Glider dive log

WA coast Sep08 * SG119 * Dive index * Mission links * Dive 109 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 119 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 109 ESCAPE_HEADING 90 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3772 ALTIM_PING_DEPTH 125

D_TGT 990 TGT_DEFAULT_LAT 48.130001 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -122.366 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_FINISH 0 SM_CC 350 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

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

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 28 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 33 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 600 N_NOSURFACE 0 ROLL_ADJ_GAIN 10 DEVICE2 20

T_MISSION 660 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 403 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3857 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2837 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -211751.55 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 27 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 120 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 30 PITCH_MIN 863 AH0_24V 147 SEABIRD_T_G 0.0044304794

SPEED_FACTOR 1 PITCH_MAX 3325 AH0_10V 122.2 SEABIRD_T_H 0.00064686994

RHO 1.023 C_PITCH 2800 PRESSURE_YINT -2.9385166 SEABIRD_T_I 2.8000688e-05

MASS 51528 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159777 SEABIRD_T_J 3.1833417e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8991232

FERRY_MAX 30 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.099651

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012204468

HD_A 0.0038945 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_J 0.00018128238

HD_B 0.0099684997 PITCH_AD_RATE 125 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3325 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 863 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 90 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159777 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -2.9385166 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.130001

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.366

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 600

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -211751.55

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 660

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 10 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 27

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 119 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3772 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 200 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2837 MASS 51528 R_PORT_OVSHOOT 28 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 33 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -9.8991232 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.099651 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012204468 VBD_MAX 3857

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00018128238 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044304794 VBD_MIN 403

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064686994 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8000688e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 109 PHONE_DEVICE 48 SEABIRD_T_J 3.1833417e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 060037,4807.555,-12538.056,34,1.1,35,18.9 TGT_NAME CAPE_FLATTERY

_CALLS 1 TGT_LATLONG 4809.000,-12540.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.188,0.050

_SM_DEPTHo 0.92 KALMAN_X -33294.6,1673.0,-1997.0,-16971.9,-72886.1

_SM_ANGLEo -70.3 KALMAN_Y 125841.8,316.0,-75.6,1746.4,-16152.6

GPS2 060451,4807.564,-12538.017,10,1.5,10,18.9 MHEAD_RNG_PITCHd_Wd 56.1,3616,-11.5,-5.500

SPEED_LIMITS 0.095,0.195 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.023054 ALTIM_BOTTOM_PING 125.6,42.7

SM_CCo 5524,38.40,0.796,0,0,1409,350.04 _24V_AH 23.9,51.350

SM_GC 1.44,0.00,0.00,38.40,0.000,0.000,0.796,862,2213,1409,-8.91,0.40,350.04 _10V_AH 10.6,35.281

IRIDIUM_FIX 4751.72,-12536.76,150198,040422 DATA_FILE_SIZE 28509,611

TT8_MAMPS 0.027612 CAP_FILE_SIZE 64692,0

HUMID 2026 CFSIZE 260165632,250310656

INTERNAL_PRESSURE 8.70151 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 211008,073915,4807.895,-12537.352,12,1.6,13,18.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 148 94.11 SBE_CT 412 24 236.53

Roll_motor 54 73 96.70 SBE_O2 470 19 213.77

VBD_pump_during_apogee 313 910 6830.77 WL_BB2F 1025 105 2574.59

VBD_pump_during_surface 38 796 730.67 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 69.88 nil 0 0 0.00

Iridium_during_connect 33 160 126.88 nil 0 0 0.00

Iridium_during_xfer 105 223 559.85

Transponder_ping 0 420 5.02

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.16

TT8 1009 19 211.79

LPSleep 2813 2 65.32

TT8_Active 425 19 89.22

TT8_Sampling 1286 39 542.91

TT8_CF8 291 45 141.65

TT8_Kalman 33 81 28.93

Analog_circuits 1004 12 127.80

GPS_charging 0 0 0.00

Compass 1288 8 109.25

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

20 -0.67 -117.3 0.0 0.0 0 84 0.00 0.00 -62.20 0.000 2 0.000 0.000 862 2222 2827

87 -0.67 -117.3 3.8 -7.0 6 119 12.23 2.45 -10.45 0.000 4 0.148 0.074 2649 788 3318

