Glider dive log

PortSusan 19May09 * SG130 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 130 HEADING -1 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 162 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 7 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3945 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 44.380001 C_ROLL_DIVE 1950 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -125.01 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 650 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT 1.2

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 0.029999999 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 3 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 516 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 3437 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 200000 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 -52005.68 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 160 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 417 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3725 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2820 PRESSURE_YINT -8.2383127 SEABIRD_T_G 0.0044082953

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159091 SEABIRD_T_H 0.00065181591

MASS 51945 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 3.2922526e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 4.287429e-06

FERRY_MAX 45 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.794486

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1032488

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0011085917

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0001701656

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 650

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3725 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 417 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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159091 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -8.2383127 TGT_DEFAULT_LAT 44.380001

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -125.01

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 -52005.68

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 3 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0.029999999 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 130 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3945 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 1.2 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2820 KALMAN_USE 1 ROLL_MIN 162 USE_BATHY 0

C_ROLL_CLIMB 2050 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1950 MASS 51945 R_PORT_OVSHOOT 23 VBD_BLEED_AD_RATE 8

C_VBD 3437 MAX_BUOY 160 R_STBD_OVSHOOT 23 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -9.794486 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1032488 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0011085917 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.0001701656 VBD_MIN 516

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0044082953 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065181591 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 3.2922526e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 4.287429e-06 XPDR_DEVICE 24

DIVE 7 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.02 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 023308,4806.924,-12222.478,8,1.5,9,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.078,-0.256

_SM_DEPTHo 1.04 KALMAN_X 291.5,18.6,-13.2,775.3,304.3

_SM_ANGLEo -75.8 KALMAN_Y 118.4,335.4,131.9,-2417.1,-755.7

GPS2 023707,4806.875,-12222.458,8,1.3,9,18.3 MHEAD_RNG_PITCHd_Wd 144.6,1716,-16.9,-10.000

SPEED_LIMITS 0.173,0.267 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.0,1.018233 ALTIM_BOTTOM_PING 80.3,42.4

SM_CCo 2840,243.88,0.580,0,0,787,650.04 _24V_AH 23.6,1.128

SM_GC 1.62,0.00,0.00,243.88,0.000,0.000,0.580,416,1940,787,-11.06,-0.25,650.04 _10V_AH 10.9,1.247

IRIDIUM_FIX 4748.51,-12226.29,140898,020243 DATA_FILE_SIZE 15949,354

TT8_MAMPS 0.025311 CAP_FILE_SIZE 101564,0

HUMID 1542 CFSIZE 260165632,186089472

INTERNAL_PRESSURE 9.19835 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.60 GPS 200509,033036,4806.633,-12222.247,26,1.3,26,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 133 82.68 SBE_CT 310 24 175.65

Roll_motor 40 71 67.50 SBE_O2 243 19 109.06

VBD_pump_during_apogee 289 671 4592.78 WL_BBFL2VMT 378 105 937.45

VBD_pump_during_surface 243 579 3337.31 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 4.96

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.01

TT8 574 19 123.96

LPSleep 1018 2 24.31

TT8_Active 615 19 132.74

TT8_Sampling 754 39 327.16

TT8_CF8 194 45 97.34

TT8_Kalman 33 81 29.71

Analog_circuits 1030 12 134.80

GPS_charging 0 0 0.00

Compass 805 8 70.21

RAFOS 0 0 0.00

Transponder 5 30 1.81

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

18 -1.25 -155.7 0.0 0.0 0 111 0.00 0.00 -90.32 0.000 2 0.000 0.000 411 1946 2818

115 -1.25 -155.7 3.3 -1.7 15 173 11.43 2.53 -37.47 0.000 4 0.133 0.069 2542 543 3962

182 -1.04 -155.7 6.0 -8.6 25 190 0.25 2.40 0.00 0.000 6 0.092 0.038 2590 1958 3962

260 -1.04 -155.7 11.7 -6.9 38 267 0.00 2.50 0.00 0.000 4 0.000 0.055 2590 542 3962

521 -1.04 -155.7 34.3 -10.0 96 528 0.00 2.40 0.00 0.000 6 0.000 0.041 2590 1949 3962

596 -1.04 -155.7 41.3 -9.0 108 600 0.00 2.50 0.00 0.000 4 0.000 0.058 2590 542 3962

862 -1.04 -155.7 67.0 -9.7 136 866 0.00 2.45 0.00 0.000 6 0.000 0.043 2590 1949 3962

