Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 42 * 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 42 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 172 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 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 -447497.03 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 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 -447497.03

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 172 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 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 42 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 181902,6638.036,-6007.619,11,1.1,11,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6634.589,-6011.688

_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 -69.8 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 182303,6638.036,-6007.619,10,1.1,10,18.0 MHEAD_RNG_PITCHd_Wd 233.4,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025029 XPDR_PINGS -1

SM_CCo 7857,13.23,0.000,0,0,390,452.33 ALTIM_TOP_PING 19.0,18.6

SM_GC 0.34,0.00,0.00,13.23,0.000,0.000,0.000,616,2120,390,-7.66,3.68,452.33 ALTIM_BOTTOM_PING 500.1,72.7

RAFOS_CLK 0 _24V_AH 23.7,40.645

RAFOS 0,1160683442,20.083334,20.067223,80,0,0,0,0,0,581,0,0,0,0,0 _10V_AH 9.7,6.198

RAFOS_FIX 6637.973633,-6003.943359,121006,202000,3,80,0.40 DATA_FILE_SIZE 15843,465

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241668096

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,64,687,0,0

HUMID 2346 SOUNDSPEED 1459.9

INTERNAL_PRESSURE 26.0651 CURRENT 0.074,130.8,1

TCM_TEMP 15.00 GPS 121006,203624,6637.422,-6009.117,24,1.1,24,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 119 92.08 SBE_CT 383 24 218.34

Roll_motor 88 60 126.52 nil 0 0 0.00

VBD_pump_during_apogee 37 1300 1166.16 nil 0 0 0.00

VBD_pump_during_surface 13 600 188.06 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 66 223 353.59

Transponder_ping 4 420 44.79

GPS 10 50 5.33

TT8 1529 19 295.57

LPSleep 5197 2 116.47

TT8_Active 224 19 43.37

TT8_Sampling 528 39 204.80

TT8_CF8 647 45 288.48

TT8_Kalman 0 81 0.00

Analog_circuits 680 12 79.26

GPS_charging 0 0 0.00

Compass 451 26 113.97

RAFOS 1080 1 15.71

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 -8.02 0.000 6 0.000 0.000 642 1906 2877

63 -1.49 -116.8 0.3 -0.0 2 81 6.62 2.92 0.00 0.000 4 0.000 0.000 2052 3569 2875

323 -1.49 -116.8 25.4 -7.7 44 333 0.77 2.75 0.00 0.000 6 0.000 0.000 1870 1935 2877

692 -1.79 -116.8 83.4 -16.3 105 700 0.00 3.42 0.00 0.000 4 0.000 0.000 1863 3563 2876

775 -1.46 -116.8 97.0 -16.1 118 784 0.60 2.70 0.00 0.000 6 0.000 0.000 1973 1878 2877

1109 -1.31 -116.8 131.4 -10.1 135 1114 0.00 3.15 0.00 0.000 4 0.000 0.000 1999 3546 2875

1206 -1.33 -116.8 141.5 -10.1 139 1213 0.00 3.15 0.00 0.000 6 0.000 0.000 1986 2217 2875

1540 -1.48 -116.8 175.1 -10.2 155 1548 0.43 3.12 0.00 0.000 4 0.000 0.000 1887 494 2875

1566 -1.48 -116.8 178.7 -11.5 156 1574 0.52 2.85 0.00 0.000 6 0.000 0.000 1967 2164 2875

1901 -1.46 -116.8 214.4 -10.3 172 1906 0.08 2.22 0.00 0.000 4 0.000 0.000 1916 3677 2871

1945 -1.46 -116.8 219.6 -13.4 174 1951 0.03 3.08 0.00 0.000 6 0.000 0.000 1898 2182 2877

2277 -1.55 -116.8 263.0 -13.3 190 2278 0.05 0.00 0.00 0.000 6 0.000 0.000 1916 2176 2871

