Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 64 * 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 64 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 1 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 20 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 -447999.34 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 -447999.34

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 1 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 20 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 64 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 235558,6637.661,-6007.071,30,1.1,31,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6635.675,-6011.288

_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 000014,6637.661,-6007.071,22,1.1,22,18.0 MHEAD_RNG_PITCHd_Wd 241.4,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024460 XPDR_PINGS -1

SM_CCo 7996,14.55,0.000,0,0,400,450.86 ALTIM_TOP_PING 18.6,18.2

SM_GC 0.34,0.00,0.00,14.55,0.000,0.000,0.000,598,1736,400,-7.61,-6.59,450.86 ALTIM_BOTTOM_PING 500.5,71.9

RAFOS_CLK 0 _24V_AH 23.7,46.586

RAFOS 0,1160870641,0.083333,0.066944,80,0,0,0,0,0,591,0,0,0,0,0 _10V_AH 9.7,7.089

RAFOS_FIX 6637.558105,-6004.027344,151006,000020,4,80,1.78 DATA_FILE_SIZE 15882,474

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,240226304

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,59,781,0,0

HUMID 2412 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 26.0553 CURRENT 0.073,143.2,1

TCM_TEMP 15.00 GPS 151006,021553,6637.150,-6008.934,21,1.1,21,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 119 86.37 SBE_CT 393 24 223.78

Roll_motor 103 60 146.61 nil 0 0 0.00

VBD_pump_during_apogee 35 1300 1103.00 nil 0 0 0.00

VBD_pump_during_surface 14 600 206.90 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 68 223 359.40

Transponder_ping 4 420 44.79

GPS 23 50 11.26

TT8 1581 19 305.67

LPSleep 5213 2 116.82

TT8_Active 251 19 48.65

TT8_Sampling 559 39 216.73

TT8_CF8 676 45 301.17

TT8_Kalman 0 81 0.00

Analog_circuits 727 12 84.68

GPS_charging 0 0 0.00

Compass 468 26 118.12

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

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 -8.02 0.000 6 0.000 0.000 634 1762 2872

64 -1.49 -116.8 0.3 0.1 2 81 6.75 2.45 0.00 0.000 4 0.000 0.000 2032 293 2867

276 -1.49 -116.8 24.3 -8.2 36 285 0.57 2.75 0.00 0.000 6 0.000 0.000 1888 1962 2870

645 -1.82 -116.8 77.1 -14.5 97 653 0.00 2.62 0.00 0.000 4 0.000 0.000 1887 3604 2872

751 -1.58 -116.8 91.7 -14.7 113 760 0.10 3.88 0.00 0.000 6 0.000 0.000 1904 1931 2875

1097 -1.37 -116.8 142.0 -14.5 135 1105 0.62 3.33 0.00 0.000 4 0.000 0.000 2022 3634 2868

1138 -1.13 -116.8 146.9 -8.6 136 1147 0.00 2.85 0.00 0.000 6 0.000 0.000 2026 1788 2868

1463 -1.28 -116.8 173.4 -8.3 152 1474 0.35 3.47 0.00 0.000 4 0.000 0.000 1894 3636 2862

1564 -1.40 -116.8 187.6 -14.1 156 1572 0.45 3.83 0.00 0.000 6 0.000 0.000 2007 1842 2867

1894 -1.22 -116.8 216.1 -8.2 172 1897 0.52 0.00 0.00 0.000 6 0.000 0.000 1877 1854 2875

2208 -1.35 -116.8 258.8 -14.1 187 2210 0.60 0.00 0.00 0.000 6 0.000 0.000 2042 1847 2871

2519 -1.13 -116.8 285.4 -8.2 202 2521 0.03 0.00 0.00 0.000 6 0.000 0.000 2036 1847 2871

2827 -1.26 -116.8 310.9 -8.3 217 2829 0.40 0.00 0.00 0.000 6 0.000 0.000 1906 1842 2869

3137 -1.39 -116.8 352.0 -13.7 232 3143 0.45 2.75 0.00 0.000 4 0.000 0.000 2040 337 2875

