Glider dive log

SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 857 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 220 ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 14 XPDR_INHIBIT 90

MISSION 6 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 100 INT_PRESSURE_SLOPE 0.0097660003

DIVE 857 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 0.050000001 MOTHERBOARD 4

D_SURF 2 SM_CC 500 VBD_MIN 500 DEVICE1 -1

D_FLARE 3 N_FILEKB 8 VBD_MAX 3960 DEVICE2 -1

D_TGT 450 FILEMGR 0 C_VBD 2800 DEVICE3 -1

D_ABORT 1020 CALL_NDIVES 1 VBD_DBAND 2 DEVICE4 -1

D_NO_BLEED 50 COMM_SEQ 0 VBD_CNV -0.25119999 DEVICE5 -1

D_BOOST 120 PROTOCOL 0 VBD_LP_IGNORE 0 DEVICE6 -1

T_BOOST 5 N_NOCOMM 2 VBD_TIMEOUT 720 LOGGERS 1

D_FINISH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0012300001 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 60 COMPASS_DEVICE 97

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 COMPASS2_DEVICE 150

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 PHONE_DEVICE 48

T_DIVE 180 HEAPDBG 0 DBDW 0 GPS_DEVICE 64

T_MISSION 540 T_GPS 10 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 3 CF8_MAXERRORS 2 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 0.0044037569

T_LOITER 18000 RAFOS_CORR_THRESH 60 MINV_24V 9.6999998 SEABIRD_T_H 0.00063615869

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_10V 9.6999998 SEABIRD_T_I 2.4815216e-05

USE_BATHY 0 PITCH_MIN 190 MAXI_24V 0.60000002 SEABIRD_T_J 2.9729028e-06

USE_ICE 0 PITCH_MAX 3888 MAXI_10V 1 SEABIRD_C_G -9.8086529

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2900 FG_AHR_10V 0 SEABIRD_C_H 1.075657

D_OFFGRID 1000 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_C_I -0.0023452051

T_WATCHDOG 10 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_C_J 0.00023101401

RELAUNCH 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -168.7365 SC_RECORDABOVE 2000.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0.079999998 PRESSURE_SLOPE 0.0001077811 SC_PROFILE 3.0

MAX_BUOY 100 PITCH_GAIN 22 AD7714Ch0Gain 1 SC_XMITPROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 30 TCM_PITCH_OFFSET 0 PM_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_AD_RATE 100 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 0.025 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITRAW 0.0

MASS 54354 PITCH_ADJ_DBAND 3 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 0.0

MASS_COMP 0 ROLL_MIN 265 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 0.0

NAV_MODE 2 ROLL_MAX 3829 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 1.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1 TM_RECORDABOVE 250.0

KALMAN_USE 2 C_ROLL_DIVE 2765 ALTIM_PING_DEPTH 0 TM_PROFILE 1.0

HD_A 0.0024999999 C_ROLL_CLIMB 2250 ALTIM_PING_DELTA 5 TM_XMITPROFILE 3.0

HD_B 0.014 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13 TM_LOGSAMPLE 0.0

HD_C 1.6e-05 ROLL_CNV 0.028270001 ALTIM_PULSE 3 TM_XMITRAW 0.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

ESCAPE_HEADING 0 R_PORT_OVSHOOT 34 XPDR_VALID 2

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_MAX 3888 SM_CC 500

AH0_10V 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SPEED_FACTOR 1

AH0_24V 350 FERRY_MAX 45 PITCH_MIN 190 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 0.0012300001 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 FILEMGR 0 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 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 64 PM_NDIVE 0.0 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 HD_A 0.0024999999 PM_PROFILE 3.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 HD_B 0.014 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 HD_C 1.6e-05 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 0.0001077811 TM_RECORDABOVE 250.0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -168.7365 TM_XMITPROFILE 3.0

CALL_WAIT 60 ID 220 PROTOCOL 0 TM_XMITRAW 0.0

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_ABORT 1440

CAPUPLOAD 0 INT_PRESSURE_YINT 0 P_OVSHOOT_WITHG 0.079999998 T_BOOST 5

CF8_MAXERRORS 2 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 10

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 1 RHO 1.0275 T_NO_W 120

C_PITCH 2900 MASS 54354 ROLL_ADJ_DBAND 0.050000001 T_RSLEEP 3

C_ROLL_CLIMB 2250 MASS_COMP 0 ROLL_ADJ_GAIN 0.5 T_TURN 225

C_ROLL_DIVE 2765 MAXI_10V 1 ROLL_AD_RATE 100 T_TURN_SAMPINT -7

C_VBD 2800 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 T_WATCHDOG 10

DBDW 0 MAX_BUOY 100 ROLL_DEG 40 UNCOM_BLEED 60

DEEPGLIDER 0 MINV_10V 9.6999998 ROLL_MAX 3829 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MINV_24V 9.6999998 ROLL_MAXERRORS 1 USE_BATHY 0

DEVICE2 -1 MISSION 6 ROLL_MIN 265 USE_ICE 0

DEVICE3 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE4 -1 NAV_MODE 2 R_PORT_OVSHOOT 34 VBD_CNV -0.25119999

DEVICE5 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 14 VBD_DBAND 2

DEVICE6 -1 N_DIVES 0 SC_PROFILE 3.0 VBD_LP_IGNORE 0

DIVE 857 N_FILEKB 8 SC_RECORDABOVE 2000.0 VBD_MAX 3960

D_ABORT 1020 N_GPS 100440 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

D_BOOST 120 N_NOCOMM 2 SEABIRD_C_G -9.8086529 VBD_MIN 500

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_H 1.075657 VBD_PUMP_AD_RATE_APOGEE 1

D_FINISH 0 PHONE_DEVICE 48 SEABIRD_C_I -0.0023452051 VBD_PUMP_AD_RATE_SURFACE 1

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_C_J 0.00023101401 VBD_TIMEOUT 720

D_NO_BLEED 50 PITCH_ADJ_DBAND 3 SEABIRD_T_G 0.0044037569 W_ADJ_DBAND 0

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.025 SEABIRD_T_H 0.00063615869 XPDR_DEVICE 24

D_PITCH 0 PITCH_AD_RATE 100 SEABIRD_T_I 2.4815216e-05 XPDR_INHIBIT 90

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_J 2.9729028e-06 XPDR_VALID 2

D_SURF 2 PITCH_DBAND 0.1 SIM_PITCH 0

D_TGT 450 PITCH_GAIN 22 SIM_W 0

Pre-dive calculations and measurements:

GPS1 290317,123300,1007.3478,-12509.9072,24,1.0,24,9.0,0.8,271.0,8,4.2 SPEED_LIMITS 0.144,0.169

_CALLS 2 TGT_NAME E

_XMS_NAKs 4 TGT_LATLONG 1000.000,-12440.610

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo -4.91 MHEAD_RNG_PITCHd_Wd 118.7,55473,-20.3,-8.333,-26.24,1745

_SM_ANGLEo -67.7 D_GRID 450

GPS2 290317,124656,1007.4377,-12510.0732,2,0.8,3,9.0,1.0,315.1,9,4.8

Post-dive calculations and measurements:

