Glider dive log

PortSusan 15Jul09 * SG171 * Dive index * Mission links * Dive 24 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 171 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 181 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 24 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3676 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 2050 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 420 ROLL_CNV 0.028270001 XPDR_VALID 2

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 13 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 INT_PRESSURE_YINT 1.4

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 71 UPLOAD_DIVES_MAX -1 VBD_MIN 435 DEVICE2 20

T_MISSION 85 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3497 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY 0 T_GPS 5 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 -880.54761 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 154 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3952 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2868 PRESSURE_YINT -75.123062 SEABIRD_T_G 0.0043688784

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00062944769

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.4717139e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7241397e-06

FERRY_MAX 45 PITCH_GAIN 34 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.19732

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1460223

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00094820879

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016859215

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 500 PITCH_DBAND 0.1 SM_CC 420

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 34 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3952 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 154 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 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -75.123062 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 71

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

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 -880.54761

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 85

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 4

COMPASS_DEVICE 33 ID 171 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3676 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 1.4 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2868 KALMAN_USE 1 ROLL_MIN 181 USE_BATHY 0

C_ROLL_CLIMB 2050 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2050 MASS 52000 R_PORT_OVSHOOT 13 VBD_BLEED_AD_RATE 8

C_VBD 3497 MAX_BUOY 100 R_STBD_OVSHOOT 18 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -10.19732 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1460223 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00094820879 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016859215 VBD_MIN 435

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043688784 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062944769 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4717139e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7241397e-06 XPDR_DEVICE 24

DIVE 24 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 135000,4807.170,-12222.995,33,1.5,37,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.129,0.143

_SM_DEPTHo 0.50 KALMAN_X 2181.1,186.7,9.9,-2530.8,326.0

_SM_ANGLEo -76.7 KALMAN_Y -636.0,-460.0,21.9,301.2,-328.3

GPS2 135450,4807.124,-12222.953,11,1.4,11,18.3 MHEAD_RNG_PITCHd_Wd 299.6,2075,-15.7,-7.042

SPEED_LIMITS 0.122,0.193 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.5,1.021175 ALTIM_BOTTOM_PING 80.3,40.4

SM_CCo 2647,214.93,0.642,0,0,1783,420.20 _24V_AH 24.5,2.479

SM_GC 0.88,0.00,0.00,214.93,0.000,0.000,0.642,149,2048,1783,-8.50,-0.06,420.20 _10V_AH 10.8,0.710

IRIDIUM_FIX 4751.72,-12223.57,101098,131305 DATA_FILE_SIZE 19041,546

TT8_MAMPS 0.027612 CAP_FILE_SIZE 53862,0

HUMID 1868 CFSIZE 260165632,257671168

INTERNAL_PRESSURE 9.25186 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 19.10 GPS 160709,144436,4807.220,-12223.142,39,1.7,39,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 240 117.42 SBE_CT 366 24 215.31

Roll_motor 48 104 124.14 SBE_O2 278 19 129.53

VBD_pump_during_apogee 168 713 2949.09 nil 0 0 0.00

VBD_pump_during_surface 214 641 3380.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 57.21 nil 0 0 0.00

Iridium_during_connect 27 160 107.36 nil 0 0 0.00

Iridium_during_xfer 168 223 919.74

Transponder_ping 0 420 5.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.31

TT8 815 19 174.45

LPSleep 743 2 17.57

TT8_Active 525 19 112.34

TT8_Sampling 811 39 348.98

TT8_CF8 272 45 134.81

TT8_Kalman 33 81 29.45

Analog_circuits 989 12 128.28

GPS_charging 0 0 0.00

Compass 806 8 69.68

RAFOS 0 0 0.00

Transponder 5 30 1.79

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 -0.58 -97.8 0.0 0.0 0 138 0.00 0.00 -120.90 0.000 2 0.000 0.000 144 2197 3453

140 -0.58 -97.8 3.9 -5.9 23 169 10.23 2.72 -10.30 0.000 4 0.241 0.101 2676 636 3898

433 -0.58 -97.8 29.3 -8.9 85 439 0.00 2.42 0.00 0.000 6 0.000 0.091 2667 2053 3899

508 -0.58 -97.8 36.1 -9.0 101 514 0.00 2.42 0.00 0.000 4 0.000 0.091 2667 632 3899

625 -0.58 -97.8 47.9 -10.2 126 631 0.00 2.42 0.00 0.000 6 0.000 0.091 2656 2056 3899

770 -0.58 -97.8 62.8 -9.9 157 776 0.00 2.45 0.00 0.000 4 0.000 0.101 2645 3466 3899

850 -0.58 -97.8 71.5 -10.6 174 857 0.12 2.40 0.00 0.000 6 0.146 0.087 2678 2044 3899

