Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 67 * 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 67 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 12 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 3 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 -448041.59 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 -448041.59

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 12 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 3 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 67 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 065924,6637.122,-6006.002,29,1.1,30,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6645.992,-6008.433

_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 070327,6637.122,-6006.002,10,1.1,10,18.0 MHEAD_RNG_PITCHd_Wd 307.2,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025597 XPDR_PINGS -1

SM_CCo 7986,16.85,0.000,0,0,398,451.35 ALTIM_TOP_PING 19.7,20.1

SM_GC 0.34,0.00,0.00,16.85,0.000,0.000,0.000,608,1835,398,-7.65,-4.64,451.35 ALTIM_BOTTOM_PING 500.5,77.6

RAFOS_CLK 0 _24V_AH 23.7,47.369

RAFOS 0,1160899460,8.083333,8.072222,80,0,0,0,0,0,486,0,0,0,0,0 _10V_AH 9.7,7.209

RAFOS_FIX 6637.386230,-6003.008301,151006,080820,4,80,0.48 DATA_FILE_SIZE 15830,483

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,240033792

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,65,735,0,0

HUMID 2351 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 26.0553 CURRENT 0.080,200.4,1

TCM_TEMP 15.00 GPS 151006,091906,6637.484,-6008.083,28,1.1,28,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 87.85 SBE_CT 403 24 229.46

Roll_motor 94 60 133.67 nil 0 0 0.00

VBD_pump_during_apogee 32 1300 1007.49 nil 0 0 0.00

VBD_pump_during_surface 16 600 239.61 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 67 223 357.61

Transponder_ping 4 420 44.79

GPS 10 50 5.25

TT8 1611 19 311.32

LPSleep 5157 2 115.55

TT8_Active 240 19 46.50

TT8_Sampling 573 39 221.91

TT8_CF8 681 45 303.39

TT8_Kalman 0 81 0.00

Analog_circuits 733 12 85.33

GPS_charging 0 0 0.00

Compass 491 26 124.03

RAFOS 1440 1 20.95

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 59 0.00 0.00 -8.23 0.000 6 0.000 0.000 594 2128 2866

65 -1.49 -116.8 0.3 -0.0 2 83 7.18 3.03 0.00 0.000 4 0.000 0.000 2003 292 2864

185 -1.49 -116.8 17.3 -9.0 20 194 0.50 3.62 0.00 0.000 6 0.000 0.000 1875 2158 2862

556 -1.75 -116.8 72.1 -15.1 81 563 0.00 0.00 0.00 0.000 6 0.000 0.000 1879 2160 2861

917 -1.49 -116.8 125.5 -15.1 120 925 0.40 3.53 0.00 0.000 4 0.000 0.000 2002 327 2865

966 -1.22 -116.8 132.2 -9.3 122 973 0.00 3.28 0.00 0.000 6 0.000 0.000 1985 1975 2861

1307 -1.48 -116.8 163.8 -9.4 138 1315 0.60 3.03 0.00 0.000 4 0.000 0.000 1866 338 2867

1337 -1.53 -116.8 168.1 -13.0 139 1345 0.50 3.72 0.00 0.000 6 0.000 0.000 1979 2146 2865

1675 -1.48 -116.8 201.6 -9.9 155 1683 0.50 3.53 0.00 0.000 4 0.000 0.000 1864 308 2863

1732 -1.51 -116.8 211.1 -15.9 157 1746 0.60 3.53 0.00 0.000 6 0.000 0.000 1997 1869 2864

2062 -1.44 -116.8 244.3 -10.1 173 2064 0.28 0.00 0.00 0.000 6 0.000 0.000 1923 1866 2863

2372 -1.44 -116.8 282.7 -12.4 188 2373 0.25 0.00 0.00 0.000 6 0.000 0.000 1929 1858 2859

2681 -1.33 -116.8 322.1 -12.7 203 2688 0.85 2.47 0.00 0.000 4 0.000 0.000 2049 511 2865

