Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 102 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_B 0.010078 ROLL_MIN 150 ALTIM_TOP_TURN_MARGIN 0

MISSION 9 HD_C 9.8500004e-06 ROLL_MAX 3785 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 102 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 30

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1975 ALTIM_PING_DELTA 10

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1602 ALTIM_FREQUENCY 13

D_TGT 120 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 150 TGT_DEFAULT_LAT -3415 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 TGT_DEFAULT_LON 2600 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 31 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 300 R_STBD_OVSHOOT 13 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.55000001

D_FINISH 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 KERMIT 0 ROLL_GAIN_P 0 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 409 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE3 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2762 DEVICE4 135

T_DIVE 40 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 55 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012000001 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -13824.515 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 1 CF8_MAXERRORS 20 PHONE_DEVICE 48

D_OFFGRID 100 STROBE 0 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_CORR_THRESH 60 MINV_24V 20 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 SIM_W 0

MAX_BUOY 200 PITCH_MIN 100 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0042828661

GLIDE_SLOPE 30 C_PITCH 2981 PHONE_SUPPLY 2 SEABIRD_T_H 0.00061930995

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -86.704987 SEABIRD_T_I 2.1971719e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011693723 SEABIRD_T_J 2.301111e-06

MASS 52922 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9469662

LENGTH 1.8 PITCH_GAIN 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.155618

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016006827

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00019558761

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 0

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 20 GC_LAST_COLLECTION 101

AD7714Ch0Gain 128 D_NO_BLEED 500 N_GPS 20 SEABIRD_T_J 2.301111e-06

AH0_10V 100 D_OFFGRID 100 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_PITCH 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PHONE_DEVICE 48 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 120 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_DELTA 10 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 30 ESCAPE_HEADING 0 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 20 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3858 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -3415

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 100 TGT_DEFAULT_LON 2600

CALL_NDIVES 1 GC_LAST_COLLECTION 101 PITCH_TIMEOUT 16 T_ABORT 1440

CALL_TRIES 5 GC_WINDOW 0 PITCH_VBD_SHIFT 0.0012000001 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011693723 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -86.704987 T_DIVE 40

CAPUPLOAD 0 HD_A 0.0038360001 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 HD_B 0.010078 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

COMM_SEQ 0 HD_C 9.8500004e-06 RAFOS_DEVICE -1 T_GPS_CHARGE -13824.515

COMPASS2_DEVICE -1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_DEVICE 33 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_MISSION 55

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0278 T_RSLEEP 1

C_PITCH 2981 ID 573 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1602 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1975 INT_PRESSURE_YINT -0.55000001 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2762 KALMAN_USE 2 ROLL_CNV 0.028270001 UNCOM_BLEED 60

DEEPGLIDER 0 KERMIT 0 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LENGTH 1.8 ROLL_GAIN_P 0 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3785 USE_ICE 0

DEVICE2 101 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 35 LOGGERDEVICE3 -1 ROLL_MIN 150 VBD_CNV -0.245296

DEVICE4 135 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 1 R_PORT_OVSHOOT 31 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 13 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 200 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 102 MINV_10V 8 SEABIRD_C_H 1.155618 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 150 MINV_24V 20 SEABIRD_C_I -0.0016006827 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 MISSION 9 SEABIRD_C_J 0.00019558761 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0042828661 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 2 SEABIRD_T_H 0.00061930995 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.1971719e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 260415,165605,-3420.030,2541.325,27,1.4,28,-27.7 TGT_NAME DEPLOY

_CALLS 1 TGT_LATLONG -3428.620,2530.300

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 2.10 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -65.8 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 260415,170101,-3420.012,2541.458,20,1.4,20,-27.7 MHEAD_RNG_PITCHd_Wd 281.4,23331,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 120

Post-dive calculations and measurements:

FINISH 1.4,1.022226 _10V_AH 10.3,9.493

SM_CCo 2067,13.98,0.476,0,0,1537,300.24 FG_AHR_24Vo 0.000

SM_GC 2.80,0.00,0.00,13.98,0.000,0.000,0.476,77,1983,1537,-9.08,0.23,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3343.50,2542.77,210208,050534 MEM 331544

