Glider dive log

PortSusan 10Jul07 * SG112 * Dive index * Mission links * Dive 32 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 112 HD_B 0.0138418 PITCH_AD_RATE 100 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 4.7289599e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 32 HEADING -1 PITCH_ADJ_GAIN 0.059999999 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 145 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 2

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 400

D_TGT 150 FIX_MISSING_TIMEOUT 1 ROLL_MAX 3791 ALTIM_PING_DELTA 50

D_ABORT 200 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2060 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1870 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 500 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 2 R_PORT_OVSHOOT 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 486 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3335 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 49

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -18570.746 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 135 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3252 AH0_10V 80 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2269 PRESSURE_YINT -3.7066903 SEABIRD_T_I 2.5554549e-05

MASS 51440 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038775599 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 80 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 D_TGT 150 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 145 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2 FERRY_MAX 45 PRESSURE_YINT -3.7066903 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 1 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 50

CALL_TRIES 5 HD_A 0.0038775599 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0138418 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 4.7289599e-05 RHO 1.023 T_GPS_CHARGE -18570.746

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 49 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 112 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2269 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1870 INT_PRESSURE_YINT 0 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 2060 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3335 MASS 51440 R_PORT_OVSHOOT 14 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 135 R_STBD_OVSHOOT 17 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 2 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 486

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 32 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 200 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 232651,4806.123,-12221.654,10,1.3,10,18.3 TGT_NAME FIVE_sb

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.028,-0.204

_SM_DEPTHo 1.89 KALMAN_X 728.2,22.9,-157.2,554.0,27.3

_SM_ANGLEo -50.3 KALMAN_Y -890.9,209.0,231.1,-530.9,205.6

GPS2 233245,4806.161,-12221.657,14,1.3,14,18.3 MHEAD_RNG_PITCHd_Wd 145.4,2299,-22.4,-10.000

SPEED_LIMITS 0.173,0.206 D_GRID 107

Post-dive calculations and measurements:

FINISH 1.0,1.015535 XPDR_PINGS 1

SM_CCo 2271,119.97,0.584,0,0,1295,500.17 ALTIM_TOP_PING 17.0,15.9

SM_GC 2.33,0.00,0.00,119.97,0.000,0.000,0.584,675,2083,1295,-7.33,0.65,500.17 _24V_AH 20.8,16.806

RAFOS_CLK 99 _10V_AH 10.0,6.479

RAFOS 0,1184198648,0.083333,0.068889,67,61,59,56,51,51,216,162,204,228,171,149 DATA_FILE_SIZE 6505,221

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 260165632,255954944

IRIDIUM_FIX 4745.30,-12243.34,120707,020230 ERRORS 0,0,0,0,0,0,0,0,0,0,0,3,0,0,0

TT8_MAMPS 0.024544 SOUNDSPEED 1484.3

HUMID 1945 CURRENT 0.056,315.7,1

INTERNAL_PRESSURE 10.3715 GPS 120707,001453,4805.999,-12221.641,12,3.8,31,18.3

TCM_TEMP 9.10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 40 270 226.39 SBE_CT 154 24 77.16

Roll_motor 47 94 93.31 SBE_O2 153 19 60.49

VBD_pump_during_apogee 384 678 5421.54 nil 0 0 0.00

VBD_pump_during_surface 119 583 1456.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 81.51 nil 0 0 0.00

Iridium_during_connect 32 160 108.81 nil 0 0 0.00

Iridium_during_xfer 152 223 708.65

Transponder_ping 0 420 4.37

GPS 15 50 7.85

TT8 483 19 96.29

LPSleep 977 2 22.59

TT8_Active 633 19 126.17

TT8_Sampling 289 39 115.60

TT8_CF8 379 45 174.40

TT8_Kalman 33 81 27.30

Analog_circuits 904 12 108.56

GPS_charging 0 0 0.00

Compass 275 20 55.18

RAFOS 360 1 5.40

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

27 -1.15 -132.0 0.0 0.0 0 78 0.00 0.00 -48.58 0.000 2 0.000 0.000 678 2074 2716

82 -1.15 -132.0 3.1 -4.7 8 140 12.62 2.95 -35.08 0.000 4 0.271 0.075 2012 3466 3875

164 -1.15 -132.0 8.7 -11.6 21 171 0.00 2.78 0.00 0.000 6 0.000 0.036 2013 2041 3876

240 -0.77 -132.0 17.3 -11.9 34 246 0.52 0.00 0.00 0.000 6 0.155 0.000 2094 2041 3877

314 -0.49 -132.0 23.4 -7.7 43 320 0.35 3.03 0.00 0.000 4 0.130 0.071 2152 3470 3877

