Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 158 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_B 0.013382 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.8987e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 158 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2210 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 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 40 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 63 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 204 DEVICE4 -1

T_TURN 270 CALL_WAIT 60 VBD_MAX 3580 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2800 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 360 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 -62346.055 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 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 1 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_MIN 25 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 4070 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_I 2.5554549e-05

MASS 51503 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0043390002 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 22 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 95 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 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 63

CALL_TRIES 5 HD_A 0.0043390002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.013382 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 5.8987e-05 RHO 1.023 T_GPS_CHARGE -62346.055

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COURSE_BIAS 0 ID 128 ROLL_MAX 4014 T_TURN_SAMPINT 5

C_PITCH 2820 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2150 INT_PRESSURE_YINT 0 ROLL_MIN 145 UNCOM_BLEED 50

C_ROLL_DIVE 2210 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51503 R_PORT_OVSHOOT 40 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 33 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3580

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 204

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 158 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 165633,4805.638,-12221.626,32,1.5,33,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.121,0.101

_SM_DEPTHo 1.14 KALMAN_X 12730.2,-145.3,30.0,-9819.3,212.6

_SM_ANGLEo -68.5 KALMAN_Y 5019.4,37.6,-93.1,-10174.6,-17.8

GPS2 170103,4805.652,-12221.635,9,1.7,9,18.3 MHEAD_RNG_PITCHd_Wd 291.5,5240,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 110

Post-dive calculations and measurements:

FINISH 1.0,1.024054 XPDR_PINGS 0

SM_CCo 3574,64.60,0.762,0,0,1576,300.00 ALTIM_BOTTOM_PING 70.1,49.4

SM_GC 1.54,0.00,0.00,64.60,0.000,0.000,0.762,18,2223,1576,-8.76,0.37,300.00 _24V_AH 24.4,21.085

IRIDIUM_FIX -3251.89,11536.42,110907,191921 _10V_AH 10.8,9.035

TT8_MAMPS 0.026078 DATA_FILE_SIZE 19157,383

HUMID 1854 CFSIZE 260165632,253292544

INTERNAL_PRESSURE 9.19957 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.00 GPS 110907,180355,4805.868,-12221.943,35,1.8,36,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 216 108.45 SBE_CT 274 24 160.79

Roll_motor 36 137 123.61 SBE_O2 299 19 138.83

VBD_pump_during_apogee 228 799 4458.38 WL_BB2F 646 105 1655.75

VBD_pump_during_surface 64 761 1200.51 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 97.69 nil 0 0 0.00

Iridium_during_connect 54 160 212.33 nil 0 0 0.00

Iridium_during_xfer 101 223 550.19

Transponder_ping 0 420 2.56

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.85

TT8 647 19 138.55

LPSleep 1844 2 43.63

TT8_Active 354 19 75.74

TT8_Sampling 785 39 337.81

TT8_CF8 301 45 149.21

TT8_Kalman 33 81 29.46

Analog_circuits 742 12 96.25

GPS_charging 0 0 0.00

Compass 805 8 69.59

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.66 -146.6 0.0 0.0 0 89 0.00 0.00 -66.00 0.000 2 0.000 0.000 10 2217 3225

91 -0.66 -146.6 3.6 -3.5 12 111 10.62 2.40 -3.60 0.000 4 0.216 0.053 2602 800 3401

415 -0.66 -146.6 28.0 -6.0 57 421 0.00 2.30 0.00 0.000 6 0.000 0.037 2602 2218 3405

612 -0.66 -146.6 38.5 -5.1 76 616 0.00 2.30 0.00 0.000 4 0.000 0.040 2602 799 3404

775 -0.66 -146.6 47.6 -5.4 90 779 0.00 2.28 0.00 0.000 6 0.000 0.035 2602 2213 3405

972 -0.66 -146.6 56.8 -5.0 108 976 0.00 2.33 0.00 0.000 4 0.000 0.052 2602 3625 3405

1000 -0.66 -146.6 58.1 -4.8 110 1004 0.00 2.25 0.00 0.000 6 0.000 0.028 2603 2195 3405

1325 -0.66 -146.6 74.3 -4.9 140 1329 0.00 2.35 0.00 0.000 4 0.000 0.051 2602 3615 3404

