Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 10 * 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 10 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 2400 ALTIM_FREQUENCY 13

D_TGT 240 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2550 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 300 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 44 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 80 UPLOAD_DIVES_MAX -1 VBD_MIN 582 DEVICE2 -1

T_MISSION 90 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 500 T_GPS_CHARGE -85901.07 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 30 PITCH_MAX 3730 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2970 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 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 500 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 240 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 30 RAFOS_DEVICE -1 T_DIVE 80

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 -85901.07

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 90

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 2970 KALMAN_USE 1 ROLL_MIN 311 USE_BATHY 0

C_ROLL_CLIMB 2550 KERMIT 0 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_DIVE 2400 MASS 51726 R_PORT_OVSHOOT 44 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 250 R_STBD_OVSHOOT 32 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 10 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 103458,2153.962,-15942.236,13,5.4,32,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 2 TGT_RADIUS 500.000

_XMS_NAKs 2 KALMAN_CONTROL 0.108,-0.307

_XMS_TOUTs 0 KALMAN_X -1516.1,-47.2,-83.5,955.6,-342.8

_SM_DEPTHo 0.67 KALMAN_Y 4773.0,224.7,-113.4,-8563.9,595.2

_SM_ANGLEo -61.3 MHEAD_RNG_PITCHd_Wd 150.8,6959,-13.9,-10.000

GPS2 105052,2154.104,-15942.359,12,6.1,31,9.8 D_GRID 240

SPEED_LIMITS 0.173,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.1,1.020208 MM_CLLLayer 0.03

SM_CCo 4478,0.00,0.000,0,0,1245,415.29 MM_CfgFile 0.30

SM_GC 0.85,12.75,0.00,0.00,0.025,0.000,0.000,421,2386,1245,-11.64,-0.37,415.29 _24V_AH 24.1,17.416

IRIDIUM_FIX 2148.09,-15940.77,231098,101003 _10V_AH 10.1,23.049

TT8_MAMPS 0.062894 DATA_FILE_SIZE 12751,404

HUMID 1814 CAP_FILE_SIZE 159026,0

INTERNAL_PRESSURE 10.1015 CFSIZE -70647808,-81133568

TCM_TEMP 24.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 290709,120737,2153.608,-15942.394,28,1.6,28,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 123 81.54 SBE_CT 272 24 157.35

Roll_motor 39 54 51.97 nil 0 0 0.00

VBD_pump_during_apogee 496 597 7143.63 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 57 103 143.10 nil 0 0 0.00

Iridium_during_connect 57 160 220.06 GUMSTIX 259 1000 6263.18

Iridium_during_xfer 516 223 2778.11

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 170 1000 4113.12

GPS 32 50 16.53

TT8 780 18 141.87

LPSleep 2008 0 7.91

TT8_Active 481 18 87.50

TT8_Sampling 804 38 308.69

TT8_CF8 1357 44 603.20

TT8_Kalman 33 80 26.94

Analog_circuits 985 12 119.48

GPS_charging 0 0 0.00

Compass 751 8 60.69

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 13 begin dive

20 -1.69 -243.3 0.0 0.0 0 92 0.00 0.00 -69.95 0.000 2 0.000 0.000 419 2387 3377

99 -1.69 -243.3 4.0 -8.8 10 128 11.25 2.42 -7.85 0.000 4 0.123 0.054 2597 1008 3931

193 -1.69 -243.3 31.6 -19.6 20 198 0.00 2.30 0.00 0.000 6 0.000 0.022 2596 2409 3932

394 -1.69 -243.3 66.0 -14.7 38 398 0.00 2.47 0.00 0.000 4 0.000 0.041 2596 3803 3932

465 -1.69 -243.3 77.4 -16.5 43 469 0.00 2.40 0.00 0.000 6 0.000 0.024 2596 2405 3932

793 -1.69 -243.3 127.7 -14.2 73 799 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2405 3934

1121 -1.69 -243.3 170.1 -13.9 104 1126 0.00 2.53 0.00 0.000 4 0.000 0.042 2596 3806 3933

