Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 898 * 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 898 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 82 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 40 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 -17971.283 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 -17971.283

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 82 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 40 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 898 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 240515,102812,-3408.896,2539.357,16,0.8,16,-27.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3407.024,2552.199

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.17 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -75.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240515,102917,-3408.899,2539.354,16,0.9,16,-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 2.1,1.025160 _24V_AH 23.9,81.732

SM_CCo 1787,9.88,0.136,0,0,504,402.29 _10V_AH 10.4,37.679

SM_GC 0.91,0.00,0.00,9.88,0.000,0.000,0.136,71,3214,504,-5.62,0.40,402.29 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3353.88,2517.06,190308,212159 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964 MEM 332756

HUMID 56.02 DATA_FILE_SIZE 17024,280

INTERNAL_PRESSURE 11.3786 CAP_FILE_SIZE 33160,0

TCM_TEMP 19.90 CFSIZE 259252224,230600704

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

ALTIM_BOTTOM_PING 70.2,28.0 GPS 240515,110035,-3408.891,2539.611,18,0.8,18,-27.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 219 67.43 SBE_CT 188 24 107.96

Roll_motor 15 55 20.92 SBE_O2 116 19 52.73

VBD_pump_during_apogee 247 938 5541.16 QSP2150 75 4 7.93

VBD_pump_during_surface 9 136 32.14 WL_BB2FLVMT 402 105 1010.85

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 12.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.26

TT8 611 14 95.13

LPSleep 239 2 5.46

TT8_Active 264 14 39.11

TT8_Sampling 676 37 263.35

TT8_CF8 82 47 40.44

TT8_Kalman 0 0 0.00

Analog_circuits 592 12 73.94

GPS_charging 0 0 0.00

Compass 672 15 110.05

RAFOS 0 0 0.00

Transponder 10 30 3.14

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 -77.28 0.000 2 0.000 0.000 46 3213 2623 0 0 0 0 0 0

99 -0.45 -170.4 3.6 -5.9 10 117 6.60 1.27 -4.15 0.000 4 0.220 0.044 1720 2297 2843 0 0 0 0 0 0

154 -0.45 -170.4 22.5 -19.5 18 163 0.00 1.40 0.00 0.000 6 0.000 0.044 1715 3189 2847 0 0 0 0 0 0

306 -0.45 -170.4 41.9 -12.4 43 313 0.00 1.17 0.00 0.000 4 0.000 0.050 1710 3955 2847 0 0 0 0 0 0

347 -0.45 -170.4 46.2 -11.9 49 354 0.00 1.05 0.00 0.000 6 0.000 0.028 1709 3209 2847 0 0 0 0 0 0

700 -0.45 -170.4 77.5 -7.8 110 706 0.00 1.15 0.00 0.000 4 0.000 0.051 1705 3950 2848 0 0 0 0 0 0

747 -0.45 -170.4 80.9 -8.0 117 753 0.00 1.05 0.00 0.000 6 0.000 0.028 1705 3199 2848 0 0 0 0 0 0

775 end dive: BOTTOM_OBSTACLE_DETECTED

state 775 begin apogee

783 -0.11 0.0 83.5 8.1 122 864 0.35 0.00 77.90 0.939 6 0.103 0.000 1827 3048 2145 0 0 0 0 0 0

865 end apogee: CONTROL_FINISHED_OK

state 865 begin climb

869 0.45 170.4 86.5 0.0 135 951 0.50 1.35 75.47 0.928 4 0.070 0.024 2021 2143 1451 0 0 0 0 0 0

977 0.46 181.9 80.4 9.6 152 987 0.00 1.45 5.22 0.710 6 0.000 0.041 2021 3052 1403 0 0 0 0 0 0

1333 0.49 241.8 37.0 7.6 213 1368 0.00 1.40 26.85 0.757 4 0.000 0.050 2021 3925 1159 0 0 0 0 0 0

1471 0.52 285.9 26.4 8.3 235 1500 0.00 1.27 19.60 0.704 6 0.000 0.025 2028 3043 981 0 0 0 0 0 0

1645 0.55 342.6 12.5 7.8 263 1678 0.00 0.00 25.48 0.669 6 0.000 0.000 2028 3044 748 0 0 0 0 0 0

1730 0.57 379.2 5.5 8.6 275 1754 0.00 1.27 16.48 0.622 4 0.000 0.021 2035 2162 598 0 0 0 0 0 0

