Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 3 * 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 3 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 19 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 -446579.44 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 -446579.44

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 19 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 3 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 181454,6630.369,-6027.763,21,1.1,21,18.0 TGT_NAME TARGET_E_IN

_CALLS 5 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.216,0.078

_SM_DEPTHo 0.34 KALMAN_X -585.7,-585.7,-585.7,2676.6,-102.8

_SM_ANGLEo -70.0 KALMAN_Y -50.9,-50.9,-50.9,1177.7,-8.9

GPS2 185046,6630.369,-6027.763,14,1.1,14,18.0 MHEAD_RNG_PITCHd_Wd 51.2,169818,-26.0,-13.750

SPEED_LIMITS 0.215,0.230 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025181 XPDR_PINGS -1

SM_CCo 7475,16.23,0.001,0,0,391,450.62 ALTIM_TOP_PING 19.9,18.9

SM_GC 0.33,0.00,0.00,16.23,0.000,0.000,0.001,570,2248,391,-7.79,8.20,450.62 ALTIM_BOTTOM_PING 400.3,89.1

RAFOS_CLK 0 _24V_AH 23.7,29.915

RAFOS 0,1160337842,20.083334,20.067223,80,0,0,0,0,0,646,0,0,0,0,0 _10V_AH 9.7,4.522

RAFOS_FIX 6630.774902,-6022.983887,081006,202020,4,80,0.66 DATA_FILE_SIZE 15893,541

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,244449280

TT8_MAMPS 0.024544 ERRORS 0,0,4,0,0,16,0,0,0,0,0,69,795,0,0

HUMID 2247 SOUNDSPEED 1459.1

INTERNAL_PRESSURE 26.1041 CURRENT 0.106,276.2,1

TCM_TEMP 15.00 GPS 081006,205817,6630.854,-6026.542,19,1.1,20,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 119 95.04 SBE_CT 444 24 252.77

Roll_motor 101 60 144.72 nil 0 0 0.00

VBD_pump_during_apogee 33 0 0.61 nil 0 0 0.00

VBD_pump_during_surface 16 0 0.29 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 1523 223 8052.13

Transponder_ping 3 420 34.84

GPS 15 50 7.67

TT8 1679 19 324.50

LPSleep 4750 2 106.44

TT8_Active 262 19 50.73

TT8_Sampling 614 39 237.99

TT8_CF8 2356 45 1049.46

TT8_Kalman 30 81 23.98

Analog_circuits 785 12 91.47

GPS_charging 0 0 0.00

Compass 522 26 131.76

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 58 0.00 0.00 -6.75 0.000 6 0.000 0.000 622 2233 2907

64 -1.49 -116.8 0.3 -0.0 2 82 6.97 3.22 0.00 0.000 4 0.000 0.000 2033 399 2903

104 -0.17 -116.8 9.0 -15.2 7 114 1.10 3.67 0.00 0.000 6 0.000 0.000 2260 2234 2911

464 -0.14 -116.8 33.0 -6.3 68 470 0.40 0.00 0.00 0.000 6 0.000 0.000 2150 2239 2909

830 -0.94 -116.8 56.2 -6.4 129 838 0.57 0.00 0.00 0.000 6 0.000 0.000 2027 2240 2902

1198 -1.38 -116.8 88.9 -8.8 190 1205 0.50 0.00 0.00 0.000 6 0.000 0.000 1915 2254 2907

1527 -1.48 -116.8 137.1 -14.9 215 1530 0.52 0.00 0.00 0.000 6 0.000 0.000 2002 2256 2910

1842 -1.25 -116.8 166.9 -8.8 230 1850 0.50 3.53 0.00 0.000 4 0.000 0.000 1960 408 2906

1869 -1.37 -116.8 169.9 -9.4 231 1876 0.00 3.90 0.00 0.000 6 0.000 0.000 1969 2262 2906

2209 -1.54 -116.8 208.0 -11.7 247 2214 0.38 1.95 0.00 0.000 4 0.000 0.000 1839 3454 2911

2245 -1.48 -116.8 214.6 -18.5 248 2255 0.80 2.95 0.00 0.000 6 0.000 0.000 1972 1973 2909

