Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 48 * 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 48 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 179 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 -447596.75 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 -447596.75

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 179 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 48 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 085417,6636.947,-6005.910,33,1.1,33,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6647.235,-6004.615

_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 -70.0 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 085832,6636.947,-6005.910,16,1.1,16,18.0 MHEAD_RNG_PITCHd_Wd 359.7,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025538 XPDR_PINGS -1

SM_CCo 8817,13.43,0.000,0,0,394,451.35 ALTIM_TOP_PING 19.9,19.7

SM_GC 0.34,0.00,0.00,13.43,0.000,0.000,0.000,594,1868,394,-7.59,-3.28,451.35 ALTIM_BOTTOM_PING 525.3,59.1

RAFOS_CLK 0 _24V_AH 23.7,42.241

RAFOS 4,1160731745,9.500000,9.484722,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,6.444

RAFOS_FIX 6637.361816,-6002.574219,131006,080820,4,80,0.59 DATA_FILE_SIZE 15883,513

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241262592

TT8_MAMPS 0.023777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,60,699,0,0

HUMID 2352 SOUNDSPEED 1459.9

INTERNAL_PRESSURE 26.0846 CURRENT 0.066,262.3,1

TCM_TEMP 15.00 GPS 131006,112738,6637.894,-6006.028,21,1.1,21,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 119 83.62 SBE_CT 428 24 243.50

Roll_motor 89 60 126.91 nil 0 0 0.00

VBD_pump_during_apogee 35 1300 1089.90 nil 0 0 0.00

VBD_pump_during_surface 13 600 190.90 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 67 223 355.32

Transponder_ping 5 420 49.77

GPS 16 50 8.21

TT8 1659 19 320.73

LPSleep 5950 2 133.33

TT8_Active 216 19 41.92

TT8_Sampling 569 39 220.50

TT8_CF8 692 45 308.25

TT8_Kalman 0 81 0.00

Analog_circuits 705 12 82.11

GPS_charging 0 0 0.00

Compass 483 26 121.91

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 -7.93 0.000 6 0.000 0.000 583 2115 2852

64 -1.49 -116.8 0.3 0.1 2 82 7.18 2.72 0.00 0.000 4 0.000 0.000 1994 3636 2853

242 -1.49 -116.8 23.9 -9.7 30 252 0.52 3.53 0.00 0.000 6 0.000 0.000 1868 1934 2850

612 -1.66 -116.8 77.2 -15.2 91 620 0.52 2.97 0.00 0.000 4 0.000 0.000 1996 3427 2856

685 -1.34 -116.8 84.9 -9.7 102 693 0.08 2.58 0.00 0.000 6 0.000 0.000 1983 2075 2849

1030 -1.47 -116.8 118.4 -9.7 137 1038 0.50 3.03 0.00 0.000 4 0.000 0.000 1880 3594 2848

1079 -1.47 -116.8 125.2 -15.4 139 1088 0.52 3.42 0.00 0.000 6 0.000 0.000 1975 1968 2855

1414 -1.32 -116.8 159.1 -9.8 155 1419 0.00 3.08 0.00 0.000 4 0.000 0.000 1994 3618 2855

1481 -1.32 -116.8 165.7 -9.7 158 1486 0.00 2.53 0.00 0.000 6 0.000 0.000 1988 1967 2851

1819 -1.48 -116.8 198.2 -9.9 174 1824 0.00 2.62 0.00 0.000 4 0.000 0.000 1987 3630 2859

1891 -1.48 -116.8 205.4 -9.9 177 1898 0.52 3.17 0.00 0.000 6 0.000 0.000 1864 2112 2853

2226 -1.68 -116.8 257.1 -15.6 193 2228 0.45 0.00 0.00 0.000 6 0.000 0.000 1995 2119 2854

2541 -1.35 -116.8 288.7 -9.7 208 2546 0.00 2.88 0.00 0.000 4 0.000 0.000 1977 3459 2854

2571 -1.52 -116.8 292.0 -9.9 209 2576 0.52 1.95 0.00 0.000 6 0.000 0.000 1890 2296 2855

