Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 899 * 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 899 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 78 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 36 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 -17973.756 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 -17973.756

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 78 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 36 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 899 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 240515,110035,-3408.891,2539.611,18,0.8,18,-27.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3407.086,2552.434

_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 -72.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240515,110924,-3408.961,2539.587,21,0.9,21,-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 0.3,1.025078 _24V_AH 23.9,81.814

SM_CCo 1971,0.00,0.000,0,0,502,403.51 _10V_AH 10.4,37.718

SM_GC 1.17,5.07,0.00,0.00,0.028,0.000,0.000,59,3220,502,-5.53,0.54,403.51 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3356.48,2537.99,190308,232311 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964 MEM 332688

HUMID 56.30 DATA_FILE_SIZE 16963,303

INTERNAL_PRESSURE 11.3883 CAP_FILE_SIZE 39814,0

TCM_TEMP 20.00 CFSIZE 259252224,230572032

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

ALTIM_BOTTOM_PING 80.1,20.0 GPS 240515,114330,-3408.955,2539.867,16,1.1,16,-27.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 220 65.69 SBE_CT 203 24 116.77

Roll_motor 13 61 19.77 SBE_O2 129 19 58.60

VBD_pump_during_apogee 259 957 5942.49 QSP2150 84 4 8.86

VBD_pump_during_surface 0 0 0.00 WL_BB2FLVMT 442 105 1110.76

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 81.94 nil 0 0 0.00

Iridium_during_connect 23 160 88.17 nil 0 0 0.00

Iridium_during_xfer 281 223 1498.68 nil 0 0 0.00

Transponder_ping 1 420 15.06 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 26 6.78

TT8 653 14 101.69

LPSleep 321 2 7.32

TT8_Active 261 14 38.62

TT8_Sampling 1062 37 413.62

TT8_CF8 210 47 103.04

TT8_Kalman 0 0 0.00

Analog_circuits 605 12 75.62

GPS_charging 0 0 0.00

Compass 728 15 119.17

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.45 -170.4 0.0 0.0 0 96 0.00 0.00 -77.57 0.000 2 0.000 0.000 64 3222 2640 0 0 0 0 0 0

100 -0.45 -170.4 3.8 -6.4 10 118 6.55 1.30 -3.83 0.000 4 0.220 0.043 1714 2305 2843 0 0 0 0 0 0

174 -0.45 -170.4 23.8 -11.5 21 180 0.00 1.40 0.00 0.000 6 0.000 0.044 1709 3195 2847 0 0 0 0 0 0

320 -0.45 -170.4 41.3 -12.7 46 327 0.00 1.15 0.00 0.000 4 0.000 0.050 1704 3940 2847 0 0 0 0 0 0

365 -0.45 -170.4 46.0 -10.9 53 372 0.00 1.05 0.00 0.000 6 0.000 0.027 1704 3196 2847 0 0 0 0 0 0

715 -0.45 -170.4 78.0 -9.1 114 721 0.00 0.00 0.00 0.000 6 0.000 0.000 1703 3195 2848 0 0 0 0 0 0

794 end dive: BOTTOM_OBSTACLE_DETECTED

state 794 begin apogee

802 -0.11 0.0 85.3 8.9 128 885 0.38 0.00 78.32 0.958 6 0.105 0.000 1832 3041 2145 0 0 0 0 0 0

886 end apogee: CONTROL_FINISHED_OK

state 886 begin climb

889 0.45 170.4 87.8 0.0 141 972 0.47 1.33 77.05 0.948 4 0.067 0.024 2020 2163 1451 0 0 0 0 0 0

987 0.46 183.2 83.1 9.5 156 997 0.00 1.42 5.72 0.735 6 0.000 0.040 2020 3052 1397 0 0 0 0 0 0

1343 0.48 222.1 42.9 8.5 217 1370 0.00 1.40 17.45 0.762 4 0.000 0.047 2020 3928 1240 0 0 0 0 0 0

1420 0.52 294.1 37.6 7.2 229 1461 0.00 1.27 32.67 0.759 6 0.000 0.024 2027 3041 945 0 0 0 0 0 0

1605 0.55 341.4 22.8 8.1 259 1633 0.00 0.00 20.88 0.692 6 0.000 0.000 2027 3041 752 0 0 0 0 0 0

1780 0.56 366.3 8.3 9.0 287 1797 0.00 1.23 11.10 0.610 4 0.000 0.021 2033 2144 649 0 0 0 0 0 0

1818 0.59 416.7 5.0 8.0 292 1844 0.00 1.42 16.40 0.607 6 0.000 0.040 2034 3056 503 0 0 0 0 0 0

