Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 289 * 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 289 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 -31491.633 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 -31491.633

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 289 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 154224,4807.153,-12223.226,8,1.1,8,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.041,0.151

_SM_DEPTHo 0.00 KALMAN_X 13770.6,-174.9,-114.2,-13029.7,-79.4

_SM_ANGLEo -50.0 KALMAN_Y -2800.1,140.2,214.1,1380.1,-180.1

GPS2 154912,4807.142,-12223.229,34,1.1,35,18.0 MHEAD_RNG_PITCHd_Wd 326.7,1853,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.9,0.997246 _24V_AH 23.8,32.981

SM_CCo 3268,132.10,0.004,17,0,1249,300.25 _10V_AH 9.7,42.134

SM_GC 0.00,0.00,0.00,132.10,0.000,0.000,0.004,146,1968,1249,-11.71,-2.80,300.25 DATA_FILE_SIZE 6427,267

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 55567,8

TT8_MAMPS 0.049088 CFSIZE 260165632,250298368

HUMID 1627 ERRORS 0,0,0,0,0,0,0,0,1,0,0,67,192,17,0

INTERNAL_PRESSURE 12.4614 GPS 070808,165050,4807.490,-12223.475,19,1.1,19,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 3 2.80 SBE_CT 208 24 119.02

Roll_motor 44 3 4.09 nil 0 0 0.00

VBD_pump_during_apogee 242 4 26.59 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 77 223 413.91

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 50 17.36

TT8 523 18 91.34

LPSleep 1785 0 6.75

TT8_Active 566 18 98.99

TT8_Sampling 473 38 174.42

TT8_CF8 610 44 260.58

TT8_Kalman 33 80 25.88

Analog_circuits 937 12 109.16

GPS_charging 0 0 0.00

Compass 376 26 94.89

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

126 end surface: CONTROL_FINISHED_OK

state 126 begin dive

129 -0.84 -146.6 0.0 0.0 0 191 0.00 0.00 -60.30 0.000 6 0.000 0.000 147 1953 3075

195 -0.84 -146.6 0.6 -1.6 6 211 12.40 0.00 0.00 0.000 6 0.004 0.000 2545 1953 3076

243 -0.84 -146.6 9.5 -22.1 11 248 0.30 2.47 0.00 0.000 4 0.004 0.004 2509 513 3076

552 -0.84 -146.6 30.6 -6.6 38 557 0.00 2.78 0.00 0.000 6 0.000 0.004 2508 2189 3076

590 -0.84 -146.6 32.9 -6.4 41 595 0.00 3.00 0.00 0.000 4 0.000 0.004 2507 527 3075

898 -0.84 -146.6 52.8 -6.2 68 904 0.00 3.15 0.00 0.000 6 0.000 0.004 2508 2239 3075

937 -0.84 -146.6 55.2 -6.6 71 942 0.00 2.78 0.00 0.000 4 0.000 0.004 2508 514 3075

1246 -0.84 -146.6 75.1 -6.7 98 1251 0.00 3.03 0.00 0.000 6 0.000 0.004 2509 2161 3076

1283 -0.84 -146.6 77.5 -6.1 101 1288 0.00 2.80 0.00 0.000 4 0.000 0.004 2510 533 3075

1559 end dive: TARGET_DEPTH_EXCEEDED

state 1559 begin apogee

1569 -0.31 0.0 95.2 6.0 125 1696 0.82 0.00 122.03 0.005 6 0.004 0.000 2655 2207 2473

1697 end apogee: CONTROL_FINISHED_OK

state 1697 begin climb

1700 0.84 146.6 96.9 0.0 138 1832 1.25 2.45 120.70 0.005 4 0.004 0.004 2916 3633 1875

2139 0.84 146.6 67.2 7.3 178 2145 0.30 2.75 0.00 0.000 6 0.003 0.004 2844 1943 1874

2176 0.84 146.6 64.5 7.2 181 2182 0.38 2.80 0.00 0.000 4 0.004 0.004 2919 3605 1875

2486 0.84 146.6 42.9 7.2 208 2492 0.30 2.78 0.00 0.000 6 0.003 0.004 2842 1959 1874

2525 0.84 146.6 40.6 6.2 211 2531 0.25 3.03 0.00 0.000 4 0.004 0.004 2916 3624 1875

2835 0.84 146.6 20.3 6.4 238 2841 0.28 2.78 0.00 0.000 6 0.003 0.004 2836 1963 1875

2873 0.84 146.6 17.8 6.6 241 2878 0.28 2.67 0.00 0.000 4 0.004 0.004 2910 3624 1875

