Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 63 * 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 63 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 1 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 20 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 -447975.5 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 -447975.5

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 1 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 20 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 63 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 213104,6636.813,-6006.411,22,1.1,22,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6647.571,-6006.040

_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 -69.5 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 213519,6636.813,-6006.411,18,1.1,18,18.0 MHEAD_RNG_PITCHd_Wd 347.0,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024914 ALTIM_TOP_PING 19.8,999.0

SM_CCo 8309,14.10,0.000,0,0,393,451.84 ALTIM_BOTTOM_PING 500.0,77.8

SM_GC 0.34,0.00,0.00,14.10,0.000,0.000,0.000,626,1766,393,-7.55,-6.42,451.84 _24V_AH 23.7,46.318

RAFOS_CLK 0 _10V_AH 9.7,7.050

RAFOS_FIX 6637.762695,-6002.915527,141006,202020,4,80,1.09 DATA_FILE_SIZE 15868,501

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,240287744

TT8_MAMPS 0.023777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,62,686,0,0

HUMID 2402 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 26.0358 CURRENT 0.074,239.4,1

TCM_TEMP 15.00 GPS 141006,235558,6637.661,-6007.071,30,1.1,31,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 119 92.01 SBE_CT 413 24 234.92

Roll_motor 90 60 128.23 nil 0 0 0.00

VBD_pump_during_apogee 37 1300 1144.59 nil 0 0 0.00

VBD_pump_during_surface 14 600 200.50 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 67 223 355.78

Transponder_ping 4 420 44.79

GPS 19 50 9.48

TT8 1613 19 311.68

LPSleep 5473 2 122.64

TT8_Active 231 19 44.69

TT8_Sampling 579 39 224.21

TT8_CF8 677 45 301.76

TT8_Kalman 0 81 0.00

Analog_circuits 723 12 84.24

GPS_charging 0 0 0.00

Compass 491 26 124.03

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

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 -8.27 0.000 6 0.000 0.000 604 1748 2909

64 -1.49 -116.8 0.3 -0.0 2 82 7.03 2.70 0.00 0.000 4 0.000 0.000 2008 408 2909

298 -1.49 -116.8 28.5 -9.0 39 307 0.52 3.28 0.00 0.000 6 0.000 0.000 1870 2105 2910

667 -1.77 -116.8 86.6 -15.9 100 676 0.00 3.25 0.00 0.000 4 0.000 0.000 1885 3610 2911

739 -1.56 -116.8 98.3 -16.1 111 749 0.50 3.55 0.00 0.000 6 0.000 0.000 2005 1751 2911

1073 -1.36 -116.8 131.8 -9.7 128 1079 0.52 2.72 0.00 0.000 4 0.000 0.000 1883 272 2917

1110 -1.43 -116.8 137.8 -16.4 129 1119 0.55 3.38 0.00 0.000 6 0.000 0.000 1994 2119 2907

1435 -1.43 -116.8 170.4 -10.0 145 1442 0.47 2.90 0.00 0.000 4 0.000 0.000 1881 419 2916

1485 -1.49 -116.8 179.0 -16.5 147 1493 0.52 3.38 0.00 0.000 6 0.000 0.000 2005 2060 2913

1821 -1.49 -116.8 213.4 -9.8 163 1823 0.88 0.00 0.00 0.000 6 0.000 0.000 1877 2054 2908

2130 -1.64 -116.8 261.7 -16.0 178 2137 0.60 3.12 0.00 0.000 4 0.000 0.000 2005 359 2907

2178 -1.35 -116.8 268.8 -10.3 180 2187 0.52 3.45 0.00 0.000 6 0.000 0.000 1875 2033 2906

2514 -1.57 -116.8 322.1 -16.3 196 2517 0.52 0.00 0.00 0.000 6 0.000 0.000 2015 2018 2905

2828 -1.29 -116.8 353.9 -9.8 211 2834 0.12 2.88 0.00 0.000 4 0.000 0.000 1926 467 2914

