Glider dive log

PortSusan 03Mar09 * SG164 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 164 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 204 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 9 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3882 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 370 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 INT_PRESSURE_YINT 0.94

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 490 DEVICE2 53

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3962 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3288 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 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 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 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 1001 T_GPS_CHARGE -32276.014 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 40 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 20 RAFOS_DEVICE -1

MAX_BUOY 165 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 126 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3926 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2775 PRESSURE_YINT -7.9007363 SEABIRD_T_G 0.0043488215

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158597 SEABIRD_T_H 0.00063635618

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5028745e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7326657e-06

FERRY_MAX 45 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.160287

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1436546

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00018147723

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00010835609

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 370

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 27 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3926 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 3 PITCH_MIN 126 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158597 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -7.9007363 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -32276.014

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 164 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3882 UNCOM_BLEED 40

COURSE_BIAS 0 INT_PRESSURE_YINT 0.94 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2775 KALMAN_USE 1 ROLL_MIN 204 USE_BATHY 0

C_ROLL_CLIMB 2100 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2100 MASS 52000 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 3288 MAX_BUOY 165 R_STBD_OVSHOOT 24 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.160287 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1436546 VBD_MAX 3962

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00018147723 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00010835609 VBD_MIN 490

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043488215 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063635618 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5028745e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7326657e-06 XPDR_DEVICE 24

DIVE 9 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 020708,4807.196,-12222.841,11,1.8,11,18.3 TGT_NAME SIX

_CALLS 2 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.132,-0.237

_SM_DEPTHo 0.87 KALMAN_X -1268.8,-270.9,3.8,2048.9,-320.6

_SM_ANGLEo -74.0 KALMAN_Y 2680.1,742.2,-16.5,-4724.9,542.7

GPS2 021520,4807.261,-12222.846,14,1.5,14,18.3 MHEAD_RNG_PITCHd_Wd 132.6,2559,-16.6,-10.000

SPEED_LIMITS 0.173,0.271 D_GRID 150

Post-dive calculations and measurements:

FINISH 1.0,1.019405 ALTIM_BOTTOM_PING 80.1,40.9

SM_CCo 1915,162.48,0.749,1,0,1779,370.16 _24V_AH 24.0,1.468

SM_GC 1.00,0.00,0.00,162.48,0.000,0.000,0.749,121,2095,1779,-8.30,-0.14,370.16 _10V_AH 10.6,0.486

IRIDIUM_FIX 4748.51,-12217.40,290598,020208 DATA_FILE_SIZE 19101,349

TT8_MAMPS 0.049855 CAP_FILE_SIZE 40523,0

HUMID 1400 CFSIZE 260165632,258584576

INTERNAL_PRESSURE 9.08484 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.90 GPS 040309,025128,4807.090,-12222.684,8,99.0,27,18.3

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 271 130.98 SBE_CT 233 24 134.34

Roll_motor 27 87 57.97 Optode 240 33 190.28

VBD_pump_during_apogee 250 845 5076.48 WL_BB2F 404 105 1020.47

VBD_pump_during_surface 162 749 2922.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 52 103 130.43 nil 0 0 0.00

Iridium_during_connect 57 160 219.74 nil 0 0 0.00

Iridium_during_xfer 189 223 1015.62

Transponder_ping 1 420 17.64

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.74

TT8 0 19 0.00

LPSleep 923 2 21.44

TT8_Active 469 19 98.54

TT8_Sampling 755 39 318.85

TT8_CF8 425 45 206.66

TT8_Kalman 33 81 28.90

Analog_circuits 802 12 102.07

GPS_charging 0 0 0.00

Compass 622 8 52.82

RAFOS 0 0 0.00

Transponder 5 30 1.75

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.81 -161.3 0.0 0.0 0 91 0.00 0.00 -76.82 0.000 2 0.000 0.000 121 2099 3506

93 -0.81 -161.3 3.3 -5.7 13 118 10.27 2.38 -10.15 0.000 4 0.272 0.087 2500 3512 3949

197 -0.81 -161.3 20.5 -11.5 32 203 0.00 2.28 0.00 0.000 6 0.000 0.065 2500 2109 3950

