Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 45 * 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 45 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 182 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 10 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 -447547.41 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 -447547.41

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 182 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 10 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 45 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 012805,6637.567,-6005.858,31,1.1,31,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6646.177,-6008.429

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

GPS2 013212,6637.567,-6005.858,16,1.1,16,18.0 MHEAD_RNG_PITCHd_Wd 304.9,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025294 XPDR_PINGS -1

SM_CCo 8024,13.60,0.000,0,0,402,450.37 ALTIM_TOP_PING 18.9,18.7

SM_GC 0.34,0.00,0.00,13.60,0.000,0.000,0.000,604,2043,402,-7.73,1.53,450.37 ALTIM_BOTTOM_PING 500.4,82.4

RAFOS_CLK 0 _24V_AH 23.7,41.430

RAFOS 4,1160710150,3.500000,3.486111,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,6.318

RAFOS_FIX 6637.403809,-6003.074707,131006,000052,4,80,0.78 DATA_FILE_SIZE 15866,478

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241467392

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,63,781,0,0

HUMID 2396 SOUNDSPEED 1459.8

INTERNAL_PRESSURE 26.0748 CURRENT 0.078,196.5,1

TCM_TEMP 15.00 GPS 131006,034804,6637.979,-6007.820,20,1.1,20,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 119 93.63 SBE_CT 395 24 225.07

Roll_motor 100 60 143.48 nil 0 0 0.00

VBD_pump_during_apogee 37 1300 1140.74 nil 0 0 0.00

VBD_pump_during_surface 13 600 193.39 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 66 223 353.76

Transponder_ping 4 420 44.79

GPS 17 50 8.26

TT8 1572 19 303.87

LPSleep 5257 2 117.81

TT8_Active 251 19 48.60

TT8_Sampling 540 39 209.26

TT8_CF8 668 45 297.55

TT8_Kalman 0 81 0.00

Analog_circuits 717 12 83.49

GPS_charging 0 0 0.00

Compass 455 26 114.89

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 -8.23 0.000 6 0.000 0.000 619 1917 2849

64 -1.49 -116.8 0.3 -0.0 2 82 6.57 2.50 0.00 0.000 4 0.000 0.000 2021 576 2852

265 -1.49 -116.8 21.6 -8.3 34 274 0.55 2.35 0.00 0.000 6 0.000 0.000 1901 2097 2853

634 -1.78 -116.8 71.6 -10.4 95 642 0.00 2.35 0.00 0.000 4 0.000 0.000 1907 3623 2847

695 -1.81 -116.8 80.3 -14.2 104 704 0.00 3.35 0.00 0.000 6 0.000 0.000 1894 1944 2851

1044 -1.75 -116.8 129.3 -14.2 137 1049 0.00 2.35 0.00 0.000 4 0.000 0.000 1876 3462 2851

1113 -1.51 -116.8 139.5 -14.1 140 1121 0.52 3.17 0.00 0.000 6 0.000 0.000 2020 1956 2845

1443 -1.51 -116.8 168.1 -8.5 156 1451 0.65 2.97 0.00 0.000 4 0.000 0.000 1899 3442 2851

1522 -1.61 -116.8 178.1 -13.7 159 1528 0.15 3.03 0.00 0.000 6 0.000 0.000 1914 1956 2852

1848 -1.52 -116.8 220.1 -13.0 175 1856 0.50 3.28 0.00 0.000 4 0.000 0.000 2006 3453 2852

1906 -1.45 -116.8 226.2 -8.4 177 1918 0.47 2.83 0.00 0.000 6 0.000 0.000 1879 2090 2844

2235 -1.65 -116.8 269.1 -12.7 193 2240 0.00 3.03 0.00 0.000 4 0.000 0.000 1897 3627 2856

2265 -1.48 -116.8 274.3 -13.8 194 2271 0.50 2.35 0.00 0.000 6 0.000 0.000 1993 2061 2851

2590 -1.40 -116.8 302.9 -8.7 209 2597 0.60 3.03 0.00 0.000 4 0.000 0.000 1882 3681 2849

2630 -1.48 -116.8 308.8 -14.6 210 2640 0.52 2.88 0.00 0.000 6 0.000 0.000 1999 2175 2851

