Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 131 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 11 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 30 XPDR_INT 13

DIVE 131 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_REP 11.5

N_DIVES 0 SM_CC 700 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_YINT 0.5

D_SURF 2 FILEMGR 2 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 990 COMM_SEQ 7 C_VBD 3120 MOTHERBOARD 6

D_ABORT 1030 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

D_NO_BLEED 450 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 3 NOCOMM_ACTION 129 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 800 DEVICE4 -1

D_FINISH 10 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0040000002 DEVICE5 -1

D_PITCH 2 NETBOX 1 UNCOM_BLEED 400 DEVICE6 -1

D_SAFE 500 CALL_TRIES 3 VBD_MAXERRORS 2 LOGGERS 1

D_CALL 4.5 CALL_WAIT 45 C_VBD_AUTO_DELTA 0.25 LOGGERDEVICE1 7

SURFACE_URGENCY 5 CAPUPLOAD 0 C_VBD_AUTO_MAX 25 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 5 CAPMAXSIZE 10000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 10 T_GPS 3 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 360 N_GPS 100440 LOITER_W_DBAND 2 COMPASS_DEVICE 66

T_MISSION 720 T_RSLEEP 2 LOITER_DBDW 400 COMPASS2_DEVICE -1

T_ABORT 2880 STROBE 0 LOITER_D_TOP 400 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 700 GPS_DEVICE 48

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 240 RAFOS_HIT_WINDOW 10800 CF8_MAXERRORS 0 NAV_DEVICE 6

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 230 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY 0 PITCH_MAX 3900 MINV_24V 0 NAV4_DEVICE -1

USE_ICE 1 C_PITCH 2295.5884 MINV_10V 0 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.07 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_10V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 12.816787 FG_AHR_10V 9.5403948 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 36.881058 SEABIRD_T_G 0.0042874566

MAX_BUOY 120 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062267116

GLIDE_SLOPE 45 PITCH_ADJ_GAIN 0 PRESSURE_YINT -157.91238 SEABIRD_T_I 2.1947648e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_SLOPE 0.00022957686 SEABIRD_T_J 2.2037441e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 COMPASS_USE 49156 SEABIRD_C_G -9.9419231

MASS 72387 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1.1375728

NAV_MODE 0 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0016241658

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.0002088599

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 2

HD_A 0.00281838 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_RECORDABOVE 2000.0

HD_B 0.0139236 ROLL_MIN 1200 ALTIM_PING_DEPTH 0 SC_PROFILE 7.0

HD_C 5.7000002e-06 ROLL_MAX 4000 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

ESCAPE_HEADING 180 C_ROLL_DIVE 2593.1365 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2713.5149 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 20 HEAD_ERRBAND 10 XPDR_VALID 6

AH0_10V 0 D_PITCH 2 NOCOMM_ACTION 129 SEABIRD_C_I -0.0016241658

AH0_24V 575 D_SAFE 500 N_DIVES 0 SEABIRD_C_J 0.0002088599

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_FILEKB 8 SEABIRD_T_G 0.0042874566

ALTIM_FREQUENCY 13 D_TGT 990 N_GPS 100440 SEABIRD_T_H 0.00062267116

ALTIM_PING_DELTA 0 ESCAPE_HEADING 180 N_NOCOMM 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PING_FIT 0 FERRY_MAX 45 OPTIONS 2 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 9.5403948 PHONE_DEVICE 33 SM_CC 700

ALTIM_SENSITIVITY 2 FG_AHR_24V 36.881058 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 2 PITCH_ADJ_DBAND 2 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 20 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_CNV 0.0041299998 SURFACE_URGENCY 5

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 10

CALL_NDIVES 1 HD_A 0.00281838 PITCH_GAIN 12.816787 SURFACE_URGENCY_TRY 5

CALL_TRIES 3 HD_B 0.0139236 PITCH_GAIN_AUTO_DELTA 0.5 TGT_AUTO_DEFAULT 0

CALL_WAIT 45 HD_C 5.7000002e-06 PITCH_GAIN_AUTO_MAX 2 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 10000 HEADING -1 PITCH_MAX 3900 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_ABORT 2880

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.07 PITCH_MIN 230 T_BOOST 0

COMM_SEQ 7 ID 235 PITCH_TIMEOUT 40 T_DIVE 360

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0040000002 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0.5 PITCH_W_DBAND 0 T_GPS 3

COMPASS_USE 49156 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 2295.5884 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 720

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022957686 T_NO_W 240

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -157.91238 T_RSLEEP 2

C_ROLL_CLIMB 2713.5149 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2593.1365 LOGGERS 1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 3120 LOITER_DBDW 400 RAFOS_DEVICE 96 UNCOM_BLEED 400

C_VBD_AUTO_DELTA 0.25 LOITER_D_BOTTOM 700 RAFOS_HIT_WINDOW 10800 UPLOAD_DIVES_MAX 3

C_VBD_AUTO_MAX 25 LOITER_D_TOP 400 RAFOS_MMODEM 0 USE_BATHY 0

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_ICE 1

DEEPGLIDER 0 LOITER_W_DBAND 2 RELAUNCH 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS 72387 RHO 1.0275 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 5 ROLL_ADJ_DBAND 0.029999999 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 120 ROLL_CNV 0.054945 VBD_MAXERRORS 2

DEVICE4 -1 MINV_10V 0 ROLL_DEG 80 VBD_MIN 500

DEVICE5 -1 MINV_24V 0 ROLL_MAX 4000 VBD_TIMEOUT 800

DEVICE6 -1 MISSION 11 ROLL_MAXERRORS 0 W_ADJ_DBAND 0

DIVE 131 MOTHERBOARD 6 ROLL_MIN 1200 XPDR_DEVICE -1

D_ABORT 1030 NAV2_DEVICE 6 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

D_BOOST 3 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 13

D_CALL 4.5 NAV4_DEVICE -1 SC_PROFILE 7.0 XPDR_REP 11.5

D_FINISH 10 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 6

D_FLARE 3 NAV_MODE 0 SC_XMITPROFILE 3.0

D_NO_BLEED 450 NETBOX 1 SEABIRD_C_G -9.9419231

D_OFFGRID 1000 NETWORK_DEVICE 1 SEABIRD_C_H 1.1375728

Pre-dive calculations and measurements:

GPS1 280823,001019,7518.201,-14550.920,0,3510.0,0,15.4 TGT_RADIUS 5000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 11.87 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 22.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280823,001019,7518.201,-14550.920,0,3510.0,0,15.4 MHEAD_RNG_PITCHd_Wd 231.5,417014,-20.2,-9.167,-25.08,1951,1.243

SPEED_LIMITS 0.092,0.196 D_GRID 990

TGT_NAME LISTEN IRON 1.000000,-0.058064,-0.069359,-0.064846,1.037432,-0.079687,0.059845,0.024819,0.912228,-1019.682983,-140.930878,505.300598

TGT_LATLONG 7350.000,-15815.000 OSC 8000307

Post-dive calculations and measurements:

NAV 1693212013,9.6,4,stop _24V_AH 14.60,46.011

MODEM_MSG CACST,8,1,20230828081616.660345,18,1189,24,0111,0000,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,-0.9,0.75,-100,2.25,-01,0.06,25,925,0025,0,-1,00,00*14 _10V_AH 15.00,0.000

FREEZE 9.88,-0.277,-1.403,2,37,0 FG_AHR_24Vo 37.193

FINISH1 9.9,1.0206,478 FG_AHR_10Vo 9.649

FINISH2 9.9 MEM0 59796,1,0,0

SUPER 19,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 7539.64,-14408.57,200823,025928 MEM2 1024188,32,21860,94

