Glider dive log

PortSusan 28Jan09 * SG165 * Dive index * Mission links * Dive 27 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 165 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 27 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3692 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 550 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 30 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 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 67 UPLOAD_DIVES_MAX -1 VBD_MIN 485 DEVICE2 53

T_MISSION 75 CALL_TRIES 5 VBD_MAX 3959 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3665 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 130 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 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 -4097.4707 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 75 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 180 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3922 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2921 PRESSURE_YINT -22.272026 SEABIRD_T_G 0.0043383995

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000116182 SEABIRD_T_H 0.00062454981

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3067754e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3616824e-06

FERRY_MAX 45 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9113674

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.100266

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.0005534364

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 6.0498875e-05

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

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 550

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 30 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3922 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 4 PITCH_MIN 180 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 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 0.000116182 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -22.272026 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 67

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 -4097.4707

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 75

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 130

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 165 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3692 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2921 KALMAN_USE 1 ROLL_MIN 200 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2150 MASS 52000 R_PORT_OVSHOOT 30 VBD_BLEED_AD_RATE 8

C_VBD 3665 MAX_BUOY 75 R_STBD_OVSHOOT 20 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.9113674 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.100266 VBD_MAX 3959

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.0005534364 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 6.0498875e-05 VBD_MIN 485

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043383995 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062454981 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3067754e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3616824e-06 XPDR_DEVICE 24

DIVE 27 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 184640,4807.852,-12223.634,7,99.0,26,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.062,0.161

_SM_DEPTHo 1.40 KALMAN_X 8634.3,-378.6,-200.1,-9099.0,455.9

_SM_ANGLEo -77.2 KALMAN_Y -15094.6,753.7,74.8,16259.4,-745.2

GPS2 185158,4807.893,-12223.651,14,99.0,33,18.3 MHEAD_RNG_PITCHd_Wd 320.6,475,-19.5,-7.463

SPEED_LIMITS 0.129,0.172 D_GRID 150

Post-dive calculations and measurements:

FINISH 1.9,1.018603 ALTIM_BOTTOM_PING 80.1,39.6

SM_CCo 2642,252.55,0.672,0,0,1422,550.21 _24V_AH 24.2,3.573

SM_GC 1.45,0.00,0.00,252.55,0.000,0.000,0.672,172,2145,1422,-8.59,-0.14,550.21 _10V_AH 10.6,1.309

IRIDIUM_FIX 4751.72,-12225.30,250498,181814 DATA_FILE_SIZE 25511,483

TT8_MAMPS 0.052923 CAP_FILE_SIZE 49432,0

HUMID 1415 CFSIZE 260165632,257794048

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 18.70 GPS 290109,194136,4808.000,-12223.757,11,0.9,27,18.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 263 132.17 SBE_CT 325 24 189.27

Roll_motor 37 121 109.10 Optode 370 33 295.72

VBD_pump_during_apogee 215 791 4134.69 WL_BB2F 623 105 1584.92

VBD_pump_during_surface 252 671 4106.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 62.73 nil 0 0 0.00

Iridium_during_connect 25 160 97.80 nil 0 0 0.00

Iridium_during_xfer 175 223 946.63

Transponder_ping 0 420 7.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 19.30

TT8 0 19 0.00

LPSleep 1297 2 30.11

TT8_Active 560 19 117.59

TT8_Sampling 1056 39 445.78

TT8_CF8 296 45 143.81

TT8_Kalman 33 81 28.88

Analog_circuits 982 12 125.00

GPS_charging 0 0 0.00

Compass 872 8 73.97

RAFOS 0 0 0.00

Transponder 5 30 1.75

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12 -0.74 -73.3 0.0 0.0 0 97 0.00 0.00 -82.55 0.000 2 0.000 0.000 176 2147 3327

99 -0.74 -73.3 3.2 -2.5 14 136 10.50 2.30 -21.17 0.000 4 0.264 0.071 2673 744 3959

375 -0.74 -73.3 36.2 -11.7 65 382 0.00 2.33 0.00 0.000 6 0.000 0.058 2673 2144 3961

444 -0.74 -73.3 44.2 -11.3 78 451 0.00 2.30 0.00 0.000 4 0.000 0.056 2673 746 3961

690 -0.74 -73.3 70.5 -10.8 124 697 0.00 2.30 0.00 0.000 6 0.000 0.057 2672 2142 3961

