Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 17 * 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 17 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 12 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 -446899.5 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 -446899.5

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 12 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 17 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 035706,6636.662,-6008.722,28,1.1,28,18.0 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.221,0.065

_SM_DEPTHo 0.34 KALMAN_X -17000.9,1301.6,337.8,26757.0,-6814.1

_SM_ANGLEo -69.4 KALMAN_Y 6026.9,-571.3,-871.8,4431.6,3224.6

GPS2 040125,6636.662,-6008.722,25,1.1,25,18.0 MHEAD_RNG_PITCHd_Wd 53.4,152938,-26.0,-13.750

SPEED_LIMITS 0.215,0.230 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025032 XPDR_PINGS -1

SM_CCo 8578,19.08,0.000,0,0,403,452.09 ALTIM_TOP_PING 18.3,18.1

SM_GC 0.34,0.00,0.00,19.08,0.000,0.000,0.000,595,1838,403,-7.58,-4.27,452.09 ALTIM_BOTTOM_PING 525.2,43.0

RAFOS_CLK 0 _24V_AH 23.7,33.805

RAFOS 0,1160453043,4.083333,4.067500,80,0,0,0,0,0,590,0,0,0,0,0 _10V_AH 9.7,5.167

RAFOS_FIX 6636.011719,-6006.054199,101006,040448,4,80,1.98 DATA_FILE_SIZE 15857,501

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243318784

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,43,1027,0,0

HUMID 2141 SOUNDSPEED 1459.8

INTERNAL_PRESSURE 26.0651 CURRENT 0.059,309.0,1

TCM_TEMP 15.00 GPS 101006,062731,6637.252,-6007.095,27,1.1,28,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 119 77.63 SBE_CT 417 24 237.38

Roll_motor 133 60 189.30 nil 0 0 0.00

VBD_pump_during_apogee 29 0 0.53 nil 0 0 0.00

VBD_pump_during_surface 19 600 271.25 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 64 223 343.17

Transponder_ping 4 420 47.28

GPS 25 50 12.42

TT8 1687 19 326.04

LPSleep 5534 2 124.02

TT8_Active 272 19 52.61

TT8_Sampling 664 39 257.28

TT8_CF8 715 45 318.50

TT8_Kalman 33 81 26.48

Analog_circuits 839 12 97.76

GPS_charging 0 0 0.00

Compass 562 26 141.74

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

34 end surface: CONTROL_FINISHED_OK

state 35 begin dive

41 -1.49 -116.8 0.0 0.0 0 56 0.00 0.00 -8.12 0.000 6 0.000 0.000 623 1721 2857

62 -1.49 -116.8 0.3 -0.0 2 80 6.53 3.75 0.00 0.000 4 0.000 0.000 1970 3583 2858

240 -1.49 -116.8 22.7 -10.4 30 249 0.52 3.58 0.00 0.000 6 0.000 0.000 1858 1910 2855

610 -1.62 -116.8 81.5 -16.0 91 620 0.47 3.28 0.00 0.000 4 0.000 0.000 1964 3583 2856

695 -1.27 -116.8 90.7 -9.7 104 705 0.05 3.05 0.00 0.000 6 0.000 0.000 1976 1731 2857

1045 -1.41 -116.8 125.7 -10.1 131 1052 0.00 3.80 0.00 0.000 4 0.000 0.000 1979 3563 2857

1178 -1.41 -116.8 140.1 -9.9 136 1187 0.00 3.58 0.00 0.000 6 0.000 0.000 1979 1748 2857

1503 -1.46 -116.8 170.6 -10.1 152 1510 0.28 3.22 0.00 0.000 4 0.000 0.000 1919 3584 2862

1560 -1.46 -116.8 178.4 -13.1 154 1572 0.00 3.33 0.00 0.000 6 0.000 0.000 1919 1766 2855

1889 -1.33 -116.8 220.2 -13.0 170 1899 0.43 3.28 0.00 0.000 4 0.000 0.000 2029 3419 2854

1965 -1.16 -116.8 227.2 -7.5 173 1973 0.25 3.15 0.00 0.000 6 0.000 0.000 1982 1734 2858

2300 -1.35 -116.8 261.1 -10.3 189 2307 0.00 3.42 0.00 0.000 4 0.000 0.000 1979 3605 2854

2374 -1.35 -116.8 268.9 -10.0 192 2381 0.00 3.25 0.00 0.000 6 0.000 0.000 1999 1737 2859

2709 -1.39 -116.8 302.5 -10.3 208 2716 0.00 3.70 0.00 0.000 4 0.000 0.000 1998 3606 2853

