Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 704 * 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 704 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 74 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 40 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 -17389.314 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 -17389.314

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 74 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 40 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 704 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 170515,064212,-3417.447,2544.933,14,1.1,15,-27.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3425.089,2554.208

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170515,064318,-3417.453,2544.951,19,1.2,19,-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 0.2,1.016080 _24V_AH 24.0,65.540

SM_CCo 2118,0.00,0.000,0,0,502,403.51 _10V_AH 10.4,29.202

SM_GC 1.31,5.15,0.00,0.00,0.032,0.000,0.000,69,3213,502,-5.53,0.37,403.51 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3401.68,2542.60,120308,181818 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964 MEM 332772

HUMID 57.83 DATA_FILE_SIZE 20353,326

INTERNAL_PRESSURE 11.3883 CAP_FILE_SIZE 35424,0

TCM_TEMP 19.50 CFSIZE 259252224,236675072

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

ALTIM_BOTTOM_PING 90.4,21.9 GPS 170515,071949,-3417.336,2545.318,15,1.9,16,-27.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 221 67.09 SBE_CT 219 24 126.67

Roll_motor 13 58 19.08 SBE_O2 135 19 61.77

VBD_pump_during_apogee 255 989 6070.13 QSP2150 86 4 9.06

VBD_pump_during_surface 0 0 0.00 WL_BB2FLVMT 442 105 1114.88

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 21 26 6.13

TT8 717 14 111.60

LPSleep 375 2 8.56

TT8_Active 257 14 38.08

TT8_Sampling 774 37 301.60

TT8_CF8 68 47 33.71

TT8_Kalman 0 0 0.00

Analog_circuits 613 12 76.57

GPS_charging 0 0 0.00

Compass 763 15 124.89

RAFOS 0 0 0.00

Transponder 15 30 4.74

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 -0.45 -170.4 0.0 0.0 0 88 0.00 0.00 -70.38 0.000 2 0.000 0.000 63 3218 2451 0 0 0 0 0 0

91 -0.45 -170.4 3.2 -4.6 9 117 6.57 1.35 -7.70 0.000 4 0.222 0.047 1717 2294 2845 0 0 0 0 0 0

335 -0.45 -170.4 41.9 -8.8 49 341 0.00 1.42 0.00 0.000 6 0.000 0.045 1711 3199 2847 0 0 0 0 0 0

687 -0.45 -170.4 77.5 -8.7 110 693 0.00 1.15 0.00 0.000 4 0.000 0.050 1706 3942 2848 0 0 0 0 0 0

836 -0.45 -170.4 90.4 -9.3 135 843 0.00 1.05 0.00 0.000 6 0.000 0.028 1706 3202 2849 0 0 0 0 0 0

904 end dive: BOTTOM_OBSTACLE_DETECTED

state 904 begin apogee

910 -0.11 0.0 97.6 9.6 147 992 0.38 0.00 77.07 0.990 6 0.113 0.000 1832 3056 2145 0 0 0 0 0 0

993 end apogee: CONTROL_FINISHED_OK

state 993 begin climb

996 0.45 170.4 100.6 0.0 159 1082 0.50 1.33 77.28 0.978 4 0.071 0.022 2025 2148 1451 0 0 0 0 0 0

1147 0.45 170.4 89.8 10.9 180 1155 0.00 1.42 0.00 0.000 6 0.000 0.042 2025 3044 1450 0 0 0 0 0 0

1500 0.49 236.6 52.0 7.4 241 1537 0.00 1.48 28.85 0.818 4 0.000 0.049 2025 3946 1179 0 0 0 0 0 0

1645 0.49 236.6 34.7 13.8 265 1651 0.00 1.33 0.00 0.000 6 0.000 0.027 2032 3041 1178 0 0 0 0 0 0

1792 0.54 330.2 21.4 6.3 290 1837 0.00 0.00 40.97 0.718 6 0.000 0.000 2032 3040 798 0 0 0 0 0 0

1888 0.57 375.8 14.1 8.2 304 1914 0.00 1.48 20.27 0.665 4 0.000 0.050 2032 3932 610 0 0 0 0 0 0

1929 0.57 384.6 10.2 9.7 309 1938 0.00 1.30 3.65 0.444 6 0.000 0.027 2038 3057 575 0 0 0 0 0 0

1989 0.59 419.7 4.5 8.6 318 1998 0.00 0.00 7.40 0.143 6 0.000 0.000 2038 3056 505 0 0 0 0 0 0

