Glider dive log

PortSusan 10Dec07 * SG144 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 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 6 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 90

D_TGT 150 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2170 ALTIM_FREQUENCY 13

D_NO_BLEED 500 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2190 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 630 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 26 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 54

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 480 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3950 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3503 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 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 -662.7337 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 45 PITCH_MIN 500 AH0_24V 91.800003 SEABIRD_T_G 0.0043142079

SPEED_FACTOR 1 PITCH_MAX 3812 AH0_10V 61.200001 SEABIRD_T_H 0.00062953553

RHO 1.023 C_PITCH 2754 PRESSURE_YINT -2.6104116 SEABIRD_T_I 2.3274781e-05

MASS 51458 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011159377 SEABIRD_T_J 2.4096155e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.012566

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1222577

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011971687

HD_A 0.003 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.000188736

AD7714Ch0Gain 128 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 500 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 630

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3812 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 500 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 90 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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011159377 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.6104116 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 45 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 5

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 -662.7337

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 144 ROLL_MAX 3940 T_TURN_SAMPINT 5

C_PITCH 2754 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2190 INT_PRESSURE_YINT 0 ROLL_MIN 160 UNCOM_BLEED 20

C_ROLL_DIVE 2170 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3503 MASS 51458 R_PORT_OVSHOOT 26 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 26 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.012566 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1222577 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011971687 VBD_DBAND 2

DEVICE3 54 N_FILEKB 4 SEABIRD_C_J 0.000188736 VBD_MAX 3950

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043142079 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062953553 VBD_MIN 480

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3274781e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 6 PHONE_DEVICE 48 SEABIRD_T_J 2.4096155e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 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 013915,4806.960,-12222.813,8,1.8,8,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.23 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 014526,4807.045,-12222.860,14,1.8,31,18.3 MHEAD_RNG_PITCHd_Wd 132.9,2209,-14.9,-10.000

SPEED_LIMITS 0.100,0.295 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.6,1.017674 XPDR_PINGS 143

SM_CCo 2440,285.67,0.589,0,0,934,630.18 ALTIM_BOTTOM_PING 90.3,8.4

SM_GC 1.40,0.00,0.00,285.67,0.000,0.000,0.589,498,2193,934,-10.38,0.65,630.18 _24V_AH 23.7,1.246

IRIDIUM_FIX 4748.51,-12221.84,121207,040427 _10V_AH 10.1,0.541

TT8_MAMPS 0.026078 DATA_FILE_SIZE 25426,426

HUMID 1633 CFSIZE 260165632,258760704

INTERNAL_PRESSURE 8.32063 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.90 GPS 121207,023225,4806.842,-12222.729,38,1.2,38,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 161 92.92 SBE_CT 289 24 164.50

Roll_motor 34 62 51.05 SBE_O2 209 19 94.32

VBD_pump_during_apogee 295 678 4750.07 Optode 0 33 0.00

VBD_pump_during_surface 285 589 3988.20 WL_BB2F 496 105 1235.47

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 95.35 nil 0 0 0.00

Iridium_during_connect 32 160 121.59 nil 0 0 0.00

Iridium_during_xfer 199 223 1052.49

Transponder_ping 36 420 360.83

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.71

TT8 615 19 123.13

LPSleep 730 2 16.16

TT8_Active 636 19 127.37

TT8_Sampling 789 39 317.29

TT8_CF8 343 45 158.72

TT8_Kalman 0 0 0.00

Analog_circuits 1073 12 130.09

GPS_charging 0 0 0.00

Compass 766 8 61.94

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 92 0.00 0.00 -72.03 0.000 2 0.000 0.000 496 2188 2788

94 -1.17 -195.5 3.0 -2.9 13 151 10.70 0.00 -41.67 0.000 6 0.162 0.000 2495 2189 3951

218 -1.17 -195.5 7.8 -4.7 35 224 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2188 3952

292 -1.17 -195.5 11.3 -6.0 48 298 0.00 2.50 0.00 0.000 4 0.000 0.063 2495 765 3952

343 -1.17 -195.5 14.9 -7.4 57 349 0.00 2.40 0.00 0.000 6 0.000 0.046 2495 2171 3952

417 -1.17 -195.5 19.9 -7.3 70 424 0.00 2.47 0.00 0.000 4 0.000 0.061 2495 764 3952

463 -1.17 -195.5 23.5 -7.8 78 469 0.00 2.40 0.00 0.000 6 0.000 0.046 2495 2176 3952

537 -1.17 -195.5 29.3 -7.5 91 543 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2176 3952

