Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 56 * 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 56 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 174 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 -447796.03 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 -447796.03

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 174 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 56 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 041112,6637.315,-6005.253,16,1.1,16,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6647.428,-6006.746

_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 041929,6637.315,-6005.253,32,1.1,32,18.0 MHEAD_RNG_PITCHd_Wd 321.5,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024795 XPDR_PINGS -1

SM_CCo 8203,16.25,0.000,0,0,393,453.31 ALTIM_TOP_PING 19.9,999.0

SM_GC 0.34,0.00,0.00,16.25,0.000,0.000,0.000,602,2156,393,-7.74,4.98,453.31 ALTIM_BOTTOM_PING 500.7,87.3

RAFOS_CLK 0 _24V_AH 23.7,44.388

RAFOS 0,1160798641,4.083333,4.066945,80,0,0,0,0,0,588,0,0,0,0,0 _10V_AH 9.7,6.762

RAFOS_FIX 6637.851562,-6000.605957,141006,040424,3,80,20.44 DATA_FILE_SIZE 15855,501

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,240742400

TT8_MAMPS 0.023777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,56,747,0,0

HUMID 2251 SOUNDSPEED 1459.9

INTERNAL_PRESSURE 26.0455 CURRENT 0.076,229.6,1

TCM_TEMP 15.00 GPS 141006,063819,6638.040,-6006.782,11,1.1,11,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 119 84.75 SBE_CT 416 24 236.87

Roll_motor 95 60 136.19 nil 0 0 0.00

VBD_pump_during_apogee 33 1300 1042.15 nil 0 0 0.00

VBD_pump_during_surface 16 600 231.07 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 140 223 740.25

Transponder_ping 4 420 44.79

GPS 33 50 16.04

TT8 1636 19 316.23

LPSleep 5367 2 120.27

TT8_Active 234 19 45.27

TT8_Sampling 562 39 217.85

TT8_CF8 923 45 411.22

TT8_Kalman 0 81 0.00

Analog_circuits 702 12 81.80

GPS_charging 0 0 0.00

Compass 457 26 115.33

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

46 -1.49 -116.8 0.0 0.0 0 64 0.00 0.00 -7.97 0.000 6 0.000 0.000 630 2051 2883

71 -1.49 -116.8 0.3 -0.0 2 88 6.97 2.22 0.00 0.000 4 0.000 0.000 2006 3572 2879

379 -1.49 -116.8 33.7 -7.8 52 388 0.52 3.58 0.00 0.000 6 0.000 0.000 1890 1906 2881

747 -1.87 -116.8 88.4 -15.3 113 756 0.17 3.05 0.00 0.000 4 0.000 0.000 1890 3581 2881

876 -1.61 -116.8 107.3 -15.8 127 884 0.25 3.72 0.00 0.000 6 0.000 0.000 1940 1915 2880

1218 -1.51 -116.8 150.2 -12.3 143 1223 0.00 2.60 0.00 0.000 4 0.000 0.000 1942 3458 2882

1295 -1.40 -116.8 159.9 -12.7 146 1299 0.00 2.47 0.00 0.000 6 0.000 0.000 1930 2084 2884

1633 -1.45 -116.8 201.3 -12.4 162 1634 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2099 2887

1935 -1.36 -116.8 238.1 -12.4 177 1940 0.15 2.28 0.00 0.000 4 0.000 0.000 1951 727 2883

1970 -1.28 -116.8 242.8 -12.5 178 1979 0.52 2.58 0.00 0.000 6 0.000 0.000 2053 2070 2878

2295 -1.28 -116.8 266.5 -7.2 194 2302 0.57 2.97 0.00 0.000 4 0.000 0.000 1931 3553 2879

2358 -1.50 -116.8 273.9 -12.8 196 2367 0.00 2.67 0.00 0.000 6 0.000 0.000 1951 2194 2885

2683 -1.41 -116.8 313.1 -12.3 212 2689 0.03 2.75 0.00 0.000 4 0.000 0.000 1934 512 2886

2742 -1.31 -116.8 321.1 -12.5 214 2752 0.28 3.03 0.00 0.000 6 0.000 0.000 1999 2183 2886

