Glider dive log

PortSusan 01Feb10 * SG147 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 147 HEADING -1 ROLL_MIN 160 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MAX 3941 ALTIM_TOP_TURN_MARGIN 0

DIVE 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2200 ALTIM_PING_DEPTH 80

D_FLARE 3 TGT_DEFAULT_LAT 2143 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 5

D_TGT 150 TGT_DEFAULT_LON -15810 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 120 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 80 SM_CC 600 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 4 N_FILEKB 8 R_PORT_OVSHOOT 24 XPDR_VALID 5

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 27 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 477 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3951 DEVICE1 2

T_DIVE 50 CALL_TRIES 5 C_VBD 3479 DEVICE2 20

T_MISSION 80 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 53

T_ABORT 1440 CAPUPLOAD 1 VBD_CNV -0.245296 DEVICE4 35

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 87

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 5 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -4 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -17491.721 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 92 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 485 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3757 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2512 FG_AHR_24V 0 SEABIRD_T_G 0.0042834701

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062685186

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_YINT -27.612097 SEABIRD_T_I 2.2120101e-05

MASS 52418 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.000116148 SEABIRD_T_J 2.1369924e-06

NAV_MODE 1 PITCH_GAIN 15 AD7714Ch0Gain 128 SEABIRD_C_G -9.8335438

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0998563

KALMAN_USE 1 PITCH_AD_RATE 160 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012027813

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00017447164

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 80 PHONE_SUPPLY 2 SM_CC 600

AH0_24V 92 D_OFFGRID 100 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_TGT 150 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PITCH_GAIN 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3757 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 485 TGT_DEFAULT_LAT 2143

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -15810

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.000116148 T_DIVE 50

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -27.612097 T_GPS 5

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -17491.721

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 1 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 80

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 147 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_PITCH 2512 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_DEG 40 USE_BATHY -4

C_ROLL_DIVE 2200 KERMIT 0 ROLL_MAX 3941 USE_ICE 0

C_VBD 3479 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 160 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 52418 R_PORT_OVSHOOT 24 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE3 53 MINV_10V 8 SEABIRD_C_G -9.8335438 VBD_MIN 477

DEVICE4 35 MINV_24V 19 SEABIRD_C_H 1.0998563 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 87 MISSION 5 SEABIRD_C_I -0.0012027813 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00017447164 VBD_TIMEOUT 720

DIVE 2 NAV_MODE 1 SEABIRD_T_G 0.0042834701 XPDR_DEVICE 24

D_ABORT 120 N_FILEKB 8 SEABIRD_T_H 0.00062685186 XPDR_INHIBIT 90

D_BOOST 4 N_GPS 20 SEABIRD_T_I 2.2120101e-05 XPDR_VALID 5

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.1369924e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 193149,4807.439,-12223.397,28,1.4,34,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,-0.209

_SM_DEPTHo 1.02 KALMAN_X -85.6,-85.6,-85.6,-22.0,-157.2

_SM_ANGLEo -61.7 KALMAN_Y 88.3,88.3,88.3,-104.5,162.1

GPS2 193600,4807.449,-12223.409,40,1.4,40,18.3 MHEAD_RNG_PITCHd_Wd 125.1,973,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 103

Post-dive calculations and measurements:

FINISH 3.4,1.019000 _24V_AH 23.8,0.533

SM_CCo 2631,375.02,0.570,1,0,1032,600.24 _10V_AH 10.2,0.284

SM_GC 1.19,0.00,0.00,375.02,0.000,0.000,0.570,485,2196,1032,-9.33,-0.11,600.24 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12221.84,280499,191946 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027612 MEM 324608

HUMID 32.12 DATA_FILE_SIZE 32000,385

INTERNAL_PRESSURE 8.65268 CAP_FILE_SIZE 68520,0

TCM_TEMP 14.10 CFSIZE 260165632,216584192

XPDR_PINGS 7 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 80.1,38.9 GPS 010210,202756,4807.295,-12223.307,11,1.9,12,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 173 93.13 SBE_CT 271 24 155.02

Roll_motor 38 67 61.04 SBE_O2 218 19 98.96

VBD_pump_during_apogee 206 681 3349.53 AA3830 276 33 217.38

VBD_pump_during_surface 375 569 5086.53 WL_BB2F 688 105 1720.38

VBD_valve 0 0 0.00 WL_BBFL2VMT 1308 105 3268.87

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 2 420 22.49

GUMSTIX_24V 0 0 0.00

GPS 39 50 20.40

TT8 599 19 121.06

LPSleep 241 2 5.39

TT8_Active 606 19 122.54

TT8_Sampling 1558 39 632.55

TT8_CF8 107 45 50.40

TT8_Kalman 30 81 25.18

Analog_circuits 1134 12 138.81

GPS_charging 0 0 0.00

Compass 1553 8 126.77

RAFOS 0 0 0.00

Transponder 7 30 2.15

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.35 -146.6 0.0 0.0 0 160 0.00 0.00 -140.65 0.000 2 0.000 0.000 482 2188 3051 0 0 0 0 0 0