266 -0.81 -161.3 28.4 -11.6 45 267 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2109 3950

330 -0.81 -161.3 35.8 -11.4 57 337 0.00 2.33 0.00 0.000 4 0.000 0.071 2500 688 3951

388 -0.81 -161.3 43.0 -12.2 68 396 0.00 2.30 0.00 0.000 6 0.000 0.067 2500 2098 3951

522 -0.81 -161.3 58.0 -10.6 93 529 0.00 2.30 0.00 0.000 4 0.000 0.072 2500 694 3950

602 -0.81 -161.3 67.4 -11.9 108 609 0.00 2.28 0.00 0.000 6 0.000 0.066 2500 2098 3950

736 -0.81 -161.3 81.8 -10.6 133 742 0.00 2.30 0.00 0.000 4 0.000 0.071 2500 686 3951

821 -0.81 -161.3 91.6 -11.5 149 827 0.00 2.28 0.00 0.000 6 0.000 0.065 2500 2100 3951

953 -0.81 -161.3 105.5 -10.7 174 954 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2100 3950

1011 end dive: BOTTOM_OBSTACLE_DETECTED

state 1011 begin apogee

1015 -0.19 0.0 111.4 10.0 185 1143 0.65 0.00 124.47 0.845 6 0.148 0.000 2704 2099 3287

1143 end apogee: CONTROL_FINISHED_OK

state 1143 begin climb

1144 0.81 161.3 113.6 0.0 208 1274 0.98 0.00 125.78 0.807 6 0.095 0.000 3028 2099 2630

1401 0.81 161.3 74.7 18.3 255 1407 0.00 2.35 0.00 0.000 4 0.000 0.068 3027 695 2628

1480 0.81 161.3 60.5 17.2 270 1487 0.00 2.28 0.00 0.000 6 0.000 0.055 3028 2098 2628

1614 0.81 161.3 36.7 18.0 295 1621 0.00 2.33 0.00 0.000 4 0.000 0.070 3028 689 2628

1678 0.81 161.3 25.7 16.1 307 1685 0.00 2.25 0.00 0.000 6 0.000 0.055 3027 2094 2628

1748 0.81 161.3 14.2 17.1 320 1749 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2094 2628

1812 0.81 161.3 5.8 11.6 332 1812 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 2094 2628

1853 end climb: SURFACE_DEPTH_REACHED

state 1853 begin surface coast

1901 end surface coast: CONTROL_FINISHED_OK

state 1901 begin surface

ID	164	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	204	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	9	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3882	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	370	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	INT_PRESSURE_YINT	0.94
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	490	DEVICE2	53
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3962	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3288	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	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	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	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	1001	T_GPS_CHARGE	-32276.014	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	40	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	20	RAFOS_DEVICE	-1
MAX_BUOY	165	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	126	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3926	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2775	PRESSURE_YINT	-7.9007363	SEABIRD_T_G	0.0043488215
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158597	SEABIRD_T_H	0.00063635618
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5028745e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7326657e-06
FERRY_MAX	45	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.160287
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1436546
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00018147723
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00010835609
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	020708,4807.196,-12222.841,11,1.8,11,18.3	TGT_NAME	SIX
_CALLS	2	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.132,-0.237
_SM_DEPTHo	0.87	KALMAN_X	-1268.8,-270.9,3.8,2048.9,-320.6
_SM_ANGLEo	-74.0	KALMAN_Y	2680.1,742.2,-16.5,-4724.9,542.7
GPS2	021520,4807.261,-12222.846,14,1.5,14,18.3	MHEAD_RNG_PITCHd_Wd	132.6,2559,-16.6,-10.000
SPEED_LIMITS	0.173,0.271	D_GRID	150

