Glider dive log

PortSusan 01Feb10 * SG161 * Dive index * Mission links * Dive 16 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 161 HEADING -1 ROLL_MIN 192 ALTIM_BOTTOM_TURN_MARGIN 7

MISSION 1 ESCAPE_HEADING 0 ROLL_MAX 3769 ALTIM_TOP_TURN_MARGIN 0

DIVE 16 ESCAPE_HEADING_DELTA 10 ROLL_DEG 44 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 1990 ALTIM_PING_DEPTH 80

D_FLARE 3 TGT_DEFAULT_LAT 28 C_ROLL_CLIMB 1990 ALTIM_PING_DELTA 5

D_TGT 150 TGT_DEFAULT_LON 126 HEAD_ERRBAND 10 ALTIM_FREQUENCY 12

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 200 SM_CC 600 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 4 N_FILEKB 8 R_PORT_OVSHOOT 44 XPDR_VALID 3

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 34 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 0.69999999

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 500 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3961 DEVICE1 2

T_DIVE 72 CALL_TRIES 5 C_VBD 3442 DEVICE2 35

T_MISSION 80 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 4 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY 0 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -25609.484 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 150 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 110 PITCH_MIN 151 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3948 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3245 FG_AHR_24V 0 SEABIRD_T_G 0.0043783197

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063994242

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_YINT -20.086386 SEABIRD_T_I 2.6557553e-05

MASS 51740 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001162844 SEABIRD_T_J 3.0025926e-06

NAV_MODE 1 PITCH_GAIN 24 AD7714Ch0Gain 128 SEABIRD_C_G -9.9079208

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1131756

KALMAN_USE 1 PITCH_AD_RATE 160 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00045004685

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00012324764

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 200 PHONE_SUPPLY 2 SM_CC 600

AH0_24V 150 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 7 D_SAFE 0 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_FREQUENCY 12 D_SURF 4 PITCH_CNV 0.003125763 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 24 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3948 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 151 TGT_DEFAULT_LAT 28

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON 126

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001162844 T_DIVE 72

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -20.086386 T_GPS 15

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 -25609.484

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 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 4

COMPASS_USE 0 ID 161 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_PITCH 3245 INT_PRESSURE_YINT 0.69999999 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1990 KALMAN_USE 1 ROLL_DEG 44 USE_BATHY 0

C_ROLL_DIVE 1990 KERMIT 0 ROLL_MAX 3769 USE_ICE 0

C_VBD 3442 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 192 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51740 R_PORT_OVSHOOT 44 VBD_MAX 3961

DEVICE2 35 MAX_BUOY 110 R_STBD_OVSHOOT 34 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -9.9079208 VBD_MIN 500

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1131756 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 1 SEABIRD_C_I -0.00045004685 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00012324764 VBD_TIMEOUT 720

DIVE 16 NAV_MODE 1 SEABIRD_T_G 0.0043783197 XPDR_DEVICE 24

D_ABORT 1050 N_FILEKB 8 SEABIRD_T_H 0.00063994242 XPDR_INHIBIT 90

D_BOOST 4 N_GPS 20 SEABIRD_T_I 2.6557553e-05 XPDR_VALID 3

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 3.0025926e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 102446,4807.487,-12223.324,10,2.7,29,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 5 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.097,0.175

_SM_DEPTHo 1.12 KALMAN_X -2271.9,520.1,159.5,1342.7,180.8

_SM_ANGLEo -73.5 KALMAN_Y 114.8,-550.2,-214.3,1052.7,-486.0

GPS2 103204,4807.512,-12223.349,9,2.4,28,18.3 MHEAD_RNG_PITCHd_Wd 312.6,1211,-14.6,-6.944

SPEED_LIMITS 0.120,0.200 D_GRID 150

Post-dive calculations and measurements:

SM_CCo 2194,402.98,0.680,0,0,499,721.67 _10V_AH 10.5,1.853

SM_GC 1.21,9.32,0.00,0.00,0.041,0.000,0.000,144,1972,494,-9.63,-0.51,723.14 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4751.72,-12056.72,290499,090942 FG_AHR_10Vo 0.000

