Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 71 * 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 71 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 169 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 157 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 -448133.34 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 -448133.34

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 169 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 157 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 71 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 164518,6637.442,-6006.795,22,1.1,22,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6638.608,-6011.051

_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 164924,6637.442,-6006.795,11,1.1,11,18.0 MHEAD_RNG_PITCHd_Wd 258.2,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025153 ALTIM_TOP_PING 19.8,18.9

SM_CCo 8214,17.67,0.000,0,0,405,452.82 ALTIM_BOTTOM_PING 500.6,73.0

SM_GC 0.34,0.00,0.00,17.67,0.000,0.000,0.000,590,1845,405,-7.74,-4.21,452.82 _24V_AH 23.7,48.454

RAFOS_CLK 0 _10V_AH 9.7,7.378

RAFOS_FIX 6637.120605,-6002.827148,151006,161620,4,80,0.42 DATA_FILE_SIZE 15857,504

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239755264

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,61,672,0,0

HUMID 2435 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 26.0358 CURRENT 0.069,164.4,1

TCM_TEMP 15.00 GPS 151006,190828,6637.271,-6008.790,17,1.1,18,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 119 85.74 SBE_CT 420 24 239.20

Roll_motor 86 60 122.47 nil 0 0 0.00

VBD_pump_during_apogee 32 1300 992.08 nil 0 0 0.00

VBD_pump_during_surface 17 600 251.34 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 68 223 359.97

Transponder_ping 4 420 44.79

GPS 12 50 5.92

TT8 1666 19 321.97

LPSleep 5283 2 118.38

TT8_Active 209 19 40.51

TT8_Sampling 614 39 237.93

TT8_CF8 708 45 315.39

TT8_Kalman 0 81 0.00

Analog_circuits 734 12 85.46

GPS_charging 0 0 0.00

Compass 527 26 132.91

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 35 begin dive

41 -1.49 -116.8 0.0 0.0 0 57 0.00 0.00 -8.43 0.000 6 0.000 0.000 606 2051 2900

64 -1.49 -116.8 0.3 0.1 2 81 6.55 2.95 0.00 0.000 4 0.000 0.000 1950 3409 2902

372 -1.49 -116.8 44.0 -12.6 52 380 0.00 2.47 0.00 0.000 6 0.000 0.000 1926 2082 2903

741 -1.39 -116.8 91.3 -13.0 113 749 0.00 2.78 0.00 0.000 4 0.000 0.000 1931 3430 2905

1030 -1.29 -116.8 127.0 -11.8 134 1038 0.52 3.08 0.00 0.000 6 0.000 0.000 2067 1920 2896

1360 -1.19 -116.8 152.7 -7.3 150 1366 0.35 2.45 0.00 0.000 4 0.000 0.000 1945 639 2904

1432 -1.41 -116.8 160.7 -12.8 153 1437 0.05 2.53 0.00 0.000 6 0.000 0.000 1943 1953 2904

1764 -1.44 -116.8 202.6 -13.0 169 1769 0.00 2.45 0.00 0.000 4 0.000 0.000 1943 3290 2907

1971 -1.31 -116.8 227.7 -13.2 178 1979 0.85 2.83 0.00 0.000 6 0.000 0.000 2040 1795 2900

2307 -1.21 -116.8 255.6 -7.7 194 2312 0.47 1.95 0.00 0.000 4 0.000 0.000 1921 450 2899

2337 -1.41 -116.8 258.8 -11.2 195 2343 0.50 2.53 0.00 0.000 6 0.000 0.000 2047 1952 2899

2662 -1.52 -116.8 285.8 -8.7 210 2664 0.70 0.00 0.00 0.000 6 0.000 0.000 1863 1930 2900

2970 -1.70 -116.8 334.1 -16.7 225 2976 0.35 2.17 0.00 0.000 4 0.000 0.000 1930 567 2905

3001 -1.39 -116.8 340.0 -15.3 226 3006 0.15 1.85 0.00 0.000 6 0.000 0.000 1931 1878 2902

