Glider dive log

PortSusan 10Jul07 * SG112 * Dive index * Mission links * Dive 13 * 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 13 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 145 PITCH_ADJ_DBAND 0 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 500 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 13 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 0 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 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 0 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 -18187.838 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 500

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 -18187.838

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 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 13 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 135 R_STBD_OVSHOOT 33 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 13 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 082759,4807.461,-12223.472,12,2.6,31,18.3 TGT_NAME EIGHT

_CALLS 2 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.114,0.171

_SM_DEPTHo 1.85 KALMAN_X 199.8,32.9,24.2,-1312.0,35.9

_SM_ANGLEo -50.3 KALMAN_Y -1071.2,-254.6,1.6,2674.4,-44.7

GPS2 083605,4807.419,-12223.440,12,2.7,31,18.3 MHEAD_RNG_PITCHd_Wd 308.1,1280,-22.4,-10.000

SPEED_LIMITS 0.173,0.206 D_GRID 103

Post-dive calculations and measurements:

FINISH 1.0,1.001493 TCM_TEMP 11.10

SM_CCo 2324,111.78,0.601,0,0,1296,500.17 XPDR_PINGS 1

SM_GC 1.88,0.00,0.00,111.78,0.000,0.000,0.601,677,2088,1296,-7.32,0.79,500.17 ALTIM_TOP_PING 19.9,18.8

RAFOS_CLK 106 _24V_AH 20.8,14.928

RAFOS 2,1184142242,8.416667,8.400556,60,59,58,52,51,48,202,137,159,215,192,113 _10V_AH 10.0,6.044

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 9583,274

IRIDIUM_FIX 4748.51,-12221.84,110707,121254 CFSIZE 260165632,256425984

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

HUMID 2020 SOUNDSPEED 1486.3

INTERNAL_PRESSURE 10.4106 GPS 110707,091838,4807.558,-12223.608,9,2.0,14,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 244 120.23 SBE_CT 192 24 95.98

Roll_motor 44 95 89.14 SBE_O2 189 19 74.74

VBD_pump_during_apogee 320 678 4524.41 nil 0 0 0.00

VBD_pump_during_surface 111 601 1398.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 80 103 173.02 nil 0 0 0.00

Iridium_during_connect 70 160 233.62 nil 0 0 0.00

Iridium_during_xfer 138 223 642.37

Transponder_ping 0 420 4.37

GPS 33 50 16.97

TT8 449 19 89.58

LPSleep 1208 2 27.93

TT8_Active 528 19 105.18

TT8_Sampling 320 39 127.90

TT8_CF8 433 45 199.23

TT8_Kalman 33 81 27.30

Analog_circuits 807 12 96.91

GPS_charging 0 0 0.00

Compass 289 20 57.91

RAFOS 720 1 10.80

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

25 -1.15 -132.0 0.0 0.0 0 82 0.00 0.00 -54.15 0.000 2 0.000 0.000 676 2094 2830

86 -1.15 -132.0 3.2 -5.7 11 138 11.30 3.05 -34.55 0.000 4 0.245 0.072 2011 643 3874

156 -1.15 -132.0 6.2 -8.9 24 161 0.00 2.70 0.00 0.000 6 0.000 0.035 2012 2052 3875

229 -1.15 -132.0 14.7 -11.7 37 235 0.00 2.95 0.00 0.000 4 0.000 0.072 2012 3465 3876

335 -1.15 -132.0 28.0 -12.8 50 341 0.00 2.72 0.00 0.000 6 0.000 0.035 2011 2043 3877

405 -1.15 -132.0 36.6 -12.4 57 407 0.00 0.00 0.00 0.000 6 0.000 0.000 2011 2043 3877

469 -1.15 -132.0 45.0 -13.5 63 470 0.00 0.00 0.00 0.000 6 0.000 0.000 2011 2042 3877

596 -1.15 -132.0 60.8 -12.5 75 597 0.00 0.00 0.00 0.000 6 0.000 0.000 2012 2043 3878

724 -1.15 -132.0 77.4 -13.1 87 728 0.00 2.97 0.00 0.000 4 0.000 0.073 2012 3464 3878

