Glider dive log

PortSusan 03Mar09 * SG148 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 148 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 180 ROLL_MIN 160 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 13 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3940 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 2200 C_ROLL_DIVE 2030 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -15800 C_ROLL_CLIMB 2030 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

D_NO_BLEED 80 SM_CC 400 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 INT_PRESSURE_YINT 1

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 2 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 511 DEVICE2 20

T_MISSION 75 CALL_TRIES 5 VBD_MAX 3949 DEVICE3 53

T_ABORT 1440 CALL_WAIT 60 C_VBD 3500 DEVICE4 35

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 87

T_TURN_SAMPINT 5 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 -19545.785 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 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 420 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2821 PRESSURE_YINT -11.678058 SEABIRD_T_G 0.0043988163

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011637 SEABIRD_T_H 0.0006414433

MASS 52629 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.6398575e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.9043883e-06

FERRY_MAX 45 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.103149

KALMAN_USE 1 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1453719

HD_A 0.003 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0014561723

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00020149905

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.1 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 3 PITCH_MIN 420 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011637 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -11.678058 TGT_DEFAULT_LAT 2200

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -15800

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 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 -19545.785

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 75

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 148 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 1 ROLL_MAXERRORS 2 UPLOAD_DIVES_MAX -1

C_PITCH 2821 KALMAN_USE 1 ROLL_MIN 160 USE_BATHY 0

C_ROLL_CLIMB 2030 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2030 MASS 52629 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 3500 MAX_BUOY 150 R_STBD_OVSHOOT 25 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -10.103149 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1453719 VBD_MAX 3949

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0014561723 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00020149905 VBD_MIN 511

DEVICE3 53 N_GPS 20 SEABIRD_T_G 0.0043988163 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 35 N_NOCOMM 1 SEABIRD_T_H 0.0006414433 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 87 N_NOSURFACE 0 SEABIRD_T_I 2.6398575e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.9043883e-06 XPDR_DEVICE 24

DIVE 13 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 071836,4806.653,-12222.695,12,1.5,28,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.164,-0.167

_SM_DEPTHo 0.99 KALMAN_X -1997.5,-245.5,-51.7,2805.7,-283.0

_SM_ANGLEo -65.0 KALMAN_Y 2535.1,338.5,4.5,-5571.7,200.0

GPS2 072746,4806.625,-12222.744,10,2.1,29,18.3 MHEAD_RNG_PITCHd_Wd 117.4,1479,-13.0,-7.463

SPEED_LIMITS 0.129,0.234 D_GRID 150

Post-dive calculations and measurements:

FINISH 1.1,1.019844 ALTIM_BOTTOM_PING 80.3,6.3

SM_CCo 2724,69.25,0.606,0,0,1868,400.08 _24V_AH 23.5,1.632

SM_GC 1.33,0.00,0.00,69.25,0.000,0.000,0.606,418,2020,1868,-11.06,-0.28,400.08 _10V_AH 10.4,1.404

IRIDIUM_FIX 4751.72,-12223.57,290598,060608 DATA_FILE_SIZE 35201,430

TT8_MAMPS 0.026845 CAP_FILE_SIZE 151435,0

HUMID 1474 CFSIZE 260165632,223490048

INTERNAL_PRESSURE 9.18391 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.20 GPS 040309,081622,4806.430,-12222.586,8,6.0,27,18.3

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 173 104.89 SBE_CT 330 24 186.43

