Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 526 * 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 526 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 70 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 25 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 -16841.896 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 -16841.896

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 70 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 25 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 526 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 120515,081512,-3413.716,2533.646,26,1.7,26,-27.5 TGT_NAME WP_NORTH

_CALLS 2 TGT_LATLONG -3408.880,2613.860

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.30 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120515,081617,-3413.707,2533.638,20,1.2,20,-27.5 MHEAD_RNG_PITCHd_Wd 120.1,62294,-16.1,-10.010

SPEED_LIMITS 0.173,0.278 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.4,1.013353 _10V_AH 10.5,22.809

SM_CCo 1955,71.18,0.118,0,0,503,402.29 FG_AHR_24Vo 0.000

SM_GC 1.36,0.00,0.00,71.18,0.000,0.000,0.118,51,3207,503,-5.68,0.20,402.29 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3359.08,2535.64,070308,202032 MEM 332716

TT8_MAMPS 0.026964 DATA_FILE_SIZE 16981,297

HUMID 55.23 CAP_FILE_SIZE 33491,0

INTERNAL_PRESSURE 11.4176 CFSIZE 259252224,241528832

TCM_TEMP 20.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.172,275.7,1

ALTIM_BOTTOM_PING 90.6,24.6 GPS 120515,085130,-3413.698,2533.709,25,1.9,25,-27.5

_24V_AH 24.1,54.232

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 222 66.79 SBE_CT 203 24 117.57

Roll_motor 13 71 23.88 SBE_O2 130 19 59.79

VBD_pump_during_apogee 179 989 4279.32 QSP2150 82 4 8.73

VBD_pump_during_surface 71 117 202.08 WL_BB2FLVMT 409 105 1036.68

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 1 420 17.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.49

TT8 723 14 113.69

LPSleep 303 2 6.99

TT8_Active 305 14 45.65

TT8_Sampling 718 37 282.23

TT8_CF8 56 47 28.14

TT8_Kalman 0 0 0.00

Analog_circuits 624 12 78.75

GPS_charging 0 0 0.00

Compass 707 15 116.84

RAFOS 0 0 0.00

Transponder 13 30 4.12

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.45 -170.4 0.0 0.0 0 97 0.00 0.00 -79.57 0.000 2 0.000 0.000 63 3188 2769 0 0 0 0 0 0

100 -0.45 -170.4 4.5 -7.9 10 118 6.57 1.27 -1.35 0.000 4 0.223 0.053 1720 2322 2846 0 0 0 0 0 0

163 -0.45 -170.4 28.9 -22.8 19 170 0.00 1.40 0.00 0.000 6 0.000 0.046 1716 3208 2848 0 0 0 0 0 0

315 -0.45 -170.4 49.9 -13.9 44 327 0.00 0.00 0.00 0.000 6 0.000 0.000 1715 3208 2849 0 0 0 0 0 0

679 -0.45 -170.4 91.3 -11.2 105 686 0.00 1.27 0.00 0.000 4 0.000 0.025 1716 2305 2850 0 0 0 0 0 0

698 -0.45 -170.4 93.5 -10.3 108 709 0.00 1.40 0.00 0.000 6 0.000 0.046 1710 3197 2850 0 0 0 0 0 0

771 end dive: BOTTOM_OBSTACLE_DETECTED

state 771 begin apogee

777 -0.11 0.0 101.3 10.8 119 857 0.35 0.00 77.20 0.990 6 0.121 0.000 1826 3050 2145 0 0 0 0 0 0

858 end apogee: CONTROL_FINISHED_OK

state 858 begin climb

860 0.45 170.4 104.9 0.0 127 941 0.52 0.00 76.90 0.973 6 0.082 0.000 2012 3049 1450 0 0 0 0 0 0

1282 0.45 170.4 59.9 12.1 192 1292 0.00 1.42 0.00 0.000 4 0.000 0.052 2012 3929 1447 0 0 0 0 0 0

1318 0.45 170.4 56.0 12.1 197 1325 0.00 1.30 0.00 0.000 6 0.000 0.028 2019 3041 1446 0 0 0 0 0 0

1676 0.47 200.8 23.2 8.8 258 1700 0.00 1.42 12.62 0.681 4 0.000 0.050 2019 3921 1326 0 0 0 0 0 0

1781 0.48 219.2 14.2 9.3 274 1798 0.00 1.27 7.82 0.602 6 0.000 0.028 2026 3049 1249 0 0 0 0 0 0

1850 0.49 230.9 7.7 9.5 284 1860 0.00 1.33 4.82 0.524 4 0.000 0.027 2033 2150 1201 0 0 0 0 0 0

1893 0.49 230.9 3.3 10.0 290 1902 0.00 1.42 0.00 0.000 6 0.000 0.045 2033 3056 1201 0 0 0 0 0 0

