Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 890 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING 80 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 40

DIVE 890 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 71 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 31 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 -17952.402 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 -17952.402

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

CAPUPLOAD 0 HEADING 80 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 71 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 31 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 890 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 240515,050953,-3408.991,2537.207,23,1.0,23,-27.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3407.115,2550.056

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240515,051059,-3408.990,2537.210,18,1.0,18,-27.4 MHEAD_RNG_PITCHd_Wd 107.4,20000,-16.1,-10.010

SPEED_LIMITS 0.173,0.278 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.3,1.013041 _24V_AH 23.9,81.185

SM_CCo 2116,0.00,0.000,0,0,504,403.02 _10V_AH 10.4,37.389

SM_GC 1.32,5.35,0.00,0.00,0.035,0.000,0.000,59,3214,504,-5.55,0.40,403.02 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3356.48,2535.64,190308,161656 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964 MEM 332688

HUMID 57.36 DATA_FILE_SIZE 20290,329

INTERNAL_PRESSURE 11.3688 CAP_FILE_SIZE 35367,0

TCM_TEMP 19.40 CFSIZE 259252224,230825984

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

ALTIM_BOTTOM_PING 80.3,24.5 GPS 240515,054729,-3408.941,2537.593,16,1.1,16,-27.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 218 66.93 SBE_CT 220 24 126.75

Roll_motor 12 61 18.61 SBE_O2 133 19 60.84

VBD_pump_during_apogee 260 959 5968.60 QSP2150 84 4 8.89

VBD_pump_during_surface 0 0 0.00 WL_BB2FLVMT 435 105 1093.86

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 20 26 5.77

TT8 709 14 110.36

LPSleep 369 2 8.40

TT8_Active 262 14 38.86

TT8_Sampling 768 37 299.19

TT8_CF8 80 47 39.51

TT8_Kalman 0 0 0.00

Analog_circuits 620 12 77.38

GPS_charging 0 0 0.00

Compass 759 15 124.23

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 13 begin dive

16 -0.45 -170.4 0.0 0.0 0 96 0.00 0.00 -77.60 0.000 2 0.000 0.000 63 3196 2670 0 0 0 0 0 0

100 -0.45 -170.4 4.1 -7.2 10 118 6.50 1.15 -3.10 0.000 4 0.219 0.061 1713 3957 2840 0 0 0 0 0 0

258 -0.45 -170.4 39.1 -12.0 36 266 0.00 1.08 0.00 0.000 6 0.000 0.028 1712 3196 2844 0 0 0 0 0 0

410 -0.45 -170.4 53.3 -9.2 61 416 0.00 1.17 0.00 0.000 4 0.000 0.050 1707 3954 2844 0 0 0 0 0 0

499 -0.45 -170.4 60.5 -7.1 76 508 0.00 1.08 0.00 0.000 6 0.000 0.028 1707 3192 2844 0 0 0 0 0 0

852 -0.45 -170.4 86.2 -7.7 137 859 0.00 1.17 0.00 0.000 4 0.000 0.051 1702 3951 2846 0 0 0 0 0 0

900 end dive: BOTTOM_OBSTACLE_DETECTED

state 900 begin apogee

908 -0.11 0.0 90.0 6.4 145 990 0.38 0.00 77.88 0.959 6 0.105 0.000 1832 3049 2145 0 0 0 0 0 0

991 end apogee: CONTROL_FINISHED_OK

state 991 begin climb

994 0.45 170.4 92.0 0.0 158 1082 0.47 1.35 78.03 0.949 4 0.063 0.024 2022 2145 1451 0 0 0 0 0 0

1162 0.46 184.9 80.2 9.4 185 1175 0.00 1.42 6.50 0.755 6 0.000 0.041 2023 3050 1390 0 0 0 0 0 0

1516 0.51 276.6 43.9 6.4 247 1562 0.00 1.45 41.35 0.800 4 0.000 0.049 2022 3940 1016 0 0 0 0 0 0

1665 0.52 299.2 32.8 9.1 271 1681 0.00 1.30 9.90 0.689 6 0.000 0.026 2030 3043 924 0 0 0 0 0 0

1823 0.55 352.3 20.2 7.9 297 1853 0.00 0.00 23.75 0.705 6 0.000 0.000 2029 3043 710 0 0 0 0 0 0

1904 0.58 399.1 13.3 8.2 309 1929 0.00 0.00 21.55 0.669 6 0.000 0.000 2030 3043 516 0 0 0 0 0 0

1979 0.60 435.1 7.0 8.6 320 1988 0.10 0.00 1.38 0.222 6 0.093 0.000 2105 3044 505 0 0 0 0 0 0

