Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 4 * 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 4 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 20 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 6 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 -446598.44 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 -446598.44

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 20 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 6 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 4 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 205817,6630.854,-6026.542,19,1.1,20,18.0 TGT_NAME TARGET_E_IN

_CALLS 5 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.220,0.068

_SM_DEPTHo 0.34 KALMAN_X -2076.8,-1368.4,-251.2,5489.6,-695.0

_SM_ANGLEo -70.0 KALMAN_Y -196.9,-128.1,-29.5,2276.3,-69.5

GPS2 213729,6630.854,-6026.542,17,1.1,18,18.0 MHEAD_RNG_PITCHd_Wd 51.3,168675,-26.0,-13.750

SPEED_LIMITS 0.215,0.230 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025102 ALTIM_TOP_PING 19.8,19.7

SM_CCo 7523,19.67,0.000,0,0,403,452.09 ALTIM_BOTTOM_PING 428.1,67.8

SM_GC 0.34,0.00,0.00,19.67,0.000,0.000,0.000,597,1711,403,-7.65,-6.90,452.09 _24V_AH 23.7,30.317

RAFOS_CLK 0 _10V_AH 9.7,4.587

RAFOS_FIX 6630.774902,-6022.983887,081006,202020,4,80,0.66 DATA_FILE_SIZE 15890,516

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,244039680

TT8_MAMPS 0.026845 ERRORS 0,1,0,0,0,0,0,0,0,0,0,57,889,0,0

HUMID 2239 SOUNDSPEED 1459.1

INTERNAL_PRESSURE 26.0944 CURRENT 0.084,275.8,1

TCM_TEMP 15.00 GPS 081006,234547,6631.324,-6025.382,28,1.1,28,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 119 92.01 SBE_CT 422 24 240.36

Roll_motor 116 60 165.17 nil 0 0 0.00

VBD_pump_during_apogee 27 0 0.50 nil 0 0 0.00

VBD_pump_during_surface 19 600 279.78 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 1848 223 9771.11

Transponder_ping 3 420 37.33

GPS 18 50 8.92

TT8 1625 19 314.18

LPSleep 4856 2 108.83

TT8_Active 263 19 50.82

TT8_Sampling 607 39 235.07

TT8_CF8 2547 45 1134.82

TT8_Kalman 31 81 24.96

Analog_circuits 778 12 90.57

GPS_charging 0 0 0.00

Compass 515 26 130.05

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

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 -8.10 0.000 6 0.000 0.000 583 2253 2828

63 -1.49 -116.8 0.3 0.0 2 81 7.07 4.15 0.00 0.000 4 0.000 0.000 2008 436 2828

146 -0.17 -116.8 12.0 -8.8 14 155 1.38 3.40 0.00 0.000 6 0.000 0.000 2313 2132 2832

513 -0.46 -116.8 33.7 -5.7 75 521 0.80 3.42 0.00 0.000 4 0.000 0.000 2129 305 2831

549 -1.36 -116.8 35.8 -5.8 80 558 1.10 3.62 0.00 0.000 6 0.000 0.000 1866 2214 2831

916 -1.97 -116.8 88.6 -14.9 141 925 0.50 2.53 0.00 0.000 4 0.000 0.000 1758 3584 2834

963 -1.64 -116.8 96.3 -20.4 147 972 1.15 3.25 0.00 0.000 6 0.000 0.000 2002 1713 2836

1293 -1.18 -116.8 129.9 -9.1 164 1300 0.00 3.67 0.00 0.000 4 0.000 0.000 1995 3525 2830

1418 -1.23 -116.8 141.6 -9.1 169 1430 0.00 3.28 0.00 0.000 6 0.000 0.000 2000 1859 2833

1748 -1.40 -116.8 170.4 -8.5 185 1755 0.47 3.20 0.00 0.000 4 0.000 0.000 1864 3712 2826

1839 -1.52 -116.8 183.1 -14.2 188 1848 0.52 3.33 0.00 0.000 6 0.000 0.000 1994 1844 2829

2164 -1.44 -116.8 213.0 -8.7 204 2171 0.45 2.97 0.00 0.000 4 0.000 0.000 1896 3498 2832

