Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 392 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 80 HD_C 5.5727e-05 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 10 HEADING -1 ROLL_MIN 300 ALTIM_PING_DEPTH 80

DIVE 392 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 90 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 350 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 N_FILEKB 4 R_PORT_OVSHOOT 1 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 50 UPLOAD_DIVES_MAX -1 VBD_MAX 3616 DEVICE4 -1

T_MISSION 65 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 -24151.16 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 0.0041149999 PITCH_MAXERRORS 10 ALTIM_BOTTOM_TURN_MARGIN 0 AR_RECORDBELOW 0.0

HD_B 0.014024 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 350

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 90 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 50

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 -24151.16

CALL_TRIES 5 HD_A 0.0041149999 RELAUNCH 1 T_LOITER 0

CALL_WAIT 60 HD_B 0.014024 RHO 1.023 T_MISSION 65

CAPMAXSIZE 100000 HD_C 5.5727e-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 1 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 10 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 392 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 231148,4807.067,-12223.176,18,1.1,18,18.0 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.106,-0.133

_SM_DEPTHo 0.00 KALMAN_X 13400.3,40.3,-8.1,-12588.5,-12.6

_SM_ANGLEo -50.0 KALMAN_Y -3249.3,60.0,30.9,1749.6,-13.1

GPS2 231901,4807.053,-12223.170,35,1.1,35,18.0 MHEAD_RNG_PITCHd_Wd 123.5,2429,-13.2,-6.000

SPEED_LIMITS 0.060,0.170 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.6,0.997225 _24V_AH 23.8,45.298

SM_CCo 2766,124.80,0.004,16,0,1045,350.04 _10V_AH 9.7,42.985

SM_GC -0.00,0.00,0.00,124.80,0.000,0.000,0.004,147,1960,1045,-11.71,-3.08,350.04 DATA_FILE_SIZE 6440,227

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 64648,7

TT8_MAMPS 0.049088 CFSIZE 260165632,246300672

HUMID 1508 ERRORS 0,0,0,0,0,0,0,0,1,0,0,69,178,16,0

INTERNAL_PRESSURE 12.4712 GPS 210708,001125,4807.038,-12223.220,15,1.1,15,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 4 3.59 SBE_CT 174 24 99.90

Roll_motor 44 3 4.06 nil 0 0 0.00

VBD_pump_during_apogee 282 4 30.95 nil 0 0 0.00

VBD_pump_during_surface 124 3 11.39 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 96 223 513.25

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 50 17.26

TT8 449 18 78.56

LPSleep 1409 0 5.33

TT8_Active 601 18 104.95

TT8_Sampling 408 38 150.59

TT8_CF8 562 44 239.94

TT8_Kalman 33 80 25.90

Analog_circuits 921 12 107.25

GPS_charging 0 0 0.00

Compass 316 26 79.95

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

91 end surface: CONTROL_FINISHED_OK

state 91 begin dive

94 -1.00 -146.6 0.0 0.0 0 164 0.00 0.00 -67.07 0.000 6 0.000 0.000 144 2182 3076

168 -1.00 -146.6 0.6 -0.8 7 189 11.98 2.78 0.00 0.000 4 0.004 0.004 2514 528 3075

340 -1.00 -146.6 19.1 -7.0 22 347 0.30 2.90 0.00 0.000 6 0.004 0.004 2439 2252 3075

379 -1.00 -146.6 21.6 -6.9 26 385 0.30 3.03 0.00 0.000 4 0.004 0.004 2512 509 3075

689 -1.00 -146.6 41.6 -6.7 53 695 0.30 3.03 0.00 0.000 6 0.004 0.004 2436 2203 3077

727 -1.00 -146.6 44.0 -6.6 56 733 0.43 3.03 0.00 0.000 4 0.005 0.004 2512 468 3075

1038 -1.00 -146.6 64.6 -6.7 83 1044 0.30 2.83 0.00 0.000 6 0.005 0.004 2440 2219 3075

1076 -1.00 -146.6 67.1 -6.4 86 1082 0.35 2.83 0.00 0.000 4 0.004 0.004 2516 555 3075

1222 -1.00 -146.6 73.9 -2.8 98 1229 0.30 3.03 0.00 0.000 6 0.004 0.004 2443 2186 3075

1260 -1.00 -146.6 75.0 -3.0 102 1266 0.38 2.65 0.00 0.000 4 0.004 0.004 2522 3624 3075

1488 end dive: TARGET_DEPTH_EXCEEDED

state 1489 begin apogee

1499 -0.31 0.0 90.4 7.6 122 1626 0.65 0.00 122.40 0.005 6 0.004 0.000 2676 1958 2473

1627 end apogee: CONTROL_FINISHED_OK

state 1627 begin climb

1630 1.00 146.6 84.3 0.0 135 1765 1.40 2.33 120.38 0.005 4 0.005 0.004 2966 498 1874

2069 1.00 146.6 36.6 10.2 175 2075 0.47 2.92 0.00 0.000 6 0.004 0.004 2855 2123 1874

2106 1.00 146.6 32.9 10.0 178 2112 0.45 2.65 0.00 0.000 4 0.004 0.004 2976 572 1874

2416 1.00 146.6 6.0 6.6 205 2422 0.47 2.60 0.00 0.000 6 0.003 0.004 2864 2207 1875

2454 1.00 146.6 3.2 7.4 208 2456 0.30 0.00 0.00 0.000 6 0.003 0.000 2939 2207 1875

2486 1.08 207.3 2.4 4.0 211 2531 0.00 2.45 39.83 0.005 4 0.000 0.003 2938 3614 1626

