Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 62 * 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 62 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 1 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 3 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 6 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 -447955.34 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 3 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 0.27000001 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 -447955.34

CAPUPLOAD 0 HEADING 20 ROLL_ADJ_DBAND 0.029999999 T_MISSION 300

CF8_MAXERRORS 20 HEAD_ERRBAND 8 ROLL_ADJ_GAIN 6 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 1 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 3 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 3 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 62 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 191417,6637.229,-6008.299,9,1.1,9,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6630.078,-6005.073

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.221,0.063

_SM_DEPTHo 0.34 KALMAN_X -18076.3,1112.0,191.8,29372.1,-5815.5

_SM_ANGLEo -69.9 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 191843,6637.229,-6008.299,33,1.1,33,18.0 MHEAD_RNG_PITCHd_Wd 113.5,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024815 XPDR_PINGS -1

SM_CCo 7796,13.57,0.000,0,0,396,450.62 ALTIM_TOP_PING 19.9,18.8

SM_GC 0.34,0.00,0.00,13.57,0.000,0.000,0.000,605,1746,396,-7.65,-6.78,450.62 ALTIM_BOTTOM_PING 529.3,44.3

RAFOS_CLK 0 _24V_AH 23.7,46.064

RAFOS 0,1160856242,20.083334,20.067223,80,0,0,0,0,0,586,0,0,0,0,0 _10V_AH 9.7,7.010

RAFOS_FIX 6637.762695,-6002.915527,141006,202020,4,80,1.09 DATA_FILE_SIZE 15923,479

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,240357376

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,60,694,0,0

HUMID 2408 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 26.026 CURRENT 0.088,345.0,1

TCM_TEMP 15.00 GPS 141006,213104,6636.813,-6006.411,22,1.1,22,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 119 90.74 SBE_CT 394 24 224.34

Roll_motor 90 60 128.48 nil 0 0 0.00

VBD_pump_during_apogee 36 1300 1134.58 nil 0 0 0.00

VBD_pump_during_surface 13 600 193.04 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 67 223 357.91

Transponder_ping 4 420 47.28

GPS 34 50 16.51

TT8 1555 19 300.63

LPSleep 5108 2 114.47

TT8_Active 250 19 48.38

TT8_Sampling 535 39 207.50

TT8_CF8 642 45 286.35

TT8_Kalman 0 81 0.00

Analog_circuits 692 12 80.61

GPS_charging 0 0 0.00

Compass 435 26 109.81

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

34 end surface: CONTROL_FINISHED_OK

state 35 begin dive

41 -1.49 -116.8 0.0 0.0 0 57 0.00 0.00 -7.97 0.000 6 0.000 0.000 597 1830 2879

64 -1.49 -116.8 0.3 -0.0 2 81 6.78 2.45 0.00 0.000 4 0.000 0.000 1975 505 2871

222 -1.49 -116.8 22.6 -9.6 27 231 0.52 3.28 0.00 0.000 6 0.000 0.000 1858 2198 2872

591 -1.80 -116.8 78.7 -15.9 88 598 0.00 0.00 0.00 0.000 6 0.000 0.000 1859 2185 2876

933 -1.49 -116.8 133.6 -16.0 120 941 0.43 3.47 0.00 0.000 4 0.000 0.000 1993 320 2873

974 -1.17 -116.8 138.6 -10.1 121 983 0.00 3.17 0.00 0.000 6 0.000 0.000 1997 2206 2870

1298 -1.40 -116.8 169.2 -9.7 137 1304 0.20 2.65 0.00 0.000 4 0.000 0.000 1998 378 2881

1335 -1.43 -116.8 173.6 -9.7 138 1345 0.00 3.83 0.00 0.000 6 0.000 0.000 1987 2212 2878

1660 -1.70 -116.8 205.1 -9.9 154 1662 0.65 0.00 0.00 0.000 6 0.000 0.000 1812 2229 2874

1969 -1.74 -116.8 260.9 -18.7 169 1977 0.47 3.35 0.00 0.000 4 0.000 0.000 1941 327 2875

2021 -1.28 -116.8 270.3 -13.2 171 2029 0.50 3.53 0.00 0.000 6 0.000 0.000 2049 2195 2876

