Glider dive log

PortSusan 21Jul08 * SG113 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 113 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MIN 280 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 7 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3944 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21 C_ROLL_DIVE 2112 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2112 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 520 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 51 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2620 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -20271.51 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 171 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4022 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2605 PRESSURE_YINT -26.366219 SEABIRD_T_G 0.004371644

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160825 SEABIRD_T_H 0.00064727472

MASS 51398 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.6231954e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8174416e-06

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9426794

KALMAN_USE 2 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.0034169999 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0095870001 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012778315

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.059999999 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 520

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 18 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 171 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 150 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00135 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160825 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -26.366219 TGT_DEFAULT_LAT 21

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -158.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_CHARGE -20271.51

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 113 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3944 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2605 KALMAN_USE 2 ROLL_MIN 280 USE_BATHY -4

C_ROLL_CLIMB 2112 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2112 MASS 51398 R_PORT_OVSHOOT 51 VBD_BLEED_AD_RATE 8

C_VBD 2620 MAX_BUOY 150 R_STBD_OVSHOOT 35 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 3 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6231954e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8174416e-06 XPDR_DEVICE 24

DIVE 7 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 012809,4807.377,-12224.021,8,1.7,8,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 013133,4807.375,-12224.017,13,1.4,13,18.3 MHEAD_RNG_PITCHd_Wd 342.7,1158,-17.9,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 99

Post-dive calculations and measurements:

FINISH 0.3,1.015896 XPDR_PINGS 0

SM_CCo 2209,87.05,0.734,0,0,500,520.04 _24V_AH 24.1,2.140

SM_GC 0.89,0.00,0.00,87.05,0.000,0.000,0.734,166,2093,500,-11.22,-0.54,520.04 _10V_AH 10.8,0.629

RAFOS_CLK 77 DATA_FILE_SIZE 12752,380

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CAP_FILE_SIZE 40971,0

IRIDIUM_FIX 4748.51,-12221.84,161097,000023 CFSIZE 260165632,257060864

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1970 SOUNDSPEED 1482.2

INTERNAL_PRESSURE 8.74057 GPS 220708,021120,4807.653,-12224.149,13,1.3,30,18.3

TCM_TEMP 19.20

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 260 127.58 SBE_CT 265 24 153.74

Roll_motor 34 62 52.37 SBE_O2 260 19 119.18

VBD_pump_during_apogee 387 796 7430.69 nil 0 0 0.00

VBD_pump_during_surface 87 734 1539.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 70.12 nil 0 0 0.00

Iridium_during_connect 32 160 123.65 nil 0 0 0.00

Iridium_during_xfer 69 223 375.28

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.25

TT8 553 19 119.12

LPSleep 699 2 17.44

TT8_Active 518 19 111.46

TT8_Sampling 578 39 249.28

TT8_CF8 169 45 83.96

TT8_Kalman 0 0 0.00

Analog_circuits 892 12 115.63

GPS_charging 0 0 0.00

Compass 566 8 48.95

RAFOS 0 1 0.00

Transponder 0 30 0.17

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.19 -146.6 0.0 0.0 0 97 0.00 0.00 -80.22 0.000 2 0.000 0.000 166 2100 2415

99 -1.19 -146.6 3.2 -7.0 14 135 8.88 2.15 -19.80 0.000 4 0.261 0.058 2339 704 3220

186 -0.79 -146.6 18.4 -17.4 29 193 0.32 2.17 0.00 0.000 6 0.174 0.040 2430 2117 3221

328 -1.01 -146.6 35.4 -11.0 54 335 0.15 2.20 0.00 0.000 4 0.087 0.051 2376 3527 3223

374 -1.12 -146.6 41.8 -13.8 62 380 0.00 2.12 0.00 0.000 6 0.000 0.035 2376 2117 3224

515 -1.12 -146.6 61.7 -13.8 87 521 0.00 2.15 0.00 0.000 4 0.000 0.044 2376 694 3224

565 -1.12 -146.6 69.2 -13.8 96 572 0.00 2.10 0.00 0.000 6 0.000 0.039 2376 2079 3225

774 -1.12 -146.6 97.1 -12.9 133 780 0.00 2.22 0.00 0.000 4 0.000 0.052 2376 3517 3225

789 end dive: TARGET_DEPTH_EXCEEDED

state 790 begin apogee

795 -0.28 0.0 99.2 12.9 136 911 0.52 0.00 111.93 0.796 6 0.147 0.000 2543 2095 2620

912 end apogee: CONTROL_FINISHED_OK

state 912 begin climb

913 1.19 146.6 104.1 0.0 156 1035 0.98 2.30 111.45 0.755 4 0.107 0.045 2866 706 2021

1058 0.85 158.9 96.4 9.4 181 1077 0.28 2.22 10.90 0.670 6 0.156 0.037 2791 2111 1971

1279 0.96 237.4 80.5 6.3 220 1344 0.00 2.38 59.17 0.768 4 0.000 0.051 2791 3521 1652

1479 1.00 267.5 63.9 8.6 255 1509 0.12 2.12 23.60 0.747 6 0.085 0.037 2837 2148 1529

1711 1.00 267.5 39.9 10.2 296 1718 0.00 2.17 0.00 0.000 4 0.000 0.050 2838 3527 1527

1768 0.86 267.5 33.8 11.1 306 1775 0.17 2.05 0.00 0.000 6 0.152 0.038 2790 2184 1526

1910 1.20 332.2 23.3 7.0 331 1965 0.20 2.25 48.20 0.770 4 0.071 0.050 2872 3525 1264

1993 1.04 332.2 13.3 14.8 345 2000 0.17 2.08 0.00 0.000 6 0.153 0.038 2826 2209 1264