2653 end climb: SURFACE_DEPTH_REACHED

state 2653 begin surface coast

2670 end surface coast: CONTROL_FINISHED_OK

state 2670 begin surface

ID	80	HD_C	5.5727e-05	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	10	HEADING	-1	ROLL_MIN	300	ALTIM_PING_DEPTH	80
DIVE	392	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	90	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	350	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	N_FILEKB	4	R_PORT_OVSHOOT	1	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	50	UPLOAD_DIVES_MAX	-1	VBD_MAX	3616	DEVICE4	-1
T_MISSION	65	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	-24151.16	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	0.0041149999	PITCH_MAXERRORS	10	ALTIM_BOTTOM_TURN_MARGIN	0	AR_RECORDBELOW	0.0
HD_B	0.014024	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	AR_NOTIFYAPOGEE	0.0

GPS1	231148,4807.067,-12223.176,18,1.1,18,18.0	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.106,-0.133
_SM_DEPTHo	0.00	KALMAN_X	13400.3,40.3,-8.1,-12588.5,-12.6
_SM_ANGLEo	-50.0	KALMAN_Y	-3249.3,60.0,30.9,1749.6,-13.1
GPS2	231901,4807.053,-12223.170,35,1.1,35,18.0	MHEAD_RNG_PITCHd_Wd	123.5,2429,-13.2,-6.000
SPEED_LIMITS	0.060,0.170	D_GRID	100

FINISH	1.6,0.997225	_24V_AH	23.8,45.298
SM_CCo	2766,124.80,0.004,16,0,1045,350.04	_10V_AH	9.7,42.985
SM_GC	-0.00,0.00,0.00,124.80,0.000,0.000,0.004,147,1960,1045,-11.71,-3.08,350.04	DATA_FILE_SIZE	6440,227
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	64648,7
TT8_MAMPS	0.049088	CFSIZE	260165632,246300672
HUMID	1508	ERRORS	0,0,0,0,0,0,0,0,1,0,0,69,178,16,0
INTERNAL_PRESSURE	12.4712	GPS	210708,001125,4807.038,-12223.220,15,1.1,15,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	4	3.59	SBE_CT	174	24	99.90
Roll_motor	44	3	4.06	nil	0	0	0.00
VBD_pump_during_apogee	282	4	30.95	nil	0	0	0.00
VBD_pump_during_surface	124	3	11.39	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	96	223	513.25
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	50	17.26
TT8	449	18	78.56
LPSleep	1409	0	5.33
TT8_Active	601	18	104.95
TT8_Sampling	408	38	150.59
TT8_CF8	562	44	239.94
TT8_Kalman	33	80	25.90
Analog_circuits	921	12	107.25
GPS_charging	0	0	0.00
Compass	316	26	79.95
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
91	end surface: CONTROL_FINISHED_OK
state	91	begin dive
94	-1.00	-146.6	0.0	0.0	0	164	0.00	0.00	-67.07	0.000	6	0.000	0.000	144	2182	3076
168	-1.00	-146.6	0.6	-0.8	7	189	11.98	2.78	0.00	0.000	4	0.004	0.004	2514	528	3075
340	-1.00	-146.6	19.1	-7.0	22	347	0.30	2.90	0.00	0.000	6	0.004	0.004	2439	2252	3075
379	-1.00	-146.6	21.6	-6.9	26	385	0.30	3.03	0.00	0.000	4	0.004	0.004	2512	509	3075
689	-1.00	-146.6	41.6	-6.7	53	695	0.30	3.03	0.00	0.000	6	0.004	0.004	2436	2203	3077
727	-1.00	-146.6	44.0	-6.6	56	733	0.43	3.03	0.00	0.000	4	0.005	0.004	2512	468	3075
1038	-1.00	-146.6	64.6	-6.7	83	1044	0.30	2.83	0.00	0.000	6	0.005	0.004	2440	2219	3075
1076	-1.00	-146.6	67.1	-6.4	86	1082	0.35	2.83	0.00	0.000	4	0.004	0.004	2516	555	3075
1222	-1.00	-146.6	73.9	-2.8	98	1229	0.30	3.03	0.00	0.000	6	0.004	0.004	2443	2186	3075
1260	-1.00	-146.6	75.0	-3.0	102	1266	0.38	2.65	0.00	0.000	4	0.004	0.004	2522	3624	3075
1488	end dive: TARGET_DEPTH_EXCEEDED
state	1489	begin apogee
1499	-0.31	0.0	90.4	7.6	122	1626	0.65	0.00	122.40	0.005	6	0.004	0.000	2676	1958	2473
1627	end apogee: CONTROL_FINISHED_OK
state	1627	begin climb
1630	1.00	146.6	84.3	0.0	135	1765	1.40	2.33	120.38	0.005	4	0.005	0.004	2966	498	1874
2069	1.00	146.6	36.6	10.2	175	2075	0.47	2.92	0.00	0.000	6	0.004	0.004	2855	2123	1874
2106	1.00	146.6	32.9	10.0	178	2112	0.45	2.65	0.00	0.000	4	0.004	0.004	2976	572	1874
2416	1.00	146.6	6.0	6.6	205	2422	0.47	2.60	0.00	0.000	6	0.003	0.004	2864	2207	1875
2454	1.00	146.6	3.2	7.4	208	2456	0.30	0.00	0.00	0.000	6	0.003	0.000	2939	2207	1875
2486	1.08	207.3	2.4	4.0	211	2531	0.00	2.45	39.83	0.005	4	0.000	0.003	2938	3614	1626
2653	end climb: SURFACE_DEPTH_REACHED
state	2653	begin surface coast
2670	end surface coast: CONTROL_FINISHED_OK
state	2670	begin surface