1850 end climb: SURFACE_DEPTH_REACHED

state 1850 begin surface coast

1893 end surface coast: CONTROL_FINISHED_OK

state 1893 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	899	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	78	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	36	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	-17973.756	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	240515,110035,-3408.891,2539.611,18,0.8,18,-27.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3407.086,2552.434
_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	-72.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240515,110924,-3408.961,2539.587,21,0.9,21,-27.4	MHEAD_RNG_PITCHd_Wd	107.4,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.3,1.025078	_24V_AH	23.9,81.814
SM_CCo	1971,0.00,0.000,0,0,502,403.51	_10V_AH	10.4,37.718
SM_GC	1.17,5.07,0.00,0.00,0.028,0.000,0.000,59,3220,502,-5.53,0.54,403.51	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3356.48,2537.99,190308,232311	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964	MEM	332688
HUMID	56.30	DATA_FILE_SIZE	16963,303
INTERNAL_PRESSURE	11.3883	CAP_FILE_SIZE	39814,0
TCM_TEMP	20.00	CFSIZE	259252224,230572032
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
ALTIM_BOTTOM_PING	80.1,20.0	GPS	240515,114330,-3408.955,2539.867,16,1.1,16,-27.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	220	65.69	SBE_CT	203	24	116.77
Roll_motor	13	61	19.77	SBE_O2	129	19	58.60
VBD_pump_during_apogee	259	957	5942.49	QSP2150	84	4	8.86
VBD_pump_during_surface	0	0	0.00	WL_BB2FLVMT	442	105	1110.76
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	81.94	nil	0	0	0.00
Iridium_during_connect	23	160	88.17	nil	0	0	0.00
Iridium_during_xfer	281	223	1498.68	nil	0	0	0.00
Transponder_ping	1	420	15.06	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	26	6.78
TT8	653	14	101.69
LPSleep	321	2	7.32
TT8_Active	261	14	38.62
TT8_Sampling	1062	37	413.62
TT8_CF8	210	47	103.04
TT8_Kalman	0	0	0.00
Analog_circuits	605	12	75.62
GPS_charging	0	0	0.00
Compass	728	15	119.17
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.45	-170.4	0.0	0.0	0	96	0.00	0.00	-77.57	0.000	2	0.000	0.000	64	3222	2640	0	0	0	0	0	0
100	-0.45	-170.4	3.8	-6.4	10	118	6.55	1.30	-3.83	0.000	4	0.220	0.043	1714	2305	2843	0	0	0	0	0	0
174	-0.45	-170.4	23.8	-11.5	21	180	0.00	1.40	0.00	0.000	6	0.000	0.044	1709	3195	2847	0	0	0	0	0	0
320	-0.45	-170.4	41.3	-12.7	46	327	0.00	1.15	0.00	0.000	4	0.000	0.050	1704	3940	2847	0	0	0	0	0	0
365	-0.45	-170.4	46.0	-10.9	53	372	0.00	1.05	0.00	0.000	6	0.000	0.027	1704	3196	2847	0	0	0	0	0	0
715	-0.45	-170.4	78.0	-9.1	114	721	0.00	0.00	0.00	0.000	6	0.000	0.000	1703	3195	2848	0	0	0	0	0	0
794	end dive: BOTTOM_OBSTACLE_DETECTED
state	794	begin apogee
802	-0.11	0.0	85.3	8.9	128	885	0.38	0.00	78.32	0.958	6	0.105	0.000	1832	3041	2145	0	0	0	0	0	0
886	end apogee: CONTROL_FINISHED_OK
state	886	begin climb
889	0.45	170.4	87.8	0.0	141	972	0.47	1.33	77.05	0.948	4	0.067	0.024	2020	2163	1451	0	0	0	0	0	0
987	0.46	183.2	83.1	9.5	156	997	0.00	1.42	5.72	0.735	6	0.000	0.040	2020	3052	1397	0	0	0	0	0	0
1343	0.48	222.1	42.9	8.5	217	1370	0.00	1.40	17.45	0.762	4	0.000	0.047	2020	3928	1240	0	0	0	0	0	0
1420	0.52	294.1	37.6	7.2	229	1461	0.00	1.27	32.67	0.759	6	0.000	0.024	2027	3041	945	0	0	0	0	0	0
1605	0.55	341.4	22.8	8.1	259	1633	0.00	0.00	20.88	0.692	6	0.000	0.000	2027	3041	752	0	0	0	0	0	0
1780	0.56	366.3	8.3	9.0	287	1797	0.00	1.23	11.10	0.610	4	0.000	0.021	2033	2144	649	0	0	0	0	0	0
1818	0.59	416.7	5.0	8.0	292	1844	0.00	1.42	16.40	0.607	6	0.000	0.040	2034	3056	503	0	0	0	0	0	0
1850	end climb: SURFACE_DEPTH_REACHED
state	1850	begin surface coast
1893	end surface coast: CONTROL_FINISHED_OK
state	1893	begin surface