Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 1 HD_B 0.0099099996 PITCH_AD_RATE 180 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 2.4896e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 10 HEADING -1 PITCH_ADJ_GAIN 0.029999999 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 180 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 3.5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 125

D_TGT 990 FIX_MISSING_TIMEOUT 3 ROLL_MAX 3791 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1978 ALTIM_FREQUENCY 15

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1978 ALTIM_PULSE 5

D_FINISH 7.0000001e-06 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 8 ALTIM_SENSITIVITY 1

D_PITCH 1.5 SM_CC 450.37079 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 100 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 10

D_CALL 2 FILEMGR 2 R_PORT_OVSHOOT 6 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 23 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 20 COMM_SEQ 0 ROLL_AD_RATE 500 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 20 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 240 N_NOSURFACE 0 ROLL_ADJ_GAIN 1 DEVICE2 -1

T_MISSION 300 UPLOAD_DIVES_MAX 5 ROLL_ADJ_DBAND 0.029999999 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 421 DEVICE4 -1

T_TURN 240 CALL_WAIT 60 VBD_MAX 3792 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2257 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 200000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 1 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE -1 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN -2 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 1

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 32

T_WATCHDOG 10 T_GPS_CHARGE -446723.62 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 57 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 20 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 91.800003 SEABIRD_T_G 0.0042857998

SPEED_FACTOR 0.94999993 PITCH_MAX 3252 AH0_10V 61.200001 SEABIRD_T_H 0.00062588596

RHO 1.02765 C_PITCH 2263 PRESSURE_YINT 0.27000001 SEABIRD_T_I 2.1643695e-05

MASS 51747 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.0181028e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 1 SEABIRD_C_G -10.005328

FERRY_MAX 0 P_OVSHOOT 0.045000002 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1235065

KALMAN_USE 1 PITCH_GAIN 20 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015880254

HD_A 0.00312 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0001984441

AD7714Ch0Gain 1 D_FINISH 7.0000001e-06 PITCH_AD_RATE 180 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 20 SM_CC 450.37079

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 1.5 PITCH_MAX 3252 SPEED_FACTOR 0.94999993

ALTIM_FREQUENCY 15 D_SAFE 100 PITCH_MAXERRORS 1 SURFACE_URGENCY 5

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 20

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 20

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 3.5 FERRY_MAX 0 PRESSURE_YINT 0.27000001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.045000002 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 3 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 16 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 240

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HD_C 2.4896e-05 RHO 1.02765 T_GPS_CHARGE -446723.62

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 300

CF8_MAXERRORS 20 HEAD_ERRBAND 8 ROLL_ADJ_GAIN 1 T_NO_W 120

COMM_SEQ 0 HEAPDBG 1 ROLL_AD_RATE 500 T_RSLEEP 57

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN -2 ROLL_CNV 0.028270001 T_TURN 240

COURSE_BIAS 0 ID 1 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1978 INT_PRESSURE_YINT 10 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 1978 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 5

C_VBD 2257 MASS 51747 R_PORT_OVSHOOT 6 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 23 USE_ICE -1

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.005328 VBD_BLEED_AD_RATE 10

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1235065 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 2 SEABIRD_C_I -0.0015880254 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.0001984441 VBD_MAX 3792

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0042857998 VBD_MAXERRORS 20

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062588596 VBD_MIN 421

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1643695e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 10 PHONE_DEVICE 32 SEABIRD_T_J 2.0181028e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 2 PITCH_ADJ_GAIN 0.029999999 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 115501,6633.539,-6018.783,31,1.1,31,18.0 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.210,-0.094

_SM_DEPTHo 0.34 KALMAN_X -7610.1,-668.5,180.6,12090.5,-5395.1

_SM_ANGLEo -69.3 KALMAN_Y 213.4,-111.9,57.6,3057.0,516.9

GPS2 115919,6633.539,-6018.783,15,1.1,16,18.0 MHEAD_RNG_PITCHd_Wd 52.3,161700,-26.0,-13.750

SPEED_LIMITS 0.215,0.230 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024879 XPDR_PINGS -1

