Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 19 * 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 19 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 8 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 6 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 -449070.69 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 -0.22280908 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 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 -0.22280908 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 -449070.69

CAPUPLOAD 0 HEADING 20 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 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 5

C_VBD 2257 MASS 51747 R_PORT_OVSHOOT 8 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 6 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 19 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 145528,6642.616,-6032.906,26,1.1,26,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6652.764,-6031.456

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 145955,6642.616,-6032.906,13,1.1,14,18.0 MHEAD_RNG_PITCHd_Wd 2.0,20000,-26.0,-13.750

SPEED_LIMITS 0.226,0.242 D_GRID 990

Post-dive calculations and measurements:

FREEZE -0.01,4.601,-1.705 XPDR_PINGS -1

FINISH -0.0,1.024691 ALTIM_TOP_PING 19.4,19.4

SM_CCo 8952,169.48,0.000,1,0,420,450.37 ALTIM_BOTTOM_PING 451.3,67.6

SM_GC 0.00,0.00,0.00,169.48,0.000,0.000,0.000,629,1679,420,-7.46,-8.09,450.37 _24V_AH 23.7,58.760

RAFOS_CLK 0 _10V_AH 9.7,8.956

RAFOS 4,1160494155,15.500000,15.487500,40,0,0,0,0,0,0,0,0,0,0,0 DATA_FILE_SIZE 18989,563

RAFOS_FIX 6641.252441,-6029.891113,101006,161620,4,80,0.69 CFSIZE 255582208,242913280

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,93,965,3,0

TT8_MAMPS 0.024544 SOUNDSPEED 1469.3

HUMID 2228 CURRENT 0.056,248.5,1

INTERNAL_PRESSURE 26.0162 GPS 101006,173421,6643.349,-6033.617,29,1.1,29,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 45 119 127.55 SBE_CT 455 24 259.28

Roll_motor 125 60 177.82 nil 0 0 0.00

VBD_pump_during_apogee 287 1300 8870.20 nil 0 0 0.00

VBD_pump_during_surface 169 600 2409.93 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 86 223 456.84

Transponder_ping 4 420 42.30

GPS 14 50 7.13

TT8 1751 19 338.40

LPSleep 5430 2 121.67

TT8_Active 769 19 148.60

TT8_Sampling 702 39 272.07

TT8_CF8 755 45 336.42

TT8_Kalman 0 0 0.00

Analog_circuits 1375 12 160.08

GPS_charging 0 0 0.00

Compass 600 26 151.51

RAFOS 1800 1 26.19

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 0 124 0.00 0.00 -77.20 0.000 6 0.000 0.000 650 1934 2738

135 -1.49 -116.8 -0.0 0.0 9 153 7.38 2.53 0.00 0.000 4 0.000 0.000 1983 250 2742

191 -1.54 -116.8 12.8 -10.6 16 200 0.85 3.62 0.00 0.000 6 0.000 0.000 1853 1972 2744

558 -1.18 -116.8 67.6 -13.8 77 567 0.98 2.97 0.00 0.000 4 0.000 0.000 2091 316 2738

589 -1.24 -116.8 70.7 -10.1 81 598 0.77 3.72 0.00 0.000 6 0.000 0.000 1898 2162 2748

961 -1.05 -116.8 109.1 -10.4 133 969 0.73 3.53 0.00 0.000 4 0.000 0.000 2105 347 2741

996 -1.39 -116.8 111.9 -5.1 134 1009 0.80 2.92 0.00 0.000 6 0.000 0.000 1906 2198 2741

1325 -1.20 -116.8 143.2 -9.9 150 1333 0.88 3.40 0.00 0.000 4 0.000 0.000 2056 346 2745

1402 -1.38 -116.8 148.4 -5.9 153 1409 0.55 2.95 0.00 0.000 6 0.000 0.000 1913 2041 2742

1740 -1.19 -116.8 179.2 -9.3 169 1748 0.57 3.17 0.00 0.000 4 0.000 0.000 2037 524 2741

1825 -1.47 -116.8 184.5 -5.6 172 1837 0.77 2.67 0.00 0.000 6 0.000 0.000 1860 1993 2741

2149 -1.14 -116.8 218.3 -10.5 188 2157 1.17 2.97 0.00 0.000 4 0.000 0.000 2093 471 2740

2198 -1.50 -116.8 221.2 -3.8 190 2206 1.05 3.28 0.00 0.000 6 0.000 0.000 1854 2171 2741

