Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 21 ESCAPE_HEADING 180 ROLL_MIN 311 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 14 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_TGT 240 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2550 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 17 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 INT_PRESSURE_YINT 1.4

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 80 UPLOAD_DIVES_MAX -1 VBD_MIN 582 DEVICE2 -1

T_MISSION 90 CALL_TRIES 5 VBD_MAX 3956 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2937 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 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 1

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 3

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 500 T_GPS_CHARGE -85978.859 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 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 0 RAFOS_DEVICE -1

MAX_BUOY 250 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE -1

COURSE_BIAS 0 PITCH_MIN 428 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3730 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2970 PRESSURE_YINT -8.3219604 SEABIRD_T_G 0.0043077655

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063814409

MASS 51726 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4031482e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4698193e-06

FERRY_MAX 45 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826059

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1260695

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0021108589

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00021799213

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 500 PITCH_GAIN 10 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3730 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 428 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 240 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -8.3219604 TGT_DEFAULT_LAT 21.83

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -159.78

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 80

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -85978.859

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 90

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 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 118 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 1.4 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2970 KALMAN_USE 1 ROLL_MIN 311 USE_BATHY 0

C_ROLL_CLIMB 2550 KERMIT 0 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_DIVE 2400 MASS 51726 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 250 R_STBD_OVSHOOT 36 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 21 SEABIRD_C_G -9.9826059 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1260695 VBD_MAX 3956

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0021108589 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00021799213 VBD_MIN 582

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043077655 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063814409 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4031482e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4698193e-06 XPDR_DEVICE -1

DIVE 14 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 165644,2152.598,-15943.077,35,6.0,54,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 2 TGT_RADIUS 500.000

_XMS_NAKs 0 KALMAN_CONTROL 0.284,-0.159

_XMS_TOUTs 0 KALMAN_X -5772.8,-743.9,-315.8,4112.6,-754.1

_SM_DEPTHo 0.62 KALMAN_Y 7228.3,-233.4,253.7,-13740.5,41.6

_SM_ANGLEo -58.0 MHEAD_RNG_PITCHd_Wd 109.4,5271,-13.9,-10.000

GPS2 171820,2152.585,-15943.550,12,1.2,12,9.8 D_GRID 240

SPEED_LIMITS 0.173,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.4,1.022899 MM_CLLLayer 0.03

SM_CCo 4649,0.00,0.000,0,0,1289,404.25 MM_CfgFile 0.30

SM_GC 0.94,12.80,0.00,0.00,0.024,0.000,0.000,420,2402,1289,-11.65,0.06,404.25 _24V_AH 24.1,18.021

IRIDIUM_FIX 2143.45,-15943.76,231098,171713 _10V_AH 10.1,23.336

TT8_MAMPS 0.063661 DATA_FILE_SIZE 12730,420

HUMID 1790 CAP_FILE_SIZE 171337,0

INTERNAL_PRESSURE 10.1113 CFSIZE -70647808,-82247680

TCM_TEMP 24.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 290709,183743,2152.693,-15943.690,9,1.5,14,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 125 82.78 SBE_CT 282 24 163.14

Roll_motor 39 54 52.07 nil 0 0 0.00

VBD_pump_during_apogee 487 590 6945.10 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 62 103 156.08 nil 0 0 0.00

Iridium_during_connect 51 160 200.16 GUMSTIX 74 1000 1792.20

Iridium_during_xfer 911 223 4897.54

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 192 1000 4627.80

GPS 12 50 6.41

TT8 798 18 145.24

LPSleep 2108 0 8.31

TT8_Active 503 18 91.59

TT8_Sampling 793 38 304.48

TT8_CF8 1741 44 773.79

TT8_Kalman 33 80 26.95

Analog_circuits 1019 12 123.59

GPS_charging 0 0 0.00

Compass 764 8 61.81

RAFOS 0 0 0.00

Transponder 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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

20 -1.69 -243.3 0.0 0.0 0 124 0.00 0.00 -96.18 0.000 2 0.000 0.000 417 2389 3264

130 -1.69 -243.3 3.3 -8.4 14 159 11.27 2.40 -9.25 0.000 4 0.125 0.054 2595 998 3929

202 -1.69 -243.3 27.1 -19.0 22 207 0.00 2.30 0.00 0.000 6 0.000 0.021 2595 2406 3930

403 -1.69 -243.3 60.3 -15.0 40 410 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2406 3930

738 -1.69 -243.3 107.8 -14.9 71 742 0.00 2.45 0.00 0.000 4 0.000 0.040 2596 3793 3930

