Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 94 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 KALMAN_USE 2 ROLL_MIN 200 AD7714Ch0Gain 32

MISSION 4 HD_A 0.0026803601 ROLL_MAX 3700 COMPASS_USE 4

DIVE 94 HD_B 0.0139002 ROLL_DEG 40 ALTIM_PING_FIT 0

N_DIVES 0 HD_C 9.1750398e-06 C_ROLL_DIVE 2350 ALTIM_TOP_PING_RANGE 0

STOP_T 0 HEADING -1 C_ROLL_CLIMB 2400 ALTIM_BOTTOM_TURN_MARGIN 15

D_SURF 3 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 2

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_ABORT 1030 TGT_DEFAULT_LAT 3235 R_PORT_OVSHOOT 73 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 46 ALTIM_FREQUENCY 13

D_BOOST 20 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_PULSE 3

T_BOOST 5 SM_CC 400 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FINISH 0 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_VALID 5

D_PITCH 0 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_SAFE 0 CALL_NDIVES 1 VBD_MIN 400 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 COMM_SEQ 0 VBD_MAX 3900 INT_PRESSURE_YINT -1

SURFACE_URGENCY 0 PROTOCOL 9 C_VBD 3346 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 2 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 NOCOMM_ACTION 163 VBD_CNV -0.245296 DEVICE1 2

T_DIVE 390 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 450 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00121 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE5 -1

T_TURN_SAMPINT -5 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 0 HEAPDBG 0 UNCOM_BLEED 20 LOGGERDEVICE1 -1

T_EPIRB 0 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

EXEC_P 0 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE3 -1

EXEC_DT 0 T_RSLEEP 1 DBDW 0 LOGGERDEVICE4 -1

EXEC_T 0 STROBE 0 LOITER_W_DBAND 0 COMPASS_DEVICE 33

EXEC_N 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_NO_PUMP 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 PITCH_W_GAIN 2 RAFOS_DEVICE -1

D_OFFGRID 1000 PITCH_MIN 250 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3750 CF8_MAXERRORS 20 SIM_W 0

RELAUNCH 1 C_PITCH 2780 AH0_24V 350 SEABIRD_T_G 0.0043553207

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_10V 0 SEABIRD_T_H 0.00062594062

MAX_BUOY 175 PITCH_CNV 0.003125763 MINV_24V 11 SEABIRD_T_I 2.3765557e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_10V 11 SEABIRD_T_J 2.606791e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_G -9.8755465

SPEED_FACTOR 0.89999998 PITCH_GAIN 40 MAXI_10V 0.80000001 SEABIRD_C_H 1.1390997

RHO 1.0275 PITCH_TIMEOUT 16 FG_AHR_10V 0 SEABIRD_C_I -0.0019936475

MASS 51713 PITCH_AD_RATE 175 FG_AHR_24V 0 SEABIRD_C_J 0.00023608611

MASS_COMP 0 PITCH_MAXERRORS 1 PHONE_SUPPLY -2

NAV_MODE 2 PITCH_ADJ_GAIN 0 PRESSURE_YINT -157.40906

FERRY_MAX 60 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014074198

AD7714Ch0Gain 32 D_SURF 3 N_FILEKB 8 SEABIRD_T_H 0.00062594062

AH0_10V 0 D_TGT 990 N_GPS 100440 SEABIRD_T_I 2.3765557e-05

AH0_24V 350 ESCAPE_HEADING 0 N_NOCOMM 2 SEABIRD_T_J 2.606791e-06

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SIM_W 0

ALTIM_FREQUENCY 13 EXEC_DT 0 PHONE_DEVICE 49 SM_CC 400

ALTIM_PING_DELTA 50 EXEC_N 0 PHONE_SUPPLY -2 SPEED_FACTOR 0.89999998

ALTIM_PING_DEPTH 0 EXEC_P 0 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PING_FIT 0 EXEC_T 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PULSE 3 FERRY_MAX 60 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_GAIN 40 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3750 TGT_DEFAULT_LAT 3235

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -11731

CALL_NDIVES 1 GPS_DEVICE 32 PITCH_MIN 250 T_ABORT 1440

CALL_TRIES 5 HD_A 0.0026803601 PITCH_TIMEOUT 16 T_BOOST 5

CALL_WAIT 60 HD_B 0.0139002 PITCH_VBD_SHIFT 0.00121 T_DIVE 390

CAPMAXSIZE 100000 HD_C 9.1750398e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

CAPUPLOAD 0 HEADING -1 PITCH_W_GAIN 2 T_GPS 5

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014074198 T_LOITER 0

COMM_SEQ 0 HEAPDBG 0 PRESSURE_YINT -157.40906 T_MISSION 450

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_NO_W 120

COMPASS_DEVICE 33 ID 128 P_OVSHOOT 0.039999999 T_RSLEEP 1

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_YINT -1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_PITCH 2780 KALMAN_USE 2 RAFOS_DEVICE -1 T_WATCHDOG 10

C_ROLL_CLIMB 2400 LOGGERDEVICE1 -1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_ROLL_DIVE 2350 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD 3346 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_BATHY -6

DBDW 0 LOGGERDEVICE4 -1 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOGGERS 0 RHO 1.0275 VBD_BLEED_AD_RATE 8

DEVICE1 2 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 VBD_CNV -0.245296

DEVICE2 -1 LOITER_D_NO_PUMP 0 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE3 -1 LOITER_N_DIVE 0 ROLL_AD_RATE 350 VBD_LP_IGNORE 0

DEVICE4 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_MAX 3900

DEVICE5 -1 MASS 51713 ROLL_DEG 40 VBD_MAXERRORS 1

DEVICE6 -1 MASS_COMP 0 ROLL_MAX 3700 VBD_MIN 400

DIVE 94 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 1030 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 20 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_TIMEOUT 540

D_CALL 0 MINV_10V 11 R_PORT_OVSHOOT 73 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 11 R_STBD_OVSHOOT 46 XPDR_DEVICE 24

D_FLARE 3 MISSION 4 SEABIRD_C_G -9.8755465 XPDR_INHIBIT 90

D_NO_BLEED 200 MOTHERBOARD 4 SEABIRD_C_H 1.1390997 XPDR_VALID 5

D_OFFGRID 1000 NAV_MODE 2 SEABIRD_C_I -0.0019936475

D_PITCH 0 NOCOMM_ACTION 163 SEABIRD_C_J 0.00023608611

D_SAFE 0 N_DIVES 0 SEABIRD_T_G 0.0043553207

Pre-dive calculations and measurements:

GPS1 050218,060807,-313.9970,5537.1870,40,0.7,42,-4.6,1.1,82.1,10,8.6 SPEED_LIMITS 0.132,0.202

_CALLS 1 TGT_NAME N

_XMS_NAKs 0 TGT_LATLONG -300.000,5536.000

_XMS_TOUTs 0 TGT_RADIUS 20000.000

_SM_DEPTHo 0.74 MHEAD_RNG_PITCHd_Wd 327.5,26131,-14.4,-8.462,-20.64,3036

_SM_ANGLEo -74.2 D_GRID 1000

GPS2 050218,061338,-314.0481,5537.3174,20,0.7,22,-4.6,0.7,124.6,11,8.4

Post-dive calculations and measurements:

FINISH -0.2,1.022594 _10V_AH 13.65,0.000

SM_CCo 20326,16.55,0.080,0,0,1714,400.08 FG_AHR_24Vo 0.000

SM_GC 0.53,8.25,0.10,16.55,0.087,0.128,0.080,250,2310,1714,-7.86,1.02,400.08,0,0,0,0,0,0,14.69,14.76,14.70 FG_AHR_10Vo 0.000

