Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 130 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 130 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 156 ALTIM_PING_DEPTH 50

D_TGT 90 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 350 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 32 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -1 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -50921.219 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 130 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 20 PITCH_MIN 460 AH0_24V 71.400002 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -8.3042984 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 71.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 90 PITCH_TIMEOUT 20 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 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -8.3042984 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 20 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -50921.219

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 32 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 130 R_STBD_OVSHOOT 38 USE_ICE 0

DEEPGLIDERMB 0 MISSION 8 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 130 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1050 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 073720,4745.063,-12250.292,12,1.8,29,18.3 TGT_NAME WP1

_CALLS 1 TGT_LATLONG 4743.050,-12250.817

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.034,-0.210

_SM_DEPTHo 0.31 KALMAN_X 5660.3,420.9,48.7,-2850.7,-149.5

_SM_ANGLEo -53.9 KALMAN_Y 5909.1,1346.5,583.3,2601.1,214.5

GPS2 074308,4745.125,-12250.321,13,1.5,30,18.3 MHEAD_RNG_PITCHd_Wd 152.4,3893,-13.5,-6.667

SPEED_LIMITS 0.183,0.213 D_GRID 151

Post-dive calculations and measurements:

FINISH -0.3,1.014388 XPDR_PINGS 0

SM_CCo 3341,95.07,0.581,0,0,1790,350.04 ALTIM_BOTTOM_PING 50.1,51.9

SM_GC 0.28,0.00,0.00,95.07,0.000,0.000,0.581,460,1801,1790,-12.15,0.03,350.04 _24V_AH 23.9,11.553

IRIDIUM_FIX 4726.11,-12250.84,071007,111159 _10V_AH 10.1,9.916

TT8_MAMPS 0.06903 DATA_FILE_SIZE 9590,301

HUMID 2105 CFSIZE 260034560,252911616

INTERNAL_PRESSURE 8.47689 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 071007,084229,4744.927,-12250.311,11,2.9,30,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 212 155.00 SBE_CT 202 24 116.09

Roll_motor 40 79 76.04 nil 0 0 0.00

VBD_pump_during_apogee 197 666 3153.72 nil 0 0 0.00

VBD_pump_during_surface 95 580 1319.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 97.94 nil 0 0 0.00

Iridium_during_connect 38 160 147.50 ARS 0 0 0.00

Iridium_during_xfer 138 223 737.02

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3917 6 599.14

GPS 30 50 15.31

TT8 561 19 112.25

LPSleep 1942 2 42.97

TT8_Active 402 19 80.55

TT8_Sampling 552 39 222.03

TT8_CF8 349 45 161.74

TT8_Kalman 33 81 27.54

Analog_circuits 717 12 86.91

GPS_charging 0 0 0.00

Compass 506 8 40.93

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.20 -127.1 0.0 0.0 0 117 0.00 0.00 -87.88 0.000 6 0.000 0.000 461 1819 3738

121 -1.20 -127.1 2.5 -4.0 15 139 15.32 0.00 0.00 0.000 6 0.212 0.000 2834 1819 3742

205 -1.20 -127.1 12.4 -7.2 28 210 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 1820 3744

276 -1.20 -127.1 16.3 -6.1 39 283 0.00 2.47 0.00 0.000 4 0.000 0.048 2834 3195 3744

362 -1.20 -127.1 20.7 -4.4 51 368 0.00 2.45 0.00 0.000 6 0.000 0.036 2834 1809 3744

557 -1.20 -127.1 29.2 -4.6 67 558 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 1809 3744

749 -1.20 -127.1 37.0 -3.8 82 750 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 1809 3744

937 -1.20 -127.1 44.2 -4.0 97 938 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 1809 3744

1125 -1.20 -127.1 52.0 -3.8 112 1129 0.00 2.50 0.00 0.000 4 0.000 0.048 2834 3192 3744

1224 -1.20 -127.1 56.0 -4.1 119 1228 0.00 2.45 0.00 0.000 6 0.000 0.037 2834 1798 3744

1419 -1.20 -127.1 63.8 -4.0 134 1423 0.00 2.50 0.00 0.000 4 0.000 0.048 2834 3193 3744

