Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 21 ESCAPE_HEADING 180 ROLL_MIN 311 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 17 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_TGT 240 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2550 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 17 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 49 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 INT_PRESSURE_YINT 1.4

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 80 UPLOAD_DIVES_MAX -1 VBD_MIN 582 DEVICE2 -1

T_MISSION 90 CALL_TRIES 5 VBD_MAX 3956 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2937 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 1

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 3

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 500 T_GPS_CHARGE -86081.328 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE -1

COURSE_BIAS 0 PITCH_MIN 428 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3730 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2970 PRESSURE_YINT -8.3219604 SEABIRD_T_G 0.0043077655

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063814409

MASS 51726 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4031482e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4698193e-06

FERRY_MAX 45 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826059

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1260695

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0021108589

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00021799213

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 500 PITCH_GAIN 10 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3730 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 428 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 240 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -8.3219604 TGT_DEFAULT_LAT 21.83

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -159.78

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 80

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -86081.328

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 90

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 118 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 1.4 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2970 KALMAN_USE 1 ROLL_MIN 311 USE_BATHY 0

C_ROLL_CLIMB 2550 KERMIT 0 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_DIVE 2400 MASS 51726 R_PORT_OVSHOOT 49 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 150 R_STBD_OVSHOOT 32 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 21 SEABIRD_C_G -9.9826059 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1260695 VBD_MAX 3956

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0021108589 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00021799213 VBD_MIN 582

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043077655 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063814409 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4031482e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4698193e-06 XPDR_DEVICE -1

DIVE 17 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 213812,2152.771,-15944.627,8,1.9,24,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 2 TGT_RADIUS 500.000

_XMS_NAKs 20 KALMAN_CONTROL 0.208,-0.157

_XMS_TOUTs 0 KALMAN_X -11384.2,-1041.8,-635.7,7780.5,-978.0

_SM_DEPTHo 0.73 KALMAN_Y 9807.5,9.3,-15.3,-15791.5,738.9

_SM_ANGLEo -61.8 MHEAD_RNG_PITCHd_Wd 117.3,7484,-18.3,-10.000

GPS2 215603,2152.854,-15945.035,11,2.0,30,9.8 D_GRID 240

SPEED_LIMITS 0.173,0.260 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.1,1.022951 MM_CLLLayer 0.03

SM_CCo 4522,0.00,0.000,0,0,1607,326.00 MM_CfgFile 0.30

SM_GC 0.90,13.15,0.00,0.00,0.025,0.000,0.000,418,2387,1607,-11.65,-0.37,326.00 _24V_AH 24.1,18.540

IRIDIUM_FIX 2143.45,-15948.11,231098,212109 _10V_AH 10.1,23.515

TT8_MAMPS 0.059059 DATA_FILE_SIZE 12708,411

HUMID 1774 CAP_FILE_SIZE 163083,0

INTERNAL_PRESSURE 10.1503 CFSIZE -70647808,-83034112

TCM_TEMP 24.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 290709,231314,2152.886,-15945.215,10,1.6,10,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 125 85.34 SBE_CT 276 24 160.07

Roll_motor 34 49 41.51 nil 0 0 0.00

VBD_pump_during_apogee 359 589 5109.23 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 55 103 138.09 nil 0 0 0.00

Iridium_during_connect 73 160 282.09 GUMSTIX 74 1000 1791.28

Iridium_during_xfer 636 223 3423.25

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 242 1000 5851.21

GPS 30 50 15.30

TT8 819 18 149.04

LPSleep 2069 0 8.15

TT8_Active 378 18 68.76

TT8_Sampling 838 38 321.96

TT8_CF8 1486 44 660.69

TT8_Kalman 33 80 26.93

Analog_circuits 870 12 105.51

GPS_charging 0 0 0.00

Compass 789 8 63.80

RAFOS 0 0 0.00

Transponder 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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

20 -2.00 -146.0 0.0 0.0 0 86 0.00 0.00 -63.67 0.000 2 0.000 0.000 418 2382 3305

93 -2.00 -146.0 3.4 -7.1 9 114 10.98 0.00 -3.53 0.000 6 0.126 0.000 2531 2383 3533

186 -2.00 -146.0 30.0 -18.8 20 193 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2382 3535

387 -2.00 -146.0 68.7 -18.1 39 394 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2383 3535

