Glider dive log

PN07 DabobBay Sep07 * SG022 * Dive index * Mission links * Dive 190 * 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 190 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 2167 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2095 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 -113038.38 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 -113038.38

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 2095 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2167 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 190 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 192129,4739.333,-12253.580,9,3.3,28,18.3 TGT_NAME H3

_CALLS 3 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.219,0.169

_SM_DEPTHo 1.26 KALMAN_X 27592.1,87.1,120.1,-28585.9,98.2

_SM_ANGLEo -70.4 KALMAN_Y 4842.3,-80.0,154.4,-5613.2,-42.5

GPS2 193214,4739.312,-12253.617,30,1.9,37,18.3 MHEAD_RNG_PITCHd_Wd 34.1,592,-11.1,-7.407

SPEED_LIMITS 0.276,0.286 D_GRID 117

Post-dive calculations and measurements:

FINISH 1.0,1.020176 ALTIM_BOTTOM_PING 50.2,7.9

SM_CCo 3272,183.00,0.644,0,0,1240,550.21 _24V_AH 23.9,25.119

SM_GC 1.28,0.00,0.00,183.00,0.000,0.000,0.644,38,2184,1240,-11.46,0.48,550.21 _10V_AH 10.2,6.676

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 9573,304

TT8_MAMPS 0.028379 CFSIZE 260034560,252088320

HUMID 2087 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 270907,203214,4739.300,-12253.265,9,1.9,27,18.3

XPDR_PINGS 10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 198 132.23 SBE_CT 200 24 115.15

Roll_motor 45 143 156.74 nil 0 0 0.00

VBD_pump_during_apogee 216 740 3825.40 nil 0 0 0.00

VBD_pump_during_surface 183 643 2814.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 97 103 240.74 nil 0 0 0.00

Iridium_during_connect 179 160 687.59 ARS 0 0 0.00

Iridium_during_xfer 138 223 739.73

Transponder_ping 3 420 30.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 37 50 18.99

TT8 575 19 116.14

LPSleep 1964 2 43.88

TT8_Active 529 19 106.99

TT8_Sampling 531 39 215.86

TT8_CF8 547 45 255.69

TT8_Kalman 33 81 27.81

Analog_circuits 853 12 104.50

GPS_charging 0 0 0.00

Compass 511 8 41.77

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

24 -0.78 -78.2 0.0 0.0 0 99 0.00 0.00 -73.47 0.000 2 0.000 0.000 37 2179 2833

102 -0.78 -78.2 2.0 -2.5 12 170 13.65 2.83 -47.35 0.000 4 0.199 0.131 2353 3562 3802

224 -0.78 -78.2 7.0 -7.9 31 230 0.00 2.80 0.00 0.000 6 0.000 0.104 2352 2157 3804

295 -0.78 -78.2 10.9 -4.9 42 302 0.00 2.95 0.00 0.000 4 0.000 0.138 2352 745 3804

414 -0.78 -78.2 17.6 -5.8 60 420 0.00 2.75 0.00 0.000 6 0.000 0.091 2352 2175 3804

491 -0.78 -78.2 21.0 -4.2 70 492 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2174 3805

682 -0.78 -78.2 30.3 -5.1 85 683 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2174 3806

872 -0.78 -78.2 40.3 -5.2 100 874 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2175 3806

1063 -0.78 -78.2 50.2 -5.1 115 1067 0.00 2.83 0.00 0.000 4 0.000 0.123 2353 3566 3806

1114 -0.78 -78.2 53.3 -5.7 118 1121 0.00 2.88 0.00 0.000 6 0.000 0.113 2352 2161 3806

1310 -0.78 -78.2 63.7 -5.3 134 1315 0.00 2.95 0.00 0.000 4 0.000 0.139 2352 742 3806

1356 -0.78 -78.2 66.1 -5.1 137 1361 0.00 2.78 0.00 0.000 6 0.000 0.097 2352 2166 3806

1552 -0.78 -78.2 76.1 -5.0 152 1556 0.00 2.85 0.00 0.000 4 0.000 0.125 2353 3573 3806

1603 -0.78 -78.2 79.0 -5.9 155 1610 0.00 2.90 0.00 0.000 6 0.000 0.115 2352 2160 3806

1799 -0.78 -78.2 89.2 -5.2 171 1801 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2160 3806

1991 -0.78 -78.2 99.3 -5.7 186 1992 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2159 3806

2012 end dive: TARGET_DEPTH_EXCEEDED

state 2012 begin apogee

2017 -0.31 0.0 100.6 5.6 188 2086 0.55 0.00 62.12 0.740 6 0.132 0.000 2457 2085 3483

2087 end apogee: CONTROL_FINISHED_OK

state 2087 begin climb

2089 0.78 78.2 102.6 0.0 194 2159 1.20 2.92 60.53 0.726 4 0.104 0.106 2698 3514 3164

2186 0.91 200.0 99.8 4.6 202 2287 0.15 2.78 93.60 0.712 6 0.067 0.085 2729 2084 2666

2484 0.91 200.0 71.3 10.3 226 2488 0.00 2.90 0.00 0.000 4 0.000 0.129 2729 677 2665

2548 0.91 200.0 64.4 10.6 230 2556 0.00 2.72 0.00 0.000 6 0.000 0.079 2729 2103 2665

2745 0.91 200.0 44.6 10.1 246 2746 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 2103 2665

2935 0.91 200.0 25.7 9.5 261 2940 0.00 2.92 0.00 0.000 4 0.000 0.123 2729 677 2665

2980 0.91 200.0 21.1 10.0 264 2985 0.00 2.70 0.00 0.000 6 0.000 0.079 2729 2111 2665

