Glider dive log

WA coast Apr11 * SG187 * Dive index * Mission links * Dive 114 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HEADING 290 ROLL_MAX 3800 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 4 ESCAPE_HEADING 0 ROLL_DEG 43 ALTIM_PING_DEPTH 70

DIVE 114 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2100 ALTIM_PING_DELTA 5

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1950 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 120 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 300 R_PORT_OVSHOOT 33 XPDR_INHIBIT 90

D_BOOST 4 N_FILEKB 8 R_STBD_OVSHOOT 34 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_FINISH 15 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 2 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 470 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE -4 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX 1 C_VBD 2550 DEVICE3 83

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 20 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 45 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00060000003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -1584004 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -7 PITCH_MIN 155 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3970 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2958 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043543768

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -60.973145 SEABIRD_T_H 0.0006249955

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_I 2.3401506e-05

RHO 1.023 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4672308e-06

MASS 51930 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9855604

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1126566

FERRY_MAX 45 PITCH_AD_RATE 165 COMPASS_USE 0 SEABIRD_C_I -0.0021479612

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0002479906

HD_A 0.0046000001 PITCH_ADJ_GAIN 0.0049999999 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 12

HD_C 1.34e-05 ROLL_MIN 236 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 300

AH0_10V 100 D_OFFGRID 1000 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 2 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.0049999999 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 12 D_SURF 4 PITCH_AD_RATE 165 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 120 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 70 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3970 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 155 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 17 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00060000003 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001138132 T_DIVE 20

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -60.973145 T_GPS 15

CALL_TRIES 5 HD_A 0.0046000001 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1584004

CAPMAXSIZE 100000 HD_C 1.34e-05 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING 290 RAFOS_HIT_WINDOW 3600 T_MISSION 45

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ID 187 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 2 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2958 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 1

C_ROLL_CLIMB 1950 KERMIT 0 ROLL_DEG 43 USE_BATHY 0

C_ROLL_DIVE 2100 LOGGERDEVICE1 -1 ROLL_MAX 3800 USE_ICE 0

C_VBD 2550 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 236 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 33 VBD_MAX 3960

DEVICE2 20 MASS 51930 R_STBD_OVSHOOT 34 VBD_MAXERRORS 1

DEVICE3 83 MAX_BUOY 150 SEABIRD_C_G -9.9855604 VBD_MIN 470

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.1126566 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0021479612 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MISSION 4 SEABIRD_C_J 0.0002479906 VBD_TIMEOUT 720

DIVE 114 MOTHERBOARD 4 SEABIRD_T_G 0.0043543768 XPDR_DEVICE 24

D_ABORT 1070 NAV_MODE 0 SEABIRD_T_H 0.0006249955 XPDR_INHIBIT 90

D_BOOST 4 N_FILEKB 8 SEABIRD_T_I 2.3401506e-05 XPDR_VALID 1

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.4672308e-06

D_FINISH 15 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE -4 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030511,084352,4744.435,-12453.879,10,2.1,29,18.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 4748.128,-12508.987

_XMS_NAKs 7 TGT_RADIUS 1852.000

_XMS_TOUTs 2 KALMAN_CONTROL -0.176,-0.114

_SM_DEPTHo 12.14 KALMAN_X 14438.9,303.9,-305.7,-13432.8,797.0

_SM_ANGLEo -0.0 KALMAN_Y -14155.7,856.3,103.6,-14859.7,-275.4

GPS2 030511,084352,4744.435,-12453.879,10,2.1,29,18.7 MHEAD_RNG_PITCHd_Wd 271.3,20000,-28.0,-20.000

SPEED_LIMITS 0.346,0.356 D_GRID 120

Post-dive calculations and measurements:

FINISH1 14.8,1.024698,0 _10V_AH 10.4,7.489

FINISH2 11.2 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12450.61,030511,070720 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713 MEM 297800

HUMID 34.20 DATA_FILE_SIZE 7024,166

INTERNAL_PRESSURE 9.13782 CAP_FILE_SIZE 21914,0

TCM_TEMP 16.20 CFSIZE 260165632,207527936

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 70.2,36.5 GPS 030511,084352,4744.435,-12453.879,10,2.1,29,18.7

