Glider dive log

PortSusan 17Jun09 * SG131 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 131 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MIN 186 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 21 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3945 ALTIM_PING_DEPTH 0

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 28 C_ROLL_DIVE 2310 ALTIM_FREQUENCY 13

D_TGT 151 TGT_DEFAULT_LON 126 C_ROLL_CLIMB 2310 ALTIM_PULSE 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 80 SM_CC 580 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 INT_PRESSURE_YINT 0

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 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 63 UPLOAD_DIVES_MAX -1 VBD_MIN 400 DEVICE2 35

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3478 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.245296 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 5 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 -82727.234 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 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 20 RAFOS_DEVICE -1

MAX_BUOY 100 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 407 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3732 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2475 PRESSURE_YINT -16.927258 SEABIRD_T_G 0.0043429052

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160188 SEABIRD_T_H 0.0006347372

MASS 51765 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4341456e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6243206e-06

FERRY_MAX 45 PITCH_GAIN 14.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9295921

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1083623

HD_A 0.003 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00075993547

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00015708983

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.1 SM_CC 580

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3732 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 407 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 151 PITCH_TIMEOUT 18 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 0.0001160188 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -16.927258 TGT_DEFAULT_LAT 28

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON 126

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 63

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -82727.234

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

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 131 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3945 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2475 KALMAN_USE 1 ROLL_MIN 186 USE_BATHY -4

C_ROLL_CLIMB 2310 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2310 MASS 51765 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 3478 MAX_BUOY 100 R_STBD_OVSHOOT 18 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 3 SEABIRD_C_G -9.9295921 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1083623 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00075993547 VBD_MAXERRORS 1

DEVICE2 35 N_FILEKB 4 SEABIRD_C_J 0.00015708983 VBD_MIN 400

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043429052 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006347372 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4341456e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6243206e-06 XPDR_DEVICE 24

DIVE 21 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 132607,4807.824,-12223.933,28,1.4,28,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.055,0.186

_SM_DEPTHo 0.76 KALMAN_X -3317.6,216.6,-14.8,1631.0,26.4

_SM_ANGLEo -64.3 KALMAN_Y -731.5,-330.5,-69.8,2575.5,-120.2

GPS2 133114,4807.805,-12223.905,13,1.4,13,18.3 MHEAD_RNG_PITCHd_Wd 325.1,380,-18.5,-7.989

SPEED_LIMITS 0.138,0.201 D_GRID 103

Post-dive calculations and measurements:

FINISH 3.7,1.019588 XPDR_PINGS 6

SM_CCo 2788,317.67,0.513,3,0,1112,580.13 _24V_AH 23.6,2.310

SM_GC 0.68,0.00,0.00,317.67,0.000,0.000,0.513,407,2316,1112,-9.51,0.17,580.13 _10V_AH 10.7,0.993

IRIDIUM_FIX 4751.72,-12340.51,120998,121248 DATA_FILE_SIZE 19009,488

TT8_MAMPS 0.028379 CAP_FILE_SIZE 50831,0

HUMID 1891 CFSIZE 259952640,258510848

INTERNAL_PRESSURE 9.22887 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,0

TCM_TEMP 17.90 GPS 180609,142456,4807.934,-12223.970,14,1.9,14,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 148 82.79 SBE_CT 326 24 185.07

Roll_motor 30 64 46.49 WL_BB2F 362 105 898.08

VBD_pump_during_apogee 247 587 3426.17 nil 0 0 0.00

VBD_pump_during_surface 317 513 3846.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 75.53 nil 0 0 0.00

Iridium_during_connect 31 160 120.41 nil 0 0 0.00

Iridium_during_xfer 170 223 897.80

Transponder_ping 1 420 14.87

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.20

TT8 721 19 152.87

LPSleep 947 2 22.21

TT8_Active 662 19 140.33

TT8_Sampling 827 39 352.22

TT8_CF8 286 45 140.46

TT8_Kalman 33 81 29.17

Analog_circuits 1112 12 142.82

GPS_charging 0 0 0.00

Compass 821 8 70.34

RAFOS 0 0 0.00

Transponder 0 30 0.27

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 -1.39 -90.3 0.0 0.0 0 93 0.00 0.00 -76.25 0.000 2 0.000 0.000 406 2314 3103

95 -1.40 -97.3 3.2 -3.9 13 133 9.68 2.62 -21.98 0.000 4 0.149 0.062 2166 907 3875

161 -1.40 -97.3 6.6 -5.9 24 167 0.00 2.50 0.00 0.000 6 0.000 0.041 2166 2317 3876

235 -1.40 -97.3 11.4 -7.5 37 241 0.00 2.55 0.00 0.000 4 0.000 0.059 2166 3721 3877

421 -1.40 -97.3 28.0 -9.5 70 427 0.00 2.45 0.00 0.000 6 0.000 0.035 2166 2301 3877