997 -0.58 -97.8 84.4 -8.8 205 1003 0.00 2.50 0.00 0.000 4 0.000 0.104 2669 3468 3899

1021 -0.58 -97.8 86.5 -9.0 210 1027 0.00 2.40 0.00 0.000 6 0.000 0.084 2669 2045 3899

1167 -0.58 -97.8 99.1 -8.1 241 1172 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2045 3899

1310 end dive: BOTTOM_OBSTACLE_DETECTED

state 1310 begin apogee

1313 -0.15 0.0 111.1 8.4 272 1390 0.43 0.00 71.62 0.713 6 0.120 0.000 2812 2045 3497

1390 end apogee: CONTROL_FINISHED_OK

state 1390 begin climb

1392 0.58 97.8 112.9 0.0 286 1473 0.70 2.47 72.90 0.687 4 0.092 0.078 3063 635 3098

1506 0.58 97.8 104.3 9.9 308 1512 0.00 2.45 0.00 0.000 6 0.000 0.074 3063 2062 3097

1652 0.58 97.8 87.5 11.4 339 1658 0.00 2.42 0.00 0.000 4 0.000 0.087 3063 3464 3096

1667 0.58 97.8 85.5 11.7 342 1673 0.00 2.40 0.00 0.000 6 0.000 0.074 3074 2049 3096

1812 0.58 97.8 68.9 11.2 373 1818 0.00 2.42 0.00 0.000 4 0.000 0.087 3074 3457 3096

1842 0.58 97.8 65.3 11.9 379 1848 0.00 2.38 0.00 0.000 6 0.000 0.073 3086 2039 3095

1986 0.58 97.8 49.1 10.5 410 1992 0.12 0.00 0.00 0.000 6 0.165 0.000 3052 2038 3094

2131 0.58 97.8 35.7 9.0 441 2137 0.00 2.40 0.00 0.000 4 0.000 0.086 3052 3454 3094

2161 0.58 97.8 32.8 9.6 447 2167 0.00 2.35 0.00 0.000 6 0.000 0.074 3063 2042 3094

2236 0.58 97.8 25.6 9.3 463 2242 0.00 2.35 0.00 0.000 4 0.000 0.082 3074 631 3094

2252 0.58 97.8 24.3 8.9 466 2258 0.00 2.35 0.00 0.000 6 0.000 0.077 3074 2054 3094

2327 0.58 97.8 17.3 8.9 482 2333 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2054 3094

2402 0.58 97.8 11.1 7.9 498 2407 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2054 3093

2477 0.62 130.7 6.5 5.4 514 2506 0.00 2.45 24.23 0.663 4 0.000 0.087 3074 3452 2963

2544 end climb: SURFACE_DEPTH_REACHED

state 2544 begin surface coast

2631 end surface coast: CONTROL_FINISHED_OK

state 2631 begin surface

ID	171	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	181	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	24	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3676	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	2050	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	420	ROLL_CNV	0.028270001	XPDR_VALID	2
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	13	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	INT_PRESSURE_YINT	1.4
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	71	UPLOAD_DIVES_MAX	-1	VBD_MIN	435	DEVICE2	20
T_MISSION	85	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3497	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	0	T_GPS	5	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	-880.54761	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	154	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3952	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2868	PRESSURE_YINT	-75.123062	SEABIRD_T_G	0.0043688784
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00062944769
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.4717139e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7241397e-06
FERRY_MAX	45	PITCH_GAIN	34	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.19732
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1460223
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00094820879
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016859215
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	135000,4807.170,-12222.995,33,1.5,37,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.129,0.143
_SM_DEPTHo	0.50	KALMAN_X	2181.1,186.7,9.9,-2530.8,326.0
_SM_ANGLEo	-76.7	KALMAN_Y	-636.0,-460.0,21.9,301.2,-328.3
GPS2	135450,4807.124,-12222.953,11,1.4,11,18.3	MHEAD_RNG_PITCHd_Wd	299.6,2075,-15.7,-7.042
SPEED_LIMITS	0.122,0.193	D_GRID	150

