Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 52 * 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 52 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 190 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 -447704.44 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 -447704.44

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 190 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 52 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 183319,6637.232,-6005.547,26,1.1,26,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6647.852,-6006.318

_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 183734,6637.232,-6005.547,22,1.1,22,18.0 MHEAD_RNG_PITCHd_Wd 331.6,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025369 XPDR_PINGS -1

SM_CCo 8110,19.15,0.000,0,0,403,450.37 ALTIM_TOP_PING 19.5,19.7

SM_GC 0.33,0.00,0.00,19.15,0.000,0.000,0.000,635,2085,403,-7.46,3.22,450.37 ALTIM_BOTTOM_PING 501.6,83.7

RAFOS_CLK 0 _24V_AH 23.7,43.316

RAFOS 0,1160769855,20.083334,20.070833,80,0,0,0,0,0,511,0,0,0,0,0 _10V_AH 9.7,6.599

RAFOS_FIX 6637.971680,-6002.498535,131006,202048,4,80,0.42 DATA_FILE_SIZE 15893,490

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241012736

TT8_MAMPS 0.02301 ERRORS 0,0,0,0,0,0,0,0,0,0,0,42,661,0,0

HUMID 2428 SOUNDSPEED 1459.8

INTERNAL_PRESSURE 26.0846 CURRENT 0.074,234.5,1

TCM_TEMP 15.00 GPS 131006,205512,6638.018,-6006.805,21,1.1,21,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 119 72.48 SBE_CT 407 24 231.94

Roll_motor 85 60 121.12 nil 0 0 0.00

VBD_pump_during_apogee 29 1300 909.67 nil 0 0 0.00

VBD_pump_during_surface 19 600 272.31 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 66 223 352.35

Transponder_ping 4 420 44.79

GPS 23 50 11.19

TT8 1606 19 310.39

LPSleep 5341 2 119.69

TT8_Active 216 19 41.77

TT8_Sampling 549 39 212.95

TT8_CF8 689 45 306.98

TT8_Kalman 0 81 0.00

Analog_circuits 682 12 79.49

GPS_charging 0 0 0.00

Compass 460 26 116.26

RAFOS 1440 1 20.95

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 -8.05 0.000 6 0.000 0.000 609 2086 2887

64 -1.49 -116.8 0.3 -0.0 2 82 7.00 2.72 0.00 0.000 4 0.000 0.000 1974 3608 2886

248 -1.49 -116.8 24.1 -10.6 31 257 0.50 2.78 0.00 0.000 6 0.000 0.000 1847 2068 2887

618 -1.64 -116.8 81.0 -12.9 92 627 0.43 2.72 0.00 0.000 4 0.000 0.000 1988 3565 2892

665 -1.50 -116.8 86.3 -9.8 98 674 0.52 3.33 0.00 0.000 6 0.000 0.000 1893 1885 2888

1012 -1.67 -116.8 139.4 -15.7 125 1020 0.08 3.62 0.00 0.000 4 0.000 0.000 1876 3690 2887

1092 -1.39 -116.8 152.2 -15.8 128 1100 0.52 3.28 0.00 0.000 6 0.000 0.000 2013 1995 2884

1422 -1.31 -116.8 185.3 -9.5 144 1429 0.00 3.28 0.00 0.000 4 0.000 0.000 1993 3663 2881

1474 -1.37 -116.8 190.5 -9.3 146 1480 0.47 2.62 0.00 0.000 6 0.000 0.000 1887 2020 2884

1800 -1.63 -116.8 238.8 -15.4 162 1807 0.00 3.35 0.00 0.000 4 0.000 0.000 1876 3494 2887

1857 -1.37 -116.8 248.0 -15.3 164 1862 0.57 2.15 0.00 0.000 6 0.000 0.000 2001 2145 2886

2181 -1.26 -116.8 278.0 -9.3 179 2183 0.15 0.00 0.00 0.000 6 0.000 0.000 1946 2163 2882

2491 -1.34 -116.8 313.7 -11.3 194 2497 0.00 3.28 0.00 0.000 4 0.000 0.000 1953 3694 2887

