Glider dive log

SPURS Mar13 * SG144 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 ESCAPE_HEADING 0 HEAD_ERRBAND 15 ALTIM_PULSE 3

MISSION 21 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

DIVE 13 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 0

N_DIVES 0 TGT_DEFAULT_LAT 4808 R_PORT_OVSHOOT 29 XPDR_INHIBIT 90

D_SURF 2 TGT_DEFAULT_LON -12223 R_STBD_OVSHOOT 43 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 2 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 400 INT_PRESSURE_YINT 0

D_TGT 990 SM_CC 300 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_ABORT 1090 N_FILEKB 4 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_BOOST 0 CALL_NDIVES 1 VBD_MIN 480 DEVICE1 -1

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3950 DEVICE2 -1

D_FINISH 0 PROTOCOL 0 C_VBD 2550 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 0 VBD_CNV -0.24529999 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 67

T_DIVE 330 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_MISSION 360 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 33

T_TURN 225 T_GPS 10 W_ADJ_DBAND 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT 5 N_GPS 20 DBDW 1 PHONE_DEVICE 48

T_NO_W 300 T_GPS_ALMANAC 0 PITCH_W_GAIN 1 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -87373.242 PITCH_W_DBAND 1 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 2 CF8_MAXERRORS 0 XPDR_DEVICE 24

USE_BATHY 0 STROBE 0 AH0_24V 350 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 MINV_24V 12 SEABIRD_T_G 0.0043491465

D_OFFGRID 1001 RAFOS_HIT_WINDOW 3600 MINV_10V 12 SEABIRD_T_H 0.00063627562

T_WATCHDOG 10 PITCH_MIN 50 FG_AHR_10V 0 SEABIRD_T_I 2.5639563e-05

RELAUNCH 1 PITCH_MAX 3920 FG_AHR_24V 0 SEABIRD_T_J 2.8485167e-06

APOGEE_PITCH -5 C_PITCH 3135 PHONE_SUPPLY 2 SEABIRD_C_G -10.038045

MAX_BUOY 150 PITCH_DBAND 0.1 PRESSURE_YINT -47.062218 SEABIRD_C_H 1.1273739

COURSE_BIAS 0 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.00011159377 SEABIRD_C_I -0.0018486013

GLIDE_SLOPE 45 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_J 0.00022594928

SPEED_FACTOR 1 PITCH_GAIN 34 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_TIMEOUT 24 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

MASS 56256 PITCH_AD_RATE 175 COMPASS_USE 4 SC_XMITPROFILE 3.0

MASS_COMP 1141.9 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_RECORDABOVE 250.0

NAV_MODE 1 PITCH_ADJ_GAIN 0.1 ALTIM_TOP_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 10 TM_XMITPROFILE 3.0

KALMAN_USE 1 ROLL_MIN 364 ALTIM_TOP_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HD_A 0.0037098001 ROLL_MAX 3945 ALTIM_TOP_MIN_OBSTACLE 1 TM_XMITRAW 0.0

HD_B 0.012019 ROLL_DEG 15 ALTIM_PING_DEPTH 0

HD_C 1.6100001e-05 C_ROLL_DIVE 2450 ALTIM_PING_DELTA 0

HEADING -1 C_ROLL_CLIMB 2250 ALTIM_FREQUENCY 13

AD7714Ch0Gain 128 D_SAFE 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY 0

AH0_10V 0 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

AH0_24V 350 D_TGT 990 PITCH_GAIN 34 SURFACE_URGENCY_TRY 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_MAX 3920 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_MIN 50 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_TIMEOUT 24 TGT_DEFAULT_LAT 4808

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12223

ALTIM_PULSE 3 FILEMGR 0 PITCH_W_DBAND 1 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 1 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 45 PRESSURE_SLOPE 0.00011159377 TM_RECORDABOVE 250.0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PRESSURE_YINT -47.062218 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0037098001 PROTOCOL 0 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_B 0.012019 P_OVSHOOT 0.039999999 T_ABORT 1440

CALL_NDIVES 1 HD_C 1.6100001e-05 RAFOS_CORR_THRESH 60 T_BOOST 0

CALL_TRIES 5 HEADING -1 RAFOS_DEVICE -1 T_DIVE 330

CALL_WAIT 60 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS 10

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 ID 144 RHO 1.023 T_GPS_CHARGE -87373.242

