 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_DIVE 333

CAPMAXSIZE 400000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS 15

CF8_MAXERRORS 20 ID 574 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_HIT_WINDOW 3600 T_MISSION 343

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 3.1600001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 17 KALMAN_USE 2 RELAUNCH 0 T_RSLEEP 2

COMPASS_USE 0 LOGGERDEVICE1 53 RHO 1.0275 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2759 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 1800 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_ROLL_DIVE 1812 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2701 MASS 53998 ROLL_DEG 40 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3936 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAXI_24V 3 ROLL_MIN 301 VBD_CNV -0.245296

DEVICE2 -1 MAX_BUOY 250 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 10 R_PORT_OVSHOOT 28 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 11.5 R_STBD_OVSHOOT 33 VBD_MAX 3960

DEVICE5 -1 MISSION 3 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MIN 600

DIVE 438 NAV_MODE 0 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 NOCOMM_ACTION 259 SEABIRD_C_G -9.7689371 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 0 SEABIRD_C_H 1.1415389 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_I -0.0022330475 W_ADJ_DBAND 0

D_FINISH 5 N_GPS 100840 SEABIRD_C_J 0.00024789109 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_G 0.0042907312 XPDR_INHIBIT 90

D_NO_BLEED 29 N_NOSURFACE 2 SEABIRD_T_H 0.00061813911 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_I 2.1013675e-05

D_PITCH 0 PHONE_SUPPLY 2 SEABIRD_T_J 2.0586713e-06

Pre-dive calculations and measurements:

GPS1 190419,111501,-3433.0747,2517.4697,8,0.9,39,-28.0,0.4,185.9,8,5.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3423.092,2512.826

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 0.74 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -68.5 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 190419,112627,-3433.2393,2517.3013,7,0.8,17,-28.0,0.7,204.6,9,9.5 MHEAD_RNG_PITCHd_Wd 8.0,20000,-13.9,-10.010,-17.09,3711

SPEED_LIMITS 0.173,0.326 D_GRID 1000

Post-dive calculations and measurements:

FINISH1 4.6,1.025636,96 _24V_AH 13.40,137.744

FINISH2 2.4 _10V_AH 13.48,0.000

IRIDIUM_FIX -3419.93,2516.66,190419,093038 FG_AHR_24Vo 0.000

TT8_MAMPS 0.021721,0.919772 FG_AHR_10Vo 0.000

HUMID 47.51 MEM 340864

INTERNAL_PRESSURE 9.37092 DATA_FILE_SIZE 23399,928

TCM_TEMP 18.10 CAP_FILE_SIZE 176646,0

XPDR_PINGS 0 CFSIZE 2097086464,2009563136

ALTIM_BOTTOM_PING 290.6,35.2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

SC_FREEKB 3691456 GPS 190419,112627,-3433.239,2517.301,7,0.8,17,-28.0,0.7,204.6,9,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 451 111.28 nil 0 0 0.00

Roll_motor 98 90 119.15 nil 0 0 0.00

VBD_pump_during_apogee 399 1388 7424.09 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 16 5.37 nil 0 0 0.00

Iridium_during_connect 18 160 40.12 SciCon 5714 28 2199.10

Iridium_during_xfer 343 223 1026.87 nil 0 0 0.00

Transponder_ping 12 420 70.35 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.84

TT8 2082 9 269.77

LPSleep 1104 2 32.60

TT8_Active 712 9 92.30

TT8_Sampling 2026 28 774.13

TT8_CF8 386 36 190.79

TT8_Kalman 0 0 0.00

Analog_circuits 1607 12 262.40

GPS_charging 0 0 0.00

Compass 1460 17 353.92

RAFOS 0 0 0.00

Transponder 78 30 31.73

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.76 -243.3 52 1813 620 553 0.0 0.0 0 128 0.00 0.00 -102.55 0.000 16386 0.000 0.000 52 1814 3029 2996 3063 0 0 0 0 0 0 14.88 28.83 14.89

134 -0.76 -243.3 52 1813 2996 3063 3.1 -6.4 19 169 14.90 2.47 -11.40 0.000 18692 0.313 0.075 2499 3226 3695 3711 3679 0 0 0 0 0 0 14.42 13.40 14.71

238 -0.76 -243.3 2498 3226 3712 3679 27.9 -14.1 38 245 0.03 2.42 0.00 0.000 3078 0.451 0.044 2507 1803 3696 3713 3679 0 0 0 0 0 0 14.54 14.70 14.73

310 -0.76 -243.3 2507 1804 3713 3679 39.2 -17.0 51 317 0.00 2.45 0.00 0.000 2564 0.000 0.067 2508 408 3695 3712 3679 0 0 0 0 0 0 14.97 14.64 14.97

335 -0.76 -243.3 2508 408 3712 3678 43.4 -15.9 55 341 0.00 2.38 0.00 0.000 3078 0.000 0.039 2508 1818 3695 3712 3679 0 0 0 0 0 0 14.73 14.64 14.74

406 -0.76 -243.3 2508 1820 3711 3679 53.8 -15.7 68 413 0.00 2.40 0.00 0.000 2308 0.000 0.057 2508 3216 3695 3712 3678 0 0 0 0 0 0 15.00 14.71 15.00

436 -0.76 -243.3 2507 3215 3712 3679 58.0 -11.7 73 443 0.00 2.40 0.00 0.000 3078 0.000 0.044 2508 1803 3695 3712 3679 0 0 0 0 0 0 14.85 14.73 14.87

508 -0.76 -243.3 2508 1803 3712 3679 67.3 -14.5 86 514 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1803 3695 3712 3679 0 0 0 0 0 0 14.98 14.99 14.99

578 -0.76 -243.3 2508 1803 3712 3679 75.7 -9.7 99 585 0.00 2.45 0.00 0.000 2308 0.000 0.055 2508 3218 3695 3712 3679 0 0 0 0 0 0 14.99 14.73 14.99

