Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 49 * 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 49 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 2500 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 46 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 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 -86848.516 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 -86848.516

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 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 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 2500 MASS 51726 R_PORT_OVSHOOT 46 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 250 R_STBD_OVSHOOT 36 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 49 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 050755,2154.385,-15941.751,40,1.6,40,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 15 KALMAN_CONTROL 0.231,-0.230

_XMS_TOUTs 0 KALMAN_X -74050.9,-968.3,-45.8,75352.8,-540.4

_SM_DEPTHo 0.84 KALMAN_Y 34314.8,893.2,-76.9,-38401.3,717.7

_SM_ANGLEo -58.7 MHEAD_RNG_PITCHd_Wd 125.1,3181,-13.9,-10.000

GPS2 052120,2154.323,-15941.786,14,1.6,14,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH 0.3,1.000339 MM_CLLLayer 0.03

SM_CCo 5073,8.30,0.374,0,0,1305,400.08 MM_CfgFile 0.30

SM_GC 0.93,0.00,0.00,8.30,0.000,0.000,0.374,414,2487,1305,-11.65,-0.37,400.08 _24V_AH 24.1,23.780

IRIDIUM_FIX 2148.09,-15940.77,271098,030350 _10V_AH 10.1,26.543

TT8_MAMPS 0.065195 DATA_FILE_SIZE 15861,465

HUMID 1806 CAP_FILE_SIZE 179271,0

INTERNAL_PRESSURE 10.0917 CFSIZE -70647808,-92209152

TCM_TEMP 24.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,43,0,0

MM_GliderControlLayer 0.41 GPS 020809,064756,2154.090,-15941.844,15,1.4,15,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 125 81.58 SBE_CT 313 24 181.34

Roll_motor 50 53 65.41 nil 0 0 0.00

VBD_pump_during_apogee 476 610 7013.71 nil 0 0 0.00

VBD_pump_during_surface 8 373 74.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 68.45 nil 0 0 0.00

Iridium_during_connect 29 160 115.06 GUMSTIX 148 1000 3583.84

Iridium_during_xfer 427 223 2299.24

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 38 1000 935.73

GPS 14 50 7.57

TT8 902 18 164.06

LPSleep 2216 0 8.73

TT8_Active 506 18 92.02

TT8_Sampling 931 38 357.55

TT8_CF8 1291 44 573.84

TT8_Kalman 33 80 26.94

Analog_circuits 1085 12 131.53

GPS_charging 0 0 0.00

Compass 898 8 72.61

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 -83.00 0.000 2 0.000 0.000 418 2546 3309

112 -1.69 -243.3 4.2 -9.6 12 141 11.15 2.30 -8.93 0.000 4 0.125 0.054 2573 1106 3932

267 -1.69 -243.3 42.4 -16.7 27 274 0.00 2.12 0.00 0.000 6 0.000 0.022 2573 2507 3934

468 -1.69 -243.3 72.8 -14.0 46 472 0.00 2.72 0.00 0.000 4 0.000 0.042 2573 3897 3934

540 -1.69 -243.3 84.8 -16.0 51 547 0.00 2.62 0.00 0.000 6 0.000 0.024 2573 2499 3934

868 -1.69 -243.3 133.5 -14.3 82 872 0.00 2.75 0.00 0.000 4 0.000 0.041 2573 3897 3935

914 -1.69 -243.3 141.0 -16.3 85 922 0.00 2.65 0.00 0.000 6 0.000 0.025 2573 2490 3935

1243 -1.69 -243.3 185.5 -12.3 116 1247 0.00 2.78 0.00 0.000 4 0.000 0.043 2573 3894 3934

1313 -1.69 -243.3 193.9 -11.2 121 1320 0.00 2.65 0.00 0.000 6 0.000 0.025 2574 2496 3935

1641 -1.69 -243.3 231.2 -11.0 152 1647 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2497 3934