3068 -1.35 -116.8 351.9 -9.5 230 3076 0.40 3.28 0.00 0.000 4 0.000 0.000 1887 695 2880

3094 -1.41 -116.8 355.0 -9.3 231 3100 0.52 2.35 0.00 0.000 6 0.000 0.000 2017 2234 2881

3426 -1.36 -116.8 386.3 -9.3 247 3433 0.00 3.47 0.00 0.000 4 0.000 0.000 2009 571 2884

3455 -1.44 -116.8 389.2 -9.5 248 3463 0.52 3.72 0.00 0.000 6 0.000 0.000 1891 2231 2884

3785 -1.59 -116.8 437.5 -15.2 264 3787 0.55 0.00 0.00 0.000 6 0.000 0.000 1970 2222 2880

4100 -1.33 -116.8 476.2 -12.1 279 4106 0.00 3.15 0.00 0.000 4 0.000 0.000 1958 534 2877

4137 -1.24 -116.8 481.5 -12.1 280 4146 0.47 3.42 0.00 0.000 6 0.000 0.000 2078 2199 2880

4461 -1.31 -116.8 503.3 -6.6 295 4469 0.77 3.22 0.00 0.000 4 0.000 0.000 1960 493 2874

4502 -1.57 -116.8 507.9 -11.9 295 4511 0.30 2.83 0.00 0.000 6 0.000 0.000 1900 2148 2884

4837 -1.69 -116.8 557.7 -15.2 304 4842 0.00 3.05 0.00 0.000 4 0.000 0.000 1878 3651 2886

4918 -1.44 -116.8 570.4 -15.7 305 4927 0.52 3.08 0.00 0.000 6 0.000 0.000 1996 2086 2878

5004 end dive: BOTTOM_OBSTACLE_DETECTED

state 5004 begin apogee

5016 -0.25 0.0 579.7 10.6 308 5034 1.00 0.00 15.15 0.000 6 0.000 0.000 2251 2093 2241

5035 end apogee: CONTROL_FINISHED_OK

state 5035 begin climb

5041 1.49 116.8 579.7 0.0 308 5060 1.67 3.15 11.15 0.000 4 0.000 0.000 2615 3599 1767

5108 1.49 116.8 570.8 22.4 309 5114 0.00 3.08 0.00 0.000 6 0.000 0.000 2600 2107 1767

5450 1.25 116.8 507.0 18.9 318 5457 0.90 2.67 0.00 0.000 4 0.000 0.000 2485 3472 1771

5490 1.07 149.8 500.6 11.1 318 5500 0.00 2.62 3.25 0.000 6 0.000 0.000 2493 1985 1624

5815 1.31 169.5 462.4 12.2 334 5820 0.62 0.00 1.85 0.000 6 0.000 0.000 2595 2002 1550

6124 1.50 169.5 396.1 22.6 349 6125 0.03 0.00 0.00 0.000 6 0.001 0.000 2591 1995 1554

6428 1.30 169.5 328.3 22.1 364 6430 0.40 0.00 0.00 0.000 6 0.000 0.000 2479 1994 1550

6742 1.13 186.8 287.0 12.4 379 6746 0.03 0.00 1.50 0.000 6 0.002 0.000 2475 1982 1480

7051 1.34 195.2 247.1 13.1 394 7059 0.52 2.58 0.93 0.001 4 0.000 0.000 2587 3365 1443

7130 1.53 195.2 228.9 23.7 397 7136 0.10 2.58 0.00 0.000 6 0.000 0.000 2620 2019 1435

7461 1.38 195.2 135.4 28.7 413 7469 0.47 3.03 0.00 0.000 4 0.000 0.000 2502 341 1443

7510 1.03 196.0 125.3 13.7 415 7517 0.00 3.75 0.00 0.000 6 0.000 0.000 2492 2180 1444

7859 1.40 196.7 76.7 13.7 450 7868 0.85 3.03 0.00 0.000 4 0.000 0.000 2597 3695 1444

7986 1.55 196.7 47.3 24.0 470 7995 0.00 3.28 0.00 0.000 6 0.000 0.000 2577 1842 1439

