Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 870 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING 0 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 40

DIVE 870 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 80 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 37 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 -17905.727 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 -17905.727

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

CAPUPLOAD 0 HEADING 0 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 80 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 37 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 870 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 230515,143906,-3411.279,2527.063,18,1.0,18,-27.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3400.475,2527.071

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.16 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230515,144011,-3411.274,2527.071,16,1.1,16,-27.4 MHEAD_RNG_PITCHd_Wd 27.4,20000,-16.1,-10.010

SPEED_LIMITS 0.173,0.278 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.3,1.012157 _24V_AH 23.9,79.744

SM_CCo 2230,28.58,0.469,1,0,502,402.29 _10V_AH 10.3,36.607

SM_GC 0.86,0.00,0.00,28.58,0.000,0.000,0.469,69,3226,502,-5.63,0.74,402.29 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3359.08,2523.99,190308,010130 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964 MEM 332720

HUMID 56.53 DATA_FILE_SIZE 20260,359

INTERNAL_PRESSURE 11.3786 CAP_FILE_SIZE 37677,0

TCM_TEMP 19.80 CFSIZE 259252224,231395328

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

ALTIM_BOTTOM_PING 90.1,20.6 GPS 230515,151913,-3411.029,2527.421,15,1.0,16,-27.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 215 64.45 SBE_CT 242 24 139.01

Roll_motor 15 63 24.05 SBE_O2 147 19 66.89

VBD_pump_during_apogee 234 976 5476.86 QSP2150 94 4 9.92

VBD_pump_during_surface 28 468 320.26 WL_BB2FLVMT 485 105 1218.85

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 17.57 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.19

TT8 782 14 120.56

LPSleep 343 2 7.74

TT8_Active 289 14 42.42

TT8_Sampling 841 37 324.46

TT8_CF8 83 47 40.42

TT8_Kalman 0 0 0.00

Analog_circuits 667 12 82.51

GPS_charging 0 0 0.00

Compass 834 15 135.17

RAFOS 0 0 0.00

Transponder 13 30 4.03

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 -77.68 0.000 2 0.000 0.000 47 3221 2625 0 0 0 0 0 0

100 -0.45 -170.4 3.5 -5.2 10 118 6.53 1.27 -4.15 0.000 4 0.216 0.044 1718 2299 2842 0 0 0 0 0 0

258 -0.45 -170.4 33.4 -9.2 36 267 0.00 1.40 0.00 0.000 6 0.000 0.044 1713 3192 2846 0 0 0 0 0 0

410 -0.45 -170.4 48.8 -10.0 61 417 0.00 1.15 0.00 0.000 4 0.000 0.050 1708 3943 2846 0 0 0 0 0 0

521 -0.45 -170.4 59.8 -8.8 80 533 0.00 1.05 0.00 0.000 6 0.000 0.028 1708 3199 2847 0 0 0 0 0 0

879 -0.45 -170.4 86.8 -7.3 141 885 0.00 1.17 0.00 0.000 4 0.000 0.051 1703 3943 2848 0 0 0 0 0 0

998 -0.45 -170.4 95.7 -8.5 161 1004 0.00 1.05 0.00 0.000 6 0.000 0.028 1703 3196 2848 0 0 0 0 0 0

1009 end dive: BOTTOM_OBSTACLE_DETECTED

state 1009 begin apogee

1017 -0.11 0.0 96.9 7.6 163 1099 0.38 0.00 77.60 0.977 6 0.109 0.000 1831 3047 2145 0 0 0 0 0 0

1100 end apogee: CONTROL_FINISHED_OK

state 1100 begin climb

1103 0.45 170.4 99.3 0.0 176 1187 0.47 1.35 77.35 0.964 4 0.058 0.024 2025 2145 1451 0 0 0 0 0 0

1251 0.45 170.4 89.3 10.2 200 1260 0.00 1.42 0.00 0.000 6 0.000 0.041 2025 3045 1450 0 0 0 0 0 0

1604 0.50 247.9 50.7 6.9 261 1648 0.00 1.48 34.38 0.809 4 0.000 0.049 2025 3956 1134 0 0 0 0 0 0

1680 0.50 247.9 44.1 10.3 273 1687 0.00 1.33 0.00 0.000 6 0.000 0.026 2032 3042 1134 0 0 0 0 0 0

2036 0.53 314.5 16.1 7.4 334 2077 0.00 1.48 29.75 0.688 4 0.000 0.050 2032 3945 860 0 0 0 0 0 0

2093 0.53 314.5 9.6 11.4 341 2101 0.00 1.30 0.00 0.000 6 0.000 0.028 2039 3054 861 0 0 0 0 0 0

2152 0.59 411.6 4.3 6.2 350 2170 0.00 0.00 15.50 0.132 2 0.000 0.000 2038 3055 709 0 0 0 0 0 0

