Glider dive log

PortSusan 28Jan09 * SG165 * Dive index * Mission links * Dive 28 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 165 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 28 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3692 ALTIM_PING_DEPTH 0

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 550 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 67 UPLOAD_DIVES_MAX -1 VBD_MIN 485 DEVICE2 53

T_MISSION 75 CALL_TRIES 5 VBD_MAX 3959 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3665 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 130 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -4113.0469 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 75 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 180 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3922 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2921 PRESSURE_YINT -22.272026 SEABIRD_T_G 0.0043383995

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000116182 SEABIRD_T_H 0.00062454981

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3067754e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3616824e-06

FERRY_MAX 45 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9113674

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.100266

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.0005534364

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 6.0498875e-05

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 550

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 30 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3922 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 4 PITCH_MIN 180 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 150 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000116182 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -22.272026 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 67

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -4113.0469

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 75

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 130

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 165 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3692 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2921 KALMAN_USE 1 ROLL_MIN 200 USE_BATHY -4

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2150 MASS 52000 R_PORT_OVSHOOT 31 VBD_BLEED_AD_RATE 8

C_VBD 3665 MAX_BUOY 75 R_STBD_OVSHOOT 24 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.9113674 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.100266 VBD_MAX 3959

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.0005534364 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 6.0498875e-05 VBD_MIN 485

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043383995 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062454981 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3067754e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3616824e-06 XPDR_DEVICE 24

DIVE 28 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 194136,4808.000,-12223.757,11,0.9,27,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.099,0.141

_SM_DEPTHo 1.34 KALMAN_X 8239.7,-127.6,2.5,-9319.8,190.5

_SM_ANGLEo -70.9 KALMAN_Y -15027.9,487.9,-80.2,16877.9,-415.2

GPS2 194656,4808.033,-12223.781,13,1.1,13,18.3 MHEAD_RNG_PITCHd_Wd 306.6,277,-19.5,-7.463

SPEED_LIMITS 0.129,0.172 D_GRID 105

Post-dive calculations and measurements:

FINISH 2.9,1.019500 XPDR_PINGS 5

SM_CCo 2439,246.55,0.669,0,0,1421,550.21 _24V_AH 24.2,3.680

SM_GC 1.45,0.00,0.00,246.55,0.000,0.000,0.669,173,2143,1421,-8.59,-0.20,550.21 _10V_AH 10.7,1.334

IRIDIUM_FIX 4751.72,-12221.84,250498,181838 DATA_FILE_SIZE 22312,451

TT8_MAMPS 0.052923 CAP_FILE_SIZE 46839,0

HUMID 1410 CFSIZE 260165632,257769472

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.50 GPS 290109,203244,4808.113,-12223.939,5,1.7,5,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 265 132.30 SBE_CT 301 24 174.94

Roll_motor 37 82 74.87 Optode 0 33 0.00

VBD_pump_during_apogee 223 790 4270.06 WL_BB2F 0 105 0.00

VBD_pump_during_surface 246 668 3990.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 75.59 nil 0 0 0.00

Iridium_during_connect 31 160 121.71 nil 0 0 0.00

Iridium_during_xfer 186 223 1008.68

Transponder_ping 1 420 12.71

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 8.00

TT8 0 19 0.00

LPSleep 1303 2 30.54

TT8_Active 573 19 121.56

TT8_Sampling 817 39 348.17

TT8_CF8 309 45 151.69

TT8_Kalman 33 81 29.15

Analog_circuits 949 12 121.97

GPS_charging 0 0 0.00

Compass 660 8 56.51

RAFOS 0 0 0.00

Transponder 0 30 0.17

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

10 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12 -0.74 -73.3 0.0 0.0 0 105 0.00 0.00 -90.80 0.000 2 0.000 0.000 172 2145 3475

107 -0.74 -73.3 3.2 -2.5 17 135 10.60 2.38 -13.02 0.000 4 0.265 0.070 2676 737 3962

374 -0.74 -73.3 39.5 -11.7 67 381 0.00 2.35 0.00 0.000 6 0.000 0.057 2673 2151 3963

443 -0.74 -73.3 46.8 -10.3 80 450 0.00 2.33 0.00 0.000 4 0.000 0.056 2673 741 3963

688 -0.74 -73.3 73.4 -10.7 126 695 0.00 2.33 0.00 0.000 6 0.000 0.058 2673 2151 3963

