Glider dive log

SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 774 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 190 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 17 XPDR_INHIBIT 90

MISSION 9 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 50 INT_PRESSURE_SLOPE 0.0097660003

DIVE 774 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 1.0

MAX_BUOY 100 PITCH_GAIN 26 AD7714Ch0Gain 1 SC_XMITPROFILE 1.0

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 26 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 26 VBD_CNV -0.24529999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 17 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 1.0 VBD_LP_IGNORE 0

DIVE 774 N_FILEKB 8 SC_RECORDABOVE 2000.0 VBD_MAX 3900

D_ABORT 1015 N_GPS 100440 SC_XMITPROFILE 1.0 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 080417,005034,1001.4421,-12529.7344,36,0.7,37,9.2,0.7,3.3,11,7.5 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 0.80 MHEAD_RNG_PITCHd_Wd 112.5,66500,-19.5,-8.333,-22.22,1796

_SM_ANGLEo -63.7 D_GRID 450

GPS2 080417,010017,1001.5437,-12529.8115,13,0.7,15,9.2,0.6,357.1,11,7.8

Post-dive calculations and measurements:

FINISH -0.0,1.022100 _10V_AH 10.11,0.000

SM_CCo 26487,91.12,0.119,0,0,560,500.17 FG_AHR_24Vo 0.000

SM_GC 0.79,9.25,0.22,91.12,0.069,0.051,0.119,221,2308,560,-6.14,-0.25,500.17,0,0,0,0,0,0,11.03,11.08,10.96 FG_AHR_10Vo 0.000

IRIDIUM_FIX 958.26,-12528.95,080417,005259 MEM 334220

TT8_MAMPS 0.045689,0.291361 DATA_FILE_SIZE 36716,817

HUMID 58.58 CAP_FILE_SIZE 139773,0

INTERNAL_PRESSURE 9.10191 CFSIZE 260034560,168701952

TCM_TEMP 20.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 30 CURRENT 0.099,314.28,1

_24V_AH 10.38,290.499 GPS 080417,082451,1002.242,-12530.287,37,0.9,38,9.2,0.0,3.1,10,7.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 404 124.23 SciConCT 3346 25 868.39

Roll_motor 127 1604 2122.43 nil 0 0 0.00

VBD_pump_during_apogee 586 1309 7978.94 nil 0 0 0.00

VBD_pump_during_surface 91 118 112.16 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 384 176 705.52 PMAR 0 0 0.00

Transponder_ping 7 420 32.70 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 22 3.74

TT8 0 0 0.00

LPSleep 21121 2 467.66

TT8_Active 759 10 82.71

TT8_Sampling 4668 28 1356.90

TT8_CF8 600 35 215.41

TT8_Kalman 0 0 0.00

Analog_circuits 1952 11 230.90

GPS_charging 0 0 0.00

Compass 3913 0 29.68

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

3 end surface: CONTROL_FINISHED_OK

state 3 begin dive

7 -0.81 -97.3 197 2302 599 533 0.0 0.0 0 98 0.00 0.00 -89.72 0.000 16386 0.000 0.000 195 2303 2826 2838 2815 0 0 0 0 0 0 11.19 28.83 11.21

104 -0.81 -97.3 195 2304 2840 2816 3.0 -3.5 3 129 15.40 3.65 -2.88 0.000 18948 0.405 1.605 1929 870 2999 3043 2956 0 0 0 0 0 0 10.81 10.38 10.98

200 -0.59 -97.3 1930 870 3050 2952 39.4 -27.9 17 206 0.52 3.35 0.00 0.000 3206 0.274 0.050 2003 2283 3000 3050 2951 0 0 0 0 0 0 10.89 11.02 11.05

529 -0.53 -97.3 2004 2284 3054 2950 85.7 -9.2 30 534 0.00 3.33 0.00 0.000 388 0.000 0.067 1994 3703 3001 3053 2949 0 0 0 0 0 0 11.21 11.02 11.23

645 -0.48 -97.3 1994 3704 3055 2950 96.1 -8.7 46 651 0.25 3.20 0.00 0.000 3206 0.206 0.031 2039 2260 3001 3054 2949 0 0 0 0 0 0 10.94 11.06 11.07

985 -0.48 -97.3 2040 2261 3057 2949 121.7 -7.6 56 990 0.00 3.20 0.00 0.000 548 0.000 0.044 2039 878 3003 3057 2949 0 0 0 0 0 0 11.23 11.05 11.24

1033 -0.48 -97.3 2040 878 3057 2949 125.5 -7.4 63 1044 0.00 3.38 0.00 0.000 1062 0.000 0.049 2039 2288 3002 3057 2948 0 0 0 0 0 0 11.06 11.02 11.09

1380 -0.48 -97.3 2040 2289 3057 2947 152.3 -8.0 70 1385 0.00 3.30 0.00 0.000 548 0.000 0.043 2039 884 3002 3057 2947 0 0 0 0 0 0 11.22 11.05 11.24

1406 -0.53 -97.3 2040 884 3058 2947 154.9 -8.5 74 1411 0.00 3.33 0.00 0.000 1158 0.000 0.049 2039 2288 3001 3057 2946 0 0 0 0 0 0 11.11 11.04 11.12

1777 -0.58 -97.3 2039 2289 3058 2944 185.2 -8.2 84 1782 0.00 3.35 0.00 0.000 420 0.000 0.073 2039 3700 3000 3057 2944 0 0 0 0 0 0 11.22 11.03 11.24

1817 -0.66 -97.3 2039 3700 3058 2944 188.9 -8.2 90 1822 0.20 3.15 0.00 0.000 5286 0.083 0.033 1974 2285 3000 3057 2944 0 0 0 0 0 0 11.07 11.07 11.12

2174 -0.66 -97.3 1974 2286 3058 2939 226.6 -10.8 98 2179 0.00 3.28 0.00 0.000 516 0.000 0.047 1974 876 2997 3056 2938 0 0 0 0 0 0 11.22 11.05 11.24

