Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 161 * 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 161 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 39 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 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 -62413.918 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 -62413.918

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 39 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 41 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 161 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 201815,4806.257,-12222.306,10,1.8,11,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.095,0.125

_SM_DEPTHo 1.01 KALMAN_X 12426.3,-25.3,117.3,-10578.1,-111.5

_SM_ANGLEo -63.7 KALMAN_Y 5473.8,115.0,-166.5,-9471.5,250.7

GPS2 202215,4806.280,-12222.325,12,1.8,12,18.3 MHEAD_RNG_PITCHd_Wd 304.6,3800,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 107

Post-dive calculations and measurements:

FINISH 0.4,1.022588 XPDR_PINGS 4

SM_CCo 3781,64.12,0.692,0,0,1577,300.00 ALTIM_BOTTOM_PING 70.1,46.5

SM_GC 1.05,0.00,0.00,64.12,0.000,0.000,0.692,14,2236,1577,-8.77,0.74,300.00 _24V_AH 24.5,21.322

IRIDIUM_FIX 4748.51,-12221.84,110907,232346 _10V_AH 10.8,9.181

TT8_MAMPS 0.026845 DATA_FILE_SIZE 22263,416

HUMID 1869 CFSIZE 260165632,253198336

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

TCM_TEMP 16.90 GPS 110907,212808,4806.671,-12222.609,11,1.6,12,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 215 109.57 SBE_CT 294 24 173.44

Roll_motor 36 59 53.46 SBE_O2 327 19 152.30

VBD_pump_during_apogee 237 798 4650.85 WL_BB2F 702 105 1806.40

VBD_pump_during_surface 64 691 1086.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 95.34 nil 0 0 0.00

Iridium_during_connect 37 160 147.89 nil 0 0 0.00

Iridium_during_xfer 86 223 471.77

Transponder_ping 1 420 12.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.65

TT8 680 19 145.62

LPSleep 1926 2 45.57

TT8_Active 386 19 82.73

TT8_Sampling 844 39 363.19

TT8_CF8 270 45 133.98

TT8_Kalman 33 81 29.45

Analog_circuits 817 12 105.96

GPS_charging 0 0 0.00

Compass 863 8 74.59

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.66 -146.6 0.0 0.0 0 145 0.00 0.00 -120.28 0.000 2 0.000 0.000 16 2228 3285

147 -0.66 -146.6 3.2 -2.9 22 167 10.57 2.35 -2.47 0.000 4 0.216 0.052 2603 804 3399

468 -0.66 -146.6 24.7 -5.2 71 476 0.00 2.30 0.00 0.000 6 0.000 0.035 2604 2207 3401

667 -0.66 -146.6 34.6 -4.8 90 671 0.00 2.28 0.00 0.000 4 0.000 0.039 2604 801 3401

811 -0.66 -146.6 42.4 -5.2 102 818 0.00 2.30 0.00 0.000 6 0.000 0.035 2603 2212 3402

1009 -0.66 -146.6 52.1 -4.8 121 1010 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 2213 3401

1327 -0.66 -146.6 68.0 -5.3 151 1331 0.00 2.30 0.00 0.000 4 0.000 0.051 2597 3619 3402

1372 -0.66 -146.6 70.4 -5.5 155 1376 0.00 2.22 0.00 0.000 6 0.000 0.028 2597 2199 3402

1699 -0.66 -146.6 87.4 -5.3 185 1703 0.00 2.35 0.00 0.000 4 0.000 0.051 2596 3618 3402

1749 -0.66 -146.6 90.4 -6.2 189 1753 0.00 2.20 0.00 0.000 6 0.000 0.028 2596 2207 3402

1843 end dive: TARGET_DEPTH_EXCEEDED

state 1843 begin apogee

1848 -0.23 0.0 95.4 5.1 198 1967 0.47 0.00 111.97 0.773 6 0.106 0.000 2746 2204 2799

1967 end apogee: CONTROL_FINISHED_OK

state 1967 begin climb

1969 0.66 146.6 97.5 0.0 210 2089 0.85 2.38 111.30 0.692 4 0.079 0.048 3027 3555 2200

2100 0.66 146.6 92.1 6.0 223 2105 0.00 2.33 0.00 0.000 6 0.000 0.030 3035 2166 2200

2426 0.66 146.6 71.6 6.2 253 2430 0.00 2.33 0.00 0.000 4 0.000 0.043 3035 747 2199

2442 0.66 146.6 70.7 5.8 254 2446 0.00 2.30 0.00 0.000 6 0.000 0.035 3035 2157 2199

2767 0.66 146.6 50.6 6.1 284 2769 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2158 2199

3085 0.66 146.6 31.4 5.9 314 3089 0.00 2.30 0.00 0.000 4 0.000 0.050 3035 3558 2198

3112 0.66 146.6 29.7 6.6 316 3116 0.00 2.25 0.00 0.000 6 0.000 0.031 3038 2148 2198

3311 0.66 146.6 18.1 5.7 337 3317 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2147 2198

3386 0.66 146.6 14.1 5.6 350 3392 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2147 2198

3459 0.66 146.6 10.1 5.4 363 3466 0.00 2.35 0.00 0.000 4 0.000 0.050 3038 3566 2198

3494 0.66 146.6 8.0 5.7 369 3500 0.00 2.28 0.00 0.000 6 0.000 0.031 3038 2138 2198

3568 0.68 158.5 4.3 4.7 382 3581 0.00 0.00 9.25 0.798 6 0.000 0.000 3038 2137 2153

3649 0.78 246.1 2.1 2.3 396 3656 0.10 0.00 5.22 0.685 2 0.073 0.000 3091 2137 2126

