Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 694 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING 135 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 40

DIVE 694 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 77 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 33 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 -17356.557 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 -17356.557

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

CAPUPLOAD 0 HEADING 135 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 77 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 33 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 694 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 160515,234804,-3418.229,2541.807,18,1.0,26,-27.6 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG -3425.856,2551.079

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.29 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160515,234905,-3418.220,2541.821,15,1.3,15,-27.6 MHEAD_RNG_PITCHd_Wd 162.6,20000,-16.1,-10.010

SPEED_LIMITS 0.173,0.278 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.4,1.012181 _24V_AH 24.0,64.873

SM_CCo 2016,53.15,0.119,0,0,505,402.29 _10V_AH 10.4,28.827

SM_GC 1.32,0.00,0.00,53.15,0.000,0.000,0.119,47,3233,505,-5.70,0.96,402.29 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3404.29,2542.60,120308,121209 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713 MEM 332772

HUMID 57.16 DATA_FILE_SIZE 17009,311

INTERNAL_PRESSURE 11.3883 CAP_FILE_SIZE 35974,0

TCM_TEMP 19.70 CFSIZE 259252224,236961792

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

ALTIM_BOTTOM_PING 90.1,26.1 GPS 170515,002504,-3418.110,2542.215,29,0.9,29,-27.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 221 67.39 SBE_CT 210 24 121.44

Roll_motor 17 66 28.71 SBE_O2 133 19 60.96

VBD_pump_during_apogee 208 1012 5062.27 QSP2150 85 4 8.99

VBD_pump_during_surface 53 118 151.25 WL_BB2FLVMT 425 105 1073.28

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 17.64 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 5.01

TT8 716 14 111.53

LPSleep 311 2 7.10

TT8_Active 294 14 43.59

TT8_Sampling 748 37 291.25

TT8_CF8 71 47 35.29

TT8_Kalman 0 0 0.00

Analog_circuits 628 12 78.38

GPS_charging 0 0 0.00

Compass 740 15 121.07

RAFOS 0 0 0.00

Transponder 13 30 4.08

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 89 0.00 0.00 -70.82 0.000 2 0.000 0.000 56 3208 2475 0 0 0 0 0 0

92 -0.45 -170.4 3.3 -4.4 9 111 6.60 1.17 -7.18 0.000 4 0.221 0.067 1711 3960 2844 0 0 0 0 0 0

265 -0.45 -170.4 34.4 -11.3 37 272 0.00 1.08 0.00 0.000 6 0.000 0.028 1711 3203 2847 0 0 0 0 0 0

413 -0.45 -170.4 51.6 -11.3 62 419 0.00 1.15 0.00 0.000 4 0.000 0.051 1705 3942 2848 0 0 0 0 0 0

472 -0.45 -170.4 59.3 -11.7 72 481 0.00 1.05 0.00 0.000 6 0.000 0.028 1705 3199 2848 0 0 0 0 0 0

829 -0.45 -170.4 96.7 -8.7 133 836 0.00 1.17 0.00 0.000 4 0.000 0.053 1700 3948 2850 0 0 0 0 0 0

867 end dive: BOTTOM_OBSTACLE_DETECTED

state 867 begin apogee

875 -0.11 0.0 101.4 9.4 139 956 0.38 0.00 78.10 1.013 6 0.112 0.000 1827 3047 2145 0 0 0 0 0 0

957 end apogee: CONTROL_FINISHED_OK

state 957 begin climb

960 0.45 170.4 104.1 0.0 147 1044 0.50 1.35 79.25 0.995 4 0.073 0.024 2019 2151 1451 0 0 0 0 0 0

1118 0.45 170.4 92.8 11.3 165 1125 0.00 1.42 0.00 0.000 6 0.000 0.042 2020 3046 1450 0 0 0 0 0 0

1465 0.45 170.4 52.6 10.2 226 1471 0.00 1.40 0.00 0.000 4 0.000 0.049 2019 3935 1449 0 0 0 0 0 0

1603 0.45 170.4 37.3 11.3 250 1612 0.00 1.27 0.00 0.000 6 0.000 0.027 2027 3058 1448 0 0 0 0 0 0

1755 0.47 200.9 23.4 8.8 275 1776 0.00 1.40 13.27 0.698 4 0.000 0.051 2026 3932 1324 0 0 0 0 0 0

1789 0.49 236.7 20.4 8.6 280 1814 0.00 1.30 15.70 0.687 6 0.000 0.027 2033 3040 1180 0 0 0 0 0 0

1865 0.49 236.7 11.8 11.1 291 1873 0.00 1.25 0.00 0.000 4 0.000 0.024 2040 2155 1179 0 0 0 0 0 0

1906 0.52 286.1 8.2 8.0 297 1931 0.00 1.40 21.92 0.646 6 0.000 0.043 2040 3046 979 0 0 0 0 0 0

