Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 104 HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 20

MISSION 4 HD_C 2.5700001e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 6 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 176 ALTIM_PING_DEPTH 150

D_TGT 300 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3929 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2052 ALTIM_FREQUENCY 13

D_NO_BLEED 100 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 2052 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -1.784981

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 12 DEVICE1 2

T_DIVE 100 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 120 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 607 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3934 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2915 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 360 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 -35106.387 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 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 45 AH0_24V 91.800003 SEABIRD_T_G 0.0043062796

SPEED_FACTOR 1 PITCH_MAX 3331 AH0_10V 61.200001 SEABIRD_T_H 0.0006289829

RHO 1.023 C_PITCH 2450 PRESSURE_YINT -16.564281 SEABIRD_T_I 2.2033064e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.057111e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.442612

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1821688

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015124022

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022414648

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 100 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3331 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 45 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 300 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -16.564281 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -8.75

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 100

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_GPS_CHARGE -35106.387

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 120

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 104 ROLL_MAX 3929 T_TURN_SAMPINT 5

C_PITCH 2450 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 12 T_WATCHDOG 10

C_ROLL_CLIMB 2052 INT_PRESSURE_YINT -1.784981 ROLL_MIN 176 UNCOM_BLEED 20

C_ROLL_DIVE 2052 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2915 MASS 52000 R_PORT_OVSHOOT 24 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 27 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.442612 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1821688 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0015124022 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00022414648 VBD_MAX 3934

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043062796 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006289829 VBD_MIN 607

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2033064e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 6 PHONE_DEVICE 48 SEABIRD_T_J 2.057111e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 050307,6133.960,-302.516,37,1.5,43,-6.1 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.220,-0.145

_SM_DEPTHo 1.10 KALMAN_X 3582.6,7179.5,-287.3,-4329.9,2201.2

_SM_ANGLEo -60.2 KALMAN_Y 128.3,-279.6,-197.6,399.6,815.9

GPS2 050727,6134.013,-302.246,14,1.8,14,-6.1 MHEAD_RNG_PITCHd_Wd 242.7,327384,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 300

Post-dive calculations and measurements:

FINISH 0.5,1.013140 XPDR_PINGS 0

SM_CCo 6220,62.62,0.651,2,0,1691,300.00 ALTIM_TOP_PING 17.8,16.9

SM_GC 1.14,0.00,0.00,62.62,0.000,0.000,0.651,42,2044,1691,-11.08,-0.23,300.00 _24V_AH 23.3,3.889

IRIDIUM_FIX 6112.75,-310.04,110597,030306 _10V_AH 10.1,2.033

TT8_MAMPS 0.026845 DATA_FILE_SIZE 12808,297

HUMID 1694 CFSIZE 260165632,256880640

INTERNAL_PRESSURE 8.41072 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,2,0

TCM_TEMP 16.10 GPS 150208,065423,6133.690,-258.419,12,6.0,31,-6.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 155 97.59 SBE_CT 217 24 121.84

Roll_motor 50 72 84.08 SBE_O2 198 19 87.87

VBD_pump_during_apogee 273 884 5640.72 WL_BB2F 331 105 811.36

VBD_pump_during_surface 62 651 950.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 95.91 nil 0 0 0.00

Iridium_during_connect 33 160 125.74 nil 0 0 0.00

Iridium_during_xfer 96 223 501.36

Transponder_ping 2 420 19.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.23

TT8 582 19 116.53

LPSleep 4502 2 99.59

TT8_Active 449 19 89.81

TT8_Sampling 740 39 297.48

TT8_CF8 294 45 136.00

TT8_Kalman 33 81 27.53

Analog_circuits 817 12 99.09

GPS_charging 0 0 0.00

Compass 730 8 59.02

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.39 -146.6 0.0 0.0 0 107 0.00 0.00 -81.22 0.000 2 0.000 0.000 41 2047 3210

110 -1.39 -146.6 3.1 -3.4 4 135 11.85 2.55 -8.05 0.000 4 0.156 0.072 2140 649 3514

298 -1.39 -146.6 26.6 -9.5 12 302 0.00 2.45 0.00 0.000 6 0.000 0.038 2140 2060 3515

614 -1.39 -146.6 61.3 -10.8 27 618 0.00 2.58 0.00 0.000 4 0.000 0.061 2140 646 3515

676 -1.39 -146.6 68.7 -12.1 30 680 0.00 2.40 0.00 0.000 6 0.000 0.037 2140 2050 3515

1002 -1.39 -146.6 102.8 -10.2 46 1006 0.00 2.50 0.00 0.000 4 0.000 0.056 2140 3457 3515

1035 -1.39 -146.6 106.3 -10.0 47 1039 0.00 2.42 0.00 0.000 6 0.000 0.038 2140 2049 3515

1357 -1.39 -146.6 137.6 -9.2 63 1362 0.00 2.50 0.00 0.000 4 0.000 0.053 2140 3460 3515

1384 -1.39 -146.6 140.5 -10.6 64 1389 0.00 2.45 0.00 0.000 6 0.000 0.038 2140 2043 3515

1706 -1.39 -146.6 171.3 -9.8 80 1707 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2043 3515

