Glider dive log

PortSusan 04Mar09 * SG166 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 13 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 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 2050 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2250 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 450 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT 2.7

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 67 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3420 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 -4423.9453 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 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 160 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3938 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2646 PRESSURE_YINT -28.361515 SEABIRD_T_G 0.0043153614

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 32 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 7

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 500 PITCH_DBAND 0.1 SM_CC 450

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 32 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 7 D_PITCH 0 PITCH_MAX 3938 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 160 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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -28.361515 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 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 -4423.9453

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 166 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3786 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2646 KALMAN_USE 1 ROLL_MIN 197 USE_BATHY 0

C_ROLL_CLIMB 2250 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2050 MASS 52000 R_PORT_OVSHOOT 28 VBD_BLEED_AD_RATE 8

C_VBD 3420 MAX_BUOY 100 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010752195 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016642714 VBD_MIN 455

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043153614 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063164165 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3580644e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4654264e-06 XPDR_DEVICE 24

DIVE 13 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 055136,4806.592,-12222.765,10,1.4,26,18.3 TGT_NAME EIGHT

_CALLS 2 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.106,0.165

_SM_DEPTHo 1.17 KALMAN_X 2314.2,207.9,203.9,-2309.7,61.0

_SM_ANGLEo -69.8 KALMAN_Y 715.9,182.8,-178.3,-3256.9,-25.1

GPS2 055938,4806.626,-12222.820,15,1.9,15,18.3 MHEAD_RNG_PITCHd_Wd 308.9,2932,-16.6,-7.463

SPEED_LIMITS 0.129,0.197 D_GRID 150

Post-dive calculations and measurements:

FINISH 4.4,1.020772 ALTIM_BOTTOM_PING 85.2,41.0

SM_CCo 2654,513.38,0.783,3,0,454,727.31 _24V_AH 24.1,1.893

SM_GC 1.13,7.93,0.00,0.00,0.070,0.000,0.000,161,2042,450,-7.74,-0.20,728.54 _10V_AH 10.7,0.607

IRIDIUM_FIX 4751.72,-12226.29,300598,060624 DATA_FILE_SIZE 25494,463

TT8_MAMPS 0.026845 CAP_FILE_SIZE 52466,0

HUMID 1406 CFSIZE 260165632,258064384

INTERNAL_PRESSURE 9.1065 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,0

TCM_TEMP 17.90 GPS 050309,065622,4806.930,-12223.046,12,99.0,31,18.3

XPDR_PINGS 20

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 310 151.22 SBE_CT 312 24 180.68

Roll_motor 36 75 66.57 Optode 321 33 255.33

VBD_pump_during_apogee 155 912 3415.00 WL_BB2F 542 105 1373.23

VBD_pump_during_surface 513 783 9688.86 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 46 103 114.81 nil 0 0 0.00

Iridium_during_connect 52 160 203.39 nil 0 0 0.00

Iridium_during_xfer 241 223 1298.80

Transponder_ping 6 420 60.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.29

TT8 704 19 149.25

LPSleep 1004 2 23.55

TT8_Active 838 19 177.55

TT8_Sampling 839 39 357.47

TT8_CF8 398 45 195.24

TT8_Kalman 33 81 29.16

Analog_circuits 1277 12 164.01

GPS_charging 0 0 0.00

Compass 833 8 71.39

RAFOS 0 0 0.00

Transponder 9 30 3.19

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 -0.64 -97.8 0.0 0.0 0 182 0.00 0.00 -164.75 0.000 2 0.000 0.000 151 2052 3720

184 -0.64 -97.8 3.6 -3.1 28 204 10.95 2.22 -2.58 0.000 4 0.311 0.076 2418 3459 3819

458 -0.64 -97.8 29.6 -8.4 76 464 0.00 2.15 0.00 0.000 6 0.000 0.045 2417 2044 3821

531 -0.64 -97.8 35.8 -8.3 89 537 0.00 2.25 0.00 0.000 4 0.000 0.067 2415 3466 3821

638 -0.64 -97.8 45.6 -9.2 108 645 0.00 2.20 0.00 0.000 6 0.000 0.046 2416 2045 3820

779 -0.64 -97.8 58.3 -8.8 133 785 0.00 2.17 0.00 0.000 4 0.000 0.058 2416 638 3820

