Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 275 * 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 275 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 -31203.578 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 -31203.578

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 275 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 000929,4804.998,-12220.972,20,1.1,20,18.0 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.088,0.006

_SM_DEPTHo 0.00 KALMAN_X 17858.1,-52.8,-9.9,-14590.4,-330.8

_SM_ANGLEo -50.0 KALMAN_Y 115.8,-43.7,-192.2,-4874.6,-56.5

GPS2 001601,4805.019,-12221.000,29,1.1,29,18.0 MHEAD_RNG_PITCHd_Wd 68.3,36,-25.9,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 2.5,0.996965 _24V_AH 23.8,31.304

SM_CCo 3352,208.80,0.005,28,0,187,560.51 _10V_AH 9.7,41.749

SM_GC 0.00,13.85,0.00,0.00,0.004,0.000,0.000,145,2146,187,-11.72,2.15,560.76 DATA_FILE_SIZE 6446,246

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 57388,15

TT8_MAMPS 0.049855 CFSIZE 260165632,250683392

HUMID 1492 ERRORS 0,0,0,0,0,0,0,0,1,0,1,83,183,57,0

INTERNAL_PRESSURE 12.3931 GPS 070808,012329,4804.934,-12220.966,33,1.1,33,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 4 3.53 SBE_CT 194 24 111.29

Roll_motor 45 3 4.16 nil 0 0 0.00

VBD_pump_during_apogee 122 4 13.44 nil 0 0 0.00

VBD_pump_during_surface 423 4 46.34 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 74 223 396.07

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 29 50 14.29

TT8 510 18 89.19

LPSleep 1780 0 6.74

TT8_Active 952 18 166.31

TT8_Sampling 437 38 161.35

TT8_CF8 597 44 254.91

TT8_Kalman 33 80 25.86

Analog_circuits 1298 12 151.10

GPS_charging 0 0 0.00

Compass 350 26 88.28

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

123 end surface: CONTROL_FINISHED_OK

state 123 begin dive

127 -1.66 -33.1 0.0 0.0 0 174 0.00 0.00 -45.12 0.000 6 0.000 0.000 144 2172 2616

177 -1.70 -66.6 0.6 -1.5 5 196 10.98 0.00 -4.50 0.000 6 0.004 0.000 2358 2172 2750

225 -1.70 -66.6 5.0 -11.3 10 235 0.35 2.53 0.00 0.000 4 0.004 0.004 2283 3595 2749

538 -1.70 -66.6 23.5 -5.2 38 544 0.30 2.92 0.00 0.000 6 0.004 0.004 2358 1954 2750

575 -1.70 -66.6 25.7 -5.8 41 581 0.40 2.65 0.00 0.000 4 0.005 0.004 2284 3613 2750

885 -1.70 -66.6 42.8 -5.2 68 891 0.30 2.95 0.00 0.000 6 0.004 0.004 2356 1885 2751

924 -1.70 -66.6 44.6 -5.2 71 929 0.28 2.90 0.00 0.000 4 0.004 0.004 2280 3654 2750

1233 -1.70 -66.6 61.5 -5.3 98 1239 0.30 2.95 0.00 0.000 6 0.004 0.004 2353 1884 2751

1271 -1.70 -66.6 63.5 -5.2 101 1276 0.32 2.88 0.00 0.000 4 0.005 0.004 2316 3642 2750

1581 -1.71 -71.3 78.1 -4.5 128 1590 0.00 2.92 -0.85 0.000 6 0.000 0.004 2316 1933 2771

1623 -1.71 -73.1 80.1 -4.8 132 1628 0.00 2.92 0.00 0.000 4 0.000 0.004 2316 3675 2771

1911 end dive: TARGET_DEPTH_EXCEEDED

state 1911 begin apogee

1921 -0.31 0.0 95.1 5.2 157 1988 1.92 0.00 61.25 0.005 6 0.004 0.000 2688 1941 2473

1988 end apogee: CONTROL_FINISHED_OK

state 1989 begin climb

1992 1.71 73.1 93.3 0.0 164 2064 2.00 2.28 61.45 0.005 4 0.004 0.004 3091 492 2172

2367 1.71 73.1 50.0 10.3 198 2373 0.30 2.95 0.00 0.000 6 0.004 0.004 3018 2229 2173

2405 1.71 73.1 46.0 10.5 201 2414 0.25 3.33 0.00 0.000 4 0.004 0.004 3096 484 2172

2718 1.71 73.1 15.8 9.5 229 2724 0.30 2.95 0.00 0.000 6 0.004 0.004 3020 2250 2173

2756 1.71 73.1 11.8 10.7 232 2762 0.40 2.97 0.00 0.000 4 0.004 0.004 3095 505 2173

