Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 415 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING 90 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 415 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2800 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2400 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 325 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 16 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 16 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 3 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 3 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -44502.047 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2690 FG_AHR_24V 0 SEABIRD_T_G 0.0043131942

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062854384

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_YINT -24.446302 SEABIRD_T_I 2.3348166e-05

MASS 51204 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 0 PITCH_GAIN 31 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 1 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 325

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038360001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -44502.047

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 0 HEADING 90 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2690 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2400 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2800 KERMIT 0 ROLL_MAX 3915 USE_ICE 2

C_VBD 2800 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 290 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51204 R_PORT_OVSHOOT 16 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 16 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.029707 VBD_MIN 442

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1484355 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 10 SEABIRD_C_I -0.0010294267 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00016845814 VBD_TIMEOUT 720

DIVE 415 NAV_MODE 0 SEABIRD_T_G 0.0043131942 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 8 SEABIRD_T_H 0.00062854384 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.3348166e-05 XPDR_VALID 0

D_CALL 3 N_NOCOMM 0 SEABIRD_T_J 2.4454023e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 220113,6731.832,-5743.973,28,1.4,34,-38.4 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6732.035,-5715.849

_XMS_NAKs 7 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221534,6732.035,-5744.108,12,2.8,31,-38.4 MHEAD_RNG_PITCHd_Wd 128.4,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 227

Post-dive calculations and measurements:

FREEZE 0.32,-1.092,-1.821,0,1,0 ALTIM_TOP_PING 19.7,20.2

FINISH 0.3,1.026724 _24V_AH 22.9,72.792

SM_CCo 5127,1.62,0.104,0,0,1475,325.02 _10V_AH 10.0,38.782

SM_GC 1.56,0.00,0.00,1.62,0.000,0.000,0.104,129,2798,1475,-8.00,-0.06,325.02 FG_AHR_24Vo 0.000

RAFOS_CLK 345 FG_AHR_10Vo 0.000

RAFOS_FIX 6728.032227,-5800.452148,271209,161644,2,78,0.00 MEM 152572

IRIDIUM_FIX 6703.95,-5741.21,240399,222224 DATA_FILE_SIZE 25320,644

TT8_MAMPS 0.027612 CAP_FILE_SIZE 83392,0

HUMID 46.25 CFSIZE 260165632,218636288

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,116,0,0

TCM_TEMP 17.20 SOUNDSPEED 1458.5

XPDR_PINGS 4 GPS 281209,234214,6732.630,-5742.625,10,1.7,10,-38.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 299 162.86 SBE_CT 469 24 258.09

Roll_motor 71 94 153.71 SBE_O2 433 19 188.50

VBD_pump_during_apogee 382 895 7855.23 nil 0 0 0.00

VBD_pump_during_surface 1 103 3.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 90 103 214.02 nil 0 0 0.00

Iridium_during_connect 102 160 376.98 nil 0 0 0.00

Iridium_during_xfer 392 223 2003.87

Transponder_ping 1 420 12.02

GUMSTIX_24V 0 0 0.00

GPS 33 50 16.78

TT8 1007 19 200.79

LPSleep 2693 2 62.21

TT8_Active 462 19 92.22

TT8_Sampling 1085 39 433.14

TT8_CF8 741 45 340.42

TT8_Kalman 0 0 0.00

Analog_circuits 1071 12 128.61

GPS_charging 0 0 0.00

Compass 1050 8 84.00

RAFOS 0 1 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

14 -0.73 -146.0 0.0 0.0 0 113 0.00 0.00 -95.50 0.000 2 0.000 0.000 130 2797 3007 0 0 0 0 0 0

116 -0.73 -146.0 3.1 -5.6 19 142 11.50 0.00 -10.55 0.000 6 0.299 0.000 2446 2797 3397 0 0 0 0 0 0

478 -0.73 -146.0 44.6 -9.7 84 484 0.00 2.85 0.00 0.000 4 0.000 0.094 2446 3921 3401 0 0 7 0 0 0

