Glider dive log

PortSusan 17Jul07 * 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 20 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 157 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 7 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 -448625.22 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 -0.22280908 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 2 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 -0.22280908 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 -448625.22

CAPUPLOAD 0 HEADING 20 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 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 5

C_VBD 2257 MASS 51747 R_PORT_OVSHOOT 157 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 7 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 152118,6630.754,-6030.229,8,1.1,8,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6640.902,-6028.766

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -0.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 152536,6630.754,-6030.229,10,1.1,10,18.0 MHEAD_RNG_PITCHd_Wd 2.0,20000,-26.0,-13.750

SPEED_LIMITS 0.226,0.242 D_GRID 990

Post-dive calculations and measurements:

FREEZE -0.00,4.759,-1.708 XPDR_PINGS -1

FINISH -0.0,1.024727 ALTIM_TOP_PING 19.3,18.6

SM_CCo 7930,144.60,0.000,4,0,424,450.86 ALTIM_BOTTOM_PING 401.2,78.0

SM_GC 0.00,0.00,0.00,144.60,0.000,0.000,0.000,628,2061,424,-7.43,2.66,450.86 _24V_AH 23.7,52.733

RAFOS_CLK 0 _10V_AH 9.7,8.078

RAFOS 4,1160321344,15.500000,15.484445,40,0,0,0,0,0,0,0,0,0,0,0 DATA_FILE_SIZE 15875,511

RAFOS_FIX 6631.125977,-6025.605469,081006,161620,4,80,1.04 CFSIZE 255582208,244211712

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,84,749,4,0

TT8_MAMPS 0.023777 SOUNDSPEED 1467.9

HUMID 2363 CURRENT 0.050,265.9,1

INTERNAL_PRESSURE 25.9967 GPS 081006,174255,6631.412,-6030.251,35,1.1,35,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 41 119 117.82 SBE_CT 413 24 235.05

Roll_motor 96 60 136.94 nil 0 0 0.00

VBD_pump_during_apogee 319 0 5.82 nil 0 0 0.00

VBD_pump_during_surface 144 600 2056.21 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 85 223 452.61

Transponder_ping 3 420 34.84

GPS 10 50 5.29

TT8 1547 19 299.06

LPSleep 4810 2 107.79

TT8_Active 730 19 141.15

TT8_Sampling 581 39 224.98

TT8_CF8 701 45 312.32

TT8_Kalman 0 0 0.00

Analog_circuits 1240 12 144.42

GPS_charging 0 0 0.00

Compass 499 26 125.91

RAFOS 1800 1 26.19

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

34 end surface: CONTROL_FINISHED_OK

state 34 begin dive

40 -1.49 -116.8 0.0 0.0 0 128 0.00 0.00 -76.85 0.000 6 0.000 0.000 654 1909 2739

135 -1.49 -116.8 0.3 -0.7 9 152 6.53 2.72 0.00 0.000 4 0.000 0.000 2030 3559 2742

298 -1.67 -116.8 21.7 -8.5 34 307 0.77 2.97 0.00 0.000 6 0.000 0.000 1849 2068 2742

664 -1.30 -116.8 74.2 -13.5 95 673 0.68 2.45 0.00 0.000 4 0.000 0.000 2055 3571 2737

712 -1.48 -116.8 78.0 -6.4 101 720 0.52 2.97 0.00 0.000 6 0.000 0.000 1924 1907 2736

1069 -1.29 -116.8 115.1 -10.3 143 1077 0.35 3.28 0.00 0.000 4 0.000 0.000 2045 3416 2737

1160 -1.45 -116.8 121.1 -6.1 146 1169 0.47 2.83 0.00 0.000 6 0.000 0.000 1898 1880 2740

1485 -1.26 -116.8 152.3 -9.9 162 1493 0.68 3.17 0.00 0.000 4 0.000 0.000 2022 3576 2737

1570 -1.43 -116.8 158.4 -6.0 165 1582 0.52 3.08 0.00 0.000 6 0.000 0.000 1899 1884 2744

1899 -1.22 -116.8 189.3 -9.5 181 1907 0.65 3.55 0.00 0.000 4 0.000 0.000 2062 3554 2744

