Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 74 * 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 74 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 16 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 8 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 -448224.06 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 -448224.06

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 16 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 8 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 74 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 235203,6636.623,-6006.333,17,1.1,17,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6647.413,-6006.508

_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 -69.9 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 000020,6636.623,-6006.333,29,1.1,29,18.0 MHEAD_RNG_PITCHd_Wd 339.6,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025201 XPDR_PINGS -1

SM_CCo 8202,18.30,0.000,0,0,392,450.37 ALTIM_TOP_PING 19.2,999.0

SM_GC 0.34,0.00,0.00,18.30,0.000,0.000,0.000,653,1818,392,-7.42,-4.81,450.37 ALTIM_BOTTOM_PING 502.3,74.5

RAFOS_CLK 0 _24V_AH 23.7,49.254

RAFOS 0,1160957041,0.083333,0.066944,80,0,0,0,0,0,596,0,0,0,0,0 _10V_AH 9.7,7.502

RAFOS_FIX 6637.063477,-6002.869141,161006,000020,4,80,2.12 DATA_FILE_SIZE 15820,512

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239558656

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,56,823,0,0

HUMID 2394 SOUNDSPEED 1459.5

INTERNAL_PRESSURE 26.0358 CURRENT 0.063,238.8,1

TCM_TEMP 15.00 GPS 161006,021932,6637.329,-6007.220,28,1.1,28,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 119 80.66 SBE_CT 424 24 241.28

Roll_motor 104 60 149.06 nil 0 0 0.00

VBD_pump_during_apogee 31 1300 964.35 nil 0 0 0.00

VBD_pump_during_surface 18 600 260.23 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 139 223 738.62

Transponder_ping 4 420 44.79

GPS 30 50 14.81

TT8 1715 19 331.43

LPSleep 5207 2 116.69

TT8_Active 239 19 46.22

TT8_Sampling 642 39 248.89

TT8_CF8 924 45 411.85

TT8_Kalman 0 81 0.00

Analog_circuits 773 12 90.00

GPS_charging 0 0 0.00

Compass 538 26 135.86

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

34 end surface: CONTROL_FINISHED_OK

state 35 begin dive

46 -1.49 -116.8 0.0 0.0 0 62 0.00 0.00 -8.38 0.000 6 0.000 0.000 628 1862 2906

68 -1.49 -116.8 0.3 0.0 2 86 7.03 3.45 0.00 0.000 4 0.000 0.000 2038 3560 2911

376 -1.49 -116.8 31.0 -8.6 52 385 0.77 3.22 0.00 0.000 6 0.000 0.000 1865 1717 2909

745 -1.65 -116.8 92.7 -17.8 113 755 0.60 3.35 0.00 0.000 4 0.000 0.000 1982 3603 2905

1030 -1.31 -116.8 125.5 -10.8 131 1038 0.00 3.72 0.00 0.000 6 0.000 0.000 1984 1786 2911

1365 -1.31 -116.8 161.5 -10.9 147 1373 0.03 3.53 0.00 0.000 4 0.000 0.000 1973 3625 2912

1483 -1.31 -116.8 174.8 -11.3 152 1491 0.00 3.58 0.00 0.000 6 0.000 0.000 1985 1736 2908

1819 -1.31 -116.8 211.4 -10.9 168 1824 0.00 2.47 0.00 0.000 4 0.000 0.000 1970 568 2904

1866 -1.31 -116.8 216.8 -10.8 170 1873 0.00 3.58 0.00 0.000 6 0.000 0.000 1958 2082 2917

2200 -1.41 -116.8 252.7 -10.9 186 2202 0.00 0.00 0.00 0.000 6 0.000 0.000 1985 2081 2911

2510 -1.41 -116.8 286.3 -10.6 201 2517 0.00 3.25 0.00 0.000 4 0.000 0.000 1980 386 2911

2562 -1.77 -116.8 292.2 -11.0 203 2570 0.77 2.78 0.00 0.000 6 0.000 0.000 1777 1950 2910