3327 -1.37 -116.8 383.0 -13.5 241 3333 0.30 2.65 0.00 0.000 4 0.000 0.000 1980 543 2909

3353 -1.24 -116.8 387.3 -12.7 242 3357 0.00 2.12 0.00 0.000 6 0.000 0.000 1970 1880 2900

3682 -1.30 -116.8 422.1 -10.9 258 3683 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 1886 2902

3986 -1.30 -116.8 455.5 -10.8 273 3991 0.00 2.78 0.00 0.000 4 0.000 0.000 1969 682 2901

4031 -1.30 -116.8 460.2 -10.9 275 4035 0.00 1.83 0.00 0.000 6 0.000 0.000 1973 1855 2904

4367 -1.42 -116.8 495.4 -10.9 291 4371 0.20 1.92 0.00 0.000 4 0.000 0.000 1917 512 2907

4413 -1.42 -116.8 502.2 -13.8 293 4418 0.50 2.12 0.00 0.000 6 0.000 0.000 2045 1859 2903

4736 -1.42 -116.8 529.9 -8.3 301 4741 0.52 2.30 0.00 0.000 4 0.000 0.000 1909 468 2906

4783 -1.57 -116.8 536.4 -14.2 302 4788 0.08 2.47 0.00 0.000 6 0.000 0.000 1930 1643 2902

4984 end dive: BOTTOM_OBSTACLE_DETECTED

state 4984 begin apogee

4996 -0.25 0.0 565.2 14.5 307 5022 1.58 0.00 15.60 0.000 6 0.000 0.000 2263 1953 2234

5023 end apogee: CONTROL_FINISHED_OK

state 5023 begin climb

5029 1.49 116.8 569.2 0.0 308 5048 2.03 2.42 11.20 0.000 4 0.000 0.000 2651 666 1766

5085 1.49 116.8 559.8 21.2 309 5091 0.55 2.55 0.00 0.000 6 0.000 0.000 2535 1848 1762

5403 1.49 126.0 517.6 13.0 317 5412 0.35 3.22 0.90 0.001 4 0.000 0.000 2643 3502 1724

5574 1.58 126.0 481.4 21.4 322 5580 0.50 2.62 0.00 0.000 6 0.000 0.000 2530 1970 1726

5900 1.33 127.7 437.2 13.6 337 5905 0.00 2.78 0.00 0.000 4 0.000 0.000 2531 615 1721

5958 1.40 127.7 428.0 14.0 339 5967 0.52 2.67 0.00 0.000 6 0.000 0.000 2653 1779 1723

6283 1.64 127.7 358.7 22.1 355 6289 0.10 2.88 0.00 0.000 4 0.000 0.000 2635 3265 1731

6567 1.35 127.7 293.0 23.6 367 6572 0.80 2.05 0.00 0.000 6 0.000 0.000 2481 2129 1728

6892 1.10 173.2 257.5 10.1 382 6903 0.25 3.17 4.50 0.000 4 0.000 0.000 2519 581 1535

6964 1.40 173.2 247.5 15.7 385 6970 0.52 2.60 0.00 0.000 6 0.000 0.000 2648 1983 1541

7295 1.62 173.2 160.8 26.6 401 7297 0.60 0.00 0.00 0.000 6 0.000 0.000 2530 1991 1536

7605 1.31 173.2 108.6 16.3 416 7610 0.00 2.78 0.00 0.000 4 0.000 0.000 2546 673 1536

7652 1.36 173.2 100.5 16.4 418 7658 0.12 2.60 0.00 0.000 6 0.000 0.000 2538 2021 1531

8019 1.53 173.2 38.9 16.4 478 8027 0.52 2.45 0.00 0.000 4 0.000 0.000 2654 3344 1535

8133 1.57 173.2 10.0 26.6 496 8142 0.52 2.70 0.00 0.000 6 0.000 0.000 2553 1833 1538

