Glider dive log

PortSusan 10Jul07 * SG112 * Dive index * Mission links * Dive 46 * 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 46 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 11 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 -18869.859 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 -18869.859

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 15 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 135 R_STBD_OVSHOOT 11 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 46 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 112326,4806.599,-12222.696,10,1.6,27,18.3 TGT_NAME SEVEN_nb

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.092,0.184

_SM_DEPTHo 1.81 KALMAN_X 1130.3,34.7,-11.3,-1298.9,-0.1

_SM_ANGLEo -50.3 KALMAN_Y -633.6,10.7,2.0,509.3,-24.4

GPS2 112953,4806.631,-12222.705,14,2.5,33,18.3 MHEAD_RNG_PITCHd_Wd 317.8,774,-22.4,-10.000

SPEED_LIMITS 0.173,0.206 D_GRID 105

Post-dive calculations and measurements:

FINISH 2.0,1.018644 XPDR_PINGS 1

SM_CCo 2503,226.60,0.586,0,0,485,698.86 ALTIM_TOP_PING 19.9,19.4

SM_GC 1.79,9.07,0.00,0.00,0.039,0.000,0.000,676,2093,479,-7.28,0.93,700.58 _24V_AH 20.8,18.248

RAFOS_CLK 125 _10V_AH 10.0,6.827

RAFOS 0,1184241842,12.083333,12.067223,66,54,53,52,52,52,202,212,190,150,161,178 DATA_FILE_SIZE 9613,273

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 260165632,255590400

IRIDIUM_FIX 4751.72,-12223.57,120707,141459 ERRORS 0,0,0,0,0,0,0,0,0,0,0,4,0,0,0

TT8_MAMPS 0.024544 SOUNDSPEED 1486.0

HUMID 1983 CURRENT 0.013,244.7,1

INTERNAL_PRESSURE 10.3715 GPS 120707,121932,4806.830,-12222.914,38,1.3,38,18.3

TCM_TEMP 10.80

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 274 145.21 SBE_CT 193 24 96.46

Roll_motor 53 102 114.16 SBE_O2 189 19 74.87

VBD_pump_during_apogee 323 687 4622.46 nil 0 0 0.00

VBD_pump_during_surface 226 585 2761.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 79.60 nil 0 0 0.00

Iridium_during_connect 36 160 120.28 nil 0 0 0.00

Iridium_during_xfer 156 223 726.48

Transponder_ping 0 420 4.37

GPS 35 50 17.94

TT8 589 19 117.43

LPSleep 1218 2 28.15

TT8_Active 697 19 138.99

TT8_Sampling 347 39 138.85

TT8_CF8 388 45 178.19

TT8_Kalman 33 81 27.31

Analog_circuits 998 12 119.78

GPS_charging 0 0 0.00

Compass 320 20 64.18

RAFOS 360 1 5.40

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

26 -1.15 -132.0 0.0 0.0 0 130 0.00 0.00 -101.53 0.000 2 0.000 0.000 674 2045 3404

134 -1.15 -132.0 3.3 -2.0 16 168 12.77 2.92 -11.15 0.000 4 0.275 0.076 2011 644 3875

422 -1.15 -132.0 40.4 -14.6 53 426 0.00 2.75 0.00 0.000 6 0.000 0.038 2011 2074 3877

556 -1.07 -132.0 58.1 -12.6 65 562 0.15 2.90 0.00 0.000 4 0.153 0.059 2032 644 3878

578 -1.01 -132.0 61.0 -12.8 66 585 0.00 2.75 0.00 0.000 6 0.000 0.041 2032 2060 3878

712 -0.96 -132.0 75.6 -10.9 79 718 0.15 3.05 0.00 0.000 4 0.150 0.091 2056 3463 3878

780 -0.96 -132.0 82.6 -9.8 84 787 0.00 2.72 0.00 0.000 6 0.000 0.038 2055 2050 3878

914 -1.02 -132.0 94.9 -9.3 97 919 0.00 2.97 0.00 0.000 4 0.000 0.074 2055 3469 3878

1000 -1.07 -132.0 103.2 -9.6 104 1004 0.00 2.75 0.00 0.000 6 0.000 0.040 2055 2052 3878

