Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 253 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 80 HD_C 5.8987e-05 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 11 HEADING -1 ROLL_MIN 300 ALTIM_PING_DEPTH 80

DIVE 253 ESCAPE_HEADING 0 ROLL_MAX 3750 ALTIM_PING_DELTA 10

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2069 ALTIM_PULSE 3

D_TGT 95 TGT_DEFAULT_LAT 47.599998 C_ROLL_CLIMB 2069 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_DEFAULT_LON -122.3 HEAD_ERRBAND 10 XPDR_VALID 0

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_BOOST 0 SM_CC 300 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 N_FILEKB 4 R_PORT_OVSHOOT 2 INT_PRESSURE_YINT 0

D_PITCH 0 FILEMGR 0 R_STBD_OVSHOOT 1 DEEPGLIDER 0

D_SAFE 0 CALL_NDIVES 1 ROLL_AD_RATE 400 DEEPGLIDERMB 0

D_CALL 0 COMM_SEQ 0 ROLL_MAXERRORS 10 MOTHERBOARD 4

SURFACE_URGENCY 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MIN 188 DEVICE3 -1

T_DIVE 63 UPLOAD_DIVES_MAX -1 VBD_MAX 3616 DEVICE4 -1

T_MISSION 75 CALL_TRIES 5 C_VBD 2473 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_DBAND 2 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 VBD_CNV -0.24529999 SMARTS 1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_TIMEOUT 360 SMARTDEVICE1 3

T_NO_W 120 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE2 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 6 COMPASS_DEVICE 1

USE_BATHY -4 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS2_DEVICE -1

USE_ICE 0 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 PHONE_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 T_GPS_CHARGE -30652.105 UNCOM_BLEED 20 GPS_DEVICE 48

D_OFFGRID 100 T_RSLEEP 3 VBD_MAXERRORS 1 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 XPDR_DEVICE -1

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_24V 91.800003 SIM_W 0

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 AH0_10V 61.200001 SIM_PITCH 0

MAX_BUOY 150 PITCH_MIN 30 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MAX 4065 PRESSURE_YINT -0.16054545 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 C_PITCH 2692 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 PITCH_DBAND 0.1 AD7714Ch0Gain 1 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_CNV 0.0046000001 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.331019

MASS 52000 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763502

NAV_MODE 1 PITCH_GAIN 16 COMPASS_USE 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0 AR_RESETARS 0.0

HD_A 0.0043390002 PITCH_MAXERRORS 10 ALTIM_BOTTOM_TURN_MARGIN 0 AR_RECORDBELOW 0.0

HD_B 0.013382 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 AR_NOTIFYAPOGEE 0.0

AD7714Ch0Gain 1 D_ABORT 1090 PITCH_ADJ_DBAND 0 SMARTDEVICE1 3

AH0_10V 61.200001 D_BOOST 0 PITCH_ADJ_GAIN 0 SMARTDEVICE2 -1

AH0_24V 91.800003 D_CALL 0 PITCH_AD_RATE 175 SMARTS 1

ALTIM_BOTTOM_PING_RANGE 25 D_FINISH 0 PITCH_CNV 0.0046000001 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 D_FLARE 3 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_NO_BLEED 200 PITCH_GAIN 16 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_OFFGRID 100 PITCH_MAX 4065 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_PITCH 0 PITCH_MAXERRORS 10 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 D_SAFE 0 PITCH_MIN 30 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 D_SURF 2 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 D_TGT 95 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 ESCAPE_HEADING 0 PRESSURE_SLOPE 9.9999997e-05 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -0.16054545 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 FERRY_MAX 45 P_OVSHOOT 0.039999999 T_ABORT 1440

AR_NOTIFYAPOGEE 0.0 FILEMGR 0 RAFOS_CORR_THRESH 60 T_DIVE 63

AR_RECORDBELOW 0.0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_GPS 15

AR_RESETARS 0.0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -30652.105

CALL_TRIES 5 HD_A 0.0043390002 RELAUNCH 1 T_LOITER 0

CALL_WAIT 60 HD_B 0.013382 RHO 1.023 T_MISSION 75

CAPMAXSIZE 100000 HD_C 5.8987e-05 ROLL_ADJ_DBAND 0 T_NO_W 120

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_GAIN 0 T_RSLEEP 3

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_AD_RATE 400 T_TURN 270

COMM_SEQ 0 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_DEVICE 1 ID 80 ROLL_MAX 3750 UNCOM_BLEED 20