608 -0.76 -243.3 2508 3218 3709 3679 79.3 -10.9 104 614 0.00 2.40 0.00 0.000 3078 0.000 0.046 2508 1805 3695 3712 3679 0 0 0 0 0 0 14.87 14.76 14.88

680 -0.76 -243.3 2508 1805 3712 3679 86.9 -11.4 117 685 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1805 3695 3712 3679 0 0 0 0 0 0 15.02 15.02 15.02

748 -0.76 -243.3 2507 1805 3712 3675 94.9 -10.2 130 756 0.00 2.42 0.00 0.000 2308 0.000 0.052 2508 3220 3695 3712 3679 0 0 0 0 0 0 15.03 14.66 15.04

794 -0.76 -243.3 2507 3220 3713 3679 99.7 -10.9 138 801 0.00 2.38 0.00 0.000 3078 0.000 0.041 2508 1809 3695 3712 3679 0 0 0 0 0 0 14.76 14.65 14.77

866 -0.76 -243.3 2507 1808 3712 3679 107.5 -11.4 151 872 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1809 3695 3712 3679 0 0 0 0 0 0 15.02 15.03 15.03

937 -0.76 -243.3 2508 1809 3712 3679 115.5 -11.8 164 943 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1809 3696 3713 3679 0 0 0 0 0 0 15.01 15.01 15.01

1006 -0.76 -243.3 2507 1809 3713 3679 124.1 -12.3 177 1013 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1808 3696 3713 3679 0 0 0 0 0 0 15.04 15.04 15.04

1077 -0.76 -243.3 2508 1808 3713 3679 132.5 -12.5 190 1083 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1808 3695 3712 3679 0 0 0 0 0 0 15.03 15.03 15.03

1147 -0.76 -243.3 2508 1809 3712 3679 140.8 -12.0 203 1153 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1809 3695 3712 3679 0 0 0 0 0 0 15.03 15.04 15.03

1215 -0.76 -243.3 2507 1808 3713 3679 149.2 -12.0 216 1222 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1808 3697 3713 3682 0 0 0 0 0 0 15.04 15.04 15.04

1286 -0.76 -243.3 2507 1809 3712 3679 157.6 -11.8 229 1292 0.00 0.00 0.00 0.000 2054 0.000 0.000 2507 1809 3696 3713 3679 0 0 0 0 0 0 15.04 15.05 15.04

1358 -0.76 -243.3 2508 1809 3712 3679 165.8 -12.5 242 1363 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1808 3696 3713 3679 0 0 0 0 0 0 15.02 15.02 15.02

1427 -0.76 -243.3 2507 1809 3712 3679 174.3 -12.0 255 1436 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1809 3695 3712 3679 0 0 0 0 0 0 15.04 15.05 15.04

1500 -0.76 -243.3 2507 1809 3711 3679 183.0 -12.0 268 1506 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1809 3695 3712 3679 0 0 0 0 0 0 15.09 15.05 15.05

1572 -0.76 -243.3 2508 1808 3712 3679 191.5 -12.5 281 1578 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1809 3695 3712 3678 0 0 0 0 0 0 15.04 15.04 15.04

1646 -0.76 -243.3 2508 1812 3711 3679 200.2 -12.1 294 1651 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1808 3695 3711 3679 0 0 0 0 0 0 15.05 15.06 15.06

1716 -0.76 -243.3 2507 1809 3712 3679 209.2 -11.9 307 1721 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1809 3694 3711 3678 0 0 0 0 0 0 15.06 15.07 15.07

1787 -0.76 -243.3 2507 1808 3710 3679 217.6 -11.6 320 1793 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1808 3694 3710 3679 0 0 0 0 0 0 15.07 15.07 15.07

1858 -0.76 -243.3 2507 1808 3710 3679 225.9 -11.9 333 1864 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1809 3694 3710 3679 0 0 0 0 0 0 15.07 15.07 15.07

1927 -0.76 -243.3 2508 1808 3710 3676 234.2 -11.7 346 1933 0.00 0.00 0.00 0.000 2054 0.000 0.000 2508 1808 3694 3710 3679 0 0 0 0 0 0 15.08 15.08 15.08

1999 -0.76 -243.3 2508 1808 3709 3678 242.6 -12.0 359 2005 0.00 2.42 0.00 0.000 2308 0.000 0.056 2508 3216 3693 3709 3678 0 0 0 0 0 0 15.07 14.64 15.08

2030 -0.76 -243.3 2508 3216 3709 3678 246.2 -10.7 364 2036 0.00 2.38 0.00 0.000 3078 0.000 0.044 2508 1813 3692 3706 3678 0 0 0 0 0 0 14.79 14.68 14.78

2101 -0.76 -243.3 2507 1813 3709 3678 254.1 -11.9 377 2109 0.00 2.45 0.00 0.000 2564 0.000 0.067 2508 408 3693 3709 3677 0 0 0 0 0 0 15.09 14.76 15.09

2122 -0.76 -243.3 2508 408 3708 3677 256.8 -12.0 380 2128 0.00 2.35 0.00 0.000 3078 0.000 0.035 2508 1818 3693 3709 3677 0 0 0 0 0 0 14.92 14.83 14.94

2193 -0.76 -243.3 2507 1821 3709 3677 264.7 -12.0 393 2201 0.00 2.38 0.00 0.000 2308 0.000 0.056 2508 3214 3692 3708 3677 0 0 0 0 0 0 15.08 14.77 15.08

2234 -0.76 -243.3 2507 3214 3708 3677 269.4 -10.0 400 2240 0.00 2.38 0.00 0.000 3078 0.000 0.043 2507 1803 3692 3708 3677 0 0 0 0 0 0 14.92 14.80 14.92

2305 -0.76 -243.3 2509 1804 3708 3677 277.4 -11.5 413 2311 0.00 2.42 0.00 0.000 2564 0.000 0.067 2508 405 3692 3708 3677 0 0 0 0 0 0 15.08 14.76 15.08

2330 -0.76 -243.3 2508 406 3707 3677 280.5 -13.2 417 2337 0.00 2.35 0.00 0.000 3078 0.000 0.035 2507 1812 3691 3707 3676 0 0 0 0 0 0 14.85 14.76 14.87

