Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 181 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_B 0.013382 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.8987e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 181 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 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 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 44 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 48 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 63 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 75 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 -62843.07 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 27 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0043390002 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 27 SM_CC 300

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 95 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 63

CALL_TRIES 5 HD_A 0.0043390002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.013382 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 5.8987e-05 RHO 1.023 T_GPS_CHARGE -62843.07

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

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 2150 INT_PRESSURE_YINT 0 ROLL_MIN 145 UNCOM_BLEED 50

C_ROLL_DIVE 2250 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51503 R_PORT_OVSHOOT 44 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 48 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 181 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 184537,4805.483,-12221.260,26,1.6,27,18.3 TGT_NAME EIGHT

_CALLS 3 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.119,0.102

_SM_DEPTHo 1.13 KALMAN_X 14178.5,53.3,24.2,-10995.5,83.3

_SM_ANGLEo -69.2 KALMAN_Y 6981.5,-282.8,-241.8,-11903.0,112.4

GPS2 185726,4805.527,-12221.259,12,1.6,29,18.3 MHEAD_RNG_PITCHd_Wd 292.2,5697,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 108

Post-dive calculations and measurements:

FINISH 0.8,1.023834 XPDR_PINGS 4

SM_CCo 4041,52.72,0.689,0,0,1577,300.00 ALTIM_BOTTOM_PING 70.3,42.4

SM_GC 1.19,0.00,0.00,52.72,0.000,0.000,0.689,15,2268,1577,-8.77,0.51,300.00 _24V_AH 24.5,22.805

IRIDIUM_FIX 4751.72,-12214.67,120907,222211 _10V_AH 10.8,10.150

TT8_MAMPS 0.026845 DATA_FILE_SIZE 22257,434

HUMID 1848 CFSIZE 260165632,252620800

INTERNAL_PRESSURE 9.19957 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 120907,200752,4805.861,-12221.665,15,2.2,35,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 213 107.08 SBE_CT 309 24 182.26

Roll_motor 32 72 56.57 SBE_O2 343 19 159.93

VBD_pump_during_apogee 251 814 5020.08 WL_BB2F 732 105 1883.68

VBD_pump_during_surface 52 688 889.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 115 103 292.56 nil 0 0 0.00

Iridium_during_connect 137 160 537.17 nil 0 0 0.00

Iridium_during_xfer 217 223 1189.26

Transponder_ping 1 420 12.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.78

TT8 715 19 152.90

LPSleep 2278 2 53.90

TT8_Active 352 19 75.37

TT8_Sampling 870 39 374.21

TT8_CF8 609 45 301.57

TT8_Kalman 33 81 29.48

Analog_circuits 767 12 99.42

GPS_charging 0 0 0.00

Compass 874 8 75.55

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 19 begin dive

21 -0.57 -146.6 0.0 0.0 0 89 0.00 0.00 -65.60 0.000 2 0.000 0.000 5 2268 3244

91 -0.57 -146.6 3.5 -3.4 12 111 10.70 2.40 -3.22 0.000 4 0.214 0.050 2631 844 3401

413 -0.57 -146.6 24.5 -5.0 61 420 0.00 2.28 0.00 0.000 6 0.000 0.034 2632 2243 3404

611 -0.57 -146.6 33.9 -4.7 80 615 0.00 2.25 0.00 0.000 4 0.000 0.038 2632 844 3404

684 -0.57 -146.6 37.6 -4.9 86 688 0.00 2.25 0.00 0.000 6 0.000 0.034 2632 2253 3404

886 -0.57 -146.6 46.8 -4.5 105 887 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2254 3404

1078 -0.57 -146.6 55.5 -4.5 123 1082 0.00 2.28 0.00 0.000 4 0.000 0.049 2632 3655 3404

1106 -0.57 -146.6 56.7 -5.0 125 1110 0.00 2.22 0.00 0.000 6 0.000 0.028 2632 2227 3404

1431 -0.57 -146.6 70.8 -4.5 155 1435 0.00 2.35 0.00 0.000 4 0.000 0.048 2632 3654 3404