2732 -1.18 -116.8 327.5 -7.1 205 2740 0.52 2.78 0.00 0.000 6 0.000 0.000 1926 2005 2869

3062 -1.51 -116.8 363.2 -11.9 221 3064 0.08 0.00 0.00 0.000 6 0.000 0.000 1939 2000 2861

3377 -1.40 -116.8 400.2 -12.1 236 3384 0.00 3.40 0.00 0.000 4 0.000 0.000 1946 336 2869

3429 -1.30 -116.8 407.4 -11.8 238 3435 0.35 2.72 0.00 0.000 6 0.000 0.000 1997 2143 2866

3755 -1.47 -116.8 437.5 -9.1 254 3763 0.55 3.53 0.00 0.000 4 0.000 0.000 1953 304 2874

3796 -1.55 -116.8 442.2 -11.6 255 3806 0.03 3.05 0.00 0.000 6 0.000 0.000 1946 1945 2864

4116 -1.77 -116.8 478.1 -11.6 271 4124 0.52 3.25 0.00 0.000 4 0.000 0.000 1883 315 2870

4151 -1.70 -116.8 483.2 -14.9 272 4164 0.00 3.55 0.00 0.000 6 0.000 0.000 1891 1993 2862

4473 -1.73 -116.8 530.8 -15.1 283 4478 0.00 2.58 0.00 0.000 4 0.000 0.000 1877 3322 2858

4586 -1.47 -116.8 547.4 -14.8 285 4593 0.47 2.83 0.00 0.000 6 0.000 0.000 2006 1668 2861

4811 end dive: BOTTOM_OBSTACLE_DETECTED

state 4811 begin apogee

4823 -0.25 0.0 569.3 8.7 291 4841 1.12 0.00 14.88 0.000 6 0.000 0.000 2223 1850 2237

4842 end apogee: CONTROL_FINISHED_OK

state 4842 begin climb

4848 1.49 116.8 569.3 0.0 291 4868 1.92 3.15 11.20 0.001 4 0.000 0.000 2665 313 1765

4904 1.49 116.8 562.0 22.7 292 4912 0.68 2.97 0.00 0.000 6 0.000 0.000 2554 1846 1764

5261 1.47 116.8 509.4 14.3 301 5268 0.45 3.03 0.00 0.000 4 0.000 0.000 2661 3537 1762

5544 1.47 116.8 444.5 23.1 312 5557 0.52 3.25 0.00 0.000 6 0.000 0.000 2541 1852 1769

5874 1.16 116.8 396.5 14.6 328 5879 0.50 2.53 0.00 0.000 4 0.000 0.000 2420 3527 1759

6107 1.16 187.5 376.2 8.1 338 6121 0.52 3.50 6.62 0.001 6 0.000 0.000 2546 1828 1484

6442 1.61 187.5 316.9 18.3 353 6444 0.50 0.00 0.00 0.000 6 0.000 0.000 2665 1825 1497

6745 1.59 187.5 230.4 29.0 368 6751 0.45 2.78 0.00 0.000 4 0.000 0.000 2534 3357 1483

6818 1.26 187.5 217.0 18.2 371 6823 0.05 2.35 0.00 0.000 6 0.000 0.000 2551 1854 1486

7153 1.27 187.5 155.8 18.3 387 7161 0.03 3.25 0.00 0.000 4 0.000 0.000 2542 3554 1481

7264 1.27 187.5 131.9 18.4 391 7272 0.00 3.03 0.00 0.000 6 0.000 0.000 2553 1851 1490

7600 1.29 187.5 71.0 18.3 425 7609 0.00 3.38 0.00 0.000 4 0.000 0.000 2534 3466 1486

7662 1.27 187.5 59.8 18.3 434 7671 0.03 3.05 0.00 0.000 6 0.000 0.000 2546 1838 1483

