Glider dive log

PN07 DabobBay 29Sep07 * SG107 * Dive index * Mission links * Dive 53 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 107 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 10 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 53 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 152 ALTIM_PING_DEPTH 0

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3928 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2450 ALTIM_PULSE 1

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

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 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 300 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 40 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 679 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 4028 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3415 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 -15947.075 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 363 AH0_24V 91.800003 SEABIRD_T_G 0.004345139

SPEED_FACTOR 1 PITCH_MAX 3698 AH0_10V 61.200001 SEABIRD_T_H 0.00064258272

RHO 1.023 C_PITCH 2730 PRESSURE_YINT -10.644979 SEABIRD_T_I 2.3711646e-05

MASS 51588 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001156423 SEABIRD_T_J 2.2769887e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.006271

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1385506

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022333476

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00024018179

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 3698 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 363 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001156423 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -10.644979 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 40

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 -15947.075

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 107 ROLL_MAX 3928 T_TURN_SAMPINT 6

C_PITCH 2730 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2450 INT_PRESSURE_YINT 0 ROLL_MIN 152 UNCOM_BLEED 20

C_ROLL_DIVE 2050 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3415 MASS 51588 R_PORT_OVSHOOT 25 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 25 USE_ICE 0

DEEPGLIDERMB 0 MISSION 10 SEABIRD_C_G -10.006271 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1385506 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0022333476 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00024018179 VBD_MAX 4028

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004345139 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064258272 VBD_MIN 679

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3711646e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 53 PHONE_DEVICE 48 SEABIRD_T_J 2.2769887e-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 223855,4738.489,-12253.155,25,1.4,42,18.3 TGT_NAME S2

_CALLS 1 TGT_LATLONG 4737.767,-12254.100

_XMS_NAKs 0 TGT_RADIUS 400.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.175,-0.106

_SM_DEPTHo 0.75 KALMAN_X 11754.6,16.2,241.5,-11899.6,196.4

_SM_ANGLEo -52.3 KALMAN_Y 9086.8,-66.8,173.7,-11271.7,19.8

GPS2 224415,4738.521,-12253.026,16,1.4,16,18.3 MHEAD_RNG_PITCHd_Wd 220.5,1935,-19.3,-8.333

SPEED_LIMITS 0.144,0.204 D_GRID 142

Post-dive calculations and measurements:

FINISH 1.2,1.020409 ALTIM_TOP_PING 9.8,9.4

SM_CCo 2958,157.93,0.506,0,0,1579,450.13 ALTIM_BOTTOM_PING 75.1,999.0

SM_GC 0.71,0.00,0.00,157.93,0.000,0.000,0.506,365,2055,1579,-10.88,0.14,450.13 _24V_AH 23.8,5.355

IRIDIUM_FIX 4703.87,-12748.30,021007,010102 _10V_AH 10.1,3.862

TT8_MAMPS 0.071331 DATA_FILE_SIZE 6425,276

HUMID 2015 CFSIZE 260034560,255111168

INTERNAL_PRESSURE 7.69561 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 011007,233823,4738.414,-12253.143,13,3.6,32,18.3

XPDR_PINGS 194

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 162 104.49 SBE_CT 184 24 105.47

Roll_motor 47 74 83.49 nil 0 0 0.00

VBD_pump_during_apogee 187 591 2635.76 nil 0 0 0.00

VBD_pump_during_surface 157 506 1902.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 96.52 nil 0 0 0.00

Iridium_during_connect 33 160 125.86 ARS 0 0 0.00

Iridium_during_xfer 141 223 749.31

Transponder_ping 49 420 489.80

Mmodem_TX 0 1000 0.00

Mmodem_RX 3569 6 543.63

GPS 17 50 8.87

TT8 519 19 103.87

LPSleep 1651 2 36.52

TT8_Active 467 19 93.52

TT8_Sampling 507 39 204.09

TT8_CF8 317 45 146.72

TT8_Kalman 33 81 27.54

Analog_circuits 773 12 93.69

GPS_charging 0 0 0.00

Compass 478 8 38.70

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 -1.60 -97.8 0.0 0.0 0 93 0.00 0.00 -67.45 0.000 2 0.000 0.000 362 2047 3049

96 -1.60 -97.8 2.0 -4.4 11 139 11.35 0.00 -28.15 0.000 6 0.163 0.000 2375 2048 3813

204 -1.60 -97.8 7.7 -5.0 28 210 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2047 3815

276 -1.60 -97.8 13.0 -7.8 39 282 0.00 2.55 0.00 0.000 4 0.000 0.056 2375 3453 3815

321 -1.60 -97.8 16.7 -8.5 46 328 0.00 2.47 0.00 0.000 6 0.000 0.038 2375 2039 3815

399 -1.60 -97.8 22.1 -6.9 56 400 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2038 3815