785 -1.15 -132.0 85.5 -12.7 92 790 0.00 2.67 0.00 0.000 6 0.000 0.038 2012 2054 3878

919 -1.15 -132.0 102.5 -13.0 104 922 0.00 1.65 0.00 0.000 3 0.000 0.058 2012 2890 3878

923 end dive: TARGET_DEPTH_EXCEEDED

state 923 begin apogee

932 -0.21 0.0 103.2 12.8 104 1049 1.25 0.00 112.62 0.679 6 0.145 0.000 2218 1869 3335

1049 end apogee: CONTROL_FINISHED_OK

state 1049 begin climb

1053 1.15 132.0 107.5 0.0 116 1175 1.60 3.22 111.90 0.663 4 0.075 0.096 2520 465 2797

1258 1.15 132.0 88.2 14.3 135 1264 0.00 2.83 0.00 0.000 6 0.000 0.047 2520 1865 2796

1392 1.15 132.0 70.9 12.9 148 1397 0.00 3.10 0.00 0.000 4 0.000 0.094 2520 3280 2795

1465 1.15 132.0 61.2 12.9 154 1470 0.00 2.83 0.00 0.000 6 0.000 0.048 2520 1880 2794

1599 1.15 132.0 45.1 11.2 166 1603 0.00 2.95 0.00 0.000 4 0.000 0.066 2520 3282 2794

1653 1.15 132.0 38.4 11.9 170 1659 0.00 2.85 0.00 0.000 6 0.000 0.048 2520 1863 2794

1723 1.15 132.0 30.3 11.8 177 1724 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1862 2794

1787 1.15 132.0 23.3 10.9 183 1788 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1862 2794

1853 1.15 132.0 16.2 10.8 192 1858 0.00 2.95 0.00 0.000 4 0.000 0.065 2520 3289 2793

2112 1.15 325.8 3.2 -0.2 238 2214 0.00 2.80 95.93 0.637 2 0.000 0.044 2520 1869 2120

2215 end climb: SURFACE_DEPTH_REACHED

state 2215 begin surface coast

2302 end surface coast: CONTROL_FINISHED_OK

state 2303 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	13	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	145	PITCH_ADJ_DBAND	0	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	500	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	13	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	0	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	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	0	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	-18187.838	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	082759,4807.461,-12223.472,12,2.6,31,18.3	TGT_NAME	EIGHT
_CALLS	2	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.114,0.171
_SM_DEPTHo	1.85	KALMAN_X	199.8,32.9,24.2,-1312.0,35.9
_SM_ANGLEo	-50.3	KALMAN_Y	-1071.2,-254.6,1.6,2674.4,-44.7
GPS2	083605,4807.419,-12223.440,12,2.7,31,18.3	MHEAD_RNG_PITCHd_Wd	308.1,1280,-22.4,-10.000
SPEED_LIMITS	0.173,0.206	D_GRID	103

FINISH	1.0,1.001493	TCM_TEMP	11.10
SM_CCo	2324,111.78,0.601,0,0,1296,500.17	XPDR_PINGS	1
SM_GC	1.88,0.00,0.00,111.78,0.000,0.000,0.601,677,2088,1296,-7.32,0.79,500.17	ALTIM_TOP_PING	19.9,18.8
RAFOS_CLK	106	_24V_AH	20.8,14.928
RAFOS	2,1184142242,8.416667,8.400556,60,59,58,52,51,48,202,137,159,215,192,113	_10V_AH	10.0,6.044
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	9583,274
IRIDIUM_FIX	4748.51,-12221.84,110707,121254	CFSIZE	260165632,256425984
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	2020	SOUNDSPEED	1486.3
INTERNAL_PRESSURE	10.4106	GPS	110707,091838,4807.558,-12223.608,9,2.0,14,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	244	120.23	SBE_CT	192	24	95.98
Roll_motor	44	95	89.14	SBE_O2	189	19	74.74
VBD_pump_during_apogee	320	678	4524.41	nil	0	0	0.00
VBD_pump_during_surface	111	601	1398.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	80	103	173.02	nil	0	0	0.00
Iridium_during_connect	70	160	233.62	nil	0	0	0.00
Iridium_during_xfer	138	223	642.37
Transponder_ping	0	420	4.37
GPS	33	50	16.97
TT8	449	19	89.58
LPSleep	1208	2	27.93
TT8_Active	528	19	105.18
TT8_Sampling	320	39	127.90
TT8_CF8	433	45	199.23
TT8_Kalman	33	81	27.30
Analog_circuits	807	12	96.91
GPS_charging	0	0	0.00
Compass	289	20	57.91
RAFOS	720	1	10.80