2897 -1.61 -116.8 340.4 -15.5 224 2904 0.62 3.05 0.00 0.000 4 0.000 0.000 1973 723 2848

2924 -1.27 -116.8 344.9 -14.5 225 2930 0.00 2.83 0.00 0.000 6 0.000 0.000 1980 2411 2848

3263 -1.26 -116.8 376.2 -9.2 241 3264 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2389 2855

3565 -1.42 -116.8 406.5 -9.8 256 3572 0.38 3.25 0.00 0.000 4 0.000 0.000 1878 574 2850

3616 -1.42 -116.8 413.9 -14.3 258 3622 0.68 2.40 0.00 0.000 6 0.000 0.000 2044 2248 2846

3947 -1.39 -116.8 438.8 -7.1 274 3949 0.47 0.00 0.00 0.000 6 0.000 0.000 1931 2246 2856

4256 -1.58 -116.8 476.0 -12.6 289 4258 0.00 0.00 0.00 0.000 6 0.000 0.000 1898 2246 2853

4579 -1.42 -116.8 516.9 -12.5 302 4581 0.28 0.00 0.00 0.000 6 0.000 0.000 1997 2253 2849

4904 -1.26 -116.8 549.0 -9.8 310 4905 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2248 2851

5187 end dive: BOTTOM_OBSTACLE_DETECTED

state 5187 begin apogee

5200 -0.25 0.0 576.8 9.8 317 5218 1.33 0.00 14.60 0.000 6 0.000 0.000 2294 1919 2230

5219 end apogee: CONTROL_FINISHED_OK

state 5219 begin climb

5225 1.49 116.8 576.8 0.0 317 5245 1.90 3.35 11.18 0.001 4 0.000 0.000 2646 3404 1769

5281 1.49 116.8 570.3 22.5 318 5289 0.60 3.28 0.00 0.000 6 0.000 0.000 2573 1904 1763

5638 1.27 116.8 518.8 14.2 327 5644 0.08 2.65 0.00 0.000 4 0.000 0.000 2539 3413 1766

5782 1.29 116.8 497.9 13.8 330 5786 0.00 2.40 0.00 0.000 6 0.000 0.000 2536 2233 1765

6101 1.38 116.8 452.8 14.3 345 6102 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2240 1759

6410 1.38 116.8 399.5 14.4 360 6415 0.00 2.12 0.00 0.000 4 0.000 0.000 2557 3547 1763

6457 1.38 116.8 392.4 14.2 362 6462 0.00 2.60 0.00 0.000 6 0.000 0.000 2528 2050 1767

6788 1.50 116.8 346.6 14.3 378 6796 0.82 3.08 0.00 0.000 4 0.000 0.000 2664 3529 1768

6873 1.50 116.8 328.4 23.1 381 6886 0.55 3.28 0.00 0.000 6 0.000 0.000 2543 2048 1769

7202 1.30 116.8 278.9 14.5 397 7207 0.00 2.65 0.00 0.000 4 0.000 0.000 2546 3539 1762

7278 1.30 116.8 266.9 14.9 400 7282 0.00 2.22 0.00 0.000 6 0.000 0.000 2552 2056 1764

7603 1.41 116.8 206.0 22.4 415 7604 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2082 1757

7906 0.83 116.8 161.1 14.5 430 7914 0.77 2.72 0.00 0.000 4 0.000 0.000 2429 3595 1759

8011 0.83 189.1 150.9 8.0 434 8026 0.00 3.03 5.82 0.001 6 0.000 0.000 2431 2109 1454

8342 1.34 236.7 119.3 10.0 450 8352 0.70 2.78 3.78 0.000 4 0.000 0.000 2610 3410 1264

8394 1.72 236.7 105.7 29.0 452 8398 0.00 1.98 0.00 0.000 6 0.000 0.000 2623 2201 1261

8760 1.61 236.7 2.5 28.1 509 8768 0.00 2.12 0.00 0.000 4 0.000 0.000 2618 3539 1265