1908 end climb: SURFACE_DEPTH_REACHED

state 1909 begin surface coast

1941 end surface coast: CONTROL_FINISHED_OK

state 1941 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	526	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	70	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	25	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	-16841.896	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	120515,081512,-3413.716,2533.646,26,1.7,26,-27.5	TGT_NAME	WP_NORTH
_CALLS	2	TGT_LATLONG	-3408.880,2613.860
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.30	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120515,081617,-3413.707,2533.638,20,1.2,20,-27.5	MHEAD_RNG_PITCHd_Wd	120.1,62294,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.4,1.013353	_10V_AH	10.5,22.809
SM_CCo	1955,71.18,0.118,0,0,503,402.29	FG_AHR_24Vo	0.000
SM_GC	1.36,0.00,0.00,71.18,0.000,0.000,0.118,51,3207,503,-5.68,0.20,402.29	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3359.08,2535.64,070308,202032	MEM	332716
TT8_MAMPS	0.026964	DATA_FILE_SIZE	16981,297
HUMID	55.23	CAP_FILE_SIZE	33491,0
INTERNAL_PRESSURE	11.4176	CFSIZE	259252224,241528832
TCM_TEMP	20.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.172,275.7,1
ALTIM_BOTTOM_PING	90.6,24.6	GPS	120515,085130,-3413.698,2533.709,25,1.9,25,-27.5
_24V_AH	24.1,54.232

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	222	66.79	SBE_CT	203	24	117.57
Roll_motor	13	71	23.88	SBE_O2	130	19	59.79
VBD_pump_during_apogee	179	989	4279.32	QSP2150	82	4	8.73
VBD_pump_during_surface	71	117	202.08	WL_BB2FLVMT	409	105	1036.68
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	1	420	17.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.49
TT8	723	14	113.69
LPSleep	303	2	6.99
TT8_Active	305	14	45.65
TT8_Sampling	718	37	282.23
TT8_CF8	56	47	28.14
TT8_Kalman	0	0	0.00
Analog_circuits	624	12	78.75
GPS_charging	0	0	0.00
Compass	707	15	116.84
RAFOS	0	0	0.00
Transponder	13	30	4.12

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.45	-170.4	0.0	0.0	0	97	0.00	0.00	-79.57	0.000	2	0.000	0.000	63	3188	2769	0	0	0	0	0	0
100	-0.45	-170.4	4.5	-7.9	10	118	6.57	1.27	-1.35	0.000	4	0.223	0.053	1720	2322	2846	0	0	0	0	0	0
163	-0.45	-170.4	28.9	-22.8	19	170	0.00	1.40	0.00	0.000	6	0.000	0.046	1716	3208	2848	0	0	0	0	0	0
315	-0.45	-170.4	49.9	-13.9	44	327	0.00	0.00	0.00	0.000	6	0.000	0.000	1715	3208	2849	0	0	0	0	0	0
679	-0.45	-170.4	91.3	-11.2	105	686	0.00	1.27	0.00	0.000	4	0.000	0.025	1716	2305	2850	0	0	0	0	0	0
698	-0.45	-170.4	93.5	-10.3	108	709	0.00	1.40	0.00	0.000	6	0.000	0.046	1710	3197	2850	0	0	0	0	0	0
771	end dive: BOTTOM_OBSTACLE_DETECTED
state	771	begin apogee
777	-0.11	0.0	101.3	10.8	119	857	0.35	0.00	77.20	0.990	6	0.121	0.000	1826	3050	2145	0	0	0	0	0	0
858	end apogee: CONTROL_FINISHED_OK
state	858	begin climb
860	0.45	170.4	104.9	0.0	127	941	0.52	0.00	76.90	0.973	6	0.082	0.000	2012	3049	1450	0	0	0	0	0	0
1282	0.45	170.4	59.9	12.1	192	1292	0.00	1.42	0.00	0.000	4	0.000	0.052	2012	3929	1447	0	0	0	0	0	0
1318	0.45	170.4	56.0	12.1	197	1325	0.00	1.30	0.00	0.000	6	0.000	0.028	2019	3041	1446	0	0	0	0	0	0
1676	0.47	200.8	23.2	8.8	258	1700	0.00	1.42	12.62	0.681	4	0.000	0.050	2019	3921	1326	0	0	0	0	0	0
1781	0.48	219.2	14.2	9.3	274	1798	0.00	1.27	7.82	0.602	6	0.000	0.028	2026	3049	1249	0	0	0	0	0	0
1850	0.49	230.9	7.7	9.5	284	1860	0.00	1.33	4.82	0.524	4	0.000	0.027	2033	2150	1201	0	0	0	0	0	0
1893	0.49	230.9	3.3	10.0	290	1902	0.00	1.42	0.00	0.000	6	0.000	0.045	2033	3056	1201	0	0	0	0	0	0
1908	end climb: SURFACE_DEPTH_REACHED
state	1909	begin surface coast
1941	end surface coast: CONTROL_FINISHED_OK
state	1941	begin surface