Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 40 * 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 40 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 176 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 14 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 -447461.5 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 -447461.5

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 176 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 14 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 40 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 133655,6637.179,-6008.656,27,1.1,27,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6634.269,-6004.521

_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 -69.8 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 134116,6637.179,-6008.656,27,1.1,27,18.0 MHEAD_RNG_PITCHd_Wd 87.6,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025233 XPDR_PINGS -1

SM_CCo 8106,12.10,0.000,0,0,402,450.62 ALTIM_TOP_PING 19.3,19.0

SM_GC 0.34,0.00,0.00,12.10,0.000,0.000,0.000,637,2085,402,-7.61,3.19,450.62 ALTIM_BOTTOM_PING 527.5,44.1

RAFOS_CLK 0 _24V_AH 23.7,40.130

RAFOS 4,1160666960,15.500000,15.488889,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,6.122

RAFOS_FIX 6638.026367,-6003.629395,121006,121220,4,80,0.83 DATA_FILE_SIZE 15853,476

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241795072

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,72,738,0,0

HUMID 2311 SOUNDSPEED 1459.9

INTERNAL_PRESSURE 26.0162 CURRENT 0.063,331.7,1

TCM_TEMP 15.00 GPS 121006,155818,6637.198,-6006.408,10,1.1,10,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 119 96.52 SBE_CT 392 24 223.35

Roll_motor 95 60 136.12 nil 0 0 0.00

VBD_pump_during_apogee 39 1300 1206.98 nil 0 0 0.00

VBD_pump_during_surface 12 600 172.06 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 67 223 357.02

Transponder_ping 4 420 47.28

GPS 28 50 13.59

TT8 1548 19 299.18

LPSleep 5370 2 120.34

TT8_Active 247 19 47.89

TT8_Sampling 547 39 212.10

TT8_CF8 668 45 297.69

TT8_Kalman 0 81 0.00

Analog_circuits 713 12 83.01

GPS_charging 0 0 0.00

Compass 453 26 114.45

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

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 -7.95 0.000 6 0.000 0.000 631 1906 2889

64 -1.49 -116.8 0.3 -0.0 2 82 7.15 2.95 0.00 0.000 4 0.000 0.000 1977 3633 2878

341 -1.49 -116.8 33.0 -10.3 47 350 0.52 2.45 0.00 0.000 6 0.000 0.000 1849 2109 2882

709 -1.60 -116.8 91.5 -14.6 108 718 0.45 2.22 0.00 0.000 4 0.000 0.000 1958 3628 2883

765 -1.44 -116.8 97.4 -8.0 116 774 0.03 2.72 0.00 0.000 6 0.000 0.000 1985 1908 2884

1100 -1.65 -116.8 132.7 -10.3 134 1105 0.68 2.45 0.00 0.000 4 0.000 0.000 1847 3620 2886

1171 -1.65 -116.8 143.0 -16.5 137 1179 0.52 3.22 0.00 0.000 6 0.000 0.000 1981 1945 2877

1506 -1.42 -116.8 180.1 -10.4 153 1511 0.25 2.55 0.00 0.000 4 0.000 0.000 1902 3592 2881

1565 -1.42 -116.8 187.7 -13.6 155 1574 0.47 2.33 0.00 0.000 6 0.000 0.000 2034 2082 2885

1890 -1.33 -116.8 213.9 -7.9 171 1892 0.50 0.00 0.00 0.000 6 0.000 0.000 1912 2072 2881

2199 -1.49 -116.8 254.0 -13.5 186 2204 0.00 2.97 0.00 0.000 4 0.000 0.000 1926 3421 2887

2258 -1.32 -116.8 263.0 -13.4 188 2266 0.52 2.45 0.00 0.000 6 0.000 0.000 2029 2109 2883

2583 -1.21 -116.8 288.6 -7.7 204 2585 0.43 0.00 0.00 0.000 6 0.000 0.000 1919 2106 2892

2892 -1.39 -116.8 328.5 -13.3 219 2898 0.43 2.78 0.00 0.000 4 0.000 0.000 2048 3447 2880

2945 -1.22 -116.8 334.2 -7.7 221 2958 0.52 2.92 0.00 0.000 6 0.000 0.000 1923 1997 2887

