Glider dive log

PortSusan 15Oct08 * SG005 * Dive index * Mission links * Dive 19 * 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 4 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 19 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 52 C_ROLL_DIVE 2190 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -7 C_ROLL_CLIMB 2190 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 400 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 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 80 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 100 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3240 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 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -85889.047 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 2650 PRESSURE_YINT -24.906118 SEABIRD_T_G 0.0043761111

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064345129

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5632376e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7382036e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.188265

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1432956

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00020702372

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00012956691

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 400

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 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 5 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 -24.906118 TGT_DEFAULT_LAT 52

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -7

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 80

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 -85889.047

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 100

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 2650 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2190 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2190 MASS 52000 R_PORT_OVSHOOT 28 VBD_BLEED_AD_RATE 8

C_VBD 3240 MAX_BUOY 150 R_STBD_OVSHOOT 20 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -10.188265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1432956 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00020702372 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012956691 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043761111 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064345129 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5632376e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.7382036e-06 XPDR_DEVICE 21

DIVE 19 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

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 083934,4807.273,-12223.216,28,2.9,47,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.145,0.172

_SM_DEPTHo 0.55 KALMAN_X -214.7,55.0,37.1,62.8,159.8

_SM_ANGLEo -67.5 KALMAN_Y 2717.4,-425.3,-200.0,-3245.9,-33.0

GPS2 084339,4807.291,-12223.282,13,1.0,13,18.3 MHEAD_RNG_PITCHd_Wd 301.6,1586,-11.5,-6.250

SPEED_LIMITS 0.108,0.225 D_GRID 150

Post-dive calculations and measurements:

FINISH 1.1,1.020124 ALTIM_BOTTOM_PING 100.4,18.4

SM_CCo 3231,101.88,0.746,0,0,1608,400.08 _24V_AH 24.0,2.182

SM_GC 0.47,0.00,0.00,101.88,0.000,0.000,0.746,427,2190,1608,-10.22,0.00,400.08 _10V_AH 10.1,0.753

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 12848,281

TT8_MAMPS 0.029146 CAP_FILE_SIZE 41813,0

HUMID 1761 CFSIZE 254472192,252747776

TCM_TEMP 18.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

XPDR_PINGS 3 GPS 161008,094056,4807.684,-12223.710,8,1.4,13,18.3

ALTIM_TOP_PING 19.1,19.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 141 83.43 SBE_CT 191 24 110.53

Roll_motor 30 69 50.03 SBE_O2 207 19 94.61

VBD_pump_during_apogee 272 834 5455.60 WL_BB2F 484 105 1220.73

VBD_pump_during_surface 101 745 1822.81 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 23 160 90.91 nil 0 0 0.00

Iridium_during_xfer 90 223 484.79

Transponder_ping 3 420 30.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.67

TT8 485 19 97.00

LPSleep 1766 2 39.07

TT8_Active 427 19 85.49

TT8_Sampling 642 39 258.42

TT8_CF8 272 45 126.08

TT8_Kalman 33 81 27.52

Analog_circuits 766 12 92.92

GPS_charging 0 0 0.00

Compass 634 8 51.29

RAFOS 0 0 0.00

Transponder 18 30 5.73

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.00 -146.6 0.0 0.0 0 93 0.00 0.00 -75.28 0.000 2 0.000 0.000 422 2176 3273

97 -1.00 -146.6 3.3 -5.8 13 129 10.55 2.55 -14.10 0.000 4 0.142 0.069 2430 785 3838

384 -0.83 -146.6 37.0 -9.1 48 389 0.17 2.50 0.00 0.000 6 0.087 0.051 2465 2190 3838

592 -0.77 -146.6 51.8 -6.6 66 596 0.00 2.55 0.00 0.000 4 0.000 0.065 2465 3596 3838

655 -0.72 -146.6 56.4 -7.4 69 660 0.12 2.47 0.00 0.000 6 0.090 0.047 2490 2199 3838

985 -0.76 -146.6 75.1 -5.5 85 989 0.00 2.55 0.00 0.000 4 0.000 0.064 2491 3597 3838

