Glider dive log

PortSusan 09Apr09 * SG159 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 159 HEADING -1 ROLL_MAX 4045 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 20 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2235 ALTIM_PING_DEPTH 0

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2300 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_TGT 120 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 550 R_PORT_OVSHOOT 35 XPDR_VALID 0

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 20 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

D_CALL 0 KERMIT 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 188 MOTHERBOARD 5

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3616 DEVICE1 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2836 DEVICE2 39

T_DIVE 40 CALL_TRIES 5 VBD_DBAND 2 DEVICE3 -1

T_MISSION 55 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE4 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_TIMEOUT 540 DEVICE5 -1

T_TURN 270 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 SMARTS 0

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 SMARTDEVICE1 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS_ALMANAC 0 UNCOM_BLEED 20 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -83375.711 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 AH0_24V 40 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_10V 16 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 30 MINV_10V 8 SIM_W 0

MAX_BUOY 175 PITCH_MAX 4055 FG_AHR_10V 13.403458 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2975 FG_AHR_24V 14.774858 SEABIRD_T_G 0.0042382758

GLIDE_SLOPE 45 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063342927

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PRESSURE_YINT -12.703127 SEABIRD_T_I 2.5365067e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001162598 SEABIRD_T_J 2.828881e-06

MASS 51634 PITCH_GAIN 12 AD7714Ch0Gain 128 SEABIRD_C_G -10.044323

NAV_MODE 1 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1187451

FERRY_MAX 45 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012770178

KALMAN_USE 1 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00018763109

HD_A 0.0041149999 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 25

HD_B 0.014024 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0

HD_C 5.5727e-05 ROLL_MIN 145 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_ADJ_GAIN 0 SMARTS 0

AH0_10V 16 D_NO_BLEED 200 PITCH_AD_RATE 175 SM_CC 550

AH0_24V 40 D_OFFGRID 100 PITCH_CNV 0.0046000001 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_GAIN 12 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_MAX 4055 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 0 D_TGT 120 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_MIN 30 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_TIMEOUT 15 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 13.403458 PRESSURE_SLOPE 0.0001162598 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 14.774858 PRESSURE_YINT -12.703127 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 P_OVSHOOT 0.039999999 T_DIVE 40

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_GPS 15

CALL_NDIVES 1 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CALL_TRIES 5 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -83375.711

CALL_WAIT 60 HD_A 0.0041149999 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

CAPMAXSIZE 100000 HD_B 0.014024 RELAUNCH 1 T_MISSION 55

CAPUPLOAD 0 HD_C 5.5727e-05 RHO 1.023 T_NO_W 120

CF8_MAXERRORS 0 HEADING -1 ROLL_ADJ_DBAND 0 T_RSLEEP 3

COMM_SEQ 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_TURN 270

COMPASS2_DEVICE -1 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_WATCHDOG 10

COMPASS_USE 0 ID 159 ROLL_DEG 40 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 4045 UPLOAD_DIVES_MAX -1

C_PITCH 2975 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 USE_BATHY -4

C_ROLL_CLIMB 2300 KALMAN_USE 1 ROLL_MIN 145 USE_ICE 0

C_ROLL_DIVE 2235 KERMIT 0 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

C_VBD 2836 MASS 51634 R_PORT_OVSHOOT 35 VBD_CNV -0.24529999

DEEPGLIDER 0 MAX_BUOY 175 R_STBD_OVSHOOT 20 VBD_DBAND 2

DEEPGLIDERMB 0 MINV_10V 8 SEABIRD_C_G -10.044323 VBD_MAX 3616

DEVICE1 2 MINV_24V 19 SEABIRD_C_H 1.1187451 VBD_MAXERRORS 1

DEVICE2 39 MISSION 11 SEABIRD_C_I -0.0012770178 VBD_MIN 188

DEVICE3 -1 MOTHERBOARD 5 SEABIRD_C_J 0.00018763109 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 NAV_MODE 1 SEABIRD_T_G 0.0042382758 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_FILEKB 4 SEABIRD_T_H 0.00063342927 VBD_TIMEOUT 540

DEVICE6 -1 N_GPS 20 SEABIRD_T_I 2.5365067e-05 XPDR_DEVICE 24

DIVE 20 N_NOCOMM 1 SEABIRD_T_J 2.828881e-06 XPDR_INHIBIT 90

D_ABORT 1090 N_NOSURFACE 0 SIM_PITCH 0 XPDR_VALID 0

D_BOOST 0 PHONE_DEVICE 48 SIM_W 0

D_CALL 0 PHONE_SUPPLY 2 SMARTDEVICE1 -1

D_FINISH 0 PITCH_ADJ_DBAND 0 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 111807,4807.992,-12223.958,40,0.9,40,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.128,-0.190

