Glider dive log

Shilshole 29Jun11 * SG169 * Dive index * Mission links * Dive 25 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 169 HD_C 9.9999997e-06 ROLL_MIN 220 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 HEADING -1 ROLL_MAX 3795 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 25 ESCAPE_HEADING 0 ROLL_DEG 26 ALTIM_PING_DEPTH 100

N_DIVES 495 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2850 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2850 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 7

D_TGT 200 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 350 R_PORT_OVSHOOT -10 XPDR_INHIBIT 90

D_BOOST 100 N_FILEKB 8 R_STBD_OVSHOOT -10 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 330 INT_PRESSURE_YINT -1.1

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 1 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 435 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3022 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 10 VBD_DBAND 2 DEVICE4 -1

T_DIVE 44 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 90 CAPUPLOAD 1 VBD_TIMEOUT 540 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 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 20 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -8398.0176 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 49

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 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 -8 PITCH_MIN 146 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 180 PITCH_MAX 3945 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2042 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043354053

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -76.214661 SEABIRD_T_H 0.0006253231

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000115925 SEABIRD_T_I 2.3840643e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.5685486e-06

MASS 51710 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9554796

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1274287

FERRY_MAX 45 PITCH_AD_RATE 165 COMPASS_USE 0 SEABIRD_C_I -0.0019472764

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00023438112

HD_A 0.003 PITCH_ADJ_GAIN 0.0020000001 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 49 SIM_W 0

AH0_10V 110 D_OFFGRID 1000 PHONE_SUPPLY 2 SM_CC 350

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.0020000001 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 200 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 100 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 7 FERRY_MAX 45 PITCH_MAX 3945 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 146 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -8 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.000115925 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -76.214661 T_DIVE 44

CALL_TRIES 10 HD_A 0.003 PROTOCOL 0 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -8398.0176

CAPUPLOAD 1 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 90

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 169 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -1.1 ROLL_ADJ_GAIN 1 T_WATCHDOG 10

C_PITCH 2042 KALMAN_USE 1 ROLL_AD_RATE 330 UNCOM_BLEED 20

C_ROLL_CLIMB 2850 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2850 LOGGERDEVICE2 -1 ROLL_DEG 26 USE_BATHY 0

C_VBD 3022 LOGGERDEVICE3 -1 ROLL_MAX 3795 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 220 VBD_CNV -0.24529999

DEVICE1 2 MASS 51710 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 180 R_PORT_OVSHOOT -10 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT -10 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9554796 VBD_MIN 435

DEVICE5 -1 MISSION 4 SEABIRD_C_H 1.1274287 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0019472764 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 25 NAV_MODE 2 SEABIRD_C_J 0.00023438112 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 495 SEABIRD_T_G 0.0043354053 XPDR_DEVICE 24

D_BOOST 100 N_FILEKB 8 SEABIRD_T_H 0.0006253231 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.3840643e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.5685486e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 300611,155838,4744.365,-12224.130,13,1.5,13,18.2 TGT_NAME SW

_CALLS 2 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.120,-0.298

_SM_DEPTHo 0.67 KALMAN_X 827.9,680.2,207.4,-1126.3,261.1

_SM_ANGLEo -76.7 KALMAN_Y 1740.5,1362.1,236.4,-1338.4,594.1

GPS2 300611,160544,4744.447,-12224.034,15,1.9,15,18.2 MHEAD_RNG_PITCHd_Wd 179.4,3373,-22.7,-15.152

SPEED_LIMITS 0.262,0.321 D_GRID 200

Post-dive calculations and measurements:

FINISH 0.3,1.020598 _10V_AH 10.4,2.095

SM_CCo 1868,80.65,0.132,0,0,1593,350.04 FG_AHR_24Vo 0.000

SM_GC 0.91,0.00,0.00,80.65,0.000,0.000,0.132,128,2818,1593,-5.98,-0.88,350.04 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12222.38,300611,151516 MEM 355060

TT8_MAMPS 0.026964 DATA_FILE_SIZE 20282,286

HUMID 41.61 CAP_FILE_SIZE 59826,0

INTERNAL_PRESSURE 9.22266 CFSIZE 260165632,222470144

TCM_TEMP 13.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 8 CURRENT 0.175, 14.0,1

ALTIM_BOTTOM_PING 116.4,62.0 GPS 300611,164007,4744.424,-12224.039,28,1.5,28,18.2

_24V_AH 23.9,2.594

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 234 76.20 SBE_CT 190 24 109.50

Roll_motor 17 80 34.03 AA4330 610 33 481.76

VBD_pump_during_apogee 286 1032 7061.73 WL_BB2F 565 105 1419.76

VBD_pump_during_surface 80 131 253.63 nil 0 0 0.00

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 3 420 32.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.45

