Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 802 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING 30 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 40

DIVE 802 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 75 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 44 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 -17724.643 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 -17724.643

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

CAPUPLOAD 0 HEADING 30 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 75 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 44 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 802 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 210515,124133,-3420.558,2533.125,17,1.4,26,-27.6 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG -3411.191,2539.668

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210515,124254,-3420.544,2533.141,32,1.1,32,-27.6 MHEAD_RNG_PITCHd_Wd 57.6,20000,-16.1,-10.010

SPEED_LIMITS 0.173,0.278 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.024919 _24V_AH 23.9,74.908

SM_CCo 2330,46.85,0.545,1,0,504,402.29 _10V_AH 10.4,33.917

SM_GC 1.36,0.00,0.00,46.85,0.000,0.000,0.545,43,3217,504,-5.71,0.48,402.29 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3406.89,2529.71,170308,010145 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964 MEM 332660

HUMID 57.28 DATA_FILE_SIZE 20338,352

INTERNAL_PRESSURE 11.4079 CAP_FILE_SIZE 37022,0

TCM_TEMP 20.30 CFSIZE 259252224,233345024

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

ALTIM_BOTTOM_PING 110.0,13.7 GPS 210515,132353,-3420.229,2533.298,14,1.0,15,-27.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 214 63.74 SBE_CT 240 24 138.22

Roll_motor 16 56 21.82 SBE_O2 158 19 71.93

VBD_pump_during_apogee 221 1028 5448.45 QSP2150 96 4 10.08

VBD_pump_during_surface 46 545 610.74 WL_BB2FLVMT 459 105 1152.54

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 2 420 22.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 26 9.59

TT8 800 14 124.50

LPSleep 444 2 10.12

TT8_Active 299 14 44.29

TT8_Sampling 846 37 329.59

TT8_CF8 84 47 41.42

TT8_Kalman 0 0 0.00

Analog_circuits 659 12 82.33

GPS_charging 0 0 0.00

Compass 827 15 135.40

RAFOS 0 0 0.00

Transponder 16 30 5.02

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 -70.50 0.000 2 0.000 0.000 49 3222 2504 0 0 0 0 0 0

92 -0.45 -170.4 3.6 -6.1 9 110 6.50 1.35 -6.43 0.000 4 0.214 0.049 1718 2314 2844 0 0 0 0 0 0

219 -0.45 -170.4 29.8 -9.1 29 226 0.00 1.38 0.00 0.000 6 0.000 0.044 1713 3190 2847 0 0 0 0 0 0

366 -0.45 -170.4 47.4 -12.6 54 372 0.00 1.15 0.00 0.000 4 0.000 0.050 1708 3938 2847 0 0 0 0 0 0

490 -0.45 -170.4 62.0 -11.6 75 496 0.00 1.05 0.00 0.000 6 0.000 0.028 1707 3195 2847 0 0 0 0 0 0

839 -0.45 -170.4 96.1 -7.2 136 847 0.00 0.00 0.00 0.000 6 0.000 0.000 1708 3195 2848 0 0 0 0 0 0

1027 end dive: BOTTOM_OBSTACLE_DETECTED

state 1027 begin apogee

1036 -0.11 0.0 110.0 8.2 158 1123 0.35 0.00 81.57 1.028 6 0.107 0.000 1828 3045 2146 0 0 0 0 0 0

1124 end apogee: CONTROL_FINISHED_OK

state 1124 begin climb

1127 0.45 170.4 113.9 0.0 167 1210 0.50 1.30 77.90 1.024 4 0.064 0.022 2027 2148 1451 0 0 0 0 0 0

1280 0.45 170.4 102.9 10.9 180 1289 0.00 1.42 0.00 0.000 6 0.000 0.041 2028 3046 1450 0 0 0 0 0 0

1627 0.49 241.8 71.2 7.2 239 1667 0.00 1.42 31.48 0.881 4 0.000 0.047 2028 3938 1159 0 0 0 0 0 0

1720 0.49 241.8 61.4 12.6 254 1727 0.00 1.30 0.00 0.000 6 0.000 0.027 2034 3044 1159 0 0 0 0 0 0

2071 0.49 241.8 23.3 11.1 315 2078 0.00 1.40 0.00 0.000 4 0.000 0.049 2035 3932 1157 0 0 0 0 0 0

2176 0.51 274.3 11.3 8.7 332 2194 0.00 1.27 14.25 0.650 6 0.000 0.027 2041 3048 1027 0 0 0 0 0 0

2245 0.53 313.4 5.0 8.5 342 2270 0.00 1.27 16.52 0.132 4 0.000 0.024 2048 2168 866 0 0 0 0 0 0

