Glider dive log

ROAMMIZ Jan22 * SG675 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 675 HD_B 0.010078 ROLL_MIN 206 ALTIM_TOP_PING_RANGE 30

MISSION 3 HD_C 9.8500004e-06 ROLL_MAX 3820 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 3 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 5 ESCAPE_HEADING 0 C_ROLL_DIVE 2050 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2050 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT -54 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 30 TGT_DEFAULT_LON 0 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 100 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_BOOST 15 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 92

T_BOOST 0 FILEMGR 0 VBD_MIN 623 INT_PRESSURE_SLOPE 1.96e-06

D_FINISH 0 CALL_NDIVES 1 VBD_MAX 3960 INT_PRESSURE_YINT 2.5599999

D_PITCH 0 COMM_SEQ 0 C_VBD 2650 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_CALL 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE1 10

SURFACE_URGENCY 0 NOCOMM_ACTION 259 VBD_LP_IGNORE 0 DEVICE2 70

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 55

T_DIVE 10 CALL_TRIES 5 UNCOM_BLEED 60 DEVICE5 -1

T_MISSION 15 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

T_ABORT 60 CAPUPLOAD 1 W_ADJ_DBAND 0 LOGGERS 0

T_TURN 500 CAPMAXSIZE 400000 DBDW 0 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 100840 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 T_RSLEEP 1 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 LOITER_D_BOTTOM 0 COMPASS_DEVICE 18

USE_BATHY 0 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 0 SHORTING_PLUG 1 PHONE_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 0 AH0_24V 310 GPS_DEVICE 16

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_10V 0 RAFOS_DEVICE -1

RELAUNCH 0 PITCH_MIN 162 MINV_24V 11.5 XPDR_DEVICE 5

APOGEE_PITCH -5 PITCH_MAX 3892 MINV_10V 10 SIM_W 0

MAX_BUOY 150 C_PITCH 2539 MAXI_24V 3 SEABIRD_T_G 0.0044220379

GLIDE_SLOPE 30 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064413931

SPEED_FACTOR 1 PITCH_CNV 0.0031260001 FG_AHR_10V 0.37301859 SEABIRD_T_I 2.6853917e-05

RHO 1.0275 PITCH_GAIN 30 FG_AHR_24V 2.0647871 SEABIRD_T_J 3.402645e-06

MASS 53587 PITCH_TIMEOUT 25 PHONE_SUPPLY 2 SEABIRD_C_G -10.01496

MASS_COMP 0 PITCH_MAXERRORS 1 PRESSURE_YINT -158.96762 SEABIRD_C_H 1.1201342

NAV_MODE 2 PITCH_ADJ_GAIN 0.029999999 PRESSURE_SLOPE 0.000108611 SEABIRD_C_I -0.0031396081

FERRY_MAX 45 PITCH_ADJ_DBAND 1 COMPASS_USE 4 SEABIRD_C_J 0.00029222821

KALMAN_USE 0 PITCH_W_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_Z 0

HD_A 0.0038360001 PITCH_W_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 259 SEABIRD_T_G 0.0044220379

AH0_24V 310 D_SAFE 0 N_DIVES 5 SEABIRD_T_H 0.00064413931

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 N_FILEKB 8 SEABIRD_T_I 2.6853917e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 30 N_GPS 100840 SEABIRD_T_J 3.402645e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 N_NOCOMM 2 SHORTING_PLUG 1

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SIM_W 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PHONE_DEVICE 33 SM_CC 300

ALTIM_PING_FIT 0 FG_AHR_10V 0.37301859 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_24V 2.0647871 PITCH_ADJ_DBAND 1 STOP_T 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_ADJ_GAIN 0.029999999 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0031260001 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 30 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 16 PITCH_GAIN 30 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HD_A 0.0038360001 PITCH_MAX 3892 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_B 0.010078 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -54

CALL_TRIES 5 HD_C 9.8500004e-06 PITCH_MIN 162 TGT_DEFAULT_LON 0

CALL_WAIT 60 HEADING -1 PITCH_TIMEOUT 25 T_ABORT 60

CAPMAXSIZE 400000 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 T_DIVE 10

