Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 268 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 268 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 20 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 18 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 13 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 110 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1.5 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 0.1 PITCH_MIN 210 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53445 PITCH_MAXERRORS 3 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 20 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031257649 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 3 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 268 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 18 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 13 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 8 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 010318,091440,-7405.7041,-11224.2744,0,4096.7,0,53.4,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 3 TGT_NAME hold

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 8.30 MHEAD_RNG_PITCHd_Wd 299.9,3178,-25.6,-9.429,-31.93,1113

_SM_ANGLEo -1.0 D_GRID 990

GPS2 010318,091440,-7405.7041,-11224.2744,0,4096.7,0,53.4,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 8.73,-1.781,-1.866,2,47,0 ALTIM_BOTTOM_PING 837.1,10.2

FINISH1 8.7,1.027293,10 _24V_AH 12.07,110.262

FINISH2 6.8 _10V_AH 12.24,0.000

RAFOS_CLK 483 FG_AHR_24Vo 0.000

RAFOS 0,1519905679,12.032778,12.021944,152,60,59,58,57,50,490,208,163,186,222,177 FG_AHR_10Vo 0.000

RAFOS_FIX -7404.692383,-11226.063477,010318,121200,3,115,0.19 MEM 279680

IRIDIUM_FIX -7408.15,-11227.51,010318,005826 DATA_FILE_SIZE 33372,996

TT8_MAMPS 0.041195,0.28462 CAP_FILE_SIZE 139647,0

HUMID 47.75 CFSIZE 1024409600,988954624

INTERNAL_PRESSURE 7.56046 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.40 SOUNDSPEED 1450.0

XPDR_PINGS 0 GPS 010318,121600,-7404.692,-11226.063,0,4115.3,0,53.4,0.0,0.0,0,0.0

ALTIM_TOP_PING 8.7,9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 347 27.77 nil 0 0 0.00

Roll_motor 107 250 326.03 nil 0 0 0.00

VBD_pump_during_apogee 240 3086 8971.58 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 13067 3 536.56

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 56 420 283.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 10426 2 294.81

