Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 343 * 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 343 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 20 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 16 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 -2 T_GPS_CHARGE -36257.363 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 -36257.363

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 -2

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 20 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 16 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 343 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 240813,073118,-200.000,-200.000,181,99.0,181,-37.5 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 7.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240813,073118,-200.000,-200.000,181,99.0,181,-37.5 MHEAD_RNG_PITCHd_Wd 20.3,8031828,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 250

Post-dive calculations and measurements:

FREEZE 8.83,-1.741,-1.784,2,69,0 _24V_AH 22.3,46.845

FINISH1 8.8,1.026117,68 _10V_AH 10.1,25.132

FINISH2 7.7 FG_AHR_24Vo 0.000

RAFOS_CLK 279 FG_AHR_10Vo 0.000

RAFOS_FIX -29301.927734,-1230014.625000,100411,040454,3,87,0.13 MEM 150532

IRIDIUM_FIX 6625.71,-5714.90,310311,212146 DATA_FILE_SIZE 20144,557

TT8_MAMPS 0.026215 CAP_FILE_SIZE 56356,0

HUMID 48.62 CFSIZE 260165632,229855232

INTERNAL_PRESSURE 8.65268 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.10 SOUNDSPEED 1442.6

XPDR_PINGS 0 GPS 240813,073118,-200.000,-200.000,181,99.0,181,-37.5

ALTIM_TOP_PING 19.7,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 230 16.43 SBE_CT 400 24 214.41

Roll_motor 43 91 89.46 SBE_O2 410 19 173.82

VBD_pump_during_apogee 351 1117 8768.24 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 2.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1295 19 260.70

LPSleep 2145 2 50.05

TT8_Active 358 19 72.09

TT8_Sampling 895 39 360.97

TT8_CF8 74 45 34.72

TT8_Kalman 0 0 0.00

Analog_circuits 869 12 105.36

GPS_charging 0 0 0.00

Compass 894 15 135.51

RAFOS 0 0 0.00

Transponder 4 30 1.27

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 -6.72 0.000 2 0.000 0.000 2899 861 2963 0 0 0 0 0 0

26 -0.62 -146.0 8.9 -0.0 1 57 0.68 5.15 -20.10 0.000 4 0.108 0.086 2665 3902 3629 0 0 0 0 0 0

182 -0.53 -146.0 33.9 -18.7 28 189 0.00 2.25 0.00 0.000 6 0.000 0.057 2665 2484 3630 0 0 0 0 0 0

528 -0.38 -146.0 100.7 -17.8 89 530 0.28 0.00 0.00 0.000 6 0.228 0.000 2732 2484 3630 0 0 0 0 0 0

847 -0.43 -146.0 135.4 -8.9 119 848 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2484 3630 0 0 0 0 0 0

1166 -0.51 -146.0 163.8 -8.6 149 1170 0.00 2.38 0.00 0.000 4 0.000 0.083 2731 3906 3629 0 0 0 0 0 0

1198 -0.60 -146.0 166.8 -8.3 151 1206 0.20 2.25 0.00 0.000 6 0.105 0.054 2663 2481 3629 0 0 0 0 0 0

1524 -0.52 -146.0 211.2 -13.6 182 1528 0.12 2.28 0.00 0.000 4 0.230 0.074 2691 1083 3628 0 0 0 0 0 0

1618 -0.54 -146.0 222.1 -10.7 190 1625 0.00 2.30 0.00 0.000 6 0.000 0.070 2690 2499 3628 0 0 0 0 0 0

1888 end dive: TARGET_DEPTH_EXCEEDED

state 1890 begin apogee

1895 -0.12 0.0 250.4 10.2 216 2021 0.43 0.00 120.75 1.118 6 0.203 0.000 2811 2272 3030 0 0 0 0 0 0

2022 end apogee: CONTROL_FINISHED_OK

state 2022 begin climb

2024 0.62 146.0 256.3 0.0 227 2158 0.82 2.67 124.90 1.066 4 0.159 0.078 3060 869 2433 0 0 0 0 0 0

2204 0.69 202.9 250.2 7.4 243 2262 0.00 2.53 51.58 1.027 6 0.000 0.063 3060 2283 2202 0 0 0 0 0 0