1165 -1.69 -243.3 176.2 -13.6 107 1169 0.00 2.45 0.00 0.000 6 0.000 0.025 2596 2390 3933

1493 -1.69 -243.3 215.0 -10.1 137 1497 0.00 2.55 0.00 0.000 4 0.000 0.044 2596 3800 3933

1652 -1.69 -243.3 233.5 -11.6 150 1656 0.00 2.42 0.00 0.000 6 0.000 0.027 2597 2394 3932

1716 end dive: TARGET_DEPTH_EXCEEDED

state 1716 begin apogee

1728 -0.50 0.0 240.7 11.3 155 1919 1.17 0.00 180.60 0.597 6 0.058 0.000 2859 2566 2937

1925 end apogee: CONTROL_FINISHED_OK

state 1926 begin climb

1931 1.69 243.3 251.6 0.0 174 2122 2.05 2.55 180.65 0.597 4 0.037 0.048 3345 1146 1944

2245 1.74 285.9 237.3 8.8 199 2288 0.00 2.35 34.08 0.571 6 0.000 0.028 3345 2532 1771

2611 1.74 287.7 199.7 9.9 233 2615 0.00 2.42 0.00 0.000 4 0.000 0.049 3345 1154 1764

2670 1.74 287.7 194.0 10.8 237 2674 0.00 2.35 0.00 0.000 6 0.000 0.029 3345 2550 1764

2998 1.75 289.2 160.4 10.0 267 3002 0.00 2.53 0.00 0.000 4 0.000 0.051 3345 3937 1762

3137 1.75 289.2 146.3 10.3 278 3141 0.00 2.42 0.00 0.000 6 0.000 0.027 3345 2542 1762

3465 1.90 411.9 120.4 6.6 308 3575 0.17 0.00 100.78 0.538 6 0.038 0.000 3400 2542 1256

3901 1.90 411.9 61.9 14.4 349 3905 0.00 2.53 0.00 0.000 4 0.000 0.046 3400 3930 1250

4157 1.90 411.9 25.6 13.0 370 4164 0.00 2.40 0.00 0.000 6 0.000 0.025 3400 2543 1248

