Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 16 * 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 16 HEADING -1 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 26 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 3 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 1 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 -446873.25 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 2 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 1 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 -446873.25

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 300

CF8_MAXERRORS 20 HEAD_ERRBAND 8 ROLL_ADJ_GAIN 1 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 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 5

C_VBD 2257 MASS 51747 R_PORT_OVSHOOT 26 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 3 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 2 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 16 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 013004,6636.185,-6010.292,6,1.1,7,18.0 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.220,0.066

_SM_DEPTHo 0.34 KALMAN_X -16305.7,1333.7,833.0,24386.0,-8079.9

_SM_ANGLEo -70.0 KALMAN_Y 5154.1,-596.3,411.0,3171.3,2225.0

GPS2 013400,6636.185,-6010.292,10,1.1,10,18.0 MHEAD_RNG_PITCHd_Wd 53.2,154295,-26.0,-13.750

SPEED_LIMITS 0.215,0.230 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024650 XPDR_PINGS -1

SM_CCo 8407,20.42,0.000,0,0,381,450.37 ALTIM_TOP_PING 19.6,18.9

SM_GC 0.34,0.00,0.00,20.42,0.000,0.000,0.000,647,1719,381,-7.48,-7.94,450.37 ALTIM_BOTTOM_PING 501.8,54.8

RAFOS_CLK 0 _24V_AH 23.7,33.542

RAFOS 4,1160450957,3.500000,3.488055,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,5.123

RAFOS_FIX 6635.439941,-6008.498047,101006,000020,4,80,0.69 DATA_FILE_SIZE 18998,552

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243376128

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,57,945,0,0

HUMID 2303 SOUNDSPEED 1459.5

INTERNAL_PRESSURE 26.0748 CURRENT 0.064,298.4,1

TCM_TEMP 15.00 GPS 101006,035706,6636.662,-6008.722,28,1.1,28,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 119 83.83 SBE_CT 451 24 256.77

Roll_motor 120 60 171.96 nil 0 0 0.00

VBD_pump_during_apogee 26 1300 823.40 nil 0 0 0.00

VBD_pump_during_surface 20 600 290.44 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 62 223 330.37

Transponder_ping 4 420 44.79

GPS 10 50 5.33

TT8 1774 19 342.89

LPSleep 5216 2 116.89

TT8_Active 295 19 57.07

TT8_Sampling 661 39 256.18

TT8_CF8 723 45 322.22

TT8_Kalman 33 81 26.51

Analog_circuits 864 12 100.66

GPS_charging 0 0 0.00

Compass 570 26 143.90

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

34 end surface: CONTROL_FINISHED_OK

state 34 begin dive

40 -1.49 -116.8 0.0 0.0 0 57 0.00 0.00 -8.12 0.000 6 0.000 0.000 633 2159 2859

63 -1.49 -116.8 0.3 -0.1 2 81 6.82 2.97 0.00 0.000 4 0.000 0.000 2003 3504 2858

102 -1.49 -116.8 8.2 -18.5 7 112 0.65 3.15 0.00 0.000 6 0.000 0.000 1888 1829 2858

471 -1.38 -116.8 57.3 -13.8 68 480 0.43 2.97 0.00 0.000 4 0.000 0.000 2041 3377 2860

586 -1.16 -116.8 67.9 -8.8 86 595 0.00 2.67 0.00 0.000 6 0.000 0.000 2024 2031 2863

953 -1.36 -116.8 98.7 -8.5 147 963 0.43 3.22 0.00 0.000 4 0.000 0.000 1917 3688 2858

1015 -1.47 -116.8 106.0 -13.8 151 1023 0.52 3.67 0.00 0.000 6 0.000 0.000 2036 1825 2863

1350 -1.44 -116.8 134.9 -8.4 167 1358 0.50 3.47 0.00 0.000 4 0.000 0.000 1914 3622 2856

1449 -1.56 -116.8 147.7 -13.9 171 1454 0.00 2.65 0.00 0.000 6 0.000 0.000 1894 1778 2861

1784 -1.52 -116.8 194.2 -13.9 187 1792 0.03 3.65 0.00 0.000 4 0.000 0.000 1908 3602 2861

1890 -1.31 -116.8 209.9 -14.1 191 1902 0.52 2.88 0.00 0.000 6 0.000 0.000 2013 2058 2864

2219 -1.27 -116.8 236.2 -7.8 207 2225 0.15 2.92 0.00 0.000 4 0.000 0.000 2045 3573 2857

2256 -1.61 -116.8 239.7 -7.9 208 2266 0.77 3.42 0.00 0.000 6 0.000 0.000 1854 1722 2854