2955 -1.43 -116.8 336.2 -6.5 226 2957 0.52 0.00 0.00 0.000 6 0.000 0.000 1881 2172 2855

3264 -1.75 -116.8 379.2 -14.5 241 3265 0.03 0.00 0.00 0.000 6 0.000 0.000 1880 2171 2852

3573 -1.48 -116.8 423.9 -14.6 256 3578 0.50 1.95 0.00 0.000 4 0.000 0.000 2008 3561 2848

3609 -1.20 -116.8 428.8 -9.0 257 3618 0.00 3.03 0.00 0.000 6 0.000 0.000 1991 2031 2852

3933 -1.39 -116.8 457.3 -9.0 273 3939 0.35 2.78 0.00 0.000 4 0.000 0.000 1893 3535 2848

3982 -1.45 -116.8 463.9 -13.5 275 3989 0.55 2.67 0.00 0.000 6 0.000 0.000 1976 2195 2850

4316 -1.48 -116.8 493.8 -9.1 291 4324 0.50 2.97 0.00 0.000 4 0.000 0.000 1886 673 2849

4342 -1.57 -116.8 496.9 -9.7 292 4350 0.52 3.17 0.00 0.000 6 0.000 0.000 2026 2198 2850

4693 -1.59 -116.8 530.2 -9.2 301 4699 0.57 2.50 0.00 0.000 4 0.000 0.000 1925 3529 2850

4730 -1.63 -116.8 533.9 -9.7 301 4739 0.15 2.58 0.00 0.000 6 0.000 0.000 1932 2178 2851

5060 end dive: BOTTOM_OBSTACLE_DETECTED

state 5060 begin apogee

5072 -0.25 0.0 573.4 11.9 310 5091 1.33 0.00 14.52 0.000 6 0.000 0.000 2202 1860 2240

5091 end apogee: CONTROL_FINISHED_OK

state 5091 begin climb

5097 1.49 116.8 573.4 0.0 310 5113 2.28 0.00 11.55 0.000 6 0.000 0.000 2672 1844 1756

5432 1.49 116.8 501.3 23.5 319 5440 0.75 3.33 0.00 0.000 4 0.000 0.000 2561 3679 1760

5557 1.15 116.8 480.6 15.0 323 5570 0.45 3.03 0.00 0.000 6 0.000 0.000 2421 1983 1752

5886 1.27 185.5 450.9 8.3 339 5900 0.73 3.35 6.43 0.001 4 0.000 0.000 2616 3502 1492

5980 1.68 185.5 430.1 25.1 343 5986 0.00 2.97 0.00 0.000 6 0.000 0.000 2646 2131 1495

6316 1.63 185.5 339.2 23.8 359 6321 0.00 2.47 0.00 0.000 4 0.000 0.000 2619 3512 1495

6362 1.43 185.5 326.3 24.1 361 6369 0.52 2.65 0.00 0.000 6 0.000 0.000 2511 2003 1496

6694 1.36 185.5 279.5 13.9 377 6701 0.50 3.03 0.00 0.000 4 0.000 0.000 2627 3668 1490

6769 1.49 185.5 261.8 34.8 380 6774 0.05 2.90 0.00 0.000 6 0.000 0.000 2612 1995 1495

7104 1.30 185.5 182.2 23.7 396 7112 0.52 2.75 0.00 0.000 4 0.000 0.000 2544 3502 1496

7203 1.11 185.5 162.0 18.7 400 7209 0.50 2.28 0.00 0.000 6 0.000 0.000 2449 2177 1499

7529 1.21 237.8 129.2 9.6 416 7540 0.65 2.53 4.53 0.000 4 0.000 0.000 2621 3693 1270

7565 1.60 237.8 122.1 25.2 417 7574 0.05 2.97 0.00 0.000 6 0.000 0.000 2629 2033 1262

7919 1.53 237.8 23.9 27.3 466 7927 0.00 2.58 0.00 0.000 4 0.000 0.000 2603 3373 1277

