Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 72 * 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 72 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 150 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 186 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 -448172.94 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 -448172.94

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 150 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 186 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 72 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 190828,6637.271,-6008.790,17,1.1,18,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6626.505,-6009.124

_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 191301,6637.271,-6008.790,38,1.1,38,18.0 MHEAD_RNG_PITCHd_Wd 166.4,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025103 XPDR_PINGS -1

SM_CCo 7992,12.70,0.000,0,0,402,450.62 ALTIM_TOP_PING 19.4,19.8

SM_GC 0.33,0.00,0.00,12.70,0.000,0.000,0.000,610,2067,402,-7.56,2.66,450.62 ALTIM_BOTTOM_PING 475.4,88.6

RAFOS_CLK 0 _24V_AH 23.7,48.723

RAFOS 0,1160942643,20.083334,20.067499,80,0,0,0,0,0,582,0,0,0,0,0 _10V_AH 9.7,7.417

RAFOS_FIX 6637.359375,-6003.261230,151006,202020,4,80,0.99 DATA_FILE_SIZE 15866,489

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239697920

TT8_MAMPS 0.023777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,73,552,0,0

HUMID 2440 SOUNDSPEED 1459.6

INTERNAL_PRESSURE 26.0455 CURRENT 0.066, 79.5,1

TCM_TEMP 15.00 GPS 151006,212813,6636.421,-6008.610,7,1.1,8,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 119 99.42 SBE_CT 406 24 231.03

Roll_motor 71 60 102.24 nil 0 0 0.00

VBD_pump_during_apogee 38 1300 1191.58 nil 0 0 0.00

VBD_pump_during_surface 12 600 180.59 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 67 223 358.53

Transponder_ping 4 420 42.30

GPS 38 50 18.90

TT8 1607 19 310.56

LPSleep 5239 2 117.40

TT8_Active 213 19 41.33

TT8_Sampling 564 39 218.64

TT8_CF8 661 45 294.44

TT8_Kalman 0 81 0.00

Analog_circuits 673 12 78.39

GPS_charging 0 0 0.00

Compass 458 26 115.75

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 -8.15 0.000 6 0.000 0.000 584 1842 2872

64 -1.49 -116.8 0.3 0.0 2 81 6.93 2.55 0.00 0.000 4 0.000 0.000 2028 3361 2872

372 -1.49 -116.8 30.0 -8.1 52 381 0.77 2.30 0.00 0.000 6 0.000 0.000 1856 1853 2870

740 -1.65 -116.8 90.7 -16.7 113 750 0.35 3.22 0.00 0.000 4 0.000 0.000 1973 3531 2870

1034 -1.29 -116.8 124.0 -11.3 134 1040 0.00 2.53 0.00 0.000 6 0.000 0.000 1973 1826 2877

1371 -1.26 -116.8 159.0 -11.1 150 1376 0.00 2.60 0.00 0.000 4 0.000 0.000 1960 3492 2876

1418 -1.22 -116.8 165.0 -10.5 152 1426 0.52 3.40 0.00 0.000 6 0.000 0.000 2053 1864 2870

1748 -1.22 -116.8 186.7 -6.3 168 1754 0.57 2.55 0.00 0.000 4 0.000 0.000 1965 532 2876

1823 -1.49 -116.8 193.6 -11.5 171 1828 0.00 2.62 0.00 0.000 6 0.000 0.000 1973 1685 2871

2153 -1.57 -116.8 229.4 -10.8 187 2156 0.85 0.00 0.00 0.000 6 0.000 0.000 1847 1696 2870

2462 -1.53 -116.8 280.8 -16.9 202 2468 0.52 2.47 0.00 0.000 4 0.000 0.000 1916 518 2877

2499 -1.17 -116.8 287.5 -13.4 203 2508 0.77 2.88 0.00 0.000 6 0.000 0.000 2101 1690 2876

2824 -1.12 -116.8 307.0 -5.8 219 2832 0.80 3.03 0.00 0.000 4 0.000 0.000 1923 3367 2870

