Glider dive log

PN07 DabobBay Sep07 * SG022 * Dive index * Mission links * Dive 132 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 22 HD_B 0.010364 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.4717998e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 132 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 208 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 0

D_PITCH 0 SM_CC 450 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 8 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 100 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 2 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 658 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3994 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3484 DEVICE6 -1

T_NO_W 600 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 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 0

T_WATCHDOG 10 T_GPS_CHARGE -111504.74 VBD_PUMP_AD_RATE_APOGEE 1 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 80 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 16 SIM_PITCH 0

GLIDE_SLOPE 15 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0044140997

SPEED_FACTOR 1 PITCH_MAX 3347 AH0_10V 61.200001 SEABIRD_T_H 0.00064927549

RHO 1.023 C_PITCH 2530 PRESSURE_YINT -21.951805 SEABIRD_T_I 2.7523491e-05

MASS 51950 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011632 SEABIRD_T_J 3.1132354e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.525962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 1.7 SEABIRD_C_H 1.1896306

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET -0.89999998 SEABIRD_C_I -0.0026426413

HD_A 0.0040048002 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00031414768

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3347 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 5 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 1.7

ALTIM_SENSITIVITY 0 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011632 TCM_ROLL_OFFSET -0.89999998

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -21.951805 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 15 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0040048002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010364 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 5.4717998e-06 RHO 1.023 T_GPS_CHARGE -111504.74

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 16 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 600

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 100 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 22 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2530 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_CLIMB 2000 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2100 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51950 R_PORT_OVSHOOT 8 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 80 R_STBD_OVSHOOT 17 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.525962 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1896306 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0026426413 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00031414768 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044140997 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064927549 VBD_MIN 658

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.7523491e-05 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 132 PHONE_DEVICE 0 SEABIRD_T_J 3.1132354e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 19

Pre-dive calculations and measurements:

GPS1 021635,4740.030,-12250.844,14,4.8,33,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.270,-0.096

_SM_DEPTHo 1.50 KALMAN_X 23739.0,109.2,18.0,-21142.0,312.5

_SM_ANGLEo -71.9 KALMAN_Y 7488.5,88.0,88.2,-7001.3,108.2

GPS2 022026,4740.050,-12250.797,11,1.1,16,18.3 MHEAD_RNG_PITCHd_Wd 232.2,3189,-10.5,-7.407

SPEED_LIMITS 0.276,0.286 D_GRID 117

Post-dive calculations and measurements:

FINISH 3.7,1.021036 ALTIM_BOTTOM_PING 50.1,7.8

SM_CCo 3369,147.20,0.651,0,0,1648,450.13 _24V_AH 23.8,20.095

SM_GC 1.48,0.00,0.00,147.20,0.000,0.000,0.651,38,2087,1648,-11.46,-0.37,450.13 _10V_AH 10.2,5.206

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 9603,307

TT8_MAMPS 0.028379 CFSIZE 260034560,253759488

HUMID 2101 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 250907,032109,4739.936,-12250.982,10,1.8,10,18.3

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 200 133.80 SBE_CT 203 24 116.20

Roll_motor 33 144 114.88 nil 0 0 0.00

VBD_pump_during_apogee 212 745 3778.47 nil 0 0 0.00

VBD_pump_during_surface 147 651 2281.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.91 nil 0 0 0.00

Iridium_during_connect 30 160 115.44 ARS 0 0 0.00

Iridium_during_xfer 88 223 468.01

Transponder_ping 1 420 14.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.25

TT8 581 19 117.54

LPSleep 1989 2 44.44

TT8_Active 463 19 93.68

TT8_Sampling 494 39 200.80

TT8_CF8 265 45 123.88

TT8_Kalman 33 81 27.82

Analog_circuits 775 12 94.93

GPS_charging 0 0 0.00

Compass 497 8 40.59

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

24 -0.74 -78.2 0.0 0.0 0 70 0.00 0.00 -44.17 0.000 2 0.000 0.000 40 2084 2634

73 -0.74 -78.2 2.2 -2.1 7 147 13.77 2.97 -53.60 0.000 4 0.201 0.144 2361 684 3802

240 -0.74 -78.2 8.1 -5.1 33 247 0.00 2.70 0.00 0.000 6 0.000 0.081 2361 2108 3803

312 -0.74 -78.2 12.1 -5.8 44 318 0.00 2.78 0.00 0.000 4 0.000 0.109 2361 3513 3804

