Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 15 * 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 15 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 5 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 -446861.62 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 -446861.62

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 5 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 15 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 231650,6635.749,-6011.653,31,1.1,31,18.0 TGT_NAME TARGET_E_IN

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.220,0.066

_SM_DEPTHo 0.34 KALMAN_X -14100.6,903.0,805.3,21619.2,-5615.2

_SM_ANGLEo -69.9 KALMAN_Y 5555.1,-520.2,538.7,1727.3,4144.4

GPS2 232324,6635.749,-6011.653,35,1.1,36,18.0 MHEAD_RNG_PITCHd_Wd 53.1,155486,-26.0,-13.750

SPEED_LIMITS 0.215,0.230 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025019 XPDR_PINGS -1

SM_CCo 7430,19.88,0.001,0,0,387,452.09 ALTIM_TOP_PING 19.3,18.3

SM_GC 0.34,0.00,0.00,19.88,0.000,0.000,0.001,618,2151,387,-7.47,5.06,452.09 ALTIM_BOTTOM_PING 500.5,47.0

RAFOS_CLK 0 _24V_AH 23.7,33.293

RAFOS 0,1160438652,0.083333,0.070000,80,0,0,0,0,0,548,0,0,0,0,0 _10V_AH 9.7,5.079

RAFOS_FIX 6635.439941,-6008.498047,101006,000020,4,80,0.69 DATA_FILE_SIZE 15825,472

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243462144

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,44,901,0,0

HUMID 2287 SOUNDSPEED 1459.5

INTERNAL_PRESSURE 26.0748 CURRENT 0.055,305.4,1

TCM_TEMP 15.00 GPS 101006,013004,6636.185,-6010.292,6,1.1,7,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 119 71.07 SBE_CT 391 24 222.75

Roll_motor 116 60 165.45 nil 0 0 0.00

VBD_pump_during_apogee 28 0 0.52 nil 0 0 0.00

VBD_pump_during_surface 19 0 0.36 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 62 223 331.70

Transponder_ping 4 420 44.79

GPS 36 50 17.64

TT8 1569 19 303.34

LPSleep 4697 2 105.26

TT8_Active 236 19 45.72

TT8_Sampling 612 39 237.29

TT8_CF8 745 45 332.21

TT8_Kalman 33 81 26.48

Analog_circuits 744 12 86.60

GPS_charging 0 0 0.00

Compass 506 26 127.85

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 -7.97 0.000 6 0.000 0.000 636 2001 2878

63 -1.49 -116.8 0.3 0.0 2 81 6.78 3.33 0.00 0.000 4 0.000 0.000 2026 3533 2876

194 -1.49 -116.8 16.3 -8.9 22 203 0.50 3.70 0.00 0.000 6 0.000 0.000 1918 1669 2875

563 -1.78 -116.8 68.7 -14.1 83 571 0.00 3.53 0.00 0.000 4 0.000 0.000 1883 3673 2877

700 -1.57 -116.8 88.3 -13.2 105 709 0.15 2.85 0.00 0.000 6 0.000 0.000 1904 1828 2879

1037 -1.67 -116.8 136.4 -14.6 130 1044 0.00 3.38 0.00 0.000 4 0.000 0.000 1884 3672 2878

1135 -1.44 -116.8 150.6 -14.3 134 1143 0.47 3.62 0.00 0.000 6 0.000 0.000 2029 1842 2878

1471 -1.40 -116.8 182.5 -8.8 150 1479 0.57 3.53 0.00 0.000 4 0.000 0.000 1895 3682 2877

1571 -1.51 -116.8 194.8 -14.6 154 1579 0.38 3.38 0.00 0.000 6 0.000 0.000 1959 1988 2878

1907 -1.47 -116.8 235.3 -11.6 170 1914 0.00 3.78 0.00 0.000 4 0.000 0.000 1983 3669 2877

1956 -1.40 -116.8 241.0 -11.5 172 1961 0.00 2.85 0.00 0.000 6 0.000 0.000 1949 2018 2876

2287 -1.50 -116.8 279.5 -11.6 188 2292 0.00 2.50 0.00 0.000 4 0.000 0.000 1953 3377 2877

