Glider dive log

PortSusan 20Jan09 * SG104 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 104 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 0 ROLL_MIN 176 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 19 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3929 ALTIM_PING_DEPTH 60

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 4 TGT_DEFAULT_LAT 48.130001 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -122.366 C_ROLL_CLIMB 1840 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 658 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT -1.784981

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 62.5 UPLOAD_DIVES_MAX -1 VBD_MIN 574 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3908 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3296 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -216954.36 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 45 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3331 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2375 PRESSURE_YINT -16.602304 SEABIRD_T_G 0.0043870676

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064850412

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4590418e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3871978e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.313265

KALMAN_USE 1 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1866801

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.0012373535

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J -1.1855637e-05

HD_C 2.5700001e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 658

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3331 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 45 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -16.602304 TGT_DEFAULT_LAT 48.130001

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.366

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 62.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -216954.36

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 104 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3929 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.784981 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2375 KALMAN_USE 1 ROLL_MIN 176 USE_BATHY 0

C_ROLL_CLIMB 1840 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 3296 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -10.313265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1866801 VBD_MAX 3908

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.0012373535 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J -1.1855637e-05 VBD_MIN 574

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043870676 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064850412 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4590418e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3871978e-06 XPDR_DEVICE 24

DIVE 19 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 154147,4806.949,-12222.688,11,2.2,30,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 1 TGT_RADIUS 200.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.186,0.159

_SM_DEPTHo 1.81 KALMAN_X -865.0,100.2,200.6,560.3,294.5

_SM_ANGLEo -69.8 KALMAN_Y 208.6,-3.3,-188.4,-3444.4,-118.2

GPS2 154554,4806.952,-12222.676,39,1.6,39,18.3 MHEAD_RNG_PITCHd_Wd 292.2,2540,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.4,1.019872 ALTIM_BOTTOM_PING 90.7,32.5

SM_CCo 2966,345.42,0.617,12,0,574,667.71 _24V_AH 23.5,7.634

SM_GC 2.17,11.85,0.00,0.00,0.045,0.000,0.000,42,1999,573,-10.68,-0.06,667.95 _10V_AH 10.1,2.794

IRIDIUM_FIX 4748.51,-12221.84,170498,141412 DATA_FILE_SIZE 12816,264

TT8_MAMPS 0.025311 CAP_FILE_SIZE 39158,0

HUMID 1414 CFSIZE 260165632,257671168

INTERNAL_PRESSURE 8.15681 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,12,0

TCM_TEMP 17.60 GPS 210109,164531,4807.200,-12222.995,9,1.6,9,18.3

XPDR_PINGS 66

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 144 87.29 SBE_CT 176 24 99.81

Roll_motor 40 64 60.71 SBE_O2 193 19 86.46

VBD_pump_during_apogee 239 747 4201.56 WL_BB2F 511 105 1261.92

VBD_pump_during_surface 345 616 5005.79 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 66.65 nil 0 0 0.00

Iridium_during_connect 29 160 110.78 nil 0 0 0.00

Iridium_during_xfer 98 223 516.42

Transponder_ping 17 420 175.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 41 50 20.86

TT8 450 19 90.15

LPSleep 1705 2 37.72

TT8_Active 705 19 141.18

TT8_Sampling 686 39 275.97

TT8_CF8 199 45 92.25

TT8_Kalman 33 81 27.54

Analog_circuits 1042 12 126.36

GPS_charging 0 0 0.00

Compass 655 8 52.98

RAFOS 0 0 0.00

Transponder 10 30 3.15

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13 -1.17 -146.6 0.0 0.0 0 119 0.00 0.00 -103.22 0.000 2 0.000 0.000 42 2001 3740

121 -1.17 -146.6 4.2 -4.3 17 142 11.43 2.53 -3.33 0.000 4 0.145 0.064 2114 3406 3895

316 -1.17 -146.6 22.6 -8.4 49 320 0.00 2.45 0.00 0.000 6 0.000 0.039 2114 2002 3895

514 -1.17 -146.6 37.3 -7.1 67 515 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2002 3895

