Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 7 * 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 7 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 11 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -446667.59 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 -446667.59

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 11 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 23 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 7 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 051727,6632.265,-6022.744,31,1.1,31,18.0 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.219,0.072

_SM_DEPTHo 0.34 KALMAN_X -536.4,-536.4,-536.4,2741.1,-475.7

_SM_ANGLEo -69.8 KALMAN_Y -79.4,-79.4,-79.4,1108.2,-70.4

GPS2 052513,6632.265,-6022.744,12,1.1,12,18.0 MHEAD_RNG_PITCHd_Wd 51.8,165193,-26.0,-13.750

SPEED_LIMITS 0.215,0.230 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025192 ALTIM_TOP_PING 19.5,20.3

SM_CCo 7536,16.05,0.000,0,0,414,452.33 ALTIM_BOTTOM_PING 427.3,84.3

SM_GC 0.34,0.00,0.00,16.05,0.000,0.000,0.000,593,2235,414,-7.59,7.27,452.33 _24V_AH 23.7,31.345

RAFOS_CLK 0 _10V_AH 9.7,4.752

RAFOS_FIX 6632.055176,-6018.823730,091006,040448,4,80,0.99 DATA_FILE_SIZE 15844,496

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243970048

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,52,873,0,0

HUMID 2133 SOUNDSPEED 1459.5

INTERNAL_PRESSURE 26.0944 CURRENT 0.053,306.9,1

TCM_TEMP 15.00 GPS 091006,073315,6632.743,-6021.449,10,1.1,10,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 119 78.76 SBE_CT 407 24 231.98

Roll_motor 112 60 160.15 nil 0 0 0.00

VBD_pump_during_apogee 33 0 0.61 nil 0 0 0.00

VBD_pump_during_surface 16 600 228.23 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 128 223 678.42

Transponder_ping 3 420 37.33

GPS 13 50 6.50

TT8 1621 19 313.35

LPSleep 4645 2 104.08

TT8_Active 265 19 51.31

TT8_Sampling 611 39 236.69

TT8_CF8 876 45 390.31

TT8_Kalman 30 81 23.98

Analog_circuits 791 12 92.10

GPS_charging 0 0 0.00

Compass 529 26 133.64

RAFOS 0 1 0.00

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 56 0.00 0.00 -8.02 0.000 6 0.000 0.000 594 1826 2868

62 -1.49 -116.8 0.3 -0.1 2 80 6.45 3.75 0.00 0.000 4 0.000 0.000 2022 3487 2864

299 -1.49 -116.8 27.3 -9.5 40 309 0.52 3.78 0.00 0.000 6 0.000 0.000 1877 1850 2861

667 -1.58 -116.8 82.2 -15.0 101 677 0.52 3.22 0.00 0.000 4 0.000 0.000 2009 3540 2866

781 -1.30 -116.8 92.8 -8.0 118 789 0.00 3.53 0.00 0.000 6 0.000 0.000 2004 1853 2866

1122 -1.48 -116.8 126.1 -9.6 142 1130 0.55 3.22 0.00 0.000 4 0.000 0.000 1935 3680 2867

1198 -1.52 -116.8 134.6 -12.4 145 1205 0.00 3.42 0.00 0.000 6 0.000 0.000 1930 1828 2862

1539 -1.49 -116.8 174.4 -12.3 161 1546 0.00 3.20 0.00 0.000 4 0.000 0.000 1942 3705 2867

1596 -1.37 -116.8 182.5 -12.1 163 1603 0.15 3.05 0.00 0.000 6 0.000 0.000 1939 1974 2870

1921 -1.34 -116.8 221.5 -12.4 178 1928 0.03 3.15 0.00 0.000 4 0.000 0.000 1948 3674 2864

1984 -1.22 -116.8 229.1 -12.2 180 1993 0.52 3.25 0.00 0.000 6 0.000 0.000 2058 2003 2861

