Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 93 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_B 0.010078 ROLL_MIN 150 ALTIM_TOP_TURN_MARGIN 0

MISSION 9 HD_C 9.8500004e-06 ROLL_MAX 3785 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 93 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 30

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1975 ALTIM_PING_DELTA 10

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1602 ALTIM_FREQUENCY 13

D_TGT 120 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 150 TGT_DEFAULT_LAT -3415 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 TGT_DEFAULT_LON 2600 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 24 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 300 R_STBD_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.55000001

D_FINISH 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 KERMIT 0 ROLL_GAIN_P 0 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 409 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE3 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2762 DEVICE4 135

T_DIVE 40 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 55 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012000001 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -13794.073 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 1 CF8_MAXERRORS 20 PHONE_DEVICE 48

D_OFFGRID 100 STROBE 0 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_CORR_THRESH 60 MINV_24V 20 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 SIM_W 0

MAX_BUOY 200 PITCH_MIN 100 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0042828661

GLIDE_SLOPE 30 C_PITCH 2981 PHONE_SUPPLY 2 SEABIRD_T_H 0.00061930995

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -86.704987 SEABIRD_T_I 2.1971719e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011693723 SEABIRD_T_J 2.301111e-06

MASS 52922 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9469662

LENGTH 1.8 PITCH_GAIN 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.155618

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016006827

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00019558761

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 0

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 20 GC_LAST_COLLECTION 92

AD7714Ch0Gain 128 D_NO_BLEED 500 N_GPS 20 SEABIRD_T_J 2.301111e-06

AH0_10V 100 D_OFFGRID 100 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_PITCH 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PHONE_DEVICE 48 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 120 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_DELTA 10 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 30 ESCAPE_HEADING 0 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 20 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3858 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -3415

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 100 TGT_DEFAULT_LON 2600

CALL_NDIVES 1 GC_LAST_COLLECTION 92 PITCH_TIMEOUT 16 T_ABORT 1440

CALL_TRIES 5 GC_WINDOW 0 PITCH_VBD_SHIFT 0.0012000001 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011693723 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -86.704987 T_DIVE 40

CAPUPLOAD 0 HD_A 0.0038360001 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 HD_B 0.010078 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

COMM_SEQ 0 HD_C 9.8500004e-06 RAFOS_DEVICE -1 T_GPS_CHARGE -13794.073

COMPASS2_DEVICE -1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_DEVICE 33 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_MISSION 55

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0278 T_RSLEEP 1

C_PITCH 2981 ID 573 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1602 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1975 INT_PRESSURE_YINT -0.55000001 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2762 KALMAN_USE 2 ROLL_CNV 0.028270001 UNCOM_BLEED 60

DEEPGLIDER 0 KERMIT 0 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LENGTH 1.8 ROLL_GAIN_P 0 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3785 USE_ICE 0

DEVICE2 101 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 35 LOGGERDEVICE3 -1 ROLL_MIN 150 VBD_CNV -0.245296

DEVICE4 135 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 1 R_PORT_OVSHOOT 24 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 21 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 200 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 93 MINV_10V 8 SEABIRD_C_H 1.155618 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 150 MINV_24V 20 SEABIRD_C_I -0.0016006827 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 MISSION 9 SEABIRD_C_J 0.00019558761 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0042828661 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 2 SEABIRD_T_H 0.00061930995 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.1971719e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 260415,102329,-3420.221,2540.080,41,1.0,42,-27.7 TGT_NAME DEPLOY

_CALLS 1 TGT_LATLONG -3428.620,2530.300

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 1.94 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -61.3 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 260415,102848,-3420.230,2540.102,14,1.5,15,-27.7 MHEAD_RNG_PITCHd_Wd 269.8,21572,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 120

Post-dive calculations and measurements:

FINISH 1.5,1.022186 _10V_AH 10.3,8.990

SM_CCo 2279,0.00,0.000,0,0,1259,368.68 FG_AHR_24Vo 0.000

SM_GC 2.09,9.05,0.00,0.00,0.053,0.000,0.000,73,1980,1259,-8.98,0.17,368.68 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3414.71,2541.29,200208,232335 MEM 331564

