Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 50 * 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 50 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 14 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 12 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 -447647.16 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 -447647.16

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 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 12 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 50 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 135308,6637.701,-6008.313,10,1.1,10,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6626.949,-6008.715

_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 -69.9 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 135713,6637.701,-6008.313,13,1.1,13,18.0 MHEAD_RNG_PITCHd_Wd 167.3,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024894 XPDR_PINGS -1

SM_CCo 7989,13.50,0.000,0,0,402,451.11 ALTIM_TOP_PING 19.5,19.0

SM_GC 0.34,0.00,0.00,13.50,0.000,0.000,0.000,611,2125,402,-7.52,3.99,451.11 ALTIM_BOTTOM_PING 477.0,92.3

RAFOS_CLK 0 _24V_AH 23.7,42.793

RAFOS 4,1160753354,15.500000,15.487223,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,6.523

RAFOS_FIX 6637.899414,-6001.462402,131006,121248,4,80,1.15 DATA_FILE_SIZE 15805,483

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241135616

TT8_MAMPS 0.023777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,48,736,0,0

HUMID 2374 SOUNDSPEED 1459.8

INTERNAL_PRESSURE 26.0748 CURRENT 0.071, 63.6,1

TCM_TEMP 15.00 GPS 131006,161222,6636.829,-6007.674,10,1.1,11,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 119 78.55 SBE_CT 403 24 229.23

Roll_motor 95 60 135.37 nil 0 0 0.00

VBD_pump_during_apogee 37 1300 1151.52 nil 0 0 0.00

VBD_pump_during_surface 13 600 191.97 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 67 223 355.24

Transponder_ping 4 420 42.30

GPS 13 50 6.55

TT8 1569 19 303.20

LPSleep 5233 2 117.27

TT8_Active 231 19 44.72

TT8_Sampling 537 39 208.26

TT8_CF8 681 45 303.64

TT8_Kalman 0 81 0.00

Analog_circuits 696 12 81.09

GPS_charging 0 0 0.00

Compass 457 26 115.27

RAFOS 720 1 10.48

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 0.000 611 2035 2872

64 -1.49 -116.8 0.3 0.0 2 81 6.62 2.45 0.00 0.000 4 0.000 0.000 1997 3490 2864

313 -1.49 -116.8 27.8 -9.4 42 322 0.52 3.17 0.00 0.000 6 0.000 0.000 1865 1838 2862

682 -1.67 -116.8 81.4 -14.8 103 691 0.03 3.53 0.00 0.000 4 0.000 0.000 1946 3671 2868

767 -1.40 -116.8 91.9 -11.8 116 776 0.00 3.83 0.00 0.000 6 0.000 0.000 1944 1883 2868

1102 -1.48 -116.8 132.2 -12.0 139 1109 0.00 3.42 0.00 0.000 4 0.000 0.000 1952 3557 2860

1184 -1.38 -116.8 142.0 -12.1 142 1189 0.00 3.03 0.00 0.000 6 0.000 0.000 1950 1878 2872

1509 -1.43 -116.8 179.6 -12.0 157 1514 0.00 2.62 0.00 0.000 4 0.000 0.000 1945 3558 2868

1594 -1.33 -116.8 190.0 -11.0 160 1603 0.03 2.67 0.00 0.000 6 0.000 0.000 1941 2036 2869

1921 -1.42 -116.8 226.0 -12.0 176 1926 0.00 2.95 0.00 0.000 4 0.000 0.000 1947 3686 2865

1957 -1.32 -116.8 231.5 -12.0 177 1966 0.00 3.33 0.00 0.000 6 0.000 0.000 1948 2024 2871

2282 -1.42 -116.8 267.2 -12.0 193 2288 0.00 2.83 0.00 0.000 4 0.000 0.000 1924 3694 2864

2318 -1.31 -116.8 272.5 -11.7 194 2328 0.38 2.88 0.00 0.000 6 0.000 0.000 2009 2326 2863

2643 -1.39 -116.8 301.4 -8.1 210 2652 0.52 3.53 0.00 0.000 4 0.000 0.000 1882 455 2871