2534 -1.25 -116.8 254.0 -9.9 206 2542 0.75 3.22 0.00 0.000 4 0.000 0.000 2055 278 2744

2586 -1.47 -116.8 257.3 -4.8 208 2594 0.77 3.38 0.00 0.000 6 0.000 0.000 1866 2251 2738

2922 -1.15 -116.8 287.2 -9.7 224 2930 0.93 3.40 0.00 0.000 4 0.000 0.000 2052 355 2750

2980 -1.37 -116.8 291.3 -4.6 226 2992 0.52 3.83 0.00 0.000 6 0.000 0.000 1927 2169 2739

3309 -1.20 -116.8 316.3 -7.9 242 3317 0.45 3.47 0.00 0.000 4 0.000 0.000 2001 508 2747

3388 -1.38 -116.8 320.9 -5.0 245 3396 0.57 3.42 0.00 0.000 6 0.000 0.000 1922 2237 2743

3725 -1.20 -116.8 346.2 -7.8 261 3734 0.82 3.72 0.00 0.000 4 0.000 0.000 2031 417 2741

3767 -1.38 -116.8 349.3 -4.8 262 3776 0.52 3.28 0.00 0.000 6 0.000 0.000 1911 2073 2740

4092 -1.17 -116.8 374.4 -8.0 278 4100 0.75 3.22 0.00 0.000 4 0.000 0.000 2097 414 2736

4171 -1.51 -116.8 378.1 -3.5 281 4179 1.08 3.05 0.00 0.000 6 0.000 0.000 1847 2055 2738

4501 -1.16 -116.8 408.4 -9.5 297 4510 1.02 2.83 0.00 0.000 4 0.000 0.000 2109 349 2738

4565 -1.51 -116.8 411.5 -3.7 299 4574 1.05 3.75 0.00 0.000 6 0.000 0.000 1914 2179 2745

4889 -1.32 -116.8 435.1 -6.5 315 4897 0.55 3.72 0.00 0.000 4 0.000 0.000 2049 376 2739

4975 -1.52 -116.8 440.0 -4.2 318 4988 0.80 3.30 0.00 0.000 6 0.000 0.000 1922 2194 2738

5299 -1.35 -116.8 463.6 -7.5 334 5307 0.60 3.53 0.00 0.000 4 0.000 0.000 2026 368 2740

5357 -1.56 -116.8 466.9 -4.5 336 5371 0.80 3.70 0.00 0.000 6 0.000 0.000 1878 2205 2732

5687 -1.25 -116.8 494.1 -8.7 352 5695 0.77 2.97 0.00 0.000 4 0.000 0.000 2034 585 2737

5763 -1.44 -116.8 498.3 -4.5 355 5768 0.77 2.28 0.00 0.000 6 0.000 0.000 1837 2048 2748

5926 end dive: BOTTOM_OBSTACLE_DETECTED

state 5926 begin apogee

5939 -0.25 0.0 512.0 8.7 360 6063 1.98 0.00 114.22 0.000 6 0.000 0.000 2285 1699 2256

6064 end apogee: CONTROL_FINISHED_OK

state 6064 begin climb

6069 1.49 116.8 513.9 0.0 363 6186 1.52 0.00 111.90 0.001 6 0.000 0.000 2687 1698 1785

6487 1.16 116.8 419.7 24.4 381 6495 1.00 3.42 0.00 0.000 4 0.000 0.000 2408 3548 1792

6775 1.34 180.6 391.9 8.7 393 6860 0.80 3.03 61.78 0.001 6 0.000 0.000 2590 1701 1531

7167 1.18 180.6 303.7 23.4 412 7175 0.55 3.22 0.00 0.000 4 0.000 0.000 2540 3561 1519

7454 1.20 180.6 250.1 17.5 424 7466 0.00 3.47 0.00 0.000 6 0.000 0.000 2519 1732 1523

7783 1.18 180.6 192.8 18.5 440 7791 0.05 3.45 0.00 0.000 4 0.000 0.000 2552 3579 1528

8026 1.20 180.6 149.4 17.2 450 8038 0.00 3.78 0.00 0.000 6 0.000 0.000 2557 1734 1523

8355 1.22 180.6 94.1 16.8 469 8363 0.00 3.38 0.00 0.000 4 0.000 0.000 2523 3561 1523

8651 1.24 180.6 45.3 16.0 518 8659 0.00 2.38 0.00 0.000 6 0.000 0.000 2543 2011 1524

