Glider dive log

PN07 DabobBay Sep07 * SG022 * Dive index * Mission links * Dive 159 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 22 HD_B 0.010364 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.4717998e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 159 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 208 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 0

D_PITCH 0 SM_CC 550 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 11 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 100 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 2 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 658 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3994 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3484 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 0

T_WATCHDOG 10 T_GPS_CHARGE -112170.45 VBD_PUMP_AD_RATE_APOGEE 1 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 80 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 16 SIM_PITCH 0

GLIDE_SLOPE 15 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0044140997

SPEED_FACTOR 1 PITCH_MAX 3347 AH0_10V 61.200001 SEABIRD_T_H 0.00064927549

RHO 1.023 C_PITCH 2530 PRESSURE_YINT -21.951805 SEABIRD_T_I 2.7523491e-05

MASS 51950 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011632 SEABIRD_T_J 3.1132354e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.525962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 1.7 SEABIRD_C_H 1.1896306

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET -0.89999998 SEABIRD_C_I -0.0026426413

HD_A 0.0040048002 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00031414768

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 550

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3347 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 5 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 1.7

ALTIM_SENSITIVITY 0 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011632 TCM_ROLL_OFFSET -0.89999998

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -21.951805 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 15 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0040048002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010364 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 5.4717998e-06 RHO 1.023 T_GPS_CHARGE -112170.45

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 16 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 600

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 100 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 22 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2530 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_CLIMB 2050 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51950 R_PORT_OVSHOOT 11 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 80 R_STBD_OVSHOOT 12 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.525962 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1896306 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0026426413 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00031414768 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044140997 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064927549 VBD_MIN 658

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.7523491e-05 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 159 PHONE_DEVICE 0 SEABIRD_T_J 3.1132354e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 19

Pre-dive calculations and measurements:

GPS1 075337,4739.531,-12253.529,12,1.4,28,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 1 TGT_RADIUS 200.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.275,0.024

_SM_DEPTHo 1.47 KALMAN_X 26913.5,235.1,223.2,-28036.6,5.5

_SM_ANGLEo -70.7 KALMAN_Y 6512.7,23.9,168.0,-7017.2,-137.9

GPS2 075814,4739.520,-12253.521,13,1.5,30,18.3 MHEAD_RNG_PITCHd_Wd 66.8,409,-11.1,-7.407

SPEED_LIMITS 0.276,0.286 D_GRID 119

Post-dive calculations and measurements:

FINISH 2.7,1.020588 ALTIM_BOTTOM_PING 50.1,7.8

SM_CCo 3347,203.02,0.644,0,0,1241,550.21 _24V_AH 23.9,22.334

SM_GC 1.51,0.00,0.00,203.02,0.000,0.000,0.644,36,2168,1241,-11.47,0.51,550.21 _10V_AH 10.2,5.868

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 9596,305

TT8_MAMPS 0.028379 CFSIZE 260034560,252981248

HUMID 2063 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 260907,085953,4739.342,-12253.132,12,2.3,31,18.3

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 198 132.70 SBE_CT 201 24 115.56

Roll_motor 57 144 198.00 nil 0 0 0.00

VBD_pump_during_apogee 190 751 3418.68 nil 0 0 0.00

VBD_pump_during_surface 203 643 3122.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 80.40 nil 0 0 0.00

Iridium_during_connect 36 160 139.30 ARS 0 0 0.00

Iridium_during_xfer 114 223 610.44

Transponder_ping 2 420 20.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.55

TT8 582 19 117.60

LPSleep 1906 2 42.58

TT8_Active 546 19 110.41

TT8_Sampling 540 39 219.61

TT8_CF8 299 45 139.88

TT8_Kalman 33 81 27.82

Analog_circuits 876 12 107.23

GPS_charging 0 0 0.00

Compass 525 8 42.88

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

23 -0.78 -78.2 0.0 0.0 0 98 0.00 0.00 -73.12 0.000 2 0.000 0.000 39 2166 2849

101 -0.78 -78.2 2.2 -2.3 12 168 13.68 3.05 -43.20 0.000 4 0.199 0.145 2354 732 3803

379 -0.78 -78.2 17.7 -6.0 55 386 0.00 2.75 0.00 0.000 6 0.000 0.089 2352 2158 3805

450 -0.78 -78.2 21.4 -4.8 64 455 0.00 2.85 0.00 0.000 4 0.000 0.121 2354 3564 3805

541 -0.78 -78.2 26.6 -5.8 70 549 0.00 2.85 0.00 0.000 6 0.000 0.103 2354 2149 3805

737 -0.78 -78.2 36.0 -4.7 86 742 0.00 2.95 0.00 0.000 4 0.000 0.140 2354 731 3806

822 -0.78 -78.2 40.2 -5.3 92 829 0.00 2.78 0.00 0.000 6 0.000 0.091 2353 2155 3806

