Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 76 * 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 76 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 8 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 172 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 -448287.44 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 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 -448287.44

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 8 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 172 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 76 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 044221,6636.932,-6009.070,20,1.1,21,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6626.337,-6008.235

_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 -69.5 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 044651,6636.932,-6009.070,35,1.1,36,18.0 MHEAD_RNG_PITCHd_Wd 150.8,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025323 XPDR_PINGS -1

SM_CCo 8096,16.48,0.000,0,0,397,450.86 ALTIM_TOP_PING 18.6,18.2

SM_GC 0.34,0.00,0.00,16.48,0.000,0.000,0.000,625,1688,397,-7.52,-8.11,450.86 ALTIM_BOTTOM_PING 475.5,86.6

RAFOS_CLK 0 _24V_AH 23.7,49.791

RAFOS 3,1160973241,4.583333,4.566945,80,0,0,0,0,0,738,0,0,0,0,0 _10V_AH 9.7,7.584

RAFOS_FIX 6637.189941,-6003.038086,161006,040448,4,80,0.00 DATA_FILE_SIZE 15850,481

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239435776

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,54,701,0,0

HUMID 2255 SOUNDSPEED 1459.8

INTERNAL_PRESSURE 26.0162 CURRENT 0.062, 49.6,1

TCM_TEMP 15.00 GPS 161006,070359,6636.199,-6007.742,8,1.1,8,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 119 79.32 SBE_CT 396 24 225.69

Roll_motor 91 60 129.47 nil 0 0 0.00

VBD_pump_during_apogee 32 1300 997.47 nil 0 0 0.00

VBD_pump_during_surface 16 600 234.27 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 67 223 358.89

Transponder_ping 4 420 42.30

GPS 36 50 17.67

TT8 1635 19 315.94

LPSleep 5248 2 117.59

TT8_Active 212 19 41.04

TT8_Sampling 623 39 241.54

TT8_CF8 679 45 302.78

TT8_Kalman 0 81 0.00

Analog_circuits 726 12 84.56

GPS_charging 0 0 0.00

Compass 515 26 129.97

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

41 -1.49 -116.8 0.0 0.0 0 58 0.00 0.00 -8.12 0.000 6 0.000 0.000 644 1733 2860

65 -1.49 -116.8 0.3 0.0 2 82 6.53 2.15 0.00 0.000 4 0.000 0.000 1975 390 2865

183 -1.49 -116.8 17.1 -10.4 20 192 0.52 2.97 0.00 0.000 6 0.000 0.000 1842 1890 2858

552 -1.75 -116.8 76.5 -16.6 81 559 0.00 0.00 0.00 0.000 6 0.000 0.000 1844 1906 2862

905 -1.41 -116.8 134.0 -16.3 115 908 0.77 0.00 0.00 0.000 6 0.000 0.000 2043 1898 2859

1220 -1.07 -116.8 160.8 -8.1 130 1227 0.00 3.22 0.00 0.000 4 0.000 0.000 2059 420 2861

1294 -1.21 -116.8 167.4 -8.3 133 1300 0.17 2.67 0.00 0.000 6 0.000 0.000 1968 1893 2862

1626 -1.49 -116.8 200.3 -10.6 149 1632 0.00 3.12 0.00 0.000 4 0.000 0.000 1964 432 2860

1674 -1.49 -116.8 206.2 -10.5 151 1680 0.00 2.85 0.00 0.000 6 0.000 0.000 1974 1898 2862

2006 -1.63 -116.8 240.1 -10.7 167 2014 0.52 3.00 0.00 0.000 4 0.000 0.000 1852 3373 2858

2090 -1.61 -116.8 253.5 -16.3 170 2096 0.52 2.67 0.00 0.000 6 0.000 0.000 1975 1848 2862

2415 -1.28 -116.8 288.9 -10.6 185 2420 0.05 2.45 0.00 0.000 4 0.000 0.000 1989 318 2856

2486 -1.28 -116.8 296.5 -10.7 188 2494 0.05 3.28 0.00 0.000 6 0.000 0.000 1953 2027 2860

