Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 24 * 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 24 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 204 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -447074.41 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 -447074.41

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 204 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 21 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 24 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 212558,6638.101,-6008.065,9,1.1,9,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6629.154,-6010.478

_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 -69.9 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 213024,6638.101,-6008.065,35,1.1,35,18.0 MHEAD_RNG_PITCHd_Wd 196.1,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025170 ALTIM_TOP_PING 17.3,16.9

SM_CCo 8432,12.75,0.000,0,0,404,450.86 ALTIM_BOTTOM_PING 502.4,69.9

SM_GC 0.34,0.00,0.00,12.75,0.000,0.000,0.000,627,1975,404,-7.66,0.25,450.86 _24V_AH 23.7,35.697

RAFOS_CLK 0 _10V_AH 9.7,5.458

RAFOS_FIX 6637.921387,-6003.442383,101006,202048,4,80,0.38 DATA_FILE_SIZE 15873,527

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242855936

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,56,511,0,0

HUMID 2224 SOUNDSPEED 1459.6

INTERNAL_PRESSURE 26.0162 CURRENT 0.064, 82.3,1

TCM_TEMP 15.00 GPS 101006,235251,6637.238,-6008.412,8,1.1,8,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 119 81.01 SBE_CT 437 24 248.90

Roll_motor 65 60 92.79 nil 0 0 0.00

VBD_pump_during_apogee 37 1300 1167.70 nil 0 0 0.00

VBD_pump_during_surface 12 600 181.31 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 67 223 354.20

Transponder_ping 4 420 44.79

GPS 36 50 17.75

TT8 1669 19 322.52

LPSleep 5606 2 125.64

TT8_Active 190 19 36.72

TT8_Sampling 581 39 225.22

TT8_CF8 666 45 297.08

TT8_Kalman 0 81 0.00

Analog_circuits 660 12 76.85

GPS_charging 0 0 0.00

Compass 471 26 119.03

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

36 end surface: CONTROL_FINISHED_OK

state 36 begin dive

42 -1.49 -116.8 0.0 0.0 0 58 0.00 0.00 -8.05 0.000 6 0.000 0.000 641 2151 2835

64 -1.49 -116.8 0.3 0.0 2 82 6.53 2.45 0.00 0.000 4 0.000 0.000 1980 3645 2830

308 -1.49 -116.8 27.8 -9.4 41 316 0.52 2.45 0.00 0.000 6 0.000 0.000 1867 2130 2829

677 -1.61 -116.8 81.5 -14.3 102 686 0.35 2.22 0.00 0.000 4 0.000 0.000 1978 3602 2829

708 -1.41 -116.8 85.0 -11.3 106 717 0.05 2.88 0.00 0.000 6 0.000 0.000 1974 2206 2836

1048 -1.33 -116.8 117.8 -9.7 140 1050 0.03 0.00 0.00 0.000 6 0.000 0.000 1979 2219 2832

1357 -1.33 -116.8 147.7 -9.6 155 1362 0.08 1.92 0.00 0.000 4 0.001 0.000 1984 3527 2833

1402 -1.33 -116.8 151.9 -9.9 157 1407 0.00 2.88 0.00 0.000 6 0.000 0.000 1978 2165 2832

1738 -1.41 -116.8 183.8 -9.6 173 1740 0.10 0.00 0.00 0.000 6 0.000 0.000 1993 2151 2837

2042 -1.41 -116.8 213.7 -9.7 188 2048 0.00 3.05 0.00 0.000 4 0.000 0.000 1992 3516 2828

2087 -1.41 -116.8 218.0 -9.9 190 2092 0.15 2.58 0.00 0.000 6 0.000 0.000 2000 2174 2829

2418 -1.50 -116.8 250.0 -9.6 206 2420 0.28 0.00 0.00 0.000 6 0.000 0.000 1926 2170 2836

2732 -1.50 -116.8 288.2 -12.4 221 2734 0.08 0.00 0.00 0.000 6 0.000 0.000 1935 2188 2831