2590 -1.38 -116.8 303.9 -13.3 205 2598 0.57 3.28 0.00 0.000 4 0.000 0.000 2038 3664 2873

2617 -1.21 -116.8 307.2 -10.4 206 2621 0.00 2.45 0.00 0.000 6 0.000 0.000 2025 2200 2881

2953 -1.35 -116.8 332.7 -6.9 222 2955 0.45 0.00 0.00 0.000 6 0.000 0.000 1932 2205 2872

3261 -1.51 -116.8 371.5 -13.0 237 3262 0.00 0.00 0.00 0.000 6 0.000 0.000 1917 2199 2878

3565 -1.35 -116.8 411.8 -13.1 252 3568 0.85 0.00 0.00 0.000 6 0.000 0.000 2055 2191 2872

3879 -1.19 -116.8 436.8 -7.8 267 3885 0.55 2.75 0.00 0.000 4 0.000 0.000 1920 3384 2871

3925 -1.34 -116.8 442.1 -13.3 269 3930 0.50 1.98 0.00 0.000 6 0.000 0.000 2037 2207 2873

4255 -1.29 -116.8 469.4 -8.0 285 4263 0.47 2.97 0.00 0.000 4 0.000 0.000 1916 538 2877

4281 -1.78 -116.8 472.0 -10.0 286 4288 0.00 3.47 0.00 0.000 6 0.000 0.000 1935 2358 2877

4619 -1.88 -116.8 516.2 -13.2 299 4621 0.50 0.00 0.00 0.000 6 0.000 0.000 1787 2345 2871

4898 end dive: BOTTOM_OBSTACLE_DETECTED

state 4898 begin apogee

4911 -0.25 0.0 569.9 19.2 306 4937 2.88 0.00 14.90 0.000 6 0.000 0.000 2275 1857 2246

4938 end apogee: CONTROL_FINISHED_OK

state 4938 begin climb

4943 1.49 116.8 572.5 0.0 307 4964 1.73 3.67 11.45 0.001 4 0.000 0.000 2658 3530 1763

5027 1.49 116.8 558.8 21.3 308 5037 0.50 3.83 0.00 0.000 6 0.000 0.000 2518 1706 1762

5363 1.36 126.8 513.3 13.0 317 5372 0.35 3.95 0.73 0.001 4 0.000 0.000 2586 3556 1730

5528 1.46 126.8 484.5 17.2 322 5535 0.00 3.28 0.00 0.000 6 0.000 0.000 2583 1850 1729

5862 1.10 126.8 426.9 17.6 338 5870 0.88 2.85 0.00 0.000 4 0.000 0.000 2407 3372 1730

6026 1.00 216.1 413.3 6.7 345 6041 0.52 2.85 8.45 0.001 6 0.000 0.000 2502 1854 1365

6355 1.60 216.1 359.3 17.0 360 6363 0.50 3.47 0.00 0.000 4 0.000 0.000 2640 3677 1358

6477 1.69 216.1 325.1 31.2 365 6485 0.00 3.65 0.00 0.000 6 0.000 0.000 2641 1994 1363

6812 1.57 216.1 232.6 28.5 381 6819 0.08 3.28 0.00 0.000 4 0.000 0.000 2622 3490 1366

6910 1.31 216.1 202.9 29.7 385 6915 0.77 2.05 0.00 0.000 6 0.000 0.000 2449 2333 1362

7243 1.17 242.6 160.4 11.6 401 7254 0.57 4.20 2.33 0.000 4 0.000 0.000 2582 406 1249

7274 1.47 242.6 153.9 23.2 402 7286 0.00 3.67 0.00 0.000 6 0.000 0.000 2580 2458 1256

7613 1.65 242.6 74.4 23.6 430 7620 0.60 0.00 0.00 0.000 6 0.000 0.000 2674 2441 1252

