Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 31 * 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 31 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 176 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 14 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 -447255.25 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 -447255.25

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 176 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 14 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 31 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 150016,6638.392,-6007.470,35,1.1,35,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6633.468,-6011.294

_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 -69.8 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 150812,6638.392,-6007.470,18,1.1,18,18.0 MHEAD_RNG_PITCHd_Wd 224.9,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025387 XPDR_PINGS -1

SM_CCo 8188,14.15,0.000,0,0,385,451.84 ALTIM_TOP_PING 17.5,17.3

SM_GC 0.34,0.00,0.00,14.15,0.000,0.000,0.000,649,2015,385,-7.44,1.50,451.84 ALTIM_BOTTOM_PING 501.3,74.5

RAFOS_CLK 0 _24V_AH 23.7,37.644

RAFOS 4,1160580549,15.500000,15.485833,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,5.751

RAFOS_FIX 6638.080566,-6003.482422,111006,161620,4,80,0.68 DATA_FILE_SIZE 15897,525

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242380800

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,60,590,0,0

HUMID 2254 SOUNDSPEED 1459.6

INTERNAL_PRESSURE 25.9772 CURRENT 0.077,125.8,1

TCM_TEMP 15.00 GPS 111006,172705,6637.649,-6008.930,29,1.1,29,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 119 84.33 SBE_CT 436 24 248.04

Roll_motor 75 60 108.00 nil 0 0 0.00

VBD_pump_during_apogee 36 1300 1115.32 nil 0 0 0.00

VBD_pump_during_surface 14 600 201.21 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 132 223 699.80

Transponder_ping 4 420 44.79

GPS 19 50 9.49

TT8 1704 19 329.28

LPSleep 5308 2 118.95

TT8_Active 211 19 40.89

TT8_Sampling 569 39 220.63

TT8_CF8 894 45 398.64

TT8_Kalman 0 81 0.00

Analog_circuits 689 12 80.27

GPS_charging 0 0 0.00

Compass 477 26 120.38

RAFOS 1800 1 26.19

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 -8.05 0.000 6 0.000 0.000 657 1877 2885

64 -1.49 -116.8 0.3 0.0 2 82 6.38 2.45 0.00 0.000 4 0.000 0.000 2018 726 2886

259 -1.49 -116.8 22.7 -9.1 33 268 0.50 3.00 0.00 0.000 6 0.000 0.000 1896 2198 2884

627 -1.72 -116.8 76.8 -15.3 94 635 0.00 2.53 0.00 0.000 4 0.000 0.000 1900 3569 2877

687 -1.46 -116.8 86.1 -15.0 103 697 0.52 3.38 0.00 0.000 6 0.000 0.000 2016 1888 2884

1044 -1.32 -116.8 119.2 -9.1 137 1052 0.50 3.25 0.00 0.000 4 0.000 0.000 1889 3566 2886

1128 -1.40 -116.8 130.6 -14.2 140 1134 0.52 2.35 0.00 0.000 6 0.000 0.000 2015 2183 2886

1452 -1.34 -116.8 160.8 -9.1 155 1454 0.62 0.00 0.00 0.000 6 0.000 0.000 1859 2181 2878

1763 -1.43 -116.8 205.0 -15.1 170 1765 0.45 0.00 0.00 0.000 6 0.000 0.000 2010 2188 2881

2071 -1.16 -116.8 233.2 -7.7 185 2076 0.00 2.83 0.00 0.000 4 0.000 0.000 1994 3512 2884

2116 -1.78 -116.8 237.3 -9.0 187 2123 0.77 2.78 0.00 0.000 6 0.000 0.000 1837 2174 2889

2451 -1.93 -116.8 296.1 -17.9 203 2452 0.00 0.00 0.00 0.000 6 0.000 0.000 1803 2170 2880

2765 -1.52 -116.8 351.7 -18.1 218 2768 0.90 0.00 0.00 0.000 6 0.000 0.000 2017 2177 2884