1035 -0.82 -146.6 78.5 -6.5 87 1039 0.00 2.45 0.00 0.000 6 0.000 0.046 2491 2205 3838

1354 -0.88 -146.6 97.2 -6.0 102 1359 0.15 2.58 0.00 0.000 4 0.051 0.064 2449 3601 3838

1433 -0.81 -146.6 103.5 -7.9 107 1440 0.12 2.42 0.00 0.000 6 0.088 0.048 2475 2227 3838

1522 end dive: BOTTOM_OBSTACLE_DETECTED

state 1523 begin apogee

1529 -0.33 0.0 109.3 6.1 116 1647 0.43 0.00 114.53 0.834 6 0.072 0.000 2573 2210 3240

1648 end apogee: CONTROL_FINISHED_OK

state 1648 begin climb

1651 1.00 146.6 112.4 0.0 128 1770 1.35 0.00 113.05 0.801 6 0.059 0.000 2868 2210 2642

2093 0.79 146.6 70.3 10.5 158 2095 0.22 0.00 0.00 0.000 6 0.081 0.000 2823 2209 2641

2403 0.75 146.6 46.5 7.8 175 2407 0.00 2.53 0.00 0.000 4 0.000 0.063 2822 3605 2641

2436 0.69 146.6 43.6 8.5 177 2443 0.12 2.50 0.00 0.000 6 0.084 0.047 2798 2194 2641

2634 0.77 163.9 31.9 5.8 196 2657 0.00 2.62 14.93 0.717 4 0.000 0.062 2798 3606 2569

2693 0.82 170.9 28.3 6.0 201 2706 0.15 2.47 6.80 0.632 6 0.047 0.047 2839 2196 2542

2901 0.77 170.9 12.9 6.6 228 2907 0.00 0.00 0.00 0.000 6 0.000 0.000 2839 2196 2542

2977 0.81 170.9 7.9 6.5 241 2982 0.00 0.00 0.00 0.000 6 0.000 0.000 2839 2196 2542

3052 1.06 261.4 4.6 3.7 254 3078 0.17 0.00 23.10 0.730 2 0.045 0.000 2893 2196 2408

3078 end climb: SURFACE_DEPTH_REACHED

state 3079 begin surface coast

3209 end surface coast: CONTROL_FINISHED_OK

state 3210 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	19	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	52	C_ROLL_DIVE	2190	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-7	C_ROLL_CLIMB	2190	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	400	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	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	80	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	100	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3240	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	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-85889.047	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	2650	PRESSURE_YINT	-24.906118	SEABIRD_T_G	0.0043761111
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064345129
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5632376e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7382036e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.188265
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1432956
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00020702372
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00012956691
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	083934,4807.273,-12223.216,28,2.9,47,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.145,0.172
_SM_DEPTHo	0.55	KALMAN_X	-214.7,55.0,37.1,62.8,159.8
_SM_ANGLEo	-67.5	KALMAN_Y	2717.4,-425.3,-200.0,-3245.9,-33.0
GPS2	084339,4807.291,-12223.282,13,1.0,13,18.3	MHEAD_RNG_PITCHd_Wd	301.6,1586,-11.5,-6.250
SPEED_LIMITS	0.108,0.225	D_GRID	150

