Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 9 * 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 9 HEADING -1 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 0 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 1 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 -446705.94 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 2 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 1 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 -446705.94

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 300

CF8_MAXERRORS 20 HEAD_ERRBAND 8 ROLL_ADJ_GAIN 1 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 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 5

C_VBD 2257 MASS 51747 R_PORT_OVSHOOT 0 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 23 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 2 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 9 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 093619,6633.131,-6020.181,21,1.1,22,18.0 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.230,0.009

_SM_DEPTHo 0.34 KALMAN_X -4554.4,-1365.0,65.0,8832.7,-3799.0

_SM_ANGLEo -69.7 KALMAN_Y -388.1,-155.6,48.5,2962.3,-299.3

GPS2 094026,6633.131,-6020.181,21,1.1,21,18.0 MHEAD_RNG_PITCHd_Wd 52.1,162905,-26.0,-13.750

SPEED_LIMITS 0.215,0.230 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024073 XPDR_PINGS -1

SM_CCo 7896,20.85,0.001,0,0,419,450.62 ALTIM_TOP_PING 19.1,999.0

SM_GC 0.34,0.00,0.00,20.85,0.000,0.000,0.001,625,1678,419,-7.60,-8.20,450.62 ALTIM_BOTTOM_PING 450.4,68.0

RAFOS_CLK 0 _24V_AH 23.7,31.806

RAFOS 4,1160386143,9.500000,9.484167,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,4.832

RAFOS_FIX 6632.384277,-6018.067871,091006,080820,4,80,0.98 DATA_FILE_SIZE 15891,519

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243838976

TT8_MAMPS 0.023777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,47,879,0,0

HUMID 2292 SOUNDSPEED 1459.5

INTERNAL_PRESSURE 26.0651 CURRENT 0.052,313.4,1

TCM_TEMP 15.00 GPS 091006,115501,6633.539,-6018.783,31,1.1,31,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 119 76.36 SBE_CT 428 24 243.54

Roll_motor 112 60 159.97 nil 0 0 0.00

VBD_pump_during_apogee 25 0 0.47 nil 0 0 0.00

VBD_pump_during_surface 20 0 0.38 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 62 223 330.08

Transponder_ping 4 420 39.82

GPS 22 50 10.77

TT8 1686 19 325.83

LPSleep 4899 2 109.79

TT8_Active 250 19 48.47

TT8_Sampling 658 39 255.09

TT8_CF8 675 45 300.70

TT8_Kalman 32 81 25.72

Analog_circuits 804 12 93.61

GPS_charging 0 0 0.00

Compass 561 26 141.49

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

34 end surface: CONTROL_FINISHED_OK

state 34 begin dive

40 -1.49 -116.8 0.0 0.0 0 58 0.00 0.00 -8.07 0.000 6 0.000 0.000 578 1868 2860

64 -1.49 -116.8 0.3 0.0 2 83 7.50 3.72 0.00 0.000 4 0.000 0.000 1992 3676 2854

271 -1.49 -116.8 23.0 -8.8 35 280 0.55 4.05 0.00 0.000 6 0.000 0.000 1904 1680 2859

639 -1.68 -116.8 74.2 -14.1 96 647 0.00 3.42 0.00 0.000 4 0.000 0.000 1880 3679 2866

803 -1.44 -116.8 97.3 -14.7 122 813 0.40 3.25 0.00 0.000 6 0.000 0.000 2027 2009 2853

1133 -1.34 -116.8 128.2 -8.7 139 1140 0.52 3.00 0.00 0.000 4 0.000 0.000 1893 3660 2856

1184 -1.48 -116.8 134.2 -12.1 141 1192 0.52 2.85 0.00 0.000 6 0.000 0.000 2011 1790 2858

1519 -1.57 -116.8 164.4 -8.9 157 1527 0.43 3.45 0.00 0.000 4 0.000 0.000 1859 3628 2862

1640 -1.66 -116.8 182.4 -14.8 162 1648 0.05 3.55 0.00 0.000 6 0.000 0.000 1877 1778 2864

1970 -1.52 -116.8 230.3 -14.8 178 1978 0.47 3.25 0.00 0.000 4 0.000 0.000 2018 3634 2859