3174 -1.19 -116.8 356.8 -7.4 233 3184 0.03 3.38 0.00 0.000 6 0.000 0.000 2031 2174 2869

3499 -1.55 -116.8 381.7 -7.8 249 3507 0.68 3.80 0.00 0.000 4 0.000 0.000 1853 338 2869

3534 -1.72 -116.8 386.7 -15.2 250 3547 0.52 3.62 0.00 0.000 6 0.000 0.000 1959 2219 2874

3864 -1.64 -116.8 423.0 -10.8 266 3873 0.52 3.25 0.00 0.000 4 0.000 0.000 1854 572 2869

3915 -1.61 -116.8 431.7 -16.8 268 3923 0.52 3.17 0.00 0.000 6 0.000 0.000 1966 2246 2871

4245 -1.43 -116.8 467.8 -11.0 284 4250 0.00 3.12 0.00 0.000 4 0.000 0.000 1967 382 2870

4281 -1.40 -116.8 472.1 -11.3 285 4291 0.00 3.65 0.00 0.000 6 0.000 0.000 1968 2237 2869

4626 -1.57 -116.8 509.4 -11.1 300 4633 0.00 3.78 0.00 0.000 4 0.000 0.000 1960 544 2871

4683 -1.52 -116.8 516.7 -10.9 301 4691 0.52 3.08 0.00 0.000 6 0.000 0.000 1835 2120 2873

4958 end dive: BOTTOM_OBSTACLE_DETECTED

state 4958 begin apogee

4970 -0.25 0.0 563.1 17.1 308 4990 2.03 0.00 15.02 0.000 6 0.000 0.000 2275 1753 2241

4991 end apogee: CONTROL_FINISHED_OK

state 4991 begin climb

4996 1.49 116.8 563.1 0.0 308 5015 1.55 2.92 11.23 0.000 4 0.000 0.000 2610 3407 1772

5110 1.49 116.8 550.1 16.8 310 5117 0.00 3.53 0.00 0.000 6 0.000 0.000 2589 1754 1767

5441 1.42 116.8 495.0 16.8 319 5448 0.00 3.58 0.00 0.000 4 0.000 0.000 2590 3577 1769

5610 1.32 116.8 465.8 16.8 326 5623 0.08 3.35 0.00 0.000 6 0.000 0.000 2583 1749 1762

5939 1.25 116.8 408.6 17.0 342 5947 0.52 3.25 0.00 0.000 4 0.000 0.000 2451 3583 1763

6002 1.14 167.4 400.8 9.7 344 6014 0.52 2.88 4.95 0.001 6 0.000 0.000 2577 1865 1569

6347 1.46 167.4 332.7 19.9 361 6351 0.00 2.53 0.00 0.000 4 0.000 0.000 2565 3575 1567

6443 1.35 167.4 313.9 20.1 365 6450 0.00 3.58 0.00 0.000 6 0.000 0.000 2577 1880 1562

6778 1.27 167.4 244.0 20.8 381 6784 0.50 2.78 0.00 0.000 4 0.000 0.000 2479 3388 1559

6885 1.16 197.6 229.1 11.3 385 6894 0.50 2.67 3.08 0.000 6 0.000 0.000 2564 2038 1439

7209 1.45 197.6 161.7 22.0 401 7215 0.00 3.28 0.00 0.000 4 0.000 0.000 2596 545 1433

7294 1.34 197.6 141.6 22.4 404 7303 0.50 2.62 0.00 0.000 6 0.000 0.000 2469 2193 1437

7619 1.42 214.8 100.9 12.4 420 7628 0.68 3.22 1.52 0.000 4 0.000 0.000 2641 531 1359

7682 1.66 214.8 83.5 30.0 427 7691 0.08 3.03 0.00 0.000 6 0.000 0.000 2660 2231 1356