Roll_motor 48 67 76.49 SBE_O2 259 19 116.00

VBD_pump_during_apogee 304 695 4977.22 Optode 516 33 400.52

VBD_pump_during_surface 69 605 986.08 WL_BB2F 616 105 1521.74

VBD_valve 0 0 0.00 WL_BBFL2VMT 1142 105 2819.38

Iridium_during_init 24 103 59.40 nil 0 0 0.00

Iridium_during_connect 36 160 137.85 nil 0 0 0.00

Iridium_during_xfer 312 223 1635.61

Transponder_ping 1 420 14.80

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.73

TT8 669 19 137.83

LPSleep 224 2 5.11

TT8_Active 407 19 83.87

TT8_Sampling 1339 39 554.34

TT8_CF8 685 45 326.69

TT8_Kalman 33 81 28.37

Analog_circuits 961 12 119.95

GPS_charging 0 0 0.00

Compass 1417 8 117.93

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.99 -146.0 0.0 0.0 0 173 0.00 0.00 -153.48 0.000 2 0.000 0.000 419 2023 3830

176 -0.99 -146.0 3.7 -3.4 19 202 12.02 2.45 -2.83 0.000 4 0.173 0.067 2597 622 3953

460 -0.88 -146.0 26.5 -5.9 67 468 0.10 2.38 0.00 0.000 6 0.110 0.039 2621 2031 3954

541 -0.88 -146.0 30.5 -4.8 80 549 0.00 2.45 0.00 0.000 4 0.000 0.055 2621 627 3954

605 -0.85 -146.0 33.6 -5.2 90 613 0.00 2.38 0.00 0.000 6 0.000 0.039 2621 2035 3954

685 -0.85 -146.0 37.8 -5.0 103 692 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2036 3954

762 -0.85 -146.0 41.8 -5.0 116 770 0.00 2.45 0.00 0.000 4 0.000 0.056 2621 628 3954

810 -0.85 -146.0 44.3 -5.7 123 816 0.00 2.35 0.00 0.000 6 0.000 0.039 2621 2042 3954

953 -0.85 -146.0 51.6 -4.4 148 961 0.00 2.47 0.00 0.000 4 0.000 0.055 2621 620 3954

1020 -0.85 -146.0 55.0 -5.3 159 1027 0.00 2.35 0.00 0.000 6 0.000 0.039 2621 2038 3954

1161 -0.85 -146.0 62.2 -4.7 184 1168 0.00 2.45 0.00 0.000 4 0.000 0.055 2621 627 3954

1207 -0.85 -146.0 64.4 -5.4 191 1213 0.00 2.33 0.00 0.000 6 0.000 0.038 2621 2033 3954

1350 -0.85 -146.0 71.8 -5.2 216 1358 0.00 2.45 0.00 0.000 4 0.000 0.055 2621 623 3954

1397 -0.85 -146.0 74.1 -5.5 223 1403 0.00 2.33 0.00 0.000 6 0.000 0.044 2621 2030 3954

1516 end dive: BOTTOM_OBSTACLE_DETECTED

state 1516 begin apogee

1523 -0.31 0.0 80.3 4.8 244 1618 0.57 0.00 89.68 0.696 6 0.093 0.000 2747 2034 3500

1618 end apogee: CONTROL_FINISHED_OK

state 1618 begin climb

1621 0.99 146.0 82.0 0.0 258 1743 1.27 0.00 115.90 0.670 6 0.064 0.000 3035 2034 2904

1879 0.86 146.0 61.6 10.1 300 1887 0.12 0.00 0.00 0.000 6 0.117 0.000 3011 2034 2902

2024 0.79 146.0 48.4 9.4 325 2030 0.00 2.45 0.00 0.000 4 0.000 0.058 3011 620 2902

2099 0.69 146.0 40.9 9.8 338 2107 0.17 2.38 0.00 0.000 6 0.100 0.040 2972 2021 2902

2247 0.70 156.5 29.8 7.1 363 2263 0.00 2.45 9.80 0.588 4 0.000 0.056 2972 617 2862

2291 0.70 156.5 26.4 7.5 369 2299 0.00 2.40 0.00 0.000 6 0.000 0.040 2972 2028 2861

2370 0.71 161.7 20.6 7.3 382 2379 0.00 0.00 5.95 0.526 6 0.000 0.000 2972 2028 2840

2452 0.77 183.0 15.1 6.7 395 2477 0.00 2.45 18.30 0.616 4 0.000 0.056 2972 622 2755