IRIDIUM_FIX -315.57,5540.84,050218,000812 MEM 304612

TT8_MAMPS 0.018725,0.15729 DATA_FILE_SIZE 60042,1361

HUMID 58.97 CAP_FILE_SIZE 163748,0

INTERNAL_PRESSURE 8.46325 CFSIZE 260034560,251019264

TCM_TEMP 22.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.170,88.99,1

_24V_AH 13.30,32.753 GPS 050218,115442,-312.085,5537.869,39,1.2,46,-4.6,0.8,86.0,6,9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 433 125.47 SBE_CT 709 23 226.06

Roll_motor 160 181 387.32 nil 0 0 0.00

VBD_pump_during_apogee 537 1878 13415.90 nil 0 0 0.00

VBD_pump_during_surface 16 79 17.51 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 nil 0 0 0.00

Iridium_during_xfer 232 133 414.82 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 20 6.60

TT8 3067 9 396.56

LPSleep 14530 2 434.37

TT8_Active 732 9 94.72

TT8_Sampling 2195 28 845.00

TT8_CF8 157 34 73.29

TT8_Kalman 0 0 0.00

Analog_circuits 2060 16 450.00

GPS_charging 0 0 0.00

Compass 1937 17 455.67

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

4 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -0.57 -170.3 220 2368 1720 1710 0.0 0.0 0 70 0.00 0.00 -61.12 0.004 16386 0.000 0.000 219 2378 3611 3588 3635 0 0 0 0 0 0 14.87 28.83 14.89

72 -0.57 -170.3 219 2378 3589 3636 4.2 -11.9 10 94 11.93 2.22 -4.30 0.021 18692 0.434 0.084 2580 3685 3903 3896 3911 0 0 0 0 0 0 14.40 13.66 14.69

161 -0.57 -170.3 2580 3685 3900 3911 35.6 -20.8 26 168 0.00 2.08 0.00 0.000 1030 0.000 0.041 2580 2383 3906 3901 3911 0 0 0 0 0 0 14.76 14.69 14.77

470 -0.57 -170.3 2580 2380 3906 3911 85.9 -12.1 64 474 0.00 2.33 0.00 0.000 516 0.000 0.048 2580 945 3909 3907 3911 0 0 0 0 0 0 15.00 14.76 15.02

494 -0.57 -170.3 2580 945 3907 3912 89.0 -12.2 69 502 0.00 2.30 0.00 0.000 1030 0.000 0.053 2580 2337 3909 3907 3912 0 0 0 0 0 0 14.84 14.77 14.87

802 -0.57 -170.3 2579 2337 3909 3914 123.1 -13.1 100 807 0.00 2.25 0.00 0.000 260 0.000 0.078 2579 3692 3911 3909 3914 0 0 0 0 0 0 15.05 14.80 15.07

817 -0.57 -170.3 2578 3692 3909 3914 125.4 -13.3 103 824 0.00 2.12 0.00 0.000 1030 0.000 0.039 2579 2342 3911 3909 3914 0 0 0 0 0 0 14.91 14.85 14.93

1123 -0.57 -170.3 2578 2338 3910 3914 170.6 -14.7 134 1125 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2338 3912 3910 3915 0 0 0 0 0 0 15.09 15.11 15.11

1424 -0.57 -170.3 2578 2338 3910 3914 210.6 -12.2 164 1430 0.00 2.28 0.00 0.000 260 0.000 0.079 2578 3692 3912 3910 3914 0 0 0 0 0 0 15.11 14.85 15.13

1466 -0.57 -170.3 2578 3693 3909 3914 215.6 -11.4 172 1472 0.00 2.10 0.00 0.000 1030 0.000 0.038 2579 2342 3912 3910 3914 0 0 0 0 0 0 14.97 14.92 14.98

1800 -0.57 -170.3 2578 2338 3910 3914 253.9 -10.8 204 1801 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2338 3912 3910 3914 0 0 0 0 0 0 15.13 15.16 15.15

2099 -0.57 -170.3 2578 2338 3909 3914 285.1 -10.6 214 2103 0.00 2.20 0.00 0.000 516 0.000 0.048 2578 958 3911 3909 3914 0 0 0 0 0 0 15.16 14.92 15.18

2123 -0.57 -170.3 2578 958 3909 3915 288.1 -11.4 219 2130 0.00 2.28 0.00 0.000 1030 0.000 0.054 2579 2350 3911 3909 3914 0 0 0 0 0 0 14.99 14.90 15.01

2430 -0.57 -170.3 2578 2349 3908 3914 321.9 -10.7 230 2434 0.00 2.22 0.00 0.000 260 0.000 0.083 2578 3693 3910 3907 3914 0 0 0 0 0 0 15.16 14.90 15.19

2485 -0.57 -170.3 2578 3693 3907 3914 327.6 -9.7 241 2492 0.00 2.10 0.00 0.000 1030 0.000 0.040 2578 2340 3910 3907 3914 0 0 0 0 0 0 15.02 14.96 15.02

2791 -0.57 -170.3 2578 2340 3906 3913 358.7 -10.1 252 2796 0.00 2.20 0.00 0.000 516 0.000 0.050 2578 966 3909 3906 3913 0 0 0 0 0 0 15.18 14.94 15.20

2823 -0.57 -170.3 2578 966 3906 3913 361.9 -10.2 258 2827 0.00 2.28 0.00 0.000 1030 0.000 0.056 2578 2353 3909 3906 3913 0 0 0 0 0 0 15.01 14.92 15.02

3153 -0.57 -170.3 2578 2353 3904 3911 393.5 -9.8 274 3155 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2353 3907 3905 3910 0 0 0 0 0 0 15.18 15.21 15.20

3453 -0.57 -170.3 2578 2353 3903 3909 424.0 -10.0 284 3458 0.00 2.22 0.00 0.000 260 0.000 0.086 2578 3692 3905 3902 3908 0 0 0 0 0 0 15.19 14.91 15.21

3519 -0.57 -170.3 2578 3692 3901 3908 430.3 -9.1 297 3523 0.00 2.10 0.00 0.000 1030 0.000 0.041 2578 2347 3905 3902 3908 0 0 0 0 0 0 15.03 14.98 15.04

3845 -0.57 -170.3 2578 2344 3901 3906 462.7 -10.4 312 3846 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2343 3903 3901 3906 0 0 0 0 0 0 15.19 15.21 15.21

4145 -0.57 -170.3 2578 2343 3900 3903 495.8 -11.2 322 4149 0.00 2.28 0.00 0.000 260 0.000 0.085 2579 3690 3901 3899 3903 0 0 0 0 0 0 15.20 14.91 15.21

4206 -0.57 -170.3 2578 3691 3898 3903 502.9 -11.5 334 4210 0.00 2.12 0.00 0.000 1030 0.000 0.042 2578 2351 3900 3898 3903 0 0 0 0 0 0 15.04 14.99 15.05

4537 -0.57 -170.3 2578 2347 3898 3901 539.1 -10.6 350 4538 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2347 3899 3897 3901 0 0 0 0 0 0 15.19 15.22 15.21

4837 -0.57 -170.3 2578 2347 3897 3900 571.4 -11.0 360 4838 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2347 3899 3898 3900 0 0 0 0 0 0 15.20 15.22 15.22

5137 -0.57 -170.3 2578 2347 3897 3897 606.0 -11.5 370 5141 0.00 2.28 0.00 0.000 260 0.000 0.088 2578 3690 3897 3897 3897 0 0 0 0 0 0 15.20 14.91 15.22

5207 -0.57 -170.3 2578 3690 3896 3897 614.0 -10.9 384 5212 0.00 2.10 0.00 0.000 1030 0.000 0.043 2578 2354 3896 3896 3897 0 0 0 0 0 0 15.04 14.98 15.06