3042 -1.31 -116.8 326.8 -12.5 236 3047 0.45 1.98 0.00 0.000 4 0.000 0.000 2024 3528 2827

3089 -1.13 -116.8 331.9 -7.7 238 3094 0.00 2.75 0.00 0.000 6 0.000 0.000 2037 2044 2827

3419 -1.34 -116.8 356.5 -7.5 254 3425 0.38 2.72 0.00 0.000 4 0.000 0.000 1894 3560 2838

3473 -1.48 -116.8 363.2 -12.9 256 3479 0.52 2.58 0.00 0.000 6 0.000 0.000 2046 2235 2829

3798 -1.38 -116.8 388.3 -8.0 271 3800 0.43 0.00 0.00 0.000 6 0.000 0.000 1921 2231 2833

4108 -2.01 -116.8 427.0 -12.9 286 4110 0.70 0.00 0.00 0.000 6 0.000 0.000 1768 2221 2831

4416 -1.82 -116.8 482.9 -18.5 301 4418 0.68 0.00 0.00 0.000 6 0.000 0.000 1911 2239 2833

4718 -1.29 -116.8 523.1 -12.7 312 4720 0.45 0.00 0.00 0.000 6 0.000 0.000 2025 2227 2830

5043 -1.09 -116.8 548.3 -7.0 320 5044 0.00 0.00 0.00 0.000 6 0.000 0.000 2019 2235 2826

5240 end dive: BOTTOM_OBSTACLE_DETECTED

state 5240 begin apogee

5253 -0.25 0.0 563.3 7.4 325 5271 1.02 0.00 14.00 0.000 6 0.000 0.000 2270 1891 2241

5271 end apogee: CONTROL_FINISHED_OK

state 5271 begin climb

5277 1.49 116.8 563.3 0.0 325 5297 1.60 2.92 11.52 0.000 4 0.000 0.000 2620 577 1762

5319 1.49 116.8 559.9 19.4 326 5324 0.45 2.47 0.00 0.000 6 0.000 0.000 2508 2104 1762

5647 1.19 137.3 517.4 12.1 334 5656 0.00 3.05 1.98 0.001 4 0.000 0.000 2529 3412 1689

5813 1.32 137.3 493.8 23.5 338 5819 0.52 2.55 0.00 0.000 6 0.000 0.000 2610 1929 1690

6143 1.27 137.3 425.7 21.4 354 6151 0.77 2.97 0.00 0.000 4 0.000 0.000 2426 3583 1688

6285 1.05 199.3 409.8 8.8 360 6299 0.47 2.92 6.30 0.001 6 0.000 0.000 2552 1930 1423

6620 1.50 199.3 345.6 19.8 376 6625 0.05 2.47 0.00 0.000 4 0.000 0.000 2556 3464 1429

6779 1.46 199.3 313.9 20.6 383 6783 0.00 2.17 0.00 0.000 6 0.000 0.000 2574 2294 1426

7115 1.48 199.3 248.1 19.9 399 7116 0.05 0.00 0.00 0.000 6 0.000 0.000 2562 2290 1423

7418 1.43 199.3 186.8 19.9 414 7420 0.03 0.00 0.00 0.000 6 0.000 0.000 2557 2304 1426

7728 1.38 199.3 114.5 33.9 429 7733 0.00 2.92 0.00 0.000 4 0.000 0.000 2554 449 1426

7754 0.83 199.3 108.9 20.8 430 7762 0.77 3.28 0.00 0.000 6 0.000 0.000 2375 2112 1427

8116 0.92 249.6 72.8 9.8 481 8134 1.15 3.25 4.10 0.000 4 0.000 0.000 2569 3671 1226

8234 1.47 249.6 48.8 21.7 499 8243 0.22 2.58 0.00 0.000 6 0.000 0.000 2613 2331 1213

