Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 70 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 70 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 156 ALTIM_PING_DEPTH 50

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 609.0799 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -49230.008 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 130 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 20 PITCH_MIN 460 AH0_24V 71.400002 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -8.3042984 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 71.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 609.0799

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 95 PITCH_TIMEOUT 20 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 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -8.3042984 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 20 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -49230.008

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 19 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 130 R_STBD_OVSHOOT 34 USE_ICE 0

DEEPGLIDERMB 0 MISSION 8 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 70 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1050 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 230136,4743.754,-12250.834,14,1.4,29,18.3 TGT_NAME 6_EC

_CALLS 5 TGT_LATLONG 4743.563,-12250.725

_XMS_NAKs 9 TGT_RADIUS 200.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.164,0.102

_SM_DEPTHo 0.20 KALMAN_X 4686.4,-28.7,-92.1,-2112.0,-61.5

_SM_ANGLEo -59.1 KALMAN_Y 3663.2,-241.4,-104.5,4119.6,-118.7

GPS2 233457,4743.495,-12250.984,15,1.4,15,18.3 MHEAD_RNG_PITCHd_Wd 40.0,347,-16.6,-7.037

SPEED_LIMITS 0.193,0.217 D_GRID 167

Post-dive calculations and measurements:

FINISH -0.4,1.009406 XPDR_PINGS 0

SM_CCo 2919,213.85,0.565,0,0,735,609.08 ALTIM_BOTTOM_PING 50.2,51.8

SM_GC 0.18,0.00,0.00,213.85,0.000,0.000,0.565,458,1799,735,-12.15,-0.03,609.08 _24V_AH 23.9,6.434

IRIDIUM_FIX 4729.30,-12257.00,051007,030343 _10V_AH 10.1,5.601

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6440,266

HUMID 2073 CFSIZE 260034560,254750720

INTERNAL_PRESSURE 8.38899 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 051007,002923,4743.572,-12250.702,12,2.2,32,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 202 148.33 SBE_CT 178 24 102.24

Roll_motor 35 82 69.58 nil 0 0 0.00

VBD_pump_during_apogee 199 668 3188.19 nil 0 0 0.00

VBD_pump_during_surface 213 565 2889.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 196 103 484.33 nil 0 0 0.00

Iridium_during_connect 220 160 842.56 ARS 0 0 0.00

Iridium_during_xfer 1184 223 6313.10

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 5168 6 790.50

GPS 15 50 7.87

TT8 495 19 99.01

LPSleep 1897 2 41.98

TT8_Active 524 19 104.85

TT8_Sampling 471 39 189.53

TT8_CF8 1772 45 819.72

TT8_Kalman 33 81 27.54

Analog_circuits 806 12 97.79

GPS_charging 0 0 0.00

Compass 440 8 35.60

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

26 -1.39 -97.8 0.0 0.0 0 120 0.00 0.00 -90.53 0.000 6 0.000 0.000 463 1805 3618

124 -1.43 -123.2 2.5 -5.8 15 149 14.62 2.67 -2.33 0.000 4 0.202 0.082 2786 394 3725

208 -1.43 -123.2 12.9 -8.2 28 215 0.00 2.45 0.00 0.000 6 0.000 0.033 2785 1805 3726

281 -1.43 -127.1 17.2 -5.2 39 288 0.00 2.47 -0.17 0.000 4 0.000 0.060 2786 3190 3739

307 -1.43 -127.1 18.6 -5.0 43 314 0.00 2.45 0.00 0.000 6 0.000 0.035 2786 1794 3739

377 -1.43 -127.1 22.2 -5.1 51 382 0.00 2.62 0.00 0.000 4 0.000 0.071 2786 397 3739

429 -1.43 -127.1 24.8 -5.1 54 436 0.00 2.47 0.00 0.000 6 0.000 0.031 2786 1808 3739

625 -1.43 -127.1 34.8 -5.4 70 626 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1808 3739

816 -1.43 -127.1 44.6 -5.0 85 817 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1808 3739

