Glider dive log

WA coast Apr11 * SG187 * Dive index * Mission links * Dive 129 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HEADING 290 ROLL_MAX 3800 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 4 ESCAPE_HEADING 0 ROLL_DEG 43 ALTIM_PING_DEPTH 70

DIVE 129 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2200 ALTIM_PING_DELTA 5

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2050 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 120 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 320 R_PORT_OVSHOOT 30 XPDR_INHIBIT 90

D_BOOST 4 N_FILEKB 8 R_STBD_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_FINISH 10 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 2 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 470 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE -5 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX 1 C_VBD 2600 DEVICE3 83

SURFACE_URGENCY_FORCE 0 CALL_TRIES 8 VBD_DBAND 2 DEVICE4 -1

T_DIVE 20 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 45 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00060000003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 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 50 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -1584009.1 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 1000 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 -7 PITCH_MIN 155 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3970 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2958 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043543768

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -60.973145 SEABIRD_T_H 0.0006249955

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_I 2.3401506e-05

RHO 1.023 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4672308e-06

MASS 51930 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9855604

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1126566

FERRY_MAX 45 PITCH_AD_RATE 165 COMPASS_USE 0 SEABIRD_C_I -0.0021479612

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0002479906

HD_A 0.0046000001 PITCH_ADJ_GAIN 0.0049999999 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 12

HD_C 1.34e-05 ROLL_MIN 236 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 320

AH0_10V 100 D_OFFGRID 1000 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 2 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.0049999999 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 12 D_SURF 4 PITCH_AD_RATE 165 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 120 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 70 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3970 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 155 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 17 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00060000003 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001138132 T_DIVE 20

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -60.973145 T_GPS 15

CALL_TRIES 8 HD_A 0.0046000001 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1584009.1

CAPMAXSIZE 100000 HD_C 1.34e-05 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING 290 RAFOS_HIT_WINDOW 3600 T_MISSION 45

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ID 187 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 2 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2958 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 1

C_ROLL_CLIMB 2050 KERMIT 0 ROLL_DEG 43 USE_BATHY 0

C_ROLL_DIVE 2200 LOGGERDEVICE1 -1 ROLL_MAX 3800 USE_ICE 0

C_VBD 2600 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 236 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 30 VBD_MAX 3960

DEVICE2 20 MASS 51930 R_STBD_OVSHOOT 28 VBD_MAXERRORS 1

DEVICE3 83 MAX_BUOY 150 SEABIRD_C_G -9.9855604 VBD_MIN 470

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.1126566 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0021479612 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MISSION 4 SEABIRD_C_J 0.0002479906 VBD_TIMEOUT 720

DIVE 129 MOTHERBOARD 4 SEABIRD_T_G 0.0043543768 XPDR_DEVICE 24

D_ABORT 1070 NAV_MODE 0 SEABIRD_T_H 0.0006249955 XPDR_INHIBIT 90

D_BOOST 4 N_FILEKB 8 SEABIRD_T_I 2.3401506e-05 XPDR_VALID 1

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.4672308e-06

D_FINISH 10 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE -5 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030511,150250,4742.183,-12457.091,14,1.9,14,18.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 4745.777,-12512.157

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.176,-0.114

_SM_DEPTHo 1.02 KALMAN_X 14438.9,303.9,-305.7,-13432.8,797.0

_SM_ANGLEo -73.1 KALMAN_Y -14155.7,856.3,103.6,-14859.7,-275.4

GPS2 030511,150732,4742.084,-12457.061,14,2.0,14,18.7 MHEAD_RNG_PITCHd_Wd 271.3,20000,-28.0,-20.000

SPEED_LIMITS 0.346,0.356 D_GRID 120

Post-dive calculations and measurements:

FINISH1 9.7,1.023789,-39 _10V_AH 10.4,7.891

FINISH2 8.8 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12453.24,030511,131312 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964 MEM 297736

HUMID 34.36 DATA_FILE_SIZE 10310,205

INTERNAL_PRESSURE 9.16712 CAP_FILE_SIZE 32083,0

TCM_TEMP 16.20 CFSIZE 260165632,207163392

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

ALTIM_BOTTOM_PING 76.0,48.5 GPS 030511,150732,4742.084,-12457.061,14,2.0,14,18.7

_24V_AH 24.0,12.221

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 240 76.96 SBE_CT 138 24 80.06

Roll_motor 22 69 37.43 SBE_O2 142 19 65.12

VBD_pump_during_apogee 297 621 4436.58 WL_BBFL2VMT 385 105 971.34

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 0 0.00 nil 0 0 0.00

Iridium_during_connect 41 0 0.00 nil 0 0 0.00

Iridium_during_xfer 112 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 7.56 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 0 0.00

