Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 726 * 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 726 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 67 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 48 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 -17462.428 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 -17462.428

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 67 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 48 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 726 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 170515,221348,-3416.533,2550.114,20,0.9,20,-27.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3424.251,2559.373

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.13 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170515,221455,-3416.615,2550.117,19,1.1,20,-27.7 MHEAD_RNG_PITCHd_Wd 162.7,20000,-16.1,-10.010

SPEED_LIMITS 0.173,0.278 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.3,1.012223 _24V_AH 23.9,67.056

SM_CCo 1955,52.33,0.190,1,0,504,402.29 _10V_AH 10.4,30.045

SM_GC 1.05,0.00,0.00,52.33,0.000,0.000,0.190,61,3185,504,-5.65,-0.40,402.29 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3401.68,2546.08,130308,090908 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713 MEM 332772

HUMID 56.65 DATA_FILE_SIZE 16930,314

INTERNAL_PRESSURE 11.3688 CAP_FILE_SIZE 34880,0

TCM_TEMP 19.30 CFSIZE 259252224,236044288

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2

ALTIM_BOTTOM_PING 80.5,23.4 GPS 170515,224947,-3416.626,2550.298,17,1.3,17,-27.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 225 68.63 SBE_CT 212 24 121.93

Roll_motor 18 52 22.99 SBE_O2 135 19 61.70

VBD_pump_during_apogee 206 979 4842.33 QSP2150 83 4 8.79

VBD_pump_during_surface 52 190 238.21 WL_BB2FLVMT 432 105 1085.50

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 15.06 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.19

TT8 697 14 108.55

LPSleep 287 2 6.54

TT8_Active 288 14 42.66

TT8_Sampling 746 37 290.51

TT8_CF8 74 47 36.35

TT8_Kalman 0 0 0.00

Analog_circuits 624 12 77.96

GPS_charging 0 0 0.00

Compass 739 15 120.99

RAFOS 0 0 0.00

Transponder 11 30 3.61

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 96 0.00 0.00 -78.20 0.000 2 0.000 0.000 63 3235 2717 0 0 0 0 0 0

99 -0.45 -170.4 4.6 -9.0 10 117 6.65 1.35 -2.15 0.000 4 0.226 0.048 1725 2322 2843 0 0 0 0 0 0

221 -0.45 -170.4 31.9 -9.6 29 227 0.00 1.38 0.00 0.000 6 0.000 0.045 1720 3189 2847 0 0 0 0 0 0

368 -0.45 -170.4 48.3 -10.2 54 374 0.00 1.17 0.00 0.000 4 0.000 0.053 1714 3946 2847 0 0 0 0 0 0

441 -0.45 -170.4 55.1 -7.6 66 448 0.00 1.08 0.00 0.000 6 0.000 0.029 1714 3197 2847 0 0 0 0 0 0

794 -0.45 -170.4 85.3 -7.7 127 800 0.00 1.17 0.00 0.000 4 0.000 0.053 1708 3952 2849 0 0 0 0 0 0

834 end dive: BOTTOM_OBSTACLE_DETECTED

state 834 begin apogee

842 -0.11 0.0 89.3 8.2 134 923 0.35 0.00 76.93 0.980 6 0.107 0.000 1829 3048 2145 0 0 0 0 0 0

924 end apogee: CONTROL_FINISHED_OK

state 924 begin climb

927 0.45 170.4 92.0 0.0 147 1009 0.52 1.38 75.22 0.961 4 0.077 0.025 2026 2148 1451 0 0 0 0 0 0

1140 0.45 170.4 73.7 10.9 183 1146 0.00 1.42 0.00 0.000 6 0.000 0.044 2026 3045 1450 0 0 0 0 0 0

1486 0.48 211.5 41.2 8.4 244 1510 0.00 1.45 17.95 0.770 4 0.000 0.050 2027 3936 1281 0 0 0 0 0 0

1582 0.48 211.5 31.3 11.7 259 1589 0.00 1.30 0.00 0.000 6 0.000 0.028 2034 3052 1280 0 0 0 0 0 0

1734 0.48 211.5 16.2 10.3 284 1743 0.00 1.27 0.00 0.000 4 0.000 0.026 2040 2149 1279 0 0 0 0 0 0

1806 0.51 274.5 10.3 7.5 295 1839 0.00 1.40 27.50 0.674 6 0.000 0.044 2040 3045 1023 0 0 0 0 0 0

1889 0.52 296.9 3.8 9.1 307 1906 0.00 1.42 9.15 0.138 4 0.000 0.048 2041 3937 931 0 0 0 0 0 0