2160 -1.26 -116.8 247.9 -9.4 186 2168 0.03 3.75 0.00 0.000 6 0.000 0.000 1988 1755 2853

2490 -1.42 -116.8 277.0 -9.1 202 2498 0.30 3.42 0.00 0.000 4 0.000 0.000 1929 3579 2855

2612 -1.50 -116.8 290.9 -11.8 207 2619 0.00 3.55 0.00 0.000 6 0.000 0.000 1949 1761 2857

2947 -1.50 -116.8 330.0 -11.9 223 2955 0.03 3.75 0.00 0.000 4 0.000 0.000 1956 3615 2856

3080 -1.40 -116.8 346.9 -11.8 228 3089 0.12 3.78 0.00 0.000 6 0.000 0.000 1925 1946 2862

3399 -1.40 -116.8 385.3 -12.9 244 3405 0.28 2.95 0.00 0.000 4 0.000 0.000 2013 3531 2859

3486 -1.29 -116.8 392.6 -9.4 247 3495 0.00 2.92 0.00 0.000 6 0.000 0.000 2006 1898 2855

3812 -1.43 -116.8 421.4 -8.7 263 3820 0.50 3.25 0.00 0.000 4 0.000 0.000 1870 3542 2856

3910 -1.49 -116.8 435.3 -14.7 267 3918 0.52 3.15 0.00 0.000 6 0.000 0.000 2010 1916 2864

4246 -1.33 -116.8 467.1 -9.0 283 4252 0.55 2.55 0.00 0.000 4 0.000 0.000 1949 3403 2856

4342 -1.41 -116.8 477.9 -11.4 287 4348 0.00 3.28 0.00 0.000 6 0.000 0.000 1944 1910 2851

4622 end dive: BOTTOM_OBSTACLE_DETECTED

state 4622 begin apogee

4635 -0.25 0.0 510.5 11.5 299 4653 1.55 0.00 14.52 0.001 6 0.000 0.000 2262 2074 2248

4654 end apogee: CONTROL_FINISHED_OK

state 4654 begin climb

4660 1.49 116.8 510.5 0.0 299 4680 1.62 3.53 11.32 0.001 4 0.000 0.000 2631 422 1759

4733 1.49 116.8 501.5 20.1 300 4746 0.38 3.15 0.00 0.000 6 0.000 0.000 2544 2254 1753

5062 1.60 116.8 451.5 15.4 316 5068 0.52 2.45 0.00 0.000 4 0.000 0.000 2679 3594 1761

5148 1.56 116.8 431.6 23.6 319 5157 0.52 3.53 0.00 0.000 6 0.000 0.000 2586 1801 1757

5472 1.30 116.8 378.3 15.3 335 5480 0.00 3.47 0.00 0.000 4 0.000 0.000 2571 3606 1750

5614 1.28 116.8 355.4 15.1 341 5620 0.00 3.28 0.00 0.000 6 0.000 0.000 2555 1924 1756

5949 1.33 116.8 302.8 15.4 357 5955 0.00 3.12 0.00 0.000 4 0.000 0.000 2540 3590 1756

6070 1.30 116.8 282.8 15.5 362 6082 0.00 3.83 0.00 0.000 6 0.000 0.000 2532 1715 1758

6398 1.34 116.8 231.3 15.4 378 6406 0.00 3.65 0.00 0.000 4 0.000 0.000 2539 3572 1759

6585 1.34 116.8 201.5 15.9 386 6593 0.00 3.67 0.00 0.000 6 0.000 0.000 2567 1748 1758

6920 1.39 116.8 151.3 15.4 402 6927 0.00 3.58 0.00 0.000 4 0.000 0.000 2579 3555 1755

7104 1.37 116.8 121.1 15.1 410 7108 0.00 2.35 0.00 0.000 6 0.000 0.000 2549 2030 1761

7451 1.41 116.8 64.6 15.5 451 7459 0.00 2.38 0.00 0.000 4 0.000 0.000 2550 3533 1759

7568 1.38 116.8 47.5 15.3 469 7576 0.00 2.55 0.00 0.000 6 0.000 0.000 2560 2022 1754