TT8_MAMPS 0.026964 DATA_FILE_SIZE 23712,310

HUMID 60.27 CAP_FILE_SIZE 46004,0

INTERNAL_PRESSURE 9.38202 CFSIZE 2097086464,2081554432

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 CURRENT 0.309, 64.3,1

ALTIM_BOTTOM_PING 90.4,18.2 GPS 260415,173723,-3419.943,2541.522,43,1.1,44,-27.7

_24V_AH 24.3,12.420

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 263 144.14 SBE_CT 206 23 116.57

Roll_motor 29 117 84.05 AA4330 848 17 355.19

VBD_pump_during_apogee 362 615 5421.66 WL_BB2F 623 105 1591.80

VBD_pump_during_surface 13 475 161.59 QSP2150 911 17 381.58

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 57.76 nil 0 0 0.00

Iridium_during_connect 25 160 98.76 nil 0 0 0.00

Iridium_during_xfer 151 223 819.49 nil 0 0 0.00

Transponder_ping 2 420 20.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 27 6.30

TT8 714 13 102.25

LPSleep 96 2 2.18

TT8_Active 369 13 52.90

TT8_Sampling 1158 40 487.35

TT8_CF8 57 50 29.83

TT8_Kalman 0 0 0.00

Analog_circuits 787 15 124.29

GPS_charging 0 0 0.00

Compass 850 15 137.79

RAFOS 0 0 0.00

Transponder 14 30 4.47

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -1.02 -194.6 0.0 0.0 0 71 0.00 0.00 -44.22 0.000 2 0.000 0.000 78 1979 2581 0 0 0 0 0 0

73 -1.02 -194.6 3.2 -3.0 5 118 11.18 0.00 -30.25 0.000 6 0.264 0.000 2639 1980 3559 0 0 0 0 0 0

195 -0.74 -194.6 22.6 -26.8 22 204 0.35 0.00 0.00 0.000 6 0.213 0.000 2733 1980 3561 0 0 0 0 0 0

278 -0.62 -194.6 36.9 -11.2 35 285 0.17 0.00 0.00 0.000 6 0.196 0.000 2777 1980 3562 0 0 0 0 0 0

392 -0.59 -194.6 45.6 -7.0 54 401 0.00 2.40 0.00 0.000 4 0.000 0.083 2767 3397 3563 0 0 0 0 0 0

453 -0.57 -194.6 50.3 -8.4 63 460 0.10 2.35 0.00 0.000 6 0.177 0.077 2790 1996 3563 0 0 0 0 0 0

568 -0.57 -194.6 60.8 -10.4 82 577 0.00 2.53 0.00 0.000 4 0.000 0.096 2790 536 3564 0 0 0 0 0 0

602 -0.57 -194.6 63.6 -9.0 87 609 0.00 2.50 0.00 0.000 6 0.000 0.090 2781 1976 3564 0 0 0 0 0 0

715 -0.55 -194.6 75.8 -6.8 106 725 0.08 2.38 0.00 0.000 4 0.230 0.083 2784 3398 3565 0 0 0 0 0 0

750 -0.55 -194.6 79.4 -9.4 111 761 0.08 2.40 0.00 0.000 6 0.183 0.080 2800 1965 3565 0 0 0 0 0 0

864 end dive: BOTTOM_OBSTACLE_DETECTED

state 865 begin apogee

869 -0.25 0.0 90.4 8.7 129 1024 0.30 0.00 148.32 0.616 6 0.158 0.000 2894 1597 2762 0 0 0 0 0 0

1024 end apogee: CONTROL_FINISHED_OK

state 1025 begin climb

1026 1.02 194.6 99.4 0.0 150 1187 1.27 0.00 152.68 0.603 6 0.120 0.000 3295 1594 1967 0 0 0 0 0 0

1292 1.08 248.6 82.1 8.1 190 1346 0.10 2.38 44.80 0.592 4 0.097 0.051 3354 171 1747 0 0 0 0 0 0

1427 1.02 248.6 67.8 11.7 211 1435 0.15 2.30 0.00 0.000 6 0.147 0.031 3313 1627 1743 0 0 0 0 0 0

1540 1.04 266.6 57.2 9.4 230 1563 0.00 2.22 15.43 0.569 4 0.000 0.049 3313 3018 1675 0 0 0 0 0 0