TCM_TEMP 1.86 DATA_FILE_SIZE 38511,1285

SC_FREEKB 3836832 CAP_FILE_SIZE 373624,0

RAFOS_CLK -2 SDSIZE 3918848,3865312

MODEM 2,1693195821,75.68000,-146.03000,21.173,31018.3 SDFILEDIR 988,132

RAFOS_FIX 7518.045898,-14803.139648,280823,080816,4,255,2.13 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 48.36 SOUNDSPEED 1465.0

TEMP -0.01 IMPLIED_C_PITCH 2118,12.84,575,0.0,12.83

INTERNAL_PRESSURE 8.09906 GPS 280823,081616,7518.046,-14803.140,0,5255.0,0,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 887 2203 28567.58 nil 0 0 0.00

Pitch_motor 20 296 90.23 nil 0 0 0.00

Roll_motor 209 390 1192.67 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 0 0 0.00 nil 0 0 0.00

Core 4177 5 320.86 SciCon 18947 4 1251.07

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 14792 0 71.00

Compass 2209 5 165.72

RAFOS 6245 40 3747.01

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

5.85 16386 -116.79 -2.04 0.00 496.2 388.9 603.5 2937.0 2570.4 0.00 0.00 0 13.92 7.20 0.00 0.00 0.008 0.000 0.000 759.94 687.69 832.19 2936.50 2570.06 0 0 0 15.84 30.00 30.00

14.16 20775 -116.79 -2.04 80.00 760.4 687.8 833.0 2936.6 2570.0 11.17 0.00 1 101.37 68.05 8.40 3.89 0.005 0.176 0.143 3598.03 3580.00 3616.06 1785.88 4007.31 0 0 0 15.83 15.67 15.73

144.40 1028 -116.79 -2.04 0.00 3599.6 3580.6 3618.6 1786.1 4007.1 40.46 -27.49 25 150.23 0.00 0.00 3.59 0.000 0.000 0.083 3600.47 3580.62 3620.31 1786.75 2575.62 0 0 0 30.00 30.00 15.79

529.43 516 -116.79 -2.04 -80.00 3600.8 3581.2 3620.4 1786.4 2575.9 99.01 -13.97 42 535.34 0.00 0.00 3.81 0.000 0.000 0.161 3600.00 3580.00 3620.00 1786.12 1191.69 0 0 0 30.00 30.00 15.86

674.48 1028 -116.79 -2.04 0.00 3600.2 3580.4 3620.0 1786.6 1191.9 122.86 -16.74 71 680.45 0.00 0.00 3.46 0.000 0.000 0.065 3601.28 3581.38 3621.19 1786.31 2616.06 0 0 0 30.00 30.00 15.95

1052.70 516 -116.79 -2.04 -80.00 3600.8 3580.5 3621.1 1786.6 2615.6 176.55 -13.97 89 1059.91 0.00 0.00 3.90 0.000 0.000 0.154 3600.47 3580.44 3620.50 1784.50 1192.25 0 0 0 30.00 30.00 15.93

1102.30 1028 -116.79 -2.04 0.00 3600.7 3580.9 3620.4 1786.2 1192.3 184.59 -16.36 99 1108.90 0.00 0.00 3.45 0.000 0.000 0.064 3601.81 3582.19 3621.44 1786.38 2615.56 0 0 0 30.00 30.00 15.99

1498.03 516 -116.79 -2.04 -80.00 3600.9 3580.7 3621.2 1787.0 2615.3 238.22 -13.18 113 1504.37 0.00 0.00 3.86 0.000 0.000 0.156 3601.84 3581.56 3622.12 1785.62 1192.56 0 0 0 30.00 30.00 15.95

1567.32 1028 -116.79 -2.04 0.00 3600.5 3579.8 3621.2 1786.0 1192.8 248.69 -15.11 127 1573.20 0.00 0.00 3.46 0.000 0.000 0.065 3601.00 3580.75 3621.25 1785.88 2615.75 0 0 0 30.00 30.00 16.05

1943.11 292 -116.79 -2.04 80.00 3601.0 3580.4 3621.7 1786.1 2615.9 288.33 -8.99 142 1949.37 0.00 0.00 3.72 0.000 0.000 0.141 3599.72 3579.12 3620.31 1786.31 4006.69 0 0 0 30.00 30.00 15.98

1998.07 1028 -116.79 -2.04 0.00 3601.3 3580.0 3622.6 1785.7 4005.7 293.60 -9.79 153 2004.25 0.00 0.00 3.45 0.000 0.000 0.079 3601.03 3580.81 3621.25 1784.44 2572.62 0 0 0 30.00 30.00 16.02

2383.13 32 -116.79 -2.04 0.00 3601.6 3580.4 3622.8 1786.4 2572.4 327.00 -7.96 170 2384.65 0.00 0.00 0.00 0.000 0.000 0.000 3601.88 3582.19 3621.56 1784.38 2572.44 0 0 0 30.00 30.00 30.00

2773.14 32 -116.79 -2.04 0.00 3601.5 3580.0 3622.9 1785.8 2572.6 357.51 -7.56 183 2774.66 0.00 0.00 0.00 0.000 0.000 0.000 3600.38 3579.94 3620.81 1785.88 2572.69 0 0 0 30.00 30.00 30.00

3163.15 548 -116.79 -2.04 -80.00 3601.0 3580.1 3621.9 1786.6 2572.9 387.19 -7.58 196 3169.52 0.00 0.00 3.74 0.000 0.000 0.163 3601.28 3580.62 3621.94 1786.62 1193.81 0 0 0 30.00 30.00 15.94

3197.45 1060 -116.79 -2.04 0.00 3601.4 3581.2 3621.7 1786.4 1193.6 390.27 -7.91 203 3203.50 0.00 0.00 3.44 0.000 0.000 0.065 3600.16 3580.19 3620.12 1786.00 2617.56 0 0 0 30.00 30.00 16.01

3578.21 548 -116.79 -2.04 -80.00 3600.9 3579.8 3622.1 1786.6 2618.2 420.00 -7.86 219 3584.70 0.00 0.00 3.82 0.000 0.000 0.157 3602.38 3581.88 3622.88 1786.06 1192.06 0 0 0 30.00 30.00 15.94

3627.44 1028 -116.79 -2.04 0.00 3600.7 3579.9 3621.4 1786.2 1191.9 424.57 -9.34 229 3634.22 0.00 0.00 3.44 0.000 0.000 0.064 3601.44 3581.12 3621.75 1786.62 2616.31 0 0 0 30.00 30.00 16.01

4023.23 548 -116.79 -2.04 -80.00 3601.1 3580.6 3621.6 1786.7 2616.5 455.90 -7.93 243 4029.74 0.00 0.00 3.86 0.000 0.000 0.155 3601.88 3581.12 3622.62 1785.44 1192.62 0 0 0 30.00 30.00 15.94

4062.51 1060 -116.79 -2.04 0.00 3601.2 3580.1 3622.2 1785.9 1192.5 459.51 -9.05 251 4068.54 0.00 0.00 3.44 0.000 0.000 0.063 3601.28 3580.00 3622.56 1786.44 2617.19 0 0 0 30.00 30.00 16.00

4438.25 32 -116.79 -2.04 0.00 3601.4 3580.2 3622.6 1786.4 2617.9 489.64 -7.96 266 4439.81 0.00 0.00 0.00 0.000 0.000 0.000 3601.41 3580.31 3622.50 1784.75 2618.00 0 0 0 30.00 30.00 30.00

