Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 147 * 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 147 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 12.74897 FG_AHR_10V 11.129199 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 41.766861 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 11.129199 PHONE_DEVICE 33 SM_CC 700

ALTIM_SENSITIVITY 2 FG_AHR_24V 41.766861 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 12.74897 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 147 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 310823,041644,7507.504,-14903.514,181,99.0,181,15.4 TGT_RADIUS 5000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 13.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 32.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 310823,041644,7507.504,-14903.514,181,99.0,181,15.4 MHEAD_RNG_PITCHd_Wd 227.8,318550,-20.2,-9.167,-25.08,1951,0.138

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 1693520434,659.9,0,stop _10V_AH 15.00,0.000

WARN HSCICON missed fuel gauge read FG_AHR_24Vo 42.069

SM_CCo 18726.72,0.00,2.880,0,500.7,396.6,604.9,642.51 FG_AHR_10Vo 11.213

FINISH1 13.1,1.0205,486 MEM0 59796,1,0,0

FINISH2 13.1 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 1024188,32,21860,94

IRIDIUM_FIX 7539.64,-14408.57,200823,025928 DATA_FILE_SIZE 32086,1092

TCM_TEMP 1.79 CAP_FILE_SIZE 362594,0

SC_FREEKB 3831712 SDSIZE 3918848,3859968

RAFOS_CLK -9 SDFILEDIR 1104,148

RAFOS_FIX 7559.215820,-14948.611328,310823,121256,5,255,3.29 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 48.57 SOUNDSPEED 1465.0

TEMP -0.17 IMPLIED_C_PITCH 2121,12.66,584,0.0,12.71

INTERNAL_PRESSURE 8.10927 GPS 310823,041644,7507.504,-14903.514,181,99.0,181,15.4

_24V_AH 14.60,52.501

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 855 2879 35974.43 nil 0 0 0.00

Pitch_motor 22 287 92.74 nil 0 0 0.00

Roll_motor 209 340 1038.66 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 3781 5 290.45 SciCon 19019 8 2331.92

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 15258 0 73.24

Compass 1939 5 145.46

RAFOS 3761 40 2256.94

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 -2.05 0.00 499.8 396.2 603.5 3150.1 2569.6 0.00 0.00 0 13.94 7.20 0.00 0.00 0.008 0.000 0.000 793.00 725.94 860.06 3149.94 2570.25 0 0 0 15.94 30.00 30.00

14.19 20775 -116.79 -2.05 80.00 793.1 726.0 860.2 3150.2 2570.0 13.81 0.00 1 98.41 64.60 9.97 3.87 0.005 0.191 0.140 3598.41 3581.81 3615.00 1785.38 4007.56 0 0 0 15.95 15.78 15.83

255.76 1028 -116.79 -2.05 0.00 3599.3 3581.4 3617.2 1784.6 4007.5 59.19 -17.65 49 261.31 0.00 0.00 3.56 0.000 0.000 0.079 3599.12 3580.56 3617.69 1785.38 2572.44 0 0 0 30.00 30.00 15.90

636.51 516 -116.79 -2.05 -80.00 3598.9 3579.8 3618.0 1785.5 2572.5 116.56 -14.11 65 642.40 0.00 0.00 3.81 0.000 0.000 0.159 3600.78 3581.19 3620.38 1784.31 1191.00 0 0 0 30.00 30.00 15.92

735.80 1028 -116.79 -2.05 0.00 3599.4 3580.3 3618.4 1785.5 1190.8 133.25 -16.92 85 741.76 0.00 0.00 3.44 0.000 0.000 0.062 3599.72 3580.88 3618.56 1784.56 2616.44 0 0 0 30.00 30.00 16.00

1111.60 516 -116.79 -2.05 -80.00 3600.0 3580.3 3619.8 1785.4 2615.8 185.81 -13.67 100 1118.94 0.00 0.00 3.87 0.000 0.000 0.153 3600.41 3580.62 3620.19 1785.19 1192.25 0 0 0 30.00 30.00 15.97

1167.07 1028 -116.79 -2.05 0.00 3600.5 3581.6 3619.3 1784.9 1192.4 194.18 -15.30 111 1173.23 0.00 0.00 3.44 0.000 0.000 0.064 3600.88 3581.75 3620.00 1784.94 2615.88 0 0 0 30.00 30.00 16.04

1552.09 516 -116.79 -2.05 -80.00 3600.4 3580.9 3619.9 1784.8 2616.1 239.68 -11.35 128 1558.43 0.00 0.00 3.87 0.000 0.000 0.155 3601.06 3581.19 3620.94 1785.19 1191.94 0 0 0 30.00 30.00 16.00

1621.38 1028 -116.79 -2.05 0.00 3600.9 3581.2 3620.6 1785.0 1191.6 248.60 -12.66 142 1627.27 0.00 0.00 3.43 0.000 0.000 0.063 3601.66 3582.25 3621.06 1784.44 2615.94 0 0 0 30.00 30.00 16.08

1997.16 32 -116.79 -2.05 0.00 3600.7 3580.8 3620.6 1785.1 2615.9 284.94 -8.86 157 1998.67 0.00 0.00 0.00 0.000 0.000 0.000 3600.88 3581.38 3620.38 1783.56 2615.44 0 0 0 30.00 30.00 30.00

2387.17 548 -116.79 -2.05 -80.00 3600.2 3580.5 3620.0 1784.9 2616.2 317.63 -8.33 170 2393.60 0.00 0.00 3.89 0.000 0.000 0.158 3601.12 3580.88 3621.38 1785.31 1192.06 0 0 0 30.00 30.00 16.05

2426.40 1028 -116.79 -2.05 0.00 3600.4 3580.1 3620.7 1785.1 1191.6 321.52 -9.83 178 2432.28 0.00 0.00 3.42 0.000 0.000 0.065 3600.88 3581.00 3620.75 1785.06 2617.06 0 0 0 30.00 30.00 16.12

2802.19 32 -116.79 -2.05 0.00 3600.2 3580.6 3619.9 1784.9 2617.8 352.37 -8.11 193 2803.71 0.00 0.00 0.00 0.000 0.000 0.000 3600.62 3580.69 3620.56 1785.06 2618.12 0 0 0 30.00 30.00 30.00

3192.20 548 -116.79 -2.05 -80.00 3600.5 3581.1 3619.9 1785.0 2618.0 383.22 -7.92 206 3198.63 0.00 0.00 3.89 0.000 0.000 0.158 3599.62 3580.19 3619.06 1785.50 1192.75 0 0 0 30.00 30.00 16.07

