Glider dive log

PN07 DabobBay Sep07 * SG022 * Dive index * Mission links * Dive 401 * 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 401 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 85 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 0

D_PITCH 0 SM_CC 693.21777 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 10 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 13 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 0

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 -118528.47 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 90 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 0

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 693.21777

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 85 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 -118528.47

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 2050 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51950 R_PORT_OVSHOOT 10 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 90 R_STBD_OVSHOOT 13 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 401 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 202051,4740.756,-12251.175,13,1.4,13,18.3 TGT_NAME T18

_CALLS 5 TGT_LATLONG 4740.752,-12250.415

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.244,-0.017

_SM_DEPTHo 1.26 KALMAN_X 56721.4,168.8,-191.2,-54299.1,-17.5

_SM_ANGLEo -66.5 KALMAN_Y 14910.1,-304.1,-76.2,-12668.5,126.9

GPS2 204139,4740.694,-12251.061,15,1.8,15,18.3 MHEAD_RNG_PITCHd_Wd 75.7,812,-10.1,-6.296

SPEED_LIMITS 0.235,0.245 D_GRID 99

Post-dive calculations and measurements:

FINISH 0.6,1.010484 ALTIM_BOTTOM_PING 50.2,8.0

SM_CCo 3282,261.90,0.629,0,0,658,693.22 _24V_AH 23.8,43.985

SM_GC 1.23,0.00,0.00,261.90,0.000,0.000,0.629,38,2208,658,-11.46,0.20,693.22 _10V_AH 10.2,11.607

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 9593,312

TT8_MAMPS 0.028379 CFSIZE 260034560,246738944

HUMID 2043 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 051007,214257,4740.537,-12250.466,13,1.4,13,18.3

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 193 126.73 SBE_CT 205 24 117.51

Roll_motor 46 154 169.61 nil 0 0 0.00

VBD_pump_during_apogee 198 722 3417.24 nil 0 0 0.00

VBD_pump_during_surface 261 628 3920.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 162 103 399.48 nil 0 0 0.00

Iridium_during_connect 252 160 961.52 ARS 0 0 0.00

Iridium_during_xfer 414 223 2198.47

Transponder_ping 2 420 24.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.78

TT8 579 19 117.01

LPSleep 2028 2 45.31

TT8_Active 613 19 123.88

TT8_Sampling 521 39 211.72

TT8_CF8 1095 45 511.64

TT8_Kalman 33 81 27.81

Analog_circuits 948 12 116.04

GPS_charging 0 0 0.00

Compass 524 8 42.82

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

24 end surface: CONTROL_FINISHED_OK

state 26 begin dive

30 -0.73 -88.0 0.0 0.0 0 147 0.00 0.00 -112.72 0.000 2 0.000 0.000 36 2219 3024

151 -0.73 -88.0 2.3 -2.2 19 212 13.57 2.90 -38.80 0.000 4 0.193 0.154 2367 3561 3845

411 -0.73 -88.0 15.7 -5.3 59 417 0.00 2.75 0.00 0.000 6 0.000 0.110 2367 2191 3848

484 -0.73 -88.0 20.1 -6.0 70 489 0.00 2.97 0.00 0.000 4 0.000 0.145 2366 777 3848

530 -0.73 -88.0 22.8 -5.7 73 535 0.00 2.88 0.00 0.000 6 0.000 0.114 2366 2206 3848

726 -0.73 -88.0 33.2 -5.6 88 731 0.00 2.90 0.00 0.000 4 0.000 0.144 2366 3577 3849

799 -0.73 -88.0 37.6 -6.2 93 803 0.00 2.80 0.00 0.000 6 0.000 0.110 2366 2187 3849

995 -0.73 -88.0 47.9 -4.9 108 999 0.00 2.95 0.00 0.000 4 0.000 0.142 2366 777 3849

1067 -0.73 -88.0 51.0 -4.5 113 1072 0.00 2.88 0.00 0.000 6 0.000 0.112 2366 2215 3849

1263 -0.73 -88.0 59.3 -4.4 128 1264 0.00 0.00 0.00 0.000 6 0.000 0.000 2366 2216 3849

