Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 56 * 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 56 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 36 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 -58642.723 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 -58642.723

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 36 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 56 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 212128,2155.019,-15942.713,8,4.6,28,9.8 TGT_LATLONG 2154.185,-15941.805

_CALLS 1 TGT_RADIUS 400.000

_XMS_NAKs 7 KALMAN_CONTROL 0.219,-0.172

_XMS_TOUTs 0 KALMAN_X -80376.3,238.4,-466.8,79259.6,-494.8

_SM_DEPTHo 0.85 KALMAN_Y 15923.3,-183.1,159.8,-17727.5,231.7

_SM_ANGLEo -66.8 MHEAD_RNG_PITCHd_Wd 118.3,2313,-16.1,-10.000

GPS2 213306,2155.076,-15942.748,18,1.0,32,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.278 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobNE

Post-dive calculations and measurements:

FINISH 0.1,1.022891 MM_CLLLayer 0.03

SM_CCo 5441,9.25,0.442,0,0,1304,400.08 MM_CfgFile 0.30

SM_GC 0.89,0.00,0.00,9.25,0.000,0.000,0.442,124,2650,1304,-13.67,0.62,400.08 _24V_AH 23.8,18.323

IRIDIUM_FIX 2145.77,-15940.77,271098,191914 _10V_AH 10.0,5.947

TT8_MAMPS 0.077467 DATA_FILE_SIZE 15865,523

HUMID 1878 CAP_FILE_SIZE 195567,0

INTERNAL_PRESSURE 11.475 CFSIZE 260034560,251006976

TCM_TEMP 24.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 020809,230537,2154.595,-15942.516,8,1.3,14,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 173 137.48 SBE_CT 342 24 195.37

Roll_motor 33 64 51.33 nil 0 0 0.00

VBD_pump_during_apogee 683 631 10267.08 nil 0 0 0.00

VBD_pump_during_surface 9 441 97.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 60.97 nil 0 0 0.00

Iridium_during_connect 26 160 101.20 GUMSTIX 86 1000 2054.34

Iridium_during_xfer 467 223 2478.73

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 67 1000 1602.14

GPS 32 50 16.08

TT8 965 18 173.80

LPSleep 2686 0 10.48

TT8_Active 661 18 119.14

TT8_Sampling 960 38 364.88

TT8_CF8 880 44 387.47

TT8_Kalman 33 80 26.66

Analog_circuits 1242 12 149.15

GPS_charging 0 0 0.00

Compass 896 8 71.69

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 -1.55 -170.3 0.0 0.0 0 93 0.00 0.00 -74.12 0.000 2 0.000 0.000 125 2657 3388

95 -1.55 -170.3 3.6 -8.7 11 118 15.48 0.00 -3.75 0.000 6 0.173 0.000 2750 2657 3633

183 -1.55 -170.3 29.8 -20.3 22 184 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2657 3635

374 -1.55 -170.3 62.3 -14.9 40 375 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2657 3634

694 -1.55 -170.3 103.7 -13.5 70 697 0.00 2.20 0.00 0.000 4 0.000 0.061 2751 3873 3636

739 -1.55 -170.3 110.6 -15.8 74 742 0.00 2.08 0.00 0.000 6 0.000 0.028 2751 2616 3636

1069 -1.55 -170.3 151.3 -11.5 105 1073 0.00 2.30 0.00 0.000 4 0.000 0.062 2750 3876 3637

1120 -1.55 -170.3 157.3 -11.6 109 1124 0.00 2.08 0.00 0.000 6 0.000 0.028 2751 2620 3636

1450 -1.55 -170.3 191.6 -10.6 140 1454 0.00 2.35 0.00 0.000 4 0.000 0.036 2750 1234 3638

1517 -1.55 -170.3 199.2 -11.2 146 1522 0.00 2.38 0.00 0.000 6 0.000 0.035 2751 2613 3638

1842 -1.55 -170.3 237.2 -10.6 176 1843 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2613 3638

