Glider dive log

LakeWA 27Sep16 * SG401 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.0125 ROLL_MAX 3930 COMPASS_USE 4

MISSION 3 HD_C 1e-06 ROLL_DEG 40 ALTIM_BOTTOM_PING_RANGE 0

DIVE 5 HEADING -1 C_ROLL_DIVE 2300 ALTIM_TOP_PING_RANGE 0

N_DIVES 5 ESCAPE_HEADING 0 C_ROLL_CLIMB 2300 ALTIM_BOTTOM_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 30

D_TGT 45 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 67 ALTIM_PING_DELTA 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 42 ALTIM_FREQUENCY 13

D_NO_BLEED 500 SM_CC 250 ROLL_AD_RATE 350 ALTIM_PULSE 3

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_VALID 6

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_PITCH 0 COMM_SEQ 0 VBD_MIN 53 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 PROTOCOL 9 VBD_MAX 4044 INT_PRESSURE_YINT -1.1

D_CALL 0 N_NOCOMM 1 C_VBD 2094 DEEPGLIDER 0

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.85860002 DEVICE1 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 2 DEVICE2 -1

T_DIVE 15 CALL_TRIES 5 VBD_TIMEOUT 180 DEVICE3 -1

T_MISSION 25 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0044 DEVICE4 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE5 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 DEVICE6 -1

T_TURN_SAMPINT 4 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_NO_W 60 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE1 -1

T_LOITER 0 N_GPS 100840 VBD_MAXERRORS 0 LOGGERDEVICE2 -1

T_EPIRB 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

USE_BATHY 0 STROBE 0 DBDW 0 LOGGERDEVICE4 -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 COMPASS2_DEVICE -1

D_OFFGRID 100 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 PHONE_DEVICE 49

T_WATCHDOG 10 PITCH_MIN 200 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 PITCH_MAX 3775 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 C_PITCH 2580 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 200 PITCH_DBAND 0.1 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_CNV 0.00312576 MAXI_24V 0.60000002 SIM_PITCH 0

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 MAXI_10V 0.80000001 SEABIRD_T_G 0.0044078007

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_10V 0 SEABIRD_T_H 0.00063626393

RHO 1.023 PITCH_GAIN 10 FG_AHR_24V 0 SEABIRD_T_I 2.4955199e-05

MASS 70765 PITCH_TIMEOUT 50 PHONE_SUPPLY 2 SEABIRD_T_J 2.9785231e-06

MASS_COMP 0 PITCH_AD_RATE 50 PRESSURE_YINT -52.100033 SEABIRD_C_G -9.7071199

NAV_MODE 1 PITCH_MAXERRORS 1 PRESSURE_SLOPE 3.2755801e-05 SEABIRD_C_H 1.1284475

FERRY_MAX 45 PITCH_ADJ_GAIN 0 AD7714Ch0Gain 32 SEABIRD_C_I -0.0014307383

KALMAN_USE 1 PITCH_ADJ_DBAND 0 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00018278907

HD_A 0.0060000001 ROLL_MIN 200 TCM_ROLL_OFFSET 0

AD7714Ch0Gain 32 D_PITCH 0 PHONE_DEVICE 49 SIM_PITCH 0

AH0_10V 100 D_SAFE 0 PHONE_SUPPLY 2 SIM_W 0

AH0_24V 150 D_SURF 2 PITCH_ADJ_DBAND 0 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 45 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_AD_RATE 50 STOP_T 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.00312576 STROBE 0

ALTIM_PING_DELTA 3 FERRY_MAX 45 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 30 FG_AHR_10V 0 PITCH_GAIN 10 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_MAX 3775 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MIN 200 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 50 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0044 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 HD_A 0.0060000001 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_B 0.0125 PITCH_W_GAIN 0 T_ABORT 1440

CALL_TRIES 5 HD_C 1e-06 PRESSURE_SLOPE 3.2755801e-05 T_BOOST 0

CALL_WAIT 60 HEADING -1 PRESSURE_YINT -52.100033 T_DIVE 15

CAPMAXSIZE 200000 HEAD_ERRBAND 10 PROTOCOL 9 T_EPIRB 0

CAPUPLOAD 1 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS 5

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0.079999998 T_LOITER 0

COMM_SEQ 0 ID 401 RAFOS_CORR_THRESH 60 T_MISSION 25

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_NO_W 60

COMPASS_DEVICE 33 INT_PRESSURE_YINT -1.1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COMPASS_USE 4 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

