Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 57 * 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 57 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 47 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -58658.715 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 175 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 -58658.715

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 47 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 175 R_STBD_OVSHOOT 37 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 57 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 230537,2154.595,-15942.516,8,1.3,14,9.8 TGT_LATLONG 2154.185,-15941.805

_CALLS 1 TGT_RADIUS 400.000

_XMS_NAKs 2 KALMAN_CONTROL 0.238,-0.143

_XMS_TOUTs 0 KALMAN_X -81257.6,-319.5,-24.8,80402.7,-563.0

_SM_DEPTHo 0.79 KALMAN_Y 16081.7,-26.3,-28.1,-18662.3,364.7

_SM_ANGLEo -68.8 MHEAD_RNG_PITCHd_Wd 111.2,1701,-16.1,-10.000

GPS2 231513,2154.635,-15942.668,10,1.3,15,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.278 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobNE

Post-dive calculations and measurements:

FINISH 2.2,1.022861 MM_CLLLayer 0.03

SM_CCo 5363,10.50,0.457,0,0,1304,400.08 MM_CfgFile 0.30

SM_GC 0.58,0.00,0.00,10.50,0.000,0.000,0.457,123,2619,1304,-13.67,-0.28,400.08 _24V_AH 23.9,18.485

IRIDIUM_FIX 2148.09,-15945.13,271098,212135 _10V_AH 10.1,6.007

TT8_MAMPS 0.065195 DATA_FILE_SIZE 15850,513

HUMID 1904 CAP_FILE_SIZE 189649,0

INTERNAL_PRESSURE 11.4458 CFSIZE 260034560,250900480

TCM_TEMP 23.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 030809,004654,2154.442,-15942.344,39,1.4,40,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 178 144.47 SBE_CT 335 24 192.23

Roll_motor 38 72 66.73 nil 0 0 0.00

VBD_pump_during_apogee 686 631 10357.37 nil 0 0 0.00

VBD_pump_during_surface 10 457 114.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 60.81 nil 0 0 0.00

Iridium_during_connect 26 160 100.33 GUMSTIX 84 1000 2010.64

Iridium_during_xfer 378 223 2019.66

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 68 1000 1631.01

GPS 15 50 7.76

TT8 934 18 169.95

LPSleep 2691 0 10.60

TT8_Active 678 18 123.43

TT8_Sampling 877 38 336.94

TT8_CF8 771 44 342.89

TT8_Kalman 33 80 26.94

Analog_circuits 1234 12 149.60

GPS_charging 0 0 0.00

Compass 834 8 67.42

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 -1.55 -170.3 0.0 0.0 0 95 0.00 0.00 -74.65 0.000 2 0.000 0.000 123 2654 3395

97 -1.55 -170.3 3.5 -8.2 11 126 15.70 2.45 -3.62 0.000 4 0.179 0.042 2750 1238 3634

162 -1.55 -170.3 25.0 -18.7 19 166 0.00 2.38 0.00 0.000 6 0.000 0.033 2750 2622 3634

358 -1.55 -170.3 59.5 -17.5 37 362 0.00 2.35 0.00 0.000 4 0.000 0.031 2750 1236 3635

390 -1.55 -170.3 64.8 -14.8 39 398 0.00 2.42 0.00 0.000 6 0.000 0.033 2750 2630 3636

716 -1.55 -170.3 106.9 -12.1 70 717 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2630 3637

1035 -1.55 -170.3 148.5 -10.6 100 1037 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2630 3639

1353 -1.55 -170.3 182.2 -10.1 130 1357 0.00 2.38 0.00 0.000 4 0.000 0.035 2750 1235 3639

1390 -1.55 -170.3 186.3 -11.0 133 1398 0.00 2.42 0.00 0.000 6 0.000 0.036 2750 2624 3639

1717 -1.55 -170.3 220.1 -10.6 164 1718 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2624 3640

2034 -1.55 -170.3 255.7 -11.3 194 2035 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2624 3639

2172 end dive: TARGET_DEPTH_EXCEEDED

state 2172 begin apogee

2176 -0.42 0.0 270.8 10.7 207 2396 1.17 0.00 211.93 0.631 6 0.078 0.000 3001 2538 2936

