Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 27 * 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 27 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 162 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -447172.28 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 -447172.28

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 162 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 21 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 27 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 050259,6638.360,-6006.881,8,1.1,8,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6638.436,-6011.163

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.221,0.063

_SM_DEPTHo 0.35 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 050732,6638.360,-6006.881,36,1.1,36,18.0 MHEAD_RNG_PITCHd_Wd 252.4,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024642 ALTIM_TOP_PING 18.9,18.1

SM_CCo 8087,13.02,0.000,0,0,407,451.11 ALTIM_BOTTOM_PING 501.9,76.9

SM_GC 0.34,0.00,0.00,13.02,0.000,0.000,0.000,640,1937,407,-7.56,-1.22,451.11 _24V_AH 23.7,36.536

RAFOS_CLK 0 _10V_AH 9.7,5.583

RAFOS_FIX 6637.801758,-6002.884277,111006,040452,4,80,0.36 DATA_FILE_SIZE 15853,464

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242659328

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,62,800,0,0

HUMID 2228 SOUNDSPEED 1460.1

INTERNAL_PRESSURE 25.9869 CURRENT 0.077,149.8,1

TCM_TEMP 15.00 GPS 111006,072410,6637.913,-6008.866,5,1.1,5,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 119 92.72 SBE_CT 386 24 219.93

Roll_motor 103 60 147.78 nil 0 0 0.00

VBD_pump_during_apogee 39 1300 1208.52 nil 0 0 0.00

VBD_pump_during_surface 13 600 185.22 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 67 223 358.58

Transponder_ping 4 420 44.79

GPS 37 50 18.23

TT8 1549 19 299.34

LPSleep 5314 2 119.07

TT8_Active 264 19 51.05

TT8_Sampling 577 39 223.64

TT8_CF8 668 45 297.62

TT8_Kalman 0 81 0.00

Analog_circuits 746 12 86.87

GPS_charging 0 0 0.00

Compass 473 26 119.53

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 36 begin dive

42 -1.49 -116.8 0.0 0.0 0 58 0.00 0.00 -8.25 0.000 6 0.000 0.000 595 2226 2916

65 -1.49 -116.8 0.3 -0.0 2 82 7.00 2.50 0.00 0.000 4 0.000 0.000 2002 568 2917

303 -1.49 -116.8 29.6 -9.9 40 312 0.55 2.85 0.00 0.000 6 0.000 0.000 1876 2255 2911

672 -1.70 -116.8 86.6 -15.9 101 680 0.00 2.58 0.00 0.000 4 0.000 0.000 1882 3424 2917

729 -1.43 -116.8 95.2 -16.0 109 738 0.50 2.12 0.00 0.000 6 0.000 0.000 1973 1924 2917

1054 -1.18 -116.8 129.5 -10.0 128 1059 0.00 2.50 0.00 0.000 4 0.000 0.000 2004 551 2914

1084 -1.24 -116.8 132.7 -10.0 129 1089 0.00 2.88 0.00 0.000 6 0.000 0.000 1998 2063 2914

1409 -1.51 -116.8 164.6 -10.0 144 1411 0.40 0.00 0.00 0.000 6 0.000 0.000 1909 2053 2916

1717 -1.56 -116.8 210.8 -15.9 159 1720 0.88 0.00 0.00 0.000 6 0.000 0.000 2023 2043 2916

2027 -1.30 -116.8 242.0 -9.8 174 2029 0.08 0.00 0.00 0.000 6 0.000 0.000 2007 2064 2918

2336 -1.37 -116.8 272.1 -9.8 189 2342 0.32 2.78 0.00 0.000 4 0.000 0.000 1864 546 2920

2367 -1.43 -116.8 276.9 -14.9 190 2380 0.52 3.17 0.00 0.000 6 0.000 0.000 1993 2204 2921

2696 -1.40 -116.8 309.8 -10.0 206 2705 0.57 3.35 0.00 0.000 4 0.000 0.000 1895 526 2918

2731 -1.45 -116.8 315.1 -15.3 207 2744 0.52 3.08 0.00 0.000 6 0.000 0.000 2014 2028 2914

