Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 13 * 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 13 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 21 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 3 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 -446785.03 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 -446785.03

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 21 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 3 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 13 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 183534,6634.787,-6014.429,14,1.1,14,18.0 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.219,0.070

_SM_DEPTHo 0.34 KALMAN_X -15020.5,2029.0,841.8,19326.1,-10559.7

_SM_ANGLEo -70.0 KALMAN_Y 1275.1,630.6,-437.9,4070.2,566.7

GPS2 183928,6634.787,-6014.429,11,1.1,11,18.0 MHEAD_RNG_PITCHd_Wd 52.7,157963,-26.0,-13.750

SPEED_LIMITS 0.215,0.230 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025030 XPDR_PINGS -1

SM_CCo 7783,15.88,0.000,0,0,404,450.86 ALTIM_TOP_PING 18.7,18.5

SM_GC 0.34,0.00,0.00,15.88,0.000,0.000,0.000,625,1677,404,-7.55,-8.54,450.86 ALTIM_BOTTOM_PING 451.7,81.9

RAFOS_CLK 0 _24V_AH 23.7,32.787

RAFOS 0,1160424241,20.083334,20.066944,80,0,0,0,0,0,611,0,0,0,0,0 _10V_AH 9.7,4.995

RAFOS_FIX 6634.799316,-6010.657227,091006,202048,4,80,0.46 DATA_FILE_SIZE 15862,473

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243593216

TT8_MAMPS 0.02301 ERRORS 0,0,0,0,0,0,0,0,0,0,0,64,817,0,0

HUMID 2248 SOUNDSPEED 1459.6

INTERNAL_PRESSURE 26.0651 CURRENT 0.052,304.0,1

TCM_TEMP 15.00 GPS 091006,205158,6635.267,-6013.065,7,1.1,7,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 119 86.94 SBE_CT 388 24 221.08

Roll_motor 105 60 150.41 nil 0 0 0.00

VBD_pump_during_apogee 32 0 0.59 nil 0 0 0.00

VBD_pump_during_surface 15 600 225.74 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 62 223 330.41

Transponder_ping 4 420 39.82

GPS 12 50 5.89

TT8 1569 19 303.25

LPSleep 4982 2 111.65

TT8_Active 245 19 47.51

TT8_Sampling 604 39 233.90

TT8_CF8 652 45 290.80

TT8_Kalman 33 81 26.51

Analog_circuits 765 12 89.12

GPS_charging 0 0 0.00

Compass 519 26 130.95

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 57 0.00 0.00 -8.18 0.000 6 0.000 0.000 582 2167 2863

63 -1.49 -116.8 0.3 0.0 2 73 7.03 0.00 0.00 0.000 6 0.000 0.000 1978 2170 2860

431 -1.49 -116.8 41.5 -10.0 63 438 0.43 0.00 0.00 0.000 6 0.000 0.000 1832 2172 2860

797 -1.49 -116.8 98.7 -16.5 124 806 0.57 2.67 0.00 0.000 4 0.000 0.000 1967 3514 2858

828 -1.15 -116.8 102.8 -13.4 126 835 0.52 2.85 0.00 0.000 6 0.000 0.000 2103 1693 2860

1168 -1.08 -116.8 122.7 -5.7 142 1176 0.52 3.75 0.00 0.000 4 0.000 0.000 2035 3530 2863

1313 -1.42 -116.8 133.7 -7.9 148 1321 0.65 3.58 0.00 0.000 6 0.000 0.000 1932 2021 2866

1649 -1.69 -116.8 174.7 -12.8 164 1655 0.00 2.67 0.00 0.000 4 0.000 0.000 1912 3361 2867

1709 -1.58 -116.8 183.5 -12.9 166 1721 0.00 3.58 0.00 0.000 6 0.000 0.000 1914 1728 2856

2040 -1.54 -116.8 225.0 -12.9 182 2047 0.00 4.30 0.00 0.000 4 0.000 0.000 1934 3598 2858

2165 -1.39 -116.8 242.4 -12.8 187 2178 0.50 3.55 0.00 0.000 6 0.000 0.000 2034 1762 2860

