Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 58 * 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 58 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 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 -17752.607 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 -17752.607

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 22 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 40 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 58 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 085907,4738.595,-12252.975,9,1.7,25,18.3 TGT_NAME H5

_CALLS 2 TGT_LATLONG 4738.532,-12253.202

_XMS_NAKs 3 TGT_RADIUS 200.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.177,-0.066

_SM_DEPTHo 1.11 KALMAN_X 14223.6,522.5,86.3,-15016.7,32.3

_SM_ANGLEo -61.9 KALMAN_Y 8159.4,174.3,13.7,-10479.1,-16.4

GPS2 090757,4738.640,-12252.839,14,2.0,14,18.3 MHEAD_RNG_PITCHd_Wd 231.2,495,-22.5,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 136

Post-dive calculations and measurements:

FINISH 2.3,1.020296 ALTIM_TOP_PING 9.9,9.2

SM_CCo 2845,223.40,0.575,0,0,746,602.46 ALTIM_BOTTOM_PING 95.6,999.0

SM_GC 1.27,13.10,0.00,0.00,0.038,0.000,0.000,406,2109,741,-11.43,0.25,603.44 _24V_AH 23.8,21.225

IRIDIUM_FIX 4722.92,-12256.21,240907,111152 _10V_AH 10.1,13.372

TT8_MAMPS 0.070564 DATA_FILE_SIZE 6435,263

HUMID 2258 CFSIZE 260231168,255639552

INTERNAL_PRESSURE 7.95929 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 20.20 GPS 240907,100311,4738.608,-12253.005,13,2.7,32,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 194 139.56 SBE_CT 185 24 105.69

Roll_motor 44 65 69.75 nil 0 0 0.00

VBD_pump_during_apogee 184 780 3428.13 nil 0 0 0.00

VBD_pump_during_surface 223 575 3058.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 60 103 149.27 nil 0 0 0.00

Iridium_during_connect 33 160 127.67 ARS 0 0 0.00

Iridium_during_xfer 248 223 1321.13

Transponder_ping 0 420 5.00

Mmodem_TX 12 1000 296.31

Mmodem_RX 3822 6 582.25

GPS 14 50 7.08

TT8 498 19 99.65

LPSleep 1716 2 37.96

TT8_Active 556 19 111.22

TT8_Sampling 485 39 195.35

TT8_CF8 481 45 222.54

TT8_Kalman 33 81 27.55

Analog_circuits 851 12 103.18

GPS_charging 0 0 0.00

Compass 463 8 37.41

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 -1.83 -79.9 0.0 0.0 0 101 0.00 0.00 -73.03 0.000 2 0.000 0.000 411 2110 2313

104 -1.85 -97.8 2.1 -3.2 12 178 13.00 2.53 -50.95 0.000 4 0.195 0.065 2489 3488 3603

185 -1.85 -97.8 4.9 -7.7 25 192 0.00 2.42 0.00 0.000 6 0.000 0.032 2489 2080 3604

257 -1.85 -97.8 10.0 -7.8 36 264 0.00 2.55 0.00 0.000 4 0.000 0.052 2490 3495 3605

296 -1.85 -97.8 14.5 -11.9 42 303 0.00 2.40 0.00 0.000 6 0.000 0.033 2489 2107 3605

374 -1.85 -97.8 23.2 -10.9 52 378 0.00 2.50 0.00 0.000 4 0.000 0.052 2490 3496 3605

419 -1.85 -97.8 28.4 -11.8 55 423 0.00 2.40 0.00 0.000 6 0.000 0.034 2490 2100 3606

621 -1.85 -97.8 50.6 -11.0 71 622 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2100 3607

812 -1.85 -97.8 71.9 -11.3 86 815 0.00 2.50 0.00 0.000 4 0.000 0.054 2489 3490 3607

877 -1.85 -97.8 79.5 -11.2 91 881 0.00 2.40 0.00 0.000 6 0.000 0.035 2490 2099 3606

1072 -1.85 -97.8 101.4 -11.4 106 1076 0.00 2.50 0.00 0.000 4 0.000 0.054 2490 3492 3606

