Glider dive log

PortSusan 14Dec09 * SG505 * Dive index * Mission links * Dive 59 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 505 HEADING -1 ROLL_MIN 175 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3810 ALTIM_TOP_TURN_MARGIN 0

DIVE 59 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 0 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 1700 ALTIM_PING_DEPTH 80

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1680 ALTIM_PING_DELTA 5

D_TGT 30 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 5 ALTIM_FREQUENCY 13

D_ABORT 250 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 6

D_NO_BLEED 500 SM_CC 480 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 1

D_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT 34 XPDR_VALID 2

D_FINISH 1 FILEMGR 0 R_STBD_OVSHOOT 34 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -0.80000001

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.5 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.027000001 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE -5 VBD_MIN 450 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 20 CALL_TRIES 5 C_VBD 2807 DEVICE2 -1

T_MISSION 30 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_CNV -0.245296 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 4 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY 0 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -23041.352 UNCOM_BLEED 20 LOGGERDEVICE3 -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

D_OFFGRID 1001 STROBE 0 CF8_MAXERRORS 20 COMPASS_DEVICE 33

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 COMPASS2_DEVICE -1

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 PHONE_DEVICE 48

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 GPS_DEVICE 32

MAX_BUOY 220 PITCH_MIN 110 MINV_10V 8 RAFOS_DEVICE -1

COURSE_BIAS 0 PITCH_MAX 3893 FG_AHR_10V 0 XPDR_DEVICE 24

GLIDE_SLOPE 30 C_PITCH 2915 FG_AHR_24V 0 SIM_W 0

SPEED_FACTOR 1 PITCH_DBAND 0.050000001 PHONE_SUPPLY 2 SIM_PITCH 0

RHO 1.0273 PITCH_CNV 0.003125763 PRESSURE_YINT -66.661293 SEABIRD_T_G 0.0042964104

MASS 52152 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.00011485742 SEABIRD_T_H 0.00061985431

NAV_MODE 1 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_T_I 2.235871e-05

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3254006e-06

KALMAN_USE 1 PITCH_AD_RATE 160 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.7945118

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_H 1.1383005

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0013506444

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018750974

AD7714Ch0Gain 128 D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.3254006e-06

AH0_10V 100 D_NO_BLEED 500 N_NOSURFACE -5 SIM_PITCH 0

AH0_24V 150 D_OFFGRID 1001 PHONE_DEVICE 48 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 480

ALTIM_BOTTOM_TURN_MARGIN 10 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SURF 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PING_DELTA 5 D_TGT 30 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 6 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.050000001 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 1 FERRY_MAX 45 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MAX 3893 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MIN 110 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 32 PRESSURE_SLOPE 0.00011485742 T_DIVE 20

CALL_WAIT 60 HD_A 0.003 PRESSURE_YINT -66.661293 T_GPS 15

CAPMAXSIZE 200000 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPUPLOAD 1 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -23041.352

CF8_MAXERRORS 20 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 HEAD_ERRBAND 5 RAFOS_HIT_WINDOW 3600 T_MISSION 30

COMPASS2_DEVICE -1 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_USE 0 ID 505 RHO 1.0273 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.027000001 T_TURN_SAMPINT 4

C_PITCH 2915 INT_PRESSURE_YINT -0.80000001 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

C_ROLL_CLIMB 1680 KALMAN_USE 1 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_ROLL_DIVE 1700 KERMIT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2807 LOGGERDEVICE1 -1 ROLL_DEG 45 USE_BATHY 0

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MAX 3810 USE_ICE 0

DEEPGLIDERMB 0 LOGGERDEVICE3 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 2 LOGGERDEVICE4 -1 ROLL_MIN 175 VBD_CNV -0.245296

DEVICE2 -1 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MASS 52152 R_PORT_OVSHOOT 34 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 220 R_STBD_OVSHOOT 34 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 8 SEABIRD_C_G -9.7945118 VBD_MIN 450

DEVICE6 -1 MINV_24V 19 SEABIRD_C_H 1.1383005 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 59 MISSION 2 SEABIRD_C_I -0.0013506444 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 250 MOTHERBOARD 4 SEABIRD_C_J 0.00018750974 VBD_TIMEOUT 720

D_BOOST 4 NAV_MODE 1 SEABIRD_T_G 0.0042964104 XPDR_DEVICE 24

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.00061985431 XPDR_INHIBIT 90

D_FINISH 1 N_GPS 20 SEABIRD_T_I 2.235871e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 100611,214117,4751.718,-12219.121,0,10000.0,0,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.033,0.229

_SM_DEPTHo 0.13 KALMAN_X -10056.3,246.7,3258.2,9092.7,203.5

_SM_ANGLEo 1.9 KALMAN_Y 10447.1,-21627.5,-5731.6,-7592.0,6841.6

GPS2 100611,214117,4751.718,-12219.121,0,10000.0,0,18.3 MHEAD_RNG_PITCHd_Wd 333.6,24707,-4.6,-5.000

SPEED_LIMITS 0.087,0.232 D_GRID 30

Post-dive calculations and measurements:

IRIDIUM_FIX 4751.72,-12219.12,100611,212117 FG_AHR_24Vo 0.000

TT8_MAMPS 0.028379 FG_AHR_10Vo 0.000

HUMID 1077492240 MEM 324288

INTERNAL_PRESSURE 9.05389 DATA_FILE_SIZE 6791,206

TCM_TEMP 18.30 CAP_FILE_SIZE 24951,0

XPDR_PINGS 0 CFSIZE 260165632,256397312

_24V_AH 23.9,17.778 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

_10V_AH 10.5,5.802 GPS 100611,214117,4751.718,-12219.121,0,10000.0,0,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 1 212 7.74 SBE_CT 134 24 77.14

Roll_motor 24 51 30.24 nil 0 0 0.00

VBD_pump_during_apogee 147 894 3147.90 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 293 19 61.09

LPSleep 199 2 4.58

TT8_Active 213 19 44.36

TT8_Sampling 297 39 124.16

TT8_CF8 16 45 8.00

TT8_Kalman 33 0 0.00

Analog_circuits 442 12 55.77

GPS_charging 0 0 0.00

Compass 309 15 48.71

RAFOS 0 0 0.00

Transponder 0 5 0.05

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.42 -214.2 0.0 0.0 0 139 0.00 0.00 -118.55 0.000 6 0.000 0.000 3074 3273 3680 0 0 0 0 0 0

141 -0.42 -214.2 2.8 -4.8 29 147 0.77 0.00 0.00 0.000 4 0.058 0.000 2769 3273 3681 0 0 0 0 0 0

202 -0.42 -214.2 10.4 -12.0 42 208 0.00 2.53 0.00 0.000 6 0.000 0.046 2769 1702 3681 0 0 0 0 0 0

247 -0.42 -214.2 13.4 -8.8 51 252 0.00 2.45 0.00 0.000 4 0.000 0.051 2769 178 3681 0 0 0 0 0 0

276 -0.42 -214.2 14.8 -5.3 57 282 0.00 2.42 0.00 0.000 6 0.000 0.040 2769 1706 3681 0 0 0 0 0 0

319 -0.42 -214.2 17.1 -5.1 66 325 0.00 2.53 0.00 0.000 4 0.000 0.050 2769 3286 3681 0 0 0 0 0 0

445 -0.42 -214.2 25.7 -7.2 93 451 0.00 2.47 0.00 0.000 6 0.000 0.041 2772 1721 3681 0 0 0 0 0 0

488 -0.42 -214.2 28.3 -6.2 102 494 0.00 2.45 0.00 0.000 4 0.000 0.051 2772 182 3680 0 0 0 0 0 0

512 end dive: TARGET_DEPTH_EXCEEDED

state 512 begin apogee

518 -0.17 0.0 30.3 6.6 107 596 0.25 0.00 72.82 0.894 6 0.086 0.000 2874 1690 2805 0 0 0 0 0 0

597 end apogee: CONTROL_FINISHED_OK

state 597 begin climb

598 0.42 214.2 34.4 0.0 125 680 0.45 0.00 74.45 0.864 6 0.054 0.000 3055 1690 1930 0 0 0 0 0 0

717 0.42 214.2 19.4 18.8 152 722 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1690 1927 0 0 0 0 0 0

759 0.42 214.2 11.9 18.4 161 765 0.00 2.50 0.00 0.000 4 0.000 0.051 3065 179 1927 0 0 0 0 0 0

770 0.42 214.2 10.5 17.5 163 776 0.05 2.42 0.00 0.000 6 0.212 0.036 3054 1673 1926 0 0 0 0 0 0

813 0.42 214.2 8.4 7.7 172 819 0.00 2.45 0.00 0.000 4 0.000 0.051 3056 184 1927 0 0 0 0 0 0

971 end climb: NO_VERTICAL_VELOCITY

state 971 begin surface

ID	505	HEADING	-1	ROLL_MIN	175	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3810	ALTIM_TOP_TURN_MARGIN	0
DIVE	59	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	0	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	1700	ALTIM_PING_DEPTH	80
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1680	ALTIM_PING_DELTA	5
D_TGT	30	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	5	ALTIM_FREQUENCY	13
D_ABORT	250	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	6
D_NO_BLEED	500	SM_CC	480	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	1
D_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	34	XPDR_VALID	2
D_FINISH	1	FILEMGR	0	R_STBD_OVSHOOT	34	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-0.80000001
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.5	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.027000001	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	-5	VBD_MIN	450	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	20	CALL_TRIES	5	C_VBD	2807	DEVICE2	-1
T_MISSION	30	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_CNV	-0.245296	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	4	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	0	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-23041.352	UNCOM_BLEED	20	LOGGERDEVICE3	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
D_OFFGRID	1001	STROBE	0	CF8_MAXERRORS	20	COMPASS_DEVICE	33
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	COMPASS2_DEVICE	-1
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	PHONE_DEVICE	48
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	GPS_DEVICE	32
MAX_BUOY	220	PITCH_MIN	110	MINV_10V	8	RAFOS_DEVICE	-1
COURSE_BIAS	0	PITCH_MAX	3893	FG_AHR_10V	0	XPDR_DEVICE	24
GLIDE_SLOPE	30	C_PITCH	2915	FG_AHR_24V	0	SIM_W	0
SPEED_FACTOR	1	PITCH_DBAND	0.050000001	PHONE_SUPPLY	2	SIM_PITCH	0
RHO	1.0273	PITCH_CNV	0.003125763	PRESSURE_YINT	-66.661293	SEABIRD_T_G	0.0042964104
MASS	52152	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.00011485742	SEABIRD_T_H	0.00061985431
NAV_MODE	1	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_T_I	2.235871e-05
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3254006e-06
KALMAN_USE	1	PITCH_AD_RATE	160	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.7945118
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_H	1.1383005
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0013506444
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018750974

