Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 836 * 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 836 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 23 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 26 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 -68595.68 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 -68595.68

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 23 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 26 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 836 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 070611,142946,6709.499,-5646.748,181,99.0,181,-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 2.80 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -75.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070611,142946,6709.499,-5646.748,181,99.0,181,-37.6 MHEAD_RNG_PITCHd_Wd 221.9,12069,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 364

Post-dive calculations and measurements:

FREEZE 1.82,-1.016,-1.810,1,199,0 ALTIM_TOP_PING 19.6,17.6

FINISH 1.8,1.026541 _24V_AH 22.3,110.328

SM_CCo 4596,118.78,0.065,0,0,750,559.04 _10V_AH 9.8,54.862

SM_GC 2.64,0.00,0.00,118.78,0.000,0.000,0.065,117,2498,750,-8.59,0.23,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 305 FG_AHR_10Vo 0.000

RAFOS 0,1307476866,20.033333,20.018333,58,55,54,54,53,50,211,171,193,180,158,135 MEM 150568

RAFOS_FIX 6639.496582,-5814.677246,030611,000056,2,87,1.71 DATA_FILE_SIZE 23398,588

IRIDIUM_FIX 6709.50,-5646.75,070611,141446 CAP_FILE_SIZE 70134,0

TT8_MAMPS 0.028462 CFSIZE 260165632,201728000

HUMID 45.82 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.51595 SOUNDSPEED 1455.7

TCM_TEMP 16.90 GPS 070611,142946,6709.499,-5646.748,181,99.0,181,-37.6

XPDR_PINGS 54

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 335 194.46 SBE_CT 415 24 222.21

Roll_motor 48 84 91.04 SBE_O2 429 19 182.12

VBD_pump_during_apogee 350 1044 8155.42 nil 0 0 0.00

VBD_pump_during_surface 118 65 172.23 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 98 103 225.87 nil 0 0 0.00

Iridium_during_connect 17 160 61.07 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 13 420 128.78 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 185 50 90.78

TT8 1340 19 261.59

LPSleep 1912 2 43.28

TT8_Active 599 19 116.98

TT8_Sampling 1241 39 485.60

TT8_CF8 585 45 263.66

TT8_Kalman 0 0 0.00

Analog_circuits 1149 12 135.17

GPS_charging 0 0 0.00

Compass 936 15 137.65

RAFOS 2160 1 31.75

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 0 179 0.00 0.00 -157.50 0.000 2 0.000 0.000 116 2497 3244 0 0 0 0 0 0

182 -0.62 -146.0 5.6 -8.6 28 214 13.85 2.40 -8.15 0.000 4 0.335 0.083 2654 1080 3630 0 0 0 0 0 0

222 0.08 -146.0 20.4 -34.6 34 229 0.90 2.35 0.00 0.000 6 0.227 0.079 2878 2482 3632 0 0 0 0 0 0

569 -0.35 -146.0 52.3 -10.3 95 576 0.35 0.00 0.00 0.000 6 0.175 0.000 2760 2482 3632 0 0 0 0 0 0

919 -0.59 -146.0 78.2 -7.3 156 926 0.25 0.00 0.00 0.000 6 0.094 0.000 2662 2483 3632 0 0 0 0 0 0

1254 -0.51 -146.0 128.0 -15.2 200 1259 0.12 2.35 0.00 0.000 4 0.223 0.073 2690 1079 3631 0 0 0 0 0 0

1298 -0.51 -146.0 134.3 -12.0 203 1306 0.00 2.35 0.00 0.000 6 0.000 0.070 2690 2492 3630 0 0 0 0 0 0

1624 -0.51 -146.0 170.5 -10.6 234 1628 0.00 2.40 0.00 0.000 4 0.000 0.085 2690 3900 3629 0 0 0 0 0 0

1653 -0.51 -146.0 173.6 -11.0 236 1657 0.00 2.30 0.00 0.000 6 0.000 0.056 2690 2481 3629 0 0 0 0 0 0

1982 -0.57 -146.0 207.9 -9.3 266 1987 0.00 2.42 0.00 0.000 4 0.000 0.081 2690 3903 3630 0 0 0 0 0 0

2128 end dive: NO_VERTICAL_VELOCITY

state 2128 begin apogee

2138 -0.12 0.0 207.7 0.0 278 2267 0.40 0.00 121.43 1.044 6 0.142 0.000 2817 2275 3030 0 0 0 0 0 0

