Glider dive log

PN07 DabobBay Sep07 * SG022 * Dive index * Mission links * Dive 173 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 22 HD_B 0.010364 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.4717998e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 173 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 208 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 0

D_PITCH 0 SM_CC 550 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 7 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 100 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 2 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 658 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3994 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3484 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 0

T_WATCHDOG 10 T_GPS_CHARGE -112551.94 VBD_PUMP_AD_RATE_APOGEE 1 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 80 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 16 SIM_PITCH 0

GLIDE_SLOPE 15 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0044140997

SPEED_FACTOR 1 PITCH_MAX 3347 AH0_10V 61.200001 SEABIRD_T_H 0.00064927549

RHO 1.023 C_PITCH 2530 PRESSURE_YINT -21.951805 SEABIRD_T_I 2.7523491e-05

MASS 51950 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011632 SEABIRD_T_J 3.1132354e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.525962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 1.7 SEABIRD_C_H 1.1896306

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET -0.89999998 SEABIRD_C_I -0.0026426413

HD_A 0.0040048002 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00031414768

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 550

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3347 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 5 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 1.7

ALTIM_SENSITIVITY 0 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011632 TCM_ROLL_OFFSET -0.89999998

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -21.951805 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 0.0040048002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010364 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 5.4717998e-06 RHO 1.023 T_GPS_CHARGE -112551.94

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 16 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 600

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 100 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 22 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2530 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_CLIMB 2050 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51950 R_PORT_OVSHOOT 7 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 80 R_STBD_OVSHOOT 12 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.525962 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1896306 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0026426413 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00031414768 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044140997 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064927549 VBD_MIN 658

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.7523491e-05 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 173 PHONE_DEVICE 0 SEABIRD_T_J 3.1132354e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 19

Pre-dive calculations and measurements:

GPS1 234307,4739.327,-12252.942,8,1.6,24,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.150,0.232

_SM_DEPTHo 1.39 KALMAN_X 27368.6,-25.7,-88.3,-27221.0,-61.5

_SM_ANGLEo -68.1 KALMAN_Y 5752.4,-63.7,-197.8,-6193.0,-90.1

GPS2 234729,4739.314,-12252.961,13,2.5,32,18.3 MHEAD_RNG_PITCHd_Wd 308.8,413,-11.1,-7.407

SPEED_LIMITS 0.276,0.286 D_GRID 124

Post-dive calculations and measurements:

FINISH 1.2,1.020244 ALTIM_BOTTOM_PING 50.0,7.8

SM_CCo 3791,207.32,0.644,0,0,1240,550.21 _24V_AH 23.9,23.598

SM_GC 1.41,0.00,0.00,207.32,0.000,0.000,0.644,39,2130,1240,-11.46,-0.57,550.21 _10V_AH 10.2,6.231

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 9573,346

TT8_MAMPS 0.028379 CFSIZE 260034560,252571648

HUMID 2115 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 270907,005637,4739.565,-12253.295,15,1.6,31,18.3

XPDR_PINGS 19

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 197 131.95 SBE_CT 228 24 131.30

Roll_motor 62 138 207.95 nil 0 0 0.00

VBD_pump_during_apogee 185 763 3384.82 nil 0 0 0.00

VBD_pump_during_surface 207 643 3188.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 80.25 nil 0 0 0.00

Iridium_during_connect 35 160 136.41 ARS 0 0 0.00

Iridium_during_xfer 95 223 508.54

Transponder_ping 5 420 52.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.13

TT8 654 19 132.22

LPSleep 2200 2 49.15

TT8_Active 557 19 112.68

TT8_Sampling 600 39 243.83

TT8_CF8 295 45 137.84

TT8_Kalman 33 81 27.82

Analog_circuits 917 12 112.28

GPS_charging 0 0 0.00

Compass 583 8 47.62

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

23 -0.78 -78.2 0.0 0.0 0 100 0.00 0.00 -74.03 0.000 2 0.000 0.000 39 2165 2859

102 -0.78 -78.2 2.1 -1.6 12 169 13.65 2.88 -44.62 0.000 4 0.198 0.128 2353 3562 3804

