Glider dive log

PortSusan 27Aug08 * SG030 * Dive index * Mission links * Dive 17 * 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 17 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 5 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 -71577.648 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 -71577.648

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 5 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 17 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 121238,4807.953,-12223.911,41,1.1,41,18.3 TGT_NAME KAYAKPT

_CALLS 1 TGT_LATLONG 4808.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.135,0.061

_SM_DEPTHo 0.82 KALMAN_X 958.1,530.1,-284.7,-2122.8,510.7

_SM_ANGLEo -61.2 KALMAN_Y -445.5,-474.5,255.9,1894.2,-297.8

GPS2 121551,4808.003,-12223.938,14,1.5,14,18.3 MHEAD_RNG_PITCHd_Wd 47.4,1159,-19.1,-6.250

SPEED_LIMITS 0.108,0.213 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.5,1.019384 ALTIM_TOP_PING 19.9,21.5

SM_CCo 3416,242.32,0.752,0,0,705,550.09 ALTIM_BOTTOM_PING 71.4,49.8

SM_GC 0.94,0.00,0.00,242.32,0.000,0.000,0.752,657,2298,705,-9.65,-0.06,550.09 _24V_AH 23.5,11.597

IRIDIUM_FIX 4751.72,-12219.12,221197,111150 _10V_AH 10.3,2.840

TT8_MAMPS 0.021476 DATA_FILE_SIZE 9588,337

HUMID 2214 CAP_FILE_SIZE 46102,0

INTERNAL_PRESSURE 9.34818 CFSIZE 260165632,258605056

TCM_TEMP 20.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,0,0

XPDR_PINGS 0 GPS 280808,131847,4808.088,-12223.649,12,2.1,31,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 193 115.49 SBE_CT 224 24 126.85

Roll_motor 61 203 294.98 nil 0 0 0.00

VBD_pump_during_apogee 238 836 4696.28 nil 0 0 0.00

VBD_pump_during_surface 242 752 4284.35 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 59.80 nil 0 0 0.00

Iridium_during_connect 36 160 138.19 nil 0 0 0.00

Iridium_during_xfer 67 223 355.62

Transponder_ping 0 420 7.40

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.28

TT8 548 19 111.81

LPSleep 1970 2 44.44

TT8_Active 598 19 122.12

TT8_Sampling 583 39 239.32

TT8_CF8 169 45 80.01

TT8_Kalman 33 81 28.07

Analog_circuits 957 12 118.39

GPS_charging 0 0 0.00

Compass 570 8 46.99

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -1.35 -60.2 0.0 0.0 0 100 0.00 0.00 -83.45 0.000 2 0.000 0.000 658 2294 1806

102 -1.40 -90.3 3.4 -4.1 15 150 10.05 3.22 -31.48 0.000 4 0.194 0.184 2442 3717 2447

273 -1.31 -90.3 20.8 -10.9 44 280 0.12 2.83 0.00 0.000 6 0.144 0.134 2465 2300 2448

470 -1.31 -90.3 35.9 -7.3 63 475 0.00 3.17 0.00 0.000 4 0.000 0.189 2465 3717 2448

479 -1.31 -90.3 36.7 -7.3 63 486 0.00 2.88 0.00 0.000 6 0.000 0.137 2465 2285 2447

688 -1.37 -90.3 51.7 -7.0 82 693 0.00 3.20 0.00 0.000 4 0.000 0.189 2465 3714 2448

697 -1.43 -90.3 52.3 -7.0 82 704 0.10 2.85 0.00 0.000 6 0.092 0.139 2435 2293 2447

1012 -1.43 -90.3 75.7 -7.1 98 1017 0.00 3.17 0.00 0.000 4 0.000 0.189 2435 3716 2448

1055 -1.38 -90.3 78.9 -7.5 100 1060 0.00 2.83 0.00 0.000 6 0.000 0.137 2435 2300 2448

1381 -1.38 -90.3 101.4 -7.1 116 1386 0.00 3.03 0.00 0.000 4 0.000 0.176 2435 886 2447

1390 -1.38 -90.3 102.0 -7.2 116 1398 0.00 3.12 0.00 0.000 6 0.000 0.179 2435 2307 2447

