Glider dive log

PortSusan 17Jun09 * SG159 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 159 HEADING -1 ROLL_MAX 4045 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 19 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2200 ALTIM_PING_DEPTH 0

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 80 SM_CC 500 R_PORT_OVSHOOT 29 XPDR_VALID 1

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 36 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

D_CALL 0 KERMIT 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 188 MOTHERBOARD 5

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3616 DEVICE1 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 3060 DEVICE2 39

T_DIVE 67 CALL_TRIES 5 VBD_DBAND 2 DEVICE3 -1

T_MISSION 70 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE4 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN 270 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 SMARTS 0

T_NO_W 240 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 SMARTDEVICE1 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS_ALMANAC 0 UNCOM_BLEED 20 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -84381.641 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 137 MINV_10V 8 SIM_W 0

MAX_BUOY 130 PITCH_MAX 3974 FG_AHR_10V 5.4982243 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2754 FG_AHR_24V 4.8608227 SEABIRD_T_G 0.0043238276

GLIDE_SLOPE 45 PITCH_DBAND 0.050000001 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063342927

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_YINT -12.938553 SEABIRD_T_I 2.5365067e-05

RHO 1.023 P_OVSHOOT 0.1 PRESSURE_SLOPE 0.0001162598 SEABIRD_T_J 2.820881e-06

MASS 51634 PITCH_GAIN 26 AD7714Ch0Gain 128 SEABIRD_C_G -10.044323

NAV_MODE 1 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1187451

FERRY_MAX 45 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012779017

KALMAN_USE 1 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00018763109

HD_A 0.0041149999 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.014024 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0

HD_C 5.5727e-05 ROLL_MIN 253 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_ADJ_GAIN 0.02 SMARTS 0

AH0_10V 100 D_NO_BLEED 80 PITCH_AD_RATE 175 SM_CC 500

AH0_24V 150 D_OFFGRID 100 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_DBAND 0.050000001 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_GAIN 26 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_MAX 3974 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 150 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_MIN 137 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_TIMEOUT 15 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 5.4982243 PRESSURE_SLOPE 0.0001162598 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 4.8608227 PRESSURE_YINT -12.938553 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 P_OVSHOOT 0.1 T_DIVE 67

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_GPS 15

CALL_NDIVES 1 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CALL_TRIES 5 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -84381.641

CALL_WAIT 60 HD_A 0.0041149999 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

CAPMAXSIZE 100000 HD_B 0.014024 RELAUNCH 1 T_MISSION 70

CAPUPLOAD 1 HD_C 5.5727e-05 RHO 1.023 T_NO_W 240

CF8_MAXERRORS 0 HEADING -1 ROLL_ADJ_DBAND 0 T_RSLEEP 3

COMM_SEQ 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_TURN 270

COMPASS2_DEVICE -1 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_WATCHDOG 10

COMPASS_USE 0 ID 159 ROLL_DEG 45 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 4045 UPLOAD_DIVES_MAX -1

C_PITCH 2754 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 USE_BATHY -4

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 253 USE_ICE 0

C_ROLL_DIVE 2200 KERMIT 0 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

C_VBD 3060 MASS 51634 R_PORT_OVSHOOT 29 VBD_CNV -0.24529999

DEEPGLIDER 0 MAX_BUOY 130 R_STBD_OVSHOOT 36 VBD_DBAND 2

DEEPGLIDERMB 0 MINV_10V 8 SEABIRD_C_G -10.044323 VBD_MAX 3616

DEVICE1 2 MINV_24V 19 SEABIRD_C_H 1.1187451 VBD_MAXERRORS 1

DEVICE2 39 MISSION 3 SEABIRD_C_I -0.0012779017 VBD_MIN 188

DEVICE3 -1 MOTHERBOARD 5 SEABIRD_C_J 0.00018763109 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 NAV_MODE 1 SEABIRD_T_G 0.0043238276 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_FILEKB 4 SEABIRD_T_H 0.00063342927 VBD_TIMEOUT 720

DEVICE6 -1 N_GPS 20 SEABIRD_T_I 2.5365067e-05 XPDR_DEVICE 24

DIVE 19 N_NOCOMM 1 SEABIRD_T_J 2.820881e-06 XPDR_INHIBIT 90

D_ABORT 1090 N_NOSURFACE 0 SIM_PITCH 0 XPDR_VALID 1

D_BOOST 0 PHONE_DEVICE 48 SIM_W 0

D_CALL 0 PHONE_SUPPLY 2 SMARTDEVICE1 -1

D_FINISH 0 PITCH_ADJ_DBAND 1 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 092152,4807.227,-12223.054,10,99.0,29,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 37 TGT_RADIUS 200.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.101,0.148

