Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 558 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING 70 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 40

DIVE 558 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 30 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 -16941.143 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 0 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 -16941.143

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

CAPUPLOAD 0 HEADING 70 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 30 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 558 MOTHERBOARD 4 SEABIRD_T_G 0.0043512532 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 0 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 130515,044829,-3412.862,2529.746,17,1.3,17,-27.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3409.174,2541.999

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130515,044929,-3412.867,2529.736,15,1.4,15,-27.4 MHEAD_RNG_PITCHd_Wd 97.4,20000,-16.1,-10.010

SPEED_LIMITS 0.173,0.278 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.3,1.025189 _24V_AH 24.2,56.098

SM_CCo 1705,77.90,0.117,0,0,504,402.29 _10V_AH 10.5,23.912

SM_GC 1.04,0.00,0.00,77.90,0.000,0.000,0.117,78,3235,504,-5.60,0.99,402.29 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3401.68,2527.46,080308,161637 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964 MEM 332772

HUMID 54.68 DATA_FILE_SIZE 16964,276

INTERNAL_PRESSURE 11.4176 CAP_FILE_SIZE 31946,0

TCM_TEMP 20.90 CFSIZE 259252224,240672768

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

ALTIM_BOTTOM_PING 80.0,27.5 GPS 130515,052023,-3412.709,2529.642,11,1.4,11,-27.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 230 70.77 SBE_CT 185 24 107.81

Roll_motor 16 61 23.81 SBE_O2 113 19 52.11

VBD_pump_during_apogee 168 960 3927.32 QSP2150 73 4 7.79

VBD_pump_during_surface 77 117 220.65 WL_BB2FLVMT 376 105 957.20

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 15.25 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.20

TT8 613 14 96.31

LPSleep 244 2 5.62

TT8_Active 293 14 43.81

TT8_Sampling 651 37 256.16

TT8_CF8 56 47 27.88

TT8_Kalman 0 0 0.00

Analog_circuits 596 12 75.18

GPS_charging 0 0 0.00

Compass 647 15 106.91

RAFOS 0 0 0.00

Transponder 11 30 3.64

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

16 -0.45 -170.4 0.0 0.0 0 96 0.00 0.00 -77.85 0.000 2 0.000 0.000 63 3208 2667 0 0 0 0 0 0

99 -0.45 -170.4 3.8 -6.5 10 117 6.75 1.30 -3.33 0.000 4 0.230 0.045 1719 2296 2844 0 0 0 0 0 0

184 -0.45 -170.4 28.3 -15.2 23 190 0.00 1.42 0.00 0.000 6 0.000 0.046 1714 3197 2847 0 0 0 0 0 0

329 -0.45 -170.4 48.1 -12.9 48 337 0.00 1.15 0.00 0.000 4 0.000 0.050 1709 3943 2848 0 0 0 0 0 0

418 -0.45 -170.4 59.6 -11.5 63 425 0.00 1.05 0.00 0.000 6 0.000 0.029 1709 3203 2847 0 0 0 0 0 0

707 end dive: BOTTOM_OBSTACLE_DETECTED

state 707 begin apogee

713 -0.11 0.0 92.8 10.6 114 794 0.35 0.00 76.82 0.961 6 0.121 0.000 1825 3055 2145 0 0 0 0 0 0

795 end apogee: CONTROL_FINISHED_OK

state 795 begin climb

797 0.45 170.4 96.5 0.0 127 879 0.52 1.42 73.97 0.945 4 0.081 0.046 2012 3936 1450 0 0 0 0 0 0

893 0.45 170.4 90.2 12.5 142 900 0.00 1.33 0.00 0.000 6 0.000 0.027 2019 3052 1449 0 0 0 0 0 0

1239 0.45 170.4 48.3 10.1 203 1246 0.00 1.27 0.00 0.000 4 0.000 0.026 2026 2153 1447 0 0 0 0 0 0

1332 0.48 213.3 40.3 8.3 219 1360 0.00 1.40 18.10 0.743 6 0.000 0.044 2026 3048 1273 0 0 0 0 0 0

1500 0.48 213.3 21.2 11.2 247 1506 0.00 1.40 0.00 0.000 4 0.000 0.050 2026 3936 1273 0 0 0 0 0 0

1545 0.48 213.3 15.9 12.3 254 1553 0.00 1.30 0.00 0.000 6 0.000 0.028 2033 3044 1272 0 0 0 0 0 0

1603 0.48 213.3 9.2 11.0 263 1611 0.00 1.25 0.00 0.000 4 0.000 0.026 2040 2163 1272 0 0 0 0 0 0

1631 0.48 213.3 6.1 10.7 267 1640 0.00 1.38 0.00 0.000 6 0.000 0.043 2040 3046 1272 0 0 0 0 0 0