589 -1.60 -97.8 36.6 -7.8 71 593 0.00 2.58 0.00 0.000 4 0.000 0.056 2375 3458 3815

634 -1.60 -97.8 40.0 -7.4 74 638 0.00 2.47 0.00 0.000 6 0.000 0.038 2376 2044 3815

829 -1.60 -97.8 54.7 -7.5 89 830 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2042 3815

1020 -1.60 -97.8 68.5 -6.9 104 1024 0.00 2.58 0.00 0.000 4 0.000 0.058 2375 3461 3815

1083 -1.60 -97.8 73.6 -8.0 108 1091 0.00 2.50 0.00 0.000 6 0.000 0.039 2375 2053 3815

1280 -1.60 -97.8 88.1 -6.8 124 1284 0.00 2.62 0.00 0.000 4 0.000 0.074 2375 639 3815

1354 -1.60 -97.8 93.3 -7.3 129 1358 0.00 2.45 0.00 0.000 6 0.000 0.038 2375 2050 3815

1458 end dive: TARGET_DEPTH_EXCEEDED

state 1458 begin apogee

1463 -0.38 0.0 100.8 7.2 137 1545 1.33 0.00 75.32 0.591 6 0.101 0.000 2642 2448 3414

1546 end apogee: CONTROL_FINISHED_OK

state 1546 begin climb

1548 1.60 97.8 102.3 0.0 144 1634 2.00 2.70 73.40 0.579 4 0.073 0.069 3077 3850 3015

1665 1.60 97.8 95.3 8.4 153 1673 0.00 2.50 0.00 0.000 6 0.000 0.034 3078 2435 3015

1862 1.62 111.1 80.0 7.6 169 1878 0.00 2.62 9.32 0.578 4 0.000 0.065 3078 1053 2962

1925 1.62 111.1 74.7 8.9 174 1930 0.00 2.47 0.00 0.000 6 0.000 0.041 3078 2460 2961

2128 1.62 111.1 57.9 8.3 190 2132 0.00 2.58 0.00 0.000 4 0.000 0.068 3078 3846 2961

2186 1.62 111.1 52.9 8.8 194 2190 0.00 2.42 0.00 0.000 6 0.000 0.034 3078 2436 2961

2388 1.62 111.3 36.5 8.3 210 2389 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 2435 2961

2579 1.64 127.6 21.6 7.4 225 2596 0.00 2.65 12.52 0.548 4 0.000 0.065 3077 3853 2893

2635 1.64 127.6 16.8 8.9 231 2642 0.00 2.45 0.00 0.000 6 0.000 0.033 3078 2447 2892

2708 1.67 150.8 11.5 7.0 242 2734 0.00 2.65 16.70 0.537 4 0.000 0.064 3078 3843 2799

2891 end climb: SURFACE_DEPTH_REACHED

state 2891 begin surface coast

2931 end surface coast: CONTROL_FINISHED_OK

state 2931 begin surface

ID	107	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	10	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	53	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	152	ALTIM_PING_DEPTH	0
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3928	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2450	ALTIM_PULSE	1
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
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	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	300	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	40	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	679	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	4028	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3415	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	-15947.075	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	363	AH0_24V	91.800003	SEABIRD_T_G	0.004345139
SPEED_FACTOR	1	PITCH_MAX	3698	AH0_10V	61.200001	SEABIRD_T_H	0.00064258272
RHO	1.023	C_PITCH	2730	PRESSURE_YINT	-10.644979	SEABIRD_T_I	2.3711646e-05
MASS	51588	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001156423	SEABIRD_T_J	2.2769887e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.006271
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1385506
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022333476
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00024018179

GPS1	223855,4738.489,-12253.155,25,1.4,42,18.3	TGT_NAME	S2
_CALLS	1	TGT_LATLONG	4737.767,-12254.100
_XMS_NAKs	0	TGT_RADIUS	400.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.175,-0.106
_SM_DEPTHo	0.75	KALMAN_X	11754.6,16.2,241.5,-11899.6,196.4
_SM_ANGLEo	-52.3	KALMAN_Y	9086.8,-66.8,173.7,-11271.7,19.8
GPS2	224415,4738.521,-12253.026,16,1.4,16,18.3	MHEAD_RNG_PITCHd_Wd	220.5,1935,-19.3,-8.333
SPEED_LIMITS	0.144,0.204	D_GRID	142

FINISH	1.2,1.020409	ALTIM_TOP_PING	9.8,9.4
SM_CCo	2958,157.93,0.506,0,0,1579,450.13	ALTIM_BOTTOM_PING	75.1,999.0
SM_GC	0.71,0.00,0.00,157.93,0.000,0.000,0.506,365,2055,1579,-10.88,0.14,450.13	_24V_AH	23.8,5.355
IRIDIUM_FIX	4703.87,-12748.30,021007,010102	_10V_AH	10.1,3.862
TT8_MAMPS	0.071331	DATA_FILE_SIZE	6425,276
HUMID	2015	CFSIZE	260034560,255111168
INTERNAL_PRESSURE	7.69561	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	011007,233823,4738.414,-12253.143,13,3.6,32,18.3
XPDR_PINGS	194