2268 end apogee: CONTROL_FINISHED_OK

state 2268 begin climb

2271 0.62 146.0 207.8 0.0 290 2405 0.77 2.62 123.95 0.999 4 0.142 0.073 3054 3687 2433 0 0 0 0 0 0

2458 0.59 156.5 198.4 9.5 307 2476 0.00 2.42 9.88 0.855 6 0.000 0.059 3065 2275 2392 0 0 0 0 0 0

2795 0.59 161.4 166.5 9.8 339 2807 0.00 2.35 5.85 0.731 4 0.000 0.074 3075 864 2370 0 0 0 0 0 0

2846 0.59 161.4 161.0 10.4 343 2853 0.00 2.30 0.00 0.000 6 0.000 0.060 3075 2278 2369 0 0 0 0 0 0

3172 0.59 162.4 127.9 10.0 374 3176 0.00 2.30 0.00 0.000 4 0.000 0.073 3075 3689 2370 0 0 0 0 0 0

3281 0.54 162.4 115.3 12.3 383 3286 0.17 2.30 0.00 0.000 6 0.182 0.059 3040 2273 2369 0 0 0 0 0 0

3617 0.66 209.7 86.8 7.8 427 3670 0.12 2.42 42.33 0.916 4 0.103 0.073 3109 861 2173 0 0 0 0 0 0

3723 0.66 209.7 75.2 11.5 445 3731 0.12 2.33 0.00 0.000 6 0.187 0.060 3080 2282 2170 0 0 0 0 0 0

4073 0.74 235.7 42.8 8.8 506 4102 0.00 2.38 20.98 0.900 4 0.000 0.082 3080 3687 2069 0 0 0 0 0 0

4139 0.79 235.7 36.4 10.0 517 4145 0.00 2.30 0.00 0.000 6 0.000 0.067 3087 2271 2069 0 0 0 0 0 0

4489 0.93 287.5 8.4 7.6 578 4521 0.20 2.40 25.83 0.828 4 0.082 0.075 3179 870 1856 0 0 0 0 0 0

4531 end climb: SURFACE_DEPTH_REACHED

state 4531 begin surface coast

4555 end surface coast: CONTROL_FINISHED_OK

state 4556 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	836	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	23	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	26	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	-68595.68	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	070611,142946,6709.499,-5646.748,181,99.0,181,-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	2.80	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-75.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070611,142946,6709.499,-5646.748,181,99.0,181,-37.6	MHEAD_RNG_PITCHd_Wd	221.9,12069,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	364

FREEZE	1.82,-1.016,-1.810,1,199,0	ALTIM_TOP_PING	19.6,17.6
FINISH	1.8,1.026541	_24V_AH	22.3,110.328
SM_CCo	4596,118.78,0.065,0,0,750,559.04	_10V_AH	9.8,54.862
SM_GC	2.64,0.00,0.00,118.78,0.000,0.000,0.065,117,2498,750,-8.59,0.23,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	305	FG_AHR_10Vo	0.000
RAFOS	0,1307476866,20.033333,20.018333,58,55,54,54,53,50,211,171,193,180,158,135	MEM	150568
RAFOS_FIX	6639.496582,-5814.677246,030611,000056,2,87,1.71	DATA_FILE_SIZE	23398,588
IRIDIUM_FIX	6709.50,-5646.75,070611,141446	CAP_FILE_SIZE	70134,0
TT8_MAMPS	0.028462	CFSIZE	260165632,201728000
HUMID	45.82	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.51595	SOUNDSPEED	1455.7
TCM_TEMP	16.90	GPS	070611,142946,6709.499,-5646.748,181,99.0,181,-37.6
XPDR_PINGS	54

