Glider dive log

PortSusan 10Jul07 * SG112 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 112 HD_B 0.0138418 PITCH_AD_RATE 100 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 4.7289599e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 10 HEADING -1 PITCH_ADJ_GAIN 0.029999999 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 145 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 2

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 400

D_TGT 150 FIX_MISSING_TIMEOUT 1 ROLL_MAX 3791 ALTIM_PING_DELTA 50

D_ABORT 200 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2060 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1870 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 688.85968 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 2 R_PORT_OVSHOOT 12 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 486 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3335 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 49

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -18100.949 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 135 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3252 AH0_10V 80 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2269 PRESSURE_YINT -3.7066903 SEABIRD_T_I 2.5554549e-05

MASS 51440 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038775599 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 80 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 688.85968

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 D_TGT 150 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 145 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2 FERRY_MAX 0 PRESSURE_YINT -3.7066903 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 1 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 50

CALL_TRIES 5 HD_A 0.0038775599 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0138418 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 4.7289599e-05 RHO 1.023 T_GPS_CHARGE -18100.949

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 75

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 49 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 112 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2269 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1870 INT_PRESSURE_YINT 0 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 2060 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3335 MASS 51440 R_PORT_OVSHOOT 12 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 135 R_STBD_OVSHOOT 16 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 486

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 10 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 200 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 060205,4807.117,-12222.959,12,2.2,31,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.136,0.154

_SM_DEPTHo 1.79 KALMAN_X 29.2,12.1,5.2,-459.2,4.8

_SM_ANGLEo -50.3 KALMAN_Y -687.5,-292.5,-31.5,1774.3,25.6

GPS2 060751,4807.104,-12222.919,13,1.3,13,18.3 MHEAD_RNG_PITCHd_Wd 300.3,2131,-22.4,-10.000

SPEED_LIMITS 0.173,0.206 D_GRID 105

Post-dive calculations and measurements:

FINISH 1.1,1.000333 XPDR_PINGS 1

SM_CCo 2297,249.55,0.584,0,0,526,689.05 ALTIM_TOP_PING 19.2,18.3

SM_GC 1.80,0.00,0.00,249.55,0.000,0.000,0.584,678,2093,526,-7.32,0.90,689.05 _24V_AH 20.8,14.650

RAFOS_CLK 108 _10V_AH 10.0,5.973

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 9614,241

IRIDIUM_FIX 4751.72,-12219.12,110707,090916 CFSIZE 260165632,256491520

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1996 SOUNDSPEED 1483.9

INTERNAL_PRESSURE 10.3227 GPS 110707,065209,4807.263,-12223.149,8,1.5,8,18.3

TCM_TEMP 9.20

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 246 130.97 SBE_CT 168 24 83.97

Roll_motor 51 97 104.34 SBE_O2 167 19 66.21

VBD_pump_during_apogee 330 682 4692.32 nil 0 0 0.00

VBD_pump_during_surface 249 584 3033.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 87.99 nil 0 0 0.00

Iridium_during_connect 31 160 106.40 nil 0 0 0.00

Iridium_during_xfer 138 223 642.24

Transponder_ping 0 420 4.37

GPS 15 50 7.71

TT8 439 19 87.63

LPSleep 1097 2 25.36

TT8_Active 706 19 140.79

TT8_Sampling 295 39 118.13

TT8_CF8 370 45 170.13

TT8_Kalman 33 81 27.30

Analog_circuits 987 12 118.49

GPS_charging 0 0 0.00

Compass 285 20 57.14

RAFOS 0 1 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl 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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.15 -132.0 0.0 0.0 0 103 0.00 0.00 -74.43 0.000 2 0.000 0.000 675 2067 2663

107 -1.15 -132.0 3.1 -5.4 15 164 11.38 2.92 -39.97 0.000 4 0.246 0.061 2014 646 3874

182 -1.15 -132.0 6.3 -9.1 29 188 0.00 2.75 0.00 0.000 6 0.000 0.036 2014 2070 3875

256 -0.96 -132.0 14.8 -12.1 42 263 0.25 2.95 0.00 0.000 4 0.146 0.077 2053 3463 3876

314 -0.85 -132.0 21.1 -10.8 52 319 0.17 2.70 0.00 0.000 6 0.143 0.035 2078 2064 3877

386 -0.85 -132.0 27.8 -9.2 58 390 0.00 2.90 0.00 0.000 4 0.000 0.066 2078 3462 3877

430 -0.94 -132.0 32.3 -9.5 61 435 0.00 2.55 0.00 0.000 6 0.000 0.035 2078 2135 3877