SM_CCo 7992,20.62,0.000,0,0,410,450.37 ALTIM_TOP_PING 19.0,18.0

SM_GC 0.34,0.00,0.00,20.62,0.000,0.000,0.000,662,2209,410,-7.48,6.28,450.37 ALTIM_BOTTOM_PING 450.5,73.1

RAFOS_CLK 0 _24V_AH 23.7,32.059

RAFOS 0,1160395441,12.083333,12.066944,80,0,0,0,0,0,623,0,0,0,0,0 _10V_AH 9.7,4.875

RAFOS_FIX 6633.192871,-6015.799316,091006,121220,4,80,1.74 DATA_FILE_SIZE 15845,511

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243773440

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,45,812,0,0

HUMID 2268 SOUNDSPEED 1459.5

INTERNAL_PRESSURE 26.0651 CURRENT 0.051,316.0,1

TCM_TEMP 15.00 GPS 091006,141530,6633.943,-6017.312,16,1.1,16,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 119 75.94 SBE_CT 420 24 239.24

Roll_motor 106 60 151.87 nil 0 0 0.00

VBD_pump_during_apogee 26 1300 814.92 nil 0 0 0.00

VBD_pump_during_surface 20 600 293.29 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 63 223 333.27

Transponder_ping 4 420 39.82

GPS 17 50 8.28

TT8 1709 19 330.28

LPSleep 5019 2 112.48

TT8_Active 227 19 43.94

TT8_Sampling 651 39 252.17

TT8_CF8 681 45 303.63

TT8_Kalman 33 81 26.48

Analog_circuits 792 12 92.25

GPS_charging 0 0 0.00

Compass 571 26 144.20

RAFOS 1440 1 20.95

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

35 end surface: CONTROL_FINISHED_OK

state 35 begin dive

41 -1.49 -116.8 0.0 0.0 0 57 0.00 0.00 -8.00 0.000 6 0.000 0.000 619 1685 2850

64 -1.49 -116.8 0.3 0.0 2 81 6.80 2.65 0.00 0.000 4 0.000 0.000 1983 3524 2850

305 -1.49 -116.8 28.8 -10.4 41 314 0.50 3.83 0.00 0.000 6 0.000 0.000 1872 1693 2846

675 -1.57 -116.8 84.9 -16.3 102 684 0.60 3.47 0.00 0.000 4 0.000 0.000 1963 3511 2857

854 -1.25 -116.8 103.7 -10.2 127 860 0.00 2.97 0.00 0.000 6 0.000 0.000 1957 1989 2848

1186 -1.33 -116.8 136.7 -9.9 143 1190 0.00 2.15 0.00 0.000 4 0.000 0.000 1960 3357 2848

1271 -1.33 -116.8 145.5 -10.4 146 1276 0.00 2.97 0.00 0.000 6 0.000 0.000 1970 1866 2845

1595 -1.38 -116.8 178.0 -10.2 161 1600 0.00 2.67 0.00 0.000 4 0.000 0.000 1975 3397 2852

1706 -1.38 -116.8 189.8 -10.6 166 1713 0.00 3.58 0.00 0.000 6 0.000 0.000 1962 1938 2843

2050 -1.44 -116.8 223.2 -10.0 182 2055 0.05 2.62 0.00 0.000 4 0.000 0.000 1959 3609 2849

2145 -1.44 -116.8 233.9 -10.1 186 2150 0.00 2.83 0.00 0.000 6 0.000 0.000 1977 1748 2851

2474 -1.53 -116.8 264.7 -7.9 202 2482 0.35 3.28 0.00 0.000 4 0.000 0.000 1879 3430 2850

2615 -1.74 -116.8 286.7 -15.8 208 2621 0.05 3.03 0.00 0.000 6 0.000 0.000 1847 1752 2847

2946 -1.49 -116.8 339.0 -15.7 224 2954 0.45 3.28 0.00 0.000 4 0.000 0.000 1994 3409 2846

3103 -1.17 -116.8 355.5 -10.2 230 3112 0.10 2.88 0.00 0.000 6 0.000 0.000 2061 2076 2843

3427 -1.24 -116.8 379.1 -7.4 246 3433 0.50 2.60 0.00 0.000 4 0.000 0.000 1916 3595 2853

3472 -1.41 -116.8 384.3 -12.6 248 3480 0.17 3.45 0.00 0.000 6 0.000 0.000 1997 1797 2846

3807 -1.36 -116.8 418.0 -9.9 264 3815 0.15 3.35 0.00 0.000 4 0.000 0.000 1976 3603 2844

3926 -1.38 -116.8 429.6 -9.9 269 3933 0.00 3.50 0.00 0.000 6 0.000 0.000 1987 1757 2851