4828.27 548 -116.79 -2.04 -80.00 3602.0 3580.6 3623.3 1786.8 2618.1 520.23 -7.77 279 4834.78 0.00 0.00 3.89 0.000 0.000 0.157 3600.78 3579.31 3622.25 1786.38 1193.00 0 0 0 30.00 30.00 16.00

4887.51 1028 -116.79 -2.04 0.00 3601.7 3580.7 3622.8 1786.2 1192.9 525.61 -9.22 291 4893.60 0.00 0.00 3.42 0.000 0.000 0.065 3603.41 3582.19 3624.62 1786.69 2615.94 0 0 0 30.00 30.00 16.07

5273.32 32 -116.79 -2.04 0.00 3601.8 3580.4 3623.2 1786.4 2616.6 555.15 -7.60 308 5274.88 0.00 0.00 0.00 0.000 0.000 0.000 3602.22 3580.56 3623.88 1784.50 2616.81 0 0 0 30.00 30.00 30.00

5663.31 548 -116.79 -2.04 -80.00 3602.5 3580.6 3624.4 1786.9 2616.9 584.13 -7.39 321 5669.82 0.00 0.00 3.84 0.000 0.000 0.156 3603.69 3581.44 3625.94 1786.56 1190.94 0 0 0 30.00 30.00 16.04

5712.59 1060 -116.79 -2.04 0.00 3603.1 3580.1 3626.0 1786.1 1191.0 588.41 -8.76 331 5719.33 0.00 0.00 3.44 0.000 0.000 0.066 3602.72 3581.00 3624.44 1786.44 2616.56 0 0 0 30.00 30.00 16.12

6108.35 548 -116.79 -2.04 -80.00 3603.4 3580.8 3626.1 1786.6 2616.4 617.74 -7.34 345 6114.97 0.00 0.00 3.85 0.000 0.000 0.155 3603.44 3580.19 3626.69 1786.44 1192.31 0 0 0 30.00 30.00 16.07

6137.61 1060 -116.79 -2.04 0.00 3603.5 3580.7 3626.2 1786.3 1192.4 620.23 -7.43 351 6143.62 0.00 0.00 3.42 0.000 0.000 0.063 3603.38 3581.12 3625.62 1786.81 2617.31 0 0 0 30.00 30.00 16.14

6523.36 32 -116.79 -2.04 0.00 3604.0 3580.0 3628.0 1786.1 2617.0 648.25 -7.19 368 6524.91 0.00 0.00 0.00 0.000 0.000 0.000 3604.25 3580.06 3628.44 1784.38 2616.44 0 0 0 30.00 30.00 30.00

6913.37 548 -116.79 -2.04 -80.00 3604.4 3580.2 3628.6 1786.1 2617.4 676.11 -7.11 381 6919.87 0.00 0.00 3.85 0.000 0.000 0.155 3604.53 3580.12 3628.94 1785.31 1192.75 0 0 0 30.00 30.00 16.08

6977.65 1060 -116.79 -2.04 0.00 3604.9 3580.5 3629.2 1786.4 1192.9 681.49 -8.49 394 6983.65 0.00 0.00 3.42 0.000 0.000 0.065 3605.78 3582.06 3629.50 1785.19 2614.19 0 0 0 30.00 30.00 16.16

7358.40 32 -116.79 -2.04 0.00 3605.1 3580.8 3629.5 1786.2 2614.9 708.74 -7.14 410 7359.95 0.00 0.00 0.00 0.000 0.000 0.000 3605.53 3581.94 3629.12 1786.19 2615.06 0 0 0 30.00 30.00 30.00

7748.41 548 -116.79 -2.04 -80.00 3605.5 3580.9 3630.1 1786.3 2614.5 736.03 -6.87 423 7754.95 0.00 0.00 3.86 0.000 0.000 0.156 3606.19 3581.88 3630.50 1785.94 1192.00 0 0 0 30.00 30.00 16.11

7803.42 1060 -116.79 -2.04 0.00 3604.9 3580.2 3629.5 1785.8 1192.3 740.40 -8.17 434 7809.69 0.00 0.00 3.39 0.000 0.000 0.066 3605.28 3581.06 3629.50 1786.38 2615.56 0 0 0 30.00 30.00 16.18

8188.44 32 -116.79 -2.04 0.00 3605.3 3580.9 3629.8 1786.4 2614.0 766.66 -6.73 451 8190.00 0.00 0.00 0.00 0.000 0.000 0.000 3604.88 3581.00 3628.75 1786.38 2615.00 0 0 0 30.00 30.00 30.00

8578.45 548 -116.79 -2.04 -80.00 3605.5 3581.0 3629.9 1786.2 2614.9 792.26 -6.50 464 8584.96 0.00 0.00 3.83 0.000 0.000 0.156 3605.25 3581.31 3629.19 1786.06 1192.25 0 0 0 30.00 30.00 16.12

8627.72 1060 -116.79 -2.04 0.00 3605.1 3580.5 3629.6 1786.9 1192.1 796.07 -7.72 474 8634.41 0.00 0.00 3.39 0.000 0.000 0.065 3605.81 3581.75 3629.88 1786.69 2615.62 0 0 0 30.00 30.00 16.19

9002.96 548 -116.79 -2.04 -80.00 3605.6 3581.1 3630.2 1785.9 2614.4 819.80 -6.45 487 9011.33 0.00 0.00 3.81 0.000 0.000 0.154 3605.09 3580.56 3629.62 1786.50 1193.25 0 0 0 30.00 30.00 16.11

9031.44 1060 -116.79 -2.04 0.00 3605.1 3580.9 3629.4 1786.6 1193.3 822.50 -6.49 493 9037.72 0.00 0.00 3.38 0.000 0.000 0.063 3604.50 3579.88 3629.12 1786.00 2615.50 0 0 0 30.00 30.00 16.17

9416.47 32 -116.79 -2.04 0.00 3605.2 3580.9 3629.4 1786.4 2615.0 847.24 -6.35 510 9418.03 0.00 0.00 0.00 0.000 0.000 0.000 3605.59 3580.81 3630.38 1786.38 2614.94 0 0 0 30.00 30.00 30.00

9806.48 548 -116.79 -2.04 -80.00 3606.2 3581.3 3631.2 1786.2 2615.4 872.11 -6.37 523 9812.97 0.00 0.00 3.86 0.000 0.000 0.157 3606.47 3581.19 3631.75 1786.25 1191.88 0 0 0 30.00 30.00 16.04

9875.75 1060 -116.79 -2.04 0.00 3605.9 3581.4 3630.4 1786.0 1192.1 877.39 -7.71 537 9881.79 0.00 0.00 3.44 0.000 0.000 0.067 3607.06 3582.06 3632.06 1785.75 2615.56 0 0 0 30.00 30.00 16.10

10251.50 32 -116.79 -2.04 0.00 3606.2 3580.8 3631.6 1785.8 2615.4 901.16 -6.23 552 10253.05 0.00 0.00 0.00 0.000 0.000 0.000 3605.72 3581.62 3629.81 1784.81 2614.88 0 0 0 30.00 30.00 30.00

10641.51 548 -116.79 -2.04 -80.00 3605.7 3580.7 3630.6 1786.1 2615.3 924.73 -5.99 565 10648.00 0.00 0.00 3.86 0.000 0.000 0.157 3606.28 3581.19 3631.38 1784.38 1193.31 0 0 0 30.00 30.00 16.05

10685.78 1060 -116.79 -2.04 0.00 3605.7 3580.9 3630.5 1786.2 1193.0 927.86 -6.12 574 10691.78 0.00 0.00 3.41 0.000 0.000 0.066 3606.78 3581.69 3631.88 1786.69 2614.38 0 0 0 30.00 30.00 16.10