3226.50 1060 -116.79 -2.05 0.00 3600.3 3580.9 3619.8 1785.1 1192.8 386.37 -8.04 213 3232.50 0.00 0.00 3.41 0.000 0.000 0.065 3601.66 3582.12 3621.19 1785.00 2619.69 0 0 0 30.00 30.00 16.13

3607.24 548 -116.79 -2.05 -80.00 3600.5 3580.7 3620.2 1784.9 2620.2 415.17 -7.40 229 3613.76 0.00 0.00 3.86 0.000 0.000 0.155 3600.91 3580.44 3621.38 1785.06 1191.62 0 0 0 30.00 30.00 16.08

3632.24 1060 -116.79 -2.05 0.00 3600.4 3580.9 3620.0 1785.0 1191.4 417.26 -7.43 234 3638.51 0.00 0.00 3.39 0.000 0.000 0.062 3599.50 3579.06 3619.94 1784.69 2619.19 0 0 0 30.00 30.00 16.15

4017.27 32 -116.79 -2.05 0.00 3600.0 3580.6 3619.4 1784.3 2619.8 445.95 -7.40 251 4018.83 0.00 0.00 0.00 0.000 0.000 0.000 3600.69 3581.56 3619.81 1784.56 2620.06 0 0 0 30.00 30.00 30.00

4394.28 32 -116.79 -2.05 0.00 3600.7 3580.9 3620.4 1784.7 2620.3 473.89 -7.42 265 4395.84 0.00 0.00 0.00 0.000 0.000 0.000 3600.97 3582.12 3619.81 1783.12 2620.19 0 0 0 30.00 30.00 30.00

4784.30 548 -116.79 -2.05 -80.00 3600.6 3580.2 3621.0 1784.7 2619.6 502.81 -7.38 278 4790.80 0.00 0.00 3.86 0.000 0.000 0.156 3600.72 3580.88 3620.56 1785.00 1192.31 0 0 0 30.00 30.00 16.10

4823.57 1060 -116.79 -2.05 0.00 3600.8 3580.6 3620.9 1784.6 1192.6 506.20 -8.47 286 4829.54 0.00 0.00 3.39 0.000 0.000 0.063 3601.69 3581.56 3621.81 1784.06 2615.81 0 0 0 30.00 30.00 16.16

5199.32 32 -116.79 -2.05 0.00 3601.4 3581.6 3621.3 1784.4 2615.9 533.58 -7.21 301 5200.88 0.00 0.00 0.00 0.000 0.000 0.000 3600.25 3579.69 3620.81 1784.81 2616.94 0 0 0 30.00 30.00 30.00

5589.32 548 -116.79 -2.05 -80.00 3601.6 3580.8 3622.4 1784.7 2615.8 561.49 -7.15 314 5595.83 0.00 0.00 3.85 0.000 0.000 0.155 3603.66 3582.88 3624.44 1784.38 1192.06 0 0 0 30.00 30.00 16.05

5628.61 1060 -116.79 -2.05 0.00 3601.6 3580.7 3622.6 1784.4 1192.1 564.83 -8.34 322 5634.60 0.00 0.00 3.40 0.000 0.000 0.061 3601.94 3581.31 3622.56 1784.81 2618.31 0 0 0 30.00 30.00 16.11

6004.35 292 -116.79 -2.05 80.00 3602.0 3580.5 3623.5 1784.5 2618.7 592.00 -7.16 337 6010.75 0.00 0.00 3.68 0.000 0.000 0.142 3602.47 3581.31 3623.62 1784.19 4007.94 0 0 0 30.00 30.00 16.02

6013.61 1060 -116.79 -2.05 0.00 3602.1 3580.8 3623.4 1784.4 4007.9 592.73 -7.12 339 6019.67 0.00 0.00 3.52 0.000 0.000 0.073 3602.41 3581.06 3623.75 1784.44 2570.06 0 0 0 30.00 30.00 16.06

6389.35 292 -116.79 -2.05 80.00 3602.6 3581.4 3623.8 1784.8 2570.2 619.24 -7.05 354 6395.81 0.00 0.00 3.79 0.000 0.000 0.134 3601.78 3580.12 3623.44 1784.25 4007.31 0 0 0 30.00 30.00 16.01

6403.62 1060 -116.79 -2.05 0.00 3602.5 3580.4 3624.6 1784.4 4007.6 620.36 -7.06 357 6409.64 0.00 0.00 3.50 0.000 0.000 0.075 3603.19 3581.62 3624.75 1784.38 2569.62 0 0 0 30.00 30.00 16.04

6774.37 32 -116.79 -2.05 0.00 3602.9 3580.6 3625.2 1784.8 2570.6 646.13 -6.92 371 6775.93 0.00 0.00 0.00 0.000 0.000 0.000 3603.47 3580.88 3626.06 1784.38 2570.31 0 0 0 30.00 30.00 30.00

7164.38 292 -116.79 -2.05 80.00 3603.5 3581.2 3625.8 1784.2 2569.9 672.81 -6.85 384 7170.87 0.00 0.00 3.81 0.000 0.000 0.136 3602.75 3580.00 3625.50 1784.69 4007.19 0 0 0 30.00 30.00 15.98

7173.64 1060 -116.79 -2.05 0.00 3603.5 3580.8 3626.2 1784.1 4008.7 673.50 -6.86 386 7179.64 0.00 0.00 3.50 0.000 0.000 0.075 3604.12 3581.81 3626.44 1784.44 2572.81 0 0 0 30.00 30.00 16.01

7550.25 292 -116.79 -2.05 80.00 3603.9 3580.7 3627.1 1784.6 2572.9 699.58 -6.97 401 7556.91 0.00 0.00 3.81 0.000 0.000 0.135 3603.00 3579.44 3626.56 1785.06 4008.06 0 0 0 30.00 30.00 15.99

7575.11 1060 -116.79 -2.05 0.00 3604.1 3580.9 3627.4 1784.1 4008.8 701.48 -7.00 406 7581.45 0.00 0.00 3.49 0.000 0.000 0.076 3603.81 3580.00 3627.62 1784.44 2571.06 0 0 0 30.00 30.00 16.03

7960.18 292 -116.79 -2.05 80.00 3604.3 3580.7 3627.9 1784.4 2571.2 728.44 -7.03 423 7966.69 0.00 0.00 3.81 0.000 0.000 0.136 3603.62 3581.19 3626.06 1783.81 4006.81 0 0 0 30.00 30.00 16.02

7979.43 1060 -116.79 -2.05 0.00 3604.3 3581.2 3627.4 1784.5 4007.3 729.91 -7.07 427 7986.17 0.00 0.00 3.48 0.000 0.000 0.075 3604.38 3580.94 3627.81 1784.25 2571.69 0 0 0 30.00 30.00 16.06

