Glider dive log

PN07 DabobBay 29Sep07 * SG107 * Dive index * Mission links * Dive 131 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 107 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 10 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 131 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 152 ALTIM_PING_DEPTH 0

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3928 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2450 ALTIM_PULSE 1

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_PITCH 0 SM_CC 450 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 300 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 679 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 4028 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3415 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -17723.551 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 15 PITCH_MIN 363 AH0_24V 91.800003 SEABIRD_T_G 0.004345139

SPEED_FACTOR 1 PITCH_MAX 3698 AH0_10V 61.200001 SEABIRD_T_H 0.00064258272

RHO 1.023 C_PITCH 2730 PRESSURE_YINT -10.644979 SEABIRD_T_I 2.3711646e-05

MASS 51588 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001156423 SEABIRD_T_J 2.2769887e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.006271

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1385506

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022333476

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00024018179

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3698 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 363 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 95 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001156423 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -10.644979 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 15 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -17723.551

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 107 ROLL_MAX 3928 T_TURN_SAMPINT 6

C_PITCH 2730 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2450 INT_PRESSURE_YINT 0 ROLL_MIN 152 UNCOM_BLEED 20

C_ROLL_DIVE 2050 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3415 MASS 51588 R_PORT_OVSHOOT 23 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 28 USE_ICE 0

DEEPGLIDERMB 0 MISSION 10 SEABIRD_C_G -10.006271 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1385506 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0022333476 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00024018179 VBD_MAX 4028

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004345139 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064258272 VBD_MIN 679

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3711646e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 131 PHONE_DEVICE 48 SEABIRD_T_J 2.2769887e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 041307,4742.442,-12251.094,40,2.0,46,18.3 TGT_NAME 8_GC

_CALLS 5 TGT_LATLONG 4742.508,-12251.070

_XMS_NAKs 5 TGT_RADIUS 200.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.159,0.209

_SM_DEPTHo 0.66 KALMAN_X 16797.7,-152.1,-265.6,-14089.6,-131.8

_SM_ANGLEo -52.5 KALMAN_Y 13950.9,-301.2,-367.8,-8362.5,-138.3

GPS2 043808,4742.295,-12251.290,10,1.6,15,18.3 MHEAD_RNG_PITCHd_Wd 19.1,479,-10.9,-7.037

SPEED_LIMITS 0.263,0.273 D_GRID 140

Post-dive calculations and measurements:

FINISH -0.0,1.014788 ALTIM_TOP_PING 9.9,9.8

SM_CCo 4025,76.45,0.499,0,0,1580,450.13 ALTIM_BOTTOM_PING 70.3,999.0

SM_GC 0.64,0.00,0.00,76.45,0.000,0.000,0.499,359,2054,1580,-10.91,0.08,450.13 _24V_AH 23.9,13.176

IRIDIUM_FIX 4726.11,-12250.84,051007,080804 _10V_AH 10.1,9.778

TT8_MAMPS 0.071331 DATA_FILE_SIZE 9564,365

HUMID 2029 CFSIZE 260034560,252542976

INTERNAL_PRESSURE 7.69561 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 051007,054859,4742.487,-12251.010,11,4.2,31,18.3

XPDR_PINGS 270

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 151 91.91 SBE_CT 244 24 140.11

Roll_motor 45 79 86.22 nil 0 0 0.00

VBD_pump_during_apogee 302 571 4131.87 nil 0 0 0.00

VBD_pump_during_surface 76 499 912.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 192 103 474.87 nil 0 0 0.00

Iridium_during_connect 305 160 1168.63 ARS 0 0 0.00

Iridium_during_xfer 618 223 3296.33

Transponder_ping 68 420 682.58

Mmodem_TX 0 1000 0.00

Mmodem_RX 5763 6 881.51

GPS 15 50 7.74

TT8 678 19 135.60

LPSleep 2533 2 56.05

TT8_Active 482 19 96.49

TT8_Sampling 660 39 265.50

TT8_CF8 1289 45 596.40

TT8_Kalman 33 81 27.54

Analog_circuits 873 12 105.84

GPS_charging 0 0 0.00

Compass 631 8 51.06

RAFOS 0 0 0.00

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -0.96 -97.8 0.0 0.0 0 120 0.00 0.00 -91.20 0.000 2 0.000 0.000 363 2048 3477

