Glider dive log

PortSusan 10Dec07 * SG144 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 4 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 160 ALTIM_PING_DEPTH 90

D_TGT 150 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2170 ALTIM_FREQUENCY 13

D_NO_BLEED 500 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2190 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 630 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 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 54

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 480 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3950 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3503 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -611.86438 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_MIN 500 AH0_24V 91.800003 SEABIRD_T_G 0.0043142079

SPEED_FACTOR 1 PITCH_MAX 3812 AH0_10V 61.200001 SEABIRD_T_H 0.00062953553

RHO 1.023 C_PITCH 2770 PRESSURE_YINT -2.6104116 SEABIRD_T_I 2.3274781e-05

MASS 51458 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011159377 SEABIRD_T_J 2.4096155e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.012566

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1222577

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011971687

HD_A 0.003 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.000188736

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 500 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 630

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3812 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 500 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 90 D_TGT 150 PITCH_TIMEOUT 15 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 0.00011159377 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.6104116 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -611.86438

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 144 ROLL_MAX 3940 T_TURN_SAMPINT 5

C_PITCH 2770 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2190 INT_PRESSURE_YINT 0 ROLL_MIN 160 UNCOM_BLEED 20

C_ROLL_DIVE 2170 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3503 MASS 51458 R_PORT_OVSHOOT 30 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 24 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.012566 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1222577 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011971687 VBD_DBAND 2

DEVICE3 54 N_FILEKB 4 SEABIRD_C_J 0.000188736 VBD_MAX 3950

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043142079 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062953553 VBD_MIN 480

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3274781e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 4 PHONE_DEVICE 48 SEABIRD_T_J 2.4096155e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 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 234759,4807.201,-12222.862,7,6.7,26,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 235537,4807.285,-12222.924,15,1.2,31,18.3 MHEAD_RNG_PITCHd_Wd 136.0,2639,-14.9,-10.000

SPEED_LIMITS 0.100,0.295 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.5,1.018261 XPDR_PINGS 163

SM_CCo 2684,303.20,0.590,0,0,933,630.18 ALTIM_BOTTOM_PING 100.3,11.3

SM_GC 1.38,0.00,0.00,303.20,0.000,0.000,0.590,499,2190,933,-10.45,0.57,630.18 _24V_AH 23.7,1.005

IRIDIUM_FIX 6532.72,-8132.19,121207,020244 _10V_AH 10.1,0.453

TT8_MAMPS 0.026078 DATA_FILE_SIZE 25435,470

HUMID 1614 CFSIZE 260165632,258822144

INTERNAL_PRESSURE 8.3011 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.80 GPS 121207,004647,4807.074,-12222.833,7,3.4,26,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 163 93.41 SBE_CT 319 24 182.01

Roll_motor 34 75 60.88 SBE_O2 227 19 102.44

VBD_pump_during_apogee 275 686 4488.27 Optode 0 33 0.00

VBD_pump_during_surface 303 589 4238.37 WL_BB2F 537 105 1337.84

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 95.56 nil 0 0 0.00

Iridium_during_connect 33 160 126.13 nil 0 0 0.00

Iridium_during_xfer 274 223 1449.45

Transponder_ping 41 420 413.09

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.45

TT8 679 19 135.88

LPSleep 835 2 18.49

TT8_Active 654 19 130.94

TT8_Sampling 862 39 346.58

TT8_CF8 429 45 198.86

TT8_Kalman 0 0 0.00

Analog_circuits 1117 12 135.48

GPS_charging 0 0 0.00

Compass 839 8 67.85

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.17 -195.5 0.0 0.0 0 124 0.00 0.00 -104.07 0.000 2 0.000 0.000 497 2157 3104

126 -1.17 -195.5 3.0 -3.3 19 172 10.75 2.45 -28.73 0.000 4 0.163 0.075 2508 766 3952

313 -1.17 -195.5 13.1 -5.7 52 319 0.00 2.42 0.00 0.000 6 0.000 0.048 2508 2181 3953

387 -1.17 -195.5 17.4 -6.1 65 393 0.00 2.50 0.00 0.000 4 0.000 0.062 2508 765 3953

439 -1.17 -195.5 21.2 -7.6 74 445 0.00 2.40 0.00 0.000 6 0.000 0.047 2508 2174 3952

513 -1.17 -195.5 26.5 -7.5 87 518 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2174 3953

586 -1.17 -195.5 32.2 -7.9 100 591 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2174 3953

