Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 18 * 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 18 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 41 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -86112.891 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 150 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 -86112.891

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 41 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 18 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 231314,2152.886,-15945.215,10,1.6,10,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 500.000

_XMS_NAKs 12 KALMAN_CONTROL 0.215,-0.147

_XMS_TOUTs 0 KALMAN_X -13156.9,-1078.2,-487.7,8754.4,-896.7

_SM_DEPTHo 0.80 KALMAN_Y 10409.8,201.7,74.8,-16539.6,608.6

_SM_ANGLEo -64.0 MHEAD_RNG_PITCHd_Wd 114.5,8119,-18.3,-10.000

GPS2 232549,2152.928,-15945.433,13,1.2,30,9.8 D_GRID 240

SPEED_LIMITS 0.173,0.260 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.2,1.022872 MM_CLLLayer 0.03

SM_CCo 4317,7.60,0.366,0,0,1714,300.00 MM_CfgFile 0.30

SM_GC 2.04,0.00,0.00,7.60,0.000,0.000,0.366,421,2394,1714,-11.73,-0.17,300.00 _24V_AH 24.0,18.677

IRIDIUM_FIX 2145.77,-15940.77,231098,212105 _10V_AH 10.1,23.573

TT8_MAMPS 0.059059 DATA_FILE_SIZE 12717,391

HUMID 1773 CAP_FILE_SIZE 154681,0

INTERNAL_PRESSURE 10.1699 CFSIZE -70647808,-83296256

TCM_TEMP 24.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 300709,004036,2153.066,-15945.321,62,1.9,62,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 125 84.23 SBE_CT 263 24 151.54

Roll_motor 49 52 61.37 nil 0 0 0.00

VBD_pump_during_apogee 325 587 4594.30 nil 0 0 0.00

VBD_pump_during_surface 7 365 66.73 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 72.78 nil 0 0 0.00

Iridium_during_connect 27 160 105.52 GUMSTIX 74 1000 1784.81

Iridium_during_xfer 424 223 2270.50

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 199 1000 4785.98

GPS 30 50 15.62

TT8 797 18 144.98

LPSleep 1938 0 7.63

TT8_Active 374 18 68.03

TT8_Sampling 783 38 300.60

TT8_CF8 1187 44 527.54

TT8_Kalman 33 80 26.95

Analog_circuits 831 12 100.82

GPS_charging 0 0 0.00

Compass 732 8 59.21

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

18 end surface: CONTROL_FINISHED_OK

state 19 begin dive

25 -2.00 -146.0 0.0 0.0 0 91 0.00 0.00 -63.50 0.000 2 0.000 0.000 418 2386 3482

97 -2.00 -146.0 4.5 -10.1 9 119 10.95 2.40 -0.75 0.000 4 0.126 0.052 2529 1011 3535

244 -2.00 -146.0 47.4 -21.0 23 248 0.00 2.30 0.00 0.000 6 0.000 0.022 2529 2415 3535

444 -2.00 -146.0 81.4 -17.7 41 449 0.00 2.45 0.00 0.000 4 0.000 0.038 2529 3802 3535

504 -2.00 -146.0 91.3 -17.2 45 508 0.00 2.45 0.00 0.000 6 0.000 0.022 2528 2400 3536

832 -2.00 -146.0 145.4 -16.7 75 836 0.00 2.50 0.00 0.000 4 0.000 0.039 2529 3800 3537

945 -2.00 -146.0 162.7 -14.9 84 949 0.00 2.40 0.00 0.000 6 0.000 0.024 2529 2400 3537

1273 -2.00 -146.0 207.2 -12.5 114 1277 0.00 2.40 0.00 0.000 4 0.000 0.046 2529 997 3537

1405 -2.00 -146.0 225.1 -13.5 124 1412 0.00 2.33 0.00 0.000 6 0.000 0.024 2529 2413 3537

1515 end dive: TARGET_DEPTH_EXCEEDED

state 1515 begin apogee

1528 -0.50 0.0 240.5 12.9 135 1648 1.50 0.00 109.85 0.588 6 0.066 0.000 2857 2568 2936

