Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 46 * 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 46 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 38 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2560 ALTIM_FREQUENCY 13

D_TGT 270 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2720 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 400 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 46 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 56 INT_PRESSURE_YINT 1.4

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 325 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 582 DEVICE2 -1

T_MISSION 120 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 750 T_GPS_CHARGE -86781.758 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 45 PITCH_MAX 3730 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2946 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 400

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 750 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 270 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 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 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -86781.758

CAPMAXSIZE 100000 HD_C 9.8541004e-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 325 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 38 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 2946 KALMAN_USE 1 ROLL_MIN 311 USE_BATHY 0

C_ROLL_CLIMB 2720 KERMIT 0 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_DIVE 2560 MASS 51726 R_PORT_OVSHOOT 46 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 250 R_STBD_OVSHOOT 56 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 46 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 000806,2154.265,-15942.178,27,1.7,27,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 2 TGT_RADIUS 2000.000

_XMS_NAKs 4 KALMAN_CONTROL 0.288,-0.152

_XMS_TOUTs 0 KALMAN_X -70640.2,-1256.1,-53.1,71087.5,-705.8

_SM_DEPTHo 0.81 KALMAN_Y 31697.8,466.1,141.8,-35517.4,371.7

_SM_ANGLEo -59.7 MHEAD_RNG_PITCHd_Wd 108.0,4195,-13.9,-10.000

GPS2 002301,2154.356,-15942.459,12,1.7,17,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH 3.0,1.022901 MM_CLLLayer 0.03

SM_CCo 5092,0.00,0.000,0,0,1197,426.82 MM_CfgFile 0.30

SM_GC 1.17,12.57,0.00,0.00,0.023,0.000,0.000,419,2565,1197,-11.53,0.14,426.82 _24V_AH 24.1,23.400

IRIDIUM_FIX 2145.77,-15940.77,271098,000005 _10V_AH 10.1,26.333

TT8_MAMPS 0.077467 DATA_FILE_SIZE 12693,461

HUMID 1788 CAP_FILE_SIZE 177276,0

INTERNAL_PRESSURE 10.0722 CFSIZE -70647808,-91422720

TCM_TEMP 24.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,25,0,0

MM_GliderControlLayer 0.41 GPS 020809,015001,2154.324,-15942.042,11,1.8,28,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 128 83.89 SBE_CT 311 24 180.03

Roll_motor 43 55 58.13 nil 0 0 0.00

VBD_pump_during_apogee 510 616 7586.90 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 54 103 136.36 nil 0 0 0.00

Iridium_during_connect 56 160 216.52 GUMSTIX 81 1000 1958.82

Iridium_during_xfer 483 223 2600.98

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 45 1000 1093.85

GPS 17 50 8.87

TT8 880 18 160.05

LPSleep 2363 0 9.31

TT8_Active 502 18 91.34

TT8_Sampling 872 38 334.75

TT8_CF8 1367 44 607.56

TT8_Kalman 33 80 26.94

Analog_circuits 1059 12 128.36

GPS_charging 0 0 0.00

Compass 834 8 67.40

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

19 -1.69 -243.3 0.0 0.0 0 99 0.00 0.00 -76.38 0.000 2 0.000 0.000 418 2548 3470

105 -1.69 -243.3 4.6 -9.9 11 127 11.23 0.00 -6.38 0.000 6 0.128 0.000 2572 2548 3932

201 -1.69 -243.3 31.9 -17.7 21 207 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2548 3933

402 -1.69 -243.3 68.1 -16.6 40 408 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2548 3933

730 -1.69 -243.3 115.6 -12.9 71 734 0.00 2.60 0.00 0.000 4 0.000 0.042 2572 3875 3934

800 -1.69 -243.3 124.3 -13.3 76 804 0.00 2.47 0.00 0.000 6 0.000 0.024 2572 2560 3935

1128 -1.69 -243.3 168.9 -11.9 106 1133 0.00 2.60 0.00 0.000 4 0.000 0.043 2571 3871 3934

1175 -1.69 -243.3 174.8 -12.2 109 1182 0.00 2.53 0.00 0.000 6 0.000 0.025 2572 2548 3934

1503 -1.69 -243.3 217.5 -13.0 140 1507 0.00 2.10 0.00 0.000 4 0.000 0.046 2572 1231 3934