500 -1.06 -132.0 38.8 -9.6 68 502 0.20 0.00 0.00 0.000 6 0.047 0.000 2031 2134 3878

564 -1.17 -132.0 46.3 -12.1 74 568 0.00 2.78 0.00 0.000 4 0.000 0.067 2031 3469 3877

614 -1.14 -132.0 52.5 -11.9 78 619 0.00 2.53 0.00 0.000 6 0.000 0.038 2031 2161 3878

748 -1.12 -132.0 68.4 -11.8 90 749 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2160 3878

875 -1.10 -132.0 83.3 -11.6 102 876 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2161 3878

1003 -1.10 -132.0 98.0 -11.4 114 1007 0.00 2.75 0.00 0.000 4 0.000 0.074 2031 3465 3878

1061 end dive: TARGET_DEPTH_EXCEEDED

state 1061 begin apogee

1072 -0.21 0.0 105.1 11.7 119 1188 1.10 0.00 112.28 0.683 6 0.140 0.000 2217 1875 3335

1189 end apogee: CONTROL_FINISHED_OK

state 1189 begin climb

1192 1.15 132.0 109.4 0.0 131 1314 1.58 3.25 111.85 0.665 4 0.074 0.097 2517 467 2797

1383 1.15 132.0 93.3 13.9 149 1388 0.00 2.83 0.00 0.000 6 0.000 0.047 2516 1863 2796

1517 0.88 132.0 75.9 12.7 161 1523 0.32 3.17 0.00 0.000 4 0.136 0.094 2466 3284 2795

1650 0.66 132.0 61.6 10.1 172 1655 0.35 2.75 0.00 0.000 6 0.147 0.045 2414 1918 2794

1784 0.55 185.3 51.2 7.2 184 1836 0.15 2.90 43.58 0.660 4 0.146 0.066 2389 3282 2578

1938 0.72 240.2 40.5 7.1 198 1990 0.17 2.72 45.10 0.649 6 0.050 0.045 2428 1925 2354

2054 1.00 261.7 30.6 8.9 209 2078 0.25 2.92 17.67 0.650 4 0.044 0.067 2488 3283 2266

2124 1.16 261.7 21.5 13.6 215 2131 0.17 2.70 0.00 0.000 6 0.053 0.046 2524 1950 2265

2198 1.14 261.7 10.4 15.3 227 2203 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 1950 2265

2256 end climb: SURFACE_DEPTH_REACHED

state 2256 begin surface coast

2275 end surface coast: CONTROL_FINISHED_OK

state 2275 begin surface

ID	112	HD_B	0.0138418	PITCH_AD_RATE	100	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	4.7289599e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	10	HEADING	-1	PITCH_ADJ_GAIN	0.029999999	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	145	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	2
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	400
D_TGT	150	FIX_MISSING_TIMEOUT	1	ROLL_MAX	3791	ALTIM_PING_DELTA	50
D_ABORT	200	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2060	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1870	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	688.85968	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	2	R_PORT_OVSHOOT	12	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	486	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3335	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	49
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-18100.949	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	135	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3252	AH0_10V	80	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2269	PRESSURE_YINT	-3.7066903	SEABIRD_T_I	2.5554549e-05
MASS	51440	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038775599	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017379176

GPS1	060205,4807.117,-12222.959,12,2.2,31,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.136,0.154
_SM_DEPTHo	1.79	KALMAN_X	29.2,12.1,5.2,-459.2,4.8
_SM_ANGLEo	-50.3	KALMAN_Y	-687.5,-292.5,-31.5,1774.3,25.6
GPS2	060751,4807.104,-12222.919,13,1.3,13,18.3	MHEAD_RNG_PITCHd_Wd	300.3,2131,-22.4,-10.000
SPEED_LIMITS	0.173,0.206	D_GRID	105

FINISH	1.1,1.000333	XPDR_PINGS	1
SM_CCo	2297,249.55,0.584,0,0,526,689.05	ALTIM_TOP_PING	19.2,18.3
SM_GC	1.80,0.00,0.00,249.55,0.000,0.000,0.584,678,2093,526,-7.32,0.90,689.05	_24V_AH	20.8,14.650
RAFOS_CLK	108	_10V_AH	10.0,5.973
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	9614,241
IRIDIUM_FIX	4751.72,-12219.12,110707,090916	CFSIZE	260165632,256491520
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1996	SOUNDSPEED	1483.9
INTERNAL_PRESSURE	10.3227	GPS	110707,065209,4807.263,-12223.149,8,1.5,8,18.3
TCM_TEMP	9.20

