Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 428 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 HEADING -1 C_ROLL_CLIMB 2029 ALTIM_TOP_PING_RANGE 0

MISSION 20 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 428 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 115 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 18 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 50 ALTIM_FREQUENCY 13

D_TGT 990 SM_CC 450 ROLL_MAXERRORS 0 ALTIM_PULSE 3

D_ABORT 1010 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 400 FILEMGR 2 ROLL_ADJ_DBAND 0 XPDR_VALID 6

D_BOOST 2 CALL_NDIVES 1 VBD_MIN 550 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 PROTOCOL 9 C_VBD 2758 INT_PRESSURE_YINT 1.7

D_PITCH 2 N_NOCOMM 0 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 500 NOCOMM_ACTION 163 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 3 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 8 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 800 DEVICE2 -1

SURFACE_URGENCY_TRY 8 CALL_TRIES 3 PITCH_VBD_SHIFT 0.0013 DEVICE3 -1

SURFACE_URGENCY_FORCE 16 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 390 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 500 CAPMAXSIZE 10000 VBD_BLEED_AD_RATE 1 DEVICE6 -1

T_ABORT 4320 HEAPDBG 0 UNCOM_BLEED 500 LOGGERS 1

T_TURN 225 T_GPS 3 VBD_MAXERRORS 2 LOGGERDEVICE1 54

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP -120 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 400 COMPASS2_DEVICE 150

USE_ICE 1 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 700 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 275 PITCH_W_GAIN 2 RAFOS_DEVICE 101

T_WATCHDOG 10 PITCH_MAX 3850 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2715 CF8_MAXERRORS 0 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0044106129

MAX_BUOY 100 PITCH_CNV 0.0031256729 AH0_10V 0 SEABIRD_T_H 0.00064144889

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 0 SEABIRD_T_I 2.6068648e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 0 SEABIRD_T_J 3.2054108e-06

SPEED_FACTOR 1 PITCH_GAIN 30 MAXI_24V 2 SEABIRD_C_G -9.965229

RHO 1.0275 PITCH_TIMEOUT 40 MAXI_10V 2 SEABIRD_C_H 1.1036862

MASS 53734 PITCH_AD_RATE 20 FG_AHR_10V 0 SEABIRD_C_I -0.0021489244

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00024241477

NAV_MODE 0 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -161.88326 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010687162 SC_XMITPROFILE 3.0

HD_A 0.0041999999 ROLL_MAX 3858 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0082 ROLL_DEG 40 COMPASS_USE 4

HD_C 5.7000002e-06 C_ROLL_DIVE 1950 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.0044106129

AH0_10V 0 D_TGT 990 PHONE_DEVICE 49 SEABIRD_T_H 0.00064144889

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.6068648e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.2054108e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 20 SM_CC 450

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.0031256729 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 2 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 20 PITCH_GAIN 30 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3850 SURFACE_URGENCY 8

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 16

ALTIM_TOP_PING_RANGE 0 HD_A 0.0041999999 PITCH_MIN 275 SURFACE_URGENCY_TRY 8

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0082 PITCH_TIMEOUT 40 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0013 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_ABORT 4320

CALL_WAIT 45 HEAPDBG 0 PRESSURE_SLOPE 0.00010687162 T_BOOST 0

CAPMAXSIZE 10000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -161.88326 T_DIVE 390

CAPUPLOAD 0 ID 196 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 3

COMM_SEQ 0 INT_PRESSURE_YINT 1.7 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 150 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 500

COMPASS_DEVICE 97 LOGGERDEVICE1 54 RAFOS_DEVICE 101 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP -120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2715 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2029 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 1950 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 500

C_VBD 2758 LOITER_D_BOTTOM 700 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 400 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 50 USE_ICE 1

DEVICE1 -1 LOITER_W_DBAND 2 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 1

DEVICE2 -1 MASS 53734 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3858 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 2 ROLL_MAXERRORS 0 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 2 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 100 ROLL_TIMEOUT 30 VBD_MAXERRORS 2

DIVE 428 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 18 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 2 MISSION 20 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 3 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 800

D_FINISH 10 NAV_MODE 0 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 400 N_DIVES 0 SEABIRD_C_G -9.965229 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1036862 XPDR_VALID 6

D_PITCH 2 N_GPS 100440 SEABIRD_C_I -0.0021489244

D_SAFE 500 N_NOCOMM 0 SEABIRD_C_J 0.00024241477

Pre-dive calculations and measurements:

GPS1 040920,065053,7300.2529,-14847.4365,0,1001.0,0,21.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.147,0.227

_CALLS 0 TGT_NAME SODAA

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14820.200

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 9.11 MHEAD_RNG_PITCHd_Wd 70.1,14755,-18.2,-8.462,-20.48,1768

_SM_ANGLEo -13.4 D_GRID 990

GPS2 040920,065053,7300.2529,-14847.4365,0,1001.0,0,21.7,0.0,0.0,0,0.0 EXEC 4,999,2,0.000000,0.000000

Post-dive calculations and measurements:

FREEZE 9.54,-0.965,-1.293,2,10,0 _24V_AH 12.00,227.624

FINISH1 9.5,1.018991,437 _10V_AH 11.92,0.000

FINISH2 9.5 FG_AHR_24Vo 0.000

RAFOS_CLK 235 FG_AHR_10Vo 0.000

RAFOS_FIX 7259.985840,-14903.418945,040920,141453,0,1,0.32 MEM 334836

IRIDIUM_FIX 7318.60,-14727.13,010920,031827 DATA_FILE_SIZE 53261,1490

TT8_MAMPS 0.038199,0.301098 CAP_FILE_SIZE 167269,0

HUMID 51.77 CFSIZE 1047117824,987283456

INTERNAL_PRESSURE 8.77058 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.10 SOUNDSPEED 1453.1

XPDR_PINGS 135 GPS 040920,142253,7259.986,-14903.419,0,1001.0,0,21.7,0.0,0.0,0,0.0

SC_FREEKB 3628256

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 225 13.47 nil 0 0 0.00

Roll_motor 134 116 188.06 nil 0 0 0.00

VBD_pump_during_apogee 850 2300 23476.04 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 27040 10 3248.37

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 33 420 170.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 22908 2 630.78

TT8_Active 952 9 105.84

TT8_Sampling 2989 27 972.70

TT8_CF8 257 37 116.20

TT8_Kalman 0 0 0.00

Analog_circuits 2140 10 278.16

GPS_charging 0 0 0.00

Compass 2254 6 181.16

RAFOS 4428 33 1741.80

Transponder 0 5 0.03

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 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.73 -97.3 2922 2037 749 782 0.0 0.0 0 91 0.00 0.00 -75.78 0.003 16390 0.000 0.000 2921 2037 3158 3250 3066 0 0 0 0 0 0 14.55 12.35 14.57

94 -0.73 -97.3 2922 2037 3248 3066 12.9 -7.5 8 99 1.40 2.50 0.00 0.000 4356 0.096 0.107 2475 3371 3158 3250 3066 0 0 0 0 0 0 14.14 14.03 14.21

