Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 330 * 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 330 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 18 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 18 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 1 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 -2 T_GPS_CHARGE -35888.793 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 1 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 -35888.793

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 -2

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 18 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 18 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 330 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 240813,073118,-200.000,-200.000,181,99.0,181,-37.5 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.23 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 8.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240813,073118,-200.000,-200.000,181,99.0,181,-37.5 MHEAD_RNG_PITCHd_Wd 20.3,8031828,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 250

Post-dive calculations and measurements:

FREEZE 8.62,-1.741,-1.780,2,56,0 ALTIM_TOP_PING 19.9,17.9

FINISH1 8.6,1.026060,71 _24V_AH 22.5,45.337

FINISH2 7.4 _10V_AH 10.0,24.675

RAFOS_CLK 285 FG_AHR_24Vo 0.000

RAFOS 6,1302353342,12.833333,12.817223,112,56,55,54,54,53,809,207,190,223,142,121 FG_AHR_10Vo 0.000

RAFOS_FIX 150652.875000,-4987135.000000,090411,121212,4,105,0.17 MEM 150564

IRIDIUM_FIX 6625.71,-5714.90,310311,212146 DATA_FILE_SIZE 20144,571

TT8_MAMPS 0.026215 CAP_FILE_SIZE 63500,0

HUMID 48.18 CFSIZE 260165632,230326272

INTERNAL_PRESSURE 8.65268 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.00 SOUNDSPEED 1442.3

XPDR_PINGS 0 GPS 240813,073118,-200.000,-200.000,181,99.0,181,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 233 20.34 SBE_CT 408 24 220.65

Roll_motor 58 84 111.33 SBE_O2 418 19 178.70

VBD_pump_during_apogee 384 1121 9699.77 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 0 420 2.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1341 19 267.30

LPSleep 2080 2 48.06

TT8_Active 472 19 94.17

TT8_Sampling 935 39 373.57

TT8_CF8 81 45 37.22

TT8_Kalman 0 0 0.00

Analog_circuits 1032 12 123.85

GPS_charging 0 0 0.00

Compass 932 15 139.86

RAFOS 0 0 0.00

Transponder 2 30 0.78

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

15 -0.62 -146.0 0.0 0.0 0 137 0.00 0.00 -119.62 0.000 2 0.000 0.000 3113 3690 3456 0 0 0 0 0 0

141 -0.62 -146.0 5.1 -8.1 21 161 1.48 4.35 -6.85 0.000 4 0.173 0.071 2673 1072 3628 0 0 0 0 0 0

280 -0.56 -146.0 24.9 -15.9 45 287 0.00 2.30 0.00 0.000 6 0.000 0.067 2673 2490 3628 0 0 0 0 0 0

624 -0.42 -146.0 89.2 -18.6 106 632 0.20 2.38 0.00 0.000 4 0.233 0.082 2720 3906 3628 0 0 0 0 0 0

706 -0.44 -146.0 100.6 -12.2 120 711 0.00 2.28 0.00 0.000 6 0.000 0.054 2720 2475 3629 0 0 0 0 0 0

1033 -0.47 -146.0 138.6 -10.5 150 1037 0.00 2.22 0.00 0.000 4 0.000 0.070 2720 1083 3628 0 0 0 0 0 0

1118 -0.53 -146.0 148.3 -11.6 157 1122 0.00 2.30 0.00 0.000 6 0.000 0.067 2720 2491 3628 0 0 0 0 0 0

1443 -0.58 -146.0 179.9 -9.6 187 1448 0.12 2.35 0.00 0.000 4 0.132 0.084 2678 3905 3628 0 0 0 0 0 0

1516 -0.58 -146.0 188.8 -12.4 193 1520 0.00 2.25 0.00 0.000 6 0.000 0.054 2678 2487 3628 0 0 0 0 0 0

1842 -0.53 -146.0 230.4 -11.8 223 1846 0.00 2.25 0.00 0.000 4 0.000 0.069 2677 1083 3627 0 0 0 0 0 0

1926 -0.53 -146.0 240.6 -11.8 230 1933 0.00 2.28 0.00 0.000 6 0.000 0.066 2678 2496 3627 0 0 0 0 0 0

2015 end dive: TARGET_DEPTH_EXCEEDED

state 2015 begin apogee

2021 -0.12 0.0 250.8 11.6 239 2147 0.50 0.00 120.32 1.121 6 0.213 0.000 2813 2263 3029 0 0 0 0 0 0

2148 end apogee: CONTROL_FINISHED_OK

state 2148 begin climb

2150 0.62 146.0 256.1 0.0 250 2283 0.82 2.62 124.35 1.069 4 0.159 0.076 3061 877 2433 0 0 0 0 0 0

2311 0.64 194.0 249.5 7.8 264 2362 0.00 2.47 43.75 1.030 6 0.000 0.060 3061 2273 2237 0 0 0 0 0 0

