Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 11 * 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 11 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 10 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 0 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 -446747.44 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 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 -446747.44

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 10 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 0 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 11 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 141530,6633.943,-6017.312,16,1.1,16,18.0 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 0.219,0.070

_SM_DEPTHo 0.34 KALMAN_X -10889.7,725.2,367.1,14864.6,-6822.2

_SM_ANGLEo -70.0 KALMAN_Y 2001.9,193.0,172.8,1593.4,2225.2

GPS2 141941,6633.943,-6017.312,22,1.1,22,18.0 MHEAD_RNG_PITCHd_Wd 52.4,160447,-26.0,-13.750

SPEED_LIMITS 0.215,0.230 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025125 XPDR_PINGS -1

SM_CCo 7641,18.98,0.000,0,0,385,452.09 ALTIM_TOP_PING 19.2,999.0

SM_GC 0.33,0.00,0.00,18.98,0.000,0.000,0.000,652,1873,385,-7.49,-2.94,452.09 ALTIM_BOTTOM_PING 450.1,78.5

RAFOS_CLK 0 _24V_AH 23.7,32.311

RAFOS 4,1160407753,15.500000,15.486944,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,4.916

RAFOS_FIX 6634.004395,-6013.439941,091006,161644,2,80,0.42 DATA_FILE_SIZE 15866,490

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243712000

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,57,895,0,0

HUMID 2231 SOUNDSPEED 1459.5

INTERNAL_PRESSURE 26.0553 CURRENT 0.053,306.1,1

TCM_TEMP 15.00 GPS 091006,162948,6634.380,-6015.891,11,1.1,12,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 119 83.62 SBE_CT 402 24 228.82

Roll_motor 115 60 164.67 nil 0 0 0.00

VBD_pump_during_apogee 29 0 0.54 nil 0 0 0.00

VBD_pump_during_surface 18 600 269.82 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 64 223 342.77

Transponder_ping 4 420 39.82

GPS 23 50 11.24

TT8 1602 19 309.67

LPSleep 4750 2 106.43

TT8_Active 264 19 51.19

TT8_Sampling 610 39 236.35

TT8_CF8 695 45 309.72

TT8_Kalman 33 81 26.48

Analog_circuits 779 12 90.73

GPS_charging 0 0 0.00

Compass 516 26 130.17

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

34 end surface: CONTROL_FINISHED_OK

state 34 begin dive

40 -1.49 -116.8 0.0 0.0 0 57 0.00 0.00 -8.20 0.000 6 0.000 0.000 668 2206 2860

63 -1.49 -116.8 0.3 0.0 2 80 6.70 3.05 0.00 0.000 4 0.000 0.000 1964 568 2856

119 -1.49 -116.8 9.5 -10.0 9 128 0.52 3.08 0.00 0.000 6 0.000 0.000 1863 2057 2865

488 -1.69 -116.8 68.1 -16.6 70 497 0.50 2.72 0.00 0.000 4 0.000 0.000 1970 3602 2862

600 -1.35 -116.8 79.9 -10.3 87 608 0.00 3.80 0.00 0.000 6 0.000 0.000 1985 1741 2859

955 -1.43 -116.8 117.5 -10.5 126 963 0.25 3.38 0.00 0.000 4 0.000 0.000 1905 3619 2861

1074 -1.43 -116.8 132.9 -13.3 131 1082 0.50 2.92 0.00 0.000 6 0.000 0.000 2037 1811 2857

1409 -1.48 -116.8 160.8 -8.0 147 1418 0.90 3.40 0.00 0.000 4 0.000 0.000 1849 3692 2859

1511 -1.63 -116.8 176.9 -16.9 151 1518 0.45 3.03 0.00 0.000 6 0.000 0.000 1972 2026 2864

1846 -1.48 -116.8 212.0 -10.1 167 1854 0.47 3.20 0.00 0.000 4 0.000 0.000 1851 3702 2860

1886 -1.53 -116.8 218.1 -15.9 168 1896 0.55 3.17 0.00 0.000 6 0.000 0.000 1984 1905 2855

2211 -1.43 -116.8 250.2 -9.1 184 2217 0.50 2.53 0.00 0.000 4 0.000 0.000 1842 3588 2863