2579 0.70 214.6 215.3 9.5 278 2594 0.00 2.47 10.00 0.912 4 0.000 0.079 3060 3696 2155 0 0 0 0 0 0

2627 0.70 214.6 210.0 11.0 282 2635 0.00 2.40 0.00 0.000 6 0.000 0.063 3071 2277 2154 0 0 0 0 0 0

2954 0.70 214.6 176.6 11.2 313 2958 0.00 2.35 0.00 0.000 4 0.000 0.078 3081 865 2152 0 0 0 0 0 0

2963 0.70 214.6 175.1 11.3 313 2971 0.00 2.38 0.00 0.000 6 0.000 0.062 3081 2277 2150 0 0 0 0 0 0

3291 0.71 223.5 142.3 9.6 344 3306 0.00 2.40 9.20 0.918 4 0.000 0.080 3081 3687 2118 0 0 0 0 0 0

3324 0.71 223.5 138.7 10.7 347 3329 0.00 2.33 0.00 0.000 6 0.000 0.064 3091 2267 2117 0 0 0 0 0 0

3649 0.73 234.3 107.1 9.5 377 3666 0.00 2.38 11.43 0.947 4 0.000 0.076 3091 3693 2072 0 0 0 0 0 0

3705 0.69 234.3 101.1 10.8 381 3712 0.00 2.35 0.00 0.000 6 0.000 0.063 3102 2264 2071 0 0 0 0 0 0

4048 0.71 246.5 69.2 9.4 441 4066 0.00 0.00 12.00 0.944 6 0.000 0.000 3102 2263 2024 0 0 0 0 0 0

4404 0.72 259.5 34.8 9.4 504 4422 0.00 0.00 11.95 0.957 6 0.000 0.000 3101 2264 1971 0 0 0 0 0 0

4671 end climb: FINISH_DEPTH_REACHED

state 4671 begin subsurface finish

4677 0.08 67.8 8.8 -9.9 551 4714 0.68 2.47 -29.15 0.000 4 0.167 0.092 2899 3699 2756 0 0 0 0 0 0

4715 end subsurface finish: CONTROL_FINISHED_OK

state 4715 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	343	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	20	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	16	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	-2	T_GPS_CHARGE	-36257.363	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	240813,073118,-200.000,-200.000,181,99.0,181,-37.5	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	7.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240813,073118,-200.000,-200.000,181,99.0,181,-37.5	MHEAD_RNG_PITCHd_Wd	20.3,8031828,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	250

FREEZE	8.83,-1.741,-1.784,2,69,0	_24V_AH	22.3,46.845
FINISH1	8.8,1.026117,68	_10V_AH	10.1,25.132
FINISH2	7.7	FG_AHR_24Vo	0.000
RAFOS_CLK	279	FG_AHR_10Vo	0.000
RAFOS_FIX	-29301.927734,-1230014.625000,100411,040454,3,87,0.13	MEM	150532
IRIDIUM_FIX	6625.71,-5714.90,310311,212146	DATA_FILE_SIZE	20144,557
TT8_MAMPS	0.026215	CAP_FILE_SIZE	56356,0
HUMID	48.62	CFSIZE	260165632,229855232
INTERNAL_PRESSURE	8.65268	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1442.6
XPDR_PINGS	0	GPS	240813,073118,-200.000,-200.000,181,99.0,181,-37.5
ALTIM_TOP_PING	19.7,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	230	16.43	SBE_CT	400	24	214.41
Roll_motor	43	91	89.46	SBE_O2	410	19	173.82
VBD_pump_during_apogee	351	1117	8768.24	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	2.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1295	19	260.70
LPSleep	2145	2	50.05
TT8_Active	358	19	72.09
TT8_Sampling	895	39	360.97
TT8_CF8	74	45	34.72
TT8_Kalman	0	0	0.00
Analog_circuits	869	12	105.36
GPS_charging	0	0	0.00
Compass	894	15	135.51
RAFOS	0	0	0.00
Transponder	4	30	1.27