11056.54 32 -116.79 -2.04 0.00 3606.1 3581.3 3630.9 1786.4 2614.6 949.73 -5.86 588 11058.10 0.00 0.00 0.00 0.000 0.000 0.000 3606.03 3580.56 3631.50 1784.50 2614.56 0 0 0 30.00 30.00 30.00

11446.57 32 -116.79 -2.04 0.00 3606.0 3581.0 3631.1 1786.1 2614.4 972.87 -5.98 601 11448.13 0.00 0.00 0.00 0.000 0.000 0.000 3606.38 3581.31 3631.44 1786.75 2615.00 0 0 0 30.00 30.00 30.00

11746 end dive: TARGET_DEPTH_EXCEEDED

state 11746 begin apogee

11748.03 10243 0.00 -0.39 0.00 3606.5 3581.9 3631.1 1786.7 2725.0 990.95 -6.05 611 11857.50 100.68 2.90 0.05 2.204 0.147 0.391 3118.06 3046.75 3189.38 2202.44 2697.88 0 0 0 11.99 16.10 15.41

11859 end apogee: CONTROL_FINISHED_OK

state 11859 begin climb

11860.01 10503 116.79 2.04 80.00 3118.0 3048.4 3187.5 2201.9 2697.4 991.15 0.00 614 11980.96 104.00 3.90 3.72 2.136 0.068 0.142 2641.22 2547.06 2735.38 2796.94 4006.50 0 0 0 11.61 15.47 15.16

11988.39 1028 116.79 2.04 0.00 2638.4 2547.9 2728.9 2796.4 4007.5 982.05 18.57 634 11994.39 0.00 0.00 3.36 0.000 0.000 0.069 2638.22 2548.56 2727.88 2797.50 2692.88 0 0 0 30.00 30.00 15.34

12374.14 16646 116.79 2.04 80.00 2627.0 2545.8 2708.1 2797.4 2693.2 889.49 23.98 651 12380.55 0.00 0.00 3.53 0.000 0.000 0.127 2625.34 2544.56 2706.12 2796.62 4008.56 0 0 0 30.00 30.00 15.75

12423.42 17414 116.79 2.04 0.00 2626.0 2545.3 2706.8 2796.4 4007.8 876.79 25.67 661 12430.10 0.00 0.00 3.27 0.000 0.000 0.070 2627.31 2546.56 2708.06 2796.62 2691.56 0 0 0 30.00 30.00 15.81

12819.17 16646 116.79 2.04 80.00 2623.8 2544.9 2702.6 2796.8 2691.2 784.42 23.09 675 12825.56 0.00 0.00 3.51 0.000 0.000 0.126 2623.66 2545.50 2701.81 2793.81 4008.38 0 0 0 30.00 30.00 15.89

12898.45 17414 116.79 2.04 0.00 2623.0 2545.1 2700.9 2796.1 4008.6 764.56 25.26 691 12905.13 0.00 0.00 3.26 0.000 0.000 0.070 2624.22 2546.69 2701.75 2796.56 2690.25 0 0 0 30.00 30.00 15.94

13294.19 16646 116.79 2.04 80.00 2622.3 2544.6 2700.1 2796.3 2689.5 675.11 22.31 705 13300.55 0.00 0.00 3.49 0.000 0.000 0.125 2621.12 2544.06 2698.19 2796.50 4008.75 0 0 0 30.00 30.00 15.96

13379.25 17414 116.79 2.04 0.00 2621.7 2545.2 2698.2 2795.9 4008.4 654.70 24.38 722 13385.80 0.00 0.00 3.21 0.000 0.000 0.070 2621.78 2544.94 2698.62 2794.81 2689.94 0 0 0 30.00 30.00 16.02

13764.26 16646 116.79 2.04 80.00 2621.2 2544.6 2697.7 2796.7 2690.3 570.72 21.35 739 13770.84 0.00 0.00 3.47 0.000 0.000 0.125 2623.00 2545.62 2700.38 2797.88 4008.31 0 0 0 30.00 30.00 16.01

13849.27 17414 116.79 2.04 0.00 2620.6 2544.6 2696.7 2797.4 4008.3 551.30 23.13 756 13855.72 0.00 0.00 3.21 0.000 0.000 0.070 2622.16 2545.88 2698.44 2797.94 2690.25 0 0 0 30.00 30.00 16.06

14234.30 16386 116.79 2.04 0.00 2620.6 2544.1 2697.0 2797.6 2690.1 470.04 20.83 773 14235.90 0.00 0.00 0.00 0.000 0.000 0.000 2621.03 2544.50 2697.56 2797.31 2689.81 0 0 0 30.00 30.00 30.00

14624.30 16646 116.79 2.04 80.00 2620.2 2544.6 2695.8 2797.2 2690.1 390.39 20.38 786 14630.84 0.00 0.00 3.47 0.000 0.000 0.124 2618.31 2542.62 2694.00 2797.19 4008.31 0 0 0 30.00 30.00 16.06

14778.62 17414 116.79 2.04 0.00 2619.9 2544.4 2695.4 2797.4 4008.2 357.32 21.79 817 14784.74 0.00 0.00 3.22 0.000 0.000 0.069 2620.28 2545.81 2694.75 2798.31 2690.69 0 0 0 30.00 30.00 16.11

15159.36 16902 116.79 2.04 -80.00 2619.8 2544.8 2694.8 2797.9 2691.3 292.35 16.21 833 15166.13 0.00 0.00 3.85 0.000 0.000 0.138 2619.00 2543.50 2694.50 2796.31 1246.75 0 0 0 30.00 30.00 16.08

15391.77 11303 215.90 2.44 0.00 2620.0 2545.6 2694.3 2797.4 1246.9 270.53 3.95 879 15487.47 83.19 0.57 3.58 1.299 0.096 0.061 2240.94 2139.19 2342.69 2891.69 2738.81 0 0 0 12.05 16.10 16.14

15850.66 16646 215.90 2.44 80.00 2226.4 2133.2 2319.6 2890.4 2738.8 216.27 11.56 910 15857.15 0.00 0.00 3.40 0.000 0.000 0.129 2225.84 2132.44 2319.25 2891.38 4007.25 0 0 0 30.00 30.00 15.87

15974.96 17414 215.90 2.44 0.00 2224.7 2132.8 2316.6 2891.8 4006.7 201.60 11.71 935 15981.09 0.00 0.00 3.26 0.000 0.000 0.068 2225.38 2133.19 2317.56 2891.56 2689.75 0 0 0 30.00 30.00 15.95

16355.71 16902 215.90 2.44 -80.00 2223.1 2133.1 2313.2 2890.8 2689.8 162.39 10.35 951 16363.48 0.00 0.00 3.90 0.000 0.000 0.139 2222.59 2132.19 2313.00 2891.38 1246.94 0 0 0 30.00 30.00 15.92

16571.01 17414 215.90 2.44 0.00 2222.1 2133.9 2310.2 2891.8 1246.7 137.14 11.47 994 16578.38 0.00 0.00 3.64 0.000 0.000 0.063 2221.97 2133.38 2310.56 2892.25 2736.19 0 0 0 30.00 30.00 15.97

16946.80 8742 234.98 2.52 -80.00 2221.9 2133.8 2310.1 2891.9 2736.1 103.98 8.16 1009 16973.64 17.76 0.00 4.05 1.060 0.000 0.137 2160.97 2068.19 2253.75 2891.81 1246.50 0 0 0 11.87 30.00 15.86

17066.87 1028 234.98 2.52 0.00 2156.7 2067.4 2246.0 2891.9 1246.2 92.31 10.66 1033 17073.53 0.00 0.00 3.64 0.000 0.000 0.063 2157.09 2067.88 2246.31 2890.19 2734.88 0 0 0 30.00 30.00 15.92