784 -1.69 -243.3 115.5 -13.0 74 791 0.00 2.40 0.00 0.000 6 0.000 0.024 2595 2397 3930

1113 -1.69 -243.3 159.7 -13.1 105 1117 0.00 2.53 0.00 0.000 4 0.000 0.041 2595 3802 3930

1202 -1.69 -243.3 171.1 -12.0 112 1206 0.00 2.42 0.00 0.000 6 0.000 0.025 2596 2398 3930

1530 -1.69 -243.3 211.1 -12.4 142 1534 0.00 2.53 0.00 0.000 4 0.000 0.042 2595 3797 3929

1596 -1.69 -243.3 219.2 -12.5 147 1601 0.00 2.42 0.00 0.000 6 0.000 0.026 2596 2397 3929

1760 end dive: TARGET_DEPTH_EXCEEDED

state 1760 begin apogee

1773 -0.50 0.0 240.0 12.5 162 1963 1.17 0.00 180.30 0.591 6 0.061 0.000 2855 2568 2937

1969 end apogee: CONTROL_FINISHED_OK

state 1969 begin climb

1975 1.69 243.3 249.8 0.0 181 2165 2.08 2.47 180.45 0.589 4 0.038 0.046 3346 3911 1944

2417 1.72 266.6 218.2 9.4 217 2442 0.00 2.40 18.50 0.540 6 0.000 0.027 3347 2540 1850

2769 1.72 266.6 184.2 10.9 249 2773 0.00 2.53 0.00 0.000 4 0.000 0.047 3347 3915 1846

2932 1.72 266.6 164.2 11.4 262 2939 0.00 2.40 0.00 0.000 6 0.000 0.027 3347 2538 1844

3261 1.78 318.7 132.3 8.6 293 3304 0.00 0.00 40.97 0.535 6 0.000 0.000 3346 2538 1637

3629 1.78 318.7 96.4 11.0 327 3633 0.00 2.50 0.00 0.000 4 0.000 0.045 3347 3919 1631

3842 1.78 318.7 71.9 11.0 344 3849 0.00 2.38 0.00 0.000 6 0.000 0.025 3346 2546 1630

4170 1.83 356.6 40.1 9.0 375 4207 0.00 0.00 30.65 0.466 6 0.000 0.000 3347 2546 1481

4401 1.88 401.9 19.7 8.7 397 4455 0.15 2.58 37.08 0.446 4 0.038 0.042 3400 3921 1297

