Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 12 * 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 12 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 4 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 0 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 -446772.25 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 -446772.25

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 4 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 0 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 12 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 162948,6634.380,-6015.891,11,1.1,12,18.0 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.219,0.070

_SM_DEPTHo 0.34 KALMAN_X -14349.0,2237.9,775.0,17442.7,-10054.8

_SM_ANGLEo -69.7 KALMAN_Y 1446.5,473.8,-24.8,2896.9,774.5

GPS2 163404,6634.380,-6015.891,23,1.1,23,18.0 MHEAD_RNG_PITCHd_Wd 52.6,159210,-26.0,-13.750

SPEED_LIMITS 0.215,0.230 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024887 XPDR_PINGS -1

SM_CCo 7120,18.45,0.000,0,0,404,450.62 ALTIM_TOP_PING 19.1,999.0

SM_GC 0.34,0.00,0.00,18.45,0.000,0.000,0.000,587,2144,404,-7.75,5.54,450.62 ALTIM_BOTTOM_PING 451.9,79.2

RAFOS_CLK 0 _24V_AH 23.7,32.561

RAFOS 2,1160411046,16.416666,16.401667,80,0,0,0,0,0,951,0,0,0,0,0 _10V_AH 9.7,4.955

RAFOS_FIX 6633.878418,-6012.691406,091006,161621,3,80,0.00 DATA_FILE_SIZE 15823,460

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243658752

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,41,802,0,0

HUMID 2271 SOUNDSPEED 1459.5

INTERNAL_PRESSURE 26.0651 CURRENT 0.058,310.1,1

TCM_TEMP 15.00 GPS 091006,183534,6634.787,-6014.429,14,1.1,14,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 119 66.63 SBE_CT 381 24 216.90

Roll_motor 104 60 148.31 nil 0 0 0.00

VBD_pump_during_apogee 30 1300 931.23 nil 0 0 0.00

VBD_pump_during_surface 18 600 262.36 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 64 223 341.87

Transponder_ping 4 420 39.82

GPS 24 50 11.73

TT8 1511 19 291.98

LPSleep 4423 2 99.11

TT8_Active 235 19 45.49

TT8_Sampling 579 39 224.52

TT8_CF8 659 45 293.88

TT8_Kalman 33 81 26.50

Analog_circuits 728 12 84.77

GPS_charging 0 0 0.00

Compass 493 26 124.56

RAFOS 0 1 0.00

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 59 0.00 0.00 -7.97 0.000 6 0.000 0.000 632 1887 2889

65 -1.49 -116.8 0.3 -0.0 2 83 6.43 3.35 0.00 0.000 4 0.000 0.000 1960 3559 2894

234 -1.49 -116.8 23.6 -11.8 28 244 0.12 3.62 0.00 0.000 6 0.000 0.000 1952 1746 2887

604 -1.58 -116.8 66.5 -11.3 89 613 0.43 3.25 0.00 0.000 4 0.000 0.000 1827 3575 2894

730 -1.54 -116.8 88.0 -17.8 109 739 0.52 3.60 0.00 0.000 6 0.000 0.000 1962 1770 2894

1079 -1.44 -116.8 129.1 -11.5 136 1086 0.00 3.42 0.00 0.000 4 0.000 0.000 1976 3650 2887

1193 -1.42 -116.8 142.7 -11.5 140 1201 0.00 3.03 0.00 0.000 6 0.000 0.000 1957 1821 2893

1517 -1.53 -116.8 180.6 -12.0 156 1522 0.00 2.78 0.00 0.000 4 0.000 0.000 1945 3507 2898

1611 -1.47 -116.8 191.6 -11.8 160 1618 0.00 3.53 0.00 0.000 6 0.000 0.000 1976 1837 2890

1951 -1.54 -116.8 230.4 -10.5 176 1957 0.03 2.67 0.00 0.000 4 0.000 0.000 1936 3539 2886

2052 -1.63 -116.8 242.8 -11.6 180 2066 0.52 3.45 0.00 0.000 6 0.000 0.000 1848 1727 2901

