Glider dive log

PLUS INP 31Jul08 * SG118 * Dive index * Mission links * Dive 15 * 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 15 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 34 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 -61398.945 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 -61398.945

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 34 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 15 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 3 TGT_LATLONG 2155.000,-15945.000

_XMS_NAKs 9 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.127,-0.164

_SM_DEPTHo 1.34 KALMAN_X 5963.0,640.8,-265.6,-11568.2,-8.4

_SM_ANGLEo -61.5 KALMAN_Y 6535.2,8.0,-630.1,-7185.4,605.1

GPS2 141712,2155.514,-15944.176,481,3.0,481,9.8 MHEAD_RNG_PITCHd_Wd 208.1,1706,-23.3,-10.000

SPEED_LIMITS 0.173,0.279 D_GRID 360

Post-dive calculations and measurements:

FINISH 0.8,1.022408 ALTIM_TOP_PING 19.9,17.8

SM_CCo 5685,64.35,0.446,0,0,1209,300.00 _24V_AH 24.0,5.584

SM_GC 1.34,0.00,0.00,64.35,0.000,0.000,0.446,419,2674,1209,-12.06,0.03,300.00 _10V_AH 10.1,4.888

IRIDIUM_FIX 2145.77,-15942.95,271097,181811 DATA_FILE_SIZE 15873,530

TT8_MAMPS 0.121953 CAP_FILE_SIZE 106832,0

HUMID 1725 CFSIZE 260034560,255266816

INTERNAL_PRESSURE 9.42765 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.40 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 29 125 88.06 SBE_CT 359 24 206.86

Roll_motor 48 57 67.37 nil 0 0 0.00

VBD_pump_during_apogee 210 706 3565.80 nil 0 0 0.00

VBD_pump_during_surface 64 446 689.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 71 103 177.98 nil 0 0 0.00

Iridium_during_connect 143 160 552.07 ARS 0 36 0.00

Iridium_during_xfer 623 223 3335.45

Transponder_ping 5 420 57.96

GUMSTIX_24V 51 1000 1230.91

GPS 481 93 452.01

TT8 1127 19 225.55

LPSleep 3213 2 71.08

TT8_Active 345 19 69.03

TT8_Sampling 1476 39 593.37

TT8_CF8 1251 45 579.09

TT8_Kalman 33 81 27.53

Analog_circuits 862 12 104.55

GPS_charging 0 0 0.00

Compass 969 8 78.31

RAFOS 0 0 0.00

Transponder 20 30 6.28

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

21 -2.44 -90.0 0.0 0.0 0 76 0.00 0.00 -48.67 0.000 6 0.000 0.000 418 2677 2801

80 -2.46 -99.6 4.4 -9.3 8 98 10.75 2.47 -0.60 0.000 4 0.125 0.044 2500 1255 2841

318 -2.46 -99.6 51.7 -17.2 33 323 0.00 2.35 0.00 0.000 6 0.000 0.022 2500 2680 2844

645 -2.46 -99.6 102.2 -16.3 63 649 0.00 2.10 0.00 0.000 4 0.000 0.038 2500 3918 2843

896 -2.46 -99.6 140.9 -13.1 85 900 0.00 2.05 0.00 0.000 6 0.000 0.021 2500 2632 2844

1228 -2.46 -99.6 179.7 -11.8 116 1229 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2627 2845

1546 -2.46 -99.6 215.0 -12.0 146 1547 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2627 2845

1868 -2.46 -99.6 247.8 -10.5 176 1871 0.00 2.22 0.00 0.000 4 0.000 0.041 2500 3922 2844

1999 -2.46 -99.6 262.7 -10.5 187 2006 0.00 2.03 0.00 0.000 6 0.000 0.025 2500 2662 2844

2326 -2.48 -121.3 293.2 -8.4 218 2330 0.00 2.33 0.00 0.000 4 0.000 0.041 2500 1307 2843

2413 -2.51 -145.4 300.7 -8.2 225 2417 0.00 2.28 0.00 0.000 6 0.000 0.028 2500 2669 2843

2740 -2.53 -158.0 330.1 -9.1 255 2744 0.00 2.35 0.00 0.000 4 0.000 0.041 2500 1310 2842