1002 -1.04 -155.7 79.4 -8.8 149 1003 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 1950 3962

1130 -1.04 -155.7 90.3 -8.7 161 1131 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 1954 3961

1256 -1.04 -155.7 101.4 -8.8 173 1257 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 1954 3961

1384 -1.04 -155.7 112.3 -8.7 185 1385 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 1954 3961

1390 end dive: BOTTOM_OBSTACLE_DETECTED

state 1390 begin apogee

1400 -0.31 0.0 113.2 8.6 186 1501 0.73 0.00 97.62 0.671 6 0.071 0.000 2746 2063 3437

1502 end apogee: CONTROL_FINISHED_OK

state 1502 begin climb

1506 1.25 155.7 117.1 0.0 196 1632 1.55 0.00 118.18 0.650 6 0.054 0.000 3089 2064 2801

1760 1.28 183.8 100.5 8.8 221 1788 0.00 0.00 23.02 0.613 6 0.000 0.000 3089 2064 2686

1918 1.29 188.2 85.6 9.8 236 1929 0.00 2.50 5.00 0.471 4 0.000 0.059 3089 3453 2668

1959 1.29 188.2 81.4 10.4 240 1963 0.00 2.47 0.00 0.000 6 0.000 0.048 3088 2045 2667

2095 1.30 201.5 68.3 9.4 252 2114 0.00 2.58 11.88 0.579 4 0.000 0.063 3089 649 2615

2173 1.30 201.5 60.4 10.1 260 2177 0.00 2.42 0.00 0.000 6 0.000 0.044 3089 2045 2614

2307 1.32 218.4 47.8 9.3 272 2328 0.00 2.60 14.75 0.587 4 0.000 0.058 3089 3455 2545

2359 1.34 229.0 42.9 9.5 277 2379 0.10 2.47 9.70 0.552 6 0.059 0.048 3117 2048 2502

2516 1.34 229.0 26.8 10.3 302 2523 0.00 2.55 0.00 0.000 4 0.000 0.064 3117 650 2501

2545 1.34 229.0 23.3 11.3 307 2551 0.00 2.42 0.00 0.000 6 0.000 0.044 3117 2049 2501

2622 1.34 229.0 15.2 10.3 320 2629 0.00 2.50 0.00 0.000 4 0.000 0.059 3117 3457 2500

2663 1.35 239.8 11.2 9.5 328 2678 0.00 2.47 9.82 0.549 6 0.000 0.048 3117 2044 2459

2744 end climb: SURFACE_DEPTH_REACHED

state 2744 begin surface coast

2813 end surface coast: CONTROL_FINISHED_OK

state 2814 begin surface

ID	130	HEADING	-1	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	162	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	7	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3945	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	44.380001	C_ROLL_DIVE	1950	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-125.01	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	650	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	1.2
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	0.029999999	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	3	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	516	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	3437	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	200000	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	-52005.68	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	160	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	417	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3725	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2820	PRESSURE_YINT	-8.2383127	SEABIRD_T_G	0.0044082953
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159091	SEABIRD_T_H	0.00065181591
MASS	51945	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	3.2922526e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	4.287429e-06
FERRY_MAX	45	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.794486
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1032488
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0011085917
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0001701656
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	023308,4806.924,-12222.478,8,1.5,9,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.078,-0.256
_SM_DEPTHo	1.04	KALMAN_X	291.5,18.6,-13.2,775.3,304.3
_SM_ANGLEo	-75.8	KALMAN_Y	118.4,335.4,131.9,-2417.1,-755.7
GPS2	023707,4806.875,-12222.458,8,1.3,9,18.3	MHEAD_RNG_PITCHd_Wd	144.6,1716,-16.9,-10.000
SPEED_LIMITS	0.173,0.267	D_GRID	150