TT8_Active 400 12 60.22

TT8_Sampling 2155 31 837.27

TT8_CF8 162 45 89.90

TT8_Kalman 0 0 0.00

Analog_circuits 1148 10 143.36

GPS_charging 0 0 0.00

Compass 1427 7 130.84

RAFOS 720 1 13.22

Transponder 400 30 146.88

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

8.1 9.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

14.9 16.50 9000.00 0.0 0.00 0.00 16.50 0.0 1.09 1.00

21.7 23.60 23.70 0.0 1.06 1.00 23.60 0.0 1.04 1.00

28.5 30.70 30.70 0.0 1.04 1.00 30.70 0.0 1.04 1.00

35.3 37.70 37.70 0.0 1.04 1.00 37.70 0.0 1.03 1.00

41.4 44.20 44.10 0.0 1.04 1.00 44.20 0.0 1.07 1.00

47.5 50.40 50.40 0.0 1.04 1.00 50.40 0.0 1.02 1.00

54.2 57.40 57.40 0.0 1.03 1.00 57.40 0.0 1.04 1.00

61.0 64.50 64.50 0.0 1.05 1.00 64.50 0.0 1.04 1.00

67.8 71.60 71.70 0.0 1.05 1.00 71.60 0.0 1.04 1.00

81.9 86.30 86.30 0.0 1.04 1.00 86.30 0.0 1.04 1.00

802.6 46.30 9000.00 0.0 -0.04 0.86 46.30 848.9 -0.06 1.00

811.8 36.70 9000.00 0.0 -0.06 0.97 36.70 848.5 -1.04 1.00

819.8 28.70 28.60 848.4 -1.03 1.00 28.70 848.5 -1.00 1.00

829.0 19.30 19.30 848.3 -1.02 1.00 19.30 848.3 -1.02 1.00

837.1 10.00 10.20 847.3 -1.08 1.00 10.00 847.1 -1.15 1.00

841.2 9.90 8.60 849.8 -0.82 0.90 9.90 851.1 -0.02 1.00

835.0 13.50 9000.00 0.0 -0.51 0.61 13.50 0.0 -0.58 1.00

828.0 14.00 9000.00 0.0 -0.31 0.82 14.00 0.0 -0.07 1.00

817.3 33.50 31.60 0.0 -1.19 0.86 33.50 0.0 -1.82 1.00

173.6 180.50 9000.00 0.0 -0.24 0.99 180.50 0.0 -0.23 1.00

166.9 173.30 9000.00 0.0 -0.22 1.00 173.30 -6.4 1.07 1.00

160.3 166.60 166.60 -6.3 1.04 1.00 166.60 -6.3 1.02 1.00

146.8 152.80 152.80 -6.0 1.02 1.00 152.80 -6.0 1.02 1.00

140.2 145.90 145.90 -5.7 1.03 1.00 145.90 -5.7 1.05 1.00

133.7 139.30 139.30 -5.6 1.03 1.00 139.30 -5.6 1.02 1.00

127.2 132.70 132.70 -5.5 1.02 1.00 132.70 -5.5 1.02 1.00

120.4 125.20 125.30 -4.9 1.06 1.00 125.20 -4.8 1.10 1.00

106.8 111.30 111.30 -4.5 1.04 1.00 111.30 -4.5 1.02 1.00

99.6 103.90 103.90 -4.3 1.03 1.00 103.90 -4.3 1.03 1.00

92.3 96.30 96.30 -4.0 1.03 1.00 96.30 -4.0 1.04 1.00

84.8 88.60 88.60 -3.8 1.03 1.00 88.60 -3.8 1.03 1.00

78.8 82.40 82.40 -3.6 1.03 1.00 82.40 -3.6 1.03 1.00

71.3 74.50 74.50 -3.2 1.04 1.00 74.50 -3.2 1.05 1.00

63.9 67.10 67.00 -3.1 1.03 1.00 67.10 -3.2 1.00 1.00

56.6 59.40 59.40 -2.8 1.03 1.00 59.40 -2.8 1.05 1.00

49.2 51.40 51.40 -2.2 1.07 1.00 51.40 -2.2 1.08 1.00

41.9 43.70 43.70 -1.8 1.07 1.00 43.70 -1.8 1.05 1.00

34.6 36.20 36.10 -1.5 1.04 1.00 36.20 -1.6 1.03 1.00

28.6 29.90 29.90 -1.3 1.04 1.00 29.90 -1.3 1.05 1.00

22.4 23.40 23.40 -1.0 1.04 1.00 23.40 -1.0 1.05 1.00

16.2 17.00 17.00 -0.8 1.04 1.00 17.00 -0.8 1.03 1.00

8.7 9.30 9.30 -0.6 1.03 1.00 9.30 -0.6 1.03 1.00

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -1.25 -69.6 2700 2505 2784 2581 0.0 0.0 0 23 0.00 0.00 -8.20 0.012 16390 0.000 0.000 2699 2504 3001 3120 2883 0 0 0 0 0 0 15.07 13.67 15.06

25 -1.25 -69.6 2700 2505 3121 2885 8.1 0.0 1 31 1.20 2.40 0.00 0.000 4356 0.089 0.145 2293 3752 3002 3120 2884 0 0 0 0 0 0 14.64 14.53 14.72

66 -1.25 -69.6 2293 3754 3116 2892 11.1 -8.6 9 72 0.00 2.30 0.00 0.000 1030 0.000 0.089 2293 2491 3003 3116 2891 0 0 0 0 0 0 14.73 14.66 14.77

377 -1.25 -69.6 2293 2492 3115 2894 46.3 -12.1 41 378 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 2491 3004 3114 2894 0 0 0 0 0 0 15.13 15.15 15.15

677 -1.25 -69.6 2293 2491 3115 2894 80.7 -11.7 71 678 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2491 3003 3113 2894 0 0 0 0 0 0 15.13 15.16 15.15

977 -1.25 -69.6 2294 2491 3114 2894 115.4 -11.5 101 984 0.00 2.58 0.00 0.000 516 0.000 0.098 2293 1079 3004 3113 2895 0 0 0 0 0 0 15.14 14.59 15.16

1014 -1.25 -69.6 2293 1080 3113 2895 119.8 -11.8 108 1021 0.00 2.67 0.00 0.000 1030 0.000 0.114 2282 2506 3003 3112 2895 0 0 0 0 0 0 14.75 14.54 14.80

1319 -1.25 -69.6 2282 2507 3113 2896 155.0 -11.4 139 1320 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 2506 3003 3112 2895 0 0 0 0 0 0 15.09 15.15 15.12

1619 -1.25 -69.6 2282 2507 3112 2897 187.8 -10.9 169 1625 0.00 2.60 0.00 0.000 516 0.000 0.098 2282 1085 3003 3112 2895 0 0 0 0 0 0 15.09 14.57 15.11

1665 -1.25 -69.6 2282 1085 3112 2896 193.0 -11.5 178 1672 0.00 2.67 0.00 0.000 1030 0.000 0.114 2272 2511 3003 3111 2896 0 0 0 0 0 0 14.74 14.53 14.81

1970 -1.25 -69.6 2273 2512 3112 2897 226.3 -10.8 209 1976 0.00 2.38 0.00 0.000 260 0.000 0.143 2262 3750 3004 3111 2897 0 0 0 0 0 0 15.12 14.49 15.14

1995 -1.25 -69.6 2263 3751 3109 2900 229.2 -11.6 214 2003 0.17 2.30 0.00 0.000 3078 0.339 0.086 2296 2463 3004 3109 2899 0 0 0 0 0 0 14.20 14.66 14.59

2301 -1.25 -69.6 2296 2464 3110 2900 260.2 -9.6 245 2302 0.00 0.00 0.00 0.000 6 0.000 0.000 2296 2464 3004 3109 2899 0 0 0 0 0 0 15.05 15.07 15.07

2601 -1.25 -69.6 2296 2464 3110 2899 288.6 -9.1 275 2601 0.00 0.00 0.00 0.000 6 0.000 0.000 2296 2463 3003 3108 2899 0 0 0 0 0 0 15.11 15.15 15.14

2910 -1.25 -69.6 2295 2464 3109 2900 316.7 -9.1 297 2917 0.00 2.53 0.00 0.000 516 0.000 0.098 2296 1079 3004 3109 2899 0 0 0 0 0 0 15.14 14.57 15.16

3036 -1.25 -69.6 2296 1080 3110 2900 328.6 -9.3 322 3042 0.00 2.67 0.00 0.000 1030 0.000 0.112 2288 2507 3004 3109 2899 0 0 0 0 0 0 14.73 14.50 14.79

3353 -1.25 -69.6 2288 2508 3110 2900 358.0 -9.3 340 3358 0.00 2.40 0.00 0.000 260 0.000 0.144 2278 3752 3006 3109 2904 0 0 0 0 0 0 15.11 14.48 15.14

