Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 197 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 197 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 1500 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 425 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 60 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 62 INT_PRESSURE_YINT 2.7

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 275 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 330 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2863 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -9058.4551 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 0 RAFOS_DEVICE -1

MAX_BUOY 250 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 160 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3938 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2739 PRESSURE_YINT -27.273609 SEABIRD_T_G 0.0043153614

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 51956 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 24.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 25

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 24.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3938 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 160 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -27.273609 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

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 275

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -9058.4551

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 330

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 166 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3786 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2739 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -4

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 60 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 250 R_STBD_OVSHOOT 62 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010752195 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016642714 VBD_MIN 455

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043153614 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063164165 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3580644e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4654264e-06 XPDR_DEVICE 24

DIVE 197 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 211844,2413.243,12323.237,13,1.5,13,-3.5 TGT_NAME RET_1

_CALLS 2 TGT_LATLONG 2403.100,12326.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.39 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 212643,2413.222,12323.267,10,1.6,15,-3.5 MHEAD_RNG_PITCHd_Wd 214.6,19307,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 281

Post-dive calculations and measurements:

FINISH 0.6,1.003611 ALTIM_BOTTOM_PING 200.4,56.8

SM_CCo 4480,0.00,0.000,0,0,810,503.60 _24V_AH 24.9,42.233

SM_GC 1.31,8.00,0.00,0.00,0.040,0.000,0.000,149,1495,810,-8.02,-0.14,503.60 _10V_AH 10.9,25.482

IRIDIUM_FIX 2403.92,12323.71,120998,212146 DATA_FILE_SIZE 41331,758

TT8_MAMPS 0.026845 CAP_FILE_SIZE 61119,0

HUMID 1540 CFSIZE 260165632,220913664

INTERNAL_PRESSURE 10.0733 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.80 CURRENT 0.185, 53.1,1

XPDR_PINGS 0 GPS 180609,224246,2413.291,12323.039,11,99.0,30,-3.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 237 138.24 SBE_CT 499 24 298.29

Roll_motor 29 49 35.81 Optode 690 33 567.41

VBD_pump_during_apogee 573 799 11409.41 WL_BB2F 1160 105 3034.93

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 46 103 119.09 nil 0 0 0.00

Iridium_during_connect 150 160 600.91 nil 0 0 0.00

Iridium_during_xfer 126 223 704.74

Transponder_ping 0 420 5.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.54

TT8 1145 19 247.17

LPSleep 1391 2 33.22

TT8_Active 553 19 119.48

TT8_Sampling 1428 39 619.69

TT8_CF8 447 45 223.33

TT8_Kalman 0 0 0.00

Analog_circuits 1228 12 160.74

GPS_charging 0 0 0.00

Compass 1428 8 124.58

RAFOS 0 0 0.00

Transponder 5 30 1.83

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

11 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.97 -243.4 0.0 0.0 0 99 0.00 0.00 -81.53 0.000 2 0.000 0.000 141 1463 2481

101 -0.97 -243.4 3.3 -6.2 13 154 9.02 2.15 -34.45 0.000 4 0.237 0.049 2415 2894 3858

160 -0.13 -243.4 16.6 -28.1 22 168 0.93 2.03 0.00 0.000 6 0.151 0.031 2696 1493 3858

508 -1.04 -243.4 49.4 -10.5 83 515 0.75 2.05 0.00 0.000 4 0.051 0.035 2390 2900 3859

674 -0.38 -243.4 92.6 -28.4 112 681 0.75 2.03 0.00 0.000 6 0.153 0.031 2615 1519 3859

1019 -0.61 -243.4 130.9 -9.3 173 1027 0.17 2.05 0.00 0.000 4 0.056 0.036 2520 2898 3859

1202 -0.61 -243.4 158.5 -15.0 205 1209 0.00 1.95 0.00 0.000 6 0.000 0.031 2520 1559 3860

1548 -0.61 -243.4 201.8 -11.4 266 1554 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1559 3860

1822 end dive: BOTTOM_OBSTACLE_DETECTED

state 1822 begin apogee

1828 -0.20 0.0 232.5 12.1 315 2015 0.43 0.00 181.98 0.799 6 0.114 0.000 2666 1767 2862

2018 end apogee: CONTROL_FINISHED_OK

state 2018 begin climb

2019 0.97 243.4 246.7 0.0 346 2213 1.05 2.22 183.15 0.791 4 0.075 0.046 3058 359 1869

2467 0.72 243.4 206.2 14.5 422 2474 0.30 2.03 0.00 0.000 6 0.135 0.028 2969 1771 1864

2812 1.06 369.3 182.7 7.8 483 2919 0.28 2.12 98.32 0.770 4 0.044 0.038 3102 3138 1356

3022 0.84 369.3 155.8 14.0 518 3029 0.35 2.08 0.00 0.000 6 0.139 0.031 3008 1721 1353

3366 1.14 436.2 125.3 9.8 579 3430 0.25 2.15 54.22 0.733 4 0.044 0.044 3147 352 1084

3501 0.95 436.2 103.6 18.5 601 3509 0.28 1.98 0.00 0.000 6 0.118 0.027 3044 1712 1082

3848 1.32 497.6 71.5 10.0 662 3906 0.30 2.10 50.25 0.695 4 0.040 0.042 3198 345 833

4013 1.09 497.6 39.5 19.7 690 4020 0.30 1.90 0.00 0.000 6 0.129 0.026 3088 1666 831

4359 1.45 583.6 3.4 9.2 751 4367 0.28 0.00 5.40 0.482 2 0.042 0.000 3229 1668 812

