Glider dive log

PortSusan 15Jul09 * SG172 * Dive index * Mission links * Dive 24 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 172 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 160 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 24 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3717 ALTIM_PING_DEPTH 75

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2045 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2250 ALTIM_PULSE 1

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 450 ROLL_CNV 0.028270001 XPDR_VALID 2

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 71 UPLOAD_DIVES_MAX -1 VBD_MIN 460 DEVICE2 20

T_MISSION 85 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3514 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 5 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -2816.5437 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 16

MAX_BUOY 100 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 154 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3948 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3070 PRESSURE_YINT -56.536236 SEABIRD_T_G 0.0043614767

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001168426 SEABIRD_T_H 0.00062996609

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5014444e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7838146e-06

FERRY_MAX 45 PITCH_GAIN 38 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.228213

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1292607

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.001076734

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00017059842

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 450

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 38 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3948 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 4 PITCH_MIN 154 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 75 D_TGT 150 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001168426 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -56.536236 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 16 T_DIVE 71

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -2816.5437

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 85

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 300

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 4

COMPASS_DEVICE 33 ID 172 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3717 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3070 KALMAN_USE 1 ROLL_MIN 160 USE_BATHY -4

C_ROLL_CLIMB 2250 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2045 MASS 52000 R_PORT_OVSHOOT 23 VBD_BLEED_AD_RATE 8

C_VBD 3514 MAX_BUOY 100 R_STBD_OVSHOOT 20 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -10.228213 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1292607 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.001076734 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00017059842 VBD_MIN 460

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043614767 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062996609 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5014444e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7838146e-06 XPDR_DEVICE 24

DIVE 24 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 152706,4807.499,-12223.526,10,1.2,26,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.107,0.160

_SM_DEPTHo 1.05 KALMAN_X 2365.8,215.5,-11.9,-3182.1,195.6

_SM_ANGLEo -80.4 KALMAN_Y -1401.3,-587.7,97.6,2047.2,-287.9

GPS2 153213,4807.474,-12223.480,9,1.7,14,18.3 MHEAD_RNG_PITCHd_Wd 307.8,1167,-15.7,-7.042

SPEED_LIMITS 0.122,0.193 D_GRID 105

Post-dive calculations and measurements:

FINISH 3.6,1.019483 XPDR_PINGS 0

SM_CCo 2716,145.80,0.545,0,0,1678,450.13 ALTIM_BOTTOM_PING 75.5,44.4

SM_GC 1.84,0.00,0.00,145.80,0.000,0.000,0.545,149,2045,1678,-9.13,0.03,450.13 _24V_AH 24.3,2.278

RAFOS_CLK 110 _10V_AH 10.7,0.816

RAFOS 0,1247760542,16.166666,16.150555,43,42,41,0,0,0,593,1949,908,0,0,0 DATA_FILE_SIZE 19011,591

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CAP_FILE_SIZE 62394,0

IRIDIUM_FIX 4751.72,-12228.02,101098,141423 CFSIZE 260165632,258121728

TT8_MAMPS 0.050622 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1912 SOUNDSPEED 1483.5

INTERNAL_PRESSURE 9.13121 GPS 160709,162138,4807.676,-12223.659,43,1.8,43,18.3

TCM_TEMP 19.10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 230 112.20 SBE_CT 395 24 230.57

Roll_motor 59 76 110.76 SBE_O2 303 19 140.05

VBD_pump_during_apogee 220 599 3216.59 nil 0 0 0.00

VBD_pump_during_surface 145 544 1929.38 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 55.97 nil 0 0 0.00

Iridium_during_connect 33 160 128.55 nil 0 0 0.00

Iridium_during_xfer 175 223 948.62

Transponder_ping 0 420 5.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.83

TT8 0 19 0.00

LPSleep 1254 2 31.00

TT8_Active 538 19 114.77

TT8_Sampling 1085 39 463.80

TT8_CF8 285 45 140.25

TT8_Kalman 33 81 29.20

Analog_circuits 1022 12 131.23

GPS_charging 0 0 0.00

Compass 862 8 73.86

RAFOS 480 1 7.70

Transponder 5 30 1.77

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.53 -97.8 0.0 0.0 0 112 0.00 0.00 -98.32 0.000 2 0.000 0.000 143 2047 3121

113 -0.53 -97.8 3.1 -2.9 17 150 10.43 2.30 -21.83 0.000 4 0.231 0.077 2890 637 3914