3170 end climb: SURFACE_DEPTH_REACHED

state 3170 begin surface coast

3251 end surface coast: CONTROL_FINISHED_OK

state 3251 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	190	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	2167	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2095	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	-113038.38	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	192129,4739.333,-12253.580,9,3.3,28,18.3	TGT_NAME	H3
_CALLS	3	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.219,0.169
_SM_DEPTHo	1.26	KALMAN_X	27592.1,87.1,120.1,-28585.9,98.2
_SM_ANGLEo	-70.4	KALMAN_Y	4842.3,-80.0,154.4,-5613.2,-42.5
GPS2	193214,4739.312,-12253.617,30,1.9,37,18.3	MHEAD_RNG_PITCHd_Wd	34.1,592,-11.1,-7.407
SPEED_LIMITS	0.276,0.286	D_GRID	117

FINISH	1.0,1.020176	ALTIM_BOTTOM_PING	50.2,7.9
SM_CCo	3272,183.00,0.644,0,0,1240,550.21	_24V_AH	23.9,25.119
SM_GC	1.28,0.00,0.00,183.00,0.000,0.000,0.644,38,2184,1240,-11.46,0.48,550.21	_10V_AH	10.2,6.676
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	9573,304
TT8_MAMPS	0.028379	CFSIZE	260034560,252088320
HUMID	2087	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	270907,203214,4739.300,-12253.265,9,1.9,27,18.3
XPDR_PINGS	10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	198	132.23	SBE_CT	200	24	115.15
Roll_motor	45	143	156.74	nil	0	0	0.00
VBD_pump_during_apogee	216	740	3825.40	nil	0	0	0.00
VBD_pump_during_surface	183	643	2814.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	97	103	240.74	nil	0	0	0.00
Iridium_during_connect	179	160	687.59	ARS	0	0	0.00
Iridium_during_xfer	138	223	739.73
Transponder_ping	3	420	30.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	37	50	18.99
TT8	575	19	116.14
LPSleep	1964	2	43.88
TT8_Active	529	19	106.99
TT8_Sampling	531	39	215.86
TT8_CF8	547	45	255.69
TT8_Kalman	33	81	27.81
Analog_circuits	853	12	104.50
GPS_charging	0	0	0.00
Compass	511	8	41.77
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
24	-0.78	-78.2	0.0	0.0	0	99	0.00	0.00	-73.47	0.000	2	0.000	0.000	37	2179	2833
102	-0.78	-78.2	2.0	-2.5	12	170	13.65	2.83	-47.35	0.000	4	0.199	0.131	2353	3562	3802
224	-0.78	-78.2	7.0	-7.9	31	230	0.00	2.80	0.00	0.000	6	0.000	0.104	2352	2157	3804
295	-0.78	-78.2	10.9	-4.9	42	302	0.00	2.95	0.00	0.000	4	0.000	0.138	2352	745	3804
414	-0.78	-78.2	17.6	-5.8	60	420	0.00	2.75	0.00	0.000	6	0.000	0.091	2352	2175	3804
491	-0.78	-78.2	21.0	-4.2	70	492	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2174	3805
682	-0.78	-78.2	30.3	-5.1	85	683	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2174	3806
872	-0.78	-78.2	40.3	-5.2	100	874	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2175	3806
1063	-0.78	-78.2	50.2	-5.1	115	1067	0.00	2.83	0.00	0.000	4	0.000	0.123	2353	3566	3806
1114	-0.78	-78.2	53.3	-5.7	118	1121	0.00	2.88	0.00	0.000	6	0.000	0.113	2352	2161	3806
1310	-0.78	-78.2	63.7	-5.3	134	1315	0.00	2.95	0.00	0.000	4	0.000	0.139	2352	742	3806
1356	-0.78	-78.2	66.1	-5.1	137	1361	0.00	2.78	0.00	0.000	6	0.000	0.097	2352	2166	3806
1552	-0.78	-78.2	76.1	-5.0	152	1556	0.00	2.85	0.00	0.000	4	0.000	0.125	2353	3573	3806
1603	-0.78	-78.2	79.0	-5.9	155	1610	0.00	2.90	0.00	0.000	6	0.000	0.115	2352	2160	3806
1799	-0.78	-78.2	89.2	-5.2	171	1801	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2160	3806
1991	-0.78	-78.2	99.3	-5.7	186	1992	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2159	3806
2012	end dive: TARGET_DEPTH_EXCEEDED
state	2012	begin apogee
2017	-0.31	0.0	100.6	5.6	188	2086	0.55	0.00	62.12	0.740	6	0.132	0.000	2457	2085	3483
2087	end apogee: CONTROL_FINISHED_OK
state	2087	begin climb
2089	0.78	78.2	102.6	0.0	194	2159	1.20	2.92	60.53	0.726	4	0.104	0.106	2698	3514	3164
2186	0.91	200.0	99.8	4.6	202	2287	0.15	2.78	93.60	0.712	6	0.067	0.085	2729	2084	2666
2484	0.91	200.0	71.3	10.3	226	2488	0.00	2.90	0.00	0.000	4	0.000	0.129	2729	677	2665
2548	0.91	200.0	64.4	10.6	230	2556	0.00	2.72	0.00	0.000	6	0.000	0.079	2729	2103	2665
2745	0.91	200.0	44.6	10.1	246	2746	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	2103	2665
2935	0.91	200.0	25.7	9.5	261	2940	0.00	2.92	0.00	0.000	4	0.000	0.123	2729	677	2665
2980	0.91	200.0	21.1	10.0	264	2985	0.00	2.70	0.00	0.000	6	0.000	0.079	2729	2111	2665
3170	end climb: SURFACE_DEPTH_REACHED
state	3170	begin surface coast
3251	end surface coast: CONTROL_FINISHED_OK
state	3251	begin surface