Glider dive log

PortSusan 19May09 * SG130 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 130 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 162 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 21 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3945 ALTIM_PING_DEPTH 0

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 44.380001 C_ROLL_DIVE 1950 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -125.01 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 675 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 INT_PRESSURE_YINT 1.2

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0.029999999 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 3 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 516 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 3437 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 200000 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 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -52401.605 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 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 20 RAFOS_DEVICE -1

MAX_BUOY 160 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 417 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3725 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2845 PRESSURE_YINT -8.2383127 SEABIRD_T_G 0.0044082953

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159091 SEABIRD_T_H 0.00065181591

MASS 51945 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 3.2922526e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 4.287429e-06

FERRY_MAX 45 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.794486

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1032488

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0011085917

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0001701656

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 675

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3725 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 4 PITCH_MIN 417 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 150 PITCH_TIMEOUT 15 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 0.0001159091 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -8.2383127 TGT_DEFAULT_LAT 44.380001

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -125.01

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 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -52401.605

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 3 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0.029999999 T_RSLEEP 3

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 4

COMPASS_DEVICE 33 ID 130 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3945 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 1.2 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2845 KALMAN_USE 1 ROLL_MIN 162 USE_BATHY -4

C_ROLL_CLIMB 2050 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1950 MASS 51945 R_PORT_OVSHOOT 27 VBD_BLEED_AD_RATE 8

C_VBD 3437 MAX_BUOY 160 R_STBD_OVSHOOT 28 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -9.794486 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1032488 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0011085917 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.0001701656 VBD_MIN 516

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0044082953 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065181591 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 3.2922526e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 4.287429e-06 XPDR_DEVICE 24

DIVE 21 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 154225,4807.953,-12222.979,12,1.3,29,18.3 TGT_NAME KAYAKPT

_CALLS 2 TGT_LATLONG 4808.000,-12223.000

_XMS_NAKs 4 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.071,0.158

_SM_DEPTHo 1.52 KALMAN_X -387.9,15.6,-28.2,874.9,52.1

_SM_ANGLEo -70.2 KALMAN_Y 1396.1,-241.6,82.3,-1183.2,-67.6

GPS2 155355,4807.915,-12222.960,12,1.2,29,18.3 MHEAD_RNG_PITCHd_Wd 317.5,166,-27.2,-10.000

SPEED_LIMITS 0.173,0.267 D_GRID 103

Post-dive calculations and measurements:

FINISH 4.5,1.015463 XPDR_PINGS 0

SM_CCo 2490,301.58,0.555,9,0,516,716.52 _24V_AH 23.6,2.725

SM_GC 1.88,13.23,0.00,0.00,0.036,0.000,0.000,409,1944,515,-11.14,-0.17,716.77 _10V_AH 10.8,1.904

IRIDIUM_FIX 4748.51,-12219.12,140898,151502 DATA_FILE_SIZE 22260,455

TT8_MAMPS 0.025311 CAP_FILE_SIZE 49953,0

HUMID 1546 CFSIZE 260165632,185724928

INTERNAL_PRESSURE 9.19835 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,9,0

TCM_TEMP 16.30 GPS 200509,164524,4807.938,-12222.915,34,1.7,38,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 148 100.88 SBE_CT 379 24 215.08

Roll_motor 39 68 64.28 SBE_O2 225 19 100.90

VBD_pump_during_apogee 375 663 5877.06 WL_BBFL2VMT 535 105 1326.47

VBD_pump_during_surface 301 555 3952.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 51 103 125.08 nil 0 0 0.00

Iridium_during_connect 133 160 502.64 nil 0 0 0.00

Iridium_during_xfer 246 223 1296.79

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 16.68

TT8 641 19 137.09

LPSleep 636 2 15.06

TT8_Active 748 19 160.04

TT8_Sampling 881 39 378.74

TT8_CF8 744 45 368.39

TT8_Kalman 33 81 29.44

Analog_circuits 1222 12 158.46

GPS_charging 0 0 0.00

Compass 934 8 80.71

RAFOS 0 0 0.00

Transponder 0 30 0.17

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -1.78 -63.0 0.0 0.0 0 81 0.00 0.00 -60.08 0.000 2 0.000 0.000 412 1944 1992

85 -1.85 -117.2 3.0 -4.2 10 161 11.25 2.47 -56.00 0.000 4 0.148 0.061 2437 3355 3916

413 -1.85 -117.2 40.1 -15.0 79 419 0.00 2.42 0.00 0.000 6 0.000 0.042 2437 1955 3916

