Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 2 * 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 2 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 15 ALTIM_SENSITIVITY 1

D_PITCH 1.5 SM_CC 350 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 5 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 8 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 -446563 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 350

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 -446563

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 300

CF8_MAXERRORS 20 HEAD_ERRBAND 15 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 5 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 8 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 2 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 155950,6629.818,-6028.929,27,1.1,27,18.0 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 0.227,0.085

_SM_DEPTHo 0.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160328,6629.818,-6028.929,22,1.1,22,18.0 MHEAD_RNG_PITCHd_Wd 50.9,170969,-26.0,-13.750

SPEED_LIMITS 0.226,0.242 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025173 XPDR_PINGS -1

SM_CCo 7717,11.88,0.000,0,0,817,350.78 ALTIM_TOP_PING 19.5,19.0

SM_GC 0.34,0.00,0.00,11.88,0.000,0.000,0.000,624,2243,817,-7.57,7.77,350.78 ALTIM_BOTTOM_PING 400.3,83.9

RAFOS_CLK 0 _24V_AH 23.7,29.588

RAFOS 1,1160324042,16.250000,16.233889,80,0,0,0,0,0,799,0,0,0,0,0 _10V_AH 9.7,4.459

RAFOS_FIX 6630.312988,-6025.384277,081006,161618,3,80,2.03 DATA_FILE_SIZE 19010,569

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,244248576

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,63,737,0,0

HUMID 2216 SOUNDSPEED 1459.0

INTERNAL_PRESSURE 26.1041 CURRENT 0.119,280.2,1

TCM_TEMP 15.00 GPS 081006,181454,6630.369,-6027.763,21,1.1,21,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 88.20 SBE_CT 468 24 266.27

Roll_motor 94 60 134.73 nil 0 0 0.00

VBD_pump_during_apogee 29 0 0.54 nil 0 0 0.00

VBD_pump_during_surface 11 600 168.86 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 86 223 455.85

Transponder_ping 3 420 34.84

GPS 22 50 11.15

TT8 1746 19 337.55

LPSleep 4704 2 105.42

TT8_Active 237 19 45.94

TT8_Sampling 626 39 242.47

TT8_CF8 673 45 300.16

TT8_Kalman 29 81 23.25

Analog_circuits 757 12 88.19

GPS_charging 0 0 0.00

Compass 524 26 132.33

RAFOS 1080 1 15.71

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

33 end surface: CONTROL_FINISHED_OK

state 33 begin dive

39 -1.49 -116.8 0.0 0.0 0 55 0.00 0.00 -6.70 0.000 6 0.000 0.000 704 2076 2840

62 -1.49 -116.8 0.3 0.0 2 79 6.30 2.53 0.00 0.000 4 0.000 0.000 1972 419 2835

177 -0.17 -116.8 15.4 -9.8 19 186 1.40 3.50 0.00 0.000 6 0.000 0.000 2277 2274 2836

537 -0.43 -116.8 38.4 -5.9 80 543 0.85 0.00 0.00 0.000 6 0.000 0.000 2097 2261 2841

901 -1.26 -116.8 57.9 -5.3 141 909 1.08 0.00 0.00 0.000 6 0.000 0.000 1918 2270 2836

1275 -1.59 -116.8 103.3 -12.6 200 1276 0.00 0.00 0.00 0.000 6 0.000 0.000 1916 2269 2842

1590 -1.41 -116.8 142.3 -12.5 215 1592 0.55 0.00 0.00 0.000 6 0.000 0.000 1975 2282 2837

1899 -1.23 -116.8 173.8 -10.0 230 1906 0.00 3.97 0.00 0.000 4 0.000 0.000 1977 379 2843

1929 -1.21 -116.8 177.5 -10.1 231 1934 0.00 3.15 0.00 0.000 6 0.000 0.000 1975 2272 2844

2259 -1.40 -116.8 209.8 -9.9 247 2260 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2279 2845

2564 -1.38 -116.8 239.5 -10.0 262 2565 0.00 0.00 0.00 0.000 6 0.000 0.000 1974 2270 2840

