Glider dive log

PortSusan 04Mar09 * SG166 * Dive index * Mission links * Dive 9 * 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 9 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 380 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -4321.7334 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 380

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 -4321.7334

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 29 VBD_BLEED_AD_RATE 8

C_VBD 3420 MAX_BUOY 100 R_STBD_OVSHOOT 25 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 9 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 015302,4806.003,-12221.778,13,1.1,13,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 5 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.197,-0.002

_SM_DEPTHo 1.11 KALMAN_X 1881.6,-303.8,-12.5,215.1,844.3

_SM_ANGLEo -63.0 KALMAN_Y 15.0,650.3,310.8,-4735.1,-3.6

GPS2 015802,4805.962,-12221.716,15,1.7,15,18.3 MHEAD_RNG_PITCHd_Wd 251.2,359,-16.6,-7.463

SPEED_LIMITS 0.129,0.197 D_GRID 150

Post-dive calculations and measurements:

FINISH 1.8,1.018694 ALTIM_BOTTOM_PING 90.1,32.7

SM_CCo 2889,154.88,0.808,0,0,1870,380.21 _24V_AH 24.1,1.286

SM_GC 1.90,0.00,0.00,154.88,0.000,0.000,0.808,165,2041,1870,-7.75,-0.25,380.21 _10V_AH 10.7,0.402

IRIDIUM_FIX 4748.51,-12217.40,300598,010158 DATA_FILE_SIZE 28570,503

TT8_MAMPS 0.027612 CAP_FILE_SIZE 50487,0

HUMID 1438 CFSIZE 260165632,258203648

INTERNAL_PRESSURE 9.25299 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.90 GPS 050309,025040,4805.927,-12222.028,7,3.1,26,18.3

XPDR_PINGS 15

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 318 157.07 SBE_CT 338 24 195.98

Roll_motor 27 85 55.76 Optode 362 33 287.95

VBD_pump_during_apogee 216 910 4750.85 WL_BB2F 611 105 1547.23

VBD_pump_during_surface 154 808 3017.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 65.28 nil 0 0 0.00

Iridium_during_connect 25 160 96.60 nil 0 0 0.00

Iridium_during_xfer 178 223 957.83

Transponder_ping 5 420 53.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.24

TT8 745 19 157.91

LPSleep 910 2 21.34

TT8_Active 504 19 106.94

TT8_Sampling 916 39 390.46

TT8_CF8 285 45 139.72

TT8_Kalman 33 81 29.16

Analog_circuits 981 12 125.99

GPS_charging 0 0 0.00

Compass 908 8 77.80

RAFOS 0 0 0.00

Transponder 14 30 4.69

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

13 -0.64 -97.8 0.0 0.0 0 175 0.00 0.00 -158.50 0.000 2 0.000 0.000 162 2140 3671

177 -0.64 -97.8 3.4 -3.2 27 198 11.18 2.20 -4.07 0.000 4 0.318 0.085 2425 3464 3820

452 -0.64 -97.8 24.8 -7.5 75 459 0.00 2.15 0.00 0.000 6 0.000 0.045 2424 2047 3821

526 -0.64 -97.8 30.4 -7.4 88 532 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2047 3822

600 -0.64 -97.8 36.3 -8.3 101 606 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2047 3821

672 -0.64 -97.8 42.6 -8.9 114 679 0.00 2.20 0.00 0.000 4 0.000 0.058 2425 650 3821

712 -0.64 -97.8 46.4 -9.7 121 718 0.00 2.20 0.00 0.000 6 0.000 0.054 2425 2062 3821

852 -0.64 -97.8 58.8 -8.3 146 859 0.00 2.22 0.00 0.000 4 0.000 0.068 2424 3458 3821

875 -0.64 -97.8 60.9 -8.6 150 881 0.00 2.15 0.00 0.000 6 0.000 0.044 2424 2055 3821

1016 -0.64 -97.8 72.0 -7.8 175 1021 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2055 3821

1155 -0.64 -97.8 82.9 -7.7 200 1162 0.00 2.20 0.00 0.000 4 0.000 0.057 2424 644 3820

