Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 746 * 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 746 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 25 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 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 -54900.625 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 -54900.625

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 25 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 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 746 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 030611,004656,6639.497,-5814.677,0,2087.0,0,-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 6.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6 MHEAD_RNG_PITCHd_Wd 92.8,76241,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 653

Post-dive calculations and measurements:

FREEZE 7.84,-1.107,-1.815,3,109,0 _24V_AH 22.8,100.157

FINISH1 7.8,1.026557,46 _10V_AH 9.9,51.713

FINISH2 6.8 FG_AHR_24Vo 0.000

RAFOS_CLK 247 FG_AHR_10Vo 0.000

RAFOS_FIX 6639.496582,-5814.677246,030611,000056,2,87,1.71 MEM 150616

IRIDIUM_FIX 6647.44,-5724.91,020611,181827 DATA_FILE_SIZE 20154,544

TT8_MAMPS 0.026215 CAP_FILE_SIZE 57642,0

HUMID 47.44 CFSIZE 260165632,204562432

INTERNAL_PRESSURE 8.77963 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.40 SOUNDSPEED 1462.2

XPDR_PINGS 50 GPS 030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6

ALTIM_TOP_PING 19.9,16.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 221 19.28 SBE_CT 384 24 210.65

Roll_motor 44 85 87.57 SBE_O2 398 19 172.69

VBD_pump_during_apogee 337 1040 7995.80 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 12 420 122.09 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1264 19 249.47

LPSleep 1955 2 44.71

TT8_Active 355 19 70.09

TT8_Sampling 864 39 341.55

TT8_CF8 116 45 52.94

TT8_Kalman 0 0 0.00

Analog_circuits 851 12 101.17

GPS_charging 0 0 0.00

Compass 864 15 128.44

RAFOS 0 0 0.00

Transponder 2 30 0.78

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

17 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -6.00 0.000 2 0.000 0.000 2890 2271 3043 0 0 0 0 0 0

28 -0.62 -146.0 8.5 -0.0 1 53 0.60 2.72 -17.02 0.000 4 0.075 0.086 2661 3902 3627 0 0 0 0 0 0

180 -0.60 -146.0 27.6 -13.1 27 186 0.00 2.25 0.00 0.000 6 0.000 0.052 2661 2483 3629 0 0 0 0 0 0

526 -0.52 -146.0 75.9 -14.1 88 534 0.12 2.28 0.00 0.000 4 0.216 0.068 2689 1083 3628 0 0 0 0 0 0

612 -0.54 -146.0 85.2 -9.8 102 619 0.00 2.28 0.00 0.000 6 0.000 0.064 2689 2487 3628 0 0 0 0 0 0

953 -0.56 -146.0 119.1 -10.2 146 957 0.00 2.38 0.00 0.000 4 0.000 0.080 2689 3907 3626 0 0 0 0 0 0

1006 -0.62 -146.0 124.5 -9.7 150 1010 0.00 2.28 0.00 0.000 6 0.000 0.052 2689 2478 3626 0 0 0 0 0 0

1337 -0.65 -146.0 158.1 -9.8 181 1341 0.00 2.25 0.00 0.000 4 0.000 0.069 2689 1080 3625 0 0 0 0 0 0

1378 -0.69 -146.0 162.2 -9.7 184 1384 0.15 2.30 0.00 0.000 6 0.114 0.065 2638 2497 3624 0 0 0 0 0 0

1705 -0.61 -146.0 205.3 -13.2 214 1710 0.10 2.38 0.00 0.000 4 0.221 0.080 2660 3909 3624 0 0 0 0 0 0

1760 -0.61 -146.0 211.8 -10.6 218 1767 0.00 2.25 0.00 0.000 6 0.000 0.050 2660 2488 3624 0 0 0 0 0 0

2054 end dive: NO_VERTICAL_VELOCITY

state 2054 begin apogee

2061 -0.12 0.0 224.6 0.0 246 2186 0.47 0.00 119.07 1.040 6 0.132 0.000 2814 2260 3030 0 0 0 0 0 0

2187 end apogee: CONTROL_FINISHED_OK

state 2187 begin climb

2190 0.62 146.0 224.7 0.0 257 2324 0.77 2.53 122.00 0.988 4 0.140 0.068 3053 3690 2433 0 0 0 0 0 0