2494 -1.39 -116.8 267.2 -7.5 203 2502 0.93 3.40 0.00 0.000 4 0.000 0.000 1925 3601 2857

2613 -1.58 -116.8 281.8 -12.0 208 2620 0.00 3.28 0.00 0.000 6 0.000 0.000 1931 1919 2862

2954 -1.58 -116.8 325.2 -13.0 224 2959 0.03 3.08 0.00 0.000 4 0.000 0.000 1859 3455 2860

3040 -1.42 -116.8 338.9 -15.7 227 3049 0.50 3.22 0.00 0.000 6 0.000 0.000 1974 1775 2862

3364 -1.39 -116.8 372.3 -10.1 243 3372 0.05 3.80 0.00 0.000 4 0.000 0.000 1975 3705 2864

3469 -1.39 -116.8 383.6 -10.1 247 3482 0.30 3.53 0.00 0.000 6 0.000 0.000 1916 1870 2861

3799 -1.56 -116.8 423.5 -12.8 263 3804 0.00 2.55 0.00 0.000 4 0.000 0.000 1937 3526 2866

3892 -1.41 -116.8 435.1 -12.6 267 3897 0.08 2.35 0.00 0.000 6 0.000 0.000 1925 1991 2866

4223 -1.41 -116.8 478.1 -12.7 283 4231 0.40 3.53 0.00 0.000 4 0.000 0.000 2039 3647 2863

4272 -1.25 -116.8 482.8 -7.7 285 4280 0.50 3.88 0.00 0.000 6 0.000 0.000 1926 1988 2862

4619 end dive: BOTTOM_OBSTACLE_DETECTED

state 4620 begin apogee

4632 -0.25 0.0 527.5 13.0 297 4651 1.58 0.00 14.90 0.001 6 0.000 0.000 2301 1986 2244

4651 end apogee: CONTROL_FINISHED_OK

state 4651 begin climb

4657 1.49 116.8 527.5 0.0 297 4676 1.52 2.70 11.18 0.001 4 0.000 0.000 2587 340 1767

4708 1.49 116.8 523.5 17.6 298 4715 0.00 3.28 0.00 0.000 6 0.000 0.000 2582 2037 1761

5037 1.71 116.8 464.8 18.0 310 5044 0.52 2.85 0.00 0.000 4 0.000 0.000 2685 3625 1766

5148 1.57 116.8 440.3 22.0 314 5157 0.52 3.53 0.00 0.000 6 0.000 0.000 2540 1734 1767

5472 1.24 116.8 394.6 14.0 330 5479 0.00 3.80 0.00 0.000 4 0.000 0.000 2550 3590 1770

5633 1.28 116.8 370.6 14.3 337 5640 0.00 3.53 0.00 0.000 6 0.000 0.000 2542 1741 1767

5974 1.42 116.8 323.8 14.1 353 5982 0.30 3.03 0.00 0.000 4 0.000 0.000 2649 3587 1764

6130 1.46 116.8 288.0 22.9 359 6139 0.52 3.78 0.00 0.000 6 0.000 0.000 2529 1737 1763

6454 1.30 116.8 243.0 13.8 375 6459 0.00 2.85 0.00 0.000 4 0.000 0.000 2532 3432 1766

6602 1.35 116.8 218.5 22.3 381 6611 0.00 2.65 0.00 0.000 6 0.000 0.000 2531 1776 1765

6928 1.09 116.8 175.2 13.8 397 6936 0.45 3.80 0.00 0.000 4 0.000 0.000 2406 3618 1763

7071 1.13 198.8 162.9 7.2 403 7084 0.60 3.30 6.47 0.001 6 0.000 0.000 2544 1814 1452

7406 1.70 198.8 104.7 18.0 419 7414 0.57 3.58 0.00 0.000 4 0.000 0.000 2587 3693 1437

7532 1.73 198.8 75.2 24.0 437 7541 0.52 3.17 0.00 0.000 6 0.000 0.000 2741 2033 1433

