Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 978 * 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 978 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 28 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 65 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 -99612.133 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 -99612.133

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 28 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 65 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 978 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 150611,173508,6715.065,-5654.765,181,99.0,181,-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 3.13 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -34.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150611,173508,6715.065,-5654.765,181,99.0,181,-37.6 MHEAD_RNG_PITCHd_Wd 205.3,22873,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 239

Post-dive calculations and measurements:

FREEZE 6.85,-0.757,-1.797,0,341,0 _24V_AH 21.8,128.009

FINISH1 6.9,1.026298,59 _10V_AH 9.8,61.342

FINISH2 5.2 FG_AHR_24Vo 0.000

RAFOS_CLK 280 FG_AHR_10Vo 0.000

RAFOS_FIX 6639.496582,-5814.677246,030611,000056,2,87,1.71 MEM 150568

IRIDIUM_FIX 6715.07,-5654.76,150611,171708 DATA_FILE_SIZE 20062,541

TT8_MAMPS 0.026964 CAP_FILE_SIZE 67457,0

HUMID 75.32 CFSIZE 260165632,196763648

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

TCM_TEMP 17.50 SOUNDSPEED 1459.2

XPDR_PINGS 49 GPS 150611,173508,6715.065,-5654.765,181,99.0,181,-37.6

ALTIM_TOP_PING 19.7,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 319 122.57 SBE_CT 378 24 198.22

Roll_motor 53 84 98.30 SBE_O2 393 19 162.99

VBD_pump_during_apogee 462 1032 10410.45 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 101 103 226.79 nil 0 0 0.00

Iridium_during_connect 17 160 60.51 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 12 420 114.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 185 50 90.94

TT8 1194 19 233.24

LPSleep 1815 2 41.10

TT8_Active 546 19 106.69

TT8_Sampling 1207 39 472.26

TT8_CF8 637 45 286.69

TT8_Kalman 0 0 0.00

Analog_circuits 1108 12 130.41

GPS_charging 0 0 0.00

Compass 897 15 131.98

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 114 0.00 0.00 -94.85 0.000 2 0.000 0.000 112 2522 2438 0 0 0 0 0 0

118 -0.62 -146.0 5.1 -7.0 17 167 12.85 2.42 -27.98 0.000 4 0.319 0.085 2655 1086 3627 0 0 0 0 0 0

194 -0.91 -146.0 17.3 -9.9 29 202 0.28 2.15 0.00 0.000 6 0.113 0.037 2569 2485 3628 0 0 0 0 0 0

543 -1.30 -146.0 52.0 -9.0 90 550 0.35 2.38 0.00 0.000 4 0.129 0.071 2452 1084 3628 0 0 0 0 0 0

587 -1.15 -146.0 59.0 -19.8 97 595 0.15 2.20 0.00 0.000 6 0.234 0.045 2483 2491 3628 0 0 0 0 0 0

929 -1.15 -146.0 116.7 -16.3 149 933 0.00 2.22 0.00 0.000 4 0.000 0.051 2483 3885 3627 0 0 0 0 0 0

958 -1.34 -146.0 120.8 -12.7 151 965 0.15 2.25 0.00 0.000 6 0.109 0.054 2434 2492 3628 0 0 0 0 0 0

1284 -1.28 -146.0 176.2 -17.0 182 1288 0.00 2.38 0.00 0.000 4 0.000 0.076 2434 1082 3627 0 0 0 0 0 0

1299 -1.16 -146.0 178.7 -17.6 183 1304 0.22 2.17 0.00 0.000 6 0.239 0.038 2484 2492 3627 0 0 0 0 0 0

1626 -1.38 -146.0 211.4 -0.2 213 1631 0.17 2.25 0.00 0.000 4 0.103 0.049 2420 3892 3627 0 0 0 0 0 0

1656 end dive: NO_VERTICAL_VELOCITY

state 1657 begin apogee

1667 -0.12 0.0 211.4 0.0 215 1795 1.30 0.00 119.50 1.033 6 0.142 0.000 2813 2274 3030 0 0 0 0 0 0

1795 end apogee: CONTROL_FINISHED_OK

state 1796 begin climb

1800 0.62 146.0 211.4 0.0 227 1937 0.77 2.58 125.15 0.984 4 0.131 0.050 3048 3661 2433 0 0 0 0 0 0

