Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 1017 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 1017 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 43 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 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 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 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 -3 T_GPS_CHARGE -109241.96 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -109241.96

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 33 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 43 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 1017 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 160611,173016,6715.065,-5654.765,181,99.0,181,-37.6 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.86 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160611,173016,6715.065,-5654.765,181,99.0,181,-37.6 MHEAD_RNG_PITCHd_Wd 205.3,22873,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 239

Post-dive calculations and measurements:

FREEZE 1.84,-0.183,-0.118,0,380,2 ALTIM_TOP_PING 19.9,18.3

FINISH 1.8,1.001555 _24V_AH 21.1,133.569

SM_CCo 4539,53.92,0.063,0,0,750,559.04 _10V_AH 9.8,63.117

SM_GC 2.89,0.00,0.00,53.92,0.000,0.000,0.063,116,2526,750,-8.59,1.02,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 301 FG_AHR_10Vo 0.000

RAFOS 5,1308372066,4.700000,4.685000,59,58,55,54,54,49,199,222,187,165,152,177 MEM 150472

RAFOS_FIX 6639.496582,-5814.677246,030611,000056,2,87,1.71 DATA_FILE_SIZE 20090,545

IRIDIUM_FIX 6715.07,-5654.76,160611,171716 CAP_FILE_SIZE 69065,0

TT8_MAMPS 0.026215 CFSIZE 260165632,195338240

HUMID 74.02 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.57455 SOUNDSPEED 1459.0

TCM_TEMP 17.10 GPS 160611,173016,6715.065,-5654.765,181,99.0,181,-37.6

XPDR_PINGS 32

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 318 176.94 SBE_CT 382 24 193.53

Roll_motor 43 78 72.41 SBE_O2 399 19 160.23

VBD_pump_during_apogee 499 1033 10900.31 nil 0 0 0.00

VBD_pump_during_surface 53 63 72.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 99 103 215.45 nil 0 0 0.00

Iridium_during_connect 17 160 58.01 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 8 420 73.11 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 185 50 91.00

TT8 1265 19 247.09

LPSleep 1897 2 42.96

TT8_Active 590 19 115.33

TT8_Sampling 1212 39 474.38

TT8_CF8 688 45 310.03

TT8_Kalman 0 0 0.00

Analog_circuits 1160 12 136.43

GPS_charging 0 0 0.00

Compass 902 15 132.70

RAFOS 0 0 0.00

Transponder 2 30 0.77

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

16 -0.62 -146.0 0.0 0.0 0 127 0.00 0.00 -108.12 0.000 2 0.000 0.000 117 2474 2603 0 0 0 0 0 0

134 -0.62 -146.0 5.9 -9.7 19 172 12.95 2.38 -19.33 0.000 4 0.318 0.058 2652 3895 3630 0 0 0 0 0 0

430 -0.95 -146.0 56.4 -14.4 70 438 0.30 2.33 0.00 0.000 6 0.116 0.061 2560 2490 3631 0 0 0 0 0 0

780 -1.39 -146.0 92.7 -9.8 131 787 0.40 2.40 0.00 0.000 4 0.163 0.068 2422 1077 3630 0 0 0 0 0 0

808 -1.49 -146.0 96.7 -13.7 135 816 0.12 2.20 0.00 0.000 6 0.142 0.035 2383 2497 3629 0 0 0 0 0 0

1142 -1.38 -146.0 164.7 -19.9 167 1147 0.15 2.47 0.00 0.000 4 0.222 0.073 2417 1081 3629 0 0 0 0 0 0

1173 -1.14 -146.0 171.6 -23.6 169 1178 0.32 2.20 0.00 0.000 6 0.232 0.035 2493 2496 3628 0 0 0 0 0 0

1504 -1.19 -146.0 221.0 -14.0 200 1508 0.00 2.22 0.00 0.000 4 0.000 0.050 2493 3890 3629 0 0 0 0 0 0

1516 -1.27 -146.0 222.7 -13.5 200 1524 0.12 2.30 0.00 0.000 6 0.113 0.055 2453 2494 3629 0 0 0 0 0 0

1701 end dive: NO_VERTICAL_VELOCITY

state 1701 begin apogee

1713 -0.12 0.0 224.4 0.0 218 1846 1.30 0.00 122.75 1.034 6 0.170 0.000 2815 2266 3030 0 0 0 0 0 0

