Glider dive log

PN07 DabobBay 29Sep07 * SG107 * Dive index * Mission links * Dive 50 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 107 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 10 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 50 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 152 ALTIM_PING_DEPTH 0

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3928 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2450 ALTIM_PULSE 1

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_PITCH 0 SM_CC 450 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 300 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 40 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 679 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 4028 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3415 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 -15899.978 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 363 AH0_24V 91.800003 SEABIRD_T_G 0.004345139

SPEED_FACTOR 1 PITCH_MAX 3698 AH0_10V 61.200001 SEABIRD_T_H 0.00064258272

RHO 1.023 C_PITCH 2730 PRESSURE_YINT -10.644979 SEABIRD_T_I 2.3711646e-05

MASS 51588 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001156423 SEABIRD_T_J 2.2769887e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.006271

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1385506

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022333476

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00024018179

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 3698 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 363 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001156423 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -10.644979 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 40

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 -15899.978

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 107 ROLL_MAX 3928 T_TURN_SAMPINT 6

C_PITCH 2730 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2450 INT_PRESSURE_YINT 0 ROLL_MIN 152 UNCOM_BLEED 20

C_ROLL_DIVE 2050 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3415 MASS 51588 R_PORT_OVSHOOT 21 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 21 USE_ICE 0

DEEPGLIDERMB 0 MISSION 10 SEABIRD_C_G -10.006271 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1385506 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0022333476 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00024018179 VBD_MAX 4028

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004345139 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064258272 VBD_MIN 679

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3711646e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 50 PHONE_DEVICE 48 SEABIRD_T_J 2.2769887e-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 194107,4738.904,-12253.339,9,1.8,25,18.3 TGT_NAME S2

_CALLS 1 TGT_LATLONG 4737.767,-12254.100

_XMS_NAKs 0 TGT_RADIUS 400.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.131,-0.156

_SM_DEPTHo 0.72 KALMAN_X 10865.9,-41.7,33.4,-11004.8,195.6

_SM_ANGLEo -53.0 KALMAN_Y 8928.6,-95.9,48.0,-10190.7,133.8

GPS2 194657,4738.937,-12253.238,13,1.8,13,18.3 MHEAD_RNG_PITCHd_Wd 201.7,2418,-19.3,-8.333

SPEED_LIMITS 0.144,0.204 D_GRID 137

Post-dive calculations and measurements:

FINISH 0.7,1.020954 ALTIM_TOP_PING 9.8,999.0

SM_CCo 2888,170.73,0.505,0,0,1579,450.13 ALTIM_BOTTOM_PING 75.7,999.0

SM_GC 0.78,0.00,0.00,170.73,0.000,0.000,0.505,363,2055,1579,-10.89,0.17,450.13 _24V_AH 23.8,5.122

IRIDIUM_FIX 4719.74,-12254.47,011007,222238 _10V_AH 10.1,3.641

TT8_MAMPS 0.073632 DATA_FILE_SIZE 6440,267

HUMID 2009 CFSIZE 260034560,255213568

INTERNAL_PRESSURE 7.68584 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 011007,204007,4738.773,-12253.364,14,1.1,30,18.3

XPDR_PINGS 191

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 166 107.05 SBE_CT 178 24 101.89

Roll_motor 31 69 52.45 nil 0 0 0.00

VBD_pump_during_apogee 172 599 2453.60 nil 0 0 0.00

VBD_pump_during_surface 170 505 2053.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 89.51 nil 0 0 0.00

Iridium_during_connect 43 160 164.69 ARS 0 0 0.00

Iridium_during_xfer 165 223 880.31

Transponder_ping 48 420 482.31

Mmodem_TX 4 1000 98.77

Mmodem_RX 3521 6 536.45

GPS 13 50 6.83

TT8 495 19 99.04

LPSleep 1656 2 36.65

TT8_Active 482 19 96.58

TT8_Sampling 452 39 182.09

TT8_CF8 351 45 162.38

TT8_Kalman 33 81 27.55

Analog_circuits 755 12 91.61

GPS_charging 0 0 0.00

Compass 431 8 34.84

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.60 -97.8 0.0 0.0 0 129 0.00 0.00 -103.30 0.000 2 0.000 0.000 363 2055 3807

132 -1.60 -97.8 2.4 -3.2 17 151 11.45 2.55 0.00 0.000 4 0.166 0.057 2376 3460 3810

190 -1.60 -97.8 8.6 -6.9 26 196 0.00 2.50 0.00 0.000 6 0.000 0.038 2376 2035 3810

262 -1.60 -97.8 13.7 -7.6 37 267 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2034 3810

334 -1.60 -97.8 19.7 -8.3 48 339 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2034 3811

