Glider dive log

SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 765 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 190 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 24 XPDR_INHIBIT 90

MISSION 9 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 50 INT_PRESSURE_SLOPE 0.0097660003

DIVE 765 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

N_DIVES 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0.5 DEEPGLIDER 0

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.1 MOTHERBOARD 4

D_SURF 3 SM_CC 500 VBD_MIN 350 DEVICE1 134

D_FLARE 2 N_FILEKB 8 VBD_MAX 3900 DEVICE2 -1

D_TGT 450 FILEMGR 0 C_VBD 2600 DEVICE3 -1

D_ABORT 1015 CALL_NDIVES 1 VBD_DBAND 2 DEVICE4 -1

D_NO_BLEED 50 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE5 -1

D_BOOST 120 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE6 -1

T_BOOST 5 N_NOCOMM 2 VBD_TIMEOUT 720 LOGGERS 0

D_FINISH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.00060000003 LOGGERDEVICE1 54

D_PITCH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERDEVICE2 85

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE3 67

D_CALL 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CALL_WAIT 60 UNCOM_BLEED 50 COMPASS_DEVICE 97

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 COMPASS2_DEVICE 150

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_DIVE 180 HEAPDBG 0 DBDW 0 GPS_DEVICE 32

T_MISSION 540 T_GPS 5 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_ABORT 1440 N_GPS 100440 PITCH_W_DBAND 0 XPDR_DEVICE 24

T_TURN 225 T_RSLEEP 2 CF8_MAXERRORS 20 SIM_W 0

T_TURN_SAMPINT -7 STROBE 0 AH0_24V 350 SIM_PITCH 0

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 SEABIRD_T_G 0.0043932092

T_LOITER 18000 RAFOS_CORR_THRESH 60 MINV_24V 10 SEABIRD_T_H 0.00063312391

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_10V 10 SEABIRD_T_I 2.6030159e-05

USE_BATHY 0 PITCH_MIN 225 MAXI_24V 0.60000002 SEABIRD_T_J 3.2258831e-06

USE_ICE 0 PITCH_MAX 3920 MAXI_10V 0.80000001 SEABIRD_C_G -9.8128548

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2200 FG_AHR_10V 0 SEABIRD_C_H 1.1245126

D_OFFGRID 1000 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_C_I -0.00070758193

T_WATCHDOG 10 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_C_J 0.00013654788

RELAUNCH 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -163.98293 SC_RECORDABOVE 2000.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PRESSURE_SLOPE 0.00010649362 SC_PROFILE 3.0

MAX_BUOY 100 PITCH_GAIN 26 AD7714Ch0Gain 1 SC_XMITPROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 30 TCM_PITCH_OFFSET 0 PM_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_AD_RATE 50 TCM_ROLL_OFFSET 0 PM_PROFILE 3.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 PM_XMITPROFILE 3.0

RHO 1.0275 PITCH_ADJ_GAIN 0.015 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITRAW 0.0

MASS 53220 PITCH_ADJ_DBAND 3 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 0.0

MASS_COMP 0 ROLL_MIN 231 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 0.0

NAV_MODE 2 ROLL_MAX 3841 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 1.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 0 TM_RECORDABOVE 200.0

KALMAN_USE 2 C_ROLL_DIVE 2280 ALTIM_PING_DEPTH 0 TM_PROFILE 1.0

HD_A 0.0040899999 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 0 TM_XMITPROFILE 3.0

HD_B 0.0102 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13 TM_LOGSAMPLE 0.0

HD_C 4.5000002e-06 ROLL_CNV 0.028270001 ALTIM_PULSE 3 TM_XMITRAW 0.0

HEADING -1 ROLL_TIMEOUT 8 ALTIM_SENSITIVITY 2

ESCAPE_HEADING 0 R_PORT_OVSHOOT 27 XPDR_VALID 6

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_MAX 3920 SM_CC 500

AH0_10V 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SPEED_FACTOR 1

AH0_24V 350 FERRY_MAX 45 PITCH_MIN 225 STOP_T 0

ALTIM_BOTTOM_PING_RANGE 0 FG_AHR_10V 0 PITCH_TIMEOUT 30 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00060000003 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 FILEMGR 0 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 GLIDE_SLOPE 30 PM_MOTORS 0.0 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 GPS_DEVICE 32 PM_NDIVE 0.0 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 HD_A 0.0040899999 PM_PROFILE 3.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.0102 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 HD_C 4.5000002e-06 PM_SENDDEPTH 1.0 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_XMITPROFILE 3.0 TM_LOGSAMPLE 0.0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_XMITRAW 0.0 TM_PROFILE 1.0

CALL_NDIVES 1 HEAPDBG 0 PRESSURE_SLOPE 0.00010649362 TM_RECORDABOVE 200.0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -163.98293 TM_XMITPROFILE 3.0

CALL_WAIT 60 ID 190 PROTOCOL 9 TM_XMITRAW 0.0

CAPMAXSIZE 10000 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_ABORT 1440

CAPUPLOAD 0 INT_PRESSURE_YINT 0 P_OVSHOOT_WITHG 0 T_BOOST 5

CF8_MAXERRORS 20 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_DIVE 180

COMM_SEQ 0 LOGGERDEVICE1 54 RAFOS_DEVICE -1 T_EPIRB 0

COMPASS2_DEVICE 150 LOGGERDEVICE2 85 RAFOS_HIT_WINDOW 3600 T_GPS 5

COMPASS_DEVICE 97 LOGGERDEVICE3 67 RAFOS_PEAK_OFFSET 1.5 T_LOITER 18000

COMPASS_USE 4 LOGGERDEVICE4 -1 RELAUNCH 1 T_MISSION 540

COURSE_BIAS 0 LOGGERS 0 RHO 1.0275 T_NO_W 120

C_PITCH 2200 MASS 53220 ROLL_ADJ_DBAND 0.1 T_RSLEEP 2

C_ROLL_CLIMB 2200 MASS_COMP 0 ROLL_ADJ_GAIN 0.5 T_TURN 225

C_ROLL_DIVE 2280 MAXI_10V 0.80000001 ROLL_AD_RATE 50 T_TURN_SAMPINT -7

C_VBD 2600 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 T_WATCHDOG 10

DBDW 0 MAX_BUOY 100 ROLL_DEG 40 UNCOM_BLEED 50

DEEPGLIDER 0 MINV_10V 10 ROLL_MAX 3841 UPLOAD_DIVES_MAX -1

DEVICE1 134 MINV_24V 10 ROLL_MAXERRORS 1 USE_BATHY 0

DEVICE2 -1 MISSION 9 ROLL_MIN 231 USE_ICE 0

DEVICE3 -1 MOTHERBOARD 4 ROLL_TIMEOUT 8 VBD_BLEED_AD_RATE 8

DEVICE4 -1 NAV_MODE 2 R_PORT_OVSHOOT 27 VBD_CNV -0.24529999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 24 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 3.0 VBD_LP_IGNORE 0

DIVE 765 N_FILEKB 8 SC_RECORDABOVE 2000.0 VBD_MAX 3900

D_ABORT 1015 N_GPS 100440 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

D_BOOST 120 N_NOCOMM 2 SEABIRD_C_G -9.8128548 VBD_MIN 350

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_H 1.1245126 VBD_PUMP_AD_RATE_APOGEE 1

