Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 61 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 61 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 13 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 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 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2093971.4 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

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 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 557.32159

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

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 -2093971.4

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

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

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 13 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 61 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 124026,6040.055,-733.107,41,2.0,41,-8.2 TGT_NAME WTB_4

_CALLS 3 TGT_LATLONG 6045.000,-730.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.180,0.129

_SM_DEPTHo 1.09 KALMAN_X -96731.3,2323.2,653.7,-29345.0,-8091.5

_SM_ANGLEo -50.1 KALMAN_Y -64382.2,680.7,-1458.9,51366.0,1058.3

GPS2 125802,6040.229,-733.074,17,1.7,17,-8.2 MHEAD_RNG_PITCHd_Wd 25.7,9263,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027176 ALTIM_BOTTOM_PING 225.6,15.2

SM_CCo 6389,133.50,0.611,0,0,509,557.32 _24V_AH 23.7,12.872

SM_GC 1.02,0.00,0.00,133.50,0.000,0.000,0.611,73,2314,509,-10.24,0.40,557.32 _10V_AH 10.1,6.424

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 15964,307

TT8_MAMPS 0.023777 CAP_FILE_SIZE 64193,0

HUMID 1783 CFSIZE 260165632,254615552

TCM_TEMP 17.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 12 GPS 190608,144854,6042.062,-730.142,36,1.7,38,-8.1

ALTIM_TOP_PING 20.0,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 165 94.23 SBE_CT 224 24 127.68

Roll_motor 42 77 78.81 SBE_O2 206 19 93.17

VBD_pump_during_apogee 352 775 6473.14 WL_BB2F 356 105 887.62

VBD_pump_during_surface 133 611 1934.12 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 69 103 170.43 nil 0 0 0.00

Iridium_during_connect 101 160 385.21 nil 0 0 0.00

Iridium_during_xfer 617 223 3261.68

Transponder_ping 4 420 44.79

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.56

TT8 584 19 116.82

LPSleep 4689 2 103.72

TT8_Active 583 19 116.78

TT8_Sampling 766 39 308.06

TT8_CF8 949 45 439.36

TT8_Kalman 33 81 27.56

Analog_circuits 987 12 119.71

GPS_charging 0 0 0.00

Compass 748 8 60.45

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -0.85 -146.6 0.0 0.0 0 145 0.00 0.00 -116.53 0.000 2 0.000 0.000 68 2306 2801

148 -0.85 -146.6 3.5 -2.6 6 178 11.48 0.00 -15.30 0.000 6 0.166 0.000 2110 2306 3379

475 -0.63 -146.6 40.2 -11.3 22 480 0.22 2.70 0.00 0.000 4 0.097 0.067 2157 868 3379

553 -0.63 -146.6 47.9 -8.8 25 559 0.00 2.65 0.00 0.000 6 0.000 0.055 2157 2305 3379

870 -0.63 -146.6 76.0 -8.9 41 875 0.00 2.67 0.00 0.000 4 0.000 0.065 2157 872 3380

1027 -0.63 -146.6 91.0 -9.4 48 1031 0.00 2.62 0.00 0.000 6 0.000 0.054 2157 2307 3379

1350 -0.63 -146.6 121.0 -9.3 64 1351 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2307 3379

1658 -0.63 -146.6 149.9 -9.2 79 1663 0.00 2.65 0.00 0.000 4 0.000 0.067 2157 883 3379

1752 -0.63 -146.6 158.7 -9.1 83 1757 0.00 2.62 0.00 0.000 6 0.000 0.055 2157 2300 3379

2074 -0.63 -146.6 188.2 -9.0 99 2075 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2299 3379

2383 -0.63 -146.6 213.1 -8.2 114 2384 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2300 3379

2588 end dive: BOTTOM_OBSTACLE_DETECTED

state 2588 begin apogee

2595 -0.31 0.0 231.6 9.6 124 2722 0.35 0.00 122.90 0.775 6 0.091 0.000 2229 2191 2781

