Glider dive log

QPE May09 * SG165 * Dive index * Mission links * Dive 73 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 165 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 73 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3692 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2071 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2525 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 435 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 275 UPLOAD_DIVES_MAX -1 VBD_MIN 485 DEVICE2 53

T_MISSION 330 CALL_TRIES 5 VBD_MAX 3959 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2759 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -118269.94 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 200 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 180 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3922 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2819 PRESSURE_YINT -19.66094 SEABIRD_T_G 0.0043383995

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000116182 SEABIRD_T_H 0.00062454981

MASS 52067 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3067754e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3616824e-06

FERRY_MAX 45 PITCH_GAIN 25.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9113674

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.100266

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.0005534364

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 6.0498875e-05

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 25

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 435

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 25.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3922 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 180 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000116182 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -19.66094 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 275

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -118269.94

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 330

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 165 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3692 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2819 KALMAN_USE 2 ROLL_MIN 200 USE_BATHY -4

C_ROLL_CLIMB 2525 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2071 MASS 52067 R_PORT_OVSHOOT 31 VBD_BLEED_AD_RATE 8

C_VBD 2759 MAX_BUOY 200 R_STBD_OVSHOOT 33 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9113674 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.100266 VBD_MAX 3959

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I 0.0005534364 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 6.0498875e-05 VBD_MIN 485

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043383995 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062454981 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3067754e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3616824e-06 XPDR_DEVICE 24

DIVE 73 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 031134,2524.589,12229.839,12,99.0,31,-3.7 TGT_NAME OFF_3

_CALLS 1 TGT_LATLONG 2511.000,12258.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 031620,2524.635,12229.929,12,1.1,12,-3.7 MHEAD_RNG_PITCHd_Wd 128.6,53395,-18.3,-12.000

SPEED_LIMITS 0.208,0.315 D_GRID 497

Post-dive calculations and measurements:

FINISH 1.6,1.010119 ALTIM_BOTTOM_PING 400.1,92.6

SM_CCo 7636,0.00,0.000,0,0,856,466.81 _24V_AH 24.4,17.520

SM_GC 2.33,7.55,0.00,0.00,0.037,0.000,0.000,153,2038,856,-8.23,-0.90,466.81 _10V_AH 10.8,13.468

IRIDIUM_FIX 2512.73,12228.64,260898,010103 DATA_FILE_SIZE 63318,1136

TT8_MAMPS 0.046787 CAP_FILE_SIZE 101008,0

HUMID 1590 CFSIZE 260165632,252276736

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.40 CURRENT 0.170,311.4,1

XPDR_PINGS 97 GPS 010609,052428,2524.278,12230.253,10,2.2,29,-3.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 233 142.09 SBE_CT 762 24 446.31

Roll_motor 70 65 113.95 Optode 864 33 696.33

VBD_pump_during_apogee 509 948 11805.45 WL_BB2F 1454 105 3725.16

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 79.34 nil 0 0 0.00

Iridium_during_connect 34 160 134.08 nil 0 0 0.00

Iridium_during_xfer 141 223 770.24

Transponder_ping 27 420 276.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 8.03

TT8 0 19 0.00

LPSleep 4512 2 106.73

TT8_Active 591 19 126.54

TT8_Sampling 2474 39 1063.60

TT8_CF8 329 45 162.94

TT8_Kalman 0 0 0.00

Analog_circuits 1517 12 196.65

GPS_charging 0 0 0.00

Compass 2114 8 182.74

RAFOS 0 0 0.00

Transponder 21 30 7.09

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.96 -194.7 0.0 0.0 0 73 0.00 0.00 -59.25 0.000 2 0.000 0.000 160 2073 2091

74 -0.96 -194.7 3.2 -4.0 9 132 8.88 2.22 -43.05 0.000 4 0.233 0.066 2498 3479 3554

157 -0.09 -194.7 18.3 -36.5 23 165 0.88 2.20 0.00 0.000 6 0.158 0.039 2785 2063 3554

485 -0.99 -194.7 54.9 -8.1 84 492 0.75 2.22 0.00 0.000 4 0.061 0.054 2493 3483 3557

544 -0.35 -194.7 65.9 -26.0 95 551 0.62 2.12 0.00 0.000 6 0.146 0.041 2699 2091 3557

871 -0.58 -194.7 97.6 -7.4 156 877 0.20 0.00 0.00 0.000 6 0.054 0.000 2600 2087 3558

