Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 22 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HD_B 0.010078 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 10

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 22 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 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 311 ALTIM_PING_DEPTH 70

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2415 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 17 INT_PRESSURE_YINT 1.4

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 48 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 43 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 540 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3800 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3229 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -16047.163 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

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 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 428 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3730 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 3000 PRESSURE_YINT -6.9690108 SEABIRD_T_I 2.5554549e-05

MASS 51630 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 10 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3730 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 428 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 D_TGT 100 PITCH_TIMEOUT 20 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 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -6.9690108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 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 16 RAFOS_HIT_WINDOW 3600 T_DIVE 43

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 -16047.163

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 118 ROLL_MAX 3943 T_TURN_SAMPINT 6

C_PITCH 3000 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2415 INT_PRESSURE_YINT 1.4 ROLL_MIN 311 UNCOM_BLEED 20

C_ROLL_DIVE 2500 KALMAN_USE 1 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 48 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 34 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3800

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 540

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 22 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 6

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 142154,4739.134,-12251.947,15,3.2,34,18.3 TGT_NAME H1

_CALLS 1 TGT_LATLONG 4739.000,-12252.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.145,-0.155

_SM_DEPTHo 0.88 KALMAN_X 2712.0,145.4,144.7,-1784.7,235.3

_SM_ANGLEo -63.5 KALMAN_Y 2779.4,186.6,-6.3,-2790.4,100.1

GPS2 142707,4739.165,-12251.887,28,1.1,28,18.3 MHEAD_RNG_PITCHd_Wd 204.8,337,-16.8,-7.752

SPEED_LIMITS 0.134,0.221 D_GRID 126

Post-dive calculations and measurements:

FINISH 0.7,1.025404 ALTIM_TOP_PING 9.9,9.4

SM_CCo 2470,139.32,0.535,2,0,1598,400.08 ALTIM_BOTTOM_PING 100.6,42.8

SM_GC 0.80,0.00,0.00,139.32,0.000,0.000,0.535,424,2514,1598,-11.85,0.40,400.08 _24V_AH 24.0,2.802

IRIDIUM_FIX 4722.92,-12249.11,230907,171754 _10V_AH 10.0,2.273

TT8_MAMPS 0.068263 DATA_FILE_SIZE 6441,225

HUMID 1794 CFSIZE 260034560,256106496

INTERNAL_PRESSURE 9.33976 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 19.90 GPS 230907,151245,4739.040,-12252.057,8,1.8,8,18.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 153 108.05 SBE_CT 155 24 89.49

Roll_motor 45 81 88.25 nil 0 0 0.00

VBD_pump_during_apogee 187 610 2753.99 nil 0 0 0.00

VBD_pump_during_surface 139 534 1787.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 99.48 nil 0 0 0.00

Iridium_during_connect 35 160 137.04 ARS 0 0 0.00

Iridium_during_xfer 107 223 575.04

Transponder_ping 2 420 22.68

Mmodem_TX 8 1000 199.20

Mmodem_RX 3062 6 470.43

GPS 28 93 26.96

TT8 436 19 86.45

LPSleep 1281 2 28.06

TT8_Active 447 19 88.57

TT8_Sampling 427 39 169.96

TT8_CF8 368 45 168.80

TT8_Kalman 33 81 27.27

Analog_circuits 729 12 87.57

GPS_charging 0 0 0.00

Compass 420 8 33.63

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.82 -112.3 0.0 0.0 0 77 0.00 0.00 -48.88 0.000 2 0.000 0.000 429 2509 2827

81 -1.83 -122.2 2.3 -4.3 8 130 12.10 2.62 -28.70 0.000 4 0.153 0.081 2597 3891 3730

158 -1.83 -122.2 6.2 -7.5 20 164 0.00 2.40 0.00 0.000 6 0.000 0.033 2597 2489 3731

230 -1.83 -122.2 11.8 -8.0 31 236 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2485 3731

303 -1.83 -122.2 17.5 -7.7 42 309 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2485 3733

379 -1.83 -122.2 23.4 -7.8 51 380 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2485 3733

570 -1.83 -122.2 38.1 -7.9 66 574 0.00 2.62 0.00 0.000 4 0.000 0.067 2597 3892 3734

661 -1.83 -122.2 46.2 -8.7 72 668 0.00 2.42 0.00 0.000 6 0.000 0.033 2597 2493 3734