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	162	104.49	SBE_CT	184	24	105.47
Roll_motor	47	74	83.49	nil	0	0	0.00
VBD_pump_during_apogee	187	591	2635.76	nil	0	0	0.00
VBD_pump_during_surface	157	506	1902.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	96.52	nil	0	0	0.00
Iridium_during_connect	33	160	125.86	ARS	0	0	0.00
Iridium_during_xfer	141	223	749.31
Transponder_ping	49	420	489.80
Mmodem_TX	0	1000	0.00
Mmodem_RX	3569	6	543.63
GPS	17	50	8.87
TT8	519	19	103.87
LPSleep	1651	2	36.52
TT8_Active	467	19	93.52
TT8_Sampling	507	39	204.09
TT8_CF8	317	45	146.72
TT8_Kalman	33	81	27.54
Analog_circuits	773	12	93.69
GPS_charging	0	0	0.00
Compass	478	8	38.70
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	-1.60	-97.8	0.0	0.0	0	93	0.00	0.00	-67.45	0.000	2	0.000	0.000	362	2047	3049
96	-1.60	-97.8	2.0	-4.4	11	139	11.35	0.00	-28.15	0.000	6	0.163	0.000	2375	2048	3813
204	-1.60	-97.8	7.7	-5.0	28	210	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2047	3815
276	-1.60	-97.8	13.0	-7.8	39	282	0.00	2.55	0.00	0.000	4	0.000	0.056	2375	3453	3815
321	-1.60	-97.8	16.7	-8.5	46	328	0.00	2.47	0.00	0.000	6	0.000	0.038	2375	2039	3815
399	-1.60	-97.8	22.1	-6.9	56	400	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2038	3815
589	-1.60	-97.8	36.6	-7.8	71	593	0.00	2.58	0.00	0.000	4	0.000	0.056	2375	3458	3815
634	-1.60	-97.8	40.0	-7.4	74	638	0.00	2.47	0.00	0.000	6	0.000	0.038	2376	2044	3815
829	-1.60	-97.8	54.7	-7.5	89	830	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2042	3815
1020	-1.60	-97.8	68.5	-6.9	104	1024	0.00	2.58	0.00	0.000	4	0.000	0.058	2375	3461	3815
1083	-1.60	-97.8	73.6	-8.0	108	1091	0.00	2.50	0.00	0.000	6	0.000	0.039	2375	2053	3815
1280	-1.60	-97.8	88.1	-6.8	124	1284	0.00	2.62	0.00	0.000	4	0.000	0.074	2375	639	3815
1354	-1.60	-97.8	93.3	-7.3	129	1358	0.00	2.45	0.00	0.000	6	0.000	0.038	2375	2050	3815
1458	end dive: TARGET_DEPTH_EXCEEDED
state	1458	begin apogee
1463	-0.38	0.0	100.8	7.2	137	1545	1.33	0.00	75.32	0.591	6	0.101	0.000	2642	2448	3414
1546	end apogee: CONTROL_FINISHED_OK
state	1546	begin climb
1548	1.60	97.8	102.3	0.0	144	1634	2.00	2.70	73.40	0.579	4	0.073	0.069	3077	3850	3015
1665	1.60	97.8	95.3	8.4	153	1673	0.00	2.50	0.00	0.000	6	0.000	0.034	3078	2435	3015
1862	1.62	111.1	80.0	7.6	169	1878	0.00	2.62	9.32	0.578	4	0.000	0.065	3078	1053	2962
1925	1.62	111.1	74.7	8.9	174	1930	0.00	2.47	0.00	0.000	6	0.000	0.041	3078	2460	2961
2128	1.62	111.1	57.9	8.3	190	2132	0.00	2.58	0.00	0.000	4	0.000	0.068	3078	3846	2961
2186	1.62	111.1	52.9	8.8	194	2190	0.00	2.42	0.00	0.000	6	0.000	0.034	3078	2436	2961
2388	1.62	111.3	36.5	8.3	210	2389	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	2435	2961
2579	1.64	127.6	21.6	7.4	225	2596	0.00	2.65	12.52	0.548	4	0.000	0.065	3077	3853	2893
2635	1.64	127.6	16.8	8.9	231	2642	0.00	2.45	0.00	0.000	6	0.000	0.033	3078	2447	2892
2708	1.67	150.8	11.5	7.0	242	2734	0.00	2.65	16.70	0.537	4	0.000	0.064	3078	3843	2799
2891	end climb: SURFACE_DEPTH_REACHED
state	2891	begin surface coast
2931	end surface coast: CONTROL_FINISHED_OK
state	2931	begin surface