Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 418 * 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 418 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 18 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 -44604.062 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 -44604.062

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 18 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 418 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 025156,6733.142,-5738.436,31,1.3,31,-38.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6733.189,-5710.053

_XMS_NAKs 13 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.03 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 025815,6733.189,-5738.335,36,99.0,55,-38.4 MHEAD_RNG_PITCHd_Wd 128.4,20000,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 208

Post-dive calculations and measurements:

FREEZE 0.05,-1.158,-0.977,0,1,0 ALTIM_TOP_PING 19.5,18.3

FINISH 0.1,1.014436 _24V_AH 22.9,73.115

SM_CCo 4645,61.00,0.731,0,0,1473,325.02 _10V_AH 10.0,38.905

SM_GC 0.99,0.00,0.00,61.00,0.000,0.000,0.731,130,2806,1473,-8.00,0.17,325.02 FG_AHR_24Vo 0.000

RAFOS_CLK 293 FG_AHR_10Vo 0.000

RAFOS 0,1262059263,4.033333,4.017500,65,52,52,0,0,0,172,135,207,0,0,0 MEM 152484

RAFOS_FIX 6728.032227,-5800.452148,271209,161644,2,78,0.00 DATA_FILE_SIZE 22179,595

IRIDIUM_FIX 6703.95,-5742.96,250399,010135 CAP_FILE_SIZE 71895,0

TT8_MAMPS 0.027612 CFSIZE 260165632,218521600

HUMID 46.96 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,114,0,0

INTERNAL_PRESSURE 8.85776 SOUNDSPEED 1456.5

TCM_TEMP 17.00 GPS 291209,041844,6732.911,-5736.078,38,2.3,58,-38.4

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 292 156.76 SBE_CT 433 24 238.15

Roll_motor 70 103 167.23 SBE_O2 401 19 174.50

VBD_pump_during_apogee 302 888 6143.03 nil 0 0 0.00

VBD_pump_during_surface 61 730 1021.07 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 66.77 nil 0 0 0.00

Iridium_during_connect 34 160 127.41 nil 0 0 0.00

Iridium_during_xfer 166 223 851.00

Transponder_ping 1 420 12.02

GUMSTIX_24V 0 0 0.00

GPS 57 50 28.89

TT8 985 19 196.29

LPSleep 2287 2 52.84

TT8_Active 453 19 90.43

TT8_Sampling 1008 39 402.57

TT8_CF8 354 45 162.63

TT8_Kalman 0 0 0.00

Analog_circuits 995 12 119.47

GPS_charging 0 0 0.00

Compass 949 8 75.96

RAFOS 720 1 10.80

Transponder 2 30 0.78

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

15 -0.73 -146.0 0.0 0.0 0 113 0.00 0.00 -94.50 0.000 2 0.000 0.000 121 2798 3090 0 0 0 0 0 0

116 -0.73 -146.0 3.5 -5.0 19 143 11.25 2.85 -8.10 0.000 4 0.292 0.104 2444 3922 3399 0 0 7 0 0 0

239 -0.77 -146.0 23.7 -13.6 41 245 0.00 2.65 0.00 0.000 6 0.000 0.064 2445 2807 3401 0 0 5 0 0 0

582 -0.77 -146.0 61.7 -10.4 102 588 0.00 2.80 0.00 0.000 4 0.000 0.093 2444 3922 3402 0 0 6 0 0 0

791 -0.83 -146.0 79.6 -9.5 139 796 0.00 2.67 0.00 0.000 6 0.000 0.064 2445 2798 3401 0 0 4 0 0 0

1128 -0.88 -146.0 109.8 -7.4 188 1134 0.12 2.80 0.00 0.000 4 0.127 0.091 2394 3915 3400 0 0 7 0 0 0

1330 -0.79 -146.0 131.8 -10.8 205 1337 0.17 2.62 0.00 0.000 6 0.216 0.065 2433 2800 3399 0 0 5 0 0 0

1655 -0.79 -146.0 158.2 -9.0 236 1660 0.00 2.80 0.00 0.000 4 0.000 0.091 2433 3922 3399 0 0 6 0 0 0

1755 -0.84 -146.0 167.8 -9.3 244 1761 0.00 2.65 0.00 0.000 6 0.000 0.063 2433 2800 3398 0 0 4 0 0 0

2080 -0.90 -146.0 194.2 -7.7 275 2085 0.00 2.78 0.00 0.000 4 0.000 0.090 2433 3915 3398 0 0 6 0 0 0

2164 -0.95 -146.0 201.3 -8.5 282 2170 0.15 2.60 0.00 0.000 6 0.118 0.062 2384 2801 3398 0 0 6 0 0 0

2232 end dive: TARGET_DEPTH_EXCEEDED

state 2232 begin apogee

2238 -0.16 0.0 208.3 10.3 288 2359 0.90 0.00 116.68 0.888 6 0.195 0.000 2627 2387 2800 0 0 0 0 0 0