8375.16 292 -116.79 -2.05 80.00 3604.7 3581.1 3628.4 1784.3 2571.4 757.70 -7.08 441 8381.68 0.00 0.00 3.81 0.000 0.000 0.136 3605.28 3580.94 3629.62 1783.00 4008.50 0 0 0 30.00 30.00 16.05

8384.43 1060 -116.79 -2.05 0.00 3604.1 3580.5 3627.7 1784.6 4008.6 758.41 -7.09 443 8390.45 0.00 0.00 3.50 0.000 0.000 0.075 3605.44 3581.81 3629.06 1783.25 2572.56 0 0 0 30.00 30.00 16.09

8760.17 292 -116.79 -2.05 80.00 3604.5 3580.5 3628.6 1783.3 2572.9 784.91 -7.07 458 8766.64 0.00 0.00 3.80 0.000 0.000 0.137 3604.00 3580.38 3627.62 1783.81 4008.06 0 0 0 30.00 30.00 16.06

8774.44 1060 -116.79 -2.05 0.00 3604.3 3580.1 3628.5 1783.7 4007.2 786.00 -7.10 461 8780.48 0.00 0.00 3.48 0.000 0.000 0.077 3605.59 3582.38 3628.81 1783.94 2572.50 0 0 0 30.00 30.00 16.10

9145.19 32 -116.79 -2.05 0.00 3604.8 3581.1 3628.6 1783.9 2573.7 811.81 -6.90 475 9146.75 0.00 0.00 0.00 0.000 0.000 0.000 3604.78 3580.94 3628.62 1784.00 2573.94 0 0 0 30.00 30.00 30.00

9535.19 292 -116.79 -2.05 80.00 3604.8 3580.7 3629.0 1784.1 2573.1 838.21 -6.72 488 9541.73 0.00 0.00 3.81 0.000 0.000 0.139 3604.84 3581.19 3628.50 1784.00 4006.94 0 0 0 30.00 30.00 16.10

9564.46 1060 -116.79 -2.05 0.00 3604.7 3580.4 3628.9 1783.9 4007.3 840.36 -6.71 494 9570.52 0.00 0.00 3.47 0.000 0.000 0.079 3605.53 3581.56 3629.50 1784.06 2572.81 0 0 0 30.00 30.00 16.13

9950.21 292 -116.79 -2.05 80.00 3604.6 3580.8 3628.5 1784.0 2573.5 865.81 -6.54 511 9956.73 0.00 0.00 3.81 0.000 0.000 0.138 3606.12 3581.94 3630.31 1783.81 4008.50 0 0 0 30.00 30.00 16.09

9959.48 1060 -116.79 -2.05 0.00 3605.1 3580.5 3629.6 1783.5 4007.9 866.48 -6.53 513 9965.50 0.00 0.00 3.47 0.000 0.000 0.076 3605.41 3581.31 3629.50 1783.31 2573.00 0 0 0 30.00 30.00 16.14

10335.25 32 -116.79 -2.05 0.00 3604.9 3581.1 3628.8 1784.1 2573.2 890.71 -6.43 528 10336.82 0.00 0.00 0.00 0.000 0.000 0.000 3604.34 3580.62 3628.06 1784.06 2572.94 0 0 0 30.00 30.00 30.00

10725.23 292 -116.79 -2.05 80.00 3605.2 3581.2 3629.2 1784.0 2573.1 915.62 -6.42 541 10731.73 0.00 0.00 3.81 0.000 0.000 0.140 3606.06 3582.38 3629.75 1783.00 4008.00 0 0 0 30.00 30.00 16.12

10739.49 1060 -116.79 -2.05 0.00 3604.7 3580.4 3629.1 1783.6 4008.8 916.63 -6.46 544 10745.54 0.00 0.00 3.49 0.000 0.000 0.078 3605.66 3581.62 3629.69 1784.12 2571.94 0 0 0 30.00 30.00 16.16

11110.23 292 -116.79 -2.05 80.00 3605.0 3580.9 3629.2 1783.6 2572.1 940.20 -6.34 558 11116.69 0.00 0.00 3.80 0.000 0.000 0.139 3605.00 3580.69 3629.31 1783.19 4007.75 0 0 0 30.00 30.00 16.12

11119.50 1060 -116.79 -2.05 0.00 3605.0 3580.4 3629.6 1784.2 4008.0 940.86 -6.36 560 11125.51 0.00 0.00 3.47 0.000 0.000 0.077 3605.66 3581.19 3630.12 1783.94 2572.75 0 0 0 30.00 30.00 16.16

11495.38 292 -116.79 -2.05 80.00 3605.0 3581.1 3628.9 1784.1 2573.2 964.71 -6.39 575 11502.71 0.00 0.00 3.78 0.000 0.000 0.142 3604.91 3580.56 3629.25 1783.62 4008.56 0 0 0 30.00 30.00 16.12

11510.18 1060 -116.79 -2.05 0.00 3604.6 3580.2 3628.9 1784.3 4008.0 965.77 -6.40 578 11516.22 0.00 0.00 3.46 0.000 0.000 0.078 3605.91 3581.44 3630.38 1783.75 2573.38 0 0 0 30.00 30.00 16.16

11880.92 32 -116.79 -2.05 0.00 3605.2 3581.1 3629.4 1783.8 2573.4 989.69 -6.47 592 11882.49 0.00 0.00 0.00 0.000 0.000 0.000 3605.84 3582.50 3629.19 1782.56 2573.50 0 0 0 30.00 30.00 30.00

11910 end dive: TARGET_DEPTH_EXCEEDED

state 11910 begin apogee

11912.38 10243 0.00 -0.39 0.00 3604.9 3581.1 3628.7 1783.9 2727.1 991.63 -6.47 593 12020.81 99.93 2.91 0.06 2.200 0.149 0.340 3118.03 3048.12 3187.94 2201.81 2694.56 0 0 0 11.95 16.13 15.43

12030 end apogee: CONTROL_FINISHED_OK

state 12030 begin climb

12031.33 10243 116.79 2.05 0.00 3116.7 3047.4 3185.9 2201.4 2693.9 992.05 0.00 596 12145.58 103.74 3.91 0.00 2.136 0.075 0.000 2644.19 2550.00 2738.38 2796.25 2695.12 0 0 0 11.74 15.51 30.00

12518.72 16386 116.79 2.05 -80.00 2627.2 2545.0 2709.4 2797.6 2694.3 899.17 23.93 628 12520.27 0.00 0.00 0.00 0.000 0.000 0.000 2627.22 2544.50 2709.94 2797.75 2694.31 0 0 0 30.00 30.00 30.00