2276 end climb: SURFACE_DEPTH_REACHED

state 2276 begin surface coast

2313 end surface coast: CONTROL_FINISHED_OK

state 2313 begin surface

ID	543	HEADING	30	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	40
DIVE	802	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	75	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	44	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	-17724.643	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	210515,124133,-3420.558,2533.125,17,1.4,26,-27.6	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	-3411.191,2539.668
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210515,124254,-3420.544,2533.141,32,1.1,32,-27.6	MHEAD_RNG_PITCHd_Wd	57.6,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.6,1.024919	_24V_AH	23.9,74.908
SM_CCo	2330,46.85,0.545,1,0,504,402.29	_10V_AH	10.4,33.917
SM_GC	1.36,0.00,0.00,46.85,0.000,0.000,0.545,43,3217,504,-5.71,0.48,402.29	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3406.89,2529.71,170308,010145	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964	MEM	332660
HUMID	57.28	DATA_FILE_SIZE	20338,352
INTERNAL_PRESSURE	11.4079	CAP_FILE_SIZE	37022,0
TCM_TEMP	20.30	CFSIZE	259252224,233345024
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
ALTIM_BOTTOM_PING	110.0,13.7	GPS	210515,132353,-3420.229,2533.298,14,1.0,15,-27.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	214	63.74	SBE_CT	240	24	138.22
Roll_motor	16	56	21.82	SBE_O2	158	19	71.93
VBD_pump_during_apogee	221	1028	5448.45	QSP2150	96	4	10.08
VBD_pump_during_surface	46	545	610.74	WL_BB2FLVMT	459	105	1152.54
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	2	420	22.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	26	9.59
TT8	800	14	124.50
LPSleep	444	2	10.12
TT8_Active	299	14	44.29
TT8_Sampling	846	37	329.59
TT8_CF8	84	47	41.42
TT8_Kalman	0	0	0.00
Analog_circuits	659	12	82.33
GPS_charging	0	0	0.00
Compass	827	15	135.40
RAFOS	0	0	0.00
Transponder	16	30	5.02

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	-70.50	0.000	2	0.000	0.000	49	3222	2504	0	0	0	0	0	0
92	-0.45	-170.4	3.6	-6.1	9	110	6.50	1.35	-6.43	0.000	4	0.214	0.049	1718	2314	2844	0	0	0	0	0	0
219	-0.45	-170.4	29.8	-9.1	29	226	0.00	1.38	0.00	0.000	6	0.000	0.044	1713	3190	2847	0	0	0	0	0	0
366	-0.45	-170.4	47.4	-12.6	54	372	0.00	1.15	0.00	0.000	4	0.000	0.050	1708	3938	2847	0	0	0	0	0	0
490	-0.45	-170.4	62.0	-11.6	75	496	0.00	1.05	0.00	0.000	6	0.000	0.028	1707	3195	2847	0	0	0	0	0	0
839	-0.45	-170.4	96.1	-7.2	136	847	0.00	0.00	0.00	0.000	6	0.000	0.000	1708	3195	2848	0	0	0	0	0	0
1027	end dive: BOTTOM_OBSTACLE_DETECTED
state	1027	begin apogee
1036	-0.11	0.0	110.0	8.2	158	1123	0.35	0.00	81.57	1.028	6	0.107	0.000	1828	3045	2146	0	0	0	0	0	0
1124	end apogee: CONTROL_FINISHED_OK
state	1124	begin climb
1127	0.45	170.4	113.9	0.0	167	1210	0.50	1.30	77.90	1.024	4	0.064	0.022	2027	2148	1451	0	0	0	0	0	0
1280	0.45	170.4	102.9	10.9	180	1289	0.00	1.42	0.00	0.000	6	0.000	0.041	2028	3046	1450	0	0	0	0	0	0
1627	0.49	241.8	71.2	7.2	239	1667	0.00	1.42	31.48	0.881	4	0.000	0.047	2028	3938	1159	0	0	0	0	0	0
1720	0.49	241.8	61.4	12.6	254	1727	0.00	1.30	0.00	0.000	6	0.000	0.027	2034	3044	1159	0	0	0	0	0	0
2071	0.49	241.8	23.3	11.1	315	2078	0.00	1.40	0.00	0.000	4	0.000	0.049	2035	3932	1157	0	0	0	0	0	0
2176	0.51	274.3	11.3	8.7	332	2194	0.00	1.27	14.25	0.650	6	0.000	0.027	2041	3048	1027	0	0	0	0	0	0
2245	0.53	313.4	5.0	8.5	342	2270	0.00	1.27	16.52	0.132	4	0.000	0.024	2048	2168	866	0	0	0	0	0	0
2276	end climb: SURFACE_DEPTH_REACHED
state	2276	begin surface coast
2313	end surface coast: CONTROL_FINISHED_OK
state	2313	begin surface