Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 78 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_B 0.014024 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.5727e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 78 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_TGT 90 FIX_MISSING_TIMEOUT 0 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2079 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 350 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 33 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 65 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 204 DEVICE4 -1

T_TURN 270 CALL_WAIT 60 VBD_MAX 3580 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2800 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 360 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -60713.352 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 3 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 1 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_MIN 25 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 4070 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_I 2.5554549e-05

MASS 51503 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 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 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0041149999 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 22 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 90 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.0041149999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.014024 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 5.5727e-05 RHO 1.023 T_GPS_CHARGE -60713.352

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 65

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COURSE_BIAS 0 ID 128 ROLL_MAX 4014 T_TURN_SAMPINT 5

C_PITCH 2820 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2079 INT_PRESSURE_YINT 0 ROLL_MIN 145 UNCOM_BLEED 50

C_ROLL_DIVE 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51503 R_PORT_OVSHOOT 33 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 36 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 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 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3580

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 204

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 78 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 103603,4806.154,-12221.883,12,1.5,13,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.123,0.117

_SM_DEPTHo 1.14 KALMAN_X 6685.9,-13.8,-42.0,-4132.6,58.5

_SM_ANGLEo -68.0 KALMAN_Y 2086.2,12.9,72.2,-6491.2,60.5

GPS2 104021,4806.133,-12221.875,11,1.6,11,18.3 MHEAD_RNG_PITCHd_Wd 295.1,4342,-13.2,-6.000

SPEED_LIMITS 0.060,0.170 D_GRID 108

Post-dive calculations and measurements:

FINISH 0.4,1.014474 XPDR_PINGS 0

SM_CCo 3059,59.38,0.734,0,0,1373,350.04 ALTIM_BOTTOM_PING 65.1,53.4

SM_GC 1.26,0.00,0.00,59.38,0.000,0.000,0.734,13,2169,1373,-8.77,0.54,350.04 _24V_AH 24.4,14.784

IRIDIUM_FIX 4751.72,-12226.29,080907,131354 _10V_AH 10.8,5.658

TT8_MAMPS 0.026078 DATA_FILE_SIZE 15975,334

HUMID 1824 CFSIZE 260165632,255500288

INTERNAL_PRESSURE 9.18004 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 080907,113423,4806.386,-12222.124,9,4.1,29,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 218 112.01 SBE_CT 238 24 139.69

Roll_motor 42 69 70.95 SBE_O2 259 19 120.50

VBD_pump_during_apogee 295 842 6070.64 WL_BB2F 563 105 1443.94

VBD_pump_during_surface 59 734 1063.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 100.75 nil 0 0 0.00

Iridium_during_connect 48 160 188.77 nil 0 0 0.00

Iridium_during_xfer 98 223 537.06

Transponder_ping 0 420 2.56

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.91

TT8 551 19 117.99

LPSleep 1503 2 35.57

TT8_Active 391 19 83.61

TT8_Sampling 681 39 292.77

TT8_CF8 274 45 135.56

TT8_Kalman 33 81 29.45

Analog_circuits 775 12 100.52

GPS_charging 0 0 0.00

Compass 695 8 60.13

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.78 -146.6 0.0 0.0 0 95 0.00 0.00 -72.28 0.000 2 0.000 0.000 5 2166 3216

97 -0.78 -146.6 3.6 -3.9 13 115 10.57 0.00 -3.65 0.000 6 0.219 0.000 2564 2166 3401

182 -0.78 -146.6 14.8 -7.4 28 188 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2166 3403

255 -0.78 -146.6 19.6 -6.5 41 262 0.00 2.35 0.00 0.000 4 0.000 0.055 2563 3549 3403

282 -0.78 -146.6 21.5 -6.5 44 290 0.00 2.30 0.00 0.000 6 0.000 0.030 2563 2142 3404

480 -0.78 -146.6 34.2 -6.2 63 481 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2141 3404

671 -0.78 -146.6 46.4 -6.5 81 675 0.00 2.35 0.00 0.000 4 0.000 0.053 2563 3549 3404

716 -0.78 -146.6 49.2 -6.4 85 720 0.00 2.25 0.00 0.000 6 0.000 0.031 2563 2139 3404

912 -0.78 -146.6 61.9 -6.5 103 916 0.00 2.38 0.00 0.000 4 0.000 0.054 2563 3556 3404

945 -0.78 -146.6 64.0 -6.7 106 949 0.00 2.25 0.00 0.000 6 0.000 0.030 2563 2141 3404