_SM_DEPTHo -0.07 KALMAN_X -842.5,60.2,16.8,-344.8,-7.4

_SM_ANGLEo -70.7 KALMAN_Y 3005.2,-10.4,-23.4,-1961.1,-2.3

GPS2 112243,4807.990,-12223.964,11,1.4,11,18.3 MHEAD_RNG_PITCHd_Wd 127.8,2187,-19.9,-10.000

SPEED_LIMITS 0.100,0.229 D_GRID 105

Post-dive calculations and measurements:

FINISH 1.8,1.014490 _24V_AH 23.8,3.948

SM_CCo 2196,295.25,0.706,0,0,593,550.21 _10V_AH 12.0,1.510

SM_GC 0.14,0.00,0.00,295.25,0.000,0.700,0.706,23,2223,593,-13.58,-0.34,550.21 FG_AHR_24Vo 14.894

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 13.431

IRIDIUM_FIX 4748.51,-12226.29,050798,101014 MEM 324724

HUMID 1078022317 DATA_FILE_SIZE 9705,243

INTERNAL_PRESSURE 9.00756 CAP_FILE_SIZE 39174,0

TCM_TEMP 12.80 CFSIZE 260034560,256978944

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

ALTIM_BOTTOM_PING 80.3,0.0 GPS 100409,120614,4807.793,-12223.781,10,1.5,10,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 217 120.26 SBE_CT 141 24 80.63

Roll_motor 38 72 66.19 WL_BB2F 619 105 1547.75

VBD_pump_during_apogee 259 781 4834.88 nil 0 0 0.00

VBD_pump_during_surface 295 705 4958.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 96.68 nil 0 0 0.00

Iridium_during_connect 37 160 141.76 nil 0 0 0.00

Iridium_during_xfer 94 223 498.99

Transponder_ping 0 420 2.50

GUMSTIX_24V 0 0 0.00

GPS 15 50 9.01

TT8 374 19 89.04

LPSleep 782 2 20.57

TT8_Active 606 19 144.21

TT8_Sampling 724 39 345.81

TT8_CF8 298 45 163.81

TT8_Kalman 33 81 32.72

Analog_circuits 817 12 117.70

GPS_charging 0 0 0.00

Compass 723 8 69.48

RAFOS 0 0 0.00

Transponder 3 30 1.11

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

23 -1.87 -171.1 0.0 0.0 0 151 0.00 0.00 -123.68 0.000 2 0.007 0.000 29 2220 2866 0 0 0 0 0 0

156 -1.87 -171.1 3.2 -11.0 24 201 10.55 2.38 -24.58 0.000 4 0.217 0.073 2561 828 3535 0 0 0 0 0 0

305 -1.87 -171.1 12.4 -9.2 51 311 0.00 2.35 0.00 0.060 6 0.060 0.051 2553 2235 3535 0 0 0 0 0 0

378 -1.87 -171.1 18.6 -8.2 64 385 0.00 2.42 0.00 0.007 4 0.007 0.070 2542 3638 3535 0 0 0 0 0 0

429 -1.87 -171.1 24.1 -10.3 70 436 0.08 2.33 0.00 0.161 6 0.161 0.043 2563 2248 3534 0 0 0 0 0 0

627 -1.87 -171.1 44.9 -10.9 89 632 0.00 2.40 0.00 0.007 4 0.007 0.069 2554 3641 3535 0 0 0 0 0 0

668 -1.87 -171.1 49.5 -12.5 92 672 0.00 2.33 0.00 -0.000 6 0.063 0.047 2554 2229 3535 0 0 0 0 0 0

866 -1.87 -171.1 72.5 -11.1 110 871 0.00 2.42 0.00 0.007 4 0.000 0.065 2544 3641 3535 0 0 0 0 0 0

928 -1.87 -171.1 79.6 -11.7 115 933 0.05 2.30 0.00 0.022 6 0.022 0.034 2559 2235 3536 0 0 0 0 0 0

1165 end dive: TARGET_DEPTH_EXCEEDED

state 1165 begin apogee

1171 -0.42 0.0 105.5 11.0 137 1309 1.02 0.00 131.25 0.782 6 0.073 0.010 2876 2320 2835 0 0 0 0 0 0