5529 -0.57 -170.3 2578 2350 3896 3896 647.7 -10.3 398 5530 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2350 3895 3895 3896 0 0 0 0 0 0 15.19 15.21 15.21

5829 -0.57 -170.3 2578 2350 3895 3894 679.2 -10.6 408 5834 0.00 2.28 0.00 0.000 260 0.000 0.088 2578 3693 3894 3894 3894 0 0 0 0 0 0 15.20 14.90 15.22

5864 -0.57 -170.3 2578 3693 3894 3893 683.2 -10.9 415 5868 0.00 2.12 0.00 0.000 1030 0.000 0.044 2578 2348 3894 3894 3894 0 0 0 0 0 0 15.04 14.98 15.05

6191 -0.57 -170.3 2578 2344 3893 3891 716.1 -10.0 430 6192 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2344 3892 3893 3891 0 0 0 0 0 0 15.20 15.22 15.21

6491 -0.57 -170.3 2578 2344 3892 3890 743.3 -9.0 440 6492 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2345 3891 3892 3890 0 0 0 0 0 0 15.20 15.22 15.22

6791 -0.57 -170.3 2578 2344 3891 3889 769.2 -8.6 450 6792 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2344 3890 3892 3889 0 0 0 0 0 0 15.20 15.23 15.22

7091 -0.57 -170.3 2578 2345 3890 3887 794.3 -8.2 460 7092 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2344 3889 3891 3887 0 0 0 0 0 0 15.21 15.23 15.22

7391 -0.57 -170.3 2578 2344 3889 3885 818.0 -8.0 470 7392 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2345 3887 3890 3885 0 0 0 0 0 0 15.20 15.22 15.22

7691 -0.57 -170.3 2578 2344 3888 3883 842.6 -8.2 480 7696 0.00 2.30 0.00 0.000 260 0.000 0.089 2578 3691 3885 3888 3883 0 0 0 0 0 0 15.21 14.90 15.22

7726 -0.57 -170.3 2578 3692 3887 3883 845.7 -8.4 487 7730 0.00 2.12 0.00 0.000 1030 0.000 0.046 2578 2352 3885 3887 3883 0 0 0 0 0 0 15.04 14.97 15.05

8053 -0.57 -170.3 2578 2349 3887 3882 873.9 -8.8 502 8054 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2349 3884 3887 3882 0 0 0 0 0 0 15.20 15.22 15.21

8352 -0.57 -170.3 2578 2349 3886 3881 899.8 -8.4 512 8357 0.00 2.28 0.00 0.000 516 0.000 0.053 2578 945 3883 3886 3881 0 0 0 0 0 0 15.20 14.94 15.22

8384 -0.57 -170.3 2578 945 3886 3881 902.5 -8.7 518 8388 0.00 2.35 0.00 0.000 1030 0.000 0.061 2578 2348 3883 3886 3881 0 0 0 0 0 0 15.02 14.92 15.04

8715 -0.57 -170.3 2578 2349 3886 3879 928.2 -7.7 534 8719 0.00 2.28 0.00 0.000 260 0.000 0.093 2579 3699 3882 3885 3879 0 0 0 0 0 0 15.19 14.88 15.21

8764 -0.57 -170.3 2578 3699 3885 3879 932.3 -8.0 544 8770 0.00 2.15 0.00 0.000 1030 0.000 0.047 2578 2352 3882 3885 3879 0 0 0 0 0 0 15.02 14.96 15.04

9077 -0.57 -170.3 2578 2348 3885 3878 955.4 -7.3 556 9078 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2348 3881 3885 3878 0 0 0 0 0 0 15.19 15.21 15.21

9377 -0.57 -170.3 2578 2348 3885 3878 978.0 -7.6 566 9378 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2348 3881 3884 3878 0 0 0 0 0 0 15.19 15.21 15.21

9555 end dive: TARGET_DEPTH_EXCEEDED

state 9555 begin apogee

9560 -0.12 0.0 2579 2410 3884 3877 992.0 -7.8 572 9739 0.55 0.00 176.23 1.662 10246 0.214 0.000 2737 2409 3345 3368 3322 0 0 0 0 0 0 14.79 14.14 13.54

9740 end apogee: CONTROL_FINISHED_OK

state 9740 begin climb

9742 0.57 170.3 2738 2409 3363 3317 998.5 0.0 578 9922 0.73 0.00 176.93 1.878 10246 0.129 0.000 2960 2409 2651 2696 2606 0 0 0 0 0 0 14.12 13.98 13.30

10217 0.57 170.3 2960 2410 2671 2593 965.2 9.2 594 10221 0.00 2.22 0.00 0.000 260 0.000 0.088 2960 3689 2632 2670 2594 0 0 0 0 0 0 14.76 14.52 14.78

10241 0.57 170.3 2959 3688 2668 2593 962.5 10.8 599 10249 0.00 2.12 0.00 0.000 1030 0.000 0.048 2960 2408 2630 2668 2593 0 0 0 0 0 0 14.64 14.57 14.66

10549 0.57 170.3 2960 2407 2665 2593 932.7 9.9 610 10550 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2407 2629 2665 2593 0 0 0 0 0 0 14.92 14.95 14.94

10848 0.57 170.3 2959 2407 2664 2592 901.3 10.5 620 10853 0.00 2.22 0.00 0.000 260 0.000 0.084 2960 3693 2628 2664 2592 0 0 0 0 0 0 15.00 14.73 15.02

10874 0.57 170.3 2959 3693 2663 2592 898.3 11.6 625 10881 0.00 2.10 0.00 0.000 1030 0.000 0.049 2960 2399 2627 2664 2591 0 0 0 0 0 0 14.85 14.78 14.87

11180 0.57 170.3 2960 2398 2663 2592 865.9 10.5 636 11185 0.00 2.35 0.00 0.000 516 0.000 0.060 2960 983 2626 2662 2591 0 0 0 0 0 0 15.04 14.80 15.07

11220 0.57 170.3 2960 983 2663 2591 861.6 10.5 644 11226 0.00 2.38 0.00 0.000 1030 0.000 0.057 2960 2399 2627 2663 2591 0 0 0 0 0 0 14.88 14.80 14.91

11543 0.57 170.3 2960 2399 2661 2590 828.7 10.0 658 11547 0.00 2.17 0.00 0.000 260 0.000 0.086 2960 3697 2626 2662 2590 0 0 0 0 0 0 15.08 14.81 15.09

11604 0.57 170.3 2960 3697 2660 2589 822.1 11.1 670 11608 0.00 2.10 0.00 0.000 1030 0.000 0.047 2960 2392 2624 2660 2589 0 0 0 0 0 0 14.92 14.86 14.95

11935 0.57 170.3 2960 2390 2659 2589 791.7 9.0 686 11936 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2390 2624 2660 2589 0 0 0 0 0 0 15.09 15.12 15.11

12235 0.57 170.3 2960 2390 2658 2589 764.5 9.0 696 12240 0.00 2.30 0.00 0.000 516 0.000 0.062 2960 996 2624 2659 2589 0 0 0 0 0 0 15.11 14.86 15.14

12261 0.57 170.3 2960 996 2658 2589 762.1 8.6 701 12268 0.00 2.35 0.00 0.000 1030 0.000 0.059 2959 2404 2623 2658 2589 0 0 0 0 0 0 14.95 14.86 14.97

12567 0.57 170.3 2960 2405 2658 2588 733.5 9.5 712 12572 0.00 2.17 0.00 0.000 260 0.000 0.086 2960 3696 2622 2657 2588 0 0 0 0 0 0 15.13 14.85 15.14

