Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 20 * 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 20 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 334 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -446958.69 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 0.27000001 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 -446958.69

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 334 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 28 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 20 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 112311,6638.277,-6007.558,30,1.1,30,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6632.003,-6011.059

_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 -70.0 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 112734,6638.277,-6007.558,32,1.1,33,18.0 MHEAD_RNG_PITCHd_Wd 216.5,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024948 XPDR_PINGS -1

SM_CCo 8561,19.10,0.001,0,0,384,452.09 ALTIM_TOP_PING 18.7,18.4

SM_GC 0.34,0.00,0.00,19.10,0.000,0.000,0.001,641,1908,384,-7.47,-1.78,452.09 ALTIM_BOTTOM_PING 502.1,72.4

RAFOS_CLK 0 _24V_AH 23.7,34.599

RAFOS 0,1160481846,12.083333,12.068334,80,0,0,0,0,0,561,0,0,0,0,0 _10V_AH 9.7,5.293

RAFOS_FIX 6637.993652,-6003.090332,101006,121220,4,80,1.03 DATA_FILE_SIZE 15868,536

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243118080

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,62,649,0,0

HUMID 2192 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 25.9967 CURRENT 0.074,121.5,1

TCM_TEMP 15.00 GPS 101006,135251,6637.446,-6008.769,30,1.1,30,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 87.43 SBE_CT 445 24 253.45

Roll_motor 84 60 120.23 nil 0 0 0.00

VBD_pump_during_apogee 29 0 0.53 nil 0 0 0.00

VBD_pump_during_surface 19 0 0.35 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 66 223 353.27

Transponder_ping 4 420 44.79

GPS 34 50 16.52

TT8 1736 19 335.50

LPSleep 5624 2 126.03

TT8_Active 219 19 42.44

TT8_Sampling 584 39 226.29

TT8_CF8 696 45 310.08

TT8_Kalman 0 81 0.00

Analog_circuits 703 12 81.89

GPS_charging 0 0 0.00

Compass 475 26 120.04

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

35 end surface: CONTROL_FINISHED_OK

state 35 begin dive

41 -1.49 -116.8 0.0 0.0 0 57 0.00 0.00 -8.05 0.000 6 0.000 0.000 634 2188 2866

63 -1.49 -116.8 0.3 0.0 2 81 6.90 3.33 0.00 0.000 4 0.000 0.000 1985 3679 2859

276 -1.49 -116.8 25.8 -10.0 36 285 0.52 3.20 0.00 0.000 6 0.000 0.000 1861 2004 2864

646 -1.61 -116.8 83.7 -15.7 97 655 0.52 2.50 0.00 0.000 4 0.000 0.000 1979 3352 2862

736 -1.28 -116.8 93.5 -10.0 111 744 0.00 2.22 0.00 0.000 6 0.000 0.000 1978 2169 2858

1071 -1.35 -116.8 126.9 -10.0 134 1078 0.00 3.25 0.00 0.000 4 0.000 0.000 1990 3666 2859

1128 -1.35 -116.8 132.8 -9.8 136 1133 0.05 2.17 0.00 0.000 6 0.000 0.000 1981 2351 2863

1452 -1.47 -116.8 164.2 -9.9 151 1460 0.60 2.97 0.00 0.000 4 0.000 0.000 1851 704 2865

1501 -1.47 -116.8 171.0 -15.6 153 1509 0.55 3.25 0.00 0.000 6 0.000 0.000 1973 2223 2867

1836 -1.37 -116.8 206.1 -10.2 169 1841 0.05 2.47 0.00 0.000 4 0.000 0.000 1942 3402 2870

1880 -1.37 -116.8 211.2 -12.6 171 1885 0.52 1.75 0.00 0.000 6 0.000 0.000 2052 2206 2859

2210 -1.29 -116.8 236.7 -7.5 187 2213 0.52 0.00 0.00 0.000 6 0.000 0.000 1916 2205 2864

2525 -1.46 -116.8 275.6 -12.4 202 2527 0.20 0.00 0.00 0.000 6 0.000 0.000 1985 2212 2857

2834 -1.35 -116.8 308.0 -10.3 217 2835 0.00 0.00 0.00 0.000 6 0.000 0.000 1997 2201 2861

3141 -1.35 -116.8 340.0 -10.3 232 3142 0.00 0.00 0.00 0.000 6 0.000 0.000 1968 2196 2859