1761 end climb: SURFACE_DEPTH_REACHED

state 1761 begin surface coast

1769 end surface coast: CONTROL_FINISHED_OK

state 1769 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	898	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	82	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	40	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	-17971.283	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	240515,102812,-3408.896,2539.357,16,0.8,16,-27.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3407.024,2552.199
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.17	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-75.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240515,102917,-3408.899,2539.354,16,0.9,16,-27.4	MHEAD_RNG_PITCHd_Wd	107.4,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	2.1,1.025160	_24V_AH	23.9,81.732
SM_CCo	1787,9.88,0.136,0,0,504,402.29	_10V_AH	10.4,37.679
SM_GC	0.91,0.00,0.00,9.88,0.000,0.000,0.136,71,3214,504,-5.62,0.40,402.29	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3353.88,2517.06,190308,212159	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964	MEM	332756
HUMID	56.02	DATA_FILE_SIZE	17024,280
INTERNAL_PRESSURE	11.3786	CAP_FILE_SIZE	33160,0
TCM_TEMP	19.90	CFSIZE	259252224,230600704
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
ALTIM_BOTTOM_PING	70.2,28.0	GPS	240515,110035,-3408.891,2539.611,18,0.8,18,-27.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	219	67.43	SBE_CT	188	24	107.96
Roll_motor	15	55	20.92	SBE_O2	116	19	52.73
VBD_pump_during_apogee	247	938	5541.16	QSP2150	75	4	7.93
VBD_pump_during_surface	9	136	32.14	WL_BB2FLVMT	402	105	1010.85
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	12.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.26
TT8	611	14	95.13
LPSleep	239	2	5.46
TT8_Active	264	14	39.11
TT8_Sampling	676	37	263.35
TT8_CF8	82	47	40.44
TT8_Kalman	0	0	0.00
Analog_circuits	592	12	73.94
GPS_charging	0	0	0.00
Compass	672	15	110.05
RAFOS	0	0	0.00
Transponder	10	30	3.14

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	-77.28	0.000	2	0.000	0.000	46	3213	2623	0	0	0	0	0	0
99	-0.45	-170.4	3.6	-5.9	10	117	6.60	1.27	-4.15	0.000	4	0.220	0.044	1720	2297	2843	0	0	0	0	0	0
154	-0.45	-170.4	22.5	-19.5	18	163	0.00	1.40	0.00	0.000	6	0.000	0.044	1715	3189	2847	0	0	0	0	0	0
306	-0.45	-170.4	41.9	-12.4	43	313	0.00	1.17	0.00	0.000	4	0.000	0.050	1710	3955	2847	0	0	0	0	0	0
347	-0.45	-170.4	46.2	-11.9	49	354	0.00	1.05	0.00	0.000	6	0.000	0.028	1709	3209	2847	0	0	0	0	0	0
700	-0.45	-170.4	77.5	-7.8	110	706	0.00	1.15	0.00	0.000	4	0.000	0.051	1705	3950	2848	0	0	0	0	0	0
747	-0.45	-170.4	80.9	-8.0	117	753	0.00	1.05	0.00	0.000	6	0.000	0.028	1705	3199	2848	0	0	0	0	0	0
775	end dive: BOTTOM_OBSTACLE_DETECTED
state	775	begin apogee
783	-0.11	0.0	83.5	8.1	122	864	0.35	0.00	77.90	0.939	6	0.103	0.000	1827	3048	2145	0	0	0	0	0	0
865	end apogee: CONTROL_FINISHED_OK
state	865	begin climb
869	0.45	170.4	86.5	0.0	135	951	0.50	1.35	75.47	0.928	4	0.070	0.024	2021	2143	1451	0	0	0	0	0	0
977	0.46	181.9	80.4	9.6	152	987	0.00	1.45	5.22	0.710	6	0.000	0.041	2021	3052	1403	0	0	0	0	0	0
1333	0.49	241.8	37.0	7.6	213	1368	0.00	1.40	26.85	0.757	4	0.000	0.050	2021	3925	1159	0	0	0	0	0	0
1471	0.52	285.9	26.4	8.3	235	1500	0.00	1.27	19.60	0.704	6	0.000	0.025	2028	3043	981	0	0	0	0	0	0
1645	0.55	342.6	12.5	7.8	263	1678	0.00	0.00	25.48	0.669	6	0.000	0.000	2028	3044	748	0	0	0	0	0	0
1730	0.57	379.2	5.5	8.6	275	1754	0.00	1.27	16.48	0.622	4	0.000	0.021	2035	2162	598	0	0	0	0	0	0
1761	end climb: SURFACE_DEPTH_REACHED
state	1761	begin surface coast
1769	end surface coast: CONTROL_FINISHED_OK
state	1769	begin surface