Glider dive log

WA coast Jan08 * SG119 * Dive index * Mission links * Dive 23 * 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 23 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 29 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -15010.082 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 -15010.082

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 29 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 23 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 104847,4801.459,-12543.825,9,2.7,29,18.8 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,-0.138

_SM_DEPTHo 1.31 KALMAN_X 8590.0,-2037.4,-147.5,-10612.3,24829.8

_SM_ANGLEo -68.3 KALMAN_Y -2904.4,706.5,622.6,513.5,4641.0

GPS2 110407,4801.642,-12543.873,14,1.0,30,18.8 MHEAD_RNG_PITCHd_Wd 219.6,206385,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.024603 XPDR_PINGS 15

SM_CCo 6155,132.32,0.727,0,0,424,597.31 ALTIM_BOTTOM_PING 328.7,5.8

SM_GC 1.11,0.00,0.00,132.32,0.000,0.000,0.727,1378,2199,424,-9.13,-0.59,597.31 _24V_AH 23.8,6.006

IRIDIUM_FIX 4745.30,-12541.99,190108,141400 _10V_AH 10.7,2.528

TT8_MAMPS 0.027612 DATA_FILE_SIZE 22194,431

HUMID 1871 CFSIZE 260165632,257855488

INTERNAL_PRESSURE 9.47302 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

TCM_TEMP 18.50 GPS 190108,125032,4800.847,-12544.946,8,1.9,14,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 171 113.68 SBE_CT 305 24 174.52

Roll_motor 57 82 112.95 SBE_O2 319 19 144.52

VBD_pump_during_apogee 360 987 8464.88 WL_BB2F 700 105 1749.99

VBD_pump_during_surface 132 727 2289.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 205 103 504.35 nil 0 0 0.00

Iridium_during_connect 333 160 1271.18 nil 0 0 0.00

Iridium_during_xfer 46 223 248.96

Transponder_ping 6 420 59.98

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 17.10

TT8 782 19 165.71

LPSleep 4092 2 95.90

TT8_Active 595 19 126.13

TT8_Sampling 1095 39 466.67

TT8_CF8 654 45 320.81

TT8_Kalman 33 81 29.17

Analog_circuits 1117 12 143.46

GPS_charging 0 0 0.00

Compass 1065 8 91.18

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

17 -1.00 -146.6 0.0 0.0 0 122 0.00 0.00 -102.72 0.000 2 0.000 0.000 1378 2232 2598

124 -1.00 -146.6 3.8 -4.3 10 160 12.40 2.42 -18.90 0.000 4 0.171 0.074 3141 820 3458

216 -1.00 -146.6 25.0 -18.1 18 221 0.00 2.33 0.00 0.000 6 0.000 0.051 3141 2214 3458

552 -1.00 -146.6 84.0 -16.2 68 557 0.00 2.38 0.00 0.000 4 0.000 0.061 3141 814 3458

603 -1.00 -146.6 92.2 -14.9 72 607 0.00 2.35 0.00 0.000 6 0.000 0.051 3141 2223 3458

927 -1.00 -146.6 139.4 -14.6 102 931 0.00 2.38 0.00 0.000 4 0.000 0.061 3140 817 3458

1020 -1.00 -146.6 153.2 -14.5 109 1025 0.00 2.35 0.00 0.000 6 0.000 0.050 3141 2218 3458

1341 -1.00 -146.6 195.9 -12.4 125 1345 0.00 2.35 0.00 0.000 4 0.000 0.061 3141 819 3458

1402 -1.00 -146.6 203.7 -12.7 128 1407 0.00 2.30 0.00 0.000 6 0.000 0.051 3141 2219 3458

1729 -1.00 -146.6 245.6 -12.1 144 1733 0.00 2.35 0.00 0.000 4 0.000 0.062 3140 819 3458

1760 -1.00 -146.6 249.7 -12.2 145 1769 0.00 2.33 0.00 0.000 6 0.000 0.053 3141 2214 3458

2076 -1.00 -146.6 286.9 -11.7 161 2077 0.00 0.00 0.00 0.000 6 0.000 0.000 3141 2213 3458

2381 -1.00 -146.6 322.3 -11.5 170 2382 0.00 0.00 0.00 0.000 6 0.000 0.000 3141 2213 3458

2444 end dive: BOTTOM_OBSTACLE_DETECTED

state 2444 begin apogee

2447 -0.23 0.0 328.7 11.1 171 2567 1.00 0.00 116.62 0.988 6 0.099 0.000 3307 2214 2860

