Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 52 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 116 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 22 ESCAPE_HEADING 180 ROLL_MIN 155 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 52 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3900 ALTIM_PING_DEPTH 90

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2628 ALTIM_FREQUENCY 12

D_TGT 270 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2530 ALTIM_PULSE 2

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 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 49 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 770 DEVICE2 -1

T_MISSION 120 CALL_TRIES 5 VBD_MAX 3955 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2936 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 3 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -58540.984 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 150 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 132 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3449 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3095 PRESSURE_YINT -0.46644667 SEABIRD_T_G 0.0043738699

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158926 SEABIRD_T_H 0.00063649943

MASS 51716 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5189185e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7386873e-06

FERRY_MAX 0 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8703537

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1242318

HD_A 0.003 PITCH_AD_RATE 140 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0015997718

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00020779716

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 140 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 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3449 SURFACE_URGENCY 0

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 132 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 90 D_TGT 270 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 2 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158926 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -0.46644667 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 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -58540.984

CAPMAXSIZE 100000 HD_C 9.9999997e-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 116 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3900 UNCOM_BLEED 150

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3095 KALMAN_USE 1 ROLL_MIN 155 USE_BATHY 0

C_ROLL_CLIMB 2530 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2628 MASS 51716 R_PORT_OVSHOOT 49 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 175 R_STBD_OVSHOOT 29 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 22 SEABIRD_C_G -9.8703537 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1242318 VBD_MAX 3955

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0015997718 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00020779716 VBD_MIN 770

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043738699 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063649943 VBD_PUMP_AD_RATE_SURFACE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5189185e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7386873e-06 XPDR_DEVICE -1

DIVE 52 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 143256,2153.223,-15941.131,35,2.1,54,9.8 TGT_LATLONG 2155.000,-15943.400

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 6 KALMAN_CONTROL -0.095,0.261

_XMS_TOUTs 0 KALMAN_X -77833.7,1305.6,586.5,77002.0,-1182.0

_SM_DEPTHo 0.73 KALMAN_Y 14654.2,-305.4,-132.9,-19324.5,104.6

_SM_ANGLEo -67.2 MHEAD_RNG_PITCHd_Wd 330.2,4724,-16.1,-10.000

GPS2 144350,2153.299,-15941.352,16,1.2,16,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.278 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TA

Post-dive calculations and measurements:

FINISH -0.0,1.021533 MM_CLLLayer 0.03

SM_CCo 5488,5.38,0.379,0,0,1305,400.08 MM_CfgFile 0.30

SM_GC 0.58,0.00,0.00,5.38,0.000,0.000,0.379,124,2648,1305,-13.67,0.57,400.08 _24V_AH 23.8,17.680

IRIDIUM_FIX 2148.09,-15942.95,271098,101038 _10V_AH 10.1,5.686

TT8_MAMPS 0.068263 DATA_FILE_SIZE 15849,526

HUMID 1808 CAP_FILE_SIZE 196476,0

INTERNAL_PRESSURE 11.4555 CFSIZE 260034560,251449344

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

MM_GliderControlLayer 0.41 GPS 020809,161702,2154.323,-15942.311,10,1.4,11,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 174 138.80 SBE_CT 343 24 196.19

Roll_motor 29 72 50.19 nil 0 0 0.00

VBD_pump_during_apogee 700 633 10565.74 nil 0 0 0.00

VBD_pump_during_surface 5 378 48.47 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 78.20 nil 0 0 0.00

Iridium_during_connect 28 160 107.25 GUMSTIX 75 1000 1803.54

Iridium_during_xfer 420 223 2231.99

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 40 1000 961.95

GPS 16 50 8.46

TT8 971 18 176.57

LPSleep 2700 0 10.64

TT8_Active 668 18 121.62

TT8_Sampling 955 38 366.71

TT8_CF8 833 44 370.40

TT8_Kalman 33 80 26.95

Analog_circuits 1257 12 152.40

GPS_charging 0 0 0.00

Compass 910 8 73.59

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.55 -170.3 0.0 0.0 0 95 0.00 0.00 -74.28 0.000 2 0.000 0.000 124 2639 3423

97 -1.55 -170.3 4.1 -10.1 11 126 15.60 2.33 -3.05 0.000 4 0.175 0.071 2749 3882 3635

378 -1.55 -170.3 68.1 -15.7 38 387 0.00 2.15 0.00 0.000 6 0.000 0.030 2749 2621 3637

704 -1.55 -170.3 110.8 -12.1 69 705 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2621 3639

1023 -1.55 -170.3 152.2 -13.1 99 1027 0.00 2.35 0.00 0.000 4 0.000 0.035 2750 1242 3641