2793 -2.53 -163.1 335.1 -9.6 259 2797 0.00 2.28 0.00 0.000 6 0.000 0.029 2500 2673 2842

3046 end dive: TARGET_DEPTH_EXCEEDED

state 3046 begin apogee

3057 -0.50 0.0 360.1 9.7 283 3144 1.98 0.00 76.82 0.706 6 0.076 0.000 2932 2158 2432

3146 end apogee: CONTROL_FINISHED_OK

state 3146 begin climb

3150 2.53 163.1 364.0 0.0 292 3289 2.85 2.67 124.97 0.696 4 0.031 0.058 3611 733 1766

3428 2.53 163.1 328.1 19.5 315 3432 0.00 2.40 0.00 0.000 6 0.000 0.031 3609 2131 1763

3758 2.53 163.1 267.6 17.1 345 3762 0.00 2.58 0.00 0.000 4 0.000 0.058 3608 725 1758

3956 2.53 163.1 229.4 18.0 362 3960 0.00 2.40 0.00 0.000 6 0.000 0.031 3609 2134 1756

4286 2.53 163.1 173.4 16.6 392 4290 0.00 2.38 0.00 0.000 4 0.000 0.038 3609 3522 1753

4342 2.53 163.1 162.8 17.6 396 4350 0.00 2.38 0.00 0.000 6 0.000 0.029 3609 2125 1753

4672 2.53 163.1 113.0 12.9 427 4679 0.00 0.00 0.00 0.000 6 0.000 0.000 3609 2125 1751

4999 2.53 163.1 70.7 12.3 458 5003 0.00 2.47 0.00 0.000 4 0.000 0.050 3609 716 1750

5101 2.53 163.1 59.6 10.1 466 5108 0.00 2.38 0.00 0.000 6 0.000 0.027 3609 2147 1750

5431 2.55 176.5 27.3 9.0 497 5445 0.00 2.53 8.52 0.413 4 0.000 0.047 3609 720 1713

5614 end climb: SURFACE_DEPTH_REACHED

state 5614 begin surface coast

5652 end surface coast: CONTROL_FINISHED_OK

state 5653 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	15	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	34	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	-61398.945	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	3	TGT_LATLONG	2155.000,-15945.000
_XMS_NAKs	9	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.127,-0.164
_SM_DEPTHo	1.34	KALMAN_X	5963.0,640.8,-265.6,-11568.2,-8.4
_SM_ANGLEo	-61.5	KALMAN_Y	6535.2,8.0,-630.1,-7185.4,605.1
GPS2	141712,2155.514,-15944.176,481,3.0,481,9.8	MHEAD_RNG_PITCHd_Wd	208.1,1706,-23.3,-10.000
SPEED_LIMITS	0.173,0.279	D_GRID	360

FINISH	0.8,1.022408	ALTIM_TOP_PING	19.9,17.8
SM_CCo	5685,64.35,0.446,0,0,1209,300.00	_24V_AH	24.0,5.584
SM_GC	1.34,0.00,0.00,64.35,0.000,0.000,0.446,419,2674,1209,-12.06,0.03,300.00	_10V_AH	10.1,4.888
IRIDIUM_FIX	2145.77,-15942.95,271097,181811	DATA_FILE_SIZE	15873,530
TT8_MAMPS	0.121953	CAP_FILE_SIZE	106832,0
HUMID	1725	CFSIZE	260034560,255266816
INTERNAL_PRESSURE	9.42765	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.40	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	29	125	88.06	SBE_CT	359	24	206.86
Roll_motor	48	57	67.37	nil	0	0	0.00
VBD_pump_during_apogee	210	706	3565.80	nil	0	0	0.00
VBD_pump_during_surface	64	446	689.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	71	103	177.98	nil	0	0	0.00
Iridium_during_connect	143	160	552.07	ARS	0	36	0.00
Iridium_during_xfer	623	223	3335.45
Transponder_ping	5	420	57.96
GUMSTIX_24V	51	1000	1230.91
GPS	481	93	452.01
TT8	1127	19	225.55
LPSleep	3213	2	71.08
TT8_Active	345	19	69.03
TT8_Sampling	1476	39	593.37
TT8_CF8	1251	45	579.09
TT8_Kalman	33	81	27.53
Analog_circuits	862	12	104.55
GPS_charging	0	0	0.00
Compass	969	8	78.31
RAFOS	0	0	0.00
Transponder	20	30	6.28

