Glider dive log

PortSusan 05Mar08 * SG142 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 142 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 4 HEADING -1 PITCH_ADJ_GAIN 0.015 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 11 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 220 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3900 ALTIM_PING_DEPTH 0

D_TGT 150 TGT_DEFAULT_LAT 4736 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 250 TGT_DEFAULT_LON -12218 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 80 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2500 ALTIM_PULSE 3

D_FINISH 0 SM_CC 692.97247 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -1.65

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 30 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 250 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 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 53

T_ABORT 720 CALL_TRIES 5 VBD_MIN 475 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3300 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -11770.865 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 150 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 30 PITCH_MIN 1435 AH0_24V 150 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3965 AH0_10V 100 SEABIRD_T_H 0.0006414231

RHO 1.023 C_PITCH 2990 PRESSURE_YINT -3.0977876 SEABIRD_T_I 2.3931538e-05

MASS 51634 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1518581e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 1 PITCH_GAIN 22.700001 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00031207138

HD_B 0.0099999998 PITCH_AD_RATE 100 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 80 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 22.700001 SM_CC 692.97247

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3965 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1435 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 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 9.1518581e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -3.0977876 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 30 RAFOS_DEVICE -1 T_ABORT 720

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 15

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 -11770.865

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 142 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3900 T_WATCHDOG 10

C_PITCH 2990 INT_PRESSURE_YINT -1.65 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2500 KALMAN_USE 1 ROLL_MIN 220 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -4

C_VBD 3300 MASS 51634 R_PORT_OVSHOOT 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 30 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.258962 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0037964056 VBD_MAX 3964

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 475

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 11 PHONE_DEVICE 48 SEABIRD_T_J 2.340664e-06 VBD_TIMEOUT 720

D_ABORT 250 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.015 SIM_W 0

Pre-dive calculations and measurements:

GPS1 041847,4807.791,-12223.829,12,2.5,31,18.3 TGT_NAME EIGHT

_CALLS 5 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 9 TGT_RADIUS 400.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.140,0.219

_SM_DEPTHo 0.98 KALMAN_X 211.8,131.4,28.8,-1302.7,45.1

_SM_ANGLEo -66.6 KALMAN_Y -1167.4,-568.8,-225.9,1155.1,-83.5

GPS2 043329,4807.699,-12223.701,12,2.7,31,18.3 MHEAD_RNG_PITCHd_Wd 309.1,669,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 105

Post-dive calculations and measurements:

SM_CCo 2624,307.08,0.841,0,0,475,692.97 _24V_AH 20.7,2.118

SM_GC 1.62,9.68,0.00,0.00,0.061,0.000,0.000,1440,2193,470,-7.11,-0.20,693.95 _10V_AH 9.9,0.671

IRIDIUM_FIX 4751.72,-12223.57,310597,040408 DATA_FILE_SIZE 35192,444

TT8_MAMPS 0.026078 CAP_FILE_SIZE 54171,0

HUMID 1672 CFSIZE 260165632,258084864

INTERNAL_PRESSURE 8.82892 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,0

TCM_TEMP 12.10 GPS 060308,052617,4807.805,-12223.823,11,2.1,30,18.3

XPDR_PINGS 84

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 232 114.86 SBE_CT 299 24 149.02

Roll_motor 47 55 54.04 SBE_O2 321 19 126.27

VBD_pump_during_apogee 493 963 9844.56 Optode 317 33 216.67

VBD_pump_during_surface 307 840 5343.44 WL_BB2F 535 105 1163.88

VBD_valve 0 0 0.00 WL_BBFL2VMT 1048 105 2278.45

Iridium_during_init 145 103 309.59 nil 0 0 0.00

Iridium_during_connect 139 160 463.24 nil 0 0 0.00

Iridium_during_xfer 247 223 1144.12

Transponder_ping 21 420 182.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.70

TT8 617 19 121.00

LPSleep 582 2 12.62

TT8_Active 762 19 149.37

TT8_Sampling 1334 39 525.76

TT8_CF8 652 45 295.88

TT8_Kalman 33 81 26.98

Analog_circuits 1393 12 165.59

GPS_charging 0 0 0.00

Compass 1326 8 105.07

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.95 -146.6 0.0 0.0 0 109 0.00 0.00 -87.00 0.000 2 0.000 0.000 1437 2212 2232

112 -0.95 -146.6 3.2 -4.6 12 194 10.95 2.88 -61.75 0.000 4 0.232 0.055 2774 793 3896

222 -0.84 -146.6 13.1 -17.3 28 231 0.17 2.75 0.00 0.000 6 0.176 0.032 2799 2191 3896