1268 -0.78 -146.6 85.1 -6.3 136 1273 0.00 2.38 0.00 0.000 4 0.000 0.054 2562 3559 3404

1323 -0.78 -146.6 88.9 -6.8 140 1330 0.00 2.25 0.00 0.000 6 0.000 0.030 2562 2156 3404

1349 end dive: TARGET_DEPTH_EXCEEDED

state 1349 begin apogee

1354 -0.23 0.0 90.5 6.3 143 1472 0.57 0.00 113.60 0.840 6 0.112 0.000 2741 2067 2799

1473 end apogee: CONTROL_FINISHED_OK

state 1473 begin climb

1475 0.78 146.6 93.0 0.0 155 1591 1.00 0.00 111.68 0.693 6 0.082 0.000 3064 2067 2202

1906 0.78 146.6 66.9 7.0 196 1910 0.00 2.40 0.00 0.000 4 0.000 0.051 3065 3488 2200

1972 0.78 146.6 62.0 7.6 202 1977 0.00 2.28 0.00 0.000 6 0.000 0.033 3068 2095 2199

2297 0.78 146.6 40.7 6.2 232 2301 0.00 2.33 0.00 0.000 4 0.000 0.051 3068 3481 2199

2317 0.78 146.6 39.2 6.6 233 2324 0.00 2.30 0.00 0.000 6 0.000 0.034 3069 2080 2199

2515 0.78 146.6 27.2 6.1 252 2518 0.00 2.35 0.00 0.000 4 0.000 0.052 3069 3485 2199

2542 0.78 146.6 25.5 6.7 254 2548 0.00 2.28 0.00 0.000 6 0.000 0.035 3074 2075 2199

2745 0.80 163.4 13.9 5.5 282 2768 0.00 2.45 13.93 0.842 4 0.000 0.051 3074 3488 2132

2780 0.82 175.9 11.9 5.6 288 2798 0.00 2.30 11.15 0.817 6 0.000 0.035 3074 2079 2082

2865 0.84 194.6 7.1 5.4 303 2889 0.00 2.40 15.50 0.837 4 0.000 0.048 3074 672 2006

2929 0.89 232.4 4.0 4.8 314 2964 0.00 2.33 29.58 0.839 6 0.000 0.036 3075 2078 1851

2979 end climb: SURFACE_DEPTH_REACHED

state 2979 begin surface coast

3043 end surface coast: CONTROL_FINISHED_OK

state 3043 begin surface

ID	128	HD_B	0.014024	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.5727e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	78	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_TGT	90	FIX_MISSING_TIMEOUT	0	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2079	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	350	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	33	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	65	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	204	DEVICE4	-1
T_TURN	270	CALL_WAIT	60	VBD_MAX	3580	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2800	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	360	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-60713.352	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	3	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	1	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_MIN	25	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	4070	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_I	2.5554549e-05
MASS	51503	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	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	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0041149999	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	103603,4806.154,-12221.883,12,1.5,13,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.123,0.117
_SM_DEPTHo	1.14	KALMAN_X	6685.9,-13.8,-42.0,-4132.6,58.5
_SM_ANGLEo	-68.0	KALMAN_Y	2086.2,12.9,72.2,-6491.2,60.5
GPS2	104021,4806.133,-12221.875,11,1.6,11,18.3	MHEAD_RNG_PITCHd_Wd	295.1,4342,-13.2,-6.000
SPEED_LIMITS	0.060,0.170	D_GRID	108

