Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 14 * 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 14 HEADING -1 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 18 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 3 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 1 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 -446824.62 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 2 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 1 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 -446824.62

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 300

CF8_MAXERRORS 20 HEAD_ERRBAND 8 ROLL_ADJ_GAIN 1 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 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 5

C_VBD 2257 MASS 51747 R_PORT_OVSHOOT 18 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 3 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 2 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 14 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 205158,6635.267,-6013.065,7,1.1,7,18.0 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.089,-0.212

_SM_DEPTHo 0.34 KALMAN_X -14905.5,1131.5,662.8,21298.0,-8484.2

_SM_ANGLEo -69.3 KALMAN_Y 1259.8,340.5,-343.9,5167.9,608.2

GPS2 205625,6635.267,-6013.065,37,1.1,38,18.0 MHEAD_RNG_PITCHd_Wd 52.9,156741,-26.0,-13.750

SPEED_LIMITS 0.215,0.230 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025043 XPDR_PINGS -1

SM_CCo 8245,21.05,0.000,0,0,404,450.62 ALTIM_TOP_PING 18.9,19.4

SM_GC 0.34,0.00,0.00,21.05,0.000,0.000,0.000,623,1995,404,-7.51,0.82,450.62 ALTIM_BOTTOM_PING 450.7,89.6

RAFOS_CLK 0 _24V_AH 23.7,33.037

RAFOS 4,1160429346,21.500000,21.485001,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,5.037

RAFOS_FIX 6634.799316,-6010.657227,091006,202048,4,80,0.46 DATA_FILE_SIZE 15863,517

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243515392

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,60,955,0,0

HUMID 2262 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 26.0651 CURRENT 0.050,305.0,1

TCM_TEMP 15.00 GPS 091006,231650,6635.749,-6011.653,31,1.1,31,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 87.57 SBE_CT 426 24 242.84

Roll_motor 124 60 176.97 nil 0 0 0.00

VBD_pump_during_apogee 25 1300 788.74 nil 0 0 0.00

VBD_pump_during_surface 21 600 299.33 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 64 223 339.63

Transponder_ping 4 420 39.82

GPS 38 50 18.90

TT8 1668 19 322.32

LPSleep 5213 2 116.82

TT8_Active 272 19 52.74

TT8_Sampling 665 39 257.89

TT8_CF8 719 45 320.45

TT8_Kalman 33 81 26.48

Analog_circuits 826 12 96.24

GPS_charging 0 0 0.00

Compass 551 26 139.18

RAFOS 360 1 5.24

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

34 end surface: CONTROL_FINISHED_OK

state 34 begin dive

41 -1.49 -116.8 0.0 0.0 0 57 0.00 0.00 -7.95 0.000 6 0.000 0.000 621 1682 2843

63 -1.49 -116.8 0.3 0.0 2 81 6.82 3.22 0.00 0.000 4 0.000 0.000 2002 3671 2847

248 -1.49 -116.8 22.6 -8.8 31 257 0.55 2.97 0.00 0.000 6 0.000 0.000 1886 2000 2850

617 -1.76 -116.8 75.9 -13.7 92 626 0.00 3.08 0.00 0.000 4 0.000 0.000 1860 3645 2846

678 -1.61 -116.8 84.9 -14.8 101 687 0.52 2.85 0.00 0.000 6 0.000 0.000 2015 1788 2845

1019 -1.52 -116.8 117.5 -9.3 135 1027 0.55 3.17 0.00 0.000 4 0.000 0.000 1864 3597 2847

1129 -1.56 -116.8 134.0 -15.1 139 1138 0.52 2.88 0.00 0.000 6 0.000 0.000 1989 1903 2850

1454 -1.43 -116.8 164.1 -9.3 155 1462 0.38 3.28 0.00 0.000 4 0.000 0.000 1858 3574 2843

1539 -1.48 -116.8 176.1 -15.1 158 1552 0.52 3.53 0.00 0.000 6 0.000 0.000 1997 1739 2844

1868 -1.36 -116.8 207.5 -9.3 174 1876 0.00 3.53 0.00 0.000 4 0.000 0.000 1985 3533 2844

1988 -1.42 -116.8 219.3 -8.6 179 1994 0.50 2.70 0.00 0.000 6 0.000 0.000 1884 1848 2849

2314 -1.59 -116.8 261.9 -14.6 195 2321 0.50 3.25 0.00 0.000 4 0.000 0.000 1996 3680 2853

2399 -1.32 -116.8 270.1 -8.8 198 2412 0.43 3.42 0.00 0.000 6 0.000 0.000 1877 1878 2846