1196 -0.58 -194.7 155.7 -16.0 217 1203 0.12 0.00 0.00 0.000 6 0.140 0.000 2638 2087 3560

1523 -0.79 -194.7 188.2 -3.7 278 1529 0.20 2.20 0.00 0.000 4 0.054 0.059 2537 3468 3561

1678 -0.52 -194.7 209.8 -15.4 307 1684 0.30 2.08 0.00 0.000 6 0.130 0.037 2643 2105 3561

2003 -0.77 -194.7 234.7 -8.6 368 2011 0.20 2.22 0.00 0.000 4 0.054 0.051 2543 672 3561

2036 -0.63 -194.7 239.1 -16.1 374 2043 0.22 2.22 0.00 0.000 6 0.130 0.043 2612 2103 3561

2363 -0.81 -194.7 273.7 -9.5 435 2369 0.15 2.20 0.00 0.000 4 0.061 0.050 2535 675 3562

2389 -0.76 -194.7 277.0 -13.7 440 2396 0.10 2.20 0.00 0.000 6 0.135 0.044 2570 2093 3561

2716 -0.76 -194.7 323.4 -15.1 487 2720 0.00 2.22 0.00 0.000 4 0.000 0.051 2570 677 3561

2763 -0.84 -194.7 330.7 -13.7 491 2770 0.00 2.22 0.00 0.000 6 0.000 0.044 2569 2103 3561

3082 -0.79 -194.7 376.3 -12.9 522 3085 0.00 2.22 0.00 0.000 4 0.000 0.051 2569 670 3561

3139 -0.74 -194.7 384.2 -13.7 527 3146 0.00 2.20 0.00 0.000 6 0.000 0.044 2569 2079 3561

3455 -0.74 -194.7 419.7 -10.2 558 3455 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2079 3559

3766 -0.79 -194.7 452.1 -10.6 588 3769 0.00 2.22 0.00 0.000 4 0.000 0.064 2569 3467 3558

3850 -0.97 -194.7 459.9 -8.6 596 3855 0.15 2.12 0.00 0.000 6 0.048 0.039 2481 2082 3557

3911 end dive: BOTTOM_OBSTACLE_DETECTED

state 3911 begin apogee

3915 -0.20 0.0 468.5 14.8 602 4066 0.85 0.00 147.60 0.949 6 0.144 0.000 2755 2534 2759

4066 end apogee: CONTROL_FINISHED_OK

state 4066 begin climb

4067 0.96 194.7 475.4 0.0 617 4224 1.00 2.38 149.68 0.927 4 0.047 0.051 3153 1130 1963

4373 0.42 194.7 433.5 18.9 645 4381 0.65 2.28 0.00 0.000 6 0.173 0.048 2960 2521 1957

4689 0.60 259.5 400.7 9.3 676 4746 0.15 2.30 50.78 0.891 4 0.066 0.049 3035 1114 1700

4771 0.51 259.5 389.8 15.2 683 4778 0.15 2.30 0.00 0.000 6 0.143 0.047 2987 2513 1696

5087 0.58 262.3 350.9 11.9 714 5091 0.00 2.22 0.00 0.000 4 0.000 0.048 2996 1120 1693

5172 0.64 262.3 340.5 12.3 722 5176 0.00 2.22 0.00 0.000 6 0.000 0.045 2996 2512 1692

5489 0.64 262.3 298.2 13.1 753 5494 0.00 2.17 0.00 0.000 4 0.000 0.048 3006 1122 1691

5552 0.69 262.3 290.2 12.5 765 5558 0.08 2.17 0.00 0.000 6 0.068 0.046 3054 2496 1689

5878 0.54 262.3 235.2 14.3 826 5886 0.20 2.15 0.00 0.000 4 0.150 0.048 3004 1127 1689

5949 0.72 316.6 227.6 9.8 839 5999 0.10 2.15 44.67 0.806 6 0.061 0.046 3065 2492 1467

6319 0.59 316.6 173.6 14.9 907 6325 0.20 1.90 0.00 0.000 4 0.148 0.059 3006 3681 1463

6464 0.68 316.6 153.9 13.7 934 6471 0.00 1.80 0.00 0.000 6 0.000 0.038 3014 2506 1462

6791 0.95 393.4 112.1 8.8 995 6860 0.30 1.95 60.72 0.714 4 0.051 0.059 3144 3673 1154

6949 0.67 393.4 83.9 19.3 1023 6956 0.35 1.80 0.00 0.000 6 0.142 0.037 3040 2519 1152

