Glider dive log

Shilshole 12Apr11.01 * SG149 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 149 HEADING -1 ROLL_MAX 3925 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 2 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 110

DIVE 8 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2350 ALTIM_PING_DELTA 10

D_SURF 2 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2325 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 190 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

D_NO_BLEED 100 SM_CC 300 R_PORT_OVSHOOT 32 XPDR_INHIBIT 90

D_BOOST 4 N_FILEKB 8 R_STBD_OVSHOOT 31 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 400 INT_PRESSURE_YINT -0.89999998

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 2 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3957 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3168 DEVICE3 39

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 79 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 90 CAPUPLOAD 1 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 6 LOGGERDEVICE1 -1

T_TURN_SAMPINT 4 T_GPS 5 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 0 T_GPS_CHARGE -1144.3561 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 91 PHONE_DEVICE 48

D_OFFGRID 150 RAFOS_PEAK_OFFSET 1.5 AH0_10V 97 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 435 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3733 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2490 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043695122

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -20.02247 SEABIRD_T_H 0.00063882151

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.000116112 SEABIRD_T_I 2.6696958e-05

RHO 1.023 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 3.0855513e-06

MASS 52000 PITCH_GAIN 12 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7004786

NAV_MODE 2 PITCH_TIMEOUT 18 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.0787733

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0011301751

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00016579087

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 9.9999997e-06 ROLL_MIN 282 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 100 PHONE_DEVICE 48 SM_CC 300

AH0_10V 97 D_OFFGRID 150 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 91 D_PITCH 0 PITCH_ADJ_DBAND 2 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 2 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 190 PITCH_CNV 0.0046000001 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 110 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 12 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3733 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 435 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 18 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.000116112 T_DIVE 79

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -20.02247 T_GPS 5

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1144.3561

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 90

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ID 149 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 4

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 2 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_PITCH 2490 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2325 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2350 LOGGERDEVICE1 -1 ROLL_MAX 3925 USE_ICE 0

C_VBD 3168 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 282 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 32 VBD_MAX 3957

DEVICE2 20 MASS 52000 R_STBD_OVSHOOT 31 VBD_MAXERRORS 1

DEVICE3 39 MAX_BUOY 150 SEABIRD_C_G -9.7004786 VBD_MIN 500

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.0787733 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0011301751 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MISSION 2 SEABIRD_C_J 0.00016579087 VBD_TIMEOUT 720

DIVE 8 MOTHERBOARD 4 SEABIRD_T_G 0.0043695122 XPDR_DEVICE 24

D_ABORT 1090 NAV_MODE 2 SEABIRD_T_H 0.00063882151 XPDR_INHIBIT 90

D_BOOST 4 N_FILEKB 8 SEABIRD_T_I 2.6696958e-05 XPDR_VALID 5

D_CALL 0 N_GPS 20 SEABIRD_T_J 3.0855513e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 130411,031328,4743.850,-12225.099,8,2.2,27,18.2 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.062,0.124

_SM_DEPTHo 0.26 KALMAN_X 853.3,593.3,-18.2,-3391.8,57.4

_SM_ANGLEo -68.0 KALMAN_Y 676.0,894.9,-315.3,-1247.6,-512.7

GPS2 130411,032100,4743.859,-12225.085,34,1.6,38,18.2 MHEAD_RNG_PITCHd_Wd 37.7,363,-26.9,-8.017

SPEED_LIMITS 0.139,0.241 D_GRID 190

Post-dive calculations and measurements:

FINISH 0.9,1.020398 _10V_AH 10.3,0.708

SM_CCo 3002,102.93,0.667,1,0,1944,300.00 FG_AHR_24Vo 0.000

SM_GC 0.16,0.00,0.00,102.93,0.000,0.000,0.667,428,2356,1944,-9.49,0.17,300.00 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12226.80,130411,020216 MEM 323364

TT8_MAMPS 0.026215 DATA_FILE_SIZE 26850,528

HUMID 32.31 CAP_FILE_SIZE 69918,0

INTERNAL_PRESSURE 8.85623 CFSIZE 260165632,204677120

TCM_TEMP 13.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 1 CURRENT 0.131,192.4,1

ALTIM_BOTTOM_PING 140.1,76.5 GPS 130411,041458,4743.786,-12224.890,9,2.4,28,18.2

_24V_AH 23.4,1.114

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 169 97.76 SBE_CT 364 24 204.94

Roll_motor 46 77 83.85 SBE_O2 245 19 109.19

VBD_pump_during_apogee 161 844 3190.19 WL_BB2F 885 105 2175.05

VBD_pump_during_surface 102 667 1606.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 0 0.00 nil 0 0 0.00