1588 1.04 266.6 52.1 11.1 237 1596 0.00 2.30 0.00 0.000 6 0.000 0.050 3322 1586 1672 0 0 0 0 0 0

1701 1.04 266.6 39.1 11.2 256 1709 0.00 0.00 0.00 0.000 6 0.000 0.000 3322 1586 1672 0 0 0 0 0 0

1817 1.07 266.6 24.3 13.4 275 1826 0.00 0.00 0.00 0.000 6 0.000 0.000 3322 1586 1670 0 0 0 0 0 0

1903 1.10 270.3 15.8 9.9 288 1912 0.00 2.28 1.08 0.099 4 0.000 0.053 3333 193 1661 0 0 0 0 0 0

1971 1.10 270.3 8.6 10.8 298 1980 0.00 2.22 0.00 0.000 6 0.000 0.034 3333 1595 1660 0 0 0 0 0 0

2024 end climb: SURFACE_DEPTH_REACHED

state 2025 begin surface coast

2052 end surface coast: CONTROL_FINISHED_OK

state 2052 begin surface

ID	573	HD_B	0.010078	ROLL_MIN	150	ALTIM_TOP_TURN_MARGIN	0
MISSION	9	HD_C	9.8500004e-06	ROLL_MAX	3785	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	102	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	30
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1975	ALTIM_PING_DELTA	10
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1602	ALTIM_FREQUENCY	13
D_TGT	120	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	150	TGT_DEFAULT_LAT	-3415	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	TGT_DEFAULT_LON	2600	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	31	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	300	R_STBD_OVSHOOT	13	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.55000001
D_FINISH	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	KERMIT	0	ROLL_GAIN_P	0	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	409	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE3	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2762	DEVICE4	135
T_DIVE	40	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	55	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012000001	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-13824.515	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	1	CF8_MAXERRORS	20	PHONE_DEVICE	48
D_OFFGRID	100	STROBE	0	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	20	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	SIM_W	0
MAX_BUOY	200	PITCH_MIN	100	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0042828661
GLIDE_SLOPE	30	C_PITCH	2981	PHONE_SUPPLY	2	SEABIRD_T_H	0.00061930995
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-86.704987	SEABIRD_T_I	2.1971719e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011693723	SEABIRD_T_J	2.301111e-06
MASS	52922	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9469662
LENGTH	1.8	PITCH_GAIN	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.155618
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016006827
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00019558761
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	0
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	20	GC_LAST_COLLECTION	101

GPS1	260415,165605,-3420.030,2541.325,27,1.4,28,-27.7	TGT_NAME	DEPLOY
_CALLS	1	TGT_LATLONG	-3428.620,2530.300
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	2.10	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-65.8	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	260415,170101,-3420.012,2541.458,20,1.4,20,-27.7	MHEAD_RNG_PITCHd_Wd	281.4,23331,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	120

FINISH	1.4,1.022226	_10V_AH	10.3,9.493
SM_CCo	2067,13.98,0.476,0,0,1537,300.24	FG_AHR_24Vo	0.000
SM_GC	2.80,0.00,0.00,13.98,0.000,0.000,0.476,77,1983,1537,-9.08,0.23,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3343.50,2542.77,210208,050534	MEM	331544
TT8_MAMPS	0.026964	DATA_FILE_SIZE	23712,310
HUMID	60.27	CAP_FILE_SIZE	46004,0
INTERNAL_PRESSURE	9.38202	CFSIZE	2097086464,2081554432
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	CURRENT	0.309, 64.3,1
ALTIM_BOTTOM_PING	90.4,18.2	GPS	260415,173723,-3419.943,2541.522,43,1.1,44,-27.7
_24V_AH	24.3,12.420

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	263	144.14	SBE_CT	206	23	116.57
Roll_motor	29	117	84.05	AA4330	848	17	355.19
VBD_pump_during_apogee	362	615	5421.66	WL_BB2F	623	105	1591.80
VBD_pump_during_surface	13	475	161.59	QSP2150	911	17	381.58
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	57.76	nil	0	0	0.00
Iridium_during_connect	25	160	98.76	nil	0	0	0.00
Iridium_during_xfer	151	223	819.49	nil	0	0	0.00
Transponder_ping	2	420	20.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	27	6.30
TT8	714	13	102.25
LPSleep	96	2	2.18
TT8_Active	369	13	52.90
TT8_Sampling	1158	40	487.35
TT8_CF8	57	50	29.83
TT8_Kalman	0	0	0.00
Analog_circuits	787	15	124.29
GPS_charging	0	0	0.00
Compass	850	15	137.79
RAFOS	0	0	0.00
Transponder	14	30	4.47