12622 0.57 170.3 2960 3695 2658 2588 727.5 10.4 723 12629 0.00 2.08 0.00 0.000 1030 0.000 0.047 2960 2400 2622 2657 2587 0 0 0 0 0 0 14.97 14.90 14.99

12929 0.57 170.3 2960 2398 2657 2588 699.4 8.9 734 12933 0.00 2.33 0.00 0.000 516 0.000 0.060 2960 992 2622 2657 2588 0 0 0 0 0 0 15.14 14.88 15.15

12968 0.57 170.3 2960 992 2658 2588 695.8 8.7 742 12973 0.00 2.35 0.00 0.000 1030 0.000 0.058 2960 2402 2622 2657 2588 0 0 0 0 0 0 14.96 14.87 14.99

13290 0.57 170.3 2960 2402 2656 2587 667.9 8.8 756 13295 0.00 2.17 0.00 0.000 260 0.000 0.086 2960 3695 2622 2656 2588 0 0 0 0 0 0 15.14 14.85 15.16

13336 0.57 170.3 2960 3695 2655 2587 663.2 10.4 765 13340 0.00 2.08 0.00 0.000 1030 0.000 0.047 2960 2399 2621 2655 2587 0 0 0 0 0 0 14.97 14.92 15.00

13652 0.57 170.3 2960 2396 2655 2588 633.7 9.4 778 13656 0.00 2.22 0.00 0.000 260 0.000 0.084 2960 3698 2621 2655 2587 0 0 0 0 0 0 15.14 14.85 15.16

13683 0.57 170.3 2960 3698 2654 2587 630.6 10.3 784 13688 0.00 2.10 0.00 0.000 1030 0.000 0.050 2960 2395 2620 2654 2587 0 0 0 0 0 0 14.98 14.92 15.00

14016 0.57 170.3 2960 2392 2654 2587 600.3 9.3 800 14017 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2392 2620 2654 2587 0 0 0 0 0 0 15.14 15.16 15.16

14315 0.57 170.3 2960 2392 2654 2587 569.2 10.8 810 14317 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2392 2620 2654 2587 0 0 0 0 0 0 15.15 15.18 15.17

14615 0.57 170.3 2960 2392 2655 2587 536.8 10.6 820 14620 0.00 2.33 0.00 0.000 516 0.000 0.060 2960 992 2620 2654 2587 0 0 0 0 0 0 15.16 14.90 15.18

14641 0.57 170.3 2960 992 2654 2587 534.1 10.2 825 14648 0.00 2.35 0.00 0.000 1030 0.000 0.059 2960 2401 2620 2654 2587 0 0 0 0 0 0 14.98 14.89 15.01

14948 0.57 170.3 2960 2401 2653 2587 502.6 10.2 836 14952 0.00 2.17 0.00 0.000 260 0.000 0.086 2960 3695 2620 2654 2587 0 0 0 0 0 0 15.16 14.88 15.18

14997 0.57 170.3 2960 3695 2653 2587 496.6 12.0 846 15002 0.00 2.10 0.00 0.000 1030 0.000 0.047 2960 2389 2619 2652 2587 0 0 0 0 0 0 15.00 14.93 15.02

15310 0.57 170.3 2960 2386 2653 2587 464.0 10.4 858 15311 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2386 2620 2653 2587 0 0 0 0 0 0 15.16 15.18 15.18

15609 0.57 170.3 2960 2386 2653 2587 435.6 8.9 868 15610 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2386 2620 2653 2587 0 0 0 0 0 0 15.16 15.19 15.19

15910 0.58 170.3 2960 2386 2653 2587 411.6 7.7 878 15911 0.00 0.00 0.00 0.000 70 0.000 0.000 2960 2386 2620 2653 2587 0 0 0 0 0 0 15.16 15.19 15.19

16210 0.65 229.5 2960 2386 2653 2587 391.1 6.5 888 16283 0.00 2.30 67.25 1.247 8484 0.000 0.080 2960 3702 2402 2445 2359 0 0 0 0 0 0 15.16 14.45 14.03

16304 0.67 229.5 2960 3702 2439 2356 384.9 7.5 907 16309 0.12 2.15 0.00 0.000 3142 0.155 0.049 3002 2401 2397 2439 2356 0 0 0 0 0 0 14.54 14.58 14.64

16631 0.67 229.5 3002 2399 2434 2350 353.8 9.8 922 16635 0.00 2.35 0.00 0.000 516 0.000 0.060 3003 996 2391 2434 2349 0 0 0 0 0 0 14.94 14.69 14.96

16715 0.67 229.5 3002 996 2432 2349 345.4 10.2 939 16722 0.00 2.38 0.00 0.000 1030 0.000 0.055 3003 2405 2390 2432 2349 0 0 0 0 0 0 14.80 14.71 14.83

17022 0.67 229.5 3002 2406 2430 2349 310.5 11.3 950 17026 0.00 2.17 0.00 0.000 260 0.000 0.083 3003 3696 2390 2431 2349 0 0 0 0 0 0 15.02 14.75 15.04

17062 0.67 229.5 3002 3696 2430 2349 305.3 12.8 958 17066 0.00 2.10 0.00 0.000 1030 0.000 0.047 3002 2395 2389 2430 2349 0 0 0 0 0 0 14.87 14.81 14.89

17383 0.67 229.5 3002 2393 2430 2349 266.8 12.4 972 17388 0.00 2.33 0.00 0.000 516 0.000 0.061 3003 993 2389 2430 2348 0 0 0 0 0 0 15.06 14.81 15.08

17494 0.67 229.5 3002 993 2429 2348 254.2 10.6 994 17498 0.00 2.35 0.00 0.000 1030 0.000 0.055 3003 2403 2388 2429 2348 0 0 0 0 0 0 14.90 14.81 14.92

17805 0.67 229.5 3002 2403 2429 2347 223.7 10.1 1022 17809 0.00 2.15 0.00 0.000 260 0.000 0.081 3003 3695 2388 2429 2347 0 0 0 0 0 0 15.08 14.81 15.10

17829 0.67 229.5 3002 3695 2429 2347 220.9 11.5 1027 17837 0.00 2.12 0.00 0.000 1030 0.000 0.046 3003 2408 2387 2428 2347 0 0 0 0 0 0 14.88 14.84 14.94

18136 0.67 229.5 3002 2406 2428 2347 184.4 12.6 1058 18141 0.00 2.35 0.00 0.000 516 0.000 0.061 3003 992 2387 2428 2347 0 0 0 0 0 0 15.09 14.83 15.11

18161 0.67 229.5 3002 992 2428 2347 181.3 11.9 1063 18168 0.00 2.35 0.00 0.000 1030 0.000 0.055 3003 2405 2387 2428 2347 0 0 0 0 0 0 14.92 14.84 14.95

18468 0.67 229.5 3002 2404 2428 2347 148.0 9.7 1094 18472 0.00 2.17 0.00 0.000 260 0.000 0.081 3003 3704 2387 2428 2347 0 0 0 0 0 0 15.10 14.82 15.12

18529 0.67 229.5 3002 3704 2428 2347 141.9 9.8 1106 18533 0.00 2.10 0.00 0.000 1030 0.000 0.046 3003 2400 2387 2428 2347 0 0 0 0 0 0 14.95 14.88 14.96

18840 0.70 229.5 3002 2399 2428 2347 122.0 6.8 1138 18844 0.00 2.30 0.00 0.000 580 0.000 0.057 3003 991 2387 2428 2347 0 0 0 0 0 0 15.11 14.85 15.13

18885 0.73 229.5 3002 991 2428 2347 118.6 7.4 1147 18892 0.00 2.33 0.00 0.000 1094 0.000 0.052 3003 2402 2387 2428 2347 0 0 0 0 0 0 14.94 14.85 14.96