2263 -0.66 -97.3 1974 876 3058 2938 236.8 -10.2 111 2268 0.00 3.38 0.00 0.000 1030 0.000 0.051 1972 2292 2997 3057 2937 0 0 0 0 0 0 11.11 11.05 11.13

2626 -0.66 -97.3 1973 2293 3057 2933 274.3 -10.5 120 2631 0.00 3.35 0.00 0.000 260 0.000 0.076 1971 3702 2995 3057 2933 0 0 0 0 0 0 11.24 11.03 11.24

2651 -0.66 -97.3 1972 3702 3057 2933 277.6 -10.6 124 2657 0.00 3.20 0.00 0.000 1030 0.000 0.035 1971 2272 2994 3056 2932 0 0 0 0 0 0 11.12 11.07 11.13

3022 -0.66 -97.3 1971 2273 3057 2928 316.9 -10.9 134 3027 0.00 3.28 0.00 0.000 516 0.000 0.049 1971 875 2991 3056 2927 0 0 0 0 0 0 11.24 11.05 11.24

3127 -0.66 -97.3 1972 875 3057 2927 329.6 -11.1 149 3139 0.00 3.42 0.00 0.000 1030 0.000 0.053 1972 2281 2991 3056 2926 0 0 0 0 0 0 11.07 11.02 11.10

3476 -0.66 -97.3 1972 2281 3054 2925 369.0 -11.7 156 3482 0.00 3.38 0.00 0.000 260 0.000 0.074 1970 3698 2990 3055 2925 0 0 0 0 0 0 11.24 11.04 11.25

3516 -0.66 -97.3 1970 3698 3055 2925 374.4 -12.0 162 3522 0.00 3.22 0.00 0.000 1030 0.000 0.035 1970 2268 2989 3054 2925 0 0 0 0 0 0 11.12 11.07 11.14

3872 -0.66 -97.3 1970 2269 3054 2922 414.5 -11.4 170 3877 0.00 3.28 0.00 0.000 516 0.000 0.050 1970 871 2987 3053 2921 0 0 0 0 0 0 11.24 11.05 11.25

3998 -0.66 -97.3 1970 871 3053 2921 428.7 -10.2 188 4003 0.00 3.38 0.00 0.000 1030 0.000 0.051 1964 2282 2986 3052 2920 0 0 0 0 0 0 11.14 11.05 11.13

4208 end dive: TARGET_DEPTH_EXCEEDED

state 4208 begin apogee

4217 -0.19 0.0 1965 2189 3053 2919 450.8 -10.6 197 4350 0.85 0.08 130.02 1.310 10244 0.206 0.125 2130 2207 2599 2706 2493 0 0 0 0 0 0 10.95 10.94 10.48

4351 end apogee: CONTROL_FINISHED_OK

state 4351 begin loiter

4583 -0.19 8.1 2131 2207 2686 2480 458.1 -0.5 232 4588 0.00 0.00 3.53 0.808 9254 0.000 0.000 2130 2207 2566 2672 2460 0 0 0 0 0 0 11.21 11.21 10.43

4918 -0.35 14.0 2131 2207 2673 2467 459.2 -0.3 244 4935 0.17 0.00 15.20 1.270 12454 0.086 0.000 2078 2207 2544 2650 2438 0 0 0 0 0 0 11.05 11.00 10.53

5255 -0.42 26.4 2078 2207 2636 2428 461.4 -0.7 250 5275 0.00 0.00 19.23 1.301 8358 0.000 0.000 2078 2207 2493 2603 2383 0 0 0 0 0 0 11.21 10.99 10.47

5590 -0.52 9.7 2078 2207 2586 2370 459.1 1.0 256 5591 0.17 0.00 0.00 0.000 4262 0.090 0.000 2028 2207 2477 2586 2369 0 0 0 0 0 0 11.05 11.12 11.10

5926 -0.53 -4.4 2028 2207 2584 2370 456.5 0.8 262 5926 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2476 2583 2369 0 0 0 0 0 0 11.22 11.24 11.24

6263 -0.53 -4.4 2028 2207 2582 2370 452.4 1.3 268 6264 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2207 2475 2582 2369 0 0 0 0 0 0 11.20 11.24 11.24

6597 -0.53 -4.4 2028 2207 2579 2370 444.7 2.4 274 6598 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2207 2474 2579 2369 0 0 0 0 0 0 11.23 11.24 11.24

6933 -0.53 -4.4 2028 2207 2578 2369 434.9 3.0 280 6934 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2207 2473 2577 2369 0 0 0 0 0 0 11.23 11.24 11.24

7269 -0.53 -4.4 2028 2207 2578 2369 425.7 2.7 286 7270 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2207 2472 2577 2368 0 0 0 0 0 0 11.23 11.24 11.24

7609 -0.53 -4.4 2028 2207 2577 2368 419.3 1.8 292 7610 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2206 2472 2576 2368 0 0 0 0 0 0 11.23 11.24 11.24

7942 -0.53 -17.3 2028 2207 2576 2366 416.2 0.7 298 7943 0.00 0.00 0.00 0.000 38 0.000 0.000 2028 2207 2470 2575 2366 0 0 0 0 0 0 11.23 11.25 11.24

8278 -0.54 -25.4 2028 2207 2575 2367 414.7 0.5 304 8279 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2470 2574 2366 0 0 0 0 0 0 11.24 11.25 11.25

8614 -0.55 -38.3 2028 2207 2575 2365 412.3 0.7 310 8615 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2469 2574 2365 0 0 0 0 0 0 11.24 11.25 11.25

8951 -0.55 -38.3 2028 2207 2573 2365 408.7 1.2 316 8952 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2207 2468 2572 2365 0 0 0 0 0 0 11.24 11.25 11.24

9285 -0.55 -38.3 2028 2207 2572 2365 403.4 1.7 322 9286 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2207 2468 2572 2365 0 0 0 0 0 0 11.24 11.25 11.25

