Glider dive log

WA coast Jan08 * SG119 * Dive index * Mission links * Dive 22 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 119 HD_B 0.0099684997 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 3 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 22 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 90 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 175 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3878 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 48.150002 C_ROLL_DIVE 2220 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -125.67 C_ROLL_CLIMB 2180 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 597.30548 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 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 425 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3879 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2860 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -14977.483 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 1379 AH0_24V 147 SEABIRD_T_G 0.004348367

SPEED_FACTOR 1 PITCH_MAX 3813 AH0_10V 122.2 SEABIRD_T_H 0.00063394889

RHO 1.023 C_PITCH 3363 PRESSURE_YINT -2.3287585 SEABIRD_T_I 2.4089732e-05

MASS 51528 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159777 SEABIRD_T_J 2.5198262e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.04077

FERRY_MAX 30 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1285373

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022196125

HD_A 0.0038945 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00025642588

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 22 SM_CC 597.30548

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3813 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 1379 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 90 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159777 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -2.3287585 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -125.67

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -14977.483

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 119 ROLL_MAX 3878 T_TURN_SAMPINT 5

C_PITCH 3363 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2180 INT_PRESSURE_YINT 0 ROLL_MIN 175 UNCOM_BLEED 50

C_ROLL_DIVE 2220 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2860 MASS 51528 R_PORT_OVSHOOT 27 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 30 USE_ICE 0

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.04077 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1285373 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0022196125 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00025642588 VBD_MAX 3879

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004348367 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063394889 VBD_MIN 425

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4089732e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 22 PHONE_DEVICE 48 SEABIRD_T_J 2.5198262e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 084815,4802.243,-12542.758,11,1.4,13,18.8 TGT_NAME SW_47N_128W

_CALLS 5 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.227,-0.134

_SM_DEPTHo 1.29 KALMAN_X 575.6,2973.9,557.7,-7084.5,10655.5

_SM_ANGLEo -66.4 KALMAN_Y -10286.5,4792.3,1084.0,4456.8,-8298.3

GPS2 090331,4802.245,-12542.867,38,1.5,38,18.8 MHEAD_RNG_PITCHd_Wd 220.5,208061,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.007312 XPDR_PINGS 16

SM_CCo 6038,164.57,0.740,0,0,425,597.31 ALTIM_BOTTOM_PING 326.4,5.8

SM_GC 1.27,0.00,0.00,164.57,0.000,0.000,0.740,1378,2232,425,-9.13,0.34,597.31 _24V_AH 23.8,5.860

IRIDIUM_FIX 4745.30,-12541.99,190108,121235 _10V_AH 10.7,2.465

TT8_MAMPS 0.028379 DATA_FILE_SIZE 22191,425

HUMID 1870 CFSIZE 260165632,257900544

INTERNAL_PRESSURE 9.47302 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

TCM_TEMP 16.50 GPS 190108,104847,4801.459,-12543.825,9,2.7,29,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 173 113.35 SBE_CT 302 24 172.68

Roll_motor 43 141 146.11 SBE_O2 313 19 141.91

VBD_pump_during_apogee 331 986 7787.97 WL_BB2F 691 105 1728.39

VBD_pump_during_surface 164 740 2899.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 201 103 494.79 nil 0 0 0.00

Iridium_during_connect 375 160 1431.21 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 6 420 62.48

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 40 50 21.47

TT8 772 19 163.72

LPSleep 4006 2 93.87

TT8_Active 607 19 128.72

TT8_Sampling 1104 39 470.51

TT8_CF8 639 45 313.44

TT8_Kalman 33 81 29.18

Analog_circuits 1107 12 142.15

GPS_charging 0 0 0.00

Compass 1069 8 91.56

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.00 -146.6 0.0 0.0 0 112 0.00 0.00 -92.70 0.000 2 0.000 0.000 1376 2229 2375

114 -1.00 -146.6 3.2 -4.0 9 156 12.45 0.00 -27.77 0.000 6 0.173 0.000 3137 2228 3458

483 -1.00 -146.6 73.2 -18.0 59 489 0.00 2.40 0.00 0.000 4 0.000 0.061 3138 809 3459

550 -1.00 -146.6 85.2 -17.2 69 555 0.00 2.33 0.00 0.000 6 0.000 0.051 3138 2212 3459

876 -1.00 -146.6 134.9 -13.7 99 880 0.00 2.38 0.00 0.000 4 0.000 0.061 3138 809 3459

986 -1.00 -146.6 151.0 -13.3 108 991 0.00 2.38 0.00 0.000 6 0.000 0.050 3138 2219 3459

1313 -1.00 -146.6 193.0 -12.7 124 1317 0.00 2.38 0.00 0.000 4 0.000 0.061 3138 807 3459

1378 -1.00 -146.6 201.4 -12.3 127 1383 0.00 2.38 0.00 0.000 6 0.000 0.051 3138 2220 3459