3448 -1.33 -116.8 371.9 -10.3 247 3452 0.00 2.40 0.00 0.000 4 0.000 0.000 1968 3367 2858

3477 -1.33 -116.8 374.9 -8.5 248 3481 0.00 1.62 0.00 0.000 6 0.000 0.000 1979 2185 2869

3808 -1.59 -116.8 407.9 -10.3 264 3813 0.50 2.03 0.00 0.000 4 0.000 0.000 1848 3528 2857

3844 -1.58 -116.8 413.7 -15.9 265 3853 0.52 2.45 0.00 0.000 6 0.000 0.000 2008 2314 2868

4168 -1.34 -116.8 447.0 -10.2 281 4175 0.00 3.47 0.00 0.000 4 0.000 0.000 1988 633 2861

4203 -1.34 -116.8 451.4 -10.4 282 4208 0.00 2.75 0.00 0.000 6 0.000 0.000 1980 2317 2859

4528 -1.53 -116.8 483.5 -10.1 297 4530 0.60 0.00 0.00 0.000 6 0.000 0.000 1856 2323 2866

4849 -1.53 -116.8 534.4 -15.9 308 4851 0.52 0.00 0.00 0.000 6 0.000 0.000 1973 2322 2860

5133 end dive: BOTTOM_OBSTACLE_DETECTED

state 5133 begin apogee

5145 -0.25 0.0 564.9 10.3 315 5163 1.33 0.00 15.10 0.001 6 0.000 0.000 2289 2333 2241

5164 end apogee: CONTROL_FINISHED_OK

state 5164 begin climb

5170 1.49 116.8 564.9 0.0 315 5185 1.98 0.00 11.02 0.000 6 0.000 0.000 2647 2324 1775

5505 1.49 116.8 500.1 21.3 324 5511 0.62 2.47 0.00 0.000 4 0.000 0.000 2529 3490 1769

5542 1.20 120.6 493.5 13.4 324 5551 0.00 3.17 0.08 0.001 6 0.000 0.000 2526 2026 1771

5866 1.33 131.0 452.5 12.9 340 5874 0.00 2.28 1.45 0.001 4 0.000 0.000 2533 3544 1704

5965 1.40 131.0 438.0 13.9 344 5971 0.50 2.67 0.00 0.000 6 0.000 0.000 2645 2189 1710

6296 1.52 131.0 367.6 22.2 360 6302 0.60 2.50 0.00 0.000 4 0.000 0.000 2513 3354 1708

6341 1.26 131.4 359.1 13.7 362 6346 0.08 2.12 0.00 0.000 6 0.000 0.000 2496 1962 1704

6676 1.37 136.8 315.0 13.3 378 6684 0.62 3.25 0.00 0.000 4 0.000 0.000 2625 3640 1709

6781 1.46 136.8 291.9 21.9 382 6787 0.50 2.53 0.00 0.000 6 0.000 0.000 2504 1977 1711

7106 1.30 147.0 244.6 12.9 397 7115 0.52 2.83 1.52 0.001 4 0.000 0.000 2618 3662 1637

7203 1.41 147.0 222.1 22.2 401 7210 0.47 2.92 0.00 0.000 6 0.000 0.000 2520 2118 1632

7537 1.27 147.0 175.1 14.1 417 7542 0.00 2.65 0.00 0.000 4 0.000 0.000 2507 3634 1641

7603 1.34 147.7 165.2 13.7 420 7610 0.47 3.03 0.00 0.000 6 0.000 0.000 2651 2083 1641

7934 1.50 147.7 90.4 23.5 440 7943 0.62 2.22 0.00 0.000 4 0.000 0.000 2522 3596 1637

8000 1.24 147.7 79.8 14.1 450 8009 0.00 2.88 0.00 0.000 6 0.000 0.000 2520 2246 1646

8368 1.39 147.7 27.9 14.7 511 8377 0.62 2.03 0.00 0.000 4 0.000 0.000 2643 3565 1633

8422 1.46 147.7 18.7 23.1 518 8431 0.52 2.55 0.00 0.000 6 0.000 0.000 2540 2230 1638