1847 end apogee: CONTROL_FINISHED_OK

state 1847 begin climb

1850 0.62 146.0 224.3 0.0 230 1997 0.85 2.75 131.27 0.988 4 0.147 0.079 3058 881 2432 0 0 0 0 0 0

2252 0.88 360.8 223.5 0.1 265 2458 0.28 2.38 198.43 0.962 6 0.069 0.031 3154 2280 1559 0 0 0 0 0 0

2778 0.76 360.8 169.0 12.9 314 2783 0.20 2.47 0.00 0.000 4 0.182 0.046 3109 3679 1550 0 0 0 0 0 0

2830 0.79 360.8 163.1 10.4 318 2835 0.00 2.50 0.00 0.000 6 0.000 0.049 3115 2282 1548 0 0 0 0 0 0

3157 0.73 360.8 127.5 11.0 348 3162 0.00 2.38 0.00 0.000 4 0.000 0.046 3115 3674 1548 0 0 0 0 0 0

3169 0.67 360.8 125.9 10.9 348 3177 0.17 2.45 0.00 0.000 6 0.164 0.054 3082 2265 1548 0 0 0 0 0 0

3498 0.69 377.3 94.4 9.2 384 3518 0.00 2.45 14.70 0.851 4 0.000 0.061 3090 859 1491 0 0 0 0 0 0

3576 0.70 379.4 86.9 9.9 397 3583 0.00 2.28 0.00 0.000 6 0.000 0.043 3090 2283 1490 0 0 0 0 0 0

3924 0.67 379.4 44.3 13.6 458 3930 0.00 0.00 0.00 0.000 6 0.000 0.000 3090 2283 1489 0 0 0 0 0 0

4273 0.87 440.1 14.4 7.2 519 4316 0.15 2.33 32.70 0.859 4 0.089 0.049 3157 3674 1234 0 0 0 0 0 0

4339 0.93 441.6 8.6 9.9 529 4346 0.00 2.38 0.00 0.000 6 0.000 0.058 3166 2263 1232 0 0 0 0 0 0

4392 end climb: SURFACE_DEPTH_REACHED

state 4392 begin surface coast

4428 end surface coast: CONTROL_FINISHED_OK

state 4428 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	1017	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	43	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	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	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	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	-3	T_GPS_CHARGE	-109241.96	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	160611,173016,6715.065,-5654.765,181,99.0,181,-37.6	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.86	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160611,173016,6715.065,-5654.765,181,99.0,181,-37.6	MHEAD_RNG_PITCHd_Wd	205.3,22873,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	239

FREEZE	1.84,-0.183,-0.118,0,380,2	ALTIM_TOP_PING	19.9,18.3
FINISH	1.8,1.001555	_24V_AH	21.1,133.569
SM_CCo	4539,53.92,0.063,0,0,750,559.04	_10V_AH	9.8,63.117
SM_GC	2.89,0.00,0.00,53.92,0.000,0.000,0.063,116,2526,750,-8.59,1.02,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	301	FG_AHR_10Vo	0.000
RAFOS	5,1308372066,4.700000,4.685000,59,58,55,54,54,49,199,222,187,165,152,177	MEM	150472
RAFOS_FIX	6639.496582,-5814.677246,030611,000056,2,87,1.71	DATA_FILE_SIZE	20090,545
IRIDIUM_FIX	6715.07,-5654.76,160611,171716	CAP_FILE_SIZE	69065,0
TT8_MAMPS	0.026215	CFSIZE	260165632,195338240
HUMID	74.02	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.57455	SOUNDSPEED	1459.0
TCM_TEMP	17.10	GPS	160611,173016,6715.065,-5654.765,181,99.0,181,-37.6
XPDR_PINGS	32

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	318	176.94	SBE_CT	382	24	193.53
Roll_motor	43	78	72.41	SBE_O2	399	19	160.23
VBD_pump_during_apogee	499	1033	10900.31	nil	0	0	0.00
VBD_pump_during_surface	53	63	72.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	99	103	215.45	nil	0	0	0.00
Iridium_during_connect	17	160	58.01	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	8	420	73.11	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	185	50	91.00
TT8	1265	19	247.09
LPSleep	1897	2	42.96
TT8_Active	590	19	115.33
TT8_Sampling	1212	39	474.38
TT8_CF8	688	45	310.03
TT8_Kalman	0	0	0.00
Analog_circuits	1160	12	136.43
GPS_charging	0	0	0.00
Compass	902	15	132.70
RAFOS	0	0	0.00
Transponder	2	30	0.77