2356 -1.41 -116.8 293.6 -6.9 187 2364 0.65 3.25 0.00 0.000 4 0.000 0.000 1859 326 2878

2419 -1.66 -116.8 302.5 -15.0 189 2428 0.00 3.28 0.00 0.000 6 0.000 0.000 1894 1960 2883

2744 -1.63 -116.8 351.0 -15.2 205 2750 0.00 2.97 0.00 0.000 4 0.000 0.000 1874 3657 2873

2797 -1.36 -116.8 360.3 -15.0 207 2810 0.77 3.75 0.00 0.000 6 0.000 0.000 2025 1599 2879

3122 -1.13 -116.8 391.7 -9.4 223 3127 0.00 2.95 0.00 0.000 4 0.000 0.000 1996 3598 2882

3216 -1.19 -116.8 400.1 -9.8 227 3222 0.00 2.95 0.00 0.000 6 0.000 0.000 1982 1866 2873

3552 -1.27 -116.8 431.9 -9.3 243 3557 0.00 2.62 0.00 0.000 4 0.000 0.000 2004 349 2874

3588 -1.34 -116.8 435.7 -8.2 244 3598 0.22 3.65 0.00 0.000 6 0.000 0.000 1939 2198 2878

3910 -1.71 -116.8 474.5 -12.4 260 3916 0.55 2.22 0.00 0.000 4 0.000 0.000 1808 3535 2883

3946 -1.60 -116.8 480.8 -17.3 261 3956 0.57 3.35 0.00 0.000 6 0.000 0.000 1943 1665 2869

4263 -1.20 -116.8 520.1 -12.1 273 4272 0.35 3.95 0.00 0.000 4 0.000 0.000 2064 3665 2869

4299 -1.10 -116.8 523.8 -7.9 273 4313 0.45 3.65 0.00 0.000 6 0.000 0.000 1957 1672 2879

4634 end dive: BOTTOM_OBSTACLE_DETECTED

state 4634 begin apogee

4647 -0.25 0.0 564.3 12.3 282 4666 1.58 0.00 14.85 0.000 6 0.000 0.000 2245 2178 2244

4666 end apogee: CONTROL_FINISHED_OK

state 4666 begin climb

4672 1.49 116.8 564.3 0.0 282 4688 1.83 0.00 11.27 0.000 6 0.000 0.000 2674 2176 1779

5007 1.49 116.8 495.9 22.4 291 5015 0.47 3.25 0.00 0.000 4 0.000 0.000 2536 347 1771

5056 1.17 116.8 487.5 14.1 293 5063 0.00 3.28 0.00 0.000 6 0.000 0.000 2540 2012 1772

5398 1.42 116.8 440.9 14.3 309 5400 0.43 0.00 0.00 0.000 6 0.000 0.000 2652 2019 1776

5700 1.37 116.8 373.3 22.7 324 5706 0.73 2.45 0.00 0.000 4 0.000 0.000 2482 478 1770

5775 1.04 160.2 363.2 10.3 327 5786 0.00 3.08 4.45 0.000 6 0.000 0.000 2502 1994 1582

6105 1.44 178.6 323.2 12.3 342 6110 0.73 0.00 1.73 0.000 6 0.000 0.000 2605 2002 1505

6414 1.47 178.6 239.4 38.9 357 6419 0.10 2.65 0.00 0.000 4 0.000 0.000 2605 315 1519

6461 0.54 178.6 227.0 22.4 359 6469 1.35 3.65 0.00 0.000 6 0.000 0.000 2320 2102 1512

6796 0.66 233.9 194.0 9.4 375 6808 0.77 0.00 4.53 0.000 6 0.000 0.000 2491 2103 1281

7124 1.41 233.9 133.5 21.6 391 7132 0.35 3.10 0.00 0.000 4 0.000 0.000 2616 427 1278

7209 1.41 233.9 112.4 27.8 394 7222 0.52 3.47 0.00 0.000 6 0.000 0.000 2495 2071 1276

7571 1.48 233.9 54.5 15.9 446 7578 0.57 0.00 0.00 0.000 6 0.000 0.000 2626 2074 1286