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_MISSION 360

COMPASS_DEVICE 33 KALMAN_USE 1 ROLL_AD_RATE 400 T_NO_W 300

COMPASS_USE 4 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE2 67 ROLL_DEG 15 T_TURN 225

C_PITCH 3135 LOGGERDEVICE3 -1 ROLL_MAX 3945 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2250 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2450 LOGGERS 3 ROLL_MIN 364 UNCOM_BLEED 20

C_VBD 2550 MASS 56256 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DBDW 1 MASS_COMP 1141.9 R_PORT_OVSHOOT 29 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 43 USE_ICE 0

DEEPGLIDERMB 0 MINV_10V 12 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_24V 12 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE2 -1 MISSION 21 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE3 -1 MOTHERBOARD 4 SEABIRD_C_G -10.038045 VBD_MAX 3950

DEVICE4 -1 NAV_MODE 1 SEABIRD_C_H 1.1273739 VBD_MAXERRORS 1

DEVICE5 -1 NOCOMM_ACTION 0 SEABIRD_C_I -0.0018486013 VBD_MIN 480

DEVICE6 -1 N_DIVES 0 SEABIRD_C_J 0.00022594928 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 13 N_FILEKB 4 SEABIRD_T_G 0.0043491465 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 N_GPS 20 SEABIRD_T_H 0.00063627562 VBD_TIMEOUT 720

D_BOOST 0 N_NOCOMM 1 SEABIRD_T_I 2.5639563e-05 W_ADJ_DBAND 1

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_J 2.8485167e-06 XPDR_DEVICE 24

D_FINISH 0 PHONE_DEVICE 48 SIM_PITCH 0 XPDR_INHIBIT 90

D_FLARE 2 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

D_NO_BLEED 200 PITCH_ADJ_DBAND 2 SM_CC 300

D_OFFGRID 1001 PITCH_ADJ_GAIN 0.1 SPEED_FACTOR 1

D_PITCH 0 PITCH_AD_RATE 175 STROBE 0

Pre-dive calculations and measurements:

GPS1 270313,114453,2443.756,-3750.474,40,0.9,40,-13.7 TGT_NAME NE

_CALLS 2 TGT_LATLONG 2447.500,-3747.160

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.237,-0.028

_SM_DEPTHo 1.16 KALMAN_X -18502.0,129.4,-174.5,31855.0,-5266.0

_SM_ANGLEo -78.3 KALMAN_Y 1711.1,29.5,23.4,17804.0,-145.6

GPS2 270313,120207,2443.847,-3750.497,4,0.9,4,-13.7 MHEAD_RNG_PITCHd_Wd 110.4,8788,-19.5,-10.000,-22.76,2222

SPEED_LIMITS 0.100,0.238 D_GRID 990

Post-dive calculations and measurements:

RESTART_TIME Sun Dec 13 09:11:33 1914

Energy measurements:

device secs mA J sensor secs mA J

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 -0.75 -146.6 33 2478 1207 1431 0.0 0.0 0 71 0.00 0.00 -46.00 0.000 16386 0.000 0.000 34 2478 2633 2684 2582 0 0 0 0 0 0 28.83 28.83 28.83

75 -0.75 -146.6 33 2478 2684 2584 2.2 -2.4 3 108 14.00 0.77 -13.98 0.000 19204 0.425 0.122 2960 2984 3148 3238 3058 0 0 0 0 0 0 14.53 14.74 14.90

339 1.43 -146.6 1904 2982 3220 3058 59.8 -28.0 20 345 1.88 0.88 0.00 0.000 3078 0.330 0.055 3439 2419 3152 3240 3064 0 0 0 0 0 0 14.64 14.80 28.83

653 1.43 -146.6 3439 2417 3240 3066 95.3 -13.5 41 659 0.00 0.73 0.00 0.000 516 0.000 0.050 3443 1929 3153 3240 3066 0 0 0 0 0 0 28.83 14.85 28.83

749 1.43 -146.6 3443 1924 3240 3066 107.5 -13.5 47 754 0.00 0.85 0.00 0.000 1030 0.000 0.067 3443 2443 3153 3240 3066 0 0 0 0 0 0 28.83 14.85 28.83