FINISH	3.5,1.021175	ALTIM_BOTTOM_PING	80.3,40.4
SM_CCo	2647,214.93,0.642,0,0,1783,420.20	_24V_AH	24.5,2.479
SM_GC	0.88,0.00,0.00,214.93,0.000,0.000,0.642,149,2048,1783,-8.50,-0.06,420.20	_10V_AH	10.8,0.710
IRIDIUM_FIX	4751.72,-12223.57,101098,131305	DATA_FILE_SIZE	19041,546
TT8_MAMPS	0.027612	CAP_FILE_SIZE	53862,0
HUMID	1868	CFSIZE	260165632,257671168
INTERNAL_PRESSURE	9.25186	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	19.10	GPS	160709,144436,4807.220,-12223.142,39,1.7,39,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	240	117.42	SBE_CT	366	24	215.31
Roll_motor	48	104	124.14	SBE_O2	278	19	129.53
VBD_pump_during_apogee	168	713	2949.09	nil	0	0	0.00
VBD_pump_during_surface	214	641	3380.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	57.21	nil	0	0	0.00
Iridium_during_connect	27	160	107.36	nil	0	0	0.00
Iridium_during_xfer	168	223	919.74
Transponder_ping	0	420	5.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.31
TT8	815	19	174.45
LPSleep	743	2	17.57
TT8_Active	525	19	112.34
TT8_Sampling	811	39	348.98
TT8_CF8	272	45	134.81
TT8_Kalman	33	81	29.45
Analog_circuits	989	12	128.28
GPS_charging	0	0	0.00
Compass	806	8	69.68
RAFOS	0	0	0.00
Transponder	5	30	1.79

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	-0.58	-97.8	0.0	0.0	0	138	0.00	0.00	-120.90	0.000	2	0.000	0.000	144	2197	3453
140	-0.58	-97.8	3.9	-5.9	23	169	10.23	2.72	-10.30	0.000	4	0.241	0.101	2676	636	3898
433	-0.58	-97.8	29.3	-8.9	85	439	0.00	2.42	0.00	0.000	6	0.000	0.091	2667	2053	3899
508	-0.58	-97.8	36.1	-9.0	101	514	0.00	2.42	0.00	0.000	4	0.000	0.091	2667	632	3899
625	-0.58	-97.8	47.9	-10.2	126	631	0.00	2.42	0.00	0.000	6	0.000	0.091	2656	2056	3899
770	-0.58	-97.8	62.8	-9.9	157	776	0.00	2.45	0.00	0.000	4	0.000	0.101	2645	3466	3899
850	-0.58	-97.8	71.5	-10.6	174	857	0.12	2.40	0.00	0.000	6	0.146	0.087	2678	2044	3899
997	-0.58	-97.8	84.4	-8.8	205	1003	0.00	2.50	0.00	0.000	4	0.000	0.104	2669	3468	3899
1021	-0.58	-97.8	86.5	-9.0	210	1027	0.00	2.40	0.00	0.000	6	0.000	0.084	2669	2045	3899
1167	-0.58	-97.8	99.1	-8.1	241	1172	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2045	3899
1310	end dive: BOTTOM_OBSTACLE_DETECTED
state	1310	begin apogee
1313	-0.15	0.0	111.1	8.4	272	1390	0.43	0.00	71.62	0.713	6	0.120	0.000	2812	2045	3497
1390	end apogee: CONTROL_FINISHED_OK
state	1390	begin climb
1392	0.58	97.8	112.9	0.0	286	1473	0.70	2.47	72.90	0.687	4	0.092	0.078	3063	635	3098
1506	0.58	97.8	104.3	9.9	308	1512	0.00	2.45	0.00	0.000	6	0.000	0.074	3063	2062	3097
1652	0.58	97.8	87.5	11.4	339	1658	0.00	2.42	0.00	0.000	4	0.000	0.087	3063	3464	3096
1667	0.58	97.8	85.5	11.7	342	1673	0.00	2.40	0.00	0.000	6	0.000	0.074	3074	2049	3096
1812	0.58	97.8	68.9	11.2	373	1818	0.00	2.42	0.00	0.000	4	0.000	0.087	3074	3457	3096
1842	0.58	97.8	65.3	11.9	379	1848	0.00	2.38	0.00	0.000	6	0.000	0.073	3086	2039	3095
1986	0.58	97.8	49.1	10.5	410	1992	0.12	0.00	0.00	0.000	6	0.165	0.000	3052	2038	3094
2131	0.58	97.8	35.7	9.0	441	2137	0.00	2.40	0.00	0.000	4	0.000	0.086	3052	3454	3094
2161	0.58	97.8	32.8	9.6	447	2167	0.00	2.35	0.00	0.000	6	0.000	0.074	3063	2042	3094
2236	0.58	97.8	25.6	9.3	463	2242	0.00	2.35	0.00	0.000	4	0.000	0.082	3074	631	3094
2252	0.58	97.8	24.3	8.9	466	2258	0.00	2.35	0.00	0.000	6	0.000	0.077	3074	2054	3094
2327	0.58	97.8	17.3	8.9	482	2333	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2054	3094
2402	0.58	97.8	11.1	7.9	498	2407	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2054	3093
2477	0.62	130.7	6.5	5.4	514	2506	0.00	2.45	24.23	0.663	4	0.000	0.087	3074	3452	2963
2544	end climb: SURFACE_DEPTH_REACHED
state	2544	begin surface coast
2631	end surface coast: CONTROL_FINISHED_OK
state	2631	begin surface