12908.73 16386 116.79 2.05 -80.00 2623.8 2544.0 2703.6 2797.8 2694.3 807.73 23.16 641 12910.28 0.00 0.00 0.00 0.000 0.000 0.000 2624.81 2545.56 2704.06 2796.19 2694.50 0 0 0 30.00 30.00 30.00

13298.74 16386 116.79 2.05 -80.00 2622.9 2544.4 2701.4 2797.1 2694.1 719.48 22.52 654 13300.30 0.00 0.00 0.00 0.000 0.000 0.000 2623.38 2545.00 2701.75 2796.94 2694.12 0 0 0 30.00 30.00 30.00

13688.75 16646 116.79 2.05 80.00 2621.8 2544.4 2699.2 2797.9 2694.4 633.80 21.79 667 13695.16 0.00 0.00 3.52 0.000 0.000 0.132 2622.56 2545.00 2700.12 2795.69 4007.88 0 0 0 30.00 30.00 15.92

13733.03 17414 116.79 2.05 0.00 2621.1 2543.8 2698.4 2796.9 4008.4 623.35 23.40 676 13739.03 0.00 0.00 3.23 0.000 0.000 0.071 2622.44 2545.06 2699.81 2797.12 2691.81 0 0 0 30.00 30.00 15.97

14103.78 16386 116.79 2.05 0.00 2620.5 2543.8 2697.2 2797.8 2690.9 543.96 21.30 690 14105.34 0.00 0.00 0.00 0.000 0.000 0.000 2621.75 2544.00 2699.50 2797.31 2691.38 0 0 0 30.00 30.00 30.00

14493.79 16646 116.79 2.05 80.00 2620.5 2543.9 2697.1 2797.6 2691.8 462.48 20.68 703 14500.14 0.00 0.00 3.48 0.000 0.000 0.126 2618.59 2543.00 2694.19 2797.94 4008.12 0 0 0 30.00 30.00 16.02

14538.07 17414 116.79 2.05 0.00 2619.9 2543.9 2695.9 2797.4 4008.0 452.57 22.34 712 14544.01 0.00 0.00 3.22 0.000 0.000 0.070 2621.00 2545.19 2696.81 2796.50 2689.00 0 0 0 30.00 30.00 16.06

14908.81 16646 116.79 2.05 80.00 2620.2 2543.9 2696.5 2797.8 2689.2 377.55 19.89 726 14915.17 0.00 0.00 3.47 0.000 0.000 0.124 2619.41 2543.06 2695.75 2797.62 4008.38 0 0 0 30.00 30.00 16.05

14963.81 17414 116.79 2.05 0.00 2619.5 2544.1 2695.0 2797.4 4008.1 366.05 21.19 737 14970.08 0.00 0.00 3.22 0.000 0.000 0.068 2617.66 2541.88 2693.44 2797.62 2690.50 0 0 0 30.00 30.00 16.09

15348.83 16386 116.79 2.05 0.00 2619.7 2544.2 2695.2 2797.0 2689.9 296.28 16.92 754 15350.40 0.00 0.00 0.00 0.000 0.000 0.000 2620.53 2545.75 2695.31 2795.94 2690.31 0 0 0 30.00 30.00 30.00

15738.89 8742 125.25 2.09 -80.00 2619.5 2543.9 2695.1 2796.9 2690.1 250.25 8.72 767 15751.72 5.50 0.00 3.80 0.843 0.000 0.143 2606.34 2529.06 2683.62 2797.50 1246.31 0 0 0 11.96 30.00 16.06

15874.21 11303 212.70 2.44 0.00 2607.4 2532.4 2682.4 2797.1 1246.5 242.87 4.56 794 15961.55 77.69 0.55 3.52 1.265 0.090 0.059 2252.00 2149.81 2354.19 2891.19 2739.12 0 0 0 12.02 16.09 16.12

16334.70 16902 212.70 2.44 -80.00 2240.1 2146.6 2333.6 2892.1 2738.6 179.01 13.28 825 16342.30 0.00 0.00 3.96 0.000 0.000 0.135 2238.50 2144.94 2332.06 2893.25 1246.62 0 0 0 30.00 30.00 15.88

16439.75 17414 212.70 2.44 0.00 2238.7 2146.5 2330.9 2892.7 1246.8 165.62 12.25 846 16445.85 0.00 0.00 3.56 0.000 0.000 0.059 2240.19 2147.81 2332.56 2892.06 2736.88 0 0 0 30.00 30.00 15.95

16810.54 10535 252.99 2.60 80.00 2238.1 2146.1 2330.1 2893.1 2736.9 135.14 7.05 860 16852.82 34.38 0.20 3.39 1.129 0.119 0.130 2085.34 1987.81 2182.88 2928.88 4006.25 0 0 0 11.88 15.99 15.82

16875.26 1028 252.99 2.60 0.00 2083.0 1988.0 2178.1 2929.0 4006.5 129.49 10.47 873 16881.27 0.00 0.00 3.27 0.000 0.000 0.067 2084.38 1989.62 2179.12 2929.62 2690.56 0 0 0 30.00 30.00 15.87

17261.02 16646 252.99 2.60 80.00 2077.8 1987.1 2168.4 2928.7 2689.9 85.82 9.32 890 17267.42 0.00 0.00 3.51 0.000 0.000 0.124 2077.03 1986.19 2167.88 2928.44 4008.25 0 0 0 30.00 30.00 15.93

17496.12 11303 375.30 3.09 0.00 2075.7 1987.2 2164.1 2928.6 4008.2 75.05 2.73 937 17629.93 123.05 0.74 3.26 1.063 0.084 0.069 1589.62 1490.38 1688.88 3050.12 2689.75 0 0 0 11.85 15.97 16.01

18008.12 10535 580.03 3.91 80.00 1577.3 1490.1 1664.4 3049.2 2688.8 43.08 -1.61 978 18276.59 251.87 1.23 3.65 0.983 0.076 0.121 755.81 636.12 875.50 3245.81 4006.62 0 0 0 11.73 15.85 15.36

18504.11 11303 759.80 4.62 0.00 751.8 640.1 863.5 3245.4 4006.9 14.39 -0.30 1060 18602.07 87.61 1.11 3.30 0.948 0.093 0.067 501.03 393.44 608.62 3418.69 2688.12 0 0 0 11.73 15.70 15.73

18724 end climb: NO_VERTICAL_VELOCITY

state 18724 begin subsurface finish

19006.54 32039 486.26 1.95 80.00 500.3 397.0 603.6 3419.6 2734.7 13.07 0.21 1091 19009.50 0.00 1.46 0.00 0.000 0.288 0.000 500.62 397.12 604.12 3245.25 2735.69 0 0 0 30.00 15.71 30.00

