Glider dive log

PortSusan 29Jul09 * SG005 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 14 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 60

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 122 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON 48 C_ROLL_CLIMB 2120 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 500 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 0

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 83.300003 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 90 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3239 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 150 T_GPS_CHARGE -98817.109 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2795 PRESSURE_YINT -25.153585 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 2 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 500

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 150 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -25.153585 TGT_DEFAULT_LAT 122

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON 48

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 83.300003

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -98817.109

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 90

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 360 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2795 KALMAN_USE 2 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2120 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2230 MASS 52000 R_PORT_OVSHOOT 27 VBD_BLEED_AD_RATE 8

C_VBD 3239 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 14 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 0

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 061432,4806.075,-12222.312,11,1.1,11,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 061832,4806.044,-12222.289,13,1.4,13,18.3 MHEAD_RNG_PITCHd_Wd 84.5,366,-27.3,-6.002

SPEED_LIMITS 0.104,0.221 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.9,1.021549 ALTIM_BOTTOM_PING 80.1,44.1

SM_CCo 3035,338.17,0.719,0,0,389,698.86 _24V_AH 24.0,1.737

SM_GC 0.18,11.85,0.00,0.00,0.035,0.000,0.000,418,2231,394,-10.84,0.00,697.88 _10V_AH 10.1,1.050

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 12841,270

TT8_MAMPS 0.029146 CAP_FILE_SIZE 41786,0

HUMID 1798 CFSIZE 254472192,252264448

TCM_TEMP 17.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

XPDR_PINGS 0 GPS 300709,071806,4805.904,-12221.995,30,1.1,30,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 162 106.25 SBE_CT 182 24 104.90

Roll_motor 40 65 64.79 SBE_O2 206 19 94.04

VBD_pump_during_apogee 87 809 1703.33 WL_BB2F 465 105 1172.90

VBD_pump_during_surface 338 719 5839.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.34 nil 0 0 0.00

Iridium_during_connect 25 160 99.04 nil 0 0 0.00

Iridium_during_xfer 83 223 445.53

Transponder_ping 1 420 10.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.64

TT8 485 19 97.02

LPSleep 1836 2 40.63

TT8_Active 540 19 108.09

TT8_Sampling 614 39 247.08

TT8_CF8 265 45 122.81

TT8_Kalman 0 0 0.00

Analog_circuits 853 12 103.47

GPS_charging 0 0 0.00

Compass 611 8 49.42

RAFOS 0 0 0.00

Transponder 9 30 2.99

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

15 -1.87 -28.9 0.0 0.0 0 115 0.00 0.00 -95.80 0.000 6 0.000 0.000 425 2240 3357

119 -1.89 -45.9 2.7 -3.6 17 139 10.75 2.58 -2.03 0.000 4 0.163 0.066 2376 821 3428

393 -1.64 -45.9 33.6 -9.7 54 399 0.32 2.53 0.00 0.000 6 0.123 0.053 2434 2229 3429

592 -1.56 -45.9 49.8 -7.6 72 597 0.08 2.58 0.00 0.000 4 0.141 0.056 2449 818 3429

762 -1.56 -45.9 64.2 -8.5 79 769 0.00 2.60 0.00 0.000 6 0.000 0.054 2450 2259 3429

1078 -1.56 -45.9 87.5 -7.0 95 1079 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2259 3429

1391 -1.56 -45.9 109.1 -6.4 116 1396 0.00 2.60 0.00 0.000 4 0.000 0.058 2450 815 3429

1421 -1.56 -46.8 110.9 -5.9 118 1425 0.00 2.58 0.00 0.000 6 0.000 0.054 2450 2249 3429

1478 end dive: BOTTOM_OBSTACLE_DETECTED

state 1479 begin apogee

1486 -0.33 0.0 114.4 6.1 123 1532 1.27 0.00 37.90 0.810 6 0.097 0.000 2716 2086 3239

1533 end apogee: CONTROL_FINISHED_OK

state 1533 begin climb

1536 1.89 46.8 115.3 0.0 128 1586 2.15 2.50 37.75 0.805 4 0.051 0.053 3211 736 3048

1603 1.50 46.8 109.1 12.8 134 1610 0.47 2.50 0.00 0.000 6 0.112 0.049 3123 2125 3048

1932 1.45 46.8 75.6 9.6 154 1937 0.00 2.50 0.00 0.000 4 0.000 0.054 3124 738 3048

1966 1.33 46.8 72.0 10.1 155 1973 0.20 2.47 0.00 0.000 6 0.123 0.051 3087 2122 3048

2283 1.40 46.8 47.8 7.5 172 2288 0.00 2.50 0.00 0.000 4 0.000 0.054 3087 729 3047

2350 1.40 46.8 42.4 7.7 177 2357 0.00 2.42 0.00 0.000 6 0.000 0.051 3087 2092 3047

2549 1.47 46.8 28.3 6.6 196 2551 0.12 0.00 0.00 0.000 6 0.056 0.000 3121 2092 3047

2744 1.47 46.8 14.1 7.5 221 2750 0.00 2.58 0.00 0.000 4 0.000 0.061 3120 3531 3047

2757 1.47 46.8 13.1 7.3 223 2764 0.00 2.53 0.00 0.000 6 0.000 0.045 3121 2096 3047

2833 1.48 53.0 9.1 5.1 236 2845 0.00 0.00 6.32 0.644 6 0.000 0.000 3121 2093 3022

