Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 156 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_B 0.013382 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.8987e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 156 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2210 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 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 42 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 63 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 204 DEVICE4 -1

T_TURN 270 CALL_WAIT 60 VBD_MAX 3580 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2800 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 360 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -62317.863 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_MIN 25 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 4070 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_I 2.5554549e-05

MASS 51503 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0043390002 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 22 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 95 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 63

CALL_TRIES 5 HD_A 0.0043390002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.013382 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 5.8987e-05 RHO 1.023 T_GPS_CHARGE -62317.863

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COURSE_BIAS 0 ID 128 ROLL_MAX 4014 T_TURN_SAMPINT 5

C_PITCH 2820 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2150 INT_PRESSURE_YINT 0 ROLL_MIN 145 UNCOM_BLEED 50

C_ROLL_DIVE 2210 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51503 R_PORT_OVSHOOT 42 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 33 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3580

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 204

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 156 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 144237,4805.217,-12221.323,36,1.0,37,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.091,0.128

_SM_DEPTHo 1.12 KALMAN_X 12386.0,-91.5,-90.2,-9026.5,68.1

_SM_ANGLEo -69.0 KALMAN_Y 4967.5,-78.1,141.5,-11043.6,-50.6

GPS2 144709,4805.219,-12221.325,10,1.5,10,18.3 MHEAD_RNG_PITCHd_Wd 306.1,6120,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 110

Post-dive calculations and measurements:

FINISH 0.3,1.023780 XPDR_PINGS 1

SM_CCo 3535,51.83,0.692,0,0,1576,300.00 ALTIM_BOTTOM_PING 70.0,51.9

SM_GC 1.73,0.00,0.00,51.83,0.000,0.000,0.692,17,2213,1576,-8.76,0.08,300.00 _24V_AH 24.4,20.938

IRIDIUM_FIX 4745.30,-12220.12,110907,171734 _10V_AH 10.8,8.939

TT8_MAMPS 0.026078 DATA_FILE_SIZE 19097,381

HUMID 1863 CFSIZE 260165632,253353984

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 110907,154845,4805.467,-12221.369,11,2.0,12,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 214 107.95 SBE_CT 273 24 160.14

Roll_motor 41 83 84.30 SBE_O2 301 19 139.95

VBD_pump_during_apogee 264 854 5513.85 WL_BB2F 643 105 1647.42

VBD_pump_during_surface 51 691 874.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 103.95 nil 0 0 0.00

Iridium_during_connect 39 160 153.38 nil 0 0 0.00

Iridium_during_xfer 114 223 620.84

Transponder_ping 0 420 5.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.43

TT8 632 19 135.24

LPSleep 1802 2 42.63

TT8_Active 369 19 78.98

TT8_Sampling 773 39 332.68

TT8_CF8 306 45 151.36

TT8_Kalman 33 81 29.45

Analog_circuits 769 12 99.77

GPS_charging 0 0 0.00

Compass 796 8 68.80

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.66 -146.6 0.0 0.0 0 89 0.00 0.00 -66.15 0.000 2 0.000 0.000 14 2200 3235

91 -0.66 -146.6 3.7 -3.6 12 111 10.55 2.47 -3.20 0.000 4 0.215 0.062 2590 3620 3399

413 -0.66 -146.6 30.1 -5.9 54 420 0.00 2.30 0.00 0.000 6 0.000 0.028 2590 2193 3402

611 -0.66 -146.6 41.1 -5.5 73 615 0.00 2.40 0.00 0.000 4 0.000 0.051 2590 3625 3402

694 -0.66 -146.6 45.9 -5.8 80 698 0.00 2.22 0.00 0.000 6 0.000 0.028 2590 2209 3402

891 -0.66 -146.6 56.0 -5.3 98 892 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2207 3403

1210 -0.66 -146.6 72.2 -5.2 128 1214 0.00 2.33 0.00 0.000 4 0.000 0.050 2590 3613 3402

1253 -0.66 -146.6 74.5 -5.6 131 1260 0.00 2.22 0.00 0.000 6 0.000 0.028 2590 2210 3403

1579 -0.66 -146.6 91.1 -5.3 162 1583 0.00 2.33 0.00 0.000 4 0.000 0.050 2590 3618 3402