1068 1.43 -146.6 3444 2447 3237 3069 158.2 -15.1 68 1073 0.00 0.80 0.00 0.000 516 0.000 0.059 3448 1941 3153 3237 3069 0 0 0 0 0 0 28.83 14.88 28.83

1102 1.43 -146.6 3449 1936 3237 3069 163.9 -16.2 70 1107 0.00 0.82 0.00 0.000 1030 0.000 0.066 3448 2445 3153 3237 3069 0 0 0 0 0 0 28.83 14.88 28.83

1421 1.43 -146.6 3449 2449 3237 3071 217.2 -17.7 91 1426 0.00 0.80 0.00 0.000 516 0.000 0.060 3449 1941 3153 3237 3070 0 0 0 0 0 0 28.83 14.91 28.83

1655 1.43 -146.6 3449 1937 3237 3067 251.9 -16.4 105 1660 0.00 0.82 0.00 0.000 1030 0.000 0.060 3449 2452 3153 3237 3070 0 0 0 0 0 0 28.83 14.91 28.83

1971 1.43 -146.6 3449 2456 3236 3070 307.1 -16.5 116 1976 0.00 0.80 0.00 0.000 516 0.000 0.049 3449 1930 3153 3236 3070 0 0 0 0 0 0 28.83 14.97 28.83

2024 1.43 -146.6 3449 1925 3236 3070 313.9 -16.9 117 2029 0.00 0.82 0.00 0.000 1030 0.000 0.046 3450 2472 3152 3235 3070 0 0 0 0 0 0 28.83 14.98 28.83

2339 1.43 -146.6 3450 2477 3230 3075 369.1 -15.6 128 2344 0.00 0.85 0.00 0.000 516 0.000 0.067 3449 1948 3152 3230 3075 0 0 0 0 0 0 28.83 14.98 28.83

2523 1.43 -146.6 3450 1942 3230 3075 399.7 -15.1 134 2529 0.00 0.80 0.00 0.000 1030 0.000 0.075 3450 2424 3152 3230 3075 0 0 0 0 0 0 28.83 14.98 28.83

2860 1.43 -146.6 3450 2429 3227 3075 453.7 -15.6 145 2865 0.00 0.88 0.00 0.000 260 0.000 0.048 3450 3006 3151 3227 3075 0 0 0 0 0 0 28.83 15.02 28.83

2917 1.43 -146.6 3453 3012 3226 3075 460.5 -16.2 146 2924 0.00 0.88 0.00 0.000 1030 0.000 0.090 3450 2497 3150 3226 3075 0 0 0 0 0 0 28.83 14.99 28.83

3226 1.43 -146.6 3450 2493 3224 3073 512.5 -16.0 157 3231 0.00 0.95 0.00 0.000 516 0.000 0.080 3450 1914 3148 3225 3072 0 0 0 0 0 0 28.83 14.99 28.83

3290 1.43 -146.6 3450 1909 3225 3074 523.5 -16.4 159 3295 0.00 0.88 0.00 0.000 1030 0.000 0.070 3450 2448 3149 3224 3075 0 0 0 0 0 0 28.83 15.00 28.83

3625 1.43 -146.6 3452 2453 3220 3075 581.2 -17.5 170 3630 0.00 0.88 0.00 0.000 516 0.000 0.057 3452 1894 3147 3220 3075 0 0 0 0 0 0 28.83 15.02 28.83

3859 -2.56 -146.6 3452 1889 3217 3075 624.2 -19.8 177 3870 2.92 0.93 0.00 0.000 5126 0.236 0.073 2576 2453 3146 3219 3074 0 0 0 0 0 0 14.94 15.00 28.83

