Glider dive log

WA coast Apr11 * SG187 * Dive index * Mission links * Dive 138 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HEADING 290 ROLL_MAX 3800 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 4 ESCAPE_HEADING 0 ROLL_DEG 43 ALTIM_PING_DEPTH 70

DIVE 138 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2200 ALTIM_PING_DELTA 5

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2050 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 320 R_PORT_OVSHOOT 32 XPDR_INHIBIT 90

D_BOOST 4 N_FILEKB 8 R_STBD_OVSHOOT 30 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_FINISH 20 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 2 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 470 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE -5 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX 1 C_VBD 2600 DEVICE3 83

SURFACE_URGENCY_FORCE 0 CALL_TRIES 10 VBD_DBAND 2 DEVICE4 -1

T_DIVE 30 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 45 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00060000003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -1584011.6 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -7 PITCH_MIN 155 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3970 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2958 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043543768

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -60.973145 SEABIRD_T_H 0.0006249955

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_I 2.3401506e-05

RHO 1.023 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4672308e-06

MASS 51930 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9855604

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1126566

FERRY_MAX 45 PITCH_AD_RATE 165 COMPASS_USE 0 SEABIRD_C_I -0.0021479612

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0002479906

HD_A 0.0046000001 PITCH_ADJ_GAIN 0.0049999999 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 12

HD_C 1.34e-05 ROLL_MIN 236 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 320

AH0_10V 100 D_OFFGRID 1000 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 2 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.0049999999 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 12 D_SURF 4 PITCH_AD_RATE 165 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 70 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3970 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 155 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 17 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00060000003 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001138132 T_DIVE 30

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -60.973145 T_GPS 15

CALL_TRIES 10 HD_A 0.0046000001 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1584011.6

CAPMAXSIZE 100000 HD_C 1.34e-05 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING 290 RAFOS_HIT_WINDOW 3600 T_MISSION 45

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ID 187 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 2 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2958 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 1

C_ROLL_CLIMB 2050 KERMIT 0 ROLL_DEG 43 USE_BATHY 0

C_ROLL_DIVE 2200 LOGGERDEVICE1 -1 ROLL_MAX 3800 USE_ICE 0

C_VBD 2600 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 236 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 32 VBD_MAX 3960

DEVICE2 20 MASS 51930 R_STBD_OVSHOOT 30 VBD_MAXERRORS 1

DEVICE3 83 MAX_BUOY 150 SEABIRD_C_G -9.9855604 VBD_MIN 470

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.1126566 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0021479612 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MISSION 4 SEABIRD_C_J 0.0002479906 VBD_TIMEOUT 720

DIVE 138 MOTHERBOARD 4 SEABIRD_T_G 0.0043543768 XPDR_DEVICE 24

D_ABORT 1070 NAV_MODE 0 SEABIRD_T_H 0.0006249955 XPDR_INHIBIT 90

D_BOOST 4 N_FILEKB 8 SEABIRD_T_I 2.3401506e-05 XPDR_VALID 1

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.4672308e-06

D_FINISH 20 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE -5 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030511,183302,4740.763,-12458.646,14,1.7,14,18.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 4744.456,-12513.736

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.176,-0.114

_SM_DEPTHo 18.66 KALMAN_X 14438.9,303.9,-305.7,-13432.8,797.0

_SM_ANGLEo 7.0 KALMAN_Y -14155.7,856.3,103.6,-14859.7,-275.4

GPS2 030511,183302,4740.763,-12458.646,14,1.7,14,18.7 MHEAD_RNG_PITCHd_Wd 271.3,20000,-28.0,-20.000

SPEED_LIMITS 0.346,0.356 D_GRID 180

Post-dive calculations and measurements:

FINISH1 19.8,1.024751,0 _10V_AH 10.4,8.152

FINISH2 17.1 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4722.92,-12500.31,030511,161639 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713 MEM 297820

HUMID 35.11 DATA_FILE_SIZE 10320,194

INTERNAL_PRESSURE 9.14759 CAP_FILE_SIZE 29410,0

TCM_TEMP 15.90 CFSIZE 260165632,206925824

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 100.2,47.9 GPS 030511,183302,4740.763,-12458.646,14,1.7,14,18.7

_24V_AH 23.9,12.782

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 195 19.54 SBE_CT 129 24 74.44

Roll_motor 34 70 57.19 SBE_O2 141 19 64.25

VBD_pump_during_apogee 310 643 4780.91 WL_BBFL2VMT 334 105 839.93

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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 20.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 453 19 93.38

LPSleep 229 2 5.23

TT8_Active 303 19 62.55

TT8_Sampling 445 39 184.45

TT8_CF8 58 45 27.66

TT8_Kalman 0 0 0.00

Analog_circuits 557 12 69.62

GPS_charging 0 0 0.00

Compass 456 15 71.27

RAFOS 0 0 0.00

Transponder 14 30 4.61

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.02 -146.6 0.0 0.0 0 25 0.00 0.00 -7.18 0.000 2 0.000 0.000 2963 3566 3105 0 0 0 0 0 0