2401 -0.76 -243.3 2507 1815 3708 3676 288.7 -12.1 430 2408 0.00 2.40 0.00 0.000 2308 0.000 0.055 2508 3211 3692 3708 3676 0 0 0 0 0 0 15.08 14.77 15.08

2443 -0.76 -243.3 2508 3211 3707 3677 293.6 -10.6 437 2449 0.00 2.38 0.00 0.000 3078 0.000 0.044 2508 1805 3691 3707 3676 0 0 0 0 0 0 14.92 14.80 14.94

2517 -0.76 -243.3 2507 1805 3707 3675 302.8 -12.9 448 2522 0.00 2.42 0.00 0.000 2564 0.000 0.067 2508 405 3691 3707 3676 0 0 0 0 0 0 15.10 14.76 15.10

2534 -0.76 -243.3 2508 405 3707 3676 302.8 -12.9 448 2541 0.00 2.33 0.00 0.000 3078 0.000 0.036 2508 1812 3691 3707 3675 0 0 0 0 0 0 14.94 14.83 14.95

2638 end dive: BOTTOM_OBSTACLE_DETECTED

state 2638 begin apogee

2645 -0.17 0.0 2506 1814 3707 3675 317.6 -11.8 454 2840 0.98 0.00 189.70 1.388 10246 0.147 0.000 2699 1815 2699 2733 2665 0 0 0 0 0 0 14.67 14.26 13.67

2844 end apogee: CONTROL_FINISHED_OK

state 2844 begin climb

2846 0.76 243.3 2699 1815 2731 2664 324.2 0.0 464 3055 1.42 2.47 195.55 1.338 10500 0.106 0.052 2984 3193 1705 1746 1664 0 0 0 0 0 0 14.26 14.14 13.59

3132 0.76 243.3 2983 3193 1741 1663 312.8 11.6 478 3137 0.00 2.42 0.00 0.000 3078 0.000 0.053 2985 1807 1701 1741 1662 0 0 0 0 0 0 14.55 14.44 14.56

3262 0.76 243.3 2985 1807 1740 1659 295.7 11.9 490 3268 0.00 0.00 0.00 0.000 2054 0.000 0.000 2985 1807 1699 1740 1659 0 0 0 0 0 0 14.85 14.86 14.86

3331 0.76 243.3 2985 1807 1739 1658 287.1 12.6 503 3337 0.00 0.00 0.00 0.000 2054 0.000 0.000 2985 1807 1699 1739 1659 0 0 0 0 0 0 14.91 14.91 14.91

3399 0.76 243.3 2985 1807 1739 1658 278.1 13.0 516 3405 0.00 0.00 0.00 0.000 2054 0.000 0.000 2985 1807 1698 1739 1658 0 0 0 0 0 0 14.94 14.95 14.95

3468 0.76 243.3 2985 1807 1738 1657 269.3 12.9 529 3474 0.00 0.00 0.00 0.000 2054 0.000 0.000 2985 1807 1698 1739 1658 0 0 0 0 0 0 14.98 14.99 14.99

3537 0.76 243.3 2985 1807 1738 1657 260.4 13.0 542 3543 0.00 0.00 0.00 0.000 2054 0.000 0.000 2989 1807 1697 1738 1657 0 0 0 0 0 0 15.00 15.00 15.00

3606 0.76 243.3 2985 1807 1738 1657 251.5 12.9 555 3611 0.00 0.00 0.00 0.000 2054 0.000 0.000 2985 1806 1697 1738 1657 0 0 0 0 0 0 15.02 15.02 15.02

3674 0.76 243.3 2985 1807 1738 1657 242.8 12.2 568 3679 0.00 0.00 0.00 0.000 2054 0.000 0.000 2985 1807 1697 1738 1657 0 0 0 0 0 0 15.03 15.04 15.04

3742 0.76 243.3 2984 1807 1737 1657 233.9 12.3 581 3748 0.00 0.00 0.00 0.000 2054 0.000 0.000 2984 1807 1697 1738 1657 0 0 0 0 0 0 15.04 15.05 15.04

3811 0.76 243.3 2985 1807 1737 1657 224.7 12.9 594 3817 0.00 0.00 0.00 0.000 2054 0.000 0.000 2985 1807 1697 1738 1657 0 0 0 0 0 0 15.04 15.05 15.05

3880 0.76 243.3 2985 1807 1737 1656 215.7 13.2 607 3886 0.00 0.00 0.00 0.000 2054 0.000 0.000 2985 1807 1696 1737 1656 0 0 0 0 0 0 15.05 15.06 15.05

3948 0.76 243.3 2989 1807 1737 1656 206.3 13.8 620 3954 0.00 0.00 0.00 0.000 2054 0.000 0.000 2984 1807 1696 1737 1656 0 0 0 0 0 0 15.06 15.07 15.07

4017 0.76 243.3 2985 1807 1737 1656 197.3 12.3 633 4023 0.00 0.00 0.00 0.000 2054 0.000 0.000 2985 1807 1696 1737 1656 0 0 0 0 0 0 15.06 15.06 15.06

4086 0.76 243.3 2985 1807 1736 1656 188.0 12.8 646 4092 0.00 0.00 0.00 0.000 2054 0.000 0.000 2985 1806 1696 1737 1656 0 0 0 0 0 0 15.06 15.06 15.07

4155 0.76 243.3 2985 1807 1736 1656 179.3 12.3 659 4160 0.00 0.00 0.00 0.000 2054 0.000 0.000 2984 1807 1696 1736 1656 0 0 0 0 0 0 15.05 15.06 15.06

4223 0.76 243.3 2985 1807 1736 1656 170.7 12.2 672 4228 0.00 0.00 0.00 0.000 2054 0.000 0.000 2985 1807 1696 1736 1656 0 0 0 0 0 0 15.06 15.06 15.07

4291 0.76 243.3 2985 1807 1736 1655 161.8 13.0 685 4297 0.00 0.00 0.00 0.000 2054 0.000 0.000 2985 1807 1695 1735 1656 0 0 0 0 0 0 15.04 15.05 15.05