2678 -1.97 -116.8 306.8 -15.1 211 2691 0.05 3.72 0.00 0.000 6 0.000 0.000 1882 2312 2866

3008 -1.97 -116.8 352.5 -15.6 227 3016 0.35 3.58 0.00 0.000 4 0.000 0.000 1761 660 2867

3034 -1.68 -116.8 357.6 -15.5 228 3042 0.80 3.08 0.00 0.000 6 0.000 0.000 1948 2316 2867

3371 -1.35 -116.8 400.7 -12.2 244 3373 0.52 0.00 0.00 0.000 6 0.000 0.000 2073 2299 2866

3684 -1.22 -116.8 423.5 -7.0 259 3692 0.62 3.47 0.00 0.000 4 0.000 0.000 1928 438 2866

3714 -1.43 -116.8 426.9 -10.6 260 3722 0.00 3.83 0.00 0.000 6 0.000 0.000 1938 2309 2868

4050 -1.60 -116.8 466.9 -12.2 276 4051 0.08 0.00 0.00 0.000 6 0.000 0.000 1904 2287 2863

4379 -1.47 -116.8 507.1 -12.1 291 4387 0.00 4.03 0.00 0.000 4 0.000 0.000 1938 450 2869

4409 -1.35 -116.8 511.7 -12.7 291 4414 0.00 2.97 0.00 0.000 6 0.000 0.000 1944 2282 2863

4749 -1.44 -116.8 553.0 -12.2 300 4751 0.00 0.00 0.00 0.000 6 0.000 0.000 1932 2280 2863

4825 end dive: BOTTOM_OBSTACLE_DETECTED

state 4825 begin apogee

4837 -0.25 0.0 562.8 12.2 302 4856 1.85 0.00 15.00 0.000 6 0.000 0.000 2235 1953 2247

4857 end apogee: CONTROL_FINISHED_OK

state 4857 begin climb

4863 1.49 116.8 562.8 0.0 302 4879 1.73 0.00 11.55 0.000 6 0.000 0.000 2615 1960 1763

5198 1.49 116.8 507.3 18.4 311 5203 0.08 2.88 0.00 0.000 4 0.000 0.000 2598 3438 1763

5313 1.34 116.8 485.5 18.7 315 5321 0.52 2.95 0.00 0.000 6 0.000 0.000 2471 1923 1757

5648 1.28 157.5 449.8 10.5 331 5658 0.35 2.38 3.75 0.000 4 0.000 0.000 2592 3396 1607

5781 1.52 157.5 422.9 20.4 337 5786 0.00 2.25 0.00 0.000 6 0.000 0.000 2611 2069 1611

6117 1.47 157.5 354.0 20.9 353 6122 0.00 2.25 0.00 0.000 4 0.000 0.000 2614 3419 1606

6193 1.31 157.5 336.7 21.0 356 6198 0.52 1.98 0.00 0.000 6 0.000 0.000 2478 2234 1611

6519 1.25 179.0 296.9 12.0 371 6528 0.50 2.15 2.20 0.001 4 0.000 0.000 2616 3442 1522

6549 1.46 179.0 289.8 23.9 372 6554 0.05 2.47 0.00 0.000 6 0.000 0.000 2603 2096 1515

6879 1.31 179.0 215.0 22.4 388 6885 0.55 2.47 0.00 0.000 4 0.000 0.000 2521 3446 1516

6951 1.14 179.0 201.3 17.8 391 6956 0.47 2.12 0.00 0.000 6 0.000 0.000 2424 2116 1518

7288 1.24 238.8 169.3 9.0 407 7300 0.77 2.67 4.88 0.001 4 0.000 0.000 2584 3450 1269

7349 1.68 238.8 154.8 26.1 409 7357 0.00 2.67 0.00 0.000 6 0.000 0.000 2599 2270 1262

7682 1.64 238.8 70.6 25.6 437 7689 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2276 1266