1984 -1.54 -116.8 194.2 -4.2 184 1998 1.02 3.42 0.00 0.000 6 0.000 0.000 1825 2170 2739

2309 -1.18 -116.8 228.2 -10.7 200 2312 0.98 0.00 0.00 0.000 6 0.000 0.000 2086 2160 2735

2623 -1.48 -116.8 242.2 -4.0 215 2626 1.05 0.00 0.00 0.000 6 0.000 0.000 1899 2176 2738

2933 -1.29 -116.8 267.4 -8.3 230 2939 0.50 2.47 0.00 0.000 4 0.000 0.000 2018 3504 2736

2970 -1.46 -116.8 270.5 -5.2 231 2979 0.52 3.25 0.00 0.000 6 0.000 0.000 1924 1847 2738

3289 -1.27 -116.8 296.1 -8.3 247 3297 0.47 3.53 0.00 0.000 4 0.000 0.000 2037 3693 2738

3381 -1.47 -116.8 301.0 -4.9 250 3390 0.52 2.75 0.00 0.000 6 0.000 0.000 1900 1878 2733

3706 -1.26 -116.8 326.6 -8.2 266 3715 0.62 3.53 0.00 0.000 4 0.000 0.000 2019 3663 2740

3786 -1.44 -116.8 331.4 -4.7 269 3794 0.52 3.33 0.00 0.000 6 0.000 0.000 1908 2007 2744

4116 -1.23 -116.8 357.5 -8.0 285 4124 0.55 2.92 0.00 0.000 4 0.000 0.000 2024 3654 2742

4165 -1.40 -116.8 360.3 -4.7 287 4173 0.52 3.22 0.00 0.000 6 0.000 0.000 1903 1974 2732

4500 -1.24 -116.8 386.0 -8.0 303 4508 0.47 3.17 0.00 0.000 4 0.000 0.000 2020 3656 2740

4557 -1.41 -116.8 389.5 -4.8 305 4570 0.55 2.65 0.00 0.000 6 0.000 0.000 1905 1973 2743

4881 -1.21 -116.8 413.9 -7.8 321 4889 0.55 3.42 0.00 0.000 4 0.000 0.000 2045 3637 2745

4945 -1.38 -116.8 417.3 -4.8 323 4954 0.52 3.22 0.00 0.000 6 0.000 0.000 1917 1953 2733

5269 -1.18 -116.8 441.3 -7.7 339 5277 0.55 3.05 0.00 0.000 4 0.000 0.000 2028 3610 2742

5345 -1.34 -116.8 445.5 -4.7 342 5352 0.50 3.03 0.00 0.000 6 0.000 0.000 1909 1941 2735

5658 end dive: BOTTOM_OBSTACLE_DETECTED

state 5658 begin apogee

5670 -0.25 0.0 469.3 7.6 357 5788 1.65 0.00 113.20 0.001 6 0.000 0.000 2271 2106 2258

5793 end apogee: CONTROL_FINISHED_OK

state 5793 begin climb

5799 1.49 116.8 470.5 0.0 363 5922 1.88 0.00 112.65 0.001 6 0.000 0.000 2648 2092 1785

6223 1.24 116.8 383.4 22.1 383 6228 0.68 2.25 0.00 0.000 4 0.000 0.000 2440 3468 1793

6294 1.60 167.8 375.0 9.7 386 6352 1.38 2.88 48.65 0.001 6 0.000 0.000 2710 2077 1580

6673 1.12 167.8 255.5 32.4 404 6681 1.40 2.75 0.00 0.000 4 0.000 0.000 2468 3595 1574

6737 1.27 186.3 243.2 12.3 406 6768 0.52 3.35 17.98 0.001 6 0.000 0.000 2592 1917 1501

7079 1.14 186.3 169.0 22.3 423 7085 0.65 2.45 0.00 0.000 4 0.000 0.000 2480 3400 1508

7216 1.38 200.5 150.6 12.6 429 7240 0.62 2.83 10.82 0.001 6 0.000 0.000 2596 1921 1450

7563 1.25 200.5 72.7 21.2 457 7573 0.60 3.17 0.95 0.001 4 0.000 0.000 2450 3545 1441

7679 1.51 219.9 57.2 12.2 475 7703 0.80 2.45 15.68 0.001 6 0.000 0.000 2657 2049 1362

