Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 409 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING 90 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 409 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2800 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2400 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 325 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 19 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 18 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 3 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 3 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -44383.863 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 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 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2690 FG_AHR_24V 0 SEABIRD_T_G 0.0043131942

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062854384

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_YINT -24.446302 SEABIRD_T_I 2.3348166e-05

MASS 51204 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 0 PITCH_GAIN 31 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 1 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 325

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038360001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -44383.863

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 0 HEADING 90 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2690 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2400 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2800 KERMIT 0 ROLL_MAX 3915 USE_ICE 2

C_VBD 2800 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 290 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51204 R_PORT_OVSHOOT 19 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 18 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.029707 VBD_MIN 442

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1484355 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 10 SEABIRD_C_I -0.0010294267 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00016845814 VBD_TIMEOUT 720

DIVE 409 NAV_MODE 0 SEABIRD_T_G 0.0043131942 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 8 SEABIRD_T_H 0.00062854384 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.3348166e-05 XPDR_VALID 0

D_CALL 3 N_NOCOMM 0 SEABIRD_T_J 2.4454023e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 123820,6731.818,-5746.005,18,1.4,18,-38.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6731.855,-5717.781

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 124320,6731.855,-5746.038,15,1.5,15,-38.4 MHEAD_RNG_PITCHd_Wd 128.4,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 230

Post-dive calculations and measurements:

FREEZE 0.42,-0.927,-1.717,0,1,0 ALTIM_TOP_PING 19.8,19.7

FINISH 0.4,1.025223 _24V_AH 22.9,72.160

SM_CCo 5078,48.47,0.723,0,0,1474,325.02 _10V_AH 10.0,38.538

SM_GC 1.06,0.00,0.00,48.47,0.000,0.000,0.723,122,2794,1474,-8.02,-0.17,325.02 FG_AHR_24Vo 0.000

RAFOS_CLK 319 FG_AHR_10Vo 0.000

RAFOS 4,1262003589,12.566667,12.552500,59,57,56,0,0,0,195,227,133,0,0,0 MEM 152596

RAFOS_FIX 6728.032227,-5800.452148,271209,161644,2,78,0.00 DATA_FILE_SIZE 25326,642

IRIDIUM_FIX 6703.95,-5742.96,240399,111127 CAP_FILE_SIZE 72873,0

TT8_MAMPS 0.028379 CFSIZE 260165632,218906624

HUMID 46.81 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,119,0,0

INTERNAL_PRESSURE 8.86753 SOUNDSPEED 1458.6

TCM_TEMP 17.30 GPS 281209,141030,6731.618,-5745.381,38,1.5,38,-38.4

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 292 154.25 SBE_CT 469 24 258.01

Roll_motor 70 102 164.81 SBE_O2 433 19 188.41

VBD_pump_during_apogee 322 892 6584.26 nil 0 0 0.00

VBD_pump_during_surface 48 722 802.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 65.69 nil 0 0 0.00

Iridium_during_connect 36 160 132.37 nil 0 0 0.00

Iridium_during_xfer 120 223 615.78

Transponder_ping 0 420 7.21

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.43

TT8 1034 19 206.01

LPSleep 2568 2 59.32

TT8_Active 461 19 91.89

TT8_Sampling 1052 39 420.14

TT8_CF8 313 45 143.81

TT8_Kalman 0 0 0.00

Analog_circuits 1046 12 125.64

GPS_charging 0 0 0.00

Compass 1034 8 82.79

RAFOS 360 1 5.40

Transponder 2 30 0.79

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 -0.73 -146.0 0.0 0.0 0 118 0.00 0.00 -100.05 0.000 2 0.000 0.000 127 2800 3178 0 0 0 0 0 0

122 -0.73 -146.0 3.4 -6.4 20 148 11.20 2.90 -5.57 0.000 4 0.292 0.102 2445 3923 3398 0 0 8 0 0 0

