Glider dive log

Shilshole 31Dec08 * SG126 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 126 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 9 ESCAPE_HEADING 0 ROLL_MIN 291 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 6 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3944 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2541 ALTIM_FREQUENCY 13

D_TGT 120 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2541 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 500 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 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 40 UPLOAD_DIVES_MAX -1 VBD_MIN 539 DEVICE2 35

T_MISSION 60 CALL_TRIES 5 VBD_MAX 3901 DEVICE3 53

T_ABORT 1440 CALL_WAIT 60 C_VBD 3303 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 480 SMARTS 1

USE_BATHY -6 T_GPS 15 PITCH_VBD_SHIFT 0.00167 SMARTDEVICE1 38

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -633194.75 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 70 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 200 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 94 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4004 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2945 PRESSURE_YINT -31.316191 SEABIRD_T_G 0.0043561817

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000116483 SEABIRD_T_H 0.00064469897

MASS 51149 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5245408e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6212149e-06

FERRY_MAX 45 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.205203

KALMAN_USE 2 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1700729

HD_A 0.0019 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0038474144

HD_B 0.0147 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00031547638

HD_C 2.9700001e-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 1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 500

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 22 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4004 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 94 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 120 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00167 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000116483 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -31.316191 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 70 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 40

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0019 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0147 RELAUNCH 1 T_GPS_CHARGE -633194.75

CAPMAXSIZE 100000 HD_C 2.9700001e-05 RHO 1.023 T_MISSION 60

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 126 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 2945 KALMAN_USE 2 ROLL_MIN 291 USE_BATHY -6

C_ROLL_CLIMB 2541 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2541 MASS 51149 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 3303 MAX_BUOY 200 R_STBD_OVSHOOT 20 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 9 SEABIRD_C_G -10.205203 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1700729 VBD_MAX 3901

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.0038474144 VBD_MAXERRORS 1

DEVICE2 35 N_FILEKB 4 SEABIRD_C_J 0.00031547638 VBD_MIN 539

DEVICE3 53 N_GPS 20 SEABIRD_T_G 0.0043561817 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064469897 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5245408e-05 VBD_TIMEOUT 480

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6212149e-06 XPDR_DEVICE 24

DIVE 6 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SMARTDEVICE1 38

Pre-dive calculations and measurements:

GPS1 213233,4743.641,-12223.907,14,1.6,14,18.2 KALMAN_CONTROL 0.000,0.000

_CALLS 1 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_XMS_NAKs 2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

_XMS_TOUTs 0 MHEAD_RNG_PITCHd_Wd 179.1,282,-21.9,-10.000

_SM_DEPTHo 0.76 D_GRID 171

_SM_ANGLEo -71.0 AD_RECORDABOVE 200.0

GPS2 213815,4743.645,-12223.933,15,2.0,15,18.2 AD_PROFILE 3.0

SPEED_LIMITS 0.173,0.183 AD_OFFLOAD 1.0

TGT_NAME NE AD_MAXUPLOADSIZE 15000.0

TGT_LATLONG 4743.500,-12224.000 AD_UPLOADALLCONFIG 0.0

TGT_RADIUS 200.000

Post-dive calculations and measurements:

FINISH 0.1,1.023012 AD_FAT00 a0006,0x00007000,0x00009a00,0x00002a00

SM_CCo 2619,163.30,0.788,0,0,1263,500.17 AD_FAT01 b0006,0x00009c00,0x0000d600,0x00003a00

SM_GC 0.74,0.00,0.00,163.30,0.000,0.000,0.788,88,2547,1263,-13.14,0.17,500.17 _24V_AH 24.1,2.178

IRIDIUM_FIX 4729.30,-12222.38,270398,202023 _10V_AH 9.9,0.988

TT8_MAMPS 0.050622 DATA_FILE_SIZE 12914,274

HUMID 1654 CAP_FILE_SIZE 39565,0

INTERNAL_PRESSURE 9.19957 CFSIZE 260165632,255909888

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,8,0

XPDR_PINGS 0 GPS 311208,222538,4743.339,-12223.916,31,0.9,31,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 270 144.20 SBE_CT 194 24 112.22

Roll_motor 31 83 64.22 WL_BB2F 472 105 1196.02

VBD_pump_during_apogee 390 720 6773.62 Optode 281 33 223.77

VBD_pump_during_surface 163 787 3100.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 62.93 nil 0 0 0.00

