Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 47 * 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 47 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 29 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 -58410.734 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 250 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 -58410.734

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 250 R_STBD_OVSHOOT 29 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 47 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 022932,2154.027,-15944.643,9,1.5,10,9.8 TGT_LATLONG 2155.000,-15943.400

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 0 KALMAN_CONTROL 0.324,0.016

_XMS_TOUTs 0 KALMAN_X -69470.6,-1553.5,226.4,65969.7,-1096.7

_SM_DEPTHo 0.86 KALMAN_Y 13357.2,306.3,128.8,-17443.7,379.0

_SM_ANGLEo -68.9 MHEAD_RNG_PITCHd_Wd 77.3,2910,-13.1,-10.000

GPS2 023813,2154.089,-15944.780,12,1.4,17,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TA

Post-dive calculations and measurements:

FINISH 0.1,1.001441 MM_CLLLayer 0.03

SM_CCo 5187,8.27,0.449,0,0,1305,400.08 MM_CfgFile 0.30

SM_GC 0.66,0.00,0.00,8.27,0.000,0.000,0.449,124,2647,1305,-13.67,0.51,400.08 _24V_AH 23.9,16.730

IRIDIUM_FIX 2143.45,-15923.92,271098,000005 _10V_AH 10.1,5.288

TT8_MAMPS 0.079001 DATA_FILE_SIZE 15840,497

HUMID 1921 CAP_FILE_SIZE 184243,0

INTERNAL_PRESSURE 11.4653 CFSIZE 260034560,252059648

TCM_TEMP 23.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 020809,040700,2154.419,-15944.512,37,1.2,43,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 177 141.62 SBE_CT 323 24 185.43

Roll_motor 38 69 63.56 nil 0 0 0.00

VBD_pump_during_apogee 781 625 11683.96 nil 0 0 0.00

VBD_pump_during_surface 8 448 88.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 58.48 nil 0 0 0.00

Iridium_during_connect 23 160 90.72 GUMSTIX 73 1000 1753.81

Iridium_during_xfer 328 223 1752.70

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 73 1000 1757.06

GPS 17 50 8.69

TT8 902 18 163.99

LPSleep 2449 0 9.65

TT8_Active 734 18 133.51

TT8_Sampling 931 38 357.51

TT8_CF8 706 44 314.13

TT8_Kalman 33 80 26.94

Analog_circuits 1332 12 161.48

GPS_charging 0 0 0.00

Compass 884 8 71.47

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.39 -243.3 0.0 0.0 0 100 0.00 0.00 -79.82 0.000 2 0.000 0.000 124 2639 3459

103 -1.39 -243.3 3.9 -8.9 12 133 15.82 2.42 -6.82 0.000 4 0.178 0.044 2786 1227 3931

258 -1.39 -243.3 41.5 -16.0 28 262 0.00 2.42 0.00 0.000 6 0.000 0.035 2786 2629 3935

456 -1.39 -243.3 72.8 -14.7 46 460 0.00 2.38 0.00 0.000 4 0.000 0.032 2786 1234 3935

499 -1.39 -243.3 78.6 -12.1 49 507 0.00 2.40 0.00 0.000 6 0.000 0.034 2786 2633 3935

824 -1.39 -243.3 117.8 -12.9 80 828 0.00 2.30 0.00 0.000 4 0.000 0.067 2786 3894 3935

890 -1.39 -243.3 127.4 -14.1 85 898 0.00 2.15 0.00 0.000 6 0.000 0.028 2786 2619 3935

1215 -1.39 -243.3 163.0 -11.1 116 1217 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2619 3935

1534 -1.39 -243.3 202.3 -12.1 146 1535 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2619 3935

1853 -1.39 -243.3 238.4 -11.8 176 1856 0.00 2.35 0.00 0.000 4 0.000 0.069 2786 3886 3935

1958 -1.39 -243.3 251.3 -12.1 185 1966 0.00 2.12 0.00 0.000 6 0.000 0.031 2786 2636 3935

