Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 222 * 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 222 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 45 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 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 -64599.918 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 23 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 23 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 -64599.918

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 45 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 41 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 222 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 193901,4806.481,-12222.198,34,1.4,35,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.125,0.094

_SM_DEPTHo 1.14 KALMAN_X 17617.0,163.6,-31.0,-15654.0,99.1

_SM_ANGLEo -69.1 KALMAN_Y 10110.1,-123.1,-108.2,-13548.8,116.5

GPS2 194315,4806.485,-12222.199,10,1.4,10,18.3 MHEAD_RNG_PITCHd_Wd 288.7,3581,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 108

Post-dive calculations and measurements:

FINISH 0.5,1.000861 XPDR_PINGS 0

SM_CCo 3656,42.22,0.685,0,0,1576,300.00 ALTIM_BOTTOM_PING 80.6,29.3

SM_GC 1.46,0.00,0.00,42.22,0.000,0.000,0.685,8,2270,1576,-8.79,0.57,300.00 _24V_AH 24.5,25.942

IRIDIUM_FIX 4748.51,-12219.12,140907,222245 _10V_AH 10.7,12.232

TT8_MAMPS 0.026845 DATA_FILE_SIZE 19109,397

HUMID 1871 CFSIZE 260165632,251449344

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 140907,204704,4806.814,-12222.552,11,2.7,31,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 213 107.35 SBE_CT 286 24 168.72

Roll_motor 27 62 41.59 SBE_O2 311 19 145.15

VBD_pump_during_apogee 260 759 4853.68 WL_BB2F 670 105 1723.95

VBD_pump_during_surface 42 684 708.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 99.34 nil 0 0 0.00

Iridium_during_connect 32 160 127.28 nil 0 0 0.00

Iridium_during_xfer 100 223 551.62

Transponder_ping 0 420 7.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.14

TT8 653 19 138.49

LPSleep 1915 2 44.90

TT8_Active 351 19 74.57

TT8_Sampling 760 39 323.99

TT8_CF8 295 45 144.82

TT8_Kalman 33 81 29.19

Analog_circuits 735 12 94.50

GPS_charging 0 0 0.00

Compass 780 8 66.85

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 18 begin dive

21 -0.64 -146.6 0.0 0.0 0 89 0.00 0.00 -65.65 0.000 2 0.000 0.000 17 2265 3188

92 -0.64 -146.6 3.3 -2.9 12 111 10.55 2.40 -4.25 0.000 4 0.214 0.062 2598 3655 3400

174 -0.64 -146.6 14.6 -7.7 26 180 0.00 2.28 0.00 0.000 6 0.000 0.028 2598 2229 3402

248 -0.64 -146.6 19.4 -6.3 39 254 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2227 3403

325 -0.64 -146.6 23.7 -5.8 47 326 0.00 0.00 0.00 0.000 6 0.000 0.000 2599 2227 3403

515 -0.64 -146.6 34.5 -6.1 65 519 0.00 2.17 0.00 0.000 4 0.000 0.038 2598 860 3403

543 -0.64 -146.6 36.2 -6.0 67 549 0.00 2.22 0.00 0.000 6 0.000 0.034 2598 2248 3403

740 -0.64 -146.6 47.0 -5.3 86 741 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2248 3403

931 -0.64 -146.6 56.7 -4.5 104 935 0.00 2.22 0.00 0.000 4 0.000 0.038 2598 859 3404

960 -0.64 -146.6 58.2 -5.5 106 964 0.00 2.22 0.00 0.000 6 0.000 0.034 2599 2250 3403

1287 -0.64 -146.6 74.9 -5.3 136 1291 0.00 2.30 0.00 0.000 4 0.000 0.049 2594 3660 3403

1330 -0.64 -146.6 77.5 -5.5 139 1337 0.00 2.22 0.00 0.000 6 0.000 0.028 2594 2247 3403

1655 -0.64 -146.6 93.9 -5.2 170 1656 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 2246 3403

1685 end dive: TARGET_DEPTH_EXCEEDED

state 1685 begin apogee

1691 -0.22 0.0 95.5 4.9 173 1808 0.50 0.00 111.60 0.759 6 0.104 0.000 2752 2155 2799

1809 end apogee: CONTROL_FINISHED_OK

state 1809 begin climb

1811 0.64 146.6 97.4 0.0 185 1929 0.80 0.00 111.30 0.699 6 0.077 0.000 3018 2154 2201

2247 0.64 146.6 73.9 5.8 227 2248 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2154 2199

2565 0.64 146.6 55.0 5.9 257 2569 0.00 2.30 0.00 0.000 4 0.000 0.045 3018 3555 2198

2603 0.64 146.6 52.4 6.7 260 2610 0.00 2.25 0.00 0.000 6 0.000 0.030 3025 2158 2198

2931 0.64 146.6 32.8 5.8 291 2932 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2157 2197

3119 0.64 146.6 21.9 5.6 309 3120 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2157 2198

3319 0.64 146.6 11.1 5.3 341 3325 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2157 2197

3393 0.64 146.6 7.1 5.6 354 3399 0.00 2.25 0.00 0.000 4 0.000 0.041 3028 750 2197

3434 0.64 148.6 5.2 5.0 361 3440 0.00 2.22 0.00 0.000 6 0.000 0.032 3028 2156 2197

3508 0.73 216.9 2.8 2.9 374 3549 0.00 0.00 38.00 0.759 2 0.000 0.000 3028 2156 1947

