Glider dive log

PortSusan 05Mar08 * SG140 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 140 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 4 HEADING -1 PITCH_ADJ_GAIN 0.059999999 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 21 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 157 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DEPTH 0

D_TGT 150 TGT_DEFAULT_LAT 4736 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 250 TGT_DEFAULT_LON -12218 C_ROLL_DIVE 2048 ALTIM_FREQUENCY 13

D_NO_BLEED 80 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2048 ALTIM_PULSE 3

D_FINISH 0 SM_CC 600 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 9 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 10 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 720 CALL_TRIES 5 VBD_MIN 520 DEVICE4 53

T_TURN 225 CALL_WAIT 60 VBD_MAX 3978 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3600 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 720 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -12749.998 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 20 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 592 AH0_24V 91.800003 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3894 AH0_10V 100 SEABIRD_T_H 0.0006414231

RHO 1.023 C_PITCH 2990 PRESSURE_YINT -1.6534929 SEABIRD_T_I 2.3931538e-05

MASS 51359 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.0994887e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 1 PITCH_GAIN 14.2 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00031207138

HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 14.2 SM_CC 600

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3894 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 592 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 150 PITCH_TIMEOUT 15 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 9.0994887e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -1.6534929 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -12749.998

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 20 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 225

COMPASS_USE 0 ID 140 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2990 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2048 KALMAN_USE 1 ROLL_MIN 157 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2048 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -4

C_VBD 3600 MASS 51359 R_PORT_OVSHOOT 9 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 10 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.258962 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0037964056 VBD_MAX 3978

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 20

DEVICE4 53 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 520

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 21 PHONE_DEVICE 48 SEABIRD_T_J 2.340664e-06 VBD_TIMEOUT 720

D_ABORT 250 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 172216,4806.869,-12223.251,9,5.3,28,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 400.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.103,0.239

_SM_DEPTHo 0.84 KALMAN_X 587.0,-35.3,-102.7,-621.4,2.6

_SM_ANGLEo -62.4 KALMAN_Y -2502.8,-181.2,-12.1,691.9,-13.2

GPS2 172717,4806.883,-12223.266,14,6.1,33,18.3 MHEAD_RNG_PITCHd_Wd 318.3,2259,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 99

Post-dive calculations and measurements:

FINISH 1.4,1.019078 XPDR_PINGS 19

SM_CCo 2344,260.12,0.759,0,0,1154,600.00 _24V_AH 23.7,8.313

SM_GC 1.03,0.00,0.00,260.12,0.000,0.000,0.759,592,2046,1154,-11.03,-0.06,600.00 _10V_AH 10.7,1.153

IRIDIUM_FIX 4748.51,-12224.57,310597,161603 DATA_FILE_SIZE 22356,405

TT8_MAMPS 0.02301 CAP_FILE_SIZE 46640,0

HUMID 1527 CFSIZE 260165632,256733184

INTERNAL_PRESSURE 8.34993 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.00 GPS 060308,181256,4807.121,-12223.423,41,1.1,41,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 182 120.49 SBE_CT 271 24 154.70

Roll_motor 49 130 153.89 SBE_O2 301 19 135.61

VBD_pump_during_apogee 280 876 5821.81 WL_BB2F 502 105 1251.17

VBD_pump_during_surface 260 758 4676.51 Optode 0 33 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 70.02 nil 0 0 0.00

Iridium_during_connect 12 160 49.20 nil 0 0 0.00

Iridium_during_xfer 157 223 833.42

Transponder_ping 4 420 47.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 18.38

TT8 582 19 123.35

LPSleep 660 2 15.48

TT8_Active 630 19 133.61

TT8_Sampling 756 39 322.19

TT8_CF8 295 45 144.90

TT8_Kalman 33 81 29.17

Analog_circuits 1060 12 136.19

GPS_charging 0 0 0.00

Compass 736 8 63.01

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 -1.41 -146.6 0.0 0.0 0 160 0.00 0.00 -136.05 0.000 2 0.000 0.000 591 2038 3823

162 -1.41 -146.6 3.6 -7.2 25 187 12.25 2.83 -3.40 0.000 4 0.183 0.116 2674 3454 3981

440 -1.23 -146.6 40.8 -13.1 74 447 0.22 2.72 0.00 0.000 6 0.111 0.100 2716 2044 3981

516 -1.15 -146.6 49.0 -9.8 87 523 0.10 2.78 0.00 0.000 4 0.127 0.106 2733 3467 3982

580 -1.26 -146.6 55.4 -9.9 98 587 0.00 2.72 0.00 0.000 6 0.000 0.098 2733 2046 3982

724 -1.26 -146.6 68.6 -9.4 123 729 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2045 3982