2297 -1.43 -116.8 264.0 -16.4 187 2306 0.80 3.72 0.00 0.000 6 0.000 0.000 2043 1764 2866

2622 -1.28 -116.8 290.8 -7.7 203 2630 0.62 3.53 0.00 0.000 4 0.000 0.000 1919 3635 2853

2722 -1.45 -116.8 303.4 -12.9 207 2729 0.05 3.25 0.00 0.000 6 0.000 0.000 1916 1818 2860

3057 -1.47 -116.8 345.3 -12.8 223 3062 0.00 2.88 0.00 0.000 4 0.000 0.000 1919 3477 2861

3159 -1.32 -116.8 359.2 -12.6 227 3172 0.50 3.55 0.00 0.000 6 0.000 0.000 2019 1797 2869

3488 -1.30 -116.8 385.0 -7.6 243 3497 0.52 3.72 0.00 0.000 4 0.000 0.000 1928 3616 2864

3594 -1.47 -116.8 397.6 -13.2 247 3607 0.05 3.28 0.00 0.000 6 0.000 0.000 1931 1897 2863

3918 -1.51 -116.8 439.8 -13.1 263 3924 0.08 2.92 0.00 0.000 4 0.000 0.000 1912 3581 2860

4003 -1.33 -116.8 451.4 -13.6 266 4012 0.52 3.58 0.00 0.000 6 0.000 0.000 2033 1759 2856

4328 -1.33 -116.8 476.3 -7.5 282 4336 0.35 3.55 0.00 0.000 4 0.000 0.000 1933 3606 2865

4439 -1.52 -116.8 490.4 -12.6 286 4448 0.00 3.38 0.00 0.000 6 0.000 0.000 1930 1774 2856

4689 end dive: BOTTOM_OBSTACLE_DETECTED

state 4689 begin apogee

4702 -0.25 0.0 522.2 12.6 295 4721 1.55 0.00 14.75 0.001 6 0.000 0.000 2220 2095 2234

4722 end apogee: CONTROL_FINISHED_OK

state 4722 begin climb

4727 1.49 116.8 522.2 0.0 295 4746 1.85 2.90 10.88 0.000 4 0.000 0.000 2665 565 1767

4801 1.49 116.8 511.3 22.6 296 4808 0.80 2.75 0.00 0.000 6 0.000 0.000 2482 2040 1765

5134 1.55 155.7 473.5 10.7 310 5145 0.77 2.72 3.97 0.001 4 0.000 0.000 2612 3652 1609

5246 1.77 155.7 450.7 21.8 315 5253 0.05 3.25 0.00 0.000 6 0.001 0.000 2602 1780 1610

5586 1.73 155.7 377.7 21.7 331 5591 0.03 3.05 0.00 0.000 4 0.000 0.000 2609 3636 1611

5726 1.56 155.7 344.1 21.2 337 5734 0.00 3.80 0.00 0.000 6 0.000 0.000 2623 1706 1609

6062 1.52 155.7 272.7 21.8 353 6070 0.05 3.72 0.00 0.000 4 0.000 0.000 2575 3562 1606

6249 1.36 155.7 238.5 17.6 361 6254 0.00 2.65 0.00 0.000 6 0.000 0.000 2564 1847 1612

6588 1.45 155.7 177.4 22.6 377 6593 0.05 2.47 0.00 0.000 4 0.000 0.000 2552 3518 1611

6711 1.23 155.7 153.2 16.9 382 6723 0.00 3.25 0.00 0.000 6 0.000 0.000 2552 1870 1606

7041 1.32 155.7 98.5 17.0 398 7049 0.00 3.78 0.00 0.000 4 0.000 0.000 2543 3516 1605

7174 1.31 155.7 74.5 18.1 419 7183 0.00 2.35 0.00 0.000 6 0.000 0.000 2551 2018 1607

7544 1.39 155.7 10.9 17.2 480 7552 0.00 3.12 0.00 0.000 4 0.000 0.000 2557 3537 1608