1534 end dive: BOTTOM_OBSTACLE_DETECTED

state 1534 begin apogee

1537 -0.32 0.0 111.4 6.4 130 1609 1.17 0.00 68.03 0.837 6 0.119 0.000 2681 2307 2200

1609 end apogee: CONTROL_FINISHED_OK

state 1610 begin climb

1611 1.40 90.3 112.2 0.0 137 1691 1.67 3.20 67.50 0.819 4 0.089 0.181 3066 889 1954

1758 1.07 90.3 95.9 15.3 150 1764 0.43 3.28 0.00 0.000 6 0.151 0.194 2987 2304 1953

2084 0.98 90.3 63.7 9.3 166 2089 0.00 3.22 0.00 0.000 4 0.000 0.204 2987 3714 1954

2156 0.82 90.3 56.5 10.1 169 2161 0.28 2.90 0.00 0.000 6 0.137 0.149 2934 2301 1954

2480 0.90 90.3 34.7 6.3 195 2481 0.00 0.00 0.00 0.000 6 0.000 0.000 2934 2301 1954

2669 1.01 101.7 23.6 5.4 213 2685 0.17 3.15 9.85 0.705 4 0.079 0.186 2982 881 1923

2730 0.96 101.7 19.1 7.7 219 2737 0.00 3.25 0.00 0.000 6 0.000 0.194 2982 2297 1923

2804 0.96 101.7 14.0 7.0 232 2810 0.00 3.22 0.00 0.000 4 0.000 0.204 2982 3714 1923

2849 0.91 101.7 10.4 7.5 240 2856 0.15 2.90 0.00 0.000 6 0.139 0.149 2954 2299 1923

2924 1.05 131.4 7.1 4.1 253 2954 0.12 3.35 23.42 0.760 4 0.089 0.201 2990 3714 1842

3106 1.31 225.3 5.8 -0.5 285 3186 0.22 2.88 70.03 0.775 6 0.079 0.144 3049 2301 1586

3212 end climb: SURFACE_DEPTH_REACHED

state 3212 begin surface coast

3399 end surface coast: CONTROL_FINISHED_OK

state 3399 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	17	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	5	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	-71577.648	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	121238,4807.953,-12223.911,41,1.1,41,18.3	TGT_NAME	KAYAKPT
_CALLS	1	TGT_LATLONG	4808.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.135,0.061
_SM_DEPTHo	0.82	KALMAN_X	958.1,530.1,-284.7,-2122.8,510.7
_SM_ANGLEo	-61.2	KALMAN_Y	-445.5,-474.5,255.9,1894.2,-297.8
GPS2	121551,4808.003,-12223.938,14,1.5,14,18.3	MHEAD_RNG_PITCHd_Wd	47.4,1159,-19.1,-6.250
SPEED_LIMITS	0.108,0.213	D_GRID	150