7742 end climb: SURFACE_DEPTH_REACHED

state 7747 begin surface coast

7752 end surface coast: CONTROL_FINISHED_OK

state 7753 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	13	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	21	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	3	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	-446785.03	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	183534,6634.787,-6014.429,14,1.1,14,18.0	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.219,0.070
_SM_DEPTHo	0.34	KALMAN_X	-15020.5,2029.0,841.8,19326.1,-10559.7
_SM_ANGLEo	-70.0	KALMAN_Y	1275.1,630.6,-437.9,4070.2,566.7
GPS2	183928,6634.787,-6014.429,11,1.1,11,18.0	MHEAD_RNG_PITCHd_Wd	52.7,157963,-26.0,-13.750
SPEED_LIMITS	0.215,0.230	D_GRID	990

FINISH	0.3,1.025030	XPDR_PINGS	-1
SM_CCo	7783,15.88,0.000,0,0,404,450.86	ALTIM_TOP_PING	18.7,18.5
SM_GC	0.34,0.00,0.00,15.88,0.000,0.000,0.000,625,1677,404,-7.55,-8.54,450.86	ALTIM_BOTTOM_PING	451.7,81.9
RAFOS_CLK	0	_24V_AH	23.7,32.787
RAFOS	0,1160424241,20.083334,20.066944,80,0,0,0,0,0,611,0,0,0,0,0	_10V_AH	9.7,4.995
RAFOS_FIX	6634.799316,-6010.657227,091006,202048,4,80,0.46	DATA_FILE_SIZE	15862,473
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243593216
TT8_MAMPS	0.02301	ERRORS	0,0,0,0,0,0,0,0,0,0,0,64,817,0,0
HUMID	2248	SOUNDSPEED	1459.6
INTERNAL_PRESSURE	26.0651	CURRENT	0.052,304.0,1
TCM_TEMP	15.00	GPS	091006,205158,6635.267,-6013.065,7,1.1,7,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	119	86.94	SBE_CT	388	24	221.08
Roll_motor	105	60	150.41	nil	0	0	0.00
VBD_pump_during_apogee	32	0	0.59	nil	0	0	0.00
VBD_pump_during_surface	15	600	225.74	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	62	223	330.41
Transponder_ping	4	420	39.82
GPS	12	50	5.89
TT8	1569	19	303.25
LPSleep	4982	2	111.65
TT8_Active	245	19	47.51
TT8_Sampling	604	39	233.90
TT8_CF8	652	45	290.80
TT8_Kalman	33	81	26.51
Analog_circuits	765	12	89.12
GPS_charging	0	0	0.00
Compass	519	26	130.95
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	57	0.00	0.00	-8.18	0.000	6	0.000	0.000	582	2167	2863
63	-1.49	-116.8	0.3	0.0	2	73	7.03	0.00	0.00	0.000	6	0.000	0.000	1978	2170	2860
431	-1.49	-116.8	41.5	-10.0	63	438	0.43	0.00	0.00	0.000	6	0.000	0.000	1832	2172	2860
797	-1.49	-116.8	98.7	-16.5	124	806	0.57	2.67	0.00	0.000	4	0.000	0.000	1967	3514	2858
828	-1.15	-116.8	102.8	-13.4	126	835	0.52	2.85	0.00	0.000	6	0.000	0.000	2103	1693	2860
1168	-1.08	-116.8	122.7	-5.7	142	1176	0.52	3.75	0.00	0.000	4	0.000	0.000	2035	3530	2863
1313	-1.42	-116.8	133.7	-7.9	148	1321	0.65	3.58	0.00	0.000	6	0.000	0.000	1932	2021	2866
1649	-1.69	-116.8	174.7	-12.8	164	1655	0.00	2.67	0.00	0.000	4	0.000	0.000	1912	3361	2867