215 -0.78 -78.2 6.7 -7.8 30 222 0.00 2.85 0.00 0.000 6 0.000 0.105 2353 2140 3805

287 -0.78 -78.2 11.2 -5.9 41 293 0.00 2.95 0.00 0.000 4 0.000 0.138 2353 729 3805

339 -0.78 -78.2 14.6 -6.1 49 346 0.00 2.78 0.00 0.000 6 0.000 0.091 2353 2163 3805

411 -0.78 -78.2 19.1 -6.0 60 418 0.00 2.85 0.00 0.000 4 0.000 0.122 2353 3565 3806

503 -0.78 -78.2 22.5 -3.1 69 508 0.00 2.88 0.00 0.000 6 0.000 0.110 2353 2142 3806

698 -0.78 -78.2 28.8 -3.8 84 703 0.00 2.95 0.00 0.000 4 0.000 0.139 2353 725 3807

764 -0.78 -78.2 31.6 -4.7 89 769 0.00 2.78 0.00 0.000 6 0.000 0.094 2353 2154 3807

959 -0.78 -78.2 40.1 -4.6 104 964 0.00 2.85 0.00 0.000 4 0.000 0.119 2353 3570 3807

1018 -0.78 -78.2 43.2 -5.2 108 1023 0.00 2.88 0.00 0.000 6 0.000 0.111 2353 2146 3807

1213 -0.78 -78.2 52.3 -4.4 123 1218 0.00 2.95 0.00 0.000 4 0.000 0.139 2353 731 3807

1238 -0.78 -78.2 53.4 -4.5 124 1246 0.00 2.80 0.00 0.000 6 0.000 0.096 2353 2154 3807

1435 -0.78 -78.2 61.9 -4.2 140 1439 0.00 2.83 0.00 0.000 4 0.000 0.119 2353 3565 3807

1480 -0.78 -78.2 64.2 -5.2 143 1487 0.00 2.88 0.00 0.000 6 0.000 0.112 2353 2143 3807

1676 -0.78 -78.2 73.7 -4.8 159 1680 0.00 2.95 0.00 0.000 4 0.000 0.138 2353 725 3807

1754 -0.78 -78.2 77.8 -5.0 164 1761 0.00 2.78 0.00 0.000 6 0.000 0.095 2353 2158 3807

1950 -0.78 -78.2 87.7 -5.0 180 1951 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2158 3807

2143 -0.78 -78.2 96.3 -4.7 195 2144 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2158 3807

2225 end dive: TARGET_DEPTH_EXCEEDED

state 2225 begin apogee

2230 -0.31 0.0 100.2 4.6 202 2300 0.55 0.00 62.42 0.746 6 0.127 0.000 2459 2042 3484

2301 end apogee: CONTROL_FINISHED_OK

state 2301 begin climb

2303 0.78 78.2 101.4 0.0 208 2372 1.17 0.00 61.15 0.727 6 0.103 0.000 2696 2039 3165

2561 0.85 139.6 88.0 6.0 229 2614 0.00 2.92 47.25 0.723 4 0.000 0.120 2695 630 2913

2686 0.85 139.6 78.3 8.2 238 2694 0.00 2.70 0.00 0.000 6 0.000 0.074 2696 2052 2913

2883 0.85 139.6 63.2 7.8 254 2884 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2052 2913

3073 0.85 139.6 48.7 7.6 269 3075 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2051 2912

3265 0.85 145.1 34.5 7.3 284 3277 0.00 2.95 3.35 0.763 4 0.000 0.124 2695 633 2892

3303 0.85 145.1 31.2 7.9 287 3307 0.00 2.67 0.00 0.000 6 0.000 0.076 2696 2058 2892

