Glider dive log

PortSusan 28Jan09 * SG165 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 165 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 12 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3692 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 2150 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 550 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT 0

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 50 UPLOAD_DIVES_MAX -1 VBD_MIN 485 DEVICE2 53

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3959 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3665 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 130 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 -3736.5125 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 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 180 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3922 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2921 PRESSURE_YINT -22.272026 SEABIRD_T_G 0.0043383995

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000116182 SEABIRD_T_H 0.00062454981

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3067754e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3616824e-06

FERRY_MAX 45 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9113674

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.100266

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.0005534364

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 6.0498875e-05

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 550

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 30 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3922 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 180 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 0.000116182 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -22.272026 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 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 -3736.5125

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 130

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 165 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3692 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2921 KALMAN_USE 1 ROLL_MIN 200 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2150 MASS 52000 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 3665 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.9113674 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.100266 VBD_MAX 3959

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.0005534364 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 6.0498875e-05 VBD_MIN 485

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043383995 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062454981 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3067754e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3616824e-06 XPDR_DEVICE 24

DIVE 12 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 060407,4804.982,-12221.291,6,1.3,11,18.3 TGT_NAME EIGHT

_CALLS 2 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.122,0.230

_SM_DEPTHo 1.37 KALMAN_X 4512.8,576.9,-185.6,-2986.5,402.2

_SM_ANGLEo -78.8 KALMAN_Y -8009.0,-1016.9,270.9,5281.1,-752.4

GPS2 061050,4804.937,-12221.253,9,2.0,9,18.3 MHEAD_RNG_PITCHd_Wd 313.8,6611,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.9,1.019680 ALTIM_BOTTOM_PING 80.4,48.3

SM_CCo 1924,304.23,0.669,1,0,1422,550.21 _24V_AH 24.2,1.796

SM_GC 1.57,0.00,0.00,304.23,0.000,0.000,0.669,174,2139,1422,-8.59,-0.31,550.21 _10V_AH 10.7,0.644

IRIDIUM_FIX 4745.30,-12220.12,250498,050559 DATA_FILE_SIZE 19080,351

TT8_MAMPS 0.052923 CAP_FILE_SIZE 45129,0

HUMID 1410 CFSIZE 260165632,258277376

INTERNAL_PRESSURE 8.87729 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

TCM_TEMP 18.90 GPS 290109,064928,4805.032,-12221.333,8,2.3,27,18.3

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 281 143.73 SBE_CT 234 24 136.36

Roll_motor 42 98 101.22 Optode 238 33 190.28

VBD_pump_during_apogee 165 803 3222.12 WL_BB2F 401 105 1019.70

VBD_pump_during_surface 304 668 4924.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 145.19 nil 0 0 0.00

Iridium_during_connect 64 160 248.65 nil 0 0 0.00

Iridium_during_xfer 157 223 849.94

Transponder_ping 1 420 15.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.86

TT8 0 19 0.00

LPSleep 938 2 21.98

TT8_Active 595 19 126.25

TT8_Sampling 760 39 324.05

TT8_CF8 341 45 167.58

TT8_Kalman 33 81 29.16

Analog_circuits 928 12 119.18

GPS_charging 0 0 0.00

Compass 624 8 53.44

RAFOS 0 0 0.00

Transponder 5 30 1.78

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

11 -0.76 -146.6 0.0 0.0 0 107 0.00 0.00 -93.88 0.000 2 0.000 0.000 173 2136 3532

109 -0.76 -146.6 3.4 -4.2 16 139 11.00 2.42 -11.77 0.000 4 0.281 0.081 2657 3556 3961

143 -0.76 -146.6 8.5 -12.1 22 150 0.00 2.33 0.00 0.000 6 0.000 0.049 2657 2142 3961

212 -0.76 -146.6 16.5 -12.9 35 213 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2141 3962

276 -0.76 -146.6 25.9 -13.9 47 277 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2141 3962

340 -0.76 -146.6 33.7 -11.6 59 341 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2141 3962

405 -0.76 -146.6 41.8 -12.8 71 411 0.00 2.40 0.00 0.000 4 0.000 0.070 2657 3560 3962

430 -0.76 -146.6 45.2 -13.3 76 438 0.00 2.30 0.00 0.000 6 0.000 0.049 2657 2145 3962

565 -0.76 -146.6 61.2 -11.9 101 571 0.00 2.30 0.00 0.000 4 0.000 0.058 2657 741 3962