_SM_DEPTHo 0.11 KALMAN_X -1003.0,-54.4,-62.8,606.9,75.3

_SM_ANGLEo -78.0 KALMAN_Y 3583.7,39.3,97.9,-3533.9,-154.3

GPS2 093227,4807.200,-12223.038,36,2.1,55,18.3 MHEAD_RNG_PITCHd_Wd 307.2,1900,-18.0,-7.463

SPEED_LIMITS 0.075,0.179 D_GRID 105

Post-dive calculations and measurements:

FINISH 41.9,1.022925 _10V_AH 10.7,0.959

SM_CCo 2056,433.17,0.703,0,0,188,704.50 FG_AHR_24Vo 4.993

SM_GC 0.04,7.75,0.00,0.00,0.054,0.000,0.063,148,2193,182,-8.10,-0.20,705.73 FG_AHR_10Vo 5.522

SUPER 3,206,254,0,0,0 MEM 324380

IRIDIUM_FIX 4751.72,-12340.51,120998,080828 DATA_FILE_SIZE 16006,361

HUMID 1078554148 CAP_FILE_SIZE 50461,0

INTERNAL_PRESSURE 7.7903 CFSIZE 260034560,256843776

TCM_TEMP 11.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 1 GPS 180609,101758,4807.316,-12223.130,10,2.5,29,18.3

_24V_AH 24.1,2.510

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 234 102.38 SBE_CT 209 24 121.03

Roll_motor 28 60 41.80 WL_BB2F 188 105 478.19

VBD_pump_during_apogee 195 779 3682.42 nil 0 0 0.00

VBD_pump_during_surface 433 703 7340.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 61.60 nil 0 0 0.00

Iridium_during_connect 35 160 137.15 nil 0 0 0.00

Iridium_during_xfer 373 223 2007.41

Transponder_ping 0 420 2.53

GUMSTIX_24V 0 0 0.00

GPS 57 50 30.68

TT8 521 19 110.55

LPSleep 742 2 17.40

TT8_Active 695 19 147.34

TT8_Sampling 670 39 285.71

TT8_CF8 611 45 299.87

TT8_Kalman 33 81 29.19

Analog_circuits 842 12 108.22

GPS_charging 0 0 0.00

Compass 622 8 53.29

RAFOS 0 0 0.00

Transponder 0 30 0.17

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

23 -0.85 -127.1 0.0 0.0 0 135 0.00 0.00 -105.00 0.000 6 0.007 0.007 153 2206 3579 0 0 0 0 0 0

140 -0.85 -127.1 3.5 -4.6 21 159 8.70 2.40 0.00 0.013 4 0.234 0.035 2442 3783 3581 0 0 0 0 0 0

452 -0.69 -127.1 43.8 -13.5 78 458 0.20 2.35 0.00 0.123 6 0.123 0.045 2509 2193 3584 0 0 0 0 0 0

596 -0.62 -127.1 57.9 -9.3 103 602 0.05 2.40 0.00 0.011 4 0.007 0.037 2521 3789 3584 0 0 0 0 0 0

637 -0.59 -127.1 61.8 -9.3 110 644 0.05 2.35 0.00 0.012 6 0.012 0.043 2542 2189 3584 0 0 0 0 0 0

781 -0.59 -127.1 73.1 -7.5 135 787 0.00 2.35 0.00 0.007 4 0.007 0.057 2542 615 3584 0 0 0 0 0 0

804 -0.57 -127.1 75.4 -8.1 139 811 0.05 2.33 0.00 -0.000 6 0.049 0.041 2551 2210 3584 0 0 0 0 0 0

946 -0.57 -127.1 86.3 -7.5 164 951 0.00 0.00 0.00 0.007 6 0.007 0.007 2551 2210 3584 0 0 0 0 0 0

1087 -0.57 -127.1 96.6 -7.6 189 1092 0.00 0.00 0.00 0.007 6 0.007 0.000 2551 2210 3584 0 0 0 0 0 0

1208 end dive: TARGET_DEPTH_EXCEEDED

state 1208 begin apogee

1214 -0.19 0.0 105.4 7.2 211 1317 0.28 0.00 92.50 0.780 6 0.008 0.778 2668 2211 3059 0 0 0 0 0 0