Iridium_during_connect 28 160 110.19 AQUADOPP 2960 10 713.47

Iridium_during_xfer 148 223 798.46

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.63

TT8 0 19 0.00

LPSleep 1396 2 30.28

TT8_Active 609 19 119.40

TT8_Sampling 772 39 304.41

TT8_CF8 346 45 157.31

TT8_Kalman 0 0 0.00

Analog_circuits 961 12 114.25

GPS_charging 0 0 0.00

Compass 619 8 49.08

RAFOS 0 0 0.00

Transponder 0 30 0.16

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.19 -116.7 0.0 0.0 0 123 0.00 0.00 -102.93 0.000 2 0.000 0.000 88 2531 3695

126 -1.23 -140.4 3.7 -8.4 17 146 10.68 2.25 -3.67 0.000 4 0.271 0.081 2675 1128 3877

333 -1.33 -140.4 36.2 -14.3 44 337 0.00 2.30 0.00 0.000 6 0.000 0.074 2674 2547 3880

525 -1.46 -140.4 63.3 -14.2 62 526 0.15 0.00 0.00 0.000 6 0.104 0.000 2622 2549 3880

837 -1.39 -140.4 113.1 -16.1 92 840 0.00 2.22 0.00 0.000 4 0.000 0.069 2622 1125 3880

877 end dive: TARGET_DEPTH_EXCEEDED

state 877 begin apogee

885 -0.23 0.0 120.1 15.1 96 1101 0.90 0.00 187.75 0.720 6 0.181 0.000 2893 2554 3298

1107 end apogee: CONTROL_FINISHED_OK

state 1107 begin climb

1110 1.23 140.4 133.1 0.0 118 1314 0.98 2.40 178.68 0.683 4 0.122 0.071 3214 1129 2726

1442 1.39 140.4 119.0 11.3 148 1446 0.12 2.35 0.00 0.000 6 0.100 0.073 3258 2551 2714

1758 1.32 140.4 82.9 10.8 178 1762 0.12 2.28 0.00 0.000 4 0.191 0.081 3228 3956 2711

1816 1.22 142.2 76.9 9.9 183 1820 0.12 2.20 0.00 0.000 6 0.193 0.054 3207 2533 2711

2132 1.41 162.4 50.5 8.7 213 2159 0.15 2.25 18.00 0.654 4 0.092 0.071 3269 1127 2641

2228 1.41 162.4 40.1 10.7 221 2234 0.00 2.33 0.00 0.000 6 0.000 0.074 3269 2546 2641

2420 1.33 162.4 18.5 12.1 241 2427 0.15 2.25 0.00 0.000 4 0.189 0.084 3230 3941 2643

2480 1.27 162.4 11.2 12.2 252 2486 0.00 2.15 0.00 0.000 6 0.000 0.056 3239 2534 2642

2550 1.29 173.1 4.1 9.3 265 2562 0.00 2.25 5.82 0.667 4 0.000 0.071 3245 1117 2597

2575 end climb: SURFACE_DEPTH_REACHED

state 2575 begin surface coast

2597 end surface coast: CONTROL_FINISHED_OK

state 2597 begin surface

ID	126	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	9	ESCAPE_HEADING	0	ROLL_MIN	291	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	6	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3944	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2541	ALTIM_FREQUENCY	13
D_TGT	120	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2541	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	500	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	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	40	UPLOAD_DIVES_MAX	-1	VBD_MIN	539	DEVICE2	35
T_MISSION	60	CALL_TRIES	5	VBD_MAX	3901	DEVICE3	53
T_ABORT	1440	CALL_WAIT	60	C_VBD	3303	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	480	SMARTS	1
USE_BATHY	-6	T_GPS	15	PITCH_VBD_SHIFT	0.00167	SMARTDEVICE1	38
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-633194.75	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	70	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	200	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	94	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4004	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2945	PRESSURE_YINT	-31.316191	SEABIRD_T_G	0.0043561817
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000116483	SEABIRD_T_H	0.00064469897
MASS	51149	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5245408e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6212149e-06
FERRY_MAX	45	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.205203
KALMAN_USE	2	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1700729
HD_A	0.0019	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0038474144
HD_B	0.0147	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00031547638
HD_C	2.9700001e-05	PITCH_ADJ_GAIN	0.059999999	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	213233,4743.641,-12223.907,14,1.6,14,18.2	KALMAN_CONTROL	0.000,0.000
_CALLS	1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_XMS_NAKs	2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
_XMS_TOUTs	0	MHEAD_RNG_PITCHd_Wd	179.1,282,-21.9,-10.000
_SM_DEPTHo	0.76	D_GRID	171
_SM_ANGLEo	-71.0	AD_RECORDABOVE	200.0
GPS2	213815,4743.645,-12223.933,15,2.0,15,18.2	AD_PROFILE	3.0
SPEED_LIMITS	0.173,0.183	AD_OFFLOAD	1.0
TGT_NAME	NE	AD_MAXUPLOADSIZE	15000.0
TGT_LATLONG	4743.500,-12224.000	AD_UPLOADALLCONFIG	0.0
TGT_RADIUS	200.000