8773 end climb: SURFACE_DEPTH_REACHED

state 8773 begin surface coast

8785 end surface coast: CONTROL_FINISHED_OK

state 8785 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	48	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	179	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	-447596.75	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	085417,6636.947,-6005.910,33,1.1,33,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6647.235,-6004.615
_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	-70.0	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	085832,6636.947,-6005.910,16,1.1,16,18.0	MHEAD_RNG_PITCHd_Wd	359.7,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025538	XPDR_PINGS	-1
SM_CCo	8817,13.43,0.000,0,0,394,451.35	ALTIM_TOP_PING	19.9,19.7
SM_GC	0.34,0.00,0.00,13.43,0.000,0.000,0.000,594,1868,394,-7.59,-3.28,451.35	ALTIM_BOTTOM_PING	525.3,59.1
RAFOS_CLK	0	_24V_AH	23.7,42.241
RAFOS	4,1160731745,9.500000,9.484722,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,6.444
RAFOS_FIX	6637.361816,-6002.574219,131006,080820,4,80,0.59	DATA_FILE_SIZE	15883,513
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241262592
TT8_MAMPS	0.023777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,60,699,0,0
HUMID	2352	SOUNDSPEED	1459.9
INTERNAL_PRESSURE	26.0846	CURRENT	0.066,262.3,1
TCM_TEMP	15.00	GPS	131006,112738,6637.894,-6006.028,21,1.1,21,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	119	83.62	SBE_CT	428	24	243.50
Roll_motor	89	60	126.91	nil	0	0	0.00
VBD_pump_during_apogee	35	1300	1089.90	nil	0	0	0.00
VBD_pump_during_surface	13	600	190.90	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	355.32
Transponder_ping	5	420	49.77
GPS	16	50	8.21
TT8	1659	19	320.73
LPSleep	5950	2	133.33
TT8_Active	216	19	41.92
TT8_Sampling	569	39	220.50
TT8_CF8	692	45	308.25
TT8_Kalman	0	81	0.00
Analog_circuits	705	12	82.11
GPS_charging	0	0	0.00
Compass	483	26	121.91
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	-7.93	0.000	6	0.000	0.000	583	2115	2852
64	-1.49	-116.8	0.3	0.1	2	82	7.18	2.72	0.00	0.000	4	0.000	0.000	1994	3636	2853
242	-1.49	-116.8	23.9	-9.7	30	252	0.52	3.53	0.00	0.000	6	0.000	0.000	1868	1934	2850
612	-1.66	-116.8	77.2	-15.2	91	620	0.52	2.97	0.00	0.000	4	0.000	0.000	1996	3427	2856
685	-1.34	-116.8	84.9	-9.7	102	693	0.08	2.58	0.00	0.000	6	0.000	0.000	1983	2075	2849
1030	-1.47	-116.8	118.4	-9.7	137	1038	0.50	3.03	0.00	0.000	4	0.000	0.000	1880	3594	2848
1079	-1.47	-116.8	125.2	-15.4	139	1088	0.52	3.42	0.00	0.000	6	0.000	0.000	1975	1968	2855
1414	-1.32	-116.8	159.1	-9.8	155	1419	0.00	3.08	0.00	0.000	4	0.000	0.000	1994	3618	2855
1481	-1.32	-116.8	165.7	-9.7	158	1486	0.00	2.53	0.00	0.000	6	0.000	0.000	1988	1967	2851
1819	-1.48	-116.8	198.2	-9.9	174	1824	0.00	2.62	0.00	0.000	4	0.000	0.000	1987	3630	2859
1891	-1.48	-116.8	205.4	-9.9	177	1898	0.52	3.17	0.00	0.000	6	0.000	0.000	1864	2112	2853