727 -1.17 -195.5 43.4 -8.0 125 733 0.00 2.47 0.00 0.000 4 0.000 0.061 2508 769 3953

879 -1.17 -195.5 56.2 -8.3 152 885 0.00 2.40 0.00 0.000 6 0.000 0.054 2508 2174 3952

1020 -1.17 -195.5 67.0 -6.6 177 1026 0.00 2.47 0.00 0.000 4 0.000 0.061 2508 766 3952

1105 -1.17 -195.5 73.9 -7.8 192 1111 0.00 2.40 0.00 0.000 6 0.000 0.047 2508 2176 3952

1246 -1.17 -195.5 84.5 -6.8 217 1252 0.00 2.47 0.00 0.000 4 0.000 0.061 2508 764 3952

1338 -1.17 -195.5 91.7 -7.8 233 1344 0.00 2.40 0.00 0.000 6 0.000 0.045 2508 2174 3952

1467 end dive: BOTTOM_OBSTACLE_DETECTED

state 1467 begin apogee

1471 -0.31 0.0 101.6 7.5 256 1562 0.88 0.00 86.38 0.686 6 0.097 0.000 2697 2174 3503

1563 end apogee: CONTROL_FINISHED_OK

state 1563 begin climb

1565 1.17 195.5 103.8 0.0 273 1725 1.42 2.53 150.62 0.663 4 0.070 0.058 3020 3601 2705

1748 1.17 195.5 91.9 10.7 307 1754 0.00 2.40 0.00 0.000 6 0.000 0.042 3020 2190 2704

1888 1.17 195.5 77.1 10.9 332 1894 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2191 2705

2028 1.17 195.5 62.4 10.6 357 2034 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2190 2705

2168 1.17 199.7 48.0 9.9 382 2180 0.00 2.47 5.15 0.510 4 0.000 0.058 3020 3594 2688

2197 1.17 199.7 44.9 10.9 387 2203 0.00 2.38 0.00 0.000 6 0.000 0.041 3021 2191 2687

2337 1.19 210.0 30.3 9.6 412 2349 0.00 0.00 9.43 0.580 6 0.000 0.000 3020 2191 2647

2417 1.19 210.0 22.2 10.1 426 2422 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2190 2647

2490 1.20 220.4 14.8 9.6 439 2502 0.00 0.00 9.77 0.574 6 0.000 0.000 3020 2190 2604

2570 1.22 237.7 6.5 9.4 453 2587 0.00 0.00 14.52 0.586 6 0.000 0.000 3020 2191 2533

2603 end climb: SURFACE_DEPTH_REACHED

state 2603 begin surface coast

2666 end surface coast: CONTROL_FINISHED_OK

state 2666 begin surface

ID	144	HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	4	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	160	ALTIM_PING_DEPTH	90
D_TGT	150	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2170	ALTIM_FREQUENCY	13
D_NO_BLEED	500	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2190	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	630	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	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	54
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	480	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3950	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3503	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-611.86438	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_MIN	500	AH0_24V	91.800003	SEABIRD_T_G	0.0043142079
SPEED_FACTOR	1	PITCH_MAX	3812	AH0_10V	61.200001	SEABIRD_T_H	0.00062953553
RHO	1.023	C_PITCH	2770	PRESSURE_YINT	-2.6104116	SEABIRD_T_I	2.3274781e-05
MASS	51458	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011159377	SEABIRD_T_J	2.4096155e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.012566
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1222577
KALMAN_USE	2	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011971687
HD_A	0.003	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.000188736

GPS1	234759,4807.201,-12222.862,7,6.7,26,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	235537,4807.285,-12222.924,15,1.2,31,18.3	MHEAD_RNG_PITCHd_Wd	136.0,2639,-14.9,-10.000
SPEED_LIMITS	0.100,0.295	D_GRID	150