19009 end subsurface finish: NO_VERTICAL_VELOCITY

state 19009 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	147	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	12.74897	FG_AHR_10V	11.129199	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	41.766861	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	310823,041644,7507.504,-14903.514,181,99.0,181,15.4	TGT_RADIUS	5000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	13.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	32.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	310823,041644,7507.504,-14903.514,181,99.0,181,15.4	MHEAD_RNG_PITCHd_Wd	227.8,318550,-20.2,-9.167,-25.08,1951,0.138
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	1693520434,659.9,0,stop	_10V_AH	15.00,0.000
WARN	HSCICON missed fuel gauge read	FG_AHR_24Vo	42.069
SM_CCo	18726.72,0.00,2.880,0,500.7,396.6,604.9,642.51	FG_AHR_10Vo	11.213
FINISH1	13.1,1.0205,486	MEM0	59796,1,0,0
FINISH2	13.1	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	1024188,32,21860,94
IRIDIUM_FIX	7539.64,-14408.57,200823,025928	DATA_FILE_SIZE	32086,1092
TCM_TEMP	1.79	CAP_FILE_SIZE	362594,0
SC_FREEKB	3831712	SDSIZE	3918848,3859968
RAFOS_CLK	-9	SDFILEDIR	1104,148
RAFOS_FIX	7559.215820,-14948.611328,310823,121256,5,255,3.29	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	48.57	SOUNDSPEED	1465.0
TEMP	-0.17	IMPLIED_C_PITCH	2121,12.66,584,0.0,12.71
INTERNAL_PRESSURE	8.10927	GPS	310823,041644,7507.504,-14903.514,181,99.0,181,15.4
_24V_AH	14.60,52.501