7895 end climb: SURFACE_DEPTH_REACHED

state 7895 begin surface coast

7901 end surface coast: CONTROL_FINISHED_OK

state 7901 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	20	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	157	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	7	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	-448625.22	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	-0.22280908	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	2	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	152118,6630.754,-6030.229,8,1.1,8,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6640.902,-6028.766
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-0.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	152536,6630.754,-6030.229,10,1.1,10,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.759,-1.708	XPDR_PINGS	-1
FINISH	-0.0,1.024727	ALTIM_TOP_PING	19.3,18.6
SM_CCo	7930,144.60,0.000,4,0,424,450.86	ALTIM_BOTTOM_PING	401.2,78.0
SM_GC	0.00,0.00,0.00,144.60,0.000,0.000,0.000,628,2061,424,-7.43,2.66,450.86	_24V_AH	23.7,52.733
RAFOS_CLK	0	_10V_AH	9.7,8.078
RAFOS	4,1160321344,15.500000,15.484445,40,0,0,0,0,0,0,0,0,0,0,0	DATA_FILE_SIZE	15875,511
RAFOS_FIX	6631.125977,-6025.605469,081006,161620,4,80,1.04	CFSIZE	255582208,244211712
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,84,749,4,0
TT8_MAMPS	0.023777	SOUNDSPEED	1467.9
HUMID	2363	CURRENT	0.050,265.9,1
INTERNAL_PRESSURE	25.9967	GPS	081006,174255,6631.412,-6030.251,35,1.1,35,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	41	119	117.82	SBE_CT	413	24	235.05
Roll_motor	96	60	136.94	nil	0	0	0.00
VBD_pump_during_apogee	319	0	5.82	nil	0	0	0.00
VBD_pump_during_surface	144	600	2056.21	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	85	223	452.61
Transponder_ping	3	420	34.84
GPS	10	50	5.29
TT8	1547	19	299.06
LPSleep	4810	2	107.79
TT8_Active	730	19	141.15
TT8_Sampling	581	39	224.98
TT8_CF8	701	45	312.32
TT8_Kalman	0	0	0.00
Analog_circuits	1240	12	144.42
GPS_charging	0	0	0.00
Compass	499	26	125.91
RAFOS	1800	1	26.19