3392 -1.25 -69.6 2279 3751 3109 2899 361.9 -9.8 348 3398 0.00 2.30 0.00 0.000 1030 0.000 0.086 2278 2490 3004 3108 2900 0 0 0 0 0 0 14.82 14.62 14.83

3712 -1.25 -69.6 2277 2491 3109 2901 390.5 -8.8 367 3718 0.00 2.45 0.00 0.000 260 0.000 0.144 2269 3757 3004 3108 2900 0 0 0 0 0 0 15.13 14.47 15.16

3732 -1.25 -69.6 2269 3757 3109 2899 392.3 -9.5 371 3738 0.00 2.30 0.00 0.000 1030 0.000 0.087 2269 2494 3004 3108 2900 0 0 0 0 0 0 14.69 14.62 14.74

4053 -1.25 -69.6 2269 2494 3109 2900 421.2 -8.8 390 4059 0.00 2.45 0.00 0.000 260 0.000 0.145 2259 3754 3004 3108 2900 0 0 0 0 0 0 15.12 14.47 15.14

4169 -1.25 -69.6 2261 3756 3109 2901 431.6 -8.9 413 4176 0.17 2.25 0.00 0.000 3078 0.347 0.087 2292 2494 3004 3108 2901 0 0 0 0 0 0 14.16 14.66 14.56

4475 -1.29 -100.6 2293 2494 3109 2901 454.5 -6.6 429 4481 0.00 2.58 -0.40 0.234 16932 0.000 0.116 2292 1086 3144 3253 3035 0 0 0 0 0 0 15.11 13.58 14.83

4660 -1.29 -100.6 2292 1088 3253 3041 473.6 -11.4 466 4666 0.00 2.67 0.00 0.000 1030 0.000 0.116 2284 2505 3146 3253 3040 0 0 0 0 0 0 14.72 14.51 14.81

4985 -1.29 -100.6 2285 2505 3254 3041 510.1 -10.9 483 4986 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 2504 3144 3252 3037 0 0 0 0 0 0 15.13 15.16 15.16

5347 -1.29 -100.6 2285 2505 3254 3042 549.5 -11.0 495 5352 0.00 2.42 0.00 0.000 260 0.000 0.146 2274 3757 3147 3253 3042 0 0 0 0 0 0 15.12 14.45 15.15

5386 -1.29 -100.6 2275 3757 3254 3042 554.3 -12.1 503 5391 0.00 2.30 0.00 0.000 1030 0.000 0.086 2274 2495 3147 3252 3043 0 0 0 0 0 0 14.69 14.61 14.73

5766 -1.29 -100.6 2275 2496 3253 3045 597.7 -11.4 519 5772 0.00 2.58 0.00 0.000 516 0.000 0.097 2275 1079 3148 3252 3044 0 0 0 0 0 0 15.14 14.57 15.16

5796 -1.29 -100.6 2275 1080 3252 3045 601.2 -11.6 525 5802 0.00 2.67 0.00 0.000 1030 0.000 0.112 2265 2509 3148 3252 3044 0 0 0 0 0 0 14.73 14.52 14.79

6187 -1.29 -100.6 2266 2510 3253 3046 645.5 -11.4 543 6188 0.00 0.00 0.00 0.000 6 0.000 0.000 2265 2509 3148 3252 3045 0 0 0 0 0 0 15.13 15.16 15.15

6548 -1.29 -100.6 2266 2509 3253 3047 683.9 -10.2 555 6553 0.00 2.40 0.00 0.000 260 0.000 0.144 2256 3756 3149 3252 3046 0 0 0 0 0 0 15.12 14.46 15.14

6582 -1.29 -100.6 2256 3756 3253 3047 687.7 -11.2 562 6588 0.10 2.30 0.00 0.000 3078 0.329 0.086 2284 2489 3149 3252 3047 0 0 0 0 0 0 14.16 14.61 14.57

6967 -1.29 -100.6 2284 2490 3253 3048 725.2 -9.8 579 6968 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 2489 3149 3252 3047 0 0 0 0 0 0 15.12 15.15 15.14

7329 -1.29 -100.6 2285 2489 3253 3048 760.8 -10.0 591 7334 0.00 2.58 0.00 0.000 516 0.000 0.097 2284 1078 3150 3253 3048 0 0 0 0 0 0 15.13 14.57 15.15

7393 -1.29 -100.6 2284 1078 3253 3048 767.3 -9.4 604 7399 0.00 2.67 0.00 0.000 1030 0.000 0.112 2275 2508 3150 3252 3048 0 0 0 0 0 0 14.72 14.51 14.78

7778 -1.29 -100.6 2276 2509 3253 3048 806.0 -9.8 621 7779 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2508 3150 3252 3048 0 0 0 0 0 0 15.14 15.16 15.16

8138 end dive: BOTTOM_OBSTACLE_DETECTED

state 8138 begin apogee

8142 -0.23 0.0 2276 2182 3253 3049 840.6 -9.7 633 8264 1.42 0.05 117.57 3.087 10246 0.289 0.251 2625 2199 2713 2782 2645 0 0 0 0 0 0 14.21 13.59 12.40

8265 end apogee: CONTROL_FINISHED_OK

state 8265 begin climb

8266 1.29 100.6 2625 2199 2779 2643 841.9 0.0 637 8398 1.67 0.00 123.22 3.055 10502 0.141 0.000 3108 2199 2301 2343 2259 0 0 0 0 0 0 13.62 13.24 12.07

