Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 75 * 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 75 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 16 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 6 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 -448250.38 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 -448250.38

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 16 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 6 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 75 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 021932,6637.329,-6007.220,28,1.1,28,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6635.231,-6011.429

_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 -69.5 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 022353,6637.329,-6007.220,24,1.1,25,18.0 MHEAD_RNG_PITCHd_Wd 240.8,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025234 XPDR_PINGS -1

SM_CCo 8165,17.95,0.000,0,0,402,452.82 ALTIM_TOP_PING 18.9,19.3

SM_GC 0.34,0.00,0.00,17.95,0.000,0.000,0.000,637,1732,402,-7.37,-7.18,452.82 ALTIM_BOTTOM_PING 476.5,93.2

RAFOS_CLK 0 _24V_AH 23.7,49.527

RAFOS 4,1160969345,3.500000,3.484722,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,7.544

RAFOS_FIX 6637.402832,-6003.563477,161006,040400,3,80,0.40 DATA_FILE_SIZE 15828,500

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239493120

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,54,798,0,0

HUMID 2146 SOUNDSPEED 1459.8

INTERNAL_PRESSURE 26.0162 CURRENT 0.069,148.8,1

TCM_TEMP 15.00 GPS 161006,044221,6636.932,-6009.070,20,1.1,21,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 119 84.04 SBE_CT 416 24 236.70

Roll_motor 103 60 147.64 nil 0 0 0.00

VBD_pump_during_apogee 30 1300 933.54 nil 0 0 0.00

VBD_pump_during_surface 17 600 255.25 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 68 223 360.23

Transponder_ping 4 420 42.30

GPS 25 50 12.45

TT8 1677 19 324.16

LPSleep 5215 2 116.86

TT8_Active 244 19 47.23

TT8_Sampling 621 39 240.50

TT8_CF8 699 45 311.35

TT8_Kalman 0 81 0.00

Analog_circuits 765 12 89.10

GPS_charging 0 0 0.00

Compass 521 26 131.46

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 57 0.00 0.00 -8.02 0.000 6 0.000 0.000 631 1817 2855

63 -1.49 -116.8 0.3 -0.0 2 81 7.75 2.97 0.00 0.000 4 0.000 0.000 2010 3502 2853

302 -1.49 -116.8 26.4 -8.8 40 311 0.45 3.28 0.00 0.000 6 0.000 0.000 1891 1841 2854

672 -1.58 -116.8 79.3 -14.5 101 680 0.43 0.00 0.00 0.000 6 0.000 0.000 2002 1841 2858

1020 -1.32 -116.8 111.2 -8.9 144 1025 0.00 3.08 0.00 0.000 4 0.000 0.000 2007 520 2854

1079 -1.39 -116.8 116.7 -9.1 146 1088 0.50 2.62 0.00 0.000 6 0.000 0.000 1896 2199 2851

1399 -1.61 -116.8 161.8 -14.5 162 1406 0.00 3.35 0.00 0.000 4 0.000 0.000 1904 402 2850

1478 -1.36 -116.8 173.0 -12.6 165 1491 0.55 2.97 0.00 0.000 6 0.000 0.000 2005 1878 2850

1802 -1.33 -116.8 203.1 -8.8 181 1808 0.15 2.47 0.00 0.000 4 0.000 0.000 1940 531 2855

1875 -1.42 -116.8 210.2 -11.7 184 1880 0.00 2.83 0.00 0.000 6 0.000 0.000 1948 2093 2851

2211 -1.48 -116.8 248.2 -11.4 200 2217 0.00 2.38 0.00 0.000 4 0.000 0.000 1943 582 2848

2248 -1.41 -116.8 253.4 -11.2 201 2254 0.05 2.67 0.00 0.000 6 0.001 0.000 1954 1883 2848

2573 -1.47 -116.8 289.4 -11.4 216 2578 0.00 2.55 0.00 0.000 4 0.000 0.000 1943 326 2850

2617 -1.40 -116.8 295.0 -11.3 218 2622 0.00 2.85 0.00 0.000 6 0.000 0.000 1942 1979 2858

