Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 270 * 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 270 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 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 22 ALTIM_FREQUENCY 13

D_TGT 750 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 17 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 900 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 300 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 2000 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 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 -7 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 86400 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 2 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 3974133 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 6 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 1 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 110 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 0

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 750 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 6 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 2 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 3974133 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 4320

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 300

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 86400

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 2000

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 0 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 -7

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 1 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 270 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 22 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 17 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 020318,061528,-7405.4302,-11231.1162,0,4114.3,0,53.4,0.0,0.0,0,0.0 SPEED_LIMITS 0.083,0.179

_CALLS 3 TGT_NAME drift5

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS -15000.000

_SM_DEPTHo 0.30 MHEAD_RNG_PITCHd_Wd 356.1,4085,-16.4,-8.333,-24.94,1894

_SM_ANGLEo -36.6 D_GRID 750

GPS2 020318,061528,-7405.4302,-11231.1162,181,99.0,181,53.4,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 0.40,0.290,-1.920,2,49,0 ALTIM_TOP_PING 14.6,14.6

FINISH 0.4,1.028057 _24V_AH 12.39,110.612

SM_CCo 40677,277.90,0.227,0,0,1490,300.00 _10V_AH 12.80,0.000

SM_GC 0.13,7.07,0.57,277.90,0.054,0.119,0.227,202,2507,1490,-7.76,-0.37,300.00,0,0,0,0,0,0,14.66,14.41,14.38 FG_AHR_24Vo 0.000

RAFOS_CLK 1688 FG_AHR_10Vo 0.000

RAFOS 0,1519981284,9.032778,9.023334,115,58,53,53,49,48,473,188,220,204,234,127 MEM 280660

RAFOS_FIX -7403.225098,-11233.066406,020318,181832,3,144,0.10 DATA_FILE_SIZE 23375,900

IRIDIUM_FIX -7408.15,-11227.51,010318,005826 CAP_FILE_SIZE 145498,0

TT8_MAMPS 0.041944,0.504826 CFSIZE 1024409600,988758016

HUMID 45.39 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.45303 SOUNDSPEED 1453.5

TCM_TEMP 13.00 GPS 020318,185200,-7402.489,-11235.026,33,0.7,33,53.3,0.2,299.6,11,3.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 483 125.95 nil 0 0 0.00

Roll_motor 72 146 132.07 nil 0 0 0.00

VBD_pump_during_apogee 120 3069 4576.76 nil 0 0 0.00

VBD_pump_during_surface 277 227 782.31 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 9105 3 428.57

Iridium_during_xfer 119 49 73.67 nil 0 0 0.00

Transponder_ping 33 420 174.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 182 9 22.72

TT8 0 0 0.00

LPSleep 38841 2 1148.47

TT8_Active 671 12 105.51

TT8_Sampling 1767 31 717.97

TT8_CF8 324 45 188.09

TT8_Kalman 0 0 0.00

Analog_circuits 1464 10 191.16

GPS_charging 0 0 0.00

Compass 490 7 46.98

RAFOS 2880 1 55.30

Transponder 236 30 90.85

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

10.3 11.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.7 22.70 9000.00 0.0 0.00 0.00 22.70 0.0 1.05 1.00

30.7 32.90 33.00 0.0 1.04 1.00 32.90 0.0 1.02 1.00

41.0 44.70 44.50 0.0 1.08 1.00 44.70 0.0 1.15 1.00

66.6 70.30 70.40 0.0 1.03 1.00 70.30 0.0 1.00 1.00

55.9 58.80 59.30 0.0 0.99 1.00 58.80 0.0 1.07 1.00

45.8 48.30 48.30 0.0 1.05 1.00 48.30 0.0 1.04 1.00

35.1 37.30 37.20 0.0 1.04 1.00 37.30 0.0 1.03 1.00

24.7 26.50 26.50 0.0 1.04 1.00 26.50 0.0 1.04 1.00

14.6 14.40 14.60 0.0 1.11 1.00 14.40 0.0 1.20 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 -0.88 -107.1 195 2512 1500 1441 0.0 0.0 0 104 0.00 0.00 -94.07 0.002 16390 0.000 0.000 195 2512 3152 3229 3075 0 0 0 0 0 0 14.92 12.98 14.90

106 -0.88 -107.1 196 2512 3230 3077 0.6 -0.4 3 123 12.62 2.40 0.00 0.000 2308 0.483 0.132 2402 3755 3156 3234 3079 0 0 0 0 0 0 14.24 14.52 14.64

351 -0.88 -107.1 2403 3755 3239 3079 29.1 -11.0 39 359 0.00 2.30 0.00 0.000 1030 0.000 0.076 2402 2495 3159 3237 3081 0 0 0 0 0 0 14.64 14.52 14.67

716 -0.88 -107.1 2406 2494 3239 3079 67.1 -10.4 55 717 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2494 3158 3238 3079 0 0 0 0 0 0 15.02 15.05 15.04

1052 -0.88 -107.1 2402 2494 3239 3079 101.4 -10.1 67 1052 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2494 3158 3238 3079 0 0 0 0 0 0 15.04 15.08 15.07

1387 -0.88 -107.1 2402 2494 3239 3080 135.1 -10.0 79 1395 0.00 2.60 0.00 0.000 516 0.000 0.090 2402 1095 3158 3238 3079 0 0 0 0 0 0 15.07 14.38 15.09

1429 -0.88 -107.1 2402 1095 3239 3079 139.4 -10.4 85 1438 0.00 2.70 0.00 0.000 1030 0.000 0.110 2396 2497 3158 3237 3079 0 0 0 0 0 0 14.57 14.35 14.64

