Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 42 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 42 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 243 ALTIM_PING_DEPTH 0

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 450 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 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 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 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 1 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -17404.654 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

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 100 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 30 PITCH_MIN 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 13 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 120 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 -7.1405377 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 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 32 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 -17404.654

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

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 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2000 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2100 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 24 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 39 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 42 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 154833,4739.450,-12252.654,11,1.6,11,18.3 TGT_NAME H3

_CALLS 2 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.202,-0.050

_SM_DEPTHo 1.06 KALMAN_X 9769.5,235.0,100.6,-10021.4,103.6

_SM_ANGLEo -62.0 KALMAN_Y 6986.6,314.7,78.7,-7906.2,90.7

GPS2 155735,4739.505,-12252.630,11,5.5,30,18.3 MHEAD_RNG_PITCHd_Wd 237.9,717,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 123

Post-dive calculations and measurements:

FINISH 0.4,1.021282 ALTIM_TOP_PING 9.8,9.2

SM_CCo 2925,124.20,0.582,0,0,1367,450.13 ALTIM_BOTTOM_PING 95.6,999.0

SM_GC 1.12,0.00,0.00,124.20,0.000,0.000,0.582,410,2089,1367,-11.45,-0.31,450.13 _24V_AH 23.2,19.621

IRIDIUM_FIX 4722.92,-12251.79,230907,181817 _10V_AH 10.1,12.071

TT8_MAMPS 0.071331 DATA_FILE_SIZE 6440,267

HUMID 2247 CFSIZE 260231168,256163840

INTERNAL_PRESSURE 7.98859 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 20.10 GPS 230907,165035,4739.391,-12253.080,10,2.6,29,18.3

XPDR_PINGS 58

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 198 139.07 SBE_CT 188 24 105.02

Roll_motor 45 75 79.93 nil 0 0 0.00

VBD_pump_during_apogee 209 741 3598.45 nil 0 0 0.00

VBD_pump_during_surface 124 582 1677.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 64 103 153.59 nil 0 0 0.00

Iridium_during_connect 45 160 169.45 ARS 0 0 0.00

Iridium_during_xfer 234 223 1215.37

Transponder_ping 15 420 146.16

Mmodem_TX 20 1000 481.40

Mmodem_RX 3663 6 543.92

GPS 31 50 15.92

TT8 497 19 99.48

LPSleep 1674 2 37.04

TT8_Active 464 19 92.81

TT8_Sampling 506 39 203.70

TT8_CF8 476 45 220.30

TT8_Kalman 33 81 27.54

Analog_circuits 764 12 92.62

GPS_charging 0 0 0.00

Compass 466 8 37.73

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.68 -97.8 0.0 0.0 0 88 0.00 0.00 -61.30 0.000 2 0.000 0.000 409 2108 2667

91 -1.68 -97.8 2.0 -3.5 10 153 13.32 2.65 -40.08 0.000 4 0.199 0.076 2525 699 3603

198 -1.68 -97.8 7.5 -9.9 27 205 0.00 2.45 0.00 0.000 6 0.000 0.037 2525 2092 3603

270 -1.68 -97.8 15.4 -11.0 38 277 0.00 2.53 0.00 0.000 4 0.000 0.055 2525 3497 3604

349 -1.68 -97.8 23.9 -10.8 48 353 0.00 2.42 0.00 0.000 6 0.000 0.035 2525 2096 3605

550 -1.68 -97.8 43.3 -9.5 64 552 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2096 3605

741 -1.68 -97.8 62.0 -9.9 79 742 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2096 3605

932 -1.68 -97.8 82.2 -10.5 94 933 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2097 3605

1120 -1.68 -97.8 101.9 -10.1 109 1124 0.00 2.53 0.00 0.000 4 0.000 0.056 2525 3497 3606

1178 -1.68 -97.8 108.1 -10.2 113 1182 0.00 2.42 0.00 0.000 6 0.000 0.036 2525 2099 3605

1302 end dive: TARGET_DEPTH_EXCEEDED

state 1302 begin apogee

1308 -0.38 0.0 120.2 9.8 123 1390 1.48 0.00 77.43 0.680 6 0.106 0.000 2812 1996 3202