166 -0.53 -97.8 7.3 -6.7 27 173 0.00 2.28 0.00 0.000 6 0.000 0.064 2890 2039 3915

237 -0.53 -97.8 15.2 -11.4 43 243 0.00 2.30 0.00 0.000 4 0.000 0.067 2881 3455 3915

285 -0.53 -97.8 20.9 -11.6 54 292 0.00 2.25 0.00 0.000 6 0.000 0.054 2881 2041 3916

356 -0.53 -97.8 29.8 -12.7 70 362 0.00 2.25 0.00 0.000 4 0.000 0.064 2881 634 3916

378 -0.53 -97.8 32.7 -13.1 75 385 0.00 2.28 0.00 0.000 6 0.000 0.062 2879 2050 3916

449 -0.53 -97.8 42.2 -13.3 91 454 0.00 0.00 0.00 0.000 6 0.000 0.000 2879 2050 3916

583 -0.53 -97.8 60.1 -13.2 122 590 0.00 2.28 0.00 0.000 4 0.000 0.067 2878 3458 3917

602 -0.53 -97.8 62.7 -13.7 126 608 0.00 2.22 0.00 0.000 6 0.000 0.053 2878 2046 3916

737 -0.53 -97.8 80.4 -12.6 157 744 0.00 2.28 0.00 0.000 4 0.000 0.067 2876 3456 3916

756 -0.53 -97.8 82.9 -13.0 161 762 0.00 2.22 0.00 0.000 6 0.000 0.054 2876 2040 3916

891 -0.53 -97.8 100.4 -12.7 192 898 0.00 2.22 0.00 0.000 4 0.000 0.064 2875 634 3916

909 -0.53 -97.8 102.7 -12.3 196 916 0.00 2.25 0.00 0.000 6 0.000 0.062 2875 2049 3916

931 end dive: TARGET_DEPTH_EXCEEDED

state 931 begin apogee

934 -0.13 0.0 105.6 12.9 201 1011 0.45 0.00 73.72 0.599 6 0.133 0.000 3023 2267 3513

1011 end apogee: CONTROL_FINISHED_OK

state 1011 begin climb

1012 0.53 97.8 108.5 0.0 214 1093 0.57 0.00 74.72 0.583 6 0.083 0.000 3236 2267 3114

1222 0.53 97.8 97.8 7.4 258 1228 0.00 2.33 0.00 0.000 4 0.000 0.060 3246 837 3113

1306 0.53 97.8 91.8 7.2 277 1312 0.00 2.28 0.00 0.000 6 0.000 0.059 3247 2244 3113

1442 0.54 101.1 81.8 6.9 308 1448 0.00 0.00 4.05 0.402 6 0.000 0.000 3247 2244 3100

1578 0.54 101.1 72.6 7.3 339 1583 0.00 0.00 0.00 0.000 6 0.000 0.000 3246 2244 3100

1712 0.55 114.2 63.4 6.4 370 1731 0.00 2.30 11.02 0.545 4 0.000 0.064 3246 3664 3048

1778 0.55 114.2 57.9 8.8 384 1784 0.00 2.22 0.00 0.000 6 0.000 0.051 3257 2256 3047

1913 0.55 114.2 47.3 7.8 415 1920 0.00 2.22 0.00 0.000 4 0.000 0.061 3268 844 3047

1931 0.55 114.2 45.9 7.8 419 1938 0.00 2.25 0.00 0.000 6 0.000 0.060 3268 2253 3046

2068 0.55 114.2 36.1 7.7 450 2074 0.00 2.22 0.00 0.000 4 0.000 0.064 3267 3665 3046

2090 0.55 114.2 34.1 8.3 455 2097 0.08 2.22 0.00 0.000 6 0.169 0.051 3253 2247 3046

2161 0.56 123.1 29.3 6.6 471 2174 0.00 0.00 7.95 0.513 6 0.000 0.000 3254 2246 3011

2238 0.57 125.7 24.0 6.9 488 2246 0.00 2.25 3.72 0.382 4 0.000 0.059 3264 837 3000

2262 0.58 134.1 22.4 6.6 493 2275 0.00 2.25 7.93 0.508 6 0.000 0.059 3264 2251 2966

2339 0.58 134.1 16.6 8.0 510 2345 0.00 2.25 0.00 0.000 4 0.000 0.060 3275 838 2966

2357 0.58 134.1 15.1 8.0 514 2363 0.00 2.25 0.00 0.000 6 0.000 0.060 3275 2247 2966