2948 -1.63 -116.8 333.0 -11.4 234 2956 0.47 3.03 0.00 0.000 4 0.000 0.000 1845 302 2856

3027 -1.56 -116.8 345.3 -18.1 237 3033 0.70 2.42 0.00 0.000 6 0.000 0.000 1961 1795 2854

3354 -1.31 -116.8 384.4 -11.5 253 3361 0.22 3.03 0.00 0.000 4 0.000 0.000 2004 3466 2853

3416 -1.23 -116.8 390.6 -8.8 255 3425 0.00 3.83 0.00 0.000 6 0.000 0.000 2016 1447 2854

3742 -1.32 -116.8 418.7 -8.8 271 3750 0.05 3.75 0.00 0.000 4 0.000 0.000 1940 3448 2847

4029 -1.41 -116.8 451.9 -11.4 283 4035 0.00 3.15 0.00 0.000 6 0.000 0.000 1946 1564 2858

4355 -1.33 -116.8 488.3 -11.5 298 4362 0.17 3.38 0.00 0.000 4 0.000 0.000 1942 3423 2857

4641 -1.27 -116.8 521.8 -11.6 307 4649 0.52 3.78 0.00 0.000 6 0.000 0.000 2086 1588 2854

4964 -1.19 -116.8 543.8 -6.5 315 4971 0.43 3.25 0.00 0.000 4 0.000 0.000 1942 3287 2854

5100 end dive: BOTTOM_OBSTACLE_DETECTED

state 5100 begin apogee

5116 -0.25 0.0 560.1 11.8 318 5135 1.90 0.00 14.55 0.000 6 0.000 0.000 2239 1958 2244

5135 end apogee: CONTROL_FINISHED_OK

state 5135 begin climb

5141 1.49 116.8 562.8 0.0 318 5156 1.77 0.00 10.93 0.000 6 0.000 0.000 2670 1961 1769

5462 1.49 116.8 490.4 24.3 327 5470 0.77 3.22 0.00 0.000 4 0.000 0.000 2495 269 1773

5488 1.08 116.8 485.2 20.1 328 5494 0.00 3.20 0.00 0.000 6 0.000 0.000 2514 1944 1773

5825 1.12 145.3 447.3 11.5 344 5836 0.00 0.00 3.15 0.000 6 0.000 0.000 2488 1958 1644

6153 1.30 147.9 401.3 13.5 360 6155 0.45 0.00 0.00 0.000 6 0.000 0.000 2637 1951 1647

6462 1.33 147.9 332.0 21.3 375 6468 0.35 2.83 0.00 0.000 4 0.000 0.000 2488 276 1641

6499 1.13 163.0 324.9 12.5 376 6509 0.00 3.72 1.67 0.001 6 0.000 0.000 2508 2108 1566

6825 1.49 165.1 282.2 13.6 392 6834 0.57 3.65 0.00 0.000 4 0.000 0.000 2631 266 1570

6883 1.63 165.1 268.3 23.3 394 6895 0.03 3.20 0.00 0.000 6 0.000 0.000 2640 2011 1563

7215 1.70 165.1 192.8 23.4 410 7220 0.03 2.88 0.00 0.000 4 0.000 0.000 2626 528 1579

7259 1.48 165.1 180.5 24.2 412 7266 0.52 2.95 0.00 0.000 6 0.000 0.000 2518 2036 1572

7594 1.48 165.1 130.9 14.3 428 7602 0.50 3.25 0.00 0.000 4 0.000 0.000 2644 383 1566

7646 1.58 165.1 119.6 24.8 430 7651 0.10 2.47 0.00 0.000 6 0.000 0.000 2629 1690 1563

7999 1.61 165.1 34.0 23.7 478 8008 0.00 3.25 0.00 0.000 4 0.000 0.000 2644 3414 1569