COMM_SEQ 0 ID 675 PITCH_W_GAIN 0 T_EPIRB 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.96e-06 PRESSURE_SLOPE 0.000108611 T_GPS 15

COMPASS_DEVICE 18 INT_PRESSURE_YINT 2.5599999 PRESSURE_YINT -158.96762 T_LOITER 0

COMPASS_USE 4 KALMAN_USE 0 PROTOCOL 9 T_MISSION 15

C_PITCH 2539 LOGGERDEVICE1 -1 RAFOS_CORR_THRESH 0 T_NO_W 120

C_ROLL_CLIMB 2050 LOGGERDEVICE2 -1 RAFOS_DEVICE -1 T_RSLEEP 1

C_ROLL_DIVE 2050 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 0 T_TURN 500

C_VBD 2650 LOGGERDEVICE4 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT 5

DBDW 0 LOGGERS 0 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 60

DEEPGLIDER 0 LOITER_DBDW 0 RELAUNCH 0 UPLOAD_DIVES_MAX -1

DEVICE1 10 LOITER_D_BOTTOM 0 RHO 1.0275 USE_BATHY 0

DEVICE2 70 LOITER_D_TOP 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE3 35 LOITER_N_DIVE 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE4 55 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_DBAND 2

DEVICE5 -1 MASS 53587 ROLL_DEG 40 VBD_LP_IGNORE 0

DEVICE6 -1 MASS_COMP 0 ROLL_MAX 3820 VBD_MAX 3960

DIVE 3 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

D_ABORT 100 MAXI_24V 3 ROLL_MIN 206 VBD_MIN 623

D_BOOST 15 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

D_CALL 0 MINV_10V 10 SEABIRD_C_G -10.01496 W_ADJ_DBAND 0

D_FINISH 0 MINV_24V 11.5 SEABIRD_C_H 1.1201342 XPDR_DEVICE 5

D_FLARE 3 MISSION 3 SEABIRD_C_I -0.0031396081 XPDR_INHIBIT 92

D_NO_BLEED 200 MOTHERBOARD 6 SEABIRD_C_J 0.00029222821 XPDR_VALID 4

D_OFFGRID 100 NAV_MODE 2 SEABIRD_C_Z 0

Pre-dive calculations and measurements:

GPS1 230122,144001,-5359.585,-0.007,17,1.2,33,-20.5 TGT_LATLONG -5400.000,0.000

_CALLS 1 TGT_RADIUS 200.000

_SM_DEPTHo 1.21 KALMAN_CONTROL 0.006,-0.260

_SM_ANGLEo -58.3 KALMAN_X -57.1,-16.0,-15.7,-155.7,-3.4

GPS2 230122,144555,-5359.566,-0.009,26,0.9,48,-20.5 KALMAN_Y 342.4,206.0,204.2,-57.8,160.1

SPEED_LIMITS 0.173,0.260 MHEAD_RNG_PITCHd_Wd 179.3,804,-18.2,-10.000,-21.02

TGT_NAME NORTH D_GRID 30

Post-dive calculations and measurements:

FINISH 0.3,1.026984 _10V_AH 14.67,0.000

SM_CCo 1065.71,56.61,0.133,0,1424.9,1517.8,1332.1,300.52 FG_AHR_24Vo 2.150

SM_GC 1.14,56.61,13.33,0.05,0.133,0.073,0.156,1424.9,1517.8,1332.1,151.1,2077.6,0,0,0,15.24,14.75,15.27 FG_AHR_10Vo 0.380

SUPER 51,70,254,1,0,0 MEM 1169144,28,14256,69

IRIDIUM_FIX -5400.29,0.00,230122,141935 DATA_FILE_SIZE 14435,195

TCM_TEMP 9.50 CAP_FILE_SIZE 107489,1

XPDR_PINGS 6 SDSIZE 3931136,3920928

ALTIM_TOP_PING 11.5,10.9 SDFILEDIR 55,2

HUMID 58.60 ERRORS 0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0

TEMP 4.07 CURRENT 0.196,340.9,1

INTERNAL_PRESSURE 8.61706 GPS 230122,150452,-5359.540,-0.119,25,1.2,43,-20.5

_24V_AH 14.63,4.923

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 731 995 10659.44 SBE_CT 404 24 145.72