317 -0.73 -146.0 28.3 -8.1 55 323 0.00 2.70 0.00 0.000 6 0.000 0.061 2445 2801 3400 0 0 5 0 0 0

659 -0.73 -146.0 61.7 -10.0 116 665 0.00 2.83 0.00 0.000 4 0.000 0.091 2445 3924 3400 0 0 7 0 0 0

902 -0.73 -146.0 85.2 -9.3 159 907 0.00 2.70 0.00 0.000 6 0.000 0.064 2445 2800 3399 0 0 5 0 0 0

1237 -0.79 -146.0 113.5 -8.3 205 1242 0.00 2.85 0.00 0.000 4 0.000 0.092 2445 3927 3399 0 0 8 0 0 0

1368 -0.86 -146.0 124.7 -8.7 216 1373 0.00 2.70 0.00 0.000 6 0.000 0.064 2444 2800 3397 0 0 5 0 0 0

1693 -0.95 -146.0 151.6 -8.6 246 1698 0.20 2.83 0.00 0.000 4 0.107 0.087 2364 3923 3397 0 0 6 0 0 0

1777 -0.76 -146.0 161.6 -11.9 253 1783 0.32 2.67 0.00 0.000 6 0.209 0.063 2443 2801 3396 0 0 5 0 0 0

2102 -0.85 -146.0 188.9 -8.0 283 2107 0.00 2.80 0.00 0.000 4 0.000 0.087 2443 3915 3396 0 0 6 0 0 0

2315 -0.95 -146.0 206.7 -7.7 301 2322 0.17 2.62 0.00 0.000 6 0.110 0.061 2385 2800 3397 0 0 6 0 0 0

2564 end dive: TARGET_DEPTH_EXCEEDED

state 2564 begin apogee

2570 -0.16 0.0 230.2 9.6 325 2690 0.88 0.00 116.28 0.893 6 0.190 0.000 2624 2391 2799 0 0 0 0 0 0

2691 end apogee: CONTROL_FINISHED_OK

state 2691 begin climb

2694 0.73 146.0 233.3 0.0 337 2823 0.98 2.08 119.68 0.848 4 0.138 0.084 2923 799 2202 0 0 0 0 0 0

2896 0.73 146.0 216.2 11.5 355 2901 0.00 1.98 0.00 0.000 6 0.000 0.062 2924 2410 2199 0 0 0 0 0 0

3220 0.73 146.0 180.6 10.9 386 3229 0.00 3.72 0.00 0.000 4 0.000 0.081 2924 3922 2196 0 0 6 0 0 0

3275 0.59 146.0 174.1 12.6 391 3286 0.25 3.65 0.00 0.000 6 0.200 0.067 2881 2410 2194 0 0 6 0 0 0

3604 0.74 178.6 147.0 7.8 422 3640 0.15 3.80 26.58 0.789 4 0.114 0.080 2932 3913 2070 0 0 5 0 0 0

3697 0.64 178.6 136.4 12.9 430 3704 0.20 3.67 0.00 0.000 6 0.199 0.066 2902 2391 2068 0 0 5 0 0 0

4023 0.73 179.6 104.7 9.1 461 4032 0.00 3.72 0.00 0.000 4 0.000 0.079 2902 3922 2067 0 0 6 0 0 0

4111 0.73 179.6 95.0 11.5 473 4117 0.00 3.65 0.00 0.000 6 0.000 0.066 2916 2391 2068 0 0 5 0 0 0

4454 0.89 238.9 64.3 6.7 534 4516 0.17 3.78 50.47 0.755 4 0.096 0.078 2979 3922 1825 0 0 7 0 0 0

4550 0.78 238.9 53.0 15.0 552 4557 0.22 3.67 0.00 0.000 6 0.200 0.064 2944 2395 1822 0 0 6 0 0 0

4897 0.89 248.7 16.8 8.8 613 4913 0.00 3.72 9.05 0.677 4 0.000 0.081 2944 3914 1784 0 0 7 0 0 0