3657 end climb: SURFACE_DEPTH_REACHED

state 3657 begin surface coast

3764 end surface coast: CONTROL_FINISHED_OK

state 3764 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	161	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	39	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	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	-62413.918	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	201815,4806.257,-12222.306,10,1.8,11,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.095,0.125
_SM_DEPTHo	1.01	KALMAN_X	12426.3,-25.3,117.3,-10578.1,-111.5
_SM_ANGLEo	-63.7	KALMAN_Y	5473.8,115.0,-166.5,-9471.5,250.7
GPS2	202215,4806.280,-12222.325,12,1.8,12,18.3	MHEAD_RNG_PITCHd_Wd	304.6,3800,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	107

FINISH	0.4,1.022588	XPDR_PINGS	4
SM_CCo	3781,64.12,0.692,0,0,1577,300.00	ALTIM_BOTTOM_PING	70.1,46.5
SM_GC	1.05,0.00,0.00,64.12,0.000,0.000,0.692,14,2236,1577,-8.77,0.74,300.00	_24V_AH	24.5,21.322
IRIDIUM_FIX	4748.51,-12221.84,110907,232346	_10V_AH	10.8,9.181
TT8_MAMPS	0.026845	DATA_FILE_SIZE	22263,416
HUMID	1869	CFSIZE	260165632,253198336
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	110907,212808,4806.671,-12222.609,11,1.6,12,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	215	109.57	SBE_CT	294	24	173.44
Roll_motor	36	59	53.46	SBE_O2	327	19	152.30
VBD_pump_during_apogee	237	798	4650.85	WL_BB2F	702	105	1806.40
VBD_pump_during_surface	64	691	1086.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	95.34	nil	0	0	0.00
Iridium_during_connect	37	160	147.89	nil	0	0	0.00
Iridium_during_xfer	86	223	471.77
Transponder_ping	1	420	12.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.65
TT8	680	19	145.62
LPSleep	1926	2	45.57
TT8_Active	386	19	82.73
TT8_Sampling	844	39	363.19
TT8_CF8	270	45	133.98
TT8_Kalman	33	81	29.45
Analog_circuits	817	12	105.96
GPS_charging	0	0	0.00
Compass	863	8	74.59
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.66	-146.6	0.0	0.0	0	145	0.00	0.00	-120.28	0.000	2	0.000	0.000	16	2228	3285
147	-0.66	-146.6	3.2	-2.9	22	167	10.57	2.35	-2.47	0.000	4	0.216	0.052	2603	804	3399
468	-0.66	-146.6	24.7	-5.2	71	476	0.00	2.30	0.00	0.000	6	0.000	0.035	2604	2207	3401
667	-0.66	-146.6	34.6	-4.8	90	671	0.00	2.28	0.00	0.000	4	0.000	0.039	2604	801	3401
811	-0.66	-146.6	42.4	-5.2	102	818	0.00	2.30	0.00	0.000	6	0.000	0.035	2603	2212	3402
1009	-0.66	-146.6	52.1	-4.8	121	1010	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	2213	3401
1327	-0.66	-146.6	68.0	-5.3	151	1331	0.00	2.30	0.00	0.000	4	0.000	0.051	2597	3619	3402
1372	-0.66	-146.6	70.4	-5.5	155	1376	0.00	2.22	0.00	0.000	6	0.000	0.028	2597	2199	3402
1699	-0.66	-146.6	87.4	-5.3	185	1703	0.00	2.35	0.00	0.000	4	0.000	0.051	2596	3618	3402
1749	-0.66	-146.6	90.4	-6.2	189	1753	0.00	2.20	0.00	0.000	6	0.000	0.028	2596	2207	3402
1843	end dive: TARGET_DEPTH_EXCEEDED
state	1843	begin apogee
1848	-0.23	0.0	95.4	5.1	198	1967	0.47	0.00	111.97	0.773	6	0.106	0.000	2746	2204	2799
1967	end apogee: CONTROL_FINISHED_OK
state	1967	begin climb
1969	0.66	146.6	97.5	0.0	210	2089	0.85	2.38	111.30	0.692	4	0.079	0.048	3027	3555	2200
2100	0.66	146.6	92.1	6.0	223	2105	0.00	2.33	0.00	0.000	6	0.000	0.030	3035	2166	2200
2426	0.66	146.6	71.6	6.2	253	2430	0.00	2.33	0.00	0.000	4	0.000	0.043	3035	747	2199
2442	0.66	146.6	70.7	5.8	254	2446	0.00	2.30	0.00	0.000	6	0.000	0.035	3035	2157	2199
2767	0.66	146.6	50.6	6.1	284	2769	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2158	2199
3085	0.66	146.6	31.4	5.9	314	3089	0.00	2.30	0.00	0.000	4	0.000	0.050	3035	3558	2198
3112	0.66	146.6	29.7	6.6	316	3116	0.00	2.25	0.00	0.000	6	0.000	0.031	3038	2148	2198
3311	0.66	146.6	18.1	5.7	337	3317	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2147	2198
3386	0.66	146.6	14.1	5.6	350	3392	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2147	2198
3459	0.66	146.6	10.1	5.4	363	3466	0.00	2.35	0.00	0.000	4	0.000	0.050	3038	3566	2198
3494	0.66	146.6	8.0	5.7	369	3500	0.00	2.28	0.00	0.000	6	0.000	0.031	3038	2138	2198
3568	0.68	158.5	4.3	4.7	382	3581	0.00	0.00	9.25	0.798	6	0.000	0.000	3038	2137	2153
3649	0.78	246.1	2.1	2.3	396	3656	0.10	0.00	5.22	0.685	2	0.073	0.000	3091	2137	2126
3657	end climb: SURFACE_DEPTH_REACHED
state	3657	begin surface coast
3764	end surface coast: CONTROL_FINISHED_OK
state	3764	begin surface