Glider dive log

PortSusan 09Apr09 * SG159 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 159 HEADING -1 ROLL_MAX 4045 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 17 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2235 ALTIM_PING_DEPTH 0

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2300 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_TGT 120 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 550 R_PORT_OVSHOOT 31 XPDR_VALID 0

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 18 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

D_CALL 0 KERMIT 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 188 MOTHERBOARD 5

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3616 DEVICE1 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2836 DEVICE2 39

T_DIVE 40 CALL_TRIES 5 VBD_DBAND 2 DEVICE3 -1

T_MISSION 55 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE4 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_TIMEOUT 540 DEVICE5 -1

T_TURN 270 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 SMARTS 0

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 SMARTDEVICE1 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS_ALMANAC 0 UNCOM_BLEED 20 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -83323.984 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 AH0_24V 40 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_10V 16 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 30 MINV_10V 8 SIM_W 0

MAX_BUOY 175 PITCH_MAX 4055 FG_AHR_10V 13.304672 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2975 FG_AHR_24V 14.401937 SEABIRD_T_G 0.0042382758

GLIDE_SLOPE 45 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063342927

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PRESSURE_YINT -12.703127 SEABIRD_T_I 2.5365067e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001162598 SEABIRD_T_J 2.828881e-06

MASS 51634 PITCH_GAIN 12 AD7714Ch0Gain 128 SEABIRD_C_G -10.044323

NAV_MODE 1 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1187451

FERRY_MAX 45 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012770178

KALMAN_USE 1 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00018763109

HD_A 0.0041149999 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 25

HD_B 0.014024 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0

HD_C 5.5727e-05 ROLL_MIN 145 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_ADJ_GAIN 0 SMARTS 0

AH0_10V 16 D_NO_BLEED 200 PITCH_AD_RATE 175 SM_CC 550

AH0_24V 40 D_OFFGRID 100 PITCH_CNV 0.0046000001 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_GAIN 12 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_MAX 4055 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 0 D_TGT 120 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_MIN 30 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_TIMEOUT 15 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 13.304672 PRESSURE_SLOPE 0.0001162598 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 14.401937 PRESSURE_YINT -12.703127 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 P_OVSHOOT 0.039999999 T_DIVE 40

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_GPS 15

CALL_NDIVES 1 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CALL_TRIES 5 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -83323.984

CALL_WAIT 60 HD_A 0.0041149999 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

CAPMAXSIZE 100000 HD_B 0.014024 RELAUNCH 1 T_MISSION 55

CAPUPLOAD 0 HD_C 5.5727e-05 RHO 1.023 T_NO_W 120

CF8_MAXERRORS 0 HEADING -1 ROLL_ADJ_DBAND 0 T_RSLEEP 3

COMM_SEQ 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_TURN 270

COMPASS2_DEVICE -1 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_WATCHDOG 10

COMPASS_USE 0 ID 159 ROLL_DEG 40 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 4045 UPLOAD_DIVES_MAX -1

C_PITCH 2975 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 USE_BATHY -4

C_ROLL_CLIMB 2300 KALMAN_USE 1 ROLL_MIN 145 USE_ICE 0

C_ROLL_DIVE 2235 KERMIT 0 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

C_VBD 2836 MASS 51634 R_PORT_OVSHOOT 31 VBD_CNV -0.24529999

DEEPGLIDER 0 MAX_BUOY 175 R_STBD_OVSHOOT 18 VBD_DBAND 2

DEEPGLIDERMB 0 MINV_10V 8 SEABIRD_C_G -10.044323 VBD_MAX 3616

DEVICE1 2 MINV_24V 19 SEABIRD_C_H 1.1187451 VBD_MAXERRORS 1

DEVICE2 39 MISSION 11 SEABIRD_C_I -0.0012770178 VBD_MIN 188

DEVICE3 -1 MOTHERBOARD 5 SEABIRD_C_J 0.00018763109 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 NAV_MODE 1 SEABIRD_T_G 0.0042382758 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_FILEKB 4 SEABIRD_T_H 0.00063342927 VBD_TIMEOUT 540