1111 -1.85 -97.8 105.9 -11.7 109 1115 0.00 2.40 0.00 0.000 6 0.000 0.035 2489 2101 3607

1235 end dive: TARGET_DEPTH_EXCEEDED

state 1236 begin apogee

1241 -0.38 0.0 120.3 11.4 119 1323 1.67 0.00 75.78 0.679 6 0.108 0.000 2813 1997 3202

1324 end apogee: CONTROL_FINISHED_OK

state 1324 begin climb

1326 1.85 97.8 122.8 0.0 126 1407 2.33 0.00 75.47 0.662 6 0.061 0.000 3311 1997 2803

1596 1.85 97.8 103.9 9.0 148 1600 0.00 2.53 0.00 0.000 4 0.000 0.052 3311 3388 2805

1713 1.85 97.8 93.0 9.0 156 1720 0.00 2.47 0.00 0.000 6 0.000 0.035 3311 2002 2805

1909 1.86 100.7 75.8 8.7 172 1916 0.00 2.58 1.85 0.781 4 0.000 0.051 3311 3389 2791

1995 1.86 100.7 68.0 9.2 178 1999 0.00 2.42 0.00 0.000 6 0.000 0.036 3311 2000 2794

2190 1.87 112.0 51.7 8.0 193 2204 0.00 2.60 8.90 0.689 4 0.000 0.052 3312 3392 2745

2249 1.87 113.0 46.4 8.8 197 2256 0.00 2.47 0.00 0.000 6 0.000 0.036 3312 2000 2745

2445 1.88 116.4 29.6 8.6 213 2457 0.00 2.55 3.00 0.744 4 0.000 0.052 3312 3387 2727

2525 1.88 117.5 22.8 8.8 219 2529 0.00 2.42 0.00 0.000 6 0.000 0.036 3312 2000 2728

2729 1.91 142.2 7.7 7.0 246 2753 0.00 0.00 19.48 0.647 6 0.000 0.000 3311 2001 2622

2803 end climb: SURFACE_DEPTH_REACHED

state 2803 begin surface coast

2838 end surface coast: CONTROL_FINISHED_OK

state 2838 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	58	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	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	-17752.607	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	085907,4738.595,-12252.975,9,1.7,25,18.3	TGT_NAME	H5
_CALLS	2	TGT_LATLONG	4738.532,-12253.202
_XMS_NAKs	3	TGT_RADIUS	200.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.177,-0.066
_SM_DEPTHo	1.11	KALMAN_X	14223.6,522.5,86.3,-15016.7,32.3
_SM_ANGLEo	-61.9	KALMAN_Y	8159.4,174.3,13.7,-10479.1,-16.4
GPS2	090757,4738.640,-12252.839,14,2.0,14,18.3	MHEAD_RNG_PITCHd_Wd	231.2,495,-22.5,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	136

