Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 24 ESCAPE_HEADING 180 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 4 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3825 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 1987 ALTIM_FREQUENCY 13

D_TGT 240 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 1987 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 INT_PRESSURE_YINT 0

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 746 DEVICE2 -1

T_MISSION 90 CALL_TRIES 5 VBD_MAX 3936 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2917 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 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 500 T_GPS_CHARGE -106428.94 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 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 409 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3715 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2600 PRESSURE_YINT -7.1530929 SEABIRD_T_G 0.00439469

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163939 SEABIRD_T_H 0.00064900791

MASS 51956 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5454905e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5957725e-06

FERRY_MAX 0 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.918622

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1128848

HD_A 0.0038360001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0018190074

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019276177

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 13 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 409 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 240 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163939 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.1530929 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 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -106428.94

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 117 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3825 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2600 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY 0

C_ROLL_CLIMB 1987 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1987 MASS 51956 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 150 R_STBD_OVSHOOT 41 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 24 SEABIRD_C_G -9.918622 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1128848 VBD_MAX 3936

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00019276177 VBD_MIN 746

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 XPDR_DEVICE -1

DIVE 4 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 010729,2154.947,-15943.230,7,1.8,10,9.8 TGT_LATLONG 2154.000,-15942.000

_CALLS 1 TGT_RADIUS 500.000

_XMS_NAKs 0 KALMAN_CONTROL 0.203,-0.162

_XMS_TOUTs 0 KALMAN_X 139.4,64.9,-31.8,1674.6,109.7

_SM_DEPTHo 0.98 KALMAN_Y -179.6,-142.0,-70.4,-1074.6,-88.1

_SM_ANGLEo -57.8 MHEAD_RNG_PITCHd_Wd 118.8,2708,-18.3,-10.000

GPS2 011206,2154.914,-15943.230,15,0.9,31,9.8 D_GRID 240

SPEED_LIMITS 0.173,0.260 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T0

Post-dive calculations and measurements:

FINISH 0.3,1.009867 MM_CLLLayer 0.03

SM_CCo 4835,0.00,0.000,0,0,1595,324.29 MM_CfgFile 0.30

SM_GC 1.13,11.20,0.00,0.00,0.031,0.000,0.000,407,1976,1595,-10.04,-0.31,324.29 _24V_AH 24.0,6.831

IRIDIUM_FIX 2145.77,-15945.93,241098,010143 _10V_AH 10.2,2.849

TT8_MAMPS 0.065195 DATA_FILE_SIZE 12710,464

HUMID 1940 CAP_FILE_SIZE 68504,0

INTERNAL_PRESSURE 7.69561 CFSIZE 260165632,256389120

TCM_TEMP 25.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 300709,023434,2154.484,-15942.449,11,4.5,30,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 106.39 SBE_CT 310 24 178.67

Roll_motor 34 69 57.32 nil 0 0 0.00

VBD_pump_during_apogee 379 658 5989.11 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 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 GUMSTIX 61 1000 1483.54

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 31 1000 757.87

GPS 31 50 16.12

TT8 853 18 156.69

LPSleep 2721 0 10.82

TT8_Active 428 18 78.72

TT8_Sampling 813 38 315.18

TT8_CF8 101 44 45.73

TT8_Kalman 32 80 26.38

Analog_circuits 886 12 108.52

GPS_charging 0 0 0.00

Compass 781 8 63.74

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.58 -146.0 0.0 0.0 0 105 0.00 0.00 -85.38 0.000 2 0.000 0.000 406 2007 3478

107 -1.58 -146.0 4.0 -10.0 14 128 10.82 2.60 -0.62 0.000 4 0.175 0.069 2251 580 3516

284 -1.58 -146.0 38.2 -15.0 34 292 0.00 2.35 0.00 0.000 6 0.000 0.031 2251 1988 3517

482 -1.58 -146.0 65.8 -15.6 53 486 0.00 2.50 0.00 0.000 4 0.000 0.057 2251 584 3517

511 -1.58 -146.0 70.1 -16.0 55 515 0.00 2.35 0.00 0.000 6 0.000 0.032 2251 1994 3517

841 -1.58 -146.0 112.2 -12.8 86 842 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 1995 3518

1160 -1.58 -146.0 150.5 -10.8 116 1161 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 1997 3519