558 -1.85 -117.2 62.6 -16.7 104 564 0.00 2.47 0.00 0.000 4 0.000 0.051 2437 3359 3916

757 -1.89 -117.2 94.8 -15.4 146 763 0.00 2.45 0.00 0.000 6 0.000 0.044 2437 1949 3916

808 end dive: TARGET_DEPTH_EXCEEDED

state 808 begin apogee

818 -0.31 0.0 103.1 15.2 155 915 1.62 0.00 88.95 0.663 6 0.092 0.000 2772 2053 3436

916 end apogee: CONTROL_FINISHED_OK

state 916 begin climb

920 1.85 117.2 108.0 0.0 173 1019 2.12 2.53 88.80 0.644 4 0.050 0.054 3250 3450 2959

1030 1.78 117.4 101.9 10.0 192 1037 0.00 2.47 0.00 0.000 6 0.000 0.044 3250 2044 2958

1174 1.78 117.4 82.4 13.0 217 1179 0.00 0.00 0.00 0.000 6 0.000 0.000 3250 2044 2957

1317 1.78 117.4 64.0 13.0 242 1323 0.00 2.50 0.00 0.000 4 0.000 0.055 3250 3449 2957

1363 1.75 117.4 57.8 13.4 251 1370 0.12 2.45 0.00 0.000 6 0.121 0.045 3229 2048 2957

1506 1.75 117.4 41.2 10.9 276 1512 0.00 2.47 0.00 0.000 4 0.000 0.055 3229 3451 2957

1565 1.75 117.4 34.4 11.7 288 1572 0.00 2.45 0.00 0.000 6 0.000 0.045 3229 2047 2957

1642 1.75 117.4 26.1 10.4 301 1649 0.00 2.50 0.00 0.000 4 0.000 0.055 3229 3454 2957

1699 1.75 117.4 19.7 11.3 313 1706 0.00 2.45 0.00 0.000 6 0.000 0.046 3229 2050 2957

1776 1.75 117.4 11.5 10.7 326 1782 0.00 2.50 0.00 0.000 4 0.000 0.055 3229 3458 2956

1962 1.91 196.1 7.0 1.6 367 2031 0.12 2.45 60.38 0.603 6 0.064 0.044 3261 2047 2636

2107 2.18 291.5 6.1 -0.2 390 2189 0.22 2.55 74.57 0.590 4 0.048 0.060 3321 646 2246

2215 2.37 371.4 5.1 1.5 408 2285 0.17 2.42 62.65 0.581 6 0.048 0.039 3367 2057 1921

2289 end climb: SURFACE_DEPTH_REACHED

state 2289 begin surface coast

2486 end surface coast: CONTROL_FINISHED_OK

state 2486 begin surface

ID	130	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	162	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	21	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3945	ALTIM_PING_DEPTH	0
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	44.380001	C_ROLL_DIVE	1950	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-125.01	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	675	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	INT_PRESSURE_YINT	1.2
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0.029999999	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	3	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	516	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	3437	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	200000	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	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-52401.605	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	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	20	RAFOS_DEVICE	-1
MAX_BUOY	160	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	417	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3725	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2845	PRESSURE_YINT	-8.2383127	SEABIRD_T_G	0.0044082953
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159091	SEABIRD_T_H	0.00065181591
MASS	51945	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	3.2922526e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	4.287429e-06
FERRY_MAX	45	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.794486
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1032488
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0011085917
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0001701656
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	154225,4807.953,-12222.979,12,1.3,29,18.3	TGT_NAME	KAYAKPT
_CALLS	2	TGT_LATLONG	4808.000,-12223.000
_XMS_NAKs	4	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.071,0.158
_SM_DEPTHo	1.52	KALMAN_X	-387.9,15.6,-28.2,874.9,52.1
_SM_ANGLEo	-70.2	KALMAN_Y	1396.1,-241.6,82.3,-1183.2,-67.6
GPS2	155355,4807.915,-12222.960,12,1.2,29,18.3	MHEAD_RNG_PITCHd_Wd	317.5,166,-27.2,-10.000
SPEED_LIMITS	0.173,0.267	D_GRID	103

