Glider dive log

PN07 DabobBay Sep07 * SG022 * Dive index * Mission links * Dive 298 * 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 298 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 2150 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 693.21777 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 6 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 11 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 -115933.03 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 693.21777

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 -115933.03

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 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51950 R_PORT_OVSHOOT 6 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 11 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 298 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 104428,4739.500,-12252.412,33,2.6,52,18.3 TGT_NAME H3

_CALLS 5 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.282,-0.049

_SM_DEPTHo 1.26 KALMAN_X 43336.9,448.8,318.4,-43349.1,36.4

_SM_ANGLEo -63.6 KALMAN_Y 16413.6,532.3,291.2,-17472.7,2.9

GPS2 105917,4739.566,-12252.381,13,3.3,32,18.3 MHEAD_RNG_PITCHd_Wd 241.9,1041,-10.5,-7.407

SPEED_LIMITS 0.276,0.286 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.5,1.004998 ALTIM_BOTTOM_PING 50.4,8.1

SM_CCo 3162,236.00,0.631,0,0,658,693.22 _24V_AH 23.8,34.478

SM_GC 1.22,0.00,0.00,236.00,0.000,0.000,0.631,36,2161,658,-11.47,0.31,693.22 _10V_AH 10.2,8.978

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 9580,292

TT8_MAMPS 0.026845 CFSIZE 260034560,249434112

HUMID 2065 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 011007,115837,4739.468,-12252.988,32,1.0,42,18.3

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 192 126.23 SBE_CT 191 24 109.46

Roll_motor 57 141 193.68 nil 0 0 0.00

VBD_pump_during_apogee 251 739 4428.83 nil 0 0 0.00

VBD_pump_during_surface 236 631 3545.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 162 103 399.44 nil 0 0 0.00

Iridium_during_connect 375 160 1431.13 ARS 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 1 420 17.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.06

TT8 544 19 109.94

LPSleep 1910 2 42.67

TT8_Active 637 19 128.79

TT8_Sampling 540 39 219.41

TT8_CF8 701 45 327.53

TT8_Kalman 33 81 27.82

Analog_circuits 985 12 120.60

GPS_charging 0 0 0.00

Compass 521 8 42.59

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

26 -0.77 -97.8 0.0 0.0 0 139 0.00 0.00 -109.40 0.000 2 0.000 0.000 37 2138 2898

142 -0.77 -97.8 2.2 -2.8 18 210 13.50 2.92 -47.33 0.000 4 0.193 0.142 2359 730 3883

278 -0.77 -97.8 7.3 -6.6 39 285 0.00 2.83 0.00 0.000 6 0.000 0.101 2360 2161 3884

351 -0.77 -97.8 11.7 -6.6 50 357 0.00 2.88 0.00 0.000 4 0.000 0.128 2360 3565 3885

410 -0.77 -97.8 16.1 -8.1 59 416 0.00 2.88 0.00 0.000 6 0.000 0.110 2360 2136 3885

482 -0.77 -97.8 21.0 -6.4 69 483 0.00 0.00 0.00 0.000 6 0.000 0.000 2360 2136 3886

672 -0.77 -97.8 32.6 -6.0 84 673 0.00 0.00 0.00 0.000 6 0.000 0.000 2358 2136 3886

862 -0.77 -97.8 43.9 -6.0 99 867 0.00 2.90 0.00 0.000 4 0.000 0.135 2359 729 3886

940 -0.77 -97.8 48.7 -5.8 104 946 0.00 2.80 0.00 0.000 6 0.000 0.099 2360 2163 3886

1136 -0.77 -97.8 59.4 -5.2 120 1140 0.00 2.88 0.00 0.000 4 0.000 0.130 2359 3571 3886

1208 -0.77 -97.8 63.8 -6.5 125 1213 0.00 2.90 0.00 0.000 6 0.000 0.113 2360 2136 3886

1403 -0.77 -97.8 74.9 -5.7 140 1408 0.00 2.92 0.00 0.000 4 0.000 0.136 2359 722 3886

