Glider dive log

PortSusan 17Jun09 * SG147 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 147 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 160 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 12 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3941 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2360 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2360 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 80 SM_CC 620 ROLL_CNV 0.028270001 XPDR_VALID 2

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 40 UPLOAD_DIVES_MAX -1 VBD_MIN 477 DEVICE2 20

T_MISSION 65 CALL_TRIES 5 VBD_MAX 3951 DEVICE3 53

T_ABORT 1440 CALL_WAIT 60 C_VBD 3688 DEVICE4 35

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 87

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -1589.59 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 100 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 485 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3757 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2462 PRESSURE_YINT -27.463364 SEABIRD_T_G 0.0042836252

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000116148 SEABIRD_T_H 0.00062757189

MASS 52067 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.2935745e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.394582e-06

FERRY_MAX 45 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8471985

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.102998

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0019362674

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002209621

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.1 SM_CC 620

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3757 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 485 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000116148 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -27.463364 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 40

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -1589.59

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 65

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 147 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3941 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2462 KALMAN_USE 1 ROLL_MIN 160 USE_BATHY 0

C_ROLL_CLIMB 2360 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2360 MASS 52067 R_PORT_OVSHOOT 30 VBD_BLEED_AD_RATE 8

C_VBD 3688 MAX_BUOY 100 R_STBD_OVSHOOT 23 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.8471985 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.102998 VBD_MAX 3951

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0019362674 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.0002209621 VBD_MIN 477

DEVICE3 53 N_GPS 20 SEABIRD_T_G 0.0042836252 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 35 N_NOCOMM 1 SEABIRD_T_H 0.00062757189 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 87 N_NOSURFACE 0 SEABIRD_T_I 2.2935745e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.394582e-06 XPDR_DEVICE 24

DIVE 12 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 040158,4807.169,-12222.386,10,5.9,29,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.037,-0.226

_SM_DEPTHo 1.39 KALMAN_X -738.8,-187.7,58.3,1240.4,-2.1

_SM_ANGLEo -67.5 KALMAN_Y 3888.3,823.7,-120.4,-4332.1,144.1

GPS2 040803,4807.158,-12222.373,14,2.6,33,18.3 MHEAD_RNG_PITCHd_Wd 152.5,2194,-26.1,-12.500

SPEED_LIMITS 0.217,0.229 D_GRID 150

Post-dive calculations and measurements:

FINISH 4.7,1.020371 ALTIM_BOTTOM_PING 80.1,42.7

SM_CCo 2199,470.05,0.566,0,0,477,787.65 _24V_AH 23.8,2.107

SM_GC 1.26,10.40,0.00,0.00,0.031,0.000,0.000,479,2363,473,-9.06,0.08,788.63 _10V_AH 10.6,1.243

IRIDIUM_FIX 4748.51,-12221.84,120998,030329 DATA_FILE_SIZE 28828,363

TT8_MAMPS 0.026845 CAP_FILE_SIZE 43847,0

HUMID 1835 CFSIZE 260165632,258523136

INTERNAL_PRESSURE 8.62338 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 14.30 GPS 180609,045601,4807.078,-12222.463,7,1.9,7,18.3

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 201 114.14 SBE_CT 254 24 145.09

Roll_motor 33 56 45.05 SBE_O2 173 19 78.29

VBD_pump_during_apogee 223 642 3423.55 Optode 252 33 198.32

VBD_pump_during_surface 470 566 6332.46 WL_BB2F 426 105 1065.99

VBD_valve 0 0 0.00 WL_BBFL2VMT 898 105 2245.17

Iridium_during_init 30 103 75.62 nil 0 0 0.00

Iridium_during_connect 26 160 101.30 nil 0 0 0.00

Iridium_during_xfer 168 223 894.39

Transponder_ping 2 420 19.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 18.43

TT8 572 19 120.21

LPSleep 338 2 7.86

TT8_Active 730 19 153.41

TT8_Sampling 1150 39 485.37

TT8_CF8 365 45 177.41

TT8_Kalman 33 81 28.90

Analog_circuits 1170 12 148.82

GPS_charging 0 0 0.00

Compass 1137 8 96.50

RAFOS 0 0 0.00

Transponder 5 30 1.85

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.80 -97.8 0.0 0.0 0 112 0.00 0.00 -93.78 0.000 2 0.000 0.000 481 2362 3109

115 -1.80 -97.8 3.1 -2.8 12 164 9.57 2.40 -30.40 0.000 4 0.202 0.057 2060 3767 3952

