Glider dive log

PN07 DabobBay 26Sep07 * SG106 * Dive index * Mission links * Dive 112 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 112 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 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

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 -45426.938 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 460 AH0_24V 91.800003 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -7.4494777 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 PITCH_TIMEOUT 20 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 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.4494777 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 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 35

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -45426.938

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 27 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 35 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 112 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 235717,4739.567,-12253.217,11,2.4,30,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.234,-0.029

_SM_DEPTHo 1.01 KALMAN_X 2814.5,44.0,-23.2,-4116.6,-59.6

_SM_ANGLEo -62.1 KALMAN_Y 1833.1,73.7,36.7,-2304.6,-16.3

GPS2 000305,4739.569,-12253.229,11,2.4,30,18.3 MHEAD_RNG_PITCHd_Wd 78.8,1048,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 116

Post-dive calculations and measurements:

FINISH 3.1,1.021807 XPDR_PINGS 0

SM_CCo 2887,119.90,0.582,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.3,51.3

SM_GC 0.93,0.00,0.00,119.90,0.000,0.000,0.582,463,1815,1586,-12.13,0.42,400.08 _24V_AH 23.9,15.172

IRIDIUM_FIX 4719.74,-12247.38,290907,030311 _10V_AH 10.1,36.708

TT8_MAMPS 0.069797 DATA_FILE_SIZE 6450,262

HUMID 2029 CFSIZE 260034560,253652992

INTERNAL_PRESSURE 8.40853 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.50 GPS 290907,005503,4739.503,-12252.895,11,1.5,11,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 211 163.29 SBE_CT 175 24 100.56

Roll_motor 56 82 111.21 nil 0 0 0.00

VBD_pump_during_apogee 193 674 3116.21 nil 0 0 0.00

VBD_pump_during_surface 119 582 1668.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 94.96 nil 0 0 0.00

Iridium_during_connect 43 160 167.35 ARS 0 0 0.00

Iridium_during_xfer 141 223 751.53

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3483 6 532.76

GPS 31 50 15.69

TT8 495 19 99.12

LPSleep 1600 2 35.40

TT8_Active 460 19 92.00

TT8_Sampling 501 39 201.64

TT8_CF8 328 45 151.93

TT8_Kalman 33 81 27.54

Analog_circuits 753 12 91.36

GPS_charging 0 0 0.00

Compass 455 8 36.77

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.63 -122.2 0.0 0.0 0 93 0.00 0.00 -67.50 0.000 2 0.000 0.000 462 1805 3075

95 -1.63 -122.2 2.1 -4.5 11 144 14.73 2.67 -26.52 0.000 4 0.212 0.082 2739 399 3719

177 -1.63 -122.2 4.7 -7.6 24 183 0.00 2.45 0.00 0.000 6 0.000 0.035 2739 1801 3720

249 -1.63 -122.2 9.4 -6.0 35 255 0.00 2.53 0.00 0.000 4 0.000 0.051 2739 3205 3720

320 -1.63 -122.2 13.9 -6.4 46 327 0.00 2.47 0.00 0.000 6 0.000 0.038 2739 1803 3720

393 -1.63 -122.2 18.2 -6.0 57 399 0.00 2.65 0.00 0.000 4 0.000 0.072 2739 399 3721

477 -1.63 -122.2 23.8 -6.9 66 484 0.00 2.47 0.00 0.000 6 0.000 0.034 2739 1802 3721

673 -1.63 -122.2 34.2 -5.5 82 677 0.00 2.50 0.00 0.000 4 0.000 0.049 2739 3202 3721

745 -1.63 -122.2 38.4 -5.8 87 749 0.00 2.47 0.00 0.000 6 0.000 0.038 2739 1798 3722

947 -1.63 -122.2 49.9 -5.3 103 957 0.00 2.53 0.00 0.000 4 0.000 0.048 2739 3200 3722

995 -1.63 -122.2 52.6 -5.6 106 1002 0.00 2.50 0.00 0.000 6 0.000 0.038 2739 1800 3722

