Glider dive log

PortSusan 10Dec07 * SG143 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 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 5 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 80

D_TGT 150 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DELTA 10

D_ABORT 250 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2090 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2040 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 620 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 31 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 53

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 490 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3503 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 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 -2200.906 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 30 PITCH_MIN 499 AH0_24V 91.800003 SEABIRD_T_G 0.004347452

SPEED_FACTOR 1 PITCH_MAX 3809 AH0_10V 61.200001 SEABIRD_T_H 0.00063227763

RHO 1.023 C_PITCH 2914 PRESSURE_YINT -4.3673596 SEABIRD_T_I 2.3986022e-05

MASS 51288 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1624737e-05 SEABIRD_T_J 2.5175659e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -9.8894777

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1048266

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.001653178

HD_A 0.003 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021673607

AD7714Ch0Gain 64 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 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 620

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3809 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 499 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.1624737e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -4.3673596 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 30 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 15

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 -2200.906

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 143 ROLL_MAX 3940 T_TURN_SAMPINT 5

C_PITCH 2914 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2040 INT_PRESSURE_YINT 0 ROLL_MIN 160 UNCOM_BLEED 20

C_ROLL_DIVE 2090 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3503 MASS 51288 R_PORT_OVSHOOT 30 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 31 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -9.8894777 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1048266 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.001653178 VBD_DBAND 2

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00021673607 VBD_MAX 3964

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.004347452 VBD_MAXERRORS 1

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.00063227763 VBD_MIN 490

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3986022e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 5 PHONE_DEVICE 48 SEABIRD_T_J 2.5175659e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 250 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 004702,4806.843,-12223.414,7,1.3,13,18.3 TGT_NAME SIX

_CALLS 2 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 005808,4806.868,-12223.429,9,1.3,14,18.3 MHEAD_RNG_PITCHd_Wd 114.0,2388,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 97

Post-dive calculations and measurements:

FINISH 2.6,1.017429 XPDR_PINGS 1

SM_CCo 2464,344.55,0.782,0,0,975,620.12 ALTIM_BOTTOM_PING 90.3,25.0

SM_GC 1.01,0.00,0.00,344.55,0.000,0.000,0.782,497,2101,975,-11.12,0.31,620.12 _24V_AH 23.5,1.741

IRIDIUM_FIX 4751.72,-12226.29,111207,040451 _10V_AH 10.1,0.668

TT8_MAMPS 0.021476 DATA_FILE_SIZE 31884,429

HUMID 1653 CFSIZE 260165632,258555904

INTERNAL_PRESSURE 7.8714 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.70 GPS 111207,014623,4806.635,-12223.133,9,3.9,28,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 165 100.25 SBE_CT 293 24 165.45

Roll_motor 38 103 94.29 SBE_O2 216 19 96.69

VBD_pump_during_apogee 247 951 5528.37 Optode 0 33 0.00

VBD_pump_during_surface 344 781 6328.34 WL_BB2F 484 105 1196.66

VBD_valve 0 0 0.00 WL_BBFL2VMT 496 105 1224.04

Iridium_during_init 81 103 197.21 nil 0 0 0.00

Iridium_during_connect 114 160 431.50 nil 0 0 0.00

Iridium_during_xfer 313 223 1640.91

Transponder_ping 1 420 12.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.17

TT8 644 19 128.86

LPSleep 792 2 17.52

TT8_Active 672 19 134.43

TT8_Sampling 783 39 314.81

TT8_CF8 601 45 278.03

TT8_Kalman 0 0 0.00

Analog_circuits 1102 12 133.61

GPS_charging 0 0 0.00

Compass 781 8 63.11

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 0 103 0.00 0.00 -82.90 0.000 2 0.000 0.000 496 2103 3119

105 -1.17 -195.5 3.2 -1.8 15 152 11.70 2.53 -26.23 0.000 4 0.166 0.087 2653 695 3967

366 -1.17 -195.5 18.2 -7.8 61 373 0.00 2.35 0.00 0.000 6 0.000 0.053 2653 2088 3967

440 -1.17 -195.5 23.7 -7.5 74 447 0.00 2.42 0.00 0.000 4 0.000 0.067 2653 3492 3967

469 -1.17 -195.5 26.0 -8.3 79 476 0.00 2.35 0.00 0.000 6 0.000 0.052 2653 2097 3967

543 -1.17 -195.5 31.8 -7.8 92 550 0.00 2.50 0.00 0.000 4 0.000 0.074 2653 676 3967

566 -1.17 -195.5 33.7 -7.6 96 573 0.00 2.40 0.00 0.000 6 0.000 0.051 2653 2098 3967

