Glider dive log

PortSusan 28Jan09 * SG167 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 9 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 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 2100 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 550 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 49 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 40 UPLOAD_DIVES_MAX -1 VBD_MIN 450 DEVICE2 53

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3392 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 120 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 -2935.4602 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 174 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2733 PRESSURE_YINT -14.577106 SEABIRD_T_G 0.0042613237

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_H 0.000318543

MASS 52000 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_T_I 2.2247017e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3141051e-06

FERRY_MAX 45 PITCH_GAIN 25 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.028838

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1493243

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0017152225

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002181365

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 0.0031256729 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 25 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3944 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 174 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 0.0001158971 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -14.577106 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 40

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 -2935.4602

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

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 167 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 2733 KALMAN_USE 1 ROLL_MIN 187 USE_BATHY 0

C_ROLL_CLIMB 2100 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2100 MASS 52000 R_PORT_OVSHOOT 49 VBD_BLEED_AD_RATE 8

C_VBD 3392 MAX_BUOY 150 R_STBD_OVSHOOT 31 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -10.028838 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1493243 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0017152225 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.0002181365 VBD_MIN 450

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0042613237 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000318543 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2247017e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3141051e-06 XPDR_DEVICE 24

DIVE 9 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 041246,4803.859,-12220.733,15,4.1,34,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.088,0.265

_SM_DEPTHo 1.41 KALMAN_X 2276.0,729.4,-52.4,-288.6,78.0

_SM_ANGLEo -73.5 KALMAN_Y -5345.4,-1598.9,-182.1,1430.8,-382.3

GPS2 041828,4803.806,-12220.696,10,2.4,29,18.3 MHEAD_RNG_PITCHd_Wd 323.3,8776,-21.2,-12.500

SPEED_LIMITS 0.217,0.279 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.4,1.052336 ALTIM_BOTTOM_PING 90.6,35.3

SM_CCo 1745,298.62,0.606,1,0,1149,550.21 _24V_AH 24.3,1.667

SM_GC 1.44,0.00,0.00,298.62,0.000,0.000,0.606,173,2085,1149,-8.00,-0.42,550.21 _10V_AH 10.7,0.675

IRIDIUM_FIX 4758.15,-12228.77,250498,030333 DATA_FILE_SIZE 16061,296

TT8_MAMPS 0.028379 CAP_FILE_SIZE 38667,0

HUMID 1397 CFSIZE 260165632,258232320

INTERNAL_PRESSURE 9.51208 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.30 GPS 290109,045435,4803.885,-12220.826,12,1.8,27,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 279 138.95 SBE_CT 198 24 116.00

Roll_motor 35 73 62.94 Optode 206 33 165.64

VBD_pump_during_apogee 209 706 3598.79 WL_BB2F 348 105 888.62

VBD_pump_during_surface 298 605 4396.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 61.18 nil 0 0 0.00

Iridium_during_connect 39 160 152.66 nil 0 0 0.00

Iridium_during_xfer 161 223 874.40

Transponder_ping 1 420 15.31

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 17.23

TT8 451 19 95.60

LPSleep 477 2 11.19

TT8_Active 586 19 124.17

TT8_Sampling 564 39 240.26

TT8_CF8 330 45 162.02

TT8_Kalman 33 81 29.17

Analog_circuits 909 12 116.78

GPS_charging 0 0 0.00

Compass 539 8 46.19

RAFOS 0 0 0.00

Transponder 14 30 4.60

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.03 -146.6 0.0 0.0 0 93 0.00 0.00 -75.88 0.000 2 0.000 0.000 174 2087 3076

96 -1.03 -146.6 3.0 -2.3 13 134 9.80 2.35 -22.00 0.000 4 0.280 0.074 2384 3506 3963

157 -1.03 -146.6 11.7 -15.9 23 163 0.00 2.12 0.00 0.000 6 0.000 0.035 2384 2100 3963

233 -1.03 -146.6 25.4 -17.3 36 239 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2097 3964

307 -1.03 -146.6 39.4 -17.3 49 313 0.00 2.17 0.00 0.000 4 0.000 0.046 2384 703 3964