1024 end dive: TARGET_DEPTH_EXCEEDED

state 1024 begin apogee

1032 -0.21 0.0 105.9 9.6 106 1150 0.95 0.00 112.57 0.673 6 0.130 0.000 2223 1861 3334

1150 end apogee: CONTROL_FINISHED_OK

state 1150 begin climb

1154 1.15 132.0 109.2 0.0 118 1276 1.55 3.25 111.90 0.661 4 0.075 0.103 2516 470 2797

1338 1.15 132.0 93.0 14.6 134 1345 0.00 2.85 0.00 0.000 6 0.000 0.050 2516 1866 2796

1472 0.97 132.0 75.3 13.0 147 1478 0.20 3.17 0.00 0.000 4 0.134 0.094 2484 3280 2795

1569 0.82 132.0 64.0 11.5 155 1575 0.22 2.85 0.00 0.000 6 0.133 0.049 2450 1878 2795

1704 0.72 141.3 51.1 9.5 167 1718 0.15 3.03 7.20 0.687 4 0.137 0.066 2425 3282 2759

1776 0.72 165.9 44.8 8.7 173 1802 0.00 2.88 20.33 0.661 6 0.000 0.048 2425 1862 2658

1932 0.79 195.6 31.5 8.4 187 1965 0.00 3.03 24.33 0.653 4 0.000 0.064 2425 3284 2537

2070 0.89 208.7 19.3 9.3 199 2090 0.20 2.85 10.48 0.668 6 0.054 0.048 2467 1873 2484

2159 0.98 208.7 9.6 10.9 214 2165 0.00 2.97 0.00 0.000 4 0.000 0.065 2467 3288 2483

2183 0.98 208.7 7.1 10.1 218 2189 0.00 2.88 0.00 0.000 6 0.000 0.048 2467 1861 2483

2259 0.98 345.4 2.5 2.8 231 2297 0.00 0.00 36.58 0.631 2 0.000 0.000 2467 1861 2230

2298 end climb: SURFACE_DEPTH_REACHED

state 2298 begin surface coast

2499 end surface coast: NO_VERTICAL_VELOCITY

state 2499 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	46	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	11	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	-18869.859	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	112326,4806.599,-12222.696,10,1.6,27,18.3	TGT_NAME	SEVEN_nb
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.092,0.184
_SM_DEPTHo	1.81	KALMAN_X	1130.3,34.7,-11.3,-1298.9,-0.1
_SM_ANGLEo	-50.3	KALMAN_Y	-633.6,10.7,2.0,509.3,-24.4
GPS2	112953,4806.631,-12222.705,14,2.5,33,18.3	MHEAD_RNG_PITCHd_Wd	317.8,774,-22.4,-10.000
SPEED_LIMITS	0.173,0.206	D_GRID	105

FINISH	2.0,1.018644	XPDR_PINGS	1
SM_CCo	2503,226.60,0.586,0,0,485,698.86	ALTIM_TOP_PING	19.9,19.4
SM_GC	1.79,9.07,0.00,0.00,0.039,0.000,0.000,676,2093,479,-7.28,0.93,700.58	_24V_AH	20.8,18.248
RAFOS_CLK	125	_10V_AH	10.0,6.827
RAFOS	0,1184241842,12.083333,12.067223,66,54,53,52,52,52,202,212,190,150,161,178	DATA_FILE_SIZE	9613,273
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	260165632,255590400
IRIDIUM_FIX	4751.72,-12223.57,120707,141459	ERRORS	0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
TT8_MAMPS	0.024544	SOUNDSPEED	1486.0
HUMID	1983	CURRENT	0.013,244.7,1
INTERNAL_PRESSURE	10.3715	GPS	120707,121932,4806.830,-12222.914,38,1.3,38,18.3
TCM_TEMP	10.80

