Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 214 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 214 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 243 ALTIM_PING_DEPTH 0

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2080 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 500 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -21618.521 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 5 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 120 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.1405377 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 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -21618.521

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2080 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 24 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 41 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 214 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 212857,4739.493,-12252.251,34,2.0,34,18.3 TGT_NAME H2

_CALLS 4 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.177,-0.111

_SM_DEPTHo 0.95 KALMAN_X 29034.4,172.6,306.4,-28715.9,191.2

_SM_ANGLEo -54.6 KALMAN_Y 14257.6,101.2,166.2,-14822.5,99.5

GPS2 214327,4739.630,-12252.054,10,1.0,10,18.3 MHEAD_RNG_PITCHd_Wd 219.7,529,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.6,1.022645 XPDR_PINGS 3

SM_CCo 2997,171.25,0.588,0,0,1162,500.17 ALTIM_BOTTOM_PING 96.0,999.0

SM_GC 0.89,0.00,0.00,171.25,0.000,0.000,0.588,413,2202,1162,-11.44,0.06,500.17 _24V_AH 23.7,35.193

IRIDIUM_FIX 4722.92,-12249.11,011007,010156 _10V_AH 10.2,21.882

TT8_MAMPS 0.028379 DATA_FILE_SIZE 6452,273

HUMID 2151 CFSIZE 260231168,251027456

INTERNAL_PRESSURE 7.92999 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.00 GPS 300907,223829,4739.499,-12252.435,11,8.3,30,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 197 139.45 SBE_CT 193 24 110.20

Roll_motor 45 67 73.10 nil 0 0 0.00

VBD_pump_during_apogee 190 813 3674.13 nil 0 0 0.00

VBD_pump_during_surface 171 587 2384.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 138 103 338.85 nil 0 0 0.00

Iridium_during_connect 309 160 1172.02 ARS 0 18 0.00

Iridium_during_xfer 155 223 819.71

Transponder_ping 1 420 9.95

Mmodem_TX 0 1000 0.00

Mmodem_RX 0 6 0.00

GPS 11 50 6.05

TT8 504 19 101.84

LPSleep 1865 2 41.67

TT8_Active 511 19 103.30

TT8_Sampling 461 39 187.40

TT8_CF8 727 45 339.64

TT8_Kalman 33 81 27.83

Analog_circuits 805 12 98.57

GPS_charging 0 0 0.00

Compass 460 8 37.56

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 -1.68 -97.8 0.0 0.0 0 109 0.00 0.00 -85.03 0.000 2 0.000 0.000 404 2215 2850

112 -1.68 -97.8 2.1 -4.3 14 160 13.32 0.00 -30.38 0.000 6 0.197 0.000 2524 2215 3601

226 -1.68 -97.8 8.5 -8.5 32 232 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2215 3604

298 -1.68 -97.8 15.0 -9.1 43 305 0.00 2.65 0.00 0.000 4 0.000 0.064 2524 796 3604

356 -1.68 -97.8 21.2 -11.1 51 363 0.00 2.47 0.00 0.000 6 0.000 0.036 2524 2189 3604

552 -1.68 -97.8 39.7 -9.2 67 557 0.00 2.55 0.00 0.000 4 0.000 0.059 2523 3599 3604

598 -1.68 -97.8 44.1 -9.4 70 602 0.00 2.42 0.00 0.000 6 0.000 0.035 2524 2192 3604

800 -1.68 -97.8 62.7 -9.3 86 804 0.00 2.58 0.00 0.000 4 0.000 0.065 2524 802 3604

826 -1.68 -97.8 65.2 -9.8 88 830 0.00 2.45 0.00 0.000 6 0.000 0.036 2524 2205 3604

1028 -1.68 -97.8 85.0 -10.0 104 1032 0.00 2.53 0.00 0.000 4 0.000 0.059 2523 3603 3604

1067 -1.68 -97.8 89.2 -10.7 106 1073 0.00 2.42 0.00 0.000 6 0.000 0.035 2524 2193 3604

1262 -1.68 -97.8 108.3 -9.6 122 1264 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2192 3604