ID	144	ESCAPE_HEADING	0	HEAD_ERRBAND	15	ALTIM_PULSE	3
MISSION	21	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
DIVE	13	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	0
N_DIVES	0	TGT_DEFAULT_LAT	4808	R_PORT_OVSHOOT	29	XPDR_INHIBIT	90
D_SURF	2	TGT_DEFAULT_LON	-12223	R_STBD_OVSHOOT	43	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	2	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	400	INT_PRESSURE_YINT	0
D_TGT	990	SM_CC	300	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_ABORT	1090	N_FILEKB	4	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_BOOST	0	CALL_NDIVES	1	VBD_MIN	480	DEVICE1	-1
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3950	DEVICE2	-1
D_FINISH	0	PROTOCOL	0	C_VBD	2550	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	0	VBD_CNV	-0.24529999	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	67
T_DIVE	330	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_MISSION	360	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	33
T_TURN	225	T_GPS	10	W_ADJ_DBAND	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	5	N_GPS	20	DBDW	1	PHONE_DEVICE	48
T_NO_W	300	T_GPS_ALMANAC	0	PITCH_W_GAIN	1	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-87373.242	PITCH_W_DBAND	1	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	2	CF8_MAXERRORS	0	XPDR_DEVICE	24
USE_BATHY	0	STROBE	0	AH0_24V	350	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	MINV_24V	12	SEABIRD_T_G	0.0043491465
D_OFFGRID	1001	RAFOS_HIT_WINDOW	3600	MINV_10V	12	SEABIRD_T_H	0.00063627562
T_WATCHDOG	10	PITCH_MIN	50	FG_AHR_10V	0	SEABIRD_T_I	2.5639563e-05
RELAUNCH	1	PITCH_MAX	3920	FG_AHR_24V	0	SEABIRD_T_J	2.8485167e-06
APOGEE_PITCH	-5	C_PITCH	3135	PHONE_SUPPLY	2	SEABIRD_C_G	-10.038045
MAX_BUOY	150	PITCH_DBAND	0.1	PRESSURE_YINT	-47.062218	SEABIRD_C_H	1.1273739
COURSE_BIAS	0	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.00011159377	SEABIRD_C_I	-0.0018486013
GLIDE_SLOPE	45	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_J	0.00022594928
SPEED_FACTOR	1	PITCH_GAIN	34	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_TIMEOUT	24	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
MASS	56256	PITCH_AD_RATE	175	COMPASS_USE	4	SC_XMITPROFILE	3.0
MASS_COMP	1141.9	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_RECORDABOVE	250.0
NAV_MODE	1	PITCH_ADJ_GAIN	0.1	ALTIM_TOP_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	10	TM_XMITPROFILE	3.0
KALMAN_USE	1	ROLL_MIN	364	ALTIM_TOP_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HD_A	0.0037098001	ROLL_MAX	3945	ALTIM_TOP_MIN_OBSTACLE	1	TM_XMITRAW	0.0
HD_B	0.012019	ROLL_DEG	15	ALTIM_PING_DEPTH	0
HD_C	1.6100001e-05	C_ROLL_DIVE	2450	ALTIM_PING_DELTA	0
HEADING	-1	C_ROLL_CLIMB	2250	ALTIM_FREQUENCY	13

GPS1	270313,114453,2443.756,-3750.474,40,0.9,40,-13.7	TGT_NAME	NE
_CALLS	2	TGT_LATLONG	2447.500,-3747.160
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.237,-0.028
_SM_DEPTHo	1.16	KALMAN_X	-18502.0,129.4,-174.5,31855.0,-5266.0
_SM_ANGLEo	-78.3	KALMAN_Y	1711.1,29.5,23.4,17804.0,-145.6
GPS2	270313,120207,2443.847,-3750.497,4,0.9,4,-13.7	MHEAD_RNG_PITCHd_Wd	110.4,8788,-19.5,-10.000,-22.76,2222
SPEED_LIMITS	0.100,0.238	D_GRID	990