TT8_MAMPS 0.050622 MEM 324572

HUMID 29.09 DATA_FILE_SIZE 22381,478

INTERNAL_PRESSURE 8.90344 CAP_FILE_SIZE 54589,0

TCM_TEMP 15.60 CFSIZE 260165632,256503808

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

ALTIM_BOTTOM_PING 80.2,13.9 GPS 020210,111820,4807.728,-12223.452,8,1.3,8,18.3

_24V_AH 24.0,2.320

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 233 123.66 SBE_CT 320 24 184.83

Roll_motor 38 75 70.62 WL_BB2F 1578 105 3977.77

VBD_pump_during_apogee 218 755 3959.10 nil 0 0 0.00

VBD_pump_during_surface 402 679 6572.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 62.35 nil 0 0 0.00

Iridium_during_connect 28 160 110.71 nil 0 0 0.00

Iridium_during_xfer 242 223 1296.51

Transponder_ping 0 420 5.04

GUMSTIX_24V 0 0 0.00

GPS 31 50 16.40

TT8 0 19 0.00

LPSleep 215 2 4.96

TT8_Active 616 19 128.15

TT8_Sampling 1825 39 762.94

TT8_CF8 475 45 228.80

TT8_Kalman 33 81 28.61

Analog_circuits 1159 12 146.08

GPS_charging 0 0 0.00

Compass 1658 8 139.31

RAFOS 0 0 0.00

Transponder 5 30 1.71

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.74 -107.1 0.0 0.0 0 85 0.00 0.00 -68.20 0.000 2 0.000 0.000 141 1987 2177 0 0 0 0 0 0

87 -0.74 -107.1 3.3 -3.8 11 159 11.05 2.50 -51.92 0.000 4 0.234 0.076 2989 3528 3881 0 0 0 0 0 0

393 -0.74 -107.1 27.6 -8.8 79 400 0.00 2.33 0.00 0.000 6 0.000 0.039 2989 2000 3883 0 0 0 0 0 0

463 -0.74 -107.1 33.4 -8.4 95 470 0.00 2.45 0.00 0.000 4 0.000 0.060 2978 3536 3882 0 0 0 0 0 0

607 -0.74 -107.1 46.9 -9.6 129 613 0.00 2.35 0.00 0.000 6 0.000 0.039 2978 1990 3882 0 0 0 0 0 0

738 -0.74 -107.1 58.8 -9.2 160 745 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 1990 3882 0 0 0 0 0 0

868 -0.74 -107.1 70.4 -8.5 191 875 0.00 2.45 0.00 0.000 4 0.000 0.061 2968 3531 3882 0 0 0 0 0 0

921 -0.74 -107.1 75.4 -9.5 203 928 0.10 2.33 0.00 0.000 6 0.138 0.038 3001 1991 3882 0 0 0 0 0 0

1055 -0.74 -107.1 85.6 -7.2 234 1062 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1991 3882 0 0 0 0 0 0

1074 end dive: BOTTOM_OBSTACLE_DETECTED

state 1075 begin apogee

1080 -0.21 0.0 87.1 6.8 238 1164 0.50 0.00 78.25 0.755 6 0.123 0.000 3171 1989 3442 0 0 0 0 0 0

1164 end apogee: CONTROL_FINISHED_OK

state 1164 begin climb

1167 0.74 107.1 88.9 0.0 251 1256 0.85 2.58 79.25 0.739 4 0.072 0.056 3490 451 3004 0 0 0 0 0 0

1280 0.74 107.1 81.3 9.3 270 1287 0.00 2.45 0.00 0.000 6 0.000 0.041 3490 1982 3003 0 0 0 0 0 0

1412 0.74 107.1 66.4 11.1 301 1419 0.00 2.53 0.00 0.000 4 0.000 0.056 3489 3541 3002 0 0 0 0 0 0

1454 0.74 107.1 61.2 12.3 310 1461 0.00 2.40 0.00 0.000 6 0.000 0.038 3501 1998 3002 0 0 0 0 0 0

1586 0.74 107.1 46.2 11.3 341 1593 0.00 2.42 0.00 0.000 4 0.000 0.055 3513 458 3002 0 0 0 0 0 0

1628 0.74 107.1 41.4 11.7 350 1635 0.00 2.38 0.00 0.000 6 0.000 0.041 3513 1998 3002 0 0 0 0 0 0