1021 -0.78 -78.2 50.1 -5.3 108 1025 0.00 2.83 0.00 0.000 4 0.000 0.118 2354 3564 3807

1085 -0.78 -78.2 54.4 -6.2 112 1092 0.00 2.88 0.00 0.000 6 0.000 0.106 2354 2143 3807

1281 -0.78 -78.2 65.4 -5.6 128 1286 0.00 2.95 0.00 0.000 4 0.000 0.140 2353 731 3807

1306 -0.78 -78.2 66.8 -5.7 129 1314 0.00 2.80 0.00 0.000 6 0.000 0.094 2354 2157 3807

1503 -0.78 -78.2 77.2 -5.3 145 1507 0.00 2.83 0.00 0.000 4 0.000 0.118 2354 3571 3807

1555 -0.78 -78.2 80.3 -6.1 149 1560 0.00 2.85 0.00 0.000 6 0.000 0.107 2354 2146 3807

1750 -0.78 -78.2 91.5 -5.7 164 1751 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2146 3807

1900 end dive: TARGET_DEPTH_EXCEEDED

state 1900 begin apogee

1905 -0.31 0.0 100.2 5.7 176 1974 0.55 0.00 62.30 0.744 6 0.120 0.000 2460 2038 3484

1975 end apogee: CONTROL_FINISHED_OK

state 1975 begin climb

1977 0.78 78.2 101.9 0.0 182 2042 1.15 0.00 61.40 0.726 6 0.100 0.000 2696 2033 3164

2226 0.81 100.7 87.8 6.9 202 2251 0.00 2.88 17.10 0.735 4 0.000 0.098 2696 3467 3072

2290 0.81 100.7 83.1 7.9 207 2294 0.00 2.75 0.00 0.000 6 0.000 0.083 2696 2044 3072

2492 0.83 127.9 69.0 6.8 223 2518 0.00 3.00 20.65 0.726 4 0.000 0.128 2695 634 2961

2562 0.83 127.9 63.7 7.8 228 2570 0.00 2.70 0.00 0.000 6 0.000 0.074 2696 2054 2961

2759 0.87 161.9 50.3 6.6 244 2791 0.12 2.80 25.77 0.713 4 0.072 0.100 2726 3470 2823

2808 0.87 161.9 46.0 8.9 247 2816 0.00 2.78 0.00 0.000 6 0.000 0.082 2726 2049 2823

3005 0.87 161.9 27.7 9.4 263 3006 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2049 2822

3200 0.87 161.9 10.3 8.4 286 3207 0.00 2.85 0.00 0.000 4 0.000 0.125 2725 634 2822

3265 0.89 177.4 5.4 7.1 296 3274 0.00 2.65 3.08 0.752 2 0.000 0.072 2725 2062 2805

3274 end climb: SURFACE_DEPTH_REACHED

state 3274 begin surface coast

3325 end surface coast: CONTROL_FINISHED_OK

state 3327 begin surface

ID	22	HD_B	0.010364	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.4717998e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	159	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	208	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	0
D_PITCH	0	SM_CC	550	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	11	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	100	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	2	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	658	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3994	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3484	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	0
T_WATCHDOG	10	T_GPS_CHARGE	-112170.45	VBD_PUMP_AD_RATE_APOGEE	1	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	80	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	16	SIM_PITCH	0
GLIDE_SLOPE	15	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0044140997
SPEED_FACTOR	1	PITCH_MAX	3347	AH0_10V	61.200001	SEABIRD_T_H	0.00064927549
RHO	1.023	C_PITCH	2530	PRESSURE_YINT	-21.951805	SEABIRD_T_I	2.7523491e-05
MASS	51950	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011632	SEABIRD_T_J	3.1132354e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.525962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	1.7	SEABIRD_C_H	1.1896306
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	-0.89999998	SEABIRD_C_I	-0.0026426413
HD_A	0.0040048002	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00031414768

GPS1	075337,4739.531,-12253.529,12,1.4,28,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	1	TGT_RADIUS	200.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.275,0.024
_SM_DEPTHo	1.47	KALMAN_X	26913.5,235.1,223.2,-28036.6,5.5
_SM_ANGLEo	-70.7	KALMAN_Y	6512.7,23.9,168.0,-7017.2,-137.9
GPS2	075814,4739.520,-12253.521,13,1.5,30,18.3	MHEAD_RNG_PITCHd_Wd	66.8,409,-11.1,-7.407
SPEED_LIMITS	0.276,0.286	D_GRID	119