19191 0.73 229.5 3002 2401 2428 2347 86.5 12.4 1178 19195 0.00 2.15 0.00 0.000 260 0.000 0.080 3003 3699 2387 2428 2347 0 0 0 0 0 0 15.11 14.83 15.13

19332 0.73 229.5 3002 3699 2428 2347 67.6 12.1 1206 19337 0.00 2.08 0.00 0.000 1030 0.000 0.044 3003 2392 2388 2429 2347 0 0 0 0 0 0 14.95 14.90 14.97

19644 0.88 356.8 3002 2390 2428 2347 50.9 4.2 1238 19771 0.17 2.35 116.70 0.887 10788 0.120 0.053 3069 994 1882 1928 1836 0 0 0 0 0 0 14.88 14.35 14.04

19784 0.89 356.8 3069 994 1928 1836 40.0 7.9 1259 19791 0.00 2.38 0.00 0.000 1094 0.000 0.052 3069 2399 1882 1928 1836 0 0 0 0 0 0 14.54 14.47 14.56

20093 0.89 356.8 3069 2398 1920 1835 16.7 8.1 1320 20100 0.00 2.35 0.00 0.000 516 0.000 0.053 3069 997 1877 1920 1835 0 0 0 0 0 0 14.88 14.66 14.90

20218 0.89 356.8 3069 997 1917 1835 6.5 8.8 1344 20226 0.00 2.35 0.00 0.000 1030 0.000 0.057 3070 2400 1877 1918 1836 0 0 0 0 0 0 14.77 14.69 14.79

20268 end climb: SURFACE_DEPTH_REACHED

state 20268 begin surface coast

20311 end surface coast: CONTROL_FINISHED_OK

state 20311 begin surface

ID	128	KALMAN_USE	2	ROLL_MIN	200	AD7714Ch0Gain	32
MISSION	4	HD_A	0.0026803601	ROLL_MAX	3700	COMPASS_USE	4
DIVE	94	HD_B	0.0139002	ROLL_DEG	40	ALTIM_PING_FIT	0
N_DIVES	0	HD_C	9.1750398e-06	C_ROLL_DIVE	2350	ALTIM_TOP_PING_RANGE	0
STOP_T	0	HEADING	-1	C_ROLL_CLIMB	2400	ALTIM_BOTTOM_TURN_MARGIN	15
D_SURF	3	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	2
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_ABORT	1030	TGT_DEFAULT_LAT	3235	R_PORT_OVSHOOT	73	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	46	ALTIM_FREQUENCY	13
D_BOOST	20	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_PULSE	3
T_BOOST	5	SM_CC	400	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FINISH	0	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_VALID	5
D_PITCH	0	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_SAFE	0	CALL_NDIVES	1	VBD_MIN	400	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	COMM_SEQ	0	VBD_MAX	3900	INT_PRESSURE_YINT	-1
SURFACE_URGENCY	0	PROTOCOL	9	C_VBD	3346	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	2	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	NOCOMM_ACTION	163	VBD_CNV	-0.245296	DEVICE1	2
T_DIVE	390	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	450	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00121	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE5	-1
T_TURN_SAMPINT	-5	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	0	HEAPDBG	0	UNCOM_BLEED	20	LOGGERDEVICE1	-1
T_EPIRB	0	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
EXEC_P	0	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE3	-1
EXEC_DT	0	T_RSLEEP	1	DBDW	0	LOGGERDEVICE4	-1
EXEC_T	0	STROBE	0	LOITER_W_DBAND	0	COMPASS_DEVICE	33
EXEC_N	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_NO_PUMP	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	PITCH_W_GAIN	2	RAFOS_DEVICE	-1
D_OFFGRID	1000	PITCH_MIN	250	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3750	CF8_MAXERRORS	20	SIM_W	0
RELAUNCH	1	C_PITCH	2780	AH0_24V	350	SEABIRD_T_G	0.0043553207
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_10V	0	SEABIRD_T_H	0.00062594062
MAX_BUOY	175	PITCH_CNV	0.003125763	MINV_24V	11	SEABIRD_T_I	2.3765557e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_10V	11	SEABIRD_T_J	2.606791e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8755465
SPEED_FACTOR	0.89999998	PITCH_GAIN	40	MAXI_10V	0.80000001	SEABIRD_C_H	1.1390997
RHO	1.0275	PITCH_TIMEOUT	16	FG_AHR_10V	0	SEABIRD_C_I	-0.0019936475
MASS	51713	PITCH_AD_RATE	175	FG_AHR_24V	0	SEABIRD_C_J	0.00023608611
MASS_COMP	0	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2
NAV_MODE	2	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-157.40906
FERRY_MAX	60	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014074198

GPS1	050218,060807,-313.9970,5537.1870,40,0.7,42,-4.6,1.1,82.1,10,8.6	SPEED_LIMITS	0.132,0.202
_CALLS	1	TGT_NAME	N
_XMS_NAKs	0	TGT_LATLONG	-300.000,5536.000
_XMS_TOUTs	0	TGT_RADIUS	20000.000
_SM_DEPTHo	0.74	MHEAD_RNG_PITCHd_Wd	327.5,26131,-14.4,-8.462,-20.64,3036
_SM_ANGLEo	-74.2	D_GRID	1000
GPS2	050218,061338,-314.0481,5537.3174,20,0.7,22,-4.6,0.7,124.6,11,8.4

FINISH	-0.2,1.022594	_10V_AH	13.65,0.000
SM_CCo	20326,16.55,0.080,0,0,1714,400.08	FG_AHR_24Vo	0.000
SM_GC	0.53,8.25,0.10,16.55,0.087,0.128,0.080,250,2310,1714,-7.86,1.02,400.08,0,0,0,0,0,0,14.69,14.76,14.70	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-315.57,5540.84,050218,000812	MEM	304612
TT8_MAMPS	0.018725,0.15729	DATA_FILE_SIZE	60042,1361
HUMID	58.97	CAP_FILE_SIZE	163748,0
INTERNAL_PRESSURE	8.46325	CFSIZE	260034560,251019264
TCM_TEMP	22.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.170,88.99,1
_24V_AH	13.30,32.753	GPS	050218,115442,-312.085,5537.869,39,1.2,46,-4.6,0.8,86.0,6,9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	433	125.47	SBE_CT	709	23	226.06
Roll_motor	160	181	387.32	nil	0	0	0.00
VBD_pump_during_apogee	537	1878	13415.90	nil	0	0	0.00
VBD_pump_during_surface	16	79	17.51	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	nil	0	0	0.00
Iridium_during_xfer	232	133	414.82	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	20	6.60
TT8	3067	9	396.56
LPSleep	14530	2	434.37
TT8_Active	732	9	94.72
TT8_Sampling	2195	28	845.00
TT8_CF8	157	34	73.29
TT8_Kalman	0	0	0.00
Analog_circuits	2060	16	450.00
GPS_charging	0	0	0.00
Compass	1937	17	455.67
RAFOS	0	0	0.00
Transponder	0	5	0.04