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	855	2879	35974.43	nil	0	0	0.00
Pitch_motor	22	287	92.74	nil	0	0	0.00
Roll_motor	209	340	1038.66	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	3781	5	290.45	SciCon	19019	8	2331.92
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	15258	0	73.24
Compass	1939	5	145.46
RAFOS	3761	40	2256.94
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	-2.05	0.00	499.8	396.2	603.5	3150.1	2569.6	0.00	0.00	0	13.94	7.20	0.00	0.00	0.008	0.000	0.000	793.00	725.94	860.06	3149.94	2570.25	0	0	0	15.94	30.00	30.00
14.19	20775	-116.79	-2.05	80.00	793.1	726.0	860.2	3150.2	2570.0	13.81	0.00	1	98.41	64.60	9.97	3.87	0.005	0.191	0.140	3598.41	3581.81	3615.00	1785.38	4007.56	0	0	0	15.95	15.78	15.83
255.76	1028	-116.79	-2.05	0.00	3599.3	3581.4	3617.2	1784.6	4007.5	59.19	-17.65	49	261.31	0.00	0.00	3.56	0.000	0.000	0.079	3599.12	3580.56	3617.69	1785.38	2572.44	0	0	0	30.00	30.00	15.90
636.51	516	-116.79	-2.05	-80.00	3598.9	3579.8	3618.0	1785.5	2572.5	116.56	-14.11	65	642.40	0.00	0.00	3.81	0.000	0.000	0.159	3600.78	3581.19	3620.38	1784.31	1191.00	0	0	0	30.00	30.00	15.92
735.80	1028	-116.79	-2.05	0.00	3599.4	3580.3	3618.4	1785.5	1190.8	133.25	-16.92	85	741.76	0.00	0.00	3.44	0.000	0.000	0.062	3599.72	3580.88	3618.56	1784.56	2616.44	0	0	0	30.00	30.00	16.00
1111.60	516	-116.79	-2.05	-80.00	3600.0	3580.3	3619.8	1785.4	2615.8	185.81	-13.67	100	1118.94	0.00	0.00	3.87	0.000	0.000	0.153	3600.41	3580.62	3620.19	1785.19	1192.25	0	0	0	30.00	30.00	15.97
1167.07	1028	-116.79	-2.05	0.00	3600.5	3581.6	3619.3	1784.9	1192.4	194.18	-15.30	111	1173.23	0.00	0.00	3.44	0.000	0.000	0.064	3600.88	3581.75	3620.00	1784.94	2615.88	0	0	0	30.00	30.00	16.04
1552.09	516	-116.79	-2.05	-80.00	3600.4	3580.9	3619.9	1784.8	2616.1	239.68	-11.35	128	1558.43	0.00	0.00	3.87	0.000	0.000	0.155	3601.06	3581.19	3620.94	1785.19	1191.94	0	0	0	30.00	30.00	16.00
1621.38	1028	-116.79	-2.05	0.00	3600.9	3581.2	3620.6	1785.0	1191.6	248.60	-12.66	142	1627.27	0.00	0.00	3.43	0.000	0.000	0.063	3601.66	3582.25	3621.06	1784.44	2615.94	0	0	0	30.00	30.00	16.08
1997.16	32	-116.79	-2.05	0.00	3600.7	3580.8	3620.6	1785.1	2615.9	284.94	-8.86	157	1998.67	0.00	0.00	0.00	0.000	0.000	0.000	3600.88	3581.38	3620.38	1783.56	2615.44	0	0	0	30.00	30.00	30.00
2387.17	548	-116.79	-2.05	-80.00	3600.2	3580.5	3620.0	1784.9	2616.2	317.63	-8.33	170	2393.60	0.00	0.00	3.89	0.000	0.000	0.158	3601.12	3580.88	3621.38	1785.31	1192.06	0	0	0	30.00	30.00	16.05
2426.40	1028	-116.79	-2.05	0.00	3600.4	3580.1	3620.7	1785.1	1191.6	321.52	-9.83	178	2432.28	0.00	0.00	3.42	0.000	0.000	0.065	3600.88	3581.00	3620.75	1785.06	2617.06	0	0	0	30.00	30.00	16.12
2802.19	32	-116.79	-2.05	0.00	3600.2	3580.6	3619.9	1784.9	2617.8	352.37	-8.11	193	2803.71	0.00	0.00	0.00	0.000	0.000	0.000	3600.62	3580.69	3620.56	1785.06	2618.12	0	0	0	30.00	30.00	30.00
3192.20	548	-116.79	-2.05	-80.00	3600.5	3581.1	3619.9	1785.0	2618.0	383.22	-7.92	206	3198.63	0.00	0.00	3.89	0.000	0.000	0.158	3599.62	3580.19	3619.06	1785.50	1192.75	0	0	0	30.00	30.00	16.07
3226.50	1060	-116.79	-2.05	0.00	3600.3	3580.9	3619.8	1785.1	1192.8	386.37	-8.04	213	3232.50	0.00	0.00	3.41	0.000	0.000	0.065	3601.66	3582.12	3621.19	1785.00	2619.69	0	0	0	30.00	30.00	16.13
3607.24	548	-116.79	-2.05	-80.00	3600.5	3580.7	3620.2	1784.9	2620.2	415.17	-7.40	229	3613.76	0.00	0.00	3.86	0.000	0.000	0.155	3600.91	3580.44	3621.38	1785.06	1191.62	0	0	0	30.00	30.00	16.08
3632.24	1060	-116.79	-2.05	0.00	3600.4	3580.9	3620.0	1785.0	1191.4	417.26	-7.43	234	3638.51	0.00	0.00	3.39	0.000	0.000	0.062	3599.50	3579.06	3619.94	1784.69	2619.19	0	0	0	30.00	30.00	16.15
4017.27	32	-116.79	-2.05	0.00	3600.0	3580.6	3619.4	1784.3	2619.8	445.95	-7.40	251	4018.83	0.00	0.00	0.00	0.000	0.000	0.000	3600.69	3581.56	3619.81	1784.56	2620.06	0	0	0	30.00	30.00	30.00
4394.28	32	-116.79	-2.05	0.00	3600.7	3580.9	3620.4	1784.7	2620.3	473.89	-7.42	265	4395.84	0.00	0.00	0.00	0.000	0.000	0.000	3600.97	3582.12	3619.81	1783.12	2620.19	0	0	0	30.00	30.00	30.00
4784.30	548	-116.79	-2.05	-80.00	3600.6	3580.2	3621.0	1784.7	2619.6	502.81	-7.38	278	4790.80	0.00	0.00	3.86	0.000	0.000	0.156	3600.72	3580.88	3620.56	1785.00	1192.31	0	0	0	30.00	30.00	16.10
4823.57	1060	-116.79	-2.05	0.00	3600.8	3580.6	3620.9	1784.6	1192.6	506.20	-8.47	286	4829.54	0.00	0.00	3.39	0.000	0.000	0.063	3601.69	3581.56	3621.81	1784.06	2615.81	0	0	0	30.00	30.00	16.16
5199.32	32	-116.79	-2.05	0.00	3601.4	3581.6	3621.3	1784.4	2615.9	533.58	-7.21	301	5200.88	0.00	0.00	0.00	0.000	0.000	0.000	3600.25	3579.69	3620.81	1784.81	2616.94	0	0	0	30.00	30.00	30.00
5589.32	548	-116.79	-2.05	-80.00	3601.6	3580.8	3622.4	1784.7	2615.8	561.49	-7.15	314	5595.83	0.00	0.00	3.85	0.000	0.000	0.155	3603.66	3582.88	3624.44	1784.38	1192.06	0	0	0	30.00	30.00	16.05
5628.61	1060	-116.79	-2.05	0.00	3601.6	3580.7	3622.6	1784.4	1192.1	564.83	-8.34	322	5634.60	0.00	0.00	3.40	0.000	0.000	0.061	3601.94	3581.31	3622.56	1784.81	2618.31	0	0	0	30.00	30.00	16.11
6004.35	292	-116.79	-2.05	80.00	3602.0	3580.5	3623.5	1784.5	2618.7	592.00	-7.16	337	6010.75	0.00	0.00	3.68	0.000	0.000	0.142	3602.47	3581.31	3623.62	1784.19	4007.94	0	0	0	30.00	30.00	16.02