2567 end apogee: CONTROL_FINISHED_OK

state 2568 begin climb

2569 1.00 146.6 333.1 0.0 173 2696 1.60 2.62 119.05 0.949 4 0.058 0.060 3576 778 2261

2875 1.03 169.2 320.5 9.0 177 2900 0.00 2.42 19.52 0.918 6 0.000 0.051 3576 2178 2170

3217 1.06 195.3 289.1 8.8 186 3246 0.00 2.62 22.02 0.929 4 0.000 0.082 3576 3593 2063

3335 1.06 195.3 276.4 11.5 191 3340 0.00 2.42 0.00 0.000 6 0.000 0.046 3576 2185 2063

3657 1.06 195.3 241.9 11.0 207 3661 0.00 2.47 0.00 0.000 4 0.000 0.078 3576 3587 2062

3772 1.06 195.3 228.2 12.1 212 3777 0.00 2.38 0.00 0.000 6 0.000 0.046 3576 2181 2062

4094 1.07 203.7 196.2 9.6 228 4108 0.00 2.50 7.97 0.825 4 0.000 0.078 3576 3586 2029

4184 1.07 203.7 187.4 10.3 232 4188 0.00 2.35 0.00 0.000 6 0.000 0.047 3576 2175 2029

4509 1.09 218.7 155.8 9.3 248 4524 0.12 0.00 12.98 0.866 6 0.067 0.000 3601 2175 1968

4828 1.09 218.7 121.8 11.3 275 4832 0.00 2.38 0.00 0.000 4 0.000 0.063 3601 771 1968

4968 1.10 223.3 106.5 9.8 287 4980 0.00 2.38 5.28 0.698 6 0.000 0.051 3602 2189 1949

5299 1.13 254.0 76.0 8.6 321 5332 0.00 2.47 24.85 0.838 4 0.000 0.060 3602 780 1823

5405 1.13 254.0 64.9 10.5 340 5412 0.00 2.38 0.00 0.000 6 0.000 0.051 3602 2186 1824

5745 1.15 270.1 33.9 9.3 395 5765 0.00 0.00 13.98 0.789 6 0.000 0.000 3602 2186 1758

6085 1.20 307.9 4.4 8.3 427 6108 0.12 2.55 17.75 0.767 4 0.071 0.081 3627 3590 1603

