Glider dive log

PortSusan 15Oct08 * SG005 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 21 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 60

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 52 C_ROLL_DIVE 2190 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -7 C_ROLL_CLIMB 2190 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 400 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 41 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 80 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 100 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3240 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 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -85938.453 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 16

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 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2650 PRESSURE_YINT -24.906118 SEABIRD_T_G 0.0043761111

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064345129

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5632376e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7382036e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.188265

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1432956

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00020702372

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00012956691

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 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 12 PRESSURE_YINT -24.906118 TGT_DEFAULT_LAT 52

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -7

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 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -85938.453

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 100

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 360 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2650 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2190 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2190 MASS 52000 R_PORT_OVSHOOT 41 VBD_BLEED_AD_RATE 8

C_VBD 3240 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -10.188265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1432956 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00020702372 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012956691 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043761111 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064345129 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5632376e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.7382036e-06 XPDR_DEVICE 21

DIVE 21 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 104716,4807.882,-12224.081,8,2.8,28,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.108,0.001

_SM_DEPTHo 0.57 KALMAN_X -706.7,330.6,213.3,-950.3,-233.9

_SM_ANGLEo -68.8 KALMAN_Y 2902.6,-876.6,7.4,-2007.6,134.3

GPS2 105145,4807.925,-12224.133,26,1.9,34,18.3 MHEAD_RNG_PITCHd_Wd 71.3,215,-27.4,-6.250

SPEED_LIMITS 0.108,0.225 D_GRID 150

Post-dive calculations and measurements:

FINISH -0.3,1.020299 ALTIM_BOTTOM_PING 90.9,33.0

SM_CCo 3331,125.53,0.723,2,0,1608,400.08 _24V_AH 24.0,2.323

SM_GC 0.57,0.00,0.00,125.53,0.000,0.000,0.723,421,2153,1608,-10.25,-1.05,400.08 _10V_AH 10.1,0.843

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 15980,322

TT8_MAMPS 0.029146 CAP_FILE_SIZE 42448,0

HUMID 1727 CFSIZE 254472192,252690432

TCM_TEMP 18.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,2,0

XPDR_PINGS 5 GPS 161008,115137,4808.106,-12224.066,33,1.0,34,18.3

ALTIM_TOP_PING 19.6,19.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 134 82.47 SBE_CT 223 24 128.56

Roll_motor 34 74 62.45 SBE_O2 236 19 107.83

VBD_pump_during_apogee 170 819 3357.88 WL_BB2F 555 105 1398.96

VBD_pump_during_surface 125 722 2176.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.34 nil 0 0 0.00

Iridium_during_connect 26 160 101.11 nil 0 0 0.00

Iridium_during_xfer 91 223 490.22

Transponder_ping 3 420 30.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.62

TT8 546 19 109.19

LPSleep 1839 2 40.69

TT8_Active 372 19 74.49

TT8_Sampling 720 39 289.72

TT8_CF8 271 45 125.74

TT8_Kalman 33 81 27.52

Analog_circuits 719 12 87.16

GPS_charging 0 0 0.00

Compass 695 8 56.16

RAFOS 0 0 0.00

Transponder 14 30 4.42

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.87 -30.7 0.0 0.0 0 98 0.00 0.00 -79.03 0.000 6 0.000 0.000 421 2191 3365

102 -1.88 -37.6 3.7 -5.3 14 122 9.38 2.60 -0.75 0.000 4 0.134 0.074 2236 3597 3395

376 -1.51 -46.9 29.4 -5.0 47 383 0.43 2.45 -0.57 0.000 6 0.108 0.046 2322 2201 3436

577 -1.45 -47.2 41.0 -6.2 65 583 0.00 0.00 0.00 0.000 6 0.000 0.000 2322 2183 3436

775 -1.41 -47.2 54.5 -6.7 81 777 0.10 0.00 0.00 0.000 6 0.115 0.000 2339 2183 3435

1082 -1.41 -47.2 75.1 -7.1 96 1084 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2183 3436