1780 -0.88 -107.1 2396 2498 3239 3080 175.2 -10.1 99 1780 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2497 3158 3238 3079 0 0 0 0 0 0 15.05 15.08 15.08

2116 -0.88 -107.1 2396 2498 3239 3080 207.5 -9.4 110 2116 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2497 3158 3238 3079 0 0 0 0 0 0 15.07 15.10 15.09

2451 -0.88 -107.1 2396 2498 3239 3080 240.8 -10.0 116 2459 0.00 2.50 0.00 0.000 260 0.000 0.145 2387 3751 3158 3238 3079 0 0 0 0 0 0 15.08 14.27 15.11

2486 -0.88 -107.1 2387 3752 3239 3080 244.3 -10.3 121 2495 0.00 2.30 0.00 0.000 1030 0.000 0.080 2387 2489 3158 3238 3079 0 0 0 0 0 0 14.68 14.55 14.72

2844 -0.88 -107.1 2388 2489 3239 3079 280.1 -9.9 130 2845 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2489 3158 3238 3079 0 0 0 0 0 0 14.96 15.00 14.99

3180 -0.88 -107.1 2387 2489 3239 3080 311.4 -9.2 136 3187 0.00 2.58 0.00 0.000 516 0.000 0.092 2386 1095 3158 3238 3079 0 0 0 0 0 0 14.97 14.31 15.00

3207 -0.88 -107.1 2387 1095 3239 3079 314.1 -9.6 140 3215 0.17 2.72 0.00 0.000 3078 0.308 0.110 2416 2513 3158 3238 3079 0 0 0 0 0 0 14.09 14.36 14.38

3571 -0.88 -107.1 2416 2514 3239 3080 344.3 -8.3 150 3579 0.00 2.65 0.00 0.000 516 0.000 0.092 2416 1088 3158 3238 3079 0 0 0 0 0 0 15.09 14.39 15.11

3606 -0.88 -107.1 2416 1088 3239 3081 347.3 -8.6 155 3614 0.00 2.75 0.00 0.000 1030 0.000 0.113 2409 2513 3158 3238 3079 0 0 0 0 0 0 14.59 14.37 14.66

3963 -0.88 -107.1 2410 2514 3240 3079 376.6 -8.2 164 3971 0.00 2.47 0.00 0.000 260 0.000 0.146 2402 3758 3158 3238 3079 0 0 0 0 0 0 15.10 14.28 15.12

4040 -0.88 -107.1 2402 3758 3240 3080 383.3 -8.8 175 4047 0.00 2.30 0.00 0.000 1030 0.000 0.081 2402 2495 3159 3239 3079 0 0 0 0 0 0 14.69 14.56 14.73

4411 -0.88 -107.1 2402 2496 3240 3080 414.1 -8.2 186 4412 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2495 3159 3239 3080 0 0 0 0 0 0 15.09 15.13 15.12

4747 -0.88 -107.1 2402 2496 3240 3080 440.9 -7.9 192 4755 0.00 2.62 0.00 0.000 516 0.000 0.092 2401 1079 3159 3239 3080 0 0 0 0 0 0 15.11 14.40 15.14

4782 -0.88 -107.1 2402 1080 3240 3080 443.7 -8.3 197 4791 0.00 2.72 0.00 0.000 1030 0.000 0.109 2395 2504 3159 3239 3079 0 0 0 0 0 0 14.61 14.38 14.67

5139 -0.88 -107.1 2395 2504 3241 3079 472.4 -8.0 206 5147 0.00 2.65 0.00 0.000 516 0.000 0.092 2394 1081 3159 3240 3079 0 0 0 0 0 0 15.10 14.41 15.14

5167 -0.88 -107.1 2397 1081 3241 3079 474.7 -8.3 210 5175 0.15 2.72 0.00 0.000 3078 0.311 0.110 2416 2504 3160 3240 3080 0 0 0 0 0 0 14.12 14.38 14.44

5532 -0.88 -107.1 2416 2505 3241 3080 500.5 -7.0 220 5532 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2504 3160 3241 3079 0 0 0 0 0 0 15.13 15.16 15.16

5868 -0.88 -107.1 2416 2504 3241 3079 523.7 -6.9 226 5875 0.00 2.60 0.00 0.000 516 0.000 0.092 2415 1095 3160 3241 3080 0 0 0 0 0 0 15.09 14.35 15.11

5924 -0.88 -107.1 2416 1096 3242 3080 527.7 -7.1 234 5932 0.00 2.67 0.00 0.000 1030 0.000 0.111 2410 2500 3160 3241 3080 0 0 0 0 0 0 14.47 14.36 14.55

6318 -0.88 -107.1 2410 2500 3243 3074 554.8 -7.0 248 6323 0.00 2.58 0.00 0.000 516 0.000 0.093 2409 1089 3160 3242 3079 0 0 0 0 0 0 15.09 14.40 15.11

6350 -0.88 -107.1 2410 1090 3243 3081 557.4 -7.5 253 6359 0.00 2.72 0.00 0.000 1030 0.000 0.112 2401 2508 3161 3242 3080 0 0 0 0 0 0 14.60 14.38 14.67

6707 -0.88 -107.1 2402 2509 3243 3081 583.0 -7.2 262 6708 0.00 0.00 0.00 0.000 6 0.000 0.000 2401 2507 3161 3243 3079 0 0 0 0 0 0 15.10 15.14 15.13