1612 -0.66 -146.6 92.9 -5.6 165 1616 0.00 2.20 0.00 0.000 6 0.000 0.028 2590 2209 3402

1658 end dive: TARGET_DEPTH_EXCEEDED

state 1658 begin apogee

1663 -0.23 0.0 95.4 5.2 169 1781 0.50 0.00 112.82 0.807 6 0.107 0.000 2748 2206 2799

1782 end apogee: CONTROL_FINISHED_OK

state 1782 begin climb

1784 0.66 146.6 97.5 0.0 181 1902 0.88 0.00 111.65 0.695 6 0.079 0.000 3029 2206 2201

2220 0.66 146.6 72.3 6.8 223 2224 0.00 2.38 0.00 0.000 4 0.000 0.042 3037 757 2200

2264 0.66 146.6 69.3 6.8 227 2269 0.00 2.28 0.00 0.000 6 0.000 0.034 3037 2156 2199

2591 0.66 146.6 48.1 6.4 257 2595 0.00 2.30 0.00 0.000 4 0.000 0.049 3037 3552 2199

2635 0.66 146.6 44.9 7.5 260 2642 0.00 2.25 0.00 0.000 6 0.000 0.031 3038 2161 2198

2832 0.66 146.6 32.7 5.9 279 2836 0.00 2.28 0.00 0.000 4 0.000 0.043 3039 751 2199

2866 0.66 146.6 30.7 5.7 282 2870 0.00 2.25 0.00 0.000 6 0.000 0.035 3039 2153 2198

3063 0.66 146.6 18.7 6.2 301 3070 0.00 2.30 0.00 0.000 4 0.000 0.049 3039 3555 2199

3087 0.66 146.6 17.2 6.2 305 3093 0.00 2.25 0.00 0.000 6 0.000 0.031 3039 2140 2199

3161 0.66 146.6 12.8 5.8 318 3166 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 2139 2199

3234 0.66 146.6 8.7 5.6 331 3240 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 2140 2198

3308 0.67 153.9 5.1 4.8 344 3320 0.00 2.25 6.32 0.733 4 0.000 0.042 3039 749 2171

3343 0.73 198.9 3.9 3.6 350 3384 0.00 2.25 33.67 0.854 6 0.000 0.035 3039 2152 1988

3422 end climb: SURFACE_DEPTH_REACHED

state 3422 begin surface coast

3519 end surface coast: CONTROL_FINISHED_OK

state 3519 begin surface

ID	128	HD_B	0.013382	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.8987e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	156	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2210	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	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	42	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	63	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	204	DEVICE4	-1
T_TURN	270	CALL_WAIT	60	VBD_MAX	3580	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2800	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	360	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-62317.863	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_MIN	25	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	4070	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_I	2.5554549e-05
MASS	51503	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0043390002	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	144237,4805.217,-12221.323,36,1.0,37,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.091,0.128
_SM_DEPTHo	1.12	KALMAN_X	12386.0,-91.5,-90.2,-9026.5,68.1
_SM_ANGLEo	-69.0	KALMAN_Y	4967.5,-78.1,141.5,-11043.6,-50.6
GPS2	144709,4805.219,-12221.325,10,1.5,10,18.3	MHEAD_RNG_PITCHd_Wd	306.1,6120,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	110