7814 end climb: SURFACE_DEPTH_REACHED

state 7814 begin surface coast

7827 end surface coast: CONTROL_FINISHED_OK

state 7827 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	42	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	172	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	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	-447497.03	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	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	181902,6638.036,-6007.619,11,1.1,11,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6634.589,-6011.688
_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	-69.8	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	182303,6638.036,-6007.619,10,1.1,10,18.0	MHEAD_RNG_PITCHd_Wd	233.4,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025029	XPDR_PINGS	-1
SM_CCo	7857,13.23,0.000,0,0,390,452.33	ALTIM_TOP_PING	19.0,18.6
SM_GC	0.34,0.00,0.00,13.23,0.000,0.000,0.000,616,2120,390,-7.66,3.68,452.33	ALTIM_BOTTOM_PING	500.1,72.7
RAFOS_CLK	0	_24V_AH	23.7,40.645
RAFOS	0,1160683442,20.083334,20.067223,80,0,0,0,0,0,581,0,0,0,0,0	_10V_AH	9.7,6.198
RAFOS_FIX	6637.973633,-6003.943359,121006,202000,3,80,0.40	DATA_FILE_SIZE	15843,465
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241668096
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,64,687,0,0
HUMID	2346	SOUNDSPEED	1459.9
INTERNAL_PRESSURE	26.0651	CURRENT	0.074,130.8,1
TCM_TEMP	15.00	GPS	121006,203624,6637.422,-6009.117,24,1.1,24,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	119	92.08	SBE_CT	383	24	218.34
Roll_motor	88	60	126.52	nil	0	0	0.00
VBD_pump_during_apogee	37	1300	1166.16	nil	0	0	0.00
VBD_pump_during_surface	13	600	188.06	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	66	223	353.59
Transponder_ping	4	420	44.79
GPS	10	50	5.33
TT8	1529	19	295.57
LPSleep	5197	2	116.47
TT8_Active	224	19	43.37
TT8_Sampling	528	39	204.80
TT8_CF8	647	45	288.48
TT8_Kalman	0	81	0.00
Analog_circuits	680	12	79.26
GPS_charging	0	0	0.00
Compass	451	26	113.97
RAFOS	1080	1	15.71