2887 -1.44 -116.8 314.8 -13.6 221 2896 0.50 2.42 0.00 0.000 6 0.000 0.000 2044 1849 2871

3211 -1.27 -116.8 339.9 -7.6 237 3217 0.80 1.95 0.00 0.000 4 0.000 0.000 1905 679 2878

3270 -1.46 -116.8 347.0 -13.2 239 3278 0.00 1.83 0.00 0.000 6 0.000 0.000 1920 1899 2872

3595 -1.46 -116.8 387.4 -12.8 255 3596 0.00 0.00 0.00 0.000 6 0.000 0.000 1930 1895 2867

3904 -1.31 -116.8 427.3 -12.9 270 3910 0.52 2.53 0.00 0.000 4 0.000 0.000 2060 547 2872

3952 -1.17 -116.8 432.4 -7.6 272 3958 0.52 2.62 0.00 0.000 6 0.000 0.000 1938 1850 2879

4279 -1.52 -116.8 472.7 -12.7 288 4283 0.00 2.50 0.00 0.000 4 0.000 0.000 1921 529 2873

4310 -1.42 -116.8 476.8 -11.3 289 4316 0.52 2.72 0.00 0.000 6 0.000 0.000 2052 1847 2878

4637 -1.48 -116.8 501.4 -7.5 304 4642 0.68 2.47 0.00 0.000 4 0.000 0.000 1874 685 2879

4681 -1.67 -116.8 508.0 -16.2 305 4687 0.50 1.92 0.00 0.000 6 0.000 0.000 1970 1841 2875

5010 -1.48 -116.8 541.9 -10.0 313 5012 0.60 0.00 0.00 0.000 6 0.000 0.000 1892 1843 2870

5126 end dive: BOTTOM_OBSTACLE_DETECTED

state 5126 begin apogee

5138 -0.25 0.0 559.4 13.3 316 5157 1.92 0.00 14.85 0.000 6 0.000 0.000 2257 1847 2244

5158 end apogee: CONTROL_FINISHED_OK

state 5158 begin climb

5164 1.49 116.8 559.4 0.0 316 5183 1.77 2.65 11.45 0.000 4 0.000 0.000 2612 3380 1770

5242 1.49 116.8 547.4 29.3 317 5247 0.52 2.45 0.00 0.000 6 0.000 0.000 2500 1914 1767

5577 0.91 147.0 506.5 11.3 325 5587 0.80 2.15 3.10 0.000 4 0.000 0.000 2379 570 1647

5672 1.09 214.3 497.0 8.4 327 5686 0.70 2.47 6.55 0.000 6 0.000 0.000 2552 1903 1365

6007 1.74 214.3 431.2 20.3 343 6009 0.65 0.00 0.00 0.000 6 0.000 0.000 2651 1885 1359

6321 1.72 214.3 333.3 32.6 358 6323 0.45 0.00 0.00 0.000 6 0.000 0.000 2560 1893 1356

6626 1.33 214.3 261.7 27.4 373 6627 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 1886 1364

6935 0.96 214.3 198.6 20.5 388 6937 0.52 0.00 0.00 0.000 6 0.000 0.000 2426 1888 1365

7249 0.94 250.5 163.4 10.9 403 7259 0.22 3.10 2.72 0.000 4 0.000 0.000 2490 527 1226

7300 1.29 250.5 154.9 16.3 405 7313 0.50 2.78 0.00 0.000 6 0.000 0.000 2630 1881 1222

7640 1.55 250.5 59.9 29.4 436 7648 0.00 2.67 0.00 0.000 4 0.000 0.000 2638 540 1225

7669 1.34 250.5 51.1 28.7 440 7678 0.52 2.50 0.00 0.000 6 0.000 0.000 2498 2070 1221