4266 -1.48 -116.8 462.6 -9.8 285 4274 0.38 3.58 0.00 0.000 4 0.000 0.000 1869 3446 2846

4430 -1.50 -116.8 487.8 -15.7 292 4438 0.52 3.00 0.00 0.000 6 0.000 0.000 1954 1799 2849

4716 end dive: BOTTOM_OBSTACLE_DETECTED

state 4716 begin apogee

4728 -0.25 0.0 516.0 9.2 302 4746 1.08 0.00 14.62 0.000 6 0.000 0.000 2212 1948 2254

4747 end apogee: CONTROL_FINISHED_OK

state 4747 begin climb

4753 1.49 116.8 516.0 0.0 302 4774 2.15 3.58 11.25 0.001 4 0.000 0.000 2671 473 1772

4849 1.49 116.8 501.7 22.1 304 4857 0.57 2.97 0.00 0.000 6 0.000 0.000 2541 1970 1771

5186 1.49 116.8 452.8 13.9 319 5193 0.50 3.03 0.00 0.000 4 0.000 0.000 2675 3647 1774

5352 1.51 116.8 416.1 22.3 326 5360 0.52 3.35 0.00 0.000 6 0.000 0.000 2541 2000 1773

5687 1.31 118.0 369.8 13.7 342 5692 0.00 3.08 0.00 0.000 4 0.000 0.000 2524 3669 1767

5789 1.34 120.4 355.3 13.6 346 5801 0.00 3.50 0.00 0.000 6 0.000 0.000 2538 1729 1772

6118 1.46 120.4 309.5 15.1 362 6126 0.52 3.22 0.00 0.000 4 0.000 0.000 2648 3627 1767

6282 1.44 120.4 273.6 22.7 369 6289 0.65 2.85 0.00 0.000 6 0.000 0.000 2552 1942 1772

6622 1.24 123.2 226.8 13.5 385 6629 0.00 2.80 0.57 0.001 4 0.000 0.000 2547 3687 1743

6740 1.28 123.2 209.4 15.5 390 6745 0.00 2.88 0.00 0.000 6 0.000 0.000 2546 2019 1749

7076 1.37 123.2 157.2 13.9 406 7081 0.00 3.03 0.00 0.000 4 0.000 0.000 2529 3684 1742

7169 1.40 123.2 144.0 13.8 410 7177 0.30 3.65 0.00 0.000 6 0.000 0.000 2606 1872 1735

7510 1.52 123.2 83.2 18.4 436 7519 0.00 2.65 0.00 0.000 4 0.000 0.000 2592 3549 1739

7647 1.40 123.2 57.4 17.6 458 7656 0.00 3.72 0.00 0.000 6 0.000 0.000 2587 1876 1744

7950 end climb: SURFACE_DEPTH_REACHED

state 7950 begin surface coast

7962 end surface coast: CONTROL_FINISHED_OK

state 7962 begin surface

ID	1	HD_B	0.0099099996	PITCH_AD_RATE	180	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	2.4896e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	10	HEADING	-1	PITCH_ADJ_GAIN	0.029999999	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	180	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	3.5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	125
D_TGT	990	FIX_MISSING_TIMEOUT	3	ROLL_MAX	3791	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1978	ALTIM_FREQUENCY	15
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1978	ALTIM_PULSE	5
D_FINISH	7.0000001e-06	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	8	ALTIM_SENSITIVITY	1
D_PITCH	1.5	SM_CC	450.37079	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	100	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	10
D_CALL	2	FILEMGR	2	R_PORT_OVSHOOT	6	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	23	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	20	COMM_SEQ	0	ROLL_AD_RATE	500	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	20	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	240	N_NOSURFACE	0	ROLL_ADJ_GAIN	1	DEVICE2	-1
T_MISSION	300	UPLOAD_DIVES_MAX	5	ROLL_ADJ_DBAND	0.029999999	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	421	DEVICE4	-1
T_TURN	240	CALL_WAIT	60	VBD_MAX	3792	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2257	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	200000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	1	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	-1	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	-2	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	1
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	32
T_WATCHDOG	10	T_GPS_CHARGE	-446723.62	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	57	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	20	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	91.800003	SEABIRD_T_G	0.0042857998
SPEED_FACTOR	0.94999993	PITCH_MAX	3252	AH0_10V	61.200001	SEABIRD_T_H	0.00062588596
RHO	1.02765	C_PITCH	2263	PRESSURE_YINT	0.27000001	SEABIRD_T_I	2.1643695e-05
MASS	51747	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.0181028e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	1	SEABIRD_C_G	-10.005328
FERRY_MAX	0	P_OVSHOOT	0.045000002	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1235065
KALMAN_USE	1	PITCH_GAIN	20	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015880254
HD_A	0.00312	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0001984441

