Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 20 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 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 243 ALTIM_PING_DEPTH 0

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1910 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 450 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 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 44 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 1 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -16853.189 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 100 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 30 PITCH_MIN 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 120 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 -7.1405377 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 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 45

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 -16853.189

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1910 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2100 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 28 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 44 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 20 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 162029,4739.254,-12251.386,15,2.7,34,18.3 TGT_NAME H1

_CALLS 2 TGT_LATLONG 4739.000,-12252.000

_XMS_NAKs 1 TGT_RADIUS 200.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.176,-0.112

_SM_DEPTHo 0.96 KALMAN_X 5711.7,770.8,276.7,-5022.8,13.2

_SM_ANGLEo -64.0 KALMAN_Y 4179.0,546.5,135.6,-5738.2,-7.8

GPS2 162947,4739.316,-12251.303,13,2.1,32,18.3 MHEAD_RNG_PITCHd_Wd 219.2,1049,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 121

Post-dive calculations and measurements:

FINISH 0.2,1.021216 ALTIM_TOP_PING 9.7,5.4

SM_CCo 3148,86.25,0.581,0,0,1366,450.13 ALTIM_BOTTOM_PING 95.3,999.0

SM_GC 0.96,0.00,0.00,86.25,0.000,0.000,0.581,413,2112,1366,-11.44,0.31,450.13 _24V_AH 23.1,16.710

IRIDIUM_FIX 4719.74,-12247.38,220907,191932 _10V_AH 10.1,10.296

TT8_MAMPS 0.072865 DATA_FILE_SIZE 9579,295

HUMID 2335 CFSIZE 260231168,256901120

INTERNAL_PRESSURE 8.03742 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

TCM_TEMP 20.20 GPS 220907,172553,4739.172,-12251.585,10,5.1,29,18.3

XPDR_PINGS 115

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 194 138.51 SBE_CT 207 24 115.24

Roll_motor 51 74 88.51 nil 0 0 0.00

VBD_pump_during_apogee 238 777 4285.28 nil 0 0 0.00

VBD_pump_during_surface 86 581 1158.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 64 103 152.86 nil 0 0 0.00

Iridium_during_connect 30 160 111.94 ARS 0 0 0.00

Iridium_during_xfer 254 223 1311.74

Transponder_ping 29 420 283.78

Mmodem_TX 453 1000 10477.93

Mmodem_RX 3523 6 520.90

GPS 33 50 16.74

TT8 539 19 107.87

LPSleep 1780 2 39.37

TT8_Active 446 19 89.21

TT8_Sampling 560 39 225.27

TT8_CF8 495 45 229.09

TT8_Kalman 33 81 27.55

Analog_circuits 768 12 93.17

GPS_charging 0 0 0.00

Compass 515 8 41.69

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.68 -97.8 0.0 0.0 0 81 0.00 0.00 -55.22 0.000 2 0.000 0.000 412 2088 2540

84 -1.68 -97.8 2.0 -3.8 9 152 13.52 2.62 -46.85 0.000 4 0.194 0.074 2529 702 3601

171 -1.68 -97.8 4.5 -7.7 23 178 0.00 2.53 0.00 0.000 6 0.000 0.034 2529 2087 3602

243 -1.68 -97.8 11.2 -10.5 34 250 0.00 2.55 0.00 0.000 4 0.000 0.054 2529 3498 3603

375 -1.68 -97.8 24.5 -9.6 51 379 0.00 2.45 0.00 0.000 6 0.000 0.034 2529 2101 3603

577 -1.68 -97.8 44.0 -10.3 67 580 0.00 2.55 0.00 0.000 4 0.000 0.054 2529 3498 3604

616 -1.68 -97.8 47.9 -9.9 70 620 0.00 2.47 0.00 0.000 6 0.000 0.035 2529 2094 3604

818 -1.68 -97.8 68.1 -10.2 86 822 0.00 2.58 0.00 0.000 4 0.000 0.054 2529 3496 3604

849 -1.68 -97.8 71.4 -10.5 88 857 0.00 2.53 0.00 0.000 6 0.000 0.034 2529 2108 3604

1045 -1.68 -97.8 89.6 -9.0 104 1050 0.00 2.53 0.00 0.000 4 0.000 0.054 2529 3498 3605

1104 -1.68 -97.8 95.3 -9.7 108 1111 0.00 2.47 0.00 0.000 6 0.000 0.035 2529 2094 3604

