Glider dive log

PN07 DabobBay Sep07 * SG022 * Dive index * Mission links * Dive 147 * 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 147 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 16 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 -111853.69 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 -111853.69

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 16 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 147 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 185035,4739.682,-12251.948,14,3.6,33,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.216,-0.172

_SM_DEPTHo 1.50 KALMAN_X 25585.0,100.6,110.7,-24541.8,-14.4

_SM_ANGLEo -70.7 KALMAN_Y 7437.4,-122.6,134.6,-7495.5,35.5

GPS2 185415,4739.667,-12251.980,14,1.3,14,18.3 MHEAD_RNG_PITCHd_Wd 213.2,643,-11.1,-7.407

SPEED_LIMITS 0.276,0.286 D_GRID 124

Post-dive calculations and measurements:

FINISH 1.9,1.019898 ALTIM_BOTTOM_PING 50.3,7.7

SM_CCo 3173,154.25,0.649,0,0,1648,450.13 _24V_AH 23.8,21.327

SM_GC 1.47,0.00,0.00,154.25,0.000,0.000,0.649,37,2107,1648,-11.47,0.17,450.13 _10V_AH 10.2,5.572

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 9591,292

TT8_MAMPS 0.028379 CFSIZE 260034560,253325312

HUMID 2114 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 250907,195208,4739.396,-12252.443,11,1.3,28,18.3

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 199 132.89 SBE_CT 193 24 110.28

Roll_motor 55 139 183.48 nil 0 0 0.00

VBD_pump_during_apogee 188 746 3343.20 nil 0 0 0.00

VBD_pump_during_surface 154 648 2382.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.91 nil 0 0 0.00

Iridium_during_connect 34 160 132.59 ARS 0 0 0.00

Iridium_during_xfer 78 223 418.05

Transponder_ping 1 420 17.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.25

TT8 564 19 114.07

LPSleep 1792 2 40.04

TT8_Active 469 19 94.77

TT8_Sampling 512 39 208.21

TT8_CF8 256 45 119.97

TT8_Kalman 33 81 27.81

Analog_circuits 794 12 97.28

GPS_charging 0 0 0.00

Compass 513 8 41.90

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 -0.78 -78.2 0.0 0.0 0 69 0.00 0.00 -43.28 0.000 2 0.000 0.000 38 2112 2609

72 -0.78 -78.2 2.0 -1.6 7 151 13.70 2.85 -56.67 0.000 4 0.199 0.123 2354 3514 3804

404 -0.78 -78.2 20.0 -5.3 58 410 0.00 2.78 0.00 0.000 6 0.000 0.097 2353 2096 3807

473 -0.78 -78.2 23.8 -5.2 64 477 0.00 2.85 0.00 0.000 4 0.000 0.110 2353 3514 3807

571 -0.78 -78.2 29.7 -6.1 71 576 0.00 2.80 0.00 0.000 6 0.000 0.099 2353 2093 3808

766 -0.78 -78.2 40.4 -5.5 86 768 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2092 3808

961 -0.78 -78.2 50.3 -5.2 101 967 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2093 3808

1157 -0.78 -78.2 61.3 -5.7 117 1162 0.00 2.95 0.00 0.000 4 0.000 0.140 2353 676 3808

1207 -0.78 -78.2 64.3 -5.9 120 1215 0.00 2.75 0.00 0.000 6 0.000 0.089 2353 2093 3808

1404 -0.78 -78.2 75.4 -5.8 136 1408 0.00 2.85 0.00 0.000 4 0.000 0.117 2354 3514 3808

1468 -0.78 -78.2 79.4 -6.4 140 1476 0.00 2.85 0.00 0.000 6 0.000 0.106 2354 2100 3808

1665 -0.78 -78.2 90.1 -5.4 156 1666 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2100 3808

1855 -0.78 -78.2 99.9 -4.9 171 1859 0.00 2.17 0.00 0.000 3 0.000 0.107 2354 3200 3808

