Glider dive log

PortSusan 27Aug08 * SG030 * Dive index * Mission links * Dive 16 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 30 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 45 ROLL_MIN 172 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 16 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3750 ALTIM_PING_DEPTH 70

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -122.3833 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 4050 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

D_NO_BLEED 200 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 8 INT_PRESSURE_SLOPE 0.0096899997

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 4 INT_PRESSURE_YINT -3.4619999

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 80 UPLOAD_DIVES_MAX -1 VBD_MIN 100 DEVICE2 -1

T_MISSION 90 CALL_TRIES 5 VBD_MAX 3750 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2200 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.36794999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0018 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 -71562.883 VBD_BLEED_AD_RATE 10 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 10 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 122 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 650 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3990 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2754 PRESSURE_YINT -32.294579 SEABIRD_T_G 0.0043891016

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0003358523 SEABIRD_T_H 0.00064944528

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_T_I 2.6160304e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7867641e-06

FERRY_MAX 30 PITCH_GAIN 15.4 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.215803

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1650903

HD_A 0.0034169999 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016038414

HD_B 0.0095870001 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00021996208

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 122 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 550

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15.4 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3990 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 650 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 70 D_TGT 150 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0018 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0003358523 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -32.294579 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3833

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 80

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_CHARGE -71562.883

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_MISSION 90

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 30 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0096899997 ROLL_MAX 3750 UNCOM_BLEED 10

COURSE_BIAS 0 INT_PRESSURE_YINT -3.4619999 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2754 KALMAN_USE 1 ROLL_MIN 172 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2300 MASS 52000 R_PORT_OVSHOOT 8 VBD_BLEED_AD_RATE 10

C_VBD 2200 MAX_BUOY 150 R_STBD_OVSHOOT 4 VBD_CNV -0.36794999

DEEPGLIDER 1 MISSION 6 SEABIRD_C_G -10.215803 VBD_DBAND 2

DEEPGLIDERMB 1 MOTHERBOARD 4 SEABIRD_C_H 1.1650903 VBD_MAX 3750

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016038414 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 4 SEABIRD_C_J 0.00021996208 VBD_MIN 100

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043891016 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064944528 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6160304e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7867641e-06 XPDR_DEVICE 24

DIVE 16 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 4050 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 110011,4807.645,-12223.614,10,2.8,29,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.159,0.142

_SM_DEPTHo 0.84 KALMAN_X 656.4,382.9,-223.0,-1360.6,414.1

_SM_ANGLEo -63.0 KALMAN_Y -359.9,-342.5,149.6,1222.2,-250.0

GPS2 110329,4807.699,-12223.633,14,2.7,33,18.3 MHEAD_RNG_PITCHd_Wd 293.4,719,-11.3,-6.250

SPEED_LIMITS 0.108,0.213 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.7,1.018340 ALTIM_TOP_PING 19.9,21.3

SM_CCo 3825,198.52,0.765,0,0,705,550.09 ALTIM_BOTTOM_PING 70.4,49.8

SM_GC 0.83,0.00,0.00,198.52,0.000,0.000,0.765,657,2294,705,-9.64,-0.17,550.09 _24V_AH 23.5,11.482

IRIDIUM_FIX 4751.72,-12223.57,221197,101053 _10V_AH 10.3,2.815

TT8_MAMPS 0.021476 DATA_FILE_SIZE 9582,339

HUMID 2224 CAP_FILE_SIZE 48246,0

INTERNAL_PRESSURE 9.31911 CFSIZE 260165632,258629632

TCM_TEMP 19.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,0,0

XPDR_PINGS 0 GPS 280808,121238,4807.953,-12223.911,41,1.1,41,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 186 108.42 SBE_CT 226 24 127.81

Roll_motor 55 208 272.52 nil 0 0 0.00

VBD_pump_during_apogee 323 839 6374.30 nil 0 0 0.00

VBD_pump_during_surface 198 764 3567.88 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 59.74 nil 0 0 0.00

Iridium_during_connect 26 160 99.37 nil 0 0 0.00

Iridium_during_xfer 62 223 329.35

Transponder_ping 0 420 7.40

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.79

TT8 556 19 113.45

LPSleep 2274 2 51.31

TT8_Active 615 19 125.61

TT8_Sampling 639 39 261.97

TT8_CF8 154 45 72.76

TT8_Kalman 33 81 28.07

Analog_circuits 1007 12 124.52

GPS_charging 0 0 0.00

Compass 603 8 49.76

RAFOS 0 0 0.00

Transponder 7 30 2.22

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 -1.00 -146.6 0.0 0.0 0 95 0.00 0.00 -78.53 0.000 2 0.000 0.000 655 2297 1760

97 -1.00 -146.6 3.2 -3.6 14 167 10.40 3.20 -51.35 0.000 4 0.186 0.186 2531 3714 2600

172 -0.67 -146.6 6.6 -7.0 27 179 0.38 2.85 0.00 0.000 6 0.127 0.137 2606 2301 2600

247 -0.78 -146.6 11.2 -5.5 40 253 0.00 3.22 0.00 0.000 4 0.000 0.191 2607 3717 2600