807 -0.64 -97.8 60.9 -9.1 138 814 0.00 2.22 0.00 0.000 6 0.000 0.059 2415 2049 3820

948 -0.64 -97.8 73.3 -8.3 163 953 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2049 3820

1091 -0.64 -97.8 85.2 -8.3 188 1097 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2049 3820

1232 -0.64 -97.8 96.1 -7.6 213 1238 0.00 2.22 0.00 0.000 4 0.000 0.067 2414 3468 3821

1288 -0.64 -97.8 100.4 -7.7 223 1294 0.00 2.15 0.00 0.000 6 0.000 0.046 2415 2049 3820

1428 -0.64 -97.8 111.1 -7.6 248 1435 0.00 2.20 0.00 0.000 4 0.000 0.057 2416 640 3821

1524 end dive: BOTTOM_OBSTACLE_DETECTED

state 1524 begin apogee

1530 -0.16 0.0 119.5 9.2 265 1610 0.57 0.00 76.68 0.913 6 0.166 0.000 2589 2249 3420

1611 end apogee: CONTROL_FINISHED_OK

state 1611 begin climb

1612 0.64 97.8 120.5 0.0 279 1698 0.75 2.40 78.57 0.874 4 0.100 0.056 2853 843 3020

1720 0.64 97.8 112.7 10.3 298 1727 0.00 2.35 0.00 0.000 6 0.000 0.056 2853 2249 3020

1861 0.64 97.8 94.6 13.4 323 1867 0.00 2.25 0.00 0.000 4 0.000 0.055 2863 839 3020

1895 0.64 97.8 90.3 12.7 329 1901 0.00 2.25 0.00 0.000 6 0.000 0.056 2862 2252 3019

2035 0.64 97.8 72.4 12.9 354 2042 0.00 2.28 0.00 0.000 4 0.000 0.067 2862 3654 3019

2058 0.64 97.8 69.2 13.3 358 2065 0.00 2.20 0.00 0.000 6 0.000 0.044 2873 2248 3019

2200 0.64 97.8 49.9 13.6 383 2205 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 2248 3019

2341 0.64 97.8 31.2 12.9 408 2347 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 2249 3019

2414 0.64 97.8 21.3 13.7 421 2419 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 2249 3019

2488 0.64 97.8 11.7 13.3 434 2493 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 2249 3019

2560 0.64 97.8 4.1 8.3 447 2566 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 2249 3019

2570 end climb: SURFACE_DEPTH_REACHED

state 2570 begin surface coast

2652 end surface coast: CONTROL_FINISHED_OK

state 2652 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	13	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	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	2050	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2250	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	450	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	2.7
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	67	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3420	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	-4423.9453	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	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	160	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3938	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2646	PRESSURE_YINT	-28.361515	SEABIRD_T_G	0.0043153614
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	32	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	7

GPS1	055136,4806.592,-12222.765,10,1.4,26,18.3	TGT_NAME	EIGHT
_CALLS	2	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.106,0.165
_SM_DEPTHo	1.17	KALMAN_X	2314.2,207.9,203.9,-2309.7,61.0
_SM_ANGLEo	-69.8	KALMAN_Y	715.9,182.8,-178.3,-3256.9,-25.1
GPS2	055938,4806.626,-12222.820,15,1.9,15,18.3	MHEAD_RNG_PITCHd_Wd	308.9,2932,-16.6,-7.463
SPEED_LIMITS	0.129,0.197	D_GRID	150

FINISH	4.4,1.020772	ALTIM_BOTTOM_PING	85.2,41.0
SM_CCo	2654,513.38,0.783,3,0,454,727.31	_24V_AH	24.1,1.893
SM_GC	1.13,7.93,0.00,0.00,0.070,0.000,0.000,161,2042,450,-7.74,-0.20,728.54	_10V_AH	10.7,0.607
IRIDIUM_FIX	4751.72,-12226.29,300598,060624	DATA_FILE_SIZE	25494,463
TT8_MAMPS	0.026845	CAP_FILE_SIZE	52466,0
HUMID	1406	CFSIZE	260165632,258064384
INTERNAL_PRESSURE	9.1065	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
TCM_TEMP	17.90	GPS	050309,065622,4806.930,-12223.046,12,99.0,31,18.3
XPDR_PINGS	20

