Glider dive log

PortSusan 09Apr09 * SG159 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 159 HEADING -1 ROLL_MAX 4045 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 19 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2235 ALTIM_PING_DEPTH 0

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2300 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_TGT 120 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 550 R_PORT_OVSHOOT 38 XPDR_VALID 0

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 20 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

D_CALL 0 KERMIT 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 188 MOTHERBOARD 5

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3616 DEVICE1 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2836 DEVICE2 39

T_DIVE 40 CALL_TRIES 5 VBD_DBAND 2 DEVICE3 -1

T_MISSION 55 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE4 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_TIMEOUT 540 DEVICE5 -1

T_TURN 270 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 SMARTS 0

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 SMARTDEVICE1 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS_ALMANAC 0 UNCOM_BLEED 20 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -83359.711 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 AH0_24V 40 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_10V 16 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 30 MINV_10V 8 SIM_W 0

MAX_BUOY 175 PITCH_MAX 4055 FG_AHR_10V 13.369734 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2975 FG_AHR_24V 14.649673 SEABIRD_T_G 0.0042382758

GLIDE_SLOPE 45 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063342927

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PRESSURE_YINT -12.703127 SEABIRD_T_I 2.5365067e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001162598 SEABIRD_T_J 2.828881e-06

MASS 51634 PITCH_GAIN 12 AD7714Ch0Gain 128 SEABIRD_C_G -10.044323

NAV_MODE 1 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1187451

FERRY_MAX 45 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012770178

KALMAN_USE 1 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00018763109

HD_A 0.0041149999 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 25

HD_B 0.014024 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0

HD_C 5.5727e-05 ROLL_MIN 145 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_ADJ_GAIN 0 SMARTS 0

AH0_10V 16 D_NO_BLEED 200 PITCH_AD_RATE 175 SM_CC 550

AH0_24V 40 D_OFFGRID 100 PITCH_CNV 0.0046000001 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_GAIN 12 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_MAX 4055 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 0 D_TGT 120 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_MIN 30 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_TIMEOUT 15 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 13.369734 PRESSURE_SLOPE 0.0001162598 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 14.649673 PRESSURE_YINT -12.703127 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 P_OVSHOOT 0.039999999 T_DIVE 40

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_GPS 15

CALL_NDIVES 1 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CALL_TRIES 5 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -83359.711

CALL_WAIT 60 HD_A 0.0041149999 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

CAPMAXSIZE 100000 HD_B 0.014024 RELAUNCH 1 T_MISSION 55

CAPUPLOAD 0 HD_C 5.5727e-05 RHO 1.023 T_NO_W 120

CF8_MAXERRORS 0 HEADING -1 ROLL_ADJ_DBAND 0 T_RSLEEP 3

COMM_SEQ 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_TURN 270

COMPASS2_DEVICE -1 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_WATCHDOG 10

COMPASS_USE 0 ID 159 ROLL_DEG 40 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 4045 UPLOAD_DIVES_MAX -1

C_PITCH 2975 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 USE_BATHY -4

C_ROLL_CLIMB 2300 KALMAN_USE 1 ROLL_MIN 145 USE_ICE 0

C_ROLL_DIVE 2235 KERMIT 0 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

C_VBD 2836 MASS 51634 R_PORT_OVSHOOT 38 VBD_CNV -0.24529999

DEEPGLIDER 0 MAX_BUOY 175 R_STBD_OVSHOOT 20 VBD_DBAND 2

DEEPGLIDERMB 0 MINV_10V 8 SEABIRD_C_G -10.044323 VBD_MAX 3616

DEVICE1 2 MINV_24V 19 SEABIRD_C_H 1.1187451 VBD_MAXERRORS 1

DEVICE2 39 MISSION 11 SEABIRD_C_I -0.0012770178 VBD_MIN 188

DEVICE3 -1 MOTHERBOARD 5 SEABIRD_C_J 0.00018763109 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 NAV_MODE 1 SEABIRD_T_G 0.0042382758 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_FILEKB 4 SEABIRD_T_H 0.00063342927 VBD_TIMEOUT 540

DEVICE6 -1 N_GPS 20 SEABIRD_T_I 2.5365067e-05 XPDR_DEVICE 24

DIVE 19 N_NOCOMM 1 SEABIRD_T_J 2.828881e-06 XPDR_INHIBIT 90

D_ABORT 1090 N_NOSURFACE 0 SIM_PITCH 0 XPDR_VALID 0

D_BOOST 0 PHONE_DEVICE 48 SIM_W 0

D_CALL 0 PHONE_SUPPLY 2 SMARTDEVICE1 -1

D_FINISH 0 PITCH_ADJ_DBAND 0 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 102949,4807.762,-12223.749,12,1.6,28,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.129,0.189