COURSE_BIAS 0 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN_SAMPINT 4

C_PITCH 2580 LOGGERDEVICE2 -1 RHO 1.023 T_WATCHDOG 10

C_ROLL_CLIMB 2300 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 60

C_ROLL_DIVE 2300 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

C_VBD 2094 LOGGERS 0 ROLL_AD_RATE 350 USE_BATHY 0

DBDW 0 MASS 70765 ROLL_CNV 0.028270001 USE_ICE 0

DEEPGLIDER 0 MASS_COMP 0 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_10V 0.80000001 ROLL_MAX 3930 VBD_CNV -0.85860002

DEVICE2 -1 MAXI_24V 0.60000002 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE3 -1 MAX_BUOY 200 ROLL_MIN 200 VBD_LP_IGNORE 2

DEVICE4 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_MAX 4044

DEVICE5 -1 MINV_24V 19 R_PORT_OVSHOOT 67 VBD_MAXERRORS 0

DEVICE6 -1 MISSION 3 R_STBD_OVSHOOT 42 VBD_MIN 53

DIVE 5 MOTHERBOARD 4 SEABIRD_C_G -9.7071199 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 NAV_MODE 1 SEABIRD_C_H 1.1284475 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 NOCOMM_ACTION 0 SEABIRD_C_I -0.0014307383 VBD_TIMEOUT 180

D_CALL 0 N_DIVES 5 SEABIRD_C_J 0.00018278907 W_ADJ_DBAND 0

D_FINISH 0 N_FILEKB 4 SEABIRD_T_G 0.0044078007 XPDR_DEVICE 24

D_FLARE 2 N_GPS 100840 SEABIRD_T_H 0.00063626393 XPDR_INHIBIT 90

D_NO_BLEED 500 N_NOCOMM 1 SEABIRD_T_I 2.4955199e-05 XPDR_VALID 6

D_OFFGRID 100 N_NOSURFACE 0 SEABIRD_T_J 2.9785231e-06

Pre-dive calculations and measurements:

GPS1 051016,194530,4739.9497,-12214.4678,5,0.9,8,16.2,0.0,0.0,9,9.4 TGT_NAME WF

_CALLS 1 TGT_LATLONG 4739.600,-12215.000

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.217011,-0.163193

_SM_DEPTHo 0.87 KALMAN_X 170.471283,106.265030,94.453224,-769.387817,27.466377

_SM_ANGLEo -50.1 KALMAN_Y -161.994843,-111.541855,-104.199905,-187.729218,-13.092216

GPS2 051016,194957,4739.9409,-12214.4688,6,0.9,9,16.2,0.0,0.0,9,9.1 MHEAD_RNG_PITCHd_Wd 216.9,916,-18.0,-10.000,-20.22,2999

SPEED_LIMITS 0.173,0.272 D_GRID 45

Post-dive calculations and measurements:

FINISH -0.2,0.998679 _10V_AH 10.34,0.199

SM_CCo 670,4.07,0.330,0,0,1798,250.71 FG_AHR_24Vo 0.000

SM_GC 2.10,33.72,0.00,4.07,0.044,0.000,0.330,220,2292,1798,-7.36,-0.23,250.71,0,0,0,0,0,0,26.25,26.57,25.57 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4748.51,-12056.72,051016,194608 MEM 336052

TT8_MAMPS 0.023968,0.102613 DATA_FILE_SIZE 3525,129

HUMID 42.00 CAP_FILE_SIZE 30518,0

INTERNAL_PRESSURE 9.38868 CFSIZE 1024409600,1022640128

TCM_TEMP 21.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 10 GPS 051016,200246,4739.887,-12214.553,5,0.9,9,16.2,0.0,0.0,9,9.7

_24V_AH 24.87,0.317

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 70 120 212.30 SBE_CT 88 24 53.11

Roll_motor 24 63 39.40 nil 0 0 0.00

VBD_pump_during_apogee 23 941 553.89 nil 0 0 0.00

VBD_pump_during_surface 4 329 33.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 67.69 nil 0 0 0.00

Iridium_during_connect 18 160 73.48 nil 0 0 0.00

Iridium_during_xfer 161 223 896.34 nil 0 0 0.00

Transponder_ping 4 420 44.39 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.71

TT8 354 19 72.49

LPSleep 31 2 0.72

TT8_Active 140 19 28.70

TT8_Sampling 422 39 173.97

TT8_CF8 15 45 7.18

TT8_Kalman 33 81 28.28

Analog_circuits 285 12 35.46

GPS_charging 0 0 0.00

Compass 199 15 30.90

RAFOS 0 0 0.00

Transponder 12 30 3.98

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -2.66 -195.5 219 2287 1798 712 0.0 0.0 0 23 0.00 0.00 -3.33 0.000 16390 0.000 0.000 220 2288 2327 2327 751 0 0 0 0 0 0 26.47 25.07 26.47

