Glider dive log

PN07 DabobBay Sep07 * SG022 * Dive index * Mission links * Dive 179 * 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 179 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 2160 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2075 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 0

D_PITCH 0 SM_CC 550 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 9 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 14 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 -112698.49 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 550

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 -112698.49

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 2075 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2160 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51950 R_PORT_OVSHOOT 9 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 80 R_STBD_OVSHOOT 14 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 179 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 064226,4739.492,-12252.637,14,1.7,31,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.261,-0.092

_SM_DEPTHo 1.38 KALMAN_X 27419.1,-29.9,75.3,-27040.9,-2.8

_SM_ANGLEo -71.3 KALMAN_Y 5786.5,-31.2,168.2,-6259.3,27.4

GPS2 064659,4739.511,-12252.644,16,2.2,35,18.3 MHEAD_RNG_PITCHd_Wd 91.2,313,-11.1,-7.407

SPEED_LIMITS 0.276,0.286 D_GRID 123

Post-dive calculations and measurements:

FINISH 2.6,1.020482 ALTIM_BOTTOM_PING 50.6,7.8

SM_CCo 3318,215.15,0.646,0,0,1240,550.21 _24V_AH 23.9,24.129

SM_GC 1.44,0.00,0.00,215.15,0.000,0.000,0.646,36,2177,1240,-11.47,0.45,550.21 _10V_AH 10.2,6.385

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 9594,302

TT8_MAMPS 0.028379 CFSIZE 260034560,252407808

HUMID 2095 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 270907,074823,4739.359,-12252.283,13,5.7,32,18.3

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 195 129.72 SBE_CT 200 24 114.82

Roll_motor 51 139 171.90 nil 0 0 0.00

VBD_pump_during_apogee 173 793 3298.91 nil 0 0 0.00

VBD_pump_during_surface 215 645 3320.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 80.25 nil 0 0 0.00

Iridium_during_connect 34 160 130.78 ARS 0 0 0.00

Iridium_during_xfer 97 223 519.26

Transponder_ping 2 420 25.09

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.36

TT8 584 19 118.03

LPSleep 1924 2 43.00

TT8_Active 520 19 105.08

TT8_Sampling 531 39 215.74

TT8_CF8 293 45 137.05

TT8_Kalman 33 81 27.81

Analog_circuits 840 12 102.83

GPS_charging 0 0 0.00

Compass 511 8 41.74

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

23 -0.78 -78.2 0.0 0.0 0 94 0.00 0.00 -68.05 0.000 2 0.000 0.000 39 2179 2756

96 -0.78 -78.2 2.4 -3.2 11 164 13.55 2.80 -45.80 0.000 4 0.196 0.125 2353 3561 3805

256 -0.78 -78.2 11.1 -7.2 36 262 0.00 2.83 0.00 0.000 6 0.000 0.108 2353 2155 3806

328 -0.78 -78.2 14.9 -5.3 47 334 0.00 2.97 0.00 0.000 4 0.000 0.140 2352 732 3806

433 -0.78 -78.2 20.0 -4.3 63 437 0.00 2.78 0.00 0.000 6 0.000 0.094 2352 2166 3806

635 -0.78 -78.2 29.8 -5.2 79 636 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2166 3807

825 -0.78 -78.2 40.6 -5.4 94 830 0.00 2.85 0.00 0.000 4 0.000 0.123 2353 3572 3808

910 -0.78 -78.2 45.7 -6.4 100 915 0.00 2.88 0.00 0.000 6 0.000 0.112 2352 2150 3808

1106 -0.78 -78.2 55.8 -5.4 115 1110 0.00 2.95 0.00 0.000 4 0.000 0.138 2352 730 3808

1165 -0.78 -78.2 59.2 -5.8 119 1169 0.00 2.80 0.00 0.000 6 0.000 0.096 2353 2176 3808

1360 -0.78 -78.2 69.6 -5.3 134 1361 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2176 3808

