Glider dive log

DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 172 HEADING -1 ROLL_MIN 160 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MAX 3717 ALTIM_TOP_TURN_MARGIN 0

DIVE 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 4 FIX_MISSING_TIMEOUT 0.2 C_ROLL_DIVE 1938 ALTIM_PING_DEPTH 400

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1938 ALTIM_PING_DELTA 50

D_TGT 150 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 250 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 1

D_NO_BLEED 500 SM_CC 598.34399 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 25 XPDR_VALID 2

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 37 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 460 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 50 CALL_TRIES 5 C_VBD 2940 DEVICE2 20

T_MISSION 75 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 4 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 300 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -4222.2983 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 154 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3948 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3025 FG_AHR_24V 0 SEABIRD_T_G 0.0043614767

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062996609

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_YINT -55.981045 SEABIRD_T_I 2.5014444e-05

MASS 51891 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001168426 SEABIRD_T_J 2.7838146e-06

NAV_MODE 2 PITCH_GAIN 38 AD7714Ch0Gain 128 SEABIRD_C_G -10.228213

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1292607

KALMAN_USE 2 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.001076734

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00017059842

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.032000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 500 PHONE_SUPPLY 2 SM_CC 598.34399

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.032000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 150 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 400 ESCAPE_HEADING 0 PITCH_GAIN 38 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3948 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 154 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0.2 PRESSURE_SLOPE 0.0001168426 T_DIVE 50

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -55.981045 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -4222.2983

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 75

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 4

COMPASS_USE 0 ID 172 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_PITCH 3025 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1938 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -3

C_ROLL_DIVE 1938 KERMIT 0 ROLL_MAX 3717 USE_ICE 0

C_VBD 2940 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 160 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51891 R_PORT_OVSHOOT 25 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 37 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.228213 VBD_MIN 460

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1292607 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 3 SEABIRD_C_I -0.001076734 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00017059842 VBD_TIMEOUT 720

DIVE 2 NAV_MODE 2 SEABIRD_T_G 0.0043614767 XPDR_DEVICE 24

D_ABORT 250 N_FILEKB 4 SEABIRD_T_H 0.00062996609 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.5014444e-05 XPDR_VALID 2

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.7838146e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 182901,6700.819,-5705.813,11,1.5,28,-37.6 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.96 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 183252,6700.816,-5705.729,9,2.6,28,-37.6 MHEAD_RNG_PITCHd_Wd 295.6,149784,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 730

Post-dive calculations and measurements:

FINISH 3.2,1.025202 _10V_AH 10.4,1.425

SM_CCo 3168,157.50,0.604,0,0,500,598.53 FG_AHR_24Vo 0.000

SM_GC 1.05,0.00,0.00,157.50,0.000,0.000,0.604,146,1940,500,-8.99,0.06,598.53 FG_AHR_10Vo 0.000

RAFOS_CLK 174 MEM 150524

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 19031,495

IRIDIUM_FIX 6636.54,-5702.96,140199,181809 CAP_FILE_SIZE 68848,0

TT8_MAMPS 0.051389 CFSIZE 260165632,252370944

HUMID 39.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.49255 SOUNDSPEED 1460.2

TCM_TEMP 16.20 CURRENT 0.184,133.9,1

XPDR_PINGS 0 GPS 201009,192913,6700.545,-5705.968,9,1.6,26,-37.6

_24V_AH 24.4,4.172

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 243 124.23 SBE_CT 338 24 198.19

Roll_motor 31 85 65.64 SBE_O2 353 19 163.93

VBD_pump_during_apogee 344 730 6143.34 nil 0 0 0.00

VBD_pump_during_surface 157 603 2319.75 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 50 16.23

TT8 0 19 0.00

LPSleep 1776 2 42.68

TT8_Active 573 19 118.90

TT8_Sampling 1014 39 421.35

TT8_CF8 26 45 12.74

TT8_Kalman 0 0 0.00

Analog_circuits 1038 12 129.66

GPS_charging 0 0 0.00

Compass 809 8 67.31

RAFOS 0 1 0.00

Transponder 0 30 0.31

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11 -0.64 -146.0 0.0 0.0 0 144 0.00 0.00 -129.62 0.000 2 0.000 0.000 129 1934 3112 0 0 0 0 0 0

145 -0.64 -146.0 3.7 -9.9 25 170 10.27 2.22 -8.82 0.000 4 0.244 0.085 2811 530 3538 0 0 0 0 0 0