610 -1.17 -195.5 35.6 -9.0 104 617 0.00 2.47 0.00 0.000 4 0.000 0.061 2495 766 3952

752 -1.17 -195.5 48.0 -8.6 129 758 0.00 2.40 0.00 0.000 6 0.000 0.046 2495 2174 3952

893 -1.17 -195.5 59.3 -7.6 154 899 0.00 2.47 0.00 0.000 4 0.000 0.061 2495 762 3951

994 -1.17 -195.5 67.7 -7.9 172 1000 0.00 2.40 0.00 0.000 6 0.000 0.046 2495 2171 3951

1136 -1.17 -195.5 78.8 -7.7 197 1142 0.00 2.47 0.00 0.000 4 0.000 0.061 2495 764 3951

1209 -1.17 -195.5 84.6 -8.1 210 1215 0.00 2.40 0.00 0.000 6 0.000 0.046 2495 2177 3951

1284 end dive: BOTTOM_OBSTACLE_DETECTED

state 1284 begin apogee

1288 -0.31 0.0 90.3 7.6 223 1378 0.85 0.00 86.60 0.678 6 0.099 0.000 2677 2177 3503

1379 end apogee: CONTROL_FINISHED_OK

state 1379 begin climb

1381 1.17 195.5 92.9 0.0 240 1541 1.45 2.58 151.02 0.653 4 0.071 0.059 3003 3594 2705

1570 1.17 195.5 80.8 10.2 275 1576 0.00 2.40 0.00 0.000 6 0.000 0.043 3003 2188 2705

1710 1.20 216.7 67.1 9.3 300 1732 0.00 0.00 17.77 0.615 6 0.000 0.000 3004 2188 2619

1867 1.21 224.5 51.8 9.7 328 1878 0.00 0.00 7.88 0.560 6 0.000 0.000 3003 2188 2587

2013 1.22 238.3 37.6 9.5 354 2030 0.00 0.00 12.23 0.588 6 0.000 0.000 3003 2187 2530

2165 1.22 238.4 22.6 10.0 381 2170 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2187 2530

2238 1.23 248.2 15.3 9.7 394 2256 0.00 2.50 9.25 0.565 4 0.000 0.059 3003 790 2491

2273 1.23 248.2 11.7 10.4 400 2279 0.00 2.38 0.00 0.000 6 0.000 0.043 3004 2191 2491

2346 1.26 266.5 4.6 9.4 413 2360 0.10 0.00 10.85 0.568 2 0.077 0.000 3031 2191 2437

2361 end climb: SURFACE_DEPTH_REACHED

state 2361 begin surface coast

2422 end surface coast: CONTROL_FINISHED_OK

state 2422 begin surface

ID	144	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	6	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	90
D_TGT	150	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2170	ALTIM_FREQUENCY	13
D_NO_BLEED	500	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2190	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	630	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	26	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	54
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	480	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3950	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3503	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	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	-662.7337	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	45	PITCH_MIN	500	AH0_24V	91.800003	SEABIRD_T_G	0.0043142079
SPEED_FACTOR	1	PITCH_MAX	3812	AH0_10V	61.200001	SEABIRD_T_H	0.00062953553
RHO	1.023	C_PITCH	2754	PRESSURE_YINT	-2.6104116	SEABIRD_T_I	2.3274781e-05
MASS	51458	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011159377	SEABIRD_T_J	2.4096155e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.012566
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1222577
KALMAN_USE	2	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011971687
HD_A	0.003	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.000188736

GPS1	013915,4806.960,-12222.813,8,1.8,8,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.23	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	014526,4807.045,-12222.860,14,1.8,31,18.3	MHEAD_RNG_PITCHd_Wd	132.9,2209,-14.9,-10.000
SPEED_LIMITS	0.100,0.295	D_GRID	150