2873 -1.36 -116.8 270.4 -9.9 277 2880 0.00 3.85 0.00 0.000 4 0.000 0.000 1970 276 2841

2902 -1.34 -116.8 273.5 -9.5 278 2909 0.00 3.65 0.00 0.000 6 0.000 0.000 1972 2134 2842

3237 -1.57 -116.8 306.0 -9.9 294 3243 0.40 2.72 0.00 0.000 4 0.000 0.000 1861 3654 2841

3290 -1.57 -116.8 314.3 -15.8 296 3303 0.40 3.38 0.00 0.000 6 0.000 0.000 1975 1991 2840

3619 -1.41 -116.8 348.0 -10.3 312 3626 0.00 3.53 0.00 0.000 4 0.000 0.000 1959 3644 2838

3676 -1.38 -116.8 354.6 -10.1 314 3688 0.00 3.53 0.00 0.000 6 0.000 0.000 1977 1816 2839

4005 -1.51 -116.8 387.5 -10.3 330 4014 0.55 3.53 0.00 0.000 4 0.000 0.000 1859 3636 2842

4103 -1.49 -116.8 402.7 -15.9 334 4111 0.52 3.75 0.00 0.000 6 0.000 0.000 1969 1758 2841

4444 -1.34 -116.8 438.0 -10.2 350 4450 0.00 3.28 0.00 0.000 4 0.000 0.000 1959 3687 2848

4557 -1.32 -116.8 449.8 -10.0 354 4566 0.00 3.75 0.00 0.000 6 0.000 0.000 1972 1877 2835

4788 end dive: BOTTOM_OBSTACLE_DETECTED

state 4789 begin apogee

4801 -0.25 0.0 474.5 10.2 366 4819 1.73 0.00 14.02 0.001 6 0.000 0.000 2291 2205 2244

4820 end apogee: CONTROL_FINISHED_OK

state 4820 begin climb

4826 1.49 116.8 476.4 0.0 367 4850 1.60 3.65 11.48 0.001 4 0.000 0.000 2651 574 1766

4881 1.49 116.8 468.0 21.9 369 4887 0.52 2.65 0.00 0.000 6 0.000 0.000 2525 2120 1772

5212 1.53 128.3 420.8 12.8 385 5220 0.55 2.95 1.10 0.001 4 0.000 0.000 2644 3426 1707

5309 1.42 128.3 398.5 21.9 389 5316 0.50 2.88 0.00 0.000 6 0.000 0.000 2506 1931 1716

5643 1.28 137.9 354.8 13.0 405 5652 0.57 2.92 0.95 0.001 4 0.000 0.000 2612 3629 1682

5745 1.38 137.9 332.0 22.1 409 5759 0.50 3.60 0.00 0.000 6 0.000 0.000 2501 1854 1682

6075 1.29 138.9 286.4 13.7 425 6083 0.43 3.42 0.00 0.000 4 0.000 0.000 2520 3667 1669

6197 1.37 145.0 269.4 13.3 430 6206 0.52 2.88 0.52 0.000 6 0.000 0.000 2632 2016 1651

6527 1.61 145.0 193.4 22.3 446 6533 0.05 3.00 0.00 0.000 4 0.000 0.000 2625 3669 1647

6607 1.38 145.0 176.1 22.2 449 6620 0.52 3.15 0.00 0.000 6 0.000 0.000 2491 1834 1645

6936 1.32 152.6 132.0 13.1 465 6945 0.57 3.45 0.65 0.001 4 0.000 0.000 2608 3436 1624

7079 1.46 152.6 100.4 21.7 471 7087 0.52 3.35 0.00 0.000 6 0.000 0.000 2478 1750 1624

7449 1.36 161.5 52.3 13.0 531 7459 0.38 4.03 0.90 0.001 4 0.000 0.000 2618 3585 1577

7624 1.53 161.5 13.8 23.1 559 7633 0.25 3.45 0.00 0.000 6 0.000 0.000 2568 1762 1582