1457 -0.73 -88.0 67.7 -3.6 143 1458 0.00 0.00 0.00 0.000 6 0.000 0.000 2366 2216 3849

1643 -0.73 -88.0 77.8 -6.3 158 1644 0.00 0.00 0.00 0.000 6 0.000 0.000 2366 2216 3849

1777 end dive: TARGET_DEPTH_EXCEEDED

state 1777 begin apogee

1784 -0.31 0.0 85.0 4.1 169 1853 0.47 0.00 65.47 0.723 6 0.133 0.000 2455 2048 3484

1853 end apogee: CONTROL_FINISHED_OK

state 1854 begin climb

1856 0.73 88.0 85.6 0.0 175 1937 1.15 2.95 69.90 0.709 4 0.104 0.120 2686 628 3125

1977 0.79 148.3 81.5 4.9 185 2029 0.00 2.72 46.40 0.701 6 0.000 0.077 2686 2070 2878

2227 0.79 148.3 66.1 6.4 205 2228 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2070 2879

2419 0.79 148.3 51.8 8.0 220 2424 0.00 2.97 0.00 0.000 4 0.000 0.127 2686 624 2879

2470 0.79 148.3 47.8 7.7 223 2477 0.00 2.70 0.00 0.000 6 0.000 0.081 2686 2050 2879

2667 0.79 148.3 35.1 6.7 239 2671 0.00 2.85 0.00 0.000 4 0.000 0.123 2685 3465 2879

2713 0.79 148.3 31.3 8.4 242 2717 0.00 2.78 0.00 0.000 6 0.000 0.091 2686 2040 2879

2909 0.79 148.3 17.7 6.5 259 2916 0.00 2.88 0.00 0.000 4 0.000 0.128 2686 628 2879

2949 0.79 148.3 14.5 8.0 265 2955 0.00 2.70 0.00 0.000 6 0.000 0.082 2685 2059 2879

3021 0.79 148.3 9.4 6.7 276 3027 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2059 2879

3094 0.87 221.3 5.6 4.7 287 3114 0.15 0.00 16.95 0.686 2 0.077 0.000 2721 2059 2786

3114 end climb: SURFACE_DEPTH_REACHED

state 3115 begin surface coast

3258 end surface coast: CONTROL_FINISHED_OK

state 3259 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	401	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	85	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	0
D_PITCH	0	SM_CC	693.21777	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	10	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	13	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	0
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	-118528.47	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	90	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	202051,4740.756,-12251.175,13,1.4,13,18.3	TGT_NAME	T18
_CALLS	5	TGT_LATLONG	4740.752,-12250.415
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.244,-0.017
_SM_DEPTHo	1.26	KALMAN_X	56721.4,168.8,-191.2,-54299.1,-17.5
_SM_ANGLEo	-66.5	KALMAN_Y	14910.1,-304.1,-76.2,-12668.5,126.9
GPS2	204139,4740.694,-12251.061,15,1.8,15,18.3	MHEAD_RNG_PITCHd_Wd	75.7,812,-10.1,-6.296
SPEED_LIMITS	0.235,0.245	D_GRID	99

