Glider dive log

PN07 DabobBay Sep07 * SG022 * Dive index * Mission links * Dive 273 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 22 HD_B 0.010364 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.4717998e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 273 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 208 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2095 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 0

D_PITCH 0 SM_CC 450 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 9 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 7 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 100 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 2 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 658 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3994 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3484 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 0

T_WATCHDOG 10 T_GPS_CHARGE -115218.67 VBD_PUMP_AD_RATE_APOGEE 1 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 16 SIM_PITCH 0

GLIDE_SLOPE 15 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0044140997

SPEED_FACTOR 1 PITCH_MAX 3347 AH0_10V 61.200001 SEABIRD_T_H 0.00064927549

RHO 1.023 C_PITCH 2530 PRESSURE_YINT -21.951805 SEABIRD_T_I 2.7523491e-05

MASS 51950 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011632 SEABIRD_T_J 3.1132354e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.525962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 1.7 SEABIRD_C_H 1.1896306

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET -0.89999998 SEABIRD_C_I -0.0026426413

HD_A 0.0040048002 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00031414768

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3347 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 5 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 1.7

ALTIM_SENSITIVITY 0 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011632 TCM_ROLL_OFFSET -0.89999998

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -21.951805 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 15 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0040048002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010364 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 5.4717998e-06 RHO 1.023 T_GPS_CHARGE -115218.67

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 16 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 600

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 100 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 22 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2530 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2095 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51950 R_PORT_OVSHOOT 9 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 7 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.525962 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1896306 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0026426413 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00031414768 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044140997 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064927549 VBD_MIN 658

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.7523491e-05 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 273 PHONE_DEVICE 0 SEABIRD_T_J 3.1132354e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 19

Pre-dive calculations and measurements:

GPS1 055329,4739.792,-12251.610,12,2.4,31,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.218,-0.186

_SM_DEPTHo 1.12 KALMAN_X 34292.2,410.4,113.8,-32996.1,422.5

_SM_ANGLEo -59.0 KALMAN_Y 7674.4,489.3,6.4,-7862.9,390.6

GPS2 055807,4739.861,-12251.519,17,1.5,33,18.3 MHEAD_RNG_PITCHd_Wd 211.3,1321,-10.5,-7.407

SPEED_LIMITS 0.276,0.286 D_GRID 119

Post-dive calculations and measurements:

FINISH 0.6,1.021314 ALTIM_BOTTOM_PING 50.3,8.1

SM_CCo 3023,126.90,0.644,0,0,1647,450.13 _24V_AH 23.8,31.974

SM_GC 1.32,0.00,0.00,126.90,0.000,0.000,0.644,36,2072,1647,-11.47,-0.65,450.13 _10V_AH 10.2,8.283

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 6448,278

TT8_MAMPS 0.028379 CFSIZE 260034560,250204160

HUMID 2068 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 300907,065305,4739.788,-12251.513,8,7.5,27,18.3

XPDR_PINGS 12

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 198 131.08 SBE_CT 182 24 104.19

Roll_motor 51 142 176.05 nil 0 0 0.00

VBD_pump_during_apogee 243 730 4235.55 nil 0 0 0.00

VBD_pump_during_surface 126 644 1945.87 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.89 nil 0 0 0.00

Iridium_during_connect 33 160 126.49 ARS 0 0 0.00

Iridium_during_xfer 106 223 562.94

Transponder_ping 3 420 34.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.16

TT8 522 19 105.61

LPSleep 1623 2 36.27

TT8_Active 519 19 104.85

TT8_Sampling 492 39 200.00

TT8_CF8 317 45 148.26

TT8_Kalman 33 81 27.83

Analog_circuits 843 12 103.19

GPS_charging 0 0 0.00

Compass 475 8 38.79

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

25 -0.77 -97.8 0.0 0.0 0 144 0.00 0.00 -114.60 0.000 2 0.000 0.000 36 2106 3056

147 -0.77 -97.8 2.4 -3.7 19 203 13.70 2.92 -33.85 0.000 4 0.199 0.139 2356 3515 3883

222 -0.77 -97.8 5.9 -7.6 31 228 0.00 2.90 0.00 0.000 6 0.000 0.114 2355 2094 3884

294 -0.77 -97.8 10.5 -5.6 42 300 0.00 0.00 0.00 0.000 6 0.000 0.000 2356 2093 3886

367 -0.77 -97.8 14.4 -6.0 53 373 0.00 2.92 0.00 0.000 4 0.000 0.122 2356 3515 3887

454 -0.77 -97.8 19.6 -6.1 66 460 0.00 2.90 0.00 0.000 6 0.000 0.114 2356 2083 3887

523 -0.77 -97.8 23.5 -5.2 72 528 0.00 2.95 0.00 0.000 4 0.000 0.143 2355 679 3888

