Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 829 * 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 829 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 21 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 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 -67112.445 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 -67112.445

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 21 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 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 829 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 070611,040122,6709.499,-5648.380,181,99.0,181,-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 2.77 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070611,040122,6709.499,-5648.380,181,99.0,181,-37.6 MHEAD_RNG_PITCHd_Wd 216.3,12038,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 373

Post-dive calculations and measurements:

FREEZE 6.99,-0.882,-1.814,1,192,0 _24V_AH 22.3,109.617

FINISH1 7.0,1.026536,47 _10V_AH 9.8,54.562

FINISH2 6.6 FG_AHR_24Vo 0.000

RAFOS_CLK 271 FG_AHR_10Vo 0.000

RAFOS_FIX 6639.496582,-5814.677246,030611,000056,2,87,1.71 MEM 150512

IRIDIUM_FIX 6709.50,-5648.38,070611,040422 DATA_FILE_SIZE 20133,515

TT8_MAMPS 0.026215 CAP_FILE_SIZE 63169,0

HUMID 47.59 CFSIZE 260165632,201990144

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

TCM_TEMP 17.80 SOUNDSPEED 1456.6

XPDR_PINGS 47 GPS 070611,040122,6709.499,-5648.380,181,99.0,181,-37.6

ALTIM_TOP_PING 19.8,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 328 128.37 SBE_CT 364 24 195.26

Roll_motor 49 90 100.30 SBE_O2 374 19 158.79

VBD_pump_during_apogee 337 1049 7904.08 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 101 103 232.30 nil 0 0 0.00

Iridium_during_connect 16 160 60.40 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 12 420 112.39 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 185 50 90.79

TT8 1166 19 227.77

LPSleep 1767 2 40.02

TT8_Active 473 19 92.41

TT8_Sampling 1140 39 446.18

TT8_CF8 554 45 249.75

TT8_Kalman 0 0 0.00

Analog_circuits 987 12 116.16

GPS_charging 0 0 0.00

Compass 838 15 123.25

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 0 180 0.00 0.00 -158.68 0.000 2 0.000 0.000 109 2502 3242 0 0 0 0 0 0

184 -0.62 -146.0 5.5 -8.2 28 215 13.65 2.42 -8.27 0.000 4 0.329 0.090 2656 1080 3631 0 0 0 0 0 0

298 -0.53 -146.0 33.3 -17.0 47 306 0.12 2.38 0.00 0.000 6 0.229 0.080 2685 2487 3632 0 0 0 0 0 0

645 -0.47 -146.0 85.0 -13.0 108 652 0.00 2.42 0.00 0.000 4 0.000 0.086 2685 3907 3631 0 0 0 0 0 0

706 -0.47 -146.0 93.1 -13.3 118 713 0.00 2.33 0.00 0.000 6 0.000 0.063 2685 2486 3631 0 0 0 0 0 0

1036 -0.45 -146.0 135.5 -11.6 153 1041 0.12 2.35 0.00 0.000 4 0.217 0.074 2715 1081 3631 0 0 0 0 0 0

1067 -0.47 -146.0 138.9 -11.2 155 1071 0.00 2.35 0.00 0.000 6 0.000 0.070 2715 2489 3631 0 0 0 0 0 0

1395 -0.53 -146.0 169.7 -9.4 185 1399 0.00 2.40 0.00 0.000 4 0.000 0.085 2715 3903 3630 0 0 0 0 0 0

1437 -0.61 -146.0 173.8 -9.4 188 1442 0.15 2.28 0.00 0.000 6 0.109 0.054 2664 2488 3630 0 0 0 0 0 0

1764 -0.84 -146.0 208.4 0.2 218 1769 0.20 2.30 0.00 0.000 4 0.100 0.067 2588 1077 3630 0 0 0 0 0 0

1794 -1.08 -146.0 208.4 0.2 220 1799 0.20 2.33 0.00 0.000 6 0.098 0.065 2516 2499 3630 0 0 0 0 0 0

1873 end dive: NO_VERTICAL_VELOCITY

state 1873 begin apogee

1880 -0.12 0.0 208.4 0.0 227 2013 0.98 0.00 121.25 1.050 6 0.139 0.000 2817 2267 3029 0 0 0 0 0 0