FINISH	0.1,1.023012	AD_FAT00	a0006,0x00007000,0x00009a00,0x00002a00
SM_CCo	2619,163.30,0.788,0,0,1263,500.17	AD_FAT01	b0006,0x00009c00,0x0000d600,0x00003a00
SM_GC	0.74,0.00,0.00,163.30,0.000,0.000,0.788,88,2547,1263,-13.14,0.17,500.17	_24V_AH	24.1,2.178
IRIDIUM_FIX	4729.30,-12222.38,270398,202023	_10V_AH	9.9,0.988
TT8_MAMPS	0.050622	DATA_FILE_SIZE	12914,274
HUMID	1654	CAP_FILE_SIZE	39565,0
INTERNAL_PRESSURE	9.19957	CFSIZE	260165632,255909888
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
XPDR_PINGS	0	GPS	311208,222538,4743.339,-12223.916,31,0.9,31,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	270	144.20	SBE_CT	194	24	112.22
Roll_motor	31	83	64.22	WL_BB2F	472	105	1196.02
VBD_pump_during_apogee	390	720	6773.62	Optode	281	33	223.77
VBD_pump_during_surface	163	787	3100.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	62.93	nil	0	0	0.00
Iridium_during_connect	28	160	110.19	AQUADOPP	2960	10	713.47
Iridium_during_xfer	148	223	798.46
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.63
TT8	0	19	0.00
LPSleep	1396	2	30.28
TT8_Active	609	19	119.40
TT8_Sampling	772	39	304.41
TT8_CF8	346	45	157.31
TT8_Kalman	0	0	0.00
Analog_circuits	961	12	114.25
GPS_charging	0	0	0.00
Compass	619	8	49.08
RAFOS	0	0	0.00
Transponder	0	30	0.16

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.19	-116.7	0.0	0.0	0	123	0.00	0.00	-102.93	0.000	2	0.000	0.000	88	2531	3695
126	-1.23	-140.4	3.7	-8.4	17	146	10.68	2.25	-3.67	0.000	4	0.271	0.081	2675	1128	3877
333	-1.33	-140.4	36.2	-14.3	44	337	0.00	2.30	0.00	0.000	6	0.000	0.074	2674	2547	3880
525	-1.46	-140.4	63.3	-14.2	62	526	0.15	0.00	0.00	0.000	6	0.104	0.000	2622	2549	3880
837	-1.39	-140.4	113.1	-16.1	92	840	0.00	2.22	0.00	0.000	4	0.000	0.069	2622	1125	3880
877	end dive: TARGET_DEPTH_EXCEEDED
state	877	begin apogee
885	-0.23	0.0	120.1	15.1	96	1101	0.90	0.00	187.75	0.720	6	0.181	0.000	2893	2554	3298
1107	end apogee: CONTROL_FINISHED_OK
state	1107	begin climb
1110	1.23	140.4	133.1	0.0	118	1314	0.98	2.40	178.68	0.683	4	0.122	0.071	3214	1129	2726
1442	1.39	140.4	119.0	11.3	148	1446	0.12	2.35	0.00	0.000	6	0.100	0.073	3258	2551	2714
1758	1.32	140.4	82.9	10.8	178	1762	0.12	2.28	0.00	0.000	4	0.191	0.081	3228	3956	2711
1816	1.22	142.2	76.9	9.9	183	1820	0.12	2.20	0.00	0.000	6	0.193	0.054	3207	2533	2711
2132	1.41	162.4	50.5	8.7	213	2159	0.15	2.25	18.00	0.654	4	0.092	0.071	3269	1127	2641
2228	1.41	162.4	40.1	10.7	221	2234	0.00	2.33	0.00	0.000	6	0.000	0.074	3269	2546	2641
2420	1.33	162.4	18.5	12.1	241	2427	0.15	2.25	0.00	0.000	4	0.189	0.084	3230	3941	2643
2480	1.27	162.4	11.2	12.2	252	2486	0.00	2.15	0.00	0.000	6	0.000	0.056	3239	2534	2642
2550	1.29	173.1	4.1	9.3	265	2562	0.00	2.25	5.82	0.667	4	0.000	0.071	3245	1117	2597
2575	end climb: SURFACE_DEPTH_REACHED
state	2575	begin surface coast
2597	end surface coast: CONTROL_FINISHED_OK
state	2597	begin surface