FINISH	0.3,1.023780	XPDR_PINGS	1
SM_CCo	3535,51.83,0.692,0,0,1576,300.00	ALTIM_BOTTOM_PING	70.0,51.9
SM_GC	1.73,0.00,0.00,51.83,0.000,0.000,0.692,17,2213,1576,-8.76,0.08,300.00	_24V_AH	24.4,20.938
IRIDIUM_FIX	4745.30,-12220.12,110907,171734	_10V_AH	10.8,8.939
TT8_MAMPS	0.026078	DATA_FILE_SIZE	19097,381
HUMID	1863	CFSIZE	260165632,253353984
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	110907,154845,4805.467,-12221.369,11,2.0,12,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	214	107.95	SBE_CT	273	24	160.14
Roll_motor	41	83	84.30	SBE_O2	301	19	139.95
VBD_pump_during_apogee	264	854	5513.85	WL_BB2F	643	105	1647.42
VBD_pump_during_surface	51	691	874.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	103.95	nil	0	0	0.00
Iridium_during_connect	39	160	153.38	nil	0	0	0.00
Iridium_during_xfer	114	223	620.84
Transponder_ping	0	420	5.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.43
TT8	632	19	135.24
LPSleep	1802	2	42.63
TT8_Active	369	19	78.98
TT8_Sampling	773	39	332.68
TT8_CF8	306	45	151.36
TT8_Kalman	33	81	29.45
Analog_circuits	769	12	99.77
GPS_charging	0	0	0.00
Compass	796	8	68.80
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.66	-146.6	0.0	0.0	0	89	0.00	0.00	-66.15	0.000	2	0.000	0.000	14	2200	3235
91	-0.66	-146.6	3.7	-3.6	12	111	10.55	2.47	-3.20	0.000	4	0.215	0.062	2590	3620	3399
413	-0.66	-146.6	30.1	-5.9	54	420	0.00	2.30	0.00	0.000	6	0.000	0.028	2590	2193	3402
611	-0.66	-146.6	41.1	-5.5	73	615	0.00	2.40	0.00	0.000	4	0.000	0.051	2590	3625	3402
694	-0.66	-146.6	45.9	-5.8	80	698	0.00	2.22	0.00	0.000	6	0.000	0.028	2590	2209	3402
891	-0.66	-146.6	56.0	-5.3	98	892	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2207	3403
1210	-0.66	-146.6	72.2	-5.2	128	1214	0.00	2.33	0.00	0.000	4	0.000	0.050	2590	3613	3402
1253	-0.66	-146.6	74.5	-5.6	131	1260	0.00	2.22	0.00	0.000	6	0.000	0.028	2590	2210	3403
1579	-0.66	-146.6	91.1	-5.3	162	1583	0.00	2.33	0.00	0.000	4	0.000	0.050	2590	3618	3402
1612	-0.66	-146.6	92.9	-5.6	165	1616	0.00	2.20	0.00	0.000	6	0.000	0.028	2590	2209	3402
1658	end dive: TARGET_DEPTH_EXCEEDED
state	1658	begin apogee
1663	-0.23	0.0	95.4	5.2	169	1781	0.50	0.00	112.82	0.807	6	0.107	0.000	2748	2206	2799
1782	end apogee: CONTROL_FINISHED_OK
state	1782	begin climb
1784	0.66	146.6	97.5	0.0	181	1902	0.88	0.00	111.65	0.695	6	0.079	0.000	3029	2206	2201
2220	0.66	146.6	72.3	6.8	223	2224	0.00	2.38	0.00	0.000	4	0.000	0.042	3037	757	2200
2264	0.66	146.6	69.3	6.8	227	2269	0.00	2.28	0.00	0.000	6	0.000	0.034	3037	2156	2199
2591	0.66	146.6	48.1	6.4	257	2595	0.00	2.30	0.00	0.000	4	0.000	0.049	3037	3552	2199
2635	0.66	146.6	44.9	7.5	260	2642	0.00	2.25	0.00	0.000	6	0.000	0.031	3038	2161	2198
2832	0.66	146.6	32.7	5.9	279	2836	0.00	2.28	0.00	0.000	4	0.000	0.043	3039	751	2199
2866	0.66	146.6	30.7	5.7	282	2870	0.00	2.25	0.00	0.000	6	0.000	0.035	3039	2153	2198
3063	0.66	146.6	18.7	6.2	301	3070	0.00	2.30	0.00	0.000	4	0.000	0.049	3039	3555	2199
3087	0.66	146.6	17.2	6.2	305	3093	0.00	2.25	0.00	0.000	6	0.000	0.031	3039	2140	2199
3161	0.66	146.6	12.8	5.8	318	3166	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	2139	2199
3234	0.66	146.6	8.7	5.6	331	3240	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	2140	2198
3308	0.67	153.9	5.1	4.8	344	3320	0.00	2.25	6.32	0.733	4	0.000	0.042	3039	749	2171
3343	0.73	198.9	3.9	3.6	350	3384	0.00	2.25	33.67	0.854	6	0.000	0.035	3039	2152	1988
3422	end climb: SURFACE_DEPTH_REACHED
state	3422	begin surface coast
3519	end surface coast: CONTROL_FINISHED_OK
state	3519	begin surface