2226	-1.68	-116.8	257.1	-15.6	193	2228	0.45	0.00	0.00	0.000	6	0.000	0.000	1995	2119	2854
2541	-1.35	-116.8	288.7	-9.7	208	2546	0.00	2.88	0.00	0.000	4	0.000	0.000	1977	3459	2854
2571	-1.52	-116.8	292.0	-9.9	209	2576	0.52	1.95	0.00	0.000	6	0.000	0.000	1890	2296	2855
2897	-1.61	-116.8	340.4	-15.5	224	2904	0.62	3.05	0.00	0.000	4	0.000	0.000	1973	723	2848
2924	-1.27	-116.8	344.9	-14.5	225	2930	0.00	2.83	0.00	0.000	6	0.000	0.000	1980	2411	2848
3263	-1.26	-116.8	376.2	-9.2	241	3264	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2389	2855
3565	-1.42	-116.8	406.5	-9.8	256	3572	0.38	3.25	0.00	0.000	4	0.000	0.000	1878	574	2850
3616	-1.42	-116.8	413.9	-14.3	258	3622	0.68	2.40	0.00	0.000	6	0.000	0.000	2044	2248	2846
3947	-1.39	-116.8	438.8	-7.1	274	3949	0.47	0.00	0.00	0.000	6	0.000	0.000	1931	2246	2856
4256	-1.58	-116.8	476.0	-12.6	289	4258	0.00	0.00	0.00	0.000	6	0.000	0.000	1898	2246	2853
4579	-1.42	-116.8	516.9	-12.5	302	4581	0.28	0.00	0.00	0.000	6	0.000	0.000	1997	2253	2849
4904	-1.26	-116.8	549.0	-9.8	310	4905	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2248	2851
5187	end dive: BOTTOM_OBSTACLE_DETECTED
state	5187	begin apogee
5200	-0.25	0.0	576.8	9.8	317	5218	1.33	0.00	14.60	0.000	6	0.000	0.000	2294	1919	2230
5219	end apogee: CONTROL_FINISHED_OK
state	5219	begin climb
5225	1.49	116.8	576.8	0.0	317	5245	1.90	3.35	11.18	0.001	4	0.000	0.000	2646	3404	1769
5281	1.49	116.8	570.3	22.5	318	5289	0.60	3.28	0.00	0.000	6	0.000	0.000	2573	1904	1763
5638	1.27	116.8	518.8	14.2	327	5644	0.08	2.65	0.00	0.000	4	0.000	0.000	2539	3413	1766
5782	1.29	116.8	497.9	13.8	330	5786	0.00	2.40	0.00	0.000	6	0.000	0.000	2536	2233	1765
6101	1.38	116.8	452.8	14.3	345	6102	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2240	1759
6410	1.38	116.8	399.5	14.4	360	6415	0.00	2.12	0.00	0.000	4	0.000	0.000	2557	3547	1763
6457	1.38	116.8	392.4	14.2	362	6462	0.00	2.60	0.00	0.000	6	0.000	0.000	2528	2050	1767
6788	1.50	116.8	346.6	14.3	378	6796	0.82	3.08	0.00	0.000	4	0.000	0.000	2664	3529	1768
6873	1.50	116.8	328.4	23.1	381	6886	0.55	3.28	0.00	0.000	6	0.000	0.000	2543	2048	1769
7202	1.30	116.8	278.9	14.5	397	7207	0.00	2.65	0.00	0.000	4	0.000	0.000	2546	3539	1762
7278	1.30	116.8	266.9	14.9	400	7282	0.00	2.22	0.00	0.000	6	0.000	0.000	2552	2056	1764
7603	1.41	116.8	206.0	22.4	415	7604	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2082	1757
7906	0.83	116.8	161.1	14.5	430	7914	0.77	2.72	0.00	0.000	4	0.000	0.000	2429	3595	1759
8011	0.83	189.1	150.9	8.0	434	8026	0.00	3.03	5.82	0.001	6	0.000	0.000	2431	2109	1454
8342	1.34	236.7	119.3	10.0	450	8352	0.70	2.78	3.78	0.000	4	0.000	0.000	2610	3410	1264
8394	1.72	236.7	105.7	29.0	452	8398	0.00	1.98	0.00	0.000	6	0.000	0.000	2623	2201	1261
8760	1.61	236.7	2.5	28.1	509	8768	0.00	2.12	0.00	0.000	4	0.000	0.000	2618	3539	1265
8773	end climb: SURFACE_DEPTH_REACHED
state	8773	begin surface coast
8785	end surface coast: CONTROL_FINISHED_OK
state	8785	begin surface