Glider dive log

PortSusan 24Apr08 * SG150 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 150 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 2 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 4 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING_DELTA 10 ROLL_MIN 257 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3938 ALTIM_PING_DEPTH 80

D_TGT 150 TGT_DEFAULT_LAT 4736 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_ABORT 200 TGT_DEFAULT_LON -12218 C_ROLL_DIVE 2110 ALTIM_FREQUENCY 13

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2110 ALTIM_PULSE 3

D_FINISH 0 SM_CC 600 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -0.69999999

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 60 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 87

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 470 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3951 DEVICE5 -1

T_TURN_SAMPINT 4 CAPUPLOAD 1 C_VBD 3519 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 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -2599.5559 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 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 430 AH0_24V 91.800003 SEABIRD_T_G 0.004369698

SPEED_FACTOR 1 PITCH_MAX 3717 AH0_10V 61.200001 SEABIRD_T_H 0.00063770782

RHO 1.023 C_PITCH 3046 PRESSURE_YINT -5.4720573 SEABIRD_T_I 2.6189617e-05

MASS 51705 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000116226 SEABIRD_T_J 2.9323592e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.9919777

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1278584

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00075603358

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00015749504

HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 500 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 600

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3717 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 430 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 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 0.000116226 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -5.4720573 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -2599.5559

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 60

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 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 150 ROLL_DEG 40 T_TURN_SAMPINT 4

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3938 T_WATCHDOG 10

C_PITCH 3046 INT_PRESSURE_YINT -0.69999999 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2110 KALMAN_USE 1 ROLL_MIN 257 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2110 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -4

C_VBD 3519 MASS 51705 R_PORT_OVSHOOT 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 17 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -9.9919777 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1278584 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00075603358 VBD_MAX 3951

DEVICE3 87 N_FILEKB 4 SEABIRD_C_J 0.00015749504 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004369698 VBD_MIN 470

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063770782 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6189617e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 4 PHONE_DEVICE 48 SEABIRD_T_J 2.9323592e-06 VBD_TIMEOUT 720

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 202614,4806.897,-12222.879,10,1.3,27,18.3 TGT_NAME SEVEN

_CALLS 2 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.176,0.176

_SM_DEPTHo 0.91 KALMAN_X 209.3,134.2,82.2,379.2,42.4

_SM_ANGLEo -73.4 KALMAN_Y -146.9,-116.2,-83.3,-1157.3,-27.3

GPS2 203917,4806.809,-12222.723,13,2.3,32,18.3 MHEAD_RNG_PITCHd_Wd 296.7,493,-18.4,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 107

Post-dive calculations and measurements:

SM_CCo 2248,401.17,0.711,30,0,469,747.92 ALTIM_BOTTOM_PING 80.5,10.0

SM_GC 0.95,12.52,0.00,0.00,0.046,0.000,0.000,429,2115,463,-11.98,0.14,749.64 _24V_AH 23.4,0.869

IRIDIUM_FIX 4748.51,-12221.84,190797,202024 _10V_AH 10.1,0.318

TT8_MAMPS 0.027612 DATA_FILE_SIZE 25454,480

HUMID 1556 CAP_FILE_SIZE 59519,0

INTERNAL_PRESSURE 8.97811 CFSIZE 260165632,258691072

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,30,0

XPDR_PINGS 49 GPS 240408,212947,4806.889,-12222.944,8,99.0,27,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 165 107.58 SBE_CT 326 24 183.30

Roll_motor 30 108 77.09 SBE_O2 243 19 108.27

VBD_pump_during_apogee 258 890 5384.90 WL_BBFL2VMT 593 105 1457.38

VBD_pump_during_surface 401 711 6674.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 141.92 nil 0 0 0.00

Iridium_during_connect 50 160 188.45 nil 0 0 0.00

Iridium_during_xfer 496 223 2591.90

Transponder_ping 12 420 125.31

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.58

TT8 692 19 138.40

LPSleep 543 2 12.01

TT8_Active 894 19 178.88

TT8_Sampling 891 39 358.23

TT8_CF8 693 45 320.89

TT8_Kalman 32 81 26.70

Analog_circuits 1360 12 164.92

GPS_charging 0 0 0.00

Compass 867 8 70.12

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

17 -1.32 -132.8 0.0 0.0 0 112 0.00 0.00 -91.55 0.000 2 0.000 0.000 423 2095 2593

114 -1.39 -195.5 3.0 -5.7 17 165 12.43 0.00 -35.53 0.000 6 0.166 0.000 2735 2095 3954

230 -1.39 -195.5 14.6 -9.0 41 235 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2095 3955

299 -1.39 -195.5 20.8 -8.6 57 304 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2095 3956