7949 end climb: SURFACE_DEPTH_REACHED

state 7949 begin surface coast

7956 end surface coast: CONTROL_FINISHED_OK

state 7956 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	67	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	12	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	3	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	-448041.59	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	065924,6637.122,-6006.002,29,1.1,30,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6645.992,-6008.433
_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	070327,6637.122,-6006.002,10,1.1,10,18.0	MHEAD_RNG_PITCHd_Wd	307.2,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025597	XPDR_PINGS	-1
SM_CCo	7986,16.85,0.000,0,0,398,451.35	ALTIM_TOP_PING	19.7,20.1
SM_GC	0.34,0.00,0.00,16.85,0.000,0.000,0.000,608,1835,398,-7.65,-4.64,451.35	ALTIM_BOTTOM_PING	500.5,77.6
RAFOS_CLK	0	_24V_AH	23.7,47.369
RAFOS	0,1160899460,8.083333,8.072222,80,0,0,0,0,0,486,0,0,0,0,0	_10V_AH	9.7,7.209
RAFOS_FIX	6637.386230,-6003.008301,151006,080820,4,80,0.48	DATA_FILE_SIZE	15830,483
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,240033792
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,65,735,0,0
HUMID	2351	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	26.0553	CURRENT	0.080,200.4,1
TCM_TEMP	15.00	GPS	151006,091906,6637.484,-6008.083,28,1.1,28,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	87.85	SBE_CT	403	24	229.46
Roll_motor	94	60	133.67	nil	0	0	0.00
VBD_pump_during_apogee	32	1300	1007.49	nil	0	0	0.00
VBD_pump_during_surface	16	600	239.61	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	357.61
Transponder_ping	4	420	44.79
GPS	10	50	5.25
TT8	1611	19	311.32
LPSleep	5157	2	115.55
TT8_Active	240	19	46.50
TT8_Sampling	573	39	221.91
TT8_CF8	681	45	303.39
TT8_Kalman	0	81	0.00
Analog_circuits	733	12	85.33
GPS_charging	0	0	0.00
Compass	491	26	124.03
RAFOS	1440	1	20.95