_24V_AH 24.0,11.391

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 175 17.42 SBE_CT 108 24 62.62

Roll_motor 22 68 37.34 SBE_O2 121 19 55.52

VBD_pump_during_apogee 279 613 4112.25 WL_BBFL2VMT 349 105 881.33

VBD_pump_during_surface 0 0 0.00 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 5.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 356 19 73.41

LPSleep 59 2 1.35

TT8_Active 239 19 49.33

TT8_Sampling 380 39 157.51

TT8_CF8 45 45 21.80

TT8_Kalman 0 0 0.00

Analog_circuits 468 12 58.48

GPS_charging 0 0 0.00

Compass 396 15 61.84

RAFOS 0 0 0.00

Transponder 5 30 1.72

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.02 -146.6 0.0 0.0 0 25 0.00 0.00 -7.05 0.000 2 0.000 0.000 2965 440 2953 0 0 0 0 0 0

28 -1.02 -146.6 14.4 -0.0 1 44 0.98 5.12 -3.30 0.000 4 0.094 0.058 2615 3613 3151 0 0 0 0 0 0

282 -1.01 -146.6 74.4 -22.8 48 289 0.00 2.40 0.00 0.000 6 0.000 0.042 2615 2090 3152 0 0 0 0 0 0

354 -1.01 -146.6 90.0 -21.2 61 362 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2084 3152 0 0 0 0 0 0

379 end dive: BOTTOM_OBSTACLE_DETECTED

state 379 begin apogee

386 -0.23 0.0 95.1 19.0 65 510 0.85 0.00 116.70 0.614 6 0.147 0.000 2878 1936 2549 0 0 0 0 0 0

512 end apogee: CONTROL_FINISHED_OK

state 513 begin climb

515 1.02 146.6 99.4 0.0 84 649 1.17 2.55 121.03 0.592 4 0.080 0.051 3281 3462 1951 0 0 0 0 0 0

657 1.00 146.6 77.7 21.1 105 664 0.00 2.47 0.00 0.000 6 0.000 0.042 3292 1941 1948 0 0 0 0 0 0

731 0.98 163.0 62.4 18.8 118 752 0.00 2.53 13.98 0.537 4 0.000 0.053 3292 3469 1885 0 0 0 0 0 0

812 0.95 163.0 46.1 21.8 132 820 0.10 2.40 0.00 0.000 6 0.176 0.042 3265 1988 1881 0 0 0 0 0 0

885 0.97 195.8 31.6 17.7 145 919 0.00 2.50 27.58 0.549 4 0.000 0.051 3275 439 1749 0 0 0 0 0 0

986 end climb: FINISH_DEPTH_REACHED

state 989 begin subsurface finish

998 0.00 0.0 14.8 -16.9 163 1020 1.02 0.00 -16.60 0.000 6 0.151 0.000 2968 1950 2552 0 0 0 0 0 0

1020 end subsurface finish: CONTROL_FINISHED_OK

state 1021 begin surface

ID	187	HEADING	290	ROLL_MAX	3800	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	4	ESCAPE_HEADING	0	ROLL_DEG	43	ALTIM_PING_DEPTH	70
DIVE	114	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2100	ALTIM_PING_DELTA	5
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1950	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	120	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	300	R_PORT_OVSHOOT	33	XPDR_INHIBIT	90
D_BOOST	4	N_FILEKB	8	R_STBD_OVSHOOT	34	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_FINISH	15	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	2	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	470	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	-4	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	1	C_VBD	2550	DEVICE3	83
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	20	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	45	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00060000003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-1584004	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-7	PITCH_MIN	155	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3970	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2958	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043543768
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-60.973145	SEABIRD_T_H	0.0006249955
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_I	2.3401506e-05
RHO	1.023	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4672308e-06
MASS	51930	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9855604
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1126566
FERRY_MAX	45	PITCH_AD_RATE	165	COMPASS_USE	0	SEABIRD_C_I	-0.0021479612
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0002479906
HD_A	0.0046000001	PITCH_ADJ_GAIN	0.0049999999	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	12
HD_C	1.34e-05	ROLL_MIN	236	ALTIM_TOP_TURN_MARGIN	0