1860 end dive: TARGET_DEPTH_EXCEEDED

state 1860 begin apogee

1867 -0.31 0.0 100.2 5.0 171 1933 0.52 0.00 62.25 0.746 6 0.127 0.000 2456 1995 3484

1934 end apogee: CONTROL_FINISHED_OK

state 1934 begin climb

1936 0.78 78.2 102.2 0.0 177 2009 1.17 3.00 61.05 0.732 4 0.105 0.122 2692 576 3163

2048 0.87 162.2 98.2 5.5 186 2122 0.12 2.70 64.93 0.719 6 0.065 0.074 2728 2014 2820

2310 0.87 162.2 75.3 9.5 207 2315 0.00 2.70 0.00 0.000 4 0.000 0.094 2728 3410 2820

2355 0.87 162.2 70.6 10.1 210 2360 0.00 2.72 0.00 0.000 6 0.000 0.084 2728 1995 2820

2557 0.87 162.2 51.2 10.0 226 2561 0.00 2.88 0.00 0.000 4 0.000 0.125 2727 582 2820

2649 0.87 162.2 41.6 10.5 233 2653 0.00 2.62 0.00 0.000 6 0.000 0.068 2728 2006 2819

2851 0.87 162.2 22.5 9.5 249 2856 0.00 2.95 0.00 0.000 4 0.000 0.121 2727 559 2819

2897 0.87 162.2 18.1 10.2 253 2904 0.00 2.67 0.00 0.000 6 0.000 0.071 2728 2002 2819

2969 0.87 162.2 12.4 7.6 264 2976 0.00 2.72 0.00 0.000 4 0.000 0.100 2728 3415 2820

3001 0.87 162.2 9.8 7.8 269 3008 0.00 2.72 0.00 0.000 6 0.000 0.083 2728 1995 2819

3065 end climb: SURFACE_DEPTH_REACHED

state 3065 begin surface coast

3152 end surface coast: CONTROL_FINISHED_OK

state 3153 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	147	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	16	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	-111853.69	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	185035,4739.682,-12251.948,14,3.6,33,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.216,-0.172
_SM_DEPTHo	1.50	KALMAN_X	25585.0,100.6,110.7,-24541.8,-14.4
_SM_ANGLEo	-70.7	KALMAN_Y	7437.4,-122.6,134.6,-7495.5,35.5
GPS2	185415,4739.667,-12251.980,14,1.3,14,18.3	MHEAD_RNG_PITCHd_Wd	213.2,643,-11.1,-7.407
SPEED_LIMITS	0.276,0.286	D_GRID	124

