Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 871 * 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 871 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 23 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 -77086.906 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 -77086.906

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 23 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 871 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 090611,173745,6709.499,-5819.472,0,10000.0,0,-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 5.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090611,173745,6709.499,-5819.472,0,10000.0,0,-37.6 MHEAD_RNG_PITCHd_Wd 137.9,67143,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 1158

Post-dive calculations and measurements:

FREEZE 6.89,-1.306,-1.811,2,234,0 ALTIM_TOP_PING 19.7,17.2

FINISH1 6.9,1.026518,48 _24V_AH 22.6,113.955

FINISH2 5.4 _10V_AH 9.8,56.364

RAFOS_CLK 235 FG_AHR_24Vo 0.000

RAFOS 2,1307650623,20.299999,20.284166,55,54,53,53,53,50,156,137,120,189,212,173 FG_AHR_10Vo 0.000

RAFOS_FIX 6639.496582,-5814.677246,030611,000056,2,87,1.71 MEM 150560

IRIDIUM_FIX 6709.50,-5819.47,090611,171745 DATA_FILE_SIZE 20114,518

TT8_MAMPS 0.026964 CAP_FILE_SIZE 58639,0

HUMID 73.39 CFSIZE 260165632,200556544

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

TCM_TEMP 17.00 SOUNDSPEED 1457.8

XPDR_PINGS 31 GPS 090611,173745,6709.499,-5819.472,0,10000.0,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 227 16.94 SBE_CT 364 24 197.87

Roll_motor 49 85 95.66 SBE_O2 380 19 163.56

VBD_pump_during_apogee 345 1030 8055.42 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 8 420 75.94 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1182 19 230.75

LPSleep 1745 2 39.51

TT8_Active 366 19 71.55

TT8_Sampling 839 39 328.27

TT8_CF8 124 45 56.11

TT8_Kalman 0 0 0.00

Analog_circuits 859 12 101.05

GPS_charging 0 0 0.00

Compass 839 15 123.34

RAFOS 1800 1 26.46

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

17 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -5.47 0.000 2 0.000 0.000 2893 2286 2975 0 0 0 0 0 0

28 -0.62 -146.0 5.8 -0.0 1 59 0.60 2.75 -23.25 0.000 4 0.088 0.086 2663 3898 3627 0 0 0 0 0 0

112 -0.51 -146.0 18.0 -17.2 15 119 0.12 2.25 0.00 0.000 6 0.226 0.048 2689 2483 3628 0 0 0 0 0 0

460 -0.47 -146.0 69.7 -13.0 76 467 0.00 2.28 0.00 0.000 4 0.000 0.067 2689 1087 3629 0 0 0 0 0 0

476 -0.42 -146.0 71.9 -13.4 78 483 0.12 2.33 0.00 0.000 6 0.227 0.072 2718 2490 3629 0 0 0 0 0 0

820 -0.46 -146.0 107.7 -9.5 132 824 0.00 2.38 0.00 0.000 4 0.000 0.080 2718 3899 3627 0 0 0 0 0 0

855 -0.51 -146.0 111.1 -8.7 135 859 0.00 2.25 0.00 0.000 6 0.000 0.051 2718 2492 3627 0 0 0 0 0 0

1187 -0.57 -146.0 141.1 -9.4 166 1191 0.12 2.30 0.00 0.000 4 0.126 0.067 2674 1081 3626 0 0 0 0 0 0

1216 -0.57 -146.0 144.4 -12.0 168 1220 0.00 2.33 0.00 0.000 6 0.000 0.063 2673 2496 3626 0 0 0 0 0 0

1543 -0.54 -146.0 182.9 -10.7 198 1547 0.00 2.33 0.00 0.000 4 0.000 0.078 2673 3899 3624 0 0 0 0 0 0

1620 -0.54 -146.0 191.6 -11.6 204 1627 0.00 2.22 0.00 0.000 6 0.000 0.050 2673 2491 3624 0 0 0 0 0 0

1901 end dive: NO_VERTICAL_VELOCITY

state 1901 begin apogee

1908 -0.12 0.0 205.0 0.0 231 2034 0.45 0.00 119.10 1.030 6 0.134 0.000 2819 2248 3030 0 0 0 0 0 0