8396 end climb: SURFACE_DEPTH_REACHED

state 8396 begin surface coast

8403 end surface coast: CONTROL_FINISHED_OK

state 8403 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	24	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	204	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-447074.41	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	212558,6638.101,-6008.065,9,1.1,9,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6629.154,-6010.478
_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	-69.9	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	213024,6638.101,-6008.065,35,1.1,35,18.0	MHEAD_RNG_PITCHd_Wd	196.1,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025170	ALTIM_TOP_PING	17.3,16.9
SM_CCo	8432,12.75,0.000,0,0,404,450.86	ALTIM_BOTTOM_PING	502.4,69.9
SM_GC	0.34,0.00,0.00,12.75,0.000,0.000,0.000,627,1975,404,-7.66,0.25,450.86	_24V_AH	23.7,35.697
RAFOS_CLK	0	_10V_AH	9.7,5.458
RAFOS_FIX	6637.921387,-6003.442383,101006,202048,4,80,0.38	DATA_FILE_SIZE	15873,527
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242855936
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,56,511,0,0
HUMID	2224	SOUNDSPEED	1459.6
INTERNAL_PRESSURE	26.0162	CURRENT	0.064, 82.3,1
TCM_TEMP	15.00	GPS	101006,235251,6637.238,-6008.412,8,1.1,8,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	119	81.01	SBE_CT	437	24	248.90
Roll_motor	65	60	92.79	nil	0	0	0.00
VBD_pump_during_apogee	37	1300	1167.70	nil	0	0	0.00
VBD_pump_during_surface	12	600	181.31	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	354.20
Transponder_ping	4	420	44.79
GPS	36	50	17.75
TT8	1669	19	322.52
LPSleep	5606	2	125.64
TT8_Active	190	19	36.72
TT8_Sampling	581	39	225.22
TT8_CF8	666	45	297.08
TT8_Kalman	0	81	0.00
Analog_circuits	660	12	76.85
GPS_charging	0	0	0.00
Compass	471	26	119.03
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
36	end surface: CONTROL_FINISHED_OK
state	36	begin dive
42	-1.49	-116.8	0.0	0.0	0	58	0.00	0.00	-8.05	0.000	6	0.000	0.000	641	2151	2835
64	-1.49	-116.8	0.3	0.0	2	82	6.53	2.45	0.00	0.000	4	0.000	0.000	1980	3645	2830
308	-1.49	-116.8	27.8	-9.4	41	316	0.52	2.45	0.00	0.000	6	0.000	0.000	1867	2130	2829
677	-1.61	-116.8	81.5	-14.3	102	686	0.35	2.22	0.00	0.000	4	0.000	0.000	1978	3602	2829
708	-1.41	-116.8	85.0	-11.3	106	717	0.05	2.88	0.00	0.000	6	0.000	0.000	1974	2206	2836
1048	-1.33	-116.8	117.8	-9.7	140	1050	0.03	0.00	0.00	0.000	6	0.000	0.000	1979	2219	2832
1357	-1.33	-116.8	147.7	-9.6	155	1362	0.08	1.92	0.00	0.000	4	0.001	0.000	1984	3527	2833
1402	-1.33	-116.8	151.9	-9.9	157	1407	0.00	2.88	0.00	0.000	6	0.000	0.000	1978	2165	2832
1738	-1.41	-116.8	183.8	-9.6	173	1740	0.10	0.00	0.00	0.000	6	0.000	0.000	1993	2151	2837