370 -1.03 -146.6 51.2 -18.6 60 376 0.00 2.17 0.00 0.000 6 0.000 0.049 2381 2099 3963

512 -1.03 -146.6 75.7 -16.5 85 517 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2100 3963

656 -1.03 -146.6 98.9 -16.5 110 662 0.00 2.12 0.00 0.000 4 0.000 0.044 2381 701 3963

697 -1.03 -146.6 105.3 -14.9 117 703 0.00 2.17 0.00 0.000 6 0.000 0.047 2372 2109 3963

770 end dive: BOTTOM_OBSTACLE_DETECTED

state 770 begin apogee

775 -0.20 0.0 116.8 15.0 130 882 1.00 0.00 100.93 0.706 6 0.184 0.000 2661 2109 3392

882 end apogee: CONTROL_FINISHED_OK

state 882 begin climb

885 1.03 146.6 120.9 0.0 149 1003 1.20 2.33 108.72 0.679 4 0.103 0.048 3062 697 2793

1022 1.03 146.6 106.0 17.5 173 1028 0.00 2.28 0.00 0.000 6 0.000 0.044 3062 2102 2793

1163 1.03 146.6 80.7 17.0 198 1170 0.00 2.25 0.00 0.000 4 0.000 0.058 3062 3509 2792

1209 1.03 146.6 71.9 20.0 206 1216 0.00 2.15 0.00 0.000 6 0.000 0.035 3062 2106 2792

1351 1.03 146.6 48.0 17.0 231 1357 0.00 2.25 0.00 0.000 4 0.000 0.057 3062 3517 2792

1399 1.03 146.6 40.0 17.4 239 1405 0.00 2.17 0.00 0.000 6 0.000 0.037 3069 2083 2792

1473 1.03 146.6 27.8 14.5 252 1480 0.00 2.15 0.00 0.000 4 0.000 0.048 3077 703 2793

1514 1.03 146.6 22.2 13.1 259 1521 0.00 2.15 0.00 0.000 6 0.000 0.043 3077 2103 2792

1590 1.03 146.6 12.3 13.0 272 1597 0.00 2.20 0.00 0.000 4 0.000 0.058 3077 3509 2792

1620 1.03 146.6 8.5 12.5 277 1627 0.00 2.12 0.00 0.000 6 0.000 0.034 3086 2089 2792

1666 end climb: SURFACE_DEPTH_REACHED

state 1666 begin surface coast

1727 end surface coast: CONTROL_FINISHED_OK

state 1727 begin surface

ID	167	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	9	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	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	2100	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	550	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	49	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	40	UPLOAD_DIVES_MAX	-1	VBD_MIN	450	DEVICE2	53
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3392	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	120	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	-2935.4602	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	174	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2733	PRESSURE_YINT	-14.577106	SEABIRD_T_G	0.0042613237
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_H	0.000318543
MASS	52000	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_T_I	2.2247017e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3141051e-06
FERRY_MAX	45	PITCH_GAIN	25	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.028838
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1493243
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0017152225
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002181365
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	041246,4803.859,-12220.733,15,4.1,34,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.088,0.265
_SM_DEPTHo	1.41	KALMAN_X	2276.0,729.4,-52.4,-288.6,78.0
_SM_ANGLEo	-73.5	KALMAN_Y	-5345.4,-1598.9,-182.1,1430.8,-382.3
GPS2	041828,4803.806,-12220.696,10,2.4,29,18.3	MHEAD_RNG_PITCHd_Wd	323.3,8776,-21.2,-12.500
SPEED_LIMITS	0.217,0.279	D_GRID	150