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	-6.72	0.000	2	0.000	0.000	2899	861	2963	0	0	0	0	0	0
26	-0.62	-146.0	8.9	-0.0	1	57	0.68	5.15	-20.10	0.000	4	0.108	0.086	2665	3902	3629	0	0	0	0	0	0
182	-0.53	-146.0	33.9	-18.7	28	189	0.00	2.25	0.00	0.000	6	0.000	0.057	2665	2484	3630	0	0	0	0	0	0
528	-0.38	-146.0	100.7	-17.8	89	530	0.28	0.00	0.00	0.000	6	0.228	0.000	2732	2484	3630	0	0	0	0	0	0
847	-0.43	-146.0	135.4	-8.9	119	848	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2484	3630	0	0	0	0	0	0
1166	-0.51	-146.0	163.8	-8.6	149	1170	0.00	2.38	0.00	0.000	4	0.000	0.083	2731	3906	3629	0	0	0	0	0	0
1198	-0.60	-146.0	166.8	-8.3	151	1206	0.20	2.25	0.00	0.000	6	0.105	0.054	2663	2481	3629	0	0	0	0	0	0
1524	-0.52	-146.0	211.2	-13.6	182	1528	0.12	2.28	0.00	0.000	4	0.230	0.074	2691	1083	3628	0	0	0	0	0	0
1618	-0.54	-146.0	222.1	-10.7	190	1625	0.00	2.30	0.00	0.000	6	0.000	0.070	2690	2499	3628	0	0	0	0	0	0
1888	end dive: TARGET_DEPTH_EXCEEDED
state	1890	begin apogee
1895	-0.12	0.0	250.4	10.2	216	2021	0.43	0.00	120.75	1.118	6	0.203	0.000	2811	2272	3030	0	0	0	0	0	0
2022	end apogee: CONTROL_FINISHED_OK
state	2022	begin climb
2024	0.62	146.0	256.3	0.0	227	2158	0.82	2.67	124.90	1.066	4	0.159	0.078	3060	869	2433	0	0	0	0	0	0
2204	0.69	202.9	250.2	7.4	243	2262	0.00	2.53	51.58	1.027	6	0.000	0.063	3060	2283	2202	0	0	0	0	0	0
2579	0.70	214.6	215.3	9.5	278	2594	0.00	2.47	10.00	0.912	4	0.000	0.079	3060	3696	2155	0	0	0	0	0	0
2627	0.70	214.6	210.0	11.0	282	2635	0.00	2.40	0.00	0.000	6	0.000	0.063	3071	2277	2154	0	0	0	0	0	0
2954	0.70	214.6	176.6	11.2	313	2958	0.00	2.35	0.00	0.000	4	0.000	0.078	3081	865	2152	0	0	0	0	0	0
2963	0.70	214.6	175.1	11.3	313	2971	0.00	2.38	0.00	0.000	6	0.000	0.062	3081	2277	2150	0	0	0	0	0	0
3291	0.71	223.5	142.3	9.6	344	3306	0.00	2.40	9.20	0.918	4	0.000	0.080	3081	3687	2118	0	0	0	0	0	0
3324	0.71	223.5	138.7	10.7	347	3329	0.00	2.33	0.00	0.000	6	0.000	0.064	3091	2267	2117	0	0	0	0	0	0
3649	0.73	234.3	107.1	9.5	377	3666	0.00	2.38	11.43	0.947	4	0.000	0.076	3091	3693	2072	0	0	0	0	0	0
3705	0.69	234.3	101.1	10.8	381	3712	0.00	2.35	0.00	0.000	6	0.000	0.063	3102	2264	2071	0	0	0	0	0	0
4048	0.71	246.5	69.2	9.4	441	4066	0.00	0.00	12.00	0.944	6	0.000	0.000	3102	2263	2024	0	0	0	0	0	0
4404	0.72	259.5	34.8	9.4	504	4422	0.00	0.00	11.95	0.957	6	0.000	0.000	3101	2264	1971	0	0	0	0	0	0
4671	end climb: FINISH_DEPTH_REACHED
state	4671	begin subsurface finish
4677	0.08	67.8	8.8	-9.9	551	4714	0.68	2.47	-29.15	0.000	4	0.167	0.092	2899	3699	2756	0	0	0	0	0	0
4715	end subsurface finish: CONTROL_FINISHED_OK
state	4715	begin surface