Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 378 * 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 378 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 18 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 -37735.848 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 -37735.848

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 18 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 378 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 11.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.5 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 8.67,-1.750,-1.780,2,104,0 _24V_AH 22.2,50.884

FINISH1 8.7,1.026055,71 _10V_AH 10.1,26.382

FINISH2 7.2 FG_AHR_24Vo 0.000

RAFOS_CLK 284 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.554688,-222019.468750,120411,040444,4,96,0.02 MEM 150564

IRIDIUM_FIX 6625.71,-5714.90,310311,212146 DATA_FILE_SIZE 20114,561

TT8_MAMPS 0.026964 CAP_FILE_SIZE 59639,0

HUMID 48.42 CFSIZE 260165632,228564992

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 20.0,17.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 232 17.68 SBE_CT 404 24 215.68

Roll_motor 52 87 101.45 SBE_O2 412 19 174.08

VBD_pump_during_apogee 391 1123 9750.53 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 2.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1292 19 260.04

LPSleep 2132 2 49.74

TT8_Active 407 19 81.89

TT8_Sampling 901 39 363.37

TT8_CF8 80 45 37.27

TT8_Kalman 0 0 0.00

Analog_circuits 936 12 113.48

GPS_charging 0 0 0.00

Compass 902 15 136.68

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 -6.55 0.000 2 0.000 0.000 2897 3693 2998 0 0 0 0 0 0

26 -0.62 -146.0 12.4 -0.0 1 52 0.65 4.35 -15.43 0.000 4 0.113 0.076 2674 1069 3629 0 0 0 0 0 0

250 -0.56 -146.0 46.6 -15.0 40 257 0.00 2.33 0.00 0.000 6 0.000 0.073 2674 2489 3631 0 0 0 0 0 0

593 -0.45 -146.0 105.7 -15.9 98 598 0.17 2.38 0.00 0.000 4 0.233 0.086 2713 3908 3631 0 0 0 0 0 0

694 -0.49 -146.0 118.4 -11.0 106 701 0.00 2.25 0.00 0.000 6 0.000 0.057 2714 2486 3631 0 0 0 0 0 0

1021 -0.52 -146.0 153.6 -9.8 137 1022 0.00 0.00 0.00 0.000 6 0.000 0.000 2714 2486 3631 0 0 0 0 0 0

1339 -0.57 -146.0 183.9 -9.4 167 1340 0.00 0.00 0.00 0.000 6 0.000 0.000 2714 2486 3630 0 0 0 0 0 0

1657 -0.62 -146.0 213.4 -9.0 197 1662 0.15 2.30 0.00 0.000 4 0.131 0.076 2665 1072 3629 0 0 0 0 0 0

1690 -0.59 -146.0 217.6 -12.5 199 1697 0.00 2.33 0.00 0.000 6 0.000 0.073 2665 2499 3629 0 0 0 0 0 0

1939 end dive: TARGET_DEPTH_EXCEEDED

state 1939 begin apogee

1945 -0.12 0.0 250.7 13.0 223 2076 0.55 0.00 121.22 1.123 6 0.217 0.000 2813 2270 3029 0 0 0 0 0 0

2077 end apogee: CONTROL_FINISHED_OK

state 2077 begin climb

2080 0.62 146.0 256.6 0.0 235 2215 0.82 2.65 125.47 1.068 4 0.161 0.078 3060 874 2433 0 0 0 0 0 0

2261 0.66 179.3 248.4 8.5 251 2301 0.00 2.53 30.33 1.017 6 0.000 0.064 3060 2278 2298 0 0 0 0 0 0

2619 0.68 199.8 215.4 9.1 285 2643 0.00 2.53 18.48 0.992 4 0.000 0.080 3060 3687 2214 0 0 0 0 0 0

2656 0.70 216.5 212.1 9.2 288 2679 0.00 2.40 16.75 0.978 6 0.000 0.063 3070 2282 2147 0 0 0 0 0 0

2996 0.71 220.2 177.4 9.8 320 3000 0.00 2.40 0.00 0.000 4 0.000 0.081 3081 861 2141 0 0 0 0 0 0