2135 1.82 466.3 2.9 3.7 370 2160 0.47 0.00 22.02 0.740 2 0.065 0.000 3005 2208 1147

2161 end climb: SURFACE_DEPTH_REACHED

state 2161 begin surface coast

2194 end surface coast: CONTROL_FINISHED_OK

state 2194 begin surface

ID	113	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MIN	280	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	7	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3944	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21	C_ROLL_DIVE	2112	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2112	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	520	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	51	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2620	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-20271.51	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	171	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4022	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2605	PRESSURE_YINT	-26.366219	SEABIRD_T_G	0.004371644
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160825	SEABIRD_T_H	0.00064727472
MASS	51398	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.6231954e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8174416e-06
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9426794
KALMAN_USE	2	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1390046
HD_A	0.0034169999	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.0095870001	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012778315
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.059999999	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	012809,4807.377,-12224.021,8,1.7,8,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	013133,4807.375,-12224.017,13,1.4,13,18.3	MHEAD_RNG_PITCHd_Wd	342.7,1158,-17.9,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	99

FINISH	0.3,1.015896	XPDR_PINGS	0
SM_CCo	2209,87.05,0.734,0,0,500,520.04	_24V_AH	24.1,2.140
SM_GC	0.89,0.00,0.00,87.05,0.000,0.000,0.734,166,2093,500,-11.22,-0.54,520.04	_10V_AH	10.8,0.629
RAFOS_CLK	77	DATA_FILE_SIZE	12752,380
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CAP_FILE_SIZE	40971,0
IRIDIUM_FIX	4748.51,-12221.84,161097,000023	CFSIZE	260165632,257060864
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1970	SOUNDSPEED	1482.2
INTERNAL_PRESSURE	8.74057	GPS	220708,021120,4807.653,-12224.149,13,1.3,30,18.3
TCM_TEMP	19.20

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	260	127.58	SBE_CT	265	24	153.74
Roll_motor	34	62	52.37	SBE_O2	260	19	119.18
VBD_pump_during_apogee	387	796	7430.69	nil	0	0	0.00
VBD_pump_during_surface	87	734	1539.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	70.12	nil	0	0	0.00
Iridium_during_connect	32	160	123.65	nil	0	0	0.00
Iridium_during_xfer	69	223	375.28
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.25
TT8	553	19	119.12
LPSleep	699	2	17.44
TT8_Active	518	19	111.46
TT8_Sampling	578	39	249.28
TT8_CF8	169	45	83.96
TT8_Kalman	0	0	0.00
Analog_circuits	892	12	115.63
GPS_charging	0	0	0.00
Compass	566	8	48.95
RAFOS	0	1	0.00
Transponder	0	30	0.17

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.19	-146.6	0.0	0.0	0	97	0.00	0.00	-80.22	0.000	2	0.000	0.000	166	2100	2415
99	-1.19	-146.6	3.2	-7.0	14	135	8.88	2.15	-19.80	0.000	4	0.261	0.058	2339	704	3220
186	-0.79	-146.6	18.4	-17.4	29	193	0.32	2.17	0.00	0.000	6	0.174	0.040	2430	2117	3221
328	-1.01	-146.6	35.4	-11.0	54	335	0.15	2.20	0.00	0.000	4	0.087	0.051	2376	3527	3223
374	-1.12	-146.6	41.8	-13.8	62	380	0.00	2.12	0.00	0.000	6	0.000	0.035	2376	2117	3224
515	-1.12	-146.6	61.7	-13.8	87	521	0.00	2.15	0.00	0.000	4	0.000	0.044	2376	694	3224
565	-1.12	-146.6	69.2	-13.8	96	572	0.00	2.10	0.00	0.000	6	0.000	0.039	2376	2079	3225
774	-1.12	-146.6	97.1	-12.9	133	780	0.00	2.22	0.00	0.000	4	0.000	0.052	2376	3517	3225
789	end dive: TARGET_DEPTH_EXCEEDED
state	790	begin apogee
795	-0.28	0.0	99.2	12.9	136	911	0.52	0.00	111.93	0.796	6	0.147	0.000	2543	2095	2620
912	end apogee: CONTROL_FINISHED_OK
state	912	begin climb
913	1.19	146.6	104.1	0.0	156	1035	0.98	2.30	111.45	0.755	4	0.107	0.045	2866	706	2021
1058	0.85	158.9	96.4	9.4	181	1077	0.28	2.22	10.90	0.670	6	0.156	0.037	2791	2111	1971
1279	0.96	237.4	80.5	6.3	220	1344	0.00	2.38	59.17	0.768	4	0.000	0.051	2791	3521	1652
1479	1.00	267.5	63.9	8.6	255	1509	0.12	2.12	23.60	0.747	6	0.085	0.037	2837	2148	1529
1711	1.00	267.5	39.9	10.2	296	1718	0.00	2.17	0.00	0.000	4	0.000	0.050	2838	3527	1527
1768	0.86	267.5	33.8	11.1	306	1775	0.17	2.05	0.00	0.000	6	0.152	0.038	2790	2184	1526
1910	1.20	332.2	23.3	7.0	331	1965	0.20	2.25	48.20	0.770	4	0.071	0.050	2872	3525	1264
1993	1.04	332.2	13.3	14.8	345	2000	0.17	2.08	0.00	0.000	6	0.153	0.038	2826	2209	1264
2135	1.82	466.3	2.9	3.7	370	2160	0.47	0.00	22.02	0.740	2	0.065	0.000	3005	2208	1147
2161	end climb: SURFACE_DEPTH_REACHED
state	2161	begin surface coast
2194	end surface coast: CONTROL_FINISHED_OK
state	2194	begin surface