Glider dive log

PortSusan 20May09 * SG503 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 503 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 20 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 50

D_SURF 4.5 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2393 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2393 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 700 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 466 DEVICE2 101

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3969 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 3660 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 600 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 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 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -2571.127 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 203 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3889 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2844 PRESSURE_YINT -51.611187 SEABIRD_T_G 0.0043281103

RHO 1.0233001 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011732637 SEABIRD_T_H 0.00062152545

MASS 51629 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.1491383e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.0368557e-06

FERRY_MAX 45 PITCH_GAIN 37 TCM_ROLL_OFFSET 0 SEABIRD_C_G -0.10162479

KALMAN_USE 0 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1594115

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 4.3937558e-05

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00011023274

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 700

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 37 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3889 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 4.5 PITCH_MIN 203 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 50 D_TGT 150 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011732637 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -51.611187 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

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 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -2571.127

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0233001 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 600

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 503 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2844 KALMAN_USE 0 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2393 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2393 MASS 51629 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 8

C_VBD 3660 MAX_BUOY 150 R_STBD_OVSHOOT 25 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -0.10162479 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1594115 VBD_MAX 3969

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 4.3937558e-05 VBD_MAXERRORS 1

DEVICE2 101 N_FILEKB 4 SEABIRD_C_J 0.00011023274 VBD_MIN 466

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043281103 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062152545 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1491383e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.0368557e-06 XPDR_DEVICE 24

DIVE 20 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 134506,4806.037,-12222.095,8,2.0,24,18.3 TGT_NAME EIGHT

_CALLS 2 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.125,0.228

_SM_DEPTHo 0.89 KALMAN_X 1251.8,116.7,-47.4,-1361.7,47.1

_SM_ANGLEo -71.9 KALMAN_Y -5419.8,-408.7,-71.4,5303.9,-148.4

GPS2 135322,4806.012,-12222.072,8,2.1,27,18.3 MHEAD_RNG_PITCHd_Wd 313.0,4386,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 107

Post-dive calculations and measurements:

FINISH 1.4,1.021025 XPDR_PINGS 1

SM_CCo 2185,245.30,0.516,0,0,805,700.07 _24V_AH 24.3,2.273

SM_GC 1.04,0.00,0.00,245.30,0.000,0.000,0.516,201,2401,805,-8.26,0.20,700.07 _10V_AH 10.6,1.620

IRIDIUM_FIX 4748.51,-12217.40,150898,131302 DATA_FILE_SIZE 31889,478

TT8_MAMPS 0.050622 CAP_FILE_SIZE 50236,0

HUMID 1926 CFSIZE 260165632,258125824

INTERNAL_PRESSURE 9.36559 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.70 GPS 210509,143519,4806.089,-12222.210,13,1.9,30,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 240 107.92 SBE_CT 323 24 188.80

Roll_motor 31 49 37.54 AA4330 552 33 442.92

VBD_pump_during_apogee 164 613 2456.50 WL_BBFL2VMT 479 105 1223.89

VBD_pump_during_surface 245 516 3076.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 135.85 nil 0 0 0.00

Iridium_during_connect 108 160 423.41 nil 0 0 0.00

Iridium_during_xfer 191 223 1039.11

Transponder_ping 3 420 33.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 16.25

TT8 0 19 0.00

LPSleep 1028 2 23.87

TT8_Active 528 19 110.96

TT8_Sampling 952 39 401.84

TT8_CF8 415 45 201.58

TT8_Kalman 33 81 28.90

Analog_circuits 927 12 118.02

GPS_charging 0 0 0.00

Compass 754 8 63.94

RAFOS 0 0 0.00

Transponder 19 30 6.15

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

11 -0.65 -146.6 0.0 0.0 0 135 0.00 0.00 -118.82 0.000 6 0.000 0.000 200 2394 3967

136 -0.65 -146.6 3.0 -3.7 22 148 9.50 0.00 0.00 0.000 6 0.240 0.000 2628 2394 3970

213 -0.65 -146.6 6.9 -5.0 39 219 0.00 2.25 0.00 0.000 4 0.000 0.044 2628 989 3972

466 -0.65 -146.6 23.1 -8.5 97 472 0.00 2.25 0.00 0.000 6 0.000 0.048 2621 2414 3973