DEVICE6 -1 N_GPS 20 SEABIRD_T_I 2.5365067e-05 XPDR_DEVICE 24

DIVE 17 N_NOCOMM 1 SEABIRD_T_J 2.828881e-06 XPDR_INHIBIT 90

D_ABORT 1090 N_NOSURFACE 0 SIM_PITCH 0 XPDR_VALID 0

D_BOOST 0 PHONE_DEVICE 48 SIM_W 0

D_CALL 0 PHONE_SUPPLY 2 SMARTDEVICE1 -1

D_FINISH 0 PITCH_ADJ_DBAND 0 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 085434,4807.364,-12223.377,12,2.3,31,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.114,0.198

_SM_DEPTHo 0.02 KALMAN_X -801.0,-70.8,90.5,407.4,51.0

_SM_ANGLEo -64.5 KALMAN_Y 2821.0,325.6,-140.1,-3212.7,-119.3

GPS2 085913,4807.333,-12223.368,9,2.0,9,18.3 MHEAD_RNG_PITCHd_Wd 311.9,1462,-19.9,-10.000

SPEED_LIMITS 0.100,0.229 D_GRID 103

Post-dive calculations and measurements:

FINISH 2.9,1.013514 _24V_AH 23.8,3.578

SM_CCo 2160,286.55,0.710,0,0,593,550.21 _10V_AH 12.0,1.382

SM_GC 0.34,0.00,0.00,286.55,0.007,0.012,0.710,22,2221,593,-13.58,-0.40,550.21 FG_AHR_24Vo 14.522

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 13.332

IRIDIUM_FIX 4751.72,-12223.57,050798,080852 MEM 324684

HUMID 1078025889 DATA_FILE_SIZE 9712,240

INTERNAL_PRESSURE 9.02672 CAP_FILE_SIZE 36966,0

TCM_TEMP 12.70 CFSIZE 260034560,257069056

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 78.6,999.0 GPS 100409,094201,4807.538,-12223.535,8,1.7,12,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 236 131.23 SBE_CT 139 24 79.63

Roll_motor 24 71 40.97 WL_BB2F 613 105 1532.79

VBD_pump_during_apogee 270 780 5022.73 nil 0 0 0.00

VBD_pump_during_surface 286 710 4843.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 75.26 nil 0 0 0.00

Iridium_during_connect 34 160 130.01 nil 0 0 0.00

Iridium_during_xfer 113 223 604.49

Transponder_ping 0 420 2.50

GUMSTIX_24V 0 0 0.00

GPS 10 50 6.57

TT8 365 19 86.91

LPSleep 781 2 20.54

TT8_Active 590 19 140.34

TT8_Sampling 709 39 338.88

TT8_CF8 297 45 163.72

TT8_Kalman 33 81 32.72

Analog_circuits 796 12 114.66

GPS_charging 0 0 0.00

Compass 710 8 68.19

RAFOS 0 0 0.00

Transponder 2 30 0.92

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.87 -171.1 0.0 0.0 0 150 0.00 0.00 -123.18 0.000 2 0.007 0.000 30 2219 2839 0 0 0 0 0 0

155 -1.87 -171.1 3.9 -12.6 24 189 10.65 0.00 -18.92 0.000 6 0.237 0.007 2561 2219 3535 0 0 0 0 0 0

257 -1.87 -171.1 10.3 -5.9 42 263 0.00 0.00 0.00 0.007 6 0.007 0.007 2561 2220 3536 0 0 0 0 0 0

331 -1.87 -171.1 17.1 -9.8 55 338 0.00 2.50 0.00 0.000 4 0.007 0.070 2552 3645 3536 0 0 0 0 0 0

415 -1.87 -171.1 25.8 -10.2 65 421 0.00 2.35 0.00 0.000 6 0.059 0.050 2551 2241 3536 0 0 0 0 0 0

613 -1.87 -171.1 47.7 -12.3 84 618 0.00 2.40 0.00 0.008 4 0.008 0.071 2542 3644 3536 0 0 0 0 0 0

668 -1.87 -171.1 54.5 -13.0 88 676 0.08 2.35 0.00 0.010 6 0.062 0.051 2562 2242 3536 0 0 0 0 0 0

994 -1.87 -171.1 90.3 -10.9 119 996 0.00 0.00 0.00 0.007 6 0.007 0.007 2563 2241 3536 0 0 0 0 0 0

1120 end dive: TARGET_DEPTH_EXCEEDED

state 1120 begin apogee

1126 -0.42 0.0 104.1 10.6 131 1264 1.02 0.00 131.48 0.780 6 0.136 0.000 2880 2316 2835 0 0 0 0 0 0