1550 -0.78 -78.2 79.5 -5.6 149 1555 0.00 2.80 0.00 0.000 4 0.000 0.119 2353 3566 3808

1583 -0.78 -78.2 81.5 -6.6 151 1587 0.00 2.88 0.00 0.000 6 0.000 0.114 2353 2149 3808

1778 -0.78 -78.2 92.3 -5.2 166 1782 0.00 2.92 0.00 0.000 4 0.000 0.137 2352 736 3808

1824 -0.78 -78.2 95.0 -5.9 169 1828 0.00 2.78 0.00 0.000 6 0.000 0.096 2351 2167 3808

1916 end dive: TARGET_DEPTH_EXCEEDED

state 1916 begin apogee

1921 -0.31 0.0 100.0 5.2 176 1991 0.55 0.00 62.33 0.746 6 0.128 0.000 2458 2064 3484

1992 end apogee: CONTROL_FINISHED_OK

state 1992 begin climb

1993 0.78 78.2 101.6 0.0 182 2061 1.15 2.90 60.50 0.727 4 0.100 0.120 2694 648 3164

2106 0.84 130.7 96.9 6.2 190 2151 0.00 2.72 39.90 0.719 6 0.000 0.074 2694 2085 2950

2339 0.84 134.3 80.8 7.3 209 2344 0.00 0.00 2.75 0.794 6 0.000 0.000 2694 2085 2935

2528 0.85 145.9 67.1 7.1 224 2541 0.10 0.00 8.40 0.756 6 0.074 0.000 2721 2085 2887

2729 0.85 145.9 48.7 9.1 240 2733 0.00 2.92 0.00 0.000 4 0.000 0.123 2720 658 2887

2755 0.85 145.9 46.2 9.6 241 2762 0.00 2.67 0.00 0.000 6 0.000 0.075 2718 2086 2887

2950 0.85 145.9 28.0 9.3 257 2951 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2086 2887

3144 0.85 145.9 11.2 8.0 279 3150 0.00 2.92 0.00 0.000 4 0.000 0.121 2720 648 2887

3235 end climb: SURFACE_DEPTH_REACHED

state 3235 begin surface coast

3294 end surface coast: CONTROL_FINISHED_OK

state 3295 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	179	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	2160	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2075	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	0
D_PITCH	0	SM_CC	550	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	9	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	14	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	-112698.49	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	064226,4739.492,-12252.637,14,1.7,31,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.261,-0.092
_SM_DEPTHo	1.38	KALMAN_X	27419.1,-29.9,75.3,-27040.9,-2.8
_SM_ANGLEo	-71.3	KALMAN_Y	5786.5,-31.2,168.2,-6259.3,27.4
GPS2	064659,4739.511,-12252.644,16,2.2,35,18.3	MHEAD_RNG_PITCHd_Wd	91.2,313,-11.1,-7.407
SPEED_LIMITS	0.276,0.286	D_GRID	123