2821 -1.43 -116.8 332.6 -10.6 204 2826 0.00 2.97 0.00 0.000 4 0.000 0.000 1975 550 2860

2851 -1.43 -116.8 336.1 -10.7 205 2856 0.00 2.58 0.00 0.000 6 0.000 0.000 1966 1736 2864

3176 -1.51 -116.8 370.0 -10.8 220 3182 0.25 3.03 0.00 0.000 4 0.000 0.000 1901 3417 2860

3340 -1.49 -116.8 392.5 -13.4 227 3347 0.00 3.38 0.00 0.000 6 0.000 0.000 1915 1766 2866

3674 -1.31 -116.8 433.3 -13.5 243 3676 0.60 0.00 0.00 0.000 6 0.000 0.000 2026 1775 2864

3984 -1.11 -116.8 459.4 -8.2 258 3989 0.00 3.15 0.00 0.000 4 0.000 0.000 2042 3439 2865

4088 -1.24 -116.8 468.5 -8.4 262 4097 0.15 2.62 0.00 0.000 6 0.000 0.000 1953 1742 2856

4407 -1.37 -116.8 502.1 -10.7 278 4412 0.00 2.65 0.00 0.000 4 0.000 0.000 1975 3235 2859

4589 -1.36 -116.8 521.5 -10.7 282 4594 0.00 2.62 0.00 0.000 6 0.000 0.000 1978 1706 2866

4871 end dive: BOTTOM_OBSTACLE_DETECTED

state 4871 begin apogee

4883 -0.25 0.0 552.3 10.7 289 4901 1.35 0.00 14.60 0.000 6 0.000 0.000 2264 2051 2250

4902 end apogee: CONTROL_FINISHED_OK

state 4902 begin climb

4908 1.49 116.8 552.3 0.0 289 4923 1.90 0.00 11.43 0.000 6 0.000 0.000 2615 2053 1765

5235 1.49 116.8 491.9 20.2 297 5241 0.38 2.53 0.00 0.000 4 0.000 0.000 2494 3368 1756

5418 1.27 137.2 468.4 12.1 305 5427 0.47 3.03 1.80 0.001 6 0.000 0.000 2646 1842 1690

5753 1.41 137.2 397.9 21.3 321 5762 0.82 3.28 0.00 0.000 4 0.000 0.000 2513 3306 1687

5918 1.20 151.2 375.6 12.6 328 5926 0.00 2.35 1.48 0.000 6 0.000 0.000 2486 1969 1620

6259 1.34 151.2 330.1 13.9 344 6266 0.40 3.03 0.00 0.000 4 0.000 0.000 2640 280 1620

6298 1.44 151.2 321.0 22.7 345 6308 0.50 3.62 0.00 0.000 6 0.000 0.000 2518 2076 1612

6623 1.64 151.2 273.0 13.8 361 6630 0.68 2.75 0.00 0.000 4 0.000 0.000 2687 3364 1619

6741 1.73 151.2 241.1 29.5 366 6747 0.50 2.47 0.00 0.000 6 0.000 0.000 2590 2042 1617

7077 1.41 151.2 175.5 19.1 382 7082 0.03 1.92 0.00 0.000 4 0.000 0.000 2586 3388 1620

7171 1.30 151.2 157.5 19.8 386 7177 0.52 2.35 0.00 0.000 6 0.000 0.000 2468 2056 1619

7508 1.29 189.4 119.7 10.7 402 7517 0.60 2.42 3.08 0.000 4 0.000 0.000 2601 3388 1468

7599 1.58 189.4 101.2 21.6 406 7605 0.03 3.10 0.00 0.000 6 0.000 0.000 2607 1916 1465

7966 1.56 189.4 20.7 21.5 466 7975 0.00 2.92 0.00 0.000 4 0.000 0.000 2589 3398 1465