164 -1.35 -146.6 3.2 -5.1 18 220 9.73 2.45 -38.70 0.000 4 0.173 0.065 2211 3629 3952 0 0 0 0 0 0

520 -1.35 -146.6 21.5 -6.5 70 530 0.00 2.38 0.00 0.000 6 0.000 0.037 2211 2198 3952 0 0 0 0 0 0

614 -1.35 -146.6 28.6 -7.3 83 623 0.00 2.40 0.00 0.000 4 0.000 0.054 2211 3597 3952 0 0 0 0 0 0

851 -1.35 -146.6 46.4 -7.3 119 857 0.00 2.28 0.00 0.000 6 0.000 0.035 2211 2198 3952 0 0 0 0 0 0

1009 -1.35 -146.6 57.6 -6.6 144 1019 0.00 2.40 0.00 0.000 4 0.000 0.053 2211 3603 3952 0 0 0 0 0 0

1174 -1.35 -146.6 69.4 -7.4 169 1180 0.00 2.30 0.00 0.000 6 0.000 0.035 2211 2194 3952 0 0 0 0 0 0

1335 -1.35 -146.6 80.1 -5.7 194 1344 0.00 2.40 0.00 0.000 4 0.000 0.053 2211 3600 3952 0 0 0 0 0 0

1509 -1.35 -146.6 91.9 -7.3 221 1515 0.00 2.28 0.00 0.000 6 0.000 0.034 2211 2202 3952 0 0 0 0 0 0

1667 -1.35 -146.6 101.9 -5.7 246 1677 0.00 2.38 0.00 0.000 4 0.000 0.054 2211 3595 3952 0 0 0 0 0 0

1681 end dive: TARGET_DEPTH_EXCEEDED

state 1681 begin apogee

1689 -0.33 0.0 103.1 6.0 248 1791 1.05 0.00 91.68 0.682 6 0.099 0.000 2432 2191 3479 0 0 0 0 0 0

1791 end apogee: CONTROL_FINISHED_OK

state 1793 begin climb

1795 1.35 146.6 104.3 0.0 263 1923 1.60 2.50 114.72 0.658 4 0.050 0.067 2804 795 2880 0 0 0 0 0 0

1935 1.35 146.6 90.9 13.4 283 1940 0.00 2.35 0.00 0.000 6 0.000 0.038 2804 2200 2878 0 0 0 0 0 0

2091 1.35 146.6 67.5 14.3 308 2100 0.00 2.45 0.00 0.000 4 0.000 0.058 2804 3601 2876 0 0 0 0 0 0

2219 1.35 146.6 48.0 14.8 328 2228 0.00 2.35 0.00 0.000 6 0.000 0.038 2804 2204 2876 0 0 0 0 0 0

2388 1.35 146.6 25.5 13.4 353 2397 0.00 2.42 0.00 0.000 4 0.000 0.055 2804 3604 2876 0 0 0 0 0 0

2532 1.35 146.6 4.3 14.0 374 2541 0.00 2.35 0.00 0.000 6 0.000 0.037 2804 2199 2876 0 0 0 0 0 0

2549 end climb: SURFACE_DEPTH_REACHED

state 2549 begin surface coast

2611 end surface coast: CONTROL_FINISHED_OK

state 2611 begin surface

ID	147	HEADING	-1	ROLL_MIN	160	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MAX	3941	ALTIM_TOP_TURN_MARGIN	0
DIVE	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2200	ALTIM_PING_DEPTH	80
D_FLARE	3	TGT_DEFAULT_LAT	2143	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	5
D_TGT	150	TGT_DEFAULT_LON	-15810	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	120	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	80	SM_CC	600	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	4	N_FILEKB	8	R_PORT_OVSHOOT	24	XPDR_VALID	5
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	27	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	477	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3951	DEVICE1	2
T_DIVE	50	CALL_TRIES	5	C_VBD	3479	DEVICE2	20
T_MISSION	80	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	53
T_ABORT	1440	CAPUPLOAD	1	VBD_CNV	-0.245296	DEVICE4	35
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	87
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	5	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-4	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-17491.721	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	92	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	485	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3757	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2512	FG_AHR_24V	0	SEABIRD_T_G	0.0042834701
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062685186
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_YINT	-27.612097	SEABIRD_T_I	2.2120101e-05
MASS	52418	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.000116148	SEABIRD_T_J	2.1369924e-06
NAV_MODE	1	PITCH_GAIN	15	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8335438
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0998563
KALMAN_USE	1	PITCH_AD_RATE	160	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012027813
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00017447164
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0

GPS1	193149,4807.439,-12223.397,28,1.4,34,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,-0.209
_SM_DEPTHo	1.02	KALMAN_X	-85.6,-85.6,-85.6,-22.0,-157.2
_SM_ANGLEo	-61.7	KALMAN_Y	88.3,88.3,88.3,-104.5,162.1
GPS2	193600,4807.449,-12223.409,40,1.4,40,18.3	MHEAD_RNG_PITCHd_Wd	125.1,973,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	103

