Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 155 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_B 0.013382 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.8987e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 155 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2210 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 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 40 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 63 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 204 DEVICE4 -1

T_TURN 270 CALL_WAIT 60 VBD_MAX 3580 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2800 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 360 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -62305.336 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 150 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 45 PITCH_MIN 25 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 4070 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_I 2.5554549e-05

MASS 51503 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0043390002 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 22 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 95 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 63

CALL_TRIES 5 HD_A 0.0043390002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.013382 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 5.8987e-05 RHO 1.023 T_GPS_CHARGE -62305.336

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COURSE_BIAS 0 ID 128 ROLL_MAX 4014 T_TURN_SAMPINT 5

C_PITCH 2820 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2150 INT_PRESSURE_YINT 0 ROLL_MIN 145 UNCOM_BLEED 50

C_ROLL_DIVE 2210 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51503 R_PORT_OVSHOOT 40 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 31 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 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 35 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3580

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 204

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 155 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 133505,4804.950,-12221.077,6,3.3,26,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.100,0.121

_SM_DEPTHo 1.01 KALMAN_X 12355.8,-76.1,-140.4,-8650.1,66.9

_SM_ANGLEo -64.5 KALMAN_Y 4926.3,-128.0,213.4,-11502.6,22.8

GPS2 133926,4804.960,-12221.074,14,1.5,14,18.3 MHEAD_RNG_PITCHd_Wd 302.3,6691,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 108

Post-dive calculations and measurements:

FINISH 1.3,1.024250 XPDR_PINGS 1

SM_CCo 3620,37.92,0.675,0,0,1577,300.00 ALTIM_BOTTOM_PING 70.2,43.8

SM_GC 1.13,0.00,0.00,37.92,0.000,0.000,0.675,14,2200,1577,-8.77,-0.31,300.00 _24V_AH 24.5,20.860

IRIDIUM_FIX 4745.30,-12220.12,110907,161608 _10V_AH 10.8,8.891

TT8_MAMPS 0.026845 DATA_FILE_SIZE 19024,397

HUMID 1850 CFSIZE 260165632,253378560

INTERNAL_PRESSURE 9.20934 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 GPS 110907,144237,4805.217,-12221.323,36,1.0,37,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 210 106.58 SBE_CT 283 24 166.80

Roll_motor 32 53 42.19 SBE_O2 310 19 144.36

VBD_pump_during_apogee 278 828 5653.63 WL_BB2F 669 105 1723.52

VBD_pump_during_surface 37 674 627.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.77 nil 0 0 0.00

Iridium_during_connect 48 160 188.25 nil 0 0 0.00

Iridium_during_xfer 96 223 525.92

Transponder_ping 0 420 5.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.35

TT8 628 19 134.44

LPSleep 1854 2 43.86

TT8_Active 396 19 84.86

TT8_Sampling 777 39 334.03

TT8_CF8 287 45 142.36

TT8_Kalman 33 81 29.45

Analog_circuits 804 12 104.28

GPS_charging 0 0 0.00

Compass 794 8 68.61

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

21 -0.66 -146.6 0.0 0.0 0 138 0.00 0.00 -114.75 0.000 2 0.000 0.000 16 2215 3152

141 -0.66 -146.6 3.2 -2.8 21 166 10.43 2.38 -5.05 0.000 4 0.211 0.054 2598 805 3402

372 -0.66 -146.6 21.7 -5.5 59 380 0.00 2.30 0.00 0.000 6 0.000 0.034 2597 2207 3404

570 -0.66 -146.6 32.1 -5.6 78 571 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2207 3405

761 -0.66 -146.6 42.9 -5.4 96 762 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2207 3405

952 -0.66 -146.6 53.3 -5.1 114 956 0.00 2.28 0.00 0.000 4 0.000 0.039 2597 797 3405

984 -0.66 -146.6 55.0 -5.4 116 991 0.00 2.30 0.00 0.000 6 0.000 0.035 2597 2212 3405

1311 -0.66 -146.6 72.4 -5.3 147 1315 0.00 2.30 0.00 0.000 4 0.000 0.051 2593 3616 3405