731 -0.73 -146.0 70.6 -10.0 129 737 0.00 2.70 0.00 0.000 6 0.000 0.064 2447 2798 3400 0 0 5 0 0 0

1075 -0.79 -146.0 99.9 -8.3 190 1080 0.00 2.85 0.00 0.000 4 0.000 0.093 2447 3930 3399 0 0 7 0 0 0

1110 -0.85 -146.0 102.8 -8.3 194 1115 0.00 2.70 0.00 0.000 6 0.000 0.064 2447 2800 3399 0 0 5 0 0 0

1435 -0.93 -146.0 128.6 -7.5 224 1441 0.17 2.83 0.00 0.000 4 0.113 0.088 2375 3920 3398 0 0 7 0 0 0

1556 -0.78 -146.0 142.5 -11.9 234 1561 0.25 2.70 0.00 0.000 6 0.216 0.064 2433 2796 3398 0 0 5 0 0 0

1880 -0.78 -146.0 168.5 -7.5 264 1885 0.00 2.85 0.00 0.000 4 0.000 0.090 2433 3926 3398 0 0 7 0 0 0

2059 -0.84 -146.0 181.9 -7.4 279 2065 0.00 2.70 0.00 0.000 6 0.000 0.062 2434 2794 3398 0 0 5 0 0 0

2384 -0.91 -146.0 205.3 -7.4 310 2390 0.12 2.83 0.00 0.000 4 0.127 0.087 2388 3919 3398 0 0 7 0 0 0

2564 -0.80 -146.0 222.9 -9.9 325 2570 0.17 2.67 0.00 0.000 6 0.208 0.061 2428 2801 3398 0 0 4 0 0 0

2610 end dive: TARGET_DEPTH_EXCEEDED

state 2610 begin apogee

2617 -0.16 0.0 227.0 8.7 330 2737 0.73 0.00 116.93 0.896 6 0.187 0.000 2629 2389 2800 0 0 0 0 0 0

2738 end apogee: CONTROL_FINISHED_OK

state 2738 begin climb

2740 0.73 146.0 230.2 0.0 342 2875 0.95 2.12 120.12 0.848 4 0.139 0.086 2920 806 2202 0 0 0 0 0 0

2891 0.73 146.0 219.9 10.1 356 2897 0.00 2.03 0.00 0.000 6 0.000 0.061 2920 2404 2200 0 0 0 0 0 0

3217 0.73 146.0 186.1 10.2 387 3226 0.00 3.75 0.00 0.000 4 0.000 0.080 2920 3917 2196 0 0 7 0 0 0

3305 0.61 146.0 175.3 12.0 395 3316 0.20 3.67 0.00 0.000 6 0.201 0.067 2892 2402 2195 0 0 6 0 0 0

3634 0.73 174.2 148.0 8.0 426 3666 0.12 3.80 23.20 0.791 4 0.122 0.081 2933 3914 2088 0 0 5 0 0 0

3739 0.61 174.2 136.3 12.1 435 3746 0.25 3.67 0.00 0.000 6 0.196 0.066 2890 2393 2087 0 0 6 0 0 0

4064 0.75 187.5 109.3 8.6 466 4087 0.12 3.83 12.23 0.747 4 0.122 0.080 2931 3922 2034 0 0 5 0 0 0

4133 0.67 187.5 101.5 12.4 472 4143 0.17 3.67 0.00 0.000 6 0.197 0.067 2908 2400 2033 0 0 5 0 0 0

4481 0.80 187.5 66.8 9.3 532 4488 0.12 3.72 0.00 0.000 4 0.123 0.080 2950 3916 2032 0 0 7 0 0 0

4550 0.68 187.5 58.1 13.0 544 4557 0.22 3.65 0.00 0.000 6 0.195 0.067 2911 2396 2032 0 0 5 0 0 0

4897 0.98 320.0 32.5 3.6 605 5021 0.25 3.88 110.43 0.735 4 0.100 0.079 3002 3919 1493 0 0 6 0 0 0