8166 end climb: SURFACE_DEPTH_REACHED

state 8166 begin surface coast

8173 end surface coast: CONTROL_FINISHED_OK

state 8173 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	56	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	174	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	-447796.03	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	041112,6637.315,-6005.253,16,1.1,16,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6647.428,-6006.746
_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	041929,6637.315,-6005.253,32,1.1,32,18.0	MHEAD_RNG_PITCHd_Wd	321.5,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024795	XPDR_PINGS	-1
SM_CCo	8203,16.25,0.000,0,0,393,453.31	ALTIM_TOP_PING	19.9,999.0
SM_GC	0.34,0.00,0.00,16.25,0.000,0.000,0.000,602,2156,393,-7.74,4.98,453.31	ALTIM_BOTTOM_PING	500.7,87.3
RAFOS_CLK	0	_24V_AH	23.7,44.388
RAFOS	0,1160798641,4.083333,4.066945,80,0,0,0,0,0,588,0,0,0,0,0	_10V_AH	9.7,6.762
RAFOS_FIX	6637.851562,-6000.605957,141006,040424,3,80,20.44	DATA_FILE_SIZE	15855,501
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,240742400
TT8_MAMPS	0.023777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,56,747,0,0
HUMID	2251	SOUNDSPEED	1459.9
INTERNAL_PRESSURE	26.0455	CURRENT	0.076,229.6,1
TCM_TEMP	15.00	GPS	141006,063819,6638.040,-6006.782,11,1.1,11,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	119	84.75	SBE_CT	416	24	236.87
Roll_motor	95	60	136.19	nil	0	0	0.00
VBD_pump_during_apogee	33	1300	1042.15	nil	0	0	0.00
VBD_pump_during_surface	16	600	231.07	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	140	223	740.25
Transponder_ping	4	420	44.79
GPS	33	50	16.04
TT8	1636	19	316.23
LPSleep	5367	2	120.27
TT8_Active	234	19	45.27
TT8_Sampling	562	39	217.85
TT8_CF8	923	45	411.22
TT8_Kalman	0	81	0.00
Analog_circuits	702	12	81.80
GPS_charging	0	0	0.00
Compass	457	26	115.33
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
46	-1.49	-116.8	0.0	0.0	0	64	0.00	0.00	-7.97	0.000	6	0.000	0.000	630	2051	2883
71	-1.49	-116.8	0.3	-0.0	2	88	6.97	2.22	0.00	0.000	4	0.000	0.000	2006	3572	2879
379	-1.49	-116.8	33.7	-7.8	52	388	0.52	3.58	0.00	0.000	6	0.000	0.000	1890	1906	2881
747	-1.87	-116.8	88.4	-15.3	113	756	0.17	3.05	0.00	0.000	4	0.000	0.000	1890	3581	2881
876	-1.61	-116.8	107.3	-15.8	127	884	0.25	3.72	0.00	0.000	6	0.000	0.000	1940	1915	2880
1218	-1.51	-116.8	150.2	-12.3	143	1223	0.00	2.60	0.00	0.000	4	0.000	0.000	1942	3458	2882
1295	-1.40	-116.8	159.9	-12.7	146	1299	0.00	2.47	0.00	0.000	6	0.000	0.000	1930	2084	2884
1633	-1.45	-116.8	201.3	-12.4	162	1634	0.00	0.00	0.00	0.000	6	0.000	0.000	1954	2099	2887
1935	-1.36	-116.8	238.1	-12.4	177	1940	0.15	2.28	0.00	0.000	4	0.000	0.000	1951	727	2883
1970	-1.28	-116.8	242.8	-12.5	178	1979	0.52	2.58	0.00	0.000	6	0.000	0.000	2053	2070	2878
2295	-1.28	-116.8	266.5	-7.2	194	2302	0.57	2.97	0.00	0.000	4	0.000	0.000	1931	3553	2879
