Glider dive log

PortSusan 14Dec09 * SG506 * Dive index * Mission links * Dive 54 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 506 HEADING -1 ROLL_MIN 180 ALTIM_BOTTOM_TURN_MARGIN 12

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3875 ALTIM_TOP_TURN_MARGIN 0

DIVE 54 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 0 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2230 ALTIM_PING_DEPTH 80

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_CLIMB 2190 ALTIM_PING_DELTA 5

D_TGT 30 TGT_DEFAULT_LON -12223 HEAD_ERRBAND 5 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 500 SM_CC 480 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT 36 XPDR_VALID 2

D_FINISH 2 FILEMGR 0 R_STBD_OVSHOOT 22 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -0.54000002

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.5 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.027000001 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE -5 VBD_MIN 430 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3959 DEVICE1 2

T_DIVE 17 CALL_TRIES 5 C_VBD 3020 DEVICE2 -1

T_MISSION 25 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_CNV -0.245296 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 6 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 -8148.5166 UNCOM_BLEED 50 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 150 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 220 PITCH_MIN 160 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3940 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3180 FG_AHR_24V 0 SEABIRD_T_G 0.004302992

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062119117

RHO 1.0233001 PITCH_CNV 0.003125763 PRESSURE_YINT -43.606201 SEABIRD_T_I 2.2739867e-05

MASS 51509 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.00011645618 SEABIRD_T_J 2.4046374e-06

NAV_MODE 1 PITCH_GAIN 26 AD7714Ch0Gain 128 SEABIRD_C_G -9.8404341

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.104722

KALMAN_USE 2 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022409149

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00025927747

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 500 PHONE_SUPPLY 2 SM_CC 480

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 12 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_TGT 30 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PITCH_GAIN 26 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3940 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 160 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.00011645618 T_DIVE 17

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -43.606201 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 -8148.5166

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 25

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 5 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0233001 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.027000001 T_TURN_SAMPINT 4

COMPASS_USE 0 ID 506 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_PITCH 3180 INT_PRESSURE_YINT -0.54000002 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2190 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -4

C_ROLL_DIVE 2230 KERMIT 0 ROLL_MAX 3875 USE_ICE 0

C_VBD 3020 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 180 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51509 R_PORT_OVSHOOT 36 VBD_MAX 3959

DEVICE2 -1 MAX_BUOY 220 R_STBD_OVSHOOT 22 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -9.8404341 VBD_MIN 430

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.104722 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 2 SEABIRD_C_I -0.0022409149 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00025927747 VBD_TIMEOUT 720

DIVE 54 NAV_MODE 1 SEABIRD_T_G 0.004302992 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 4 SEABIRD_T_H 0.00062119117 XPDR_INHIBIT 90

D_BOOST 4 N_GPS 20 SEABIRD_T_I 2.2739867e-05 XPDR_VALID 2

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4046374e-06

D_FINISH 2 N_NOSURFACE -5 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 054955,4804.948,-12221.390,11,2.0,28,18.3 TGT_NAME FIVE

_CALLS 2 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 054955,4804.948,-12221.390,11,2.0,28,18.3 MHEAD_RNG_PITCHd_Wd 60.5,491,-6.8,-5.882

SPEED_LIMITS 0.102,0.249 D_GRID 110

Post-dive calculations and measurements:

FINISH1 1.2,1.019128,206 _10V_AH 10.4,3.254

FINISH2 -0.1 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12217.40,120399,050557 FG_AHR_10Vo 0.000

TT8_MAMPS 0.052923 MEM 324928

HUMID 21.88 DATA_FILE_SIZE 6448,260

INTERNAL_PRESSURE 9.44085 CAP_FILE_SIZE 34124,0

TCM_TEMP 19.00 CFSIZE 260165632,257007616

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

_24V_AH 23.9,9.943 GPS 161209,054955,4804.948,-12221.390,11,2.0,28,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 2 125 7.14 SBE_CT 162 24 93.44

Roll_motor 46 81 90.84 nil 0 0 0.00

VBD_pump_during_apogee 479 569 6532.23 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 50 0.00

TT8 0 19 0.00

LPSleep 240 2 5.47

TT8_Active 436 19 89.96

TT8_Sampling 466 39 193.15

TT8_CF8 17 45 8.46

TT8_Kalman 0 0 0.00

Analog_circuits 760 12 94.85

GPS_charging 0 0 0.00

Compass 379 8 31.59

RAFOS 0 0 0.00

Transponder 0 30 0.31

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.53 -215.0 0.0 0.0 0 68 0.00 0.00 -54.35 0.000 2 0.000 0.000 3262 3770 3772 0 0 0 0 0 0

70 -0.53 -215.0 3.2 -4.2 13 83 0.73 5.05 -3.42 0.000 4 0.087 0.050 3008 648 3898 0 0 1 0 0 0

117 -0.53 -215.0 10.2 -13.3 24 123 0.00 2.65 0.00 0.000 6 0.000 0.057 2999 2229 3899 0 0 0 0 0 0