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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-1.02	-194.6	0.0	0.0	0	71	0.00	0.00	-44.22	0.000	2	0.000	0.000	78	1979	2581	0	0	0	0	0	0
73	-1.02	-194.6	3.2	-3.0	5	118	11.18	0.00	-30.25	0.000	6	0.264	0.000	2639	1980	3559	0	0	0	0	0	0
195	-0.74	-194.6	22.6	-26.8	22	204	0.35	0.00	0.00	0.000	6	0.213	0.000	2733	1980	3561	0	0	0	0	0	0
278	-0.62	-194.6	36.9	-11.2	35	285	0.17	0.00	0.00	0.000	6	0.196	0.000	2777	1980	3562	0	0	0	0	0	0
392	-0.59	-194.6	45.6	-7.0	54	401	0.00	2.40	0.00	0.000	4	0.000	0.083	2767	3397	3563	0	0	0	0	0	0
453	-0.57	-194.6	50.3	-8.4	63	460	0.10	2.35	0.00	0.000	6	0.177	0.077	2790	1996	3563	0	0	0	0	0	0
568	-0.57	-194.6	60.8	-10.4	82	577	0.00	2.53	0.00	0.000	4	0.000	0.096	2790	536	3564	0	0	0	0	0	0
602	-0.57	-194.6	63.6	-9.0	87	609	0.00	2.50	0.00	0.000	6	0.000	0.090	2781	1976	3564	0	0	0	0	0	0
715	-0.55	-194.6	75.8	-6.8	106	725	0.08	2.38	0.00	0.000	4	0.230	0.083	2784	3398	3565	0	0	0	0	0	0
750	-0.55	-194.6	79.4	-9.4	111	761	0.08	2.40	0.00	0.000	6	0.183	0.080	2800	1965	3565	0	0	0	0	0	0
864	end dive: BOTTOM_OBSTACLE_DETECTED
state	865	begin apogee
869	-0.25	0.0	90.4	8.7	129	1024	0.30	0.00	148.32	0.616	6	0.158	0.000	2894	1597	2762	0	0	0	0	0	0
1024	end apogee: CONTROL_FINISHED_OK
state	1025	begin climb
1026	1.02	194.6	99.4	0.0	150	1187	1.27	0.00	152.68	0.603	6	0.120	0.000	3295	1594	1967	0	0	0	0	0	0
1292	1.08	248.6	82.1	8.1	190	1346	0.10	2.38	44.80	0.592	4	0.097	0.051	3354	171	1747	0	0	0	0	0	0
1427	1.02	248.6	67.8	11.7	211	1435	0.15	2.30	0.00	0.000	6	0.147	0.031	3313	1627	1743	0	0	0	0	0	0
1540	1.04	266.6	57.2	9.4	230	1563	0.00	2.22	15.43	0.569	4	0.000	0.049	3313	3018	1675	0	0	0	0	0	0
1588	1.04	266.6	52.1	11.1	237	1596	0.00	2.30	0.00	0.000	6	0.000	0.050	3322	1586	1672	0	0	0	0	0	0
1701	1.04	266.6	39.1	11.2	256	1709	0.00	0.00	0.00	0.000	6	0.000	0.000	3322	1586	1672	0	0	0	0	0	0
1817	1.07	266.6	24.3	13.4	275	1826	0.00	0.00	0.00	0.000	6	0.000	0.000	3322	1586	1670	0	0	0	0	0	0
1903	1.10	270.3	15.8	9.9	288	1912	0.00	2.28	1.08	0.099	4	0.000	0.053	3333	193	1661	0	0	0	0	0	0
1971	1.10	270.3	8.6	10.8	298	1980	0.00	2.22	0.00	0.000	6	0.000	0.034	3333	1595	1660	0	0	0	0	0	0
2024	end climb: SURFACE_DEPTH_REACHED
state	2025	begin surface coast
2052	end surface coast: CONTROL_FINISHED_OK
state	2052	begin surface