Pitch_motor 30 382 169.79 AA4831 240 100 351.48

Roll_motor 15 258 58.84 WL_BB2FL 419 43 267.28

Iridium 263 232 896.75 QSP2150 441 6 42.68

Transponder_ping 1 420 10.75 nil 0 0 0.00

GPS 57 12 10.71 nil 0 0 0.00

Core 1293 8 158.47 nil 0 0 0.00

LPSleep 123 2 3.97 nil 0 0 0.00

Compass 475 15 109.77 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 1 30 0.44

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

1 end surface: CONTROL_FINISHED_OK

state 1 begin dive

1.97 2 -145.99 -0.79 0.00 1419.7 1499.1 1340.2 148.6 2078.8 0.00 0.00 0 117.13 112.14 0.00 0.08 0.005 0.000 0.259 3244.53 3242.00 3247.06 148.38 2010.69 0 0 0 15.45 30.00 15.47

117.39 293 -145.99 -0.79 40.00 3241.8 3240.0 3243.5 148.8 2012.1 2.10 -1.12 22 138.45 0.00 13.19 2.57 0.000 0.382 0.113 3243.75 3246.81 3240.69 2284.88 3477.56 0 0 0 30.00 15.37 15.57

271 end dive: TARGET_DEPTH_EXCEEDED

state 271 begin apogee

274.73 3 0.00 -0.17 0.00 3243.0 3250.8 3235.3 2285.9 2026.8 30.21 -19.87 53 517.79 238.71 1.09 0.06 0.996 0.278 0.218 2647.62 2749.31 2545.94 2483.19 2072.69 0 0 0 11.99 15.51 15.02

518 end apogee: CONTROL_FINISHED_OK

state 518 begin climb

518.11 519 145.99 0.79 -40.00 2643.0 2745.8 2540.1 2483.6 2072.6 47.65 0.00 101 740.70 211.95 1.64 2.70 0.890 0.203 0.123 2051.28 2151.62 1950.94 2791.38 621.94 0 0 0 11.91 15.06 15.01

768.46 1191 176.28 0.93 0.00 2038.2 2138.6 1937.9 2792.0 622.2 30.91 8.61 151 814.89 42.19 0.22 2.51 0.884 0.103 0.083 1931.06 2036.56 1825.56 2846.25 2069.38 0 0 0 12.02 15.18 15.23

843.38 391 176.28 0.84 40.00 1916.0 2021.8 1810.2 2845.9 2069.6 22.55 10.30 166 849.04 0.00 0.25 2.53 0.000 0.229 0.107 1915.78 2021.69 1809.88 2798.12 3478.00 0 0 0 30.00 15.22 15.24

883.40 1060 180.80 0.84 0.00 1912.8 2015.6 1809.9 2797.9 3478.2 18.65 9.79 174 888.91 0.00 0.00 2.56 0.000 0.000 0.096 1913.88 2017.06 1810.69 2798.88 2029.94 0 0 0 30.00 30.00 14.74

903.38 519 497.22 1.23 -40.00 1912.3 2015.8 1808.8 2798.5 2029.1 16.59 10.05 178 975.59 70.02 0.63 0.00 0.877 0.096 0.000 1741.34 1856.44 1626.25 2940.00 2027.38 0 0 0 12.02 15.37 30.00

