Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 41 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 41 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 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 243 ALTIM_PING_DEPTH 0

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 450 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 1 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

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 -17372.496 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 100 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 30 PITCH_MIN 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 120 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.1405377 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 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 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -17372.496

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

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 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2000 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2100 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 23 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 37 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 41 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 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 144244,4739.448,-12252.366,8,1.6,13,18.3 TGT_NAME H3

_CALLS 3 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 12 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.196,-0.070

_SM_DEPTHo 1.05 KALMAN_X 9713.5,190.4,67.9,-9484.1,181.7

_SM_ANGLEo -64.5 KALMAN_Y 6899.5,279.6,60.8,-7716.9,150.5

GPS2 145551,4739.533,-12252.304,13,1.9,13,18.3 MHEAD_RNG_PITCHd_Wd 232.2,1128,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.4,1.020657 ALTIM_TOP_PING 9.7,9.0

SM_CCo 2941,108.68,0.577,0,0,1366,450.13 ALTIM_BOTTOM_PING 95.3,999.0

SM_GC 1.07,0.00,0.00,108.68,0.000,0.000,0.577,409,2107,1366,-11.46,0.20,450.13 _24V_AH 23.8,19.528

IRIDIUM_FIX 4722.92,-12251.79,230907,181818 _10V_AH 10.1,11.995

TT8_MAMPS 0.072865 DATA_FILE_SIZE 6445,268

HUMID 2253 CFSIZE 260231168,256196608

INTERNAL_PRESSURE 7.98859 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.10 GPS 230907,154833,4739.450,-12252.654,11,1.6,11,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 198 143.37 SBE_CT 189 24 108.00

Roll_motor 40 75 72.77 nil 0 0 0.00

VBD_pump_during_apogee 225 759 4072.09 nil 0 0 0.00

VBD_pump_during_surface 108 576 1491.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 103 103 253.80 nil 0 0 0.00

Iridium_during_connect 77 160 293.68 ARS 0 0 0.00

Iridium_during_xfer 357 223 1900.01

Transponder_ping 0 420 5.00

Mmodem_TX 16 1000 395.08

Mmodem_RX 3952 6 602.03

GPS 13 50 6.65

TT8 493 19 98.79

LPSleep 1738 2 38.45

TT8_Active 460 19 92.03

TT8_Sampling 487 39 195.78

TT8_CF8 686 45 317.38

TT8_Kalman 33 81 27.54

Analog_circuits 757 12 91.80

GPS_charging 0 0 0.00

Compass 465 8 37.60

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.68 -97.8 0.0 0.0 0 83 0.00 0.00 -55.22 0.000 2 0.000 0.000 413 2104 2585

86 -1.68 -97.8 2.2 -4.7 9 147 13.30 2.67 -38.67 0.000 4 0.199 0.075 2523 700 3603

167 -1.68 -97.8 5.7 -8.5 22 173 0.00 2.45 0.00 0.000 6 0.000 0.035 2524 2097 3604

239 -1.68 -97.8 12.7 -9.9 33 245 0.00 2.53 0.00 0.000 4 0.000 0.055 2524 3498 3604

337 -1.68 -97.8 23.4 -10.2 46 344 0.00 2.42 0.00 0.000 6 0.000 0.035 2524 2095 3605

532 -1.68 -97.8 42.2 -10.0 62 533 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2095 3606

723 -1.68 -97.8 61.2 -10.3 77 727 0.00 2.53 0.00 0.000 4 0.000 0.055 2524 3496 3606

760 -1.68 -97.8 65.4 -10.9 79 768 0.00 2.42 0.00 0.000 6 0.000 0.035 2523 2107 3606

957 -1.68 -97.8 85.0 -10.2 95 958 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2107 3606

1146 -1.68 -97.8 104.6 -10.3 110 1150 0.00 2.55 0.00 0.000 4 0.000 0.055 2524 3495 3605

1177 -1.68 -97.8 107.9 -10.8 112 1185 0.00 2.45 0.00 0.000 6 0.000 0.035 2524 2104 3606