7043 -0.88 -107.1 2402 2508 3244 3079 607.7 -7.4 268 7051 0.00 2.65 0.00 0.000 516 0.000 0.093 2402 1081 3161 3243 3080 0 0 0 0 0 0 15.11 14.41 15.15

7092 -0.88 -107.1 2401 1082 3244 3080 611.5 -7.7 275 7101 0.00 2.72 0.00 0.000 1030 0.000 0.110 2394 2505 3161 3243 3079 0 0 0 0 0 0 14.62 14.39 14.68

7435 -0.88 -107.1 2394 2505 3244 3080 637.3 -7.5 282 7436 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2505 3161 3243 3080 0 0 0 0 0 0 15.11 15.14 15.13

7771 -0.88 -107.1 2395 2509 3244 3080 663.2 -7.7 288 7779 0.00 2.62 0.00 0.000 516 0.000 0.092 2395 1089 3161 3243 3080 0 0 0 0 0 0 15.11 14.42 15.14

7842 -0.88 -107.1 2394 1090 3243 3079 668.9 -8.0 298 7849 0.00 2.70 0.00 0.000 1030 0.000 0.110 2386 2509 3162 3244 3080 0 0 0 0 0 0 14.44 14.33 14.54

8220 -0.88 -107.1 2386 2509 3245 3080 698.1 -7.7 310 8227 0.15 2.62 0.00 0.000 2564 0.306 0.092 2416 1090 3161 3244 3079 0 0 0 0 0 0 14.16 14.37 14.45

8254 -0.88 -107.1 2417 1090 3245 3081 700.6 -7.4 315 8262 0.00 2.75 0.00 0.000 1030 0.000 0.111 2410 2519 3162 3244 3080 0 0 0 0 0 0 14.62 14.40 14.69

8611 -0.88 -107.1 2410 2519 3245 3081 725.7 -6.9 324 8612 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2519 3162 3244 3080 0 0 0 0 0 0 15.11 15.14 15.14

8948 -0.88 -107.1 2410 2520 3245 3081 748.8 -6.9 330 8955 0.00 2.62 0.00 0.000 516 0.000 0.092 2410 1097 3161 3244 3079 0 0 0 0 0 0 15.11 14.37 15.14

8967 end dive: TARGET_DEPTH_EXCEEDED

state 8967 begin apogee

8973 -0.23 0.0 2405 2209 3245 3080 750.3 -6.8 333 9096 0.85 0.00 120.32 3.070 10246 0.247 0.000 2622 2209 2714 2776 2652 0 0 0 0 0 0 14.23 13.63 12.39

9096 end apogee: CONTROL_FINISHED_OK

state 9097 begin loiter

9417 -0.23 0.0 2622 2211 2772 2641 739.7 3.7 341 9417 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2705 2771 2640 0 0 0 0 0 0 14.65 14.68 14.68

10087 -0.23 0.0 2623 2209 2772 2636 715.1 3.6 353 10088 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2703 2771 2636 0 0 0 0 0 0 15.13 15.16 15.16

10759 -0.23 0.0 2623 2210 2771 2635 690.7 3.6 365 10760 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2702 2770 2634 0 0 0 0 0 0 15.22 15.25 15.24

11431 -0.23 0.0 2623 2211 2770 2634 665.4 3.9 377 11432 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2702 2770 2634 0 0 0 0 0 0 15.26 15.29 15.29

12103 -0.23 0.0 2622 2210 2771 2634 640.2 3.6 389 12104 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2701 2770 2633 0 0 0 0 0 0 15.28 15.31 15.31

12775 -0.23 0.0 2623 2210 2771 2634 617.9 3.2 401 12776 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2701 2770 2633 0 0 0 0 0 0 15.30 15.33 15.33

13447 -0.23 0.0 2623 2210 2770 2634 597.7 2.9 413 13448 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2701 2770 2633 0 0 0 0 0 0 15.31 15.35 15.34

14119 -0.23 0.0 2623 2209 2771 2632 576.2 3.4 425 14120 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2701 2771 2632 0 0 0 0 0 0 15.32 15.35 15.35

14791 -0.23 0.0 2623 2209 2772 2632 553.5 3.4 437 14792 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2701 2770 2632 0 0 0 0 0 0 15.33 15.36 15.35

15464 -0.23 0.0 2622 2210 2771 2633 530.3 3.3 449 15464 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2209 2701 2770 2632 0 0 0 0 0 0 15.33 15.36 15.36

16135 -0.23 0.0 2622 2210 2771 2633 507.3 3.4 461 16136 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2701 2770 2632 0 0 0 0 0 0 15.33 15.37 15.36

16807 -0.23 0.0 2623 2209 2771 2632 485.4 3.3 473 16808 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2701 2770 2633 0 0 0 0 0 0 15.30 15.34 15.33

17479 -0.23 0.0 2622 2209 2771 2632 461.9 3.6 485 17480 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2701 2770 2632 0 0 0 0 0 0 15.33 15.36 15.35

18151 -0.23 0.0 2623 2210 2770 2633 438.6 3.4 497 18152 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2701 2770 2632 0 0 0 0 0 0 15.33 15.37 15.36

18824 -0.23 0.0 2623 2210 2770 2633 418.5 2.9 509 18824 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2701 2770 2632 0 0 0 0 0 0 15.34 15.37 15.35

19495 -0.23 0.0 2623 2209 2770 2632 400.6 2.5 521 19496 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2700 2769 2632 0 0 0 0 0 0 15.34 15.37 15.37

20169 -0.23 0.0 2623 2210 2770 2633 381.3 3.0 533 20169 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2701 2770 2632 0 0 0 0 0 0 15.14 15.16 15.16