9621 -0.55 -38.3 2028 2208 2572 2364 399.2 1.1 328 9622 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2207 2467 2571 2363 0 0 0 0 0 0 11.24 11.26 11.25

9958 -0.55 -51.7 2027 2207 2572 2364 396.6 0.8 334 9958 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2467 2571 2363 0 0 0 0 0 0 11.24 11.26 11.25

10295 -0.55 -51.7 2028 2207 2571 2364 392.6 1.3 340 10296 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2206 2466 2570 2363 0 0 0 0 0 0 11.24 11.25 11.25

10629 -0.56 -65.0 2028 2207 2570 2364 389.7 0.8 346 10630 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2466 2570 2363 0 0 0 0 0 0 11.24 11.25 11.25

10966 -0.56 -70.1 2028 2207 2571 2364 388.7 0.3 352 10966 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2206 2466 2570 2363 0 0 0 0 0 0 11.24 11.26 11.25

11303 -0.57 -83.5 2028 2207 2570 2364 386.6 0.8 358 11304 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2466 2569 2363 0 0 0 0 0 0 11.27 11.25 11.25

11637 -0.58 -97.9 2028 2207 2569 2364 383.8 0.8 364 11638 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2466 2569 2363 0 0 0 0 0 0 11.24 11.26 11.26

11974 -0.59 -103.9 2028 2207 2570 2364 382.4 0.3 370 11974 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2466 2569 2363 0 0 0 0 0 0 11.24 11.26 11.26

12309 -0.59 -103.9 2027 2207 2569 2364 379.3 1.1 376 12310 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2207 2466 2569 2363 0 0 0 0 0 0 11.24 11.26 11.26

12647 -0.59 -103.9 2028 2206 2569 2364 374.7 1.3 382 12648 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2207 2466 2569 2363 0 0 0 0 0 0 11.24 11.26 11.25

12981 -0.59 -103.9 2027 2207 2569 2364 370.6 1.2 388 12982 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2206 2466 2569 2363 0 0 0 0 0 0 11.24 11.26 11.26

13318 -0.59 -116.6 2028 2207 2569 2364 367.8 0.7 394 13318 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2206 2465 2568 2363 0 0 0 0 0 0 11.24 11.26 11.26

13653 -0.59 -118.9 2027 2207 2570 2364 367.2 0.1 400 13654 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2466 2568 2364 0 0 0 0 0 0 11.24 11.26 11.26

13991 -0.59 -118.9 2028 2207 2569 2364 363.8 1.2 406 13992 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2207 2466 2568 2364 0 0 0 0 0 0 11.24 11.26 11.26

14325 -0.60 -133.6 2028 2207 2569 2364 360.3 0.8 412 14326 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2465 2568 2363 0 0 0 0 0 0 11.24 11.26 11.26

14662 -0.60 -133.6 2028 2207 2568 2364 360.1 -0.0 418 14662 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2465 2568 2363 0 0 0 0 0 0 11.24 11.26 11.26

14997 -0.60 -133.6 2028 2207 2569 2364 356.7 1.3 424 14998 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2207 2465 2568 2363 0 0 0 0 0 0 11.24 11.26 11.26

15335 -0.60 -133.6 2028 2207 2569 2364 351.4 1.4 430 15336 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2207 2465 2568 2363 0 0 0 0 0 0 11.24 11.26 11.26

15670 -0.60 -133.7 2028 2207 2569 2364 350.6 0.0 436 15670 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2465 2568 2363 0 0 0 0 0 0 11.24 11.26 11.26

16006 -0.60 -125.9 2028 2207 2568 2364 352.0 -0.4 442 16006 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2465 2568 2363 0 0 0 0 0 0 11.25 11.26 11.26

16343 -0.59 -111.9 2028 2207 2569 2364 354.3 -0.8 448 16344 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2465 2568 2363 0 0 0 0 0 0 11.24 11.26 11.26

16678 -0.58 -103.2 2028 2207 2568 2364 356.5 -0.5 454 16678 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2466 2568 2364 0 0 0 0 0 0 11.25 11.26 11.26

17014 -0.59 -113.6 2028 2207 2568 2364 355.0 0.6 460 17014 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2465 2568 2363 0 0 0 0 0 0 11.24 11.26 11.26

17349 -0.59 -113.6 2028 2206 2568 2364 351.5 1.2 466 17350 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2207 2465 2567 2363 0 0 0 0 0 0 11.25 11.26 11.26

17687 -0.59 -113.6 2028 2207 2568 2364 345.8 1.6 472 17688 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2207 2465 2567 2363 0 0 0 0 0 0 11.24 11.26 11.26

18021 -0.60 -127.3 2028 2207 2568 2364 342.9 0.8 478 18022 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2465 2567 2363 0 0 0 0 0 0 11.25 11.26 11.26

18357 -0.60 -127.3 2028 2207 2568 2364 339.3 1.1 484 18358 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2207 2465 2568 2363 0 0 0 0 0 0 11.24 11.26 11.26

18694 -0.60 -129.6 2028 2207 2569 2364 338.2 0.1 490 18694 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2465 2568 2363 0 0 0 0 0 0 11.25 11.26 11.26

19031 -0.61 -136.9 2027 2207 2568 2364 337.3 0.4 496 19032 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2206 2465 2568 2363 0 0 0 0 0 0 11.24 11.26 11.26

19366 -0.61 -148.8 2028 2207 2569 2364 335.0 0.7 502 19367 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2465 2568 2363 0 0 0 0 0 0 11.24 11.26 11.26

19702 -0.61 -140.4 2028 2207 2569 2364 335.8 -0.5 508 19703 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2465 2567 2363 0 0 0 0 0 0 11.24 11.26 11.26

20039 -0.60 -135.8 2028 2207 2569 2364 337.2 -0.3 514 20040 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2206 2465 2567 2363 0 0 0 0 0 0 11.24 11.26 11.26

