Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 127 * 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 127 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 400 R_PORT_OVSHOOT 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 29 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 9 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 -26477.854 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 400

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 9 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 -26477.854

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 32 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 29 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 127 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 100311,101746,6725.532,-5729.512,14,99.0,33,-38.2 TGT_NAME midTARGET

_CALLS 2 TGT_LATLONG 6656.000,-5813.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 1.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 100311,101746,6725.532,-5729.512,14,99.0,33,-38.2 MHEAD_RNG_PITCHd_Wd 248.2,63144,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 216

Post-dive calculations and measurements:

FREEZE 7.02,-1.093,-1.825,2,2,0 ALTIM_TOP_PING 19.6,17.4

FINISH1 7.0,1.026707,39 _24V_AH 23.6,19.095

FINISH2 5.7 _10V_AH 10.3,10.564

RAFOS_CLK 235 FG_AHR_24Vo 0.000

RAFOS 0,1299758467,12.033333,12.018611,65,57,54,53,52,50,209,192,161,174,136,219 FG_AHR_10Vo 0.000

RAFOS_FIX 6725.381348,-5734.985352,100311,040456,2,108,0.00 MEM 150508

IRIDIUM_FIX 6658.43,-5734.74,100311,101042 DATA_FILE_SIZE 20068,526

TT8_MAMPS 0.026215 CAP_FILE_SIZE 55426,0

HUMID 44.68 CFSIZE 260165632,243666944

INTERNAL_PRESSURE 8.75034 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 SOUNDSPEED 1457.5

XPDR_PINGS 0 GPS 100311,101746,6725.532,-5729.512,14,99.0,33,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 237 22.60 SBE_CT 366 24 207.32

Roll_motor 38 160 147.67 SBE_O2 389 19 174.83

VBD_pump_during_apogee 311 1041 7664.56 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 0 420 2.48 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1196 19 245.45

LPSleep 1743 2 41.48

TT8_Active 392 19 80.57

TT8_Sampling 829 39 341.27

TT8_CF8 67 45 31.74

TT8_Kalman 0 0 0.00

Analog_circuits 878 12 108.64

GPS_charging 0 0 0.00

Compass 831 15 128.50

RAFOS 1800 1 27.81

Transponder 2 30 0.81

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.62 -146.0 0.0 0.0 0 127 0.00 0.35 -105.00 0.000 6 0.000 0.161 3062 2500 3627 0 0 0 0 0 0

131 -0.62 -146.0 3.8 -6.7 19 138 1.15 2.22 0.00 0.000 4 0.119 0.052 2671 1074 3627 0 0 0 0 0 0

324 -0.58 -146.0 29.3 -14.9 53 331 0.00 2.22 0.00 0.000 6 0.000 0.054 2671 2480 3628 0 0 0 0 0 0

669 -0.50 -146.0 84.2 -15.5 114 676 0.12 2.30 0.00 0.000 4 0.238 0.069 2698 3897 3627 0 0 0 0 0 0

762 -0.52 -146.0 96.1 -11.3 130 769 0.00 2.17 0.00 0.000 6 0.000 0.041 2698 2484 3627 0 0 0 0 0 0

1095 -0.52 -146.0 134.6 -11.5 164 1099 0.00 2.17 0.00 0.000 4 0.000 0.059 2698 1083 3625 0 0 0 0 0 0

1113 -0.52 -146.0 136.6 -11.3 165 1117 0.00 2.22 0.00 0.000 6 0.000 0.054 2698 2490 3625 0 0 0 0 0 0

1438 -0.55 -146.0 171.5 -10.1 195 1442 0.00 2.28 0.00 0.000 4 0.000 0.070 2698 3906 3623 0 0 0 0 0 0

1455 -0.58 -146.0 173.4 -10.7 196 1459 0.00 2.17 0.00 0.000 6 0.000 0.041 2698 2486 3623 0 0 0 0 0 0

1781 -0.63 -146.0 204.8 -9.0 226 1786 0.12 2.28 0.00 0.000 4 0.134 0.067 2656 3900 3623 0 0 0 0 0 0

1832 -0.59 -146.0 210.3 -11.0 230 1837 0.00 2.15 0.00 0.000 6 0.000 0.040 2656 2486 3623 0 0 0 0 0 0