311 -0.52 -117.3 33.3 -9.3 26 316 0.22 2.22 0.00 0.000 6 0.081 0.046 2686 2202 3318

647 -0.52 -117.3 52.9 -5.6 75 653 0.00 2.28 0.00 0.000 4 0.000 0.058 2687 784 3318

683 -0.56 -117.3 54.7 -5.0 81 689 0.00 2.17 0.00 0.000 6 0.000 0.045 2687 2183 3318

1028 -0.61 -117.3 68.6 -3.9 142 1034 0.00 2.33 0.00 0.000 4 0.000 0.068 2686 3607 3318

1065 -0.67 -117.3 70.0 -3.8 148 1072 0.17 2.28 0.00 0.000 6 0.051 0.042 2648 2141 3318

1400 -0.58 -117.3 91.6 -6.6 193 1405 0.15 2.42 0.00 0.000 4 0.085 0.066 2677 3609 3318

1439 -0.58 -117.3 93.9 -5.7 196 1443 0.00 2.17 0.00 0.000 6 0.000 0.044 2677 2222 3318

1766 -0.63 -117.3 108.4 -5.3 226 1770 0.00 2.33 0.00 0.000 4 0.000 0.062 2677 787 3319

1862 -0.74 -117.3 114.2 -6.1 234 1866 0.20 2.10 0.00 0.000 6 0.050 0.048 2634 2131 3318

2187 -0.60 -117.3 140.2 -8.7 264 2191 0.17 2.15 0.00 0.000 4 0.083 0.061 2667 799 3318

2237 -0.64 -117.3 143.9 -6.5 268 2241 0.00 1.98 0.00 0.000 6 0.000 0.047 2667 2068 3318

2476 end dive: BOTTOM_OBSTACLE_DETECTED

state 2476 begin apogee

2482 -0.23 0.0 158.9 5.9 284 2579 0.47 0.00 91.78 0.910 6 0.069 0.000 2749 2216 2837

2580 end apogee: CONTROL_FINISHED_OK

state 2580 begin climb

2582 0.67 117.3 162.4 0.0 289 2685 1.08 0.00 94.07 0.874 6 0.049 0.000 2943 2216 2358

2997 0.51 117.3 143.4 6.7 313 3002 0.17 2.33 0.00 0.000 4 0.091 0.068 2912 3600 2358

3099 0.43 117.3 136.7 5.9 321 3105 0.00 2.08 0.00 0.000 6 0.000 0.046 2912 2291 2358

3425 0.44 171.4 122.2 3.8 352 3478 0.00 2.55 44.03 0.874 4 0.000 0.064 2912 805 2137

3569 0.44 171.4 113.4 6.5 365 3574 0.00 2.38 0.00 0.000 6 0.000 0.049 2912 2272 2138

3895 0.44 171.4 91.0 6.6 395 3899 0.00 2.42 0.00 0.000 4 0.000 0.064 2912 793 2138

3990 0.44 171.4 84.6 5.6 403 3994 0.00 2.22 0.00 0.000 6 0.000 0.049 2912 2202 2137

4328 0.46 190.9 69.9 4.9 454 4352 0.00 2.33 17.73 0.848 4 0.000 0.068 2912 3609 2057

4408 0.46 190.9 64.9 6.6 468 4415 0.00 2.17 0.00 0.000 6 0.000 0.046 2911 2244 2057

4753 0.59 234.3 47.5 4.1 529 4798 0.00 2.47 36.25 0.842 4 0.000 0.066 2912 797 1881

4850 0.73 269.5 43.4 4.4 546 4891 0.25 2.30 30.08 0.818 6 0.046 0.049 2964 2227 1738

5216 0.73 269.5 19.4 6.4 585 5220 0.00 2.35 0.00 0.000 4 0.000 0.064 2964 796 1738

5349 0.73 269.5 9.8 7.3 596 5356 0.00 2.10 0.00 0.000 6 0.000 0.048 2964 2105 1738