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_C_I -0.00070758193 VBD_PUMP_AD_RATE_SURFACE 1

D_FLARE 2 PHONE_SUPPLY -2 SEABIRD_C_J 0.00013654788 VBD_TIMEOUT 720

D_NO_BLEED 50 PITCH_ADJ_DBAND 3 SEABIRD_T_G 0.0043932092 W_ADJ_DBAND 0

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.015 SEABIRD_T_H 0.00063312391 XPDR_DEVICE 24

D_PITCH 0 PITCH_AD_RATE 50 SEABIRD_T_I 2.6030159e-05 XPDR_INHIBIT 90

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_J 3.2258831e-06 XPDR_VALID 6

D_SURF 3 PITCH_DBAND 0.1 SIM_PITCH 0

D_TGT 450 PITCH_GAIN 26 SIM_W 0

Pre-dive calculations and measurements:

GPS1 050417,054833,958.4822,-12525.6221,37,0.8,37,9.2,0.7,6.3,11,7.5 SPEED_LIMITS 0.144,0.204

_CALLS 2 TGT_NAME S

_XMS_NAKs 0 TGT_LATLONG 940.910,-12500.000

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.81 MHEAD_RNG_PITCHd_Wd 119.6,57076,-19.5,-8.333,-22.22,1796

_SM_ANGLEo -63.8 D_GRID 450

GPS2 050417,055628,958.5105,-12525.6641,13,0.8,14,9.2,0.9,243.2,11,7.8

Post-dive calculations and measurements:

FINISH -0.1,1.022100 _10V_AH 10.51,0.000

SM_CCo 27134,126.25,0.123,0,0,561,500.17 FG_AHR_24Vo 0.000

SM_GC 0.66,8.48,3.33,126.25,0.054,0.044,0.123,218,2283,561,-6.15,-0.62,500.17,0,0,0,0,0,0,11.64,11.64,11.54 FG_AHR_10Vo 0.000

IRIDIUM_FIX 953.88,-12524.63,050417,055049 MEM 334208

TT8_MAMPS 0.044191,0.289114 DATA_FILE_SIZE 40011,883

HUMID 58.82 CAP_FILE_SIZE 141527,0

INTERNAL_PRESSURE 9.11168 CFSIZE 260034560,169238528

TCM_TEMP 22.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 38 CURRENT 0.103,308.42,1

_24V_AH 10.91,288.394 GPS 050417,133220,958.988,-12526.335,39,0.7,39,9.2,0.9,346.8,11,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 408 119.55 SciConCT 3412 25 930.74

Roll_motor 117 1681 2162.40 nil 0 0 0.00

VBD_pump_during_apogee 485 1346 7128.31 nil 0 0 0.00

VBD_pump_during_surface 126 123 169.65 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 0 0 0.00

Iridium_during_xfer 278 184 560.58 PMAR 0 0 0.00

Transponder_ping 9 420 43.53 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 22 3.73

TT8 0 0 0.00

LPSleep 21691 2 499.28

TT8_Active 713 10 80.77

TT8_Sampling 4746 28 1434.35

TT8_CF8 571 35 213.29

TT8_Kalman 0 0 0.00

Analog_circuits 1815 11 223.19

GPS_charging 0 0 0.00

Compass 4051 0 31.93

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

8 -0.81 -97.3 203 2303 598 529 0.0 0.0 0 99 0.00 0.00 -89.68 0.000 16386 0.000 0.000 199 2305 2803 2815 2792 0 0 0 0 0 0 11.90 28.83 11.92

104 -0.81 -97.3 200 2305 2816 2792 3.0 -3.7 3 129 13.65 3.45 -3.58 0.000 18948 0.409 1.681 1933 864 2999 3046 2953 0 0 0 0 0 0 11.40 10.91 11.72

192 -0.60 -97.3 1934 863 3051 2950 31.6 -25.4 15 197 0.47 3.15 0.00 0.000 3206 0.294 0.054 2000 2279 2999 3051 2948 0 0 0 0 0 0 11.48 11.67 11.70

532 -0.54 -97.3 2001 2280 3054 2948 89.6 -10.7 30 536 0.00 3.10 0.00 0.000 388 0.000 0.067 1990 3703 3000 3053 2948 0 0 0 0 0 0 11.99 11.69 12.00

742 -0.54 -97.3 1990 3704 3057 2948 108.0 -8.1 60 747 0.17 2.95 0.00 0.000 3110 0.219 0.034 2022 2265 3001 3056 2947 0 0 0 0 0 0 11.55 11.76 11.74

1097 -0.54 -97.3 2022 2265 3059 2947 138.0 -8.9 68 1102 0.00 3.15 0.00 0.000 260 0.000 0.068 2013 3698 3002 3057 2947 0 0 0 0 0 0 12.03 11.71 12.05

1144 -0.54 -97.3 2014 3699 3058 2947 143.0 -9.7 75 1156 0.00 2.92 0.00 0.000 1030 0.000 0.034 2013 2294 3002 3057 2947 0 0 0 0 0 0 11.76 11.74 11.78

1494 -0.54 -97.3 2013 2295 3058 2946 173.4 -8.6 82 1499 0.00 3.03 0.00 0.000 516 0.000 0.050 2013 873 3001 3057 2946 0 0 0 0 0 0 12.04 11.74 12.06

1619 -0.54 -97.3 2014 875 3058 2945 183.4 -7.2 100 1624 0.00 3.10 0.00 0.000 1062 0.000 0.050 2012 2293 3001 3057 2945 0 0 0 0 0 0 11.83 11.74 11.86

1947 -0.54 -97.3 2013 2293 3058 2942 206.2 -7.1 111 1952 0.00 3.05 0.00 0.000 292 0.000 0.075 2011 3695 2999 3057 2941 0 0 0 0 0 0 12.05 11.71 12.06

2043 -0.59 -97.3 2012 3697 3058 2940 213.7 -7.3 125 2049 0.00 2.92 0.00 0.000 1190 0.000 0.036 2012 2270 2998 3056 2940 0 0 0 0 0 0 11.86 11.80 11.88

2399 -0.59 -97.3 2012 2271 3058 2937 239.6 -7.5 133 2405 0.00 2.97 0.00 0.000 548 0.000 0.050 2012 882 2996 3057 2936 0 0 0 0 0 0 12.07 11.75 12.08

2483 -0.59 -97.3 2012 882 3058 2936 246.5 -7.9 145 2490 0.00 3.05 0.00 0.000 1062 0.000 0.053 2012 2279 2996 3057 2935 0 0 0 0 0 0 11.77 11.71 11.80

2853 -0.59 -97.3 2012 2279 3058 2930 278.3 -9.1 155 2857 0.00 3.10 0.00 0.000 260 0.000 0.074 2011 3701 2993 3057 2929 0 0 0 0 0 0 12.07 11.72 12.08

2912 -0.64 -97.3 2013 3702 3058 2930 283.8 -9.5 163 2917 0.00 2.95 0.00 0.000 1158 0.000 0.036 2012 2267 2993 3057 2929 0 0 0 0 0 0 11.87 11.81 11.88