2170 end climb: SURFACE_DEPTH_REACHED

state 2171 begin surface coast

2213 end surface coast: CONTROL_FINISHED_OK

state 2213 begin surface

ID	543	HEADING	0	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	40
DIVE	870	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	80	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	37	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	-17905.727	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	230515,143906,-3411.279,2527.063,18,1.0,18,-27.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3400.475,2527.071
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.16	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230515,144011,-3411.274,2527.071,16,1.1,16,-27.4	MHEAD_RNG_PITCHd_Wd	27.4,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.3,1.012157	_24V_AH	23.9,79.744
SM_CCo	2230,28.58,0.469,1,0,502,402.29	_10V_AH	10.3,36.607
SM_GC	0.86,0.00,0.00,28.58,0.000,0.000,0.469,69,3226,502,-5.63,0.74,402.29	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3359.08,2523.99,190308,010130	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964	MEM	332720
HUMID	56.53	DATA_FILE_SIZE	20260,359
INTERNAL_PRESSURE	11.3786	CAP_FILE_SIZE	37677,0
TCM_TEMP	19.80	CFSIZE	259252224,231395328
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
ALTIM_BOTTOM_PING	90.1,20.6	GPS	230515,151913,-3411.029,2527.421,15,1.0,16,-27.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	215	64.45	SBE_CT	242	24	139.01
Roll_motor	15	63	24.05	SBE_O2	147	19	66.89
VBD_pump_during_apogee	234	976	5476.86	QSP2150	94	4	9.92
VBD_pump_during_surface	28	468	320.26	WL_BB2FLVMT	485	105	1218.85
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	17.57	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.19
TT8	782	14	120.56
LPSleep	343	2	7.74
TT8_Active	289	14	42.42
TT8_Sampling	841	37	324.46
TT8_CF8	83	47	40.42
TT8_Kalman	0	0	0.00
Analog_circuits	667	12	82.51
GPS_charging	0	0	0.00
Compass	834	15	135.17
RAFOS	0	0	0.00
Transponder	13	30	4.03

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	-77.68	0.000	2	0.000	0.000	47	3221	2625	0	0	0	0	0	0
100	-0.45	-170.4	3.5	-5.2	10	118	6.53	1.27	-4.15	0.000	4	0.216	0.044	1718	2299	2842	0	0	0	0	0	0
258	-0.45	-170.4	33.4	-9.2	36	267	0.00	1.40	0.00	0.000	6	0.000	0.044	1713	3192	2846	0	0	0	0	0	0
410	-0.45	-170.4	48.8	-10.0	61	417	0.00	1.15	0.00	0.000	4	0.000	0.050	1708	3943	2846	0	0	0	0	0	0
521	-0.45	-170.4	59.8	-8.8	80	533	0.00	1.05	0.00	0.000	6	0.000	0.028	1708	3199	2847	0	0	0	0	0	0
879	-0.45	-170.4	86.8	-7.3	141	885	0.00	1.17	0.00	0.000	4	0.000	0.051	1703	3943	2848	0	0	0	0	0	0
998	-0.45	-170.4	95.7	-8.5	161	1004	0.00	1.05	0.00	0.000	6	0.000	0.028	1703	3196	2848	0	0	0	0	0	0
1009	end dive: BOTTOM_OBSTACLE_DETECTED
state	1009	begin apogee
1017	-0.11	0.0	96.9	7.6	163	1099	0.38	0.00	77.60	0.977	6	0.109	0.000	1831	3047	2145	0	0	0	0	0	0
1100	end apogee: CONTROL_FINISHED_OK
state	1100	begin climb
1103	0.45	170.4	99.3	0.0	176	1187	0.47	1.35	77.35	0.964	4	0.058	0.024	2025	2145	1451	0	0	0	0	0	0
1251	0.45	170.4	89.3	10.2	200	1260	0.00	1.42	0.00	0.000	6	0.000	0.041	2025	3045	1450	0	0	0	0	0	0
1604	0.50	247.9	50.7	6.9	261	1648	0.00	1.48	34.38	0.809	4	0.000	0.049	2025	3956	1134	0	0	0	0	0	0
1680	0.50	247.9	44.1	10.3	273	1687	0.00	1.33	0.00	0.000	6	0.000	0.026	2032	3042	1134	0	0	0	0	0	0
2036	0.53	314.5	16.1	7.4	334	2077	0.00	1.48	29.75	0.688	4	0.000	0.050	2032	3945	860	0	0	0	0	0	0
2093	0.53	314.5	9.6	11.4	341	2101	0.00	1.30	0.00	0.000	6	0.000	0.028	2039	3054	861	0	0	0	0	0	0
2152	0.59	411.6	4.3	6.2	350	2170	0.00	0.00	15.50	0.132	2	0.000	0.000	2038	3055	709	0	0	0	0	0	0
2170	end climb: SURFACE_DEPTH_REACHED
state	2171	begin surface coast
2213	end surface coast: CONTROL_FINISHED_OK
state	2213	begin surface