822 -0.74 -73.3 85.7 -9.4 151 828 0.00 2.30 0.00 0.000 4 0.000 0.057 2673 745 3963

885 -0.74 -73.3 91.6 -9.1 163 892 0.00 2.30 0.00 0.000 6 0.000 0.057 2672 2146 3963

1019 -0.74 -73.3 102.6 -7.6 188 1026 0.00 2.28 0.00 0.000 4 0.000 0.056 2673 748 3963

1049 end dive: TARGET_DEPTH_EXCEEDED

state 1049 begin apogee

1054 -0.17 0.0 105.3 8.4 194 1113 0.60 0.00 55.33 0.790 6 0.160 0.000 2857 2203 3664

1114 end apogee: CONTROL_FINISHED_OK

state 1114 begin climb

1115 0.74 73.3 106.5 0.0 205 1174 0.85 0.00 56.03 0.744 6 0.087 0.000 3153 2202 3366

1300 0.74 73.3 82.1 15.8 240 1301 0.00 0.00 0.00 0.000 6 0.000 0.000 3153 2203 3365

1429 0.74 73.3 62.9 14.4 264 1435 0.00 2.35 0.00 0.000 4 0.000 0.064 3153 3605 3365

1492 0.74 73.3 53.0 16.0 276 1499 0.00 2.30 0.00 0.000 6 0.000 0.051 3164 2210 3365

1626 0.74 73.3 35.1 11.4 301 1632 0.00 2.35 0.00 0.000 4 0.000 0.059 3175 784 3365

1657 0.74 73.3 31.6 11.0 307 1664 0.00 2.33 0.00 0.000 6 0.000 0.054 3175 2195 3365

1726 0.74 73.3 23.8 11.2 320 1727 0.00 0.00 0.00 0.000 6 0.000 0.000 3175 2195 3365

1790 0.74 73.3 17.8 9.1 332 1797 0.00 2.33 0.00 0.000 4 0.000 0.062 3175 3605 3365

1801 0.74 73.3 16.9 9.0 334 1808 0.00 2.28 0.00 0.000 6 0.000 0.049 3185 2198 3365

1870 0.80 120.3 13.0 4.2 347 1910 0.00 2.42 35.60 0.715 4 0.000 0.061 3184 3610 3174

2149 0.93 223.6 5.2 0.4 399 2231 0.00 2.28 76.40 0.696 6 0.000 0.048 3195 2210 2753

2233 end climb: SURFACE_DEPTH_REACHED

state 2233 begin surface coast

2425 end surface coast: NO_VERTICAL_VELOCITY

state 2426 begin surface

ID	165	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	28	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3692	ALTIM_PING_DEPTH	0
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	550	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	67	UPLOAD_DIVES_MAX	-1	VBD_MIN	485	DEVICE2	53
T_MISSION	75	CALL_TRIES	5	VBD_MAX	3959	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3665	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	130	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-4113.0469	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	75	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	180	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3922	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2921	PRESSURE_YINT	-22.272026	SEABIRD_T_G	0.0043383995
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000116182	SEABIRD_T_H	0.00062454981
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3067754e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3616824e-06
FERRY_MAX	45	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9113674
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.100266
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.0005534364
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	6.0498875e-05
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	194136,4808.000,-12223.757,11,0.9,27,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.099,0.141
_SM_DEPTHo	1.34	KALMAN_X	8239.7,-127.6,2.5,-9319.8,190.5
_SM_ANGLEo	-70.9	KALMAN_Y	-15027.9,487.9,-80.2,16877.9,-415.2
GPS2	194656,4808.033,-12223.781,13,1.1,13,18.3	MHEAD_RNG_PITCHd_Wd	306.6,277,-19.5,-7.463
SPEED_LIMITS	0.129,0.172	D_GRID	105