4964 0.89 248.7 10.1 10.4 625 4970 0.00 3.65 0.00 0.000 6 0.000 0.067 2958 2398 1782 0 0 5 0 0 0

5043 end climb: SURFACE_DEPTH_REACHED

state 5044 begin surface coast

5060 end surface coast: CONTROL_FINISHED_OK

state 5061 begin surface

ID	143	HEADING	90	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	409	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2800	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2400	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	325	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	19	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	18	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	3	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	3	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-44383.863	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	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	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2690	FG_AHR_24V	0	SEABIRD_T_G	0.0043131942
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062854384
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_YINT	-24.446302	SEABIRD_T_I	2.3348166e-05
MASS	51204	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	0	PITCH_GAIN	31	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	1	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	123820,6731.818,-5746.005,18,1.4,18,-38.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6731.855,-5717.781
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	124320,6731.855,-5746.038,15,1.5,15,-38.4	MHEAD_RNG_PITCHd_Wd	128.4,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	230

FREEZE	0.42,-0.927,-1.717,0,1,0	ALTIM_TOP_PING	19.8,19.7
FINISH	0.4,1.025223	_24V_AH	22.9,72.160
SM_CCo	5078,48.47,0.723,0,0,1474,325.02	_10V_AH	10.0,38.538
SM_GC	1.06,0.00,0.00,48.47,0.000,0.000,0.723,122,2794,1474,-8.02,-0.17,325.02	FG_AHR_24Vo	0.000
RAFOS_CLK	319	FG_AHR_10Vo	0.000
RAFOS	4,1262003589,12.566667,12.552500,59,57,56,0,0,0,195,227,133,0,0,0	MEM	152596
RAFOS_FIX	6728.032227,-5800.452148,271209,161644,2,78,0.00	DATA_FILE_SIZE	25326,642
IRIDIUM_FIX	6703.95,-5742.96,240399,111127	CAP_FILE_SIZE	72873,0
TT8_MAMPS	0.028379	CFSIZE	260165632,218906624
HUMID	46.81	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,119,0,0
INTERNAL_PRESSURE	8.86753	SOUNDSPEED	1458.6
TCM_TEMP	17.30	GPS	281209,141030,6731.618,-5745.381,38,1.5,38,-38.4
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	292	154.25	SBE_CT	469	24	258.01
Roll_motor	70	102	164.81	SBE_O2	433	19	188.41
VBD_pump_during_apogee	322	892	6584.26	nil	0	0	0.00
VBD_pump_during_surface	48	722	802.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	65.69	nil	0	0	0.00
Iridium_during_connect	36	160	132.37	nil	0	0	0.00
Iridium_during_xfer	120	223	615.78
Transponder_ping	0	420	7.21
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.43
TT8	1034	19	206.01
LPSleep	2568	2	59.32
TT8_Active	461	19	91.89
TT8_Sampling	1052	39	420.14
TT8_CF8	313	45	143.81
TT8_Kalman	0	0	0.00
Analog_circuits	1046	12	125.64
GPS_charging	0	0	0.00
Compass	1034	8	82.79
RAFOS	360	1	5.40
Transponder	2	30	0.79

