Glider dive log

WA coast Jan08 * SG119 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 119 HD_B 0.0099684997 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 3 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 19 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 90 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 175 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3878 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 48.150002 C_ROLL_DIVE 2220 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -125.67 C_ROLL_CLIMB 2180 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 597.30548 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 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 425 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3879 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2860 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -14895.824 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 1379 AH0_24V 147 SEABIRD_T_G 0.004348367

SPEED_FACTOR 1 PITCH_MAX 3813 AH0_10V 122.2 SEABIRD_T_H 0.00063394889

RHO 1.023 C_PITCH 3363 PRESSURE_YINT -2.3287585 SEABIRD_T_I 2.4089732e-05

MASS 51528 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159777 SEABIRD_T_J 2.5198262e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.04077

FERRY_MAX 30 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1285373

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022196125

HD_A 0.0038945 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00025642588

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 22 SM_CC 597.30548

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3813 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 1379 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 90 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159777 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -2.3287585 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -125.67

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -14895.824

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 119 ROLL_MAX 3878 T_TURN_SAMPINT 5

C_PITCH 3363 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2180 INT_PRESSURE_YINT 0 ROLL_MIN 175 UNCOM_BLEED 50

C_ROLL_DIVE 2220 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2860 MASS 51528 R_PORT_OVSHOOT 25 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 USE_ICE 0

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.04077 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1285373 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0022196125 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00025642588 VBD_MAX 3879

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004348367 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063394889 VBD_MIN 425

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4089732e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 19 PHONE_DEVICE 48 SEABIRD_T_J 2.5198262e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 024204,4804.949,-12540.300,8,4.2,28,18.9 TGT_NAME SW_47N_128W

_CALLS 5 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.225,-0.137

_SM_DEPTHo 1.50 KALMAN_X -10965.8,3045.1,488.1,7773.4,-844.2

_SM_ANGLEo -71.5 KALMAN_Y -15603.9,1675.7,801.6,17877.9,-15211.3

GPS2 025727,4804.782,-12540.183,13,1.6,13,18.9 MHEAD_RNG_PITCHd_Wd 219.8,213498,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.011032 XPDR_PINGS 12

SM_CCo 6538,150.15,0.739,0,0,425,597.31 ALTIM_BOTTOM_PING 251.6,109.4

SM_GC 1.35,0.00,0.00,150.15,0.000,0.000,0.739,1375,2239,425,-9.14,0.54,597.31 _24V_AH 23.8,5.434

IRIDIUM_FIX 4748.51,-12539.38,190108,060657 _10V_AH 10.7,2.281

TT8_MAMPS 0.028379 DATA_FILE_SIZE 22282,423

HUMID 1860 CFSIZE 260165632,258031616

INTERNAL_PRESSURE 9.47302 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 16.60 GPS 190108,045055,4804.035,-12541.022,30,1.6,36,18.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 171 113.07 SBE_CT 299 24 171.12

Roll_motor 63 90 136.03 SBE_O2 314 19 142.43

VBD_pump_during_apogee 359 1007 8624.99 WL_BB2F 673 105 1682.30

VBD_pump_during_surface 150 739 2642.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 198 103 486.27 nil 0 0 0.00

Iridium_during_connect 333 160 1269.49 nil 0 0 0.00

Iridium_during_xfer 75 223 399.76

Transponder_ping 4 420 44.98

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.82

TT8 791 19 167.70

LPSleep 4425 2 103.70

TT8_Active 597 19 126.68

TT8_Sampling 1130 39 481.58

TT8_CF8 679 45 332.80

TT8_Kalman 33 81 29.18

Analog_circuits 1135 12 145.76

GPS_charging 0 0 0.00

Compass 1122 8 96.12

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

16 -1.00 -146.6 0.0 0.0 0 60 0.00 0.00 -42.03 0.000 2 0.000 0.000 1378 2208 2110

62 -1.00 -146.6 3.1 -5.3 4 126 12.50 2.47 -45.75 0.000 4 0.171 0.091 3137 3625 3458

250 -1.00 -146.6 29.9 -18.1 21 254 0.00 2.35 0.00 0.000 6 0.000 0.047 3137 2212 3458