324 -0.73 -97.3 2475 3373 3251 3067 63.3 -17.4 54 330 0.00 2.40 0.00 0.000 1030 0.000 0.067 2475 2031 3158 3250 3066 0 0 0 0 0 0 14.30 14.16 14.34

695 -0.73 -97.3 2475 2032 3251 3065 116.0 -13.4 68 700 0.00 2.50 0.00 0.000 260 0.000 0.103 2474 3369 3157 3250 3064 0 0 0 0 0 0 14.73 13.97 14.77

841 -0.73 -97.3 2475 3371 3250 3064 134.4 -12.4 97 848 0.00 2.40 0.00 0.000 1030 0.000 0.067 2475 2027 3157 3250 3064 0 0 0 0 0 0 14.27 14.13 14.32

1205 -0.73 -97.3 2474 2028 3260 3064 178.4 -11.4 110 1210 0.00 2.62 0.00 0.000 516 0.000 0.108 2474 633 3156 3250 3063 0 0 0 0 0 0 14.61 13.93 14.63

1300 -0.73 -97.3 2475 634 3251 3063 189.7 -11.8 129 1306 0.00 2.42 0.00 0.000 1030 0.000 0.088 2474 1951 3160 3258 3062 0 0 0 0 0 0 14.14 13.95 14.21

1686 -0.73 -97.3 2475 1951 3251 3062 230.2 -10.1 146 1688 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1951 3155 3250 3061 0 0 0 0 0 0 14.76 14.78 14.79

2046 -0.73 -97.3 2475 1951 3251 3062 263.5 -8.9 158 2052 0.00 2.70 0.00 0.000 260 0.000 0.109 2475 3372 3155 3250 3061 0 0 0 0 0 0 14.76 13.87 14.78

2217 -0.73 -97.3 2475 3371 3251 3062 277.7 -8.3 192 2222 0.00 2.40 0.00 0.000 1030 0.000 0.069 2475 2039 3155 3250 3061 0 0 0 0 0 0 14.20 14.05 14.26

2587 -0.73 -97.3 2475 2039 3250 3060 305.6 -7.3 206 2589 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2038 3155 3250 3060 0 0 0 0 0 0 14.59 14.62 14.61

2947 -0.73 -97.3 2475 2039 3251 3060 331.7 -7.2 218 2952 0.00 2.53 0.00 0.000 260 0.000 0.106 2475 3366 3154 3250 3059 0 0 0 0 0 0 14.59 13.82 14.61

2967 -0.73 -97.3 2470 3367 3251 3060 333.2 -7.1 222 2972 0.00 2.40 0.00 0.000 1030 0.000 0.068 2475 2040 3154 3250 3059 0 0 0 0 0 0 14.17 14.02 14.23

3337 -0.73 -97.3 2474 2041 3249 3059 358.5 -6.8 236 3339 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2040 3154 3250 3059 0 0 0 0 0 0 14.76 14.79 14.78

3697 -0.73 -97.3 2475 2041 3251 3059 383.2 -6.9 248 3699 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2040 3154 3249 3059 0 0 0 0 0 0 14.76 14.79 14.78

4057 -0.73 -97.3 2475 2041 3251 3060 406.8 -6.4 260 4059 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2040 3155 3251 3059 0 0 0 0 0 0 14.73 14.78 14.78

4417 -0.73 -97.3 2475 2040 3253 3059 429.6 -6.4 272 4419 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2039 3154 3250 3059 0 0 0 0 0 0 14.47 14.50 14.49

4777 -0.73 -97.3 2475 2040 3250 3059 452.5 -6.3 284 4779 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2039 3154 3250 3059 0 0 0 0 0 0 14.45 14.47 14.47

5138 -0.73 -97.3 2475 2040 3250 3058 474.8 -6.2 296 5139 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2039 3154 3250 3059 0 0 0 0 0 0 14.43 14.46 14.46

5498 -0.73 -97.3 2475 2040 3251 3060 497.3 -6.2 308 5502 0.00 2.55 0.00 0.000 292 0.000 0.103 2475 3366 3154 3251 3057 0 0 0 0 0 0 14.43 13.77 14.45

5547 -0.73 -97.3 2474 3366 3251 3059 500.5 -6.5 318 5552 0.00 2.42 0.00 0.000 1030 0.000 0.067 2473 2038 3154 3250 3059 0 0 0 0 0 0 14.05 13.90 14.09

5918 -0.73 -97.3 2475 2038 3251 3059 523.7 -6.2 332 5919 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2038 3153 3249 3058 0 0 0 0 0 0 14.44 14.47 14.46

6278 -0.73 -97.3 2475 2038 3251 3059 546.0 -6.3 344 6279 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2038 3154 3250 3059 0 0 0 0 0 0 14.44 14.47 14.46

6638 -0.73 -97.3 2475 2038 3252 3059 568.6 -6.3 356 6643 0.00 2.55 0.00 0.000 292 0.000 0.105 2475 3372 3154 3250 3059 0 0 0 0 0 0 14.53 13.78 14.56

6693 -0.73 -97.3 2475 3372 3251 3059 572.2 -6.6 367 6699 0.00 2.42 0.00 0.000 1030 0.000 0.067 2475 2033 3154 3250 3059 0 0 0 0 0 0 14.12 13.97 14.17

7058 -0.73 -97.3 2475 2034 3251 3060 594.4 -6.0 380 7060 0.00 0.00 0.00 0.000 38 0.000 0.000 2474 2033 3154 3250 3059 0 0 0 0 0 0 14.54 14.57 14.57

7418 -0.73 -97.3 2475 2033 3251 3060 616.3 -6.1 392 7420 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2033 3154 3250 3058 0 0 0 0 0 0 14.54 14.58 14.57

7778 -0.73 -97.3 2474 2031 3251 3059 638.1 -6.0 404 7783 0.00 2.55 0.00 0.000 292 0.000 0.104 2475 3373 3154 3250 3058 0 0 0 0 0 0 14.55 13.74 14.57

7838 -0.73 -97.3 2475 3374 3251 3060 641.9 -6.4 416 7843 0.00 2.42 0.00 0.000 1062 0.000 0.068 2475 2033 3154 3250 3059 0 0 0 0 0 0 14.10 13.95 14.16

8229 -0.73 -97.3 2475 2033 3251 3058 665.1 -5.8 434 8231 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2033 3154 3250 3059 0 0 0 0 0 0 14.55 14.59 14.58

8589 -0.73 -97.3 2479 2033 3251 3059 686.6 -6.0 446 8590 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2033 3154 3250 3059 0 0 0 0 0 0 14.55 14.58 14.57

8949 -0.73 -97.3 2473 2034 3251 3059 708.6 -6.1 458 8954 0.00 2.55 0.00 0.000 292 0.000 0.104 2475 3372 3155 3250 3061 0 0 0 0 0 0 14.54 13.71 14.57

9004 -0.73 -97.3 2475 3372 3251 3060 712.1 -6.2 469 9011 0.00 2.42 0.00 0.000 1062 0.000 0.067 2475 2030 3154 3250 3059 0 0 0 0 0 0 14.09 13.94 14.14

9369 -0.73 -97.3 2475 2031 3251 3060 734.3 -6.2 482 9371 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2029 3154 3250 3059 0 0 0 0 0 0 14.54 14.57 14.57