1705 -1.00 -146.6 242.6 -12.4 143 1706 0.00 0.00 0.00 0.000 6 0.000 0.000 3138 2221 3459

2014 -1.00 -146.6 282.2 -13.2 158 2015 0.00 0.00 0.00 0.000 6 0.000 0.000 3138 2220 3459

2343 end dive: BOTTOM_OBSTACLE_DETECTED

state 2343 begin apogee

2347 -0.23 0.0 326.4 13.7 168 2468 1.02 0.00 116.95 0.986 6 0.100 0.000 3308 2170 2860

2468 end apogee: CONTROL_FINISHED_OK

state 2468 begin climb

2470 1.00 146.6 333.0 0.0 170 2597 1.62 2.55 119.75 0.948 4 0.057 0.060 3580 778 2261

2809 1.05 186.9 322.6 8.2 175 2849 0.00 2.40 33.30 0.937 6 0.000 0.051 3580 2173 2097

3172 1.05 186.9 283.7 11.4 186 3177 0.00 2.50 0.00 0.000 4 0.000 0.081 3580 3584 2097

3429 1.05 186.9 251.8 12.3 197 3437 0.00 2.38 0.00 0.000 6 0.000 0.047 3580 2183 2097

3745 1.05 186.9 217.5 10.9 213 3749 0.00 2.47 0.00 0.000 4 0.000 0.079 3580 3590 2097

3911 1.05 186.9 198.7 11.0 220 3918 0.00 2.35 0.00 0.000 6 0.000 0.047 3580 2185 2097

4227 1.06 193.8 168.7 9.7 236 4240 0.00 2.50 6.97 0.794 4 0.000 0.078 3580 3587 2070

4263 1.07 202.8 165.2 9.6 237 4278 0.00 2.38 8.60 0.818 6 0.000 0.046 3580 2172 2033

4594 1.11 237.2 134.7 8.4 261 4628 0.12 2.42 27.55 0.871 4 0.069 0.062 3606 771 1891

4785 1.11 237.2 114.8 10.1 278 4789 0.00 2.35 0.00 0.000 6 0.000 0.052 3606 2182 1891

5109 1.14 259.7 84.8 9.0 308 5134 0.00 2.50 18.62 0.831 4 0.000 0.060 3606 765 1801

5338 1.14 259.7 62.5 10.9 343 5344 0.00 2.35 0.00 0.000 6 0.000 0.051 3606 2182 1801

5679 1.14 259.7 26.9 10.2 393 5680 0.00 0.00 0.00 0.000 6 0.000 0.000 3606 2182 1801

5986 end climb: SURFACE_DEPTH_REACHED

state 5986 begin surface coast

6019 end surface coast: CONTROL_FINISHED_OK

state 6019 begin surface

ID	119	HD_B	0.0099684997	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	3	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	22	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	90	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	175	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3878	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	48.150002	C_ROLL_DIVE	2220	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-125.67	C_ROLL_CLIMB	2180	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	597.30548	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	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	425	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3879	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2860	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-14977.483	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	1379	AH0_24V	147	SEABIRD_T_G	0.004348367
SPEED_FACTOR	1	PITCH_MAX	3813	AH0_10V	122.2	SEABIRD_T_H	0.00063394889
RHO	1.023	C_PITCH	3363	PRESSURE_YINT	-2.3287585	SEABIRD_T_I	2.4089732e-05
MASS	51528	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159777	SEABIRD_T_J	2.5198262e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.04077
FERRY_MAX	30	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1285373
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022196125
HD_A	0.0038945	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00025642588

