Glider dive log

PortSusan 10Jul07 * SG112 * Dive index * Mission links * Dive 35 * 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 35 HEADING -1 PITCH_ADJ_GAIN 0.02 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 10 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -18635.578 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 -18635.578

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 10 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 135 R_STBD_OVSHOOT 36 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 35 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 0.02 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 015521,4805.666,-12221.326,7,1.9,7,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.046,-0.201

_SM_DEPTHo 1.74 KALMAN_X 774.3,-23.8,-89.1,911.1,43.5

_SM_ANGLEo -50.2 KALMAN_Y -696.5,358.8,192.8,-1802.8,-2.6

GPS2 020145,4805.639,-12221.312,12,1.2,12,18.3 MHEAD_RNG_PITCHd_Wd 148.1,1246,-22.4,-10.000

SPEED_LIMITS 0.173,0.206 D_GRID 108

Post-dive calculations and measurements:

FINISH 1.8,1.017809 XPDR_PINGS 1

SM_CCo 2588,109.00,0.591,0,0,1296,500.17 ALTIM_TOP_PING 19.6,18.9

SM_GC 1.83,0.00,0.00,109.00,0.000,0.000,0.591,677,2086,1296,-7.32,0.74,500.17 _24V_AH 20.7,17.122

RAFOS_CLK 119 _10V_AH 10.0,6.555

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 9591,284

IRIDIUM_FIX 4748.51,-12217.40,120707,050557 CFSIZE 260165632,255873024

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,4,0,0,0

HUMID 1973 SOUNDSPEED 1487.2

INTERNAL_PRESSURE 10.4106 CURRENT 0.042,124.0,1

TCM_TEMP 11.30 GPS 120707,024833,4805.424,-12221.097,6,1.6,6,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 271 144.16 SBE_CT 201 24 99.89

Roll_motor 59 102 124.90 SBE_O2 197 19 77.51

VBD_pump_during_apogee 343 684 4864.14 nil 0 0 0.00

VBD_pump_during_surface 109 590 1332.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 81.47 nil 0 0 0.00

Iridium_during_connect 36 160 121.19 nil 0 0 0.00

Iridium_during_xfer 175 223 808.75

Transponder_ping 0 420 4.35

GPS 14 50 7.07

TT8 598 19 119.27

LPSleep 1144 2 26.43

TT8_Active 605 19 120.71

TT8_Sampling 334 39 133.54

TT8_CF8 418 45 192.02

TT8_Kalman 33 81 27.31

Analog_circuits 912 12 109.49

GPS_charging 0 0 0.00

Compass 324 20 64.86

RAFOS 0 1 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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.15 -132.0 0.0 0.0 0 125 0.00 0.00 -94.60 0.000 2 0.000 0.000 676 2093 3253

128 -1.15 -132.0 3.1 -1.8 15 168 12.70 3.05 -16.65 0.000 4 0.272 0.074 2012 642 3876

421 -1.15 -132.0 36.2 -12.1 55 427 0.00 2.67 0.00 0.000 6 0.000 0.037 2012 2042 3878

491 -1.07 -132.0 44.7 -12.1 62 497 0.15 2.83 0.00 0.000 4 0.149 0.058 2036 643 3877

610 -1.00 -132.0 58.9 -11.7 72 615 0.00 2.75 0.00 0.000 6 0.000 0.040 2036 2068 3878

744 -0.99 -132.0 74.0 -11.3 84 749 0.00 3.03 0.00 0.000 4 0.000 0.091 2036 3462 3878

806 -0.99 -132.0 80.9 -11.2 89 811 0.00 2.75 0.00 0.000 6 0.000 0.040 2036 2040 3878

940 -0.99 -132.0 96.1 -11.2 101 945 0.00 3.03 0.00 0.000 4 0.000 0.079 2036 3467 3878

984 -0.99 -132.0 101.4 -11.5 104 991 0.00 2.75 0.00 0.000 6 0.000 0.041 2036 2050 3878

1051 end dive: TARGET_DEPTH_EXCEEDED

state 1051 begin apogee

1059 -0.21 0.0 109.1 11.2 111 1176 1.08 0.00 112.38 0.670 6 0.133 0.000 2213 1858 3334

