Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 17 * 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 17 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 2475 ALTIM_FREQUENCY 12

D_TGT 240 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2500 ALTIM_PULSE 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 300 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 48 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 80 UPLOAD_DIVES_MAX -1 VBD_MIN 770 DEVICE2 -1

T_MISSION 90 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 500 T_GPS_CHARGE -57846.723 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 150 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 30 PITCH_MAX 3449 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3120 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 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 500 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 240 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 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 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -57846.723

CAPMAXSIZE 100000 HD_C 9.9999997e-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 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 3120 KALMAN_USE 1 ROLL_MIN 155 USE_BATHY 0

C_ROLL_CLIMB 2500 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2475 MASS 51716 R_PORT_OVSHOOT 48 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 17 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 221526,2152.017,-15945.506,8,1.3,9,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 2 TGT_RADIUS 500.000

_XMS_NAKs 3 KALMAN_CONTROL 0.212,-0.150

_XMS_TOUTs 1 KALMAN_X -14069.4,-1271.3,-809.6,9661.3,-666.4

_SM_DEPTHo 0.98 KALMAN_Y 5000.0,-78.8,22.6,-12252.8,568.4

_SM_ANGLEo -68.5 MHEAD_RNG_PITCHd_Wd 115.5,7859,-17.5,-10.000

GPS2 222856,2152.112,-15945.752,18,1.2,18,9.8 D_GRID 240

SPEED_LIMITS 0.173,0.260 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.2,1.022933 MM_CLLLayer 0.03

SM_CCo 5041,0.00,0.000,0,0,1534,343.91 MM_CfgFile 0.30

SM_GC 1.21,14.52,0.00,0.00,0.038,0.000,0.000,129,2496,1534,-13.71,0.59,343.91 _24V_AH 23.9,10.522

IRIDIUM_FIX 2143.45,-15943.76,231098,222207 _10V_AH 10.1,2.685

TT8_MAMPS 0.062127 DATA_FILE_SIZE 15892,474

HUMID 1854 CAP_FILE_SIZE 185049,0

INTERNAL_PRESSURE 11.5239 CFSIZE 260034560,255688704

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 290709,235456,2151.968,-15945.803,33,1.8,34,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 182 146.16 SBE_CT 309 24 177.38

Roll_motor 49 67 79.41 nil 0 0 0.00

VBD_pump_during_apogee 607 608 8846.92 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 46 103 114.78 nil 0 0 0.00

Iridium_during_connect 56 160 214.32 GUMSTIX 86 1000 2072.03

Iridium_during_xfer 533 223 2845.50

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 172 1000 4111.47

GPS 18 50 9.27

TT8 903 18 164.34

LPSleep 2486 0 9.79

TT8_Active 585 18 106.41

TT8_Sampling 922 38 353.97

TT8_CF8 958 44 425.84

TT8_Kalman 33 80 26.95

Analog_circuits 1149 12 139.35

GPS_charging 0 0 0.00

Compass 876 8 70.83

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.64 -146.0 0.0 0.0 0 80 0.00 0.00 -61.22 0.000 2 0.000 0.000 130 2496 3274

83 -1.64 -146.0 3.1 -7.2 9 112 15.85 2.45 -4.22 0.000 4 0.183 0.047 2757 1080 3535

218 -1.64 -146.0 34.2 -16.3 24 226 0.00 2.42 0.00 0.000 6 0.000 0.033 2757 2486 3536

416 -1.64 -146.0 65.2 -15.0 43 419 0.00 2.40 0.00 0.000 4 0.000 0.034 2757 1086 3537

449 -1.64 -146.0 70.2 -14.6 46 453 0.00 2.40 0.00 0.000 6 0.000 0.032 2757 2483 3537

774 -1.64 -146.0 109.3 -11.1 76 778 0.00 2.53 0.00 0.000 4 0.000 0.064 2757 3873 3538

925 -1.64 -146.0 127.8 -12.0 89 929 0.00 2.33 0.00 0.000 6 0.000 0.028 2757 2473 3538

1249 -1.64 -146.0 166.4 -12.0 119 1253 0.00 2.58 0.00 0.000 4 0.000 0.064 2757 3876 3539

1292 -1.64 -146.0 171.7 -12.5 122 1300 0.00 2.38 0.00 0.000 6 0.000 0.028 2757 2475 3538

