Glider dive log

PortSusan 10Jul07 * SG112 * Dive index * Mission links * Dive 38 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 112 HD_B 0.0138418 PITCH_AD_RATE 100 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 4.7289599e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 38 HEADING -1 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 145 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 2

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 400

D_TGT 150 FIX_MISSING_TIMEOUT 1 ROLL_MAX 3791 ALTIM_PING_DELTA 50

D_ABORT 200 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2060 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1870 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 500 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 2 R_PORT_OVSHOOT 11 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 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 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 486 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3335 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 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 49

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -18692.447 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 135 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3252 AH0_10V 80 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2269 PRESSURE_YINT -3.7066903 SEABIRD_T_I 2.5554549e-05

MASS 51440 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038775599 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 80 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 D_TGT 150 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 145 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2 FERRY_MAX 45 PRESSURE_YINT -3.7066903 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 1 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 50

CALL_TRIES 5 HD_A 0.0038775599 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0138418 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 4.7289599e-05 RHO 1.023 T_GPS_CHARGE -18692.447

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 49 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 112 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2269 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1870 INT_PRESSURE_YINT 0 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 2060 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3335 MASS 51440 R_PORT_OVSHOOT 11 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 135 R_STBD_OVSHOOT 31 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 2 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 486

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 38 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 200 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 042737,4805.274,-12221.241,28,1.0,28,18.3 TGT_NAME SIX_nb

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.119,0.168

_SM_DEPTHo 1.82 KALMAN_X 934.1,-22.7,83.0,680.2,61.3

_SM_ANGLEo -50.3 KALMAN_Y -640.2,353.1,-50.5,-2332.7,-76.0

GPS2 043327,4805.250,-12221.234,11,1.0,11,18.3 MHEAD_RNG_PITCHd_Wd 313.5,1680,-22.4,-10.000

SPEED_LIMITS 0.173,0.206 D_GRID 110

Post-dive calculations and measurements:

FINISH 1.0,1.010540 XPDR_PINGS 1

SM_CCo 2400,150.90,0.594,0,0,1296,500.17 ALTIM_TOP_PING 19.6,18.9

SM_GC 1.87,0.00,0.00,150.90,0.000,0.000,0.594,671,2044,1296,-7.35,-0.45,500.17 _24V_AH 20.8,17.409

RAFOS_CLK 113 _10V_AH 9.9,6.626

RAFOS 3,1184214895,4.583333,4.581944,62,61,60,60,56,54,176,165,208,218,189,116 DATA_FILE_SIZE 9612,243

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 260165632,255791104

IRIDIUM_FIX 4748.51,-12220.12,120707,070754 ERRORS 0,0,0,0,0,0,0,0,0,0,0,5,0,0,0

TT8_MAMPS 0.024544 SOUNDSPEED 1484.0

HUMID 1964 CURRENT 0.016,250.5,1

INTERNAL_PRESSURE 10.3715 GPS 120707,051811,4805.472,-12221.447,8,2.2,27,18.3

TCM_TEMP 9.70

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 275 149.48 SBE_CT 171 24 85.70

Roll_motor 58 102 123.12 SBE_O2 169 19 67.07

VBD_pump_during_apogee 305 687 4365.16 nil 0 0 0.00

VBD_pump_during_surface 150 593 1863.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 81.12 nil 0 0 0.00

Iridium_during_connect 29 160 99.59 nil 0 0 0.00

Iridium_during_xfer 152 223 709.43

Transponder_ping 0 420 4.37

GPS 13 50 6.61

TT8 553 19 109.21

LPSleep 1101 2 25.19

TT8_Active 584 19 115.29

TT8_Sampling 301 39 119.12

TT8_CF8 379 45 172.38

TT8_Kalman 33 81 27.04

Analog_circuits 863 12 102.60

GPS_charging 0 0 0.00

Compass 291 20 57.65

RAFOS 1080 1 16.04

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

21 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.15 -132.0 0.0 0.0 0 90 0.00 0.00 -62.62 0.000 2 0.000 0.000 675 2087 3043

94 -1.15 -132.0 3.0 -3.6 10 139 12.80 2.88 -25.23 0.000 4 0.275 0.067 2008 3453 3875

263 -1.15 -132.0 20.2 -12.2 39 270 0.00 2.75 0.00 0.000 6 0.000 0.038 2008 2044 3877

334 -1.06 -132.0 29.3 -12.9 46 336 0.17 0.00 0.00 0.000 6 0.148 0.000 2033 2044 3877

399 -0.97 -132.0 37.0 -12.0 52 404 0.15 2.92 0.00 0.000 4 0.160 0.064 2052 3452 3878

455 -0.94 -132.0 43.8 -11.7 56 462 0.00 2.72 0.00 0.000 6 0.000 0.039 2052 2053 3878