7759 end climb: SURFACE_DEPTH_REACHED

state 7760 begin surface coast

7767 end surface coast: CONTROL_FINISHED_OK

state 7767 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	62	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	1	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	3	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	6	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	-447955.34	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	3	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	191417,6637.229,-6008.299,9,1.1,9,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6630.078,-6005.073
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.221,0.063
_SM_DEPTHo	0.34	KALMAN_X	-18076.3,1112.0,191.8,29372.1,-5815.5
_SM_ANGLEo	-69.9	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	191843,6637.229,-6008.299,33,1.1,33,18.0	MHEAD_RNG_PITCHd_Wd	113.5,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024815	XPDR_PINGS	-1
SM_CCo	7796,13.57,0.000,0,0,396,450.62	ALTIM_TOP_PING	19.9,18.8
SM_GC	0.34,0.00,0.00,13.57,0.000,0.000,0.000,605,1746,396,-7.65,-6.78,450.62	ALTIM_BOTTOM_PING	529.3,44.3
RAFOS_CLK	0	_24V_AH	23.7,46.064
RAFOS	0,1160856242,20.083334,20.067223,80,0,0,0,0,0,586,0,0,0,0,0	_10V_AH	9.7,7.010
RAFOS_FIX	6637.762695,-6002.915527,141006,202020,4,80,1.09	DATA_FILE_SIZE	15923,479
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,240357376
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,60,694,0,0
HUMID	2408	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	26.026	CURRENT	0.088,345.0,1
TCM_TEMP	15.00	GPS	141006,213104,6636.813,-6006.411,22,1.1,22,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	119	90.74	SBE_CT	394	24	224.34
Roll_motor	90	60	128.48	nil	0	0	0.00
VBD_pump_during_apogee	36	1300	1134.58	nil	0	0	0.00
VBD_pump_during_surface	13	600	193.04	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	67	223	357.91
Transponder_ping	4	420	47.28
GPS	34	50	16.51
TT8	1555	19	300.63
LPSleep	5108	2	114.47
TT8_Active	250	19	48.38
TT8_Sampling	535	39	207.50
TT8_CF8	642	45	286.35
TT8_Kalman	0	81	0.00
Analog_circuits	692	12	80.61
GPS_charging	0	0	0.00
Compass	435	26	109.81
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
34	end surface: CONTROL_FINISHED_OK
state	35	begin dive
41	-1.49	-116.8	0.0	0.0	0	57	0.00	0.00	-7.97	0.000	6	0.000	0.000	597	1830	2879
64	-1.49	-116.8	0.3	-0.0	2	81	6.78	2.45	0.00	0.000	4	0.000	0.000	1975	505	2871
222	-1.49	-116.8	22.6	-9.6	27	231	0.52	3.28	0.00	0.000	6	0.000	0.000	1858	2198	2872
591	-1.80	-116.8	78.7	-15.9	88	598	0.00	0.00	0.00	0.000	6	0.000	0.000	1859	2185	2876
933	-1.49	-116.8	133.6	-16.0	120	941	0.43	3.47	0.00	0.000	4	0.000	0.000	1993	320	2873
974	-1.17	-116.8	138.6	-10.1	121	983	0.00	3.17	0.00	0.000	6	0.000	0.000	1997	2206	2870
1298	-1.40	-116.8	169.2	-9.7	137	1304	0.20	2.65	0.00	0.000	4	0.000	0.000	1998	378	2881
