Glider dive log

PortSusan 10Dec07 * SG144 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 20 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 160 ALTIM_PING_DEPTH 0

D_TGT 150 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 500 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2190 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 650 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 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 54

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 480 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3950 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3503 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 5 VBD_TIMEOUT 720 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -898.60498 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_MIN 500 AH0_24V 91.800003 SEABIRD_T_G 0.0043142079

SPEED_FACTOR 1 PITCH_MAX 3812 AH0_10V 61.200001 SEABIRD_T_H 0.00062953553

RHO 1.023 C_PITCH 2754 PRESSURE_YINT -2.6104116 SEABIRD_T_I 2.3274781e-05

MASS 51458 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011159377 SEABIRD_T_J 2.4096155e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.012566

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1222577

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011971687

HD_A 0.003 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.000188736

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 500 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 650

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3812 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 500 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 150 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 0.00011159377 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.6104116 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -898.60498

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 144 ROLL_MAX 3940 T_TURN_SAMPINT 5

C_PITCH 2754 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2190 INT_PRESSURE_YINT 0 ROLL_MIN 160 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3503 MASS 51458 R_PORT_OVSHOOT 28 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 23 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.012566 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1222577 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011971687 VBD_DBAND 2

DEVICE3 54 N_FILEKB 4 SEABIRD_C_J 0.000188736 VBD_MAX 3950

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043142079 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062953553 VBD_MIN 480

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3274781e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 20 PHONE_DEVICE 48 SEABIRD_T_J 2.4096155e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 155241,4806.091,-12221.992,8,3.2,27,18.3 TGT_NAME KAYAKPT

_CALLS 1 TGT_LATLONG 4808.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 155826,4806.154,-12222.033,8,1.5,13,18.3 MHEAD_RNG_PITCHd_Wd 322.4,3621,-14.9,-10.000

SPEED_LIMITS 0.100,0.295 D_GRID 108

Post-dive calculations and measurements:

FINISH 3.7,1.017085 XPDR_PINGS 156

SM_CCo 2771,278.25,0.590,0,0,852,650.04 _24V_AH 23.7,3.106

SM_GC 1.58,0.00,0.00,278.25,0.000,0.000,0.590,499,2200,852,-10.37,0.00,650.04 _10V_AH 10.1,1.242

IRIDIUM_FIX 4748.51,-12220.12,121207,191912 DATA_FILE_SIZE 28676,484

TT8_MAMPS 0.026078 CFSIZE 260165632,258281472

HUMID 1653 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.31087 GPS 121207,165044,4806.417,-12222.296,12,1.3,29,18.3

TCM_TEMP 18.10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 164 94.78 SBE_CT 328 24 186.75

Roll_motor 53 75 96.55 SBE_O2 230 19 103.92

VBD_pump_during_apogee 320 694 5272.55 Optode 0 33 0.00

VBD_pump_during_surface 278 589 3889.60 WL_BB2F 539 105 1342.96

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 94.88 nil 0 0 0.00

Iridium_during_connect 37 160 141.49 nil 0 0 0.00

Iridium_during_xfer 190 223 1006.29

Transponder_ping 39 420 388.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.51

TT8 692 19 138.54

LPSleep 847 2 18.75

TT8_Active 665 19 133.15

TT8_Sampling 860 39 345.81

TT8_CF8 351 45 162.68

TT8_Kalman 0 0 0.00

Analog_circuits 1151 12 139.58

GPS_charging 0 0 0.00

Compass 863 8 69.76

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.17 -195.5 0.0 0.0 0 98 0.00 0.00 -77.60 0.000 2 0.000 0.000 498 2179 2456

100 -1.17 -195.5 3.2 -4.2 14 168 10.77 2.58 -48.58 0.000 4 0.165 0.076 2495 3607 3953

421 -1.17 -195.5 22.5 -8.4 71 428 0.00 2.38 0.00 0.000 6 0.000 0.044 2495 2204 3953

496 -1.17 -195.5 28.5 -8.2 84 502 0.00 2.47 0.00 0.000 4 0.000 0.063 2496 3608 3953

564 -1.17 -195.5 34.4 -8.7 96 570 0.00 2.40 0.00 0.000 6 0.000 0.044 2495 2194 3953

706 -1.17 -195.5 46.2 -8.3 121 711 0.00 2.45 0.00 0.000 4 0.000 0.063 2495 793 3953

841 -1.17 -195.5 58.3 -8.6 145 847 0.00 2.40 0.00 0.000 6 0.000 0.046 2495 2202 3952

982 -1.17 -195.5 70.2 -8.3 170 988 0.00 2.47 0.00 0.000 4 0.000 0.060 2495 787 3952

1073 -1.17 -195.5 78.0 -8.3 186 1079 0.00 2.40 0.00 0.000 6 0.000 0.045 2495 2208 3952