FINISH -4.3,1.021894 _10V_AH 10.26,0.000

SM_CCo 26885,71.65,0.132,0,0,809,500.14 FG_AHR_24Vo 0.000

SM_GC -3.30,12.07,1.30,71.65,0.038,0.087,0.132,192,2769,809,-8.41,-0.28,500.14,0,0,0,0,0,0,11.07,11.00,10.98 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1002.64,-12510.11,290317,123802 MEM 334736

TT8_MAMPS 0.045689,0.252413 DATA_FILE_SIZE 30110,781

HUMID 58.15 CAP_FILE_SIZE 139532,0

INTERNAL_PRESSURE 9.31676 CFSIZE 1024409600,882016256

TCM_TEMP 22.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 3 CURRENT 0.053,302.24,1

SC_FREEKB 3581120 GPS 290317,201730,1007.536,-12510.234,19,1.4,19,9.0,0.4,209.5,5,9.8

_24V_AH 9.45,285.272

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 36 376 129.47 nil 0 0 0.00

Roll_motor 104 125 123.69 nil 0 0 0.00

VBD_pump_during_apogee 474 1512 6779.16 nil 0 0 0.00

VBD_pump_during_surface 71 131 89.09 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 8880 4 355.47

Iridium_during_xfer 474 194 871.34 PMAR 0 0 0.00

Transponder_ping 0 420 2.98 TMICL 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 9 0.52

TT8 0 0 0.00

LPSleep 24316 2 546.37

TT8_Active 706 8 64.26

TT8_Sampling 2035 28 592.18

TT8_CF8 712 39 289.44

TT8_Kalman 0 0 0.00

Analog_circuits 1846 12 229.27

GPS_charging 0 0 0.00

Compass 1117 7 85.84

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

14 -1.04 -97.3 107 2788 851 775 0.0 0.0 0 99 0.00 0.00 -83.47 0.000 16390 0.000 0.000 105 2789 3189 3177 3201 0 0 0 0 0 0 11.21 10.45 11.21

104 -1.04 -97.3 106 2790 3178 3202 -1.4 -6.2 3 132 18.83 3.38 0.00 0.000 2564 0.376 0.034 2553 1356 3191 3181 3202 0 0 0 0 0 0 10.86 11.02 11.05

191 -0.80 -97.3 2554 1358 3184 3202 24.3 -20.2 16 196 0.52 3.55 0.00 0.000 3206 0.256 0.080 2637 2764 3191 3182 3201 0 0 0 0 0 0 10.91 11.00 11.07

513 -0.80 -97.3 2637 2765 3185 3201 57.4 -9.2 29 519 0.00 3.30 0.00 0.000 516 0.000 0.036 2636 1360 3192 3184 3200 0 0 0 0 0 0 11.23 11.05 11.24

632 -0.80 -97.3 2637 1360 3185 3201 66.3 -6.9 46 637 0.00 3.45 0.00 0.000 1062 0.000 0.071 2626 2755 3193 3185 3201 0 0 0 0 0 0 11.11 11.01 11.12

961 -0.80 -97.3 2627 2756 3186 3200 85.8 -5.8 60 966 0.00 2.72 0.00 0.000 292 0.000 0.123 2618 3825 3193 3185 3201 0 0 0 0 0 0 11.24 11.00 11.24

1052 -0.80 -97.3 2619 3826 3186 3200 90.9 -5.3 73 1058 0.00 2.40 0.00 0.000 1062 0.000 0.041 2618 2738 3193 3185 3201 0 0 0 0 0 0 11.12 11.09 11.13

1381 -0.80 -97.3 2618 2739 3185 3199 113.7 -7.2 84 1386 0.00 2.83 0.00 0.000 292 0.000 0.122 2610 3831 3191 3185 3198 0 0 0 0 0 0 11.24 11.00 11.24

1430 -0.80 -97.3 2606 3831 3184 3200 117.0 -7.3 91 1436 0.10 2.40 0.00 0.000 3110 0.220 0.041 2632 2741 3191 3184 3199 0 0 0 0 0 0 10.97 11.11 11.10

1773 -0.80 -97.3 2634 2742 3185 3196 137.5 -6.0 98 1778 0.00 2.83 0.00 0.000 292 0.000 0.121 2625 3833 3189 3184 3195 0 0 0 0 0 0 11.24 10.99 11.24

1808 -0.80 -97.3 2625 3834 3186 3194 140.2 -7.6 103 1813 0.00 2.40 0.00 0.000 1062 0.000 0.039 2624 2740 3188 3182 3195 0 0 0 0 0 0 11.14 11.11 11.15

2165 -0.80 -97.3 2625 2740 3191 3192 161.5 -5.0 112 2170 0.00 3.20 0.00 0.000 548 0.000 0.036 2624 1369 3187 3184 3190 0 0 0 0 0 0 11.24 11.07 11.24

2214 -0.80 -97.3 2625 1369 3185 3190 167.7 -8.7 119 2220 0.00 3.42 0.00 0.000 1030 0.000 0.068 2615 2749 3187 3185 3189 0 0 0 0 0 0 11.12 11.02 11.13

2557 -0.80 -97.3 2614 2749 3184 3186 192.8 -7.6 126 2562 0.00 3.28 0.00 0.000 548 0.000 0.035 2614 1368 3185 3185 3185 0 0 0 0 0 0 11.24 11.07 11.24

2599 -0.80 -97.3 2615 1366 3185 3184 197.4 -18.2 132 2604 0.17 3.45 0.00 0.000 3078 0.216 0.070 2639 2754 3184 3185 3184 0 0 0 0 0 0 10.97 11.02 11.10

2949 -0.80 -97.3 2639 2755 3184 3181 219.3 -6.8 140 2954 0.00 2.75 0.00 0.000 292 0.000 0.125 2630 3823 3182 3184 3180 0 0 0 0 0 0 11.24 11.00 11.24

3047 -0.80 -97.3 2631 3824 3186 3180 227.8 -9.0 154 3051 0.00 2.40 0.00 0.000 1030 0.000 0.042 2630 2752 3181 3184 3179 0 0 0 0 0 0 11.14 11.11 11.15

3397 -0.80 -97.3 2631 2751 3185 3177 252.6 -6.5 162 3402 0.00 3.25 0.00 0.000 548 0.000 0.035 2631 1365 3179 3184 3175 0 0 0 0 0 0 11.24 11.07 11.24

3439 -0.80 -97.3 2631 1365 3185 3176 255.3 -3.8 168 3444 0.00 3.45 0.00 0.000 1062 0.000 0.071 2620 2750 3179 3184 3175 0 0 0 0 0 0 11.13 11.03 11.14

3789 -0.80 -97.3 2621 2752 3185 3172 280.4 -7.3 176 3790 0.00 0.00 0.00 0.000 38 0.000 0.000 2620 2751 3178 3184 3172 0 0 0 0 0 0 11.25 11.25 11.24

