Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 61 * 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 61 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 16 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -447920.66 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 -447920.66

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 16 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 25 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 61 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 165000,6638.085,-6007.346,29,1.1,29,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6630.119,-6010.253

_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 165417,6638.085,-6007.346,22,1.1,22,18.0 MHEAD_RNG_PITCHd_Wd 204.5,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024735 ALTIM_TOP_PING 19.8,20.1

SM_CCo 8282,16.10,0.000,0,0,414,451.60 ALTIM_BOTTOM_PING 500.6,74.0

SM_GC 0.34,0.00,0.00,16.10,0.000,0.000,0.000,569,1845,414,-7.75,-3.93,451.60 _24V_AH 23.7,45.793

RAFOS_CLK 0 _10V_AH 9.7,6.972

RAFOS_FIX 6637.810547,-6002.045898,141006,161620,4,80,0.33 DATA_FILE_SIZE 15878,498

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,240410624

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,60,804,0,0

HUMID 2400 SOUNDSPEED 1459.8

INTERNAL_PRESSURE 26.0162 CURRENT 0.072,111.5,1

TCM_TEMP 15.00 GPS 141006,191417,6637.229,-6008.299,9,1.1,9,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 88.42 SBE_CT 416 24 236.75

Roll_motor 105 60 150.45 nil 0 0 0.00

VBD_pump_during_apogee 33 1300 1021.35 nil 0 0 0.00

VBD_pump_during_surface 16 600 228.94 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 68 223 359.40

Transponder_ping 4 420 44.79

GPS 23 50 11.26

TT8 1639 19 316.78

LPSleep 5380 2 120.56

TT8_Active 244 19 47.16

TT8_Sampling 582 39 225.59

TT8_CF8 710 45 316.32

TT8_Kalman 0 81 0.00

Analog_circuits 738 12 86.01

GPS_charging 0 0 0.00

Compass 488 26 123.08

RAFOS 0 1 0.00

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

36 end surface: CONTROL_FINISHED_OK

state 36 begin dive

42 -1.49 -116.8 0.0 0.0 0 58 0.00 0.00 -8.07 0.000 6 0.000 0.000 599 1729 2834

65 -1.49 -116.8 0.3 -0.0 2 82 6.78 2.50 0.00 0.000 4 0.000 0.000 1982 400 2828

131 -1.49 -116.8 12.3 -9.1 11 140 0.52 3.22 0.00 0.000 6 0.000 0.000 1893 2211 2831

501 -1.75 -116.8 64.7 -14.1 72 508 0.00 0.00 0.00 0.000 6 0.000 0.000 1891 2208 2834

855 -1.48 -116.8 115.4 -14.5 118 863 0.60 3.45 0.00 0.000 4 0.000 0.000 1914 375 2836

890 -1.19 -116.8 120.6 -12.3 119 896 0.50 2.67 0.00 0.000 6 0.000 0.000 2040 1897 2838

1217 -1.29 -116.8 142.5 -6.7 134 1224 0.38 3.22 0.00 0.000 4 0.000 0.000 1944 3610 2826

1316 -1.51 -116.8 153.8 -11.4 138 1323 0.00 3.38 0.00 0.000 6 0.000 0.000 1924 1781 2832

1652 -1.44 -116.8 191.7 -11.6 154 1657 0.00 2.75 0.00 0.000 4 0.000 0.000 1931 265 2834

1677 -1.33 -116.8 195.6 -11.8 155 1684 0.17 3.17 0.00 0.000 6 0.000 0.000 1984 1970 2834

2007 -1.36 -116.8 225.5 -8.8 171 2009 0.47 0.00 0.00 0.000 6 0.000 0.000 1883 1984 2828

2320 -1.43 -116.8 269.7 -14.6 186 2328 0.52 3.17 0.00 0.000 4 0.000 0.000 1991 516 2834

2350 -1.14 -116.8 274.0 -10.1 187 2355 0.00 2.78 0.00 0.000 6 0.000 0.000 2008 2034 2835

2681 -1.23 -116.8 303.9 -9.3 203 2688 0.00 3.47 0.00 0.000 4 0.000 0.000 1983 354 2834

2710 -1.26 -116.8 307.4 -9.3 204 2718 0.00 3.88 0.00 0.000 6 0.000 0.000 1988 2186 2841

