Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 512 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 40

DIVE 512 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 66 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 41 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 -16805.965 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 2 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 -16805.965

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

CAPUPLOAD 0 HEADING -1 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 66 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 41 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 512 MOTHERBOARD 4 SEABIRD_T_G 0.0043512532 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 2 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 110515,224359,-3413.966,2532.683,15,0.9,15,-27.5 TGT_NAME WP_NORTH

_CALLS 4 TGT_LATLONG -3408.880,2613.860

_XMS_NAKs 2 TGT_RADIUS 3000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110515,224505,-3413.977,2532.676,20,0.9,20,-27.5 MHEAD_RNG_PITCHd_Wd 121.7,63825,-16.1,-10.010

SPEED_LIMITS 0.173,0.278 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.4,1.007230 _10V_AH 10.5,22.308

SM_CCo 1948,63.28,0.119,0,0,504,402.29 FG_AHR_24Vo 0.000

SM_GC 1.26,0.00,0.00,63.28,0.000,0.000,0.119,62,3217,504,-5.65,0.48,402.29 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3401.68,2533.29,070308,111100 MEM 332684

TT8_MAMPS 0.027713 DATA_FILE_SIZE 16929,293

HUMID 55.19 CAP_FILE_SIZE 34125,0

INTERNAL_PRESSURE 11.4176 CFSIZE 259252224,241913856

TCM_TEMP 20.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 CURRENT 0.144,286.9,1

ALTIM_BOTTOM_PING 100.5,20.8 GPS 110515,231955,-3413.963,2532.819,18,1.2,18,-27.5

_24V_AH 24.1,53.343

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 221 67.37 SBE_CT 201 24 116.30

Roll_motor 15 68 26.17 SBE_O2 129 19 59.25

VBD_pump_during_apogee 189 1009 4610.04 QSP2150 81 4 8.56

VBD_pump_during_surface 63 118 180.82 WL_BB2FLVMT 399 105 1011.54

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 2 420 20.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.51

TT8 718 14 112.81

LPSleep 296 2 6.81

TT8_Active 301 14 45.05

TT8_Sampling 720 37 283.21

TT8_CF8 56 47 28.13

TT8_Kalman 0 0 0.00

Analog_circuits 619 12 78.05

GPS_charging 0 0 0.00

Compass 709 15 117.13

RAFOS 0 0 0.00

Transponder 15 30 4.98

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 90 0.00 0.00 -72.80 0.000 2 0.000 0.000 47 3210 2512 0 0 0 0 0 0

93 -0.45 -170.4 3.1 -3.5 9 112 6.62 1.35 -6.68 0.000 4 0.222 0.049 1716 2290 2845 0 0 0 0 0 0

198 -0.45 -170.4 27.1 -13.7 25 205 0.00 1.42 0.00 0.000 6 0.000 0.045 1711 3191 2848 0 0 0 0 0 0

346 -0.45 -170.4 49.4 -15.2 50 354 0.00 1.15 0.00 0.000 4 0.000 0.051 1705 3935 2848 0 0 0 0 0 0

429 -0.45 -170.4 61.9 -12.6 64 438 0.00 1.05 0.00 0.000 6 0.000 0.029 1705 3200 2848 0 0 0 0 0 0

781 -0.45 -170.4 104.1 -11.5 122 784 0.00 1.17 0.00 0.000 4 0.000 0.054 1700 3937 2849 0 0 0 0 0 0

802 end dive: BOTTOM_OBSTACLE_DETECTED

state 802 begin apogee

809 -0.11 0.0 106.9 11.8 124 898 0.40 0.00 79.18 1.009 6 0.121 0.000 1832 3047 2145 0 0 0 0 0 0

899 end apogee: CONTROL_FINISHED_OK

state 899 begin climb

901 0.45 170.4 110.8 0.0 133 984 0.50 1.38 76.78 0.998 4 0.079 0.026 2020 2150 1452 0 0 0 0 0 0

1107 0.45 170.4 92.8 11.1 156 1116 0.00 1.42 0.00 0.000 6 0.000 0.043 2020 3047 1449 0 0 0 0 0 0

1454 0.46 191.7 50.9 9.2 217 1468 0.00 1.45 8.95 0.737 4 0.000 0.050 2020 3951 1362 0 0 0 0 0 0

1573 0.46 191.7 37.0 11.9 237 1580 0.00 1.30 0.00 0.000 6 0.000 0.028 2027 3061 1362 0 0 0 0 0 0

1723 0.48 210.4 21.1 9.3 262 1739 0.00 1.30 7.78 0.642 4 0.000 0.027 2034 2149 1286 0 0 0 0 0 0

1809 0.50 249.9 13.8 8.4 275 1835 0.00 1.40 16.90 0.657 6 0.000 0.044 2034 3047 1126 0 0 0 0 0 0

1886 0.50 249.9 5.4 12.2 286 1895 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 3047 1125 0 0 0 0 0 0

