Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 287 * 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 287 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 0 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 -31439.859 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 -31439.859

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 0 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 287 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 132538,4806.557,-12222.646,18,1.1,18,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.036,0.153

_SM_DEPTHo 0.00 KALMAN_X 14553.7,-200.0,-422.4,-12752.3,-141.4

_SM_ANGLEo -50.0 KALMAN_Y -2816.2,126.8,302.9,222.5,-133.7

GPS2 133206,4806.547,-12222.639,14,1.1,15,18.0 MHEAD_RNG_PITCHd_Wd 328.7,3174,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.6,0.997276 _24V_AH 23.8,32.736

SM_CCo 3260,132.12,0.004,17,0,1250,300.00 _10V_AH 9.7,42.078

SM_GC 0.00,0.00,0.00,132.12,0.000,0.000,0.004,145,1936,1250,-11.72,-3.84,300.00 DATA_FILE_SIZE 6442,266

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 56138,8

TT8_MAMPS 0.049088 CFSIZE 260165632,250355712

HUMID 1618 ERRORS 0,0,0,0,0,0,0,0,1,0,0,85,186,17,0

INTERNAL_PRESSURE 12.4614 GPS 070808,143332,4806.838,-12222.972,15,1.1,15,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 4 3.41 SBE_CT 206 24 118.18

Roll_motor 44 3 4.09 nil 0 0 0.00

VBD_pump_during_apogee 243 4 26.62 nil 0 0 0.00

VBD_pump_during_surface 132 3 12.06 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 77 223 410.25

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.71

TT8 524 18 91.65

LPSleep 1775 0 6.72

TT8_Active 568 18 99.25

TT8_Sampling 454 38 167.52

TT8_CF8 607 44 259.44

TT8_Kalman 33 80 25.87

Analog_circuits 940 12 109.50

GPS_charging 0 0 0.00

Compass 378 26 95.58

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

124 end surface: CONTROL_FINISHED_OK

state 124 begin dive

127 -0.84 -146.6 0.0 0.0 0 190 0.00 0.00 -60.60 0.000 6 0.000 0.000 146 1989 3080

194 -0.84 -146.6 0.6 -1.6 6 215 12.07 2.35 0.00 0.000 4 0.004 0.004 2570 546 3080

519 -0.84 -146.6 28.9 -6.2 35 525 0.47 2.60 0.00 0.000 6 0.004 0.004 2457 2169 3080

557 -0.84 -146.6 31.3 -6.4 38 563 0.57 2.67 0.00 0.000 4 0.004 0.004 2530 502 3079

866 -0.84 -146.6 50.3 -6.0 65 872 0.00 3.03 0.00 0.000 6 0.000 0.004 2529 2233 3079

904 -0.84 -146.6 52.7 -6.4 68 909 0.00 3.15 0.00 0.000 4 0.000 0.004 2529 499 3078

1213 -0.84 -146.6 72.3 -6.4 95 1218 0.00 2.78 0.00 0.000 6 0.000 0.004 2528 2167 3080

1250 -0.84 -146.6 74.7 -6.4 98 1256 0.00 3.22 0.00 0.000 4 0.000 0.004 2529 518 3080

1559 -0.84 -146.6 94.0 -6.3 125 1565 0.30 2.85 0.00 0.000 6 0.004 0.004 2452 2163 3080

1573 end dive: TARGET_DEPTH_EXCEEDED

state 1573 begin apogee

1580 -0.31 0.0 95.1 6.5 126 1707 1.00 0.00 122.72 0.005 6 0.005 0.000 2673 1967 2473

1708 end apogee: CONTROL_FINISHED_OK

state 1708 begin climb

1712 0.84 146.6 97.7 0.0 139 1844 0.98 2.80 120.32 0.005 4 0.004 0.003 2901 3598 1875

2150 0.84 146.6 68.5 7.5 179 2155 0.30 2.60 0.00 0.000 6 0.005 0.004 2830 1979 1875

2187 0.84 146.6 65.8 7.2 182 2193 0.38 2.80 0.00 0.000 4 0.004 0.004 2906 3640 1875

2497 0.84 146.6 43.1 7.2 209 2503 0.28 2.80 0.00 0.000 6 0.004 0.004 2832 1983 1875

2534 0.84 146.6 40.5 7.3 212 2540 0.30 2.65 0.00 0.000 4 0.004 0.004 2911 3606 1875

2844 0.84 146.6 19.2 6.8 239 2849 0.30 2.78 0.00 0.000 6 0.004 0.004 2836 1943 1875

2882 0.84 146.6 16.6 6.8 242 2888 0.35 2.70 0.00 0.000 4 0.004 0.004 2911 3578 1875