3074 -1.10 -116.8 382.3 -9.0 233 3079 0.05 2.22 0.00 0.000 4 0.000 0.000 2034 3550 2881

3118 -1.19 -116.8 386.6 -8.8 235 3123 0.00 2.25 0.00 0.000 6 0.000 0.000 2030 2225 2879

3453 -1.35 -116.8 416.1 -9.0 251 3456 0.47 0.00 0.00 0.000 6 0.000 0.000 1898 2227 2884

3764 -1.44 -116.8 457.9 -14.8 266 3766 0.50 0.00 0.00 0.000 6 0.000 0.000 2005 2236 2885

4072 -1.19 -116.8 487.9 -9.3 281 4073 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2221 2885

4374 -1.25 -116.8 516.4 -9.2 292 4379 0.00 2.75 0.00 0.000 4 0.000 0.000 2017 3546 2884

4410 -1.32 -116.8 519.9 -9.4 292 4419 0.30 3.28 0.00 0.000 6 0.000 0.000 1954 2031 2881

4745 -1.46 -116.8 560.5 -12.4 301 4750 0.00 2.92 0.00 0.000 4 0.000 0.000 1960 3548 2885

4783 end dive: BOTTOM_OBSTACLE_DETECTED

state 4784 begin apogee

4799 -0.25 0.0 566.1 13.8 302 4818 1.40 0.00 15.07 0.000 6 0.000 0.000 2265 1905 2245

4819 end apogee: CONTROL_FINISHED_OK

state 4819 begin climb

4825 1.49 116.8 566.1 0.0 302 4844 2.10 2.42 11.38 0.000 4 0.000 0.000 2621 583 1764

4866 1.49 116.8 564.9 17.2 303 4872 0.03 3.05 0.00 0.000 6 0.000 0.000 2618 2129 1769

5195 1.46 116.8 501.0 19.4 311 5201 0.60 2.47 0.00 0.000 4 0.000 0.000 2497 3463 1766

5339 1.26 154.7 483.7 10.7 316 5354 0.52 2.88 3.58 0.000 6 0.000 0.000 2602 2128 1602

5664 1.51 154.7 415.4 21.9 332 5669 0.00 3.08 0.00 0.000 4 0.000 0.000 2638 3602 1611

5711 1.32 154.7 404.5 21.4 334 5717 0.50 2.58 0.00 0.000 6 0.000 0.000 2478 2246 1614

6041 1.21 165.1 361.5 12.9 350 6045 0.08 0.00 1.00 0.000 6 0.000 0.000 2549 2242 1571

6350 1.36 165.1 308.3 17.4 365 6354 0.00 1.88 0.00 0.000 4 0.000 0.000 2529 3411 1572

6394 1.33 165.1 300.0 18.1 367 6398 0.00 2.35 0.00 0.000 6 0.000 0.000 2564 1915 1569

6729 1.36 165.1 235.9 17.4 383 6734 0.00 2.47 0.00 0.000 4 0.000 0.000 2552 3462 1571

6848 1.34 165.1 213.8 17.8 388 6854 0.00 3.03 0.00 0.000 6 0.000 0.000 2532 1954 1576

7167 1.37 165.1 158.7 17.3 403 7172 0.00 2.78 0.00 0.000 4 0.000 0.000 2553 3474 1570

7301 1.37 165.1 133.8 23.9 409 7306 0.00 2.47 0.00 0.000 6 0.000 0.000 2560 2279 1577

7637 1.17 165.1 75.3 17.5 441 7645 0.52 0.00 0.00 0.000 6 0.000 0.000 2435 2299 1569

8005 1.14 226.1 41.1 8.9 502 8021 0.57 2.47 5.18 0.000 4 0.000 0.000 2543 3492 1312

8057 1.56 226.1 32.4 20.2 509 8067 0.52 3.03 0.00 0.000 6 0.000 0.000 2678 2019 1311

