Glider dive log

PN07 DabobBay Sep07 * SG023 * Dive index * Mission links * Dive 396 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 23 HD_B 0.0123087 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 3.5261501e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 396 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 208 ALTIM_PING_DEPTH 50

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1890 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

D_PITCH 0 SM_CC 450 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 45 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 580 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3994 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3484 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 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 -28293.5 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 110 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 20 PITCH_MIN 370 AH0_24V 91.800003 SEABIRD_T_G 0.0043036696

SPEED_FACTOR 1 PITCH_MAX 3518 AH0_10V 61.200001 SEABIRD_T_H 0.00062677584

RHO 1.023 C_PITCH 2610 PRESSURE_YINT -24.5345 SEABIRD_T_I 2.2664151e-05

MASS 51702 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.2667414e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.310682

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1615626

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0017275931

HD_A 0.0030006149 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00021877716

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3518 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 5 PITCH_MIN 370 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 95 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -24.5345 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 20 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 16 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0030006149 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0123087 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 3.5261501e-06 RHO 1.023 T_GPS_CHARGE -28293.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 23 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2610 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1890 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2100 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51702 R_PORT_OVSHOOT 17 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 110 R_STBD_OVSHOOT 45 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.310682 VBD_BLEED_AD_RATE 10

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1615626 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0017275931 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00021877716 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043036696 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062677584 VBD_MIN 580

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2664151e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 396 PHONE_DEVICE 48 SEABIRD_T_J 2.2667414e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 19

Pre-dive calculations and measurements:

GPS1 184817,4746.156,-12249.607,9,2.8,28,18.3 TGT_NAME GP1

_CALLS 1 TGT_LATLONG 4746.257,-12250.251

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.200,0.038

_SM_DEPTHo 0.93 KALMAN_X 21980.4,-36.7,11.6,-17772.2,-21.3

_SM_ANGLEo -69.1 KALMAN_Y 13628.3,9.1,-46.0,-1764.1,10.6

GPS2 185307,4746.168,-12249.595,13,1.9,29,18.3 MHEAD_RNG_PITCHd_Wd 262.4,833,-13.6,-7.037

SPEED_LIMITS 0.193,0.203 D_GRID 165

Post-dive calculations and measurements:

FINISH 3.9,1.022049 ALTIM_BOTTOM_PING 80.1,999.0

SM_CCo 3073,149.12,0.644,1,0,1649,450.13 _24V_AH 24.0,32.476

SM_GC 0.81,0.00,0.00,149.12,0.000,0.000,0.644,369,2109,1649,-10.31,0.25,450.13 _10V_AH 10.2,11.347

IRIDIUM_FIX 4729.30,-12248.15,051007,212150 DATA_FILE_SIZE 6446,281

TT8_MAMPS 0.026845 CFSIZE 260034560,247218176

HUMID 2124 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.80 GPS 051007,194908,4746.254,-12250.044,12,1.6,12,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 149 88.84 SBE_CT 188 24 108.34

Roll_motor 50 59 72.04 nil 0 0 0.00

VBD_pump_during_apogee 193 768 3577.83 nil 0 0 0.00

VBD_pump_during_surface 149 643 2303.13 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 101.11 nil 0 0 0.00

Iridium_during_connect 46 160 178.50 ARS 0 23 0.00

Iridium_during_xfer 91 223 489.10

Transponder_ping 1 420 10.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 93 29.40

TT8 532 19 107.49

LPSleep 1728 2 38.62

TT8_Active 487 19 98.39

TT8_Sampling 475 39 192.88

TT8_CF8 331 45 155.06

TT8_Kalman 33 81 27.82

Analog_circuits 776 12 95.07

GPS_charging 0 0 0.00

Compass 451 8 36.83

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.97 -107.5 0.0 0.0 0 112 0.00 0.00 -84.82 0.000 2 0.000 0.000 366 2126 3393

115 -0.97 -107.5 2.0 -3.1 14 153 11.40 3.03 -18.62 0.000 4 0.150 0.058 2396 685 3923

245 -0.97 -107.5 11.3 -7.8 34 252 0.00 2.85 0.00 0.000 6 0.000 0.031 2396 2090 3924

319 -0.97 -107.5 15.8 -6.2 45 325 0.00 2.47 0.00 0.000 4 0.000 0.049 2396 3509 3924

358 -0.97 -107.5 18.2 -6.2 51 364 0.00 2.42 0.00 0.000 6 0.000 0.033 2396 2080 3924

429 -0.97 -107.5 22.4 -5.7 59 434 0.00 2.90 0.00 0.000 4 0.000 0.051 2396 692 3924

455 -0.97 -107.5 24.0 -6.1 60 461 0.00 2.85 0.00 0.000 6 0.000 0.031 2396 2106 3924