1544 -1.69 -243.3 223.1 -12.9 143 1552 0.00 2.03 0.00 0.000 6 0.000 0.025 2572 2552 3934

1873 -1.69 -243.3 259.8 -9.6 174 1879 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2552 3933

1973 end dive: TARGET_DEPTH_EXCEEDED

state 1973 begin apogee

1985 -0.50 0.0 270.2 9.9 184 2177 1.20 0.00 182.32 0.617 6 0.062 0.000 2835 2735 2936

2183 end apogee: CONTROL_FINISHED_OK

state 2183 begin climb

2189 1.69 243.3 279.2 0.0 203 2386 2.08 2.30 181.88 0.614 4 0.040 0.045 3319 1394 1944

2579 1.75 296.7 259.9 8.5 235 2627 0.00 2.08 42.60 0.593 6 0.000 0.028 3319 2705 1727

2950 1.82 352.6 226.0 8.5 269 3007 0.10 2.55 45.95 0.588 4 0.051 0.055 3357 3925 1498

3146 1.82 352.6 204.0 12.3 285 3150 0.00 2.38 0.00 0.000 6 0.000 0.028 3357 2719 1493

3475 1.82 352.6 165.5 10.5 315 3479 0.00 2.53 0.00 0.000 4 0.000 0.051 3357 3926 1491

3575 1.82 352.6 154.5 11.4 323 3579 0.00 2.38 0.00 0.000 6 0.000 0.028 3357 2710 1491

3908 1.82 352.6 116.4 11.2 354 3913 0.00 2.50 0.00 0.000 4 0.000 0.047 3357 3925 1488

3998 1.82 352.6 106.0 11.2 361 4002 0.00 2.35 0.00 0.000 6 0.000 0.026 3357 2714 1488

4326 1.82 352.6 69.2 12.1 391 4330 0.00 2.50 0.00 0.000 4 0.000 0.046 3357 3935 1488

4459 1.82 352.6 55.0 11.6 401 4466 0.00 2.35 0.00 0.000 6 0.000 0.025 3357 2720 1488

4787 1.91 424.6 25.1 8.0 432 4858 0.00 2.53 57.75 0.456 4 0.000 0.045 3357 3931 1205