8152 end climb: SURFACE_DEPTH_REACHED

state 8152 begin surface coast

8158 end surface coast: CONTROL_FINISHED_OK

state 8158 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	31	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	176	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	14	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	-447255.25	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	150016,6638.392,-6007.470,35,1.1,35,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6633.468,-6011.294
_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	-69.8	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	150812,6638.392,-6007.470,18,1.1,18,18.0	MHEAD_RNG_PITCHd_Wd	224.9,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025387	XPDR_PINGS	-1
SM_CCo	8188,14.15,0.000,0,0,385,451.84	ALTIM_TOP_PING	17.5,17.3
SM_GC	0.34,0.00,0.00,14.15,0.000,0.000,0.000,649,2015,385,-7.44,1.50,451.84	ALTIM_BOTTOM_PING	501.3,74.5
RAFOS_CLK	0	_24V_AH	23.7,37.644
RAFOS	4,1160580549,15.500000,15.485833,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,5.751
RAFOS_FIX	6638.080566,-6003.482422,111006,161620,4,80,0.68	DATA_FILE_SIZE	15897,525
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242380800
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,60,590,0,0
HUMID	2254	SOUNDSPEED	1459.6
INTERNAL_PRESSURE	25.9772	CURRENT	0.077,125.8,1
TCM_TEMP	15.00	GPS	111006,172705,6637.649,-6008.930,29,1.1,29,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	119	84.33	SBE_CT	436	24	248.04
Roll_motor	75	60	108.00	nil	0	0	0.00
VBD_pump_during_apogee	36	1300	1115.32	nil	0	0	0.00
VBD_pump_during_surface	14	600	201.21	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	132	223	699.80
Transponder_ping	4	420	44.79
GPS	19	50	9.49
TT8	1704	19	329.28
LPSleep	5308	2	118.95
TT8_Active	211	19	40.89
TT8_Sampling	569	39	220.63
TT8_CF8	894	45	398.64
TT8_Kalman	0	81	0.00
Analog_circuits	689	12	80.27
GPS_charging	0	0	0.00
Compass	477	26	120.38
RAFOS	1800	1	26.19