1478 -1.58 -146.0 185.4 -10.4 146 1482 0.00 2.53 0.00 0.000 4 0.000 0.060 2251 584 3519

1540 -1.58 -146.0 191.6 -8.9 151 1544 0.00 2.38 0.00 0.000 6 0.000 0.035 2251 1996 3519

1866 -1.58 -146.0 223.8 -9.1 181 1868 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 1996 3518

2053 end dive: TARGET_DEPTH_EXCEEDED

state 2054 begin apogee

2059 -0.38 0.0 240.6 8.7 199 2181 1.25 0.00 117.45 0.658 6 0.094 0.000 2510 1997 2917

2182 end apogee: CONTROL_FINISHED_OK

state 2182 begin climb

2184 1.58 146.0 243.8 0.0 211 2307 1.95 0.00 116.78 0.648 6 0.050 0.000 2953 1997 2321

2621 1.61 167.0 213.7 9.0 252 2646 0.00 2.47 17.35 0.608 4 0.000 0.064 2953 3373 2235

2752 1.61 171.2 200.7 9.8 263 2763 0.00 2.42 4.60 0.445 6 0.000 0.039 2953 1981 2219

3089 1.64 193.5 171.9 9.0 295 3113 0.00 2.55 18.67 0.609 4 0.000 0.061 2953 3375 2128

3159 1.64 193.5 165.1 10.5 301 3163 0.00 2.42 0.00 0.000 6 0.000 0.039 2953 1980 2125

3485 1.70 241.1 136.1 7.8 331 3530 0.00 2.60 38.58 0.613 4 0.000 0.058 2953 3373 1933

3587 1.74 270.2 127.2 8.7 340 3618 0.12 2.42 24.52 0.589 6 0.050 0.038 2991 1977 1815

3935 1.74 270.2 86.9 13.7 373 3936 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 1977 1808

4254 1.80 321.3 52.0 7.7 403 4301 0.00 2.58 41.25 0.555 4 0.000 0.057 2992 3381 1606

4328 1.80 321.3 44.4 11.3 409 4335 0.00 2.42 0.00 0.000 6 0.000 0.036 2992 1979 1604

4527 1.80 321.5 24.6 10.0 428 4528 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 1979 1601

4725 1.80 321.5 2.7 12.2 459 4731 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 1979 1600

4735 end climb: SURFACE_DEPTH_REACHED

state 4735 begin surface coast

4753 end surface coast: CONTROL_FINISHED_OK

state 4753 begin surface

ID	117	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	24	ESCAPE_HEADING	180	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	4	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3825	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	1987	ALTIM_FREQUENCY	13
D_TGT	240	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	1987	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	INT_PRESSURE_YINT	0
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	746	DEVICE2	-1
T_MISSION	90	CALL_TRIES	5	VBD_MAX	3936	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2917	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	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	500	T_GPS_CHARGE	-106428.94	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	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	409	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3715	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2600	PRESSURE_YINT	-7.1530929	SEABIRD_T_G	0.00439469
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163939	SEABIRD_T_H	0.00064900791
MASS	51956	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5454905e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5957725e-06
FERRY_MAX	0	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.918622
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1128848
HD_A	0.0038360001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0018190074
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019276177
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	010729,2154.947,-15943.230,7,1.8,10,9.8	TGT_LATLONG	2154.000,-15942.000
_CALLS	1	TGT_RADIUS	500.000
_XMS_NAKs	0	KALMAN_CONTROL	0.203,-0.162
_XMS_TOUTs	0	KALMAN_X	139.4,64.9,-31.8,1674.6,109.7
_SM_DEPTHo	0.98	KALMAN_Y	-179.6,-142.0,-70.4,-1074.6,-88.1
_SM_ANGLEo	-57.8	MHEAD_RNG_PITCHd_Wd	118.8,2708,-18.3,-10.000
GPS2	011206,2154.914,-15943.230,15,0.9,31,9.8	D_GRID	240
SPEED_LIMITS	0.173,0.260	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T0

