Glider dive log

PortSusan 19Aug09 * SG141 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HEADING -1 ROLL_MIN 256 ALTIM_BOTTOM_TURN_MARGIN 7

MISSION 9 ESCAPE_HEADING 0 ROLL_MAX 3943 ALTIM_TOP_TURN_MARGIN 0

DIVE 20 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2200 ALTIM_PING_DEPTH 70

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_CLIMB 2100 ALTIM_PING_DELTA 10

D_TGT 120 TGT_DEFAULT_LON -12223 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 150 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 450 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 35 XPDR_VALID 4

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 33 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 325 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 751 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 4044 DEVICE1 2

T_DIVE 50 CALL_TRIES 5 C_VBD 3389 DEVICE2 20

T_MISSION 70 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 720 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 540 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 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 -4 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -15780.738 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 2 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 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 110 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 120 PITCH_MIN 73 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4041 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2960 FG_AHR_24V 0 SEABIRD_T_G 0.0043482846

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064259337

RHO 1.023 PITCH_CNV 0.0031256729 PRESSURE_YINT -33.255871 SEABIRD_T_I 2.4116636e-05

MASS 51430 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.3731232e-06

NAV_MODE 1 PITCH_GAIN 32 AD7714Ch0Gain 128 SEABIRD_C_G -9.926631

FERRY_MAX 0 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0917815

KALMAN_USE 1 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00047649047

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00015061456

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.015 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 110 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 450

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.015 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 7 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_TGT 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 70 ESCAPE_HEADING 0 PITCH_GAIN 32 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4041 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 73 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.000115925 T_DIVE 50

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -33.255871 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 -15780.738

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 70

CF8_MAXERRORS 0 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 2

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 141 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 325 UNCOM_BLEED 20

C_PITCH 2960 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_DEG 40 USE_BATHY -4

C_ROLL_DIVE 2200 KERMIT 0 ROLL_MAX 3943 USE_ICE 0

C_VBD 3389 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 256 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51430 R_PORT_OVSHOOT 35 VBD_MAX 4044

DEVICE2 20 MAX_BUOY 120 R_STBD_OVSHOOT 33 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -9.926631 VBD_MIN 751

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.0917815 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 9 SEABIRD_C_I -0.00047649047 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00015061456 VBD_TIMEOUT 540

DIVE 20 NAV_MODE 1 SEABIRD_T_G 0.0043482846 XPDR_DEVICE 24

D_ABORT 150 N_FILEKB 4 SEABIRD_T_H 0.00064259337 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.4116636e-05 XPDR_VALID 4

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.3731232e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 093820,4806.903,-12223.011,10,1.8,10,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.007,0.138

_SM_DEPTHo 1.54 KALMAN_X -473.8,-203.9,-56.7,1623.2,-42.3

_SM_ANGLEo -78.6 KALMAN_Y 18.9,4.2,5.3,-1429.8,7.1

GPS2 094219,4806.885,-12222.959,9,1.7,14,18.3 MHEAD_RNG_PITCHd_Wd 339.0,218,-26.9,-8.000

SPEED_LIMITS 0.139,0.218 D_GRID 105

Post-dive calculations and measurements:

FINISH 3.2,1.019839 _24V_AH 24.2,2.151

SM_CCo 2752,201.35,0.740,0,0,751,647.10 _10V_AH 10.4,0.572

SM_GC 1.61,9.30,0.00,0.00,0.085,0.000,0.000,76,2210,749,-8.98,0.28,647.84 FG_AHR_24Vo 0.000

RAFOS_CLK 119 FG_AHR_10Vo 0.000

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MEM 264160

IRIDIUM_FIX 4748.51,-12224.57,141198,080812 DATA_FILE_SIZE 12733,320

TT8_MAMPS 0.026845 CAP_FILE_SIZE 48495,0

HUMID 1078649668 CFSIZE 260165632,256348160

INTERNAL_PRESSURE 8.43782 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,8,0

TCM_TEMP 19.80 SOUNDSPEED 1487.1

XPDR_PINGS 1 GPS 200809,103522,4807.046,-12222.979,5,7.2,24,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 313 183.34 SBE_CT 214 24 124.49

Roll_motor 31 84 63.96 SBE_O2 234 19 108.03

VBD_pump_during_apogee 262 729 4627.88 nil 0 0 0.00

VBD_pump_during_surface 201 740 3606.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 76.57 nil 0 0 0.00

Iridium_during_connect 30 160 119.68 nil 0 0 0.00

Iridium_during_xfer 84 223 456.37

Transponder_ping 1 420 17.79

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.33

TT8 529 19 109.67

LPSleep 1392 2 33.46

TT8_Active 578 19 119.85

TT8_Sampling 587 39 243.73

TT8_CF8 225 45 107.85

TT8_Kalman 33 81 28.39

Analog_circuits 942 12 117.61

GPS_charging 0 0 0.00

Compass 573 8 47.69

RAFOS 0 1 0.00

Transponder 13 30 4.08

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.90 -45.2 0.0 0.0 0 123 0.00 0.00 -105.07 0.000 2 0.000 0.000 75 2191 3171 0 0 0 0 0 0

