Glider dive log

WA coast Apr11 * SG187 * Dive index * Mission links * Dive 136 * 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 136 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 180 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 33 XPDR_INHIBIT 90

D_BOOST 4 N_FILEKB 8 R_STBD_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_FINISH 20 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 10 VBD_DBAND 2 DEVICE4 -1

T_DIVE 30 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 -1584011.6 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 180 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 30

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -60.973145 T_GPS 15

CALL_TRIES 10 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 -1584011.6

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 33 VBD_MAX 3960

DEVICE2 20 MASS 51930 R_STBD_OVSHOOT 33 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 136 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 20 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE -5 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030511,182836,4740.823,-12458.610,39,1.6,44,18.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 4744.456,-12513.736

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.176,-0.114

_SM_DEPTHo 1.12 KALMAN_X 14438.9,303.9,-305.7,-13432.8,797.0

_SM_ANGLEo -73.2 KALMAN_Y -14155.7,856.3,103.6,-14859.7,-275.4

GPS2 030511,183302,4740.763,-12458.646,14,1.7,14,18.7 MHEAD_RNG_PITCHd_Wd 271.3,20000,-28.0,-20.000

SPEED_LIMITS 0.346,0.356 D_GRID 180

Post-dive calculations and measurements:

FINISH1 19.8,1.024563,0 _10V_AH 10.4,8.102

FINISH2 17.6 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4722.92,-12500.31,030511,161639 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713 MEM 297748

HUMID 34.28 DATA_FILE_SIZE 10357,206

INTERNAL_PRESSURE 9.14759 CAP_FILE_SIZE 34887,0

TCM_TEMP 15.90 CFSIZE 260165632,206974976

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

ALTIM_BOTTOM_PING 100.8,42.0 GPS 030511,183302,4740.763,-12458.646,14,1.7,14,18.7

_24V_AH 23.9,12.672

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 239 76.40 SBE_CT 138 24 79.46

Roll_motor 27 74 48.47 SBE_O2 145 19 65.99

VBD_pump_during_apogee 314 636 4790.98 WL_BBFL2VMT 366 105 919.43

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 36 0 0.00 nil 0 0 0.00

Iridium_during_xfer 100 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 20.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 0 0.00

TT8 454 19 93.62

LPSleep 179 2 4.10

TT8_Active 375 19 77.23

TT8_Sampling 667 39 276.17

TT8_CF8 105 45 50.43

TT8_Kalman 0 0 0.00

Analog_circuits 670 12 83.73

GPS_charging 0 0 0.00

Compass 500 15 78.13

RAFOS 0 0 0.00

Transponder 14 30 4.60

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 0 109 0.00 0.00 -90.43 0.000 2 0.000 0.000 131 2209 2706 0 0 0 0 0 0

112 -1.02 -146.6 3.0 -6.0 14 141 10.10 2.40 -10.15 0.000 4 0.239 0.068 2613 3709 3200 0 0 0 0 0 0

294 -1.00 -146.6 54.5 -23.5 47 301 0.00 2.40 0.00 0.000 6 0.000 0.042 2613 2194 3202 0 0 0 0 0 0

368 -0.98 -146.6 70.9 -21.6 60 375 0.00 2.38 0.00 0.000 4 0.000 0.050 2612 687 3202 0 0 0 0 0 0

405 -0.97 -146.6 79.3 -21.7 66 415 0.12 2.35 0.00 0.000 6 0.157 0.048 2639 2168 3202 0 0 0 0 0 0

482 -0.97 -146.6 94.1 -18.0 79 490 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2168 3202 0 0 0 0 0 0

561 -0.97 -146.6 108.0 -17.2 89 565 0.00 2.45 0.00 0.000 4 0.000 0.058 2629 3720 3203 0 0 0 0 0 0

691 -0.97 -146.6 129.6 -15.2 100 695 0.00 2.40 0.00 0.000 6 0.000 0.041 2629 2171 3203 0 0 0 0 0 0

706 end dive: BOTTOM_OBSTACLE_DETECTED

state 706 begin apogee

713 -0.23 0.0 132.4 15.5 101 834 0.77 0.00 117.30 0.636 6 0.145 0.000 2871 2035 2599 0 0 0 0 0 0

835 end apogee: CONTROL_FINISHED_OK

state 835 begin climb

837 1.02 146.6 137.4 0.0 113 971 1.20 2.60 122.25 0.616 4 0.083 0.052 3279 3577 2001 0 0 0 0 0 0

1064 0.99 146.6 96.1 26.4 134 1072 0.00 2.47 0.00 0.000 6 0.000 0.041 3290 2031 1994 0 0 0 0 0 0

1137 0.96 146.6 78.5 22.6 147 1144 0.00 0.00 0.00 0.000 6 0.000 0.000 3290 2029 1992 0 0 0 0 0 0

1209 0.93 146.6 62.9 21.5 160 1216 0.12 0.00 0.00 0.000 6 0.204 0.000 3264 2028 1992 0 0 0 0 0 0

1281 0.99 242.0 51.5 13.2 173 1367 0.00 2.47 75.40 0.571 4 0.000 0.052 3273 539 1612 0 0 0 0 0 0

1393 0.99 242.0 34.0 20.2 190 1401 0.00 2.40 0.00 0.000 6 0.000 0.044 3273 2024 1608 0 0 0 0 0 0

1458 end climb: FINISH_DEPTH_REACHED

state 1458 begin subsurface finish

1465 0.00 0.0 19.8 -20.3 202 1493 1.02 2.55 -16.60 0.000 4 0.147 0.070 2964 3562 2606 0 0 0 0 0 0