FINISH	2.3,1.020296	ALTIM_TOP_PING	9.9,9.2
SM_CCo	2845,223.40,0.575,0,0,746,602.46	ALTIM_BOTTOM_PING	95.6,999.0
SM_GC	1.27,13.10,0.00,0.00,0.038,0.000,0.000,406,2109,741,-11.43,0.25,603.44	_24V_AH	23.8,21.225
IRIDIUM_FIX	4722.92,-12256.21,240907,111152	_10V_AH	10.1,13.372
TT8_MAMPS	0.070564	DATA_FILE_SIZE	6435,263
HUMID	2258	CFSIZE	260231168,255639552
INTERNAL_PRESSURE	7.95929	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	20.20	GPS	240907,100311,4738.608,-12253.005,13,2.7,32,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	194	139.56	SBE_CT	185	24	105.69
Roll_motor	44	65	69.75	nil	0	0	0.00
VBD_pump_during_apogee	184	780	3428.13	nil	0	0	0.00
VBD_pump_during_surface	223	575	3058.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	60	103	149.27	nil	0	0	0.00
Iridium_during_connect	33	160	127.67	ARS	0	0	0.00
Iridium_during_xfer	248	223	1321.13
Transponder_ping	0	420	5.00
Mmodem_TX	12	1000	296.31
Mmodem_RX	3822	6	582.25
GPS	14	50	7.08
TT8	498	19	99.65
LPSleep	1716	2	37.96
TT8_Active	556	19	111.22
TT8_Sampling	485	39	195.35
TT8_CF8	481	45	222.54
TT8_Kalman	33	81	27.55
Analog_circuits	851	12	103.18
GPS_charging	0	0	0.00
Compass	463	8	37.41
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	-1.83	-79.9	0.0	0.0	0	101	0.00	0.00	-73.03	0.000	2	0.000	0.000	411	2110	2313
104	-1.85	-97.8	2.1	-3.2	12	178	13.00	2.53	-50.95	0.000	4	0.195	0.065	2489	3488	3603
185	-1.85	-97.8	4.9	-7.7	25	192	0.00	2.42	0.00	0.000	6	0.000	0.032	2489	2080	3604
257	-1.85	-97.8	10.0	-7.8	36	264	0.00	2.55	0.00	0.000	4	0.000	0.052	2490	3495	3605
296	-1.85	-97.8	14.5	-11.9	42	303	0.00	2.40	0.00	0.000	6	0.000	0.033	2489	2107	3605
374	-1.85	-97.8	23.2	-10.9	52	378	0.00	2.50	0.00	0.000	4	0.000	0.052	2490	3496	3605
419	-1.85	-97.8	28.4	-11.8	55	423	0.00	2.40	0.00	0.000	6	0.000	0.034	2490	2100	3606
621	-1.85	-97.8	50.6	-11.0	71	622	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2100	3607
812	-1.85	-97.8	71.9	-11.3	86	815	0.00	2.50	0.00	0.000	4	0.000	0.054	2489	3490	3607
877	-1.85	-97.8	79.5	-11.2	91	881	0.00	2.40	0.00	0.000	6	0.000	0.035	2490	2099	3606
1072	-1.85	-97.8	101.4	-11.4	106	1076	0.00	2.50	0.00	0.000	4	0.000	0.054	2490	3492	3606
1111	-1.85	-97.8	105.9	-11.7	109	1115	0.00	2.40	0.00	0.000	6	0.000	0.035	2489	2101	3607
1235	end dive: TARGET_DEPTH_EXCEEDED
state	1236	begin apogee
1241	-0.38	0.0	120.3	11.4	119	1323	1.67	0.00	75.78	0.679	6	0.108	0.000	2813	1997	3202
1324	end apogee: CONTROL_FINISHED_OK
state	1324	begin climb
1326	1.85	97.8	122.8	0.0	126	1407	2.33	0.00	75.47	0.662	6	0.061	0.000	3311	1997	2803
1596	1.85	97.8	103.9	9.0	148	1600	0.00	2.53	0.00	0.000	4	0.000	0.052	3311	3388	2805
1713	1.85	97.8	93.0	9.0	156	1720	0.00	2.47	0.00	0.000	6	0.000	0.035	3311	2002	2805
1909	1.86	100.7	75.8	8.7	172	1916	0.00	2.58	1.85	0.781	4	0.000	0.051	3311	3389	2791
1995	1.86	100.7	68.0	9.2	178	1999	0.00	2.42	0.00	0.000	6	0.000	0.036	3311	2000	2794
2190	1.87	112.0	51.7	8.0	193	2204	0.00	2.60	8.90	0.689	4	0.000	0.052	3312	3392	2745
2249	1.87	113.0	46.4	8.8	197	2256	0.00	2.47	0.00	0.000	6	0.000	0.036	3312	2000	2745
2445	1.88	116.4	29.6	8.6	213	2457	0.00	2.55	3.00	0.744	4	0.000	0.052	3312	3387	2727
2525	1.88	117.5	22.8	8.8	219	2529	0.00	2.42	0.00	0.000	6	0.000	0.036	3312	2000	2728
2729	1.91	142.2	7.7	7.0	246	2753	0.00	0.00	19.48	0.647	6	0.000	0.000	3311	2001	2622
2803	end climb: SURFACE_DEPTH_REACHED
state	2803	begin surface coast
2838	end surface coast: CONTROL_FINISHED_OK
state	2838	begin surface