Glider dive log

PortSusan 10Dec08 * SG162 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 162 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 214 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 12 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3802 ALTIM_PING_DEPTH 80

D_SURF 5 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2350 ALTIM_FREQUENCY 12

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2350 ALTIM_PULSE 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 90 SM_CC 600 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 INT_PRESSURE_YINT 2

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 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 50 UPLOAD_DIVES_MAX -1 VBD_MIN 498 DEVICE2 35

T_MISSION 80 CALL_TRIES 5 VBD_MAX 3961 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3720 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 4 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 -4050.531 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 80 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 170 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3943 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2820 PRESSURE_YINT -17.668421 SEABIRD_T_G 0.0043495079

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001156064 SEABIRD_T_H 0.00062862021

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5575922e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.9323719e-06

FERRY_MAX 45 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.95471

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1163813

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00058590219

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00013969469

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 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 90 PITCH_DBAND 0.1 SM_CC 600

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3943 SURFACE_URGENCY 0

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 5 PITCH_MIN 170 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 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 0.0001156064 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -17.668421 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 50

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 -4050.531

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 80

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 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 162 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3802 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 2 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2820 KALMAN_USE 2 ROLL_MIN 214 USE_BATHY 0

C_ROLL_CLIMB 2350 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2350 MASS 52000 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 8

C_VBD 3720 MAX_BUOY 80 R_STBD_OVSHOOT 18 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.95471 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1163813 VBD_MAX 3961

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00058590219 VBD_MAXERRORS 1

DEVICE2 35 N_FILEKB 8 SEABIRD_C_J 0.00013969469 VBD_MIN 498

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043495079 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062862021 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5575922e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.9323719e-06 XPDR_DEVICE 24

DIVE 12 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 045146,4806.053,-12221.906,7,99.0,26,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 045723,4805.963,-12221.833,16,99.0,35,18.3 MHEAD_RNG_PITCHd_Wd 306.3,4627,-24.4,-10.000

SPEED_LIMITS 0.173,0.193 D_GRID 150

Post-dive calculations and measurements:

SM_CCo 2628,518.03,0.619,0,0,498,790.36 ALTIM_BOTTOM_PING 85.4,36.0

SM_GC 0.92,8.57,0.00,0.00,0.051,0.000,0.000,172,2348,493,-8.24,-0.06,791.58 _24V_AH 24.6,2.375

IRIDIUM_FIX 4751.72,-12340.51,070398,030359 _10V_AH 10.7,0.822

TT8_MAMPS 0.026845 DATA_FILE_SIZE 22197,458

HUMID 1496 CAP_FILE_SIZE 52281,0

INTERNAL_PRESSURE 9.10965 CFSIZE 260165632,258461696

TCM_TEMP 18.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 111208,055307,4806.031,-12221.847,40,1.2,40,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 273 138.76 SBE_CT 306 24 180.85

Roll_motor 51 77 97.38 WL_BB2F 566 105 1463.46

VBD_pump_during_apogee 138 744 2531.51 nil 0 0 0.00

VBD_pump_during_surface 518 618 7887.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 78.77 nil 0 0 0.00

Iridium_during_connect 36 160 145.02 nil 0 0 0.00

Iridium_during_xfer 166 223 915.10

Transponder_ping 1 420 10.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 19.58

TT8 704 19 149.23

LPSleep 942 2 22.09

TT8_Active 788 19 167.11

TT8_Sampling 864 39 368.07

TT8_CF8 303 45 148.74

TT8_Kalman 0 0 0.00

Analog_circuits 1220 12 156.72

GPS_charging 0 0 0.00

Compass 835 8 71.51

RAFOS 0 0 0.00

Transponder 10 30 3.38

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

14 -1.20 -78.2 0.0 0.0 0 93 0.00 0.00 -76.45 0.000 2 0.000 0.000 171 2351 2477

95 -1.20 -78.2 3.1 -5.4 13 150 9.75 2.38 -39.20 0.000 4 0.274 0.067 2425 940 3963

191 -1.20 -78.2 7.2 -1.3 29 198 0.00 2.33 0.00 0.000 6 0.000 0.059 2425 2354 3963

265 -1.20 -78.2 8.9 -3.5 42 272 0.00 2.30 0.00 0.000 4 0.000 0.054 2425 935 3963

334 -1.20 -78.2 13.2 -6.1 54 340 0.00 2.33 0.00 0.000 6 0.000 0.060 2425 2354 3963

409 -1.20 -78.2 17.6 -6.7 67 415 0.00 2.35 0.00 0.000 4 0.000 0.077 2425 3758 3963

573 -1.20 -78.2 30.6 -8.3 96 580 0.00 2.30 0.00 0.000 6 0.000 0.051 2425 2347 3963

647 -1.20 -78.2 37.1 -8.6 109 654 0.00 2.28 0.00 0.000 4 0.000 0.053 2425 943 3963

682 -1.20 -78.2 40.1 -9.1 115 688 0.00 2.30 0.00 0.000 6 0.000 0.058 2425 2353 3963