2892 -1.90 -116.8 357.6 -20.5 219 2894 0.43 0.00 0.00 0.000 6 0.000 0.000 1911 1968 2910

3206 -1.40 -116.8 402.5 -14.3 234 3214 0.38 3.03 0.00 0.000 4 0.000 0.000 2030 293 2905

3282 -1.24 -116.8 410.0 -8.6 237 3290 0.45 3.58 0.00 0.000 6 0.000 0.000 1924 2142 2911

3618 -1.58 -116.8 457.9 -14.4 253 3619 0.00 0.00 0.00 0.000 6 0.000 0.000 1911 2143 2905

3934 -1.40 -116.8 502.3 -14.4 268 3942 0.85 3.25 0.00 0.000 4 0.000 0.000 2048 297 2907

4033 -1.23 -116.8 512.4 -8.3 270 4040 0.00 3.33 0.00 0.000 6 0.000 0.000 2027 2084 2908

4366 -1.54 -116.8 541.0 -8.4 278 4374 0.77 3.28 0.00 0.000 4 0.000 0.000 1862 536 2910

4468 -1.70 -116.8 557.2 -17.8 280 4475 0.47 3.12 0.00 0.000 6 0.000 0.000 1971 2040 2907

4545 end dive: BOTTOM_OBSTACLE_DETECTED

state 4545 begin apogee

4559 -0.25 0.0 568.3 11.4 282 4578 1.35 0.00 15.82 0.000 6 0.000 0.000 2290 1704 2239

4579 end apogee: CONTROL_FINISHED_OK

state 4579 begin climb

4585 1.49 116.8 568.3 0.0 282 4604 1.88 1.88 11.23 0.000 4 0.000 0.000 2669 509 1769

4633 1.49 116.8 564.3 23.1 283 4640 0.52 3.05 0.00 0.000 6 0.000 0.000 2523 2168 1770

4966 1.22 127.4 519.9 12.9 291 4974 0.00 3.22 1.05 0.001 4 0.000 0.000 2521 348 1717

5029 1.31 136.2 511.1 13.1 292 5038 0.17 2.95 1.00 0.000 6 0.000 0.000 2528 2035 1677

5374 1.55 136.2 464.1 14.0 306 5380 0.55 2.17 0.00 0.000 4 0.000 0.000 2631 3380 1682

5514 1.61 136.2 432.9 23.1 312 5521 0.00 3.22 0.00 0.000 6 0.000 0.000 2644 1701 1680

5848 1.38 136.2 359.9 22.2 328 5851 0.50 0.00 0.00 0.000 6 0.000 0.000 2501 1709 1690

6158 1.12 144.5 317.3 13.1 343 6166 0.00 3.55 0.75 0.001 4 0.000 0.000 2507 3561 1642

6235 1.23 150.1 307.2 13.3 346 6243 0.00 3.62 0.00 0.000 6 0.000 0.000 2514 1678 1649

6576 1.35 155.5 258.6 13.3 362 6585 0.40 3.95 0.90 0.000 4 0.000 0.000 2626 3680 1604

6662 1.46 155.5 238.2 23.2 365 6675 0.45 3.92 0.00 0.000 6 0.000 0.000 2510 1669 1614

6992 1.25 159.1 192.0 13.5 381 6998 0.12 3.03 0.00 0.000 4 0.000 0.000 2578 3669 1604

7051 1.36 159.1 180.5 19.6 383 7060 0.00 3.42 0.00 0.000 6 0.000 0.000 2576 1649 1616

7375 1.06 159.1 119.9 18.1 399 7383 0.52 3.75 0.00 0.000 4 0.000 0.000 2491 3471 1610

7674 1.00 159.1 75.4 13.9 431 7683 0.00 3.22 0.00 0.000 6 0.000 0.000 2507 1772 1605

8044 1.11 161.8 20.5 13.5 492 8056 0.00 3.58 0.55 0.001 4 0.000 0.000 2487 3457 1576