296 -0.78 -146.6 25.9 -16.1 41 304 0.12 0.00 0.00 0.000 6 0.170 0.000 2814 2191 3896

369 -0.78 -146.6 37.2 -14.8 54 376 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2192 3897

441 -0.78 -146.6 47.9 -15.3 67 448 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2192 3896

513 -0.78 -146.6 58.6 -14.4 80 520 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2192 3896

652 -0.78 -146.6 78.7 -14.8 105 657 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2193 3896

786 -0.78 -146.6 98.3 -13.9 130 793 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2193 3896

837 end dive: TARGET_DEPTH_EXCEEDED

state 837 begin apogee

842 -0.22 0.0 105.5 13.6 139 983 0.73 0.00 134.02 0.963 6 0.125 0.000 2936 2508 3299

984 end apogee: CONTROL_FINISHED_OK

state 984 begin climb

986 0.95 146.6 113.5 0.0 162 1141 1.52 3.05 137.95 0.915 4 0.094 0.041 3189 1085 2701

1339 0.78 159.6 105.9 9.4 223 1359 0.17 2.80 13.30 0.827 6 0.144 0.029 3166 2503 2649

1489 0.72 197.5 93.2 8.3 250 1534 0.00 2.90 35.83 0.893 4 0.000 0.046 3166 3886 2493

1635 0.62 197.5 78.9 11.3 275 1642 0.25 2.78 0.00 0.000 6 0.133 0.031 3130 2493 2492

1773 0.68 262.2 67.9 7.0 300 1843 0.00 2.97 59.28 0.893 4 0.000 0.044 3130 3886 2229

1889 0.69 272.5 58.4 9.5 319 1907 0.00 2.80 10.62 0.791 6 0.000 0.032 3130 2500 2190

2039 0.74 306.8 45.6 8.4 346 2090 0.00 2.97 34.83 0.825 4 0.000 0.044 3129 3894 2047

2119 0.80 325.2 38.2 9.2 358 2157 0.12 2.85 20.52 0.769 6 0.052 0.034 3158 2499 1972

2222 0.80 325.2 26.5 11.4 375 2230 0.00 2.90 0.00 0.000 4 0.000 0.045 3158 3886 1970

2248 0.80 325.2 23.3 12.5 379 2256 0.00 2.83 0.00 0.000 6 0.000 0.035 3158 2497 1970

2321 0.80 325.2 15.1 10.7 392 2328 0.00 2.90 0.00 0.000 4 0.000 0.045 3158 3894 1970

2341 0.80 325.2 12.8 10.9 395 2349 0.00 2.83 0.00 0.000 6 0.000 0.034 3158 2497 1969

2414 0.90 373.8 6.1 7.8 408 2475 0.15 2.90 47.33 0.824 4 0.054 0.043 3192 3887 1774

2621 end climb: NO_VERTICAL_VELOCITY

state 2621 begin surface

ID	142	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	-1	PITCH_ADJ_GAIN	0.015	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	11	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	220	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3900	ALTIM_PING_DEPTH	0
D_TGT	150	TGT_DEFAULT_LAT	4736	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	250	TGT_DEFAULT_LON	-12218	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	80	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2500	ALTIM_PULSE	3
D_FINISH	0	SM_CC	692.97247	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-1.65
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	30	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	250	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	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	53
T_ABORT	720	CALL_TRIES	5	VBD_MIN	475	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3300	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-11770.865	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	150	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	30	PITCH_MIN	1435	AH0_24V	150	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3965	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.023	C_PITCH	2990	PRESSURE_YINT	-3.0977876	SEABIRD_T_I	2.3931538e-05
MASS	51634	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1518581e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	1	PITCH_GAIN	22.700001	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00031207138
HD_B	0.0099999998	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	041847,4807.791,-12223.829,12,2.5,31,18.3	TGT_NAME	EIGHT
_CALLS	5	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	9	TGT_RADIUS	400.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.140,0.219
_SM_DEPTHo	0.98	KALMAN_X	211.8,131.4,28.8,-1302.7,45.1
_SM_ANGLEo	-66.6	KALMAN_Y	-1167.4,-568.8,-225.9,1155.1,-83.5
GPS2	043329,4807.699,-12223.701,12,2.7,31,18.3	MHEAD_RNG_PITCHd_Wd	309.1,669,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	105

SM_CCo	2624,307.08,0.841,0,0,475,692.97	_24V_AH	20.7,2.118
SM_GC	1.62,9.68,0.00,0.00,0.061,0.000,0.000,1440,2193,470,-7.11,-0.20,693.95	_10V_AH	9.9,0.671
IRIDIUM_FIX	4751.72,-12223.57,310597,040408	DATA_FILE_SIZE	35192,444
TT8_MAMPS	0.026078	CAP_FILE_SIZE	54171,0
HUMID	1672	CFSIZE	260165632,258084864
INTERNAL_PRESSURE	8.82892	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
TCM_TEMP	12.10	GPS	060308,052617,4807.805,-12223.823,11,2.1,30,18.3
XPDR_PINGS	84