651 -0.97 -107.5 35.6 -5.9 76 656 0.00 2.97 0.00 0.000 4 0.000 0.049 2396 688 3925

675 -0.97 -107.5 37.2 -6.2 77 682 0.00 2.88 0.00 0.000 6 0.000 0.030 2396 2113 3925

872 -0.97 -107.5 48.6 -5.6 93 873 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2113 3925

1064 -0.97 -107.5 59.7 -6.1 108 1068 0.00 2.97 0.00 0.000 4 0.000 0.049 2396 691 3925

1102 -0.97 -107.5 62.2 -6.0 110 1109 0.00 2.85 0.00 0.000 6 0.000 0.030 2396 2106 3925

1299 -0.97 -107.5 73.7 -5.7 126 1300 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2105 3925

1488 -0.97 -107.5 84.6 -5.8 141 1489 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2104 3925

1678 end dive: TARGET_DEPTH_EXCEEDED

state 1678 begin apogee

1685 -0.31 0.0 95.6 5.9 156 1776 0.68 0.00 82.90 0.749 6 0.087 0.000 2535 1885 3484

1776 end apogee: CONTROL_FINISHED_OK

state 1777 begin climb

1779 0.97 107.5 97.5 0.0 164 1865 1.35 0.00 81.38 0.730 6 0.068 0.000 2818 1885 3045

2049 0.97 107.5 79.0 8.2 186 2054 0.00 2.60 0.00 0.000 4 0.000 0.044 2818 3312 3044

2074 0.97 107.5 76.7 8.4 187 2081 0.00 2.58 0.00 0.000 6 0.000 0.039 2818 1906 3043

2271 0.97 107.5 61.1 7.8 203 2272 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 1906 3043

2462 0.97 107.5 46.3 7.9 218 2467 0.00 2.92 0.00 0.000 4 0.000 0.059 2818 466 3043

2487 0.97 107.5 43.9 8.3 219 2494 0.00 2.78 0.00 0.000 6 0.000 0.029 2818 1902 3044

2684 0.97 107.5 28.6 7.9 235 2688 0.00 2.53 0.00 0.000 4 0.000 0.046 2818 3297 3044

2709 0.97 107.5 26.4 8.6 236 2716 0.00 2.53 0.00 0.000 6 0.000 0.038 2818 1888 3043

2910 0.97 111.7 11.8 6.9 260 2917 0.00 0.00 3.05 0.769 6 0.000 0.000 2818 1888 3028

2983 1.01 148.1 7.2 5.7 271 3020 0.00 2.97 26.65 0.692 4 0.000 0.056 2818 475 2879

3024 end climb: SURFACE_DEPTH_REACHED

state 3024 begin surface coast

3047 end surface coast: CONTROL_FINISHED_OK

state 3047 begin surface

ID	23	HD_B	0.0123087	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	3.5261501e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	396	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	208	ALTIM_PING_DEPTH	50
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1890	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
D_PITCH	0	SM_CC	450	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	45	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	580	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3994	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3484	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	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	-28293.5	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	110	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	20	PITCH_MIN	370	AH0_24V	91.800003	SEABIRD_T_G	0.0043036696
SPEED_FACTOR	1	PITCH_MAX	3518	AH0_10V	61.200001	SEABIRD_T_H	0.00062677584
RHO	1.023	C_PITCH	2610	PRESSURE_YINT	-24.5345	SEABIRD_T_I	2.2664151e-05
MASS	51702	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.2667414e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.310682
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1615626
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0017275931
HD_A	0.0030006149	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00021877716

GPS1	184817,4746.156,-12249.607,9,2.8,28,18.3	TGT_NAME	GP1
_CALLS	1	TGT_LATLONG	4746.257,-12250.251
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.200,0.038
_SM_DEPTHo	0.93	KALMAN_X	21980.4,-36.7,11.6,-17772.2,-21.3
_SM_ANGLEo	-69.1	KALMAN_Y	13628.3,9.1,-46.0,-1764.1,10.6
GPS2	185307,4746.168,-12249.595,13,1.9,29,18.3	MHEAD_RNG_PITCHd_Wd	262.4,833,-13.6,-7.037
SPEED_LIMITS	0.193,0.203	D_GRID	165