2339 -1.43 -116.8 285.7 -11.5 190 2345 0.00 3.15 0.00 0.000 6 0.000 0.000 1952 1812 2877

2664 -1.46 -116.8 322.6 -11.7 205 2671 0.00 3.42 0.00 0.000 4 0.000 0.000 1958 3696 2874

2766 -1.40 -116.8 335.1 -11.8 209 2773 0.00 3.55 0.00 0.000 6 0.000 0.000 1977 1790 2875

3102 -1.50 -116.8 373.2 -11.6 225 3107 0.00 2.83 0.00 0.000 4 0.000 0.000 1953 3606 2876

3203 -1.44 -116.8 385.9 -11.5 229 3208 0.00 3.12 0.00 0.000 6 0.000 0.000 1959 1783 2879

3528 -1.53 -116.8 422.9 -11.7 244 3533 0.00 3.17 0.00 0.000 4 0.000 0.000 1965 3469 2884

3634 -1.46 -116.8 436.0 -10.7 248 3643 0.00 3.12 0.00 0.000 6 0.000 0.000 1972 1785 2873

3961 -1.60 -116.8 471.4 -10.0 264 3967 0.15 2.95 0.00 0.000 4 0.000 0.000 1885 3630 2878

4062 -1.64 -116.8 487.2 -14.7 268 4067 0.00 2.88 0.00 0.000 6 0.000 0.000 1903 1972 2875

4398 -1.58 -116.8 536.5 -14.8 278 4403 0.00 2.12 0.00 0.000 3 0.000 0.000 1907 3289 2877

4403 end dive: BOTTOM_OBSTACLE_DETECTED

state 4403 begin apogee

4419 -0.25 0.0 538.0 14.8 278 4438 1.58 0.00 14.95 0.001 6 0.000 0.000 2260 1983 2256

4438 end apogee: CONTROL_FINISHED_OK

state 4438 begin climb

4444 1.49 116.8 542.1 0.0 278 4463 1.67 2.62 11.10 0.001 4 0.000 0.000 2615 321 1772

4510 1.49 116.8 533.0 19.3 280 4518 0.47 3.42 0.00 0.000 6 0.000 0.000 2512 2143 1771

4838 1.68 141.8 492.4 11.8 289 4848 1.12 2.42 2.50 0.000 4 0.000 0.000 2683 3502 1669

4932 1.83 141.8 470.2 26.6 293 4940 0.08 3.62 0.00 0.000 6 0.000 0.000 2686 1674 1663

5273 1.62 141.8 381.7 26.5 309 5281 0.52 4.05 0.00 0.000 4 0.000 0.000 2556 3706 1670

5437 1.27 141.8 349.6 17.0 316 5442 0.00 2.92 0.00 0.000 6 0.000 0.000 2570 1839 1668

5773 1.38 141.8 294.7 16.7 332 5781 0.00 3.53 0.00 0.000 4 0.000 0.000 2558 3676 1672

5895 1.35 141.8 272.9 16.6 337 5903 0.00 3.83 0.00 0.000 6 0.000 0.000 2562 1791 1671

6230 1.46 141.8 212.8 16.6 353 6235 0.00 3.15 0.00 0.000 4 0.000 0.000 2566 3611 1668

6367 1.44 141.8 185.8 16.6 359 6374 0.00 3.53 0.00 0.000 6 0.000 0.000 2570 1792 1672

6701 1.53 141.8 131.4 16.8 375 6709 0.60 3.25 0.00 0.000 4 0.000 0.000 2680 3462 1670

6853 1.51 141.8 91.6 25.7 383 6863 0.55 3.08 0.00 0.000 6 0.000 0.000 2571 1946 1669

7222 1.25 141.8 29.2 16.8 444 7230 0.00 3.15 0.00 0.000 4 0.000 0.000 2544 3681 1673

7327 1.23 141.8 12.9 16.4 460 7335 0.00 3.50 0.00 0.000 6 0.000 0.000 2568 1822 1666