428 -0.91 -146.6 21.8 -6.0 70 434 0.25 2.85 0.00 0.000 6 0.072 0.139 2537 2301 2600

624 -0.91 -146.6 34.2 -6.2 88 625 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2301 2600

815 -1.01 -146.6 46.0 -6.4 106 820 0.00 3.20 0.00 0.000 4 0.000 0.191 2537 3714 2600

842 -1.01 -146.6 47.9 -6.9 108 847 0.00 2.85 0.00 0.000 6 0.000 0.139 2537 2295 2600

1035 -1.05 -146.6 59.3 -5.8 119 1036 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2295 2600

1344 -1.10 -146.6 75.9 -5.2 134 1350 0.12 3.03 0.00 0.000 4 0.084 0.174 2493 886 2600

1393 -1.03 -146.6 79.3 -6.7 136 1399 0.17 3.15 0.00 0.000 6 0.119 0.181 2529 2306 2600

1709 -1.08 -146.6 97.1 -5.6 151 1710 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2306 2600

1950 end dive: BOTTOM_OBSTACLE_DETECTED

state 1950 begin apogee

1953 -0.32 0.0 110.5 5.6 171 2065 0.70 0.00 108.68 0.839 6 0.104 0.000 2681 2305 2200

2066 end apogee: CONTROL_FINISHED_OK

state 2066 begin climb

2068 1.00 146.6 112.1 0.0 182 2186 1.30 3.28 108.50 0.822 4 0.087 0.209 2974 3714 1801

2281 0.59 146.6 91.5 12.6 198 2288 0.47 2.92 0.00 0.000 6 0.132 0.149 2880 2299 1801

2596 0.50 146.6 69.5 6.6 214 2601 0.00 3.08 0.00 0.000 4 0.000 0.181 2880 888 1801

2644 0.40 146.6 66.2 6.4 216 2650 0.20 3.22 0.00 0.000 6 0.127 0.191 2841 2305 1801

2960 0.52 212.8 51.4 4.2 231 3017 0.12 3.33 49.83 0.797 4 0.087 0.206 2880 3724 1621

3049 0.45 212.8 45.5 7.6 237 3057 0.15 2.92 0.00 0.000 6 0.124 0.144 2851 2301 1621

3247 0.58 250.1 34.2 5.1 256 3283 0.12 3.20 28.67 0.775 4 0.084 0.186 2890 895 1520

3333 0.58 250.1 27.4 8.2 264 3339 0.00 3.20 0.00 0.000 6 0.000 0.194 2890 2298 1520

3535 0.58 250.1 13.2 6.4 291 3542 0.00 3.22 0.00 0.000 4 0.000 0.201 2890 3711 1520

3603 0.58 250.1 8.6 7.5 303 3609 0.00 2.88 0.00 0.000 6 0.000 0.144 2890 2297 1520

3677 0.79 316.4 5.1 4.2 316 3707 0.15 0.00 27.52 0.762 2 0.084 0.000 2938 2297 1425

3708 end climb: SURFACE_DEPTH_REACHED

state 3708 begin surface coast

3809 end surface coast: CONTROL_FINISHED_OK

state 3809 begin surface

ID	30	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	45	ROLL_MIN	172	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	16	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3750	ALTIM_PING_DEPTH	70
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-122.3833	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	4050	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
D_NO_BLEED	200	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	8	INT_PRESSURE_SLOPE	0.0096899997
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	4	INT_PRESSURE_YINT	-3.4619999
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	80	UPLOAD_DIVES_MAX	-1	VBD_MIN	100	DEVICE2	-1
T_MISSION	90	CALL_TRIES	5	VBD_MAX	3750	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2200	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.36794999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0018	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	-71562.883	VBD_BLEED_AD_RATE	10	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	10	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	122	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	650	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3990	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2754	PRESSURE_YINT	-32.294579	SEABIRD_T_G	0.0043891016
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0003358523	SEABIRD_T_H	0.00064944528
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_T_I	2.6160304e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7867641e-06
FERRY_MAX	30	PITCH_GAIN	15.4	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.215803
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1650903
HD_A	0.0034169999	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016038414
HD_B	0.0095870001	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00021996208
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	110011,4807.645,-12223.614,10,2.8,29,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.159,0.142
_SM_DEPTHo	0.84	KALMAN_X	656.4,382.9,-223.0,-1360.6,414.1
_SM_ANGLEo	-63.0	KALMAN_Y	-359.9,-342.5,149.6,1222.2,-250.0
GPS2	110329,4807.699,-12223.633,14,2.7,33,18.3	MHEAD_RNG_PITCHd_Wd	293.4,719,-11.3,-6.250
SPEED_LIMITS	0.108,0.213	D_GRID	150