7276 1.08 464.9 53.6 9.0 1084 7340 0.35 2.22 56.50 0.657 4 0.046 0.046 3202 1122 862

7472 0.91 464.9 12.4 19.7 1119 7479 0.28 2.20 0.00 0.000 6 0.142 0.041 3115 2505 858

7541 end climb: SURFACE_DEPTH_REACHED

state 7541 begin surface coast

7562 end surface coast: CONTROL_FINISHED_OK

state 7563 begin surface

ID	165	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	73	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3692	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2071	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2525	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	435	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	275	UPLOAD_DIVES_MAX	-1	VBD_MIN	485	DEVICE2	53
T_MISSION	330	CALL_TRIES	5	VBD_MAX	3959	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2759	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-118269.94	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	200	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	180	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3922	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2819	PRESSURE_YINT	-19.66094	SEABIRD_T_G	0.0043383995
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000116182	SEABIRD_T_H	0.00062454981
MASS	52067	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3067754e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3616824e-06
FERRY_MAX	45	PITCH_GAIN	25.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9113674
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.100266
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.0005534364
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	6.0498875e-05
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	031134,2524.589,12229.839,12,99.0,31,-3.7	TGT_NAME	OFF_3
_CALLS	1	TGT_LATLONG	2511.000,12258.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	031620,2524.635,12229.929,12,1.1,12,-3.7	MHEAD_RNG_PITCHd_Wd	128.6,53395,-18.3,-12.000
SPEED_LIMITS	0.208,0.315	D_GRID	497

FINISH	1.6,1.010119	ALTIM_BOTTOM_PING	400.1,92.6
SM_CCo	7636,0.00,0.000,0,0,856,466.81	_24V_AH	24.4,17.520
SM_GC	2.33,7.55,0.00,0.00,0.037,0.000,0.000,153,2038,856,-8.23,-0.90,466.81	_10V_AH	10.8,13.468
IRIDIUM_FIX	2512.73,12228.64,260898,010103	DATA_FILE_SIZE	63318,1136
TT8_MAMPS	0.046787	CAP_FILE_SIZE	101008,0
HUMID	1590	CFSIZE	260165632,252276736
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.40	CURRENT	0.170,311.4,1
XPDR_PINGS	97	GPS	010609,052428,2524.278,12230.253,10,2.2,29,-3.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	233	142.09	SBE_CT	762	24	446.31
Roll_motor	70	65	113.95	Optode	864	33	696.33
VBD_pump_during_apogee	509	948	11805.45	WL_BB2F	1454	105	3725.16
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	79.34	nil	0	0	0.00
Iridium_during_connect	34	160	134.08	nil	0	0	0.00
Iridium_during_xfer	141	223	770.24
Transponder_ping	27	420	276.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	8.03
TT8	0	19	0.00
LPSleep	4512	2	106.73
TT8_Active	591	19	126.54
TT8_Sampling	2474	39	1063.60
TT8_CF8	329	45	162.94
TT8_Kalman	0	0	0.00
Analog_circuits	1517	12	196.65
GPS_charging	0	0	0.00
Compass	2114	8	182.74
RAFOS	0	0	0.00
Transponder	21	30	7.09