1470 -0.57 -146.6 72.6 -4.8 158 1475 0.00 2.20 0.00 0.000 6 0.000 0.028 2632 2234 3405

1796 -0.57 -146.6 87.1 -4.4 188 1797 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2232 3404

1984 end dive: TARGET_DEPTH_EXCEEDED

state 1984 begin apogee

1989 -0.19 0.0 95.3 4.1 206 2107 0.40 0.00 111.62 0.765 6 0.104 0.000 2759 2151 2800

2108 end apogee: CONTROL_FINISHED_OK

state 2108 begin climb

2110 0.57 146.6 97.0 0.0 218 2228 0.75 0.00 111.45 0.699 6 0.078 0.000 3000 2150 2201

2545 0.57 146.6 75.3 5.4 260 2549 0.00 2.33 0.00 0.000 4 0.000 0.044 3000 3553 2199

2574 0.57 146.6 73.6 6.0 262 2580 0.00 2.22 0.00 0.000 6 0.000 0.029 3007 2159 2199

2899 0.57 147.2 55.6 5.0 293 2900 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 2158 2198

3216 0.57 147.2 38.9 5.1 323 3218 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 2158 2198

3407 0.57 147.2 28.9 5.4 341 3411 0.00 2.28 0.00 0.000 4 0.000 0.042 3009 747 2198

3435 0.57 147.2 27.5 5.0 343 3439 0.00 2.22 0.00 0.000 6 0.000 0.032 3009 2152 2198

3636 0.57 147.2 16.9 5.2 366 3642 0.00 2.28 0.00 0.000 4 0.000 0.046 3009 3554 2198

3681 0.57 147.2 14.3 5.7 374 3688 0.00 2.22 0.00 0.000 6 0.000 0.030 3012 2145 2198

3756 0.57 147.9 10.5 5.0 387 3762 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2144 2198

3831 0.58 154.7 7.0 4.8 400 3842 0.00 0.00 7.12 0.750 6 0.000 0.000 3012 2144 2169

3910 0.62 182.9 3.5 4.2 414 3934 0.00 0.00 21.35 0.815 6 0.000 0.000 3011 2143 2054

3955 end climb: SURFACE_DEPTH_REACHED

state 3955 begin surface coast

4024 end surface coast: CONTROL_FINISHED_OK

state 4024 begin surface

ID	128	HD_B	0.013382	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.8987e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	181	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	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	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	44	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	48	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	63	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	75	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	-62843.07	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	27	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0043390002	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	184537,4805.483,-12221.260,26,1.6,27,18.3	TGT_NAME	EIGHT
_CALLS	3	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.119,0.102
_SM_DEPTHo	1.13	KALMAN_X	14178.5,53.3,24.2,-10995.5,83.3
_SM_ANGLEo	-69.2	KALMAN_Y	6981.5,-282.8,-241.8,-11903.0,112.4
GPS2	185726,4805.527,-12221.259,12,1.6,29,18.3	MHEAD_RNG_PITCHd_Wd	292.2,5697,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	108