17451.94 10535 340.66 2.94 80.00 2154.4 2065.0 2243.8 2892.2 2734.8 66.54 3.60 1050 17575.18 111.71 0.76 3.54 1.061 0.095 0.131 1727.84 1629.00 1826.69 3011.38 4009.75 0 0 0 11.94 15.93 15.52

17802.75 11303 509.26 3.61 0.00 1719.7 1629.2 1810.2 3013.4 4008.6 42.63 0.29 1119 18028.44 210.19 1.05 3.32 0.996 0.093 0.068 1044.06 929.00 1159.12 3174.44 2690.31 0 0 0 11.76 15.74 15.76

18391.69 10791 632.26 4.11 -80.00 1037.1 929.7 1144.4 3174.0 2689.6 24.62 2.69 1188 18577.36 169.19 0.77 4.11 0.968 0.108 0.142 541.94 432.06 651.81 3292.75 1247.62 0 0 0 11.77 15.73 15.35

18804.96 11303 810.22 4.82 0.00 538.7 434.1 643.2 3293.7 1247.5 10.05 -0.20 1269 18829.97 15.98 1.10 3.68 0.890 0.105 0.060 500.66 400.50 600.81 3465.50 2738.81 0 0 0 11.68 15.69 15.73

18936 end climb: NO_VERTICAL_VELOCITY

state 18936 begin subsurface finish

18937.16 32295 477.53 1.91 -80.00 500.2 401.1 599.2 3467.0 2687.0 9.88 0.13 1284 18940.05 0.00 1.36 0.00 0.000 0.297 0.000 500.47 401.38 599.56 3305.38 2686.75 0 0 0 30.00 15.62 30.00

18940 end subsurface finish: NO_VERTICAL_VELOCITY

state 18940 begin surface

ID	235	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	11	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	30	XPDR_INT	13
DIVE	131	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_REP	11.5
N_DIVES	0	SM_CC	700	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_YINT	0.5
D_SURF	2	FILEMGR	2	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	990	COMM_SEQ	7	C_VBD	3120	MOTHERBOARD	6
D_ABORT	1030	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
D_NO_BLEED	450	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	3	NOCOMM_ACTION	129	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	800	DEVICE4	-1
D_FINISH	10	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0040000002	DEVICE5	-1
D_PITCH	2	NETBOX	1	UNCOM_BLEED	400	DEVICE6	-1
D_SAFE	500	CALL_TRIES	3	VBD_MAXERRORS	2	LOGGERS	1
D_CALL	4.5	CALL_WAIT	45	C_VBD_AUTO_DELTA	0.25	LOGGERDEVICE1	7
SURFACE_URGENCY	5	CAPUPLOAD	0	C_VBD_AUTO_MAX	25	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	5	CAPMAXSIZE	10000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	10	T_GPS	3	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	360	N_GPS	100440	LOITER_W_DBAND	2	COMPASS_DEVICE	66
T_MISSION	720	T_RSLEEP	2	LOITER_DBDW	400	COMPASS2_DEVICE	-1
T_ABORT	2880	STROBE	0	LOITER_D_TOP	400	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	700	GPS_DEVICE	48
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	240	RAFOS_HIT_WINDOW	10800	CF8_MAXERRORS	0	NAV_DEVICE	6
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	230	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	0	PITCH_MAX	3900	MINV_24V	0	NAV4_DEVICE	-1
USE_ICE	1	C_PITCH	2295.5884	MINV_10V	0	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.07	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_10V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	12.816787	FG_AHR_10V	9.5403948	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	36.881058	SEABIRD_T_G	0.0042874566
MAX_BUOY	120	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062267116
GLIDE_SLOPE	45	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-157.91238	SEABIRD_T_I	2.1947648e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_SLOPE	0.00022957686	SEABIRD_T_J	2.2037441e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	COMPASS_USE	49156	SEABIRD_C_G	-9.9419231
MASS	72387	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1.1375728
NAV_MODE	0	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0016241658
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.0002088599
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	2
HD_A	0.00281838	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_RECORDABOVE	2000.0
HD_B	0.0139236	ROLL_MIN	1200	ALTIM_PING_DEPTH	0	SC_PROFILE	7.0
HD_C	5.7000002e-06	ROLL_MAX	4000	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
ESCAPE_HEADING	180	C_ROLL_DIVE	2593.1365	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2713.5149	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	20	HEAD_ERRBAND	10	XPDR_VALID	6

GPS1	280823,001019,7518.201,-14550.920,0,3510.0,0,15.4	TGT_RADIUS	5000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	11.87	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	22.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280823,001019,7518.201,-14550.920,0,3510.0,0,15.4	MHEAD_RNG_PITCHd_Wd	231.5,417014,-20.2,-9.167,-25.08,1951,1.243
SPEED_LIMITS	0.092,0.196	D_GRID	990
TGT_NAME	LISTEN	IRON	1.000000,-0.058064,-0.069359,-0.064846,1.037432,-0.079687,0.059845,0.024819,0.912228,-1019.682983,-140.930878,505.300598
TGT_LATLONG	7350.000,-15815.000	OSC	8000307