3252 -0.64 -97.3 2012 2268 3058 2927 314.2 -8.8 176 3257 0.00 3.00 0.00 0.000 516 0.000 0.050 2012 873 2991 3057 2926 0 0 0 0 0 0 12.06 11.76 12.07

3311 -0.64 -97.3 2012 873 3058 2926 319.6 -8.9 184 3316 0.00 3.12 0.00 0.000 1030 0.000 0.054 2011 2287 2991 3057 2925 0 0 0 0 0 0 11.83 11.76 11.88

3651 -0.64 -97.3 2012 2288 3057 2922 349.1 -8.8 197 3657 0.00 3.10 0.00 0.000 260 0.000 0.080 2011 3696 2989 3056 2922 0 0 0 0 0 0 12.09 11.72 12.07

3712 -0.70 -97.3 2012 3696 3055 2922 354.6 -9.2 205 3718 0.15 2.95 0.00 0.000 5254 0.103 0.038 1960 2271 2988 3055 2922 0 0 0 0 0 0 11.79 11.82 11.86

4052 -0.70 -97.3 1960 2272 3053 2920 394.6 -12.0 218 4057 0.00 3.00 0.00 0.000 516 0.000 0.053 1960 880 2986 3053 2920 0 0 0 0 0 0 12.08 11.76 12.09

4115 -0.70 -97.3 1960 881 3054 2919 402.5 -11.9 227 4119 0.00 3.10 0.00 0.000 1030 0.000 0.056 1959 2281 2985 3052 2919 0 0 0 0 0 0 11.84 11.75 11.87

4448 -0.70 -97.3 1959 2281 3052 2918 440.7 -11.6 239 4448 0.00 0.00 0.00 0.000 6 0.000 0.000 1959 2281 2984 3051 2918 0 0 0 0 0 0 12.07 12.09 12.09

4556 end dive: TARGET_DEPTH_EXCEEDED

state 4556 begin apogee

4565 -0.19 0.0 1960 2190 3051 2918 453.2 -11.2 241 4689 0.82 0.00 121.47 1.346 10244 0.211 0.000 2131 2190 2599 2707 2492 0 0 0 0 0 0 11.59 11.55 10.95

4689 end apogee: CONTROL_FINISHED_OK

state 4689 begin loiter

4921 -0.18 22.9 2132 2190 2684 2478 462.3 -1.3 276 4954 0.00 0.00 30.35 1.284 9254 0.000 0.000 2131 2189 2502 2615 2390 0 0 0 0 0 0 11.83 11.83 10.98

5313 -0.34 22.9 2131 2190 2599 2380 455.5 2.5 289 5314 0.17 0.00 0.00 0.000 4230 0.091 0.000 2077 2189 2488 2598 2379 0 0 0 0 0 0 11.63 11.71 11.71

5648 -0.42 22.9 2077 2190 2595 2378 446.8 2.5 295 5648 0.00 0.00 0.00 0.000 134 0.000 0.000 2076 2190 2486 2594 2378 0 0 0 0 0 0 11.94 11.98 11.95

5984 -0.50 22.9 2077 2190 2593 2378 442.0 1.2 301 5985 0.15 0.00 0.00 0.000 4230 0.103 0.000 2031 2189 2485 2592 2378 0 0 0 0 0 0 11.71 11.79 11.77

6320 -0.51 14.1 2032 2190 2590 2377 440.3 0.5 307 6320 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2483 2589 2377 0 0 0 0 0 0 12.01 12.02 12.02

6657 -0.51 7.5 2031 2190 2589 2376 438.9 0.4 313 6658 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2482 2588 2376 0 0 0 0 0 0 12.01 12.03 12.03

6991 -0.52 -1.1 2032 2189 2587 2376 437.5 0.5 319 6992 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2480 2586 2375 0 0 0 0 0 0 12.03 12.05 12.05

7327 -0.53 -17.5 2031 2190 2586 2375 434.7 0.9 325 7328 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2480 2585 2375 0 0 0 0 0 0 12.04 12.05 12.05

7665 -0.53 -30.0 2031 2190 2586 2374 431.9 0.7 331 7666 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2479 2585 2374 0 0 0 0 0 0 12.03 12.05 12.05

7999 -0.53 -33.9 2031 2190 2585 2373 431.0 0.2 337 8000 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2478 2584 2372 0 0 0 0 0 0 12.04 12.06 12.06

8335 -0.54 -49.0 2031 2190 2584 2373 428.6 0.9 343 8336 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2477 2582 2372 0 0 0 0 0 0 12.05 12.07 12.06

8671 -0.54 -49.0 2031 2190 2584 2372 423.3 1.7 349 8672 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2189 2477 2582 2372 0 0 0 0 0 0 12.05 12.07 12.07

9009 -0.54 -49.0 2032 2190 2582 2372 416.5 2.0 355 9010 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2189 2476 2581 2372 0 0 0 0 0 0 12.04 12.05 12.05

9343 -0.54 -49.0 2031 2189 2582 2371 409.7 2.0 361 9344 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2190 2476 2581 2371 0 0 0 0 0 0 12.05 12.09 12.07

9680 -0.54 -49.0 2031 2190 2580 2372 403.0 1.9 367 9680 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2189 2475 2580 2371 0 0 0 0 0 0 12.05 12.07 12.07

10016 -0.55 -66.1 2031 2190 2580 2372 399.1 1.0 373 10017 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2475 2579 2371 0 0 0 0 0 0 12.05 12.07 12.07

10353 -0.56 -76.9 2031 2190 2579 2371 397.0 0.6 379 10354 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2474 2578 2370 0 0 0 0 0 0 12.04 12.06 12.06

10687 -0.57 -88.2 2031 2190 2579 2371 394.8 0.6 385 10688 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2474 2578 2371 0 0 0 0 0 0 12.05 12.07 12.07

11024 -0.57 -97.1 2031 2190 2579 2370 393.2 0.5 391 11024 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2474 2578 2370 0 0 0 0 0 0 12.06 12.07 12.07

11359 -0.58 -111.8 2031 2190 2578 2370 390.6 0.8 397 11360 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2473 2577 2370 0 0 0 0 0 0 12.06 12.07 12.07

11697 -0.59 -127.5 2031 2190 2579 2370 387.5 0.9 403 11698 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2473 2577 2370 0 0 0 0 0 0 12.05 12.06 12.07

12031 -0.60 -138.8 2032 2189 2578 2371 385.2 0.6 409 12032 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2190 2473 2577 2370 0 0 0 0 0 0 12.06 12.07 12.07

12368 -0.61 -154.3 2031 2190 2578 2370 382.4 0.9 415 12368 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2473 2577 2370 0 0 0 0 0 0 12.06 12.07 12.07

12705 -0.61 -154.3 2031 2189 2578 2371 378.4 1.3 421 12705 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2189 2473 2577 2370 0 0 0 0 0 0 12.05 12.07 12.05

13039 -0.61 -154.3 2031 2190 2577 2370 373.6 1.4 427 13040 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2189 2473 2577 2370 0 0 0 0 0 0 12.06 12.06 12.10

13375 -0.61 -158.7 2031 2189 2577 2371 371.9 0.3 433 13376 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.06 12.07 12.07

13711 -0.60 -146.9 2031 2190 2577 2370 373.8 -0.7 439 13712 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.06 12.07 12.07