2042	-1.41	-116.8	213.7	-9.7	188	2048	0.00	3.05	0.00	0.000	4	0.000	0.000	1992	3516	2828
2087	-1.41	-116.8	218.0	-9.9	190	2092	0.15	2.58	0.00	0.000	6	0.000	0.000	2000	2174	2829
2418	-1.50	-116.8	250.0	-9.6	206	2420	0.28	0.00	0.00	0.000	6	0.000	0.000	1926	2170	2836
2732	-1.50	-116.8	288.2	-12.4	221	2734	0.08	0.00	0.00	0.000	6	0.000	0.000	1935	2188	2831
3042	-1.31	-116.8	326.8	-12.5	236	3047	0.45	1.98	0.00	0.000	4	0.000	0.000	2024	3528	2827
3089	-1.13	-116.8	331.9	-7.7	238	3094	0.00	2.75	0.00	0.000	6	0.000	0.000	2037	2044	2827
3419	-1.34	-116.8	356.5	-7.5	254	3425	0.38	2.72	0.00	0.000	4	0.000	0.000	1894	3560	2838
3473	-1.48	-116.8	363.2	-12.9	256	3479	0.52	2.58	0.00	0.000	6	0.000	0.000	2046	2235	2829
3798	-1.38	-116.8	388.3	-8.0	271	3800	0.43	0.00	0.00	0.000	6	0.000	0.000	1921	2231	2833
4108	-2.01	-116.8	427.0	-12.9	286	4110	0.70	0.00	0.00	0.000	6	0.000	0.000	1768	2221	2831
4416	-1.82	-116.8	482.9	-18.5	301	4418	0.68	0.00	0.00	0.000	6	0.000	0.000	1911	2239	2833
4718	-1.29	-116.8	523.1	-12.7	312	4720	0.45	0.00	0.00	0.000	6	0.000	0.000	2025	2227	2830
5043	-1.09	-116.8	548.3	-7.0	320	5044	0.00	0.00	0.00	0.000	6	0.000	0.000	2019	2235	2826
5240	end dive: BOTTOM_OBSTACLE_DETECTED
state	5240	begin apogee
5253	-0.25	0.0	563.3	7.4	325	5271	1.02	0.00	14.00	0.000	6	0.000	0.000	2270	1891	2241
5271	end apogee: CONTROL_FINISHED_OK
state	5271	begin climb
5277	1.49	116.8	563.3	0.0	325	5297	1.60	2.92	11.52	0.000	4	0.000	0.000	2620	577	1762
5319	1.49	116.8	559.9	19.4	326	5324	0.45	2.47	0.00	0.000	6	0.000	0.000	2508	2104	1762
5647	1.19	137.3	517.4	12.1	334	5656	0.00	3.05	1.98	0.001	4	0.000	0.000	2529	3412	1689
5813	1.32	137.3	493.8	23.5	338	5819	0.52	2.55	0.00	0.000	6	0.000	0.000	2610	1929	1690
6143	1.27	137.3	425.7	21.4	354	6151	0.77	2.97	0.00	0.000	4	0.000	0.000	2426	3583	1688
6285	1.05	199.3	409.8	8.8	360	6299	0.47	2.92	6.30	0.001	6	0.000	0.000	2552	1930	1423
6620	1.50	199.3	345.6	19.8	376	6625	0.05	2.47	0.00	0.000	4	0.000	0.000	2556	3464	1429
6779	1.46	199.3	313.9	20.6	383	6783	0.00	2.17	0.00	0.000	6	0.000	0.000	2574	2294	1426
7115	1.48	199.3	248.1	19.9	399	7116	0.05	0.00	0.00	0.000	6	0.000	0.000	2562	2290	1423
7418	1.43	199.3	186.8	19.9	414	7420	0.03	0.00	0.00	0.000	6	0.000	0.000	2557	2304	1426
7728	1.38	199.3	114.5	33.9	429	7733	0.00	2.92	0.00	0.000	4	0.000	0.000	2554	449	1426
7754	0.83	199.3	108.9	20.8	430	7762	0.77	3.28	0.00	0.000	6	0.000	0.000	2375	2112	1427
8116	0.92	249.6	72.8	9.8	481	8134	1.15	3.25	4.10	0.000	4	0.000	0.000	2569	3671	1226
8234	1.47	249.6	48.8	21.7	499	8243	0.22	2.58	0.00	0.000	6	0.000	0.000	2613	2331	1213
8396	end climb: SURFACE_DEPTH_REACHED
state	8396	begin surface coast
8403	end surface coast: CONTROL_FINISHED_OK
state	8403	begin surface