1074 -1.55 -170.3 158.9 -12.2 103 1079 0.00 2.40 0.00 0.000 6 0.000 0.037 2750 2628 3641

1399 -1.55 -170.3 199.9 -12.7 133 1400 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2628 3641

1717 -1.55 -170.3 235.8 -10.4 163 1718 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2628 3641

2036 -1.55 -170.3 268.5 -9.5 193 2038 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2629 3641

2055 end dive: TARGET_DEPTH_EXCEEDED

state 2056 begin apogee

2060 -0.42 0.0 270.6 9.8 195 2281 1.20 0.00 213.02 0.634 6 0.077 0.000 3003 2530 2935

2282 end apogee: CONTROL_FINISHED_OK

state 2282 begin climb

2284 1.55 170.3 280.3 0.0 217 2511 1.92 2.62 210.98 0.620 4 0.048 0.072 3442 3880 2241

2747 1.59 205.1 249.1 8.6 257 2796 0.00 2.33 43.85 0.604 6 0.000 0.033 3442 2526 2100

3113 1.62 231.3 215.2 9.0 291 3153 0.00 0.00 33.33 0.601 6 0.000 0.000 3442 2524 1993

3472 1.64 241.8 182.5 9.6 325 3491 0.00 0.00 13.50 0.569 6 0.000 0.000 3442 2524 1949

3809 1.67 268.0 152.5 9.0 357 3849 0.00 2.62 32.92 0.593 4 0.000 0.066 3442 3889 1843

3912 1.67 268.0 141.7 10.6 366 3916 0.00 2.35 0.00 0.000 6 0.000 0.033 3442 2520 1842

4236 1.67 268.0 108.3 10.6 396 4241 0.00 2.42 0.00 0.000 4 0.000 0.040 3442 1126 1840

4269 1.68 278.8 104.8 9.6 398 4289 0.00 2.45 13.93 0.547 6 0.000 0.035 3442 2533 1799

4607 1.71 303.6 74.5 9.0 430 4641 0.00 0.00 31.98 0.551 6 0.000 0.000 3442 2533 1698

4957 1.76 339.0 44.5 8.6 463 5006 0.00 0.00 44.70 0.529 6 0.000 0.000 3442 2533 1554

5196 1.80 375.6 25.9 8.5 486 5248 0.00 2.53 46.33 0.512 4 0.000 0.060 3442 3894 1405

5289 1.80 375.6 16.8 11.1 496 5297 0.00 2.33 0.00 0.000 6 0.000 0.029 3442 2519 1403

5366 1.82 389.1 10.1 9.5 509 5386 0.00 0.00 16.20 0.476 6 0.000 0.000 3442 2518 1348

5424 end climb: SURFACE_DEPTH_REACHED

state 5424 begin surface coast

5465 end surface coast: CONTROL_FINISHED_OK

state 5465 begin surface

ID	116	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	22	ESCAPE_HEADING	180	ROLL_MIN	155	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	52	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3900	ALTIM_PING_DEPTH	90
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2628	ALTIM_FREQUENCY	12
D_TGT	270	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2530	ALTIM_PULSE	2
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	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	49	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	770	DEVICE2	-1
T_MISSION	120	CALL_TRIES	5	VBD_MAX	3955	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2936	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	3	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-58540.984	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	150	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	132	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3449	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3095	PRESSURE_YINT	-0.46644667	SEABIRD_T_G	0.0043738699
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158926	SEABIRD_T_H	0.00063649943
MASS	51716	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5189185e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7386873e-06
FERRY_MAX	0	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8703537
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1242318
HD_A	0.003	PITCH_AD_RATE	140	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0015997718
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00020779716
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	143256,2153.223,-15941.131,35,2.1,54,9.8	TGT_LATLONG	2155.000,-15943.400
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	6	KALMAN_CONTROL	-0.095,0.261
_XMS_TOUTs	0	KALMAN_X	-77833.7,1305.6,586.5,77002.0,-1182.0
_SM_DEPTHo	0.73	KALMAN_Y	14654.2,-305.4,-132.9,-19324.5,104.6
_SM_ANGLEo	-67.2	MHEAD_RNG_PITCHd_Wd	330.2,4724,-16.1,-10.000
GPS2	144350,2153.299,-15941.352,16,1.2,16,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.278	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TA