GPS1	115501,6633.539,-6018.783,31,1.1,31,18.0	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.210,-0.094
_SM_DEPTHo	0.34	KALMAN_X	-7610.1,-668.5,180.6,12090.5,-5395.1
_SM_ANGLEo	-69.3	KALMAN_Y	213.4,-111.9,57.6,3057.0,516.9
GPS2	115919,6633.539,-6018.783,15,1.1,16,18.0	MHEAD_RNG_PITCHd_Wd	52.3,161700,-26.0,-13.750
SPEED_LIMITS	0.215,0.230	D_GRID	990

FINISH	0.3,1.024879	XPDR_PINGS	-1
SM_CCo	7992,20.62,0.000,0,0,410,450.37	ALTIM_TOP_PING	19.0,18.0
SM_GC	0.34,0.00,0.00,20.62,0.000,0.000,0.000,662,2209,410,-7.48,6.28,450.37	ALTIM_BOTTOM_PING	450.5,73.1
RAFOS_CLK	0	_24V_AH	23.7,32.059
RAFOS	0,1160395441,12.083333,12.066944,80,0,0,0,0,0,623,0,0,0,0,0	_10V_AH	9.7,4.875
RAFOS_FIX	6633.192871,-6015.799316,091006,121220,4,80,1.74	DATA_FILE_SIZE	15845,511
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243773440
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,45,812,0,0
HUMID	2268	SOUNDSPEED	1459.5
INTERNAL_PRESSURE	26.0651	CURRENT	0.051,316.0,1
TCM_TEMP	15.00	GPS	091006,141530,6633.943,-6017.312,16,1.1,16,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	119	75.94	SBE_CT	420	24	239.24
Roll_motor	106	60	151.87	nil	0	0	0.00
VBD_pump_during_apogee	26	1300	814.92	nil	0	0	0.00
VBD_pump_during_surface	20	600	293.29	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	63	223	333.27
Transponder_ping	4	420	39.82
GPS	17	50	8.28
TT8	1709	19	330.28
LPSleep	5019	2	112.48
TT8_Active	227	19	43.94
TT8_Sampling	651	39	252.17
TT8_CF8	681	45	303.63
TT8_Kalman	33	81	26.48
Analog_circuits	792	12	92.25
GPS_charging	0	0	0.00
Compass	571	26	144.20
RAFOS	1440	1	20.95

