Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 379 * 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 379 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 18 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 18 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 379 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 9.27 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.4 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:

FINISH1 11.4,1.026054,71 _24V_AH 22.1,50.999

FINISH2 9.9 _10V_AH 10.1,26.414

RAFOS_CLK 261 FG_AHR_24Vo 0.000

RAFOS 0,1302595264,8.033334,8.017777,61,54,51,51,50,49,210,141,181,163,221,130 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.554688,-222019.468750,120411,040444,4,96,0.02 MEM 150532

IRIDIUM_FIX 6625.71,-5714.90,310311,212146 DATA_FILE_SIZE 20131,510

TT8_MAMPS 0.026215 CAP_FILE_SIZE 56157,0

HUMID 48.22 CFSIZE 260165632,228532224

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

TCM_TEMP 15.90 SOUNDSPEED 1442.5

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

ALTIM_TOP_PING 20.0,12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 222 18.08 SBE_CT 367 24 194.83

Roll_motor 48 93 99.31 SBE_O2 374 19 157.22

VBD_pump_during_apogee 383 1126 9552.27 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 2.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1178 19 237.13

LPSleep 1940 2 45.27

TT8_Active 392 19 78.87

TT8_Sampling 820 39 330.64

TT8_CF8 74 45 34.48

TT8_Kalman 0 0 0.00

Analog_circuits 880 12 106.68

GPS_charging 0 0 0.00

Compass 820 15 124.28

RAFOS 2160 1 32.72

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -6.80 0.000 2 0.000 0.000 2900 861 2981 0 0 0 0 0 0

27 -0.62 -146.0 10.6 -0.0 1 58 0.68 5.12 -17.52 0.000 4 0.106 0.086 2666 3899 3628 0 0 0 0 0 0

245 -0.55 -146.0 46.0 -15.9 39 252 0.00 2.28 0.00 0.000 6 0.000 0.057 2666 2485 3630 0 0 0 0 0 0

589 -0.41 -146.0 107.8 -17.9 96 593 0.22 2.30 0.00 0.000 4 0.223 0.073 2721 1080 3630 0 0 0 0 0 0

633 -0.48 -146.0 114.8 -12.7 99 640 0.00 2.30 0.00 0.000 6 0.000 0.070 2721 2490 3630 0 0 0 0 0 0

962 -0.52 -146.0 149.0 -10.7 130 966 0.00 2.38 0.00 0.000 4 0.000 0.087 2721 3907 3629 0 0 0 0 0 0

1050 -0.59 -146.0 158.7 -10.3 137 1058 0.15 2.25 0.00 0.000 6 0.126 0.055 2670 2479 3629 0 0 0 0 0 0

1376 -0.53 -146.0 202.7 -13.1 168 1377 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2480 3629 0 0 0 0 0 0

1695 -0.48 -146.0 244.1 -12.1 198 1697 0.15 0.00 0.00 0.000 6 0.221 0.000 2705 2479 3629 0 0 0 0 0 0

1755 end dive: TARGET_DEPTH_EXCEEDED

state 1755 begin apogee

1761 -0.12 0.0 250.4 8.9 204 1892 0.38 0.00 120.90 1.127 6 0.201 0.000 2812 2265 3029 0 0 0 0 0 0

1893 end apogee: CONTROL_FINISHED_OK

state 1893 begin climb

1895 0.62 146.0 255.4 0.0 216 2030 0.82 2.65 125.07 1.073 4 0.161 0.077 3058 877 2432 0 0 0 0 0 0

2042 0.71 223.5 250.5 6.4 229 2120 0.10 2.53 70.65 1.032 6 0.118 0.063 3093 2278 2118 0 0 0 0 0 0

2440 0.69 223.5 205.0 12.0 266 2444 0.00 2.42 0.00 0.000 4 0.000 0.076 3093 3697 2106 0 0 0 0 0 0