20841 -0.23 0.0 2622 2210 2770 2633 360.9 3.0 545 20841 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2700 2769 2632 0 0 0 0 0 0 15.14 15.16 15.16

21513 -0.23 0.0 2623 2209 2771 2632 340.6 3.0 557 21513 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2700 2769 2632 0 0 0 0 0 0 15.14 15.16 15.16

22184 -0.23 0.0 2623 2210 2770 2633 322.7 2.4 569 22184 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2700 2769 2632 0 0 0 0 0 0 15.34 15.38 15.37

22855 -0.23 0.0 2623 2209 2769 2632 307.4 2.2 581 22856 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2700 2769 2632 0 0 0 0 0 0 15.35 15.38 15.38

23527 -0.23 0.0 2623 2210 2769 2633 292.0 2.3 593 23528 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2700 2769 2632 0 0 0 0 0 0 15.34 15.38 15.37

24201 -0.23 0.0 2623 2210 2769 2633 277.2 2.2 605 24201 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2700 2769 2632 0 0 0 0 0 0 15.13 15.16 15.16

24871 -0.23 0.0 2622 2210 2770 2633 261.9 2.3 617 24872 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2700 2769 2632 0 0 0 0 0 0 15.35 15.38 15.38

25545 -0.23 0.0 2623 2209 2770 2631 245.8 2.5 629 25545 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2700 2768 2632 0 0 0 0 0 0 15.13 15.16 15.16

26216 -0.23 0.0 2623 2209 2770 2631 227.7 2.6 641 26216 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2699 2768 2631 0 0 0 0 0 0 15.34 15.38 15.37

26887 -0.23 0.0 2623 2209 2769 2631 212.0 2.1 653 26888 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2699 2768 2631 0 0 0 0 0 0 15.35 15.38 15.38

27561 -0.23 0.0 2623 2209 2768 2631 197.5 2.0 665 27562 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2699 2768 2631 0 0 0 0 0 0 15.33 15.35 15.35

28232 -0.23 0.0 2622 2210 2768 2632 185.2 1.9 677 28232 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2699 2768 2631 0 0 0 0 0 0 15.33 15.37 15.36

28903 -0.23 0.0 2623 2209 2769 2631 167.6 2.8 689 28904 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2699 2767 2631 0 0 0 0 0 0 15.34 15.37 15.37

29576 -0.23 0.0 2623 2209 2769 2630 158.3 0.8 701 29577 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2209 2699 2768 2630 0 0 0 0 0 0 15.33 15.37 15.37

30247 -0.23 0.0 2623 2209 2768 2630 145.4 2.6 713 30248 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2699 2768 2630 0 0 0 0 0 0 15.34 15.37 15.37

30920 -0.23 0.0 2622 2210 2768 2631 130.6 1.6 725 30920 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2698 2767 2629 0 0 0 0 0 0 15.34 15.38 15.37

31592 -0.23 0.0 2622 2209 2768 2630 122.3 1.4 737 31593 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2698 2767 2630 0 0 0 0 0 0 15.34 15.37 15.37

32264 -0.23 0.0 2622 2210 2767 2631 111.3 2.0 749 32264 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2698 2767 2629 0 0 0 0 0 0 15.34 15.37 15.37

32936 -0.23 0.0 2623 2210 2768 2630 100.1 1.4 761 32936 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2698 2767 2629 0 0 0 0 0 0 15.34 15.37 15.37

33608 -0.23 0.0 2622 2210 2767 2630 96.3 0.4 773 33608 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2698 2767 2629 0 0 0 0 0 0 15.34 15.37 15.37

34280 -0.23 0.0 2623 2209 2768 2629 89.5 1.4 785 34280 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2698 2767 2629 0 0 0 0 0 0 15.34 15.37 15.37

34952 -0.23 0.0 2622 2210 2767 2630 79.1 1.6 797 34953 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2697 2766 2629 0 0 0 0 0 0 15.34 15.37 15.37

35624 -0.23 0.0 2623 2210 2767 2630 68.5 1.6 809 35625 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2698 2767 2629 0 0 0 0 0 0 15.34 15.37 15.37

36296 -0.23 0.0 2623 2210 2767 2628 57.5 1.6 821 36296 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2697 2766 2629 0 0 0 0 0 0 15.34 15.37 15.37

36968 -0.23 0.0 2623 2209 2767 2629 49.3 1.1 833 36968 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2697 2766 2629 0 0 0 0 0 0 15.34 15.37 15.37

37640 -0.23 0.0 2623 2209 2767 2629 42.5 0.9 845 37640 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2697 2766 2629 0 0 0 0 0 0 15.34 15.37 15.37

38313 -0.23 0.0 2623 2209 2767 2629 35.1 1.3 857 38313 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2697 2766 2629 0 0 0 0 0 0 15.09 15.13 15.13

38984 -0.23 0.0 2622 2210 2767 2630 26.7 1.2 869 38985 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2697 2766 2629 0 0 0 0 0 0 15.30 15.33 15.33

39656 -0.23 0.0 2622 2210 2766 2630 18.3 1.3 881 39657 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2210 2697 2766 2629 0 0 0 0 0 0 15.33 15.36 15.36

40328 -0.23 0.0 2622 2210 2766 2630 7.3 1.5 893 40329 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2209 2697 2766 2629 0 0 0 0 0 0 15.33 15.36 15.35