1346 -0.66 -146.6 75.4 -5.0 141 1352 0.00 2.22 0.00 0.000 6 0.000 0.028 2602 2209 3404

1671 -0.66 -146.6 91.5 -5.2 172 1675 0.00 2.33 0.00 0.000 4 0.000 0.051 2602 3616 3405

1704 -0.66 -146.6 93.3 -5.0 174 1711 0.00 2.22 0.00 0.000 6 0.000 0.028 2602 2211 3405

1740 end dive: TARGET_DEPTH_EXCEEDED

state 1740 begin apogee

1745 -0.23 0.0 95.2 5.3 178 1864 0.45 0.00 112.82 0.799 6 0.105 0.000 2744 2151 2799

1864 end apogee: CONTROL_FINISHED_OK

state 1864 begin climb

1866 0.66 146.6 97.4 0.0 190 1984 0.88 0.00 111.65 0.693 6 0.080 0.000 3030 2150 2202

2301 0.66 146.6 73.1 6.3 232 2305 0.00 2.38 0.00 0.000 4 0.000 0.048 3030 3560 2200

2324 0.66 146.6 71.6 6.9 234 2328 0.00 2.25 0.00 0.000 6 0.000 0.031 3034 2158 2200

2654 0.66 146.6 50.5 6.5 265 2658 0.00 2.30 0.00 0.000 4 0.000 0.044 3039 744 2199

2686 0.66 146.6 48.5 6.0 267 2693 0.00 2.30 0.00 0.000 6 0.000 0.034 3039 2152 2199

2884 0.66 146.6 36.3 6.2 286 2888 0.00 2.30 0.00 0.000 4 0.000 0.049 3040 3552 2199

2912 0.66 146.6 34.5 6.8 288 2918 0.00 2.25 0.00 0.000 6 0.000 0.031 3041 2140 2199

3109 0.66 146.6 22.2 6.2 307 3110 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 2140 2199

3309 0.66 146.6 10.4 5.9 339 3314 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 2140 2199

3382 0.66 146.6 6.3 5.6 352 3388 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 2140 2198

3455 0.67 151.9 2.5 4.9 365 3462 0.00 0.00 4.15 0.590 6 0.000 0.000 3040 2140 2180

3483 end climb: SURFACE_DEPTH_REACHED

state 3483 begin surface coast

3558 end surface coast: CONTROL_FINISHED_OK

state 3558 begin surface

ID	128	HD_B	0.013382	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.8987e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	158	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2210	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	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	40	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	63	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	204	DEVICE4	-1
T_TURN	270	CALL_WAIT	60	VBD_MAX	3580	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2800	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	360	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	-62346.055	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	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	1	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_MIN	25	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	4070	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_I	2.5554549e-05
MASS	51503	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0043390002	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	165633,4805.638,-12221.626,32,1.5,33,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.121,0.101
_SM_DEPTHo	1.14	KALMAN_X	12730.2,-145.3,30.0,-9819.3,212.6
_SM_ANGLEo	-68.5	KALMAN_Y	5019.4,37.6,-93.1,-10174.6,-17.8
GPS2	170103,4805.652,-12221.635,9,1.7,9,18.3	MHEAD_RNG_PITCHd_Wd	291.5,5240,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	110

