Glider dive log

PortSusan 15Oct08 * SG005 * Dive index * Mission links * Dive 24 * 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 24 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 -85988.969 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 -85988.969

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 23 VBD_BLEED_AD_RATE 8

C_VBD 3240 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 24 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 141709,4807.838,-12223.667,39,1.9,40,18.3 TGT_NAME EIGHT

_CALLS 3 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.011,-0.171

_SM_DEPTHo 0.55 KALMAN_X -1111.6,97.3,-252.5,564.4,-301.9

_SM_ANGLEo -68.5 KALMAN_Y 4968.7,-1278.4,184.4,-3815.2,926.1

GPS2 142638,4807.944,-12223.798,11,1.8,16,18.3 MHEAD_RNG_PITCHd_Wd 157.9,271,-16.5,-6.250

SPEED_LIMITS 0.108,0.225 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.5,1.020306 ALTIM_BOTTOM_PING 91.1,29.3

SM_CCo 3054,131.95,0.738,1,0,1608,400.08 _24V_AH 24.0,2.601

SM_GC 0.50,0.00,0.00,131.95,0.000,0.000,0.738,420,2220,1608,-10.26,0.85,400.08 _10V_AH 10.1,0.976

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 12826,277

TT8_MAMPS 0.029146 CAP_FILE_SIZE 44100,0

HUMID 1733 CFSIZE 254472192,252604416

TCM_TEMP 18.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,1,0

XPDR_PINGS 3 GPS 161008,152153,4807.711,-12223.777,12,3.0,32,18.3

ALTIM_TOP_PING 19.6,19.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 136 80.60 SBE_CT 190 24 110.01

Roll_motor 35 75 64.22 SBE_O2 203 19 92.79

VBD_pump_during_apogee 204 832 4080.42 WL_BB2F 477 105 1203.17

VBD_pump_during_surface 131 737 2336.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 115 103 285.62 nil 0 0 0.00

Iridium_during_connect 84 160 324.38 nil 0 0 0.00

Iridium_during_xfer 150 223 803.54

Transponder_ping 2 420 22.68

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.19

TT8 481 19 96.31

LPSleep 1788 2 39.56

TT8_Active 402 19 80.54

TT8_Sampling 630 39 253.39

TT8_CF8 471 45 218.33

TT8_Kalman 33 81 27.52

Analog_circuits 735 12 89.12

GPS_charging 0 0 0.00

Compass 622 8 50.29

RAFOS 0 0 0.00

Transponder 11 30 3.54

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

18 -1.23 -79.6 0.0 0.0 0 107 0.00 0.00 -86.60 0.000 2 0.000 0.000 424 2201 3528

111 -1.27 -106.5 3.9 -4.8 15 131 10.07 2.62 -3.47 0.000 4 0.137 0.075 2368 777 3674

229 -0.99 -106.5 23.3 -10.6 33 234 0.32 2.55 0.00 0.000 6 0.090 0.051 2432 2195 3675

427 -0.95 -106.5 37.9 -6.9 51 431 0.00 2.55 0.00 0.000 4 0.000 0.064 2432 3604 3675

460 -0.88 -106.5 40.6 -7.6 53 467 0.12 2.50 0.00 0.000 6 0.096 0.048 2457 2189 3675

667 -0.94 -106.5 54.3 -6.7 70 672 0.00 2.60 0.00 0.000 4 0.000 0.064 2457 3608 3675

708 -1.00 -106.5 57.3 -7.7 72 713 0.12 2.47 0.00 0.000 6 0.055 0.048 2423 2205 3675

1038 -1.00 -106.5 82.9 -7.6 88 1042 0.00 2.58 0.00 0.000 4 0.000 0.064 2423 3606 3675

1100 -1.00 -106.5 88.2 -8.6 91 1104 0.00 2.45 0.00 0.000 6 0.000 0.048 2423 2221 3675

1399 end dive: BOTTOM_OBSTACLE_DETECTED

state 1400 begin apogee

1406 -0.33 0.0 110.6 7.5 112 1493 0.68 0.00 83.60 0.832 6 0.078 0.000 2573 2204 3240

1494 end apogee: CONTROL_FINISHED_OK

state 1494 begin climb

1497 1.27 106.5 113.0 0.0 121 1589 1.60 2.65 82.75 0.809 4 0.059 0.058 2925 781 2805

1656 1.03 106.5 98.3 12.0 135 1661 0.25 2.55 0.00 0.000 6 0.091 0.049 2875 2194 2804

1979 0.95 106.5 66.7 9.9 151 1983 0.00 2.55 0.00 0.000 4 0.000 0.062 2875 3606 2804

2068 0.84 106.5 57.1 10.2 155 2073 0.20 2.50 0.00 0.000 6 0.091 0.047 2835 2199 2805

2400 0.91 106.5 32.8 6.9 182 2406 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 2181 2805

2599 1.00 106.5 18.9 6.8 202 2606 0.15 0.00 0.00 0.000 6 0.051 0.000 2875 2181 2805

2675 0.96 106.5 13.3 7.9 215 2681 0.00 0.00 0.00 0.000 6 0.000 0.000 2875 2181 2805

2749 0.96 106.5 8.0 6.3 228 2756 0.00 2.50 0.00 0.000 4 0.000 0.060 2875 783 2805

2831 1.14 164.3 5.3 3.2 242 2875 0.10 2.53 37.95 0.745 2 0.059 0.050 2907 2210 2583