2309 -1.21 -116.8 252.3 -7.1 196 2316 0.50 2.97 0.00 0.000 4 0.000 0.000 1945 3534 2867

2366 -1.42 -116.8 259.3 -12.0 198 2378 0.03 3.62 0.00 0.000 6 0.000 0.000 1939 1761 2866

2695 -1.40 -116.8 298.3 -12.2 214 2702 0.00 2.97 0.00 0.000 4 0.000 0.000 1935 3431 2863

2845 -1.29 -116.8 317.4 -12.0 220 2859 0.52 3.45 0.00 0.000 6 0.000 0.000 2048 1727 2862

3175 -1.25 -116.8 340.7 -7.0 236 3183 0.38 3.53 0.00 0.000 4 0.000 0.000 1945 3558 2863

3319 -1.49 -116.8 358.0 -12.2 242 3327 0.00 3.80 0.00 0.000 6 0.000 0.000 1941 1713 2862

3656 -1.49 -116.8 397.2 -12.0 258 3663 0.00 3.85 0.00 0.000 4 0.000 0.000 1961 3581 2869

3803 -1.40 -116.8 416.0 -12.1 264 3816 0.08 3.53 0.00 0.000 6 0.000 0.000 1928 1756 2863

4128 -1.40 -116.8 454.6 -12.0 280 4135 0.00 3.67 0.00 0.000 4 0.000 0.000 1952 3595 2870

4258 -1.30 -116.8 470.7 -11.9 285 4268 0.52 2.88 0.00 0.000 6 0.000 0.000 2069 1925 2865

4583 -1.30 -116.8 492.9 -6.7 301 4591 0.75 3.28 0.00 0.000 4 0.000 0.000 1891 3579 2871

4648 end dive: BOTTOM_OBSTACLE_DETECTED

state 4653 begin apogee

4669 -0.25 0.0 502.2 15.1 304 4693 1.77 0.00 14.60 0.001 6 0.000 0.000 2239 1676 2247

4693 end apogee: CONTROL_FINISHED_OK

state 4694 begin climb

4699 1.49 116.8 506.6 0.0 305 4719 2.08 2.75 11.35 0.001 4 0.000 0.000 2657 341 1761

4741 1.49 116.8 500.8 21.2 306 4749 0.47 3.85 0.00 0.000 6 0.000 0.000 2551 2210 1759

5083 1.42 116.8 451.6 13.8 321 5089 0.25 2.72 0.00 0.000 4 0.000 0.000 2602 3530 1760

5184 1.43 116.8 431.3 22.9 325 5189 0.00 2.75 0.00 0.000 6 0.000 0.000 2591 1876 1757

5509 1.14 116.8 370.9 19.3 340 5515 0.77 2.53 0.00 0.000 4 0.000 0.000 2416 3542 1767

5672 0.91 194.6 355.5 7.6 347 5691 0.60 2.65 7.53 0.001 6 0.000 0.000 2517 1829 1437

6002 1.43 194.6 297.2 17.9 363 6009 0.35 3.25 0.00 0.000 4 0.000 0.000 2678 3631 1444

6146 1.45 194.6 254.7 31.9 369 6154 0.52 3.53 0.00 0.000 6 0.000 0.000 2565 1815 1438

6481 1.24 194.6 190.0 18.3 385 6486 0.00 3.17 0.00 0.000 4 0.000 0.000 2550 3488 1443

6646 1.24 194.6 158.1 18.3 392 6658 0.08 3.12 0.00 0.000 6 0.000 0.000 2530 1780 1441

6975 1.31 194.6 99.1 18.5 408 6983 0.00 3.38 0.00 0.000 4 0.000 0.000 2527 3597 1445

7150 1.32 194.6 66.9 18.9 436 7158 0.00 3.83 0.00 0.000 6 0.000 0.000 2542 1745 1448