408 -1.60 -97.8 25.6 -8.4 55 409 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2034 3811

599 -1.60 -97.8 39.3 -6.6 70 603 0.00 2.58 0.00 0.000 4 0.000 0.056 2377 3461 3811

636 -1.60 -97.8 42.0 -7.1 72 644 0.00 2.50 0.00 0.000 6 0.000 0.038 2376 2049 3811

833 -1.60 -97.8 55.8 -7.2 88 837 0.00 2.58 0.00 0.000 4 0.000 0.057 2376 3466 3811

865 -1.60 -97.8 58.2 -7.4 90 869 0.00 2.47 0.00 0.000 6 0.000 0.039 2376 2042 3811

1067 -1.60 -97.8 73.0 -7.5 106 1068 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2041 3811

1256 -1.60 -97.8 86.3 -7.0 121 1257 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2041 3811

1447 -1.60 -97.8 99.9 -7.7 136 1448 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2041 3810

1456 end dive: TARGET_DEPTH_EXCEEDED

state 1456 begin apogee

1462 -0.38 0.0 100.8 7.4 137 1543 1.33 0.00 74.35 0.588 6 0.098 0.000 2644 2464 3414

1544 end apogee: CONTROL_FINISHED_OK

state 1545 begin climb

1546 1.60 97.8 103.0 0.0 144 1628 2.03 0.00 73.85 0.581 6 0.071 0.000 3075 2464 3015

1816 1.61 105.2 85.6 7.9 166 1828 0.00 0.00 5.18 0.599 6 0.000 0.000 3075 2464 2985

2017 1.61 105.9 69.2 8.3 182 2021 0.00 2.62 0.00 0.000 4 0.000 0.061 3076 1034 2985

2049 1.61 105.9 66.3 8.9 184 2054 0.00 2.50 0.00 0.000 6 0.000 0.039 3075 2447 2984

2251 1.62 113.1 49.5 7.9 200 2263 0.00 0.00 5.62 0.578 6 0.000 0.000 3076 2447 2953

2451 1.62 113.1 32.6 8.7 216 2455 0.00 2.60 0.00 0.000 4 0.000 0.069 3075 3845 2953

2535 1.62 113.1 24.9 9.2 222 2544 0.00 2.45 0.00 0.000 6 0.000 0.033 3075 2441 2953

2739 1.64 130.6 9.8 7.3 248 2757 0.00 0.00 13.10 0.542 6 0.000 0.000 3075 2438 2881

2823 1.64 130.6 3.2 8.7 261 2830 0.00 2.62 0.00 0.000 4 0.000 0.067 3075 3854 2880

2840 end climb: SURFACE_DEPTH_REACHED

state 2840 begin surface coast

2861 end surface coast: CONTROL_FINISHED_OK

state 2861 begin surface

ID	107	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	10	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	50	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	152	ALTIM_PING_DEPTH	0
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3928	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2450	ALTIM_PULSE	1
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_PITCH	0	SM_CC	450	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	300	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	40	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	679	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	4028	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3415	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	-15899.978	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	363	AH0_24V	91.800003	SEABIRD_T_G	0.004345139
SPEED_FACTOR	1	PITCH_MAX	3698	AH0_10V	61.200001	SEABIRD_T_H	0.00064258272
RHO	1.023	C_PITCH	2730	PRESSURE_YINT	-10.644979	SEABIRD_T_I	2.3711646e-05
MASS	51588	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001156423	SEABIRD_T_J	2.2769887e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.006271
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1385506
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022333476
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00024018179

GPS1	194107,4738.904,-12253.339,9,1.8,25,18.3	TGT_NAME	S2
_CALLS	1	TGT_LATLONG	4737.767,-12254.100
_XMS_NAKs	0	TGT_RADIUS	400.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.131,-0.156
_SM_DEPTHo	0.72	KALMAN_X	10865.9,-41.7,33.4,-11004.8,195.6
_SM_ANGLEo	-53.0	KALMAN_Y	8928.6,-95.9,48.0,-10190.7,133.8
GPS2	194657,4738.937,-12253.238,13,1.8,13,18.3	MHEAD_RNG_PITCHd_Wd	201.7,2418,-19.3,-8.333
SPEED_LIMITS	0.144,0.204	D_GRID	137

FINISH	0.7,1.020954	ALTIM_TOP_PING	9.8,999.0
SM_CCo	2888,170.73,0.505,0,0,1579,450.13	ALTIM_BOTTOM_PING	75.7,999.0
SM_GC	0.78,0.00,0.00,170.73,0.000,0.000,0.505,363,2055,1579,-10.89,0.17,450.13	_24V_AH	23.8,5.122
IRIDIUM_FIX	4719.74,-12254.47,011007,222238	_10V_AH	10.1,3.641
TT8_MAMPS	0.073632	DATA_FILE_SIZE	6440,267
HUMID	2009	CFSIZE	260034560,255213568
INTERNAL_PRESSURE	7.68584	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	011007,204007,4738.773,-12253.364,14,1.1,30,18.3
XPDR_PINGS	191