1659 end climb: SURFACE_DEPTH_REACHED

state 1659 begin surface coast

1690 end surface coast: CONTROL_FINISHED_OK

state 1691 begin surface

ID	543	HEADING	70	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	40
DIVE	558	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	30	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	-16941.143	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	0	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	130515,044829,-3412.862,2529.746,17,1.3,17,-27.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3409.174,2541.999
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130515,044929,-3412.867,2529.736,15,1.4,15,-27.4	MHEAD_RNG_PITCHd_Wd	97.4,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.3,1.025189	_24V_AH	24.2,56.098
SM_CCo	1705,77.90,0.117,0,0,504,402.29	_10V_AH	10.5,23.912
SM_GC	1.04,0.00,0.00,77.90,0.000,0.000,0.117,78,3235,504,-5.60,0.99,402.29	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3401.68,2527.46,080308,161637	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964	MEM	332772
HUMID	54.68	DATA_FILE_SIZE	16964,276
INTERNAL_PRESSURE	11.4176	CAP_FILE_SIZE	31946,0
TCM_TEMP	20.90	CFSIZE	259252224,240672768
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
ALTIM_BOTTOM_PING	80.0,27.5	GPS	130515,052023,-3412.709,2529.642,11,1.4,11,-27.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	230	70.77	SBE_CT	185	24	107.81
Roll_motor	16	61	23.81	SBE_O2	113	19	52.11
VBD_pump_during_apogee	168	960	3927.32	QSP2150	73	4	7.79
VBD_pump_during_surface	77	117	220.65	WL_BB2FLVMT	376	105	957.20
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	15.25	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.20
TT8	613	14	96.31
LPSleep	244	2	5.62
TT8_Active	293	14	43.81
TT8_Sampling	651	37	256.16
TT8_CF8	56	47	27.88
TT8_Kalman	0	0	0.00
Analog_circuits	596	12	75.18
GPS_charging	0	0	0.00
Compass	647	15	106.91
RAFOS	0	0	0.00
Transponder	11	30	3.64

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
16	-0.45	-170.4	0.0	0.0	0	96	0.00	0.00	-77.85	0.000	2	0.000	0.000	63	3208	2667	0	0	0	0	0	0
99	-0.45	-170.4	3.8	-6.5	10	117	6.75	1.30	-3.33	0.000	4	0.230	0.045	1719	2296	2844	0	0	0	0	0	0
184	-0.45	-170.4	28.3	-15.2	23	190	0.00	1.42	0.00	0.000	6	0.000	0.046	1714	3197	2847	0	0	0	0	0	0
329	-0.45	-170.4	48.1	-12.9	48	337	0.00	1.15	0.00	0.000	4	0.000	0.050	1709	3943	2848	0	0	0	0	0	0
418	-0.45	-170.4	59.6	-11.5	63	425	0.00	1.05	0.00	0.000	6	0.000	0.029	1709	3203	2847	0	0	0	0	0	0
707	end dive: BOTTOM_OBSTACLE_DETECTED
state	707	begin apogee
713	-0.11	0.0	92.8	10.6	114	794	0.35	0.00	76.82	0.961	6	0.121	0.000	1825	3055	2145	0	0	0	0	0	0
795	end apogee: CONTROL_FINISHED_OK
state	795	begin climb
797	0.45	170.4	96.5	0.0	127	879	0.52	1.42	73.97	0.945	4	0.081	0.046	2012	3936	1450	0	0	0	0	0	0
893	0.45	170.4	90.2	12.5	142	900	0.00	1.33	0.00	0.000	6	0.000	0.027	2019	3052	1449	0	0	0	0	0	0
1239	0.45	170.4	48.3	10.1	203	1246	0.00	1.27	0.00	0.000	4	0.000	0.026	2026	2153	1447	0	0	0	0	0	0
1332	0.48	213.3	40.3	8.3	219	1360	0.00	1.40	18.10	0.743	6	0.000	0.044	2026	3048	1273	0	0	0	0	0	0
1500	0.48	213.3	21.2	11.2	247	1506	0.00	1.40	0.00	0.000	4	0.000	0.050	2026	3936	1273	0	0	0	0	0	0
1545	0.48	213.3	15.9	12.3	254	1553	0.00	1.30	0.00	0.000	6	0.000	0.028	2033	3044	1272	0	0	0	0	0	0
1603	0.48	213.3	9.2	11.0	263	1611	0.00	1.25	0.00	0.000	4	0.000	0.026	2040	2163	1272	0	0	0	0	0	0
1631	0.48	213.3	6.1	10.7	267	1640	0.00	1.38	0.00	0.000	6	0.000	0.043	2040	3046	1272	0	0	0	0	0	0
1659	end climb: SURFACE_DEPTH_REACHED
state	1659	begin surface coast
1690	end surface coast: CONTROL_FINISHED_OK
state	1691	begin surface