2359 0.53 146.0 218.3 10.2 272 2364 0.00 2.38 0.00 0.000 6 0.000 0.054 3063 2273 2431 0 0 0 0 0 0

2686 0.49 146.0 183.4 10.8 302 2688 0.15 0.00 0.00 0.000 6 0.177 0.000 3025 2272 2427 0 0 0 0 0 0

3004 0.57 177.8 156.3 8.5 332 3037 0.00 0.00 26.50 0.920 6 0.000 0.000 3025 2272 2306 0 0 0 0 0 0

3356 0.69 216.1 124.9 8.2 365 3401 0.17 2.42 34.15 0.914 4 0.082 0.069 3100 3696 2148 0 0 0 0 0 0

3432 0.60 216.1 115.1 14.9 371 3440 0.20 2.28 0.00 0.000 6 0.177 0.054 3058 2270 2146 0 0 0 0 0 0

3771 0.65 220.1 79.1 9.8 420 3784 0.00 2.33 4.35 0.609 4 0.000 0.069 3067 870 2132 0 0 0 0 0 0

3831 0.71 226.1 73.2 9.7 430 3845 0.00 2.28 6.82 0.747 6 0.000 0.055 3067 2291 2107 0 0 0 0 0 0

4187 0.82 263.3 38.8 8.3 492 4219 0.17 2.28 24.17 0.941 4 0.085 0.068 3143 3685 1954 0 0 0 0 0 0

4269 0.73 263.3 27.7 16.5 505 4276 0.20 2.28 0.00 0.000 6 0.189 0.057 3102 2279 1950 0 0 0 0 0 0

4449 end climb: SURFACE_OBSTACLE_DETECTED

state 4449 begin subsurface finish

4457 0.06 46.2 7.8 -12.0 537 4500 0.70 2.38 -31.48 0.000 4 0.168 0.084 2892 861 2845 0 0 0 0 0 0

4501 end subsurface finish: CONTROL_FINISHED_OK

state 4501 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	746	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	25	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	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	-54900.625	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	030611,004656,6639.497,-5814.677,0,2087.0,0,-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	6.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6	MHEAD_RNG_PITCHd_Wd	92.8,76241,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	653

FREEZE	7.84,-1.107,-1.815,3,109,0	_24V_AH	22.8,100.157
FINISH1	7.8,1.026557,46	_10V_AH	9.9,51.713
FINISH2	6.8	FG_AHR_24Vo	0.000
RAFOS_CLK	247	FG_AHR_10Vo	0.000
RAFOS_FIX	6639.496582,-5814.677246,030611,000056,2,87,1.71	MEM	150616
IRIDIUM_FIX	6647.44,-5724.91,020611,181827	DATA_FILE_SIZE	20154,544
TT8_MAMPS	0.026215	CAP_FILE_SIZE	57642,0
HUMID	47.44	CFSIZE	260165632,204562432
INTERNAL_PRESSURE	8.77963	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.40	SOUNDSPEED	1462.2
XPDR_PINGS	50	GPS	030611,004656,6639.497,-5814.677,0,2087.0,0,-37.6
ALTIM_TOP_PING	19.9,16.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	221	19.28	SBE_CT	384	24	210.65
Roll_motor	44	85	87.57	SBE_O2	398	19	172.69
VBD_pump_during_apogee	337	1040	7995.80	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	12	420	122.09	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1264	19	249.47
LPSleep	1955	2	44.71
TT8_Active	355	19	70.09
TT8_Sampling	864	39	341.55
TT8_CF8	116	45	52.94
TT8_Kalman	0	0	0.00
Analog_circuits	851	12	101.17
GPS_charging	0	0	0.00
Compass	864	15	128.44
RAFOS	0	0	0.00
Transponder	2	30	0.78