2872 end climb: SURFACE_DEPTH_REACHED

state 2872 begin surface coast

2917 end surface coast: CONTROL_FINISHED_OK

state 2917 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	275	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	-31203.578	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	000929,4804.998,-12220.972,20,1.1,20,18.0	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.088,0.006
_SM_DEPTHo	0.00	KALMAN_X	17858.1,-52.8,-9.9,-14590.4,-330.8
_SM_ANGLEo	-50.0	KALMAN_Y	115.8,-43.7,-192.2,-4874.6,-56.5
GPS2	001601,4805.019,-12221.000,29,1.1,29,18.0	MHEAD_RNG_PITCHd_Wd	68.3,36,-25.9,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	2.5,0.996965	_24V_AH	23.8,31.304
SM_CCo	3352,208.80,0.005,28,0,187,560.51	_10V_AH	9.7,41.749
SM_GC	0.00,13.85,0.00,0.00,0.004,0.000,0.000,145,2146,187,-11.72,2.15,560.76	DATA_FILE_SIZE	6446,246
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	57388,15
TT8_MAMPS	0.049855	CFSIZE	260165632,250683392
HUMID	1492	ERRORS	0,0,0,0,0,0,0,0,1,0,1,83,183,57,0
INTERNAL_PRESSURE	12.3931	GPS	070808,012329,4804.934,-12220.966,33,1.1,33,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	4	3.53	SBE_CT	194	24	111.29
Roll_motor	45	3	4.16	nil	0	0	0.00
VBD_pump_during_apogee	122	4	13.44	nil	0	0	0.00
VBD_pump_during_surface	423	4	46.34	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	74	223	396.07
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	29	50	14.29
TT8	510	18	89.19
LPSleep	1780	0	6.74
TT8_Active	952	18	166.31
TT8_Sampling	437	38	161.35
TT8_CF8	597	44	254.91
TT8_Kalman	33	80	25.86
Analog_circuits	1298	12	151.10
GPS_charging	0	0	0.00
Compass	350	26	88.28
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
123	end surface: CONTROL_FINISHED_OK
state	123	begin dive
127	-1.66	-33.1	0.0	0.0	0	174	0.00	0.00	-45.12	0.000	6	0.000	0.000	144	2172	2616
177	-1.70	-66.6	0.6	-1.5	5	196	10.98	0.00	-4.50	0.000	6	0.004	0.000	2358	2172	2750
225	-1.70	-66.6	5.0	-11.3	10	235	0.35	2.53	0.00	0.000	4	0.004	0.004	2283	3595	2749
538	-1.70	-66.6	23.5	-5.2	38	544	0.30	2.92	0.00	0.000	6	0.004	0.004	2358	1954	2750
575	-1.70	-66.6	25.7	-5.8	41	581	0.40	2.65	0.00	0.000	4	0.005	0.004	2284	3613	2750
885	-1.70	-66.6	42.8	-5.2	68	891	0.30	2.95	0.00	0.000	6	0.004	0.004	2356	1885	2751
924	-1.70	-66.6	44.6	-5.2	71	929	0.28	2.90	0.00	0.000	4	0.004	0.004	2280	3654	2750
1233	-1.70	-66.6	61.5	-5.3	98	1239	0.30	2.95	0.00	0.000	6	0.004	0.004	2353	1884	2751
1271	-1.70	-66.6	63.5	-5.2	101	1276	0.32	2.88	0.00	0.000	4	0.005	0.004	2316	3642	2750
1581	-1.71	-71.3	78.1	-4.5	128	1590	0.00	2.92	-0.85	0.000	6	0.000	0.004	2316	1933	2771
1623	-1.71	-73.1	80.1	-4.8	132	1628	0.00	2.92	0.00	0.000	4	0.000	0.004	2316	3675	2771
1911	end dive: TARGET_DEPTH_EXCEEDED
state	1911	begin apogee
1921	-0.31	0.0	95.1	5.2	157	1988	1.92	0.00	61.25	0.005	6	0.004	0.000	2688	1941	2473
1988	end apogee: CONTROL_FINISHED_OK
state	1989	begin climb
1992	1.71	73.1	93.3	0.0	164	2064	2.00	2.28	61.45	0.005	4	0.004	0.004	3091	492	2172
2367	1.71	73.1	50.0	10.3	198	2373	0.30	2.95	0.00	0.000	6	0.004	0.004	3018	2229	2173
2405	1.71	73.1	46.0	10.5	201	2414	0.25	3.33	0.00	0.000	4	0.004	0.004	3096	484	2172
2718	1.71	73.1	15.8	9.5	229	2724	0.30	2.95	0.00	0.000	6	0.004	0.004	3020	2250	2173
2756	1.71	73.1	11.8	10.7	232	2762	0.40	2.97	0.00	0.000	4	0.004	0.004	3095	505	2173
2872	end climb: SURFACE_DEPTH_REACHED
state	2872	begin surface coast
2917	end surface coast: CONTROL_FINISHED_OK
state	2917	begin surface