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	-8.02	0.000	6	0.000	0.000	642	1906	2877
63	-1.49	-116.8	0.3	-0.0	2	81	6.62	2.92	0.00	0.000	4	0.000	0.000	2052	3569	2875
323	-1.49	-116.8	25.4	-7.7	44	333	0.77	2.75	0.00	0.000	6	0.000	0.000	1870	1935	2877
692	-1.79	-116.8	83.4	-16.3	105	700	0.00	3.42	0.00	0.000	4	0.000	0.000	1863	3563	2876
775	-1.46	-116.8	97.0	-16.1	118	784	0.60	2.70	0.00	0.000	6	0.000	0.000	1973	1878	2877
1109	-1.31	-116.8	131.4	-10.1	135	1114	0.00	3.15	0.00	0.000	4	0.000	0.000	1999	3546	2875
1206	-1.33	-116.8	141.5	-10.1	139	1213	0.00	3.15	0.00	0.000	6	0.000	0.000	1986	2217	2875
1540	-1.48	-116.8	175.1	-10.2	155	1548	0.43	3.12	0.00	0.000	4	0.000	0.000	1887	494	2875
1566	-1.48	-116.8	178.7	-11.5	156	1574	0.52	2.85	0.00	0.000	6	0.000	0.000	1967	2164	2875
1901	-1.46	-116.8	214.4	-10.3	172	1906	0.08	2.22	0.00	0.000	4	0.000	0.000	1916	3677	2871
1945	-1.46	-116.8	219.6	-13.4	174	1951	0.03	3.08	0.00	0.000	6	0.000	0.000	1898	2182	2877
2277	-1.55	-116.8	263.0	-13.3	190	2278	0.05	0.00	0.00	0.000	6	0.000	0.000	1916	2176	2871
2590	-1.38	-116.8	303.9	-13.3	205	2598	0.57	3.28	0.00	0.000	4	0.000	0.000	2038	3664	2873
2617	-1.21	-116.8	307.2	-10.4	206	2621	0.00	2.45	0.00	0.000	6	0.000	0.000	2025	2200	2881
2953	-1.35	-116.8	332.7	-6.9	222	2955	0.45	0.00	0.00	0.000	6	0.000	0.000	1932	2205	2872
3261	-1.51	-116.8	371.5	-13.0	237	3262	0.00	0.00	0.00	0.000	6	0.000	0.000	1917	2199	2878
3565	-1.35	-116.8	411.8	-13.1	252	3568	0.85	0.00	0.00	0.000	6	0.000	0.000	2055	2191	2872
3879	-1.19	-116.8	436.8	-7.8	267	3885	0.55	2.75	0.00	0.000	4	0.000	0.000	1920	3384	2871
3925	-1.34	-116.8	442.1	-13.3	269	3930	0.50	1.98	0.00	0.000	6	0.000	0.000	2037	2207	2873
4255	-1.29	-116.8	469.4	-8.0	285	4263	0.47	2.97	0.00	0.000	4	0.000	0.000	1916	538	2877
4281	-1.78	-116.8	472.0	-10.0	286	4288	0.00	3.47	0.00	0.000	6	0.000	0.000	1935	2358	2877
4619	-1.88	-116.8	516.2	-13.2	299	4621	0.50	0.00	0.00	0.000	6	0.000	0.000	1787	2345	2871
4898	end dive: BOTTOM_OBSTACLE_DETECTED
state	4898	begin apogee
4911	-0.25	0.0	569.9	19.2	306	4937	2.88	0.00	14.90	0.000	6	0.000	0.000	2275	1857	2246
4938	end apogee: CONTROL_FINISHED_OK
state	4938	begin climb
4943	1.49	116.8	572.5	0.0	307	4964	1.73	3.67	11.45	0.001	4	0.000	0.000	2658	3530	1763
5027	1.49	116.8	558.8	21.3	308	5037	0.50	3.83	0.00	0.000	6	0.000	0.000	2518	1706	1762
5363	1.36	126.8	513.3	13.0	317	5372	0.35	3.95	0.73	0.001	4	0.000	0.000	2586	3556	1730
5528	1.46	126.8	484.5	17.2	322	5535	0.00	3.28	0.00	0.000	6	0.000	0.000	2583	1850	1729
5862	1.10	126.8	426.9	17.6	338	5870	0.88	2.85	0.00	0.000	4	0.000	0.000	2407	3372	1730
6026	1.00	216.1	413.3	6.7	345	6041	0.52	2.85	8.45	0.001	6	0.000	0.000	2502	1854	1365
6355	1.60	216.1	359.3	17.0	360	6363	0.50	3.47	0.00	0.000	4	0.000	0.000	2640	3677	1358
6477	1.69	216.1	325.1	31.2	365	6485	0.00	3.65	0.00	0.000	6	0.000	0.000	2641	1994	1363
6812	1.57	216.1	232.6	28.5	381	6819	0.08	3.28	0.00	0.000	4	0.000	0.000	2622	3490	1366
6910	1.31	216.1	202.9	29.7	385	6915	0.77	2.05	0.00	0.000	6	0.000	0.000	2449	2333	1362
7243	1.17	242.6	160.4	11.6	401	7254	0.57	4.20	2.33	0.000	4	0.000	0.000	2582	406	1249
7274	1.47	242.6	153.9	23.2	402	7286	0.00	3.67	0.00	0.000	6	0.000	0.000	2580	2458	1256
7613	1.65	242.6	74.4	23.6	430	7620	0.60	0.00	0.00	0.000	6	0.000	0.000	2674	2441	1252
7814	end climb: SURFACE_DEPTH_REACHED
state	7814	begin surface coast
7827	end surface coast: CONTROL_FINISHED_OK
state	7827	begin surface