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
16	-0.62	-146.0	0.0	0.0	0	127	0.00	0.00	-108.12	0.000	2	0.000	0.000	117	2474	2603	0	0	0	0	0	0
134	-0.62	-146.0	5.9	-9.7	19	172	12.95	2.38	-19.33	0.000	4	0.318	0.058	2652	3895	3630	0	0	0	0	0	0
430	-0.95	-146.0	56.4	-14.4	70	438	0.30	2.33	0.00	0.000	6	0.116	0.061	2560	2490	3631	0	0	0	0	0	0
780	-1.39	-146.0	92.7	-9.8	131	787	0.40	2.40	0.00	0.000	4	0.163	0.068	2422	1077	3630	0	0	0	0	0	0
808	-1.49	-146.0	96.7	-13.7	135	816	0.12	2.20	0.00	0.000	6	0.142	0.035	2383	2497	3629	0	0	0	0	0	0
1142	-1.38	-146.0	164.7	-19.9	167	1147	0.15	2.47	0.00	0.000	4	0.222	0.073	2417	1081	3629	0	0	0	0	0	0
1173	-1.14	-146.0	171.6	-23.6	169	1178	0.32	2.20	0.00	0.000	6	0.232	0.035	2493	2496	3628	0	0	0	0	0	0
1504	-1.19	-146.0	221.0	-14.0	200	1508	0.00	2.22	0.00	0.000	4	0.000	0.050	2493	3890	3629	0	0	0	0	0	0
1516	-1.27	-146.0	222.7	-13.5	200	1524	0.12	2.30	0.00	0.000	6	0.113	0.055	2453	2494	3629	0	0	0	0	0	0
1701	end dive: NO_VERTICAL_VELOCITY
state	1701	begin apogee
1713	-0.12	0.0	224.4	0.0	218	1846	1.30	0.00	122.75	1.034	6	0.170	0.000	2815	2266	3030	0	0	0	0	0	0
1847	end apogee: CONTROL_FINISHED_OK
state	1847	begin climb
1850	0.62	146.0	224.3	0.0	230	1997	0.85	2.75	131.27	0.988	4	0.147	0.079	3058	881	2432	0	0	0	0	0	0
2252	0.88	360.8	223.5	0.1	265	2458	0.28	2.38	198.43	0.962	6	0.069	0.031	3154	2280	1559	0	0	0	0	0	0
2778	0.76	360.8	169.0	12.9	314	2783	0.20	2.47	0.00	0.000	4	0.182	0.046	3109	3679	1550	0	0	0	0	0	0
2830	0.79	360.8	163.1	10.4	318	2835	0.00	2.50	0.00	0.000	6	0.000	0.049	3115	2282	1548	0	0	0	0	0	0
3157	0.73	360.8	127.5	11.0	348	3162	0.00	2.38	0.00	0.000	4	0.000	0.046	3115	3674	1548	0	0	0	0	0	0
3169	0.67	360.8	125.9	10.9	348	3177	0.17	2.45	0.00	0.000	6	0.164	0.054	3082	2265	1548	0	0	0	0	0	0
3498	0.69	377.3	94.4	9.2	384	3518	0.00	2.45	14.70	0.851	4	0.000	0.061	3090	859	1491	0	0	0	0	0	0
3576	0.70	379.4	86.9	9.9	397	3583	0.00	2.28	0.00	0.000	6	0.000	0.043	3090	2283	1490	0	0	0	0	0	0
3924	0.67	379.4	44.3	13.6	458	3930	0.00	0.00	0.00	0.000	6	0.000	0.000	3090	2283	1489	0	0	0	0	0	0
4273	0.87	440.1	14.4	7.2	519	4316	0.15	2.33	32.70	0.859	4	0.089	0.049	3157	3674	1234	0	0	0	0	0	0
4339	0.93	441.6	8.6	9.9	529	4346	0.00	2.38	0.00	0.000	6	0.000	0.058	3166	2263	1232	0	0	0	0	0	0
4392	end climb: SURFACE_DEPTH_REACHED
state	4392	begin surface coast
4428	end surface coast: CONTROL_FINISHED_OK
state	4428	begin surface