Glider dive log

PortSusan 08Dec09.01 * SG130 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 130 HEADING -1 ROLL_MIN 162 ALTIM_BOTTOM_TURN_MARGIN 5

MISSION 7 ESCAPE_HEADING 0 ROLL_MAX 3945 ALTIM_TOP_TURN_MARGIN 0

DIVE 5 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2050 ALTIM_PING_DEPTH 85

D_FLARE 2 TGT_DEFAULT_LAT 44.380001 C_ROLL_CLIMB 2050 ALTIM_PING_DELTA 10

D_TGT 150 TGT_DEFAULT_LON -125.01 HEAD_ERRBAND 20 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 200 SM_CC 500 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 4

D_BOOST 2 N_FILEKB 4 R_PORT_OVSHOOT 28 XPDR_VALID 1

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 31 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 1.2

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0.029999999 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 3 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 516 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 72 CALL_TRIES 5 C_VBD 2790 DEVICE2 20

T_MISSION 85 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 83

T_ABORT 1440 CAPUPLOAD 1 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 4 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 -69701.094 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 91.800003 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 417 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3725 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2910 FG_AHR_24V 0 SEABIRD_T_G 0.0044082953

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00065181591

RHO 1.0275 PITCH_CNV 0.0046000001 PRESSURE_YINT -7.5355983 SEABIRD_T_I 3.2922526e-05

MASS 52028 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001159091 SEABIRD_T_J 4.287429e-06

NAV_MODE 1 PITCH_GAIN 16 AD7714Ch0Gain 128 SEABIRD_C_G -9.794486

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1032488

KALMAN_USE 1 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011085917

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0001701656

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 2 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 200 PHONE_SUPPLY 2 SM_CC 500

AH0_24V 91.800003 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.029999999 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 5 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_TGT 150 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 85 ESCAPE_HEADING 0 PITCH_GAIN 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3725 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 417 TGT_DEFAULT_LAT 44.380001

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -125.01

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001159091 T_DIVE 72

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -7.5355983 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 -69701.094

CAPMAXSIZE 200000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 1 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 85

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 20 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 3 T_TURN_SAMPINT 4

COMPASS_USE 0 ID 130 ROLL_ADJ_GAIN 0.029999999 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2910 INT_PRESSURE_YINT 1.2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2050 KALMAN_USE 1 ROLL_DEG 40 USE_BATHY -4

C_ROLL_DIVE 2050 KERMIT 0 ROLL_MAX 3945 USE_ICE 0

C_VBD 2790 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 162 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 52028 R_PORT_OVSHOOT 28 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 31 VBD_MAXERRORS 1

DEVICE3 83 MINV_10V 8 SEABIRD_C_G -9.794486 VBD_MIN 516

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1032488 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 7 SEABIRD_C_I -0.0011085917 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0001701656 VBD_TIMEOUT 720

DIVE 5 NAV_MODE 1 SEABIRD_T_G 0.0044082953 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 4 SEABIRD_T_H 0.00065181591 XPDR_INHIBIT 90

D_BOOST 2 N_GPS 20 SEABIRD_T_I 3.2922526e-05 XPDR_VALID 1

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 4.287429e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 002406,4806.938,-12222.861,49,1.0,49,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.095,0.126

_SM_DEPTHo 2.33 KALMAN_X 275.9,81.7,1.9,663.3,125.0

_SM_ANGLEo -76.1 KALMAN_Y -106.3,53.2,97.0,-1747.0,-157.7

GPS2 003202,4806.877,-12222.865,15,1.6,15,18.3 MHEAD_RNG_PITCHd_Wd 304.6,282,-19.8,-6.944

SPEED_LIMITS 0.120,0.228 D_GRID 105

Post-dive calculations and measurements:

FREEZE 5.35,6.465,-1.351,0,1,0 _10V_AH 10.3,0.476

SM_CCo 2231,190.57,0.544,2,0,516,557.81 FG_AHR_24Vo 0.000

SM_GC 1.81,12.93,0.00,0.00,0.035,0.000,0.000,416,2059,515,-11.42,0.25,558.30 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.72,-12223.57,040399,232353 MEM 324644