8773 1.29 100.6 3109 2199 2339 2244 755.0 18.9 674 8782 0.00 2.65 0.00 0.000 516 0.000 0.113 3120 791 2291 2338 2244 0 0 0 0 0 0 14.70 14.30 14.72

8797 1.29 100.6 3120 791 2338 2245 750.3 18.8 678 8803 0.00 2.62 0.00 0.000 1030 0.000 0.100 3119 2210 2291 2338 2244 0 0 0 0 0 0 14.54 14.38 14.58

9167 1.29 100.6 3118 2211 2338 2240 680.4 18.5 692 9168 0.00 0.00 0.00 0.000 6 0.000 0.000 3120 2211 2288 2337 2240 0 0 0 0 0 0 14.98 15.01 15.00

9529 1.29 100.6 3120 2211 2336 2240 613.1 18.6 704 9529 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 2210 2287 2335 2239 0 0 0 0 0 0 15.05 15.08 15.08

9889 1.29 100.6 3120 2211 2336 2237 545.7 18.6 716 9895 0.00 2.60 0.00 0.000 516 0.000 0.110 3131 786 2286 2334 2238 0 0 0 0 0 0 15.09 14.62 15.11

9930 1.29 100.6 3130 787 2336 2238 537.9 18.6 724 9935 0.00 2.58 0.00 0.000 1030 0.000 0.101 3130 2207 2285 2334 2237 0 0 0 0 0 0 14.84 14.68 14.90

10311 1.29 100.6 3130 2208 2336 2237 464.9 19.2 743 10311 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2207 2285 2334 2237 0 0 0 0 0 0 15.07 15.09 15.09

10610 1.29 100.6 3131 2207 2335 2236 408.1 18.8 758 10616 0.00 2.67 0.00 0.000 260 0.000 0.133 3130 3618 2285 2334 2236 0 0 0 0 0 0 15.12 14.59 15.16

10640 1.29 100.6 3131 3619 2335 2236 401.9 20.9 764 10646 0.00 2.55 0.00 0.000 1030 0.000 0.088 3141 2195 2285 2334 2236 0 0 0 0 0 0 14.87 14.73 14.92

10951 1.29 100.6 3142 2192 2335 2235 342.2 19.2 781 10956 0.00 2.60 0.00 0.000 516 0.000 0.113 3152 783 2285 2334 2236 0 0 0 0 0 0 15.08 14.67 15.11

10976 1.29 100.6 3152 783 2335 2237 337.4 19.0 786 10983 0.17 2.60 0.00 0.000 5126 0.317 0.103 3117 2214 2285 2334 2236 0 0 0 0 0 0 14.38 14.67 14.76

11282 1.29 100.6 3117 2215 2334 2236 284.6 16.9 808 11283 0.00 0.00 0.00 0.000 6 0.000 0.000 3116 2213 2284 2333 2235 0 0 0 0 0 0 15.13 15.16 15.16

11582 1.29 100.6 3117 2213 2335 2236 234.4 15.9 838 11588 0.00 2.65 0.00 0.000 516 0.000 0.112 3126 777 2284 2334 2235 0 0 0 0 0 0 15.14 14.64 15.15

11608 1.29 100.6 3126 778 2335 2235 230.3 16.4 843 11615 0.00 2.60 0.00 0.000 1030 0.000 0.102 3126 2206 2284 2334 2235 0 0 0 0 0 0 14.83 14.66 14.90

11914 1.29 100.6 3126 2206 2334 2234 180.8 16.3 874 11919 0.00 2.67 0.00 0.000 260 0.000 0.135 3126 3619 2284 2333 2235 0 0 0 0 0 0 15.07 14.59 15.11

11939 1.29 100.6 3126 3619 2334 2235 176.2 18.4 879 11946 0.00 2.55 0.00 0.000 1030 0.000 0.090 3137 2193 2284 2333 2235 0 0 0 0 0 0 14.85 14.71 14.91

12245 1.29 100.6 3137 2191 2334 2235 125.6 16.2 910 12251 0.00 2.72 0.00 0.000 260 0.000 0.135 3137 3617 2283 2333 2233 0 0 0 0 0 0 15.14 14.58 15.16

12270 1.29 100.6 3142 3618 2334 2235 121.3 16.5 915 12279 0.17 2.58 0.00 0.000 5126 0.317 0.090 3112 2181 2284 2334 2234 0 0 0 0 0 0 14.33 14.70 14.73

12576 1.29 100.6 3112 2182 2335 2235 75.8 15.0 946 12577 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2181 2283 2333 2234 0 0 0 0 0 0 15.13 15.16 15.16

12875 1.29 100.6 3113 2181 2334 2234 31.7 14.6 976 12881 0.00 2.75 0.00 0.000 260 0.000 0.135 3112 3620 2283 2333 2234 0 0 0 0 0 0 15.14 14.57 15.17

12900 1.29 100.6 3112 3621 2334 2235 27.9 15.2 981 12907 0.00 2.58 0.00 0.000 1030 0.000 0.090 3121 2192 2283 2333 2234 0 0 0 0 0 0 14.84 14.69 14.89

13026 end climb: FINISH_DEPTH_REACHED

state 13026 begin subsurface finish

13030 0.01 10.5 3122 2191 2334 2235 8.7 14.8 994 13048 1.52 0.00 -11.52 0.011 20486 0.242 0.000 2709 2187 2675 2766 2584 0 0 0 0 0 0 14.33 13.06 14.54