7674 end climb: SURFACE_DEPTH_REACHED

state 7674 begin surface coast

7687 end surface coast: CONTROL_FINISHED_OK

state 7687 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	2	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	15	ALTIM_SENSITIVITY	1
D_PITCH	1.5	SM_CC	350	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	5	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	8	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	-446563	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	155950,6629.818,-6028.929,27,1.1,27,18.0	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	0.227,0.085
_SM_DEPTHo	0.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160328,6629.818,-6028.929,22,1.1,22,18.0	MHEAD_RNG_PITCHd_Wd	50.9,170969,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FINISH	0.3,1.025173	XPDR_PINGS	-1
SM_CCo	7717,11.88,0.000,0,0,817,350.78	ALTIM_TOP_PING	19.5,19.0
SM_GC	0.34,0.00,0.00,11.88,0.000,0.000,0.000,624,2243,817,-7.57,7.77,350.78	ALTIM_BOTTOM_PING	400.3,83.9
RAFOS_CLK	0	_24V_AH	23.7,29.588
RAFOS	1,1160324042,16.250000,16.233889,80,0,0,0,0,0,799,0,0,0,0,0	_10V_AH	9.7,4.459
RAFOS_FIX	6630.312988,-6025.384277,081006,161618,3,80,2.03	DATA_FILE_SIZE	19010,569
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,244248576
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,63,737,0,0
HUMID	2216	SOUNDSPEED	1459.0
INTERNAL_PRESSURE	26.1041	CURRENT	0.119,280.2,1
TCM_TEMP	15.00	GPS	081006,181454,6630.369,-6027.763,21,1.1,21,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	88.20	SBE_CT	468	24	266.27
Roll_motor	94	60	134.73	nil	0	0	0.00
VBD_pump_during_apogee	29	0	0.54	nil	0	0	0.00
VBD_pump_during_surface	11	600	168.86	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	86	223	455.85
Transponder_ping	3	420	34.84
GPS	22	50	11.15
TT8	1746	19	337.55
LPSleep	4704	2	105.42
TT8_Active	237	19	45.94
TT8_Sampling	626	39	242.47
TT8_CF8	673	45	300.16
TT8_Kalman	29	81	23.25
Analog_circuits	757	12	88.19
GPS_charging	0	0	0.00
Compass	524	26	132.33
RAFOS	1080	1	15.71