1215 -1.17 -195.5 90.0 -8.3 211 1221 0.00 2.47 0.00 0.000 4 0.000 0.060 2495 793 3952

1295 -1.17 -195.5 97.0 -9.3 225 1301 0.00 2.40 0.00 0.000 6 0.000 0.045 2495 2205 3952

1434 end dive: TARGET_DEPTH_EXCEEDED

state 1434 begin apogee

1438 -0.31 0.0 108.5 8.1 250 1529 0.85 0.00 86.55 0.694 6 0.096 0.000 2679 2205 3503

1530 end apogee: CONTROL_FINISHED_OK

state 1530 begin climb

1532 1.17 195.5 110.9 0.0 267 1692 1.45 2.45 150.90 0.670 4 0.070 0.057 3007 3594 2706

1765 1.17 195.5 94.6 10.9 310 1771 0.00 2.38 0.00 0.000 6 0.000 0.041 3007 2189 2704

1907 1.20 221.2 81.4 9.1 335 1934 0.00 2.47 21.35 0.631 4 0.000 0.058 3008 785 2600

1945 1.20 221.3 77.4 10.0 342 1952 0.00 2.40 0.00 0.000 6 0.000 0.041 3007 2198 2599

2087 1.22 237.1 63.7 9.5 367 2110 0.00 2.47 13.70 0.608 4 0.000 0.057 3007 3586 2536

2132 1.22 237.1 59.1 10.8 375 2138 0.00 2.38 0.00 0.000 6 0.000 0.041 3007 2190 2536

2273 1.25 259.4 45.5 9.2 400 2301 0.00 2.53 18.70 0.612 4 0.000 0.058 3007 782 2444

2313 1.25 259.4 41.7 10.9 407 2318 0.00 2.40 0.00 0.000 6 0.000 0.041 3007 2192 2444

2454 1.26 270.9 27.9 9.6 432 2472 0.00 2.47 10.32 0.578 4 0.000 0.056 3007 3586 2398

2488 1.26 270.9 24.2 10.4 438 2495 0.00 2.35 0.00 0.000 6 0.000 0.039 3007 2189 2397

2562 1.27 279.6 16.9 9.7 451 2576 0.10 2.53 8.38 0.555 4 0.079 0.056 3034 776 2363

2604 1.27 279.6 12.1 11.3 458 2611 0.00 2.40 0.00 0.000 6 0.000 0.042 3034 2197 2362

2678 1.32 321.4 4.7 8.6 471 2691 0.00 0.00 10.60 0.568 2 0.000 0.000 3034 2199 2312

2691 end climb: SURFACE_DEPTH_REACHED

state 2692 begin surface coast

2753 end surface coast: CONTROL_FINISHED_OK

state 2753 begin surface

ID	144	HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	20	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	160	ALTIM_PING_DEPTH	0
D_TGT	150	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	500	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2190	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	650	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	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	54
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	480	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3950	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3503	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	5	VBD_TIMEOUT	720	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-898.60498	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_MIN	500	AH0_24V	91.800003	SEABIRD_T_G	0.0043142079
SPEED_FACTOR	1	PITCH_MAX	3812	AH0_10V	61.200001	SEABIRD_T_H	0.00062953553
RHO	1.023	C_PITCH	2754	PRESSURE_YINT	-2.6104116	SEABIRD_T_I	2.3274781e-05
MASS	51458	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011159377	SEABIRD_T_J	2.4096155e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.012566
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1222577
KALMAN_USE	2	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011971687
HD_A	0.003	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.000188736

GPS1	155241,4806.091,-12221.992,8,3.2,27,18.3	TGT_NAME	KAYAKPT
_CALLS	1	TGT_LATLONG	4808.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	155826,4806.154,-12222.033,8,1.5,13,18.3	MHEAD_RNG_PITCHd_Wd	322.4,3621,-14.9,-10.000
SPEED_LIMITS	0.100,0.295	D_GRID	108

