Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 41 * 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 41 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 1970 ALTIM_FREQUENCY 13

D_TGT 270 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 1994 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 400 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 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 90 UPLOAD_DIVES_MAX -1 VBD_MIN 746 DEVICE2 -1

T_MISSION 120 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 750 T_GPS_CHARGE -107203.48 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 175 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 45 PITCH_MAX 3715 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2542 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 400

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 750 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 270 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 45 RAFOS_DEVICE -1 T_DIVE 90

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 -107203.48

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 120

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 2542 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY 0

C_ROLL_CLIMB 1994 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1970 MASS 51956 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 175 R_STBD_OVSHOOT 40 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 41 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 181514,2154.701,-15940.883,11,1.7,11,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 1 TGT_RADIUS 400.000

_XMS_NAKs 8 KALMAN_CONTROL -0.066,-0.271

_XMS_TOUTs 0 KALMAN_X -49090.8,1489.0,71.8,53328.4,-1166.9

_SM_DEPTHo 1.17 KALMAN_Y 12170.5,-473.7,170.4,-13823.9,348.1

_SM_ANGLEo -55.7 MHEAD_RNG_PITCHd_Wd 184.0,2715,-16.8,-10.000

GPS2 182419,2154.653,-15940.930,17,1.7,34,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.279 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH 0.5,1.022861 MM_CLLLayer 0.03

SM_CCo 4989,0.00,0.000,0,0,999,470.73 MM_CfgFile 0.30

SM_GC 1.18,11.18,0.00,0.00,0.028,0.000,0.000,405,1959,999,-9.78,-0.28,470.73 _24V_AH 24.0,13.186

IRIDIUM_FIX 2145.77,-15942.95,271098,161629 _10V_AH 10.2,5.738

TT8_MAMPS 0.066729 DATA_FILE_SIZE 15861,474

HUMID 1864 CAP_FILE_SIZE 58308,0

INTERNAL_PRESSURE 7.56865 CFSIZE 260165632,253165568

TCM_TEMP 24.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 020809,194919,2154.062,-15941.642,11,1.6,28,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 180 109.77 SBE_CT 318 24 183.57

Roll_motor 45 113 122.80 nil 0 0 0.00

VBD_pump_during_apogee 531 678 8642.82 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 25 103 63.30 nil 0 0 0.00

Iridium_during_connect 27 160 106.65 GUMSTIX 76 1000 1844.81

Iridium_during_xfer 335 223 1796.76

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 61 1000 1470.22

GPS 34 50 17.37

TT8 849 18 155.99

LPSleep 2705 0 10.76

TT8_Active 545 18 100.18

TT8_Sampling 881 38 341.66

TT8_CF8 559 44 251.15

TT8_Kalman 33 80 27.20

Analog_circuits 1060 12 129.85

GPS_charging 0 0 0.00

Compass 824 8 67.25

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 14 begin dive

16 -1.50 -170.3 0.0 0.0 0 105 0.00 0.00 -84.90 0.000 2 0.000 0.000 403 2004 3370

108 -1.50 -170.3 4.0 -8.6 14 129 10.80 2.62 -4.15 0.000 4 0.180 0.068 2209 560 3615

230 -1.50 -170.3 35.6 -21.4 28 237 0.00 2.40 0.00 0.000 6 0.000 0.030 2209 1976 3617

427 -1.50 -170.3 74.6 -18.4 47 429 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 1980 3617

746 -1.50 -170.3 126.8 -12.0 77 747 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 1981 3619

1064 -1.50 -170.3 168.7 -12.7 107 1066 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 1981 3619

1383 -1.50 -170.3 214.8 -13.8 137 1387 0.00 2.47 0.00 0.000 4 0.000 0.054 2209 3364 3620

1416 -1.50 -170.3 219.5 -13.7 139 1423 0.00 2.40 0.00 0.000 6 0.000 0.035 2209 1966 3621

1743 -1.50 -170.3 258.8 -11.6 170 1744 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 1967 3621

1845 end dive: TARGET_DEPTH_EXCEEDED

state 1845 begin apogee

1850 -0.38 0.0 270.9 11.5 180 1999 1.20 0.00 140.55 0.678 6 0.098 0.000 2451 1966 2917