2017 -1.39 -146.6 201.9 -10.1 95 2021 0.00 2.53 0.00 0.000 4 0.000 0.054 2140 3456 3516

2049 -1.39 -146.6 205.5 -10.8 96 2055 0.00 2.45 0.00 0.000 6 0.000 0.039 2140 2047 3515

2365 -1.39 -146.6 236.7 -10.0 112 2366 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2047 3515

2674 -1.39 -146.6 267.3 -9.7 127 2679 0.00 2.53 0.00 0.000 4 0.000 0.054 2140 3463 3515

2709 -1.39 -146.6 270.7 -9.8 128 2715 0.00 2.45 0.00 0.000 6 0.000 0.039 2140 2048 3515

3023 end dive: TARGET_DEPTH_EXCEEDED

state 3023 begin apogee

3029 -0.33 0.0 301.8 9.7 144 3152 1.15 0.00 119.68 0.884 6 0.086 0.000 2374 2048 2914

3153 end apogee: CONTROL_FINISHED_OK

state 3153 begin climb

3155 1.39 146.6 304.8 0.0 150 3286 1.75 2.62 118.78 0.853 4 0.054 0.055 2752 3455 2317

3321 1.39 146.6 296.5 10.9 158 3326 0.00 2.47 0.00 0.000 6 0.000 0.040 2751 2054 2316

3636 1.39 146.6 263.2 10.9 173 3638 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2054 2316

3946 1.39 152.5 232.1 9.7 188 3959 0.00 2.60 6.45 0.686 4 0.000 0.054 2752 3463 2292

4013 1.39 152.5 225.3 10.6 191 4017 0.00 2.47 0.00 0.000 6 0.000 0.040 2752 2050 2292

4339 1.39 152.5 192.3 10.3 207 4340 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2051 2292

4648 1.40 160.6 162.3 9.6 222 4662 0.00 2.58 7.88 0.709 4 0.000 0.054 2752 3455 2260

4742 1.40 160.6 152.1 11.8 226 4746 0.00 2.47 0.00 0.000 6 0.000 0.039 2752 2043 2260

5063 1.40 160.6 117.0 11.0 242 5068 0.00 2.55 0.00 0.000 4 0.000 0.054 2752 3465 2260

5141 1.40 160.6 108.1 10.6 245 5148 0.00 2.47 0.00 0.000 6 0.000 0.039 2752 2047 2260

5458 1.42 171.2 77.9 9.5 261 5469 0.00 0.00 9.93 0.696 6 0.000 0.000 2752 2047 2217

5767 1.42 171.2 42.2 11.9 276 5768 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2047 2216

6076 1.43 183.0 12.1 9.5 291 6089 0.00 0.00 11.05 0.669 6 0.000 0.000 2752 2047 2167

6176 end climb: SURFACE_DEPTH_REACHED

state 6176 begin surface coast

6198 end surface coast: CONTROL_FINISHED_OK

state 6198 begin surface

ID	104	HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	20
MISSION	4	HD_C	2.5700001e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	6	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	176	ALTIM_PING_DEPTH	150
D_TGT	300	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3929	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2052	ALTIM_FREQUENCY	13
D_NO_BLEED	100	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	2052	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-1.784981
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	12	DEVICE1	2
T_DIVE	100	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	120	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	607	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3934	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2915	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	360	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	-35106.387	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	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	45	AH0_24V	91.800003	SEABIRD_T_G	0.0043062796
SPEED_FACTOR	1	PITCH_MAX	3331	AH0_10V	61.200001	SEABIRD_T_H	0.0006289829
RHO	1.023	C_PITCH	2450	PRESSURE_YINT	-16.564281	SEABIRD_T_I	2.2033064e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.057111e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.442612
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1821688
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015124022
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022414648

GPS1	050307,6133.960,-302.516,37,1.5,43,-6.1	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.220,-0.145
_SM_DEPTHo	1.10	KALMAN_X	3582.6,7179.5,-287.3,-4329.9,2201.2
_SM_ANGLEo	-60.2	KALMAN_Y	128.3,-279.6,-197.6,399.6,815.9
GPS2	050727,6134.013,-302.246,14,1.8,14,-6.1	MHEAD_RNG_PITCHd_Wd	242.7,327384,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	300