2461 0.65 223.5 201.9 12.0 267 2469 0.12 2.40 0.00 0.000 6 0.200 0.063 3077 2287 2105 0 0 0 0 0 0

2786 0.65 225.0 167.5 9.9 298 2787 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 2287 2104 0 0 0 0 0 0

3107 0.68 247.0 137.5 9.0 328 3133 0.00 2.42 19.48 0.993 4 0.000 0.080 3085 869 2023 0 0 0 0 0 0

3163 0.74 261.4 132.2 9.3 333 3186 0.00 2.33 14.57 0.956 6 0.000 0.064 3085 2286 1963 0 0 0 0 0 0

3504 0.83 296.5 100.6 8.4 365 3545 0.12 2.35 32.90 0.986 4 0.109 0.076 3137 3684 1820 0 0 0 0 0 0

3564 0.78 296.5 93.6 12.8 374 3571 0.12 2.35 0.00 0.000 6 0.210 0.064 3121 2267 1817 0 0 0 0 0 0

3908 0.78 296.5 54.5 10.2 435 3915 0.00 2.33 0.00 0.000 4 0.000 0.080 3127 863 1813 0 0 0 0 0 0

3944 0.80 296.5 50.7 10.5 441 3951 0.00 2.33 0.00 0.000 6 0.000 0.063 3128 2282 1813 0 0 0 0 0 0

4291 0.80 296.5 13.2 11.2 502 4297 0.00 2.30 0.00 0.000 4 0.000 0.079 3128 3692 1812 0 0 0 0 0 0

4302 end climb: SURFACE_OBSTACLE_DETECTED

state 4302 begin subsurface finish

4311 0.09 70.9 11.4 -11.8 504 4348 0.80 2.45 -29.12 0.000 4 0.179 0.093 2902 3697 2744 0 0 0 0 0 0

4348 end subsurface finish: CONTROL_FINISHED_OK

state 4349 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	379	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	18	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	9.27	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.4	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