3500 0.87 159.7 17.4 7.1 305 3518 0.12 0.00 11.40 0.723 6 0.073 0.000 2723 2058 2832

3585 0.87 159.7 11.3 7.9 318 3591 0.00 2.78 0.00 0.000 4 0.000 0.107 2724 3463 2832

3669 end climb: SURFACE_DEPTH_REACHED

state 3669 begin surface coast

3768 end surface coast: CONTROL_FINISHED_OK

state 3768 begin surface

ID	22	HD_B	0.010364	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.4717998e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	173	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	208	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	0
D_PITCH	0	SM_CC	550	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	7	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	100	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	2	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	658	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3994	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3484	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	0
T_WATCHDOG	10	T_GPS_CHARGE	-112551.94	VBD_PUMP_AD_RATE_APOGEE	1	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	80	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	16	SIM_PITCH	0
GLIDE_SLOPE	15	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0044140997
SPEED_FACTOR	1	PITCH_MAX	3347	AH0_10V	61.200001	SEABIRD_T_H	0.00064927549
RHO	1.023	C_PITCH	2530	PRESSURE_YINT	-21.951805	SEABIRD_T_I	2.7523491e-05
MASS	51950	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011632	SEABIRD_T_J	3.1132354e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.525962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	1.7	SEABIRD_C_H	1.1896306
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	-0.89999998	SEABIRD_C_I	-0.0026426413
HD_A	0.0040048002	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00031414768

GPS1	234307,4739.327,-12252.942,8,1.6,24,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.150,0.232
_SM_DEPTHo	1.39	KALMAN_X	27368.6,-25.7,-88.3,-27221.0,-61.5
_SM_ANGLEo	-68.1	KALMAN_Y	5752.4,-63.7,-197.8,-6193.0,-90.1
GPS2	234729,4739.314,-12252.961,13,2.5,32,18.3	MHEAD_RNG_PITCHd_Wd	308.8,413,-11.1,-7.407
SPEED_LIMITS	0.276,0.286	D_GRID	124

FINISH	1.2,1.020244	ALTIM_BOTTOM_PING	50.0,7.8
SM_CCo	3791,207.32,0.644,0,0,1240,550.21	_24V_AH	23.9,23.598
SM_GC	1.41,0.00,0.00,207.32,0.000,0.000,0.644,39,2130,1240,-11.46,-0.57,550.21	_10V_AH	10.2,6.231
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	9573,346
TT8_MAMPS	0.028379	CFSIZE	260034560,252571648
HUMID	2115	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	270907,005637,4739.565,-12253.295,15,1.6,31,18.3
XPDR_PINGS	19