1177 end apogee: CONTROL_FINISHED_OK

state 1177 begin climb

1180 1.15 132.0 113.7 0.0 123 1303 1.60 3.25 111.65 0.658 4 0.077 0.102 2516 465 2796

1312 1.15 132.0 105.5 11.6 134 1319 0.00 2.88 0.00 0.000 6 0.000 0.048 2516 1865 2796

1446 1.07 132.0 87.4 13.4 147 1451 0.00 3.15 0.00 0.000 4 0.000 0.091 2516 3280 2795

1513 0.91 132.0 78.2 13.2 152 1520 0.30 2.88 0.00 0.000 6 0.130 0.052 2471 1875 2795

1647 0.74 132.0 63.6 10.8 165 1652 0.20 2.97 0.00 0.000 4 0.137 0.068 2438 3277 2794

1744 0.68 142.6 54.1 9.4 173 1759 0.00 2.85 8.38 0.685 6 0.000 0.047 2438 1859 2752

1895 0.68 169.3 40.9 8.6 187 1922 0.00 3.00 21.62 0.660 4 0.000 0.065 2437 3282 2644

1985 0.74 179.1 32.7 9.5 194 2002 0.00 2.85 8.10 0.673 6 0.000 0.047 2437 1865 2603

2067 0.77 189.6 25.1 9.4 202 2081 0.00 3.03 8.30 0.670 4 0.000 0.064 2437 3276 2561

2130 0.83 196.0 19.0 9.7 208 2143 0.00 2.85 5.28 0.681 6 0.000 0.048 2437 1866 2534

2212 0.87 208.4 11.4 9.4 222 2230 0.00 3.00 9.82 0.659 4 0.000 0.064 2438 3280 2485

2283 0.94 228.6 5.2 8.9 234 2309 0.17 2.80 16.45 0.647 6 0.054 0.046 2474 1867 2402

2378 1.03 420.7 2.2 -0.1 250 2421 0.00 0.00 41.10 0.621 2 0.000 0.000 2474 1867 2106

2422 end climb: SURFACE_DEPTH_REACHED

state 2422 begin surface coast

2566 end surface coast: NO_VERTICAL_VELOCITY

state 2566 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	35	HEADING	-1	PITCH_ADJ_GAIN	0.02	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	10	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-18635.578	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	015521,4805.666,-12221.326,7,1.9,7,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.046,-0.201
_SM_DEPTHo	1.74	KALMAN_X	774.3,-23.8,-89.1,911.1,43.5
_SM_ANGLEo	-50.2	KALMAN_Y	-696.5,358.8,192.8,-1802.8,-2.6
GPS2	020145,4805.639,-12221.312,12,1.2,12,18.3	MHEAD_RNG_PITCHd_Wd	148.1,1246,-22.4,-10.000
SPEED_LIMITS	0.173,0.206	D_GRID	108