2004 end climb: SURFACE_DEPTH_REACHED

state 2005 begin surface coast

2042 end surface coast: CONTROL_FINISHED_OK

state 2042 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	704	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	74	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	40	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	-17389.314	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	170515,064212,-3417.447,2544.933,14,1.1,15,-27.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3425.089,2554.208
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170515,064318,-3417.453,2544.951,19,1.2,19,-27.6	MHEAD_RNG_PITCHd_Wd	162.6,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.2,1.016080	_24V_AH	24.0,65.540
SM_CCo	2118,0.00,0.000,0,0,502,403.51	_10V_AH	10.4,29.202
SM_GC	1.31,5.15,0.00,0.00,0.032,0.000,0.000,69,3213,502,-5.53,0.37,403.51	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3401.68,2542.60,120308,181818	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964	MEM	332772
HUMID	57.83	DATA_FILE_SIZE	20353,326
INTERNAL_PRESSURE	11.3883	CAP_FILE_SIZE	35424,0
TCM_TEMP	19.50	CFSIZE	259252224,236675072
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
ALTIM_BOTTOM_PING	90.4,21.9	GPS	170515,071949,-3417.336,2545.318,15,1.9,16,-27.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	221	67.09	SBE_CT	219	24	126.67
Roll_motor	13	58	19.08	SBE_O2	135	19	61.77
VBD_pump_during_apogee	255	989	6070.13	QSP2150	86	4	9.06
VBD_pump_during_surface	0	0	0.00	WL_BB2FLVMT	442	105	1114.88
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	21	26	6.13
TT8	717	14	111.60
LPSleep	375	2	8.56
TT8_Active	257	14	38.08
TT8_Sampling	774	37	301.60
TT8_CF8	68	47	33.71
TT8_Kalman	0	0	0.00
Analog_circuits	613	12	76.57
GPS_charging	0	0	0.00
Compass	763	15	124.89
RAFOS	0	0	0.00
Transponder	15	30	4.74

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	-0.45	-170.4	0.0	0.0	0	88	0.00	0.00	-70.38	0.000	2	0.000	0.000	63	3218	2451	0	0	0	0	0	0
91	-0.45	-170.4	3.2	-4.6	9	117	6.57	1.35	-7.70	0.000	4	0.222	0.047	1717	2294	2845	0	0	0	0	0	0
335	-0.45	-170.4	41.9	-8.8	49	341	0.00	1.42	0.00	0.000	6	0.000	0.045	1711	3199	2847	0	0	0	0	0	0
687	-0.45	-170.4	77.5	-8.7	110	693	0.00	1.15	0.00	0.000	4	0.000	0.050	1706	3942	2848	0	0	0	0	0	0
836	-0.45	-170.4	90.4	-9.3	135	843	0.00	1.05	0.00	0.000	6	0.000	0.028	1706	3202	2849	0	0	0	0	0	0
904	end dive: BOTTOM_OBSTACLE_DETECTED
state	904	begin apogee
910	-0.11	0.0	97.6	9.6	147	992	0.38	0.00	77.07	0.990	6	0.113	0.000	1832	3056	2145	0	0	0	0	0	0
993	end apogee: CONTROL_FINISHED_OK
state	993	begin climb
996	0.45	170.4	100.6	0.0	159	1082	0.50	1.33	77.28	0.978	4	0.071	0.022	2025	2148	1451	0	0	0	0	0	0
1147	0.45	170.4	89.8	10.9	180	1155	0.00	1.42	0.00	0.000	6	0.000	0.042	2025	3044	1450	0	0	0	0	0	0
1500	0.49	236.6	52.0	7.4	241	1537	0.00	1.48	28.85	0.818	4	0.000	0.049	2025	3946	1179	0	0	0	0	0	0
1645	0.49	236.6	34.7	13.8	265	1651	0.00	1.33	0.00	0.000	6	0.000	0.027	2032	3041	1178	0	0	0	0	0	0
1792	0.54	330.2	21.4	6.3	290	1837	0.00	0.00	40.97	0.718	6	0.000	0.000	2032	3040	798	0	0	0	0	0	0
1888	0.57	375.8	14.1	8.2	304	1914	0.00	1.48	20.27	0.665	4	0.000	0.050	2032	3932	610	0	0	0	0	0	0
1929	0.57	384.6	10.2	9.7	309	1938	0.00	1.30	3.65	0.444	6	0.000	0.027	2038	3057	575	0	0	0	0	0	0
1989	0.59	419.7	4.5	8.6	318	1998	0.00	0.00	7.40	0.143	6	0.000	0.000	2038	3056	505	0	0	0	0	0	0
2004	end climb: SURFACE_DEPTH_REACHED
state	2005	begin surface coast
2042	end surface coast: CONTROL_FINISHED_OK
state	2042	begin surface