20373 -0.61 -142.9 2028 2207 2568 2364 336.1 0.4 520 20374 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2206 2465 2567 2363 0 0 0 0 0 0 11.24 11.26 11.26

20709 -0.61 -142.9 2028 2207 2569 2364 332.9 1.1 526 20710 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2207 2465 2567 2364 0 0 0 0 0 0 11.25 11.26 11.26

21045 -0.61 -142.9 2027 2207 2569 2364 328.5 1.3 532 21046 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2206 2465 2568 2363 0 0 0 0 0 0 11.25 11.29 11.26

21383 -0.61 -152.8 2028 2207 2569 2364 326.2 0.6 538 21384 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2207 2465 2567 2364 0 0 0 0 0 0 11.24 11.26 11.26

21717 -0.62 -159.7 2028 2207 2569 2364 324.9 0.4 544 21718 0.00 0.00 0.00 0.000 38 0.000 0.000 2027 2206 2465 2567 2363 0 0 0 0 0 0 11.24 11.26 11.26

22054 -0.63 -176.2 2028 2207 2568 2364 322.1 0.9 550 22054 0.00 0.00 0.00 0.000 38 0.000 0.000 2028 2207 2465 2567 2363 0 0 0 0 0 0 11.25 11.26 11.26

22329 end loiter: LOITER_COMPLETE

state 22329 begin climb

22333 0.81 97.3 2028 2207 2568 2364 320.0 0.0 555 22445 2.12 3.47 95.15 1.188 10500 0.198 0.074 2453 3609 2189 2309 2070 0 0 0 0 0 0 10.97 10.95 10.47

22471 0.78 119.6 2454 3610 2301 2069 314.5 7.1 567 22506 0.00 3.25 30.05 1.149 9382 0.000 0.044 2462 2207 2111 2237 1985 0 0 0 0 0 0 11.07 11.02 10.47

22842 0.78 119.6 2463 2207 2204 1972 280.6 9.5 578 22847 0.00 3.42 0.00 0.000 516 0.000 0.060 2472 792 2087 2203 1971 0 0 0 0 0 0 11.21 11.02 11.22

22940 0.78 119.6 2473 793 2201 1971 270.8 9.3 592 22945 0.00 3.38 0.00 0.000 1030 0.000 0.050 2472 2203 2086 2201 1971 0 0 0 0 0 0 11.09 11.03 11.11

23295 0.78 119.6 2473 2204 2200 1971 238.3 9.2 600 23300 0.00 3.40 0.00 0.000 260 0.000 0.076 2472 3611 2084 2199 1970 0 0 0 0 0 0 11.22 11.01 11.23

23356 0.71 119.6 2473 3611 2199 1971 232.3 10.3 608 23361 0.28 3.28 0.00 0.000 5254 0.228 0.044 2434 2197 2084 2198 1970 0 0 0 0 0 0 10.93 11.05 11.09

23695 0.72 133.6 2435 2198 2198 1971 206.2 7.5 621 23716 0.00 3.40 14.02 1.034 8740 0.000 0.061 2444 788 2050 2168 1932 0 0 0 0 0 0 11.22 10.99 10.53

23751 0.73 146.7 2444 788 2158 1930 201.8 7.6 629 23780 0.00 3.40 19.35 1.034 9254 0.000 0.050 2443 2208 1994 2115 1873 0 0 0 0 0 0 11.09 11.02 10.53

24145 0.73 146.7 2444 2208 2096 1867 166.5 9.2 643 24150 0.00 3.38 0.00 0.000 260 0.000 0.073 2444 3615 1980 2095 1866 0 0 0 0 0 0 11.21 11.02 11.23

24234 0.73 146.7 2444 3616 2095 1867 157.0 9.5 656 24239 0.00 3.28 0.00 0.000 1030 0.000 0.044 2453 2190 1980 2094 1867 0 0 0 0 0 0 11.10 11.03 11.12

24598 0.73 147.4 2453 2191 2093 1867 126.6 8.3 665 24604 0.00 3.38 0.00 0.000 548 0.000 0.059 2462 780 1979 2092 1866 0 0 0 0 0 0 11.22 11.02 11.24

24674 0.74 160.5 2462 781 2092 1866 120.2 7.6 676 24687 0.00 3.40 7.65 0.278 9254 0.000 0.047 2462 2210 1950 2060 1840 0 0 0 0 0 0 11.10 11.03 10.78

25022 0.74 160.5 2462 2210 2069 1857 91.4 8.5 688 25033 0.00 3.35 3.95 0.144 8452 0.000 0.071 2462 3614 1946 2054 1839 0 0 0 0 0 0 11.22 11.02 10.95

25179 0.75 179.8 2463 3614 2058 1860 79.5 7.2 710 25209 0.00 3.28 24.27 0.333 9254 0.000 0.041 2471 2190 1869 1985 1753 0 0 0 0 0 0 11.11 11.05 10.83

25533 0.87 264.2 2471 2191 1989 1777 63.0 3.5 727 25629 0.00 3.47 89.68 0.308 9124 0.000 0.067 2471 3616 1524 1625 1423 0 0 0 0 0 0 11.21 10.98 10.83

25771 1.06 346.2 2471 3617 1626 1442 53.0 3.6 762 25867 0.22 3.35 86.12 0.275 11430 0.059 0.041 2543 2188 1191 1263 1119 0 0 0 0 0 0 11.02 11.02 10.84

26176 1.19 394.9 2542 2188 1269 1125 26.9 5.5 786 26233 0.12 3.35 48.70 0.188 10916 0.108 0.057 2585 790 987 1062 913 0 0 0 0 0 0 11.06 11.00 10.90

26353 1.28 394.9 2586 790 1070 917 11.9 9.2 810 26358 0.00 3.30 0.00 0.000 1158 0.000 0.046 2585 2188 993 1069 917 0 0 0 0 0 0 11.09 11.02 11.10