5470 end climb: SURFACE_DEPTH_REACHED

state 5470 begin surface coast

5504 end surface coast: CONTROL_FINISHED_OK

state 5504 begin surface

ID	119	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	109	ESCAPE_HEADING	90	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3772	ALTIM_PING_DEPTH	125
D_TGT	990	TGT_DEFAULT_LAT	48.130001	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-122.366	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_FINISH	0	SM_CC	350	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
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
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	28	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	33	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	600	N_NOSURFACE	0	ROLL_ADJ_GAIN	10	DEVICE2	20
T_MISSION	660	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	403	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3857	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2837	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-211751.55	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	27	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	120	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	30	PITCH_MIN	863	AH0_24V	147	SEABIRD_T_G	0.0044304794
SPEED_FACTOR	1	PITCH_MAX	3325	AH0_10V	122.2	SEABIRD_T_H	0.00064686994
RHO	1.023	C_PITCH	2800	PRESSURE_YINT	-2.9385166	SEABIRD_T_I	2.8000688e-05
MASS	51528	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159777	SEABIRD_T_J	3.1833417e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8991232
FERRY_MAX	30	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.099651
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012204468
HD_A	0.0038945	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_J	0.00018128238
HD_B	0.0099684997	PITCH_AD_RATE	125	ALTIM_BOTTOM_PING_RANGE	0

GPS1	060037,4807.555,-12538.056,34,1.1,35,18.9	TGT_NAME	CAPE_FLATTERY
_CALLS	1	TGT_LATLONG	4809.000,-12540.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.188,0.050
_SM_DEPTHo	0.92	KALMAN_X	-33294.6,1673.0,-1997.0,-16971.9,-72886.1
_SM_ANGLEo	-70.3	KALMAN_Y	125841.8,316.0,-75.6,1746.4,-16152.6
GPS2	060451,4807.564,-12538.017,10,1.5,10,18.9	MHEAD_RNG_PITCHd_Wd	56.1,3616,-11.5,-5.500
SPEED_LIMITS	0.095,0.195	D_GRID	990