4125 -0.80 -97.3 2621 2751 3185 3169 303.5 -7.2 182 4130 0.00 3.30 0.00 0.000 548 0.000 0.036 2620 1364 3176 3184 3168 0 0 0 0 0 0 11.25 11.07 11.25

4195 -0.80 -97.3 2620 1364 3185 3168 310.0 -9.5 192 4200 0.15 3.45 0.00 0.000 3078 0.220 0.072 2639 2749 3175 3184 3166 0 0 0 0 0 0 10.97 11.02 11.11

4517 -0.80 -97.3 2639 2750 3186 3164 332.4 -6.7 203 4518 0.00 0.00 0.00 0.000 38 0.000 0.000 2639 2748 3174 3184 3164 0 0 0 0 0 0 11.24 11.25 11.24

4853 -0.80 -97.3 2639 2750 3185 3161 352.8 -5.9 209 4859 0.00 3.30 0.00 0.000 548 0.000 0.036 2639 1361 3173 3184 3162 0 0 0 0 0 0 11.26 11.07 11.25

4909 -0.80 -97.3 2640 1361 3185 3162 354.4 -4.2 217 4915 0.00 3.50 0.00 0.000 1062 0.000 0.072 2629 2751 3172 3184 3161 0 0 0 0 0 0 11.13 11.02 11.15

5245 -0.80 -97.3 2629 2750 3185 3160 376.0 -6.8 230 5250 0.00 3.30 0.00 0.000 548 0.000 0.037 2628 1367 3172 3185 3159 0 0 0 0 0 0 11.25 11.07 11.26

5287 -0.80 -97.3 2627 1368 3185 3158 378.3 -10.8 236 5292 0.00 3.45 0.00 0.000 1030 0.000 0.071 2619 2745 3171 3184 3158 0 0 0 0 0 0 11.13 11.02 11.14

5637 -0.80 -97.3 2619 2746 3185 3156 406.6 -8.4 244 5642 0.00 3.30 0.00 0.000 516 0.000 0.035 2618 1360 3169 3184 3155 0 0 0 0 0 0 11.26 11.07 11.25

5679 -0.80 -97.3 2618 1361 3185 3156 408.4 -2.0 250 5684 0.15 3.50 0.00 0.000 3110 0.217 0.073 2637 2749 3171 3188 3155 0 0 0 0 0 0 10.98 11.02 11.11

6029 -0.80 -97.3 2637 2750 3185 3153 431.3 -5.8 258 6030 0.00 0.00 0.00 0.000 38 0.000 0.000 2637 2748 3168 3184 3153 0 0 0 0 0 0 11.25 11.26 11.25

6360 end dive: TARGET_DEPTH_EXCEEDED

state 6360 begin apogee

6372 -0.23 0.0 2638 2239 3185 3150 451.7 -6.1 264 6484 0.88 0.00 109.97 1.512 10244 0.176 0.000 2820 2238 2802 2841 2763 0 0 0 0 0 0 11.00 11.00 10.42

6485 end apogee: CONTROL_FINISHED_OK

state 6485 begin loiter

6717 -0.23 0.0 2820 2239 2837 2744 450.8 4.4 299 6721 0.00 0.00 0.00 0.000 1030 0.000 0.000 2820 2238 2789 2835 2744 0 0 0 0 0 0 11.24 11.23 11.24

7046 -0.61 -14.7 2820 2238 2837 2742 448.3 0.9 311 7048 0.38 0.00 0.00 0.000 4262 0.049 0.000 2707 2237 2788 2835 2741 0 0 0 0 0 0 11.07 11.14 11.12

7382 -0.75 -6.4 2707 2239 2837 2739 448.9 -0.5 317 7383 0.12 0.00 0.00 0.000 4262 0.071 0.000 2647 2237 2787 2835 2739 0 0 0 0 0 0 11.10 11.15 11.14

7718 -0.74 1.4 2648 2238 2836 2738 450.0 -0.5 323 7719 0.00 0.00 0.00 0.000 38 0.000 0.000 2647 2238 2786 2835 2737 0 0 0 0 0 0 11.26 11.26 11.26

8054 -0.75 -3.6 2648 2239 2837 2735 450.8 0.3 329 8055 0.00 0.00 0.00 0.000 38 0.000 0.000 2647 2237 2785 2835 2735 0 0 0 0 0 0 11.26 11.26 11.26

8390 -0.75 -3.6 2648 2239 2837 2734 444.8 2.0 335 8390 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2238 2784 2835 2734 0 0 0 0 0 0 11.26 11.30 11.26

8726 -0.75 -3.6 2648 2238 2836 2734 439.1 1.9 341 8726 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2238 2784 2835 2733 0 0 0 0 0 0 11.26 11.27 11.26

9062 -0.75 -3.6 2647 2239 2836 2731 434.4 1.3 347 9062 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2782 2835 2730 0 0 0 0 0 0 11.27 11.27 11.27

9398 -0.74 2.0 2648 2237 2836 2731 438.4 -0.3 353 9399 0.00 0.00 0.00 0.000 38 0.000 0.000 2647 2237 2783 2836 2731 0 0 0 0 0 0 11.27 11.27 11.27

9734 -0.73 7.0 2647 2238 2836 2728 438.1 -0.3 359 9737 0.00 0.00 1.67 0.177 8230 0.000 0.000 2647 2237 2770 2825 2716 0 0 0 0 0 0 11.27 11.12 11.00

10070 -0.73 9.0 2648 2239 2826 2735 440.5 -0.1 365 10074 0.00 0.00 2.85 0.752 8230 0.000 0.000 2647 2238 2763 2810 2716 0 0 0 0 0 0 11.27 11.07 10.34

10406 -0.73 9.0 2648 2237 2815 2738 437.0 1.3 371 10409 0.00 0.00 2.15 0.343 8198 0.000 0.000 2647 2237 2763 2810 2716 0 0 0 0 0 0 11.27 11.07 10.30

10742 -0.73 9.0 2648 2238 2813 2737 431.8 1.6 377 10745 0.00 0.00 2.00 0.177 8198 0.000 0.000 2647 2238 2763 2811 2716 0 0 0 0 0 0 11.28 11.06 9.45

11078 -0.71 24.9 2647 2239 2813 2735 431.9 -0.9 383 11107 0.00 0.00 28.02 1.476 8230 0.000 0.000 2647 2237 2700 2743 2657 0 0 0 0 0 0 11.28 11.00 10.41

11414 -0.71 24.9 2648 2237 2735 2643 422.7 2.2 389 11414 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2687 2734 2641 0 0 0 0 0 0 11.26 11.26 11.26

11750 -0.71 24.9 2648 2237 2734 2642 419.7 1.2 395 11750 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2238 2687 2734 2641 0 0 0 0 0 0 11.27 11.27 11.27

12086 -0.71 24.9 2648 2237 2735 2641 414.3 1.7 401 12086 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2687 2734 2640 0 0 0 0 0 0 11.27 11.27 11.27

12422 -0.71 24.9 2648 2238 2734 2641 406.7 2.3 407 12422 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2238 2687 2734 2640 0 0 0 0 0 0 11.27 11.28 11.27