190 -0.50 -146.0 17.8 -20.4 35 197 0.15 2.20 0.00 0.000 6 0.147 0.059 2856 1915 3539 0 0 0 0 0 0

516 -0.59 -146.0 55.8 -12.0 96 521 0.00 2.22 0.00 0.000 4 0.000 0.073 2856 526 3538 0 0 0 0 0 0

538 -0.66 -146.0 58.5 -12.6 101 544 0.08 2.22 0.00 0.000 6 0.072 0.059 2801 1935 3539 0 0 0 0 0 0

867 -0.66 -146.0 103.5 -13.2 161 871 0.00 2.25 0.00 0.000 4 0.000 0.073 2801 530 3538 0 0 0 0 0 0

936 -0.66 -146.0 113.6 -14.2 169 940 0.00 2.22 0.00 0.000 6 0.000 0.061 2797 1945 3538 0 0 0 0 0 0

1202 end dive: TARGET_DEPTH_EXCEEDED

state 1202 begin apogee

1205 -0.13 0.0 150.9 13.7 195 1320 0.55 0.00 112.20 0.731 6 0.137 0.000 2976 1945 2940 0 0 0 0 0 0

1320 end apogee: CONTROL_FINISHED_OK

state 1320 begin climb

1321 0.64 146.0 156.5 0.0 206 1447 0.70 2.38 116.85 0.697 4 0.093 0.071 3234 529 2341 0 0 0 0 0 0

1694 0.68 234.4 145.8 5.9 248 1768 0.00 2.25 69.80 0.689 6 0.000 0.057 3233 1938 1984 0 0 0 0 0 0

2077 0.77 259.1 112.7 8.9 287 2104 0.12 2.30 19.25 0.660 4 0.102 0.071 3301 526 1881 0 0 0 0 0 0

2259 0.67 259.1 89.1 14.3 317 2265 0.17 2.25 0.00 0.000 6 0.152 0.058 3244 1932 1875 0 0 0 0 0 0

2584 0.79 274.8 59.2 9.3 378 2604 0.10 2.30 12.93 0.634 4 0.114 0.073 3306 530 1818 0 0 0 0 0 0

2737 0.70 274.8 40.7 11.1 413 2743 0.15 2.22 0.00 0.000 6 0.152 0.058 3256 1931 1814 0 0 0 0 0 0

3062 0.78 290.3 11.4 9.3 474 3082 0.00 2.30 13.43 0.622 4 0.000 0.074 3266 527 1755 0 0 0 0 0 0

3145 end climb: SURFACE_DEPTH_REACHED

state 3145 begin surface coast

3154 end surface coast: CONTROL_FINISHED_OK

state 3154 begin surface

ID	172	HEADING	-1	ROLL_MIN	160	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MAX	3717	ALTIM_TOP_TURN_MARGIN	0
DIVE	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	4	FIX_MISSING_TIMEOUT	0.2	C_ROLL_DIVE	1938	ALTIM_PING_DEPTH	400
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1938	ALTIM_PING_DELTA	50
D_TGT	150	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	250	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	1
D_NO_BLEED	500	SM_CC	598.34399	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	25	XPDR_VALID	2
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	37	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	460	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	50	CALL_TRIES	5	C_VBD	2940	DEVICE2	20
T_MISSION	75	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	4	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	300	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-4222.2983	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	154	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3948	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3025	FG_AHR_24V	0	SEABIRD_T_G	0.0043614767
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062996609
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_YINT	-55.981045	SEABIRD_T_I	2.5014444e-05
MASS	51891	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001168426	SEABIRD_T_J	2.7838146e-06
NAV_MODE	2	PITCH_GAIN	38	AD7714Ch0Gain	128	SEABIRD_C_G	-10.228213
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1292607
KALMAN_USE	2	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.001076734
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00017059842
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.032000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	182901,6700.819,-5705.813,11,1.5,28,-37.6	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.96	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	183252,6700.816,-5705.729,9,2.6,28,-37.6	MHEAD_RNG_PITCHd_Wd	295.6,149784,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	730