542 -0.77 -97.8 24.7 -5.8 73 547 0.00 2.80 0.00 0.000 6 0.000 0.099 2356 2110 3888

738 -0.77 -97.8 35.2 -5.4 88 742 0.00 2.85 0.00 0.000 4 0.000 0.124 2355 3513 3889

802 -0.77 -97.8 39.1 -5.7 92 809 0.00 2.88 0.00 0.000 6 0.000 0.113 2356 2093 3889

999 -0.77 -97.8 50.0 -5.7 108 1008 0.00 2.92 0.00 0.000 4 0.000 0.138 2356 677 3888

1028 -0.77 -97.8 51.7 -5.9 110 1032 0.00 2.78 0.00 0.000 6 0.000 0.100 2355 2103 3890

1230 -0.77 -97.8 63.9 -6.1 126 1235 0.00 2.88 0.00 0.000 4 0.000 0.125 2356 3518 3890

1308 -0.77 -97.8 68.9 -6.5 131 1315 0.00 2.90 0.00 0.000 6 0.000 0.115 2356 2087 3890

1505 -0.77 -97.8 80.3 -5.6 147 1506 0.00 0.00 0.00 0.000 6 0.000 0.000 2356 2087 3890

1697 -0.77 -97.8 90.2 -5.5 162 1698 0.00 0.00 0.00 0.000 6 0.000 0.000 2356 2087 3890

1855 end dive: TARGET_DEPTH_EXCEEDED

state 1855 begin apogee

1861 -0.31 0.0 100.0 6.2 175 1942 0.55 0.00 75.55 0.730 6 0.128 0.000 2461 2117 3484

1943 end apogee: CONTROL_FINISHED_OK

state 1943 begin climb

1946 0.77 97.8 101.9 0.0 182 2031 1.15 3.03 77.80 0.721 4 0.096 0.123 2694 680 3085

2054 0.89 214.5 98.7 4.9 191 2152 0.15 2.72 90.38 0.705 6 0.062 0.077 2734 2111 2610

2342 0.89 214.5 70.1 10.3 214 2343 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2111 2609

2530 0.89 214.5 50.0 10.8 229 2535 0.00 2.95 0.00 0.000 4 0.000 0.122 2734 672 2609

2576 0.89 214.5 44.7 10.9 232 2581 0.00 2.72 0.00 0.000 6 0.000 0.079 2734 2115 2609

2771 0.89 214.5 24.6 10.5 247 2776 0.00 2.95 0.00 0.000 4 0.000 0.122 2734 676 2609

2797 0.89 214.5 21.7 11.1 248 2804 0.00 2.72 0.00 0.000 6 0.000 0.082 2734 2110 2609

2952 end climb: SURFACE_DEPTH_REACHED

state 2953 begin surface coast

3002 end surface coast: CONTROL_FINISHED_OK

state 3002 begin surface

ID	22	HD_B	0.010364	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.4717998e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	273	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	208	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2095	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	0
D_PITCH	0	SM_CC	450	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	9	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	7	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	100	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	2	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	658	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3994	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3484	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	0
T_WATCHDOG	10	T_GPS_CHARGE	-115218.67	VBD_PUMP_AD_RATE_APOGEE	1	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	16	SIM_PITCH	0
GLIDE_SLOPE	15	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0044140997
SPEED_FACTOR	1	PITCH_MAX	3347	AH0_10V	61.200001	SEABIRD_T_H	0.00064927549
RHO	1.023	C_PITCH	2530	PRESSURE_YINT	-21.951805	SEABIRD_T_I	2.7523491e-05
MASS	51950	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011632	SEABIRD_T_J	3.1132354e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.525962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	1.7	SEABIRD_C_H	1.1896306
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	-0.89999998	SEABIRD_C_I	-0.0026426413
HD_A	0.0040048002	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00031414768

GPS1	055329,4739.792,-12251.610,12,2.4,31,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.218,-0.186
_SM_DEPTHo	1.12	KALMAN_X	34292.2,410.4,113.8,-32996.1,422.5
_SM_ANGLEo	-59.0	KALMAN_Y	7674.4,489.3,6.4,-7862.9,390.6
GPS2	055807,4739.861,-12251.519,17,1.5,33,18.3	MHEAD_RNG_PITCHd_Wd	211.3,1321,-10.5,-7.407
SPEED_LIMITS	0.276,0.286	D_GRID	119

FINISH	0.6,1.021314	ALTIM_BOTTOM_PING	50.3,8.1
SM_CCo	3023,126.90,0.644,0,0,1647,450.13	_24V_AH	23.8,31.974
SM_GC	1.32,0.00,0.00,126.90,0.000,0.000,0.644,36,2072,1647,-11.47,-0.65,450.13	_10V_AH	10.2,8.283
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	6448,278
TT8_MAMPS	0.028379	CFSIZE	260034560,250204160
HUMID	2068	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	300907,065305,4739.788,-12251.513,8,7.5,27,18.3
XPDR_PINGS	12

