Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 169 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 169 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 1500 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 425 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 57 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 70 INT_PRESSURE_YINT 2.7

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 275 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 330 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2863 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 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 -8480.1338 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 0 RAFOS_DEVICE -1

MAX_BUOY 250 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 160 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3938 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2739 PRESSURE_YINT -27.273609 SEABIRD_T_G 0.0043153614

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 51956 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 24.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 25

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 100 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 24.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3938 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 160 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -27.273609 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 275

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -8480.1338

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 330

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 166 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3786 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2739 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -4

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 57 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 250 R_STBD_OVSHOOT 70 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010752195 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016642714 VBD_MIN 455

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043153614 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063164165 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3580644e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4654264e-06 XPDR_DEVICE 24

DIVE 169 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 104437,2415.547,12322.868,38,1.6,38,-3.5 TGT_NAME RET_1

_CALLS 1 TGT_LATLONG 2403.100,12322.900

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 104908,2415.568,12322.898,15,1.7,15,-3.5 MHEAD_RNG_PITCHd_Wd 195.4,23090,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 279

Post-dive calculations and measurements:

FINISH 0.8,1.021420 ALTIM_BOTTOM_PING 275.4,146.4

SM_CCo 4656,0.00,0.000,0,0,450,591.91 _24V_AH 24.8,38.156

SM_GC 1.45,8.18,0.00,0.00,0.040,0.000,0.000,160,1534,450,-8.01,0.96,591.91 _10V_AH 10.9,23.413

IRIDIUM_FIX 2406.29,12323.71,110998,090956 DATA_FILE_SIZE 41291,787

TT8_MAMPS 0.026845 CAP_FILE_SIZE 65966,0

HUMID 1533 CFSIZE 260165632,221986816

INTERNAL_PRESSURE 10.005 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.30 CURRENT 0.017,113.2,1

XPDR_PINGS 0 GPS 170609,120804,2415.020,12322.470,8,3.1,27,-3.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 237 144.00 SBE_CT 517 24 308.25

Roll_motor 40 55 56.58 Optode 659 33 539.72

VBD_pump_during_apogee 648 843 13567.49 WL_BB2F 1109 105 2889.41

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 62.35 nil 0 0 0.00

Iridium_during_connect 40 160 159.73 nil 0 0 0.00

Iridium_during_xfer 113 223 628.49

Transponder_ping 1 420 13.02

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.58

TT8 1191 19 257.14

LPSleep 1382 2 33.00

TT8_Active 606 19 130.90

TT8_Sampling 1459 39 633.33

TT8_CF8 294 45 147.03

TT8_Kalman 0 0 0.00

Analog_circuits 1318 12 172.45

GPS_charging 0 0 0.00

Compass 1455 8 126.89

RAFOS 0 0 0.00

Transponder 10 30 3.55

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 -0.97 -243.4 0.0 0.0 0 75 0.00 0.00 -58.17 0.000 2 0.000 0.000 153 1485 2332

77 -0.97 -243.4 3.1 -6.2 9 135 8.98 1.92 -40.62 0.000 4 0.237 0.056 2419 213 3857

198 -0.12 -243.4 36.0 -35.8 29 205 0.88 1.85 0.00 0.000 6 0.154 0.028 2698 1490 3858

542 -0.94 -243.4 73.8 -11.4 90 550 0.70 2.03 0.00 0.000 4 0.076 0.035 2434 2899 3858

636 -0.41 -243.4 93.1 -26.4 106 643 0.55 2.03 0.00 0.000 6 0.154 0.031 2600 1481 3858

981 -0.53 -243.4 135.8 -9.7 167 987 0.00 2.10 0.00 0.000 4 0.000 0.038 2600 2893 3859

1102 -0.77 -243.4 147.2 -9.5 188 1110 0.30 2.00 0.00 0.000 6 0.039 0.031 2458 1522 3858

1448 -0.42 -243.4 214.1 -19.0 249 1455 0.43 1.95 0.00 0.000 4 0.140 0.042 2595 198 3859