9729 -0.73 -97.3 2475 2030 3252 3060 756.1 -6.0 494 9734 0.00 2.55 0.00 0.000 292 0.000 0.105 2475 3365 3155 3251 3059 0 0 0 0 0 0 14.75 13.60 14.78

9815 -0.73 -97.3 2475 3365 3250 3060 761.5 -6.3 511 9821 0.00 2.42 0.00 0.000 1062 0.000 0.067 2475 2027 3154 3250 3059 0 0 0 0 0 0 14.07 13.93 14.13

10180 -0.73 -97.3 2475 2030 3251 3060 782.8 -5.8 524 10181 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2028 3154 3250 3059 0 0 0 0 0 0 14.54 14.57 14.56

10540 -0.73 -97.3 2475 2028 3251 3059 803.0 -5.6 536 10545 0.00 2.58 0.00 0.000 292 0.000 0.103 2475 3366 3154 3250 3059 0 0 0 0 0 0 14.53 13.60 14.56

10600 -0.73 -97.3 2474 3367 3251 3059 806.1 -5.6 548 10605 0.00 2.42 0.00 0.000 1062 0.000 0.065 2475 2036 3154 3250 3058 0 0 0 0 0 0 13.97 13.82 14.02

10990 -0.73 -97.3 2475 2036 3251 3060 828.3 -5.6 566 10992 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2036 3154 3250 3059 0 0 0 0 0 0 14.75 14.78 14.77

11351 -0.73 -97.3 2475 2036 3251 3060 847.9 -5.6 578 11356 0.00 2.58 0.00 0.000 292 0.000 0.104 2475 3373 3154 3250 3059 0 0 0 0 0 0 14.52 13.67 14.54

11406 -0.73 -97.3 2475 3374 3251 3059 851.2 -6.1 589 11413 0.00 2.42 0.00 0.000 1062 0.000 0.065 2475 2036 3154 3250 3059 0 0 0 0 0 0 14.05 13.90 14.10

11771 -0.73 -97.3 2475 2036 3251 3060 872.0 -5.6 602 11773 0.00 0.00 0.00 0.000 38 0.000 0.000 2474 2036 3154 3250 3059 0 0 0 0 0 0 14.52 14.55 14.54

12131 -0.73 -97.3 2475 2036 3251 3060 891.6 -5.3 614 12133 0.00 0.00 0.00 0.000 38 0.000 0.000 2474 2035 3154 3250 3059 0 0 0 0 0 0 14.52 14.55 14.54

12491 -0.73 -97.3 2475 2036 3251 3059 911.5 -5.5 626 12496 0.00 2.58 0.00 0.000 292 0.000 0.106 2475 3368 3154 3250 3058 0 0 0 0 0 0 14.76 13.65 14.78

12546 -0.73 -97.3 2475 3369 3251 3058 915.4 -5.7 637 12553 0.00 2.42 0.00 0.000 1062 0.000 0.064 2475 2034 3154 3250 3059 0 0 0 0 0 0 14.04 13.90 14.10

12911 -0.73 -97.3 2475 2034 3251 3060 935.1 -5.7 650 12913 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2034 3154 3250 3059 0 0 0 0 0 0 14.52 14.54 14.54

13272 -0.73 -97.3 2475 2034 3251 3059 955.3 -5.6 662 13273 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2033 3154 3250 3059 0 0 0 0 0 0 14.51 14.54 14.54

13631 -0.73 -97.3 2475 2034 3252 3059 975.3 -5.6 674 13633 0.00 0.00 0.00 0.000 38 0.000 0.000 2475 2033 3154 3250 3059 0 0 0 0 0 0 14.51 14.54 14.54

13899 end dive: TARGET_DEPTH_EXCEEDED

state 13899 begin apogee

13904 -0.17 0.0 2475 2033 3251 3060 990.4 -5.6 683 14013 0.75 0.00 106.50 2.300 10246 0.226 0.000 2658 2033 2757 2878 2637 0 0 0 0 0 0 13.66 13.64 12.52

14015 end apogee: CONTROL_FINISHED_OK

state 14015 begin climb

14017 0.73 97.3 2659 2034 2878 2638 992.7 0.0 686 14136 1.00 2.88 108.97 2.235 10500 0.138 0.107 2947 3450 2359 2481 2237 0 0 0 0 0 0 13.64 12.89 12.00

14146 0.73 97.3 2947 3451 2478 2237 984.2 12.0 711 14151 0.00 2.58 0.00 0.000 1030 0.000 0.075 2947 2123 2356 2477 2236 0 0 0 0 0 0 13.43 13.31 13.46

14531 0.73 97.3 2947 2124 2470 2230 950.2 8.7 728 14533 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2123 2349 2469 2229 0 0 0 0 0 0 14.55 14.59 14.58

14891 0.73 97.3 2947 2124 2469 2228 919.1 8.7 740 14893 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2123 2347 2468 2227 0 0 0 0 0 0 14.76 14.78 14.78

15251 0.73 97.3 2947 2126 2468 2227 887.8 8.7 752 15256 0.00 2.50 0.00 0.000 260 0.000 0.109 2947 3457 2346 2466 2226 0 0 0 0 0 0 14.66 14.09 14.69

15291 0.73 97.3 2947 3456 2468 2227 884.5 9.9 760 15296 0.00 2.40 0.00 0.000 1030 0.000 0.075 2947 2121 2346 2467 2226 0 0 0 0 0 0 14.34 14.18 14.40

15671 0.73 97.3 2948 2121 2465 2226 851.3 8.4 776 15673 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2120 2346 2466 2226 0 0 0 0 0 0 14.67 14.71 14.70

16031 0.73 97.3 2948 2121 2466 2226 820.5 8.3 788 16036 0.00 2.50 0.00 0.000 260 0.000 0.109 2947 3447 2345 2465 2225 0 0 0 0 0 0 14.64 14.03 14.67

16076 0.73 97.3 2948 3448 2466 2226 815.8 9.8 797 16082 0.00 2.40 0.00 0.000 1030 0.000 0.075 2947 2115 2345 2466 2225 0 0 0 0 0 0 14.28 14.12 14.35

16453 0.73 97.3 2947 2115 2466 2225 783.8 8.5 812 16454 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2115 2345 2465 2225 0 0 0 0 0 0 14.64 14.66 14.66

16812 0.73 97.3 2947 2115 2466 2225 753.0 8.6 824 16814 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2114 2345 2465 2225 0 0 0 0 0 0 14.63 14.66 14.66

17173 0.73 97.3 2948 2115 2465 2226 722.6 8.4 836 17178 0.00 2.53 0.00 0.000 260 0.000 0.107 2947 3450 2344 2465 2224 0 0 0 0 0 0 14.62 13.90 14.65

17208 0.73 97.3 2948 3450 2467 2225 719.3 9.4 843 17213 0.00 2.40 0.00 0.000 1030 0.000 0.074 2947 2121 2344 2465 2224 0 0 0 0 0 0 14.25 14.09 14.32