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	310	151.22	SBE_CT	312	24	180.68
Roll_motor	36	75	66.57	Optode	321	33	255.33
VBD_pump_during_apogee	155	912	3415.00	WL_BB2F	542	105	1373.23
VBD_pump_during_surface	513	783	9688.86	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	46	103	114.81	nil	0	0	0.00
Iridium_during_connect	52	160	203.39	nil	0	0	0.00
Iridium_during_xfer	241	223	1298.80
Transponder_ping	6	420	60.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.29
TT8	704	19	149.25
LPSleep	1004	2	23.55
TT8_Active	838	19	177.55
TT8_Sampling	839	39	357.47
TT8_CF8	398	45	195.24
TT8_Kalman	33	81	29.16
Analog_circuits	1277	12	164.01
GPS_charging	0	0	0.00
Compass	833	8	71.39
RAFOS	0	0	0.00
Transponder	9	30	3.19

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	-0.64	-97.8	0.0	0.0	0	182	0.00	0.00	-164.75	0.000	2	0.000	0.000	151	2052	3720
184	-0.64	-97.8	3.6	-3.1	28	204	10.95	2.22	-2.58	0.000	4	0.311	0.076	2418	3459	3819
458	-0.64	-97.8	29.6	-8.4	76	464	0.00	2.15	0.00	0.000	6	0.000	0.045	2417	2044	3821
531	-0.64	-97.8	35.8	-8.3	89	537	0.00	2.25	0.00	0.000	4	0.000	0.067	2415	3466	3821
638	-0.64	-97.8	45.6	-9.2	108	645	0.00	2.20	0.00	0.000	6	0.000	0.046	2416	2045	3820
779	-0.64	-97.8	58.3	-8.8	133	785	0.00	2.17	0.00	0.000	4	0.000	0.058	2416	638	3820
807	-0.64	-97.8	60.9	-9.1	138	814	0.00	2.22	0.00	0.000	6	0.000	0.059	2415	2049	3820
948	-0.64	-97.8	73.3	-8.3	163	953	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2049	3820
1091	-0.64	-97.8	85.2	-8.3	188	1097	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2049	3820
1232	-0.64	-97.8	96.1	-7.6	213	1238	0.00	2.22	0.00	0.000	4	0.000	0.067	2414	3468	3821
1288	-0.64	-97.8	100.4	-7.7	223	1294	0.00	2.15	0.00	0.000	6	0.000	0.046	2415	2049	3820
1428	-0.64	-97.8	111.1	-7.6	248	1435	0.00	2.20	0.00	0.000	4	0.000	0.057	2416	640	3821
1524	end dive: BOTTOM_OBSTACLE_DETECTED
state	1524	begin apogee
1530	-0.16	0.0	119.5	9.2	265	1610	0.57	0.00	76.68	0.913	6	0.166	0.000	2589	2249	3420
1611	end apogee: CONTROL_FINISHED_OK
state	1611	begin climb
1612	0.64	97.8	120.5	0.0	279	1698	0.75	2.40	78.57	0.874	4	0.100	0.056	2853	843	3020
1720	0.64	97.8	112.7	10.3	298	1727	0.00	2.35	0.00	0.000	6	0.000	0.056	2853	2249	3020
1861	0.64	97.8	94.6	13.4	323	1867	0.00	2.25	0.00	0.000	4	0.000	0.055	2863	839	3020
1895	0.64	97.8	90.3	12.7	329	1901	0.00	2.25	0.00	0.000	6	0.000	0.056	2862	2252	3019
2035	0.64	97.8	72.4	12.9	354	2042	0.00	2.28	0.00	0.000	4	0.000	0.067	2862	3654	3019
2058	0.64	97.8	69.2	13.3	358	2065	0.00	2.20	0.00	0.000	6	0.000	0.044	2873	2248	3019
2200	0.64	97.8	49.9	13.6	383	2205	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	2248	3019
2341	0.64	97.8	31.2	12.9	408	2347	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	2249	3019
2414	0.64	97.8	21.3	13.7	421	2419	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	2249	3019
2488	0.64	97.8	11.7	13.3	434	2493	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	2249	3019
2560	0.64	97.8	4.1	8.3	447	2566	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	2249	3019
2570	end climb: SURFACE_DEPTH_REACHED
state	2570	begin surface coast
2652	end surface coast: CONTROL_FINISHED_OK
state	2652	begin surface