40606 end loiter: SURFACE_DEPTH_REACHED

state 40606 begin surface coast

40663 end surface coast: CONTROL_FINISHED_OK

state 40663 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	270	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	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	22	ALTIM_FREQUENCY	13
D_TGT	750	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	17	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	900	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	300	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	2000	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	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	-7	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	86400	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	2	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	3974133	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	6	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	1	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	110	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	0
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	883

GPS1	020318,061528,-7405.4302,-11231.1162,0,4114.3,0,53.4,0.0,0.0,0,0.0	SPEED_LIMITS	0.083,0.179
_CALLS	3	TGT_NAME	drift5
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	-15000.000
_SM_DEPTHo	0.30	MHEAD_RNG_PITCHd_Wd	356.1,4085,-16.4,-8.333,-24.94,1894
_SM_ANGLEo	-36.6	D_GRID	750
GPS2	020318,061528,-7405.4302,-11231.1162,181,99.0,181,53.4,0.0,0.0,0,0.0

FREEZE	0.40,0.290,-1.920,2,49,0	ALTIM_TOP_PING	14.6,14.6
FINISH	0.4,1.028057	_24V_AH	12.39,110.612
SM_CCo	40677,277.90,0.227,0,0,1490,300.00	_10V_AH	12.80,0.000
SM_GC	0.13,7.07,0.57,277.90,0.054,0.119,0.227,202,2507,1490,-7.76,-0.37,300.00,0,0,0,0,0,0,14.66,14.41,14.38	FG_AHR_24Vo	0.000
RAFOS_CLK	1688	FG_AHR_10Vo	0.000
RAFOS	0,1519981284,9.032778,9.023334,115,58,53,53,49,48,473,188,220,204,234,127	MEM	280660
RAFOS_FIX	-7403.225098,-11233.066406,020318,181832,3,144,0.10	DATA_FILE_SIZE	23375,900
IRIDIUM_FIX	-7408.15,-11227.51,010318,005826	CAP_FILE_SIZE	145498,0
TT8_MAMPS	0.041944,0.504826	CFSIZE	1024409600,988758016
HUMID	45.39	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.45303	SOUNDSPEED	1453.5
TCM_TEMP	13.00	GPS	020318,185200,-7402.489,-11235.026,33,0.7,33,53.3,0.2,299.6,11,3.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	483	125.95	nil	0	0	0.00
Roll_motor	72	146	132.07	nil	0	0	0.00
VBD_pump_during_apogee	120	3069	4576.76	nil	0	0	0.00
VBD_pump_during_surface	277	227	782.31	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	9105	3	428.57
Iridium_during_xfer	119	49	73.67	nil	0	0	0.00
Transponder_ping	33	420	174.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	182	9	22.72
TT8	0	0	0.00
LPSleep	38841	2	1148.47
TT8_Active	671	12	105.51
TT8_Sampling	1767	31	717.97
TT8_CF8	324	45	188.09
TT8_Kalman	0	0	0.00
Analog_circuits	1464	10	191.16
GPS_charging	0	0	0.00
Compass	490	7	46.98
RAFOS	2880	1	55.30
Transponder	236	30	90.85