24 -2.66 -195.5 219 2288 2327 750 0.8 0.0 1 49 18.25 2.22 0.00 0.000 2308 0.121 0.054 1716 3701 2328 2328 739 0 0 0 0 0 0 25.97 26.03 26.05

195 -2.66 -195.5 1716 3702 2334 808 32.1 -16.7 41 202 0.00 2.03 0.00 0.000 1030 0.000 0.023 1717 2280 2334 2334 792 0 0 0 0 0 0 26.37 26.33 26.39

224 -2.66 -195.5 1716 2276 2335 802 36.7 -15.8 47 231 0.00 2.08 0.00 0.000 516 0.000 0.063 1716 937 2335 2335 787 0 0 0 0 0 0 26.56 26.19 26.58

253 -2.66 -195.5 1716 937 2336 809 41.5 -17.4 53 265 0.00 2.05 0.00 0.000 1030 0.000 0.040 1717 2302 2337 2337 780 0 0 0 0 0 0 26.37 26.29 26.40

278 end dive: TARGET_DEPTH_EXCEEDED

state 278 begin apogee

281 -0.50 0.0 1716 2302 2338 851 45.6 -16.4 57 306 7.88 0.00 12.20 0.942 10246 0.092 0.000 2411 2302 2092 2092 4095 0 0 0 0 0 0 26.21 25.87 25.04

307 end apogee: CONTROL_FINISHED_OK

state 307 begin climb

308 2.66 195.5 2411 2302 2092 861 48.2 0.0 61 333 10.77 0.00 11.45 0.921 10758 0.060 0.000 3410 2302 1865 1865 4095 0 0 0 0 0 0 26.03 25.66 24.87

355 2.66 195.5 3410 2302 1864 803 44.1 13.6 70 362 0.00 2.12 0.00 0.000 516 0.000 0.050 3411 936 1864 1864 776 0 0 0 0 0 0 26.20 25.87 26.21

379 2.66 195.5 3410 936 1863 771 40.2 16.7 75 386 0.00 2.03 0.00 0.000 1030 0.000 0.027 3411 2304 1863 1863 746 0 0 0 0 0 0 26.07 26.00 26.09

408 2.66 195.5 3410 2305 1862 743 35.2 17.2 81 415 0.00 2.15 0.00 0.000 260 0.000 0.051 3411 3698 1862 1862 723 0 0 0 0 0 0 26.32 25.99 26.34

449 2.66 195.5 3410 3698 1860 719 27.5 19.6 90 456 0.00 2.03 0.00 0.000 1030 0.000 0.024 3411 2301 1860 1860 700 0 0 0 0 0 0 26.20 26.15 26.22

478 2.66 195.5 3411 2298 1859 800 22.0 18.0 96 485 0.00 2.10 0.00 0.000 516 0.000 0.050 3411 923 1859 1859 772 0 0 0 0 0 0 26.42 26.09 26.44

527 2.66 195.5 3410 923 1857 808 14.1 13.9 107 534 0.00 2.03 0.00 0.000 1030 0.000 0.027 3411 2302 1857 1857 778 0 0 0 0 0 0 26.27 26.20 26.29

556 2.66 195.5 3410 2304 1856 768 10.3 12.9 113 563 0.00 2.12 0.00 0.000 260 0.000 0.050 3411 3691 1856 1856 744 0 0 0 0 0 0 26.50 26.17 26.52

600 2.66 195.5 3410 3691 1855 813 3.9 14.8 123 607 0.00 2.00 0.00 0.000 1030 0.000 0.024 3411 2295 1854 1854 782 0 0 0 0 0 0 26.35 26.29 26.37