1968 end climb: SURFACE_DEPTH_REACHED

state 1968 begin surface coast

2001 end surface coast: CONTROL_FINISHED_OK

state 2001 begin surface

ID	543	HEADING	135	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	40
DIVE	694	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	77	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	33	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	-17356.557	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	160515,234804,-3418.229,2541.807,18,1.0,26,-27.6	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	-3425.856,2551.079
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.29	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160515,234905,-3418.220,2541.821,15,1.3,15,-27.6	MHEAD_RNG_PITCHd_Wd	162.6,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.4,1.012181	_24V_AH	24.0,64.873
SM_CCo	2016,53.15,0.119,0,0,505,402.29	_10V_AH	10.4,28.827
SM_GC	1.32,0.00,0.00,53.15,0.000,0.000,0.119,47,3233,505,-5.70,0.96,402.29	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3404.29,2542.60,120308,121209	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713	MEM	332772
HUMID	57.16	DATA_FILE_SIZE	17009,311
INTERNAL_PRESSURE	11.3883	CAP_FILE_SIZE	35974,0
TCM_TEMP	19.70	CFSIZE	259252224,236961792
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
ALTIM_BOTTOM_PING	90.1,26.1	GPS	170515,002504,-3418.110,2542.215,29,0.9,29,-27.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	221	67.39	SBE_CT	210	24	121.44
Roll_motor	17	66	28.71	SBE_O2	133	19	60.96
VBD_pump_during_apogee	208	1012	5062.27	QSP2150	85	4	8.99
VBD_pump_during_surface	53	118	151.25	WL_BB2FLVMT	425	105	1073.28
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	17.64	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	5.01
TT8	716	14	111.53
LPSleep	311	2	7.10
TT8_Active	294	14	43.59
TT8_Sampling	748	37	291.25
TT8_CF8	71	47	35.29
TT8_Kalman	0	0	0.00
Analog_circuits	628	12	78.38
GPS_charging	0	0	0.00
Compass	740	15	121.07
RAFOS	0	0	0.00
Transponder	13	30	4.08

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	89	0.00	0.00	-70.82	0.000	2	0.000	0.000	56	3208	2475	0	0	0	0	0	0
92	-0.45	-170.4	3.3	-4.4	9	111	6.60	1.17	-7.18	0.000	4	0.221	0.067	1711	3960	2844	0	0	0	0	0	0
265	-0.45	-170.4	34.4	-11.3	37	272	0.00	1.08	0.00	0.000	6	0.000	0.028	1711	3203	2847	0	0	0	0	0	0
413	-0.45	-170.4	51.6	-11.3	62	419	0.00	1.15	0.00	0.000	4	0.000	0.051	1705	3942	2848	0	0	0	0	0	0
472	-0.45	-170.4	59.3	-11.7	72	481	0.00	1.05	0.00	0.000	6	0.000	0.028	1705	3199	2848	0	0	0	0	0	0
829	-0.45	-170.4	96.7	-8.7	133	836	0.00	1.17	0.00	0.000	4	0.000	0.053	1700	3948	2850	0	0	0	0	0	0
867	end dive: BOTTOM_OBSTACLE_DETECTED
state	867	begin apogee
875	-0.11	0.0	101.4	9.4	139	956	0.38	0.00	78.10	1.013	6	0.112	0.000	1827	3047	2145	0	0	0	0	0	0
957	end apogee: CONTROL_FINISHED_OK
state	957	begin climb
960	0.45	170.4	104.1	0.0	147	1044	0.50	1.35	79.25	0.995	4	0.073	0.024	2019	2151	1451	0	0	0	0	0	0
1118	0.45	170.4	92.8	11.3	165	1125	0.00	1.42	0.00	0.000	6	0.000	0.042	2020	3046	1450	0	0	0	0	0	0
1465	0.45	170.4	52.6	10.2	226	1471	0.00	1.40	0.00	0.000	4	0.000	0.049	2019	3935	1449	0	0	0	0	0	0
1603	0.45	170.4	37.3	11.3	250	1612	0.00	1.27	0.00	0.000	6	0.000	0.027	2027	3058	1448	0	0	0	0	0	0
1755	0.47	200.9	23.4	8.8	275	1776	0.00	1.40	13.27	0.698	4	0.000	0.051	2026	3932	1324	0	0	0	0	0	0
1789	0.49	236.7	20.4	8.6	280	1814	0.00	1.30	15.70	0.687	6	0.000	0.027	2033	3040	1180	0	0	0	0	0	0
1865	0.49	236.7	11.8	11.1	291	1873	0.00	1.25	0.00	0.000	4	0.000	0.024	2040	2155	1179	0	0	0	0	0	0
1906	0.52	286.1	8.2	8.0	297	1931	0.00	1.40	21.92	0.646	6	0.000	0.043	2040	3046	979	0	0	0	0	0	0
1968	end climb: SURFACE_DEPTH_REACHED
state	1968	begin surface coast
2001	end surface coast: CONTROL_FINISHED_OK
state	2001	begin surface