2723 end apogee: CONTROL_FINISHED_OK

state 2723 begin climb

2725 0.85 146.6 239.9 0.0 130 2856 1.17 2.85 121.22 0.763 4 0.075 0.077 2479 3616 2183

2943 0.99 278.0 240.0 2.4 140 3061 0.17 2.65 108.10 0.755 6 0.046 0.061 2523 2204 1646

3370 0.99 278.0 215.0 6.2 161 3371 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2204 1646

3679 0.99 278.0 193.2 7.1 176 3681 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2204 1645

3989 0.99 278.0 170.6 7.2 191 3993 0.00 2.67 0.00 0.000 4 0.000 0.076 2524 3614 1645

4055 0.99 278.0 165.3 8.0 194 4059 0.00 2.65 0.00 0.000 6 0.000 0.061 2524 2192 1645

4376 0.99 278.0 141.4 7.7 210 4380 0.00 2.65 0.00 0.000 4 0.000 0.068 2524 772 1645

4416 0.99 278.0 138.5 7.8 212 4420 0.00 2.60 0.00 0.000 6 0.000 0.050 2524 2204 1644

4742 0.99 278.0 114.3 7.1 228 4746 0.00 2.67 0.00 0.000 4 0.000 0.075 2524 3616 1644

4804 0.99 278.0 109.1 8.2 231 4809 0.00 2.65 0.00 0.000 6 0.000 0.062 2524 2192 1645

5131 0.99 278.0 85.4 7.8 247 5133 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2192 1645

5441 0.99 278.0 60.4 7.9 262 5442 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2192 1644

5750 0.99 278.0 39.3 6.8 277 5751 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2192 1645

6061 1.04 278.0 20.8 6.5 292 6065 0.00 2.62 0.00 0.000 4 0.000 0.068 2524 780 1644

6123 1.04 278.0 16.6 7.0 295 6128 0.00 2.58 0.00 0.000 6 0.000 0.050 2524 2201 1644