7951 end climb: SURFACE_DEPTH_REACHED

state 7951 begin surface coast

7964 end surface coast: CONTROL_FINISHED_OK

state 7964 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	72	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	150	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	186	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	-448172.94	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	190828,6637.271,-6008.790,17,1.1,18,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6626.505,-6009.124
_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	191301,6637.271,-6008.790,38,1.1,38,18.0	MHEAD_RNG_PITCHd_Wd	166.4,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025103	XPDR_PINGS	-1
SM_CCo	7992,12.70,0.000,0,0,402,450.62	ALTIM_TOP_PING	19.4,19.8
SM_GC	0.33,0.00,0.00,12.70,0.000,0.000,0.000,610,2067,402,-7.56,2.66,450.62	ALTIM_BOTTOM_PING	475.4,88.6
RAFOS_CLK	0	_24V_AH	23.7,48.723
RAFOS	0,1160942643,20.083334,20.067499,80,0,0,0,0,0,582,0,0,0,0,0	_10V_AH	9.7,7.417
RAFOS_FIX	6637.359375,-6003.261230,151006,202020,4,80,0.99	DATA_FILE_SIZE	15866,489
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239697920
TT8_MAMPS	0.023777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,73,552,0,0
HUMID	2440	SOUNDSPEED	1459.6
INTERNAL_PRESSURE	26.0455	CURRENT	0.066, 79.5,1
TCM_TEMP	15.00	GPS	151006,212813,6636.421,-6008.610,7,1.1,8,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	119	99.42	SBE_CT	406	24	231.03
Roll_motor	71	60	102.24	nil	0	0	0.00
VBD_pump_during_apogee	38	1300	1191.58	nil	0	0	0.00
VBD_pump_during_surface	12	600	180.59	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	358.53
Transponder_ping	4	420	42.30
GPS	38	50	18.90
TT8	1607	19	310.56
LPSleep	5239	2	117.40
TT8_Active	213	19	41.33
TT8_Sampling	564	39	218.64
TT8_CF8	661	45	294.44
TT8_Kalman	0	81	0.00
Analog_circuits	673	12	78.39
GPS_charging	0	0	0.00
Compass	458	26	115.75
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	-8.15	0.000	6	0.000	0.000	584	1842	2872
64	-1.49	-116.8	0.3	0.0	2	81	6.93	2.55	0.00	0.000	4	0.000	0.000	2028	3361	2872
372	-1.49	-116.8	30.0	-8.1	52	381	0.77	2.30	0.00	0.000	6	0.000	0.000	1856	1853	2870
740	-1.65	-116.8	90.7	-16.7	113	750	0.35	3.22	0.00	0.000	4	0.000	0.000	1973	3531	2870
1034	-1.29	-116.8	124.0	-11.3	134	1040	0.00	2.53	0.00	0.000	6	0.000	0.000	1973	1826	2877
1371	-1.26	-116.8	159.0	-11.1	150	1376	0.00	2.60	0.00	0.000	4	0.000	0.000	1960	3492	2876
1418	-1.22	-116.8	165.0	-10.5	152	1426	0.52	3.40	0.00	0.000	6	0.000	0.000	2053	1864	2870
1748	-1.22	-116.8	186.7	-6.3	168	1754	0.57	2.55	0.00	0.000	4	0.000	0.000	1965	532	2876
1823	-1.49	-116.8	193.6	-11.5	171	1828	0.00	2.62	0.00	0.000	6	0.000	0.000	1973	1685	2871