2034 end apogee: CONTROL_FINISHED_OK

state 2035 begin climb

2037 0.62 146.0 205.1 0.0 242 2170 0.75 2.58 122.35 0.980 4 0.134 0.067 3052 3697 2433 0 0 0 0 0 0

2222 0.58 158.2 197.8 9.4 258 2241 0.00 2.38 11.43 0.860 6 0.000 0.060 3063 2293 2384 0 0 0 0 0 0

2559 0.58 158.2 164.0 10.8 290 2563 0.00 2.33 0.00 0.000 4 0.000 0.069 3074 859 2382 0 0 0 0 0 0

2611 0.58 158.2 158.5 10.7 294 2615 0.00 2.28 0.00 0.000 6 0.000 0.054 3074 2290 2380 0 0 0 0 0 0

2937 0.58 162.4 125.4 9.8 324 2949 0.00 2.28 4.70 0.640 4 0.000 0.069 3074 3687 2368 0 0 0 0 0 0

3059 0.53 162.4 111.9 10.9 334 3067 0.17 2.28 0.00 0.000 6 0.172 0.053 3037 2266 2367 0 0 0 0 0 0

3395 0.70 246.1 88.8 6.1 380 3477 0.15 2.35 72.65 0.910 4 0.093 0.069 3116 864 2025 0 0 0 0 0 0

3516 0.72 246.1 75.7 11.8 400 3523 0.00 2.30 0.00 0.000 6 0.000 0.052 3116 2285 2021 0 0 0 0 0 0

3863 0.75 270.9 37.8 8.9 461 3888 0.00 2.33 15.68 0.904 4 0.000 0.067 3116 3676 1923 0 0 0 0 0 0

3923 0.75 270.9 31.5 11.1 471 3930 0.00 2.25 0.00 0.000 6 0.000 0.062 3125 2275 1921 0 0 0 0 0 0

4143 end climb: SURFACE_OBSTACLE_DETECTED

state 4143 begin subsurface finish

4151 0.06 48.1 6.9 -12.8 510 4199 0.80 2.33 -37.92 0.000 4 0.193 0.085 2891 864 2835 0 0 0 0 0 0

4199 end subsurface finish: CONTROL_FINISHED_OK

state 4199 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	871	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	23	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	-77086.906	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	090611,173745,6709.499,-5819.472,0,10000.0,0,-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	5.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090611,173745,6709.499,-5819.472,0,10000.0,0,-37.6	MHEAD_RNG_PITCHd_Wd	137.9,67143,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	1158