FINISH	1.8,1.017809	XPDR_PINGS	1
SM_CCo	2588,109.00,0.591,0,0,1296,500.17	ALTIM_TOP_PING	19.6,18.9
SM_GC	1.83,0.00,0.00,109.00,0.000,0.000,0.591,677,2086,1296,-7.32,0.74,500.17	_24V_AH	20.7,17.122
RAFOS_CLK	119	_10V_AH	10.0,6.555
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	9591,284
IRIDIUM_FIX	4748.51,-12217.40,120707,050557	CFSIZE	260165632,255873024
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
HUMID	1973	SOUNDSPEED	1487.2
INTERNAL_PRESSURE	10.4106	CURRENT	0.042,124.0,1
TCM_TEMP	11.30	GPS	120707,024833,4805.424,-12221.097,6,1.6,6,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	271	144.16	SBE_CT	201	24	99.89
Roll_motor	59	102	124.90	SBE_O2	197	19	77.51
VBD_pump_during_apogee	343	684	4864.14	nil	0	0	0.00
VBD_pump_during_surface	109	590	1332.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	81.47	nil	0	0	0.00
Iridium_during_connect	36	160	121.19	nil	0	0	0.00
Iridium_during_xfer	175	223	808.75
Transponder_ping	0	420	4.35
GPS	14	50	7.07
TT8	598	19	119.27
LPSleep	1144	2	26.43
TT8_Active	605	19	120.71
TT8_Sampling	334	39	133.54
TT8_CF8	418	45	192.02
TT8_Kalman	33	81	27.31
Analog_circuits	912	12	109.49
GPS_charging	0	0	0.00
Compass	324	20	64.86
RAFOS	0	1	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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.15	-132.0	0.0	0.0	0	125	0.00	0.00	-94.60	0.000	2	0.000	0.000	676	2093	3253
128	-1.15	-132.0	3.1	-1.8	15	168	12.70	3.05	-16.65	0.000	4	0.272	0.074	2012	642	3876
421	-1.15	-132.0	36.2	-12.1	55	427	0.00	2.67	0.00	0.000	6	0.000	0.037	2012	2042	3878
491	-1.07	-132.0	44.7	-12.1	62	497	0.15	2.83	0.00	0.000	4	0.149	0.058	2036	643	3877
610	-1.00	-132.0	58.9	-11.7	72	615	0.00	2.75	0.00	0.000	6	0.000	0.040	2036	2068	3878
744	-0.99	-132.0	74.0	-11.3	84	749	0.00	3.03	0.00	0.000	4	0.000	0.091	2036	3462	3878
806	-0.99	-132.0	80.9	-11.2	89	811	0.00	2.75	0.00	0.000	6	0.000	0.040	2036	2040	3878
940	-0.99	-132.0	96.1	-11.2	101	945	0.00	3.03	0.00	0.000	4	0.000	0.079	2036	3467	3878
984	-0.99	-132.0	101.4	-11.5	104	991	0.00	2.75	0.00	0.000	6	0.000	0.041	2036	2050	3878
1051	end dive: TARGET_DEPTH_EXCEEDED
state	1051	begin apogee
1059	-0.21	0.0	109.1	11.2	111	1176	1.08	0.00	112.38	0.670	6	0.133	0.000	2213	1858	3334
1177	end apogee: CONTROL_FINISHED_OK
state	1177	begin climb
1180	1.15	132.0	113.7	0.0	123	1303	1.60	3.25	111.65	0.658	4	0.077	0.102	2516	465	2796
1312	1.15	132.0	105.5	11.6	134	1319	0.00	2.88	0.00	0.000	6	0.000	0.048	2516	1865	2796
1446	1.07	132.0	87.4	13.4	147	1451	0.00	3.15	0.00	0.000	4	0.000	0.091	2516	3280	2795
1513	0.91	132.0	78.2	13.2	152	1520	0.30	2.88	0.00	0.000	6	0.130	0.052	2471	1875	2795
1647	0.74	132.0	63.6	10.8	165	1652	0.20	2.97	0.00	0.000	4	0.137	0.068	2438	3277	2794
1744	0.68	142.6	54.1	9.4	173	1759	0.00	2.85	8.38	0.685	6	0.000	0.047	2438	1859	2752
1895	0.68	169.3	40.9	8.6	187	1922	0.00	3.00	21.62	0.660	4	0.000	0.065	2437	3282	2644
1985	0.74	179.1	32.7	9.5	194	2002	0.00	2.85	8.10	0.673	6	0.000	0.047	2437	1865	2603
2067	0.77	189.6	25.1	9.4	202	2081	0.00	3.03	8.30	0.670	4	0.000	0.064	2437	3276	2561
2130	0.83	196.0	19.0	9.7	208	2143	0.00	2.85	5.28	0.681	6	0.000	0.048	2437	1866	2534
2212	0.87	208.4	11.4	9.4	222	2230	0.00	3.00	9.82	0.659	4	0.000	0.064	2438	3280	2485
2283	0.94	228.6	5.2	8.9	234	2309	0.17	2.80	16.45	0.647	6	0.054	0.046	2474	1867	2402
2378	1.03	420.7	2.2	-0.1	250	2421	0.00	0.00	41.10	0.621	2	0.000	0.000	2474	1867	2106
2422	end climb: SURFACE_DEPTH_REACHED
state	2422	begin surface coast
2566	end surface coast: NO_VERTICAL_VELOCITY
state	2566	begin surface