1913 end climb: SURFACE_DEPTH_REACHED

state 1913 begin surface coast

1938 end surface coast: CONTROL_FINISHED_OK

state 1939 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	726	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	67	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	48	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	-17462.428	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	170515,221348,-3416.533,2550.114,20,0.9,20,-27.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3424.251,2559.373
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.13	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170515,221455,-3416.615,2550.117,19,1.1,20,-27.7	MHEAD_RNG_PITCHd_Wd	162.7,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.3,1.012223	_24V_AH	23.9,67.056
SM_CCo	1955,52.33,0.190,1,0,504,402.29	_10V_AH	10.4,30.045
SM_GC	1.05,0.00,0.00,52.33,0.000,0.000,0.190,61,3185,504,-5.65,-0.40,402.29	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3401.68,2546.08,130308,090908	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713	MEM	332772
HUMID	56.65	DATA_FILE_SIZE	16930,314
INTERNAL_PRESSURE	11.3688	CAP_FILE_SIZE	34880,0
TCM_TEMP	19.30	CFSIZE	259252224,236044288
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
ALTIM_BOTTOM_PING	80.5,23.4	GPS	170515,224947,-3416.626,2550.298,17,1.3,17,-27.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	225	68.63	SBE_CT	212	24	121.93
Roll_motor	18	52	22.99	SBE_O2	135	19	61.70
VBD_pump_during_apogee	206	979	4842.33	QSP2150	83	4	8.79
VBD_pump_during_surface	52	190	238.21	WL_BB2FLVMT	432	105	1085.50
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	15.06	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.19
TT8	697	14	108.55
LPSleep	287	2	6.54
TT8_Active	288	14	42.66
TT8_Sampling	746	37	290.51
TT8_CF8	74	47	36.35
TT8_Kalman	0	0	0.00
Analog_circuits	624	12	77.96
GPS_charging	0	0	0.00
Compass	739	15	120.99
RAFOS	0	0	0.00
Transponder	11	30	3.61

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	96	0.00	0.00	-78.20	0.000	2	0.000	0.000	63	3235	2717	0	0	0	0	0	0
99	-0.45	-170.4	4.6	-9.0	10	117	6.65	1.35	-2.15	0.000	4	0.226	0.048	1725	2322	2843	0	0	0	0	0	0
221	-0.45	-170.4	31.9	-9.6	29	227	0.00	1.38	0.00	0.000	6	0.000	0.045	1720	3189	2847	0	0	0	0	0	0
368	-0.45	-170.4	48.3	-10.2	54	374	0.00	1.17	0.00	0.000	4	0.000	0.053	1714	3946	2847	0	0	0	0	0	0
441	-0.45	-170.4	55.1	-7.6	66	448	0.00	1.08	0.00	0.000	6	0.000	0.029	1714	3197	2847	0	0	0	0	0	0
794	-0.45	-170.4	85.3	-7.7	127	800	0.00	1.17	0.00	0.000	4	0.000	0.053	1708	3952	2849	0	0	0	0	0	0
834	end dive: BOTTOM_OBSTACLE_DETECTED
state	834	begin apogee
842	-0.11	0.0	89.3	8.2	134	923	0.35	0.00	76.93	0.980	6	0.107	0.000	1829	3048	2145	0	0	0	0	0	0
924	end apogee: CONTROL_FINISHED_OK
state	924	begin climb
927	0.45	170.4	92.0	0.0	147	1009	0.52	1.38	75.22	0.961	4	0.077	0.025	2026	2148	1451	0	0	0	0	0	0
1140	0.45	170.4	73.7	10.9	183	1146	0.00	1.42	0.00	0.000	6	0.000	0.044	2026	3045	1450	0	0	0	0	0	0
1486	0.48	211.5	41.2	8.4	244	1510	0.00	1.45	17.95	0.770	4	0.000	0.050	2027	3936	1281	0	0	0	0	0	0
1582	0.48	211.5	31.3	11.7	259	1589	0.00	1.30	0.00	0.000	6	0.000	0.028	2034	3052	1280	0	0	0	0	0	0
1734	0.48	211.5	16.2	10.3	284	1743	0.00	1.27	0.00	0.000	4	0.000	0.026	2040	2149	1279	0	0	0	0	0	0
1806	0.51	274.5	10.3	7.5	295	1839	0.00	1.40	27.50	0.674	6	0.000	0.044	2040	3045	1023	0	0	0	0	0	0
1889	0.52	296.9	3.8	9.1	307	1906	0.00	1.42	9.15	0.138	4	0.000	0.048	2041	3937	931	0	0	0	0	0	0
1913	end climb: SURFACE_DEPTH_REACHED
state	1913	begin surface coast
1938	end surface coast: CONTROL_FINISHED_OK
state	1939	begin surface