1391 end apogee: CONTROL_FINISHED_OK

state 1391 begin climb

1393 1.68 97.8 122.7 0.0 130 1478 2.17 2.62 75.60 0.660 4 0.063 0.052 3273 3395 2802

1565 1.70 111.0 113.6 8.1 144 1582 0.00 2.45 9.93 0.701 6 0.000 0.036 3273 2000 2748

1779 1.71 117.7 95.8 8.5 161 1792 0.00 2.70 4.57 0.734 4 0.000 0.069 3273 604 2722

1823 1.71 117.7 91.9 9.2 164 1831 0.00 2.50 0.00 0.000 6 0.000 0.035 3273 2006 2722

2020 1.71 117.7 75.0 9.0 180 2024 0.00 2.50 0.00 0.000 4 0.000 0.055 3273 3393 2721

2099 1.71 118.9 68.0 8.8 186 2103 0.00 2.45 0.00 0.000 6 0.000 0.037 3273 1993 2721

2294 1.72 123.0 51.0 8.6 201 2307 0.00 2.58 3.72 0.742 4 0.000 0.053 3273 3386 2700

2364 1.72 123.0 44.4 9.5 206 2372 0.00 2.45 0.00 0.000 6 0.000 0.036 3273 2002 2700

2561 1.73 136.8 27.8 8.0 222 2578 0.00 2.60 10.40 0.680 4 0.000 0.053 3273 3394 2646

2652 1.73 136.8 19.0 9.6 229 2658 0.00 2.45 0.00 0.000 6 0.000 0.036 3273 1991 2643

2724 1.76 160.7 13.1 7.4 240 2748 0.00 0.00 18.48 0.647 6 0.000 0.000 3273 1991 2545

2814 1.78 173.0 6.0 8.1 254 2832 0.00 2.62 9.00 0.663 4 0.000 0.054 3273 3398 2495

2869 end climb: SURFACE_DEPTH_REACHED

state 2869 begin surface coast

2897 end surface coast: CONTROL_FINISHED_OK

state 2897 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	42	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	243	ALTIM_PING_DEPTH	0
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2000	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	450	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	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	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	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	1	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-17404.654	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
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	100	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	30	PITCH_MIN	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	154833,4739.450,-12252.654,11,1.6,11,18.3	TGT_NAME	H3
_CALLS	2	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.202,-0.050
_SM_DEPTHo	1.06	KALMAN_X	9769.5,235.0,100.6,-10021.4,103.6
_SM_ANGLEo	-62.0	KALMAN_Y	6986.6,314.7,78.7,-7906.2,90.7
GPS2	155735,4739.505,-12252.630,11,5.5,30,18.3	MHEAD_RNG_PITCHd_Wd	237.9,717,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	123

FINISH	0.4,1.021282	ALTIM_TOP_PING	9.8,9.2
SM_CCo	2925,124.20,0.582,0,0,1367,450.13	ALTIM_BOTTOM_PING	95.6,999.0
SM_GC	1.12,0.00,0.00,124.20,0.000,0.000,0.582,410,2089,1367,-11.45,-0.31,450.13	_24V_AH	23.2,19.621
IRIDIUM_FIX	4722.92,-12251.79,230907,181817	_10V_AH	10.1,12.071
TT8_MAMPS	0.071331	DATA_FILE_SIZE	6440,267
HUMID	2247	CFSIZE	260231168,256163840
INTERNAL_PRESSURE	7.98859	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	20.10	GPS	230907,165035,4739.391,-12253.080,10,2.6,29,18.3
XPDR_PINGS	58