1191 -1.63 -122.2 63.4 -5.5 122 1196 0.00 2.53 0.00 0.000 4 0.000 0.049 2739 3202 3722

1242 -1.63 -122.2 66.2 -5.6 125 1250 0.00 2.50 0.00 0.000 6 0.000 0.038 2739 1802 3722

1439 -1.63 -122.2 76.8 -5.4 141 1440 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 1802 3722

1631 -1.63 -122.2 87.0 -5.4 156 1632 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 1802 3722

1819 -1.63 -122.2 97.1 -5.1 171 1823 0.00 2.50 0.00 0.000 4 0.000 0.049 2739 3194 3722

1867 end dive: TARGET_DEPTH_EXCEEDED

state 1868 begin apogee

1875 -0.38 0.0 100.1 5.9 174 1978 1.35 0.00 97.95 0.675 6 0.106 0.000 3009 1735 3217

1979 end apogee: CONTROL_FINISHED_OK

state 1979 begin climb

1980 1.63 122.2 101.1 0.0 183 2086 2.05 2.62 95.22 0.650 4 0.055 0.051 3457 3126 2718

2139 1.63 122.2 86.9 12.9 196 2143 0.00 2.50 0.00 0.000 6 0.000 0.041 3455 1739 2717

2340 1.63 122.2 62.3 11.8 212 2345 0.00 2.72 0.00 0.000 4 0.000 0.081 3455 328 2717

2398 1.63 122.2 54.9 12.3 216 2406 0.00 2.50 0.00 0.000 6 0.000 0.035 3455 1735 2716

2595 1.63 122.2 32.3 10.7 232 2599 0.00 2.55 0.00 0.000 4 0.000 0.051 3455 3130 2716

2626 1.63 122.2 28.9 10.6 234 2634 0.00 2.53 0.00 0.000 6 0.000 0.040 3455 1734 2716

2827 1.63 122.2 6.3 11.3 257 2834 0.00 2.70 0.00 0.000 4 0.000 0.083 3455 329 2716

2844 end climb: SURFACE_DEPTH_REACHED

state 2844 begin surface coast

2859 end surface coast: CONTROL_FINISHED_OK

state 2859 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	112	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	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
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	-45426.938	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	460	AH0_24V	91.800003	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-7.4494777	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	235717,4739.567,-12253.217,11,2.4,30,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.234,-0.029
_SM_DEPTHo	1.01	KALMAN_X	2814.5,44.0,-23.2,-4116.6,-59.6
_SM_ANGLEo	-62.1	KALMAN_Y	1833.1,73.7,36.7,-2304.6,-16.3
GPS2	000305,4739.569,-12253.229,11,2.4,30,18.3	MHEAD_RNG_PITCHd_Wd	78.8,1048,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	116