1310 end apogee: CONTROL_FINISHED_OK

state 1310 begin climb

1312 1.87 171.1 109.1 0.0 151 1454 1.50 2.50 128.60 0.753 4 0.091 0.071 3386 897 2137 0 0 0 0 0 0

1459 1.87 171.1 95.0 13.9 165 1466 0.00 2.33 0.00 0.022 6 0.022 0.031 3379 2283 2137 0 0 0 0 0 0

1787 1.87 171.1 51.5 13.3 196 1792 0.00 2.40 0.00 0.007 4 0.007 0.069 3379 3703 2135 0 0 0 0 0 0

1839 1.87 171.1 43.6 14.4 200 1844 0.00 2.33 0.00 0.000 6 0.071 0.055 3381 2305 2135 0 0 0 0 0 0

2037 1.87 171.1 17.0 13.5 220 2044 0.00 2.45 0.00 0.007 4 0.000 0.070 3381 890 2135 0 0 0 0 0 0

2063 1.87 171.1 13.6 12.7 224 2069 0.00 2.38 0.00 0.000 6 0.057 0.049 3377 2298 2135 0 0 0 0 0 0

2137 1.87 171.1 4.7 12.0 237 2144 0.00 2.42 0.00 0.007 4 0.007 0.047 3377 3702 2135 0 0 0 0 0 0

2150 end climb: SURFACE_DEPTH_REACHED

state 2150 begin surface coast

2172 end surface coast: CONTROL_FINISHED_OK

state 2172 begin surface

ID	159	HEADING	-1	ROLL_MAX	4045	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	20	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2235	ALTIM_PING_DEPTH	0
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2300	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_TGT	120	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	550	R_PORT_OVSHOOT	35	XPDR_VALID	0
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	20	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
D_CALL	0	KERMIT	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	188	MOTHERBOARD	5
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3616	DEVICE1	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2836	DEVICE2	39
T_DIVE	40	CALL_TRIES	5	VBD_DBAND	2	DEVICE3	-1
T_MISSION	55	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE4	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_TIMEOUT	540	DEVICE5	-1
T_TURN	270	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	SMARTS	0
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	SMARTDEVICE1	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS_ALMANAC	0	UNCOM_BLEED	20	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-83375.711	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	AH0_24V	40	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_10V	16	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	30	MINV_10V	8	SIM_W	0
MAX_BUOY	175	PITCH_MAX	4055	FG_AHR_10V	13.403458	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2975	FG_AHR_24V	14.774858	SEABIRD_T_G	0.0042382758
GLIDE_SLOPE	45	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063342927
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PRESSURE_YINT	-12.703127	SEABIRD_T_I	2.5365067e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001162598	SEABIRD_T_J	2.828881e-06
MASS	51634	PITCH_GAIN	12	AD7714Ch0Gain	128	SEABIRD_C_G	-10.044323
NAV_MODE	1	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1187451
FERRY_MAX	45	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012770178
KALMAN_USE	1	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00018763109
HD_A	0.0041149999	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	25
HD_B	0.014024	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0
HD_C	5.5727e-05	ROLL_MIN	145	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	111807,4807.992,-12223.958,40,0.9,40,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.128,-0.190
_SM_DEPTHo	-0.07	KALMAN_X	-842.5,60.2,16.8,-344.8,-7.4
_SM_ANGLEo	-70.7	KALMAN_Y	3005.2,-10.4,-23.4,-1961.1,-2.3
GPS2	112243,4807.990,-12223.964,11,1.4,11,18.3	MHEAD_RNG_PITCHd_Wd	127.8,2187,-19.9,-10.000
SPEED_LIMITS	0.100,0.229	D_GRID	105