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	166	107.05	SBE_CT	178	24	101.89
Roll_motor	31	69	52.45	nil	0	0	0.00
VBD_pump_during_apogee	172	599	2453.60	nil	0	0	0.00
VBD_pump_during_surface	170	505	2053.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	89.51	nil	0	0	0.00
Iridium_during_connect	43	160	164.69	ARS	0	0	0.00
Iridium_during_xfer	165	223	880.31
Transponder_ping	48	420	482.31
Mmodem_TX	4	1000	98.77
Mmodem_RX	3521	6	536.45
GPS	13	50	6.83
TT8	495	19	99.04
LPSleep	1656	2	36.65
TT8_Active	482	19	96.58
TT8_Sampling	452	39	182.09
TT8_CF8	351	45	162.38
TT8_Kalman	33	81	27.55
Analog_circuits	755	12	91.61
GPS_charging	0	0	0.00
Compass	431	8	34.84
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.60	-97.8	0.0	0.0	0	129	0.00	0.00	-103.30	0.000	2	0.000	0.000	363	2055	3807
132	-1.60	-97.8	2.4	-3.2	17	151	11.45	2.55	0.00	0.000	4	0.166	0.057	2376	3460	3810
190	-1.60	-97.8	8.6	-6.9	26	196	0.00	2.50	0.00	0.000	6	0.000	0.038	2376	2035	3810
262	-1.60	-97.8	13.7	-7.6	37	267	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2034	3810
334	-1.60	-97.8	19.7	-8.3	48	339	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2034	3811
408	-1.60	-97.8	25.6	-8.4	55	409	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2034	3811
599	-1.60	-97.8	39.3	-6.6	70	603	0.00	2.58	0.00	0.000	4	0.000	0.056	2377	3461	3811
636	-1.60	-97.8	42.0	-7.1	72	644	0.00	2.50	0.00	0.000	6	0.000	0.038	2376	2049	3811
833	-1.60	-97.8	55.8	-7.2	88	837	0.00	2.58	0.00	0.000	4	0.000	0.057	2376	3466	3811
865	-1.60	-97.8	58.2	-7.4	90	869	0.00	2.47	0.00	0.000	6	0.000	0.039	2376	2042	3811
1067	-1.60	-97.8	73.0	-7.5	106	1068	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2041	3811
1256	-1.60	-97.8	86.3	-7.0	121	1257	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2041	3811
1447	-1.60	-97.8	99.9	-7.7	136	1448	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2041	3810
1456	end dive: TARGET_DEPTH_EXCEEDED
state	1456	begin apogee
1462	-0.38	0.0	100.8	7.4	137	1543	1.33	0.00	74.35	0.588	6	0.098	0.000	2644	2464	3414
1544	end apogee: CONTROL_FINISHED_OK
state	1545	begin climb
1546	1.60	97.8	103.0	0.0	144	1628	2.03	0.00	73.85	0.581	6	0.071	0.000	3075	2464	3015
1816	1.61	105.2	85.6	7.9	166	1828	0.00	0.00	5.18	0.599	6	0.000	0.000	3075	2464	2985
2017	1.61	105.9	69.2	8.3	182	2021	0.00	2.62	0.00	0.000	4	0.000	0.061	3076	1034	2985
2049	1.61	105.9	66.3	8.9	184	2054	0.00	2.50	0.00	0.000	6	0.000	0.039	3075	2447	2984
2251	1.62	113.1	49.5	7.9	200	2263	0.00	0.00	5.62	0.578	6	0.000	0.000	3076	2447	2953
2451	1.62	113.1	32.6	8.7	216	2455	0.00	2.60	0.00	0.000	4	0.000	0.069	3075	3845	2953
2535	1.62	113.1	24.9	9.2	222	2544	0.00	2.45	0.00	0.000	6	0.000	0.033	3075	2441	2953
2739	1.64	130.6	9.8	7.3	248	2757	0.00	0.00	13.10	0.542	6	0.000	0.000	3075	2438	2881
2823	1.64	130.6	3.2	8.7	261	2830	0.00	2.62	0.00	0.000	4	0.000	0.067	3075	3854	2880
2840	end climb: SURFACE_DEPTH_REACHED
state	2840	begin surface coast
2861	end surface coast: CONTROL_FINISHED_OK
state	2861	begin surface