714 -1.17 -146.6 51.4 -6.9 85 719 0.00 2.53 0.00 0.000 4 0.000 0.054 2114 3404 3895

741 -1.17 -146.6 53.5 -7.1 86 745 0.00 2.47 0.00 0.000 6 0.000 0.039 2114 2000 3895

1062 -1.17 -146.6 74.4 -6.5 102 1067 0.00 2.55 0.00 0.000 4 0.000 0.061 2114 588 3895

1089 -1.17 -146.6 76.3 -6.8 103 1093 0.00 2.47 0.00 0.000 6 0.000 0.036 2114 2004 3895

1411 -1.17 -146.6 95.7 -6.1 119 1415 0.00 2.50 0.00 0.000 4 0.000 0.055 2114 3404 3895

1465 -1.17 -146.6 99.3 -6.7 121 1473 0.00 2.47 0.00 0.000 6 0.000 0.038 2114 1995 3895

1714 end dive: BOTTOM_OBSTACLE_DETECTED

state 1714 begin apogee

1718 -0.33 0.0 113.7 5.8 144 1838 0.88 0.00 116.25 0.747 6 0.067 0.000 2301 1836 3296

1838 end apogee: CONTROL_FINISHED_OK

state 1839 begin climb

1840 1.17 146.6 116.1 0.0 156 1964 1.48 2.60 115.32 0.718 4 0.043 0.064 2635 436 2697

2047 1.17 146.6 96.4 13.5 174 2051 0.00 2.47 0.00 0.000 6 0.000 0.036 2634 1843 2698

2374 1.17 146.6 55.9 11.9 190 2378 0.00 2.58 0.00 0.000 4 0.000 0.064 2635 440 2698

2427 1.17 146.6 49.3 12.0 192 2435 0.00 2.45 0.00 0.000 6 0.000 0.036 2634 1839 2698

2756 1.17 146.6 14.0 9.7 228 2762 0.00 2.58 0.00 0.000 4 0.000 0.064 2634 433 2698

2797 1.17 146.6 9.9 10.1 235 2804 0.00 2.42 0.00 0.000 6 0.000 0.035 2635 1848 2698

2872 1.19 161.8 3.6 7.4 248 2885 0.00 2.50 7.75 0.581 4 0.000 0.054 2634 3243 2637

2890 end climb: SURFACE_DEPTH_REACHED

state 2890 begin surface coast

2964 end surface coast: CONTROL_FINISHED_OK

state 2964 begin surface

ID	104	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	0	ROLL_MIN	176	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	19	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3929	ALTIM_PING_DEPTH	60
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	4	TGT_DEFAULT_LAT	48.130001	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-122.366	C_ROLL_CLIMB	1840	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	658	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	-1.784981
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	62.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	574	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3908	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3296	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-216954.36	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	45	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3331	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2375	PRESSURE_YINT	-16.602304	SEABIRD_T_G	0.0043870676
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064850412
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4590418e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3871978e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.313265
KALMAN_USE	1	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1866801
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.0012373535
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	-1.1855637e-05
HD_C	2.5700001e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	154147,4806.949,-12222.688,11,2.2,30,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	1	TGT_RADIUS	200.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.186,0.159
_SM_DEPTHo	1.81	KALMAN_X	-865.0,100.2,200.6,560.3,294.5
_SM_ANGLEo	-69.8	KALMAN_Y	208.6,-3.3,-188.4,-3444.4,-118.2
GPS2	154554,4806.952,-12222.676,39,1.6,39,18.3	MHEAD_RNG_PITCHd_Wd	292.2,2540,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	150

FINISH	3.4,1.019872	ALTIM_BOTTOM_PING	90.7,32.5
SM_CCo	2966,345.42,0.617,12,0,574,667.71	_24V_AH	23.5,7.634
SM_GC	2.17,11.85,0.00,0.00,0.045,0.000,0.000,42,1999,573,-10.68,-0.06,667.95	_10V_AH	10.1,2.794
IRIDIUM_FIX	4748.51,-12221.84,170498,141412	DATA_FILE_SIZE	12816,264
TT8_MAMPS	0.025311	CAP_FILE_SIZE	39158,0
HUMID	1414	CFSIZE	260165632,257671168
INTERNAL_PRESSURE	8.15681	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
TCM_TEMP	17.60	GPS	210109,164531,4807.200,-12222.995,9,1.6,9,18.3
XPDR_PINGS	66