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 10 UPLOAD_DIVES_MAX -1

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MIN 300 USE_BATHY -4

C_PITCH 2692 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_CLIMB 2069 KERMIT 0 R_PORT_OVSHOOT 2 VBD_BLEED_AD_RATE 8

C_ROLL_DIVE 2069 MASS 52000 R_STBD_OVSHOOT 1 VBD_CNV -0.24529999

C_VBD 2473 MAX_BUOY 150 SEABIRD_C_G -10.331019 VBD_DBAND 2

DEEPGLIDER 0 MISSION 11 SEABIRD_C_H 1.1763502 VBD_MAX 3616

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_I -0.0012340198 VBD_MAXERRORS 1

DEVICE1 2 NAV_MODE 1 SEABIRD_C_J 0.00017379176 VBD_MIN 188

DEVICE2 -1 N_FILEKB 4 SEABIRD_T_G 0.0043805656 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE3 -1 N_GPS 20 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_I 2.5554549e-05 VBD_TIMEOUT 360

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_J 2.6681391e-06 XPDR_DEVICE -1

DEVICE6 -1 PHONE_DEVICE 32 SIM_PITCH 0 XPDR_INHIBIT 90

DIVE 253 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 001559,4807.873,-12223.907,33,1.1,33,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.055,0.074

_SM_DEPTHo 0.00 KALMAN_X 20213.1,-1.7,-221.5,-20342.5,55.9

_SM_ANGLEo -50.0 KALMAN_Y 1775.4,50.4,93.9,-1665.7,-6.2

GPS2 002232,4807.854,-12223.879,16,1.1,16,18.0 MHEAD_RNG_PITCHd_Wd 305.4,309,-24.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.0,0.996881 _24V_AH 23.8,28.727

SM_CCo 2928,151.52,0.004,20,0,1250,300.00 _10V_AH 9.7,41.147

SM_GC 0.00,0.00,0.00,151.52,0.000,0.000,0.004,145,2145,1250,-11.71,2.23,300.00 DATA_FILE_SIZE 6438,238

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 53680,7

TT8_MAMPS 0.049088 CFSIZE 260165632,251297792

HUMID 1518 ERRORS 0,0,0,0,0,0,0,0,1,0,0,78,167,20,0

INTERNAL_PRESSURE 12.4028 GPS 060808,011922,4807.973,-12224.098,34,1.1,34,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 4 3.40 SBE_CT 187 24 107.09

Roll_motor 41 3 3.80 nil 0 0 0.00

VBD_pump_during_apogee 158 4 17.37 nil 0 0 0.00

VBD_pump_during_surface 151 3 13.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 ARS 0 216 0.00

Iridium_during_xfer 79 223 423.04

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.16

TT8 488 18 85.29

LPSleep 1620 0 6.13

TT8_Active 510 18 89.14

TT8_Sampling 411 38 151.85

TT8_CF8 606 44 258.95

TT8_Kalman 33 80 25.87

Analog_circuits 846 12 98.49

GPS_charging 0 0 0.00

Compass 339 26 85.62

RAFOS 0 0 0.00

Transponder 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

125 end surface: CONTROL_FINISHED_OK

state 125 begin dive

129 -1.58 -36.4 0.0 0.0 0 176 0.00 0.00 -45.47 0.000 6 0.000 0.000 146 1913 2628

180 -1.63 -72.6 0.6 -1.6 5 202 11.05 2.30 -4.82 0.000 4 0.004 0.004 2356 480 2775

505 -1.63 -72.6 28.9 -6.8 34 511 0.00 2.97 0.00 0.000 6 0.000 0.004 2357 2234 2774

543 -1.63 -72.6 31.7 -7.5 37 548 0.00 3.03 0.00 0.000 4 0.000 0.004 2357 485 2774

851 -1.63 -72.6 51.6 -5.7 64 856 0.00 3.03 0.00 0.000 6 0.000 0.004 2356 2274 2775

889 -1.63 -72.6 53.9 -6.1 67 894 0.00 2.95 0.00 0.000 4 0.000 0.004 2357 524 2774

1198 -1.63 -72.6 73.3 -5.4 94 1203 0.00 3.00 0.00 0.000 6 0.000 0.004 2355 2251 2774

1235 -1.63 -72.6 75.4 -5.7 97 1240 0.00 3.15 0.00 0.000 4 0.000 0.004 2357 490 2774

1543 -1.63 -72.6 94.1 -5.8 124 1549 0.00 2.95 0.00 0.000 6 0.000 0.004 2356 2253 2775

