Glider dive log

PortSusan 14Dec09 * SG505 * Dive index * Mission links * Dive 53 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 505 HEADING -1 ROLL_MIN 175 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3810 ALTIM_TOP_TURN_MARGIN 0

DIVE 53 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 0 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 1700 ALTIM_PING_DEPTH 80

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1680 ALTIM_PING_DELTA 5

D_TGT 30 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 5 ALTIM_FREQUENCY 13

D_ABORT 250 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 6

D_NO_BLEED 500 SM_CC 480 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 1

D_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT 37 XPDR_VALID 2

D_FINISH 1 FILEMGR 0 R_STBD_OVSHOOT 30 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -0.80000001

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.5 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.027000001 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE -5 VBD_MIN 450 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 20 CALL_TRIES 5 C_VBD 2807 DEVICE2 -1

T_MISSION 30 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_CNV -0.245296 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 4 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY 0 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -23028.604 UNCOM_BLEED 20 LOGGERDEVICE3 -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

D_OFFGRID 1001 STROBE 0 CF8_MAXERRORS 20 COMPASS_DEVICE 33

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 COMPASS2_DEVICE -1

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 PHONE_DEVICE 48

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 GPS_DEVICE 32

MAX_BUOY 220 PITCH_MIN 110 MINV_10V 8 RAFOS_DEVICE -1

COURSE_BIAS 0 PITCH_MAX 3893 FG_AHR_10V 0 XPDR_DEVICE 24

GLIDE_SLOPE 30 C_PITCH 2915 FG_AHR_24V 0 SIM_W 0

SPEED_FACTOR 1 PITCH_DBAND 0.050000001 PHONE_SUPPLY 2 SIM_PITCH 0

RHO 1.0273 PITCH_CNV 0.003125763 PRESSURE_YINT -66.661293 SEABIRD_T_G 0.0042964104

MASS 52152 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.00011485742 SEABIRD_T_H 0.00061985431

NAV_MODE 1 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_T_I 2.235871e-05

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3254006e-06

KALMAN_USE 1 PITCH_AD_RATE 160 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.7945118

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_H 1.1383005

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0013506444

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018750974

AD7714Ch0Gain 128 D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.3254006e-06

AH0_10V 100 D_NO_BLEED 500 N_NOSURFACE -5 SIM_PITCH 0

AH0_24V 150 D_OFFGRID 1001 PHONE_DEVICE 48 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 480

ALTIM_BOTTOM_TURN_MARGIN 10 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SURF 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PING_DELTA 5 D_TGT 30 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 6 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.050000001 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 1 FERRY_MAX 45 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MAX 3893 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MIN 110 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 32 PRESSURE_SLOPE 0.00011485742 T_DIVE 20

CALL_WAIT 60 HD_A 0.003 PRESSURE_YINT -66.661293 T_GPS 15

CAPMAXSIZE 200000 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPUPLOAD 1 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -23028.604

CF8_MAXERRORS 20 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 HEAD_ERRBAND 5 RAFOS_HIT_WINDOW 3600 T_MISSION 30

COMPASS2_DEVICE -1 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_USE 0 ID 505 RHO 1.0273 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.027000001 T_TURN_SAMPINT 4

C_PITCH 2915 INT_PRESSURE_YINT -0.80000001 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

C_ROLL_CLIMB 1680 KALMAN_USE 1 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_ROLL_DIVE 1700 KERMIT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2807 LOGGERDEVICE1 -1 ROLL_DEG 45 USE_BATHY 0

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MAX 3810 USE_ICE 0

DEEPGLIDERMB 0 LOGGERDEVICE3 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 2 LOGGERDEVICE4 -1 ROLL_MIN 175 VBD_CNV -0.245296

DEVICE2 -1 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MASS 52152 R_PORT_OVSHOOT 37 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 220 R_STBD_OVSHOOT 30 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 8 SEABIRD_C_G -9.7945118 VBD_MIN 450

DEVICE6 -1 MINV_24V 19 SEABIRD_C_H 1.1383005 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 53 MISSION 2 SEABIRD_C_I -0.0013506444 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 250 MOTHERBOARD 4 SEABIRD_C_J 0.00018750974 VBD_TIMEOUT 720

D_BOOST 4 NAV_MODE 1 SEABIRD_T_G 0.0042964104 XPDR_DEVICE 24

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.00061985431 XPDR_INHIBIT 90

D_FINISH 1 N_GPS 20 SEABIRD_T_I 2.235871e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 100611,202147,4748.505,-12226.294,0,10000.0,0,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.204,0.109

_SM_DEPTHo 0.03 KALMAN_X -11885.1,-2365.8,204.6,7751.5,32.7

_SM_ANGLEo 0.9 KALMAN_Y -35941.4,-8271.7,25127.6,-11097.0,1161.1

GPS2 100611,202147,4748.505,-12226.294,0,10000.0,0,18.3 MHEAD_RNG_PITCHd_Wd 43.6,31242,-4.7,-5.000

SPEED_LIMITS 0.087,0.232 D_GRID 30

Post-dive calculations and measurements:

FINISH1 0.9,1.018656,431 _10V_AH 10.5,5.725

FINISH2 0.1 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12226.29,100611,202047 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028379 MEM 324304

HUMID 1077427724 DATA_FILE_SIZE 6830,225

INTERNAL_PRESSURE 8.966 CAP_FILE_SIZE 25383,0

TCM_TEMP 18.50 CFSIZE 260165632,256516096

XPDR_PINGS 0 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

_24V_AH 24.0,17.436 GPS 100611,202147,4748.505,-12226.294,0,10000.0,0,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 2 126 6.76 SBE_CT 145 24 83.66

Roll_motor 29 55 39.60 nil 0 0 0.00

VBD_pump_during_apogee 240 884 5100.23 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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 288 19 59.89

LPSleep 199 2 4.58

TT8_Active 275 19 57.37

TT8_Sampling 322 39 134.93

TT8_CF8 19 45 9.34

TT8_Kalman 33 0 0.00

Analog_circuits 532 12 67.13

GPS_charging 0 0 0.00

Compass 335 15 52.89

RAFOS 0 0 0.00

Transponder 0 5 0.05

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.42 -214.1 0.0 0.0 0 135 0.00 0.00 -116.30 0.000 6 0.000 0.000 3077 3269 3680 0 0 0 0 0 0

137 -0.42 -214.2 2.3 -3.7 28 148 0.88 5.03 0.00 0.000 4 0.127 0.048 2795 190 3680 0 0 0 0 0 0

176 -0.42 -214.2 7.2 -10.6 36 181 0.00 2.42 0.00 0.000 6 0.000 0.041 2794 1708 3680 0 0 0 0 0 0

219 -0.42 -214.2 12.0 -12.2 45 224 0.00 2.53 0.00 0.000 4 0.000 0.050 2794 3285 3681 0 0 0 0 0 0

248 -0.42 -214.2 13.7 -8.0 51 253 0.00 2.60 0.00 0.000 6 0.000 0.041 2795 1656 3680 0 0 0 0 0 0

291 -0.42 -214.2 15.3 -4.4 60 297 0.00 2.33 0.00 0.000 4 0.000 0.050 2795 181 3681 0 0 0 0 0 0

445 -0.42 -214.2 26.4 -7.3 93 450 0.00 2.33 0.00 0.000 6 0.000 0.040 2794 1656 3681 0 0 0 0 0 0

488 -0.42 -214.2 28.9 -6.3 102 493 0.00 2.60 0.00 0.000 4 0.000 0.050 2794 3288 3681 0 0 0 0 0 0

502 end dive: TARGET_DEPTH_EXCEEDED

state 502 begin apogee

508 -0.17 0.0 30.0 6.1 105 586 0.20 0.00 72.68 0.884 6 0.086 0.000 2874 1675 2804 0 0 0 0 0 0

587 end apogee: CONTROL_FINISHED_OK

state 587 begin climb

588 0.42 214.2 34.1 0.0 123 671 0.45 2.55 74.20 0.857 4 0.055 0.048 3066 179 1930 0 0 0 0 0 0

934 0.88 586.0 9.3 -1.1 199 1035 0.35 2.40 93.43 0.731 2 0.061 0.038 3212 1695 841 0 0 0 0 0 0

1036 end climb: FINISH_DEPTH_REACHED

state 1036 begin subsurface finish

1041 0.53 430.8 0.9 -12.9 222 1056 0.35 2.53 -7.78 0.000 4 0.073 0.055 3078 173 1052 0 0 0 0 0 0

1057 end subsurface finish: CONTROL_FINISHED_OK

state 1057 begin surface

ID	505	HEADING	-1	ROLL_MIN	175	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3810	ALTIM_TOP_TURN_MARGIN	0
DIVE	53	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	0	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	1700	ALTIM_PING_DEPTH	80
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1680	ALTIM_PING_DELTA	5
D_TGT	30	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	5	ALTIM_FREQUENCY	13
D_ABORT	250	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	6
D_NO_BLEED	500	SM_CC	480	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	1
D_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	37	XPDR_VALID	2
D_FINISH	1	FILEMGR	0	R_STBD_OVSHOOT	30	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-0.80000001
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.5	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.027000001	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	-5	VBD_MIN	450	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	20	CALL_TRIES	5	C_VBD	2807	DEVICE2	-1
T_MISSION	30	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_CNV	-0.245296	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	4	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	0	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-23028.604	UNCOM_BLEED	20	LOGGERDEVICE3	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
D_OFFGRID	1001	STROBE	0	CF8_MAXERRORS	20	COMPASS_DEVICE	33
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	COMPASS2_DEVICE	-1
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	PHONE_DEVICE	48
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	GPS_DEVICE	32
MAX_BUOY	220	PITCH_MIN	110	MINV_10V	8	RAFOS_DEVICE	-1
COURSE_BIAS	0	PITCH_MAX	3893	FG_AHR_10V	0	XPDR_DEVICE	24
GLIDE_SLOPE	30	C_PITCH	2915	FG_AHR_24V	0	SIM_W	0
SPEED_FACTOR	1	PITCH_DBAND	0.050000001	PHONE_SUPPLY	2	SIM_PITCH	0
RHO	1.0273	PITCH_CNV	0.003125763	PRESSURE_YINT	-66.661293	SEABIRD_T_G	0.0042964104
MASS	52152	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.00011485742	SEABIRD_T_H	0.00061985431
NAV_MODE	1	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_T_I	2.235871e-05
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3254006e-06
KALMAN_USE	1	PITCH_AD_RATE	160	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.7945118
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_H	1.1383005
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0013506444
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018750974