1309 end dive: TARGET_DEPTH_EXCEEDED

state 1309 begin apogee

1314 -0.38 0.0 120.8 9.4 123 1396 1.48 0.00 77.57 0.676 6 0.107 0.000 2811 1997 3202

1397 end apogee: CONTROL_FINISHED_OK

state 1397 begin climb

1399 1.68 97.8 123.2 0.0 130 1484 2.17 2.72 75.75 0.657 4 0.063 0.067 3271 605 2802

1550 1.68 97.8 114.8 9.5 142 1558 0.00 2.50 0.00 0.000 6 0.000 0.036 3272 2002 2800

1747 1.71 117.1 99.6 7.7 158 1766 0.00 2.62 14.23 0.683 4 0.000 0.055 3272 3394 2724

1847 1.71 122.3 91.0 8.6 165 1859 0.00 2.45 3.90 0.737 6 0.000 0.036 3271 1996 2702

2048 1.72 126.5 73.0 8.6 181 2060 0.00 2.60 2.80 0.759 4 0.000 0.053 3272 3393 2686

2131 1.72 126.5 65.3 9.4 187 2138 0.00 2.47 0.00 0.000 6 0.000 0.036 3272 2001 2685

2327 1.72 126.5 47.9 8.9 203 2328 0.00 0.00 0.00 0.000 6 0.000 0.000 3272 2001 2685

2517 1.72 126.5 31.2 9.1 218 2522 0.00 2.53 0.00 0.000 4 0.000 0.054 3272 3393 2685

2689 1.73 137.7 16.2 8.2 233 2702 0.00 2.45 8.45 0.686 6 0.000 0.036 3272 1993 2640

2769 1.76 163.3 10.6 7.3 245 2793 0.00 0.00 19.45 0.642 6 0.000 0.000 3272 1993 2535

2859 1.82 206.0 4.1 6.3 259 2889 0.10 0.00 23.17 0.623 6 0.067 0.000 3297 1993 2361

2893 end climb: SURFACE_DEPTH_REACHED

state 2893 begin surface coast

2915 end surface coast: CONTROL_FINISHED_OK

state 2915 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	41	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	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	243	ALTIM_PING_DEPTH	0
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2000	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	450	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	1	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
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	-17372.496	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	100	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	30	PITCH_MIN	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	144244,4739.448,-12252.366,8,1.6,13,18.3	TGT_NAME	H3
_CALLS	3	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	12	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.196,-0.070
_SM_DEPTHo	1.05	KALMAN_X	9713.5,190.4,67.9,-9484.1,181.7
_SM_ANGLEo	-64.5	KALMAN_Y	6899.5,279.6,60.8,-7716.9,150.5
GPS2	145551,4739.533,-12252.304,13,1.9,13,18.3	MHEAD_RNG_PITCHd_Wd	232.2,1128,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	124

