Glider dive log

Shilshole 17May11 * SG035 * Dive index * Mission links * Dive 30 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 35 HEADING 315 ROLL_MAX 4041 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 8 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 50

DIVE 30 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1450 ALTIM_PING_DELTA 5

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1450 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 47.724998 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 300 TGT_DEFAULT_LON -122.4 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 6099 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 6

D_NO_BLEED 500 SM_CC 841.31995 R_PORT_OVSHOOT 48 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 50 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 1

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 1

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 191 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3888 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3041 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 100 CALL_WAIT 60 VBD_CNV -0.29519999 DEVICE5 -1

T_MISSION 120 CAPUPLOAD 1 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 2880 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 2 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 -1

T_NO_W 300 N_GPS 20 VBD_BLEED_AD_RATE 7 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -770036 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 2 CF8_MAXERRORS 2 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 6084 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 172 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 250 PITCH_MAX 3980 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2475 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043353452

GLIDE_SLOPE 45 PITCH_DBAND 0.1 PRESSURE_YINT -1038.4044 SEABIRD_T_H 0.00062385562

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00092600001 SEABIRD_T_I 2.3002971e-05

RHO 1.023 P_OVSHOOT 0.039999999 AD7714Ch0Gain 32 SEABIRD_T_J 2.38801e-06

MASS 52000 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.126381

NAV_MODE 1 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.14029

FERRY_MAX 45 PITCH_AD_RATE 140 COMPASS_USE 0 SEABIRD_C_I -0.0021114452

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00024549942

HD_A 0.0047458 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

HD_B 0.011518 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 1.6100001e-05 ROLL_MIN 231 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_NO_BLEED 500 PHONE_DEVICE 48 SM_CC 841.31995

AH0_10V 100 D_OFFGRID 6084 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 4 PITCH_AD_RATE 140 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 300 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3980 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 47.724998

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 172 TGT_DEFAULT_LON -122.4

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 PITCH_TIMEOUT 20 T_ABORT 2880

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 45 PRESSURE_SLOPE 0.00092600001 T_DIVE 100

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -1038.4044 T_GPS 15

CALL_TRIES 5 HD_A 0.0047458 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.011518 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -770036

CAPMAXSIZE 100000 HD_C 1.6100001e-05 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 1 HEADING 315 RAFOS_HIT_WINDOW 3600 T_MISSION 120

CF8_MAXERRORS 2 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 2

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ID 35 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2475 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1450 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 1450 LOGGERDEVICE1 -1 ROLL_MAX 4041 USE_ICE 0

C_VBD 3041 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 7

DEEPGLIDER 1 LOGGERDEVICE3 -1 ROLL_MIN 231 VBD_CNV -0.29519999

DEEPGLIDERMB 1 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 48 VBD_MAX 3888

DEVICE2 -1 MASS 52000 R_STBD_OVSHOOT 50 VBD_MAXERRORS 1

DEVICE3 -1 MAX_BUOY 250 SEABIRD_C_G -10.126381 VBD_MIN 191

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.14029 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0021114452 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE6 -1 MISSION 8 SEABIRD_C_J 0.00024549942 VBD_TIMEOUT 720

DIVE 30 MOTHERBOARD 4 SEABIRD_T_G 0.0043353452 XPDR_DEVICE 24

D_ABORT 6099 NAV_MODE 1 SEABIRD_T_H 0.00062385562 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.3002971e-05 XPDR_VALID 6

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.38801e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 180511,010816,4741.244,-12225.729,901,99.0,901,18.2 TGT_NAME HEADING

_CALLS 5 TGT_LATLONG 4748.880,-12237.100

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.232,0.077

_SM_DEPTHo 1.02 KALMAN_X -1922.1,-554.8,-225.5,1405.8,-2510.3

_SM_ANGLEo 22.6 KALMAN_Y -2524.6,-1140.6,-608.5,2622.1,-4003.9

GPS2 180511,010816,4741.244,-12225.729,901,99.0,901,18.2 MHEAD_RNG_PITCHd_Wd 296.8,20000,-15.2,-10.000

SPEED_LIMITS 0.100,0.307 D_GRID 300

Post-dive calculations and measurements:

SM_CCo 4330,363.60,0.725,0,0,191,841.62 _10V_AH 10.5,5.948

SM_GC 1.03,7.72,0.00,0.00,0.067,0.000,0.000,168,1463,187,-7.16,0.42,842.50 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4732.49,-12231.22,180511,010143 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215 MEM 323824

HUMID 97.13 DATA_FILE_SIZE 23395,777

INTERNAL_PRESSURE 9.18004 CAP_FILE_SIZE 206002,0

TCM_TEMP 20.10 CFSIZE 260165632,248119296

XPDR_PINGS 0 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_TOP_PING 14.1,14.4 GPS 180511,010816,4741.244,-12225.729,901,99.0,901,18.2

