Glider dive log

PortSusan 10Dec07 * SG143 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 13 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 160 ALTIM_PING_DEPTH 80

D_TGT 150 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DELTA 10

D_ABORT 250 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2090 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 620 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 53

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 490 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3503 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -2334.0955 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 499 AH0_24V 91.800003 SEABIRD_T_G 0.004347452

SPEED_FACTOR 1 PITCH_MAX 3809 AH0_10V 61.200001 SEABIRD_T_H 0.00063227763

RHO 1.023 C_PITCH 2888 PRESSURE_YINT -4.3673596 SEABIRD_T_I 2.3986022e-05

MASS 51288 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1624737e-05 SEABIRD_T_J 2.5175659e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -9.8894777

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1048266

KALMAN_USE 2 PITCH_GAIN 14.4 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.001653178

HD_A 0.003 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021673607

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 14.4 SM_CC 620

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3809 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 499 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.1624737e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -4.3673596 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -2334.0955

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 143 ROLL_MAX 3940 T_TURN_SAMPINT 5

C_PITCH 2888 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2000 INT_PRESSURE_YINT 0 ROLL_MIN 160 UNCOM_BLEED 20

C_ROLL_DIVE 2090 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3503 MASS 51288 R_PORT_OVSHOOT 27 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 32 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -9.8894777 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1048266 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.001653178 VBD_DBAND 2

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00021673607 VBD_MAX 3964

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.004347452 VBD_MAXERRORS 1

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.00063227763 VBD_MIN 490

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3986022e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 13 PHONE_DEVICE 48 SEABIRD_T_J 2.5175659e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 250 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 080908,4806.368,-12222.358,11,1.6,28,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.03 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081605,4806.308,-12222.298,15,3.4,34,18.3 MHEAD_RNG_PITCHd_Wd 307.8,3775,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.8,1.014836 XPDR_PINGS 4

SM_CCo 2854,139.65,0.752,0,0,975,620.12 ALTIM_BOTTOM_PING 80.3,41.8

SM_GC 1.12,0.00,0.00,139.65,0.000,0.000,0.752,496,2102,975,-11.00,0.34,620.12 _24V_AH 23.5,2.993

IRIDIUM_FIX 4748.51,-12220.12,111207,111106 _10V_AH 10.1,1.183

TT8_MAMPS 0.021476 DATA_FILE_SIZE 38348,477

HUMID 1640 CFSIZE 260165632,258281472

INTERNAL_PRESSURE 7.86163 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.70 GPS 111207,090702,4806.549,-12222.567,7,1.4,12,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 167 103.91 SBE_CT 325 24 183.72

Roll_motor 24 77 44.56 SBE_O2 240 19 107.53

VBD_pump_during_apogee 454 899 9613.60 Optode 426 33 330.81

VBD_pump_during_surface 139 752 2469.30 WL_BB2F 643 105 1587.24

VBD_valve 0 0 0.00 WL_BBFL2VMT 1171 105 2890.67

Iridium_during_init 40 103 98.49 nil 0 0 0.00

Iridium_during_connect 34 160 130.71 nil 0 0 0.00

Iridium_during_xfer 233 223 1222.02

Transponder_ping 1 420 14.80

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.49

TT8 687 19 137.45

LPSleep 323 2 7.16

TT8_Active 517 19 103.55

TT8_Sampling 1491 39 599.61

TT8_CF8 402 45 186.26

TT8_Kalman 0 0 0.00

Analog_circuits 1133 12 137.40

GPS_charging 0 0 0.00

Compass 1483 8 119.86

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.27 -195.5 0.0 0.0 0 64 0.00 0.00 -44.78 0.000 2 0.000 0.000 497 2100 2154

66 -1.27 -195.5 3.1 -7.5 6 133 11.45 0.00 -50.95 0.000 6 0.168 0.000 2604 2101 3967

198 -1.27 -195.5 10.7 -7.3 27 206 0.00 2.53 0.00 0.000 4 0.000 0.074 2604 687 3967

275 -1.27 -195.5 17.1 -8.7 41 283 0.00 2.38 0.00 0.000 6 0.000 0.051 2604 2077 3967

348 -1.27 -195.5 23.8 -9.6 54 355 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 2077 3967

419 -1.27 -195.5 31.0 -10.6 67 424 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 2077 3967

553 -1.27 -195.5 44.7 -10.0 92 560 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 2077 3967

692 -1.27 -195.5 58.2 -9.6 117 697 0.00 0.00 0.00 0.000 6 0.000 0.000 2605 2077 3967