28 -1.02 -146.6 21.5 -0.0 1 44 0.95 4.57 -1.35 0.000 4 0.082 0.050 2627 684 3201 0 0 0 0 0 0

269 -1.01 -146.6 73.5 -20.2 46 277 0.00 2.40 0.00 0.000 6 0.000 0.048 2617 2195 3202 0 0 0 0 0 0

346 -1.00 -146.6 88.0 -19.4 59 353 0.00 2.40 0.00 0.000 4 0.000 0.049 2616 681 3202 0 0 0 0 0 0

364 -0.99 -146.6 91.7 -20.4 61 372 0.05 2.40 0.00 0.000 6 0.165 0.048 2633 2191 3202 0 0 0 0 0 0

437 -0.99 -146.6 106.5 -19.5 71 441 0.00 2.38 0.00 0.000 4 0.000 0.049 2633 674 3202 0 0 0 0 0 0

455 -0.99 -146.6 109.9 -19.4 72 459 0.00 2.35 0.00 0.000 6 0.000 0.047 2624 2177 3202 0 0 0 0 0 0

590 -0.99 -146.6 132.9 -14.3 84 594 0.00 2.45 0.00 0.000 4 0.000 0.060 2613 3715 3202 0 0 0 0 0 0

616 end dive: BOTTOM_OBSTACLE_DETECTED

state 616 begin apogee

624 -0.23 0.0 136.9 14.5 86 745 0.85 0.00 117.25 0.643 6 0.147 0.000 2876 2034 2599 0 0 0 0 0 0

746 end apogee: CONTROL_FINISHED_OK

state 746 begin climb

750 1.02 146.6 141.4 0.0 98 882 1.17 0.00 122.00 0.622 6 0.078 0.000 3281 2034 2002 0 0 0 0 0 0

1010 0.99 146.6 94.4 22.9 124 1017 0.00 2.50 0.00 0.000 4 0.000 0.053 3281 3577 1995 0 0 0 0 0 0

1076 0.96 146.6 78.6 24.0 136 1083 0.00 2.45 0.00 0.000 6 0.000 0.042 3292 2055 1993 0 0 0 0 0 0

1149 0.93 146.6 62.5 21.7 149 1156 0.15 0.00 0.00 0.000 6 0.196 0.000 3258 2053 1993 0 0 0 0 0 0

1221 0.98 236.6 51.7 13.6 162 1302 0.00 2.50 71.68 0.577 4 0.000 0.053 3267 528 1634 0 0 0 0 0 0

1347 0.98 236.6 29.4 20.4 182 1355 0.00 2.47 0.00 0.000 6 0.000 0.044 3267 2087 1629 0 0 0 0 0 0

1391 end climb: FINISH_DEPTH_REACHED

state 1392 begin subsurface finish

1399 0.00 0.0 19.8 -21.2 190 1428 1.00 2.47 -16.48 0.000 4 0.148 0.070 2966 3568 2605 0 0 0 0 0 0

1429 end subsurface finish: CONTROL_FINISHED_OK

state 1429 begin surface

ID	187	HEADING	290	ROLL_MAX	3800	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	4	ESCAPE_HEADING	0	ROLL_DEG	43	ALTIM_PING_DEPTH	70
DIVE	138	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2200	ALTIM_PING_DELTA	5
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2050	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	320	R_PORT_OVSHOOT	32	XPDR_INHIBIT	90
D_BOOST	4	N_FILEKB	8	R_STBD_OVSHOOT	30	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_FINISH	20	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	2	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	470	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	-5	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	1	C_VBD	2600	DEVICE3	83
SURFACE_URGENCY_FORCE	0	CALL_TRIES	10	VBD_DBAND	2	DEVICE4	-1
T_DIVE	30	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	45	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00060000003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-1584011.6	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-7	PITCH_MIN	155	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3970	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2958	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043543768
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-60.973145	SEABIRD_T_H	0.0006249955
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_I	2.3401506e-05
RHO	1.023	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4672308e-06
MASS	51930	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9855604
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1126566
FERRY_MAX	45	PITCH_AD_RATE	165	COMPASS_USE	0	SEABIRD_C_I	-0.0021479612
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0002479906
HD_A	0.0046000001	PITCH_ADJ_GAIN	0.0049999999	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	12
HD_C	1.34e-05	ROLL_MIN	236	ALTIM_TOP_TURN_MARGIN	0