2679 0.67 219.2 216.5 8.8 299 2707 0.00 2.47 22.30 1.002 4 0.000 0.075 3061 3693 2135 0 0 0 0 0 0

2735 0.65 219.2 210.9 10.9 303 2742 0.00 2.42 0.00 0.000 6 0.000 0.061 3071 2284 2133 0 0 0 0 0 0

3061 0.65 219.7 177.6 10.0 334 3066 0.00 2.40 0.00 0.000 4 0.000 0.076 3081 861 2130 0 0 0 0 0 0

3102 0.68 219.7 173.2 10.4 337 3106 0.00 2.33 0.00 0.000 6 0.000 0.060 3082 2278 2129 0 0 0 0 0 0

3427 0.69 228.1 139.7 9.6 367 3440 0.00 2.40 8.25 0.900 4 0.000 0.075 3082 3687 2099 0 0 0 0 0 0

3510 0.65 228.1 130.4 12.5 374 3514 0.00 2.33 0.00 0.000 6 0.000 0.061 3092 2274 2099 0 0 0 0 0 0

3835 0.67 242.1 97.8 9.4 406 3855 0.00 2.40 14.20 0.970 4 0.000 0.074 3101 862 2042 0 0 0 0 0 0

3914 0.70 249.8 90.5 9.6 419 3927 0.00 2.33 8.52 0.898 6 0.000 0.060 3101 2281 2011 0 0 0 0 0 0

4266 0.74 277.4 57.7 8.7 481 4301 0.00 2.40 26.55 0.977 4 0.000 0.076 3101 3690 1897 0 0 0 0 0 0

4308 0.76 293.4 53.6 9.3 488 4333 0.00 2.33 16.15 0.927 6 0.000 0.060 3111 2270 1832 0 0 0 0 0 0

4670 0.79 293.4 16.3 10.9 552 4677 0.00 2.30 0.00 0.000 4 0.000 0.075 3121 865 1825 0 0 0 0 0 0

4684 0.82 293.4 15.0 10.3 554 4691 0.00 2.28 0.00 0.000 6 0.000 0.058 3121 2278 1824 0 0 0 0 0 0

4742 end climb: FINISH_DEPTH_REACHED

state 4742 begin subsurface finish

4748 0.09 70.6 8.6 -10.9 564 4789 0.75 0.00 -34.95 0.000 6 0.166 0.000 2896 2279 2744 0 0 0 0 0 0

4790 end subsurface finish: CONTROL_FINISHED_OK

state 4790 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	330	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	18	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	18	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	1	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	-2	T_GPS_CHARGE	-35888.793	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	240813,073118,-200.000,-200.000,181,99.0,181,-37.5	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.23	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	8.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240813,073118,-200.000,-200.000,181,99.0,181,-37.5	MHEAD_RNG_PITCHd_Wd	20.3,8031828,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	250

FREEZE	8.62,-1.741,-1.780,2,56,0	ALTIM_TOP_PING	19.9,17.9
FINISH1	8.6,1.026060,71	_24V_AH	22.5,45.337
FINISH2	7.4	_10V_AH	10.0,24.675
RAFOS_CLK	285	FG_AHR_24Vo	0.000
RAFOS	6,1302353342,12.833333,12.817223,112,56,55,54,54,53,809,207,190,223,142,121	FG_AHR_10Vo	0.000
RAFOS_FIX	150652.875000,-4987135.000000,090411,121212,4,105,0.17	MEM	150564
IRIDIUM_FIX	6625.71,-5714.90,310311,212146	DATA_FILE_SIZE	20144,571
TT8_MAMPS	0.026215	CAP_FILE_SIZE	63500,0
HUMID	48.18	CFSIZE	260165632,230326272
INTERNAL_PRESSURE	8.65268	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.00	SOUNDSPEED	1442.3
XPDR_PINGS	0	GPS	240813,073118,-200.000,-200.000,181,99.0,181,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	233	20.34	SBE_CT	408	24	220.65
Roll_motor	58	84	111.33	SBE_O2	418	19	178.70
VBD_pump_during_apogee	384	1121	9699.77	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	0	420	2.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1341	19	267.30
LPSleep	2080	2	48.06
TT8_Active	472	19	94.17
TT8_Sampling	935	39	373.57
TT8_CF8	81	45	37.22
TT8_Kalman	0	0	0.00
Analog_circuits	1032	12	123.85
GPS_charging	0	0	0.00
Compass	932	15	139.86
RAFOS	0	0	0.00
Transponder	2	30	0.78

