Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 133 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 133 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 39 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 38 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 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 -3 T_GPS_CHARGE -26845.42 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

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 -26845.42

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 39 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 38 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 133 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 100311,163928,6723.453,-5744.534,181,99.0,181,-38.2 TGT_NAME midTARGET

_CALLS 3 TGT_LATLONG 6656.000,-5813.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.56 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -46.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 100311,163928,6723.453,-5744.534,181,99.0,181,-38.2 MHEAD_RNG_PITCHd_Wd 240.3,54878,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 467

Post-dive calculations and measurements:

FREEZE 1.36,-1.411,-1.737,3,8,0 ALTIM_TOP_PING 19.5,18.5

FINISH 1.4,1.025518 _24V_AH 23.7,19.627

SM_CCo 5718,114.45,0.064,0,0,750,559.04 _10V_AH 10.3,10.779

SM_GC 2.71,0.00,0.00,114.45,0.000,0.000,0.064,113,2512,750,-8.60,0.62,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 335 FG_AHR_10Vo 0.000

RAFOS 0,1299787267,20.033333,20.018612,76,60,59,55,54,52,208,138,118,171,148,157 MEM 150408

RAFOS_FIX 6723.452637,-5744.534180,100311,161628,2,138,0.50 DATA_FILE_SIZE 23431,656

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 CAP_FILE_SIZE 78511,0

TT8_MAMPS 0.029211 CFSIZE 260165632,243429376

HUMID 42.63 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.52572 SOUNDSPEED 1464.2

TCM_TEMP 17.30 GPS 100311,163928,6723.453,-5744.534,181,99.0,181,-38.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 329 182.66 SBE_CT 456 24 259.89

Roll_motor 45 77 82.91 SBE_O2 488 19 219.77

VBD_pump_during_apogee 341 1052 8512.73 nil 0 0 0.00

VBD_pump_during_surface 114 64 174.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 98 103 241.28 nil 0 0 0.00

Iridium_during_connect 17 160 65.92 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 182 50 93.87

TT8 1520 19 311.98

LPSleep 2785 2 66.27

TT8_Active 543 19 111.55

TT8_Sampling 1380 39 567.58

TT8_CF8 289 45 136.75

TT8_Kalman 0 0 0.00

Analog_circuits 1149 12 142.12

GPS_charging 0 0 0.00

Compass 1071 15 165.55

RAFOS 2160 1 33.37

Transponder 2 30 0.81

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

15 -0.62 -146.0 0.0 0.0 0 132 0.00 0.00 -114.28 0.000 2 0.000 0.000 112 2503 3358 0 0 0 0 0 0

136 -0.62 -146.0 5.6 -8.2 20 162 12.45 2.22 -5.82 0.000 4 0.330 0.077 2654 3887 3628 0 0 0 0 0 0

208 -0.51 -146.0 26.6 -19.3 32 216 0.15 2.17 0.00 0.000 6 0.209 0.041 2691 2488 3629 0 0 0 0 0 0

555 -0.47 -146.0 74.9 -13.8 93 561 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2488 3630 0 0 0 0 0 0

891 -0.47 -146.0 117.9 -12.5 141 895 0.00 2.25 0.00 0.000 4 0.000 0.068 2691 3892 3628 0 0 0 0 0 0

956 -0.47 -146.0 125.5 -10.5 146 964 0.00 2.17 0.00 0.000 6 0.000 0.041 2691 2493 3627 0 0 0 0 0 0

1282 -0.47 -146.0 160.7 -10.4 177 1283 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2492 3626 0 0 0 0 0 0

1604 -0.47 -146.0 195.6 -10.8 207 1610 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2492 3626 0 0 0 0 0 0

1930 -0.47 -146.0 228.5 -9.6 238 1931 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2493 3627 0 0 0 0 0 0

2250 -0.49 -146.0 260.3 -9.8 268 2251 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2491 3628 0 0 0 0 0 0

2568 -0.52 -146.0 292.8 -9.4 298 2572 0.00 2.22 0.00 0.000 4 0.000 0.063 2691 3892 3629 0 0 0 0 0 0

2744 end dive: NO_VERTICAL_VELOCITY

state 2745 begin apogee

2752 -0.12 0.0 294.8 0.0 313 2878 0.38 0.00 116.68 1.053 6 0.125 0.000 2819 2255 3029 0 0 0 0 0 0

2879 end apogee: CONTROL_FINISHED_OK

state 2879 begin climb

2881 0.62 146.0 294.8 0.0 325 3012 0.75 2.40 117.82 1.009 4 0.135 0.056 3063 877 2432 0 0 0 0 0 0

