Glider dive log

WA coast Sep08 * SG119 * Dive index * Mission links * Dive 126 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 119 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 126 ESCAPE_HEADING 90 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3772 ALTIM_PING_DEPTH 125

D_TGT 990 TGT_DEFAULT_LAT 48.130001 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -122.366 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_FINISH 0 SM_CC 350 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 41 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 26 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 600 N_NOSURFACE 0 ROLL_ADJ_GAIN 10 DEVICE2 20

T_MISSION 660 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 403 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3857 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2837 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -212119.86 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 27 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 863 AH0_24V 147 SEABIRD_T_G 0.0044304794

SPEED_FACTOR 1 PITCH_MAX 3325 AH0_10V 122.2 SEABIRD_T_H 0.00064686994

RHO 1.023 C_PITCH 2800 PRESSURE_YINT -2.9385166 SEABIRD_T_I 2.8000688e-05

MASS 51528 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159777 SEABIRD_T_J 3.1833417e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8991232

FERRY_MAX 30 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.099651

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012204468

HD_A 0.0038945 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_J 0.00018128238

HD_B 0.0099684997 PITCH_AD_RATE 125 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3325 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 863 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 90 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159777 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -2.9385166 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.130001

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.366

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 600

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -212119.86

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 660

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 10 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 27

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 119 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3772 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 200 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2837 MASS 51528 R_PORT_OVSHOOT 41 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 26 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -9.8991232 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.099651 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012204468 VBD_MAX 3857

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00018128238 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044304794 VBD_MIN 403

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064686994 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8000688e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 126 PHONE_DEVICE 48 SEABIRD_T_J 3.1833417e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 062838,4807.880,-12533.724,14,1.6,14,18.9 TGT_NAME SW_47N_128W

_CALLS 1 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.164,-0.106

_SM_DEPTHo 0.99 KALMAN_X -7938.5,-1185.6,7650.7,-43605.6,77741.2

_SM_ANGLEo -69.5 KALMAN_Y 135349.6,-772.1,9928.6,-16064.9,43925.1

GPS2 063226,4807.879,-12533.719,10,1.7,10,18.9 MHEAD_RNG_PITCHd_Wd 218.2,223474,-11.5,-5.500

SPEED_LIMITS 0.095,0.195 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.024707 ALTIM_BOTTOM_PING 125.2,16.2

SM_CCo 4668,57.97,0.792,0,0,1410,350.04 _24V_AH 23.9,52.926

SM_GC 0.76,0.00,0.00,57.97,0.000,0.000,0.792,863,2212,1410,-8.91,0.34,350.04 _10V_AH 10.6,36.362

IRIDIUM_FIX 4748.51,-12548.37,160198,050553 DATA_FILE_SIZE 25380,540

TT8_MAMPS 0.027612 CAP_FILE_SIZE 54396,0

HUMID 2016 CFSIZE 260165632,249688064

INTERNAL_PRESSURE 8.70151 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 GPS 221008,075307,4807.708,-12534.208,26,1.7,26,18.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 150 94.94 SBE_CT 363 24 208.70

Roll_motor 36 70 61.05 SBE_O2 422 19 192.03

VBD_pump_during_apogee 286 888 6076.35 WL_BB2F 907 105 2276.39

VBD_pump_during_surface 57 792 1097.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 57.29 nil 0 0 0.00

Iridium_during_connect 24 160 95.21 nil 0 0 0.00

Iridium_during_xfer 93 223 499.94

Transponder_ping 0 420 5.02

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.04

TT8 883 19 185.42

LPSleep 2303 2 53.48

TT8_Active 412 19 86.59

TT8_Sampling 1108 39 467.48

TT8_CF8 257 45 125.23

TT8_Kalman 33 81 28.92

Analog_circuits 911 12 115.96

GPS_charging 0 0 0.00

Compass 1115 8 94.56

RAFOS 0 0 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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.67 -117.3 0.0 0.0 0 84 0.00 0.00 -62.10 0.000 2 0.000 0.000 861 2214 2819

87 -0.67 -117.3 3.7 -6.4 6 120 12.25 2.35 -11.00 0.000 4 0.150 0.071 2648 804 3318

316 -0.51 -117.3 33.0 -9.7 26 323 0.17 2.22 0.00 0.000 6 0.076 0.046 2682 2201 3318

655 -0.51 -117.3 55.6 -5.8 78 661 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2201 3318

999 -0.51 -117.3 76.0 -6.1 139 1005 0.00 2.25 0.00 0.000 4 0.000 0.059 2683 800 3318

1022 -0.55 -117.3 77.6 -6.2 143 1029 0.00 2.10 0.00 0.000 6 0.000 0.046 2682 2152 3318