FINISH	1.9,1.019898	ALTIM_BOTTOM_PING	50.3,7.7
SM_CCo	3173,154.25,0.649,0,0,1648,450.13	_24V_AH	23.8,21.327
SM_GC	1.47,0.00,0.00,154.25,0.000,0.000,0.649,37,2107,1648,-11.47,0.17,450.13	_10V_AH	10.2,5.572
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	9591,292
TT8_MAMPS	0.028379	CFSIZE	260034560,253325312
HUMID	2114	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	250907,195208,4739.396,-12252.443,11,1.3,28,18.3
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	199	132.89	SBE_CT	193	24	110.28
Roll_motor	55	139	183.48	nil	0	0	0.00
VBD_pump_during_apogee	188	746	3343.20	nil	0	0	0.00
VBD_pump_during_surface	154	648	2382.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.91	nil	0	0	0.00
Iridium_during_connect	34	160	132.59	ARS	0	0	0.00
Iridium_during_xfer	78	223	418.05
Transponder_ping	1	420	17.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.25
TT8	564	19	114.07
LPSleep	1792	2	40.04
TT8_Active	469	19	94.77
TT8_Sampling	512	39	208.21
TT8_CF8	256	45	119.97
TT8_Kalman	33	81	27.81
Analog_circuits	794	12	97.28
GPS_charging	0	0	0.00
Compass	513	8	41.90
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	-0.78	-78.2	0.0	0.0	0	69	0.00	0.00	-43.28	0.000	2	0.000	0.000	38	2112	2609
72	-0.78	-78.2	2.0	-1.6	7	151	13.70	2.85	-56.67	0.000	4	0.199	0.123	2354	3514	3804
404	-0.78	-78.2	20.0	-5.3	58	410	0.00	2.78	0.00	0.000	6	0.000	0.097	2353	2096	3807
473	-0.78	-78.2	23.8	-5.2	64	477	0.00	2.85	0.00	0.000	4	0.000	0.110	2353	3514	3807
571	-0.78	-78.2	29.7	-6.1	71	576	0.00	2.80	0.00	0.000	6	0.000	0.099	2353	2093	3808
766	-0.78	-78.2	40.4	-5.5	86	768	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2092	3808
961	-0.78	-78.2	50.3	-5.2	101	967	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2093	3808
1157	-0.78	-78.2	61.3	-5.7	117	1162	0.00	2.95	0.00	0.000	4	0.000	0.140	2353	676	3808
1207	-0.78	-78.2	64.3	-5.9	120	1215	0.00	2.75	0.00	0.000	6	0.000	0.089	2353	2093	3808
1404	-0.78	-78.2	75.4	-5.8	136	1408	0.00	2.85	0.00	0.000	4	0.000	0.117	2354	3514	3808
1468	-0.78	-78.2	79.4	-6.4	140	1476	0.00	2.85	0.00	0.000	6	0.000	0.106	2354	2100	3808
1665	-0.78	-78.2	90.1	-5.4	156	1666	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2100	3808
1855	-0.78	-78.2	99.9	-4.9	171	1859	0.00	2.17	0.00	0.000	3	0.000	0.107	2354	3200	3808
1860	end dive: TARGET_DEPTH_EXCEEDED
state	1860	begin apogee
1867	-0.31	0.0	100.2	5.0	171	1933	0.52	0.00	62.25	0.746	6	0.127	0.000	2456	1995	3484
1934	end apogee: CONTROL_FINISHED_OK
state	1934	begin climb
1936	0.78	78.2	102.2	0.0	177	2009	1.17	3.00	61.05	0.732	4	0.105	0.122	2692	576	3163
2048	0.87	162.2	98.2	5.5	186	2122	0.12	2.70	64.93	0.719	6	0.065	0.074	2728	2014	2820
2310	0.87	162.2	75.3	9.5	207	2315	0.00	2.70	0.00	0.000	4	0.000	0.094	2728	3410	2820
2355	0.87	162.2	70.6	10.1	210	2360	0.00	2.72	0.00	0.000	6	0.000	0.084	2728	1995	2820
2557	0.87	162.2	51.2	10.0	226	2561	0.00	2.88	0.00	0.000	4	0.000	0.125	2727	582	2820
2649	0.87	162.2	41.6	10.5	233	2653	0.00	2.62	0.00	0.000	6	0.000	0.068	2728	2006	2819
2851	0.87	162.2	22.5	9.5	249	2856	0.00	2.95	0.00	0.000	4	0.000	0.121	2727	559	2819
2897	0.87	162.2	18.1	10.2	253	2904	0.00	2.67	0.00	0.000	6	0.000	0.071	2728	2002	2819
2969	0.87	162.2	12.4	7.6	264	2976	0.00	2.72	0.00	0.000	4	0.000	0.100	2728	3415	2820
3001	0.87	162.2	9.8	7.8	269	3008	0.00	2.72	0.00	0.000	6	0.000	0.083	2728	1995	2819
3065	end climb: SURFACE_DEPTH_REACHED
state	3065	begin surface coast
3152	end surface coast: CONTROL_FINISHED_OK
state	3153	begin surface