1350 -0.66 -146.6 74.8 -5.9 150 1354 0.00 2.22 0.00 0.000 6 0.000 0.028 2593 2192 3405

1676 -0.66 -146.6 92.0 -5.5 180 1680 0.00 2.35 0.00 0.000 4 0.000 0.051 2593 3613 3405

1727 -0.66 -146.6 94.9 -5.8 184 1731 0.00 2.17 0.00 0.000 6 0.000 0.028 2593 2208 3405

1736 end dive: TARGET_DEPTH_EXCEEDED

state 1736 begin apogee

1740 -0.23 0.0 95.6 5.5 185 1860 0.47 0.00 113.45 0.828 6 0.107 0.000 2742 2206 2799

1860 end apogee: CONTROL_FINISHED_OK

state 1860 begin climb

1862 0.66 146.6 98.0 0.0 197 1980 0.90 0.00 111.72 0.688 6 0.079 0.000 3031 2205 2201

2298 0.66 146.6 73.5 6.2 239 2301 0.00 2.25 0.00 0.000 4 0.000 0.048 3031 3553 2199

2320 0.66 146.6 71.9 6.7 241 2324 0.00 2.25 0.00 0.000 6 0.000 0.030 3037 2157 2199

2650 0.66 146.6 51.9 6.0 272 2654 0.00 2.33 0.00 0.000 4 0.000 0.048 3037 3552 2198

2681 0.66 146.6 49.5 7.3 274 2689 0.00 2.28 0.00 0.000 6 0.000 0.030 3037 2148 2198

2879 0.66 146.6 37.6 6.1 293 2880 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2148 2199

3070 0.66 146.6 25.6 6.2 311 3072 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2148 2198

3267 0.66 146.6 14.2 5.6 338 3273 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2147 2198

3340 0.66 146.6 10.3 5.3 351 3346 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2148 2198

3414 0.66 146.6 6.5 5.2 364 3419 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2148 2198

3487 0.75 219.2 4.1 2.8 377 3549 0.00 2.45 53.40 0.821 4 0.000 0.048 3038 3552 1906

3576 end climb: SURFACE_DEPTH_REACHED

state 3576 begin surface coast

3600 end surface coast: CONTROL_FINISHED_OK

state 3601 begin surface

ID	128	HD_B	0.013382	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.8987e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	155	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2210	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	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	40	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	63	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	204	DEVICE4	-1
T_TURN	270	CALL_WAIT	60	VBD_MAX	3580	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2800	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	360	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-62305.336	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	150	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	45	PITCH_MIN	25	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	4070	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_I	2.5554549e-05
MASS	51503	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0043390002	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	133505,4804.950,-12221.077,6,3.3,26,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.100,0.121
_SM_DEPTHo	1.01	KALMAN_X	12355.8,-76.1,-140.4,-8650.1,66.9
_SM_ANGLEo	-64.5	KALMAN_Y	4926.3,-128.0,213.4,-11502.6,22.8
GPS2	133926,4804.960,-12221.074,14,1.5,14,18.3	MHEAD_RNG_PITCHd_Wd	302.3,6691,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	108