3045 -1.44 -116.8 337.8 -9.2 220 3053 0.43 3.25 0.00 0.000 4 0.000 0.000 1863 345 2837

3094 -1.48 -116.8 344.9 -15.0 222 3101 0.50 2.90 0.00 0.000 6 0.000 0.000 2008 2170 2832

3430 -1.44 -116.8 376.7 -9.1 238 3437 0.62 3.25 0.00 0.000 4 0.000 0.000 1872 484 2842

3456 -1.48 -116.8 379.7 -10.8 239 3464 0.55 3.15 0.00 0.000 6 0.000 0.000 2010 2142 2836

3792 -1.43 -116.8 409.8 -8.9 255 3798 0.40 2.88 0.00 0.000 4 0.000 0.000 1944 459 2835

3818 -1.56 -116.8 412.8 -10.0 256 3823 0.00 3.17 0.00 0.000 6 0.000 0.000 1936 1922 2831

4151 -1.62 -116.8 451.1 -11.9 272 4158 0.03 3.25 0.00 0.000 4 0.000 0.000 1939 3576 2836

4241 -1.49 -116.8 462.4 -11.9 275 4250 0.00 2.75 0.00 0.000 6 0.000 0.000 1919 1718 2829

4570 -1.38 -116.8 500.6 -11.8 291 4572 0.08 0.00 0.00 0.000 6 0.000 0.000 1910 1696 2838

4886 -1.25 -116.8 539.1 -11.8 299 4894 0.38 3.53 0.00 0.000 4 0.000 0.000 2058 3540 2837

5041 -1.13 -116.8 550.9 -6.7 302 5049 0.45 3.83 0.00 0.000 6 0.000 0.000 1934 1708 2827

5189 end dive: BOTTOM_OBSTACLE_DETECTED

state 5189 begin apogee

5207 -0.25 0.0 568.2 11.9 306 5225 1.77 0.00 14.05 0.000 6 0.000 0.000 2269 2065 2250

5226 end apogee: CONTROL_FINISHED_OK

state 5226 begin climb

5232 1.49 116.8 568.2 0.0 306 5248 1.90 0.00 11.57 0.000 6 0.000 0.000 2667 2069 1771

5567 1.49 116.8 500.0 22.8 315 5573 0.50 2.67 0.00 0.000 4 0.000 0.000 2546 3392 1762

5661 1.18 116.8 486.1 14.9 319 5668 0.38 3.17 0.00 0.000 6 0.000 0.000 2495 1715 1762

6002 1.18 155.0 448.8 10.7 335 6013 0.00 4.18 3.65 0.001 4 0.000 0.000 2475 3617 1613

6235 1.42 177.7 420.5 11.9 345 6245 0.50 3.20 2.03 0.001 6 0.000 0.000 2615 1932 1527

6565 1.65 177.7 347.9 22.2 361 6570 0.00 2.28 0.00 0.000 4 0.000 0.000 2615 735 1525

6625 1.48 177.7 334.4 22.5 363 6633 0.00 2.17 0.00 0.000 6 0.000 0.000 2589 2118 1522

6949 1.48 177.7 263.5 22.4 379 6956 0.03 3.25 0.00 0.000 4 0.000 0.000 2604 448 1520

6989 1.32 177.7 253.0 22.8 380 6999 0.50 2.97 0.00 0.000 6 0.000 0.000 2471 2000 1531

7314 1.41 195.2 211.9 12.4 396 7319 0.77 0.00 1.85 0.000 6 0.000 0.000 2665 1986 1448

7624 1.62 195.2 126.1 28.7 411 7631 0.35 3.03 0.00 0.000 4 0.000 0.000 2547 487 1445

7682 1.31 195.2 112.2 18.5 413 7687 0.00 2.90 0.00 0.000 6 0.000 0.000 2543 2171 1448

8040 1.51 195.2 47.0 23.1 464 8048 0.52 2.58 0.00 0.000 4 0.000 0.000 2682 3370 1447

8071 1.45 195.2 39.5 25.2 468 8080 0.73 2.75 0.00 0.000 6 0.000 0.000 2533 2017 1450

