Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 54 * 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 54 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 10 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_TGT 300 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 3050 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 450 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 46 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 120 UPLOAD_DIVES_MAX -1 VBD_MIN 582 DEVICE2 -1

T_MISSION 175 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 -86984.828 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 150 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 450

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 300 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 120

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 -86984.828

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 175

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 10 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 3050 KERMIT 0 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_DIVE 2500 MASS 51726 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 150 R_STBD_OVSHOOT 46 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 54 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 182622,2153.231,-15941.671,56,1.6,71,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 1 TGT_RADIUS 400.000

_XMS_NAKs 20 KALMAN_CONTROL 0.244,0.016

_XMS_TOUTs 0 KALMAN_X -85646.4,321.1,-207.6,85458.6,-2471.3

_SM_DEPTHo 0.74 KALMAN_Y 39714.2,-718.5,298.3,-44606.1,917.4

_SM_ANGLEo -60.6 MHEAD_RNG_PITCHd_Wd 76.4,1122,-15.5,-8.333

GPS2 184110,2153.216,-15941.998,15,3.1,34,9.8 D_GRID 300

SPEED_LIMITS 0.083,0.245 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH 0.3,1.011544 MM_CLLLayer 0.03

SM_CCo 6471,71.05,0.423,0,0,1101,450.13 MM_CfgFile 0.30

SM_GC 0.91,0.00,0.00,71.05,0.000,0.000,0.423,418,2530,1101,-11.62,0.85,450.13 _24V_AH 24.1,24.589

IRIDIUM_FIX 2145.77,-15943.76,271098,161611 _10V_AH 10.1,27.282

TT8_MAMPS 0.065962 DATA_FILE_SIZE 19005,604

HUMID 1737 CAP_FILE_SIZE 222198,0

INTERNAL_PRESSURE 10.0722 CFSIZE -70647808,-93913088

TCM_TEMP 24.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 020809,203222,2153.607,-15942.606,10,2.4,29,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 125 82.10 SBE_CT 408 24 236.39

Roll_motor 9 90 21.27 nil 0 0 0.00

VBD_pump_during_apogee 344 635 5272.16 nil 0 0 0.00

VBD_pump_during_surface 71 422 723.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 78.54 nil 0 0 0.00

Iridium_during_connect 25 160 99.80 GUMSTIX 103 1000 2491.87

Iridium_during_xfer 528 223 2841.92

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 80 1000 1930.02

GPS 35 50 17.99

TT8 1199 18 218.03

LPSleep 3060 0 12.06

TT8_Active 442 18 80.52

TT8_Sampling 1198 38 460.10

TT8_CF8 1524 44 677.30

TT8_Kalman 33 80 26.94

Analog_circuits 1082 12 131.22

GPS_charging 0 0 0.00

Compass 1140 8 92.18

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

25 -1.73 -146.0 0.0 0.0 0 104 0.00 0.00 -76.82 0.000 2 0.000 0.000 418 2518 3275

111 -1.73 -146.0 3.6 -5.6 11 133 11.12 0.45 -4.00 0.000 4 0.125 0.091 2565 2874 3534

397 -1.73 -146.0 60.2 -16.0 39 400 0.00 0.57 0.00 0.000 6 0.000 0.031 2564 2476 3535

730 -1.73 -146.0 107.5 -15.0 70 737 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2476 3536

1059 -1.73 -146.0 149.9 -11.1 101 1065 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2476 3536

1387 -1.73 -146.0 186.6 -11.0 132 1391 0.00 0.52 0.00 0.000 4 0.000 0.031 2565 2859 3536

1655 -1.73 -146.0 217.4 -11.8 155 1659 0.00 0.52 0.00 0.000 6 0.000 0.035 2565 2492 3536

1989 -1.73 -146.0 250.6 -9.7 186 1992 0.00 0.52 0.00 0.000 4 0.000 0.033 2565 2865 3536

2256 -1.73 -146.0 277.0 -9.3 209 2260 0.00 0.52 0.00 0.000 6 0.000 0.037 2565 2505 3536

2500 end dive: TARGET_DEPTH_EXCEEDED

state 2500 begin apogee

2513 -0.50 0.0 300.2 9.5 232 2633 1.23 0.00 110.60 0.636 6 0.066 0.000 2832 3047 2936

