Glider dive log

PortSusan 10Jul07 * SG112 * Dive index * Mission links * Dive 28 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 112 HD_B 0.0138418 PITCH_AD_RATE 100 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 4.7289599e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 28 HEADING -1 PITCH_ADJ_GAIN 0.059999999 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 145 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 2

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 400

D_TGT 150 FIX_MISSING_TIMEOUT 1 ROLL_MAX 3791 ALTIM_PING_DELTA 50

D_ABORT 200 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2060 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1870 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 500 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 2 R_PORT_OVSHOOT 13 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 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 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 486 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3335 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 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 49

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -18474.127 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 135 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3252 AH0_10V 80 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2269 PRESSURE_YINT -3.7066903 SEABIRD_T_I 2.5554549e-05

MASS 51440 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 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 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038775599 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 80 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 D_TGT 150 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 145 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2 FERRY_MAX 45 PRESSURE_YINT -3.7066903 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 1 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 50

CALL_TRIES 5 HD_A 0.0038775599 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0138418 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 4.7289599e-05 RHO 1.023 T_GPS_CHARGE -18474.127

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 49 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 112 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2269 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1870 INT_PRESSURE_YINT 0 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 2060 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3335 MASS 51440 R_PORT_OVSHOOT 13 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 135 R_STBD_OVSHOOT 16 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 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 2 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3897

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 486

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 28 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 200 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 201309,4806.062,-12221.946,10,1.7,10,18.3 TGT_NAME FIVE_sb

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.112,-0.173

_SM_DEPTHo 1.89 KALMAN_X 806.6,188.4,101.2,-372.6,-135.7

_SM_ANGLEo -50.3 KALMAN_Y -1939.2,-81.6,5.7,932.8,197.2

GPS2 201921,4806.110,-12222.004,12,1.7,12,18.3 MHEAD_RNG_PITCHd_Wd 126.2,2403,-22.4,-10.000

SPEED_LIMITS 0.173,0.206 D_GRID 108

Post-dive calculations and measurements:

FINISH 1.1,1.015477 XPDR_PINGS 1

SM_CCo 2114,112.80,0.584,0,0,1296,500.17 ALTIM_TOP_PING 18.0,17.0

SM_GC 2.11,0.00,0.00,112.80,0.000,0.000,0.584,680,2077,1296,-7.31,0.48,500.17 _24V_AH 20.8,16.384

RAFOS_CLK 96 _10V_AH 10.0,6.383

RAFOS 0,1184184246,20.083334,20.068333,64,57,56,55,55,43,216,140,190,116,170,94 DATA_FILE_SIZE 6458,207

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 260165632,256053248

IRIDIUM_FIX 4751.72,-12223.57,110707,232331 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1484.1

HUMID 1917 CURRENT 0.110,327.0,1

INTERNAL_PRESSURE 10.3715 GPS 110707,205837,4806.095,-12222.082,8,1.3,24,18.3

TCM_TEMP 9.20

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 43 264 241.90 SBE_CT 146 24 73.37

Roll_motor 59 102 125.45 SBE_O2 142 19 56.47

VBD_pump_during_apogee 386 678 5456.26 nil 0 0 0.00

VBD_pump_during_surface 112 583 1369.47 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 85.07 nil 0 0 0.00

Iridium_during_connect 34 160 115.99 nil 0 0 0.00

Iridium_during_xfer 164 223 764.52

Transponder_ping 0 420 4.37

GPS 14 50 7.15

TT8 450 19 89.76

LPSleep 868 2 20.06

TT8_Active 639 19 127.38

TT8_Sampling 262 39 104.78

TT8_CF8 396 45 182.27

TT8_Kalman 33 81 27.31

Analog_circuits 895 12 107.50

GPS_charging 0 0 0.00

Compass 253 20 50.76

RAFOS 1440 1 21.60

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.15 -132.0 0.0 0.0 0 90 0.00 0.00 -62.03 0.000 2 0.000 0.000 681 2051 3090

94 -1.15 -132.0 3.2 -1.8 10 134 12.25 2.92 -19.60 0.000 4 0.265 0.067 2010 3473 3873

141 -1.15 -132.0 7.9 -6.8 17 148 0.00 2.78 0.00 0.000 6 0.000 0.036 2010 2048 3874

217 -0.58 -132.0 16.3 -11.3 30 226 0.80 2.88 0.00 0.000 4 0.151 0.074 2135 656 3875

293 -0.28 -132.0 21.9 -6.5 40 300 0.40 2.72 0.00 0.000 6 0.104 0.040 2202 2060 3876

364 -0.79 -132.0 24.5 -3.5 47 370 0.52 3.03 0.00 0.000 4 0.053 0.083 2096 3466 3876

