Glider dive log

PortSusan 14Oct08 * SG128 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 75 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 13 ESCAPE_HEADING_DELTA 10 ROLL_MAX 4020 ALTIM_PING_DEPTH 80

D_SURF 5 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 20 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -158 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

D_ABORT 1100 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 350 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 204 DEVICE2 35

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3580 DEVICE3 -1

T_ABORT 720 CALL_WAIT 60 C_VBD 2750 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 180 HEAPDBG 0 VBD_TIMEOUT 360 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 -107897.73 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 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 1 RAFOS_DEVICE -1

MAX_BUOY 100 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 60 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4070 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2865 PRESSURE_YINT -13.435914 SEABIRD_T_G 0.0043206438

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162386 SEABIRD_T_H 0.00063139666

MASS 51675 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_T_I 2.5065803e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8780487e-06

FERRY_MAX 45 PITCH_GAIN 20 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8634701

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1197931

HD_A 0.0038360001 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0018544764

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002103937

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.00312576 SMARTS 0

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 350

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 20 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 4070 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 5 PITCH_MIN 60 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162386 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -13.435914 TGT_DEFAULT_LAT 20

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -158

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 720

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 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -107897.73

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 180

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

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 128 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 4020 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2865 KALMAN_USE 2 ROLL_MIN 75 USE_BATHY 0

C_ROLL_CLIMB 2050 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2050 MASS 51675 R_PORT_OVSHOOT 34 VBD_BLEED_AD_RATE 8

C_VBD 2750 MAX_BUOY 100 R_STBD_OVSHOOT 31 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.8634701 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1197931 VBD_MAX 3580

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0018544764 VBD_MAXERRORS 1

DEVICE2 35 N_FILEKB 4 SEABIRD_C_J 0.0002103937 VBD_MIN 204

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043206438 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063139666 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5065803e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8780487e-06 XPDR_DEVICE 24

DIVE 13 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1100 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 055833,4806.632,-12222.360,31,1.9,32,18.3 TGT_NAME EIGHT

_CALLS 2 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 061003,4806.594,-12222.280,13,1.2,13,18.3 MHEAD_RNG_PITCHd_Wd 302.5,3361,-22.4,-10.000

SPEED_LIMITS 0.173,0.215 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.9,1.019963 ALTIM_BOTTOM_PING 85.4,36.0

SM_CCo 2126,111.28,0.703,0,0,1322,350.04 _24V_AH 24.5,1.325

SM_GC 1.18,0.00,0.00,111.28,0.000,0.000,0.703,50,2033,1322,-8.80,-0.48,350.04 _10V_AH 10.8,0.711

IRIDIUM_FIX 4751.72,-12340.51,090198,060626 DATA_FILE_SIZE 19132,420

TT8_MAMPS 0.026078 CAP_FILE_SIZE 47870,0

HUMID 1662 CFSIZE 260165632,226418688

INTERNAL_PRESSURE 9.28747 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 151008,064839,4806.775,-12222.360,11,1.3,11,18.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 217 114.87 SBE_CT 290 24 170.66

Roll_motor 32 59 48.11 WL_BB2F 479 105 1232.38

VBD_pump_during_apogee 171 815 3423.78 nil 0 0 0.00

VBD_pump_during_surface 111 702 1915.38 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 47 103 118.87 nil 0 0 0.00

Iridium_during_connect 66 160 259.30 nil 0 0 0.00

Iridium_during_xfer 310 223 1695.23

Transponder_ping 1 420 10.29

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.87

TT8 643 19 137.52

LPSleep 446 2 10.56

TT8_Active 349 19 74.82

TT8_Sampling 722 39 310.74

TT8_CF8 772 45 381.99

TT8_Kalman 0 0 0.00

Analog_circuits 737 12 95.54

GPS_charging 0 0 0.00

Compass 772 8 66.75

RAFOS 0 0 0.00

Transponder 7 30 2.29

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

18 -1.24 -97.3 0.0 0.0 0 90 0.00 0.00 -69.57 0.000 2 0.000 0.000 56 2076 3030

96 -1.24 -97.3 4.0 -5.9 12 116 9.65 2.38 -2.33 0.000 4 0.217 0.060 2447 3454 3148

368 -1.24 -97.3 39.3 -10.9 72 374 0.00 2.30 0.00 0.000 6 0.000 0.032 2447 2043 3150

446 -1.24 -97.3 47.3 -9.9 88 453 0.00 2.38 0.00 0.000 4 0.000 0.047 2436 3459 3150