NAV	1693212013,9.6,4,stop	_24V_AH	14.60,46.011
MODEM_MSG	CACST,8,1,20230828081616.660345,18,1189,24,0111,0000,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,-0.9,0.75,-100,2.25,-01,0.06,25,925,0025,0,-1,00,00*14	_10V_AH	15.00,0.000
FREEZE	9.88,-0.277,-1.403,2,37,0	FG_AHR_24Vo	37.193
FINISH1	9.9,1.0206,478	FG_AHR_10Vo	9.649
FINISH2	9.9	MEM0	59796,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	7539.64,-14408.57,200823,025928	MEM2	1024188,32,21860,94
TCM_TEMP	1.86	DATA_FILE_SIZE	38511,1285
SC_FREEKB	3836832	CAP_FILE_SIZE	373624,0
RAFOS_CLK	-2	SDSIZE	3918848,3865312
MODEM	2,1693195821,75.68000,-146.03000,21.173,31018.3	SDFILEDIR	988,132
RAFOS_FIX	7518.045898,-14803.139648,280823,080816,4,255,2.13	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	48.36	SOUNDSPEED	1465.0
TEMP	-0.01	IMPLIED_C_PITCH	2118,12.84,575,0.0,12.83
INTERNAL_PRESSURE	8.09906	GPS	280823,081616,7518.046,-14803.140,0,5255.0,0,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	887	2203	28567.58	nil	0	0	0.00
Pitch_motor	20	296	90.23	nil	0	0	0.00
Roll_motor	209	390	1192.67	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	0	0	0.00	nil	0	0	0.00
Core	4177	5	320.86	SciCon	18947	4	1251.07
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	14792	0	71.00
Compass	2209	5	165.72
RAFOS	6245	40	3747.01
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
5.85	16386	-116.79	-2.04	0.00	496.2	388.9	603.5	2937.0	2570.4	0.00	0.00	0	13.92	7.20	0.00	0.00	0.008	0.000	0.000	759.94	687.69	832.19	2936.50	2570.06	0	0	0	15.84	30.00	30.00
14.16	20775	-116.79	-2.04	80.00	760.4	687.8	833.0	2936.6	2570.0	11.17	0.00	1	101.37	68.05	8.40	3.89	0.005	0.176	0.143	3598.03	3580.00	3616.06	1785.88	4007.31	0	0	0	15.83	15.67	15.73
144.40	1028	-116.79	-2.04	0.00	3599.6	3580.6	3618.6	1786.1	4007.1	40.46	-27.49	25	150.23	0.00	0.00	3.59	0.000	0.000	0.083	3600.47	3580.62	3620.31	1786.75	2575.62	0	0	0	30.00	30.00	15.79
529.43	516	-116.79	-2.04	-80.00	3600.8	3581.2	3620.4	1786.4	2575.9	99.01	-13.97	42	535.34	0.00	0.00	3.81	0.000	0.000	0.161	3600.00	3580.00	3620.00	1786.12	1191.69	0	0	0	30.00	30.00	15.86
674.48	1028	-116.79	-2.04	0.00	3600.2	3580.4	3620.0	1786.6	1191.9	122.86	-16.74	71	680.45	0.00	0.00	3.46	0.000	0.000	0.065	3601.28	3581.38	3621.19	1786.31	2616.06	0	0	0	30.00	30.00	15.95
1052.70	516	-116.79	-2.04	-80.00	3600.8	3580.5	3621.1	1786.6	2615.6	176.55	-13.97	89	1059.91	0.00	0.00	3.90	0.000	0.000	0.154	3600.47	3580.44	3620.50	1784.50	1192.25	0	0	0	30.00	30.00	15.93
1102.30	1028	-116.79	-2.04	0.00	3600.7	3580.9	3620.4	1786.2	1192.3	184.59	-16.36	99	1108.90	0.00	0.00	3.45	0.000	0.000	0.064	3601.81	3582.19	3621.44	1786.38	2615.56	0	0	0	30.00	30.00	15.99
1498.03	516	-116.79	-2.04	-80.00	3600.9	3580.7	3621.2	1787.0	2615.3	238.22	-13.18	113	1504.37	0.00	0.00	3.86	0.000	0.000	0.156	3601.84	3581.56	3622.12	1785.62	1192.56	0	0	0	30.00	30.00	15.95
1567.32	1028	-116.79	-2.04	0.00	3600.5	3579.8	3621.2	1786.0	1192.8	248.69	-15.11	127	1573.20	0.00	0.00	3.46	0.000	0.000	0.065	3601.00	3580.75	3621.25	1785.88	2615.75	0	0	0	30.00	30.00	16.05
1943.11	292	-116.79	-2.04	80.00	3601.0	3580.4	3621.7	1786.1	2615.9	288.33	-8.99	142	1949.37	0.00	0.00	3.72	0.000	0.000	0.141	3599.72	3579.12	3620.31	1786.31	4006.69	0	0	0	30.00	30.00	15.98
1998.07	1028	-116.79	-2.04	0.00	3601.3	3580.0	3622.6	1785.7	4005.7	293.60	-9.79	153	2004.25	0.00	0.00	3.45	0.000	0.000	0.079	3601.03	3580.81	3621.25	1784.44	2572.62	0	0	0	30.00	30.00	16.02
2383.13	32	-116.79	-2.04	0.00	3601.6	3580.4	3622.8	1786.4	2572.4	327.00	-7.96	170	2384.65	0.00	0.00	0.00	0.000	0.000	0.000	3601.88	3582.19	3621.56	1784.38	2572.44	0	0	0	30.00	30.00	30.00
2773.14	32	-116.79	-2.04	0.00	3601.5	3580.0	3622.9	1785.8	2572.6	357.51	-7.56	183	2774.66	0.00	0.00	0.00	0.000	0.000	0.000	3600.38	3579.94	3620.81	1785.88	2572.69	0	0	0	30.00	30.00	30.00
3163.15	548	-116.79	-2.04	-80.00	3601.0	3580.1	3621.9	1786.6	2572.9	387.19	-7.58	196	3169.52	0.00	0.00	3.74	0.000	0.000	0.163	3601.28	3580.62	3621.94	1786.62	1193.81	0	0	0	30.00	30.00	15.94
3197.45	1060	-116.79	-2.04	0.00	3601.4	3581.2	3621.7	1786.4	1193.6	390.27	-7.91	203	3203.50	0.00	0.00	3.44	0.000	0.000	0.065	3600.16	3580.19	3620.12	1786.00	2617.56	0	0	0	30.00	30.00	16.01
3578.21	548	-116.79	-2.04	-80.00	3600.9	3579.8	3622.1	1786.6	2618.2	420.00	-7.86	219	3584.70	0.00	0.00	3.82	0.000	0.000	0.157	3602.38	3581.88	3622.88	1786.06	1192.06	0	0	0	30.00	30.00	15.94
3627.44	1028	-116.79	-2.04	0.00	3600.7	3579.9	3621.4	1786.2	1191.9	424.57	-9.34	229	3634.22	0.00	0.00	3.44	0.000	0.000	0.064	3601.44	3581.12	3621.75	1786.62	2616.31	0	0	0	30.00	30.00	16.01
4023.23	548	-116.79	-2.04	-80.00	3601.1	3580.6	3621.6	1786.7	2616.5	455.90	-7.93	243	4029.74	0.00	0.00	3.86	0.000	0.000	0.155	3601.88	3581.12	3622.62	1785.44	1192.62	0	0	0	30.00	30.00	15.94
4062.51	1060	-116.79	-2.04	0.00	3601.2	3580.1	3622.2	1785.9	1192.5	459.51	-9.05	251	4068.54	0.00	0.00	3.44	0.000	0.000	0.063	3601.28	3580.00	3622.56	1786.44	2617.19	0	0	0	30.00	30.00	16.00
4438.25	32	-116.79	-2.04	0.00	3601.4	3580.2	3622.6	1786.4	2617.9	489.64	-7.96	266	4439.81	0.00	0.00	0.00	0.000	0.000	0.000	3601.41	3580.31	3622.50	1784.75	2618.00	0	0	0	30.00	30.00	30.00