2575 -1.87 -116.8 290.4 -16.6 224 2583 0.10 3.25 0.00 0.000 4 0.000 0.000 1839 3423 2858

2702 -1.52 -116.8 311.8 -16.9 229 2715 0.65 3.15 0.00 0.000 6 0.000 0.000 1975 1759 2861

3032 -1.30 -116.8 345.3 -9.7 245 3038 0.03 3.08 0.00 0.000 4 0.000 0.000 1985 3438 2852

3162 -1.43 -116.8 359.2 -10.1 250 3170 0.00 2.90 0.00 0.000 6 0.000 0.000 1986 1874 2855

3486 -1.53 -116.8 391.9 -10.4 266 3495 0.50 3.53 0.00 0.000 4 0.000 0.000 1855 3676 2865

3584 -1.53 -116.8 406.7 -16.8 270 3591 0.57 2.65 0.00 0.000 6 0.000 0.000 1967 1962 2859

3916 -1.39 -116.8 442.3 -10.3 286 3921 0.00 3.08 0.00 0.000 4 0.000 0.000 1980 3460 2859

3963 -1.39 -116.8 447.4 -10.5 288 3970 0.00 3.28 0.00 0.000 6 0.000 0.000 1984 1813 2856

4297 -1.51 -116.8 481.0 -10.2 304 4306 0.38 3.53 0.00 0.000 4 0.000 0.000 1879 3664 2855

4403 -1.51 -116.8 497.5 -15.8 308 4415 0.57 3.33 0.00 0.000 6 0.000 0.000 1992 1841 2861

4723 -1.39 -116.8 529.6 -9.7 317 4731 0.25 3.53 0.00 0.000 4 0.000 0.000 1928 3701 2855

4809 -1.42 -116.8 539.6 -9.9 318 4818 0.00 3.25 0.00 0.000 6 0.000 0.000 1938 2017 2859

4894 end dive: BOTTOM_OBSTACLE_DETECTED

state 4894 begin apogee

4907 -0.25 0.0 550.7 12.4 321 4925 1.55 0.00 14.62 0.000 6 0.000 0.000 2226 2010 2242

4926 end apogee: CONTROL_FINISHED_OK

state 4926 begin climb

4932 1.49 116.8 550.7 0.0 321 4948 2.17 0.00 11.27 0.000 6 0.000 0.000 2643 2008 1763

5247 1.49 116.8 486.7 22.4 330 5255 0.55 3.40 0.00 0.000 4 0.000 0.000 2524 3673 1770

5338 1.18 116.8 473.2 14.2 333 5347 0.03 3.53 0.00 0.000 6 0.000 0.000 2559 1809 1763

5662 1.33 116.8 428.2 14.0 349 5670 0.00 3.47 0.00 0.000 4 0.000 0.000 2557 3639 1771

5789 1.36 116.8 409.2 14.0 354 5801 0.00 3.35 0.00 0.000 6 0.000 0.000 2531 1803 1768

6118 1.51 116.8 363.2 15.0 370 6126 0.38 3.53 0.00 0.000 4 0.000 0.000 2668 3664 1773

6246 1.48 116.8 335.1 22.8 375 6258 0.52 2.85 0.00 0.000 6 0.000 0.000 2533 1976 1766

6575 1.35 121.3 290.6 13.4 391 6580 0.03 2.85 0.00 0.000 4 0.000 0.000 2533 3630 1769

6669 1.40 125.3 277.9 13.4 395 6677 0.00 3.53 0.82 0.000 6 0.000 0.000 2518 1808 1728

7009 1.57 125.3 230.6 13.8 411 7017 0.55 3.22 0.00 0.000 4 0.000 0.000 2592 3678 1724

7137 1.63 125.3 206.7 18.1 416 7149 0.12 3.53 0.00 0.000 6 0.000 0.000 2598 1864 1729

7466 1.65 125.3 148.1 18.2 432 7471 0.00 2.80 0.00 0.000 4 0.000 0.000 2612 3368 1728

7614 1.53 125.3 119.6 17.8 438 7622 0.00 2.35 0.00 0.000 6 0.000 0.000 2586 2037 1724

7968 1.48 125.3 56.2 18.1 484 7976 0.00 2.42 0.00 0.000 4 0.000 0.000 2599 3563 1724

8068 1.35 125.3 37.0 18.2 500 8077 0.52 2.97 0.00 0.000 6 0.000 0.000 2472 2041 1735

