Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 106 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 106 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2427 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2505 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 425 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 82 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 275 UPLOAD_DIVES_MAX -1 VBD_MIN 389 DEVICE2 53

T_MISSION 330 CALL_TRIES 5 VBD_MAX 3987 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3532 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 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 -4 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 -6825.8677 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 0 RAFOS_DEVICE -1

MAX_BUOY 200 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 134 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2545 PRESSURE_YINT -14.600696 SEABIRD_T_G 0.0043387017

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_H 0.00063414662

MASS 51932 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_T_I 2.5692387e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8978091e-06

FERRY_MAX 45 PITCH_GAIN 22.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8799791

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1029794

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010948726

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016878155

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 25

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0031256729 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3944 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 134 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 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 0.0001158971 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -14.600696 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 275

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -6825.8677

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 330

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 167 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2545 KALMAN_USE 2 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2505 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2427 MASS 51932 R_PORT_OVSHOOT 82 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 200 R_STBD_OVSHOOT 36 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.8799791 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1029794 VBD_MAX 3987

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010948726 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016878155 VBD_MIN 389

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043387017 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063414662 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5692387e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8978091e-06 XPDR_DEVICE 24

DIVE 106 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 141110,2418.497,12320.162,8,2.6,27,-3.5 TGT_NAME RET_1

_CALLS 1 TGT_LATLONG 2407.200,12312.300

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 141636,2418.481,12320.230,10,1.4,26,-3.5 MHEAD_RNG_PITCHd_Wd 245.9,24823,-18.3,-12.000

SPEED_LIMITS 0.208,0.315 D_GRID 319

Post-dive calculations and measurements:

FINISH 1.7,1.008261 _24V_AH 24.9,21.680

SM_CCo 5362,0.00,0.000,0,0,1474,504.83 _10V_AH 10.9,12.896

SM_GC 2.37,7.28,0.00,0.00,0.058,0.000,0.000,141,2429,1474,-7.50,0.06,504.83 DATA_FILE_SIZE 44398,869

IRIDIUM_FIX 2411.01,12321.07,020998,121254 CAP_FILE_SIZE 75703,0

TT8_MAMPS 0.027612 CFSIZE 260165632,216702976

HUMID 1562 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.48279 CURRENT 0.165,118.1,1

TCM_TEMP 25.90 GPS 080609,154722,2417.842,12320.070,9,99.0,28,-3.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 247 138.80 SBE_CT 576 24 344.46

Roll_motor 44 89 99.04 Optode 707 33 581.65

VBD_pump_during_apogee 449 825 9230.44 WL_BB2F 0 105 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 70.32 nil 0 0 0.00

Iridium_during_connect 34 160 137.46 nil 0 0 0.00

Iridium_during_xfer 143 223 794.58

Transponder_ping 1 420 13.07

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 26 50 14.65

TT8 1396 19 301.49

LPSleep 2094 2 50.00

TT8_Active 498 19 107.48

TT8_Sampling 1347 39 584.67

TT8_CF8 354 45 177.16

TT8_Kalman 0 0 0.00

Analog_circuits 1204 12 157.59

GPS_charging 0 0 0.00

Compass 1315 8 114.72

RAFOS 0 0 0.00

Transponder 10 30 3.57

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 -1.05 -194.7 0.0 0.0 0 59 0.00 0.00 -42.08 0.000 2 0.000 0.000 141 2511 2450

62 -1.05 -194.7 3.0 -1.7 7 124 8.27 2.20 -48.60 0.000 4 0.248 0.041 2196 1032 3989

211 -0.22 -194.7 34.0 -35.2 32 219 0.98 2.10 0.00 0.000 6 0.185 0.033 2467 2443 3991

558 -0.73 -194.7 60.2 -6.2 93 564 0.40 1.98 0.00 0.000 4 0.067 0.046 2309 3754 3992

588 -0.85 -194.7 63.6 -11.9 98 595 0.10 1.88 0.00 0.000 6 0.086 0.025 2263 2419 3991

932 -0.48 -194.7 145.4 -21.9 159 939 0.38 2.05 0.00 0.000 4 0.157 0.043 2373 3767 3992

1019 -0.70 -194.7 155.5 -7.9 174 1025 0.15 1.85 0.00 0.000 6 0.069 0.025 2305 2450 3992

1364 -0.62 -194.7 200.1 -16.5 235 1370 0.15 2.00 0.00 0.000 4 0.152 0.026 2346 1043 3993

1405 -0.77 -194.7 206.3 -13.5 242 1412 0.15 2.08 0.00 0.000 6 0.070 0.032 2279 2451 3993

1750 -0.66 -194.7 252.4 -13.2 303 1756 0.17 1.98 0.00 0.000 4 0.154 0.046 2330 3763 3993