2248 -1.51 -116.8 223.8 -14.3 207 2255 0.52 2.45 0.00 0.000 6 0.000 0.000 1995 1818 2828

2575 -1.37 -116.8 254.6 -9.0 223 2583 0.43 3.80 0.00 0.000 4 0.000 0.000 1877 3668 2829

2674 -1.41 -116.8 268.2 -14.6 227 2682 0.60 2.75 0.00 0.000 6 0.000 0.000 1985 2028 2824

3004 -1.32 -116.8 299.5 -9.4 243 3009 0.00 2.95 0.00 0.000 4 0.000 0.000 1978 3679 2833

3048 -1.32 -116.8 303.7 -9.3 245 3053 0.00 3.08 0.00 0.000 6 0.000 0.000 1978 2019 2835

3385 -1.50 -116.8 334.9 -9.4 261 3392 0.43 3.03 0.00 0.000 4 0.000 0.000 1871 3664 2834

3442 -1.50 -116.8 343.7 -14.9 263 3455 0.52 3.45 0.00 0.000 6 0.000 0.000 1975 1979 2830

3773 -1.38 -116.8 375.1 -9.6 279 3778 0.17 2.90 0.00 0.000 4 0.000 0.000 1902 3678 2827

3832 -1.38 -116.8 382.8 -12.7 281 3841 0.52 3.65 0.00 0.000 6 0.000 0.000 2052 1842 2832

4156 -1.40 -116.8 406.1 -6.5 297 4164 0.68 2.67 0.00 0.000 4 0.000 0.000 1916 3707 2831

4235 -1.80 -116.8 413.9 -12.0 300 4244 0.50 3.65 0.00 0.000 6 0.000 0.000 1794 1877 2833

4565 -1.83 -116.8 472.7 -18.2 316 4573 0.45 3.55 0.00 0.000 4 0.000 0.000 1916 3554 2835

4651 -1.34 -116.8 483.9 -12.3 319 4664 0.47 2.92 0.00 0.000 6 0.000 0.000 2032 1887 2827

4681 end dive: BOTTOM_OBSTACLE_DETECTED

state 4681 begin apogee

4694 -0.25 0.0 488.1 11.0 321 4711 0.98 0.00 14.07 0.001 6 0.000 0.000 2284 2198 2247

4711 end apogee: CONTROL_FINISHED_OK

state 4712 begin climb

4717 1.49 116.8 489.6 0.0 322 4733 1.77 0.00 11.60 0.001 6 0.000 0.000 2627 2220 1761

5041 1.49 116.8 426.5 20.8 338 5046 0.50 1.95 0.00 0.000 4 0.000 0.000 2518 3414 1759

5112 1.23 135.6 416.0 12.3 341 5121 0.00 3.47 1.65 0.001 6 0.000 0.000 2521 1759 1686

5453 1.43 141.0 370.8 13.3 357 5461 0.55 3.53 0.00 0.000 4 0.000 0.000 2582 3590 1687

5620 1.54 141.0 340.9 18.6 364 5627 0.03 2.85 0.12 0.001 6 0.000 0.000 2591 1783 1670

5946 1.55 141.0 281.8 17.7 380 5954 0.03 3.38 0.00 0.000 4 0.000 0.000 2580 3431 1671

6090 1.49 141.0 254.9 21.9 386 6097 0.00 3.38 0.00 0.000 6 0.000 0.000 2574 1773 1672

6424 1.44 141.0 193.3 18.2 402 6432 0.00 3.72 0.00 0.000 4 0.000 0.000 2560 3599 1668

6567 1.36 141.0 165.1 18.4 408 6573 0.00 3.22 0.00 0.000 6 0.000 0.000 2582 1923 1666

6901 1.41 141.0 107.2 17.6 424 6908 0.00 3.28 0.00 0.000 4 0.000 0.000 2574 3437 1666

7019 1.34 141.0 84.1 18.3 438 7027 0.00 3.22 0.00 0.000 6 0.000 0.000 2570 1766 1671

7386 1.36 141.0 18.8 17.5 499 7394 0.05 2.85 0.00 0.000 4 0.000 0.000 2594 3397 1660

