Glider dive log

SoCal07 Nov07 * SG106 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 9 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 4 HEADING -1 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 32.75 C_ROLL_DIVE 2025 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -117.48 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 20 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 42 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 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 1 DEVICE2 -1

T_MISSION 60 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -54605.539 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 8 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 15 PITCH_MIN 460 AH0_24V 71.400002 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.027 C_PITCH 3100 PRESSURE_YINT -9.2469263 SEABIRD_T_I 2.5114456e-05

MASS 51736 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 20 PITCH_AD_RATE 125 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 71.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 460 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 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -9.2469263 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 32.75

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -117.48

APOGEE_PITCH -5 GLIDE_SLOPE 15 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 35

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 150000 HD_C 9.8541004e-06 RHO 1.027 T_GPS_CHARGE -54605.539

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 60

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 1 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 8

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 2025 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51736 R_PORT_OVSHOOT 19 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 42 USE_ICE 0

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 4 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1050 PITCH_ADJ_DBAND 1 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 210457,3246.252,-11747.827,12,1.9,13,13.1 TGT_NAME H2

_CALLS 3 TGT_LATLONG 3246.000,-11749.190

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.350,-0.106

_SM_DEPTHo 0.47 KALMAN_X 307.1,176.5,121.1,-903.8,14.5

_SM_ANGLEo -60.9 KALMAN_Y 810.5,491.6,372.8,-1043.2,56.1

GPS2 212123,3246.289,-11747.728,14,2.1,33,13.1 MHEAD_RNG_PITCHd_Wd 240.0,2341,-11.0,-9.524

SPEED_LIMITS 0.355,0.365 D_GRID 100

Post-dive calculations and measurements:

FREEZE -0.11,18.588,-1.190 XPDR_PINGS 0

FINISH -0.1,1.015171 ALTIM_BOTTOM_PING 50.3,51.0

SM_CCo 3297,0.00,0.000,0,0,1542,411.12 _24V_AH 23.6,24.206

SM_GC 0.72,13.23,0.00,0.00,0.045,0.000,0.000,462,2024,1542,-12.09,-0.03,411.12 _10V_AH 10.0,18.549

IRIDIUM_FIX 3236.51,-11746.11,151107,010155 DATA_FILE_SIZE 9609,286

TT8_MAMPS 0.069797 CFSIZE 260034560,256942080

HUMID 1903 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.52572 GPS 141107,221838,3246.362,-11747.905,38,1.7,38,13.1

TCM_TEMP 20.50

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 208 154.48 SBE_CT 188 24 106.99

Roll_motor 56 74 99.91 nil 0 0 0.00

VBD_pump_during_apogee 435 693 7123.02 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 118 103 288.38 nil 0 0 0.00

Iridium_during_connect 168 160 637.22 ARS 0 0 0.00

Iridium_during_xfer 398 223 2094.78

Transponder_ping 0 420 4.96

Mmodem_TX 145 1000 3429.27

Mmodem_RX 4195 6 633.72

GPS 36 50 18.15

TT8 565 19 112.04

LPSleep 1753 2 38.40

TT8_Active 492 19 97.50

TT8_Sampling 619 39 246.40

TT8_CF8 876 45 401.39

TT8_Kalman 32 81 26.45

Analog_circuits 873 12 104.78

GPS_charging 0 0 0.00

Compass 565 8 45.23

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 -1.03 -146.1 0.0 0.0 0 108 0.00 0.00 -78.53 0.000 2 0.000 0.000 465 1808 3200

111 -1.03 -146.1 2.0 -5.7 13 149 15.43 2.97 -15.40 0.000 4 0.209 0.059 2873 3413 3815

195 -1.03 -146.1 8.6 -6.9 26 201 0.00 2.42 0.00 0.000 6 0.000 0.032 2873 2003 3861

268 -1.03 -146.1 12.9 -6.4 37 274 0.00 2.53 0.00 0.000 4 0.000 0.058 2873 627 3862

320 -1.03 -146.1 16.1 -5.6 45 327 0.00 2.42 0.00 0.000 6 0.000 0.032 2873 2027 3862

393 -1.03 -146.1 20.5 -5.9 56 397 0.00 2.58 0.00 0.000 4 0.000 0.056 2873 625 3863

426 -1.03 -146.1 22.5 -6.8 58 430 0.00 2.42 0.00 0.000 6 0.000 0.031 2873 2020 3863

622 -1.03 -146.1 33.8 -5.6 73 626 0.00 2.53 0.00 0.000 4 0.000 0.053 2873 3422 3863

