Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 65 * 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 65 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 12 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 2 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 -448009.78 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 -448009.78

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 12 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 2 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 65 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 021553,6637.150,-6008.934,21,1.1,21,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6626.814,-6007.684

_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 021954,6637.150,-6008.934,9,1.1,9,18.0 MHEAD_RNG_PITCHd_Wd 145.2,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025117 XPDR_PINGS -1

SM_CCo 8360,16.65,0.000,0,0,426,450.86 ALTIM_TOP_PING 19.8,18.6

SM_GC 0.34,0.00,0.00,16.65,0.000,0.000,0.000,608,2241,426,-7.53,6.59,450.86 ALTIM_BOTTOM_PING 475.4,89.5

RAFOS_CLK 0 _24V_AH 23.7,46.847

RAFOS 4,1160882953,3.500000,3.486944,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,7.131

RAFOS_FIX 6637.687500,-6004.906250,151006,040400,3,80,0.45 DATA_FILE_SIZE 19019,538

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,240148480

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,48,773,0,0

HUMID 2230 SOUNDSPEED 1459.4

INTERNAL_PRESSURE 26.0358 CURRENT 0.054, 43.8,1

TCM_TEMP 15.00 GPS 151006,044136,6636.512,-6007.672,28,1.1,28,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 119 82.71 SBE_CT 451 24 256.98

Roll_motor 100 60 142.70 nil 0 0 0.00

VBD_pump_during_apogee 31 1300 982.84 nil 0 0 0.00

VBD_pump_during_surface 16 600 236.76 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 67 223 356.33

Transponder_ping 4 420 42.30

GPS 9 50 4.76

TT8 1750 19 338.31

LPSleep 5319 2 119.19

TT8_Active 236 19 45.66

TT8_Sampling 606 39 235.01

TT8_CF8 711 45 316.93

TT8_Kalman 0 81 0.00

Analog_circuits 752 12 87.61

GPS_charging 0 0 0.00

Compass 518 26 130.86

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 -8.07 0.000 6 0.000 0.000 605 1744 2850

64 -1.49 -116.8 0.3 -0.0 2 82 6.62 3.22 0.00 0.000 4 0.000 0.000 2009 3599 2856

373 -1.49 -116.8 33.8 -9.3 52 383 0.52 3.97 0.00 0.000 6 0.000 0.000 1890 1736 2855

744 -1.57 -116.8 87.4 -15.1 113 753 0.50 3.28 0.00 0.000 4 0.000 0.000 2003 3552 2855

1032 -1.27 -116.8 114.9 -9.3 141 1039 0.00 3.67 0.00 0.000 6 0.000 0.000 1988 1869 2856

1372 -1.35 -116.8 146.4 -9.4 157 1373 0.00 0.00 0.00 0.000 6 0.000 0.000 2016 1891 2852

1677 -1.39 -116.8 175.5 -9.3 172 1679 0.08 0.00 0.00 0.000 6 0.000 0.000 1999 1859 2854

1991 -1.43 -116.8 204.5 -9.4 187 1993 0.52 0.00 0.00 0.000 6 0.000 0.000 1874 1878 2861

2300 -1.48 -116.8 248.3 -15.0 202 2302 0.40 0.00 0.00 0.000 6 0.000 0.000 1981 1887 2857

2609 -1.19 -116.8 278.3 -9.5 217 2617 0.05 3.28 0.00 0.000 4 0.000 0.000 2006 528 2851

2639 -1.23 -116.8 281.7 -9.6 218 2644 0.00 2.72 0.00 0.000 6 0.000 0.000 1989 2198 2857

2969 -1.38 -116.8 312.0 -9.4 234 2975 0.08 3.08 0.00 0.000 4 0.000 0.000 2002 499 2855

3017 -1.43 -116.8 317.3 -9.2 236 3023 0.08 3.03 0.00 0.000 6 0.000 0.000 1998 2241 2854