4828.27	548	-116.79	-2.04	-80.00	3602.0	3580.6	3623.3	1786.8	2618.1	520.23	-7.77	279	4834.78	0.00	0.00	3.89	0.000	0.000	0.157	3600.78	3579.31	3622.25	1786.38	1193.00	0	0	0	30.00	30.00	16.00
4887.51	1028	-116.79	-2.04	0.00	3601.7	3580.7	3622.8	1786.2	1192.9	525.61	-9.22	291	4893.60	0.00	0.00	3.42	0.000	0.000	0.065	3603.41	3582.19	3624.62	1786.69	2615.94	0	0	0	30.00	30.00	16.07
5273.32	32	-116.79	-2.04	0.00	3601.8	3580.4	3623.2	1786.4	2616.6	555.15	-7.60	308	5274.88	0.00	0.00	0.00	0.000	0.000	0.000	3602.22	3580.56	3623.88	1784.50	2616.81	0	0	0	30.00	30.00	30.00
5663.31	548	-116.79	-2.04	-80.00	3602.5	3580.6	3624.4	1786.9	2616.9	584.13	-7.39	321	5669.82	0.00	0.00	3.84	0.000	0.000	0.156	3603.69	3581.44	3625.94	1786.56	1190.94	0	0	0	30.00	30.00	16.04
5712.59	1060	-116.79	-2.04	0.00	3603.1	3580.1	3626.0	1786.1	1191.0	588.41	-8.76	331	5719.33	0.00	0.00	3.44	0.000	0.000	0.066	3602.72	3581.00	3624.44	1786.44	2616.56	0	0	0	30.00	30.00	16.12
6108.35	548	-116.79	-2.04	-80.00	3603.4	3580.8	3626.1	1786.6	2616.4	617.74	-7.34	345	6114.97	0.00	0.00	3.85	0.000	0.000	0.155	3603.44	3580.19	3626.69	1786.44	1192.31	0	0	0	30.00	30.00	16.07
6137.61	1060	-116.79	-2.04	0.00	3603.5	3580.7	3626.2	1786.3	1192.4	620.23	-7.43	351	6143.62	0.00	0.00	3.42	0.000	0.000	0.063	3603.38	3581.12	3625.62	1786.81	2617.31	0	0	0	30.00	30.00	16.14
6523.36	32	-116.79	-2.04	0.00	3604.0	3580.0	3628.0	1786.1	2617.0	648.25	-7.19	368	6524.91	0.00	0.00	0.00	0.000	0.000	0.000	3604.25	3580.06	3628.44	1784.38	2616.44	0	0	0	30.00	30.00	30.00
6913.37	548	-116.79	-2.04	-80.00	3604.4	3580.2	3628.6	1786.1	2617.4	676.11	-7.11	381	6919.87	0.00	0.00	3.85	0.000	0.000	0.155	3604.53	3580.12	3628.94	1785.31	1192.75	0	0	0	30.00	30.00	16.08
6977.65	1060	-116.79	-2.04	0.00	3604.9	3580.5	3629.2	1786.4	1192.9	681.49	-8.49	394	6983.65	0.00	0.00	3.42	0.000	0.000	0.065	3605.78	3582.06	3629.50	1785.19	2614.19	0	0	0	30.00	30.00	16.16
7358.40	32	-116.79	-2.04	0.00	3605.1	3580.8	3629.5	1786.2	2614.9	708.74	-7.14	410	7359.95	0.00	0.00	0.00	0.000	0.000	0.000	3605.53	3581.94	3629.12	1786.19	2615.06	0	0	0	30.00	30.00	30.00
7748.41	548	-116.79	-2.04	-80.00	3605.5	3580.9	3630.1	1786.3	2614.5	736.03	-6.87	423	7754.95	0.00	0.00	3.86	0.000	0.000	0.156	3606.19	3581.88	3630.50	1785.94	1192.00	0	0	0	30.00	30.00	16.11
7803.42	1060	-116.79	-2.04	0.00	3604.9	3580.2	3629.5	1785.8	1192.3	740.40	-8.17	434	7809.69	0.00	0.00	3.39	0.000	0.000	0.066	3605.28	3581.06	3629.50	1786.38	2615.56	0	0	0	30.00	30.00	16.18
8188.44	32	-116.79	-2.04	0.00	3605.3	3580.9	3629.8	1786.4	2614.0	766.66	-6.73	451	8190.00	0.00	0.00	0.00	0.000	0.000	0.000	3604.88	3581.00	3628.75	1786.38	2615.00	0	0	0	30.00	30.00	30.00
8578.45	548	-116.79	-2.04	-80.00	3605.5	3581.0	3629.9	1786.2	2614.9	792.26	-6.50	464	8584.96	0.00	0.00	3.83	0.000	0.000	0.156	3605.25	3581.31	3629.19	1786.06	1192.25	0	0	0	30.00	30.00	16.12
8627.72	1060	-116.79	-2.04	0.00	3605.1	3580.5	3629.6	1786.9	1192.1	796.07	-7.72	474	8634.41	0.00	0.00	3.39	0.000	0.000	0.065	3605.81	3581.75	3629.88	1786.69	2615.62	0	0	0	30.00	30.00	16.19
9002.96	548	-116.79	-2.04	-80.00	3605.6	3581.1	3630.2	1785.9	2614.4	819.80	-6.45	487	9011.33	0.00	0.00	3.81	0.000	0.000	0.154	3605.09	3580.56	3629.62	1786.50	1193.25	0	0	0	30.00	30.00	16.11
9031.44	1060	-116.79	-2.04	0.00	3605.1	3580.9	3629.4	1786.6	1193.3	822.50	-6.49	493	9037.72	0.00	0.00	3.38	0.000	0.000	0.063	3604.50	3579.88	3629.12	1786.00	2615.50	0	0	0	30.00	30.00	16.17
9416.47	32	-116.79	-2.04	0.00	3605.2	3580.9	3629.4	1786.4	2615.0	847.24	-6.35	510	9418.03	0.00	0.00	0.00	0.000	0.000	0.000	3605.59	3580.81	3630.38	1786.38	2614.94	0	0	0	30.00	30.00	30.00
9806.48	548	-116.79	-2.04	-80.00	3606.2	3581.3	3631.2	1786.2	2615.4	872.11	-6.37	523	9812.97	0.00	0.00	3.86	0.000	0.000	0.157	3606.47	3581.19	3631.75	1786.25	1191.88	0	0	0	30.00	30.00	16.04
9875.75	1060	-116.79	-2.04	0.00	3605.9	3581.4	3630.4	1786.0	1192.1	877.39	-7.71	537	9881.79	0.00	0.00	3.44	0.000	0.000	0.067	3607.06	3582.06	3632.06	1785.75	2615.56	0	0	0	30.00	30.00	16.10
10251.50	32	-116.79	-2.04	0.00	3606.2	3580.8	3631.6	1785.8	2615.4	901.16	-6.23	552	10253.05	0.00	0.00	0.00	0.000	0.000	0.000	3605.72	3581.62	3629.81	1784.81	2614.88	0	0	0	30.00	30.00	30.00
10641.51	548	-116.79	-2.04	-80.00	3605.7	3580.7	3630.6	1786.1	2615.3	924.73	-5.99	565	10648.00	0.00	0.00	3.86	0.000	0.000	0.157	3606.28	3581.19	3631.38	1784.38	1193.31	0	0	0	30.00	30.00	16.05
10685.78	1060	-116.79	-2.04	0.00	3605.7	3580.9	3630.5	1786.2	1193.0	927.86	-6.12	574	10691.78	0.00	0.00	3.41	0.000	0.000	0.066	3606.78	3581.69	3631.88	1786.69	2614.38	0	0	0	30.00	30.00	16.10
11056.54	32	-116.79	-2.04	0.00	3606.1	3581.3	3630.9	1786.4	2614.6	949.73	-5.86	588	11058.10	0.00	0.00	0.00	0.000	0.000	0.000	3606.03	3580.56	3631.50	1784.50	2614.56	0	0	0	30.00	30.00	30.00
11446.57	32	-116.79	-2.04	0.00	3606.0	3581.0	3631.1	1786.1	2614.4	972.87	-5.98	601	11448.13	0.00	0.00	0.00	0.000	0.000	0.000	3606.38	3581.31	3631.44	1786.75	2615.00	0	0	0	30.00	30.00	30.00
11746	end dive: TARGET_DEPTH_EXCEEDED
state	11746	begin apogee
11748.03	10243	0.00	-0.39	0.00	3606.5	3581.9	3631.1	1786.7	2725.0	990.95	-6.05	611	11857.50	100.68	2.90	0.05	2.204	0.147	0.391	3118.06	3046.75	3189.38	2202.44	2697.88	0	0	0	11.99	16.10	15.41