2194 0.88 356.0 210.7 0.3 262 2383 0.25 2.30 181.20 0.959 6 0.075 0.048 3154 2262 1579 0 0 0 0 0 0

2705 0.75 356.0 167.9 13.2 309 2710 0.17 2.35 0.00 0.000 4 0.204 0.050 3114 3686 1570 0 0 0 0 0 0

2758 0.75 356.0 162.0 10.4 313 2762 0.00 2.30 0.00 0.000 6 0.000 0.054 3121 2276 1568 0 0 0 0 0 0

3085 0.68 356.0 127.6 10.4 343 3090 0.15 2.22 0.00 0.000 4 0.195 0.049 3084 3678 1568 0 0 0 0 0 0

3097 0.62 356.0 126.1 10.2 343 3104 0.00 2.30 0.00 0.000 6 0.000 0.062 3087 2270 1567 0 0 0 0 0 0

3426 0.62 356.6 95.2 10.0 378 3433 0.00 2.28 0.00 0.000 4 0.000 0.058 3087 3680 1567 0 0 0 0 0 0

3492 0.70 364.2 88.7 9.7 389 3505 0.00 2.28 6.82 0.750 6 0.000 0.052 3097 2270 1545 0 0 0 0 0 0

3849 0.71 396.0 54.2 8.5 451 3886 0.00 2.33 29.73 0.887 4 0.000 0.063 3107 868 1414 0 0 0 0 0 0

3938 0.71 396.0 45.2 11.0 466 3945 0.00 2.20 0.00 0.000 6 0.000 0.043 3108 2278 1412 0 0 0 0 0 0

4286 0.71 396.0 8.5 10.7 527 4293 0.00 2.33 0.00 0.000 4 0.000 0.068 3117 868 1411 0 0 0 0 0 0

4300 end climb: SURFACE_OBSTACLE_DETECTED

state 4300 begin subsurface finish

4310 0.07 58.9 6.9 -10.7 529 4381 0.80 2.28 -63.58 0.000 4 0.203 0.058 2893 3691 2791 0 0 0 0 0 0

4382 end subsurface finish: CONTROL_FINISHED_OK

state 4382 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	978	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	28	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	65	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	-99612.133	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	150611,173508,6715.065,-5654.765,181,99.0,181,-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	3.13	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-34.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150611,173508,6715.065,-5654.765,181,99.0,181,-37.6	MHEAD_RNG_PITCHd_Wd	205.3,22873,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	239