826 -1.27 -195.5 71.5 -9.8 142 834 0.00 2.47 0.00 0.000 4 0.000 0.071 2604 684 3967

858 -1.27 -195.5 74.7 -10.2 147 864 0.00 2.35 0.00 0.000 6 0.000 0.049 2605 2090 3967

997 -1.27 -195.5 88.4 -9.8 172 1004 0.00 0.00 0.00 0.000 6 0.000 0.000 2605 2090 3967

1136 -1.27 -195.5 102.1 -9.8 197 1141 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 2090 3967

1236 end dive: BOTTOM_OBSTACLE_DETECTED

state 1236 begin apogee

1241 -0.35 0.0 112.4 10.0 216 1340 0.95 0.00 91.82 0.900 6 0.105 0.000 2804 2000 3502

1341 end apogee: CONTROL_FINISHED_OK

state 1341 begin climb

1342 1.27 195.5 115.8 0.0 232 1503 1.60 0.00 155.40 0.830 6 0.077 0.000 3161 1999 2706

1641 1.27 195.5 91.2 11.0 282 1652 0.00 2.47 0.00 0.000 4 0.000 0.077 3161 604 2705

1684 1.27 195.5 86.7 12.1 287 1690 0.00 2.35 0.00 0.000 6 0.000 0.053 3161 2003 2705

1872 1.27 195.5 65.2 11.1 312 1884 0.00 0.00 0.00 0.000 6 0.000 0.000 3161 2003 2705

2015 1.27 195.5 49.9 10.4 337 2021 0.00 2.45 0.00 0.000 4 0.000 0.068 3161 598 2705

2085 1.27 195.5 41.6 11.8 350 2093 0.00 2.38 0.00 0.000 6 0.000 0.046 3161 2001 2705

2223 1.27 195.5 27.5 10.2 375 2231 0.00 0.00 0.00 0.000 6 0.000 0.000 3161 2002 2705

2295 1.27 195.5 20.1 10.6 388 2303 0.00 2.47 0.00 0.000 4 0.000 0.068 3161 597 2705

2326 1.27 195.5 16.7 10.9 393 2334 0.00 2.38 0.00 0.000 6 0.000 0.045 3161 2005 2705

2398 1.27 195.5 9.0 10.6 406 2405 0.00 0.00 0.00 0.000 6 0.000 0.000 3161 2006 2705

2470 1.59 454.1 5.4 1.1 419 2682 0.28 0.00 207.48 0.876 2 0.053 0.000 3236 2008 1660

2682 end climb: SURFACE_DEPTH_REACHED

state 2683 begin surface coast

2835 end surface coast: NO_VERTICAL_VELOCITY

state 2835 begin surface

ID	143	HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	13	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	160	ALTIM_PING_DEPTH	80
D_TGT	150	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DELTA	10
D_ABORT	250	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2090	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2000	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	620	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	53
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	490	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3503	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-2334.0955	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	499	AH0_24V	91.800003	SEABIRD_T_G	0.004347452
SPEED_FACTOR	1	PITCH_MAX	3809	AH0_10V	61.200001	SEABIRD_T_H	0.00063227763
RHO	1.023	C_PITCH	2888	PRESSURE_YINT	-4.3673596	SEABIRD_T_I	2.3986022e-05
MASS	51288	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1624737e-05	SEABIRD_T_J	2.5175659e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-9.8894777
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1048266
KALMAN_USE	2	PITCH_GAIN	14.4	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.001653178
HD_A	0.003	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021673607

GPS1	080908,4806.368,-12222.358,11,1.6,28,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.03	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081605,4806.308,-12222.298,15,3.4,34,18.3	MHEAD_RNG_PITCHd_Wd	307.8,3775,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	150