1265 end apogee: CONTROL_FINISHED_OK

state 1265 begin climb

1267 1.87 171.1 107.2 0.0 145 1410 1.48 2.50 128.85 0.755 4 0.091 0.057 3385 896 2137 0 0 0 0 0 0

1423 1.87 171.1 92.1 13.2 160 1428 0.00 2.30 0.00 0.012 6 0.012 0.034 3379 2287 2136 0 0 0 0 0 0

1748 1.87 171.1 47.1 12.9 190 1753 0.00 2.40 0.00 0.000 4 0.007 0.071 3379 3705 2136 0 0 0 0 0 0

1777 1.87 171.1 42.9 14.0 192 1782 0.00 2.35 0.00 0.009 6 0.067 0.058 3381 2294 2135 0 0 0 0 0 0

1976 1.87 171.1 16.7 13.2 212 1983 0.00 2.42 0.00 0.007 4 0.007 0.071 3381 893 2135 0 0 0 0 0 0

2007 1.87 171.1 12.5 12.7 217 2014 0.00 2.35 0.00 0.061 6 0.061 0.046 3377 2296 2135 0 0 0 0 0 0

2081 1.90 194.2 5.0 9.1 230 2093 0.00 0.00 10.12 0.000 2 0.007 0.000 3377 2297 2092 0 0 0 0 0 0

2094 end climb: SURFACE_DEPTH_REACHED

state 2094 begin surface coast

2138 end surface coast: CONTROL_FINISHED_OK

state 2138 begin surface

ID	159	HEADING	-1	ROLL_MAX	4045	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	17	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2235	ALTIM_PING_DEPTH	0
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2300	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_TGT	120	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	550	R_PORT_OVSHOOT	31	XPDR_VALID	0
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	18	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
D_CALL	0	KERMIT	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	188	MOTHERBOARD	5
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3616	DEVICE1	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2836	DEVICE2	39
T_DIVE	40	CALL_TRIES	5	VBD_DBAND	2	DEVICE3	-1
T_MISSION	55	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE4	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_TIMEOUT	540	DEVICE5	-1
T_TURN	270	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	SMARTS	0
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	SMARTDEVICE1	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS_ALMANAC	0	UNCOM_BLEED	20	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-83323.984	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	AH0_24V	40	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_10V	16	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	30	MINV_10V	8	SIM_W	0
MAX_BUOY	175	PITCH_MAX	4055	FG_AHR_10V	13.304672	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2975	FG_AHR_24V	14.401937	SEABIRD_T_G	0.0042382758
GLIDE_SLOPE	45	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063342927
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PRESSURE_YINT	-12.703127	SEABIRD_T_I	2.5365067e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001162598	SEABIRD_T_J	2.828881e-06
MASS	51634	PITCH_GAIN	12	AD7714Ch0Gain	128	SEABIRD_C_G	-10.044323
NAV_MODE	1	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1187451
FERRY_MAX	45	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012770178
KALMAN_USE	1	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00018763109
HD_A	0.0041149999	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	25
HD_B	0.014024	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0
HD_C	5.5727e-05	ROLL_MIN	145	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	085434,4807.364,-12223.377,12,2.3,31,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.114,0.198
_SM_DEPTHo	0.02	KALMAN_X	-801.0,-70.8,90.5,407.4,51.0
_SM_ANGLEo	-64.5	KALMAN_Y	2821.0,325.6,-140.1,-3212.7,-119.3
GPS2	085913,4807.333,-12223.368,9,2.0,9,18.3	MHEAD_RNG_PITCHd_Wd	311.9,1462,-19.9,-10.000
SPEED_LIMITS	0.100,0.229	D_GRID	103