8163 end climb: SURFACE_DEPTH_REACHED

state 8163 begin surface coast

8169 end surface coast: CONTROL_FINISHED_OK

state 8169 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	74	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	16	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	8	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	-448224.06	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	235203,6636.623,-6006.333,17,1.1,17,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6647.413,-6006.508
_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	-69.9	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	000020,6636.623,-6006.333,29,1.1,29,18.0	MHEAD_RNG_PITCHd_Wd	339.6,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025201	XPDR_PINGS	-1
SM_CCo	8202,18.30,0.000,0,0,392,450.37	ALTIM_TOP_PING	19.2,999.0
SM_GC	0.34,0.00,0.00,18.30,0.000,0.000,0.000,653,1818,392,-7.42,-4.81,450.37	ALTIM_BOTTOM_PING	502.3,74.5
RAFOS_CLK	0	_24V_AH	23.7,49.254
RAFOS	0,1160957041,0.083333,0.066944,80,0,0,0,0,0,596,0,0,0,0,0	_10V_AH	9.7,7.502
RAFOS_FIX	6637.063477,-6002.869141,161006,000020,4,80,2.12	DATA_FILE_SIZE	15820,512
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239558656
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,56,823,0,0
HUMID	2394	SOUNDSPEED	1459.5
INTERNAL_PRESSURE	26.0358	CURRENT	0.063,238.8,1
TCM_TEMP	15.00	GPS	161006,021932,6637.329,-6007.220,28,1.1,28,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	119	80.66	SBE_CT	424	24	241.28
Roll_motor	104	60	149.06	nil	0	0	0.00
VBD_pump_during_apogee	31	1300	964.35	nil	0	0	0.00
VBD_pump_during_surface	18	600	260.23	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	139	223	738.62
Transponder_ping	4	420	44.79
GPS	30	50	14.81
TT8	1715	19	331.43
LPSleep	5207	2	116.69
TT8_Active	239	19	46.22
TT8_Sampling	642	39	248.89
TT8_CF8	924	45	411.85
TT8_Kalman	0	81	0.00
Analog_circuits	773	12	90.00
GPS_charging	0	0	0.00
Compass	538	26	135.86
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
34	end surface: CONTROL_FINISHED_OK
state	35	begin dive
46	-1.49	-116.8	0.0	0.0	0	62	0.00	0.00	-8.38	0.000	6	0.000	0.000	628	1862	2906
68	-1.49	-116.8	0.3	0.0	2	86	7.03	3.45	0.00	0.000	4	0.000	0.000	2038	3560	2911
376	-1.49	-116.8	31.0	-8.6	52	385	0.77	3.22	0.00	0.000	6	0.000	0.000	1865	1717	2909
745	-1.65	-116.8	92.7	-17.8	113	755	0.60	3.35	0.00	0.000	4	0.000	0.000	1982	3603	2905
1030	-1.31	-116.8	125.5	-10.8	131	1038	0.00	3.72	0.00	0.000	6	0.000	0.000	1984	1786	2911
1365	-1.31	-116.8	161.5	-10.9	147	1373	0.03	3.53	0.00	0.000	4	0.000	0.000	1973	3625	2912
1483	-1.31	-116.8	174.8	-11.3	152	1491	0.00	3.58	0.00	0.000	6	0.000	0.000	1985	1736	2908
1819	-1.31	-116.8	211.4	-10.9	168	1824	0.00	2.47	0.00	0.000	4	0.000	0.000	1970	568	2904