126 -0.95 -91.9 3.1 -2.5 21 163 12.18 2.20 -17.33 0.000 4 0.314 0.071 2644 789 3764 0 0 0 0 0 0

360 -0.86 -91.9 47.1 -21.0 52 365 0.15 2.20 0.00 0.000 6 0.263 0.051 2675 2200 3767 0 0 0 0 0 0

558 -0.80 -91.9 86.8 -19.7 70 562 0.00 2.25 0.00 0.000 4 0.000 0.062 2675 3621 3767 0 0 0 0 0 0

646 end dive: TARGET_DEPTH_EXCEEDED

state 646 begin apogee

654 -0.16 0.0 105.4 19.7 77 771 0.82 0.00 98.43 0.657 6 0.222 0.000 2901 2105 3388 0 0 0 0 3 0

772 end apogee: CONTROL_FINISHED_OK

state 772 begin climb

774 0.95 91.9 112.9 0.0 89 877 1.15 2.38 79.85 0.659 4 0.145 0.051 3267 689 3012 0 0 0 0 2 0

973 0.82 93.3 107.4 7.8 107 979 0.17 2.25 0.00 0.000 6 0.242 0.044 3229 2118 3009 0 0 0 0 0 0

1297 0.74 105.4 83.5 6.6 138 1322 0.00 2.22 13.40 0.599 4 0.000 0.055 3226 3500 2958 0 0 0 0 1 0

1569 0.62 105.4 59.0 9.0 162 1576 0.22 2.20 0.00 0.000 6 0.227 0.041 3166 2090 2951 0 0 0 0 0 0

1894 0.66 127.7 40.3 5.4 193 1918 0.00 0.00 17.08 0.601 6 0.000 0.000 3166 2090 2868 0 0 0 0 1 0

2107 0.71 134.5 26.7 7.2 213 2131 0.00 2.28 13.00 0.639 4 0.000 0.056 3164 3500 2832 0 0 0 0 1 0

2200 0.71 134.5 19.4 8.0 222 2206 0.00 2.15 0.00 0.000 6 0.000 0.043 3171 2097 2825 0 0 0 0 0 0

2275 0.76 136.9 14.1 7.7 235 2280 0.00 2.20 0.00 0.000 4 0.000 0.056 3171 3506 2825 0 0 0 0 0 0

2325 0.76 136.9 9.7 8.8 244 2331 0.00 2.15 0.00 0.000 6 0.000 0.043 3180 2099 2825 0 0 0 0 0 0

2399 0.84 160.5 5.1 5.2 257 2416 0.15 2.17 10.30 0.697 4 0.112 0.052 3246 697 2733 0 0 0 0 0 0

2534 0.92 225.2 4.1 0.3 281 2570 0.00 2.15 30.12 0.729 6 0.000 0.046 3246 2099 2470 0 0 0 0 0 0

2596 end climb: SURFACE_DEPTH_REACHED

state 2596 begin surface coast

2749 end surface coast: CONTROL_FINISHED_OK

state 2749 begin surface

ID	141	HEADING	-1	ROLL_MIN	256	ALTIM_BOTTOM_TURN_MARGIN	7
MISSION	9	ESCAPE_HEADING	0	ROLL_MAX	3943	ALTIM_TOP_TURN_MARGIN	0
DIVE	20	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2200	ALTIM_PING_DEPTH	70
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_CLIMB	2100	ALTIM_PING_DELTA	10
D_TGT	120	TGT_DEFAULT_LON	-12223	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	150	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	450	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	35	XPDR_VALID	4
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	33	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	325	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	751	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	4044	DEVICE1	2
T_DIVE	50	CALL_TRIES	5	C_VBD	3389	DEVICE2	20
T_MISSION	70	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	720	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	540	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	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	-4	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-15780.738	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	2	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	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	110	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	120	PITCH_MIN	73	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4041	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2960	FG_AHR_24V	0	SEABIRD_T_G	0.0043482846
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00064259337
RHO	1.023	PITCH_CNV	0.0031256729	PRESSURE_YINT	-33.255871	SEABIRD_T_I	2.4116636e-05
MASS	51430	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.3731232e-06
NAV_MODE	1	PITCH_GAIN	32	AD7714Ch0Gain	128	SEABIRD_C_G	-9.926631
FERRY_MAX	0	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0917815
KALMAN_USE	1	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00047649047
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00015061456
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.015	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	093820,4806.903,-12223.011,10,1.8,10,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.007,0.138
_SM_DEPTHo	1.54	KALMAN_X	-473.8,-203.9,-56.7,1623.2,-42.3
_SM_ANGLEo	-78.6	KALMAN_Y	18.9,4.2,5.3,-1429.8,7.1
GPS2	094219,4806.885,-12222.959,9,1.7,14,18.3	MHEAD_RNG_PITCHd_Wd	339.0,218,-26.9,-8.000
SPEED_LIMITS	0.139,0.218	D_GRID	105