607 -0.76 -146.6 66.3 -11.8 109 613 0.00 2.33 0.00 0.000 6 0.000 0.058 2657 2149 3962

743 -0.76 -146.6 80.4 -10.6 134 748 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2149 3962

875 -0.76 -146.6 93.1 -9.2 159 881 0.00 2.30 0.00 0.000 4 0.000 0.058 2657 744 3962

900 -0.76 -146.6 95.7 -9.6 164 908 0.00 2.30 0.00 0.000 6 0.000 0.058 2657 2147 3962

1035 -0.76 -146.6 107.7 -8.8 189 1041 0.00 2.35 0.00 0.000 4 0.000 0.070 2657 3562 3962

1055 -0.76 -146.6 109.8 -9.6 193 1062 0.00 2.28 0.00 0.000 6 0.000 0.049 2657 2145 3962

1161 end dive: BOTTOM_OBSTACLE_DETECTED

state 1161 begin apogee

1164 -0.17 0.0 119.1 8.8 213 1225 0.65 0.00 55.12 0.803 6 0.163 0.000 2856 2207 3664

1226 end apogee: CONTROL_FINISHED_OK

state 1226 begin climb

1227 0.76 146.6 120.2 0.0 224 1345 0.88 2.45 110.68 0.758 4 0.089 0.066 3160 3605 3066

1375 0.76 146.6 98.8 22.3 251 1382 0.00 2.35 0.00 0.000 6 0.000 0.051 3170 2213 3066

1508 0.76 146.6 70.6 20.2 276 1516 0.00 2.38 0.00 0.000 4 0.000 0.065 3170 3602 3066

1546 0.76 146.6 62.5 21.8 283 1553 0.00 2.33 0.00 0.000 6 0.000 0.051 3180 2198 3066

1680 0.76 146.6 36.1 18.7 308 1686 0.00 2.38 0.00 0.000 4 0.000 0.064 3180 3604 3065

1722 0.76 146.6 28.0 19.6 316 1729 0.00 2.30 0.00 0.000 6 0.000 0.051 3190 2200 3065

1792 0.76 146.6 16.1 13.3 329 1792 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2199 3066

1855 0.76 146.6 7.1 14.7 341 1862 0.00 2.35 0.00 0.000 4 0.000 0.065 3190 3604 3066

1881 end climb: SURFACE_DEPTH_REACHED

state 1881 begin surface coast

1908 end surface coast: CONTROL_FINISHED_OK

state 1908 begin surface

ID	165	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	12	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3692	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	2150	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	550	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	0
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	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	485	DEVICE2	53
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3959	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3665	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	130	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	-3736.5125	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	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	180	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3922	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2921	PRESSURE_YINT	-22.272026	SEABIRD_T_G	0.0043383995
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000116182	SEABIRD_T_H	0.00062454981
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3067754e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3616824e-06
FERRY_MAX	45	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9113674
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.100266
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.0005534364
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	6.0498875e-05
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	060407,4804.982,-12221.291,6,1.3,11,18.3	TGT_NAME	EIGHT
_CALLS	2	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.122,0.230
_SM_DEPTHo	1.37	KALMAN_X	4512.8,576.9,-185.6,-2986.5,402.2
_SM_ANGLEo	-78.8	KALMAN_Y	-8009.0,-1016.9,270.9,5281.1,-752.4
GPS2	061050,4804.937,-12221.253,9,2.0,9,18.3	MHEAD_RNG_PITCHd_Wd	313.8,6611,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	150

FINISH	2.9,1.019680	ALTIM_BOTTOM_PING	80.4,48.3
SM_CCo	1924,304.23,0.669,1,0,1422,550.21	_24V_AH	24.2,1.796
SM_GC	1.57,0.00,0.00,304.23,0.000,0.000,0.669,174,2139,1422,-8.59,-0.31,550.21	_10V_AH	10.7,0.644
IRIDIUM_FIX	4745.30,-12220.12,250498,050559	DATA_FILE_SIZE	19080,351
TT8_MAMPS	0.052923	CAP_FILE_SIZE	45129,0
HUMID	1410	CFSIZE	260165632,258277376
INTERNAL_PRESSURE	8.87729	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
TCM_TEMP	18.90	GPS	290109,064928,4805.032,-12221.333,8,2.3,27,18.3
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	281	143.73	SBE_CT	234	24	136.36
Roll_motor	42	98	101.22	Optode	238	33	190.28
VBD_pump_during_apogee	165	803	3222.12	WL_BB2F	401	105	1019.70
VBD_pump_during_surface	304	668	4924.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	145.19	nil	0	0	0.00
Iridium_during_connect	64	160	248.65	nil	0	0	0.00
Iridium_during_xfer	157	223	849.94
Transponder_ping	1	420	15.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.86
TT8	0	19	0.00
LPSleep	938	2	21.98
TT8_Active	595	19	126.25
TT8_Sampling	760	39	324.05
TT8_CF8	341	45	167.58
TT8_Kalman	33	81	29.16
Analog_circuits	928	12	119.18
GPS_charging	0	0	0.00
Compass	624	8	53.44
RAFOS	0	0	0.00
Transponder	5	30	1.78

