Glider dive log

PortSusan 17Jun09 * SG136 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 136 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 90 ROLL_MIN 236 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 11 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3918 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 45 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 24.5 C_ROLL_DIVE 2350 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON 57.5 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 80 SM_CC 530 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 INT_PRESSURE_YINT 0.69999999

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 500 DEVICE2 35

T_MISSION 65 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3598 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 100 T_GPS_CHARGE -78789.414 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 100 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 679 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3985 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3155 PRESSURE_YINT -2.3875301 SEABIRD_T_G 0.0043112189

RHO 1.0275 PITCH_DBAND 0.050000001 PRESSURE_SLOPE 0.0001163524 SEABIRD_T_H 0.00063089712

MASS 51492 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4176574e-05

NAV_MODE 1 P_OVSHOOT 0.050000001 TCM_PITCH_OFFSET 1.3 SEABIRD_T_J 2.6117627e-06

FERRY_MAX 45 PITCH_GAIN 15 TCM_ROLL_OFFSET -0.89999998 SEABIRD_C_G -10.042094

KALMAN_USE 1 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1112094

HD_A 0.003 PITCH_AD_RATE 155 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00092196499

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016575911

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 155 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.050000001 SM_CC 530

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3985 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 679 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 1.3

ALTIM_PULSE 3 ESCAPE_HEADING 90 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET -0.89999998

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163524 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.3875301 TGT_DEFAULT_LAT 24.5

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.050000001 TGT_DEFAULT_LON 57.5

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 -78789.414

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 65

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 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 136 ROLL_DEG 45 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3918 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3155 KALMAN_USE 1 ROLL_MIN 236 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2350 MASS 51492 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 3598 MAX_BUOY 100 R_STBD_OVSHOOT 24 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 3 SEABIRD_C_G -10.042094 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1112094 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00092196499 VBD_MAXERRORS 1

DEVICE2 35 N_FILEKB 4 SEABIRD_C_J 0.00016575911 VBD_MIN 500

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043112189 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063089712 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4176574e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6117627e-06 XPDR_DEVICE 24

DIVE 11 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 032301,4806.185,-12222.112,7,1.6,12,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.059,-0.115

_SM_DEPTHo 0.89 KALMAN_X -867.4,-213.3,42.5,1629.1,-44.8

_SM_ANGLEo -68.0 KALMAN_Y 2112.7,519.1,-90.3,-3997.2,84.7

GPS2 032955,4806.195,-12222.150,24,99.0,43,18.3 MHEAD_RNG_PITCHd_Wd 134.4,406,-26.8,-7.463

SPEED_LIMITS 0.129,0.196 D_GRID 150

Post-dive calculations and measurements:

FINISH 4.4,1.021408 ALTIM_BOTTOM_PING 80.2,47.2

SM_CCo 2609,359.45,0.782,0,0,499,759.94 _24V_AH 23.3,1.519

SM_GC 0.94,12.93,0.00,0.00,0.031,0.000,0.000,672,2352,490,-11.34,0.08,762.39 _10V_AH 10.8,1.052

IRIDIUM_FIX 4751.72,-12056.72,120998,020210 DATA_FILE_SIZE 19091,448

TT8_MAMPS 0.029913 CAP_FILE_SIZE 51602,0

HUMID 1870 CFSIZE 260165632,258543616

INTERNAL_PRESSURE 9.0597 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 177.40 GPS 180609,042255,4806.112,-12222.035,8,1.4,8,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 144 95.17 SBE_CT 302 24 169.42

Roll_motor 47 69 76.92 WL_BB2F 595 105 1457.54

VBD_pump_during_apogee 149 858 2994.16 nil 0 0 0.00

VBD_pump_during_surface 359 781 6545.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 58.54 nil 0 0 0.00

Iridium_during_connect 27 160 102.20 nil 0 0 0.00

Iridium_during_xfer 219 223 1139.68

Transponder_ping 0 420 4.89

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 46 50 24.84

TT8 692 19 148.09

LPSleep 877 2 20.74

TT8_Active 631 19 134.95

TT8_Sampling 900 39 387.03

TT8_CF8 406 45 201.27

TT8_Kalman 33 81 29.45

Analog_circuits 1057 12 137.10

GPS_charging 0 0 0.00

Compass 872 8 75.35

RAFOS 0 0 0.00

Transponder 5 30 1.80

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 -1.84 -40.7 0.0 0.0 0 126 0.00 0.00 -105.60 0.000 6 0.000 0.000 675 2176 3764

129 -1.88 -76.8 3.1 -3.0 19 155 11.50 3.20 -3.72 0.000 4 0.144 0.056 2740 3913 3913

331 -1.88 -76.8 24.4 -11.9 54 337 0.00 2.72 0.00 0.000 6 0.000 0.028 2741 2338 3913

406 -1.88 -76.8 33.6 -12.7 67 413 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2338 3913

481 -1.88 -76.8 43.9 -13.6 80 489 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2338 3914

624 -1.88 -76.8 63.0 -13.5 105 630 0.00 2.85 0.00 0.000 4 0.000 0.047 2740 3916 3914

