Glider dive log

PortSusan 17Jun09 * SG136 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 136 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 90 ROLL_MIN 236 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 3 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3918 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 45 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 24.5 C_ROLL_DIVE 2170 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON 57.5 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 80 SM_CC 600 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 43 INT_PRESSURE_YINT 0.69999999

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 50 UPLOAD_DIVES_MAX -1 VBD_MIN 500 DEVICE2 35

T_MISSION 65 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3598 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 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 100 T_GPS_CHARGE -78569.242 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 679 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3985 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3172 PRESSURE_YINT -2.3875301 SEABIRD_T_G 0.0043112189

RHO 1.0275 PITCH_DBAND 0.050000001 PRESSURE_SLOPE 0.0001163524 SEABIRD_T_H 0.00063089712

MASS 51492 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4176574e-05

NAV_MODE 1 P_OVSHOOT 0.050000001 TCM_PITCH_OFFSET 1.3 SEABIRD_T_J 2.6117627e-06

FERRY_MAX 45 PITCH_GAIN 15 TCM_ROLL_OFFSET -0.89999998 SEABIRD_C_G -10.042094

KALMAN_USE 1 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1112094

HD_A 0.003 PITCH_AD_RATE 155 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00092196499

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016575911

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 155 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.050000001 SM_CC 600

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3985 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 679 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 1.3

ALTIM_PULSE 3 ESCAPE_HEADING 90 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET -0.89999998

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163524 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.3875301 TGT_DEFAULT_LAT 24.5

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.050000001 TGT_DEFAULT_LON 57.5

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 50

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 -78569.242

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 65

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 136 ROLL_DEG 45 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3918 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3172 KALMAN_USE 1 ROLL_MIN 236 USE_BATHY -4

C_ROLL_CLIMB 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2170 MASS 51492 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 8

C_VBD 3598 MAX_BUOY 100 R_STBD_OVSHOOT 43 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 3 SEABIRD_C_G -10.042094 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1112094 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00092196499 VBD_MAXERRORS 1

DEVICE2 35 N_FILEKB 4 SEABIRD_C_J 0.00016575911 VBD_MIN 500

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043112189 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063089712 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4176574e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6117627e-06 XPDR_DEVICE 24

DIVE 3 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 195319,4807.244,-12222.774,9,1.9,9,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.084,-0.198

_SM_DEPTHo 1.11 KALMAN_X -174.5,-129.5,-121.7,211.8,-97.5

_SM_ANGLEo -69.3 KALMAN_Y 425.3,297.7,276.6,-423.5,227.4

GPS2 195719,4807.296,-12222.802,12,1.6,29,18.3 MHEAD_RNG_PITCHd_Wd 138.8,2597,-21.7,-10.000

SPEED_LIMITS 0.173,0.215 D_GRID 107

Post-dive calculations and measurements:

FINISH 3.8,1.019919 ALTIM_BOTTOM_PING 80.4,48.2

SM_CCo 2452,233.77,0.757,0,0,1152,600.00 _24V_AH 23.4,0.632

SM_GC 1.08,0.00,0.00,233.77,0.000,0.000,0.757,676,2160,1152,-11.48,-0.28,600.00 _10V_AH 10.8,0.656

IRIDIUM_FIX 4751.72,-12340.51,110998,191945 DATA_FILE_SIZE 19078,418

TT8_MAMPS 0.03068 CAP_FILE_SIZE 60198,0

HUMID 1865 CFSIZE 260165632,258768896

INTERNAL_PRESSURE 9.10853 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 177.40 GPS 170609,204425,4807.173,-12222.703,17,1.9,29,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 135 87.92 SBE_CT 280 24 157.81

Roll_motor 62 59 86.97 WL_BB2F 510 105 1253.48

VBD_pump_during_apogee 187 829 3638.73 nil 0 0 0.00

VBD_pump_during_surface 233 757 4141.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 4.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 16.65