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	274	145.21	SBE_CT	193	24	96.46
Roll_motor	53	102	114.16	SBE_O2	189	19	74.87
VBD_pump_during_apogee	323	687	4622.46	nil	0	0	0.00
VBD_pump_during_surface	226	585	2761.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	79.60	nil	0	0	0.00
Iridium_during_connect	36	160	120.28	nil	0	0	0.00
Iridium_during_xfer	156	223	726.48
Transponder_ping	0	420	4.37
GPS	35	50	17.94
TT8	589	19	117.43
LPSleep	1218	2	28.15
TT8_Active	697	19	138.99
TT8_Sampling	347	39	138.85
TT8_CF8	388	45	178.19
TT8_Kalman	33	81	27.31
Analog_circuits	998	12	119.78
GPS_charging	0	0	0.00
Compass	320	20	64.18
RAFOS	360	1	5.40

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
26	-1.15	-132.0	0.0	0.0	0	130	0.00	0.00	-101.53	0.000	2	0.000	0.000	674	2045	3404
134	-1.15	-132.0	3.3	-2.0	16	168	12.77	2.92	-11.15	0.000	4	0.275	0.076	2011	644	3875
422	-1.15	-132.0	40.4	-14.6	53	426	0.00	2.75	0.00	0.000	6	0.000	0.038	2011	2074	3877
556	-1.07	-132.0	58.1	-12.6	65	562	0.15	2.90	0.00	0.000	4	0.153	0.059	2032	644	3878
578	-1.01	-132.0	61.0	-12.8	66	585	0.00	2.75	0.00	0.000	6	0.000	0.041	2032	2060	3878
712	-0.96	-132.0	75.6	-10.9	79	718	0.15	3.05	0.00	0.000	4	0.150	0.091	2056	3463	3878
780	-0.96	-132.0	82.6	-9.8	84	787	0.00	2.72	0.00	0.000	6	0.000	0.038	2055	2050	3878
914	-1.02	-132.0	94.9	-9.3	97	919	0.00	2.97	0.00	0.000	4	0.000	0.074	2055	3469	3878
1000	-1.07	-132.0	103.2	-9.6	104	1004	0.00	2.75	0.00	0.000	6	0.000	0.040	2055	2052	3878
1024	end dive: TARGET_DEPTH_EXCEEDED
state	1024	begin apogee
1032	-0.21	0.0	105.9	9.6	106	1150	0.95	0.00	112.57	0.673	6	0.130	0.000	2223	1861	3334
1150	end apogee: CONTROL_FINISHED_OK
state	1150	begin climb
1154	1.15	132.0	109.2	0.0	118	1276	1.55	3.25	111.90	0.661	4	0.075	0.103	2516	470	2797
1338	1.15	132.0	93.0	14.6	134	1345	0.00	2.85	0.00	0.000	6	0.000	0.050	2516	1866	2796
1472	0.97	132.0	75.3	13.0	147	1478	0.20	3.17	0.00	0.000	4	0.134	0.094	2484	3280	2795
1569	0.82	132.0	64.0	11.5	155	1575	0.22	2.85	0.00	0.000	6	0.133	0.049	2450	1878	2795
1704	0.72	141.3	51.1	9.5	167	1718	0.15	3.03	7.20	0.687	4	0.137	0.066	2425	3282	2759
1776	0.72	165.9	44.8	8.7	173	1802	0.00	2.88	20.33	0.661	6	0.000	0.048	2425	1862	2658
1932	0.79	195.6	31.5	8.4	187	1965	0.00	3.03	24.33	0.653	4	0.000	0.064	2425	3284	2537
2070	0.89	208.7	19.3	9.3	199	2090	0.20	2.85	10.48	0.668	6	0.054	0.048	2467	1873	2484
2159	0.98	208.7	9.6	10.9	214	2165	0.00	2.97	0.00	0.000	4	0.000	0.065	2467	3288	2483
2183	0.98	208.7	7.1	10.1	218	2189	0.00	2.88	0.00	0.000	6	0.000	0.048	2467	1861	2483
2259	0.98	345.4	2.5	2.8	231	2297	0.00	0.00	36.58	0.631	2	0.000	0.000	2467	1861	2230
2298	end climb: SURFACE_DEPTH_REACHED
state	2298	begin surface coast
2499	end surface coast: NO_VERTICAL_VELOCITY
state	2499	begin surface