976 end climb: SURFACE_DEPTH_REACHED

state 976 begin surface coast

989 end surface coast: CONTROL_FINISHED_OK

state 989 begin surface

ID	675	HD_B	0.010078	ROLL_MIN	206	ALTIM_TOP_PING_RANGE	30
MISSION	3	HD_C	9.8500004e-06	ROLL_MAX	3820	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	3	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	5	ESCAPE_HEADING	0	C_ROLL_DIVE	2050	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2050	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	-54	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	30	TGT_DEFAULT_LON	0	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	100	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_BOOST	15	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	92
T_BOOST	0	FILEMGR	0	VBD_MIN	623	INT_PRESSURE_SLOPE	1.96e-06
D_FINISH	0	CALL_NDIVES	1	VBD_MAX	3960	INT_PRESSURE_YINT	2.5599999
D_PITCH	0	COMM_SEQ	0	C_VBD	2650	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_CALL	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE1	10
SURFACE_URGENCY	0	NOCOMM_ACTION	259	VBD_LP_IGNORE	0	DEVICE2	70
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	55
T_DIVE	10	CALL_TRIES	5	UNCOM_BLEED	60	DEVICE5	-1
T_MISSION	15	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
T_ABORT	60	CAPUPLOAD	1	W_ADJ_DBAND	0	LOGGERS	0
T_TURN	500	CAPMAXSIZE	400000	DBDW	0	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	100840	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	T_RSLEEP	1	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	LOITER_D_BOTTOM	0	COMPASS_DEVICE	18
USE_BATHY	0	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	0	SHORTING_PLUG	1	PHONE_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	0	AH0_24V	310	GPS_DEVICE	16
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_10V	0	RAFOS_DEVICE	-1
RELAUNCH	0	PITCH_MIN	162	MINV_24V	11.5	XPDR_DEVICE	5
APOGEE_PITCH	-5	PITCH_MAX	3892	MINV_10V	10	SIM_W	0
MAX_BUOY	150	C_PITCH	2539	MAXI_24V	3	SEABIRD_T_G	0.0044220379
GLIDE_SLOPE	30	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064413931
SPEED_FACTOR	1	PITCH_CNV	0.0031260001	FG_AHR_10V	0.37301859	SEABIRD_T_I	2.6853917e-05
RHO	1.0275	PITCH_GAIN	30	FG_AHR_24V	2.0647871	SEABIRD_T_J	3.402645e-06
MASS	53587	PITCH_TIMEOUT	25	PHONE_SUPPLY	2	SEABIRD_C_G	-10.01496
MASS_COMP	0	PITCH_MAXERRORS	1	PRESSURE_YINT	-158.96762	SEABIRD_C_H	1.1201342
NAV_MODE	2	PITCH_ADJ_GAIN	0.029999999	PRESSURE_SLOPE	0.000108611	SEABIRD_C_I	-0.0031396081
FERRY_MAX	45	PITCH_ADJ_DBAND	1	COMPASS_USE	4	SEABIRD_C_J	0.00029222821
KALMAN_USE	0	PITCH_W_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_Z	0
HD_A	0.0038360001	PITCH_W_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0

GPS1	230122,144001,-5359.585,-0.007,17,1.2,33,-20.5	TGT_LATLONG	-5400.000,0.000
_CALLS	1	TGT_RADIUS	200.000
_SM_DEPTHo	1.21	KALMAN_CONTROL	0.006,-0.260
_SM_ANGLEo	-58.3	KALMAN_X	-57.1,-16.0,-15.7,-155.7,-3.4
GPS2	230122,144555,-5359.566,-0.009,26,0.9,48,-20.5	KALMAN_Y	342.4,206.0,204.2,-57.8,160.1
SPEED_LIMITS	0.173,0.260	MHEAD_RNG_PITCHd_Wd	179.3,804,-18.2,-10.000,-21.02
TGT_NAME	NORTH	D_GRID	30

FINISH	0.3,1.026984	_10V_AH	14.67,0.000
SM_CCo	1065.71,56.61,0.133,0,1424.9,1517.8,1332.1,300.52	FG_AHR_24Vo	2.150
SM_GC	1.14,56.61,13.33,0.05,0.133,0.073,0.156,1424.9,1517.8,1332.1,151.1,2077.6,0,0,0,15.24,14.75,15.27	FG_AHR_10Vo	0.380
SUPER	51,70,254,1,0,0	MEM	1169144,28,14256,69
IRIDIUM_FIX	-5400.29,0.00,230122,141935	DATA_FILE_SIZE	14435,195
TCM_TEMP	9.50	CAP_FILE_SIZE	107489,1
XPDR_PINGS	6	SDSIZE	3931136,3920928
ALTIM_TOP_PING	11.5,10.9	SDFILEDIR	55,2
HUMID	58.60	ERRORS	0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
TEMP	4.07	CURRENT	0.196,340.9,1
INTERNAL_PRESSURE	8.61706	GPS	230122,150452,-5359.540,-0.119,25,1.2,43,-20.5
_24V_AH	14.63,4.923