2728 -1.54 -116.8 316.6 -14.8 214 2736 0.45 3.03 0.00 0.000 4 0.000 0.000 2004 3538 2850

2813 -1.26 -116.8 325.7 -9.4 217 2817 0.00 2.65 0.00 0.000 6 0.000 0.000 2006 1850 2848

3137 -1.43 -116.8 355.2 -9.2 232 3143 0.38 2.75 0.00 0.000 4 0.000 0.000 1855 3657 2842

3224 -1.48 -116.8 366.8 -14.8 235 3233 0.52 3.30 0.00 0.000 6 0.000 0.000 1990 1807 2847

3548 -1.40 -116.8 397.4 -9.1 251 3557 0.60 3.53 0.00 0.000 4 0.000 0.000 1881 3621 2849

3648 -1.46 -116.8 412.0 -14.5 255 3656 0.43 2.97 0.00 0.000 6 0.000 0.000 2004 1919 2843

3983 -1.46 -116.8 442.1 -8.9 271 3989 0.43 2.53 0.00 0.000 4 0.000 0.000 1876 3563 2850

4056 -1.52 -116.8 452.7 -14.7 274 4063 0.52 3.08 0.00 0.000 6 0.000 0.000 2009 2056 2845

4391 -1.42 -116.8 482.3 -8.7 290 4396 0.43 2.45 0.00 0.000 4 0.000 0.000 1904 3376 2846

4438 -1.49 -116.8 488.7 -13.9 292 4446 0.52 3.28 0.00 0.000 6 0.000 0.000 2017 1875 2854

4765 -1.36 -116.8 516.8 -8.2 303 4773 0.50 2.97 0.00 0.000 4 0.000 0.000 1895 3525 2844

4845 -1.53 -116.8 526.8 -13.8 304 4857 0.52 3.30 0.00 0.000 6 0.000 0.000 1996 1867 2845

4894 end dive: BOTTOM_OBSTACLE_DETECTED

state 4894 begin apogee

4907 -0.25 0.0 532.1 10.1 306 4925 1.08 0.00 14.52 0.000 6 0.000 0.000 2260 2213 2230

4926 end apogee: CONTROL_FINISHED_OK

state 4926 begin climb

4931 1.49 116.8 532.1 0.0 306 4952 2.00 3.45 11.07 0.001 4 0.000 0.000 2633 556 1765

4967 1.49 116.8 529.8 17.2 307 4975 0.22 3.15 0.00 0.000 6 0.000 0.000 2571 2238 1760

5294 1.43 116.8 478.5 15.5 318 5298 0.00 2.22 0.00 0.000 4 0.000 0.000 2555 3572 1767

5363 1.37 116.8 467.3 15.5 321 5370 0.00 3.45 0.00 0.000 6 0.000 0.000 2557 1724 1767

5697 1.44 116.8 413.6 15.8 337 5705 0.05 3.55 0.00 0.000 4 0.000 0.000 2555 3554 1759

5853 1.41 116.8 385.2 15.9 343 5861 0.00 2.88 0.00 0.000 6 0.000 0.000 2581 1906 1758

6178 1.47 116.8 334.4 16.0 359 6183 0.03 2.45 0.00 0.000 4 0.000 0.000 2555 3451 1760

6291 1.40 116.8 314.4 15.6 364 6297 0.00 3.00 0.00 0.000 6 0.000 0.000 2565 1766 1764

6627 1.44 116.8 262.5 15.8 380 6635 0.03 3.62 0.00 0.000 4 0.000 0.000 2553 3587 1761

6791 1.40 116.8 235.9 16.1 387 6796 0.00 2.92 0.00 0.000 6 0.000 0.000 2575 1758 1766

7126 1.48 116.8 184.2 15.9 403 7133 0.03 3.42 0.00 0.000 4 0.000 0.000 2570 3649 1759

7259 1.44 116.8 162.2 15.6 408 7267 0.00 3.33 0.00 0.000 6 0.000 0.000 2573 1812 1760

7583 1.53 116.8 112.5 16.1 424 7590 0.03 3.53 0.00 0.000 4 0.000 0.000 2572 3634 1770

7712 1.49 116.8 91.4 15.5 434 7721 0.15 2.92 0.00 0.000 6 0.000 0.000 2564 1788 1766

8079 1.58 116.8 32.3 15.3 495 8088 0.35 2.97 0.00 0.000 4 0.000 0.000 2694 3528 1761