FINISH	3.2,1.025202	_10V_AH	10.4,1.425
SM_CCo	3168,157.50,0.604,0,0,500,598.53	FG_AHR_24Vo	0.000
SM_GC	1.05,0.00,0.00,157.50,0.000,0.000,0.604,146,1940,500,-8.99,0.06,598.53	FG_AHR_10Vo	0.000
RAFOS_CLK	174	MEM	150524
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	19031,495
IRIDIUM_FIX	6636.54,-5702.96,140199,181809	CAP_FILE_SIZE	68848,0
TT8_MAMPS	0.051389	CFSIZE	260165632,252370944
HUMID	39.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.49255	SOUNDSPEED	1460.2
TCM_TEMP	16.20	CURRENT	0.184,133.9,1
XPDR_PINGS	0	GPS	201009,192913,6700.545,-5705.968,9,1.6,26,-37.6
_24V_AH	24.4,4.172

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	243	124.23	SBE_CT	338	24	198.19
Roll_motor	31	85	65.64	SBE_O2	353	19	163.93
VBD_pump_during_apogee	344	730	6143.34	nil	0	0	0.00
VBD_pump_during_surface	157	603	2319.75	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	50	16.23
TT8	0	19	0.00
LPSleep	1776	2	42.68
TT8_Active	573	19	118.90
TT8_Sampling	1014	39	421.35
TT8_CF8	26	45	12.74
TT8_Kalman	0	0	0.00
Analog_circuits	1038	12	129.66
GPS_charging	0	0	0.00
Compass	809	8	67.31
RAFOS	0	1	0.00
Transponder	0	30	0.31

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11	-0.64	-146.0	0.0	0.0	0	144	0.00	0.00	-129.62	0.000	2	0.000	0.000	129	1934	3112	0	0	0	0	0	0
145	-0.64	-146.0	3.7	-9.9	25	170	10.27	2.22	-8.82	0.000	4	0.244	0.085	2811	530	3538	0	0	0	0	0	0
190	-0.50	-146.0	17.8	-20.4	35	197	0.15	2.20	0.00	0.000	6	0.147	0.059	2856	1915	3539	0	0	0	0	0	0
516	-0.59	-146.0	55.8	-12.0	96	521	0.00	2.22	0.00	0.000	4	0.000	0.073	2856	526	3538	0	0	0	0	0	0
538	-0.66	-146.0	58.5	-12.6	101	544	0.08	2.22	0.00	0.000	6	0.072	0.059	2801	1935	3539	0	0	0	0	0	0
867	-0.66	-146.0	103.5	-13.2	161	871	0.00	2.25	0.00	0.000	4	0.000	0.073	2801	530	3538	0	0	0	0	0	0
936	-0.66	-146.0	113.6	-14.2	169	940	0.00	2.22	0.00	0.000	6	0.000	0.061	2797	1945	3538	0	0	0	0	0	0
1202	end dive: TARGET_DEPTH_EXCEEDED
state	1202	begin apogee
1205	-0.13	0.0	150.9	13.7	195	1320	0.55	0.00	112.20	0.731	6	0.137	0.000	2976	1945	2940	0	0	0	0	0	0
1320	end apogee: CONTROL_FINISHED_OK
state	1320	begin climb
1321	0.64	146.0	156.5	0.0	206	1447	0.70	2.38	116.85	0.697	4	0.093	0.071	3234	529	2341	0	0	0	0	0	0
1694	0.68	234.4	145.8	5.9	248	1768	0.00	2.25	69.80	0.689	6	0.000	0.057	3233	1938	1984	0	0	0	0	0	0
2077	0.77	259.1	112.7	8.9	287	2104	0.12	2.30	19.25	0.660	4	0.102	0.071	3301	526	1881	0	0	0	0	0	0
2259	0.67	259.1	89.1	14.3	317	2265	0.17	2.25	0.00	0.000	6	0.152	0.058	3244	1932	1875	0	0	0	0	0	0
2584	0.79	274.8	59.2	9.3	378	2604	0.10	2.30	12.93	0.634	4	0.114	0.073	3306	530	1818	0	0	0	0	0	0
2737	0.70	274.8	40.7	11.1	413	2743	0.15	2.22	0.00	0.000	6	0.152	0.058	3256	1931	1814	0	0	0	0	0	0
3062	0.78	290.3	11.4	9.3	474	3082	0.00	2.30	13.43	0.622	4	0.000	0.074	3266	527	1755	0	0	0	0	0	0
3145	end climb: SURFACE_DEPTH_REACHED
state	3145	begin surface coast
3154	end surface coast: CONTROL_FINISHED_OK
state	3154	begin surface