FINISH	3.1,1.021807	XPDR_PINGS	0
SM_CCo	2887,119.90,0.582,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.3,51.3
SM_GC	0.93,0.00,0.00,119.90,0.000,0.000,0.582,463,1815,1586,-12.13,0.42,400.08	_24V_AH	23.9,15.172
IRIDIUM_FIX	4719.74,-12247.38,290907,030311	_10V_AH	10.1,36.708
TT8_MAMPS	0.069797	DATA_FILE_SIZE	6450,262
HUMID	2029	CFSIZE	260034560,253652992
INTERNAL_PRESSURE	8.40853	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.50	GPS	290907,005503,4739.503,-12252.895,11,1.5,11,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	211	163.29	SBE_CT	175	24	100.56
Roll_motor	56	82	111.21	nil	0	0	0.00
VBD_pump_during_apogee	193	674	3116.21	nil	0	0	0.00
VBD_pump_during_surface	119	582	1668.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	94.96	nil	0	0	0.00
Iridium_during_connect	43	160	167.35	ARS	0	0	0.00
Iridium_during_xfer	141	223	751.53
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3483	6	532.76
GPS	31	50	15.69
TT8	495	19	99.12
LPSleep	1600	2	35.40
TT8_Active	460	19	92.00
TT8_Sampling	501	39	201.64
TT8_CF8	328	45	151.93
TT8_Kalman	33	81	27.54
Analog_circuits	753	12	91.36
GPS_charging	0	0	0.00
Compass	455	8	36.77
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.63	-122.2	0.0	0.0	0	93	0.00	0.00	-67.50	0.000	2	0.000	0.000	462	1805	3075
95	-1.63	-122.2	2.1	-4.5	11	144	14.73	2.67	-26.52	0.000	4	0.212	0.082	2739	399	3719
177	-1.63	-122.2	4.7	-7.6	24	183	0.00	2.45	0.00	0.000	6	0.000	0.035	2739	1801	3720
249	-1.63	-122.2	9.4	-6.0	35	255	0.00	2.53	0.00	0.000	4	0.000	0.051	2739	3205	3720
320	-1.63	-122.2	13.9	-6.4	46	327	0.00	2.47	0.00	0.000	6	0.000	0.038	2739	1803	3720
393	-1.63	-122.2	18.2	-6.0	57	399	0.00	2.65	0.00	0.000	4	0.000	0.072	2739	399	3721
477	-1.63	-122.2	23.8	-6.9	66	484	0.00	2.47	0.00	0.000	6	0.000	0.034	2739	1802	3721
673	-1.63	-122.2	34.2	-5.5	82	677	0.00	2.50	0.00	0.000	4	0.000	0.049	2739	3202	3721
745	-1.63	-122.2	38.4	-5.8	87	749	0.00	2.47	0.00	0.000	6	0.000	0.038	2739	1798	3722
947	-1.63	-122.2	49.9	-5.3	103	957	0.00	2.53	0.00	0.000	4	0.000	0.048	2739	3200	3722
995	-1.63	-122.2	52.6	-5.6	106	1002	0.00	2.50	0.00	0.000	6	0.000	0.038	2739	1800	3722
1191	-1.63	-122.2	63.4	-5.5	122	1196	0.00	2.53	0.00	0.000	4	0.000	0.049	2739	3202	3722
1242	-1.63	-122.2	66.2	-5.6	125	1250	0.00	2.50	0.00	0.000	6	0.000	0.038	2739	1802	3722
1439	-1.63	-122.2	76.8	-5.4	141	1440	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	1802	3722
1631	-1.63	-122.2	87.0	-5.4	156	1632	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	1802	3722
1819	-1.63	-122.2	97.1	-5.1	171	1823	0.00	2.50	0.00	0.000	4	0.000	0.049	2739	3194	3722
1867	end dive: TARGET_DEPTH_EXCEEDED
state	1868	begin apogee
1875	-0.38	0.0	100.1	5.9	174	1978	1.35	0.00	97.95	0.675	6	0.106	0.000	3009	1735	3217
1979	end apogee: CONTROL_FINISHED_OK
state	1979	begin climb
1980	1.63	122.2	101.1	0.0	183	2086	2.05	2.62	95.22	0.650	4	0.055	0.051	3457	3126	2718
2139	1.63	122.2	86.9	12.9	196	2143	0.00	2.50	0.00	0.000	6	0.000	0.041	3455	1739	2717
2340	1.63	122.2	62.3	11.8	212	2345	0.00	2.72	0.00	0.000	4	0.000	0.081	3455	328	2717
2398	1.63	122.2	54.9	12.3	216	2406	0.00	2.50	0.00	0.000	6	0.000	0.035	3455	1735	2716
2595	1.63	122.2	32.3	10.7	232	2599	0.00	2.55	0.00	0.000	4	0.000	0.051	3455	3130	2716
2626	1.63	122.2	28.9	10.6	234	2634	0.00	2.53	0.00	0.000	6	0.000	0.040	3455	1734	2716
2827	1.63	122.2	6.3	11.3	257	2834	0.00	2.70	0.00	0.000	4	0.000	0.083	3455	329	2716
2844	end climb: SURFACE_DEPTH_REACHED
state	2844	begin surface coast
2859	end surface coast: CONTROL_FINISHED_OK
state	2859	begin surface