8905 end climb: SURFACE_DEPTH_REACHED

state 8905 begin surface coast

8923 end surface coast: CONTROL_FINISHED_OK

state 8923 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	19	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	8	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	6	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	-449070.69	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	-0.22280908	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	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	145528,6642.616,-6032.906,26,1.1,26,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6652.764,-6031.456
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	145955,6642.616,-6032.906,13,1.1,14,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.01,4.601,-1.705	XPDR_PINGS	-1
FINISH	-0.0,1.024691	ALTIM_TOP_PING	19.4,19.4
SM_CCo	8952,169.48,0.000,1,0,420,450.37	ALTIM_BOTTOM_PING	451.3,67.6
SM_GC	0.00,0.00,0.00,169.48,0.000,0.000,0.000,629,1679,420,-7.46,-8.09,450.37	_24V_AH	23.7,58.760
RAFOS_CLK	0	_10V_AH	9.7,8.956
RAFOS	4,1160494155,15.500000,15.487500,40,0,0,0,0,0,0,0,0,0,0,0	DATA_FILE_SIZE	18989,563
RAFOS_FIX	6641.252441,-6029.891113,101006,161620,4,80,0.69	CFSIZE	255582208,242913280
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,93,965,3,0
TT8_MAMPS	0.024544	SOUNDSPEED	1469.3
HUMID	2228	CURRENT	0.056,248.5,1
INTERNAL_PRESSURE	26.0162	GPS	101006,173421,6643.349,-6033.617,29,1.1,29,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	45	119	127.55	SBE_CT	455	24	259.28
Roll_motor	125	60	177.82	nil	0	0	0.00
VBD_pump_during_apogee	287	1300	8870.20	nil	0	0	0.00
VBD_pump_during_surface	169	600	2409.93	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	86	223	456.84
Transponder_ping	4	420	42.30
GPS	14	50	7.13
TT8	1751	19	338.40
LPSleep	5430	2	121.67
TT8_Active	769	19	148.60
TT8_Sampling	702	39	272.07
TT8_CF8	755	45	336.42
TT8_Kalman	0	0	0.00
Analog_circuits	1375	12	160.08
GPS_charging	0	0	0.00
Compass	600	26	151.51
RAFOS	1800	1	26.19