4368 end climb: SURFACE_DEPTH_REACHED

state 4368 begin surface coast

4403 end surface coast: CONTROL_FINISHED_OK

state 4403 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	197	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	1500	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	425	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	60	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	62	INT_PRESSURE_YINT	2.7
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	275	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	330	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2863	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-9058.4551	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	0	RAFOS_DEVICE	-1
MAX_BUOY	250	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	160	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3938	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2739	PRESSURE_YINT	-27.273609	SEABIRD_T_G	0.0043153614
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	51956	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	24.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	211844,2413.243,12323.237,13,1.5,13,-3.5	TGT_NAME	RET_1
_CALLS	2	TGT_LATLONG	2403.100,12326.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.39	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	212643,2413.222,12323.267,10,1.6,15,-3.5	MHEAD_RNG_PITCHd_Wd	214.6,19307,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	281

FINISH	0.6,1.003611	ALTIM_BOTTOM_PING	200.4,56.8
SM_CCo	4480,0.00,0.000,0,0,810,503.60	_24V_AH	24.9,42.233
SM_GC	1.31,8.00,0.00,0.00,0.040,0.000,0.000,149,1495,810,-8.02,-0.14,503.60	_10V_AH	10.9,25.482
IRIDIUM_FIX	2403.92,12323.71,120998,212146	DATA_FILE_SIZE	41331,758
TT8_MAMPS	0.026845	CAP_FILE_SIZE	61119,0
HUMID	1540	CFSIZE	260165632,220913664
INTERNAL_PRESSURE	10.0733	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.80	CURRENT	0.185, 53.1,1
XPDR_PINGS	0	GPS	180609,224246,2413.291,12323.039,11,99.0,30,-3.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	237	138.24	SBE_CT	499	24	298.29
Roll_motor	29	49	35.81	Optode	690	33	567.41
VBD_pump_during_apogee	573	799	11409.41	WL_BB2F	1160	105	3034.93
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	46	103	119.09	nil	0	0	0.00
Iridium_during_connect	150	160	600.91	nil	0	0	0.00
Iridium_during_xfer	126	223	704.74
Transponder_ping	0	420	5.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.54
TT8	1145	19	247.17
LPSleep	1391	2	33.22
TT8_Active	553	19	119.48
TT8_Sampling	1428	39	619.69
TT8_CF8	447	45	223.33
TT8_Kalman	0	0	0.00
Analog_circuits	1228	12	160.74
GPS_charging	0	0	0.00
Compass	1428	8	124.58
RAFOS	0	0	0.00
Transponder	5	30	1.83

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
11	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.97	-243.4	0.0	0.0	0	99	0.00	0.00	-81.53	0.000	2	0.000	0.000	141	1463	2481
101	-0.97	-243.4	3.3	-6.2	13	154	9.02	2.15	-34.45	0.000	4	0.237	0.049	2415	2894	3858
160	-0.13	-243.4	16.6	-28.1	22	168	0.93	2.03	0.00	0.000	6	0.151	0.031	2696	1493	3858
508	-1.04	-243.4	49.4	-10.5	83	515	0.75	2.05	0.00	0.000	4	0.051	0.035	2390	2900	3859
674	-0.38	-243.4	92.6	-28.4	112	681	0.75	2.03	0.00	0.000	6	0.153	0.031	2615	1519	3859
1019	-0.61	-243.4	130.9	-9.3	173	1027	0.17	2.05	0.00	0.000	4	0.056	0.036	2520	2898	3859
1202	-0.61	-243.4	158.5	-15.0	205	1209	0.00	1.95	0.00	0.000	6	0.000	0.031	2520	1559	3860
1548	-0.61	-243.4	201.8	-11.4	266	1554	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	1559	3860
1822	end dive: BOTTOM_OBSTACLE_DETECTED
state	1822	begin apogee
1828	-0.20	0.0	232.5	12.1	315	2015	0.43	0.00	181.98	0.799	6	0.114	0.000	2666	1767	2862
2018	end apogee: CONTROL_FINISHED_OK
state	2018	begin climb
2019	0.97	243.4	246.7	0.0	346	2213	1.05	2.22	183.15	0.791	4	0.075	0.046	3058	359	1869
2467	0.72	243.4	206.2	14.5	422	2474	0.30	2.03	0.00	0.000	6	0.135	0.028	2969	1771	1864
2812	1.06	369.3	182.7	7.8	483	2919	0.28	2.12	98.32	0.770	4	0.044	0.038	3102	3138	1356
3022	0.84	369.3	155.8	14.0	518	3029	0.35	2.08	0.00	0.000	6	0.139	0.031	3008	1721	1353
3366	1.14	436.2	125.3	9.8	579	3430	0.25	2.15	54.22	0.733	4	0.044	0.044	3147	352	1084
3501	0.95	436.2	103.6	18.5	601	3509	0.28	1.98	0.00	0.000	6	0.118	0.027	3044	1712	1082
3848	1.32	497.6	71.5	10.0	662	3906	0.30	2.10	50.25	0.695	4	0.040	0.042	3198	345	833
4013	1.09	497.6	39.5	19.7	690	4020	0.30	1.90	0.00	0.000	6	0.129	0.026	3088	1666	831
4359	1.45	583.6	3.4	9.2	751	4367	0.28	0.00	5.40	0.482	2	0.042	0.000	3229	1668	812
4368	end climb: SURFACE_DEPTH_REACHED
state	4368	begin surface coast
4403	end surface coast: CONTROL_FINISHED_OK
state	4403	begin surface