Glider dive log

PortSusan 03Dec08.02 * SG163 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 163 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 227 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 10 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3784 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 12

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2359 ALTIM_PULSE 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 90 SM_CC 570 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 INT_PRESSURE_YINT 4

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 450 DEVICE2 35

T_MISSION 60 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3750 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 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 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 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 1001 T_GPS_CHARGE -4340.6201 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 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 20 RAFOS_DEVICE -1

MAX_BUOY 70 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 123 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3969 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2970 PRESSURE_YINT -30.71829 SEABIRD_T_G 0.0043696649

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000160567 SEABIRD_T_H 0.00063696795

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5730227e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8682675e-06

FERRY_MAX 45 PITCH_GAIN 21 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.7142849

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.0845447

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00099864113

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016596938

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 90 PITCH_DBAND 0.1 SM_CC 570

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 21 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3969 SURFACE_URGENCY 0

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 4 PITCH_MIN 123 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000160567 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -30.71829 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -4340.6201

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 60

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 163 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3784 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 4 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2970 KALMAN_USE 1 ROLL_MIN 227 USE_BATHY 0

C_ROLL_CLIMB 2359 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2250 MASS 52000 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 8

C_VBD 3750 MAX_BUOY 70 R_STBD_OVSHOOT 28 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.7142849 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.0845447 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00099864113 VBD_MAXERRORS 1

DEVICE2 35 N_FILEKB 4 SEABIRD_C_J 0.00016596938 VBD_MIN 450

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043696649 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063696795 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5730227e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8682675e-06 XPDR_DEVICE 24

DIVE 10 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 034532,4806.846,-12223.110,8,1.3,13,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.009,0.181

_SM_DEPTHo 2.17 KALMAN_X -187.7,-9.2,259.9,466.1,55.1

_SM_ANGLEo -70.3 KALMAN_Y -1577.4,-228.6,-309.2,-275.4,-282.6

GPS2 035032,4806.824,-12223.083,11,1.3,16,18.3 MHEAD_RNG_PITCHd_Wd 344.5,342,-26.1,-10.000

SPEED_LIMITS 0.173,0.181 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.0,1.016357 ALTIM_BOTTOM_PING 80.3,58.6

SM_CCo 2876,132.77,0.687,0,0,1426,570.08 _24V_AH 24.1,1.710

SM_GC 2.96,0.00,0.00,132.77,0.000,0.000,0.687,119,2251,1426,-8.91,0.00,570.08 _10V_AH 10.7,0.602

IRIDIUM_FIX 4751.72,-12340.51,280298,020204 DATA_FILE_SIZE 22210,525

TT8_MAMPS 0.051389 CAP_FILE_SIZE 48466,0

HUMID 1498 CFSIZE 260165632,258629632

INTERNAL_PRESSURE 9.342 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.60 GPS 041208,044207,4806.930,-12223.138,15,0.9,31,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 246 136.60 SBE_CT 348 24 201.69

Roll_motor 22 75 40.89 WL_BB2F 690 105 1748.46

VBD_pump_during_apogee 340 796 6536.57 nil 0 0 0.00

VBD_pump_during_surface 132 687 2199.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 73.00 nil 0 0 0.00

Iridium_during_connect 35 160 137.29 nil 0 0 0.00

Iridium_during_xfer 161 223 865.82

Transponder_ping 0 420 5.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.89

TT8 0 19 0.00

LPSleep 1365 2 32.00

TT8_Active 518 19 109.91

TT8_Sampling 1120 39 477.38

TT8_CF8 302 45 148.18

TT8_Kalman 33 81 29.16

Analog_circuits 996 12 127.94

GPS_charging 0 0 0.00

Compass 955 8 81.81

RAFOS 0 0 0.00

Transponder 5 30 1.78

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -1.33 -68.4 0.0 0.0 0 61 0.00 0.00 -47.78 0.000 2 0.000 0.000 123 2244 1578

63 -1.33 -68.4 3.0 -2.3 8 174 9.88 2.22 -91.85 0.000 4 0.247 0.069 2535 848 3962

413 -1.33 -68.4 33.8 -14.2 72 420 0.00 2.22 0.00 0.000 6 0.000 0.053 2526 2252 3962