FINISH	3.4,1.052336	ALTIM_BOTTOM_PING	90.6,35.3
SM_CCo	1745,298.62,0.606,1,0,1149,550.21	_24V_AH	24.3,1.667
SM_GC	1.44,0.00,0.00,298.62,0.000,0.000,0.606,173,2085,1149,-8.00,-0.42,550.21	_10V_AH	10.7,0.675
IRIDIUM_FIX	4758.15,-12228.77,250498,030333	DATA_FILE_SIZE	16061,296
TT8_MAMPS	0.028379	CAP_FILE_SIZE	38667,0
HUMID	1397	CFSIZE	260165632,258232320
INTERNAL_PRESSURE	9.51208	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.30	GPS	290109,045435,4803.885,-12220.826,12,1.8,27,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	279	138.95	SBE_CT	198	24	116.00
Roll_motor	35	73	62.94	Optode	206	33	165.64
VBD_pump_during_apogee	209	706	3598.79	WL_BB2F	348	105	888.62
VBD_pump_during_surface	298	605	4396.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	61.18	nil	0	0	0.00
Iridium_during_connect	39	160	152.66	nil	0	0	0.00
Iridium_during_xfer	161	223	874.40
Transponder_ping	1	420	15.31
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	17.23
TT8	451	19	95.60
LPSleep	477	2	11.19
TT8_Active	586	19	124.17
TT8_Sampling	564	39	240.26
TT8_CF8	330	45	162.02
TT8_Kalman	33	81	29.17
Analog_circuits	909	12	116.78
GPS_charging	0	0	0.00
Compass	539	8	46.19
RAFOS	0	0	0.00
Transponder	14	30	4.60

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.03	-146.6	0.0	0.0	0	93	0.00	0.00	-75.88	0.000	2	0.000	0.000	174	2087	3076
96	-1.03	-146.6	3.0	-2.3	13	134	9.80	2.35	-22.00	0.000	4	0.280	0.074	2384	3506	3963
157	-1.03	-146.6	11.7	-15.9	23	163	0.00	2.12	0.00	0.000	6	0.000	0.035	2384	2100	3963
233	-1.03	-146.6	25.4	-17.3	36	239	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2097	3964
307	-1.03	-146.6	39.4	-17.3	49	313	0.00	2.17	0.00	0.000	4	0.000	0.046	2384	703	3964
370	-1.03	-146.6	51.2	-18.6	60	376	0.00	2.17	0.00	0.000	6	0.000	0.049	2381	2099	3963
512	-1.03	-146.6	75.7	-16.5	85	517	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2100	3963
656	-1.03	-146.6	98.9	-16.5	110	662	0.00	2.12	0.00	0.000	4	0.000	0.044	2381	701	3963
697	-1.03	-146.6	105.3	-14.9	117	703	0.00	2.17	0.00	0.000	6	0.000	0.047	2372	2109	3963
770	end dive: BOTTOM_OBSTACLE_DETECTED
state	770	begin apogee
775	-0.20	0.0	116.8	15.0	130	882	1.00	0.00	100.93	0.706	6	0.184	0.000	2661	2109	3392
882	end apogee: CONTROL_FINISHED_OK
state	882	begin climb
885	1.03	146.6	120.9	0.0	149	1003	1.20	2.33	108.72	0.679	4	0.103	0.048	3062	697	2793
1022	1.03	146.6	106.0	17.5	173	1028	0.00	2.28	0.00	0.000	6	0.000	0.044	3062	2102	2793
1163	1.03	146.6	80.7	17.0	198	1170	0.00	2.25	0.00	0.000	4	0.000	0.058	3062	3509	2792
1209	1.03	146.6	71.9	20.0	206	1216	0.00	2.15	0.00	0.000	6	0.000	0.035	3062	2106	2792
1351	1.03	146.6	48.0	17.0	231	1357	0.00	2.25	0.00	0.000	4	0.000	0.057	3062	3517	2792
1399	1.03	146.6	40.0	17.4	239	1405	0.00	2.17	0.00	0.000	6	0.000	0.037	3069	2083	2792
1473	1.03	146.6	27.8	14.5	252	1480	0.00	2.15	0.00	0.000	4	0.000	0.048	3077	703	2793
1514	1.03	146.6	22.2	13.1	259	1521	0.00	2.15	0.00	0.000	6	0.000	0.043	3077	2103	2792
1590	1.03	146.6	12.3	13.0	272	1597	0.00	2.20	0.00	0.000	4	0.000	0.058	3077	3509	2792
1620	1.03	146.6	8.5	12.5	277	1627	0.00	2.12	0.00	0.000	6	0.000	0.034	3086	2089	2792
1666	end climb: SURFACE_DEPTH_REACHED
state	1666	begin surface coast
1727	end surface coast: CONTROL_FINISHED_OK
state	1727	begin surface