17593 0.75 97.3 2947 2121 2466 2226 688.6 7.9 860 17595 0.00 0.00 0.00 0.000 70 0.000 0.000 2947 2120 2345 2465 2225 0 0 0 0 0 0 14.78 14.81 14.81

17953 0.75 97.3 2947 2120 2465 2225 658.9 8.3 872 17955 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2120 2346 2465 2227 0 0 0 0 0 0 14.60 14.64 14.64

18313 0.75 97.3 2948 2121 2466 2224 628.9 8.3 884 18315 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2120 2344 2465 2224 0 0 0 0 0 0 14.61 14.64 14.64

18673 0.75 97.3 2948 2121 2466 2225 599.6 8.0 896 18678 0.00 2.53 0.00 0.000 260 0.000 0.106 2946 3454 2344 2465 2223 0 0 0 0 0 0 14.56 13.85 14.56

18723 0.75 97.3 2948 3450 2468 2225 595.1 9.2 906 18728 0.00 2.42 0.00 0.000 1030 0.000 0.073 2947 2114 2344 2465 2223 0 0 0 0 0 0 14.17 14.02 14.23

19093 0.75 97.3 2947 2114 2465 2225 565.4 8.0 920 19095 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2115 2344 2465 2224 0 0 0 0 0 0 14.51 14.54 14.54

19453 0.75 97.3 2947 2114 2465 2225 536.4 8.0 932 19455 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2114 2344 2465 2224 0 0 0 0 0 0 14.50 14.53 14.53

19813 0.76 97.3 2947 2115 2465 2225 507.8 7.9 944 19815 0.00 0.00 0.00 0.000 70 0.000 0.000 2948 2114 2344 2465 2224 0 0 0 0 0 0 14.50 14.52 14.52

20174 0.77 97.3 2948 2115 2466 2225 479.5 7.9 956 20175 0.00 0.00 0.00 0.000 70 0.000 0.000 2947 2114 2344 2465 2224 0 0 0 0 0 0 14.49 14.50 14.52

20534 0.78 97.3 2949 2115 2466 2225 450.7 7.9 968 20538 0.00 2.55 0.00 0.000 324 0.000 0.109 2948 3452 2344 2464 2224 0 0 0 0 0 0 14.49 13.90 14.51

20583 0.78 97.3 2947 3453 2465 2224 446.2 9.0 978 20588 0.00 2.42 0.00 0.000 1030 0.000 0.072 2947 2117 2343 2462 2224 0 0 0 0 0 0 14.16 14.00 14.21

20954 0.80 97.3 2947 2118 2466 2225 417.3 7.7 992 20955 0.00 0.00 0.00 0.000 70 0.000 0.000 2947 2124 2344 2465 2224 0 0 0 0 0 0 14.73 14.76 14.76

21314 0.81 97.3 2947 2118 2465 2224 390.0 7.8 1004 21315 0.00 0.00 0.00 0.000 70 0.000 0.000 2947 2117 2348 2465 2232 0 0 0 0 0 0 14.57 14.60 14.59

21674 0.83 97.3 2947 2118 2466 2225 362.9 7.5 1016 21679 0.12 2.55 0.00 0.000 2372 0.141 0.105 3001 3452 2342 2465 2220 0 0 0 0 0 0 14.19 13.85 14.22

21754 0.83 97.3 3001 3452 2465 2224 354.8 10.5 1032 21759 0.00 2.42 0.00 0.000 1030 0.000 0.070 3001 2118 2344 2464 2224 0 0 0 0 0 0 14.15 13.99 14.23

22125 0.83 97.3 3001 2119 2465 2222 321.3 8.9 1046 22126 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2118 2344 2464 2224 0 0 0 0 0 0 14.57 14.61 14.60

22485 0.83 97.3 3001 2119 2463 2224 290.8 8.1 1058 22490 0.00 2.55 0.00 0.000 260 0.000 0.106 3001 3454 2344 2464 2224 0 0 0 0 0 0 14.57 13.83 14.60

22595 0.83 97.3 3001 3455 2465 2225 281.1 8.7 1080 22600 0.00 2.42 0.00 0.000 1030 0.000 0.068 3001 2111 2344 2465 2224 0 0 0 0 0 0 14.14 13.99 14.22

22965 0.88 137.4 3001 2113 2465 2225 255.9 6.1 1094 23007 0.00 2.50 36.12 1.493 8484 0.000 0.106 3001 3456 2195 2316 2074 0 0 0 0 0 0 14.57 13.92 13.24

23232 0.89 137.4 3002 3457 2308 2075 235.7 7.9 1147 23238 0.00 2.40 0.00 0.000 1094 0.000 0.069 3001 2118 2190 2307 2074 0 0 0 0 0 0 14.33 14.18 14.37

23597 0.94 175.3 3001 2118 2305 2072 212.1 6.3 1160 23634 0.00 0.00 35.15 1.431 8230 0.000 0.000 3001 2118 2042 2151 1934 0 0 0 0 0 0 14.74 14.12 13.23

23987 0.97 175.3 3002 2118 2137 1932 185.0 6.9 1173 23993 0.00 2.65 0.00 0.000 580 0.000 0.116 3001 716 2034 2137 1932 0 0 0 0 0 0 14.56 14.04 14.59

24100 1.01 175.3 3002 716 2136 1931 177.5 6.8 1195 24105 0.12 2.42 0.00 0.000 3142 0.160 0.088 3053 2042 2032 2135 1930 0 0 0 0 0 0 14.16 14.09 14.32

24470 1.01 175.3 3054 2043 2135 1931 146.9 8.3 1209 24476 0.00 2.55 0.00 0.000 516 0.000 0.115 3053 704 2032 2135 1930 0 0 0 0 0 0 14.60 14.00 14.63

24531 1.01 175.3 3053 704 2135 1931 141.8 8.2 1221 24537 0.00 2.45 0.00 0.000 1030 0.000 0.088 3053 2043 2032 2134 1930 0 0 0 0 0 0 14.21 14.03 14.28

24922 1.03 175.3 3053 2044 2134 1935 111.4 7.4 1239 24927 0.00 2.55 0.00 0.000 580 0.000 0.115 3053 709 2031 2133 1930 0 0 0 0 0 0 14.62 13.93 14.65

25008 1.05 175.3 3053 710 2133 1929 105.2 7.2 1256 25014 0.00 2.45 0.00 0.000 1094 0.000 0.088 3053 2039 2031 2133 1929 0 0 0 0 0 0 14.16 13.99 14.23

25373 1.11 220.3 3053 2040 2132 1930 82.1 5.8 1269 25448 0.00 2.53 70.00 1.257 8740 0.000 0.115 3053 709 1858 1954 1763 0 0 0 0 0 0 14.57 13.81 13.21

25578 1.16 257.2 3053 710 1947 1762 69.1 6.3 1310 25655 0.12 2.45 69.22 1.204 11302 0.140 0.089 3097 2037 1708 1790 1626 0 0 0 0 0 0 14.12 14.00 13.11

26035 1.24 322.8 3098 2038 1782 1627 40.9 4.6 1341 26177 0.00 2.58 133.15 1.168 8740 0.000 0.113 3098 711 1442 1499 1386 0 0 0 0 0 0 14.57 13.90 13.09