FINISH	0.8,1.023834	XPDR_PINGS	4
SM_CCo	4041,52.72,0.689,0,0,1577,300.00	ALTIM_BOTTOM_PING	70.3,42.4
SM_GC	1.19,0.00,0.00,52.72,0.000,0.000,0.689,15,2268,1577,-8.77,0.51,300.00	_24V_AH	24.5,22.805
IRIDIUM_FIX	4751.72,-12214.67,120907,222211	_10V_AH	10.8,10.150
TT8_MAMPS	0.026845	DATA_FILE_SIZE	22257,434
HUMID	1848	CFSIZE	260165632,252620800
INTERNAL_PRESSURE	9.19957	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	120907,200752,4805.861,-12221.665,15,2.2,35,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	213	107.08	SBE_CT	309	24	182.26
Roll_motor	32	72	56.57	SBE_O2	343	19	159.93
VBD_pump_during_apogee	251	814	5020.08	WL_BB2F	732	105	1883.68
VBD_pump_during_surface	52	688	889.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	115	103	292.56	nil	0	0	0.00
Iridium_during_connect	137	160	537.17	nil	0	0	0.00
Iridium_during_xfer	217	223	1189.26
Transponder_ping	1	420	12.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.78
TT8	715	19	152.90
LPSleep	2278	2	53.90
TT8_Active	352	19	75.37
TT8_Sampling	870	39	374.21
TT8_CF8	609	45	301.57
TT8_Kalman	33	81	29.48
Analog_circuits	767	12	99.42
GPS_charging	0	0	0.00
Compass	874	8	75.55
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	19	begin dive
21	-0.57	-146.6	0.0	0.0	0	89	0.00	0.00	-65.60	0.000	2	0.000	0.000	5	2268	3244
91	-0.57	-146.6	3.5	-3.4	12	111	10.70	2.40	-3.22	0.000	4	0.214	0.050	2631	844	3401
413	-0.57	-146.6	24.5	-5.0	61	420	0.00	2.28	0.00	0.000	6	0.000	0.034	2632	2243	3404
611	-0.57	-146.6	33.9	-4.7	80	615	0.00	2.25	0.00	0.000	4	0.000	0.038	2632	844	3404
684	-0.57	-146.6	37.6	-4.9	86	688	0.00	2.25	0.00	0.000	6	0.000	0.034	2632	2253	3404
886	-0.57	-146.6	46.8	-4.5	105	887	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2254	3404
1078	-0.57	-146.6	55.5	-4.5	123	1082	0.00	2.28	0.00	0.000	4	0.000	0.049	2632	3655	3404
1106	-0.57	-146.6	56.7	-5.0	125	1110	0.00	2.22	0.00	0.000	6	0.000	0.028	2632	2227	3404
1431	-0.57	-146.6	70.8	-4.5	155	1435	0.00	2.35	0.00	0.000	4	0.000	0.048	2632	3654	3404
1470	-0.57	-146.6	72.6	-4.8	158	1475	0.00	2.20	0.00	0.000	6	0.000	0.028	2632	2234	3405
1796	-0.57	-146.6	87.1	-4.4	188	1797	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2232	3404
1984	end dive: TARGET_DEPTH_EXCEEDED
state	1984	begin apogee
1989	-0.19	0.0	95.3	4.1	206	2107	0.40	0.00	111.62	0.765	6	0.104	0.000	2759	2151	2800
2108	end apogee: CONTROL_FINISHED_OK
state	2108	begin climb
2110	0.57	146.6	97.0	0.0	218	2228	0.75	0.00	111.45	0.699	6	0.078	0.000	3000	2150	2201
2545	0.57	146.6	75.3	5.4	260	2549	0.00	2.33	0.00	0.000	4	0.000	0.044	3000	3553	2199
2574	0.57	146.6	73.6	6.0	262	2580	0.00	2.22	0.00	0.000	6	0.000	0.029	3007	2159	2199
2899	0.57	147.2	55.6	5.0	293	2900	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	2158	2198
3216	0.57	147.2	38.9	5.1	323	3218	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	2158	2198
3407	0.57	147.2	28.9	5.4	341	3411	0.00	2.28	0.00	0.000	4	0.000	0.042	3009	747	2198
3435	0.57	147.2	27.5	5.0	343	3439	0.00	2.22	0.00	0.000	6	0.000	0.032	3009	2152	2198
3636	0.57	147.2	16.9	5.2	366	3642	0.00	2.28	0.00	0.000	4	0.000	0.046	3009	3554	2198
3681	0.57	147.2	14.3	5.7	374	3688	0.00	2.22	0.00	0.000	6	0.000	0.030	3012	2145	2198
3756	0.57	147.9	10.5	5.0	387	3762	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2144	2198
3831	0.58	154.7	7.0	4.8	400	3842	0.00	0.00	7.12	0.750	6	0.000	0.000	3012	2144	2169
3910	0.62	182.9	3.5	4.2	414	3934	0.00	0.00	21.35	0.815	6	0.000	0.000	3011	2143	2054
3955	end climb: SURFACE_DEPTH_REACHED
state	3955	begin surface coast
4024	end surface coast: CONTROL_FINISHED_OK
state	4024	begin surface