7387 end climb: SURFACE_DEPTH_REACHED

state 7387 begin surface coast

7400 end surface coast: CONTROL_FINISHED_OK

state 7400 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	15	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	5	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	-446861.62	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	231650,6635.749,-6011.653,31,1.1,31,18.0	TGT_NAME	TARGET_E_IN
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.220,0.066
_SM_DEPTHo	0.34	KALMAN_X	-14100.6,903.0,805.3,21619.2,-5615.2
_SM_ANGLEo	-69.9	KALMAN_Y	5555.1,-520.2,538.7,1727.3,4144.4
GPS2	232324,6635.749,-6011.653,35,1.1,36,18.0	MHEAD_RNG_PITCHd_Wd	53.1,155486,-26.0,-13.750
SPEED_LIMITS	0.215,0.230	D_GRID	990

FINISH	0.3,1.025019	XPDR_PINGS	-1
SM_CCo	7430,19.88,0.001,0,0,387,452.09	ALTIM_TOP_PING	19.3,18.3
SM_GC	0.34,0.00,0.00,19.88,0.000,0.000,0.001,618,2151,387,-7.47,5.06,452.09	ALTIM_BOTTOM_PING	500.5,47.0
RAFOS_CLK	0	_24V_AH	23.7,33.293
RAFOS	0,1160438652,0.083333,0.070000,80,0,0,0,0,0,548,0,0,0,0,0	_10V_AH	9.7,5.079
RAFOS_FIX	6635.439941,-6008.498047,101006,000020,4,80,0.69	DATA_FILE_SIZE	15825,472
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243462144
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,44,901,0,0
HUMID	2287	SOUNDSPEED	1459.5
INTERNAL_PRESSURE	26.0748	CURRENT	0.055,305.4,1
TCM_TEMP	15.00	GPS	101006,013004,6636.185,-6010.292,6,1.1,7,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	119	71.07	SBE_CT	391	24	222.75
Roll_motor	116	60	165.45	nil	0	0	0.00
VBD_pump_during_apogee	28	0	0.52	nil	0	0	0.00
VBD_pump_during_surface	19	0	0.36	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	331.70
Transponder_ping	4	420	44.79
GPS	36	50	17.64
TT8	1569	19	303.34
LPSleep	4697	2	105.26
TT8_Active	236	19	45.72
TT8_Sampling	612	39	237.29
TT8_CF8	745	45	332.21
TT8_Kalman	33	81	26.48
Analog_circuits	744	12	86.60
GPS_charging	0	0	0.00
Compass	506	26	127.85
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	-7.97	0.000	6	0.000	0.000	636	2001	2878
63	-1.49	-116.8	0.3	0.0	2	81	6.78	3.33	0.00	0.000	4	0.000	0.000	2026	3533	2876
194	-1.49	-116.8	16.3	-8.9	22	203	0.50	3.70	0.00	0.000	6	0.000	0.000	1918	1669	2875
563	-1.78	-116.8	68.7	-14.1	83	571	0.00	3.53	0.00	0.000	4	0.000	0.000	1883	3673	2877
700	-1.57	-116.8	88.3	-13.2	105	709	0.15	2.85	0.00	0.000	6	0.000	0.000	1904	1828	2879
1037	-1.67	-116.8	136.4	-14.6	130	1044	0.00	3.38	0.00	0.000	4	0.000	0.000	1884	3672	2878
1135	-1.44	-116.8	150.6	-14.3	134	1143	0.47	3.62	0.00	0.000	6	0.000	0.000	2029	1842	2878
1471	-1.40	-116.8	182.5	-8.8	150	1479	0.57	3.53	0.00	0.000	4	0.000	0.000	1895	3682	2877
1571	-1.51	-116.8	194.8	-14.6	154	1579	0.38	3.38	0.00	0.000	6	0.000	0.000	1959	1988	2878