26436 end climb: SURFACE_DEPTH_REACHED

state 26436 begin surface coast

26464 end surface coast: CONTROL_FINISHED_OK

state 26464 begin surface

ID	190	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	17	XPDR_INHIBIT	90
MISSION	9	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	50	INT_PRESSURE_SLOPE	0.0097660003
DIVE	774	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	1.0
MAX_BUOY	100	PITCH_GAIN	26	AD7714Ch0Gain	1	SC_XMITPROFILE	1.0
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	26	XPDR_VALID	6

GPS1	080417,005034,1001.4421,-12529.7344,36,0.7,37,9.2,0.7,3.3,11,7.5	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	0.80	MHEAD_RNG_PITCHd_Wd	112.5,66500,-19.5,-8.333,-22.22,1796
_SM_ANGLEo	-63.7	D_GRID	450
GPS2	080417,010017,1001.5437,-12529.8115,13,0.7,15,9.2,0.6,357.1,11,7.8

FINISH	-0.0,1.022100	_10V_AH	10.11,0.000
SM_CCo	26487,91.12,0.119,0,0,560,500.17	FG_AHR_24Vo	0.000
SM_GC	0.79,9.25,0.22,91.12,0.069,0.051,0.119,221,2308,560,-6.14,-0.25,500.17,0,0,0,0,0,0,11.03,11.08,10.96	FG_AHR_10Vo	0.000
IRIDIUM_FIX	958.26,-12528.95,080417,005259	MEM	334220
TT8_MAMPS	0.045689,0.291361	DATA_FILE_SIZE	36716,817
HUMID	58.58	CAP_FILE_SIZE	139773,0
INTERNAL_PRESSURE	9.10191	CFSIZE	260034560,168701952
TCM_TEMP	20.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	30	CURRENT	0.099,314.28,1
_24V_AH	10.38,290.499	GPS	080417,082451,1002.242,-12530.287,37,0.9,38,9.2,0.0,3.1,10,7.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	404	124.23	SciConCT	3346	25	868.39
Roll_motor	127	1604	2122.43	nil	0	0	0.00
VBD_pump_during_apogee	586	1309	7978.94	nil	0	0	0.00
VBD_pump_during_surface	91	118	112.16	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	384	176	705.52	PMAR	0	0	0.00
Transponder_ping	7	420	32.70	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	22	3.74
TT8	0	0	0.00
LPSleep	21121	2	467.66
TT8_Active	759	10	82.71
TT8_Sampling	4668	28	1356.90
TT8_CF8	600	35	215.41
TT8_Kalman	0	0	0.00
Analog_circuits	1952	11	230.90
GPS_charging	0	0	0.00
Compass	3913	0	29.68
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
3	end surface: CONTROL_FINISHED_OK
state	3	begin dive
7	-0.81	-97.3	197	2302	599	533	0.0	0.0	0	98	0.00	0.00	-89.72	0.000	16386	0.000	0.000	195	2303	2826	2838	2815	0	0	0	0	0	0	11.19	28.83	11.21
104	-0.81	-97.3	195	2304	2840	2816	3.0	-3.5	3	129	15.40	3.65	-2.88	0.000	18948	0.405	1.605	1929	870	2999	3043	2956	0	0	0	0	0	0	10.81	10.38	10.98
200	-0.59	-97.3	1930	870	3050	2952	39.4	-27.9	17	206	0.52	3.35	0.00	0.000	3206	0.274	0.050	2003	2283	3000	3050	2951	0	0	0	0	0	0	10.89	11.02	11.05
529	-0.53	-97.3	2004	2284	3054	2950	85.7	-9.2	30	534	0.00	3.33	0.00	0.000	388	0.000	0.067	1994	3703	3001	3053	2949	0	0	0	0	0	0	11.21	11.02	11.23
645	-0.48	-97.3	1994	3704	3055	2950	96.1	-8.7	46	651	0.25	3.20	0.00	0.000	3206	0.206	0.031	2039	2260	3001	3054	2949	0	0	0	0	0	0	10.94	11.06	11.07
985	-0.48	-97.3	2040	2261	3057	2949	121.7	-7.6	56	990	0.00	3.20	0.00	0.000	548	0.000	0.044	2039	878	3003	3057	2949	0	0	0	0	0	0	11.23	11.05	11.24
1033	-0.48	-97.3	2040	878	3057	2949	125.5	-7.4	63	1044	0.00	3.38	0.00	0.000	1062	0.000	0.049	2039	2288	3002	3057	2948	0	0	0	0	0	0	11.06	11.02	11.09
1380	-0.48	-97.3	2040	2289	3057	2947	152.3	-8.0	70	1385	0.00	3.30	0.00	0.000	548	0.000	0.043	2039	884	3002	3057	2947	0	0	0	0	0	0	11.22	11.05	11.24
1406	-0.53	-97.3	2040	884	3058	2947	154.9	-8.5	74	1411	0.00	3.33	0.00	0.000	1158	0.000	0.049	2039	2288	3001	3057	2946	0	0	0	0	0	0	11.11	11.04	11.12
1777	-0.58	-97.3	2039	2289	3058	2944	185.2	-8.2	84	1782	0.00	3.35	0.00	0.000	420	0.000	0.073	2039	3700	3000	3057	2944	0	0	0	0	0	0	11.22	11.03	11.24
1817	-0.66	-97.3	2039	3700	3058	2944	188.9	-8.2	90	1822	0.20	3.15	0.00	0.000	5286	0.083	0.033	1974	2285	3000	3057	2944	0	0	0	0	0	0	11.07	11.07	11.12
2174	-0.66	-97.3	1974	2286	3058	2939	226.6	-10.8	98	2179	0.00	3.28	0.00	0.000	516	0.000	0.047	1974	876	2997	3056	2938	0	0	0	0	0	0	11.22	11.05	11.24
2263	-0.66	-97.3	1974	876	3058	2938	236.8	-10.2	111	2268	0.00	3.38	0.00	0.000	1030	0.000	0.051	1972	2292	2997	3057	2937	0	0	0	0	0	0	11.11	11.05	11.13
2626	-0.66	-97.3	1973	2293	3057	2933	274.3	-10.5	120	2631	0.00	3.35	0.00	0.000	260	0.000	0.076	1971	3702	2995	3057	2933	0	0	0	0	0	0	11.24	11.03	11.24