1392 -1.41 -47.2 95.0 -6.4 111 1396 0.00 2.50 0.00 0.000 4 0.000 0.059 2340 785 3436

1442 -1.41 -47.2 98.5 -7.0 113 1446 0.00 2.45 0.00 0.000 6 0.000 0.051 2340 2161 3436

1700 end dive: BOTTOM_OBSTACLE_DETECTED

state 1700 begin apogee

1707 -0.33 0.0 114.6 6.0 136 1754 1.10 0.00 39.05 0.819 6 0.087 0.000 2572 2159 3239

1754 end apogee: CONTROL_FINISHED_OK

state 1754 begin climb

1757 1.90 47.2 115.6 0.0 141 1803 2.17 2.58 37.75 0.814 4 0.054 0.055 3068 788 3047

1917 1.59 47.2 95.6 15.2 154 1923 0.38 2.50 0.00 0.000 6 0.108 0.049 2998 2190 3046

2245 1.51 47.2 56.0 11.4 170 2246 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 2190 3047

2562 1.46 47.2 21.6 9.2 197 2567 0.15 2.53 0.00 0.000 4 0.102 0.060 2969 3598 3047

2625 1.42 47.2 16.1 8.9 205 2631 0.00 2.50 0.00 0.000 6 0.000 0.046 2968 2178 3047

2700 1.42 47.2 10.3 7.1 218 2707 0.00 2.58 0.00 0.000 4 0.000 0.061 2969 3599 3047

2747 1.42 47.2 7.0 6.9 226 2754 0.00 2.33 0.00 0.000 6 0.000 0.045 2969 2248 3047

2823 1.65 102.8 6.6 -1.3 239 2873 0.17 2.53 43.25 0.754 4 0.051 0.060 3016 3601 2820

2886 1.65 134.9 5.9 1.9 249 2917 0.00 2.35 24.30 0.732 6 0.000 0.045 3017 2246 2688

2987 1.83 172.4 4.3 1.1 266 3019 0.15 2.53 26.45 0.729 4 0.056 0.059 3053 3601 2535

3023 end climb: SURFACE_DEPTH_REACHED

state 3023 begin surface coast

3305 end surface coast: CONTROL_FINISHED_OK

state 3305 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	21	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	60
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	52	C_ROLL_DIVE	2190	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-7	C_ROLL_CLIMB	2190	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	400	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	41	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	80	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	100	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3240	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	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-85938.453	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	16
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	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2650	PRESSURE_YINT	-24.906118	SEABIRD_T_G	0.0043761111
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064345129
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5632376e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7382036e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.188265
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1432956
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00020702372
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00012956691
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	104716,4807.882,-12224.081,8,2.8,28,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.108,0.001
_SM_DEPTHo	0.57	KALMAN_X	-706.7,330.6,213.3,-950.3,-233.9
_SM_ANGLEo	-68.8	KALMAN_Y	2902.6,-876.6,7.4,-2007.6,134.3
GPS2	105145,4807.925,-12224.133,26,1.9,34,18.3	MHEAD_RNG_PITCHd_Wd	71.3,215,-27.4,-6.250
SPEED_LIMITS	0.108,0.225	D_GRID	150