FINISH	0.4,1.020657	ALTIM_TOP_PING	9.7,9.0
SM_CCo	2941,108.68,0.577,0,0,1366,450.13	ALTIM_BOTTOM_PING	95.3,999.0
SM_GC	1.07,0.00,0.00,108.68,0.000,0.000,0.577,409,2107,1366,-11.46,0.20,450.13	_24V_AH	23.8,19.528
IRIDIUM_FIX	4722.92,-12251.79,230907,181818	_10V_AH	10.1,11.995
TT8_MAMPS	0.072865	DATA_FILE_SIZE	6445,268
HUMID	2253	CFSIZE	260231168,256196608
INTERNAL_PRESSURE	7.98859	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.10	GPS	230907,154833,4739.450,-12252.654,11,1.6,11,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	198	143.37	SBE_CT	189	24	108.00
Roll_motor	40	75	72.77	nil	0	0	0.00
VBD_pump_during_apogee	225	759	4072.09	nil	0	0	0.00
VBD_pump_during_surface	108	576	1491.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	103	103	253.80	nil	0	0	0.00
Iridium_during_connect	77	160	293.68	ARS	0	0	0.00
Iridium_during_xfer	357	223	1900.01
Transponder_ping	0	420	5.00
Mmodem_TX	16	1000	395.08
Mmodem_RX	3952	6	602.03
GPS	13	50	6.65
TT8	493	19	98.79
LPSleep	1738	2	38.45
TT8_Active	460	19	92.03
TT8_Sampling	487	39	195.78
TT8_CF8	686	45	317.38
TT8_Kalman	33	81	27.54
Analog_circuits	757	12	91.80
GPS_charging	0	0	0.00
Compass	465	8	37.60
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.68	-97.8	0.0	0.0	0	83	0.00	0.00	-55.22	0.000	2	0.000	0.000	413	2104	2585
86	-1.68	-97.8	2.2	-4.7	9	147	13.30	2.67	-38.67	0.000	4	0.199	0.075	2523	700	3603
167	-1.68	-97.8	5.7	-8.5	22	173	0.00	2.45	0.00	0.000	6	0.000	0.035	2524	2097	3604
239	-1.68	-97.8	12.7	-9.9	33	245	0.00	2.53	0.00	0.000	4	0.000	0.055	2524	3498	3604
337	-1.68	-97.8	23.4	-10.2	46	344	0.00	2.42	0.00	0.000	6	0.000	0.035	2524	2095	3605
532	-1.68	-97.8	42.2	-10.0	62	533	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2095	3606
723	-1.68	-97.8	61.2	-10.3	77	727	0.00	2.53	0.00	0.000	4	0.000	0.055	2524	3496	3606
760	-1.68	-97.8	65.4	-10.9	79	768	0.00	2.42	0.00	0.000	6	0.000	0.035	2523	2107	3606
957	-1.68	-97.8	85.0	-10.2	95	958	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2107	3606
1146	-1.68	-97.8	104.6	-10.3	110	1150	0.00	2.55	0.00	0.000	4	0.000	0.055	2524	3495	3605
1177	-1.68	-97.8	107.9	-10.8	112	1185	0.00	2.45	0.00	0.000	6	0.000	0.035	2524	2104	3606
1309	end dive: TARGET_DEPTH_EXCEEDED
state	1309	begin apogee
1314	-0.38	0.0	120.8	9.4	123	1396	1.48	0.00	77.57	0.676	6	0.107	0.000	2811	1997	3202
1397	end apogee: CONTROL_FINISHED_OK
state	1397	begin climb
1399	1.68	97.8	123.2	0.0	130	1484	2.17	2.72	75.75	0.657	4	0.063	0.067	3271	605	2802
1550	1.68	97.8	114.8	9.5	142	1558	0.00	2.50	0.00	0.000	6	0.000	0.036	3272	2002	2800
1747	1.71	117.1	99.6	7.7	158	1766	0.00	2.62	14.23	0.683	4	0.000	0.055	3272	3394	2724
1847	1.71	122.3	91.0	8.6	165	1859	0.00	2.45	3.90	0.737	6	0.000	0.036	3271	1996	2702
2048	1.72	126.5	73.0	8.6	181	2060	0.00	2.60	2.80	0.759	4	0.000	0.053	3272	3393	2686
2131	1.72	126.5	65.3	9.4	187	2138	0.00	2.47	0.00	0.000	6	0.000	0.036	3272	2001	2685
2327	1.72	126.5	47.9	8.9	203	2328	0.00	0.00	0.00	0.000	6	0.000	0.000	3272	2001	2685
2517	1.72	126.5	31.2	9.1	218	2522	0.00	2.53	0.00	0.000	4	0.000	0.054	3272	3393	2685
2689	1.73	137.7	16.2	8.2	233	2702	0.00	2.45	8.45	0.686	6	0.000	0.036	3272	1993	2640
2769	1.76	163.3	10.6	7.3	245	2793	0.00	0.00	19.45	0.642	6	0.000	0.000	3272	1993	2535
2859	1.82	206.0	4.1	6.3	259	2889	0.10	0.00	23.17	0.623	6	0.067	0.000	3297	1993	2361
2893	end climb: SURFACE_DEPTH_REACHED
state	2893	begin surface coast
2915	end surface coast: CONTROL_FINISHED_OK
state	2915	begin surface