727 -1.03 -146.1 39.6 -5.0 80 733 0.00 2.42 0.00 0.000 6 0.000 0.032 2873 2015 3863

924 -1.06 -146.1 48.8 -4.8 96 928 0.00 2.58 0.00 0.000 4 0.000 0.052 2873 3427 3864

978 -1.08 -146.1 51.8 -5.6 100 982 0.00 2.42 0.00 0.000 6 0.000 0.033 2873 2029 3864

1174 -1.15 -146.1 64.9 -6.8 115 1179 0.12 2.55 0.00 0.000 4 0.057 0.051 2837 3432 3865

1281 -1.15 -146.1 72.0 -6.8 122 1287 0.00 2.38 0.00 0.000 6 0.000 0.035 2837 2056 3865

1477 -1.20 -146.1 84.2 -6.0 138 1481 0.00 2.62 0.00 0.000 4 0.000 0.061 2838 633 3864

1591 -1.20 -146.1 90.6 -5.3 146 1596 0.00 2.45 0.00 0.000 6 0.000 0.034 2837 2037 3865

1761 end dive: TARGET_DEPTH_EXCEEDED

state 1761 begin apogee

1768 -0.38 0.0 100.6 6.0 159 1897 0.82 0.00 124.95 0.693 6 0.079 0.000 3011 1744 3218

1900 end apogee: CONTROL_FINISHED_OK

state 1900 begin climb

1903 1.03 146.1 105.2 0.0 170 2026 1.42 2.75 110.28 0.667 4 0.062 0.074 3322 337 2621

2278 1.24 318.6 85.1 6.2 199 2418 0.22 2.47 131.43 0.652 6 0.054 0.036 3374 1734 1919

2607 1.30 367.2 57.4 8.6 225 2649 0.00 2.58 36.92 0.648 4 0.000 0.054 3373 3127 1720

2704 1.38 407.6 49.1 8.7 232 2742 0.12 2.50 31.73 0.646 6 0.054 0.041 3409 1741 1556

2930 1.38 407.6 26.5 10.2 250 2935 0.00 2.55 0.00 0.000 4 0.000 0.051 3409 3137 1549

2963 1.41 407.6 23.2 10.5 252 2967 0.00 2.47 0.00 0.000 6 0.000 0.040 3410 1750 1548

3167 1.43 407.6 3.6 9.7 280 3173 0.00 2.70 0.00 0.000 4 0.000 0.074 3409 328 1546

3185 end climb: SURFACE_DEPTH_REACHED

state 3185 begin surface coast

3206 end surface coast: CONTROL_FINISHED_OK

state 3206 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	9	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	4	HEADING	-1	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	32.75	C_ROLL_DIVE	2025	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-117.48	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	20	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	42	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	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	1	DEVICE2	-1
T_MISSION	60	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-54605.539	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	8	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	15	PITCH_MIN	460	AH0_24V	71.400002	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.027	C_PITCH	3100	PRESSURE_YINT	-9.2469263	SEABIRD_T_I	2.5114456e-05
MASS	51736	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	210457,3246.252,-11747.827,12,1.9,13,13.1	TGT_NAME	H2
_CALLS	3	TGT_LATLONG	3246.000,-11749.190
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.350,-0.106
_SM_DEPTHo	0.47	KALMAN_X	307.1,176.5,121.1,-903.8,14.5
_SM_ANGLEo	-60.9	KALMAN_Y	810.5,491.6,372.8,-1043.2,56.1
GPS2	212123,3246.289,-11747.728,14,2.1,33,13.1	MHEAD_RNG_PITCHd_Wd	240.0,2341,-11.0,-9.524
SPEED_LIMITS	0.355,0.365	D_GRID	100

FREEZE	-0.11,18.588,-1.190	XPDR_PINGS	0
FINISH	-0.1,1.015171	ALTIM_BOTTOM_PING	50.3,51.0
SM_CCo	3297,0.00,0.000,0,0,1542,411.12	_24V_AH	23.6,24.206
SM_GC	0.72,13.23,0.00,0.00,0.045,0.000,0.000,462,2024,1542,-12.09,-0.03,411.12	_10V_AH	10.0,18.549
IRIDIUM_FIX	3236.51,-11746.11,151107,010155	DATA_FILE_SIZE	9609,286
TT8_MAMPS	0.069797	CFSIZE	260034560,256942080
HUMID	1903	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.52572	GPS	141107,221838,3246.362,-11747.905,38,1.7,38,13.1
TCM_TEMP	20.50