1907 end climb: SURFACE_DEPTH_REACHED

state 1907 begin surface coast

1933 end surface coast: CONTROL_FINISHED_OK

state 1933 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	40
DIVE	512	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	66	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	41	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	-16805.965	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	2	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	110515,224359,-3413.966,2532.683,15,0.9,15,-27.5	TGT_NAME	WP_NORTH
_CALLS	4	TGT_LATLONG	-3408.880,2613.860
_XMS_NAKs	2	TGT_RADIUS	3000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110515,224505,-3413.977,2532.676,20,0.9,20,-27.5	MHEAD_RNG_PITCHd_Wd	121.7,63825,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.4,1.007230	_10V_AH	10.5,22.308
SM_CCo	1948,63.28,0.119,0,0,504,402.29	FG_AHR_24Vo	0.000
SM_GC	1.26,0.00,0.00,63.28,0.000,0.000,0.119,62,3217,504,-5.65,0.48,402.29	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3401.68,2533.29,070308,111100	MEM	332684
TT8_MAMPS	0.027713	DATA_FILE_SIZE	16929,293
HUMID	55.19	CAP_FILE_SIZE	34125,0
INTERNAL_PRESSURE	11.4176	CFSIZE	259252224,241913856
TCM_TEMP	20.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	CURRENT	0.144,286.9,1
ALTIM_BOTTOM_PING	100.5,20.8	GPS	110515,231955,-3413.963,2532.819,18,1.2,18,-27.5
_24V_AH	24.1,53.343

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	221	67.37	SBE_CT	201	24	116.30
Roll_motor	15	68	26.17	SBE_O2	129	19	59.25
VBD_pump_during_apogee	189	1009	4610.04	QSP2150	81	4	8.56
VBD_pump_during_surface	63	118	180.82	WL_BB2FLVMT	399	105	1011.54
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	2	420	20.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.51
TT8	718	14	112.81
LPSleep	296	2	6.81
TT8_Active	301	14	45.05
TT8_Sampling	720	37	283.21
TT8_CF8	56	47	28.13
TT8_Kalman	0	0	0.00
Analog_circuits	619	12	78.05
GPS_charging	0	0	0.00
Compass	709	15	117.13
RAFOS	0	0	0.00
Transponder	15	30	4.98

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	90	0.00	0.00	-72.80	0.000	2	0.000	0.000	47	3210	2512	0	0	0	0	0	0
93	-0.45	-170.4	3.1	-3.5	9	112	6.62	1.35	-6.68	0.000	4	0.222	0.049	1716	2290	2845	0	0	0	0	0	0
198	-0.45	-170.4	27.1	-13.7	25	205	0.00	1.42	0.00	0.000	6	0.000	0.045	1711	3191	2848	0	0	0	0	0	0
346	-0.45	-170.4	49.4	-15.2	50	354	0.00	1.15	0.00	0.000	4	0.000	0.051	1705	3935	2848	0	0	0	0	0	0
429	-0.45	-170.4	61.9	-12.6	64	438	0.00	1.05	0.00	0.000	6	0.000	0.029	1705	3200	2848	0	0	0	0	0	0
781	-0.45	-170.4	104.1	-11.5	122	784	0.00	1.17	0.00	0.000	4	0.000	0.054	1700	3937	2849	0	0	0	0	0	0
802	end dive: BOTTOM_OBSTACLE_DETECTED
state	802	begin apogee
809	-0.11	0.0	106.9	11.8	124	898	0.40	0.00	79.18	1.009	6	0.121	0.000	1832	3047	2145	0	0	0	0	0	0
899	end apogee: CONTROL_FINISHED_OK
state	899	begin climb
901	0.45	170.4	110.8	0.0	133	984	0.50	1.38	76.78	0.998	4	0.079	0.026	2020	2150	1452	0	0	0	0	0	0
1107	0.45	170.4	92.8	11.1	156	1116	0.00	1.42	0.00	0.000	6	0.000	0.043	2020	3047	1449	0	0	0	0	0	0
1454	0.46	191.7	50.9	9.2	217	1468	0.00	1.45	8.95	0.737	4	0.000	0.050	2020	3951	1362	0	0	0	0	0	0
1573	0.46	191.7	37.0	11.9	237	1580	0.00	1.30	0.00	0.000	6	0.000	0.028	2027	3061	1362	0	0	0	0	0	0
1723	0.48	210.4	21.1	9.3	262	1739	0.00	1.30	7.78	0.642	4	0.000	0.027	2034	2149	1286	0	0	0	0	0	0
1809	0.50	249.9	13.8	8.4	275	1835	0.00	1.40	16.90	0.657	6	0.000	0.044	2034	3047	1126	0	0	0	0	0	0
1886	0.50	249.9	5.4	12.2	286	1895	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	3047	1125	0	0	0	0	0	0
1907	end climb: SURFACE_DEPTH_REACHED
state	1907	begin surface coast
1933	end surface coast: CONTROL_FINISHED_OK
state	1933	begin surface