7494 end climb: SURFACE_DEPTH_REACHED

state 7494 begin surface coast

7507 end surface coast: CONTROL_FINISHED_OK

state 7507 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	7	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	11	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-446667.59	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	051727,6632.265,-6022.744,31,1.1,31,18.0	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.219,0.072
_SM_DEPTHo	0.34	KALMAN_X	-536.4,-536.4,-536.4,2741.1,-475.7
_SM_ANGLEo	-69.8	KALMAN_Y	-79.4,-79.4,-79.4,1108.2,-70.4
GPS2	052513,6632.265,-6022.744,12,1.1,12,18.0	MHEAD_RNG_PITCHd_Wd	51.8,165193,-26.0,-13.750
SPEED_LIMITS	0.215,0.230	D_GRID	990

FINISH	0.3,1.025192	ALTIM_TOP_PING	19.5,20.3
SM_CCo	7536,16.05,0.000,0,0,414,452.33	ALTIM_BOTTOM_PING	427.3,84.3
SM_GC	0.34,0.00,0.00,16.05,0.000,0.000,0.000,593,2235,414,-7.59,7.27,452.33	_24V_AH	23.7,31.345
RAFOS_CLK	0	_10V_AH	9.7,4.752
RAFOS_FIX	6632.055176,-6018.823730,091006,040448,4,80,0.99	DATA_FILE_SIZE	15844,496
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243970048
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,52,873,0,0
HUMID	2133	SOUNDSPEED	1459.5
INTERNAL_PRESSURE	26.0944	CURRENT	0.053,306.9,1
TCM_TEMP	15.00	GPS	091006,073315,6632.743,-6021.449,10,1.1,10,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	119	78.76	SBE_CT	407	24	231.98
Roll_motor	112	60	160.15	nil	0	0	0.00
VBD_pump_during_apogee	33	0	0.61	nil	0	0	0.00
VBD_pump_during_surface	16	600	228.23	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	128	223	678.42
Transponder_ping	3	420	37.33
GPS	13	50	6.50
TT8	1621	19	313.35
LPSleep	4645	2	104.08
TT8_Active	265	19	51.31
TT8_Sampling	611	39	236.69
TT8_CF8	876	45	390.31
TT8_Kalman	30	81	23.98
Analog_circuits	791	12	92.10
GPS_charging	0	0	0.00
Compass	529	26	133.64
RAFOS	0	1	0.00

