Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 51 * 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 51 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 161 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 12 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 -447680.75 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 -447680.75

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 161 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 12 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 51 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 161222,6636.829,-6007.674,10,1.1,11,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6638.029,-6003.417

_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 -70.0 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 161650,6636.829,-6007.674,32,1.1,32,18.0 MHEAD_RNG_PITCHd_Wd 65.6,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024947 XPDR_PINGS -1

SM_CCo 8047,11.18,0.000,0,0,391,452.33 ALTIM_TOP_PING 19.4,19.7

SM_GC 0.34,0.00,0.00,11.18,0.000,0.000,0.000,659,2085,391,-7.52,2.88,452.33 ALTIM_BOTTOM_PING 501.2,74.8

RAFOS_CLK 0 _24V_AH 23.7,43.055

RAFOS 2,1160756648,16.416666,16.402222,80,0,0,0,0,0,917,0,0,0,0,0 _10V_AH 9.7,6.559

RAFOS_FIX 6637.942871,-6003.323242,131006,161645,3,80,10.78 DATA_FILE_SIZE 15892,466

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241086464

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,59,429,0,0

HUMID 2391 SOUNDSPEED 1460.0

INTERNAL_PRESSURE 26.0846 CURRENT 0.062,329.6,1

TCM_TEMP 15.00 GPS 131006,183319,6637.232,-6005.547,26,1.1,26,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 119 87.29 SBE_CT 389 24 221.47

Roll_motor 56 60 80.09 nil 0 0 0.00

VBD_pump_during_apogee 40 1300 1237.79 nil 0 0 0.00

VBD_pump_during_surface 11 600 158.91 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 67 223 355.34

Transponder_ping 4 420 44.79

GPS 32 50 15.99

TT8 1493 19 288.63

LPSleep 5508 2 123.43

TT8_Active 194 19 37.52

TT8_Sampling 490 39 190.03

TT8_CF8 654 45 291.47

TT8_Kalman 0 81 0.00

Analog_circuits 599 12 69.83

GPS_charging 0 0 0.00

Compass 401 26 101.33

RAFOS 720 1 10.48

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 58 0.00 0.00 -8.07 0.000 6 0.000 0.000 595 2124 2893

64 -1.49 -116.8 0.3 0.1 2 81 6.90 2.65 0.00 0.000 4 0.000 0.000 1999 3569 2891

239 -1.49 -116.8 22.3 -8.9 29 249 0.52 3.50 0.00 0.000 6 0.000 0.000 1842 1920 2894

610 -1.75 -116.8 83.3 -16.9 90 618 0.00 3.08 0.00 0.000 4 0.000 0.000 1844 3378 2890

699 -1.42 -116.8 98.2 -16.5 104 708 0.77 3.03 0.00 0.000 6 0.000 0.000 2064 1883 2895

1031 -1.22 -116.8 124.2 -7.7 121 1038 0.43 2.95 0.00 0.000 4 0.000 0.000 1928 3547 2886

1122 -1.42 -116.8 134.9 -12.7 124 1130 0.05 2.58 0.00 0.000 6 0.000 0.000 1929 2189 2895

1447 -1.44 -116.8 176.5 -12.9 140 1448 0.00 0.00 0.00 0.000 6 0.000 0.000 1929 2186 2893

1751 -1.31 -116.8 216.3 -12.9 155 1753 0.45 0.00 0.00 0.000 6 0.000 0.000 2077 2189 2890

2065 -1.17 -116.8 240.9 -7.6 170 2067 0.45 0.00 0.00 0.000 6 0.000 0.000 1920 2203 2889

2374 -1.36 -116.8 280.2 -13.2 185 2380 0.60 2.62 0.00 0.000 4 0.000 0.000 2030 3538 2889

2406 -1.21 -116.8 284.6 -11.0 186 2412 0.52 2.67 0.00 0.000 6 0.000 0.000 1926 2222 2888

2730 -1.40 -116.8 324.0 -13.3 201 2732 0.10 0.00 0.00 0.000 6 0.000 0.000 1917 2209 2894

3040 -1.24 -116.8 363.8 -11.5 216 3042 0.57 0.00 0.00 0.000 6 0.000 0.000 2036 2204 2893

3349 -1.19 -116.8 389.4 -7.8 231 3351 0.03 0.00 0.00 0.000 6 0.000 0.000 2046 2222 2897

3658 -1.36 -116.8 413.7 -7.8 246 3660 0.47 0.00 0.00 0.000 6 0.000 0.000 1938 2211 2893

3967 -1.53 -116.8 454.5 -13.6 261 3969 0.00 0.00 0.00 0.000 6 0.000 0.000 1906 2215 2893

4272 -1.36 -116.8 496.5 -13.5 276 4274 0.55 0.00 0.00 0.000 6 0.000 0.000 1989 2220 2893

4597 -1.19 -116.8 528.2 -8.8 285 4599 0.10 0.00 0.00 0.000 6 0.000 0.000 2039 2219 2890

4922 -1.27 -116.8 555.5 -7.8 293 4924 0.50 0.00 0.00 0.000 6 0.000 0.000 1913 2213 2893