TT8 447 19 92.10

LPSleep 117 2 2.67

TT8_Active 361 19 74.43

TT8_Sampling 659 39 273.12

TT8_CF8 99 45 47.26

TT8_Kalman 0 0 0.00

Analog_circuits 635 12 79.37

GPS_charging 0 0 0.00

Compass 482 15 75.22

RAFOS 0 0 0.00

Transponder 7 30 2.21

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 -1.02 -146.6 0.0 0.0 0 116 0.00 0.00 -96.97 0.000 2 0.000 0.000 131 2085 2871 0 0 0 0 0 0

119 -1.02 -146.6 3.2 -5.8 15 141 10.12 2.70 -6.28 0.000 4 0.240 0.070 2614 3716 3200 0 0 0 0 0 0

284 -1.00 -146.6 48.8 -23.6 45 291 0.00 2.42 0.00 0.000 6 0.000 0.043 2614 2189 3203 0 0 0 0 0 0

357 -0.98 -146.6 67.5 -23.9 58 364 0.10 0.00 0.00 0.000 6 0.194 0.000 2636 2183 3203 0 0 0 0 0 0

436 -0.98 -146.6 84.0 -19.6 71 442 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2182 3203 0 0 0 0 0 0

508 -0.98 -146.6 96.4 -17.1 84 515 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2183 3204 0 0 0 0 0 0

586 -0.98 -146.6 109.7 -17.4 93 591 0.00 2.42 0.00 0.000 4 0.000 0.058 2627 3714 3203 0 0 0 0 0 0

603 end dive: BOTTOM_OBSTACLE_DETECTED

state 603 begin apogee

612 -0.23 0.0 113.0 17.2 94 733 0.80 0.00 116.93 0.622 6 0.148 0.000 2874 2034 2599 0 0 0 0 0 0

734 end apogee: CONTROL_FINISHED_OK

state 734 begin climb

736 1.02 146.6 118.5 0.0 106 863 1.20 0.00 121.72 0.602 6 0.083 0.000 3280 2033 2002 0 0 0 0 0 0

987 1.00 146.6 75.2 21.0 140 995 0.00 2.47 0.00 0.000 4 0.000 0.052 3280 3567 1995 0 0 0 0 0 0

1081 0.97 146.6 55.4 20.1 157 1088 0.00 2.42 0.00 0.000 6 0.000 0.041 3291 2053 1992 0 0 0 0 0 0

1153 0.97 186.2 42.6 17.2 170 1195 0.00 2.53 32.05 0.558 4 0.000 0.053 3291 3571 1838 0 0 0 0 0 0

1236 0.95 186.2 26.7 20.8 183 1244 0.10 2.38 0.00 0.000 6 0.177 0.041 3264 2096 1836 0 0 0 0 0 0

1308 0.97 220.1 13.0 17.6 196 1337 0.00 0.00 26.52 0.540 2 0.000 0.000 3264 2091 1709 0 0 0 0 0 0

1338 end climb: FINISH_DEPTH_REACHED

state 1338 begin subsurface finish

1344 -0.02 -39.1 9.7 -12.2 200 1379 1.02 2.40 -24.77 0.000 4 0.148 0.068 2954 3564 2763 0 0 0 0 0 0

1380 end subsurface finish: CONTROL_FINISHED_OK

state 1380 begin surface

ID	187	HEADING	290	ROLL_MAX	3800	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	4	ESCAPE_HEADING	0	ROLL_DEG	43	ALTIM_PING_DEPTH	70
DIVE	129	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2200	ALTIM_PING_DELTA	5
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2050	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	120	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	320	R_PORT_OVSHOOT	30	XPDR_INHIBIT	90
D_BOOST	4	N_FILEKB	8	R_STBD_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_FINISH	10	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	2	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	470	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	-5	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	1	C_VBD	2600	DEVICE3	83
SURFACE_URGENCY_FORCE	0	CALL_TRIES	8	VBD_DBAND	2	DEVICE4	-1
T_DIVE	20	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	45	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00060000003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	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	50	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-1584009.1	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	1000	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	-7	PITCH_MIN	155	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3970	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2958	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043543768
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-60.973145	SEABIRD_T_H	0.0006249955
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_I	2.3401506e-05
RHO	1.023	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4672308e-06
MASS	51930	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9855604
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1126566
FERRY_MAX	45	PITCH_AD_RATE	165	COMPASS_USE	0	SEABIRD_C_I	-0.0021479612
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0002479906
HD_A	0.0046000001	PITCH_ADJ_GAIN	0.0049999999	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	12
HD_C	1.34e-05	ROLL_MIN	236	ALTIM_TOP_TURN_MARGIN	0