7959 end climb: SURFACE_DEPTH_REACHED

state 7959 begin surface coast

7965 end surface coast: CONTROL_FINISHED_OK

state 7965 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	64	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	1	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	20	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	-447999.34	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	235558,6637.661,-6007.071,30,1.1,31,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6635.675,-6011.288
_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	000014,6637.661,-6007.071,22,1.1,22,18.0	MHEAD_RNG_PITCHd_Wd	241.4,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024460	XPDR_PINGS	-1
SM_CCo	7996,14.55,0.000,0,0,400,450.86	ALTIM_TOP_PING	18.6,18.2
SM_GC	0.34,0.00,0.00,14.55,0.000,0.000,0.000,598,1736,400,-7.61,-6.59,450.86	ALTIM_BOTTOM_PING	500.5,71.9
RAFOS_CLK	0	_24V_AH	23.7,46.586
RAFOS	0,1160870641,0.083333,0.066944,80,0,0,0,0,0,591,0,0,0,0,0	_10V_AH	9.7,7.089
RAFOS_FIX	6637.558105,-6004.027344,151006,000020,4,80,1.78	DATA_FILE_SIZE	15882,474
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,240226304
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,59,781,0,0
HUMID	2412	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	26.0553	CURRENT	0.073,143.2,1
TCM_TEMP	15.00	GPS	151006,021553,6637.150,-6008.934,21,1.1,21,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	119	86.37	SBE_CT	393	24	223.78
Roll_motor	103	60	146.61	nil	0	0	0.00
VBD_pump_during_apogee	35	1300	1103.00	nil	0	0	0.00
VBD_pump_during_surface	14	600	206.90	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	68	223	359.40
Transponder_ping	4	420	44.79
GPS	23	50	11.26
TT8	1581	19	305.67
LPSleep	5213	2	116.82
TT8_Active	251	19	48.65
TT8_Sampling	559	39	216.73
TT8_CF8	676	45	301.17
TT8_Kalman	0	81	0.00
Analog_circuits	727	12	84.68
GPS_charging	0	0	0.00
Compass	468	26	118.12
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
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	-8.02	0.000	6	0.000	0.000	634	1762	2872
64	-1.49	-116.8	0.3	0.1	2	81	6.75	2.45	0.00	0.000	4	0.000	0.000	2032	293	2867
276	-1.49	-116.8	24.3	-8.2	36	285	0.57	2.75	0.00	0.000	6	0.000	0.000	1888	1962	2870
645	-1.82	-116.8	77.1	-14.5	97	653	0.00	2.62	0.00	0.000	4	0.000	0.000	1887	3604	2872
751	-1.58	-116.8	91.7	-14.7	113	760	0.10	3.88	0.00	0.000	6	0.000	0.000	1904	1931	2875
1097	-1.37	-116.8	142.0	-14.5	135	1105	0.62	3.33	0.00	0.000	4	0.000	0.000	2022	3634	2868
1138	-1.13	-116.8	146.9	-8.6	136	1147	0.00	2.85	0.00	0.000	6	0.000	0.000	2026	1788	2868
1463	-1.28	-116.8	173.4	-8.3	152	1474	0.35	3.47	0.00	0.000	4	0.000	0.000	1894	3636	2862
1564	-1.40	-116.8	187.6	-14.1	156	1572	0.45	3.83	0.00	0.000	6	0.000	0.000	2007	1842	2867