616 end climb: SURFACE_DEPTH_REACHED

state 616 begin surface coast

630 end surface coast: CONTROL_FINISHED_OK

state 630 begin surface

ID	401	HD_B	0.0125	ROLL_MAX	3930	COMPASS_USE	4
MISSION	3	HD_C	1e-06	ROLL_DEG	40	ALTIM_BOTTOM_PING_RANGE	0
DIVE	5	HEADING	-1	C_ROLL_DIVE	2300	ALTIM_TOP_PING_RANGE	0
N_DIVES	5	ESCAPE_HEADING	0	C_ROLL_CLIMB	2300	ALTIM_BOTTOM_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	30
D_TGT	45	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	67	ALTIM_PING_DELTA	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	42	ALTIM_FREQUENCY	13
D_NO_BLEED	500	SM_CC	250	ROLL_AD_RATE	350	ALTIM_PULSE	3
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_VALID	6
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_PITCH	0	COMM_SEQ	0	VBD_MIN	53	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	PROTOCOL	9	VBD_MAX	4044	INT_PRESSURE_YINT	-1.1
D_CALL	0	N_NOCOMM	1	C_VBD	2094	DEEPGLIDER	0
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.85860002	DEVICE1	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	2	DEVICE2	-1
T_DIVE	15	CALL_TRIES	5	VBD_TIMEOUT	180	DEVICE3	-1
T_MISSION	25	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0044	DEVICE4	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE5	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	DEVICE6	-1
T_TURN_SAMPINT	4	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_NO_W	60	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE1	-1
T_LOITER	0	N_GPS	100840	VBD_MAXERRORS	0	LOGGERDEVICE2	-1
T_EPIRB	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
USE_BATHY	0	STROBE	0	DBDW	0	LOGGERDEVICE4	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	COMPASS2_DEVICE	-1
D_OFFGRID	100	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	PHONE_DEVICE	49
T_WATCHDOG	10	PITCH_MIN	200	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	PITCH_MAX	3775	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	C_PITCH	2580	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	200	PITCH_DBAND	0.1	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_CNV	0.00312576	MAXI_24V	0.60000002	SIM_PITCH	0
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	MAXI_10V	0.80000001	SEABIRD_T_G	0.0044078007
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_10V	0	SEABIRD_T_H	0.00063626393
RHO	1.023	PITCH_GAIN	10	FG_AHR_24V	0	SEABIRD_T_I	2.4955199e-05
MASS	70765	PITCH_TIMEOUT	50	PHONE_SUPPLY	2	SEABIRD_T_J	2.9785231e-06
MASS_COMP	0	PITCH_AD_RATE	50	PRESSURE_YINT	-52.100033	SEABIRD_C_G	-9.7071199
NAV_MODE	1	PITCH_MAXERRORS	1	PRESSURE_SLOPE	3.2755801e-05	SEABIRD_C_H	1.1284475
FERRY_MAX	45	PITCH_ADJ_GAIN	0	AD7714Ch0Gain	32	SEABIRD_C_I	-0.0014307383
KALMAN_USE	1	PITCH_ADJ_DBAND	0	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00018278907
HD_A	0.0060000001	ROLL_MIN	200	TCM_ROLL_OFFSET	0

GPS1	051016,194530,4739.9497,-12214.4678,5,0.9,8,16.2,0.0,0.0,9,9.4	TGT_NAME	WF
_CALLS	1	TGT_LATLONG	4739.600,-12215.000
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.217011,-0.163193
_SM_DEPTHo	0.87	KALMAN_X	170.471283,106.265030,94.453224,-769.387817,27.466377
_SM_ANGLEo	-50.1	KALMAN_Y	-161.994843,-111.541855,-104.199905,-187.729218,-13.092216
GPS2	051016,194957,4739.9409,-12214.4688,6,0.9,9,16.2,0.0,0.0,9,9.1	MHEAD_RNG_PITCHd_Wd	216.9,916,-18.0,-10.000,-20.22,2999
SPEED_LIMITS	0.173,0.272	D_GRID	45

FINISH	-0.2,0.998679	_10V_AH	10.34,0.199
SM_CCo	670,4.07,0.330,0,0,1798,250.71	FG_AHR_24Vo	0.000
SM_GC	2.10,33.72,0.00,4.07,0.044,0.000,0.330,220,2292,1798,-7.36,-0.23,250.71,0,0,0,0,0,0,26.25,26.57,25.57	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4748.51,-12056.72,051016,194608	MEM	336052
TT8_MAMPS	0.023968,0.102613	DATA_FILE_SIZE	3525,129
HUMID	42.00	CAP_FILE_SIZE	30518,0
INTERNAL_PRESSURE	9.38868	CFSIZE	1024409600,1022640128
TCM_TEMP	21.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	10	GPS	051016,200246,4739.887,-12214.553,5,0.9,9,16.2,0.0,0.0,9,9.7
_24V_AH	24.87,0.317