2360 end apogee: CONTROL_FINISHED_OK

state 2360 begin climb

2362 0.73 146.0 212.3 0.0 300 2492 0.98 2.08 119.90 0.840 4 0.140 0.085 2924 810 2202 0 0 0 0 0 0

2515 0.73 149.8 203.1 9.0 314 2526 0.00 2.00 4.35 0.564 6 0.000 0.062 2925 2404 2188 0 0 0 0 0 0

2844 0.73 149.8 169.8 10.1 345 2853 0.00 3.75 0.00 0.000 4 0.000 0.081 2924 3917 2184 0 0 7 0 0 0

2881 0.61 149.8 165.5 11.2 348 2888 0.22 3.70 0.00 0.000 6 0.199 0.067 2889 2405 2183 0 0 5 0 0 0

3206 0.73 165.4 136.6 8.5 379 3228 0.12 3.75 13.73 0.765 4 0.124 0.081 2930 3915 2124 0 0 7 0 0 0

3313 0.64 165.4 124.5 11.9 388 3320 0.20 3.67 0.00 0.000 6 0.195 0.067 2900 2389 2122 0 0 6 0 0 0

3640 0.78 204.3 97.2 7.5 422 3682 0.12 3.85 33.22 0.775 4 0.123 0.081 2941 3921 1966 0 0 4 0 0 0

3735 0.68 204.3 87.2 12.3 439 3742 0.20 3.67 0.00 0.000 6 0.194 0.067 2912 2401 1963 0 0 6 0 0 0

4083 0.85 220.2 56.4 8.5 500 4105 0.15 3.78 14.15 0.729 4 0.117 0.081 2962 3924 1901 0 0 6 0 0 0

4169 0.73 220.2 47.1 11.6 515 4175 0.20 3.70 0.00 0.000 6 0.193 0.067 2932 2391 1899 0 0 5 0 0 0

4515 0.87 220.2 8.9 9.5 576 4522 0.12 3.75 0.00 0.000 4 0.121 0.081 2973 3920 1899 0 0 7 0 0 0

4597 0.73 220.2 2.3 11.6 590 4604 0.25 3.65 0.00 0.000 6 0.187 0.071 2928 2397 1896 0 0 5 0 0 0

4609 end climb: SURFACE_DEPTH_REACHED

state 4609 begin surface coast

4627 end surface coast: CONTROL_FINISHED_OK

state 4627 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	418	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	18	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	-44604.062	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	025156,6733.142,-5738.436,31,1.3,31,-38.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6733.189,-5710.053
_XMS_NAKs	13	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.03	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	025815,6733.189,-5738.335,36,99.0,55,-38.4	MHEAD_RNG_PITCHd_Wd	128.4,20000,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	208

FREEZE	0.05,-1.158,-0.977,0,1,0	ALTIM_TOP_PING	19.5,18.3
FINISH	0.1,1.014436	_24V_AH	22.9,73.115
SM_CCo	4645,61.00,0.731,0,0,1473,325.02	_10V_AH	10.0,38.905
SM_GC	0.99,0.00,0.00,61.00,0.000,0.000,0.731,130,2806,1473,-8.00,0.17,325.02	FG_AHR_24Vo	0.000
RAFOS_CLK	293	FG_AHR_10Vo	0.000
RAFOS	0,1262059263,4.033333,4.017500,65,52,52,0,0,0,172,135,207,0,0,0	MEM	152484
RAFOS_FIX	6728.032227,-5800.452148,271209,161644,2,78,0.00	DATA_FILE_SIZE	22179,595
IRIDIUM_FIX	6703.95,-5742.96,250399,010135	CAP_FILE_SIZE	71895,0
TT8_MAMPS	0.027612	CFSIZE	260165632,218521600
HUMID	46.96	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,114,0,0
INTERNAL_PRESSURE	8.85776	SOUNDSPEED	1456.5
TCM_TEMP	17.00	GPS	291209,041844,6732.911,-5736.078,38,2.3,58,-38.4
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	292	156.76	SBE_CT	433	24	238.15
Roll_motor	70	103	167.23	SBE_O2	401	19	174.50
VBD_pump_during_apogee	302	888	6143.03	nil	0	0	0.00
VBD_pump_during_surface	61	730	1021.07	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	66.77	nil	0	0	0.00
Iridium_during_connect	34	160	127.41	nil	0	0	0.00
Iridium_during_xfer	166	223	851.00
Transponder_ping	1	420	12.02
GUMSTIX_24V	0	0	0.00
GPS	57	50	28.89
TT8	985	19	196.29
LPSleep	2287	2	52.84
TT8_Active	453	19	90.43
TT8_Sampling	1008	39	402.57
TT8_CF8	354	45	162.63
TT8_Kalman	0	0	0.00
Analog_circuits	995	12	119.47
GPS_charging	0	0	0.00
Compass	949	8	75.96
RAFOS	720	1	10.80
Transponder	2	30	0.78

