Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 1033 * 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 1033 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 26 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 40 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 -113682.66 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 -113682.66

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 26 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 40 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 1033 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 190611,002721,6715.065,-5704.283,181,99.0,181,-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 13.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 6.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190611,002721,6715.065,-5704.283,181,99.0,181,-37.6 MHEAD_RNG_PITCHd_Wd 189.8,25250,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 299

Post-dive calculations and measurements:

FREEZE 7.09,0.177,-1.783,0,396,0 _24V_AH 20.2,135.983

FINISH1 7.1,1.026055,71 _10V_AH 9.8,63.885

FINISH2 5.8 FG_AHR_24Vo 0.000

RAFOS_CLK 240 FG_AHR_10Vo 0.000

RAFOS_FIX 6639.496582,-5814.677246,030611,000056,2,87,1.71 MEM 150552

IRIDIUM_FIX 6715.07,-5704.28,190611,000021 DATA_FILE_SIZE 20156,524

TT8_MAMPS 0.026215 CAP_FILE_SIZE 61072,0

HUMID 73.94 CFSIZE 260165632,194748416

INTERNAL_PRESSURE 8.79917 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 17.70 SOUNDSPEED 1460.0

XPDR_PINGS 29 GPS 190611,002721,6715.065,-5704.283,181,99.0,181,-37.6

ALTIM_TOP_PING 19.8,17.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 228 35.69 SBE_CT 367 24 178.22

Roll_motor 51 114 120.36 SBE_O2 382 19 146.71

VBD_pump_during_apogee 583 1020 12032.05 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 7 420 63.63 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1153 19 225.14

LPSleep 1694 2 38.35

TT8_Active 552 19 107.91

TT8_Sampling 885 39 346.29

TT8_CF8 146 45 65.85

TT8_Kalman 0 0 0.00

Analog_circuits 1109 12 130.51

GPS_charging 0 0 0.00

Compass 882 15 129.70

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

17 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -5.62 0.000 2 0.000 0.000 2907 870 2752 0 0 0 0 1 0

28 -0.62 -146.0 16.5 -0.0 1 48 0.90 0.38 -15.62 0.000 4 0.165 0.115 2676 1079 3629 0 0 0 0 0 0

139 -0.95 -146.0 28.8 -14.0 19 146 0.47 2.45 0.00 0.000 6 0.171 0.034 2567 2511 3631 0 0 0 0 0 0

486 -1.41 -146.0 65.2 -10.8 80 494 0.47 2.70 0.00 0.000 4 0.120 0.062 2415 1078 3630 0 0 0 0 0 0

515 -1.44 -146.0 69.1 -13.4 84 522 0.00 2.42 0.00 0.000 6 0.000 0.042 2415 2472 3630 0 0 0 0 0 0

853 -1.35 -146.0 131.5 -18.3 129 857 0.00 2.62 0.00 0.000 4 0.000 0.068 2415 1084 3629 0 0 0 0 0 0

871 -1.19 -146.0 135.6 -19.8 130 877 0.30 2.42 0.00 0.000 6 0.229 0.031 2473 2492 3628 0 0 0 0 0 0

1197 -1.19 -146.0 187.4 -15.2 160 1202 0.00 2.47 0.00 0.000 4 0.000 0.047 2473 3896 3628 0 0 0 0 0 0

1278 -1.51 -146.0 196.7 -10.8 166 1285 0.30 2.47 0.00 0.000 6 0.090 0.046 2382 2494 3627 0 0 0 0 0 0

1605 -1.75 -146.0 230.7 0.0 197 1611 0.25 2.60 0.00 0.000 4 0.086 0.065 2289 1080 3627 0 0 0 0 0 0

1625 end dive: NO_VERTICAL_VELOCITY

state 1625 begin apogee

1635 -0.12 0.0 230.7 0.0 198 1777 1.83 0.00 134.62 1.021 6 0.138 0.000 2816 2277 3030 0 0 0 0 0 0

1778 end apogee: CONTROL_FINISHED_OK

state 1778 begin climb

1782 0.62 146.0 230.6 0.0 211 1931 0.85 2.90 138.62 0.972 4 0.093 0.067 3059 871 2433 0 0 0 0 0 0