GPS1	100611,214117,4751.718,-12219.121,0,10000.0,0,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.033,0.229
_SM_DEPTHo	0.13	KALMAN_X	-10056.3,246.7,3258.2,9092.7,203.5
_SM_ANGLEo	1.9	KALMAN_Y	10447.1,-21627.5,-5731.6,-7592.0,6841.6
GPS2	100611,214117,4751.718,-12219.121,0,10000.0,0,18.3	MHEAD_RNG_PITCHd_Wd	333.6,24707,-4.6,-5.000
SPEED_LIMITS	0.087,0.232	D_GRID	30

IRIDIUM_FIX	4751.72,-12219.12,100611,212117	FG_AHR_24Vo	0.000
TT8_MAMPS	0.028379	FG_AHR_10Vo	0.000
HUMID	1077492240	MEM	324288
INTERNAL_PRESSURE	9.05389	DATA_FILE_SIZE	6791,206
TCM_TEMP	18.30	CAP_FILE_SIZE	24951,0
XPDR_PINGS	0	CFSIZE	260165632,256397312
_24V_AH	23.9,17.778	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_10V_AH	10.5,5.802	GPS	100611,214117,4751.718,-12219.121,0,10000.0,0,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	1	212	7.74	SBE_CT	134	24	77.14
Roll_motor	24	51	30.24	nil	0	0	0.00
VBD_pump_during_apogee	147	894	3147.90	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	293	19	61.09
LPSleep	199	2	4.58
TT8_Active	213	19	44.36
TT8_Sampling	297	39	124.16
TT8_CF8	16	45	8.00
TT8_Kalman	33	0	0.00
Analog_circuits	442	12	55.77
GPS_charging	0	0	0.00
Compass	309	15	48.71
RAFOS	0	0	0.00
Transponder	0	5	0.05

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.42	-214.2	0.0	0.0	0	139	0.00	0.00	-118.55	0.000	6	0.000	0.000	3074	3273	3680	0	0	0	0	0	0
141	-0.42	-214.2	2.8	-4.8	29	147	0.77	0.00	0.00	0.000	4	0.058	0.000	2769	3273	3681	0	0	0	0	0	0
202	-0.42	-214.2	10.4	-12.0	42	208	0.00	2.53	0.00	0.000	6	0.000	0.046	2769	1702	3681	0	0	0	0	0	0
247	-0.42	-214.2	13.4	-8.8	51	252	0.00	2.45	0.00	0.000	4	0.000	0.051	2769	178	3681	0	0	0	0	0	0
276	-0.42	-214.2	14.8	-5.3	57	282	0.00	2.42	0.00	0.000	6	0.000	0.040	2769	1706	3681	0	0	0	0	0	0
319	-0.42	-214.2	17.1	-5.1	66	325	0.00	2.53	0.00	0.000	4	0.000	0.050	2769	3286	3681	0	0	0	0	0	0
445	-0.42	-214.2	25.7	-7.2	93	451	0.00	2.47	0.00	0.000	6	0.000	0.041	2772	1721	3681	0	0	0	0	0	0
488	-0.42	-214.2	28.3	-6.2	102	494	0.00	2.45	0.00	0.000	4	0.000	0.051	2772	182	3680	0	0	0	0	0	0
512	end dive: TARGET_DEPTH_EXCEEDED
state	512	begin apogee
518	-0.17	0.0	30.3	6.6	107	596	0.25	0.00	72.82	0.894	6	0.086	0.000	2874	1690	2805	0	0	0	0	0	0
597	end apogee: CONTROL_FINISHED_OK
state	597	begin climb
598	0.42	214.2	34.4	0.0	125	680	0.45	0.00	74.45	0.864	6	0.054	0.000	3055	1690	1930	0	0	0	0	0	0
717	0.42	214.2	19.4	18.8	152	722	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1690	1927	0	0	0	0	0	0
759	0.42	214.2	11.9	18.4	161	765	0.00	2.50	0.00	0.000	4	0.000	0.051	3065	179	1927	0	0	0	0	0	0
770	0.42	214.2	10.5	17.5	163	776	0.05	2.42	0.00	0.000	6	0.212	0.036	3054	1673	1926	0	0	0	0	0	0
813	0.42	214.2	8.4	7.7	172	819	0.00	2.45	0.00	0.000	4	0.000	0.051	3056	184	1927	0	0	0	0	0	0
971	end climb: NO_VERTICAL_VELOCITY
state	971	begin surface