13048 end subsurface finish: CONTROL_FINISHED_OK

state 13048 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	268	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	20	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	18	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	13	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	110	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1.5	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	0.1	PITCH_MIN	210	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53445	PITCH_MAXERRORS	3	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	883

GPS1	010318,091440,-7405.7041,-11224.2744,0,4096.7,0,53.4,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	3	TGT_NAME	hold
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	8.30	MHEAD_RNG_PITCHd_Wd	299.9,3178,-25.6,-9.429,-31.93,1113
_SM_ANGLEo	-1.0	D_GRID	990
GPS2	010318,091440,-7405.7041,-11224.2744,0,4096.7,0,53.4,0.0,0.0,0,0.0

FREEZE	8.73,-1.781,-1.866,2,47,0	ALTIM_BOTTOM_PING	837.1,10.2
FINISH1	8.7,1.027293,10	_24V_AH	12.07,110.262
FINISH2	6.8	_10V_AH	12.24,0.000
RAFOS_CLK	483	FG_AHR_24Vo	0.000
RAFOS	0,1519905679,12.032778,12.021944,152,60,59,58,57,50,490,208,163,186,222,177	FG_AHR_10Vo	0.000
RAFOS_FIX	-7404.692383,-11226.063477,010318,121200,3,115,0.19	MEM	279680
IRIDIUM_FIX	-7408.15,-11227.51,010318,005826	DATA_FILE_SIZE	33372,996
TT8_MAMPS	0.041195,0.28462	CAP_FILE_SIZE	139647,0
HUMID	47.75	CFSIZE	1024409600,988954624
INTERNAL_PRESSURE	7.56046	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.40	SOUNDSPEED	1450.0
XPDR_PINGS	0	GPS	010318,121600,-7404.692,-11226.063,0,4115.3,0,53.4,0.0,0.0,0,0.0
ALTIM_TOP_PING	8.7,9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	347	27.77	nil	0	0	0.00
Roll_motor	107	250	326.03	nil	0	0	0.00
VBD_pump_during_apogee	240	3086	8971.58	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	13067	3	536.56
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	56	420	283.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	10426	2	294.81
TT8_Active	400	12	60.22
TT8_Sampling	2155	31	837.27
TT8_CF8	162	45	89.90
TT8_Kalman	0	0	0.00
Analog_circuits	1148	10	143.36
GPS_charging	0	0	0.00
Compass	1427	7	130.84
RAFOS	720	1	13.22
Transponder	400	30	146.88

		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
8.1	9.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
14.9	16.50	9000.00	0.0	0.00	0.00	16.50	0.0	1.09	1.00
21.7	23.60	23.70	0.0	1.06	1.00	23.60	0.0	1.04	1.00
28.5	30.70	30.70	0.0	1.04	1.00	30.70	0.0	1.04	1.00
35.3	37.70	37.70	0.0	1.04	1.00	37.70	0.0	1.03	1.00
41.4	44.20	44.10	0.0	1.04	1.00	44.20	0.0	1.07	1.00
47.5	50.40	50.40	0.0	1.04	1.00	50.40	0.0	1.02	1.00
54.2	57.40	57.40	0.0	1.03	1.00	57.40	0.0	1.04	1.00
61.0	64.50	64.50	0.0	1.05	1.00	64.50	0.0	1.04	1.00
67.8	71.60	71.70	0.0	1.05	1.00	71.60	0.0	1.04	1.00
81.9	86.30	86.30	0.0	1.04	1.00	86.30	0.0	1.04	1.00
802.6	46.30	9000.00	0.0	-0.04	0.86	46.30	848.9	-0.06	1.00
811.8	36.70	9000.00	0.0	-0.06	0.97	36.70	848.5	-1.04	1.00
819.8	28.70	28.60	848.4	-1.03	1.00	28.70	848.5	-1.00	1.00
829.0	19.30	19.30	848.3	-1.02	1.00	19.30	848.3	-1.02	1.00
837.1	10.00	10.20	847.3	-1.08	1.00	10.00	847.1	-1.15	1.00
841.2	9.90	8.60	849.8	-0.82	0.90	9.90	851.1	-0.02	1.00

835.0	13.50	9000.00	0.0	-0.51	0.61	13.50	0.0	-0.58	1.00
828.0	14.00	9000.00	0.0	-0.31	0.82	14.00	0.0	-0.07	1.00
817.3	33.50	31.60	0.0	-1.19	0.86	33.50	0.0	-1.82	1.00
173.6	180.50	9000.00	0.0	-0.24	0.99	180.50	0.0	-0.23	1.00
166.9	173.30	9000.00	0.0	-0.22	1.00	173.30	-6.4	1.07	1.00
160.3	166.60	166.60	-6.3	1.04	1.00	166.60	-6.3	1.02	1.00
146.8	152.80	152.80	-6.0	1.02	1.00	152.80	-6.0	1.02	1.00
140.2	145.90	145.90	-5.7	1.03	1.00	145.90	-5.7	1.05	1.00
133.7	139.30	139.30	-5.6	1.03	1.00	139.30	-5.6	1.02	1.00
127.2	132.70	132.70	-5.5	1.02	1.00	132.70	-5.5	1.02	1.00
120.4	125.20	125.30	-4.9	1.06	1.00	125.20	-4.8	1.10	1.00
106.8	111.30	111.30	-4.5	1.04	1.00	111.30	-4.5	1.02	1.00
99.6	103.90	103.90	-4.3	1.03	1.00	103.90	-4.3	1.03	1.00
92.3	96.30	96.30	-4.0	1.03	1.00	96.30	-4.0	1.04	1.00
84.8	88.60	88.60	-3.8	1.03	1.00	88.60	-3.8	1.03	1.00
78.8	82.40	82.40	-3.6	1.03	1.00	82.40	-3.6	1.03	1.00
71.3	74.50	74.50	-3.2	1.04	1.00	74.50	-3.2	1.05	1.00
63.9	67.10	67.00	-3.1	1.03	1.00	67.10	-3.2	1.00	1.00
56.6	59.40	59.40	-2.8	1.03	1.00	59.40	-2.8	1.05	1.00
49.2	51.40	51.40	-2.2	1.07	1.00	51.40	-2.2	1.08	1.00
41.9	43.70	43.70	-1.8	1.07	1.00	43.70	-1.8	1.05	1.00
34.6	36.20	36.10	-1.5	1.04	1.00	36.20	-1.6	1.03	1.00
28.6	29.90	29.90	-1.3	1.04	1.00	29.90	-1.3	1.05	1.00
22.4	23.40	23.40	-1.0	1.04	1.00	23.40	-1.0	1.05	1.00
16.2	17.00	17.00	-0.8	1.04	1.00	17.00	-0.8	1.03	1.00
8.7	9.30	9.30	-0.6	1.03	1.00	9.30	-0.6	1.03	1.00