FINISH	3.7,1.017085	XPDR_PINGS	156
SM_CCo	2771,278.25,0.590,0,0,852,650.04	_24V_AH	23.7,3.106
SM_GC	1.58,0.00,0.00,278.25,0.000,0.000,0.590,499,2200,852,-10.37,0.00,650.04	_10V_AH	10.1,1.242
IRIDIUM_FIX	4748.51,-12220.12,121207,191912	DATA_FILE_SIZE	28676,484
TT8_MAMPS	0.026078	CFSIZE	260165632,258281472
HUMID	1653	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.31087	GPS	121207,165044,4806.417,-12222.296,12,1.3,29,18.3
TCM_TEMP	18.10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	164	94.78	SBE_CT	328	24	186.75
Roll_motor	53	75	96.55	SBE_O2	230	19	103.92
VBD_pump_during_apogee	320	694	5272.55	Optode	0	33	0.00
VBD_pump_during_surface	278	589	3889.60	WL_BB2F	539	105	1342.96
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	94.88	nil	0	0	0.00
Iridium_during_connect	37	160	141.49	nil	0	0	0.00
Iridium_during_xfer	190	223	1006.29
Transponder_ping	39	420	388.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.51
TT8	692	19	138.54
LPSleep	847	2	18.75
TT8_Active	665	19	133.15
TT8_Sampling	860	39	345.81
TT8_CF8	351	45	162.68
TT8_Kalman	0	0	0.00
Analog_circuits	1151	12	139.58
GPS_charging	0	0	0.00
Compass	863	8	69.76
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.17	-195.5	0.0	0.0	0	98	0.00	0.00	-77.60	0.000	2	0.000	0.000	498	2179	2456
100	-1.17	-195.5	3.2	-4.2	14	168	10.77	2.58	-48.58	0.000	4	0.165	0.076	2495	3607	3953
421	-1.17	-195.5	22.5	-8.4	71	428	0.00	2.38	0.00	0.000	6	0.000	0.044	2495	2204	3953
496	-1.17	-195.5	28.5	-8.2	84	502	0.00	2.47	0.00	0.000	4	0.000	0.063	2496	3608	3953
564	-1.17	-195.5	34.4	-8.7	96	570	0.00	2.40	0.00	0.000	6	0.000	0.044	2495	2194	3953
706	-1.17	-195.5	46.2	-8.3	121	711	0.00	2.45	0.00	0.000	4	0.000	0.063	2495	793	3953
841	-1.17	-195.5	58.3	-8.6	145	847	0.00	2.40	0.00	0.000	6	0.000	0.046	2495	2202	3952
982	-1.17	-195.5	70.2	-8.3	170	988	0.00	2.47	0.00	0.000	4	0.000	0.060	2495	787	3952
1073	-1.17	-195.5	78.0	-8.3	186	1079	0.00	2.40	0.00	0.000	6	0.000	0.045	2495	2208	3952
1215	-1.17	-195.5	90.0	-8.3	211	1221	0.00	2.47	0.00	0.000	4	0.000	0.060	2495	793	3952
1295	-1.17	-195.5	97.0	-9.3	225	1301	0.00	2.40	0.00	0.000	6	0.000	0.045	2495	2205	3952
1434	end dive: TARGET_DEPTH_EXCEEDED
state	1434	begin apogee
1438	-0.31	0.0	108.5	8.1	250	1529	0.85	0.00	86.55	0.694	6	0.096	0.000	2679	2205	3503
1530	end apogee: CONTROL_FINISHED_OK
state	1530	begin climb
1532	1.17	195.5	110.9	0.0	267	1692	1.45	2.45	150.90	0.670	4	0.070	0.057	3007	3594	2706
1765	1.17	195.5	94.6	10.9	310	1771	0.00	2.38	0.00	0.000	6	0.000	0.041	3007	2189	2704
1907	1.20	221.2	81.4	9.1	335	1934	0.00	2.47	21.35	0.631	4	0.000	0.058	3008	785	2600
1945	1.20	221.3	77.4	10.0	342	1952	0.00	2.40	0.00	0.000	6	0.000	0.041	3007	2198	2599
2087	1.22	237.1	63.7	9.5	367	2110	0.00	2.47	13.70	0.608	4	0.000	0.057	3007	3586	2536
2132	1.22	237.1	59.1	10.8	375	2138	0.00	2.38	0.00	0.000	6	0.000	0.041	3007	2190	2536
2273	1.25	259.4	45.5	9.2	400	2301	0.00	2.53	18.70	0.612	4	0.000	0.058	3007	782	2444
2313	1.25	259.4	41.7	10.9	407	2318	0.00	2.40	0.00	0.000	6	0.000	0.041	3007	2192	2444
2454	1.26	270.9	27.9	9.6	432	2472	0.00	2.47	10.32	0.578	4	0.000	0.056	3007	3586	2398
2488	1.26	270.9	24.2	10.4	438	2495	0.00	2.35	0.00	0.000	6	0.000	0.039	3007	2189	2397
2562	1.27	279.6	16.9	9.7	451	2576	0.10	2.53	8.38	0.555	4	0.079	0.056	3034	776	2363
2604	1.27	279.6	12.1	11.3	458	2611	0.00	2.40	0.00	0.000	6	0.000	0.042	3034	2197	2362
2678	1.32	321.4	4.7	8.6	471	2691	0.00	0.00	10.60	0.568	2	0.000	0.000	3034	2199	2312
2691	end climb: SURFACE_DEPTH_REACHED
state	2692	begin surface coast
2753	end surface coast: CONTROL_FINISHED_OK
state	2753	begin surface