2651	-0.66	-97.3	1972	3702	3057	2933	277.6	-10.6	124	2657	0.00	3.20	0.00	0.000	1030	0.000	0.035	1971	2272	2994	3056	2932	0	0	0	0	0	0	11.12	11.07	11.13
3022	-0.66	-97.3	1971	2273	3057	2928	316.9	-10.9	134	3027	0.00	3.28	0.00	0.000	516	0.000	0.049	1971	875	2991	3056	2927	0	0	0	0	0	0	11.24	11.05	11.24
3127	-0.66	-97.3	1972	875	3057	2927	329.6	-11.1	149	3139	0.00	3.42	0.00	0.000	1030	0.000	0.053	1972	2281	2991	3056	2926	0	0	0	0	0	0	11.07	11.02	11.10
3476	-0.66	-97.3	1972	2281	3054	2925	369.0	-11.7	156	3482	0.00	3.38	0.00	0.000	260	0.000	0.074	1970	3698	2990	3055	2925	0	0	0	0	0	0	11.24	11.04	11.25
3516	-0.66	-97.3	1970	3698	3055	2925	374.4	-12.0	162	3522	0.00	3.22	0.00	0.000	1030	0.000	0.035	1970	2268	2989	3054	2925	0	0	0	0	0	0	11.12	11.07	11.14
3872	-0.66	-97.3	1970	2269	3054	2922	414.5	-11.4	170	3877	0.00	3.28	0.00	0.000	516	0.000	0.050	1970	871	2987	3053	2921	0	0	0	0	0	0	11.24	11.05	11.25
3998	-0.66	-97.3	1970	871	3053	2921	428.7	-10.2	188	4003	0.00	3.38	0.00	0.000	1030	0.000	0.051	1964	2282	2986	3052	2920	0	0	0	0	0	0	11.14	11.05	11.13
4208	end dive: TARGET_DEPTH_EXCEEDED
state	4208	begin apogee
4217	-0.19	0.0	1965	2189	3053	2919	450.8	-10.6	197	4350	0.85	0.08	130.02	1.310	10244	0.206	0.125	2130	2207	2599	2706	2493	0	0	0	0	0	0	10.95	10.94	10.48
4351	end apogee: CONTROL_FINISHED_OK
state	4351	begin loiter
4583	-0.19	8.1	2131	2207	2686	2480	458.1	-0.5	232	4588	0.00	0.00	3.53	0.808	9254	0.000	0.000	2130	2207	2566	2672	2460	0	0	0	0	0	0	11.21	11.21	10.43
4918	-0.35	14.0	2131	2207	2673	2467	459.2	-0.3	244	4935	0.17	0.00	15.20	1.270	12454	0.086	0.000	2078	2207	2544	2650	2438	0	0	0	0	0	0	11.05	11.00	10.53
5255	-0.42	26.4	2078	2207	2636	2428	461.4	-0.7	250	5275	0.00	0.00	19.23	1.301	8358	0.000	0.000	2078	2207	2493	2603	2383	0	0	0	0	0	0	11.21	10.99	10.47
5590	-0.52	9.7	2078	2207	2586	2370	459.1	1.0	256	5591	0.17	0.00	0.00	0.000	4262	0.090	0.000	2028	2207	2477	2586	2369	0	0	0	0	0	0	11.05	11.12	11.10
5926	-0.53	-4.4	2028	2207	2584	2370	456.5	0.8	262	5926	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2476	2583	2369	0	0	0	0	0	0	11.22	11.24	11.24
6263	-0.53	-4.4	2028	2207	2582	2370	452.4	1.3	268	6264	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2207	2475	2582	2369	0	0	0	0	0	0	11.20	11.24	11.24
6597	-0.53	-4.4	2028	2207	2579	2370	444.7	2.4	274	6598	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2207	2474	2579	2369	0	0	0	0	0	0	11.23	11.24	11.24
6933	-0.53	-4.4	2028	2207	2578	2369	434.9	3.0	280	6934	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2207	2473	2577	2369	0	0	0	0	0	0	11.23	11.24	11.24
7269	-0.53	-4.4	2028	2207	2578	2369	425.7	2.7	286	7270	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2207	2472	2577	2368	0	0	0	0	0	0	11.23	11.24	11.24
7609	-0.53	-4.4	2028	2207	2577	2368	419.3	1.8	292	7610	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2206	2472	2576	2368	0	0	0	0	0	0	11.23	11.24	11.24
7942	-0.53	-17.3	2028	2207	2576	2366	416.2	0.7	298	7943	0.00	0.00	0.00	0.000	38	0.000	0.000	2028	2207	2470	2575	2366	0	0	0	0	0	0	11.23	11.25	11.24
8278	-0.54	-25.4	2028	2207	2575	2367	414.7	0.5	304	8279	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2470	2574	2366	0	0	0	0	0	0	11.24	11.25	11.25
8614	-0.55	-38.3	2028	2207	2575	2365	412.3	0.7	310	8615	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2469	2574	2365	0	0	0	0	0	0	11.24	11.25	11.25
8951	-0.55	-38.3	2028	2207	2573	2365	408.7	1.2	316	8952	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2207	2468	2572	2365	0	0	0	0	0	0	11.24	11.25	11.24
9285	-0.55	-38.3	2028	2207	2572	2365	403.4	1.7	322	9286	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2207	2468	2572	2365	0	0	0	0	0	0	11.24	11.25	11.25
9621	-0.55	-38.3	2028	2208	2572	2364	399.2	1.1	328	9622	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2207	2467	2571	2363	0	0	0	0	0	0	11.24	11.26	11.25
9958	-0.55	-51.7	2027	2207	2572	2364	396.6	0.8	334	9958	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2467	2571	2363	0	0	0	0	0	0	11.24	11.26	11.25
10295	-0.55	-51.7	2028	2207	2571	2364	392.6	1.3	340	10296	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2206	2466	2570	2363	0	0	0	0	0	0	11.24	11.25	11.25
10629	-0.56	-65.0	2028	2207	2570	2364	389.7	0.8	346	10630	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2466	2570	2363	0	0	0	0	0	0	11.24	11.25	11.25