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	56	0.00	0.00	-8.02	0.000	6	0.000	0.000	594	1826	2868
62	-1.49	-116.8	0.3	-0.1	2	80	6.45	3.75	0.00	0.000	4	0.000	0.000	2022	3487	2864
299	-1.49	-116.8	27.3	-9.5	40	309	0.52	3.78	0.00	0.000	6	0.000	0.000	1877	1850	2861
667	-1.58	-116.8	82.2	-15.0	101	677	0.52	3.22	0.00	0.000	4	0.000	0.000	2009	3540	2866
781	-1.30	-116.8	92.8	-8.0	118	789	0.00	3.53	0.00	0.000	6	0.000	0.000	2004	1853	2866
1122	-1.48	-116.8	126.1	-9.6	142	1130	0.55	3.22	0.00	0.000	4	0.000	0.000	1935	3680	2867
1198	-1.52	-116.8	134.6	-12.4	145	1205	0.00	3.42	0.00	0.000	6	0.000	0.000	1930	1828	2862
1539	-1.49	-116.8	174.4	-12.3	161	1546	0.00	3.20	0.00	0.000	4	0.000	0.000	1942	3705	2867
1596	-1.37	-116.8	182.5	-12.1	163	1603	0.15	3.05	0.00	0.000	6	0.000	0.000	1939	1974	2870
1921	-1.34	-116.8	221.5	-12.4	178	1928	0.03	3.15	0.00	0.000	4	0.000	0.000	1948	3674	2864
1984	-1.22	-116.8	229.1	-12.2	180	1993	0.52	3.25	0.00	0.000	6	0.000	0.000	2058	2003	2861
2309	-1.21	-116.8	252.3	-7.1	196	2316	0.50	2.97	0.00	0.000	4	0.000	0.000	1945	3534	2867
2366	-1.42	-116.8	259.3	-12.0	198	2378	0.03	3.62	0.00	0.000	6	0.000	0.000	1939	1761	2866
2695	-1.40	-116.8	298.3	-12.2	214	2702	0.00	2.97	0.00	0.000	4	0.000	0.000	1935	3431	2863
2845	-1.29	-116.8	317.4	-12.0	220	2859	0.52	3.45	0.00	0.000	6	0.000	0.000	2048	1727	2862
3175	-1.25	-116.8	340.7	-7.0	236	3183	0.38	3.53	0.00	0.000	4	0.000	0.000	1945	3558	2863
3319	-1.49	-116.8	358.0	-12.2	242	3327	0.00	3.80	0.00	0.000	6	0.000	0.000	1941	1713	2862
3656	-1.49	-116.8	397.2	-12.0	258	3663	0.00	3.85	0.00	0.000	4	0.000	0.000	1961	3581	2869
3803	-1.40	-116.8	416.0	-12.1	264	3816	0.08	3.53	0.00	0.000	6	0.000	0.000	1928	1756	2863
4128	-1.40	-116.8	454.6	-12.0	280	4135	0.00	3.67	0.00	0.000	4	0.000	0.000	1952	3595	2870
4258	-1.30	-116.8	470.7	-11.9	285	4268	0.52	2.88	0.00	0.000	6	0.000	0.000	2069	1925	2865
4583	-1.30	-116.8	492.9	-6.7	301	4591	0.75	3.28	0.00	0.000	4	0.000	0.000	1891	3579	2871
4648	end dive: BOTTOM_OBSTACLE_DETECTED
state	4653	begin apogee
4669	-0.25	0.0	502.2	15.1	304	4693	1.77	0.00	14.60	0.001	6	0.000	0.000	2239	1676	2247
4693	end apogee: CONTROL_FINISHED_OK
state	4694	begin climb
4699	1.49	116.8	506.6	0.0	305	4719	2.08	2.75	11.35	0.001	4	0.000	0.000	2657	341	1761
4741	1.49	116.8	500.8	21.2	306	4749	0.47	3.85	0.00	0.000	6	0.000	0.000	2551	2210	1759
5083	1.42	116.8	451.6	13.8	321	5089	0.25	2.72	0.00	0.000	4	0.000	0.000	2602	3530	1760
5184	1.43	116.8	431.3	22.9	325	5189	0.00	2.75	0.00	0.000	6	0.000	0.000	2591	1876	1757
5509	1.14	116.8	370.9	19.3	340	5515	0.77	2.53	0.00	0.000	4	0.000	0.000	2416	3542	1767
5672	0.91	194.6	355.5	7.6	347	5691	0.60	2.65	7.53	0.001	6	0.000	0.000	2517	1829	1437
6002	1.43	194.6	297.2	17.9	363	6009	0.35	3.25	0.00	0.000	4	0.000	0.000	2678	3631	1444
6146	1.45	194.6	254.7	31.9	369	6154	0.52	3.53	0.00	0.000	6	0.000	0.000	2565	1815	1438
6481	1.24	194.6	190.0	18.3	385	6486	0.00	3.17	0.00	0.000	4	0.000	0.000	2550	3488	1443
6646	1.24	194.6	158.1	18.3	392	6658	0.08	3.12	0.00	0.000	6	0.000	0.000	2530	1780	1441
6975	1.31	194.6	99.1	18.5	408	6983	0.00	3.38	0.00	0.000	4	0.000	0.000	2527	3597	1445
7150	1.32	194.6	66.9	18.9	436	7158	0.00	3.83	0.00	0.000	6	0.000	0.000	2542	1745	1448
7494	end climb: SURFACE_DEPTH_REACHED
state	7494	begin surface coast
7507	end surface coast: CONTROL_FINISHED_OK
state	7507	begin surface