2525 -1.31 -116.8 318.7 -12.5 195 2531 0.05 2.67 0.00 0.000 6 0.000 0.000 1967 2191 2885

2850 -1.40 -116.8 356.6 -12.0 210 2851 0.00 0.00 0.00 0.000 6 0.000 0.000 1962 2201 2886

3155 -1.31 -116.8 391.3 -10.6 225 3157 0.25 0.00 0.00 0.000 6 0.000 0.000 2011 2196 2886

3469 -1.45 -116.8 419.2 -8.3 240 3471 0.50 0.00 0.00 0.000 6 0.000 0.000 1899 2194 2884

3778 -1.68 -116.8 464.7 -15.0 255 3779 0.00 0.00 0.00 0.000 6 0.000 0.000 1898 2197 2889

4102 -1.42 -116.8 513.7 -14.7 269 4109 0.50 2.85 0.00 0.000 4 0.000 0.000 2012 3543 2890

4131 -1.20 -116.8 517.4 -10.1 269 4136 0.03 2.45 0.00 0.000 6 0.000 0.000 2021 2054 2892

4472 -1.30 -116.8 548.5 -9.2 278 4477 0.00 2.92 0.00 0.000 4 0.000 0.000 2025 3583 2882

4519 -1.37 -116.8 553.0 -9.3 279 4527 0.52 3.12 0.00 0.000 6 0.000 0.000 1908 2090 2888

4679 end dive: BOTTOM_OBSTACLE_DETECTED

state 4685 begin apogee

4697 -0.25 0.0 577.1 15.3 283 4722 1.60 0.00 15.48 0.000 6 0.000 0.000 2240 2100 2242

4723 end apogee: CONTROL_FINISHED_OK

state 4723 begin climb

4729 1.49 116.8 582.2 0.0 284 4744 1.88 0.00 11.18 0.000 6 0.000 0.000 2614 2107 1774

5049 1.49 116.8 523.8 19.1 292 5054 0.00 2.88 0.00 0.000 4 0.000 0.000 2604 3448 1768

5129 1.29 116.8 507.6 18.9 293 5139 0.55 2.92 0.00 0.000 6 0.000 0.000 2514 1957 1766

5453 1.21 145.7 466.8 11.5 307 5462 0.15 3.25 2.88 0.001 4 0.000 0.000 2567 3457 1643

5555 1.39 145.7 448.8 18.9 311 5564 0.00 2.35 0.00 0.000 6 0.000 0.000 2540 1987 1642

5881 1.39 145.7 394.5 17.0 327 5886 0.00 2.62 0.00 0.000 4 0.000 0.000 2559 3661 1639

5974 1.35 145.7 378.3 16.9 331 5982 0.00 3.53 0.00 0.000 6 0.000 0.000 2561 1973 1645

6315 1.45 145.7 320.3 16.9 347 6321 0.12 3.00 0.00 0.000 4 0.000 0.000 2569 3556 1640

6416 1.41 145.7 301.4 18.8 351 6421 0.00 2.97 0.00 0.000 6 0.000 0.000 2569 2053 1643

6743 1.31 145.7 245.6 17.2 366 6747 0.00 2.35 0.00 0.000 4 0.000 0.000 2568 3544 1635

6818 1.26 145.7 230.0 17.2 369 6823 0.00 2.55 0.00 0.000 6 0.000 0.000 2561 2194 1638

7143 1.34 145.7 170.6 17.2 384 7144 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2202 1645

7447 1.29 145.7 117.8 17.0 399 7451 0.00 2.03 0.00 0.000 4 0.000 0.000 2567 3566 1638

7512 1.24 145.7 106.5 17.2 402 7517 0.00 2.42 0.00 0.000 6 0.000 0.000 2562 2053 1641

7878 1.32 145.7 36.7 17.1 458 7886 0.00 2.35 0.00 0.000 4 0.000 0.000 2550 3437 1642

7938 1.28 145.7 25.6 17.1 467 7947 0.03 2.22 0.00 0.000 6 0.000 0.000 2579 2262 1643