5038 end dive: BOTTOM_OBSTACLE_DETECTED

state 5038 begin apogee

5051 -0.25 0.0 570.7 11.4 296 5071 2.08 0.00 15.55 0.000 6 0.000 0.000 2271 1870 2251

5072 end apogee: CONTROL_FINISHED_OK

state 5072 begin climb

5077 1.49 116.8 570.7 0.0 296 5093 1.52 0.00 11.30 0.000 6 0.000 0.000 2662 1898 1766

5413 1.49 116.8 506.7 21.1 305 5420 0.50 3.20 0.00 0.000 4 0.000 0.000 2535 3689 1771

5532 1.23 124.7 489.0 13.1 309 5540 0.00 3.05 0.77 0.000 6 0.000 0.000 2535 2049 1732

5867 1.43 124.7 440.3 16.4 325 5872 0.40 2.25 0.00 0.000 4 0.000 0.000 2649 3577 1723

5953 1.34 124.7 422.2 22.5 328 5962 0.77 2.92 0.00 0.000 6 0.000 0.000 2476 2004 1727

6278 1.19 168.1 377.1 10.3 344 6290 0.82 2.97 4.25 0.000 4 0.000 0.000 2593 3540 1549

6360 1.46 168.1 362.0 21.1 347 6364 0.00 2.15 0.00 0.000 6 0.000 0.000 2584 2179 1553

6685 1.46 168.1 295.5 20.8 362 6686 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2182 1558

6989 1.33 168.1 222.0 24.6 377 6995 0.35 2.88 0.00 0.000 4 0.000 0.000 2547 3675 1551

7037 0.87 168.1 213.1 15.9 379 7043 0.47 2.70 0.00 0.000 6 0.000 0.000 2414 2343 1556

7368 1.06 241.5 185.9 7.9 395 7383 0.77 3.10 5.90 0.000 4 0.000 0.000 2539 575 1255

7397 1.55 271.8 180.7 11.3 396 7411 0.45 2.67 2.40 0.001 6 0.000 0.000 2653 2252 1132

7736 1.86 271.8 71.8 34.7 421 7744 0.00 2.22 0.00 0.000 4 0.000 0.000 2661 3587 1126

7803 1.55 271.8 47.1 33.5 431 7812 0.52 2.60 0.00 0.000 6 0.000 0.000 2536 2078 1131

8005 end climb: SURFACE_DEPTH_REACHED

state 8005 begin surface coast

8019 end surface coast: CONTROL_FINISHED_OK

state 8019 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	51	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	161	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	12	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	-447680.75	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	161222,6636.829,-6007.674,10,1.1,11,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6638.029,-6003.417
_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	-70.0	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	161650,6636.829,-6007.674,32,1.1,32,18.0	MHEAD_RNG_PITCHd_Wd	65.6,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024947	XPDR_PINGS	-1
SM_CCo	8047,11.18,0.000,0,0,391,452.33	ALTIM_TOP_PING	19.4,19.7
SM_GC	0.34,0.00,0.00,11.18,0.000,0.000,0.000,659,2085,391,-7.52,2.88,452.33	ALTIM_BOTTOM_PING	501.2,74.8
RAFOS_CLK	0	_24V_AH	23.7,43.055
RAFOS	2,1160756648,16.416666,16.402222,80,0,0,0,0,0,917,0,0,0,0,0	_10V_AH	9.7,6.559
RAFOS_FIX	6637.942871,-6003.323242,131006,161645,3,80,10.78	DATA_FILE_SIZE	15892,466
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241086464
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,59,429,0,0
HUMID	2391	SOUNDSPEED	1460.0
INTERNAL_PRESSURE	26.0846	CURRENT	0.062,329.6,1
TCM_TEMP	15.00	GPS	131006,183319,6637.232,-6005.547,26,1.1,26,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	119	87.29	SBE_CT	389	24	221.47
Roll_motor	56	60	80.09	nil	0	0	0.00
VBD_pump_during_apogee	40	1300	1237.79	nil	0	0	0.00
VBD_pump_during_surface	11	600	158.91	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	355.34
Transponder_ping	4	420	44.79
GPS	32	50	15.99
TT8	1493	19	288.63
LPSleep	5508	2	123.43
TT8_Active	194	19	37.52
TT8_Sampling	490	39	190.03
TT8_CF8	654	45	291.47
TT8_Kalman	0	81	0.00
Analog_circuits	599	12	69.83
GPS_charging	0	0	0.00
Compass	401	26	101.33
RAFOS	720	1	10.48