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	232	114.86	SBE_CT	299	24	149.02
Roll_motor	47	55	54.04	SBE_O2	321	19	126.27
VBD_pump_during_apogee	493	963	9844.56	Optode	317	33	216.67
VBD_pump_during_surface	307	840	5343.44	WL_BB2F	535	105	1163.88
VBD_valve	0	0	0.00	WL_BBFL2VMT	1048	105	2278.45
Iridium_during_init	145	103	309.59	nil	0	0	0.00
Iridium_during_connect	139	160	463.24	nil	0	0	0.00
Iridium_during_xfer	247	223	1144.12
Transponder_ping	21	420	182.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.70
TT8	617	19	121.00
LPSleep	582	2	12.62
TT8_Active	762	19	149.37
TT8_Sampling	1334	39	525.76
TT8_CF8	652	45	295.88
TT8_Kalman	33	81	26.98
Analog_circuits	1393	12	165.59
GPS_charging	0	0	0.00
Compass	1326	8	105.07
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.95	-146.6	0.0	0.0	0	109	0.00	0.00	-87.00	0.000	2	0.000	0.000	1437	2212	2232
112	-0.95	-146.6	3.2	-4.6	12	194	10.95	2.88	-61.75	0.000	4	0.232	0.055	2774	793	3896
222	-0.84	-146.6	13.1	-17.3	28	231	0.17	2.75	0.00	0.000	6	0.176	0.032	2799	2191	3896
296	-0.78	-146.6	25.9	-16.1	41	304	0.12	0.00	0.00	0.000	6	0.170	0.000	2814	2191	3896
369	-0.78	-146.6	37.2	-14.8	54	376	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2192	3897
441	-0.78	-146.6	47.9	-15.3	67	448	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2192	3896
513	-0.78	-146.6	58.6	-14.4	80	520	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2192	3896
652	-0.78	-146.6	78.7	-14.8	105	657	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2193	3896
786	-0.78	-146.6	98.3	-13.9	130	793	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2193	3896
837	end dive: TARGET_DEPTH_EXCEEDED
state	837	begin apogee
842	-0.22	0.0	105.5	13.6	139	983	0.73	0.00	134.02	0.963	6	0.125	0.000	2936	2508	3299
984	end apogee: CONTROL_FINISHED_OK
state	984	begin climb
986	0.95	146.6	113.5	0.0	162	1141	1.52	3.05	137.95	0.915	4	0.094	0.041	3189	1085	2701
1339	0.78	159.6	105.9	9.4	223	1359	0.17	2.80	13.30	0.827	6	0.144	0.029	3166	2503	2649
1489	0.72	197.5	93.2	8.3	250	1534	0.00	2.90	35.83	0.893	4	0.000	0.046	3166	3886	2493
1635	0.62	197.5	78.9	11.3	275	1642	0.25	2.78	0.00	0.000	6	0.133	0.031	3130	2493	2492
1773	0.68	262.2	67.9	7.0	300	1843	0.00	2.97	59.28	0.893	4	0.000	0.044	3130	3886	2229
1889	0.69	272.5	58.4	9.5	319	1907	0.00	2.80	10.62	0.791	6	0.000	0.032	3130	2500	2190
2039	0.74	306.8	45.6	8.4	346	2090	0.00	2.97	34.83	0.825	4	0.000	0.044	3129	3894	2047
2119	0.80	325.2	38.2	9.2	358	2157	0.12	2.85	20.52	0.769	6	0.052	0.034	3158	2499	1972
2222	0.80	325.2	26.5	11.4	375	2230	0.00	2.90	0.00	0.000	4	0.000	0.045	3158	3886	1970
2248	0.80	325.2	23.3	12.5	379	2256	0.00	2.83	0.00	0.000	6	0.000	0.035	3158	2497	1970
2321	0.80	325.2	15.1	10.7	392	2328	0.00	2.90	0.00	0.000	4	0.000	0.045	3158	3894	1970
2341	0.80	325.2	12.8	10.9	395	2349	0.00	2.83	0.00	0.000	6	0.000	0.034	3158	2497	1969
2414	0.90	373.8	6.1	7.8	408	2475	0.15	2.90	47.33	0.824	4	0.054	0.043	3192	3887	1774
2621	end climb: NO_VERTICAL_VELOCITY
state	2621	begin surface