GPS1	030511,084352,4744.435,-12453.879,10,2.1,29,18.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	4748.128,-12508.987
_XMS_NAKs	7	TGT_RADIUS	1852.000
_XMS_TOUTs	2	KALMAN_CONTROL	-0.176,-0.114
_SM_DEPTHo	12.14	KALMAN_X	14438.9,303.9,-305.7,-13432.8,797.0
_SM_ANGLEo	-0.0	KALMAN_Y	-14155.7,856.3,103.6,-14859.7,-275.4
GPS2	030511,084352,4744.435,-12453.879,10,2.1,29,18.7	MHEAD_RNG_PITCHd_Wd	271.3,20000,-28.0,-20.000
SPEED_LIMITS	0.346,0.356	D_GRID	120

FINISH1	14.8,1.024698,0	_10V_AH	10.4,7.489
FINISH2	11.2	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12450.61,030511,070720	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713	MEM	297800
HUMID	34.20	DATA_FILE_SIZE	7024,166
INTERNAL_PRESSURE	9.13782	CAP_FILE_SIZE	21914,0
TCM_TEMP	16.20	CFSIZE	260165632,207527936
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	70.2,36.5	GPS	030511,084352,4744.435,-12453.879,10,2.1,29,18.7
_24V_AH	24.0,11.391

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	175	17.42	SBE_CT	108	24	62.62
Roll_motor	22	68	37.34	SBE_O2	121	19	55.52
VBD_pump_during_apogee	279	613	4112.25	WL_BBFL2VMT	349	105	881.33
VBD_pump_during_surface	0	0	0.00	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	5.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	356	19	73.41
LPSleep	59	2	1.35
TT8_Active	239	19	49.33
TT8_Sampling	380	39	157.51
TT8_CF8	45	45	21.80
TT8_Kalman	0	0	0.00
Analog_circuits	468	12	58.48
GPS_charging	0	0	0.00
Compass	396	15	61.84
RAFOS	0	0	0.00
Transponder	5	30	1.72

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.02	-146.6	0.0	0.0	0	25	0.00	0.00	-7.05	0.000	2	0.000	0.000	2965	440	2953	0	0	0	0	0	0
28	-1.02	-146.6	14.4	-0.0	1	44	0.98	5.12	-3.30	0.000	4	0.094	0.058	2615	3613	3151	0	0	0	0	0	0
282	-1.01	-146.6	74.4	-22.8	48	289	0.00	2.40	0.00	0.000	6	0.000	0.042	2615	2090	3152	0	0	0	0	0	0
354	-1.01	-146.6	90.0	-21.2	61	362	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2084	3152	0	0	0	0	0	0
379	end dive: BOTTOM_OBSTACLE_DETECTED
state	379	begin apogee
386	-0.23	0.0	95.1	19.0	65	510	0.85	0.00	116.70	0.614	6	0.147	0.000	2878	1936	2549	0	0	0	0	0	0
512	end apogee: CONTROL_FINISHED_OK
state	513	begin climb
515	1.02	146.6	99.4	0.0	84	649	1.17	2.55	121.03	0.592	4	0.080	0.051	3281	3462	1951	0	0	0	0	0	0
657	1.00	146.6	77.7	21.1	105	664	0.00	2.47	0.00	0.000	6	0.000	0.042	3292	1941	1948	0	0	0	0	0	0
731	0.98	163.0	62.4	18.8	118	752	0.00	2.53	13.98	0.537	4	0.000	0.053	3292	3469	1885	0	0	0	0	0	0
812	0.95	163.0	46.1	21.8	132	820	0.10	2.40	0.00	0.000	6	0.176	0.042	3265	1988	1881	0	0	0	0	0	0
885	0.97	195.8	31.6	17.7	145	919	0.00	2.50	27.58	0.549	4	0.000	0.051	3275	439	1749	0	0	0	0	0	0
986	end climb: FINISH_DEPTH_REACHED
state	989	begin subsurface finish
998	0.00	0.0	14.8	-16.9	163	1020	1.02	0.00	-16.60	0.000	6	0.151	0.000	2968	1950	2552	0	0	0	0	0	0
1020	end subsurface finish: CONTROL_FINISHED_OK
state	1021	begin surface