1494 end subsurface finish: CONTROL_FINISHED_OK

state 1494 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	136	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	180	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	33	XPDR_INHIBIT	90
D_BOOST	4	N_FILEKB	8	R_STBD_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_FINISH	20	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	10	VBD_DBAND	2	DEVICE4	-1
T_DIVE	30	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	-1584011.6	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	030511,182836,4740.823,-12458.610,39,1.6,44,18.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	4744.456,-12513.736
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.176,-0.114
_SM_DEPTHo	1.12	KALMAN_X	14438.9,303.9,-305.7,-13432.8,797.0
_SM_ANGLEo	-73.2	KALMAN_Y	-14155.7,856.3,103.6,-14859.7,-275.4
GPS2	030511,183302,4740.763,-12458.646,14,1.7,14,18.7	MHEAD_RNG_PITCHd_Wd	271.3,20000,-28.0,-20.000
SPEED_LIMITS	0.346,0.356	D_GRID	180

FINISH1	19.8,1.024563,0	_10V_AH	10.4,8.102
FINISH2	17.6	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4722.92,-12500.31,030511,161639	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713	MEM	297748
HUMID	34.28	DATA_FILE_SIZE	10357,206
INTERNAL_PRESSURE	9.14759	CAP_FILE_SIZE	34887,0
TCM_TEMP	15.90	CFSIZE	260165632,206974976
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	100.8,42.0	GPS	030511,183302,4740.763,-12458.646,14,1.7,14,18.7
_24V_AH	23.9,12.672

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	239	76.40	SBE_CT	138	24	79.46
Roll_motor	27	74	48.47	SBE_O2	145	19	65.99
VBD_pump_during_apogee	314	636	4790.98	WL_BBFL2VMT	366	105	919.43
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	36	0	0.00	nil	0	0	0.00
Iridium_during_xfer	100	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	20.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	0	0.00
TT8	454	19	93.62
LPSleep	179	2	4.10
TT8_Active	375	19	77.23
TT8_Sampling	667	39	276.17
TT8_CF8	105	45	50.43
TT8_Kalman	0	0	0.00
Analog_circuits	670	12	83.73
GPS_charging	0	0	0.00
Compass	500	15	78.13
RAFOS	0	0	0.00
Transponder	14	30	4.60

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	109	0.00	0.00	-90.43	0.000	2	0.000	0.000	131	2209	2706	0	0	0	0	0	0
112	-1.02	-146.6	3.0	-6.0	14	141	10.10	2.40	-10.15	0.000	4	0.239	0.068	2613	3709	3200	0	0	0	0	0	0
294	-1.00	-146.6	54.5	-23.5	47	301	0.00	2.40	0.00	0.000	6	0.000	0.042	2613	2194	3202	0	0	0	0	0	0
368	-0.98	-146.6	70.9	-21.6	60	375	0.00	2.38	0.00	0.000	4	0.000	0.050	2612	687	3202	0	0	0	0	0	0
405	-0.97	-146.6	79.3	-21.7	66	415	0.12	2.35	0.00	0.000	6	0.157	0.048	2639	2168	3202	0	0	0	0	0	0
482	-0.97	-146.6	94.1	-18.0	79	490	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2168	3202	0	0	0	0	0	0
561	-0.97	-146.6	108.0	-17.2	89	565	0.00	2.45	0.00	0.000	4	0.000	0.058	2629	3720	3203	0	0	0	0	0	0
691	-0.97	-146.6	129.6	-15.2	100	695	0.00	2.40	0.00	0.000	6	0.000	0.041	2629	2171	3203	0	0	0	0	0	0
706	end dive: BOTTOM_OBSTACLE_DETECTED
state	706	begin apogee
713	-0.23	0.0	132.4	15.5	101	834	0.77	0.00	117.30	0.636	6	0.145	0.000	2871	2035	2599	0	0	0	0	0	0
835	end apogee: CONTROL_FINISHED_OK
state	835	begin climb
837	1.02	146.6	137.4	0.0	113	971	1.20	2.60	122.25	0.616	4	0.083	0.052	3279	3577	2001	0	0	0	0	0	0
1064	0.99	146.6	96.1	26.4	134	1072	0.00	2.47	0.00	0.000	6	0.000	0.041	3290	2031	1994	0	0	0	0	0	0
1137	0.96	146.6	78.5	22.6	147	1144	0.00	0.00	0.00	0.000	6	0.000	0.000	3290	2029	1992	0	0	0	0	0	0
1209	0.93	146.6	62.9	21.5	160	1216	0.12	0.00	0.00	0.000	6	0.204	0.000	3264	2028	1992	0	0	0	0	0	0
1281	0.99	242.0	51.5	13.2	173	1367	0.00	2.47	75.40	0.571	4	0.000	0.052	3273	539	1612	0	0	0	0	0	0
1393	0.99	242.0	34.0	20.2	190	1401	0.00	2.40	0.00	0.000	6	0.000	0.044	3273	2024	1608	0	0	0	0	0	0
1458	end climb: FINISH_DEPTH_REACHED
state	1458	begin subsurface finish
1465	0.00	0.0	19.8	-20.3	202	1493	1.02	2.55	-16.60	0.000	4	0.147	0.070	2964	3562	2606	0	0	0	0	0	0
1494	end subsurface finish: CONTROL_FINISHED_OK
state	1494	begin surface