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	124	0.00	0.00	-77.20	0.000	6	0.000	0.000	650	1934	2738
135	-1.49	-116.8	-0.0	0.0	9	153	7.38	2.53	0.00	0.000	4	0.000	0.000	1983	250	2742
191	-1.54	-116.8	12.8	-10.6	16	200	0.85	3.62	0.00	0.000	6	0.000	0.000	1853	1972	2744
558	-1.18	-116.8	67.6	-13.8	77	567	0.98	2.97	0.00	0.000	4	0.000	0.000	2091	316	2738
589	-1.24	-116.8	70.7	-10.1	81	598	0.77	3.72	0.00	0.000	6	0.000	0.000	1898	2162	2748
961	-1.05	-116.8	109.1	-10.4	133	969	0.73	3.53	0.00	0.000	4	0.000	0.000	2105	347	2741
996	-1.39	-116.8	111.9	-5.1	134	1009	0.80	2.92	0.00	0.000	6	0.000	0.000	1906	2198	2741
1325	-1.20	-116.8	143.2	-9.9	150	1333	0.88	3.40	0.00	0.000	4	0.000	0.000	2056	346	2745
1402	-1.38	-116.8	148.4	-5.9	153	1409	0.55	2.95	0.00	0.000	6	0.000	0.000	1913	2041	2742
1740	-1.19	-116.8	179.2	-9.3	169	1748	0.57	3.17	0.00	0.000	4	0.000	0.000	2037	524	2741
1825	-1.47	-116.8	184.5	-5.6	172	1837	0.77	2.67	0.00	0.000	6	0.000	0.000	1860	1993	2741
2149	-1.14	-116.8	218.3	-10.5	188	2157	1.17	2.97	0.00	0.000	4	0.000	0.000	2093	471	2740
2198	-1.50	-116.8	221.2	-3.8	190	2206	1.05	3.28	0.00	0.000	6	0.000	0.000	1854	2171	2741
2534	-1.25	-116.8	254.0	-9.9	206	2542	0.75	3.22	0.00	0.000	4	0.000	0.000	2055	278	2744
2586	-1.47	-116.8	257.3	-4.8	208	2594	0.77	3.38	0.00	0.000	6	0.000	0.000	1866	2251	2738
2922	-1.15	-116.8	287.2	-9.7	224	2930	0.93	3.40	0.00	0.000	4	0.000	0.000	2052	355	2750
2980	-1.37	-116.8	291.3	-4.6	226	2992	0.52	3.83	0.00	0.000	6	0.000	0.000	1927	2169	2739
3309	-1.20	-116.8	316.3	-7.9	242	3317	0.45	3.47	0.00	0.000	4	0.000	0.000	2001	508	2747
3388	-1.38	-116.8	320.9	-5.0	245	3396	0.57	3.42	0.00	0.000	6	0.000	0.000	1922	2237	2743
3725	-1.20	-116.8	346.2	-7.8	261	3734	0.82	3.72	0.00	0.000	4	0.000	0.000	2031	417	2741
3767	-1.38	-116.8	349.3	-4.8	262	3776	0.52	3.28	0.00	0.000	6	0.000	0.000	1911	2073	2740
4092	-1.17	-116.8	374.4	-8.0	278	4100	0.75	3.22	0.00	0.000	4	0.000	0.000	2097	414	2736
4171	-1.51	-116.8	378.1	-3.5	281	4179	1.08	3.05	0.00	0.000	6	0.000	0.000	1847	2055	2738
4501	-1.16	-116.8	408.4	-9.5	297	4510	1.02	2.83	0.00	0.000	4	0.000	0.000	2109	349	2738
4565	-1.51	-116.8	411.5	-3.7	299	4574	1.05	3.75	0.00	0.000	6	0.000	0.000	1914	2179	2745
4889	-1.32	-116.8	435.1	-6.5	315	4897	0.55	3.72	0.00	0.000	4	0.000	0.000	2049	376	2739
4975	-1.52	-116.8	440.0	-4.2	318	4988	0.80	3.30	0.00	0.000	6	0.000	0.000	1922	2194	2738
5299	-1.35	-116.8	463.6	-7.5	334	5307	0.60	3.53	0.00	0.000	4	0.000	0.000	2026	368	2740
5357	-1.56	-116.8	466.9	-4.5	336	5371	0.80	3.70	0.00	0.000	6	0.000	0.000	1878	2205	2732
5687	-1.25	-116.8	494.1	-8.7	352	5695	0.77	2.97	0.00	0.000	4	0.000	0.000	2034	585	2737
5763	-1.44	-116.8	498.3	-4.5	355	5768	0.77	2.28	0.00	0.000	6	0.000	0.000	1837	2048	2748
5926	end dive: BOTTOM_OBSTACLE_DETECTED
state	5926	begin apogee
5939	-0.25	0.0	512.0	8.7	360	6063	1.98	0.00	114.22	0.000	6	0.000	0.000	2285	1699	2256
6064	end apogee: CONTROL_FINISHED_OK
state	6064	begin climb
6069	1.49	116.8	513.9	0.0	363	6186	1.52	0.00	111.90	0.001	6	0.000	0.000	2687	1698	1785
6487	1.16	116.8	419.7	24.4	381	6495	1.00	3.42	0.00	0.000	4	0.000	0.000	2408	3548	1792
6775	1.34	180.6	391.9	8.7	393	6860	0.80	3.03	61.78	0.001	6	0.000	0.000	2590	1701	1531
7167	1.18	180.6	303.7	23.4	412	7175	0.55	3.22	0.00	0.000	4	0.000	0.000	2540	3561	1519
7454	1.20	180.6	250.1	17.5	424	7466	0.00	3.47	0.00	0.000	6	0.000	0.000	2519	1732	1523
7783	1.18	180.6	192.8	18.5	440	7791	0.05	3.45	0.00	0.000	4	0.000	0.000	2552	3579	1528
8026	1.20	180.6	149.4	17.2	450	8038	0.00	3.78	0.00	0.000	6	0.000	0.000	2557	1734	1523
8355	1.22	180.6	94.1	16.8	469	8363	0.00	3.38	0.00	0.000	4	0.000	0.000	2523	3561	1523
8651	1.24	180.6	45.3	16.0	518	8659	0.00	2.38	0.00	0.000	6	0.000	0.000	2543	2011	1524
8905	end climb: SURFACE_DEPTH_REACHED
state	8905	begin surface coast
8923	end surface coast: CONTROL_FINISHED_OK
state	8923	begin surface