1219 -0.64 -97.8 88.2 -8.6 211 1225 0.00 2.17 0.00 0.000 6 0.000 0.055 2424 2049 3820

1359 -0.64 -97.8 99.0 -7.6 236 1365 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2050 3820

1499 -0.64 -97.8 109.5 -7.5 261 1505 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2050 3820

1583 end dive: BOTTOM_OBSTACLE_DETECTED

state 1583 begin apogee

1587 -0.16 0.0 115.8 7.5 276 1667 0.52 0.00 75.88 0.910 6 0.163 0.000 2585 2253 3420

1668 end apogee: CONTROL_FINISHED_OK

state 1668 begin climb

1669 0.64 97.8 117.1 0.0 290 1754 0.77 0.00 77.90 0.873 6 0.101 0.000 2845 2253 3021

1889 0.64 97.8 93.0 12.9 329 1894 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 2253 3020

2028 0.64 97.8 75.3 11.7 354 2034 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 2253 3018

2168 0.64 97.8 58.3 12.2 379 2174 0.00 2.22 0.00 0.000 4 0.000 0.056 2856 836 3019

2214 0.64 97.8 52.9 12.0 387 2220 0.00 2.22 0.00 0.000 6 0.000 0.056 2856 2255 3019

2354 0.64 97.8 35.2 13.1 412 2360 0.00 0.00 0.00 0.000 6 0.000 0.000 2856 2255 3019

2428 0.64 97.8 26.0 12.6 425 2434 0.00 0.00 0.00 0.000 6 0.000 0.000 2856 2255 3019

2501 0.64 97.8 17.0 12.0 438 2507 0.00 0.00 0.00 0.000 6 0.000 0.000 2856 2255 3019

2575 0.64 97.8 9.5 9.5 451 2581 0.00 0.00 0.00 0.000 6 0.000 0.000 2855 2255 3019

2648 0.74 179.8 5.8 3.2 464 2720 0.00 2.35 62.75 0.838 4 0.000 0.070 2856 3655 2686

2730 end climb: SURFACE_DEPTH_REACHED

state 2730 begin surface coast

2873 end surface coast: CONTROL_FINISHED_OK

state 2873 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	9	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	380	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-4321.7334	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	015302,4806.003,-12221.778,13,1.1,13,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	5	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.197,-0.002
_SM_DEPTHo	1.11	KALMAN_X	1881.6,-303.8,-12.5,215.1,844.3
_SM_ANGLEo	-63.0	KALMAN_Y	15.0,650.3,310.8,-4735.1,-3.6
GPS2	015802,4805.962,-12221.716,15,1.7,15,18.3	MHEAD_RNG_PITCHd_Wd	251.2,359,-16.6,-7.463
SPEED_LIMITS	0.129,0.197	D_GRID	150

FINISH	1.8,1.018694	ALTIM_BOTTOM_PING	90.1,32.7
SM_CCo	2889,154.88,0.808,0,0,1870,380.21	_24V_AH	24.1,1.286
SM_GC	1.90,0.00,0.00,154.88,0.000,0.000,0.808,165,2041,1870,-7.75,-0.25,380.21	_10V_AH	10.7,0.402
IRIDIUM_FIX	4748.51,-12217.40,300598,010158	DATA_FILE_SIZE	28570,503
TT8_MAMPS	0.027612	CAP_FILE_SIZE	50487,0
HUMID	1438	CFSIZE	260165632,258203648
INTERNAL_PRESSURE	9.25299	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.90	GPS	050309,025040,4805.927,-12222.028,7,3.1,26,18.3
XPDR_PINGS	15

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	318	157.07	SBE_CT	338	24	195.98
Roll_motor	27	85	55.76	Optode	362	33	287.95
VBD_pump_during_apogee	216	910	4750.85	WL_BB2F	611	105	1547.23
VBD_pump_during_surface	154	808	3017.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	65.28	nil	0	0	0.00
Iridium_during_connect	25	160	96.60	nil	0	0	0.00
Iridium_during_xfer	178	223	957.83
Transponder_ping	5	420	53.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.24
TT8	745	19	157.91
LPSleep	910	2	21.34
TT8_Active	504	19	106.94
TT8_Sampling	916	39	390.46
TT8_CF8	285	45	139.72
TT8_Kalman	33	81	29.16
Analog_circuits	981	12	125.99
GPS_charging	0	0	0.00
Compass	908	8	77.80
RAFOS	0	0	0.00
Transponder	14	30	4.69