411 -0.74 -78.2 17.8 -5.7 59 417 0.00 2.78 0.00 0.000 6 0.000 0.094 2361 2088 3805

482 -0.74 -78.2 21.4 -5.2 68 483 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2088 3805

674 -0.74 -78.2 30.4 -4.6 83 675 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2088 3806

861 -0.74 -78.2 38.5 -4.2 98 862 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2088 3806

1051 -0.74 -78.2 46.8 -4.7 113 1052 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2088 3806

1239 -0.74 -78.2 55.8 -5.1 128 1240 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2088 3806

1429 -0.74 -78.2 65.0 -5.0 143 1430 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2088 3806

1618 -0.74 -78.2 74.4 -5.1 158 1623 0.00 2.85 0.00 0.000 4 0.000 0.107 2361 3520 3806

1664 -0.74 -78.2 77.0 -6.2 161 1668 0.00 2.78 0.00 0.000 6 0.000 0.096 2361 2099 3805

1859 -0.74 -78.2 87.5 -5.1 176 1860 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2099 3806

2049 -0.74 -78.2 97.2 -5.1 191 2050 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2099 3806

2111 end dive: TARGET_DEPTH_EXCEEDED

state 2111 begin apogee

2116 -0.31 0.0 100.4 5.0 196 2184 0.50 0.00 62.12 0.746 6 0.117 0.000 2459 1982 3483

2185 end apogee: CONTROL_FINISHED_OK

state 2185 begin climb

2187 0.74 78.2 102.4 0.0 202 2251 1.12 0.00 60.60 0.732 6 0.104 0.000 2688 1978 3165

2437 0.87 195.6 93.0 4.9 222 2535 0.15 2.83 90.22 0.717 4 0.064 0.088 2727 3417 2684

2561 0.87 195.6 82.5 10.5 232 2566 0.00 2.72 0.00 0.000 6 0.000 0.078 2726 1993 2684

2763 0.87 195.6 61.1 10.6 248 2768 0.00 2.90 0.00 0.000 4 0.000 0.129 2726 586 2684

2815 0.87 195.6 55.3 10.9 251 2823 0.00 2.65 0.00 0.000 6 0.000 0.068 2727 2004 2684

3011 0.87 195.6 35.2 10.6 267 3012 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2004 2684

3202 0.87 195.6 16.0 9.4 285 3208 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2005 2684

3274 0.87 195.6 9.5 8.9 296 3281 0.00 2.70 0.00 0.000 4 0.000 0.090 2727 3420 2684

3324 end climb: SURFACE_DEPTH_REACHED

state 3324 begin surface coast

3346 end surface coast: CONTROL_FINISHED_OK

state 3346 begin surface

ID	22	HD_B	0.010364	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.4717998e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	132	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	208	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2000	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	0
D_PITCH	0	SM_CC	450	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	8	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	100	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	2	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	658	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3994	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3484	DEVICE6	-1
T_NO_W	600	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	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	0
T_WATCHDOG	10	T_GPS_CHARGE	-111504.74	VBD_PUMP_AD_RATE_APOGEE	1	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	80	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	16	SIM_PITCH	0
GLIDE_SLOPE	15	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0044140997
SPEED_FACTOR	1	PITCH_MAX	3347	AH0_10V	61.200001	SEABIRD_T_H	0.00064927549
RHO	1.023	C_PITCH	2530	PRESSURE_YINT	-21.951805	SEABIRD_T_I	2.7523491e-05
MASS	51950	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011632	SEABIRD_T_J	3.1132354e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.525962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	1.7	SEABIRD_C_H	1.1896306
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	-0.89999998	SEABIRD_C_I	-0.0026426413
HD_A	0.0040048002	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00031414768

GPS1	021635,4740.030,-12250.844,14,4.8,33,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.270,-0.096
_SM_DEPTHo	1.50	KALMAN_X	23739.0,109.2,18.0,-21142.0,312.5
_SM_ANGLEo	-71.9	KALMAN_Y	7488.5,88.0,88.2,-7001.3,108.2
GPS2	022026,4740.050,-12250.797,11,1.1,16,18.3	MHEAD_RNG_PITCHd_Wd	232.2,3189,-10.5,-7.407
SPEED_LIMITS	0.276,0.286	D_GRID	117