FINISH	2.7,1.020588	ALTIM_BOTTOM_PING	50.1,7.8
SM_CCo	3347,203.02,0.644,0,0,1241,550.21	_24V_AH	23.9,22.334
SM_GC	1.51,0.00,0.00,203.02,0.000,0.000,0.644,36,2168,1241,-11.47,0.51,550.21	_10V_AH	10.2,5.868
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	9596,305
TT8_MAMPS	0.028379	CFSIZE	260034560,252981248
HUMID	2063	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	260907,085953,4739.342,-12253.132,12,2.3,31,18.3
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	198	132.70	SBE_CT	201	24	115.56
Roll_motor	57	144	198.00	nil	0	0	0.00
VBD_pump_during_apogee	190	751	3418.68	nil	0	0	0.00
VBD_pump_during_surface	203	643	3122.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	80.40	nil	0	0	0.00
Iridium_during_connect	36	160	139.30	ARS	0	0	0.00
Iridium_during_xfer	114	223	610.44
Transponder_ping	2	420	20.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.55
TT8	582	19	117.60
LPSleep	1906	2	42.58
TT8_Active	546	19	110.41
TT8_Sampling	540	39	219.61
TT8_CF8	299	45	139.88
TT8_Kalman	33	81	27.82
Analog_circuits	876	12	107.23
GPS_charging	0	0	0.00
Compass	525	8	42.88
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
23	-0.78	-78.2	0.0	0.0	0	98	0.00	0.00	-73.12	0.000	2	0.000	0.000	39	2166	2849
101	-0.78	-78.2	2.2	-2.3	12	168	13.68	3.05	-43.20	0.000	4	0.199	0.145	2354	732	3803
379	-0.78	-78.2	17.7	-6.0	55	386	0.00	2.75	0.00	0.000	6	0.000	0.089	2352	2158	3805
450	-0.78	-78.2	21.4	-4.8	64	455	0.00	2.85	0.00	0.000	4	0.000	0.121	2354	3564	3805
541	-0.78	-78.2	26.6	-5.8	70	549	0.00	2.85	0.00	0.000	6	0.000	0.103	2354	2149	3805
737	-0.78	-78.2	36.0	-4.7	86	742	0.00	2.95	0.00	0.000	4	0.000	0.140	2354	731	3806
822	-0.78	-78.2	40.2	-5.3	92	829	0.00	2.78	0.00	0.000	6	0.000	0.091	2353	2155	3806
1021	-0.78	-78.2	50.1	-5.3	108	1025	0.00	2.83	0.00	0.000	4	0.000	0.118	2354	3564	3807
1085	-0.78	-78.2	54.4	-6.2	112	1092	0.00	2.88	0.00	0.000	6	0.000	0.106	2354	2143	3807
1281	-0.78	-78.2	65.4	-5.6	128	1286	0.00	2.95	0.00	0.000	4	0.000	0.140	2353	731	3807
1306	-0.78	-78.2	66.8	-5.7	129	1314	0.00	2.80	0.00	0.000	6	0.000	0.094	2354	2157	3807
1503	-0.78	-78.2	77.2	-5.3	145	1507	0.00	2.83	0.00	0.000	4	0.000	0.118	2354	3571	3807
1555	-0.78	-78.2	80.3	-6.1	149	1560	0.00	2.85	0.00	0.000	6	0.000	0.107	2354	2146	3807
1750	-0.78	-78.2	91.5	-5.7	164	1751	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2146	3807
1900	end dive: TARGET_DEPTH_EXCEEDED
state	1900	begin apogee
1905	-0.31	0.0	100.2	5.7	176	1974	0.55	0.00	62.30	0.744	6	0.120	0.000	2460	2038	3484
1975	end apogee: CONTROL_FINISHED_OK
state	1975	begin climb
1977	0.78	78.2	101.9	0.0	182	2042	1.15	0.00	61.40	0.726	6	0.100	0.000	2696	2033	3164
2226	0.81	100.7	87.8	6.9	202	2251	0.00	2.88	17.10	0.735	4	0.000	0.098	2696	3467	3072
2290	0.81	100.7	83.1	7.9	207	2294	0.00	2.75	0.00	0.000	6	0.000	0.083	2696	2044	3072
2492	0.83	127.9	69.0	6.8	223	2518	0.00	3.00	20.65	0.726	4	0.000	0.128	2695	634	2961
2562	0.83	127.9	63.7	7.8	228	2570	0.00	2.70	0.00	0.000	6	0.000	0.074	2696	2054	2961
2759	0.87	161.9	50.3	6.6	244	2791	0.12	2.80	25.77	0.713	4	0.072	0.100	2726	3470	2823
2808	0.87	161.9	46.0	8.9	247	2816	0.00	2.78	0.00	0.000	6	0.000	0.082	2726	2049	2823
3005	0.87	161.9	27.7	9.4	263	3006	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2049	2822
3200	0.87	161.9	10.3	8.4	286	3207	0.00	2.85	0.00	0.000	4	0.000	0.125	2725	634	2822
3265	0.89	177.4	5.4	7.1	296	3274	0.00	2.65	3.08	0.752	2	0.000	0.072	2725	2062	2805
3274	end climb: SURFACE_DEPTH_REACHED
state	3274	begin surface coast
3325	end surface coast: CONTROL_FINISHED_OK
state	3327	begin surface