Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 42 * 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 42 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 2560 ALTIM_FREQUENCY 13

D_TGT 270 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2720 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 450 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 58 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 90 UPLOAD_DIVES_MAX -1 VBD_MIN 582 DEVICE2 -1

T_MISSION 120 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 750 T_GPS_CHARGE -86689.883 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 250 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 45 PITCH_MAX 3730 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2946 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 450

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 750 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 270 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 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 30 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -86689.883

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 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 2946 KALMAN_USE 1 ROLL_MIN 311 USE_BATHY 0

C_ROLL_CLIMB 2720 KERMIT 0 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_DIVE 2560 MASS 51726 R_PORT_OVSHOOT 58 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 250 R_STBD_OVSHOOT 23 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 42 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 164501,2153.881,-15941.959,39,1.6,40,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 6 KALMAN_CONTROL 0.304,-0.118

_XMS_TOUTs 0 KALMAN_X -65719.0,603.6,-102.6,64931.2,-1474.9

_SM_DEPTHo -0.05 KALMAN_Y 29132.3,-619.2,-49.2,-32494.8,575.6

_SM_ANGLEo -60.6 MHEAD_RNG_PITCHd_Wd 101.4,3328,-13.9,-10.000

GPS2 165856,2153.912,-15942.121,14,1.6,14,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH 0.1,1.009509 MM_CLLLayer 0.03

SM_CCo 5279,28.10,0.414,0,0,1101,450.13 MM_CfgFile 0.30

SM_GC 0.56,0.00,0.00,28.10,0.000,0.000,0.414,417,2556,1101,-11.63,-0.11,450.13 _24V_AH 24.0,22.730

IRIDIUM_FIX 2145.77,-15940.77,261098,131356 _10V_AH 10.1,26.024

TT8_MAMPS 0.060593 DATA_FILE_SIZE 15869,485

HUMID 1719 CAP_FILE_SIZE 184321,0

INTERNAL_PRESSURE 10.0429 CFSIZE -70647808,-90308608

TCM_TEMP 24.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

MM_GliderControlLayer 0.41 GPS 010809,182936,2154.052,-15941.962,32,1.2,32,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 125 81.69 SBE_CT 326 24 188.32

Roll_motor 39 53 51.12 nil 0 0 0.00

VBD_pump_during_apogee 491 612 7221.62 nil 0 0 0.00

VBD_pump_during_surface 28 414 279.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 77.97 nil 0 0 0.00

Iridium_during_connect 31 160 121.13 GUMSTIX 82 1000 1977.67

Iridium_during_xfer 476 223 2550.04

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 125 1000 3006.10

GPS 14 50 7.21

TT8 939 18 170.88

LPSleep 2391 0 9.42

TT8_Active 521 18 94.81

TT8_Sampling 922 38 354.13

TT8_CF8 1347 44 598.80

TT8_Kalman 33 80 26.95

Analog_circuits 1095 12 132.82

GPS_charging 0 0 0.00

Compass 889 8 71.85

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

19 -1.69 -243.3 0.0 0.0 0 105 0.00 0.00 -82.93 0.000 2 0.000 0.000 419 2535 3465

112 -1.69 -243.3 3.6 -9.8 12 134 11.18 0.00 -6.40 0.000 6 0.125 0.000 2573 2535 3932

208 -1.69 -243.3 32.0 -18.0 22 214 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2535 3932

409 -1.69 -243.3 63.8 -15.7 41 415 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2535 3932

743 -1.69 -243.3 107.2 -15.2 72 749 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2535 3933

1071 -1.69 -243.3 153.7 -11.3 103 1076 0.00 2.72 0.00 0.000 4 0.000 0.045 2573 3940 3934

1114 -1.69 -243.3 158.7 -11.5 106 1119 0.00 2.55 0.00 0.000 6 0.000 0.024 2573 2566 3934

1442 -1.69 -243.3 198.1 -12.4 136 1447 0.00 2.70 0.00 0.000 4 0.000 0.046 2573 3938 3934

1486 -1.69 -243.3 203.5 -12.4 139 1490 0.00 2.58 0.00 0.000 6 0.000 0.025 2572 2563 3934

1814 -1.69 -243.3 241.4 -11.0 169 1820 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2565 3934