26382 1.33 390.6 3099 712 1494 1385 24.5 4.5 1410 26519 0.15 2.45 125.45 1.136 11302 0.130 0.089 3158 2034 1166 1188 1144 0 0 0 0 0 0 14.12 14.02 13.09

26816 1.54 548.8 3163 2035 1185 1140 10.2 -0.7 1465 26985 0.15 0.00 165.88 1.121 10530 0.124 0.000 3217 2035 779 763 795 0 0 0 0 0 0 14.23 28.83 14.27

26986 end climb: NO_VERTICAL_VELOCITY

state 26986 begin subsurface finish

26991 0.57 436.7 3218 2034 763 796 9.5 -0.6 1489 26999 1.15 0.00 -4.35 0.026 20738 0.166 0.000 2894 2035 922 914 930 0 0 0 0 0 0 13.82 28.83 13.93

26999 end subsurface finish: NO_VERTICAL_VELOCITY

state 26999 begin surface

ID	196	HEADING	-1	C_ROLL_CLIMB	2029	ALTIM_TOP_PING_RANGE	0
MISSION	20	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	428	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	115	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	18	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	50	ALTIM_FREQUENCY	13
D_TGT	990	SM_CC	450	ROLL_MAXERRORS	0	ALTIM_PULSE	3
D_ABORT	1010	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	400	FILEMGR	2	ROLL_ADJ_DBAND	0	XPDR_VALID	6
D_BOOST	2	CALL_NDIVES	1	VBD_MIN	550	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	PROTOCOL	9	C_VBD	2758	INT_PRESSURE_YINT	1.7
D_PITCH	2	N_NOCOMM	0	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	500	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	3	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	8	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	800	DEVICE2	-1
SURFACE_URGENCY_TRY	8	CALL_TRIES	3	PITCH_VBD_SHIFT	0.0013	DEVICE3	-1
SURFACE_URGENCY_FORCE	16	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	390	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	500	CAPMAXSIZE	10000	VBD_BLEED_AD_RATE	1	DEVICE6	-1
T_ABORT	4320	HEAPDBG	0	UNCOM_BLEED	500	LOGGERS	1
T_TURN	225	T_GPS	3	VBD_MAXERRORS	2	LOGGERDEVICE1	54
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	-120	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	400	COMPASS2_DEVICE	150
USE_ICE	1	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	700	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	275	PITCH_W_GAIN	2	RAFOS_DEVICE	101
T_WATCHDOG	10	PITCH_MAX	3850	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2715	CF8_MAXERRORS	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0044106129
MAX_BUOY	100	PITCH_CNV	0.0031256729	AH0_10V	0	SEABIRD_T_H	0.00064144889
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	0	SEABIRD_T_I	2.6068648e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	0	SEABIRD_T_J	3.2054108e-06
SPEED_FACTOR	1	PITCH_GAIN	30	MAXI_24V	2	SEABIRD_C_G	-9.965229
RHO	1.0275	PITCH_TIMEOUT	40	MAXI_10V	2	SEABIRD_C_H	1.1036862
MASS	53734	PITCH_AD_RATE	20	FG_AHR_10V	0	SEABIRD_C_I	-0.0021489244
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00024241477
NAV_MODE	0	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-161.88326	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010687162	SC_XMITPROFILE	3.0
HD_A	0.0041999999	ROLL_MAX	3858	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0082	ROLL_DEG	40	COMPASS_USE	4
HD_C	5.7000002e-06	C_ROLL_DIVE	1950	ALTIM_PING_FIT	0

GPS1	040920,065053,7300.2529,-14847.4365,0,1001.0,0,21.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.147,0.227
_CALLS	0	TGT_NAME	SODAA
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14820.200
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	9.11	MHEAD_RNG_PITCHd_Wd	70.1,14755,-18.2,-8.462,-20.48,1768
_SM_ANGLEo	-13.4	D_GRID	990
GPS2	040920,065053,7300.2529,-14847.4365,0,1001.0,0,21.7,0.0,0.0,0,0.0	EXEC	4,999,2,0.000000,0.000000

FREEZE	9.54,-0.965,-1.293,2,10,0	_24V_AH	12.00,227.624
FINISH1	9.5,1.018991,437	_10V_AH	11.92,0.000
FINISH2	9.5	FG_AHR_24Vo	0.000
RAFOS_CLK	235	FG_AHR_10Vo	0.000
RAFOS_FIX	7259.985840,-14903.418945,040920,141453,0,1,0.32	MEM	334836
IRIDIUM_FIX	7318.60,-14727.13,010920,031827	DATA_FILE_SIZE	53261,1490
TT8_MAMPS	0.038199,0.301098	CAP_FILE_SIZE	167269,0
HUMID	51.77	CFSIZE	1047117824,987283456
INTERNAL_PRESSURE	8.77058	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.10	SOUNDSPEED	1453.1
XPDR_PINGS	135	GPS	040920,142253,7259.986,-14903.419,0,1001.0,0,21.7,0.0,0.0,0,0.0
SC_FREEKB	3628256

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	225	13.47	nil	0	0	0.00
Roll_motor	134	116	188.06	nil	0	0	0.00
VBD_pump_during_apogee	850	2300	23476.04	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	27040	10	3248.37
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	33	420	170.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	22908	2	630.78
TT8_Active	952	9	105.84
TT8_Sampling	2989	27	972.70
TT8_CF8	257	37	116.20
TT8_Kalman	0	0	0.00
Analog_circuits	2140	10	278.16
GPS_charging	0	0	0.00
Compass	2254	6	181.16
RAFOS	4428	33	1741.80
Transponder	0	5	0.03