1618 -1.64 -146.0 205.7 -10.4 153 1622 0.00 2.58 0.00 0.000 4 0.000 0.066 2757 3876 3539

1683 -1.64 -146.0 213.0 -11.0 158 1691 0.00 2.38 0.00 0.000 6 0.000 0.030 2757 2485 3539

1955 end dive: TARGET_DEPTH_EXCEEDED

state 1955 begin apogee

1959 -0.42 0.0 240.8 9.3 184 2148 1.25 0.00 182.35 0.609 6 0.077 0.000 3026 2482 2936

2150 end apogee: CONTROL_FINISHED_OK

state 2150 begin climb

2152 1.64 146.0 247.7 0.0 203 2344 1.88 2.53 181.62 0.597 4 0.044 0.044 3453 1099 2339

2563 1.69 189.9 225.3 8.0 238 2624 0.00 2.45 54.65 0.586 6 0.000 0.037 3453 2499 2161

2942 1.74 230.4 191.6 8.1 273 3003 0.00 2.62 50.17 0.584 4 0.000 0.067 3453 3876 1996

3038 1.74 230.4 182.4 10.2 281 3042 0.00 2.38 0.00 0.000 6 0.000 0.032 3453 2491 1995

3363 1.80 275.9 153.0 7.9 311 3424 0.00 2.53 55.35 0.579 4 0.000 0.042 3454 1099 1811

3515 1.81 286.4 139.8 9.5 324 3539 0.00 2.45 14.30 0.536 6 0.000 0.037 3453 2497 1767

3859 1.81 286.4 104.1 10.1 356 3863 0.00 2.55 0.00 0.000 4 0.000 0.064 3453 3887 1764

3899 1.81 286.4 100.0 10.3 359 3903 0.00 2.35 0.00 0.000 6 0.000 0.030 3453 2492 1764

4223 1.81 286.4 67.7 10.3 389 4228 0.00 2.58 0.00 0.000 4 0.000 0.061 3453 3893 1763

4323 1.84 306.2 58.1 9.1 397 4355 0.00 2.38 24.70 0.532 6 0.000 0.029 3454 2496 1687

4673 1.88 342.0 27.9 8.3 430 4723 0.00 0.00 44.67 0.519 6 0.000 0.000 3453 2496 1542