482 -1.33 -68.4 43.7 -15.2 85 489 0.00 2.22 0.00 0.000 4 0.000 0.054 2526 846 3962

610 -1.33 -68.4 63.9 -16.7 109 617 0.00 2.22 0.00 0.000 6 0.000 0.053 2516 2251 3962

743 -1.33 -68.4 85.4 -16.0 134 744 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2251 3963

871 -1.33 -68.4 105.6 -15.6 158 872 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2251 3962

1000 -1.33 -68.4 125.0 -14.2 182 1001 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2251 3962

1030 end dive: BOTTOM_OBSTACLE_DETECTED

state 1030 begin apogee

1034 -0.24 0.0 129.6 15.1 188 1079 1.20 0.00 40.33 0.796 6 0.158 0.000 2881 2369 3750

1079 end apogee: CONTROL_FINISHED_OK

state 1079 begin climb

1080 1.33 68.4 131.0 0.0 196 1136 1.45 0.00 52.30 0.760 6 0.065 0.000 3400 2369 3471

1262 1.33 68.4 107.8 16.0 230 1263 0.00 0.00 0.00 0.000 6 0.000 0.000 3400 2369 3471

1391 1.33 68.4 89.2 13.9 254 1391 0.00 0.00 0.00 0.000 6 0.000 0.000 3399 2369 3471

1519 1.33 68.4 72.0 13.3 278 1526 0.00 2.22 0.00 0.000 4 0.000 0.061 3399 3760 3472

1636 1.33 68.4 56.5 12.6 300 1643 0.00 2.20 0.00 0.000 6 0.000 0.044 3410 2352 3471

1770 1.33 68.4 41.3 11.2 325 1777 0.00 2.25 0.00 0.000 4 0.000 0.061 3410 3759 3471

2016 1.40 125.4 16.2 4.4 371 2064 0.00 2.17 43.33 0.731 6 0.000 0.044 3421 2353 3238

2127 1.42 141.8 9.1 8.4 391 2146 0.00 2.30 13.52 0.686 4 0.000 0.061 3421 3773 3172

2385 1.56 258.2 8.7 -1.4 439 2479 0.08 2.22 86.95 0.710 6 0.085 0.044 3465 2353 2697

2542 1.74 402.7 6.2 -4.2 467 2649 0.17 0.00 104.25 0.686 2 0.087 0.000 3527 2353 2132

2649 end climb: SURFACE_DEPTH_REACHED

state 2649 begin surface coast

2860 end surface coast: CONTROL_FINISHED_OK

state 2861 begin surface

ID	163	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	227	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	10	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3784	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	12
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2359	ALTIM_PULSE	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	90	SM_CC	570	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	INT_PRESSURE_YINT	4
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	450	DEVICE2	35
T_MISSION	60	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3750	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	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	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	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	1001	T_GPS_CHARGE	-4340.6201	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	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	20	RAFOS_DEVICE	-1
MAX_BUOY	70	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	123	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3969	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2970	PRESSURE_YINT	-30.71829	SEABIRD_T_G	0.0043696649
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000160567	SEABIRD_T_H	0.00063696795
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5730227e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8682675e-06
FERRY_MAX	45	PITCH_GAIN	21	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.7142849
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.0845447
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00099864113
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016596938
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	034532,4806.846,-12223.110,8,1.3,13,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.009,0.181
_SM_DEPTHo	2.17	KALMAN_X	-187.7,-9.2,259.9,466.1,55.1
_SM_ANGLEo	-70.3	KALMAN_Y	-1577.4,-228.6,-309.2,-275.4,-282.6
GPS2	035032,4806.824,-12223.083,11,1.3,16,18.3	MHEAD_RNG_PITCHd_Wd	344.5,342,-26.1,-10.000
SPEED_LIMITS	0.173,0.181	D_GRID	150

