Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 256 * 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 256 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 2250 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 39 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -65360.336 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 18 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 18 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 -65360.336

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 2250 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51503 R_PORT_OVSHOOT 39 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 256 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 061253,4806.081,-12221.979,11,2.2,31,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.123,0.098

_SM_DEPTHo 1.09 KALMAN_X 18823.3,-73.7,-37.1,-16332.8,246.4

_SM_ANGLEo -67.8 KALMAN_Y 10081.4,-57.2,-42.2,-14460.4,-54.6

GPS2 061737,4806.048,-12221.973,11,1.3,27,18.3 MHEAD_RNG_PITCHd_Wd 290.2,4399,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 108

Post-dive calculations and measurements:

FINISH 0.9,1.023752 XPDR_PINGS 0

SM_CCo 3059,74.35,0.707,0,0,1576,300.00 ALTIM_BOTTOM_PING 90.4,19.3

SM_GC 1.34,0.00,0.00,74.35,0.000,0.000,0.707,15,2271,1576,-8.77,0.59,300.00 _24V_AH 24.5,28.457

IRIDIUM_FIX 4748.51,-12217.40,160907,090917 _10V_AH 10.7,13.728

TT8_MAMPS 0.026845 DATA_FILE_SIZE 15933,329

HUMID 1864 CFSIZE 260165632,250503168

INTERNAL_PRESSURE 9.20934 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 160907,071138,4806.258,-12222.198,10,1.3,11,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 213 108.26 SBE_CT 235 24 138.72

Roll_motor 27 64 44.16 SBE_O2 259 19 120.80

VBD_pump_during_apogee 222 756 4119.33 WL_BB2F 555 105 1427.91

VBD_pump_during_surface 74 707 1288.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 93.35 nil 0 0 0.00

Iridium_during_connect 47 160 187.16 nil 0 0 0.00

Iridium_during_xfer 99 223 541.40

Transponder_ping 1 420 12.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 28 50 15.44

TT8 550 19 116.62

LPSleep 1575 2 36.92

TT8_Active 350 19 74.33

TT8_Sampling 661 39 281.62

TT8_CF8 303 45 148.79

TT8_Kalman 33 81 29.17

Analog_circuits 690 12 88.65

GPS_charging 0 0 0.00

Compass 655 8 56.14

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.77 -146.6 0.0 0.0 0 90 0.00 0.00 -65.28 0.000 2 0.000 0.000 6 2237 3227

93 -0.77 -146.6 3.6 -3.6 12 112 10.40 2.47 -3.60 0.000 4 0.214 0.063 2557 3661 3400

147 -0.77 -146.6 11.8 -14.3 21 153 0.00 2.30 0.00 0.000 6 0.000 0.028 2557 2230 3402

222 -0.77 -146.6 17.3 -7.3 34 227 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2231 3402

294 -0.77 -146.6 22.3 -6.9 44 295 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2231 3403

485 -0.77 -146.6 35.5 -6.8 62 486 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2231 3403

676 -0.77 -146.6 48.1 -6.3 80 677 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 2230 3403

867 -0.77 -146.6 60.4 -6.3 98 871 0.00 2.40 0.00 0.000 4 0.000 0.051 2550 3669 3403

899 -0.77 -146.6 62.6 -6.5 100 906 0.00 2.28 0.00 0.000 6 0.000 0.028 2550 2242 3404

1224 -0.77 -146.6 83.4 -6.8 131 1228 0.00 2.38 0.00 0.000 4 0.000 0.052 2550 3666 3404

1252 -0.77 -146.6 85.1 -6.8 133 1256 0.00 2.22 0.00 0.000 6 0.000 0.028 2550 2250 3404

1404 end dive: TARGET_DEPTH_EXCEEDED

state 1404 begin apogee

1410 -0.28 0.0 95.1 6.3 147 1528 0.55 0.00 111.57 0.756 6 0.112 0.000 2724 2144 2799

1528 end apogee: CONTROL_FINISHED_OK

state 1528 begin climb

1531 0.77 146.6 97.7 0.0 159 1650 1.02 0.00 110.75 0.702 6 0.081 0.000 3059 2143 2202

1968 0.77 146.6 69.4 7.5 201 1969 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2143 2200

2287 0.77 146.6 47.2 6.7 231 2288 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2143 2200

2478 0.77 146.6 34.4 6.4 249 2482 0.00 2.25 0.00 0.000 4 0.000 0.045 3062 761 2199

2500 0.77 146.6 33.0 6.0 251 2504 0.00 2.25 0.00 0.000 6 0.000 0.037 3062 2160 2199

2703 0.77 146.6 20.0 6.1 270 2709 0.00 2.30 0.00 0.000 4 0.000 0.051 3062 3558 2199

2721 0.77 146.6 18.8 6.1 273 2728 0.00 2.22 0.00 0.000 6 0.000 0.031 3067 2168 2199

2796 0.77 146.6 14.0 6.1 286 2802 0.00 2.33 0.00 0.000 4 0.000 0.047 3071 740 2199

2820 0.77 146.6 12.5 6.3 290 2826 0.00 2.30 0.00 0.000 6 0.000 0.037 3071 2161 2199

2894 0.77 146.6 7.6 6.5 303 2900 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2162 2199

2968 0.77 146.6 3.4 5.4 316 2973 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2161 2199