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	198	139.07	SBE_CT	188	24	105.02
Roll_motor	45	75	79.93	nil	0	0	0.00
VBD_pump_during_apogee	209	741	3598.45	nil	0	0	0.00
VBD_pump_during_surface	124	582	1677.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	64	103	153.59	nil	0	0	0.00
Iridium_during_connect	45	160	169.45	ARS	0	0	0.00
Iridium_during_xfer	234	223	1215.37
Transponder_ping	15	420	146.16
Mmodem_TX	20	1000	481.40
Mmodem_RX	3663	6	543.92
GPS	31	50	15.92
TT8	497	19	99.48
LPSleep	1674	2	37.04
TT8_Active	464	19	92.81
TT8_Sampling	506	39	203.70
TT8_CF8	476	45	220.30
TT8_Kalman	33	81	27.54
Analog_circuits	764	12	92.62
GPS_charging	0	0	0.00
Compass	466	8	37.73
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.68	-97.8	0.0	0.0	0	88	0.00	0.00	-61.30	0.000	2	0.000	0.000	409	2108	2667
91	-1.68	-97.8	2.0	-3.5	10	153	13.32	2.65	-40.08	0.000	4	0.199	0.076	2525	699	3603
198	-1.68	-97.8	7.5	-9.9	27	205	0.00	2.45	0.00	0.000	6	0.000	0.037	2525	2092	3603
270	-1.68	-97.8	15.4	-11.0	38	277	0.00	2.53	0.00	0.000	4	0.000	0.055	2525	3497	3604
349	-1.68	-97.8	23.9	-10.8	48	353	0.00	2.42	0.00	0.000	6	0.000	0.035	2525	2096	3605
550	-1.68	-97.8	43.3	-9.5	64	552	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2096	3605
741	-1.68	-97.8	62.0	-9.9	79	742	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2096	3605
932	-1.68	-97.8	82.2	-10.5	94	933	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2097	3605
1120	-1.68	-97.8	101.9	-10.1	109	1124	0.00	2.53	0.00	0.000	4	0.000	0.056	2525	3497	3606
1178	-1.68	-97.8	108.1	-10.2	113	1182	0.00	2.42	0.00	0.000	6	0.000	0.036	2525	2099	3605
1302	end dive: TARGET_DEPTH_EXCEEDED
state	1302	begin apogee
1308	-0.38	0.0	120.2	9.8	123	1390	1.48	0.00	77.43	0.680	6	0.106	0.000	2812	1996	3202
1391	end apogee: CONTROL_FINISHED_OK
state	1391	begin climb
1393	1.68	97.8	122.7	0.0	130	1478	2.17	2.62	75.60	0.660	4	0.063	0.052	3273	3395	2802
1565	1.70	111.0	113.6	8.1	144	1582	0.00	2.45	9.93	0.701	6	0.000	0.036	3273	2000	2748
1779	1.71	117.7	95.8	8.5	161	1792	0.00	2.70	4.57	0.734	4	0.000	0.069	3273	604	2722
1823	1.71	117.7	91.9	9.2	164	1831	0.00	2.50	0.00	0.000	6	0.000	0.035	3273	2006	2722
2020	1.71	117.7	75.0	9.0	180	2024	0.00	2.50	0.00	0.000	4	0.000	0.055	3273	3393	2721
2099	1.71	118.9	68.0	8.8	186	2103	0.00	2.45	0.00	0.000	6	0.000	0.037	3273	1993	2721
2294	1.72	123.0	51.0	8.6	201	2307	0.00	2.58	3.72	0.742	4	0.000	0.053	3273	3386	2700
2364	1.72	123.0	44.4	9.5	206	2372	0.00	2.45	0.00	0.000	6	0.000	0.036	3273	2002	2700
2561	1.73	136.8	27.8	8.0	222	2578	0.00	2.60	10.40	0.680	4	0.000	0.053	3273	3394	2646
2652	1.73	136.8	19.0	9.6	229	2658	0.00	2.45	0.00	0.000	6	0.000	0.036	3273	1991	2643
2724	1.76	160.7	13.1	7.4	240	2748	0.00	0.00	18.48	0.647	6	0.000	0.000	3273	1991	2545
2814	1.78	173.0	6.0	8.1	254	2832	0.00	2.62	9.00	0.663	4	0.000	0.054	3273	3398	2495
2869	end climb: SURFACE_DEPTH_REACHED
state	2869	begin surface coast
2897	end surface coast: CONTROL_FINISHED_OK
state	2897	begin surface