124 -0.96 -97.8 2.1 -3.7 15 155 11.75 2.60 -11.88 0.000 4 0.151 0.080 2515 642 3815

175 -0.96 -97.8 5.4 -5.5 23 181 0.00 2.42 0.00 0.000 6 0.000 0.035 2515 2052 3816

247 -0.96 -97.8 9.7 -6.3 34 253 0.00 2.50 0.00 0.000 4 0.000 0.055 2515 3448 3816

319 -0.96 -97.8 13.4 -5.0 45 326 0.00 2.42 0.00 0.000 6 0.000 0.036 2515 2047 3816

391 -0.96 -97.8 16.7 -4.4 56 397 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2045 3816

464 -0.96 -97.8 19.5 -3.9 67 469 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2045 3816

533 -0.96 -97.8 22.2 -4.0 74 534 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2046 3817

723 -0.96 -97.8 29.4 -3.9 89 727 0.00 2.50 0.00 0.000 4 0.000 0.054 2515 3451 3816

767 -0.96 -97.8 31.3 -4.2 92 775 0.00 2.45 0.00 0.000 6 0.000 0.037 2514 2051 3817

964 -0.96 -97.8 38.9 -4.0 108 968 0.00 2.53 0.00 0.000 4 0.000 0.056 2515 3454 3816

1051 -0.96 -97.8 42.5 -4.7 114 1055 0.00 2.45 0.00 0.000 6 0.000 0.038 2515 2044 3817

1246 -0.96 -97.8 50.7 -4.1 129 1248 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2042 3817

1437 -0.96 -97.8 58.4 -3.9 144 1438 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2042 3817

1628 -0.96 -97.8 66.0 -4.0 159 1632 0.00 2.53 0.00 0.000 4 0.000 0.057 2515 3448 3817

1766 -0.96 -97.8 71.7 -4.3 169 1770 0.00 2.42 0.00 0.000 6 0.000 0.039 2515 2050 3816

1961 -0.96 -97.8 78.9 -3.6 184 1966 0.00 2.53 0.00 0.000 4 0.000 0.057 2515 3454 3817

2052 -0.96 -97.8 82.2 -3.5 190 2060 0.00 2.47 0.00 0.000 6 0.000 0.039 2515 2052 3817

2249 -0.96 -97.8 89.2 -3.7 206 2250 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2050 3816

2411 end dive: TARGET_DEPTH_EXCEEDED

state 2411 begin apogee

2416 -0.38 0.0 95.1 3.7 219 2498 0.62 0.00 75.45 0.571 6 0.086 0.000 2644 2448 3414

2499 end apogee: CONTROL_FINISHED_OK

state 2499 begin climb

2501 0.96 97.8 96.2 0.0 226 2586 1.35 2.67 73.35 0.562 4 0.069 0.062 2936 1040 3016

2612 1.02 147.3 91.1 5.9 235 2654 0.00 2.50 36.97 0.560 6 0.000 0.040 2936 2462 2814

2844 1.05 172.7 75.7 6.4 253 2869 0.10 2.62 18.83 0.558 4 0.076 0.061 2962 1041 2709

3001 1.07 186.9 65.2 6.7 265 3018 0.00 2.47 10.35 0.561 6 0.000 0.041 2962 2455 2652

3215 1.09 208.1 51.8 6.5 282 3233 0.00 0.00 15.38 0.556 6 0.000 0.000 2962 2456 2566

3423 1.13 242.0 38.6 6.2 298 3450 0.00 0.00 24.80 0.542 6 0.000 0.000 2962 2456 2428

