Glider dive log

PortSusan 07Mar08 * SG143 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 12 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 182 ALTIM_TOP_MIN_OBSTACLE 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3816 ALTIM_PING_DEPTH 80

D_TGT 150 TGT_DEFAULT_LAT 4736 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_ABORT 250 TGT_DEFAULT_LON -12218 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 12.5

D_NO_BLEED 80 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 1999 ALTIM_PULSE 3

D_FINISH 0 SM_CC 550 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 8 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 16 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 25 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 250 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 70 UPLOAD_DIVES_MAX 1 ROLL_ADJ_DBAND 0 DEVICE3 53

T_ABORT 720 CALL_TRIES 5 VBD_MIN 490 DEVICE4 35

T_TURN 270 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3000 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 720 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 -3385.3174 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 45 PITCH_MIN 1469 AH0_24V 150 SEABIRD_T_G 0.0043273759

SPEED_FACTOR 1 PITCH_MAX 4022 AH0_10V 100 SEABIRD_T_H 0.00064184016

RHO 1.023 C_PITCH 2930 PRESSURE_YINT -11.618507 SEABIRD_T_I 2.4188148e-05

MASS 51312 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1530041e-05 SEABIRD_T_J 2.4070987e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.197048

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1695373

KALMAN_USE 1 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015330453

HD_A 0.0038360001 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00015523176

HD_B 0.010078 PITCH_AD_RATE 100 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 80 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 550

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 4022 SPEED_FACTOR 1

ALTIM_FREQUENCY 12.5 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 1469 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 150 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 9.1530041e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 0 PRESSURE_YINT -11.618507 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 45 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 50

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 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -3385.3174

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COMPASS_USE 0 ID 143 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3816 T_WATCHDOG 10

C_PITCH 2930 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 1999 KALMAN_USE 1 ROLL_MIN 182 UPLOAD_DIVES_MAX 1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -4

C_VBD 3000 MASS 51312 R_PORT_OVSHOOT 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 25 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.197048 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1695373 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0015330453 VBD_MAX 3964

DEVICE3 53 N_FILEKB 8 SEABIRD_C_J 0.00015523176 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273759 VBD_MIN 490

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.00064184016 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4188148e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 12 PHONE_DEVICE 48 SEABIRD_T_J 2.4070987e-06 VBD_TIMEOUT 720

D_ABORT 250 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 050221,4808.009,-12223.696,11,1.7,11,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.139,-0.220

_SM_DEPTHo 2.13 KALMAN_X -2155.1,-567.0,-151.7,2120.7,-40.8

_SM_ANGLEo -69.7 KALMAN_Y 3231.8,839.4,379.8,-4209.2,10.8

GPS2 050551,4808.029,-12223.696,12,1.7,12,18.3 MHEAD_RNG_PITCHd_Wd 129.4,4303,-18.2,-10.000

SPEED_LIMITS 0.100,0.261 D_GRID 105

Post-dive calculations and measurements:

FINISH 1.2,1.002145 ALTIM_BOTTOM_PING 80.5,40.4

SM_CCo 2585,79.03,0.700,1,0,757,550.21 _24V_AH 20.6,8.844

SM_GC 2.02,0.00,0.00,79.03,0.000,0.000,0.700,1468,2313,757,-6.73,0.37,550.21 _10V_AH 9.8,2.489

IRIDIUM_FIX 4751.72,-12223.57,020697,040427 DATA_FILE_SIZE 35082,436

TT8_MAMPS 0.022243 CAP_FILE_SIZE 47537,0

HUMID 1578 CFSIZE 260165632,257212416

INTERNAL_PRESSURE 8.09601 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,0

TCM_TEMP 12.40 GPS 080308,055220,4807.779,-12223.454,10,2.0,27,18.3

XPDR_PINGS 136

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 263 134.94 SBE_CT 317 24 157.07