_SM_DEPTHo -0.04 KALMAN_X -819.1,23.3,47.2,-70.0,8.0

_SM_ANGLEo -69.6 KALMAN_Y 2925.8,87.9,-75.3,-2367.5,-37.5

GPS2 103402,4807.753,-12223.728,11,1.6,11,18.3 MHEAD_RNG_PITCHd_Wd 307.3,568,-19.9,-10.000

SPEED_LIMITS 0.100,0.229 D_GRID 105

Post-dive calculations and measurements:

FINISH 2.0,1.013253 _24V_AH 23.8,3.825

SM_CCo 2201,295.35,0.713,0,0,592,550.21 _10V_AH 12.0,1.467

SM_GC 0.10,0.00,0.00,295.35,0.007,0.031,0.713,30,2220,592,-13.55,-0.42,550.21 FG_AHR_24Vo 14.771

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 13.397

IRIDIUM_FIX 4751.72,-12219.12,050798,090921 MEM 324676

HUMID 1078024085 DATA_FILE_SIZE 9730,242

INTERNAL_PRESSURE 9.01452 CAP_FILE_SIZE 38669,0

TCM_TEMP 12.60 CFSIZE 260034560,257007616

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

ALTIM_BOTTOM_PING 80.5,999.0 GPS 100409,111807,4807.992,-12223.958,40,0.9,40,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 233 128.65 SBE_CT 140 24 80.29

Roll_motor 33 75 60.86 WL_BB2F 617 105 1544.17

VBD_pump_during_apogee 260 777 4812.79 nil 0 0 0.00

VBD_pump_during_surface 295 712 5009.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 71.94 nil 0 0 0.00

Iridium_during_connect 30 160 115.72 nil 0 0 0.00

Iridium_during_xfer 91 223 486.62

Transponder_ping 0 420 2.50

GUMSTIX_24V 0 0 0.00

GPS 15 50 9.31

TT8 374 19 88.99

LPSleep 794 2 20.88

TT8_Active 603 19 143.42

TT8_Sampling 721 39 344.47

TT8_CF8 274 45 150.75

TT8_Kalman 33 81 32.72

Analog_circuits 805 12 115.98

GPS_charging 0 0 0.00

Compass 719 8 69.11

RAFOS 0 0 0.00

Transponder 2 30 0.92

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.87 -171.1 0.0 0.0 0 145 0.00 0.00 -118.00 0.000 2 0.007 0.000 28 2216 2790 0 0 0 0 0 0

150 -1.87 -171.1 3.7 -14.4 23 195 10.57 2.53 -25.62 0.000 4 0.233 0.051 2552 3643 3535 0 0 0 0 0 0

295 -1.87 -171.1 13.1 -8.7 49 302 0.00 2.33 0.00 0.009 6 0.000 0.046 2552 2251 3536 0 0 0 0 0 0

368 -1.87 -171.1 20.0 -10.5 62 373 0.00 2.40 0.00 0.007 4 0.007 0.070 2542 3650 3536 0 0 0 0 0 0

409 -1.87 -171.1 24.2 -10.6 65 414 0.08 2.33 0.00 0.011 6 0.059 0.046 2564 2231 3536 0 0 0 0 0 0

607 -1.87 -171.1 45.1 -11.3 83 612 0.00 2.42 0.00 0.007 4 0.007 0.070 2556 3645 3536 0 0 0 0 0 0

658 -1.87 -171.1 50.9 -10.4 87 663 0.00 2.33 0.00 0.008 6 0.061 0.051 2555 2234 3536 0 0 0 0 0 0

986 -1.87 -171.1 88.8 -11.0 117 991 0.00 2.42 0.00 0.000 4 0.007 0.064 2546 3647 3536 0 0 0 0 0 0

1008 -1.87 -171.1 92.0 -12.0 118 1015 0.05 2.35 0.00 0.015 6 0.015 0.033 2560 2239 3536 0 0 0 0 0 0

1130 end dive: TARGET_DEPTH_EXCEEDED

state 1130 begin apogee

1137 -0.42 0.0 105.9 11.7 130 1274 1.02 0.00 131.32 0.778 6 0.143 0.026 2878 2313 2836 0 0 0 0 0 0