FINISH	3.2,1.019839	_24V_AH	24.2,2.151
SM_CCo	2752,201.35,0.740,0,0,751,647.10	_10V_AH	10.4,0.572
SM_GC	1.61,9.30,0.00,0.00,0.085,0.000,0.000,76,2210,749,-8.98,0.28,647.84	FG_AHR_24Vo	0.000
RAFOS_CLK	119	FG_AHR_10Vo	0.000
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MEM	264160
IRIDIUM_FIX	4748.51,-12224.57,141198,080812	DATA_FILE_SIZE	12733,320
TT8_MAMPS	0.026845	CAP_FILE_SIZE	48495,0
HUMID	1078649668	CFSIZE	260165632,256348160
INTERNAL_PRESSURE	8.43782	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
TCM_TEMP	19.80	SOUNDSPEED	1487.1
XPDR_PINGS	1	GPS	200809,103522,4807.046,-12222.979,5,7.2,24,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	313	183.34	SBE_CT	214	24	124.49
Roll_motor	31	84	63.96	SBE_O2	234	19	108.03
VBD_pump_during_apogee	262	729	4627.88	nil	0	0	0.00
VBD_pump_during_surface	201	740	3606.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	76.57	nil	0	0	0.00
Iridium_during_connect	30	160	119.68	nil	0	0	0.00
Iridium_during_xfer	84	223	456.37
Transponder_ping	1	420	17.79
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.33
TT8	529	19	109.67
LPSleep	1392	2	33.46
TT8_Active	578	19	119.85
TT8_Sampling	587	39	243.73
TT8_CF8	225	45	107.85
TT8_Kalman	33	81	28.39
Analog_circuits	942	12	117.61
GPS_charging	0	0	0.00
Compass	573	8	47.69
RAFOS	0	1	0.00
Transponder	13	30	4.08

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.90	-45.2	0.0	0.0	0	123	0.00	0.00	-105.07	0.000	2	0.000	0.000	75	2191	3171	0	0	0	0	0	0
126	-0.95	-91.9	3.1	-2.5	21	163	12.18	2.20	-17.33	0.000	4	0.314	0.071	2644	789	3764	0	0	0	0	0	0
360	-0.86	-91.9	47.1	-21.0	52	365	0.15	2.20	0.00	0.000	6	0.263	0.051	2675	2200	3767	0	0	0	0	0	0
558	-0.80	-91.9	86.8	-19.7	70	562	0.00	2.25	0.00	0.000	4	0.000	0.062	2675	3621	3767	0	0	0	0	0	0
646	end dive: TARGET_DEPTH_EXCEEDED
state	646	begin apogee
654	-0.16	0.0	105.4	19.7	77	771	0.82	0.00	98.43	0.657	6	0.222	0.000	2901	2105	3388	0	0	0	0	3	0
772	end apogee: CONTROL_FINISHED_OK
state	772	begin climb
774	0.95	91.9	112.9	0.0	89	877	1.15	2.38	79.85	0.659	4	0.145	0.051	3267	689	3012	0	0	0	0	2	0
973	0.82	93.3	107.4	7.8	107	979	0.17	2.25	0.00	0.000	6	0.242	0.044	3229	2118	3009	0	0	0	0	0	0
1297	0.74	105.4	83.5	6.6	138	1322	0.00	2.22	13.40	0.599	4	0.000	0.055	3226	3500	2958	0	0	0	0	1	0
1569	0.62	105.4	59.0	9.0	162	1576	0.22	2.20	0.00	0.000	6	0.227	0.041	3166	2090	2951	0	0	0	0	0	0
1894	0.66	127.7	40.3	5.4	193	1918	0.00	0.00	17.08	0.601	6	0.000	0.000	3166	2090	2868	0	0	0	0	1	0
2107	0.71	134.5	26.7	7.2	213	2131	0.00	2.28	13.00	0.639	4	0.000	0.056	3164	3500	2832	0	0	0	0	1	0
2200	0.71	134.5	19.4	8.0	222	2206	0.00	2.15	0.00	0.000	6	0.000	0.043	3171	2097	2825	0	0	0	0	0	0
2275	0.76	136.9	14.1	7.7	235	2280	0.00	2.20	0.00	0.000	4	0.000	0.056	3171	3506	2825	0	0	0	0	0	0
2325	0.76	136.9	9.7	8.8	244	2331	0.00	2.15	0.00	0.000	6	0.000	0.043	3180	2099	2825	0	0	0	0	0	0
2399	0.84	160.5	5.1	5.2	257	2416	0.15	2.17	10.30	0.697	4	0.112	0.052	3246	697	2733	0	0	0	0	0	0
2534	0.92	225.2	4.1	0.3	281	2570	0.00	2.15	30.12	0.729	6	0.000	0.046	3246	2099	2470	0	0	0	0	0	0
2596	end climb: SURFACE_DEPTH_REACHED
state	2596	begin surface coast
2749	end surface coast: CONTROL_FINISHED_OK
state	2749	begin surface