715 -1.88 -76.8 76.1 -14.4 121 721 0.00 2.72 0.00 0.000 6 0.000 0.031 2740 2349 3914

859 -1.88 -76.8 94.8 -13.0 146 866 0.00 2.83 0.00 0.000 4 0.000 0.048 2741 3916 3914

901 -1.88 -76.8 100.6 -13.8 153 907 0.00 2.72 0.00 0.000 6 0.000 0.031 2741 2351 3914

1040 end dive: BOTTOM_OBSTACLE_DETECTED

state 1040 begin apogee

1049 -0.33 0.0 117.9 11.7 178 1113 1.67 0.00 59.88 0.858 6 0.094 0.000 3075 1853 3598

1114 end apogee: CONTROL_FINISHED_OK

state 1114 begin climb

1116 1.88 76.8 120.7 0.0 189 1187 2.22 3.10 59.10 0.841 4 0.055 0.069 3560 276 3284

1257 1.88 76.8 108.7 12.5 213 1263 0.00 2.85 0.00 0.000 6 0.000 0.041 3560 1849 3284

1399 1.88 76.8 92.8 10.3 238 1406 0.00 0.00 0.00 0.000 6 0.000 0.000 3560 1849 3283

1542 1.88 76.8 78.8 9.7 263 1548 0.00 2.88 0.00 0.000 4 0.000 0.050 3560 3441 3282

1611 1.88 76.8 72.0 9.5 275 1617 0.00 2.83 0.00 0.000 6 0.000 0.038 3560 1852 3283

1752 1.88 76.8 59.9 8.4 300 1759 0.00 3.00 0.00 0.000 4 0.000 0.066 3560 266 3282

1807 1.88 76.8 55.1 9.3 309 1814 0.00 2.85 0.00 0.000 6 0.000 0.038 3560 1855 3282

1949 1.88 76.8 43.2 8.1 334 1955 0.00 0.00 0.00 0.000 6 0.000 0.000 3560 1856 3282

2091 1.88 79.0 32.8 7.2 359 2097 0.00 2.85 0.00 0.000 4 0.000 0.048 3560 3443 3282

2171 1.89 80.5 26.8 7.3 373 2184 0.00 2.83 4.07 0.550 6 0.000 0.037 3560 1849 3269

2253 1.89 83.9 21.3 7.1 387 2260 0.00 0.00 4.35 0.571 6 0.000 0.000 3560 1849 3256

2328 1.89 87.9 15.8 7.0 400 2335 0.00 0.00 4.88 0.602 6 0.000 0.000 3560 1849 3239

2404 1.91 97.9 11.0 6.2 413 2423 0.00 2.92 9.32 0.723 4 0.000 0.044 3560 3439 3198

2441 1.92 106.6 8.5 6.4 419 2455 0.00 2.85 8.12 0.700 6 0.000 0.037 3560 1841 3163

2515 end climb: SURFACE_DEPTH_REACHED

state 2515 begin surface coast

2606 end surface coast: CONTROL_FINISHED_OK

state 2606 begin surface

ID	136	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	90	ROLL_MIN	236	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	11	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3918	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	45	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	24.5	C_ROLL_DIVE	2350	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	57.5	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	80	SM_CC	530	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	INT_PRESSURE_YINT	0.69999999
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	500	DEVICE2	35
T_MISSION	65	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3598	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	100	T_GPS_CHARGE	-78789.414	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	100	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	679	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3985	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3155	PRESSURE_YINT	-2.3875301	SEABIRD_T_G	0.0043112189
RHO	1.0275	PITCH_DBAND	0.050000001	PRESSURE_SLOPE	0.0001163524	SEABIRD_T_H	0.00063089712
MASS	51492	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4176574e-05
NAV_MODE	1	P_OVSHOOT	0.050000001	TCM_PITCH_OFFSET	1.3	SEABIRD_T_J	2.6117627e-06
FERRY_MAX	45	PITCH_GAIN	15	TCM_ROLL_OFFSET	-0.89999998	SEABIRD_C_G	-10.042094
KALMAN_USE	1	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1112094
HD_A	0.003	PITCH_AD_RATE	155	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00092196499
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016575911
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	032301,4806.185,-12222.112,7,1.6,12,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.059,-0.115
_SM_DEPTHo	0.89	KALMAN_X	-867.4,-213.3,42.5,1629.1,-44.8
_SM_ANGLEo	-68.0	KALMAN_Y	2112.7,519.1,-90.3,-3997.2,84.7
GPS2	032955,4806.195,-12222.150,24,99.0,43,18.3	MHEAD_RNG_PITCHd_Wd	134.4,406,-26.8,-7.463
SPEED_LIMITS	0.129,0.196	D_GRID	150