3271 -1.44 -116.8 377.0 -13.7 237 3276 0.00 2.78 0.00 0.000 4 0.000 0.000 1910 3388 2880

3330 -1.26 -116.8 385.5 -13.3 239 3338 0.52 2.05 0.00 0.000 6 0.000 0.000 2047 2058 2885

3655 -1.15 -116.8 411.7 -8.0 255 3660 0.28 2.70 0.00 0.000 4 0.000 0.000 1992 3545 2885

3691 -1.30 -116.8 416.0 -11.2 256 3700 0.00 2.75 0.00 0.000 6 0.000 0.000 1966 2200 2876

4017 -1.35 -116.8 450.3 -10.9 272 4018 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2189 2886

4320 -1.32 -116.8 483.9 -10.8 287 4322 0.05 0.00 0.00 0.000 6 0.000 0.000 1985 2190 2885

4647 -1.29 -116.8 519.4 -10.9 299 4652 0.00 2.42 0.00 0.000 4 0.000 0.000 1976 3553 2879

4677 -1.27 -116.8 522.7 -10.0 299 4682 0.00 2.67 0.00 0.000 6 0.000 0.000 1992 2196 2885

5012 -1.49 -116.8 558.3 -10.8 307 5021 0.52 3.75 0.00 0.000 4 0.000 0.000 1896 545 2886

5036 -1.47 -116.8 561.6 -12.9 307 5041 0.00 1.90 0.00 0.000 3 0.000 0.000 1943 1356 2886

5041 end dive: BOTTOM_OBSTACLE_DETECTED

state 5041 begin apogee

5055 -0.25 0.0 562.6 13.8 307 5075 2.00 0.00 15.10 0.000 6 0.000 0.000 2300 2014 2238

5075 end apogee: CONTROL_FINISHED_OK

state 5075 begin climb

5081 1.49 116.8 566.4 0.0 308 5101 1.75 2.95 11.32 0.000 4 0.000 0.000 2664 678 1761

5115 1.49 116.8 561.8 18.6 308 5125 0.52 3.28 0.00 0.000 6 0.000 0.000 2545 2189 1764

5451 1.29 116.8 514.3 13.8 317 5455 0.00 2.45 0.00 0.000 4 0.000 0.000 2540 3663 1761

5539 1.30 118.5 501.4 13.6 319 5546 0.00 3.17 0.00 0.000 6 0.000 0.000 2516 2132 1762

5882 1.40 128.8 453.4 12.9 334 5886 0.40 0.00 1.25 0.000 6 0.000 0.000 2671 2140 1708

6190 1.44 128.8 380.8 26.3 349 6198 0.88 2.75 0.00 0.000 4 0.000 0.000 2565 3477 1709

6247 0.93 128.8 368.2 14.4 351 6253 0.52 2.35 0.00 0.000 6 0.000 0.000 2426 1978 1718

6574 0.99 205.4 342.3 7.7 366 6588 0.43 3.15 7.30 0.001 4 0.000 0.000 2544 3492 1401

6666 1.47 205.4 325.9 20.1 369 6674 0.52 3.17 0.00 0.000 6 0.000 0.000 2658 1969 1403

6996 1.47 205.4 221.3 42.4 385 7002 0.62 2.38 0.00 0.000 4 0.000 0.000 2553 3502 1408

7082 0.74 205.4 203.8 18.3 388 7091 0.77 2.83 0.00 0.000 6 0.000 0.000 2360 1980 1398

7407 0.81 256.3 170.4 9.7 404 7418 0.57 3.22 4.20 0.000 4 0.000 0.000 2482 3653 1200

7506 1.42 256.3 155.7 15.2 408 7519 0.62 3.22 0.00 0.000 6 0.000 0.000 2582 1975 1191

7845 1.66 256.3 64.4 27.2 439 7854 0.35 3.25 0.00 0.000 4 0.000 0.000 2740 3620 1192

7912 1.53 256.3 39.0 40.4 449 7921 0.82 3.03 0.00 0.000 6 0.000 0.000 2549 2093 1194