Roll_motor 46 69 67.18 SBE_O2 309 19 120.97

VBD_pump_during_apogee 559 863 9946.52 Optode 332 33 226.34

VBD_pump_during_surface 79 699 1138.73 WL_BB2F 562 105 1216.23

VBD_valve 0 0 0.00 WL_BBFL2VMT 1099 105 2377.19

Iridium_during_init 26 103 55.74 nil 0 0 0.00

Iridium_during_connect 17 160 57.03 nil 0 0 0.00

Iridium_during_xfer 92 223 426.64

Transponder_ping 34 420 298.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 6.98

TT8 616 19 119.68

LPSleep 199 2 4.28

TT8_Active 519 19 100.74

TT8_Sampling 1341 39 523.21

TT8_CF8 221 45 99.61

TT8_Kalman 33 81 26.72

Analog_circuits 1143 12 134.45

GPS_charging 0 0 0.00

Compass 1351 8 105.96

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.94 -146.6 0.0 0.0 0 57 0.00 0.00 -37.12 0.000 2 0.000 0.000 1470 2311 1622

59 -0.94 -146.6 3.0 -3.3 5 141 11.23 2.90 -58.50 0.000 4 0.263 0.070 2717 3703 3600

247 -0.63 -146.6 35.5 -19.9 36 257 0.43 2.83 0.00 0.000 6 0.149 0.045 2785 2295 3600

321 -0.59 -146.6 47.9 -15.8 49 330 0.00 2.88 0.00 0.000 4 0.000 0.062 2784 890 3600

340 -0.55 -146.6 51.0 -14.2 52 348 0.10 2.80 0.00 0.000 6 0.127 0.046 2802 2295 3600

481 -0.61 -146.6 66.3 -10.3 77 487 0.00 2.85 0.00 0.000 4 0.000 0.059 2802 885 3600

505 -0.69 -146.6 69.1 -11.0 81 511 0.00 2.80 0.00 0.000 6 0.000 0.046 2803 2309 3600

643 -0.75 -146.6 83.9 -10.3 106 651 0.17 2.88 0.00 0.000 4 0.061 0.057 2763 891 3600

679 -0.71 -146.6 88.8 -14.4 112 687 0.00 2.78 0.00 0.000 6 0.000 0.045 2763 2299 3600

797 end dive: TARGET_DEPTH_EXCEEDED

state 797 begin apogee

801 -0.21 0.0 105.4 14.2 133 938 0.68 0.00 130.40 0.847 6 0.127 0.000 2877 1977 3000

939 end apogee: CONTROL_FINISHED_OK

state 939 begin climb

940 0.94 146.6 113.0 0.0 155 1081 1.45 0.00 131.55 0.802 6 0.104 0.000 3129 1977 2401

1210 0.65 146.6 85.7 14.2 202 1219 0.32 2.85 0.00 0.000 4 0.144 0.061 3079 608 2399

1243 0.48 146.6 81.8 12.9 207 1250 0.28 2.78 0.00 0.000 6 0.148 0.041 3039 2016 2398

1380 0.53 195.1 70.5 7.8 232 1429 0.00 0.00 44.12 0.808 6 0.000 0.000 3039 2016 2203

1559 0.63 215.7 55.8 9.1 264 1585 0.15 0.00 19.92 0.864 6 0.070 0.000 3072 2016 2119

1713 0.59 215.7 38.9 10.5 292 1722 0.00 2.92 0.00 0.000 4 0.000 0.061 3072 606 2117

1734 0.56 215.7 36.4 11.2 295 1742 0.00 2.75 0.00 0.000 6 0.000 0.041 3072 1995 2117

1807 0.52 215.7 27.9 11.6 308 1815 0.15 2.88 0.00 0.000 4 0.127 0.052 3048 3409 2116

1839 0.61 215.7 24.2 11.5 313 1847 0.00 2.83 0.00 0.000 6 0.000 0.047 3048 2008 2115

1912 0.68 217.9 16.8 9.9 326 1920 0.15 0.00 0.00 0.000 6 0.072 0.000 3079 2008 2115