2876 end climb: SURFACE_DEPTH_REACHED

state 2876 begin surface coast

3033 end surface coast: CONTROL_FINISHED_OK

state 3033 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	24	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	-85988.969	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	141709,4807.838,-12223.667,39,1.9,40,18.3	TGT_NAME	EIGHT
_CALLS	3	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.011,-0.171
_SM_DEPTHo	0.55	KALMAN_X	-1111.6,97.3,-252.5,564.4,-301.9
_SM_ANGLEo	-68.5	KALMAN_Y	4968.7,-1278.4,184.4,-3815.2,926.1
GPS2	142638,4807.944,-12223.798,11,1.8,16,18.3	MHEAD_RNG_PITCHd_Wd	157.9,271,-16.5,-6.250
SPEED_LIMITS	0.108,0.225	D_GRID	150

FINISH	0.5,1.020306	ALTIM_BOTTOM_PING	91.1,29.3
SM_CCo	3054,131.95,0.738,1,0,1608,400.08	_24V_AH	24.0,2.601
SM_GC	0.50,0.00,0.00,131.95,0.000,0.000,0.738,420,2220,1608,-10.26,0.85,400.08	_10V_AH	10.1,0.976
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	12826,277
TT8_MAMPS	0.029146	CAP_FILE_SIZE	44100,0
HUMID	1733	CFSIZE	254472192,252604416
TCM_TEMP	18.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
XPDR_PINGS	3	GPS	161008,152153,4807.711,-12223.777,12,3.0,32,18.3
ALTIM_TOP_PING	19.6,19.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	136	80.60	SBE_CT	190	24	110.01
Roll_motor	35	75	64.22	SBE_O2	203	19	92.79
VBD_pump_during_apogee	204	832	4080.42	WL_BB2F	477	105	1203.17
VBD_pump_during_surface	131	737	2336.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	115	103	285.62	nil	0	0	0.00
Iridium_during_connect	84	160	324.38	nil	0	0	0.00
Iridium_during_xfer	150	223	803.54
Transponder_ping	2	420	22.68
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.19
TT8	481	19	96.31
LPSleep	1788	2	39.56
TT8_Active	402	19	80.54
TT8_Sampling	630	39	253.39
TT8_CF8	471	45	218.33
TT8_Kalman	33	81	27.52
Analog_circuits	735	12	89.12
GPS_charging	0	0	0.00
Compass	622	8	50.29
RAFOS	0	0	0.00
Transponder	11	30	3.54

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
18	-1.23	-79.6	0.0	0.0	0	107	0.00	0.00	-86.60	0.000	2	0.000	0.000	424	2201	3528
111	-1.27	-106.5	3.9	-4.8	15	131	10.07	2.62	-3.47	0.000	4	0.137	0.075	2368	777	3674
229	-0.99	-106.5	23.3	-10.6	33	234	0.32	2.55	0.00	0.000	6	0.090	0.051	2432	2195	3675
427	-0.95	-106.5	37.9	-6.9	51	431	0.00	2.55	0.00	0.000	4	0.000	0.064	2432	3604	3675
460	-0.88	-106.5	40.6	-7.6	53	467	0.12	2.50	0.00	0.000	6	0.096	0.048	2457	2189	3675
667	-0.94	-106.5	54.3	-6.7	70	672	0.00	2.60	0.00	0.000	4	0.000	0.064	2457	3608	3675
708	-1.00	-106.5	57.3	-7.7	72	713	0.12	2.47	0.00	0.000	6	0.055	0.048	2423	2205	3675
1038	-1.00	-106.5	82.9	-7.6	88	1042	0.00	2.58	0.00	0.000	4	0.000	0.064	2423	3606	3675
1100	-1.00	-106.5	88.2	-8.6	91	1104	0.00	2.45	0.00	0.000	6	0.000	0.048	2423	2221	3675
1399	end dive: BOTTOM_OBSTACLE_DETECTED
state	1400	begin apogee
1406	-0.33	0.0	110.6	7.5	112	1493	0.68	0.00	83.60	0.832	6	0.078	0.000	2573	2204	3240
1494	end apogee: CONTROL_FINISHED_OK
state	1494	begin climb
1497	1.27	106.5	113.0	0.0	121	1589	1.60	2.65	82.75	0.809	4	0.059	0.058	2925	781	2805
1656	1.03	106.5	98.3	12.0	135	1661	0.25	2.55	0.00	0.000	6	0.091	0.049	2875	2194	2804
1979	0.95	106.5	66.7	9.9	151	1983	0.00	2.55	0.00	0.000	4	0.000	0.062	2875	3606	2804
2068	0.84	106.5	57.1	10.2	155	2073	0.20	2.50	0.00	0.000	6	0.091	0.047	2835	2199	2805
2400	0.91	106.5	32.8	6.9	182	2406	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	2181	2805
2599	1.00	106.5	18.9	6.8	202	2606	0.15	0.00	0.00	0.000	6	0.051	0.000	2875	2181	2805
2675	0.96	106.5	13.3	7.9	215	2681	0.00	0.00	0.00	0.000	6	0.000	0.000	2875	2181	2805
2749	0.96	106.5	8.0	6.3	228	2756	0.00	2.50	0.00	0.000	4	0.000	0.060	2875	783	2805
2831	1.14	164.3	5.3	3.2	242	2875	0.10	2.53	37.95	0.745	2	0.059	0.050	2907	2210	2583
2876	end climb: SURFACE_DEPTH_REACHED
state	2876	begin surface coast
3033	end surface coast: CONTROL_FINISHED_OK
state	3033	begin surface