8072 end climb: SURFACE_DEPTH_REACHED

state 8072 begin surface coast

8077 end surface coast: CONTROL_FINISHED_OK

state 8077 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	40	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	176	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	14	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	-447461.5	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	133655,6637.179,-6008.656,27,1.1,27,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6634.269,-6004.521
_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	-69.8	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	134116,6637.179,-6008.656,27,1.1,27,18.0	MHEAD_RNG_PITCHd_Wd	87.6,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025233	XPDR_PINGS	-1
SM_CCo	8106,12.10,0.000,0,0,402,450.62	ALTIM_TOP_PING	19.3,19.0
SM_GC	0.34,0.00,0.00,12.10,0.000,0.000,0.000,637,2085,402,-7.61,3.19,450.62	ALTIM_BOTTOM_PING	527.5,44.1
RAFOS_CLK	0	_24V_AH	23.7,40.130
RAFOS	4,1160666960,15.500000,15.488889,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,6.122
RAFOS_FIX	6638.026367,-6003.629395,121006,121220,4,80,0.83	DATA_FILE_SIZE	15853,476
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241795072
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,72,738,0,0
HUMID	2311	SOUNDSPEED	1459.9
INTERNAL_PRESSURE	26.0162	CURRENT	0.063,331.7,1
TCM_TEMP	15.00	GPS	121006,155818,6637.198,-6006.408,10,1.1,10,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	119	96.52	SBE_CT	392	24	223.35
Roll_motor	95	60	136.12	nil	0	0	0.00
VBD_pump_during_apogee	39	1300	1206.98	nil	0	0	0.00
VBD_pump_during_surface	12	600	172.06	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	357.02
Transponder_ping	4	420	47.28
GPS	28	50	13.59
TT8	1548	19	299.18
LPSleep	5370	2	120.34
TT8_Active	247	19	47.89
TT8_Sampling	547	39	212.10
TT8_CF8	668	45	297.69
TT8_Kalman	0	81	0.00
Analog_circuits	713	12	83.01
GPS_charging	0	0	0.00
Compass	453	26	114.45
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
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	-7.95	0.000	6	0.000	0.000	631	1906	2889
64	-1.49	-116.8	0.3	-0.0	2	82	7.15	2.95	0.00	0.000	4	0.000	0.000	1977	3633	2878
341	-1.49	-116.8	33.0	-10.3	47	350	0.52	2.45	0.00	0.000	6	0.000	0.000	1849	2109	2882
709	-1.60	-116.8	91.5	-14.6	108	718	0.45	2.22	0.00	0.000	4	0.000	0.000	1958	3628	2883
765	-1.44	-116.8	97.4	-8.0	116	774	0.03	2.72	0.00	0.000	6	0.000	0.000	1985	1908	2884
1100	-1.65	-116.8	132.7	-10.3	134	1105	0.68	2.45	0.00	0.000	4	0.000	0.000	1847	3620	2886
1171	-1.65	-116.8	143.0	-16.5	137	1179	0.52	3.22	0.00	0.000	6	0.000	0.000	1981	1945	2877
1506	-1.42	-116.8	180.1	-10.4	153	1511	0.25	2.55	0.00	0.000	4	0.000	0.000	1902	3592	2881
1565	-1.42	-116.8	187.7	-13.6	155	1574	0.47	2.33	0.00	0.000	6	0.000	0.000	2034	2082	2885
1890	-1.33	-116.8	213.9	-7.9	171	1892	0.50	0.00	0.00	0.000	6	0.000	0.000	1912	2072	2881
2199	-1.49	-116.8	254.0	-13.5	186	2204	0.00	2.97	0.00	0.000	4	0.000	0.000	1926	3421	2887