2000 end apogee: CONTROL_FINISHED_OK

state 2000 begin climb

2002 1.50 170.3 276.1 0.0 195 2151 1.92 2.65 138.68 0.667 4 0.058 0.061 2870 3391 2221

2215 1.55 207.9 263.5 8.5 213 2256 0.00 2.47 31.80 0.640 6 0.000 0.040 2870 1990 2068

2574 1.67 300.9 235.6 6.3 247 2658 0.15 2.65 77.38 0.658 4 0.044 0.069 2919 592 1690

2719 1.67 300.9 221.3 11.9 259 2726 0.00 2.45 0.00 0.000 6 0.000 0.037 2919 1997 1685

3046 1.67 300.9 182.4 12.1 290 3050 0.00 2.55 0.00 0.000 4 0.000 0.061 2919 3396 1680

3096 1.67 300.9 175.9 12.0 294 3101 0.00 2.47 0.00 0.000 6 0.000 0.039 2919 1984 1679

3423 1.68 315.0 142.7 9.4 324 3439 0.00 2.60 11.00 0.577 4 0.000 0.064 2919 583 1632

3512 1.70 327.1 133.7 9.5 331 3531 0.00 2.42 11.50 0.571 6 0.000 0.034 2919 1996 1583

3848 1.70 327.1 99.6 12.9 363 3852 0.00 2.50 0.00 0.000 4 0.000 0.057 2919 3386 1580

3915 1.70 327.1 91.4 11.5 368 3922 0.00 2.42 0.00 0.000 6 0.000 0.035 2920 1983 1579

4242 1.75 371.7 63.4 8.2 399 4288 0.00 2.58 38.03 0.568 4 0.000 0.053 2919 3388 1401

4316 1.82 430.5 57.0 7.7 405 4371 0.00 2.42 50.03 0.555 6 0.000 0.034 2919 1988 1162

4697 1.82 430.5 22.0 11.0 441 4701 0.00 2.53 0.00 0.000 4 0.000 0.059 2919 592 1155

4798 1.87 468.9 12.6 8.5 456 4838 0.12 2.40 32.17 0.514 6 0.041 0.030 2967 2005 1005