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	246	130.97	SBE_CT	168	24	83.97
Roll_motor	51	97	104.34	SBE_O2	167	19	66.21
VBD_pump_during_apogee	330	682	4692.32	nil	0	0	0.00
VBD_pump_during_surface	249	584	3033.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	87.99	nil	0	0	0.00
Iridium_during_connect	31	160	106.40	nil	0	0	0.00
Iridium_during_xfer	138	223	642.24
Transponder_ping	0	420	4.37
GPS	15	50	7.71
TT8	439	19	87.63
LPSleep	1097	2	25.36
TT8_Active	706	19	140.79
TT8_Sampling	295	39	118.13
TT8_CF8	370	45	170.13
TT8_Kalman	33	81	27.30
Analog_circuits	987	12	118.49
GPS_charging	0	0	0.00
Compass	285	20	57.14
RAFOS	0	1	0.00

st_secs	pitch_ctl	vbd_ctl	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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.15	-132.0	0.0	0.0	0	103	0.00	0.00	-74.43	0.000	2	0.000	0.000	675	2067	2663
107	-1.15	-132.0	3.1	-5.4	15	164	11.38	2.92	-39.97	0.000	4	0.246	0.061	2014	646	3874
182	-1.15	-132.0	6.3	-9.1	29	188	0.00	2.75	0.00	0.000	6	0.000	0.036	2014	2070	3875
256	-0.96	-132.0	14.8	-12.1	42	263	0.25	2.95	0.00	0.000	4	0.146	0.077	2053	3463	3876
314	-0.85	-132.0	21.1	-10.8	52	319	0.17	2.70	0.00	0.000	6	0.143	0.035	2078	2064	3877
386	-0.85	-132.0	27.8	-9.2	58	390	0.00	2.90	0.00	0.000	4	0.000	0.066	2078	3462	3877
430	-0.94	-132.0	32.3	-9.5	61	435	0.00	2.55	0.00	0.000	6	0.000	0.035	2078	2135	3877
500	-1.06	-132.0	38.8	-9.6	68	502	0.20	0.00	0.00	0.000	6	0.047	0.000	2031	2134	3878
564	-1.17	-132.0	46.3	-12.1	74	568	0.00	2.78	0.00	0.000	4	0.000	0.067	2031	3469	3877
614	-1.14	-132.0	52.5	-11.9	78	619	0.00	2.53	0.00	0.000	6	0.000	0.038	2031	2161	3878
748	-1.12	-132.0	68.4	-11.8	90	749	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2160	3878
875	-1.10	-132.0	83.3	-11.6	102	876	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2161	3878
1003	-1.10	-132.0	98.0	-11.4	114	1007	0.00	2.75	0.00	0.000	4	0.000	0.074	2031	3465	3878
1061	end dive: TARGET_DEPTH_EXCEEDED
state	1061	begin apogee
1072	-0.21	0.0	105.1	11.7	119	1188	1.10	0.00	112.28	0.683	6	0.140	0.000	2217	1875	3335
1189	end apogee: CONTROL_FINISHED_OK
state	1189	begin climb
1192	1.15	132.0	109.4	0.0	131	1314	1.58	3.25	111.85	0.665	4	0.074	0.097	2517	467	2797
1383	1.15	132.0	93.3	13.9	149	1388	0.00	2.83	0.00	0.000	6	0.000	0.047	2516	1863	2796
1517	0.88	132.0	75.9	12.7	161	1523	0.32	3.17	0.00	0.000	4	0.136	0.094	2466	3284	2795
1650	0.66	132.0	61.6	10.1	172	1655	0.35	2.75	0.00	0.000	6	0.147	0.045	2414	1918	2794
1784	0.55	185.3	51.2	7.2	184	1836	0.15	2.90	43.58	0.660	4	0.146	0.066	2389	3282	2578
1938	0.72	240.2	40.5	7.1	198	1990	0.17	2.72	45.10	0.649	6	0.050	0.045	2428	1925	2354
2054	1.00	261.7	30.6	8.9	209	2078	0.25	2.92	17.67	0.650	4	0.044	0.067	2488	3283	2266
2124	1.16	261.7	21.5	13.6	215	2131	0.17	2.70	0.00	0.000	6	0.053	0.046	2524	1950	2265
2198	1.14	261.7	10.4	15.3	227	2203	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	1950	2265
2256	end climb: SURFACE_DEPTH_REACHED
state	2256	begin surface coast
2275	end surface coast: CONTROL_FINISHED_OK
state	2275	begin surface