1485 -0.57 -243.4 218.6 -10.2 255 1491 0.12 1.88 0.00 0.000 6 0.061 0.025 2521 1532 3860

1829 -0.57 -243.4 259.8 -12.5 316 1837 0.12 1.98 0.00 0.000 4 0.139 0.039 2558 2890 3860

1861 -0.74 -243.4 262.6 -8.9 321 1867 0.17 1.98 0.00 0.000 6 0.051 0.030 2462 1513 3860

1970 end dive: TARGET_DEPTH_EXCEEDED

state 1970 begin apogee

1975 -0.20 0.0 279.6 17.5 340 2164 0.60 0.00 183.65 0.844 6 0.133 0.000 2660 1748 2863

2166 end apogee: CONTROL_FINISHED_OK

state 2166 begin climb

2168 0.97 243.4 290.9 0.0 371 2365 1.10 2.17 185.05 0.830 4 0.085 0.041 3044 3132 1868

2529 0.72 243.4 254.5 15.6 432 2537 0.28 2.05 0.00 0.000 6 0.153 0.033 2970 1740 1865

2875 0.84 304.2 220.9 10.0 493 2930 0.12 2.15 48.40 0.804 4 0.071 0.046 3039 352 1621

3089 0.73 304.2 192.9 12.3 530 3096 0.22 2.00 0.00 0.000 6 0.137 0.029 2973 1717 1618

3435 1.09 440.3 164.1 7.5 591 3551 0.28 2.20 109.25 0.779 4 0.044 0.044 3117 349 1068

3608 0.92 440.3 136.0 16.7 619 3615 0.28 2.05 0.00 0.000 6 0.133 0.029 3034 1748 1066

3955 1.26 525.3 101.0 9.2 680 4032 0.28 2.17 68.88 0.727 4 0.044 0.041 3178 342 722

4051 0.92 525.3 82.6 24.3 695 4058 0.47 2.05 0.00 0.000 6 0.138 0.028 3035 1742 720

4395 1.50 656.8 49.4 7.6 756 4455 0.45 2.20 53.20 0.681 4 0.035 0.041 3260 350 455

4574 end climb: SURFACE_DEPTH_REACHED

state 4574 begin surface coast

4579 end surface coast: CONTROL_FINISHED_OK

state 4579 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	169	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	1500	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	425	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	57	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	70	INT_PRESSURE_YINT	2.7
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	275	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	330	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2863	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	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	-8480.1338	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	0	RAFOS_DEVICE	-1
MAX_BUOY	250	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	160	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3938	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2739	PRESSURE_YINT	-27.273609	SEABIRD_T_G	0.0043153614
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	51956	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	24.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	104437,2415.547,12322.868,38,1.6,38,-3.5	TGT_NAME	RET_1
_CALLS	1	TGT_LATLONG	2403.100,12322.900
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	104908,2415.568,12322.898,15,1.7,15,-3.5	MHEAD_RNG_PITCHd_Wd	195.4,23090,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	279

FINISH	0.8,1.021420	ALTIM_BOTTOM_PING	275.4,146.4
SM_CCo	4656,0.00,0.000,0,0,450,591.91	_24V_AH	24.8,38.156
SM_GC	1.45,8.18,0.00,0.00,0.040,0.000,0.000,160,1534,450,-8.01,0.96,591.91	_10V_AH	10.9,23.413
IRIDIUM_FIX	2406.29,12323.71,110998,090956	DATA_FILE_SIZE	41291,787
TT8_MAMPS	0.026845	CAP_FILE_SIZE	65966,0
HUMID	1533	CFSIZE	260165632,221986816
INTERNAL_PRESSURE	10.005	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.30	CURRENT	0.017,113.2,1
XPDR_PINGS	0	GPS	170609,120804,2415.020,12322.470,8,3.1,27,-3.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	237	144.00	SBE_CT	517	24	308.25
Roll_motor	40	55	56.58	Optode	659	33	539.72
VBD_pump_during_apogee	648	843	13567.49	WL_BB2F	1109	105	2889.41
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	62.35	nil	0	0	0.00
Iridium_during_connect	40	160	159.73	nil	0	0	0.00
Iridium_during_xfer	113	223	628.49
Transponder_ping	1	420	13.02
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.58
TT8	1191	19	257.14
LPSleep	1382	2	33.00
TT8_Active	606	19	130.90
TT8_Sampling	1459	39	633.33
TT8_CF8	294	45	147.03
TT8_Kalman	0	0	0.00
Analog_circuits	1318	12	172.45
GPS_charging	0	0	0.00
Compass	1455	8	126.89
RAFOS	0	0	0.00
Transponder	10	30	3.55