1884 end dive: TARGET_DEPTH_EXCEEDED

state 1885 begin apogee

1890 -0.12 0.0 216.8 11.6 235 2010 0.55 0.00 115.62 1.042 6 0.205 0.000 2812 2261 3030 0 0 0 0 0 0

2011 end apogee: CONTROL_FINISHED_OK

state 2011 begin climb

2013 0.62 146.0 220.9 0.0 246 2141 0.80 0.00 118.10 0.985 6 0.151 0.000 3052 2260 2434 0 0 0 0 0 0

2458 0.56 146.0 177.0 10.8 288 2463 0.00 2.35 0.00 0.000 4 0.000 0.058 3052 3688 2428 0 0 0 0 0 0

2570 0.45 146.0 162.5 12.6 297 2578 0.20 2.22 0.00 0.000 6 0.193 0.045 3012 2295 2428 0 0 0 0 0 0

2896 0.53 183.0 136.6 8.3 328 2932 0.00 2.38 30.65 0.914 4 0.000 0.060 3015 872 2284 0 0 0 0 0 0

2966 0.64 192.2 130.1 9.6 334 2985 0.15 2.28 9.48 0.819 6 0.101 0.044 3076 2285 2245 0 0 0 0 0 0

3307 0.61 192.2 87.2 12.4 375 3314 0.00 2.25 0.00 0.000 4 0.000 0.058 3076 3692 2242 0 0 0 0 0 0

3360 0.52 192.2 80.1 12.9 384 3367 0.20 2.25 0.00 0.000 6 0.184 0.043 3034 2262 2242 0 0 0 0 0 0

3707 0.64 236.2 50.6 8.0 445 3749 0.10 0.00 37.85 0.882 6 0.125 0.000 3076 2262 2067 0 0 0 0 0 0

4086 0.64 236.2 11.3 10.3 512 4092 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2262 2060 0 0 0 0 0 0

4129 end climb: SURFACE_OBSTACLE_DETECTED

state 4129 begin subsurface finish

4135 0.05 38.8 7.0 -9.2 520 4172 0.62 2.38 -29.45 0.000 4 0.161 0.074 2884 3693 2874 0 0 0 0 0 0

4173 end subsurface finish: CONTROL_FINISHED_OK

state 4173 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	127	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	400	R_PORT_OVSHOOT	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	29	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	9	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	-26477.854	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	100311,101746,6725.532,-5729.512,14,99.0,33,-38.2	TGT_NAME	midTARGET
_CALLS	2	TGT_LATLONG	6656.000,-5813.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	1.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	100311,101746,6725.532,-5729.512,14,99.0,33,-38.2	MHEAD_RNG_PITCHd_Wd	248.2,63144,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	216

FREEZE	7.02,-1.093,-1.825,2,2,0	ALTIM_TOP_PING	19.6,17.4
FINISH1	7.0,1.026707,39	_24V_AH	23.6,19.095
FINISH2	5.7	_10V_AH	10.3,10.564
RAFOS_CLK	235	FG_AHR_24Vo	0.000
RAFOS	0,1299758467,12.033333,12.018611,65,57,54,53,52,50,209,192,161,174,136,219	FG_AHR_10Vo	0.000
RAFOS_FIX	6725.381348,-5734.985352,100311,040456,2,108,0.00	MEM	150508
IRIDIUM_FIX	6658.43,-5734.74,100311,101042	DATA_FILE_SIZE	20068,526
TT8_MAMPS	0.026215	CAP_FILE_SIZE	55426,0
HUMID	44.68	CFSIZE	260165632,243666944
INTERNAL_PRESSURE	8.75034	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	SOUNDSPEED	1457.5
XPDR_PINGS	0	GPS	100311,101746,6725.532,-5729.512,14,99.0,33,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	237	22.60	SBE_CT	366	24	207.32
Roll_motor	38	160	147.67	SBE_O2	389	19	174.83
VBD_pump_during_apogee	311	1041	7664.56	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	0	420	2.48	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1196	19	245.45
LPSleep	1743	2	41.48
TT8_Active	392	19	80.57
TT8_Sampling	829	39	341.27
TT8_CF8	67	45	31.74
TT8_Kalman	0	0	0.00
Analog_circuits	878	12	108.64
GPS_charging	0	0	0.00
Compass	831	15	128.50
RAFOS	1800	1	27.81
Transponder	2	30	0.81