3031 0.73 220.2 174.0 10.2 323 3036 0.00 2.38 0.00 0.000 6 0.000 0.065 3081 2285 2139 0 0 0 0 0 0

3362 0.74 228.3 140.4 9.6 354 3377 0.00 2.35 10.70 0.942 4 0.000 0.080 3081 3687 2099 0 0 0 0 0 0

3384 0.74 228.3 138.1 10.5 356 3389 0.00 2.33 0.00 0.000 6 0.000 0.063 3091 2268 2099 0 0 0 0 0 0

3710 0.77 252.4 107.3 8.9 386 3743 0.00 2.47 23.12 0.992 4 0.000 0.077 3091 3695 1999 0 0 0 0 0 0

3771 0.77 252.4 101.1 11.5 391 3777 0.00 2.35 0.00 0.000 6 0.000 0.064 3101 2275 1998 0 0 0 0 0 0

4113 0.78 255.6 66.8 9.9 451 4120 0.00 2.33 0.00 0.000 4 0.000 0.079 3111 859 1996 0 0 0 0 0 0

4155 0.81 264.1 62.8 9.6 458 4174 0.00 2.30 11.52 0.933 6 0.000 0.066 3111 2275 1953 0 0 0 0 0 0

4514 0.90 317.7 31.4 7.5 521 4557 0.12 2.40 33.50 1.027 4 0.111 0.080 3161 3688 1732 0 0 0 0 0 0

4581 0.84 317.7 23.5 14.0 532 4588 0.15 2.38 0.00 0.000 6 0.215 0.067 3137 2270 1728 0 0 0 0 0 0

4702 end climb: FINISH_DEPTH_REACHED

state 4702 begin subsurface finish

4708 0.09 70.8 8.7 -11.9 553 4756 0.80 2.33 -39.65 0.000 4 0.175 0.087 2900 861 2743 0 0 0 0 0 0