FINISH	0.1,1.023054	ALTIM_BOTTOM_PING	125.6,42.7
SM_CCo	5524,38.40,0.796,0,0,1409,350.04	_24V_AH	23.9,51.350
SM_GC	1.44,0.00,0.00,38.40,0.000,0.000,0.796,862,2213,1409,-8.91,0.40,350.04	_10V_AH	10.6,35.281
IRIDIUM_FIX	4751.72,-12536.76,150198,040422	DATA_FILE_SIZE	28509,611
TT8_MAMPS	0.027612	CAP_FILE_SIZE	64692,0
HUMID	2026	CFSIZE	260165632,250310656
INTERNAL_PRESSURE	8.70151	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	211008,073915,4807.895,-12537.352,12,1.6,13,18.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	148	94.11	SBE_CT	412	24	236.53
Roll_motor	54	73	96.70	SBE_O2	470	19	213.77
VBD_pump_during_apogee	313	910	6830.77	WL_BB2F	1025	105	2574.59
VBD_pump_during_surface	38	796	730.67	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	69.88	nil	0	0	0.00
Iridium_during_connect	33	160	126.88	nil	0	0	0.00
Iridium_during_xfer	105	223	559.85
Transponder_ping	0	420	5.02
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.16
TT8	1009	19	211.79
LPSleep	2813	2	65.32
TT8_Active	425	19	89.22
TT8_Sampling	1286	39	542.91
TT8_CF8	291	45	141.65
TT8_Kalman	33	81	28.93
Analog_circuits	1004	12	127.80
GPS_charging	0	0	0.00
Compass	1288	8	109.25
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
20	-0.67	-117.3	0.0	0.0	0	84	0.00	0.00	-62.20	0.000	2	0.000	0.000	862	2222	2827
87	-0.67	-117.3	3.8	-7.0	6	119	12.23	2.45	-10.45	0.000	4	0.148	0.074	2649	788	3318
311	-0.52	-117.3	33.3	-9.3	26	316	0.22	2.22	0.00	0.000	6	0.081	0.046	2686	2202	3318
647	-0.52	-117.3	52.9	-5.6	75	653	0.00	2.28	0.00	0.000	4	0.000	0.058	2687	784	3318
683	-0.56	-117.3	54.7	-5.0	81	689	0.00	2.17	0.00	0.000	6	0.000	0.045	2687	2183	3318
1028	-0.61	-117.3	68.6	-3.9	142	1034	0.00	2.33	0.00	0.000	4	0.000	0.068	2686	3607	3318
1065	-0.67	-117.3	70.0	-3.8	148	1072	0.17	2.28	0.00	0.000	6	0.051	0.042	2648	2141	3318
1400	-0.58	-117.3	91.6	-6.6	193	1405	0.15	2.42	0.00	0.000	4	0.085	0.066	2677	3609	3318
1439	-0.58	-117.3	93.9	-5.7	196	1443	0.00	2.17	0.00	0.000	6	0.000	0.044	2677	2222	3318
1766	-0.63	-117.3	108.4	-5.3	226	1770	0.00	2.33	0.00	0.000	4	0.000	0.062	2677	787	3319
1862	-0.74	-117.3	114.2	-6.1	234	1866	0.20	2.10	0.00	0.000	6	0.050	0.048	2634	2131	3318
2187	-0.60	-117.3	140.2	-8.7	264	2191	0.17	2.15	0.00	0.000	4	0.083	0.061	2667	799	3318
2237	-0.64	-117.3	143.9	-6.5	268	2241	0.00	1.98	0.00	0.000	6	0.000	0.047	2667	2068	3318
2476	end dive: BOTTOM_OBSTACLE_DETECTED
state	2476	begin apogee
2482	-0.23	0.0	158.9	5.9	284	2579	0.47	0.00	91.78	0.910	6	0.069	0.000	2749	2216	2837
2580	end apogee: CONTROL_FINISHED_OK
state	2580	begin climb
2582	0.67	117.3	162.4	0.0	289	2685	1.08	0.00	94.07	0.874	6	0.049	0.000	2943	2216	2358
2997	0.51	117.3	143.4	6.7	313	3002	0.17	2.33	0.00	0.000	4	0.091	0.068	2912	3600	2358
3099	0.43	117.3	136.7	5.9	321	3105	0.00	2.08	0.00	0.000	6	0.000	0.046	2912	2291	2358
3425	0.44	171.4	122.2	3.8	352	3478	0.00	2.55	44.03	0.874	4	0.000	0.064	2912	805	2137
3569	0.44	171.4	113.4	6.5	365	3574	0.00	2.38	0.00	0.000	6	0.000	0.049	2912	2272	2138
3895	0.44	171.4	91.0	6.6	395	3899	0.00	2.42	0.00	0.000	4	0.000	0.064	2912	793	2138
3990	0.44	171.4	84.6	5.6	403	3994	0.00	2.22	0.00	0.000	6	0.000	0.049	2912	2202	2137
4328	0.46	190.9	69.9	4.9	454	4352	0.00	2.33	17.73	0.848	4	0.000	0.068	2912	3609	2057
4408	0.46	190.9	64.9	6.6	468	4415	0.00	2.17	0.00	0.000	6	0.000	0.046	2911	2244	2057
4753	0.59	234.3	47.5	4.1	529	4798	0.00	2.47	36.25	0.842	4	0.000	0.066	2912	797	1881
4850	0.73	269.5	43.4	4.4	546	4891	0.25	2.30	30.08	0.818	6	0.046	0.049	2964	2227	1738
5216	0.73	269.5	19.4	6.4	585	5220	0.00	2.35	0.00	0.000	4	0.000	0.064	2964	796	1738
5349	0.73	269.5	9.8	7.3	596	5356	0.00	2.10	0.00	0.000	6	0.000	0.048	2964	2105	1738
5470	end climb: SURFACE_DEPTH_REACHED
state	5470	begin surface coast
5504	end surface coast: CONTROL_FINISHED_OK
state	5504	begin surface