FINISH	2.9,1.019500	XPDR_PINGS	5
SM_CCo	2439,246.55,0.669,0,0,1421,550.21	_24V_AH	24.2,3.680
SM_GC	1.45,0.00,0.00,246.55,0.000,0.000,0.669,173,2143,1421,-8.59,-0.20,550.21	_10V_AH	10.7,1.334
IRIDIUM_FIX	4751.72,-12221.84,250498,181838	DATA_FILE_SIZE	22312,451
TT8_MAMPS	0.052923	CAP_FILE_SIZE	46839,0
HUMID	1410	CFSIZE	260165632,257769472
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.50	GPS	290109,203244,4808.113,-12223.939,5,1.7,5,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	265	132.30	SBE_CT	301	24	174.94
Roll_motor	37	82	74.87	Optode	0	33	0.00
VBD_pump_during_apogee	223	790	4270.06	WL_BB2F	0	105	0.00
VBD_pump_during_surface	246	668	3990.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	75.59	nil	0	0	0.00
Iridium_during_connect	31	160	121.71	nil	0	0	0.00
Iridium_during_xfer	186	223	1008.68
Transponder_ping	1	420	12.71
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	8.00
TT8	0	19	0.00
LPSleep	1303	2	30.54
TT8_Active	573	19	121.56
TT8_Sampling	817	39	348.17
TT8_CF8	309	45	151.69
TT8_Kalman	33	81	29.15
Analog_circuits	949	12	121.97
GPS_charging	0	0	0.00
Compass	660	8	56.51
RAFOS	0	0	0.00
Transponder	0	30	0.17

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
10	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12	-0.74	-73.3	0.0	0.0	0	105	0.00	0.00	-90.80	0.000	2	0.000	0.000	172	2145	3475
107	-0.74	-73.3	3.2	-2.5	17	135	10.60	2.38	-13.02	0.000	4	0.265	0.070	2676	737	3962
374	-0.74	-73.3	39.5	-11.7	67	381	0.00	2.35	0.00	0.000	6	0.000	0.057	2673	2151	3963
443	-0.74	-73.3	46.8	-10.3	80	450	0.00	2.33	0.00	0.000	4	0.000	0.056	2673	741	3963
688	-0.74	-73.3	73.4	-10.7	126	695	0.00	2.33	0.00	0.000	6	0.000	0.058	2673	2151	3963
822	-0.74	-73.3	85.7	-9.4	151	828	0.00	2.30	0.00	0.000	4	0.000	0.057	2673	745	3963
885	-0.74	-73.3	91.6	-9.1	163	892	0.00	2.30	0.00	0.000	6	0.000	0.057	2672	2146	3963
1019	-0.74	-73.3	102.6	-7.6	188	1026	0.00	2.28	0.00	0.000	4	0.000	0.056	2673	748	3963
1049	end dive: TARGET_DEPTH_EXCEEDED
state	1049	begin apogee
1054	-0.17	0.0	105.3	8.4	194	1113	0.60	0.00	55.33	0.790	6	0.160	0.000	2857	2203	3664
1114	end apogee: CONTROL_FINISHED_OK
state	1114	begin climb
1115	0.74	73.3	106.5	0.0	205	1174	0.85	0.00	56.03	0.744	6	0.087	0.000	3153	2202	3366
1300	0.74	73.3	82.1	15.8	240	1301	0.00	0.00	0.00	0.000	6	0.000	0.000	3153	2203	3365
1429	0.74	73.3	62.9	14.4	264	1435	0.00	2.35	0.00	0.000	4	0.000	0.064	3153	3605	3365
1492	0.74	73.3	53.0	16.0	276	1499	0.00	2.30	0.00	0.000	6	0.000	0.051	3164	2210	3365
1626	0.74	73.3	35.1	11.4	301	1632	0.00	2.35	0.00	0.000	4	0.000	0.059	3175	784	3365
1657	0.74	73.3	31.6	11.0	307	1664	0.00	2.33	0.00	0.000	6	0.000	0.054	3175	2195	3365
1726	0.74	73.3	23.8	11.2	320	1727	0.00	0.00	0.00	0.000	6	0.000	0.000	3175	2195	3365
1790	0.74	73.3	17.8	9.1	332	1797	0.00	2.33	0.00	0.000	4	0.000	0.062	3175	3605	3365
1801	0.74	73.3	16.9	9.0	334	1808	0.00	2.28	0.00	0.000	6	0.000	0.049	3185	2198	3365
1870	0.80	120.3	13.0	4.2	347	1910	0.00	2.42	35.60	0.715	4	0.000	0.061	3184	3610	3174
2149	0.93	223.6	5.2	0.4	399	2231	0.00	2.28	76.40	0.696	6	0.000	0.048	3195	2210	2753
2233	end climb: SURFACE_DEPTH_REACHED
state	2233	begin surface coast
2425	end surface coast: NO_VERTICAL_VELOCITY
state	2426	begin surface