		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
10.3	11.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.7	22.70	9000.00	0.0	0.00	0.00	22.70	0.0	1.05	1.00
30.7	32.90	33.00	0.0	1.04	1.00	32.90	0.0	1.02	1.00
41.0	44.70	44.50	0.0	1.08	1.00	44.70	0.0	1.15	1.00
66.6	70.30	70.40	0.0	1.03	1.00	70.30	0.0	1.00	1.00
55.9	58.80	59.30	0.0	0.99	1.00	58.80	0.0	1.07	1.00
45.8	48.30	48.30	0.0	1.05	1.00	48.30	0.0	1.04	1.00
35.1	37.30	37.20	0.0	1.04	1.00	37.30	0.0	1.03	1.00
24.7	26.50	26.50	0.0	1.04	1.00	26.50	0.0	1.04	1.00
14.6	14.40	14.60	0.0	1.11	1.00	14.40	0.0	1.20	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	-0.88	-107.1	195	2512	1500	1441	0.0	0.0	0	104	0.00	0.00	-94.07	0.002	16390	0.000	0.000	195	2512	3152	3229	3075	0	0	0	0	0	0	14.92	12.98	14.90
106	-0.88	-107.1	196	2512	3230	3077	0.6	-0.4	3	123	12.62	2.40	0.00	0.000	2308	0.483	0.132	2402	3755	3156	3234	3079	0	0	0	0	0	0	14.24	14.52	14.64
351	-0.88	-107.1	2403	3755	3239	3079	29.1	-11.0	39	359	0.00	2.30	0.00	0.000	1030	0.000	0.076	2402	2495	3159	3237	3081	0	0	0	0	0	0	14.64	14.52	14.67
716	-0.88	-107.1	2406	2494	3239	3079	67.1	-10.4	55	717	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	2494	3158	3238	3079	0	0	0	0	0	0	15.02	15.05	15.04
1052	-0.88	-107.1	2402	2494	3239	3079	101.4	-10.1	67	1052	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	2494	3158	3238	3079	0	0	0	0	0	0	15.04	15.08	15.07
1387	-0.88	-107.1	2402	2494	3239	3080	135.1	-10.0	79	1395	0.00	2.60	0.00	0.000	516	0.000	0.090	2402	1095	3158	3238	3079	0	0	0	0	0	0	15.07	14.38	15.09
1429	-0.88	-107.1	2402	1095	3239	3079	139.4	-10.4	85	1438	0.00	2.70	0.00	0.000	1030	0.000	0.110	2396	2497	3158	3237	3079	0	0	0	0	0	0	14.57	14.35	14.64
1780	-0.88	-107.1	2396	2498	3239	3080	175.2	-10.1	99	1780	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2497	3158	3238	3079	0	0	0	0	0	0	15.05	15.08	15.08
2116	-0.88	-107.1	2396	2498	3239	3080	207.5	-9.4	110	2116	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2497	3158	3238	3079	0	0	0	0	0	0	15.07	15.10	15.09
2451	-0.88	-107.1	2396	2498	3239	3080	240.8	-10.0	116	2459	0.00	2.50	0.00	0.000	260	0.000	0.145	2387	3751	3158	3238	3079	0	0	0	0	0	0	15.08	14.27	15.11
2486	-0.88	-107.1	2387	3752	3239	3080	244.3	-10.3	121	2495	0.00	2.30	0.00	0.000	1030	0.000	0.080	2387	2489	3158	3238	3079	0	0	0	0	0	0	14.68	14.55	14.72
2844	-0.88	-107.1	2388	2489	3239	3079	280.1	-9.9	130	2845	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2489	3158	3238	3079	0	0	0	0	0	0	14.96	15.00	14.99
3180	-0.88	-107.1	2387	2489	3239	3080	311.4	-9.2	136	3187	0.00	2.58	0.00	0.000	516	0.000	0.092	2386	1095	3158	3238	3079	0	0	0	0	0	0	14.97	14.31	15.00
3207	-0.88	-107.1	2387	1095	3239	3079	314.1	-9.6	140	3215	0.17	2.72	0.00	0.000	3078	0.308	0.110	2416	2513	3158	3238	3079	0	0	0	0	0	0	14.09	14.36	14.38
3571	-0.88	-107.1	2416	2514	3239	3080	344.3	-8.3	150	3579	0.00	2.65	0.00	0.000	516	0.000	0.092	2416	1088	3158	3238	3079	0	0	0	0	0	0	15.09	14.39	15.11
3606	-0.88	-107.1	2416	1088	3239	3081	347.3	-8.6	155	3614	0.00	2.75	0.00	0.000	1030	0.000	0.113	2409	2513	3158	3238	3079	0	0	0	0	0	0	14.59	14.37	14.66
3963	-0.88	-107.1	2410	2514	3240	3079	376.6	-8.2	164	3971	0.00	2.47	0.00	0.000	260	0.000	0.146	2402	3758	3158	3238	3079	0	0	0	0	0	0	15.10	14.28	15.12
4040	-0.88	-107.1	2402	3758	3240	3080	383.3	-8.8	175	4047	0.00	2.30	0.00	0.000	1030	0.000	0.081	2402	2495	3159	3239	3079	0	0	0	0	0	0	14.69	14.56	14.73
4411	-0.88	-107.1	2402	2496	3240	3080	414.1	-8.2	186	4412	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	2495	3159	3239	3080	0	0	0	0	0	0	15.09	15.13	15.12
4747	-0.88	-107.1	2402	2496	3240	3080	440.9	-7.9	192	4755	0.00	2.62	0.00	0.000	516	0.000	0.092	2401	1079	3159	3239	3080	0	0	0	0	0	0	15.11	14.40	15.14
4782	-0.88	-107.1	2402	1080	3240	3080	443.7	-8.3	197	4791	0.00	2.72	0.00	0.000	1030	0.000	0.109	2395	2504	3159	3239	3079	0	0	0	0	0	0	14.61	14.38	14.67
5139	-0.88	-107.1	2395	2504	3241	3079	472.4	-8.0	206	5147	0.00	2.65	0.00	0.000	516	0.000	0.092	2394	1081	3159	3240	3079	0	0	0	0	0	0	15.10	14.41	15.14
5167	-0.88	-107.1	2397	1081	3241	3079	474.7	-8.3	210	5175	0.15	2.72	0.00	0.000	3078	0.311	0.110	2416	2504	3160	3240	3080	0	0	0	0	0	0	14.12	14.38	14.44
5532	-0.88	-107.1	2416	2505	3241	3080	500.5	-7.0	220	5532	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2504	3160	3241	3079	0	0	0	0	0	0	15.13	15.16	15.16
5868	-0.88	-107.1	2416	2504	3241	3079	523.7	-6.9	226	5875	0.00	2.60	0.00	0.000	516	0.000	0.092	2415	1095	3160	3241	3080	0	0	0	0	0	0	15.09	14.35	15.11
5924	-0.88	-107.1	2416	1096	3242	3080	527.7	-7.1	234	5932	0.00	2.67	0.00	0.000	1030	0.000	0.111	2410	2500	3160	3241	3080	0	0	0	0	0	0	14.47	14.36	14.55
6318	-0.88	-107.1	2410	2500	3243	3074	554.8	-7.0	248	6323	0.00	2.58	0.00	0.000	516	0.000	0.093	2409	1089	3160	3242	3079	0	0	0	0	0	0	15.09	14.40	15.11
