Glider dive log

PN07 DabobBay Sep07 * SG022 * Dive index * Mission links * Dive 145 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 22 HD_B 0.010364 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.4717998e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 145 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 208 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 0

D_PITCH 0 SM_CC 450 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 0 R_PORT_OVSHOOT 8 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 13 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 100 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 2 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 658 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3994 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3484 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 0

T_WATCHDOG 10 T_GPS_CHARGE -111806.58 VBD_PUMP_AD_RATE_APOGEE 1 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 80 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 16 SIM_PITCH 0

GLIDE_SLOPE 15 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0044140997

SPEED_FACTOR 1 PITCH_MAX 3347 AH0_10V 61.200001 SEABIRD_T_H 0.00064927549

RHO 1.023 C_PITCH 2530 PRESSURE_YINT -21.951805 SEABIRD_T_I 2.7523491e-05

MASS 51950 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011632 SEABIRD_T_J 3.1132354e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.525962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 1.7 SEABIRD_C_H 1.1896306

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET -0.89999998 SEABIRD_C_I -0.0026426413

HD_A 0.0040048002 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00031414768

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3347 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 5 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 1.7

ALTIM_SENSITIVITY 0 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011632 TCM_ROLL_OFFSET -0.89999998

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -21.951805 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 15 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0040048002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010364 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 5.4717998e-06 RHO 1.023 T_GPS_CHARGE -111806.58

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 16 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 600

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 100 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 22 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2530 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_CLIMB 2000 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2100 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51950 R_PORT_OVSHOOT 8 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 80 R_STBD_OVSHOOT 13 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.525962 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1896306 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0026426413 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00031414768 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044140997 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064927549 VBD_MIN 658

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.7523491e-05 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 145 PHONE_DEVICE 0 SEABIRD_T_J 3.1132354e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 19

Pre-dive calculations and measurements:

GPS1 163838,4740.151,-12251.092,33,1.5,33,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.210,-0.194

_SM_DEPTHo 1.51 KALMAN_X 25638.0,176.6,-59.3,-23399.9,55.9

_SM_ANGLEo -72.9 KALMAN_Y 7476.3,-157.1,-29.4,-6439.6,125.7

GPS2 164309,4740.151,-12251.100,12,1.0,12,18.3 MHEAD_RNG_PITCHd_Wd 209.0,2060,-10.5,-7.407

SPEED_LIMITS 0.276,0.286 D_GRID 119

Post-dive calculations and measurements:

FINISH 1.4,1.019913 ALTIM_BOTTOM_PING 50.3,7.7

SM_CCo 3387,134.68,0.651,0,0,1648,450.13 _24V_AH 23.8,21.159

SM_GC 1.49,0.00,0.00,134.68,0.000,0.000,0.651,36,2106,1648,-11.47,0.20,450.13 _10V_AH 10.2,5.523

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 9585,313

TT8_MAMPS 0.028379 CFSIZE 260034560,253378560

HUMID 2101 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 250907,174417,4739.938,-12251.431,10,3.0,29,18.3

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 201 133.95 SBE_CT 207 24 118.42

Roll_motor 45 142 155.42 nil 0 0 0.00

VBD_pump_during_apogee 219 747 3904.93 nil 0 0 0.00

VBD_pump_during_surface 134 651 2087.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.87 nil 0 0 0.00

Iridium_during_connect 35 160 136.57 ARS 0 0 0.00

Iridium_during_xfer 127 223 678.73

Transponder_ping 2 420 19.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.39

TT8 598 19 120.80

LPSleep 1945 2 43.46

TT8_Active 460 19 92.95

TT8_Sampling 525 39 213.45

TT8_CF8 310 45 145.05

TT8_Kalman 33 81 27.82

Analog_circuits 789 12 96.65

GPS_charging 0 0 0.00

Compass 530 8 43.26

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

24 -0.74 -78.2 0.0 0.0 0 68 0.00 0.00 -42.42 0.000 2 0.000 0.000 39 2115 2591

71 -0.74 -78.2 2.0 -1.5 7 150 13.82 2.88 -54.80 0.000 4 0.202 0.127 2362 3512 3804

403 -0.74 -78.2 18.8 -5.2 58 409 0.00 2.83 0.00 0.000 6 0.000 0.104 2361 2091 3806

479 -0.74 -78.2 22.8 -5.1 66 483 0.00 2.85 0.00 0.000 4 0.000 0.107 2361 3516 3806

557 -0.74 -78.2 27.2 -5.8 72 562 0.00 2.83 0.00 0.000 6 0.000 0.104 2361 2097 3807

753 -0.74 -78.2 37.3 -5.4 87 757 0.00 2.97 0.00 0.000 4 0.000 0.143 2361 681 3806