2570 -1.25 -116.8 252.9 -11.6 264 2578 0.05 3.38 0.00 0.000 4 0.000 0.000 1943 3634 2904

2633 -1.20 -116.8 261.2 -12.0 266 2642 0.50 3.15 0.00 0.000 6 0.000 0.000 2102 1796 2907

2958 -1.32 -116.8 282.1 -6.3 282 2966 0.73 3.25 0.00 0.000 4 0.000 0.000 1912 3665 2909

3062 -1.63 -116.8 296.5 -14.3 286 3075 0.00 3.38 0.00 0.000 6 0.000 0.000 1916 1814 2911

3392 -1.63 -116.8 342.8 -14.5 302 3398 0.00 3.17 0.00 0.000 4 0.000 0.000 1932 3460 2913

3498 -1.44 -116.8 359.4 -14.5 306 3507 0.52 3.28 0.00 0.000 6 0.000 0.000 2027 1803 2904

3823 -1.39 -116.8 387.2 -8.4 322 3831 0.65 3.25 0.00 0.000 4 0.000 0.000 1915 3652 2911

3932 -1.54 -116.8 402.9 -14.6 326 3944 0.00 3.62 0.00 0.000 6 0.000 0.000 1912 1826 2905

4261 -1.52 -116.8 448.1 -14.5 342 4269 0.03 3.75 0.00 0.000 4 0.000 0.000 1977 3629 2914

4361 -1.33 -116.8 460.0 -12.0 346 4368 0.00 3.80 0.00 0.000 6 0.000 0.000 1961 1808 2912

4526 end dive: BOTTOM_OBSTACLE_DETECTED

state 4526 begin apogee

4538 -0.25 0.0 480.5 11.6 354 4558 1.77 0.00 15.73 0.001 6 0.000 0.000 2278 1995 2234

4559 end apogee: CONTROL_FINISHED_OK

state 4559 begin climb

4565 1.49 116.8 482.8 0.0 355 4589 1.55 3.15 11.05 0.001 4 0.000 0.000 2636 319 1766

4603 1.49 116.8 478.7 17.1 356 4616 0.52 3.33 0.00 0.000 6 0.000 0.000 2532 2183 1766

4932 1.43 129.2 430.9 12.8 372 4941 0.52 3.62 1.23 0.001 4 0.000 0.000 2645 3514 1719

5000 1.52 129.2 417.3 22.2 374 5010 0.50 3.28 0.00 0.000 6 0.000 0.000 2511 1976 1720

5326 1.39 129.2 371.6 15.6 390 5334 0.35 3.03 0.00 0.000 4 0.000 0.000 2657 3676 1712

5410 1.39 129.2 354.2 21.9 393 5423 0.52 3.72 0.00 0.000 6 0.000 0.000 2523 1685 1713

5740 1.30 140.3 310.1 12.9 409 5749 0.80 3.85 1.10 0.001 4 0.000 0.000 2637 3351 1658

5925 1.43 140.3 270.4 22.4 417 5933 0.55 3.35 0.00 0.000 6 0.000 0.000 2496 1723 1663

6266 1.34 140.3 221.1 15.9 433 6274 0.52 3.25 0.00 0.000 4 0.000 0.000 2641 3591 1670

6430 1.24 140.3 181.5 23.0 440 6438 0.77 3.47 0.00 0.000 6 0.000 0.000 2467 1948 1667

6766 1.15 192.6 141.6 9.6 456 6776 0.38 2.97 4.20 0.000 4 0.000 0.000 2562 3466 1450

6864 1.50 192.6 122.5 20.1 460 6869 0.00 3.15 0.00 0.000 6 0.000 0.000 2572 1800 1459

7218 1.53 192.6 51.5 20.3 505 7227 0.43 3.42 0.00 0.000 4 0.000 0.000 2626 3692 1454

7355 1.47 192.6 15.5 25.8 527 7364 0.52 3.55 0.00 0.000 6 0.000 0.000 2516 1781 1446