860 -1.83 -122.2 62.3 -8.1 88 864 0.00 2.60 0.00 0.000 4 0.000 0.067 2597 3892 3735

918 -1.83 -122.2 67.5 -8.3 92 922 0.00 2.40 0.00 0.000 6 0.000 0.034 2597 2495 3735

1114 -1.83 -122.2 83.1 -7.8 107 1118 0.00 2.60 0.00 0.000 4 0.000 0.067 2597 3889 3734

1178 -1.83 -122.2 88.7 -8.6 111 1185 0.00 2.40 0.00 0.000 6 0.000 0.034 2597 2499 3735

1329 end dive: TARGET_DEPTH_EXCEEDED

state 1329 begin apogee

1335 -0.50 0.0 100.6 8.3 123 1438 1.42 0.00 95.20 0.611 6 0.094 0.000 2886 2421 3228

1439 end apogee: CONTROL_FINISHED_OK

state 1439 begin climb

1443 1.83 122.2 103.4 0.0 132 1544 2.38 2.58 92.75 0.590 4 0.066 0.053 3393 1023 2730

1557 1.83 122.2 95.7 9.7 141 1565 0.00 2.47 0.00 0.000 6 0.000 0.033 3393 2411 2729

1754 1.83 122.2 73.8 11.2 157 1759 0.00 2.55 0.00 0.000 4 0.000 0.052 3393 1026 2729

1798 1.83 122.2 68.3 12.5 160 1807 0.00 2.45 0.00 0.000 6 0.000 0.033 3393 2411 2729

1995 1.83 122.2 45.8 11.3 176 1999 0.00 2.50 0.00 0.000 4 0.000 0.051 3393 1028 2729

2020 1.83 122.2 43.0 11.5 177 2027 0.00 2.45 0.00 0.000 6 0.000 0.034 3393 2414 2728

2216 1.83 122.2 21.8 10.4 193 2221 0.00 2.55 0.00 0.000 4 0.000 0.052 3393 1024 2728

2255 1.83 122.2 17.6 10.9 197 2262 0.00 2.42 0.00 0.000 6 0.000 0.034 3393 2415 2729

2328 1.83 122.2 10.4 9.7 208 2339 0.00 2.50 0.00 0.000 4 0.000 0.051 3393 1027 2727

2352 1.83 122.2 8.3 9.1 211 2358 0.00 2.42 0.00 0.000 6 0.000 0.034 3393 2419 2729

2422 end climb: SURFACE_DEPTH_REACHED

state 2422 begin surface coast

2443 end surface coast: CONTROL_FINISHED_OK

state 2443 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	10
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	22	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	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	311	ALTIM_PING_DEPTH	70
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2415	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	17	INT_PRESSURE_YINT	1.4
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	48	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	43	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	540	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3800	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3229	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-16047.163	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
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	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	428	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3730	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	3000	PRESSURE_YINT	-6.9690108	SEABIRD_T_I	2.5554549e-05
MASS	51630	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	142154,4739.134,-12251.947,15,3.2,34,18.3	TGT_NAME	H1
_CALLS	1	TGT_LATLONG	4739.000,-12252.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.145,-0.155
_SM_DEPTHo	0.88	KALMAN_X	2712.0,145.4,144.7,-1784.7,235.3
_SM_ANGLEo	-63.5	KALMAN_Y	2779.4,186.6,-6.3,-2790.4,100.1
GPS2	142707,4739.165,-12251.887,28,1.1,28,18.3	MHEAD_RNG_PITCHd_Wd	204.8,337,-16.8,-7.752
SPEED_LIMITS	0.134,0.221	D_GRID	126