8125 end climb: SURFACE_DEPTH_REACHED

state 8125 begin surface coast

8131 end surface coast: CONTROL_FINISHED_OK

state 8131 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	75	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	16	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	6	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	-448250.38	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	021932,6637.329,-6007.220,28,1.1,28,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6635.231,-6011.429
_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	-69.5	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	022353,6637.329,-6007.220,24,1.1,25,18.0	MHEAD_RNG_PITCHd_Wd	240.8,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025234	XPDR_PINGS	-1
SM_CCo	8165,17.95,0.000,0,0,402,452.82	ALTIM_TOP_PING	18.9,19.3
SM_GC	0.34,0.00,0.00,17.95,0.000,0.000,0.000,637,1732,402,-7.37,-7.18,452.82	ALTIM_BOTTOM_PING	476.5,93.2
RAFOS_CLK	0	_24V_AH	23.7,49.527
RAFOS	4,1160969345,3.500000,3.484722,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,7.544
RAFOS_FIX	6637.402832,-6003.563477,161006,040400,3,80,0.40	DATA_FILE_SIZE	15828,500
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239493120
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,54,798,0,0
HUMID	2146	SOUNDSPEED	1459.8
INTERNAL_PRESSURE	26.0162	CURRENT	0.069,148.8,1
TCM_TEMP	15.00	GPS	161006,044221,6636.932,-6009.070,20,1.1,21,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	119	84.04	SBE_CT	416	24	236.70
Roll_motor	103	60	147.64	nil	0	0	0.00
VBD_pump_during_apogee	30	1300	933.54	nil	0	0	0.00
VBD_pump_during_surface	17	600	255.25	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	360.23
Transponder_ping	4	420	42.30
GPS	25	50	12.45
TT8	1677	19	324.16
LPSleep	5215	2	116.86
TT8_Active	244	19	47.23
TT8_Sampling	621	39	240.50
TT8_CF8	699	45	311.35
TT8_Kalman	0	81	0.00
Analog_circuits	765	12	89.10
GPS_charging	0	0	0.00
Compass	521	26	131.46
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	57	0.00	0.00	-8.02	0.000	6	0.000	0.000	631	1817	2855
63	-1.49	-116.8	0.3	-0.0	2	81	7.75	2.97	0.00	0.000	4	0.000	0.000	2010	3502	2853
302	-1.49	-116.8	26.4	-8.8	40	311	0.45	3.28	0.00	0.000	6	0.000	0.000	1891	1841	2854
672	-1.58	-116.8	79.3	-14.5	101	680	0.43	0.00	0.00	0.000	6	0.000	0.000	2002	1841	2858
1020	-1.32	-116.8	111.2	-8.9	144	1025	0.00	3.08	0.00	0.000	4	0.000	0.000	2007	520	2854
1079	-1.39	-116.8	116.7	-9.1	146	1088	0.50	2.62	0.00	0.000	6	0.000	0.000	1896	2199	2851
1399	-1.61	-116.8	161.8	-14.5	162	1406	0.00	3.35	0.00	0.000	4	0.000	0.000	1904	402	2850
1478	-1.36	-116.8	173.0	-12.6	165	1491	0.55	2.97	0.00	0.000	6	0.000	0.000	2005	1878	2850
1802	-1.33	-116.8	203.1	-8.8	181	1808	0.15	2.47	0.00	0.000	4	0.000	0.000	1940	531	2855