200 -1.80 -97.8 9.1 -11.2 24 207 0.00 2.33 0.00 0.000 6 0.000 0.028 2060 2361 3953

276 -1.80 -97.8 18.1 -12.1 37 284 0.00 2.42 0.00 0.000 4 0.000 0.046 2060 3776 3953

293 -1.80 -97.8 20.2 -12.6 39 301 0.00 2.33 0.00 0.000 6 0.000 0.028 2060 2363 3953

369 -1.80 -97.8 30.7 -14.1 52 378 0.00 2.40 0.00 0.000 4 0.000 0.045 2060 3770 3953

627 -1.80 -97.8 68.6 -15.2 98 635 0.00 2.33 0.00 0.000 6 0.000 0.029 2060 2361 3953

772 -1.80 -97.8 89.1 -14.5 123 778 0.00 2.38 0.00 0.000 4 0.000 0.047 2060 3772 3953

931 end dive: BOTTOM_OBSTACLE_DETECTED

state 933 begin apogee

941 -0.32 0.0 113.1 14.2 152 1002 1.62 0.00 51.53 0.643 6 0.122 0.000 2381 2364 3687

1003 end apogee: CONTROL_FINISHED_OK

state 1003 begin climb

1006 1.80 97.8 116.6 0.0 161 1092 2.08 2.47 77.03 0.637 4 0.051 0.057 2862 957 3288

1244 1.88 160.3 104.6 7.1 201 1298 0.00 2.33 49.67 0.629 6 0.000 0.034 2861 2361 3034

1437 1.90 172.0 84.4 11.5 233 1453 0.00 2.47 10.60 0.571 4 0.000 0.054 2862 963 2986

1501 1.90 172.0 76.3 12.7 243 1507 0.00 2.33 0.00 0.000 6 0.000 0.035 2862 2360 2986

1640 1.91 183.0 59.2 11.6 268 1654 0.00 0.00 10.20 0.568 6 0.000 0.000 2861 2360 2941

1787 1.92 191.4 42.1 11.8 294 1802 0.00 2.45 8.12 0.546 4 0.000 0.054 2861 954 2906

1821 1.92 191.4 38.0 12.9 299 1830 0.00 2.38 0.00 0.000 6 0.000 0.035 2862 2362 2906

1898 1.93 203.4 28.9 11.5 312 1914 0.00 0.00 11.10 0.565 6 0.000 0.000 2862 2362 2857

1983 1.94 208.7 19.0 12.0 326 1992 0.10 0.00 5.55 0.487 6 0.071 0.000 2890 2362 2837

2061 1.94 208.7 9.1 12.5 339 2069 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 2362 2836

2118 end climb: SURFACE_DEPTH_REACHED

state 2118 begin surface coast

2196 end surface coast: CONTROL_FINISHED_OK

state 2196 begin surface

ID	147	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	160	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	12	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3941	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2360	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2360	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	80	SM_CC	620	ROLL_CNV	0.028270001	XPDR_VALID	2
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	40	UPLOAD_DIVES_MAX	-1	VBD_MIN	477	DEVICE2	20
T_MISSION	65	CALL_TRIES	5	VBD_MAX	3951	DEVICE3	53
T_ABORT	1440	CALL_WAIT	60	C_VBD	3688	DEVICE4	35
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	87
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-1589.59	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	100	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	485	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3757	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2462	PRESSURE_YINT	-27.463364	SEABIRD_T_G	0.0042836252
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000116148	SEABIRD_T_H	0.00062757189
MASS	52067	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.2935745e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.394582e-06
FERRY_MAX	45	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8471985
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.102998
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0019362674
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002209621
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	040158,4807.169,-12222.386,10,5.9,29,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.037,-0.226
_SM_DEPTHo	1.39	KALMAN_X	-738.8,-187.7,58.3,1240.4,-2.1
_SM_ANGLEo	-67.5	KALMAN_Y	3888.3,823.7,-120.4,-4332.1,144.1
GPS2	040803,4807.158,-12222.373,14,2.6,33,18.3	MHEAD_RNG_PITCHd_Wd	152.5,2194,-26.1,-12.500
SPEED_LIMITS	0.217,0.229	D_GRID	150