4360 0.76 243.3 2985 1807 1736 1656 153.1 12.8 698 4366 0.00 0.00 0.00 0.000 2054 0.000 0.000 2984 1807 1695 1735 1656 0 0 0 0 0 0 15.05 15.06 15.06

4429 0.76 243.3 2985 1807 1735 1656 144.3 12.8 711 4436 0.00 2.50 0.00 0.000 2564 0.000 0.077 2985 389 1695 1735 1656 0 0 0 0 0 0 15.06 14.66 15.06

4459 0.76 243.3 2985 388 1735 1656 140.6 12.3 716 4466 0.00 2.35 0.00 0.000 3078 0.000 0.035 2985 1803 1695 1735 1656 0 0 0 0 0 0 14.81 14.71 14.82

4530 0.76 243.3 2985 1806 1735 1655 131.7 12.5 729 4537 0.00 2.35 0.00 0.000 2308 0.000 0.050 2985 3196 1694 1733 1655 0 0 0 0 0 0 15.07 14.78 15.06

4555 0.76 243.3 2986 3197 1734 1655 128.1 13.7 733 4562 0.00 2.42 0.00 0.000 3078 0.000 0.054 2987 1791 1694 1734 1655 0 0 0 0 0 0 14.85 14.71 14.86

4627 0.76 243.3 2986 1791 1734 1656 119.2 12.7 746 4634 0.00 2.45 0.00 0.000 2564 0.000 0.074 2996 396 1695 1734 1656 0 0 0 0 0 0 15.03 14.73 15.03

4657 0.76 243.3 2995 396 1734 1655 115.0 13.5 751 4663 0.00 2.33 0.00 0.000 3078 0.000 0.034 2996 1803 1694 1734 1655 0 0 0 0 0 0 14.91 14.83 14.92

4727 0.76 243.3 2995 1806 1734 1655 105.6 13.4 764 4733 0.00 0.00 0.00 0.000 2054 0.000 0.000 2996 1806 1694 1734 1655 0 0 0 0 0 0 15.02 15.03 15.03

4796 0.76 243.3 2995 1806 1734 1656 96.0 13.9 777 4802 0.00 0.00 0.00 0.000 2054 0.000 0.000 2996 1806 1694 1734 1655 0 0 0 0 0 0 15.04 15.04 15.04

4865 0.76 243.3 2996 1806 1734 1655 87.1 12.3 790 4872 0.00 2.35 0.00 0.000 2308 0.000 0.050 2996 3193 1694 1733 1655 0 0 0 0 0 0 15.04 14.71 15.05

4924 0.76 243.3 2995 3194 1739 1654 79.6 12.3 801 4931 0.00 2.40 0.00 0.000 3078 0.000 0.054 2996 1802 1694 1733 1655 0 0 0 0 0 0 14.83 14.71 14.85

4996 0.76 243.3 2996 1802 1734 1655 71.1 12.3 814 5002 0.00 0.00 0.00 0.000 2054 0.000 0.000 2996 1801 1694 1734 1655 0 0 0 0 0 0 15.04 15.04 15.04

5065 0.76 243.3 2996 1802 1733 1655 62.3 12.7 827 5071 0.00 2.38 0.00 0.000 2308 0.000 0.050 2996 3194 1694 1734 1655 0 0 0 0 0 0 15.05 14.71 15.05

5119 0.76 243.3 2996 3194 1734 1655 55.3 13.1 837 5126 0.00 2.42 0.00 0.000 1030 0.000 0.052 3002 1791 1694 1734 1655 0 0 0 0 0 0 14.76 14.65 14.78

5191 0.76 243.3 3001 1791 1733 1654 47.1 11.9 850 5197 0.00 2.45 0.00 0.000 516 0.000 0.073 3009 394 1694 1733 1655 0 0 0 0 0 0 15.04 14.73 15.06

5220 0.76 243.3 3009 394 1733 1655 43.0 14.2 855 5226 0.00 2.35 0.00 0.000 5126 0.000 0.034 3009 1815 1694 1733 1655 0 0 0 0 0 0 14.84 14.76 14.85

5291 0.76 243.3 3009 1817 1733 1655 35.2 10.1 868 5298 0.00 2.33 0.00 0.000 4356 0.000 0.049 3009 3188 1694 1733 1655 0 0 0 0 0 0 15.03 14.76 15.03

5331 0.76 243.3 3009 3189 1732 1655 30.4 11.7 875 5338 0.00 2.40 0.00 0.000 5126 0.000 0.054 3010 1796 1693 1733 1654 0 0 0 0 0 0 14.89 14.76 14.90

5402 0.76 243.3 3009 1796 1733 1654 23.1 10.3 888 5409 0.00 2.45 0.00 0.000 4612 0.000 0.074 3009 396 1694 1733 1655 0 0 0 0 0 0 15.02 14.71 15.02

5447 0.76 243.3 3009 396 1733 1654 18.7 10.2 896 5454 0.00 2.33 0.00 0.000 5126 0.000 0.034 3010 1800 1694 1733 1655 0 0 0 0 0 0 14.90 14.81 14.92

5519 0.79 264.7 3009 1802 1733 1654 11.7 9.4 909 5536 0.00 0.00 13.77 0.934 8198 0.000 0.000 3010 1801 1616 1658 1575 0 0 0 0 0 0 15.03 14.78 14.21

5589 end climb: FINISH_DEPTH_REACHED

state 5589 begin subsurface finish

5596 0.12 95.5 3010 1802 1657 1574 4.6 10.6 922 5631 1.08 2.53 -27.23 0.000 20996 0.177 0.090 2804 395 2313 2358 2268 0 0 0 0 0 0 14.52 13.40 14.64