2427 0.58 134.1 9.8 7.4 530 2428 0.00 0.00 0.00 0.000 6 0.000 0.000 3275 2247 2965

2492 0.64 184.1 6.3 4.6 545 2534 0.00 2.35 37.85 0.558 4 0.000 0.064 3275 3673 2763

2575 end climb: SURFACE_DEPTH_REACHED

state 2575 begin surface coast

2701 end surface coast: CONTROL_FINISHED_OK

state 2701 begin surface

ID	172	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	160	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	24	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3717	ALTIM_PING_DEPTH	75
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2045	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2250	ALTIM_PULSE	1
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	450	ROLL_CNV	0.028270001	XPDR_VALID	2
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	71	UPLOAD_DIVES_MAX	-1	VBD_MIN	460	DEVICE2	20
T_MISSION	85	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3514	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	5	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-2816.5437	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	16
MAX_BUOY	100	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	154	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3948	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3070	PRESSURE_YINT	-56.536236	SEABIRD_T_G	0.0043614767
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001168426	SEABIRD_T_H	0.00062996609
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5014444e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7838146e-06
FERRY_MAX	45	PITCH_GAIN	38	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.228213
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1292607
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.001076734
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00017059842
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	152706,4807.499,-12223.526,10,1.2,26,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.107,0.160
_SM_DEPTHo	1.05	KALMAN_X	2365.8,215.5,-11.9,-3182.1,195.6
_SM_ANGLEo	-80.4	KALMAN_Y	-1401.3,-587.7,97.6,2047.2,-287.9
GPS2	153213,4807.474,-12223.480,9,1.7,14,18.3	MHEAD_RNG_PITCHd_Wd	307.8,1167,-15.7,-7.042
SPEED_LIMITS	0.122,0.193	D_GRID	105

FINISH	3.6,1.019483	XPDR_PINGS	0
SM_CCo	2716,145.80,0.545,0,0,1678,450.13	ALTIM_BOTTOM_PING	75.5,44.4
SM_GC	1.84,0.00,0.00,145.80,0.000,0.000,0.545,149,2045,1678,-9.13,0.03,450.13	_24V_AH	24.3,2.278
RAFOS_CLK	110	_10V_AH	10.7,0.816
RAFOS	0,1247760542,16.166666,16.150555,43,42,41,0,0,0,593,1949,908,0,0,0	DATA_FILE_SIZE	19011,591
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CAP_FILE_SIZE	62394,0
IRIDIUM_FIX	4751.72,-12228.02,101098,141423	CFSIZE	260165632,258121728
TT8_MAMPS	0.050622	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1912	SOUNDSPEED	1483.5
INTERNAL_PRESSURE	9.13121	GPS	160709,162138,4807.676,-12223.659,43,1.8,43,18.3
TCM_TEMP	19.10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	230	112.20	SBE_CT	395	24	230.57
Roll_motor	59	76	110.76	SBE_O2	303	19	140.05
VBD_pump_during_apogee	220	599	3216.59	nil	0	0	0.00
VBD_pump_during_surface	145	544	1929.38	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	55.97	nil	0	0	0.00
Iridium_during_connect	33	160	128.55	nil	0	0	0.00
Iridium_during_xfer	175	223	948.62
Transponder_ping	0	420	5.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.83
TT8	0	19	0.00
LPSleep	1254	2	31.00
TT8_Active	538	19	114.77
TT8_Sampling	1085	39	463.80
TT8_CF8	285	45	140.25
TT8_Kalman	33	81	29.20
Analog_circuits	1022	12	131.23
GPS_charging	0	0	0.00
Compass	862	8	73.86
RAFOS	480	1	7.70
Transponder	5	30	1.77

