Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 411 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING 30 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 50

DIVE 411 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3200 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3050 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -3415 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON 2600 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 200 SM_CC 402.28543 R_PORT_OVSHOOT 71 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

D_FINISH 0 CALL_NDIVES 2 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2147 DEVICE3 117

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 131

T_DIVE 333 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 348 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00056000001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 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 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -16556.826 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 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 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 175 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1870 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043512532

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -54.899082 SEABIRD_T_H 0.00062429422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2835797e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.3805812e-06

MASS 52780 PITCH_GAIN 45 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.305622

NAV_MODE 0 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763667

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0018977363

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012677554

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 402.28543

AH0_10V 100 D_OFFGRID 250 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 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1000 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 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 45 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -3415

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON 2600

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 0.00056000001 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 333

CALL_NDIVES 2 GPS_DEVICE 32 PRESSURE_YINT -54.899082 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -16556.826

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING 30 RAFOS_HIT_WINDOW 3600 T_MISSION 348

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 543 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1870 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3050 KERMIT 0 ROLL_DEG 25 USE_BATHY 0

C_ROLL_DIVE 3200 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2147 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 71 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE3 117 MAX_BUOY 175 SEABIRD_C_G -10.305622 VBD_MIN 507

DEVICE4 131 MINV_10V 8 SEABIRD_C_H 1.1763667 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0018977363 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 11 SEABIRD_C_J 0.00012677554 VBD_TIMEOUT 800

DIVE 411 MOTHERBOARD 4 SEABIRD_T_G 0.0043512532 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 0 SEABIRD_T_H 0.00062429422 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 SEABIRD_T_I 2.2835797e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.3805812e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 090515,001051,-3427.445,2530.195,16,3.4,36,-27.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3418.168,2536.572

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090515,001853,-3427.521,2530.036,18,1.1,18,-27.7 MHEAD_RNG_PITCHd_Wd 57.7,20000,-16.1,-10.010

SPEED_LIMITS 0.173,0.278 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.1,1.002132 _24V_AH 23.9,46.986

SM_CCo 2626,0.00,0.000,0,0,500,404.00 _10V_AH 10.4,18.651

SM_GC 1.27,5.18,0.00,0.00,0.033,0.000,0.000,43,3229,500,-5.55,0.82,404.00 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3414.71,2531.96,040308,111114 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964 MEM 332644

HUMID 56.14 DATA_FILE_SIZE 20317,364

INTERNAL_PRESSURE 11.3981 CAP_FILE_SIZE 43380,0

TCM_TEMP 20.30 CFSIZE 259252224,244678656

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

ALTIM_BOTTOM_PING 120.2,28.4 GPS 090515,010348,-3427.542,2529.400,12,1.3,13,-27.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 224 68.70 SBE_CT 249 24 143.16

Roll_motor 15 59 22.64 SBE_O2 175 19 79.68

VBD_pump_during_apogee 257 1121 6888.53 QSP2150 104 4 10.89

VBD_pump_during_surface 0 0 0.00 WL_BB2FLVMT 488 105 1227.04

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 61.56 nil 0 0 0.00

Iridium_during_connect 46 160 178.07 nil 0 0 0.00

Iridium_during_xfer 278 223 1482.73 nil 0 0 0.00

Transponder_ping 2 420 22.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.82

TT8 813 14 126.63

LPSleep 683 2 15.56

TT8_Active 276 14 40.89

TT8_Sampling 1220 37 475.09

TT8_CF8 127 47 62.77

TT8_Kalman 0 0 0.00

Analog_circuits 658 12 82.14

GPS_charging 0 0 0.00

Compass 860 15 140.83

RAFOS 0 0 0.00

Transponder 16 30 5.05

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

14 -0.45 -170.4 0.0 0.0 0 88 0.00 0.00 -71.85 0.000 2 0.000 0.000 42 3171 2491 0 0 0 0 0 0

91 -0.45 -170.4 3.2 -4.6 9 109 6.78 1.30 -6.93 0.000 4 0.224 0.052 1723 2313 2844 0 0 0 0 0 0

