Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 910 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING 90 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 40

DIVE 910 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 47 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 -18000.365 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 -18000.365

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

CAPUPLOAD 0 HEADING 90 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 47 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 910 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 240515,184034,-3409.313,2542.131,34,0.8,34,-27.5 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG -3409.315,2555.183

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240515,184141,-3409.315,2542.133,17,1.1,17,-27.5 MHEAD_RNG_PITCHd_Wd 117.5,20000,-16.1,-10.010

SPEED_LIMITS 0.173,0.278 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.3,1.012499 _24V_AH 23.9,82.611

SM_CCo 2010,5.43,0.140,0,0,505,402.29 _10V_AH 10.4,38.132

SM_GC 1.67,0.00,0.00,5.43,0.000,0.000,0.140,66,3234,505,-5.64,0.96,402.29 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3356.48,2540.34,200308,070705 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964 MEM 332756

HUMID 56.65 DATA_FILE_SIZE 16975,321

INTERNAL_PRESSURE 11.3786 CAP_FILE_SIZE 36048,0

TCM_TEMP 19.20 CFSIZE 259252224,230260736

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

ALTIM_BOTTOM_PING 80.4,23.0 GPS 240515,191635,-3409.356,2542.323,16,1.0,16,-27.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 226 68.46 SBE_CT 215 24 123.75

Roll_motor 15 65 24.01 SBE_O2 138 19 63.10

VBD_pump_during_apogee 259 954 5920.08 QSP2150 85 4 8.92

VBD_pump_during_surface 5 139 18.15 WL_BB2FLVMT 445 105 1118.30

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 19 26 5.54

TT8 700 14 108.96

LPSleep 284 2 6.47

TT8_Active 263 14 38.87

TT8_Sampling 762 37 296.68

TT8_CF8 84 47 41.42

TT8_Kalman 0 0 0.00

Analog_circuits 623 12 77.86

GPS_charging 0 0 0.00

Compass 755 15 123.61

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 -77.32 0.000 2 0.000 0.000 65 3222 2632 0 0 0 0 0 0

100 -0.45 -170.4 3.6 -5.5 10 118 6.65 1.10 -3.95 0.000 4 0.226 0.065 1711 3938 2842 0 0 0 0 0 0

321 -0.45 -170.4 44.0 -10.4 47 328 0.00 1.02 0.00 0.000 6 0.000 0.027 1711 3206 2846 0 0 0 0 0 0

670 -0.45 -170.4 71.1 -8.9 108 678 0.00 1.12 0.00 0.000 4 0.000 0.050 1706 3924 2846 0 0 0 0 0 0

803 -0.45 -170.4 82.4 -8.8 130 809 0.00 1.02 0.00 0.000 6 0.000 0.027 1706 3195 2847 0 0 0 0 0 0

871 end dive: BOTTOM_OBSTACLE_DETECTED

state 871 begin apogee

878 -0.11 0.0 88.5 8.5 142 965 0.35 0.00 80.18 0.955 6 0.109 0.000 1826 3041 2147 0 0 0 0 0 0

966 end apogee: CONTROL_FINISHED_OK

state 966 begin climb

970 0.45 170.4 92.0 0.0 156 1055 0.50 1.27 76.82 0.949 4 0.069 0.020 2020 2141 1456 0 0 0 0 0 0

1091 0.45 173.6 85.2 9.9 175 1098 0.00 1.42 1.90 0.239 6 0.000 0.041 2020 3039 1440 0 0 0 0 0 0

1440 0.47 202.5 45.3 8.9 236 1461 0.00 1.38 13.75 0.754 4 0.000 0.047 2020 3935 1323 0 0 0 0 0 0

1585 0.50 262.1 32.7 7.6 260 1621 0.00 1.27 27.48 0.747 6 0.000 0.025 2027 3045 1079 0 0 0 0 0 0

1763 0.54 322.4 18.9 7.6 289 1797 0.00 1.48 27.35 0.699 4 0.000 0.050 2026 3940 831 0 0 0 0 0 0

1819 0.55 349.0 14.4 9.0 296 1836 0.00 1.30 12.30 0.634 6 0.000 0.026 2033 3045 721 0 0 0 0 0 0

1887 0.56 369.6 8.3 9.2 306 1904 0.00 1.27 9.80 0.607 4 0.000 0.022 2040 2152 637 0 0 0 0 0 0

1926 0.58 391.5 4.8 9.1 311 1943 0.00 1.40 9.88 0.135 6 0.000 0.038 2040 3053 546 0 0 0 0 0 0