3060 -1.36 -116.8 347.7 -9.9 223 3066 0.50 2.55 0.00 0.000 4 0.000 0.000 1998 3691 2918

3105 -1.42 -116.8 352.2 -9.9 225 3113 0.52 2.97 0.00 0.000 6 0.000 0.000 1895 1948 2912

3440 -1.55 -116.8 404.9 -16.2 241 3442 0.45 0.00 0.00 0.000 6 0.000 0.000 2006 1978 2921

3754 -1.27 -116.8 438.0 -9.9 256 3761 0.00 3.33 0.00 0.000 4 0.000 0.000 2009 3610 2917

3802 -1.33 -116.8 443.2 -10.1 258 3810 0.15 3.60 0.00 0.000 6 0.000 0.000 2005 1800 2916

4139 -1.46 -116.8 477.0 -10.0 274 4146 0.62 3.25 0.00 0.000 4 0.000 0.000 1877 3623 2921

4218 -1.52 -116.8 488.4 -15.8 277 4226 0.52 3.50 0.00 0.000 6 0.000 0.000 2040 1731 2913

4545 -1.35 -116.8 520.4 -8.9 288 4553 0.57 3.25 0.00 0.000 4 0.000 0.000 1905 3607 2918

4652 -1.58 -116.8 535.7 -16.0 290 4660 0.00 4.03 0.00 0.000 6 0.000 0.000 1904 1784 2917

4892 end dive: BOTTOM_OBSTACLE_DETECTED

state 4892 begin apogee

4905 -0.25 0.0 573.7 15.6 296 4931 1.98 0.00 16.00 0.000 6 0.000 0.000 2251 2275 2233

4932 end apogee: CONTROL_FINISHED_OK

state 4932 begin climb

4937 1.49 116.8 577.7 0.0 297 4958 1.77 3.33 11.45 0.000 4 0.000 0.000 2615 317 1772

5011 1.49 116.8 565.9 19.3 298 5024 0.00 3.88 0.00 0.000 6 0.000 0.000 2629 1974 1764

5351 1.66 116.8 500.2 19.5 307 5358 0.00 3.53 0.00 0.000 4 0.000 0.000 2613 3633 1769

5500 1.45 116.8 470.4 19.3 312 5513 0.52 2.88 0.00 0.000 6 0.000 0.000 2525 1989 1770

5829 1.32 127.5 430.7 12.9 328 5838 0.82 3.42 1.20 0.001 4 0.000 0.000 2640 3502 1716

5905 1.22 127.5 414.6 21.4 331 5913 0.80 2.90 0.00 0.000 6 0.000 0.000 2495 1860 1721

6245 1.10 144.8 369.6 12.4 347 6253 0.00 2.53 1.38 0.001 4 0.000 0.000 2498 3570 1644

6387 1.24 154.0 350.7 13.0 353 6395 0.03 2.78 0.80 0.001 6 0.000 0.000 2500 2083 1615

6722 1.42 159.0 305.8 13.4 369 6727 0.40 2.25 0.00 0.000 4 0.000 0.000 2653 3589 1614

6793 1.54 159.0 290.4 29.8 372 6798 0.00 2.45 0.00 0.000 6 0.000 0.000 2625 2064 1610

7130 1.25 159.0 211.7 26.5 388 7138 0.70 2.95 0.30 0.000 4 0.000 0.000 2441 3576 1602

7182 0.85 211.2 202.4 9.6 390 7200 0.00 3.42 5.07 0.000 6 0.000 0.000 2435 1888 1384

7516 1.27 246.9 166.9 10.9 406 7526 0.77 2.72 3.03 0.000 4 0.000 0.000 2566 3537 1231

7674 1.62 246.9 131.3 22.6 413 7682 0.52 3.17 0.00 0.000 6 0.000 0.000 2711 2001 1233

8033 1.62 246.9 5.6 36.1 461 8042 0.40 3.25 0.00 0.000 4 0.000 0.000 2585 3646 1232