585 -1.00 -146.6 91.8 -17.8 70 586 0.00 0.00 0.00 0.000 6 0.000 0.000 3138 2212 3458

904 -1.00 -146.6 142.6 -14.9 100 908 0.00 2.35 0.00 0.000 4 0.000 0.062 3137 810 3458

1065 -1.00 -146.6 168.4 -14.7 109 1070 0.00 2.38 0.00 0.000 6 0.000 0.053 3138 2215 3458

1386 -1.00 -146.6 213.4 -13.1 125 1390 0.00 2.45 0.00 0.000 4 0.000 0.083 3138 3632 3458

1451 -1.00 -146.6 222.4 -13.6 128 1456 0.00 2.33 0.00 0.000 6 0.000 0.046 3138 2225 3458

1778 -1.00 -146.6 263.9 -11.8 144 1779 0.00 0.00 0.00 0.000 6 0.000 0.000 3138 2225 3458

2087 -1.00 -146.6 299.9 -12.2 159 2091 0.00 2.35 0.00 0.000 4 0.000 0.064 3137 807 3458

2108 -1.00 -146.6 302.6 -12.8 160 2112 0.00 2.35 0.00 0.000 6 0.000 0.055 3138 2215 3458

2450 -1.00 -146.6 342.7 -11.8 166 2454 0.00 2.38 0.00 0.000 4 0.000 0.064 3137 807 3458

2477 -1.00 -146.6 346.0 -11.9 166 2482 0.00 2.38 0.00 0.000 6 0.000 0.058 3138 2211 3458

2576 end dive: BOTTOM_OBSTACLE_DETECTED

state 2577 begin apogee

2580 -0.23 0.0 357.9 12.1 168 2701 1.02 0.00 117.40 1.007 6 0.097 0.000 3309 2212 2860

2701 end apogee: CONTROL_FINISHED_OK

state 2701 begin climb

2703 1.00 146.6 362.3 0.0 170 2832 1.62 2.67 120.18 0.966 4 0.057 0.061 3580 777 2262

2994 1.02 159.1 351.0 9.4 174 3011 0.00 2.45 11.77 0.897 6 0.000 0.053 3581 2187 2211

3313 1.02 161.9 320.3 9.9 179 3323 0.00 2.53 4.03 0.642 4 0.000 0.082 3581 3582 2200

3372 1.02 161.9 314.0 10.7 179 3380 0.00 2.40 0.00 0.000 6 0.000 0.048 3581 2176 2200

3685 1.03 165.3 282.1 9.8 189 3694 0.00 2.50 4.50 0.700 4 0.000 0.080 3581 3590 2186

3745 1.03 165.3 275.8 10.9 192 3749 0.00 2.38 0.00 0.000 6 0.000 0.048 3581 2171 2186

4070 1.03 165.3 240.9 11.0 208 4074 0.00 2.50 0.00 0.000 4 0.000 0.080 3581 3590 2186

4326 1.03 165.3 211.7 11.5 219 4334 0.00 2.38 0.00 0.000 6 0.000 0.048 3581 2175 2185

4643 1.07 198.9 183.7 8.5 235 4677 0.00 2.58 27.15 0.913 4 0.000 0.079 3581 3592 2049

4873 1.08 206.9 161.5 9.6 245 4887 0.00 2.40 7.75 0.804 6 0.000 0.048 3581 2175 2016

5199 1.16 270.6 135.8 7.1 269 5256 0.17 2.47 50.30 0.865 4 0.063 0.064 3614 775 1755

5293 1.16 270.6 126.5 12.6 277 5301 0.00 2.42 0.00 0.000 6 0.000 0.051 3615 2178 1755

5619 1.16 270.6 87.7 10.5 308 5623 0.00 2.42 0.00 0.000 4 0.000 0.062 3614 774 1755

5798 1.18 290.3 66.9 9.1 333 5821 0.00 2.35 16.77 0.813 6 0.000 0.052 3615 2189 1675

6154 1.18 290.3 31.8 10.8 390 6158 0.00 2.45 0.00 0.000 4 0.000 0.079 3615 3591 1675