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	-0.97	-243.4	0.0	0.0	0	75	0.00	0.00	-58.17	0.000	2	0.000	0.000	153	1485	2332
77	-0.97	-243.4	3.1	-6.2	9	135	8.98	1.92	-40.62	0.000	4	0.237	0.056	2419	213	3857
198	-0.12	-243.4	36.0	-35.8	29	205	0.88	1.85	0.00	0.000	6	0.154	0.028	2698	1490	3858
542	-0.94	-243.4	73.8	-11.4	90	550	0.70	2.03	0.00	0.000	4	0.076	0.035	2434	2899	3858
636	-0.41	-243.4	93.1	-26.4	106	643	0.55	2.03	0.00	0.000	6	0.154	0.031	2600	1481	3858
981	-0.53	-243.4	135.8	-9.7	167	987	0.00	2.10	0.00	0.000	4	0.000	0.038	2600	2893	3859
1102	-0.77	-243.4	147.2	-9.5	188	1110	0.30	2.00	0.00	0.000	6	0.039	0.031	2458	1522	3858
1448	-0.42	-243.4	214.1	-19.0	249	1455	0.43	1.95	0.00	0.000	4	0.140	0.042	2595	198	3859
1485	-0.57	-243.4	218.6	-10.2	255	1491	0.12	1.88	0.00	0.000	6	0.061	0.025	2521	1532	3860
1829	-0.57	-243.4	259.8	-12.5	316	1837	0.12	1.98	0.00	0.000	4	0.139	0.039	2558	2890	3860
1861	-0.74	-243.4	262.6	-8.9	321	1867	0.17	1.98	0.00	0.000	6	0.051	0.030	2462	1513	3860
1970	end dive: TARGET_DEPTH_EXCEEDED
state	1970	begin apogee
1975	-0.20	0.0	279.6	17.5	340	2164	0.60	0.00	183.65	0.844	6	0.133	0.000	2660	1748	2863
2166	end apogee: CONTROL_FINISHED_OK
state	2166	begin climb
2168	0.97	243.4	290.9	0.0	371	2365	1.10	2.17	185.05	0.830	4	0.085	0.041	3044	3132	1868
2529	0.72	243.4	254.5	15.6	432	2537	0.28	2.05	0.00	0.000	6	0.153	0.033	2970	1740	1865
2875	0.84	304.2	220.9	10.0	493	2930	0.12	2.15	48.40	0.804	4	0.071	0.046	3039	352	1621
3089	0.73	304.2	192.9	12.3	530	3096	0.22	2.00	0.00	0.000	6	0.137	0.029	2973	1717	1618
3435	1.09	440.3	164.1	7.5	591	3551	0.28	2.20	109.25	0.779	4	0.044	0.044	3117	349	1068
3608	0.92	440.3	136.0	16.7	619	3615	0.28	2.05	0.00	0.000	6	0.133	0.029	3034	1748	1066
3955	1.26	525.3	101.0	9.2	680	4032	0.28	2.17	68.88	0.727	4	0.044	0.041	3178	342	722
4051	0.92	525.3	82.6	24.3	695	4058	0.47	2.05	0.00	0.000	6	0.138	0.028	3035	1742	720
4395	1.50	656.8	49.4	7.6	756	4455	0.45	2.20	53.20	0.681	4	0.035	0.041	3260	350	455
4574	end climb: SURFACE_DEPTH_REACHED
state	4574	begin surface coast
4579	end surface coast: CONTROL_FINISHED_OK
state	4579	begin surface