6013.61	1060	-116.79	-2.05	0.00	3602.1	3580.8	3623.4	1784.4	4007.9	592.73	-7.12	339	6019.67	0.00	0.00	3.52	0.000	0.000	0.073	3602.41	3581.06	3623.75	1784.44	2570.06	0	0	0	30.00	30.00	16.06
6389.35	292	-116.79	-2.05	80.00	3602.6	3581.4	3623.8	1784.8	2570.2	619.24	-7.05	354	6395.81	0.00	0.00	3.79	0.000	0.000	0.134	3601.78	3580.12	3623.44	1784.25	4007.31	0	0	0	30.00	30.00	16.01
6403.62	1060	-116.79	-2.05	0.00	3602.5	3580.4	3624.6	1784.4	4007.6	620.36	-7.06	357	6409.64	0.00	0.00	3.50	0.000	0.000	0.075	3603.19	3581.62	3624.75	1784.38	2569.62	0	0	0	30.00	30.00	16.04
6774.37	32	-116.79	-2.05	0.00	3602.9	3580.6	3625.2	1784.8	2570.6	646.13	-6.92	371	6775.93	0.00	0.00	0.00	0.000	0.000	0.000	3603.47	3580.88	3626.06	1784.38	2570.31	0	0	0	30.00	30.00	30.00
7164.38	292	-116.79	-2.05	80.00	3603.5	3581.2	3625.8	1784.2	2569.9	672.81	-6.85	384	7170.87	0.00	0.00	3.81	0.000	0.000	0.136	3602.75	3580.00	3625.50	1784.69	4007.19	0	0	0	30.00	30.00	15.98
7173.64	1060	-116.79	-2.05	0.00	3603.5	3580.8	3626.2	1784.1	4008.7	673.50	-6.86	386	7179.64	0.00	0.00	3.50	0.000	0.000	0.075	3604.12	3581.81	3626.44	1784.44	2572.81	0	0	0	30.00	30.00	16.01
7550.25	292	-116.79	-2.05	80.00	3603.9	3580.7	3627.1	1784.6	2572.9	699.58	-6.97	401	7556.91	0.00	0.00	3.81	0.000	0.000	0.135	3603.00	3579.44	3626.56	1785.06	4008.06	0	0	0	30.00	30.00	15.99
7575.11	1060	-116.79	-2.05	0.00	3604.1	3580.9	3627.4	1784.1	4008.8	701.48	-7.00	406	7581.45	0.00	0.00	3.49	0.000	0.000	0.076	3603.81	3580.00	3627.62	1784.44	2571.06	0	0	0	30.00	30.00	16.03
7960.18	292	-116.79	-2.05	80.00	3604.3	3580.7	3627.9	1784.4	2571.2	728.44	-7.03	423	7966.69	0.00	0.00	3.81	0.000	0.000	0.136	3603.62	3581.19	3626.06	1783.81	4006.81	0	0	0	30.00	30.00	16.02
7979.43	1060	-116.79	-2.05	0.00	3604.3	3581.2	3627.4	1784.5	4007.3	729.91	-7.07	427	7986.17	0.00	0.00	3.48	0.000	0.000	0.075	3604.38	3580.94	3627.81	1784.25	2571.69	0	0	0	30.00	30.00	16.06
8375.16	292	-116.79	-2.05	80.00	3604.7	3581.1	3628.4	1784.3	2571.4	757.70	-7.08	441	8381.68	0.00	0.00	3.81	0.000	0.000	0.136	3605.28	3580.94	3629.62	1783.00	4008.50	0	0	0	30.00	30.00	16.05
8384.43	1060	-116.79	-2.05	0.00	3604.1	3580.5	3627.7	1784.6	4008.6	758.41	-7.09	443	8390.45	0.00	0.00	3.50	0.000	0.000	0.075	3605.44	3581.81	3629.06	1783.25	2572.56	0	0	0	30.00	30.00	16.09
8760.17	292	-116.79	-2.05	80.00	3604.5	3580.5	3628.6	1783.3	2572.9	784.91	-7.07	458	8766.64	0.00	0.00	3.80	0.000	0.000	0.137	3604.00	3580.38	3627.62	1783.81	4008.06	0	0	0	30.00	30.00	16.06
8774.44	1060	-116.79	-2.05	0.00	3604.3	3580.1	3628.5	1783.7	4007.2	786.00	-7.10	461	8780.48	0.00	0.00	3.48	0.000	0.000	0.077	3605.59	3582.38	3628.81	1783.94	2572.50	0	0	0	30.00	30.00	16.10
9145.19	32	-116.79	-2.05	0.00	3604.8	3581.1	3628.6	1783.9	2573.7	811.81	-6.90	475	9146.75	0.00	0.00	0.00	0.000	0.000	0.000	3604.78	3580.94	3628.62	1784.00	2573.94	0	0	0	30.00	30.00	30.00
9535.19	292	-116.79	-2.05	80.00	3604.8	3580.7	3629.0	1784.1	2573.1	838.21	-6.72	488	9541.73	0.00	0.00	3.81	0.000	0.000	0.139	3604.84	3581.19	3628.50	1784.00	4006.94	0	0	0	30.00	30.00	16.10
9564.46	1060	-116.79	-2.05	0.00	3604.7	3580.4	3628.9	1783.9	4007.3	840.36	-6.71	494	9570.52	0.00	0.00	3.47	0.000	0.000	0.079	3605.53	3581.56	3629.50	1784.06	2572.81	0	0	0	30.00	30.00	16.13
9950.21	292	-116.79	-2.05	80.00	3604.6	3580.8	3628.5	1784.0	2573.5	865.81	-6.54	511	9956.73	0.00	0.00	3.81	0.000	0.000	0.138	3606.12	3581.94	3630.31	1783.81	4008.50	0	0	0	30.00	30.00	16.09
9959.48	1060	-116.79	-2.05	0.00	3605.1	3580.5	3629.6	1783.5	4007.9	866.48	-6.53	513	9965.50	0.00	0.00	3.47	0.000	0.000	0.076	3605.41	3581.31	3629.50	1783.31	2573.00	0	0	0	30.00	30.00	16.14
10335.25	32	-116.79	-2.05	0.00	3604.9	3581.1	3628.8	1784.1	2573.2	890.71	-6.43	528	10336.82	0.00	0.00	0.00	0.000	0.000	0.000	3604.34	3580.62	3628.06	1784.06	2572.94	0	0	0	30.00	30.00	30.00
10725.23	292	-116.79	-2.05	80.00	3605.2	3581.2	3629.2	1784.0	2573.1	915.62	-6.42	541	10731.73	0.00	0.00	3.81	0.000	0.000	0.140	3606.06	3582.38	3629.75	1783.00	4008.00	0	0	0	30.00	30.00	16.12
10739.49	1060	-116.79	-2.05	0.00	3604.7	3580.4	3629.1	1783.6	4008.8	916.63	-6.46	544	10745.54	0.00	0.00	3.49	0.000	0.000	0.078	3605.66	3581.62	3629.69	1784.12	2571.94	0	0	0	30.00	30.00	16.16
11110.23	292	-116.79	-2.05	80.00	3605.0	3580.9	3629.2	1783.6	2572.1	940.20	-6.34	558	11116.69	0.00	0.00	3.80	0.000	0.000	0.139	3605.00	3580.69	3629.31	1783.19	4007.75	0	0	0	30.00	30.00	16.12
11119.50	1060	-116.79	-2.05	0.00	3605.0	3580.4	3629.6	1784.2	4008.0	940.86	-6.36	560	11125.51	0.00	0.00	3.47	0.000	0.000	0.077	3605.66	3581.19	3630.12	1783.94	2572.75	0	0	0	30.00	30.00	16.16
11495.38	292	-116.79	-2.05	80.00	3605.0	3581.1	3628.9	1784.1	2573.2	964.71	-6.39	575	11502.71	0.00	0.00	3.78	0.000	0.000	0.142	3604.91	3580.56	3629.25	1783.62	4008.56	0	0	0	30.00	30.00	16.12
11510.18	1060	-116.79	-2.05	0.00	3604.6	3580.2	3628.9	1784.3	4008.0	965.77	-6.40	578	11516.22	0.00	0.00	3.46	0.000	0.000	0.078	3605.91	3581.44	3630.38	1783.75	2573.38	0	0	0	30.00	30.00	16.16