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	197	131.95	SBE_CT	228	24	131.30
Roll_motor	62	138	207.95	nil	0	0	0.00
VBD_pump_during_apogee	185	763	3384.82	nil	0	0	0.00
VBD_pump_during_surface	207	643	3188.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	80.25	nil	0	0	0.00
Iridium_during_connect	35	160	136.41	ARS	0	0	0.00
Iridium_during_xfer	95	223	508.54
Transponder_ping	5	420	52.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.13
TT8	654	19	132.22
LPSleep	2200	2	49.15
TT8_Active	557	19	112.68
TT8_Sampling	600	39	243.83
TT8_CF8	295	45	137.84
TT8_Kalman	33	81	27.82
Analog_circuits	917	12	112.28
GPS_charging	0	0	0.00
Compass	583	8	47.62
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
23	-0.78	-78.2	0.0	0.0	0	100	0.00	0.00	-74.03	0.000	2	0.000	0.000	39	2165	2859
102	-0.78	-78.2	2.1	-1.6	12	169	13.65	2.88	-44.62	0.000	4	0.198	0.128	2353	3562	3804
215	-0.78	-78.2	6.7	-7.8	30	222	0.00	2.85	0.00	0.000	6	0.000	0.105	2353	2140	3805
287	-0.78	-78.2	11.2	-5.9	41	293	0.00	2.95	0.00	0.000	4	0.000	0.138	2353	729	3805
339	-0.78	-78.2	14.6	-6.1	49	346	0.00	2.78	0.00	0.000	6	0.000	0.091	2353	2163	3805
411	-0.78	-78.2	19.1	-6.0	60	418	0.00	2.85	0.00	0.000	4	0.000	0.122	2353	3565	3806
503	-0.78	-78.2	22.5	-3.1	69	508	0.00	2.88	0.00	0.000	6	0.000	0.110	2353	2142	3806
698	-0.78	-78.2	28.8	-3.8	84	703	0.00	2.95	0.00	0.000	4	0.000	0.139	2353	725	3807
764	-0.78	-78.2	31.6	-4.7	89	769	0.00	2.78	0.00	0.000	6	0.000	0.094	2353	2154	3807
959	-0.78	-78.2	40.1	-4.6	104	964	0.00	2.85	0.00	0.000	4	0.000	0.119	2353	3570	3807
1018	-0.78	-78.2	43.2	-5.2	108	1023	0.00	2.88	0.00	0.000	6	0.000	0.111	2353	2146	3807
1213	-0.78	-78.2	52.3	-4.4	123	1218	0.00	2.95	0.00	0.000	4	0.000	0.139	2353	731	3807
1238	-0.78	-78.2	53.4	-4.5	124	1246	0.00	2.80	0.00	0.000	6	0.000	0.096	2353	2154	3807
1435	-0.78	-78.2	61.9	-4.2	140	1439	0.00	2.83	0.00	0.000	4	0.000	0.119	2353	3565	3807
1480	-0.78	-78.2	64.2	-5.2	143	1487	0.00	2.88	0.00	0.000	6	0.000	0.112	2353	2143	3807
1676	-0.78	-78.2	73.7	-4.8	159	1680	0.00	2.95	0.00	0.000	4	0.000	0.138	2353	725	3807
1754	-0.78	-78.2	77.8	-5.0	164	1761	0.00	2.78	0.00	0.000	6	0.000	0.095	2353	2158	3807
1950	-0.78	-78.2	87.7	-5.0	180	1951	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2158	3807
2143	-0.78	-78.2	96.3	-4.7	195	2144	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2158	3807
2225	end dive: TARGET_DEPTH_EXCEEDED
state	2225	begin apogee
2230	-0.31	0.0	100.2	4.6	202	2300	0.55	0.00	62.42	0.746	6	0.127	0.000	2459	2042	3484
2301	end apogee: CONTROL_FINISHED_OK
state	2301	begin climb
2303	0.78	78.2	101.4	0.0	208	2372	1.17	0.00	61.15	0.727	6	0.103	0.000	2696	2039	3165
2561	0.85	139.6	88.0	6.0	229	2614	0.00	2.92	47.25	0.723	4	0.000	0.120	2695	630	2913
2686	0.85	139.6	78.3	8.2	238	2694	0.00	2.70	0.00	0.000	6	0.000	0.074	2696	2052	2913
2883	0.85	139.6	63.2	7.8	254	2884	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2052	2913
3073	0.85	139.6	48.7	7.6	269	3075	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2051	2912
3265	0.85	145.1	34.5	7.3	284	3277	0.00	2.95	3.35	0.763	4	0.000	0.124	2695	633	2892
3303	0.85	145.1	31.2	7.9	287	3307	0.00	2.67	0.00	0.000	6	0.000	0.076	2696	2058	2892
3500	0.87	159.7	17.4	7.1	305	3518	0.12	0.00	11.40	0.723	6	0.073	0.000	2723	2058	2832
3585	0.87	159.7	11.3	7.9	318	3591	0.00	2.78	0.00	0.000	4	0.000	0.107	2724	3463	2832
3669	end climb: SURFACE_DEPTH_REACHED
state	3669	begin surface coast
3768	end surface coast: CONTROL_FINISHED_OK
state	3768	begin surface