4757 end subsurface finish: CONTROL_FINISHED_OK

state 4757 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	378	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	18	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	-37735.848	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	11.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.5	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	8.67,-1.750,-1.780,2,104,0	_24V_AH	22.2,50.884
FINISH1	8.7,1.026055,71	_10V_AH	10.1,26.382
FINISH2	7.2	FG_AHR_24Vo	0.000
RAFOS_CLK	284	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.554688,-222019.468750,120411,040444,4,96,0.02	MEM	150564
IRIDIUM_FIX	6625.71,-5714.90,310311,212146	DATA_FILE_SIZE	20114,561
TT8_MAMPS	0.026964	CAP_FILE_SIZE	59639,0
HUMID	48.42	CFSIZE	260165632,228564992
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	20.0,17.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	232	17.68	SBE_CT	404	24	215.68
Roll_motor	52	87	101.45	SBE_O2	412	19	174.08
VBD_pump_during_apogee	391	1123	9750.53	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	2.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1292	19	260.04
LPSleep	2132	2	49.74
TT8_Active	407	19	81.89
TT8_Sampling	901	39	363.37
TT8_CF8	80	45	37.27
TT8_Kalman	0	0	0.00
Analog_circuits	936	12	113.48
GPS_charging	0	0	0.00
Compass	902	15	136.68
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	-6.55	0.000	2	0.000	0.000	2897	3693	2998	0	0	0	0	0	0
26	-0.62	-146.0	12.4	-0.0	1	52	0.65	4.35	-15.43	0.000	4	0.113	0.076	2674	1069	3629	0	0	0	0	0	0
250	-0.56	-146.0	46.6	-15.0	40	257	0.00	2.33	0.00	0.000	6	0.000	0.073	2674	2489	3631	0	0	0	0	0	0
593	-0.45	-146.0	105.7	-15.9	98	598	0.17	2.38	0.00	0.000	4	0.233	0.086	2713	3908	3631	0	0	0	0	0	0
694	-0.49	-146.0	118.4	-11.0	106	701	0.00	2.25	0.00	0.000	6	0.000	0.057	2714	2486	3631	0	0	0	0	0	0
1021	-0.52	-146.0	153.6	-9.8	137	1022	0.00	0.00	0.00	0.000	6	0.000	0.000	2714	2486	3631	0	0	0	0	0	0
1339	-0.57	-146.0	183.9	-9.4	167	1340	0.00	0.00	0.00	0.000	6	0.000	0.000	2714	2486	3630	0	0	0	0	0	0
1657	-0.62	-146.0	213.4	-9.0	197	1662	0.15	2.30	0.00	0.000	4	0.131	0.076	2665	1072	3629	0	0	0	0	0	0
1690	-0.59	-146.0	217.6	-12.5	199	1697	0.00	2.33	0.00	0.000	6	0.000	0.073	2665	2499	3629	0	0	0	0	0	0
1939	end dive: TARGET_DEPTH_EXCEEDED
state	1939	begin apogee
1945	-0.12	0.0	250.7	13.0	223	2076	0.55	0.00	121.22	1.123	6	0.217	0.000	2813	2270	3029	0	0	0	0	0	0
2077	end apogee: CONTROL_FINISHED_OK
state	2077	begin climb
2080	0.62	146.0	256.6	0.0	235	2215	0.82	2.65	125.47	1.068	4	0.161	0.078	3060	874	2433	0	0	0	0	0	0
2261	0.66	179.3	248.4	8.5	251	2301	0.00	2.53	30.33	1.017	6	0.000	0.064	3060	2278	2298	0	0	0	0	0	0
2619	0.68	199.8	215.4	9.1	285	2643	0.00	2.53	18.48	0.992	4	0.000	0.080	3060	3687	2214	0	0	0	0	0	0
2656	0.70	216.5	212.1	9.2	288	2679	0.00	2.40	16.75	0.978	6	0.000	0.063	3070	2282	2147	0	0	0	0	0	0
2996	0.71	220.2	177.4	9.8	320	3000	0.00	2.40	0.00	0.000	4	0.000	0.081	3081	861	2141	0	0	0	0	0	0
3031	0.73	220.2	174.0	10.2	323	3036	0.00	2.38	0.00	0.000	6	0.000	0.065	3081	2285	2139	0	0	0	0	0	0
3362	0.74	228.3	140.4	9.6	354	3377	0.00	2.35	10.70	0.942	4	0.000	0.080	3081	3687	2099	0	0	0	0	0	0
3384	0.74	228.3	138.1	10.5	356	3389	0.00	2.33	0.00	0.000	6	0.000	0.063	3091	2268	2099	0	0	0	0	0	0
3710	0.77	252.4	107.3	8.9	386	3743	0.00	2.47	23.12	0.992	4	0.000	0.077	3091	3695	1999	0	0	0	0	0	0
3771	0.77	252.4	101.1	11.5	391	3777	0.00	2.35	0.00	0.000	6	0.000	0.064	3101	2275	1998	0	0	0	0	0	0
4113	0.78	255.6	66.8	9.9	451	4120	0.00	2.33	0.00	0.000	4	0.000	0.079	3111	859	1996	0	0	0	0	0	0
4155	0.81	264.1	62.8	9.6	458	4174	0.00	2.30	11.52	0.933	6	0.000	0.066	3111	2275	1953	0	0	0	0	0	0
4514	0.90	317.7	31.4	7.5	521	4557	0.12	2.40	33.50	1.027	4	0.111	0.080	3161	3688	1732	0	0	0	0	0	0
4581	0.84	317.7	23.5	14.0	532	4588	0.15	2.38	0.00	0.000	6	0.215	0.067	3137	2270	1728	0	0	0	0	0	0
4702	end climb: FINISH_DEPTH_REACHED
state	4702	begin subsurface finish
4708	0.09	70.8	8.7	-11.9	553	4756	0.80	2.33	-39.65	0.000	4	0.175	0.087	2900	861	2743	0	0	0	0	0	0
4757	end subsurface finish: CONTROL_FINISHED_OK
state	4757	begin surface