_24V_AH 24.1,11.396

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 240 100.71 SBE_CT 520 24 301.18

Roll_motor 51 72 89.81 nil 0 0 0.00

VBD_pump_during_apogee 452 787 8585.06 nil 0 0 0.00

VBD_pump_during_surface 363 725 6353.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 164 103 409.57 nil 0 0 0.00

Iridium_during_connect 142 160 550.73 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.53 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 904 50 474.64

TT8 1625 19 337.95

LPSleep 378 2 8.71

TT8_Active 882 19 183.50

TT8_Sampling 3334 39 1393.46

TT8_CF8 126 45 60.96

TT8_Kalman 0 0 0.00

Analog_circuits 1698 12 214.03

GPS_charging 0 0 0.00

Compass 2123 15 334.42

RAFOS 0 0 0.00

Transponder 2 30 0.82

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.81 -244.4 0.0 0.0 0 185 0.00 0.00 -167.50 0.000 2 0.000 0.000 156 1449 1846 0 0 0 0 0 0

187 -0.81 -244.4 4.0 -5.7 24 281 7.78 2.17 -77.75 0.000 4 0.241 0.070 2196 2849 3869 0 0 0 0 0 0

515 -0.81 -244.4 13.6 -0.2 82 523 0.00 2.17 0.00 0.000 6 0.000 0.065 2196 1459 3869 0 0 0 0 0 0

587 -0.81 -244.4 12.6 0.9 95 595 0.00 2.17 0.00 0.000 4 0.000 0.067 2196 2850 3870 0 0 0 0 0 0

827 -0.81 -244.4 13.5 0.1 141 835 0.00 2.17 0.00 0.000 6 0.000 0.062 2196 1449 3869 0 0 0 0 0 0

899 -0.81 -244.4 13.1 0.3 154 907 0.00 2.20 0.00 0.000 4 0.000 0.067 2196 2853 3869 0 0 0 0 0 0

1139 -0.81 -244.4 13.5 -0.2 200 1147 0.00 2.17 0.00 0.000 6 0.000 0.062 2196 1445 3869 0 0 0 0 0 0

1211 -0.81 -244.4 13.2 -0.5 213 1219 0.00 2.20 0.00 0.000 4 0.000 0.070 2196 2854 3869 0 0 0 0 0 0

1452 -0.81 -244.4 13.4 -0.2 259 1460 0.00 2.17 0.00 0.000 6 0.000 0.062 2196 1443 3869 0 0 0 0 0 0

1523 -0.81 -244.4 13.4 -0.2 272 1531 0.00 2.20 0.00 0.000 4 0.000 0.067 2196 2856 3869 0 0 0 0 0 0

1764 -0.81 -244.4 13.3 0.1 318 1772 0.00 2.17 0.00 0.000 6 0.000 0.062 2196 1444 3869 0 0 0 0 0 0

1836 -0.81 -244.4 13.3 -0.1 331 1844 0.00 2.17 0.00 0.000 4 0.000 0.070 2196 2843 3870 0 0 0 0 0 0

2077 -0.81 -244.4 13.3 0.1 377 2085 0.00 2.15 0.00 0.000 6 0.000 0.062 2196 1450 3868 0 0 0 0 0 0

2148 -0.81 -244.4 13.2 -0.2 390 2156 0.00 2.17 0.00 0.000 4 0.000 0.067 2196 2848 3869 0 0 0 0 0 0

2389 -0.81 -244.4 13.4 0.2 436 2397 0.00 2.15 0.00 0.000 6 0.000 0.062 2194 1451 3869 0 0 0 0 0 0

2461 -0.81 -244.4 13.3 -0.4 449 2468 0.00 2.17 0.00 0.000 4 0.000 0.067 2195 2853 3868 0 0 0 0 0 0

2701 -0.81 -244.4 13.4 0.3 495 2709 0.00 2.15 0.00 0.000 6 0.000 0.062 2196 1455 3868 0 0 0 0 0 0

2772 -0.81 -244.4 13.4 -0.2 508 2780 0.00 2.15 0.00 0.000 4 0.000 0.067 2202 2843 3868 0 0 0 0 0 0

3014 -0.81 -244.4 13.4 0.6 554 3022 0.00 2.15 0.00 0.000 6 0.000 0.062 2196 1442 3868 0 0 0 0 0 0

3085 -0.81 -244.4 13.5 -0.2 567 3093 0.00 2.17 0.00 0.000 4 0.000 0.070 2196 2846 3867 0 0 0 0 0 0

3326 -0.81 -244.4 13.7 -0.5 613 3334 0.00 2.15 0.00 0.000 6 0.000 0.062 2200 1449 3870 0 0 0 0 0 0