		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	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-0.73	-97.3	2922	2037	749	782	0.0	0.0	0	91	0.00	0.00	-75.78	0.003	16390	0.000	0.000	2921	2037	3158	3250	3066	0	0	0	0	0	0	14.55	12.35	14.57
94	-0.73	-97.3	2922	2037	3248	3066	12.9	-7.5	8	99	1.40	2.50	0.00	0.000	4356	0.096	0.107	2475	3371	3158	3250	3066	0	0	0	0	0	0	14.14	14.03	14.21
324	-0.73	-97.3	2475	3373	3251	3067	63.3	-17.4	54	330	0.00	2.40	0.00	0.000	1030	0.000	0.067	2475	2031	3158	3250	3066	0	0	0	0	0	0	14.30	14.16	14.34
695	-0.73	-97.3	2475	2032	3251	3065	116.0	-13.4	68	700	0.00	2.50	0.00	0.000	260	0.000	0.103	2474	3369	3157	3250	3064	0	0	0	0	0	0	14.73	13.97	14.77
841	-0.73	-97.3	2475	3371	3250	3064	134.4	-12.4	97	848	0.00	2.40	0.00	0.000	1030	0.000	0.067	2475	2027	3157	3250	3064	0	0	0	0	0	0	14.27	14.13	14.32
1205	-0.73	-97.3	2474	2028	3260	3064	178.4	-11.4	110	1210	0.00	2.62	0.00	0.000	516	0.000	0.108	2474	633	3156	3250	3063	0	0	0	0	0	0	14.61	13.93	14.63
1300	-0.73	-97.3	2475	634	3251	3063	189.7	-11.8	129	1306	0.00	2.42	0.00	0.000	1030	0.000	0.088	2474	1951	3160	3258	3062	0	0	0	0	0	0	14.14	13.95	14.21
1686	-0.73	-97.3	2475	1951	3251	3062	230.2	-10.1	146	1688	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	1951	3155	3250	3061	0	0	0	0	0	0	14.76	14.78	14.79
2046	-0.73	-97.3	2475	1951	3251	3062	263.5	-8.9	158	2052	0.00	2.70	0.00	0.000	260	0.000	0.109	2475	3372	3155	3250	3061	0	0	0	0	0	0	14.76	13.87	14.78
2217	-0.73	-97.3	2475	3371	3251	3062	277.7	-8.3	192	2222	0.00	2.40	0.00	0.000	1030	0.000	0.069	2475	2039	3155	3250	3061	0	0	0	0	0	0	14.20	14.05	14.26
2587	-0.73	-97.3	2475	2039	3250	3060	305.6	-7.3	206	2589	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2038	3155	3250	3060	0	0	0	0	0	0	14.59	14.62	14.61
2947	-0.73	-97.3	2475	2039	3251	3060	331.7	-7.2	218	2952	0.00	2.53	0.00	0.000	260	0.000	0.106	2475	3366	3154	3250	3059	0	0	0	0	0	0	14.59	13.82	14.61
2967	-0.73	-97.3	2470	3367	3251	3060	333.2	-7.1	222	2972	0.00	2.40	0.00	0.000	1030	0.000	0.068	2475	2040	3154	3250	3059	0	0	0	0	0	0	14.17	14.02	14.23
3337	-0.73	-97.3	2474	2041	3249	3059	358.5	-6.8	236	3339	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2040	3154	3250	3059	0	0	0	0	0	0	14.76	14.79	14.78
3697	-0.73	-97.3	2475	2041	3251	3059	383.2	-6.9	248	3699	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2040	3154	3249	3059	0	0	0	0	0	0	14.76	14.79	14.78
4057	-0.73	-97.3	2475	2041	3251	3060	406.8	-6.4	260	4059	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2040	3155	3251	3059	0	0	0	0	0	0	14.73	14.78	14.78
4417	-0.73	-97.3	2475	2040	3253	3059	429.6	-6.4	272	4419	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2039	3154	3250	3059	0	0	0	0	0	0	14.47	14.50	14.49
4777	-0.73	-97.3	2475	2040	3250	3059	452.5	-6.3	284	4779	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2039	3154	3250	3059	0	0	0	0	0	0	14.45	14.47	14.47
5138	-0.73	-97.3	2475	2040	3250	3058	474.8	-6.2	296	5139	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2039	3154	3250	3059	0	0	0	0	0	0	14.43	14.46	14.46
5498	-0.73	-97.3	2475	2040	3251	3060	497.3	-6.2	308	5502	0.00	2.55	0.00	0.000	292	0.000	0.103	2475	3366	3154	3251	3057	0	0	0	0	0	0	14.43	13.77	14.45
5547	-0.73	-97.3	2474	3366	3251	3059	500.5	-6.5	318	5552	0.00	2.42	0.00	0.000	1030	0.000	0.067	2473	2038	3154	3250	3059	0	0	0	0	0	0	14.05	13.90	14.09
5918	-0.73	-97.3	2475	2038	3251	3059	523.7	-6.2	332	5919	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2038	3153	3249	3058	0	0	0	0	0	0	14.44	14.47	14.46
6278	-0.73	-97.3	2475	2038	3251	3059	546.0	-6.3	344	6279	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2038	3154	3250	3059	0	0	0	0	0	0	14.44	14.47	14.46
6638	-0.73	-97.3	2475	2038	3252	3059	568.6	-6.3	356	6643	0.00	2.55	0.00	0.000	292	0.000	0.105	2475	3372	3154	3250	3059	0	0	0	0	0	0	14.53	13.78	14.56
6693	-0.73	-97.3	2475	3372	3251	3059	572.2	-6.6	367	6699	0.00	2.42	0.00	0.000	1030	0.000	0.067	2475	2033	3154	3250	3059	0	0	0	0	0	0	14.12	13.97	14.17
7058	-0.73	-97.3	2475	2034	3251	3060	594.4	-6.0	380	7060	0.00	0.00	0.00	0.000	38	0.000	0.000	2474	2033	3154	3250	3059	0	0	0	0	0	0	14.54	14.57	14.57
7418	-0.73	-97.3	2475	2033	3251	3060	616.3	-6.1	392	7420	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2033	3154	3250	3058	0	0	0	0	0	0	14.54	14.58	14.57
7778	-0.73	-97.3	2474	2031	3251	3059	638.1	-6.0	404	7783	0.00	2.55	0.00	0.000	292	0.000	0.104	2475	3373	3154	3250	3058	0	0	0	0	0	0	14.55	13.74	14.57
7838	-0.73	-97.3	2475	3374	3251	3060	641.9	-6.4	416	7843	0.00	2.42	0.00	0.000	1062	0.000	0.068	2475	2033	3154	3250	3059	0	0	0	0	0	0	14.10	13.95	14.16
8229	-0.73	-97.3	2475	2033	3251	3058	665.1	-5.8	434	8231	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2033	3154	3250	3059	0	0	0	0	0	0	14.55	14.59	14.58
8589	-0.73	-97.3	2479	2033	3251	3059	686.6	-6.0	446	8590	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2033	3154	3250	3059	0	0	0	0	0	0	14.55	14.58	14.57
8949	-0.73	-97.3	2473	2034	3251	3059	708.6	-6.1	458	8954	0.00	2.55	0.00	0.000	292	0.000	0.104	2475	3372	3155	3250	3061	0	0	0	0	0	0	14.54	13.71	14.57