864 -1.26 -146.6 81.8 -8.9 148 871 0.00 2.90 0.00 0.000 4 0.000 0.130 2734 634 3982

894 -1.26 -146.6 84.7 -9.9 153 900 0.00 2.80 0.00 0.000 6 0.000 0.105 2733 2056 3982

1036 -1.26 -146.6 97.6 -9.3 178 1042 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2056 3982

1051 end dive: TARGET_DEPTH_EXCEEDED

state 1051 begin apogee

1056 -0.35 0.0 99.3 8.9 181 1136 0.85 0.00 73.25 0.877 6 0.099 0.000 2907 2056 3600

1137 end apogee: CONTROL_FINISHED_OK

state 1137 begin climb

1139 1.41 146.6 102.0 0.0 196 1262 1.77 2.80 112.72 0.838 4 0.067 0.106 3293 3463 3002

1291 0.95 196.6 99.1 7.7 224 1341 0.50 2.75 39.58 0.824 6 0.110 0.097 3198 2043 2798

1476 1.14 235.6 84.8 8.2 257 1515 0.15 2.83 31.10 0.827 4 0.061 0.102 3238 3464 2639

1538 1.14 235.6 78.6 11.1 268 1545 0.00 2.75 0.00 0.000 6 0.000 0.097 3239 2046 2639

1680 1.14 235.6 63.6 10.6 293 1686 0.00 2.75 0.00 0.000 4 0.000 0.101 3239 3461 2639

1715 1.07 235.6 59.8 11.0 299 1721 0.00 2.72 0.00 0.000 6 0.000 0.097 3239 2048 2639

1857 1.07 235.6 45.0 10.3 324 1863 0.00 2.75 0.00 0.000 4 0.000 0.102 3239 3468 2639

1897 1.07 235.6 40.7 10.6 331 1904 0.00 2.72 0.00 0.000 6 0.000 0.097 3239 2046 2639

1972 1.07 235.6 32.9 10.5 344 1977 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 2046 2639

2045 1.07 235.6 25.5 10.1 357 2052 0.00 2.72 0.00 0.000 4 0.000 0.101 3239 3461 2639

2075 1.07 235.6 22.3 11.2 362 2081 0.00 2.70 0.00 0.000 6 0.000 0.097 3239 2050 2639

2150 1.08 240.8 14.7 9.8 375 2161 0.00 0.00 5.75 0.673 6 0.000 0.000 3239 2050 2617

2230 1.10 261.8 6.9 9.0 389 2253 0.00 2.78 17.80 0.805 4 0.000 0.100 3239 3463 2532

2291 end climb: SURFACE_DEPTH_REACHED

state 2291 begin surface coast

2320 end surface coast: CONTROL_FINISHED_OK

state 2321 begin surface

ID	140	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	-1	PITCH_ADJ_GAIN	0.059999999	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	21	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	157	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DEPTH	0
D_TGT	150	TGT_DEFAULT_LAT	4736	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	250	TGT_DEFAULT_LON	-12218	C_ROLL_DIVE	2048	ALTIM_FREQUENCY	13
D_NO_BLEED	80	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2048	ALTIM_PULSE	3
D_FINISH	0	SM_CC	600	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	9	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	10	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	720	CALL_TRIES	5	VBD_MIN	520	DEVICE4	53
T_TURN	225	CALL_WAIT	60	VBD_MAX	3978	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3600	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	720	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-12749.998	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	20	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	592	AH0_24V	91.800003	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3894	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.023	C_PITCH	2990	PRESSURE_YINT	-1.6534929	SEABIRD_T_I	2.3931538e-05
MASS	51359	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.0994887e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	1	PITCH_GAIN	14.2	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00031207138
HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	172216,4806.869,-12223.251,9,5.3,28,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	400.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.103,0.239
_SM_DEPTHo	0.84	KALMAN_X	587.0,-35.3,-102.7,-621.4,2.6
_SM_ANGLEo	-62.4	KALMAN_Y	-2502.8,-181.2,-12.1,691.9,-13.2
GPS2	172717,4806.883,-12223.266,14,6.1,33,18.3	MHEAD_RNG_PITCHd_Wd	318.3,2259,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	99