6237 1.18 290.3 21.9 12.3 397 6241 0.00 2.35 0.00 0.000 6 0.000 0.045 3615 2171 1676

6485 end climb: SURFACE_DEPTH_REACHED

state 6485 begin surface coast

6519 end surface coast: CONTROL_FINISHED_OK

state 6519 begin surface

ID	119	HD_B	0.0099684997	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	3	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	19	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	90	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	175	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3878	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	48.150002	C_ROLL_DIVE	2220	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-125.67	C_ROLL_CLIMB	2180	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	597.30548	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	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	425	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3879	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2860	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-14895.824	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	1379	AH0_24V	147	SEABIRD_T_G	0.004348367
SPEED_FACTOR	1	PITCH_MAX	3813	AH0_10V	122.2	SEABIRD_T_H	0.00063394889
RHO	1.023	C_PITCH	3363	PRESSURE_YINT	-2.3287585	SEABIRD_T_I	2.4089732e-05
MASS	51528	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159777	SEABIRD_T_J	2.5198262e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.04077
FERRY_MAX	30	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1285373
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022196125
HD_A	0.0038945	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00025642588

GPS1	024204,4804.949,-12540.300,8,4.2,28,18.9	TGT_NAME	SW_47N_128W
_CALLS	5	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.225,-0.137
_SM_DEPTHo	1.50	KALMAN_X	-10965.8,3045.1,488.1,7773.4,-844.2
_SM_ANGLEo	-71.5	KALMAN_Y	-15603.9,1675.7,801.6,17877.9,-15211.3
GPS2	025727,4804.782,-12540.183,13,1.6,13,18.9	MHEAD_RNG_PITCHd_Wd	219.8,213498,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.6,1.011032	XPDR_PINGS	12
SM_CCo	6538,150.15,0.739,0,0,425,597.31	ALTIM_BOTTOM_PING	251.6,109.4
SM_GC	1.35,0.00,0.00,150.15,0.000,0.000,0.739,1375,2239,425,-9.14,0.54,597.31	_24V_AH	23.8,5.434
IRIDIUM_FIX	4748.51,-12539.38,190108,060657	_10V_AH	10.7,2.281
TT8_MAMPS	0.028379	DATA_FILE_SIZE	22282,423
HUMID	1860	CFSIZE	260165632,258031616
INTERNAL_PRESSURE	9.47302	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	16.60	GPS	190108,045055,4804.035,-12541.022,30,1.6,36,18.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	171	113.07	SBE_CT	299	24	171.12
Roll_motor	63	90	136.03	SBE_O2	314	19	142.43
VBD_pump_during_apogee	359	1007	8624.99	WL_BB2F	673	105	1682.30
VBD_pump_during_surface	150	739	2642.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	198	103	486.27	nil	0	0	0.00
Iridium_during_connect	333	160	1269.49	nil	0	0	0.00
Iridium_during_xfer	75	223	399.76
Transponder_ping	4	420	44.98
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.82
TT8	791	19	167.70
LPSleep	4425	2	103.70