FINISH	1.8,1.014490	_24V_AH	23.8,3.948
SM_CCo	2196,295.25,0.706,0,0,593,550.21	_10V_AH	12.0,1.510
SM_GC	0.14,0.00,0.00,295.25,0.000,0.700,0.706,23,2223,593,-13.58,-0.34,550.21	FG_AHR_24Vo	14.894
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	13.431
IRIDIUM_FIX	4748.51,-12226.29,050798,101014	MEM	324724
HUMID	1078022317	DATA_FILE_SIZE	9705,243
INTERNAL_PRESSURE	9.00756	CAP_FILE_SIZE	39174,0
TCM_TEMP	12.80	CFSIZE	260034560,256978944
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	80.3,0.0	GPS	100409,120614,4807.793,-12223.781,10,1.5,10,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	217	120.26	SBE_CT	141	24	80.63
Roll_motor	38	72	66.19	WL_BB2F	619	105	1547.75
VBD_pump_during_apogee	259	781	4834.88	nil	0	0	0.00
VBD_pump_during_surface	295	705	4958.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	96.68	nil	0	0	0.00
Iridium_during_connect	37	160	141.76	nil	0	0	0.00
Iridium_during_xfer	94	223	498.99
Transponder_ping	0	420	2.50
GUMSTIX_24V	0	0	0.00
GPS	15	50	9.01
TT8	374	19	89.04
LPSleep	782	2	20.57
TT8_Active	606	19	144.21
TT8_Sampling	724	39	345.81
TT8_CF8	298	45	163.81
TT8_Kalman	33	81	32.72
Analog_circuits	817	12	117.70
GPS_charging	0	0	0.00
Compass	723	8	69.48
RAFOS	0	0	0.00
Transponder	3	30	1.11

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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
23	-1.87	-171.1	0.0	0.0	0	151	0.00	0.00	-123.68	0.000	2	0.007	0.000	29	2220	2866	0	0	0	0	0	0
156	-1.87	-171.1	3.2	-11.0	24	201	10.55	2.38	-24.58	0.000	4	0.217	0.073	2561	828	3535	0	0	0	0	0	0
305	-1.87	-171.1	12.4	-9.2	51	311	0.00	2.35	0.00	0.060	6	0.060	0.051	2553	2235	3535	0	0	0	0	0	0
378	-1.87	-171.1	18.6	-8.2	64	385	0.00	2.42	0.00	0.007	4	0.007	0.070	2542	3638	3535	0	0	0	0	0	0
429	-1.87	-171.1	24.1	-10.3	70	436	0.08	2.33	0.00	0.161	6	0.161	0.043	2563	2248	3534	0	0	0	0	0	0
627	-1.87	-171.1	44.9	-10.9	89	632	0.00	2.40	0.00	0.007	4	0.007	0.069	2554	3641	3535	0	0	0	0	0	0
668	-1.87	-171.1	49.5	-12.5	92	672	0.00	2.33	0.00	-0.000	6	0.063	0.047	2554	2229	3535	0	0	0	0	0	0
866	-1.87	-171.1	72.5	-11.1	110	871	0.00	2.42	0.00	0.007	4	0.000	0.065	2544	3641	3535	0	0	0	0	0	0
928	-1.87	-171.1	79.6	-11.7	115	933	0.05	2.30	0.00	0.022	6	0.022	0.034	2559	2235	3536	0	0	0	0	0	0
1165	end dive: TARGET_DEPTH_EXCEEDED
state	1165	begin apogee
1171	-0.42	0.0	105.5	11.0	137	1309	1.02	0.00	131.25	0.782	6	0.073	0.010	2876	2320	2835	0	0	0	0	0	0
1310	end apogee: CONTROL_FINISHED_OK
state	1310	begin climb
1312	1.87	171.1	109.1	0.0	151	1454	1.50	2.50	128.60	0.753	4	0.091	0.071	3386	897	2137	0	0	0	0	0	0
1459	1.87	171.1	95.0	13.9	165	1466	0.00	2.33	0.00	0.022	6	0.022	0.031	3379	2283	2137	0	0	0	0	0	0
1787	1.87	171.1	51.5	13.3	196	1792	0.00	2.40	0.00	0.007	4	0.007	0.069	3379	3703	2135	0	0	0	0	0	0
1839	1.87	171.1	43.6	14.4	200	1844	0.00	2.33	0.00	0.000	6	0.071	0.055	3381	2305	2135	0	0	0	0	0	0
2037	1.87	171.1	17.0	13.5	220	2044	0.00	2.45	0.00	0.007	4	0.000	0.070	3381	890	2135	0	0	0	0	0	0
2063	1.87	171.1	13.6	12.7	224	2069	0.00	2.38	0.00	0.000	6	0.057	0.049	3377	2298	2135	0	0	0	0	0	0
2137	1.87	171.1	4.7	12.0	237	2144	0.00	2.42	0.00	0.007	4	0.007	0.047	3377	3702	2135	0	0	0	0	0	0
2150	end climb: SURFACE_DEPTH_REACHED
state	2150	begin surface coast
2172	end surface coast: CONTROL_FINISHED_OK
state	2172	begin surface