2750 -1.37 -116.8 307.4 -10.2 209 2759 0.00 3.60 0.00 0.000 6 0.000 0.000 1983 1784 2862

3076 -1.40 -116.8 340.0 -10.2 225 3083 0.08 3.42 0.00 0.000 4 0.000 0.000 1966 3629 2855

3127 -1.40 -116.8 346.2 -10.1 227 3133 0.03 2.85 0.00 0.000 6 0.000 0.000 1986 1763 2856

3458 -1.43 -116.8 379.3 -10.2 243 3465 0.00 4.03 0.00 0.000 4 0.000 0.000 1961 3547 2854

3566 -1.43 -116.8 390.6 -10.4 247 3571 0.00 2.75 0.00 0.000 6 0.000 0.000 1978 1709 2854

3890 -1.47 -116.8 423.4 -10.2 262 3899 0.08 3.95 0.00 0.000 4 0.000 0.000 1902 3712 2854

3991 -1.47 -116.8 436.9 -13.0 266 3999 0.05 3.53 0.00 0.000 6 0.000 0.000 1913 1820 2856

4326 -1.36 -116.8 479.8 -13.1 282 4334 0.55 3.28 0.00 0.000 4 0.000 0.000 1990 3468 2856

4406 -1.18 -116.8 488.7 -10.2 285 4411 0.17 2.62 0.00 0.000 6 0.000 0.000 2038 1779 2855

4749 -1.21 -116.8 515.3 -7.4 297 4755 0.00 3.20 0.00 0.000 4 0.000 0.000 2027 3565 2854

4864 -1.39 -116.8 523.9 -7.8 299 4875 0.65 3.80 0.00 0.000 6 0.000 0.000 1924 1738 2856

5128 end dive: BOTTOM_OBSTACLE_DETECTED

state 5129 begin apogee

5142 -0.25 0.0 558.4 13.0 306 5161 1.70 0.00 14.73 0.001 6 0.000 0.000 2294 2208 2239

5161 end apogee: CONTROL_FINISHED_OK

state 5162 begin climb

5167 1.49 116.8 558.4 0.0 306 5186 1.70 2.97 11.18 0.001 4 0.000 0.000 2646 553 1763

5215 1.49 116.8 555.1 21.4 307 5223 0.52 3.17 0.00 0.000 6 0.000 0.000 2516 2212 1763

5549 1.42 129.4 511.5 12.7 315 5557 0.80 2.65 1.25 0.000 4 0.000 0.000 2662 3378 1716

5612 1.51 129.4 498.4 22.0 316 5620 0.50 3.03 0.00 0.000 6 0.000 0.000 2499 1696 1718

5958 1.31 142.9 451.1 12.7 332 5967 0.32 3.15 1.17 0.001 4 0.000 0.000 2549 3395 1664

6197 1.44 142.9 406.9 17.5 342 6202 0.00 2.67 0.00 0.000 6 0.000 0.000 2571 2026 1665

6522 1.39 142.9 351.4 17.5 357 6529 0.00 3.38 0.00 0.000 4 0.000 0.000 2574 3697 1665

6570 1.32 142.9 342.1 17.4 359 6577 0.00 3.83 0.00 0.000 6 0.000 0.000 2564 1718 1671

6910 1.30 142.9 283.4 17.6 375 6918 0.08 3.78 0.00 0.000 4 0.000 0.000 2541 3384 1665

7111 1.25 147.7 254.3 13.4 383 7121 0.12 2.83 0.70 0.000 6 0.000 0.000 2513 1863 1645

7436 1.37 147.7 210.9 13.7 399 7444 0.40 3.05 0.00 0.000 4 0.000 0.000 2637 3367 1639

7592 1.45 147.7 175.8 22.3 405 7601 0.50 2.42 0.00 0.000 6 0.000 0.000 2509 1863 1643

7917 1.27 147.7 131.3 13.8 421 7924 0.05 3.33 0.00 0.000 4 0.000 0.000 2498 3714 1637

8049 1.36 147.7 112.3 14.3 426 8059 0.62 3.53 0.00 0.000 6 0.000 0.000 2624 1861 1645

8407 1.51 147.7 32.0 22.9 478 8415 0.00 3.53 0.00 0.000 4 0.000 0.000 2646 3678 1641