1797 -0.79 -194.7 257.6 -10.1 311 1803 0.12 1.88 0.00 0.000 6 0.078 0.026 2274 2437 3994

2143 -0.69 -194.7 299.0 -12.4 372 2151 0.17 2.00 0.00 0.000 4 0.149 0.028 2324 1036 3993

2294 -0.87 -194.7 311.5 -7.7 386 2299 0.17 2.05 0.00 0.000 6 0.067 0.034 2248 2429 3994

2361 end dive: TARGET_DEPTH_EXCEEDED

state 2361 begin apogee

2367 -0.22 0.0 320.5 14.1 392 2456 0.68 0.00 84.05 0.825 6 0.150 0.000 2463 2516 3532

2456 end apogee: CONTROL_FINISHED_OK

state 2456 begin climb

2459 1.05 194.7 323.9 0.0 401 2608 1.17 2.20 140.35 0.808 4 0.081 0.029 2890 1112 2737

2650 0.57 194.7 314.6 15.8 418 2656 0.57 2.12 0.00 0.000 6 0.185 0.033 2733 2502 2736

2986 0.67 278.6 283.9 8.5 465 3055 0.00 0.00 61.12 0.789 6 0.000 0.000 2733 2501 2395

3396 0.78 280.9 235.8 11.9 537 3402 0.17 2.03 0.00 0.000 4 0.064 0.030 2815 1128 2390

3540 0.65 280.9 216.7 13.1 562 3546 0.22 2.05 0.00 0.000 6 0.167 0.035 2753 2502 2389

3884 0.78 335.3 180.4 9.7 623 3932 0.12 1.95 41.15 0.741 4 0.076 0.048 2805 3755 2162

4084 0.68 335.3 152.1 16.4 658 4091 0.17 1.77 0.00 0.000 6 0.169 0.025 2766 2513 2158

4429 1.06 470.6 121.5 6.4 719 4536 0.30 2.05 98.62 0.693 4 0.057 0.048 2894 3753 1611

4637 0.87 470.6 86.0 20.9 755 4644 0.28 1.77 0.00 0.000 6 0.170 0.025 2828 2518 1605

4982 1.09 502.4 45.2 10.7 816 5013 0.17 2.10 23.88 0.616 4 0.067 0.031 2914 1127 1482

5031 1.04 502.4 37.7 17.2 824 5039 0.12 2.10 0.00 0.000 6 0.169 0.033 2882 2525 1480

5263 end climb: SURFACE_DEPTH_REACHED

state 5263 begin surface coast

5285 end surface coast: CONTROL_FINISHED_OK

state 5285 begin surface

ID	167	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	106	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2427	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2505	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	425	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	82	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	275	UPLOAD_DIVES_MAX	-1	VBD_MIN	389	DEVICE2	53
T_MISSION	330	CALL_TRIES	5	VBD_MAX	3987	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3532	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	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	-4	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	-6825.8677	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	0	RAFOS_DEVICE	-1
MAX_BUOY	200	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	134	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2545	PRESSURE_YINT	-14.600696	SEABIRD_T_G	0.0043387017
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_H	0.00063414662
MASS	51932	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_T_I	2.5692387e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8978091e-06
FERRY_MAX	45	PITCH_GAIN	22.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8799791
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1029794
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010948726
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016878155
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	141110,2418.497,12320.162,8,2.6,27,-3.5	TGT_NAME	RET_1
_CALLS	1	TGT_LATLONG	2407.200,12312.300
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	141636,2418.481,12320.230,10,1.4,26,-3.5	MHEAD_RNG_PITCHd_Wd	245.9,24823,-18.3,-12.000
SPEED_LIMITS	0.208,0.315	D_GRID	319

FINISH	1.7,1.008261	_24V_AH	24.9,21.680
SM_CCo	5362,0.00,0.000,0,0,1474,504.83	_10V_AH	10.9,12.896
SM_GC	2.37,7.28,0.00,0.00,0.058,0.000,0.000,141,2429,1474,-7.50,0.06,504.83	DATA_FILE_SIZE	44398,869
IRIDIUM_FIX	2411.01,12321.07,020998,121254	CAP_FILE_SIZE	75703,0
TT8_MAMPS	0.027612	CFSIZE	260165632,216702976
HUMID	1562	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.48279	CURRENT	0.165,118.1,1
TCM_TEMP	25.90	GPS	080609,154722,2417.842,12320.070,9,99.0,28,-3.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	247	138.80	SBE_CT	576	24	344.46
Roll_motor	44	89	99.04	Optode	707	33	581.65
VBD_pump_during_apogee	449	825	9230.44	WL_BB2F	0	105	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	70.32	nil	0	0	0.00
Iridium_during_connect	34	160	137.46	nil	0	0	0.00
Iridium_during_xfer	143	223	794.58
Transponder_ping	1	420	13.07
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	26	50	14.65
TT8	1396	19	301.49
LPSleep	2094	2	50.00
TT8_Active	498	19	107.48
TT8_Sampling	1347	39	584.67
TT8_CF8	354	45	177.16
TT8_Kalman	0	0	0.00
Analog_circuits	1204	12	157.59
GPS_charging	0	0	0.00
Compass	1315	8	114.72
RAFOS	0	0	0.00
Transponder	10	30	3.57