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	-0.73	-146.0	0.0	0.0	0	118	0.00	0.00	-100.05	0.000	2	0.000	0.000	127	2800	3178	0	0	0	0	0	0
122	-0.73	-146.0	3.4	-6.4	20	148	11.20	2.90	-5.57	0.000	4	0.292	0.102	2445	3923	3398	0	0	8	0	0	0
317	-0.73	-146.0	28.3	-8.1	55	323	0.00	2.70	0.00	0.000	6	0.000	0.061	2445	2801	3400	0	0	5	0	0	0
659	-0.73	-146.0	61.7	-10.0	116	665	0.00	2.83	0.00	0.000	4	0.000	0.091	2445	3924	3400	0	0	7	0	0	0
902	-0.73	-146.0	85.2	-9.3	159	907	0.00	2.70	0.00	0.000	6	0.000	0.064	2445	2800	3399	0	0	5	0	0	0
1237	-0.79	-146.0	113.5	-8.3	205	1242	0.00	2.85	0.00	0.000	4	0.000	0.092	2445	3927	3399	0	0	8	0	0	0
1368	-0.86	-146.0	124.7	-8.7	216	1373	0.00	2.70	0.00	0.000	6	0.000	0.064	2444	2800	3397	0	0	5	0	0	0
1693	-0.95	-146.0	151.6	-8.6	246	1698	0.20	2.83	0.00	0.000	4	0.107	0.087	2364	3923	3397	0	0	6	0	0	0
1777	-0.76	-146.0	161.6	-11.9	253	1783	0.32	2.67	0.00	0.000	6	0.209	0.063	2443	2801	3396	0	0	5	0	0	0
2102	-0.85	-146.0	188.9	-8.0	283	2107	0.00	2.80	0.00	0.000	4	0.000	0.087	2443	3915	3396	0	0	6	0	0	0
2315	-0.95	-146.0	206.7	-7.7	301	2322	0.17	2.62	0.00	0.000	6	0.110	0.061	2385	2800	3397	0	0	6	0	0	0
2564	end dive: TARGET_DEPTH_EXCEEDED
state	2564	begin apogee
2570	-0.16	0.0	230.2	9.6	325	2690	0.88	0.00	116.28	0.893	6	0.190	0.000	2624	2391	2799	0	0	0	0	0	0
2691	end apogee: CONTROL_FINISHED_OK
state	2691	begin climb
2694	0.73	146.0	233.3	0.0	337	2823	0.98	2.08	119.68	0.848	4	0.138	0.084	2923	799	2202	0	0	0	0	0	0
2896	0.73	146.0	216.2	11.5	355	2901	0.00	1.98	0.00	0.000	6	0.000	0.062	2924	2410	2199	0	0	0	0	0	0
3220	0.73	146.0	180.6	10.9	386	3229	0.00	3.72	0.00	0.000	4	0.000	0.081	2924	3922	2196	0	0	6	0	0	0
3275	0.59	146.0	174.1	12.6	391	3286	0.25	3.65	0.00	0.000	6	0.200	0.067	2881	2410	2194	0	0	6	0	0	0
3604	0.74	178.6	147.0	7.8	422	3640	0.15	3.80	26.58	0.789	4	0.114	0.080	2932	3913	2070	0	0	5	0	0	0
3697	0.64	178.6	136.4	12.9	430	3704	0.20	3.67	0.00	0.000	6	0.199	0.066	2902	2391	2068	0	0	5	0	0	0
4023	0.73	179.6	104.7	9.1	461	4032	0.00	3.72	0.00	0.000	4	0.000	0.079	2902	3922	2067	0	0	6	0	0	0
4111	0.73	179.6	95.0	11.5	473	4117	0.00	3.65	0.00	0.000	6	0.000	0.066	2916	2391	2068	0	0	5	0	0	0
4454	0.89	238.9	64.3	6.7	534	4516	0.17	3.78	50.47	0.755	4	0.096	0.078	2979	3922	1825	0	0	7	0	0	0
4550	0.78	238.9	53.0	15.0	552	4557	0.22	3.67	0.00	0.000	6	0.200	0.064	2944	2395	1822	0	0	6	0	0	0
4897	0.89	248.7	16.8	8.8	613	4913	0.00	3.72	9.05	0.677	4	0.000	0.081	2944	3914	1784	0	0	7	0	0	0
4964	0.89	248.7	10.1	10.4	625	4970	0.00	3.65	0.00	0.000	6	0.000	0.067	2958	2398	1782	0	0	5	0	0	0
5043	end climb: SURFACE_DEPTH_REACHED
state	5044	begin surface coast
5060	end surface coast: CONTROL_FINISHED_OK
state	5061	begin surface