2014 end apogee: CONTROL_FINISHED_OK

state 2014 begin climb

2017 0.62 146.0 208.4 0.0 239 2153 0.77 2.58 123.30 1.000 4 0.145 0.072 3052 3693 2432 0 0 0 0 0 0

2257 0.75 203.5 198.9 7.3 260 2313 0.12 2.38 49.95 0.956 6 0.103 0.060 3110 2280 2199 0 0 0 0 0 0

2630 0.75 203.5 160.9 11.0 295 2634 0.00 2.35 0.00 0.000 4 0.000 0.074 3121 861 2193 0 0 0 0 0 0

2682 0.75 203.5 155.3 10.9 299 2687 0.00 2.33 0.00 0.000 6 0.000 0.060 3121 2289 2191 0 0 0 0 0 0

3009 0.75 203.5 116.6 11.4 329 3013 0.00 2.30 0.00 0.000 4 0.000 0.073 3121 3687 2191 0 0 0 0 0 0

3088 0.70 203.5 106.2 13.2 335 3095 0.15 2.30 0.00 0.000 6 0.190 0.057 3094 2267 2191 0 0 0 0 0 0

3430 0.82 253.7 76.7 7.7 390 3484 0.10 2.42 43.20 0.911 4 0.119 0.072 3150 857 1994 0 0 0 0 0 0

3525 0.82 253.7 67.2 10.5 405 3531 0.00 2.33 0.00 0.000 6 0.000 0.058 3150 2279 1990 0 0 0 0 0 0

3871 0.82 253.7 29.8 10.7 466 3878 0.00 2.30 0.00 0.000 4 0.000 0.077 3150 3689 1988 0 0 0 0 0 0

3919 0.78 253.7 23.7 12.9 474 3927 0.17 2.28 0.00 0.000 6 0.187 0.056 3115 2274 1987 0 0 0 0 0 0

4111 end climb: SURFACE_OBSTACLE_DETECTED

state 4111 begin subsurface finish

4119 0.06 47.2 7.0 -8.0 508 4161 0.75 2.35 -32.45 0.000 4 0.165 0.081 2887 866 2839 0 0 0 0 0 0

4162 end subsurface finish: CONTROL_FINISHED_OK

state 4162 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	829	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	21	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	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	-67112.445	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	070611,040122,6709.499,-5648.380,181,99.0,181,-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	2.77	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070611,040122,6709.499,-5648.380,181,99.0,181,-37.6	MHEAD_RNG_PITCHd_Wd	216.3,12038,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	373