823 -1.20 -78.2 52.7 -8.7 140 829 0.00 2.35 0.00 0.000 4 0.000 0.077 2425 3766 3963

969 -1.20 -78.2 66.4 -9.0 166 976 0.00 2.25 0.00 0.000 6 0.000 0.051 2425 2348 3962

1111 -1.20 -78.2 78.6 -8.2 191 1116 0.00 0.00 0.00 0.000 6 0.000 0.000 2425 2348 3963

1251 -1.20 -78.2 90.0 -7.8 216 1258 0.00 2.35 0.00 0.000 4 0.000 0.075 2425 3761 3963

1319 -1.20 -78.2 96.0 -8.5 228 1325 0.00 2.22 0.00 0.000 6 0.000 0.050 2425 2349 3963

1461 -1.20 -78.2 106.5 -7.3 253 1467 0.00 2.22 0.00 0.000 4 0.000 0.052 2425 941 3963

1527 end dive: BOTTOM_OBSTACLE_DETECTED

state 1527 begin apogee

1533 -0.23 0.0 111.5 7.3 265 1584 1.00 0.00 45.17 0.745 6 0.155 0.000 2739 2351 3720

1585 end apogee: CONTROL_FINISHED_OK

state 1585 begin climb

1586 1.20 78.2 112.2 0.0 274 1655 1.27 2.40 60.00 0.708 4 0.067 0.053 3215 936 3401

1666 1.20 78.2 105.9 11.7 288 1672 0.00 2.38 0.00 0.000 6 0.000 0.053 3215 2351 3400

1807 1.20 78.2 86.1 13.8 313 1813 0.00 2.33 0.00 0.000 4 0.000 0.053 3225 935 3400

1869 1.20 78.2 77.5 14.3 324 1875 0.00 2.33 0.00 0.000 6 0.000 0.053 3225 2356 3399

2010 1.20 78.2 58.4 13.6 349 2015 0.00 0.00 0.00 0.000 6 0.000 0.000 3225 2356 3400

2150 1.20 78.2 40.1 13.6 374 2156 0.00 2.30 0.00 0.000 4 0.000 0.067 3225 3760 3400

2167 1.20 78.2 37.9 13.0 377 2173 0.00 2.25 0.00 0.000 6 0.000 0.046 3235 2342 3400

2241 1.20 78.2 28.6 12.2 390 2246 0.00 0.00 0.00 0.000 6 0.000 0.000 3235 2342 3400

2314 1.20 78.2 19.5 12.4 403 2319 0.00 0.00 0.00 0.000 6 0.000 0.000 3235 2342 3400

2387 1.20 78.2 11.2 10.7 416 2392 0.00 0.00 0.00 0.000 6 0.000 0.000 3235 2343 3400

2461 1.26 121.7 5.3 6.3 429 2503 0.00 2.42 33.00 0.670 4 0.000 0.067 3235 3758 3222

2626 end climb: NO_VERTICAL_VELOCITY

state 2626 begin surface

ID	162	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	214	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	12	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3802	ALTIM_PING_DEPTH	80
D_SURF	5	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2350	ALTIM_FREQUENCY	12
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2350	ALTIM_PULSE	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	90	SM_CC	600	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	INT_PRESSURE_YINT	2
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	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	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	498	DEVICE2	35
T_MISSION	80	CALL_TRIES	5	VBD_MAX	3961	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3720	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	4	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	-4050.531	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	80	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	170	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3943	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2820	PRESSURE_YINT	-17.668421	SEABIRD_T_G	0.0043495079
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001156064	SEABIRD_T_H	0.00062862021
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5575922e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.9323719e-06
FERRY_MAX	45	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.95471
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1163813
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00058590219
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00013969469
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	045146,4806.053,-12221.906,7,99.0,26,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	045723,4805.963,-12221.833,16,99.0,35,18.3	MHEAD_RNG_PITCHd_Wd	306.3,4627,-24.4,-10.000
SPEED_LIMITS	0.173,0.193	D_GRID	150

SM_CCo	2628,518.03,0.619,0,0,498,790.36	ALTIM_BOTTOM_PING	85.4,36.0
SM_GC	0.92,8.57,0.00,0.00,0.051,0.000,0.000,172,2348,493,-8.24,-0.06,791.58	_24V_AH	24.6,2.375
IRIDIUM_FIX	4751.72,-12340.51,070398,030359	_10V_AH	10.7,0.822
TT8_MAMPS	0.026845	DATA_FILE_SIZE	22197,458
HUMID	1496	CAP_FILE_SIZE	52281,0
INTERNAL_PRESSURE	9.10965	CFSIZE	260165632,258461696
TCM_TEMP	18.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	111208,055307,4806.031,-12221.847,40,1.2,40,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	273	138.76	SBE_CT	306	24	180.85
Roll_motor	51	77	97.38	WL_BB2F	566	105	1463.46
VBD_pump_during_apogee	138	744	2531.51	nil	0	0	0.00
VBD_pump_during_surface	518	618	7887.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	78.77	nil	0	0	0.00
Iridium_during_connect	36	160	145.02	nil	0	0	0.00
Iridium_during_xfer	166	223	915.10
Transponder_ping	1	420	10.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	19.58
TT8	704	19	149.23
LPSleep	942	2	22.09
TT8_Active	788	19	167.11
TT8_Sampling	864	39	368.07
TT8_CF8	303	45	148.74
TT8_Kalman	0	0	0.00
Analog_circuits	1220	12	156.72
GPS_charging	0	0	0.00
Compass	835	8	71.51
RAFOS	0	0	0.00
Transponder	10	30	3.38