12758 -0.71 24.9 2648 2239 2734 2639 399.1 1.7 413 12759 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2639 0 0 0 0 0 0 11.28 11.28 11.28

13094 -0.71 24.9 2648 2239 2735 2639 389.2 2.7 419 13095 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2639 0 0 0 0 0 0 11.27 11.27 11.27

13430 -0.71 24.9 2647 2239 2735 2639 377.3 3.8 425 13431 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2639 0 0 0 0 0 0 11.28 11.28 11.28

13766 -0.71 24.9 2648 2237 2735 2641 368.0 3.3 431 13767 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2238 2686 2734 2639 0 0 0 0 0 0 11.27 11.28 11.28

14102 -0.71 24.9 2648 2237 2735 2640 360.1 2.2 437 14103 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2639 0 0 0 0 0 0 11.28 11.28 11.28

14438 -0.71 24.9 2647 2239 2736 2638 351.6 2.9 443 14439 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2638 0 0 0 0 0 0 11.28 11.27 11.28

14774 -0.71 24.9 2648 2237 2735 2640 348.0 1.3 449 14775 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2238 2686 2734 2638 0 0 0 0 0 0 11.28 11.28 11.29

15110 -0.71 24.1 2647 2238 2735 2638 344.0 0.0 455 15111 0.00 0.00 0.00 0.000 38 0.000 0.000 2647 2237 2686 2734 2639 0 0 0 0 0 0 11.28 11.29 11.28

15446 -0.71 24.1 2648 2236 2735 2640 337.5 1.8 461 15446 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2638 0 0 0 0 0 0 11.28 11.28 11.29

15782 -0.71 24.1 2648 2238 2734 2640 332.1 1.8 467 15783 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2238 2686 2734 2639 0 0 0 0 0 0 11.28 11.29 11.29

16118 -0.71 24.1 2648 2239 2735 2639 325.8 1.8 473 16118 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2238 2686 2734 2638 0 0 0 0 0 0 11.29 11.29 11.29

16454 -0.71 24.1 2647 2238 2735 2638 319.3 1.3 479 16454 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2639 0 0 0 0 0 0 11.29 11.29 11.29

16790 -0.71 24.1 2648 2237 2735 2640 312.3 1.9 485 16790 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2638 0 0 0 0 0 0 11.29 11.29 11.29

17126 -0.71 24.1 2647 2238 2735 2639 301.4 3.9 491 17127 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2639 0 0 0 0 0 0 11.29 11.29 11.29

17462 -0.72 22.1 2647 2239 2735 2639 296.6 0.1 497 17463 0.00 0.00 0.00 0.000 38 0.000 0.000 2647 2238 2686 2734 2639 0 0 0 0 0 0 11.29 11.28 11.29

17798 -0.72 22.1 2647 2239 2735 2639 285.1 3.0 503 17799 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2733 2639 0 0 0 0 0 0 11.29 11.29 11.29

18134 -0.72 22.1 2647 2239 2736 2639 277.6 2.7 509 18135 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2639 0 0 0 0 0 0 11.29 11.28 11.30

18470 -0.72 22.1 2648 2238 2735 2640 273.0 1.3 515 18470 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2238 2686 2734 2639 0 0 0 0 0 0 11.29 11.29 11.29

18806 -0.73 8.8 2648 2237 2735 2640 271.2 0.8 521 18807 0.00 0.00 0.00 0.000 38 0.000 0.000 2647 2237 2686 2734 2639 0 0 0 0 0 0 11.29 11.29 11.29

19142 -0.73 8.8 2647 2239 2735 2639 264.6 2.0 527 19142 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2638 0 0 0 0 0 0 11.29 11.29 11.29

19478 -0.73 8.8 2648 2237 2735 2640 259.6 1.5 533 19478 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2238 2686 2734 2639 0 0 0 0 0 0 11.29 11.29 11.29

19814 -0.73 8.8 2648 2236 2735 2640 251.0 2.7 539 19815 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2639 0 0 0 0 0 0 11.29 11.29 11.29

20150 -0.73 8.8 2647 2239 2735 2639 243.9 1.9 545 20150 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2238 2686 2734 2639 0 0 0 0 0 0 11.29 11.29 11.29

20486 -0.73 8.8 2648 2238 2735 2639 238.8 1.5 551 20486 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2639 0 0 0 0 0 0 11.29 11.29 11.29

20822 -0.73 8.8 2648 2237 2736 2640 233.7 1.6 557 20823 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2638 0 0 0 0 0 0 11.29 11.29 11.29

21158 -0.73 8.8 2648 2239 2736 2639 225.9 2.3 563 21158 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2238 2686 2734 2639 0 0 0 0 0 0 11.29 11.29 11.29

21494 -0.73 8.8 2648 2237 2735 2641 221.8 1.1 569 21494 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2639 0 0 0 0 0 0 11.29 11.29 11.29

21830 -0.73 8.8 2648 2237 2735 2640 216.6 1.8 575 21830 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2238 2686 2734 2639 0 0 0 0 0 0 11.29 11.29 11.29

22166 -0.73 8.8 2648 2237 2735 2641 210.7 1.7 581 22166 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2686 2734 2639 0 0 0 0 0 0 11.29 11.29 11.29

22502 -0.75 -4.9 2648 2239 2735 2639 207.4 0.8 587 22503 0.00 0.00 0.00 0.000 38 0.000 0.000 2647 2237 2686 2734 2639 0 0 0 0 0 0 11.29 11.29 11.29

22838 -0.75 -4.9 2647 2238 2736 2640 200.2 2.5 593 22838 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2687 2734 2640 0 0 0 0 0 0 11.29 11.29 11.29

23174 -0.75 -4.9 2647 2239 2735 2640 188.5 3.5 599 23175 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2687 2734 2640 0 0 0 0 0 0 11.29 11.29 11.29

23510 -0.75 -4.9 2648 2237 2735 2641 181.1 2.0 605 23510 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2687 2734 2640 0 0 0 0 0 0 11.29 11.29 11.29

23846 -0.75 -4.9 2647 2239 2735 2640 176.6 1.3 611 23846 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2238 2687 2734 2640 0 0 0 0 0 0 11.29 11.29 11.29

24182 -0.75 -4.9 2648 2237 2736 2642 171.0 1.8 617 24182 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2237 2687 2734 2641 0 0 0 0 0 0 11.29 11.29 11.29

24513 end loiter: LOITER_COMPLETE

state 24513 begin climb

24518 1.04 97.3 2647 2238 2735 2642 164.7 0.0 623 24606 2.67 0.00 81.80 1.128 10758 0.177 0.000 3213 2237 2408 2465 2351 0 0 0 0 0 0 11.02 11.00 10.52

24966 1.04 97.3 3214 2237 2460 2333 129.6 8.3 645 24971 0.00 3.33 0.00 0.000 516 0.000 0.053 3223 863 2395 2459 2331 0 0 0 0 0 0 11.24 11.04 11.24