5632 end subsurface finish: CONTROL_FINISHED_OK

state 5632 begin surface

ID	574	HD_C	9.8500004e-06	C_ROLL_DIVE	1812	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	3	HEADING	340	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0
DIVE	438	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	50
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_SURF	3	TGT_DEFAULT_LAT	4743.3999	R_PORT_OVSHOOT	28	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12224.2	R_STBD_OVSHOOT	33	ALTIM_PULSE	3
D_TGT	1000	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	2
D_ABORT	1020	SM_CC	515.36688	ROLL_MAXERRORS	1	XPDR_VALID	2
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	600	INT_PRESSURE_YINT	3.1600001
D_FINISH	5	COMM_SEQ	0	VBD_MAX	3960	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	C_VBD	2701	MOTHERBOARD	4
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE1	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE2	-1
SURFACE_URGENCY	0	N_NOSURFACE	2	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_DIVE	333	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_MISSION	343	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_ABORT	358	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_LOITER	0	T_RSLEEP	2	DBDW	0	COMPASS_DEVICE	17
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	310	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	117	AH0_10V	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3869	MINV_24V	11.5	SIM_W	0
RELAUNCH	0	C_PITCH	2759	MINV_10V	10	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_24V	3	SEABIRD_T_G	0.0042907312
MAX_BUOY	250	PITCH_CNV	0.003125763	MAXI_10V	2	SEABIRD_T_H	0.00061813911
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.1013675e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.0586713e-06
SPEED_FACTOR	1	PITCH_GAIN	30	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7689371
RHO	1.0275	PITCH_TIMEOUT	25	PRESSURE_YINT	-148.54955	SEABIRD_C_H	1.1415389
MASS	53998	PITCH_AD_RATE	125	PRESSURE_SLOPE	0.0001058	SEABIRD_C_I	-0.0022330475
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	SEABIRD_C_J	0.00024789109
NAV_MODE	0	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	301	COMPASS_USE	0	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3936	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0

GPS1	190419,111501,-3433.0747,2517.4697,8,0.9,39,-28.0,0.4,185.9,8,5.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3423.092,2512.826
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	0.74	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-68.5	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	190419,112627,-3433.2393,2517.3013,7,0.8,17,-28.0,0.7,204.6,9,9.5	MHEAD_RNG_PITCHd_Wd	8.0,20000,-13.9,-10.010,-17.09,3711
SPEED_LIMITS	0.173,0.326	D_GRID	1000

FINISH1	4.6,1.025636,96	_24V_AH	13.40,137.744
FINISH2	2.4	_10V_AH	13.48,0.000
IRIDIUM_FIX	-3419.93,2516.66,190419,093038	FG_AHR_24Vo	0.000
TT8_MAMPS	0.021721,0.919772	FG_AHR_10Vo	0.000
HUMID	47.51	MEM	340864
INTERNAL_PRESSURE	9.37092	DATA_FILE_SIZE	23399,928
TCM_TEMP	18.10	CAP_FILE_SIZE	176646,0
XPDR_PINGS	0	CFSIZE	2097086464,2009563136
ALTIM_BOTTOM_PING	290.6,35.2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3691456	GPS	190419,112627,-3433.239,2517.301,7,0.8,17,-28.0,0.7,204.6,9,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	451	111.28	nil	0	0	0.00
Roll_motor	98	90	119.15	nil	0	0	0.00
VBD_pump_during_apogee	399	1388	7424.09	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	16	5.37	nil	0	0	0.00
Iridium_during_connect	18	160	40.12	SciCon	5714	28	2199.10
Iridium_during_xfer	343	223	1026.87	nil	0	0	0.00
Transponder_ping	12	420	70.35	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.84
TT8	2082	9	269.77
LPSleep	1104	2	32.60
TT8_Active	712	9	92.30
TT8_Sampling	2026	28	774.13
TT8_CF8	386	36	190.79
TT8_Kalman	0	0	0.00
Analog_circuits	1607	12	262.40
GPS_charging	0	0	0.00
Compass	1460	17	353.92
RAFOS	0	0	0.00
Transponder	78	30	31.73

