Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 226 * 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 0

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 226 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 90 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 44 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 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 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 0 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 -17166.191 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 2 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 90 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 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 16 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 -17166.191

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

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 2 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 44 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 32 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 226 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 033308,4739.645,-12252.635,9,1.6,9,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 033845,4739.663,-12252.612,13,1.7,13,18.3 MHEAD_RNG_PITCHd_Wd 225.5,821,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.2,1.026454 XPDR_PINGS 4

SM_CCo 2766,134.20,0.521,0,0,1597,400.08 ALTIM_BOTTOM_PING 65.3,999.0

SM_GC 0.76,0.00,0.00,134.20,0.000,0.000,0.521,427,2492,1597,-11.84,-0.23,400.08 _24V_AH 24.1,17.837

IRIDIUM_FIX 4722.92,-12251.79,290907,060648 _10V_AH 10.1,12.740

TT8_MAMPS 0.068263 DATA_FILE_SIZE 6417,257

HUMID 1802 CFSIZE 260034560,250634240

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

TCM_TEMP 19.90 GPS 290907,042838,4739.686,-12252.875,31,1.0,31,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 153 104.62 SBE_CT 177 24 102.65

Roll_motor 49 81 96.70 nil 0 0 0.00

VBD_pump_during_apogee 189 671 3063.64 nil 0 0 0.00

VBD_pump_during_surface 134 520 1684.36 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.57 nil 0 0 0.00

Iridium_during_connect 31 160 120.14 ARS 0 0 0.00

Iridium_during_xfer 134 223 724.67

Transponder_ping 2 420 22.77

Mmodem_TX 4 1000 100.26

Mmodem_RX 3294 6 508.20

GPS 13 93 12.69

TT8 489 19 97.90

LPSleep 1465 2 32.41

TT8_Active 430 19 86.12

TT8_Sampling 467 39 188.04

TT8_CF8 396 45 183.48

TT8_Kalman 0 0 0.00

Analog_circuits 736 12 89.25

GPS_charging 0 0 0.00

Compass 473 8 38.26

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 -1.54 -122.2 0.0 0.0 0 84 0.00 0.00 -55.17 0.000 2 0.000 0.000 425 2505 2955

87 -1.54 -122.2 2.0 -3.0 9 137 12.35 2.62 -28.95 0.000 4 0.153 0.081 2665 3890 3729

159 -1.54 -122.2 4.5 -6.3 20 165 0.00 2.38 0.00 0.000 6 0.000 0.031 2665 2486 3730

231 -1.54 -122.2 9.8 -7.4 31 238 0.00 2.42 0.00 0.000 4 0.000 0.047 2665 1117 3731

283 -1.54 -122.2 14.4 -8.6 39 290 0.00 2.40 0.00 0.000 6 0.000 0.032 2664 2504 3731

356 -1.54 -122.2 19.8 -7.5 50 362 0.00 2.58 0.00 0.000 4 0.000 0.069 2666 3903 3732

435 -1.54 -122.2 25.8 -7.0 57 440 0.00 2.40 0.00 0.000 6 0.000 0.034 2665 2504 3732

637 -1.54 -122.2 38.8 -6.0 73 639 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2504 3733

828 -1.54 -122.2 50.5 -6.4 88 832 0.00 2.58 0.00 0.000 4 0.000 0.067 2665 3901 3733

893 -1.54 -122.2 55.1 -6.6 92 900 0.00 2.40 0.00 0.000 6 0.000 0.033 2665 2498 3733

1089 -1.54 -122.2 67.6 -6.3 108 1094 0.00 2.58 0.00 0.000 4 0.000 0.067 2665 3895 3733

1155 -1.54 -122.2 72.1 -6.7 112 1161 0.00 2.38 0.00 0.000 6 0.000 0.034 2665 2492 3733

1351 -1.54 -122.2 84.3 -6.3 128 1352 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2492 3733