25036 1.07 119.5 3224 863 2460 2332 124.2 7.0 655 25068 0.00 3.33 25.35 1.097 9254 0.000 0.049 3223 2253 2321 2386 2257 0 0 0 0 0 0 11.12 11.02 10.55

25386 1.07 119.5 3223 2255 2384 2233 94.0 8.9 667 25391 0.00 3.62 0.00 0.000 260 0.000 0.109 3223 3669 2307 2381 2233 0 0 0 0 0 0 11.24 10.98 11.24

25449 0.96 119.5 3223 3671 2384 2233 87.6 10.8 676 25454 0.00 3.22 0.00 0.000 1158 0.000 0.037 3234 2255 2308 2383 2233 0 0 0 0 0 0 11.13 11.08 11.14

25778 0.99 137.6 3236 2252 2384 2234 60.4 7.3 690 25790 0.00 0.00 11.02 0.317 8486 0.000 0.000 3235 2252 2251 2325 2177 0 0 0 0 0 0 11.24 11.08 10.87

26107 1.10 227.5 3235 2252 2327 2200 44.8 3.0 704 26190 0.00 3.47 77.32 0.308 8740 0.000 0.054 3245 845 1893 1976 1811 0 0 0 0 0 0 11.24 11.00 10.87

26422 1.42 397.8 3245 846 1978 1816 40.2 -1.7 749 26561 0.35 3.35 132.15 0.275 11430 0.047 0.047 3368 2260 1216 1306 1127 0 0 0 0 0 0 11.10 11.02 10.89

26827 end climb: SURFACE_DEPTH_REACHED

state 26827 begin surface coast

26855 end surface coast: CONTROL_FINISHED_OK

state 26855 begin surface

ID	220	ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	14	XPDR_INHIBIT	90
MISSION	6	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	100	INT_PRESSURE_SLOPE	0.0097660003
DIVE	857	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	0.050000001	MOTHERBOARD	4
D_SURF	2	SM_CC	500	VBD_MIN	500	DEVICE1	-1
D_FLARE	3	N_FILEKB	8	VBD_MAX	3960	DEVICE2	-1
D_TGT	450	FILEMGR	0	C_VBD	2800	DEVICE3	-1
D_ABORT	1020	CALL_NDIVES	1	VBD_DBAND	2	DEVICE4	-1
D_NO_BLEED	50	COMM_SEQ	0	VBD_CNV	-0.25119999	DEVICE5	-1
D_BOOST	120	PROTOCOL	0	VBD_LP_IGNORE	0	DEVICE6	-1
T_BOOST	5	N_NOCOMM	2	VBD_TIMEOUT	720	LOGGERS	1
D_FINISH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0012300001	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	60	COMPASS_DEVICE	97
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	150
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	PHONE_DEVICE	48
T_DIVE	180	HEAPDBG	0	DBDW	0	GPS_DEVICE	64
T_MISSION	540	T_GPS	10	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	3	CF8_MAXERRORS	2	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	0.0044037569
T_LOITER	18000	RAFOS_CORR_THRESH	60	MINV_24V	9.6999998	SEABIRD_T_H	0.00063615869
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_10V	9.6999998	SEABIRD_T_I	2.4815216e-05
USE_BATHY	0	PITCH_MIN	190	MAXI_24V	0.60000002	SEABIRD_T_J	2.9729028e-06
USE_ICE	0	PITCH_MAX	3888	MAXI_10V	1	SEABIRD_C_G	-9.8086529
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2900	FG_AHR_10V	0	SEABIRD_C_H	1.075657
D_OFFGRID	1000	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_C_I	-0.0023452051
T_WATCHDOG	10	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00023101401
RELAUNCH	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-168.7365	SC_RECORDABOVE	2000.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0.079999998	PRESSURE_SLOPE	0.0001077811	SC_PROFILE	3.0
MAX_BUOY	100	PITCH_GAIN	22	AD7714Ch0Gain	1	SC_XMITPROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	30	TCM_PITCH_OFFSET	0	PM_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_AD_RATE	100	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	0.025	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITRAW	0.0
MASS	54354	PITCH_ADJ_DBAND	3	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	0.0
MASS_COMP	0	ROLL_MIN	265	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	0.0
NAV_MODE	2	ROLL_MAX	3829	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	1.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1	TM_RECORDABOVE	250.0
KALMAN_USE	2	C_ROLL_DIVE	2765	ALTIM_PING_DEPTH	0	TM_PROFILE	1.0
HD_A	0.0024999999	C_ROLL_CLIMB	2250	ALTIM_PING_DELTA	5	TM_XMITPROFILE	3.0
HD_B	0.014	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13	TM_LOGSAMPLE	0.0
HD_C	1.6e-05	ROLL_CNV	0.028270001	ALTIM_PULSE	3	TM_XMITRAW	0.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
ESCAPE_HEADING	0	R_PORT_OVSHOOT	34	XPDR_VALID	2

GPS1	290317,123300,1007.3478,-12509.9072,24,1.0,24,9.0,0.8,271.0,8,4.2	SPEED_LIMITS	0.144,0.169
_CALLS	2	TGT_NAME	E
_XMS_NAKs	4	TGT_LATLONG	1000.000,-12440.610
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	-4.91	MHEAD_RNG_PITCHd_Wd	118.7,55473,-20.3,-8.333,-26.24,1745
_SM_ANGLEo	-67.7	D_GRID	450
GPS2	290317,124656,1007.4377,-12510.0732,2,0.8,3,9.0,1.0,315.1,9,4.8

FINISH	-4.3,1.021894	_10V_AH	10.26,0.000
SM_CCo	26885,71.65,0.132,0,0,809,500.14	FG_AHR_24Vo	0.000
SM_GC	-3.30,12.07,1.30,71.65,0.038,0.087,0.132,192,2769,809,-8.41,-0.28,500.14,0,0,0,0,0,0,11.07,11.00,10.98	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1002.64,-12510.11,290317,123802	MEM	334736
TT8_MAMPS	0.045689,0.252413	DATA_FILE_SIZE	30110,781
HUMID	58.15	CAP_FILE_SIZE	139532,0
INTERNAL_PRESSURE	9.31676	CFSIZE	1024409600,882016256
TCM_TEMP	22.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	3	CURRENT	0.053,302.24,1
SC_FREEKB	3581120	GPS	290317,201730,1007.536,-12510.234,19,1.4,19,9.0,0.4,209.5,5,9.8
_24V_AH	9.45,285.272