7427 end climb: SURFACE_DEPTH_REACHED

state 7428 begin surface coast

7440 end surface coast: CONTROL_FINISHED_OK

state 7445 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	3	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	19	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	-446579.44	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	181454,6630.369,-6027.763,21,1.1,21,18.0	TGT_NAME	TARGET_E_IN
_CALLS	5	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.216,0.078
_SM_DEPTHo	0.34	KALMAN_X	-585.7,-585.7,-585.7,2676.6,-102.8
_SM_ANGLEo	-70.0	KALMAN_Y	-50.9,-50.9,-50.9,1177.7,-8.9
GPS2	185046,6630.369,-6027.763,14,1.1,14,18.0	MHEAD_RNG_PITCHd_Wd	51.2,169818,-26.0,-13.750
SPEED_LIMITS	0.215,0.230	D_GRID	990

FINISH	0.3,1.025181	XPDR_PINGS	-1
SM_CCo	7475,16.23,0.001,0,0,391,450.62	ALTIM_TOP_PING	19.9,18.9
SM_GC	0.33,0.00,0.00,16.23,0.000,0.000,0.001,570,2248,391,-7.79,8.20,450.62	ALTIM_BOTTOM_PING	400.3,89.1
RAFOS_CLK	0	_24V_AH	23.7,29.915
RAFOS	0,1160337842,20.083334,20.067223,80,0,0,0,0,0,646,0,0,0,0,0	_10V_AH	9.7,4.522
RAFOS_FIX	6630.774902,-6022.983887,081006,202020,4,80,0.66	DATA_FILE_SIZE	15893,541
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,244449280
TT8_MAMPS	0.024544	ERRORS	0,0,4,0,0,16,0,0,0,0,0,69,795,0,0
HUMID	2247	SOUNDSPEED	1459.1
INTERNAL_PRESSURE	26.1041	CURRENT	0.106,276.2,1
TCM_TEMP	15.00	GPS	081006,205817,6630.854,-6026.542,19,1.1,20,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	119	95.04	SBE_CT	444	24	252.77
Roll_motor	101	60	144.72	nil	0	0	0.00
VBD_pump_during_apogee	33	0	0.61	nil	0	0	0.00
VBD_pump_during_surface	16	0	0.29	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	1523	223	8052.13
Transponder_ping	3	420	34.84
GPS	15	50	7.67
TT8	1679	19	324.50
LPSleep	4750	2	106.44
TT8_Active	262	19	50.73
TT8_Sampling	614	39	237.99
TT8_CF8	2356	45	1049.46
TT8_Kalman	30	81	23.98
Analog_circuits	785	12	91.47
GPS_charging	0	0	0.00
Compass	522	26	131.76
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	58	0.00	0.00	-6.75	0.000	6	0.000	0.000	622	2233	2907
64	-1.49	-116.8	0.3	-0.0	2	82	6.97	3.22	0.00	0.000	4	0.000	0.000	2033	399	2903
104	-0.17	-116.8	9.0	-15.2	7	114	1.10	3.67	0.00	0.000	6	0.000	0.000	2260	2234	2911
464	-0.14	-116.8	33.0	-6.3	68	470	0.40	0.00	0.00	0.000	6	0.000	0.000	2150	2239	2909
830	-0.94	-116.8	56.2	-6.4	129	838	0.57	0.00	0.00	0.000	6	0.000	0.000	2027	2240	2902
1198	-1.38	-116.8	88.9	-8.8	190	1205	0.50	0.00	0.00	0.000	6	0.000	0.000	1915	2254	2907
1527	-1.48	-116.8	137.1	-14.9	215	1530	0.52	0.00	0.00	0.000	6	0.000	0.000	2002	2256	2910
1842	-1.25	-116.8	166.9	-8.8	230	1850	0.50	3.53	0.00	0.000	4	0.000	0.000	1960	408	2906