8245 end climb: SURFACE_DEPTH_REACHED

state 8245 begin surface coast

8252 end surface coast: CONTROL_FINISHED_OK

state 8252 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	61	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	16	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-447920.66	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	165000,6638.085,-6007.346,29,1.1,29,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6630.119,-6010.253
_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	165417,6638.085,-6007.346,22,1.1,22,18.0	MHEAD_RNG_PITCHd_Wd	204.5,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024735	ALTIM_TOP_PING	19.8,20.1
SM_CCo	8282,16.10,0.000,0,0,414,451.60	ALTIM_BOTTOM_PING	500.6,74.0
SM_GC	0.34,0.00,0.00,16.10,0.000,0.000,0.000,569,1845,414,-7.75,-3.93,451.60	_24V_AH	23.7,45.793
RAFOS_CLK	0	_10V_AH	9.7,6.972
RAFOS_FIX	6637.810547,-6002.045898,141006,161620,4,80,0.33	DATA_FILE_SIZE	15878,498
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,240410624
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,60,804,0,0
HUMID	2400	SOUNDSPEED	1459.8
INTERNAL_PRESSURE	26.0162	CURRENT	0.072,111.5,1
TCM_TEMP	15.00	GPS	141006,191417,6637.229,-6008.299,9,1.1,9,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	88.42	SBE_CT	416	24	236.75
Roll_motor	105	60	150.45	nil	0	0	0.00
VBD_pump_during_apogee	33	1300	1021.35	nil	0	0	0.00
VBD_pump_during_surface	16	600	228.94	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	68	223	359.40
Transponder_ping	4	420	44.79
GPS	23	50	11.26
TT8	1639	19	316.78
LPSleep	5380	2	120.56
TT8_Active	244	19	47.16
TT8_Sampling	582	39	225.59
TT8_CF8	710	45	316.32
TT8_Kalman	0	81	0.00
Analog_circuits	738	12	86.01
GPS_charging	0	0	0.00
Compass	488	26	123.08
RAFOS	0	1	0.00