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	36	376	129.47	nil	0	0	0.00
Roll_motor	104	125	123.69	nil	0	0	0.00
VBD_pump_during_apogee	474	1512	6779.16	nil	0	0	0.00
VBD_pump_during_surface	71	131	89.09	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	8880	4	355.47
Iridium_during_xfer	474	194	871.34	PMAR	0	0	0.00
Transponder_ping	0	420	2.98	TMICL	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	9	0.52
TT8	0	0	0.00
LPSleep	24316	2	546.37
TT8_Active	706	8	64.26
TT8_Sampling	2035	28	592.18
TT8_CF8	712	39	289.44
TT8_Kalman	0	0	0.00
Analog_circuits	1846	12	229.27
GPS_charging	0	0	0.00
Compass	1117	7	85.84
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
14	-1.04	-97.3	107	2788	851	775	0.0	0.0	0	99	0.00	0.00	-83.47	0.000	16390	0.000	0.000	105	2789	3189	3177	3201	0	0	0	0	0	0	11.21	10.45	11.21
104	-1.04	-97.3	106	2790	3178	3202	-1.4	-6.2	3	132	18.83	3.38	0.00	0.000	2564	0.376	0.034	2553	1356	3191	3181	3202	0	0	0	0	0	0	10.86	11.02	11.05
191	-0.80	-97.3	2554	1358	3184	3202	24.3	-20.2	16	196	0.52	3.55	0.00	0.000	3206	0.256	0.080	2637	2764	3191	3182	3201	0	0	0	0	0	0	10.91	11.00	11.07
513	-0.80	-97.3	2637	2765	3185	3201	57.4	-9.2	29	519	0.00	3.30	0.00	0.000	516	0.000	0.036	2636	1360	3192	3184	3200	0	0	0	0	0	0	11.23	11.05	11.24
632	-0.80	-97.3	2637	1360	3185	3201	66.3	-6.9	46	637	0.00	3.45	0.00	0.000	1062	0.000	0.071	2626	2755	3193	3185	3201	0	0	0	0	0	0	11.11	11.01	11.12
961	-0.80	-97.3	2627	2756	3186	3200	85.8	-5.8	60	966	0.00	2.72	0.00	0.000	292	0.000	0.123	2618	3825	3193	3185	3201	0	0	0	0	0	0	11.24	11.00	11.24
1052	-0.80	-97.3	2619	3826	3186	3200	90.9	-5.3	73	1058	0.00	2.40	0.00	0.000	1062	0.000	0.041	2618	2738	3193	3185	3201	0	0	0	0	0	0	11.12	11.09	11.13
1381	-0.80	-97.3	2618	2739	3185	3199	113.7	-7.2	84	1386	0.00	2.83	0.00	0.000	292	0.000	0.122	2610	3831	3191	3185	3198	0	0	0	0	0	0	11.24	11.00	11.24
1430	-0.80	-97.3	2606	3831	3184	3200	117.0	-7.3	91	1436	0.10	2.40	0.00	0.000	3110	0.220	0.041	2632	2741	3191	3184	3199	0	0	0	0	0	0	10.97	11.11	11.10
1773	-0.80	-97.3	2634	2742	3185	3196	137.5	-6.0	98	1778	0.00	2.83	0.00	0.000	292	0.000	0.121	2625	3833	3189	3184	3195	0	0	0	0	0	0	11.24	10.99	11.24
1808	-0.80	-97.3	2625	3834	3186	3194	140.2	-7.6	103	1813	0.00	2.40	0.00	0.000	1062	0.000	0.039	2624	2740	3188	3182	3195	0	0	0	0	0	0	11.14	11.11	11.15
2165	-0.80	-97.3	2625	2740	3191	3192	161.5	-5.0	112	2170	0.00	3.20	0.00	0.000	548	0.000	0.036	2624	1369	3187	3184	3190	0	0	0	0	0	0	11.24	11.07	11.24
2214	-0.80	-97.3	2625	1369	3185	3190	167.7	-8.7	119	2220	0.00	3.42	0.00	0.000	1030	0.000	0.068	2615	2749	3187	3185	3189	0	0	0	0	0	0	11.12	11.02	11.13
2557	-0.80	-97.3	2614	2749	3184	3186	192.8	-7.6	126	2562	0.00	3.28	0.00	0.000	548	0.000	0.035	2614	1368	3185	3185	3185	0	0	0	0	0	0	11.24	11.07	11.24
2599	-0.80	-97.3	2615	1366	3185	3184	197.4	-18.2	132	2604	0.17	3.45	0.00	0.000	3078	0.216	0.070	2639	2754	3184	3185	3184	0	0	0	0	0	0	10.97	11.02	11.10
2949	-0.80	-97.3	2639	2755	3184	3181	219.3	-6.8	140	2954	0.00	2.75	0.00	0.000	292	0.000	0.125	2630	3823	3182	3184	3180	0	0	0	0	0	0	11.24	11.00	11.24
3047	-0.80	-97.3	2631	3824	3186	3180	227.8	-9.0	154	3051	0.00	2.40	0.00	0.000	1030	0.000	0.042	2630	2752	3181	3184	3179	0	0	0	0	0	0	11.14	11.11	11.15
3397	-0.80	-97.3	2631	2751	3185	3177	252.6	-6.5	162	3402	0.00	3.25	0.00	0.000	548	0.000	0.035	2631	1365	3179	3184	3175	0	0	0	0	0	0	11.24	11.07	11.24
3439	-0.80	-97.3	2631	1365	3185	3176	255.3	-3.8	168	3444	0.00	3.45	0.00	0.000	1062	0.000	0.071	2620	2750	3179	3184	3175	0	0	0	0	0	0	11.13	11.03	11.14
3789	-0.80	-97.3	2621	2752	3185	3172	280.4	-7.3	176	3790	0.00	0.00	0.00	0.000	38	0.000	0.000	2620	2751	3178	3184	3172	0	0	0	0	0	0	11.25	11.25	11.24
4125	-0.80	-97.3	2621	2751	3185	3169	303.5	-7.2	182	4130	0.00	3.30	0.00	0.000	548	0.000	0.036	2620	1364	3176	3184	3168	0	0	0	0	0	0	11.25	11.07	11.25
4195	-0.80	-97.3	2620	1364	3185	3168	310.0	-9.5	192	4200	0.15	3.45	0.00	0.000	3078	0.220	0.072	2639	2749	3175	3184	3166	0	0	0	0	0	0	10.97	11.02	11.11
4517	-0.80	-97.3	2639	2750	3186	3164	332.4	-6.7	203	4518	0.00	0.00	0.00	0.000	38	0.000	0.000	2639	2748	3174	3184	3164	0	0	0	0	0	0	11.24	11.25	11.24
4853	-0.80	-97.3	2639	2750	3185	3161	352.8	-5.9	209	4859	0.00	3.30	0.00	0.000	548	0.000	0.036	2639	1361	3173	3184	3162	0	0	0	0	0	0	11.26	11.07	11.25
4909	-0.80	-97.3	2640	1361	3185	3162	354.4	-4.2	217	4915	0.00	3.50	0.00	0.000	1062	0.000	0.072	2629	2751	3172	3184	3161	0	0	0	0	0	0	11.13	11.02	11.15
5245	-0.80	-97.3	2629	2750	3185	3160	376.0	-6.8	230	5250	0.00	3.30	0.00	0.000	548	0.000	0.037	2628	1367	3172	3185	3159	0	0	0	0	0	0	11.25	11.07	11.26
5287	-0.80	-97.3	2627	1368	3185	3158	378.3	-10.8	236	5292	0.00	3.45	0.00	0.000	1030	0.000	0.071	2619	2745	3171	3184	3158	0	0	0	0	0	0	11.13	11.02	11.14
5637	-0.80	-97.3	2619	2746	3185	3156	406.6	-8.4	244	5642	0.00	3.30	0.00	0.000	516	0.000	0.035	2618	1360	3169	3184	3155	0	0	0	0	0	0	11.26	11.07	11.25
5679	-0.80	-97.3	2618	1361	3185	3156	408.4	-2.0	250	5684	0.15	3.50	0.00	0.000	3110	0.217	0.073	2637	2749	3171	3188	3155	0	0	0	0	0	0	10.98	11.02	11.11