4918 end climb: SURFACE_DEPTH_REACHED

state 4918 begin surface coast

4958 end surface coast: CONTROL_FINISHED_OK

state 4958 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	17	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	2475	ALTIM_FREQUENCY	12
D_TGT	240	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2500	ALTIM_PULSE	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	300	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	48	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	80	UPLOAD_DIVES_MAX	-1	VBD_MIN	770	DEVICE2	-1
T_MISSION	90	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	500	T_GPS_CHARGE	-57846.723	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	150	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	30	PITCH_MAX	3449	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3120	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	221526,2152.017,-15945.506,8,1.3,9,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	2	TGT_RADIUS	500.000
_XMS_NAKs	3	KALMAN_CONTROL	0.212,-0.150
_XMS_TOUTs	1	KALMAN_X	-14069.4,-1271.3,-809.6,9661.3,-666.4
_SM_DEPTHo	0.98	KALMAN_Y	5000.0,-78.8,22.6,-12252.8,568.4
_SM_ANGLEo	-68.5	MHEAD_RNG_PITCHd_Wd	115.5,7859,-17.5,-10.000
GPS2	222856,2152.112,-15945.752,18,1.2,18,9.8	D_GRID	240
SPEED_LIMITS	0.173,0.260	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.2,1.022933	MM_CLLLayer	0.03
SM_CCo	5041,0.00,0.000,0,0,1534,343.91	MM_CfgFile	0.30
SM_GC	1.21,14.52,0.00,0.00,0.038,0.000,0.000,129,2496,1534,-13.71,0.59,343.91	_24V_AH	23.9,10.522
IRIDIUM_FIX	2143.45,-15943.76,231098,222207	_10V_AH	10.1,2.685
TT8_MAMPS	0.062127	DATA_FILE_SIZE	15892,474
HUMID	1854	CAP_FILE_SIZE	185049,0
INTERNAL_PRESSURE	11.5239	CFSIZE	260034560,255688704
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	290709,235456,2151.968,-15945.803,33,1.8,34,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	182	146.16	SBE_CT	309	24	177.38
Roll_motor	49	67	79.41	nil	0	0	0.00
VBD_pump_during_apogee	607	608	8846.92	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	46	103	114.78	nil	0	0	0.00
Iridium_during_connect	56	160	214.32	GUMSTIX	86	1000	2072.03
Iridium_during_xfer	533	223	2845.50
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	172	1000	4111.47
GPS	18	50	9.27
TT8	903	18	164.34
LPSleep	2486	0	9.79
TT8_Active	585	18	106.41
TT8_Sampling	922	38	353.97
TT8_CF8	958	44	425.84
TT8_Kalman	33	80	26.95
Analog_circuits	1149	12	139.35
GPS_charging	0	0	0.00
Compass	876	8	70.83
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.64	-146.0	0.0	0.0	0	80	0.00	0.00	-61.22	0.000	2	0.000	0.000	130	2496	3274
83	-1.64	-146.0	3.1	-7.2	9	112	15.85	2.45	-4.22	0.000	4	0.183	0.047	2757	1080	3535
218	-1.64	-146.0	34.2	-16.3	24	226	0.00	2.42	0.00	0.000	6	0.000	0.033	2757	2486	3536
416	-1.64	-146.0	65.2	-15.0	43	419	0.00	2.40	0.00	0.000	4	0.000	0.034	2757	1086	3537
449	-1.64	-146.0	70.2	-14.6	46	453	0.00	2.40	0.00	0.000	6	0.000	0.032	2757	2483	3537
774	-1.64	-146.0	109.3	-11.1	76	778	0.00	2.53	0.00	0.000	4	0.000	0.064	2757	3873	3538
925	-1.64	-146.0	127.8	-12.0	89	929	0.00	2.33	0.00	0.000	6	0.000	0.028	2757	2473	3538
1249	-1.64	-146.0	166.4	-12.0	119	1253	0.00	2.58	0.00	0.000	4	0.000	0.064	2757	3876	3539
1292	-1.64	-146.0	171.7	-12.5	122	1300	0.00	2.38	0.00	0.000	6	0.000	0.028	2757	2475	3538
1618	-1.64	-146.0	205.7	-10.4	153	1622	0.00	2.58	0.00	0.000	4	0.000	0.066	2757	3876	3539
1683	-1.64	-146.0	213.0	-11.0	158	1691	0.00	2.38	0.00	0.000	6	0.000	0.030	2757	2485	3539
1955	end dive: TARGET_DEPTH_EXCEEDED
state	1955	begin apogee
1959	-0.42	0.0	240.8	9.3	184	2148	1.25	0.00	182.35	0.609	6	0.077	0.000	3026	2482	2936
2150	end apogee: CONTROL_FINISHED_OK
state	2150	begin climb
2152	1.64	146.0	247.7	0.0	203	2344	1.88	2.53	181.62	0.597	4	0.044	0.044	3453	1099	2339
2563	1.69	189.9	225.3	8.0	238	2624	0.00	2.45	54.65	0.586	6	0.000	0.037	3453	2499	2161
2942	1.74	230.4	191.6	8.1	273	3003	0.00	2.62	50.17	0.584	4	0.000	0.067	3453	3876	1996
3038	1.74	230.4	182.4	10.2	281	3042	0.00	2.38	0.00	0.000	6	0.000	0.032	3453	2491	1995
3363	1.80	275.9	153.0	7.9	311	3424	0.00	2.53	55.35	0.579	4	0.000	0.042	3454	1099	1811
3515	1.81	286.4	139.8	9.5	324	3539	0.00	2.45	14.30	0.536	6	0.000	0.037	3453	2497	1767
3859	1.81	286.4	104.1	10.1	356	3863	0.00	2.55	0.00	0.000	4	0.000	0.064	3453	3887	1764
3899	1.81	286.4	100.0	10.3	359	3903	0.00	2.35	0.00	0.000	6	0.000	0.030	3453	2492	1764
4223	1.81	286.4	67.7	10.3	389	4228	0.00	2.58	0.00	0.000	4	0.000	0.061	3453	3893	1763
4323	1.84	306.2	58.1	9.1	397	4355	0.00	2.38	24.70	0.532	6	0.000	0.029	3454	2496	1687
4673	1.88	342.0	27.9	8.3	430	4723	0.00	0.00	44.67	0.519	6	0.000	0.000	3453	2496	1542
4918	end climb: SURFACE_DEPTH_REACHED
state	4918	begin surface coast
4958	end surface coast: CONTROL_FINISHED_OK
state	4958	begin surface