1441 -0.77 -97.8 77.3 -6.3 142 1448 0.00 2.83 0.00 0.000 6 0.000 0.102 2360 2154 3886

1638 -0.77 -97.8 87.8 -5.3 158 1643 0.00 2.90 0.00 0.000 4 0.000 0.130 2360 3573 3886

1684 -0.77 -97.8 90.4 -5.9 161 1688 0.00 2.90 0.00 0.000 6 0.000 0.116 2360 2146 3886

1864 end dive: TARGET_DEPTH_EXCEEDED

state 1864 begin apogee

1870 -0.31 0.0 100.7 5.5 175 1951 0.52 0.00 76.53 0.739 6 0.136 0.000 2458 2082 3484

1952 end apogee: CONTROL_FINISHED_OK

state 1952 begin climb

1955 0.77 97.8 102.9 0.0 182 2040 1.15 2.97 76.32 0.723 4 0.104 0.112 2692 3522 3085

2067 0.91 226.0 100.3 4.7 191 2178 0.15 2.80 98.82 0.709 6 0.071 0.093 2725 2097 2562

2367 0.91 226.0 73.5 9.8 215 2371 0.00 2.90 0.00 0.000 4 0.000 0.127 2725 680 2562

2523 0.91 226.0 56.6 11.1 226 2531 0.00 2.72 0.00 0.000 6 0.000 0.079 2726 2102 2562

2720 0.91 226.0 36.9 9.7 242 2725 0.00 2.85 0.00 0.000 4 0.000 0.116 2726 3524 2562

2739 0.91 226.0 35.0 9.8 243 2744 0.00 2.80 0.00 0.000 6 0.000 0.094 2726 2091 2562

2937 0.91 226.0 15.7 8.5 261 2943 0.00 2.85 0.00 0.000 4 0.000 0.125 2725 680 2562

3002 0.91 226.0 9.9 8.7 271 3009 0.00 2.70 0.00 0.000 6 0.000 0.084 2726 2104 2562

3065 end climb: SURFACE_DEPTH_REACHED

state 3065 begin surface coast

3139 end surface coast: CONTROL_FINISHED_OK

state 3140 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	298	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	2150	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	693.21777	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	6	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	11	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	-115933.03	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	104428,4739.500,-12252.412,33,2.6,52,18.3	TGT_NAME	H3
_CALLS	5	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.282,-0.049
_SM_DEPTHo	1.26	KALMAN_X	43336.9,448.8,318.4,-43349.1,36.4
_SM_ANGLEo	-63.6	KALMAN_Y	16413.6,532.3,291.2,-17472.7,2.9
GPS2	105917,4739.566,-12252.381,13,3.3,32,18.3	MHEAD_RNG_PITCHd_Wd	241.9,1041,-10.5,-7.407
SPEED_LIMITS	0.276,0.286	D_GRID	124

