Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 248 * 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 248 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 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 32 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 -3 T_GPS_CHARGE -31275.463 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 -31275.463

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 -3

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 32 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 32 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 248 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 280311,214808,6714.500,-5702.074,13,1.4,13,-37.8 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 7.28 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 0.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280311,214808,6714.500,-5702.074,13,1.4,13,-37.8 MHEAD_RNG_PITCHd_Wd 192.3,23598,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 300

Post-dive calculations and measurements:

FREEZE 1.49,-1.519,-1.829,2,12,0 ALTIM_TOP_PING 20.0,18.2

FINISH 1.5,1.026827 _24V_AH 23.2,34.913

SM_CCo 5524,140.48,0.067,0,0,750,559.04 _10V_AH 10.2,19.071

SM_GC 2.71,0.00,0.00,140.48,0.000,0.000,0.067,110,2494,750,-8.61,0.11,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 307 FG_AHR_10Vo 0.000

RAFOS 0,1301356867,0.033333,0.018611,63,60,59,52,52,51,198,222,173,150,113,134 MEM 150476

RAFOS_FIX 6716.300293,-5730.807617,280311,040400,2,122,0.66 DATA_FILE_SIZE 23448,635

IRIDIUM_FIX 6647.44,-5707.88,280311,212115 CAP_FILE_SIZE 69435,0

TT8_MAMPS 0.026215 CFSIZE 260165632,235528192

HUMID 44.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.51595 SOUNDSPEED 1460.3

TCM_TEMP 17.00 GPS 280311,214808,6714.500,-5702.074,181,99.0,181,-37.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 237 63.00 SBE_CT 445 24 247.85

Roll_motor 43 66 66.51 SBE_O2 484 19 213.56

VBD_pump_during_apogee 318 1074 7933.37 nil 0 0 0.00

VBD_pump_during_surface 140 66 216.90 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 4.87 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1512 19 307.32

LPSleep 2634 2 62.08

TT8_Active 466 19 94.88

TT8_Sampling 1010 39 411.33

TT8_CF8 104 45 48.76

TT8_Kalman 0 0 0.00

Analog_circuits 1024 12 125.35

GPS_charging 0 0 0.00

Compass 1014 15 155.26

RAFOS 2520 1 38.56

Transponder 4 30 1.34

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 24 0.00 0.00 -6.80 0.000 2 0.000 0.000 2872 3694 3126 0 0 0 0 0 0

26 -0.62 -146.0 7.4 -0.0 1 51 0.57 4.10 -14.62 0.000 4 0.113 0.049 2674 1074 3628 0 0 0 0 0 0

86 -0.48 -146.0 15.3 -18.0 11 94 0.12 2.20 0.00 0.000 6 0.237 0.050 2700 2486 3629 0 0 0 0 0 0

431 -0.48 -146.0 61.4 -12.3 72 437 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2487 3628 0 0 0 0 0 0

773 -0.48 -146.0 104.0 -12.0 130 774 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2487 3628 0 0 0 0 0 0

1093 -0.50 -146.0 138.6 -10.0 160 1097 0.00 2.28 0.00 0.000 4 0.000 0.067 2700 3901 3626 0 0 0 0 0 0

1150 -0.56 -146.0 144.6 -9.7 164 1157 0.00 2.17 0.00 0.000 6 0.000 0.041 2700 2476 3625 0 0 0 0 0 0

1476 -0.60 -146.0 176.0 -9.3 195 1477 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2476 3624 0 0 0 0 0 0

1796 -0.65 -146.0 205.4 -9.4 225 1798 0.15 0.00 0.00 0.000 6 0.121 0.000 2651 2475 3624 0 0 0 0 0 0

2113 -0.59 -146.0 244.2 -12.0 255 2114 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2476 3624 0 0 0 0 0 0

2433 -0.53 -146.0 284.5 -13.3 285 2438 0.15 2.15 0.00 0.000 4 0.213 0.053 2686 1088 3624 0 0 0 0 0 0

2465 -0.53 -146.0 288.7 -11.8 287 2472 0.00 2.22 0.00 0.000 6 0.000 0.051 2686 2489 3624 0 0 0 0 0 0

2600 end dive: TARGET_DEPTH_EXCEEDED

state 2600 begin apogee

2605 -0.12 0.0 300.0 6.3 300 2728 0.40 0.00 116.05 1.075 6 0.140 0.000 2817 2266 3029 0 0 0 0 0 0

2729 end apogee: CONTROL_FINISHED_OK

state 2729 begin climb

2731 0.62 146.0 300.0 0.0 311 2860 0.77 2.45 119.25 1.024 4 0.147 0.060 3064 886 2433 0 0 0 0 0 0