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
15	-0.62	-146.0	0.0	0.0	0	137	0.00	0.00	-119.62	0.000	2	0.000	0.000	3113	3690	3456	0	0	0	0	0	0
141	-0.62	-146.0	5.1	-8.1	21	161	1.48	4.35	-6.85	0.000	4	0.173	0.071	2673	1072	3628	0	0	0	0	0	0
280	-0.56	-146.0	24.9	-15.9	45	287	0.00	2.30	0.00	0.000	6	0.000	0.067	2673	2490	3628	0	0	0	0	0	0
624	-0.42	-146.0	89.2	-18.6	106	632	0.20	2.38	0.00	0.000	4	0.233	0.082	2720	3906	3628	0	0	0	0	0	0
706	-0.44	-146.0	100.6	-12.2	120	711	0.00	2.28	0.00	0.000	6	0.000	0.054	2720	2475	3629	0	0	0	0	0	0
1033	-0.47	-146.0	138.6	-10.5	150	1037	0.00	2.22	0.00	0.000	4	0.000	0.070	2720	1083	3628	0	0	0	0	0	0
1118	-0.53	-146.0	148.3	-11.6	157	1122	0.00	2.30	0.00	0.000	6	0.000	0.067	2720	2491	3628	0	0	0	0	0	0
1443	-0.58	-146.0	179.9	-9.6	187	1448	0.12	2.35	0.00	0.000	4	0.132	0.084	2678	3905	3628	0	0	0	0	0	0
1516	-0.58	-146.0	188.8	-12.4	193	1520	0.00	2.25	0.00	0.000	6	0.000	0.054	2678	2487	3628	0	0	0	0	0	0
1842	-0.53	-146.0	230.4	-11.8	223	1846	0.00	2.25	0.00	0.000	4	0.000	0.069	2677	1083	3627	0	0	0	0	0	0
1926	-0.53	-146.0	240.6	-11.8	230	1933	0.00	2.28	0.00	0.000	6	0.000	0.066	2678	2496	3627	0	0	0	0	0	0
2015	end dive: TARGET_DEPTH_EXCEEDED
state	2015	begin apogee
2021	-0.12	0.0	250.8	11.6	239	2147	0.50	0.00	120.32	1.121	6	0.213	0.000	2813	2263	3029	0	0	0	0	0	0
2148	end apogee: CONTROL_FINISHED_OK
state	2148	begin climb
2150	0.62	146.0	256.1	0.0	250	2283	0.82	2.62	124.35	1.069	4	0.159	0.076	3061	877	2433	0	0	0	0	0	0
2311	0.64	194.0	249.5	7.8	264	2362	0.00	2.47	43.75	1.030	6	0.000	0.060	3061	2273	2237	0	0	0	0	0	0
2679	0.67	219.2	216.5	8.8	299	2707	0.00	2.47	22.30	1.002	4	0.000	0.075	3061	3693	2135	0	0	0	0	0	0
2735	0.65	219.2	210.9	10.9	303	2742	0.00	2.42	0.00	0.000	6	0.000	0.061	3071	2284	2133	0	0	0	0	0	0
3061	0.65	219.7	177.6	10.0	334	3066	0.00	2.40	0.00	0.000	4	0.000	0.076	3081	861	2130	0	0	0	0	0	0
3102	0.68	219.7	173.2	10.4	337	3106	0.00	2.33	0.00	0.000	6	0.000	0.060	3082	2278	2129	0	0	0	0	0	0
3427	0.69	228.1	139.7	9.6	367	3440	0.00	2.40	8.25	0.900	4	0.000	0.075	3082	3687	2099	0	0	0	0	0	0
3510	0.65	228.1	130.4	12.5	374	3514	0.00	2.33	0.00	0.000	6	0.000	0.061	3092	2274	2099	0	0	0	0	0	0
3835	0.67	242.1	97.8	9.4	406	3855	0.00	2.40	14.20	0.970	4	0.000	0.074	3101	862	2042	0	0	0	0	0	0
3914	0.70	249.8	90.5	9.6	419	3927	0.00	2.33	8.52	0.898	6	0.000	0.060	3101	2281	2011	0	0	0	0	0	0
4266	0.74	277.4	57.7	8.7	481	4301	0.00	2.40	26.55	0.977	4	0.000	0.076	3101	3690	1897	0	0	0	0	0	0
4308	0.76	293.4	53.6	9.3	488	4333	0.00	2.33	16.15	0.927	6	0.000	0.060	3111	2270	1832	0	0	0	0	0	0
4670	0.79	293.4	16.3	10.9	552	4677	0.00	2.30	0.00	0.000	4	0.000	0.075	3121	865	1825	0	0	0	0	0	0
4684	0.82	293.4	15.0	10.3	554	4691	0.00	2.28	0.00	0.000	6	0.000	0.058	3121	2278	1824	0	0	0	0	0	0
4742	end climb: FINISH_DEPTH_REACHED
state	4742	begin subsurface finish
4748	0.09	70.6	8.6	-10.9	564	4789	0.75	0.00	-34.95	0.000	6	0.166	0.000	2896	2279	2744	0	0	0	0	0	0
4790	end subsurface finish: CONTROL_FINISHED_OK
state	4790	begin surface