Glider dive log

PortSusan 26May10 * SG165 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 165 HEADING -1 ROLL_MAX 3692 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 3 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 80

DIVE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2150 ALTIM_PING_DELTA 10

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2080 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 150 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

D_NO_BLEED 100 SM_CC 600 R_PORT_OVSHOOT 24 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.85000002

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0.025 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 485 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE2 53

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3329 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 66 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 75 CAPUPLOAD 1 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 10 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 22 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_BATHY -4 T_GPS_CHARGE -136356.38 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 1001 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 -5 PITCH_MIN 180 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 100 PITCH_MAX 3922 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2990 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043368833

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -20.366472 SEABIRD_T_H 0.00062128826

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000116182 SEABIRD_T_I 2.0815467e-05

RHO 1.0273 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 1.8636994e-06

MASS 52067 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9289675

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1053493

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00075226114

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014976546

HD_A 0.0038360001 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 25

HD_C 9.8500004e-06 ROLL_MIN 200 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 100 PHONE_DEVICE 48 SM_CC 600

AH0_10V 100 D_OFFGRID 1001 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 25 D_SURF 4 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 150 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 32 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3922 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 180 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.000116182 T_DIVE 66

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -20.366472 T_GPS 10

CALL_TRIES 5 HD_A 0.0038360001 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -136356.38

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RAFOS_DEVICE -1 T_LOITER 22

CAPUPLOAD 1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 75

CF8_MAXERRORS 0 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 1.0273 T_TURN 225

COMPASS_DEVICE 33 ID 165 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.85000002 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2990 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2080 KERMIT 0 ROLL_DEG 40 USE_BATHY -4

C_ROLL_DIVE 2150 LOGGERDEVICE1 -1 ROLL_MAX 3692 USE_ICE 0

C_VBD 3329 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 200 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 24 VBD_MAX 3959

DEVICE2 53 MASS 52067 R_STBD_OVSHOOT 21 VBD_MAXERRORS 1

DEVICE3 35 MAX_BUOY 100 SEABIRD_C_G -9.9289675 VBD_MIN 485

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.1053493 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.00075226114 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 MISSION 3 SEABIRD_C_J 0.00014976546 VBD_TIMEOUT 720

DIVE 3 MOTHERBOARD 4 SEABIRD_T_G 0.0043368833 XPDR_DEVICE 24

D_ABORT 1090 NAV_MODE 2 SEABIRD_T_H 0.00062128826 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.0815467e-05 XPDR_VALID 5

D_CALL 0 N_GPS 20 SEABIRD_T_J 1.8636994e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 5 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 260510,221619,4806.751,-12222.908,7,1.2,12,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.119,-0.158

_SM_DEPTHo 1.50 KALMAN_X -67.4,-25.3,-5.5,-0.1,-40.1

_SM_ANGLEo -78.0 KALMAN_Y 105.1,64.4,44.7,-546.0,69.1

GPS2 260510,222008,4806.761,-12222.896,11,1.9,11,18.3 MHEAD_RNG_PITCHd_Wd 130.2,1793,-17.8,-7.576

SPEED_LIMITS 0.131,0.198 D_GRID 103

Post-dive calculations and measurements:

SM_CCo 2093,381.38,0.568,0,0,483,697.63 _10V_AH 10.5,1.543

SM_GC 1.68,8.38,0.00,0.00,0.055,0.000,0.000,178,2133,466,-8.74,-0.45,702.29 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12224.57,191111,161632 FG_AHR_10Vo 0.000

TT8_MAMPS 0.023219 MEM 323928

HUMID 1078247087 DATA_FILE_SIZE 20383,379

INTERNAL_PRESSURE 9.1218 CAP_FILE_SIZE 57955,0

TCM_TEMP 17.50 CFSIZE 260165632,202903552

XPDR_PINGS 0 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 100.5,7.7 CURRENT 0.095,341.6,1

_24V_AH 24.6,0.514 GPS 260510,230456,4806.786,-12222.798,9,1.5,9,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 248 121.41 SBE_CT 246 24 145.77

Roll_motor 23 83 47.85 AA3830 280 33 227.35

VBD_pump_during_apogee 170 647 2720.51 WL_BB2F 697 105 1801.48

VBD_pump_during_surface 381 568 5332.58 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 1 420 15.50 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 0 0.00

