Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 445 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING 45 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 40

DIVE 445 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 62 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 28 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 -16642.219 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 40 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 -16642.219

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

CAPUPLOAD 0 HEADING 45 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 62 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 28 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 445 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 100515,005153,-3421.396,2522.219,13,1.1,13,-27.5 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3413.703,2531.367

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.21 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 100515,005918,-3421.340,2522.131,17,1.5,17,-27.5 MHEAD_RNG_PITCHd_Wd 72.5,20000,-16.1,-10.010

SPEED_LIMITS 0.173,0.278 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.3,1.024763 _24V_AH 24.1,49.155

SM_CCo 2029,88.85,0.223,1,0,504,402.29 _10V_AH 10.4,19.907

SM_GC 1.24,0.00,0.00,88.85,0.000,0.000,0.223,52,3196,504,-5.68,-0.08,402.29 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3409.50,2519.16,050308,121233 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713 MEM 332684

HUMID 55.19 DATA_FILE_SIZE 16976,310

INTERNAL_PRESSURE 11.3981 CAP_FILE_SIZE 40613,0

TCM_TEMP 20.00 CFSIZE 259252224,243732480

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

ALTIM_BOTTOM_PING 100.5,24.0 GPS 100515,013553,-3421.059,2522.330,13,1.2,13,-27.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 219 66.93 SBE_CT 212 24 123.04

Roll_motor 18 58 25.66 SBE_O2 141 19 64.81

VBD_pump_during_apogee 177 1012 4328.88 QSP2150 83 4 8.83

VBD_pump_during_surface 88 222 476.68 WL_BB2FLVMT 406 105 1028.54

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 64.94 nil 0 0 0.00

Iridium_during_connect 20 160 77.91 nil 0 0 0.00

Iridium_during_xfer 263 223 1418.46 nil 0 0 0.00

Transponder_ping 2 420 20.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.47

TT8 721 14 112.32

LPSleep 362 2 8.26

TT8_Active 322 14 47.64

TT8_Sampling 1047 37 407.94

TT8_CF8 130 47 63.83

TT8_Kalman 0 0 0.00

Analog_circuits 644 12 80.40

GPS_charging 0 0 0.00

Compass 730 15 119.43

RAFOS 0 0 0.00

Transponder 14 30 4.55

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 -0.45 -170.4 0.0 0.0 0 96 0.00 0.00 -78.55 0.000 2 0.000 0.000 44 3182 2711 0 0 0 0 0 0

99 -0.45 -170.4 4.1 -6.8 10 117 6.65 1.20 -2.40 0.000 4 0.220 0.059 1714 3971 2845 0 0 0 0 0 0

266 -0.45 -170.4 39.1 -12.8 38 275 0.00 1.12 0.00 0.000 6 0.000 0.029 1714 3194 2848 0 0 0 0 0 0

416 -0.45 -170.4 58.9 -14.7 63 423 0.00 1.25 0.00 0.000 4 0.000 0.026 1714 2306 2849 0 0 0 0 0 0

501 -0.45 -170.4 69.1 -9.6 77 507 0.00 1.42 0.00 0.000 6 0.000 0.046 1707 3208 2849 0 0 0 0 0 0

851 -0.45 -170.4 107.5 -11.2 133 854 0.00 1.27 0.00 0.000 4 0.000 0.027 1707 2304 2850 0 0 0 0 0 0

865 end dive: BOTTOM_OBSTACLE_DETECTED

state 865 begin apogee

871 -0.11 0.0 109.7 10.8 134 957 0.38 0.00 78.38 1.012 6 0.112 0.000 1828 3049 2145 0 0 0 0 0 0

958 end apogee: CONTROL_FINISHED_OK

state 958 begin climb

960 0.45 170.4 112.7 0.0 143 1048 0.50 1.48 78.28 0.998 4 0.080 0.050 2009 3930 1451 0 0 0 0 0 0

1075 0.45 170.4 104.6 12.6 153 1079 0.00 1.33 0.00 0.000 6 0.000 0.028 2016 3054 1450 0 0 0 0 0 0

1420 0.45 173.2 63.9 9.9 211 1427 0.00 1.30 0.00 0.000 4 0.000 0.028 2023 2150 1447 0 0 0 0 0 0

1468 0.47 208.4 59.3 8.6 219 1489 0.00 1.40 16.15 0.807 6 0.000 0.044 2022 3042 1295 0 0 0 0 0 0

1832 0.47 208.4 20.4 10.9 282 1841 0.00 1.27 0.00 0.000 4 0.000 0.028 2030 2163 1292 0 0 0 0 0 0

1873 0.48 220.2 16.2 9.5 288 1883 0.00 1.40 4.68 0.541 6 0.000 0.046 2030 3054 1245 0 0 0 0 0 0

1933 0.48 220.2 9.7 10.8 297 1942 0.00 1.38 0.00 0.000 4 0.000 0.050 2030 3928 1245 0 0 0 0 0 0