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
36	end surface: CONTROL_FINISHED_OK
state	36	begin dive
42	-1.49	-116.8	0.0	0.0	0	58	0.00	0.00	-8.07	0.000	6	0.000	0.000	599	1729	2834
65	-1.49	-116.8	0.3	-0.0	2	82	6.78	2.50	0.00	0.000	4	0.000	0.000	1982	400	2828
131	-1.49	-116.8	12.3	-9.1	11	140	0.52	3.22	0.00	0.000	6	0.000	0.000	1893	2211	2831
501	-1.75	-116.8	64.7	-14.1	72	508	0.00	0.00	0.00	0.000	6	0.000	0.000	1891	2208	2834
855	-1.48	-116.8	115.4	-14.5	118	863	0.60	3.45	0.00	0.000	4	0.000	0.000	1914	375	2836
890	-1.19	-116.8	120.6	-12.3	119	896	0.50	2.67	0.00	0.000	6	0.000	0.000	2040	1897	2838
1217	-1.29	-116.8	142.5	-6.7	134	1224	0.38	3.22	0.00	0.000	4	0.000	0.000	1944	3610	2826
1316	-1.51	-116.8	153.8	-11.4	138	1323	0.00	3.38	0.00	0.000	6	0.000	0.000	1924	1781	2832
1652	-1.44	-116.8	191.7	-11.6	154	1657	0.00	2.75	0.00	0.000	4	0.000	0.000	1931	265	2834
1677	-1.33	-116.8	195.6	-11.8	155	1684	0.17	3.17	0.00	0.000	6	0.000	0.000	1984	1970	2834
2007	-1.36	-116.8	225.5	-8.8	171	2009	0.47	0.00	0.00	0.000	6	0.000	0.000	1883	1984	2828
2320	-1.43	-116.8	269.7	-14.6	186	2328	0.52	3.17	0.00	0.000	4	0.000	0.000	1991	516	2834
2350	-1.14	-116.8	274.0	-10.1	187	2355	0.00	2.78	0.00	0.000	6	0.000	0.000	2008	2034	2835
2681	-1.23	-116.8	303.9	-9.3	203	2688	0.00	3.47	0.00	0.000	4	0.000	0.000	1983	354	2834
2710	-1.26	-116.8	307.4	-9.3	204	2718	0.00	3.88	0.00	0.000	6	0.000	0.000	1988	2186	2841
3045	-1.44	-116.8	337.8	-9.2	220	3053	0.43	3.25	0.00	0.000	4	0.000	0.000	1863	345	2837
3094	-1.48	-116.8	344.9	-15.0	222	3101	0.50	2.90	0.00	0.000	6	0.000	0.000	2008	2170	2832
3430	-1.44	-116.8	376.7	-9.1	238	3437	0.62	3.25	0.00	0.000	4	0.000	0.000	1872	484	2842
3456	-1.48	-116.8	379.7	-10.8	239	3464	0.55	3.15	0.00	0.000	6	0.000	0.000	2010	2142	2836
3792	-1.43	-116.8	409.8	-8.9	255	3798	0.40	2.88	0.00	0.000	4	0.000	0.000	1944	459	2835
3818	-1.56	-116.8	412.8	-10.0	256	3823	0.00	3.17	0.00	0.000	6	0.000	0.000	1936	1922	2831
4151	-1.62	-116.8	451.1	-11.9	272	4158	0.03	3.25	0.00	0.000	4	0.000	0.000	1939	3576	2836
4241	-1.49	-116.8	462.4	-11.9	275	4250	0.00	2.75	0.00	0.000	6	0.000	0.000	1919	1718	2829
4570	-1.38	-116.8	500.6	-11.8	291	4572	0.08	0.00	0.00	0.000	6	0.000	0.000	1910	1696	2838
4886	-1.25	-116.8	539.1	-11.8	299	4894	0.38	3.53	0.00	0.000	4	0.000	0.000	2058	3540	2837
5041	-1.13	-116.8	550.9	-6.7	302	5049	0.45	3.83	0.00	0.000	6	0.000	0.000	1934	1708	2827
5189	end dive: BOTTOM_OBSTACLE_DETECTED
state	5189	begin apogee
5207	-0.25	0.0	568.2	11.9	306	5225	1.77	0.00	14.05	0.000	6	0.000	0.000	2269	2065	2250
5226	end apogee: CONTROL_FINISHED_OK
state	5226	begin climb
5232	1.49	116.8	568.2	0.0	306	5248	1.90	0.00	11.57	0.000	6	0.000	0.000	2667	2069	1771
5567	1.49	116.8	500.0	22.8	315	5573	0.50	2.67	0.00	0.000	4	0.000	0.000	2546	3392	1762
5661	1.18	116.8	486.1	14.9	319	5668	0.38	3.17	0.00	0.000	6	0.000	0.000	2495	1715	1762
6002	1.18	155.0	448.8	10.7	335	6013	0.00	4.18	3.65	0.001	4	0.000	0.000	2475	3617	1613
6235	1.42	177.7	420.5	11.9	345	6245	0.50	3.20	2.03	0.001	6	0.000	0.000	2615	1932	1527
6565	1.65	177.7	347.9	22.2	361	6570	0.00	2.28	0.00	0.000	4	0.000	0.000	2615	735	1525
6625	1.48	177.7	334.4	22.5	363	6633	0.00	2.17	0.00	0.000	6	0.000	0.000	2589	2118	1522
6949	1.48	177.7	263.5	22.4	379	6956	0.03	3.25	0.00	0.000	4	0.000	0.000	2604	448	1520
6989	1.32	177.7	253.0	22.8	380	6999	0.50	2.97	0.00	0.000	6	0.000	0.000	2471	2000	1531
7314	1.41	195.2	211.9	12.4	396	7319	0.77	0.00	1.85	0.000	6	0.000	0.000	2665	1986	1448
7624	1.62	195.2	126.1	28.7	411	7631	0.35	3.03	0.00	0.000	4	0.000	0.000	2547	487	1445
7682	1.31	195.2	112.2	18.5	413	7687	0.00	2.90	0.00	0.000	6	0.000	0.000	2543	2171	1448
8040	1.51	195.2	47.0	23.1	464	8048	0.52	2.58	0.00	0.000	4	0.000	0.000	2682	3370	1447
8071	1.45	195.2	39.5	25.2	468	8080	0.73	2.75	0.00	0.000	6	0.000	0.000	2533	2017	1450
8245	end climb: SURFACE_DEPTH_REACHED
state	8245	begin surface coast
8252	end surface coast: CONTROL_FINISHED_OK
state	8252	begin surface