TT8 644 19 132.73

LPSleep 159 2 3.63

TT8_Active 367 19 75.58

TT8_Sampling 777 39 321.91

TT8_CF8 68 45 32.66

TT8_Kalman 32 81 27.50

Analog_circuits 712 12 88.88

GPS_charging 0 0 0.00

Compass 781 15 121.85

RAFOS 0 0 0.00

Transponder 12 30 3.74

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 14 begin dive

16 -0.78 -175.2 0.0 0.0 0 96 0.00 0.00 -77.60 0.000 2 0.000 0.000 135 2864 3409 0 0 0 0 0 0

99 -0.78 -175.2 3.1 -6.0 10 118 6.38 1.50 -6.57 0.000 4 0.235 0.080 1775 3784 3740 0 0 0 0 0 0

238 -0.75 -175.2 56.0 -35.4 32 248 0.00 1.48 0.00 0.000 6 0.000 0.034 1775 2797 3740 0 0 0 0 0 0

431 -0.72 -175.2 111.5 -28.9 63 438 0.12 1.33 0.00 0.000 4 0.200 0.034 1810 1884 3740 0 0 0 0 0 0

502 -0.72 -175.2 127.7 -18.1 74 511 0.00 1.52 0.00 0.000 6 0.000 0.055 1804 2859 3740 0 0 0 0 0 0

690 end dive: BOTTOM_OBSTACLE_DETECTED

state 690 begin apogee

695 -0.20 0.0 169.3 22.5 105 839 0.52 0.00 135.05 1.033 4 0.156 0.000 1969 2859 3021 0 0 0 0 0 0

839 end apogee: CONTROL_FINISHED_OK

state 839 begin climb

841 0.78 175.2 179.5 0.0 125 998 0.90 1.52 148.70 0.994 4 0.074 0.037 2293 1884 2307 0 0 0 0 0 0

1084 0.77 175.2 151.7 19.7 161 1090 0.00 1.60 0.00 0.000 6 0.000 0.054 2293 2866 2302 0 0 0 0 0 0

1266 0.75 175.2 111.5 21.5 192 1276 0.00 1.48 0.00 0.000 4 0.000 0.057 2293 3784 2300 0 0 0 0 0 0

1350 0.73 175.2 91.0 26.7 205 1356 0.00 1.50 0.00 0.000 6 0.000 0.041 2301 2824 2300 0 0 0 0 0 0

1535 0.71 175.2 50.1 17.2 236 1544 0.00 1.38 0.00 0.000 4 0.000 0.041 2308 1900 2299 0 0 0 0 0 0

1574 0.70 175.2 43.3 16.7 242 1584 0.12 1.50 0.00 0.000 6 0.190 0.056 2271 2852 2299 0 0 0 0 0 0

1768 0.70 181.2 9.6 14.8 273 1777 0.00 1.42 2.35 0.202 4 0.000 0.055 2271 3784 2280 0 0 0 0 0 0

1826 end climb: SURFACE_DEPTH_REACHED

state 1826 begin surface coast

1852 end surface coast: CONTROL_FINISHED_OK

state 1852 begin surface

ID	169	HD_C	9.9999997e-06	ROLL_MIN	220	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	HEADING	-1	ROLL_MAX	3795	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	25	ESCAPE_HEADING	0	ROLL_DEG	26	ALTIM_PING_DEPTH	100
N_DIVES	495	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2850	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2850	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	7
D_TGT	200	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	350	R_PORT_OVSHOOT	-10	XPDR_INHIBIT	90
D_BOOST	100	N_FILEKB	8	R_STBD_OVSHOOT	-10	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	330	INT_PRESSURE_YINT	-1.1
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	1	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	435	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3022	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	10	VBD_DBAND	2	DEVICE4	-1
T_DIVE	44	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	90	CAPUPLOAD	1	VBD_TIMEOUT	540	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	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	20	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-8398.0176	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	49
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	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	-8	PITCH_MIN	146	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	180	PITCH_MAX	3945	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2042	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043354053
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-76.214661	SEABIRD_T_H	0.0006253231
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000115925	SEABIRD_T_I	2.3840643e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.5685486e-06
MASS	51710	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9554796
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1274287
FERRY_MAX	45	PITCH_AD_RATE	165	COMPASS_USE	0	SEABIRD_C_I	-0.0019472764
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00023438112
HD_A	0.003	PITCH_ADJ_GAIN	0.0020000001	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	300611,155838,4744.365,-12224.130,13,1.5,13,18.2	TGT_NAME	SW
_CALLS	2	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.120,-0.298
_SM_DEPTHo	0.67	KALMAN_X	827.9,680.2,207.4,-1126.3,261.1
_SM_ANGLEo	-76.7	KALMAN_Y	1740.5,1362.1,236.4,-1338.4,594.1
GPS2	300611,160544,4744.447,-12224.034,15,1.9,15,18.2	MHEAD_RNG_PITCHd_Wd	179.4,3373,-22.7,-15.152
SPEED_LIMITS	0.262,0.321	D_GRID	200

