Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 323 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HD_B 0.010078 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 323 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 311 ALTIM_PING_DEPTH 70

D_TGT 90 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2415 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 17 INT_PRESSURE_YINT 1.4

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 43 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 540 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3800 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3229 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -17192.742 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 428 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3730 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 3000 PRESSURE_YINT -6.9690108 SEABIRD_T_I 2.5554549e-05

MASS 51630 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 2 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 10 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3730 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 428 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 D_TGT 90 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -6.9690108 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 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 16 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -17192.742

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 118 ROLL_MAX 3943 T_TURN_SAMPINT 6

C_PITCH 3000 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2415 INT_PRESSURE_YINT 1.4 ROLL_MIN 311 UNCOM_BLEED 20

C_ROLL_DIVE 2500 KALMAN_USE 2 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 43 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 26 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3800

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 540

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

DIVE 323 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 164522,4739.501,-12252.771,14,3.0,33,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.77 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 165205,4739.559,-12252.703,13,2.1,32,18.3 MHEAD_RNG_PITCHd_Wd 236.4,645,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.3,1.027997 XPDR_PINGS 9

SM_CCo 2630,124.85,0.521,0,0,1597,400.08 ALTIM_BOTTOM_PING 90.4,44.8

SM_GC 0.77,0.00,0.00,124.85,0.000,0.000,0.521,429,2532,1597,-11.83,0.88,400.08 _24V_AH 24.1,25.333

IRIDIUM_FIX 4719.74,-12251.79,021007,191958 _10V_AH 10.1,19.317

TT8_MAMPS 0.067496 DATA_FILE_SIZE 6438,238

HUMID 1785 CFSIZE 260034560,247738368

INTERNAL_PRESSURE 9.32023 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.80 GPS 021007,173915,4739.520,-12253.058,9,2.0,9,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 159 109.77 SBE_CT 164 24 95.33

Roll_motor 49 69 83.10 nil 0 0 0.00

VBD_pump_during_apogee 188 598 2723.57 nil 0 0 0.00

VBD_pump_during_surface 124 520 1567.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 97.48 nil 0 0 0.00

Iridium_during_connect 43 160 166.70 ARS 0 0 0.00

Iridium_during_xfer 154 223 830.61

Transponder_ping 3 420 35.43

Mmodem_TX 41 1000 1000.15

Mmodem_RX 3226 6 497.66

GPS 33 93 31.29

TT8 461 19 92.19

LPSleep 1380 2 30.54

TT8_Active 422 19 84.42

TT8_Sampling 456 39 183.68

TT8_CF8 451 45 208.91

TT8_Kalman 0 0 0.00

Analog_circuits 705 12 85.55

GPS_charging 0 0 0.00

Compass 442 8 35.77

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

27 -1.54 -122.2 0.0 0.0 0 101 0.00 0.00 -72.20 0.000 2 0.000 0.000 424 2509 3307

105 -1.54 -122.2 2.4 -4.2 12 137 12.52 2.50 -12.32 0.000 4 0.160 0.058 2655 1107 3728

183 -1.54 -122.2 8.1 -6.6 24 190 0.00 2.40 0.00 0.000 6 0.000 0.034 2655 2503 3731

257 -1.54 -122.2 12.9 -6.7 35 263 0.00 2.58 0.00 0.000 4 0.000 0.069 2655 3894 3731

318 -1.54 -122.2 17.1 -7.6 44 325 0.00 2.40 0.00 0.000 6 0.000 0.033 2655 2493 3730

396 -1.54 -122.2 22.6 -6.4 53 397 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2493 3731

587 -1.54 -122.2 34.8 -6.3 68 592 0.00 2.62 0.00 0.000 4 0.000 0.067 2655 3891 3731

672 -1.54 -122.2 40.8 -6.5 74 678 0.00 2.38 0.00 0.000 6 0.000 0.034 2655 2500 3732

869 -1.54 -122.2 52.8 -6.2 90 873 0.00 2.58 0.00 0.000 4 0.000 0.067 2655 3893 3731

928 -1.54 -122.2 56.7 -6.7 94 933 0.00 2.38 0.00 0.000 6 0.000 0.034 2655 2503 3732

1124 -1.54 -122.2 69.1 -6.2 109 1129 0.00 2.60 0.00 0.000 4 0.000 0.067 2655 3902 3732