2900 -1.36 -116.8 362.0 -13.0 214 2906 0.00 2.88 0.00 0.000 6 0.000 0.000 1942 2000 2905

3236 -1.46 -116.8 405.7 -13.0 230 3242 0.00 3.15 0.00 0.000 4 0.000 0.000 1935 3499 2913

3345 -1.35 -116.8 420.3 -13.3 234 3354 0.47 3.53 0.00 0.000 6 0.000 0.000 2058 1610 2911

3670 -1.25 -116.8 445.5 -7.4 250 3672 0.62 0.00 0.00 0.000 6 0.000 0.000 1908 1616 2907

3979 -1.47 -116.8 484.0 -12.3 265 3980 0.00 0.00 0.00 0.000 6 0.000 0.000 1940 1619 2911

4302 -1.40 -116.8 526.4 -13.0 276 4309 0.00 3.97 0.00 0.000 4 0.000 0.000 1933 3621 2915

4342 -1.29 -116.8 532.1 -12.9 276 4352 0.47 3.72 0.00 0.000 6 0.001 0.000 2053 1621 2912

4678 -1.20 -116.8 556.9 -7.3 285 4680 0.50 0.00 0.00 0.000 6 0.000 0.000 1907 1612 2914

4794 end dive: BOTTOM_OBSTACLE_DETECTED

state 4794 begin apogee

4807 -0.25 0.0 569.9 9.7 288 4826 1.35 0.00 15.75 0.000 6 0.000 0.000 2227 2267 2247

4827 end apogee: CONTROL_FINISHED_OK

state 4827 begin climb

4833 1.49 116.8 569.9 0.0 288 4849 2.12 0.00 11.52 0.000 6 0.000 0.000 2610 2284 1765

5167 1.49 116.8 511.7 19.4 297 5174 0.03 3.38 0.00 0.000 4 0.000 0.000 2644 410 1757

5268 1.30 116.8 492.6 19.7 299 5276 0.50 3.45 0.00 0.000 6 0.000 0.000 2489 2274 1754

5604 1.38 142.0 452.2 11.7 315 5613 0.40 3.45 2.25 0.000 4 0.000 0.000 2621 523 1670

5646 1.55 142.0 443.8 21.3 317 5654 0.15 3.17 0.00 0.000 6 0.000 0.000 2622 2043 1664

5986 1.57 142.0 371.7 21.6 333 5991 0.00 2.83 0.00 0.000 4 0.000 0.000 2626 3546 1668

6052 1.36 142.0 356.4 21.9 336 6060 0.50 3.42 0.00 0.000 6 0.000 0.000 2504 1661 1670

6393 1.15 153.0 311.5 12.9 352 6401 0.00 3.47 1.10 0.001 4 0.000 0.000 2524 3502 1621

6681 1.29 158.4 271.8 13.3 364 6695 0.52 2.95 0.60 0.000 6 0.000 0.000 2596 1827 1595

7006 1.40 158.4 200.3 22.7 380 7013 0.40 3.38 0.00 0.000 4 0.000 0.000 2489 3420 1591

7170 1.19 158.4 174.4 21.6 387 7175 0.10 2.45 0.00 0.000 6 0.000 0.000 2482 1904 1591

7505 1.13 158.4 125.2 19.8 403 7510 0.00 2.40 0.00 0.000 4 0.000 0.000 2487 574 1597

7541 0.91 172.5 119.7 12.6 404 7551 0.52 2.65 1.23 0.000 6 0.000 0.000 2376 2075 1542

7877 1.00 230.2 88.7 9.2 435 7885 0.65 0.00 4.70 0.000 6 0.000 0.000 2567 2065 1309

8244 1.56 230.2 8.3 22.2 496 8252 0.60 0.00 0.00 0.000 6 0.000 0.000 2685 2085 1315