TT8 643 19 137.64

LPSleep 750 2 17.74

TT8_Active 531 19 113.65

TT8_Sampling 782 39 336.55

TT8_CF8 87 45 43.34

TT8_Kalman 31 81 27.75

Analog_circuits 937 12 121.49

GPS_charging 0 0 0.00

Compass 759 8 65.62

RAFOS 0 0 0.00

Transponder 5 30 1.80

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

15 -1.57 -97.3 0.0 0.0 0 93 0.00 0.00 -75.38 0.000 2 0.000 0.000 677 2191 3156

96 -1.57 -97.3 3.3 -6.0 13 139 11.65 2.88 -24.75 0.000 4 0.136 0.057 2823 592 3962

146 -1.57 -97.3 4.4 -3.4 21 153 0.00 2.72 0.00 0.000 6 0.000 0.035 2823 2154 3962

221 -1.57 -97.3 9.7 -6.6 34 228 0.00 2.83 0.00 0.000 4 0.000 0.043 2822 3751 3963

399 -1.57 -97.3 23.5 -9.0 65 406 0.00 2.70 0.00 0.000 6 0.000 0.028 2823 2171 3963

474 -1.57 -97.3 31.3 -10.5 78 480 0.00 2.80 0.00 0.000 4 0.000 0.044 2823 3750 3963

498 -1.57 -97.3 34.3 -11.9 82 504 0.00 2.72 0.00 0.000 6 0.000 0.029 2823 2165 3963

573 -1.57 -97.3 42.7 -11.5 95 579 0.00 2.83 0.00 0.000 4 0.000 0.044 2823 3750 3963

608 -1.57 -97.3 46.8 -12.1 101 614 0.00 2.72 0.00 0.000 6 0.000 0.030 2823 2171 3964

750 -1.57 -97.3 62.9 -11.9 126 756 0.00 2.83 0.00 0.000 4 0.000 0.045 2823 3756 3963

779 -1.57 -97.3 66.4 -12.4 131 786 0.00 2.75 0.00 0.000 6 0.000 0.031 2823 2165 3963

923 -1.57 -97.3 81.7 -10.4 156 929 0.00 2.85 0.00 0.000 4 0.000 0.047 2823 3758 3963

986 -1.57 -97.3 88.8 -11.7 167 993 0.00 2.78 0.00 0.000 6 0.000 0.032 2822 2161 3963

1128 -1.57 -97.3 103.7 -10.7 192 1134 0.00 2.85 0.00 0.000 4 0.000 0.048 2823 3755 3963

1141 -1.57 -97.3 105.0 -10.0 194 1147 0.00 2.78 0.00 0.000 6 0.000 0.033 2823 2160 3963

1162 end dive: TARGET_DEPTH_EXCEEDED

state 1162 begin apogee

1168 -0.33 0.0 107.4 10.1 198 1241 1.30 0.00 68.45 0.830 6 0.084 0.000 3092 2159 3598

1242 end apogee: CONTROL_FINISHED_OK

state 1242 begin climb

1245 1.57 97.3 109.8 0.0 211 1324 1.90 0.00 73.38 0.809 6 0.049 0.000 3518 2159 3201

1459 1.57 97.3 91.1 11.2 249 1466 0.00 2.97 0.00 0.000 4 0.000 0.060 3518 560 3200

1612 1.57 97.3 73.4 10.9 276 1619 0.00 2.83 0.00 0.000 6 0.000 0.041 3518 2143 3199

1755 1.58 107.7 58.7 9.3 301 1772 0.00 2.95 9.23 0.705 4 0.000 0.050 3518 3736 3158

1802 1.58 107.7 54.1 10.2 309 1808 0.00 2.80 0.00 0.000 6 0.000 0.035 3517 2151 3158

1944 1.59 117.6 40.3 9.3 334 1962 0.00 3.00 9.05 0.700 4 0.000 0.059 3517 565 3117