FINISH	4.5,1.015463	XPDR_PINGS	0
SM_CCo	2490,301.58,0.555,9,0,516,716.52	_24V_AH	23.6,2.725
SM_GC	1.88,13.23,0.00,0.00,0.036,0.000,0.000,409,1944,515,-11.14,-0.17,716.77	_10V_AH	10.8,1.904
IRIDIUM_FIX	4748.51,-12219.12,140898,151502	DATA_FILE_SIZE	22260,455
TT8_MAMPS	0.025311	CAP_FILE_SIZE	49953,0
HUMID	1546	CFSIZE	260165632,185724928
INTERNAL_PRESSURE	9.19835	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,9,0
TCM_TEMP	16.30	GPS	200509,164524,4807.938,-12222.915,34,1.7,38,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	148	100.88	SBE_CT	379	24	215.08
Roll_motor	39	68	64.28	SBE_O2	225	19	100.90
VBD_pump_during_apogee	375	663	5877.06	WL_BBFL2VMT	535	105	1326.47
VBD_pump_during_surface	301	555	3952.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	51	103	125.08	nil	0	0	0.00
Iridium_during_connect	133	160	502.64	nil	0	0	0.00
Iridium_during_xfer	246	223	1296.79
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	16.68
TT8	641	19	137.09
LPSleep	636	2	15.06
TT8_Active	748	19	160.04
TT8_Sampling	881	39	378.74
TT8_CF8	744	45	368.39
TT8_Kalman	33	81	29.44
Analog_circuits	1222	12	158.46
GPS_charging	0	0	0.00
Compass	934	8	80.71
RAFOS	0	0	0.00
Transponder	0	30	0.17

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-1.78	-63.0	0.0	0.0	0	81	0.00	0.00	-60.08	0.000	2	0.000	0.000	412	1944	1992
85	-1.85	-117.2	3.0	-4.2	10	161	11.25	2.47	-56.00	0.000	4	0.148	0.061	2437	3355	3916
413	-1.85	-117.2	40.1	-15.0	79	419	0.00	2.42	0.00	0.000	6	0.000	0.042	2437	1955	3916
558	-1.85	-117.2	62.6	-16.7	104	564	0.00	2.47	0.00	0.000	4	0.000	0.051	2437	3359	3916
757	-1.89	-117.2	94.8	-15.4	146	763	0.00	2.45	0.00	0.000	6	0.000	0.044	2437	1949	3916
808	end dive: TARGET_DEPTH_EXCEEDED
state	808	begin apogee
818	-0.31	0.0	103.1	15.2	155	915	1.62	0.00	88.95	0.663	6	0.092	0.000	2772	2053	3436
916	end apogee: CONTROL_FINISHED_OK
state	916	begin climb
920	1.85	117.2	108.0	0.0	173	1019	2.12	2.53	88.80	0.644	4	0.050	0.054	3250	3450	2959
1030	1.78	117.4	101.9	10.0	192	1037	0.00	2.47	0.00	0.000	6	0.000	0.044	3250	2044	2958
1174	1.78	117.4	82.4	13.0	217	1179	0.00	0.00	0.00	0.000	6	0.000	0.000	3250	2044	2957
1317	1.78	117.4	64.0	13.0	242	1323	0.00	2.50	0.00	0.000	4	0.000	0.055	3250	3449	2957
1363	1.75	117.4	57.8	13.4	251	1370	0.12	2.45	0.00	0.000	6	0.121	0.045	3229	2048	2957
1506	1.75	117.4	41.2	10.9	276	1512	0.00	2.47	0.00	0.000	4	0.000	0.055	3229	3451	2957
1565	1.75	117.4	34.4	11.7	288	1572	0.00	2.45	0.00	0.000	6	0.000	0.045	3229	2047	2957
1642	1.75	117.4	26.1	10.4	301	1649	0.00	2.50	0.00	0.000	4	0.000	0.055	3229	3454	2957
1699	1.75	117.4	19.7	11.3	313	1706	0.00	2.45	0.00	0.000	6	0.000	0.046	3229	2050	2957
1776	1.75	117.4	11.5	10.7	326	1782	0.00	2.50	0.00	0.000	4	0.000	0.055	3229	3458	2956
1962	1.91	196.1	7.0	1.6	367	2031	0.12	2.45	60.38	0.603	6	0.064	0.044	3261	2047	2636
2107	2.18	291.5	6.1	-0.2	390	2189	0.22	2.55	74.57	0.590	4	0.048	0.060	3321	646	2246
2215	2.37	371.4	5.1	1.5	408	2285	0.17	2.42	62.65	0.581	6	0.048	0.039	3367	2057	1921
2289	end climb: SURFACE_DEPTH_REACHED
state	2289	begin surface coast
2486	end surface coast: CONTROL_FINISHED_OK
state	2486	begin surface