Glider dive log

PLUS INP 31Jul08 * SG118 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 14 HEADING -1 ROLL_MIN 311 ALTIM_PING_DEPTH 150

DIVE 14 ESCAPE_HEADING 0 ROLL_MAX 3943 ALTIM_PING_DELTA 25

D_SURF 5 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_FLARE 4 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2675 ALTIM_PULSE 5

D_TGT 360 TGT_DEFAULT_LAT 21.833332 C_ROLL_CLIMB 2127 ALTIM_SENSITIVITY 3

D_ABORT 1010 TGT_DEFAULT_LON -159.9166 HEAD_ERRBAND 10 XPDR_VALID 0

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_BOOST 0 SM_CC 300 ROLL_TIMEOUT 17 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 N_FILEKB 4 R_PORT_OVSHOOT 29 INT_PRESSURE_YINT 1.4

D_PITCH 0 FILEMGR 0 R_STBD_OVSHOOT 40 DEEPGLIDER 0

D_SAFE 0 CALL_NDIVES 1 ROLL_AD_RATE 350 DEEPGLIDERMB 0

D_CALL 0 COMM_SEQ 0 ROLL_MAXERRORS 1 MOTHERBOARD 4

SURFACE_URGENCY 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MIN 582 DEVICE3 -1

T_DIVE 120 UPLOAD_DIVES_MAX -1 VBD_MAX 3956 DEVICE4 -1

T_MISSION 150 CALL_TRIES 5 C_VBD 2433 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_DBAND 2 DEVICE6 -1

T_TURN 225 CAPUPLOAD 0 VBD_CNV -0.24529999 SMARTS 2

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_TIMEOUT 360 SMARTDEVICE1 5

T_NO_W 120 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE2 19

T_LOITER 0 T_GPS 8 VBD_PUMP_AD_RATE_SURFACE 4 COMPASS_DEVICE 33

USE_BATHY 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS2_DEVICE -1

USE_ICE 0 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 T_GPS_CHARGE -60483.965 UNCOM_BLEED 50 GPS_DEVICE 16

D_OFFGRID 125 T_RSLEEP 3 VBD_MAXERRORS 1 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_24V 91.800003 SIM_W 0

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 AH0_10V 61.200001 SIM_PITCH 0

MAX_BUOY 175 PITCH_MIN 428 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043077655

COURSE_BIAS 0 PITCH_MAX 3730 PRESSURE_YINT -7.695755 SEABIRD_T_H 0.00063814409

GLIDE_SLOPE 30 C_PITCH 3040 PRESSURE_SLOPE 0.000115925 SEABIRD_T_I 2.4031482e-05

SPEED_FACTOR 1 PITCH_DBAND 0.1 AD7714Ch0Gain 128 SEABIRD_T_J 2.4698193e-06

RHO 1.0275 PITCH_CNV 0.0046000001 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9826059

MASS 51980 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1260695

NAV_MODE 1 PITCH_GAIN 10 COMPASS_USE 0 SEABIRD_C_I -0.0021108589

FERRY_MAX 0 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021799213

KALMAN_USE 1 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 20

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_CNV 0.0046000001 SM_CC 300

AH0_10V 61.200001 D_FLARE 4 PITCH_DBAND 0.1 SPEED_FACTOR 1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_GAIN 10 SURFACE_URGENCY 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 125 PITCH_MAX 3730 SURFACE_URGENCY_FORCE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MIN 428 TCM_PITCH_OFFSET 0

ALTIM_PING_DELTA 25 D_SURF 5 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0

ALTIM_PING_DEPTH 150 D_TGT 360 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PRESSURE_SLOPE 0.000115925 TGT_DEFAULT_LAT 21.833332

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -7.695755 TGT_DEFAULT_LON -159.9166

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 P_OVSHOOT 0.039999999 T_ABORT 1440

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 RAFOS_CORR_THRESH 60 T_DIVE 120

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_GPS 8

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CALL_NDIVES 1 GPS_DEVICE 16 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -60483.965

CALL_TRIES 5 HD_A 0.0038360001 RELAUNCH 1 T_LOITER 0

CALL_WAIT 60 HD_B 0.010078 RHO 1.0275 T_MISSION 150

CAPMAXSIZE 100000 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_NO_W 120

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_GAIN 0 T_RSLEEP 3

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_AD_RATE 350 T_TURN 225

COMM_SEQ 0 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_DEVICE 33 ID 118 ROLL_MAX 3943 UNCOM_BLEED 50