2258	-1.32	-116.8	263.0	-13.4	188	2266	0.52	2.45	0.00	0.000	6	0.000	0.000	2029	2109	2883
2583	-1.21	-116.8	288.6	-7.7	204	2585	0.43	0.00	0.00	0.000	6	0.000	0.000	1919	2106	2892
2892	-1.39	-116.8	328.5	-13.3	219	2898	0.43	2.78	0.00	0.000	4	0.000	0.000	2048	3447	2880
2945	-1.22	-116.8	334.2	-7.7	221	2958	0.52	2.92	0.00	0.000	6	0.000	0.000	1923	1997	2887
3271	-1.44	-116.8	377.0	-13.7	237	3276	0.00	2.78	0.00	0.000	4	0.000	0.000	1910	3388	2880
3330	-1.26	-116.8	385.5	-13.3	239	3338	0.52	2.05	0.00	0.000	6	0.000	0.000	2047	2058	2885
3655	-1.15	-116.8	411.7	-8.0	255	3660	0.28	2.70	0.00	0.000	4	0.000	0.000	1992	3545	2885
3691	-1.30	-116.8	416.0	-11.2	256	3700	0.00	2.75	0.00	0.000	6	0.000	0.000	1966	2200	2876
4017	-1.35	-116.8	450.3	-10.9	272	4018	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2189	2886
4320	-1.32	-116.8	483.9	-10.8	287	4322	0.05	0.00	0.00	0.000	6	0.000	0.000	1985	2190	2885
4647	-1.29	-116.8	519.4	-10.9	299	4652	0.00	2.42	0.00	0.000	4	0.000	0.000	1976	3553	2879
4677	-1.27	-116.8	522.7	-10.0	299	4682	0.00	2.67	0.00	0.000	6	0.000	0.000	1992	2196	2885
5012	-1.49	-116.8	558.3	-10.8	307	5021	0.52	3.75	0.00	0.000	4	0.000	0.000	1896	545	2886
5036	-1.47	-116.8	561.6	-12.9	307	5041	0.00	1.90	0.00	0.000	3	0.000	0.000	1943	1356	2886
5041	end dive: BOTTOM_OBSTACLE_DETECTED
state	5041	begin apogee
5055	-0.25	0.0	562.6	13.8	307	5075	2.00	0.00	15.10	0.000	6	0.000	0.000	2300	2014	2238
5075	end apogee: CONTROL_FINISHED_OK
state	5075	begin climb
5081	1.49	116.8	566.4	0.0	308	5101	1.75	2.95	11.32	0.000	4	0.000	0.000	2664	678	1761
5115	1.49	116.8	561.8	18.6	308	5125	0.52	3.28	0.00	0.000	6	0.000	0.000	2545	2189	1764
5451	1.29	116.8	514.3	13.8	317	5455	0.00	2.45	0.00	0.000	4	0.000	0.000	2540	3663	1761
5539	1.30	118.5	501.4	13.6	319	5546	0.00	3.17	0.00	0.000	6	0.000	0.000	2516	2132	1762
5882	1.40	128.8	453.4	12.9	334	5886	0.40	0.00	1.25	0.000	6	0.000	0.000	2671	2140	1708
6190	1.44	128.8	380.8	26.3	349	6198	0.88	2.75	0.00	0.000	4	0.000	0.000	2565	3477	1709
6247	0.93	128.8	368.2	14.4	351	6253	0.52	2.35	0.00	0.000	6	0.000	0.000	2426	1978	1718
6574	0.99	205.4	342.3	7.7	366	6588	0.43	3.15	7.30	0.001	4	0.000	0.000	2544	3492	1401
6666	1.47	205.4	325.9	20.1	369	6674	0.52	3.17	0.00	0.000	6	0.000	0.000	2658	1969	1403
6996	1.47	205.4	221.3	42.4	385	7002	0.62	2.38	0.00	0.000	4	0.000	0.000	2553	3502	1408
7082	0.74	205.4	203.8	18.3	388	7091	0.77	2.83	0.00	0.000	6	0.000	0.000	2360	1980	1398
7407	0.81	256.3	170.4	9.7	404	7418	0.57	3.22	4.20	0.000	4	0.000	0.000	2482	3653	1200
7506	1.42	256.3	155.7	15.2	408	7519	0.62	3.22	0.00	0.000	6	0.000	0.000	2582	1975	1191
7845	1.66	256.3	64.4	27.2	439	7854	0.35	3.25	0.00	0.000	4	0.000	0.000	2740	3620	1192
7912	1.53	256.3	39.0	40.4	449	7921	0.82	3.03	0.00	0.000	6	0.000	0.000	2549	2093	1194
8072	end climb: SURFACE_DEPTH_REACHED
state	8072	begin surface coast
8077	end surface coast: CONTROL_FINISHED_OK
state	8077	begin surface