GPS1	084815,4802.243,-12542.758,11,1.4,13,18.8	TGT_NAME	SW_47N_128W
_CALLS	5	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.227,-0.134
_SM_DEPTHo	1.29	KALMAN_X	575.6,2973.9,557.7,-7084.5,10655.5
_SM_ANGLEo	-66.4	KALMAN_Y	-10286.5,4792.3,1084.0,4456.8,-8298.3
GPS2	090331,4802.245,-12542.867,38,1.5,38,18.8	MHEAD_RNG_PITCHd_Wd	220.5,208061,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.6,1.007312	XPDR_PINGS	16
SM_CCo	6038,164.57,0.740,0,0,425,597.31	ALTIM_BOTTOM_PING	326.4,5.8
SM_GC	1.27,0.00,0.00,164.57,0.000,0.000,0.740,1378,2232,425,-9.13,0.34,597.31	_24V_AH	23.8,5.860
IRIDIUM_FIX	4745.30,-12541.99,190108,121235	_10V_AH	10.7,2.465
TT8_MAMPS	0.028379	DATA_FILE_SIZE	22191,425
HUMID	1870	CFSIZE	260165632,257900544
INTERNAL_PRESSURE	9.47302	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
TCM_TEMP	16.50	GPS	190108,104847,4801.459,-12543.825,9,2.7,29,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	173	113.35	SBE_CT	302	24	172.68
Roll_motor	43	141	146.11	SBE_O2	313	19	141.91
VBD_pump_during_apogee	331	986	7787.97	WL_BB2F	691	105	1728.39
VBD_pump_during_surface	164	740	2899.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	201	103	494.79	nil	0	0	0.00
Iridium_during_connect	375	160	1431.21	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	6	420	62.48
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	40	50	21.47
TT8	772	19	163.72
LPSleep	4006	2	93.87
TT8_Active	607	19	128.72
TT8_Sampling	1104	39	470.51
TT8_CF8	639	45	313.44
TT8_Kalman	33	81	29.18
Analog_circuits	1107	12	142.15
GPS_charging	0	0	0.00
Compass	1069	8	91.56
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.00	-146.6	0.0	0.0	0	112	0.00	0.00	-92.70	0.000	2	0.000	0.000	1376	2229	2375
114	-1.00	-146.6	3.2	-4.0	9	156	12.45	0.00	-27.77	0.000	6	0.173	0.000	3137	2228	3458
483	-1.00	-146.6	73.2	-18.0	59	489	0.00	2.40	0.00	0.000	4	0.000	0.061	3138	809	3459
550	-1.00	-146.6	85.2	-17.2	69	555	0.00	2.33	0.00	0.000	6	0.000	0.051	3138	2212	3459
876	-1.00	-146.6	134.9	-13.7	99	880	0.00	2.38	0.00	0.000	4	0.000	0.061	3138	809	3459
986	-1.00	-146.6	151.0	-13.3	108	991	0.00	2.38	0.00	0.000	6	0.000	0.050	3138	2219	3459
1313	-1.00	-146.6	193.0	-12.7	124	1317	0.00	2.38	0.00	0.000	4	0.000	0.061	3138	807	3459
1378	-1.00	-146.6	201.4	-12.3	127	1383	0.00	2.38	0.00	0.000	6	0.000	0.051	3138	2220	3459
1705	-1.00	-146.6	242.6	-12.4	143	1706	0.00	0.00	0.00	0.000	6	0.000	0.000	3138	2221	3459
2014	-1.00	-146.6	282.2	-13.2	158	2015	0.00	0.00	0.00	0.000	6	0.000	0.000	3138	2220	3459
2343	end dive: BOTTOM_OBSTACLE_DETECTED
state	2343	begin apogee
2347	-0.23	0.0	326.4	13.7	168	2468	1.02	0.00	116.95	0.986	6	0.100	0.000	3308	2170	2860
2468	end apogee: CONTROL_FINISHED_OK
state	2468	begin climb
2470	1.00	146.6	333.0	0.0	170	2597	1.62	2.55	119.75	0.948	4	0.057	0.060	3580	778	2261
2809	1.05	186.9	322.6	8.2	175	2849	0.00	2.40	33.30	0.937	6	0.000	0.051	3580	2173	2097
3172	1.05	186.9	283.7	11.4	186	3177	0.00	2.50	0.00	0.000	4	0.000	0.081	3580	3584	2097
3429	1.05	186.9	251.8	12.3	197	3437	0.00	2.38	0.00	0.000	6	0.000	0.047	3580	2183	2097
3745	1.05	186.9	217.5	10.9	213	3749	0.00	2.47	0.00	0.000	4	0.000	0.079	3580	3590	2097
3911	1.05	186.9	198.7	11.0	220	3918	0.00	2.35	0.00	0.000	6	0.000	0.047	3580	2185	2097
4227	1.06	193.8	168.7	9.7	236	4240	0.00	2.50	6.97	0.794	4	0.000	0.078	3580	3587	2070
4263	1.07	202.8	165.2	9.6	237	4278	0.00	2.38	8.60	0.818	6	0.000	0.046	3580	2172	2033
4594	1.11	237.2	134.7	8.4	261	4628	0.12	2.42	27.55	0.871	4	0.069	0.062	3606	771	1891
4785	1.11	237.2	114.8	10.1	278	4789	0.00	2.35	0.00	0.000	6	0.000	0.052	3606	2182	1891
5109	1.14	259.7	84.8	9.0	308	5134	0.00	2.50	18.62	0.831	4	0.000	0.060	3606	765	1801
5338	1.14	259.7	62.5	10.9	343	5344	0.00	2.35	0.00	0.000	6	0.000	0.051	3606	2182	1801
5679	1.14	259.7	26.9	10.2	393	5680	0.00	0.00	0.00	0.000	6	0.000	0.000	3606	2182	1801
5986	end climb: SURFACE_DEPTH_REACHED
state	5986	begin surface coast
6019	end surface coast: CONTROL_FINISHED_OK
state	6019	begin surface