TT8_Active	597	19	126.68
TT8_Sampling	1130	39	481.58
TT8_CF8	679	45	332.80
TT8_Kalman	33	81	29.18
Analog_circuits	1135	12	145.76
GPS_charging	0	0	0.00
Compass	1122	8	96.12
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
16	-1.00	-146.6	0.0	0.0	0	60	0.00	0.00	-42.03	0.000	2	0.000	0.000	1378	2208	2110
62	-1.00	-146.6	3.1	-5.3	4	126	12.50	2.47	-45.75	0.000	4	0.171	0.091	3137	3625	3458
250	-1.00	-146.6	29.9	-18.1	21	254	0.00	2.35	0.00	0.000	6	0.000	0.047	3137	2212	3458
585	-1.00	-146.6	91.8	-17.8	70	586	0.00	0.00	0.00	0.000	6	0.000	0.000	3138	2212	3458
904	-1.00	-146.6	142.6	-14.9	100	908	0.00	2.35	0.00	0.000	4	0.000	0.062	3137	810	3458
1065	-1.00	-146.6	168.4	-14.7	109	1070	0.00	2.38	0.00	0.000	6	0.000	0.053	3138	2215	3458
1386	-1.00	-146.6	213.4	-13.1	125	1390	0.00	2.45	0.00	0.000	4	0.000	0.083	3138	3632	3458
1451	-1.00	-146.6	222.4	-13.6	128	1456	0.00	2.33	0.00	0.000	6	0.000	0.046	3138	2225	3458
1778	-1.00	-146.6	263.9	-11.8	144	1779	0.00	0.00	0.00	0.000	6	0.000	0.000	3138	2225	3458
2087	-1.00	-146.6	299.9	-12.2	159	2091	0.00	2.35	0.00	0.000	4	0.000	0.064	3137	807	3458
2108	-1.00	-146.6	302.6	-12.8	160	2112	0.00	2.35	0.00	0.000	6	0.000	0.055	3138	2215	3458
2450	-1.00	-146.6	342.7	-11.8	166	2454	0.00	2.38	0.00	0.000	4	0.000	0.064	3137	807	3458
2477	-1.00	-146.6	346.0	-11.9	166	2482	0.00	2.38	0.00	0.000	6	0.000	0.058	3138	2211	3458
2576	end dive: BOTTOM_OBSTACLE_DETECTED
state	2577	begin apogee
2580	-0.23	0.0	357.9	12.1	168	2701	1.02	0.00	117.40	1.007	6	0.097	0.000	3309	2212	2860
2701	end apogee: CONTROL_FINISHED_OK
state	2701	begin climb
2703	1.00	146.6	362.3	0.0	170	2832	1.62	2.67	120.18	0.966	4	0.057	0.061	3580	777	2262
2994	1.02	159.1	351.0	9.4	174	3011	0.00	2.45	11.77	0.897	6	0.000	0.053	3581	2187	2211
3313	1.02	161.9	320.3	9.9	179	3323	0.00	2.53	4.03	0.642	4	0.000	0.082	3581	3582	2200
3372	1.02	161.9	314.0	10.7	179	3380	0.00	2.40	0.00	0.000	6	0.000	0.048	3581	2176	2200
3685	1.03	165.3	282.1	9.8	189	3694	0.00	2.50	4.50	0.700	4	0.000	0.080	3581	3590	2186
3745	1.03	165.3	275.8	10.9	192	3749	0.00	2.38	0.00	0.000	6	0.000	0.048	3581	2171	2186
4070	1.03	165.3	240.9	11.0	208	4074	0.00	2.50	0.00	0.000	4	0.000	0.080	3581	3590	2186
4326	1.03	165.3	211.7	11.5	219	4334	0.00	2.38	0.00	0.000	6	0.000	0.048	3581	2175	2185
4643	1.07	198.9	183.7	8.5	235	4677	0.00	2.58	27.15	0.913	4	0.000	0.079	3581	3592	2049
4873	1.08	206.9	161.5	9.6	245	4887	0.00	2.40	7.75	0.804	6	0.000	0.048	3581	2175	2016
5199	1.16	270.6	135.8	7.1	269	5256	0.17	2.47	50.30	0.865	4	0.063	0.064	3614	775	1755
5293	1.16	270.6	126.5	12.6	277	5301	0.00	2.42	0.00	0.000	6	0.000	0.051	3615	2178	1755
5619	1.16	270.6	87.7	10.5	308	5623	0.00	2.42	0.00	0.000	4	0.000	0.062	3614	774	1755
5798	1.18	290.3	66.9	9.1	333	5821	0.00	2.35	16.77	0.813	6	0.000	0.052	3615	2189	1675
6154	1.18	290.3	31.8	10.8	390	6158	0.00	2.45	0.00	0.000	4	0.000	0.079	3615	3591	1675
6237	1.18	290.3	21.9	12.3	397	6241	0.00	2.35	0.00	0.000	6	0.000	0.045	3615	2171	1676
6485	end climb: SURFACE_DEPTH_REACHED
state	6485	begin surface coast
6519	end surface coast: CONTROL_FINISHED_OK
state	6519	begin surface