4340 end climb: SURFACE_DEPTH_REACHED

state 4340 begin surface coast

4384 end surface coast: CONTROL_FINISHED_OK

state 4384 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	10	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	2400	ALTIM_FREQUENCY	13
D_TGT	240	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2550	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	300	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	44	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	80	UPLOAD_DIVES_MAX	-1	VBD_MIN	582	DEVICE2	-1
T_MISSION	90	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	500	T_GPS_CHARGE	-85901.07	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	30	PITCH_MAX	3730	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2970	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	103458,2153.962,-15942.236,13,5.4,32,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	2	TGT_RADIUS	500.000
_XMS_NAKs	2	KALMAN_CONTROL	0.108,-0.307
_XMS_TOUTs	0	KALMAN_X	-1516.1,-47.2,-83.5,955.6,-342.8
_SM_DEPTHo	0.67	KALMAN_Y	4773.0,224.7,-113.4,-8563.9,595.2
_SM_ANGLEo	-61.3	MHEAD_RNG_PITCHd_Wd	150.8,6959,-13.9,-10.000
GPS2	105052,2154.104,-15942.359,12,6.1,31,9.8	D_GRID	240
SPEED_LIMITS	0.173,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.1,1.020208	MM_CLLLayer	0.03
SM_CCo	4478,0.00,0.000,0,0,1245,415.29	MM_CfgFile	0.30
SM_GC	0.85,12.75,0.00,0.00,0.025,0.000,0.000,421,2386,1245,-11.64,-0.37,415.29	_24V_AH	24.1,17.416
IRIDIUM_FIX	2148.09,-15940.77,231098,101003	_10V_AH	10.1,23.049
TT8_MAMPS	0.062894	DATA_FILE_SIZE	12751,404
HUMID	1814	CAP_FILE_SIZE	159026,0
INTERNAL_PRESSURE	10.1015	CFSIZE	-70647808,-81133568
TCM_TEMP	24.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	290709,120737,2153.608,-15942.394,28,1.6,28,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	123	81.54	SBE_CT	272	24	157.35
Roll_motor	39	54	51.97	nil	0	0	0.00
VBD_pump_during_apogee	496	597	7143.63	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	57	103	143.10	nil	0	0	0.00
Iridium_during_connect	57	160	220.06	GUMSTIX	259	1000	6263.18
Iridium_during_xfer	516	223	2778.11
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	170	1000	4113.12
GPS	32	50	16.53
TT8	780	18	141.87
LPSleep	2008	0	7.91
TT8_Active	481	18	87.50
TT8_Sampling	804	38	308.69
TT8_CF8	1357	44	603.20
TT8_Kalman	33	80	26.94
Analog_circuits	985	12	119.48
GPS_charging	0	0	0.00
Compass	751	8	60.69
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	13	begin dive
20	-1.69	-243.3	0.0	0.0	0	92	0.00	0.00	-69.95	0.000	2	0.000	0.000	419	2387	3377
99	-1.69	-243.3	4.0	-8.8	10	128	11.25	2.42	-7.85	0.000	4	0.123	0.054	2597	1008	3931
193	-1.69	-243.3	31.6	-19.6	20	198	0.00	2.30	0.00	0.000	6	0.000	0.022	2596	2409	3932
394	-1.69	-243.3	66.0	-14.7	38	398	0.00	2.47	0.00	0.000	4	0.000	0.041	2596	3803	3932
465	-1.69	-243.3	77.4	-16.5	43	469	0.00	2.40	0.00	0.000	6	0.000	0.024	2596	2405	3932
793	-1.69	-243.3	127.7	-14.2	73	799	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2405	3934
1121	-1.69	-243.3	170.1	-13.9	104	1126	0.00	2.53	0.00	0.000	4	0.000	0.042	2596	3806	3933
1165	-1.69	-243.3	176.2	-13.6	107	1169	0.00	2.45	0.00	0.000	6	0.000	0.025	2596	2390	3933
1493	-1.69	-243.3	215.0	-10.1	137	1497	0.00	2.55	0.00	0.000	4	0.000	0.044	2596	3800	3933
1652	-1.69	-243.3	233.5	-11.6	150	1656	0.00	2.42	0.00	0.000	6	0.000	0.027	2597	2394	3932
1716	end dive: TARGET_DEPTH_EXCEEDED
state	1716	begin apogee
1728	-0.50	0.0	240.7	11.3	155	1919	1.17	0.00	180.60	0.597	6	0.058	0.000	2859	2566	2937
1925	end apogee: CONTROL_FINISHED_OK
state	1926	begin climb
1931	1.69	243.3	251.6	0.0	174	2122	2.05	2.55	180.65	0.597	4	0.037	0.048	3345	1146	1944
2245	1.74	285.9	237.3	8.8	199	2288	0.00	2.35	34.08	0.571	6	0.000	0.028	3345	2532	1771
2611	1.74	287.7	199.7	9.9	233	2615	0.00	2.42	0.00	0.000	4	0.000	0.049	3345	1154	1764
2670	1.74	287.7	194.0	10.8	237	2674	0.00	2.35	0.00	0.000	6	0.000	0.029	3345	2550	1764
2998	1.75	289.2	160.4	10.0	267	3002	0.00	2.53	0.00	0.000	4	0.000	0.051	3345	3937	1762
3137	1.75	289.2	146.3	10.3	278	3141	0.00	2.42	0.00	0.000	6	0.000	0.027	3345	2542	1762
3465	1.90	411.9	120.4	6.6	308	3575	0.17	0.00	100.78	0.538	6	0.038	0.000	3400	2542	1256
3901	1.90	411.9	61.9	14.4	349	3905	0.00	2.53	0.00	0.000	4	0.000	0.046	3400	3930	1250
4157	1.90	411.9	25.6	13.0	370	4164	0.00	2.40	0.00	0.000	6	0.000	0.025	3400	2543	1248
4340	end climb: SURFACE_DEPTH_REACHED
state	4340	begin surface coast
4384	end surface coast: CONTROL_FINISHED_OK
state	4384	begin surface