Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 48 * 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 48 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 38 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 400 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 33 INT_PRESSURE_YINT 1.4

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 325 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 1 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 -86832.891 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 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 400

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 -86832.891

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 120

CAPUPLOAD 1 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 325 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 38 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 41 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 250 R_STBD_OVSHOOT 33 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 48 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 032307,2154.432,-15941.888,9,1.5,14,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 15 KALMAN_CONTROL 0.244,-0.216

_XMS_TOUTs 0 KALMAN_X -73028.3,-1260.6,45.6,74040.2,-719.7

_SM_DEPTHo 0.84 KALMAN_Y 33549.3,888.6,-160.0,-37241.0,734.1

_SM_ANGLEo -61.8 MHEAD_RNG_PITCHd_Wd 121.7,3767,-13.9,-10.000

GPS2 033928,2154.492,-15942.076,13,2.7,32,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH 0.4,1.022731 MM_CLLLayer 0.03

SM_CCo 5174,0.00,0.000,0,0,957,485.69 MM_CfgFile 0.30

SM_GC 1.05,12.75,0.00,0.00,0.023,0.000,0.000,419,2555,957,-11.54,-0.14,485.69 _24V_AH 24.1,23.660

IRIDIUM_FIX 2145.77,-15942.95,271098,020246 _10V_AH 10.1,26.458

TT8_MAMPS 0.059826 DATA_FILE_SIZE 15877,464

HUMID 1765 CAP_FILE_SIZE 179884,0

INTERNAL_PRESSURE 10.0624 CFSIZE -70647808,-91947008

TCM_TEMP 24.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,31,0,0

MM_GliderControlLayer 0.41 GPS 020809,050755,2154.385,-15941.751,40,1.6,40,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 125 82.41 SBE_CT 312 24 180.66

Roll_motor 44 52 55.81 nil 0 0 0.00

VBD_pump_during_apogee 556 608 8153.72 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 32 103 80.95 nil 0 0 0.00

Iridium_during_connect 26 160 101.54 GUMSTIX 76 1000 1852.95

Iridium_during_xfer 660 223 3548.37

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 52 1000 1263.64

GPS 33 50 16.82

TT8 889 18 161.70

LPSleep 2305 0 9.08

TT8_Active 527 18 95.99

TT8_Sampling 935 38 358.86

TT8_CF8 1489 44 662.13

TT8_Kalman 33 80 26.95

Analog_circuits 1114 12 135.11

GPS_charging 0 0 0.00

Compass 882 8 71.34

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

25 -1.69 -243.3 0.0 0.0 0 98 0.00 0.00 -70.00 0.000 2 0.000 0.000 421 2551 3289

104 -1.69 -243.3 3.8 -8.4 10 133 11.12 2.67 -9.43 0.000 4 0.125 0.052 2574 3893 3932

347 -1.69 -243.3 58.0 -18.1 33 351 0.00 2.53 0.00 0.000 6 0.000 0.023 2574 2563 3932

681 -1.69 -243.3 105.7 -13.2 63 688 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2563 3933

1009 -1.69 -243.3 151.2 -13.1 94 1013 0.00 2.10 0.00 0.000 4 0.000 0.042 2574 1229 3934

1074 -1.69 -243.3 159.2 -12.7 99 1078 0.00 2.05 0.00 0.000 6 0.000 0.022 2574 2581 3934

1408 -1.69 -243.3 201.0 -11.9 130 1412 0.00 2.58 0.00 0.000 4 0.000 0.045 2574 3885 3934

1489 -1.69 -243.3 211.8 -14.4 136 1497 0.00 2.55 0.00 0.000 6 0.000 0.025 2574 2547 3933

1818 -1.69 -243.3 254.2 -12.2 167 1822 0.00 2.70 0.00 0.000 4 0.000 0.046 2574 3885 3933

1895 -1.69 -243.3 263.2 -10.9 173 1900 0.00 2.55 0.00 0.000 6 0.000 0.026 2574 2564 3933