1457 -1.20 -127.1 65.4 -4.0 136 1464 0.00 2.47 0.00 0.000 6 0.000 0.036 2834 1800 3744

1654 -1.20 -127.1 73.2 -4.1 152 1658 0.00 2.65 0.00 0.000 4 0.000 0.076 2834 397 3744

1686 -1.20 -127.1 74.5 -4.2 154 1691 0.00 2.42 0.00 0.000 6 0.000 0.034 2834 1805 3744

1882 -1.20 -127.1 82.3 -3.8 169 1886 0.00 2.47 0.00 0.000 4 0.000 0.048 2834 3196 3744

1921 -1.20 -127.1 84.0 -4.0 171 1927 0.00 2.45 0.00 0.000 6 0.000 0.036 2834 1796 3743

2090 end dive: TARGET_DEPTH_EXCEEDED

state 2090 begin apogee

2096 -0.38 0.0 90.4 3.8 185 2200 0.88 0.00 100.62 0.667 6 0.088 0.000 3013 1720 3218

2201 end apogee: CONTROL_FINISHED_OK

state 2201 begin climb

2203 1.20 127.1 90.8 0.0 194 2314 1.58 2.75 97.35 0.637 4 0.057 0.079 3361 341 2698

2332 1.20 127.1 81.7 9.2 204 2340 0.00 2.47 0.00 0.000 6 0.000 0.034 3362 1728 2697

2529 1.20 127.1 64.4 8.3 220 2530 0.00 0.00 0.00 0.000 6 0.000 0.000 3362 1728 2696

2721 1.20 127.1 47.5 9.1 235 2722 0.00 0.00 0.00 0.000 6 0.000 0.000 3362 1728 2696

2909 1.20 127.1 31.5 8.8 250 2914 0.00 2.67 0.00 0.000 4 0.000 0.077 3361 334 2696

2954 1.20 127.1 27.6 8.7 253 2958 0.00 2.45 0.00 0.000 6 0.000 0.035 3363 1739 2696

3156 1.20 127.1 10.9 7.5 277 3162 0.00 2.50 0.00 0.000 4 0.000 0.048 3362 3136 2696

3240 end climb: SURFACE_DEPTH_REACHED

state 3240 begin surface coast

3313 end surface coast: CONTROL_FINISHED_OK

state 3313 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	130	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	156	ALTIM_PING_DEPTH	50
D_TGT	90	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	350	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	32	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-1	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-50921.219	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	130	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	20	PITCH_MIN	460	AH0_24V	71.400002	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-8.3042984	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	073720,4745.063,-12250.292,12,1.8,29,18.3	TGT_NAME	WP1
_CALLS	1	TGT_LATLONG	4743.050,-12250.817
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.034,-0.210
_SM_DEPTHo	0.31	KALMAN_X	5660.3,420.9,48.7,-2850.7,-149.5
_SM_ANGLEo	-53.9	KALMAN_Y	5909.1,1346.5,583.3,2601.1,214.5
GPS2	074308,4745.125,-12250.321,13,1.5,30,18.3	MHEAD_RNG_PITCHd_Wd	152.4,3893,-13.5,-6.667
SPEED_LIMITS	0.183,0.213	D_GRID	151