3398 -0.81 -244.4 13.3 0.1 626 3405 0.00 2.15 0.00 0.000 4 0.000 0.065 2196 2844 3868 0 0 0 0 0 0

3606 end dive: HALF_MISSION_TIME_EXCEEDED

state 3607 begin apogee

3612 -0.17 0.0 13.4 0.3 666 3794 0.60 0.00 172.52 0.787 6 0.097 0.000 2421 1427 3040 0 0 0 0 0 0

3795 end apogee: CONTROL_FINISHED_OK

state 3795 begin climb

3797 0.81 244.4 14.1 0.0 691 3982 0.90 2.05 177.50 0.750 4 0.094 0.072 2732 241 2213 0 0 0 0 0 0

4217 1.23 587.8 13.7 0.5 762 4327 0.35 1.95 102.55 0.750 2 0.092 0.060 2865 1464 1731 0 0 0 0 0 0

4327 end climb: NO_VERTICAL_VELOCITY

state 4327 begin surface

ID	35	HEADING	315	ROLL_MAX	4041	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	8	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	50
DIVE	30	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1450	ALTIM_PING_DELTA	5
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1450	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	47.724998	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	300	TGT_DEFAULT_LON	-122.4	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	6099	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	6
D_NO_BLEED	500	SM_CC	841.31995	R_PORT_OVSHOOT	48	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	50	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	1
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	1
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	191	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3888	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3041	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	100	CALL_WAIT	60	VBD_CNV	-0.29519999	DEVICE5	-1
T_MISSION	120	CAPUPLOAD	1	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	2880	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	2	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	-1
T_NO_W	300	N_GPS	20	VBD_BLEED_AD_RATE	7	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-770036	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	2	CF8_MAXERRORS	2	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	6084	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	172	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	250	PITCH_MAX	3980	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2475	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043353452
GLIDE_SLOPE	45	PITCH_DBAND	0.1	PRESSURE_YINT	-1038.4044	SEABIRD_T_H	0.00062385562
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00092600001	SEABIRD_T_I	2.3002971e-05
RHO	1.023	P_OVSHOOT	0.039999999	AD7714Ch0Gain	32	SEABIRD_T_J	2.38801e-06
MASS	52000	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.126381
NAV_MODE	1	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.14029
FERRY_MAX	45	PITCH_AD_RATE	140	COMPASS_USE	0	SEABIRD_C_I	-0.0021114452
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00024549942
HD_A	0.0047458	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
HD_B	0.011518	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	1.6100001e-05	ROLL_MIN	231	ALTIM_TOP_TURN_MARGIN	0

GPS1	180511,010816,4741.244,-12225.729,901,99.0,901,18.2	TGT_NAME	HEADING
_CALLS	5	TGT_LATLONG	4748.880,-12237.100
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.232,0.077
_SM_DEPTHo	1.02	KALMAN_X	-1922.1,-554.8,-225.5,1405.8,-2510.3
_SM_ANGLEo	22.6	KALMAN_Y	-2524.6,-1140.6,-608.5,2622.1,-4003.9
GPS2	180511,010816,4741.244,-12225.729,901,99.0,901,18.2	MHEAD_RNG_PITCHd_Wd	296.8,20000,-15.2,-10.000
SPEED_LIMITS	0.100,0.307	D_GRID	300

SM_CCo	4330,363.60,0.725,0,0,191,841.62	_10V_AH	10.5,5.948
SM_GC	1.03,7.72,0.00,0.00,0.067,0.000,0.000,168,1463,187,-7.16,0.42,842.50	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4732.49,-12231.22,180511,010143	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215	MEM	323824
HUMID	97.13	DATA_FILE_SIZE	23395,777
INTERNAL_PRESSURE	9.18004	CAP_FILE_SIZE	206002,0
TCM_TEMP	20.10	CFSIZE	260165632,248119296
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	14.1,14.4	GPS	180511,010816,4741.244,-12225.729,901,99.0,901,18.2
_24V_AH	24.1,11.396

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	240	100.71	SBE_CT	520	24	301.18
Roll_motor	51	72	89.81	nil	0	0	0.00
VBD_pump_during_apogee	452	787	8585.06	nil	0	0	0.00
VBD_pump_during_surface	363	725	6353.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	164	103	409.57	nil	0	0	0.00
Iridium_during_connect	142	160	550.73	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.53	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	904	50	474.64
TT8	1625	19	337.95
LPSleep	378	2	8.71
TT8_Active	882	19	183.50
TT8_Sampling	3334	39	1393.46
TT8_CF8	126	45	60.96
TT8_Kalman	0	0	0.00
Analog_circuits	1698	12	214.03
GPS_charging	0	0	0.00
Compass	2123	15	334.42
RAFOS	0	0	0.00
Transponder	2	30	0.82