		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

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
4	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-0.57	-170.3	220	2368	1720	1710	0.0	0.0	0	70	0.00	0.00	-61.12	0.004	16386	0.000	0.000	219	2378	3611	3588	3635	0	0	0	0	0	0	14.87	28.83	14.89
72	-0.57	-170.3	219	2378	3589	3636	4.2	-11.9	10	94	11.93	2.22	-4.30	0.021	18692	0.434	0.084	2580	3685	3903	3896	3911	0	0	0	0	0	0	14.40	13.66	14.69
161	-0.57	-170.3	2580	3685	3900	3911	35.6	-20.8	26	168	0.00	2.08	0.00	0.000	1030	0.000	0.041	2580	2383	3906	3901	3911	0	0	0	0	0	0	14.76	14.69	14.77
470	-0.57	-170.3	2580	2380	3906	3911	85.9	-12.1	64	474	0.00	2.33	0.00	0.000	516	0.000	0.048	2580	945	3909	3907	3911	0	0	0	0	0	0	15.00	14.76	15.02
494	-0.57	-170.3	2580	945	3907	3912	89.0	-12.2	69	502	0.00	2.30	0.00	0.000	1030	0.000	0.053	2580	2337	3909	3907	3912	0	0	0	0	0	0	14.84	14.77	14.87
802	-0.57	-170.3	2579	2337	3909	3914	123.1	-13.1	100	807	0.00	2.25	0.00	0.000	260	0.000	0.078	2579	3692	3911	3909	3914	0	0	0	0	0	0	15.05	14.80	15.07
817	-0.57	-170.3	2578	3692	3909	3914	125.4	-13.3	103	824	0.00	2.12	0.00	0.000	1030	0.000	0.039	2579	2342	3911	3909	3914	0	0	0	0	0	0	14.91	14.85	14.93
1123	-0.57	-170.3	2578	2338	3910	3914	170.6	-14.7	134	1125	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2338	3912	3910	3915	0	0	0	0	0	0	15.09	15.11	15.11
1424	-0.57	-170.3	2578	2338	3910	3914	210.6	-12.2	164	1430	0.00	2.28	0.00	0.000	260	0.000	0.079	2578	3692	3912	3910	3914	0	0	0	0	0	0	15.11	14.85	15.13
1466	-0.57	-170.3	2578	3693	3909	3914	215.6	-11.4	172	1472	0.00	2.10	0.00	0.000	1030	0.000	0.038	2579	2342	3912	3910	3914	0	0	0	0	0	0	14.97	14.92	14.98
1800	-0.57	-170.3	2578	2338	3910	3914	253.9	-10.8	204	1801	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2338	3912	3910	3914	0	0	0	0	0	0	15.13	15.16	15.15
2099	-0.57	-170.3	2578	2338	3909	3914	285.1	-10.6	214	2103	0.00	2.20	0.00	0.000	516	0.000	0.048	2578	958	3911	3909	3914	0	0	0	0	0	0	15.16	14.92	15.18
2123	-0.57	-170.3	2578	958	3909	3915	288.1	-11.4	219	2130	0.00	2.28	0.00	0.000	1030	0.000	0.054	2579	2350	3911	3909	3914	0	0	0	0	0	0	14.99	14.90	15.01
2430	-0.57	-170.3	2578	2349	3908	3914	321.9	-10.7	230	2434	0.00	2.22	0.00	0.000	260	0.000	0.083	2578	3693	3910	3907	3914	0	0	0	0	0	0	15.16	14.90	15.19
2485	-0.57	-170.3	2578	3693	3907	3914	327.6	-9.7	241	2492	0.00	2.10	0.00	0.000	1030	0.000	0.040	2578	2340	3910	3907	3914	0	0	0	0	0	0	15.02	14.96	15.02
2791	-0.57	-170.3	2578	2340	3906	3913	358.7	-10.1	252	2796	0.00	2.20	0.00	0.000	516	0.000	0.050	2578	966	3909	3906	3913	0	0	0	0	0	0	15.18	14.94	15.20
2823	-0.57	-170.3	2578	966	3906	3913	361.9	-10.2	258	2827	0.00	2.28	0.00	0.000	1030	0.000	0.056	2578	2353	3909	3906	3913	0	0	0	0	0	0	15.01	14.92	15.02
3153	-0.57	-170.3	2578	2353	3904	3911	393.5	-9.8	274	3155	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2353	3907	3905	3910	0	0	0	0	0	0	15.18	15.21	15.20
3453	-0.57	-170.3	2578	2353	3903	3909	424.0	-10.0	284	3458	0.00	2.22	0.00	0.000	260	0.000	0.086	2578	3692	3905	3902	3908	0	0	0	0	0	0	15.19	14.91	15.21
3519	-0.57	-170.3	2578	3692	3901	3908	430.3	-9.1	297	3523	0.00	2.10	0.00	0.000	1030	0.000	0.041	2578	2347	3905	3902	3908	0	0	0	0	0	0	15.03	14.98	15.04
3845	-0.57	-170.3	2578	2344	3901	3906	462.7	-10.4	312	3846	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2343	3903	3901	3906	0	0	0	0	0	0	15.19	15.21	15.21
4145	-0.57	-170.3	2578	2343	3900	3903	495.8	-11.2	322	4149	0.00	2.28	0.00	0.000	260	0.000	0.085	2579	3690	3901	3899	3903	0	0	0	0	0	0	15.20	14.91	15.21
4206	-0.57	-170.3	2578	3691	3898	3903	502.9	-11.5	334	4210	0.00	2.12	0.00	0.000	1030	0.000	0.042	2578	2351	3900	3898	3903	0	0	0	0	0	0	15.04	14.99	15.05
4537	-0.57	-170.3	2578	2347	3898	3901	539.1	-10.6	350	4538	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2347	3899	3897	3901	0	0	0	0	0	0	15.19	15.22	15.21
4837	-0.57	-170.3	2578	2347	3897	3900	571.4	-11.0	360	4838	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2347	3899	3898	3900	0	0	0	0	0	0	15.20	15.22	15.22
5137	-0.57	-170.3	2578	2347	3897	3897	606.0	-11.5	370	5141	0.00	2.28	0.00	0.000	260	0.000	0.088	2578	3690	3897	3897	3897	0	0	0	0	0	0	15.20	14.91	15.22
5207	-0.57	-170.3	2578	3690	3896	3897	614.0	-10.9	384	5212	0.00	2.10	0.00	0.000	1030	0.000	0.043	2578	2354	3896	3896	3897	0	0	0	0	0	0	15.04	14.98	15.06
5529	-0.57	-170.3	2578	2350	3896	3896	647.7	-10.3	398	5530	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2350	3895	3895	3896	0	0	0	0	0	0	15.19	15.21	15.21
5829	-0.57	-170.3	2578	2350	3895	3894	679.2	-10.6	408	5834	0.00	2.28	0.00	0.000	260	0.000	0.088	2578	3693	3894	3894	3894	0	0	0	0	0	0	15.20	14.90	15.22
5864	-0.57	-170.3	2578	3693	3894	3893	683.2	-10.9	415	5868	0.00	2.12	0.00	0.000	1030	0.000	0.044	2578	2348	3894	3894	3894	0	0	0	0	0	0	15.04	14.98	15.05
6191	-0.57	-170.3	2578	2344	3893	3891	716.1	-10.0	430	6192	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2344	3892	3893	3891	0	0	0	0	0	0	15.20	15.22	15.21
6491	-0.57	-170.3	2578	2344	3892	3890	743.3	-9.0	440	6492	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2345	3891	3892	3890	0	0	0	0	0	0	15.20	15.22	15.22