368 -1.39 -195.5 26.4 -7.5 73 374 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2095 3957

438 -1.39 -195.5 32.0 -9.2 89 443 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2095 3957

506 -1.39 -195.5 39.0 -10.8 105 513 0.00 2.62 0.00 0.000 4 0.000 0.102 2735 3519 3957

527 -1.39 -195.5 41.3 -10.9 109 533 0.00 2.45 0.00 0.000 6 0.000 0.069 2735 2102 3957

668 -1.39 -195.5 57.3 -11.2 140 673 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2101 3957

809 -1.39 -195.5 72.7 -10.9 171 814 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2101 3957

953 -1.39 -195.5 87.8 -10.4 202 958 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2100 3957

1094 -1.39 -195.5 102.4 -10.6 233 1100 0.00 2.62 0.00 0.000 4 0.000 0.100 2735 3518 3957

1133 -1.39 -195.5 106.6 -10.9 241 1139 0.00 2.45 0.00 0.000 6 0.000 0.073 2735 2107 3957

1144 end dive: TARGET_DEPTH_EXCEEDED

state 1144 begin apogee

1148 -0.31 0.0 107.7 10.4 243 1238 1.12 0.00 85.07 0.890 6 0.107 0.000 2972 2107 3519

1238 end apogee: CONTROL_FINISHED_OK

state 1238 begin climb

1240 1.39 195.5 110.3 0.0 260 1403 1.67 2.53 152.38 0.854 4 0.084 0.080 3347 703 2721

1409 1.39 195.5 95.3 13.9 292 1415 0.00 2.47 0.00 0.000 6 0.000 0.071 3347 2114 2721

1552 1.39 195.5 74.2 15.2 323 1557 0.00 0.00 0.00 0.000 6 0.000 0.000 3347 2115 2721

1692 1.39 195.5 53.4 14.5 354 1698 0.00 0.00 0.00 0.000 6 0.000 0.000 3347 2114 2721

1830 1.39 195.5 34.0 13.1 385 1836 0.00 2.47 0.00 0.000 4 0.000 0.071 3348 698 2721

1863 1.39 195.5 29.3 14.8 392 1869 0.00 2.45 0.00 0.000 6 0.000 0.068 3347 2115 2721

1934 1.39 195.5 20.2 12.7 408 1940 0.00 2.65 0.00 0.000 4 0.000 0.109 3347 3516 2721

1966 1.39 195.5 15.5 14.3 415 1973 0.00 2.45 0.00 0.000 6 0.000 0.070 3347 2114 2721

2036 1.42 220.3 7.4 8.7 431 2064 0.00 2.55 20.98 0.803 4 0.000 0.074 3347 696 2619

2246 end climb: NO_VERTICAL_VELOCITY

state 2246 begin surface

ID	150	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	2	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	4	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING_DELTA	10	ROLL_MIN	257	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3938	ALTIM_PING_DEPTH	80
D_TGT	150	TGT_DEFAULT_LAT	4736	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_ABORT	200	TGT_DEFAULT_LON	-12218	C_ROLL_DIVE	2110	ALTIM_FREQUENCY	13
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2110	ALTIM_PULSE	3
D_FINISH	0	SM_CC	600	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-0.69999999
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	60	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	87
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	470	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3951	DEVICE5	-1
T_TURN_SAMPINT	4	CAPUPLOAD	1	C_VBD	3519	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	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-2599.5559	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	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	430	AH0_24V	91.800003	SEABIRD_T_G	0.004369698
SPEED_FACTOR	1	PITCH_MAX	3717	AH0_10V	61.200001	SEABIRD_T_H	0.00063770782
RHO	1.023	C_PITCH	3046	PRESSURE_YINT	-5.4720573	SEABIRD_T_I	2.6189617e-05
MASS	51705	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000116226	SEABIRD_T_J	2.9323592e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9919777
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1278584
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00075603358
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00015749504
HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	202614,4806.897,-12222.879,10,1.3,27,18.3	TGT_NAME	SEVEN
_CALLS	2	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.176,0.176
_SM_DEPTHo	0.91	KALMAN_X	209.3,134.2,82.2,379.2,42.4
_SM_ANGLEo	-73.4	KALMAN_Y	-146.9,-116.2,-83.3,-1157.3,-27.3
GPS2	203917,4806.809,-12222.723,13,2.3,32,18.3	MHEAD_RNG_PITCHd_Wd	296.7,493,-18.4,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	107