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
34	end surface: CONTROL_FINISHED_OK
state	34	begin dive
40	-1.49	-116.8	0.0	0.0	0	128	0.00	0.00	-76.85	0.000	6	0.000	0.000	654	1909	2739
135	-1.49	-116.8	0.3	-0.7	9	152	6.53	2.72	0.00	0.000	4	0.000	0.000	2030	3559	2742
298	-1.67	-116.8	21.7	-8.5	34	307	0.77	2.97	0.00	0.000	6	0.000	0.000	1849	2068	2742
664	-1.30	-116.8	74.2	-13.5	95	673	0.68	2.45	0.00	0.000	4	0.000	0.000	2055	3571	2737
712	-1.48	-116.8	78.0	-6.4	101	720	0.52	2.97	0.00	0.000	6	0.000	0.000	1924	1907	2736
1069	-1.29	-116.8	115.1	-10.3	143	1077	0.35	3.28	0.00	0.000	4	0.000	0.000	2045	3416	2737
1160	-1.45	-116.8	121.1	-6.1	146	1169	0.47	2.83	0.00	0.000	6	0.000	0.000	1898	1880	2740
1485	-1.26	-116.8	152.3	-9.9	162	1493	0.68	3.17	0.00	0.000	4	0.000	0.000	2022	3576	2737
1570	-1.43	-116.8	158.4	-6.0	165	1582	0.52	3.08	0.00	0.000	6	0.000	0.000	1899	1884	2744
1899	-1.22	-116.8	189.3	-9.5	181	1907	0.65	3.55	0.00	0.000	4	0.000	0.000	2062	3554	2744
1984	-1.54	-116.8	194.2	-4.2	184	1998	1.02	3.42	0.00	0.000	6	0.000	0.000	1825	2170	2739
2309	-1.18	-116.8	228.2	-10.7	200	2312	0.98	0.00	0.00	0.000	6	0.000	0.000	2086	2160	2735
2623	-1.48	-116.8	242.2	-4.0	215	2626	1.05	0.00	0.00	0.000	6	0.000	0.000	1899	2176	2738
2933	-1.29	-116.8	267.4	-8.3	230	2939	0.50	2.47	0.00	0.000	4	0.000	0.000	2018	3504	2736
2970	-1.46	-116.8	270.5	-5.2	231	2979	0.52	3.25	0.00	0.000	6	0.000	0.000	1924	1847	2738
3289	-1.27	-116.8	296.1	-8.3	247	3297	0.47	3.53	0.00	0.000	4	0.000	0.000	2037	3693	2738
3381	-1.47	-116.8	301.0	-4.9	250	3390	0.52	2.75	0.00	0.000	6	0.000	0.000	1900	1878	2733
3706	-1.26	-116.8	326.6	-8.2	266	3715	0.62	3.53	0.00	0.000	4	0.000	0.000	2019	3663	2740
3786	-1.44	-116.8	331.4	-4.7	269	3794	0.52	3.33	0.00	0.000	6	0.000	0.000	1908	2007	2744
4116	-1.23	-116.8	357.5	-8.0	285	4124	0.55	2.92	0.00	0.000	4	0.000	0.000	2024	3654	2742
4165	-1.40	-116.8	360.3	-4.7	287	4173	0.52	3.22	0.00	0.000	6	0.000	0.000	1903	1974	2732
4500	-1.24	-116.8	386.0	-8.0	303	4508	0.47	3.17	0.00	0.000	4	0.000	0.000	2020	3656	2740
4557	-1.41	-116.8	389.5	-4.8	305	4570	0.55	2.65	0.00	0.000	6	0.000	0.000	1905	1973	2743
4881	-1.21	-116.8	413.9	-7.8	321	4889	0.55	3.42	0.00	0.000	4	0.000	0.000	2045	3637	2745
4945	-1.38	-116.8	417.3	-4.8	323	4954	0.52	3.22	0.00	0.000	6	0.000	0.000	1917	1953	2733
5269	-1.18	-116.8	441.3	-7.7	339	5277	0.55	3.05	0.00	0.000	4	0.000	0.000	2028	3610	2742
5345	-1.34	-116.8	445.5	-4.7	342	5352	0.50	3.03	0.00	0.000	6	0.000	0.000	1909	1941	2735
5658	end dive: BOTTOM_OBSTACLE_DETECTED
state	5658	begin apogee
5670	-0.25	0.0	469.3	7.6	357	5788	1.65	0.00	113.20	0.001	6	0.000	0.000	2271	2106	2258
5793	end apogee: CONTROL_FINISHED_OK
state	5793	begin climb
5799	1.49	116.8	470.5	0.0	363	5922	1.88	0.00	112.65	0.001	6	0.000	0.000	2648	2092	1785
6223	1.24	116.8	383.4	22.1	383	6228	0.68	2.25	0.00	0.000	4	0.000	0.000	2440	3468	1793
6294	1.60	167.8	375.0	9.7	386	6352	1.38	2.88	48.65	0.001	6	0.000	0.000	2710	2077	1580
6673	1.12	167.8	255.5	32.4	404	6681	1.40	2.75	0.00	0.000	4	0.000	0.000	2468	3595	1574
6737	1.27	186.3	243.2	12.3	406	6768	0.52	3.35	17.98	0.001	6	0.000	0.000	2592	1917	1501
7079	1.14	186.3	169.0	22.3	423	7085	0.65	2.45	0.00	0.000	4	0.000	0.000	2480	3400	1508
7216	1.38	200.5	150.6	12.6	429	7240	0.62	2.83	10.82	0.001	6	0.000	0.000	2596	1921	1450
7563	1.25	200.5	72.7	21.2	457	7573	0.60	3.17	0.95	0.001	4	0.000	0.000	2450	3545	1441
7679	1.51	219.9	57.2	12.2	475	7703	0.80	2.45	15.68	0.001	6	0.000	0.000	2657	2049	1362
7895	end climb: SURFACE_DEPTH_REACHED
state	7895	begin surface coast
7901	end surface coast: CONTROL_FINISHED_OK
state	7901	begin surface