7985 end climb: SURFACE_DEPTH_REACHED

state 7985 begin surface coast

7992 end surface coast: CONTROL_FINISHED_OK

state 7992 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	45	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	182	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	10	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	-447547.41	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	012805,6637.567,-6005.858,31,1.1,31,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6646.177,-6008.429
_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	-69.8	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	013212,6637.567,-6005.858,16,1.1,16,18.0	MHEAD_RNG_PITCHd_Wd	304.9,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025294	XPDR_PINGS	-1
SM_CCo	8024,13.60,0.000,0,0,402,450.37	ALTIM_TOP_PING	18.9,18.7
SM_GC	0.34,0.00,0.00,13.60,0.000,0.000,0.000,604,2043,402,-7.73,1.53,450.37	ALTIM_BOTTOM_PING	500.4,82.4
RAFOS_CLK	0	_24V_AH	23.7,41.430
RAFOS	4,1160710150,3.500000,3.486111,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,6.318
RAFOS_FIX	6637.403809,-6003.074707,131006,000052,4,80,0.78	DATA_FILE_SIZE	15866,478
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241467392
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,63,781,0,0
HUMID	2396	SOUNDSPEED	1459.8
INTERNAL_PRESSURE	26.0748	CURRENT	0.078,196.5,1
TCM_TEMP	15.00	GPS	131006,034804,6637.979,-6007.820,20,1.1,20,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	119	93.63	SBE_CT	395	24	225.07
Roll_motor	100	60	143.48	nil	0	0	0.00
VBD_pump_during_apogee	37	1300	1140.74	nil	0	0	0.00
VBD_pump_during_surface	13	600	193.39	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	66	223	353.76
Transponder_ping	4	420	44.79
GPS	17	50	8.26
TT8	1572	19	303.87
LPSleep	5257	2	117.81
TT8_Active	251	19	48.60
TT8_Sampling	540	39	209.26
TT8_CF8	668	45	297.55
TT8_Kalman	0	81	0.00
Analog_circuits	717	12	83.49
GPS_charging	0	0	0.00
Compass	455	26	114.89
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	-8.23	0.000	6	0.000	0.000	619	1917	2849
64	-1.49	-116.8	0.3	-0.0	2	82	6.57	2.50	0.00	0.000	4	0.000	0.000	2021	576	2852
265	-1.49	-116.8	21.6	-8.3	34	274	0.55	2.35	0.00	0.000	6	0.000	0.000	1901	2097	2853
634	-1.78	-116.8	71.6	-10.4	95	642	0.00	2.35	0.00	0.000	4	0.000	0.000	1907	3623	2847
695	-1.81	-116.8	80.3	-14.2	104	704	0.00	3.35	0.00	0.000	6	0.000	0.000	1894	1944	2851
1044	-1.75	-116.8	129.3	-14.2	137	1049	0.00	2.35	0.00	0.000	4	0.000	0.000	1876	3462	2851
1113	-1.51	-116.8	139.5	-14.1	140	1121	0.52	3.17	0.00	0.000	6	0.000	0.000	2020	1956	2845
1443	-1.51	-116.8	168.1	-8.5	156	1451	0.65	2.97	0.00	0.000	4	0.000	0.000	1899	3442	2851
1522	-1.61	-116.8	178.1	-13.7	159	1528	0.15	3.03	0.00	0.000	6	0.000	0.000	1914	1956	2852
1848	-1.52	-116.8	220.1	-13.0	175	1856	0.50	3.28	0.00	0.000	4	0.000	0.000	2006	3453	2852