589 -0.97 -132.0 58.2 -10.4 69 594 0.00 2.92 0.00 0.000 4 0.000 0.068 2052 3456 3878

633 -0.99 -132.0 63.0 -10.7 72 640 0.00 2.72 0.00 0.000 6 0.000 0.040 2052 2056 3877

767 -1.02 -132.0 76.7 -10.2 85 772 0.00 2.95 0.00 0.000 4 0.000 0.073 2052 3458 3878

841 -1.06 -132.0 84.3 -10.2 91 846 0.00 2.72 0.00 0.000 6 0.000 0.041 2052 2060 3878

976 -1.10 -132.0 98.1 -10.0 103 981 0.12 2.95 0.00 0.000 4 0.060 0.075 2026 3459 3878

1049 -1.15 -132.0 106.8 -12.2 109 1054 0.00 2.72 0.00 0.000 6 0.000 0.041 2026 2057 3878

1074 end dive: TARGET_DEPTH_EXCEEDED

state 1074 begin apogee

1081 -0.21 0.0 110.1 11.9 111 1198 1.15 0.00 112.65 0.687 6 0.145 0.000 2217 1865 3334

1199 end apogee: CONTROL_FINISHED_OK

state 1199 begin climb

1202 1.15 132.0 114.0 0.0 123 1325 1.60 3.25 112.18 0.667 4 0.079 0.102 2519 469 2796

1382 1.15 132.0 98.8 14.1 139 1387 0.00 2.83 0.00 0.000 6 0.000 0.048 2519 1856 2795

1517 0.96 132.0 80.7 13.3 151 1522 0.22 3.17 0.00 0.000 4 0.138 0.091 2484 3282 2795

1607 0.80 132.0 69.9 11.2 158 1614 0.25 2.85 0.00 0.000 6 0.143 0.051 2447 1882 2794

1741 0.69 151.8 57.4 9.0 171 1765 0.17 2.97 15.75 0.678 4 0.151 0.067 2421 3287 2715

1882 0.70 180.7 45.8 8.5 183 1916 0.00 2.88 24.08 0.663 6 0.000 0.047 2421 1869 2596

2044 0.79 214.9 32.5 8.2 198 2078 0.00 3.08 27.90 0.655 4 0.000 0.066 2421 3281 2458

2209 0.91 230.8 17.5 9.2 214 2229 0.25 2.85 12.82 0.665 6 0.048 0.048 2474 1870 2394

2298 1.02 230.8 7.7 11.4 229 2304 0.00 2.97 0.00 0.000 4 0.000 0.065 2474 3284 2393

2353 end climb: SURFACE_DEPTH_REACHED

state 2353 begin surface coast

2376 end surface coast: CONTROL_FINISHED_OK

state 2376 begin surface

ID	112	HD_B	0.0138418	PITCH_AD_RATE	100	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	4.7289599e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	38	HEADING	-1	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	145	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	2
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	400
D_TGT	150	FIX_MISSING_TIMEOUT	1	ROLL_MAX	3791	ALTIM_PING_DELTA	50
D_ABORT	200	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2060	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1870	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	500	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	2	R_PORT_OVSHOOT	11	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	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	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	486	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3335	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	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	49
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-18692.447	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	135	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3252	AH0_10V	80	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2269	PRESSURE_YINT	-3.7066903	SEABIRD_T_I	2.5554549e-05
MASS	51440	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038775599	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017379176

GPS1	042737,4805.274,-12221.241,28,1.0,28,18.3	TGT_NAME	SIX_nb
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.119,0.168
_SM_DEPTHo	1.82	KALMAN_X	934.1,-22.7,83.0,680.2,61.3
_SM_ANGLEo	-50.3	KALMAN_Y	-640.2,353.1,-50.5,-2332.7,-76.0
GPS2	043327,4805.250,-12221.234,11,1.0,11,18.3	MHEAD_RNG_PITCHd_Wd	313.5,1680,-22.4,-10.000
SPEED_LIMITS	0.173,0.206	D_GRID	110

FINISH	1.0,1.010540	XPDR_PINGS	1
SM_CCo	2400,150.90,0.594,0,0,1296,500.17	ALTIM_TOP_PING	19.6,18.9
SM_GC	1.87,0.00,0.00,150.90,0.000,0.000,0.594,671,2044,1296,-7.35,-0.45,500.17	_24V_AH	20.8,17.409
RAFOS_CLK	113	_10V_AH	9.9,6.626
RAFOS	3,1184214895,4.583333,4.581944,62,61,60,60,56,54,176,165,208,218,189,116	DATA_FILE_SIZE	9612,243
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	260165632,255791104
IRIDIUM_FIX	4748.51,-12220.12,120707,070754	ERRORS	0,0,0,0,0,0,0,0,0,0,0,5,0,0,0
TT8_MAMPS	0.024544	SOUNDSPEED	1484.0
HUMID	1964	CURRENT	0.016,250.5,1
INTERNAL_PRESSURE	10.3715	GPS	120707,051811,4805.472,-12221.447,8,2.2,27,18.3
TCM_TEMP	9.70

