Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 515 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING 120 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 515 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2800 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2400 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 325 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 17 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 15 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 3 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 3 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -46899.719 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2690 FG_AHR_24V 0 SEABIRD_T_G 0.0043131942

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062854384

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_YINT -24.446302 SEABIRD_T_I 2.3348166e-05

MASS 51204 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 0 PITCH_GAIN 31 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 1 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 325

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038360001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -46899.719

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 0 HEADING 120 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2690 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2400 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2800 KERMIT 0 ROLL_MAX 3915 USE_ICE 2

C_VBD 2800 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 290 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51204 R_PORT_OVSHOOT 17 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 15 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.029707 VBD_MIN 442

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1484355 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 10 SEABIRD_C_I -0.0010294267 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00016845814 VBD_TIMEOUT 720

DIVE 515 NAV_MODE 0 SEABIRD_T_G 0.0043131942 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 8 SEABIRD_T_H 0.00062854384 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.3348166e-05 XPDR_VALID 0

D_CALL 3 N_NOCOMM 0 SEABIRD_T_J 2.4454023e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 102637,6739.413,-5621.709,36,1.4,37,-38.2 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6733.977,-5557.083

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.36 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 103514,6739.377,-5621.590,14,1.5,14,-38.2 MHEAD_RNG_PITCHd_Wd 158.2,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 126

Post-dive calculations and measurements:

FREEZE 0.48,1.038,-1.383,0,1,0 ALTIM_TOP_PING 19.6,19.1

FINISH 0.5,1.020368 _24V_AH 23.0,82.674

SM_CCo 2859,85.30,0.724,0,0,1474,325.02 _10V_AH 10.0,42.348

SM_GC 1.34,0.00,0.00,85.30,0.000,0.000,0.724,131,2803,1474,-8.00,0.06,325.02 FG_AHR_24Vo 0.000

RAFOS_CLK 187 FG_AHR_10Vo 0.000

RAFOS_FIX 6728.032227,-5800.452148,271209,161644,2,78,0.00 MEM 152552

IRIDIUM_FIX 6709.50,-5628.00,300399,101003 DATA_FILE_SIZE 15894,435

TT8_MAMPS 0.026845 CAP_FILE_SIZE 50249,0

HUMID 48.70 CFSIZE 260165632,214990848

INTERNAL_PRESSURE 8.89683 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,86,0,0

TCM_TEMP 17.30 SOUNDSPEED 1457.8

XPDR_PINGS 3 GPS 030110,112532,6739.190,-5621.004,9,1.1,10,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 273 133.04 SBE_CT 316 24 174.93

Roll_motor 40 100 93.94 SBE_O2 291 19 127.27

VBD_pump_during_apogee 254 829 4855.68 nil 0 0 0.00

VBD_pump_during_surface 85 724 1420.51 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 61 103 146.76 nil 0 0 0.00

Iridium_during_connect 97 160 358.71 nil 0 0 0.00

Iridium_during_xfer 178 223 913.60

Transponder_ping 1 420 9.66

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.11

TT8 698 19 139.16

LPSleep 1232 2 28.46

TT8_Active 418 19 83.33

TT8_Sampling 670 39 267.60

TT8_CF8 448 45 205.92

TT8_Kalman 0 0 0.00

Analog_circuits 804 12 96.48

GPS_charging 0 0 0.00

Compass 660 8 52.88

RAFOS 0 1 0.00

Transponder 2 30 0.79

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 -0.73 -146.0 0.0 0.0 0 113 0.00 0.00 -94.97 0.000 2 0.000 0.000 127 2792 3194 0 0 0 0 0 0

117 -0.73 -146.0 3.1 -4.8 19 143 10.65 2.95 -5.68 0.000 4 0.274 0.100 2445 3928 3397 0 0 7 0 0 0

190 -0.77 -146.0 14.0 -10.3 32 196 0.00 2.78 0.00 0.000 6 0.000 0.061 2445 2799 3399 0 0 6 0 0 0