2185 1.06 358.9 230.4 0.2 247 2402 0.45 2.50 209.00 0.945 6 0.058 0.030 3210 2284 1566 0 0 0 0 0 0

2723 0.86 358.9 167.0 15.4 297 2728 0.28 2.60 0.00 0.000 4 0.200 0.045 3149 3670 1557 0 0 0 0 0 0

2735 0.68 358.9 164.8 15.1 297 2742 0.30 2.62 0.00 0.000 6 0.150 0.053 3084 2271 1556 0 0 0 0 0 0

3062 0.69 365.7 132.9 9.7 328 3075 0.00 2.58 5.88 0.672 4 0.000 0.044 3084 3674 1539 0 0 0 0 0 0

3081 0.69 369.0 130.7 9.8 329 3092 0.00 2.62 5.43 0.660 6 0.000 0.055 3089 2272 1525 0 0 0 0 0 0

3415 0.69 369.0 98.2 10.5 361 3421 0.00 0.00 0.00 0.000 6 0.000 0.000 3090 2272 1524 0 0 0 0 0 0

3761 0.74 409.8 65.3 8.1 422 3809 0.00 2.75 42.00 0.879 4 0.000 0.044 3089 3673 1359 0 0 0 0 0 0

3849 0.92 456.7 58.2 7.8 436 3904 0.20 2.67 48.12 0.868 6 0.073 0.054 3165 2278 1168 0 0 0 0 0 0

4247 0.90 456.7 11.9 11.3 505 4254 0.00 2.62 0.00 0.000 4 0.000 0.047 3165 3673 1161 0 0 0 0 0 0

4275 0.93 456.7 9.1 10.8 509 4282 0.00 2.65 0.00 0.000 6 0.000 0.054 3173 2269 1161 0 0 0 0 0 0

4292 end climb: SURFACE_OBSTACLE_DETECTED

state 4292 begin subsurface finish

4301 0.09 70.8 7.1 -9.6 512 4372 1.12 2.80 -64.47 0.000 4 0.163 0.074 2902 867 2744 0 0 0 0 0 0

4373 end subsurface finish: CONTROL_FINISHED_OK

state 4373 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	1033	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	26	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	40	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	-113682.66	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	190611,002721,6715.065,-5704.283,181,99.0,181,-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	13.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	6.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190611,002721,6715.065,-5704.283,181,99.0,181,-37.6	MHEAD_RNG_PITCHd_Wd	189.8,25250,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	299