537 -0.65 -146.6 29.3 -8.8 113 542 0.00 2.22 0.00 0.000 4 0.000 0.044 2621 984 3973

789 -0.65 -146.6 52.5 -9.2 171 795 0.00 2.22 0.00 0.000 6 0.000 0.049 2620 2391 3973

925 -0.65 -146.6 64.6 -9.0 202 931 0.00 2.17 0.00 0.000 4 0.000 0.044 2620 986 3973

956 -0.65 -146.6 67.5 -9.7 209 962 0.00 2.25 0.00 0.000 6 0.000 0.049 2620 2388 3973

1092 -0.65 -146.6 79.0 -8.3 240 1097 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2389 3973

1228 -0.65 -146.6 90.1 -8.3 271 1233 0.00 2.20 0.00 0.000 4 0.000 0.044 2619 974 3972

1263 -0.65 -146.6 93.1 -8.9 279 1269 0.00 2.25 0.00 0.000 6 0.000 0.048 2619 2385 3973

1398 -0.65 -146.6 104.2 -7.9 310 1403 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2385 3973

1436 end dive: TARGET_DEPTH_EXCEEDED

state 1436 begin apogee

1439 -0.14 0.0 107.4 7.6 319 1499 0.52 0.00 56.30 0.614 6 0.133 0.000 2793 2385 3660

1500 end apogee: CONTROL_FINISHED_OK

state 1500 begin climb

1501 0.65 146.6 108.1 0.0 330 1617 0.70 0.00 108.45 0.588 6 0.073 0.000 3054 2386 3061

1746 0.65 146.6 71.6 18.6 381 1752 0.00 2.30 0.00 0.000 4 0.000 0.048 3064 985 3060

1807 0.65 146.6 60.3 17.9 395 1813 0.00 2.30 0.00 0.000 6 0.000 0.046 3064 2392 3058

1943 0.65 146.6 35.0 18.2 426 1949 0.00 2.22 0.00 0.000 4 0.000 0.047 3075 986 3058

1983 0.65 146.6 28.0 17.5 435 1989 0.00 2.28 0.00 0.000 6 0.000 0.048 3075 2387 3058

2053 0.65 146.6 15.7 17.3 451 2058 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2388 3058

2123 0.65 146.6 4.9 13.0 467 2129 0.00 2.25 0.00 0.000 4 0.000 0.045 3084 980 3058

2131 end climb: SURFACE_DEPTH_REACHED

state 2131 begin surface coast

2171 end surface coast: CONTROL_FINISHED_OK

state 2171 begin surface

ID	503	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	20	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	50
D_SURF	4.5	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2393	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2393	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	700	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	466	DEVICE2	101
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3969	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	3660	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	600	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	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	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-2571.127	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	203	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3889	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2844	PRESSURE_YINT	-51.611187	SEABIRD_T_G	0.0043281103
RHO	1.0233001	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011732637	SEABIRD_T_H	0.00062152545
MASS	51629	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.1491383e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.0368557e-06
FERRY_MAX	45	PITCH_GAIN	37	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-0.10162479
KALMAN_USE	0	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1594115
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	4.3937558e-05
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00011023274
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	134506,4806.037,-12222.095,8,2.0,24,18.3	TGT_NAME	EIGHT
_CALLS	2	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.125,0.228
_SM_DEPTHo	0.89	KALMAN_X	1251.8,116.7,-47.4,-1361.7,47.1
_SM_ANGLEo	-71.9	KALMAN_Y	-5419.8,-408.7,-71.4,5303.9,-148.4
GPS2	135322,4806.012,-12222.072,8,2.1,27,18.3	MHEAD_RNG_PITCHd_Wd	313.0,4386,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	107