FINISH	1.1,1.020124	ALTIM_BOTTOM_PING	100.4,18.4
SM_CCo	3231,101.88,0.746,0,0,1608,400.08	_24V_AH	24.0,2.182
SM_GC	0.47,0.00,0.00,101.88,0.000,0.000,0.746,427,2190,1608,-10.22,0.00,400.08	_10V_AH	10.1,0.753
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	12848,281
TT8_MAMPS	0.029146	CAP_FILE_SIZE	41813,0
HUMID	1761	CFSIZE	254472192,252747776
TCM_TEMP	18.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
XPDR_PINGS	3	GPS	161008,094056,4807.684,-12223.710,8,1.4,13,18.3
ALTIM_TOP_PING	19.1,19.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	141	83.43	SBE_CT	191	24	110.53
Roll_motor	30	69	50.03	SBE_O2	207	19	94.61
VBD_pump_during_apogee	272	834	5455.60	WL_BB2F	484	105	1220.73
VBD_pump_during_surface	101	745	1822.81	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	23	160	90.91	nil	0	0	0.00
Iridium_during_xfer	90	223	484.79
Transponder_ping	3	420	30.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.67
TT8	485	19	97.00
LPSleep	1766	2	39.07
TT8_Active	427	19	85.49
TT8_Sampling	642	39	258.42
TT8_CF8	272	45	126.08
TT8_Kalman	33	81	27.52
Analog_circuits	766	12	92.92
GPS_charging	0	0	0.00
Compass	634	8	51.29
RAFOS	0	0	0.00
Transponder	18	30	5.73

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.00	-146.6	0.0	0.0	0	93	0.00	0.00	-75.28	0.000	2	0.000	0.000	422	2176	3273
97	-1.00	-146.6	3.3	-5.8	13	129	10.55	2.55	-14.10	0.000	4	0.142	0.069	2430	785	3838
384	-0.83	-146.6	37.0	-9.1	48	389	0.17	2.50	0.00	0.000	6	0.087	0.051	2465	2190	3838
592	-0.77	-146.6	51.8	-6.6	66	596	0.00	2.55	0.00	0.000	4	0.000	0.065	2465	3596	3838
655	-0.72	-146.6	56.4	-7.4	69	660	0.12	2.47	0.00	0.000	6	0.090	0.047	2490	2199	3838
985	-0.76	-146.6	75.1	-5.5	85	989	0.00	2.55	0.00	0.000	4	0.000	0.064	2491	3597	3838
1035	-0.82	-146.6	78.5	-6.5	87	1039	0.00	2.45	0.00	0.000	6	0.000	0.046	2491	2205	3838
1354	-0.88	-146.6	97.2	-6.0	102	1359	0.15	2.58	0.00	0.000	4	0.051	0.064	2449	3601	3838
1433	-0.81	-146.6	103.5	-7.9	107	1440	0.12	2.42	0.00	0.000	6	0.088	0.048	2475	2227	3838
1522	end dive: BOTTOM_OBSTACLE_DETECTED
state	1523	begin apogee
1529	-0.33	0.0	109.3	6.1	116	1647	0.43	0.00	114.53	0.834	6	0.072	0.000	2573	2210	3240
1648	end apogee: CONTROL_FINISHED_OK
state	1648	begin climb
1651	1.00	146.6	112.4	0.0	128	1770	1.35	0.00	113.05	0.801	6	0.059	0.000	2868	2210	2642
2093	0.79	146.6	70.3	10.5	158	2095	0.22	0.00	0.00	0.000	6	0.081	0.000	2823	2209	2641
2403	0.75	146.6	46.5	7.8	175	2407	0.00	2.53	0.00	0.000	4	0.000	0.063	2822	3605	2641
2436	0.69	146.6	43.6	8.5	177	2443	0.12	2.50	0.00	0.000	6	0.084	0.047	2798	2194	2641
2634	0.77	163.9	31.9	5.8	196	2657	0.00	2.62	14.93	0.717	4	0.000	0.062	2798	3606	2569
2693	0.82	170.9	28.3	6.0	201	2706	0.15	2.47	6.80	0.632	6	0.047	0.047	2839	2196	2542
2901	0.77	170.9	12.9	6.6	228	2907	0.00	0.00	0.00	0.000	6	0.000	0.000	2839	2196	2542
2977	0.81	170.9	7.9	6.5	241	2982	0.00	0.00	0.00	0.000	6	0.000	0.000	2839	2196	2542
3052	1.06	261.4	4.6	3.7	254	3078	0.17	0.00	23.10	0.730	2	0.045	0.000	2893	2196	2408
3078	end climb: SURFACE_DEPTH_REACHED
state	3079	begin surface coast
3209	end surface coast: CONTROL_FINISHED_OK
state	3210	begin surface