FINISH	0.7,1.025404	ALTIM_TOP_PING	9.9,9.4
SM_CCo	2470,139.32,0.535,2,0,1598,400.08	ALTIM_BOTTOM_PING	100.6,42.8
SM_GC	0.80,0.00,0.00,139.32,0.000,0.000,0.535,424,2514,1598,-11.85,0.40,400.08	_24V_AH	24.0,2.802
IRIDIUM_FIX	4722.92,-12249.11,230907,171754	_10V_AH	10.0,2.273
TT8_MAMPS	0.068263	DATA_FILE_SIZE	6441,225
HUMID	1794	CFSIZE	260034560,256106496
INTERNAL_PRESSURE	9.33976	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	19.90	GPS	230907,151245,4739.040,-12252.057,8,1.8,8,18.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	153	108.05	SBE_CT	155	24	89.49
Roll_motor	45	81	88.25	nil	0	0	0.00
VBD_pump_during_apogee	187	610	2753.99	nil	0	0	0.00
VBD_pump_during_surface	139	534	1787.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	99.48	nil	0	0	0.00
Iridium_during_connect	35	160	137.04	ARS	0	0	0.00
Iridium_during_xfer	107	223	575.04
Transponder_ping	2	420	22.68
Mmodem_TX	8	1000	199.20
Mmodem_RX	3062	6	470.43
GPS	28	93	26.96
TT8	436	19	86.45
LPSleep	1281	2	28.06
TT8_Active	447	19	88.57
TT8_Sampling	427	39	169.96
TT8_CF8	368	45	168.80
TT8_Kalman	33	81	27.27
Analog_circuits	729	12	87.57
GPS_charging	0	0	0.00
Compass	420	8	33.63
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.82	-112.3	0.0	0.0	0	77	0.00	0.00	-48.88	0.000	2	0.000	0.000	429	2509	2827
81	-1.83	-122.2	2.3	-4.3	8	130	12.10	2.62	-28.70	0.000	4	0.153	0.081	2597	3891	3730
158	-1.83	-122.2	6.2	-7.5	20	164	0.00	2.40	0.00	0.000	6	0.000	0.033	2597	2489	3731
230	-1.83	-122.2	11.8	-8.0	31	236	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2485	3731
303	-1.83	-122.2	17.5	-7.7	42	309	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2485	3733
379	-1.83	-122.2	23.4	-7.8	51	380	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2485	3733
570	-1.83	-122.2	38.1	-7.9	66	574	0.00	2.62	0.00	0.000	4	0.000	0.067	2597	3892	3734
661	-1.83	-122.2	46.2	-8.7	72	668	0.00	2.42	0.00	0.000	6	0.000	0.033	2597	2493	3734
860	-1.83	-122.2	62.3	-8.1	88	864	0.00	2.60	0.00	0.000	4	0.000	0.067	2597	3892	3735
918	-1.83	-122.2	67.5	-8.3	92	922	0.00	2.40	0.00	0.000	6	0.000	0.034	2597	2495	3735
1114	-1.83	-122.2	83.1	-7.8	107	1118	0.00	2.60	0.00	0.000	4	0.000	0.067	2597	3889	3734
1178	-1.83	-122.2	88.7	-8.6	111	1185	0.00	2.40	0.00	0.000	6	0.000	0.034	2597	2499	3735
1329	end dive: TARGET_DEPTH_EXCEEDED
state	1329	begin apogee
1335	-0.50	0.0	100.6	8.3	123	1438	1.42	0.00	95.20	0.611	6	0.094	0.000	2886	2421	3228
1439	end apogee: CONTROL_FINISHED_OK
state	1439	begin climb
1443	1.83	122.2	103.4	0.0	132	1544	2.38	2.58	92.75	0.590	4	0.066	0.053	3393	1023	2730
1557	1.83	122.2	95.7	9.7	141	1565	0.00	2.47	0.00	0.000	6	0.000	0.033	3393	2411	2729
1754	1.83	122.2	73.8	11.2	157	1759	0.00	2.55	0.00	0.000	4	0.000	0.052	3393	1026	2729
1798	1.83	122.2	68.3	12.5	160	1807	0.00	2.45	0.00	0.000	6	0.000	0.033	3393	2411	2729
1995	1.83	122.2	45.8	11.3	176	1999	0.00	2.50	0.00	0.000	4	0.000	0.051	3393	1028	2729
2020	1.83	122.2	43.0	11.5	177	2027	0.00	2.45	0.00	0.000	6	0.000	0.034	3393	2414	2728
2216	1.83	122.2	21.8	10.4	193	2221	0.00	2.55	0.00	0.000	4	0.000	0.052	3393	1024	2728
2255	1.83	122.2	17.6	10.9	197	2262	0.00	2.42	0.00	0.000	6	0.000	0.034	3393	2415	2729
2328	1.83	122.2	10.4	9.7	208	2339	0.00	2.50	0.00	0.000	4	0.000	0.051	3393	1027	2727
2352	1.83	122.2	8.3	9.1	211	2358	0.00	2.42	0.00	0.000	6	0.000	0.034	3393	2419	2729
2422	end climb: SURFACE_DEPTH_REACHED
state	2422	begin surface coast
2443	end surface coast: CONTROL_FINISHED_OK
state	2443	begin surface