8069 end climb: SURFACE_DEPTH_REACHED

state 8069 begin surface coast

8076 end surface coast: CONTROL_FINISHED_OK

state 8082 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	52	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	190	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	-447704.44	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	183319,6637.232,-6005.547,26,1.1,26,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6647.852,-6006.318
_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	183734,6637.232,-6005.547,22,1.1,22,18.0	MHEAD_RNG_PITCHd_Wd	331.6,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025369	XPDR_PINGS	-1
SM_CCo	8110,19.15,0.000,0,0,403,450.37	ALTIM_TOP_PING	19.5,19.7
SM_GC	0.33,0.00,0.00,19.15,0.000,0.000,0.000,635,2085,403,-7.46,3.22,450.37	ALTIM_BOTTOM_PING	501.6,83.7
RAFOS_CLK	0	_24V_AH	23.7,43.316
RAFOS	0,1160769855,20.083334,20.070833,80,0,0,0,0,0,511,0,0,0,0,0	_10V_AH	9.7,6.599
RAFOS_FIX	6637.971680,-6002.498535,131006,202048,4,80,0.42	DATA_FILE_SIZE	15893,490
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241012736
TT8_MAMPS	0.02301	ERRORS	0,0,0,0,0,0,0,0,0,0,0,42,661,0,0
HUMID	2428	SOUNDSPEED	1459.8
INTERNAL_PRESSURE	26.0846	CURRENT	0.074,234.5,1
TCM_TEMP	15.00	GPS	131006,205512,6638.018,-6006.805,21,1.1,21,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	119	72.48	SBE_CT	407	24	231.94
Roll_motor	85	60	121.12	nil	0	0	0.00
VBD_pump_during_apogee	29	1300	909.67	nil	0	0	0.00
VBD_pump_during_surface	19	600	272.31	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	352.35
Transponder_ping	4	420	44.79
GPS	23	50	11.19
TT8	1606	19	310.39
LPSleep	5341	2	119.69
TT8_Active	216	19	41.77
TT8_Sampling	549	39	212.95
TT8_CF8	689	45	306.98
TT8_Kalman	0	81	0.00
Analog_circuits	682	12	79.49
GPS_charging	0	0	0.00
Compass	460	26	116.26
RAFOS	1440	1	20.95