8050 end climb: SURFACE_DEPTH_REACHED

state 8050 begin surface coast

8063 end surface coast: CONTROL_FINISHED_OK

state 8063 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	76	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	8	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	172	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	-448287.44	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	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	044221,6636.932,-6009.070,20,1.1,21,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6626.337,-6008.235
_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	-69.5	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	044651,6636.932,-6009.070,35,1.1,36,18.0	MHEAD_RNG_PITCHd_Wd	150.8,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025323	XPDR_PINGS	-1
SM_CCo	8096,16.48,0.000,0,0,397,450.86	ALTIM_TOP_PING	18.6,18.2
SM_GC	0.34,0.00,0.00,16.48,0.000,0.000,0.000,625,1688,397,-7.52,-8.11,450.86	ALTIM_BOTTOM_PING	475.5,86.6
RAFOS_CLK	0	_24V_AH	23.7,49.791
RAFOS	3,1160973241,4.583333,4.566945,80,0,0,0,0,0,738,0,0,0,0,0	_10V_AH	9.7,7.584
RAFOS_FIX	6637.189941,-6003.038086,161006,040448,4,80,0.00	DATA_FILE_SIZE	15850,481
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239435776
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,54,701,0,0
HUMID	2255	SOUNDSPEED	1459.8
INTERNAL_PRESSURE	26.0162	CURRENT	0.062, 49.6,1
TCM_TEMP	15.00	GPS	161006,070359,6636.199,-6007.742,8,1.1,8,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	119	79.32	SBE_CT	396	24	225.69
Roll_motor	91	60	129.47	nil	0	0	0.00
VBD_pump_during_apogee	32	1300	997.47	nil	0	0	0.00
VBD_pump_during_surface	16	600	234.27	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	358.89
Transponder_ping	4	420	42.30
GPS	36	50	17.67
TT8	1635	19	315.94
LPSleep	5248	2	117.59
TT8_Active	212	19	41.04
TT8_Sampling	623	39	241.54
TT8_CF8	679	45	302.78
TT8_Kalman	0	81	0.00
Analog_circuits	726	12	84.56
GPS_charging	0	0	0.00
Compass	515	26	129.97
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
41	-1.49	-116.8	0.0	0.0	0	58	0.00	0.00	-8.12	0.000	6	0.000	0.000	644	1733	2860
65	-1.49	-116.8	0.3	0.0	2	82	6.53	2.15	0.00	0.000	4	0.000	0.000	1975	390	2865
183	-1.49	-116.8	17.1	-10.4	20	192	0.52	2.97	0.00	0.000	6	0.000	0.000	1842	1890	2858
552	-1.75	-116.8	76.5	-16.6	81	559	0.00	0.00	0.00	0.000	6	0.000	0.000	1844	1906	2862
905	-1.41	-116.8	134.0	-16.3	115	908	0.77	0.00	0.00	0.000	6	0.000	0.000	2043	1898	2859
1220	-1.07	-116.8	160.8	-8.1	130	1227	0.00	3.22	0.00	0.000	4	0.000	0.000	2059	420	2861
1294	-1.21	-116.8	167.4	-8.3	133	1300	0.17	2.67	0.00	0.000	6	0.000	0.000	1968	1893	2862
1626	-1.49	-116.8	200.3	-10.6	149	1632	0.00	3.12	0.00	0.000	4	0.000	0.000	1964	432	2860