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.81	-244.4	0.0	0.0	0	185	0.00	0.00	-167.50	0.000	2	0.000	0.000	156	1449	1846	0	0	0	0	0	0
187	-0.81	-244.4	4.0	-5.7	24	281	7.78	2.17	-77.75	0.000	4	0.241	0.070	2196	2849	3869	0	0	0	0	0	0
515	-0.81	-244.4	13.6	-0.2	82	523	0.00	2.17	0.00	0.000	6	0.000	0.065	2196	1459	3869	0	0	0	0	0	0
587	-0.81	-244.4	12.6	0.9	95	595	0.00	2.17	0.00	0.000	4	0.000	0.067	2196	2850	3870	0	0	0	0	0	0
827	-0.81	-244.4	13.5	0.1	141	835	0.00	2.17	0.00	0.000	6	0.000	0.062	2196	1449	3869	0	0	0	0	0	0
899	-0.81	-244.4	13.1	0.3	154	907	0.00	2.20	0.00	0.000	4	0.000	0.067	2196	2853	3869	0	0	0	0	0	0
1139	-0.81	-244.4	13.5	-0.2	200	1147	0.00	2.17	0.00	0.000	6	0.000	0.062	2196	1445	3869	0	0	0	0	0	0
1211	-0.81	-244.4	13.2	-0.5	213	1219	0.00	2.20	0.00	0.000	4	0.000	0.070	2196	2854	3869	0	0	0	0	0	0
1452	-0.81	-244.4	13.4	-0.2	259	1460	0.00	2.17	0.00	0.000	6	0.000	0.062	2196	1443	3869	0	0	0	0	0	0
1523	-0.81	-244.4	13.4	-0.2	272	1531	0.00	2.20	0.00	0.000	4	0.000	0.067	2196	2856	3869	0	0	0	0	0	0
1764	-0.81	-244.4	13.3	0.1	318	1772	0.00	2.17	0.00	0.000	6	0.000	0.062	2196	1444	3869	0	0	0	0	0	0
1836	-0.81	-244.4	13.3	-0.1	331	1844	0.00	2.17	0.00	0.000	4	0.000	0.070	2196	2843	3870	0	0	0	0	0	0
2077	-0.81	-244.4	13.3	0.1	377	2085	0.00	2.15	0.00	0.000	6	0.000	0.062	2196	1450	3868	0	0	0	0	0	0
2148	-0.81	-244.4	13.2	-0.2	390	2156	0.00	2.17	0.00	0.000	4	0.000	0.067	2196	2848	3869	0	0	0	0	0	0
2389	-0.81	-244.4	13.4	0.2	436	2397	0.00	2.15	0.00	0.000	6	0.000	0.062	2194	1451	3869	0	0	0	0	0	0
2461	-0.81	-244.4	13.3	-0.4	449	2468	0.00	2.17	0.00	0.000	4	0.000	0.067	2195	2853	3868	0	0	0	0	0	0
2701	-0.81	-244.4	13.4	0.3	495	2709	0.00	2.15	0.00	0.000	6	0.000	0.062	2196	1455	3868	0	0	0	0	0	0
2772	-0.81	-244.4	13.4	-0.2	508	2780	0.00	2.15	0.00	0.000	4	0.000	0.067	2202	2843	3868	0	0	0	0	0	0
3014	-0.81	-244.4	13.4	0.6	554	3022	0.00	2.15	0.00	0.000	6	0.000	0.062	2196	1442	3868	0	0	0	0	0	0
3085	-0.81	-244.4	13.5	-0.2	567	3093	0.00	2.17	0.00	0.000	4	0.000	0.070	2196	2846	3867	0	0	0	0	0	0
3326	-0.81	-244.4	13.7	-0.5	613	3334	0.00	2.15	0.00	0.000	6	0.000	0.062	2200	1449	3870	0	0	0	0	0	0
3398	-0.81	-244.4	13.3	0.1	626	3405	0.00	2.15	0.00	0.000	4	0.000	0.065	2196	2844	3868	0	0	0	0	0	0
3606	end dive: HALF_MISSION_TIME_EXCEEDED
state	3607	begin apogee
3612	-0.17	0.0	13.4	0.3	666	3794	0.60	0.00	172.52	0.787	6	0.097	0.000	2421	1427	3040	0	0	0	0	0	0
3795	end apogee: CONTROL_FINISHED_OK
state	3795	begin climb
3797	0.81	244.4	14.1	0.0	691	3982	0.90	2.05	177.50	0.750	4	0.094	0.072	2732	241	2213	0	0	0	0	0	0
4217	1.23	587.8	13.7	0.5	762	4327	0.35	1.95	102.55	0.750	2	0.092	0.060	2865	1464	1731	0	0	0	0	0	0
4327	end climb: NO_VERTICAL_VELOCITY
state	4327	begin surface