FINISH	-0.3,1.014388	XPDR_PINGS	0
SM_CCo	3341,95.07,0.581,0,0,1790,350.04	ALTIM_BOTTOM_PING	50.1,51.9
SM_GC	0.28,0.00,0.00,95.07,0.000,0.000,0.581,460,1801,1790,-12.15,0.03,350.04	_24V_AH	23.9,11.553
IRIDIUM_FIX	4726.11,-12250.84,071007,111159	_10V_AH	10.1,9.916
TT8_MAMPS	0.06903	DATA_FILE_SIZE	9590,301
HUMID	2105	CFSIZE	260034560,252911616
INTERNAL_PRESSURE	8.47689	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	071007,084229,4744.927,-12250.311,11,2.9,30,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	212	155.00	SBE_CT	202	24	116.09
Roll_motor	40	79	76.04	nil	0	0	0.00
VBD_pump_during_apogee	197	666	3153.72	nil	0	0	0.00
VBD_pump_during_surface	95	580	1319.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	97.94	nil	0	0	0.00
Iridium_during_connect	38	160	147.50	ARS	0	0	0.00
Iridium_during_xfer	138	223	737.02
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3917	6	599.14
GPS	30	50	15.31
TT8	561	19	112.25
LPSleep	1942	2	42.97
TT8_Active	402	19	80.55
TT8_Sampling	552	39	222.03
TT8_CF8	349	45	161.74
TT8_Kalman	33	81	27.54
Analog_circuits	717	12	86.91
GPS_charging	0	0	0.00
Compass	506	8	40.93
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.20	-127.1	0.0	0.0	0	117	0.00	0.00	-87.88	0.000	6	0.000	0.000	461	1819	3738
121	-1.20	-127.1	2.5	-4.0	15	139	15.32	0.00	0.00	0.000	6	0.212	0.000	2834	1819	3742
205	-1.20	-127.1	12.4	-7.2	28	210	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	1820	3744
276	-1.20	-127.1	16.3	-6.1	39	283	0.00	2.47	0.00	0.000	4	0.000	0.048	2834	3195	3744
362	-1.20	-127.1	20.7	-4.4	51	368	0.00	2.45	0.00	0.000	6	0.000	0.036	2834	1809	3744
557	-1.20	-127.1	29.2	-4.6	67	558	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	1809	3744
749	-1.20	-127.1	37.0	-3.8	82	750	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	1809	3744
937	-1.20	-127.1	44.2	-4.0	97	938	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	1809	3744
1125	-1.20	-127.1	52.0	-3.8	112	1129	0.00	2.50	0.00	0.000	4	0.000	0.048	2834	3192	3744
1224	-1.20	-127.1	56.0	-4.1	119	1228	0.00	2.45	0.00	0.000	6	0.000	0.037	2834	1798	3744
1419	-1.20	-127.1	63.8	-4.0	134	1423	0.00	2.50	0.00	0.000	4	0.000	0.048	2834	3193	3744
1457	-1.20	-127.1	65.4	-4.0	136	1464	0.00	2.47	0.00	0.000	6	0.000	0.036	2834	1800	3744
1654	-1.20	-127.1	73.2	-4.1	152	1658	0.00	2.65	0.00	0.000	4	0.000	0.076	2834	397	3744
1686	-1.20	-127.1	74.5	-4.2	154	1691	0.00	2.42	0.00	0.000	6	0.000	0.034	2834	1805	3744
1882	-1.20	-127.1	82.3	-3.8	169	1886	0.00	2.47	0.00	0.000	4	0.000	0.048	2834	3196	3744
1921	-1.20	-127.1	84.0	-4.0	171	1927	0.00	2.45	0.00	0.000	6	0.000	0.036	2834	1796	3743
2090	end dive: TARGET_DEPTH_EXCEEDED
state	2090	begin apogee
2096	-0.38	0.0	90.4	3.8	185	2200	0.88	0.00	100.62	0.667	6	0.088	0.000	3013	1720	3218
2201	end apogee: CONTROL_FINISHED_OK
state	2201	begin climb
2203	1.20	127.1	90.8	0.0	194	2314	1.58	2.75	97.35	0.637	4	0.057	0.079	3361	341	2698
2332	1.20	127.1	81.7	9.2	204	2340	0.00	2.47	0.00	0.000	6	0.000	0.034	3362	1728	2697
2529	1.20	127.1	64.4	8.3	220	2530	0.00	0.00	0.00	0.000	6	0.000	0.000	3362	1728	2696
2721	1.20	127.1	47.5	9.1	235	2722	0.00	0.00	0.00	0.000	6	0.000	0.000	3362	1728	2696
2909	1.20	127.1	31.5	8.8	250	2914	0.00	2.67	0.00	0.000	4	0.000	0.077	3361	334	2696
2954	1.20	127.1	27.6	8.7	253	2958	0.00	2.45	0.00	0.000	6	0.000	0.035	3363	1739	2696
3156	1.20	127.1	10.9	7.5	277	3162	0.00	2.50	0.00	0.000	4	0.000	0.048	3362	3136	2696
3240	end climb: SURFACE_DEPTH_REACHED
state	3240	begin surface coast
3313	end surface coast: CONTROL_FINISHED_OK
state	3313	begin surface