Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 847 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING 50 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 40

DIVE 847 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 38 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 -17852.072 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 -17852.072

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

CAPUPLOAD 0 HEADING 50 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 38 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 847 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 220515,202822,-3414.078,2533.180,35,0.9,35,-27.5 TGT_NAME HEADING

_CALLS 4 TGT_LATLONG -3407.294,2542.951

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.21 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220515,204631,-3414.236,2532.958,17,1.2,17,-27.5 MHEAD_RNG_PITCHd_Wd 77.5,20000,-16.1,-10.010

SPEED_LIMITS 0.173,0.278 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.5,1.025084 _24V_AH 23.9,78.030

SM_CCo 2349,33.28,0.124,0,0,505,402.29 _10V_AH 10.3,35.663

SM_GC 0.93,0.00,0.00,33.28,0.000,0.000,0.124,69,3224,505,-5.62,0.68,402.29 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3359.08,2532.17,180308,101005 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964 MEM 332660

HUMID 56.93 DATA_FILE_SIZE 20301,357

INTERNAL_PRESSURE 11.3981 CAP_FILE_SIZE 47426,0

TCM_TEMP 20.00 CFSIZE 259252224,232058880

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

ALTIM_BOTTOM_PING 100.5,21.9 GPS 220515,212752,-3414.191,2532.572,37,0.8,37,-27.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 214 64.22 SBE_CT 243 24 139.50

Roll_motor 15 65 24.01 SBE_O2 161 19 73.47

VBD_pump_during_apogee 230 1007 5551.50 QSP2150 100 4 10.52

VBD_pump_during_surface 33 123 98.56 WL_BB2FLVMT 488 105 1226.64

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 107 103 264.19 nil 0 0 0.00

Iridium_during_connect 218 160 836.78 nil 0 0 0.00

Iridium_during_xfer 380 223 2026.71 nil 0 0 0.00

Transponder_ping 2 420 20.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.99

TT8 816 14 125.83

LPSleep 595 2 13.42

TT8_Active 285 14 41.79

TT8_Sampling 1549 37 597.34

TT8_CF8 236 47 114.79

TT8_Kalman 0 0 0.00

Analog_circuits 651 12 80.49

GPS_charging 0 0 0.00

Compass 849 15 137.60

RAFOS 0 0 0.00

Transponder 14 30 4.50

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

16 -0.45 -170.4 0.0 0.0 0 96 0.00 0.00 -77.90 0.000 2 0.000 0.000 62 3228 2699 0 0 0 0 0 0

100 -0.45 -170.4 3.8 -6.1 10 118 6.50 1.10 -2.67 0.000 4 0.215 0.059 1711 3956 2843 0 0 0 0 0 0

142 -0.45 -170.4 21.7 -33.7 16 151 0.00 1.08 0.00 0.000 6 0.000 0.027 1712 3195 2846 0 0 0 0 0 0

293 -0.45 -170.4 39.9 -10.6 41 300 0.00 1.25 0.00 0.000 4 0.000 0.023 1711 2283 2847 0 0 0 0 0 0

367 -0.45 -170.4 47.9 -9.7 53 374 0.00 1.45 0.00 0.000 6 0.000 0.044 1705 3206 2848 0 0 0 0 0 0

723 -0.45 -170.4 82.9 -8.7 114 730 0.00 1.12 0.00 0.000 4 0.000 0.049 1700 3938 2847 0 0 0 0 0 0

839 -0.45 -170.4 91.9 -7.5 133 846 0.00 1.02 0.00 0.000 6 0.000 0.027 1700 3204 2848 0 0 0 0 0 0

1029 end dive: BOTTOM_OBSTACLE_DETECTED

state 1029 begin apogee

1036 -0.11 0.0 108.1 9.3 159 1124 0.38 0.00 84.10 1.008 6 0.110 0.000 1828 3049 2146 0 0 0 0 0 0

1125 end apogee: CONTROL_FINISHED_OK

state 1125 begin climb

1128 0.45 170.4 111.9 0.0 168 1211 0.50 1.33 77.47 1.001 4 0.062 0.025 2030 2174 1452 0 0 0 0 0 0

1247 0.45 170.4 104.0 11.1 178 1254 0.00 1.40 0.00 0.000 6 0.000 0.041 2030 3050 1450 0 0 0 0 0 0

1593 0.46 179.0 61.8 9.7 236 1602 0.00 1.38 3.45 0.579 4 0.000 0.046 2030 3948 1415 0 0 0 0 0 0

1766 0.49 234.8 45.3 7.8 265 1798 0.00 1.27 25.20 0.780 6 0.000 0.026 2037 3052 1188 0 0 0 0 0 0

2152 0.52 293.8 13.5 7.7 330 2185 0.00 1.25 26.33 0.675 4 0.000 0.021 2043 2149 946 0 0 0 0 0 0

2270 0.55 350.4 4.2 7.8 348 2288 0.00 1.42 14.00 0.131 2 0.000 0.043 2043 3056 807 0 0 0 0 0 0