1950 end climb: SURFACE_DEPTH_REACHED

state 1950 begin surface coast

1993 end surface coast: CONTROL_FINISHED_OK

state 1993 begin surface

ID	543	HEADING	90	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	40
DIVE	910	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	47	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	-18000.365	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	240515,184034,-3409.313,2542.131,34,0.8,34,-27.5	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	-3409.315,2555.183
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240515,184141,-3409.315,2542.133,17,1.1,17,-27.5	MHEAD_RNG_PITCHd_Wd	117.5,20000,-16.1,-10.010
SPEED_LIMITS	0.173,0.278	D_GRID	1000

FINISH	0.3,1.012499	_24V_AH	23.9,82.611
SM_CCo	2010,5.43,0.140,0,0,505,402.29	_10V_AH	10.4,38.132
SM_GC	1.67,0.00,0.00,5.43,0.000,0.000,0.140,66,3234,505,-5.64,0.96,402.29	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3356.48,2540.34,200308,070705	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964	MEM	332756
HUMID	56.65	DATA_FILE_SIZE	16975,321
INTERNAL_PRESSURE	11.3786	CAP_FILE_SIZE	36048,0
TCM_TEMP	19.20	CFSIZE	259252224,230260736
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
ALTIM_BOTTOM_PING	80.4,23.0	GPS	240515,191635,-3409.356,2542.323,16,1.0,16,-27.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	226	68.46	SBE_CT	215	24	123.75
Roll_motor	15	65	24.01	SBE_O2	138	19	63.10
VBD_pump_during_apogee	259	954	5920.08	QSP2150	85	4	8.92
VBD_pump_during_surface	5	139	18.15	WL_BB2FLVMT	445	105	1118.30
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	19	26	5.54
TT8	700	14	108.96
LPSleep	284	2	6.47
TT8_Active	263	14	38.87
TT8_Sampling	762	37	296.68
TT8_CF8	84	47	41.42
TT8_Kalman	0	0	0.00
Analog_circuits	623	12	77.86
GPS_charging	0	0	0.00
Compass	755	15	123.61
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	-77.32	0.000	2	0.000	0.000	65	3222	2632	0	0	0	0	0	0
100	-0.45	-170.4	3.6	-5.5	10	118	6.65	1.10	-3.95	0.000	4	0.226	0.065	1711	3938	2842	0	0	0	0	0	0
321	-0.45	-170.4	44.0	-10.4	47	328	0.00	1.02	0.00	0.000	6	0.000	0.027	1711	3206	2846	0	0	0	0	0	0
670	-0.45	-170.4	71.1	-8.9	108	678	0.00	1.12	0.00	0.000	4	0.000	0.050	1706	3924	2846	0	0	0	0	0	0
803	-0.45	-170.4	82.4	-8.8	130	809	0.00	1.02	0.00	0.000	6	0.000	0.027	1706	3195	2847	0	0	0	0	0	0
871	end dive: BOTTOM_OBSTACLE_DETECTED
state	871	begin apogee
878	-0.11	0.0	88.5	8.5	142	965	0.35	0.00	80.18	0.955	6	0.109	0.000	1826	3041	2147	0	0	0	0	0	0
966	end apogee: CONTROL_FINISHED_OK
state	966	begin climb
970	0.45	170.4	92.0	0.0	156	1055	0.50	1.27	76.82	0.949	4	0.069	0.020	2020	2141	1456	0	0	0	0	0	0
1091	0.45	173.6	85.2	9.9	175	1098	0.00	1.42	1.90	0.239	6	0.000	0.041	2020	3039	1440	0	0	0	0	0	0
1440	0.47	202.5	45.3	8.9	236	1461	0.00	1.38	13.75	0.754	4	0.000	0.047	2020	3935	1323	0	0	0	0	0	0
1585	0.50	262.1	32.7	7.6	260	1621	0.00	1.27	27.48	0.747	6	0.000	0.025	2027	3045	1079	0	0	0	0	0	0
1763	0.54	322.4	18.9	7.6	289	1797	0.00	1.48	27.35	0.699	4	0.000	0.050	2026	3940	831	0	0	0	0	0	0
1819	0.55	349.0	14.4	9.0	296	1836	0.00	1.30	12.30	0.634	6	0.000	0.026	2033	3045	721	0	0	0	0	0	0
1887	0.56	369.6	8.3	9.2	306	1904	0.00	1.27	9.80	0.607	4	0.000	0.022	2040	2152	637	0	0	0	0	0	0
1926	0.58	391.5	4.8	9.1	311	1943	0.00	1.40	9.88	0.135	6	0.000	0.038	2040	3053	546	0	0	0	0	0	0
1950	end climb: SURFACE_DEPTH_REACHED
state	1950	begin surface coast
1993	end surface coast: CONTROL_FINISHED_OK
state	1993	begin surface