2358	-1.50	-116.8	273.9	-12.8	196	2367	0.00	2.67	0.00	0.000	6	0.000	0.000	1951	2194	2885
2683	-1.41	-116.8	313.1	-12.3	212	2689	0.03	2.75	0.00	0.000	4	0.000	0.000	1934	512	2886
2742	-1.31	-116.8	321.1	-12.5	214	2752	0.28	3.03	0.00	0.000	6	0.000	0.000	1999	2183	2886
3068	-1.35	-116.8	351.9	-9.5	230	3076	0.40	3.28	0.00	0.000	4	0.000	0.000	1887	695	2880
3094	-1.41	-116.8	355.0	-9.3	231	3100	0.52	2.35	0.00	0.000	6	0.000	0.000	2017	2234	2881
3426	-1.36	-116.8	386.3	-9.3	247	3433	0.00	3.47	0.00	0.000	4	0.000	0.000	2009	571	2884
3455	-1.44	-116.8	389.2	-9.5	248	3463	0.52	3.72	0.00	0.000	6	0.000	0.000	1891	2231	2884
3785	-1.59	-116.8	437.5	-15.2	264	3787	0.55	0.00	0.00	0.000	6	0.000	0.000	1970	2222	2880
4100	-1.33	-116.8	476.2	-12.1	279	4106	0.00	3.15	0.00	0.000	4	0.000	0.000	1958	534	2877
4137	-1.24	-116.8	481.5	-12.1	280	4146	0.47	3.42	0.00	0.000	6	0.000	0.000	2078	2199	2880
4461	-1.31	-116.8	503.3	-6.6	295	4469	0.77	3.22	0.00	0.000	4	0.000	0.000	1960	493	2874
4502	-1.57	-116.8	507.9	-11.9	295	4511	0.30	2.83	0.00	0.000	6	0.000	0.000	1900	2148	2884
4837	-1.69	-116.8	557.7	-15.2	304	4842	0.00	3.05	0.00	0.000	4	0.000	0.000	1878	3651	2886
4918	-1.44	-116.8	570.4	-15.7	305	4927	0.52	3.08	0.00	0.000	6	0.000	0.000	1996	2086	2878
5004	end dive: BOTTOM_OBSTACLE_DETECTED
state	5004	begin apogee
5016	-0.25	0.0	579.7	10.6	308	5034	1.00	0.00	15.15	0.000	6	0.000	0.000	2251	2093	2241
5035	end apogee: CONTROL_FINISHED_OK
state	5035	begin climb
5041	1.49	116.8	579.7	0.0	308	5060	1.67	3.15	11.15	0.000	4	0.000	0.000	2615	3599	1767
5108	1.49	116.8	570.8	22.4	309	5114	0.00	3.08	0.00	0.000	6	0.000	0.000	2600	2107	1767
5450	1.25	116.8	507.0	18.9	318	5457	0.90	2.67	0.00	0.000	4	0.000	0.000	2485	3472	1771
5490	1.07	149.8	500.6	11.1	318	5500	0.00	2.62	3.25	0.000	6	0.000	0.000	2493	1985	1624
5815	1.31	169.5	462.4	12.2	334	5820	0.62	0.00	1.85	0.000	6	0.000	0.000	2595	2002	1550
6124	1.50	169.5	396.1	22.6	349	6125	0.03	0.00	0.00	0.000	6	0.001	0.000	2591	1995	1554
6428	1.30	169.5	328.3	22.1	364	6430	0.40	0.00	0.00	0.000	6	0.000	0.000	2479	1994	1550
6742	1.13	186.8	287.0	12.4	379	6746	0.03	0.00	1.50	0.000	6	0.002	0.000	2475	1982	1480
7051	1.34	195.2	247.1	13.1	394	7059	0.52	2.58	0.93	0.001	4	0.000	0.000	2587	3365	1443
7130	1.53	195.2	228.9	23.7	397	7136	0.10	2.58	0.00	0.000	6	0.000	0.000	2620	2019	1435
7461	1.38	195.2	135.4	28.7	413	7469	0.47	3.03	0.00	0.000	4	0.000	0.000	2502	341	1443
7510	1.03	196.0	125.3	13.7	415	7517	0.00	3.75	0.00	0.000	6	0.000	0.000	2492	2180	1444
7859	1.40	196.7	76.7	13.7	450	7868	0.85	3.03	0.00	0.000	4	0.000	0.000	2597	3695	1444
7986	1.55	196.7	47.3	24.0	470	7995	0.00	3.28	0.00	0.000	6	0.000	0.000	2577	1842	1439
8166	end climb: SURFACE_DEPTH_REACHED
state	8166	begin surface coast
8173	end surface coast: CONTROL_FINISHED_OK
state	8173	begin surface