5079 0.87 320.0 4.7 18.3 639 5086 0.20 3.75 0.00 0.000 6 0.212 0.066 2975 2405 1488 0 0 5 0 0 0

5096 end climb: SURFACE_DEPTH_REACHED

state 5096 begin surface coast

5108 end surface coast: CONTROL_FINISHED_OK

state 5109 begin surface

ID	143	HEADING	90	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	415	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2800	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2400	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	325	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	16	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	16	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	3	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	3	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-44502.047	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2690	FG_AHR_24V	0	SEABIRD_T_G	0.0043131942
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062854384
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_YINT	-24.446302	SEABIRD_T_I	2.3348166e-05
MASS	51204	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	0	PITCH_GAIN	31	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	1	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	220113,6731.832,-5743.973,28,1.4,34,-38.4	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6732.035,-5715.849
_XMS_NAKs	7	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221534,6732.035,-5744.108,12,2.8,31,-38.4	MHEAD_RNG_PITCHd_Wd	128.4,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	227

FREEZE	0.32,-1.092,-1.821,0,1,0	ALTIM_TOP_PING	19.7,20.2
FINISH	0.3,1.026724	_24V_AH	22.9,72.792
SM_CCo	5127,1.62,0.104,0,0,1475,325.02	_10V_AH	10.0,38.782
SM_GC	1.56,0.00,0.00,1.62,0.000,0.000,0.104,129,2798,1475,-8.00,-0.06,325.02	FG_AHR_24Vo	0.000
RAFOS_CLK	345	FG_AHR_10Vo	0.000
RAFOS_FIX	6728.032227,-5800.452148,271209,161644,2,78,0.00	MEM	152572
IRIDIUM_FIX	6703.95,-5741.21,240399,222224	DATA_FILE_SIZE	25320,644
TT8_MAMPS	0.027612	CAP_FILE_SIZE	83392,0
HUMID	46.25	CFSIZE	260165632,218636288
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,116,0,0
TCM_TEMP	17.20	SOUNDSPEED	1458.5
XPDR_PINGS	4	GPS	281209,234214,6732.630,-5742.625,10,1.7,10,-38.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	299	162.86	SBE_CT	469	24	258.09
Roll_motor	71	94	153.71	SBE_O2	433	19	188.50
VBD_pump_during_apogee	382	895	7855.23	nil	0	0	0.00
VBD_pump_during_surface	1	103	3.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	90	103	214.02	nil	0	0	0.00
Iridium_during_connect	102	160	376.98	nil	0	0	0.00
Iridium_during_xfer	392	223	2003.87
Transponder_ping	1	420	12.02
GUMSTIX_24V	0	0	0.00
GPS	33	50	16.78
TT8	1007	19	200.79
LPSleep	2693	2	62.21
TT8_Active	462	19	92.22
TT8_Sampling	1085	39	433.14
TT8_CF8	741	45	340.42
TT8_Kalman	0	0	0.00
Analog_circuits	1071	12	128.61