FINISH	1.4,1.021025	XPDR_PINGS	1
SM_CCo	2185,245.30,0.516,0,0,805,700.07	_24V_AH	24.3,2.273
SM_GC	1.04,0.00,0.00,245.30,0.000,0.000,0.516,201,2401,805,-8.26,0.20,700.07	_10V_AH	10.6,1.620
IRIDIUM_FIX	4748.51,-12217.40,150898,131302	DATA_FILE_SIZE	31889,478
TT8_MAMPS	0.050622	CAP_FILE_SIZE	50236,0
HUMID	1926	CFSIZE	260165632,258125824
INTERNAL_PRESSURE	9.36559	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.70	GPS	210509,143519,4806.089,-12222.210,13,1.9,30,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	240	107.92	SBE_CT	323	24	188.80
Roll_motor	31	49	37.54	AA4330	552	33	442.92
VBD_pump_during_apogee	164	613	2456.50	WL_BBFL2VMT	479	105	1223.89
VBD_pump_during_surface	245	516	3076.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	135.85	nil	0	0	0.00
Iridium_during_connect	108	160	423.41	nil	0	0	0.00
Iridium_during_xfer	191	223	1039.11
Transponder_ping	3	420	33.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	16.25
TT8	0	19	0.00
LPSleep	1028	2	23.87
TT8_Active	528	19	110.96
TT8_Sampling	952	39	401.84
TT8_CF8	415	45	201.58
TT8_Kalman	33	81	28.90
Analog_circuits	927	12	118.02
GPS_charging	0	0	0.00
Compass	754	8	63.94
RAFOS	0	0	0.00
Transponder	19	30	6.15

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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
11	-0.65	-146.6	0.0	0.0	0	135	0.00	0.00	-118.82	0.000	6	0.000	0.000	200	2394	3967
136	-0.65	-146.6	3.0	-3.7	22	148	9.50	0.00	0.00	0.000	6	0.240	0.000	2628	2394	3970
213	-0.65	-146.6	6.9	-5.0	39	219	0.00	2.25	0.00	0.000	4	0.000	0.044	2628	989	3972
466	-0.65	-146.6	23.1	-8.5	97	472	0.00	2.25	0.00	0.000	6	0.000	0.048	2621	2414	3973
537	-0.65	-146.6	29.3	-8.8	113	542	0.00	2.22	0.00	0.000	4	0.000	0.044	2621	984	3973
789	-0.65	-146.6	52.5	-9.2	171	795	0.00	2.22	0.00	0.000	6	0.000	0.049	2620	2391	3973
925	-0.65	-146.6	64.6	-9.0	202	931	0.00	2.17	0.00	0.000	4	0.000	0.044	2620	986	3973
956	-0.65	-146.6	67.5	-9.7	209	962	0.00	2.25	0.00	0.000	6	0.000	0.049	2620	2388	3973
1092	-0.65	-146.6	79.0	-8.3	240	1097	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2389	3973
1228	-0.65	-146.6	90.1	-8.3	271	1233	0.00	2.20	0.00	0.000	4	0.000	0.044	2619	974	3972
1263	-0.65	-146.6	93.1	-8.9	279	1269	0.00	2.25	0.00	0.000	6	0.000	0.048	2619	2385	3973
1398	-0.65	-146.6	104.2	-7.9	310	1403	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2385	3973
1436	end dive: TARGET_DEPTH_EXCEEDED
state	1436	begin apogee
1439	-0.14	0.0	107.4	7.6	319	1499	0.52	0.00	56.30	0.614	6	0.133	0.000	2793	2385	3660
1500	end apogee: CONTROL_FINISHED_OK
state	1500	begin climb
1501	0.65	146.6	108.1	0.0	330	1617	0.70	0.00	108.45	0.588	6	0.073	0.000	3054	2386	3061
1746	0.65	146.6	71.6	18.6	381	1752	0.00	2.30	0.00	0.000	4	0.000	0.048	3064	985	3060
1807	0.65	146.6	60.3	17.9	395	1813	0.00	2.30	0.00	0.000	6	0.000	0.046	3064	2392	3058
1943	0.65	146.6	35.0	18.2	426	1949	0.00	2.22	0.00	0.000	4	0.000	0.047	3075	986	3058
1983	0.65	146.6	28.0	17.5	435	1989	0.00	2.28	0.00	0.000	6	0.000	0.048	3075	2387	3058
2053	0.65	146.6	15.7	17.3	451	2058	0.00	0.00	0.00	0.000	6	0.000	0.000	3075	2388	3058
2123	0.65	146.6	4.9	13.0	467	2129	0.00	2.25	0.00	0.000	4	0.000	0.045	3084	980	3058
2131	end climb: SURFACE_DEPTH_REACHED
state	2131	begin surface coast
2171	end surface coast: CONTROL_FINISHED_OK
state	2171	begin surface