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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.76	-243.3	52	1813	620	553	0.0	0.0	0	128	0.00	0.00	-102.55	0.000	16386	0.000	0.000	52	1814	3029	2996	3063	0	0	0	0	0	0	14.88	28.83	14.89
134	-0.76	-243.3	52	1813	2996	3063	3.1	-6.4	19	169	14.90	2.47	-11.40	0.000	18692	0.313	0.075	2499	3226	3695	3711	3679	0	0	0	0	0	0	14.42	13.40	14.71
238	-0.76	-243.3	2498	3226	3712	3679	27.9	-14.1	38	245	0.03	2.42	0.00	0.000	3078	0.451	0.044	2507	1803	3696	3713	3679	0	0	0	0	0	0	14.54	14.70	14.73
310	-0.76	-243.3	2507	1804	3713	3679	39.2	-17.0	51	317	0.00	2.45	0.00	0.000	2564	0.000	0.067	2508	408	3695	3712	3679	0	0	0	0	0	0	14.97	14.64	14.97
335	-0.76	-243.3	2508	408	3712	3678	43.4	-15.9	55	341	0.00	2.38	0.00	0.000	3078	0.000	0.039	2508	1818	3695	3712	3679	0	0	0	0	0	0	14.73	14.64	14.74
406	-0.76	-243.3	2508	1820	3711	3679	53.8	-15.7	68	413	0.00	2.40	0.00	0.000	2308	0.000	0.057	2508	3216	3695	3712	3678	0	0	0	0	0	0	15.00	14.71	15.00
436	-0.76	-243.3	2507	3215	3712	3679	58.0	-11.7	73	443	0.00	2.40	0.00	0.000	3078	0.000	0.044	2508	1803	3695	3712	3679	0	0	0	0	0	0	14.85	14.73	14.87
508	-0.76	-243.3	2508	1803	3712	3679	67.3	-14.5	86	514	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1803	3695	3712	3679	0	0	0	0	0	0	14.98	14.99	14.99
578	-0.76	-243.3	2508	1803	3712	3679	75.7	-9.7	99	585	0.00	2.45	0.00	0.000	2308	0.000	0.055	2508	3218	3695	3712	3679	0	0	0	0	0	0	14.99	14.73	14.99
608	-0.76	-243.3	2508	3218	3709	3679	79.3	-10.9	104	614	0.00	2.40	0.00	0.000	3078	0.000	0.046	2508	1805	3695	3712	3679	0	0	0	0	0	0	14.87	14.76	14.88
680	-0.76	-243.3	2508	1805	3712	3679	86.9	-11.4	117	685	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1805	3695	3712	3679	0	0	0	0	0	0	15.02	15.02	15.02
748	-0.76	-243.3	2507	1805	3712	3675	94.9	-10.2	130	756	0.00	2.42	0.00	0.000	2308	0.000	0.052	2508	3220	3695	3712	3679	0	0	0	0	0	0	15.03	14.66	15.04
794	-0.76	-243.3	2507	3220	3713	3679	99.7	-10.9	138	801	0.00	2.38	0.00	0.000	3078	0.000	0.041	2508	1809	3695	3712	3679	0	0	0	0	0	0	14.76	14.65	14.77
866	-0.76	-243.3	2507	1808	3712	3679	107.5	-11.4	151	872	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1809	3695	3712	3679	0	0	0	0	0	0	15.02	15.03	15.03
937	-0.76	-243.3	2508	1809	3712	3679	115.5	-11.8	164	943	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1809	3696	3713	3679	0	0	0	0	0	0	15.01	15.01	15.01
1006	-0.76	-243.3	2507	1809	3713	3679	124.1	-12.3	177	1013	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1808	3696	3713	3679	0	0	0	0	0	0	15.04	15.04	15.04
1077	-0.76	-243.3	2508	1808	3713	3679	132.5	-12.5	190	1083	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1808	3695	3712	3679	0	0	0	0	0	0	15.03	15.03	15.03
1147	-0.76	-243.3	2508	1809	3712	3679	140.8	-12.0	203	1153	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1809	3695	3712	3679	0	0	0	0	0	0	15.03	15.04	15.03
1215	-0.76	-243.3	2507	1808	3713	3679	149.2	-12.0	216	1222	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1808	3697	3713	3682	0	0	0	0	0	0	15.04	15.04	15.04
1286	-0.76	-243.3	2507	1809	3712	3679	157.6	-11.8	229	1292	0.00	0.00	0.00	0.000	2054	0.000	0.000	2507	1809	3696	3713	3679	0	0	0	0	0	0	15.04	15.05	15.04
1358	-0.76	-243.3	2508	1809	3712	3679	165.8	-12.5	242	1363	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1808	3696	3713	3679	0	0	0	0	0	0	15.02	15.02	15.02
1427	-0.76	-243.3	2507	1809	3712	3679	174.3	-12.0	255	1436	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1809	3695	3712	3679	0	0	0	0	0	0	15.04	15.05	15.04
1500	-0.76	-243.3	2507	1809	3711	3679	183.0	-12.0	268	1506	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1809	3695	3712	3679	0	0	0	0	0	0	15.09	15.05	15.05
1572	-0.76	-243.3	2508	1808	3712	3679	191.5	-12.5	281	1578	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1809	3695	3712	3678	0	0	0	0	0	0	15.04	15.04	15.04
1646	-0.76	-243.3	2508	1812	3711	3679	200.2	-12.1	294	1651	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1808	3695	3711	3679	0	0	0	0	0	0	15.05	15.06	15.06
1716	-0.76	-243.3	2507	1809	3712	3679	209.2	-11.9	307	1721	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1809	3694	3711	3678	0	0	0	0	0	0	15.06	15.07	15.07
1787	-0.76	-243.3	2507	1808	3710	3679	217.6	-11.6	320	1793	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1808	3694	3710	3679	0	0	0	0	0	0	15.07	15.07	15.07