708 -1.17 -195.5 44.4 -7.6 121 714 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2098 3967

849 -1.17 -195.5 55.3 -7.8 146 855 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2098 3967

990 -1.17 -195.5 66.3 -7.8 171 996 0.00 2.47 0.00 0.000 4 0.000 0.071 2653 684 3967

1013 -1.17 -195.5 68.2 -8.0 175 1019 0.00 2.38 0.00 0.000 6 0.000 0.050 2653 2100 3966

1154 -1.17 -195.5 78.7 -6.8 200 1159 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2100 3967

1296 -1.17 -195.5 88.9 -7.0 225 1302 0.00 2.47 0.00 0.000 4 0.000 0.071 2653 684 3967

1326 -1.17 -195.5 91.3 -7.7 230 1332 0.00 2.35 0.00 0.000 6 0.000 0.050 2653 2096 3967

1405 end dive: TARGET_DEPTH_EXCEEDED

state 1405 begin apogee

1410 -0.31 0.0 97.3 7.7 244 1507 0.88 0.00 92.40 0.951 6 0.099 0.000 2838 2035 3504

1507 end apogee: CONTROL_FINISHED_OK

state 1508 begin climb

1509 1.17 195.5 99.8 0.0 262 1670 1.45 0.00 154.95 0.817 6 0.069 0.000 3168 2035 2706

1805 1.17 195.5 75.0 11.3 316 1812 0.00 2.45 0.00 0.000 4 0.000 0.073 3168 638 2704

1879 1.17 195.5 65.8 13.0 329 1885 0.00 2.35 0.00 0.000 6 0.000 0.048 3168 2041 2704

2021 1.17 195.5 49.8 10.8 354 2027 0.00 2.45 0.00 0.000 4 0.000 0.068 3168 638 2704

2061 1.17 195.5 44.8 12.0 361 2067 0.00 2.35 0.00 0.000 6 0.000 0.048 3168 2039 2704

2201 1.17 195.5 28.5 11.9 386 2208 0.00 2.45 0.00 0.000 4 0.000 0.068 3168 634 2705

2242 1.17 195.5 23.5 12.1 393 2248 0.00 2.35 0.00 0.000 6 0.000 0.047 3167 2045 2705

2316 1.17 195.5 14.8 11.5 406 2321 0.00 0.00 0.00 0.000 6 0.000 0.000 3168 2045 2705

2389 1.17 195.5 6.1 12.3 419 2394 0.00 0.00 0.00 0.000 6 0.000 0.000 3168 2045 2705

2410 end climb: SURFACE_DEPTH_REACHED

state 2410 begin surface coast

2445 end surface coast: CONTROL_FINISHED_OK

state 2445 begin surface

ID	143	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	5	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	80
D_TGT	150	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DELTA	10
D_ABORT	250	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2090	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2040	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	620	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	31	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	53
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	490	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3503	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	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	-2200.906	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	30	PITCH_MIN	499	AH0_24V	91.800003	SEABIRD_T_G	0.004347452
SPEED_FACTOR	1	PITCH_MAX	3809	AH0_10V	61.200001	SEABIRD_T_H	0.00063227763
RHO	1.023	C_PITCH	2914	PRESSURE_YINT	-4.3673596	SEABIRD_T_I	2.3986022e-05
MASS	51288	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1624737e-05	SEABIRD_T_J	2.5175659e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-9.8894777
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1048266
KALMAN_USE	2	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.001653178
HD_A	0.003	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021673607

GPS1	004702,4806.843,-12223.414,7,1.3,13,18.3	TGT_NAME	SIX
_CALLS	2	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	005808,4806.868,-12223.429,9,1.3,14,18.3	MHEAD_RNG_PITCHd_Wd	114.0,2388,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	97