7949 end climb: SURFACE_DEPTH_REACHED

state 7949 begin surface coast

7960 end surface coast: CONTROL_FINISHED_OK

state 7960 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	50	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	14	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	12	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	-447647.16	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	135308,6637.701,-6008.313,10,1.1,10,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6626.949,-6008.715
_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	-69.9	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	135713,6637.701,-6008.313,13,1.1,13,18.0	MHEAD_RNG_PITCHd_Wd	167.3,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024894	XPDR_PINGS	-1
SM_CCo	7989,13.50,0.000,0,0,402,451.11	ALTIM_TOP_PING	19.5,19.0
SM_GC	0.34,0.00,0.00,13.50,0.000,0.000,0.000,611,2125,402,-7.52,3.99,451.11	ALTIM_BOTTOM_PING	477.0,92.3
RAFOS_CLK	0	_24V_AH	23.7,42.793
RAFOS	4,1160753354,15.500000,15.487223,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,6.523
RAFOS_FIX	6637.899414,-6001.462402,131006,121248,4,80,1.15	DATA_FILE_SIZE	15805,483
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241135616
TT8_MAMPS	0.023777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,48,736,0,0
HUMID	2374	SOUNDSPEED	1459.8
INTERNAL_PRESSURE	26.0748	CURRENT	0.071, 63.6,1
TCM_TEMP	15.00	GPS	131006,161222,6636.829,-6007.674,10,1.1,11,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	119	78.55	SBE_CT	403	24	229.23
Roll_motor	95	60	135.37	nil	0	0	0.00
VBD_pump_during_apogee	37	1300	1151.52	nil	0	0	0.00
VBD_pump_during_surface	13	600	191.97	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	355.24
Transponder_ping	4	420	42.30
GPS	13	50	6.55
TT8	1569	19	303.20
LPSleep	5233	2	117.27
TT8_Active	231	19	44.72
TT8_Sampling	537	39	208.26
TT8_CF8	681	45	303.64
TT8_Kalman	0	81	0.00
Analog_circuits	696	12	81.09
GPS_charging	0	0	0.00
Compass	457	26	115.27
RAFOS	720	1	10.48