1858	-0.76	-243.3	2507	1808	3710	3679	225.9	-11.9	333	1864	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1809	3694	3710	3679	0	0	0	0	0	0	15.07	15.07	15.07
1927	-0.76	-243.3	2508	1808	3710	3676	234.2	-11.7	346	1933	0.00	0.00	0.00	0.000	2054	0.000	0.000	2508	1808	3694	3710	3679	0	0	0	0	0	0	15.08	15.08	15.08
1999	-0.76	-243.3	2508	1808	3709	3678	242.6	-12.0	359	2005	0.00	2.42	0.00	0.000	2308	0.000	0.056	2508	3216	3693	3709	3678	0	0	0	0	0	0	15.07	14.64	15.08
2030	-0.76	-243.3	2508	3216	3709	3678	246.2	-10.7	364	2036	0.00	2.38	0.00	0.000	3078	0.000	0.044	2508	1813	3692	3706	3678	0	0	0	0	0	0	14.79	14.68	14.78
2101	-0.76	-243.3	2507	1813	3709	3678	254.1	-11.9	377	2109	0.00	2.45	0.00	0.000	2564	0.000	0.067	2508	408	3693	3709	3677	0	0	0	0	0	0	15.09	14.76	15.09
2122	-0.76	-243.3	2508	408	3708	3677	256.8	-12.0	380	2128	0.00	2.35	0.00	0.000	3078	0.000	0.035	2508	1818	3693	3709	3677	0	0	0	0	0	0	14.92	14.83	14.94
2193	-0.76	-243.3	2507	1821	3709	3677	264.7	-12.0	393	2201	0.00	2.38	0.00	0.000	2308	0.000	0.056	2508	3214	3692	3708	3677	0	0	0	0	0	0	15.08	14.77	15.08
2234	-0.76	-243.3	2507	3214	3708	3677	269.4	-10.0	400	2240	0.00	2.38	0.00	0.000	3078	0.000	0.043	2507	1803	3692	3708	3677	0	0	0	0	0	0	14.92	14.80	14.92
2305	-0.76	-243.3	2509	1804	3708	3677	277.4	-11.5	413	2311	0.00	2.42	0.00	0.000	2564	0.000	0.067	2508	405	3692	3708	3677	0	0	0	0	0	0	15.08	14.76	15.08
2330	-0.76	-243.3	2508	406	3707	3677	280.5	-13.2	417	2337	0.00	2.35	0.00	0.000	3078	0.000	0.035	2507	1812	3691	3707	3676	0	0	0	0	0	0	14.85	14.76	14.87
2401	-0.76	-243.3	2507	1815	3708	3676	288.7	-12.1	430	2408	0.00	2.40	0.00	0.000	2308	0.000	0.055	2508	3211	3692	3708	3676	0	0	0	0	0	0	15.08	14.77	15.08
2443	-0.76	-243.3	2508	3211	3707	3677	293.6	-10.6	437	2449	0.00	2.38	0.00	0.000	3078	0.000	0.044	2508	1805	3691	3707	3676	0	0	0	0	0	0	14.92	14.80	14.94
2517	-0.76	-243.3	2507	1805	3707	3675	302.8	-12.9	448	2522	0.00	2.42	0.00	0.000	2564	0.000	0.067	2508	405	3691	3707	3676	0	0	0	0	0	0	15.10	14.76	15.10
2534	-0.76	-243.3	2508	405	3707	3676	302.8	-12.9	448	2541	0.00	2.33	0.00	0.000	3078	0.000	0.036	2508	1812	3691	3707	3675	0	0	0	0	0	0	14.94	14.83	14.95
2638	end dive: BOTTOM_OBSTACLE_DETECTED
state	2638	begin apogee
2645	-0.17	0.0	2506	1814	3707	3675	317.6	-11.8	454	2840	0.98	0.00	189.70	1.388	10246	0.147	0.000	2699	1815	2699	2733	2665	0	0	0	0	0	0	14.67	14.26	13.67
2844	end apogee: CONTROL_FINISHED_OK
state	2844	begin climb
2846	0.76	243.3	2699	1815	2731	2664	324.2	0.0	464	3055	1.42	2.47	195.55	1.338	10500	0.106	0.052	2984	3193	1705	1746	1664	0	0	0	0	0	0	14.26	14.14	13.59
3132	0.76	243.3	2983	3193	1741	1663	312.8	11.6	478	3137	0.00	2.42	0.00	0.000	3078	0.000	0.053	2985	1807	1701	1741	1662	0	0	0	0	0	0	14.55	14.44	14.56
3262	0.76	243.3	2985	1807	1740	1659	295.7	11.9	490	3268	0.00	0.00	0.00	0.000	2054	0.000	0.000	2985	1807	1699	1740	1659	0	0	0	0	0	0	14.85	14.86	14.86
3331	0.76	243.3	2985	1807	1739	1658	287.1	12.6	503	3337	0.00	0.00	0.00	0.000	2054	0.000	0.000	2985	1807	1699	1739	1659	0	0	0	0	0	0	14.91	14.91	14.91
3399	0.76	243.3	2985	1807	1739	1658	278.1	13.0	516	3405	0.00	0.00	0.00	0.000	2054	0.000	0.000	2985	1807	1698	1739	1658	0	0	0	0	0	0	14.94	14.95	14.95
3468	0.76	243.3	2985	1807	1738	1657	269.3	12.9	529	3474	0.00	0.00	0.00	0.000	2054	0.000	0.000	2985	1807	1698	1739	1658	0	0	0	0	0	0	14.98	14.99	14.99
3537	0.76	243.3	2985	1807	1738	1657	260.4	13.0	542	3543	0.00	0.00	0.00	0.000	2054	0.000	0.000	2989	1807	1697	1738	1657	0	0	0	0	0	0	15.00	15.00	15.00
3606	0.76	243.3	2985	1807	1738	1657	251.5	12.9	555	3611	0.00	0.00	0.00	0.000	2054	0.000	0.000	2985	1806	1697	1738	1657	0	0	0	0	0	0	15.02	15.02	15.02
3674	0.76	243.3	2985	1807	1738	1657	242.8	12.2	568	3679	0.00	0.00	0.00	0.000	2054	0.000	0.000	2985	1807	1697	1738	1657	0	0	0	0	0	0	15.03	15.04	15.04
3742	0.76	243.3	2984	1807	1737	1657	233.9	12.3	581	3748	0.00	0.00	0.00	0.000	2054	0.000	0.000	2984	1807	1697	1738	1657	0	0	0	0	0	0	15.04	15.05	15.04
3811	0.76	243.3	2985	1807	1737	1657	224.7	12.9	594	3817	0.00	0.00	0.00	0.000	2054	0.000	0.000	2985	1807	1697	1738	1657	0	0	0	0	0	0	15.04	15.05	15.05
3880	0.76	243.3	2985	1807	1737	1656	215.7	13.2	607	3886	0.00	0.00	0.00	0.000	2054	0.000	0.000	2985	1807	1696	1737	1656	0	0	0	0	0	0	15.05	15.06	15.05