FINISH	-0.0,1.021533	MM_CLLLayer	0.03
SM_CCo	5488,5.38,0.379,0,0,1305,400.08	MM_CfgFile	0.30
SM_GC	0.58,0.00,0.00,5.38,0.000,0.000,0.379,124,2648,1305,-13.67,0.57,400.08	_24V_AH	23.8,17.680
IRIDIUM_FIX	2148.09,-15942.95,271098,101038	_10V_AH	10.1,5.686
TT8_MAMPS	0.068263	DATA_FILE_SIZE	15849,526
HUMID	1808	CAP_FILE_SIZE	196476,0
INTERNAL_PRESSURE	11.4555	CFSIZE	260034560,251449344
TCM_TEMP	24.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	020809,161702,2154.323,-15942.311,10,1.4,11,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	174	138.80	SBE_CT	343	24	196.19
Roll_motor	29	72	50.19	nil	0	0	0.00
VBD_pump_during_apogee	700	633	10565.74	nil	0	0	0.00
VBD_pump_during_surface	5	378	48.47	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	78.20	nil	0	0	0.00
Iridium_during_connect	28	160	107.25	GUMSTIX	75	1000	1803.54
Iridium_during_xfer	420	223	2231.99
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	40	1000	961.95
GPS	16	50	8.46
TT8	971	18	176.57
LPSleep	2700	0	10.64
TT8_Active	668	18	121.62
TT8_Sampling	955	38	366.71
TT8_CF8	833	44	370.40
TT8_Kalman	33	80	26.95
Analog_circuits	1257	12	152.40
GPS_charging	0	0	0.00
Compass	910	8	73.59
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.55	-170.3	0.0	0.0	0	95	0.00	0.00	-74.28	0.000	2	0.000	0.000	124	2639	3423
97	-1.55	-170.3	4.1	-10.1	11	126	15.60	2.33	-3.05	0.000	4	0.175	0.071	2749	3882	3635
378	-1.55	-170.3	68.1	-15.7	38	387	0.00	2.15	0.00	0.000	6	0.000	0.030	2749	2621	3637
704	-1.55	-170.3	110.8	-12.1	69	705	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2621	3639
1023	-1.55	-170.3	152.2	-13.1	99	1027	0.00	2.35	0.00	0.000	4	0.000	0.035	2750	1242	3641
1074	-1.55	-170.3	158.9	-12.2	103	1079	0.00	2.40	0.00	0.000	6	0.000	0.037	2750	2628	3641
1399	-1.55	-170.3	199.9	-12.7	133	1400	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2628	3641
1717	-1.55	-170.3	235.8	-10.4	163	1718	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2628	3641
2036	-1.55	-170.3	268.5	-9.5	193	2038	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2629	3641
2055	end dive: TARGET_DEPTH_EXCEEDED
state	2056	begin apogee
2060	-0.42	0.0	270.6	9.8	195	2281	1.20	0.00	213.02	0.634	6	0.077	0.000	3003	2530	2935
2282	end apogee: CONTROL_FINISHED_OK
state	2282	begin climb
2284	1.55	170.3	280.3	0.0	217	2511	1.92	2.62	210.98	0.620	4	0.048	0.072	3442	3880	2241
2747	1.59	205.1	249.1	8.6	257	2796	0.00	2.33	43.85	0.604	6	0.000	0.033	3442	2526	2100
3113	1.62	231.3	215.2	9.0	291	3153	0.00	0.00	33.33	0.601	6	0.000	0.000	3442	2524	1993
3472	1.64	241.8	182.5	9.6	325	3491	0.00	0.00	13.50	0.569	6	0.000	0.000	3442	2524	1949
3809	1.67	268.0	152.5	9.0	357	3849	0.00	2.62	32.92	0.593	4	0.000	0.066	3442	3889	1843
3912	1.67	268.0	141.7	10.6	366	3916	0.00	2.35	0.00	0.000	6	0.000	0.033	3442	2520	1842
4236	1.67	268.0	108.3	10.6	396	4241	0.00	2.42	0.00	0.000	4	0.000	0.040	3442	1126	1840
4269	1.68	278.8	104.8	9.6	398	4289	0.00	2.45	13.93	0.547	6	0.000	0.035	3442	2533	1799
4607	1.71	303.6	74.5	9.0	430	4641	0.00	0.00	31.98	0.551	6	0.000	0.000	3442	2533	1698
4957	1.76	339.0	44.5	8.6	463	5006	0.00	0.00	44.70	0.529	6	0.000	0.000	3442	2533	1554
5196	1.80	375.6	25.9	8.5	486	5248	0.00	2.53	46.33	0.512	4	0.000	0.060	3442	3894	1405
5289	1.80	375.6	16.8	11.1	496	5297	0.00	2.33	0.00	0.000	6	0.000	0.029	3442	2519	1403
5366	1.82	389.1	10.1	9.5	509	5386	0.00	0.00	16.20	0.476	6	0.000	0.000	3442	2518	1348
5424	end climb: SURFACE_DEPTH_REACHED
state	5424	begin surface coast
5465	end surface coast: CONTROL_FINISHED_OK
state	5465	begin surface