8205 end climb: SURFACE_DEPTH_REACHED

state 8205 begin surface coast

8212 end surface coast: CONTROL_FINISHED_OK

state 8212 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	14	HEADING	-1	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	18	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	3	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	1	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	-446824.62	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	2	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	1	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	205158,6635.267,-6013.065,7,1.1,7,18.0	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.089,-0.212
_SM_DEPTHo	0.34	KALMAN_X	-14905.5,1131.5,662.8,21298.0,-8484.2
_SM_ANGLEo	-69.3	KALMAN_Y	1259.8,340.5,-343.9,5167.9,608.2
GPS2	205625,6635.267,-6013.065,37,1.1,38,18.0	MHEAD_RNG_PITCHd_Wd	52.9,156741,-26.0,-13.750
SPEED_LIMITS	0.215,0.230	D_GRID	990

FINISH	0.3,1.025043	XPDR_PINGS	-1
SM_CCo	8245,21.05,0.000,0,0,404,450.62	ALTIM_TOP_PING	18.9,19.4
SM_GC	0.34,0.00,0.00,21.05,0.000,0.000,0.000,623,1995,404,-7.51,0.82,450.62	ALTIM_BOTTOM_PING	450.7,89.6
RAFOS_CLK	0	_24V_AH	23.7,33.037
RAFOS	4,1160429346,21.500000,21.485001,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,5.037
RAFOS_FIX	6634.799316,-6010.657227,091006,202048,4,80,0.46	DATA_FILE_SIZE	15863,517
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243515392
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,60,955,0,0
HUMID	2262	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	26.0651	CURRENT	0.050,305.0,1
TCM_TEMP	15.00	GPS	091006,231650,6635.749,-6011.653,31,1.1,31,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	87.57	SBE_CT	426	24	242.84
Roll_motor	124	60	176.97	nil	0	0	0.00
VBD_pump_during_apogee	25	1300	788.74	nil	0	0	0.00
VBD_pump_during_surface	21	600	299.33	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	64	223	339.63
Transponder_ping	4	420	39.82
GPS	38	50	18.90
TT8	1668	19	322.32
LPSleep	5213	2	116.82
TT8_Active	272	19	52.74
TT8_Sampling	665	39	257.89
TT8_CF8	719	45	320.45
TT8_Kalman	33	81	26.48
Analog_circuits	826	12	96.24
GPS_charging	0	0	0.00
Compass	551	26	139.18
RAFOS	360	1	5.24