716 -2.00 -146.0 120.0 -15.4 70 720 0.00 2.53 0.00 0.000 4 0.000 0.039 2531 3805 3536

864 -2.00 -146.0 140.6 -13.6 82 868 0.00 2.40 0.00 0.000 6 0.000 0.024 2531 2409 3536

1192 -2.00 -146.0 185.2 -14.2 112 1196 0.00 2.40 0.00 0.000 4 0.000 0.044 2531 1006 3536

1273 -2.00 -146.0 198.0 -16.2 118 1281 0.00 2.30 0.00 0.000 6 0.000 0.023 2531 2410 3536

1548 end dive: TARGET_DEPTH_EXCEEDED

state 1548 begin apogee

1560 -0.50 0.0 240.6 14.8 144 1680 1.48 0.00 109.57 0.589 6 0.064 0.000 2855 2565 2937

1686 end apogee: CONTROL_FINISHED_OK

state 1686 begin climb

1692 2.00 146.0 248.7 0.0 156 1813 2.40 2.53 108.53 0.589 4 0.038 0.044 3419 1149 2341

1902 2.01 153.6 240.3 9.7 173 1916 0.00 2.35 7.53 0.476 6 0.000 0.027 3419 2545 2310

2236 2.05 182.8 211.6 8.7 204 2264 0.00 2.58 22.77 0.555 4 0.000 0.050 3419 3935 2191

2412 2.10 219.8 196.0 8.3 218 2446 0.00 2.42 29.00 0.555 6 0.000 0.027 3419 2542 2039

2776 2.10 227.2 162.6 9.7 252 2790 0.00 2.42 6.60 0.449 4 0.000 0.047 3419 1151 2010

2905 2.10 227.2 149.0 10.9 262 2912 0.00 2.35 0.00 0.000 6 0.000 0.028 3419 2547 2008

3234 2.11 231.9 113.4 9.8 293 3246 0.00 2.53 4.70 0.383 4 0.000 0.048 3419 3934 1990

3512 2.11 231.9 87.9 10.3 316 3519 0.00 2.40 0.00 0.000 6 0.000 0.025 3418 2538 1989

3840 2.22 323.2 62.8 5.8 347 3921 0.15 2.53 71.20 0.489 4 0.040 0.044 3470 3925 1618

4188 2.22 323.2 24.8 10.4 376 4192 0.00 2.38 0.00 0.000 6 0.000 0.024 3470 2548 1613