156 -0.53 -215.0 14.8 -12.4 33 160 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 2229 3899 0 0 0 0 0 0

194 -0.53 -215.0 17.8 -8.3 42 200 0.00 2.55 0.00 0.000 4 0.000 0.048 2999 651 3899 0 0 0 0 0 0

225 -0.53 -215.0 20.1 -7.3 49 230 0.00 2.58 0.00 0.000 6 0.000 0.049 2998 2223 3899 0 0 0 0 0 0

264 -0.53 -215.0 22.7 -7.1 58 269 0.00 2.67 0.00 0.000 4 0.000 0.068 2998 3815 3899 0 0 0 0 0 0

281 -0.53 -215.0 23.9 -6.4 62 287 0.00 2.55 0.00 0.000 6 0.000 0.040 2998 2214 3899 0 0 0 0 0 0

321 -0.53 -215.0 26.8 -6.7 71 326 0.00 2.50 0.00 0.000 4 0.000 0.048 2998 646 3899 0 0 0 0 0 0

338 -0.53 -215.0 27.6 -6.8 75 344 0.00 2.53 0.00 0.000 6 0.000 0.048 2998 2204 3899 0 0 0 0 0 0

376 end dive: TARGET_DEPTH_EXCEEDED

state 376 begin apogee

379 -0.19 0.0 30.3 6.4 84 552 0.35 0.00 166.45 0.570 6 0.126 0.000 3112 2204 3021 0 0 0 0 0 0

552 end apogee: CONTROL_FINISHED_OK

state 552 begin climb

554 0.53 215.0 34.9 0.0 125 731 0.70 2.67 169.20 0.550 4 0.094 0.048 3354 613 2142 0 0 1 0 0 0

796 0.53 215.0 16.9 9.2 182 801 0.00 2.62 0.00 0.000 6 0.000 0.045 3355 2183 2141 0 0 0 0 0 0

835 0.53 215.0 13.5 9.0 191 840 0.00 2.60 0.00 0.000 4 0.000 0.047 3365 581 2140 0 0 0 0 0 0

857 0.53 215.0 12.2 7.5 196 862 0.00 2.53 0.00 0.000 6 0.000 0.044 3366 2115 2140 0 0 0 0 0 0

896 0.55 234.9 10.1 5.5 205 919 0.00 2.50 16.67 0.522 4 0.000 0.049 3375 615 2061 0 0 0 0 0 0

922 0.67 332.1 9.2 4.0 211 1003 0.00 2.35 77.03 0.538 6 0.000 0.046 3375 2036 1666 0 0 0 0 0 0

1037 0.75 393.7 4.5 4.7 238 1094 0.12 3.00 50.25 0.529 4 0.104 0.064 3417 3775 1412 0 0 0 0 0 0

1097 end climb: FINISH_DEPTH_REACHED

state 1097 begin subsurface finish

1102 0.25 206.1 1.2 -5.3 252 1137 0.47 2.75 -28.45 0.000 4 0.097 0.081 3266 3777 2180 0 0 0 0 0 0

1137 end subsurface finish: CONTROL_FINISHED_OK

state 1137 begin surface

ID	506	HEADING	-1	ROLL_MIN	180	ALTIM_BOTTOM_TURN_MARGIN	12
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3875	ALTIM_TOP_TURN_MARGIN	0
DIVE	54	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	0	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2230	ALTIM_PING_DEPTH	80
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_CLIMB	2190	ALTIM_PING_DELTA	5
D_TGT	30	TGT_DEFAULT_LON	-12223	HEAD_ERRBAND	5	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	500	SM_CC	480	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	36	XPDR_VALID	2
D_FINISH	2	FILEMGR	0	R_STBD_OVSHOOT	22	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-0.54000002
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.5	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.027000001	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	-5	VBD_MIN	430	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3959	DEVICE1	2
T_DIVE	17	CALL_TRIES	5	C_VBD	3020	DEVICE2	-1
T_MISSION	25	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_CNV	-0.245296	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	6	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	-8148.5166	UNCOM_BLEED	50	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	150	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	220	PITCH_MIN	160	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3940	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3180	FG_AHR_24V	0	SEABIRD_T_G	0.004302992
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062119117
RHO	1.0233001	PITCH_CNV	0.003125763	PRESSURE_YINT	-43.606201	SEABIRD_T_I	2.2739867e-05
MASS	51509	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.00011645618	SEABIRD_T_J	2.4046374e-06
NAV_MODE	1	PITCH_GAIN	26	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8404341
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.104722
KALMAN_USE	2	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022409149
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00025927747
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0

GPS1	054955,4804.948,-12221.390,11,2.0,28,18.3	TGT_NAME	FIVE
_CALLS	2	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	054955,4804.948,-12221.390,11,2.0,28,18.3	MHEAD_RNG_PITCHd_Wd	60.5,491,-6.8,-5.882
SPEED_LIMITS	0.102,0.249	D_GRID	110