7597 end climb: SURFACE_DEPTH_REACHED

state 7597 begin surface coast

7608 end surface coast: CONTROL_FINISHED_OK

state 7608 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	11	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	10	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	0	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	-446747.44	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	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	141530,6633.943,-6017.312,16,1.1,16,18.0	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	0.219,0.070
_SM_DEPTHo	0.34	KALMAN_X	-10889.7,725.2,367.1,14864.6,-6822.2
_SM_ANGLEo	-70.0	KALMAN_Y	2001.9,193.0,172.8,1593.4,2225.2
GPS2	141941,6633.943,-6017.312,22,1.1,22,18.0	MHEAD_RNG_PITCHd_Wd	52.4,160447,-26.0,-13.750
SPEED_LIMITS	0.215,0.230	D_GRID	990

FINISH	0.3,1.025125	XPDR_PINGS	-1
SM_CCo	7641,18.98,0.000,0,0,385,452.09	ALTIM_TOP_PING	19.2,999.0
SM_GC	0.33,0.00,0.00,18.98,0.000,0.000,0.000,652,1873,385,-7.49,-2.94,452.09	ALTIM_BOTTOM_PING	450.1,78.5
RAFOS_CLK	0	_24V_AH	23.7,32.311
RAFOS	4,1160407753,15.500000,15.486944,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,4.916
RAFOS_FIX	6634.004395,-6013.439941,091006,161644,2,80,0.42	DATA_FILE_SIZE	15866,490
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243712000
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,57,895,0,0
HUMID	2231	SOUNDSPEED	1459.5
INTERNAL_PRESSURE	26.0553	CURRENT	0.053,306.1,1
TCM_TEMP	15.00	GPS	091006,162948,6634.380,-6015.891,11,1.1,12,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	119	83.62	SBE_CT	402	24	228.82
Roll_motor	115	60	164.67	nil	0	0	0.00
VBD_pump_during_apogee	29	0	0.54	nil	0	0	0.00
VBD_pump_during_surface	18	600	269.82	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	64	223	342.77
Transponder_ping	4	420	39.82
GPS	23	50	11.24
TT8	1602	19	309.67
LPSleep	4750	2	106.43
TT8_Active	264	19	51.19
TT8_Sampling	610	39	236.35
TT8_CF8	695	45	309.72
TT8_Kalman	33	81	26.48
Analog_circuits	779	12	90.73
GPS_charging	0	0	0.00
Compass	516	26	130.17
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
34	end surface: CONTROL_FINISHED_OK
state	34	begin dive
40	-1.49	-116.8	0.0	0.0	0	57	0.00	0.00	-8.20	0.000	6	0.000	0.000	668	2206	2860
63	-1.49	-116.8	0.3	0.0	2	80	6.70	3.05	0.00	0.000	4	0.000	0.000	1964	568	2856
119	-1.49	-116.8	9.5	-10.0	9	128	0.52	3.08	0.00	0.000	6	0.000	0.000	1863	2057	2865
488	-1.69	-116.8	68.1	-16.6	70	497	0.50	2.72	0.00	0.000	4	0.000	0.000	1970	3602	2862
600	-1.35	-116.8	79.9	-10.3	87	608	0.00	3.80	0.00	0.000	6	0.000	0.000	1985	1741	2859
955	-1.43	-116.8	117.5	-10.5	126	963	0.25	3.38	0.00	0.000	4	0.000	0.000	1905	3619	2861
1074	-1.43	-116.8	132.9	-13.3	131	1082	0.50	2.92	0.00	0.000	6	0.000	0.000	2037	1811	2857
1409	-1.48	-116.8	160.8	-8.0	147	1418	0.90	3.40	0.00	0.000	4	0.000	0.000	1849	3692	2859
