Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 410 * 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 410 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 21 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 17 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 -44397.969 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 -44397.969

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 21 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 410 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 141030,6731.618,-5745.381,38,1.5,38,-38.4 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6731.654,-5717.198

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 141938,6731.654,-5745.450,12,1.7,12,-38.4 MHEAD_RNG_PITCHd_Wd 128.4,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 233

Post-dive calculations and measurements:

FREEZE 0.29,-0.907,-1.823,0,1,0 ALTIM_TOP_PING 19.4,19.7

FINISH 0.3,1.026742 _24V_AH 22.9,72.265

SM_CCo 5039,60.12,0.721,0,0,1475,325.02 _10V_AH 10.0,38.578

SM_GC 1.03,0.00,0.00,60.12,0.000,0.000,0.721,127,2792,1475,-8.01,-0.23,325.02 FG_AHR_24Vo 0.000

RAFOS_CLK 329 FG_AHR_10Vo 0.000

RAFOS_FIX 6728.032227,-5800.452148,271209,161644,2,78,0.00 MEM 152552

IRIDIUM_FIX 6709.50,-5711.82,240399,141402 DATA_FILE_SIZE 25331,639

TT8_MAMPS 0.027612 CAP_FILE_SIZE 74058,0

HUMID 46.10 CFSIZE 260165632,218861568

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,112,0,0

TCM_TEMP 17.20 SOUNDSPEED 1458.5

XPDR_PINGS 4 GPS 281209,154630,6731.186,-5745.089,28,1.9,44,-38.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 282 138.16 SBE_CT 466 24 256.32

Roll_motor 70 105 170.82 SBE_O2 431 19 187.70

VBD_pump_during_apogee 303 894 6212.09 nil 0 0 0.00

VBD_pump_during_surface 60 720 992.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 103 119.12 nil 0 0 0.00

Iridium_during_connect 77 160 282.90 nil 0 0 0.00

Iridium_during_xfer 240 223 1229.22

Transponder_ping 1 420 12.02

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.74

TT8 1030 19 205.22

LPSleep 2610 2 60.29

TT8_Active 458 19 91.38

TT8_Sampling 1051 39 419.82

TT8_CF8 503 45 231.00

TT8_Kalman 0 0 0.00

Analog_circuits 1039 12 124.70

GPS_charging 0 0 0.00

Compass 1038 8 83.04

RAFOS 0 1 0.00

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

14 -0.73 -146.0 0.0 0.0 0 118 0.00 0.00 -100.38 0.000 2 0.000 0.000 122 2795 3140 0 0 0 0 0 0

122 -0.73 -146.0 3.0 -5.8 20 148 10.90 2.95 -7.12 0.000 4 0.282 0.106 2445 3917 3398 0 0 6 0 0 0

294 -0.73 -146.0 22.6 -10.1 51 300 0.00 2.65 0.00 0.000 6 0.000 0.062 2445 2802 3401 0 0 6 0 0 0

638 -0.73 -146.0 57.4 -8.7 112 643 0.00 2.83 0.00 0.000 4 0.000 0.091 2445 3922 3401 0 0 7 0 0 0

869 -0.73 -146.0 80.5 -10.2 153 874 0.00 2.70 0.00 0.000 6 0.000 0.064 2445 2800 3400 0 0 5 0 0 0

1205 -0.81 -146.0 112.6 -9.6 202 1210 0.00 2.83 0.00 0.000 4 0.000 0.092 2445 3915 3399 0 0 6 0 0 0

1418 -0.89 -146.0 131.0 -8.3 220 1424 0.12 2.65 0.00 0.000 6 0.131 0.064 2406 2800 3397 0 0 6 0 0 0

1742 -0.89 -146.0 162.0 -9.9 251 1747 0.00 2.83 0.00 0.000 4 0.000 0.091 2406 3920 3397 0 0 6 0 0 0

1826 -0.84 -146.0 170.1 -9.8 258 1831 0.00 2.67 0.00 0.000 6 0.000 0.064 2406 2801 3397 0 0 5 0 0 0

2150 -0.84 -146.0 201.2 -9.6 288 2155 0.00 2.83 0.00 0.000 4 0.000 0.088 2406 3917 3397 0 0 5 0 0 0

2317 -0.84 -146.0 217.5 -10.2 302 2323 0.00 2.67 0.00 0.000 6 0.000 0.061 2406 2797 3397 0 0 5 0 0 0

2480 end dive: TARGET_DEPTH_EXCEEDED

state 2481 begin apogee

2487 -0.16 0.0 233.1 9.3 318 2608 0.82 0.00 116.68 0.894 6 0.192 0.000 2631 2393 2800 0 0 0 0 0 0

