Glider dive log

PortSusan 21Jul08 * SG113 * Dive index * Mission links * Dive 55 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 113 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MIN 280 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 55 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3944 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21 C_ROLL_DIVE 2112 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2112 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 520 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 38 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2620 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -21448.996 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 171 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4022 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2605 PRESSURE_YINT -26.366219 SEABIRD_T_G 0.004371644

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160825 SEABIRD_T_H 0.00064727472

MASS 51398 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.6231954e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8174416e-06

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9426794

KALMAN_USE 2 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.0034169999 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0095870001 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012778315

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.059999999 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 520

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 18 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 171 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 150 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00135 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160825 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -26.366219 TGT_DEFAULT_LAT 21

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -158.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_CHARGE -21448.996

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 113 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3944 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2605 KALMAN_USE 2 ROLL_MIN 280 USE_BATHY -4

C_ROLL_CLIMB 2112 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2112 MASS 51398 R_PORT_OVSHOOT 38 VBD_BLEED_AD_RATE 8

C_VBD 2620 MAX_BUOY 150 R_STBD_OVSHOOT 32 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 3 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6231954e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8174416e-06 XPDR_DEVICE 24

DIVE 55 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 152426,4808.062,-12223.972,6,1.2,11,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 152839,4808.097,-12223.979,13,1.2,13,18.3 MHEAD_RNG_PITCHd_Wd 169.8,182,-27.6,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 103

Post-dive calculations and measurements:

FINISH 1.9,1.017976 TCM_TEMP 19.50

SM_CCo 2225,120.20,0.687,0,0,499,520.04 XPDR_PINGS 0

SM_GC 0.80,0.00,0.00,120.20,0.000,0.000,0.687,167,2105,499,-11.21,-0.20,520.04 _24V_AH 24.0,7.089

RAFOS_CLK 83 _10V_AH 10.8,1.842

RAFOS 4,1216826962,15.500000,15.489445,58,58,57,57,55,55,149,171,186,222,202,159 DATA_FILE_SIZE 12750,384

RAFOS_FIX 78726.156250,6768502.000000,230708,121242,3,65,369184.56 CAP_FILE_SIZE 40780,0

IRIDIUM_FIX 4751.72,-12226.29,171097,141421 CFSIZE 260165632,255684608

TT8_MAMPS 0.029913 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1862 SOUNDSPEED 1483.7

INTERNAL_PRESSURE 8.7601 GPS 230708,160857,4807.934,-12223.991,10,1.5,10,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 246 128.18 SBE_CT 268 24 154.90

Roll_motor 30 67 50.14 SBE_O2 268 19 122.60

VBD_pump_during_apogee 291 769 5385.26 nil 0 0 0.00

VBD_pump_during_surface 120 687 1982.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 71.50 nil 0 0 0.00

Iridium_during_connect 45 160 174.62 nil 0 0 0.00

Iridium_during_xfer 95 223 508.70

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.30

TT8 582 19 125.25

LPSleep 766 2 19.12

TT8_Active 468 19 100.69

TT8_Sampling 581 39 250.70

TT8_CF8 217 45 107.86

TT8_Kalman 0 0 0.00

Analog_circuits 826 12 107.05

GPS_charging 0 0 0.00

Compass 572 8 49.43

RAFOS 720 1 11.66

Transponder 0 30 0.17

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.62 -61.8 0.0 0.0 0 86 0.00 0.00 -68.70 0.000 2 0.000 0.000 168 2125 2214

89 -1.64 -78.8 3.2 -8.1 12 124 8.32 2.28 -18.80 0.000 4 0.247 0.067 2245 3517 2943

130 -1.15 -78.8 9.8 -13.0 19 136 0.40 2.17 0.00 0.000 6 0.196 0.033 2352 2096 2944

272 -1.36 -78.8 30.8 -13.7 44 278 0.15 0.00 0.00 0.000 6 0.090 0.000 2300 2095 2946

412 -1.36 -78.8 53.8 -16.1 69 418 0.00 2.25 0.00 0.000 4 0.000 0.053 2300 3519 2947

442 -1.46 -78.8 58.7 -17.8 74 448 0.00 2.12 0.00 0.000 6 0.000 0.033 2300 2113 2948

651 -1.58 -78.8 93.2 -16.0 111 658 0.15 2.15 0.00 0.000 4 0.091 0.043 2246 695 2949

663 -1.58 -78.8 95.5 -16.4 113 670 0.00 2.17 0.00 0.000 6 0.000 0.040 2245 2121 2949

707 end dive: TARGET_DEPTH_EXCEEDED

state 707 begin apogee

711 -0.28 0.0 103.9 18.1 121 779 0.98 0.00 61.53 0.769 6 0.172 0.000 2539 2121 2619

780 end apogee: CONTROL_FINISHED_OK

state 780 begin climb

781 1.64 78.8 108.5 0.0 133 851 1.27 2.33 60.88 0.740 4 0.097 0.048 2961 3526 2297

879 1.05 94.1 102.8 8.3 150 899 0.50 2.25 12.93 0.676 6 0.179 0.035 2830 2106 2236

1101 1.38 129.3 88.3 6.2 189 1137 0.20 2.33 27.83 0.739 4 0.072 0.051 2909 3523 2091

1390 1.20 129.3 55.0 11.2 240 1397 0.17 2.12 0.00 0.000 6 0.173 0.035 2864 2138 2090

1599 1.45 159.0 39.0 6.7 277 1629 0.20 2.22 22.90 0.744 4 0.075 0.051 2943 3518 1970

1883 1.38 210.7 7.2 4.3 327 1930 0.17 2.05 38.78 0.739 6 0.170 0.035 2901 2171 1760