8175 end climb: SURFACE_DEPTH_REACHED

state 8175 begin surface coast

8186 end surface coast: CONTROL_FINISHED_OK

state 8186 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	71	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	169	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	157	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	-448133.34	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	164518,6637.442,-6006.795,22,1.1,22,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6638.608,-6011.051
_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	164924,6637.442,-6006.795,11,1.1,11,18.0	MHEAD_RNG_PITCHd_Wd	258.2,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025153	ALTIM_TOP_PING	19.8,18.9
SM_CCo	8214,17.67,0.000,0,0,405,452.82	ALTIM_BOTTOM_PING	500.6,73.0
SM_GC	0.34,0.00,0.00,17.67,0.000,0.000,0.000,590,1845,405,-7.74,-4.21,452.82	_24V_AH	23.7,48.454
RAFOS_CLK	0	_10V_AH	9.7,7.378
RAFOS_FIX	6637.120605,-6002.827148,151006,161620,4,80,0.42	DATA_FILE_SIZE	15857,504
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239755264
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,61,672,0,0
HUMID	2435	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	26.0358	CURRENT	0.069,164.4,1
TCM_TEMP	15.00	GPS	151006,190828,6637.271,-6008.790,17,1.1,18,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	119	85.74	SBE_CT	420	24	239.20
Roll_motor	86	60	122.47	nil	0	0	0.00
VBD_pump_during_apogee	32	1300	992.08	nil	0	0	0.00
VBD_pump_during_surface	17	600	251.34	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	359.97
Transponder_ping	4	420	44.79
GPS	12	50	5.92
TT8	1666	19	321.97
LPSleep	5283	2	118.38
TT8_Active	209	19	40.51
TT8_Sampling	614	39	237.93
TT8_CF8	708	45	315.39
TT8_Kalman	0	81	0.00
Analog_circuits	734	12	85.46
GPS_charging	0	0	0.00
Compass	527	26	132.91
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	35	begin dive
41	-1.49	-116.8	0.0	0.0	0	57	0.00	0.00	-8.43	0.000	6	0.000	0.000	606	2051	2900
64	-1.49	-116.8	0.3	0.1	2	81	6.55	2.95	0.00	0.000	4	0.000	0.000	1950	3409	2902
372	-1.49	-116.8	44.0	-12.6	52	380	0.00	2.47	0.00	0.000	6	0.000	0.000	1926	2082	2903
741	-1.39	-116.8	91.3	-13.0	113	749	0.00	2.78	0.00	0.000	4	0.000	0.000	1931	3430	2905
1030	-1.29	-116.8	127.0	-11.8	134	1038	0.52	3.08	0.00	0.000	6	0.000	0.000	2067	1920	2896
1360	-1.19	-116.8	152.7	-7.3	150	1366	0.35	2.45	0.00	0.000	4	0.000	0.000	1945	639	2904
1432	-1.41	-116.8	160.7	-12.8	153	1437	0.05	2.53	0.00	0.000	6	0.000	0.000	1943	1953	2904
1764	-1.44	-116.8	202.6	-13.0	169	1769	0.00	2.45	0.00	0.000	4	0.000	0.000	1943	3290	2907
1971	-1.31	-116.8	227.7	-13.2	178	1979	0.85	2.83	0.00	0.000	6	0.000	0.000	2040	1795	2900
2307	-1.21	-116.8	255.6	-7.7	194	2312	0.47	1.95	0.00	0.000	4	0.000	0.000	1921	450	2899