FINISH	0.5,1.013140	XPDR_PINGS	0
SM_CCo	6220,62.62,0.651,2,0,1691,300.00	ALTIM_TOP_PING	17.8,16.9
SM_GC	1.14,0.00,0.00,62.62,0.000,0.000,0.651,42,2044,1691,-11.08,-0.23,300.00	_24V_AH	23.3,3.889
IRIDIUM_FIX	6112.75,-310.04,110597,030306	_10V_AH	10.1,2.033
TT8_MAMPS	0.026845	DATA_FILE_SIZE	12808,297
HUMID	1694	CFSIZE	260165632,256880640
INTERNAL_PRESSURE	8.41072	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
TCM_TEMP	16.10	GPS	150208,065423,6133.690,-258.419,12,6.0,31,-6.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	155	97.59	SBE_CT	217	24	121.84
Roll_motor	50	72	84.08	SBE_O2	198	19	87.87
VBD_pump_during_apogee	273	884	5640.72	WL_BB2F	331	105	811.36
VBD_pump_during_surface	62	651	950.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	95.91	nil	0	0	0.00
Iridium_during_connect	33	160	125.74	nil	0	0	0.00
Iridium_during_xfer	96	223	501.36
Transponder_ping	2	420	19.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.23
TT8	582	19	116.53
LPSleep	4502	2	99.59
TT8_Active	449	19	89.81
TT8_Sampling	740	39	297.48
TT8_CF8	294	45	136.00
TT8_Kalman	33	81	27.53
Analog_circuits	817	12	99.09
GPS_charging	0	0	0.00
Compass	730	8	59.02
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.39	-146.6	0.0	0.0	0	107	0.00	0.00	-81.22	0.000	2	0.000	0.000	41	2047	3210
110	-1.39	-146.6	3.1	-3.4	4	135	11.85	2.55	-8.05	0.000	4	0.156	0.072	2140	649	3514
298	-1.39	-146.6	26.6	-9.5	12	302	0.00	2.45	0.00	0.000	6	0.000	0.038	2140	2060	3515
614	-1.39	-146.6	61.3	-10.8	27	618	0.00	2.58	0.00	0.000	4	0.000	0.061	2140	646	3515
676	-1.39	-146.6	68.7	-12.1	30	680	0.00	2.40	0.00	0.000	6	0.000	0.037	2140	2050	3515
1002	-1.39	-146.6	102.8	-10.2	46	1006	0.00	2.50	0.00	0.000	4	0.000	0.056	2140	3457	3515
1035	-1.39	-146.6	106.3	-10.0	47	1039	0.00	2.42	0.00	0.000	6	0.000	0.038	2140	2049	3515
1357	-1.39	-146.6	137.6	-9.2	63	1362	0.00	2.50	0.00	0.000	4	0.000	0.053	2140	3460	3515
1384	-1.39	-146.6	140.5	-10.6	64	1389	0.00	2.45	0.00	0.000	6	0.000	0.038	2140	2043	3515
1706	-1.39	-146.6	171.3	-9.8	80	1707	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2043	3515
2017	-1.39	-146.6	201.9	-10.1	95	2021	0.00	2.53	0.00	0.000	4	0.000	0.054	2140	3456	3516
2049	-1.39	-146.6	205.5	-10.8	96	2055	0.00	2.45	0.00	0.000	6	0.000	0.039	2140	2047	3515
2365	-1.39	-146.6	236.7	-10.0	112	2366	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2047	3515
2674	-1.39	-146.6	267.3	-9.7	127	2679	0.00	2.53	0.00	0.000	4	0.000	0.054	2140	3463	3515
2709	-1.39	-146.6	270.7	-9.8	128	2715	0.00	2.45	0.00	0.000	6	0.000	0.039	2140	2048	3515
3023	end dive: TARGET_DEPTH_EXCEEDED
state	3023	begin apogee
3029	-0.33	0.0	301.8	9.7	144	3152	1.15	0.00	119.68	0.884	6	0.086	0.000	2374	2048	2914
3153	end apogee: CONTROL_FINISHED_OK
state	3153	begin climb
3155	1.39	146.6	304.8	0.0	150	3286	1.75	2.62	118.78	0.853	4	0.054	0.055	2752	3455	2317
3321	1.39	146.6	296.5	10.9	158	3326	0.00	2.47	0.00	0.000	6	0.000	0.040	2751	2054	2316
3636	1.39	146.6	263.2	10.9	173	3638	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2054	2316
3946	1.39	152.5	232.1	9.7	188	3959	0.00	2.60	6.45	0.686	4	0.000	0.054	2752	3463	2292
4013	1.39	152.5	225.3	10.6	191	4017	0.00	2.47	0.00	0.000	6	0.000	0.040	2752	2050	2292
4339	1.39	152.5	192.3	10.3	207	4340	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2051	2292
4648	1.40	160.6	162.3	9.6	222	4662	0.00	2.58	7.88	0.709	4	0.000	0.054	2752	3455	2260
4742	1.40	160.6	152.1	11.8	226	4746	0.00	2.47	0.00	0.000	6	0.000	0.039	2752	2043	2260
5063	1.40	160.6	117.0	11.0	242	5068	0.00	2.55	0.00	0.000	4	0.000	0.054	2752	3465	2260
5141	1.40	160.6	108.1	10.6	245	5148	0.00	2.47	0.00	0.000	6	0.000	0.039	2752	2047	2260
5458	1.42	171.2	77.9	9.5	261	5469	0.00	0.00	9.93	0.696	6	0.000	0.000	2752	2047	2217
5767	1.42	171.2	42.2	11.9	276	5768	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2047	2216
6076	1.43	183.0	12.1	9.5	291	6089	0.00	0.00	11.05	0.669	6	0.000	0.000	2752	2047	2167
6176	end climb: SURFACE_DEPTH_REACHED
state	6176	begin surface coast
6198	end surface coast: CONTROL_FINISHED_OK
state	6198	begin surface