2609 end apogee: CONTROL_FINISHED_OK

state 2609 begin climb

2611 0.73 146.0 236.0 0.0 330 2740 0.95 2.08 119.82 0.848 4 0.140 0.084 2922 804 2202 0 0 0 0 0 0

2819 0.73 146.0 219.3 10.6 349 2823 0.00 1.98 0.00 0.000 6 0.000 0.062 2922 2413 2199 0 0 0 0 0 0

3149 0.73 146.0 184.4 10.7 380 3158 0.00 3.72 0.00 0.000 4 0.000 0.081 2922 3919 2196 0 0 6 0 0 0

3186 0.62 146.0 179.8 12.5 383 3193 0.20 3.67 0.00 0.000 6 0.201 0.067 2893 2403 2194 0 0 5 0 0 0

3511 0.70 150.8 150.5 9.0 414 3522 0.00 3.72 3.97 0.555 4 0.000 0.080 2893 3916 2185 0 0 6 0 0 0

3572 0.70 150.8 144.3 10.2 419 3578 0.00 3.65 0.00 0.000 6 0.000 0.066 2908 2394 2184 0 0 5 0 0 0

3897 0.76 162.0 113.2 8.7 450 3918 0.00 3.70 11.30 0.743 4 0.000 0.079 2908 3915 2137 0 0 6 0 0 0

4003 0.71 162.0 102.6 10.7 459 4009 0.00 3.62 0.00 0.000 6 0.000 0.066 2924 2405 2137 0 0 5 0 0 0

4344 0.75 194.1 73.6 7.8 518 4380 0.00 3.75 27.60 0.764 4 0.000 0.079 2924 3921 2006 0 0 6 0 0 0

4432 0.75 194.1 65.9 9.6 534 4438 0.00 3.67 0.00 0.000 6 0.000 0.065 2941 2396 2005 0 0 5 0 0 0

4776 0.79 222.1 32.6 8.0 595 4808 0.00 3.75 23.95 0.739 4 0.000 0.078 2941 3914 1893 0 0 6 0 0 0

4825 0.79 222.1 26.8 12.6 604 4830 0.00 3.67 0.00 0.000 6 0.000 0.065 2957 2393 1892 0 0 5 0 0 0

5009 end climb: SURFACE_DEPTH_REACHED

state 5009 begin surface coast

5021 end surface coast: CONTROL_FINISHED_OK

state 5021 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	410	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	21	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	17	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	-44397.969	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	141030,6731.618,-5745.381,38,1.5,38,-38.4	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6731.654,-5717.198
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	141938,6731.654,-5745.450,12,1.7,12,-38.4	MHEAD_RNG_PITCHd_Wd	128.4,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	233

