Glider dive log

PortSusan 29Jul09 * SG033 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 33 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MIN 121 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 18 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 60

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2137 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2137 ALTIM_PULSE 3

D_ABORT 250 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 700 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 15 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 1

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 3 DEEPGLIDERMB 1

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 100 UPLOAD_DIVES_MAX -1 VBD_MIN 736 DEVICE2 99

T_MISSION 120 CALL_TRIES 5 VBD_MAX 3794 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3239 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.36790001 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 2 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -165370.12 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 1555 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4048 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3250 PRESSURE_YINT -12.798624 SEABIRD_T_G 0.0043575475

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0002686042 SEABIRD_T_H 0.00062940316

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 32 SEABIRD_T_I 2.4306677e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6223986e-06

FERRY_MAX 2 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.332057

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.2094743

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016192879

HD_B 0.0099684997 PITCH_MAXERRORS 3 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00021825745

HD_C 2.5700001e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 32 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 700

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_PITCH 0 PITCH_MAX 4048 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 3 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 1555 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0002686042 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 2 PRESSURE_YINT -12.798624 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 100

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -165370.12

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_MISSION 120

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 300

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 33 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 3 UPLOAD_DIVES_MAX -1

C_PITCH 3250 KALMAN_USE 1 ROLL_MIN 121 USE_BATHY 0

C_ROLL_CLIMB 2137 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2137 MASS 52000 R_PORT_OVSHOOT 15 VBD_BLEED_AD_RATE 8

C_VBD 3239 MAX_BUOY 150 R_STBD_OVSHOOT 24 VBD_CNV -0.36790001

DEEPGLIDER 1 MISSION 3 SEABIRD_C_G -10.332057 VBD_DBAND 2

DEEPGLIDERMB 1 MOTHERBOARD 4 SEABIRD_C_H 1.2094743 VBD_MAX 3794

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016192879 VBD_MAXERRORS 1

DEVICE2 99 N_FILEKB 4 SEABIRD_C_J 0.00021825745 VBD_MIN 736

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043575475 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062940316 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4306677e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6223986e-06 XPDR_DEVICE 24

DIVE 18 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 250 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 141114,4807.357,-12223.225,10,1.8,10,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.067,-0.196

_SM_DEPTHo 0.77 KALMAN_X -4207.9,-104.9,-227.2,4104.2,-426.2

_SM_ANGLEo -61.3 KALMAN_Y 9549.0,6.3,-111.1,-10315.4,1242.8

GPS2 141625,4807.317,-12223.151,11,1.8,16,18.3 MHEAD_RNG_PITCHd_Wd 142.7,617,-8.7,-5.000

SPEED_LIMITS 0.087,0.207 D_GRID 150

Post-dive calculations and measurements:

FINISH 1.1,1.018669 ALTIM_TOP_PING 19.8,19.9

SM_CCo 4266,255.85,0.765,0,0,1337,700.11 ALTIM_BOTTOM_PING 80.1,39.7

SM_GC 0.72,0.00,0.00,255.85,0.000,0.000,0.765,1551,2139,1337,-7.81,0.06,700.11 _24V_AH 22.9,3.655

IRIDIUM_FIX 4748.51,-12224.57,241098,121226 _10V_AH 10.8,0.816

TT8_MAMPS 0.021476 DATA_FILE_SIZE 22290,410

HUMID 2189 CAP_FILE_SIZE 53065,0

INTERNAL_PRESSURE 8.34016 CFSIZE 260280320,257732608

TCM_TEMP 19.80 ERRORS 0,1,0,0,0,0,0,0,0,0,0,22,3,0,0

XPDR_PINGS 0 GPS 300709,153336,4807.288,-12223.164,25,1.3,25,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 193 100.57 SBE_CT 271 24 149.11

Roll_motor 40 106 99.70 AA4330 623 33 471.18

VBD_pump_during_apogee 412 836 7912.01 nil 0 0 0.00

VBD_pump_during_surface 255 764 4480.73 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 73.65 nil 0 0 0.00

Iridium_during_connect 25 160 92.12 nil 0 0 0.00

Iridium_during_xfer 180 223 924.13

Transponder_ping 1 420 12.02

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.78

TT8 645 19 137.98

LPSleep 2231 2 52.79

TT8_Active 749 19 160.25

TT8_Sampling 937 39 402.77

TT8_CF8 284 45 140.78

TT8_Kalman 33 81 29.43

Analog_circuits 1271 12 164.81

GPS_charging 0 0 0.00

Compass 875 8 75.65

RAFOS 0 0 0.00

Transponder 10 30 3.31

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.90 -146.6 0.0 0.0 0 142 0.00 0.00 -125.05 0.000 2 0.000 0.000 1551 2139 2895