FINISH	3.4,1.019000	_24V_AH	23.8,0.533
SM_CCo	2631,375.02,0.570,1,0,1032,600.24	_10V_AH	10.2,0.284
SM_GC	1.19,0.00,0.00,375.02,0.000,0.000,0.570,485,2196,1032,-9.33,-0.11,600.24	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12221.84,280499,191946	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027612	MEM	324608
HUMID	32.12	DATA_FILE_SIZE	32000,385
INTERNAL_PRESSURE	8.65268	CAP_FILE_SIZE	68520,0
TCM_TEMP	14.10	CFSIZE	260165632,216584192
XPDR_PINGS	7	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	80.1,38.9	GPS	010210,202756,4807.295,-12223.307,11,1.9,12,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	173	93.13	SBE_CT	271	24	155.02
Roll_motor	38	67	61.04	SBE_O2	218	19	98.96
VBD_pump_during_apogee	206	681	3349.53	AA3830	276	33	217.38
VBD_pump_during_surface	375	569	5086.53	WL_BB2F	688	105	1720.38
VBD_valve	0	0	0.00	WL_BBFL2VMT	1308	105	3268.87
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	2	420	22.49
GUMSTIX_24V	0	0	0.00
GPS	39	50	20.40
TT8	599	19	121.06
LPSleep	241	2	5.39
TT8_Active	606	19	122.54
TT8_Sampling	1558	39	632.55
TT8_CF8	107	45	50.40
TT8_Kalman	30	81	25.18
Analog_circuits	1134	12	138.81
GPS_charging	0	0	0.00
Compass	1553	8	126.77
RAFOS	0	0	0.00
Transponder	7	30	2.15

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.35	-146.6	0.0	0.0	0	160	0.00	0.00	-140.65	0.000	2	0.000	0.000	482	2188	3051	0	0	0	0	0	0
164	-1.35	-146.6	3.2	-5.1	18	220	9.73	2.45	-38.70	0.000	4	0.173	0.065	2211	3629	3952	0	0	0	0	0	0
520	-1.35	-146.6	21.5	-6.5	70	530	0.00	2.38	0.00	0.000	6	0.000	0.037	2211	2198	3952	0	0	0	0	0	0
614	-1.35	-146.6	28.6	-7.3	83	623	0.00	2.40	0.00	0.000	4	0.000	0.054	2211	3597	3952	0	0	0	0	0	0
851	-1.35	-146.6	46.4	-7.3	119	857	0.00	2.28	0.00	0.000	6	0.000	0.035	2211	2198	3952	0	0	0	0	0	0
1009	-1.35	-146.6	57.6	-6.6	144	1019	0.00	2.40	0.00	0.000	4	0.000	0.053	2211	3603	3952	0	0	0	0	0	0
1174	-1.35	-146.6	69.4	-7.4	169	1180	0.00	2.30	0.00	0.000	6	0.000	0.035	2211	2194	3952	0	0	0	0	0	0
1335	-1.35	-146.6	80.1	-5.7	194	1344	0.00	2.40	0.00	0.000	4	0.000	0.053	2211	3600	3952	0	0	0	0	0	0
1509	-1.35	-146.6	91.9	-7.3	221	1515	0.00	2.28	0.00	0.000	6	0.000	0.034	2211	2202	3952	0	0	0	0	0	0
1667	-1.35	-146.6	101.9	-5.7	246	1677	0.00	2.38	0.00	0.000	4	0.000	0.054	2211	3595	3952	0	0	0	0	0	0
1681	end dive: TARGET_DEPTH_EXCEEDED
state	1681	begin apogee
1689	-0.33	0.0	103.1	6.0	248	1791	1.05	0.00	91.68	0.682	6	0.099	0.000	2432	2191	3479	0	0	0	0	0	0
1791	end apogee: CONTROL_FINISHED_OK
state	1793	begin climb
1795	1.35	146.6	104.3	0.0	263	1923	1.60	2.50	114.72	0.658	4	0.050	0.067	2804	795	2880	0	0	0	0	0	0
1935	1.35	146.6	90.9	13.4	283	1940	0.00	2.35	0.00	0.000	6	0.000	0.038	2804	2200	2878	0	0	0	0	0	0
2091	1.35	146.6	67.5	14.3	308	2100	0.00	2.45	0.00	0.000	4	0.000	0.058	2804	3601	2876	0	0	0	0	0	0
2219	1.35	146.6	48.0	14.8	328	2228	0.00	2.35	0.00	0.000	6	0.000	0.038	2804	2204	2876	0	0	0	0	0	0
2388	1.35	146.6	25.5	13.4	353	2397	0.00	2.42	0.00	0.000	4	0.000	0.055	2804	3604	2876	0	0	0	0	0	0
2532	1.35	146.6	4.3	14.0	374	2541	0.00	2.35	0.00	0.000	6	0.000	0.037	2804	2199	2876	0	0	0	0	0	0
2549	end climb: SURFACE_DEPTH_REACHED
state	2549	begin surface coast
2611	end surface coast: CONTROL_FINISHED_OK
state	2611	begin surface