3636 1.17 274.6 24.9 6.3 315 3663 0.12 0.00 24.05 0.535 6 0.068 0.000 2993 2456 2295

3858 1.21 306.6 9.5 6.3 343 3888 0.00 2.62 23.38 0.522 4 0.000 0.060 2993 1036 2164

3972 end climb: SURFACE_DEPTH_REACHED

state 3972 begin surface coast

4000 end surface coast: CONTROL_FINISHED_OK

state 4000 begin surface

ID	107	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	10	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	131	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	152	ALTIM_PING_DEPTH	0
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3928	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2450	ALTIM_PULSE	1
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_PITCH	0	SM_CC	450	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	300	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	679	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	4028	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3415	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-17723.551	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	15	PITCH_MIN	363	AH0_24V	91.800003	SEABIRD_T_G	0.004345139
SPEED_FACTOR	1	PITCH_MAX	3698	AH0_10V	61.200001	SEABIRD_T_H	0.00064258272
RHO	1.023	C_PITCH	2730	PRESSURE_YINT	-10.644979	SEABIRD_T_I	2.3711646e-05
MASS	51588	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001156423	SEABIRD_T_J	2.2769887e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.006271
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1385506
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022333476
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00024018179

GPS1	041307,4742.442,-12251.094,40,2.0,46,18.3	TGT_NAME	8_GC
_CALLS	5	TGT_LATLONG	4742.508,-12251.070
_XMS_NAKs	5	TGT_RADIUS	200.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.159,0.209
_SM_DEPTHo	0.66	KALMAN_X	16797.7,-152.1,-265.6,-14089.6,-131.8
_SM_ANGLEo	-52.5	KALMAN_Y	13950.9,-301.2,-367.8,-8362.5,-138.3
GPS2	043808,4742.295,-12251.290,10,1.6,15,18.3	MHEAD_RNG_PITCHd_Wd	19.1,479,-10.9,-7.037
SPEED_LIMITS	0.263,0.273	D_GRID	140

FINISH	-0.0,1.014788	ALTIM_TOP_PING	9.9,9.8
SM_CCo	4025,76.45,0.499,0,0,1580,450.13	ALTIM_BOTTOM_PING	70.3,999.0
SM_GC	0.64,0.00,0.00,76.45,0.000,0.000,0.499,359,2054,1580,-10.91,0.08,450.13	_24V_AH	23.9,13.176
IRIDIUM_FIX	4726.11,-12250.84,051007,080804	_10V_AH	10.1,9.778
TT8_MAMPS	0.071331	DATA_FILE_SIZE	9564,365
HUMID	2029	CFSIZE	260034560,252542976
INTERNAL_PRESSURE	7.69561	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	051007,054859,4742.487,-12251.010,11,4.2,31,18.3
XPDR_PINGS	270

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	151	91.91	SBE_CT	244	24	140.11
Roll_motor	45	79	86.22	nil	0	0	0.00
VBD_pump_during_apogee	302	571	4131.87	nil	0	0	0.00
VBD_pump_during_surface	76	499	912.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	192	103	474.87	nil	0	0	0.00
Iridium_during_connect	305	160	1168.63	ARS	0	0	0.00
Iridium_during_xfer	618	223	3296.33
Transponder_ping	68	420	682.58
Mmodem_TX	0	1000	0.00
Mmodem_RX	5763	6	881.51
GPS	15	50	7.74
TT8	678	19	135.60
LPSleep	2533	2	56.05
TT8_Active	482	19	96.49
TT8_Sampling	660	39	265.50
TT8_CF8	1289	45	596.40
TT8_Kalman	33	81	27.54
Analog_circuits	873	12	105.84
GPS_charging	0	0	0.00
Compass	631	8	51.06
RAFOS	0	0	0.00