2013 end climb: SURFACE_DEPTH_REACHED

state 2013 begin surface coast

2038 end surface coast: CONTROL_FINISHED_OK

state 2039 begin surface

ID	543	HEADING	80	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	40
DIVE	890	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	71	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	31	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	-17952.402	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	240515,050953,-3408.991,2537.207,23,1.0,23,-27.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3407.115,2550.056
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240515,051059,-3408.990,2537.210,18,1.0,18,-27.4	MHEAD_RNG_PITCHd_Wd	107.4,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.3,1.013041	_24V_AH	23.9,81.185
SM_CCo	2116,0.00,0.000,0,0,504,403.02	_10V_AH	10.4,37.389
SM_GC	1.32,5.35,0.00,0.00,0.035,0.000,0.000,59,3214,504,-5.55,0.40,403.02	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3356.48,2535.64,190308,161656	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964	MEM	332688
HUMID	57.36	DATA_FILE_SIZE	20290,329
INTERNAL_PRESSURE	11.3688	CAP_FILE_SIZE	35367,0
TCM_TEMP	19.40	CFSIZE	259252224,230825984
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
ALTIM_BOTTOM_PING	80.3,24.5	GPS	240515,054729,-3408.941,2537.593,16,1.1,16,-27.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	218	66.93	SBE_CT	220	24	126.75
Roll_motor	12	61	18.61	SBE_O2	133	19	60.84
VBD_pump_during_apogee	260	959	5968.60	QSP2150	84	4	8.89
VBD_pump_during_surface	0	0	0.00	WL_BB2FLVMT	435	105	1093.86
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	20	26	5.77
TT8	709	14	110.36
LPSleep	369	2	8.40
TT8_Active	262	14	38.86
TT8_Sampling	768	37	299.19
TT8_CF8	80	47	39.51
TT8_Kalman	0	0	0.00
Analog_circuits	620	12	77.38
GPS_charging	0	0	0.00
Compass	759	15	124.23
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	13	begin dive
16	-0.45	-170.4	0.0	0.0	0	96	0.00	0.00	-77.60	0.000	2	0.000	0.000	63	3196	2670	0	0	0	0	0	0
100	-0.45	-170.4	4.1	-7.2	10	118	6.50	1.15	-3.10	0.000	4	0.219	0.061	1713	3957	2840	0	0	0	0	0	0
258	-0.45	-170.4	39.1	-12.0	36	266	0.00	1.08	0.00	0.000	6	0.000	0.028	1712	3196	2844	0	0	0	0	0	0
410	-0.45	-170.4	53.3	-9.2	61	416	0.00	1.17	0.00	0.000	4	0.000	0.050	1707	3954	2844	0	0	0	0	0	0
499	-0.45	-170.4	60.5	-7.1	76	508	0.00	1.08	0.00	0.000	6	0.000	0.028	1707	3192	2844	0	0	0	0	0	0
852	-0.45	-170.4	86.2	-7.7	137	859	0.00	1.17	0.00	0.000	4	0.000	0.051	1702	3951	2846	0	0	0	0	0	0
900	end dive: BOTTOM_OBSTACLE_DETECTED
state	900	begin apogee
908	-0.11	0.0	90.0	6.4	145	990	0.38	0.00	77.88	0.959	6	0.105	0.000	1832	3049	2145	0	0	0	0	0	0
991	end apogee: CONTROL_FINISHED_OK
state	991	begin climb
994	0.45	170.4	92.0	0.0	158	1082	0.47	1.35	78.03	0.949	4	0.063	0.024	2022	2145	1451	0	0	0	0	0	0
1162	0.46	184.9	80.2	9.4	185	1175	0.00	1.42	6.50	0.755	6	0.000	0.041	2023	3050	1390	0	0	0	0	0	0
1516	0.51	276.6	43.9	6.4	247	1562	0.00	1.45	41.35	0.800	4	0.000	0.049	2022	3940	1016	0	0	0	0	0	0
1665	0.52	299.2	32.8	9.1	271	1681	0.00	1.30	9.90	0.689	6	0.000	0.026	2030	3043	924	0	0	0	0	0	0
1823	0.55	352.3	20.2	7.9	297	1853	0.00	0.00	23.75	0.705	6	0.000	0.000	2029	3043	710	0	0	0	0	0	0
1904	0.58	399.1	13.3	8.2	309	1929	0.00	0.00	21.55	0.669	6	0.000	0.000	2030	3043	516	0	0	0	0	0	0
1979	0.60	435.1	7.0	8.6	320	1988	0.10	0.00	1.38	0.222	6	0.093	0.000	2105	3044	505	0	0	0	0	0	0
2013	end climb: SURFACE_DEPTH_REACHED
state	2013	begin surface coast
2038	end surface coast: CONTROL_FINISHED_OK
state	2039	begin surface