TT8 880 19 183.09

LPSleep 137 2 3.16

TT8_Active 648 19 134.75

TT8_Sampling 910 39 380.45

TT8_CF8 81 45 39.25

TT8_Kalman 31 0 0.00

Analog_circuits 1027 12 129.44

GPS_charging 0 0 0.00

Compass 910 15 143.44

RAFOS 0 0 0.00

Transponder 15 30 4.87

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 -0.67 -97.3 0.0 0.0 0 148 0.00 0.00 -125.45 0.000 6 0.000 0.000 173 2163 3726 0 0 0 0 0 0

153 -0.67 -97.3 4.9 -4.4 19 169 10.15 2.25 0.00 0.000 4 0.249 0.045 2771 715 3727 0 0 0 0 0 0

460 -0.67 -97.3 47.4 -12.6 78 469 0.00 2.38 0.00 0.000 6 0.000 0.065 2764 2152 3730 0 0 0 0 0 0

619 -0.67 -97.3 68.2 -13.1 109 626 0.00 2.22 0.00 0.000 4 0.000 0.054 2764 730 3729 0 0 0 0 0 0

656 -0.67 -97.3 73.2 -13.4 115 663 0.00 2.30 0.00 0.000 6 0.000 0.062 2755 2148 3729 0 0 0 0 0 0

817 -0.67 -97.3 95.5 -14.0 146 825 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2148 3729 0 0 0 0 0 0

859 end dive: BOTTOM_OBSTACLE_DETECTED

state 859 begin apogee

865 -0.16 0.0 100.5 13.0 153 948 0.57 0.00 72.72 0.648 6 0.164 0.000 2934 2068 3328 0 0 0 0 0 0

949 end apogee: CONTROL_FINISHED_OK

state 949 begin loiter

969 end loiter: LOITER_COMPLETE

state 969 begin climb

971 0.67 97.3 104.4 0.0 169 1053 0.75 2.47 73.47 0.630 4 0.085 0.073 3203 3489 2931 0 0 0 0 0 0

1091 0.67 97.3 96.9 11.5 188 1099 0.00 2.33 0.00 0.000 6 0.000 0.052 3212 2091 2930 0 0 0 0 0 0

1245 0.67 97.3 75.3 13.6 219 1252 0.00 0.00 0.00 0.000 6 0.000 0.000 3212 2092 2929 0 0 0 0 0 0

1396 0.67 97.3 55.0 12.8 250 1403 0.00 0.00 0.00 0.000 6 0.000 0.000 3212 2092 2929 0 0 0 0 0 0

1553 0.67 97.3 37.2 11.0 281 1561 0.00 2.35 0.00 0.000 4 0.000 0.071 3212 3494 2929 0 0 0 0 0 0

1686 0.67 97.3 21.0 11.4 306 1694 0.00 2.28 0.00 0.000 6 0.000 0.053 3222 2085 2929 0 0 0 0 0 0

1775 0.69 106.9 14.0 7.1 322 1791 0.00 0.00 8.12 0.555 6 0.000 0.000 3222 2084 2893 0 0 0 0 0 0

1870 0.71 126.9 7.5 6.5 339 1894 0.00 2.35 16.35 0.587 4 0.000 0.069 3222 3496 2809 0 0 0 0 0 0

2089 end climb: NO_VERTICAL_VELOCITY

state 2090 begin surface

ID	165	HEADING	-1	ROLL_MAX	3692	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	3	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	80
DIVE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2150	ALTIM_PING_DELTA	10
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2080	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	150	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
D_NO_BLEED	100	SM_CC	600	R_PORT_OVSHOOT	24	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.85000002
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0.025	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	485	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE2	53
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3329	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	66	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	75	CAPUPLOAD	1	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	10	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	22	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_BATHY	-4	T_GPS_CHARGE	-136356.38	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	1001	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	-5	PITCH_MIN	180	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	100	PITCH_MAX	3922	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2990	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043368833
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-20.366472	SEABIRD_T_H	0.00062128826
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000116182	SEABIRD_T_I	2.0815467e-05
RHO	1.0273	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	1.8636994e-06
MASS	52067	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9289675
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1053493
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00075226114
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014976546
HD_A	0.0038360001	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	25
HD_C	9.8500004e-06	ROLL_MIN	200	ALTIM_TOP_TURN_MARGIN	0

GPS1	260510,221619,4806.751,-12222.908,7,1.2,12,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.119,-0.158
_SM_DEPTHo	1.50	KALMAN_X	-67.4,-25.3,-5.5,-0.1,-40.1
_SM_ANGLEo	-78.0	KALMAN_Y	105.1,64.4,44.7,-546.0,69.1
GPS2	260510,222008,4806.761,-12222.896,11,1.9,11,18.3	MHEAD_RNG_PITCHd_Wd	130.2,1793,-17.8,-7.576
SPEED_LIMITS	0.131,0.198	D_GRID	103