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

COURSE_BIAS 0 INT_PRESSURE_YINT 1.4 ROLL_MIN 311 USE_BATHY 0

C_PITCH 3040 KALMAN_USE 1 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_CLIMB 2127 KERMIT 0 R_PORT_OVSHOOT 29 VBD_BLEED_AD_RATE 8

C_ROLL_DIVE 2675 MASS 51980 R_STBD_OVSHOOT 40 VBD_CNV -0.24529999

C_VBD 2433 MAX_BUOY 175 SEABIRD_C_G -9.9826059 VBD_DBAND 2

DEEPGLIDER 0 MISSION 14 SEABIRD_C_H 1.1260695 VBD_MAX 3956

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_I -0.0021108589 VBD_MAXERRORS 1

DEVICE1 2 NAV_MODE 1 SEABIRD_C_J 0.00021799213 VBD_MIN 582

DEVICE2 -1 N_FILEKB 4 SEABIRD_T_G 0.0043077655 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE3 -1 N_GPS 20 SEABIRD_T_H 0.00063814409 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_I 2.4031482e-05 VBD_TIMEOUT 360

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_J 2.4698193e-06 XPDR_DEVICE 24

DEVICE6 -1 PHONE_DEVICE 48 SIM_PITCH 0 XPDR_INHIBIT 90

DIVE 14 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

D_ABORT 1010 PITCH_ADJ_DBAND 0 SMARTDEVICE1 5

D_BOOST 0 PITCH_ADJ_GAIN 0 SMARTDEVICE2 19

D_CALL 0 PITCH_AD_RATE 175 SMARTS 2

Pre-dive calculations and measurements:

GPS1 141712,2155.514,-15944.176,481,3.0,481,9.8 TGT_NAME ASG2

_CALLS 2 TGT_LATLONG 2155.000,-15945.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.147,0.091

_SM_DEPTHo 1.28 KALMAN_X 5385.1,1029.1,58.5,-12628.8,-134.5

_SM_ANGLEo -61.6 KALMAN_Y 6075.4,88.7,-167.9,-7841.4,-83.2

GPS2 141712,2155.514,-15944.176,481,3.0,481,9.8 MHEAD_RNG_PITCHd_Wd 48.5,1706,-27.8,-10.000

SPEED_LIMITS 0.173,0.279 D_GRID 360

Post-dive calculations and measurements:

FINISH 0.7,1.009723 ALTIM_TOP_PING 19.0,17.2

SM_CCo 5763,67.32,0.445,0,0,1209,300.00 _24V_AH 24.0,5.473

SM_GC 1.29,0.00,0.00,67.32,0.000,0.000,0.445,418,2673,1209,-12.06,-0.06,300.00 _10V_AH 10.1,4.780

IRIDIUM_FIX 2145.77,-15945.93,271097,161619 DATA_FILE_SIZE 15843,536

TT8_MAMPS 0.117351 CAP_FILE_SIZE 101531,0

HUMID 1731 CFSIZE 260034560,255344640

INTERNAL_PRESSURE 9.40812 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.30 GPS 020808,141712,2155.514,-15944.176,481,3.0,481,9.8

XPDR_PINGS 13

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 126 91.27 SBE_CT 363 24 209.45

Roll_motor 44 57 61.06 nil 0 0 0.00

VBD_pump_during_apogee 200 707 3410.01 nil 0 0 0.00

VBD_pump_during_surface 67 444 718.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 57 103 142.03 nil 0 0 0.00

Iridium_during_connect 41 160 158.63 ARS 0 36 0.00

Iridium_during_xfer 306 223 1639.51

Transponder_ping 5 420 57.96

GUMSTIX_24V 48 1000 1165.68

GPS 482 93 452.95

TT8 1135 19 227.14

LPSleep 3179 2 70.33

TT8_Active 358 19 71.61

TT8_Sampling 1502 39 604.13

TT8_CF8 825 45 381.96

TT8_Kalman 33 81 27.53

Analog_circuits 887 12 107.59

GPS_charging 0 0 0.00

Compass 995 8 80.46

RAFOS 0 0 0.00

Transponder 24 30 7.28

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

22 -2.86 -63.1 0.0 0.0 0 71 0.00 0.00 -46.15 0.000 6 0.000 0.000 418 2682 2692

76 -2.89 -87.4 3.5 -7.4 7 92 10.27 0.00 -1.77 0.000 6 0.127 0.000 2406 2681 2791

166 -2.89 -87.4 24.9 -21.5 20 170 0.00 2.12 0.00 0.000 4 0.000 0.038 2406 3922 2793