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.53	-97.8	0.0	0.0	0	112	0.00	0.00	-98.32	0.000	2	0.000	0.000	143	2047	3121
113	-0.53	-97.8	3.1	-2.9	17	150	10.43	2.30	-21.83	0.000	4	0.231	0.077	2890	637	3914
166	-0.53	-97.8	7.3	-6.7	27	173	0.00	2.28	0.00	0.000	6	0.000	0.064	2890	2039	3915
237	-0.53	-97.8	15.2	-11.4	43	243	0.00	2.30	0.00	0.000	4	0.000	0.067	2881	3455	3915
285	-0.53	-97.8	20.9	-11.6	54	292	0.00	2.25	0.00	0.000	6	0.000	0.054	2881	2041	3916
356	-0.53	-97.8	29.8	-12.7	70	362	0.00	2.25	0.00	0.000	4	0.000	0.064	2881	634	3916
378	-0.53	-97.8	32.7	-13.1	75	385	0.00	2.28	0.00	0.000	6	0.000	0.062	2879	2050	3916
449	-0.53	-97.8	42.2	-13.3	91	454	0.00	0.00	0.00	0.000	6	0.000	0.000	2879	2050	3916
583	-0.53	-97.8	60.1	-13.2	122	590	0.00	2.28	0.00	0.000	4	0.000	0.067	2878	3458	3917
602	-0.53	-97.8	62.7	-13.7	126	608	0.00	2.22	0.00	0.000	6	0.000	0.053	2878	2046	3916
737	-0.53	-97.8	80.4	-12.6	157	744	0.00	2.28	0.00	0.000	4	0.000	0.067	2876	3456	3916
756	-0.53	-97.8	82.9	-13.0	161	762	0.00	2.22	0.00	0.000	6	0.000	0.054	2876	2040	3916
891	-0.53	-97.8	100.4	-12.7	192	898	0.00	2.22	0.00	0.000	4	0.000	0.064	2875	634	3916
909	-0.53	-97.8	102.7	-12.3	196	916	0.00	2.25	0.00	0.000	6	0.000	0.062	2875	2049	3916
931	end dive: TARGET_DEPTH_EXCEEDED
state	931	begin apogee
934	-0.13	0.0	105.6	12.9	201	1011	0.45	0.00	73.72	0.599	6	0.133	0.000	3023	2267	3513
1011	end apogee: CONTROL_FINISHED_OK
state	1011	begin climb
1012	0.53	97.8	108.5	0.0	214	1093	0.57	0.00	74.72	0.583	6	0.083	0.000	3236	2267	3114
1222	0.53	97.8	97.8	7.4	258	1228	0.00	2.33	0.00	0.000	4	0.000	0.060	3246	837	3113
1306	0.53	97.8	91.8	7.2	277	1312	0.00	2.28	0.00	0.000	6	0.000	0.059	3247	2244	3113
1442	0.54	101.1	81.8	6.9	308	1448	0.00	0.00	4.05	0.402	6	0.000	0.000	3247	2244	3100
1578	0.54	101.1	72.6	7.3	339	1583	0.00	0.00	0.00	0.000	6	0.000	0.000	3246	2244	3100
1712	0.55	114.2	63.4	6.4	370	1731	0.00	2.30	11.02	0.545	4	0.000	0.064	3246	3664	3048
1778	0.55	114.2	57.9	8.8	384	1784	0.00	2.22	0.00	0.000	6	0.000	0.051	3257	2256	3047
1913	0.55	114.2	47.3	7.8	415	1920	0.00	2.22	0.00	0.000	4	0.000	0.061	3268	844	3047
1931	0.55	114.2	45.9	7.8	419	1938	0.00	2.25	0.00	0.000	6	0.000	0.060	3268	2253	3046
2068	0.55	114.2	36.1	7.7	450	2074	0.00	2.22	0.00	0.000	4	0.000	0.064	3267	3665	3046
2090	0.55	114.2	34.1	8.3	455	2097	0.08	2.22	0.00	0.000	6	0.169	0.051	3253	2247	3046
2161	0.56	123.1	29.3	6.6	471	2174	0.00	0.00	7.95	0.513	6	0.000	0.000	3254	2246	3011
2238	0.57	125.7	24.0	6.9	488	2246	0.00	2.25	3.72	0.382	4	0.000	0.059	3264	837	3000
2262	0.58	134.1	22.4	6.6	493	2275	0.00	2.25	7.93	0.508	6	0.000	0.059	3264	2251	2966
2339	0.58	134.1	16.6	8.0	510	2345	0.00	2.25	0.00	0.000	4	0.000	0.060	3275	838	2966
2357	0.58	134.1	15.1	8.0	514	2363	0.00	2.25	0.00	0.000	6	0.000	0.060	3275	2247	2966
2427	0.58	134.1	9.8	7.4	530	2428	0.00	0.00	0.00	0.000	6	0.000	0.000	3275	2247	2965
2492	0.64	184.1	6.3	4.6	545	2534	0.00	2.35	37.85	0.558	4	0.000	0.064	3275	3673	2763
2575	end climb: SURFACE_DEPTH_REACHED
state	2575	begin surface coast
2701	end surface coast: CONTROL_FINISHED_OK
state	2701	begin surface