241 -0.45 -170.4 31.2 -9.3 33 247 0.00 1.42 0.00 0.000 6 0.000 0.047 1718 3207 2848 0 0 0 0 0 0

386 -0.45 -170.4 50.7 -14.6 58 393 0.00 1.15 0.00 0.000 4 0.000 0.052 1712 3946 2849 0 0 0 0 0 0

417 -0.45 -170.4 55.6 -15.8 63 424 0.00 1.08 0.00 0.000 6 0.000 0.031 1713 3204 2849 0 0 0 0 0 0

769 -0.45 -170.4 96.8 -8.6 124 777 0.00 1.15 0.00 0.000 4 0.000 0.054 1707 3941 2851 0 0 0 0 0 0

803 -0.45 -170.4 99.8 -9.9 129 810 0.00 1.08 0.00 0.000 6 0.000 0.030 1707 3195 2851 0 0 0 0 0 0

1126 end dive: BOTTOM_OBSTACLE_DETECTED

state 1126 begin apogee

1131 -0.11 0.0 134.3 10.7 160 1221 0.38 0.00 79.55 1.121 6 0.120 0.000 1832 3057 2146 0 0 0 0 0 0

1222 end apogee: CONTROL_FINISHED_OK

state 1222 begin climb

1224 0.45 170.4 138.0 0.0 169 1316 0.50 1.40 78.53 1.110 4 0.080 0.027 2019 2152 1451 0 0 0 0 0 0

1340 0.45 170.4 131.5 10.2 179 1344 0.00 1.45 0.00 0.000 6 0.000 0.044 2019 3045 1449 0 0 0 0 0 0

1669 0.45 170.4 87.8 12.4 216 1677 0.00 1.40 0.00 0.000 4 0.000 0.050 2020 3929 1446 0 0 0 0 0 0

1815 0.45 170.4 66.8 15.7 241 1822 0.00 1.30 0.00 0.000 6 0.000 0.030 2026 3051 1444 0 0 0 0 0 0

2163 0.56 356.0 34.0 2.7 302 2253 0.00 1.35 79.25 0.786 4 0.000 0.029 2033 2164 692 0 0 0 0 0 0

2447 0.59 422.3 9.5 7.4 348 2472 0.00 1.40 19.67 0.657 6 0.000 0.046 2033 3045 503 0 0 0 0 0 0

2514 end climb: SURFACE_DEPTH_REACHED

state 2514 begin surface coast

2553 end surface coast: CONTROL_FINISHED_OK

state 2553 begin surface

ID	543	HEADING	30	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	50
DIVE	411	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3200	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3050	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-3415	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	2600	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	200	SM_CC	402.28543	R_PORT_OVSHOOT	71	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
D_FINISH	0	CALL_NDIVES	2	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2147	DEVICE3	117
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	131
T_DIVE	333	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	348	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00056000001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	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	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-16556.826	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	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	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	175	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1870	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043512532
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-54.899082	SEABIRD_T_H	0.00062429422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2835797e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.3805812e-06
MASS	52780	PITCH_GAIN	45	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.305622
NAV_MODE	0	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763667
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0018977363
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012677554
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	090515,001051,-3427.445,2530.195,16,3.4,36,-27.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3418.168,2536.572
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090515,001853,-3427.521,2530.036,18,1.1,18,-27.7	MHEAD_RNG_PITCHd_Wd	57.7,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.1,1.002132	_24V_AH	23.9,46.986
SM_CCo	2626,0.00,0.000,0,0,500,404.00	_10V_AH	10.4,18.651
SM_GC	1.27,5.18,0.00,0.00,0.033,0.000,0.000,43,3229,500,-5.55,0.82,404.00	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3414.71,2531.96,040308,111114	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964	MEM	332644
HUMID	56.14	DATA_FILE_SIZE	20317,364
INTERNAL_PRESSURE	11.3981	CAP_FILE_SIZE	43380,0
TCM_TEMP	20.30	CFSIZE	259252224,244678656
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
ALTIM_BOTTOM_PING	120.2,28.4	GPS	090515,010348,-3427.542,2529.400,12,1.3,13,-27.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	224	68.70	SBE_CT	249	24	143.16
Roll_motor	15	59	22.64	SBE_O2	175	19	79.68
VBD_pump_during_apogee	257	1121	6888.53	QSP2150	104	4	10.89
VBD_pump_during_surface	0	0	0.00	WL_BB2FLVMT	488	105	1227.04
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	61.56	nil	0	0	0.00
Iridium_during_connect	46	160	178.07	nil	0	0	0.00
Iridium_during_xfer	278	223	1482.73	nil	0	0	0.00
Transponder_ping	2	420	22.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.82
TT8	813	14	126.63
LPSleep	683	2	15.56
TT8_Active	276	14	40.89
TT8_Sampling	1220	37	475.09
TT8_CF8	127	47	62.77
TT8_Kalman	0	0	0.00
Analog_circuits	658	12	82.14
GPS_charging	0	0	0.00
Compass	860	15	140.83
RAFOS	0	0	0.00
Transponder	16	30	5.05