1709	-1.58	-116.8	183.5	-12.9	166	1721	0.00	3.58	0.00	0.000	6	0.000	0.000	1914	1728	2856
2040	-1.54	-116.8	225.0	-12.9	182	2047	0.00	4.30	0.00	0.000	4	0.000	0.000	1934	3598	2858
2165	-1.39	-116.8	242.4	-12.8	187	2178	0.50	3.55	0.00	0.000	6	0.000	0.000	2034	1762	2860
2494	-1.39	-116.8	267.2	-7.5	203	2502	0.93	3.40	0.00	0.000	4	0.000	0.000	1925	3601	2857
2613	-1.58	-116.8	281.8	-12.0	208	2620	0.00	3.28	0.00	0.000	6	0.000	0.000	1931	1919	2862
2954	-1.58	-116.8	325.2	-13.0	224	2959	0.03	3.08	0.00	0.000	4	0.000	0.000	1859	3455	2860
3040	-1.42	-116.8	338.9	-15.7	227	3049	0.50	3.22	0.00	0.000	6	0.000	0.000	1974	1775	2862
3364	-1.39	-116.8	372.3	-10.1	243	3372	0.05	3.80	0.00	0.000	4	0.000	0.000	1975	3705	2864
3469	-1.39	-116.8	383.6	-10.1	247	3482	0.30	3.53	0.00	0.000	6	0.000	0.000	1916	1870	2861
3799	-1.56	-116.8	423.5	-12.8	263	3804	0.00	2.55	0.00	0.000	4	0.000	0.000	1937	3526	2866
3892	-1.41	-116.8	435.1	-12.6	267	3897	0.08	2.35	0.00	0.000	6	0.000	0.000	1925	1991	2866
4223	-1.41	-116.8	478.1	-12.7	283	4231	0.40	3.53	0.00	0.000	4	0.000	0.000	2039	3647	2863
4272	-1.25	-116.8	482.8	-7.7	285	4280	0.50	3.88	0.00	0.000	6	0.000	0.000	1926	1988	2862
4619	end dive: BOTTOM_OBSTACLE_DETECTED
state	4620	begin apogee
4632	-0.25	0.0	527.5	13.0	297	4651	1.58	0.00	14.90	0.001	6	0.000	0.000	2301	1986	2244
4651	end apogee: CONTROL_FINISHED_OK
state	4651	begin climb
4657	1.49	116.8	527.5	0.0	297	4676	1.52	2.70	11.18	0.001	4	0.000	0.000	2587	340	1767
4708	1.49	116.8	523.5	17.6	298	4715	0.00	3.28	0.00	0.000	6	0.000	0.000	2582	2037	1761
5037	1.71	116.8	464.8	18.0	310	5044	0.52	2.85	0.00	0.000	4	0.000	0.000	2685	3625	1766
5148	1.57	116.8	440.3	22.0	314	5157	0.52	3.53	0.00	0.000	6	0.000	0.000	2540	1734	1767
5472	1.24	116.8	394.6	14.0	330	5479	0.00	3.80	0.00	0.000	4	0.000	0.000	2550	3590	1770
5633	1.28	116.8	370.6	14.3	337	5640	0.00	3.53	0.00	0.000	6	0.000	0.000	2542	1741	1767
5974	1.42	116.8	323.8	14.1	353	5982	0.30	3.03	0.00	0.000	4	0.000	0.000	2649	3587	1764
6130	1.46	116.8	288.0	22.9	359	6139	0.52	3.78	0.00	0.000	6	0.000	0.000	2529	1737	1763
6454	1.30	116.8	243.0	13.8	375	6459	0.00	2.85	0.00	0.000	4	0.000	0.000	2532	3432	1766
6602	1.35	116.8	218.5	22.3	381	6611	0.00	2.65	0.00	0.000	6	0.000	0.000	2531	1776	1765
6928	1.09	116.8	175.2	13.8	397	6936	0.45	3.80	0.00	0.000	4	0.000	0.000	2406	3618	1763
7071	1.13	198.8	162.9	7.2	403	7084	0.60	3.30	6.47	0.001	6	0.000	0.000	2544	1814	1452
7406	1.70	198.8	104.7	18.0	419	7414	0.57	3.58	0.00	0.000	4	0.000	0.000	2587	3693	1437
7532	1.73	198.8	75.2	24.0	437	7541	0.52	3.17	0.00	0.000	6	0.000	0.000	2741	2033	1433
7742	end climb: SURFACE_DEPTH_REACHED
state	7747	begin surface coast
7752	end surface coast: CONTROL_FINISHED_OK
state	7753	begin surface