11880.92	32	-116.79	-2.05	0.00	3605.2	3581.1	3629.4	1783.8	2573.4	989.69	-6.47	592	11882.49	0.00	0.00	0.00	0.000	0.000	0.000	3605.84	3582.50	3629.19	1782.56	2573.50	0	0	0	30.00	30.00	30.00
11910	end dive: TARGET_DEPTH_EXCEEDED
state	11910	begin apogee
11912.38	10243	0.00	-0.39	0.00	3604.9	3581.1	3628.7	1783.9	2727.1	991.63	-6.47	593	12020.81	99.93	2.91	0.06	2.200	0.149	0.340	3118.03	3048.12	3187.94	2201.81	2694.56	0	0	0	11.95	16.13	15.43
12030	end apogee: CONTROL_FINISHED_OK
state	12030	begin climb
12031.33	10243	116.79	2.05	0.00	3116.7	3047.4	3185.9	2201.4	2693.9	992.05	0.00	596	12145.58	103.74	3.91	0.00	2.136	0.075	0.000	2644.19	2550.00	2738.38	2796.25	2695.12	0	0	0	11.74	15.51	30.00
12518.72	16386	116.79	2.05	-80.00	2627.2	2545.0	2709.4	2797.6	2694.3	899.17	23.93	628	12520.27	0.00	0.00	0.00	0.000	0.000	0.000	2627.22	2544.50	2709.94	2797.75	2694.31	0	0	0	30.00	30.00	30.00
12908.73	16386	116.79	2.05	-80.00	2623.8	2544.0	2703.6	2797.8	2694.3	807.73	23.16	641	12910.28	0.00	0.00	0.00	0.000	0.000	0.000	2624.81	2545.56	2704.06	2796.19	2694.50	0	0	0	30.00	30.00	30.00
13298.74	16386	116.79	2.05	-80.00	2622.9	2544.4	2701.4	2797.1	2694.1	719.48	22.52	654	13300.30	0.00	0.00	0.00	0.000	0.000	0.000	2623.38	2545.00	2701.75	2796.94	2694.12	0	0	0	30.00	30.00	30.00
13688.75	16646	116.79	2.05	80.00	2621.8	2544.4	2699.2	2797.9	2694.4	633.80	21.79	667	13695.16	0.00	0.00	3.52	0.000	0.000	0.132	2622.56	2545.00	2700.12	2795.69	4007.88	0	0	0	30.00	30.00	15.92
13733.03	17414	116.79	2.05	0.00	2621.1	2543.8	2698.4	2796.9	4008.4	623.35	23.40	676	13739.03	0.00	0.00	3.23	0.000	0.000	0.071	2622.44	2545.06	2699.81	2797.12	2691.81	0	0	0	30.00	30.00	15.97
14103.78	16386	116.79	2.05	0.00	2620.5	2543.8	2697.2	2797.8	2690.9	543.96	21.30	690	14105.34	0.00	0.00	0.00	0.000	0.000	0.000	2621.75	2544.00	2699.50	2797.31	2691.38	0	0	0	30.00	30.00	30.00
14493.79	16646	116.79	2.05	80.00	2620.5	2543.9	2697.1	2797.6	2691.8	462.48	20.68	703	14500.14	0.00	0.00	3.48	0.000	0.000	0.126	2618.59	2543.00	2694.19	2797.94	4008.12	0	0	0	30.00	30.00	16.02
14538.07	17414	116.79	2.05	0.00	2619.9	2543.9	2695.9	2797.4	4008.0	452.57	22.34	712	14544.01	0.00	0.00	3.22	0.000	0.000	0.070	2621.00	2545.19	2696.81	2796.50	2689.00	0	0	0	30.00	30.00	16.06
14908.81	16646	116.79	2.05	80.00	2620.2	2543.9	2696.5	2797.8	2689.2	377.55	19.89	726	14915.17	0.00	0.00	3.47	0.000	0.000	0.124	2619.41	2543.06	2695.75	2797.62	4008.38	0	0	0	30.00	30.00	16.05
14963.81	17414	116.79	2.05	0.00	2619.5	2544.1	2695.0	2797.4	4008.1	366.05	21.19	737	14970.08	0.00	0.00	3.22	0.000	0.000	0.068	2617.66	2541.88	2693.44	2797.62	2690.50	0	0	0	30.00	30.00	16.09
15348.83	16386	116.79	2.05	0.00	2619.7	2544.2	2695.2	2797.0	2689.9	296.28	16.92	754	15350.40	0.00	0.00	0.00	0.000	0.000	0.000	2620.53	2545.75	2695.31	2795.94	2690.31	0	0	0	30.00	30.00	30.00
15738.89	8742	125.25	2.09	-80.00	2619.5	2543.9	2695.1	2796.9	2690.1	250.25	8.72	767	15751.72	5.50	0.00	3.80	0.843	0.000	0.143	2606.34	2529.06	2683.62	2797.50	1246.31	0	0	0	11.96	30.00	16.06
15874.21	11303	212.70	2.44	0.00	2607.4	2532.4	2682.4	2797.1	1246.5	242.87	4.56	794	15961.55	77.69	0.55	3.52	1.265	0.090	0.059	2252.00	2149.81	2354.19	2891.19	2739.12	0	0	0	12.02	16.09	16.12
16334.70	16902	212.70	2.44	-80.00	2240.1	2146.6	2333.6	2892.1	2738.6	179.01	13.28	825	16342.30	0.00	0.00	3.96	0.000	0.000	0.135	2238.50	2144.94	2332.06	2893.25	1246.62	0	0	0	30.00	30.00	15.88
16439.75	17414	212.70	2.44	0.00	2238.7	2146.5	2330.9	2892.7	1246.8	165.62	12.25	846	16445.85	0.00	0.00	3.56	0.000	0.000	0.059	2240.19	2147.81	2332.56	2892.06	2736.88	0	0	0	30.00	30.00	15.95
16810.54	10535	252.99	2.60	80.00	2238.1	2146.1	2330.1	2893.1	2736.9	135.14	7.05	860	16852.82	34.38	0.20	3.39	1.129	0.119	0.130	2085.34	1987.81	2182.88	2928.88	4006.25	0	0	0	11.88	15.99	15.82
16875.26	1028	252.99	2.60	0.00	2083.0	1988.0	2178.1	2929.0	4006.5	129.49	10.47	873	16881.27	0.00	0.00	3.27	0.000	0.000	0.067	2084.38	1989.62	2179.12	2929.62	2690.56	0	0	0	30.00	30.00	15.87
17261.02	16646	252.99	2.60	80.00	2077.8	1987.1	2168.4	2928.7	2689.9	85.82	9.32	890	17267.42	0.00	0.00	3.51	0.000	0.000	0.124	2077.03	1986.19	2167.88	2928.44	4008.25	0	0	0	30.00	30.00	15.93
17496.12	11303	375.30	3.09	0.00	2075.7	1987.2	2164.1	2928.6	4008.2	75.05	2.73	937	17629.93	123.05	0.74	3.26	1.063	0.084	0.069	1589.62	1490.38	1688.88	3050.12	2689.75	0	0	0	11.85	15.97	16.01
18008.12	10535	580.03	3.91	80.00	1577.3	1490.1	1664.4	3049.2	2688.8	43.08	-1.61	978	18276.59	251.87	1.23	3.65	0.983	0.076	0.121	755.81	636.12	875.50	3245.81	4006.62	0	0	0	11.73	15.85	15.36
18504.11	11303	759.80	4.62	0.00	751.8	640.1	863.5	3245.4	4006.9	14.39	-0.30	1060	18602.07	87.61	1.11	3.30	0.948	0.093	0.067	501.03	393.44	608.62	3418.69	2688.12	0	0	0	11.73	15.70	15.73
18724	end climb: NO_VERTICAL_VELOCITY
state	18724	begin subsurface finish
19006.54	32039	486.26	1.95	80.00	500.3	397.0	603.6	3419.6	2734.7	13.07	0.21	1091	19009.50	0.00	1.46	0.00	0.000	0.288	0.000	500.62	397.12	604.12	3245.25	2735.69	0	0	0	30.00	15.71	30.00
19009	end subsurface finish: NO_VERTICAL_VELOCITY
state	19009	begin surface