1567 end dive: TARGET_DEPTH_EXCEEDED

state 1568 begin apogee

1575 -0.31 0.0 95.2 4.6 126 1642 1.38 0.00 62.05 0.005 6 0.005 0.000 2647 1934 2472

1643 end apogee: CONTROL_FINISHED_OK

state 1643 begin climb

1646 1.63 72.6 93.7 0.0 133 1717 2.17 2.62 60.60 0.005 4 0.004 0.004 3101 3595 2176

2021 1.63 72.6 52.6 10.5 167 2027 0.47 2.78 0.00 0.000 6 0.003 0.004 2989 1936 2177

2059 1.63 72.6 48.8 10.6 170 2065 0.45 2.83 0.00 0.000 4 0.004 0.004 3101 3574 2177

2368 1.63 72.6 19.8 8.5 197 2374 0.50 2.85 0.00 0.000 6 0.004 0.004 2991 1909 2177

2407 1.63 72.6 16.4 9.0 200 2413 0.47 3.03 0.00 0.000 4 0.004 0.004 3100 3655 2178

2718 1.69 125.5 3.3 -0.1 227 2760 0.30 3.17 34.92 0.005 6 0.004 0.004 3029 1906 1961

2791 1.74 166.2 2.7 1.1 234 2794 0.35 0.00 1.05 0.005 2 0.004 0.000 3086 1905 1961

2795 end climb: SURFACE_DEPTH_REACHED

state 2795 begin surface coast

2832 end surface coast: CONTROL_FINISHED_OK

state 2832 begin surface

ID	80	HD_C	5.8987e-05	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	11	HEADING	-1	ROLL_MIN	300	ALTIM_PING_DEPTH	80
DIVE	253	ESCAPE_HEADING	0	ROLL_MAX	3750	ALTIM_PING_DELTA	10
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2069	ALTIM_PULSE	3
D_TGT	95	TGT_DEFAULT_LAT	47.599998	C_ROLL_CLIMB	2069	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_DEFAULT_LON	-122.3	HEAD_ERRBAND	10	XPDR_VALID	0
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_BOOST	0	SM_CC	300	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	N_FILEKB	4	R_PORT_OVSHOOT	2	INT_PRESSURE_YINT	0
D_PITCH	0	FILEMGR	0	R_STBD_OVSHOOT	1	DEEPGLIDER	0
D_SAFE	0	CALL_NDIVES	1	ROLL_AD_RATE	400	DEEPGLIDERMB	0
D_CALL	0	COMM_SEQ	0	ROLL_MAXERRORS	10	MOTHERBOARD	4
SURFACE_URGENCY	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MIN	188	DEVICE3	-1
T_DIVE	63	UPLOAD_DIVES_MAX	-1	VBD_MAX	3616	DEVICE4	-1
T_MISSION	75	CALL_TRIES	5	C_VBD	2473	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_DBAND	2	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	VBD_CNV	-0.24529999	SMARTS	1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_TIMEOUT	360	SMARTDEVICE1	3
T_NO_W	120	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE2	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	6	COMPASS_DEVICE	1
USE_BATHY	-4	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS2_DEVICE	-1
USE_ICE	0	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	PHONE_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	T_GPS_CHARGE	-30652.105	UNCOM_BLEED	20	GPS_DEVICE	48
D_OFFGRID	100	T_RSLEEP	3	VBD_MAXERRORS	1	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	XPDR_DEVICE	-1
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_24V	91.800003	SIM_W	0
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	AH0_10V	61.200001	SIM_PITCH	0
MAX_BUOY	150	PITCH_MIN	30	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MAX	4065	PRESSURE_YINT	-0.16054545	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	C_PITCH	2692	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	PITCH_DBAND	0.1	AD7714Ch0Gain	1	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_CNV	0.0046000001	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.331019
MASS	52000	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763502
NAV_MODE	1	PITCH_GAIN	16	COMPASS_USE	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0	AR_RESETARS	0.0
HD_A	0.0043390002	PITCH_MAXERRORS	10	ALTIM_BOTTOM_TURN_MARGIN	0	AR_RECORDBELOW	0.0
HD_B	0.013382	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	AR_NOTIFYAPOGEE	0.0