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	198	131.08	SBE_CT	182	24	104.19
Roll_motor	51	142	176.05	nil	0	0	0.00
VBD_pump_during_apogee	243	730	4235.55	nil	0	0	0.00
VBD_pump_during_surface	126	644	1945.87	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.89	nil	0	0	0.00
Iridium_during_connect	33	160	126.49	ARS	0	0	0.00
Iridium_during_xfer	106	223	562.94
Transponder_ping	3	420	34.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.16
TT8	522	19	105.61
LPSleep	1623	2	36.27
TT8_Active	519	19	104.85
TT8_Sampling	492	39	200.00
TT8_CF8	317	45	148.26
TT8_Kalman	33	81	27.83
Analog_circuits	843	12	103.19
GPS_charging	0	0	0.00
Compass	475	8	38.79
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
25	-0.77	-97.8	0.0	0.0	0	144	0.00	0.00	-114.60	0.000	2	0.000	0.000	36	2106	3056
147	-0.77	-97.8	2.4	-3.7	19	203	13.70	2.92	-33.85	0.000	4	0.199	0.139	2356	3515	3883
222	-0.77	-97.8	5.9	-7.6	31	228	0.00	2.90	0.00	0.000	6	0.000	0.114	2355	2094	3884
294	-0.77	-97.8	10.5	-5.6	42	300	0.00	0.00	0.00	0.000	6	0.000	0.000	2356	2093	3886
367	-0.77	-97.8	14.4	-6.0	53	373	0.00	2.92	0.00	0.000	4	0.000	0.122	2356	3515	3887
454	-0.77	-97.8	19.6	-6.1	66	460	0.00	2.90	0.00	0.000	6	0.000	0.114	2356	2083	3887
523	-0.77	-97.8	23.5	-5.2	72	528	0.00	2.95	0.00	0.000	4	0.000	0.143	2355	679	3888
542	-0.77	-97.8	24.7	-5.8	73	547	0.00	2.80	0.00	0.000	6	0.000	0.099	2356	2110	3888
738	-0.77	-97.8	35.2	-5.4	88	742	0.00	2.85	0.00	0.000	4	0.000	0.124	2355	3513	3889
802	-0.77	-97.8	39.1	-5.7	92	809	0.00	2.88	0.00	0.000	6	0.000	0.113	2356	2093	3889
999	-0.77	-97.8	50.0	-5.7	108	1008	0.00	2.92	0.00	0.000	4	0.000	0.138	2356	677	3888
1028	-0.77	-97.8	51.7	-5.9	110	1032	0.00	2.78	0.00	0.000	6	0.000	0.100	2355	2103	3890
1230	-0.77	-97.8	63.9	-6.1	126	1235	0.00	2.88	0.00	0.000	4	0.000	0.125	2356	3518	3890
1308	-0.77	-97.8	68.9	-6.5	131	1315	0.00	2.90	0.00	0.000	6	0.000	0.115	2356	2087	3890
1505	-0.77	-97.8	80.3	-5.6	147	1506	0.00	0.00	0.00	0.000	6	0.000	0.000	2356	2087	3890
1697	-0.77	-97.8	90.2	-5.5	162	1698	0.00	0.00	0.00	0.000	6	0.000	0.000	2356	2087	3890
1855	end dive: TARGET_DEPTH_EXCEEDED
state	1855	begin apogee
1861	-0.31	0.0	100.0	6.2	175	1942	0.55	0.00	75.55	0.730	6	0.128	0.000	2461	2117	3484
1943	end apogee: CONTROL_FINISHED_OK
state	1943	begin climb
1946	0.77	97.8	101.9	0.0	182	2031	1.15	3.03	77.80	0.721	4	0.096	0.123	2694	680	3085
2054	0.89	214.5	98.7	4.9	191	2152	0.15	2.72	90.38	0.705	6	0.062	0.077	2734	2111	2610
2342	0.89	214.5	70.1	10.3	214	2343	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2111	2609
2530	0.89	214.5	50.0	10.8	229	2535	0.00	2.95	0.00	0.000	4	0.000	0.122	2734	672	2609
2576	0.89	214.5	44.7	10.9	232	2581	0.00	2.72	0.00	0.000	6	0.000	0.079	2734	2115	2609
2771	0.89	214.5	24.6	10.5	247	2776	0.00	2.95	0.00	0.000	4	0.000	0.122	2734	676	2609
2797	0.89	214.5	21.7	11.1	248	2804	0.00	2.72	0.00	0.000	6	0.000	0.082	2734	2110	2609
2952	end climb: SURFACE_DEPTH_REACHED
state	2953	begin surface coast
3002	end surface coast: CONTROL_FINISHED_OK
state	3002	begin surface