SM_CCo	2093,381.38,0.568,0,0,483,697.63	_10V_AH	10.5,1.543
SM_GC	1.68,8.38,0.00,0.00,0.055,0.000,0.000,178,2133,466,-8.74,-0.45,702.29	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12224.57,191111,161632	FG_AHR_10Vo	0.000
TT8_MAMPS	0.023219	MEM	323928
HUMID	1078247087	DATA_FILE_SIZE	20383,379
INTERNAL_PRESSURE	9.1218	CAP_FILE_SIZE	57955,0
TCM_TEMP	17.50	CFSIZE	260165632,202903552
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	100.5,7.7	CURRENT	0.095,341.6,1
_24V_AH	24.6,0.514	GPS	260510,230456,4806.786,-12222.798,9,1.5,9,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	248	121.41	SBE_CT	246	24	145.77
Roll_motor	23	83	47.85	AA3830	280	33	227.35
VBD_pump_during_apogee	170	647	2720.51	WL_BB2F	697	105	1801.48
VBD_pump_during_surface	381	568	5332.58	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	1	420	15.50	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	0	0.00
TT8	880	19	183.09
LPSleep	137	2	3.16
TT8_Active	648	19	134.75
TT8_Sampling	910	39	380.45
TT8_CF8	81	45	39.25
TT8_Kalman	31	0	0.00
Analog_circuits	1027	12	129.44
GPS_charging	0	0	0.00
Compass	910	15	143.44
RAFOS	0	0	0.00
Transponder	15	30	4.87

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	-0.67	-97.3	0.0	0.0	0	148	0.00	0.00	-125.45	0.000	6	0.000	0.000	173	2163	3726	0	0	0	0	0	0
153	-0.67	-97.3	4.9	-4.4	19	169	10.15	2.25	0.00	0.000	4	0.249	0.045	2771	715	3727	0	0	0	0	0	0
460	-0.67	-97.3	47.4	-12.6	78	469	0.00	2.38	0.00	0.000	6	0.000	0.065	2764	2152	3730	0	0	0	0	0	0
619	-0.67	-97.3	68.2	-13.1	109	626	0.00	2.22	0.00	0.000	4	0.000	0.054	2764	730	3729	0	0	0	0	0	0
656	-0.67	-97.3	73.2	-13.4	115	663	0.00	2.30	0.00	0.000	6	0.000	0.062	2755	2148	3729	0	0	0	0	0	0
817	-0.67	-97.3	95.5	-14.0	146	825	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2148	3729	0	0	0	0	0	0
859	end dive: BOTTOM_OBSTACLE_DETECTED
state	859	begin apogee
865	-0.16	0.0	100.5	13.0	153	948	0.57	0.00	72.72	0.648	6	0.164	0.000	2934	2068	3328	0	0	0	0	0	0
949	end apogee: CONTROL_FINISHED_OK
state	949	begin loiter
969	end loiter: LOITER_COMPLETE
state	969	begin climb
971	0.67	97.3	104.4	0.0	169	1053	0.75	2.47	73.47	0.630	4	0.085	0.073	3203	3489	2931	0	0	0	0	0	0
1091	0.67	97.3	96.9	11.5	188	1099	0.00	2.33	0.00	0.000	6	0.000	0.052	3212	2091	2930	0	0	0	0	0	0
1245	0.67	97.3	75.3	13.6	219	1252	0.00	0.00	0.00	0.000	6	0.000	0.000	3212	2092	2929	0	0	0	0	0	0
1396	0.67	97.3	55.0	12.8	250	1403	0.00	0.00	0.00	0.000	6	0.000	0.000	3212	2092	2929	0	0	0	0	0	0
1553	0.67	97.3	37.2	11.0	281	1561	0.00	2.35	0.00	0.000	4	0.000	0.071	3212	3494	2929	0	0	0	0	0	0
1686	0.67	97.3	21.0	11.4	306	1694	0.00	2.28	0.00	0.000	6	0.000	0.053	3222	2085	2929	0	0	0	0	0	0
1775	0.69	106.9	14.0	7.1	322	1791	0.00	0.00	8.12	0.555	6	0.000	0.000	3222	2084	2893	0	0	0	0	0	0
1870	0.71	126.9	7.5	6.5	339	1894	0.00	2.35	16.35	0.587	4	0.000	0.069	3222	3496	2809	0	0	0	0	0	0
2089	end climb: NO_VERTICAL_VELOCITY
state	2090	begin surface