4989 end climb: SURFACE_DEPTH_REACHED

state 4990 begin surface coast

4996 end surface coast: CONTROL_FINISHED_OK

state 4996 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	46	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	38	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2560	ALTIM_FREQUENCY	13
D_TGT	270	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2720	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	400	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	46	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	56	INT_PRESSURE_YINT	1.4
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	325	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	582	DEVICE2	-1
T_MISSION	120	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	750	T_GPS_CHARGE	-86781.758	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	45	PITCH_MAX	3730	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2946	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	000806,2154.265,-15942.178,27,1.7,27,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	2	TGT_RADIUS	2000.000
_XMS_NAKs	4	KALMAN_CONTROL	0.288,-0.152
_XMS_TOUTs	0	KALMAN_X	-70640.2,-1256.1,-53.1,71087.5,-705.8
_SM_DEPTHo	0.81	KALMAN_Y	31697.8,466.1,141.8,-35517.4,371.7
_SM_ANGLEo	-59.7	MHEAD_RNG_PITCHd_Wd	108.0,4195,-13.9,-10.000
GPS2	002301,2154.356,-15942.459,12,1.7,17,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	3.0,1.022901	MM_CLLLayer	0.03
SM_CCo	5092,0.00,0.000,0,0,1197,426.82	MM_CfgFile	0.30
SM_GC	1.17,12.57,0.00,0.00,0.023,0.000,0.000,419,2565,1197,-11.53,0.14,426.82	_24V_AH	24.1,23.400
IRIDIUM_FIX	2145.77,-15940.77,271098,000005	_10V_AH	10.1,26.333
TT8_MAMPS	0.077467	DATA_FILE_SIZE	12693,461
HUMID	1788	CAP_FILE_SIZE	177276,0
INTERNAL_PRESSURE	10.0722	CFSIZE	-70647808,-91422720
TCM_TEMP	24.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
MM_GliderControlLayer	0.41	GPS	020809,015001,2154.324,-15942.042,11,1.8,28,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	128	83.89	SBE_CT	311	24	180.03
Roll_motor	43	55	58.13	nil	0	0	0.00
VBD_pump_during_apogee	510	616	7586.90	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	54	103	136.36	nil	0	0	0.00
Iridium_during_connect	56	160	216.52	GUMSTIX	81	1000	1958.82
Iridium_during_xfer	483	223	2600.98
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	45	1000	1093.85
GPS	17	50	8.87
TT8	880	18	160.05
LPSleep	2363	0	9.31
TT8_Active	502	18	91.34
TT8_Sampling	872	38	334.75
TT8_CF8	1367	44	607.56
TT8_Kalman	33	80	26.94
Analog_circuits	1059	12	128.36
GPS_charging	0	0	0.00
Compass	834	8	67.40
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
19	-1.69	-243.3	0.0	0.0	0	99	0.00	0.00	-76.38	0.000	2	0.000	0.000	418	2548	3470
105	-1.69	-243.3	4.6	-9.9	11	127	11.23	0.00	-6.38	0.000	6	0.128	0.000	2572	2548	3932
201	-1.69	-243.3	31.9	-17.7	21	207	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2548	3933
402	-1.69	-243.3	68.1	-16.6	40	408	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2548	3933
730	-1.69	-243.3	115.6	-12.9	71	734	0.00	2.60	0.00	0.000	4	0.000	0.042	2572	3875	3934
800	-1.69	-243.3	124.3	-13.3	76	804	0.00	2.47	0.00	0.000	6	0.000	0.024	2572	2560	3935
1128	-1.69	-243.3	168.9	-11.9	106	1133	0.00	2.60	0.00	0.000	4	0.000	0.043	2571	3871	3934
1175	-1.69	-243.3	174.8	-12.2	109	1182	0.00	2.53	0.00	0.000	6	0.000	0.025	2572	2548	3934
1503	-1.69	-243.3	217.5	-13.0	140	1507	0.00	2.10	0.00	0.000	4	0.000	0.046	2572	1231	3934
1544	-1.69	-243.3	223.1	-12.9	143	1552	0.00	2.03	0.00	0.000	6	0.000	0.025	2572	2552	3934
1873	-1.69	-243.3	259.8	-9.6	174	1879	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2552	3933
1973	end dive: TARGET_DEPTH_EXCEEDED
state	1973	begin apogee
1985	-0.50	0.0	270.2	9.9	184	2177	1.20	0.00	182.32	0.617	6	0.062	0.000	2835	2735	2936
2183	end apogee: CONTROL_FINISHED_OK
state	2183	begin climb
2189	1.69	243.3	279.2	0.0	203	2386	2.08	2.30	181.88	0.614	4	0.040	0.045	3319	1394	1944
2579	1.75	296.7	259.9	8.5	235	2627	0.00	2.08	42.60	0.593	6	0.000	0.028	3319	2705	1727
2950	1.82	352.6	226.0	8.5	269	3007	0.10	2.55	45.95	0.588	4	0.051	0.055	3357	3925	1498
3146	1.82	352.6	204.0	12.3	285	3150	0.00	2.38	0.00	0.000	6	0.000	0.028	3357	2719	1493
3475	1.82	352.6	165.5	10.5	315	3479	0.00	2.53	0.00	0.000	4	0.000	0.051	3357	3926	1491
3575	1.82	352.6	154.5	11.4	323	3579	0.00	2.38	0.00	0.000	6	0.000	0.028	3357	2710	1491
3908	1.82	352.6	116.4	11.2	354	3913	0.00	2.50	0.00	0.000	4	0.000	0.047	3357	3925	1488
3998	1.82	352.6	106.0	11.2	361	4002	0.00	2.35	0.00	0.000	6	0.000	0.026	3357	2714	1488
4326	1.82	352.6	69.2	12.1	391	4330	0.00	2.50	0.00	0.000	4	0.000	0.046	3357	3935	1488
4459	1.82	352.6	55.0	11.6	401	4466	0.00	2.35	0.00	0.000	6	0.000	0.025	3357	2720	1488
4787	1.91	424.6	25.1	8.0	432	4858	0.00	2.53	57.75	0.456	4	0.000	0.045	3357	3931	1205
4989	end climb: SURFACE_DEPTH_REACHED
state	4990	begin surface coast
4996	end surface coast: CONTROL_FINISHED_OK
state	4996	begin surface