TT8_MAMPS 0.026964 DATA_FILE_SIZE 23649,324

HUMID 60.39 CAP_FILE_SIZE 47626,0

INTERNAL_PRESSURE 9.34296 CFSIZE 2097086464,2082439168

TCM_TEMP 16.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 CURRENT 0.219, 69.3,1

ALTIM_BOTTOM_PING 100.2,15.4 GPS 260415,110823,-3420.264,2540.077,40,1.3,41,-27.7

_24V_AH 24.3,11.707

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 260 144.05 SBE_CT 215 23 121.66

Roll_motor 34 118 100.56 AA4330 891 17 373.47

VBD_pump_during_apogee 419 626 6386.80 WL_BB2F 653 105 1667.44

VBD_pump_during_surface 0 0 0.00 QSP2150 958 17 401.26

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 91 50.39 nil 0 0 0.00

Iridium_during_connect 50 160 198.13 nil 0 0 0.00

Iridium_during_xfer 156 223 848.06 nil 0 0 0.00

Transponder_ping 2 420 22.96 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 27 4.88

TT8 730 13 104.46

LPSleep 199 2 4.51

TT8_Active 395 13 56.65

TT8_Sampling 1228 40 517.06

TT8_CF8 59 50 31.25

TT8_Kalman 0 0 0.00

Analog_circuits 849 15 134.09

GPS_charging 0 0 0.00

Compass 892 15 144.64

RAFOS 0 0 0.00

Transponder 15 30 4.93

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -1.02 -194.6 0.0 0.0 0 90 0.00 0.00 -62.88 0.000 2 0.000 0.000 83 2000 2688 0 0 0 0 0 0

92 -1.02 -194.6 3.2 -3.5 7 136 11.05 0.00 -23.80 0.000 6 0.261 0.000 2642 2000 3557 0 0 0 0 0 0

213 -0.75 -194.6 23.6 -23.8 24 222 0.30 2.38 0.00 0.000 4 0.204 0.080 2715 3390 3559 0 0 0 0 0 0

378 -0.65 -194.6 49.9 -13.7 50 392 0.15 2.42 0.00 0.000 6 0.156 0.086 2762 1990 3562 0 0 0 0 0 0

503 -0.60 -194.6 64.9 -12.3 69 511 0.10 2.50 0.00 0.000 4 0.198 0.097 2786 535 3562 0 0 0 0 0 0

533 -0.57 -194.6 68.3 -11.8 73 541 0.08 2.53 0.00 0.000 6 0.232 0.097 2790 1970 3562 0 0 0 0 0 0

651 -0.57 -194.6 81.8 -11.5 92 660 0.00 2.42 0.00 0.000 4 0.000 0.092 2780 3398 3563 0 0 0 0 0 0

714 -0.57 -194.6 88.2 -9.7 102 724 0.00 2.45 0.00 0.000 6 0.000 0.089 2779 1978 3563 0 0 0 0 0 0

828 end dive: BOTTOM_OBSTACLE_DETECTED

state 828 begin apogee

833 -0.25 0.0 100.2 10.8 120 991 0.38 0.00 147.00 0.627 6 0.154 0.000 2896 1597 2762 0 0 0 0 0 0

992 end apogee: CONTROL_FINISHED_OK

state 992 begin climb

993 1.02 194.6 110.0 0.0 141 1156 1.27 2.45 152.55 0.616 4 0.121 0.053 3308 179 1966 0 0 0 0 0 0

1217 0.99 194.6 98.0 10.1 173 1224 0.00 2.33 0.00 0.000 6 0.000 0.034 3308 1617 1963 0 0 0 0 0 0

1333 1.01 212.9 87.3 9.4 192 1357 0.00 0.00 15.57 0.581 6 0.000 0.000 3308 1618 1892 0 0 0 0 0 0

1466 1.04 233.4 75.7 9.3 213 1490 0.00 2.40 17.90 0.589 4 0.000 0.070 3308 3020 1809 0 0 0 0 0 0

1514 1.08 270.5 71.2 8.7 220 1554 0.00 2.40 31.30 0.596 6 0.000 0.063 3317 1595 1658 0 0 0 0 0 0

1664 1.11 291.5 57.4 9.3 243 1695 0.05 2.38 18.30 0.581 4 0.159 0.056 3366 189 1571 0 0 0 0 0 0