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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
11	-0.76	-146.6	0.0	0.0	0	107	0.00	0.00	-93.88	0.000	2	0.000	0.000	173	2136	3532
109	-0.76	-146.6	3.4	-4.2	16	139	11.00	2.42	-11.77	0.000	4	0.281	0.081	2657	3556	3961
143	-0.76	-146.6	8.5	-12.1	22	150	0.00	2.33	0.00	0.000	6	0.000	0.049	2657	2142	3961
212	-0.76	-146.6	16.5	-12.9	35	213	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2141	3962
276	-0.76	-146.6	25.9	-13.9	47	277	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2141	3962
340	-0.76	-146.6	33.7	-11.6	59	341	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2141	3962
405	-0.76	-146.6	41.8	-12.8	71	411	0.00	2.40	0.00	0.000	4	0.000	0.070	2657	3560	3962
430	-0.76	-146.6	45.2	-13.3	76	438	0.00	2.30	0.00	0.000	6	0.000	0.049	2657	2145	3962
565	-0.76	-146.6	61.2	-11.9	101	571	0.00	2.30	0.00	0.000	4	0.000	0.058	2657	741	3962
607	-0.76	-146.6	66.3	-11.8	109	613	0.00	2.33	0.00	0.000	6	0.000	0.058	2657	2149	3962
743	-0.76	-146.6	80.4	-10.6	134	748	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2149	3962
875	-0.76	-146.6	93.1	-9.2	159	881	0.00	2.30	0.00	0.000	4	0.000	0.058	2657	744	3962
900	-0.76	-146.6	95.7	-9.6	164	908	0.00	2.30	0.00	0.000	6	0.000	0.058	2657	2147	3962
1035	-0.76	-146.6	107.7	-8.8	189	1041	0.00	2.35	0.00	0.000	4	0.000	0.070	2657	3562	3962
1055	-0.76	-146.6	109.8	-9.6	193	1062	0.00	2.28	0.00	0.000	6	0.000	0.049	2657	2145	3962
1161	end dive: BOTTOM_OBSTACLE_DETECTED
state	1161	begin apogee
1164	-0.17	0.0	119.1	8.8	213	1225	0.65	0.00	55.12	0.803	6	0.163	0.000	2856	2207	3664
1226	end apogee: CONTROL_FINISHED_OK
state	1226	begin climb
1227	0.76	146.6	120.2	0.0	224	1345	0.88	2.45	110.68	0.758	4	0.089	0.066	3160	3605	3066
1375	0.76	146.6	98.8	22.3	251	1382	0.00	2.35	0.00	0.000	6	0.000	0.051	3170	2213	3066
1508	0.76	146.6	70.6	20.2	276	1516	0.00	2.38	0.00	0.000	4	0.000	0.065	3170	3602	3066
1546	0.76	146.6	62.5	21.8	283	1553	0.00	2.33	0.00	0.000	6	0.000	0.051	3180	2198	3066
1680	0.76	146.6	36.1	18.7	308	1686	0.00	2.38	0.00	0.000	4	0.000	0.064	3180	3604	3065
1722	0.76	146.6	28.0	19.6	316	1729	0.00	2.30	0.00	0.000	6	0.000	0.051	3190	2200	3065
1792	0.76	146.6	16.1	13.3	329	1792	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2199	3066
1855	0.76	146.6	7.1	14.7	341	1862	0.00	2.35	0.00	0.000	4	0.000	0.065	3190	3604	3066
1881	end climb: SURFACE_DEPTH_REACHED
state	1881	begin surface coast
1908	end surface coast: CONTROL_FINISHED_OK
state	1908	begin surface