8521 end climb: SURFACE_DEPTH_REACHED

state 8521 begin surface coast

8533 end surface coast: CONTROL_FINISHED_OK

state 8533 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	20	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	334	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-446958.69	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	0.27000001	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	112311,6638.277,-6007.558,30,1.1,30,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6632.003,-6011.059
_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	-70.0	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	112734,6638.277,-6007.558,32,1.1,33,18.0	MHEAD_RNG_PITCHd_Wd	216.5,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024948	XPDR_PINGS	-1
SM_CCo	8561,19.10,0.001,0,0,384,452.09	ALTIM_TOP_PING	18.7,18.4
SM_GC	0.34,0.00,0.00,19.10,0.000,0.000,0.001,641,1908,384,-7.47,-1.78,452.09	ALTIM_BOTTOM_PING	502.1,72.4
RAFOS_CLK	0	_24V_AH	23.7,34.599
RAFOS	0,1160481846,12.083333,12.068334,80,0,0,0,0,0,561,0,0,0,0,0	_10V_AH	9.7,5.293
RAFOS_FIX	6637.993652,-6003.090332,101006,121220,4,80,1.03	DATA_FILE_SIZE	15868,536
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243118080
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,62,649,0,0
HUMID	2192	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	25.9967	CURRENT	0.074,121.5,1
TCM_TEMP	15.00	GPS	101006,135251,6637.446,-6008.769,30,1.1,30,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	87.43	SBE_CT	445	24	253.45
Roll_motor	84	60	120.23	nil	0	0	0.00
VBD_pump_during_apogee	29	0	0.53	nil	0	0	0.00
VBD_pump_during_surface	19	0	0.35	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	66	223	353.27
Transponder_ping	4	420	44.79
GPS	34	50	16.52
TT8	1736	19	335.50
LPSleep	5624	2	126.03
TT8_Active	219	19	42.44
TT8_Sampling	584	39	226.29
TT8_CF8	696	45	310.08
TT8_Kalman	0	81	0.00
Analog_circuits	703	12	81.89
GPS_charging	0	0	0.00
Compass	475	26	120.04
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
35	end surface: CONTROL_FINISHED_OK
state	35	begin dive
41	-1.49	-116.8	0.0	0.0	0	57	0.00	0.00	-8.05	0.000	6	0.000	0.000	634	2188	2866
63	-1.49	-116.8	0.3	0.0	2	81	6.90	3.33	0.00	0.000	4	0.000	0.000	1985	3679	2859
276	-1.49	-116.8	25.8	-10.0	36	285	0.52	3.20	0.00	0.000	6	0.000	0.000	1861	2004	2864
646	-1.61	-116.8	83.7	-15.7	97	655	0.52	2.50	0.00	0.000	4	0.000	0.000	1979	3352	2862
736	-1.28	-116.8	93.5	-10.0	111	744	0.00	2.22	0.00	0.000	6	0.000	0.000	1978	2169	2858
1071	-1.35	-116.8	126.9	-10.0	134	1078	0.00	3.25	0.00	0.000	4	0.000	0.000	1990	3666	2859
1128	-1.35	-116.8	132.8	-9.8	136	1133	0.05	2.17	0.00	0.000	6	0.000	0.000	1981	2351	2863
1452	-1.47	-116.8	164.2	-9.9	151	1460	0.60	2.97	0.00	0.000	4	0.000	0.000	1851	704	2865
1501	-1.47	-116.8	171.0	-15.6	153	1509	0.55	3.25	0.00	0.000	6	0.000	0.000	1973	2223	2867
1836	-1.37	-116.8	206.1	-10.2	169	1841	0.05	2.47	0.00	0.000	4	0.000	0.000	1942	3402	2870