8267 end climb: SURFACE_DEPTH_REACHED

state 8267 begin surface coast

8274 end surface coast: CONTROL_FINISHED_OK

state 8279 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	63	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	1	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	20	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	-447975.5	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	213104,6636.813,-6006.411,22,1.1,22,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6647.571,-6006.040
_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	-69.5	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	213519,6636.813,-6006.411,18,1.1,18,18.0	MHEAD_RNG_PITCHd_Wd	347.0,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024914	ALTIM_TOP_PING	19.8,999.0
SM_CCo	8309,14.10,0.000,0,0,393,451.84	ALTIM_BOTTOM_PING	500.0,77.8
SM_GC	0.34,0.00,0.00,14.10,0.000,0.000,0.000,626,1766,393,-7.55,-6.42,451.84	_24V_AH	23.7,46.318
RAFOS_CLK	0	_10V_AH	9.7,7.050
RAFOS_FIX	6637.762695,-6002.915527,141006,202020,4,80,1.09	DATA_FILE_SIZE	15868,501
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,240287744
TT8_MAMPS	0.023777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,62,686,0,0
HUMID	2402	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	26.0358	CURRENT	0.074,239.4,1
TCM_TEMP	15.00	GPS	141006,235558,6637.661,-6007.071,30,1.1,31,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	119	92.01	SBE_CT	413	24	234.92
Roll_motor	90	60	128.23	nil	0	0	0.00
VBD_pump_during_apogee	37	1300	1144.59	nil	0	0	0.00
VBD_pump_during_surface	14	600	200.50	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	355.78
Transponder_ping	4	420	44.79
GPS	19	50	9.48
TT8	1613	19	311.68
LPSleep	5473	2	122.64
TT8_Active	231	19	44.69
TT8_Sampling	579	39	224.21
TT8_CF8	677	45	301.76
TT8_Kalman	0	81	0.00
Analog_circuits	723	12	84.24
GPS_charging	0	0	0.00
Compass	491	26	124.03
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
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	-8.27	0.000	6	0.000	0.000	604	1748	2909
64	-1.49	-116.8	0.3	-0.0	2	82	7.03	2.70	0.00	0.000	4	0.000	0.000	2008	408	2909
298	-1.49	-116.8	28.5	-9.0	39	307	0.52	3.28	0.00	0.000	6	0.000	0.000	1870	2105	2910
667	-1.77	-116.8	86.6	-15.9	100	676	0.00	3.25	0.00	0.000	4	0.000	0.000	1885	3610	2911
739	-1.56	-116.8	98.3	-16.1	111	749	0.50	3.55	0.00	0.000	6	0.000	0.000	2005	1751	2911
1073	-1.36	-116.8	131.8	-9.7	128	1079	0.52	2.72	0.00	0.000	4	0.000	0.000	1883	272	2917
1110	-1.43	-116.8	137.8	-16.4	129	1119	0.55	3.38	0.00	0.000	6	0.000	0.000	1994	2119	2907
1435	-1.43	-116.8	170.4	-10.0	145	1442	0.47	2.90	0.00	0.000	4	0.000	0.000	1881	419	2916
1485	-1.49	-116.8	179.0	-16.5	147	1493	0.52	3.38	0.00	0.000	6	0.000	0.000	2005	2060	2913