450 -1.87 -132.0 30.3 -7.4 54 461 1.15 2.72 0.00 0.000 6 0.035 0.037 1855 2061 3876

525 -2.14 -132.0 44.4 -22.5 61 530 0.25 2.90 0.00 0.000 4 0.061 0.061 1805 3472 3877

558 -1.22 -132.0 53.4 -26.5 63 566 1.38 2.75 0.00 0.000 6 0.187 0.036 1998 2051 3877

692 -0.08 -132.0 73.2 -13.1 76 704 1.48 3.08 0.00 0.000 4 0.143 0.078 2244 3468 3878

721 0.13 -132.0 74.6 -2.3 78 729 0.28 2.67 0.00 0.000 6 0.054 0.041 2302 2067 3877

856 -0.90 -132.0 81.3 -6.1 91 859 1.23 0.00 0.00 0.000 6 0.079 0.000 2075 2067 3878

983 -2.61 -132.0 90.2 -7.7 103 995 1.73 2.95 0.00 0.000 4 0.034 0.067 1697 3467 3877

1053 end dive: TARGET_DEPTH_EXCEEDED

state 1054 begin apogee

1064 -0.21 0.0 109.4 30.4 109 1184 4.20 0.00 112.60 0.679 6 0.239 0.000 2215 1860 3335

1185 end apogee: CONTROL_FINISHED_OK

state 1185 begin climb

1188 1.15 132.0 117.5 0.0 121 1312 1.60 3.20 112.07 0.660 4 0.077 0.096 2517 470 2797

1407 1.15 132.0 95.7 15.0 140 1414 0.00 2.83 0.00 0.000 6 0.000 0.048 2517 1864 2796

1541 0.61 132.0 77.9 13.3 153 1548 0.70 3.17 0.00 0.000 4 0.153 0.094 2410 3283 2795

1595 0.15 164.4 72.9 8.3 157 1629 0.65 2.85 26.83 0.658 6 0.124 0.048 2304 1874 2664

1758 0.36 257.0 65.2 5.1 172 1842 0.17 3.03 76.53 0.640 4 0.051 0.062 2343 3289 2286

1851 1.59 327.3 59.7 6.3 180 1922 1.42 2.90 58.42 0.634 6 0.054 0.044 2616 1870 2000

2051 2.69 327.3 11.8 25.7 201 2059 1.15 3.25 0.00 0.000 4 0.050 0.102 2857 462 1998

2079 end climb: SURFACE_DEPTH_REACHED

state 2080 begin surface coast

2086 end surface coast: CONTROL_FINISHED_OK

state 2086 begin surface

ID	112	HD_B	0.0138418	PITCH_AD_RATE	100	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	4.7289599e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	28	HEADING	-1	PITCH_ADJ_GAIN	0.059999999	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	145	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	2
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	400
D_TGT	150	FIX_MISSING_TIMEOUT	1	ROLL_MAX	3791	ALTIM_PING_DELTA	50
D_ABORT	200	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2060	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1870	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	500	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	2	R_PORT_OVSHOOT	13	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	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	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	486	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3335	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	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	49
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-18474.127	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	135	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3252	AH0_10V	80	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2269	PRESSURE_YINT	-3.7066903	SEABIRD_T_I	2.5554549e-05
MASS	51440	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	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	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038775599	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017379176

GPS1	201309,4806.062,-12221.946,10,1.7,10,18.3	TGT_NAME	FIVE_sb
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.112,-0.173
_SM_DEPTHo	1.89	KALMAN_X	806.6,188.4,101.2,-372.6,-135.7
_SM_ANGLEo	-50.3	KALMAN_Y	-1939.2,-81.6,5.7,932.8,197.2
GPS2	201921,4806.110,-12222.004,12,1.7,12,18.3	MHEAD_RNG_PITCHd_Wd	126.2,2403,-22.4,-10.000
SPEED_LIMITS	0.173,0.206	D_GRID	108

FINISH	1.1,1.015477	XPDR_PINGS	1
SM_CCo	2114,112.80,0.584,0,0,1296,500.17	ALTIM_TOP_PING	18.0,17.0
SM_GC	2.11,0.00,0.00,112.80,0.000,0.000,0.584,680,2077,1296,-7.31,0.48,500.17	_24V_AH	20.8,16.384
RAFOS_CLK	96	_10V_AH	10.0,6.383
RAFOS	0,1184184246,20.083334,20.068333,64,57,56,55,55,43,216,140,190,116,170,94	DATA_FILE_SIZE	6458,207
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	260165632,256053248
IRIDIUM_FIX	4751.72,-12223.57,110707,232331	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1484.1
HUMID	1917	CURRENT	0.110,327.0,1
INTERNAL_PRESSURE	10.3715	GPS	110707,205837,4806.095,-12222.082,8,1.3,24,18.3
TCM_TEMP	9.20