TT8_MAMPS 0.025311 DATA_FILE_SIZE 22354,388

HUMID 23.81 CAP_FILE_SIZE 49302,0

INTERNAL_PRESSURE 9.14952 CFSIZE 260165632,146268160

TCM_TEMP 14.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 GPS 091209,011614,4807.050,-12223.026,10,1.5,10,18.3

_24V_AH 23.7,0.881

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 146 98.08 SBE_CT 343 24 195.13

Roll_motor 24 74 43.99 SBE_O2 233 19 105.32

VBD_pump_during_apogee 374 667 5928.56 WL_BBFL2VMT 866 105 2156.05

VBD_pump_during_surface 190 543 2456.16 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 63.15 nil 0 0 0.00

Iridium_during_connect 26 160 100.79 nil 0 0 0.00

Iridium_during_xfer 232 223 1228.19

Transponder_ping 1 420 12.44

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.99

TT8 567 19 115.79

LPSleep 228 2 5.15

TT8_Active 470 19 96.03

TT8_Sampling 996 39 408.35

TT8_CF8 766 45 361.75

TT8_Kalman 33 81 28.06

Analog_circuits 1026 12 126.94

GPS_charging 0 0 0.00

Compass 1250 8 103.02

RAFOS 0 0 0.00

Transponder 13 30 4.04

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -1.31 -63.7 0.0 0.0 0 27 0.00 0.00 -5.43 0.000 2 0.000 0.000 412 2070 1061 0 0 0 0 0 0

30 -1.42 -146.0 2.4 -0.0 1 136 12.10 2.53 -82.95 0.000 4 0.146 0.074 2594 3450 3387 0 0 0 0 0 0

260 -1.30 -146.0 25.7 -13.3 40 270 0.10 2.47 0.00 0.000 6 0.104 0.047 2616 2057 3387 0 0 0 0 0 0

321 -1.24 -146.0 33.6 -12.6 51 331 0.10 0.00 0.00 0.000 6 0.131 0.000 2635 2057 3387 0 0 0 0 0 0

390 -1.24 -146.0 42.1 -11.6 62 398 0.00 2.53 0.00 0.000 4 0.000 0.059 2635 642 3387 0 0 0 0 0 0

475 -1.24 -146.0 52.3 -12.0 78 484 0.00 2.42 0.00 0.000 6 0.000 0.042 2635 2038 3387 0 0 0 0 0 0

683 -1.28 -146.0 75.4 -10.7 117 689 0.00 0.00 0.00 0.000 6 0.000 0.000 2635 2038 3387 0 0 0 0 0 0

887 -1.33 -146.0 97.6 -10.5 156 894 0.00 0.00 0.00 0.000 6 0.000 0.000 2635 2039 3387 0 0 0 0 0 0

964 end dive: TARGET_DEPTH_EXCEEDED

state 964 begin apogee

970 -0.31 0.0 105.4 10.6 170 1093 0.98 0.00 113.97 0.667 6 0.084 0.000 2837 2039 2789 0 0 0 0 0 0

1093 end apogee: CONTROL_FINISHED_OK

state 1094 begin climb

1096 1.42 146.0 109.8 0.0 191 1225 1.73 0.00 117.22 0.640 6 0.058 0.000 3214 2039 2191 0 0 0 0 0 0

1421 1.38 146.0 73.7 12.8 251 1427 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2039 2184 0 0 0 0 0 0

1620 1.38 146.0 48.4 11.9 290 1628 0.00 2.53 0.00 0.000 4 0.000 0.058 3214 3453 2182 0 0 0 0 0 0

1655 1.38 146.0 44.1 12.1 296 1663 0.00 2.47 0.00 0.000 6 0.000 0.044 3214 2044 2182 0 0 0 0 0 0

