Glider dive log

PortSusan 19Aug09.03 * SG033 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 33 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 ROLL_MIN 171 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 14 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3738 ALTIM_PING_DEPTH 60

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2060 ALTIM_PULSE 3

D_ABORT 250 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 500 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 14 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 14 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 1

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 1

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 100 UPLOAD_DIVES_MAX -1 VBD_MIN 186 DEVICE2 99

T_MISSION 120 CALL_TRIES 5 VBD_MAX 3785 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2921 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.36790001 DEVICE6 -1

T_NO_W 300 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 2 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -166911.34 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 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 1555 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 4048 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3870 PRESSURE_YINT -19.276699 SEABIRD_T_G 0.0043575475

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00046800601 SEABIRD_T_H 0.00062940316

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_T_I 2.4306677e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6223986e-06

FERRY_MAX 2 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.332057

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.2094743

HD_A 0.0038945 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016192879

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00021825745

HD_C 2.5700001e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 500

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_PITCH 0 PITCH_MAX 4048 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 1555 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 20 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 0.00046800601 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 2 PRESSURE_YINT -19.276699 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_DIVE 100

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -166911.34

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_MISSION 120

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 300

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

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 33 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3738 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3870 KALMAN_USE 1 ROLL_MIN 171 USE_BATHY 0

C_ROLL_CLIMB 2060 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2050 MASS 52000 R_PORT_OVSHOOT 14 VBD_BLEED_AD_RATE 8

C_VBD 2921 MAX_BUOY 150 R_STBD_OVSHOOT 14 VBD_CNV -0.36790001

DEEPGLIDER 1 MISSION 4 SEABIRD_C_G -10.332057 VBD_DBAND 2

DEEPGLIDERMB 1 MOTHERBOARD 4 SEABIRD_C_H 1.2094743 VBD_MAX 3785

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016192879 VBD_MAXERRORS 1

DEVICE2 99 N_FILEKB 4 SEABIRD_C_J 0.00021825745 VBD_MIN 186

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043575475 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062940316 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4306677e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6223986e-06 XPDR_DEVICE 24

DIVE 14 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 250 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 084540,4807.193,-12223.103,10,3.5,29,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.084,0.189

_SM_DEPTHo 0.79 KALMAN_X -256.0,-64.1,193.9,157.6,19.4

_SM_ANGLEo -70.6 KALMAN_Y -2412.0,229.4,-378.3,2267.2,-491.4

GPS2 084922,4807.205,-12223.107,15,99.0,34,18.3 MHEAD_RNG_PITCHd_Wd 317.9,1840,-8.7,-5.000

SPEED_LIMITS 0.050,0.207 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.1,1.020250 ALTIM_BOTTOM_PING 80.0,40.6

SM_CCo 3984,281.30,0.772,0,0,1561,500.34 _24V_AH 22.9,2.549

SM_GC 0.86,0.00,0.00,281.30,0.000,0.000,0.772,1556,2053,1561,-10.65,0.08,500.34 _10V_AH 10.8,0.975

IRIDIUM_FIX 4751.72,-12223.57,141198,070754 DATA_FILE_SIZE 19151,369

TT8_MAMPS 0.021476 CAP_FILE_SIZE 46678,0

HUMID 2218 CFSIZE 260280320,257736704

INTERNAL_PRESSURE 8.21321 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 19.60 GPS 200809,100222,4807.510,-12223.434,12,7.7,31,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 198 136.35 SBE_CT 246 24 135.39

Roll_motor 44 106 109.84 AA4330 561 33 424.11

VBD_pump_during_apogee 231 844 4475.99 nil 0 0 0.00

VBD_pump_during_surface 281 772 4974.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 52.90 nil 0 0 0.00

Iridium_during_connect 28 160 105.08 nil 0 0 0.00

Iridium_during_xfer 83 223 426.41

Transponder_ping 1 420 9.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 19.05