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	43	264	241.90	SBE_CT	146	24	73.37
Roll_motor	59	102	125.45	SBE_O2	142	19	56.47
VBD_pump_during_apogee	386	678	5456.26	nil	0	0	0.00
VBD_pump_during_surface	112	583	1369.47	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	85.07	nil	0	0	0.00
Iridium_during_connect	34	160	115.99	nil	0	0	0.00
Iridium_during_xfer	164	223	764.52
Transponder_ping	0	420	4.37
GPS	14	50	7.15
TT8	450	19	89.76
LPSleep	868	2	20.06
TT8_Active	639	19	127.38
TT8_Sampling	262	39	104.78
TT8_CF8	396	45	182.27
TT8_Kalman	33	81	27.31
Analog_circuits	895	12	107.50
GPS_charging	0	0	0.00
Compass	253	20	50.76
RAFOS	1440	1	21.60

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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.15	-132.0	0.0	0.0	0	90	0.00	0.00	-62.03	0.000	2	0.000	0.000	681	2051	3090
94	-1.15	-132.0	3.2	-1.8	10	134	12.25	2.92	-19.60	0.000	4	0.265	0.067	2010	3473	3873
141	-1.15	-132.0	7.9	-6.8	17	148	0.00	2.78	0.00	0.000	6	0.000	0.036	2010	2048	3874
217	-0.58	-132.0	16.3	-11.3	30	226	0.80	2.88	0.00	0.000	4	0.151	0.074	2135	656	3875
293	-0.28	-132.0	21.9	-6.5	40	300	0.40	2.72	0.00	0.000	6	0.104	0.040	2202	2060	3876
364	-0.79	-132.0	24.5	-3.5	47	370	0.52	3.03	0.00	0.000	4	0.053	0.083	2096	3466	3876
450	-1.87	-132.0	30.3	-7.4	54	461	1.15	2.72	0.00	0.000	6	0.035	0.037	1855	2061	3876
525	-2.14	-132.0	44.4	-22.5	61	530	0.25	2.90	0.00	0.000	4	0.061	0.061	1805	3472	3877
558	-1.22	-132.0	53.4	-26.5	63	566	1.38	2.75	0.00	0.000	6	0.187	0.036	1998	2051	3877
692	-0.08	-132.0	73.2	-13.1	76	704	1.48	3.08	0.00	0.000	4	0.143	0.078	2244	3468	3878
721	0.13	-132.0	74.6	-2.3	78	729	0.28	2.67	0.00	0.000	6	0.054	0.041	2302	2067	3877
856	-0.90	-132.0	81.3	-6.1	91	859	1.23	0.00	0.00	0.000	6	0.079	0.000	2075	2067	3878
983	-2.61	-132.0	90.2	-7.7	103	995	1.73	2.95	0.00	0.000	4	0.034	0.067	1697	3467	3877
1053	end dive: TARGET_DEPTH_EXCEEDED
state	1054	begin apogee
1064	-0.21	0.0	109.4	30.4	109	1184	4.20	0.00	112.60	0.679	6	0.239	0.000	2215	1860	3335
1185	end apogee: CONTROL_FINISHED_OK
state	1185	begin climb
1188	1.15	132.0	117.5	0.0	121	1312	1.60	3.20	112.07	0.660	4	0.077	0.096	2517	470	2797
1407	1.15	132.0	95.7	15.0	140	1414	0.00	2.83	0.00	0.000	6	0.000	0.048	2517	1864	2796
1541	0.61	132.0	77.9	13.3	153	1548	0.70	3.17	0.00	0.000	4	0.153	0.094	2410	3283	2795
1595	0.15	164.4	72.9	8.3	157	1629	0.65	2.85	26.83	0.658	6	0.124	0.048	2304	1874	2664
1758	0.36	257.0	65.2	5.1	172	1842	0.17	3.03	76.53	0.640	4	0.051	0.062	2343	3289	2286
1851	1.59	327.3	59.7	6.3	180	1922	1.42	2.90	58.42	0.634	6	0.054	0.044	2616	1870	2000
2051	2.69	327.3	11.8	25.7	201	2059	1.15	3.25	0.00	0.000	4	0.050	0.102	2857	462	1998
2079	end climb: SURFACE_DEPTH_REACHED
state	2080	begin surface coast
2086	end surface coast: CONTROL_FINISHED_OK
state	2086	begin surface