1386 end dive: TARGET_DEPTH_EXCEEDED

state 1386 begin apogee

1392 -0.38 0.0 121.1 10.1 132 1474 1.50 0.00 78.07 0.697 6 0.107 0.000 2814 2067 3202

1475 end apogee: CONTROL_FINISHED_OK

state 1475 begin climb

1478 1.68 97.8 124.2 0.0 139 1560 2.12 0.00 77.32 0.676 6 0.062 0.000 3267 2068 2803

1747 1.72 123.9 109.5 7.3 161 1772 0.00 2.65 19.60 0.693 4 0.000 0.054 3267 3476 2697

1858 1.72 123.9 100.0 9.2 169 1864 0.00 2.42 0.00 0.000 6 0.000 0.036 3267 2088 2696

2053 1.73 132.1 82.8 8.4 185 2066 0.00 2.55 6.35 0.731 4 0.000 0.054 3267 3484 2662

2111 1.73 132.1 77.4 9.2 189 2118 0.00 2.47 0.00 0.000 6 0.000 0.035 3267 2080 2662

2308 1.73 134.7 59.6 8.7 205 2314 0.00 2.60 1.70 0.814 4 0.000 0.054 3267 3483 2652

2359 1.73 136.2 54.9 8.8 208 2366 0.00 2.47 0.00 0.000 6 0.000 0.035 3267 2079 2652

2556 1.74 144.7 38.1 8.4 224 2568 0.00 0.00 7.45 0.712 6 0.000 0.000 3267 2079 2612

2757 1.74 144.7 19.1 9.5 240 2763 0.00 2.53 0.00 0.000 4 0.000 0.054 3267 3476 2611

2829 1.74 144.7 12.5 9.1 251 2835 0.00 2.42 0.00 0.000 6 0.000 0.035 3267 2078 2611

2901 1.74 144.7 5.6 9.6 262 2907 0.00 2.62 0.00 0.000 4 0.000 0.067 3267 677 2610

2911 end climb: SURFACE_DEPTH_REACHED

state 2911 begin surface coast

2973 end surface coast: CONTROL_FINISHED_OK

state 2973 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	214	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	243	ALTIM_PING_DEPTH	0
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2080	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	500	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-21618.521	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	212857,4739.493,-12252.251,34,2.0,34,18.3	TGT_NAME	H2
_CALLS	4	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.177,-0.111
_SM_DEPTHo	0.95	KALMAN_X	29034.4,172.6,306.4,-28715.9,191.2
_SM_ANGLEo	-54.6	KALMAN_Y	14257.6,101.2,166.2,-14822.5,99.5
GPS2	214327,4739.630,-12252.054,10,1.0,10,18.3	MHEAD_RNG_PITCHd_Wd	219.7,529,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	124

