Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 69 * 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 69 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 180 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 191 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 -448107.69 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 -448107.69

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 180 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 191 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 69 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 114825,6636.605,-6008.729,22,1.1,22,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6631.748,-6004.888

_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 115258,6636.605,-6008.729,37,1.1,37,18.0 MHEAD_RNG_PITCHd_Wd 98.7,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024858 XPDR_PINGS -1

SM_CCo 8622,20.73,0.000,0,0,406,450.62 ALTIM_TOP_PING 19.6,18.8

SM_GC 0.34,0.00,0.00,20.73,0.000,0.000,0.000,595,1887,406,-7.69,-2.46,450.62 ALTIM_BOTTOM_PING 501.1,66.1

RAFOS_CLK 0 _24V_AH 23.7,47.905

RAFOS 0,1160913851,12.083333,12.069722,80,0,0,0,0,0,542,0,0,0,0,0 _10V_AH 9.7,7.296

RAFOS_FIX 6637.066895,-6003.541504,151006,121248,4,80,2.34 DATA_FILE_SIZE 18996,550

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239878144

TT8_MAMPS 0.025311 ERRORS 0,0,0,0,0,0,0,0,0,0,0,55,659,0,0

HUMID 2398 SOUNDSPEED 1459.4

INTERNAL_PRESSURE 26.0358 CURRENT 0.054,358.8,1

TCM_TEMP 15.00 GPS 151006,141914,6636.516,-6006.610,26,1.1,26,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 119 81.22 SBE_CT 456 24 259.84

Roll_motor 85 60 121.12 nil 0 0 0.00

VBD_pump_during_apogee 26 1300 807.22 nil 0 0 0.00

VBD_pump_during_surface 20 600 294.71 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 68 223 360.06

Transponder_ping 4 420 44.79

GPS 38 50 18.48

TT8 1822 19 352.17

LPSleep 5475 2 122.69

TT8_Active 213 19 41.33

TT8_Sampling 695 39 269.17

TT8_CF8 724 45 322.61

TT8_Kalman 0 81 0.00

Analog_circuits 778 12 90.64

GPS_charging 0 0 0.00

Compass 575 26 145.06

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

36 end surface: CONTROL_FINISHED_OK

state 36 begin dive

42 -1.49 -116.8 0.0 0.0 0 58 0.00 0.00 -8.05 0.000 6 0.000 0.000 577 1924 2833

64 -1.49 -116.8 0.3 0.0 2 82 6.90 2.45 0.00 0.000 4 0.000 0.000 2033 747 2841

272 -1.49 -116.8 20.4 -7.1 35 281 0.75 2.47 0.00 0.000 6 0.000 0.000 1859 1908 2839

641 -1.78 -116.8 77.4 -15.4 96 651 0.00 2.35 0.00 0.000 4 0.000 0.000 1854 3246 2835

854 -1.55 -116.8 111.5 -15.9 122 863 0.52 2.47 0.00 0.000 6 0.000 0.000 1969 2056 2833

1179 -1.20 -116.8 144.5 -10.1 138 1184 0.00 2.28 0.00 0.000 4 0.000 0.000 1978 684 2839

1223 -1.18 -116.8 149.6 -10.1 140 1228 0.52 2.22 0.00 0.000 6 0.000 0.000 2086 1839 2834

1555 -1.32 -116.8 170.7 -5.8 156 1563 0.77 2.78 0.00 0.000 4 0.000 0.000 1980 3343 2832

1650 -1.62 -116.8 179.5 -10.2 160 1656 0.50 2.30 0.00 0.000 6 0.000 0.000 1837 1873 2831

1982 -1.59 -116.8 230.4 -15.6 176 1984 0.50 0.00 0.00 0.000 6 0.000 0.000 1990 1861 2841

2296 -1.24 -116.8 262.3 -9.8 191 2301 0.00 2.42 0.00 0.000 4 0.000 0.000 1982 545 2843

2343 -1.26 -116.8 267.8 -10.2 193 2351 0.08 3.42 0.00 0.000 6 0.000 0.000 1969 2088 2835