10966	-0.56	-70.1	2028	2207	2571	2364	388.7	0.3	352	10966	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2206	2466	2570	2363	0	0	0	0	0	0	11.24	11.26	11.25
11303	-0.57	-83.5	2028	2207	2570	2364	386.6	0.8	358	11304	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2466	2569	2363	0	0	0	0	0	0	11.27	11.25	11.25
11637	-0.58	-97.9	2028	2207	2569	2364	383.8	0.8	364	11638	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2466	2569	2363	0	0	0	0	0	0	11.24	11.26	11.26
11974	-0.59	-103.9	2028	2207	2570	2364	382.4	0.3	370	11974	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2466	2569	2363	0	0	0	0	0	0	11.24	11.26	11.26
12309	-0.59	-103.9	2027	2207	2569	2364	379.3	1.1	376	12310	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2207	2466	2569	2363	0	0	0	0	0	0	11.24	11.26	11.26
12647	-0.59	-103.9	2028	2206	2569	2364	374.7	1.3	382	12648	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2207	2466	2569	2363	0	0	0	0	0	0	11.24	11.26	11.25
12981	-0.59	-103.9	2027	2207	2569	2364	370.6	1.2	388	12982	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2206	2466	2569	2363	0	0	0	0	0	0	11.24	11.26	11.26
13318	-0.59	-116.6	2028	2207	2569	2364	367.8	0.7	394	13318	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2206	2465	2568	2363	0	0	0	0	0	0	11.24	11.26	11.26
13653	-0.59	-118.9	2027	2207	2570	2364	367.2	0.1	400	13654	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2466	2568	2364	0	0	0	0	0	0	11.24	11.26	11.26
13991	-0.59	-118.9	2028	2207	2569	2364	363.8	1.2	406	13992	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2207	2466	2568	2364	0	0	0	0	0	0	11.24	11.26	11.26
14325	-0.60	-133.6	2028	2207	2569	2364	360.3	0.8	412	14326	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2465	2568	2363	0	0	0	0	0	0	11.24	11.26	11.26
14662	-0.60	-133.6	2028	2207	2568	2364	360.1	-0.0	418	14662	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2465	2568	2363	0	0	0	0	0	0	11.24	11.26	11.26
14997	-0.60	-133.6	2028	2207	2569	2364	356.7	1.3	424	14998	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2207	2465	2568	2363	0	0	0	0	0	0	11.24	11.26	11.26
15335	-0.60	-133.6	2028	2207	2569	2364	351.4	1.4	430	15336	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2207	2465	2568	2363	0	0	0	0	0	0	11.24	11.26	11.26
15670	-0.60	-133.7	2028	2207	2569	2364	350.6	0.0	436	15670	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2465	2568	2363	0	0	0	0	0	0	11.24	11.26	11.26
16006	-0.60	-125.9	2028	2207	2568	2364	352.0	-0.4	442	16006	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2465	2568	2363	0	0	0	0	0	0	11.25	11.26	11.26
16343	-0.59	-111.9	2028	2207	2569	2364	354.3	-0.8	448	16344	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2465	2568	2363	0	0	0	0	0	0	11.24	11.26	11.26
16678	-0.58	-103.2	2028	2207	2568	2364	356.5	-0.5	454	16678	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2466	2568	2364	0	0	0	0	0	0	11.25	11.26	11.26
17014	-0.59	-113.6	2028	2207	2568	2364	355.0	0.6	460	17014	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2465	2568	2363	0	0	0	0	0	0	11.24	11.26	11.26
17349	-0.59	-113.6	2028	2206	2568	2364	351.5	1.2	466	17350	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2207	2465	2567	2363	0	0	0	0	0	0	11.25	11.26	11.26
17687	-0.59	-113.6	2028	2207	2568	2364	345.8	1.6	472	17688	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2207	2465	2567	2363	0	0	0	0	0	0	11.24	11.26	11.26
18021	-0.60	-127.3	2028	2207	2568	2364	342.9	0.8	478	18022	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2465	2567	2363	0	0	0	0	0	0	11.25	11.26	11.26
18357	-0.60	-127.3	2028	2207	2568	2364	339.3	1.1	484	18358	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2207	2465	2568	2363	0	0	0	0	0	0	11.24	11.26	11.26
18694	-0.60	-129.6	2028	2207	2569	2364	338.2	0.1	490	18694	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2465	2568	2363	0	0	0	0	0	0	11.25	11.26	11.26
19031	-0.61	-136.9	2027	2207	2568	2364	337.3	0.4	496	19032	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2206	2465	2568	2363	0	0	0	0	0	0	11.24	11.26	11.26
19366	-0.61	-148.8	2028	2207	2569	2364	335.0	0.7	502	19367	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2465	2568	2363	0	0	0	0	0	0	11.24	11.26	11.26