2639 end apogee: CONTROL_FINISHED_OK

state 2639 begin climb

2644 1.73 146.0 303.9 0.0 244 2765 2.12 0.50 110.03 0.630 4 0.041 0.029 3331 2699 2340

2920 1.81 208.7 293.0 5.9 266 2979 0.00 0.52 48.17 0.618 6 0.000 0.037 3331 3052 2085

3297 1.81 208.7 260.8 9.2 301 3303 0.00 0.00 0.00 0.000 6 0.000 0.000 3331 3052 2082

3626 1.82 218.1 232.8 8.0 332 3638 0.00 0.52 7.85 0.515 4 0.000 0.043 3331 3388 2047

3904 1.83 222.6 211.6 8.2 355 3913 0.00 0.50 4.65 0.428 6 0.000 0.030 3330 3035 2029

4233 1.87 253.7 186.5 7.1 386 4261 0.00 0.00 24.88 0.578 6 0.000 0.000 3331 3034 1901

4581 1.87 253.7 155.8 9.2 419 4588 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 3029 1898

4910 1.87 253.7 125.3 10.3 450 4913 0.00 0.55 0.00 0.000 4 0.000 0.039 3330 3391 1897

5177 1.89 271.1 104.3 7.7 473 5195 0.08 0.47 14.23 0.500 6 0.033 0.028 3372 3039 1831

5517 1.89 271.1 72.3 9.2 504 5521 0.00 0.52 0.00 0.000 4 0.000 0.037 3372 3389 1828

5740 1.90 283.1 52.7 7.9 523 5754 0.00 0.45 10.65 0.439 6 0.000 0.027 3372 3052 1782

6073 1.90 283.1 29.7 8.9 554 6077 0.00 0.52 0.00 0.000 4 0.000 0.036 3372 3394 1780

6348 1.92 297.9 6.8 7.8 590 6369 0.00 0.47 13.00 0.407 6 0.000 0.026 3372 3039 1720