FINISH	0.3,1.020598	_10V_AH	10.4,2.095
SM_CCo	1868,80.65,0.132,0,0,1593,350.04	FG_AHR_24Vo	0.000
SM_GC	0.91,0.00,0.00,80.65,0.000,0.000,0.132,128,2818,1593,-5.98,-0.88,350.04	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12222.38,300611,151516	MEM	355060
TT8_MAMPS	0.026964	DATA_FILE_SIZE	20282,286
HUMID	41.61	CAP_FILE_SIZE	59826,0
INTERNAL_PRESSURE	9.22266	CFSIZE	260165632,222470144
TCM_TEMP	13.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	8	CURRENT	0.175, 14.0,1
ALTIM_BOTTOM_PING	116.4,62.0	GPS	300611,164007,4744.424,-12224.039,28,1.5,28,18.2
_24V_AH	23.9,2.594

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	234	76.20	SBE_CT	190	24	109.50
Roll_motor	17	80	34.03	AA4330	610	33	481.76
VBD_pump_during_apogee	286	1032	7061.73	WL_BB2F	565	105	1419.76
VBD_pump_during_surface	80	131	253.63	nil	0	0	0.00
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	3	420	32.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.45
TT8	644	19	132.73
LPSleep	159	2	3.63
TT8_Active	367	19	75.58
TT8_Sampling	777	39	321.91
TT8_CF8	68	45	32.66
TT8_Kalman	32	81	27.50
Analog_circuits	712	12	88.88
GPS_charging	0	0	0.00
Compass	781	15	121.85
RAFOS	0	0	0.00
Transponder	12	30	3.74

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	14	begin dive
16	-0.78	-175.2	0.0	0.0	0	96	0.00	0.00	-77.60	0.000	2	0.000	0.000	135	2864	3409	0	0	0	0	0	0
99	-0.78	-175.2	3.1	-6.0	10	118	6.38	1.50	-6.57	0.000	4	0.235	0.080	1775	3784	3740	0	0	0	0	0	0
238	-0.75	-175.2	56.0	-35.4	32	248	0.00	1.48	0.00	0.000	6	0.000	0.034	1775	2797	3740	0	0	0	0	0	0
431	-0.72	-175.2	111.5	-28.9	63	438	0.12	1.33	0.00	0.000	4	0.200	0.034	1810	1884	3740	0	0	0	0	0	0
502	-0.72	-175.2	127.7	-18.1	74	511	0.00	1.52	0.00	0.000	6	0.000	0.055	1804	2859	3740	0	0	0	0	0	0
690	end dive: BOTTOM_OBSTACLE_DETECTED
state	690	begin apogee
695	-0.20	0.0	169.3	22.5	105	839	0.52	0.00	135.05	1.033	4	0.156	0.000	1969	2859	3021	0	0	0	0	0	0
839	end apogee: CONTROL_FINISHED_OK
state	839	begin climb
841	0.78	175.2	179.5	0.0	125	998	0.90	1.52	148.70	0.994	4	0.074	0.037	2293	1884	2307	0	0	0	0	0	0
1084	0.77	175.2	151.7	19.7	161	1090	0.00	1.60	0.00	0.000	6	0.000	0.054	2293	2866	2302	0	0	0	0	0	0
1266	0.75	175.2	111.5	21.5	192	1276	0.00	1.48	0.00	0.000	4	0.000	0.057	2293	3784	2300	0	0	0	0	0	0
1350	0.73	175.2	91.0	26.7	205	1356	0.00	1.50	0.00	0.000	6	0.000	0.041	2301	2824	2300	0	0	0	0	0	0
1535	0.71	175.2	50.1	17.2	236	1544	0.00	1.38	0.00	0.000	4	0.000	0.041	2308	1900	2299	0	0	0	0	0	0
1574	0.70	175.2	43.3	16.7	242	1584	0.12	1.50	0.00	0.000	6	0.190	0.056	2271	2852	2299	0	0	0	0	0	0
1768	0.70	181.2	9.6	14.8	273	1777	0.00	1.42	2.35	0.202	4	0.000	0.055	2271	3784	2280	0	0	0	0	0	0
1826	end climb: SURFACE_DEPTH_REACHED
state	1826	begin surface coast
1852	end surface coast: CONTROL_FINISHED_OK
state	1852	begin surface