FINISH	3.7,1.021036	ALTIM_BOTTOM_PING	50.1,7.8
SM_CCo	3369,147.20,0.651,0,0,1648,450.13	_24V_AH	23.8,20.095
SM_GC	1.48,0.00,0.00,147.20,0.000,0.000,0.651,38,2087,1648,-11.46,-0.37,450.13	_10V_AH	10.2,5.206
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	9603,307
TT8_MAMPS	0.028379	CFSIZE	260034560,253759488
HUMID	2101	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	250907,032109,4739.936,-12250.982,10,1.8,10,18.3
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	200	133.80	SBE_CT	203	24	116.20
Roll_motor	33	144	114.88	nil	0	0	0.00
VBD_pump_during_apogee	212	745	3778.47	nil	0	0	0.00
VBD_pump_during_surface	147	651	2281.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.91	nil	0	0	0.00
Iridium_during_connect	30	160	115.44	ARS	0	0	0.00
Iridium_during_xfer	88	223	468.01
Transponder_ping	1	420	14.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.25
TT8	581	19	117.54
LPSleep	1989	2	44.44
TT8_Active	463	19	93.68
TT8_Sampling	494	39	200.80
TT8_CF8	265	45	123.88
TT8_Kalman	33	81	27.82
Analog_circuits	775	12	94.93
GPS_charging	0	0	0.00
Compass	497	8	40.59
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
24	-0.74	-78.2	0.0	0.0	0	70	0.00	0.00	-44.17	0.000	2	0.000	0.000	40	2084	2634
73	-0.74	-78.2	2.2	-2.1	7	147	13.77	2.97	-53.60	0.000	4	0.201	0.144	2361	684	3802
240	-0.74	-78.2	8.1	-5.1	33	247	0.00	2.70	0.00	0.000	6	0.000	0.081	2361	2108	3803
312	-0.74	-78.2	12.1	-5.8	44	318	0.00	2.78	0.00	0.000	4	0.000	0.109	2361	3513	3804
411	-0.74	-78.2	17.8	-5.7	59	417	0.00	2.78	0.00	0.000	6	0.000	0.094	2361	2088	3805
482	-0.74	-78.2	21.4	-5.2	68	483	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2088	3805
674	-0.74	-78.2	30.4	-4.6	83	675	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2088	3806
861	-0.74	-78.2	38.5	-4.2	98	862	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2088	3806
1051	-0.74	-78.2	46.8	-4.7	113	1052	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2088	3806
1239	-0.74	-78.2	55.8	-5.1	128	1240	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2088	3806
1429	-0.74	-78.2	65.0	-5.0	143	1430	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2088	3806
1618	-0.74	-78.2	74.4	-5.1	158	1623	0.00	2.85	0.00	0.000	4	0.000	0.107	2361	3520	3806
1664	-0.74	-78.2	77.0	-6.2	161	1668	0.00	2.78	0.00	0.000	6	0.000	0.096	2361	2099	3805
1859	-0.74	-78.2	87.5	-5.1	176	1860	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2099	3806
2049	-0.74	-78.2	97.2	-5.1	191	2050	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2099	3806
2111	end dive: TARGET_DEPTH_EXCEEDED
state	2111	begin apogee
2116	-0.31	0.0	100.4	5.0	196	2184	0.50	0.00	62.12	0.746	6	0.117	0.000	2459	1982	3483
2185	end apogee: CONTROL_FINISHED_OK
state	2185	begin climb
2187	0.74	78.2	102.4	0.0	202	2251	1.12	0.00	60.60	0.732	6	0.104	0.000	2688	1978	3165
2437	0.87	195.6	93.0	4.9	222	2535	0.15	2.83	90.22	0.717	4	0.064	0.088	2727	3417	2684
2561	0.87	195.6	82.5	10.5	232	2566	0.00	2.72	0.00	0.000	6	0.000	0.078	2726	1993	2684
2763	0.87	195.6	61.1	10.6	248	2768	0.00	2.90	0.00	0.000	4	0.000	0.129	2726	586	2684
2815	0.87	195.6	55.3	10.9	251	2823	0.00	2.65	0.00	0.000	6	0.000	0.068	2727	2004	2684
3011	0.87	195.6	35.2	10.6	267	3012	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2004	2684
3202	0.87	195.6	16.0	9.4	285	3208	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2005	2684
3274	0.87	195.6	9.5	8.9	296	3281	0.00	2.70	0.00	0.000	4	0.000	0.090	2727	3420	2684
3324	end climb: SURFACE_DEPTH_REACHED
state	3324	begin surface coast
3346	end surface coast: CONTROL_FINISHED_OK
state	3346	begin surface