14049 -0.60 -135.5 2031 2189 2577 2371 376.1 -0.6 445 14050 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.05 12.07 12.06

14383 -0.60 -137.7 2031 2189 2576 2371 376.3 0.1 451 14384 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.06 12.07 12.07

14719 -0.60 -137.7 2031 2190 2578 2370 372.9 1.2 457 14720 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.06 12.08 12.08

15055 -0.60 -137.7 2032 2190 2577 2371 368.3 1.4 463 15056 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.06 12.08 12.07

15393 -0.60 -141.5 2032 2190 2577 2370 366.8 0.2 469 15394 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.05 12.05 12.07

15727 -0.59 -126.2 2032 2190 2577 2371 369.3 -0.9 475 15728 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.06 12.07 12.07

16063 -0.59 -122.7 2031 2190 2577 2370 370.6 -0.2 481 16064 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.06 12.08 12.07

16401 -0.60 -139.0 2032 2189 2577 2371 368.1 0.9 487 16402 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.05 12.06 12.07

16735 -0.60 -139.0 2032 2190 2577 2371 361.7 2.1 493 16736 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.06 12.08 12.07

17071 -0.60 -139.0 2031 2190 2577 2370 354.5 2.1 499 17072 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.06 12.07 12.07

17407 -0.60 -139.0 2031 2189 2576 2371 350.3 1.0 505 17408 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2189 2473 2576 2370 0 0 0 0 0 0 12.07 12.07 12.07

17745 -0.60 -146.3 2031 2190 2577 2370 348.7 0.4 511 17746 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.05 12.07 12.07

18079 -0.60 -150.5 2031 2190 2576 2370 347.8 0.2 517 18080 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.06 12.07 12.07

18415 -0.61 -156.8 2031 2190 2578 2371 346.7 0.4 523 18416 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2472 2575 2370 0 0 0 0 0 0 12.06 12.07 12.07

18752 -0.61 -166.8 2031 2189 2576 2371 345.0 0.6 529 18752 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2472 2575 2370 0 0 0 0 0 0 12.06 12.07 12.10

19089 -0.62 -177.2 2031 2190 2576 2370 342.9 0.6 535 19090 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2472 2575 2370 0 0 0 0 0 0 12.05 12.07 12.07

19423 -0.62 -183.5 2031 2189 2577 2371 341.5 0.4 541 19424 0.00 0.00 0.00 0.000 38 0.000 0.000 2031 2189 2473 2576 2370 0 0 0 0 0 0 12.06 12.07 12.07

19759 -0.63 -191.4 2031 2189 2576 2370 340.2 0.4 547 19761 0.12 0.00 0.00 0.000 4134 0.122 0.000 1995 2189 2473 2576 2370 0 0 0 0 0 0 11.76 11.86 11.83

20097 -0.64 -207.3 1995 2190 2575 2371 337.4 0.9 553 20098 0.00 0.00 0.00 0.000 38 0.000 0.000 1995 2189 2472 2575 2370 0 0 0 0 0 0 12.05 12.07 12.07

20431 -0.64 -207.3 1995 2190 2575 2371 333.6 1.1 559 20432 0.00 0.00 0.00 0.000 6 0.000 0.000 1995 2189 2472 2575 2370 0 0 0 0 0 0 12.06 12.08 12.08

20768 -0.64 -214.9 1995 2189 2576 2371 331.7 0.4 565 20768 0.00 0.00 0.00 0.000 38 0.000 0.000 1995 2189 2472 2575 2370 0 0 0 0 0 0 12.06 12.07 12.07

21103 -0.64 -216.1 1995 2190 2575 2371 331.4 0.1 571 21104 0.00 0.00 0.00 0.000 38 0.000 0.000 1995 2189 2472 2575 2370 0 0 0 0 0 0 12.06 12.07 12.07

21441 -0.65 -218.0 1995 2190 2574 2370 331.0 0.1 577 21442 0.00 0.00 0.00 0.000 38 0.000 0.000 1995 2189 2472 2574 2370 0 0 0 0 0 0 12.05 12.07 12.07

21776 -0.64 -214.6 1995 2190 2575 2369 331.5 -0.2 583 21777 0.00 0.00 0.00 0.000 38 0.000 0.000 1995 2189 2472 2574 2370 0 0 0 0 0 0 12.06 12.07 12.07

22112 -0.64 -211.4 1995 2190 2575 2371 332.2 -0.2 589 22113 0.00 0.00 0.00 0.000 38 0.000 0.000 1995 2189 2472 2575 2370 0 0 0 0 0 0 12.06 12.07 12.07

22448 -0.64 -203.5 1995 2190 2575 2370 333.5 -0.5 595 22449 0.00 0.00 0.00 0.000 38 0.000 0.000 1995 2189 2472 2574 2370 0 0 0 0 0 0 12.06 12.07 12.07

22723 end loiter: LOITER_COMPLETE

state 22723 begin climb

22729 0.81 97.3 1995 2190 2576 2370 334.7 0.0 600 22839 2.20 3.17 95.65 1.200 10756 0.220 0.061 2460 807 2189 2312 2066 0 0 0 0 0 0 11.52 11.55 10.98

22988 0.81 100.7 2461 808 2298 2063 319.0 8.1 637 22994 0.00 3.15 0.00 0.000 1062 0.000 0.054 2460 2208 2179 2297 2062 0 0 0 0 0 0 11.69 11.60 11.71

23349 0.81 100.7 2461 2208 2295 2062 288.1 8.6 646 23354 0.00 3.17 0.00 0.000 260 0.000 0.077 2460 3621 2178 2295 2062 0 0 0 0 0 0 11.91 11.60 11.93

23466 0.75 100.7 2460 3622 2292 2062 277.1 9.3 662 23472 0.00 3.03 0.00 0.000 1158 0.000 0.047 2469 2214 2176 2292 2061 0 0 0 0 0 0 11.74 11.67 11.76

23807 0.75 100.7 2470 2215 2291 2062 246.3 9.1 675 23812 0.00 3.17 0.00 0.000 516 0.000 0.060 2480 789 2176 2291 2062 0 0 0 0 0 0 11.95 11.64 11.97

23903 0.75 100.7 2480 790 2291 2062 236.9 9.0 689 23910 0.20 3.15 0.00 0.000 5126 0.229 0.052 2444 2208 2175 2290 2061 0 0 0 0 0 0 11.48 11.67 11.71

24260 0.76 113.9 2445 2208 2290 2062 209.7 7.6 697 24287 0.00 3.17 19.30 1.064 8484 0.000 0.076 2444 3611 2125 2244 2007 0 0 0 0 0 0 11.98 11.63 11.08

24391 0.76 113.9 2444 3611 2230 2006 198.7 8.3 716 24396 0.00 3.00 0.00 0.000 1030 0.000 0.044 2453 2203 2117 2229 2005 0 0 0 0 0 0 11.76 11.69 11.78

24709 0.77 125.5 2453 2204 2226 2005 174.4 7.7 726 24716 0.00 0.00 5.88 0.930 8230 0.000 0.000 2453 2203 2089 2205 1973 0 0 0 0 0 0 11.98 11.69 11.10

25047 0.78 141.2 2453 2204 2206 1980 149.7 7.4 732 25081 0.00 3.15 28.90 1.004 8740 0.000 0.060 2463 788 2017 2137 1898 0 0 0 0 0 0 11.98 11.50 11.08