FINISH1	11.4,1.026054,71	_24V_AH	22.1,50.999
FINISH2	9.9	_10V_AH	10.1,26.414
RAFOS_CLK	261	FG_AHR_24Vo	0.000
RAFOS	0,1302595264,8.033334,8.017777,61,54,51,51,50,49,210,141,181,163,221,130	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.554688,-222019.468750,120411,040444,4,96,0.02	MEM	150532
IRIDIUM_FIX	6625.71,-5714.90,310311,212146	DATA_FILE_SIZE	20131,510
TT8_MAMPS	0.026215	CAP_FILE_SIZE	56157,0
HUMID	48.22	CFSIZE	260165632,228532224
INTERNAL_PRESSURE	8.65268	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.90	SOUNDSPEED	1442.5
XPDR_PINGS	0	GPS	240813,073118,-200.000,-200.000,181,99.0,181,-37.5
ALTIM_TOP_PING	20.0,12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	222	18.08	SBE_CT	367	24	194.83
Roll_motor	48	93	99.31	SBE_O2	374	19	157.22
VBD_pump_during_apogee	383	1126	9552.27	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	2.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1178	19	237.13
LPSleep	1940	2	45.27
TT8_Active	392	19	78.87
TT8_Sampling	820	39	330.64
TT8_CF8	74	45	34.48
TT8_Kalman	0	0	0.00
Analog_circuits	880	12	106.68
GPS_charging	0	0	0.00
Compass	820	15	124.28
RAFOS	2160	1	32.72
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-6.80	0.000	2	0.000	0.000	2900	861	2981	0	0	0	0	0	0
27	-0.62	-146.0	10.6	-0.0	1	58	0.68	5.12	-17.52	0.000	4	0.106	0.086	2666	3899	3628	0	0	0	0	0	0
245	-0.55	-146.0	46.0	-15.9	39	252	0.00	2.28	0.00	0.000	6	0.000	0.057	2666	2485	3630	0	0	0	0	0	0
589	-0.41	-146.0	107.8	-17.9	96	593	0.22	2.30	0.00	0.000	4	0.223	0.073	2721	1080	3630	0	0	0	0	0	0
633	-0.48	-146.0	114.8	-12.7	99	640	0.00	2.30	0.00	0.000	6	0.000	0.070	2721	2490	3630	0	0	0	0	0	0
962	-0.52	-146.0	149.0	-10.7	130	966	0.00	2.38	0.00	0.000	4	0.000	0.087	2721	3907	3629	0	0	0	0	0	0
1050	-0.59	-146.0	158.7	-10.3	137	1058	0.15	2.25	0.00	0.000	6	0.126	0.055	2670	2479	3629	0	0	0	0	0	0
1376	-0.53	-146.0	202.7	-13.1	168	1377	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2480	3629	0	0	0	0	0	0
1695	-0.48	-146.0	244.1	-12.1	198	1697	0.15	0.00	0.00	0.000	6	0.221	0.000	2705	2479	3629	0	0	0	0	0	0
1755	end dive: TARGET_DEPTH_EXCEEDED
state	1755	begin apogee
1761	-0.12	0.0	250.4	8.9	204	1892	0.38	0.00	120.90	1.127	6	0.201	0.000	2812	2265	3029	0	0	0	0	0	0
1893	end apogee: CONTROL_FINISHED_OK
state	1893	begin climb
1895	0.62	146.0	255.4	0.0	216	2030	0.82	2.65	125.07	1.073	4	0.161	0.077	3058	877	2432	0	0	0	0	0	0
2042	0.71	223.5	250.5	6.4	229	2120	0.10	2.53	70.65	1.032	6	0.118	0.063	3093	2278	2118	0	0	0	0	0	0
2440	0.69	223.5	205.0	12.0	266	2444	0.00	2.42	0.00	0.000	4	0.000	0.076	3093	3697	2106	0	0	0	0	0	0
2461	0.65	223.5	201.9	12.0	267	2469	0.12	2.40	0.00	0.000	6	0.200	0.063	3077	2287	2105	0	0	0	0	0	0
2786	0.65	225.0	167.5	9.9	298	2787	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	2287	2104	0	0	0	0	0	0
3107	0.68	247.0	137.5	9.0	328	3133	0.00	2.42	19.48	0.993	4	0.000	0.080	3085	869	2023	0	0	0	0	0	0
3163	0.74	261.4	132.2	9.3	333	3186	0.00	2.33	14.57	0.956	6	0.000	0.064	3085	2286	1963	0	0	0	0	0	0
3504	0.83	296.5	100.6	8.4	365	3545	0.12	2.35	32.90	0.986	4	0.109	0.076	3137	3684	1820	0	0	0	0	0	0
3564	0.78	296.5	93.6	12.8	374	3571	0.12	2.35	0.00	0.000	6	0.210	0.064	3121	2267	1817	0	0	0	0	0	0
3908	0.78	296.5	54.5	10.2	435	3915	0.00	2.33	0.00	0.000	4	0.000	0.080	3127	863	1813	0	0	0	0	0	0
3944	0.80	296.5	50.7	10.5	441	3951	0.00	2.33	0.00	0.000	6	0.000	0.063	3128	2282	1813	0	0	0	0	0	0
4291	0.80	296.5	13.2	11.2	502	4297	0.00	2.30	0.00	0.000	4	0.000	0.079	3128	3692	1812	0	0	0	0	0	0
4302	end climb: SURFACE_OBSTACLE_DETECTED
state	4302	begin subsurface finish
4311	0.09	70.9	11.4	-11.8	504	4348	0.80	2.45	-29.12	0.000	4	0.179	0.093	2902	3697	2744	0	0	0	0	0	0
4348	end subsurface finish: CONTROL_FINISHED_OK
state	4349	begin surface