9004	-0.73	-97.3	2475	3372	3251	3060	712.1	-6.2	469	9011	0.00	2.42	0.00	0.000	1062	0.000	0.067	2475	2030	3154	3250	3059	0	0	0	0	0	0	14.09	13.94	14.14
9369	-0.73	-97.3	2475	2031	3251	3060	734.3	-6.2	482	9371	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2029	3154	3250	3059	0	0	0	0	0	0	14.54	14.57	14.57
9729	-0.73	-97.3	2475	2030	3252	3060	756.1	-6.0	494	9734	0.00	2.55	0.00	0.000	292	0.000	0.105	2475	3365	3155	3251	3059	0	0	0	0	0	0	14.75	13.60	14.78
9815	-0.73	-97.3	2475	3365	3250	3060	761.5	-6.3	511	9821	0.00	2.42	0.00	0.000	1062	0.000	0.067	2475	2027	3154	3250	3059	0	0	0	0	0	0	14.07	13.93	14.13
10180	-0.73	-97.3	2475	2030	3251	3060	782.8	-5.8	524	10181	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2028	3154	3250	3059	0	0	0	0	0	0	14.54	14.57	14.56
10540	-0.73	-97.3	2475	2028	3251	3059	803.0	-5.6	536	10545	0.00	2.58	0.00	0.000	292	0.000	0.103	2475	3366	3154	3250	3059	0	0	0	0	0	0	14.53	13.60	14.56
10600	-0.73	-97.3	2474	3367	3251	3059	806.1	-5.6	548	10605	0.00	2.42	0.00	0.000	1062	0.000	0.065	2475	2036	3154	3250	3058	0	0	0	0	0	0	13.97	13.82	14.02
10990	-0.73	-97.3	2475	2036	3251	3060	828.3	-5.6	566	10992	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2036	3154	3250	3059	0	0	0	0	0	0	14.75	14.78	14.77
11351	-0.73	-97.3	2475	2036	3251	3060	847.9	-5.6	578	11356	0.00	2.58	0.00	0.000	292	0.000	0.104	2475	3373	3154	3250	3059	0	0	0	0	0	0	14.52	13.67	14.54
11406	-0.73	-97.3	2475	3374	3251	3059	851.2	-6.1	589	11413	0.00	2.42	0.00	0.000	1062	0.000	0.065	2475	2036	3154	3250	3059	0	0	0	0	0	0	14.05	13.90	14.10
11771	-0.73	-97.3	2475	2036	3251	3060	872.0	-5.6	602	11773	0.00	0.00	0.00	0.000	38	0.000	0.000	2474	2036	3154	3250	3059	0	0	0	0	0	0	14.52	14.55	14.54
12131	-0.73	-97.3	2475	2036	3251	3060	891.6	-5.3	614	12133	0.00	0.00	0.00	0.000	38	0.000	0.000	2474	2035	3154	3250	3059	0	0	0	0	0	0	14.52	14.55	14.54
12491	-0.73	-97.3	2475	2036	3251	3059	911.5	-5.5	626	12496	0.00	2.58	0.00	0.000	292	0.000	0.106	2475	3368	3154	3250	3058	0	0	0	0	0	0	14.76	13.65	14.78
12546	-0.73	-97.3	2475	3369	3251	3058	915.4	-5.7	637	12553	0.00	2.42	0.00	0.000	1062	0.000	0.064	2475	2034	3154	3250	3059	0	0	0	0	0	0	14.04	13.90	14.10
12911	-0.73	-97.3	2475	2034	3251	3060	935.1	-5.7	650	12913	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2034	3154	3250	3059	0	0	0	0	0	0	14.52	14.54	14.54
13272	-0.73	-97.3	2475	2034	3251	3059	955.3	-5.6	662	13273	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2033	3154	3250	3059	0	0	0	0	0	0	14.51	14.54	14.54
13631	-0.73	-97.3	2475	2034	3252	3059	975.3	-5.6	674	13633	0.00	0.00	0.00	0.000	38	0.000	0.000	2475	2033	3154	3250	3059	0	0	0	0	0	0	14.51	14.54	14.54
13899	end dive: TARGET_DEPTH_EXCEEDED
state	13899	begin apogee
13904	-0.17	0.0	2475	2033	3251	3060	990.4	-5.6	683	14013	0.75	0.00	106.50	2.300	10246	0.226	0.000	2658	2033	2757	2878	2637	0	0	0	0	0	0	13.66	13.64	12.52
14015	end apogee: CONTROL_FINISHED_OK
state	14015	begin climb
14017	0.73	97.3	2659	2034	2878	2638	992.7	0.0	686	14136	1.00	2.88	108.97	2.235	10500	0.138	0.107	2947	3450	2359	2481	2237	0	0	0	0	0	0	13.64	12.89	12.00
14146	0.73	97.3	2947	3451	2478	2237	984.2	12.0	711	14151	0.00	2.58	0.00	0.000	1030	0.000	0.075	2947	2123	2356	2477	2236	0	0	0	0	0	0	13.43	13.31	13.46
14531	0.73	97.3	2947	2124	2470	2230	950.2	8.7	728	14533	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2123	2349	2469	2229	0	0	0	0	0	0	14.55	14.59	14.58
14891	0.73	97.3	2947	2124	2469	2228	919.1	8.7	740	14893	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2123	2347	2468	2227	0	0	0	0	0	0	14.76	14.78	14.78
15251	0.73	97.3	2947	2126	2468	2227	887.8	8.7	752	15256	0.00	2.50	0.00	0.000	260	0.000	0.109	2947	3457	2346	2466	2226	0	0	0	0	0	0	14.66	14.09	14.69
15291	0.73	97.3	2947	3456	2468	2227	884.5	9.9	760	15296	0.00	2.40	0.00	0.000	1030	0.000	0.075	2947	2121	2346	2467	2226	0	0	0	0	0	0	14.34	14.18	14.40
15671	0.73	97.3	2948	2121	2465	2226	851.3	8.4	776	15673	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2120	2346	2466	2226	0	0	0	0	0	0	14.67	14.71	14.70
16031	0.73	97.3	2948	2121	2466	2226	820.5	8.3	788	16036	0.00	2.50	0.00	0.000	260	0.000	0.109	2947	3447	2345	2465	2225	0	0	0	0	0	0	14.64	14.03	14.67
16076	0.73	97.3	2948	3448	2466	2226	815.8	9.8	797	16082	0.00	2.40	0.00	0.000	1030	0.000	0.075	2947	2115	2345	2466	2225	0	0	0	0	0	0	14.28	14.12	14.35
16453	0.73	97.3	2947	2115	2466	2225	783.8	8.5	812	16454	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2115	2345	2465	2225	0	0	0	0	0	0	14.64	14.66	14.66
16812	0.73	97.3	2947	2115	2466	2225	753.0	8.6	824	16814	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2114	2345	2465	2225	0	0	0	0	0	0	14.63	14.66	14.66
17173	0.73	97.3	2948	2115	2465	2226	722.6	8.4	836	17178	0.00	2.53	0.00	0.000	260	0.000	0.107	2947	3450	2344	2465	2224	0	0	0	0	0	0	14.62	13.90	14.65
17208	0.73	97.3	2948	3450	2467	2225	719.3	9.4	843	17213	0.00	2.40	0.00	0.000	1030	0.000	0.074	2947	2121	2344	2465	2224	0	0	0	0	0	0	14.25	14.09	14.32
17593	0.75	97.3	2947	2121	2466	2226	688.6	7.9	860	17595	0.00	0.00	0.00	0.000	70	0.000	0.000	2947	2120	2345	2465	2225	0	0	0	0	0	0	14.78	14.81	14.81