8359 end climb: SURFACE_DEPTH_REACHED

state 8359 begin surface coast

8378 end surface coast: CONTROL_FINISHED_OK

state 8378 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	16	HEADING	-1	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	26	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	3	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	1	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	-446873.25	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	2	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	1	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	013004,6636.185,-6010.292,6,1.1,7,18.0	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.220,0.066
_SM_DEPTHo	0.34	KALMAN_X	-16305.7,1333.7,833.0,24386.0,-8079.9
_SM_ANGLEo	-70.0	KALMAN_Y	5154.1,-596.3,411.0,3171.3,2225.0
GPS2	013400,6636.185,-6010.292,10,1.1,10,18.0	MHEAD_RNG_PITCHd_Wd	53.2,154295,-26.0,-13.750
SPEED_LIMITS	0.215,0.230	D_GRID	990

FINISH	0.3,1.024650	XPDR_PINGS	-1
SM_CCo	8407,20.42,0.000,0,0,381,450.37	ALTIM_TOP_PING	19.6,18.9
SM_GC	0.34,0.00,0.00,20.42,0.000,0.000,0.000,647,1719,381,-7.48,-7.94,450.37	ALTIM_BOTTOM_PING	501.8,54.8
RAFOS_CLK	0	_24V_AH	23.7,33.542
RAFOS	4,1160450957,3.500000,3.488055,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,5.123
RAFOS_FIX	6635.439941,-6008.498047,101006,000020,4,80,0.69	DATA_FILE_SIZE	18998,552
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243376128
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,57,945,0,0
HUMID	2303	SOUNDSPEED	1459.5
INTERNAL_PRESSURE	26.0748	CURRENT	0.064,298.4,1
TCM_TEMP	15.00	GPS	101006,035706,6636.662,-6008.722,28,1.1,28,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	119	83.83	SBE_CT	451	24	256.77
Roll_motor	120	60	171.96	nil	0	0	0.00
VBD_pump_during_apogee	26	1300	823.40	nil	0	0	0.00
VBD_pump_during_surface	20	600	290.44	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	62	223	330.37
Transponder_ping	4	420	44.79
GPS	10	50	5.33
TT8	1774	19	342.89
LPSleep	5216	2	116.89
TT8_Active	295	19	57.07
TT8_Sampling	661	39	256.18
TT8_CF8	723	45	322.22
TT8_Kalman	33	81	26.51
Analog_circuits	864	12	100.66
GPS_charging	0	0	0.00
Compass	570	26	143.90
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
34	end surface: CONTROL_FINISHED_OK
state	34	begin dive
40	-1.49	-116.8	0.0	0.0	0	57	0.00	0.00	-8.12	0.000	6	0.000	0.000	633	2159	2859
63	-1.49	-116.8	0.3	-0.1	2	81	6.82	2.97	0.00	0.000	4	0.000	0.000	2003	3504	2858
102	-1.49	-116.8	8.2	-18.5	7	112	0.65	3.15	0.00	0.000	6	0.000	0.000	1888	1829	2858
471	-1.38	-116.8	57.3	-13.8	68	480	0.43	2.97	0.00	0.000	4	0.000	0.000	2041	3377	2860
586	-1.16	-116.8	67.9	-8.8	86	595	0.00	2.67	0.00	0.000	6	0.000	0.000	2024	2031	2863
953	-1.36	-116.8	98.7	-8.5	147	963	0.43	3.22	0.00	0.000	4	0.000	0.000	1917	3688	2858
1015	-1.47	-116.8	106.0	-13.8	151	1023	0.52	3.67	0.00	0.000	6	0.000	0.000	2036	1825	2863
1350	-1.44	-116.8	134.9	-8.4	167	1358	0.50	3.47	0.00	0.000	4	0.000	0.000	1914	3622	2856
1449	-1.56	-116.8	147.7	-13.9	171	1454	0.00	2.65	0.00	0.000	6	0.000	0.000	1894	1778	2861