1300 -1.68 -97.8 113.2 -9.1 124 1301 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2094 3604

1374 end dive: TARGET_DEPTH_EXCEEDED

state 1374 begin apogee

1379 -0.38 0.0 120.3 9.7 130 1461 1.50 0.00 77.85 0.676 6 0.108 0.000 2814 1909 3202

1462 end apogee: CONTROL_FINISHED_OK

state 1462 begin climb

1464 1.68 97.8 122.9 0.0 137 1545 2.12 0.00 76.03 0.656 6 0.064 0.000 3263 1908 2805

1734 1.70 108.9 106.3 8.2 159 1747 0.00 2.62 8.40 0.701 4 0.000 0.051 3264 3309 2756

1800 1.70 109.5 100.6 8.9 164 1804 0.00 2.50 0.00 0.000 6 0.000 0.037 3264 1904 2756

1995 1.72 126.6 84.6 7.8 179 2014 0.00 2.65 13.57 0.683 4 0.000 0.051 3263 3305 2684

2111 1.72 126.6 74.1 9.7 187 2119 0.00 2.53 0.00 0.000 6 0.000 0.037 3264 1907 2683

2308 1.72 130.1 57.7 8.7 203 2315 0.00 2.60 2.00 0.778 4 0.000 0.052 3264 3314 2671

2459 1.72 130.1 43.8 9.3 214 2464 0.00 2.50 0.00 0.000 6 0.000 0.037 3264 1910 2671

2662 1.72 130.1 25.4 9.3 230 2665 0.00 2.58 0.00 0.000 4 0.000 0.052 3264 3306 2671

2740 1.72 130.1 17.6 9.9 237 2747 0.00 2.50 0.00 0.000 6 0.000 0.037 3264 1904 2671

2813 1.73 136.1 11.2 8.5 248 2825 0.00 2.62 4.40 0.713 4 0.000 0.052 3264 3308 2647

2999 1.92 290.3 2.4 -0.5 276 3061 0.25 2.47 56.28 0.606 2 0.053 0.035 3321 1909 2157

3062 end climb: SURFACE_DEPTH_REACHED

state 3062 begin surface coast

3121 end surface coast: CONTROL_FINISHED_OK

state 3121 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	20	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	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	243	ALTIM_PING_DEPTH	0
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1910	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	450	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	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	44	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	1	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-16853.189	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	100	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	30	PITCH_MIN	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	162029,4739.254,-12251.386,15,2.7,34,18.3	TGT_NAME	H1
_CALLS	2	TGT_LATLONG	4739.000,-12252.000
_XMS_NAKs	1	TGT_RADIUS	200.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.176,-0.112
_SM_DEPTHo	0.96	KALMAN_X	5711.7,770.8,276.7,-5022.8,13.2
_SM_ANGLEo	-64.0	KALMAN_Y	4179.0,546.5,135.6,-5738.2,-7.8
GPS2	162947,4739.316,-12251.303,13,2.1,32,18.3	MHEAD_RNG_PITCHd_Wd	219.2,1049,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	121

FINISH	0.2,1.021216	ALTIM_TOP_PING	9.7,5.4
SM_CCo	3148,86.25,0.581,0,0,1366,450.13	ALTIM_BOTTOM_PING	95.3,999.0
SM_GC	0.96,0.00,0.00,86.25,0.000,0.000,0.581,413,2112,1366,-11.44,0.31,450.13	_24V_AH	23.1,16.710
IRIDIUM_FIX	4719.74,-12247.38,220907,191932	_10V_AH	10.1,10.296
TT8_MAMPS	0.072865	DATA_FILE_SIZE	9579,295
HUMID	2335	CFSIZE	260231168,256901120
INTERNAL_PRESSURE	8.03742	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
TCM_TEMP	20.20	GPS	220907,172553,4739.172,-12251.585,10,5.1,29,18.3
XPDR_PINGS	115