1004 -1.43 -127.1 54.8 -5.4 100 1008 0.00 2.47 0.00 0.000 4 0.000 0.049 2786 3195 3739

1042 -1.43 -127.1 57.0 -5.9 102 1049 0.00 2.47 0.00 0.000 6 0.000 0.035 2786 1799 3740

1238 -1.43 -127.1 67.5 -5.3 118 1239 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1798 3739

1429 -1.43 -127.1 77.5 -5.2 133 1430 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 1798 3739

1618 -1.43 -127.1 87.6 -5.5 148 1619 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1798 3739

1753 end dive: TARGET_DEPTH_EXCEEDED

state 1753 begin apogee

1759 -0.38 0.0 95.0 5.2 159 1865 1.12 0.00 101.05 0.669 6 0.091 0.000 3017 1723 3218

1866 end apogee: CONTROL_FINISHED_OK

state 1866 begin climb

1868 1.43 127.1 96.1 0.0 168 1972 1.77 0.00 98.40 0.638 6 0.051 0.000 3414 1723 2698

2155 1.43 127.1 70.4 10.7 191 2159 0.00 2.65 0.00 0.000 4 0.000 0.078 3414 339 2697

2200 1.43 127.1 65.2 11.7 194 2205 0.00 2.42 0.00 0.000 6 0.000 0.033 3414 1728 2697

2396 1.43 127.1 45.3 10.0 209 2397 0.00 0.00 0.00 0.000 6 0.000 0.000 3414 1730 2696

2586 1.43 127.1 26.0 10.2 224 2591 0.00 2.65 0.00 0.000 4 0.000 0.074 3414 340 2696

2652 1.43 127.1 18.7 10.9 229 2658 0.00 2.45 0.00 0.000 6 0.000 0.033 3414 1743 2696

2724 1.43 127.1 11.7 9.2 240 2730 0.00 2.50 0.00 0.000 4 0.000 0.051 3414 3133 2696

2802 1.43 127.1 5.4 7.4 252 2809 0.00 2.47 0.00 0.000 6 0.000 0.038 3414 1739 2695

2813 end climb: SURFACE_DEPTH_REACHED

state 2813 begin surface coast

2893 end surface coast: CONTROL_FINISHED_OK

state 2893 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	70	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	156	ALTIM_PING_DEPTH	50
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	609.0799	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-49230.008	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	130	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	20	PITCH_MIN	460	AH0_24V	71.400002	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-8.3042984	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	230136,4743.754,-12250.834,14,1.4,29,18.3	TGT_NAME	6_EC
_CALLS	5	TGT_LATLONG	4743.563,-12250.725
_XMS_NAKs	9	TGT_RADIUS	200.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.164,0.102
_SM_DEPTHo	0.20	KALMAN_X	4686.4,-28.7,-92.1,-2112.0,-61.5
_SM_ANGLEo	-59.1	KALMAN_Y	3663.2,-241.4,-104.5,4119.6,-118.7
GPS2	233457,4743.495,-12250.984,15,1.4,15,18.3	MHEAD_RNG_PITCHd_Wd	40.0,347,-16.6,-7.037
SPEED_LIMITS	0.193,0.217	D_GRID	167