FINISH1	1.2,1.019128,206	_10V_AH	10.4,3.254
FINISH2	-0.1	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12217.40,120399,050557	FG_AHR_10Vo	0.000
TT8_MAMPS	0.052923	MEM	324928
HUMID	21.88	DATA_FILE_SIZE	6448,260
INTERNAL_PRESSURE	9.44085	CAP_FILE_SIZE	34124,0
TCM_TEMP	19.00	CFSIZE	260165632,257007616
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
_24V_AH	23.9,9.943	GPS	161209,054955,4804.948,-12221.390,11,2.0,28,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	2	125	7.14	SBE_CT	162	24	93.44
Roll_motor	46	81	90.84	nil	0	0	0.00
VBD_pump_during_apogee	479	569	6532.23	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	50	0.00
TT8	0	19	0.00
LPSleep	240	2	5.47
TT8_Active	436	19	89.96
TT8_Sampling	466	39	193.15
TT8_CF8	17	45	8.46
TT8_Kalman	0	0	0.00
Analog_circuits	760	12	94.85
GPS_charging	0	0	0.00
Compass	379	8	31.59
RAFOS	0	0	0.00
Transponder	0	30	0.31

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.53	-215.0	0.0	0.0	0	68	0.00	0.00	-54.35	0.000	2	0.000	0.000	3262	3770	3772	0	0	0	0	0	0
70	-0.53	-215.0	3.2	-4.2	13	83	0.73	5.05	-3.42	0.000	4	0.087	0.050	3008	648	3898	0	0	1	0	0	0
117	-0.53	-215.0	10.2	-13.3	24	123	0.00	2.65	0.00	0.000	6	0.000	0.057	2999	2229	3899	0	0	0	0	0	0
156	-0.53	-215.0	14.8	-12.4	33	160	0.00	0.00	0.00	0.000	6	0.000	0.000	2999	2229	3899	0	0	0	0	0	0
194	-0.53	-215.0	17.8	-8.3	42	200	0.00	2.55	0.00	0.000	4	0.000	0.048	2999	651	3899	0	0	0	0	0	0
225	-0.53	-215.0	20.1	-7.3	49	230	0.00	2.58	0.00	0.000	6	0.000	0.049	2998	2223	3899	0	0	0	0	0	0
264	-0.53	-215.0	22.7	-7.1	58	269	0.00	2.67	0.00	0.000	4	0.000	0.068	2998	3815	3899	0	0	0	0	0	0
281	-0.53	-215.0	23.9	-6.4	62	287	0.00	2.55	0.00	0.000	6	0.000	0.040	2998	2214	3899	0	0	0	0	0	0
321	-0.53	-215.0	26.8	-6.7	71	326	0.00	2.50	0.00	0.000	4	0.000	0.048	2998	646	3899	0	0	0	0	0	0
338	-0.53	-215.0	27.6	-6.8	75	344	0.00	2.53	0.00	0.000	6	0.000	0.048	2998	2204	3899	0	0	0	0	0	0
376	end dive: TARGET_DEPTH_EXCEEDED
state	376	begin apogee
379	-0.19	0.0	30.3	6.4	84	552	0.35	0.00	166.45	0.570	6	0.126	0.000	3112	2204	3021	0	0	0	0	0	0
552	end apogee: CONTROL_FINISHED_OK
state	552	begin climb
554	0.53	215.0	34.9	0.0	125	731	0.70	2.67	169.20	0.550	4	0.094	0.048	3354	613	2142	0	0	1	0	0	0
796	0.53	215.0	16.9	9.2	182	801	0.00	2.62	0.00	0.000	6	0.000	0.045	3355	2183	2141	0	0	0	0	0	0
835	0.53	215.0	13.5	9.0	191	840	0.00	2.60	0.00	0.000	4	0.000	0.047	3365	581	2140	0	0	0	0	0	0
857	0.53	215.0	12.2	7.5	196	862	0.00	2.53	0.00	0.000	6	0.000	0.044	3366	2115	2140	0	0	0	0	0	0
896	0.55	234.9	10.1	5.5	205	919	0.00	2.50	16.67	0.522	4	0.000	0.049	3375	615	2061	0	0	0	0	0	0
922	0.67	332.1	9.2	4.0	211	1003	0.00	2.35	77.03	0.538	6	0.000	0.046	3375	2036	1666	0	0	0	0	0	0
1037	0.75	393.7	4.5	4.7	238	1094	0.12	3.00	50.25	0.529	4	0.104	0.064	3417	3775	1412	0	0	0	0	0	0
1097	end climb: FINISH_DEPTH_REACHED
state	1097	begin subsurface finish
1102	0.25	206.1	1.2	-5.3	252	1137	0.47	2.75	-28.45	0.000	4	0.097	0.081	3266	3777	2180	0	0	0	0	0	0
1137	end subsurface finish: CONTROL_FINISHED_OK
state	1137	begin surface