FINISH	0.6,1.010484	ALTIM_BOTTOM_PING	50.2,8.0
SM_CCo	3282,261.90,0.629,0,0,658,693.22	_24V_AH	23.8,43.985
SM_GC	1.23,0.00,0.00,261.90,0.000,0.000,0.629,38,2208,658,-11.46,0.20,693.22	_10V_AH	10.2,11.607
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	9593,312
TT8_MAMPS	0.028379	CFSIZE	260034560,246738944
HUMID	2043	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	051007,214257,4740.537,-12250.466,13,1.4,13,18.3
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	193	126.73	SBE_CT	205	24	117.51
Roll_motor	46	154	169.61	nil	0	0	0.00
VBD_pump_during_apogee	198	722	3417.24	nil	0	0	0.00
VBD_pump_during_surface	261	628	3920.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	162	103	399.48	nil	0	0	0.00
Iridium_during_connect	252	160	961.52	ARS	0	0	0.00
Iridium_during_xfer	414	223	2198.47
Transponder_ping	2	420	24.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.78
TT8	579	19	117.01
LPSleep	2028	2	45.31
TT8_Active	613	19	123.88
TT8_Sampling	521	39	211.72
TT8_CF8	1095	45	511.64
TT8_Kalman	33	81	27.81
Analog_circuits	948	12	116.04
GPS_charging	0	0	0.00
Compass	524	8	42.82
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
24	end surface: CONTROL_FINISHED_OK
state	26	begin dive
30	-0.73	-88.0	0.0	0.0	0	147	0.00	0.00	-112.72	0.000	2	0.000	0.000	36	2219	3024
151	-0.73	-88.0	2.3	-2.2	19	212	13.57	2.90	-38.80	0.000	4	0.193	0.154	2367	3561	3845
411	-0.73	-88.0	15.7	-5.3	59	417	0.00	2.75	0.00	0.000	6	0.000	0.110	2367	2191	3848
484	-0.73	-88.0	20.1	-6.0	70	489	0.00	2.97	0.00	0.000	4	0.000	0.145	2366	777	3848
530	-0.73	-88.0	22.8	-5.7	73	535	0.00	2.88	0.00	0.000	6	0.000	0.114	2366	2206	3848
726	-0.73	-88.0	33.2	-5.6	88	731	0.00	2.90	0.00	0.000	4	0.000	0.144	2366	3577	3849
799	-0.73	-88.0	37.6	-6.2	93	803	0.00	2.80	0.00	0.000	6	0.000	0.110	2366	2187	3849
995	-0.73	-88.0	47.9	-4.9	108	999	0.00	2.95	0.00	0.000	4	0.000	0.142	2366	777	3849
1067	-0.73	-88.0	51.0	-4.5	113	1072	0.00	2.88	0.00	0.000	6	0.000	0.112	2366	2215	3849
1263	-0.73	-88.0	59.3	-4.4	128	1264	0.00	0.00	0.00	0.000	6	0.000	0.000	2366	2216	3849
1457	-0.73	-88.0	67.7	-3.6	143	1458	0.00	0.00	0.00	0.000	6	0.000	0.000	2366	2216	3849
1643	-0.73	-88.0	77.8	-6.3	158	1644	0.00	0.00	0.00	0.000	6	0.000	0.000	2366	2216	3849
1777	end dive: TARGET_DEPTH_EXCEEDED
state	1777	begin apogee
1784	-0.31	0.0	85.0	4.1	169	1853	0.47	0.00	65.47	0.723	6	0.133	0.000	2455	2048	3484
1853	end apogee: CONTROL_FINISHED_OK
state	1854	begin climb
1856	0.73	88.0	85.6	0.0	175	1937	1.15	2.95	69.90	0.709	4	0.104	0.120	2686	628	3125
1977	0.79	148.3	81.5	4.9	185	2029	0.00	2.72	46.40	0.701	6	0.000	0.077	2686	2070	2878
2227	0.79	148.3	66.1	6.4	205	2228	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2070	2879
2419	0.79	148.3	51.8	8.0	220	2424	0.00	2.97	0.00	0.000	4	0.000	0.127	2686	624	2879
2470	0.79	148.3	47.8	7.7	223	2477	0.00	2.70	0.00	0.000	6	0.000	0.081	2686	2050	2879
2667	0.79	148.3	35.1	6.7	239	2671	0.00	2.85	0.00	0.000	4	0.000	0.123	2685	3465	2879
2713	0.79	148.3	31.3	8.4	242	2717	0.00	2.78	0.00	0.000	6	0.000	0.091	2686	2040	2879
2909	0.79	148.3	17.7	6.5	259	2916	0.00	2.88	0.00	0.000	4	0.000	0.128	2686	628	2879
2949	0.79	148.3	14.5	8.0	265	2955	0.00	2.70	0.00	0.000	6	0.000	0.082	2685	2059	2879
3021	0.79	148.3	9.4	6.7	276	3027	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2059	2879
3094	0.87	221.3	5.6	4.7	287	3114	0.15	0.00	16.95	0.686	2	0.077	0.000	2721	2059	2786
3114	end climb: SURFACE_DEPTH_REACHED
state	3115	begin surface coast
3258	end surface coast: CONTROL_FINISHED_OK
state	3259	begin surface