1880	-1.37	-116.8	211.2	-12.6	171	1885	0.52	1.75	0.00	0.000	6	0.000	0.000	2052	2206	2859
2210	-1.29	-116.8	236.7	-7.5	187	2213	0.52	0.00	0.00	0.000	6	0.000	0.000	1916	2205	2864
2525	-1.46	-116.8	275.6	-12.4	202	2527	0.20	0.00	0.00	0.000	6	0.000	0.000	1985	2212	2857
2834	-1.35	-116.8	308.0	-10.3	217	2835	0.00	0.00	0.00	0.000	6	0.000	0.000	1997	2201	2861
3141	-1.35	-116.8	340.0	-10.3	232	3142	0.00	0.00	0.00	0.000	6	0.000	0.000	1968	2196	2859
3448	-1.33	-116.8	371.9	-10.3	247	3452	0.00	2.40	0.00	0.000	4	0.000	0.000	1968	3367	2858
3477	-1.33	-116.8	374.9	-8.5	248	3481	0.00	1.62	0.00	0.000	6	0.000	0.000	1979	2185	2869
3808	-1.59	-116.8	407.9	-10.3	264	3813	0.50	2.03	0.00	0.000	4	0.000	0.000	1848	3528	2857
3844	-1.58	-116.8	413.7	-15.9	265	3853	0.52	2.45	0.00	0.000	6	0.000	0.000	2008	2314	2868
4168	-1.34	-116.8	447.0	-10.2	281	4175	0.00	3.47	0.00	0.000	4	0.000	0.000	1988	633	2861
4203	-1.34	-116.8	451.4	-10.4	282	4208	0.00	2.75	0.00	0.000	6	0.000	0.000	1980	2317	2859
4528	-1.53	-116.8	483.5	-10.1	297	4530	0.60	0.00	0.00	0.000	6	0.000	0.000	1856	2323	2866
4849	-1.53	-116.8	534.4	-15.9	308	4851	0.52	0.00	0.00	0.000	6	0.000	0.000	1973	2322	2860
5133	end dive: BOTTOM_OBSTACLE_DETECTED
state	5133	begin apogee
5145	-0.25	0.0	564.9	10.3	315	5163	1.33	0.00	15.10	0.001	6	0.000	0.000	2289	2333	2241
5164	end apogee: CONTROL_FINISHED_OK
state	5164	begin climb
5170	1.49	116.8	564.9	0.0	315	5185	1.98	0.00	11.02	0.000	6	0.000	0.000	2647	2324	1775
5505	1.49	116.8	500.1	21.3	324	5511	0.62	2.47	0.00	0.000	4	0.000	0.000	2529	3490	1769
5542	1.20	120.6	493.5	13.4	324	5551	0.00	3.17	0.08	0.001	6	0.000	0.000	2526	2026	1771
5866	1.33	131.0	452.5	12.9	340	5874	0.00	2.28	1.45	0.001	4	0.000	0.000	2533	3544	1704
5965	1.40	131.0	438.0	13.9	344	5971	0.50	2.67	0.00	0.000	6	0.000	0.000	2645	2189	1710
6296	1.52	131.0	367.6	22.2	360	6302	0.60	2.50	0.00	0.000	4	0.000	0.000	2513	3354	1708
6341	1.26	131.4	359.1	13.7	362	6346	0.08	2.12	0.00	0.000	6	0.000	0.000	2496	1962	1704
6676	1.37	136.8	315.0	13.3	378	6684	0.62	3.25	0.00	0.000	4	0.000	0.000	2625	3640	1709
6781	1.46	136.8	291.9	21.9	382	6787	0.50	2.53	0.00	0.000	6	0.000	0.000	2504	1977	1711
7106	1.30	147.0	244.6	12.9	397	7115	0.52	2.83	1.52	0.001	4	0.000	0.000	2618	3662	1637
7203	1.41	147.0	222.1	22.2	401	7210	0.47	2.92	0.00	0.000	6	0.000	0.000	2520	2118	1632
7537	1.27	147.0	175.1	14.1	417	7542	0.00	2.65	0.00	0.000	4	0.000	0.000	2507	3634	1641
7603	1.34	147.7	165.2	13.7	420	7610	0.47	3.03	0.00	0.000	6	0.000	0.000	2651	2083	1641
7934	1.50	147.7	90.4	23.5	440	7943	0.62	2.22	0.00	0.000	4	0.000	0.000	2522	3596	1637
8000	1.24	147.7	79.8	14.1	450	8009	0.00	2.88	0.00	0.000	6	0.000	0.000	2520	2246	1646
8368	1.39	147.7	27.9	14.7	511	8377	0.62	2.03	0.00	0.000	4	0.000	0.000	2643	3565	1633
8422	1.46	147.7	18.7	23.1	518	8431	0.52	2.55	0.00	0.000	6	0.000	0.000	2540	2230	1638
8521	end climb: SURFACE_DEPTH_REACHED
state	8521	begin surface coast
8533	end surface coast: CONTROL_FINISHED_OK
state	8533	begin surface