296 -2.89 -87.4 52.9 -20.3 31 303 0.00 2.08 0.00 0.000 6 0.000 0.021 2406 2632 2793

622 -2.89 -87.4 106.3 -14.4 62 626 0.00 2.25 0.00 0.000 4 0.000 0.034 2406 1290 2794

798 -2.89 -87.4 132.8 -15.4 77 806 0.00 2.28 0.00 0.000 6 0.000 0.023 2406 2681 2795

1130 -2.89 -87.4 177.1 -13.4 108 1137 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2682 2796

1462 -2.89 -87.4 219.4 -12.1 139 1468 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2682 2796

1794 -2.89 -87.4 257.7 -10.4 170 1800 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2682 2796

2121 -2.91 -101.3 291.7 -8.5 201 2124 0.00 2.12 0.00 0.000 4 0.000 0.044 2406 3915 2796

2343 -2.92 -106.6 311.8 -9.4 220 2350 0.00 2.03 0.00 0.000 6 0.000 0.028 2406 2678 2795

2673 -2.92 -106.6 344.7 -10.4 251 2679 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2672 2794

2829 end dive: TARGET_DEPTH_EXCEEDED

state 2829 begin apogee

2839 -0.50 0.0 361.1 10.2 266 2917 2.42 0.00 68.20 0.708 6 0.080 0.000 2930 2151 2431

2918 end apogee: CONTROL_FINISHED_OK

state 2918 begin climb

2922 2.92 106.6 363.6 0.0 274 3023 3.22 2.67 81.82 0.696 4 0.032 0.058 3691 730 1997

3139 2.92 106.6 333.4 19.2 292 3143 0.00 2.40 0.00 0.000 6 0.000 0.031 3691 2125 1995

3470 2.92 106.6 278.8 16.3 322 3475 0.00 2.55 0.00 0.000 4 0.000 0.057 3691 729 1992

3512 2.92 106.6 270.7 17.9 325 3517 0.00 2.40 0.00 0.000 6 0.000 0.032 3691 2133 1991

3843 2.92 106.6 218.9 14.1 355 3847 0.00 2.55 0.00 0.000 4 0.000 0.056 3691 732 1989

4041 2.92 106.6 189.7 13.8 372 4049 0.00 2.38 0.00 0.000 6 0.000 0.031 3691 2133 1986

4368 2.92 106.6 149.6 13.0 403 4372 0.00 2.53 0.00 0.000 4 0.000 0.053 3691 727 1984

4631 2.95 131.4 119.1 7.4 425 4654 0.00 2.35 17.55 0.540 6 0.000 0.028 3691 2130 1895

4983 2.95 137.4 83.6 9.4 458 4996 0.00 2.50 5.75 0.417 4 0.000 0.048 3691 729 1872

5251 3.00 171.9 61.3 6.3 481 5284 0.00 2.35 27.38 0.494 6 0.000 0.026 3691 2142 1731

5603 3.00 171.9 19.0 13.9 514 5610 0.00 2.50 0.00 0.000 4 0.000 0.047 3691 727 1729