25131 0.78 146.3 2463 788 2122 1890 142.7 8.0 745 25137 0.00 3.17 0.00 0.000 1062 0.000 0.050 2463 2209 2004 2120 1889 0 0 0 0 0 0 11.73 11.64 11.75

25495 0.78 146.3 2463 2210 2117 1890 111.6 8.7 754 25499 0.00 3.12 0.00 0.000 260 0.000 0.073 2463 3620 2002 2116 1889 0 0 0 0 0 0 11.95 11.64 11.96

25534 0.78 146.3 2463 3620 2115 1890 107.4 9.2 760 25539 0.00 3.03 0.00 0.000 1030 0.000 0.045 2472 2206 2001 2114 1889 0 0 0 0 0 0 11.75 11.69 11.78

25862 0.79 158.9 2473 2207 2114 1890 81.0 7.6 771 25877 0.00 3.20 10.60 0.288 8740 0.000 0.058 2483 785 1958 2068 1848 0 0 0 0 0 0 11.98 11.69 11.42

26117 0.90 249.4 2483 785 2071 1862 68.3 3.2 807 26210 0.00 3.15 87.10 0.330 9382 0.000 0.048 2482 2206 1582 1685 1480 0 0 0 0 0 0 11.76 11.69 11.38

26530 1.10 339.8 2483 2206 1686 1506 54.7 3.2 833 26623 0.22 3.15 86.03 0.280 10660 0.082 0.072 2558 3617 1214 1284 1144 0 0 0 0 0 0 11.64 11.59 11.40

26715 1.15 339.8 2558 3617 1285 1156 38.1 11.1 860 26727 0.00 3.10 0.00 0.000 1158 0.000 0.043 2567 2199 1220 1285 1155 0 0 0 0 0 0 11.62 11.58 11.65

27037 1.19 339.8 2568 2192 1286 1156 7.8 9.2 872 27042 0.00 3.10 0.00 0.000 644 0.000 0.057 2569 794 1220 1285 1155 0 0 0 0 0 0 11.90 11.61 11.91

27081 end climb: SURFACE_DEPTH_REACHED

state 27081 begin surface coast

27109 end surface coast: CONTROL_FINISHED_OK

state 27109 begin surface

ID	190	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	24	XPDR_INHIBIT	90
MISSION	9	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	50	INT_PRESSURE_SLOPE	0.0097660003
DIVE	765	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0.5	DEEPGLIDER	0
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.1	MOTHERBOARD	4
D_SURF	3	SM_CC	500	VBD_MIN	350	DEVICE1	134
D_FLARE	2	N_FILEKB	8	VBD_MAX	3900	DEVICE2	-1
D_TGT	450	FILEMGR	0	C_VBD	2600	DEVICE3	-1
D_ABORT	1015	CALL_NDIVES	1	VBD_DBAND	2	DEVICE4	-1
D_NO_BLEED	50	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE5	-1
D_BOOST	120	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE6	-1
T_BOOST	5	N_NOCOMM	2	VBD_TIMEOUT	720	LOGGERS	0
D_FINISH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.00060000003	LOGGERDEVICE1	54
D_PITCH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERDEVICE2	85
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE3	67
D_CALL	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CALL_WAIT	60	UNCOM_BLEED	50	COMPASS_DEVICE	97
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	150
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_DIVE	180	HEAPDBG	0	DBDW	0	GPS_DEVICE	32
T_MISSION	540	T_GPS	5	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_ABORT	1440	N_GPS	100440	PITCH_W_DBAND	0	XPDR_DEVICE	24
T_TURN	225	T_RSLEEP	2	CF8_MAXERRORS	20	SIM_W	0
T_TURN_SAMPINT	-7	STROBE	0	AH0_24V	350	SIM_PITCH	0
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	SEABIRD_T_G	0.0043932092
T_LOITER	18000	RAFOS_CORR_THRESH	60	MINV_24V	10	SEABIRD_T_H	0.00063312391
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_10V	10	SEABIRD_T_I	2.6030159e-05
USE_BATHY	0	PITCH_MIN	225	MAXI_24V	0.60000002	SEABIRD_T_J	3.2258831e-06
USE_ICE	0	PITCH_MAX	3920	MAXI_10V	0.80000001	SEABIRD_C_G	-9.8128548
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2200	FG_AHR_10V	0	SEABIRD_C_H	1.1245126
D_OFFGRID	1000	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_C_I	-0.00070758193
T_WATCHDOG	10	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00013654788
RELAUNCH	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-163.98293	SC_RECORDABOVE	2000.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PRESSURE_SLOPE	0.00010649362	SC_PROFILE	3.0
MAX_BUOY	100	PITCH_GAIN	26	AD7714Ch0Gain	1	SC_XMITPROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	30	TCM_PITCH_OFFSET	0	PM_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_AD_RATE	50	TCM_ROLL_OFFSET	0	PM_PROFILE	3.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	PM_XMITPROFILE	3.0
RHO	1.0275	PITCH_ADJ_GAIN	0.015	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITRAW	0.0
MASS	53220	PITCH_ADJ_DBAND	3	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	0.0
MASS_COMP	0	ROLL_MIN	231	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	0.0
NAV_MODE	2	ROLL_MAX	3841	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	1.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	0	TM_RECORDABOVE	200.0
KALMAN_USE	2	C_ROLL_DIVE	2280	ALTIM_PING_DEPTH	0	TM_PROFILE	1.0
HD_A	0.0040899999	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	0	TM_XMITPROFILE	3.0
HD_B	0.0102	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13	TM_LOGSAMPLE	0.0
HD_C	4.5000002e-06	ROLL_CNV	0.028270001	ALTIM_PULSE	3	TM_XMITRAW	0.0
HEADING	-1	ROLL_TIMEOUT	8	ALTIM_SENSITIVITY	2
ESCAPE_HEADING	0	R_PORT_OVSHOOT	27	XPDR_VALID	6

GPS1	050417,054833,958.4822,-12525.6221,37,0.8,37,9.2,0.7,6.3,11,7.5	SPEED_LIMITS	0.144,0.204
_CALLS	2	TGT_NAME	S
_XMS_NAKs	0	TGT_LATLONG	940.910,-12500.000
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.81	MHEAD_RNG_PITCHd_Wd	119.6,57076,-19.5,-8.333,-22.22,1796
_SM_ANGLEo	-63.8	D_GRID	450
GPS2	050417,055628,958.5105,-12525.6641,13,0.8,14,9.2,0.9,243.2,11,7.8