1969 -1.69 -243.3 268.4 -11.7 183 1974 0.00 2.80 0.00 0.000 4 0.000 0.048 2573 3893 3933

1977 end dive: TARGET_DEPTH_EXCEEDED

state 1977 begin apogee

1991 -0.50 0.0 270.1 11.4 183 2183 1.17 0.00 182.60 0.611 6 0.060 0.000 2834 2708 2937

2189 end apogee: CONTROL_FINISHED_OK

state 2189 begin climb

2195 1.69 243.3 279.2 0.0 202 2391 2.08 2.35 181.55 0.610 4 0.039 0.048 3321 1317 1944

2656 1.73 273.1 250.9 9.2 240 2685 0.00 2.20 23.83 0.574 6 0.000 0.028 3321 2721 1823

3014 1.74 281.8 218.0 9.8 272 3027 0.00 2.55 7.62 0.491 4 0.000 0.054 3321 3933 1788

3293 1.74 281.8 189.9 10.3 295 3300 0.00 2.45 0.00 0.000 6 0.000 0.028 3321 2703 1786

3621 1.83 358.7 160.7 7.9 326 3698 0.10 2.60 62.47 0.561 4 0.048 0.049 3362 3936 1473

3936 1.83 358.7 120.2 12.7 352 3943 0.00 2.42 0.00 0.000 6 0.000 0.026 3362 2716 1467

4264 1.83 358.7 83.8 10.8 383 4268 0.00 2.53 0.00 0.000 4 0.000 0.045 3362 3936 1465

4345 1.83 358.7 75.0 11.0 389 4352 0.00 2.42 0.00 0.000 6 0.000 0.025 3362 2708 1465

4674 1.86 381.5 39.6 9.4 420 4699 0.00 2.55 18.60 0.453 4 0.000 0.041 3362 3934 1381

4968 1.86 381.5 6.5 10.5 454 4975 0.00 2.40 0.00 0.000 6 0.000 0.024 3362 2712 1378