790 -0.74 -78.2 39.2 -5.6 89 798 0.00 2.78 0.00 0.000 6 0.000 0.091 2361 2104 3807

987 -0.74 -78.2 49.1 -5.5 105 992 0.00 2.83 0.00 0.000 4 0.000 0.115 2361 3526 3806

1052 -0.74 -78.2 53.0 -6.4 110 1057 0.00 2.85 0.00 0.000 6 0.000 0.105 2361 2095 3807

1248 -0.74 -78.2 62.9 -5.0 125 1249 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2095 3807

1438 -0.74 -78.2 72.4 -4.9 140 1439 0.00 0.00 0.00 0.000 6 0.000 0.000 2362 2096 3807

1627 -0.74 -78.2 81.6 -4.8 155 1632 0.00 2.95 0.00 0.000 4 0.000 0.142 2361 684 3807

1659 -0.74 -78.2 83.4 -5.4 157 1664 0.00 2.75 0.00 0.000 6 0.000 0.090 2361 2115 3807

1854 -0.74 -78.2 93.4 -5.1 172 1859 0.00 2.78 0.00 0.000 4 0.000 0.115 2361 3515 3807

1920 -0.74 -78.2 97.0 -5.4 177 1925 0.00 2.83 0.00 0.000 6 0.000 0.106 2360 2091 3807

1987 end dive: TARGET_DEPTH_EXCEEDED

state 1987 begin apogee

1992 -0.31 0.0 100.1 4.3 182 2057 0.50 0.00 62.10 0.747 6 0.120 0.000 2458 1993 3484

2058 end apogee: CONTROL_FINISHED_OK

state 2058 begin climb

2059 0.74 78.2 101.1 0.0 187 2130 1.12 2.88 61.30 0.729 4 0.104 0.091 2687 3415 3165

2169 0.85 173.1 97.3 5.4 196 2250 0.08 2.80 72.85 0.716 6 0.063 0.084 2712 1989 2778

2439 0.85 173.1 74.5 9.0 218 2443 0.00 2.92 0.00 0.000 4 0.000 0.131 2712 576 2778

2476 0.85 173.1 70.6 10.0 220 2484 0.00 2.70 0.00 0.000 6 0.000 0.071 2713 2010 2777

2672 0.85 173.1 52.9 8.8 236 2674 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 2010 2778

2863 0.85 173.1 36.6 8.4 251 2864 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 2010 2778

3054 0.85 173.1 20.3 8.0 266 3055 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2010 2778

3250 0.91 229.3 6.1 6.2 295 3275 0.00 0.00 23.38 0.693 2 0.000 0.000 2713 2010 2651

3276 end climb: SURFACE_DEPTH_REACHED

state 3276 begin surface coast

3367 end surface coast: CONTROL_FINISHED_OK

state 3367 begin surface

ID	22	HD_B	0.010364	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.4717998e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	145	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	208	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2000	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	0
D_PITCH	0	SM_CC	450	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	0	R_PORT_OVSHOOT	8	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	13	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	100	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	2	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	658	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3994	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3484	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	0
T_WATCHDOG	10	T_GPS_CHARGE	-111806.58	VBD_PUMP_AD_RATE_APOGEE	1	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	80	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	16	SIM_PITCH	0
GLIDE_SLOPE	15	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0044140997
SPEED_FACTOR	1	PITCH_MAX	3347	AH0_10V	61.200001	SEABIRD_T_H	0.00064927549
RHO	1.023	C_PITCH	2530	PRESSURE_YINT	-21.951805	SEABIRD_T_I	2.7523491e-05
MASS	51950	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011632	SEABIRD_T_J	3.1132354e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.525962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	1.7	SEABIRD_C_H	1.1896306
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	-0.89999998	SEABIRD_C_I	-0.0026426413
HD_A	0.0040048002	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00031414768

GPS1	163838,4740.151,-12251.092,33,1.5,33,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.210,-0.194
_SM_DEPTHo	1.51	KALMAN_X	25638.0,176.6,-59.3,-23399.9,55.9
_SM_ANGLEo	-72.9	KALMAN_Y	7476.3,-157.1,-29.4,-6439.6,125.7
GPS2	164309,4740.151,-12251.100,12,1.0,12,18.3	MHEAD_RNG_PITCHd_Wd	209.0,2060,-10.5,-7.407
SPEED_LIMITS	0.276,0.286	D_GRID	119