2143 end dive: TARGET_DEPTH_EXCEEDED

state 2143 begin apogee

2148 -0.42 0.0 270.0 9.4 203 2458 1.00 0.00 301.12 0.626 6 0.072 0.000 3006 2530 2936

2459 end apogee: CONTROL_FINISHED_OK

state 2459 begin climb

2461 1.39 243.3 280.4 0.0 234 2774 1.75 2.55 300.52 0.614 4 0.047 0.045 3399 1133 1944

2915 1.40 251.4 251.1 9.8 273 2931 0.00 2.47 10.80 0.543 6 0.000 0.038 3399 2536 1911

3257 1.48 320.8 220.0 8.1 305 3352 0.00 2.55 88.05 0.615 4 0.000 0.068 3399 3888 1628

3448 1.49 325.9 201.1 9.9 321 3460 0.00 2.35 7.18 0.502 6 0.000 0.034 3399 2521 1607

3781 1.56 383.1 170.6 8.4 352 3862 0.15 0.00 73.43 0.604 6 0.045 0.000 3447 2521 1374

4178 1.56 383.1 118.9 14.8 390 4182 0.00 2.53 0.00 0.000 4 0.000 0.063 3447 3890 1369

4243 1.56 383.1 108.8 15.4 395 4251 0.00 2.35 0.00 0.000 6 0.000 0.031 3447 2518 1369

4570 1.56 383.1 66.0 10.7 426 4574 0.00 2.50 0.00 0.000 4 0.000 0.059 3447 3888 1368

4613 1.56 383.1 60.2 13.2 429 4621 0.00 2.30 0.00 0.000 6 0.000 0.030 3447 2518 1368

4938 1.56 383.1 23.9 11.9 460 4939 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 2517 1367

5123 end climb: SURFACE_DEPTH_REACHED

state 5123 begin surface coast

5163 end surface coast: CONTROL_FINISHED_OK

state 5163 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	47	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	29	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	-58410.734	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	250	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	022932,2154.027,-15944.643,9,1.5,10,9.8	TGT_LATLONG	2155.000,-15943.400
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	0	KALMAN_CONTROL	0.324,0.016
_XMS_TOUTs	0	KALMAN_X	-69470.6,-1553.5,226.4,65969.7,-1096.7
_SM_DEPTHo	0.86	KALMAN_Y	13357.2,306.3,128.8,-17443.7,379.0
_SM_ANGLEo	-68.9	MHEAD_RNG_PITCHd_Wd	77.3,2910,-13.1,-10.000
GPS2	023813,2154.089,-15944.780,12,1.4,17,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TA