1759 0.74 107.1 26.3 11.5 381 1766 0.00 2.45 0.00 0.000 4 0.000 0.056 3513 3540 3002 0 0 0 0 0 0

1817 0.74 107.1 19.1 12.6 394 1823 0.12 2.38 0.00 0.000 6 0.160 0.038 3485 1989 3002 0 0 0 0 0 0

1886 0.74 107.1 12.5 8.8 410 1893 0.00 2.42 0.00 0.000 4 0.000 0.054 3485 3534 3002 0 0 0 0 0 0

2126 0.91 242.6 6.0 1.0 468 2191 0.08 2.35 60.85 0.658 2 0.067 0.037 3540 1974 2665 0 0 0 0 0 0

2192 end climb: NO_VERTICAL_VELOCITY

state 2192 begin surface

ID	161	HEADING	-1	ROLL_MIN	192	ALTIM_BOTTOM_TURN_MARGIN	7
MISSION	1	ESCAPE_HEADING	0	ROLL_MAX	3769	ALTIM_TOP_TURN_MARGIN	0
DIVE	16	ESCAPE_HEADING_DELTA	10	ROLL_DEG	44	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	1990	ALTIM_PING_DEPTH	80
D_FLARE	3	TGT_DEFAULT_LAT	28	C_ROLL_CLIMB	1990	ALTIM_PING_DELTA	5
D_TGT	150	TGT_DEFAULT_LON	126	HEAD_ERRBAND	10	ALTIM_FREQUENCY	12
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	200	SM_CC	600	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	4	N_FILEKB	8	R_PORT_OVSHOOT	44	XPDR_VALID	3
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	34	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	0.69999999
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	500	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3961	DEVICE1	2
T_DIVE	72	CALL_TRIES	5	C_VBD	3442	DEVICE2	35
T_MISSION	80	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	4	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	0	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-25609.484	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	150	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	110	PITCH_MIN	151	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3948	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3245	FG_AHR_24V	0	SEABIRD_T_G	0.0043783197
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063994242
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_YINT	-20.086386	SEABIRD_T_I	2.6557553e-05
MASS	51740	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001162844	SEABIRD_T_J	3.0025926e-06
NAV_MODE	1	PITCH_GAIN	24	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9079208
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1131756
KALMAN_USE	1	PITCH_AD_RATE	160	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00045004685
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00012324764
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	102446,4807.487,-12223.324,10,2.7,29,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	5	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.097,0.175
_SM_DEPTHo	1.12	KALMAN_X	-2271.9,520.1,159.5,1342.7,180.8
_SM_ANGLEo	-73.5	KALMAN_Y	114.8,-550.2,-214.3,1052.7,-486.0
GPS2	103204,4807.512,-12223.349,9,2.4,28,18.3	MHEAD_RNG_PITCHd_Wd	312.6,1211,-14.6,-6.944
SPEED_LIMITS	0.120,0.200	D_GRID	150

SM_CCo	2194,402.98,0.680,0,0,499,721.67	_10V_AH	10.5,1.853
SM_GC	1.21,9.32,0.00,0.00,0.041,0.000,0.000,144,1972,494,-9.63,-0.51,723.14	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4751.72,-12056.72,290499,090942	FG_AHR_10Vo	0.000
TT8_MAMPS	0.050622	MEM	324572
HUMID	29.09	DATA_FILE_SIZE	22381,478
INTERNAL_PRESSURE	8.90344	CAP_FILE_SIZE	54589,0
TCM_TEMP	15.60	CFSIZE	260165632,256503808
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	80.2,13.9	GPS	020210,111820,4807.728,-12223.452,8,1.3,8,18.3
_24V_AH	24.0,2.320