8538 end climb: SURFACE_DEPTH_REACHED

state 8538 begin surface coast

8544 end surface coast: CONTROL_FINISHED_OK

state 8544 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	17	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	12	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	-446899.5	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	035706,6636.662,-6008.722,28,1.1,28,18.0	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.221,0.065
_SM_DEPTHo	0.34	KALMAN_X	-17000.9,1301.6,337.8,26757.0,-6814.1
_SM_ANGLEo	-69.4	KALMAN_Y	6026.9,-571.3,-871.8,4431.6,3224.6
GPS2	040125,6636.662,-6008.722,25,1.1,25,18.0	MHEAD_RNG_PITCHd_Wd	53.4,152938,-26.0,-13.750
SPEED_LIMITS	0.215,0.230	D_GRID	990

FINISH	0.3,1.025032	XPDR_PINGS	-1
SM_CCo	8578,19.08,0.000,0,0,403,452.09	ALTIM_TOP_PING	18.3,18.1
SM_GC	0.34,0.00,0.00,19.08,0.000,0.000,0.000,595,1838,403,-7.58,-4.27,452.09	ALTIM_BOTTOM_PING	525.2,43.0
RAFOS_CLK	0	_24V_AH	23.7,33.805
RAFOS	0,1160453043,4.083333,4.067500,80,0,0,0,0,0,590,0,0,0,0,0	_10V_AH	9.7,5.167
RAFOS_FIX	6636.011719,-6006.054199,101006,040448,4,80,1.98	DATA_FILE_SIZE	15857,501
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243318784
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,43,1027,0,0
HUMID	2141	SOUNDSPEED	1459.8
INTERNAL_PRESSURE	26.0651	CURRENT	0.059,309.0,1
TCM_TEMP	15.00	GPS	101006,062731,6637.252,-6007.095,27,1.1,28,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	119	77.63	SBE_CT	417	24	237.38
Roll_motor	133	60	189.30	nil	0	0	0.00
VBD_pump_during_apogee	29	0	0.53	nil	0	0	0.00
VBD_pump_during_surface	19	600	271.25	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	64	223	343.17
Transponder_ping	4	420	47.28
GPS	25	50	12.42
TT8	1687	19	326.04
LPSleep	5534	2	124.02
TT8_Active	272	19	52.61
TT8_Sampling	664	39	257.28
TT8_CF8	715	45	318.50
TT8_Kalman	33	81	26.48
Analog_circuits	839	12	97.76
GPS_charging	0	0	0.00
Compass	562	26	141.74
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
34	end surface: CONTROL_FINISHED_OK
state	35	begin dive
41	-1.49	-116.8	0.0	0.0	0	56	0.00	0.00	-8.12	0.000	6	0.000	0.000	623	1721	2857
62	-1.49	-116.8	0.3	-0.0	2	80	6.53	3.75	0.00	0.000	4	0.000	0.000	1970	3583	2858
240	-1.49	-116.8	22.7	-10.4	30	249	0.52	3.58	0.00	0.000	6	0.000	0.000	1858	1910	2855
610	-1.62	-116.8	81.5	-16.0	91	620	0.47	3.28	0.00	0.000	4	0.000	0.000	1964	3583	2856
695	-1.27	-116.8	90.7	-9.7	104	705	0.05	3.05	0.00	0.000	6	0.000	0.000	1976	1731	2857
1045	-1.41	-116.8	125.7	-10.1	131	1052	0.00	3.80	0.00	0.000	4	0.000	0.000	1979	3563	2857
1178	-1.41	-116.8	140.1	-9.9	136	1187	0.00	3.58	0.00	0.000	6	0.000	0.000	1979	1748	2857
1503	-1.46	-116.8	170.6	-10.1	152	1510	0.28	3.22	0.00	0.000	4	0.000	0.000	1919	3584	2862
1560	-1.46	-116.8	178.4	-13.1	154	1572	0.00	3.33	0.00	0.000	6	0.000	0.000	1919	1766	2855
1889	-1.33	-116.8	220.2	-13.0	170	1899	0.43	3.28	0.00	0.000	4	0.000	0.000	2029	3419	2854