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
25	-1.15	-132.0	0.0	0.0	0	82	0.00	0.00	-54.15	0.000	2	0.000	0.000	676	2094	2830
86	-1.15	-132.0	3.2	-5.7	11	138	11.30	3.05	-34.55	0.000	4	0.245	0.072	2011	643	3874
156	-1.15	-132.0	6.2	-8.9	24	161	0.00	2.70	0.00	0.000	6	0.000	0.035	2012	2052	3875
229	-1.15	-132.0	14.7	-11.7	37	235	0.00	2.95	0.00	0.000	4	0.000	0.072	2012	3465	3876
335	-1.15	-132.0	28.0	-12.8	50	341	0.00	2.72	0.00	0.000	6	0.000	0.035	2011	2043	3877
405	-1.15	-132.0	36.6	-12.4	57	407	0.00	0.00	0.00	0.000	6	0.000	0.000	2011	2043	3877
469	-1.15	-132.0	45.0	-13.5	63	470	0.00	0.00	0.00	0.000	6	0.000	0.000	2011	2042	3877
596	-1.15	-132.0	60.8	-12.5	75	597	0.00	0.00	0.00	0.000	6	0.000	0.000	2012	2043	3878
724	-1.15	-132.0	77.4	-13.1	87	728	0.00	2.97	0.00	0.000	4	0.000	0.073	2012	3464	3878
785	-1.15	-132.0	85.5	-12.7	92	790	0.00	2.67	0.00	0.000	6	0.000	0.038	2012	2054	3878
919	-1.15	-132.0	102.5	-13.0	104	922	0.00	1.65	0.00	0.000	3	0.000	0.058	2012	2890	3878
923	end dive: TARGET_DEPTH_EXCEEDED
state	923	begin apogee
932	-0.21	0.0	103.2	12.8	104	1049	1.25	0.00	112.62	0.679	6	0.145	0.000	2218	1869	3335
1049	end apogee: CONTROL_FINISHED_OK
state	1049	begin climb
1053	1.15	132.0	107.5	0.0	116	1175	1.60	3.22	111.90	0.663	4	0.075	0.096	2520	465	2797
1258	1.15	132.0	88.2	14.3	135	1264	0.00	2.83	0.00	0.000	6	0.000	0.047	2520	1865	2796
1392	1.15	132.0	70.9	12.9	148	1397	0.00	3.10	0.00	0.000	4	0.000	0.094	2520	3280	2795
1465	1.15	132.0	61.2	12.9	154	1470	0.00	2.83	0.00	0.000	6	0.000	0.048	2520	1880	2794
1599	1.15	132.0	45.1	11.2	166	1603	0.00	2.95	0.00	0.000	4	0.000	0.066	2520	3282	2794
1653	1.15	132.0	38.4	11.9	170	1659	0.00	2.85	0.00	0.000	6	0.000	0.048	2520	1863	2794
1723	1.15	132.0	30.3	11.8	177	1724	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1862	2794
1787	1.15	132.0	23.3	10.9	183	1788	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1862	2794
1853	1.15	132.0	16.2	10.8	192	1858	0.00	2.95	0.00	0.000	4	0.000	0.065	2520	3289	2793
2112	1.15	325.8	3.2	-0.2	238	2214	0.00	2.80	95.93	0.637	2	0.000	0.044	2520	1869	2120
2215	end climb: SURFACE_DEPTH_REACHED
state	2215	begin surface coast
2302	end surface coast: CONTROL_FINISHED_OK
state	2303	begin surface