824 -0.74 -73.3 83.1 -9.3 149 830 0.00 2.28 0.00 0.000 4 0.000 0.056 2673 748 3961

984 -0.74 -73.3 97.4 -8.7 179 990 0.00 2.30 0.00 0.000 6 0.000 0.056 2671 2154 3960

1116 -0.74 -73.3 108.1 -7.6 204 1117 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2154 3961

1142 end dive: BOTTOM_OBSTACLE_DETECTED

state 1142 begin apogee

1146 -0.17 0.0 110.2 7.5 209 1203 0.60 0.00 54.70 0.792 6 0.148 0.000 2860 2202 3665

1203 end apogee: CONTROL_FINISHED_OK

state 1204 begin climb

1205 0.74 73.3 111.0 0.0 219 1266 0.82 0.00 56.00 0.749 6 0.081 0.000 3153 2203 3366

1392 0.74 73.3 86.7 14.7 254 1400 0.00 2.38 0.00 0.000 4 0.000 0.064 3153 3602 3365

1409 0.74 73.3 83.9 16.0 257 1415 0.00 2.30 0.00 0.000 6 0.000 0.050 3163 2207 3365

1542 0.74 73.3 63.5 14.9 282 1543 0.00 0.00 0.00 0.000 6 0.000 0.000 3162 2205 3365

1670 0.74 73.3 45.4 13.4 306 1677 0.00 2.35 0.00 0.000 4 0.000 0.060 3174 785 3365

1697 0.74 73.3 41.9 13.1 311 1704 0.00 2.33 0.00 0.000 6 0.000 0.054 3174 2197 3365

1831 0.74 73.3 25.9 11.1 336 1837 0.00 2.33 0.00 0.000 4 0.000 0.064 3174 3604 3365

1852 0.74 73.3 23.4 11.4 340 1859 0.00 2.28 0.00 0.000 6 0.000 0.048 3184 2195 3365

1922 0.74 73.3 16.5 9.7 353 1928 0.00 2.35 0.00 0.000 4 0.000 0.061 3184 3608 3365

1943 0.74 73.3 14.8 8.5 357 1950 0.10 2.28 0.00 0.000 6 0.209 0.048 3168 2194 3365

2013 0.80 119.0 11.6 4.3 370 2056 0.00 2.42 34.40 0.717 4 0.000 0.061 3168 3610 3179

2295 0.92 214.4 5.4 0.9 422 2374 0.08 2.28 70.75 0.699 6 0.082 0.048 3213 2208 2790

2387 end climb: SURFACE_DEPTH_REACHED

state 2387 begin surface coast

2628 end surface coast: NO_VERTICAL_VELOCITY

state 2628 begin surface

ID	165	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	27	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3692	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	550	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	30	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	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	67	UPLOAD_DIVES_MAX	-1	VBD_MIN	485	DEVICE2	53
T_MISSION	75	CALL_TRIES	5	VBD_MAX	3959	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3665	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	130	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	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	-4097.4707	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	75	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	180	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3922	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2921	PRESSURE_YINT	-22.272026	SEABIRD_T_G	0.0043383995
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000116182	SEABIRD_T_H	0.00062454981
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3067754e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3616824e-06
FERRY_MAX	45	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9113674
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.100266
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.0005534364
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	6.0498875e-05
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	184640,4807.852,-12223.634,7,99.0,26,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.062,0.161
_SM_DEPTHo	1.40	KALMAN_X	8634.3,-378.6,-200.1,-9099.0,455.9
_SM_ANGLEo	-77.2	KALMAN_Y	-15094.6,753.7,74.8,16259.4,-745.2
GPS2	185158,4807.893,-12223.651,14,99.0,33,18.3	MHEAD_RNG_PITCHd_Wd	320.6,475,-19.5,-7.463
SPEED_LIMITS	0.129,0.172	D_GRID	150