1957 end dive: TARGET_DEPTH_EXCEEDED

state 1957 begin apogee

1970 -0.50 0.0 270.1 11.0 178 2161 1.17 0.00 181.95 0.608 6 0.059 0.000 2834 2732 2936

2167 end apogee: CONTROL_FINISHED_OK

state 2167 begin climb

2173 1.69 243.3 279.5 0.0 197 2369 2.08 2.30 181.68 0.605 4 0.040 0.045 3322 1381 1944

2451 1.74 288.7 267.3 8.7 219 2492 0.00 2.08 36.28 0.581 6 0.000 0.027 3321 2703 1761

2820 1.76 299.1 231.6 9.7 252 2835 0.00 2.62 9.02 0.502 4 0.000 0.051 3321 3928 1717

3046 1.76 299.1 207.8 10.6 271 3054 0.00 2.42 0.00 0.000 6 0.000 0.027 3321 2703 1714

3375 1.76 299.1 174.5 10.0 302 3379 0.00 2.53 0.00 0.000 4 0.000 0.049 3321 3925 1712

3613 1.76 299.1 147.1 13.0 322 3618 0.00 2.40 0.00 0.000 6 0.000 0.027 3321 2704 1711

3942 1.76 299.1 111.0 10.1 352 3948 0.00 0.00 0.00 0.000 6 0.000 0.000 3321 2704 1709

4270 1.80 333.4 82.1 9.1 383 4306 0.00 2.53 27.88 0.491 4 0.000 0.044 3321 3932 1576

4345 1.80 333.4 74.4 10.8 389 4350 0.00 2.40 0.00 0.000 6 0.000 0.025 3321 2708 1574

4674 1.98 482.9 48.6 5.9 419 4811 0.22 2.55 119.45 0.466 4 0.031 0.044 3397 3934 965

4996 1.98 482.9 10.6 14.5 451 5003 0.00 2.38 0.00 0.000 6 0.000 0.024 3397 2718 961