FREEZE	7.09,0.177,-1.783,0,396,0	_24V_AH	20.2,135.983
FINISH1	7.1,1.026055,71	_10V_AH	9.8,63.885
FINISH2	5.8	FG_AHR_24Vo	0.000
RAFOS_CLK	240	FG_AHR_10Vo	0.000
RAFOS_FIX	6639.496582,-5814.677246,030611,000056,2,87,1.71	MEM	150552
IRIDIUM_FIX	6715.07,-5704.28,190611,000021	DATA_FILE_SIZE	20156,524
TT8_MAMPS	0.026215	CAP_FILE_SIZE	61072,0
HUMID	73.94	CFSIZE	260165632,194748416
INTERNAL_PRESSURE	8.79917	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	17.70	SOUNDSPEED	1460.0
XPDR_PINGS	29	GPS	190611,002721,6715.065,-5704.283,181,99.0,181,-37.6
ALTIM_TOP_PING	19.8,17.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	228	35.69	SBE_CT	367	24	178.22
Roll_motor	51	114	120.36	SBE_O2	382	19	146.71
VBD_pump_during_apogee	583	1020	12032.05	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	7	420	63.63	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1153	19	225.14
LPSleep	1694	2	38.35
TT8_Active	552	19	107.91
TT8_Sampling	885	39	346.29
TT8_CF8	146	45	65.85
TT8_Kalman	0	0	0.00
Analog_circuits	1109	12	130.51
GPS_charging	0	0	0.00
Compass	882	15	129.70
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
17	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-5.62	0.000	2	0.000	0.000	2907	870	2752	0	0	0	0	1	0
28	-0.62	-146.0	16.5	-0.0	1	48	0.90	0.38	-15.62	0.000	4	0.165	0.115	2676	1079	3629	0	0	0	0	0	0
139	-0.95	-146.0	28.8	-14.0	19	146	0.47	2.45	0.00	0.000	6	0.171	0.034	2567	2511	3631	0	0	0	0	0	0
486	-1.41	-146.0	65.2	-10.8	80	494	0.47	2.70	0.00	0.000	4	0.120	0.062	2415	1078	3630	0	0	0	0	0	0
515	-1.44	-146.0	69.1	-13.4	84	522	0.00	2.42	0.00	0.000	6	0.000	0.042	2415	2472	3630	0	0	0	0	0	0
853	-1.35	-146.0	131.5	-18.3	129	857	0.00	2.62	0.00	0.000	4	0.000	0.068	2415	1084	3629	0	0	0	0	0	0
871	-1.19	-146.0	135.6	-19.8	130	877	0.30	2.42	0.00	0.000	6	0.229	0.031	2473	2492	3628	0	0	0	0	0	0
1197	-1.19	-146.0	187.4	-15.2	160	1202	0.00	2.47	0.00	0.000	4	0.000	0.047	2473	3896	3628	0	0	0	0	0	0
1278	-1.51	-146.0	196.7	-10.8	166	1285	0.30	2.47	0.00	0.000	6	0.090	0.046	2382	2494	3627	0	0	0	0	0	0
1605	-1.75	-146.0	230.7	0.0	197	1611	0.25	2.60	0.00	0.000	4	0.086	0.065	2289	1080	3627	0	0	0	0	0	0
1625	end dive: NO_VERTICAL_VELOCITY
state	1625	begin apogee
1635	-0.12	0.0	230.7	0.0	198	1777	1.83	0.00	134.62	1.021	6	0.138	0.000	2816	2277	3030	0	0	0	0	0	0
1778	end apogee: CONTROL_FINISHED_OK
state	1778	begin climb
1782	0.62	146.0	230.6	0.0	211	1931	0.85	2.90	138.62	0.972	4	0.093	0.067	3059	871	2433	0	0	0	0	0	0
2185	1.06	358.9	230.4	0.2	247	2402	0.45	2.50	209.00	0.945	6	0.058	0.030	3210	2284	1566	0	0	0	0	0	0
2723	0.86	358.9	167.0	15.4	297	2728	0.28	2.60	0.00	0.000	4	0.200	0.045	3149	3670	1557	0	0	0	0	0	0
2735	0.68	358.9	164.8	15.1	297	2742	0.30	2.62	0.00	0.000	6	0.150	0.053	3084	2271	1556	0	0	0	0	0	0
3062	0.69	365.7	132.9	9.7	328	3075	0.00	2.58	5.88	0.672	4	0.000	0.044	3084	3674	1539	0	0	0	0	0	0
3081	0.69	369.0	130.7	9.8	329	3092	0.00	2.62	5.43	0.660	6	0.000	0.055	3089	2272	1525	0	0	0	0	0	0
3415	0.69	369.0	98.2	10.5	361	3421	0.00	0.00	0.00	0.000	6	0.000	0.000	3090	2272	1524	0	0	0	0	0	0
3761	0.74	409.8	65.3	8.1	422	3809	0.00	2.75	42.00	0.879	4	0.000	0.044	3089	3673	1359	0	0	0	0	0	0
3849	0.92	456.7	58.2	7.8	436	3904	0.20	2.67	48.12	0.868	6	0.073	0.054	3165	2278	1168	0	0	0	0	0	0
4247	0.90	456.7	11.9	11.3	505	4254	0.00	2.62	0.00	0.000	4	0.000	0.047	3165	3673	1161	0	0	0	0	0	0
4275	0.93	456.7	9.1	10.8	509	4282	0.00	2.65	0.00	0.000	6	0.000	0.054	3173	2269	1161	0	0	0	0	0	0
4292	end climb: SURFACE_OBSTACLE_DETECTED
state	4292	begin subsurface finish
4301	0.09	70.8	7.1	-9.6	512	4372	1.12	2.80	-64.47	0.000	4	0.163	0.074	2902	867	2744	0	0	0	0	0	0
4373	end subsurface finish: CONTROL_FINISHED_OK
state	4373	begin surface