FINISH	3.5,1.019384	ALTIM_TOP_PING	19.9,21.5
SM_CCo	3416,242.32,0.752,0,0,705,550.09	ALTIM_BOTTOM_PING	71.4,49.8
SM_GC	0.94,0.00,0.00,242.32,0.000,0.000,0.752,657,2298,705,-9.65,-0.06,550.09	_24V_AH	23.5,11.597
IRIDIUM_FIX	4751.72,-12219.12,221197,111150	_10V_AH	10.3,2.840
TT8_MAMPS	0.021476	DATA_FILE_SIZE	9588,337
HUMID	2214	CAP_FILE_SIZE	46102,0
INTERNAL_PRESSURE	9.34818	CFSIZE	260165632,258605056
TCM_TEMP	20.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
XPDR_PINGS	0	GPS	280808,131847,4808.088,-12223.649,12,2.1,31,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	193	115.49	SBE_CT	224	24	126.85
Roll_motor	61	203	294.98	nil	0	0	0.00
VBD_pump_during_apogee	238	836	4696.28	nil	0	0	0.00
VBD_pump_during_surface	242	752	4284.35	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	59.80	nil	0	0	0.00
Iridium_during_connect	36	160	138.19	nil	0	0	0.00
Iridium_during_xfer	67	223	355.62
Transponder_ping	0	420	7.40
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.28
TT8	548	19	111.81
LPSleep	1970	2	44.44
TT8_Active	598	19	122.12
TT8_Sampling	583	39	239.32
TT8_CF8	169	45	80.01
TT8_Kalman	33	81	28.07
Analog_circuits	957	12	118.39
GPS_charging	0	0	0.00
Compass	570	8	46.99
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-1.35	-60.2	0.0	0.0	0	100	0.00	0.00	-83.45	0.000	2	0.000	0.000	658	2294	1806
102	-1.40	-90.3	3.4	-4.1	15	150	10.05	3.22	-31.48	0.000	4	0.194	0.184	2442	3717	2447
273	-1.31	-90.3	20.8	-10.9	44	280	0.12	2.83	0.00	0.000	6	0.144	0.134	2465	2300	2448
470	-1.31	-90.3	35.9	-7.3	63	475	0.00	3.17	0.00	0.000	4	0.000	0.189	2465	3717	2448
479	-1.31	-90.3	36.7	-7.3	63	486	0.00	2.88	0.00	0.000	6	0.000	0.137	2465	2285	2447
688	-1.37	-90.3	51.7	-7.0	82	693	0.00	3.20	0.00	0.000	4	0.000	0.189	2465	3714	2448
697	-1.43	-90.3	52.3	-7.0	82	704	0.10	2.85	0.00	0.000	6	0.092	0.139	2435	2293	2447
1012	-1.43	-90.3	75.7	-7.1	98	1017	0.00	3.17	0.00	0.000	4	0.000	0.189	2435	3716	2448
1055	-1.38	-90.3	78.9	-7.5	100	1060	0.00	2.83	0.00	0.000	6	0.000	0.137	2435	2300	2448
1381	-1.38	-90.3	101.4	-7.1	116	1386	0.00	3.03	0.00	0.000	4	0.000	0.176	2435	886	2447
1390	-1.38	-90.3	102.0	-7.2	116	1398	0.00	3.12	0.00	0.000	6	0.000	0.179	2435	2307	2447
1534	end dive: BOTTOM_OBSTACLE_DETECTED
state	1534	begin apogee
1537	-0.32	0.0	111.4	6.4	130	1609	1.17	0.00	68.03	0.837	6	0.119	0.000	2681	2307	2200
1609	end apogee: CONTROL_FINISHED_OK
state	1610	begin climb
1611	1.40	90.3	112.2	0.0	137	1691	1.67	3.20	67.50	0.819	4	0.089	0.181	3066	889	1954
1758	1.07	90.3	95.9	15.3	150	1764	0.43	3.28	0.00	0.000	6	0.151	0.194	2987	2304	1953
2084	0.98	90.3	63.7	9.3	166	2089	0.00	3.22	0.00	0.000	4	0.000	0.204	2987	3714	1954
2156	0.82	90.3	56.5	10.1	169	2161	0.28	2.90	0.00	0.000	6	0.137	0.149	2934	2301	1954
2480	0.90	90.3	34.7	6.3	195	2481	0.00	0.00	0.00	0.000	6	0.000	0.000	2934	2301	1954
2669	1.01	101.7	23.6	5.4	213	2685	0.17	3.15	9.85	0.705	4	0.079	0.186	2982	881	1923
2730	0.96	101.7	19.1	7.7	219	2737	0.00	3.25	0.00	0.000	6	0.000	0.194	2982	2297	1923
2804	0.96	101.7	14.0	7.0	232	2810	0.00	3.22	0.00	0.000	4	0.000	0.204	2982	3714	1923
2849	0.91	101.7	10.4	7.5	240	2856	0.15	2.90	0.00	0.000	6	0.139	0.149	2954	2299	1923
2924	1.05	131.4	7.1	4.1	253	2954	0.12	3.35	23.42	0.760	4	0.089	0.201	2990	3714	1842
3106	1.31	225.3	5.8	-0.5	285	3186	0.22	2.88	70.03	0.775	6	0.079	0.144	3049	2301	1586
3212	end climb: SURFACE_DEPTH_REACHED
state	3212	begin surface coast
3399	end surface coast: CONTROL_FINISHED_OK
state	3399	begin surface