2504 0.79 205.9 11.5 6.7 402 2535 0.00 2.40 20.62 0.611 6 0.000 0.040 2972 2031 2659

2610 0.94 258.4 4.9 5.6 418 2661 0.20 2.42 44.20 0.620 4 0.047 0.052 3033 3440 2444

2668 end climb: SURFACE_DEPTH_REACHED

state 2668 begin surface coast

2699 end surface coast: CONTROL_FINISHED_OK

state 2699 begin surface

ID	148	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	180	ROLL_MIN	160	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	13	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3940	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	2200	C_ROLL_DIVE	2030	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-15800	C_ROLL_CLIMB	2030	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
D_NO_BLEED	80	SM_CC	400	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	INT_PRESSURE_YINT	1
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	2	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	511	DEVICE2	20
T_MISSION	75	CALL_TRIES	5	VBD_MAX	3949	DEVICE3	53
T_ABORT	1440	CALL_WAIT	60	C_VBD	3500	DEVICE4	35
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	87
T_TURN_SAMPINT	5	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	-19545.785	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	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	420	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2821	PRESSURE_YINT	-11.678058	SEABIRD_T_G	0.0043988163
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011637	SEABIRD_T_H	0.0006414433
MASS	52629	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.6398575e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.9043883e-06
FERRY_MAX	45	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.103149
KALMAN_USE	1	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1453719
HD_A	0.003	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0014561723
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00020149905
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	071836,4806.653,-12222.695,12,1.5,28,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.164,-0.167
_SM_DEPTHo	0.99	KALMAN_X	-1997.5,-245.5,-51.7,2805.7,-283.0
_SM_ANGLEo	-65.0	KALMAN_Y	2535.1,338.5,4.5,-5571.7,200.0
GPS2	072746,4806.625,-12222.744,10,2.1,29,18.3	MHEAD_RNG_PITCHd_Wd	117.4,1479,-13.0,-7.463
SPEED_LIMITS	0.129,0.234	D_GRID	150