3115 end climb: SURFACE_DEPTH_REACHED

state 3115 begin surface coast

3161 end surface coast: CONTROL_FINISHED_OK

state 3161 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	287	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	0	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	-31439.859	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	132538,4806.557,-12222.646,18,1.1,18,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.036,0.153
_SM_DEPTHo	0.00	KALMAN_X	14553.7,-200.0,-422.4,-12752.3,-141.4
_SM_ANGLEo	-50.0	KALMAN_Y	-2816.2,126.8,302.9,222.5,-133.7
GPS2	133206,4806.547,-12222.639,14,1.1,15,18.0	MHEAD_RNG_PITCHd_Wd	328.7,3174,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.6,0.997276	_24V_AH	23.8,32.736
SM_CCo	3260,132.12,0.004,17,0,1250,300.00	_10V_AH	9.7,42.078
SM_GC	0.00,0.00,0.00,132.12,0.000,0.000,0.004,145,1936,1250,-11.72,-3.84,300.00	DATA_FILE_SIZE	6442,266
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	56138,8
TT8_MAMPS	0.049088	CFSIZE	260165632,250355712
HUMID	1618	ERRORS	0,0,0,0,0,0,0,0,1,0,0,85,186,17,0
INTERNAL_PRESSURE	12.4614	GPS	070808,143332,4806.838,-12222.972,15,1.1,15,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	4	3.41	SBE_CT	206	24	118.18
Roll_motor	44	3	4.09	nil	0	0	0.00
VBD_pump_during_apogee	243	4	26.62	nil	0	0	0.00
VBD_pump_during_surface	132	3	12.06	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	77	223	410.25
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.71
TT8	524	18	91.65
LPSleep	1775	0	6.72
TT8_Active	568	18	99.25
TT8_Sampling	454	38	167.52
TT8_CF8	607	44	259.44
TT8_Kalman	33	80	25.87
Analog_circuits	940	12	109.50
GPS_charging	0	0	0.00
Compass	378	26	95.58
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
124	end surface: CONTROL_FINISHED_OK
state	124	begin dive
127	-0.84	-146.6	0.0	0.0	0	190	0.00	0.00	-60.60	0.000	6	0.000	0.000	146	1989	3080
194	-0.84	-146.6	0.6	-1.6	6	215	12.07	2.35	0.00	0.000	4	0.004	0.004	2570	546	3080
519	-0.84	-146.6	28.9	-6.2	35	525	0.47	2.60	0.00	0.000	6	0.004	0.004	2457	2169	3080
557	-0.84	-146.6	31.3	-6.4	38	563	0.57	2.67	0.00	0.000	4	0.004	0.004	2530	502	3079
866	-0.84	-146.6	50.3	-6.0	65	872	0.00	3.03	0.00	0.000	6	0.000	0.004	2529	2233	3079
904	-0.84	-146.6	52.7	-6.4	68	909	0.00	3.15	0.00	0.000	4	0.000	0.004	2529	499	3078
1213	-0.84	-146.6	72.3	-6.4	95	1218	0.00	2.78	0.00	0.000	6	0.000	0.004	2528	2167	3080
1250	-0.84	-146.6	74.7	-6.4	98	1256	0.00	3.22	0.00	0.000	4	0.000	0.004	2529	518	3080
1559	-0.84	-146.6	94.0	-6.3	125	1565	0.30	2.85	0.00	0.000	6	0.004	0.004	2452	2163	3080
1573	end dive: TARGET_DEPTH_EXCEEDED
state	1573	begin apogee
1580	-0.31	0.0	95.1	6.5	126	1707	1.00	0.00	122.72	0.005	6	0.005	0.000	2673	1967	2473
1708	end apogee: CONTROL_FINISHED_OK
state	1708	begin climb
1712	0.84	146.6	97.7	0.0	139	1844	0.98	2.80	120.32	0.005	4	0.004	0.003	2901	3598	1875
2150	0.84	146.6	68.5	7.5	179	2155	0.30	2.60	0.00	0.000	6	0.005	0.004	2830	1979	1875
2187	0.84	146.6	65.8	7.2	182	2193	0.38	2.80	0.00	0.000	4	0.004	0.004	2906	3640	1875
2497	0.84	146.6	43.1	7.2	209	2503	0.28	2.80	0.00	0.000	6	0.004	0.004	2832	1983	1875
2534	0.84	146.6	40.5	7.3	212	2540	0.30	2.65	0.00	0.000	4	0.004	0.004	2911	3606	1875
2844	0.84	146.6	19.2	6.8	239	2849	0.30	2.78	0.00	0.000	6	0.004	0.004	2836	1943	1875
2882	0.84	146.6	16.6	6.8	242	2888	0.35	2.70	0.00	0.000	4	0.004	0.004	2911	3578	1875
3115	end climb: SURFACE_DEPTH_REACHED
state	3115	begin surface coast
3161	end surface coast: CONTROL_FINISHED_OK
state	3161	begin surface