1906	-1.45	-116.8	226.2	-8.4	177	1918	0.47	2.83	0.00	0.000	6	0.000	0.000	1879	2090	2844
2235	-1.65	-116.8	269.1	-12.7	193	2240	0.00	3.03	0.00	0.000	4	0.000	0.000	1897	3627	2856
2265	-1.48	-116.8	274.3	-13.8	194	2271	0.50	2.35	0.00	0.000	6	0.000	0.000	1993	2061	2851
2590	-1.40	-116.8	302.9	-8.7	209	2597	0.60	3.03	0.00	0.000	4	0.000	0.000	1882	3681	2849
2630	-1.48	-116.8	308.8	-14.6	210	2640	0.52	2.88	0.00	0.000	6	0.000	0.000	1999	2175	2851
2955	-1.43	-116.8	336.2	-6.5	226	2957	0.52	0.00	0.00	0.000	6	0.000	0.000	1881	2172	2855
3264	-1.75	-116.8	379.2	-14.5	241	3265	0.03	0.00	0.00	0.000	6	0.000	0.000	1880	2171	2852
3573	-1.48	-116.8	423.9	-14.6	256	3578	0.50	1.95	0.00	0.000	4	0.000	0.000	2008	3561	2848
3609	-1.20	-116.8	428.8	-9.0	257	3618	0.00	3.03	0.00	0.000	6	0.000	0.000	1991	2031	2852
3933	-1.39	-116.8	457.3	-9.0	273	3939	0.35	2.78	0.00	0.000	4	0.000	0.000	1893	3535	2848
3982	-1.45	-116.8	463.9	-13.5	275	3989	0.55	2.67	0.00	0.000	6	0.000	0.000	1976	2195	2850
4316	-1.48	-116.8	493.8	-9.1	291	4324	0.50	2.97	0.00	0.000	4	0.000	0.000	1886	673	2849
4342	-1.57	-116.8	496.9	-9.7	292	4350	0.52	3.17	0.00	0.000	6	0.000	0.000	2026	2198	2850
4693	-1.59	-116.8	530.2	-9.2	301	4699	0.57	2.50	0.00	0.000	4	0.000	0.000	1925	3529	2850
4730	-1.63	-116.8	533.9	-9.7	301	4739	0.15	2.58	0.00	0.000	6	0.000	0.000	1932	2178	2851
5060	end dive: BOTTOM_OBSTACLE_DETECTED
state	5060	begin apogee
5072	-0.25	0.0	573.4	11.9	310	5091	1.33	0.00	14.52	0.000	6	0.000	0.000	2202	1860	2240
5091	end apogee: CONTROL_FINISHED_OK
state	5091	begin climb
5097	1.49	116.8	573.4	0.0	310	5113	2.28	0.00	11.55	0.000	6	0.000	0.000	2672	1844	1756
5432	1.49	116.8	501.3	23.5	319	5440	0.75	3.33	0.00	0.000	4	0.000	0.000	2561	3679	1760
5557	1.15	116.8	480.6	15.0	323	5570	0.45	3.03	0.00	0.000	6	0.000	0.000	2421	1983	1752
5886	1.27	185.5	450.9	8.3	339	5900	0.73	3.35	6.43	0.001	4	0.000	0.000	2616	3502	1492
5980	1.68	185.5	430.1	25.1	343	5986	0.00	2.97	0.00	0.000	6	0.000	0.000	2646	2131	1495
6316	1.63	185.5	339.2	23.8	359	6321	0.00	2.47	0.00	0.000	4	0.000	0.000	2619	3512	1495
6362	1.43	185.5	326.3	24.1	361	6369	0.52	2.65	0.00	0.000	6	0.000	0.000	2511	2003	1496
6694	1.36	185.5	279.5	13.9	377	6701	0.50	3.03	0.00	0.000	4	0.000	0.000	2627	3668	1490
6769	1.49	185.5	261.8	34.8	380	6774	0.05	2.90	0.00	0.000	6	0.000	0.000	2612	1995	1495
7104	1.30	185.5	182.2	23.7	396	7112	0.52	2.75	0.00	0.000	4	0.000	0.000	2544	3502	1496
7203	1.11	185.5	162.0	18.7	400	7209	0.50	2.28	0.00	0.000	6	0.000	0.000	2449	2177	1499
7529	1.21	237.8	129.2	9.6	416	7540	0.65	2.53	4.53	0.000	4	0.000	0.000	2621	3693	1270
7565	1.60	237.8	122.1	25.2	417	7574	0.05	2.97	0.00	0.000	6	0.000	0.000	2629	2033	1262
7919	1.53	237.8	23.9	27.3	466	7927	0.00	2.58	0.00	0.000	4	0.000	0.000	2603	3373	1277
7985	end climb: SURFACE_DEPTH_REACHED
state	7985	begin surface coast
7992	end surface coast: CONTROL_FINISHED_OK
state	7992	begin surface