579 -1.24 -97.3 62.1 -11.8 116 585 0.00 2.30 0.00 0.000 6 0.000 0.032 2436 2041 3151

725 -1.24 -97.3 77.9 -11.0 147 730 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2041 3150

878 -1.24 -97.3 94.0 -10.6 178 884 0.00 2.28 0.00 0.000 4 0.000 0.045 2436 646 3151

939 -1.24 -97.3 101.6 -11.2 190 946 0.15 2.28 0.00 0.000 6 0.145 0.035 2465 2052 3150

1031 end dive: BOTTOM_OBSTACLE_DETECTED

state 1031 begin apogee

1042 -0.25 0.0 111.7 9.9 210 1121 1.00 0.00 72.15 0.815 6 0.123 0.000 2779 2052 2749

1122 end apogee: CONTROL_FINISHED_OK

state 1122 begin climb

1127 1.24 97.3 114.6 0.0 224 1208 1.42 2.47 72.75 0.756 4 0.064 0.043 3275 644 2352

1222 1.28 127.2 109.4 7.9 240 1252 0.00 2.40 23.60 0.735 6 0.000 0.034 3275 2051 2230

1395 1.28 127.2 87.1 13.6 275 1401 0.00 2.38 0.00 0.000 4 0.000 0.047 3275 3458 2229

1429 1.28 127.2 82.5 14.3 281 1435 0.00 2.35 0.00 0.000 6 0.000 0.033 3286 2038 2230

1579 1.28 127.2 62.3 13.7 312 1585 0.00 2.33 0.00 0.000 4 0.000 0.045 3296 636 2229

1621 1.28 127.2 56.1 13.7 320 1627 0.00 2.33 0.00 0.000 6 0.000 0.034 3297 2051 2229

1769 1.28 127.2 36.3 13.9 351 1775 0.00 0.00 0.00 0.000 6 0.000 0.000 3296 2051 2229

1845 1.28 127.2 25.9 12.5 367 1851 0.00 2.35 0.00 0.000 4 0.000 0.048 3296 3470 2229

1875 1.28 127.2 22.1 13.0 372 1882 0.12 2.33 0.00 0.000 6 0.138 0.034 3276 2043 2229

1950 1.28 127.2 13.5 11.5 388 1956 0.00 0.00 0.00 0.000 6 0.000 0.000 3276 2043 2229

2027 1.28 130.0 6.2 9.8 404 2033 0.00 0.00 2.90 0.405 6 0.000 0.000 3276 2042 2219

2038 end climb: SURFACE_DEPTH_REACHED

state 2038 begin surface coast

2099 end surface coast: CONTROL_FINISHED_OK

state 2099 begin surface

ID	128	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	75	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	13	ESCAPE_HEADING_DELTA	10	ROLL_MAX	4020	ALTIM_PING_DEPTH	80
D_SURF	5	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	20	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-158	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
D_ABORT	1100	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	350	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	204	DEVICE2	35
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3580	DEVICE3	-1
T_ABORT	720	CALL_WAIT	60	C_VBD	2750	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	180	HEAPDBG	0	VBD_TIMEOUT	360	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	-107897.73	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	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	1	RAFOS_DEVICE	-1
MAX_BUOY	100	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	60	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4070	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2865	PRESSURE_YINT	-13.435914	SEABIRD_T_G	0.0043206438
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162386	SEABIRD_T_H	0.00063139666
MASS	51675	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_T_I	2.5065803e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8780487e-06
FERRY_MAX	45	PITCH_GAIN	20	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8634701
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1197931
HD_A	0.0038360001	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0018544764
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002103937
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	055833,4806.632,-12222.360,31,1.9,32,18.3	TGT_NAME	EIGHT
_CALLS	2	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	061003,4806.594,-12222.280,13,1.2,13,18.3	MHEAD_RNG_PITCHd_Wd	302.5,3361,-22.4,-10.000
SPEED_LIMITS	0.173,0.215	D_GRID	150