6791	-0.57	-170.3	2578	2344	3891	3889	769.2	-8.6	450	6792	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2344	3890	3892	3889	0	0	0	0	0	0	15.20	15.23	15.22
7091	-0.57	-170.3	2578	2345	3890	3887	794.3	-8.2	460	7092	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2344	3889	3891	3887	0	0	0	0	0	0	15.21	15.23	15.22
7391	-0.57	-170.3	2578	2344	3889	3885	818.0	-8.0	470	7392	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2345	3887	3890	3885	0	0	0	0	0	0	15.20	15.22	15.22
7691	-0.57	-170.3	2578	2344	3888	3883	842.6	-8.2	480	7696	0.00	2.30	0.00	0.000	260	0.000	0.089	2578	3691	3885	3888	3883	0	0	0	0	0	0	15.21	14.90	15.22
7726	-0.57	-170.3	2578	3692	3887	3883	845.7	-8.4	487	7730	0.00	2.12	0.00	0.000	1030	0.000	0.046	2578	2352	3885	3887	3883	0	0	0	0	0	0	15.04	14.97	15.05
8053	-0.57	-170.3	2578	2349	3887	3882	873.9	-8.8	502	8054	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2349	3884	3887	3882	0	0	0	0	0	0	15.20	15.22	15.21
8352	-0.57	-170.3	2578	2349	3886	3881	899.8	-8.4	512	8357	0.00	2.28	0.00	0.000	516	0.000	0.053	2578	945	3883	3886	3881	0	0	0	0	0	0	15.20	14.94	15.22
8384	-0.57	-170.3	2578	945	3886	3881	902.5	-8.7	518	8388	0.00	2.35	0.00	0.000	1030	0.000	0.061	2578	2348	3883	3886	3881	0	0	0	0	0	0	15.02	14.92	15.04
8715	-0.57	-170.3	2578	2349	3886	3879	928.2	-7.7	534	8719	0.00	2.28	0.00	0.000	260	0.000	0.093	2579	3699	3882	3885	3879	0	0	0	0	0	0	15.19	14.88	15.21
8764	-0.57	-170.3	2578	3699	3885	3879	932.3	-8.0	544	8770	0.00	2.15	0.00	0.000	1030	0.000	0.047	2578	2352	3882	3885	3879	0	0	0	0	0	0	15.02	14.96	15.04
9077	-0.57	-170.3	2578	2348	3885	3878	955.4	-7.3	556	9078	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2348	3881	3885	3878	0	0	0	0	0	0	15.19	15.21	15.21
9377	-0.57	-170.3	2578	2348	3885	3878	978.0	-7.6	566	9378	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2348	3881	3884	3878	0	0	0	0	0	0	15.19	15.21	15.21
9555	end dive: TARGET_DEPTH_EXCEEDED
state	9555	begin apogee
9560	-0.12	0.0	2579	2410	3884	3877	992.0	-7.8	572	9739	0.55	0.00	176.23	1.662	10246	0.214	0.000	2737	2409	3345	3368	3322	0	0	0	0	0	0	14.79	14.14	13.54
9740	end apogee: CONTROL_FINISHED_OK
state	9740	begin climb
9742	0.57	170.3	2738	2409	3363	3317	998.5	0.0	578	9922	0.73	0.00	176.93	1.878	10246	0.129	0.000	2960	2409	2651	2696	2606	0	0	0	0	0	0	14.12	13.98	13.30
10217	0.57	170.3	2960	2410	2671	2593	965.2	9.2	594	10221	0.00	2.22	0.00	0.000	260	0.000	0.088	2960	3689	2632	2670	2594	0	0	0	0	0	0	14.76	14.52	14.78
10241	0.57	170.3	2959	3688	2668	2593	962.5	10.8	599	10249	0.00	2.12	0.00	0.000	1030	0.000	0.048	2960	2408	2630	2668	2593	0	0	0	0	0	0	14.64	14.57	14.66
10549	0.57	170.3	2960	2407	2665	2593	932.7	9.9	610	10550	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2407	2629	2665	2593	0	0	0	0	0	0	14.92	14.95	14.94
10848	0.57	170.3	2959	2407	2664	2592	901.3	10.5	620	10853	0.00	2.22	0.00	0.000	260	0.000	0.084	2960	3693	2628	2664	2592	0	0	0	0	0	0	15.00	14.73	15.02
10874	0.57	170.3	2959	3693	2663	2592	898.3	11.6	625	10881	0.00	2.10	0.00	0.000	1030	0.000	0.049	2960	2399	2627	2664	2591	0	0	0	0	0	0	14.85	14.78	14.87
11180	0.57	170.3	2960	2398	2663	2592	865.9	10.5	636	11185	0.00	2.35	0.00	0.000	516	0.000	0.060	2960	983	2626	2662	2591	0	0	0	0	0	0	15.04	14.80	15.07
11220	0.57	170.3	2960	983	2663	2591	861.6	10.5	644	11226	0.00	2.38	0.00	0.000	1030	0.000	0.057	2960	2399	2627	2663	2591	0	0	0	0	0	0	14.88	14.80	14.91
11543	0.57	170.3	2960	2399	2661	2590	828.7	10.0	658	11547	0.00	2.17	0.00	0.000	260	0.000	0.086	2960	3697	2626	2662	2590	0	0	0	0	0	0	15.08	14.81	15.09
11604	0.57	170.3	2960	3697	2660	2589	822.1	11.1	670	11608	0.00	2.10	0.00	0.000	1030	0.000	0.047	2960	2392	2624	2660	2589	0	0	0	0	0	0	14.92	14.86	14.95
11935	0.57	170.3	2960	2390	2659	2589	791.7	9.0	686	11936	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2390	2624	2660	2589	0	0	0	0	0	0	15.09	15.12	15.11
12235	0.57	170.3	2960	2390	2658	2589	764.5	9.0	696	12240	0.00	2.30	0.00	0.000	516	0.000	0.062	2960	996	2624	2659	2589	0	0	0	0	0	0	15.11	14.86	15.14
12261	0.57	170.3	2960	996	2658	2589	762.1	8.6	701	12268	0.00	2.35	0.00	0.000	1030	0.000	0.059	2959	2404	2623	2658	2589	0	0	0	0	0	0	14.95	14.86	14.97
12567	0.57	170.3	2960	2405	2658	2588	733.5	9.5	712	12572	0.00	2.17	0.00	0.000	260	0.000	0.086	2960	3696	2622	2657	2588	0	0	0	0	0	0	15.13	14.85	15.14
12622	0.57	170.3	2960	3695	2658	2588	727.5	10.4	723	12629	0.00	2.08	0.00	0.000	1030	0.000	0.047	2960	2400	2622	2657	2587	0	0	0	0	0	0	14.97	14.90	14.99
12929	0.57	170.3	2960	2398	2657	2588	699.4	8.9	734	12933	0.00	2.33	0.00	0.000	516	0.000	0.060	2960	992	2622	2657	2588	0	0	0	0	0	0	15.14	14.88	15.15
12968	0.57	170.3	2960	992	2658	2588	695.8	8.7	742	12973	0.00	2.35	0.00	0.000	1030	0.000	0.058	2960	2402	2622	2657	2588	0	0	0	0	0	0	14.96	14.87	14.99
13290	0.57	170.3	2960	2402	2656	2587	667.9	8.8	756	13295	0.00	2.17	0.00	0.000	260	0.000	0.086	2960	3695	2622	2656	2588	0	0	0	0	0	0	15.14	14.85	15.16
13336	0.57	170.3	2960	3695	2655	2587	663.2	10.4	765	13340	0.00	2.08	0.00	0.000	1030	0.000	0.047	2960	2399	2621	2655	2587	0	0	0	0	0	0	14.97	14.92	15.00