8047 end climb: SURFACE_DEPTH_REACHED

state 8047 begin surface coast

8054 end surface coast: CONTROL_FINISHED_OK

state 8054 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	27	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	162	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-447172.28	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	050259,6638.360,-6006.881,8,1.1,8,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6638.436,-6011.163
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.221,0.063
_SM_DEPTHo	0.35	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	050732,6638.360,-6006.881,36,1.1,36,18.0	MHEAD_RNG_PITCHd_Wd	252.4,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024642	ALTIM_TOP_PING	18.9,18.1
SM_CCo	8087,13.02,0.000,0,0,407,451.11	ALTIM_BOTTOM_PING	501.9,76.9
SM_GC	0.34,0.00,0.00,13.02,0.000,0.000,0.000,640,1937,407,-7.56,-1.22,451.11	_24V_AH	23.7,36.536
RAFOS_CLK	0	_10V_AH	9.7,5.583
RAFOS_FIX	6637.801758,-6002.884277,111006,040452,4,80,0.36	DATA_FILE_SIZE	15853,464
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242659328
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,62,800,0,0
HUMID	2228	SOUNDSPEED	1460.1
INTERNAL_PRESSURE	25.9869	CURRENT	0.077,149.8,1
TCM_TEMP	15.00	GPS	111006,072410,6637.913,-6008.866,5,1.1,5,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	119	92.72	SBE_CT	386	24	219.93
Roll_motor	103	60	147.78	nil	0	0	0.00
VBD_pump_during_apogee	39	1300	1208.52	nil	0	0	0.00
VBD_pump_during_surface	13	600	185.22	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	358.58
Transponder_ping	4	420	44.79
GPS	37	50	18.23
TT8	1549	19	299.34
LPSleep	5314	2	119.07
TT8_Active	264	19	51.05
TT8_Sampling	577	39	223.64
TT8_CF8	668	45	297.62
TT8_Kalman	0	81	0.00
Analog_circuits	746	12	86.87
GPS_charging	0	0	0.00
Compass	473	26	119.53
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	36	begin dive
42	-1.49	-116.8	0.0	0.0	0	58	0.00	0.00	-8.25	0.000	6	0.000	0.000	595	2226	2916
65	-1.49	-116.8	0.3	-0.0	2	82	7.00	2.50	0.00	0.000	4	0.000	0.000	2002	568	2917
303	-1.49	-116.8	29.6	-9.9	40	312	0.55	2.85	0.00	0.000	6	0.000	0.000	1876	2255	2911
672	-1.70	-116.8	86.6	-15.9	101	680	0.00	2.58	0.00	0.000	4	0.000	0.000	1882	3424	2917
729	-1.43	-116.8	95.2	-16.0	109	738	0.50	2.12	0.00	0.000	6	0.000	0.000	1973	1924	2917
1054	-1.18	-116.8	129.5	-10.0	128	1059	0.00	2.50	0.00	0.000	4	0.000	0.000	2004	551	2914
1084	-1.24	-116.8	132.7	-10.0	129	1089	0.00	2.88	0.00	0.000	6	0.000	0.000	1998	2063	2914
1409	-1.51	-116.8	164.6	-10.0	144	1411	0.40	0.00	0.00	0.000	6	0.000	0.000	1909	2053	2916
1717	-1.56	-116.8	210.8	-15.9	159	1720	0.88	0.00	0.00	0.000	6	0.000	0.000	2023	2043	2916
2027	-1.30	-116.8	242.0	-9.8	174	2029	0.08	0.00	0.00	0.000	6	0.000	0.000	2007	2064	2918