6350	-0.88	-107.1	2410	1090	3243	3081	557.4	-7.5	253	6359	0.00	2.72	0.00	0.000	1030	0.000	0.112	2401	2508	3161	3242	3080	0	0	0	0	0	0	14.60	14.38	14.67
6707	-0.88	-107.1	2402	2509	3243	3081	583.0	-7.2	262	6708	0.00	0.00	0.00	0.000	6	0.000	0.000	2401	2507	3161	3243	3079	0	0	0	0	0	0	15.10	15.14	15.13
7043	-0.88	-107.1	2402	2508	3244	3079	607.7	-7.4	268	7051	0.00	2.65	0.00	0.000	516	0.000	0.093	2402	1081	3161	3243	3080	0	0	0	0	0	0	15.11	14.41	15.15
7092	-0.88	-107.1	2401	1082	3244	3080	611.5	-7.7	275	7101	0.00	2.72	0.00	0.000	1030	0.000	0.110	2394	2505	3161	3243	3079	0	0	0	0	0	0	14.62	14.39	14.68
7435	-0.88	-107.1	2394	2505	3244	3080	637.3	-7.5	282	7436	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2505	3161	3243	3080	0	0	0	0	0	0	15.11	15.14	15.13
7771	-0.88	-107.1	2395	2509	3244	3080	663.2	-7.7	288	7779	0.00	2.62	0.00	0.000	516	0.000	0.092	2395	1089	3161	3243	3080	0	0	0	0	0	0	15.11	14.42	15.14
7842	-0.88	-107.1	2394	1090	3243	3079	668.9	-8.0	298	7849	0.00	2.70	0.00	0.000	1030	0.000	0.110	2386	2509	3162	3244	3080	0	0	0	0	0	0	14.44	14.33	14.54
8220	-0.88	-107.1	2386	2509	3245	3080	698.1	-7.7	310	8227	0.15	2.62	0.00	0.000	2564	0.306	0.092	2416	1090	3161	3244	3079	0	0	0	0	0	0	14.16	14.37	14.45
8254	-0.88	-107.1	2417	1090	3245	3081	700.6	-7.4	315	8262	0.00	2.75	0.00	0.000	1030	0.000	0.111	2410	2519	3162	3244	3080	0	0	0	0	0	0	14.62	14.40	14.69
8611	-0.88	-107.1	2410	2519	3245	3081	725.7	-6.9	324	8612	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2519	3162	3244	3080	0	0	0	0	0	0	15.11	15.14	15.14
8948	-0.88	-107.1	2410	2520	3245	3081	748.8	-6.9	330	8955	0.00	2.62	0.00	0.000	516	0.000	0.092	2410	1097	3161	3244	3079	0	0	0	0	0	0	15.11	14.37	15.14
8967	end dive: TARGET_DEPTH_EXCEEDED
state	8967	begin apogee
8973	-0.23	0.0	2405	2209	3245	3080	750.3	-6.8	333	9096	0.85	0.00	120.32	3.070	10246	0.247	0.000	2622	2209	2714	2776	2652	0	0	0	0	0	0	14.23	13.63	12.39
9096	end apogee: CONTROL_FINISHED_OK
state	9097	begin loiter
9417	-0.23	0.0	2622	2211	2772	2641	739.7	3.7	341	9417	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2705	2771	2640	0	0	0	0	0	0	14.65	14.68	14.68
10087	-0.23	0.0	2623	2209	2772	2636	715.1	3.6	353	10088	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2703	2771	2636	0	0	0	0	0	0	15.13	15.16	15.16
10759	-0.23	0.0	2623	2210	2771	2635	690.7	3.6	365	10760	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2702	2770	2634	0	0	0	0	0	0	15.22	15.25	15.24
11431	-0.23	0.0	2623	2211	2770	2634	665.4	3.9	377	11432	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2702	2770	2634	0	0	0	0	0	0	15.26	15.29	15.29
12103	-0.23	0.0	2622	2210	2771	2634	640.2	3.6	389	12104	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2701	2770	2633	0	0	0	0	0	0	15.28	15.31	15.31
12775	-0.23	0.0	2623	2210	2771	2634	617.9	3.2	401	12776	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2701	2770	2633	0	0	0	0	0	0	15.30	15.33	15.33
13447	-0.23	0.0	2623	2210	2770	2634	597.7	2.9	413	13448	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2701	2770	2633	0	0	0	0	0	0	15.31	15.35	15.34
14119	-0.23	0.0	2623	2209	2771	2632	576.2	3.4	425	14120	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2701	2771	2632	0	0	0	0	0	0	15.32	15.35	15.35
14791	-0.23	0.0	2623	2209	2772	2632	553.5	3.4	437	14792	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2701	2770	2632	0	0	0	0	0	0	15.33	15.36	15.35
15464	-0.23	0.0	2622	2210	2771	2633	530.3	3.3	449	15464	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2209	2701	2770	2632	0	0	0	0	0	0	15.33	15.36	15.36
16135	-0.23	0.0	2622	2210	2771	2633	507.3	3.4	461	16136	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2701	2770	2632	0	0	0	0	0	0	15.33	15.37	15.36
16807	-0.23	0.0	2623	2209	2771	2632	485.4	3.3	473	16808	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2701	2770	2633	0	0	0	0	0	0	15.30	15.34	15.33
17479	-0.23	0.0	2622	2209	2771	2632	461.9	3.6	485	17480	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2701	2770	2632	0	0	0	0	0	0	15.33	15.36	15.35
18151	-0.23	0.0	2623	2210	2770	2633	438.6	3.4	497	18152	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2701	2770	2632	0	0	0	0	0	0	15.33	15.37	15.36
18824	-0.23	0.0	2623	2210	2770	2633	418.5	2.9	509	18824	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2701	2770	2632	0	0	0	0	0	0	15.34	15.37	15.35
19495	-0.23	0.0	2623	2209	2770	2632	400.6	2.5	521	19496	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2700	2769	2632	0	0	0	0	0	0	15.34	15.37	15.37
20169	-0.23	0.0	2623	2210	2770	2633	381.3	3.0	533	20169	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2701	2770	2632	0	0	0	0	0	0	15.14	15.16	15.16