FINISH	-0.4,1.009406	XPDR_PINGS	0
SM_CCo	2919,213.85,0.565,0,0,735,609.08	ALTIM_BOTTOM_PING	50.2,51.8
SM_GC	0.18,0.00,0.00,213.85,0.000,0.000,0.565,458,1799,735,-12.15,-0.03,609.08	_24V_AH	23.9,6.434
IRIDIUM_FIX	4729.30,-12257.00,051007,030343	_10V_AH	10.1,5.601
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6440,266
HUMID	2073	CFSIZE	260034560,254750720
INTERNAL_PRESSURE	8.38899	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	051007,002923,4743.572,-12250.702,12,2.2,32,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	202	148.33	SBE_CT	178	24	102.24
Roll_motor	35	82	69.58	nil	0	0	0.00
VBD_pump_during_apogee	199	668	3188.19	nil	0	0	0.00
VBD_pump_during_surface	213	565	2889.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	196	103	484.33	nil	0	0	0.00
Iridium_during_connect	220	160	842.56	ARS	0	0	0.00
Iridium_during_xfer	1184	223	6313.10
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	5168	6	790.50
GPS	15	50	7.87
TT8	495	19	99.01
LPSleep	1897	2	41.98
TT8_Active	524	19	104.85
TT8_Sampling	471	39	189.53
TT8_CF8	1772	45	819.72
TT8_Kalman	33	81	27.54
Analog_circuits	806	12	97.79
GPS_charging	0	0	0.00
Compass	440	8	35.60
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
26	-1.39	-97.8	0.0	0.0	0	120	0.00	0.00	-90.53	0.000	6	0.000	0.000	463	1805	3618
124	-1.43	-123.2	2.5	-5.8	15	149	14.62	2.67	-2.33	0.000	4	0.202	0.082	2786	394	3725
208	-1.43	-123.2	12.9	-8.2	28	215	0.00	2.45	0.00	0.000	6	0.000	0.033	2785	1805	3726
281	-1.43	-127.1	17.2	-5.2	39	288	0.00	2.47	-0.17	0.000	4	0.000	0.060	2786	3190	3739
307	-1.43	-127.1	18.6	-5.0	43	314	0.00	2.45	0.00	0.000	6	0.000	0.035	2786	1794	3739
377	-1.43	-127.1	22.2	-5.1	51	382	0.00	2.62	0.00	0.000	4	0.000	0.071	2786	397	3739
429	-1.43	-127.1	24.8	-5.1	54	436	0.00	2.47	0.00	0.000	6	0.000	0.031	2786	1808	3739
625	-1.43	-127.1	34.8	-5.4	70	626	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1808	3739
816	-1.43	-127.1	44.6	-5.0	85	817	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1808	3739
1004	-1.43	-127.1	54.8	-5.4	100	1008	0.00	2.47	0.00	0.000	4	0.000	0.049	2786	3195	3739
1042	-1.43	-127.1	57.0	-5.9	102	1049	0.00	2.47	0.00	0.000	6	0.000	0.035	2786	1799	3740
1238	-1.43	-127.1	67.5	-5.3	118	1239	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1798	3739
1429	-1.43	-127.1	77.5	-5.2	133	1430	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	1798	3739
1618	-1.43	-127.1	87.6	-5.5	148	1619	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1798	3739
1753	end dive: TARGET_DEPTH_EXCEEDED
state	1753	begin apogee
1759	-0.38	0.0	95.0	5.2	159	1865	1.12	0.00	101.05	0.669	6	0.091	0.000	3017	1723	3218
1866	end apogee: CONTROL_FINISHED_OK
state	1866	begin climb
1868	1.43	127.1	96.1	0.0	168	1972	1.77	0.00	98.40	0.638	6	0.051	0.000	3414	1723	2698
2155	1.43	127.1	70.4	10.7	191	2159	0.00	2.65	0.00	0.000	4	0.000	0.078	3414	339	2697
2200	1.43	127.1	65.2	11.7	194	2205	0.00	2.42	0.00	0.000	6	0.000	0.033	3414	1728	2697
2396	1.43	127.1	45.3	10.0	209	2397	0.00	0.00	0.00	0.000	6	0.000	0.000	3414	1730	2696
2586	1.43	127.1	26.0	10.2	224	2591	0.00	2.65	0.00	0.000	4	0.000	0.074	3414	340	2696
2652	1.43	127.1	18.7	10.9	229	2658	0.00	2.45	0.00	0.000	6	0.000	0.033	3414	1743	2696
2724	1.43	127.1	11.7	9.2	240	2730	0.00	2.50	0.00	0.000	4	0.000	0.051	3414	3133	2696
2802	1.43	127.1	5.4	7.4	252	2809	0.00	2.47	0.00	0.000	6	0.000	0.038	3414	1739	2695
2813	end climb: SURFACE_DEPTH_REACHED
state	2813	begin surface coast
2893	end surface coast: CONTROL_FINISHED_OK
state	2893	begin surface