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	-0.75	-146.6	33	2478	1207	1431	0.0	0.0	0	71	0.00	0.00	-46.00	0.000	16386	0.000	0.000	34	2478	2633	2684	2582	0	0	0	0	0	0	28.83	28.83	28.83
75	-0.75	-146.6	33	2478	2684	2584	2.2	-2.4	3	108	14.00	0.77	-13.98	0.000	19204	0.425	0.122	2960	2984	3148	3238	3058	0	0	0	0	0	0	14.53	14.74	14.90
339	1.43	-146.6	1904	2982	3220	3058	59.8	-28.0	20	345	1.88	0.88	0.00	0.000	3078	0.330	0.055	3439	2419	3152	3240	3064	0	0	0	0	0	0	14.64	14.80	28.83
653	1.43	-146.6	3439	2417	3240	3066	95.3	-13.5	41	659	0.00	0.73	0.00	0.000	516	0.000	0.050	3443	1929	3153	3240	3066	0	0	0	0	0	0	28.83	14.85	28.83
749	1.43	-146.6	3443	1924	3240	3066	107.5	-13.5	47	754	0.00	0.85	0.00	0.000	1030	0.000	0.067	3443	2443	3153	3240	3066	0	0	0	0	0	0	28.83	14.85	28.83
1068	1.43	-146.6	3444	2447	3237	3069	158.2	-15.1	68	1073	0.00	0.80	0.00	0.000	516	0.000	0.059	3448	1941	3153	3237	3069	0	0	0	0	0	0	28.83	14.88	28.83
1102	1.43	-146.6	3449	1936	3237	3069	163.9	-16.2	70	1107	0.00	0.82	0.00	0.000	1030	0.000	0.066	3448	2445	3153	3237	3069	0	0	0	0	0	0	28.83	14.88	28.83
1421	1.43	-146.6	3449	2449	3237	3071	217.2	-17.7	91	1426	0.00	0.80	0.00	0.000	516	0.000	0.060	3449	1941	3153	3237	3070	0	0	0	0	0	0	28.83	14.91	28.83
1655	1.43	-146.6	3449	1937	3237	3067	251.9	-16.4	105	1660	0.00	0.82	0.00	0.000	1030	0.000	0.060	3449	2452	3153	3237	3070	0	0	0	0	0	0	28.83	14.91	28.83
1971	1.43	-146.6	3449	2456	3236	3070	307.1	-16.5	116	1976	0.00	0.80	0.00	0.000	516	0.000	0.049	3449	1930	3153	3236	3070	0	0	0	0	0	0	28.83	14.97	28.83
2024	1.43	-146.6	3449	1925	3236	3070	313.9	-16.9	117	2029	0.00	0.82	0.00	0.000	1030	0.000	0.046	3450	2472	3152	3235	3070	0	0	0	0	0	0	28.83	14.98	28.83
2339	1.43	-146.6	3450	2477	3230	3075	369.1	-15.6	128	2344	0.00	0.85	0.00	0.000	516	0.000	0.067	3449	1948	3152	3230	3075	0	0	0	0	0	0	28.83	14.98	28.83
2523	1.43	-146.6	3450	1942	3230	3075	399.7	-15.1	134	2529	0.00	0.80	0.00	0.000	1030	0.000	0.075	3450	2424	3152	3230	3075	0	0	0	0	0	0	28.83	14.98	28.83
2860	1.43	-146.6	3450	2429	3227	3075	453.7	-15.6	145	2865	0.00	0.88	0.00	0.000	260	0.000	0.048	3450	3006	3151	3227	3075	0	0	0	0	0	0	28.83	15.02	28.83
2917	1.43	-146.6	3453	3012	3226	3075	460.5	-16.2	146	2924	0.00	0.88	0.00	0.000	1030	0.000	0.090	3450	2497	3150	3226	3075	0	0	0	0	0	0	28.83	14.99	28.83
3226	1.43	-146.6	3450	2493	3224	3073	512.5	-16.0	157	3231	0.00	0.95	0.00	0.000	516	0.000	0.080	3450	1914	3148	3225	3072	0	0	0	0	0	0	28.83	14.99	28.83
3290	1.43	-146.6	3450	1909	3225	3074	523.5	-16.4	159	3295	0.00	0.88	0.00	0.000	1030	0.000	0.070	3450	2448	3149	3224	3075	0	0	0	0	0	0	28.83	15.00	28.83
3625	1.43	-146.6	3452	2453	3220	3075	581.2	-17.5	170	3630	0.00	0.88	0.00	0.000	516	0.000	0.057	3452	1894	3147	3220	3075	0	0	0	0	0	0	28.83	15.02	28.83
3859	-2.56	-146.6	3452	1889	3217	3075	624.2	-19.8	177	3870	2.92	0.93	0.00	0.000	5126	0.236	0.073	2576	2453	3146	3219	3074	0	0	0	0	0	0	14.94	15.00	28.83