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
15	-0.73	-146.0	0.0	0.0	0	113	0.00	0.00	-94.50	0.000	2	0.000	0.000	121	2798	3090	0	0	0	0	0	0
116	-0.73	-146.0	3.5	-5.0	19	143	11.25	2.85	-8.10	0.000	4	0.292	0.104	2444	3922	3399	0	0	7	0	0	0
239	-0.77	-146.0	23.7	-13.6	41	245	0.00	2.65	0.00	0.000	6	0.000	0.064	2445	2807	3401	0	0	5	0	0	0
582	-0.77	-146.0	61.7	-10.4	102	588	0.00	2.80	0.00	0.000	4	0.000	0.093	2444	3922	3402	0	0	6	0	0	0
791	-0.83	-146.0	79.6	-9.5	139	796	0.00	2.67	0.00	0.000	6	0.000	0.064	2445	2798	3401	0	0	4	0	0	0
1128	-0.88	-146.0	109.8	-7.4	188	1134	0.12	2.80	0.00	0.000	4	0.127	0.091	2394	3915	3400	0	0	7	0	0	0
1330	-0.79	-146.0	131.8	-10.8	205	1337	0.17	2.62	0.00	0.000	6	0.216	0.065	2433	2800	3399	0	0	5	0	0	0
1655	-0.79	-146.0	158.2	-9.0	236	1660	0.00	2.80	0.00	0.000	4	0.000	0.091	2433	3922	3399	0	0	6	0	0	0
1755	-0.84	-146.0	167.8	-9.3	244	1761	0.00	2.65	0.00	0.000	6	0.000	0.063	2433	2800	3398	0	0	4	0	0	0
2080	-0.90	-146.0	194.2	-7.7	275	2085	0.00	2.78	0.00	0.000	4	0.000	0.090	2433	3915	3398	0	0	6	0	0	0
2164	-0.95	-146.0	201.3	-8.5	282	2170	0.15	2.60	0.00	0.000	6	0.118	0.062	2384	2801	3398	0	0	6	0	0	0
2232	end dive: TARGET_DEPTH_EXCEEDED
state	2232	begin apogee
2238	-0.16	0.0	208.3	10.3	288	2359	0.90	0.00	116.68	0.888	6	0.195	0.000	2627	2387	2800	0	0	0	0	0	0
2360	end apogee: CONTROL_FINISHED_OK
state	2360	begin climb
2362	0.73	146.0	212.3	0.0	300	2492	0.98	2.08	119.90	0.840	4	0.140	0.085	2924	810	2202	0	0	0	0	0	0
2515	0.73	149.8	203.1	9.0	314	2526	0.00	2.00	4.35	0.564	6	0.000	0.062	2925	2404	2188	0	0	0	0	0	0
2844	0.73	149.8	169.8	10.1	345	2853	0.00	3.75	0.00	0.000	4	0.000	0.081	2924	3917	2184	0	0	7	0	0	0
2881	0.61	149.8	165.5	11.2	348	2888	0.22	3.70	0.00	0.000	6	0.199	0.067	2889	2405	2183	0	0	5	0	0	0
3206	0.73	165.4	136.6	8.5	379	3228	0.12	3.75	13.73	0.765	4	0.124	0.081	2930	3915	2124	0	0	7	0	0	0
3313	0.64	165.4	124.5	11.9	388	3320	0.20	3.67	0.00	0.000	6	0.195	0.067	2900	2389	2122	0	0	6	0	0	0
3640	0.78	204.3	97.2	7.5	422	3682	0.12	3.85	33.22	0.775	4	0.123	0.081	2941	3921	1966	0	0	4	0	0	0
3735	0.68	204.3	87.2	12.3	439	3742	0.20	3.67	0.00	0.000	6	0.194	0.067	2912	2401	1963	0	0	6	0	0	0
4083	0.85	220.2	56.4	8.5	500	4105	0.15	3.78	14.15	0.729	4	0.117	0.081	2962	3924	1901	0	0	6	0	0	0
4169	0.73	220.2	47.1	11.6	515	4175	0.20	3.70	0.00	0.000	6	0.193	0.067	2932	2391	1899	0	0	5	0	0	0
4515	0.87	220.2	8.9	9.5	576	4522	0.12	3.75	0.00	0.000	4	0.121	0.081	2973	3920	1899	0	0	7	0	0	0
4597	0.73	220.2	2.3	11.6	590	4604	0.25	3.65	0.00	0.000	6	0.187	0.071	2928	2397	1896	0	0	5	0	0	0
4609	end climb: SURFACE_DEPTH_REACHED
state	4609	begin surface coast
4627	end surface coast: CONTROL_FINISHED_OK
state	4627	begin surface