FINISH	2.6,1.017429	XPDR_PINGS	1
SM_CCo	2464,344.55,0.782,0,0,975,620.12	ALTIM_BOTTOM_PING	90.3,25.0
SM_GC	1.01,0.00,0.00,344.55,0.000,0.000,0.782,497,2101,975,-11.12,0.31,620.12	_24V_AH	23.5,1.741
IRIDIUM_FIX	4751.72,-12226.29,111207,040451	_10V_AH	10.1,0.668
TT8_MAMPS	0.021476	DATA_FILE_SIZE	31884,429
HUMID	1653	CFSIZE	260165632,258555904
INTERNAL_PRESSURE	7.8714	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.70	GPS	111207,014623,4806.635,-12223.133,9,3.9,28,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	165	100.25	SBE_CT	293	24	165.45
Roll_motor	38	103	94.29	SBE_O2	216	19	96.69
VBD_pump_during_apogee	247	951	5528.37	Optode	0	33	0.00
VBD_pump_during_surface	344	781	6328.34	WL_BB2F	484	105	1196.66
VBD_valve	0	0	0.00	WL_BBFL2VMT	496	105	1224.04
Iridium_during_init	81	103	197.21	nil	0	0	0.00
Iridium_during_connect	114	160	431.50	nil	0	0	0.00
Iridium_during_xfer	313	223	1640.91
Transponder_ping	1	420	12.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.17
TT8	644	19	128.86
LPSleep	792	2	17.52
TT8_Active	672	19	134.43
TT8_Sampling	783	39	314.81
TT8_CF8	601	45	278.03
TT8_Kalman	0	0	0.00
Analog_circuits	1102	12	133.61
GPS_charging	0	0	0.00
Compass	781	8	63.11
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	103	0.00	0.00	-82.90	0.000	2	0.000	0.000	496	2103	3119
105	-1.17	-195.5	3.2	-1.8	15	152	11.70	2.53	-26.23	0.000	4	0.166	0.087	2653	695	3967
366	-1.17	-195.5	18.2	-7.8	61	373	0.00	2.35	0.00	0.000	6	0.000	0.053	2653	2088	3967
440	-1.17	-195.5	23.7	-7.5	74	447	0.00	2.42	0.00	0.000	4	0.000	0.067	2653	3492	3967
469	-1.17	-195.5	26.0	-8.3	79	476	0.00	2.35	0.00	0.000	6	0.000	0.052	2653	2097	3967
543	-1.17	-195.5	31.8	-7.8	92	550	0.00	2.50	0.00	0.000	4	0.000	0.074	2653	676	3967
566	-1.17	-195.5	33.7	-7.6	96	573	0.00	2.40	0.00	0.000	6	0.000	0.051	2653	2098	3967
708	-1.17	-195.5	44.4	-7.6	121	714	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2098	3967
849	-1.17	-195.5	55.3	-7.8	146	855	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2098	3967
990	-1.17	-195.5	66.3	-7.8	171	996	0.00	2.47	0.00	0.000	4	0.000	0.071	2653	684	3967
1013	-1.17	-195.5	68.2	-8.0	175	1019	0.00	2.38	0.00	0.000	6	0.000	0.050	2653	2100	3966
1154	-1.17	-195.5	78.7	-6.8	200	1159	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2100	3967
1296	-1.17	-195.5	88.9	-7.0	225	1302	0.00	2.47	0.00	0.000	4	0.000	0.071	2653	684	3967
1326	-1.17	-195.5	91.3	-7.7	230	1332	0.00	2.35	0.00	0.000	6	0.000	0.050	2653	2096	3967
1405	end dive: TARGET_DEPTH_EXCEEDED
state	1405	begin apogee
1410	-0.31	0.0	97.3	7.7	244	1507	0.88	0.00	92.40	0.951	6	0.099	0.000	2838	2035	3504
1507	end apogee: CONTROL_FINISHED_OK
state	1508	begin climb
1509	1.17	195.5	99.8	0.0	262	1670	1.45	0.00	154.95	0.817	6	0.069	0.000	3168	2035	2706
1805	1.17	195.5	75.0	11.3	316	1812	0.00	2.45	0.00	0.000	4	0.000	0.073	3168	638	2704
1879	1.17	195.5	65.8	13.0	329	1885	0.00	2.35	0.00	0.000	6	0.000	0.048	3168	2041	2704
2021	1.17	195.5	49.8	10.8	354	2027	0.00	2.45	0.00	0.000	4	0.000	0.068	3168	638	2704
2061	1.17	195.5	44.8	12.0	361	2067	0.00	2.35	0.00	0.000	6	0.000	0.048	3168	2039	2704
2201	1.17	195.5	28.5	11.9	386	2208	0.00	2.45	0.00	0.000	4	0.000	0.068	3168	634	2705
2242	1.17	195.5	23.5	12.1	393	2248	0.00	2.35	0.00	0.000	6	0.000	0.047	3167	2045	2705
2316	1.17	195.5	14.8	11.5	406	2321	0.00	0.00	0.00	0.000	6	0.000	0.000	3168	2045	2705
2389	1.17	195.5	6.1	12.3	419	2394	0.00	0.00	0.00	0.000	6	0.000	0.000	3168	2045	2705
2410	end climb: SURFACE_DEPTH_REACHED
state	2410	begin surface coast
2445	end surface coast: CONTROL_FINISHED_OK
state	2445	begin surface