GPS_charging	0	0	0.00
Compass	1050	8	84.00
RAFOS	0	1	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
14	-0.73	-146.0	0.0	0.0	0	113	0.00	0.00	-95.50	0.000	2	0.000	0.000	130	2797	3007	0	0	0	0	0	0
116	-0.73	-146.0	3.1	-5.6	19	142	11.50	0.00	-10.55	0.000	6	0.299	0.000	2446	2797	3397	0	0	0	0	0	0
478	-0.73	-146.0	44.6	-9.7	84	484	0.00	2.85	0.00	0.000	4	0.000	0.094	2446	3921	3401	0	0	7	0	0	0
731	-0.73	-146.0	70.6	-10.0	129	737	0.00	2.70	0.00	0.000	6	0.000	0.064	2447	2798	3400	0	0	5	0	0	0
1075	-0.79	-146.0	99.9	-8.3	190	1080	0.00	2.85	0.00	0.000	4	0.000	0.093	2447	3930	3399	0	0	7	0	0	0
1110	-0.85	-146.0	102.8	-8.3	194	1115	0.00	2.70	0.00	0.000	6	0.000	0.064	2447	2800	3399	0	0	5	0	0	0
1435	-0.93	-146.0	128.6	-7.5	224	1441	0.17	2.83	0.00	0.000	4	0.113	0.088	2375	3920	3398	0	0	7	0	0	0
1556	-0.78	-146.0	142.5	-11.9	234	1561	0.25	2.70	0.00	0.000	6	0.216	0.064	2433	2796	3398	0	0	5	0	0	0
1880	-0.78	-146.0	168.5	-7.5	264	1885	0.00	2.85	0.00	0.000	4	0.000	0.090	2433	3926	3398	0	0	7	0	0	0
2059	-0.84	-146.0	181.9	-7.4	279	2065	0.00	2.70	0.00	0.000	6	0.000	0.062	2434	2794	3398	0	0	5	0	0	0
2384	-0.91	-146.0	205.3	-7.4	310	2390	0.12	2.83	0.00	0.000	4	0.127	0.087	2388	3919	3398	0	0	7	0	0	0
2564	-0.80	-146.0	222.9	-9.9	325	2570	0.17	2.67	0.00	0.000	6	0.208	0.061	2428	2801	3398	0	0	4	0	0	0
2610	end dive: TARGET_DEPTH_EXCEEDED
state	2610	begin apogee
2617	-0.16	0.0	227.0	8.7	330	2737	0.73	0.00	116.93	0.896	6	0.187	0.000	2629	2389	2800	0	0	0	0	0	0
2738	end apogee: CONTROL_FINISHED_OK
state	2738	begin climb
2740	0.73	146.0	230.2	0.0	342	2875	0.95	2.12	120.12	0.848	4	0.139	0.086	2920	806	2202	0	0	0	0	0	0
2891	0.73	146.0	219.9	10.1	356	2897	0.00	2.03	0.00	0.000	6	0.000	0.061	2920	2404	2200	0	0	0	0	0	0
3217	0.73	146.0	186.1	10.2	387	3226	0.00	3.75	0.00	0.000	4	0.000	0.080	2920	3917	2196	0	0	7	0	0	0
3305	0.61	146.0	175.3	12.0	395	3316	0.20	3.67	0.00	0.000	6	0.201	0.067	2892	2402	2195	0	0	6	0	0	0
3634	0.73	174.2	148.0	8.0	426	3666	0.12	3.80	23.20	0.791	4	0.122	0.081	2933	3914	2088	0	0	5	0	0	0
3739	0.61	174.2	136.3	12.1	435	3746	0.25	3.67	0.00	0.000	6	0.196	0.066	2890	2393	2087	0	0	6	0	0	0
4064	0.75	187.5	109.3	8.6	466	4087	0.12	3.83	12.23	0.747	4	0.122	0.080	2931	3922	2034	0	0	5	0	0	0
4133	0.67	187.5	101.5	12.4	472	4143	0.17	3.67	0.00	0.000	6	0.197	0.067	2908	2400	2033	0	0	5	0	0	0
4481	0.80	187.5	66.8	9.3	532	4488	0.12	3.72	0.00	0.000	4	0.123	0.080	2950	3916	2032	0	0	7	0	0	0
4550	0.68	187.5	58.1	13.0	544	4557	0.22	3.65	0.00	0.000	6	0.195	0.067	2911	2396	2032	0	0	5	0	0	0
4897	0.98	320.0	32.5	3.6	605	5021	0.25	3.88	110.43	0.735	4	0.100	0.079	3002	3919	1493	0	0	6	0	0	0
5079	0.87	320.0	4.7	18.3	639	5086	0.20	3.75	0.00	0.000	6	0.212	0.066	2975	2405	1488	0	0	5	0	0	0
5096	end climb: SURFACE_DEPTH_REACHED
state	5096	begin surface coast
5108	end surface coast: CONTROL_FINISHED_OK
state	5109	begin surface