SM_CCo	2248,401.17,0.711,30,0,469,747.92	ALTIM_BOTTOM_PING	80.5,10.0
SM_GC	0.95,12.52,0.00,0.00,0.046,0.000,0.000,429,2115,463,-11.98,0.14,749.64	_24V_AH	23.4,0.869
IRIDIUM_FIX	4748.51,-12221.84,190797,202024	_10V_AH	10.1,0.318
TT8_MAMPS	0.027612	DATA_FILE_SIZE	25454,480
HUMID	1556	CAP_FILE_SIZE	59519,0
INTERNAL_PRESSURE	8.97811	CFSIZE	260165632,258691072
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,30,0
XPDR_PINGS	49	GPS	240408,212947,4806.889,-12222.944,8,99.0,27,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	165	107.58	SBE_CT	326	24	183.30
Roll_motor	30	108	77.09	SBE_O2	243	19	108.27
VBD_pump_during_apogee	258	890	5384.90	WL_BBFL2VMT	593	105	1457.38
VBD_pump_during_surface	401	711	6674.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	141.92	nil	0	0	0.00
Iridium_during_connect	50	160	188.45	nil	0	0	0.00
Iridium_during_xfer	496	223	2591.90
Transponder_ping	12	420	125.31
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.58
TT8	692	19	138.40
LPSleep	543	2	12.01
TT8_Active	894	19	178.88
TT8_Sampling	891	39	358.23
TT8_CF8	693	45	320.89
TT8_Kalman	32	81	26.70
Analog_circuits	1360	12	164.92
GPS_charging	0	0	0.00
Compass	867	8	70.12
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
17	-1.32	-132.8	0.0	0.0	0	112	0.00	0.00	-91.55	0.000	2	0.000	0.000	423	2095	2593
114	-1.39	-195.5	3.0	-5.7	17	165	12.43	0.00	-35.53	0.000	6	0.166	0.000	2735	2095	3954
230	-1.39	-195.5	14.6	-9.0	41	235	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2095	3955
299	-1.39	-195.5	20.8	-8.6	57	304	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2095	3956
368	-1.39	-195.5	26.4	-7.5	73	374	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2095	3957
438	-1.39	-195.5	32.0	-9.2	89	443	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2095	3957
506	-1.39	-195.5	39.0	-10.8	105	513	0.00	2.62	0.00	0.000	4	0.000	0.102	2735	3519	3957
527	-1.39	-195.5	41.3	-10.9	109	533	0.00	2.45	0.00	0.000	6	0.000	0.069	2735	2102	3957
668	-1.39	-195.5	57.3	-11.2	140	673	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2101	3957
809	-1.39	-195.5	72.7	-10.9	171	814	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2101	3957
953	-1.39	-195.5	87.8	-10.4	202	958	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2100	3957
1094	-1.39	-195.5	102.4	-10.6	233	1100	0.00	2.62	0.00	0.000	4	0.000	0.100	2735	3518	3957
1133	-1.39	-195.5	106.6	-10.9	241	1139	0.00	2.45	0.00	0.000	6	0.000	0.073	2735	2107	3957
1144	end dive: TARGET_DEPTH_EXCEEDED
state	1144	begin apogee
1148	-0.31	0.0	107.7	10.4	243	1238	1.12	0.00	85.07	0.890	6	0.107	0.000	2972	2107	3519
1238	end apogee: CONTROL_FINISHED_OK
state	1238	begin climb
1240	1.39	195.5	110.3	0.0	260	1403	1.67	2.53	152.38	0.854	4	0.084	0.080	3347	703	2721
1409	1.39	195.5	95.3	13.9	292	1415	0.00	2.47	0.00	0.000	6	0.000	0.071	3347	2114	2721
1552	1.39	195.5	74.2	15.2	323	1557	0.00	0.00	0.00	0.000	6	0.000	0.000	3347	2115	2721
1692	1.39	195.5	53.4	14.5	354	1698	0.00	0.00	0.00	0.000	6	0.000	0.000	3347	2114	2721
1830	1.39	195.5	34.0	13.1	385	1836	0.00	2.47	0.00	0.000	4	0.000	0.071	3348	698	2721
1863	1.39	195.5	29.3	14.8	392	1869	0.00	2.45	0.00	0.000	6	0.000	0.068	3347	2115	2721
1934	1.39	195.5	20.2	12.7	408	1940	0.00	2.65	0.00	0.000	4	0.000	0.109	3347	3516	2721
1966	1.39	195.5	15.5	14.3	415	1973	0.00	2.45	0.00	0.000	6	0.000	0.070	3347	2114	2721
2036	1.42	220.3	7.4	8.7	431	2064	0.00	2.55	20.98	0.803	4	0.000	0.074	3347	696	2619
2246	end climb: NO_VERTICAL_VELOCITY
state	2246	begin surface