2397 end apogee: CONTROL_FINISHED_OK

state 2397 begin climb

2399 1.55 170.3 278.3 0.0 229 2619 1.92 0.00 211.23 0.617 6 0.047 0.000 3444 2538 2241

2934 1.55 173.5 237.2 9.9 279 2947 0.00 2.55 4.55 0.429 4 0.000 0.072 3444 3887 2228

3008 1.56 178.2 229.3 9.8 285 3021 0.00 2.35 7.62 0.521 6 0.000 0.034 3445 2514 2209

3340 1.56 178.2 196.5 10.1 316 3342 0.00 0.00 0.00 0.000 6 0.000 0.000 3445 2515 2206

3659 1.64 241.9 169.4 7.5 346 3741 0.00 0.00 77.50 0.614 6 0.000 0.000 3444 2514 1950

4057 1.64 241.9 131.8 10.7 384 4058 0.00 0.00 0.00 0.000 6 0.000 0.000 3444 2514 1944

4376 1.68 274.7 97.9 8.7 414 4424 0.00 2.45 39.20 0.582 4 0.000 0.041 3445 1131 1816

4463 1.68 274.7 88.2 13.2 421 4471 0.00 2.47 0.00 0.000 6 0.000 0.035 3445 2530 1814

4789 1.74 328.5 55.3 7.9 452 4863 0.00 2.58 66.50 0.554 4 0.000 0.061 3444 3891 1596

4909 1.74 328.5 44.0 10.1 462 4913 0.00 2.33 0.00 0.000 6 0.000 0.031 3444 2518 1594

5106 1.78 360.1 26.7 8.7 480 5154 0.00 2.42 39.38 0.522 4 0.000 0.037 3444 1136 1467

5208 1.81 384.2 16.1 9.0 492 5244 0.00 2.42 28.62 0.505 6 0.000 0.032 3445 2539 1369

5312 1.81 384.2 5.1 11.2 509 5319 0.00 2.45 0.00 0.000 4 0.000 0.061 3444 3883 1368

5323 end climb: SURFACE_DEPTH_REACHED

state 5324 begin surface coast

5337 end surface coast: CONTROL_FINISHED_OK

state 5337 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	57	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	47	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-58658.715	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	175	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	230537,2154.595,-15942.516,8,1.3,14,9.8	TGT_LATLONG	2154.185,-15941.805
_CALLS	1	TGT_RADIUS	400.000
_XMS_NAKs	2	KALMAN_CONTROL	0.238,-0.143
_XMS_TOUTs	0	KALMAN_X	-81257.6,-319.5,-24.8,80402.7,-563.0
_SM_DEPTHo	0.79	KALMAN_Y	16081.7,-26.3,-28.1,-18662.3,364.7
_SM_ANGLEo	-68.8	MHEAD_RNG_PITCHd_Wd	111.2,1701,-16.1,-10.000
GPS2	231513,2154.635,-15942.668,10,1.3,15,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.278	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobNE

FINISH	2.2,1.022861	MM_CLLLayer	0.03
SM_CCo	5363,10.50,0.457,0,0,1304,400.08	MM_CfgFile	0.30
SM_GC	0.58,0.00,0.00,10.50,0.000,0.000,0.457,123,2619,1304,-13.67,-0.28,400.08	_24V_AH	23.9,18.485
IRIDIUM_FIX	2148.09,-15945.13,271098,212135	_10V_AH	10.1,6.007
TT8_MAMPS	0.065195	DATA_FILE_SIZE	15850,513
HUMID	1904	CAP_FILE_SIZE	189649,0
INTERNAL_PRESSURE	11.4458	CFSIZE	260034560,250900480
TCM_TEMP	23.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	030809,004654,2154.442,-15942.344,39,1.4,40,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	178	144.47	SBE_CT	335	24	192.23
Roll_motor	38	72	66.73	nil	0	0	0.00
VBD_pump_during_apogee	686	631	10357.37	nil	0	0	0.00
VBD_pump_during_surface	10	457	114.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	60.81	nil	0	0	0.00
Iridium_during_connect	26	160	100.33	GUMSTIX	84	1000	2010.64
Iridium_during_xfer	378	223	2019.66
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	68	1000	1631.01
GPS	15	50	7.76
TT8	934	18	169.95
LPSleep	2691	0	10.60
TT8_Active	678	18	123.43
TT8_Sampling	877	38	336.94
TT8_CF8	771	44	342.89
TT8_Kalman	33	80	26.94
Analog_circuits	1234	12	149.60
GPS_charging	0	0	0.00
Compass	834	8	67.42
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	-1.55	-170.3	0.0	0.0	0	95	0.00	0.00	-74.65	0.000	2	0.000	0.000	123	2654	3395
97	-1.55	-170.3	3.5	-8.2	11	126	15.70	2.45	-3.62	0.000	4	0.179	0.042	2750	1238	3634
162	-1.55	-170.3	25.0	-18.7	19	166	0.00	2.38	0.00	0.000	6	0.000	0.033	2750	2622	3634
358	-1.55	-170.3	59.5	-17.5	37	362	0.00	2.35	0.00	0.000	4	0.000	0.031	2750	1236	3635
390	-1.55	-170.3	64.8	-14.8	39	398	0.00	2.42	0.00	0.000	6	0.000	0.033	2750	2630	3636
716	-1.55	-170.3	106.9	-12.1	70	717	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2630	3637
1035	-1.55	-170.3	148.5	-10.6	100	1037	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2630	3639
1353	-1.55	-170.3	182.2	-10.1	130	1357	0.00	2.38	0.00	0.000	4	0.000	0.035	2750	1235	3639
1390	-1.55	-170.3	186.3	-11.0	133	1398	0.00	2.42	0.00	0.000	6	0.000	0.036	2750	2624	3639
1717	-1.55	-170.3	220.1	-10.6	164	1718	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2624	3640
2034	-1.55	-170.3	255.7	-11.3	194	2035	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2624	3639
2172	end dive: TARGET_DEPTH_EXCEEDED
state	2172	begin apogee
2176	-0.42	0.0	270.8	10.7	207	2396	1.17	0.00	211.93	0.631	6	0.078	0.000	3001	2538	2936
2397	end apogee: CONTROL_FINISHED_OK
state	2397	begin climb
2399	1.55	170.3	278.3	0.0	229	2619	1.92	0.00	211.23	0.617	6	0.047	0.000	3444	2538	2241
2934	1.55	173.5	237.2	9.9	279	2947	0.00	2.55	4.55	0.429	4	0.000	0.072	3444	3887	2228
3008	1.56	178.2	229.3	9.8	285	3021	0.00	2.35	7.62	0.521	6	0.000	0.034	3445	2514	2209
3340	1.56	178.2	196.5	10.1	316	3342	0.00	0.00	0.00	0.000	6	0.000	0.000	3445	2515	2206
3659	1.64	241.9	169.4	7.5	346	3741	0.00	0.00	77.50	0.614	6	0.000	0.000	3444	2514	1950
4057	1.64	241.9	131.8	10.7	384	4058	0.00	0.00	0.00	0.000	6	0.000	0.000	3444	2514	1944
4376	1.68	274.7	97.9	8.7	414	4424	0.00	2.45	39.20	0.582	4	0.000	0.041	3445	1131	1816
4463	1.68	274.7	88.2	13.2	421	4471	0.00	2.47	0.00	0.000	6	0.000	0.035	3445	2530	1814
4789	1.74	328.5	55.3	7.9	452	4863	0.00	2.58	66.50	0.554	4	0.000	0.061	3444	3891	1596
4909	1.74	328.5	44.0	10.1	462	4913	0.00	2.33	0.00	0.000	6	0.000	0.031	3444	2518	1594
5106	1.78	360.1	26.7	8.7	480	5154	0.00	2.42	39.38	0.522	4	0.000	0.037	3444	1136	1467
5208	1.81	384.2	16.1	9.0	492	5244	0.00	2.42	28.62	0.505	6	0.000	0.032	3445	2539	1369
5312	1.81	384.2	5.1	11.2	509	5319	0.00	2.45	0.00	0.000	4	0.000	0.061	3444	3883	1368
5323	end climb: SURFACE_DEPTH_REACHED
state	5324	begin surface coast
5337	end surface coast: CONTROL_FINISHED_OK
state	5337	begin surface