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	731	995	10659.44	SBE_CT	404	24	145.72
Pitch_motor	30	382	169.79	AA4831	240	100	351.48
Roll_motor	15	258	58.84	WL_BB2FL	419	43	267.28
Iridium	263	232	896.75	QSP2150	441	6	42.68
Transponder_ping	1	420	10.75	nil	0	0	0.00
GPS	57	12	10.71	nil	0	0	0.00
Core	1293	8	158.47	nil	0	0	0.00
LPSleep	123	2	3.97	nil	0	0	0.00
Compass	475	15	109.77	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	1	30	0.44

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
1	end surface: CONTROL_FINISHED_OK
state	1	begin dive
1.97	2	-145.99	-0.79	0.00	1419.7	1499.1	1340.2	148.6	2078.8	0.00	0.00	0	117.13	112.14	0.00	0.08	0.005	0.000	0.259	3244.53	3242.00	3247.06	148.38	2010.69	0	0	0	15.45	30.00	15.47
117.39	293	-145.99	-0.79	40.00	3241.8	3240.0	3243.5	148.8	2012.1	2.10	-1.12	22	138.45	0.00	13.19	2.57	0.000	0.382	0.113	3243.75	3246.81	3240.69	2284.88	3477.56	0	0	0	30.00	15.37	15.57
271	end dive: TARGET_DEPTH_EXCEEDED
state	271	begin apogee
274.73	3	0.00	-0.17	0.00	3243.0	3250.8	3235.3	2285.9	2026.8	30.21	-19.87	53	517.79	238.71	1.09	0.06	0.996	0.278	0.218	2647.62	2749.31	2545.94	2483.19	2072.69	0	0	0	11.99	15.51	15.02
518	end apogee: CONTROL_FINISHED_OK
state	518	begin climb
518.11	519	145.99	0.79	-40.00	2643.0	2745.8	2540.1	2483.6	2072.6	47.65	0.00	101	740.70	211.95	1.64	2.70	0.890	0.203	0.123	2051.28	2151.62	1950.94	2791.38	621.94	0	0	0	11.91	15.06	15.01
768.46	1191	176.28	0.93	0.00	2038.2	2138.6	1937.9	2792.0	622.2	30.91	8.61	151	814.89	42.19	0.22	2.51	0.884	0.103	0.083	1931.06	2036.56	1825.56	2846.25	2069.38	0	0	0	12.02	15.18	15.23
843.38	391	176.28	0.84	40.00	1916.0	2021.8	1810.2	2845.9	2069.6	22.55	10.30	166	849.04	0.00	0.25	2.53	0.000	0.229	0.107	1915.78	2021.69	1809.88	2798.12	3478.00	0	0	0	30.00	15.22	15.24
883.40	1060	180.80	0.84	0.00	1912.8	2015.6	1809.9	2797.9	3478.2	18.65	9.79	174	888.91	0.00	0.00	2.56	0.000	0.000	0.096	1913.88	2017.06	1810.69	2798.88	2029.94	0	0	0	30.00	30.00	14.74
903.38	519	497.22	1.23	-40.00	1912.3	2015.8	1808.8	2798.5	2029.1	16.59	10.05	178	975.59	70.02	0.63	0.00	0.877	0.096	0.000	1741.34	1856.44	1626.25	2940.00	2027.38	0	0	0	12.02	15.37	30.00
976	end climb: SURFACE_DEPTH_REACHED
state	976	begin surface coast
989	end surface coast: CONTROL_FINISHED_OK
state	989	begin surface