495 -1.40 -97.3 34.8 -9.4 83 500 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2301 3877

567 -1.40 -97.3 42.0 -10.3 96 572 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2301 3877

706 -1.40 -97.3 55.8 -10.2 121 711 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2301 3877

845 -1.40 -97.3 69.6 -9.5 146 851 0.00 2.55 0.00 0.000 4 0.000 0.058 2166 907 3877

884 -1.40 -97.3 73.3 -9.8 153 891 0.00 2.53 0.00 0.000 6 0.000 0.047 2166 2311 3877

1025 -1.40 -97.3 86.6 -9.6 178 1031 0.00 2.58 0.00 0.000 4 0.000 0.062 2166 3714 3877

1092 -1.40 -97.3 93.5 -10.0 190 1099 0.00 2.45 0.00 0.000 6 0.000 0.033 2166 2310 3877

1198 end dive: TARGET_DEPTH_EXCEEDED

state 1198 begin apogee

1201 -0.34 0.0 103.2 8.7 209 1287 1.10 0.00 79.40 0.588 6 0.087 0.000 2394 2309 3478

1288 end apogee: CONTROL_FINISHED_OK

state 1288 begin climb

1289 1.40 97.3 105.2 0.0 225 1375 1.73 0.00 78.88 0.570 6 0.052 0.000 2784 2309 3081

1509 1.40 97.3 89.1 9.4 265 1514 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 2309 3080

1650 1.40 97.3 76.8 8.6 290 1655 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 2309 3079

1789 1.40 97.3 64.7 8.4 315 1794 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 2309 3079

1928 1.40 102.2 53.8 7.7 340 1941 0.00 2.62 5.43 0.465 4 0.000 0.064 2784 912 3061

2008 1.41 103.8 47.6 7.9 354 2014 0.00 2.55 0.00 0.000 6 0.000 0.051 2783 2313 3060

2149 1.42 112.6 36.5 7.5 379 2168 0.00 2.65 9.85 0.529 4 0.000 0.061 2784 918 3019

2257 1.42 114.6 27.8 7.9 398 2270 0.00 2.53 3.67 0.384 6 0.000 0.050 2784 2316 3009

2338 1.43 123.0 21.4 7.5 412 2350 0.00 0.00 8.48 0.512 6 0.000 0.000 2784 2316 2976

2417 1.43 123.0 15.1 8.1 426 2423 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 2316 2975

2490 1.46 147.5 10.1 6.5 439 2514 0.00 0.00 20.92 0.545 6 0.000 0.000 2784 2316 2876

2582 1.52 199.8 5.2 4.9 455 2625 0.10 0.00 40.47 0.539 2 0.060 0.000 2815 2317 2673

2626 end climb: SURFACE_DEPTH_REACHED

state 2626 begin surface coast

2771 end surface coast: NO_VERTICAL_VELOCITY

state 2772 begin surface

ID	131	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MIN	186	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	21	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3945	ALTIM_PING_DEPTH	0
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	28	C_ROLL_DIVE	2310	ALTIM_FREQUENCY	13
D_TGT	151	TGT_DEFAULT_LON	126	C_ROLL_CLIMB	2310	ALTIM_PULSE	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	80	SM_CC	580	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	INT_PRESSURE_YINT	0
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	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	63	UPLOAD_DIVES_MAX	-1	VBD_MIN	400	DEVICE2	35
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3478	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.245296	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	5	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	-82727.234	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	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	20	RAFOS_DEVICE	-1
MAX_BUOY	100	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	407	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3732	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2475	PRESSURE_YINT	-16.927258	SEABIRD_T_G	0.0043429052
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160188	SEABIRD_T_H	0.0006347372
MASS	51765	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4341456e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6243206e-06
FERRY_MAX	45	PITCH_GAIN	14.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9295921
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1083623
HD_A	0.003	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00075993547
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00015708983
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	132607,4807.824,-12223.933,28,1.4,28,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.055,0.186
_SM_DEPTHo	0.76	KALMAN_X	-3317.6,216.6,-14.8,1631.0,26.4
_SM_ANGLEo	-64.3	KALMAN_Y	-731.5,-330.5,-69.8,2575.5,-120.2
GPS2	133114,4807.805,-12223.905,13,1.4,13,18.3	MHEAD_RNG_PITCHd_Wd	325.1,380,-18.5,-7.989
SPEED_LIMITS	0.138,0.201	D_GRID	103