1907	-1.47	-116.8	235.3	-11.6	170	1914	0.00	3.78	0.00	0.000	4	0.000	0.000	1983	3669	2877
1956	-1.40	-116.8	241.0	-11.5	172	1961	0.00	2.85	0.00	0.000	6	0.000	0.000	1949	2018	2876
2287	-1.50	-116.8	279.5	-11.6	188	2292	0.00	2.50	0.00	0.000	4	0.000	0.000	1953	3377	2877
2339	-1.43	-116.8	285.7	-11.5	190	2345	0.00	3.15	0.00	0.000	6	0.000	0.000	1952	1812	2877
2664	-1.46	-116.8	322.6	-11.7	205	2671	0.00	3.42	0.00	0.000	4	0.000	0.000	1958	3696	2874
2766	-1.40	-116.8	335.1	-11.8	209	2773	0.00	3.55	0.00	0.000	6	0.000	0.000	1977	1790	2875
3102	-1.50	-116.8	373.2	-11.6	225	3107	0.00	2.83	0.00	0.000	4	0.000	0.000	1953	3606	2876
3203	-1.44	-116.8	385.9	-11.5	229	3208	0.00	3.12	0.00	0.000	6	0.000	0.000	1959	1783	2879
3528	-1.53	-116.8	422.9	-11.7	244	3533	0.00	3.17	0.00	0.000	4	0.000	0.000	1965	3469	2884
3634	-1.46	-116.8	436.0	-10.7	248	3643	0.00	3.12	0.00	0.000	6	0.000	0.000	1972	1785	2873
3961	-1.60	-116.8	471.4	-10.0	264	3967	0.15	2.95	0.00	0.000	4	0.000	0.000	1885	3630	2878
4062	-1.64	-116.8	487.2	-14.7	268	4067	0.00	2.88	0.00	0.000	6	0.000	0.000	1903	1972	2875
4398	-1.58	-116.8	536.5	-14.8	278	4403	0.00	2.12	0.00	0.000	3	0.000	0.000	1907	3289	2877
4403	end dive: BOTTOM_OBSTACLE_DETECTED
state	4403	begin apogee
4419	-0.25	0.0	538.0	14.8	278	4438	1.58	0.00	14.95	0.001	6	0.000	0.000	2260	1983	2256
4438	end apogee: CONTROL_FINISHED_OK
state	4438	begin climb
4444	1.49	116.8	542.1	0.0	278	4463	1.67	2.62	11.10	0.001	4	0.000	0.000	2615	321	1772
4510	1.49	116.8	533.0	19.3	280	4518	0.47	3.42	0.00	0.000	6	0.000	0.000	2512	2143	1771
4838	1.68	141.8	492.4	11.8	289	4848	1.12	2.42	2.50	0.000	4	0.000	0.000	2683	3502	1669
4932	1.83	141.8	470.2	26.6	293	4940	0.08	3.62	0.00	0.000	6	0.000	0.000	2686	1674	1663
5273	1.62	141.8	381.7	26.5	309	5281	0.52	4.05	0.00	0.000	4	0.000	0.000	2556	3706	1670
5437	1.27	141.8	349.6	17.0	316	5442	0.00	2.92	0.00	0.000	6	0.000	0.000	2570	1839	1668
5773	1.38	141.8	294.7	16.7	332	5781	0.00	3.53	0.00	0.000	4	0.000	0.000	2558	3676	1672
5895	1.35	141.8	272.9	16.6	337	5903	0.00	3.83	0.00	0.000	6	0.000	0.000	2562	1791	1671
6230	1.46	141.8	212.8	16.6	353	6235	0.00	3.15	0.00	0.000	4	0.000	0.000	2566	3611	1668
6367	1.44	141.8	185.8	16.6	359	6374	0.00	3.53	0.00	0.000	6	0.000	0.000	2570	1792	1672
6701	1.53	141.8	131.4	16.8	375	6709	0.60	3.25	0.00	0.000	4	0.000	0.000	2680	3462	1670
6853	1.51	141.8	91.6	25.7	383	6863	0.55	3.08	0.00	0.000	6	0.000	0.000	2571	1946	1669
7222	1.25	141.8	29.2	16.8	444	7230	0.00	3.15	0.00	0.000	4	0.000	0.000	2544	3681	1673
7327	1.23	141.8	12.9	16.4	460	7335	0.00	3.50	0.00	0.000	6	0.000	0.000	2568	1822	1666
7387	end climb: SURFACE_DEPTH_REACHED
state	7387	begin surface coast
7400	end surface coast: CONTROL_FINISHED_OK
state	7400	begin surface