1275 end apogee: CONTROL_FINISHED_OK

state 1275 begin climb

1278 1.87 171.1 109.4 0.0 144 1420 1.48 2.50 128.73 0.758 4 0.090 0.076 3381 893 2137 0 0 0 0 0 0

1425 1.87 171.1 95.7 12.4 158 1431 0.00 2.35 0.00 0.061 6 0.061 0.046 3376 2291 2137 0 0 0 0 0 0

1753 1.87 171.1 52.5 13.0 189 1758 0.00 2.40 0.00 0.007 4 0.000 0.066 3377 3707 2135 0 0 0 0 0 0

1792 1.87 171.1 46.9 13.8 192 1797 0.00 2.33 0.00 0.008 6 0.068 0.051 3380 2301 2135 0 0 0 0 0 0

1990 1.87 171.1 21.3 13.3 210 1995 0.00 2.42 0.00 0.007 4 0.000 0.072 3381 887 2135 0 0 0 0 0 0

2030 1.87 171.1 16.1 13.9 215 2037 0.00 2.38 0.00 0.009 6 0.055 0.047 3377 2300 2135 0 0 0 0 0 0

2102 1.87 171.1 7.7 10.6 228 2109 0.00 0.00 0.00 -0.000 6 0.007 0.007 3377 2301 2135 0 0 0 0 0 0

2136 end climb: SURFACE_DEPTH_REACHED

state 2136 begin surface coast

2179 end surface coast: CONTROL_FINISHED_OK

state 2179 begin surface

ID	159	HEADING	-1	ROLL_MAX	4045	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	19	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2235	ALTIM_PING_DEPTH	0
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2300	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_TGT	120	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	550	R_PORT_OVSHOOT	38	XPDR_VALID	0
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	20	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
D_CALL	0	KERMIT	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	188	MOTHERBOARD	5
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3616	DEVICE1	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2836	DEVICE2	39
T_DIVE	40	CALL_TRIES	5	VBD_DBAND	2	DEVICE3	-1
T_MISSION	55	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE4	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_TIMEOUT	540	DEVICE5	-1
T_TURN	270	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	SMARTS	0
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	SMARTDEVICE1	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS_ALMANAC	0	UNCOM_BLEED	20	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-83359.711	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	AH0_24V	40	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_10V	16	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	30	MINV_10V	8	SIM_W	0
MAX_BUOY	175	PITCH_MAX	4055	FG_AHR_10V	13.369734	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2975	FG_AHR_24V	14.649673	SEABIRD_T_G	0.0042382758
GLIDE_SLOPE	45	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063342927
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PRESSURE_YINT	-12.703127	SEABIRD_T_I	2.5365067e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001162598	SEABIRD_T_J	2.828881e-06
MASS	51634	PITCH_GAIN	12	AD7714Ch0Gain	128	SEABIRD_C_G	-10.044323
NAV_MODE	1	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1187451
FERRY_MAX	45	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012770178
KALMAN_USE	1	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00018763109
HD_A	0.0041149999	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	25
HD_B	0.014024	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0
HD_C	5.5727e-05	ROLL_MIN	145	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	102949,4807.762,-12223.749,12,1.6,28,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.129,0.189
_SM_DEPTHo	-0.04	KALMAN_X	-819.1,23.3,47.2,-70.0,8.0
_SM_ANGLEo	-69.6	KALMAN_Y	2925.8,87.9,-75.3,-2367.5,-37.5
GPS2	103402,4807.753,-12223.728,11,1.6,11,18.3	MHEAD_RNG_PITCHd_Wd	307.3,568,-19.9,-10.000
SPEED_LIMITS	0.100,0.229	D_GRID	105

