Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 348 * 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 348 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 22 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 19 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 -36627.012 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 -36627.012

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 22 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 19 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 348 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 10.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -2.1 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 8.28,-1.744,-1.779,2,74,0 _24V_AH 22.4,47.452

FINISH1 8.3,1.026053,71 _10V_AH 10.1,25.320

FINISH2 6.7 FG_AHR_24Vo 0.000

RAFOS_CLK 273 FG_AHR_10Vo 0.000

RAFOS_FIX 42603.042969,-42015.082031,100411,121244,2,98,0.01 MEM 150564

IRIDIUM_FIX 6625.71,-5714.90,310311,212146 DATA_FILE_SIZE 20147,545

TT8_MAMPS 0.026215 CAP_FILE_SIZE 60807,0

HUMID 48.07 CFSIZE 260165632,229670912

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

TCM_TEMP 16.00 SOUNDSPEED 1443.2

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

ALTIM_TOP_PING 20.0,17.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 228 17.42 SBE_CT 391 24 210.67

Roll_motor 51 90 104.54 SBE_O2 402 19 171.14

VBD_pump_during_apogee 379 1120 9523.29 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 2.35 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1273 19 256.27

LPSleep 2040 2 47.62

TT8_Active 388 19 78.08

TT8_Sampling 948 39 382.43

TT8_CF8 77 45 36.04

TT8_Kalman 0 0 0.00

Analog_circuits 929 12 112.64

GPS_charging 0 0 0.00

Compass 945 15 143.22

RAFOS 0 0 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

15 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -6.45 0.000 2 0.000 0.000 2900 3691 2992 0 0 0 0 0 0

26 -0.62 -146.0 12.1 -0.0 1 52 0.68 4.32 -15.80 0.000 4 0.114 0.072 2669 1080 3630 0 0 0 0 0 0

245 -0.54 -146.0 47.8 -17.5 39 252 0.00 2.33 0.00 0.000 6 0.000 0.070 2670 2488 3632 0 0 0 0 0 0

587 -0.41 -146.0 111.6 -17.9 94 592 0.22 2.35 0.00 0.000 4 0.229 0.083 2724 3900 3632 0 0 0 0 0 0

684 -0.47 -146.0 122.8 -9.8 102 688 0.00 2.28 0.00 0.000 6 0.000 0.054 2724 2475 3632 0 0 0 0 0 0

1009 -0.52 -146.0 153.0 -8.8 132 1013 0.00 2.25 0.00 0.000 4 0.000 0.072 2724 1080 3631 0 0 0 0 0 0

1147 -0.62 -146.0 165.5 -9.4 144 1152 0.17 2.30 0.00 0.000 6 0.118 0.069 2664 2496 3630 0 0 0 0 0 0

1472 -0.54 -146.0 209.9 -13.9 174 1476 0.00 2.33 0.00 0.000 4 0.000 0.085 2664 3904 3630 0 0 0 0 0 0

1583 -0.51 -146.0 225.0 -12.4 183 1590 0.12 2.25 0.00 0.000 6 0.223 0.054 2692 2485 3630 0 0 0 0 0 0

1833 end dive: TARGET_DEPTH_EXCEEDED

state 1833 begin apogee

1838 -0.12 0.0 250.5 9.6 207 1969 0.43 0.00 120.78 1.121 6 0.206 0.000 2812 2258 3030 0 0 0 0 0 0

1970 end apogee: CONTROL_FINISHED_OK

state 1970 begin climb

1972 0.62 146.0 255.4 0.0 219 2107 0.82 2.60 124.75 1.063 4 0.160 0.075 3060 881 2432 0 0 0 0 0 0

2306 0.62 169.4 232.1 8.9 249 2332 0.00 2.40 20.83 0.997 6 0.000 0.061 3060 2281 2339 0 0 0 0 0 0

2658 0.61 177.7 198.1 9.6 282 2671 0.00 2.47 8.00 0.886 4 0.000 0.076 3070 878 2304 0 0 0 0 0 0