1335	-1.43	-116.8	173.6	-9.7	138	1345	0.00	3.83	0.00	0.000	6	0.000	0.000	1987	2212	2878
1660	-1.70	-116.8	205.1	-9.9	154	1662	0.65	0.00	0.00	0.000	6	0.000	0.000	1812	2229	2874
1969	-1.74	-116.8	260.9	-18.7	169	1977	0.47	3.35	0.00	0.000	4	0.000	0.000	1941	327	2875
2021	-1.28	-116.8	270.3	-13.2	171	2029	0.50	3.53	0.00	0.000	6	0.000	0.000	2049	2195	2876
2356	-1.41	-116.8	293.6	-6.9	187	2364	0.65	3.25	0.00	0.000	4	0.000	0.000	1859	326	2878
2419	-1.66	-116.8	302.5	-15.0	189	2428	0.00	3.28	0.00	0.000	6	0.000	0.000	1894	1960	2883
2744	-1.63	-116.8	351.0	-15.2	205	2750	0.00	2.97	0.00	0.000	4	0.000	0.000	1874	3657	2873
2797	-1.36	-116.8	360.3	-15.0	207	2810	0.77	3.75	0.00	0.000	6	0.000	0.000	2025	1599	2879
3122	-1.13	-116.8	391.7	-9.4	223	3127	0.00	2.95	0.00	0.000	4	0.000	0.000	1996	3598	2882
3216	-1.19	-116.8	400.1	-9.8	227	3222	0.00	2.95	0.00	0.000	6	0.000	0.000	1982	1866	2873
3552	-1.27	-116.8	431.9	-9.3	243	3557	0.00	2.62	0.00	0.000	4	0.000	0.000	2004	349	2874
3588	-1.34	-116.8	435.7	-8.2	244	3598	0.22	3.65	0.00	0.000	6	0.000	0.000	1939	2198	2878
3910	-1.71	-116.8	474.5	-12.4	260	3916	0.55	2.22	0.00	0.000	4	0.000	0.000	1808	3535	2883
3946	-1.60	-116.8	480.8	-17.3	261	3956	0.57	3.35	0.00	0.000	6	0.000	0.000	1943	1665	2869
4263	-1.20	-116.8	520.1	-12.1	273	4272	0.35	3.95	0.00	0.000	4	0.000	0.000	2064	3665	2869
4299	-1.10	-116.8	523.8	-7.9	273	4313	0.45	3.65	0.00	0.000	6	0.000	0.000	1957	1672	2879
4634	end dive: BOTTOM_OBSTACLE_DETECTED
state	4634	begin apogee
4647	-0.25	0.0	564.3	12.3	282	4666	1.58	0.00	14.85	0.000	6	0.000	0.000	2245	2178	2244
4666	end apogee: CONTROL_FINISHED_OK
state	4666	begin climb
4672	1.49	116.8	564.3	0.0	282	4688	1.83	0.00	11.27	0.000	6	0.000	0.000	2674	2176	1779
5007	1.49	116.8	495.9	22.4	291	5015	0.47	3.25	0.00	0.000	4	0.000	0.000	2536	347	1771
5056	1.17	116.8	487.5	14.1	293	5063	0.00	3.28	0.00	0.000	6	0.000	0.000	2540	2012	1772
5398	1.42	116.8	440.9	14.3	309	5400	0.43	0.00	0.00	0.000	6	0.000	0.000	2652	2019	1776
5700	1.37	116.8	373.3	22.7	324	5706	0.73	2.45	0.00	0.000	4	0.000	0.000	2482	478	1770
5775	1.04	160.2	363.2	10.3	327	5786	0.00	3.08	4.45	0.000	6	0.000	0.000	2502	1994	1582
6105	1.44	178.6	323.2	12.3	342	6110	0.73	0.00	1.73	0.000	6	0.000	0.000	2605	2002	1505
6414	1.47	178.6	239.4	38.9	357	6419	0.10	2.65	0.00	0.000	4	0.000	0.000	2605	315	1519
6461	0.54	178.6	227.0	22.4	359	6469	1.35	3.65	0.00	0.000	6	0.000	0.000	2320	2102	1512
6796	0.66	233.9	194.0	9.4	375	6808	0.77	0.00	4.53	0.000	6	0.000	0.000	2491	2103	1281
7124	1.41	233.9	133.5	21.6	391	7132	0.35	3.10	0.00	0.000	4	0.000	0.000	2616	427	1278
7209	1.41	233.9	112.4	27.8	394	7222	0.52	3.47	0.00	0.000	6	0.000	0.000	2495	2071	1276
7571	1.48	233.9	54.5	15.9	446	7578	0.57	0.00	0.00	0.000	6	0.000	0.000	2626	2074	1286
7759	end climb: SURFACE_DEPTH_REACHED
state	7760	begin surface coast
7767	end surface coast: CONTROL_FINISHED_OK
state	7767	begin surface