6345 end climb: SURFACE_DEPTH_REACHED

state 6345 begin surface coast

6367 end surface coast: CONTROL_FINISHED_OK

state 6367 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	61	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	13	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	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	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2093971.4	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
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	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	124026,6040.055,-733.107,41,2.0,41,-8.2	TGT_NAME	WTB_4
_CALLS	3	TGT_LATLONG	6045.000,-730.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.180,0.129
_SM_DEPTHo	1.09	KALMAN_X	-96731.3,2323.2,653.7,-29345.0,-8091.5
_SM_ANGLEo	-50.1	KALMAN_Y	-64382.2,680.7,-1458.9,51366.0,1058.3
GPS2	125802,6040.229,-733.074,17,1.7,17,-8.2	MHEAD_RNG_PITCHd_Wd	25.7,9263,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.027176	ALTIM_BOTTOM_PING	225.6,15.2
SM_CCo	6389,133.50,0.611,0,0,509,557.32	_24V_AH	23.7,12.872
SM_GC	1.02,0.00,0.00,133.50,0.000,0.000,0.611,73,2314,509,-10.24,0.40,557.32	_10V_AH	10.1,6.424
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	15964,307
TT8_MAMPS	0.023777	CAP_FILE_SIZE	64193,0
HUMID	1783	CFSIZE	260165632,254615552
TCM_TEMP	17.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	12	GPS	190608,144854,6042.062,-730.142,36,1.7,38,-8.1
ALTIM_TOP_PING	20.0,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	165	94.23	SBE_CT	224	24	127.68
Roll_motor	42	77	78.81	SBE_O2	206	19	93.17
VBD_pump_during_apogee	352	775	6473.14	WL_BB2F	356	105	887.62
VBD_pump_during_surface	133	611	1934.12	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	69	103	170.43	nil	0	0	0.00
Iridium_during_connect	101	160	385.21	nil	0	0	0.00
Iridium_during_xfer	617	223	3261.68
Transponder_ping	4	420	44.79
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.56
TT8	584	19	116.82
LPSleep	4689	2	103.72
TT8_Active	583	19	116.78
TT8_Sampling	766	39	308.06
TT8_CF8	949	45	439.36
TT8_Kalman	33	81	27.56
Analog_circuits	987	12	119.71
GPS_charging	0	0	0.00
Compass	748	8	60.45
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-0.85	-146.6	0.0	0.0	0	145	0.00	0.00	-116.53	0.000	2	0.000	0.000	68	2306	2801
148	-0.85	-146.6	3.5	-2.6	6	178	11.48	0.00	-15.30	0.000	6	0.166	0.000	2110	2306	3379
475	-0.63	-146.6	40.2	-11.3	22	480	0.22	2.70	0.00	0.000	4	0.097	0.067	2157	868	3379
553	-0.63	-146.6	47.9	-8.8	25	559	0.00	2.65	0.00	0.000	6	0.000	0.055	2157	2305	3379
870	-0.63	-146.6	76.0	-8.9	41	875	0.00	2.67	0.00	0.000	4	0.000	0.065	2157	872	3380
1027	-0.63	-146.6	91.0	-9.4	48	1031	0.00	2.62	0.00	0.000	6	0.000	0.054	2157	2307	3379
1350	-0.63	-146.6	121.0	-9.3	64	1351	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2307	3379
1658	-0.63	-146.6	149.9	-9.2	79	1663	0.00	2.65	0.00	0.000	4	0.000	0.067	2157	883	3379
1752	-0.63	-146.6	158.7	-9.1	83	1757	0.00	2.62	0.00	0.000	6	0.000	0.055	2157	2300	3379
2074	-0.63	-146.6	188.2	-9.0	99	2075	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2299	3379
2383	-0.63	-146.6	213.1	-8.2	114	2384	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2300	3379
2588	end dive: BOTTOM_OBSTACLE_DETECTED
state	2588	begin apogee
2595	-0.31	0.0	231.6	9.6	124	2722	0.35	0.00	122.90	0.775	6	0.091	0.000	2229	2191	2781
2723	end apogee: CONTROL_FINISHED_OK
state	2723	begin climb
2725	0.85	146.6	239.9	0.0	130	2856	1.17	2.85	121.22	0.763	4	0.075	0.077	2479	3616	2183
2943	0.99	278.0	240.0	2.4	140	3061	0.17	2.65	108.10	0.755	6	0.046	0.061	2523	2204	1646
3370	0.99	278.0	215.0	6.2	161	3371	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2204	1646
3679	0.99	278.0	193.2	7.1	176	3681	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2204	1645
3989	0.99	278.0	170.6	7.2	191	3993	0.00	2.67	0.00	0.000	4	0.000	0.076	2524	3614	1645
4055	0.99	278.0	165.3	8.0	194	4059	0.00	2.65	0.00	0.000	6	0.000	0.061	2524	2192	1645
4376	0.99	278.0	141.4	7.7	210	4380	0.00	2.65	0.00	0.000	4	0.000	0.068	2524	772	1645
4416	0.99	278.0	138.5	7.8	212	4420	0.00	2.60	0.00	0.000	6	0.000	0.050	2524	2204	1644
4742	0.99	278.0	114.3	7.1	228	4746	0.00	2.67	0.00	0.000	4	0.000	0.075	2524	3616	1644
4804	0.99	278.0	109.1	8.2	231	4809	0.00	2.65	0.00	0.000	6	0.000	0.062	2524	2192	1645
5131	0.99	278.0	85.4	7.8	247	5133	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2192	1645
5441	0.99	278.0	60.4	7.9	262	5442	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2192	1644
5750	0.99	278.0	39.3	6.8	277	5751	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2192	1645
6061	1.04	278.0	20.8	6.5	292	6065	0.00	2.62	0.00	0.000	4	0.000	0.068	2524	780	1644
6123	1.04	278.0	16.6	7.0	295	6128	0.00	2.58	0.00	0.000	6	0.000	0.050	2524	2201	1644
6345	end climb: SURFACE_DEPTH_REACHED
state	6345	begin surface coast
6367	end surface coast: CONTROL_FINISHED_OK
state	6367	begin surface