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	233	123.66	SBE_CT	320	24	184.83
Roll_motor	38	75	70.62	WL_BB2F	1578	105	3977.77
VBD_pump_during_apogee	218	755	3959.10	nil	0	0	0.00
VBD_pump_during_surface	402	679	6572.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	62.35	nil	0	0	0.00
Iridium_during_connect	28	160	110.71	nil	0	0	0.00
Iridium_during_xfer	242	223	1296.51
Transponder_ping	0	420	5.04
GUMSTIX_24V	0	0	0.00
GPS	31	50	16.40
TT8	0	19	0.00
LPSleep	215	2	4.96
TT8_Active	616	19	128.15
TT8_Sampling	1825	39	762.94
TT8_CF8	475	45	228.80
TT8_Kalman	33	81	28.61
Analog_circuits	1159	12	146.08
GPS_charging	0	0	0.00
Compass	1658	8	139.31
RAFOS	0	0	0.00
Transponder	5	30	1.71

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.74	-107.1	0.0	0.0	0	85	0.00	0.00	-68.20	0.000	2	0.000	0.000	141	1987	2177	0	0	0	0	0	0
87	-0.74	-107.1	3.3	-3.8	11	159	11.05	2.50	-51.92	0.000	4	0.234	0.076	2989	3528	3881	0	0	0	0	0	0
393	-0.74	-107.1	27.6	-8.8	79	400	0.00	2.33	0.00	0.000	6	0.000	0.039	2989	2000	3883	0	0	0	0	0	0
463	-0.74	-107.1	33.4	-8.4	95	470	0.00	2.45	0.00	0.000	4	0.000	0.060	2978	3536	3882	0	0	0	0	0	0
607	-0.74	-107.1	46.9	-9.6	129	613	0.00	2.35	0.00	0.000	6	0.000	0.039	2978	1990	3882	0	0	0	0	0	0
738	-0.74	-107.1	58.8	-9.2	160	745	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	1990	3882	0	0	0	0	0	0
868	-0.74	-107.1	70.4	-8.5	191	875	0.00	2.45	0.00	0.000	4	0.000	0.061	2968	3531	3882	0	0	0	0	0	0
921	-0.74	-107.1	75.4	-9.5	203	928	0.10	2.33	0.00	0.000	6	0.138	0.038	3001	1991	3882	0	0	0	0	0	0
1055	-0.74	-107.1	85.6	-7.2	234	1062	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1991	3882	0	0	0	0	0	0
1074	end dive: BOTTOM_OBSTACLE_DETECTED
state	1075	begin apogee
1080	-0.21	0.0	87.1	6.8	238	1164	0.50	0.00	78.25	0.755	6	0.123	0.000	3171	1989	3442	0	0	0	0	0	0
1164	end apogee: CONTROL_FINISHED_OK
state	1164	begin climb
1167	0.74	107.1	88.9	0.0	251	1256	0.85	2.58	79.25	0.739	4	0.072	0.056	3490	451	3004	0	0	0	0	0	0
1280	0.74	107.1	81.3	9.3	270	1287	0.00	2.45	0.00	0.000	6	0.000	0.041	3490	1982	3003	0	0	0	0	0	0
1412	0.74	107.1	66.4	11.1	301	1419	0.00	2.53	0.00	0.000	4	0.000	0.056	3489	3541	3002	0	0	0	0	0	0
1454	0.74	107.1	61.2	12.3	310	1461	0.00	2.40	0.00	0.000	6	0.000	0.038	3501	1998	3002	0	0	0	0	0	0
1586	0.74	107.1	46.2	11.3	341	1593	0.00	2.42	0.00	0.000	4	0.000	0.055	3513	458	3002	0	0	0	0	0	0
1628	0.74	107.1	41.4	11.7	350	1635	0.00	2.38	0.00	0.000	6	0.000	0.041	3513	1998	3002	0	0	0	0	0	0
1759	0.74	107.1	26.3	11.5	381	1766	0.00	2.45	0.00	0.000	4	0.000	0.056	3513	3540	3002	0	0	0	0	0	0
1817	0.74	107.1	19.1	12.6	394	1823	0.12	2.38	0.00	0.000	6	0.160	0.038	3485	1989	3002	0	0	0	0	0	0
1886	0.74	107.1	12.5	8.8	410	1893	0.00	2.42	0.00	0.000	4	0.000	0.054	3485	3534	3002	0	0	0	0	0	0
2126	0.91	242.6	6.0	1.0	468	2191	0.08	2.35	60.85	0.658	2	0.067	0.037	3540	1974	2665	0	0	0	0	0	0
2192	end climb: NO_VERTICAL_VELOCITY
state	2192	begin surface