FINISH	3.0,1.018233	ALTIM_BOTTOM_PING	80.3,42.4
SM_CCo	2840,243.88,0.580,0,0,787,650.04	_24V_AH	23.6,1.128
SM_GC	1.62,0.00,0.00,243.88,0.000,0.000,0.580,416,1940,787,-11.06,-0.25,650.04	_10V_AH	10.9,1.247
IRIDIUM_FIX	4748.51,-12226.29,140898,020243	DATA_FILE_SIZE	15949,354
TT8_MAMPS	0.025311	CAP_FILE_SIZE	101564,0
HUMID	1542	CFSIZE	260165632,186089472
INTERNAL_PRESSURE	9.19835	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.60	GPS	200509,033036,4806.633,-12222.247,26,1.3,26,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	133	82.68	SBE_CT	310	24	175.65
Roll_motor	40	71	67.50	SBE_O2	243	19	109.06
VBD_pump_during_apogee	289	671	4592.78	WL_BBFL2VMT	378	105	937.45
VBD_pump_during_surface	243	579	3337.31	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	4.96
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.01
TT8	574	19	123.96
LPSleep	1018	2	24.31
TT8_Active	615	19	132.74
TT8_Sampling	754	39	327.16
TT8_CF8	194	45	97.34
TT8_Kalman	33	81	29.71
Analog_circuits	1030	12	134.80
GPS_charging	0	0	0.00
Compass	805	8	70.21
RAFOS	0	0	0.00
Transponder	5	30	1.81

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
18	-1.25	-155.7	0.0	0.0	0	111	0.00	0.00	-90.32	0.000	2	0.000	0.000	411	1946	2818
115	-1.25	-155.7	3.3	-1.7	15	173	11.43	2.53	-37.47	0.000	4	0.133	0.069	2542	543	3962
182	-1.04	-155.7	6.0	-8.6	25	190	0.25	2.40	0.00	0.000	6	0.092	0.038	2590	1958	3962
260	-1.04	-155.7	11.7	-6.9	38	267	0.00	2.50	0.00	0.000	4	0.000	0.055	2590	542	3962
521	-1.04	-155.7	34.3	-10.0	96	528	0.00	2.40	0.00	0.000	6	0.000	0.041	2590	1949	3962
596	-1.04	-155.7	41.3	-9.0	108	600	0.00	2.50	0.00	0.000	4	0.000	0.058	2590	542	3962
862	-1.04	-155.7	67.0	-9.7	136	866	0.00	2.45	0.00	0.000	6	0.000	0.043	2590	1949	3962
1002	-1.04	-155.7	79.4	-8.8	149	1003	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	1950	3962
1130	-1.04	-155.7	90.3	-8.7	161	1131	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	1954	3961
1256	-1.04	-155.7	101.4	-8.8	173	1257	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	1954	3961
1384	-1.04	-155.7	112.3	-8.7	185	1385	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	1954	3961
1390	end dive: BOTTOM_OBSTACLE_DETECTED
state	1390	begin apogee
1400	-0.31	0.0	113.2	8.6	186	1501	0.73	0.00	97.62	0.671	6	0.071	0.000	2746	2063	3437
1502	end apogee: CONTROL_FINISHED_OK
state	1502	begin climb
1506	1.25	155.7	117.1	0.0	196	1632	1.55	0.00	118.18	0.650	6	0.054	0.000	3089	2064	2801
1760	1.28	183.8	100.5	8.8	221	1788	0.00	0.00	23.02	0.613	6	0.000	0.000	3089	2064	2686
1918	1.29	188.2	85.6	9.8	236	1929	0.00	2.50	5.00	0.471	4	0.000	0.059	3089	3453	2668
1959	1.29	188.2	81.4	10.4	240	1963	0.00	2.47	0.00	0.000	6	0.000	0.048	3088	2045	2667
2095	1.30	201.5	68.3	9.4	252	2114	0.00	2.58	11.88	0.579	4	0.000	0.063	3089	649	2615
2173	1.30	201.5	60.4	10.1	260	2177	0.00	2.42	0.00	0.000	6	0.000	0.044	3089	2045	2614
2307	1.32	218.4	47.8	9.3	272	2328	0.00	2.60	14.75	0.587	4	0.000	0.058	3089	3455	2545
2359	1.34	229.0	42.9	9.5	277	2379	0.10	2.47	9.70	0.552	6	0.059	0.048	3117	2048	2502
2516	1.34	229.0	26.8	10.3	302	2523	0.00	2.55	0.00	0.000	4	0.000	0.064	3117	650	2501
2545	1.34	229.0	23.3	11.3	307	2551	0.00	2.42	0.00	0.000	6	0.000	0.044	3117	2049	2501
2622	1.34	229.0	15.2	10.3	320	2629	0.00	2.50	0.00	0.000	4	0.000	0.059	3117	3457	2500
2663	1.35	239.8	11.2	9.5	328	2678	0.00	2.47	9.82	0.549	6	0.000	0.048	3117	2044	2459
2744	end climb: SURFACE_DEPTH_REACHED
state	2744	begin surface coast
2813	end surface coast: CONTROL_FINISHED_OK
state	2814	begin surface