Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 690 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 690 ESCAPE_HEADING 0 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_TGT 120 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2350 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2200 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 8 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 60 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 MOTHERBOARD 4

SURFACE_URGENCY 0 COMM_SEQ 1 ROLL_AD_RATE 350 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE2 20

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE3 35

T_DIVE 67 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 80 CALL_TRIES 5 VBD_MIN 204 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_MAX 3580 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 C_VBD 2400 SMARTS 0

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTDEVICE1 -1

T_NO_W 120 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS 15 VBD_TIMEOUT 360 COMPASS_DEVICE 33

USE_ICE 0 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 GPS_DEVICE 32

D_OFFGRID 100 T_GPS_CHARGE -75379.117 VBD_PUMP_AD_RATE_APOGEE 3 RAFOS_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 SIM_W 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_PITCH 0

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MIN 25 AH0_24V 150 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 PITCH_MAX 4070 AH0_10V 100 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 C_PITCH 2740 PRESSURE_YINT -10.508845 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162386 SEABIRD_C_G -10.331019

MASS 51503 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_H 1.1763502

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25

HD_A 0.0038360001 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_DBAND 0.1 SMARTS 0

AH0_10V 100 D_NO_BLEED 200 PITCH_GAIN 18 SM_CC 400

AH0_24V 150 D_OFFGRID 100 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 120 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 0.0001162386 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_DIVE 67

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_NDIVES 1 HD_A 0.0038360001 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.010078 RHO 1.023 T_GPS_CHARGE -75379.117

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 80

CAPMAXSIZE 100000 HEADING -1 ROLL_ADJ_GAIN 0 T_NO_W 120

CAPUPLOAD 0 HEAD_ERRBAND 10 ROLL_AD_RATE 350 T_RSLEEP 3

CF8_MAXERRORS 1 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN 270

COMM_SEQ 1 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 128 ROLL_MAX 4014 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_PITCH 2740 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2350 MASS 51503 R_PORT_OVSHOOT 60 USE_ICE 0

C_VBD 2400 MAX_BUOY 150 R_STBD_OVSHOOT 38 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_DBAND 2

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_MAX 3580

DEVICE2 20 N_FILEKB 8 SEABIRD_C_J 0.00017379176 VBD_MAXERRORS 1

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MIN 204

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_TIMEOUT 360

DIVE 690 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_ABORT 1090 PITCH_ADJ_GAIN 0 SIM_W 0

D_CALL 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

D_FINISH 0 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 054427,4806.365,-12222.617,11,1.8,11,18.3 TGT_NAME EIGHT

_CALLS 2 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.081,0.201

_SM_DEPTHo 2.46 KALMAN_X -38902.0,358.8,55.7,39771.2,78.9

_SM_ANGLEo -67.7 KALMAN_Y -13582.7,-477.0,-185.1,11720.2,-346.1

GPS2 055321,4806.295,-12222.512,12,1.7,12,18.3 MHEAD_RNG_PITCHd_Wd 319.6,3655,-11.0,-5.970

SPEED_LIMITS 0.060,0.217 D_GRID 103

Post-dive calculations and measurements:

FINISH 1.8,1.014318 XPDR_PINGS 0

SM_CCo 3327,0.00,0.000,0,0,564,450.13 ALTIM_BOTTOM_PING 78.5,50.5

SM_GC 2.56,9.05,0.00,0.00,0.044,0.000,0.000,22,2350,564,-8.44,0.00,450.13 _24V_AH 24.3,61.838

IRIDIUM_FIX 4748.51,-12217.40,031007,090931 _10V_AH 10.7,31.282

TT8_MAMPS 0.026078 DATA_FILE_SIZE 19061,365

HUMID 1864 CFSIZE 260165632,238624768

INTERNAL_PRESSURE 9.13121 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.50 GPS 031007,065107,4806.439,-12222.653,39,0.8,45,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 200 101.43 SBE_CT 261 24 152.68

Roll_motor 36 49 43.60 SBE_O2 277 19 127.93

VBD_pump_during_apogee 397 788 7612.25 WL_BB2F 616 105 1573.22

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 145.31 nil 0 0 0.00

Iridium_during_connect 35 160 139.90 nil 0 0 0.00

Iridium_during_xfer 254 223 1378.01

Transponder_ping 0 420 2.55

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.31

TT8 562 19 119.07

LPSleep 1612 2 37.78

TT8_Active 396 19 84.05

TT8_Sampling 729 39 310.64

TT8_CF8 569 45 279.32

TT8_Kalman 33 81 29.19

Analog_circuits 816 12 104.79

GPS_charging 0 0 0.00

Compass 745 8 63.82

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

33 -0.79 -146.6 0.0 0.0 0 78 0.00 0.00 -42.85 0.000 2 0.000 0.000 10 2348 1901

83 -0.79 -146.6 3.1 -1.3 8 140 9.90 0.00 -42.10 0.000 6 0.200 0.000 2479 2347 3000

210 -0.79 -146.6 10.3 -8.7 30 216 0.00 2.38 0.00 0.000 4 0.000 0.048 2470 3748 3002