144 -0.90 -146.6 3.1 -2.8 23 201 9.82 2.62 -36.80 0.000 4 0.194 0.094 3047 3546 3640

370 -0.90 -146.6 18.4 -7.1 63 376 0.00 2.47 0.00 0.000 6 0.000 0.072 3046 2130 3640

445 -0.90 -146.6 23.9 -7.4 72 450 0.00 2.60 0.00 0.000 4 0.000 0.097 3047 3538 3640

703 -0.90 -146.6 44.5 -8.5 95 707 0.00 2.47 0.00 0.000 6 0.000 0.074 3047 2132 3640

902 -0.90 -146.6 60.6 -8.1 108 906 0.00 2.62 0.00 0.000 4 0.000 0.102 3047 3536 3641

1157 -0.90 -146.6 82.1 -8.6 119 1165 0.00 2.50 0.00 0.000 6 0.000 0.077 3046 2144 3641

1432 end dive: BOTTOM_OBSTACLE_DETECTED

state 1432 begin apogee

1435 -0.42 0.0 105.1 8.7 135 1565 0.60 0.00 122.72 0.837 6 0.102 0.000 3157 2143 3239

1566 end apogee: CONTROL_FINISHED_OK

state 1566 begin climb

1567 0.90 146.6 114.2 0.0 148 1693 1.55 2.70 115.72 0.817 4 0.102 0.104 3443 724 2840

1945 1.05 268.8 112.3 2.2 182 2047 0.12 2.45 95.05 0.819 6 0.074 0.070 3478 2138 2508

2368 1.05 268.8 88.6 5.8 214 2372 0.00 2.62 0.00 0.000 4 0.000 0.107 3478 719 2508

2625 1.05 268.8 73.1 6.0 225 2630 0.00 2.47 0.00 0.000 6 0.000 0.074 3478 2111 2507

2946 1.05 268.8 54.8 5.9 241 2950 0.00 2.55 0.00 0.000 4 0.000 0.104 3478 721 2507

3202 1.05 268.8 40.6 5.2 259 3210 0.00 2.50 0.00 0.000 6 0.000 0.074 3478 2128 2506

3400 1.06 275.6 31.0 4.8 278 3412 0.00 2.62 6.20 0.658 4 0.000 0.104 3478 724 2489

3665 1.06 275.6 17.2 5.3 306 3671 0.00 2.47 0.00 0.000 6 0.000 0.077 3478 2140 2489

3738 1.06 275.6 13.4 5.1 319 3744 0.00 2.60 0.00 0.000 4 0.000 0.104 3478 721 2489

3997 1.29 461.6 5.6 0.8 365 4076 0.28 2.47 73.20 0.797 2 0.099 0.077 3530 2148 2234

4077 end climb: SURFACE_DEPTH_REACHED

state 4077 begin surface coast

4250 end surface coast: CONTROL_FINISHED_OK

state 4251 begin surface

ID	33	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MIN	121	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	18	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	60
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2137	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2137	ALTIM_PULSE	3
D_ABORT	250	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	700	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	15	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	1
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	3	DEEPGLIDERMB	1
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	100	UPLOAD_DIVES_MAX	-1	VBD_MIN	736	DEVICE2	99
T_MISSION	120	CALL_TRIES	5	VBD_MAX	3794	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3239	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.36790001	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	2	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-165370.12	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	1555	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4048	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3250	PRESSURE_YINT	-12.798624	SEABIRD_T_G	0.0043575475
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0002686042	SEABIRD_T_H	0.00062940316
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	32	SEABIRD_T_I	2.4306677e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6223986e-06
FERRY_MAX	2	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.332057
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.2094743
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016192879
HD_B	0.0099684997	PITCH_MAXERRORS	3	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00021825745
HD_C	2.5700001e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	141114,4807.357,-12223.225,10,1.8,10,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.067,-0.196
_SM_DEPTHo	0.77	KALMAN_X	-4207.9,-104.9,-227.2,4104.2,-426.2
_SM_ANGLEo	-61.3	KALMAN_Y	9549.0,6.3,-111.1,-10315.4,1242.8
GPS2	141625,4807.317,-12223.151,11,1.8,16,18.3	MHEAD_RNG_PITCHd_Wd	142.7,617,-8.7,-5.000
SPEED_LIMITS	0.087,0.207	D_GRID	150