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	611	2035	2872
64	-1.49	-116.8	0.3	0.0	2	81	6.62	2.45	0.00	0.000	4	0.000	0.000	1997	3490	2864
313	-1.49	-116.8	27.8	-9.4	42	322	0.52	3.17	0.00	0.000	6	0.000	0.000	1865	1838	2862
682	-1.67	-116.8	81.4	-14.8	103	691	0.03	3.53	0.00	0.000	4	0.000	0.000	1946	3671	2868
767	-1.40	-116.8	91.9	-11.8	116	776	0.00	3.83	0.00	0.000	6	0.000	0.000	1944	1883	2868
1102	-1.48	-116.8	132.2	-12.0	139	1109	0.00	3.42	0.00	0.000	4	0.000	0.000	1952	3557	2860
1184	-1.38	-116.8	142.0	-12.1	142	1189	0.00	3.03	0.00	0.000	6	0.000	0.000	1950	1878	2872
1509	-1.43	-116.8	179.6	-12.0	157	1514	0.00	2.62	0.00	0.000	4	0.000	0.000	1945	3558	2868
1594	-1.33	-116.8	190.0	-11.0	160	1603	0.03	2.67	0.00	0.000	6	0.000	0.000	1941	2036	2869
1921	-1.42	-116.8	226.0	-12.0	176	1926	0.00	2.95	0.00	0.000	4	0.000	0.000	1947	3686	2865
1957	-1.32	-116.8	231.5	-12.0	177	1966	0.00	3.33	0.00	0.000	6	0.000	0.000	1948	2024	2871
2282	-1.42	-116.8	267.2	-12.0	193	2288	0.00	2.83	0.00	0.000	4	0.000	0.000	1924	3694	2864
2318	-1.31	-116.8	272.5	-11.7	194	2328	0.38	2.88	0.00	0.000	6	0.000	0.000	2009	2326	2863
2643	-1.39	-116.8	301.4	-8.1	210	2652	0.52	3.53	0.00	0.000	4	0.000	0.000	1882	455	2871
2678	-1.97	-116.8	306.8	-15.1	211	2691	0.05	3.72	0.00	0.000	6	0.000	0.000	1882	2312	2866
3008	-1.97	-116.8	352.5	-15.6	227	3016	0.35	3.58	0.00	0.000	4	0.000	0.000	1761	660	2867
3034	-1.68	-116.8	357.6	-15.5	228	3042	0.80	3.08	0.00	0.000	6	0.000	0.000	1948	2316	2867
3371	-1.35	-116.8	400.7	-12.2	244	3373	0.52	0.00	0.00	0.000	6	0.000	0.000	2073	2299	2866
3684	-1.22	-116.8	423.5	-7.0	259	3692	0.62	3.47	0.00	0.000	4	0.000	0.000	1928	438	2866
3714	-1.43	-116.8	426.9	-10.6	260	3722	0.00	3.83	0.00	0.000	6	0.000	0.000	1938	2309	2868
4050	-1.60	-116.8	466.9	-12.2	276	4051	0.08	0.00	0.00	0.000	6	0.000	0.000	1904	2287	2863
4379	-1.47	-116.8	507.1	-12.1	291	4387	0.00	4.03	0.00	0.000	4	0.000	0.000	1938	450	2869
4409	-1.35	-116.8	511.7	-12.7	291	4414	0.00	2.97	0.00	0.000	6	0.000	0.000	1944	2282	2863
4749	-1.44	-116.8	553.0	-12.2	300	4751	0.00	0.00	0.00	0.000	6	0.000	0.000	1932	2280	2863
4825	end dive: BOTTOM_OBSTACLE_DETECTED
state	4825	begin apogee
4837	-0.25	0.0	562.8	12.2	302	4856	1.85	0.00	15.00	0.000	6	0.000	0.000	2235	1953	2247
4857	end apogee: CONTROL_FINISHED_OK
state	4857	begin climb
4863	1.49	116.8	562.8	0.0	302	4879	1.73	0.00	11.55	0.000	6	0.000	0.000	2615	1960	1763
5198	1.49	116.8	507.3	18.4	311	5203	0.08	2.88	0.00	0.000	4	0.000	0.000	2598	3438	1763
5313	1.34	116.8	485.5	18.7	315	5321	0.52	2.95	0.00	0.000	6	0.000	0.000	2471	1923	1757
5648	1.28	157.5	449.8	10.5	331	5658	0.35	2.38	3.75	0.000	4	0.000	0.000	2592	3396	1607
5781	1.52	157.5	422.9	20.4	337	5786	0.00	2.25	0.00	0.000	6	0.000	0.000	2611	2069	1611
6117	1.47	157.5	354.0	20.9	353	6122	0.00	2.25	0.00	0.000	4	0.000	0.000	2614	3419	1606
6193	1.31	157.5	336.7	21.0	356	6198	0.52	1.98	0.00	0.000	6	0.000	0.000	2478	2234	1611
6519	1.25	179.0	296.9	12.0	371	6528	0.50	2.15	2.20	0.001	4	0.000	0.000	2616	3442	1522
6549	1.46	179.0	289.8	23.9	372	6554	0.05	2.47	0.00	0.000	6	0.000	0.000	2603	2096	1515
6879	1.31	179.0	215.0	22.4	388	6885	0.55	2.47	0.00	0.000	4	0.000	0.000	2521	3446	1516
6951	1.14	179.0	201.3	17.8	391	6956	0.47	2.12	0.00	0.000	6	0.000	0.000	2424	2116	1518
7288	1.24	238.8	169.3	9.0	407	7300	0.77	2.67	4.88	0.001	4	0.000	0.000	2584	3450	1269
7349	1.68	238.8	154.8	26.1	409	7357	0.00	2.67	0.00	0.000	6	0.000	0.000	2599	2270	1262
7682	1.64	238.8	70.6	25.6	437	7689	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2276	1266
7949	end climb: SURFACE_DEPTH_REACHED
state	7949	begin surface coast
7960	end surface coast: CONTROL_FINISHED_OK
state	7960	begin surface