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
17	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-6.00	0.000	2	0.000	0.000	2890	2271	3043	0	0	0	0	0	0
28	-0.62	-146.0	8.5	-0.0	1	53	0.60	2.72	-17.02	0.000	4	0.075	0.086	2661	3902	3627	0	0	0	0	0	0
180	-0.60	-146.0	27.6	-13.1	27	186	0.00	2.25	0.00	0.000	6	0.000	0.052	2661	2483	3629	0	0	0	0	0	0
526	-0.52	-146.0	75.9	-14.1	88	534	0.12	2.28	0.00	0.000	4	0.216	0.068	2689	1083	3628	0	0	0	0	0	0
612	-0.54	-146.0	85.2	-9.8	102	619	0.00	2.28	0.00	0.000	6	0.000	0.064	2689	2487	3628	0	0	0	0	0	0
953	-0.56	-146.0	119.1	-10.2	146	957	0.00	2.38	0.00	0.000	4	0.000	0.080	2689	3907	3626	0	0	0	0	0	0
1006	-0.62	-146.0	124.5	-9.7	150	1010	0.00	2.28	0.00	0.000	6	0.000	0.052	2689	2478	3626	0	0	0	0	0	0
1337	-0.65	-146.0	158.1	-9.8	181	1341	0.00	2.25	0.00	0.000	4	0.000	0.069	2689	1080	3625	0	0	0	0	0	0
1378	-0.69	-146.0	162.2	-9.7	184	1384	0.15	2.30	0.00	0.000	6	0.114	0.065	2638	2497	3624	0	0	0	0	0	0
1705	-0.61	-146.0	205.3	-13.2	214	1710	0.10	2.38	0.00	0.000	4	0.221	0.080	2660	3909	3624	0	0	0	0	0	0
1760	-0.61	-146.0	211.8	-10.6	218	1767	0.00	2.25	0.00	0.000	6	0.000	0.050	2660	2488	3624	0	0	0	0	0	0
2054	end dive: NO_VERTICAL_VELOCITY
state	2054	begin apogee
2061	-0.12	0.0	224.6	0.0	246	2186	0.47	0.00	119.07	1.040	6	0.132	0.000	2814	2260	3030	0	0	0	0	0	0
2187	end apogee: CONTROL_FINISHED_OK
state	2187	begin climb
2190	0.62	146.0	224.7	0.0	257	2324	0.77	2.53	122.00	0.988	4	0.140	0.068	3053	3690	2433	0	0	0	0	0	0
2359	0.53	146.0	218.3	10.2	272	2364	0.00	2.38	0.00	0.000	6	0.000	0.054	3063	2273	2431	0	0	0	0	0	0
2686	0.49	146.0	183.4	10.8	302	2688	0.15	0.00	0.00	0.000	6	0.177	0.000	3025	2272	2427	0	0	0	0	0	0
3004	0.57	177.8	156.3	8.5	332	3037	0.00	0.00	26.50	0.920	6	0.000	0.000	3025	2272	2306	0	0	0	0	0	0
3356	0.69	216.1	124.9	8.2	365	3401	0.17	2.42	34.15	0.914	4	0.082	0.069	3100	3696	2148	0	0	0	0	0	0
3432	0.60	216.1	115.1	14.9	371	3440	0.20	2.28	0.00	0.000	6	0.177	0.054	3058	2270	2146	0	0	0	0	0	0
3771	0.65	220.1	79.1	9.8	420	3784	0.00	2.33	4.35	0.609	4	0.000	0.069	3067	870	2132	0	0	0	0	0	0
3831	0.71	226.1	73.2	9.7	430	3845	0.00	2.28	6.82	0.747	6	0.000	0.055	3067	2291	2107	0	0	0	0	0	0
4187	0.82	263.3	38.8	8.3	492	4219	0.17	2.28	24.17	0.941	4	0.085	0.068	3143	3685	1954	0	0	0	0	0	0
4269	0.73	263.3	27.7	16.5	505	4276	0.20	2.28	0.00	0.000	6	0.189	0.057	3102	2279	1950	0	0	0	0	0	0
4449	end climb: SURFACE_OBSTACLE_DETECTED
state	4449	begin subsurface finish
4457	0.06	46.2	7.8	-12.0	537	4500	0.70	2.38	-31.48	0.000	4	0.168	0.084	2892	861	2845	0	0	0	0	0	0
4501	end subsurface finish: CONTROL_FINISHED_OK
state	4501	begin surface