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
13	-0.64	-97.8	0.0	0.0	0	175	0.00	0.00	-158.50	0.000	2	0.000	0.000	162	2140	3671
177	-0.64	-97.8	3.4	-3.2	27	198	11.18	2.20	-4.07	0.000	4	0.318	0.085	2425	3464	3820
452	-0.64	-97.8	24.8	-7.5	75	459	0.00	2.15	0.00	0.000	6	0.000	0.045	2424	2047	3821
526	-0.64	-97.8	30.4	-7.4	88	532	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2047	3822
600	-0.64	-97.8	36.3	-8.3	101	606	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2047	3821
672	-0.64	-97.8	42.6	-8.9	114	679	0.00	2.20	0.00	0.000	4	0.000	0.058	2425	650	3821
712	-0.64	-97.8	46.4	-9.7	121	718	0.00	2.20	0.00	0.000	6	0.000	0.054	2425	2062	3821
852	-0.64	-97.8	58.8	-8.3	146	859	0.00	2.22	0.00	0.000	4	0.000	0.068	2424	3458	3821
875	-0.64	-97.8	60.9	-8.6	150	881	0.00	2.15	0.00	0.000	6	0.000	0.044	2424	2055	3821
1016	-0.64	-97.8	72.0	-7.8	175	1021	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2055	3821
1155	-0.64	-97.8	82.9	-7.7	200	1162	0.00	2.20	0.00	0.000	4	0.000	0.057	2424	644	3820
1219	-0.64	-97.8	88.2	-8.6	211	1225	0.00	2.17	0.00	0.000	6	0.000	0.055	2424	2049	3820
1359	-0.64	-97.8	99.0	-7.6	236	1365	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2050	3820
1499	-0.64	-97.8	109.5	-7.5	261	1505	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2050	3820
1583	end dive: BOTTOM_OBSTACLE_DETECTED
state	1583	begin apogee
1587	-0.16	0.0	115.8	7.5	276	1667	0.52	0.00	75.88	0.910	6	0.163	0.000	2585	2253	3420
1668	end apogee: CONTROL_FINISHED_OK
state	1668	begin climb
1669	0.64	97.8	117.1	0.0	290	1754	0.77	0.00	77.90	0.873	6	0.101	0.000	2845	2253	3021
1889	0.64	97.8	93.0	12.9	329	1894	0.00	0.00	0.00	0.000	6	0.000	0.000	2845	2253	3020
2028	0.64	97.8	75.3	11.7	354	2034	0.00	0.00	0.00	0.000	6	0.000	0.000	2845	2253	3018
2168	0.64	97.8	58.3	12.2	379	2174	0.00	2.22	0.00	0.000	4	0.000	0.056	2856	836	3019
2214	0.64	97.8	52.9	12.0	387	2220	0.00	2.22	0.00	0.000	6	0.000	0.056	2856	2255	3019
2354	0.64	97.8	35.2	13.1	412	2360	0.00	0.00	0.00	0.000	6	0.000	0.000	2856	2255	3019
2428	0.64	97.8	26.0	12.6	425	2434	0.00	0.00	0.00	0.000	6	0.000	0.000	2856	2255	3019
2501	0.64	97.8	17.0	12.0	438	2507	0.00	0.00	0.00	0.000	6	0.000	0.000	2856	2255	3019
2575	0.64	97.8	9.5	9.5	451	2581	0.00	0.00	0.00	0.000	6	0.000	0.000	2855	2255	3019
2648	0.74	179.8	5.8	3.2	464	2720	0.00	2.35	62.75	0.838	4	0.000	0.070	2856	3655	2686
2730	end climb: SURFACE_DEPTH_REACHED
state	2730	begin surface coast
2873	end surface coast: CONTROL_FINISHED_OK
state	2873	begin surface