2063 end dive: TARGET_DEPTH_EXCEEDED

state 2063 begin apogee

2075 -0.50 0.0 270.4 11.4 193 2267 1.17 0.00 183.45 0.613 6 0.061 0.000 2830 2757 2937

2273 end apogee: CONTROL_FINISHED_OK

state 2273 begin climb

2279 1.69 243.3 279.8 0.0 212 2476 2.10 2.47 182.40 0.613 4 0.038 0.044 3319 1326 1944

2680 1.70 251.9 255.5 9.8 245 2694 0.00 2.22 7.57 0.491 6 0.000 0.028 3319 2713 1909

3014 1.71 262.8 224.6 9.7 276 3030 0.00 2.50 9.52 0.513 4 0.000 0.054 3319 3918 1865

3286 1.74 284.8 197.5 9.4 299 3311 0.00 2.33 18.80 0.551 6 0.000 0.027 3319 2710 1775

3638 1.79 328.9 162.2 8.8 331 3684 0.00 2.53 36.10 0.550 4 0.000 0.049 3319 3934 1594

3866 1.79 328.9 137.6 10.5 350 3870 0.00 2.35 0.00 0.000 6 0.000 0.026 3319 2716 1591

4195 1.81 339.0 105.9 9.7 380 4208 0.00 2.53 8.68 0.453 4 0.000 0.047 3319 3931 1554

4344 1.81 345.3 91.1 9.8 392 4356 0.00 2.33 6.80 0.419 6 0.000 0.025 3319 2711 1529

4680 1.87 390.0 62.6 8.8 423 4733 0.15 2.53 37.67 0.479 4 0.038 0.046 3373 3928 1347

4795 1.87 390.0 49.0 13.3 432 4799 0.00 2.33 0.00 0.000 6 0.000 0.025 3373 2712 1344

4995 1.87 390.0 27.6 10.8 450 4999 0.00 2.25 0.00 0.000 4 0.000 0.041 3373 1333 1342

5055 1.87 390.0 21.1 12.3 454 5059 0.00 2.20 0.00 0.000 6 0.000 0.024 3373 2736 1342