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.62	-146.0	0.0	0.0	0	127	0.00	0.35	-105.00	0.000	6	0.000	0.161	3062	2500	3627	0	0	0	0	0	0
131	-0.62	-146.0	3.8	-6.7	19	138	1.15	2.22	0.00	0.000	4	0.119	0.052	2671	1074	3627	0	0	0	0	0	0
324	-0.58	-146.0	29.3	-14.9	53	331	0.00	2.22	0.00	0.000	6	0.000	0.054	2671	2480	3628	0	0	0	0	0	0
669	-0.50	-146.0	84.2	-15.5	114	676	0.12	2.30	0.00	0.000	4	0.238	0.069	2698	3897	3627	0	0	0	0	0	0
762	-0.52	-146.0	96.1	-11.3	130	769	0.00	2.17	0.00	0.000	6	0.000	0.041	2698	2484	3627	0	0	0	0	0	0
1095	-0.52	-146.0	134.6	-11.5	164	1099	0.00	2.17	0.00	0.000	4	0.000	0.059	2698	1083	3625	0	0	0	0	0	0
1113	-0.52	-146.0	136.6	-11.3	165	1117	0.00	2.22	0.00	0.000	6	0.000	0.054	2698	2490	3625	0	0	0	0	0	0
1438	-0.55	-146.0	171.5	-10.1	195	1442	0.00	2.28	0.00	0.000	4	0.000	0.070	2698	3906	3623	0	0	0	0	0	0
1455	-0.58	-146.0	173.4	-10.7	196	1459	0.00	2.17	0.00	0.000	6	0.000	0.041	2698	2486	3623	0	0	0	0	0	0
1781	-0.63	-146.0	204.8	-9.0	226	1786	0.12	2.28	0.00	0.000	4	0.134	0.067	2656	3900	3623	0	0	0	0	0	0
1832	-0.59	-146.0	210.3	-11.0	230	1837	0.00	2.15	0.00	0.000	6	0.000	0.040	2656	2486	3623	0	0	0	0	0	0
1884	end dive: TARGET_DEPTH_EXCEEDED
state	1885	begin apogee
1890	-0.12	0.0	216.8	11.6	235	2010	0.55	0.00	115.62	1.042	6	0.205	0.000	2812	2261	3030	0	0	0	0	0	0
2011	end apogee: CONTROL_FINISHED_OK
state	2011	begin climb
2013	0.62	146.0	220.9	0.0	246	2141	0.80	0.00	118.10	0.985	6	0.151	0.000	3052	2260	2434	0	0	0	0	0	0
2458	0.56	146.0	177.0	10.8	288	2463	0.00	2.35	0.00	0.000	4	0.000	0.058	3052	3688	2428	0	0	0	0	0	0
2570	0.45	146.0	162.5	12.6	297	2578	0.20	2.22	0.00	0.000	6	0.193	0.045	3012	2295	2428	0	0	0	0	0	0
2896	0.53	183.0	136.6	8.3	328	2932	0.00	2.38	30.65	0.914	4	0.000	0.060	3015	872	2284	0	0	0	0	0	0
2966	0.64	192.2	130.1	9.6	334	2985	0.15	2.28	9.48	0.819	6	0.101	0.044	3076	2285	2245	0	0	0	0	0	0
3307	0.61	192.2	87.2	12.4	375	3314	0.00	2.25	0.00	0.000	4	0.000	0.058	3076	3692	2242	0	0	0	0	0	0
3360	0.52	192.2	80.1	12.9	384	3367	0.20	2.25	0.00	0.000	6	0.184	0.043	3034	2262	2242	0	0	0	0	0	0
3707	0.64	236.2	50.6	8.0	445	3749	0.10	0.00	37.85	0.882	6	0.125	0.000	3076	2262	2067	0	0	0	0	0	0
4086	0.64	236.2	11.3	10.3	512	4092	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2262	2060	0	0	0	0	0	0
4129	end climb: SURFACE_OBSTACLE_DETECTED
state	4129	begin subsurface finish
4135	0.05	38.8	7.0	-9.2	520	4172	0.62	2.38	-29.45	0.000	4	0.161	0.074	2884	3693	2874	0	0	0	0	0	0
4173	end subsurface finish: CONTROL_FINISHED_OK
state	4173	begin surface