2673 -1.42 -116.8 300.8 -10.1 209 2678 0.00 3.25 0.00 0.000 4 0.000 0.000 1984 573 2836

2721 -1.42 -116.8 305.6 -9.2 211 2725 0.00 2.03 0.00 0.000 6 0.000 0.000 1984 1945 2837

3046 -1.57 -116.8 338.0 -10.0 227 3048 0.65 0.00 0.00 0.000 6 0.000 0.000 1862 1937 2832

3360 -1.56 -116.8 385.5 -15.6 242 3368 0.85 3.20 0.00 0.000 4 0.000 0.000 1971 419 2829

3409 -1.22 -116.8 392.1 -9.8 244 3415 0.10 2.83 0.00 0.000 6 0.000 0.000 1974 1908 2835

3740 -1.44 -116.8 424.8 -10.0 260 3742 0.30 0.00 0.00 0.000 6 0.000 0.000 1928 1913 2838

4055 -1.44 -116.8 462.5 -11.8 275 4057 0.35 0.00 0.00 0.000 6 0.000 0.000 1902 1892 2840

4368 -1.33 -116.8 501.1 -12.5 290 4373 0.45 2.47 0.00 0.000 4 0.000 0.000 2029 748 2839

4404 -1.18 -116.8 505.7 -7.1 290 4413 0.05 2.47 0.00 0.000 6 0.000 0.000 2049 1778 2835

4740 -1.44 -116.8 530.2 -7.4 299 4748 0.62 2.95 0.00 0.000 4 0.000 0.000 1910 3452 2841

4955 end dive: BOTTOM_OBSTACLE_DETECTED

state 4955 begin apogee

4971 -0.25 0.0 557.2 12.9 303 4989 1.70 0.00 14.27 0.000 6 0.000 0.000 2276 2131 2245

4990 end apogee: CONTROL_FINISHED_OK

state 4990 begin climb

4995 1.49 116.8 559.3 0.0 304 5015 1.52 3.15 11.20 0.000 4 0.000 0.000 2667 469 1769

5051 1.49 116.8 550.8 22.2 305 5059 0.52 3.33 0.00 0.000 6 0.000 0.000 2517 1941 1766

5409 1.46 117.6 498.5 13.7 314 5415 0.52 2.72 0.00 0.000 4 0.000 0.000 2661 3462 1765

5643 1.49 117.6 447.6 22.7 324 5651 0.52 3.17 0.00 0.000 6 0.000 0.000 2540 1967 1768

5978 1.20 121.1 400.3 13.5 340 5983 0.00 2.15 0.00 0.000 4 0.000 0.000 2537 637 1767

6045 1.22 121.1 390.2 14.0 343 6049 0.00 1.98 0.00 0.000 6 0.000 0.000 2519 1820 1763

6380 1.38 121.1 344.3 13.9 359 6386 0.05 2.65 0.00 0.000 4 0.000 0.000 2547 3485 1775

6658 1.40 121.1 303.4 14.0 371 6664 0.00 3.17 0.00 0.000 6 0.000 0.000 2528 2115 1760

6990 1.43 121.1 258.3 14.0 387 6995 0.22 2.45 0.00 0.000 4 0.000 0.000 2592 604 1772

7086 1.46 121.1 240.4 16.7 391 7090 0.00 2.58 0.00 0.000 6 0.000 0.000 2609 1916 1776

7416 1.53 121.1 182.8 17.8 407 7421 0.00 2.88 0.00 0.000 4 0.000 0.000 2596 3225 1769

7697 1.39 121.1 129.0 18.5 419 7710 0.10 2.97 0.73 0.000 6 0.000 0.000 2604 1895 1747

8045 1.25 121.1 61.7 19.0 459 8054 0.35 2.28 0.00 0.000 4 0.000 0.000 2467 3215 1734

8236 1.10 121.1 39.2 16.6 490 8245 0.00 2.85 0.00 0.000 6 0.000 0.000 2473 1886 1741