2153	-1.57	-116.8	229.4	-10.8	187	2156	0.85	0.00	0.00	0.000	6	0.000	0.000	1847	1696	2870
2462	-1.53	-116.8	280.8	-16.9	202	2468	0.52	2.47	0.00	0.000	4	0.000	0.000	1916	518	2877
2499	-1.17	-116.8	287.5	-13.4	203	2508	0.77	2.88	0.00	0.000	6	0.000	0.000	2101	1690	2876
2824	-1.12	-116.8	307.0	-5.8	219	2832	0.80	3.03	0.00	0.000	4	0.000	0.000	1923	3367	2870
2887	-1.44	-116.8	314.8	-13.6	221	2896	0.50	2.42	0.00	0.000	6	0.000	0.000	2044	1849	2871
3211	-1.27	-116.8	339.9	-7.6	237	3217	0.80	1.95	0.00	0.000	4	0.000	0.000	1905	679	2878
3270	-1.46	-116.8	347.0	-13.2	239	3278	0.00	1.83	0.00	0.000	6	0.000	0.000	1920	1899	2872
3595	-1.46	-116.8	387.4	-12.8	255	3596	0.00	0.00	0.00	0.000	6	0.000	0.000	1930	1895	2867
3904	-1.31	-116.8	427.3	-12.9	270	3910	0.52	2.53	0.00	0.000	4	0.000	0.000	2060	547	2872
3952	-1.17	-116.8	432.4	-7.6	272	3958	0.52	2.62	0.00	0.000	6	0.000	0.000	1938	1850	2879
4279	-1.52	-116.8	472.7	-12.7	288	4283	0.00	2.50	0.00	0.000	4	0.000	0.000	1921	529	2873
4310	-1.42	-116.8	476.8	-11.3	289	4316	0.52	2.72	0.00	0.000	6	0.000	0.000	2052	1847	2878
4637	-1.48	-116.8	501.4	-7.5	304	4642	0.68	2.47	0.00	0.000	4	0.000	0.000	1874	685	2879
4681	-1.67	-116.8	508.0	-16.2	305	4687	0.50	1.92	0.00	0.000	6	0.000	0.000	1970	1841	2875
5010	-1.48	-116.8	541.9	-10.0	313	5012	0.60	0.00	0.00	0.000	6	0.000	0.000	1892	1843	2870
5126	end dive: BOTTOM_OBSTACLE_DETECTED
state	5126	begin apogee
5138	-0.25	0.0	559.4	13.3	316	5157	1.92	0.00	14.85	0.000	6	0.000	0.000	2257	1847	2244
5158	end apogee: CONTROL_FINISHED_OK
state	5158	begin climb
5164	1.49	116.8	559.4	0.0	316	5183	1.77	2.65	11.45	0.000	4	0.000	0.000	2612	3380	1770
5242	1.49	116.8	547.4	29.3	317	5247	0.52	2.45	0.00	0.000	6	0.000	0.000	2500	1914	1767
5577	0.91	147.0	506.5	11.3	325	5587	0.80	2.15	3.10	0.000	4	0.000	0.000	2379	570	1647
5672	1.09	214.3	497.0	8.4	327	5686	0.70	2.47	6.55	0.000	6	0.000	0.000	2552	1903	1365
6007	1.74	214.3	431.2	20.3	343	6009	0.65	0.00	0.00	0.000	6	0.000	0.000	2651	1885	1359
6321	1.72	214.3	333.3	32.6	358	6323	0.45	0.00	0.00	0.000	6	0.000	0.000	2560	1893	1356
6626	1.33	214.3	261.7	27.4	373	6627	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	1886	1364
6935	0.96	214.3	198.6	20.5	388	6937	0.52	0.00	0.00	0.000	6	0.000	0.000	2426	1888	1365
7249	0.94	250.5	163.4	10.9	403	7259	0.22	3.10	2.72	0.000	4	0.000	0.000	2490	527	1226
7300	1.29	250.5	154.9	16.3	405	7313	0.50	2.78	0.00	0.000	6	0.000	0.000	2630	1881	1222
7640	1.55	250.5	59.9	29.4	436	7648	0.00	2.67	0.00	0.000	4	0.000	0.000	2638	540	1225
7669	1.34	250.5	51.1	28.7	440	7678	0.52	2.50	0.00	0.000	6	0.000	0.000	2498	2070	1221
7951	end climb: SURFACE_DEPTH_REACHED
state	7951	begin surface coast
7964	end surface coast: CONTROL_FINISHED_OK
state	7964	begin surface