3549 end climb: SURFACE_DEPTH_REACHED

state 3549 begin surface coast

3639 end surface coast: CONTROL_FINISHED_OK

state 3639 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	222	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	45	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	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	-64599.918	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	23	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	193901,4806.481,-12222.198,34,1.4,35,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.125,0.094
_SM_DEPTHo	1.14	KALMAN_X	17617.0,163.6,-31.0,-15654.0,99.1
_SM_ANGLEo	-69.1	KALMAN_Y	10110.1,-123.1,-108.2,-13548.8,116.5
GPS2	194315,4806.485,-12222.199,10,1.4,10,18.3	MHEAD_RNG_PITCHd_Wd	288.7,3581,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	108

FINISH	0.5,1.000861	XPDR_PINGS	0
SM_CCo	3656,42.22,0.685,0,0,1576,300.00	ALTIM_BOTTOM_PING	80.6,29.3
SM_GC	1.46,0.00,0.00,42.22,0.000,0.000,0.685,8,2270,1576,-8.79,0.57,300.00	_24V_AH	24.5,25.942
IRIDIUM_FIX	4748.51,-12219.12,140907,222245	_10V_AH	10.7,12.232
TT8_MAMPS	0.026845	DATA_FILE_SIZE	19109,397
HUMID	1871	CFSIZE	260165632,251449344
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	140907,204704,4806.814,-12222.552,11,2.7,31,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	213	107.35	SBE_CT	286	24	168.72
Roll_motor	27	62	41.59	SBE_O2	311	19	145.15
VBD_pump_during_apogee	260	759	4853.68	WL_BB2F	670	105	1723.95
VBD_pump_during_surface	42	684	708.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	99.34	nil	0	0	0.00
Iridium_during_connect	32	160	127.28	nil	0	0	0.00
Iridium_during_xfer	100	223	551.62
Transponder_ping	0	420	7.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.14
TT8	653	19	138.49
LPSleep	1915	2	44.90
TT8_Active	351	19	74.57
TT8_Sampling	760	39	323.99
TT8_CF8	295	45	144.82
TT8_Kalman	33	81	29.19
Analog_circuits	735	12	94.50
GPS_charging	0	0	0.00
Compass	780	8	66.85
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	18	begin dive
21	-0.64	-146.6	0.0	0.0	0	89	0.00	0.00	-65.65	0.000	2	0.000	0.000	17	2265	3188
92	-0.64	-146.6	3.3	-2.9	12	111	10.55	2.40	-4.25	0.000	4	0.214	0.062	2598	3655	3400
174	-0.64	-146.6	14.6	-7.7	26	180	0.00	2.28	0.00	0.000	6	0.000	0.028	2598	2229	3402
248	-0.64	-146.6	19.4	-6.3	39	254	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2227	3403
325	-0.64	-146.6	23.7	-5.8	47	326	0.00	0.00	0.00	0.000	6	0.000	0.000	2599	2227	3403
515	-0.64	-146.6	34.5	-6.1	65	519	0.00	2.17	0.00	0.000	4	0.000	0.038	2598	860	3403
543	-0.64	-146.6	36.2	-6.0	67	549	0.00	2.22	0.00	0.000	6	0.000	0.034	2598	2248	3403
740	-0.64	-146.6	47.0	-5.3	86	741	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2248	3403
931	-0.64	-146.6	56.7	-4.5	104	935	0.00	2.22	0.00	0.000	4	0.000	0.038	2598	859	3404
960	-0.64	-146.6	58.2	-5.5	106	964	0.00	2.22	0.00	0.000	6	0.000	0.034	2599	2250	3403
1287	-0.64	-146.6	74.9	-5.3	136	1291	0.00	2.30	0.00	0.000	4	0.000	0.049	2594	3660	3403
1330	-0.64	-146.6	77.5	-5.5	139	1337	0.00	2.22	0.00	0.000	6	0.000	0.028	2594	2247	3403
1655	-0.64	-146.6	93.9	-5.2	170	1656	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	2246	3403
1685	end dive: TARGET_DEPTH_EXCEEDED
state	1685	begin apogee
1691	-0.22	0.0	95.5	4.9	173	1808	0.50	0.00	111.60	0.759	6	0.104	0.000	2752	2155	2799
1809	end apogee: CONTROL_FINISHED_OK
state	1809	begin climb
1811	0.64	146.6	97.4	0.0	185	1929	0.80	0.00	111.30	0.699	6	0.077	0.000	3018	2154	2201
2247	0.64	146.6	73.9	5.8	227	2248	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	2154	2199
2565	0.64	146.6	55.0	5.9	257	2569	0.00	2.30	0.00	0.000	4	0.000	0.045	3018	3555	2198
2603	0.64	146.6	52.4	6.7	260	2610	0.00	2.25	0.00	0.000	6	0.000	0.030	3025	2158	2198
2931	0.64	146.6	32.8	5.8	291	2932	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2157	2197
3119	0.64	146.6	21.9	5.6	309	3120	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2157	2198
3319	0.64	146.6	11.1	5.3	341	3325	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2157	2197
3393	0.64	146.6	7.1	5.6	354	3399	0.00	2.25	0.00	0.000	4	0.000	0.041	3028	750	2197
3434	0.64	148.6	5.2	5.0	361	3440	0.00	2.22	0.00	0.000	6	0.000	0.032	3028	2156	2197
3508	0.73	216.9	2.8	2.9	374	3549	0.00	0.00	38.00	0.759	2	0.000	0.000	3028	2156	1947
3549	end climb: SURFACE_DEPTH_REACHED
state	3549	begin surface coast
3639	end surface coast: CONTROL_FINISHED_OK
state	3639	begin surface