1821	-1.49	-116.8	213.4	-9.8	163	1823	0.88	0.00	0.00	0.000	6	0.000	0.000	1877	2054	2908
2130	-1.64	-116.8	261.7	-16.0	178	2137	0.60	3.12	0.00	0.000	4	0.000	0.000	2005	359	2907
2178	-1.35	-116.8	268.8	-10.3	180	2187	0.52	3.45	0.00	0.000	6	0.000	0.000	1875	2033	2906
2514	-1.57	-116.8	322.1	-16.3	196	2517	0.52	0.00	0.00	0.000	6	0.000	0.000	2015	2018	2905
2828	-1.29	-116.8	353.9	-9.8	211	2834	0.12	2.88	0.00	0.000	4	0.000	0.000	1926	467	2914
2900	-1.36	-116.8	362.0	-13.0	214	2906	0.00	2.88	0.00	0.000	6	0.000	0.000	1942	2000	2905
3236	-1.46	-116.8	405.7	-13.0	230	3242	0.00	3.15	0.00	0.000	4	0.000	0.000	1935	3499	2913
3345	-1.35	-116.8	420.3	-13.3	234	3354	0.47	3.53	0.00	0.000	6	0.000	0.000	2058	1610	2911
3670	-1.25	-116.8	445.5	-7.4	250	3672	0.62	0.00	0.00	0.000	6	0.000	0.000	1908	1616	2907
3979	-1.47	-116.8	484.0	-12.3	265	3980	0.00	0.00	0.00	0.000	6	0.000	0.000	1940	1619	2911
4302	-1.40	-116.8	526.4	-13.0	276	4309	0.00	3.97	0.00	0.000	4	0.000	0.000	1933	3621	2915
4342	-1.29	-116.8	532.1	-12.9	276	4352	0.47	3.72	0.00	0.000	6	0.001	0.000	2053	1621	2912
4678	-1.20	-116.8	556.9	-7.3	285	4680	0.50	0.00	0.00	0.000	6	0.000	0.000	1907	1612	2914
4794	end dive: BOTTOM_OBSTACLE_DETECTED
state	4794	begin apogee
4807	-0.25	0.0	569.9	9.7	288	4826	1.35	0.00	15.75	0.000	6	0.000	0.000	2227	2267	2247
4827	end apogee: CONTROL_FINISHED_OK
state	4827	begin climb
4833	1.49	116.8	569.9	0.0	288	4849	2.12	0.00	11.52	0.000	6	0.000	0.000	2610	2284	1765
5167	1.49	116.8	511.7	19.4	297	5174	0.03	3.38	0.00	0.000	4	0.000	0.000	2644	410	1757
5268	1.30	116.8	492.6	19.7	299	5276	0.50	3.45	0.00	0.000	6	0.000	0.000	2489	2274	1754
5604	1.38	142.0	452.2	11.7	315	5613	0.40	3.45	2.25	0.000	4	0.000	0.000	2621	523	1670
5646	1.55	142.0	443.8	21.3	317	5654	0.15	3.17	0.00	0.000	6	0.000	0.000	2622	2043	1664
5986	1.57	142.0	371.7	21.6	333	5991	0.00	2.83	0.00	0.000	4	0.000	0.000	2626	3546	1668
6052	1.36	142.0	356.4	21.9	336	6060	0.50	3.42	0.00	0.000	6	0.000	0.000	2504	1661	1670
6393	1.15	153.0	311.5	12.9	352	6401	0.00	3.47	1.10	0.001	4	0.000	0.000	2524	3502	1621
6681	1.29	158.4	271.8	13.3	364	6695	0.52	2.95	0.60	0.000	6	0.000	0.000	2596	1827	1595
7006	1.40	158.4	200.3	22.7	380	7013	0.40	3.38	0.00	0.000	4	0.000	0.000	2489	3420	1591
7170	1.19	158.4	174.4	21.6	387	7175	0.10	2.45	0.00	0.000	6	0.000	0.000	2482	1904	1591
7505	1.13	158.4	125.2	19.8	403	7510	0.00	2.40	0.00	0.000	4	0.000	0.000	2487	574	1597
7541	0.91	172.5	119.7	12.6	404	7551	0.52	2.65	1.23	0.000	6	0.000	0.000	2376	2075	1542
7877	1.00	230.2	88.7	9.2	435	7885	0.65	0.00	4.70	0.000	6	0.000	0.000	2567	2065	1309
8244	1.56	230.2	8.3	22.2	496	8252	0.60	0.00	0.00	0.000	6	0.000	0.000	2685	2085	1315
8267	end climb: SURFACE_DEPTH_REACHED
state	8267	begin surface coast
8274	end surface coast: CONTROL_FINISHED_OK
state	8279	begin surface