FINISH	0.1,1.001441	MM_CLLLayer	0.03
SM_CCo	5187,8.27,0.449,0,0,1305,400.08	MM_CfgFile	0.30
SM_GC	0.66,0.00,0.00,8.27,0.000,0.000,0.449,124,2647,1305,-13.67,0.51,400.08	_24V_AH	23.9,16.730
IRIDIUM_FIX	2143.45,-15923.92,271098,000005	_10V_AH	10.1,5.288
TT8_MAMPS	0.079001	DATA_FILE_SIZE	15840,497
HUMID	1921	CAP_FILE_SIZE	184243,0
INTERNAL_PRESSURE	11.4653	CFSIZE	260034560,252059648
TCM_TEMP	23.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	020809,040700,2154.419,-15944.512,37,1.2,43,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	177	141.62	SBE_CT	323	24	185.43
Roll_motor	38	69	63.56	nil	0	0	0.00
VBD_pump_during_apogee	781	625	11683.96	nil	0	0	0.00
VBD_pump_during_surface	8	448	88.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	58.48	nil	0	0	0.00
Iridium_during_connect	23	160	90.72	GUMSTIX	73	1000	1753.81
Iridium_during_xfer	328	223	1752.70
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	73	1000	1757.06
GPS	17	50	8.69
TT8	902	18	163.99
LPSleep	2449	0	9.65
TT8_Active	734	18	133.51
TT8_Sampling	931	38	357.51
TT8_CF8	706	44	314.13
TT8_Kalman	33	80	26.94
Analog_circuits	1332	12	161.48
GPS_charging	0	0	0.00
Compass	884	8	71.47
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.39	-243.3	0.0	0.0	0	100	0.00	0.00	-79.82	0.000	2	0.000	0.000	124	2639	3459
103	-1.39	-243.3	3.9	-8.9	12	133	15.82	2.42	-6.82	0.000	4	0.178	0.044	2786	1227	3931
258	-1.39	-243.3	41.5	-16.0	28	262	0.00	2.42	0.00	0.000	6	0.000	0.035	2786	2629	3935
456	-1.39	-243.3	72.8	-14.7	46	460	0.00	2.38	0.00	0.000	4	0.000	0.032	2786	1234	3935
499	-1.39	-243.3	78.6	-12.1	49	507	0.00	2.40	0.00	0.000	6	0.000	0.034	2786	2633	3935
824	-1.39	-243.3	117.8	-12.9	80	828	0.00	2.30	0.00	0.000	4	0.000	0.067	2786	3894	3935
890	-1.39	-243.3	127.4	-14.1	85	898	0.00	2.15	0.00	0.000	6	0.000	0.028	2786	2619	3935
1215	-1.39	-243.3	163.0	-11.1	116	1217	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2619	3935
1534	-1.39	-243.3	202.3	-12.1	146	1535	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2619	3935
1853	-1.39	-243.3	238.4	-11.8	176	1856	0.00	2.35	0.00	0.000	4	0.000	0.069	2786	3886	3935
1958	-1.39	-243.3	251.3	-12.1	185	1966	0.00	2.12	0.00	0.000	6	0.000	0.031	2786	2636	3935
2143	end dive: TARGET_DEPTH_EXCEEDED
state	2143	begin apogee
2148	-0.42	0.0	270.0	9.4	203	2458	1.00	0.00	301.12	0.626	6	0.072	0.000	3006	2530	2936
2459	end apogee: CONTROL_FINISHED_OK
state	2459	begin climb
2461	1.39	243.3	280.4	0.0	234	2774	1.75	2.55	300.52	0.614	4	0.047	0.045	3399	1133	1944
2915	1.40	251.4	251.1	9.8	273	2931	0.00	2.47	10.80	0.543	6	0.000	0.038	3399	2536	1911
3257	1.48	320.8	220.0	8.1	305	3352	0.00	2.55	88.05	0.615	4	0.000	0.068	3399	3888	1628
3448	1.49	325.9	201.1	9.9	321	3460	0.00	2.35	7.18	0.502	6	0.000	0.034	3399	2521	1607
3781	1.56	383.1	170.6	8.4	352	3862	0.15	0.00	73.43	0.604	6	0.045	0.000	3447	2521	1374
4178	1.56	383.1	118.9	14.8	390	4182	0.00	2.53	0.00	0.000	4	0.000	0.063	3447	3890	1369
4243	1.56	383.1	108.8	15.4	395	4251	0.00	2.35	0.00	0.000	6	0.000	0.031	3447	2518	1369
4570	1.56	383.1	66.0	10.7	426	4574	0.00	2.50	0.00	0.000	4	0.000	0.059	3447	3888	1368
4613	1.56	383.1	60.2	13.2	429	4621	0.00	2.30	0.00	0.000	6	0.000	0.030	3447	2518	1368
4938	1.56	383.1	23.9	11.9	460	4939	0.00	0.00	0.00	0.000	6	0.000	0.000	3447	2517	1367
5123	end climb: SURFACE_DEPTH_REACHED
state	5123	begin surface coast
5163	end surface coast: CONTROL_FINISHED_OK
state	5163	begin surface