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	335	194.46	SBE_CT	415	24	222.21
Roll_motor	48	84	91.04	SBE_O2	429	19	182.12
VBD_pump_during_apogee	350	1044	8155.42	nil	0	0	0.00
VBD_pump_during_surface	118	65	172.23	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	98	103	225.87	nil	0	0	0.00
Iridium_during_connect	17	160	61.07	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	13	420	128.78	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	185	50	90.78
TT8	1340	19	261.59
LPSleep	1912	2	43.28
TT8_Active	599	19	116.98
TT8_Sampling	1241	39	485.60
TT8_CF8	585	45	263.66
TT8_Kalman	0	0	0.00
Analog_circuits	1149	12	135.17
GPS_charging	0	0	0.00
Compass	936	15	137.65
RAFOS	2160	1	31.75
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	179	0.00	0.00	-157.50	0.000	2	0.000	0.000	116	2497	3244	0	0	0	0	0	0
182	-0.62	-146.0	5.6	-8.6	28	214	13.85	2.40	-8.15	0.000	4	0.335	0.083	2654	1080	3630	0	0	0	0	0	0
222	0.08	-146.0	20.4	-34.6	34	229	0.90	2.35	0.00	0.000	6	0.227	0.079	2878	2482	3632	0	0	0	0	0	0
569	-0.35	-146.0	52.3	-10.3	95	576	0.35	0.00	0.00	0.000	6	0.175	0.000	2760	2482	3632	0	0	0	0	0	0
919	-0.59	-146.0	78.2	-7.3	156	926	0.25	0.00	0.00	0.000	6	0.094	0.000	2662	2483	3632	0	0	0	0	0	0
1254	-0.51	-146.0	128.0	-15.2	200	1259	0.12	2.35	0.00	0.000	4	0.223	0.073	2690	1079	3631	0	0	0	0	0	0
1298	-0.51	-146.0	134.3	-12.0	203	1306	0.00	2.35	0.00	0.000	6	0.000	0.070	2690	2492	3630	0	0	0	0	0	0
1624	-0.51	-146.0	170.5	-10.6	234	1628	0.00	2.40	0.00	0.000	4	0.000	0.085	2690	3900	3629	0	0	0	0	0	0
1653	-0.51	-146.0	173.6	-11.0	236	1657	0.00	2.30	0.00	0.000	6	0.000	0.056	2690	2481	3629	0	0	0	0	0	0
1982	-0.57	-146.0	207.9	-9.3	266	1987	0.00	2.42	0.00	0.000	4	0.000	0.081	2690	3903	3630	0	0	0	0	0	0
2128	end dive: NO_VERTICAL_VELOCITY
state	2128	begin apogee
2138	-0.12	0.0	207.7	0.0	278	2267	0.40	0.00	121.43	1.044	6	0.142	0.000	2817	2275	3030	0	0	0	0	0	0
2268	end apogee: CONTROL_FINISHED_OK
state	2268	begin climb
2271	0.62	146.0	207.8	0.0	290	2405	0.77	2.62	123.95	0.999	4	0.142	0.073	3054	3687	2433	0	0	0	0	0	0
2458	0.59	156.5	198.4	9.5	307	2476	0.00	2.42	9.88	0.855	6	0.000	0.059	3065	2275	2392	0	0	0	0	0	0
2795	0.59	161.4	166.5	9.8	339	2807	0.00	2.35	5.85	0.731	4	0.000	0.074	3075	864	2370	0	0	0	0	0	0
2846	0.59	161.4	161.0	10.4	343	2853	0.00	2.30	0.00	0.000	6	0.000	0.060	3075	2278	2369	0	0	0	0	0	0
3172	0.59	162.4	127.9	10.0	374	3176	0.00	2.30	0.00	0.000	4	0.000	0.073	3075	3689	2370	0	0	0	0	0	0
3281	0.54	162.4	115.3	12.3	383	3286	0.17	2.30	0.00	0.000	6	0.182	0.059	3040	2273	2369	0	0	0	0	0	0
3617	0.66	209.7	86.8	7.8	427	3670	0.12	2.42	42.33	0.916	4	0.103	0.073	3109	861	2173	0	0	0	0	0	0
3723	0.66	209.7	75.2	11.5	445	3731	0.12	2.33	0.00	0.000	6	0.187	0.060	3080	2282	2170	0	0	0	0	0	0
4073	0.74	235.7	42.8	8.8	506	4102	0.00	2.38	20.98	0.900	4	0.000	0.082	3080	3687	2069	0	0	0	0	0	0
4139	0.79	235.7	36.4	10.0	517	4145	0.00	2.30	0.00	0.000	6	0.000	0.067	3087	2271	2069	0	0	0	0	0	0
4489	0.93	287.5	8.4	7.6	578	4521	0.20	2.40	25.83	0.828	4	0.082	0.075	3179	870	1856	0	0	0	0	0	0
4531	end climb: SURFACE_DEPTH_REACHED
state	4531	begin surface coast
4555	end surface coast: CONTROL_FINISHED_OK
state	4556	begin surface