1784	-1.52	-116.8	194.2	-13.9	187	1792	0.03	3.65	0.00	0.000	4	0.000	0.000	1908	3602	2861
1890	-1.31	-116.8	209.9	-14.1	191	1902	0.52	2.88	0.00	0.000	6	0.000	0.000	2013	2058	2864
2219	-1.27	-116.8	236.2	-7.8	207	2225	0.15	2.92	0.00	0.000	4	0.000	0.000	2045	3573	2857
2256	-1.61	-116.8	239.7	-7.9	208	2266	0.77	3.42	0.00	0.000	6	0.000	0.000	1854	1722	2854
2575	-1.87	-116.8	290.4	-16.6	224	2583	0.10	3.25	0.00	0.000	4	0.000	0.000	1839	3423	2858
2702	-1.52	-116.8	311.8	-16.9	229	2715	0.65	3.15	0.00	0.000	6	0.000	0.000	1975	1759	2861
3032	-1.30	-116.8	345.3	-9.7	245	3038	0.03	3.08	0.00	0.000	4	0.000	0.000	1985	3438	2852
3162	-1.43	-116.8	359.2	-10.1	250	3170	0.00	2.90	0.00	0.000	6	0.000	0.000	1986	1874	2855
3486	-1.53	-116.8	391.9	-10.4	266	3495	0.50	3.53	0.00	0.000	4	0.000	0.000	1855	3676	2865
3584	-1.53	-116.8	406.7	-16.8	270	3591	0.57	2.65	0.00	0.000	6	0.000	0.000	1967	1962	2859
3916	-1.39	-116.8	442.3	-10.3	286	3921	0.00	3.08	0.00	0.000	4	0.000	0.000	1980	3460	2859
3963	-1.39	-116.8	447.4	-10.5	288	3970	0.00	3.28	0.00	0.000	6	0.000	0.000	1984	1813	2856
4297	-1.51	-116.8	481.0	-10.2	304	4306	0.38	3.53	0.00	0.000	4	0.000	0.000	1879	3664	2855
4403	-1.51	-116.8	497.5	-15.8	308	4415	0.57	3.33	0.00	0.000	6	0.000	0.000	1992	1841	2861
4723	-1.39	-116.8	529.6	-9.7	317	4731	0.25	3.53	0.00	0.000	4	0.000	0.000	1928	3701	2855
4809	-1.42	-116.8	539.6	-9.9	318	4818	0.00	3.25	0.00	0.000	6	0.000	0.000	1938	2017	2859
4894	end dive: BOTTOM_OBSTACLE_DETECTED
state	4894	begin apogee
4907	-0.25	0.0	550.7	12.4	321	4925	1.55	0.00	14.62	0.000	6	0.000	0.000	2226	2010	2242
4926	end apogee: CONTROL_FINISHED_OK
state	4926	begin climb
4932	1.49	116.8	550.7	0.0	321	4948	2.17	0.00	11.27	0.000	6	0.000	0.000	2643	2008	1763
5247	1.49	116.8	486.7	22.4	330	5255	0.55	3.40	0.00	0.000	4	0.000	0.000	2524	3673	1770
5338	1.18	116.8	473.2	14.2	333	5347	0.03	3.53	0.00	0.000	6	0.000	0.000	2559	1809	1763
5662	1.33	116.8	428.2	14.0	349	5670	0.00	3.47	0.00	0.000	4	0.000	0.000	2557	3639	1771
5789	1.36	116.8	409.2	14.0	354	5801	0.00	3.35	0.00	0.000	6	0.000	0.000	2531	1803	1768
6118	1.51	116.8	363.2	15.0	370	6126	0.38	3.53	0.00	0.000	4	0.000	0.000	2668	3664	1773
6246	1.48	116.8	335.1	22.8	375	6258	0.52	2.85	0.00	0.000	6	0.000	0.000	2533	1976	1766
6575	1.35	121.3	290.6	13.4	391	6580	0.03	2.85	0.00	0.000	4	0.000	0.000	2533	3630	1769
6669	1.40	125.3	277.9	13.4	395	6677	0.00	3.53	0.82	0.000	6	0.000	0.000	2518	1808	1728
7009	1.57	125.3	230.6	13.8	411	7017	0.55	3.22	0.00	0.000	4	0.000	0.000	2592	3678	1724
7137	1.63	125.3	206.7	18.1	416	7149	0.12	3.53	0.00	0.000	6	0.000	0.000	2598	1864	1729
7466	1.65	125.3	148.1	18.2	432	7471	0.00	2.80	0.00	0.000	4	0.000	0.000	2612	3368	1728
7614	1.53	125.3	119.6	17.8	438	7622	0.00	2.35	0.00	0.000	6	0.000	0.000	2586	2037	1724
7968	1.48	125.3	56.2	18.1	484	7976	0.00	2.42	0.00	0.000	4	0.000	0.000	2599	3563	1724
8068	1.35	125.3	37.0	18.2	500	8077	0.52	2.97	0.00	0.000	6	0.000	0.000	2472	2041	1735
8359	end climb: SURFACE_DEPTH_REACHED
state	8359	begin surface coast
8378	end surface coast: CONTROL_FINISHED_OK
state	8378	begin surface