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
35	end surface: CONTROL_FINISHED_OK
state	35	begin dive
41	-1.49	-116.8	0.0	0.0	0	57	0.00	0.00	-8.00	0.000	6	0.000	0.000	619	1685	2850
64	-1.49	-116.8	0.3	0.0	2	81	6.80	2.65	0.00	0.000	4	0.000	0.000	1983	3524	2850
305	-1.49	-116.8	28.8	-10.4	41	314	0.50	3.83	0.00	0.000	6	0.000	0.000	1872	1693	2846
675	-1.57	-116.8	84.9	-16.3	102	684	0.60	3.47	0.00	0.000	4	0.000	0.000	1963	3511	2857
854	-1.25	-116.8	103.7	-10.2	127	860	0.00	2.97	0.00	0.000	6	0.000	0.000	1957	1989	2848
1186	-1.33	-116.8	136.7	-9.9	143	1190	0.00	2.15	0.00	0.000	4	0.000	0.000	1960	3357	2848
1271	-1.33	-116.8	145.5	-10.4	146	1276	0.00	2.97	0.00	0.000	6	0.000	0.000	1970	1866	2845
1595	-1.38	-116.8	178.0	-10.2	161	1600	0.00	2.67	0.00	0.000	4	0.000	0.000	1975	3397	2852
1706	-1.38	-116.8	189.8	-10.6	166	1713	0.00	3.58	0.00	0.000	6	0.000	0.000	1962	1938	2843
2050	-1.44	-116.8	223.2	-10.0	182	2055	0.05	2.62	0.00	0.000	4	0.000	0.000	1959	3609	2849
2145	-1.44	-116.8	233.9	-10.1	186	2150	0.00	2.83	0.00	0.000	6	0.000	0.000	1977	1748	2851
2474	-1.53	-116.8	264.7	-7.9	202	2482	0.35	3.28	0.00	0.000	4	0.000	0.000	1879	3430	2850
2615	-1.74	-116.8	286.7	-15.8	208	2621	0.05	3.03	0.00	0.000	6	0.000	0.000	1847	1752	2847
2946	-1.49	-116.8	339.0	-15.7	224	2954	0.45	3.28	0.00	0.000	4	0.000	0.000	1994	3409	2846
3103	-1.17	-116.8	355.5	-10.2	230	3112	0.10	2.88	0.00	0.000	6	0.000	0.000	2061	2076	2843
3427	-1.24	-116.8	379.1	-7.4	246	3433	0.50	2.60	0.00	0.000	4	0.000	0.000	1916	3595	2853
3472	-1.41	-116.8	384.3	-12.6	248	3480	0.17	3.45	0.00	0.000	6	0.000	0.000	1997	1797	2846
3807	-1.36	-116.8	418.0	-9.9	264	3815	0.15	3.35	0.00	0.000	4	0.000	0.000	1976	3603	2844
3926	-1.38	-116.8	429.6	-9.9	269	3933	0.00	3.50	0.00	0.000	6	0.000	0.000	1987	1757	2851
4266	-1.48	-116.8	462.6	-9.8	285	4274	0.38	3.58	0.00	0.000	4	0.000	0.000	1869	3446	2846
4430	-1.50	-116.8	487.8	-15.7	292	4438	0.52	3.00	0.00	0.000	6	0.000	0.000	1954	1799	2849
4716	end dive: BOTTOM_OBSTACLE_DETECTED
state	4716	begin apogee
4728	-0.25	0.0	516.0	9.2	302	4746	1.08	0.00	14.62	0.000	6	0.000	0.000	2212	1948	2254
4747	end apogee: CONTROL_FINISHED_OK
state	4747	begin climb
4753	1.49	116.8	516.0	0.0	302	4774	2.15	3.58	11.25	0.001	4	0.000	0.000	2671	473	1772
4849	1.49	116.8	501.7	22.1	304	4857	0.57	2.97	0.00	0.000	6	0.000	0.000	2541	1970	1771
5186	1.49	116.8	452.8	13.9	319	5193	0.50	3.03	0.00	0.000	4	0.000	0.000	2675	3647	1774
5352	1.51	116.8	416.1	22.3	326	5360	0.52	3.35	0.00	0.000	6	0.000	0.000	2541	2000	1773
5687	1.31	118.0	369.8	13.7	342	5692	0.00	3.08	0.00	0.000	4	0.000	0.000	2524	3669	1767
5789	1.34	120.4	355.3	13.6	346	5801	0.00	3.50	0.00	0.000	6	0.000	0.000	2538	1729	1772
6118	1.46	120.4	309.5	15.1	362	6126	0.52	3.22	0.00	0.000	4	0.000	0.000	2648	3627	1767
6282	1.44	120.4	273.6	22.7	369	6289	0.65	2.85	0.00	0.000	6	0.000	0.000	2552	1942	1772
6622	1.24	123.2	226.8	13.5	385	6629	0.00	2.80	0.57	0.001	4	0.000	0.000	2547	3687	1743
6740	1.28	123.2	209.4	15.5	390	6745	0.00	2.88	0.00	0.000	6	0.000	0.000	2546	2019	1749
7076	1.37	123.2	157.2	13.9	406	7081	0.00	3.03	0.00	0.000	4	0.000	0.000	2529	3684	1742
7169	1.40	123.2	144.0	13.8	410	7177	0.30	3.65	0.00	0.000	6	0.000	0.000	2606	1872	1735
7510	1.52	123.2	83.2	18.4	436	7519	0.00	2.65	0.00	0.000	4	0.000	0.000	2592	3549	1739
7647	1.40	123.2	57.4	17.6	458	7656	0.00	3.72	0.00	0.000	6	0.000	0.000	2587	1876	1744
7950	end climb: SURFACE_DEPTH_REACHED
state	7950	begin surface coast
7962	end surface coast: CONTROL_FINISHED_OK
state	7962	begin surface