533 -0.77 -146.0 49.9 -9.9 93 538 0.00 2.92 0.00 0.000 4 0.000 0.088 2445 3928 3399 0 0 7 0 0 0

775 -0.82 -146.0 72.6 -9.6 136 780 0.00 2.72 0.00 0.000 6 0.000 0.062 2445 2802 3400 0 0 7 0 0 0

1120 -0.87 -146.0 106.5 -9.4 192 1126 0.12 2.90 0.00 0.000 4 0.120 0.087 2400 3928 3399 0 0 7 0 0 0

1223 -0.77 -146.0 118.4 -12.3 200 1229 0.15 2.72 0.00 0.000 6 0.207 0.062 2433 2796 3399 0 0 7 0 0 0

1300 end dive: TARGET_DEPTH_EXCEEDED

state 1301 begin apogee

1308 -0.16 0.0 126.0 8.6 208 1427 0.68 0.00 115.45 0.829 6 0.183 0.000 2625 2386 2800 0 0 0 0 0 0

1428 end apogee: CONTROL_FINISHED_OK

state 1428 begin climb

1430 0.73 146.0 129.7 0.0 220 1555 0.98 0.00 117.90 0.785 6 0.141 0.000 2914 2386 2203 0 0 0 0 0 0

1872 0.81 171.6 97.4 8.1 264 1904 0.10 4.10 21.27 0.755 4 0.131 0.081 2950 3923 2097 0 0 8 0 0 0

2011 0.67 171.6 80.4 13.7 289 2022 0.25 3.90 0.00 0.000 6 0.201 0.070 2910 2409 2095 0 0 7 0 0 0

2361 0.76 171.6 46.8 9.9 351 2367 0.00 3.92 0.00 0.000 4 0.000 0.082 2910 3933 2095 0 0 9 0 0 0

2441 0.76 171.6 38.3 11.1 365 2447 0.00 3.90 0.00 0.000 6 0.000 0.069 2925 2396 2095 0 0 6 0 0 0

2788 0.83 174.4 5.9 9.1 426 2793 0.00 3.92 0.00 0.000 4 0.000 0.082 2925 3927 2094 0 0 9 0 0 0

2821 end climb: SURFACE_DEPTH_REACHED

state 2821 begin surface coast

2839 end surface coast: CONTROL_FINISHED_OK

state 2839 begin surface

ID	143	HEADING	120	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	515	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2800	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2400	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	325	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	17	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	15	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	3	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	3	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-46899.719	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2690	FG_AHR_24V	0	SEABIRD_T_G	0.0043131942
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062854384
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_YINT	-24.446302	SEABIRD_T_I	2.3348166e-05
MASS	51204	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	0	PITCH_GAIN	31	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	1	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	102637,6739.413,-5621.709,36,1.4,37,-38.2	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6733.977,-5557.083
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.36	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	103514,6739.377,-5621.590,14,1.5,14,-38.2	MHEAD_RNG_PITCHd_Wd	158.2,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	126