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	144	87.29	SBE_CT	176	24	99.81
Roll_motor	40	64	60.71	SBE_O2	193	19	86.46
VBD_pump_during_apogee	239	747	4201.56	WL_BB2F	511	105	1261.92
VBD_pump_during_surface	345	616	5005.79	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	66.65	nil	0	0	0.00
Iridium_during_connect	29	160	110.78	nil	0	0	0.00
Iridium_during_xfer	98	223	516.42
Transponder_ping	17	420	175.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	41	50	20.86
TT8	450	19	90.15
LPSleep	1705	2	37.72
TT8_Active	705	19	141.18
TT8_Sampling	686	39	275.97
TT8_CF8	199	45	92.25
TT8_Kalman	33	81	27.54
Analog_circuits	1042	12	126.36
GPS_charging	0	0	0.00
Compass	655	8	52.98
RAFOS	0	0	0.00
Transponder	10	30	3.15

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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13	-1.17	-146.6	0.0	0.0	0	119	0.00	0.00	-103.22	0.000	2	0.000	0.000	42	2001	3740
121	-1.17	-146.6	4.2	-4.3	17	142	11.43	2.53	-3.33	0.000	4	0.145	0.064	2114	3406	3895
316	-1.17	-146.6	22.6	-8.4	49	320	0.00	2.45	0.00	0.000	6	0.000	0.039	2114	2002	3895
514	-1.17	-146.6	37.3	-7.1	67	515	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2002	3895
714	-1.17	-146.6	51.4	-6.9	85	719	0.00	2.53	0.00	0.000	4	0.000	0.054	2114	3404	3895
741	-1.17	-146.6	53.5	-7.1	86	745	0.00	2.47	0.00	0.000	6	0.000	0.039	2114	2000	3895
1062	-1.17	-146.6	74.4	-6.5	102	1067	0.00	2.55	0.00	0.000	4	0.000	0.061	2114	588	3895
1089	-1.17	-146.6	76.3	-6.8	103	1093	0.00	2.47	0.00	0.000	6	0.000	0.036	2114	2004	3895
1411	-1.17	-146.6	95.7	-6.1	119	1415	0.00	2.50	0.00	0.000	4	0.000	0.055	2114	3404	3895
1465	-1.17	-146.6	99.3	-6.7	121	1473	0.00	2.47	0.00	0.000	6	0.000	0.038	2114	1995	3895
1714	end dive: BOTTOM_OBSTACLE_DETECTED
state	1714	begin apogee
1718	-0.33	0.0	113.7	5.8	144	1838	0.88	0.00	116.25	0.747	6	0.067	0.000	2301	1836	3296
1838	end apogee: CONTROL_FINISHED_OK
state	1839	begin climb
1840	1.17	146.6	116.1	0.0	156	1964	1.48	2.60	115.32	0.718	4	0.043	0.064	2635	436	2697
2047	1.17	146.6	96.4	13.5	174	2051	0.00	2.47	0.00	0.000	6	0.000	0.036	2634	1843	2698
2374	1.17	146.6	55.9	11.9	190	2378	0.00	2.58	0.00	0.000	4	0.000	0.064	2635	440	2698
2427	1.17	146.6	49.3	12.0	192	2435	0.00	2.45	0.00	0.000	6	0.000	0.036	2634	1839	2698
2756	1.17	146.6	14.0	9.7	228	2762	0.00	2.58	0.00	0.000	4	0.000	0.064	2634	433	2698
2797	1.17	146.6	9.9	10.1	235	2804	0.00	2.42	0.00	0.000	6	0.000	0.035	2635	1848	2698
2872	1.19	161.8	3.6	7.4	248	2885	0.00	2.50	7.75	0.581	4	0.000	0.054	2634	3243	2637
2890	end climb: SURFACE_DEPTH_REACHED
state	2890	begin surface coast
2964	end surface coast: CONTROL_FINISHED_OK
state	2964	begin surface