FREEZE	0.29,-0.907,-1.823,0,1,0	ALTIM_TOP_PING	19.4,19.7
FINISH	0.3,1.026742	_24V_AH	22.9,72.265
SM_CCo	5039,60.12,0.721,0,0,1475,325.02	_10V_AH	10.0,38.578
SM_GC	1.03,0.00,0.00,60.12,0.000,0.000,0.721,127,2792,1475,-8.01,-0.23,325.02	FG_AHR_24Vo	0.000
RAFOS_CLK	329	FG_AHR_10Vo	0.000
RAFOS_FIX	6728.032227,-5800.452148,271209,161644,2,78,0.00	MEM	152552
IRIDIUM_FIX	6709.50,-5711.82,240399,141402	DATA_FILE_SIZE	25331,639
TT8_MAMPS	0.027612	CAP_FILE_SIZE	74058,0
HUMID	46.10	CFSIZE	260165632,218861568
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,112,0,0
TCM_TEMP	17.20	SOUNDSPEED	1458.5
XPDR_PINGS	4	GPS	281209,154630,6731.186,-5745.089,28,1.9,44,-38.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	282	138.16	SBE_CT	466	24	256.32
Roll_motor	70	105	170.82	SBE_O2	431	19	187.70
VBD_pump_during_apogee	303	894	6212.09	nil	0	0	0.00
VBD_pump_during_surface	60	720	992.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	103	119.12	nil	0	0	0.00
Iridium_during_connect	77	160	282.90	nil	0	0	0.00
Iridium_during_xfer	240	223	1229.22
Transponder_ping	1	420	12.02
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.74
TT8	1030	19	205.22
LPSleep	2610	2	60.29
TT8_Active	458	19	91.38
TT8_Sampling	1051	39	419.82
TT8_CF8	503	45	231.00
TT8_Kalman	0	0	0.00
Analog_circuits	1039	12	124.70
GPS_charging	0	0	0.00
Compass	1038	8	83.04
RAFOS	0	1	0.00
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
14	-0.73	-146.0	0.0	0.0	0	118	0.00	0.00	-100.38	0.000	2	0.000	0.000	122	2795	3140	0	0	0	0	0	0
122	-0.73	-146.0	3.0	-5.8	20	148	10.90	2.95	-7.12	0.000	4	0.282	0.106	2445	3917	3398	0	0	6	0	0	0
294	-0.73	-146.0	22.6	-10.1	51	300	0.00	2.65	0.00	0.000	6	0.000	0.062	2445	2802	3401	0	0	6	0	0	0
638	-0.73	-146.0	57.4	-8.7	112	643	0.00	2.83	0.00	0.000	4	0.000	0.091	2445	3922	3401	0	0	7	0	0	0
869	-0.73	-146.0	80.5	-10.2	153	874	0.00	2.70	0.00	0.000	6	0.000	0.064	2445	2800	3400	0	0	5	0	0	0
1205	-0.81	-146.0	112.6	-9.6	202	1210	0.00	2.83	0.00	0.000	4	0.000	0.092	2445	3915	3399	0	0	6	0	0	0
1418	-0.89	-146.0	131.0	-8.3	220	1424	0.12	2.65	0.00	0.000	6	0.131	0.064	2406	2800	3397	0	0	6	0	0	0
1742	-0.89	-146.0	162.0	-9.9	251	1747	0.00	2.83	0.00	0.000	4	0.000	0.091	2406	3920	3397	0	0	6	0	0	0
1826	-0.84	-146.0	170.1	-9.8	258	1831	0.00	2.67	0.00	0.000	6	0.000	0.064	2406	2801	3397	0	0	5	0	0	0
2150	-0.84	-146.0	201.2	-9.6	288	2155	0.00	2.83	0.00	0.000	4	0.000	0.088	2406	3917	3397	0	0	5	0	0	0
2317	-0.84	-146.0	217.5	-10.2	302	2323	0.00	2.67	0.00	0.000	6	0.000	0.061	2406	2797	3397	0	0	5	0	0	0
2480	end dive: TARGET_DEPTH_EXCEEDED
state	2481	begin apogee
2487	-0.16	0.0	233.1	9.3	318	2608	0.82	0.00	116.68	0.894	6	0.192	0.000	2631	2393	2800	0	0	0	0	0	0
2609	end apogee: CONTROL_FINISHED_OK
state	2609	begin climb
2611	0.73	146.0	236.0	0.0	330	2740	0.95	2.08	119.82	0.848	4	0.140	0.084	2922	804	2202	0	0	0	0	0	0
2819	0.73	146.0	219.3	10.6	349	2823	0.00	1.98	0.00	0.000	6	0.000	0.062	2922	2413	2199	0	0	0	0	0	0
3149	0.73	146.0	184.4	10.7	380	3158	0.00	3.72	0.00	0.000	4	0.000	0.081	2922	3919	2196	0	0	6	0	0	0
3186	0.62	146.0	179.8	12.5	383	3193	0.20	3.67	0.00	0.000	6	0.201	0.067	2893	2403	2194	0	0	5	0	0	0
3511	0.70	150.8	150.5	9.0	414	3522	0.00	3.72	3.97	0.555	4	0.000	0.080	2893	3916	2185	0	0	6	0	0	0
3572	0.70	150.8	144.3	10.2	419	3578	0.00	3.65	0.00	0.000	6	0.000	0.066	2908	2394	2184	0	0	5	0	0	0
3897	0.76	162.0	113.2	8.7	450	3918	0.00	3.70	11.30	0.743	4	0.000	0.079	2908	3915	2137	0	0	6	0	0	0
4003	0.71	162.0	102.6	10.7	459	4009	0.00	3.62	0.00	0.000	6	0.000	0.066	2924	2405	2137	0	0	5	0	0	0
4344	0.75	194.1	73.6	7.8	518	4380	0.00	3.75	27.60	0.764	4	0.000	0.079	2924	3921	2006	0	0	6	0	0	0
4432	0.75	194.1	65.9	9.6	534	4438	0.00	3.67	0.00	0.000	6	0.000	0.065	2941	2396	2005	0	0	5	0	0	0
4776	0.79	222.1	32.6	8.0	595	4808	0.00	3.75	23.95	0.739	4	0.000	0.078	2941	3914	1893	0	0	6	0	0	0
4825	0.79	222.1	26.8	12.6	604	4830	0.00	3.67	0.00	0.000	6	0.000	0.065	2957	2393	1892	0	0	5	0	0	0
5009	end climb: SURFACE_DEPTH_REACHED
state	5009	begin surface coast
5021	end surface coast: CONTROL_FINISHED_OK
state	5021	begin surface