1894	-1.22	-116.8	216.1	-8.2	172	1897	0.52	0.00	0.00	0.000	6	0.000	0.000	1877	1854	2875
2208	-1.35	-116.8	258.8	-14.1	187	2210	0.60	0.00	0.00	0.000	6	0.000	0.000	2042	1847	2871
2519	-1.13	-116.8	285.4	-8.2	202	2521	0.03	0.00	0.00	0.000	6	0.000	0.000	2036	1847	2871
2827	-1.26	-116.8	310.9	-8.3	217	2829	0.40	0.00	0.00	0.000	6	0.000	0.000	1906	1842	2869
3137	-1.39	-116.8	352.0	-13.7	232	3143	0.45	2.75	0.00	0.000	4	0.000	0.000	2040	337	2875
3174	-1.19	-116.8	356.8	-7.4	233	3184	0.03	3.38	0.00	0.000	6	0.000	0.000	2031	2174	2869
3499	-1.55	-116.8	381.7	-7.8	249	3507	0.68	3.80	0.00	0.000	4	0.000	0.000	1853	338	2869
3534	-1.72	-116.8	386.7	-15.2	250	3547	0.52	3.62	0.00	0.000	6	0.000	0.000	1959	2219	2874
3864	-1.64	-116.8	423.0	-10.8	266	3873	0.52	3.25	0.00	0.000	4	0.000	0.000	1854	572	2869
3915	-1.61	-116.8	431.7	-16.8	268	3923	0.52	3.17	0.00	0.000	6	0.000	0.000	1966	2246	2871
4245	-1.43	-116.8	467.8	-11.0	284	4250	0.00	3.12	0.00	0.000	4	0.000	0.000	1967	382	2870
4281	-1.40	-116.8	472.1	-11.3	285	4291	0.00	3.65	0.00	0.000	6	0.000	0.000	1968	2237	2869
4626	-1.57	-116.8	509.4	-11.1	300	4633	0.00	3.78	0.00	0.000	4	0.000	0.000	1960	544	2871
4683	-1.52	-116.8	516.7	-10.9	301	4691	0.52	3.08	0.00	0.000	6	0.000	0.000	1835	2120	2873
4958	end dive: BOTTOM_OBSTACLE_DETECTED
state	4958	begin apogee
4970	-0.25	0.0	563.1	17.1	308	4990	2.03	0.00	15.02	0.000	6	0.000	0.000	2275	1753	2241
4991	end apogee: CONTROL_FINISHED_OK
state	4991	begin climb
4996	1.49	116.8	563.1	0.0	308	5015	1.55	2.92	11.23	0.000	4	0.000	0.000	2610	3407	1772
5110	1.49	116.8	550.1	16.8	310	5117	0.00	3.53	0.00	0.000	6	0.000	0.000	2589	1754	1767
5441	1.42	116.8	495.0	16.8	319	5448	0.00	3.58	0.00	0.000	4	0.000	0.000	2590	3577	1769
5610	1.32	116.8	465.8	16.8	326	5623	0.08	3.35	0.00	0.000	6	0.000	0.000	2583	1749	1762
5939	1.25	116.8	408.6	17.0	342	5947	0.52	3.25	0.00	0.000	4	0.000	0.000	2451	3583	1763
6002	1.14	167.4	400.8	9.7	344	6014	0.52	2.88	4.95	0.001	6	0.000	0.000	2577	1865	1569
6347	1.46	167.4	332.7	19.9	361	6351	0.00	2.53	0.00	0.000	4	0.000	0.000	2565	3575	1567
6443	1.35	167.4	313.9	20.1	365	6450	0.00	3.58	0.00	0.000	6	0.000	0.000	2577	1880	1562
6778	1.27	167.4	244.0	20.8	381	6784	0.50	2.78	0.00	0.000	4	0.000	0.000	2479	3388	1559
6885	1.16	197.6	229.1	11.3	385	6894	0.50	2.67	3.08	0.000	6	0.000	0.000	2564	2038	1439
7209	1.45	197.6	161.7	22.0	401	7215	0.00	3.28	0.00	0.000	4	0.000	0.000	2596	545	1433
7294	1.34	197.6	141.6	22.4	404	7303	0.50	2.62	0.00	0.000	6	0.000	0.000	2469	2193	1437
7619	1.42	214.8	100.9	12.4	420	7628	0.68	3.22	1.52	0.000	4	0.000	0.000	2641	531	1359
7682	1.66	214.8	83.5	30.0	427	7691	0.08	3.03	0.00	0.000	6	0.000	0.000	2660	2231	1356
7959	end climb: SURFACE_DEPTH_REACHED
state	7959	begin surface coast
7965	end surface coast: CONTROL_FINISHED_OK
state	7965	begin surface