TT8 602 19 128.78

LPSleep 2357 2 55.75

TT8_Active 663 19 141.97

TT8_Sampling 704 39 302.82

TT8_CF8 174 45 86.30

TT8_Kalman 33 81 29.43

Analog_circuits 1054 12 136.72

GPS_charging 0 0 0.00

Compass 638 8 55.17

RAFOS 0 0 0.00

Transponder 8 30 2.78

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13 -0.90 -146.6 0.0 0.0 0 158 0.00 0.00 -141.62 0.000 2 0.000 0.000 1551 2048 3085

160 -0.90 -146.6 3.5 -3.0 26 195 14.38 2.60 -12.10 0.000 4 0.199 0.089 3666 636 3321

319 -0.90 -146.6 11.7 -4.8 54 325 0.00 2.42 0.00 0.000 6 0.000 0.065 3666 2071 3321

394 -0.90 -146.6 15.2 -4.5 67 400 0.00 2.47 0.00 0.000 4 0.000 0.087 3666 3450 3320

461 -0.90 -146.6 18.7 -5.4 79 468 0.00 2.45 0.00 0.000 6 0.000 0.070 3666 2031 3321

537 -0.90 -146.6 22.4 -5.2 89 542 0.00 2.47 0.00 0.000 4 0.000 0.092 3666 642 3320

587 -0.90 -146.6 25.3 -5.5 93 592 0.00 2.38 0.00 0.000 6 0.000 0.065 3666 2047 3321

789 -0.90 -146.6 36.8 -5.2 112 793 0.00 2.53 0.00 0.000 4 0.000 0.092 3666 3448 3321

845 -0.90 -146.6 39.9 -6.3 116 851 0.00 2.42 0.00 0.000 6 0.000 0.067 3666 2044 3321

1051 -0.90 -146.6 51.2 -5.3 135 1055 0.00 2.50 0.00 0.000 4 0.000 0.092 3666 641 3321

1094 -0.90 -146.6 54.1 -6.2 137 1099 0.00 2.42 0.00 0.000 6 0.000 0.065 3666 2050 3321

1421 -0.90 -146.6 74.6 -6.7 153 1425 0.00 2.53 0.00 0.000 4 0.000 0.092 3667 3448 3321

1475 -0.90 -146.6 78.3 -6.4 155 1483 0.00 2.45 0.00 0.000 6 0.000 0.070 3666 2053 3321

1791 -0.90 -146.6 97.1 -6.0 171 1795 0.00 2.53 0.00 0.000 4 0.000 0.092 3666 639 3321

1811 -0.90 -146.6 98.3 -5.5 172 1816 0.00 2.42 0.00 0.000 6 0.000 0.065 3666 2045 3321

1933 end dive: BOTTOM_OBSTACLE_DETECTED

state 1933 begin apogee

1936 -0.42 0.0 105.6 6.2 182 2056 0.62 0.00 116.35 0.844 6 0.124 0.000 3774 2052 2921

2057 end apogee: CONTROL_FINISHED_OK

state 2057 begin climb

2059 0.90 146.6 109.2 0.0 194 2178 1.50 0.00 115.18 0.819 6 0.114 0.000 4038 2052 2522

2496 0.90 146.6 84.2 6.4 225 2501 0.00 2.65 0.00 0.000 4 0.000 0.107 4038 3462 2522

2635 0.90 146.6 75.3 7.1 231 2640 0.00 2.53 0.00 0.000 6 0.000 0.082 4038 2084 2522

2957 0.90 146.6 56.2 6.3 247 2958 0.00 0.00 0.00 0.000 6 0.000 0.000 4038 2083 2522

3272 0.90 146.6 36.7 6.4 272 3276 0.00 2.65 0.00 0.000 4 0.000 0.104 4038 639 2522

3344 0.90 146.6 32.4 6.2 278 3348 0.00 2.50 0.00 0.000 6 0.000 0.082 4038 2051 2522