FREEZE	6.99,-0.882,-1.814,1,192,0	_24V_AH	22.3,109.617
FINISH1	7.0,1.026536,47	_10V_AH	9.8,54.562
FINISH2	6.6	FG_AHR_24Vo	0.000
RAFOS_CLK	271	FG_AHR_10Vo	0.000
RAFOS_FIX	6639.496582,-5814.677246,030611,000056,2,87,1.71	MEM	150512
IRIDIUM_FIX	6709.50,-5648.38,070611,040422	DATA_FILE_SIZE	20133,515
TT8_MAMPS	0.026215	CAP_FILE_SIZE	63169,0
HUMID	47.59	CFSIZE	260165632,201990144
INTERNAL_PRESSURE	8.77963	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.80	SOUNDSPEED	1456.6
XPDR_PINGS	47	GPS	070611,040122,6709.499,-5648.380,181,99.0,181,-37.6
ALTIM_TOP_PING	19.8,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	328	128.37	SBE_CT	364	24	195.26
Roll_motor	49	90	100.30	SBE_O2	374	19	158.79
VBD_pump_during_apogee	337	1049	7904.08	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	101	103	232.30	nil	0	0	0.00
Iridium_during_connect	16	160	60.40	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	12	420	112.39	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	185	50	90.79
TT8	1166	19	227.77
LPSleep	1767	2	40.02
TT8_Active	473	19	92.41
TT8_Sampling	1140	39	446.18
TT8_CF8	554	45	249.75
TT8_Kalman	0	0	0.00
Analog_circuits	987	12	116.16
GPS_charging	0	0	0.00
Compass	838	15	123.25
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	180	0.00	0.00	-158.68	0.000	2	0.000	0.000	109	2502	3242	0	0	0	0	0	0
184	-0.62	-146.0	5.5	-8.2	28	215	13.65	2.42	-8.27	0.000	4	0.329	0.090	2656	1080	3631	0	0	0	0	0	0
298	-0.53	-146.0	33.3	-17.0	47	306	0.12	2.38	0.00	0.000	6	0.229	0.080	2685	2487	3632	0	0	0	0	0	0
645	-0.47	-146.0	85.0	-13.0	108	652	0.00	2.42	0.00	0.000	4	0.000	0.086	2685	3907	3631	0	0	0	0	0	0
706	-0.47	-146.0	93.1	-13.3	118	713	0.00	2.33	0.00	0.000	6	0.000	0.063	2685	2486	3631	0	0	0	0	0	0
1036	-0.45	-146.0	135.5	-11.6	153	1041	0.12	2.35	0.00	0.000	4	0.217	0.074	2715	1081	3631	0	0	0	0	0	0
1067	-0.47	-146.0	138.9	-11.2	155	1071	0.00	2.35	0.00	0.000	6	0.000	0.070	2715	2489	3631	0	0	0	0	0	0
1395	-0.53	-146.0	169.7	-9.4	185	1399	0.00	2.40	0.00	0.000	4	0.000	0.085	2715	3903	3630	0	0	0	0	0	0
1437	-0.61	-146.0	173.8	-9.4	188	1442	0.15	2.28	0.00	0.000	6	0.109	0.054	2664	2488	3630	0	0	0	0	0	0
1764	-0.84	-146.0	208.4	0.2	218	1769	0.20	2.30	0.00	0.000	4	0.100	0.067	2588	1077	3630	0	0	0	0	0	0
1794	-1.08	-146.0	208.4	0.2	220	1799	0.20	2.33	0.00	0.000	6	0.098	0.065	2516	2499	3630	0	0	0	0	0	0
1873	end dive: NO_VERTICAL_VELOCITY
state	1873	begin apogee
1880	-0.12	0.0	208.4	0.0	227	2013	0.98	0.00	121.25	1.050	6	0.139	0.000	2817	2267	3029	0	0	0	0	0	0
2014	end apogee: CONTROL_FINISHED_OK
state	2014	begin climb
2017	0.62	146.0	208.4	0.0	239	2153	0.77	2.58	123.30	1.000	4	0.145	0.072	3052	3693	2432	0	0	0	0	0	0
2257	0.75	203.5	198.9	7.3	260	2313	0.12	2.38	49.95	0.956	6	0.103	0.060	3110	2280	2199	0	0	0	0	0	0
2630	0.75	203.5	160.9	11.0	295	2634	0.00	2.35	0.00	0.000	4	0.000	0.074	3121	861	2193	0	0	0	0	0	0
2682	0.75	203.5	155.3	10.9	299	2687	0.00	2.33	0.00	0.000	6	0.000	0.060	3121	2289	2191	0	0	0	0	0	0
3009	0.75	203.5	116.6	11.4	329	3013	0.00	2.30	0.00	0.000	4	0.000	0.073	3121	3687	2191	0	0	0	0	0	0
3088	0.70	203.5	106.2	13.2	335	3095	0.15	2.30	0.00	0.000	6	0.190	0.057	3094	2267	2191	0	0	0	0	0	0
3430	0.82	253.7	76.7	7.7	390	3484	0.10	2.42	43.20	0.911	4	0.119	0.072	3150	857	1994	0	0	0	0	0	0
3525	0.82	253.7	67.2	10.5	405	3531	0.00	2.33	0.00	0.000	6	0.000	0.058	3150	2279	1990	0	0	0	0	0	0
3871	0.82	253.7	29.8	10.7	466	3878	0.00	2.30	0.00	0.000	4	0.000	0.077	3150	3689	1988	0	0	0	0	0	0
3919	0.78	253.7	23.7	12.9	474	3927	0.17	2.28	0.00	0.000	6	0.187	0.056	3115	2274	1987	0	0	0	0	0	0
4111	end climb: SURFACE_OBSTACLE_DETECTED
state	4111	begin subsurface finish
4119	0.06	47.2	7.0	-8.0	508	4161	0.75	2.35	-32.45	0.000	4	0.165	0.081	2887	866	2839	0	0	0	0	0	0
4162	end subsurface finish: CONTROL_FINISHED_OK
state	4162	begin surface