1358 -0.60 -117.3 95.3 -4.9 178 1362 0.00 2.40 0.00 0.000 4 0.000 0.068 2682 3606 3318

1424 -0.66 -117.3 98.9 -5.3 183 1431 0.15 2.12 0.00 0.000 6 0.057 0.042 2650 2232 3318

1751 -0.58 -117.3 119.7 -6.2 214 1755 0.12 2.33 0.00 0.000 4 0.090 0.061 2671 797 3318

1794 -0.58 -117.3 122.6 -5.4 217 1801 0.00 2.25 0.00 0.000 6 0.000 0.048 2671 2217 3317

1958 end dive: BOTTOM_OBSTACLE_DETECTED

state 1958 begin apogee

1963 -0.23 0.0 132.0 6.2 233 2061 0.45 0.00 91.15 0.889 6 0.071 0.000 2749 2218 2836

2061 end apogee: CONTROL_FINISHED_OK

state 2061 begin climb

2063 0.67 117.3 135.2 0.0 243 2161 1.08 0.00 93.30 0.854 6 0.053 0.000 2940 2218 2358

2479 0.55 117.3 117.9 5.6 283 2483 0.00 2.35 0.00 0.000 4 0.000 0.063 2940 791 2358

2654 0.42 122.8 107.7 5.3 298 2666 0.30 2.10 6.28 0.719 6 0.082 0.050 2890 2125 2336

2985 0.58 190.6 96.2 3.4 329 3045 0.17 0.00 55.40 0.855 6 0.054 0.000 2928 2125 2059

3368 0.58 190.6 73.9 6.5 373 3373 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2125 2059

3711 0.59 201.4 52.8 5.2 434 3729 0.00 2.22 10.57 0.794 4 0.000 0.064 2928 795 2015

3820 0.65 201.4 46.7 5.7 453 3826 0.00 2.08 0.00 0.000 6 0.000 0.049 2928 2112 2015

4158 0.79 236.2 30.9 4.4 496 4194 0.20 2.55 29.30 0.827 4 0.051 0.069 2974 3603 1874

4269 0.75 236.2 22.8 7.4 506 4273 0.00 2.33 0.00 0.000 6 0.000 0.046 2975 2159 1874

4597 0.75 236.2 4.0 6.1 536 4600 0.00 2.25 0.00 0.000 4 0.000 0.064 2975 787 1874

4623 end climb: SURFACE_DEPTH_REACHED

state 4623 begin surface coast

4646 end surface coast: CONTROL_FINISHED_OK

state 4646 begin surface

ID	119	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	126	ESCAPE_HEADING	90	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3772	ALTIM_PING_DEPTH	125
D_TGT	990	TGT_DEFAULT_LAT	48.130001	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-122.366	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_FINISH	0	SM_CC	350	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	41	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	26	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	600	N_NOSURFACE	0	ROLL_ADJ_GAIN	10	DEVICE2	20
T_MISSION	660	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	403	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3857	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2837	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-212119.86	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	27	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	863	AH0_24V	147	SEABIRD_T_G	0.0044304794
SPEED_FACTOR	1	PITCH_MAX	3325	AH0_10V	122.2	SEABIRD_T_H	0.00064686994
RHO	1.023	C_PITCH	2800	PRESSURE_YINT	-2.9385166	SEABIRD_T_I	2.8000688e-05
MASS	51528	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159777	SEABIRD_T_J	3.1833417e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8991232
FERRY_MAX	30	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.099651
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012204468
HD_A	0.0038945	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_J	0.00018128238
HD_B	0.0099684997	PITCH_AD_RATE	125	ALTIM_BOTTOM_PING_RANGE	0

GPS1	062838,4807.880,-12533.724,14,1.6,14,18.9	TGT_NAME	SW_47N_128W
_CALLS	1	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.164,-0.106
_SM_DEPTHo	0.99	KALMAN_X	-7938.5,-1185.6,7650.7,-43605.6,77741.2
_SM_ANGLEo	-69.5	KALMAN_Y	135349.6,-772.1,9928.6,-16064.9,43925.1
GPS2	063226,4807.879,-12533.719,10,1.7,10,18.9	MHEAD_RNG_PITCHd_Wd	218.2,223474,-11.5,-5.500
SPEED_LIMITS	0.095,0.195	D_GRID	990