2796 0.63 190.4 184.9 9.4 294 2819 0.00 2.33 12.73 0.957 6 0.000 0.062 3070 2283 2252 0 0 0 0 0 0

3137 0.65 211.1 152.7 9.0 326 3161 0.00 2.38 19.62 0.985 4 0.000 0.074 3070 3687 2167 0 0 0 0 0 0

3186 0.63 212.4 148.2 9.9 330 3190 0.00 2.33 0.00 0.000 6 0.000 0.060 3080 2283 2166 0 0 0 0 0 0

3511 0.65 226.5 117.7 9.3 360 3534 0.00 2.40 14.68 0.955 4 0.000 0.076 3091 871 2105 0 0 0 0 0 0

3627 0.71 254.1 107.7 8.7 370 3660 0.00 2.30 26.12 0.977 6 0.000 0.061 3090 2278 1993 0 0 0 0 0 0

3995 0.77 270.0 74.0 9.3 428 4020 0.00 2.40 14.95 0.935 4 0.000 0.075 3090 3686 1928 0 0 0 0 0 0

4049 0.79 270.0 68.7 10.6 437 4056 0.00 2.30 0.00 0.000 6 0.000 0.060 3100 2274 1926 0 0 0 0 0 0

4394 0.85 288.5 36.7 9.2 498 4420 0.10 2.35 16.90 0.950 4 0.125 0.076 3152 862 1853 0 0 0 0 0 0

4450 0.82 288.5 30.2 13.0 507 4456 0.00 2.30 0.00 0.000 6 0.000 0.059 3152 2277 1851 0 0 0 0 0 0

4625 end climb: FINISH_DEPTH_REACHED

state 4625 begin subsurface finish

4631 0.09 70.9 8.3 -12.6 538 4673 0.85 2.40 -36.17 0.000 4 0.179 0.090 2902 3687 2742 0 0 0 0 0 0

