Glider dive log

PortSusan 12Mar08 * SG148 * Dive index * Mission links * Dive 27 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 148 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 2 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 27 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 160 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DEPTH 0

D_TGT 168 TGT_DEFAULT_LAT 4736 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LON -12218 C_ROLL_DIVE 2090 ALTIM_FREQUENCY 13

D_NO_BLEED 80 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

D_FINISH 0 SM_CC 450 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 39 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 70 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 53

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 511 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3949 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3445 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 5 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -1735.1583 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 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 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 420 AH0_24V 91.800003 SEABIRD_T_G 0.0043992815

SPEED_FACTOR 1 PITCH_MAX 3705 AH0_10V 61.200001 SEABIRD_T_H 0.00064238382

RHO 1.0232 C_PITCH 2902 PRESSURE_YINT -16.508385 SEABIRD_T_I 2.7016365e-05

MASS 52128 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001637 SEABIRD_T_J 3.0340441e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.010528

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1459081

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015769247

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00021306775

HD_B 0.0099999998 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3705 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 420 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 168 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001637 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -16.508385 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 70

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0232 T_GPS_CHARGE -1735.1583

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 148 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2902 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2000 KALMAN_USE 1 ROLL_MIN 160 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2090 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -4

C_VBD 3445 MASS 52128 R_PORT_OVSHOOT 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 39 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.010528 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1459081 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0015769247 VBD_MAX 3949

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00021306775 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043992815 VBD_MIN 511

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.00064238382 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.7016365e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 27 PHONE_DEVICE 48 SEABIRD_T_J 3.0340441e-06 VBD_TIMEOUT 360

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 161909,4807.729,-12223.195,9,1.5,9,18.3 TGT_NAME KAYAKPT

_CALLS 1 TGT_LATLONG 4808.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.037,0.238

_SM_DEPTHo 1.43 KALMAN_X 4529.6,-670.7,-90.6,-4777.8,11.1

_SM_ANGLEo -71.0 KALMAN_Y -3342.8,813.5,16.0,4011.9,-380.2

GPS2 162304,4807.716,-12223.190,10,2.4,29,18.3 MHEAD_RNG_PITCHd_Wd 350.6,576,-14.0,-8.000

SPEED_LIMITS 0.139,0.241 D_GRID 105

Post-dive calculations and measurements:

FINISH 2.4,1.019451 XPDR_PINGS 9

SM_CCo 2061,164.48,0.597,1,0,1609,450.13 _24V_AH 23.7,3.174

SM_GC 1.76,0.00,0.00,164.48,0.000,0.000,0.597,416,2112,1609,-11.44,0.62,450.13 _10V_AH 10.1,2.259

IRIDIUM_FIX 4751.72,-12226.29,070697,151524 DATA_FILE_SIZE 28762,343

TT8_MAMPS 0.027612 CAP_FILE_SIZE 39855,0

HUMID 1464 CFSIZE 260165632,257478656

INTERNAL_PRESSURE 8.31087 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 12.70 GPS 130308,170203,4807.917,-12223.171,13,1.5,13,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 177 110.65 SBE_CT 234 24 133.36

Roll_motor 43 75 78.55 SBE_O2 155 19 69.81

VBD_pump_during_apogee 211 671 3358.08 Optode 226 33 177.19

VBD_pump_during_surface 164 596 2326.07 WL_BB2F 382 105 950.80

VBD_valve 0 0 0.00 WL_BBFL2VMT 801 105 1993.67

Iridium_during_init 30 103 73.25 nil 0 0 0.00

Iridium_during_connect 29 160 111.11 nil 0 0 0.00

Iridium_during_xfer 89 223 471.39

Transponder_ping 2 420 22.40

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.09

TT8 546 19 109.28

LPSleep 251 2 5.56

TT8_Active 423 19 84.71

TT8_Sampling 1048 39 421.66

TT8_CF8 216 45 100.26

TT8_Kalman 33 81 27.53

Analog_circuits 852 12 103.34

GPS_charging 0 0 0.00

Compass 1042 8 84.25

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.06 -146.6 0.0 0.0 0 103 0.00 0.00 -83.88 0.000 2 0.000 0.000 420 2116 3489

105 -1.06 -146.6 3.3 -1.9 11 138 12.43 2.42 -14.65 0.000 4 0.177 0.076 2666 3478 3952

162 -1.06 -146.6 10.3 -9.8 19 169 0.00 2.35 0.00 0.000 6 0.000 0.044 2666 2094 3952

236 -1.06 -146.6 18.4 -11.8 32 244 0.00 2.45 0.00 0.000 4 0.000 0.061 2666 684 3953

317 -1.06 -146.6 28.3 -12.5 46 324 0.00 2.35 0.00 0.000 6 0.000 0.045 2666 2073 3953