3948	0.76	243.3	2989	1807	1737	1656	206.3	13.8	620	3954	0.00	0.00	0.00	0.000	2054	0.000	0.000	2984	1807	1696	1737	1656	0	0	0	0	0	0	15.06	15.07	15.07
4017	0.76	243.3	2985	1807	1737	1656	197.3	12.3	633	4023	0.00	0.00	0.00	0.000	2054	0.000	0.000	2985	1807	1696	1737	1656	0	0	0	0	0	0	15.06	15.06	15.06
4086	0.76	243.3	2985	1807	1736	1656	188.0	12.8	646	4092	0.00	0.00	0.00	0.000	2054	0.000	0.000	2985	1806	1696	1737	1656	0	0	0	0	0	0	15.06	15.06	15.07
4155	0.76	243.3	2985	1807	1736	1656	179.3	12.3	659	4160	0.00	0.00	0.00	0.000	2054	0.000	0.000	2984	1807	1696	1736	1656	0	0	0	0	0	0	15.05	15.06	15.06
4223	0.76	243.3	2985	1807	1736	1656	170.7	12.2	672	4228	0.00	0.00	0.00	0.000	2054	0.000	0.000	2985	1807	1696	1736	1656	0	0	0	0	0	0	15.06	15.06	15.07
4291	0.76	243.3	2985	1807	1736	1655	161.8	13.0	685	4297	0.00	0.00	0.00	0.000	2054	0.000	0.000	2985	1807	1695	1735	1656	0	0	0	0	0	0	15.04	15.05	15.05
4360	0.76	243.3	2985	1807	1736	1656	153.1	12.8	698	4366	0.00	0.00	0.00	0.000	2054	0.000	0.000	2984	1807	1695	1735	1656	0	0	0	0	0	0	15.05	15.06	15.06
4429	0.76	243.3	2985	1807	1735	1656	144.3	12.8	711	4436	0.00	2.50	0.00	0.000	2564	0.000	0.077	2985	389	1695	1735	1656	0	0	0	0	0	0	15.06	14.66	15.06
4459	0.76	243.3	2985	388	1735	1656	140.6	12.3	716	4466	0.00	2.35	0.00	0.000	3078	0.000	0.035	2985	1803	1695	1735	1656	0	0	0	0	0	0	14.81	14.71	14.82
4530	0.76	243.3	2985	1806	1735	1655	131.7	12.5	729	4537	0.00	2.35	0.00	0.000	2308	0.000	0.050	2985	3196	1694	1733	1655	0	0	0	0	0	0	15.07	14.78	15.06
4555	0.76	243.3	2986	3197	1734	1655	128.1	13.7	733	4562	0.00	2.42	0.00	0.000	3078	0.000	0.054	2987	1791	1694	1734	1655	0	0	0	0	0	0	14.85	14.71	14.86
4627	0.76	243.3	2986	1791	1734	1656	119.2	12.7	746	4634	0.00	2.45	0.00	0.000	2564	0.000	0.074	2996	396	1695	1734	1656	0	0	0	0	0	0	15.03	14.73	15.03
4657	0.76	243.3	2995	396	1734	1655	115.0	13.5	751	4663	0.00	2.33	0.00	0.000	3078	0.000	0.034	2996	1803	1694	1734	1655	0	0	0	0	0	0	14.91	14.83	14.92
4727	0.76	243.3	2995	1806	1734	1655	105.6	13.4	764	4733	0.00	0.00	0.00	0.000	2054	0.000	0.000	2996	1806	1694	1734	1655	0	0	0	0	0	0	15.02	15.03	15.03
4796	0.76	243.3	2995	1806	1734	1656	96.0	13.9	777	4802	0.00	0.00	0.00	0.000	2054	0.000	0.000	2996	1806	1694	1734	1655	0	0	0	0	0	0	15.04	15.04	15.04
4865	0.76	243.3	2996	1806	1734	1655	87.1	12.3	790	4872	0.00	2.35	0.00	0.000	2308	0.000	0.050	2996	3193	1694	1733	1655	0	0	0	0	0	0	15.04	14.71	15.05
4924	0.76	243.3	2995	3194	1739	1654	79.6	12.3	801	4931	0.00	2.40	0.00	0.000	3078	0.000	0.054	2996	1802	1694	1733	1655	0	0	0	0	0	0	14.83	14.71	14.85
4996	0.76	243.3	2996	1802	1734	1655	71.1	12.3	814	5002	0.00	0.00	0.00	0.000	2054	0.000	0.000	2996	1801	1694	1734	1655	0	0	0	0	0	0	15.04	15.04	15.04
5065	0.76	243.3	2996	1802	1733	1655	62.3	12.7	827	5071	0.00	2.38	0.00	0.000	2308	0.000	0.050	2996	3194	1694	1734	1655	0	0	0	0	0	0	15.05	14.71	15.05
5119	0.76	243.3	2996	3194	1734	1655	55.3	13.1	837	5126	0.00	2.42	0.00	0.000	1030	0.000	0.052	3002	1791	1694	1734	1655	0	0	0	0	0	0	14.76	14.65	14.78
5191	0.76	243.3	3001	1791	1733	1654	47.1	11.9	850	5197	0.00	2.45	0.00	0.000	516	0.000	0.073	3009	394	1694	1733	1655	0	0	0	0	0	0	15.04	14.73	15.06
5220	0.76	243.3	3009	394	1733	1655	43.0	14.2	855	5226	0.00	2.35	0.00	0.000	5126	0.000	0.034	3009	1815	1694	1733	1655	0	0	0	0	0	0	14.84	14.76	14.85
5291	0.76	243.3	3009	1817	1733	1655	35.2	10.1	868	5298	0.00	2.33	0.00	0.000	4356	0.000	0.049	3009	3188	1694	1733	1655	0	0	0	0	0	0	15.03	14.76	15.03
5331	0.76	243.3	3009	3189	1732	1655	30.4	11.7	875	5338	0.00	2.40	0.00	0.000	5126	0.000	0.054	3010	1796	1693	1733	1654	0	0	0	0	0	0	14.89	14.76	14.90
5402	0.76	243.3	3009	1796	1733	1654	23.1	10.3	888	5409	0.00	2.45	0.00	0.000	4612	0.000	0.074	3009	396	1694	1733	1655	0	0	0	0	0	0	15.02	14.71	15.02
5447	0.76	243.3	3009	396	1733	1654	18.7	10.2	896	5454	0.00	2.33	0.00	0.000	5126	0.000	0.034	3010	1800	1694	1733	1655	0	0	0	0	0	0	14.90	14.81	14.92
5519	0.79	264.7	3009	1802	1733	1654	11.7	9.4	909	5536	0.00	0.00	13.77	0.934	8198	0.000	0.000	3010	1801	1616	1658	1575	0	0	0	0	0	0	15.03	14.78	14.21
5589	end climb: FINISH_DEPTH_REACHED
state	5589	begin subsurface finish
5596	0.12	95.5	3010	1802	1657	1574	4.6	10.6	922	5631	1.08	2.53	-27.23	0.000	20996	0.177	0.090	2804	395	2313	2358	2268	0	0	0	0	0	0	14.52	13.40	14.64
5632	end subsurface finish: CONTROL_FINISHED_OK
state	5632	begin surface