1653 end apogee: CONTROL_FINISHED_OK

state 1654 begin climb

1659 2.00 146.0 245.0 0.0 147 1781 2.38 2.53 108.50 0.584 4 0.037 0.046 3419 3918 2341

1882 2.04 174.9 233.2 8.7 166 1910 0.00 2.38 23.17 0.551 6 0.000 0.025 3419 2540 2222

2240 2.07 200.6 203.4 8.8 198 2265 0.00 2.60 20.05 0.542 4 0.000 0.046 3419 3912 2119

2350 2.07 200.6 191.3 11.0 207 2354 0.00 2.38 0.00 0.000 6 0.000 0.027 3419 2547 2118

2678 2.08 203.9 160.0 9.9 237 2691 0.00 2.45 3.80 0.351 4 0.000 0.046 3419 1162 2104

2779 2.08 203.9 149.5 10.5 245 2786 0.00 2.33 0.00 0.000 6 0.000 0.027 3419 2550 2103

3107 2.13 247.3 119.9 8.0 276 3147 0.00 2.50 33.53 0.525 4 0.000 0.044 3419 1161 1927

3181 2.13 247.3 112.7 11.3 282 3185 0.00 2.33 0.00 0.000 6 0.000 0.026 3419 2550 1924

3510 2.17 281.0 83.4 8.4 312 3540 0.10 0.00 26.92 0.489 6 0.051 0.000 3457 2550 1791

3864 2.17 281.0 46.0 10.2 345 3868 0.00 2.53 0.00 0.000 4 0.000 0.045 3457 3932 1787

4139 2.17 281.0 16.9 12.5 369 4146 0.00 2.38 0.00 0.000 6 0.000 0.023 3457 2546 1786

4226 2.17 281.0 7.0 10.9 382 4233 0.00 2.53 0.00 0.000 4 0.000 0.042 3457 3930 1786