1866	-1.31	-116.8	216.8	-10.8	170	1873	0.00	3.58	0.00	0.000	6	0.000	0.000	1958	2082	2917
2200	-1.41	-116.8	252.7	-10.9	186	2202	0.00	0.00	0.00	0.000	6	0.000	0.000	1985	2081	2911
2510	-1.41	-116.8	286.3	-10.6	201	2517	0.00	3.25	0.00	0.000	4	0.000	0.000	1980	386	2911
2562	-1.77	-116.8	292.2	-11.0	203	2570	0.77	2.78	0.00	0.000	6	0.000	0.000	1777	1950	2910
2892	-1.90	-116.8	357.6	-20.5	219	2894	0.43	0.00	0.00	0.000	6	0.000	0.000	1911	1968	2910
3206	-1.40	-116.8	402.5	-14.3	234	3214	0.38	3.03	0.00	0.000	4	0.000	0.000	2030	293	2905
3282	-1.24	-116.8	410.0	-8.6	237	3290	0.45	3.58	0.00	0.000	6	0.000	0.000	1924	2142	2911
3618	-1.58	-116.8	457.9	-14.4	253	3619	0.00	0.00	0.00	0.000	6	0.000	0.000	1911	2143	2905
3934	-1.40	-116.8	502.3	-14.4	268	3942	0.85	3.25	0.00	0.000	4	0.000	0.000	2048	297	2907
4033	-1.23	-116.8	512.4	-8.3	270	4040	0.00	3.33	0.00	0.000	6	0.000	0.000	2027	2084	2908
4366	-1.54	-116.8	541.0	-8.4	278	4374	0.77	3.28	0.00	0.000	4	0.000	0.000	1862	536	2910
4468	-1.70	-116.8	557.2	-17.8	280	4475	0.47	3.12	0.00	0.000	6	0.000	0.000	1971	2040	2907
4545	end dive: BOTTOM_OBSTACLE_DETECTED
state	4545	begin apogee
4559	-0.25	0.0	568.3	11.4	282	4578	1.35	0.00	15.82	0.000	6	0.000	0.000	2290	1704	2239
4579	end apogee: CONTROL_FINISHED_OK
state	4579	begin climb
4585	1.49	116.8	568.3	0.0	282	4604	1.88	1.88	11.23	0.000	4	0.000	0.000	2669	509	1769
4633	1.49	116.8	564.3	23.1	283	4640	0.52	3.05	0.00	0.000	6	0.000	0.000	2523	2168	1770
4966	1.22	127.4	519.9	12.9	291	4974	0.00	3.22	1.05	0.001	4	0.000	0.000	2521	348	1717
5029	1.31	136.2	511.1	13.1	292	5038	0.17	2.95	1.00	0.000	6	0.000	0.000	2528	2035	1677
5374	1.55	136.2	464.1	14.0	306	5380	0.55	2.17	0.00	0.000	4	0.000	0.000	2631	3380	1682
5514	1.61	136.2	432.9	23.1	312	5521	0.00	3.22	0.00	0.000	6	0.000	0.000	2644	1701	1680
5848	1.38	136.2	359.9	22.2	328	5851	0.50	0.00	0.00	0.000	6	0.000	0.000	2501	1709	1690
6158	1.12	144.5	317.3	13.1	343	6166	0.00	3.55	0.75	0.001	4	0.000	0.000	2507	3561	1642
6235	1.23	150.1	307.2	13.3	346	6243	0.00	3.62	0.00	0.000	6	0.000	0.000	2514	1678	1649
6576	1.35	155.5	258.6	13.3	362	6585	0.40	3.95	0.90	0.000	4	0.000	0.000	2626	3680	1604
6662	1.46	155.5	238.2	23.2	365	6675	0.45	3.92	0.00	0.000	6	0.000	0.000	2510	1669	1614
6992	1.25	159.1	192.0	13.5	381	6998	0.12	3.03	0.00	0.000	4	0.000	0.000	2578	3669	1604
7051	1.36	159.1	180.5	19.6	383	7060	0.00	3.42	0.00	0.000	6	0.000	0.000	2576	1649	1616
7375	1.06	159.1	119.9	18.1	399	7383	0.52	3.75	0.00	0.000	4	0.000	0.000	2491	3471	1610
7674	1.00	159.1	75.4	13.9	431	7683	0.00	3.22	0.00	0.000	6	0.000	0.000	2507	1772	1605
8044	1.11	161.8	20.5	13.5	492	8056	0.00	3.58	0.55	0.001	4	0.000	0.000	2487	3457	1576
8163	end climb: SURFACE_DEPTH_REACHED
state	8163	begin surface coast
8169	end surface coast: CONTROL_FINISHED_OK
state	8169	begin surface