1893 1.38 146.0 16.6 11.0 335 1902 0.00 2.53 0.00 0.000 4 0.000 0.057 3214 3450 2181 0 0 0 0 0 0

1971 1.38 146.0 8.1 10.4 350 1981 0.00 2.45 0.00 0.000 6 0.000 0.044 3214 2054 2181 0 0 0 0 0 0

2046 1.67 240.9 6.7 -0.0 361 2133 0.25 2.58 76.57 0.575 4 0.051 0.057 3283 641 1805 0 0 0 0 0 0

2152 1.85 323.8 5.8 0.8 378 2225 0.08 2.45 67.10 0.563 2 0.044 0.038 3313 2059 1477 0 0 0 0 0 0

2227 end climb: NO_VERTICAL_VELOCITY

state 2227 begin surface

ID	130	HEADING	-1	ROLL_MIN	162	ALTIM_BOTTOM_TURN_MARGIN	5
MISSION	7	ESCAPE_HEADING	0	ROLL_MAX	3945	ALTIM_TOP_TURN_MARGIN	0
DIVE	5	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2050	ALTIM_PING_DEPTH	85
D_FLARE	2	TGT_DEFAULT_LAT	44.380001	C_ROLL_CLIMB	2050	ALTIM_PING_DELTA	10
D_TGT	150	TGT_DEFAULT_LON	-125.01	HEAD_ERRBAND	20	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	200	SM_CC	500	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	4
D_BOOST	2	N_FILEKB	4	R_PORT_OVSHOOT	28	XPDR_VALID	1
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	31	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	1.2
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0.029999999	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	3	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	516	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	72	CALL_TRIES	5	C_VBD	2790	DEVICE2	20
T_MISSION	85	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	83
T_ABORT	1440	CAPUPLOAD	1	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	4	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	-69701.094	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	91.800003	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	417	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3725	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2910	FG_AHR_24V	0	SEABIRD_T_G	0.0044082953
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00065181591
RHO	1.0275	PITCH_CNV	0.0046000001	PRESSURE_YINT	-7.5355983	SEABIRD_T_I	3.2922526e-05
MASS	52028	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001159091	SEABIRD_T_J	4.287429e-06
NAV_MODE	1	PITCH_GAIN	16	AD7714Ch0Gain	128	SEABIRD_C_G	-9.794486
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1032488
KALMAN_USE	1	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011085917
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0001701656
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	002406,4806.938,-12222.861,49,1.0,49,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.095,0.126
_SM_DEPTHo	2.33	KALMAN_X	275.9,81.7,1.9,663.3,125.0
_SM_ANGLEo	-76.1	KALMAN_Y	-106.3,53.2,97.0,-1747.0,-157.7
GPS2	003202,4806.877,-12222.865,15,1.6,15,18.3	MHEAD_RNG_PITCHd_Wd	304.6,282,-19.8,-6.944
SPEED_LIMITS	0.120,0.228	D_GRID	105

FREEZE	5.35,6.465,-1.351,0,1,0	_10V_AH	10.3,0.476
SM_CCo	2231,190.57,0.544,2,0,516,557.81	FG_AHR_24Vo	0.000
SM_GC	1.81,12.93,0.00,0.00,0.035,0.000,0.000,416,2059,515,-11.42,0.25,558.30	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.72,-12223.57,040399,232353	MEM	324644
TT8_MAMPS	0.025311	DATA_FILE_SIZE	22354,388
HUMID	23.81	CAP_FILE_SIZE	49302,0
INTERNAL_PRESSURE	9.14952	CFSIZE	260165632,146268160
TCM_TEMP	14.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	GPS	091209,011614,4807.050,-12223.026,10,1.5,10,18.3
_24V_AH	23.7,0.881