4536 end climb: SURFACE_DEPTH_REACHED

state 4536 begin surface coast

4553 end surface coast: CONTROL_FINISHED_OK

state 4553 begin surface

ID	118	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	21	ESCAPE_HEADING	180	ROLL_MIN	311	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	14	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_TGT	240	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2550	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	17	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	INT_PRESSURE_YINT	1.4
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	80	UPLOAD_DIVES_MAX	-1	VBD_MIN	582	DEVICE2	-1
T_MISSION	90	CALL_TRIES	5	VBD_MAX	3956	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2937	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	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	1
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	3
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	500	T_GPS_CHARGE	-85978.859	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	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	0	RAFOS_DEVICE	-1
MAX_BUOY	250	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	-1
COURSE_BIAS	0	PITCH_MIN	428	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3730	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2970	PRESSURE_YINT	-8.3219604	SEABIRD_T_G	0.0043077655
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063814409
MASS	51726	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4031482e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4698193e-06
FERRY_MAX	45	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826059
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1260695
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0021108589
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00021799213
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	165644,2152.598,-15943.077,35,6.0,54,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	2	TGT_RADIUS	500.000
_XMS_NAKs	0	KALMAN_CONTROL	0.284,-0.159
_XMS_TOUTs	0	KALMAN_X	-5772.8,-743.9,-315.8,4112.6,-754.1
_SM_DEPTHo	0.62	KALMAN_Y	7228.3,-233.4,253.7,-13740.5,41.6
_SM_ANGLEo	-58.0	MHEAD_RNG_PITCHd_Wd	109.4,5271,-13.9,-10.000
GPS2	171820,2152.585,-15943.550,12,1.2,12,9.8	D_GRID	240
SPEED_LIMITS	0.173,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.4,1.022899	MM_CLLLayer	0.03
SM_CCo	4649,0.00,0.000,0,0,1289,404.25	MM_CfgFile	0.30
SM_GC	0.94,12.80,0.00,0.00,0.024,0.000,0.000,420,2402,1289,-11.65,0.06,404.25	_24V_AH	24.1,18.021
IRIDIUM_FIX	2143.45,-15943.76,231098,171713	_10V_AH	10.1,23.336
TT8_MAMPS	0.063661	DATA_FILE_SIZE	12730,420
HUMID	1790	CAP_FILE_SIZE	171337,0
INTERNAL_PRESSURE	10.1113	CFSIZE	-70647808,-82247680
TCM_TEMP	24.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	290709,183743,2152.693,-15943.690,9,1.5,14,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	125	82.78	SBE_CT	282	24	163.14
Roll_motor	39	54	52.07	nil	0	0	0.00
VBD_pump_during_apogee	487	590	6945.10	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	62	103	156.08	nil	0	0	0.00
Iridium_during_connect	51	160	200.16	GUMSTIX	74	1000	1792.20
Iridium_during_xfer	911	223	4897.54
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	192	1000	4627.80
GPS	12	50	6.41
TT8	798	18	145.24
LPSleep	2108	0	8.31
TT8_Active	503	18	91.59
TT8_Sampling	793	38	304.48
TT8_CF8	1741	44	773.79
TT8_Kalman	33	80	26.95
Analog_circuits	1019	12	123.59
GPS_charging	0	0	0.00
Compass	764	8	61.81
RAFOS	0	0	0.00
Transponder	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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
20	-1.69	-243.3	0.0	0.0	0	124	0.00	0.00	-96.18	0.000	2	0.000	0.000	417	2389	3264
130	-1.69	-243.3	3.3	-8.4	14	159	11.27	2.40	-9.25	0.000	4	0.125	0.054	2595	998	3929
202	-1.69	-243.3	27.1	-19.0	22	207	0.00	2.30	0.00	0.000	6	0.000	0.021	2595	2406	3930
403	-1.69	-243.3	60.3	-15.0	40	410	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2406	3930
738	-1.69	-243.3	107.8	-14.9	71	742	0.00	2.45	0.00	0.000	4	0.000	0.040	2596	3793	3930
784	-1.69	-243.3	115.5	-13.0	74	791	0.00	2.40	0.00	0.000	6	0.000	0.024	2595	2397	3930
1113	-1.69	-243.3	159.7	-13.1	105	1117	0.00	2.53	0.00	0.000	4	0.000	0.041	2595	3802	3930
1202	-1.69	-243.3	171.1	-12.0	112	1206	0.00	2.42	0.00	0.000	6	0.000	0.025	2596	2398	3930
1530	-1.69	-243.3	211.1	-12.4	142	1534	0.00	2.53	0.00	0.000	4	0.000	0.042	2595	3797	3929
1596	-1.69	-243.3	219.2	-12.5	147	1601	0.00	2.42	0.00	0.000	6	0.000	0.026	2596	2397	3929
1760	end dive: TARGET_DEPTH_EXCEEDED
state	1760	begin apogee
1773	-0.50	0.0	240.0	12.5	162	1963	1.17	0.00	180.30	0.591	6	0.061	0.000	2855	2568	2937
1969	end apogee: CONTROL_FINISHED_OK
state	1969	begin climb
1975	1.69	243.3	249.8	0.0	181	2165	2.08	2.47	180.45	0.589	4	0.038	0.046	3346	3911	1944
2417	1.72	266.6	218.2	9.4	217	2442	0.00	2.40	18.50	0.540	6	0.000	0.027	3347	2540	1850
2769	1.72	266.6	184.2	10.9	249	2773	0.00	2.53	0.00	0.000	4	0.000	0.047	3347	3915	1846
2932	1.72	266.6	164.2	11.4	262	2939	0.00	2.40	0.00	0.000	6	0.000	0.027	3347	2538	1844
3261	1.78	318.7	132.3	8.6	293	3304	0.00	0.00	40.97	0.535	6	0.000	0.000	3346	2538	1637
3629	1.78	318.7	96.4	11.0	327	3633	0.00	2.50	0.00	0.000	4	0.000	0.045	3347	3919	1631
3842	1.78	318.7	71.9	11.0	344	3849	0.00	2.38	0.00	0.000	6	0.000	0.025	3346	2546	1630
4170	1.83	356.6	40.1	9.0	375	4207	0.00	0.00	30.65	0.466	6	0.000	0.000	3347	2546	1481
4401	1.88	401.9	19.7	8.7	397	4455	0.15	2.58	37.08	0.446	4	0.038	0.042	3400	3921	1297
4536	end climb: SURFACE_DEPTH_REACHED
state	4536	begin surface coast
4553	end surface coast: CONTROL_FINISHED_OK
state	4553	begin surface