FINISH	0.4,1.014474	XPDR_PINGS	0
SM_CCo	3059,59.38,0.734,0,0,1373,350.04	ALTIM_BOTTOM_PING	65.1,53.4
SM_GC	1.26,0.00,0.00,59.38,0.000,0.000,0.734,13,2169,1373,-8.77,0.54,350.04	_24V_AH	24.4,14.784
IRIDIUM_FIX	4751.72,-12226.29,080907,131354	_10V_AH	10.8,5.658
TT8_MAMPS	0.026078	DATA_FILE_SIZE	15975,334
HUMID	1824	CFSIZE	260165632,255500288
INTERNAL_PRESSURE	9.18004	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	080907,113423,4806.386,-12222.124,9,4.1,29,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	218	112.01	SBE_CT	238	24	139.69
Roll_motor	42	69	70.95	SBE_O2	259	19	120.50
VBD_pump_during_apogee	295	842	6070.64	WL_BB2F	563	105	1443.94
VBD_pump_during_surface	59	734	1063.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	100.75	nil	0	0	0.00
Iridium_during_connect	48	160	188.77	nil	0	0	0.00
Iridium_during_xfer	98	223	537.06
Transponder_ping	0	420	2.56
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.91
TT8	551	19	117.99
LPSleep	1503	2	35.57
TT8_Active	391	19	83.61
TT8_Sampling	681	39	292.77
TT8_CF8	274	45	135.56
TT8_Kalman	33	81	29.45
Analog_circuits	775	12	100.52
GPS_charging	0	0	0.00
Compass	695	8	60.13
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.78	-146.6	0.0	0.0	0	95	0.00	0.00	-72.28	0.000	2	0.000	0.000	5	2166	3216
97	-0.78	-146.6	3.6	-3.9	13	115	10.57	0.00	-3.65	0.000	6	0.219	0.000	2564	2166	3401
182	-0.78	-146.6	14.8	-7.4	28	188	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2166	3403
255	-0.78	-146.6	19.6	-6.5	41	262	0.00	2.35	0.00	0.000	4	0.000	0.055	2563	3549	3403
282	-0.78	-146.6	21.5	-6.5	44	290	0.00	2.30	0.00	0.000	6	0.000	0.030	2563	2142	3404
480	-0.78	-146.6	34.2	-6.2	63	481	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2141	3404
671	-0.78	-146.6	46.4	-6.5	81	675	0.00	2.35	0.00	0.000	4	0.000	0.053	2563	3549	3404
716	-0.78	-146.6	49.2	-6.4	85	720	0.00	2.25	0.00	0.000	6	0.000	0.031	2563	2139	3404
912	-0.78	-146.6	61.9	-6.5	103	916	0.00	2.38	0.00	0.000	4	0.000	0.054	2563	3556	3404
945	-0.78	-146.6	64.0	-6.7	106	949	0.00	2.25	0.00	0.000	6	0.000	0.030	2563	2141	3404
1268	-0.78	-146.6	85.1	-6.3	136	1273	0.00	2.38	0.00	0.000	4	0.000	0.054	2562	3559	3404
1323	-0.78	-146.6	88.9	-6.8	140	1330	0.00	2.25	0.00	0.000	6	0.000	0.030	2562	2156	3404
1349	end dive: TARGET_DEPTH_EXCEEDED
state	1349	begin apogee
1354	-0.23	0.0	90.5	6.3	143	1472	0.57	0.00	113.60	0.840	6	0.112	0.000	2741	2067	2799
1473	end apogee: CONTROL_FINISHED_OK
state	1473	begin climb
1475	0.78	146.6	93.0	0.0	155	1591	1.00	0.00	111.68	0.693	6	0.082	0.000	3064	2067	2202
1906	0.78	146.6	66.9	7.0	196	1910	0.00	2.40	0.00	0.000	4	0.000	0.051	3065	3488	2200
1972	0.78	146.6	62.0	7.6	202	1977	0.00	2.28	0.00	0.000	6	0.000	0.033	3068	2095	2199
2297	0.78	146.6	40.7	6.2	232	2301	0.00	2.33	0.00	0.000	4	0.000	0.051	3068	3481	2199
2317	0.78	146.6	39.2	6.6	233	2324	0.00	2.30	0.00	0.000	6	0.000	0.034	3069	2080	2199
2515	0.78	146.6	27.2	6.1	252	2518	0.00	2.35	0.00	0.000	4	0.000	0.052	3069	3485	2199
2542	0.78	146.6	25.5	6.7	254	2548	0.00	2.28	0.00	0.000	6	0.000	0.035	3074	2075	2199
2745	0.80	163.4	13.9	5.5	282	2768	0.00	2.45	13.93	0.842	4	0.000	0.051	3074	3488	2132
2780	0.82	175.9	11.9	5.6	288	2798	0.00	2.30	11.15	0.817	6	0.000	0.035	3074	2079	2082
2865	0.84	194.6	7.1	5.4	303	2889	0.00	2.40	15.50	0.837	4	0.000	0.048	3074	672	2006
2929	0.89	232.4	4.0	4.8	314	2964	0.00	2.33	29.58	0.839	6	0.000	0.036	3075	2078	1851
2979	end climb: SURFACE_DEPTH_REACHED
state	2979	begin surface coast
3043	end surface coast: CONTROL_FINISHED_OK
state	3043	begin surface