FINISH	3.5,1.018261	XPDR_PINGS	163
SM_CCo	2684,303.20,0.590,0,0,933,630.18	ALTIM_BOTTOM_PING	100.3,11.3
SM_GC	1.38,0.00,0.00,303.20,0.000,0.000,0.590,499,2190,933,-10.45,0.57,630.18	_24V_AH	23.7,1.005
IRIDIUM_FIX	6532.72,-8132.19,121207,020244	_10V_AH	10.1,0.453
TT8_MAMPS	0.026078	DATA_FILE_SIZE	25435,470
HUMID	1614	CFSIZE	260165632,258822144
INTERNAL_PRESSURE	8.3011	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.80	GPS	121207,004647,4807.074,-12222.833,7,3.4,26,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	163	93.41	SBE_CT	319	24	182.01
Roll_motor	34	75	60.88	SBE_O2	227	19	102.44
VBD_pump_during_apogee	275	686	4488.27	Optode	0	33	0.00
VBD_pump_during_surface	303	589	4238.37	WL_BB2F	537	105	1337.84
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	95.56	nil	0	0	0.00
Iridium_during_connect	33	160	126.13	nil	0	0	0.00
Iridium_during_xfer	274	223	1449.45
Transponder_ping	41	420	413.09
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.45
TT8	679	19	135.88
LPSleep	835	2	18.49
TT8_Active	654	19	130.94
TT8_Sampling	862	39	346.58
TT8_CF8	429	45	198.86
TT8_Kalman	0	0	0.00
Analog_circuits	1117	12	135.48
GPS_charging	0	0	0.00
Compass	839	8	67.85
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.17	-195.5	0.0	0.0	0	124	0.00	0.00	-104.07	0.000	2	0.000	0.000	497	2157	3104
126	-1.17	-195.5	3.0	-3.3	19	172	10.75	2.45	-28.73	0.000	4	0.163	0.075	2508	766	3952
313	-1.17	-195.5	13.1	-5.7	52	319	0.00	2.42	0.00	0.000	6	0.000	0.048	2508	2181	3953
387	-1.17	-195.5	17.4	-6.1	65	393	0.00	2.50	0.00	0.000	4	0.000	0.062	2508	765	3953
439	-1.17	-195.5	21.2	-7.6	74	445	0.00	2.40	0.00	0.000	6	0.000	0.047	2508	2174	3952
513	-1.17	-195.5	26.5	-7.5	87	518	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2174	3953
586	-1.17	-195.5	32.2	-7.9	100	591	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2174	3953
727	-1.17	-195.5	43.4	-8.0	125	733	0.00	2.47	0.00	0.000	4	0.000	0.061	2508	769	3953
879	-1.17	-195.5	56.2	-8.3	152	885	0.00	2.40	0.00	0.000	6	0.000	0.054	2508	2174	3952
1020	-1.17	-195.5	67.0	-6.6	177	1026	0.00	2.47	0.00	0.000	4	0.000	0.061	2508	766	3952
1105	-1.17	-195.5	73.9	-7.8	192	1111	0.00	2.40	0.00	0.000	6	0.000	0.047	2508	2176	3952
1246	-1.17	-195.5	84.5	-6.8	217	1252	0.00	2.47	0.00	0.000	4	0.000	0.061	2508	764	3952
1338	-1.17	-195.5	91.7	-7.8	233	1344	0.00	2.40	0.00	0.000	6	0.000	0.045	2508	2174	3952
1467	end dive: BOTTOM_OBSTACLE_DETECTED
state	1467	begin apogee
1471	-0.31	0.0	101.6	7.5	256	1562	0.88	0.00	86.38	0.686	6	0.097	0.000	2697	2174	3503
1563	end apogee: CONTROL_FINISHED_OK
state	1563	begin climb
1565	1.17	195.5	103.8	0.0	273	1725	1.42	2.53	150.62	0.663	4	0.070	0.058	3020	3601	2705
1748	1.17	195.5	91.9	10.7	307	1754	0.00	2.40	0.00	0.000	6	0.000	0.042	3020	2190	2704
1888	1.17	195.5	77.1	10.9	332	1894	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2191	2705
2028	1.17	195.5	62.4	10.6	357	2034	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2190	2705
2168	1.17	199.7	48.0	9.9	382	2180	0.00	2.47	5.15	0.510	4	0.000	0.058	3020	3594	2688
2197	1.17	199.7	44.9	10.9	387	2203	0.00	2.38	0.00	0.000	6	0.000	0.041	3021	2191	2687
2337	1.19	210.0	30.3	9.6	412	2349	0.00	0.00	9.43	0.580	6	0.000	0.000	3020	2191	2647
2417	1.19	210.0	22.2	10.1	426	2422	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2190	2647
2490	1.20	220.4	14.8	9.6	439	2502	0.00	0.00	9.77	0.574	6	0.000	0.000	3020	2190	2604
2570	1.22	237.7	6.5	9.4	453	2587	0.00	0.00	14.52	0.586	6	0.000	0.000	3020	2191	2533
2603	end climb: SURFACE_DEPTH_REACHED
state	2603	begin surface coast
2666	end surface coast: CONTROL_FINISHED_OK
state	2666	begin surface