2377 -1.71 -116.8 299.8 -18.0 196 2385 0.52 3.47 0.00 0.000 4 0.000 0.000 1942 3412 2893

2505 -1.32 -116.8 315.6 -13.6 201 2510 0.00 2.78 0.00 0.000 6 0.000 0.000 1955 1886 2896

2831 -1.37 -116.8 353.4 -11.9 216 2836 0.00 2.47 0.00 0.000 4 0.000 0.000 1955 3413 2888

2925 -1.30 -116.8 364.4 -9.6 220 2931 0.08 3.05 0.00 0.000 6 0.000 0.000 1946 1756 2890

3257 -1.46 -116.8 404.9 -12.0 236 3264 0.00 3.45 0.00 0.000 4 0.000 0.000 1940 3561 2894

3374 -1.39 -116.8 418.9 -11.9 241 3381 0.00 3.70 0.00 0.000 6 0.000 0.000 1972 1834 2892

3710 -1.46 -116.8 459.4 -12.1 257 3716 0.00 3.17 0.00 0.000 4 0.000 0.000 1944 3471 2888

3813 -1.38 -116.8 471.6 -11.9 261 3818 0.00 2.88 0.00 0.000 6 0.000 0.000 1946 1976 2892

4132 -1.43 -116.8 510.1 -12.1 274 4138 0.00 3.22 0.00 0.000 4 0.000 0.000 1932 3663 2894

4191 -1.35 -116.8 517.6 -11.8 275 4199 0.03 3.75 0.00 0.000 6 0.000 0.000 1944 1820 2893

4217 end dive: BOTTOM_OBSTACLE_DETECTED

state 4217 begin apogee

4230 -0.25 0.0 521.2 12.4 276 4249 1.27 0.00 15.50 0.000 6 0.000 0.000 2233 2141 2240

4250 end apogee: CONTROL_FINISHED_OK

state 4250 begin climb

4256 1.49 116.8 521.2 0.0 276 4271 1.62 0.00 11.20 0.000 6 0.000 0.000 2641 2140 1774

4573 1.49 116.8 465.5 19.4 288 4579 0.45 2.47 0.00 0.000 4 0.000 0.000 2519 3430 1770

4654 1.28 142.4 455.0 11.7 291 4667 0.00 2.95 2.62 0.001 6 0.000 0.000 2486 1784 1651

4984 1.52 154.9 407.6 12.8 307 4993 0.62 4.03 0.90 0.001 4 0.000 0.000 2616 3593 1608

5120 1.68 154.9 378.2 21.6 313 5126 0.03 3.12 0.00 0.000 6 0.000 0.000 2584 1780 1601

5452 1.63 154.9 307.4 21.9 329 5457 0.00 3.15 0.00 0.000 4 0.000 0.000 2614 3658 1598

5595 1.46 154.9 273.8 21.8 335 5607 0.38 2.85 0.00 0.000 6 0.000 0.000 2545 1949 1605

5924 1.43 154.9 216.3 18.2 351 5930 0.00 3.28 0.00 0.000 4 0.000 0.000 2561 3590 1609

6037 1.32 154.9 196.8 16.6 355 6046 0.00 3.83 0.00 0.000 6 0.000 0.000 2548 1771 1599

6356 1.43 154.9 142.0 16.9 371 6362 0.00 3.17 0.00 0.000 4 0.000 0.000 2559 3486 1606

6494 1.43 154.9 118.3 16.8 377 6500 0.12 2.95 0.00 0.000 6 0.000 0.000 2559 1971 1603

6850 1.51 154.9 57.1 17.4 422 6859 0.45 3.10 0.00 0.000 4 0.000 0.000 2686 3647 1603

6950 1.51 154.9 30.7 32.7 437 6960 0.47 3.62 0.00 0.000 6 0.000 0.000 2538 1841 1603