4243 end climb: SURFACE_DEPTH_REACHED

state 4243 begin surface coast

4281 end surface coast: CONTROL_FINISHED_OK

state 4281 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	18	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	41	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-86112.891	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	150	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	231314,2152.886,-15945.215,10,1.6,10,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	500.000
_XMS_NAKs	12	KALMAN_CONTROL	0.215,-0.147
_XMS_TOUTs	0	KALMAN_X	-13156.9,-1078.2,-487.7,8754.4,-896.7
_SM_DEPTHo	0.80	KALMAN_Y	10409.8,201.7,74.8,-16539.6,608.6
_SM_ANGLEo	-64.0	MHEAD_RNG_PITCHd_Wd	114.5,8119,-18.3,-10.000
GPS2	232549,2152.928,-15945.433,13,1.2,30,9.8	D_GRID	240
SPEED_LIMITS	0.173,0.260	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.2,1.022872	MM_CLLLayer	0.03
SM_CCo	4317,7.60,0.366,0,0,1714,300.00	MM_CfgFile	0.30
SM_GC	2.04,0.00,0.00,7.60,0.000,0.000,0.366,421,2394,1714,-11.73,-0.17,300.00	_24V_AH	24.0,18.677
IRIDIUM_FIX	2145.77,-15940.77,231098,212105	_10V_AH	10.1,23.573
TT8_MAMPS	0.059059	DATA_FILE_SIZE	12717,391
HUMID	1773	CAP_FILE_SIZE	154681,0
INTERNAL_PRESSURE	10.1699	CFSIZE	-70647808,-83296256
TCM_TEMP	24.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	300709,004036,2153.066,-15945.321,62,1.9,62,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	125	84.23	SBE_CT	263	24	151.54
Roll_motor	49	52	61.37	nil	0	0	0.00
VBD_pump_during_apogee	325	587	4594.30	nil	0	0	0.00
VBD_pump_during_surface	7	365	66.73	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	72.78	nil	0	0	0.00
Iridium_during_connect	27	160	105.52	GUMSTIX	74	1000	1784.81
Iridium_during_xfer	424	223	2270.50
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	199	1000	4785.98
GPS	30	50	15.62
TT8	797	18	144.98
LPSleep	1938	0	7.63
TT8_Active	374	18	68.03
TT8_Sampling	783	38	300.60
TT8_CF8	1187	44	527.54
TT8_Kalman	33	80	26.95
Analog_circuits	831	12	100.82
GPS_charging	0	0	0.00
Compass	732	8	59.21
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
18	end surface: CONTROL_FINISHED_OK
state	19	begin dive
25	-2.00	-146.0	0.0	0.0	0	91	0.00	0.00	-63.50	0.000	2	0.000	0.000	418	2386	3482
97	-2.00	-146.0	4.5	-10.1	9	119	10.95	2.40	-0.75	0.000	4	0.126	0.052	2529	1011	3535
244	-2.00	-146.0	47.4	-21.0	23	248	0.00	2.30	0.00	0.000	6	0.000	0.022	2529	2415	3535
444	-2.00	-146.0	81.4	-17.7	41	449	0.00	2.45	0.00	0.000	4	0.000	0.038	2529	3802	3535
504	-2.00	-146.0	91.3	-17.2	45	508	0.00	2.45	0.00	0.000	6	0.000	0.022	2528	2400	3536
832	-2.00	-146.0	145.4	-16.7	75	836	0.00	2.50	0.00	0.000	4	0.000	0.039	2529	3800	3537
945	-2.00	-146.0	162.7	-14.9	84	949	0.00	2.40	0.00	0.000	6	0.000	0.024	2529	2400	3537
1273	-2.00	-146.0	207.2	-12.5	114	1277	0.00	2.40	0.00	0.000	4	0.000	0.046	2529	997	3537
1405	-2.00	-146.0	225.1	-13.5	124	1412	0.00	2.33	0.00	0.000	6	0.000	0.024	2529	2413	3537
1515	end dive: TARGET_DEPTH_EXCEEDED
state	1515	begin apogee
1528	-0.50	0.0	240.5	12.9	135	1648	1.50	0.00	109.85	0.588	6	0.066	0.000	2857	2568	2936
1653	end apogee: CONTROL_FINISHED_OK
state	1654	begin climb
1659	2.00	146.0	245.0	0.0	147	1781	2.38	2.53	108.50	0.584	4	0.037	0.046	3419	3918	2341
1882	2.04	174.9	233.2	8.7	166	1910	0.00	2.38	23.17	0.551	6	0.000	0.025	3419	2540	2222
2240	2.07	200.6	203.4	8.8	198	2265	0.00	2.60	20.05	0.542	4	0.000	0.046	3419	3912	2119
2350	2.07	200.6	191.3	11.0	207	2354	0.00	2.38	0.00	0.000	6	0.000	0.027	3419	2547	2118
2678	2.08	203.9	160.0	9.9	237	2691	0.00	2.45	3.80	0.351	4	0.000	0.046	3419	1162	2104
2779	2.08	203.9	149.5	10.5	245	2786	0.00	2.33	0.00	0.000	6	0.000	0.027	3419	2550	2103
3107	2.13	247.3	119.9	8.0	276	3147	0.00	2.50	33.53	0.525	4	0.000	0.044	3419	1161	1927
3181	2.13	247.3	112.7	11.3	282	3185	0.00	2.33	0.00	0.000	6	0.000	0.026	3419	2550	1924
3510	2.17	281.0	83.4	8.4	312	3540	0.10	0.00	26.92	0.489	6	0.051	0.000	3457	2550	1791
3864	2.17	281.0	46.0	10.2	345	3868	0.00	2.53	0.00	0.000	4	0.000	0.045	3457	3932	1787
4139	2.17	281.0	16.9	12.5	369	4146	0.00	2.38	0.00	0.000	6	0.000	0.023	3457	2546	1786
4226	2.17	281.0	7.0	10.9	382	4233	0.00	2.53	0.00	0.000	4	0.000	0.042	3457	3930	1786
4243	end climb: SURFACE_DEPTH_REACHED
state	4243	begin surface coast
4281	end surface coast: CONTROL_FINISHED_OK
state	4281	begin surface