1184 -1.54 -122.2 73.3 -7.1 113 1188 0.00 2.40 0.00 0.000 6 0.000 0.035 2655 2498 3732

1380 -1.54 -122.2 84.6 -5.6 128 1384 0.00 2.60 0.00 0.000 4 0.000 0.067 2655 3902 3732

1453 -1.54 -122.2 89.1 -6.0 133 1457 0.00 2.40 0.00 0.000 6 0.000 0.035 2656 2496 3732

1472 end dive: TARGET_DEPTH_EXCEEDED

state 1472 begin apogee

1480 -0.50 0.0 90.4 6.1 134 1582 1.12 0.00 95.60 0.598 6 0.094 0.000 2885 2412 3228

1583 end apogee: CONTROL_FINISHED_OK

state 1583 begin climb

1586 1.54 122.2 91.9 0.0 143 1685 2.05 0.00 93.30 0.578 6 0.063 0.000 3330 2411 2730

1869 1.54 122.2 67.9 10.3 166 1873 0.00 2.60 0.00 0.000 4 0.000 0.064 3330 3818 2728

1902 1.54 122.2 64.4 10.6 168 1907 0.00 2.42 0.00 0.000 6 0.000 0.031 3330 2429 2727

2104 1.54 122.2 45.0 9.0 184 2108 0.00 2.53 0.00 0.000 4 0.000 0.054 3330 1020 2728

2183 1.54 122.2 37.7 9.3 189 2190 0.00 2.42 0.00 0.000 6 0.000 0.034 3330 2420 2728

2379 1.54 122.2 20.2 8.4 205 2383 0.00 2.53 0.00 0.000 4 0.000 0.051 3330 1019 2728

2399 1.54 122.2 18.4 8.8 207 2405 0.00 2.42 0.00 0.000 6 0.000 0.034 3330 2415 2728

2471 1.54 122.2 11.8 8.3 218 2478 0.00 2.53 0.00 0.000 4 0.000 0.051 3330 1011 2728

2518 1.54 122.2 7.9 8.3 225 2524 0.00 2.45 0.00 0.000 6 0.000 0.034 3330 2420 2728