7077 end climb: SURFACE_DEPTH_REACHED

state 7078 begin surface coast

7090 end surface coast: CONTROL_FINISHED_OK

state 7090 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	12	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	4	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	0	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	-446772.25	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	162948,6634.380,-6015.891,11,1.1,12,18.0	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.219,0.070
_SM_DEPTHo	0.34	KALMAN_X	-14349.0,2237.9,775.0,17442.7,-10054.8
_SM_ANGLEo	-69.7	KALMAN_Y	1446.5,473.8,-24.8,2896.9,774.5
GPS2	163404,6634.380,-6015.891,23,1.1,23,18.0	MHEAD_RNG_PITCHd_Wd	52.6,159210,-26.0,-13.750
SPEED_LIMITS	0.215,0.230	D_GRID	990

FINISH	0.3,1.024887	XPDR_PINGS	-1
SM_CCo	7120,18.45,0.000,0,0,404,450.62	ALTIM_TOP_PING	19.1,999.0
SM_GC	0.34,0.00,0.00,18.45,0.000,0.000,0.000,587,2144,404,-7.75,5.54,450.62	ALTIM_BOTTOM_PING	451.9,79.2
RAFOS_CLK	0	_24V_AH	23.7,32.561
RAFOS	2,1160411046,16.416666,16.401667,80,0,0,0,0,0,951,0,0,0,0,0	_10V_AH	9.7,4.955
RAFOS_FIX	6633.878418,-6012.691406,091006,161621,3,80,0.00	DATA_FILE_SIZE	15823,460
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243658752
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,41,802,0,0
HUMID	2271	SOUNDSPEED	1459.5
INTERNAL_PRESSURE	26.0651	CURRENT	0.058,310.1,1
TCM_TEMP	15.00	GPS	091006,183534,6634.787,-6014.429,14,1.1,14,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	119	66.63	SBE_CT	381	24	216.90
Roll_motor	104	60	148.31	nil	0	0	0.00
VBD_pump_during_apogee	30	1300	931.23	nil	0	0	0.00
VBD_pump_during_surface	18	600	262.36	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	64	223	341.87
Transponder_ping	4	420	39.82
GPS	24	50	11.73
TT8	1511	19	291.98
LPSleep	4423	2	99.11
TT8_Active	235	19	45.49
TT8_Sampling	579	39	224.52
TT8_CF8	659	45	293.88
TT8_Kalman	33	81	26.50
Analog_circuits	728	12	84.77
GPS_charging	0	0	0.00
Compass	493	26	124.56
RAFOS	0	1	0.00