1965	-1.16	-116.8	227.2	-7.5	173	1973	0.25	3.15	0.00	0.000	6	0.000	0.000	1982	1734	2858
2300	-1.35	-116.8	261.1	-10.3	189	2307	0.00	3.42	0.00	0.000	4	0.000	0.000	1979	3605	2854
2374	-1.35	-116.8	268.9	-10.0	192	2381	0.00	3.25	0.00	0.000	6	0.000	0.000	1999	1737	2859
2709	-1.39	-116.8	302.5	-10.3	208	2716	0.00	3.70	0.00	0.000	4	0.000	0.000	1998	3606	2853
2750	-1.37	-116.8	307.4	-10.2	209	2759	0.00	3.60	0.00	0.000	6	0.000	0.000	1983	1784	2862
3076	-1.40	-116.8	340.0	-10.2	225	3083	0.08	3.42	0.00	0.000	4	0.000	0.000	1966	3629	2855
3127	-1.40	-116.8	346.2	-10.1	227	3133	0.03	2.85	0.00	0.000	6	0.000	0.000	1986	1763	2856
3458	-1.43	-116.8	379.3	-10.2	243	3465	0.00	4.03	0.00	0.000	4	0.000	0.000	1961	3547	2854
3566	-1.43	-116.8	390.6	-10.4	247	3571	0.00	2.75	0.00	0.000	6	0.000	0.000	1978	1709	2854
3890	-1.47	-116.8	423.4	-10.2	262	3899	0.08	3.95	0.00	0.000	4	0.000	0.000	1902	3712	2854
3991	-1.47	-116.8	436.9	-13.0	266	3999	0.05	3.53	0.00	0.000	6	0.000	0.000	1913	1820	2856
4326	-1.36	-116.8	479.8	-13.1	282	4334	0.55	3.28	0.00	0.000	4	0.000	0.000	1990	3468	2856
4406	-1.18	-116.8	488.7	-10.2	285	4411	0.17	2.62	0.00	0.000	6	0.000	0.000	2038	1779	2855
4749	-1.21	-116.8	515.3	-7.4	297	4755	0.00	3.20	0.00	0.000	4	0.000	0.000	2027	3565	2854
4864	-1.39	-116.8	523.9	-7.8	299	4875	0.65	3.80	0.00	0.000	6	0.000	0.000	1924	1738	2856
5128	end dive: BOTTOM_OBSTACLE_DETECTED
state	5129	begin apogee
5142	-0.25	0.0	558.4	13.0	306	5161	1.70	0.00	14.73	0.001	6	0.000	0.000	2294	2208	2239
5161	end apogee: CONTROL_FINISHED_OK
state	5162	begin climb
5167	1.49	116.8	558.4	0.0	306	5186	1.70	2.97	11.18	0.001	4	0.000	0.000	2646	553	1763
5215	1.49	116.8	555.1	21.4	307	5223	0.52	3.17	0.00	0.000	6	0.000	0.000	2516	2212	1763
5549	1.42	129.4	511.5	12.7	315	5557	0.80	2.65	1.25	0.000	4	0.000	0.000	2662	3378	1716
5612	1.51	129.4	498.4	22.0	316	5620	0.50	3.03	0.00	0.000	6	0.000	0.000	2499	1696	1718
5958	1.31	142.9	451.1	12.7	332	5967	0.32	3.15	1.17	0.001	4	0.000	0.000	2549	3395	1664
6197	1.44	142.9	406.9	17.5	342	6202	0.00	2.67	0.00	0.000	6	0.000	0.000	2571	2026	1665
6522	1.39	142.9	351.4	17.5	357	6529	0.00	3.38	0.00	0.000	4	0.000	0.000	2574	3697	1665
6570	1.32	142.9	342.1	17.4	359	6577	0.00	3.83	0.00	0.000	6	0.000	0.000	2564	1718	1671
6910	1.30	142.9	283.4	17.6	375	6918	0.08	3.78	0.00	0.000	4	0.000	0.000	2541	3384	1665
7111	1.25	147.7	254.3	13.4	383	7121	0.12	2.83	0.70	0.000	6	0.000	0.000	2513	1863	1645
7436	1.37	147.7	210.9	13.7	399	7444	0.40	3.05	0.00	0.000	4	0.000	0.000	2637	3367	1639
7592	1.45	147.7	175.8	22.3	405	7601	0.50	2.42	0.00	0.000	6	0.000	0.000	2509	1863	1643
7917	1.27	147.7	131.3	13.8	421	7924	0.05	3.33	0.00	0.000	4	0.000	0.000	2498	3714	1637
8049	1.36	147.7	112.3	14.3	426	8059	0.62	3.53	0.00	0.000	6	0.000	0.000	2624	1861	1645
8407	1.51	147.7	32.0	22.9	478	8415	0.00	3.53	0.00	0.000	4	0.000	0.000	2646	3678	1641
8538	end climb: SURFACE_DEPTH_REACHED
state	8538	begin surface coast
8544	end surface coast: CONTROL_FINISHED_OK
state	8544	begin surface