FINISH	0.4,1.024707	ALTIM_BOTTOM_PING	125.2,16.2
SM_CCo	4668,57.97,0.792,0,0,1410,350.04	_24V_AH	23.9,52.926
SM_GC	0.76,0.00,0.00,57.97,0.000,0.000,0.792,863,2212,1410,-8.91,0.34,350.04	_10V_AH	10.6,36.362
IRIDIUM_FIX	4748.51,-12548.37,160198,050553	DATA_FILE_SIZE	25380,540
TT8_MAMPS	0.027612	CAP_FILE_SIZE	54396,0
HUMID	2016	CFSIZE	260165632,249688064
INTERNAL_PRESSURE	8.70151	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	GPS	221008,075307,4807.708,-12534.208,26,1.7,26,18.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	150	94.94	SBE_CT	363	24	208.70
Roll_motor	36	70	61.05	SBE_O2	422	19	192.03
VBD_pump_during_apogee	286	888	6076.35	WL_BB2F	907	105	2276.39
VBD_pump_during_surface	57	792	1097.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	57.29	nil	0	0	0.00
Iridium_during_connect	24	160	95.21	nil	0	0	0.00
Iridium_during_xfer	93	223	499.94
Transponder_ping	0	420	5.02
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.04
TT8	883	19	185.42
LPSleep	2303	2	53.48
TT8_Active	412	19	86.59
TT8_Sampling	1108	39	467.48
TT8_CF8	257	45	125.23
TT8_Kalman	33	81	28.92
Analog_circuits	911	12	115.96
GPS_charging	0	0	0.00
Compass	1115	8	94.56
RAFOS	0	0	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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.67	-117.3	0.0	0.0	0	84	0.00	0.00	-62.10	0.000	2	0.000	0.000	861	2214	2819
87	-0.67	-117.3	3.7	-6.4	6	120	12.25	2.35	-11.00	0.000	4	0.150	0.071	2648	804	3318
316	-0.51	-117.3	33.0	-9.7	26	323	0.17	2.22	0.00	0.000	6	0.076	0.046	2682	2201	3318
655	-0.51	-117.3	55.6	-5.8	78	661	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2201	3318
999	-0.51	-117.3	76.0	-6.1	139	1005	0.00	2.25	0.00	0.000	4	0.000	0.059	2683	800	3318
1022	-0.55	-117.3	77.6	-6.2	143	1029	0.00	2.10	0.00	0.000	6	0.000	0.046	2682	2152	3318
1358	-0.60	-117.3	95.3	-4.9	178	1362	0.00	2.40	0.00	0.000	4	0.000	0.068	2682	3606	3318
1424	-0.66	-117.3	98.9	-5.3	183	1431	0.15	2.12	0.00	0.000	6	0.057	0.042	2650	2232	3318
1751	-0.58	-117.3	119.7	-6.2	214	1755	0.12	2.33	0.00	0.000	4	0.090	0.061	2671	797	3318
1794	-0.58	-117.3	122.6	-5.4	217	1801	0.00	2.25	0.00	0.000	6	0.000	0.048	2671	2217	3317
1958	end dive: BOTTOM_OBSTACLE_DETECTED
state	1958	begin apogee
1963	-0.23	0.0	132.0	6.2	233	2061	0.45	0.00	91.15	0.889	6	0.071	0.000	2749	2218	2836
2061	end apogee: CONTROL_FINISHED_OK
state	2061	begin climb
2063	0.67	117.3	135.2	0.0	243	2161	1.08	0.00	93.30	0.854	6	0.053	0.000	2940	2218	2358
2479	0.55	117.3	117.9	5.6	283	2483	0.00	2.35	0.00	0.000	4	0.000	0.063	2940	791	2358
2654	0.42	122.8	107.7	5.3	298	2666	0.30	2.10	6.28	0.719	6	0.082	0.050	2890	2125	2336
2985	0.58	190.6	96.2	3.4	329	3045	0.17	0.00	55.40	0.855	6	0.054	0.000	2928	2125	2059
3368	0.58	190.6	73.9	6.5	373	3373	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2125	2059
3711	0.59	201.4	52.8	5.2	434	3729	0.00	2.22	10.57	0.794	4	0.000	0.064	2928	795	2015
3820	0.65	201.4	46.7	5.7	453	3826	0.00	2.08	0.00	0.000	6	0.000	0.049	2928	2112	2015
4158	0.79	236.2	30.9	4.4	496	4194	0.20	2.55	29.30	0.827	4	0.051	0.069	2974	3603	1874
4269	0.75	236.2	22.8	7.4	506	4273	0.00	2.33	0.00	0.000	6	0.000	0.046	2975	2159	1874
4597	0.75	236.2	4.0	6.1	536	4600	0.00	2.25	0.00	0.000	4	0.000	0.064	2975	787	1874
4623	end climb: SURFACE_DEPTH_REACHED
state	4623	begin surface coast
4646	end surface coast: CONTROL_FINISHED_OK
state	4646	begin surface