FREEZE	0.48,1.038,-1.383,0,1,0	ALTIM_TOP_PING	19.6,19.1
FINISH	0.5,1.020368	_24V_AH	23.0,82.674
SM_CCo	2859,85.30,0.724,0,0,1474,325.02	_10V_AH	10.0,42.348
SM_GC	1.34,0.00,0.00,85.30,0.000,0.000,0.724,131,2803,1474,-8.00,0.06,325.02	FG_AHR_24Vo	0.000
RAFOS_CLK	187	FG_AHR_10Vo	0.000
RAFOS_FIX	6728.032227,-5800.452148,271209,161644,2,78,0.00	MEM	152552
IRIDIUM_FIX	6709.50,-5628.00,300399,101003	DATA_FILE_SIZE	15894,435
TT8_MAMPS	0.026845	CAP_FILE_SIZE	50249,0
HUMID	48.70	CFSIZE	260165632,214990848
INTERNAL_PRESSURE	8.89683	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,86,0,0
TCM_TEMP	17.30	SOUNDSPEED	1457.8
XPDR_PINGS	3	GPS	030110,112532,6739.190,-5621.004,9,1.1,10,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	273	133.04	SBE_CT	316	24	174.93
Roll_motor	40	100	93.94	SBE_O2	291	19	127.27
VBD_pump_during_apogee	254	829	4855.68	nil	0	0	0.00
VBD_pump_during_surface	85	724	1420.51	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	61	103	146.76	nil	0	0	0.00
Iridium_during_connect	97	160	358.71	nil	0	0	0.00
Iridium_during_xfer	178	223	913.60
Transponder_ping	1	420	9.66
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.11
TT8	698	19	139.16
LPSleep	1232	2	28.46
TT8_Active	418	19	83.33
TT8_Sampling	670	39	267.60
TT8_CF8	448	45	205.92
TT8_Kalman	0	0	0.00
Analog_circuits	804	12	96.48
GPS_charging	0	0	0.00
Compass	660	8	52.88
RAFOS	0	1	0.00
Transponder	2	30	0.79

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	-0.73	-146.0	0.0	0.0	0	113	0.00	0.00	-94.97	0.000	2	0.000	0.000	127	2792	3194	0	0	0	0	0	0
117	-0.73	-146.0	3.1	-4.8	19	143	10.65	2.95	-5.68	0.000	4	0.274	0.100	2445	3928	3397	0	0	7	0	0	0
190	-0.77	-146.0	14.0	-10.3	32	196	0.00	2.78	0.00	0.000	6	0.000	0.061	2445	2799	3399	0	0	6	0	0	0
533	-0.77	-146.0	49.9	-9.9	93	538	0.00	2.92	0.00	0.000	4	0.000	0.088	2445	3928	3399	0	0	7	0	0	0
775	-0.82	-146.0	72.6	-9.6	136	780	0.00	2.72	0.00	0.000	6	0.000	0.062	2445	2802	3400	0	0	7	0	0	0
1120	-0.87	-146.0	106.5	-9.4	192	1126	0.12	2.90	0.00	0.000	4	0.120	0.087	2400	3928	3399	0	0	7	0	0	0
1223	-0.77	-146.0	118.4	-12.3	200	1229	0.15	2.72	0.00	0.000	6	0.207	0.062	2433	2796	3399	0	0	7	0	0	0
1300	end dive: TARGET_DEPTH_EXCEEDED
state	1301	begin apogee
1308	-0.16	0.0	126.0	8.6	208	1427	0.68	0.00	115.45	0.829	6	0.183	0.000	2625	2386	2800	0	0	0	0	0	0
1428	end apogee: CONTROL_FINISHED_OK
state	1428	begin climb
1430	0.73	146.0	129.7	0.0	220	1555	0.98	0.00	117.90	0.785	6	0.141	0.000	2914	2386	2203	0	0	0	0	0	0
1872	0.81	171.6	97.4	8.1	264	1904	0.10	4.10	21.27	0.755	4	0.131	0.081	2950	3923	2097	0	0	8	0	0	0
2011	0.67	171.6	80.4	13.7	289	2022	0.25	3.90	0.00	0.000	6	0.201	0.070	2910	2409	2095	0	0	7	0	0	0
2361	0.76	171.6	46.8	9.9	351	2367	0.00	3.92	0.00	0.000	4	0.000	0.082	2910	3933	2095	0	0	9	0	0	0
2441	0.76	171.6	38.3	11.1	365	2447	0.00	3.90	0.00	0.000	6	0.000	0.069	2925	2396	2095	0	0	6	0	0	0
2788	0.83	174.4	5.9	9.1	426	2793	0.00	3.92	0.00	0.000	4	0.000	0.082	2925	3927	2094	0	0	9	0	0	0
2821	end climb: SURFACE_DEPTH_REACHED
state	2821	begin surface coast
2839	end surface coast: CONTROL_FINISHED_OK
state	2839	begin surface