1674	-1.49	-116.8	206.2	-10.5	151	1680	0.00	2.85	0.00	0.000	6	0.000	0.000	1974	1898	2862
2006	-1.63	-116.8	240.1	-10.7	167	2014	0.52	3.00	0.00	0.000	4	0.000	0.000	1852	3373	2858
2090	-1.61	-116.8	253.5	-16.3	170	2096	0.52	2.67	0.00	0.000	6	0.000	0.000	1975	1848	2862
2415	-1.28	-116.8	288.9	-10.6	185	2420	0.05	2.45	0.00	0.000	4	0.000	0.000	1989	318	2856
2486	-1.28	-116.8	296.5	-10.7	188	2494	0.05	3.28	0.00	0.000	6	0.000	0.000	1953	2027	2860
2821	-1.43	-116.8	332.6	-10.6	204	2826	0.00	2.97	0.00	0.000	4	0.000	0.000	1975	550	2860
2851	-1.43	-116.8	336.1	-10.7	205	2856	0.00	2.58	0.00	0.000	6	0.000	0.000	1966	1736	2864
3176	-1.51	-116.8	370.0	-10.8	220	3182	0.25	3.03	0.00	0.000	4	0.000	0.000	1901	3417	2860
3340	-1.49	-116.8	392.5	-13.4	227	3347	0.00	3.38	0.00	0.000	6	0.000	0.000	1915	1766	2866
3674	-1.31	-116.8	433.3	-13.5	243	3676	0.60	0.00	0.00	0.000	6	0.000	0.000	2026	1775	2864
3984	-1.11	-116.8	459.4	-8.2	258	3989	0.00	3.15	0.00	0.000	4	0.000	0.000	2042	3439	2865
4088	-1.24	-116.8	468.5	-8.4	262	4097	0.15	2.62	0.00	0.000	6	0.000	0.000	1953	1742	2856
4407	-1.37	-116.8	502.1	-10.7	278	4412	0.00	2.65	0.00	0.000	4	0.000	0.000	1975	3235	2859
4589	-1.36	-116.8	521.5	-10.7	282	4594	0.00	2.62	0.00	0.000	6	0.000	0.000	1978	1706	2866
4871	end dive: BOTTOM_OBSTACLE_DETECTED
state	4871	begin apogee
4883	-0.25	0.0	552.3	10.7	289	4901	1.35	0.00	14.60	0.000	6	0.000	0.000	2264	2051	2250
4902	end apogee: CONTROL_FINISHED_OK
state	4902	begin climb
4908	1.49	116.8	552.3	0.0	289	4923	1.90	0.00	11.43	0.000	6	0.000	0.000	2615	2053	1765
5235	1.49	116.8	491.9	20.2	297	5241	0.38	2.53	0.00	0.000	4	0.000	0.000	2494	3368	1756
5418	1.27	137.2	468.4	12.1	305	5427	0.47	3.03	1.80	0.001	6	0.000	0.000	2646	1842	1690
5753	1.41	137.2	397.9	21.3	321	5762	0.82	3.28	0.00	0.000	4	0.000	0.000	2513	3306	1687
5918	1.20	151.2	375.6	12.6	328	5926	0.00	2.35	1.48	0.000	6	0.000	0.000	2486	1969	1620
6259	1.34	151.2	330.1	13.9	344	6266	0.40	3.03	0.00	0.000	4	0.000	0.000	2640	280	1620
6298	1.44	151.2	321.0	22.7	345	6308	0.50	3.62	0.00	0.000	6	0.000	0.000	2518	2076	1612
6623	1.64	151.2	273.0	13.8	361	6630	0.68	2.75	0.00	0.000	4	0.000	0.000	2687	3364	1619
6741	1.73	151.2	241.1	29.5	366	6747	0.50	2.47	0.00	0.000	6	0.000	0.000	2590	2042	1617
7077	1.41	151.2	175.5	19.1	382	7082	0.03	1.92	0.00	0.000	4	0.000	0.000	2586	3388	1620
7171	1.30	151.2	157.5	19.8	386	7177	0.52	2.35	0.00	0.000	6	0.000	0.000	2468	2056	1619
7508	1.29	189.4	119.7	10.7	402	7517	0.60	2.42	3.08	0.000	4	0.000	0.000	2601	3388	1468
7599	1.58	189.4	101.2	21.6	406	7605	0.03	3.10	0.00	0.000	6	0.000	0.000	2607	1916	1465
7966	1.56	189.4	20.7	21.5	466	7975	0.00	2.92	0.00	0.000	4	0.000	0.000	2589	3398	1465
8050	end climb: SURFACE_DEPTH_REACHED
state	8050	begin surface coast
8063	end surface coast: CONTROL_FINISHED_OK
state	8063	begin surface