3000 end climb: SURFACE_DEPTH_REACHED

state 3000 begin surface coast

3041 end surface coast: CONTROL_FINISHED_OK

state 3041 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	256	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	2250	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	39	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-65360.336	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	18	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	061253,4806.081,-12221.979,11,2.2,31,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.123,0.098
_SM_DEPTHo	1.09	KALMAN_X	18823.3,-73.7,-37.1,-16332.8,246.4
_SM_ANGLEo	-67.8	KALMAN_Y	10081.4,-57.2,-42.2,-14460.4,-54.6
GPS2	061737,4806.048,-12221.973,11,1.3,27,18.3	MHEAD_RNG_PITCHd_Wd	290.2,4399,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	108

FINISH	0.9,1.023752	XPDR_PINGS	0
SM_CCo	3059,74.35,0.707,0,0,1576,300.00	ALTIM_BOTTOM_PING	90.4,19.3
SM_GC	1.34,0.00,0.00,74.35,0.000,0.000,0.707,15,2271,1576,-8.77,0.59,300.00	_24V_AH	24.5,28.457
IRIDIUM_FIX	4748.51,-12217.40,160907,090917	_10V_AH	10.7,13.728
TT8_MAMPS	0.026845	DATA_FILE_SIZE	15933,329
HUMID	1864	CFSIZE	260165632,250503168
INTERNAL_PRESSURE	9.20934	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	160907,071138,4806.258,-12222.198,10,1.3,11,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	213	108.26	SBE_CT	235	24	138.72
Roll_motor	27	64	44.16	SBE_O2	259	19	120.80
VBD_pump_during_apogee	222	756	4119.33	WL_BB2F	555	105	1427.91
VBD_pump_during_surface	74	707	1288.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	93.35	nil	0	0	0.00
Iridium_during_connect	47	160	187.16	nil	0	0	0.00
Iridium_during_xfer	99	223	541.40
Transponder_ping	1	420	12.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	28	50	15.44
TT8	550	19	116.62
LPSleep	1575	2	36.92
TT8_Active	350	19	74.33
TT8_Sampling	661	39	281.62
TT8_CF8	303	45	148.79
TT8_Kalman	33	81	29.17
Analog_circuits	690	12	88.65
GPS_charging	0	0	0.00
Compass	655	8	56.14
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.77	-146.6	0.0	0.0	0	90	0.00	0.00	-65.28	0.000	2	0.000	0.000	6	2237	3227
93	-0.77	-146.6	3.6	-3.6	12	112	10.40	2.47	-3.60	0.000	4	0.214	0.063	2557	3661	3400
147	-0.77	-146.6	11.8	-14.3	21	153	0.00	2.30	0.00	0.000	6	0.000	0.028	2557	2230	3402
222	-0.77	-146.6	17.3	-7.3	34	227	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2231	3402
294	-0.77	-146.6	22.3	-6.9	44	295	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2231	3403
485	-0.77	-146.6	35.5	-6.8	62	486	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2231	3403
676	-0.77	-146.6	48.1	-6.3	80	677	0.00	0.00	0.00	0.000	6	0.000	0.000	2558	2230	3403
867	-0.77	-146.6	60.4	-6.3	98	871	0.00	2.40	0.00	0.000	4	0.000	0.051	2550	3669	3403
899	-0.77	-146.6	62.6	-6.5	100	906	0.00	2.28	0.00	0.000	6	0.000	0.028	2550	2242	3404
1224	-0.77	-146.6	83.4	-6.8	131	1228	0.00	2.38	0.00	0.000	4	0.000	0.052	2550	3666	3404
1252	-0.77	-146.6	85.1	-6.8	133	1256	0.00	2.22	0.00	0.000	6	0.000	0.028	2550	2250	3404
1404	end dive: TARGET_DEPTH_EXCEEDED
state	1404	begin apogee
1410	-0.28	0.0	95.1	6.3	147	1528	0.55	0.00	111.57	0.756	6	0.112	0.000	2724	2144	2799
1528	end apogee: CONTROL_FINISHED_OK
state	1528	begin climb
1531	0.77	146.6	97.7	0.0	159	1650	1.02	0.00	110.75	0.702	6	0.081	0.000	3059	2143	2202
1968	0.77	146.6	69.4	7.5	201	1969	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2143	2200
2287	0.77	146.6	47.2	6.7	231	2288	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2143	2200
2478	0.77	146.6	34.4	6.4	249	2482	0.00	2.25	0.00	0.000	4	0.000	0.045	3062	761	2199
2500	0.77	146.6	33.0	6.0	251	2504	0.00	2.25	0.00	0.000	6	0.000	0.037	3062	2160	2199
2703	0.77	146.6	20.0	6.1	270	2709	0.00	2.30	0.00	0.000	4	0.000	0.051	3062	3558	2199
2721	0.77	146.6	18.8	6.1	273	2728	0.00	2.22	0.00	0.000	6	0.000	0.031	3067	2168	2199
2796	0.77	146.6	14.0	6.1	286	2802	0.00	2.33	0.00	0.000	4	0.000	0.047	3071	740	2199
2820	0.77	146.6	12.5	6.3	290	2826	0.00	2.30	0.00	0.000	6	0.000	0.037	3071	2161	2199
2894	0.77	146.6	7.6	6.5	303	2900	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2162	2199
2968	0.77	146.6	3.4	5.4	316	2973	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2161	2199
3000	end climb: SURFACE_DEPTH_REACHED
state	3000	begin surface coast
3041	end surface coast: CONTROL_FINISHED_OK
state	3041	begin surface