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	-1.05	-194.7	0.0	0.0	0	59	0.00	0.00	-42.08	0.000	2	0.000	0.000	141	2511	2450
62	-1.05	-194.7	3.0	-1.7	7	124	8.27	2.20	-48.60	0.000	4	0.248	0.041	2196	1032	3989
211	-0.22	-194.7	34.0	-35.2	32	219	0.98	2.10	0.00	0.000	6	0.185	0.033	2467	2443	3991
558	-0.73	-194.7	60.2	-6.2	93	564	0.40	1.98	0.00	0.000	4	0.067	0.046	2309	3754	3992
588	-0.85	-194.7	63.6	-11.9	98	595	0.10	1.88	0.00	0.000	6	0.086	0.025	2263	2419	3991
932	-0.48	-194.7	145.4	-21.9	159	939	0.38	2.05	0.00	0.000	4	0.157	0.043	2373	3767	3992
1019	-0.70	-194.7	155.5	-7.9	174	1025	0.15	1.85	0.00	0.000	6	0.069	0.025	2305	2450	3992
1364	-0.62	-194.7	200.1	-16.5	235	1370	0.15	2.00	0.00	0.000	4	0.152	0.026	2346	1043	3993
1405	-0.77	-194.7	206.3	-13.5	242	1412	0.15	2.08	0.00	0.000	6	0.070	0.032	2279	2451	3993
1750	-0.66	-194.7	252.4	-13.2	303	1756	0.17	1.98	0.00	0.000	4	0.154	0.046	2330	3763	3993
1797	-0.79	-194.7	257.6	-10.1	311	1803	0.12	1.88	0.00	0.000	6	0.078	0.026	2274	2437	3994
2143	-0.69	-194.7	299.0	-12.4	372	2151	0.17	2.00	0.00	0.000	4	0.149	0.028	2324	1036	3993
2294	-0.87	-194.7	311.5	-7.7	386	2299	0.17	2.05	0.00	0.000	6	0.067	0.034	2248	2429	3994
2361	end dive: TARGET_DEPTH_EXCEEDED
state	2361	begin apogee
2367	-0.22	0.0	320.5	14.1	392	2456	0.68	0.00	84.05	0.825	6	0.150	0.000	2463	2516	3532
2456	end apogee: CONTROL_FINISHED_OK
state	2456	begin climb
2459	1.05	194.7	323.9	0.0	401	2608	1.17	2.20	140.35	0.808	4	0.081	0.029	2890	1112	2737
2650	0.57	194.7	314.6	15.8	418	2656	0.57	2.12	0.00	0.000	6	0.185	0.033	2733	2502	2736
2986	0.67	278.6	283.9	8.5	465	3055	0.00	0.00	61.12	0.789	6	0.000	0.000	2733	2501	2395
3396	0.78	280.9	235.8	11.9	537	3402	0.17	2.03	0.00	0.000	4	0.064	0.030	2815	1128	2390
3540	0.65	280.9	216.7	13.1	562	3546	0.22	2.05	0.00	0.000	6	0.167	0.035	2753	2502	2389
3884	0.78	335.3	180.4	9.7	623	3932	0.12	1.95	41.15	0.741	4	0.076	0.048	2805	3755	2162
4084	0.68	335.3	152.1	16.4	658	4091	0.17	1.77	0.00	0.000	6	0.169	0.025	2766	2513	2158
4429	1.06	470.6	121.5	6.4	719	4536	0.30	2.05	98.62	0.693	4	0.057	0.048	2894	3753	1611
4637	0.87	470.6	86.0	20.9	755	4644	0.28	1.77	0.00	0.000	6	0.170	0.025	2828	2518	1605
4982	1.09	502.4	45.2	10.7	816	5013	0.17	2.10	23.88	0.616	4	0.067	0.031	2914	1127	1482
5031	1.04	502.4	37.7	17.2	824	5039	0.12	2.10	0.00	0.000	6	0.169	0.033	2882	2525	1480
5263	end climb: SURFACE_DEPTH_REACHED
state	5263	begin surface coast
5285	end surface coast: CONTROL_FINISHED_OK
state	5285	begin surface