FINISH	2.6,1.020482	ALTIM_BOTTOM_PING	50.6,7.8
SM_CCo	3318,215.15,0.646,0,0,1240,550.21	_24V_AH	23.9,24.129
SM_GC	1.44,0.00,0.00,215.15,0.000,0.000,0.646,36,2177,1240,-11.47,0.45,550.21	_10V_AH	10.2,6.385
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	9594,302
TT8_MAMPS	0.028379	CFSIZE	260034560,252407808
HUMID	2095	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	270907,074823,4739.359,-12252.283,13,5.7,32,18.3
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	195	129.72	SBE_CT	200	24	114.82
Roll_motor	51	139	171.90	nil	0	0	0.00
VBD_pump_during_apogee	173	793	3298.91	nil	0	0	0.00
VBD_pump_during_surface	215	645	3320.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	80.25	nil	0	0	0.00
Iridium_during_connect	34	160	130.78	ARS	0	0	0.00
Iridium_during_xfer	97	223	519.26
Transponder_ping	2	420	25.09
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.36
TT8	584	19	118.03
LPSleep	1924	2	43.00
TT8_Active	520	19	105.08
TT8_Sampling	531	39	215.74
TT8_CF8	293	45	137.05
TT8_Kalman	33	81	27.81
Analog_circuits	840	12	102.83
GPS_charging	0	0	0.00
Compass	511	8	41.74
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
23	-0.78	-78.2	0.0	0.0	0	94	0.00	0.00	-68.05	0.000	2	0.000	0.000	39	2179	2756
96	-0.78	-78.2	2.4	-3.2	11	164	13.55	2.80	-45.80	0.000	4	0.196	0.125	2353	3561	3805
256	-0.78	-78.2	11.1	-7.2	36	262	0.00	2.83	0.00	0.000	6	0.000	0.108	2353	2155	3806
328	-0.78	-78.2	14.9	-5.3	47	334	0.00	2.97	0.00	0.000	4	0.000	0.140	2352	732	3806
433	-0.78	-78.2	20.0	-4.3	63	437	0.00	2.78	0.00	0.000	6	0.000	0.094	2352	2166	3806
635	-0.78	-78.2	29.8	-5.2	79	636	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2166	3807
825	-0.78	-78.2	40.6	-5.4	94	830	0.00	2.85	0.00	0.000	4	0.000	0.123	2353	3572	3808
910	-0.78	-78.2	45.7	-6.4	100	915	0.00	2.88	0.00	0.000	6	0.000	0.112	2352	2150	3808
1106	-0.78	-78.2	55.8	-5.4	115	1110	0.00	2.95	0.00	0.000	4	0.000	0.138	2352	730	3808
1165	-0.78	-78.2	59.2	-5.8	119	1169	0.00	2.80	0.00	0.000	6	0.000	0.096	2353	2176	3808
1360	-0.78	-78.2	69.6	-5.3	134	1361	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2176	3808
1550	-0.78	-78.2	79.5	-5.6	149	1555	0.00	2.80	0.00	0.000	4	0.000	0.119	2353	3566	3808
1583	-0.78	-78.2	81.5	-6.6	151	1587	0.00	2.88	0.00	0.000	6	0.000	0.114	2353	2149	3808
1778	-0.78	-78.2	92.3	-5.2	166	1782	0.00	2.92	0.00	0.000	4	0.000	0.137	2352	736	3808
1824	-0.78	-78.2	95.0	-5.9	169	1828	0.00	2.78	0.00	0.000	6	0.000	0.096	2351	2167	3808
1916	end dive: TARGET_DEPTH_EXCEEDED
state	1916	begin apogee
1921	-0.31	0.0	100.0	5.2	176	1991	0.55	0.00	62.33	0.746	6	0.128	0.000	2458	2064	3484
1992	end apogee: CONTROL_FINISHED_OK
state	1992	begin climb
1993	0.78	78.2	101.6	0.0	182	2061	1.15	2.90	60.50	0.727	4	0.100	0.120	2694	648	3164
2106	0.84	130.7	96.9	6.2	190	2151	0.00	2.72	39.90	0.719	6	0.000	0.074	2694	2085	2950
2339	0.84	134.3	80.8	7.3	209	2344	0.00	0.00	2.75	0.794	6	0.000	0.000	2694	2085	2935
2528	0.85	145.9	67.1	7.1	224	2541	0.10	0.00	8.40	0.756	6	0.074	0.000	2721	2085	2887
2729	0.85	145.9	48.7	9.1	240	2733	0.00	2.92	0.00	0.000	4	0.000	0.123	2720	658	2887
2755	0.85	145.9	46.2	9.6	241	2762	0.00	2.67	0.00	0.000	6	0.000	0.075	2718	2086	2887
2950	0.85	145.9	28.0	9.3	257	2951	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2086	2887
3144	0.85	145.9	11.2	8.0	279	3150	0.00	2.92	0.00	0.000	4	0.000	0.121	2720	648	2887
3235	end climb: SURFACE_DEPTH_REACHED
state	3235	begin surface coast
3294	end surface coast: CONTROL_FINISHED_OK
state	3295	begin surface