FINISH	0.3,1.009867	MM_CLLLayer	0.03
SM_CCo	4835,0.00,0.000,0,0,1595,324.29	MM_CfgFile	0.30
SM_GC	1.13,11.20,0.00,0.00,0.031,0.000,0.000,407,1976,1595,-10.04,-0.31,324.29	_24V_AH	24.0,6.831
IRIDIUM_FIX	2145.77,-15945.93,241098,010143	_10V_AH	10.2,2.849
TT8_MAMPS	0.065195	DATA_FILE_SIZE	12710,464
HUMID	1940	CAP_FILE_SIZE	68504,0
INTERNAL_PRESSURE	7.69561	CFSIZE	260165632,256389120
TCM_TEMP	25.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	300709,023434,2154.484,-15942.449,11,4.5,30,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	106.39	SBE_CT	310	24	178.67
Roll_motor	34	69	57.32	nil	0	0	0.00
VBD_pump_during_apogee	379	658	5989.11	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	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	GUMSTIX	61	1000	1483.54
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	31	1000	757.87
GPS	31	50	16.12
TT8	853	18	156.69
LPSleep	2721	0	10.82
TT8_Active	428	18	78.72
TT8_Sampling	813	38	315.18
TT8_CF8	101	44	45.73
TT8_Kalman	32	80	26.38
Analog_circuits	886	12	108.52
GPS_charging	0	0	0.00
Compass	781	8	63.74
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.58	-146.0	0.0	0.0	0	105	0.00	0.00	-85.38	0.000	2	0.000	0.000	406	2007	3478
107	-1.58	-146.0	4.0	-10.0	14	128	10.82	2.60	-0.62	0.000	4	0.175	0.069	2251	580	3516
284	-1.58	-146.0	38.2	-15.0	34	292	0.00	2.35	0.00	0.000	6	0.000	0.031	2251	1988	3517
482	-1.58	-146.0	65.8	-15.6	53	486	0.00	2.50	0.00	0.000	4	0.000	0.057	2251	584	3517
511	-1.58	-146.0	70.1	-16.0	55	515	0.00	2.35	0.00	0.000	6	0.000	0.032	2251	1994	3517
841	-1.58	-146.0	112.2	-12.8	86	842	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	1995	3518
1160	-1.58	-146.0	150.5	-10.8	116	1161	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	1997	3519
1478	-1.58	-146.0	185.4	-10.4	146	1482	0.00	2.53	0.00	0.000	4	0.000	0.060	2251	584	3519
1540	-1.58	-146.0	191.6	-8.9	151	1544	0.00	2.38	0.00	0.000	6	0.000	0.035	2251	1996	3519
1866	-1.58	-146.0	223.8	-9.1	181	1868	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	1996	3518
2053	end dive: TARGET_DEPTH_EXCEEDED
state	2054	begin apogee
2059	-0.38	0.0	240.6	8.7	199	2181	1.25	0.00	117.45	0.658	6	0.094	0.000	2510	1997	2917
2182	end apogee: CONTROL_FINISHED_OK
state	2182	begin climb
2184	1.58	146.0	243.8	0.0	211	2307	1.95	0.00	116.78	0.648	6	0.050	0.000	2953	1997	2321
2621	1.61	167.0	213.7	9.0	252	2646	0.00	2.47	17.35	0.608	4	0.000	0.064	2953	3373	2235
2752	1.61	171.2	200.7	9.8	263	2763	0.00	2.42	4.60	0.445	6	0.000	0.039	2953	1981	2219
3089	1.64	193.5	171.9	9.0	295	3113	0.00	2.55	18.67	0.609	4	0.000	0.061	2953	3375	2128
3159	1.64	193.5	165.1	10.5	301	3163	0.00	2.42	0.00	0.000	6	0.000	0.039	2953	1980	2125
3485	1.70	241.1	136.1	7.8	331	3530	0.00	2.60	38.58	0.613	4	0.000	0.058	2953	3373	1933
3587	1.74	270.2	127.2	8.7	340	3618	0.12	2.42	24.52	0.589	6	0.050	0.038	2991	1977	1815
3935	1.74	270.2	86.9	13.7	373	3936	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	1977	1808
4254	1.80	321.3	52.0	7.7	403	4301	0.00	2.58	41.25	0.555	4	0.000	0.057	2992	3381	1606
4328	1.80	321.3	44.4	11.3	409	4335	0.00	2.42	0.00	0.000	6	0.000	0.036	2992	1979	1604
4527	1.80	321.5	24.6	10.0	428	4528	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	1979	1601
4725	1.80	321.5	2.7	12.2	459	4731	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	1979	1600
4735	end climb: SURFACE_DEPTH_REACHED
state	4735	begin surface coast
4753	end surface coast: CONTROL_FINISHED_OK
state	4753	begin surface