FINISH	4.7,1.020371	ALTIM_BOTTOM_PING	80.1,42.7
SM_CCo	2199,470.05,0.566,0,0,477,787.65	_24V_AH	23.8,2.107
SM_GC	1.26,10.40,0.00,0.00,0.031,0.000,0.000,479,2363,473,-9.06,0.08,788.63	_10V_AH	10.6,1.243
IRIDIUM_FIX	4748.51,-12221.84,120998,030329	DATA_FILE_SIZE	28828,363
TT8_MAMPS	0.026845	CAP_FILE_SIZE	43847,0
HUMID	1835	CFSIZE	260165632,258523136
INTERNAL_PRESSURE	8.62338	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	14.30	GPS	180609,045601,4807.078,-12222.463,7,1.9,7,18.3
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	201	114.14	SBE_CT	254	24	145.09
Roll_motor	33	56	45.05	SBE_O2	173	19	78.29
VBD_pump_during_apogee	223	642	3423.55	Optode	252	33	198.32
VBD_pump_during_surface	470	566	6332.46	WL_BB2F	426	105	1065.99
VBD_valve	0	0	0.00	WL_BBFL2VMT	898	105	2245.17
Iridium_during_init	30	103	75.62	nil	0	0	0.00
Iridium_during_connect	26	160	101.30	nil	0	0	0.00
Iridium_during_xfer	168	223	894.39
Transponder_ping	2	420	19.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	18.43
TT8	572	19	120.21
LPSleep	338	2	7.86
TT8_Active	730	19	153.41
TT8_Sampling	1150	39	485.37
TT8_CF8	365	45	177.41
TT8_Kalman	33	81	28.90
Analog_circuits	1170	12	148.82
GPS_charging	0	0	0.00
Compass	1137	8	96.50
RAFOS	0	0	0.00
Transponder	5	30	1.85

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.80	-97.8	0.0	0.0	0	112	0.00	0.00	-93.78	0.000	2	0.000	0.000	481	2362	3109
115	-1.80	-97.8	3.1	-2.8	12	164	9.57	2.40	-30.40	0.000	4	0.202	0.057	2060	3767	3952
200	-1.80	-97.8	9.1	-11.2	24	207	0.00	2.33	0.00	0.000	6	0.000	0.028	2060	2361	3953
276	-1.80	-97.8	18.1	-12.1	37	284	0.00	2.42	0.00	0.000	4	0.000	0.046	2060	3776	3953
293	-1.80	-97.8	20.2	-12.6	39	301	0.00	2.33	0.00	0.000	6	0.000	0.028	2060	2363	3953
369	-1.80	-97.8	30.7	-14.1	52	378	0.00	2.40	0.00	0.000	4	0.000	0.045	2060	3770	3953
627	-1.80	-97.8	68.6	-15.2	98	635	0.00	2.33	0.00	0.000	6	0.000	0.029	2060	2361	3953
772	-1.80	-97.8	89.1	-14.5	123	778	0.00	2.38	0.00	0.000	4	0.000	0.047	2060	3772	3953
931	end dive: BOTTOM_OBSTACLE_DETECTED
state	933	begin apogee
941	-0.32	0.0	113.1	14.2	152	1002	1.62	0.00	51.53	0.643	6	0.122	0.000	2381	2364	3687
1003	end apogee: CONTROL_FINISHED_OK
state	1003	begin climb
1006	1.80	97.8	116.6	0.0	161	1092	2.08	2.47	77.03	0.637	4	0.051	0.057	2862	957	3288
1244	1.88	160.3	104.6	7.1	201	1298	0.00	2.33	49.67	0.629	6	0.000	0.034	2861	2361	3034
1437	1.90	172.0	84.4	11.5	233	1453	0.00	2.47	10.60	0.571	4	0.000	0.054	2862	963	2986
1501	1.90	172.0	76.3	12.7	243	1507	0.00	2.33	0.00	0.000	6	0.000	0.035	2862	2360	2986
1640	1.91	183.0	59.2	11.6	268	1654	0.00	0.00	10.20	0.568	6	0.000	0.000	2861	2360	2941
1787	1.92	191.4	42.1	11.8	294	1802	0.00	2.45	8.12	0.546	4	0.000	0.054	2861	954	2906
1821	1.92	191.4	38.0	12.9	299	1830	0.00	2.38	0.00	0.000	6	0.000	0.035	2862	2362	2906
1898	1.93	203.4	28.9	11.5	312	1914	0.00	0.00	11.10	0.565	6	0.000	0.000	2862	2362	2857
1983	1.94	208.7	19.0	12.0	326	1992	0.10	0.00	5.55	0.487	6	0.071	0.000	2890	2362	2837
2061	1.94	208.7	9.1	12.5	339	2069	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	2362	2836
2118	end climb: SURFACE_DEPTH_REACHED
state	2118	begin surface coast
2196	end surface coast: CONTROL_FINISHED_OK
state	2196	begin surface