5696 end climb: SURFACE_DEPTH_REACHED

state 5696 begin surface coast

5729 end surface coast: CONTROL_FINISHED_OK

state 5729 begin surface

ID	118	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	14	HEADING	-1	ROLL_MIN	311	ALTIM_PING_DEPTH	150
DIVE	14	ESCAPE_HEADING	0	ROLL_MAX	3943	ALTIM_PING_DELTA	25
D_SURF	5	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_FLARE	4	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2675	ALTIM_PULSE	5
D_TGT	360	TGT_DEFAULT_LAT	21.833332	C_ROLL_CLIMB	2127	ALTIM_SENSITIVITY	3
D_ABORT	1010	TGT_DEFAULT_LON	-159.9166	HEAD_ERRBAND	10	XPDR_VALID	0
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_BOOST	0	SM_CC	300	ROLL_TIMEOUT	17	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	N_FILEKB	4	R_PORT_OVSHOOT	29	INT_PRESSURE_YINT	1.4
D_PITCH	0	FILEMGR	0	R_STBD_OVSHOOT	40	DEEPGLIDER	0
D_SAFE	0	CALL_NDIVES	1	ROLL_AD_RATE	350	DEEPGLIDERMB	0
D_CALL	0	COMM_SEQ	0	ROLL_MAXERRORS	1	MOTHERBOARD	4
SURFACE_URGENCY	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MIN	582	DEVICE3	-1
T_DIVE	120	UPLOAD_DIVES_MAX	-1	VBD_MAX	3956	DEVICE4	-1
T_MISSION	150	CALL_TRIES	5	C_VBD	2433	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_DBAND	2	DEVICE6	-1
T_TURN	225	CAPUPLOAD	0	VBD_CNV	-0.24529999	SMARTS	2
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_TIMEOUT	360	SMARTDEVICE1	5
T_NO_W	120	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE2	19
T_LOITER	0	T_GPS	8	VBD_PUMP_AD_RATE_SURFACE	4	COMPASS_DEVICE	33
USE_BATHY	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS2_DEVICE	-1
USE_ICE	0	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	T_GPS_CHARGE	-60483.965	UNCOM_BLEED	50	GPS_DEVICE	16
D_OFFGRID	125	T_RSLEEP	3	VBD_MAXERRORS	1	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_24V	91.800003	SIM_W	0
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	AH0_10V	61.200001	SIM_PITCH	0
MAX_BUOY	175	PITCH_MIN	428	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043077655
COURSE_BIAS	0	PITCH_MAX	3730	PRESSURE_YINT	-7.695755	SEABIRD_T_H	0.00063814409
GLIDE_SLOPE	30	C_PITCH	3040	PRESSURE_SLOPE	0.000115925	SEABIRD_T_I	2.4031482e-05
SPEED_FACTOR	1	PITCH_DBAND	0.1	AD7714Ch0Gain	128	SEABIRD_T_J	2.4698193e-06
RHO	1.0275	PITCH_CNV	0.0046000001	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9826059
MASS	51980	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1260695
NAV_MODE	1	PITCH_GAIN	10	COMPASS_USE	0	SEABIRD_C_I	-0.0021108589
FERRY_MAX	0	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021799213
KALMAN_USE	1	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	20
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0

GPS1	141712,2155.514,-15944.176,481,3.0,481,9.8	TGT_NAME	ASG2
_CALLS	2	TGT_LATLONG	2155.000,-15945.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.147,0.091
_SM_DEPTHo	1.28	KALMAN_X	5385.1,1029.1,58.5,-12628.8,-134.5
_SM_ANGLEo	-61.6	KALMAN_Y	6075.4,88.7,-167.9,-7841.4,-83.2
GPS2	141712,2155.514,-15944.176,481,3.0,481,9.8	MHEAD_RNG_PITCHd_Wd	48.5,1706,-27.8,-10.000
SPEED_LIMITS	0.173,0.279	D_GRID	360

FINISH	0.7,1.009723	ALTIM_TOP_PING	19.0,17.2
SM_CCo	5763,67.32,0.445,0,0,1209,300.00	_24V_AH	24.0,5.473
SM_GC	1.29,0.00,0.00,67.32,0.000,0.000,0.445,418,2673,1209,-12.06,-0.06,300.00	_10V_AH	10.1,4.780
IRIDIUM_FIX	2145.77,-15945.93,271097,161619	DATA_FILE_SIZE	15843,536
TT8_MAMPS	0.117351	CAP_FILE_SIZE	101531,0
HUMID	1731	CFSIZE	260034560,255344640
INTERNAL_PRESSURE	9.40812	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.30	GPS	020808,141712,2155.514,-15944.176,481,3.0,481,9.8
XPDR_PINGS	13