8576 end climb: SURFACE_DEPTH_REACHED

state 8576 begin surface coast

8594 end surface coast: CONTROL_FINISHED_OK

state 8594 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	69	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	180	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	191	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	-448107.69	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	114825,6636.605,-6008.729,22,1.1,22,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6631.748,-6004.888
_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	115258,6636.605,-6008.729,37,1.1,37,18.0	MHEAD_RNG_PITCHd_Wd	98.7,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024858	XPDR_PINGS	-1
SM_CCo	8622,20.73,0.000,0,0,406,450.62	ALTIM_TOP_PING	19.6,18.8
SM_GC	0.34,0.00,0.00,20.73,0.000,0.000,0.000,595,1887,406,-7.69,-2.46,450.62	ALTIM_BOTTOM_PING	501.1,66.1
RAFOS_CLK	0	_24V_AH	23.7,47.905
RAFOS	0,1160913851,12.083333,12.069722,80,0,0,0,0,0,542,0,0,0,0,0	_10V_AH	9.7,7.296
RAFOS_FIX	6637.066895,-6003.541504,151006,121248,4,80,2.34	DATA_FILE_SIZE	18996,550
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239878144
TT8_MAMPS	0.025311	ERRORS	0,0,0,0,0,0,0,0,0,0,0,55,659,0,0
HUMID	2398	SOUNDSPEED	1459.4
INTERNAL_PRESSURE	26.0358	CURRENT	0.054,358.8,1
TCM_TEMP	15.00	GPS	151006,141914,6636.516,-6006.610,26,1.1,26,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	119	81.22	SBE_CT	456	24	259.84
Roll_motor	85	60	121.12	nil	0	0	0.00
VBD_pump_during_apogee	26	1300	807.22	nil	0	0	0.00
VBD_pump_during_surface	20	600	294.71	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	68	223	360.06
Transponder_ping	4	420	44.79
GPS	38	50	18.48
TT8	1822	19	352.17
LPSleep	5475	2	122.69
TT8_Active	213	19	41.33
TT8_Sampling	695	39	269.17
TT8_CF8	724	45	322.61
TT8_Kalman	0	81	0.00
Analog_circuits	778	12	90.64
GPS_charging	0	0	0.00
Compass	575	26	145.06
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
36	end surface: CONTROL_FINISHED_OK
state	36	begin dive
42	-1.49	-116.8	0.0	0.0	0	58	0.00	0.00	-8.05	0.000	6	0.000	0.000	577	1924	2833
64	-1.49	-116.8	0.3	0.0	2	82	6.90	2.45	0.00	0.000	4	0.000	0.000	2033	747	2841
272	-1.49	-116.8	20.4	-7.1	35	281	0.75	2.47	0.00	0.000	6	0.000	0.000	1859	1908	2839
641	-1.78	-116.8	77.4	-15.4	96	651	0.00	2.35	0.00	0.000	4	0.000	0.000	1854	3246	2835
854	-1.55	-116.8	111.5	-15.9	122	863	0.52	2.47	0.00	0.000	6	0.000	0.000	1969	2056	2833
1179	-1.20	-116.8	144.5	-10.1	138	1184	0.00	2.28	0.00	0.000	4	0.000	0.000	1978	684	2839
1223	-1.18	-116.8	149.6	-10.1	140	1228	0.52	2.22	0.00	0.000	6	0.000	0.000	2086	1839	2834
1555	-1.32	-116.8	170.7	-5.8	156	1563	0.77	2.78	0.00	0.000	4	0.000	0.000	1980	3343	2832
1650	-1.62	-116.8	179.5	-10.2	160	1656	0.50	2.30	0.00	0.000	6	0.000	0.000	1837	1873	2831