FINISH	3.0,1.016357	ALTIM_BOTTOM_PING	80.3,58.6
SM_CCo	2876,132.77,0.687,0,0,1426,570.08	_24V_AH	24.1,1.710
SM_GC	2.96,0.00,0.00,132.77,0.000,0.000,0.687,119,2251,1426,-8.91,0.00,570.08	_10V_AH	10.7,0.602
IRIDIUM_FIX	4751.72,-12340.51,280298,020204	DATA_FILE_SIZE	22210,525
TT8_MAMPS	0.051389	CAP_FILE_SIZE	48466,0
HUMID	1498	CFSIZE	260165632,258629632
INTERNAL_PRESSURE	9.342	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.60	GPS	041208,044207,4806.930,-12223.138,15,0.9,31,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	246	136.60	SBE_CT	348	24	201.69
Roll_motor	22	75	40.89	WL_BB2F	690	105	1748.46
VBD_pump_during_apogee	340	796	6536.57	nil	0	0	0.00
VBD_pump_during_surface	132	687	2199.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	73.00	nil	0	0	0.00
Iridium_during_connect	35	160	137.29	nil	0	0	0.00
Iridium_during_xfer	161	223	865.82
Transponder_ping	0	420	5.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.89
TT8	0	19	0.00
LPSleep	1365	2	32.00
TT8_Active	518	19	109.91
TT8_Sampling	1120	39	477.38
TT8_CF8	302	45	148.18
TT8_Kalman	33	81	29.16
Analog_circuits	996	12	127.94
GPS_charging	0	0	0.00
Compass	955	8	81.81
RAFOS	0	0	0.00
Transponder	5	30	1.78

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-1.33	-68.4	0.0	0.0	0	61	0.00	0.00	-47.78	0.000	2	0.000	0.000	123	2244	1578
63	-1.33	-68.4	3.0	-2.3	8	174	9.88	2.22	-91.85	0.000	4	0.247	0.069	2535	848	3962
413	-1.33	-68.4	33.8	-14.2	72	420	0.00	2.22	0.00	0.000	6	0.000	0.053	2526	2252	3962
482	-1.33	-68.4	43.7	-15.2	85	489	0.00	2.22	0.00	0.000	4	0.000	0.054	2526	846	3962
610	-1.33	-68.4	63.9	-16.7	109	617	0.00	2.22	0.00	0.000	6	0.000	0.053	2516	2251	3962
743	-1.33	-68.4	85.4	-16.0	134	744	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2251	3963
871	-1.33	-68.4	105.6	-15.6	158	872	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2251	3962
1000	-1.33	-68.4	125.0	-14.2	182	1001	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2251	3962
1030	end dive: BOTTOM_OBSTACLE_DETECTED
state	1030	begin apogee
1034	-0.24	0.0	129.6	15.1	188	1079	1.20	0.00	40.33	0.796	6	0.158	0.000	2881	2369	3750
1079	end apogee: CONTROL_FINISHED_OK
state	1079	begin climb
1080	1.33	68.4	131.0	0.0	196	1136	1.45	0.00	52.30	0.760	6	0.065	0.000	3400	2369	3471
1262	1.33	68.4	107.8	16.0	230	1263	0.00	0.00	0.00	0.000	6	0.000	0.000	3400	2369	3471
1391	1.33	68.4	89.2	13.9	254	1391	0.00	0.00	0.00	0.000	6	0.000	0.000	3399	2369	3471
1519	1.33	68.4	72.0	13.3	278	1526	0.00	2.22	0.00	0.000	4	0.000	0.061	3399	3760	3472
1636	1.33	68.4	56.5	12.6	300	1643	0.00	2.20	0.00	0.000	6	0.000	0.044	3410	2352	3471
1770	1.33	68.4	41.3	11.2	325	1777	0.00	2.25	0.00	0.000	4	0.000	0.061	3410	3759	3471
2016	1.40	125.4	16.2	4.4	371	2064	0.00	2.17	43.33	0.731	6	0.000	0.044	3421	2353	3238
2127	1.42	141.8	9.1	8.4	391	2146	0.00	2.30	13.52	0.686	4	0.000	0.061	3421	3773	3172
2385	1.56	258.2	8.7	-1.4	439	2479	0.08	2.22	86.95	0.710	6	0.085	0.044	3465	2353	2697
2542	1.74	402.7	6.2	-4.2	467	2649	0.17	0.00	104.25	0.686	2	0.087	0.000	3527	2353	2132
2649	end climb: SURFACE_DEPTH_REACHED
state	2649	begin surface coast
2860	end surface coast: CONTROL_FINISHED_OK
state	2861	begin surface