392 -1.06 -146.6 37.7 -12.5 59 398 0.00 2.38 0.00 0.000 4 0.000 0.063 2666 682 3953

440 -1.06 -146.6 43.7 -13.2 67 446 0.00 2.35 0.00 0.000 6 0.000 0.044 2666 2090 3953

578 -1.06 -146.6 60.5 -11.9 92 586 0.00 2.45 0.00 0.000 4 0.000 0.060 2666 686 3953

656 -1.06 -146.6 69.8 -12.9 105 662 0.00 2.35 0.00 0.000 6 0.000 0.045 2666 2093 3953

793 -1.06 -146.6 85.6 -10.6 130 802 0.00 2.45 0.00 0.000 4 0.000 0.060 2666 685 3953

840 -1.06 -146.6 90.9 -11.5 138 848 0.00 2.38 0.00 0.000 6 0.000 0.044 2666 2092 3953

973 end dive: TARGET_DEPTH_EXCEEDED

state 973 begin apogee

977 -0.31 0.0 105.4 10.5 162 1079 0.77 0.00 97.85 0.671 6 0.115 0.000 2827 1991 3445

1080 end apogee: CONTROL_FINISHED_OK

state 1080 begin climb

1081 1.06 146.6 108.4 0.0 178 1203 1.38 2.53 113.28 0.646 4 0.085 0.074 3124 3411 2848

1216 1.06 146.6 96.6 12.4 199 1222 0.00 2.38 0.00 0.000 6 0.000 0.048 3124 2012 2848

1355 1.06 146.6 77.8 13.3 224 1362 0.00 2.47 0.00 0.000 4 0.000 0.065 3124 603 2848

1367 1.06 146.6 76.0 13.4 226 1376 0.00 2.38 0.00 0.000 6 0.000 0.044 3124 2001 2848

1512 1.06 146.6 57.8 12.6 251 1518 0.00 2.42 0.00 0.000 4 0.000 0.064 3124 3403 2847

1526 1.06 146.6 55.9 12.2 253 1531 0.00 2.38 0.00 0.000 6 0.000 0.047 3124 2001 2847

1664 1.06 146.6 38.5 11.9 278 1671 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2001 2847

1805 1.06 146.6 22.8 11.0 303 1813 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2001 2847

1880 1.06 146.6 14.4 10.9 316 1888 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2000 2847

1955 1.06 146.6 6.8 9.9 329 1964 0.00 2.47 0.00 0.000 4 0.000 0.067 3124 591 2847

1972 1.06 146.6 5.3 9.5 331 1980 0.00 2.40 0.00 0.000 6 0.000 0.051 3124 2002 2848

2003 end climb: SURFACE_DEPTH_REACHED

state 2003 begin surface coast

2043 end surface coast: CONTROL_FINISHED_OK

state 2043 begin surface

ID	148	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	2	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	27	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	160	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DEPTH	0
D_TGT	168	TGT_DEFAULT_LAT	4736	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LON	-12218	C_ROLL_DIVE	2090	ALTIM_FREQUENCY	13
D_NO_BLEED	80	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2000	ALTIM_PULSE	3
D_FINISH	0	SM_CC	450	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	39	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	70	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	53
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	511	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3949	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3445	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	5	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-1735.1583	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	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	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	420	AH0_24V	91.800003	SEABIRD_T_G	0.0043992815
SPEED_FACTOR	1	PITCH_MAX	3705	AH0_10V	61.200001	SEABIRD_T_H	0.00064238382
RHO	1.0232	C_PITCH	2902	PRESSURE_YINT	-16.508385	SEABIRD_T_I	2.7016365e-05
MASS	52128	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001637	SEABIRD_T_J	3.0340441e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.010528
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1459081
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015769247
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00021306775
HD_B	0.0099999998	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0

GPS1	161909,4807.729,-12223.195,9,1.5,9,18.3	TGT_NAME	KAYAKPT
_CALLS	1	TGT_LATLONG	4808.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.037,0.238
_SM_DEPTHo	1.43	KALMAN_X	4529.6,-670.7,-90.6,-4777.8,11.1
_SM_ANGLEo	-71.0	KALMAN_Y	-3342.8,813.5,16.0,4011.9,-380.2
GPS2	162304,4807.716,-12223.190,10,2.4,29,18.3	MHEAD_RNG_PITCHd_Wd	350.6,576,-14.0,-8.000
SPEED_LIMITS	0.139,0.241	D_GRID	105