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	126	91.27	SBE_CT	363	24	209.45
Roll_motor	44	57	61.06	nil	0	0	0.00
VBD_pump_during_apogee	200	707	3410.01	nil	0	0	0.00
VBD_pump_during_surface	67	444	718.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	57	103	142.03	nil	0	0	0.00
Iridium_during_connect	41	160	158.63	ARS	0	36	0.00
Iridium_during_xfer	306	223	1639.51
Transponder_ping	5	420	57.96
GUMSTIX_24V	48	1000	1165.68
GPS	482	93	452.95
TT8	1135	19	227.14
LPSleep	3179	2	70.33
TT8_Active	358	19	71.61
TT8_Sampling	1502	39	604.13
TT8_CF8	825	45	381.96
TT8_Kalman	33	81	27.53
Analog_circuits	887	12	107.59
GPS_charging	0	0	0.00
Compass	995	8	80.46
RAFOS	0	0	0.00
Transponder	24	30	7.28

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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
22	-2.86	-63.1	0.0	0.0	0	71	0.00	0.00	-46.15	0.000	6	0.000	0.000	418	2682	2692
76	-2.89	-87.4	3.5	-7.4	7	92	10.27	0.00	-1.77	0.000	6	0.127	0.000	2406	2681	2791
166	-2.89	-87.4	24.9	-21.5	20	170	0.00	2.12	0.00	0.000	4	0.000	0.038	2406	3922	2793
296	-2.89	-87.4	52.9	-20.3	31	303	0.00	2.08	0.00	0.000	6	0.000	0.021	2406	2632	2793
622	-2.89	-87.4	106.3	-14.4	62	626	0.00	2.25	0.00	0.000	4	0.000	0.034	2406	1290	2794
798	-2.89	-87.4	132.8	-15.4	77	806	0.00	2.28	0.00	0.000	6	0.000	0.023	2406	2681	2795
1130	-2.89	-87.4	177.1	-13.4	108	1137	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2682	2796
1462	-2.89	-87.4	219.4	-12.1	139	1468	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2682	2796
1794	-2.89	-87.4	257.7	-10.4	170	1800	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2682	2796
2121	-2.91	-101.3	291.7	-8.5	201	2124	0.00	2.12	0.00	0.000	4	0.000	0.044	2406	3915	2796
2343	-2.92	-106.6	311.8	-9.4	220	2350	0.00	2.03	0.00	0.000	6	0.000	0.028	2406	2678	2795
2673	-2.92	-106.6	344.7	-10.4	251	2679	0.00	0.00	0.00	0.000	6	0.000	0.000	2407	2672	2794
2829	end dive: TARGET_DEPTH_EXCEEDED
state	2829	begin apogee
2839	-0.50	0.0	361.1	10.2	266	2917	2.42	0.00	68.20	0.708	6	0.080	0.000	2930	2151	2431
2918	end apogee: CONTROL_FINISHED_OK
state	2918	begin climb
2922	2.92	106.6	363.6	0.0	274	3023	3.22	2.67	81.82	0.696	4	0.032	0.058	3691	730	1997
3139	2.92	106.6	333.4	19.2	292	3143	0.00	2.40	0.00	0.000	6	0.000	0.031	3691	2125	1995
3470	2.92	106.6	278.8	16.3	322	3475	0.00	2.55	0.00	0.000	4	0.000	0.057	3691	729	1992
3512	2.92	106.6	270.7	17.9	325	3517	0.00	2.40	0.00	0.000	6	0.000	0.032	3691	2133	1991
3843	2.92	106.6	218.9	14.1	355	3847	0.00	2.55	0.00	0.000	4	0.000	0.056	3691	732	1989
4041	2.92	106.6	189.7	13.8	372	4049	0.00	2.38	0.00	0.000	6	0.000	0.031	3691	2133	1986
4368	2.92	106.6	149.6	13.0	403	4372	0.00	2.53	0.00	0.000	4	0.000	0.053	3691	727	1984
4631	2.95	131.4	119.1	7.4	425	4654	0.00	2.35	17.55	0.540	6	0.000	0.028	3691	2130	1895
4983	2.95	137.4	83.6	9.4	458	4996	0.00	2.50	5.75	0.417	4	0.000	0.048	3691	729	1872
5251	3.00	171.9	61.3	6.3	481	5284	0.00	2.35	27.38	0.494	6	0.000	0.026	3691	2142	1731
5603	3.00	171.9	19.0	13.9	514	5610	0.00	2.50	0.00	0.000	4	0.000	0.047	3691	727	1729
5696	end climb: SURFACE_DEPTH_REACHED
state	5696	begin surface coast
5729	end surface coast: CONTROL_FINISHED_OK
state	5729	begin surface