6384 end climb: SURFACE_DEPTH_REACHED

state 6384 begin surface coast

6438 end surface coast: CONTROL_FINISHED_OK

state 6438 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	54	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	10	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_TGT	300	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	3050	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	450	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	46	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	120	UPLOAD_DIVES_MAX	-1	VBD_MIN	582	DEVICE2	-1
T_MISSION	175	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	-86984.828	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	150	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	182622,2153.231,-15941.671,56,1.6,71,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	1	TGT_RADIUS	400.000
_XMS_NAKs	20	KALMAN_CONTROL	0.244,0.016
_XMS_TOUTs	0	KALMAN_X	-85646.4,321.1,-207.6,85458.6,-2471.3
_SM_DEPTHo	0.74	KALMAN_Y	39714.2,-718.5,298.3,-44606.1,917.4
_SM_ANGLEo	-60.6	MHEAD_RNG_PITCHd_Wd	76.4,1122,-15.5,-8.333
GPS2	184110,2153.216,-15941.998,15,3.1,34,9.8	D_GRID	300
SPEED_LIMITS	0.083,0.245	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	0.3,1.011544	MM_CLLLayer	0.03
SM_CCo	6471,71.05,0.423,0,0,1101,450.13	MM_CfgFile	0.30
SM_GC	0.91,0.00,0.00,71.05,0.000,0.000,0.423,418,2530,1101,-11.62,0.85,450.13	_24V_AH	24.1,24.589
IRIDIUM_FIX	2145.77,-15943.76,271098,161611	_10V_AH	10.1,27.282
TT8_MAMPS	0.065962	DATA_FILE_SIZE	19005,604
HUMID	1737	CAP_FILE_SIZE	222198,0
INTERNAL_PRESSURE	10.0722	CFSIZE	-70647808,-93913088
TCM_TEMP	24.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	020809,203222,2153.607,-15942.606,10,2.4,29,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	125	82.10	SBE_CT	408	24	236.39
Roll_motor	9	90	21.27	nil	0	0	0.00
VBD_pump_during_apogee	344	635	5272.16	nil	0	0	0.00
VBD_pump_during_surface	71	422	723.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	78.54	nil	0	0	0.00
Iridium_during_connect	25	160	99.80	GUMSTIX	103	1000	2491.87
Iridium_during_xfer	528	223	2841.92
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	80	1000	1930.02
GPS	35	50	17.99
TT8	1199	18	218.03
LPSleep	3060	0	12.06
TT8_Active	442	18	80.52
TT8_Sampling	1198	38	460.10
TT8_CF8	1524	44	677.30
TT8_Kalman	33	80	26.94
Analog_circuits	1082	12	131.22
GPS_charging	0	0	0.00
Compass	1140	8	92.18
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
25	-1.73	-146.0	0.0	0.0	0	104	0.00	0.00	-76.82	0.000	2	0.000	0.000	418	2518	3275
111	-1.73	-146.0	3.6	-5.6	11	133	11.12	0.45	-4.00	0.000	4	0.125	0.091	2565	2874	3534
397	-1.73	-146.0	60.2	-16.0	39	400	0.00	0.57	0.00	0.000	6	0.000	0.031	2564	2476	3535
730	-1.73	-146.0	107.5	-15.0	70	737	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2476	3536
1059	-1.73	-146.0	149.9	-11.1	101	1065	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2476	3536
1387	-1.73	-146.0	186.6	-11.0	132	1391	0.00	0.52	0.00	0.000	4	0.000	0.031	2565	2859	3536
1655	-1.73	-146.0	217.4	-11.8	155	1659	0.00	0.52	0.00	0.000	6	0.000	0.035	2565	2492	3536
1989	-1.73	-146.0	250.6	-9.7	186	1992	0.00	0.52	0.00	0.000	4	0.000	0.033	2565	2865	3536
2256	-1.73	-146.0	277.0	-9.3	209	2260	0.00	0.52	0.00	0.000	6	0.000	0.037	2565	2505	3536
2500	end dive: TARGET_DEPTH_EXCEEDED
state	2500	begin apogee
2513	-0.50	0.0	300.2	9.5	232	2633	1.23	0.00	110.60	0.636	6	0.066	0.000	2832	3047	2936
2639	end apogee: CONTROL_FINISHED_OK
state	2639	begin climb
2644	1.73	146.0	303.9	0.0	244	2765	2.12	0.50	110.03	0.630	4	0.041	0.029	3331	2699	2340
2920	1.81	208.7	293.0	5.9	266	2979	0.00	0.52	48.17	0.618	6	0.000	0.037	3331	3052	2085
3297	1.81	208.7	260.8	9.2	301	3303	0.00	0.00	0.00	0.000	6	0.000	0.000	3331	3052	2082
3626	1.82	218.1	232.8	8.0	332	3638	0.00	0.52	7.85	0.515	4	0.000	0.043	3331	3388	2047
3904	1.83	222.6	211.6	8.2	355	3913	0.00	0.50	4.65	0.428	6	0.000	0.030	3330	3035	2029
4233	1.87	253.7	186.5	7.1	386	4261	0.00	0.00	24.88	0.578	6	0.000	0.000	3331	3034	1901
4581	1.87	253.7	155.8	9.2	419	4588	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	3029	1898
4910	1.87	253.7	125.3	10.3	450	4913	0.00	0.55	0.00	0.000	4	0.000	0.039	3330	3391	1897
5177	1.89	271.1	104.3	7.7	473	5195	0.08	0.47	14.23	0.500	6	0.033	0.028	3372	3039	1831
5517	1.89	271.1	72.3	9.2	504	5521	0.00	0.52	0.00	0.000	4	0.000	0.037	3372	3389	1828
5740	1.90	283.1	52.7	7.9	523	5754	0.00	0.45	10.65	0.439	6	0.000	0.027	3372	3052	1782
6073	1.90	283.1	29.7	8.9	554	6077	0.00	0.52	0.00	0.000	4	0.000	0.036	3372	3394	1780
6348	1.92	297.9	6.8	7.8	590	6369	0.00	0.47	13.00	0.407	6	0.000	0.026	3372	3039	1720
6384	end climb: SURFACE_DEPTH_REACHED
state	6384	begin surface coast
6438	end surface coast: CONTROL_FINISHED_OK
state	6438	begin surface