7854 end climb: SURFACE_DEPTH_REACHED

state 7854 begin surface coast

7866 end surface coast: CONTROL_FINISHED_OK

state 7867 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	9	HEADING	-1	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	0	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	1	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	-446705.94	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	2	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	1	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	093619,6633.131,-6020.181,21,1.1,22,18.0	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.230,0.009
_SM_DEPTHo	0.34	KALMAN_X	-4554.4,-1365.0,65.0,8832.7,-3799.0
_SM_ANGLEo	-69.7	KALMAN_Y	-388.1,-155.6,48.5,2962.3,-299.3
GPS2	094026,6633.131,-6020.181,21,1.1,21,18.0	MHEAD_RNG_PITCHd_Wd	52.1,162905,-26.0,-13.750
SPEED_LIMITS	0.215,0.230	D_GRID	990

FINISH	0.3,1.024073	XPDR_PINGS	-1
SM_CCo	7896,20.85,0.001,0,0,419,450.62	ALTIM_TOP_PING	19.1,999.0
SM_GC	0.34,0.00,0.00,20.85,0.000,0.000,0.001,625,1678,419,-7.60,-8.20,450.62	ALTIM_BOTTOM_PING	450.4,68.0
RAFOS_CLK	0	_24V_AH	23.7,31.806
RAFOS	4,1160386143,9.500000,9.484167,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,4.832
RAFOS_FIX	6632.384277,-6018.067871,091006,080820,4,80,0.98	DATA_FILE_SIZE	15891,519
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243838976
TT8_MAMPS	0.023777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,47,879,0,0
HUMID	2292	SOUNDSPEED	1459.5
INTERNAL_PRESSURE	26.0651	CURRENT	0.052,313.4,1
TCM_TEMP	15.00	GPS	091006,115501,6633.539,-6018.783,31,1.1,31,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	119	76.36	SBE_CT	428	24	243.54
Roll_motor	112	60	159.97	nil	0	0	0.00
VBD_pump_during_apogee	25	0	0.47	nil	0	0	0.00
VBD_pump_during_surface	20	0	0.38	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	62	223	330.08
Transponder_ping	4	420	39.82
GPS	22	50	10.77
TT8	1686	19	325.83
LPSleep	4899	2	109.79
TT8_Active	250	19	48.47
TT8_Sampling	658	39	255.09
TT8_CF8	675	45	300.70
TT8_Kalman	32	81	25.72
Analog_circuits	804	12	93.61
GPS_charging	0	0	0.00
Compass	561	26	141.49
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
34	end surface: CONTROL_FINISHED_OK
state	34	begin dive
40	-1.49	-116.8	0.0	0.0	0	58	0.00	0.00	-8.07	0.000	6	0.000	0.000	578	1868	2860
64	-1.49	-116.8	0.3	0.0	2	83	7.50	3.72	0.00	0.000	4	0.000	0.000	1992	3676	2854
271	-1.49	-116.8	23.0	-8.8	35	280	0.55	4.05	0.00	0.000	6	0.000	0.000	1904	1680	2859
639	-1.68	-116.8	74.2	-14.1	96	647	0.00	3.42	0.00	0.000	4	0.000	0.000	1880	3679	2866
803	-1.44	-116.8	97.3	-14.7	122	813	0.40	3.25	0.00	0.000	6	0.000	0.000	2027	2009	2853
1133	-1.34	-116.8	128.2	-8.7	139	1140	0.52	3.00	0.00	0.000	4	0.000	0.000	1893	3660	2856
1184	-1.48	-116.8	134.2	-12.1	141	1192	0.52	2.85	0.00	0.000	6	0.000	0.000	2011	1790	2858