5045 end climb: SURFACE_DEPTH_REACHED

state 5045 begin surface coast

5080 end surface coast: CONTROL_FINISHED_OK

state 5080 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	48	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	38	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	400	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	33	INT_PRESSURE_YINT	1.4
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	325	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	1	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	-86832.891	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	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	032307,2154.432,-15941.888,9,1.5,14,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	15	KALMAN_CONTROL	0.244,-0.216
_XMS_TOUTs	0	KALMAN_X	-73028.3,-1260.6,45.6,74040.2,-719.7
_SM_DEPTHo	0.84	KALMAN_Y	33549.3,888.6,-160.0,-37241.0,734.1
_SM_ANGLEo	-61.8	MHEAD_RNG_PITCHd_Wd	121.7,3767,-13.9,-10.000
GPS2	033928,2154.492,-15942.076,13,2.7,32,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	0.4,1.022731	MM_CLLLayer	0.03
SM_CCo	5174,0.00,0.000,0,0,957,485.69	MM_CfgFile	0.30
SM_GC	1.05,12.75,0.00,0.00,0.023,0.000,0.000,419,2555,957,-11.54,-0.14,485.69	_24V_AH	24.1,23.660
IRIDIUM_FIX	2145.77,-15942.95,271098,020246	_10V_AH	10.1,26.458
TT8_MAMPS	0.059826	DATA_FILE_SIZE	15877,464
HUMID	1765	CAP_FILE_SIZE	179884,0
INTERNAL_PRESSURE	10.0624	CFSIZE	-70647808,-91947008
TCM_TEMP	24.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
MM_GliderControlLayer	0.41	GPS	020809,050755,2154.385,-15941.751,40,1.6,40,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	125	82.41	SBE_CT	312	24	180.66
Roll_motor	44	52	55.81	nil	0	0	0.00
VBD_pump_during_apogee	556	608	8153.72	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	32	103	80.95	nil	0	0	0.00
Iridium_during_connect	26	160	101.54	GUMSTIX	76	1000	1852.95
Iridium_during_xfer	660	223	3548.37
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	52	1000	1263.64
GPS	33	50	16.82
TT8	889	18	161.70
LPSleep	2305	0	9.08
TT8_Active	527	18	95.99
TT8_Sampling	935	38	358.86
TT8_CF8	1489	44	662.13
TT8_Kalman	33	80	26.95
Analog_circuits	1114	12	135.11
GPS_charging	0	0	0.00
Compass	882	8	71.34
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
25	-1.69	-243.3	0.0	0.0	0	98	0.00	0.00	-70.00	0.000	2	0.000	0.000	421	2551	3289
104	-1.69	-243.3	3.8	-8.4	10	133	11.12	2.67	-9.43	0.000	4	0.125	0.052	2574	3893	3932
347	-1.69	-243.3	58.0	-18.1	33	351	0.00	2.53	0.00	0.000	6	0.000	0.023	2574	2563	3932
681	-1.69	-243.3	105.7	-13.2	63	688	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2563	3933
1009	-1.69	-243.3	151.2	-13.1	94	1013	0.00	2.10	0.00	0.000	4	0.000	0.042	2574	1229	3934
1074	-1.69	-243.3	159.2	-12.7	99	1078	0.00	2.05	0.00	0.000	6	0.000	0.022	2574	2581	3934
1408	-1.69	-243.3	201.0	-11.9	130	1412	0.00	2.58	0.00	0.000	4	0.000	0.045	2574	3885	3934
1489	-1.69	-243.3	211.8	-14.4	136	1497	0.00	2.55	0.00	0.000	6	0.000	0.025	2574	2547	3933
1818	-1.69	-243.3	254.2	-12.2	167	1822	0.00	2.70	0.00	0.000	4	0.000	0.046	2574	3885	3933
1895	-1.69	-243.3	263.2	-10.9	173	1900	0.00	2.55	0.00	0.000	6	0.000	0.026	2574	2564	3933
1957	end dive: TARGET_DEPTH_EXCEEDED
state	1957	begin apogee
1970	-0.50	0.0	270.1	11.0	178	2161	1.17	0.00	181.95	0.608	6	0.059	0.000	2834	2732	2936
2167	end apogee: CONTROL_FINISHED_OK
state	2167	begin climb
2173	1.69	243.3	279.5	0.0	197	2369	2.08	2.30	181.68	0.605	4	0.040	0.045	3322	1381	1944
2451	1.74	288.7	267.3	8.7	219	2492	0.00	2.08	36.28	0.581	6	0.000	0.027	3321	2703	1761
2820	1.76	299.1	231.6	9.7	252	2835	0.00	2.62	9.02	0.502	4	0.000	0.051	3321	3928	1717
3046	1.76	299.1	207.8	10.6	271	3054	0.00	2.42	0.00	0.000	6	0.000	0.027	3321	2703	1714
3375	1.76	299.1	174.5	10.0	302	3379	0.00	2.53	0.00	0.000	4	0.000	0.049	3321	3925	1712
3613	1.76	299.1	147.1	13.0	322	3618	0.00	2.40	0.00	0.000	6	0.000	0.027	3321	2704	1711
3942	1.76	299.1	111.0	10.1	352	3948	0.00	0.00	0.00	0.000	6	0.000	0.000	3321	2704	1709
4270	1.80	333.4	82.1	9.1	383	4306	0.00	2.53	27.88	0.491	4	0.000	0.044	3321	3932	1576
4345	1.80	333.4	74.4	10.8	389	4350	0.00	2.40	0.00	0.000	6	0.000	0.025	3321	2708	1574
4674	1.98	482.9	48.6	5.9	419	4811	0.22	2.55	119.45	0.466	4	0.031	0.044	3397	3934	965
4996	1.98	482.9	10.6	14.5	451	5003	0.00	2.38	0.00	0.000	6	0.000	0.024	3397	2718	961
5045	end climb: SURFACE_DEPTH_REACHED
state	5045	begin surface coast
5080	end surface coast: CONTROL_FINISHED_OK
state	5080	begin surface