1454 end dive: TARGET_DEPTH_EXCEEDED

state 1454 begin apogee

1460 -0.50 0.0 90.7 6.2 136 1564 1.05 0.00 94.78 0.591 6 0.091 0.000 2883 2410 3228

1565 end apogee: CONTROL_FINISHED_OK

state 1565 begin climb

1567 1.54 122.2 93.1 0.0 145 1668 2.05 2.53 92.88 0.574 4 0.062 0.051 3328 1030 2729

1722 1.54 122.2 82.4 9.7 157 1730 0.00 2.45 0.00 0.000 6 0.000 0.033 3328 2416 2728

1919 1.54 122.2 65.3 8.7 173 1923 0.00 2.50 0.00 0.000 4 0.000 0.050 3328 1030 2728

1943 1.54 122.2 63.0 9.1 174 1950 0.00 2.42 0.00 0.000 6 0.000 0.034 3328 2411 2728

2140 1.54 122.2 45.9 9.1 190 2144 0.00 2.50 0.00 0.000 4 0.000 0.050 3328 1038 2728

2179 1.54 122.2 42.4 8.9 193 2183 0.00 2.40 0.00 0.000 6 0.000 0.033 3328 2423 2728

2375 1.54 122.2 26.1 8.1 208 2379 0.00 2.50 0.00 0.000 4 0.000 0.051 3328 1033 2728

2415 1.54 122.2 22.6 8.9 210 2421 0.00 2.40 0.00 0.000 6 0.000 0.034 3328 2420 2728

2619 1.54 125.0 8.3 6.6 239 2625 0.00 0.00 1.55 0.672 6 0.000 0.000 3328 2420 2719

2691 1.54 125.0 2.4 7.4 250 2698 0.00 2.55 0.00 0.000 4 0.000 0.067 3328 3813 2718