FINISH	1.3,1.024250	XPDR_PINGS	1
SM_CCo	3620,37.92,0.675,0,0,1577,300.00	ALTIM_BOTTOM_PING	70.2,43.8
SM_GC	1.13,0.00,0.00,37.92,0.000,0.000,0.675,14,2200,1577,-8.77,-0.31,300.00	_24V_AH	24.5,20.860
IRIDIUM_FIX	4745.30,-12220.12,110907,161608	_10V_AH	10.8,8.891
TT8_MAMPS	0.026845	DATA_FILE_SIZE	19024,397
HUMID	1850	CFSIZE	260165632,253378560
INTERNAL_PRESSURE	9.20934	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	110907,144237,4805.217,-12221.323,36,1.0,37,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	210	106.58	SBE_CT	283	24	166.80
Roll_motor	32	53	42.19	SBE_O2	310	19	144.36
VBD_pump_during_apogee	278	828	5653.63	WL_BB2F	669	105	1723.52
VBD_pump_during_surface	37	674	627.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.77	nil	0	0	0.00
Iridium_during_connect	48	160	188.25	nil	0	0	0.00
Iridium_during_xfer	96	223	525.92
Transponder_ping	0	420	5.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.35
TT8	628	19	134.44
LPSleep	1854	2	43.86
TT8_Active	396	19	84.86
TT8_Sampling	777	39	334.03
TT8_CF8	287	45	142.36
TT8_Kalman	33	81	29.45
Analog_circuits	804	12	104.28
GPS_charging	0	0	0.00
Compass	794	8	68.61
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
21	-0.66	-146.6	0.0	0.0	0	138	0.00	0.00	-114.75	0.000	2	0.000	0.000	16	2215	3152
141	-0.66	-146.6	3.2	-2.8	21	166	10.43	2.38	-5.05	0.000	4	0.211	0.054	2598	805	3402
372	-0.66	-146.6	21.7	-5.5	59	380	0.00	2.30	0.00	0.000	6	0.000	0.034	2597	2207	3404
570	-0.66	-146.6	32.1	-5.6	78	571	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2207	3405
761	-0.66	-146.6	42.9	-5.4	96	762	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2207	3405
952	-0.66	-146.6	53.3	-5.1	114	956	0.00	2.28	0.00	0.000	4	0.000	0.039	2597	797	3405
984	-0.66	-146.6	55.0	-5.4	116	991	0.00	2.30	0.00	0.000	6	0.000	0.035	2597	2212	3405
1311	-0.66	-146.6	72.4	-5.3	147	1315	0.00	2.30	0.00	0.000	4	0.000	0.051	2593	3616	3405
1350	-0.66	-146.6	74.8	-5.9	150	1354	0.00	2.22	0.00	0.000	6	0.000	0.028	2593	2192	3405
1676	-0.66	-146.6	92.0	-5.5	180	1680	0.00	2.35	0.00	0.000	4	0.000	0.051	2593	3613	3405
1727	-0.66	-146.6	94.9	-5.8	184	1731	0.00	2.17	0.00	0.000	6	0.000	0.028	2593	2208	3405
1736	end dive: TARGET_DEPTH_EXCEEDED
state	1736	begin apogee
1740	-0.23	0.0	95.6	5.5	185	1860	0.47	0.00	113.45	0.828	6	0.107	0.000	2742	2206	2799
1860	end apogee: CONTROL_FINISHED_OK
state	1860	begin climb
1862	0.66	146.6	98.0	0.0	197	1980	0.90	0.00	111.72	0.688	6	0.079	0.000	3031	2205	2201
2298	0.66	146.6	73.5	6.2	239	2301	0.00	2.25	0.00	0.000	4	0.000	0.048	3031	3553	2199
2320	0.66	146.6	71.9	6.7	241	2324	0.00	2.25	0.00	0.000	6	0.000	0.030	3037	2157	2199
2650	0.66	146.6	51.9	6.0	272	2654	0.00	2.33	0.00	0.000	4	0.000	0.048	3037	3552	2198
2681	0.66	146.6	49.5	7.3	274	2689	0.00	2.28	0.00	0.000	6	0.000	0.030	3037	2148	2198
2879	0.66	146.6	37.6	6.1	293	2880	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	2148	2199
3070	0.66	146.6	25.6	6.2	311	3072	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2148	2198
3267	0.66	146.6	14.2	5.6	338	3273	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2147	2198
3340	0.66	146.6	10.3	5.3	351	3346	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	2148	2198
3414	0.66	146.6	6.5	5.2	364	3419	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	2148	2198
3487	0.75	219.2	4.1	2.8	377	3549	0.00	2.45	53.40	0.821	4	0.000	0.048	3038	3552	1906
3576	end climb: SURFACE_DEPTH_REACHED
state	3576	begin surface coast
3600	end surface coast: CONTROL_FINISHED_OK
state	3601	begin surface