3134 end climb: SURFACE_DEPTH_REACHED

state 3134 begin surface coast

3169 end surface coast: CONTROL_FINISHED_OK

state 3169 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	289	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	-31491.633	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	154224,4807.153,-12223.226,8,1.1,8,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.041,0.151
_SM_DEPTHo	0.00	KALMAN_X	13770.6,-174.9,-114.2,-13029.7,-79.4
_SM_ANGLEo	-50.0	KALMAN_Y	-2800.1,140.2,214.1,1380.1,-180.1
GPS2	154912,4807.142,-12223.229,34,1.1,35,18.0	MHEAD_RNG_PITCHd_Wd	326.7,1853,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.9,0.997246	_24V_AH	23.8,32.981
SM_CCo	3268,132.10,0.004,17,0,1249,300.25	_10V_AH	9.7,42.134
SM_GC	0.00,0.00,0.00,132.10,0.000,0.000,0.004,146,1968,1249,-11.71,-2.80,300.25	DATA_FILE_SIZE	6427,267
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	55567,8
TT8_MAMPS	0.049088	CFSIZE	260165632,250298368
HUMID	1627	ERRORS	0,0,0,0,0,0,0,0,1,0,0,67,192,17,0
INTERNAL_PRESSURE	12.4614	GPS	070808,165050,4807.490,-12223.475,19,1.1,19,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	3	2.80	SBE_CT	208	24	119.02
Roll_motor	44	3	4.09	nil	0	0	0.00
VBD_pump_during_apogee	242	4	26.59	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	413.91
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	50	17.36
TT8	523	18	91.34
LPSleep	1785	0	6.75
TT8_Active	566	18	98.99
TT8_Sampling	473	38	174.42
TT8_CF8	610	44	260.58
TT8_Kalman	33	80	25.88
Analog_circuits	937	12	109.16
GPS_charging	0	0	0.00
Compass	376	26	94.89
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
126	end surface: CONTROL_FINISHED_OK
state	126	begin dive
129	-0.84	-146.6	0.0	0.0	0	191	0.00	0.00	-60.30	0.000	6	0.000	0.000	147	1953	3075
195	-0.84	-146.6	0.6	-1.6	6	211	12.40	0.00	0.00	0.000	6	0.004	0.000	2545	1953	3076
243	-0.84	-146.6	9.5	-22.1	11	248	0.30	2.47	0.00	0.000	4	0.004	0.004	2509	513	3076
552	-0.84	-146.6	30.6	-6.6	38	557	0.00	2.78	0.00	0.000	6	0.000	0.004	2508	2189	3076
590	-0.84	-146.6	32.9	-6.4	41	595	0.00	3.00	0.00	0.000	4	0.000	0.004	2507	527	3075
898	-0.84	-146.6	52.8	-6.2	68	904	0.00	3.15	0.00	0.000	6	0.000	0.004	2508	2239	3075
937	-0.84	-146.6	55.2	-6.6	71	942	0.00	2.78	0.00	0.000	4	0.000	0.004	2508	514	3075
1246	-0.84	-146.6	75.1	-6.7	98	1251	0.00	3.03	0.00	0.000	6	0.000	0.004	2509	2161	3076
1283	-0.84	-146.6	77.5	-6.1	101	1288	0.00	2.80	0.00	0.000	4	0.000	0.004	2510	533	3075
1559	end dive: TARGET_DEPTH_EXCEEDED
state	1559	begin apogee
1569	-0.31	0.0	95.2	6.0	125	1696	0.82	0.00	122.03	0.005	6	0.004	0.000	2655	2207	2473
1697	end apogee: CONTROL_FINISHED_OK
state	1697	begin climb
1700	0.84	146.6	96.9	0.0	138	1832	1.25	2.45	120.70	0.005	4	0.004	0.004	2916	3633	1875
2139	0.84	146.6	67.2	7.3	178	2145	0.30	2.75	0.00	0.000	6	0.003	0.004	2844	1943	1874
2176	0.84	146.6	64.5	7.2	181	2182	0.38	2.80	0.00	0.000	4	0.004	0.004	2919	3605	1875
2486	0.84	146.6	42.9	7.2	208	2492	0.30	2.78	0.00	0.000	6	0.003	0.004	2842	1959	1874
2525	0.84	146.6	40.6	6.2	211	2531	0.25	3.03	0.00	0.000	4	0.004	0.004	2916	3624	1875
2835	0.84	146.6	20.3	6.4	238	2841	0.28	2.78	0.00	0.000	6	0.003	0.004	2836	1963	1875
2873	0.84	146.6	17.8	6.6	241	2878	0.28	2.67	0.00	0.000	4	0.004	0.004	2910	3624	1875
3134	end climb: SURFACE_DEPTH_REACHED
state	3134	begin surface coast
3169	end surface coast: CONTROL_FINISHED_OK
state	3169	begin surface