6029	-0.80	-97.3	2637	2750	3185	3153	431.3	-5.8	258	6030	0.00	0.00	0.00	0.000	38	0.000	0.000	2637	2748	3168	3184	3153	0	0	0	0	0	0	11.25	11.26	11.25
6360	end dive: TARGET_DEPTH_EXCEEDED
state	6360	begin apogee
6372	-0.23	0.0	2638	2239	3185	3150	451.7	-6.1	264	6484	0.88	0.00	109.97	1.512	10244	0.176	0.000	2820	2238	2802	2841	2763	0	0	0	0	0	0	11.00	11.00	10.42
6485	end apogee: CONTROL_FINISHED_OK
state	6485	begin loiter
6717	-0.23	0.0	2820	2239	2837	2744	450.8	4.4	299	6721	0.00	0.00	0.00	0.000	1030	0.000	0.000	2820	2238	2789	2835	2744	0	0	0	0	0	0	11.24	11.23	11.24
7046	-0.61	-14.7	2820	2238	2837	2742	448.3	0.9	311	7048	0.38	0.00	0.00	0.000	4262	0.049	0.000	2707	2237	2788	2835	2741	0	0	0	0	0	0	11.07	11.14	11.12
7382	-0.75	-6.4	2707	2239	2837	2739	448.9	-0.5	317	7383	0.12	0.00	0.00	0.000	4262	0.071	0.000	2647	2237	2787	2835	2739	0	0	0	0	0	0	11.10	11.15	11.14
7718	-0.74	1.4	2648	2238	2836	2738	450.0	-0.5	323	7719	0.00	0.00	0.00	0.000	38	0.000	0.000	2647	2238	2786	2835	2737	0	0	0	0	0	0	11.26	11.26	11.26
8054	-0.75	-3.6	2648	2239	2837	2735	450.8	0.3	329	8055	0.00	0.00	0.00	0.000	38	0.000	0.000	2647	2237	2785	2835	2735	0	0	0	0	0	0	11.26	11.26	11.26
8390	-0.75	-3.6	2648	2239	2837	2734	444.8	2.0	335	8390	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2238	2784	2835	2734	0	0	0	0	0	0	11.26	11.30	11.26
8726	-0.75	-3.6	2648	2238	2836	2734	439.1	1.9	341	8726	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2238	2784	2835	2733	0	0	0	0	0	0	11.26	11.27	11.26
9062	-0.75	-3.6	2647	2239	2836	2731	434.4	1.3	347	9062	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2782	2835	2730	0	0	0	0	0	0	11.27	11.27	11.27
9398	-0.74	2.0	2648	2237	2836	2731	438.4	-0.3	353	9399	0.00	0.00	0.00	0.000	38	0.000	0.000	2647	2237	2783	2836	2731	0	0	0	0	0	0	11.27	11.27	11.27
9734	-0.73	7.0	2647	2238	2836	2728	438.1	-0.3	359	9737	0.00	0.00	1.67	0.177	8230	0.000	0.000	2647	2237	2770	2825	2716	0	0	0	0	0	0	11.27	11.12	11.00
10070	-0.73	9.0	2648	2239	2826	2735	440.5	-0.1	365	10074	0.00	0.00	2.85	0.752	8230	0.000	0.000	2647	2238	2763	2810	2716	0	0	0	0	0	0	11.27	11.07	10.34
10406	-0.73	9.0	2648	2237	2815	2738	437.0	1.3	371	10409	0.00	0.00	2.15	0.343	8198	0.000	0.000	2647	2237	2763	2810	2716	0	0	0	0	0	0	11.27	11.07	10.30
10742	-0.73	9.0	2648	2238	2813	2737	431.8	1.6	377	10745	0.00	0.00	2.00	0.177	8198	0.000	0.000	2647	2238	2763	2811	2716	0	0	0	0	0	0	11.28	11.06	9.45
11078	-0.71	24.9	2647	2239	2813	2735	431.9	-0.9	383	11107	0.00	0.00	28.02	1.476	8230	0.000	0.000	2647	2237	2700	2743	2657	0	0	0	0	0	0	11.28	11.00	10.41
11414	-0.71	24.9	2648	2237	2735	2643	422.7	2.2	389	11414	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2687	2734	2641	0	0	0	0	0	0	11.26	11.26	11.26
11750	-0.71	24.9	2648	2237	2734	2642	419.7	1.2	395	11750	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2238	2687	2734	2641	0	0	0	0	0	0	11.27	11.27	11.27
12086	-0.71	24.9	2648	2237	2735	2641	414.3	1.7	401	12086	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2687	2734	2640	0	0	0	0	0	0	11.27	11.27	11.27
12422	-0.71	24.9	2648	2238	2734	2641	406.7	2.3	407	12422	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2238	2687	2734	2640	0	0	0	0	0	0	11.27	11.28	11.27
12758	-0.71	24.9	2648	2239	2734	2639	399.1	1.7	413	12759	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2639	0	0	0	0	0	0	11.28	11.28	11.28
13094	-0.71	24.9	2648	2239	2735	2639	389.2	2.7	419	13095	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2639	0	0	0	0	0	0	11.27	11.27	11.27
13430	-0.71	24.9	2647	2239	2735	2639	377.3	3.8	425	13431	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2639	0	0	0	0	0	0	11.28	11.28	11.28
13766	-0.71	24.9	2648	2237	2735	2641	368.0	3.3	431	13767	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2238	2686	2734	2639	0	0	0	0	0	0	11.27	11.28	11.28
14102	-0.71	24.9	2648	2237	2735	2640	360.1	2.2	437	14103	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2639	0	0	0	0	0	0	11.28	11.28	11.28
14438	-0.71	24.9	2647	2239	2736	2638	351.6	2.9	443	14439	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2638	0	0	0	0	0	0	11.28	11.27	11.28
14774	-0.71	24.9	2648	2237	2735	2640	348.0	1.3	449	14775	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2238	2686	2734	2638	0	0	0	0	0	0	11.28	11.28	11.29
15110	-0.71	24.1	2647	2238	2735	2638	344.0	0.0	455	15111	0.00	0.00	0.00	0.000	38	0.000	0.000	2647	2237	2686	2734	2639	0	0	0	0	0	0	11.28	11.29	11.28
15446	-0.71	24.1	2648	2236	2735	2640	337.5	1.8	461	15446	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2638	0	0	0	0	0	0	11.28	11.28	11.29
15782	-0.71	24.1	2648	2238	2734	2640	332.1	1.8	467	15783	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2238	2686	2734	2639	0	0	0	0	0	0	11.28	11.29	11.29
16118	-0.71	24.1	2648	2239	2735	2639	325.8	1.8	473	16118	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2238	2686	2734	2638	0	0	0	0	0	0	11.29	11.29	11.29
16454	-0.71	24.1	2647	2238	2735	2638	319.3	1.3	479	16454	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2639	0	0	0	0	0	0	11.29	11.29	11.29