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	58	0.00	0.00	-8.07	0.000	6	0.000	0.000	595	2124	2893
64	-1.49	-116.8	0.3	0.1	2	81	6.90	2.65	0.00	0.000	4	0.000	0.000	1999	3569	2891
239	-1.49	-116.8	22.3	-8.9	29	249	0.52	3.50	0.00	0.000	6	0.000	0.000	1842	1920	2894
610	-1.75	-116.8	83.3	-16.9	90	618	0.00	3.08	0.00	0.000	4	0.000	0.000	1844	3378	2890
699	-1.42	-116.8	98.2	-16.5	104	708	0.77	3.03	0.00	0.000	6	0.000	0.000	2064	1883	2895
1031	-1.22	-116.8	124.2	-7.7	121	1038	0.43	2.95	0.00	0.000	4	0.000	0.000	1928	3547	2886
1122	-1.42	-116.8	134.9	-12.7	124	1130	0.05	2.58	0.00	0.000	6	0.000	0.000	1929	2189	2895
1447	-1.44	-116.8	176.5	-12.9	140	1448	0.00	0.00	0.00	0.000	6	0.000	0.000	1929	2186	2893
1751	-1.31	-116.8	216.3	-12.9	155	1753	0.45	0.00	0.00	0.000	6	0.000	0.000	2077	2189	2890
2065	-1.17	-116.8	240.9	-7.6	170	2067	0.45	0.00	0.00	0.000	6	0.000	0.000	1920	2203	2889
2374	-1.36	-116.8	280.2	-13.2	185	2380	0.60	2.62	0.00	0.000	4	0.000	0.000	2030	3538	2889
2406	-1.21	-116.8	284.6	-11.0	186	2412	0.52	2.67	0.00	0.000	6	0.000	0.000	1926	2222	2888
2730	-1.40	-116.8	324.0	-13.3	201	2732	0.10	0.00	0.00	0.000	6	0.000	0.000	1917	2209	2894
3040	-1.24	-116.8	363.8	-11.5	216	3042	0.57	0.00	0.00	0.000	6	0.000	0.000	2036	2204	2893
3349	-1.19	-116.8	389.4	-7.8	231	3351	0.03	0.00	0.00	0.000	6	0.000	0.000	2046	2222	2897
3658	-1.36	-116.8	413.7	-7.8	246	3660	0.47	0.00	0.00	0.000	6	0.000	0.000	1938	2211	2893
3967	-1.53	-116.8	454.5	-13.6	261	3969	0.00	0.00	0.00	0.000	6	0.000	0.000	1906	2215	2893
4272	-1.36	-116.8	496.5	-13.5	276	4274	0.55	0.00	0.00	0.000	6	0.000	0.000	1989	2220	2893
4597	-1.19	-116.8	528.2	-8.8	285	4599	0.10	0.00	0.00	0.000	6	0.000	0.000	2039	2219	2890
4922	-1.27	-116.8	555.5	-7.8	293	4924	0.50	0.00	0.00	0.000	6	0.000	0.000	1913	2213	2893
5038	end dive: BOTTOM_OBSTACLE_DETECTED
state	5038	begin apogee
5051	-0.25	0.0	570.7	11.4	296	5071	2.08	0.00	15.55	0.000	6	0.000	0.000	2271	1870	2251
5072	end apogee: CONTROL_FINISHED_OK
state	5072	begin climb
5077	1.49	116.8	570.7	0.0	296	5093	1.52	0.00	11.30	0.000	6	0.000	0.000	2662	1898	1766
5413	1.49	116.8	506.7	21.1	305	5420	0.50	3.20	0.00	0.000	4	0.000	0.000	2535	3689	1771
5532	1.23	124.7	489.0	13.1	309	5540	0.00	3.05	0.77	0.000	6	0.000	0.000	2535	2049	1732
5867	1.43	124.7	440.3	16.4	325	5872	0.40	2.25	0.00	0.000	4	0.000	0.000	2649	3577	1723
5953	1.34	124.7	422.2	22.5	328	5962	0.77	2.92	0.00	0.000	6	0.000	0.000	2476	2004	1727
6278	1.19	168.1	377.1	10.3	344	6290	0.82	2.97	4.25	0.000	4	0.000	0.000	2593	3540	1549
6360	1.46	168.1	362.0	21.1	347	6364	0.00	2.15	0.00	0.000	6	0.000	0.000	2584	2179	1553
6685	1.46	168.1	295.5	20.8	362	6686	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2182	1558
6989	1.33	168.1	222.0	24.6	377	6995	0.35	2.88	0.00	0.000	4	0.000	0.000	2547	3675	1551
7037	0.87	168.1	213.1	15.9	379	7043	0.47	2.70	0.00	0.000	6	0.000	0.000	2414	2343	1556
7368	1.06	241.5	185.9	7.9	395	7383	0.77	3.10	5.90	0.000	4	0.000	0.000	2539	575	1255
7397	1.55	271.8	180.7	11.3	396	7411	0.45	2.67	2.40	0.001	6	0.000	0.000	2653	2252	1132
7736	1.86	271.8	71.8	34.7	421	7744	0.00	2.22	0.00	0.000	4	0.000	0.000	2661	3587	1126
7803	1.55	271.8	47.1	33.5	431	7812	0.52	2.60	0.00	0.000	6	0.000	0.000	2536	2078	1131
8005	end climb: SURFACE_DEPTH_REACHED
state	8005	begin surface coast
8019	end surface coast: CONTROL_FINISHED_OK
state	8019	begin surface