3350 -1.67 -116.8 347.4 -9.4 252 3358 0.70 2.97 0.00 0.000 4 0.000 0.000 1874 580 2852

3413 -1.74 -116.8 357.2 -15.3 254 3422 0.05 3.05 0.00 0.000 6 0.000 0.000 1856 2060 2853

3737 -1.63 -116.8 405.3 -15.2 270 3745 0.28 3.30 0.00 0.000 4 0.000 0.000 1933 410 2853

3766 -1.34 -116.8 410.4 -13.1 271 3774 0.50 3.38 0.00 0.000 6 0.000 0.000 2054 1920 2851

4102 -1.34 -116.8 434.2 -7.1 287 4104 0.50 0.00 0.00 0.000 6 0.000 0.000 1908 1906 2854

4411 -1.54 -116.8 468.5 -11.4 302 4416 0.03 2.50 0.00 0.000 4 0.000 0.000 1933 351 2854

4474 -1.74 -116.8 476.8 -12.1 304 4484 0.52 3.33 0.00 0.000 6 0.000 0.000 1815 2208 2849

4812 -1.80 -116.8 537.1 -18.2 316 4820 0.43 3.53 0.00 0.000 4 0.000 0.000 1927 390 2846

4870 -1.36 -116.8 545.6 -12.4 317 4875 0.00 2.55 0.00 0.000 6 0.000 0.000 1931 1899 2854

4978 end dive: BOTTOM_OBSTACLE_DETECTED

state 4978 begin apogee

4990 -0.25 0.0 559.3 12.2 320 5009 1.55 0.00 14.55 0.000 6 0.000 0.000 2227 2237 2239

5009 end apogee: CONTROL_FINISHED_OK

state 5010 begin climb

5015 1.49 116.8 559.3 0.0 320 5036 1.77 3.67 11.18 0.000 4 0.000 0.000 2661 570 1770

5089 1.49 116.8 548.8 22.8 321 5103 0.62 3.53 0.00 0.000 6 0.000 0.000 2533 2269 1769

5430 1.40 116.8 498.7 14.1 330 5431 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2254 1772

5739 1.41 116.8 454.9 14.2 345 5746 0.12 3.50 0.00 0.000 4 0.000 0.000 2609 266 1772

5823 1.41 116.8 440.0 18.8 348 5836 0.10 3.72 0.00 0.000 6 0.000 0.000 2616 2229 1767

6152 1.52 116.8 380.1 18.2 364 6157 0.00 2.67 0.00 0.000 4 0.000 0.000 2601 557 1776

6188 1.37 116.8 372.3 18.8 365 6197 0.00 3.53 0.00 0.000 6 0.000 0.000 2605 2214 1773

6513 1.42 116.8 314.4 18.2 381 6522 0.52 3.72 0.00 0.000 4 0.000 0.000 2481 373 1768

6563 1.27 151.0 307.1 11.0 383 6573 0.47 3.03 3.30 0.000 6 0.000 0.000 2611 2055 1636

6893 1.67 151.0 240.2 20.7 399 6899 0.05 2.97 0.00 0.000 4 0.000 0.000 2602 3517 1627

7031 1.51 151.0 211.3 20.5 405 7038 0.00 3.88 0.00 0.000 6 0.000 0.000 2616 1735 1628

7371 1.35 151.0 141.3 21.1 421 7379 0.82 3.75 0.00 0.000 4 0.000 0.000 2467 3528 1635

7651 1.19 169.9 104.9 12.2 433 7660 0.00 3.47 1.75 0.001 6 0.000 0.000 2498 1712 1540

8021 1.40 184.1 53.2 12.6 489 8033 0.65 3.50 1.12 0.001 4 0.000 0.000 2551 3552 1482

8298 1.58 184.1 3.6 17.9 534 8307 0.52 3.20 0.00 0.000 6 0.000 0.000 2674 1728 1481