FINISH	-0.1,1.022100	_10V_AH	10.51,0.000
SM_CCo	27134,126.25,0.123,0,0,561,500.17	FG_AHR_24Vo	0.000
SM_GC	0.66,8.48,3.33,126.25,0.054,0.044,0.123,218,2283,561,-6.15,-0.62,500.17,0,0,0,0,0,0,11.64,11.64,11.54	FG_AHR_10Vo	0.000
IRIDIUM_FIX	953.88,-12524.63,050417,055049	MEM	334208
TT8_MAMPS	0.044191,0.289114	DATA_FILE_SIZE	40011,883
HUMID	58.82	CAP_FILE_SIZE	141527,0
INTERNAL_PRESSURE	9.11168	CFSIZE	260034560,169238528
TCM_TEMP	22.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	38	CURRENT	0.103,308.42,1
_24V_AH	10.91,288.394	GPS	050417,133220,958.988,-12526.335,39,0.7,39,9.2,0.9,346.8,11,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	408	119.55	SciConCT	3412	25	930.74
Roll_motor	117	1681	2162.40	nil	0	0	0.00
VBD_pump_during_apogee	485	1346	7128.31	nil	0	0	0.00
VBD_pump_during_surface	126	123	169.65	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	0	0	0.00
Iridium_during_xfer	278	184	560.58	PMAR	0	0	0.00
Transponder_ping	9	420	43.53	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	22	3.73
TT8	0	0	0.00
LPSleep	21691	2	499.28
TT8_Active	713	10	80.77
TT8_Sampling	4746	28	1434.35
TT8_CF8	571	35	213.29
TT8_Kalman	0	0	0.00
Analog_circuits	1815	11	223.19
GPS_charging	0	0	0.00
Compass	4051	0	31.93
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
8	-0.81	-97.3	203	2303	598	529	0.0	0.0	0	99	0.00	0.00	-89.68	0.000	16386	0.000	0.000	199	2305	2803	2815	2792	0	0	0	0	0	0	11.90	28.83	11.92
104	-0.81	-97.3	200	2305	2816	2792	3.0	-3.7	3	129	13.65	3.45	-3.58	0.000	18948	0.409	1.681	1933	864	2999	3046	2953	0	0	0	0	0	0	11.40	10.91	11.72
192	-0.60	-97.3	1934	863	3051	2950	31.6	-25.4	15	197	0.47	3.15	0.00	0.000	3206	0.294	0.054	2000	2279	2999	3051	2948	0	0	0	0	0	0	11.48	11.67	11.70
532	-0.54	-97.3	2001	2280	3054	2948	89.6	-10.7	30	536	0.00	3.10	0.00	0.000	388	0.000	0.067	1990	3703	3000	3053	2948	0	0	0	0	0	0	11.99	11.69	12.00
742	-0.54	-97.3	1990	3704	3057	2948	108.0	-8.1	60	747	0.17	2.95	0.00	0.000	3110	0.219	0.034	2022	2265	3001	3056	2947	0	0	0	0	0	0	11.55	11.76	11.74
1097	-0.54	-97.3	2022	2265	3059	2947	138.0	-8.9	68	1102	0.00	3.15	0.00	0.000	260	0.000	0.068	2013	3698	3002	3057	2947	0	0	0	0	0	0	12.03	11.71	12.05
1144	-0.54	-97.3	2014	3699	3058	2947	143.0	-9.7	75	1156	0.00	2.92	0.00	0.000	1030	0.000	0.034	2013	2294	3002	3057	2947	0	0	0	0	0	0	11.76	11.74	11.78
1494	-0.54	-97.3	2013	2295	3058	2946	173.4	-8.6	82	1499	0.00	3.03	0.00	0.000	516	0.000	0.050	2013	873	3001	3057	2946	0	0	0	0	0	0	12.04	11.74	12.06
1619	-0.54	-97.3	2014	875	3058	2945	183.4	-7.2	100	1624	0.00	3.10	0.00	0.000	1062	0.000	0.050	2012	2293	3001	3057	2945	0	0	0	0	0	0	11.83	11.74	11.86
1947	-0.54	-97.3	2013	2293	3058	2942	206.2	-7.1	111	1952	0.00	3.05	0.00	0.000	292	0.000	0.075	2011	3695	2999	3057	2941	0	0	0	0	0	0	12.05	11.71	12.06
2043	-0.59	-97.3	2012	3697	3058	2940	213.7	-7.3	125	2049	0.00	2.92	0.00	0.000	1190	0.000	0.036	2012	2270	2998	3056	2940	0	0	0	0	0	0	11.86	11.80	11.88
2399	-0.59	-97.3	2012	2271	3058	2937	239.6	-7.5	133	2405	0.00	2.97	0.00	0.000	548	0.000	0.050	2012	882	2996	3057	2936	0	0	0	0	0	0	12.07	11.75	12.08
2483	-0.59	-97.3	2012	882	3058	2936	246.5	-7.9	145	2490	0.00	3.05	0.00	0.000	1062	0.000	0.053	2012	2279	2996	3057	2935	0	0	0	0	0	0	11.77	11.71	11.80
2853	-0.59	-97.3	2012	2279	3058	2930	278.3	-9.1	155	2857	0.00	3.10	0.00	0.000	260	0.000	0.074	2011	3701	2993	3057	2929	0	0	0	0	0	0	12.07	11.72	12.08
2912	-0.64	-97.3	2013	3702	3058	2930	283.8	-9.5	163	2917	0.00	2.95	0.00	0.000	1158	0.000	0.036	2012	2267	2993	3057	2929	0	0	0	0	0	0	11.87	11.81	11.88
3252	-0.64	-97.3	2012	2268	3058	2927	314.2	-8.8	176	3257	0.00	3.00	0.00	0.000	516	0.000	0.050	2012	873	2991	3057	2926	0	0	0	0	0	0	12.06	11.76	12.07
3311	-0.64	-97.3	2012	873	3058	2926	319.6	-8.9	184	3316	0.00	3.12	0.00	0.000	1030	0.000	0.054	2011	2287	2991	3057	2925	0	0	0	0	0	0	11.83	11.76	11.88
3651	-0.64	-97.3	2012	2288	3057	2922	349.1	-8.8	197	3657	0.00	3.10	0.00	0.000	260	0.000	0.080	2011	3696	2989	3056	2922	0	0	0	0	0	0	12.09	11.72	12.07
3712	-0.70	-97.3	2012	3696	3055	2922	354.6	-9.2	205	3718	0.15	2.95	0.00	0.000	5254	0.103	0.038	1960	2271	2988	3055	2922	0	0	0	0	0	0	11.79	11.82	11.86
4052	-0.70	-97.3	1960	2272	3053	2920	394.6	-12.0	218	4057	0.00	3.00	0.00	0.000	516	0.000	0.053	1960	880	2986	3053	2920	0	0	0	0	0	0	12.08	11.76	12.09
4115	-0.70	-97.3	1960	881	3054	2919	402.5	-11.9	227	4119	0.00	3.10	0.00	0.000	1030	0.000	0.056	1959	2281	2985	3052	2919	0	0	0	0	0	0	11.84	11.75	11.87
4448	-0.70	-97.3	1959	2281	3052	2918	440.7	-11.6	239	4448	0.00	0.00	0.00	0.000	6	0.000	0.000	1959	2281	2984	3051	2918	0	0	0	0	0	0	12.07	12.09	12.09
4556	end dive: TARGET_DEPTH_EXCEEDED
state	4556	begin apogee
4565	-0.19	0.0	1960	2190	3051	2918	453.2	-11.2	241	4689	0.82	0.00	121.47	1.346	10244	0.211	0.000	2131	2190	2599	2707	2492	0	0	0	0	0	0	11.59	11.55	10.95
4689	end apogee: CONTROL_FINISHED_OK
state	4689	begin loiter
4921	-0.18	22.9	2132	2190	2684	2478	462.3	-1.3	276	4954	0.00	0.00	30.35	1.284	9254	0.000	0.000	2131	2189	2502	2615	2390	0	0	0	0	0	0	11.83	11.83	10.98
5313	-0.34	22.9	2131	2190	2599	2380	455.5	2.5	289	5314	0.17	0.00	0.00	0.000	4230	0.091	0.000	2077	2189	2488	2598	2379	0	0	0	0	0	0	11.63	11.71	11.71