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
14	-1.20	-78.2	0.0	0.0	0	93	0.00	0.00	-76.45	0.000	2	0.000	0.000	171	2351	2477
95	-1.20	-78.2	3.1	-5.4	13	150	9.75	2.38	-39.20	0.000	4	0.274	0.067	2425	940	3963
191	-1.20	-78.2	7.2	-1.3	29	198	0.00	2.33	0.00	0.000	6	0.000	0.059	2425	2354	3963
265	-1.20	-78.2	8.9	-3.5	42	272	0.00	2.30	0.00	0.000	4	0.000	0.054	2425	935	3963
334	-1.20	-78.2	13.2	-6.1	54	340	0.00	2.33	0.00	0.000	6	0.000	0.060	2425	2354	3963
409	-1.20	-78.2	17.6	-6.7	67	415	0.00	2.35	0.00	0.000	4	0.000	0.077	2425	3758	3963
573	-1.20	-78.2	30.6	-8.3	96	580	0.00	2.30	0.00	0.000	6	0.000	0.051	2425	2347	3963
647	-1.20	-78.2	37.1	-8.6	109	654	0.00	2.28	0.00	0.000	4	0.000	0.053	2425	943	3963
682	-1.20	-78.2	40.1	-9.1	115	688	0.00	2.30	0.00	0.000	6	0.000	0.058	2425	2353	3963
823	-1.20	-78.2	52.7	-8.7	140	829	0.00	2.35	0.00	0.000	4	0.000	0.077	2425	3766	3963
969	-1.20	-78.2	66.4	-9.0	166	976	0.00	2.25	0.00	0.000	6	0.000	0.051	2425	2348	3962
1111	-1.20	-78.2	78.6	-8.2	191	1116	0.00	0.00	0.00	0.000	6	0.000	0.000	2425	2348	3963
1251	-1.20	-78.2	90.0	-7.8	216	1258	0.00	2.35	0.00	0.000	4	0.000	0.075	2425	3761	3963
1319	-1.20	-78.2	96.0	-8.5	228	1325	0.00	2.22	0.00	0.000	6	0.000	0.050	2425	2349	3963
1461	-1.20	-78.2	106.5	-7.3	253	1467	0.00	2.22	0.00	0.000	4	0.000	0.052	2425	941	3963
1527	end dive: BOTTOM_OBSTACLE_DETECTED
state	1527	begin apogee
1533	-0.23	0.0	111.5	7.3	265	1584	1.00	0.00	45.17	0.745	6	0.155	0.000	2739	2351	3720
1585	end apogee: CONTROL_FINISHED_OK
state	1585	begin climb
1586	1.20	78.2	112.2	0.0	274	1655	1.27	2.40	60.00	0.708	4	0.067	0.053	3215	936	3401
1666	1.20	78.2	105.9	11.7	288	1672	0.00	2.38	0.00	0.000	6	0.000	0.053	3215	2351	3400
1807	1.20	78.2	86.1	13.8	313	1813	0.00	2.33	0.00	0.000	4	0.000	0.053	3225	935	3400
1869	1.20	78.2	77.5	14.3	324	1875	0.00	2.33	0.00	0.000	6	0.000	0.053	3225	2356	3399
2010	1.20	78.2	58.4	13.6	349	2015	0.00	0.00	0.00	0.000	6	0.000	0.000	3225	2356	3400
2150	1.20	78.2	40.1	13.6	374	2156	0.00	2.30	0.00	0.000	4	0.000	0.067	3225	3760	3400
2167	1.20	78.2	37.9	13.0	377	2173	0.00	2.25	0.00	0.000	6	0.000	0.046	3235	2342	3400
2241	1.20	78.2	28.6	12.2	390	2246	0.00	0.00	0.00	0.000	6	0.000	0.000	3235	2342	3400
2314	1.20	78.2	19.5	12.4	403	2319	0.00	0.00	0.00	0.000	6	0.000	0.000	3235	2342	3400
2387	1.20	78.2	11.2	10.7	416	2392	0.00	0.00	0.00	0.000	6	0.000	0.000	3235	2343	3400
2461	1.26	121.7	5.3	6.3	429	2503	0.00	2.42	33.00	0.670	4	0.000	0.067	3235	3758	3222
2626	end climb: NO_VERTICAL_VELOCITY
state	2626	begin surface