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	70	120	212.30	SBE_CT	88	24	53.11
Roll_motor	24	63	39.40	nil	0	0	0.00
VBD_pump_during_apogee	23	941	553.89	nil	0	0	0.00
VBD_pump_during_surface	4	329	33.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	67.69	nil	0	0	0.00
Iridium_during_connect	18	160	73.48	nil	0	0	0.00
Iridium_during_xfer	161	223	896.34	nil	0	0	0.00
Transponder_ping	4	420	44.39	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.71
TT8	354	19	72.49
LPSleep	31	2	0.72
TT8_Active	140	19	28.70
TT8_Sampling	422	39	173.97
TT8_CF8	15	45	7.18
TT8_Kalman	33	81	28.28
Analog_circuits	285	12	35.46
GPS_charging	0	0	0.00
Compass	199	15	30.90
RAFOS	0	0	0.00
Transponder	12	30	3.98

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-2.66	-195.5	219	2287	1798	712	0.0	0.0	0	23	0.00	0.00	-3.33	0.000	16390	0.000	0.000	220	2288	2327	2327	751	0	0	0	0	0	0	26.47	25.07	26.47
24	-2.66	-195.5	219	2288	2327	750	0.8	0.0	1	49	18.25	2.22	0.00	0.000	2308	0.121	0.054	1716	3701	2328	2328	739	0	0	0	0	0	0	25.97	26.03	26.05
195	-2.66	-195.5	1716	3702	2334	808	32.1	-16.7	41	202	0.00	2.03	0.00	0.000	1030	0.000	0.023	1717	2280	2334	2334	792	0	0	0	0	0	0	26.37	26.33	26.39
224	-2.66	-195.5	1716	2276	2335	802	36.7	-15.8	47	231	0.00	2.08	0.00	0.000	516	0.000	0.063	1716	937	2335	2335	787	0	0	0	0	0	0	26.56	26.19	26.58
253	-2.66	-195.5	1716	937	2336	809	41.5	-17.4	53	265	0.00	2.05	0.00	0.000	1030	0.000	0.040	1717	2302	2337	2337	780	0	0	0	0	0	0	26.37	26.29	26.40
278	end dive: TARGET_DEPTH_EXCEEDED
state	278	begin apogee
281	-0.50	0.0	1716	2302	2338	851	45.6	-16.4	57	306	7.88	0.00	12.20	0.942	10246	0.092	0.000	2411	2302	2092	2092	4095	0	0	0	0	0	0	26.21	25.87	25.04
307	end apogee: CONTROL_FINISHED_OK
state	307	begin climb
308	2.66	195.5	2411	2302	2092	861	48.2	0.0	61	333	10.77	0.00	11.45	0.921	10758	0.060	0.000	3410	2302	1865	1865	4095	0	0	0	0	0	0	26.03	25.66	24.87
355	2.66	195.5	3410	2302	1864	803	44.1	13.6	70	362	0.00	2.12	0.00	0.000	516	0.000	0.050	3411	936	1864	1864	776	0	0	0	0	0	0	26.20	25.87	26.21
379	2.66	195.5	3410	936	1863	771	40.2	16.7	75	386	0.00	2.03	0.00	0.000	1030	0.000	0.027	3411	2304	1863	1863	746	0	0	0	0	0	0	26.07	26.00	26.09
408	2.66	195.5	3410	2305	1862	743	35.2	17.2	81	415	0.00	2.15	0.00	0.000	260	0.000	0.051	3411	3698	1862	1862	723	0	0	0	0	0	0	26.32	25.99	26.34
449	2.66	195.5	3410	3698	1860	719	27.5	19.6	90	456	0.00	2.03	0.00	0.000	1030	0.000	0.024	3411	2301	1860	1860	700	0	0	0	0	0	0	26.20	26.15	26.22
478	2.66	195.5	3411	2298	1859	800	22.0	18.0	96	485	0.00	2.10	0.00	0.000	516	0.000	0.050	3411	923	1859	1859	772	0	0	0	0	0	0	26.42	26.09	26.44
527	2.66	195.5	3410	923	1857	808	14.1	13.9	107	534	0.00	2.03	0.00	0.000	1030	0.000	0.027	3411	2302	1857	1857	778	0	0	0	0	0	0	26.27	26.20	26.29
556	2.66	195.5	3410	2304	1856	768	10.3	12.9	113	563	0.00	2.12	0.00	0.000	260	0.000	0.050	3411	3691	1856	1856	744	0	0	0	0	0	0	26.50	26.17	26.52
600	2.66	195.5	3410	3691	1855	813	3.9	14.8	123	607	0.00	2.00	0.00	0.000	1030	0.000	0.024	3411	2295	1854	1854	782	0	0	0	0	0	0	26.35	26.29	26.37
616	end climb: SURFACE_DEPTH_REACHED
state	616	begin surface coast
630	end surface coast: CONTROL_FINISHED_OK
state	630	begin surface