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
21	-2.44	-90.0	0.0	0.0	0	76	0.00	0.00	-48.67	0.000	6	0.000	0.000	418	2677	2801
80	-2.46	-99.6	4.4	-9.3	8	98	10.75	2.47	-0.60	0.000	4	0.125	0.044	2500	1255	2841
318	-2.46	-99.6	51.7	-17.2	33	323	0.00	2.35	0.00	0.000	6	0.000	0.022	2500	2680	2844
645	-2.46	-99.6	102.2	-16.3	63	649	0.00	2.10	0.00	0.000	4	0.000	0.038	2500	3918	2843
896	-2.46	-99.6	140.9	-13.1	85	900	0.00	2.05	0.00	0.000	6	0.000	0.021	2500	2632	2844
1228	-2.46	-99.6	179.7	-11.8	116	1229	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2627	2845
1546	-2.46	-99.6	215.0	-12.0	146	1547	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2627	2845
1868	-2.46	-99.6	247.8	-10.5	176	1871	0.00	2.22	0.00	0.000	4	0.000	0.041	2500	3922	2844
1999	-2.46	-99.6	262.7	-10.5	187	2006	0.00	2.03	0.00	0.000	6	0.000	0.025	2500	2662	2844
2326	-2.48	-121.3	293.2	-8.4	218	2330	0.00	2.33	0.00	0.000	4	0.000	0.041	2500	1307	2843
2413	-2.51	-145.4	300.7	-8.2	225	2417	0.00	2.28	0.00	0.000	6	0.000	0.028	2500	2669	2843
2740	-2.53	-158.0	330.1	-9.1	255	2744	0.00	2.35	0.00	0.000	4	0.000	0.041	2500	1310	2842
2793	-2.53	-163.1	335.1	-9.6	259	2797	0.00	2.28	0.00	0.000	6	0.000	0.029	2500	2673	2842
3046	end dive: TARGET_DEPTH_EXCEEDED
state	3046	begin apogee
3057	-0.50	0.0	360.1	9.7	283	3144	1.98	0.00	76.82	0.706	6	0.076	0.000	2932	2158	2432
3146	end apogee: CONTROL_FINISHED_OK
state	3146	begin climb
3150	2.53	163.1	364.0	0.0	292	3289	2.85	2.67	124.97	0.696	4	0.031	0.058	3611	733	1766
3428	2.53	163.1	328.1	19.5	315	3432	0.00	2.40	0.00	0.000	6	0.000	0.031	3609	2131	1763
3758	2.53	163.1	267.6	17.1	345	3762	0.00	2.58	0.00	0.000	4	0.000	0.058	3608	725	1758
3956	2.53	163.1	229.4	18.0	362	3960	0.00	2.40	0.00	0.000	6	0.000	0.031	3609	2134	1756
4286	2.53	163.1	173.4	16.6	392	4290	0.00	2.38	0.00	0.000	4	0.000	0.038	3609	3522	1753
4342	2.53	163.1	162.8	17.6	396	4350	0.00	2.38	0.00	0.000	6	0.000	0.029	3609	2125	1753
4672	2.53	163.1	113.0	12.9	427	4679	0.00	0.00	0.00	0.000	6	0.000	0.000	3609	2125	1751
4999	2.53	163.1	70.7	12.3	458	5003	0.00	2.47	0.00	0.000	4	0.000	0.050	3609	716	1750
5101	2.53	163.1	59.6	10.1	466	5108	0.00	2.38	0.00	0.000	6	0.000	0.027	3609	2147	1750
5431	2.55	176.5	27.3	9.0	497	5445	0.00	2.53	8.52	0.413	4	0.000	0.047	3609	720	1713
5614	end climb: SURFACE_DEPTH_REACHED
state	5614	begin surface coast
5652	end surface coast: CONTROL_FINISHED_OK
state	5653	begin surface