1715 1.05 291.5 51.5 11.9 250 1725 0.12 2.30 0.00 0.000 6 0.135 0.034 3326 1604 1570 0 0 0 0 0 0

1835 1.05 291.5 38.5 10.9 269 1842 0.00 2.28 0.00 0.000 4 0.000 0.059 3325 3020 1568 0 0 0 0 0 0

1886 1.05 291.5 32.5 11.8 277 1894 0.05 2.33 0.00 0.000 6 0.220 0.061 3324 1597 1568 0 0 0 0 0 0

2009 1.10 333.5 20.7 8.6 296 2035 0.00 0.00 21.42 0.547 6 0.000 0.000 3324 1597 1400 0 0 0 0 0 0

2113 1.18 365.5 11.1 8.9 311 2131 0.12 0.00 15.45 0.501 6 0.080 0.000 3392 1596 1272 0 0 0 0 0 0

2176 end climb: SURFACE_DEPTH_REACHED

state 2176 begin surface coast

2203 end surface coast: CONTROL_FINISHED_OK

state 2203 begin surface

ID	573	HD_B	0.010078	ROLL_MIN	150	ALTIM_TOP_TURN_MARGIN	0
MISSION	9	HD_C	9.8500004e-06	ROLL_MAX	3785	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	93	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	30
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1975	ALTIM_PING_DELTA	10
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1602	ALTIM_FREQUENCY	13
D_TGT	120	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	150	TGT_DEFAULT_LAT	-3415	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	TGT_DEFAULT_LON	2600	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	24	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	300	R_STBD_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.55000001
D_FINISH	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	KERMIT	0	ROLL_GAIN_P	0	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	409	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE3	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2762	DEVICE4	135
T_DIVE	40	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	55	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012000001	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-13794.073	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	1	CF8_MAXERRORS	20	PHONE_DEVICE	48
D_OFFGRID	100	STROBE	0	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	20	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	SIM_W	0
MAX_BUOY	200	PITCH_MIN	100	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0042828661
GLIDE_SLOPE	30	C_PITCH	2981	PHONE_SUPPLY	2	SEABIRD_T_H	0.00061930995
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-86.704987	SEABIRD_T_I	2.1971719e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011693723	SEABIRD_T_J	2.301111e-06
MASS	52922	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9469662
LENGTH	1.8	PITCH_GAIN	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.155618
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016006827
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00019558761
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	0
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	20	GC_LAST_COLLECTION	92

GPS1	260415,102329,-3420.221,2540.080,41,1.0,42,-27.7	TGT_NAME	DEPLOY
_CALLS	1	TGT_LATLONG	-3428.620,2530.300
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	1.94	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-61.3	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	260415,102848,-3420.230,2540.102,14,1.5,15,-27.7	MHEAD_RNG_PITCHd_Wd	269.8,21572,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	120

FINISH	1.5,1.022186	_10V_AH	10.3,8.990
SM_CCo	2279,0.00,0.000,0,0,1259,368.68	FG_AHR_24Vo	0.000
SM_GC	2.09,9.05,0.00,0.00,0.053,0.000,0.000,73,1980,1259,-8.98,0.17,368.68	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3414.71,2541.29,200208,232335	MEM	331564
TT8_MAMPS	0.026964	DATA_FILE_SIZE	23649,324
HUMID	60.39	CAP_FILE_SIZE	47626,0
INTERNAL_PRESSURE	9.34296	CFSIZE	2097086464,2082439168
TCM_TEMP	16.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	CURRENT	0.219, 69.3,1
ALTIM_BOTTOM_PING	100.2,15.4	GPS	260415,110823,-3420.264,2540.077,40,1.3,41,-27.7
_24V_AH	24.3,11.707

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	260	144.05	SBE_CT	215	23	121.66
Roll_motor	34	118	100.56	AA4330	891	17	373.47
VBD_pump_during_apogee	419	626	6386.80	WL_BB2F	653	105	1667.44
VBD_pump_during_surface	0	0	0.00	QSP2150	958	17	401.26
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	91	50.39	nil	0	0	0.00
Iridium_during_connect	50	160	198.13	nil	0	0	0.00
Iridium_during_xfer	156	223	848.06	nil	0	0	0.00
Transponder_ping	2	420	22.96	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	27	4.88
TT8	730	13	104.46
LPSleep	199	2	4.51
TT8_Active	395	13	56.65
TT8_Sampling	1228	40	517.06
TT8_CF8	59	50	31.25
TT8_Kalman	0	0	0.00
Analog_circuits	849	15	134.09
GPS_charging	0	0	0.00
Compass	892	15	144.64
RAFOS	0	0	0.00
Transponder	15	30	4.93