GPS1	030511,150250,4742.183,-12457.091,14,1.9,14,18.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	4745.777,-12512.157
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.176,-0.114
_SM_DEPTHo	1.02	KALMAN_X	14438.9,303.9,-305.7,-13432.8,797.0
_SM_ANGLEo	-73.1	KALMAN_Y	-14155.7,856.3,103.6,-14859.7,-275.4
GPS2	030511,150732,4742.084,-12457.061,14,2.0,14,18.7	MHEAD_RNG_PITCHd_Wd	271.3,20000,-28.0,-20.000
SPEED_LIMITS	0.346,0.356	D_GRID	120

FINISH1	9.7,1.023789,-39	_10V_AH	10.4,7.891
FINISH2	8.8	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12453.24,030511,131312	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964	MEM	297736
HUMID	34.36	DATA_FILE_SIZE	10310,205
INTERNAL_PRESSURE	9.16712	CAP_FILE_SIZE	32083,0
TCM_TEMP	16.20	CFSIZE	260165632,207163392
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	76.0,48.5	GPS	030511,150732,4742.084,-12457.061,14,2.0,14,18.7
_24V_AH	24.0,12.221

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	240	76.96	SBE_CT	138	24	80.06
Roll_motor	22	69	37.43	SBE_O2	142	19	65.12
VBD_pump_during_apogee	297	621	4436.58	WL_BBFL2VMT	385	105	971.34
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	0	0.00	nil	0	0	0.00
Iridium_during_connect	41	0	0.00	nil	0	0	0.00
Iridium_during_xfer	112	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	7.56	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	0	0.00
TT8	447	19	92.10
LPSleep	117	2	2.67
TT8_Active	361	19	74.43
TT8_Sampling	659	39	273.12
TT8_CF8	99	45	47.26
TT8_Kalman	0	0	0.00
Analog_circuits	635	12	79.37
GPS_charging	0	0	0.00
Compass	482	15	75.22
RAFOS	0	0	0.00
Transponder	7	30	2.21

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	-1.02	-146.6	0.0	0.0	0	116	0.00	0.00	-96.97	0.000	2	0.000	0.000	131	2085	2871	0	0	0	0	0	0
119	-1.02	-146.6	3.2	-5.8	15	141	10.12	2.70	-6.28	0.000	4	0.240	0.070	2614	3716	3200	0	0	0	0	0	0
284	-1.00	-146.6	48.8	-23.6	45	291	0.00	2.42	0.00	0.000	6	0.000	0.043	2614	2189	3203	0	0	0	0	0	0
357	-0.98	-146.6	67.5	-23.9	58	364	0.10	0.00	0.00	0.000	6	0.194	0.000	2636	2183	3203	0	0	0	0	0	0
436	-0.98	-146.6	84.0	-19.6	71	442	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2182	3203	0	0	0	0	0	0
508	-0.98	-146.6	96.4	-17.1	84	515	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2183	3204	0	0	0	0	0	0
586	-0.98	-146.6	109.7	-17.4	93	591	0.00	2.42	0.00	0.000	4	0.000	0.058	2627	3714	3203	0	0	0	0	0	0
603	end dive: BOTTOM_OBSTACLE_DETECTED
state	603	begin apogee
612	-0.23	0.0	113.0	17.2	94	733	0.80	0.00	116.93	0.622	6	0.148	0.000	2874	2034	2599	0	0	0	0	0	0
734	end apogee: CONTROL_FINISHED_OK
state	734	begin climb
736	1.02	146.6	118.5	0.0	106	863	1.20	0.00	121.72	0.602	6	0.083	0.000	3280	2033	2002	0	0	0	0	0	0
987	1.00	146.6	75.2	21.0	140	995	0.00	2.47	0.00	0.000	4	0.000	0.052	3280	3567	1995	0	0	0	0	0	0
1081	0.97	146.6	55.4	20.1	157	1088	0.00	2.42	0.00	0.000	6	0.000	0.041	3291	2053	1992	0	0	0	0	0	0
1153	0.97	186.2	42.6	17.2	170	1195	0.00	2.53	32.05	0.558	4	0.000	0.053	3291	3571	1838	0	0	0	0	0	0
1236	0.95	186.2	26.7	20.8	183	1244	0.10	2.38	0.00	0.000	6	0.177	0.041	3264	2096	1836	0	0	0	0	0	0
1308	0.97	220.1	13.0	17.6	196	1337	0.00	0.00	26.52	0.540	2	0.000	0.000	3264	2091	1709	0	0	0	0	0	0
1338	end climb: FINISH_DEPTH_REACHED
state	1338	begin subsurface finish
1344	-0.02	-39.1	9.7	-12.2	200	1379	1.02	2.40	-24.77	0.000	4	0.148	0.068	2954	3564	2763	0	0	0	0	0	0
1380	end subsurface finish: CONTROL_FINISHED_OK
state	1380	begin surface