13652	0.57	170.3	2960	2396	2655	2588	633.7	9.4	778	13656	0.00	2.22	0.00	0.000	260	0.000	0.084	2960	3698	2621	2655	2587	0	0	0	0	0	0	15.14	14.85	15.16
13683	0.57	170.3	2960	3698	2654	2587	630.6	10.3	784	13688	0.00	2.10	0.00	0.000	1030	0.000	0.050	2960	2395	2620	2654	2587	0	0	0	0	0	0	14.98	14.92	15.00
14016	0.57	170.3	2960	2392	2654	2587	600.3	9.3	800	14017	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2392	2620	2654	2587	0	0	0	0	0	0	15.14	15.16	15.16
14315	0.57	170.3	2960	2392	2654	2587	569.2	10.8	810	14317	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2392	2620	2654	2587	0	0	0	0	0	0	15.15	15.18	15.17
14615	0.57	170.3	2960	2392	2655	2587	536.8	10.6	820	14620	0.00	2.33	0.00	0.000	516	0.000	0.060	2960	992	2620	2654	2587	0	0	0	0	0	0	15.16	14.90	15.18
14641	0.57	170.3	2960	992	2654	2587	534.1	10.2	825	14648	0.00	2.35	0.00	0.000	1030	0.000	0.059	2960	2401	2620	2654	2587	0	0	0	0	0	0	14.98	14.89	15.01
14948	0.57	170.3	2960	2401	2653	2587	502.6	10.2	836	14952	0.00	2.17	0.00	0.000	260	0.000	0.086	2960	3695	2620	2654	2587	0	0	0	0	0	0	15.16	14.88	15.18
14997	0.57	170.3	2960	3695	2653	2587	496.6	12.0	846	15002	0.00	2.10	0.00	0.000	1030	0.000	0.047	2960	2389	2619	2652	2587	0	0	0	0	0	0	15.00	14.93	15.02
15310	0.57	170.3	2960	2386	2653	2587	464.0	10.4	858	15311	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2386	2620	2653	2587	0	0	0	0	0	0	15.16	15.18	15.18
15609	0.57	170.3	2960	2386	2653	2587	435.6	8.9	868	15610	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2386	2620	2653	2587	0	0	0	0	0	0	15.16	15.19	15.19
15910	0.58	170.3	2960	2386	2653	2587	411.6	7.7	878	15911	0.00	0.00	0.00	0.000	70	0.000	0.000	2960	2386	2620	2653	2587	0	0	0	0	0	0	15.16	15.19	15.19
16210	0.65	229.5	2960	2386	2653	2587	391.1	6.5	888	16283	0.00	2.30	67.25	1.247	8484	0.000	0.080	2960	3702	2402	2445	2359	0	0	0	0	0	0	15.16	14.45	14.03
16304	0.67	229.5	2960	3702	2439	2356	384.9	7.5	907	16309	0.12	2.15	0.00	0.000	3142	0.155	0.049	3002	2401	2397	2439	2356	0	0	0	0	0	0	14.54	14.58	14.64
16631	0.67	229.5	3002	2399	2434	2350	353.8	9.8	922	16635	0.00	2.35	0.00	0.000	516	0.000	0.060	3003	996	2391	2434	2349	0	0	0	0	0	0	14.94	14.69	14.96
16715	0.67	229.5	3002	996	2432	2349	345.4	10.2	939	16722	0.00	2.38	0.00	0.000	1030	0.000	0.055	3003	2405	2390	2432	2349	0	0	0	0	0	0	14.80	14.71	14.83
17022	0.67	229.5	3002	2406	2430	2349	310.5	11.3	950	17026	0.00	2.17	0.00	0.000	260	0.000	0.083	3003	3696	2390	2431	2349	0	0	0	0	0	0	15.02	14.75	15.04
17062	0.67	229.5	3002	3696	2430	2349	305.3	12.8	958	17066	0.00	2.10	0.00	0.000	1030	0.000	0.047	3002	2395	2389	2430	2349	0	0	0	0	0	0	14.87	14.81	14.89
17383	0.67	229.5	3002	2393	2430	2349	266.8	12.4	972	17388	0.00	2.33	0.00	0.000	516	0.000	0.061	3003	993	2389	2430	2348	0	0	0	0	0	0	15.06	14.81	15.08
17494	0.67	229.5	3002	993	2429	2348	254.2	10.6	994	17498	0.00	2.35	0.00	0.000	1030	0.000	0.055	3003	2403	2388	2429	2348	0	0	0	0	0	0	14.90	14.81	14.92
17805	0.67	229.5	3002	2403	2429	2347	223.7	10.1	1022	17809	0.00	2.15	0.00	0.000	260	0.000	0.081	3003	3695	2388	2429	2347	0	0	0	0	0	0	15.08	14.81	15.10
17829	0.67	229.5	3002	3695	2429	2347	220.9	11.5	1027	17837	0.00	2.12	0.00	0.000	1030	0.000	0.046	3003	2408	2387	2428	2347	0	0	0	0	0	0	14.88	14.84	14.94
18136	0.67	229.5	3002	2406	2428	2347	184.4	12.6	1058	18141	0.00	2.35	0.00	0.000	516	0.000	0.061	3003	992	2387	2428	2347	0	0	0	0	0	0	15.09	14.83	15.11
18161	0.67	229.5	3002	992	2428	2347	181.3	11.9	1063	18168	0.00	2.35	0.00	0.000	1030	0.000	0.055	3003	2405	2387	2428	2347	0	0	0	0	0	0	14.92	14.84	14.95
18468	0.67	229.5	3002	2404	2428	2347	148.0	9.7	1094	18472	0.00	2.17	0.00	0.000	260	0.000	0.081	3003	3704	2387	2428	2347	0	0	0	0	0	0	15.10	14.82	15.12
18529	0.67	229.5	3002	3704	2428	2347	141.9	9.8	1106	18533	0.00	2.10	0.00	0.000	1030	0.000	0.046	3003	2400	2387	2428	2347	0	0	0	0	0	0	14.95	14.88	14.96
18840	0.70	229.5	3002	2399	2428	2347	122.0	6.8	1138	18844	0.00	2.30	0.00	0.000	580	0.000	0.057	3003	991	2387	2428	2347	0	0	0	0	0	0	15.11	14.85	15.13
18885	0.73	229.5	3002	991	2428	2347	118.6	7.4	1147	18892	0.00	2.33	0.00	0.000	1094	0.000	0.052	3003	2402	2387	2428	2347	0	0	0	0	0	0	14.94	14.85	14.96
19191	0.73	229.5	3002	2401	2428	2347	86.5	12.4	1178	19195	0.00	2.15	0.00	0.000	260	0.000	0.080	3003	3699	2387	2428	2347	0	0	0	0	0	0	15.11	14.83	15.13
19332	0.73	229.5	3002	3699	2428	2347	67.6	12.1	1206	19337	0.00	2.08	0.00	0.000	1030	0.000	0.044	3003	2392	2388	2429	2347	0	0	0	0	0	0	14.95	14.90	14.97
19644	0.88	356.8	3002	2390	2428	2347	50.9	4.2	1238	19771	0.17	2.35	116.70	0.887	10788	0.120	0.053	3069	994	1882	1928	1836	0	0	0	0	0	0	14.88	14.35	14.04
19784	0.89	356.8	3069	994	1928	1836	40.0	7.9	1259	19791	0.00	2.38	0.00	0.000	1094	0.000	0.052	3069	2399	1882	1928	1836	0	0	0	0	0	0	14.54	14.47	14.56
20093	0.89	356.8	3069	2398	1920	1835	16.7	8.1	1320	20100	0.00	2.35	0.00	0.000	516	0.000	0.053	3069	997	1877	1920	1835	0	0	0	0	0	0	14.88	14.66	14.90
20218	0.89	356.8	3069	997	1917	1835	6.5	8.8	1344	20226	0.00	2.35	0.00	0.000	1030	0.000	0.057	3070	2400	1877	1918	1836	0	0	0	0	0	0	14.77	14.69	14.79
20268	end climb: SURFACE_DEPTH_REACHED
state	20268	begin surface coast
20311	end surface coast: CONTROL_FINISHED_OK
state	20311	begin surface