1875	-1.42	-116.8	210.2	-11.7	184	1880	0.00	2.83	0.00	0.000	6	0.000	0.000	1948	2093	2851
2211	-1.48	-116.8	248.2	-11.4	200	2217	0.00	2.38	0.00	0.000	4	0.000	0.000	1943	582	2848
2248	-1.41	-116.8	253.4	-11.2	201	2254	0.05	2.67	0.00	0.000	6	0.001	0.000	1954	1883	2848
2573	-1.47	-116.8	289.4	-11.4	216	2578	0.00	2.55	0.00	0.000	4	0.000	0.000	1943	326	2850
2617	-1.40	-116.8	295.0	-11.3	218	2622	0.00	2.85	0.00	0.000	6	0.000	0.000	1942	1979	2858
2948	-1.63	-116.8	333.0	-11.4	234	2956	0.47	3.03	0.00	0.000	4	0.000	0.000	1845	302	2856
3027	-1.56	-116.8	345.3	-18.1	237	3033	0.70	2.42	0.00	0.000	6	0.000	0.000	1961	1795	2854
3354	-1.31	-116.8	384.4	-11.5	253	3361	0.22	3.03	0.00	0.000	4	0.000	0.000	2004	3466	2853
3416	-1.23	-116.8	390.6	-8.8	255	3425	0.00	3.83	0.00	0.000	6	0.000	0.000	2016	1447	2854
3742	-1.32	-116.8	418.7	-8.8	271	3750	0.05	3.75	0.00	0.000	4	0.000	0.000	1940	3448	2847
4029	-1.41	-116.8	451.9	-11.4	283	4035	0.00	3.15	0.00	0.000	6	0.000	0.000	1946	1564	2858
4355	-1.33	-116.8	488.3	-11.5	298	4362	0.17	3.38	0.00	0.000	4	0.000	0.000	1942	3423	2857
4641	-1.27	-116.8	521.8	-11.6	307	4649	0.52	3.78	0.00	0.000	6	0.000	0.000	2086	1588	2854
4964	-1.19	-116.8	543.8	-6.5	315	4971	0.43	3.25	0.00	0.000	4	0.000	0.000	1942	3287	2854
5100	end dive: BOTTOM_OBSTACLE_DETECTED
state	5100	begin apogee
5116	-0.25	0.0	560.1	11.8	318	5135	1.90	0.00	14.55	0.000	6	0.000	0.000	2239	1958	2244
5135	end apogee: CONTROL_FINISHED_OK
state	5135	begin climb
5141	1.49	116.8	562.8	0.0	318	5156	1.77	0.00	10.93	0.000	6	0.000	0.000	2670	1961	1769
5462	1.49	116.8	490.4	24.3	327	5470	0.77	3.22	0.00	0.000	4	0.000	0.000	2495	269	1773
5488	1.08	116.8	485.2	20.1	328	5494	0.00	3.20	0.00	0.000	6	0.000	0.000	2514	1944	1773
5825	1.12	145.3	447.3	11.5	344	5836	0.00	0.00	3.15	0.000	6	0.000	0.000	2488	1958	1644
6153	1.30	147.9	401.3	13.5	360	6155	0.45	0.00	0.00	0.000	6	0.000	0.000	2637	1951	1647
6462	1.33	147.9	332.0	21.3	375	6468	0.35	2.83	0.00	0.000	4	0.000	0.000	2488	276	1641
6499	1.13	163.0	324.9	12.5	376	6509	0.00	3.72	1.67	0.001	6	0.000	0.000	2508	2108	1566
6825	1.49	165.1	282.2	13.6	392	6834	0.57	3.65	0.00	0.000	4	0.000	0.000	2631	266	1570
6883	1.63	165.1	268.3	23.3	394	6895	0.03	3.20	0.00	0.000	6	0.000	0.000	2640	2011	1563
7215	1.70	165.1	192.8	23.4	410	7220	0.03	2.88	0.00	0.000	4	0.000	0.000	2626	528	1579
7259	1.48	165.1	180.5	24.2	412	7266	0.52	2.95	0.00	0.000	6	0.000	0.000	2518	2036	1572
7594	1.48	165.1	130.9	14.3	428	7602	0.50	3.25	0.00	0.000	4	0.000	0.000	2644	383	1566
7646	1.58	165.1	119.6	24.8	430	7651	0.10	2.47	0.00	0.000	6	0.000	0.000	2629	1690	1563
7999	1.61	165.1	34.0	23.7	478	8008	0.00	3.25	0.00	0.000	4	0.000	0.000	2644	3414	1569
8125	end climb: SURFACE_DEPTH_REACHED
state	8125	begin surface coast
8131	end surface coast: CONTROL_FINISHED_OK
state	8131	begin surface