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
33	end surface: CONTROL_FINISHED_OK
state	33	begin dive
39	-1.49	-116.8	0.0	0.0	0	55	0.00	0.00	-6.70	0.000	6	0.000	0.000	704	2076	2840
62	-1.49	-116.8	0.3	0.0	2	79	6.30	2.53	0.00	0.000	4	0.000	0.000	1972	419	2835
177	-0.17	-116.8	15.4	-9.8	19	186	1.40	3.50	0.00	0.000	6	0.000	0.000	2277	2274	2836
537	-0.43	-116.8	38.4	-5.9	80	543	0.85	0.00	0.00	0.000	6	0.000	0.000	2097	2261	2841
901	-1.26	-116.8	57.9	-5.3	141	909	1.08	0.00	0.00	0.000	6	0.000	0.000	1918	2270	2836
1275	-1.59	-116.8	103.3	-12.6	200	1276	0.00	0.00	0.00	0.000	6	0.000	0.000	1916	2269	2842
1590	-1.41	-116.8	142.3	-12.5	215	1592	0.55	0.00	0.00	0.000	6	0.000	0.000	1975	2282	2837
1899	-1.23	-116.8	173.8	-10.0	230	1906	0.00	3.97	0.00	0.000	4	0.000	0.000	1977	379	2843
1929	-1.21	-116.8	177.5	-10.1	231	1934	0.00	3.15	0.00	0.000	6	0.000	0.000	1975	2272	2844
2259	-1.40	-116.8	209.8	-9.9	247	2260	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2279	2845
2564	-1.38	-116.8	239.5	-10.0	262	2565	0.00	0.00	0.00	0.000	6	0.000	0.000	1974	2270	2840
2873	-1.36	-116.8	270.4	-9.9	277	2880	0.00	3.85	0.00	0.000	4	0.000	0.000	1970	276	2841
2902	-1.34	-116.8	273.5	-9.5	278	2909	0.00	3.65	0.00	0.000	6	0.000	0.000	1972	2134	2842
3237	-1.57	-116.8	306.0	-9.9	294	3243	0.40	2.72	0.00	0.000	4	0.000	0.000	1861	3654	2841
3290	-1.57	-116.8	314.3	-15.8	296	3303	0.40	3.38	0.00	0.000	6	0.000	0.000	1975	1991	2840
3619	-1.41	-116.8	348.0	-10.3	312	3626	0.00	3.53	0.00	0.000	4	0.000	0.000	1959	3644	2838
3676	-1.38	-116.8	354.6	-10.1	314	3688	0.00	3.53	0.00	0.000	6	0.000	0.000	1977	1816	2839
4005	-1.51	-116.8	387.5	-10.3	330	4014	0.55	3.53	0.00	0.000	4	0.000	0.000	1859	3636	2842
4103	-1.49	-116.8	402.7	-15.9	334	4111	0.52	3.75	0.00	0.000	6	0.000	0.000	1969	1758	2841
4444	-1.34	-116.8	438.0	-10.2	350	4450	0.00	3.28	0.00	0.000	4	0.000	0.000	1959	3687	2848
4557	-1.32	-116.8	449.8	-10.0	354	4566	0.00	3.75	0.00	0.000	6	0.000	0.000	1972	1877	2835
4788	end dive: BOTTOM_OBSTACLE_DETECTED
state	4789	begin apogee
4801	-0.25	0.0	474.5	10.2	366	4819	1.73	0.00	14.02	0.001	6	0.000	0.000	2291	2205	2244
4820	end apogee: CONTROL_FINISHED_OK
state	4820	begin climb
4826	1.49	116.8	476.4	0.0	367	4850	1.60	3.65	11.48	0.001	4	0.000	0.000	2651	574	1766
4881	1.49	116.8	468.0	21.9	369	4887	0.52	2.65	0.00	0.000	6	0.000	0.000	2525	2120	1772
5212	1.53	128.3	420.8	12.8	385	5220	0.55	2.95	1.10	0.001	4	0.000	0.000	2644	3426	1707
5309	1.42	128.3	398.5	21.9	389	5316	0.50	2.88	0.00	0.000	6	0.000	0.000	2506	1931	1716
5643	1.28	137.9	354.8	13.0	405	5652	0.57	2.92	0.95	0.001	4	0.000	0.000	2612	3629	1682
5745	1.38	137.9	332.0	22.1	409	5759	0.50	3.60	0.00	0.000	6	0.000	0.000	2501	1854	1682
6075	1.29	138.9	286.4	13.7	425	6083	0.43	3.42	0.00	0.000	4	0.000	0.000	2520	3667	1669
6197	1.37	145.0	269.4	13.3	430	6206	0.52	2.88	0.52	0.000	6	0.000	0.000	2632	2016	1651
6527	1.61	145.0	193.4	22.3	446	6533	0.05	3.00	0.00	0.000	4	0.000	0.000	2625	3669	1647
6607	1.38	145.0	176.1	22.2	449	6620	0.52	3.15	0.00	0.000	6	0.000	0.000	2491	1834	1645
6936	1.32	152.6	132.0	13.1	465	6945	0.57	3.45	0.65	0.001	4	0.000	0.000	2608	3436	1624
7079	1.46	152.6	100.4	21.7	471	7087	0.52	3.35	0.00	0.000	6	0.000	0.000	2478	1750	1624
7449	1.36	161.5	52.3	13.0	531	7459	0.38	4.03	0.90	0.001	4	0.000	0.000	2618	3585	1577
7624	1.53	161.5	13.8	23.1	559	7633	0.25	3.45	0.00	0.000	6	0.000	0.000	2568	1762	1582
7674	end climb: SURFACE_DEPTH_REACHED
state	7674	begin surface coast
7687	end surface coast: CONTROL_FINISHED_OK
state	7687	begin surface