7475 end climb: SURFACE_DEPTH_REACHED

state 7475 begin surface coast

7490 end surface coast: CONTROL_FINISHED_OK

state 7490 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	4	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	20	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	6	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	-446598.44	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	205817,6630.854,-6026.542,19,1.1,20,18.0	TGT_NAME	TARGET_E_IN
_CALLS	5	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.220,0.068
_SM_DEPTHo	0.34	KALMAN_X	-2076.8,-1368.4,-251.2,5489.6,-695.0
_SM_ANGLEo	-70.0	KALMAN_Y	-196.9,-128.1,-29.5,2276.3,-69.5
GPS2	213729,6630.854,-6026.542,17,1.1,18,18.0	MHEAD_RNG_PITCHd_Wd	51.3,168675,-26.0,-13.750
SPEED_LIMITS	0.215,0.230	D_GRID	990

FINISH	0.3,1.025102	ALTIM_TOP_PING	19.8,19.7
SM_CCo	7523,19.67,0.000,0,0,403,452.09	ALTIM_BOTTOM_PING	428.1,67.8
SM_GC	0.34,0.00,0.00,19.67,0.000,0.000,0.000,597,1711,403,-7.65,-6.90,452.09	_24V_AH	23.7,30.317
RAFOS_CLK	0	_10V_AH	9.7,4.587
RAFOS_FIX	6630.774902,-6022.983887,081006,202020,4,80,0.66	DATA_FILE_SIZE	15890,516
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,244039680
TT8_MAMPS	0.026845	ERRORS	0,1,0,0,0,0,0,0,0,0,0,57,889,0,0
HUMID	2239	SOUNDSPEED	1459.1
INTERNAL_PRESSURE	26.0944	CURRENT	0.084,275.8,1
TCM_TEMP	15.00	GPS	081006,234547,6631.324,-6025.382,28,1.1,28,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	119	92.01	SBE_CT	422	24	240.36
Roll_motor	116	60	165.17	nil	0	0	0.00
VBD_pump_during_apogee	27	0	0.50	nil	0	0	0.00
VBD_pump_during_surface	19	600	279.78	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	1848	223	9771.11
Transponder_ping	3	420	37.33
GPS	18	50	8.92
TT8	1625	19	314.18
LPSleep	4856	2	108.83
TT8_Active	263	19	50.82
TT8_Sampling	607	39	235.07
TT8_CF8	2547	45	1134.82
TT8_Kalman	31	81	24.96
Analog_circuits	778	12	90.57
GPS_charging	0	0	0.00
Compass	515	26	130.05
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
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	-8.10	0.000	6	0.000	0.000	583	2253	2828
63	-1.49	-116.8	0.3	0.0	2	81	7.07	4.15	0.00	0.000	4	0.000	0.000	2008	436	2828
146	-0.17	-116.8	12.0	-8.8	14	155	1.38	3.40	0.00	0.000	6	0.000	0.000	2313	2132	2832
513	-0.46	-116.8	33.7	-5.7	75	521	0.80	3.42	0.00	0.000	4	0.000	0.000	2129	305	2831
549	-1.36	-116.8	35.8	-5.8	80	558	1.10	3.62	0.00	0.000	6	0.000	0.000	1866	2214	2831
916	-1.97	-116.8	88.6	-14.9	141	925	0.50	2.53	0.00	0.000	4	0.000	0.000	1758	3584	2834
963	-1.64	-116.8	96.3	-20.4	147	972	1.15	3.25	0.00	0.000	6	0.000	0.000	2002	1713	2836
1293	-1.18	-116.8	129.9	-9.1	164	1300	0.00	3.67	0.00	0.000	4	0.000	0.000	1995	3525	2830
1418	-1.23	-116.8	141.6	-9.1	169	1430	0.00	3.28	0.00	0.000	6	0.000	0.000	2000	1859	2833