19702	-0.61	-140.4	2028	2207	2569	2364	335.8	-0.5	508	19703	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2465	2567	2363	0	0	0	0	0	0	11.24	11.26	11.26
20039	-0.60	-135.8	2028	2207	2569	2364	337.2	-0.3	514	20040	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2206	2465	2567	2363	0	0	0	0	0	0	11.24	11.26	11.26
20373	-0.61	-142.9	2028	2207	2568	2364	336.1	0.4	520	20374	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2206	2465	2567	2363	0	0	0	0	0	0	11.24	11.26	11.26
20709	-0.61	-142.9	2028	2207	2569	2364	332.9	1.1	526	20710	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2207	2465	2567	2364	0	0	0	0	0	0	11.25	11.26	11.26
21045	-0.61	-142.9	2027	2207	2569	2364	328.5	1.3	532	21046	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2206	2465	2568	2363	0	0	0	0	0	0	11.25	11.29	11.26
21383	-0.61	-152.8	2028	2207	2569	2364	326.2	0.6	538	21384	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2207	2465	2567	2364	0	0	0	0	0	0	11.24	11.26	11.26
21717	-0.62	-159.7	2028	2207	2569	2364	324.9	0.4	544	21718	0.00	0.00	0.00	0.000	38	0.000	0.000	2027	2206	2465	2567	2363	0	0	0	0	0	0	11.24	11.26	11.26
22054	-0.63	-176.2	2028	2207	2568	2364	322.1	0.9	550	22054	0.00	0.00	0.00	0.000	38	0.000	0.000	2028	2207	2465	2567	2363	0	0	0	0	0	0	11.25	11.26	11.26
22329	end loiter: LOITER_COMPLETE
state	22329	begin climb
22333	0.81	97.3	2028	2207	2568	2364	320.0	0.0	555	22445	2.12	3.47	95.15	1.188	10500	0.198	0.074	2453	3609	2189	2309	2070	0	0	0	0	0	0	10.97	10.95	10.47
22471	0.78	119.6	2454	3610	2301	2069	314.5	7.1	567	22506	0.00	3.25	30.05	1.149	9382	0.000	0.044	2462	2207	2111	2237	1985	0	0	0	0	0	0	11.07	11.02	10.47
22842	0.78	119.6	2463	2207	2204	1972	280.6	9.5	578	22847	0.00	3.42	0.00	0.000	516	0.000	0.060	2472	792	2087	2203	1971	0	0	0	0	0	0	11.21	11.02	11.22
22940	0.78	119.6	2473	793	2201	1971	270.8	9.3	592	22945	0.00	3.38	0.00	0.000	1030	0.000	0.050	2472	2203	2086	2201	1971	0	0	0	0	0	0	11.09	11.03	11.11
23295	0.78	119.6	2473	2204	2200	1971	238.3	9.2	600	23300	0.00	3.40	0.00	0.000	260	0.000	0.076	2472	3611	2084	2199	1970	0	0	0	0	0	0	11.22	11.01	11.23
23356	0.71	119.6	2473	3611	2199	1971	232.3	10.3	608	23361	0.28	3.28	0.00	0.000	5254	0.228	0.044	2434	2197	2084	2198	1970	0	0	0	0	0	0	10.93	11.05	11.09
23695	0.72	133.6	2435	2198	2198	1971	206.2	7.5	621	23716	0.00	3.40	14.02	1.034	8740	0.000	0.061	2444	788	2050	2168	1932	0	0	0	0	0	0	11.22	10.99	10.53
23751	0.73	146.7	2444	788	2158	1930	201.8	7.6	629	23780	0.00	3.40	19.35	1.034	9254	0.000	0.050	2443	2208	1994	2115	1873	0	0	0	0	0	0	11.09	11.02	10.53
24145	0.73	146.7	2444	2208	2096	1867	166.5	9.2	643	24150	0.00	3.38	0.00	0.000	260	0.000	0.073	2444	3615	1980	2095	1866	0	0	0	0	0	0	11.21	11.02	11.23
24234	0.73	146.7	2444	3616	2095	1867	157.0	9.5	656	24239	0.00	3.28	0.00	0.000	1030	0.000	0.044	2453	2190	1980	2094	1867	0	0	0	0	0	0	11.10	11.03	11.12
24598	0.73	147.4	2453	2191	2093	1867	126.6	8.3	665	24604	0.00	3.38	0.00	0.000	548	0.000	0.059	2462	780	1979	2092	1866	0	0	0	0	0	0	11.22	11.02	11.24
24674	0.74	160.5	2462	781	2092	1866	120.2	7.6	676	24687	0.00	3.40	7.65	0.278	9254	0.000	0.047	2462	2210	1950	2060	1840	0	0	0	0	0	0	11.10	11.03	10.78
25022	0.74	160.5	2462	2210	2069	1857	91.4	8.5	688	25033	0.00	3.35	3.95	0.144	8452	0.000	0.071	2462	3614	1946	2054	1839	0	0	0	0	0	0	11.22	11.02	10.95
25179	0.75	179.8	2463	3614	2058	1860	79.5	7.2	710	25209	0.00	3.28	24.27	0.333	9254	0.000	0.041	2471	2190	1869	1985	1753	0	0	0	0	0	0	11.11	11.05	10.83
25533	0.87	264.2	2471	2191	1989	1777	63.0	3.5	727	25629	0.00	3.47	89.68	0.308	9124	0.000	0.067	2471	3616	1524	1625	1423	0	0	0	0	0	0	11.21	10.98	10.83
25771	1.06	346.2	2471	3617	1626	1442	53.0	3.6	762	25867	0.22	3.35	86.12	0.275	11430	0.059	0.041	2543	2188	1191	1263	1119	0	0	0	0	0	0	11.02	11.02	10.84
26176	1.19	394.9	2542	2188	1269	1125	26.9	5.5	786	26233	0.12	3.35	48.70	0.188	10916	0.108	0.057	2585	790	987	1062	913	0	0	0	0	0	0	11.06	11.00	10.90
26353	1.28	394.9	2586	790	1070	917	11.9	9.2	810	26358	0.00	3.30	0.00	0.000	1158	0.000	0.046	2585	2188	993	1069	917	0	0	0	0	0	0	11.09	11.02	11.10
26436	end climb: SURFACE_DEPTH_REACHED
state	26436	begin surface coast
26464	end surface coast: CONTROL_FINISHED_OK
state	26464	begin surface