1519	-1.57	-116.8	164.4	-8.9	157	1527	0.43	3.45	0.00	0.000	4	0.000	0.000	1859	3628	2862
1640	-1.66	-116.8	182.4	-14.8	162	1648	0.05	3.55	0.00	0.000	6	0.000	0.000	1877	1778	2864
1970	-1.52	-116.8	230.3	-14.8	178	1978	0.47	3.25	0.00	0.000	4	0.000	0.000	2018	3634	2859
2160	-1.26	-116.8	247.9	-9.4	186	2168	0.03	3.75	0.00	0.000	6	0.000	0.000	1988	1755	2853
2490	-1.42	-116.8	277.0	-9.1	202	2498	0.30	3.42	0.00	0.000	4	0.000	0.000	1929	3579	2855
2612	-1.50	-116.8	290.9	-11.8	207	2619	0.00	3.55	0.00	0.000	6	0.000	0.000	1949	1761	2857
2947	-1.50	-116.8	330.0	-11.9	223	2955	0.03	3.75	0.00	0.000	4	0.000	0.000	1956	3615	2856
3080	-1.40	-116.8	346.9	-11.8	228	3089	0.12	3.78	0.00	0.000	6	0.000	0.000	1925	1946	2862
3399	-1.40	-116.8	385.3	-12.9	244	3405	0.28	2.95	0.00	0.000	4	0.000	0.000	2013	3531	2859
3486	-1.29	-116.8	392.6	-9.4	247	3495	0.00	2.92	0.00	0.000	6	0.000	0.000	2006	1898	2855
3812	-1.43	-116.8	421.4	-8.7	263	3820	0.50	3.25	0.00	0.000	4	0.000	0.000	1870	3542	2856
3910	-1.49	-116.8	435.3	-14.7	267	3918	0.52	3.15	0.00	0.000	6	0.000	0.000	2010	1916	2864
4246	-1.33	-116.8	467.1	-9.0	283	4252	0.55	2.55	0.00	0.000	4	0.000	0.000	1949	3403	2856
4342	-1.41	-116.8	477.9	-11.4	287	4348	0.00	3.28	0.00	0.000	6	0.000	0.000	1944	1910	2851
4622	end dive: BOTTOM_OBSTACLE_DETECTED
state	4622	begin apogee
4635	-0.25	0.0	510.5	11.5	299	4653	1.55	0.00	14.52	0.001	6	0.000	0.000	2262	2074	2248
4654	end apogee: CONTROL_FINISHED_OK
state	4654	begin climb
4660	1.49	116.8	510.5	0.0	299	4680	1.62	3.53	11.32	0.001	4	0.000	0.000	2631	422	1759
4733	1.49	116.8	501.5	20.1	300	4746	0.38	3.15	0.00	0.000	6	0.000	0.000	2544	2254	1753
5062	1.60	116.8	451.5	15.4	316	5068	0.52	2.45	0.00	0.000	4	0.000	0.000	2679	3594	1761
5148	1.56	116.8	431.6	23.6	319	5157	0.52	3.53	0.00	0.000	6	0.000	0.000	2586	1801	1757
5472	1.30	116.8	378.3	15.3	335	5480	0.00	3.47	0.00	0.000	4	0.000	0.000	2571	3606	1750
5614	1.28	116.8	355.4	15.1	341	5620	0.00	3.28	0.00	0.000	6	0.000	0.000	2555	1924	1756
5949	1.33	116.8	302.8	15.4	357	5955	0.00	3.12	0.00	0.000	4	0.000	0.000	2540	3590	1756
6070	1.30	116.8	282.8	15.5	362	6082	0.00	3.83	0.00	0.000	6	0.000	0.000	2532	1715	1758
6398	1.34	116.8	231.3	15.4	378	6406	0.00	3.65	0.00	0.000	4	0.000	0.000	2539	3572	1759
6585	1.34	116.8	201.5	15.9	386	6593	0.00	3.67	0.00	0.000	6	0.000	0.000	2567	1748	1758
6920	1.39	116.8	151.3	15.4	402	6927	0.00	3.58	0.00	0.000	4	0.000	0.000	2579	3555	1755
7104	1.37	116.8	121.1	15.1	410	7108	0.00	2.35	0.00	0.000	6	0.000	0.000	2549	2030	1761
7451	1.41	116.8	64.6	15.5	451	7459	0.00	2.38	0.00	0.000	4	0.000	0.000	2550	3533	1759
7568	1.38	116.8	47.5	15.3	469	7576	0.00	2.55	0.00	0.000	6	0.000	0.000	2560	2022	1754
7854	end climb: SURFACE_DEPTH_REACHED
state	7854	begin surface coast
7866	end surface coast: CONTROL_FINISHED_OK
state	7867	begin surface