5196 end climb: SURFACE_DEPTH_REACHED

state 5196 begin surface coast

5245 end surface coast: CONTROL_FINISHED_OK

state 5245 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	42	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	2560	ALTIM_FREQUENCY	13
D_TGT	270	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2720	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	450	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	58	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	90	UPLOAD_DIVES_MAX	-1	VBD_MIN	582	DEVICE2	-1
T_MISSION	120	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	750	T_GPS_CHARGE	-86689.883	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	250	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	45	PITCH_MAX	3730	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2946	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	164501,2153.881,-15941.959,39,1.6,40,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	6	KALMAN_CONTROL	0.304,-0.118
_XMS_TOUTs	0	KALMAN_X	-65719.0,603.6,-102.6,64931.2,-1474.9
_SM_DEPTHo	-0.05	KALMAN_Y	29132.3,-619.2,-49.2,-32494.8,575.6
_SM_ANGLEo	-60.6	MHEAD_RNG_PITCHd_Wd	101.4,3328,-13.9,-10.000
GPS2	165856,2153.912,-15942.121,14,1.6,14,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	0.1,1.009509	MM_CLLLayer	0.03
SM_CCo	5279,28.10,0.414,0,0,1101,450.13	MM_CfgFile	0.30
SM_GC	0.56,0.00,0.00,28.10,0.000,0.000,0.414,417,2556,1101,-11.63,-0.11,450.13	_24V_AH	24.0,22.730
IRIDIUM_FIX	2145.77,-15940.77,261098,131356	_10V_AH	10.1,26.024
TT8_MAMPS	0.060593	DATA_FILE_SIZE	15869,485
HUMID	1719	CAP_FILE_SIZE	184321,0
INTERNAL_PRESSURE	10.0429	CFSIZE	-70647808,-90308608
TCM_TEMP	24.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
MM_GliderControlLayer	0.41	GPS	010809,182936,2154.052,-15941.962,32,1.2,32,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	125	81.69	SBE_CT	326	24	188.32
Roll_motor	39	53	51.12	nil	0	0	0.00
VBD_pump_during_apogee	491	612	7221.62	nil	0	0	0.00
VBD_pump_during_surface	28	414	279.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	77.97	nil	0	0	0.00
Iridium_during_connect	31	160	121.13	GUMSTIX	82	1000	1977.67
Iridium_during_xfer	476	223	2550.04
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	125	1000	3006.10
GPS	14	50	7.21
TT8	939	18	170.88
LPSleep	2391	0	9.42
TT8_Active	521	18	94.81
TT8_Sampling	922	38	354.13
TT8_CF8	1347	44	598.80
TT8_Kalman	33	80	26.95
Analog_circuits	1095	12	132.82
GPS_charging	0	0	0.00
Compass	889	8	71.85
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
19	-1.69	-243.3	0.0	0.0	0	105	0.00	0.00	-82.93	0.000	2	0.000	0.000	419	2535	3465
112	-1.69	-243.3	3.6	-9.8	12	134	11.18	0.00	-6.40	0.000	6	0.125	0.000	2573	2535	3932
208	-1.69	-243.3	32.0	-18.0	22	214	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2535	3932
409	-1.69	-243.3	63.8	-15.7	41	415	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2535	3932
743	-1.69	-243.3	107.2	-15.2	72	749	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2535	3933
1071	-1.69	-243.3	153.7	-11.3	103	1076	0.00	2.72	0.00	0.000	4	0.000	0.045	2573	3940	3934
1114	-1.69	-243.3	158.7	-11.5	106	1119	0.00	2.55	0.00	0.000	6	0.000	0.024	2573	2566	3934
1442	-1.69	-243.3	198.1	-12.4	136	1447	0.00	2.70	0.00	0.000	4	0.000	0.046	2573	3938	3934
1486	-1.69	-243.3	203.5	-12.4	139	1490	0.00	2.58	0.00	0.000	6	0.000	0.025	2572	2563	3934
1814	-1.69	-243.3	241.4	-11.0	169	1820	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2565	3934
2063	end dive: TARGET_DEPTH_EXCEEDED
state	2063	begin apogee
2075	-0.50	0.0	270.4	11.4	193	2267	1.17	0.00	183.45	0.613	6	0.061	0.000	2830	2757	2937
2273	end apogee: CONTROL_FINISHED_OK
state	2273	begin climb
2279	1.69	243.3	279.8	0.0	212	2476	2.10	2.47	182.40	0.613	4	0.038	0.044	3319	1326	1944
2680	1.70	251.9	255.5	9.8	245	2694	0.00	2.22	7.57	0.491	6	0.000	0.028	3319	2713	1909
3014	1.71	262.8	224.6	9.7	276	3030	0.00	2.50	9.52	0.513	4	0.000	0.054	3319	3918	1865
3286	1.74	284.8	197.5	9.4	299	3311	0.00	2.33	18.80	0.551	6	0.000	0.027	3319	2710	1775
3638	1.79	328.9	162.2	8.8	331	3684	0.00	2.53	36.10	0.550	4	0.000	0.049	3319	3934	1594
3866	1.79	328.9	137.6	10.5	350	3870	0.00	2.35	0.00	0.000	6	0.000	0.026	3319	2716	1591
4195	1.81	339.0	105.9	9.7	380	4208	0.00	2.53	8.68	0.453	4	0.000	0.047	3319	3931	1554
4344	1.81	345.3	91.1	9.8	392	4356	0.00	2.33	6.80	0.419	6	0.000	0.025	3319	2711	1529
4680	1.87	390.0	62.6	8.8	423	4733	0.15	2.53	37.67	0.479	4	0.038	0.046	3373	3928	1347
4795	1.87	390.0	49.0	13.3	432	4799	0.00	2.33	0.00	0.000	6	0.000	0.025	3373	2712	1344
4995	1.87	390.0	27.6	10.8	450	4999	0.00	2.25	0.00	0.000	4	0.000	0.041	3373	1333	1342
5055	1.87	390.0	21.1	12.3	454	5059	0.00	2.20	0.00	0.000	6	0.000	0.024	3373	2736	1342
5196	end climb: SURFACE_DEPTH_REACHED
state	5196	begin surface coast
5245	end surface coast: CONTROL_FINISHED_OK
state	5245	begin surface