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	-8.05	0.000	6	0.000	0.000	609	2086	2887
64	-1.49	-116.8	0.3	-0.0	2	82	7.00	2.72	0.00	0.000	4	0.000	0.000	1974	3608	2886
248	-1.49	-116.8	24.1	-10.6	31	257	0.50	2.78	0.00	0.000	6	0.000	0.000	1847	2068	2887
618	-1.64	-116.8	81.0	-12.9	92	627	0.43	2.72	0.00	0.000	4	0.000	0.000	1988	3565	2892
665	-1.50	-116.8	86.3	-9.8	98	674	0.52	3.33	0.00	0.000	6	0.000	0.000	1893	1885	2888
1012	-1.67	-116.8	139.4	-15.7	125	1020	0.08	3.62	0.00	0.000	4	0.000	0.000	1876	3690	2887
1092	-1.39	-116.8	152.2	-15.8	128	1100	0.52	3.28	0.00	0.000	6	0.000	0.000	2013	1995	2884
1422	-1.31	-116.8	185.3	-9.5	144	1429	0.00	3.28	0.00	0.000	4	0.000	0.000	1993	3663	2881
1474	-1.37	-116.8	190.5	-9.3	146	1480	0.47	2.62	0.00	0.000	6	0.000	0.000	1887	2020	2884
1800	-1.63	-116.8	238.8	-15.4	162	1807	0.00	3.35	0.00	0.000	4	0.000	0.000	1876	3494	2887
1857	-1.37	-116.8	248.0	-15.3	164	1862	0.57	2.15	0.00	0.000	6	0.000	0.000	2001	2145	2886
2181	-1.26	-116.8	278.0	-9.3	179	2183	0.15	0.00	0.00	0.000	6	0.000	0.000	1946	2163	2882
2491	-1.34	-116.8	313.7	-11.3	194	2497	0.00	3.28	0.00	0.000	4	0.000	0.000	1953	3694	2887
2525	-1.31	-116.8	318.7	-12.5	195	2531	0.05	2.67	0.00	0.000	6	0.000	0.000	1967	2191	2885
2850	-1.40	-116.8	356.6	-12.0	210	2851	0.00	0.00	0.00	0.000	6	0.000	0.000	1962	2201	2886
3155	-1.31	-116.8	391.3	-10.6	225	3157	0.25	0.00	0.00	0.000	6	0.000	0.000	2011	2196	2886
3469	-1.45	-116.8	419.2	-8.3	240	3471	0.50	0.00	0.00	0.000	6	0.000	0.000	1899	2194	2884
3778	-1.68	-116.8	464.7	-15.0	255	3779	0.00	0.00	0.00	0.000	6	0.000	0.000	1898	2197	2889
4102	-1.42	-116.8	513.7	-14.7	269	4109	0.50	2.85	0.00	0.000	4	0.000	0.000	2012	3543	2890
4131	-1.20	-116.8	517.4	-10.1	269	4136	0.03	2.45	0.00	0.000	6	0.000	0.000	2021	2054	2892
4472	-1.30	-116.8	548.5	-9.2	278	4477	0.00	2.92	0.00	0.000	4	0.000	0.000	2025	3583	2882
4519	-1.37	-116.8	553.0	-9.3	279	4527	0.52	3.12	0.00	0.000	6	0.000	0.000	1908	2090	2888
4679	end dive: BOTTOM_OBSTACLE_DETECTED
state	4685	begin apogee
4697	-0.25	0.0	577.1	15.3	283	4722	1.60	0.00	15.48	0.000	6	0.000	0.000	2240	2100	2242
4723	end apogee: CONTROL_FINISHED_OK
state	4723	begin climb
4729	1.49	116.8	582.2	0.0	284	4744	1.88	0.00	11.18	0.000	6	0.000	0.000	2614	2107	1774
5049	1.49	116.8	523.8	19.1	292	5054	0.00	2.88	0.00	0.000	4	0.000	0.000	2604	3448	1768
5129	1.29	116.8	507.6	18.9	293	5139	0.55	2.92	0.00	0.000	6	0.000	0.000	2514	1957	1766
5453	1.21	145.7	466.8	11.5	307	5462	0.15	3.25	2.88	0.001	4	0.000	0.000	2567	3457	1643
5555	1.39	145.7	448.8	18.9	311	5564	0.00	2.35	0.00	0.000	6	0.000	0.000	2540	1987	1642
5881	1.39	145.7	394.5	17.0	327	5886	0.00	2.62	0.00	0.000	4	0.000	0.000	2559	3661	1639
5974	1.35	145.7	378.3	16.9	331	5982	0.00	3.53	0.00	0.000	6	0.000	0.000	2561	1973	1645
6315	1.45	145.7	320.3	16.9	347	6321	0.12	3.00	0.00	0.000	4	0.000	0.000	2569	3556	1640
6416	1.41	145.7	301.4	18.8	351	6421	0.00	2.97	0.00	0.000	6	0.000	0.000	2569	2053	1643
6743	1.31	145.7	245.6	17.2	366	6747	0.00	2.35	0.00	0.000	4	0.000	0.000	2568	3544	1635
6818	1.26	145.7	230.0	17.2	369	6823	0.00	2.55	0.00	0.000	6	0.000	0.000	2561	2194	1638
7143	1.34	145.7	170.6	17.2	384	7144	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2202	1645
7447	1.29	145.7	117.8	17.0	399	7451	0.00	2.03	0.00	0.000	4	0.000	0.000	2567	3566	1638
7512	1.24	145.7	106.5	17.2	402	7517	0.00	2.42	0.00	0.000	6	0.000	0.000	2562	2053	1641
7878	1.32	145.7	36.7	17.1	458	7886	0.00	2.35	0.00	0.000	4	0.000	0.000	2550	3437	1642
7938	1.28	145.7	25.6	17.1	467	7947	0.03	2.22	0.00	0.000	6	0.000	0.000	2579	2262	1643
8069	end climb: SURFACE_DEPTH_REACHED
state	8069	begin surface coast
8076	end surface coast: CONTROL_FINISHED_OK
state	8082	begin surface