FINISH	2.0,1.013253	_24V_AH	23.8,3.825
SM_CCo	2201,295.35,0.713,0,0,592,550.21	_10V_AH	12.0,1.467
SM_GC	0.10,0.00,0.00,295.35,0.007,0.031,0.713,30,2220,592,-13.55,-0.42,550.21	FG_AHR_24Vo	14.771
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	13.397
IRIDIUM_FIX	4751.72,-12219.12,050798,090921	MEM	324676
HUMID	1078024085	DATA_FILE_SIZE	9730,242
INTERNAL_PRESSURE	9.01452	CAP_FILE_SIZE	38669,0
TCM_TEMP	12.60	CFSIZE	260034560,257007616
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	80.5,999.0	GPS	100409,111807,4807.992,-12223.958,40,0.9,40,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	233	128.65	SBE_CT	140	24	80.29
Roll_motor	33	75	60.86	WL_BB2F	617	105	1544.17
VBD_pump_during_apogee	260	777	4812.79	nil	0	0	0.00
VBD_pump_during_surface	295	712	5009.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	71.94	nil	0	0	0.00
Iridium_during_connect	30	160	115.72	nil	0	0	0.00
Iridium_during_xfer	91	223	486.62
Transponder_ping	0	420	2.50
GUMSTIX_24V	0	0	0.00
GPS	15	50	9.31
TT8	374	19	88.99
LPSleep	794	2	20.88
TT8_Active	603	19	143.42
TT8_Sampling	721	39	344.47
TT8_CF8	274	45	150.75
TT8_Kalman	33	81	32.72
Analog_circuits	805	12	115.98
GPS_charging	0	0	0.00
Compass	719	8	69.11
RAFOS	0	0	0.00
Transponder	2	30	0.92

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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.87	-171.1	0.0	0.0	0	145	0.00	0.00	-118.00	0.000	2	0.007	0.000	28	2216	2790	0	0	0	0	0	0
150	-1.87	-171.1	3.7	-14.4	23	195	10.57	2.53	-25.62	0.000	4	0.233	0.051	2552	3643	3535	0	0	0	0	0	0
295	-1.87	-171.1	13.1	-8.7	49	302	0.00	2.33	0.00	0.009	6	0.000	0.046	2552	2251	3536	0	0	0	0	0	0
368	-1.87	-171.1	20.0	-10.5	62	373	0.00	2.40	0.00	0.007	4	0.007	0.070	2542	3650	3536	0	0	0	0	0	0
409	-1.87	-171.1	24.2	-10.6	65	414	0.08	2.33	0.00	0.011	6	0.059	0.046	2564	2231	3536	0	0	0	0	0	0
607	-1.87	-171.1	45.1	-11.3	83	612	0.00	2.42	0.00	0.007	4	0.007	0.070	2556	3645	3536	0	0	0	0	0	0
658	-1.87	-171.1	50.9	-10.4	87	663	0.00	2.33	0.00	0.008	6	0.061	0.051	2555	2234	3536	0	0	0	0	0	0
986	-1.87	-171.1	88.8	-11.0	117	991	0.00	2.42	0.00	0.000	4	0.007	0.064	2546	3647	3536	0	0	0	0	0	0
1008	-1.87	-171.1	92.0	-12.0	118	1015	0.05	2.35	0.00	0.015	6	0.015	0.033	2560	2239	3536	0	0	0	0	0	0
1130	end dive: TARGET_DEPTH_EXCEEDED
state	1130	begin apogee
1137	-0.42	0.0	105.9	11.7	130	1274	1.02	0.00	131.32	0.778	6	0.143	0.026	2878	2313	2836	0	0	0	0	0	0
1275	end apogee: CONTROL_FINISHED_OK
state	1275	begin climb
1278	1.87	171.1	109.4	0.0	144	1420	1.48	2.50	128.73	0.758	4	0.090	0.076	3381	893	2137	0	0	0	0	0	0
1425	1.87	171.1	95.7	12.4	158	1431	0.00	2.35	0.00	0.061	6	0.061	0.046	3376	2291	2137	0	0	0	0	0	0
1753	1.87	171.1	52.5	13.0	189	1758	0.00	2.40	0.00	0.007	4	0.000	0.066	3377	3707	2135	0	0	0	0	0	0
1792	1.87	171.1	46.9	13.8	192	1797	0.00	2.33	0.00	0.008	6	0.068	0.051	3380	2301	2135	0	0	0	0	0	0
1990	1.87	171.1	21.3	13.3	210	1995	0.00	2.42	0.00	0.007	4	0.000	0.072	3381	887	2135	0	0	0	0	0	0
2030	1.87	171.1	16.1	13.9	215	2037	0.00	2.38	0.00	0.009	6	0.055	0.047	3377	2300	2135	0	0	0	0	0	0
2102	1.87	171.1	7.7	10.6	228	2109	0.00	0.00	0.00	-0.000	6	0.007	0.007	3377	2301	2135	0	0	0	0	0	0
2136	end climb: SURFACE_DEPTH_REACHED
state	2136	begin surface coast
2179	end surface coast: CONTROL_FINISHED_OK
state	2179	begin surface