2100 1.59 117.6 24.8 10.6 361 2106 0.00 2.83 0.00 0.000 6 0.000 0.040 3518 2158 3117

2176 1.60 123.8 17.6 9.6 374 2188 0.00 0.00 5.97 0.637 6 0.000 0.000 3518 2158 3094

2257 1.63 150.3 10.2 8.2 388 2287 0.00 2.92 21.30 0.758 4 0.000 0.049 3518 3731 2984

2336 end climb: SURFACE_DEPTH_REACHED

state 2336 begin surface coast

2427 end surface coast: CONTROL_FINISHED_OK

state 2427 begin surface

ID	136	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	90	ROLL_MIN	236	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	3	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3918	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	45	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	24.5	C_ROLL_DIVE	2170	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	57.5	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	80	SM_CC	600	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	43	INT_PRESSURE_YINT	0.69999999
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	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	500	DEVICE2	35
T_MISSION	65	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3598	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	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	100	T_GPS_CHARGE	-78569.242	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	679	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3985	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3172	PRESSURE_YINT	-2.3875301	SEABIRD_T_G	0.0043112189
RHO	1.0275	PITCH_DBAND	0.050000001	PRESSURE_SLOPE	0.0001163524	SEABIRD_T_H	0.00063089712
MASS	51492	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4176574e-05
NAV_MODE	1	P_OVSHOOT	0.050000001	TCM_PITCH_OFFSET	1.3	SEABIRD_T_J	2.6117627e-06
FERRY_MAX	45	PITCH_GAIN	15	TCM_ROLL_OFFSET	-0.89999998	SEABIRD_C_G	-10.042094
KALMAN_USE	1	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1112094
HD_A	0.003	PITCH_AD_RATE	155	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00092196499
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016575911
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	195319,4807.244,-12222.774,9,1.9,9,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.084,-0.198
_SM_DEPTHo	1.11	KALMAN_X	-174.5,-129.5,-121.7,211.8,-97.5
_SM_ANGLEo	-69.3	KALMAN_Y	425.3,297.7,276.6,-423.5,227.4
GPS2	195719,4807.296,-12222.802,12,1.6,29,18.3	MHEAD_RNG_PITCHd_Wd	138.8,2597,-21.7,-10.000
SPEED_LIMITS	0.173,0.215	D_GRID	107

FINISH	3.8,1.019919	ALTIM_BOTTOM_PING	80.4,48.2
SM_CCo	2452,233.77,0.757,0,0,1152,600.00	_24V_AH	23.4,0.632
SM_GC	1.08,0.00,0.00,233.77,0.000,0.000,0.757,676,2160,1152,-11.48,-0.28,600.00	_10V_AH	10.8,0.656
IRIDIUM_FIX	4751.72,-12340.51,110998,191945	DATA_FILE_SIZE	19078,418
TT8_MAMPS	0.03068	CAP_FILE_SIZE	60198,0
HUMID	1865	CFSIZE	260165632,258768896
INTERNAL_PRESSURE	9.10853	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	177.40	GPS	170609,204425,4807.173,-12222.703,17,1.9,29,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	135	87.92	SBE_CT	280	24	157.81
Roll_motor	62	59	86.97	WL_BB2F	510	105	1253.48
VBD_pump_during_apogee	187	829	3638.73	nil	0	0	0.00
VBD_pump_during_surface	233	757	4141.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	4.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	16.65
TT8	643	19	137.64
LPSleep	750	2	17.74
TT8_Active	531	19	113.65
TT8_Sampling	782	39	336.55
TT8_CF8	87	45	43.34
TT8_Kalman	31	81	27.75
Analog_circuits	937	12	121.49
GPS_charging	0	0	0.00
Compass	759	8	65.62
RAFOS	0	0	0.00
Transponder	5	30	1.80