2336	-1.37	-116.8	272.1	-9.8	189	2342	0.32	2.78	0.00	0.000	4	0.000	0.000	1864	546	2920
2367	-1.43	-116.8	276.9	-14.9	190	2380	0.52	3.17	0.00	0.000	6	0.000	0.000	1993	2204	2921
2696	-1.40	-116.8	309.8	-10.0	206	2705	0.57	3.35	0.00	0.000	4	0.000	0.000	1895	526	2918
2731	-1.45	-116.8	315.1	-15.3	207	2744	0.52	3.08	0.00	0.000	6	0.000	0.000	2014	2028	2914
3060	-1.36	-116.8	347.7	-9.9	223	3066	0.50	2.55	0.00	0.000	4	0.000	0.000	1998	3691	2918
3105	-1.42	-116.8	352.2	-9.9	225	3113	0.52	2.97	0.00	0.000	6	0.000	0.000	1895	1948	2912
3440	-1.55	-116.8	404.9	-16.2	241	3442	0.45	0.00	0.00	0.000	6	0.000	0.000	2006	1978	2921
3754	-1.27	-116.8	438.0	-9.9	256	3761	0.00	3.33	0.00	0.000	4	0.000	0.000	2009	3610	2917
3802	-1.33	-116.8	443.2	-10.1	258	3810	0.15	3.60	0.00	0.000	6	0.000	0.000	2005	1800	2916
4139	-1.46	-116.8	477.0	-10.0	274	4146	0.62	3.25	0.00	0.000	4	0.000	0.000	1877	3623	2921
4218	-1.52	-116.8	488.4	-15.8	277	4226	0.52	3.50	0.00	0.000	6	0.000	0.000	2040	1731	2913
4545	-1.35	-116.8	520.4	-8.9	288	4553	0.57	3.25	0.00	0.000	4	0.000	0.000	1905	3607	2918
4652	-1.58	-116.8	535.7	-16.0	290	4660	0.00	4.03	0.00	0.000	6	0.000	0.000	1904	1784	2917
4892	end dive: BOTTOM_OBSTACLE_DETECTED
state	4892	begin apogee
4905	-0.25	0.0	573.7	15.6	296	4931	1.98	0.00	16.00	0.000	6	0.000	0.000	2251	2275	2233
4932	end apogee: CONTROL_FINISHED_OK
state	4932	begin climb
4937	1.49	116.8	577.7	0.0	297	4958	1.77	3.33	11.45	0.000	4	0.000	0.000	2615	317	1772
5011	1.49	116.8	565.9	19.3	298	5024	0.00	3.88	0.00	0.000	6	0.000	0.000	2629	1974	1764
5351	1.66	116.8	500.2	19.5	307	5358	0.00	3.53	0.00	0.000	4	0.000	0.000	2613	3633	1769
5500	1.45	116.8	470.4	19.3	312	5513	0.52	2.88	0.00	0.000	6	0.000	0.000	2525	1989	1770
5829	1.32	127.5	430.7	12.9	328	5838	0.82	3.42	1.20	0.001	4	0.000	0.000	2640	3502	1716
5905	1.22	127.5	414.6	21.4	331	5913	0.80	2.90	0.00	0.000	6	0.000	0.000	2495	1860	1721
6245	1.10	144.8	369.6	12.4	347	6253	0.00	2.53	1.38	0.001	4	0.000	0.000	2498	3570	1644
6387	1.24	154.0	350.7	13.0	353	6395	0.03	2.78	0.80	0.001	6	0.000	0.000	2500	2083	1615
6722	1.42	159.0	305.8	13.4	369	6727	0.40	2.25	0.00	0.000	4	0.000	0.000	2653	3589	1614
6793	1.54	159.0	290.4	29.8	372	6798	0.00	2.45	0.00	0.000	6	0.000	0.000	2625	2064	1610
7130	1.25	159.0	211.7	26.5	388	7138	0.70	2.95	0.30	0.000	4	0.000	0.000	2441	3576	1602
7182	0.85	211.2	202.4	9.6	390	7200	0.00	3.42	5.07	0.000	6	0.000	0.000	2435	1888	1384
7516	1.27	246.9	166.9	10.9	406	7526	0.77	2.72	3.03	0.000	4	0.000	0.000	2566	3537	1231
7674	1.62	246.9	131.3	22.6	413	7682	0.52	3.17	0.00	0.000	6	0.000	0.000	2711	2001	1233
8033	1.62	246.9	5.6	36.1	461	8042	0.40	3.25	0.00	0.000	4	0.000	0.000	2585	3646	1232
8047	end climb: SURFACE_DEPTH_REACHED
state	8047	begin surface coast
8054	end surface coast: CONTROL_FINISHED_OK
state	8054	begin surface