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
14	-0.45	-170.4	0.0	0.0	0	88	0.00	0.00	-71.85	0.000	2	0.000	0.000	42	3171	2491	0	0	0	0	0	0
91	-0.45	-170.4	3.2	-4.6	9	109	6.78	1.30	-6.93	0.000	4	0.224	0.052	1723	2313	2844	0	0	0	0	0	0
241	-0.45	-170.4	31.2	-9.3	33	247	0.00	1.42	0.00	0.000	6	0.000	0.047	1718	3207	2848	0	0	0	0	0	0
386	-0.45	-170.4	50.7	-14.6	58	393	0.00	1.15	0.00	0.000	4	0.000	0.052	1712	3946	2849	0	0	0	0	0	0
417	-0.45	-170.4	55.6	-15.8	63	424	0.00	1.08	0.00	0.000	6	0.000	0.031	1713	3204	2849	0	0	0	0	0	0
769	-0.45	-170.4	96.8	-8.6	124	777	0.00	1.15	0.00	0.000	4	0.000	0.054	1707	3941	2851	0	0	0	0	0	0
803	-0.45	-170.4	99.8	-9.9	129	810	0.00	1.08	0.00	0.000	6	0.000	0.030	1707	3195	2851	0	0	0	0	0	0
1126	end dive: BOTTOM_OBSTACLE_DETECTED
state	1126	begin apogee
1131	-0.11	0.0	134.3	10.7	160	1221	0.38	0.00	79.55	1.121	6	0.120	0.000	1832	3057	2146	0	0	0	0	0	0
1222	end apogee: CONTROL_FINISHED_OK
state	1222	begin climb
1224	0.45	170.4	138.0	0.0	169	1316	0.50	1.40	78.53	1.110	4	0.080	0.027	2019	2152	1451	0	0	0	0	0	0
1340	0.45	170.4	131.5	10.2	179	1344	0.00	1.45	0.00	0.000	6	0.000	0.044	2019	3045	1449	0	0	0	0	0	0
1669	0.45	170.4	87.8	12.4	216	1677	0.00	1.40	0.00	0.000	4	0.000	0.050	2020	3929	1446	0	0	0	0	0	0
1815	0.45	170.4	66.8	15.7	241	1822	0.00	1.30	0.00	0.000	6	0.000	0.030	2026	3051	1444	0	0	0	0	0	0
2163	0.56	356.0	34.0	2.7	302	2253	0.00	1.35	79.25	0.786	4	0.000	0.029	2033	2164	692	0	0	0	0	0	0
2447	0.59	422.3	9.5	7.4	348	2472	0.00	1.40	19.67	0.657	6	0.000	0.046	2033	3045	503	0	0	0	0	0	0
2514	end climb: SURFACE_DEPTH_REACHED
state	2514	begin surface coast
2553	end surface coast: CONTROL_FINISHED_OK
state	2553	begin surface