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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-0.96	-97.8	0.0	0.0	0	120	0.00	0.00	-91.20	0.000	2	0.000	0.000	363	2048	3477
124	-0.96	-97.8	2.1	-3.7	15	155	11.75	2.60	-11.88	0.000	4	0.151	0.080	2515	642	3815
175	-0.96	-97.8	5.4	-5.5	23	181	0.00	2.42	0.00	0.000	6	0.000	0.035	2515	2052	3816
247	-0.96	-97.8	9.7	-6.3	34	253	0.00	2.50	0.00	0.000	4	0.000	0.055	2515	3448	3816
319	-0.96	-97.8	13.4	-5.0	45	326	0.00	2.42	0.00	0.000	6	0.000	0.036	2515	2047	3816
391	-0.96	-97.8	16.7	-4.4	56	397	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2045	3816
464	-0.96	-97.8	19.5	-3.9	67	469	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2045	3816
533	-0.96	-97.8	22.2	-4.0	74	534	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2046	3817
723	-0.96	-97.8	29.4	-3.9	89	727	0.00	2.50	0.00	0.000	4	0.000	0.054	2515	3451	3816
767	-0.96	-97.8	31.3	-4.2	92	775	0.00	2.45	0.00	0.000	6	0.000	0.037	2514	2051	3817
964	-0.96	-97.8	38.9	-4.0	108	968	0.00	2.53	0.00	0.000	4	0.000	0.056	2515	3454	3816
1051	-0.96	-97.8	42.5	-4.7	114	1055	0.00	2.45	0.00	0.000	6	0.000	0.038	2515	2044	3817
1246	-0.96	-97.8	50.7	-4.1	129	1248	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2042	3817
1437	-0.96	-97.8	58.4	-3.9	144	1438	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2042	3817
1628	-0.96	-97.8	66.0	-4.0	159	1632	0.00	2.53	0.00	0.000	4	0.000	0.057	2515	3448	3817
1766	-0.96	-97.8	71.7	-4.3	169	1770	0.00	2.42	0.00	0.000	6	0.000	0.039	2515	2050	3816
1961	-0.96	-97.8	78.9	-3.6	184	1966	0.00	2.53	0.00	0.000	4	0.000	0.057	2515	3454	3817
2052	-0.96	-97.8	82.2	-3.5	190	2060	0.00	2.47	0.00	0.000	6	0.000	0.039	2515	2052	3817
2249	-0.96	-97.8	89.2	-3.7	206	2250	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2050	3816
2411	end dive: TARGET_DEPTH_EXCEEDED
state	2411	begin apogee
2416	-0.38	0.0	95.1	3.7	219	2498	0.62	0.00	75.45	0.571	6	0.086	0.000	2644	2448	3414
2499	end apogee: CONTROL_FINISHED_OK
state	2499	begin climb
2501	0.96	97.8	96.2	0.0	226	2586	1.35	2.67	73.35	0.562	4	0.069	0.062	2936	1040	3016
2612	1.02	147.3	91.1	5.9	235	2654	0.00	2.50	36.97	0.560	6	0.000	0.040	2936	2462	2814
2844	1.05	172.7	75.7	6.4	253	2869	0.10	2.62	18.83	0.558	4	0.076	0.061	2962	1041	2709
3001	1.07	186.9	65.2	6.7	265	3018	0.00	2.47	10.35	0.561	6	0.000	0.041	2962	2455	2652
3215	1.09	208.1	51.8	6.5	282	3233	0.00	0.00	15.38	0.556	6	0.000	0.000	2962	2456	2566
3423	1.13	242.0	38.6	6.2	298	3450	0.00	0.00	24.80	0.542	6	0.000	0.000	2962	2456	2428
3636	1.17	274.6	24.9	6.3	315	3663	0.12	0.00	24.05	0.535	6	0.068	0.000	2993	2456	2295
3858	1.21	306.6	9.5	6.3	343	3888	0.00	2.62	23.38	0.522	4	0.000	0.060	2993	1036	2164
3972	end climb: SURFACE_DEPTH_REACHED
state	3972	begin surface coast
4000	end surface coast: CONTROL_FINISHED_OK
state	4000	begin surface