FINISH	1.1,1.019844	ALTIM_BOTTOM_PING	80.3,6.3
SM_CCo	2724,69.25,0.606,0,0,1868,400.08	_24V_AH	23.5,1.632
SM_GC	1.33,0.00,0.00,69.25,0.000,0.000,0.606,418,2020,1868,-11.06,-0.28,400.08	_10V_AH	10.4,1.404
IRIDIUM_FIX	4751.72,-12223.57,290598,060608	DATA_FILE_SIZE	35201,430
TT8_MAMPS	0.026845	CAP_FILE_SIZE	151435,0
HUMID	1474	CFSIZE	260165632,223490048
INTERNAL_PRESSURE	9.18391	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.20	GPS	040309,081622,4806.430,-12222.586,8,6.0,27,18.3
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	173	104.89	SBE_CT	330	24	186.43
Roll_motor	48	67	76.49	SBE_O2	259	19	116.00
VBD_pump_during_apogee	304	695	4977.22	Optode	516	33	400.52
VBD_pump_during_surface	69	605	986.08	WL_BB2F	616	105	1521.74
VBD_valve	0	0	0.00	WL_BBFL2VMT	1142	105	2819.38
Iridium_during_init	24	103	59.40	nil	0	0	0.00
Iridium_during_connect	36	160	137.85	nil	0	0	0.00
Iridium_during_xfer	312	223	1635.61
Transponder_ping	1	420	14.80
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.73
TT8	669	19	137.83
LPSleep	224	2	5.11
TT8_Active	407	19	83.87
TT8_Sampling	1339	39	554.34
TT8_CF8	685	45	326.69
TT8_Kalman	33	81	28.37
Analog_circuits	961	12	119.95
GPS_charging	0	0	0.00
Compass	1417	8	117.93
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.99	-146.0	0.0	0.0	0	173	0.00	0.00	-153.48	0.000	2	0.000	0.000	419	2023	3830
176	-0.99	-146.0	3.7	-3.4	19	202	12.02	2.45	-2.83	0.000	4	0.173	0.067	2597	622	3953
460	-0.88	-146.0	26.5	-5.9	67	468	0.10	2.38	0.00	0.000	6	0.110	0.039	2621	2031	3954
541	-0.88	-146.0	30.5	-4.8	80	549	0.00	2.45	0.00	0.000	4	0.000	0.055	2621	627	3954
605	-0.85	-146.0	33.6	-5.2	90	613	0.00	2.38	0.00	0.000	6	0.000	0.039	2621	2035	3954
685	-0.85	-146.0	37.8	-5.0	103	692	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2036	3954
762	-0.85	-146.0	41.8	-5.0	116	770	0.00	2.45	0.00	0.000	4	0.000	0.056	2621	628	3954
810	-0.85	-146.0	44.3	-5.7	123	816	0.00	2.35	0.00	0.000	6	0.000	0.039	2621	2042	3954
953	-0.85	-146.0	51.6	-4.4	148	961	0.00	2.47	0.00	0.000	4	0.000	0.055	2621	620	3954
1020	-0.85	-146.0	55.0	-5.3	159	1027	0.00	2.35	0.00	0.000	6	0.000	0.039	2621	2038	3954
1161	-0.85	-146.0	62.2	-4.7	184	1168	0.00	2.45	0.00	0.000	4	0.000	0.055	2621	627	3954
1207	-0.85	-146.0	64.4	-5.4	191	1213	0.00	2.33	0.00	0.000	6	0.000	0.038	2621	2033	3954
1350	-0.85	-146.0	71.8	-5.2	216	1358	0.00	2.45	0.00	0.000	4	0.000	0.055	2621	623	3954
1397	-0.85	-146.0	74.1	-5.5	223	1403	0.00	2.33	0.00	0.000	6	0.000	0.044	2621	2030	3954
1516	end dive: BOTTOM_OBSTACLE_DETECTED
state	1516	begin apogee
1523	-0.31	0.0	80.3	4.8	244	1618	0.57	0.00	89.68	0.696	6	0.093	0.000	2747	2034	3500
1618	end apogee: CONTROL_FINISHED_OK
state	1618	begin climb
1621	0.99	146.0	82.0	0.0	258	1743	1.27	0.00	115.90	0.670	6	0.064	0.000	3035	2034	2904
1879	0.86	146.0	61.6	10.1	300	1887	0.12	0.00	0.00	0.000	6	0.117	0.000	3011	2034	2902
2024	0.79	146.0	48.4	9.4	325	2030	0.00	2.45	0.00	0.000	4	0.000	0.058	3011	620	2902
2099	0.69	146.0	40.9	9.8	338	2107	0.17	2.38	0.00	0.000	6	0.100	0.040	2972	2021	2902
2247	0.70	156.5	29.8	7.1	363	2263	0.00	2.45	9.80	0.588	4	0.000	0.056	2972	617	2862
2291	0.70	156.5	26.4	7.5	369	2299	0.00	2.40	0.00	0.000	6	0.000	0.040	2972	2028	2861
2370	0.71	161.7	20.6	7.3	382	2379	0.00	0.00	5.95	0.526	6	0.000	0.000	2972	2028	2840
2452	0.77	183.0	15.1	6.7	395	2477	0.00	2.45	18.30	0.616	4	0.000	0.056	2972	622	2755
2504	0.79	205.9	11.5	6.7	402	2535	0.00	2.40	20.62	0.611	6	0.000	0.040	2972	2031	2659
2610	0.94	258.4	4.9	5.6	418	2661	0.20	2.42	44.20	0.620	4	0.047	0.052	3033	3440	2444
2668	end climb: SURFACE_DEPTH_REACHED
state	2668	begin surface coast
2699	end surface coast: CONTROL_FINISHED_OK
state	2699	begin surface