3012 0.55 146.0 273.9 11.7 337 3017 0.00 2.30 0.00 0.000 6 0.000 0.045 3063 2279 2427 0 0 0 0 0 0

3337 0.47 146.0 231.9 12.3 367 3342 0.17 2.28 0.00 0.000 4 0.182 0.060 3017 3686 2428 0 0 0 0 0 0

3392 0.44 146.0 225.1 12.1 371 3399 0.00 2.22 0.00 0.000 6 0.000 0.041 3025 2277 2427 0 0 0 0 0 0

3718 0.46 163.9 192.7 9.2 402 3738 0.00 0.00 15.02 0.911 6 0.000 0.000 3025 2277 2362 0 0 0 0 0 0

4057 0.52 193.2 163.4 8.6 434 4091 0.00 2.30 25.70 0.933 4 0.000 0.057 3025 3692 2242 0 0 0 0 0 0

4164 0.52 194.2 152.8 10.0 443 4171 0.00 2.22 0.00 0.000 6 0.000 0.041 3035 2268 2240 0 0 0 0 0 0

4491 0.56 204.5 123.0 9.5 474 4506 0.00 2.30 10.55 0.852 4 0.000 0.057 3035 3687 2196 0 0 0 0 0 0

4563 0.56 204.5 114.7 12.1 480 4570 0.00 2.22 0.00 0.000 6 0.000 0.042 3042 2283 2196 0 0 0 0 0 0

4900 0.63 215.2 77.9 9.5 529 4919 0.00 2.30 10.85 0.845 4 0.000 0.057 3046 865 2151 0 0 0 0 0 0

4961 0.75 237.9 72.2 9.0 539 4987 0.17 2.20 20.73 0.880 6 0.090 0.043 3119 2282 2060 0 0 0 0 0 0

5324 0.66 237.9 23.7 15.1 603 5331 0.15 2.25 0.00 0.000 4 0.177 0.058 3080 3680 2057 0 0 0 0 0 0

5440 0.64 237.9 8.0 13.9 623 5447 0.00 2.22 0.00 0.000 6 0.000 0.045 3088 2265 2055 0 0 0 0 0 0

5477 end climb: SURFACE_DEPTH_REACHED

state 5477 begin surface coast

5506 end surface coast: CONTROL_FINISHED_OK

state 5506 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	248	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	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	32	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	-3	T_GPS_CHARGE	-31275.463	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	280311,214808,6714.500,-5702.074,13,1.4,13,-37.8	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	7.28	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	0.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280311,214808,6714.500,-5702.074,13,1.4,13,-37.8	MHEAD_RNG_PITCHd_Wd	192.3,23598,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	300

FREEZE	1.49,-1.519,-1.829,2,12,0	ALTIM_TOP_PING	20.0,18.2
FINISH	1.5,1.026827	_24V_AH	23.2,34.913
SM_CCo	5524,140.48,0.067,0,0,750,559.04	_10V_AH	10.2,19.071
SM_GC	2.71,0.00,0.00,140.48,0.000,0.000,0.067,110,2494,750,-8.61,0.11,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	307	FG_AHR_10Vo	0.000
RAFOS	0,1301356867,0.033333,0.018611,63,60,59,52,52,51,198,222,173,150,113,134	MEM	150476
RAFOS_FIX	6716.300293,-5730.807617,280311,040400,2,122,0.66	DATA_FILE_SIZE	23448,635
IRIDIUM_FIX	6647.44,-5707.88,280311,212115	CAP_FILE_SIZE	69435,0
TT8_MAMPS	0.026215	CFSIZE	260165632,235528192
HUMID	44.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.51595	SOUNDSPEED	1460.3
TCM_TEMP	17.00	GPS	280311,214808,6714.500,-5702.074,181,99.0,181,-37.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	237	63.00	SBE_CT	445	24	247.85
Roll_motor	43	66	66.51	SBE_O2	484	19	213.56
VBD_pump_during_apogee	318	1074	7933.37	nil	0	0	0.00
VBD_pump_during_surface	140	66	216.90	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	4.87	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1512	19	307.32
LPSleep	2634	2	62.08
TT8_Active	466	19	94.88
TT8_Sampling	1010	39	411.33
TT8_CF8	104	45	48.76
TT8_Kalman	0	0	0.00
Analog_circuits	1024	12	125.35
GPS_charging	0	0	0.00
Compass	1014	15	155.26
RAFOS	2520	1	38.56
Transponder	4	30	1.34