GPS1	100611,202147,4748.505,-12226.294,0,10000.0,0,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.204,0.109
_SM_DEPTHo	0.03	KALMAN_X	-11885.1,-2365.8,204.6,7751.5,32.7
_SM_ANGLEo	0.9	KALMAN_Y	-35941.4,-8271.7,25127.6,-11097.0,1161.1
GPS2	100611,202147,4748.505,-12226.294,0,10000.0,0,18.3	MHEAD_RNG_PITCHd_Wd	43.6,31242,-4.7,-5.000
SPEED_LIMITS	0.087,0.232	D_GRID	30

FINISH1	0.9,1.018656,431	_10V_AH	10.5,5.725
FINISH2	0.1	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12226.29,100611,202047	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028379	MEM	324304
HUMID	1077427724	DATA_FILE_SIZE	6830,225
INTERNAL_PRESSURE	8.966	CAP_FILE_SIZE	25383,0
TCM_TEMP	18.50	CFSIZE	260165632,256516096
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	24.0,17.436	GPS	100611,202147,4748.505,-12226.294,0,10000.0,0,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	2	126	6.76	SBE_CT	145	24	83.66
Roll_motor	29	55	39.60	nil	0	0	0.00
VBD_pump_during_apogee	240	884	5100.23	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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	288	19	59.89
LPSleep	199	2	4.58
TT8_Active	275	19	57.37
TT8_Sampling	322	39	134.93
TT8_CF8	19	45	9.34
TT8_Kalman	33	0	0.00
Analog_circuits	532	12	67.13
GPS_charging	0	0	0.00
Compass	335	15	52.89
RAFOS	0	0	0.00
Transponder	0	5	0.05

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.42	-214.1	0.0	0.0	0	135	0.00	0.00	-116.30	0.000	6	0.000	0.000	3077	3269	3680	0	0	0	0	0	0
137	-0.42	-214.2	2.3	-3.7	28	148	0.88	5.03	0.00	0.000	4	0.127	0.048	2795	190	3680	0	0	0	0	0	0
176	-0.42	-214.2	7.2	-10.6	36	181	0.00	2.42	0.00	0.000	6	0.000	0.041	2794	1708	3680	0	0	0	0	0	0
219	-0.42	-214.2	12.0	-12.2	45	224	0.00	2.53	0.00	0.000	4	0.000	0.050	2794	3285	3681	0	0	0	0	0	0
248	-0.42	-214.2	13.7	-8.0	51	253	0.00	2.60	0.00	0.000	6	0.000	0.041	2795	1656	3680	0	0	0	0	0	0
291	-0.42	-214.2	15.3	-4.4	60	297	0.00	2.33	0.00	0.000	4	0.000	0.050	2795	181	3681	0	0	0	0	0	0
445	-0.42	-214.2	26.4	-7.3	93	450	0.00	2.33	0.00	0.000	6	0.000	0.040	2794	1656	3681	0	0	0	0	0	0
488	-0.42	-214.2	28.9	-6.3	102	493	0.00	2.60	0.00	0.000	4	0.000	0.050	2794	3288	3681	0	0	0	0	0	0
502	end dive: TARGET_DEPTH_EXCEEDED
state	502	begin apogee
508	-0.17	0.0	30.0	6.1	105	586	0.20	0.00	72.68	0.884	6	0.086	0.000	2874	1675	2804	0	0	0	0	0	0
587	end apogee: CONTROL_FINISHED_OK
state	587	begin climb
588	0.42	214.2	34.1	0.0	123	671	0.45	2.55	74.20	0.857	4	0.055	0.048	3066	179	1930	0	0	0	0	0	0
934	0.88	586.0	9.3	-1.1	199	1035	0.35	2.40	93.43	0.731	2	0.061	0.038	3212	1695	841	0	0	0	0	0	0
1036	end climb: FINISH_DEPTH_REACHED
state	1036	begin subsurface finish
1041	0.53	430.8	0.9	-12.9	222	1056	0.35	2.53	-7.78	0.000	4	0.073	0.055	3078	173	1052	0	0	0	0	0	0
1057	end subsurface finish: CONTROL_FINISHED_OK
state	1057	begin surface