FINISH	3.7,1.019588	XPDR_PINGS	6
SM_CCo	2788,317.67,0.513,3,0,1112,580.13	_24V_AH	23.6,2.310
SM_GC	0.68,0.00,0.00,317.67,0.000,0.000,0.513,407,2316,1112,-9.51,0.17,580.13	_10V_AH	10.7,0.993
IRIDIUM_FIX	4751.72,-12340.51,120998,121248	DATA_FILE_SIZE	19009,488
TT8_MAMPS	0.028379	CAP_FILE_SIZE	50831,0
HUMID	1891	CFSIZE	259952640,258510848
INTERNAL_PRESSURE	9.22887	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
TCM_TEMP	17.90	GPS	180609,142456,4807.934,-12223.970,14,1.9,14,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	148	82.79	SBE_CT	326	24	185.07
Roll_motor	30	64	46.49	WL_BB2F	362	105	898.08
VBD_pump_during_apogee	247	587	3426.17	nil	0	0	0.00
VBD_pump_during_surface	317	513	3846.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	75.53	nil	0	0	0.00
Iridium_during_connect	31	160	120.41	nil	0	0	0.00
Iridium_during_xfer	170	223	897.80
Transponder_ping	1	420	14.87
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.20
TT8	721	19	152.87
LPSleep	947	2	22.21
TT8_Active	662	19	140.33
TT8_Sampling	827	39	352.22
TT8_CF8	286	45	140.46
TT8_Kalman	33	81	29.17
Analog_circuits	1112	12	142.82
GPS_charging	0	0	0.00
Compass	821	8	70.34
RAFOS	0	0	0.00
Transponder	0	30	0.27

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	-1.39	-90.3	0.0	0.0	0	93	0.00	0.00	-76.25	0.000	2	0.000	0.000	406	2314	3103
95	-1.40	-97.3	3.2	-3.9	13	133	9.68	2.62	-21.98	0.000	4	0.149	0.062	2166	907	3875
161	-1.40	-97.3	6.6	-5.9	24	167	0.00	2.50	0.00	0.000	6	0.000	0.041	2166	2317	3876
235	-1.40	-97.3	11.4	-7.5	37	241	0.00	2.55	0.00	0.000	4	0.000	0.059	2166	3721	3877
421	-1.40	-97.3	28.0	-9.5	70	427	0.00	2.45	0.00	0.000	6	0.000	0.035	2166	2301	3877
495	-1.40	-97.3	34.8	-9.4	83	500	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2301	3877
567	-1.40	-97.3	42.0	-10.3	96	572	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2301	3877
706	-1.40	-97.3	55.8	-10.2	121	711	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2301	3877
845	-1.40	-97.3	69.6	-9.5	146	851	0.00	2.55	0.00	0.000	4	0.000	0.058	2166	907	3877
884	-1.40	-97.3	73.3	-9.8	153	891	0.00	2.53	0.00	0.000	6	0.000	0.047	2166	2311	3877
1025	-1.40	-97.3	86.6	-9.6	178	1031	0.00	2.58	0.00	0.000	4	0.000	0.062	2166	3714	3877
1092	-1.40	-97.3	93.5	-10.0	190	1099	0.00	2.45	0.00	0.000	6	0.000	0.033	2166	2310	3877
1198	end dive: TARGET_DEPTH_EXCEEDED
state	1198	begin apogee
1201	-0.34	0.0	103.2	8.7	209	1287	1.10	0.00	79.40	0.588	6	0.087	0.000	2394	2309	3478
1288	end apogee: CONTROL_FINISHED_OK
state	1288	begin climb
1289	1.40	97.3	105.2	0.0	225	1375	1.73	0.00	78.88	0.570	6	0.052	0.000	2784	2309	3081
1509	1.40	97.3	89.1	9.4	265	1514	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	2309	3080
1650	1.40	97.3	76.8	8.6	290	1655	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	2309	3079
1789	1.40	97.3	64.7	8.4	315	1794	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	2309	3079
1928	1.40	102.2	53.8	7.7	340	1941	0.00	2.62	5.43	0.465	4	0.000	0.064	2784	912	3061
2008	1.41	103.8	47.6	7.9	354	2014	0.00	2.55	0.00	0.000	6	0.000	0.051	2783	2313	3060
2149	1.42	112.6	36.5	7.5	379	2168	0.00	2.65	9.85	0.529	4	0.000	0.061	2784	918	3019
2257	1.42	114.6	27.8	7.9	398	2270	0.00	2.53	3.67	0.384	6	0.000	0.050	2784	2316	3009
2338	1.43	123.0	21.4	7.5	412	2350	0.00	0.00	8.48	0.512	6	0.000	0.000	2784	2316	2976
2417	1.43	123.0	15.1	8.1	426	2423	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	2316	2975
2490	1.46	147.5	10.1	6.5	439	2514	0.00	0.00	20.92	0.545	6	0.000	0.000	2784	2316	2876
2582	1.52	199.8	5.2	4.9	455	2625	0.10	0.00	40.47	0.539	2	0.060	0.000	2815	2317	2673
2626	end climb: SURFACE_DEPTH_REACHED
state	2626	begin surface coast
2771	end surface coast: NO_VERTICAL_VELOCITY
state	2772	begin surface