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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-1.02	-194.6	0.0	0.0	0	90	0.00	0.00	-62.88	0.000	2	0.000	0.000	83	2000	2688	0	0	0	0	0	0
92	-1.02	-194.6	3.2	-3.5	7	136	11.05	0.00	-23.80	0.000	6	0.261	0.000	2642	2000	3557	0	0	0	0	0	0
213	-0.75	-194.6	23.6	-23.8	24	222	0.30	2.38	0.00	0.000	4	0.204	0.080	2715	3390	3559	0	0	0	0	0	0
378	-0.65	-194.6	49.9	-13.7	50	392	0.15	2.42	0.00	0.000	6	0.156	0.086	2762	1990	3562	0	0	0	0	0	0
503	-0.60	-194.6	64.9	-12.3	69	511	0.10	2.50	0.00	0.000	4	0.198	0.097	2786	535	3562	0	0	0	0	0	0
533	-0.57	-194.6	68.3	-11.8	73	541	0.08	2.53	0.00	0.000	6	0.232	0.097	2790	1970	3562	0	0	0	0	0	0
651	-0.57	-194.6	81.8	-11.5	92	660	0.00	2.42	0.00	0.000	4	0.000	0.092	2780	3398	3563	0	0	0	0	0	0
714	-0.57	-194.6	88.2	-9.7	102	724	0.00	2.45	0.00	0.000	6	0.000	0.089	2779	1978	3563	0	0	0	0	0	0
828	end dive: BOTTOM_OBSTACLE_DETECTED
state	828	begin apogee
833	-0.25	0.0	100.2	10.8	120	991	0.38	0.00	147.00	0.627	6	0.154	0.000	2896	1597	2762	0	0	0	0	0	0
992	end apogee: CONTROL_FINISHED_OK
state	992	begin climb
993	1.02	194.6	110.0	0.0	141	1156	1.27	2.45	152.55	0.616	4	0.121	0.053	3308	179	1966	0	0	0	0	0	0
1217	0.99	194.6	98.0	10.1	173	1224	0.00	2.33	0.00	0.000	6	0.000	0.034	3308	1617	1963	0	0	0	0	0	0
1333	1.01	212.9	87.3	9.4	192	1357	0.00	0.00	15.57	0.581	6	0.000	0.000	3308	1618	1892	0	0	0	0	0	0
1466	1.04	233.4	75.7	9.3	213	1490	0.00	2.40	17.90	0.589	4	0.000	0.070	3308	3020	1809	0	0	0	0	0	0
1514	1.08	270.5	71.2	8.7	220	1554	0.00	2.40	31.30	0.596	6	0.000	0.063	3317	1595	1658	0	0	0	0	0	0
1664	1.11	291.5	57.4	9.3	243	1695	0.05	2.38	18.30	0.581	4	0.159	0.056	3366	189	1571	0	0	0	0	0	0
1715	1.05	291.5	51.5	11.9	250	1725	0.12	2.30	0.00	0.000	6	0.135	0.034	3326	1604	1570	0	0	0	0	0	0
1835	1.05	291.5	38.5	10.9	269	1842	0.00	2.28	0.00	0.000	4	0.000	0.059	3325	3020	1568	0	0	0	0	0	0
1886	1.05	291.5	32.5	11.8	277	1894	0.05	2.33	0.00	0.000	6	0.220	0.061	3324	1597	1568	0	0	0	0	0	0
2009	1.10	333.5	20.7	8.6	296	2035	0.00	0.00	21.42	0.547	6	0.000	0.000	3324	1597	1400	0	0	0	0	0	0
2113	1.18	365.5	11.1	8.9	311	2131	0.12	0.00	15.45	0.501	6	0.080	0.000	3392	1596	1272	0	0	0	0	0	0
2176	end climb: SURFACE_DEPTH_REACHED
state	2176	begin surface coast
2203	end surface coast: CONTROL_FINISHED_OK
state	2203	begin surface