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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-1.25	-69.6	2700	2505	2784	2581	0.0	0.0	0	23	0.00	0.00	-8.20	0.012	16390	0.000	0.000	2699	2504	3001	3120	2883	0	0	0	0	0	0	15.07	13.67	15.06
25	-1.25	-69.6	2700	2505	3121	2885	8.1	0.0	1	31	1.20	2.40	0.00	0.000	4356	0.089	0.145	2293	3752	3002	3120	2884	0	0	0	0	0	0	14.64	14.53	14.72
66	-1.25	-69.6	2293	3754	3116	2892	11.1	-8.6	9	72	0.00	2.30	0.00	0.000	1030	0.000	0.089	2293	2491	3003	3116	2891	0	0	0	0	0	0	14.73	14.66	14.77
377	-1.25	-69.6	2293	2492	3115	2894	46.3	-12.1	41	378	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	2491	3004	3114	2894	0	0	0	0	0	0	15.13	15.15	15.15
677	-1.25	-69.6	2293	2491	3115	2894	80.7	-11.7	71	678	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2491	3003	3113	2894	0	0	0	0	0	0	15.13	15.16	15.15
977	-1.25	-69.6	2294	2491	3114	2894	115.4	-11.5	101	984	0.00	2.58	0.00	0.000	516	0.000	0.098	2293	1079	3004	3113	2895	0	0	0	0	0	0	15.14	14.59	15.16
1014	-1.25	-69.6	2293	1080	3113	2895	119.8	-11.8	108	1021	0.00	2.67	0.00	0.000	1030	0.000	0.114	2282	2506	3003	3112	2895	0	0	0	0	0	0	14.75	14.54	14.80
1319	-1.25	-69.6	2282	2507	3113	2896	155.0	-11.4	139	1320	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	2506	3003	3112	2895	0	0	0	0	0	0	15.09	15.15	15.12
1619	-1.25	-69.6	2282	2507	3112	2897	187.8	-10.9	169	1625	0.00	2.60	0.00	0.000	516	0.000	0.098	2282	1085	3003	3112	2895	0	0	0	0	0	0	15.09	14.57	15.11
1665	-1.25	-69.6	2282	1085	3112	2896	193.0	-11.5	178	1672	0.00	2.67	0.00	0.000	1030	0.000	0.114	2272	2511	3003	3111	2896	0	0	0	0	0	0	14.74	14.53	14.81
1970	-1.25	-69.6	2273	2512	3112	2897	226.3	-10.8	209	1976	0.00	2.38	0.00	0.000	260	0.000	0.143	2262	3750	3004	3111	2897	0	0	0	0	0	0	15.12	14.49	15.14
1995	-1.25	-69.6	2263	3751	3109	2900	229.2	-11.6	214	2003	0.17	2.30	0.00	0.000	3078	0.339	0.086	2296	2463	3004	3109	2899	0	0	0	0	0	0	14.20	14.66	14.59
2301	-1.25	-69.6	2296	2464	3110	2900	260.2	-9.6	245	2302	0.00	0.00	0.00	0.000	6	0.000	0.000	2296	2464	3004	3109	2899	0	0	0	0	0	0	15.05	15.07	15.07
2601	-1.25	-69.6	2296	2464	3110	2899	288.6	-9.1	275	2601	0.00	0.00	0.00	0.000	6	0.000	0.000	2296	2463	3003	3108	2899	0	0	0	0	0	0	15.11	15.15	15.14
2910	-1.25	-69.6	2295	2464	3109	2900	316.7	-9.1	297	2917	0.00	2.53	0.00	0.000	516	0.000	0.098	2296	1079	3004	3109	2899	0	0	0	0	0	0	15.14	14.57	15.16
3036	-1.25	-69.6	2296	1080	3110	2900	328.6	-9.3	322	3042	0.00	2.67	0.00	0.000	1030	0.000	0.112	2288	2507	3004	3109	2899	0	0	0	0	0	0	14.73	14.50	14.79
3353	-1.25	-69.6	2288	2508	3110	2900	358.0	-9.3	340	3358	0.00	2.40	0.00	0.000	260	0.000	0.144	2278	3752	3006	3109	2904	0	0	0	0	0	0	15.11	14.48	15.14
3392	-1.25	-69.6	2279	3751	3109	2899	361.9	-9.8	348	3398	0.00	2.30	0.00	0.000	1030	0.000	0.086	2278	2490	3004	3108	2900	0	0	0	0	0	0	14.82	14.62	14.83
3712	-1.25	-69.6	2277	2491	3109	2901	390.5	-8.8	367	3718	0.00	2.45	0.00	0.000	260	0.000	0.144	2269	3757	3004	3108	2900	0	0	0	0	0	0	15.13	14.47	15.16
3732	-1.25	-69.6	2269	3757	3109	2899	392.3	-9.5	371	3738	0.00	2.30	0.00	0.000	1030	0.000	0.087	2269	2494	3004	3108	2900	0	0	0	0	0	0	14.69	14.62	14.74