FREEZE	6.89,-1.306,-1.811,2,234,0	ALTIM_TOP_PING	19.7,17.2
FINISH1	6.9,1.026518,48	_24V_AH	22.6,113.955
FINISH2	5.4	_10V_AH	9.8,56.364
RAFOS_CLK	235	FG_AHR_24Vo	0.000
RAFOS	2,1307650623,20.299999,20.284166,55,54,53,53,53,50,156,137,120,189,212,173	FG_AHR_10Vo	0.000
RAFOS_FIX	6639.496582,-5814.677246,030611,000056,2,87,1.71	MEM	150560
IRIDIUM_FIX	6709.50,-5819.47,090611,171745	DATA_FILE_SIZE	20114,518
TT8_MAMPS	0.026964	CAP_FILE_SIZE	58639,0
HUMID	73.39	CFSIZE	260165632,200556544
INTERNAL_PRESSURE	8.77963	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	SOUNDSPEED	1457.8
XPDR_PINGS	31	GPS	090611,173745,6709.499,-5819.472,0,10000.0,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	227	16.94	SBE_CT	364	24	197.87
Roll_motor	49	85	95.66	SBE_O2	380	19	163.56
VBD_pump_during_apogee	345	1030	8055.42	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	8	420	75.94	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1182	19	230.75
LPSleep	1745	2	39.51
TT8_Active	366	19	71.55
TT8_Sampling	839	39	328.27
TT8_CF8	124	45	56.11
TT8_Kalman	0	0	0.00
Analog_circuits	859	12	101.05
GPS_charging	0	0	0.00
Compass	839	15	123.34
RAFOS	1800	1	26.46
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
17	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-5.47	0.000	2	0.000	0.000	2893	2286	2975	0	0	0	0	0	0
28	-0.62	-146.0	5.8	-0.0	1	59	0.60	2.75	-23.25	0.000	4	0.088	0.086	2663	3898	3627	0	0	0	0	0	0
112	-0.51	-146.0	18.0	-17.2	15	119	0.12	2.25	0.00	0.000	6	0.226	0.048	2689	2483	3628	0	0	0	0	0	0
460	-0.47	-146.0	69.7	-13.0	76	467	0.00	2.28	0.00	0.000	4	0.000	0.067	2689	1087	3629	0	0	0	0	0	0
476	-0.42	-146.0	71.9	-13.4	78	483	0.12	2.33	0.00	0.000	6	0.227	0.072	2718	2490	3629	0	0	0	0	0	0
820	-0.46	-146.0	107.7	-9.5	132	824	0.00	2.38	0.00	0.000	4	0.000	0.080	2718	3899	3627	0	0	0	0	0	0
855	-0.51	-146.0	111.1	-8.7	135	859	0.00	2.25	0.00	0.000	6	0.000	0.051	2718	2492	3627	0	0	0	0	0	0
1187	-0.57	-146.0	141.1	-9.4	166	1191	0.12	2.30	0.00	0.000	4	0.126	0.067	2674	1081	3626	0	0	0	0	0	0
1216	-0.57	-146.0	144.4	-12.0	168	1220	0.00	2.33	0.00	0.000	6	0.000	0.063	2673	2496	3626	0	0	0	0	0	0
1543	-0.54	-146.0	182.9	-10.7	198	1547	0.00	2.33	0.00	0.000	4	0.000	0.078	2673	3899	3624	0	0	0	0	0	0
1620	-0.54	-146.0	191.6	-11.6	204	1627	0.00	2.22	0.00	0.000	6	0.000	0.050	2673	2491	3624	0	0	0	0	0	0
1901	end dive: NO_VERTICAL_VELOCITY
state	1901	begin apogee
1908	-0.12	0.0	205.0	0.0	231	2034	0.45	0.00	119.10	1.030	6	0.134	0.000	2819	2248	3030	0	0	0	0	0	0
2034	end apogee: CONTROL_FINISHED_OK
state	2035	begin climb
2037	0.62	146.0	205.1	0.0	242	2170	0.75	2.58	122.35	0.980	4	0.134	0.067	3052	3697	2433	0	0	0	0	0	0
2222	0.58	158.2	197.8	9.4	258	2241	0.00	2.38	11.43	0.860	6	0.000	0.060	3063	2293	2384	0	0	0	0	0	0
2559	0.58	158.2	164.0	10.8	290	2563	0.00	2.33	0.00	0.000	4	0.000	0.069	3074	859	2382	0	0	0	0	0	0
2611	0.58	158.2	158.5	10.7	294	2615	0.00	2.28	0.00	0.000	6	0.000	0.054	3074	2290	2380	0	0	0	0	0	0
2937	0.58	162.4	125.4	9.8	324	2949	0.00	2.28	4.70	0.640	4	0.000	0.069	3074	3687	2368	0	0	0	0	0	0
3059	0.53	162.4	111.9	10.9	334	3067	0.17	2.28	0.00	0.000	6	0.172	0.053	3037	2266	2367	0	0	0	0	0	0
3395	0.70	246.1	88.8	6.1	380	3477	0.15	2.35	72.65	0.910	4	0.093	0.069	3116	864	2025	0	0	0	0	0	0
3516	0.72	246.1	75.7	11.8	400	3523	0.00	2.30	0.00	0.000	6	0.000	0.052	3116	2285	2021	0	0	0	0	0	0
3863	0.75	270.9	37.8	8.9	461	3888	0.00	2.33	15.68	0.904	4	0.000	0.067	3116	3676	1923	0	0	0	0	0	0
3923	0.75	270.9	31.5	11.1	471	3930	0.00	2.25	0.00	0.000	6	0.000	0.062	3125	2275	1921	0	0	0	0	0	0
4143	end climb: SURFACE_OBSTACLE_DETECTED
state	4143	begin subsurface finish
4151	0.06	48.1	6.9	-12.8	510	4199	0.80	2.33	-37.92	0.000	4	0.193	0.085	2891	864	2835	0	0	0	0	0	0
4199	end subsurface finish: CONTROL_FINISHED_OK
state	4199	begin surface