3153 0.55 146.0 269.1 11.6 349 3160 0.00 2.28 0.00 0.000 6 0.000 0.044 3063 2277 2428 0 0 0 0 0 0

3478 0.48 146.0 231.2 11.3 380 3483 0.17 2.28 0.00 0.000 4 0.175 0.057 3017 3684 2428 0 0 0 0 0 0

3581 0.44 146.0 219.8 11.7 388 3587 0.00 2.20 0.00 0.000 6 0.000 0.041 3026 2282 2428 0 0 0 0 0 0

3907 0.46 158.6 188.9 9.4 419 3923 0.00 2.22 10.80 0.853 4 0.000 0.055 3034 874 2382 0 0 0 0 0 0

3969 0.46 164.2 182.7 9.7 424 3981 0.00 2.20 6.35 0.760 6 0.000 0.043 3034 2282 2360 0 0 0 0 0 0

4299 0.47 167.5 149.8 9.8 455 4311 0.00 2.22 4.43 0.627 4 0.000 0.056 3034 3682 2347 0 0 0 0 0 0

4335 0.43 167.5 145.9 11.2 458 4340 0.15 2.20 0.00 0.000 6 0.190 0.041 3006 2266 2346 0 0 0 0 0 0

4660 0.53 199.5 117.7 8.5 488 4694 0.00 2.30 27.88 0.904 4 0.000 0.057 3014 870 2216 0 0 0 0 0 0

4730 0.66 219.7 111.7 9.1 494 4754 0.17 2.22 18.42 0.872 6 0.093 0.041 3085 2285 2134 0 0 0 0 0 0

5084 0.64 219.7 64.7 11.6 549 5091 0.00 2.20 0.00 0.000 4 0.000 0.055 3085 3692 2129 0 0 0 0 0 0

5177 0.58 219.7 52.0 13.5 565 5184 0.17 2.20 0.00 0.000 6 0.176 0.040 3049 2273 2129 0 0 0 0 0 0

5524 0.67 246.1 20.2 8.8 626 5545 0.00 2.25 14.90 0.858 4 0.000 0.057 3051 866 2025 0 0 0 0 0 0

5615 0.85 295.5 12.6 7.7 641 5646 0.25 2.20 23.95 0.831 6 0.084 0.044 3147 2271 1825 0 0 0 0 0 0

5683 end climb: SURFACE_DEPTH_REACHED

state 5684 begin surface coast

5701 end surface coast: CONTROL_FINISHED_OK

state 5701 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	133	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	39	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	38	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	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	-3	T_GPS_CHARGE	-26845.42	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	100311,163928,6723.453,-5744.534,181,99.0,181,-38.2	TGT_NAME	midTARGET
_CALLS	3	TGT_LATLONG	6656.000,-5813.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-46.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	100311,163928,6723.453,-5744.534,181,99.0,181,-38.2	MHEAD_RNG_PITCHd_Wd	240.3,54878,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	467

FREEZE	1.36,-1.411,-1.737,3,8,0	ALTIM_TOP_PING	19.5,18.5
FINISH	1.4,1.025518	_24V_AH	23.7,19.627
SM_CCo	5718,114.45,0.064,0,0,750,559.04	_10V_AH	10.3,10.779
SM_GC	2.71,0.00,0.00,114.45,0.000,0.000,0.064,113,2512,750,-8.60,0.62,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	335	FG_AHR_10Vo	0.000
RAFOS	0,1299787267,20.033333,20.018612,76,60,59,55,54,52,208,138,118,171,148,157	MEM	150408
RAFOS_FIX	6723.452637,-5744.534180,100311,161628,2,138,0.50	DATA_FILE_SIZE	23431,656
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	CAP_FILE_SIZE	78511,0
TT8_MAMPS	0.029211	CFSIZE	260165632,243429376
HUMID	42.63	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.52572	SOUNDSPEED	1464.2
TCM_TEMP	17.30	GPS	100311,163928,6723.453,-5744.534,181,99.0,181,-38.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	329	182.66	SBE_CT	456	24	259.89
Roll_motor	45	77	82.91	SBE_O2	488	19	219.77
VBD_pump_during_apogee	341	1052	8512.73	nil	0	0	0.00
VBD_pump_during_surface	114	64	174.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	98	103	241.28	nil	0	0	0.00
Iridium_during_connect	17	160	65.92	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	182	50	93.87
TT8	1520	19	311.98
LPSleep	2785	2	66.27
TT8_Active	543	19	111.55
TT8_Sampling	1380	39	567.58
TT8_CF8	289	45	136.75
TT8_Kalman	0	0	0.00
Analog_circuits	1149	12	142.12
GPS_charging	0	0	0.00
Compass	1071	15	165.55
RAFOS	2160	1	33.37
Transponder	2	30	0.81