2289 end climb: SURFACE_DEPTH_REACHED

state 2289 begin surface coast

2332 end surface coast: CONTROL_FINISHED_OK

state 2332 begin surface

ID	543	HEADING	50	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	40
DIVE	847	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	38	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	-17852.072	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	220515,202822,-3414.078,2533.180,35,0.9,35,-27.5	TGT_NAME	HEADING
_CALLS	4	TGT_LATLONG	-3407.294,2542.951
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.21	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220515,204631,-3414.236,2532.958,17,1.2,17,-27.5	MHEAD_RNG_PITCHd_Wd	77.5,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.5,1.025084	_24V_AH	23.9,78.030
SM_CCo	2349,33.28,0.124,0,0,505,402.29	_10V_AH	10.3,35.663
SM_GC	0.93,0.00,0.00,33.28,0.000,0.000,0.124,69,3224,505,-5.62,0.68,402.29	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3359.08,2532.17,180308,101005	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964	MEM	332660
HUMID	56.93	DATA_FILE_SIZE	20301,357
INTERNAL_PRESSURE	11.3981	CAP_FILE_SIZE	47426,0
TCM_TEMP	20.00	CFSIZE	259252224,232058880
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
ALTIM_BOTTOM_PING	100.5,21.9	GPS	220515,212752,-3414.191,2532.572,37,0.8,37,-27.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	214	64.22	SBE_CT	243	24	139.50
Roll_motor	15	65	24.01	SBE_O2	161	19	73.47
VBD_pump_during_apogee	230	1007	5551.50	QSP2150	100	4	10.52
VBD_pump_during_surface	33	123	98.56	WL_BB2FLVMT	488	105	1226.64
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	107	103	264.19	nil	0	0	0.00
Iridium_during_connect	218	160	836.78	nil	0	0	0.00
Iridium_during_xfer	380	223	2026.71	nil	0	0	0.00
Transponder_ping	2	420	20.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.99
TT8	816	14	125.83
LPSleep	595	2	13.42
TT8_Active	285	14	41.79
TT8_Sampling	1549	37	597.34
TT8_CF8	236	47	114.79
TT8_Kalman	0	0	0.00
Analog_circuits	651	12	80.49
GPS_charging	0	0	0.00
Compass	849	15	137.60
RAFOS	0	0	0.00
Transponder	14	30	4.50

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
16	-0.45	-170.4	0.0	0.0	0	96	0.00	0.00	-77.90	0.000	2	0.000	0.000	62	3228	2699	0	0	0	0	0	0
100	-0.45	-170.4	3.8	-6.1	10	118	6.50	1.10	-2.67	0.000	4	0.215	0.059	1711	3956	2843	0	0	0	0	0	0
142	-0.45	-170.4	21.7	-33.7	16	151	0.00	1.08	0.00	0.000	6	0.000	0.027	1712	3195	2846	0	0	0	0	0	0
293	-0.45	-170.4	39.9	-10.6	41	300	0.00	1.25	0.00	0.000	4	0.000	0.023	1711	2283	2847	0	0	0	0	0	0
367	-0.45	-170.4	47.9	-9.7	53	374	0.00	1.45	0.00	0.000	6	0.000	0.044	1705	3206	2848	0	0	0	0	0	0
723	-0.45	-170.4	82.9	-8.7	114	730	0.00	1.12	0.00	0.000	4	0.000	0.049	1700	3938	2847	0	0	0	0	0	0
839	-0.45	-170.4	91.9	-7.5	133	846	0.00	1.02	0.00	0.000	6	0.000	0.027	1700	3204	2848	0	0	0	0	0	0
1029	end dive: BOTTOM_OBSTACLE_DETECTED
state	1029	begin apogee
1036	-0.11	0.0	108.1	9.3	159	1124	0.38	0.00	84.10	1.008	6	0.110	0.000	1828	3049	2146	0	0	0	0	0	0
1125	end apogee: CONTROL_FINISHED_OK
state	1125	begin climb
1128	0.45	170.4	111.9	0.0	168	1211	0.50	1.33	77.47	1.001	4	0.062	0.025	2030	2174	1452	0	0	0	0	0	0
1247	0.45	170.4	104.0	11.1	178	1254	0.00	1.40	0.00	0.000	6	0.000	0.041	2030	3050	1450	0	0	0	0	0	0
1593	0.46	179.0	61.8	9.7	236	1602	0.00	1.38	3.45	0.579	4	0.000	0.046	2030	3948	1415	0	0	0	0	0	0
1766	0.49	234.8	45.3	7.8	265	1798	0.00	1.27	25.20	0.780	6	0.000	0.026	2037	3052	1188	0	0	0	0	0	0
2152	0.52	293.8	13.5	7.7	330	2185	0.00	1.25	26.33	0.675	4	0.000	0.021	2043	2149	946	0	0	0	0	0	0
2270	0.55	350.4	4.2	7.8	348	2288	0.00	1.42	14.00	0.131	2	0.000	0.043	2043	3056	807	0	0	0	0	0	0
2289	end climb: SURFACE_DEPTH_REACHED
state	2289	begin surface coast
2332	end surface coast: CONTROL_FINISHED_OK
state	2332	begin surface