FINISH	1.0,1.024054	XPDR_PINGS	0
SM_CCo	3574,64.60,0.762,0,0,1576,300.00	ALTIM_BOTTOM_PING	70.1,49.4
SM_GC	1.54,0.00,0.00,64.60,0.000,0.000,0.762,18,2223,1576,-8.76,0.37,300.00	_24V_AH	24.4,21.085
IRIDIUM_FIX	-3251.89,11536.42,110907,191921	_10V_AH	10.8,9.035
TT8_MAMPS	0.026078	DATA_FILE_SIZE	19157,383
HUMID	1854	CFSIZE	260165632,253292544
INTERNAL_PRESSURE	9.19957	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.00	GPS	110907,180355,4805.868,-12221.943,35,1.8,36,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	216	108.45	SBE_CT	274	24	160.79
Roll_motor	36	137	123.61	SBE_O2	299	19	138.83
VBD_pump_during_apogee	228	799	4458.38	WL_BB2F	646	105	1655.75
VBD_pump_during_surface	64	761	1200.51	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	97.69	nil	0	0	0.00
Iridium_during_connect	54	160	212.33	nil	0	0	0.00
Iridium_during_xfer	101	223	550.19
Transponder_ping	0	420	2.56
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.85
TT8	647	19	138.55
LPSleep	1844	2	43.63
TT8_Active	354	19	75.74
TT8_Sampling	785	39	337.81
TT8_CF8	301	45	149.21
TT8_Kalman	33	81	29.46
Analog_circuits	742	12	96.25
GPS_charging	0	0	0.00
Compass	805	8	69.59
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.66	-146.6	0.0	0.0	0	89	0.00	0.00	-66.00	0.000	2	0.000	0.000	10	2217	3225
91	-0.66	-146.6	3.6	-3.5	12	111	10.62	2.40	-3.60	0.000	4	0.216	0.053	2602	800	3401
415	-0.66	-146.6	28.0	-6.0	57	421	0.00	2.30	0.00	0.000	6	0.000	0.037	2602	2218	3405
612	-0.66	-146.6	38.5	-5.1	76	616	0.00	2.30	0.00	0.000	4	0.000	0.040	2602	799	3404
775	-0.66	-146.6	47.6	-5.4	90	779	0.00	2.28	0.00	0.000	6	0.000	0.035	2602	2213	3405
972	-0.66	-146.6	56.8	-5.0	108	976	0.00	2.33	0.00	0.000	4	0.000	0.052	2602	3625	3405
1000	-0.66	-146.6	58.1	-4.8	110	1004	0.00	2.25	0.00	0.000	6	0.000	0.028	2603	2195	3405
1325	-0.66	-146.6	74.3	-4.9	140	1329	0.00	2.35	0.00	0.000	4	0.000	0.051	2602	3615	3404
1346	-0.66	-146.6	75.4	-5.0	141	1352	0.00	2.22	0.00	0.000	6	0.000	0.028	2602	2209	3404
1671	-0.66	-146.6	91.5	-5.2	172	1675	0.00	2.33	0.00	0.000	4	0.000	0.051	2602	3616	3405
1704	-0.66	-146.6	93.3	-5.0	174	1711	0.00	2.22	0.00	0.000	6	0.000	0.028	2602	2211	3405
1740	end dive: TARGET_DEPTH_EXCEEDED
state	1740	begin apogee
1745	-0.23	0.0	95.2	5.3	178	1864	0.45	0.00	112.82	0.799	6	0.105	0.000	2744	2151	2799
1864	end apogee: CONTROL_FINISHED_OK
state	1864	begin climb
1866	0.66	146.6	97.4	0.0	190	1984	0.88	0.00	111.65	0.693	6	0.080	0.000	3030	2150	2202
2301	0.66	146.6	73.1	6.3	232	2305	0.00	2.38	0.00	0.000	4	0.000	0.048	3030	3560	2200
2324	0.66	146.6	71.6	6.9	234	2328	0.00	2.25	0.00	0.000	6	0.000	0.031	3034	2158	2200
2654	0.66	146.6	50.5	6.5	265	2658	0.00	2.30	0.00	0.000	4	0.000	0.044	3039	744	2199
2686	0.66	146.6	48.5	6.0	267	2693	0.00	2.30	0.00	0.000	6	0.000	0.034	3039	2152	2199
2884	0.66	146.6	36.3	6.2	286	2888	0.00	2.30	0.00	0.000	4	0.000	0.049	3040	3552	2199
2912	0.66	146.6	34.5	6.8	288	2918	0.00	2.25	0.00	0.000	6	0.000	0.031	3041	2140	2199
3109	0.66	146.6	22.2	6.2	307	3110	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	2140	2199
3309	0.66	146.6	10.4	5.9	339	3314	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	2140	2199
3382	0.66	146.6	6.3	5.6	352	3388	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	2140	2198
3455	0.67	151.9	2.5	4.9	365	3462	0.00	0.00	4.15	0.590	6	0.000	0.000	3040	2140	2180
3483	end climb: SURFACE_DEPTH_REACHED
state	3483	begin surface coast
3558	end surface coast: CONTROL_FINISHED_OK
state	3558	begin surface