2337	-1.41	-116.8	258.8	-11.2	195	2343	0.50	2.53	0.00	0.000	6	0.000	0.000	2047	1952	2899
2662	-1.52	-116.8	285.8	-8.7	210	2664	0.70	0.00	0.00	0.000	6	0.000	0.000	1863	1930	2900
2970	-1.70	-116.8	334.1	-16.7	225	2976	0.35	2.17	0.00	0.000	4	0.000	0.000	1930	567	2905
3001	-1.39	-116.8	340.0	-15.3	226	3006	0.15	1.85	0.00	0.000	6	0.000	0.000	1931	1878	2902
3327	-1.37	-116.8	383.0	-13.5	241	3333	0.30	2.65	0.00	0.000	4	0.000	0.000	1980	543	2909
3353	-1.24	-116.8	387.3	-12.7	242	3357	0.00	2.12	0.00	0.000	6	0.000	0.000	1970	1880	2900
3682	-1.30	-116.8	422.1	-10.9	258	3683	0.00	0.00	0.00	0.000	6	0.000	0.000	1998	1886	2902
3986	-1.30	-116.8	455.5	-10.8	273	3991	0.00	2.78	0.00	0.000	4	0.000	0.000	1969	682	2901
4031	-1.30	-116.8	460.2	-10.9	275	4035	0.00	1.83	0.00	0.000	6	0.000	0.000	1973	1855	2904
4367	-1.42	-116.8	495.4	-10.9	291	4371	0.20	1.92	0.00	0.000	4	0.000	0.000	1917	512	2907
4413	-1.42	-116.8	502.2	-13.8	293	4418	0.50	2.12	0.00	0.000	6	0.000	0.000	2045	1859	2903
4736	-1.42	-116.8	529.9	-8.3	301	4741	0.52	2.30	0.00	0.000	4	0.000	0.000	1909	468	2906
4783	-1.57	-116.8	536.4	-14.2	302	4788	0.08	2.47	0.00	0.000	6	0.000	0.000	1930	1643	2902
4984	end dive: BOTTOM_OBSTACLE_DETECTED
state	4984	begin apogee
4996	-0.25	0.0	565.2	14.5	307	5022	1.58	0.00	15.60	0.000	6	0.000	0.000	2263	1953	2234
5023	end apogee: CONTROL_FINISHED_OK
state	5023	begin climb
5029	1.49	116.8	569.2	0.0	308	5048	2.03	2.42	11.20	0.000	4	0.000	0.000	2651	666	1766
5085	1.49	116.8	559.8	21.2	309	5091	0.55	2.55	0.00	0.000	6	0.000	0.000	2535	1848	1762
5403	1.49	126.0	517.6	13.0	317	5412	0.35	3.22	0.90	0.001	4	0.000	0.000	2643	3502	1724
5574	1.58	126.0	481.4	21.4	322	5580	0.50	2.62	0.00	0.000	6	0.000	0.000	2530	1970	1726
5900	1.33	127.7	437.2	13.6	337	5905	0.00	2.78	0.00	0.000	4	0.000	0.000	2531	615	1721
5958	1.40	127.7	428.0	14.0	339	5967	0.52	2.67	0.00	0.000	6	0.000	0.000	2653	1779	1723
6283	1.64	127.7	358.7	22.1	355	6289	0.10	2.88	0.00	0.000	4	0.000	0.000	2635	3265	1731
6567	1.35	127.7	293.0	23.6	367	6572	0.80	2.05	0.00	0.000	6	0.000	0.000	2481	2129	1728
6892	1.10	173.2	257.5	10.1	382	6903	0.25	3.17	4.50	0.000	4	0.000	0.000	2519	581	1535
6964	1.40	173.2	247.5	15.7	385	6970	0.52	2.60	0.00	0.000	6	0.000	0.000	2648	1983	1541
7295	1.62	173.2	160.8	26.6	401	7297	0.60	0.00	0.00	0.000	6	0.000	0.000	2530	1991	1536
7605	1.31	173.2	108.6	16.3	416	7610	0.00	2.78	0.00	0.000	4	0.000	0.000	2546	673	1536
7652	1.36	173.2	100.5	16.4	418	7658	0.12	2.60	0.00	0.000	6	0.000	0.000	2538	2021	1531
8019	1.53	173.2	38.9	16.4	478	8027	0.52	2.45	0.00	0.000	4	0.000	0.000	2654	3344	1535
8133	1.57	173.2	10.0	26.6	496	8142	0.52	2.70	0.00	0.000	6	0.000	0.000	2553	1833	1538
8175	end climb: SURFACE_DEPTH_REACHED
state	8175	begin surface coast
8186	end surface coast: CONTROL_FINISHED_OK
state	8186	begin surface