FINISH	2.9,1.013514	_24V_AH	23.8,3.578
SM_CCo	2160,286.55,0.710,0,0,593,550.21	_10V_AH	12.0,1.382
SM_GC	0.34,0.00,0.00,286.55,0.007,0.012,0.710,22,2221,593,-13.58,-0.40,550.21	FG_AHR_24Vo	14.522
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	13.332
IRIDIUM_FIX	4751.72,-12223.57,050798,080852	MEM	324684
HUMID	1078025889	DATA_FILE_SIZE	9712,240
INTERNAL_PRESSURE	9.02672	CAP_FILE_SIZE	36966,0
TCM_TEMP	12.70	CFSIZE	260034560,257069056
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	78.6,999.0	GPS	100409,094201,4807.538,-12223.535,8,1.7,12,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	236	131.23	SBE_CT	139	24	79.63
Roll_motor	24	71	40.97	WL_BB2F	613	105	1532.79
VBD_pump_during_apogee	270	780	5022.73	nil	0	0	0.00
VBD_pump_during_surface	286	710	4843.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	75.26	nil	0	0	0.00
Iridium_during_connect	34	160	130.01	nil	0	0	0.00
Iridium_during_xfer	113	223	604.49
Transponder_ping	0	420	2.50
GUMSTIX_24V	0	0	0.00
GPS	10	50	6.57
TT8	365	19	86.91
LPSleep	781	2	20.54
TT8_Active	590	19	140.34
TT8_Sampling	709	39	338.88
TT8_CF8	297	45	163.72
TT8_Kalman	33	81	32.72
Analog_circuits	796	12	114.66
GPS_charging	0	0	0.00
Compass	710	8	68.19
RAFOS	0	0	0.00
Transponder	2	30	0.92

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.87	-171.1	0.0	0.0	0	150	0.00	0.00	-123.18	0.000	2	0.007	0.000	30	2219	2839	0	0	0	0	0	0
155	-1.87	-171.1	3.9	-12.6	24	189	10.65	0.00	-18.92	0.000	6	0.237	0.007	2561	2219	3535	0	0	0	0	0	0
257	-1.87	-171.1	10.3	-5.9	42	263	0.00	0.00	0.00	0.007	6	0.007	0.007	2561	2220	3536	0	0	0	0	0	0
331	-1.87	-171.1	17.1	-9.8	55	338	0.00	2.50	0.00	0.000	4	0.007	0.070	2552	3645	3536	0	0	0	0	0	0
415	-1.87	-171.1	25.8	-10.2	65	421	0.00	2.35	0.00	0.000	6	0.059	0.050	2551	2241	3536	0	0	0	0	0	0
613	-1.87	-171.1	47.7	-12.3	84	618	0.00	2.40	0.00	0.008	4	0.008	0.071	2542	3644	3536	0	0	0	0	0	0
668	-1.87	-171.1	54.5	-13.0	88	676	0.08	2.35	0.00	0.010	6	0.062	0.051	2562	2242	3536	0	0	0	0	0	0
994	-1.87	-171.1	90.3	-10.9	119	996	0.00	0.00	0.00	0.007	6	0.007	0.007	2563	2241	3536	0	0	0	0	0	0
1120	end dive: TARGET_DEPTH_EXCEEDED
state	1120	begin apogee
1126	-0.42	0.0	104.1	10.6	131	1264	1.02	0.00	131.48	0.780	6	0.136	0.000	2880	2316	2835	0	0	0	0	0	0
1265	end apogee: CONTROL_FINISHED_OK
state	1265	begin climb
1267	1.87	171.1	107.2	0.0	145	1410	1.48	2.50	128.85	0.755	4	0.091	0.057	3385	896	2137	0	0	0	0	0	0
1423	1.87	171.1	92.1	13.2	160	1428	0.00	2.30	0.00	0.012	6	0.012	0.034	3379	2287	2136	0	0	0	0	0	0
1748	1.87	171.1	47.1	12.9	190	1753	0.00	2.40	0.00	0.000	4	0.007	0.071	3379	3705	2136	0	0	0	0	0	0
1777	1.87	171.1	42.9	14.0	192	1782	0.00	2.35	0.00	0.009	6	0.067	0.058	3381	2294	2135	0	0	0	0	0	0
1976	1.87	171.1	16.7	13.2	212	1983	0.00	2.42	0.00	0.007	4	0.007	0.071	3381	893	2135	0	0	0	0	0	0
2007	1.87	171.1	12.5	12.7	217	2014	0.00	2.35	0.00	0.061	6	0.061	0.046	3377	2296	2135	0	0	0	0	0	0
2081	1.90	194.2	5.0	9.1	230	2093	0.00	0.00	10.12	0.000	2	0.007	0.000	3377	2297	2092	0	0	0	0	0	0
2094	end climb: SURFACE_DEPTH_REACHED
state	2094	begin surface coast
2138	end surface coast: CONTROL_FINISHED_OK
state	2138	begin surface