2581 end climb: SURFACE_DEPTH_REACHED

state 2581 begin surface coast

2603 end surface coast: CONTROL_FINISHED_OK

state 2603 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	323	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	311	ALTIM_PING_DEPTH	70
D_TGT	90	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2415	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	17	INT_PRESSURE_YINT	1.4
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	43	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	540	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3800	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3229	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-17192.742	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	428	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3730	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	3000	PRESSURE_YINT	-6.9690108	SEABIRD_T_I	2.5554549e-05
MASS	51630	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	2	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	164522,4739.501,-12252.771,14,3.0,33,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.77	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	165205,4739.559,-12252.703,13,2.1,32,18.3	MHEAD_RNG_PITCHd_Wd	236.4,645,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	0.3,1.027997	XPDR_PINGS	9
SM_CCo	2630,124.85,0.521,0,0,1597,400.08	ALTIM_BOTTOM_PING	90.4,44.8
SM_GC	0.77,0.00,0.00,124.85,0.000,0.000,0.521,429,2532,1597,-11.83,0.88,400.08	_24V_AH	24.1,25.333
IRIDIUM_FIX	4719.74,-12251.79,021007,191958	_10V_AH	10.1,19.317
TT8_MAMPS	0.067496	DATA_FILE_SIZE	6438,238
HUMID	1785	CFSIZE	260034560,247738368
INTERNAL_PRESSURE	9.32023	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.80	GPS	021007,173915,4739.520,-12253.058,9,2.0,9,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	159	109.77	SBE_CT	164	24	95.33
Roll_motor	49	69	83.10	nil	0	0	0.00
VBD_pump_during_apogee	188	598	2723.57	nil	0	0	0.00
VBD_pump_during_surface	124	520	1567.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	97.48	nil	0	0	0.00
Iridium_during_connect	43	160	166.70	ARS	0	0	0.00
Iridium_during_xfer	154	223	830.61
Transponder_ping	3	420	35.43
Mmodem_TX	41	1000	1000.15
Mmodem_RX	3226	6	497.66
GPS	33	93	31.29
TT8	461	19	92.19
LPSleep	1380	2	30.54
TT8_Active	422	19	84.42
TT8_Sampling	456	39	183.68
TT8_CF8	451	45	208.91
TT8_Kalman	0	0	0.00
Analog_circuits	705	12	85.55
GPS_charging	0	0	0.00
Compass	442	8	35.77
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
27	-1.54	-122.2	0.0	0.0	0	101	0.00	0.00	-72.20	0.000	2	0.000	0.000	424	2509	3307
105	-1.54	-122.2	2.4	-4.2	12	137	12.52	2.50	-12.32	0.000	4	0.160	0.058	2655	1107	3728
183	-1.54	-122.2	8.1	-6.6	24	190	0.00	2.40	0.00	0.000	6	0.000	0.034	2655	2503	3731
257	-1.54	-122.2	12.9	-6.7	35	263	0.00	2.58	0.00	0.000	4	0.000	0.069	2655	3894	3731
318	-1.54	-122.2	17.1	-7.6	44	325	0.00	2.40	0.00	0.000	6	0.000	0.033	2655	2493	3730
396	-1.54	-122.2	22.6	-6.4	53	397	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2493	3731
587	-1.54	-122.2	34.8	-6.3	68	592	0.00	2.62	0.00	0.000	4	0.000	0.067	2655	3891	3731
672	-1.54	-122.2	40.8	-6.5	74	678	0.00	2.38	0.00	0.000	6	0.000	0.034	2655	2500	3732
869	-1.54	-122.2	52.8	-6.2	90	873	0.00	2.58	0.00	0.000	4	0.000	0.067	2655	3893	3731
928	-1.54	-122.2	56.7	-6.7	94	933	0.00	2.38	0.00	0.000	6	0.000	0.034	2655	2503	3732
1124	-1.54	-122.2	69.1	-6.2	109	1129	0.00	2.60	0.00	0.000	4	0.000	0.067	2655	3902	3732
1184	-1.54	-122.2	73.3	-7.1	113	1188	0.00	2.40	0.00	0.000	6	0.000	0.035	2655	2498	3732
1380	-1.54	-122.2	84.6	-5.6	128	1384	0.00	2.60	0.00	0.000	4	0.000	0.067	2655	3902	3732
1453	-1.54	-122.2	89.1	-6.0	133	1457	0.00	2.40	0.00	0.000	6	0.000	0.035	2656	2496	3732
1472	end dive: TARGET_DEPTH_EXCEEDED
state	1472	begin apogee
1480	-0.50	0.0	90.4	6.1	134	1582	1.12	0.00	95.60	0.598	6	0.094	0.000	2885	2412	3228
1583	end apogee: CONTROL_FINISHED_OK
state	1583	begin climb
1586	1.54	122.2	91.9	0.0	143	1685	2.05	0.00	93.30	0.578	6	0.063	0.000	3330	2411	2730
1869	1.54	122.2	67.9	10.3	166	1873	0.00	2.60	0.00	0.000	4	0.000	0.064	3330	3818	2728
1902	1.54	122.2	64.4	10.6	168	1907	0.00	2.42	0.00	0.000	6	0.000	0.031	3330	2429	2727
2104	1.54	122.2	45.0	9.0	184	2108	0.00	2.53	0.00	0.000	4	0.000	0.054	3330	1020	2728
2183	1.54	122.2	37.7	9.3	189	2190	0.00	2.42	0.00	0.000	6	0.000	0.034	3330	2420	2728
2379	1.54	122.2	20.2	8.4	205	2383	0.00	2.53	0.00	0.000	4	0.000	0.051	3330	1019	2728
2399	1.54	122.2	18.4	8.8	207	2405	0.00	2.42	0.00	0.000	6	0.000	0.034	3330	2415	2728
2471	1.54	122.2	11.8	8.3	218	2478	0.00	2.53	0.00	0.000	4	0.000	0.051	3330	1011	2728
2518	1.54	122.2	7.9	8.3	225	2524	0.00	2.45	0.00	0.000	6	0.000	0.034	3330	2420	2728
2581	end climb: SURFACE_DEPTH_REACHED
state	2581	begin surface coast
2603	end surface coast: CONTROL_FINISHED_OK
state	2603	begin surface