5648	-0.42	22.9	2077	2190	2595	2378	446.8	2.5	295	5648	0.00	0.00	0.00	0.000	134	0.000	0.000	2076	2190	2486	2594	2378	0	0	0	0	0	0	11.94	11.98	11.95
5984	-0.50	22.9	2077	2190	2593	2378	442.0	1.2	301	5985	0.15	0.00	0.00	0.000	4230	0.103	0.000	2031	2189	2485	2592	2378	0	0	0	0	0	0	11.71	11.79	11.77
6320	-0.51	14.1	2032	2190	2590	2377	440.3	0.5	307	6320	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2483	2589	2377	0	0	0	0	0	0	12.01	12.02	12.02
6657	-0.51	7.5	2031	2190	2589	2376	438.9	0.4	313	6658	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2482	2588	2376	0	0	0	0	0	0	12.01	12.03	12.03
6991	-0.52	-1.1	2032	2189	2587	2376	437.5	0.5	319	6992	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2480	2586	2375	0	0	0	0	0	0	12.03	12.05	12.05
7327	-0.53	-17.5	2031	2190	2586	2375	434.7	0.9	325	7328	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2480	2585	2375	0	0	0	0	0	0	12.04	12.05	12.05
7665	-0.53	-30.0	2031	2190	2586	2374	431.9	0.7	331	7666	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2479	2585	2374	0	0	0	0	0	0	12.03	12.05	12.05
7999	-0.53	-33.9	2031	2190	2585	2373	431.0	0.2	337	8000	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2478	2584	2372	0	0	0	0	0	0	12.04	12.06	12.06
8335	-0.54	-49.0	2031	2190	2584	2373	428.6	0.9	343	8336	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2477	2582	2372	0	0	0	0	0	0	12.05	12.07	12.06
8671	-0.54	-49.0	2031	2190	2584	2372	423.3	1.7	349	8672	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2189	2477	2582	2372	0	0	0	0	0	0	12.05	12.07	12.07
9009	-0.54	-49.0	2032	2190	2582	2372	416.5	2.0	355	9010	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2189	2476	2581	2372	0	0	0	0	0	0	12.04	12.05	12.05
9343	-0.54	-49.0	2031	2189	2582	2371	409.7	2.0	361	9344	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2190	2476	2581	2371	0	0	0	0	0	0	12.05	12.09	12.07
9680	-0.54	-49.0	2031	2190	2580	2372	403.0	1.9	367	9680	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2189	2475	2580	2371	0	0	0	0	0	0	12.05	12.07	12.07
10016	-0.55	-66.1	2031	2190	2580	2372	399.1	1.0	373	10017	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2475	2579	2371	0	0	0	0	0	0	12.05	12.07	12.07
10353	-0.56	-76.9	2031	2190	2579	2371	397.0	0.6	379	10354	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2474	2578	2370	0	0	0	0	0	0	12.04	12.06	12.06
10687	-0.57	-88.2	2031	2190	2579	2371	394.8	0.6	385	10688	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2474	2578	2371	0	0	0	0	0	0	12.05	12.07	12.07
11024	-0.57	-97.1	2031	2190	2579	2370	393.2	0.5	391	11024	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2474	2578	2370	0	0	0	0	0	0	12.06	12.07	12.07
11359	-0.58	-111.8	2031	2190	2578	2370	390.6	0.8	397	11360	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2473	2577	2370	0	0	0	0	0	0	12.06	12.07	12.07
11697	-0.59	-127.5	2031	2190	2579	2370	387.5	0.9	403	11698	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2473	2577	2370	0	0	0	0	0	0	12.05	12.06	12.07
12031	-0.60	-138.8	2032	2189	2578	2371	385.2	0.6	409	12032	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2190	2473	2577	2370	0	0	0	0	0	0	12.06	12.07	12.07
12368	-0.61	-154.3	2031	2190	2578	2370	382.4	0.9	415	12368	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2473	2577	2370	0	0	0	0	0	0	12.06	12.07	12.07
12705	-0.61	-154.3	2031	2189	2578	2371	378.4	1.3	421	12705	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2189	2473	2577	2370	0	0	0	0	0	0	12.05	12.07	12.05
13039	-0.61	-154.3	2031	2190	2577	2370	373.6	1.4	427	13040	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2189	2473	2577	2370	0	0	0	0	0	0	12.06	12.06	12.10
13375	-0.61	-158.7	2031	2189	2577	2371	371.9	0.3	433	13376	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.06	12.07	12.07
13711	-0.60	-146.9	2031	2190	2577	2370	373.8	-0.7	439	13712	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.06	12.07	12.07
14049	-0.60	-135.5	2031	2189	2577	2371	376.1	-0.6	445	14050	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.05	12.07	12.06
14383	-0.60	-137.7	2031	2189	2576	2371	376.3	0.1	451	14384	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.06	12.07	12.07
14719	-0.60	-137.7	2031	2190	2578	2370	372.9	1.2	457	14720	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.06	12.08	12.08
15055	-0.60	-137.7	2032	2190	2577	2371	368.3	1.4	463	15056	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.06	12.08	12.07
15393	-0.60	-141.5	2032	2190	2577	2370	366.8	0.2	469	15394	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.05	12.05	12.07
15727	-0.59	-126.2	2032	2190	2577	2371	369.3	-0.9	475	15728	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.06	12.07	12.07
16063	-0.59	-122.7	2031	2190	2577	2370	370.6	-0.2	481	16064	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.06	12.08	12.07
16401	-0.60	-139.0	2032	2189	2577	2371	368.1	0.9	487	16402	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.05	12.06	12.07
16735	-0.60	-139.0	2032	2190	2577	2371	361.7	2.1	493	16736	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.06	12.08	12.07
17071	-0.60	-139.0	2031	2190	2577	2370	354.5	2.1	499	17072	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.06	12.07	12.07
17407	-0.60	-139.0	2031	2189	2576	2371	350.3	1.0	505	17408	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2189	2473	2576	2370	0	0	0	0	0	0	12.07	12.07	12.07