2139 end dive: TARGET_DEPTH_EXCEEDED

state 2139 begin apogee

2143 -0.42 0.0 270.3 11.0 204 2363 1.15 0.00 211.98 0.631 6 0.077 0.000 2999 2548 2936

2364 end apogee: CONTROL_FINISHED_OK

state 2364 begin climb

2366 1.55 170.3 278.8 0.0 226 2593 1.92 2.58 211.73 0.618 4 0.048 0.043 3431 1133 2241

2755 1.55 170.3 249.5 11.1 259 2763 0.00 2.50 0.00 0.000 6 0.000 0.038 3431 2534 2238

3081 1.59 202.9 218.9 8.7 290 3123 0.00 0.00 40.50 0.609 6 0.000 0.000 3431 2534 2108

3440 1.60 209.6 188.3 9.7 324 3451 0.00 0.00 8.35 0.537 6 0.000 0.000 3431 2534 2082

3768 1.60 209.6 157.2 10.4 355 3772 0.00 2.47 0.00 0.000 4 0.000 0.041 3431 1120 2080

3856 1.60 209.6 148.2 10.6 362 3863 0.00 2.47 0.00 0.000 6 0.000 0.036 3431 2540 2079

4181 1.66 261.4 121.4 7.9 393 4254 0.08 2.53 62.80 0.599 4 0.068 0.064 3461 3891 1869

4313 1.67 265.1 108.5 9.9 404 4326 0.00 2.35 5.47 0.451 6 0.000 0.032 3461 2509 1855

4643 1.76 341.2 74.3 7.0 435 4744 0.00 0.00 94.25 0.561 6 0.000 0.000 3462 2509 1545

5062 1.81 380.3 37.1 8.5 475 5122 0.00 2.47 48.33 0.525 4 0.000 0.038 3462 1131 1385

5204 1.81 380.3 22.4 10.3 487 5213 0.00 2.45 0.00 0.000 6 0.000 0.031 3462 2532 1382

5375 end climb: SURFACE_DEPTH_REACHED

state 5376 begin surface coast

5416 end surface coast: CONTROL_FINISHED_OK

state 5416 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	56	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	36	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	-58642.723	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	212128,2155.019,-15942.713,8,4.6,28,9.8	TGT_LATLONG	2154.185,-15941.805
_CALLS	1	TGT_RADIUS	400.000
_XMS_NAKs	7	KALMAN_CONTROL	0.219,-0.172
_XMS_TOUTs	0	KALMAN_X	-80376.3,238.4,-466.8,79259.6,-494.8
_SM_DEPTHo	0.85	KALMAN_Y	15923.3,-183.1,159.8,-17727.5,231.7
_SM_ANGLEo	-66.8	MHEAD_RNG_PITCHd_Wd	118.3,2313,-16.1,-10.000
GPS2	213306,2155.076,-15942.748,18,1.0,32,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.278	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobNE

FINISH	0.1,1.022891	MM_CLLLayer	0.03
SM_CCo	5441,9.25,0.442,0,0,1304,400.08	MM_CfgFile	0.30
SM_GC	0.89,0.00,0.00,9.25,0.000,0.000,0.442,124,2650,1304,-13.67,0.62,400.08	_24V_AH	23.8,18.323
IRIDIUM_FIX	2145.77,-15940.77,271098,191914	_10V_AH	10.0,5.947
TT8_MAMPS	0.077467	DATA_FILE_SIZE	15865,523
HUMID	1878	CAP_FILE_SIZE	195567,0
INTERNAL_PRESSURE	11.475	CFSIZE	260034560,251006976
TCM_TEMP	24.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	020809,230537,2154.595,-15942.516,8,1.3,14,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	173	137.48	SBE_CT	342	24	195.37
Roll_motor	33	64	51.33	nil	0	0	0.00
VBD_pump_during_apogee	683	631	10267.08	nil	0	0	0.00
VBD_pump_during_surface	9	441	97.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	60.97	nil	0	0	0.00
Iridium_during_connect	26	160	101.20	GUMSTIX	86	1000	2054.34
Iridium_during_xfer	467	223	2478.73
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	67	1000	1602.14
GPS	32	50	16.08
TT8	965	18	173.80
LPSleep	2686	0	10.48
TT8_Active	661	18	119.14
TT8_Sampling	960	38	364.88
TT8_CF8	880	44	387.47
TT8_Kalman	33	80	26.66
Analog_circuits	1242	12	149.15
GPS_charging	0	0	0.00
Compass	896	8	71.69
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	-1.55	-170.3	0.0	0.0	0	93	0.00	0.00	-74.12	0.000	2	0.000	0.000	125	2657	3388
95	-1.55	-170.3	3.6	-8.7	11	118	15.48	0.00	-3.75	0.000	6	0.173	0.000	2750	2657	3633
183	-1.55	-170.3	29.8	-20.3	22	184	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2657	3635
374	-1.55	-170.3	62.3	-14.9	40	375	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2657	3634
694	-1.55	-170.3	103.7	-13.5	70	697	0.00	2.20	0.00	0.000	4	0.000	0.061	2751	3873	3636
739	-1.55	-170.3	110.6	-15.8	74	742	0.00	2.08	0.00	0.000	6	0.000	0.028	2751	2616	3636
1069	-1.55	-170.3	151.3	-11.5	105	1073	0.00	2.30	0.00	0.000	4	0.000	0.062	2750	3876	3637
1120	-1.55	-170.3	157.3	-11.6	109	1124	0.00	2.08	0.00	0.000	6	0.000	0.028	2751	2620	3636
1450	-1.55	-170.3	191.6	-10.6	140	1454	0.00	2.35	0.00	0.000	4	0.000	0.036	2750	1234	3638
1517	-1.55	-170.3	199.2	-11.2	146	1522	0.00	2.38	0.00	0.000	6	0.000	0.035	2751	2613	3638
1842	-1.55	-170.3	237.2	-10.6	176	1843	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2613	3638
2139	end dive: TARGET_DEPTH_EXCEEDED
state	2139	begin apogee
2143	-0.42	0.0	270.3	11.0	204	2363	1.15	0.00	211.98	0.631	6	0.077	0.000	2999	2548	2936
2364	end apogee: CONTROL_FINISHED_OK
state	2364	begin climb
2366	1.55	170.3	278.8	0.0	226	2593	1.92	2.58	211.73	0.618	4	0.048	0.043	3431	1133	2241
2755	1.55	170.3	249.5	11.1	259	2763	0.00	2.50	0.00	0.000	6	0.000	0.038	3431	2534	2238
3081	1.59	202.9	218.9	8.7	290	3123	0.00	0.00	40.50	0.609	6	0.000	0.000	3431	2534	2108
3440	1.60	209.6	188.3	9.7	324	3451	0.00	0.00	8.35	0.537	6	0.000	0.000	3431	2534	2082
3768	1.60	209.6	157.2	10.4	355	3772	0.00	2.47	0.00	0.000	4	0.000	0.041	3431	1120	2080
3856	1.60	209.6	148.2	10.6	362	3863	0.00	2.47	0.00	0.000	6	0.000	0.036	3431	2540	2079
4181	1.66	261.4	121.4	7.9	393	4254	0.08	2.53	62.80	0.599	4	0.068	0.064	3461	3891	1869
4313	1.67	265.1	108.5	9.9	404	4326	0.00	2.35	5.47	0.451	6	0.000	0.032	3461	2509	1855
4643	1.76	341.2	74.3	7.0	435	4744	0.00	0.00	94.25	0.561	6	0.000	0.000	3462	2509	1545
5062	1.81	380.3	37.1	8.5	475	5122	0.00	2.47	48.33	0.525	4	0.000	0.038	3462	1131	1385
5204	1.81	380.3	22.4	10.3	487	5213	0.00	2.45	0.00	0.000	6	0.000	0.031	3462	2532	1382
5375	end climb: SURFACE_DEPTH_REACHED
state	5376	begin surface coast
5416	end surface coast: CONTROL_FINISHED_OK
state	5416	begin surface