1511	-1.63	-116.8	176.9	-16.9	151	1518	0.45	3.03	0.00	0.000	6	0.000	0.000	1972	2026	2864
1846	-1.48	-116.8	212.0	-10.1	167	1854	0.47	3.20	0.00	0.000	4	0.000	0.000	1851	3702	2860
1886	-1.53	-116.8	218.1	-15.9	168	1896	0.55	3.17	0.00	0.000	6	0.000	0.000	1984	1905	2855
2211	-1.43	-116.8	250.2	-9.1	184	2217	0.50	2.53	0.00	0.000	4	0.000	0.000	1842	3588	2863
2297	-1.43	-116.8	264.0	-16.4	187	2306	0.80	3.72	0.00	0.000	6	0.000	0.000	2043	1764	2866
2622	-1.28	-116.8	290.8	-7.7	203	2630	0.62	3.53	0.00	0.000	4	0.000	0.000	1919	3635	2853
2722	-1.45	-116.8	303.4	-12.9	207	2729	0.05	3.25	0.00	0.000	6	0.000	0.000	1916	1818	2860
3057	-1.47	-116.8	345.3	-12.8	223	3062	0.00	2.88	0.00	0.000	4	0.000	0.000	1919	3477	2861
3159	-1.32	-116.8	359.2	-12.6	227	3172	0.50	3.55	0.00	0.000	6	0.000	0.000	2019	1797	2869
3488	-1.30	-116.8	385.0	-7.6	243	3497	0.52	3.72	0.00	0.000	4	0.000	0.000	1928	3616	2864
3594	-1.47	-116.8	397.6	-13.2	247	3607	0.05	3.28	0.00	0.000	6	0.000	0.000	1931	1897	2863
3918	-1.51	-116.8	439.8	-13.1	263	3924	0.08	2.92	0.00	0.000	4	0.000	0.000	1912	3581	2860
4003	-1.33	-116.8	451.4	-13.6	266	4012	0.52	3.58	0.00	0.000	6	0.000	0.000	2033	1759	2856
4328	-1.33	-116.8	476.3	-7.5	282	4336	0.35	3.55	0.00	0.000	4	0.000	0.000	1933	3606	2865
4439	-1.52	-116.8	490.4	-12.6	286	4448	0.00	3.38	0.00	0.000	6	0.000	0.000	1930	1774	2856
4689	end dive: BOTTOM_OBSTACLE_DETECTED
state	4689	begin apogee
4702	-0.25	0.0	522.2	12.6	295	4721	1.55	0.00	14.75	0.001	6	0.000	0.000	2220	2095	2234
4722	end apogee: CONTROL_FINISHED_OK
state	4722	begin climb
4727	1.49	116.8	522.2	0.0	295	4746	1.85	2.90	10.88	0.000	4	0.000	0.000	2665	565	1767
4801	1.49	116.8	511.3	22.6	296	4808	0.80	2.75	0.00	0.000	6	0.000	0.000	2482	2040	1765
5134	1.55	155.7	473.5	10.7	310	5145	0.77	2.72	3.97	0.001	4	0.000	0.000	2612	3652	1609
5246	1.77	155.7	450.7	21.8	315	5253	0.05	3.25	0.00	0.000	6	0.001	0.000	2602	1780	1610
5586	1.73	155.7	377.7	21.7	331	5591	0.03	3.05	0.00	0.000	4	0.000	0.000	2609	3636	1611
5726	1.56	155.7	344.1	21.2	337	5734	0.00	3.80	0.00	0.000	6	0.000	0.000	2623	1706	1609
6062	1.52	155.7	272.7	21.8	353	6070	0.05	3.72	0.00	0.000	4	0.000	0.000	2575	3562	1606
6249	1.36	155.7	238.5	17.6	361	6254	0.00	2.65	0.00	0.000	6	0.000	0.000	2564	1847	1612
6588	1.45	155.7	177.4	22.6	377	6593	0.05	2.47	0.00	0.000	4	0.000	0.000	2552	3518	1611
6711	1.23	155.7	153.2	16.9	382	6723	0.00	3.25	0.00	0.000	6	0.000	0.000	2552	1870	1606
7041	1.32	155.7	98.5	17.0	398	7049	0.00	3.78	0.00	0.000	4	0.000	0.000	2543	3516	1605
7174	1.31	155.7	74.5	18.1	419	7183	0.00	2.35	0.00	0.000	6	0.000	0.000	2551	2018	1607
7544	1.39	155.7	10.9	17.2	480	7552	0.00	3.12	0.00	0.000	4	0.000	0.000	2557	3537	1608
7597	end climb: SURFACE_DEPTH_REACHED
state	7597	begin surface coast
7608	end surface coast: CONTROL_FINISHED_OK
state	7608	begin surface