17953	0.75	97.3	2947	2120	2465	2225	658.9	8.3	872	17955	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2120	2346	2465	2227	0	0	0	0	0	0	14.60	14.64	14.64
18313	0.75	97.3	2948	2121	2466	2224	628.9	8.3	884	18315	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2120	2344	2465	2224	0	0	0	0	0	0	14.61	14.64	14.64
18673	0.75	97.3	2948	2121	2466	2225	599.6	8.0	896	18678	0.00	2.53	0.00	0.000	260	0.000	0.106	2946	3454	2344	2465	2223	0	0	0	0	0	0	14.56	13.85	14.56
18723	0.75	97.3	2948	3450	2468	2225	595.1	9.2	906	18728	0.00	2.42	0.00	0.000	1030	0.000	0.073	2947	2114	2344	2465	2223	0	0	0	0	0	0	14.17	14.02	14.23
19093	0.75	97.3	2947	2114	2465	2225	565.4	8.0	920	19095	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2115	2344	2465	2224	0	0	0	0	0	0	14.51	14.54	14.54
19453	0.75	97.3	2947	2114	2465	2225	536.4	8.0	932	19455	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2114	2344	2465	2224	0	0	0	0	0	0	14.50	14.53	14.53
19813	0.76	97.3	2947	2115	2465	2225	507.8	7.9	944	19815	0.00	0.00	0.00	0.000	70	0.000	0.000	2948	2114	2344	2465	2224	0	0	0	0	0	0	14.50	14.52	14.52
20174	0.77	97.3	2948	2115	2466	2225	479.5	7.9	956	20175	0.00	0.00	0.00	0.000	70	0.000	0.000	2947	2114	2344	2465	2224	0	0	0	0	0	0	14.49	14.50	14.52
20534	0.78	97.3	2949	2115	2466	2225	450.7	7.9	968	20538	0.00	2.55	0.00	0.000	324	0.000	0.109	2948	3452	2344	2464	2224	0	0	0	0	0	0	14.49	13.90	14.51
20583	0.78	97.3	2947	3453	2465	2224	446.2	9.0	978	20588	0.00	2.42	0.00	0.000	1030	0.000	0.072	2947	2117	2343	2462	2224	0	0	0	0	0	0	14.16	14.00	14.21
20954	0.80	97.3	2947	2118	2466	2225	417.3	7.7	992	20955	0.00	0.00	0.00	0.000	70	0.000	0.000	2947	2124	2344	2465	2224	0	0	0	0	0	0	14.73	14.76	14.76
21314	0.81	97.3	2947	2118	2465	2224	390.0	7.8	1004	21315	0.00	0.00	0.00	0.000	70	0.000	0.000	2947	2117	2348	2465	2232	0	0	0	0	0	0	14.57	14.60	14.59
21674	0.83	97.3	2947	2118	2466	2225	362.9	7.5	1016	21679	0.12	2.55	0.00	0.000	2372	0.141	0.105	3001	3452	2342	2465	2220	0	0	0	0	0	0	14.19	13.85	14.22
21754	0.83	97.3	3001	3452	2465	2224	354.8	10.5	1032	21759	0.00	2.42	0.00	0.000	1030	0.000	0.070	3001	2118	2344	2464	2224	0	0	0	0	0	0	14.15	13.99	14.23
22125	0.83	97.3	3001	2119	2465	2222	321.3	8.9	1046	22126	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	2118	2344	2464	2224	0	0	0	0	0	0	14.57	14.61	14.60
22485	0.83	97.3	3001	2119	2463	2224	290.8	8.1	1058	22490	0.00	2.55	0.00	0.000	260	0.000	0.106	3001	3454	2344	2464	2224	0	0	0	0	0	0	14.57	13.83	14.60
22595	0.83	97.3	3001	3455	2465	2225	281.1	8.7	1080	22600	0.00	2.42	0.00	0.000	1030	0.000	0.068	3001	2111	2344	2465	2224	0	0	0	0	0	0	14.14	13.99	14.22
22965	0.88	137.4	3001	2113	2465	2225	255.9	6.1	1094	23007	0.00	2.50	36.12	1.493	8484	0.000	0.106	3001	3456	2195	2316	2074	0	0	0	0	0	0	14.57	13.92	13.24
23232	0.89	137.4	3002	3457	2308	2075	235.7	7.9	1147	23238	0.00	2.40	0.00	0.000	1094	0.000	0.069	3001	2118	2190	2307	2074	0	0	0	0	0	0	14.33	14.18	14.37
23597	0.94	175.3	3001	2118	2305	2072	212.1	6.3	1160	23634	0.00	0.00	35.15	1.431	8230	0.000	0.000	3001	2118	2042	2151	1934	0	0	0	0	0	0	14.74	14.12	13.23
23987	0.97	175.3	3002	2118	2137	1932	185.0	6.9	1173	23993	0.00	2.65	0.00	0.000	580	0.000	0.116	3001	716	2034	2137	1932	0	0	0	0	0	0	14.56	14.04	14.59
24100	1.01	175.3	3002	716	2136	1931	177.5	6.8	1195	24105	0.12	2.42	0.00	0.000	3142	0.160	0.088	3053	2042	2032	2135	1930	0	0	0	0	0	0	14.16	14.09	14.32
24470	1.01	175.3	3054	2043	2135	1931	146.9	8.3	1209	24476	0.00	2.55	0.00	0.000	516	0.000	0.115	3053	704	2032	2135	1930	0	0	0	0	0	0	14.60	14.00	14.63
24531	1.01	175.3	3053	704	2135	1931	141.8	8.2	1221	24537	0.00	2.45	0.00	0.000	1030	0.000	0.088	3053	2043	2032	2134	1930	0	0	0	0	0	0	14.21	14.03	14.28
24922	1.03	175.3	3053	2044	2134	1935	111.4	7.4	1239	24927	0.00	2.55	0.00	0.000	580	0.000	0.115	3053	709	2031	2133	1930	0	0	0	0	0	0	14.62	13.93	14.65
25008	1.05	175.3	3053	710	2133	1929	105.2	7.2	1256	25014	0.00	2.45	0.00	0.000	1094	0.000	0.088	3053	2039	2031	2133	1929	0	0	0	0	0	0	14.16	13.99	14.23
25373	1.11	220.3	3053	2040	2132	1930	82.1	5.8	1269	25448	0.00	2.53	70.00	1.257	8740	0.000	0.115	3053	709	1858	1954	1763	0	0	0	0	0	0	14.57	13.81	13.21
25578	1.16	257.2	3053	710	1947	1762	69.1	6.3	1310	25655	0.12	2.45	69.22	1.204	11302	0.140	0.089	3097	2037	1708	1790	1626	0	0	0	0	0	0	14.12	14.00	13.11
26035	1.24	322.8	3098	2038	1782	1627	40.9	4.6	1341	26177	0.00	2.58	133.15	1.168	8740	0.000	0.113	3098	711	1442	1499	1386	0	0	0	0	0	0	14.57	13.90	13.09
26382	1.33	390.6	3099	712	1494	1385	24.5	4.5	1410	26519	0.15	2.45	125.45	1.136	11302	0.130	0.089	3158	2034	1166	1188	1144	0	0	0	0	0	0	14.12	14.02	13.09
26816	1.54	548.8	3163	2035	1185	1140	10.2	-0.7	1465	26985	0.15	0.00	165.88	1.121	10530	0.124	0.000	3217	2035	779	763	795	0	0	0	0	0	0	14.23	28.83	14.27
26986	end climb: NO_VERTICAL_VELOCITY
state	26986	begin subsurface finish
26991	0.57	436.7	3218	2034	763	796	9.5	-0.6	1489	26999	1.15	0.00	-4.35	0.026	20738	0.166	0.000	2894	2035	922	914	930	0	0	0	0	0	0	13.82	28.83	13.93
26999	end subsurface finish: NO_VERTICAL_VELOCITY
state	26999	begin surface