Iridium_during_connect 33 0 0.00 nil 0 0 0.00

Iridium_during_xfer 252 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 14.74 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 40 0 0.00

TT8 1267 19 258.46

LPSleep 228 2 5.15

TT8_Active 371 19 75.70

TT8_Sampling 1568 39 643.12

TT8_CF8 142 45 67.37

TT8_Kalman 33 0 0.00

Analog_circuits 845 12 104.45

GPS_charging 0 0 0.00

Compass 1234 15 190.79

RAFOS 0 0 0.00

Transponder 12 30 3.72

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -2.30 -45.4 0.0 0.0 0 91 0.00 0.00 -70.70 0.000 6 0.000 0.000 429 2335 3353 0 0 0 0 0 0

93 -2.34 -82.4 2.3 -3.6 10 112 8.48 2.47 -3.72 0.000 4 0.170 0.070 1973 3748 3506 0 0 0 0 0 0

407 -2.18 -82.4 64.7 -18.4 69 415 0.20 2.28 0.00 0.000 6 0.158 0.029 2009 2335 3506 0 0 0 0 0 0

549 -2.09 -82.4 88.0 -15.7 94 558 0.12 2.45 0.00 0.000 4 0.162 0.062 2030 3743 3507 0 0 1 0 0 0

629 -2.01 -82.4 100.9 -17.0 109 637 0.10 2.20 0.00 0.000 6 0.166 0.029 2047 2357 3507 0 0 0 0 0 0

771 -1.97 -82.4 121.8 -14.5 134 780 0.00 2.35 0.00 0.000 4 0.000 0.044 2047 946 3507 0 0 0 0 0 0

926 -1.92 -82.4 144.9 -14.4 164 935 0.08 2.25 0.00 0.000 6 0.140 0.036 2063 2307 3506 0 0 0 0 0 0

1072 -1.92 -82.4 163.6 -12.9 189 1078 0.00 2.22 0.00 0.000 4 0.000 0.042 2063 949 3507 0 0 0 0 0 0

1133 -1.92 -82.4 172.7 -14.9 201 1140 0.00 2.22 0.00 0.000 6 0.000 0.036 2063 2308 3506 0 0 0 0 0 0

1267 end dive: TARGET_DEPTH_EXCEEDED

state 1267 begin apogee

1272 -0.42 0.0 190.5 12.3 225 1346 1.60 0.00 67.55 0.845 6 0.119 0.000 2391 2308 3168 0 0 0 0 0 0

1347 end apogee: CONTROL_FINISHED_OK

state 1347 begin climb

1350 2.34 82.4 192.8 0.0 236 1426 2.67 0.00 68.30 0.818 6 0.061 0.000 3005 2308 2831 0 0 0 0 0 0

1562 2.19 82.4 163.3 18.7 271 1570 0.20 2.47 0.00 0.000 4 0.141 0.073 2969 3719 2828 0 0 0 0 0 0

1681 2.04 82.4 143.0 16.6 294 1690 0.15 2.25 0.00 0.000 6 0.128 0.037 2938 2376 2827 0 0 0 0 0 0

1827 1.97 82.4 122.6 13.3 319 1834 0.00 2.38 0.00 0.000 4 0.000 0.068 2938 3727 2826 0 0 0 0 0 0

1968 1.86 82.4 101.9 14.4 347 1975 0.22 2.17 0.00 0.000 6 0.142 0.037 2897 2406 2826 0 0 0 0 0 0

2110 1.86 82.4 84.6 10.8 372 2118 0.00 2.33 0.00 0.000 4 0.000 0.068 2897 3719 2826 0 0 0 0 0 0

2298 1.81 82.4 60.4 13.7 409 2305 0.00 2.12 0.00 0.000 6 0.000 0.036 2897 2425 2826 0 0 0 0 0 0

2438 1.81 82.4 43.9 10.9 434 2446 0.00 0.00 0.00 0.000 6 0.000 0.000 2897 2425 2826 0 0 0 0 0 0

2512 1.81 82.4 36.3 9.9 447 2520 0.00 2.28 0.00 0.000 4 0.000 0.067 2897 3714 2826 0 0 0 0 0 0

2612 1.77 96.0 28.0 6.4 465 2629 0.00 2.15 12.10 0.721 6 0.000 0.037 2897 2424 2776 0 0 0 0 0 0

2697 1.79 110.4 23.2 6.3 479 2720 0.00 2.62 13.48 0.695 4 0.000 0.061 2897 936 2716 0 0 0 0 0 0