4674 end subsurface finish: CONTROL_FINISHED_OK

state 4674 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	348	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	22	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	19	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	-36627.012	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	10.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-2.1	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	8.28,-1.744,-1.779,2,74,0	_24V_AH	22.4,47.452
FINISH1	8.3,1.026053,71	_10V_AH	10.1,25.320
FINISH2	6.7	FG_AHR_24Vo	0.000
RAFOS_CLK	273	FG_AHR_10Vo	0.000
RAFOS_FIX	42603.042969,-42015.082031,100411,121244,2,98,0.01	MEM	150564
IRIDIUM_FIX	6625.71,-5714.90,310311,212146	DATA_FILE_SIZE	20147,545
TT8_MAMPS	0.026215	CAP_FILE_SIZE	60807,0
HUMID	48.07	CFSIZE	260165632,229670912
INTERNAL_PRESSURE	8.65268	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.00	SOUNDSPEED	1443.2
XPDR_PINGS	0	GPS	240813,073118,-200.000,-200.000,181,99.0,181,-37.5
ALTIM_TOP_PING	20.0,17.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	228	17.42	SBE_CT	391	24	210.67
Roll_motor	51	90	104.54	SBE_O2	402	19	171.14
VBD_pump_during_apogee	379	1120	9523.29	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	2.35	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1273	19	256.27
LPSleep	2040	2	47.62
TT8_Active	388	19	78.08
TT8_Sampling	948	39	382.43
TT8_CF8	77	45	36.04
TT8_Kalman	0	0	0.00
Analog_circuits	929	12	112.64
GPS_charging	0	0	0.00
Compass	945	15	143.22
RAFOS	0	0	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
15	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-6.45	0.000	2	0.000	0.000	2900	3691	2992	0	0	0	0	0	0
26	-0.62	-146.0	12.1	-0.0	1	52	0.68	4.32	-15.80	0.000	4	0.114	0.072	2669	1080	3630	0	0	0	0	0	0
245	-0.54	-146.0	47.8	-17.5	39	252	0.00	2.33	0.00	0.000	6	0.000	0.070	2670	2488	3632	0	0	0	0	0	0
587	-0.41	-146.0	111.6	-17.9	94	592	0.22	2.35	0.00	0.000	4	0.229	0.083	2724	3900	3632	0	0	0	0	0	0
684	-0.47	-146.0	122.8	-9.8	102	688	0.00	2.28	0.00	0.000	6	0.000	0.054	2724	2475	3632	0	0	0	0	0	0
1009	-0.52	-146.0	153.0	-8.8	132	1013	0.00	2.25	0.00	0.000	4	0.000	0.072	2724	1080	3631	0	0	0	0	0	0
1147	-0.62	-146.0	165.5	-9.4	144	1152	0.17	2.30	0.00	0.000	6	0.118	0.069	2664	2496	3630	0	0	0	0	0	0
1472	-0.54	-146.0	209.9	-13.9	174	1476	0.00	2.33	0.00	0.000	4	0.000	0.085	2664	3904	3630	0	0	0	0	0	0
1583	-0.51	-146.0	225.0	-12.4	183	1590	0.12	2.25	0.00	0.000	6	0.223	0.054	2692	2485	3630	0	0	0	0	0	0
1833	end dive: TARGET_DEPTH_EXCEEDED
state	1833	begin apogee
1838	-0.12	0.0	250.5	9.6	207	1969	0.43	0.00	120.78	1.121	6	0.206	0.000	2812	2258	3030	0	0	0	0	0	0
1970	end apogee: CONTROL_FINISHED_OK
state	1970	begin climb
1972	0.62	146.0	255.4	0.0	219	2107	0.82	2.60	124.75	1.063	4	0.160	0.075	3060	881	2432	0	0	0	0	0	0
2306	0.62	169.4	232.1	8.9	249	2332	0.00	2.40	20.83	0.997	6	0.000	0.061	3060	2281	2339	0	0	0	0	0	0
2658	0.61	177.7	198.1	9.6	282	2671	0.00	2.47	8.00	0.886	4	0.000	0.076	3070	878	2304	0	0	0	0	0	0
2796	0.63	190.4	184.9	9.4	294	2819	0.00	2.33	12.73	0.957	6	0.000	0.062	3070	2283	2252	0	0	0	0	0	0
3137	0.65	211.1	152.7	9.0	326	3161	0.00	2.38	19.62	0.985	4	0.000	0.074	3070	3687	2167	0	0	0	0	0	0
3186	0.63	212.4	148.2	9.9	330	3190	0.00	2.33	0.00	0.000	6	0.000	0.060	3080	2283	2166	0	0	0	0	0	0
3511	0.65	226.5	117.7	9.3	360	3534	0.00	2.40	14.68	0.955	4	0.000	0.076	3091	871	2105	0	0	0	0	0	0
3627	0.71	254.1	107.7	8.7	370	3660	0.00	2.30	26.12	0.977	6	0.000	0.061	3090	2278	1993	0	0	0	0	0	0
3995	0.77	270.0	74.0	9.3	428	4020	0.00	2.40	14.95	0.935	4	0.000	0.075	3090	3686	1928	0	0	0	0	0	0
4049	0.79	270.0	68.7	10.6	437	4056	0.00	2.30	0.00	0.000	6	0.000	0.060	3100	2274	1926	0	0	0	0	0	0
4394	0.85	288.5	36.7	9.2	498	4420	0.10	2.35	16.90	0.950	4	0.125	0.076	3152	862	1853	0	0	0	0	0	0
4450	0.82	288.5	30.2	13.0	507	4456	0.00	2.30	0.00	0.000	6	0.000	0.059	3152	2277	1851	0	0	0	0	0	0
4625	end climb: FINISH_DEPTH_REACHED
state	4625	begin subsurface finish
4631	0.09	70.9	8.3	-12.6	538	4673	0.85	2.40	-36.17	0.000	4	0.179	0.090	2902	3687	2742	0	0	0	0	0	0
4674	end subsurface finish: CONTROL_FINISHED_OK
state	4674	begin surface