2915 1.50 60.6 5.1 5.0 250 2927 0.00 2.45 5.65 0.614 4 0.000 0.054 3120 711 2992

2937 end climb: SURFACE_DEPTH_REACHED

state 2937 begin surface coast

3028 end surface coast: CONTROL_FINISHED_OK

state 3031 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	14	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	60
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	122	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	48	C_ROLL_CLIMB	2120	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	500	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	0
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	83.300003	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	90	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3239	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	150	T_GPS_CHARGE	-98817.109	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2795	PRESSURE_YINT	-25.153585	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	2	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	061432,4806.075,-12222.312,11,1.1,11,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	061832,4806.044,-12222.289,13,1.4,13,18.3	MHEAD_RNG_PITCHd_Wd	84.5,366,-27.3,-6.002
SPEED_LIMITS	0.104,0.221	D_GRID	150

FINISH	3.9,1.021549	ALTIM_BOTTOM_PING	80.1,44.1
SM_CCo	3035,338.17,0.719,0,0,389,698.86	_24V_AH	24.0,1.737
SM_GC	0.18,11.85,0.00,0.00,0.035,0.000,0.000,418,2231,394,-10.84,0.00,697.88	_10V_AH	10.1,1.050
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	12841,270
TT8_MAMPS	0.029146	CAP_FILE_SIZE	41786,0
HUMID	1798	CFSIZE	254472192,252264448
TCM_TEMP	17.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
XPDR_PINGS	0	GPS	300709,071806,4805.904,-12221.995,30,1.1,30,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	162	106.25	SBE_CT	182	24	104.90
Roll_motor	40	65	64.79	SBE_O2	206	19	94.04
VBD_pump_during_apogee	87	809	1703.33	WL_BB2F	465	105	1172.90
VBD_pump_during_surface	338	719	5839.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.34	nil	0	0	0.00
Iridium_during_connect	25	160	99.04	nil	0	0	0.00
Iridium_during_xfer	83	223	445.53
Transponder_ping	1	420	10.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.64
TT8	485	19	97.02
LPSleep	1836	2	40.63
TT8_Active	540	19	108.09
TT8_Sampling	614	39	247.08
TT8_CF8	265	45	122.81
TT8_Kalman	0	0	0.00
Analog_circuits	853	12	103.47
GPS_charging	0	0	0.00
Compass	611	8	49.42
RAFOS	0	0	0.00
Transponder	9	30	2.99

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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
15	-1.87	-28.9	0.0	0.0	0	115	0.00	0.00	-95.80	0.000	6	0.000	0.000	425	2240	3357
119	-1.89	-45.9	2.7	-3.6	17	139	10.75	2.58	-2.03	0.000	4	0.163	0.066	2376	821	3428
393	-1.64	-45.9	33.6	-9.7	54	399	0.32	2.53	0.00	0.000	6	0.123	0.053	2434	2229	3429
592	-1.56	-45.9	49.8	-7.6	72	597	0.08	2.58	0.00	0.000	4	0.141	0.056	2449	818	3429
762	-1.56	-45.9	64.2	-8.5	79	769	0.00	2.60	0.00	0.000	6	0.000	0.054	2450	2259	3429
1078	-1.56	-45.9	87.5	-7.0	95	1079	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2259	3429
1391	-1.56	-45.9	109.1	-6.4	116	1396	0.00	2.60	0.00	0.000	4	0.000	0.058	2450	815	3429
1421	-1.56	-46.8	110.9	-5.9	118	1425	0.00	2.58	0.00	0.000	6	0.000	0.054	2450	2249	3429
1478	end dive: BOTTOM_OBSTACLE_DETECTED
state	1479	begin apogee
1486	-0.33	0.0	114.4	6.1	123	1532	1.27	0.00	37.90	0.810	6	0.097	0.000	2716	2086	3239
1533	end apogee: CONTROL_FINISHED_OK
state	1533	begin climb
1536	1.89	46.8	115.3	0.0	128	1586	2.15	2.50	37.75	0.805	4	0.051	0.053	3211	736	3048
1603	1.50	46.8	109.1	12.8	134	1610	0.47	2.50	0.00	0.000	6	0.112	0.049	3123	2125	3048
1932	1.45	46.8	75.6	9.6	154	1937	0.00	2.50	0.00	0.000	4	0.000	0.054	3124	738	3048
1966	1.33	46.8	72.0	10.1	155	1973	0.20	2.47	0.00	0.000	6	0.123	0.051	3087	2122	3048
2283	1.40	46.8	47.8	7.5	172	2288	0.00	2.50	0.00	0.000	4	0.000	0.054	3087	729	3047
2350	1.40	46.8	42.4	7.7	177	2357	0.00	2.42	0.00	0.000	6	0.000	0.051	3087	2092	3047
2549	1.47	46.8	28.3	6.6	196	2551	0.12	0.00	0.00	0.000	6	0.056	0.000	3121	2092	3047
2744	1.47	46.8	14.1	7.5	221	2750	0.00	2.58	0.00	0.000	4	0.000	0.061	3120	3531	3047
2757	1.47	46.8	13.1	7.3	223	2764	0.00	2.53	0.00	0.000	6	0.000	0.045	3121	2096	3047
2833	1.48	53.0	9.1	5.1	236	2845	0.00	0.00	6.32	0.644	6	0.000	0.000	3121	2093	3022
2915	1.50	60.6	5.1	5.0	250	2927	0.00	2.45	5.65	0.614	4	0.000	0.054	3120	711	2992
2937	end climb: SURFACE_DEPTH_REACHED
state	2937	begin surface coast
3028	end surface coast: CONTROL_FINISHED_OK
state	3031	begin surface