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
15	-0.62	-146.0	0.0	0.0	0	132	0.00	0.00	-114.28	0.000	2	0.000	0.000	112	2503	3358	0	0	0	0	0	0
136	-0.62	-146.0	5.6	-8.2	20	162	12.45	2.22	-5.82	0.000	4	0.330	0.077	2654	3887	3628	0	0	0	0	0	0
208	-0.51	-146.0	26.6	-19.3	32	216	0.15	2.17	0.00	0.000	6	0.209	0.041	2691	2488	3629	0	0	0	0	0	0
555	-0.47	-146.0	74.9	-13.8	93	561	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2488	3630	0	0	0	0	0	0
891	-0.47	-146.0	117.9	-12.5	141	895	0.00	2.25	0.00	0.000	4	0.000	0.068	2691	3892	3628	0	0	0	0	0	0
956	-0.47	-146.0	125.5	-10.5	146	964	0.00	2.17	0.00	0.000	6	0.000	0.041	2691	2493	3627	0	0	0	0	0	0
1282	-0.47	-146.0	160.7	-10.4	177	1283	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2492	3626	0	0	0	0	0	0
1604	-0.47	-146.0	195.6	-10.8	207	1610	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2492	3626	0	0	0	0	0	0
1930	-0.47	-146.0	228.5	-9.6	238	1931	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2493	3627	0	0	0	0	0	0
2250	-0.49	-146.0	260.3	-9.8	268	2251	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2491	3628	0	0	0	0	0	0
2568	-0.52	-146.0	292.8	-9.4	298	2572	0.00	2.22	0.00	0.000	4	0.000	0.063	2691	3892	3629	0	0	0	0	0	0
2744	end dive: NO_VERTICAL_VELOCITY
state	2745	begin apogee
2752	-0.12	0.0	294.8	0.0	313	2878	0.38	0.00	116.68	1.053	6	0.125	0.000	2819	2255	3029	0	0	0	0	0	0
2879	end apogee: CONTROL_FINISHED_OK
state	2879	begin climb
2881	0.62	146.0	294.8	0.0	325	3012	0.75	2.40	117.82	1.009	4	0.135	0.056	3063	877	2432	0	0	0	0	0	0
3153	0.55	146.0	269.1	11.6	349	3160	0.00	2.28	0.00	0.000	6	0.000	0.044	3063	2277	2428	0	0	0	0	0	0
3478	0.48	146.0	231.2	11.3	380	3483	0.17	2.28	0.00	0.000	4	0.175	0.057	3017	3684	2428	0	0	0	0	0	0
3581	0.44	146.0	219.8	11.7	388	3587	0.00	2.20	0.00	0.000	6	0.000	0.041	3026	2282	2428	0	0	0	0	0	0
3907	0.46	158.6	188.9	9.4	419	3923	0.00	2.22	10.80	0.853	4	0.000	0.055	3034	874	2382	0	0	0	0	0	0
3969	0.46	164.2	182.7	9.7	424	3981	0.00	2.20	6.35	0.760	6	0.000	0.043	3034	2282	2360	0	0	0	0	0	0
4299	0.47	167.5	149.8	9.8	455	4311	0.00	2.22	4.43	0.627	4	0.000	0.056	3034	3682	2347	0	0	0	0	0	0
4335	0.43	167.5	145.9	11.2	458	4340	0.15	2.20	0.00	0.000	6	0.190	0.041	3006	2266	2346	0	0	0	0	0	0
4660	0.53	199.5	117.7	8.5	488	4694	0.00	2.30	27.88	0.904	4	0.000	0.057	3014	870	2216	0	0	0	0	0	0
4730	0.66	219.7	111.7	9.1	494	4754	0.17	2.22	18.42	0.872	6	0.093	0.041	3085	2285	2134	0	0	0	0	0	0
5084	0.64	219.7	64.7	11.6	549	5091	0.00	2.20	0.00	0.000	4	0.000	0.055	3085	3692	2129	0	0	0	0	0	0
5177	0.58	219.7	52.0	13.5	565	5184	0.17	2.20	0.00	0.000	6	0.176	0.040	3049	2273	2129	0	0	0	0	0	0
5524	0.67	246.1	20.2	8.8	626	5545	0.00	2.25	14.90	0.858	4	0.000	0.057	3051	866	2025	0	0	0	0	0	0
5615	0.85	295.5	12.6	7.7	641	5646	0.25	2.20	23.95	0.831	6	0.084	0.044	3147	2271	1825	0	0	0	0	0	0
5683	end climb: SURFACE_DEPTH_REACHED
state	5684	begin surface coast
5701	end surface coast: CONTROL_FINISHED_OK
state	5701	begin surface