FINISH	2.7,1.018340	ALTIM_TOP_PING	19.9,21.3
SM_CCo	3825,198.52,0.765,0,0,705,550.09	ALTIM_BOTTOM_PING	70.4,49.8
SM_GC	0.83,0.00,0.00,198.52,0.000,0.000,0.765,657,2294,705,-9.64,-0.17,550.09	_24V_AH	23.5,11.482
IRIDIUM_FIX	4751.72,-12223.57,221197,101053	_10V_AH	10.3,2.815
TT8_MAMPS	0.021476	DATA_FILE_SIZE	9582,339
HUMID	2224	CAP_FILE_SIZE	48246,0
INTERNAL_PRESSURE	9.31911	CFSIZE	260165632,258629632
TCM_TEMP	19.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
XPDR_PINGS	0	GPS	280808,121238,4807.953,-12223.911,41,1.1,41,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	186	108.42	SBE_CT	226	24	127.81
Roll_motor	55	208	272.52	nil	0	0	0.00
VBD_pump_during_apogee	323	839	6374.30	nil	0	0	0.00
VBD_pump_during_surface	198	764	3567.88	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	59.74	nil	0	0	0.00
Iridium_during_connect	26	160	99.37	nil	0	0	0.00
Iridium_during_xfer	62	223	329.35
Transponder_ping	0	420	7.40
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.79
TT8	556	19	113.45
LPSleep	2274	2	51.31
TT8_Active	615	19	125.61
TT8_Sampling	639	39	261.97
TT8_CF8	154	45	72.76
TT8_Kalman	33	81	28.07
Analog_circuits	1007	12	124.52
GPS_charging	0	0	0.00
Compass	603	8	49.76
RAFOS	0	0	0.00
Transponder	7	30	2.22

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	-1.00	-146.6	0.0	0.0	0	95	0.00	0.00	-78.53	0.000	2	0.000	0.000	655	2297	1760
97	-1.00	-146.6	3.2	-3.6	14	167	10.40	3.20	-51.35	0.000	4	0.186	0.186	2531	3714	2600
172	-0.67	-146.6	6.6	-7.0	27	179	0.38	2.85	0.00	0.000	6	0.127	0.137	2606	2301	2600
247	-0.78	-146.6	11.2	-5.5	40	253	0.00	3.22	0.00	0.000	4	0.000	0.191	2607	3717	2600
428	-0.91	-146.6	21.8	-6.0	70	434	0.25	2.85	0.00	0.000	6	0.072	0.139	2537	2301	2600
624	-0.91	-146.6	34.2	-6.2	88	625	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2301	2600
815	-1.01	-146.6	46.0	-6.4	106	820	0.00	3.20	0.00	0.000	4	0.000	0.191	2537	3714	2600
842	-1.01	-146.6	47.9	-6.9	108	847	0.00	2.85	0.00	0.000	6	0.000	0.139	2537	2295	2600
1035	-1.05	-146.6	59.3	-5.8	119	1036	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2295	2600
1344	-1.10	-146.6	75.9	-5.2	134	1350	0.12	3.03	0.00	0.000	4	0.084	0.174	2493	886	2600
1393	-1.03	-146.6	79.3	-6.7	136	1399	0.17	3.15	0.00	0.000	6	0.119	0.181	2529	2306	2600
1709	-1.08	-146.6	97.1	-5.6	151	1710	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2306	2600
1950	end dive: BOTTOM_OBSTACLE_DETECTED
state	1950	begin apogee
1953	-0.32	0.0	110.5	5.6	171	2065	0.70	0.00	108.68	0.839	6	0.104	0.000	2681	2305	2200
2066	end apogee: CONTROL_FINISHED_OK
state	2066	begin climb
2068	1.00	146.6	112.1	0.0	182	2186	1.30	3.28	108.50	0.822	4	0.087	0.209	2974	3714	1801
2281	0.59	146.6	91.5	12.6	198	2288	0.47	2.92	0.00	0.000	6	0.132	0.149	2880	2299	1801
2596	0.50	146.6	69.5	6.6	214	2601	0.00	3.08	0.00	0.000	4	0.000	0.181	2880	888	1801
2644	0.40	146.6	66.2	6.4	216	2650	0.20	3.22	0.00	0.000	6	0.127	0.191	2841	2305	1801
2960	0.52	212.8	51.4	4.2	231	3017	0.12	3.33	49.83	0.797	4	0.087	0.206	2880	3724	1621
3049	0.45	212.8	45.5	7.6	237	3057	0.15	2.92	0.00	0.000	6	0.124	0.144	2851	2301	1621
3247	0.58	250.1	34.2	5.1	256	3283	0.12	3.20	28.67	0.775	4	0.084	0.186	2890	895	1520
3333	0.58	250.1	27.4	8.2	264	3339	0.00	3.20	0.00	0.000	6	0.000	0.194	2890	2298	1520
3535	0.58	250.1	13.2	6.4	291	3542	0.00	3.22	0.00	0.000	4	0.000	0.201	2890	3711	1520
3603	0.58	250.1	8.6	7.5	303	3609	0.00	2.88	0.00	0.000	6	0.000	0.144	2890	2297	1520
3677	0.79	316.4	5.1	4.2	316	3707	0.15	0.00	27.52	0.762	2	0.084	0.000	2938	2297	1425
3708	end climb: SURFACE_DEPTH_REACHED
state	3708	begin surface coast
3809	end surface coast: CONTROL_FINISHED_OK
state	3809	begin surface