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	24	0.00	0.00	-6.80	0.000	2	0.000	0.000	2872	3694	3126	0	0	0	0	0	0
26	-0.62	-146.0	7.4	-0.0	1	51	0.57	4.10	-14.62	0.000	4	0.113	0.049	2674	1074	3628	0	0	0	0	0	0
86	-0.48	-146.0	15.3	-18.0	11	94	0.12	2.20	0.00	0.000	6	0.237	0.050	2700	2486	3629	0	0	0	0	0	0
431	-0.48	-146.0	61.4	-12.3	72	437	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2487	3628	0	0	0	0	0	0
773	-0.48	-146.0	104.0	-12.0	130	774	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2487	3628	0	0	0	0	0	0
1093	-0.50	-146.0	138.6	-10.0	160	1097	0.00	2.28	0.00	0.000	4	0.000	0.067	2700	3901	3626	0	0	0	0	0	0
1150	-0.56	-146.0	144.6	-9.7	164	1157	0.00	2.17	0.00	0.000	6	0.000	0.041	2700	2476	3625	0	0	0	0	0	0
1476	-0.60	-146.0	176.0	-9.3	195	1477	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2476	3624	0	0	0	0	0	0
1796	-0.65	-146.0	205.4	-9.4	225	1798	0.15	0.00	0.00	0.000	6	0.121	0.000	2651	2475	3624	0	0	0	0	0	0
2113	-0.59	-146.0	244.2	-12.0	255	2114	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2476	3624	0	0	0	0	0	0
2433	-0.53	-146.0	284.5	-13.3	285	2438	0.15	2.15	0.00	0.000	4	0.213	0.053	2686	1088	3624	0	0	0	0	0	0
2465	-0.53	-146.0	288.7	-11.8	287	2472	0.00	2.22	0.00	0.000	6	0.000	0.051	2686	2489	3624	0	0	0	0	0	0
2600	end dive: TARGET_DEPTH_EXCEEDED
state	2600	begin apogee
2605	-0.12	0.0	300.0	6.3	300	2728	0.40	0.00	116.05	1.075	6	0.140	0.000	2817	2266	3029	0	0	0	0	0	0
2729	end apogee: CONTROL_FINISHED_OK
state	2729	begin climb
2731	0.62	146.0	300.0	0.0	311	2860	0.77	2.45	119.25	1.024	4	0.147	0.060	3064	886	2433	0	0	0	0	0	0
3012	0.55	146.0	273.9	11.7	337	3017	0.00	2.30	0.00	0.000	6	0.000	0.045	3063	2279	2427	0	0	0	0	0	0
3337	0.47	146.0	231.9	12.3	367	3342	0.17	2.28	0.00	0.000	4	0.182	0.060	3017	3686	2428	0	0	0	0	0	0
3392	0.44	146.0	225.1	12.1	371	3399	0.00	2.22	0.00	0.000	6	0.000	0.041	3025	2277	2427	0	0	0	0	0	0
3718	0.46	163.9	192.7	9.2	402	3738	0.00	0.00	15.02	0.911	6	0.000	0.000	3025	2277	2362	0	0	0	0	0	0
4057	0.52	193.2	163.4	8.6	434	4091	0.00	2.30	25.70	0.933	4	0.000	0.057	3025	3692	2242	0	0	0	0	0	0
4164	0.52	194.2	152.8	10.0	443	4171	0.00	2.22	0.00	0.000	6	0.000	0.041	3035	2268	2240	0	0	0	0	0	0
4491	0.56	204.5	123.0	9.5	474	4506	0.00	2.30	10.55	0.852	4	0.000	0.057	3035	3687	2196	0	0	0	0	0	0
4563	0.56	204.5	114.7	12.1	480	4570	0.00	2.22	0.00	0.000	6	0.000	0.042	3042	2283	2196	0	0	0	0	0	0
4900	0.63	215.2	77.9	9.5	529	4919	0.00	2.30	10.85	0.845	4	0.000	0.057	3046	865	2151	0	0	0	0	0	0
4961	0.75	237.9	72.2	9.0	539	4987	0.17	2.20	20.73	0.880	6	0.090	0.043	3119	2282	2060	0	0	0	0	0	0
5324	0.66	237.9	23.7	15.1	603	5331	0.15	2.25	0.00	0.000	4	0.177	0.058	3080	3680	2057	0	0	0	0	0	0
5440	0.64	237.9	8.0	13.9	623	5447	0.00	2.22	0.00	0.000	6	0.000	0.045	3088	2265	2055	0	0	0	0	0	0
5477	end climb: SURFACE_DEPTH_REACHED
state	5477	begin surface coast
5506	end surface coast: CONTROL_FINISHED_OK
state	5506	begin surface