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.96	-194.7	0.0	0.0	0	73	0.00	0.00	-59.25	0.000	2	0.000	0.000	160	2073	2091
74	-0.96	-194.7	3.2	-4.0	9	132	8.88	2.22	-43.05	0.000	4	0.233	0.066	2498	3479	3554
157	-0.09	-194.7	18.3	-36.5	23	165	0.88	2.20	0.00	0.000	6	0.158	0.039	2785	2063	3554
485	-0.99	-194.7	54.9	-8.1	84	492	0.75	2.22	0.00	0.000	4	0.061	0.054	2493	3483	3557
544	-0.35	-194.7	65.9	-26.0	95	551	0.62	2.12	0.00	0.000	6	0.146	0.041	2699	2091	3557
871	-0.58	-194.7	97.6	-7.4	156	877	0.20	0.00	0.00	0.000	6	0.054	0.000	2600	2087	3558
1196	-0.58	-194.7	155.7	-16.0	217	1203	0.12	0.00	0.00	0.000	6	0.140	0.000	2638	2087	3560
1523	-0.79	-194.7	188.2	-3.7	278	1529	0.20	2.20	0.00	0.000	4	0.054	0.059	2537	3468	3561
1678	-0.52	-194.7	209.8	-15.4	307	1684	0.30	2.08	0.00	0.000	6	0.130	0.037	2643	2105	3561
2003	-0.77	-194.7	234.7	-8.6	368	2011	0.20	2.22	0.00	0.000	4	0.054	0.051	2543	672	3561
2036	-0.63	-194.7	239.1	-16.1	374	2043	0.22	2.22	0.00	0.000	6	0.130	0.043	2612	2103	3561
2363	-0.81	-194.7	273.7	-9.5	435	2369	0.15	2.20	0.00	0.000	4	0.061	0.050	2535	675	3562
2389	-0.76	-194.7	277.0	-13.7	440	2396	0.10	2.20	0.00	0.000	6	0.135	0.044	2570	2093	3561
2716	-0.76	-194.7	323.4	-15.1	487	2720	0.00	2.22	0.00	0.000	4	0.000	0.051	2570	677	3561
2763	-0.84	-194.7	330.7	-13.7	491	2770	0.00	2.22	0.00	0.000	6	0.000	0.044	2569	2103	3561
3082	-0.79	-194.7	376.3	-12.9	522	3085	0.00	2.22	0.00	0.000	4	0.000	0.051	2569	670	3561
3139	-0.74	-194.7	384.2	-13.7	527	3146	0.00	2.20	0.00	0.000	6	0.000	0.044	2569	2079	3561
3455	-0.74	-194.7	419.7	-10.2	558	3455	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2079	3559
3766	-0.79	-194.7	452.1	-10.6	588	3769	0.00	2.22	0.00	0.000	4	0.000	0.064	2569	3467	3558
3850	-0.97	-194.7	459.9	-8.6	596	3855	0.15	2.12	0.00	0.000	6	0.048	0.039	2481	2082	3557
3911	end dive: BOTTOM_OBSTACLE_DETECTED
state	3911	begin apogee
3915	-0.20	0.0	468.5	14.8	602	4066	0.85	0.00	147.60	0.949	6	0.144	0.000	2755	2534	2759
4066	end apogee: CONTROL_FINISHED_OK
state	4066	begin climb
4067	0.96	194.7	475.4	0.0	617	4224	1.00	2.38	149.68	0.927	4	0.047	0.051	3153	1130	1963
4373	0.42	194.7	433.5	18.9	645	4381	0.65	2.28	0.00	0.000	6	0.173	0.048	2960	2521	1957
4689	0.60	259.5	400.7	9.3	676	4746	0.15	2.30	50.78	0.891	4	0.066	0.049	3035	1114	1700
4771	0.51	259.5	389.8	15.2	683	4778	0.15	2.30	0.00	0.000	6	0.143	0.047	2987	2513	1696
5087	0.58	262.3	350.9	11.9	714	5091	0.00	2.22	0.00	0.000	4	0.000	0.048	2996	1120	1693
5172	0.64	262.3	340.5	12.3	722	5176	0.00	2.22	0.00	0.000	6	0.000	0.045	2996	2512	1692
5489	0.64	262.3	298.2	13.1	753	5494	0.00	2.17	0.00	0.000	4	0.000	0.048	3006	1122	1691
5552	0.69	262.3	290.2	12.5	765	5558	0.08	2.17	0.00	0.000	6	0.068	0.046	3054	2496	1689
5878	0.54	262.3	235.2	14.3	826	5886	0.20	2.15	0.00	0.000	4	0.150	0.048	3004	1127	1689
5949	0.72	316.6	227.6	9.8	839	5999	0.10	2.15	44.67	0.806	6	0.061	0.046	3065	2492	1467
6319	0.59	316.6	173.6	14.9	907	6325	0.20	1.90	0.00	0.000	4	0.148	0.059	3006	3681	1463
6464	0.68	316.6	153.9	13.7	934	6471	0.00	1.80	0.00	0.000	6	0.000	0.038	3014	2506	1462
6791	0.95	393.4	112.1	8.8	995	6860	0.30	1.95	60.72	0.714	4	0.051	0.059	3144	3673	1154
6949	0.67	393.4	83.9	19.3	1023	6956	0.35	1.80	0.00	0.000	6	0.142	0.037	3040	2519	1152
7276	1.08	464.9	53.6	9.0	1084	7340	0.35	2.22	56.50	0.657	4	0.046	0.046	3202	1122	862
7472	0.91	464.9	12.4	19.7	1119	7479	0.28	2.20	0.00	0.000	6	0.142	0.041	3115	2505	858
7541	end climb: SURFACE_DEPTH_REACHED
state	7541	begin surface coast
7562	end surface coast: CONTROL_FINISHED_OK
state	7563	begin surface