FINISH	1.4,1.019078	XPDR_PINGS	19
SM_CCo	2344,260.12,0.759,0,0,1154,600.00	_24V_AH	23.7,8.313
SM_GC	1.03,0.00,0.00,260.12,0.000,0.000,0.759,592,2046,1154,-11.03,-0.06,600.00	_10V_AH	10.7,1.153
IRIDIUM_FIX	4748.51,-12224.57,310597,161603	DATA_FILE_SIZE	22356,405
TT8_MAMPS	0.02301	CAP_FILE_SIZE	46640,0
HUMID	1527	CFSIZE	260165632,256733184
INTERNAL_PRESSURE	8.34993	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.00	GPS	060308,181256,4807.121,-12223.423,41,1.1,41,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	182	120.49	SBE_CT	271	24	154.70
Roll_motor	49	130	153.89	SBE_O2	301	19	135.61
VBD_pump_during_apogee	280	876	5821.81	WL_BB2F	502	105	1251.17
VBD_pump_during_surface	260	758	4676.51	Optode	0	33	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	70.02	nil	0	0	0.00
Iridium_during_connect	12	160	49.20	nil	0	0	0.00
Iridium_during_xfer	157	223	833.42
Transponder_ping	4	420	47.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	18.38
TT8	582	19	123.35
LPSleep	660	2	15.48
TT8_Active	630	19	133.61
TT8_Sampling	756	39	322.19
TT8_CF8	295	45	144.90
TT8_Kalman	33	81	29.17
Analog_circuits	1060	12	136.19
GPS_charging	0	0	0.00
Compass	736	8	63.01
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	-1.41	-146.6	0.0	0.0	0	160	0.00	0.00	-136.05	0.000	2	0.000	0.000	591	2038	3823
162	-1.41	-146.6	3.6	-7.2	25	187	12.25	2.83	-3.40	0.000	4	0.183	0.116	2674	3454	3981
440	-1.23	-146.6	40.8	-13.1	74	447	0.22	2.72	0.00	0.000	6	0.111	0.100	2716	2044	3981
516	-1.15	-146.6	49.0	-9.8	87	523	0.10	2.78	0.00	0.000	4	0.127	0.106	2733	3467	3982
580	-1.26	-146.6	55.4	-9.9	98	587	0.00	2.72	0.00	0.000	6	0.000	0.098	2733	2046	3982
724	-1.26	-146.6	68.6	-9.4	123	729	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2045	3982
864	-1.26	-146.6	81.8	-8.9	148	871	0.00	2.90	0.00	0.000	4	0.000	0.130	2734	634	3982
894	-1.26	-146.6	84.7	-9.9	153	900	0.00	2.80	0.00	0.000	6	0.000	0.105	2733	2056	3982
1036	-1.26	-146.6	97.6	-9.3	178	1042	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2056	3982
1051	end dive: TARGET_DEPTH_EXCEEDED
state	1051	begin apogee
1056	-0.35	0.0	99.3	8.9	181	1136	0.85	0.00	73.25	0.877	6	0.099	0.000	2907	2056	3600
1137	end apogee: CONTROL_FINISHED_OK
state	1137	begin climb
1139	1.41	146.6	102.0	0.0	196	1262	1.77	2.80	112.72	0.838	4	0.067	0.106	3293	3463	3002
1291	0.95	196.6	99.1	7.7	224	1341	0.50	2.75	39.58	0.824	6	0.110	0.097	3198	2043	2798
1476	1.14	235.6	84.8	8.2	257	1515	0.15	2.83	31.10	0.827	4	0.061	0.102	3238	3464	2639
1538	1.14	235.6	78.6	11.1	268	1545	0.00	2.75	0.00	0.000	6	0.000	0.097	3239	2046	2639
1680	1.14	235.6	63.6	10.6	293	1686	0.00	2.75	0.00	0.000	4	0.000	0.101	3239	3461	2639
1715	1.07	235.6	59.8	11.0	299	1721	0.00	2.72	0.00	0.000	6	0.000	0.097	3239	2048	2639
1857	1.07	235.6	45.0	10.3	324	1863	0.00	2.75	0.00	0.000	4	0.000	0.102	3239	3468	2639
1897	1.07	235.6	40.7	10.6	331	1904	0.00	2.72	0.00	0.000	6	0.000	0.097	3239	2046	2639
1972	1.07	235.6	32.9	10.5	344	1977	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	2046	2639
2045	1.07	235.6	25.5	10.1	357	2052	0.00	2.72	0.00	0.000	4	0.000	0.101	3239	3461	2639
2075	1.07	235.6	22.3	11.2	362	2081	0.00	2.70	0.00	0.000	6	0.000	0.097	3239	2050	2639
2150	1.08	240.8	14.7	9.8	375	2161	0.00	0.00	5.75	0.673	6	0.000	0.000	3239	2050	2617
2230	1.10	261.8	6.9	9.0	389	2253	0.00	2.78	17.80	0.805	4	0.000	0.100	3239	3463	2532
2291	end climb: SURFACE_DEPTH_REACHED
state	2291	begin surface coast
2320	end surface coast: CONTROL_FINISHED_OK
state	2321	begin surface