11859	end apogee: CONTROL_FINISHED_OK
state	11859	begin climb
11860.01	10503	116.79	2.04	80.00	3118.0	3048.4	3187.5	2201.9	2697.4	991.15	0.00	614	11980.96	104.00	3.90	3.72	2.136	0.068	0.142	2641.22	2547.06	2735.38	2796.94	4006.50	0	0	0	11.61	15.47	15.16
11988.39	1028	116.79	2.04	0.00	2638.4	2547.9	2728.9	2796.4	4007.5	982.05	18.57	634	11994.39	0.00	0.00	3.36	0.000	0.000	0.069	2638.22	2548.56	2727.88	2797.50	2692.88	0	0	0	30.00	30.00	15.34
12374.14	16646	116.79	2.04	80.00	2627.0	2545.8	2708.1	2797.4	2693.2	889.49	23.98	651	12380.55	0.00	0.00	3.53	0.000	0.000	0.127	2625.34	2544.56	2706.12	2796.62	4008.56	0	0	0	30.00	30.00	15.75
12423.42	17414	116.79	2.04	0.00	2626.0	2545.3	2706.8	2796.4	4007.8	876.79	25.67	661	12430.10	0.00	0.00	3.27	0.000	0.000	0.070	2627.31	2546.56	2708.06	2796.62	2691.56	0	0	0	30.00	30.00	15.81
12819.17	16646	116.79	2.04	80.00	2623.8	2544.9	2702.6	2796.8	2691.2	784.42	23.09	675	12825.56	0.00	0.00	3.51	0.000	0.000	0.126	2623.66	2545.50	2701.81	2793.81	4008.38	0	0	0	30.00	30.00	15.89
12898.45	17414	116.79	2.04	0.00	2623.0	2545.1	2700.9	2796.1	4008.6	764.56	25.26	691	12905.13	0.00	0.00	3.26	0.000	0.000	0.070	2624.22	2546.69	2701.75	2796.56	2690.25	0	0	0	30.00	30.00	15.94
13294.19	16646	116.79	2.04	80.00	2622.3	2544.6	2700.1	2796.3	2689.5	675.11	22.31	705	13300.55	0.00	0.00	3.49	0.000	0.000	0.125	2621.12	2544.06	2698.19	2796.50	4008.75	0	0	0	30.00	30.00	15.96
13379.25	17414	116.79	2.04	0.00	2621.7	2545.2	2698.2	2795.9	4008.4	654.70	24.38	722	13385.80	0.00	0.00	3.21	0.000	0.000	0.070	2621.78	2544.94	2698.62	2794.81	2689.94	0	0	0	30.00	30.00	16.02
13764.26	16646	116.79	2.04	80.00	2621.2	2544.6	2697.7	2796.7	2690.3	570.72	21.35	739	13770.84	0.00	0.00	3.47	0.000	0.000	0.125	2623.00	2545.62	2700.38	2797.88	4008.31	0	0	0	30.00	30.00	16.01
13849.27	17414	116.79	2.04	0.00	2620.6	2544.6	2696.7	2797.4	4008.3	551.30	23.13	756	13855.72	0.00	0.00	3.21	0.000	0.000	0.070	2622.16	2545.88	2698.44	2797.94	2690.25	0	0	0	30.00	30.00	16.06
14234.30	16386	116.79	2.04	0.00	2620.6	2544.1	2697.0	2797.6	2690.1	470.04	20.83	773	14235.90	0.00	0.00	0.00	0.000	0.000	0.000	2621.03	2544.50	2697.56	2797.31	2689.81	0	0	0	30.00	30.00	30.00
14624.30	16646	116.79	2.04	80.00	2620.2	2544.6	2695.8	2797.2	2690.1	390.39	20.38	786	14630.84	0.00	0.00	3.47	0.000	0.000	0.124	2618.31	2542.62	2694.00	2797.19	4008.31	0	0	0	30.00	30.00	16.06
14778.62	17414	116.79	2.04	0.00	2619.9	2544.4	2695.4	2797.4	4008.2	357.32	21.79	817	14784.74	0.00	0.00	3.22	0.000	0.000	0.069	2620.28	2545.81	2694.75	2798.31	2690.69	0	0	0	30.00	30.00	16.11
15159.36	16902	116.79	2.04	-80.00	2619.8	2544.8	2694.8	2797.9	2691.3	292.35	16.21	833	15166.13	0.00	0.00	3.85	0.000	0.000	0.138	2619.00	2543.50	2694.50	2796.31	1246.75	0	0	0	30.00	30.00	16.08
15391.77	11303	215.90	2.44	0.00	2620.0	2545.6	2694.3	2797.4	1246.9	270.53	3.95	879	15487.47	83.19	0.57	3.58	1.299	0.096	0.061	2240.94	2139.19	2342.69	2891.69	2738.81	0	0	0	12.05	16.10	16.14
15850.66	16646	215.90	2.44	80.00	2226.4	2133.2	2319.6	2890.4	2738.8	216.27	11.56	910	15857.15	0.00	0.00	3.40	0.000	0.000	0.129	2225.84	2132.44	2319.25	2891.38	4007.25	0	0	0	30.00	30.00	15.87
15974.96	17414	215.90	2.44	0.00	2224.7	2132.8	2316.6	2891.8	4006.7	201.60	11.71	935	15981.09	0.00	0.00	3.26	0.000	0.000	0.068	2225.38	2133.19	2317.56	2891.56	2689.75	0	0	0	30.00	30.00	15.95
16355.71	16902	215.90	2.44	-80.00	2223.1	2133.1	2313.2	2890.8	2689.8	162.39	10.35	951	16363.48	0.00	0.00	3.90	0.000	0.000	0.139	2222.59	2132.19	2313.00	2891.38	1246.94	0	0	0	30.00	30.00	15.92
16571.01	17414	215.90	2.44	0.00	2222.1	2133.9	2310.2	2891.8	1246.7	137.14	11.47	994	16578.38	0.00	0.00	3.64	0.000	0.000	0.063	2221.97	2133.38	2310.56	2892.25	2736.19	0	0	0	30.00	30.00	15.97
16946.80	8742	234.98	2.52	-80.00	2221.9	2133.8	2310.1	2891.9	2736.1	103.98	8.16	1009	16973.64	17.76	0.00	4.05	1.060	0.000	0.137	2160.97	2068.19	2253.75	2891.81	1246.50	0	0	0	11.87	30.00	15.86
17066.87	1028	234.98	2.52	0.00	2156.7	2067.4	2246.0	2891.9	1246.2	92.31	10.66	1033	17073.53	0.00	0.00	3.64	0.000	0.000	0.063	2157.09	2067.88	2246.31	2890.19	2734.88	0	0	0	30.00	30.00	15.92
17451.94	10535	340.66	2.94	80.00	2154.4	2065.0	2243.8	2892.2	2734.8	66.54	3.60	1050	17575.18	111.71	0.76	3.54	1.061	0.095	0.131	1727.84	1629.00	1826.69	3011.38	4009.75	0	0	0	11.94	15.93	15.52
17802.75	11303	509.26	3.61	0.00	1719.7	1629.2	1810.2	3013.4	4008.6	42.63	0.29	1119	18028.44	210.19	1.05	3.32	0.996	0.093	0.068	1044.06	929.00	1159.12	3174.44	2690.31	0	0	0	11.76	15.74	15.76
18391.69	10791	632.26	4.11	-80.00	1037.1	929.7	1144.4	3174.0	2689.6	24.62	2.69	1188	18577.36	169.19	0.77	4.11	0.968	0.108	0.142	541.94	432.06	651.81	3292.75	1247.62	0	0	0	11.77	15.73	15.35
18804.96	11303	810.22	4.82	0.00	538.7	434.1	643.2	3293.7	1247.5	10.05	-0.20	1269	18829.97	15.98	1.10	3.68	0.890	0.105	0.060	500.66	400.50	600.81	3465.50	2738.81	0	0	0	11.68	15.69	15.73
18936	end climb: NO_VERTICAL_VELOCITY
state	18936	begin subsurface finish
18937.16	32295	477.53	1.91	-80.00	500.2	401.1	599.2	3467.0	2687.0	9.88	0.13	1284	18940.05	0.00	1.36	0.00	0.000	0.297	0.000	500.47	401.38	599.56	3305.38	2686.75	0	0	0	30.00	15.62	30.00
18940	end subsurface finish: NO_VERTICAL_VELOCITY
state	18940	begin surface