FINISH	2.4,1.019451	XPDR_PINGS	9
SM_CCo	2061,164.48,0.597,1,0,1609,450.13	_24V_AH	23.7,3.174
SM_GC	1.76,0.00,0.00,164.48,0.000,0.000,0.597,416,2112,1609,-11.44,0.62,450.13	_10V_AH	10.1,2.259
IRIDIUM_FIX	4751.72,-12226.29,070697,151524	DATA_FILE_SIZE	28762,343
TT8_MAMPS	0.027612	CAP_FILE_SIZE	39855,0
HUMID	1464	CFSIZE	260165632,257478656
INTERNAL_PRESSURE	8.31087	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	12.70	GPS	130308,170203,4807.917,-12223.171,13,1.5,13,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	177	110.65	SBE_CT	234	24	133.36
Roll_motor	43	75	78.55	SBE_O2	155	19	69.81
VBD_pump_during_apogee	211	671	3358.08	Optode	226	33	177.19
VBD_pump_during_surface	164	596	2326.07	WL_BB2F	382	105	950.80
VBD_valve	0	0	0.00	WL_BBFL2VMT	801	105	1993.67
Iridium_during_init	30	103	73.25	nil	0	0	0.00
Iridium_during_connect	29	160	111.11	nil	0	0	0.00
Iridium_during_xfer	89	223	471.39
Transponder_ping	2	420	22.40
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.09
TT8	546	19	109.28
LPSleep	251	2	5.56
TT8_Active	423	19	84.71
TT8_Sampling	1048	39	421.66
TT8_CF8	216	45	100.26
TT8_Kalman	33	81	27.53
Analog_circuits	852	12	103.34
GPS_charging	0	0	0.00
Compass	1042	8	84.25
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.06	-146.6	0.0	0.0	0	103	0.00	0.00	-83.88	0.000	2	0.000	0.000	420	2116	3489
105	-1.06	-146.6	3.3	-1.9	11	138	12.43	2.42	-14.65	0.000	4	0.177	0.076	2666	3478	3952
162	-1.06	-146.6	10.3	-9.8	19	169	0.00	2.35	0.00	0.000	6	0.000	0.044	2666	2094	3952
236	-1.06	-146.6	18.4	-11.8	32	244	0.00	2.45	0.00	0.000	4	0.000	0.061	2666	684	3953
317	-1.06	-146.6	28.3	-12.5	46	324	0.00	2.35	0.00	0.000	6	0.000	0.045	2666	2073	3953
392	-1.06	-146.6	37.7	-12.5	59	398	0.00	2.38	0.00	0.000	4	0.000	0.063	2666	682	3953
440	-1.06	-146.6	43.7	-13.2	67	446	0.00	2.35	0.00	0.000	6	0.000	0.044	2666	2090	3953
578	-1.06	-146.6	60.5	-11.9	92	586	0.00	2.45	0.00	0.000	4	0.000	0.060	2666	686	3953
656	-1.06	-146.6	69.8	-12.9	105	662	0.00	2.35	0.00	0.000	6	0.000	0.045	2666	2093	3953
793	-1.06	-146.6	85.6	-10.6	130	802	0.00	2.45	0.00	0.000	4	0.000	0.060	2666	685	3953
840	-1.06	-146.6	90.9	-11.5	138	848	0.00	2.38	0.00	0.000	6	0.000	0.044	2666	2092	3953
973	end dive: TARGET_DEPTH_EXCEEDED
state	973	begin apogee
977	-0.31	0.0	105.4	10.5	162	1079	0.77	0.00	97.85	0.671	6	0.115	0.000	2827	1991	3445
1080	end apogee: CONTROL_FINISHED_OK
state	1080	begin climb
1081	1.06	146.6	108.4	0.0	178	1203	1.38	2.53	113.28	0.646	4	0.085	0.074	3124	3411	2848
1216	1.06	146.6	96.6	12.4	199	1222	0.00	2.38	0.00	0.000	6	0.000	0.048	3124	2012	2848
1355	1.06	146.6	77.8	13.3	224	1362	0.00	2.47	0.00	0.000	4	0.000	0.065	3124	603	2848
1367	1.06	146.6	76.0	13.4	226	1376	0.00	2.38	0.00	0.000	6	0.000	0.044	3124	2001	2848
1512	1.06	146.6	57.8	12.6	251	1518	0.00	2.42	0.00	0.000	4	0.000	0.064	3124	3403	2847
1526	1.06	146.6	55.9	12.2	253	1531	0.00	2.38	0.00	0.000	6	0.000	0.047	3124	2001	2847
1664	1.06	146.6	38.5	11.9	278	1671	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	2001	2847
1805	1.06	146.6	22.8	11.0	303	1813	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	2001	2847
1880	1.06	146.6	14.4	10.9	316	1888	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	2000	2847
1955	1.06	146.6	6.8	9.9	329	1964	0.00	2.47	0.00	0.000	4	0.000	0.067	3124	591	2847
1972	1.06	146.6	5.3	9.5	331	1980	0.00	2.40	0.00	0.000	6	0.000	0.051	3124	2002	2848
2003	end climb: SURFACE_DEPTH_REACHED
state	2003	begin surface coast
2043	end surface coast: CONTROL_FINISHED_OK
state	2043	begin surface