1318 end apogee: CONTROL_FINISHED_OK

state 1318 begin climb

1320 0.85 127.1 108.3 0.0 231 1423 0.90 0.00 93.07 0.755 6 0.043 0.760 3002 2210 2545 0 0 0 0 0 0

1559 0.77 127.1 88.1 10.4 275 1565 0.00 2.42 0.00 0.007 4 0.007 0.038 3002 3788 2544 0 0 0 0 0 0

1650 0.68 127.1 77.7 11.8 291 1656 0.00 2.40 0.00 0.010 6 0.000 0.052 3004 2211 2544 0 0 0 0 0 0

1793 0.61 127.1 63.2 9.5 316 1800 0.10 2.50 0.00 0.014 4 0.007 0.060 2978 607 2544 0 0 0 0 0 0

1812 0.53 127.1 60.9 9.8 319 1819 0.08 2.38 0.00 0.013 6 0.013 0.042 2950 2204 2544 0 0 0 0 0 0

1956 0.54 137.7 50.1 7.0 344 1972 0.00 2.45 10.40 0.690 4 0.007 0.053 2950 3780 2495 0 0 0 0 0 0

2029 0.54 137.7 43.8 9.0 357 2035 0.00 2.38 0.00 0.020 6 0.020 0.035 2960 2195 2495 0 0 0 0 0 0

2045 end climb: SURFACE_DEPTH_REACHED

state 2045 begin surface coast

2053 end surface coast: CONTROL_FINISHED_OK

state 2053 begin surface

ID	159	HEADING	-1	ROLL_MAX	4045	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	19	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2200	ALTIM_PING_DEPTH	0
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	80	SM_CC	500	R_PORT_OVSHOOT	29	XPDR_VALID	1
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	36	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
D_CALL	0	KERMIT	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	188	MOTHERBOARD	5
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3616	DEVICE1	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	3060	DEVICE2	39
T_DIVE	67	CALL_TRIES	5	VBD_DBAND	2	DEVICE3	-1
T_MISSION	70	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE4	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN	270	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	SMARTS	0
T_NO_W	240	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	SMARTDEVICE1	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS_ALMANAC	0	UNCOM_BLEED	20	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-84381.641	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	137	MINV_10V	8	SIM_W	0
MAX_BUOY	130	PITCH_MAX	3974	FG_AHR_10V	5.4982243	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2754	FG_AHR_24V	4.8608227	SEABIRD_T_G	0.0043238276
GLIDE_SLOPE	45	PITCH_DBAND	0.050000001	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063342927
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_YINT	-12.938553	SEABIRD_T_I	2.5365067e-05
RHO	1.023	P_OVSHOOT	0.1	PRESSURE_SLOPE	0.0001162598	SEABIRD_T_J	2.820881e-06
MASS	51634	PITCH_GAIN	26	AD7714Ch0Gain	128	SEABIRD_C_G	-10.044323
NAV_MODE	1	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1187451
FERRY_MAX	45	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012779017
KALMAN_USE	1	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00018763109
HD_A	0.0041149999	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.014024	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0
HD_C	5.5727e-05	ROLL_MIN	253	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	092152,4807.227,-12223.054,10,99.0,29,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	37	TGT_RADIUS	200.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.101,0.148
_SM_DEPTHo	0.11	KALMAN_X	-1003.0,-54.4,-62.8,606.9,75.3
_SM_ANGLEo	-78.0	KALMAN_Y	3583.7,39.3,97.9,-3533.9,-154.3
GPS2	093227,4807.200,-12223.038,36,2.1,55,18.3	MHEAD_RNG_PITCHd_Wd	307.2,1900,-18.0,-7.463
SPEED_LIMITS	0.075,0.179	D_GRID	105

FINISH	41.9,1.022925	_10V_AH	10.7,0.959
SM_CCo	2056,433.17,0.703,0,0,188,704.50	FG_AHR_24Vo	4.993
SM_GC	0.04,7.75,0.00,0.00,0.054,0.000,0.063,148,2193,182,-8.10,-0.20,705.73	FG_AHR_10Vo	5.522
SUPER	3,206,254,0,0,0	MEM	324380
IRIDIUM_FIX	4751.72,-12340.51,120998,080828	DATA_FILE_SIZE	16006,361
HUMID	1078554148	CAP_FILE_SIZE	50461,0
INTERNAL_PRESSURE	7.7903	CFSIZE	260034560,256843776
TCM_TEMP	11.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	1	GPS	180609,101758,4807.316,-12223.130,10,2.5,29,18.3
_24V_AH	24.1,2.510