4387 end climb: SURFACE_DEPTH_REACHED

state 4387 begin surface coast

4428 end surface coast: CONTROL_FINISHED_OK

state 4428 begin surface

ID	118	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	21	ESCAPE_HEADING	180	ROLL_MIN	311	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	17	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_TGT	240	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2550	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	17	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	49	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	INT_PRESSURE_YINT	1.4
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	80	UPLOAD_DIVES_MAX	-1	VBD_MIN	582	DEVICE2	-1
T_MISSION	90	CALL_TRIES	5	VBD_MAX	3956	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2937	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	1
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	3
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	500	T_GPS_CHARGE	-86081.328	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	-1
COURSE_BIAS	0	PITCH_MIN	428	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3730	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2970	PRESSURE_YINT	-8.3219604	SEABIRD_T_G	0.0043077655
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063814409
MASS	51726	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4031482e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4698193e-06
FERRY_MAX	45	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826059
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1260695
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0021108589
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00021799213
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	213812,2152.771,-15944.627,8,1.9,24,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	2	TGT_RADIUS	500.000
_XMS_NAKs	20	KALMAN_CONTROL	0.208,-0.157
_XMS_TOUTs	0	KALMAN_X	-11384.2,-1041.8,-635.7,7780.5,-978.0
_SM_DEPTHo	0.73	KALMAN_Y	9807.5,9.3,-15.3,-15791.5,738.9
_SM_ANGLEo	-61.8	MHEAD_RNG_PITCHd_Wd	117.3,7484,-18.3,-10.000
GPS2	215603,2152.854,-15945.035,11,2.0,30,9.8	D_GRID	240
SPEED_LIMITS	0.173,0.260	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.1,1.022951	MM_CLLLayer	0.03
SM_CCo	4522,0.00,0.000,0,0,1607,326.00	MM_CfgFile	0.30
SM_GC	0.90,13.15,0.00,0.00,0.025,0.000,0.000,418,2387,1607,-11.65,-0.37,326.00	_24V_AH	24.1,18.540
IRIDIUM_FIX	2143.45,-15948.11,231098,212109	_10V_AH	10.1,23.515
TT8_MAMPS	0.059059	DATA_FILE_SIZE	12708,411
HUMID	1774	CAP_FILE_SIZE	163083,0
INTERNAL_PRESSURE	10.1503	CFSIZE	-70647808,-83034112
TCM_TEMP	24.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	290709,231314,2152.886,-15945.215,10,1.6,10,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	125	85.34	SBE_CT	276	24	160.07
Roll_motor	34	49	41.51	nil	0	0	0.00
VBD_pump_during_apogee	359	589	5109.23	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	55	103	138.09	nil	0	0	0.00
Iridium_during_connect	73	160	282.09	GUMSTIX	74	1000	1791.28
Iridium_during_xfer	636	223	3423.25
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	242	1000	5851.21
GPS	30	50	15.30
TT8	819	18	149.04
LPSleep	2069	0	8.15
TT8_Active	378	18	68.76
TT8_Sampling	838	38	321.96
TT8_CF8	1486	44	660.69
TT8_Kalman	33	80	26.93
Analog_circuits	870	12	105.51
GPS_charging	0	0	0.00
Compass	789	8	63.80
RAFOS	0	0	0.00
Transponder	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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
20	-2.00	-146.0	0.0	0.0	0	86	0.00	0.00	-63.67	0.000	2	0.000	0.000	418	2382	3305
93	-2.00	-146.0	3.4	-7.1	9	114	10.98	0.00	-3.53	0.000	6	0.126	0.000	2531	2383	3533
186	-2.00	-146.0	30.0	-18.8	20	193	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2382	3535
387	-2.00	-146.0	68.7	-18.1	39	394	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2383	3535
716	-2.00	-146.0	120.0	-15.4	70	720	0.00	2.53	0.00	0.000	4	0.000	0.039	2531	3805	3536
864	-2.00	-146.0	140.6	-13.6	82	868	0.00	2.40	0.00	0.000	6	0.000	0.024	2531	2409	3536
1192	-2.00	-146.0	185.2	-14.2	112	1196	0.00	2.40	0.00	0.000	4	0.000	0.044	2531	1006	3536
1273	-2.00	-146.0	198.0	-16.2	118	1281	0.00	2.30	0.00	0.000	6	0.000	0.023	2531	2410	3536
1548	end dive: TARGET_DEPTH_EXCEEDED
state	1548	begin apogee
1560	-0.50	0.0	240.6	14.8	144	1680	1.48	0.00	109.57	0.589	6	0.064	0.000	2855	2565	2937
1686	end apogee: CONTROL_FINISHED_OK
state	1686	begin climb
1692	2.00	146.0	248.7	0.0	156	1813	2.40	2.53	108.53	0.589	4	0.038	0.044	3419	1149	2341
1902	2.01	153.6	240.3	9.7	173	1916	0.00	2.35	7.53	0.476	6	0.000	0.027	3419	2545	2310
2236	2.05	182.8	211.6	8.7	204	2264	0.00	2.58	22.77	0.555	4	0.000	0.050	3419	3935	2191
2412	2.10	219.8	196.0	8.3	218	2446	0.00	2.42	29.00	0.555	6	0.000	0.027	3419	2542	2039
2776	2.10	227.2	162.6	9.7	252	2790	0.00	2.42	6.60	0.449	4	0.000	0.047	3419	1151	2010
2905	2.10	227.2	149.0	10.9	262	2912	0.00	2.35	0.00	0.000	6	0.000	0.028	3419	2547	2008
3234	2.11	231.9	113.4	9.8	293	3246	0.00	2.53	4.70	0.383	4	0.000	0.048	3419	3934	1990
3512	2.11	231.9	87.9	10.3	316	3519	0.00	2.40	0.00	0.000	6	0.000	0.025	3418	2538	1989
3840	2.22	323.2	62.8	5.8	347	3921	0.15	2.53	71.20	0.489	4	0.040	0.044	3470	3925	1618
4188	2.22	323.2	24.8	10.4	376	4192	0.00	2.38	0.00	0.000	6	0.000	0.024	3470	2548	1613
4387	end climb: SURFACE_DEPTH_REACHED
state	4387	begin surface coast
4428	end surface coast: CONTROL_FINISHED_OK
state	4428	begin surface