GPS1	001559,4807.873,-12223.907,33,1.1,33,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.055,0.074
_SM_DEPTHo	0.00	KALMAN_X	20213.1,-1.7,-221.5,-20342.5,55.9
_SM_ANGLEo	-50.0	KALMAN_Y	1775.4,50.4,93.9,-1665.7,-6.2
GPS2	002232,4807.854,-12223.879,16,1.1,16,18.0	MHEAD_RNG_PITCHd_Wd	305.4,309,-24.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.0,0.996881	_24V_AH	23.8,28.727
SM_CCo	2928,151.52,0.004,20,0,1250,300.00	_10V_AH	9.7,41.147
SM_GC	0.00,0.00,0.00,151.52,0.000,0.000,0.004,145,2145,1250,-11.71,2.23,300.00	DATA_FILE_SIZE	6438,238
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	53680,7
TT8_MAMPS	0.049088	CFSIZE	260165632,251297792
HUMID	1518	ERRORS	0,0,0,0,0,0,0,0,1,0,0,78,167,20,0
INTERNAL_PRESSURE	12.4028	GPS	060808,011922,4807.973,-12224.098,34,1.1,34,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	4	3.40	SBE_CT	187	24	107.09
Roll_motor	41	3	3.80	nil	0	0	0.00
VBD_pump_during_apogee	158	4	17.37	nil	0	0	0.00
VBD_pump_during_surface	151	3	13.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	ARS	0	216	0.00
Iridium_during_xfer	79	223	423.04
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.16
TT8	488	18	85.29
LPSleep	1620	0	6.13
TT8_Active	510	18	89.14
TT8_Sampling	411	38	151.85
TT8_CF8	606	44	258.95
TT8_Kalman	33	80	25.87
Analog_circuits	846	12	98.49
GPS_charging	0	0	0.00
Compass	339	26	85.62
RAFOS	0	0	0.00
Transponder	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
125	end surface: CONTROL_FINISHED_OK
state	125	begin dive
129	-1.58	-36.4	0.0	0.0	0	176	0.00	0.00	-45.47	0.000	6	0.000	0.000	146	1913	2628
180	-1.63	-72.6	0.6	-1.6	5	202	11.05	2.30	-4.82	0.000	4	0.004	0.004	2356	480	2775
505	-1.63	-72.6	28.9	-6.8	34	511	0.00	2.97	0.00	0.000	6	0.000	0.004	2357	2234	2774
543	-1.63	-72.6	31.7	-7.5	37	548	0.00	3.03	0.00	0.000	4	0.000	0.004	2357	485	2774
851	-1.63	-72.6	51.6	-5.7	64	856	0.00	3.03	0.00	0.000	6	0.000	0.004	2356	2274	2775
889	-1.63	-72.6	53.9	-6.1	67	894	0.00	2.95	0.00	0.000	4	0.000	0.004	2357	524	2774
1198	-1.63	-72.6	73.3	-5.4	94	1203	0.00	3.00	0.00	0.000	6	0.000	0.004	2355	2251	2774
1235	-1.63	-72.6	75.4	-5.7	97	1240	0.00	3.15	0.00	0.000	4	0.000	0.004	2357	490	2774
1543	-1.63	-72.6	94.1	-5.8	124	1549	0.00	2.95	0.00	0.000	6	0.000	0.004	2356	2253	2775
1567	end dive: TARGET_DEPTH_EXCEEDED
state	1568	begin apogee
1575	-0.31	0.0	95.2	4.6	126	1642	1.38	0.00	62.05	0.005	6	0.005	0.000	2647	1934	2472
1643	end apogee: CONTROL_FINISHED_OK
state	1643	begin climb
1646	1.63	72.6	93.7	0.0	133	1717	2.17	2.62	60.60	0.005	4	0.004	0.004	3101	3595	2176
2021	1.63	72.6	52.6	10.5	167	2027	0.47	2.78	0.00	0.000	6	0.003	0.004	2989	1936	2177
2059	1.63	72.6	48.8	10.6	170	2065	0.45	2.83	0.00	0.000	4	0.004	0.004	3101	3574	2177
2368	1.63	72.6	19.8	8.5	197	2374	0.50	2.85	0.00	0.000	6	0.004	0.004	2991	1909	2177
2407	1.63	72.6	16.4	9.0	200	2413	0.47	3.03	0.00	0.000	4	0.004	0.004	3100	3655	2178
2718	1.69	125.5	3.3	-0.1	227	2760	0.30	3.17	34.92	0.005	6	0.004	0.004	3029	1906	1961
2791	1.74	166.2	2.7	1.1	234	2794	0.35	0.00	1.05	0.005	2	0.004	0.000	3086	1905	1961
2795	end climb: SURFACE_DEPTH_REACHED
state	2795	begin surface coast
2832	end surface coast: CONTROL_FINISHED_OK
state	2832	begin surface