4053	-1.25	-69.6	2269	2494	3109	2900	421.2	-8.8	390	4059	0.00	2.45	0.00	0.000	260	0.000	0.145	2259	3754	3004	3108	2900	0	0	0	0	0	0	15.12	14.47	15.14
4169	-1.25	-69.6	2261	3756	3109	2901	431.6	-8.9	413	4176	0.17	2.25	0.00	0.000	3078	0.347	0.087	2292	2494	3004	3108	2901	0	0	0	0	0	0	14.16	14.66	14.56
4475	-1.29	-100.6	2293	2494	3109	2901	454.5	-6.6	429	4481	0.00	2.58	-0.40	0.234	16932	0.000	0.116	2292	1086	3144	3253	3035	0	0	0	0	0	0	15.11	13.58	14.83
4660	-1.29	-100.6	2292	1088	3253	3041	473.6	-11.4	466	4666	0.00	2.67	0.00	0.000	1030	0.000	0.116	2284	2505	3146	3253	3040	0	0	0	0	0	0	14.72	14.51	14.81
4985	-1.29	-100.6	2285	2505	3254	3041	510.1	-10.9	483	4986	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	2504	3144	3252	3037	0	0	0	0	0	0	15.13	15.16	15.16
5347	-1.29	-100.6	2285	2505	3254	3042	549.5	-11.0	495	5352	0.00	2.42	0.00	0.000	260	0.000	0.146	2274	3757	3147	3253	3042	0	0	0	0	0	0	15.12	14.45	15.15
5386	-1.29	-100.6	2275	3757	3254	3042	554.3	-12.1	503	5391	0.00	2.30	0.00	0.000	1030	0.000	0.086	2274	2495	3147	3252	3043	0	0	0	0	0	0	14.69	14.61	14.73
5766	-1.29	-100.6	2275	2496	3253	3045	597.7	-11.4	519	5772	0.00	2.58	0.00	0.000	516	0.000	0.097	2275	1079	3148	3252	3044	0	0	0	0	0	0	15.14	14.57	15.16
5796	-1.29	-100.6	2275	1080	3252	3045	601.2	-11.6	525	5802	0.00	2.67	0.00	0.000	1030	0.000	0.112	2265	2509	3148	3252	3044	0	0	0	0	0	0	14.73	14.52	14.79
6187	-1.29	-100.6	2266	2510	3253	3046	645.5	-11.4	543	6188	0.00	0.00	0.00	0.000	6	0.000	0.000	2265	2509	3148	3252	3045	0	0	0	0	0	0	15.13	15.16	15.15
6548	-1.29	-100.6	2266	2509	3253	3047	683.9	-10.2	555	6553	0.00	2.40	0.00	0.000	260	0.000	0.144	2256	3756	3149	3252	3046	0	0	0	0	0	0	15.12	14.46	15.14
6582	-1.29	-100.6	2256	3756	3253	3047	687.7	-11.2	562	6588	0.10	2.30	0.00	0.000	3078	0.329	0.086	2284	2489	3149	3252	3047	0	0	0	0	0	0	14.16	14.61	14.57
6967	-1.29	-100.6	2284	2490	3253	3048	725.2	-9.8	579	6968	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	2489	3149	3252	3047	0	0	0	0	0	0	15.12	15.15	15.14
7329	-1.29	-100.6	2285	2489	3253	3048	760.8	-10.0	591	7334	0.00	2.58	0.00	0.000	516	0.000	0.097	2284	1078	3150	3253	3048	0	0	0	0	0	0	15.13	14.57	15.15
7393	-1.29	-100.6	2284	1078	3253	3048	767.3	-9.4	604	7399	0.00	2.67	0.00	0.000	1030	0.000	0.112	2275	2508	3150	3252	3048	0	0	0	0	0	0	14.72	14.51	14.78
7778	-1.29	-100.6	2276	2509	3253	3048	806.0	-9.8	621	7779	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2508	3150	3252	3048	0	0	0	0	0	0	15.14	15.16	15.16
8138	end dive: BOTTOM_OBSTACLE_DETECTED
state	8138	begin apogee
8142	-0.23	0.0	2276	2182	3253	3049	840.6	-9.7	633	8264	1.42	0.05	117.57	3.087	10246	0.289	0.251	2625	2199	2713	2782	2645	0	0	0	0	0	0	14.21	13.59	12.40
8265	end apogee: CONTROL_FINISHED_OK
state	8265	begin climb
8266	1.29	100.6	2625	2199	2779	2643	841.9	0.0	637	8398	1.67	0.00	123.22	3.055	10502	0.141	0.000	3108	2199	2301	2343	2259	0	0	0	0	0	0	13.62	13.24	12.07
8773	1.29	100.6	3109	2199	2339	2244	755.0	18.9	674	8782	0.00	2.65	0.00	0.000	516	0.000	0.113	3120	791	2291	2338	2244	0	0	0	0	0	0	14.70	14.30	14.72
8797	1.29	100.6	3120	791	2338	2245	750.3	18.8	678	8803	0.00	2.62	0.00	0.000	1030	0.000	0.100	3119	2210	2291	2338	2244	0	0	0	0	0	0	14.54	14.38	14.58