FINISH	1.0,1.019405	ALTIM_BOTTOM_PING	80.1,40.9
SM_CCo	1915,162.48,0.749,1,0,1779,370.16	_24V_AH	24.0,1.468
SM_GC	1.00,0.00,0.00,162.48,0.000,0.000,0.749,121,2095,1779,-8.30,-0.14,370.16	_10V_AH	10.6,0.486
IRIDIUM_FIX	4748.51,-12217.40,290598,020208	DATA_FILE_SIZE	19101,349
TT8_MAMPS	0.049855	CAP_FILE_SIZE	40523,0
HUMID	1400	CFSIZE	260165632,258584576
INTERNAL_PRESSURE	9.08484	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.90	GPS	040309,025128,4807.090,-12222.684,8,99.0,27,18.3
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	271	130.98	SBE_CT	233	24	134.34
Roll_motor	27	87	57.97	Optode	240	33	190.28
VBD_pump_during_apogee	250	845	5076.48	WL_BB2F	404	105	1020.47
VBD_pump_during_surface	162	749	2922.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	52	103	130.43	nil	0	0	0.00
Iridium_during_connect	57	160	219.74	nil	0	0	0.00
Iridium_during_xfer	189	223	1015.62
Transponder_ping	1	420	17.64
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.74
TT8	0	19	0.00
LPSleep	923	2	21.44
TT8_Active	469	19	98.54
TT8_Sampling	755	39	318.85
TT8_CF8	425	45	206.66
TT8_Kalman	33	81	28.90
Analog_circuits	802	12	102.07
GPS_charging	0	0	0.00
Compass	622	8	52.82
RAFOS	0	0	0.00
Transponder	5	30	1.75

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.81	-161.3	0.0	0.0	0	91	0.00	0.00	-76.82	0.000	2	0.000	0.000	121	2099	3506
93	-0.81	-161.3	3.3	-5.7	13	118	10.27	2.38	-10.15	0.000	4	0.272	0.087	2500	3512	3949
197	-0.81	-161.3	20.5	-11.5	32	203	0.00	2.28	0.00	0.000	6	0.000	0.065	2500	2109	3950
266	-0.81	-161.3	28.4	-11.6	45	267	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2109	3950
330	-0.81	-161.3	35.8	-11.4	57	337	0.00	2.33	0.00	0.000	4	0.000	0.071	2500	688	3951
388	-0.81	-161.3	43.0	-12.2	68	396	0.00	2.30	0.00	0.000	6	0.000	0.067	2500	2098	3951
522	-0.81	-161.3	58.0	-10.6	93	529	0.00	2.30	0.00	0.000	4	0.000	0.072	2500	694	3950
602	-0.81	-161.3	67.4	-11.9	108	609	0.00	2.28	0.00	0.000	6	0.000	0.066	2500	2098	3950
736	-0.81	-161.3	81.8	-10.6	133	742	0.00	2.30	0.00	0.000	4	0.000	0.071	2500	686	3951
821	-0.81	-161.3	91.6	-11.5	149	827	0.00	2.28	0.00	0.000	6	0.000	0.065	2500	2100	3951
953	-0.81	-161.3	105.5	-10.7	174	954	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2100	3950
1011	end dive: BOTTOM_OBSTACLE_DETECTED
state	1011	begin apogee
1015	-0.19	0.0	111.4	10.0	185	1143	0.65	0.00	124.47	0.845	6	0.148	0.000	2704	2099	3287
1143	end apogee: CONTROL_FINISHED_OK
state	1143	begin climb
1144	0.81	161.3	113.6	0.0	208	1274	0.98	0.00	125.78	0.807	6	0.095	0.000	3028	2099	2630
1401	0.81	161.3	74.7	18.3	255	1407	0.00	2.35	0.00	0.000	4	0.000	0.068	3027	695	2628
1480	0.81	161.3	60.5	17.2	270	1487	0.00	2.28	0.00	0.000	6	0.000	0.055	3028	2098	2628
1614	0.81	161.3	36.7	18.0	295	1621	0.00	2.33	0.00	0.000	4	0.000	0.070	3028	689	2628
1678	0.81	161.3	25.7	16.1	307	1685	0.00	2.25	0.00	0.000	6	0.000	0.055	3027	2094	2628
1748	0.81	161.3	14.2	17.1	320	1749	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2094	2628
1812	0.81	161.3	5.8	11.6	332	1812	0.00	0.00	0.00	0.000	6	0.000	0.000	3028	2094	2628
1853	end climb: SURFACE_DEPTH_REACHED
state	1853	begin surface coast
1901	end surface coast: CONTROL_FINISHED_OK
state	1901	begin surface