20841	-0.23	0.0	2622	2210	2770	2633	360.9	3.0	545	20841	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2700	2769	2632	0	0	0	0	0	0	15.14	15.16	15.16
21513	-0.23	0.0	2623	2209	2771	2632	340.6	3.0	557	21513	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2700	2769	2632	0	0	0	0	0	0	15.14	15.16	15.16
22184	-0.23	0.0	2623	2210	2770	2633	322.7	2.4	569	22184	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2700	2769	2632	0	0	0	0	0	0	15.34	15.38	15.37
22855	-0.23	0.0	2623	2209	2769	2632	307.4	2.2	581	22856	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2700	2769	2632	0	0	0	0	0	0	15.35	15.38	15.38
23527	-0.23	0.0	2623	2210	2769	2633	292.0	2.3	593	23528	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2700	2769	2632	0	0	0	0	0	0	15.34	15.38	15.37
24201	-0.23	0.0	2623	2210	2769	2633	277.2	2.2	605	24201	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2700	2769	2632	0	0	0	0	0	0	15.13	15.16	15.16
24871	-0.23	0.0	2622	2210	2770	2633	261.9	2.3	617	24872	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2700	2769	2632	0	0	0	0	0	0	15.35	15.38	15.38
25545	-0.23	0.0	2623	2209	2770	2631	245.8	2.5	629	25545	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2700	2768	2632	0	0	0	0	0	0	15.13	15.16	15.16
26216	-0.23	0.0	2623	2209	2770	2631	227.7	2.6	641	26216	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2699	2768	2631	0	0	0	0	0	0	15.34	15.38	15.37
26887	-0.23	0.0	2623	2209	2769	2631	212.0	2.1	653	26888	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2699	2768	2631	0	0	0	0	0	0	15.35	15.38	15.38
27561	-0.23	0.0	2623	2209	2768	2631	197.5	2.0	665	27562	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2699	2768	2631	0	0	0	0	0	0	15.33	15.35	15.35
28232	-0.23	0.0	2622	2210	2768	2632	185.2	1.9	677	28232	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2699	2768	2631	0	0	0	0	0	0	15.33	15.37	15.36
28903	-0.23	0.0	2623	2209	2769	2631	167.6	2.8	689	28904	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2699	2767	2631	0	0	0	0	0	0	15.34	15.37	15.37
29576	-0.23	0.0	2623	2209	2769	2630	158.3	0.8	701	29577	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2209	2699	2768	2630	0	0	0	0	0	0	15.33	15.37	15.37
30247	-0.23	0.0	2623	2209	2768	2630	145.4	2.6	713	30248	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2699	2768	2630	0	0	0	0	0	0	15.34	15.37	15.37
30920	-0.23	0.0	2622	2210	2768	2631	130.6	1.6	725	30920	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2698	2767	2629	0	0	0	0	0	0	15.34	15.38	15.37
31592	-0.23	0.0	2622	2209	2768	2630	122.3	1.4	737	31593	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2698	2767	2630	0	0	0	0	0	0	15.34	15.37	15.37
32264	-0.23	0.0	2622	2210	2767	2631	111.3	2.0	749	32264	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2698	2767	2629	0	0	0	0	0	0	15.34	15.37	15.37
32936	-0.23	0.0	2623	2210	2768	2630	100.1	1.4	761	32936	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2698	2767	2629	0	0	0	0	0	0	15.34	15.37	15.37
33608	-0.23	0.0	2622	2210	2767	2630	96.3	0.4	773	33608	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2698	2767	2629	0	0	0	0	0	0	15.34	15.37	15.37
34280	-0.23	0.0	2623	2209	2768	2629	89.5	1.4	785	34280	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2698	2767	2629	0	0	0	0	0	0	15.34	15.37	15.37
34952	-0.23	0.0	2622	2210	2767	2630	79.1	1.6	797	34953	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2697	2766	2629	0	0	0	0	0	0	15.34	15.37	15.37
35624	-0.23	0.0	2623	2210	2767	2630	68.5	1.6	809	35625	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2698	2767	2629	0	0	0	0	0	0	15.34	15.37	15.37
36296	-0.23	0.0	2623	2210	2767	2628	57.5	1.6	821	36296	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2697	2766	2629	0	0	0	0	0	0	15.34	15.37	15.37
36968	-0.23	0.0	2623	2209	2767	2629	49.3	1.1	833	36968	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2697	2766	2629	0	0	0	0	0	0	15.34	15.37	15.37
37640	-0.23	0.0	2623	2209	2767	2629	42.5	0.9	845	37640	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2697	2766	2629	0	0	0	0	0	0	15.34	15.37	15.37
38313	-0.23	0.0	2623	2209	2767	2629	35.1	1.3	857	38313	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2697	2766	2629	0	0	0	0	0	0	15.09	15.13	15.13
38984	-0.23	0.0	2622	2210	2767	2630	26.7	1.2	869	38985	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2697	2766	2629	0	0	0	0	0	0	15.30	15.33	15.33
39656	-0.23	0.0	2622	2210	2766	2630	18.3	1.3	881	39657	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2210	2697	2766	2629	0	0	0	0	0	0	15.33	15.36	15.36
40328	-0.23	0.0	2622	2210	2766	2630	7.3	1.5	893	40329	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2209	2697	2766	2629	0	0	0	0	0	0	15.33	15.36	15.35
40606	end loiter: SURFACE_DEPTH_REACHED
state	40606	begin surface coast
40663	end surface coast: CONTROL_FINISHED_OK
state	40663	begin surface