FINISH	1.9,1.018603	ALTIM_BOTTOM_PING	80.1,39.6
SM_CCo	2642,252.55,0.672,0,0,1422,550.21	_24V_AH	24.2,3.573
SM_GC	1.45,0.00,0.00,252.55,0.000,0.000,0.672,172,2145,1422,-8.59,-0.14,550.21	_10V_AH	10.6,1.309
IRIDIUM_FIX	4751.72,-12225.30,250498,181814	DATA_FILE_SIZE	25511,483
TT8_MAMPS	0.052923	CAP_FILE_SIZE	49432,0
HUMID	1415	CFSIZE	260165632,257794048
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	18.70	GPS	290109,194136,4808.000,-12223.757,11,0.9,27,18.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	263	132.17	SBE_CT	325	24	189.27
Roll_motor	37	121	109.10	Optode	370	33	295.72
VBD_pump_during_apogee	215	791	4134.69	WL_BB2F	623	105	1584.92
VBD_pump_during_surface	252	671	4106.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	62.73	nil	0	0	0.00
Iridium_during_connect	25	160	97.80	nil	0	0	0.00
Iridium_during_xfer	175	223	946.63
Transponder_ping	0	420	7.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	19.30
TT8	0	19	0.00
LPSleep	1297	2	30.11
TT8_Active	560	19	117.59
TT8_Sampling	1056	39	445.78
TT8_CF8	296	45	143.81
TT8_Kalman	33	81	28.88
Analog_circuits	982	12	125.00
GPS_charging	0	0	0.00
Compass	872	8	73.97
RAFOS	0	0	0.00
Transponder	5	30	1.75

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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12	-0.74	-73.3	0.0	0.0	0	97	0.00	0.00	-82.55	0.000	2	0.000	0.000	176	2147	3327
99	-0.74	-73.3	3.2	-2.5	14	136	10.50	2.30	-21.17	0.000	4	0.264	0.071	2673	744	3959
375	-0.74	-73.3	36.2	-11.7	65	382	0.00	2.33	0.00	0.000	6	0.000	0.058	2673	2144	3961
444	-0.74	-73.3	44.2	-11.3	78	451	0.00	2.30	0.00	0.000	4	0.000	0.056	2673	746	3961
690	-0.74	-73.3	70.5	-10.8	124	697	0.00	2.30	0.00	0.000	6	0.000	0.057	2672	2142	3961
824	-0.74	-73.3	83.1	-9.3	149	830	0.00	2.28	0.00	0.000	4	0.000	0.056	2673	748	3961
984	-0.74	-73.3	97.4	-8.7	179	990	0.00	2.30	0.00	0.000	6	0.000	0.056	2671	2154	3960
1116	-0.74	-73.3	108.1	-7.6	204	1117	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2154	3961
1142	end dive: BOTTOM_OBSTACLE_DETECTED
state	1142	begin apogee
1146	-0.17	0.0	110.2	7.5	209	1203	0.60	0.00	54.70	0.792	6	0.148	0.000	2860	2202	3665
1203	end apogee: CONTROL_FINISHED_OK
state	1204	begin climb
1205	0.74	73.3	111.0	0.0	219	1266	0.82	0.00	56.00	0.749	6	0.081	0.000	3153	2203	3366
1392	0.74	73.3	86.7	14.7	254	1400	0.00	2.38	0.00	0.000	4	0.000	0.064	3153	3602	3365
1409	0.74	73.3	83.9	16.0	257	1415	0.00	2.30	0.00	0.000	6	0.000	0.050	3163	2207	3365
1542	0.74	73.3	63.5	14.9	282	1543	0.00	0.00	0.00	0.000	6	0.000	0.000	3162	2205	3365
1670	0.74	73.3	45.4	13.4	306	1677	0.00	2.35	0.00	0.000	4	0.000	0.060	3174	785	3365
1697	0.74	73.3	41.9	13.1	311	1704	0.00	2.33	0.00	0.000	6	0.000	0.054	3174	2197	3365
1831	0.74	73.3	25.9	11.1	336	1837	0.00	2.33	0.00	0.000	4	0.000	0.064	3174	3604	3365
1852	0.74	73.3	23.4	11.4	340	1859	0.00	2.28	0.00	0.000	6	0.000	0.048	3184	2195	3365
1922	0.74	73.3	16.5	9.7	353	1928	0.00	2.35	0.00	0.000	4	0.000	0.061	3184	3608	3365
1943	0.74	73.3	14.8	8.5	357	1950	0.10	2.28	0.00	0.000	6	0.209	0.048	3168	2194	3365
2013	0.80	119.0	11.6	4.3	370	2056	0.00	2.42	34.40	0.717	4	0.000	0.061	3168	3610	3179
2295	0.92	214.4	5.4	0.9	422	2374	0.08	2.28	70.75	0.699	6	0.082	0.048	3213	2208	2790
2387	end climb: SURFACE_DEPTH_REACHED
state	2387	begin surface coast
2628	end surface coast: NO_VERTICAL_VELOCITY
state	2628	begin surface