1985 0.70 259.5 10.4 8.1 339 2037 0.00 2.92 41.50 0.739 4 0.000 0.051 3079 3413 1941

2320 1.31 488.8 8.0 -0.5 400 2524 0.65 2.83 191.57 0.728 2 0.042 0.044 3217 1996 1088

2526 end climb: SURFACE_DEPTH_REACHED

state 2526 begin surface coast

2569 end surface coast: CONTROL_FINISHED_OK

state 2569 begin surface

ID	143	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	12	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	182	ALTIM_TOP_MIN_OBSTACLE	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3816	ALTIM_PING_DEPTH	80
D_TGT	150	TGT_DEFAULT_LAT	4736	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_ABORT	250	TGT_DEFAULT_LON	-12218	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	12.5
D_NO_BLEED	80	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	1999	ALTIM_PULSE	3
D_FINISH	0	SM_CC	550	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	8	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	16	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	25	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	250	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	70	UPLOAD_DIVES_MAX	1	ROLL_ADJ_DBAND	0	DEVICE3	53
T_ABORT	720	CALL_TRIES	5	VBD_MIN	490	DEVICE4	35
T_TURN	270	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3000	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	720	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	-3385.3174	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	45	PITCH_MIN	1469	AH0_24V	150	SEABIRD_T_G	0.0043273759
SPEED_FACTOR	1	PITCH_MAX	4022	AH0_10V	100	SEABIRD_T_H	0.00064184016
RHO	1.023	C_PITCH	2930	PRESSURE_YINT	-11.618507	SEABIRD_T_I	2.4188148e-05
MASS	51312	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1530041e-05	SEABIRD_T_J	2.4070987e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.197048
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1695373
KALMAN_USE	1	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015330453
HD_A	0.0038360001	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00015523176
HD_B	0.010078	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	050221,4808.009,-12223.696,11,1.7,11,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.139,-0.220
_SM_DEPTHo	2.13	KALMAN_X	-2155.1,-567.0,-151.7,2120.7,-40.8
_SM_ANGLEo	-69.7	KALMAN_Y	3231.8,839.4,379.8,-4209.2,10.8
GPS2	050551,4808.029,-12223.696,12,1.7,12,18.3	MHEAD_RNG_PITCHd_Wd	129.4,4303,-18.2,-10.000
SPEED_LIMITS	0.100,0.261	D_GRID	105

FINISH	1.2,1.002145	ALTIM_BOTTOM_PING	80.5,40.4
SM_CCo	2585,79.03,0.700,1,0,757,550.21	_24V_AH	20.6,8.844
SM_GC	2.02,0.00,0.00,79.03,0.000,0.000,0.700,1468,2313,757,-6.73,0.37,550.21	_10V_AH	9.8,2.489
IRIDIUM_FIX	4751.72,-12223.57,020697,040427	DATA_FILE_SIZE	35082,436
TT8_MAMPS	0.022243	CAP_FILE_SIZE	47537,0
HUMID	1578	CFSIZE	260165632,257212416
INTERNAL_PRESSURE	8.09601	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
TCM_TEMP	12.40	GPS	080308,055220,4807.779,-12223.454,10,2.0,27,18.3
XPDR_PINGS	136