389 -0.74 -132.0 27.8 -5.5 49 394 0.22 2.75 0.00 0.000 6 0.037 0.038 2096 2057 3877

459 -1.42 -132.0 32.8 -7.5 55 465 0.62 2.92 0.00 0.000 4 0.035 0.063 1956 3474 3878

489 -1.73 -132.0 36.6 -14.3 57 495 0.32 2.75 0.00 0.000 6 0.059 0.038 1892 2056 3877

560 -1.40 -132.0 50.2 -20.5 63 562 0.45 0.00 0.00 0.000 6 0.158 0.000 1959 2056 3878

687 -0.64 -132.0 71.0 -15.8 75 698 1.00 3.05 0.00 0.000 4 0.151 0.076 2124 3467 3878

737 -0.22 -132.0 75.5 -6.7 79 744 0.55 2.67 0.00 0.000 6 0.106 0.040 2218 2055 3878

872 -0.83 -132.0 81.1 -5.2 92 874 0.70 0.00 0.00 0.000 6 0.068 0.000 2087 2056 3878

999 -2.47 -132.0 90.1 -7.1 104 1010 1.62 2.97 0.00 0.000 4 0.032 0.066 1728 3469 3878

1069 end dive: TARGET_DEPTH_EXCEEDED

state 1069 begin apogee

1080 -0.21 0.0 108.1 30.0 110 1199 3.75 0.00 112.75 0.678 6 0.224 0.000 2216 1858 3335

1200 end apogee: CONTROL_FINISHED_OK

state 1200 begin climb

1203 1.15 132.0 115.9 0.0 122 1325 1.60 3.25 112.07 0.660 4 0.077 0.094 2518 471 2796

1473 1.15 132.0 86.8 15.2 146 1478 0.00 2.83 0.00 0.000 6 0.000 0.049 2518 1867 2795

1607 0.58 132.0 68.2 13.6 158 1619 0.73 3.15 0.00 0.000 4 0.140 0.094 2403 3282 2793

1699 0.11 171.1 60.3 8.0 166 1742 0.65 2.85 31.90 0.657 6 0.120 0.047 2295 1870 2636

1872 0.33 264.8 52.1 5.1 182 1957 0.20 3.08 77.12 0.637 4 0.058 0.061 2337 3282 2254

2100 1.68 326.6 37.2 6.8 203 2159 1.52 2.88 50.58 0.643 6 0.048 0.044 2639 1859 2003

2225 2.79 326.6 7.9 26.7 217 2232 1.15 0.00 0.00 0.000 6 0.051 0.000 2877 1859 2001

2241 end climb: SURFACE_DEPTH_REACHED

state 2241 begin surface coast

2248 end surface coast: CONTROL_FINISHED_OK

state 2248 begin surface

ID	112	HD_B	0.0138418	PITCH_AD_RATE	100	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	4.7289599e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	32	HEADING	-1	PITCH_ADJ_GAIN	0.059999999	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	145	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	2
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	400
D_TGT	150	FIX_MISSING_TIMEOUT	1	ROLL_MAX	3791	ALTIM_PING_DELTA	50
D_ABORT	200	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2060	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1870	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	500	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	2	R_PORT_OVSHOOT	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	486	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3335	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	49
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-18570.746	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	135	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3252	AH0_10V	80	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2269	PRESSURE_YINT	-3.7066903	SEABIRD_T_I	2.5554549e-05
MASS	51440	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038775599	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017379176

GPS1	232651,4806.123,-12221.654,10,1.3,10,18.3	TGT_NAME	FIVE_sb
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.028,-0.204
_SM_DEPTHo	1.89	KALMAN_X	728.2,22.9,-157.2,554.0,27.3
_SM_ANGLEo	-50.3	KALMAN_Y	-890.9,209.0,231.1,-530.9,205.6
GPS2	233245,4806.161,-12221.657,14,1.3,14,18.3	MHEAD_RNG_PITCHd_Wd	145.4,2299,-22.4,-10.000
SPEED_LIMITS	0.173,0.206	D_GRID	107