1748	-1.40	-116.8	170.4	-8.5	185	1755	0.47	3.20	0.00	0.000	4	0.000	0.000	1864	3712	2826
1839	-1.52	-116.8	183.1	-14.2	188	1848	0.52	3.33	0.00	0.000	6	0.000	0.000	1994	1844	2829
2164	-1.44	-116.8	213.0	-8.7	204	2171	0.45	2.97	0.00	0.000	4	0.000	0.000	1896	3498	2832
2248	-1.51	-116.8	223.8	-14.3	207	2255	0.52	2.45	0.00	0.000	6	0.000	0.000	1995	1818	2828
2575	-1.37	-116.8	254.6	-9.0	223	2583	0.43	3.80	0.00	0.000	4	0.000	0.000	1877	3668	2829
2674	-1.41	-116.8	268.2	-14.6	227	2682	0.60	2.75	0.00	0.000	6	0.000	0.000	1985	2028	2824
3004	-1.32	-116.8	299.5	-9.4	243	3009	0.00	2.95	0.00	0.000	4	0.000	0.000	1978	3679	2833
3048	-1.32	-116.8	303.7	-9.3	245	3053	0.00	3.08	0.00	0.000	6	0.000	0.000	1978	2019	2835
3385	-1.50	-116.8	334.9	-9.4	261	3392	0.43	3.03	0.00	0.000	4	0.000	0.000	1871	3664	2834
3442	-1.50	-116.8	343.7	-14.9	263	3455	0.52	3.45	0.00	0.000	6	0.000	0.000	1975	1979	2830
3773	-1.38	-116.8	375.1	-9.6	279	3778	0.17	2.90	0.00	0.000	4	0.000	0.000	1902	3678	2827
3832	-1.38	-116.8	382.8	-12.7	281	3841	0.52	3.65	0.00	0.000	6	0.000	0.000	2052	1842	2832
4156	-1.40	-116.8	406.1	-6.5	297	4164	0.68	2.67	0.00	0.000	4	0.000	0.000	1916	3707	2831
4235	-1.80	-116.8	413.9	-12.0	300	4244	0.50	3.65	0.00	0.000	6	0.000	0.000	1794	1877	2833
4565	-1.83	-116.8	472.7	-18.2	316	4573	0.45	3.55	0.00	0.000	4	0.000	0.000	1916	3554	2835
4651	-1.34	-116.8	483.9	-12.3	319	4664	0.47	2.92	0.00	0.000	6	0.000	0.000	2032	1887	2827
4681	end dive: BOTTOM_OBSTACLE_DETECTED
state	4681	begin apogee
4694	-0.25	0.0	488.1	11.0	321	4711	0.98	0.00	14.07	0.001	6	0.000	0.000	2284	2198	2247
4711	end apogee: CONTROL_FINISHED_OK
state	4712	begin climb
4717	1.49	116.8	489.6	0.0	322	4733	1.77	0.00	11.60	0.001	6	0.000	0.000	2627	2220	1761
5041	1.49	116.8	426.5	20.8	338	5046	0.50	1.95	0.00	0.000	4	0.000	0.000	2518	3414	1759
5112	1.23	135.6	416.0	12.3	341	5121	0.00	3.47	1.65	0.001	6	0.000	0.000	2521	1759	1686
5453	1.43	141.0	370.8	13.3	357	5461	0.55	3.53	0.00	0.000	4	0.000	0.000	2582	3590	1687
5620	1.54	141.0	340.9	18.6	364	5627	0.03	2.85	0.12	0.001	6	0.000	0.000	2591	1783	1670
5946	1.55	141.0	281.8	17.7	380	5954	0.03	3.38	0.00	0.000	4	0.000	0.000	2580	3431	1671
6090	1.49	141.0	254.9	21.9	386	6097	0.00	3.38	0.00	0.000	6	0.000	0.000	2574	1773	1672
6424	1.44	141.0	193.3	18.2	402	6432	0.00	3.72	0.00	0.000	4	0.000	0.000	2560	3599	1668
6567	1.36	141.0	165.1	18.4	408	6573	0.00	3.22	0.00	0.000	6	0.000	0.000	2582	1923	1666
6901	1.41	141.0	107.2	17.6	424	6908	0.00	3.28	0.00	0.000	4	0.000	0.000	2574	3437	1666
7019	1.34	141.0	84.1	18.3	438	7027	0.00	3.22	0.00	0.000	6	0.000	0.000	2570	1766	1671
7386	1.36	141.0	18.8	17.5	499	7394	0.05	2.85	0.00	0.000	4	0.000	0.000	2594	3397	1660
7475	end climb: SURFACE_DEPTH_REACHED
state	7475	begin surface coast
7490	end surface coast: CONTROL_FINISHED_OK
state	7490	begin surface