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	59	0.00	0.00	-7.97	0.000	6	0.000	0.000	632	1887	2889
65	-1.49	-116.8	0.3	-0.0	2	83	6.43	3.35	0.00	0.000	4	0.000	0.000	1960	3559	2894
234	-1.49	-116.8	23.6	-11.8	28	244	0.12	3.62	0.00	0.000	6	0.000	0.000	1952	1746	2887
604	-1.58	-116.8	66.5	-11.3	89	613	0.43	3.25	0.00	0.000	4	0.000	0.000	1827	3575	2894
730	-1.54	-116.8	88.0	-17.8	109	739	0.52	3.60	0.00	0.000	6	0.000	0.000	1962	1770	2894
1079	-1.44	-116.8	129.1	-11.5	136	1086	0.00	3.42	0.00	0.000	4	0.000	0.000	1976	3650	2887
1193	-1.42	-116.8	142.7	-11.5	140	1201	0.00	3.03	0.00	0.000	6	0.000	0.000	1957	1821	2893
1517	-1.53	-116.8	180.6	-12.0	156	1522	0.00	2.78	0.00	0.000	4	0.000	0.000	1945	3507	2898
1611	-1.47	-116.8	191.6	-11.8	160	1618	0.00	3.53	0.00	0.000	6	0.000	0.000	1976	1837	2890
1951	-1.54	-116.8	230.4	-10.5	176	1957	0.03	2.67	0.00	0.000	4	0.000	0.000	1936	3539	2886
2052	-1.63	-116.8	242.8	-11.6	180	2066	0.52	3.45	0.00	0.000	6	0.000	0.000	1848	1727	2901
2377	-1.71	-116.8	299.8	-18.0	196	2385	0.52	3.47	0.00	0.000	4	0.000	0.000	1942	3412	2893
2505	-1.32	-116.8	315.6	-13.6	201	2510	0.00	2.78	0.00	0.000	6	0.000	0.000	1955	1886	2896
2831	-1.37	-116.8	353.4	-11.9	216	2836	0.00	2.47	0.00	0.000	4	0.000	0.000	1955	3413	2888
2925	-1.30	-116.8	364.4	-9.6	220	2931	0.08	3.05	0.00	0.000	6	0.000	0.000	1946	1756	2890
3257	-1.46	-116.8	404.9	-12.0	236	3264	0.00	3.45	0.00	0.000	4	0.000	0.000	1940	3561	2894
3374	-1.39	-116.8	418.9	-11.9	241	3381	0.00	3.70	0.00	0.000	6	0.000	0.000	1972	1834	2892
3710	-1.46	-116.8	459.4	-12.1	257	3716	0.00	3.17	0.00	0.000	4	0.000	0.000	1944	3471	2888
3813	-1.38	-116.8	471.6	-11.9	261	3818	0.00	2.88	0.00	0.000	6	0.000	0.000	1946	1976	2892
4132	-1.43	-116.8	510.1	-12.1	274	4138	0.00	3.22	0.00	0.000	4	0.000	0.000	1932	3663	2894
4191	-1.35	-116.8	517.6	-11.8	275	4199	0.03	3.75	0.00	0.000	6	0.000	0.000	1944	1820	2893
4217	end dive: BOTTOM_OBSTACLE_DETECTED
state	4217	begin apogee
4230	-0.25	0.0	521.2	12.4	276	4249	1.27	0.00	15.50	0.000	6	0.000	0.000	2233	2141	2240
4250	end apogee: CONTROL_FINISHED_OK
state	4250	begin climb
4256	1.49	116.8	521.2	0.0	276	4271	1.62	0.00	11.20	0.000	6	0.000	0.000	2641	2140	1774
4573	1.49	116.8	465.5	19.4	288	4579	0.45	2.47	0.00	0.000	4	0.000	0.000	2519	3430	1770
4654	1.28	142.4	455.0	11.7	291	4667	0.00	2.95	2.62	0.001	6	0.000	0.000	2486	1784	1651
4984	1.52	154.9	407.6	12.8	307	4993	0.62	4.03	0.90	0.001	4	0.000	0.000	2616	3593	1608
5120	1.68	154.9	378.2	21.6	313	5126	0.03	3.12	0.00	0.000	6	0.000	0.000	2584	1780	1601
5452	1.63	154.9	307.4	21.9	329	5457	0.00	3.15	0.00	0.000	4	0.000	0.000	2614	3658	1598
5595	1.46	154.9	273.8	21.8	335	5607	0.38	2.85	0.00	0.000	6	0.000	0.000	2545	1949	1605
5924	1.43	154.9	216.3	18.2	351	5930	0.00	3.28	0.00	0.000	4	0.000	0.000	2561	3590	1609
6037	1.32	154.9	196.8	16.6	355	6046	0.00	3.83	0.00	0.000	6	0.000	0.000	2548	1771	1599
6356	1.43	154.9	142.0	16.9	371	6362	0.00	3.17	0.00	0.000	4	0.000	0.000	2559	3486	1606
6494	1.43	154.9	118.3	16.8	377	6500	0.12	2.95	0.00	0.000	6	0.000	0.000	2559	1971	1603
6850	1.51	154.9	57.1	17.4	422	6859	0.45	3.10	0.00	0.000	4	0.000	0.000	2686	3647	1603
6950	1.51	154.9	30.7	32.7	437	6960	0.47	3.62	0.00	0.000	6	0.000	0.000	2538	1841	1603
7077	end climb: SURFACE_DEPTH_REACHED
state	7078	begin surface coast
7090	end surface coast: CONTROL_FINISHED_OK
state	7090	begin surface