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
15	-1.57	-97.3	0.0	0.0	0	93	0.00	0.00	-75.38	0.000	2	0.000	0.000	677	2191	3156
96	-1.57	-97.3	3.3	-6.0	13	139	11.65	2.88	-24.75	0.000	4	0.136	0.057	2823	592	3962
146	-1.57	-97.3	4.4	-3.4	21	153	0.00	2.72	0.00	0.000	6	0.000	0.035	2823	2154	3962
221	-1.57	-97.3	9.7	-6.6	34	228	0.00	2.83	0.00	0.000	4	0.000	0.043	2822	3751	3963
399	-1.57	-97.3	23.5	-9.0	65	406	0.00	2.70	0.00	0.000	6	0.000	0.028	2823	2171	3963
474	-1.57	-97.3	31.3	-10.5	78	480	0.00	2.80	0.00	0.000	4	0.000	0.044	2823	3750	3963
498	-1.57	-97.3	34.3	-11.9	82	504	0.00	2.72	0.00	0.000	6	0.000	0.029	2823	2165	3963
573	-1.57	-97.3	42.7	-11.5	95	579	0.00	2.83	0.00	0.000	4	0.000	0.044	2823	3750	3963
608	-1.57	-97.3	46.8	-12.1	101	614	0.00	2.72	0.00	0.000	6	0.000	0.030	2823	2171	3964
750	-1.57	-97.3	62.9	-11.9	126	756	0.00	2.83	0.00	0.000	4	0.000	0.045	2823	3756	3963
779	-1.57	-97.3	66.4	-12.4	131	786	0.00	2.75	0.00	0.000	6	0.000	0.031	2823	2165	3963
923	-1.57	-97.3	81.7	-10.4	156	929	0.00	2.85	0.00	0.000	4	0.000	0.047	2823	3758	3963
986	-1.57	-97.3	88.8	-11.7	167	993	0.00	2.78	0.00	0.000	6	0.000	0.032	2822	2161	3963
1128	-1.57	-97.3	103.7	-10.7	192	1134	0.00	2.85	0.00	0.000	4	0.000	0.048	2823	3755	3963
1141	-1.57	-97.3	105.0	-10.0	194	1147	0.00	2.78	0.00	0.000	6	0.000	0.033	2823	2160	3963
1162	end dive: TARGET_DEPTH_EXCEEDED
state	1162	begin apogee
1168	-0.33	0.0	107.4	10.1	198	1241	1.30	0.00	68.45	0.830	6	0.084	0.000	3092	2159	3598
1242	end apogee: CONTROL_FINISHED_OK
state	1242	begin climb
1245	1.57	97.3	109.8	0.0	211	1324	1.90	0.00	73.38	0.809	6	0.049	0.000	3518	2159	3201
1459	1.57	97.3	91.1	11.2	249	1466	0.00	2.97	0.00	0.000	4	0.000	0.060	3518	560	3200
1612	1.57	97.3	73.4	10.9	276	1619	0.00	2.83	0.00	0.000	6	0.000	0.041	3518	2143	3199
1755	1.58	107.7	58.7	9.3	301	1772	0.00	2.95	9.23	0.705	4	0.000	0.050	3518	3736	3158
1802	1.58	107.7	54.1	10.2	309	1808	0.00	2.80	0.00	0.000	6	0.000	0.035	3517	2151	3158
1944	1.59	117.6	40.3	9.3	334	1962	0.00	3.00	9.05	0.700	4	0.000	0.059	3517	565	3117
2100	1.59	117.6	24.8	10.6	361	2106	0.00	2.83	0.00	0.000	6	0.000	0.040	3518	2158	3117
2176	1.60	123.8	17.6	9.6	374	2188	0.00	0.00	5.97	0.637	6	0.000	0.000	3518	2158	3094
2257	1.63	150.3	10.2	8.2	388	2287	0.00	2.92	21.30	0.758	4	0.000	0.049	3518	3731	2984
2336	end climb: SURFACE_DEPTH_REACHED
state	2336	begin surface coast
2427	end surface coast: CONTROL_FINISHED_OK
state	2427	begin surface