FINISH	2.6,1.017674	XPDR_PINGS	143
SM_CCo	2440,285.67,0.589,0,0,934,630.18	ALTIM_BOTTOM_PING	90.3,8.4
SM_GC	1.40,0.00,0.00,285.67,0.000,0.000,0.589,498,2193,934,-10.38,0.65,630.18	_24V_AH	23.7,1.246
IRIDIUM_FIX	4748.51,-12221.84,121207,040427	_10V_AH	10.1,0.541
TT8_MAMPS	0.026078	DATA_FILE_SIZE	25426,426
HUMID	1633	CFSIZE	260165632,258760704
INTERNAL_PRESSURE	8.32063	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.90	GPS	121207,023225,4806.842,-12222.729,38,1.2,38,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	161	92.92	SBE_CT	289	24	164.50
Roll_motor	34	62	51.05	SBE_O2	209	19	94.32
VBD_pump_during_apogee	295	678	4750.07	Optode	0	33	0.00
VBD_pump_during_surface	285	589	3988.20	WL_BB2F	496	105	1235.47
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	95.35	nil	0	0	0.00
Iridium_during_connect	32	160	121.59	nil	0	0	0.00
Iridium_during_xfer	199	223	1052.49
Transponder_ping	36	420	360.83
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.71
TT8	615	19	123.13
LPSleep	730	2	16.16
TT8_Active	636	19	127.37
TT8_Sampling	789	39	317.29
TT8_CF8	343	45	158.72
TT8_Kalman	0	0	0.00
Analog_circuits	1073	12	130.09
GPS_charging	0	0	0.00
Compass	766	8	61.94
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	92	0.00	0.00	-72.03	0.000	2	0.000	0.000	496	2188	2788
94	-1.17	-195.5	3.0	-2.9	13	151	10.70	0.00	-41.67	0.000	6	0.162	0.000	2495	2189	3951
218	-1.17	-195.5	7.8	-4.7	35	224	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2188	3952
292	-1.17	-195.5	11.3	-6.0	48	298	0.00	2.50	0.00	0.000	4	0.000	0.063	2495	765	3952
343	-1.17	-195.5	14.9	-7.4	57	349	0.00	2.40	0.00	0.000	6	0.000	0.046	2495	2171	3952
417	-1.17	-195.5	19.9	-7.3	70	424	0.00	2.47	0.00	0.000	4	0.000	0.061	2495	764	3952
463	-1.17	-195.5	23.5	-7.8	78	469	0.00	2.40	0.00	0.000	6	0.000	0.046	2495	2176	3952
537	-1.17	-195.5	29.3	-7.5	91	543	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2176	3952
610	-1.17	-195.5	35.6	-9.0	104	617	0.00	2.47	0.00	0.000	4	0.000	0.061	2495	766	3952
752	-1.17	-195.5	48.0	-8.6	129	758	0.00	2.40	0.00	0.000	6	0.000	0.046	2495	2174	3952
893	-1.17	-195.5	59.3	-7.6	154	899	0.00	2.47	0.00	0.000	4	0.000	0.061	2495	762	3951
994	-1.17	-195.5	67.7	-7.9	172	1000	0.00	2.40	0.00	0.000	6	0.000	0.046	2495	2171	3951
1136	-1.17	-195.5	78.8	-7.7	197	1142	0.00	2.47	0.00	0.000	4	0.000	0.061	2495	764	3951
1209	-1.17	-195.5	84.6	-8.1	210	1215	0.00	2.40	0.00	0.000	6	0.000	0.046	2495	2177	3951
1284	end dive: BOTTOM_OBSTACLE_DETECTED
state	1284	begin apogee
1288	-0.31	0.0	90.3	7.6	223	1378	0.85	0.00	86.60	0.678	6	0.099	0.000	2677	2177	3503
1379	end apogee: CONTROL_FINISHED_OK
state	1379	begin climb
1381	1.17	195.5	92.9	0.0	240	1541	1.45	2.58	151.02	0.653	4	0.071	0.059	3003	3594	2705
1570	1.17	195.5	80.8	10.2	275	1576	0.00	2.40	0.00	0.000	6	0.000	0.043	3003	2188	2705
1710	1.20	216.7	67.1	9.3	300	1732	0.00	0.00	17.77	0.615	6	0.000	0.000	3004	2188	2619
1867	1.21	224.5	51.8	9.7	328	1878	0.00	0.00	7.88	0.560	6	0.000	0.000	3003	2188	2587
2013	1.22	238.3	37.6	9.5	354	2030	0.00	0.00	12.23	0.588	6	0.000	0.000	3003	2187	2530
2165	1.22	238.4	22.6	10.0	381	2170	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2187	2530
2238	1.23	248.2	15.3	9.7	394	2256	0.00	2.50	9.25	0.565	4	0.000	0.059	3003	790	2491
2273	1.23	248.2	11.7	10.4	400	2279	0.00	2.38	0.00	0.000	6	0.000	0.043	3004	2191	2491
2346	1.26	266.5	4.6	9.4	413	2360	0.10	0.00	10.85	0.568	2	0.077	0.000	3031	2191	2437
2361	end climb: SURFACE_DEPTH_REACHED
state	2361	begin surface coast
2422	end surface coast: CONTROL_FINISHED_OK
state	2422	begin surface