FINISH	4.4,1.021408	ALTIM_BOTTOM_PING	80.2,47.2
SM_CCo	2609,359.45,0.782,0,0,499,759.94	_24V_AH	23.3,1.519
SM_GC	0.94,12.93,0.00,0.00,0.031,0.000,0.000,672,2352,490,-11.34,0.08,762.39	_10V_AH	10.8,1.052
IRIDIUM_FIX	4751.72,-12056.72,120998,020210	DATA_FILE_SIZE	19091,448
TT8_MAMPS	0.029913	CAP_FILE_SIZE	51602,0
HUMID	1870	CFSIZE	260165632,258543616
INTERNAL_PRESSURE	9.0597	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	177.40	GPS	180609,042255,4806.112,-12222.035,8,1.4,8,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	144	95.17	SBE_CT	302	24	169.42
Roll_motor	47	69	76.92	WL_BB2F	595	105	1457.54
VBD_pump_during_apogee	149	858	2994.16	nil	0	0	0.00
VBD_pump_during_surface	359	781	6545.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	58.54	nil	0	0	0.00
Iridium_during_connect	27	160	102.20	nil	0	0	0.00
Iridium_during_xfer	219	223	1139.68
Transponder_ping	0	420	4.89
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	46	50	24.84
TT8	692	19	148.09
LPSleep	877	2	20.74
TT8_Active	631	19	134.95
TT8_Sampling	900	39	387.03
TT8_CF8	406	45	201.27
TT8_Kalman	33	81	29.45
Analog_circuits	1057	12	137.10
GPS_charging	0	0	0.00
Compass	872	8	75.35
RAFOS	0	0	0.00
Transponder	5	30	1.80

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	-1.84	-40.7	0.0	0.0	0	126	0.00	0.00	-105.60	0.000	6	0.000	0.000	675	2176	3764
129	-1.88	-76.8	3.1	-3.0	19	155	11.50	3.20	-3.72	0.000	4	0.144	0.056	2740	3913	3913
331	-1.88	-76.8	24.4	-11.9	54	337	0.00	2.72	0.00	0.000	6	0.000	0.028	2741	2338	3913
406	-1.88	-76.8	33.6	-12.7	67	413	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2338	3913
481	-1.88	-76.8	43.9	-13.6	80	489	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2338	3914
624	-1.88	-76.8	63.0	-13.5	105	630	0.00	2.85	0.00	0.000	4	0.000	0.047	2740	3916	3914
715	-1.88	-76.8	76.1	-14.4	121	721	0.00	2.72	0.00	0.000	6	0.000	0.031	2740	2349	3914
859	-1.88	-76.8	94.8	-13.0	146	866	0.00	2.83	0.00	0.000	4	0.000	0.048	2741	3916	3914
901	-1.88	-76.8	100.6	-13.8	153	907	0.00	2.72	0.00	0.000	6	0.000	0.031	2741	2351	3914
1040	end dive: BOTTOM_OBSTACLE_DETECTED
state	1040	begin apogee
1049	-0.33	0.0	117.9	11.7	178	1113	1.67	0.00	59.88	0.858	6	0.094	0.000	3075	1853	3598
1114	end apogee: CONTROL_FINISHED_OK
state	1114	begin climb
1116	1.88	76.8	120.7	0.0	189	1187	2.22	3.10	59.10	0.841	4	0.055	0.069	3560	276	3284
1257	1.88	76.8	108.7	12.5	213	1263	0.00	2.85	0.00	0.000	6	0.000	0.041	3560	1849	3284
1399	1.88	76.8	92.8	10.3	238	1406	0.00	0.00	0.00	0.000	6	0.000	0.000	3560	1849	3283
1542	1.88	76.8	78.8	9.7	263	1548	0.00	2.88	0.00	0.000	4	0.000	0.050	3560	3441	3282
1611	1.88	76.8	72.0	9.5	275	1617	0.00	2.83	0.00	0.000	6	0.000	0.038	3560	1852	3283
1752	1.88	76.8	59.9	8.4	300	1759	0.00	3.00	0.00	0.000	4	0.000	0.066	3560	266	3282
1807	1.88	76.8	55.1	9.3	309	1814	0.00	2.85	0.00	0.000	6	0.000	0.038	3560	1855	3282
1949	1.88	76.8	43.2	8.1	334	1955	0.00	0.00	0.00	0.000	6	0.000	0.000	3560	1856	3282
2091	1.88	79.0	32.8	7.2	359	2097	0.00	2.85	0.00	0.000	4	0.000	0.048	3560	3443	3282
2171	1.89	80.5	26.8	7.3	373	2184	0.00	2.83	4.07	0.550	6	0.000	0.037	3560	1849	3269
2253	1.89	83.9	21.3	7.1	387	2260	0.00	0.00	4.35	0.571	6	0.000	0.000	3560	1849	3256
2328	1.89	87.9	15.8	7.0	400	2335	0.00	0.00	4.88	0.602	6	0.000	0.000	3560	1849	3239
2404	1.91	97.9	11.0	6.2	413	2423	0.00	2.92	9.32	0.723	4	0.000	0.044	3560	3439	3198
2441	1.92	106.6	8.5	6.4	419	2455	0.00	2.85	8.12	0.700	6	0.000	0.037	3560	1841	3163
2515	end climb: SURFACE_DEPTH_REACHED
state	2515	begin surface coast
2606	end surface coast: CONTROL_FINISHED_OK
state	2606	begin surface