253 -0.79 -146.6 14.3 -9.4 37 259 0.00 2.20 0.00 0.000 6 0.000 0.026 2470 2328 3002

334 -0.79 -146.6 21.9 -9.2 49 338 0.00 2.15 0.00 0.000 4 0.000 0.031 2470 974 3002

387 -0.79 -146.6 26.9 -9.4 53 391 0.00 2.22 0.00 0.000 6 0.000 0.033 2468 2347 3002

586 -0.79 -146.6 45.0 -8.9 71 587 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 2347 3003

777 -0.79 -146.6 62.4 -9.0 89 778 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2347 3003

1095 -0.79 -146.6 90.7 -8.9 119 1099 0.00 2.33 0.00 0.000 4 0.000 0.049 2460 3756 3003

1128 -0.79 -146.6 94.0 -8.8 121 1135 0.00 2.15 0.00 0.000 6 0.000 0.026 2460 2354 3003

1228 end dive: TARGET_DEPTH_EXCEEDED

state 1228 begin apogee

1237 -0.28 0.0 103.0 8.9 131 1355 0.57 0.00 112.20 0.741 6 0.110 0.000 2642 2202 2400

1355 end apogee: CONTROL_FINISHED_OK

state 1356 begin climb

1359 0.79 146.6 107.8 0.0 143 1475 1.08 0.00 111.47 0.693 6 0.082 0.000 2990 2201 1801

1792 0.79 146.6 81.3 7.2 184 1796 0.00 2.35 0.00 0.000 4 0.000 0.044 2989 3614 1799

1850 0.79 146.6 76.5 8.3 189 1854 0.00 2.22 0.00 0.000 6 0.000 0.026 2998 2208 1799

2180 0.79 146.6 51.8 7.2 219 2184 0.00 2.33 0.00 0.000 4 0.000 0.044 2998 3614 1799

2209 0.79 146.6 49.3 7.6 221 2213 0.00 2.22 0.00 0.000 6 0.000 0.026 3007 2193 1799

2408 0.79 146.6 35.0 7.0 239 2412 0.00 2.35 0.00 0.000 4 0.000 0.045 3007 3617 1799

2449 0.79 146.6 31.8 7.6 242 2455 0.00 2.22 0.00 0.000 6 0.000 0.027 3015 2193 1799

2649 0.79 146.6 18.1 6.5 263 2655 0.00 2.22 0.00 0.000 4 0.000 0.035 3023 811 1799

2708 0.80 150.9 14.6 5.9 273 2721 0.00 2.22 5.18 0.645 6 0.000 0.031 3024 2208 1784

2791 0.81 162.8 10.0 5.6 287 2804 0.00 0.00 10.68 0.788 6 0.000 0.000 3024 2208 1735

2874 0.85 197.6 5.8 5.0 301 2909 0.00 2.35 26.52 0.690 4 0.000 0.046 3023 3593 1593

3029 1.16 446.4 2.8 -0.9 327 3169 0.25 2.20 131.25 0.653 6 0.047 0.026 3134 2192 577

3177 end climb: SURFACE_DEPTH_REACHED

state 3177 begin surface coast

3244 end surface coast: NO_VERTICAL_VELOCITY

state 3244 begin surface

ID	128	HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	690	ESCAPE_HEADING	0	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_TGT	120	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2350	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2200	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	8	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	60	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	MOTHERBOARD	4
SURFACE_URGENCY	0	COMM_SEQ	1	ROLL_AD_RATE	350	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE2	20
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE3	35
T_DIVE	67	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	80	CALL_TRIES	5	VBD_MIN	204	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_MAX	3580	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	C_VBD	2400	SMARTS	0
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTDEVICE1	-1
T_NO_W	120	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS	15	VBD_TIMEOUT	360	COMPASS_DEVICE	33
USE_ICE	0	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	GPS_DEVICE	32
D_OFFGRID	100	T_GPS_CHARGE	-75379.117	VBD_PUMP_AD_RATE_APOGEE	3	RAFOS_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	SIM_W	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_PITCH	0
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MIN	25	AH0_24V	150	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	PITCH_MAX	4070	AH0_10V	100	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	C_PITCH	2740	PRESSURE_YINT	-10.508845	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162386	SEABIRD_C_G	-10.331019
MASS	51503	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_H	1.1763502
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25
HD_A	0.0038360001	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	054427,4806.365,-12222.617,11,1.8,11,18.3	TGT_NAME	EIGHT
_CALLS	2	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.081,0.201
_SM_DEPTHo	2.46	KALMAN_X	-38902.0,358.8,55.7,39771.2,78.9
_SM_ANGLEo	-67.7	KALMAN_Y	-13582.7,-477.0,-185.1,11720.2,-346.1
GPS2	055321,4806.295,-12222.512,12,1.7,12,18.3	MHEAD_RNG_PITCHd_Wd	319.6,3655,-11.0,-5.970
SPEED_LIMITS	0.060,0.217	D_GRID	103