4893 end climb: SURFACE_DEPTH_REACHED

state 4893 begin surface coast

4907 end surface coast: CONTROL_FINISHED_OK

state 4907 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	41	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	1970	ALTIM_FREQUENCY	13
D_TGT	270	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	1994	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	400	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	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	90	UPLOAD_DIVES_MAX	-1	VBD_MIN	746	DEVICE2	-1
T_MISSION	120	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	750	T_GPS_CHARGE	-107203.48	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	175	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	45	PITCH_MAX	3715	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2542	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	181514,2154.701,-15940.883,11,1.7,11,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	1	TGT_RADIUS	400.000
_XMS_NAKs	8	KALMAN_CONTROL	-0.066,-0.271
_XMS_TOUTs	0	KALMAN_X	-49090.8,1489.0,71.8,53328.4,-1166.9
_SM_DEPTHo	1.17	KALMAN_Y	12170.5,-473.7,170.4,-13823.9,348.1
_SM_ANGLEo	-55.7	MHEAD_RNG_PITCHd_Wd	184.0,2715,-16.8,-10.000
GPS2	182419,2154.653,-15940.930,17,1.7,34,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.279	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	0.5,1.022861	MM_CLLLayer	0.03
SM_CCo	4989,0.00,0.000,0,0,999,470.73	MM_CfgFile	0.30
SM_GC	1.18,11.18,0.00,0.00,0.028,0.000,0.000,405,1959,999,-9.78,-0.28,470.73	_24V_AH	24.0,13.186
IRIDIUM_FIX	2145.77,-15942.95,271098,161629	_10V_AH	10.2,5.738
TT8_MAMPS	0.066729	DATA_FILE_SIZE	15861,474
HUMID	1864	CAP_FILE_SIZE	58308,0
INTERNAL_PRESSURE	7.56865	CFSIZE	260165632,253165568
TCM_TEMP	24.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	020809,194919,2154.062,-15941.642,11,1.6,28,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	180	109.77	SBE_CT	318	24	183.57
Roll_motor	45	113	122.80	nil	0	0	0.00
VBD_pump_during_apogee	531	678	8642.82	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	25	103	63.30	nil	0	0	0.00
Iridium_during_connect	27	160	106.65	GUMSTIX	76	1000	1844.81
Iridium_during_xfer	335	223	1796.76
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	61	1000	1470.22
GPS	34	50	17.37
TT8	849	18	155.99
LPSleep	2705	0	10.76
TT8_Active	545	18	100.18
TT8_Sampling	881	38	341.66
TT8_CF8	559	44	251.15
TT8_Kalman	33	80	27.20
Analog_circuits	1060	12	129.85
GPS_charging	0	0	0.00
Compass	824	8	67.25
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	14	begin dive
16	-1.50	-170.3	0.0	0.0	0	105	0.00	0.00	-84.90	0.000	2	0.000	0.000	403	2004	3370
108	-1.50	-170.3	4.0	-8.6	14	129	10.80	2.62	-4.15	0.000	4	0.180	0.068	2209	560	3615
230	-1.50	-170.3	35.6	-21.4	28	237	0.00	2.40	0.00	0.000	6	0.000	0.030	2209	1976	3617
427	-1.50	-170.3	74.6	-18.4	47	429	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	1980	3617
746	-1.50	-170.3	126.8	-12.0	77	747	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	1981	3619
1064	-1.50	-170.3	168.7	-12.7	107	1066	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	1981	3619
1383	-1.50	-170.3	214.8	-13.8	137	1387	0.00	2.47	0.00	0.000	4	0.000	0.054	2209	3364	3620
1416	-1.50	-170.3	219.5	-13.7	139	1423	0.00	2.40	0.00	0.000	6	0.000	0.035	2209	1966	3621
1743	-1.50	-170.3	258.8	-11.6	170	1744	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	1967	3621
1845	end dive: TARGET_DEPTH_EXCEEDED
state	1845	begin apogee
1850	-0.38	0.0	270.9	11.5	180	1999	1.20	0.00	140.55	0.678	6	0.098	0.000	2451	1966	2917
2000	end apogee: CONTROL_FINISHED_OK
state	2000	begin climb
2002	1.50	170.3	276.1	0.0	195	2151	1.92	2.65	138.68	0.667	4	0.058	0.061	2870	3391	2221
2215	1.55	207.9	263.5	8.5	213	2256	0.00	2.47	31.80	0.640	6	0.000	0.040	2870	1990	2068
2574	1.67	300.9	235.6	6.3	247	2658	0.15	2.65	77.38	0.658	4	0.044	0.069	2919	592	1690
2719	1.67	300.9	221.3	11.9	259	2726	0.00	2.45	0.00	0.000	6	0.000	0.037	2919	1997	1685
3046	1.67	300.9	182.4	12.1	290	3050	0.00	2.55	0.00	0.000	4	0.000	0.061	2919	3396	1680
3096	1.67	300.9	175.9	12.0	294	3101	0.00	2.47	0.00	0.000	6	0.000	0.039	2919	1984	1679
3423	1.68	315.0	142.7	9.4	324	3439	0.00	2.60	11.00	0.577	4	0.000	0.064	2919	583	1632
3512	1.70	327.1	133.7	9.5	331	3531	0.00	2.42	11.50	0.571	6	0.000	0.034	2919	1996	1583
3848	1.70	327.1	99.6	12.9	363	3852	0.00	2.50	0.00	0.000	4	0.000	0.057	2919	3386	1580
3915	1.70	327.1	91.4	11.5	368	3922	0.00	2.42	0.00	0.000	6	0.000	0.035	2920	1983	1579
4242	1.75	371.7	63.4	8.2	399	4288	0.00	2.58	38.03	0.568	4	0.000	0.053	2919	3388	1401
4316	1.82	430.5	57.0	7.7	405	4371	0.00	2.42	50.03	0.555	6	0.000	0.034	2919	1988	1162
4697	1.82	430.5	22.0	11.0	441	4701	0.00	2.53	0.00	0.000	4	0.000	0.059	2919	592	1155
4798	1.87	468.9	12.6	8.5	456	4838	0.12	2.40	32.17	0.514	6	0.041	0.030	2967	2005	1005
4893	end climb: SURFACE_DEPTH_REACHED
state	4893	begin surface coast
4907	end surface coast: CONTROL_FINISHED_OK
state	4907	begin surface