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	146	98.08	SBE_CT	343	24	195.13
Roll_motor	24	74	43.99	SBE_O2	233	19	105.32
VBD_pump_during_apogee	374	667	5928.56	WL_BBFL2VMT	866	105	2156.05
VBD_pump_during_surface	190	543	2456.16	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	63.15	nil	0	0	0.00
Iridium_during_connect	26	160	100.79	nil	0	0	0.00
Iridium_during_xfer	232	223	1228.19
Transponder_ping	1	420	12.44
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.99
TT8	567	19	115.79
LPSleep	228	2	5.15
TT8_Active	470	19	96.03
TT8_Sampling	996	39	408.35
TT8_CF8	766	45	361.75
TT8_Kalman	33	81	28.06
Analog_circuits	1026	12	126.94
GPS_charging	0	0	0.00
Compass	1250	8	103.02
RAFOS	0	0	0.00
Transponder	13	30	4.04

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-1.31	-63.7	0.0	0.0	0	27	0.00	0.00	-5.43	0.000	2	0.000	0.000	412	2070	1061	0	0	0	0	0	0
30	-1.42	-146.0	2.4	-0.0	1	136	12.10	2.53	-82.95	0.000	4	0.146	0.074	2594	3450	3387	0	0	0	0	0	0
260	-1.30	-146.0	25.7	-13.3	40	270	0.10	2.47	0.00	0.000	6	0.104	0.047	2616	2057	3387	0	0	0	0	0	0
321	-1.24	-146.0	33.6	-12.6	51	331	0.10	0.00	0.00	0.000	6	0.131	0.000	2635	2057	3387	0	0	0	0	0	0
390	-1.24	-146.0	42.1	-11.6	62	398	0.00	2.53	0.00	0.000	4	0.000	0.059	2635	642	3387	0	0	0	0	0	0
475	-1.24	-146.0	52.3	-12.0	78	484	0.00	2.42	0.00	0.000	6	0.000	0.042	2635	2038	3387	0	0	0	0	0	0
683	-1.28	-146.0	75.4	-10.7	117	689	0.00	0.00	0.00	0.000	6	0.000	0.000	2635	2038	3387	0	0	0	0	0	0
887	-1.33	-146.0	97.6	-10.5	156	894	0.00	0.00	0.00	0.000	6	0.000	0.000	2635	2039	3387	0	0	0	0	0	0
964	end dive: TARGET_DEPTH_EXCEEDED
state	964	begin apogee
970	-0.31	0.0	105.4	10.6	170	1093	0.98	0.00	113.97	0.667	6	0.084	0.000	2837	2039	2789	0	0	0	0	0	0
1093	end apogee: CONTROL_FINISHED_OK
state	1094	begin climb
1096	1.42	146.0	109.8	0.0	191	1225	1.73	0.00	117.22	0.640	6	0.058	0.000	3214	2039	2191	0	0	0	0	0	0
1421	1.38	146.0	73.7	12.8	251	1427	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2039	2184	0	0	0	0	0	0
1620	1.38	146.0	48.4	11.9	290	1628	0.00	2.53	0.00	0.000	4	0.000	0.058	3214	3453	2182	0	0	0	0	0	0
1655	1.38	146.0	44.1	12.1	296	1663	0.00	2.47	0.00	0.000	6	0.000	0.044	3214	2044	2182	0	0	0	0	0	0
1893	1.38	146.0	16.6	11.0	335	1902	0.00	2.53	0.00	0.000	4	0.000	0.057	3214	3450	2181	0	0	0	0	0	0
1971	1.38	146.0	8.1	10.4	350	1981	0.00	2.45	0.00	0.000	6	0.000	0.044	3214	2054	2181	0	0	0	0	0	0
2046	1.67	240.9	6.7	-0.0	361	2133	0.25	2.58	76.57	0.575	4	0.051	0.057	3283	641	1805	0	0	0	0	0	0
2152	1.85	323.8	5.8	0.8	378	2225	0.08	2.45	67.10	0.563	2	0.044	0.038	3313	2059	1477	0	0	0	0	0	0
2227	end climb: NO_VERTICAL_VELOCITY
state	2227	begin surface