3540 0.90 146.6 21.2 5.3 296 3541 0.00 0.00 0.00 0.000 6 0.000 0.000 4038 2051 2521

3740 0.90 146.6 10.2 6.1 329 3746 0.00 0.00 0.00 0.000 6 0.000 0.000 4038 2051 2521

3814 0.90 146.6 6.5 5.4 342 3819 0.00 0.00 0.00 0.000 6 0.000 0.000 4038 2051 2521

3868 end climb: SURFACE_DEPTH_REACHED

state 3868 begin surface coast

3964 end surface coast: CONTROL_FINISHED_OK

state 3965 begin surface

ID	33	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	ROLL_MIN	171	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	14	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3738	ALTIM_PING_DEPTH	60
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2060	ALTIM_PULSE	3
D_ABORT	250	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	500	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	14	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	14	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	1
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	1
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	100	UPLOAD_DIVES_MAX	-1	VBD_MIN	186	DEVICE2	99
T_MISSION	120	CALL_TRIES	5	VBD_MAX	3785	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2921	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.36790001	DEVICE6	-1
T_NO_W	300	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	2	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-166911.34	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	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	1555	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	4048	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3870	PRESSURE_YINT	-19.276699	SEABIRD_T_G	0.0043575475
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00046800601	SEABIRD_T_H	0.00062940316
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_T_I	2.4306677e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6223986e-06
FERRY_MAX	2	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.332057
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.2094743
HD_A	0.0038945	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016192879
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00021825745
HD_C	2.5700001e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	084540,4807.193,-12223.103,10,3.5,29,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.084,0.189
_SM_DEPTHo	0.79	KALMAN_X	-256.0,-64.1,193.9,157.6,19.4
_SM_ANGLEo	-70.6	KALMAN_Y	-2412.0,229.4,-378.3,2267.2,-491.4
GPS2	084922,4807.205,-12223.107,15,99.0,34,18.3	MHEAD_RNG_PITCHd_Wd	317.9,1840,-8.7,-5.000
SPEED_LIMITS	0.050,0.207	D_GRID	150

FINISH	2.1,1.020250	ALTIM_BOTTOM_PING	80.0,40.6
SM_CCo	3984,281.30,0.772,0,0,1561,500.34	_24V_AH	22.9,2.549
SM_GC	0.86,0.00,0.00,281.30,0.000,0.000,0.772,1556,2053,1561,-10.65,0.08,500.34	_10V_AH	10.8,0.975
IRIDIUM_FIX	4751.72,-12223.57,141198,070754	DATA_FILE_SIZE	19151,369
TT8_MAMPS	0.021476	CAP_FILE_SIZE	46678,0
HUMID	2218	CFSIZE	260280320,257736704
INTERNAL_PRESSURE	8.21321	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	19.60	GPS	200809,100222,4807.510,-12223.434,12,7.7,31,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	198	136.35	SBE_CT	246	24	135.39
Roll_motor	44	106	109.84	AA4330	561	33	424.11
VBD_pump_during_apogee	231	844	4475.99	nil	0	0	0.00
VBD_pump_during_surface	281	772	4974.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	52.90	nil	0	0	0.00
Iridium_during_connect	28	160	105.08	nil	0	0	0.00
Iridium_during_xfer	83	223	426.41
Transponder_ping	1	420	9.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	19.05
TT8	602	19	128.78
LPSleep	2357	2	55.75
TT8_Active	663	19	141.97
TT8_Sampling	704	39	302.82
TT8_CF8	174	45	86.30
TT8_Kalman	33	81	29.43
Analog_circuits	1054	12	136.72
GPS_charging	0	0	0.00
Compass	638	8	55.17
RAFOS	0	0	0.00
Transponder	8	30	2.78