FINISH	3.8,1.014836	XPDR_PINGS	4
SM_CCo	2854,139.65,0.752,0,0,975,620.12	ALTIM_BOTTOM_PING	80.3,41.8
SM_GC	1.12,0.00,0.00,139.65,0.000,0.000,0.752,496,2102,975,-11.00,0.34,620.12	_24V_AH	23.5,2.993
IRIDIUM_FIX	4748.51,-12220.12,111207,111106	_10V_AH	10.1,1.183
TT8_MAMPS	0.021476	DATA_FILE_SIZE	38348,477
HUMID	1640	CFSIZE	260165632,258281472
INTERNAL_PRESSURE	7.86163	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.70	GPS	111207,090702,4806.549,-12222.567,7,1.4,12,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	167	103.91	SBE_CT	325	24	183.72
Roll_motor	24	77	44.56	SBE_O2	240	19	107.53
VBD_pump_during_apogee	454	899	9613.60	Optode	426	33	330.81
VBD_pump_during_surface	139	752	2469.30	WL_BB2F	643	105	1587.24
VBD_valve	0	0	0.00	WL_BBFL2VMT	1171	105	2890.67
Iridium_during_init	40	103	98.49	nil	0	0	0.00
Iridium_during_connect	34	160	130.71	nil	0	0	0.00
Iridium_during_xfer	233	223	1222.02
Transponder_ping	1	420	14.80
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.49
TT8	687	19	137.45
LPSleep	323	2	7.16
TT8_Active	517	19	103.55
TT8_Sampling	1491	39	599.61
TT8_CF8	402	45	186.26
TT8_Kalman	0	0	0.00
Analog_circuits	1133	12	137.40
GPS_charging	0	0	0.00
Compass	1483	8	119.86
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.27	-195.5	0.0	0.0	0	64	0.00	0.00	-44.78	0.000	2	0.000	0.000	497	2100	2154
66	-1.27	-195.5	3.1	-7.5	6	133	11.45	0.00	-50.95	0.000	6	0.168	0.000	2604	2101	3967
198	-1.27	-195.5	10.7	-7.3	27	206	0.00	2.53	0.00	0.000	4	0.000	0.074	2604	687	3967
275	-1.27	-195.5	17.1	-8.7	41	283	0.00	2.38	0.00	0.000	6	0.000	0.051	2604	2077	3967
348	-1.27	-195.5	23.8	-9.6	54	355	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	2077	3967
419	-1.27	-195.5	31.0	-10.6	67	424	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	2077	3967
553	-1.27	-195.5	44.7	-10.0	92	560	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	2077	3967
692	-1.27	-195.5	58.2	-9.6	117	697	0.00	0.00	0.00	0.000	6	0.000	0.000	2605	2077	3967
826	-1.27	-195.5	71.5	-9.8	142	834	0.00	2.47	0.00	0.000	4	0.000	0.071	2604	684	3967
858	-1.27	-195.5	74.7	-10.2	147	864	0.00	2.35	0.00	0.000	6	0.000	0.049	2605	2090	3967
997	-1.27	-195.5	88.4	-9.8	172	1004	0.00	0.00	0.00	0.000	6	0.000	0.000	2605	2090	3967
1136	-1.27	-195.5	102.1	-9.8	197	1141	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	2090	3967
1236	end dive: BOTTOM_OBSTACLE_DETECTED
state	1236	begin apogee
1241	-0.35	0.0	112.4	10.0	216	1340	0.95	0.00	91.82	0.900	6	0.105	0.000	2804	2000	3502
1341	end apogee: CONTROL_FINISHED_OK
state	1341	begin climb
1342	1.27	195.5	115.8	0.0	232	1503	1.60	0.00	155.40	0.830	6	0.077	0.000	3161	1999	2706
1641	1.27	195.5	91.2	11.0	282	1652	0.00	2.47	0.00	0.000	4	0.000	0.077	3161	604	2705
1684	1.27	195.5	86.7	12.1	287	1690	0.00	2.35	0.00	0.000	6	0.000	0.053	3161	2003	2705
1872	1.27	195.5	65.2	11.1	312	1884	0.00	0.00	0.00	0.000	6	0.000	0.000	3161	2003	2705
2015	1.27	195.5	49.9	10.4	337	2021	0.00	2.45	0.00	0.000	4	0.000	0.068	3161	598	2705
2085	1.27	195.5	41.6	11.8	350	2093	0.00	2.38	0.00	0.000	6	0.000	0.046	3161	2001	2705
2223	1.27	195.5	27.5	10.2	375	2231	0.00	0.00	0.00	0.000	6	0.000	0.000	3161	2002	2705
2295	1.27	195.5	20.1	10.6	388	2303	0.00	2.47	0.00	0.000	4	0.000	0.068	3161	597	2705
2326	1.27	195.5	16.7	10.9	393	2334	0.00	2.38	0.00	0.000	6	0.000	0.045	3161	2005	2705
2398	1.27	195.5	9.0	10.6	406	2405	0.00	0.00	0.00	0.000	6	0.000	0.000	3161	2006	2705
2470	1.59	454.1	5.4	1.1	419	2682	0.28	0.00	207.48	0.876	2	0.053	0.000	3236	2008	1660
2682	end climb: SURFACE_DEPTH_REACHED
state	2683	begin surface coast
2835	end surface coast: NO_VERTICAL_VELOCITY
state	2835	begin surface