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
34	end surface: CONTROL_FINISHED_OK
state	34	begin dive
41	-1.49	-116.8	0.0	0.0	0	57	0.00	0.00	-7.95	0.000	6	0.000	0.000	621	1682	2843
63	-1.49	-116.8	0.3	0.0	2	81	6.82	3.22	0.00	0.000	4	0.000	0.000	2002	3671	2847
248	-1.49	-116.8	22.6	-8.8	31	257	0.55	2.97	0.00	0.000	6	0.000	0.000	1886	2000	2850
617	-1.76	-116.8	75.9	-13.7	92	626	0.00	3.08	0.00	0.000	4	0.000	0.000	1860	3645	2846
678	-1.61	-116.8	84.9	-14.8	101	687	0.52	2.85	0.00	0.000	6	0.000	0.000	2015	1788	2845
1019	-1.52	-116.8	117.5	-9.3	135	1027	0.55	3.17	0.00	0.000	4	0.000	0.000	1864	3597	2847
1129	-1.56	-116.8	134.0	-15.1	139	1138	0.52	2.88	0.00	0.000	6	0.000	0.000	1989	1903	2850
1454	-1.43	-116.8	164.1	-9.3	155	1462	0.38	3.28	0.00	0.000	4	0.000	0.000	1858	3574	2843
1539	-1.48	-116.8	176.1	-15.1	158	1552	0.52	3.53	0.00	0.000	6	0.000	0.000	1997	1739	2844
1868	-1.36	-116.8	207.5	-9.3	174	1876	0.00	3.53	0.00	0.000	4	0.000	0.000	1985	3533	2844
1988	-1.42	-116.8	219.3	-8.6	179	1994	0.50	2.70	0.00	0.000	6	0.000	0.000	1884	1848	2849
2314	-1.59	-116.8	261.9	-14.6	195	2321	0.50	3.25	0.00	0.000	4	0.000	0.000	1996	3680	2853
2399	-1.32	-116.8	270.1	-8.8	198	2412	0.43	3.42	0.00	0.000	6	0.000	0.000	1877	1878	2846
2728	-1.54	-116.8	316.6	-14.8	214	2736	0.45	3.03	0.00	0.000	4	0.000	0.000	2004	3538	2850
2813	-1.26	-116.8	325.7	-9.4	217	2817	0.00	2.65	0.00	0.000	6	0.000	0.000	2006	1850	2848
3137	-1.43	-116.8	355.2	-9.2	232	3143	0.38	2.75	0.00	0.000	4	0.000	0.000	1855	3657	2842
3224	-1.48	-116.8	366.8	-14.8	235	3233	0.52	3.30	0.00	0.000	6	0.000	0.000	1990	1807	2847
3548	-1.40	-116.8	397.4	-9.1	251	3557	0.60	3.53	0.00	0.000	4	0.000	0.000	1881	3621	2849
3648	-1.46	-116.8	412.0	-14.5	255	3656	0.43	2.97	0.00	0.000	6	0.000	0.000	2004	1919	2843
3983	-1.46	-116.8	442.1	-8.9	271	3989	0.43	2.53	0.00	0.000	4	0.000	0.000	1876	3563	2850
4056	-1.52	-116.8	452.7	-14.7	274	4063	0.52	3.08	0.00	0.000	6	0.000	0.000	2009	2056	2845
4391	-1.42	-116.8	482.3	-8.7	290	4396	0.43	2.45	0.00	0.000	4	0.000	0.000	1904	3376	2846
4438	-1.49	-116.8	488.7	-13.9	292	4446	0.52	3.28	0.00	0.000	6	0.000	0.000	2017	1875	2854
4765	-1.36	-116.8	516.8	-8.2	303	4773	0.50	2.97	0.00	0.000	4	0.000	0.000	1895	3525	2844
4845	-1.53	-116.8	526.8	-13.8	304	4857	0.52	3.30	0.00	0.000	6	0.000	0.000	1996	1867	2845
4894	end dive: BOTTOM_OBSTACLE_DETECTED
state	4894	begin apogee
4907	-0.25	0.0	532.1	10.1	306	4925	1.08	0.00	14.52	0.000	6	0.000	0.000	2260	2213	2230
4926	end apogee: CONTROL_FINISHED_OK
state	4926	begin climb
4931	1.49	116.8	532.1	0.0	306	4952	2.00	3.45	11.07	0.001	4	0.000	0.000	2633	556	1765
4967	1.49	116.8	529.8	17.2	307	4975	0.22	3.15	0.00	0.000	6	0.000	0.000	2571	2238	1760
5294	1.43	116.8	478.5	15.5	318	5298	0.00	2.22	0.00	0.000	4	0.000	0.000	2555	3572	1767
5363	1.37	116.8	467.3	15.5	321	5370	0.00	3.45	0.00	0.000	6	0.000	0.000	2557	1724	1767
5697	1.44	116.8	413.6	15.8	337	5705	0.05	3.55	0.00	0.000	4	0.000	0.000	2555	3554	1759
5853	1.41	116.8	385.2	15.9	343	5861	0.00	2.88	0.00	0.000	6	0.000	0.000	2581	1906	1758
6178	1.47	116.8	334.4	16.0	359	6183	0.03	2.45	0.00	0.000	4	0.000	0.000	2555	3451	1760
6291	1.40	116.8	314.4	15.6	364	6297	0.00	3.00	0.00	0.000	6	0.000	0.000	2565	1766	1764
6627	1.44	116.8	262.5	15.8	380	6635	0.03	3.62	0.00	0.000	4	0.000	0.000	2553	3587	1761
6791	1.40	116.8	235.9	16.1	387	6796	0.00	2.92	0.00	0.000	6	0.000	0.000	2575	1758	1766
7126	1.48	116.8	184.2	15.9	403	7133	0.03	3.42	0.00	0.000	4	0.000	0.000	2570	3649	1759
7259	1.44	116.8	162.2	15.6	408	7267	0.00	3.33	0.00	0.000	6	0.000	0.000	2573	1812	1760
7583	1.53	116.8	112.5	16.1	424	7590	0.03	3.53	0.00	0.000	4	0.000	0.000	2572	3634	1770
7712	1.49	116.8	91.4	15.5	434	7721	0.15	2.92	0.00	0.000	6	0.000	0.000	2564	1788	1766
8079	1.58	116.8	32.3	15.3	495	8088	0.35	2.97	0.00	0.000	4	0.000	0.000	2694	3528	1761
8205	end climb: SURFACE_DEPTH_REACHED
state	8205	begin surface coast
8212	end surface coast: CONTROL_FINISHED_OK
state	8212	begin surface