FINISH	1.1,1.018669	ALTIM_TOP_PING	19.8,19.9
SM_CCo	4266,255.85,0.765,0,0,1337,700.11	ALTIM_BOTTOM_PING	80.1,39.7
SM_GC	0.72,0.00,0.00,255.85,0.000,0.000,0.765,1551,2139,1337,-7.81,0.06,700.11	_24V_AH	22.9,3.655
IRIDIUM_FIX	4748.51,-12224.57,241098,121226	_10V_AH	10.8,0.816
TT8_MAMPS	0.021476	DATA_FILE_SIZE	22290,410
HUMID	2189	CAP_FILE_SIZE	53065,0
INTERNAL_PRESSURE	8.34016	CFSIZE	260280320,257732608
TCM_TEMP	19.80	ERRORS	0,1,0,0,0,0,0,0,0,0,0,22,3,0,0
XPDR_PINGS	0	GPS	300709,153336,4807.288,-12223.164,25,1.3,25,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	193	100.57	SBE_CT	271	24	149.11
Roll_motor	40	106	99.70	AA4330	623	33	471.18
VBD_pump_during_apogee	412	836	7912.01	nil	0	0	0.00
VBD_pump_during_surface	255	764	4480.73	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	73.65	nil	0	0	0.00
Iridium_during_connect	25	160	92.12	nil	0	0	0.00
Iridium_during_xfer	180	223	924.13
Transponder_ping	1	420	12.02
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.78
TT8	645	19	137.98
LPSleep	2231	2	52.79
TT8_Active	749	19	160.25
TT8_Sampling	937	39	402.77
TT8_CF8	284	45	140.78
TT8_Kalman	33	81	29.43
Analog_circuits	1271	12	164.81
GPS_charging	0	0	0.00
Compass	875	8	75.65
RAFOS	0	0	0.00
Transponder	10	30	3.31

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.90	-146.6	0.0	0.0	0	142	0.00	0.00	-125.05	0.000	2	0.000	0.000	1551	2139	2895
144	-0.90	-146.6	3.1	-2.8	23	201	9.82	2.62	-36.80	0.000	4	0.194	0.094	3047	3546	3640
370	-0.90	-146.6	18.4	-7.1	63	376	0.00	2.47	0.00	0.000	6	0.000	0.072	3046	2130	3640
445	-0.90	-146.6	23.9	-7.4	72	450	0.00	2.60	0.00	0.000	4	0.000	0.097	3047	3538	3640
703	-0.90	-146.6	44.5	-8.5	95	707	0.00	2.47	0.00	0.000	6	0.000	0.074	3047	2132	3640
902	-0.90	-146.6	60.6	-8.1	108	906	0.00	2.62	0.00	0.000	4	0.000	0.102	3047	3536	3641
1157	-0.90	-146.6	82.1	-8.6	119	1165	0.00	2.50	0.00	0.000	6	0.000	0.077	3046	2144	3641
1432	end dive: BOTTOM_OBSTACLE_DETECTED
state	1432	begin apogee
1435	-0.42	0.0	105.1	8.7	135	1565	0.60	0.00	122.72	0.837	6	0.102	0.000	3157	2143	3239
1566	end apogee: CONTROL_FINISHED_OK
state	1566	begin climb
1567	0.90	146.6	114.2	0.0	148	1693	1.55	2.70	115.72	0.817	4	0.102	0.104	3443	724	2840
1945	1.05	268.8	112.3	2.2	182	2047	0.12	2.45	95.05	0.819	6	0.074	0.070	3478	2138	2508
2368	1.05	268.8	88.6	5.8	214	2372	0.00	2.62	0.00	0.000	4	0.000	0.107	3478	719	2508
2625	1.05	268.8	73.1	6.0	225	2630	0.00	2.47	0.00	0.000	6	0.000	0.074	3478	2111	2507
2946	1.05	268.8	54.8	5.9	241	2950	0.00	2.55	0.00	0.000	4	0.000	0.104	3478	721	2507
3202	1.05	268.8	40.6	5.2	259	3210	0.00	2.50	0.00	0.000	6	0.000	0.074	3478	2128	2506
3400	1.06	275.6	31.0	4.8	278	3412	0.00	2.62	6.20	0.658	4	0.000	0.104	3478	724	2489
3665	1.06	275.6	17.2	5.3	306	3671	0.00	2.47	0.00	0.000	6	0.000	0.077	3478	2140	2489
3738	1.06	275.6	13.4	5.1	319	3744	0.00	2.60	0.00	0.000	4	0.000	0.104	3478	721	2489
3997	1.29	461.6	5.6	0.8	365	4076	0.28	2.47	73.20	0.797	2	0.099	0.077	3530	2148	2234
4077	end climb: SURFACE_DEPTH_REACHED
state	4077	begin surface coast
4250	end surface coast: CONTROL_FINISHED_OK
state	4251	begin surface