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13	-0.90	-146.6	0.0	0.0	0	158	0.00	0.00	-141.62	0.000	2	0.000	0.000	1551	2048	3085
160	-0.90	-146.6	3.5	-3.0	26	195	14.38	2.60	-12.10	0.000	4	0.199	0.089	3666	636	3321
319	-0.90	-146.6	11.7	-4.8	54	325	0.00	2.42	0.00	0.000	6	0.000	0.065	3666	2071	3321
394	-0.90	-146.6	15.2	-4.5	67	400	0.00	2.47	0.00	0.000	4	0.000	0.087	3666	3450	3320
461	-0.90	-146.6	18.7	-5.4	79	468	0.00	2.45	0.00	0.000	6	0.000	0.070	3666	2031	3321
537	-0.90	-146.6	22.4	-5.2	89	542	0.00	2.47	0.00	0.000	4	0.000	0.092	3666	642	3320
587	-0.90	-146.6	25.3	-5.5	93	592	0.00	2.38	0.00	0.000	6	0.000	0.065	3666	2047	3321
789	-0.90	-146.6	36.8	-5.2	112	793	0.00	2.53	0.00	0.000	4	0.000	0.092	3666	3448	3321
845	-0.90	-146.6	39.9	-6.3	116	851	0.00	2.42	0.00	0.000	6	0.000	0.067	3666	2044	3321
1051	-0.90	-146.6	51.2	-5.3	135	1055	0.00	2.50	0.00	0.000	4	0.000	0.092	3666	641	3321
1094	-0.90	-146.6	54.1	-6.2	137	1099	0.00	2.42	0.00	0.000	6	0.000	0.065	3666	2050	3321
1421	-0.90	-146.6	74.6	-6.7	153	1425	0.00	2.53	0.00	0.000	4	0.000	0.092	3667	3448	3321
1475	-0.90	-146.6	78.3	-6.4	155	1483	0.00	2.45	0.00	0.000	6	0.000	0.070	3666	2053	3321
1791	-0.90	-146.6	97.1	-6.0	171	1795	0.00	2.53	0.00	0.000	4	0.000	0.092	3666	639	3321
1811	-0.90	-146.6	98.3	-5.5	172	1816	0.00	2.42	0.00	0.000	6	0.000	0.065	3666	2045	3321
1933	end dive: BOTTOM_OBSTACLE_DETECTED
state	1933	begin apogee
1936	-0.42	0.0	105.6	6.2	182	2056	0.62	0.00	116.35	0.844	6	0.124	0.000	3774	2052	2921
2057	end apogee: CONTROL_FINISHED_OK
state	2057	begin climb
2059	0.90	146.6	109.2	0.0	194	2178	1.50	0.00	115.18	0.819	6	0.114	0.000	4038	2052	2522
2496	0.90	146.6	84.2	6.4	225	2501	0.00	2.65	0.00	0.000	4	0.000	0.107	4038	3462	2522
2635	0.90	146.6	75.3	7.1	231	2640	0.00	2.53	0.00	0.000	6	0.000	0.082	4038	2084	2522
2957	0.90	146.6	56.2	6.3	247	2958	0.00	0.00	0.00	0.000	6	0.000	0.000	4038	2083	2522
3272	0.90	146.6	36.7	6.4	272	3276	0.00	2.65	0.00	0.000	4	0.000	0.104	4038	639	2522
3344	0.90	146.6	32.4	6.2	278	3348	0.00	2.50	0.00	0.000	6	0.000	0.082	4038	2051	2522
3540	0.90	146.6	21.2	5.3	296	3541	0.00	0.00	0.00	0.000	6	0.000	0.000	4038	2051	2521
3740	0.90	146.6	10.2	6.1	329	3746	0.00	0.00	0.00	0.000	6	0.000	0.000	4038	2051	2521
3814	0.90	146.6	6.5	5.4	342	3819	0.00	0.00	0.00	0.000	6	0.000	0.000	4038	2051	2521
3868	end climb: SURFACE_DEPTH_REACHED
state	3868	begin surface coast
3964	end surface coast: CONTROL_FINISHED_OK
state	3965	begin surface