1990 end climb: SURFACE_DEPTH_REACHED

state 1990 begin surface coast

2015 end surface coast: CONTROL_FINISHED_OK

state 2015 begin surface

ID	543	HEADING	45	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	40
DIVE	445	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	62	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	28	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	-16642.219	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	100515,005153,-3421.396,2522.219,13,1.1,13,-27.5	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3413.703,2531.367
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.21	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	100515,005918,-3421.340,2522.131,17,1.5,17,-27.5	MHEAD_RNG_PITCHd_Wd	72.5,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.3,1.024763	_24V_AH	24.1,49.155
SM_CCo	2029,88.85,0.223,1,0,504,402.29	_10V_AH	10.4,19.907
SM_GC	1.24,0.00,0.00,88.85,0.000,0.000,0.223,52,3196,504,-5.68,-0.08,402.29	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3409.50,2519.16,050308,121233	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713	MEM	332684
HUMID	55.19	DATA_FILE_SIZE	16976,310
INTERNAL_PRESSURE	11.3981	CAP_FILE_SIZE	40613,0
TCM_TEMP	20.00	CFSIZE	259252224,243732480
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
ALTIM_BOTTOM_PING	100.5,24.0	GPS	100515,013553,-3421.059,2522.330,13,1.2,13,-27.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	219	66.93	SBE_CT	212	24	123.04
Roll_motor	18	58	25.66	SBE_O2	141	19	64.81
VBD_pump_during_apogee	177	1012	4328.88	QSP2150	83	4	8.83
VBD_pump_during_surface	88	222	476.68	WL_BB2FLVMT	406	105	1028.54
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	64.94	nil	0	0	0.00
Iridium_during_connect	20	160	77.91	nil	0	0	0.00
Iridium_during_xfer	263	223	1418.46	nil	0	0	0.00
Transponder_ping	2	420	20.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.47
TT8	721	14	112.32
LPSleep	362	2	8.26
TT8_Active	322	14	47.64
TT8_Sampling	1047	37	407.94
TT8_CF8	130	47	63.83
TT8_Kalman	0	0	0.00
Analog_circuits	644	12	80.40
GPS_charging	0	0	0.00
Compass	730	15	119.43
RAFOS	0	0	0.00
Transponder	14	30	4.55

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	-0.45	-170.4	0.0	0.0	0	96	0.00	0.00	-78.55	0.000	2	0.000	0.000	44	3182	2711	0	0	0	0	0	0
99	-0.45	-170.4	4.1	-6.8	10	117	6.65	1.20	-2.40	0.000	4	0.220	0.059	1714	3971	2845	0	0	0	0	0	0
266	-0.45	-170.4	39.1	-12.8	38	275	0.00	1.12	0.00	0.000	6	0.000	0.029	1714	3194	2848	0	0	0	0	0	0
416	-0.45	-170.4	58.9	-14.7	63	423	0.00	1.25	0.00	0.000	4	0.000	0.026	1714	2306	2849	0	0	0	0	0	0
501	-0.45	-170.4	69.1	-9.6	77	507	0.00	1.42	0.00	0.000	6	0.000	0.046	1707	3208	2849	0	0	0	0	0	0
851	-0.45	-170.4	107.5	-11.2	133	854	0.00	1.27	0.00	0.000	4	0.000	0.027	1707	2304	2850	0	0	0	0	0	0
865	end dive: BOTTOM_OBSTACLE_DETECTED
state	865	begin apogee
871	-0.11	0.0	109.7	10.8	134	957	0.38	0.00	78.38	1.012	6	0.112	0.000	1828	3049	2145	0	0	0	0	0	0
958	end apogee: CONTROL_FINISHED_OK
state	958	begin climb
960	0.45	170.4	112.7	0.0	143	1048	0.50	1.48	78.28	0.998	4	0.080	0.050	2009	3930	1451	0	0	0	0	0	0
1075	0.45	170.4	104.6	12.6	153	1079	0.00	1.33	0.00	0.000	6	0.000	0.028	2016	3054	1450	0	0	0	0	0	0
1420	0.45	173.2	63.9	9.9	211	1427	0.00	1.30	0.00	0.000	4	0.000	0.028	2023	2150	1447	0	0	0	0	0	0
1468	0.47	208.4	59.3	8.6	219	1489	0.00	1.40	16.15	0.807	6	0.000	0.044	2022	3042	1295	0	0	0	0	0	0
1832	0.47	208.4	20.4	10.9	282	1841	0.00	1.27	0.00	0.000	4	0.000	0.028	2030	2163	1292	0	0	0	0	0	0
1873	0.48	220.2	16.2	9.5	288	1883	0.00	1.40	4.68	0.541	6	0.000	0.046	2030	3054	1245	0	0	0	0	0	0
1933	0.48	220.2	9.7	10.8	297	1942	0.00	1.38	0.00	0.000	4	0.000	0.050	2030	3928	1245	0	0	0	0	0	0
1990	end climb: SURFACE_DEPTH_REACHED
state	1990	begin surface coast
2015	end surface coast: CONTROL_FINISHED_OK
state	2015	begin surface