FINISH	1.8,1.014318	XPDR_PINGS	0
SM_CCo	3327,0.00,0.000,0,0,564,450.13	ALTIM_BOTTOM_PING	78.5,50.5
SM_GC	2.56,9.05,0.00,0.00,0.044,0.000,0.000,22,2350,564,-8.44,0.00,450.13	_24V_AH	24.3,61.838
IRIDIUM_FIX	4748.51,-12217.40,031007,090931	_10V_AH	10.7,31.282
TT8_MAMPS	0.026078	DATA_FILE_SIZE	19061,365
HUMID	1864	CFSIZE	260165632,238624768
INTERNAL_PRESSURE	9.13121	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.50	GPS	031007,065107,4806.439,-12222.653,39,0.8,45,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	200	101.43	SBE_CT	261	24	152.68
Roll_motor	36	49	43.60	SBE_O2	277	19	127.93
VBD_pump_during_apogee	397	788	7612.25	WL_BB2F	616	105	1573.22
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	145.31	nil	0	0	0.00
Iridium_during_connect	35	160	139.90	nil	0	0	0.00
Iridium_during_xfer	254	223	1378.01
Transponder_ping	0	420	2.55
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.31
TT8	562	19	119.07
LPSleep	1612	2	37.78
TT8_Active	396	19	84.05
TT8_Sampling	729	39	310.64
TT8_CF8	569	45	279.32
TT8_Kalman	33	81	29.19
Analog_circuits	816	12	104.79
GPS_charging	0	0	0.00
Compass	745	8	63.82
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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
33	-0.79	-146.6	0.0	0.0	0	78	0.00	0.00	-42.85	0.000	2	0.000	0.000	10	2348	1901
83	-0.79	-146.6	3.1	-1.3	8	140	9.90	0.00	-42.10	0.000	6	0.200	0.000	2479	2347	3000
210	-0.79	-146.6	10.3	-8.7	30	216	0.00	2.38	0.00	0.000	4	0.000	0.048	2470	3748	3002
253	-0.79	-146.6	14.3	-9.4	37	259	0.00	2.20	0.00	0.000	6	0.000	0.026	2470	2328	3002
334	-0.79	-146.6	21.9	-9.2	49	338	0.00	2.15	0.00	0.000	4	0.000	0.031	2470	974	3002
387	-0.79	-146.6	26.9	-9.4	53	391	0.00	2.22	0.00	0.000	6	0.000	0.033	2468	2347	3002
586	-0.79	-146.6	45.0	-8.9	71	587	0.00	0.00	0.00	0.000	6	0.000	0.000	2468	2347	3003
777	-0.79	-146.6	62.4	-9.0	89	778	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2347	3003
1095	-0.79	-146.6	90.7	-8.9	119	1099	0.00	2.33	0.00	0.000	4	0.000	0.049	2460	3756	3003
1128	-0.79	-146.6	94.0	-8.8	121	1135	0.00	2.15	0.00	0.000	6	0.000	0.026	2460	2354	3003
1228	end dive: TARGET_DEPTH_EXCEEDED
state	1228	begin apogee
1237	-0.28	0.0	103.0	8.9	131	1355	0.57	0.00	112.20	0.741	6	0.110	0.000	2642	2202	2400
1355	end apogee: CONTROL_FINISHED_OK
state	1356	begin climb
1359	0.79	146.6	107.8	0.0	143	1475	1.08	0.00	111.47	0.693	6	0.082	0.000	2990	2201	1801
1792	0.79	146.6	81.3	7.2	184	1796	0.00	2.35	0.00	0.000	4	0.000	0.044	2989	3614	1799
1850	0.79	146.6	76.5	8.3	189	1854	0.00	2.22	0.00	0.000	6	0.000	0.026	2998	2208	1799
2180	0.79	146.6	51.8	7.2	219	2184	0.00	2.33	0.00	0.000	4	0.000	0.044	2998	3614	1799
2209	0.79	146.6	49.3	7.6	221	2213	0.00	2.22	0.00	0.000	6	0.000	0.026	3007	2193	1799
2408	0.79	146.6	35.0	7.0	239	2412	0.00	2.35	0.00	0.000	4	0.000	0.045	3007	3617	1799
2449	0.79	146.6	31.8	7.6	242	2455	0.00	2.22	0.00	0.000	6	0.000	0.027	3015	2193	1799
2649	0.79	146.6	18.1	6.5	263	2655	0.00	2.22	0.00	0.000	4	0.000	0.035	3023	811	1799
2708	0.80	150.9	14.6	5.9	273	2721	0.00	2.22	5.18	0.645	6	0.000	0.031	3024	2208	1784
2791	0.81	162.8	10.0	5.6	287	2804	0.00	0.00	10.68	0.788	6	0.000	0.000	3024	2208	1735
2874	0.85	197.6	5.8	5.0	301	2909	0.00	2.35	26.52	0.690	4	0.000	0.046	3023	3593	1593
3029	1.16	446.4	2.8	-0.9	327	3169	0.25	2.20	131.25	0.653	6	0.047	0.026	3134	2192	577
3177	end climb: SURFACE_DEPTH_REACHED
state	3177	begin surface coast
3244	end surface coast: NO_VERTICAL_VELOCITY
state	3244	begin surface