6112 end climb: SURFACE_DEPTH_REACHED

state 6112 begin surface coast

6135 end surface coast: CONTROL_FINISHED_OK

state 6135 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	23	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	29	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-15010.082	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	104847,4801.459,-12543.825,9,2.7,29,18.8	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,-0.138
_SM_DEPTHo	1.31	KALMAN_X	8590.0,-2037.4,-147.5,-10612.3,24829.8
_SM_ANGLEo	-68.3	KALMAN_Y	-2904.4,706.5,622.6,513.5,4641.0
GPS2	110407,4801.642,-12543.873,14,1.0,30,18.8	MHEAD_RNG_PITCHd_Wd	219.6,206385,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.5,1.024603	XPDR_PINGS	15
SM_CCo	6155,132.32,0.727,0,0,424,597.31	ALTIM_BOTTOM_PING	328.7,5.8
SM_GC	1.11,0.00,0.00,132.32,0.000,0.000,0.727,1378,2199,424,-9.13,-0.59,597.31	_24V_AH	23.8,6.006
IRIDIUM_FIX	4745.30,-12541.99,190108,141400	_10V_AH	10.7,2.528
TT8_MAMPS	0.027612	DATA_FILE_SIZE	22194,431
HUMID	1871	CFSIZE	260165632,257855488
INTERNAL_PRESSURE	9.47302	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
TCM_TEMP	18.50	GPS	190108,125032,4800.847,-12544.946,8,1.9,14,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	171	113.68	SBE_CT	305	24	174.52
Roll_motor	57	82	112.95	SBE_O2	319	19	144.52
VBD_pump_during_apogee	360	987	8464.88	WL_BB2F	700	105	1749.99
VBD_pump_during_surface	132	727	2289.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	205	103	504.35	nil	0	0	0.00
Iridium_during_connect	333	160	1271.18	nil	0	0	0.00
Iridium_during_xfer	46	223	248.96
Transponder_ping	6	420	59.98
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	17.10
TT8	782	19	165.71
LPSleep	4092	2	95.90
TT8_Active	595	19	126.13
TT8_Sampling	1095	39	466.67
TT8_CF8	654	45	320.81
TT8_Kalman	33	81	29.17
Analog_circuits	1117	12	143.46
GPS_charging	0	0	0.00
Compass	1065	8	91.18
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
17	-1.00	-146.6	0.0	0.0	0	122	0.00	0.00	-102.72	0.000	2	0.000	0.000	1378	2232	2598
124	-1.00	-146.6	3.8	-4.3	10	160	12.40	2.42	-18.90	0.000	4	0.171	0.074	3141	820	3458
216	-1.00	-146.6	25.0	-18.1	18	221	0.00	2.33	0.00	0.000	6	0.000	0.051	3141	2214	3458
552	-1.00	-146.6	84.0	-16.2	68	557	0.00	2.38	0.00	0.000	4	0.000	0.061	3141	814	3458
603	-1.00	-146.6	92.2	-14.9	72	607	0.00	2.35	0.00	0.000	6	0.000	0.051	3141	2223	3458
927	-1.00	-146.6	139.4	-14.6	102	931	0.00	2.38	0.00	0.000	4	0.000	0.061	3140	817	3458
1020	-1.00	-146.6	153.2	-14.5	109	1025	0.00	2.35	0.00	0.000	6	0.000	0.050	3141	2218	3458
1341	-1.00	-146.6	195.9	-12.4	125	1345	0.00	2.35	0.00	0.000	4	0.000	0.061	3141	819	3458
1402	-1.00	-146.6	203.7	-12.7	128	1407	0.00	2.30	0.00	0.000	6	0.000	0.051	3141	2219	3458
1729	-1.00	-146.6	245.6	-12.1	144	1733	0.00	2.35	0.00	0.000	4	0.000	0.062	3140	819	3458
1760	-1.00	-146.6	249.7	-12.2	145	1769	0.00	2.33	0.00	0.000	6	0.000	0.053	3141	2214	3458
2076	-1.00	-146.6	286.9	-11.7	161	2077	0.00	0.00	0.00	0.000	6	0.000	0.000	3141	2213	3458
2381	-1.00	-146.6	322.3	-11.5	170	2382	0.00	0.00	0.00	0.000	6	0.000	0.000	3141	2213	3458
2444	end dive: BOTTOM_OBSTACLE_DETECTED
state	2444	begin apogee
2447	-0.23	0.0	328.7	11.1	171	2567	1.00	0.00	116.62	0.988	6	0.099	0.000	3307	2214	2860
2567	end apogee: CONTROL_FINISHED_OK
state	2568	begin climb
2569	1.00	146.6	333.1	0.0	173	2696	1.60	2.62	119.05	0.949	4	0.058	0.060	3576	778	2261
2875	1.03	169.2	320.5	9.0	177	2900	0.00	2.42	19.52	0.918	6	0.000	0.051	3576	2178	2170
3217	1.06	195.3	289.1	8.8	186	3246	0.00	2.62	22.02	0.929	4	0.000	0.082	3576	3593	2063
3335	1.06	195.3	276.4	11.5	191	3340	0.00	2.42	0.00	0.000	6	0.000	0.046	3576	2185	2063
3657	1.06	195.3	241.9	11.0	207	3661	0.00	2.47	0.00	0.000	4	0.000	0.078	3576	3587	2062
3772	1.06	195.3	228.2	12.1	212	3777	0.00	2.38	0.00	0.000	6	0.000	0.046	3576	2181	2062
4094	1.07	203.7	196.2	9.6	228	4108	0.00	2.50	7.97	0.825	4	0.000	0.078	3576	3586	2029
4184	1.07	203.7	187.4	10.3	232	4188	0.00	2.35	0.00	0.000	6	0.000	0.047	3576	2175	2029
4509	1.09	218.7	155.8	9.3	248	4524	0.12	0.00	12.98	0.866	6	0.067	0.000	3601	2175	1968
4828	1.09	218.7	121.8	11.3	275	4832	0.00	2.38	0.00	0.000	4	0.000	0.063	3601	771	1968
4968	1.10	223.3	106.5	9.8	287	4980	0.00	2.38	5.28	0.698	6	0.000	0.051	3602	2189	1949
5299	1.13	254.0	76.0	8.6	321	5332	0.00	2.47	24.85	0.838	4	0.000	0.060	3602	780	1823
5405	1.13	254.0	64.9	10.5	340	5412	0.00	2.38	0.00	0.000	6	0.000	0.051	3602	2186	1824
5745	1.15	270.1	33.9	9.3	395	5765	0.00	0.00	13.98	0.789	6	0.000	0.000	3602	2186	1758
6085	1.20	307.9	4.4	8.3	427	6108	0.12	2.55	17.75	0.767	4	0.071	0.081	3627	3590	1603
6112	end climb: SURFACE_DEPTH_REACHED
state	6112	begin surface coast
6135	end surface coast: CONTROL_FINISHED_OK
state	6135	begin surface