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	263	134.94	SBE_CT	317	24	157.07
Roll_motor	46	69	67.18	SBE_O2	309	19	120.97
VBD_pump_during_apogee	559	863	9946.52	Optode	332	33	226.34
VBD_pump_during_surface	79	699	1138.73	WL_BB2F	562	105	1216.23
VBD_valve	0	0	0.00	WL_BBFL2VMT	1099	105	2377.19
Iridium_during_init	26	103	55.74	nil	0	0	0.00
Iridium_during_connect	17	160	57.03	nil	0	0	0.00
Iridium_during_xfer	92	223	426.64
Transponder_ping	34	420	298.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	6.98
TT8	616	19	119.68
LPSleep	199	2	4.28
TT8_Active	519	19	100.74
TT8_Sampling	1341	39	523.21
TT8_CF8	221	45	99.61
TT8_Kalman	33	81	26.72
Analog_circuits	1143	12	134.45
GPS_charging	0	0	0.00
Compass	1351	8	105.96
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.94	-146.6	0.0	0.0	0	57	0.00	0.00	-37.12	0.000	2	0.000	0.000	1470	2311	1622
59	-0.94	-146.6	3.0	-3.3	5	141	11.23	2.90	-58.50	0.000	4	0.263	0.070	2717	3703	3600
247	-0.63	-146.6	35.5	-19.9	36	257	0.43	2.83	0.00	0.000	6	0.149	0.045	2785	2295	3600
321	-0.59	-146.6	47.9	-15.8	49	330	0.00	2.88	0.00	0.000	4	0.000	0.062	2784	890	3600
340	-0.55	-146.6	51.0	-14.2	52	348	0.10	2.80	0.00	0.000	6	0.127	0.046	2802	2295	3600
481	-0.61	-146.6	66.3	-10.3	77	487	0.00	2.85	0.00	0.000	4	0.000	0.059	2802	885	3600
505	-0.69	-146.6	69.1	-11.0	81	511	0.00	2.80	0.00	0.000	6	0.000	0.046	2803	2309	3600
643	-0.75	-146.6	83.9	-10.3	106	651	0.17	2.88	0.00	0.000	4	0.061	0.057	2763	891	3600
679	-0.71	-146.6	88.8	-14.4	112	687	0.00	2.78	0.00	0.000	6	0.000	0.045	2763	2299	3600
797	end dive: TARGET_DEPTH_EXCEEDED
state	797	begin apogee
801	-0.21	0.0	105.4	14.2	133	938	0.68	0.00	130.40	0.847	6	0.127	0.000	2877	1977	3000
939	end apogee: CONTROL_FINISHED_OK
state	939	begin climb
940	0.94	146.6	113.0	0.0	155	1081	1.45	0.00	131.55	0.802	6	0.104	0.000	3129	1977	2401
1210	0.65	146.6	85.7	14.2	202	1219	0.32	2.85	0.00	0.000	4	0.144	0.061	3079	608	2399
1243	0.48	146.6	81.8	12.9	207	1250	0.28	2.78	0.00	0.000	6	0.148	0.041	3039	2016	2398
1380	0.53	195.1	70.5	7.8	232	1429	0.00	0.00	44.12	0.808	6	0.000	0.000	3039	2016	2203
1559	0.63	215.7	55.8	9.1	264	1585	0.15	0.00	19.92	0.864	6	0.070	0.000	3072	2016	2119
1713	0.59	215.7	38.9	10.5	292	1722	0.00	2.92	0.00	0.000	4	0.000	0.061	3072	606	2117
1734	0.56	215.7	36.4	11.2	295	1742	0.00	2.75	0.00	0.000	6	0.000	0.041	3072	1995	2117
1807	0.52	215.7	27.9	11.6	308	1815	0.15	2.88	0.00	0.000	4	0.127	0.052	3048	3409	2116
1839	0.61	215.7	24.2	11.5	313	1847	0.00	2.83	0.00	0.000	6	0.000	0.047	3048	2008	2115
1912	0.68	217.9	16.8	9.9	326	1920	0.15	0.00	0.00	0.000	6	0.072	0.000	3079	2008	2115
1985	0.70	259.5	10.4	8.1	339	2037	0.00	2.92	41.50	0.739	4	0.000	0.051	3079	3413	1941
2320	1.31	488.8	8.0	-0.5	400	2524	0.65	2.83	191.57	0.728	2	0.042	0.044	3217	1996	1088
2526	end climb: SURFACE_DEPTH_REACHED
state	2526	begin surface coast
2569	end surface coast: CONTROL_FINISHED_OK
state	2569	begin surface