FINISH	-0.3,1.020299	ALTIM_BOTTOM_PING	90.9,33.0
SM_CCo	3331,125.53,0.723,2,0,1608,400.08	_24V_AH	24.0,2.323
SM_GC	0.57,0.00,0.00,125.53,0.000,0.000,0.723,421,2153,1608,-10.25,-1.05,400.08	_10V_AH	10.1,0.843
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	15980,322
TT8_MAMPS	0.029146	CAP_FILE_SIZE	42448,0
HUMID	1727	CFSIZE	254472192,252690432
TCM_TEMP	18.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,2,0
XPDR_PINGS	5	GPS	161008,115137,4808.106,-12224.066,33,1.0,34,18.3
ALTIM_TOP_PING	19.6,19.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	134	82.47	SBE_CT	223	24	128.56
Roll_motor	34	74	62.45	SBE_O2	236	19	107.83
VBD_pump_during_apogee	170	819	3357.88	WL_BB2F	555	105	1398.96
VBD_pump_during_surface	125	722	2176.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.34	nil	0	0	0.00
Iridium_during_connect	26	160	101.11	nil	0	0	0.00
Iridium_during_xfer	91	223	490.22
Transponder_ping	3	420	30.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.62
TT8	546	19	109.19
LPSleep	1839	2	40.69
TT8_Active	372	19	74.49
TT8_Sampling	720	39	289.72
TT8_CF8	271	45	125.74
TT8_Kalman	33	81	27.52
Analog_circuits	719	12	87.16
GPS_charging	0	0	0.00
Compass	695	8	56.16
RAFOS	0	0	0.00
Transponder	14	30	4.42

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.87	-30.7	0.0	0.0	0	98	0.00	0.00	-79.03	0.000	6	0.000	0.000	421	2191	3365
102	-1.88	-37.6	3.7	-5.3	14	122	9.38	2.60	-0.75	0.000	4	0.134	0.074	2236	3597	3395
376	-1.51	-46.9	29.4	-5.0	47	383	0.43	2.45	-0.57	0.000	6	0.108	0.046	2322	2201	3436
577	-1.45	-47.2	41.0	-6.2	65	583	0.00	0.00	0.00	0.000	6	0.000	0.000	2322	2183	3436
775	-1.41	-47.2	54.5	-6.7	81	777	0.10	0.00	0.00	0.000	6	0.115	0.000	2339	2183	3435
1082	-1.41	-47.2	75.1	-7.1	96	1084	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2183	3436
1392	-1.41	-47.2	95.0	-6.4	111	1396	0.00	2.50	0.00	0.000	4	0.000	0.059	2340	785	3436
1442	-1.41	-47.2	98.5	-7.0	113	1446	0.00	2.45	0.00	0.000	6	0.000	0.051	2340	2161	3436
1700	end dive: BOTTOM_OBSTACLE_DETECTED
state	1700	begin apogee
1707	-0.33	0.0	114.6	6.0	136	1754	1.10	0.00	39.05	0.819	6	0.087	0.000	2572	2159	3239
1754	end apogee: CONTROL_FINISHED_OK
state	1754	begin climb
1757	1.90	47.2	115.6	0.0	141	1803	2.17	2.58	37.75	0.814	4	0.054	0.055	3068	788	3047
1917	1.59	47.2	95.6	15.2	154	1923	0.38	2.50	0.00	0.000	6	0.108	0.049	2998	2190	3046
2245	1.51	47.2	56.0	11.4	170	2246	0.00	0.00	0.00	0.000	6	0.000	0.000	2998	2190	3047
2562	1.46	47.2	21.6	9.2	197	2567	0.15	2.53	0.00	0.000	4	0.102	0.060	2969	3598	3047
2625	1.42	47.2	16.1	8.9	205	2631	0.00	2.50	0.00	0.000	6	0.000	0.046	2968	2178	3047
2700	1.42	47.2	10.3	7.1	218	2707	0.00	2.58	0.00	0.000	4	0.000	0.061	2969	3599	3047
2747	1.42	47.2	7.0	6.9	226	2754	0.00	2.33	0.00	0.000	6	0.000	0.045	2969	2248	3047
2823	1.65	102.8	6.6	-1.3	239	2873	0.17	2.53	43.25	0.754	4	0.051	0.060	3016	3601	2820
2886	1.65	134.9	5.9	1.9	249	2917	0.00	2.35	24.30	0.732	6	0.000	0.045	3017	2246	2688
2987	1.83	172.4	4.3	1.1	266	3019	0.15	2.53	26.45	0.729	4	0.056	0.059	3053	3601	2535
3023	end climb: SURFACE_DEPTH_REACHED
state	3023	begin surface coast
3305	end surface coast: CONTROL_FINISHED_OK
state	3305	begin surface