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	-8.05	0.000	6	0.000	0.000	657	1877	2885
64	-1.49	-116.8	0.3	0.0	2	82	6.38	2.45	0.00	0.000	4	0.000	0.000	2018	726	2886
259	-1.49	-116.8	22.7	-9.1	33	268	0.50	3.00	0.00	0.000	6	0.000	0.000	1896	2198	2884
627	-1.72	-116.8	76.8	-15.3	94	635	0.00	2.53	0.00	0.000	4	0.000	0.000	1900	3569	2877
687	-1.46	-116.8	86.1	-15.0	103	697	0.52	3.38	0.00	0.000	6	0.000	0.000	2016	1888	2884
1044	-1.32	-116.8	119.2	-9.1	137	1052	0.50	3.25	0.00	0.000	4	0.000	0.000	1889	3566	2886
1128	-1.40	-116.8	130.6	-14.2	140	1134	0.52	2.35	0.00	0.000	6	0.000	0.000	2015	2183	2886
1452	-1.34	-116.8	160.8	-9.1	155	1454	0.62	0.00	0.00	0.000	6	0.000	0.000	1859	2181	2878
1763	-1.43	-116.8	205.0	-15.1	170	1765	0.45	0.00	0.00	0.000	6	0.000	0.000	2010	2188	2881
2071	-1.16	-116.8	233.2	-7.7	185	2076	0.00	2.83	0.00	0.000	4	0.000	0.000	1994	3512	2884
2116	-1.78	-116.8	237.3	-9.0	187	2123	0.77	2.78	0.00	0.000	6	0.000	0.000	1837	2174	2889
2451	-1.93	-116.8	296.1	-17.9	203	2452	0.00	0.00	0.00	0.000	6	0.000	0.000	1803	2170	2880
2765	-1.52	-116.8	351.7	-18.1	218	2768	0.90	0.00	0.00	0.000	6	0.000	0.000	2017	2177	2884
3074	-1.10	-116.8	382.3	-9.0	233	3079	0.05	2.22	0.00	0.000	4	0.000	0.000	2034	3550	2881
3118	-1.19	-116.8	386.6	-8.8	235	3123	0.00	2.25	0.00	0.000	6	0.000	0.000	2030	2225	2879
3453	-1.35	-116.8	416.1	-9.0	251	3456	0.47	0.00	0.00	0.000	6	0.000	0.000	1898	2227	2884
3764	-1.44	-116.8	457.9	-14.8	266	3766	0.50	0.00	0.00	0.000	6	0.000	0.000	2005	2236	2885
4072	-1.19	-116.8	487.9	-9.3	281	4073	0.00	0.00	0.00	0.000	6	0.000	0.000	1996	2221	2885
4374	-1.25	-116.8	516.4	-9.2	292	4379	0.00	2.75	0.00	0.000	4	0.000	0.000	2017	3546	2884
4410	-1.32	-116.8	519.9	-9.4	292	4419	0.30	3.28	0.00	0.000	6	0.000	0.000	1954	2031	2881
4745	-1.46	-116.8	560.5	-12.4	301	4750	0.00	2.92	0.00	0.000	4	0.000	0.000	1960	3548	2885
4783	end dive: BOTTOM_OBSTACLE_DETECTED
state	4784	begin apogee
4799	-0.25	0.0	566.1	13.8	302	4818	1.40	0.00	15.07	0.000	6	0.000	0.000	2265	1905	2245
4819	end apogee: CONTROL_FINISHED_OK
state	4819	begin climb
4825	1.49	116.8	566.1	0.0	302	4844	2.10	2.42	11.38	0.000	4	0.000	0.000	2621	583	1764
4866	1.49	116.8	564.9	17.2	303	4872	0.03	3.05	0.00	0.000	6	0.000	0.000	2618	2129	1769
5195	1.46	116.8	501.0	19.4	311	5201	0.60	2.47	0.00	0.000	4	0.000	0.000	2497	3463	1766
5339	1.26	154.7	483.7	10.7	316	5354	0.52	2.88	3.58	0.000	6	0.000	0.000	2602	2128	1602
5664	1.51	154.7	415.4	21.9	332	5669	0.00	3.08	0.00	0.000	4	0.000	0.000	2638	3602	1611
5711	1.32	154.7	404.5	21.4	334	5717	0.50	2.58	0.00	0.000	6	0.000	0.000	2478	2246	1614
6041	1.21	165.1	361.5	12.9	350	6045	0.08	0.00	1.00	0.000	6	0.000	0.000	2549	2242	1571
6350	1.36	165.1	308.3	17.4	365	6354	0.00	1.88	0.00	0.000	4	0.000	0.000	2529	3411	1572
6394	1.33	165.1	300.0	18.1	367	6398	0.00	2.35	0.00	0.000	6	0.000	0.000	2564	1915	1569
6729	1.36	165.1	235.9	17.4	383	6734	0.00	2.47	0.00	0.000	4	0.000	0.000	2552	3462	1571
6848	1.34	165.1	213.8	17.8	388	6854	0.00	3.03	0.00	0.000	6	0.000	0.000	2532	1954	1576
7167	1.37	165.1	158.7	17.3	403	7172	0.00	2.78	0.00	0.000	4	0.000	0.000	2553	3474	1570
7301	1.37	165.1	133.8	23.9	409	7306	0.00	2.47	0.00	0.000	6	0.000	0.000	2560	2279	1577
7637	1.17	165.1	75.3	17.5	441	7645	0.52	0.00	0.00	0.000	6	0.000	0.000	2435	2299	1569
8005	1.14	226.1	41.1	8.9	502	8021	0.57	2.47	5.18	0.000	4	0.000	0.000	2543	3492	1312
8057	1.56	226.1	32.4	20.2	509	8067	0.52	3.03	0.00	0.000	6	0.000	0.000	2678	2019	1311
8152	end climb: SURFACE_DEPTH_REACHED
state	8152	begin surface coast
8158	end surface coast: CONTROL_FINISHED_OK
state	8158	begin surface