FINISH	0.9,1.019963	ALTIM_BOTTOM_PING	85.4,36.0
SM_CCo	2126,111.28,0.703,0,0,1322,350.04	_24V_AH	24.5,1.325
SM_GC	1.18,0.00,0.00,111.28,0.000,0.000,0.703,50,2033,1322,-8.80,-0.48,350.04	_10V_AH	10.8,0.711
IRIDIUM_FIX	4751.72,-12340.51,090198,060626	DATA_FILE_SIZE	19132,420
TT8_MAMPS	0.026078	CAP_FILE_SIZE	47870,0
HUMID	1662	CFSIZE	260165632,226418688
INTERNAL_PRESSURE	9.28747	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	151008,064839,4806.775,-12222.360,11,1.3,11,18.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	217	114.87	SBE_CT	290	24	170.66
Roll_motor	32	59	48.11	WL_BB2F	479	105	1232.38
VBD_pump_during_apogee	171	815	3423.78	nil	0	0	0.00
VBD_pump_during_surface	111	702	1915.38	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	47	103	118.87	nil	0	0	0.00
Iridium_during_connect	66	160	259.30	nil	0	0	0.00
Iridium_during_xfer	310	223	1695.23
Transponder_ping	1	420	10.29
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.87
TT8	643	19	137.52
LPSleep	446	2	10.56
TT8_Active	349	19	74.82
TT8_Sampling	722	39	310.74
TT8_CF8	772	45	381.99
TT8_Kalman	0	0	0.00
Analog_circuits	737	12	95.54
GPS_charging	0	0	0.00
Compass	772	8	66.75
RAFOS	0	0	0.00
Transponder	7	30	2.29

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
18	-1.24	-97.3	0.0	0.0	0	90	0.00	0.00	-69.57	0.000	2	0.000	0.000	56	2076	3030
96	-1.24	-97.3	4.0	-5.9	12	116	9.65	2.38	-2.33	0.000	4	0.217	0.060	2447	3454	3148
368	-1.24	-97.3	39.3	-10.9	72	374	0.00	2.30	0.00	0.000	6	0.000	0.032	2447	2043	3150
446	-1.24	-97.3	47.3	-9.9	88	453	0.00	2.38	0.00	0.000	4	0.000	0.047	2436	3459	3150
579	-1.24	-97.3	62.1	-11.8	116	585	0.00	2.30	0.00	0.000	6	0.000	0.032	2436	2041	3151
725	-1.24	-97.3	77.9	-11.0	147	730	0.00	0.00	0.00	0.000	6	0.000	0.000	2436	2041	3150
878	-1.24	-97.3	94.0	-10.6	178	884	0.00	2.28	0.00	0.000	4	0.000	0.045	2436	646	3151
939	-1.24	-97.3	101.6	-11.2	190	946	0.15	2.28	0.00	0.000	6	0.145	0.035	2465	2052	3150
1031	end dive: BOTTOM_OBSTACLE_DETECTED
state	1031	begin apogee
1042	-0.25	0.0	111.7	9.9	210	1121	1.00	0.00	72.15	0.815	6	0.123	0.000	2779	2052	2749
1122	end apogee: CONTROL_FINISHED_OK
state	1122	begin climb
1127	1.24	97.3	114.6	0.0	224	1208	1.42	2.47	72.75	0.756	4	0.064	0.043	3275	644	2352
1222	1.28	127.2	109.4	7.9	240	1252	0.00	2.40	23.60	0.735	6	0.000	0.034	3275	2051	2230
1395	1.28	127.2	87.1	13.6	275	1401	0.00	2.38	0.00	0.000	4	0.000	0.047	3275	3458	2229
1429	1.28	127.2	82.5	14.3	281	1435	0.00	2.35	0.00	0.000	6	0.000	0.033	3286	2038	2230
1579	1.28	127.2	62.3	13.7	312	1585	0.00	2.33	0.00	0.000	4	0.000	0.045	3296	636	2229
1621	1.28	127.2	56.1	13.7	320	1627	0.00	2.33	0.00	0.000	6	0.000	0.034	3297	2051	2229
1769	1.28	127.2	36.3	13.9	351	1775	0.00	0.00	0.00	0.000	6	0.000	0.000	3296	2051	2229
1845	1.28	127.2	25.9	12.5	367	1851	0.00	2.35	0.00	0.000	4	0.000	0.048	3296	3470	2229
1875	1.28	127.2	22.1	13.0	372	1882	0.12	2.33	0.00	0.000	6	0.138	0.034	3276	2043	2229
1950	1.28	127.2	13.5	11.5	388	1956	0.00	0.00	0.00	0.000	6	0.000	0.000	3276	2043	2229
2027	1.28	130.0	6.2	9.8	404	2033	0.00	0.00	2.90	0.405	6	0.000	0.000	3276	2042	2219
2038	end climb: SURFACE_DEPTH_REACHED
state	2038	begin surface coast
2099	end surface coast: CONTROL_FINISHED_OK
state	2099	begin surface