9167	1.29	100.6	3118	2211	2338	2240	680.4	18.5	692	9168	0.00	0.00	0.00	0.000	6	0.000	0.000	3120	2211	2288	2337	2240	0	0	0	0	0	0	14.98	15.01	15.00
9529	1.29	100.6	3120	2211	2336	2240	613.1	18.6	704	9529	0.00	0.00	0.00	0.000	6	0.000	0.000	3126	2210	2287	2335	2239	0	0	0	0	0	0	15.05	15.08	15.08
9889	1.29	100.6	3120	2211	2336	2237	545.7	18.6	716	9895	0.00	2.60	0.00	0.000	516	0.000	0.110	3131	786	2286	2334	2238	0	0	0	0	0	0	15.09	14.62	15.11
9930	1.29	100.6	3130	787	2336	2238	537.9	18.6	724	9935	0.00	2.58	0.00	0.000	1030	0.000	0.101	3130	2207	2285	2334	2237	0	0	0	0	0	0	14.84	14.68	14.90
10311	1.29	100.6	3130	2208	2336	2237	464.9	19.2	743	10311	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2207	2285	2334	2237	0	0	0	0	0	0	15.07	15.09	15.09
10610	1.29	100.6	3131	2207	2335	2236	408.1	18.8	758	10616	0.00	2.67	0.00	0.000	260	0.000	0.133	3130	3618	2285	2334	2236	0	0	0	0	0	0	15.12	14.59	15.16
10640	1.29	100.6	3131	3619	2335	2236	401.9	20.9	764	10646	0.00	2.55	0.00	0.000	1030	0.000	0.088	3141	2195	2285	2334	2236	0	0	0	0	0	0	14.87	14.73	14.92
10951	1.29	100.6	3142	2192	2335	2235	342.2	19.2	781	10956	0.00	2.60	0.00	0.000	516	0.000	0.113	3152	783	2285	2334	2236	0	0	0	0	0	0	15.08	14.67	15.11
10976	1.29	100.6	3152	783	2335	2237	337.4	19.0	786	10983	0.17	2.60	0.00	0.000	5126	0.317	0.103	3117	2214	2285	2334	2236	0	0	0	0	0	0	14.38	14.67	14.76
11282	1.29	100.6	3117	2215	2334	2236	284.6	16.9	808	11283	0.00	0.00	0.00	0.000	6	0.000	0.000	3116	2213	2284	2333	2235	0	0	0	0	0	0	15.13	15.16	15.16
11582	1.29	100.6	3117	2213	2335	2236	234.4	15.9	838	11588	0.00	2.65	0.00	0.000	516	0.000	0.112	3126	777	2284	2334	2235	0	0	0	0	0	0	15.14	14.64	15.15
11608	1.29	100.6	3126	778	2335	2235	230.3	16.4	843	11615	0.00	2.60	0.00	0.000	1030	0.000	0.102	3126	2206	2284	2334	2235	0	0	0	0	0	0	14.83	14.66	14.90
11914	1.29	100.6	3126	2206	2334	2234	180.8	16.3	874	11919	0.00	2.67	0.00	0.000	260	0.000	0.135	3126	3619	2284	2333	2235	0	0	0	0	0	0	15.07	14.59	15.11
11939	1.29	100.6	3126	3619	2334	2235	176.2	18.4	879	11946	0.00	2.55	0.00	0.000	1030	0.000	0.090	3137	2193	2284	2333	2235	0	0	0	0	0	0	14.85	14.71	14.91
12245	1.29	100.6	3137	2191	2334	2235	125.6	16.2	910	12251	0.00	2.72	0.00	0.000	260	0.000	0.135	3137	3617	2283	2333	2233	0	0	0	0	0	0	15.14	14.58	15.16
12270	1.29	100.6	3142	3618	2334	2235	121.3	16.5	915	12279	0.17	2.58	0.00	0.000	5126	0.317	0.090	3112	2181	2284	2334	2234	0	0	0	0	0	0	14.33	14.70	14.73
12576	1.29	100.6	3112	2182	2335	2235	75.8	15.0	946	12577	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2181	2283	2333	2234	0	0	0	0	0	0	15.13	15.16	15.16
12875	1.29	100.6	3113	2181	2334	2234	31.7	14.6	976	12881	0.00	2.75	0.00	0.000	260	0.000	0.135	3112	3620	2283	2333	2234	0	0	0	0	0	0	15.14	14.57	15.17
12900	1.29	100.6	3112	3621	2334	2235	27.9	15.2	981	12907	0.00	2.58	0.00	0.000	1030	0.000	0.090	3121	2192	2283	2333	2234	0	0	0	0	0	0	14.84	14.69	14.89
13026	end climb: FINISH_DEPTH_REACHED
state	13026	begin subsurface finish
13030	0.01	10.5	3122	2191	2334	2235	8.7	14.8	994	13048	1.52	0.00	-11.52	0.011	20486	0.242	0.000	2709	2187	2675	2766	2584	0	0	0	0	0	0	14.33	13.06	14.54
13048	end subsurface finish: CONTROL_FINISHED_OK
state	13048	begin surface