2776 1.79 110.4 16.3 9.6 492 2784 0.00 2.38 0.00 0.000 6 0.000 0.045 2897 2344 2714 0 0 1 0 0 0

2850 1.79 110.4 9.7 8.2 505 2858 0.00 2.40 0.00 0.000 4 0.000 0.048 2897 936 2714 0 0 0 0 0 0

2902 1.79 110.4 4.9 9.2 514 2911 0.00 2.20 0.00 0.000 6 0.000 0.044 2897 2235 2714 0 0 0 0 0 0

2948 end climb: SURFACE_DEPTH_REACHED

state 2948 begin surface coast

2983 end surface coast: CONTROL_FINISHED_OK

state 2983 begin surface

ID	149	HEADING	-1	ROLL_MAX	3925	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	2	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	110
DIVE	8	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2350	ALTIM_PING_DELTA	10
D_SURF	2	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2325	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	190	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
D_NO_BLEED	100	SM_CC	300	R_PORT_OVSHOOT	32	XPDR_INHIBIT	90
D_BOOST	4	N_FILEKB	8	R_STBD_OVSHOOT	31	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	400	INT_PRESSURE_YINT	-0.89999998
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	2	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3957	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3168	DEVICE3	39
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	79	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	90	CAPUPLOAD	1	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	6	LOGGERDEVICE1	-1
T_TURN_SAMPINT	4	T_GPS	5	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	0	T_GPS_CHARGE	-1144.3561	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	91	PHONE_DEVICE	48
D_OFFGRID	150	RAFOS_PEAK_OFFSET	1.5	AH0_10V	97	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	435	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3733	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2490	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043695122
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-20.02247	SEABIRD_T_H	0.00063882151
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.000116112	SEABIRD_T_I	2.6696958e-05
RHO	1.023	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	3.0855513e-06
MASS	52000	PITCH_GAIN	12	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7004786
NAV_MODE	2	PITCH_TIMEOUT	18	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.0787733
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0011301751
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00016579087
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	9.9999997e-06	ROLL_MIN	282	ALTIM_TOP_TURN_MARGIN	0

GPS1	130411,031328,4743.850,-12225.099,8,2.2,27,18.2	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.062,0.124
_SM_DEPTHo	0.26	KALMAN_X	853.3,593.3,-18.2,-3391.8,57.4
_SM_ANGLEo	-68.0	KALMAN_Y	676.0,894.9,-315.3,-1247.6,-512.7
GPS2	130411,032100,4743.859,-12225.085,34,1.6,38,18.2	MHEAD_RNG_PITCHd_Wd	37.7,363,-26.9,-8.017
SPEED_LIMITS	0.139,0.241	D_GRID	190

FINISH	0.9,1.020398	_10V_AH	10.3,0.708
SM_CCo	3002,102.93,0.667,1,0,1944,300.00	FG_AHR_24Vo	0.000
SM_GC	0.16,0.00,0.00,102.93,0.000,0.000,0.667,428,2356,1944,-9.49,0.17,300.00	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12226.80,130411,020216	MEM	323364
TT8_MAMPS	0.026215	DATA_FILE_SIZE	26850,528
HUMID	32.31	CAP_FILE_SIZE	69918,0
INTERNAL_PRESSURE	8.85623	CFSIZE	260165632,204677120
TCM_TEMP	13.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	1	CURRENT	0.131,192.4,1
ALTIM_BOTTOM_PING	140.1,76.5	GPS	130411,041458,4743.786,-12224.890,9,2.4,28,18.2
_24V_AH	23.4,1.114

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	169	97.76	SBE_CT	364	24	204.94
Roll_motor	46	77	83.85	SBE_O2	245	19	109.19
VBD_pump_during_apogee	161	844	3190.19	WL_BB2F	885	105	2175.05
VBD_pump_during_surface	102	667	1606.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	0	0.00	nil	0	0	0.00
Iridium_during_connect	33	0	0.00	nil	0	0	0.00
Iridium_during_xfer	252	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	14.74	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	40	0	0.00
TT8	1267	19	258.46
LPSleep	228	2	5.15
TT8_Active	371	19	75.70
TT8_Sampling	1568	39	643.12
TT8_CF8	142	45	67.37
TT8_Kalman	33	0	0.00
Analog_circuits	845	12	104.45
GPS_charging	0	0	0.00
Compass	1234	15	190.79
RAFOS	0	0	0.00
Transponder	12	30	3.72