FINISH	3.9,1.022049	ALTIM_BOTTOM_PING	80.1,999.0
SM_CCo	3073,149.12,0.644,1,0,1649,450.13	_24V_AH	24.0,32.476
SM_GC	0.81,0.00,0.00,149.12,0.000,0.000,0.644,369,2109,1649,-10.31,0.25,450.13	_10V_AH	10.2,11.347
IRIDIUM_FIX	4729.30,-12248.15,051007,212150	DATA_FILE_SIZE	6446,281
TT8_MAMPS	0.026845	CFSIZE	260034560,247218176
HUMID	2124	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.80	GPS	051007,194908,4746.254,-12250.044,12,1.6,12,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	149	88.84	SBE_CT	188	24	108.34
Roll_motor	50	59	72.04	nil	0	0	0.00
VBD_pump_during_apogee	193	768	3577.83	nil	0	0	0.00
VBD_pump_during_surface	149	643	2303.13	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	101.11	nil	0	0	0.00
Iridium_during_connect	46	160	178.50	ARS	0	23	0.00
Iridium_during_xfer	91	223	489.10
Transponder_ping	1	420	10.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	93	29.40
TT8	532	19	107.49
LPSleep	1728	2	38.62
TT8_Active	487	19	98.39
TT8_Sampling	475	39	192.88
TT8_CF8	331	45	155.06
TT8_Kalman	33	81	27.82
Analog_circuits	776	12	95.07
GPS_charging	0	0	0.00
Compass	451	8	36.83
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.97	-107.5	0.0	0.0	0	112	0.00	0.00	-84.82	0.000	2	0.000	0.000	366	2126	3393
115	-0.97	-107.5	2.0	-3.1	14	153	11.40	3.03	-18.62	0.000	4	0.150	0.058	2396	685	3923
245	-0.97	-107.5	11.3	-7.8	34	252	0.00	2.85	0.00	0.000	6	0.000	0.031	2396	2090	3924
319	-0.97	-107.5	15.8	-6.2	45	325	0.00	2.47	0.00	0.000	4	0.000	0.049	2396	3509	3924
358	-0.97	-107.5	18.2	-6.2	51	364	0.00	2.42	0.00	0.000	6	0.000	0.033	2396	2080	3924
429	-0.97	-107.5	22.4	-5.7	59	434	0.00	2.90	0.00	0.000	4	0.000	0.051	2396	692	3924
455	-0.97	-107.5	24.0	-6.1	60	461	0.00	2.85	0.00	0.000	6	0.000	0.031	2396	2106	3924
651	-0.97	-107.5	35.6	-5.9	76	656	0.00	2.97	0.00	0.000	4	0.000	0.049	2396	688	3925
675	-0.97	-107.5	37.2	-6.2	77	682	0.00	2.88	0.00	0.000	6	0.000	0.030	2396	2113	3925
872	-0.97	-107.5	48.6	-5.6	93	873	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2113	3925
1064	-0.97	-107.5	59.7	-6.1	108	1068	0.00	2.97	0.00	0.000	4	0.000	0.049	2396	691	3925
1102	-0.97	-107.5	62.2	-6.0	110	1109	0.00	2.85	0.00	0.000	6	0.000	0.030	2396	2106	3925
1299	-0.97	-107.5	73.7	-5.7	126	1300	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2105	3925
1488	-0.97	-107.5	84.6	-5.8	141	1489	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2104	3925
1678	end dive: TARGET_DEPTH_EXCEEDED
state	1678	begin apogee
1685	-0.31	0.0	95.6	5.9	156	1776	0.68	0.00	82.90	0.749	6	0.087	0.000	2535	1885	3484
1776	end apogee: CONTROL_FINISHED_OK
state	1777	begin climb
1779	0.97	107.5	97.5	0.0	164	1865	1.35	0.00	81.38	0.730	6	0.068	0.000	2818	1885	3045
2049	0.97	107.5	79.0	8.2	186	2054	0.00	2.60	0.00	0.000	4	0.000	0.044	2818	3312	3044
2074	0.97	107.5	76.7	8.4	187	2081	0.00	2.58	0.00	0.000	6	0.000	0.039	2818	1906	3043
2271	0.97	107.5	61.1	7.8	203	2272	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	1906	3043
2462	0.97	107.5	46.3	7.9	218	2467	0.00	2.92	0.00	0.000	4	0.000	0.059	2818	466	3043
2487	0.97	107.5	43.9	8.3	219	2494	0.00	2.78	0.00	0.000	6	0.000	0.029	2818	1902	3044
2684	0.97	107.5	28.6	7.9	235	2688	0.00	2.53	0.00	0.000	4	0.000	0.046	2818	3297	3044
2709	0.97	107.5	26.4	8.6	236	2716	0.00	2.53	0.00	0.000	6	0.000	0.038	2818	1888	3043
2910	0.97	111.7	11.8	6.9	260	2917	0.00	0.00	3.05	0.769	6	0.000	0.000	2818	1888	3028
2983	1.01	148.1	7.2	5.7	271	3020	0.00	2.97	26.65	0.692	4	0.000	0.056	2818	475	2879
3024	end climb: SURFACE_DEPTH_REACHED
state	3024	begin surface coast
3047	end surface coast: CONTROL_FINISHED_OK
state	3047	begin surface