FINISH	0.5,1.004998	ALTIM_BOTTOM_PING	50.4,8.1
SM_CCo	3162,236.00,0.631,0,0,658,693.22	_24V_AH	23.8,34.478
SM_GC	1.22,0.00,0.00,236.00,0.000,0.000,0.631,36,2161,658,-11.47,0.31,693.22	_10V_AH	10.2,8.978
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	9580,292
TT8_MAMPS	0.026845	CFSIZE	260034560,249434112
HUMID	2065	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	011007,115837,4739.468,-12252.988,32,1.0,42,18.3
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	192	126.23	SBE_CT	191	24	109.46
Roll_motor	57	141	193.68	nil	0	0	0.00
VBD_pump_during_apogee	251	739	4428.83	nil	0	0	0.00
VBD_pump_during_surface	236	631	3545.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	162	103	399.44	nil	0	0	0.00
Iridium_during_connect	375	160	1431.13	ARS	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	1	420	17.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.06
TT8	544	19	109.94
LPSleep	1910	2	42.67
TT8_Active	637	19	128.79
TT8_Sampling	540	39	219.41
TT8_CF8	701	45	327.53
TT8_Kalman	33	81	27.82
Analog_circuits	985	12	120.60
GPS_charging	0	0	0.00
Compass	521	8	42.59
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
26	-0.77	-97.8	0.0	0.0	0	139	0.00	0.00	-109.40	0.000	2	0.000	0.000	37	2138	2898
142	-0.77	-97.8	2.2	-2.8	18	210	13.50	2.92	-47.33	0.000	4	0.193	0.142	2359	730	3883
278	-0.77	-97.8	7.3	-6.6	39	285	0.00	2.83	0.00	0.000	6	0.000	0.101	2360	2161	3884
351	-0.77	-97.8	11.7	-6.6	50	357	0.00	2.88	0.00	0.000	4	0.000	0.128	2360	3565	3885
410	-0.77	-97.8	16.1	-8.1	59	416	0.00	2.88	0.00	0.000	6	0.000	0.110	2360	2136	3885
482	-0.77	-97.8	21.0	-6.4	69	483	0.00	0.00	0.00	0.000	6	0.000	0.000	2360	2136	3886
672	-0.77	-97.8	32.6	-6.0	84	673	0.00	0.00	0.00	0.000	6	0.000	0.000	2358	2136	3886
862	-0.77	-97.8	43.9	-6.0	99	867	0.00	2.90	0.00	0.000	4	0.000	0.135	2359	729	3886
940	-0.77	-97.8	48.7	-5.8	104	946	0.00	2.80	0.00	0.000	6	0.000	0.099	2360	2163	3886
1136	-0.77	-97.8	59.4	-5.2	120	1140	0.00	2.88	0.00	0.000	4	0.000	0.130	2359	3571	3886
1208	-0.77	-97.8	63.8	-6.5	125	1213	0.00	2.90	0.00	0.000	6	0.000	0.113	2360	2136	3886
1403	-0.77	-97.8	74.9	-5.7	140	1408	0.00	2.92	0.00	0.000	4	0.000	0.136	2359	722	3886
1441	-0.77	-97.8	77.3	-6.3	142	1448	0.00	2.83	0.00	0.000	6	0.000	0.102	2360	2154	3886
1638	-0.77	-97.8	87.8	-5.3	158	1643	0.00	2.90	0.00	0.000	4	0.000	0.130	2360	3573	3886
1684	-0.77	-97.8	90.4	-5.9	161	1688	0.00	2.90	0.00	0.000	6	0.000	0.116	2360	2146	3886
1864	end dive: TARGET_DEPTH_EXCEEDED
state	1864	begin apogee
1870	-0.31	0.0	100.7	5.5	175	1951	0.52	0.00	76.53	0.739	6	0.136	0.000	2458	2082	3484
1952	end apogee: CONTROL_FINISHED_OK
state	1952	begin climb
1955	0.77	97.8	102.9	0.0	182	2040	1.15	2.97	76.32	0.723	4	0.104	0.112	2692	3522	3085
2067	0.91	226.0	100.3	4.7	191	2178	0.15	2.80	98.82	0.709	6	0.071	0.093	2725	2097	2562
2367	0.91	226.0	73.5	9.8	215	2371	0.00	2.90	0.00	0.000	4	0.000	0.127	2725	680	2562
2523	0.91	226.0	56.6	11.1	226	2531	0.00	2.72	0.00	0.000	6	0.000	0.079	2726	2102	2562
2720	0.91	226.0	36.9	9.7	242	2725	0.00	2.85	0.00	0.000	4	0.000	0.116	2726	3524	2562
2739	0.91	226.0	35.0	9.8	243	2744	0.00	2.80	0.00	0.000	6	0.000	0.094	2726	2091	2562
2937	0.91	226.0	15.7	8.5	261	2943	0.00	2.85	0.00	0.000	4	0.000	0.125	2725	680	2562
3002	0.91	226.0	9.9	8.7	271	3009	0.00	2.70	0.00	0.000	6	0.000	0.084	2726	2104	2562
3065	end climb: SURFACE_DEPTH_REACHED
state	3065	begin surface coast
3139	end surface coast: CONTROL_FINISHED_OK
state	3140	begin surface