2065 2.05 300.8 4.7 0.2 359 2140 0.43 2.28 66.85 0.723 4 0.062 0.051 3063 3509 1391

2161 end climb: SURFACE_DEPTH_REACHED

state 2161 begin surface coast

2207 end surface coast: CONTROL_FINISHED_OK

state 2207 begin surface

ID	113	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MIN	280	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	55	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3944	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21	C_ROLL_DIVE	2112	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2112	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	520	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	38	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2620	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-21448.996	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	171	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4022	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2605	PRESSURE_YINT	-26.366219	SEABIRD_T_G	0.004371644
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160825	SEABIRD_T_H	0.00064727472
MASS	51398	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.6231954e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8174416e-06
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9426794
KALMAN_USE	2	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1390046
HD_A	0.0034169999	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.0095870001	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012778315
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.059999999	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	152426,4808.062,-12223.972,6,1.2,11,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	152839,4808.097,-12223.979,13,1.2,13,18.3	MHEAD_RNG_PITCHd_Wd	169.8,182,-27.6,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	103

FINISH	1.9,1.017976	TCM_TEMP	19.50
SM_CCo	2225,120.20,0.687,0,0,499,520.04	XPDR_PINGS	0
SM_GC	0.80,0.00,0.00,120.20,0.000,0.000,0.687,167,2105,499,-11.21,-0.20,520.04	_24V_AH	24.0,7.089
RAFOS_CLK	83	_10V_AH	10.8,1.842
RAFOS	4,1216826962,15.500000,15.489445,58,58,57,57,55,55,149,171,186,222,202,159	DATA_FILE_SIZE	12750,384
RAFOS_FIX	78726.156250,6768502.000000,230708,121242,3,65,369184.56	CAP_FILE_SIZE	40780,0
IRIDIUM_FIX	4751.72,-12226.29,171097,141421	CFSIZE	260165632,255684608
TT8_MAMPS	0.029913	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1862	SOUNDSPEED	1483.7
INTERNAL_PRESSURE	8.7601	GPS	230708,160857,4807.934,-12223.991,10,1.5,10,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	246	128.18	SBE_CT	268	24	154.90
Roll_motor	30	67	50.14	SBE_O2	268	19	122.60
VBD_pump_during_apogee	291	769	5385.26	nil	0	0	0.00
VBD_pump_during_surface	120	687	1982.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	71.50	nil	0	0	0.00
Iridium_during_connect	45	160	174.62	nil	0	0	0.00
Iridium_during_xfer	95	223	508.70
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.30
TT8	582	19	125.25
LPSleep	766	2	19.12
TT8_Active	468	19	100.69
TT8_Sampling	581	39	250.70
TT8_CF8	217	45	107.86
TT8_Kalman	0	0	0.00
Analog_circuits	826	12	107.05
GPS_charging	0	0	0.00
Compass	572	8	49.43
RAFOS	720	1	11.66
Transponder	0	30	0.17

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.62	-61.8	0.0	0.0	0	86	0.00	0.00	-68.70	0.000	2	0.000	0.000	168	2125	2214
89	-1.64	-78.8	3.2	-8.1	12	124	8.32	2.28	-18.80	0.000	4	0.247	0.067	2245	3517	2943
130	-1.15	-78.8	9.8	-13.0	19	136	0.40	2.17	0.00	0.000	6	0.196	0.033	2352	2096	2944
272	-1.36	-78.8	30.8	-13.7	44	278	0.15	0.00	0.00	0.000	6	0.090	0.000	2300	2095	2946
412	-1.36	-78.8	53.8	-16.1	69	418	0.00	2.25	0.00	0.000	4	0.000	0.053	2300	3519	2947
442	-1.46	-78.8	58.7	-17.8	74	448	0.00	2.12	0.00	0.000	6	0.000	0.033	2300	2113	2948
651	-1.58	-78.8	93.2	-16.0	111	658	0.15	2.15	0.00	0.000	4	0.091	0.043	2246	695	2949
663	-1.58	-78.8	95.5	-16.4	113	670	0.00	2.17	0.00	0.000	6	0.000	0.040	2245	2121	2949
707	end dive: TARGET_DEPTH_EXCEEDED
state	707	begin apogee
711	-0.28	0.0	103.9	18.1	121	779	0.98	0.00	61.53	0.769	6	0.172	0.000	2539	2121	2619
780	end apogee: CONTROL_FINISHED_OK
state	780	begin climb
781	1.64	78.8	108.5	0.0	133	851	1.27	2.33	60.88	0.740	4	0.097	0.048	2961	3526	2297
879	1.05	94.1	102.8	8.3	150	899	0.50	2.25	12.93	0.676	6	0.179	0.035	2830	2106	2236
1101	1.38	129.3	88.3	6.2	189	1137	0.20	2.33	27.83	0.739	4	0.072	0.051	2909	3523	2091
1390	1.20	129.3	55.0	11.2	240	1397	0.17	2.12	0.00	0.000	6	0.173	0.035	2864	2138	2090
1599	1.45	159.0	39.0	6.7	277	1629	0.20	2.22	22.90	0.744	4	0.075	0.051	2943	3518	1970
1883	1.38	210.7	7.2	4.3	327	1930	0.17	2.05	38.78	0.739	6	0.170	0.035	2901	2171	1760
2065	2.05	300.8	4.7	0.2	359	2140	0.43	2.28	66.85	0.723	4	0.062	0.051	3063	3509	1391
2161	end climb: SURFACE_DEPTH_REACHED
state	2161	begin surface coast
2207	end surface coast: CONTROL_FINISHED_OK
state	2207	begin surface