1982	-1.59	-116.8	230.4	-15.6	176	1984	0.50	0.00	0.00	0.000	6	0.000	0.000	1990	1861	2841
2296	-1.24	-116.8	262.3	-9.8	191	2301	0.00	2.42	0.00	0.000	4	0.000	0.000	1982	545	2843
2343	-1.26	-116.8	267.8	-10.2	193	2351	0.08	3.42	0.00	0.000	6	0.000	0.000	1969	2088	2835
2673	-1.42	-116.8	300.8	-10.1	209	2678	0.00	3.25	0.00	0.000	4	0.000	0.000	1984	573	2836
2721	-1.42	-116.8	305.6	-9.2	211	2725	0.00	2.03	0.00	0.000	6	0.000	0.000	1984	1945	2837
3046	-1.57	-116.8	338.0	-10.0	227	3048	0.65	0.00	0.00	0.000	6	0.000	0.000	1862	1937	2832
3360	-1.56	-116.8	385.5	-15.6	242	3368	0.85	3.20	0.00	0.000	4	0.000	0.000	1971	419	2829
3409	-1.22	-116.8	392.1	-9.8	244	3415	0.10	2.83	0.00	0.000	6	0.000	0.000	1974	1908	2835
3740	-1.44	-116.8	424.8	-10.0	260	3742	0.30	0.00	0.00	0.000	6	0.000	0.000	1928	1913	2838
4055	-1.44	-116.8	462.5	-11.8	275	4057	0.35	0.00	0.00	0.000	6	0.000	0.000	1902	1892	2840
4368	-1.33	-116.8	501.1	-12.5	290	4373	0.45	2.47	0.00	0.000	4	0.000	0.000	2029	748	2839
4404	-1.18	-116.8	505.7	-7.1	290	4413	0.05	2.47	0.00	0.000	6	0.000	0.000	2049	1778	2835
4740	-1.44	-116.8	530.2	-7.4	299	4748	0.62	2.95	0.00	0.000	4	0.000	0.000	1910	3452	2841
4955	end dive: BOTTOM_OBSTACLE_DETECTED
state	4955	begin apogee
4971	-0.25	0.0	557.2	12.9	303	4989	1.70	0.00	14.27	0.000	6	0.000	0.000	2276	2131	2245
4990	end apogee: CONTROL_FINISHED_OK
state	4990	begin climb
4995	1.49	116.8	559.3	0.0	304	5015	1.52	3.15	11.20	0.000	4	0.000	0.000	2667	469	1769
5051	1.49	116.8	550.8	22.2	305	5059	0.52	3.33	0.00	0.000	6	0.000	0.000	2517	1941	1766
5409	1.46	117.6	498.5	13.7	314	5415	0.52	2.72	0.00	0.000	4	0.000	0.000	2661	3462	1765
5643	1.49	117.6	447.6	22.7	324	5651	0.52	3.17	0.00	0.000	6	0.000	0.000	2540	1967	1768
5978	1.20	121.1	400.3	13.5	340	5983	0.00	2.15	0.00	0.000	4	0.000	0.000	2537	637	1767
6045	1.22	121.1	390.2	14.0	343	6049	0.00	1.98	0.00	0.000	6	0.000	0.000	2519	1820	1763
6380	1.38	121.1	344.3	13.9	359	6386	0.05	2.65	0.00	0.000	4	0.000	0.000	2547	3485	1775
6658	1.40	121.1	303.4	14.0	371	6664	0.00	3.17	0.00	0.000	6	0.000	0.000	2528	2115	1760
6990	1.43	121.1	258.3	14.0	387	6995	0.22	2.45	0.00	0.000	4	0.000	0.000	2592	604	1772
7086	1.46	121.1	240.4	16.7	391	7090	0.00	2.58	0.00	0.000	6	0.000	0.000	2609	1916	1776
7416	1.53	121.1	182.8	17.8	407	7421	0.00	2.88	0.00	0.000	4	0.000	0.000	2596	3225	1769
7697	1.39	121.1	129.0	18.5	419	7710	0.10	2.97	0.73	0.000	6	0.000	0.000	2604	1895	1747
8045	1.25	121.1	61.7	19.0	459	8054	0.35	2.28	0.00	0.000	4	0.000	0.000	2467	3215	1734
8236	1.10	121.1	39.2	16.6	490	8245	0.00	2.85	0.00	0.000	6	0.000	0.000	2473	1886	1741
8576	end climb: SURFACE_DEPTH_REACHED
state	8576	begin surface coast
8594	end surface coast: CONTROL_FINISHED_OK
state	8594	begin surface