1869	-1.37	-116.8	169.9	-9.4	231	1876	0.00	3.90	0.00	0.000	6	0.000	0.000	1969	2262	2906
2209	-1.54	-116.8	208.0	-11.7	247	2214	0.38	1.95	0.00	0.000	4	0.000	0.000	1839	3454	2911
2245	-1.48	-116.8	214.6	-18.5	248	2255	0.80	2.95	0.00	0.000	6	0.000	0.000	1972	1973	2909
2570	-1.25	-116.8	252.9	-11.6	264	2578	0.05	3.38	0.00	0.000	4	0.000	0.000	1943	3634	2904
2633	-1.20	-116.8	261.2	-12.0	266	2642	0.50	3.15	0.00	0.000	6	0.000	0.000	2102	1796	2907
2958	-1.32	-116.8	282.1	-6.3	282	2966	0.73	3.25	0.00	0.000	4	0.000	0.000	1912	3665	2909
3062	-1.63	-116.8	296.5	-14.3	286	3075	0.00	3.38	0.00	0.000	6	0.000	0.000	1916	1814	2911
3392	-1.63	-116.8	342.8	-14.5	302	3398	0.00	3.17	0.00	0.000	4	0.000	0.000	1932	3460	2913
3498	-1.44	-116.8	359.4	-14.5	306	3507	0.52	3.28	0.00	0.000	6	0.000	0.000	2027	1803	2904
3823	-1.39	-116.8	387.2	-8.4	322	3831	0.65	3.25	0.00	0.000	4	0.000	0.000	1915	3652	2911
3932	-1.54	-116.8	402.9	-14.6	326	3944	0.00	3.62	0.00	0.000	6	0.000	0.000	1912	1826	2905
4261	-1.52	-116.8	448.1	-14.5	342	4269	0.03	3.75	0.00	0.000	4	0.000	0.000	1977	3629	2914
4361	-1.33	-116.8	460.0	-12.0	346	4368	0.00	3.80	0.00	0.000	6	0.000	0.000	1961	1808	2912
4526	end dive: BOTTOM_OBSTACLE_DETECTED
state	4526	begin apogee
4538	-0.25	0.0	480.5	11.6	354	4558	1.77	0.00	15.73	0.001	6	0.000	0.000	2278	1995	2234
4559	end apogee: CONTROL_FINISHED_OK
state	4559	begin climb
4565	1.49	116.8	482.8	0.0	355	4589	1.55	3.15	11.05	0.001	4	0.000	0.000	2636	319	1766
4603	1.49	116.8	478.7	17.1	356	4616	0.52	3.33	0.00	0.000	6	0.000	0.000	2532	2183	1766
4932	1.43	129.2	430.9	12.8	372	4941	0.52	3.62	1.23	0.001	4	0.000	0.000	2645	3514	1719
5000	1.52	129.2	417.3	22.2	374	5010	0.50	3.28	0.00	0.000	6	0.000	0.000	2511	1976	1720
5326	1.39	129.2	371.6	15.6	390	5334	0.35	3.03	0.00	0.000	4	0.000	0.000	2657	3676	1712
5410	1.39	129.2	354.2	21.9	393	5423	0.52	3.72	0.00	0.000	6	0.000	0.000	2523	1685	1713
5740	1.30	140.3	310.1	12.9	409	5749	0.80	3.85	1.10	0.001	4	0.000	0.000	2637	3351	1658
5925	1.43	140.3	270.4	22.4	417	5933	0.55	3.35	0.00	0.000	6	0.000	0.000	2496	1723	1663
6266	1.34	140.3	221.1	15.9	433	6274	0.52	3.25	0.00	0.000	4	0.000	0.000	2641	3591	1670
6430	1.24	140.3	181.5	23.0	440	6438	0.77	3.47	0.00	0.000	6	0.000	0.000	2467	1948	1667
6766	1.15	192.6	141.6	9.6	456	6776	0.38	2.97	4.20	0.000	4	0.000	0.000	2562	3466	1450
6864	1.50	192.6	122.5	20.1	460	6869	0.00	3.15	0.00	0.000	6	0.000	0.000	2572	1800	1459
7218	1.53	192.6	51.5	20.3	505	7227	0.43	3.42	0.00	0.000	4	0.000	0.000	2626	3692	1454
7355	1.47	192.6	15.5	25.8	527	7364	0.52	3.55	0.00	0.000	6	0.000	0.000	2516	1781	1446
7427	end climb: SURFACE_DEPTH_REACHED
state	7428	begin surface coast
7440	end surface coast: CONTROL_FINISHED_OK
state	7445	begin surface