FREEZE	6.85,-0.757,-1.797,0,341,0	_24V_AH	21.8,128.009
FINISH1	6.9,1.026298,59	_10V_AH	9.8,61.342
FINISH2	5.2	FG_AHR_24Vo	0.000
RAFOS_CLK	280	FG_AHR_10Vo	0.000
RAFOS_FIX	6639.496582,-5814.677246,030611,000056,2,87,1.71	MEM	150568
IRIDIUM_FIX	6715.07,-5654.76,150611,171708	DATA_FILE_SIZE	20062,541
TT8_MAMPS	0.026964	CAP_FILE_SIZE	67457,0
HUMID	75.32	CFSIZE	260165632,196763648
INTERNAL_PRESSURE	8.79917	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.50	SOUNDSPEED	1459.2
XPDR_PINGS	49	GPS	150611,173508,6715.065,-5654.765,181,99.0,181,-37.6
ALTIM_TOP_PING	19.7,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	319	122.57	SBE_CT	378	24	198.22
Roll_motor	53	84	98.30	SBE_O2	393	19	162.99
VBD_pump_during_apogee	462	1032	10410.45	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	226.79	nil	0	0	0.00
Iridium_during_connect	17	160	60.51	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	12	420	114.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	185	50	90.94
TT8	1194	19	233.24
LPSleep	1815	2	41.10
TT8_Active	546	19	106.69
TT8_Sampling	1207	39	472.26
TT8_CF8	637	45	286.69
TT8_Kalman	0	0	0.00
Analog_circuits	1108	12	130.41
GPS_charging	0	0	0.00
Compass	897	15	131.98
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	114	0.00	0.00	-94.85	0.000	2	0.000	0.000	112	2522	2438	0	0	0	0	0	0
118	-0.62	-146.0	5.1	-7.0	17	167	12.85	2.42	-27.98	0.000	4	0.319	0.085	2655	1086	3627	0	0	0	0	0	0
194	-0.91	-146.0	17.3	-9.9	29	202	0.28	2.15	0.00	0.000	6	0.113	0.037	2569	2485	3628	0	0	0	0	0	0
543	-1.30	-146.0	52.0	-9.0	90	550	0.35	2.38	0.00	0.000	4	0.129	0.071	2452	1084	3628	0	0	0	0	0	0
587	-1.15	-146.0	59.0	-19.8	97	595	0.15	2.20	0.00	0.000	6	0.234	0.045	2483	2491	3628	0	0	0	0	0	0
929	-1.15	-146.0	116.7	-16.3	149	933	0.00	2.22	0.00	0.000	4	0.000	0.051	2483	3885	3627	0	0	0	0	0	0
958	-1.34	-146.0	120.8	-12.7	151	965	0.15	2.25	0.00	0.000	6	0.109	0.054	2434	2492	3628	0	0	0	0	0	0
1284	-1.28	-146.0	176.2	-17.0	182	1288	0.00	2.38	0.00	0.000	4	0.000	0.076	2434	1082	3627	0	0	0	0	0	0
1299	-1.16	-146.0	178.7	-17.6	183	1304	0.22	2.17	0.00	0.000	6	0.239	0.038	2484	2492	3627	0	0	0	0	0	0
1626	-1.38	-146.0	211.4	-0.2	213	1631	0.17	2.25	0.00	0.000	4	0.103	0.049	2420	3892	3627	0	0	0	0	0	0
1656	end dive: NO_VERTICAL_VELOCITY
state	1657	begin apogee
1667	-0.12	0.0	211.4	0.0	215	1795	1.30	0.00	119.50	1.033	6	0.142	0.000	2813	2274	3030	0	0	0	0	0	0
1795	end apogee: CONTROL_FINISHED_OK
state	1796	begin climb
1800	0.62	146.0	211.4	0.0	227	1937	0.77	2.58	125.15	0.984	4	0.131	0.050	3048	3661	2433	0	0	0	0	0	0
2194	0.88	356.0	210.7	0.3	262	2383	0.25	2.30	181.20	0.959	6	0.075	0.048	3154	2262	1579	0	0	0	0	0	0
2705	0.75	356.0	167.9	13.2	309	2710	0.17	2.35	0.00	0.000	4	0.204	0.050	3114	3686	1570	0	0	0	0	0	0
2758	0.75	356.0	162.0	10.4	313	2762	0.00	2.30	0.00	0.000	6	0.000	0.054	3121	2276	1568	0	0	0	0	0	0
3085	0.68	356.0	127.6	10.4	343	3090	0.15	2.22	0.00	0.000	4	0.195	0.049	3084	3678	1568	0	0	0	0	0	0
3097	0.62	356.0	126.1	10.2	343	3104	0.00	2.30	0.00	0.000	6	0.000	0.062	3087	2270	1567	0	0	0	0	0	0
3426	0.62	356.6	95.2	10.0	378	3433	0.00	2.28	0.00	0.000	4	0.000	0.058	3087	3680	1567	0	0	0	0	0	0
3492	0.70	364.2	88.7	9.7	389	3505	0.00	2.28	6.82	0.750	6	0.000	0.052	3097	2270	1545	0	0	0	0	0	0
3849	0.71	396.0	54.2	8.5	451	3886	0.00	2.33	29.73	0.887	4	0.000	0.063	3107	868	1414	0	0	0	0	0	0
3938	0.71	396.0	45.2	11.0	466	3945	0.00	2.20	0.00	0.000	6	0.000	0.043	3108	2278	1412	0	0	0	0	0	0
4286	0.71	396.0	8.5	10.7	527	4293	0.00	2.33	0.00	0.000	4	0.000	0.068	3117	868	1411	0	0	0	0	0	0
4300	end climb: SURFACE_OBSTACLE_DETECTED
state	4300	begin subsurface finish
4310	0.07	58.9	6.9	-10.7	529	4381	0.80	2.28	-63.58	0.000	4	0.203	0.058	2893	3691	2791	0	0	0	0	0	0
4382	end subsurface finish: CONTROL_FINISHED_OK
state	4382	begin surface