FINISH	1.0,1.015535	XPDR_PINGS	1
SM_CCo	2271,119.97,0.584,0,0,1295,500.17	ALTIM_TOP_PING	17.0,15.9
SM_GC	2.33,0.00,0.00,119.97,0.000,0.000,0.584,675,2083,1295,-7.33,0.65,500.17	_24V_AH	20.8,16.806
RAFOS_CLK	99	_10V_AH	10.0,6.479
RAFOS	0,1184198648,0.083333,0.068889,67,61,59,56,51,51,216,162,204,228,171,149	DATA_FILE_SIZE	6505,221
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	260165632,255954944
IRIDIUM_FIX	4745.30,-12243.34,120707,020230	ERRORS	0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
TT8_MAMPS	0.024544	SOUNDSPEED	1484.3
HUMID	1945	CURRENT	0.056,315.7,1
INTERNAL_PRESSURE	10.3715	GPS	120707,001453,4805.999,-12221.641,12,3.8,31,18.3
TCM_TEMP	9.10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	40	270	226.39	SBE_CT	154	24	77.16
Roll_motor	47	94	93.31	SBE_O2	153	19	60.49
VBD_pump_during_apogee	384	678	5421.54	nil	0	0	0.00
VBD_pump_during_surface	119	583	1456.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	81.51	nil	0	0	0.00
Iridium_during_connect	32	160	108.81	nil	0	0	0.00
Iridium_during_xfer	152	223	708.65
Transponder_ping	0	420	4.37
GPS	15	50	7.85
TT8	483	19	96.29
LPSleep	977	2	22.59
TT8_Active	633	19	126.17
TT8_Sampling	289	39	115.60
TT8_CF8	379	45	174.40
TT8_Kalman	33	81	27.30
Analog_circuits	904	12	108.56
GPS_charging	0	0	0.00
Compass	275	20	55.18
RAFOS	360	1	5.40

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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
27	-1.15	-132.0	0.0	0.0	0	78	0.00	0.00	-48.58	0.000	2	0.000	0.000	678	2074	2716
82	-1.15	-132.0	3.1	-4.7	8	140	12.62	2.95	-35.08	0.000	4	0.271	0.075	2012	3466	3875
164	-1.15	-132.0	8.7	-11.6	21	171	0.00	2.78	0.00	0.000	6	0.000	0.036	2013	2041	3876
240	-0.77	-132.0	17.3	-11.9	34	246	0.52	0.00	0.00	0.000	6	0.155	0.000	2094	2041	3877
314	-0.49	-132.0	23.4	-7.7	43	320	0.35	3.03	0.00	0.000	4	0.130	0.071	2152	3470	3877
389	-0.74	-132.0	27.8	-5.5	49	394	0.22	2.75	0.00	0.000	6	0.037	0.038	2096	2057	3877
459	-1.42	-132.0	32.8	-7.5	55	465	0.62	2.92	0.00	0.000	4	0.035	0.063	1956	3474	3878
489	-1.73	-132.0	36.6	-14.3	57	495	0.32	2.75	0.00	0.000	6	0.059	0.038	1892	2056	3877
560	-1.40	-132.0	50.2	-20.5	63	562	0.45	0.00	0.00	0.000	6	0.158	0.000	1959	2056	3878
687	-0.64	-132.0	71.0	-15.8	75	698	1.00	3.05	0.00	0.000	4	0.151	0.076	2124	3467	3878
737	-0.22	-132.0	75.5	-6.7	79	744	0.55	2.67	0.00	0.000	6	0.106	0.040	2218	2055	3878
872	-0.83	-132.0	81.1	-5.2	92	874	0.70	0.00	0.00	0.000	6	0.068	0.000	2087	2056	3878
999	-2.47	-132.0	90.1	-7.1	104	1010	1.62	2.97	0.00	0.000	4	0.032	0.066	1728	3469	3878
1069	end dive: TARGET_DEPTH_EXCEEDED
state	1069	begin apogee
1080	-0.21	0.0	108.1	30.0	110	1199	3.75	0.00	112.75	0.678	6	0.224	0.000	2216	1858	3335
1200	end apogee: CONTROL_FINISHED_OK
state	1200	begin climb
1203	1.15	132.0	115.9	0.0	122	1325	1.60	3.25	112.07	0.660	4	0.077	0.094	2518	471	2796
1473	1.15	132.0	86.8	15.2	146	1478	0.00	2.83	0.00	0.000	6	0.000	0.049	2518	1867	2795
1607	0.58	132.0	68.2	13.6	158	1619	0.73	3.15	0.00	0.000	4	0.140	0.094	2403	3282	2793
1699	0.11	171.1	60.3	8.0	166	1742	0.65	2.85	31.90	0.657	6	0.120	0.047	2295	1870	2636
1872	0.33	264.8	52.1	5.1	182	1957	0.20	3.08	77.12	0.637	4	0.058	0.061	2337	3282	2254
2100	1.68	326.6	37.2	6.8	203	2159	1.52	2.88	50.58	0.643	6	0.048	0.044	2639	1859	2003
2225	2.79	326.6	7.9	26.7	217	2232	1.15	0.00	0.00	0.000	6	0.051	0.000	2877	1859	2001
2241	end climb: SURFACE_DEPTH_REACHED
state	2241	begin surface coast
2248	end surface coast: CONTROL_FINISHED_OK
state	2248	begin surface