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	275	149.48	SBE_CT	171	24	85.70
Roll_motor	58	102	123.12	SBE_O2	169	19	67.07
VBD_pump_during_apogee	305	687	4365.16	nil	0	0	0.00
VBD_pump_during_surface	150	593	1863.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	81.12	nil	0	0	0.00
Iridium_during_connect	29	160	99.59	nil	0	0	0.00
Iridium_during_xfer	152	223	709.43
Transponder_ping	0	420	4.37
GPS	13	50	6.61
TT8	553	19	109.21
LPSleep	1101	2	25.19
TT8_Active	584	19	115.29
TT8_Sampling	301	39	119.12
TT8_CF8	379	45	172.38
TT8_Kalman	33	81	27.04
Analog_circuits	863	12	102.60
GPS_charging	0	0	0.00
Compass	291	20	57.65
RAFOS	1080	1	16.04

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
21	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.15	-132.0	0.0	0.0	0	90	0.00	0.00	-62.62	0.000	2	0.000	0.000	675	2087	3043
94	-1.15	-132.0	3.0	-3.6	10	139	12.80	2.88	-25.23	0.000	4	0.275	0.067	2008	3453	3875
263	-1.15	-132.0	20.2	-12.2	39	270	0.00	2.75	0.00	0.000	6	0.000	0.038	2008	2044	3877
334	-1.06	-132.0	29.3	-12.9	46	336	0.17	0.00	0.00	0.000	6	0.148	0.000	2033	2044	3877
399	-0.97	-132.0	37.0	-12.0	52	404	0.15	2.92	0.00	0.000	4	0.160	0.064	2052	3452	3878
455	-0.94	-132.0	43.8	-11.7	56	462	0.00	2.72	0.00	0.000	6	0.000	0.039	2052	2053	3878
589	-0.97	-132.0	58.2	-10.4	69	594	0.00	2.92	0.00	0.000	4	0.000	0.068	2052	3456	3878
633	-0.99	-132.0	63.0	-10.7	72	640	0.00	2.72	0.00	0.000	6	0.000	0.040	2052	2056	3877
767	-1.02	-132.0	76.7	-10.2	85	772	0.00	2.95	0.00	0.000	4	0.000	0.073	2052	3458	3878
841	-1.06	-132.0	84.3	-10.2	91	846	0.00	2.72	0.00	0.000	6	0.000	0.041	2052	2060	3878
976	-1.10	-132.0	98.1	-10.0	103	981	0.12	2.95	0.00	0.000	4	0.060	0.075	2026	3459	3878
1049	-1.15	-132.0	106.8	-12.2	109	1054	0.00	2.72	0.00	0.000	6	0.000	0.041	2026	2057	3878
1074	end dive: TARGET_DEPTH_EXCEEDED
state	1074	begin apogee
1081	-0.21	0.0	110.1	11.9	111	1198	1.15	0.00	112.65	0.687	6	0.145	0.000	2217	1865	3334
1199	end apogee: CONTROL_FINISHED_OK
state	1199	begin climb
1202	1.15	132.0	114.0	0.0	123	1325	1.60	3.25	112.18	0.667	4	0.079	0.102	2519	469	2796
1382	1.15	132.0	98.8	14.1	139	1387	0.00	2.83	0.00	0.000	6	0.000	0.048	2519	1856	2795
1517	0.96	132.0	80.7	13.3	151	1522	0.22	3.17	0.00	0.000	4	0.138	0.091	2484	3282	2795
1607	0.80	132.0	69.9	11.2	158	1614	0.25	2.85	0.00	0.000	6	0.143	0.051	2447	1882	2794
1741	0.69	151.8	57.4	9.0	171	1765	0.17	2.97	15.75	0.678	4	0.151	0.067	2421	3287	2715
1882	0.70	180.7	45.8	8.5	183	1916	0.00	2.88	24.08	0.663	6	0.000	0.047	2421	1869	2596
2044	0.79	214.9	32.5	8.2	198	2078	0.00	3.08	27.90	0.655	4	0.000	0.066	2421	3281	2458
2209	0.91	230.8	17.5	9.2	214	2229	0.25	2.85	12.82	0.665	6	0.048	0.048	2474	1870	2394
2298	1.02	230.8	7.7	11.4	229	2304	0.00	2.97	0.00	0.000	4	0.000	0.065	2474	3284	2393
2353	end climb: SURFACE_DEPTH_REACHED
state	2353	begin surface coast
2376	end surface coast: CONTROL_FINISHED_OK
state	2376	begin surface