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-2.30	-45.4	0.0	0.0	0	91	0.00	0.00	-70.70	0.000	6	0.000	0.000	429	2335	3353	0	0	0	0	0	0
93	-2.34	-82.4	2.3	-3.6	10	112	8.48	2.47	-3.72	0.000	4	0.170	0.070	1973	3748	3506	0	0	0	0	0	0
407	-2.18	-82.4	64.7	-18.4	69	415	0.20	2.28	0.00	0.000	6	0.158	0.029	2009	2335	3506	0	0	0	0	0	0
549	-2.09	-82.4	88.0	-15.7	94	558	0.12	2.45	0.00	0.000	4	0.162	0.062	2030	3743	3507	0	0	1	0	0	0
629	-2.01	-82.4	100.9	-17.0	109	637	0.10	2.20	0.00	0.000	6	0.166	0.029	2047	2357	3507	0	0	0	0	0	0
771	-1.97	-82.4	121.8	-14.5	134	780	0.00	2.35	0.00	0.000	4	0.000	0.044	2047	946	3507	0	0	0	0	0	0
926	-1.92	-82.4	144.9	-14.4	164	935	0.08	2.25	0.00	0.000	6	0.140	0.036	2063	2307	3506	0	0	0	0	0	0
1072	-1.92	-82.4	163.6	-12.9	189	1078	0.00	2.22	0.00	0.000	4	0.000	0.042	2063	949	3507	0	0	0	0	0	0
1133	-1.92	-82.4	172.7	-14.9	201	1140	0.00	2.22	0.00	0.000	6	0.000	0.036	2063	2308	3506	0	0	0	0	0	0
1267	end dive: TARGET_DEPTH_EXCEEDED
state	1267	begin apogee
1272	-0.42	0.0	190.5	12.3	225	1346	1.60	0.00	67.55	0.845	6	0.119	0.000	2391	2308	3168	0	0	0	0	0	0
1347	end apogee: CONTROL_FINISHED_OK
state	1347	begin climb
1350	2.34	82.4	192.8	0.0	236	1426	2.67	0.00	68.30	0.818	6	0.061	0.000	3005	2308	2831	0	0	0	0	0	0
1562	2.19	82.4	163.3	18.7	271	1570	0.20	2.47	0.00	0.000	4	0.141	0.073	2969	3719	2828	0	0	0	0	0	0
1681	2.04	82.4	143.0	16.6	294	1690	0.15	2.25	0.00	0.000	6	0.128	0.037	2938	2376	2827	0	0	0	0	0	0
1827	1.97	82.4	122.6	13.3	319	1834	0.00	2.38	0.00	0.000	4	0.000	0.068	2938	3727	2826	0	0	0	0	0	0
1968	1.86	82.4	101.9	14.4	347	1975	0.22	2.17	0.00	0.000	6	0.142	0.037	2897	2406	2826	0	0	0	0	0	0
2110	1.86	82.4	84.6	10.8	372	2118	0.00	2.33	0.00	0.000	4	0.000	0.068	2897	3719	2826	0	0	0	0	0	0
2298	1.81	82.4	60.4	13.7	409	2305	0.00	2.12	0.00	0.000	6	0.000	0.036	2897	2425	2826	0	0	0	0	0	0
2438	1.81	82.4	43.9	10.9	434	2446	0.00	0.00	0.00	0.000	6	0.000	0.000	2897	2425	2826	0	0	0	0	0	0
2512	1.81	82.4	36.3	9.9	447	2520	0.00	2.28	0.00	0.000	4	0.000	0.067	2897	3714	2826	0	0	0	0	0	0
2612	1.77	96.0	28.0	6.4	465	2629	0.00	2.15	12.10	0.721	6	0.000	0.037	2897	2424	2776	0	0	0	0	0	0
2697	1.79	110.4	23.2	6.3	479	2720	0.00	2.62	13.48	0.695	4	0.000	0.061	2897	936	2716	0	0	0	0	0	0
2776	1.79	110.4	16.3	9.6	492	2784	0.00	2.38	0.00	0.000	6	0.000	0.045	2897	2344	2714	0	0	1	0	0	0
2850	1.79	110.4	9.7	8.2	505	2858	0.00	2.40	0.00	0.000	4	0.000	0.048	2897	936	2714	0	0	0	0	0	0
2902	1.79	110.4	4.9	9.2	514	2911	0.00	2.20	0.00	0.000	6	0.000	0.044	2897	2235	2714	0	0	0	0	0	0
2948	end climb: SURFACE_DEPTH_REACHED
state	2948	begin surface coast
2983	end surface coast: CONTROL_FINISHED_OK
state	2983	begin surface