8312 end climb: SURFACE_DEPTH_REACHED

state 8312 begin surface coast

8329 end surface coast: CONTROL_FINISHED_OK

state 8330 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	65	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	12	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	2	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	-448009.78	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	021553,6637.150,-6008.934,21,1.1,21,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6626.814,-6007.684
_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	021954,6637.150,-6008.934,9,1.1,9,18.0	MHEAD_RNG_PITCHd_Wd	145.2,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025117	XPDR_PINGS	-1
SM_CCo	8360,16.65,0.000,0,0,426,450.86	ALTIM_TOP_PING	19.8,18.6
SM_GC	0.34,0.00,0.00,16.65,0.000,0.000,0.000,608,2241,426,-7.53,6.59,450.86	ALTIM_BOTTOM_PING	475.4,89.5
RAFOS_CLK	0	_24V_AH	23.7,46.847
RAFOS	4,1160882953,3.500000,3.486944,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,7.131
RAFOS_FIX	6637.687500,-6004.906250,151006,040400,3,80,0.45	DATA_FILE_SIZE	19019,538
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,240148480
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,48,773,0,0
HUMID	2230	SOUNDSPEED	1459.4
INTERNAL_PRESSURE	26.0358	CURRENT	0.054, 43.8,1
TCM_TEMP	15.00	GPS	151006,044136,6636.512,-6007.672,28,1.1,28,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	119	82.71	SBE_CT	451	24	256.98
Roll_motor	100	60	142.70	nil	0	0	0.00
VBD_pump_during_apogee	31	1300	982.84	nil	0	0	0.00
VBD_pump_during_surface	16	600	236.76	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	356.33
Transponder_ping	4	420	42.30
GPS	9	50	4.76
TT8	1750	19	338.31
LPSleep	5319	2	119.19
TT8_Active	236	19	45.66
TT8_Sampling	606	39	235.01
TT8_CF8	711	45	316.93
TT8_Kalman	0	81	0.00
Analog_circuits	752	12	87.61
GPS_charging	0	0	0.00
Compass	518	26	130.86
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	-8.07	0.000	6	0.000	0.000	605	1744	2850
64	-1.49	-116.8	0.3	-0.0	2	82	6.62	3.22	0.00	0.000	4	0.000	0.000	2009	3599	2856
373	-1.49	-116.8	33.8	-9.3	52	383	0.52	3.97	0.00	0.000	6	0.000	0.000	1890	1736	2855
744	-1.57	-116.8	87.4	-15.1	113	753	0.50	3.28	0.00	0.000	4	0.000	0.000	2003	3552	2855
1032	-1.27	-116.8	114.9	-9.3	141	1039	0.00	3.67	0.00	0.000	6	0.000	0.000	1988	1869	2856
1372	-1.35	-116.8	146.4	-9.4	157	1373	0.00	0.00	0.00	0.000	6	0.000	0.000	2016	1891	2852
1677	-1.39	-116.8	175.5	-9.3	172	1679	0.08	0.00	0.00	0.000	6	0.000	0.000	1999	1859	2854
1991	-1.43	-116.8	204.5	-9.4	187	1993	0.52	0.00	0.00	0.000	6	0.000	0.000	1874	1878	2861
2300	-1.48	-116.8	248.3	-15.0	202	2302	0.40	0.00	0.00	0.000	6	0.000	0.000	1981	1887	2857
2609	-1.19	-116.8	278.3	-9.5	217	2617	0.05	3.28	0.00	0.000	4	0.000	0.000	2006	528	2851