4991 end climb: SURFACE_DEPTH_REACHED

state 4991 begin surface coast

5035 end surface coast: CONTROL_FINISHED_OK

state 5035 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	49	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	2500	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	46	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	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	-86848.516	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	050755,2154.385,-15941.751,40,1.6,40,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	15	KALMAN_CONTROL	0.231,-0.230
_XMS_TOUTs	0	KALMAN_X	-74050.9,-968.3,-45.8,75352.8,-540.4
_SM_DEPTHo	0.84	KALMAN_Y	34314.8,893.2,-76.9,-38401.3,717.7
_SM_ANGLEo	-58.7	MHEAD_RNG_PITCHd_Wd	125.1,3181,-13.9,-10.000
GPS2	052120,2154.323,-15941.786,14,1.6,14,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	0.3,1.000339	MM_CLLLayer	0.03
SM_CCo	5073,8.30,0.374,0,0,1305,400.08	MM_CfgFile	0.30
SM_GC	0.93,0.00,0.00,8.30,0.000,0.000,0.374,414,2487,1305,-11.65,-0.37,400.08	_24V_AH	24.1,23.780
IRIDIUM_FIX	2148.09,-15940.77,271098,030350	_10V_AH	10.1,26.543
TT8_MAMPS	0.065195	DATA_FILE_SIZE	15861,465
HUMID	1806	CAP_FILE_SIZE	179271,0
INTERNAL_PRESSURE	10.0917	CFSIZE	-70647808,-92209152
TCM_TEMP	24.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
MM_GliderControlLayer	0.41	GPS	020809,064756,2154.090,-15941.844,15,1.4,15,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	125	81.58	SBE_CT	313	24	181.34
Roll_motor	50	53	65.41	nil	0	0	0.00
VBD_pump_during_apogee	476	610	7013.71	nil	0	0	0.00
VBD_pump_during_surface	8	373	74.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	68.45	nil	0	0	0.00
Iridium_during_connect	29	160	115.06	GUMSTIX	148	1000	3583.84
Iridium_during_xfer	427	223	2299.24
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	38	1000	935.73
GPS	14	50	7.57
TT8	902	18	164.06
LPSleep	2216	0	8.73
TT8_Active	506	18	92.02
TT8_Sampling	931	38	357.55
TT8_CF8	1291	44	573.84
TT8_Kalman	33	80	26.94
Analog_circuits	1085	12	131.53
GPS_charging	0	0	0.00
Compass	898	8	72.61
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	-83.00	0.000	2	0.000	0.000	418	2546	3309
112	-1.69	-243.3	4.2	-9.6	12	141	11.15	2.30	-8.93	0.000	4	0.125	0.054	2573	1106	3932
267	-1.69	-243.3	42.4	-16.7	27	274	0.00	2.12	0.00	0.000	6	0.000	0.022	2573	2507	3934
468	-1.69	-243.3	72.8	-14.0	46	472	0.00	2.72	0.00	0.000	4	0.000	0.042	2573	3897	3934
540	-1.69	-243.3	84.8	-16.0	51	547	0.00	2.62	0.00	0.000	6	0.000	0.024	2573	2499	3934
868	-1.69	-243.3	133.5	-14.3	82	872	0.00	2.75	0.00	0.000	4	0.000	0.041	2573	3897	3935
914	-1.69	-243.3	141.0	-16.3	85	922	0.00	2.65	0.00	0.000	6	0.000	0.025	2573	2490	3935
1243	-1.69	-243.3	185.5	-12.3	116	1247	0.00	2.78	0.00	0.000	4	0.000	0.043	2573	3894	3934
1313	-1.69	-243.3	193.9	-11.2	121	1320	0.00	2.65	0.00	0.000	6	0.000	0.025	2574	2496	3935
1641	-1.69	-243.3	231.2	-11.0	152	1647	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2497	3934
1969	-1.69	-243.3	268.4	-11.7	183	1974	0.00	2.80	0.00	0.000	4	0.000	0.048	2573	3893	3933
1977	end dive: TARGET_DEPTH_EXCEEDED
state	1977	begin apogee
1991	-0.50	0.0	270.1	11.4	183	2183	1.17	0.00	182.60	0.611	6	0.060	0.000	2834	2708	2937
2189	end apogee: CONTROL_FINISHED_OK
state	2189	begin climb
2195	1.69	243.3	279.2	0.0	202	2391	2.08	2.35	181.55	0.610	4	0.039	0.048	3321	1317	1944
2656	1.73	273.1	250.9	9.2	240	2685	0.00	2.20	23.83	0.574	6	0.000	0.028	3321	2721	1823
3014	1.74	281.8	218.0	9.8	272	3027	0.00	2.55	7.62	0.491	4	0.000	0.054	3321	3933	1788
3293	1.74	281.8	189.9	10.3	295	3300	0.00	2.45	0.00	0.000	6	0.000	0.028	3321	2703	1786
3621	1.83	358.7	160.7	7.9	326	3698	0.10	2.60	62.47	0.561	4	0.048	0.049	3362	3936	1473
3936	1.83	358.7	120.2	12.7	352	3943	0.00	2.42	0.00	0.000	6	0.000	0.026	3362	2716	1467
4264	1.83	358.7	83.8	10.8	383	4268	0.00	2.53	0.00	0.000	4	0.000	0.045	3362	3936	1465
4345	1.83	358.7	75.0	11.0	389	4352	0.00	2.42	0.00	0.000	6	0.000	0.025	3362	2708	1465
4674	1.86	381.5	39.6	9.4	420	4699	0.00	2.55	18.60	0.453	4	0.000	0.041	3362	3934	1381
4968	1.86	381.5	6.5	10.5	454	4975	0.00	2.40	0.00	0.000	6	0.000	0.024	3362	2712	1378
4991	end climb: SURFACE_DEPTH_REACHED
state	4991	begin surface coast
5035	end surface coast: CONTROL_FINISHED_OK
state	5035	begin surface