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	208	154.48	SBE_CT	188	24	106.99
Roll_motor	56	74	99.91	nil	0	0	0.00
VBD_pump_during_apogee	435	693	7123.02	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	118	103	288.38	nil	0	0	0.00
Iridium_during_connect	168	160	637.22	ARS	0	0	0.00
Iridium_during_xfer	398	223	2094.78
Transponder_ping	0	420	4.96
Mmodem_TX	145	1000	3429.27
Mmodem_RX	4195	6	633.72
GPS	36	50	18.15
TT8	565	19	112.04
LPSleep	1753	2	38.40
TT8_Active	492	19	97.50
TT8_Sampling	619	39	246.40
TT8_CF8	876	45	401.39
TT8_Kalman	32	81	26.45
Analog_circuits	873	12	104.78
GPS_charging	0	0	0.00
Compass	565	8	45.23
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	-1.03	-146.1	0.0	0.0	0	108	0.00	0.00	-78.53	0.000	2	0.000	0.000	465	1808	3200
111	-1.03	-146.1	2.0	-5.7	13	149	15.43	2.97	-15.40	0.000	4	0.209	0.059	2873	3413	3815
195	-1.03	-146.1	8.6	-6.9	26	201	0.00	2.42	0.00	0.000	6	0.000	0.032	2873	2003	3861
268	-1.03	-146.1	12.9	-6.4	37	274	0.00	2.53	0.00	0.000	4	0.000	0.058	2873	627	3862
320	-1.03	-146.1	16.1	-5.6	45	327	0.00	2.42	0.00	0.000	6	0.000	0.032	2873	2027	3862
393	-1.03	-146.1	20.5	-5.9	56	397	0.00	2.58	0.00	0.000	4	0.000	0.056	2873	625	3863
426	-1.03	-146.1	22.5	-6.8	58	430	0.00	2.42	0.00	0.000	6	0.000	0.031	2873	2020	3863
622	-1.03	-146.1	33.8	-5.6	73	626	0.00	2.53	0.00	0.000	4	0.000	0.053	2873	3422	3863
727	-1.03	-146.1	39.6	-5.0	80	733	0.00	2.42	0.00	0.000	6	0.000	0.032	2873	2015	3863
924	-1.06	-146.1	48.8	-4.8	96	928	0.00	2.58	0.00	0.000	4	0.000	0.052	2873	3427	3864
978	-1.08	-146.1	51.8	-5.6	100	982	0.00	2.42	0.00	0.000	6	0.000	0.033	2873	2029	3864
1174	-1.15	-146.1	64.9	-6.8	115	1179	0.12	2.55	0.00	0.000	4	0.057	0.051	2837	3432	3865
1281	-1.15	-146.1	72.0	-6.8	122	1287	0.00	2.38	0.00	0.000	6	0.000	0.035	2837	2056	3865
1477	-1.20	-146.1	84.2	-6.0	138	1481	0.00	2.62	0.00	0.000	4	0.000	0.061	2838	633	3864
1591	-1.20	-146.1	90.6	-5.3	146	1596	0.00	2.45	0.00	0.000	6	0.000	0.034	2837	2037	3865
1761	end dive: TARGET_DEPTH_EXCEEDED
state	1761	begin apogee
1768	-0.38	0.0	100.6	6.0	159	1897	0.82	0.00	124.95	0.693	6	0.079	0.000	3011	1744	3218
1900	end apogee: CONTROL_FINISHED_OK
state	1900	begin climb
1903	1.03	146.1	105.2	0.0	170	2026	1.42	2.75	110.28	0.667	4	0.062	0.074	3322	337	2621
2278	1.24	318.6	85.1	6.2	199	2418	0.22	2.47	131.43	0.652	6	0.054	0.036	3374	1734	1919
2607	1.30	367.2	57.4	8.6	225	2649	0.00	2.58	36.92	0.648	4	0.000	0.054	3373	3127	1720
2704	1.38	407.6	49.1	8.7	232	2742	0.12	2.50	31.73	0.646	6	0.054	0.041	3409	1741	1556
2930	1.38	407.6	26.5	10.2	250	2935	0.00	2.55	0.00	0.000	4	0.000	0.051	3409	3137	1549
2963	1.41	407.6	23.2	10.5	252	2967	0.00	2.47	0.00	0.000	6	0.000	0.040	3410	1750	1548
3167	1.43	407.6	3.6	9.7	280	3173	0.00	2.70	0.00	0.000	4	0.000	0.074	3409	328	1546
3185	end climb: SURFACE_DEPTH_REACHED
state	3185	begin surface coast
3206	end surface coast: CONTROL_FINISHED_OK
state	3206	begin surface