16790	-0.71	24.1	2648	2237	2735	2640	312.3	1.9	485	16790	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2638	0	0	0	0	0	0	11.29	11.29	11.29
17126	-0.71	24.1	2647	2238	2735	2639	301.4	3.9	491	17127	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2639	0	0	0	0	0	0	11.29	11.29	11.29
17462	-0.72	22.1	2647	2239	2735	2639	296.6	0.1	497	17463	0.00	0.00	0.00	0.000	38	0.000	0.000	2647	2238	2686	2734	2639	0	0	0	0	0	0	11.29	11.28	11.29
17798	-0.72	22.1	2647	2239	2735	2639	285.1	3.0	503	17799	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2733	2639	0	0	0	0	0	0	11.29	11.29	11.29
18134	-0.72	22.1	2647	2239	2736	2639	277.6	2.7	509	18135	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2639	0	0	0	0	0	0	11.29	11.28	11.30
18470	-0.72	22.1	2648	2238	2735	2640	273.0	1.3	515	18470	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2238	2686	2734	2639	0	0	0	0	0	0	11.29	11.29	11.29
18806	-0.73	8.8	2648	2237	2735	2640	271.2	0.8	521	18807	0.00	0.00	0.00	0.000	38	0.000	0.000	2647	2237	2686	2734	2639	0	0	0	0	0	0	11.29	11.29	11.29
19142	-0.73	8.8	2647	2239	2735	2639	264.6	2.0	527	19142	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2638	0	0	0	0	0	0	11.29	11.29	11.29
19478	-0.73	8.8	2648	2237	2735	2640	259.6	1.5	533	19478	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2238	2686	2734	2639	0	0	0	0	0	0	11.29	11.29	11.29
19814	-0.73	8.8	2648	2236	2735	2640	251.0	2.7	539	19815	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2639	0	0	0	0	0	0	11.29	11.29	11.29
20150	-0.73	8.8	2647	2239	2735	2639	243.9	1.9	545	20150	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2238	2686	2734	2639	0	0	0	0	0	0	11.29	11.29	11.29
20486	-0.73	8.8	2648	2238	2735	2639	238.8	1.5	551	20486	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2639	0	0	0	0	0	0	11.29	11.29	11.29
20822	-0.73	8.8	2648	2237	2736	2640	233.7	1.6	557	20823	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2638	0	0	0	0	0	0	11.29	11.29	11.29
21158	-0.73	8.8	2648	2239	2736	2639	225.9	2.3	563	21158	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2238	2686	2734	2639	0	0	0	0	0	0	11.29	11.29	11.29
21494	-0.73	8.8	2648	2237	2735	2641	221.8	1.1	569	21494	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2639	0	0	0	0	0	0	11.29	11.29	11.29
21830	-0.73	8.8	2648	2237	2735	2640	216.6	1.8	575	21830	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2238	2686	2734	2639	0	0	0	0	0	0	11.29	11.29	11.29
22166	-0.73	8.8	2648	2237	2735	2641	210.7	1.7	581	22166	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2686	2734	2639	0	0	0	0	0	0	11.29	11.29	11.29
22502	-0.75	-4.9	2648	2239	2735	2639	207.4	0.8	587	22503	0.00	0.00	0.00	0.000	38	0.000	0.000	2647	2237	2686	2734	2639	0	0	0	0	0	0	11.29	11.29	11.29
22838	-0.75	-4.9	2647	2238	2736	2640	200.2	2.5	593	22838	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2687	2734	2640	0	0	0	0	0	0	11.29	11.29	11.29
23174	-0.75	-4.9	2647	2239	2735	2640	188.5	3.5	599	23175	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2687	2734	2640	0	0	0	0	0	0	11.29	11.29	11.29
23510	-0.75	-4.9	2648	2237	2735	2641	181.1	2.0	605	23510	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2687	2734	2640	0	0	0	0	0	0	11.29	11.29	11.29
23846	-0.75	-4.9	2647	2239	2735	2640	176.6	1.3	611	23846	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2238	2687	2734	2640	0	0	0	0	0	0	11.29	11.29	11.29
24182	-0.75	-4.9	2648	2237	2736	2642	171.0	1.8	617	24182	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2237	2687	2734	2641	0	0	0	0	0	0	11.29	11.29	11.29
24513	end loiter: LOITER_COMPLETE
state	24513	begin climb
24518	1.04	97.3	2647	2238	2735	2642	164.7	0.0	623	24606	2.67	0.00	81.80	1.128	10758	0.177	0.000	3213	2237	2408	2465	2351	0	0	0	0	0	0	11.02	11.00	10.52
24966	1.04	97.3	3214	2237	2460	2333	129.6	8.3	645	24971	0.00	3.33	0.00	0.000	516	0.000	0.053	3223	863	2395	2459	2331	0	0	0	0	0	0	11.24	11.04	11.24
25036	1.07	119.5	3224	863	2460	2332	124.2	7.0	655	25068	0.00	3.33	25.35	1.097	9254	0.000	0.049	3223	2253	2321	2386	2257	0	0	0	0	0	0	11.12	11.02	10.55
25386	1.07	119.5	3223	2255	2384	2233	94.0	8.9	667	25391	0.00	3.62	0.00	0.000	260	0.000	0.109	3223	3669	2307	2381	2233	0	0	0	0	0	0	11.24	10.98	11.24
25449	0.96	119.5	3223	3671	2384	2233	87.6	10.8	676	25454	0.00	3.22	0.00	0.000	1158	0.000	0.037	3234	2255	2308	2383	2233	0	0	0	0	0	0	11.13	11.08	11.14
25778	0.99	137.6	3236	2252	2384	2234	60.4	7.3	690	25790	0.00	0.00	11.02	0.317	8486	0.000	0.000	3235	2252	2251	2325	2177	0	0	0	0	0	0	11.24	11.08	10.87
26107	1.10	227.5	3235	2252	2327	2200	44.8	3.0	704	26190	0.00	3.47	77.32	0.308	8740	0.000	0.054	3245	845	1893	1976	1811	0	0	0	0	0	0	11.24	11.00	10.87
26422	1.42	397.8	3245	846	1978	1816	40.2	-1.7	749	26561	0.35	3.35	132.15	0.275	11430	0.047	0.047	3368	2260	1216	1306	1127	0	0	0	0	0	0	11.10	11.02	10.89
26827	end climb: SURFACE_DEPTH_REACHED
state	26827	begin surface coast
26855	end surface coast: CONTROL_FINISHED_OK
state	26855	begin surface