2639	-1.23	-116.8	281.7	-9.6	218	2644	0.00	2.72	0.00	0.000	6	0.000	0.000	1989	2198	2857
2969	-1.38	-116.8	312.0	-9.4	234	2975	0.08	3.08	0.00	0.000	4	0.000	0.000	2002	499	2855
3017	-1.43	-116.8	317.3	-9.2	236	3023	0.08	3.03	0.00	0.000	6	0.000	0.000	1998	2241	2854
3350	-1.67	-116.8	347.4	-9.4	252	3358	0.70	2.97	0.00	0.000	4	0.000	0.000	1874	580	2852
3413	-1.74	-116.8	357.2	-15.3	254	3422	0.05	3.05	0.00	0.000	6	0.000	0.000	1856	2060	2853
3737	-1.63	-116.8	405.3	-15.2	270	3745	0.28	3.30	0.00	0.000	4	0.000	0.000	1933	410	2853
3766	-1.34	-116.8	410.4	-13.1	271	3774	0.50	3.38	0.00	0.000	6	0.000	0.000	2054	1920	2851
4102	-1.34	-116.8	434.2	-7.1	287	4104	0.50	0.00	0.00	0.000	6	0.000	0.000	1908	1906	2854
4411	-1.54	-116.8	468.5	-11.4	302	4416	0.03	2.50	0.00	0.000	4	0.000	0.000	1933	351	2854
4474	-1.74	-116.8	476.8	-12.1	304	4484	0.52	3.33	0.00	0.000	6	0.000	0.000	1815	2208	2849
4812	-1.80	-116.8	537.1	-18.2	316	4820	0.43	3.53	0.00	0.000	4	0.000	0.000	1927	390	2846
4870	-1.36	-116.8	545.6	-12.4	317	4875	0.00	2.55	0.00	0.000	6	0.000	0.000	1931	1899	2854
4978	end dive: BOTTOM_OBSTACLE_DETECTED
state	4978	begin apogee
4990	-0.25	0.0	559.3	12.2	320	5009	1.55	0.00	14.55	0.000	6	0.000	0.000	2227	2237	2239
5009	end apogee: CONTROL_FINISHED_OK
state	5010	begin climb
5015	1.49	116.8	559.3	0.0	320	5036	1.77	3.67	11.18	0.000	4	0.000	0.000	2661	570	1770
5089	1.49	116.8	548.8	22.8	321	5103	0.62	3.53	0.00	0.000	6	0.000	0.000	2533	2269	1769
5430	1.40	116.8	498.7	14.1	330	5431	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2254	1772
5739	1.41	116.8	454.9	14.2	345	5746	0.12	3.50	0.00	0.000	4	0.000	0.000	2609	266	1772
5823	1.41	116.8	440.0	18.8	348	5836	0.10	3.72	0.00	0.000	6	0.000	0.000	2616	2229	1767
6152	1.52	116.8	380.1	18.2	364	6157	0.00	2.67	0.00	0.000	4	0.000	0.000	2601	557	1776
6188	1.37	116.8	372.3	18.8	365	6197	0.00	3.53	0.00	0.000	6	0.000	0.000	2605	2214	1773
6513	1.42	116.8	314.4	18.2	381	6522	0.52	3.72	0.00	0.000	4	0.000	0.000	2481	373	1768
6563	1.27	151.0	307.1	11.0	383	6573	0.47	3.03	3.30	0.000	6	0.000	0.000	2611	2055	1636
6893	1.67	151.0	240.2	20.7	399	6899	0.05	2.97	0.00	0.000	4	0.000	0.000	2602	3517	1627
7031	1.51	151.0	211.3	20.5	405	7038	0.00	3.88	0.00	0.000	6	0.000	0.000	2616	1735	1628
7371	1.35	151.0	141.3	21.1	421	7379	0.82	3.75	0.00	0.000	4	0.000	0.000	2467	3528	1635
7651	1.19	169.9	104.9	12.2	433	7660	0.00	3.47	1.75	0.001	6	0.000	0.000	2498	1712	1540
8021	1.40	184.1	53.2	12.6	489	8033	0.65	3.50	1.12	0.001	4	0.000	0.000	2551	3552	1482
8298	1.58	184.1	3.6	17.9	534	8307	0.52	3.20	0.00	0.000	6	0.000	0.000	2674	1728	1481
8312	end climb: SURFACE_DEPTH_REACHED
state	8312	begin surface coast
8329	end surface coast: CONTROL_FINISHED_OK
state	8330	begin surface