2702 end climb: SURFACE_DEPTH_REACHED

state 2702 begin surface coast

2736 end surface coast: CONTROL_FINISHED_OK

state 2736 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	226	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	90	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	44	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	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	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	0	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	-17166.191	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	2	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	033308,4739.645,-12252.635,9,1.6,9,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	033845,4739.663,-12252.612,13,1.7,13,18.3	MHEAD_RNG_PITCHd_Wd	225.5,821,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	0.2,1.026454	XPDR_PINGS	4
SM_CCo	2766,134.20,0.521,0,0,1597,400.08	ALTIM_BOTTOM_PING	65.3,999.0
SM_GC	0.76,0.00,0.00,134.20,0.000,0.000,0.521,427,2492,1597,-11.84,-0.23,400.08	_24V_AH	24.1,17.837
IRIDIUM_FIX	4722.92,-12251.79,290907,060648	_10V_AH	10.1,12.740
TT8_MAMPS	0.068263	DATA_FILE_SIZE	6417,257
HUMID	1802	CFSIZE	260034560,250634240
INTERNAL_PRESSURE	9.33976	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.90	GPS	290907,042838,4739.686,-12252.875,31,1.0,31,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	153	104.62	SBE_CT	177	24	102.65
Roll_motor	49	81	96.70	nil	0	0	0.00
VBD_pump_during_apogee	189	671	3063.64	nil	0	0	0.00
VBD_pump_during_surface	134	520	1684.36	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.57	nil	0	0	0.00
Iridium_during_connect	31	160	120.14	ARS	0	0	0.00
Iridium_during_xfer	134	223	724.67
Transponder_ping	2	420	22.77
Mmodem_TX	4	1000	100.26
Mmodem_RX	3294	6	508.20
GPS	13	93	12.69
TT8	489	19	97.90
LPSleep	1465	2	32.41
TT8_Active	430	19	86.12
TT8_Sampling	467	39	188.04
TT8_CF8	396	45	183.48
TT8_Kalman	0	0	0.00
Analog_circuits	736	12	89.25
GPS_charging	0	0	0.00
Compass	473	8	38.26
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	-1.54	-122.2	0.0	0.0	0	84	0.00	0.00	-55.17	0.000	2	0.000	0.000	425	2505	2955
87	-1.54	-122.2	2.0	-3.0	9	137	12.35	2.62	-28.95	0.000	4	0.153	0.081	2665	3890	3729
159	-1.54	-122.2	4.5	-6.3	20	165	0.00	2.38	0.00	0.000	6	0.000	0.031	2665	2486	3730
231	-1.54	-122.2	9.8	-7.4	31	238	0.00	2.42	0.00	0.000	4	0.000	0.047	2665	1117	3731
283	-1.54	-122.2	14.4	-8.6	39	290	0.00	2.40	0.00	0.000	6	0.000	0.032	2664	2504	3731
356	-1.54	-122.2	19.8	-7.5	50	362	0.00	2.58	0.00	0.000	4	0.000	0.069	2666	3903	3732
435	-1.54	-122.2	25.8	-7.0	57	440	0.00	2.40	0.00	0.000	6	0.000	0.034	2665	2504	3732
637	-1.54	-122.2	38.8	-6.0	73	639	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2504	3733
828	-1.54	-122.2	50.5	-6.4	88	832	0.00	2.58	0.00	0.000	4	0.000	0.067	2665	3901	3733
893	-1.54	-122.2	55.1	-6.6	92	900	0.00	2.40	0.00	0.000	6	0.000	0.033	2665	2498	3733
1089	-1.54	-122.2	67.6	-6.3	108	1094	0.00	2.58	0.00	0.000	4	0.000	0.067	2665	3895	3733
1155	-1.54	-122.2	72.1	-6.7	112	1161	0.00	2.38	0.00	0.000	6	0.000	0.034	2665	2492	3733
1351	-1.54	-122.2	84.3	-6.3	128	1352	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2492	3733
1454	end dive: TARGET_DEPTH_EXCEEDED
state	1454	begin apogee
1460	-0.50	0.0	90.7	6.2	136	1564	1.05	0.00	94.78	0.591	6	0.091	0.000	2883	2410	3228
1565	end apogee: CONTROL_FINISHED_OK
state	1565	begin climb
1567	1.54	122.2	93.1	0.0	145	1668	2.05	2.53	92.88	0.574	4	0.062	0.051	3328	1030	2729
1722	1.54	122.2	82.4	9.7	157	1730	0.00	2.45	0.00	0.000	6	0.000	0.033	3328	2416	2728
1919	1.54	122.2	65.3	8.7	173	1923	0.00	2.50	0.00	0.000	4	0.000	0.050	3328	1030	2728
1943	1.54	122.2	63.0	9.1	174	1950	0.00	2.42	0.00	0.000	6	0.000	0.034	3328	2411	2728
2140	1.54	122.2	45.9	9.1	190	2144	0.00	2.50	0.00	0.000	4	0.000	0.050	3328	1038	2728
2179	1.54	122.2	42.4	8.9	193	2183	0.00	2.40	0.00	0.000	6	0.000	0.033	3328	2423	2728
2375	1.54	122.2	26.1	8.1	208	2379	0.00	2.50	0.00	0.000	4	0.000	0.051	3328	1033	2728
2415	1.54	122.2	22.6	8.9	210	2421	0.00	2.40	0.00	0.000	6	0.000	0.034	3328	2420	2728
2619	1.54	125.0	8.3	6.6	239	2625	0.00	0.00	1.55	0.672	6	0.000	0.000	3328	2420	2719
2691	1.54	125.0	2.4	7.4	250	2698	0.00	2.55	0.00	0.000	4	0.000	0.067	3328	3813	2718
2702	end climb: SURFACE_DEPTH_REACHED
state	2702	begin surface coast
2736	end surface coast: CONTROL_FINISHED_OK
state	2736	begin surface