FINISH	0.6,1.022645	XPDR_PINGS	3
SM_CCo	2997,171.25,0.588,0,0,1162,500.17	ALTIM_BOTTOM_PING	96.0,999.0
SM_GC	0.89,0.00,0.00,171.25,0.000,0.000,0.588,413,2202,1162,-11.44,0.06,500.17	_24V_AH	23.7,35.193
IRIDIUM_FIX	4722.92,-12249.11,011007,010156	_10V_AH	10.2,21.882
TT8_MAMPS	0.028379	DATA_FILE_SIZE	6452,273
HUMID	2151	CFSIZE	260231168,251027456
INTERNAL_PRESSURE	7.92999	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.00	GPS	300907,223829,4739.499,-12252.435,11,8.3,30,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	197	139.45	SBE_CT	193	24	110.20
Roll_motor	45	67	73.10	nil	0	0	0.00
VBD_pump_during_apogee	190	813	3674.13	nil	0	0	0.00
VBD_pump_during_surface	171	587	2384.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	138	103	338.85	nil	0	0	0.00
Iridium_during_connect	309	160	1172.02	ARS	0	18	0.00
Iridium_during_xfer	155	223	819.71
Transponder_ping	1	420	9.95
Mmodem_TX	0	1000	0.00
Mmodem_RX	0	6	0.00
GPS	11	50	6.05
TT8	504	19	101.84
LPSleep	1865	2	41.67
TT8_Active	511	19	103.30
TT8_Sampling	461	39	187.40
TT8_CF8	727	45	339.64
TT8_Kalman	33	81	27.83
Analog_circuits	805	12	98.57
GPS_charging	0	0	0.00
Compass	460	8	37.56
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	-1.68	-97.8	0.0	0.0	0	109	0.00	0.00	-85.03	0.000	2	0.000	0.000	404	2215	2850
112	-1.68	-97.8	2.1	-4.3	14	160	13.32	0.00	-30.38	0.000	6	0.197	0.000	2524	2215	3601
226	-1.68	-97.8	8.5	-8.5	32	232	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2215	3604
298	-1.68	-97.8	15.0	-9.1	43	305	0.00	2.65	0.00	0.000	4	0.000	0.064	2524	796	3604
356	-1.68	-97.8	21.2	-11.1	51	363	0.00	2.47	0.00	0.000	6	0.000	0.036	2524	2189	3604
552	-1.68	-97.8	39.7	-9.2	67	557	0.00	2.55	0.00	0.000	4	0.000	0.059	2523	3599	3604
598	-1.68	-97.8	44.1	-9.4	70	602	0.00	2.42	0.00	0.000	6	0.000	0.035	2524	2192	3604
800	-1.68	-97.8	62.7	-9.3	86	804	0.00	2.58	0.00	0.000	4	0.000	0.065	2524	802	3604
826	-1.68	-97.8	65.2	-9.8	88	830	0.00	2.45	0.00	0.000	6	0.000	0.036	2524	2205	3604
1028	-1.68	-97.8	85.0	-10.0	104	1032	0.00	2.53	0.00	0.000	4	0.000	0.059	2523	3603	3604
1067	-1.68	-97.8	89.2	-10.7	106	1073	0.00	2.42	0.00	0.000	6	0.000	0.035	2524	2193	3604
1262	-1.68	-97.8	108.3	-9.6	122	1264	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2192	3604
1386	end dive: TARGET_DEPTH_EXCEEDED
state	1386	begin apogee
1392	-0.38	0.0	121.1	10.1	132	1474	1.50	0.00	78.07	0.697	6	0.107	0.000	2814	2067	3202
1475	end apogee: CONTROL_FINISHED_OK
state	1475	begin climb
1478	1.68	97.8	124.2	0.0	139	1560	2.12	0.00	77.32	0.676	6	0.062	0.000	3267	2068	2803
1747	1.72	123.9	109.5	7.3	161	1772	0.00	2.65	19.60	0.693	4	0.000	0.054	3267	3476	2697
1858	1.72	123.9	100.0	9.2	169	1864	0.00	2.42	0.00	0.000	6	0.000	0.036	3267	2088	2696
2053	1.73	132.1	82.8	8.4	185	2066	0.00	2.55	6.35	0.731	4	0.000	0.054	3267	3484	2662
2111	1.73	132.1	77.4	9.2	189	2118	0.00	2.47	0.00	0.000	6	0.000	0.035	3267	2080	2662
2308	1.73	134.7	59.6	8.7	205	2314	0.00	2.60	1.70	0.814	4	0.000	0.054	3267	3483	2652
2359	1.73	136.2	54.9	8.8	208	2366	0.00	2.47	0.00	0.000	6	0.000	0.035	3267	2079	2652
2556	1.74	144.7	38.1	8.4	224	2568	0.00	0.00	7.45	0.712	6	0.000	0.000	3267	2079	2612
2757	1.74	144.7	19.1	9.5	240	2763	0.00	2.53	0.00	0.000	4	0.000	0.054	3267	3476	2611
2829	1.74	144.7	12.5	9.1	251	2835	0.00	2.42	0.00	0.000	6	0.000	0.035	3267	2078	2611
2901	1.74	144.7	5.6	9.6	262	2907	0.00	2.62	0.00	0.000	4	0.000	0.067	3267	677	2610
2911	end climb: SURFACE_DEPTH_REACHED
state	2911	begin surface coast
2973	end surface coast: CONTROL_FINISHED_OK
state	2973	begin surface