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	59	0.00	0.00	-8.23	0.000	6	0.000	0.000	594	2128	2866
65	-1.49	-116.8	0.3	-0.0	2	83	7.18	3.03	0.00	0.000	4	0.000	0.000	2003	292	2864
185	-1.49	-116.8	17.3	-9.0	20	194	0.50	3.62	0.00	0.000	6	0.000	0.000	1875	2158	2862
556	-1.75	-116.8	72.1	-15.1	81	563	0.00	0.00	0.00	0.000	6	0.000	0.000	1879	2160	2861
917	-1.49	-116.8	125.5	-15.1	120	925	0.40	3.53	0.00	0.000	4	0.000	0.000	2002	327	2865
966	-1.22	-116.8	132.2	-9.3	122	973	0.00	3.28	0.00	0.000	6	0.000	0.000	1985	1975	2861
1307	-1.48	-116.8	163.8	-9.4	138	1315	0.60	3.03	0.00	0.000	4	0.000	0.000	1866	338	2867
1337	-1.53	-116.8	168.1	-13.0	139	1345	0.50	3.72	0.00	0.000	6	0.000	0.000	1979	2146	2865
1675	-1.48	-116.8	201.6	-9.9	155	1683	0.50	3.53	0.00	0.000	4	0.000	0.000	1864	308	2863
1732	-1.51	-116.8	211.1	-15.9	157	1746	0.60	3.53	0.00	0.000	6	0.000	0.000	1997	1869	2864
2062	-1.44	-116.8	244.3	-10.1	173	2064	0.28	0.00	0.00	0.000	6	0.000	0.000	1923	1866	2863
2372	-1.44	-116.8	282.7	-12.4	188	2373	0.25	0.00	0.00	0.000	6	0.000	0.000	1929	1858	2859
2681	-1.33	-116.8	322.1	-12.7	203	2688	0.85	2.47	0.00	0.000	4	0.000	0.000	2049	511	2865
2732	-1.18	-116.8	327.5	-7.1	205	2740	0.52	2.78	0.00	0.000	6	0.000	0.000	1926	2005	2869
3062	-1.51	-116.8	363.2	-11.9	221	3064	0.08	0.00	0.00	0.000	6	0.000	0.000	1939	2000	2861
3377	-1.40	-116.8	400.2	-12.1	236	3384	0.00	3.40	0.00	0.000	4	0.000	0.000	1946	336	2869
3429	-1.30	-116.8	407.4	-11.8	238	3435	0.35	2.72	0.00	0.000	6	0.000	0.000	1997	2143	2866
3755	-1.47	-116.8	437.5	-9.1	254	3763	0.55	3.53	0.00	0.000	4	0.000	0.000	1953	304	2874
3796	-1.55	-116.8	442.2	-11.6	255	3806	0.03	3.05	0.00	0.000	6	0.000	0.000	1946	1945	2864
4116	-1.77	-116.8	478.1	-11.6	271	4124	0.52	3.25	0.00	0.000	4	0.000	0.000	1883	315	2870
4151	-1.70	-116.8	483.2	-14.9	272	4164	0.00	3.55	0.00	0.000	6	0.000	0.000	1891	1993	2862
4473	-1.73	-116.8	530.8	-15.1	283	4478	0.00	2.58	0.00	0.000	4	0.000	0.000	1877	3322	2858
4586	-1.47	-116.8	547.4	-14.8	285	4593	0.47	2.83	0.00	0.000	6	0.000	0.000	2006	1668	2861
4811	end dive: BOTTOM_OBSTACLE_DETECTED
state	4811	begin apogee
4823	-0.25	0.0	569.3	8.7	291	4841	1.12	0.00	14.88	0.000	6	0.000	0.000	2223	1850	2237
4842	end apogee: CONTROL_FINISHED_OK
state	4842	begin climb
4848	1.49	116.8	569.3	0.0	291	4868	1.92	3.15	11.20	0.001	4	0.000	0.000	2665	313	1765
4904	1.49	116.8	562.0	22.7	292	4912	0.68	2.97	0.00	0.000	6	0.000	0.000	2554	1846	1764
5261	1.47	116.8	509.4	14.3	301	5268	0.45	3.03	0.00	0.000	4	0.000	0.000	2661	3537	1762
5544	1.47	116.8	444.5	23.1	312	5557	0.52	3.25	0.00	0.000	6	0.000	0.000	2541	1852	1769
5874	1.16	116.8	396.5	14.6	328	5879	0.50	2.53	0.00	0.000	4	0.000	0.000	2420	3527	1759
6107	1.16	187.5	376.2	8.1	338	6121	0.52	3.50	6.62	0.001	6	0.000	0.000	2546	1828	1484
6442	1.61	187.5	316.9	18.3	353	6444	0.50	0.00	0.00	0.000	6	0.000	0.000	2665	1825	1497
6745	1.59	187.5	230.4	29.0	368	6751	0.45	2.78	0.00	0.000	4	0.000	0.000	2534	3357	1483
6818	1.26	187.5	217.0	18.2	371	6823	0.05	2.35	0.00	0.000	6	0.000	0.000	2551	1854	1486
7153	1.27	187.5	155.8	18.3	387	7161	0.03	3.25	0.00	0.000	4	0.000	0.000	2542	3554	1481
7264	1.27	187.5	131.9	18.4	391	7272	0.00	3.03	0.00	0.000	6	0.000	0.000	2553	1851	1490
7600	1.29	187.5	71.0	18.3	425	7609	0.00	3.38	0.00	0.000	4	0.000	0.000	2534	3466	1486
7662	1.27	187.5	59.8	18.3	434	7671	0.03	3.05	0.00	0.000	6	0.000	0.000	2546	1838	1483
7949	end climb: SURFACE_DEPTH_REACHED
state	7949	begin surface coast
7956	end surface coast: CONTROL_FINISHED_OK
state	7956	begin surface