17745	-0.60	-146.3	2031	2190	2577	2370	348.7	0.4	511	17746	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.05	12.07	12.07
18079	-0.60	-150.5	2031	2190	2576	2370	347.8	0.2	517	18080	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.06	12.07	12.07
18415	-0.61	-156.8	2031	2190	2578	2371	346.7	0.4	523	18416	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2472	2575	2370	0	0	0	0	0	0	12.06	12.07	12.07
18752	-0.61	-166.8	2031	2189	2576	2371	345.0	0.6	529	18752	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2472	2575	2370	0	0	0	0	0	0	12.06	12.07	12.10
19089	-0.62	-177.2	2031	2190	2576	2370	342.9	0.6	535	19090	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2472	2575	2370	0	0	0	0	0	0	12.05	12.07	12.07
19423	-0.62	-183.5	2031	2189	2577	2371	341.5	0.4	541	19424	0.00	0.00	0.00	0.000	38	0.000	0.000	2031	2189	2473	2576	2370	0	0	0	0	0	0	12.06	12.07	12.07
19759	-0.63	-191.4	2031	2189	2576	2370	340.2	0.4	547	19761	0.12	0.00	0.00	0.000	4134	0.122	0.000	1995	2189	2473	2576	2370	0	0	0	0	0	0	11.76	11.86	11.83
20097	-0.64	-207.3	1995	2190	2575	2371	337.4	0.9	553	20098	0.00	0.00	0.00	0.000	38	0.000	0.000	1995	2189	2472	2575	2370	0	0	0	0	0	0	12.05	12.07	12.07
20431	-0.64	-207.3	1995	2190	2575	2371	333.6	1.1	559	20432	0.00	0.00	0.00	0.000	6	0.000	0.000	1995	2189	2472	2575	2370	0	0	0	0	0	0	12.06	12.08	12.08
20768	-0.64	-214.9	1995	2189	2576	2371	331.7	0.4	565	20768	0.00	0.00	0.00	0.000	38	0.000	0.000	1995	2189	2472	2575	2370	0	0	0	0	0	0	12.06	12.07	12.07
21103	-0.64	-216.1	1995	2190	2575	2371	331.4	0.1	571	21104	0.00	0.00	0.00	0.000	38	0.000	0.000	1995	2189	2472	2575	2370	0	0	0	0	0	0	12.06	12.07	12.07
21441	-0.65	-218.0	1995	2190	2574	2370	331.0	0.1	577	21442	0.00	0.00	0.00	0.000	38	0.000	0.000	1995	2189	2472	2574	2370	0	0	0	0	0	0	12.05	12.07	12.07
21776	-0.64	-214.6	1995	2190	2575	2369	331.5	-0.2	583	21777	0.00	0.00	0.00	0.000	38	0.000	0.000	1995	2189	2472	2574	2370	0	0	0	0	0	0	12.06	12.07	12.07
22112	-0.64	-211.4	1995	2190	2575	2371	332.2	-0.2	589	22113	0.00	0.00	0.00	0.000	38	0.000	0.000	1995	2189	2472	2575	2370	0	0	0	0	0	0	12.06	12.07	12.07
22448	-0.64	-203.5	1995	2190	2575	2370	333.5	-0.5	595	22449	0.00	0.00	0.00	0.000	38	0.000	0.000	1995	2189	2472	2574	2370	0	0	0	0	0	0	12.06	12.07	12.07
22723	end loiter: LOITER_COMPLETE
state	22723	begin climb
22729	0.81	97.3	1995	2190	2576	2370	334.7	0.0	600	22839	2.20	3.17	95.65	1.200	10756	0.220	0.061	2460	807	2189	2312	2066	0	0	0	0	0	0	11.52	11.55	10.98
22988	0.81	100.7	2461	808	2298	2063	319.0	8.1	637	22994	0.00	3.15	0.00	0.000	1062	0.000	0.054	2460	2208	2179	2297	2062	0	0	0	0	0	0	11.69	11.60	11.71
23349	0.81	100.7	2461	2208	2295	2062	288.1	8.6	646	23354	0.00	3.17	0.00	0.000	260	0.000	0.077	2460	3621	2178	2295	2062	0	0	0	0	0	0	11.91	11.60	11.93
23466	0.75	100.7	2460	3622	2292	2062	277.1	9.3	662	23472	0.00	3.03	0.00	0.000	1158	0.000	0.047	2469	2214	2176	2292	2061	0	0	0	0	0	0	11.74	11.67	11.76
23807	0.75	100.7	2470	2215	2291	2062	246.3	9.1	675	23812	0.00	3.17	0.00	0.000	516	0.000	0.060	2480	789	2176	2291	2062	0	0	0	0	0	0	11.95	11.64	11.97
23903	0.75	100.7	2480	790	2291	2062	236.9	9.0	689	23910	0.20	3.15	0.00	0.000	5126	0.229	0.052	2444	2208	2175	2290	2061	0	0	0	0	0	0	11.48	11.67	11.71
24260	0.76	113.9	2445	2208	2290	2062	209.7	7.6	697	24287	0.00	3.17	19.30	1.064	8484	0.000	0.076	2444	3611	2125	2244	2007	0	0	0	0	0	0	11.98	11.63	11.08
24391	0.76	113.9	2444	3611	2230	2006	198.7	8.3	716	24396	0.00	3.00	0.00	0.000	1030	0.000	0.044	2453	2203	2117	2229	2005	0	0	0	0	0	0	11.76	11.69	11.78
24709	0.77	125.5	2453	2204	2226	2005	174.4	7.7	726	24716	0.00	0.00	5.88	0.930	8230	0.000	0.000	2453	2203	2089	2205	1973	0	0	0	0	0	0	11.98	11.69	11.10
25047	0.78	141.2	2453	2204	2206	1980	149.7	7.4	732	25081	0.00	3.15	28.90	1.004	8740	0.000	0.060	2463	788	2017	2137	1898	0	0	0	0	0	0	11.98	11.50	11.08
25131	0.78	146.3	2463	788	2122	1890	142.7	8.0	745	25137	0.00	3.17	0.00	0.000	1062	0.000	0.050	2463	2209	2004	2120	1889	0	0	0	0	0	0	11.73	11.64	11.75
25495	0.78	146.3	2463	2210	2117	1890	111.6	8.7	754	25499	0.00	3.12	0.00	0.000	260	0.000	0.073	2463	3620	2002	2116	1889	0	0	0	0	0	0	11.95	11.64	11.96
25534	0.78	146.3	2463	3620	2115	1890	107.4	9.2	760	25539	0.00	3.03	0.00	0.000	1030	0.000	0.045	2472	2206	2001	2114	1889	0	0	0	0	0	0	11.75	11.69	11.78
25862	0.79	158.9	2473	2207	2114	1890	81.0	7.6	771	25877	0.00	3.20	10.60	0.288	8740	0.000	0.058	2483	785	1958	2068	1848	0	0	0	0	0	0	11.98	11.69	11.42
26117	0.90	249.4	2483	785	2071	1862	68.3	3.2	807	26210	0.00	3.15	87.10	0.330	9382	0.000	0.048	2482	2206	1582	1685	1480	0	0	0	0	0	0	11.76	11.69	11.38
26530	1.10	339.8	2483	2206	1686	1506	54.7	3.2	833	26623	0.22	3.15	86.03	0.280	10660	0.082	0.072	2558	3617	1214	1284	1144	0	0	0	0	0	0	11.64	11.59	11.40
26715	1.15	339.8	2558	3617	1285	1156	38.1	11.1	860	26727	0.00	3.10	0.00	0.000	1158	0.000	0.043	2567	2199	1220	1285	1155	0	0	0	0	0	0	11.62	11.58	11.65
27037	1.19	339.8	2568	2192	1286	1156	7.8	9.2	872	27042	0.00	3.10	0.00	0.000	644	0.000	0.057	2569	794	1220	1285	1155	0	0	0	0	0	0	11.90	11.61	11.91
27081	end climb: SURFACE_DEPTH_REACHED
state	27081	begin surface coast
27109	end surface coast: CONTROL_FINISHED_OK
state	27109	begin surface