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	194	138.51	SBE_CT	207	24	115.24
Roll_motor	51	74	88.51	nil	0	0	0.00
VBD_pump_during_apogee	238	777	4285.28	nil	0	0	0.00
VBD_pump_during_surface	86	581	1158.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	64	103	152.86	nil	0	0	0.00
Iridium_during_connect	30	160	111.94	ARS	0	0	0.00
Iridium_during_xfer	254	223	1311.74
Transponder_ping	29	420	283.78
Mmodem_TX	453	1000	10477.93
Mmodem_RX	3523	6	520.90
GPS	33	50	16.74
TT8	539	19	107.87
LPSleep	1780	2	39.37
TT8_Active	446	19	89.21
TT8_Sampling	560	39	225.27
TT8_CF8	495	45	229.09
TT8_Kalman	33	81	27.55
Analog_circuits	768	12	93.17
GPS_charging	0	0	0.00
Compass	515	8	41.69
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.68	-97.8	0.0	0.0	0	81	0.00	0.00	-55.22	0.000	2	0.000	0.000	412	2088	2540
84	-1.68	-97.8	2.0	-3.8	9	152	13.52	2.62	-46.85	0.000	4	0.194	0.074	2529	702	3601
171	-1.68	-97.8	4.5	-7.7	23	178	0.00	2.53	0.00	0.000	6	0.000	0.034	2529	2087	3602
243	-1.68	-97.8	11.2	-10.5	34	250	0.00	2.55	0.00	0.000	4	0.000	0.054	2529	3498	3603
375	-1.68	-97.8	24.5	-9.6	51	379	0.00	2.45	0.00	0.000	6	0.000	0.034	2529	2101	3603
577	-1.68	-97.8	44.0	-10.3	67	580	0.00	2.55	0.00	0.000	4	0.000	0.054	2529	3498	3604
616	-1.68	-97.8	47.9	-9.9	70	620	0.00	2.47	0.00	0.000	6	0.000	0.035	2529	2094	3604
818	-1.68	-97.8	68.1	-10.2	86	822	0.00	2.58	0.00	0.000	4	0.000	0.054	2529	3496	3604
849	-1.68	-97.8	71.4	-10.5	88	857	0.00	2.53	0.00	0.000	6	0.000	0.034	2529	2108	3604
1045	-1.68	-97.8	89.6	-9.0	104	1050	0.00	2.53	0.00	0.000	4	0.000	0.054	2529	3498	3605
1104	-1.68	-97.8	95.3	-9.7	108	1111	0.00	2.47	0.00	0.000	6	0.000	0.035	2529	2094	3604
1300	-1.68	-97.8	113.2	-9.1	124	1301	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2094	3604
1374	end dive: TARGET_DEPTH_EXCEEDED
state	1374	begin apogee
1379	-0.38	0.0	120.3	9.7	130	1461	1.50	0.00	77.85	0.676	6	0.108	0.000	2814	1909	3202
1462	end apogee: CONTROL_FINISHED_OK
state	1462	begin climb
1464	1.68	97.8	122.9	0.0	137	1545	2.12	0.00	76.03	0.656	6	0.064	0.000	3263	1908	2805
1734	1.70	108.9	106.3	8.2	159	1747	0.00	2.62	8.40	0.701	4	0.000	0.051	3264	3309	2756
1800	1.70	109.5	100.6	8.9	164	1804	0.00	2.50	0.00	0.000	6	0.000	0.037	3264	1904	2756
1995	1.72	126.6	84.6	7.8	179	2014	0.00	2.65	13.57	0.683	4	0.000	0.051	3263	3305	2684
2111	1.72	126.6	74.1	9.7	187	2119	0.00	2.53	0.00	0.000	6	0.000	0.037	3264	1907	2683
2308	1.72	130.1	57.7	8.7	203	2315	0.00	2.60	2.00	0.778	4	0.000	0.052	3264	3314	2671
2459	1.72	130.1	43.8	9.3	214	2464	0.00	2.50	0.00	0.000	6	0.000	0.037	3264	1910	2671
2662	1.72	130.1	25.4	9.3	230	2665	0.00	2.58	0.00	0.000	4	0.000	0.052	3264	3306	2671
2740	1.72	130.1	17.6	9.9	237	2747	0.00	2.50	0.00	0.000	6	0.000	0.037	3264	1904	2671
2813	1.73	136.1	11.2	8.5	248	2825	0.00	2.62	4.40	0.713	4	0.000	0.052	3264	3308	2647
2999	1.92	290.3	2.4	-0.5	276	3061	0.25	2.47	56.28	0.606	2	0.053	0.035	3321	1909	2157
3062	end climb: SURFACE_DEPTH_REACHED
state	3062	begin surface coast
3121	end surface coast: CONTROL_FINISHED_OK
state	3121	begin surface