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	234	102.38	SBE_CT	209	24	121.03
Roll_motor	28	60	41.80	WL_BB2F	188	105	478.19
VBD_pump_during_apogee	195	779	3682.42	nil	0	0	0.00
VBD_pump_during_surface	433	703	7340.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	61.60	nil	0	0	0.00
Iridium_during_connect	35	160	137.15	nil	0	0	0.00
Iridium_during_xfer	373	223	2007.41
Transponder_ping	0	420	2.53
GUMSTIX_24V	0	0	0.00
GPS	57	50	30.68
TT8	521	19	110.55
LPSleep	742	2	17.40
TT8_Active	695	19	147.34
TT8_Sampling	670	39	285.71
TT8_CF8	611	45	299.87
TT8_Kalman	33	81	29.19
Analog_circuits	842	12	108.22
GPS_charging	0	0	0.00
Compass	622	8	53.29
RAFOS	0	0	0.00
Transponder	0	30	0.17

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
23	-0.85	-127.1	0.0	0.0	0	135	0.00	0.00	-105.00	0.000	6	0.007	0.007	153	2206	3579	0	0	0	0	0	0
140	-0.85	-127.1	3.5	-4.6	21	159	8.70	2.40	0.00	0.013	4	0.234	0.035	2442	3783	3581	0	0	0	0	0	0
452	-0.69	-127.1	43.8	-13.5	78	458	0.20	2.35	0.00	0.123	6	0.123	0.045	2509	2193	3584	0	0	0	0	0	0
596	-0.62	-127.1	57.9	-9.3	103	602	0.05	2.40	0.00	0.011	4	0.007	0.037	2521	3789	3584	0	0	0	0	0	0
637	-0.59	-127.1	61.8	-9.3	110	644	0.05	2.35	0.00	0.012	6	0.012	0.043	2542	2189	3584	0	0	0	0	0	0
781	-0.59	-127.1	73.1	-7.5	135	787	0.00	2.35	0.00	0.007	4	0.007	0.057	2542	615	3584	0	0	0	0	0	0
804	-0.57	-127.1	75.4	-8.1	139	811	0.05	2.33	0.00	-0.000	6	0.049	0.041	2551	2210	3584	0	0	0	0	0	0
946	-0.57	-127.1	86.3	-7.5	164	951	0.00	0.00	0.00	0.007	6	0.007	0.007	2551	2210	3584	0	0	0	0	0	0
1087	-0.57	-127.1	96.6	-7.6	189	1092	0.00	0.00	0.00	0.007	6	0.007	0.000	2551	2210	3584	0	0	0	0	0	0
1208	end dive: TARGET_DEPTH_EXCEEDED
state	1208	begin apogee
1214	-0.19	0.0	105.4	7.2	211	1317	0.28	0.00	92.50	0.780	6	0.008	0.778	2668	2211	3059	0	0	0	0	0	0
1318	end apogee: CONTROL_FINISHED_OK
state	1318	begin climb
1320	0.85	127.1	108.3	0.0	231	1423	0.90	0.00	93.07	0.755	6	0.043	0.760	3002	2210	2545	0	0	0	0	0	0
1559	0.77	127.1	88.1	10.4	275	1565	0.00	2.42	0.00	0.007	4	0.007	0.038	3002	3788	2544	0	0	0	0	0	0
1650	0.68	127.1	77.7	11.8	291	1656	0.00	2.40	0.00	0.010	6	0.000	0.052	3004	2211	2544	0	0	0	0	0	0
1793	0.61	127.1	63.2	9.5	316	1800	0.10	2.50	0.00	0.014	4	0.007	0.060	2978	607	2544	0	0	0	0	0	0
1812	0.53	127.1	60.9	9.8	319	1819	0.08	2.38	0.00	0.013	6	0.013	0.042	2950	2204	2544	0	0	0	0	0	0
1956	0.54	137.7	50.1	7.0	344	1972	0.00	2.45	10.40	0.690	4	0.007	0.053	2950	3780	2495	0	0	0	0	0	0
2029	0.54	137.7	43.8	9.0	357	2035	0.00	2.38	0.00	0.020	6	0.020	0.035	2960	2195	2495	0	0	0	0	0	0
2045	end climb: SURFACE_DEPTH_REACHED
state	2045	begin surface coast
2053	end surface coast: CONTROL_FINISHED_OK
state	2053	begin surface