GPS1	030511,183302,4740.763,-12458.646,14,1.7,14,18.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	4744.456,-12513.736
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.176,-0.114
_SM_DEPTHo	18.66	KALMAN_X	14438.9,303.9,-305.7,-13432.8,797.0
_SM_ANGLEo	7.0	KALMAN_Y	-14155.7,856.3,103.6,-14859.7,-275.4
GPS2	030511,183302,4740.763,-12458.646,14,1.7,14,18.7	MHEAD_RNG_PITCHd_Wd	271.3,20000,-28.0,-20.000
SPEED_LIMITS	0.346,0.356	D_GRID	180

FINISH1	19.8,1.024751,0	_10V_AH	10.4,8.152
FINISH2	17.1	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4722.92,-12500.31,030511,161639	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713	MEM	297820
HUMID	35.11	DATA_FILE_SIZE	10320,194
INTERNAL_PRESSURE	9.14759	CAP_FILE_SIZE	29410,0
TCM_TEMP	15.90	CFSIZE	260165632,206925824
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	100.2,47.9	GPS	030511,183302,4740.763,-12458.646,14,1.7,14,18.7
_24V_AH	23.9,12.782

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	195	19.54	SBE_CT	129	24	74.44
Roll_motor	34	70	57.19	SBE_O2	141	19	64.25
VBD_pump_during_apogee	310	643	4780.91	WL_BBFL2VMT	334	105	839.93
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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	20.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	453	19	93.38
LPSleep	229	2	5.23
TT8_Active	303	19	62.55
TT8_Sampling	445	39	184.45
TT8_CF8	58	45	27.66
TT8_Kalman	0	0	0.00
Analog_circuits	557	12	69.62
GPS_charging	0	0	0.00
Compass	456	15	71.27
RAFOS	0	0	0.00
Transponder	14	30	4.61

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.02	-146.6	0.0	0.0	0	25	0.00	0.00	-7.18	0.000	2	0.000	0.000	2963	3566	3105	0	0	0	0	0	0
28	-1.02	-146.6	21.5	-0.0	1	44	0.95	4.57	-1.35	0.000	4	0.082	0.050	2627	684	3201	0	0	0	0	0	0
269	-1.01	-146.6	73.5	-20.2	46	277	0.00	2.40	0.00	0.000	6	0.000	0.048	2617	2195	3202	0	0	0	0	0	0
346	-1.00	-146.6	88.0	-19.4	59	353	0.00	2.40	0.00	0.000	4	0.000	0.049	2616	681	3202	0	0	0	0	0	0
364	-0.99	-146.6	91.7	-20.4	61	372	0.05	2.40	0.00	0.000	6	0.165	0.048	2633	2191	3202	0	0	0	0	0	0
437	-0.99	-146.6	106.5	-19.5	71	441	0.00	2.38	0.00	0.000	4	0.000	0.049	2633	674	3202	0	0	0	0	0	0
455	-0.99	-146.6	109.9	-19.4	72	459	0.00	2.35	0.00	0.000	6	0.000	0.047	2624	2177	3202	0	0	0	0	0	0
590	-0.99	-146.6	132.9	-14.3	84	594	0.00	2.45	0.00	0.000	4	0.000	0.060	2613	3715	3202	0	0	0	0	0	0
616	end dive: BOTTOM_OBSTACLE_DETECTED
state	616	begin apogee
624	-0.23	0.0	136.9	14.5	86	745	0.85	0.00	117.25	0.643	6	0.147	0.000	2876	2034	2599	0	0	0	0	0	0
746	end apogee: CONTROL_FINISHED_OK
state	746	begin climb
750	1.02	146.6	141.4	0.0	98	882	1.17	0.00	122.00	0.622	6	0.078	0.000	3281	2034	2002	0	0	0	0	0	0
1010	0.99	146.6	94.4	22.9	124	1017	0.00	2.50	0.00	0.000	4	0.000	0.053	3281	3577	1995	0	0	0	0	0	0
1076	0.96	146.6	78.6	24.0	136	1083	0.00	2.45	0.00	0.000	6	0.000	0.042	3292	2055	1993	0	0	0	0	0	0
1149	0.93	146.6	62.5	21.7	149	1156	0.15	0.00	0.00	0.000	6	0.196	0.000	3258	2053	1993	0	0	0	0	0	0
1221	0.98	236.6	51.7	13.6	162	1302	0.00	2.50	71.68	0.577	4	0.000	0.053	3267	528	1634	0	0	0	0	0	0
1347	0.98	236.6	29.4	20.4	182	1355	0.00	2.47	0.00	0.000	6	0.000	0.044	3267	2087	1629	0	0	0	0	0	0
1391	end climb: FINISH_DEPTH_REACHED
state	1392	begin subsurface finish
1399	0.00	0.0	19.8	-21.2	190	1428	1.00	2.47	-16.48	0.000	4	0.148	0.070	2966	3568	2605	0	0	0	0	0	0
1429	end subsurface finish: CONTROL_FINISHED_OK
state	1429	begin surface