FINISH	1.4,1.019913	ALTIM_BOTTOM_PING	50.3,7.7
SM_CCo	3387,134.68,0.651,0,0,1648,450.13	_24V_AH	23.8,21.159
SM_GC	1.49,0.00,0.00,134.68,0.000,0.000,0.651,36,2106,1648,-11.47,0.20,450.13	_10V_AH	10.2,5.523
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	9585,313
TT8_MAMPS	0.028379	CFSIZE	260034560,253378560
HUMID	2101	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	250907,174417,4739.938,-12251.431,10,3.0,29,18.3
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	201	133.95	SBE_CT	207	24	118.42
Roll_motor	45	142	155.42	nil	0	0	0.00
VBD_pump_during_apogee	219	747	3904.93	nil	0	0	0.00
VBD_pump_during_surface	134	651	2087.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.87	nil	0	0	0.00
Iridium_during_connect	35	160	136.57	ARS	0	0	0.00
Iridium_during_xfer	127	223	678.73
Transponder_ping	2	420	19.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.39
TT8	598	19	120.80
LPSleep	1945	2	43.46
TT8_Active	460	19	92.95
TT8_Sampling	525	39	213.45
TT8_CF8	310	45	145.05
TT8_Kalman	33	81	27.82
Analog_circuits	789	12	96.65
GPS_charging	0	0	0.00
Compass	530	8	43.26
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
24	-0.74	-78.2	0.0	0.0	0	68	0.00	0.00	-42.42	0.000	2	0.000	0.000	39	2115	2591
71	-0.74	-78.2	2.0	-1.5	7	150	13.82	2.88	-54.80	0.000	4	0.202	0.127	2362	3512	3804
403	-0.74	-78.2	18.8	-5.2	58	409	0.00	2.83	0.00	0.000	6	0.000	0.104	2361	2091	3806
479	-0.74	-78.2	22.8	-5.1	66	483	0.00	2.85	0.00	0.000	4	0.000	0.107	2361	3516	3806
557	-0.74	-78.2	27.2	-5.8	72	562	0.00	2.83	0.00	0.000	6	0.000	0.104	2361	2097	3807
753	-0.74	-78.2	37.3	-5.4	87	757	0.00	2.97	0.00	0.000	4	0.000	0.143	2361	681	3806
790	-0.74	-78.2	39.2	-5.6	89	798	0.00	2.78	0.00	0.000	6	0.000	0.091	2361	2104	3807
987	-0.74	-78.2	49.1	-5.5	105	992	0.00	2.83	0.00	0.000	4	0.000	0.115	2361	3526	3806
1052	-0.74	-78.2	53.0	-6.4	110	1057	0.00	2.85	0.00	0.000	6	0.000	0.105	2361	2095	3807
1248	-0.74	-78.2	62.9	-5.0	125	1249	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2095	3807
1438	-0.74	-78.2	72.4	-4.9	140	1439	0.00	0.00	0.00	0.000	6	0.000	0.000	2362	2096	3807
1627	-0.74	-78.2	81.6	-4.8	155	1632	0.00	2.95	0.00	0.000	4	0.000	0.142	2361	684	3807
1659	-0.74	-78.2	83.4	-5.4	157	1664	0.00	2.75	0.00	0.000	6	0.000	0.090	2361	2115	3807
1854	-0.74	-78.2	93.4	-5.1	172	1859	0.00	2.78	0.00	0.000	4	0.000	0.115	2361	3515	3807
1920	-0.74	-78.2	97.0	-5.4	177	1925	0.00	2.83	0.00	0.000	6	0.000	0.106	2360	2091	3807
1987	end dive: TARGET_DEPTH_EXCEEDED
state	1987	begin apogee
1992	-0.31	0.0	100.1	4.3	182	2057	0.50	0.00	62.10	0.747	6	0.120	0.000	2458	1993	3484
2058	end apogee: CONTROL_FINISHED_OK
state	2058	begin climb
2059	0.74	78.2	101.1	0.0	187	2130	1.12	2.88	61.30	0.729	4	0.104	0.091	2687	3415	3165
2169	0.85	173.1	97.3	5.4	196	2250	0.08	2.80	72.85	0.716	6	0.063	0.084	2712	1989	2778
2439	0.85	173.1	74.5	9.0	218	2443	0.00	2.92	0.00	0.000	4	0.000	0.131	2712	576	2778
2476	0.85	173.1	70.6	10.0	220	2484	0.00	2.70	0.00	0.000	6	0.000	0.071	2713	2010	2777
2672	0.85	173.1	52.9	8.8	236	2674	0.00	0.00	0.00	0.000	6	0.000	0.000	2712	2010	2778
2863	0.85	173.1	36.6	8.4	251	2864	0.00	0.00	0.00	0.000	6	0.000	0.000	2712	2010	2778
3054	0.85	173.1	20.3	8.0	266	3055	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	2010	2778
3250	0.91	229.3	6.1	6.2	295	3275	0.00	0.00	23.38	0.693	2	0.000	0.000	2713	2010	2651
3276	end climb: SURFACE_DEPTH_REACHED
state	3276	begin surface coast
3367	end surface coast: CONTROL_FINISHED_OK
state	3367	begin surface