Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 25 * 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 25 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 180 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -447095.72 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 -447095.72

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 180 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 21 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 25 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 235251,6637.238,-6008.412,8,1.1,8,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6634.935,-6004.219

_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 235706,6637.238,-6008.412,20,1.1,20,18.0 MHEAD_RNG_PITCHd_Wd 84.3,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024780 XPDR_PINGS -1

SM_CCo 8454,15.75,0.000,0,0,393,452.58 ALTIM_TOP_PING 19.1,18.0

SM_GC 0.34,0.00,0.00,15.75,0.000,0.000,0.000,606,2119,393,-7.59,3.90,452.58 ALTIM_BOTTOM_PING 501.8,71.5

RAFOS_CLK 0 _24V_AH 23.7,35.971

RAFOS 0,1160525045,0.083333,0.068056,80,0,0,0,0,0,568,0,0,0,0,0 _10V_AH 9.7,5.498

RAFOS_FIX 6637.742188,-6003.388184,111006,000020,4,80,2.62 DATA_FILE_SIZE 15900,517

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242790400

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,61,713,0,0

HUMID 2222 SOUNDSPEED 1459.8

INTERNAL_PRESSURE 26.0162 CURRENT 0.056,342.5,1

TCM_TEMP 15.00 GPS 111006,022038,6637.411,-6006.174,33,1.1,34,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 119 94.41 SBE_CT 432 24 245.82

Roll_motor 92 60 130.82 nil 0 0 0.00

VBD_pump_during_apogee 33 1300 1046.00 nil 0 0 0.00

VBD_pump_during_surface 15 600 223.97 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 67 223 354.84

Transponder_ping 4 420 44.79

GPS 20 50 10.03

TT8 1692 19 327.03

LPSleep 5514 2 123.57

TT8_Active 248 19 48.08

TT8_Sampling 587 39 227.39

TT8_CF8 699 45 311.63

TT8_Kalman 0 81 0.00

Analog_circuits 749 12 87.19

GPS_charging 0 0 0.00

Compass 495 26 125.00

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 58 0.00 0.00 -8.05 0.000 6 0.000 0.000 605 1990 2850

64 -1.49 -116.8 0.3 -0.0 2 82 6.85 3.00 0.00 0.000 4 0.000 0.000 1986 492 2853

248 -1.49 -116.8 23.1 -10.0 31 257 0.50 2.62 0.00 0.000 6 0.000 0.000 1868 2171 2854

617 -1.71 -116.8 79.1 -15.8 92 626 0.17 2.85 0.00 0.000 4 0.000 0.000 1853 3678 2847

678 -1.36 -116.8 88.9 -15.7 101 687 0.77 2.78 0.00 0.000 6 0.000 0.000 2064 2189 2852

1023 -1.15 -116.8 115.5 -7.4 133 1028 0.82 1.95 0.00 0.000 4 0.000 0.000 1909 3531 2857

1053 -1.33 -116.8 119.0 -11.8 134 1066 0.52 3.28 0.00 0.000 6 0.000 0.000 2041 2050 2858

1384 -1.33 -116.8 143.8 -7.3 150 1391 0.60 3.05 0.00 0.000 4 0.000 0.000 1926 3552 2854

1447 -1.50 -116.8 151.7 -12.9 152 1456 0.05 3.03 0.00 0.000 6 0.000 0.000 1914 1899 2855

1772 -1.45 -116.8 191.5 -12.5 168 1777 0.00 2.88 0.00 0.000 4 0.000 0.000 1918 3563 2853

1858 -1.30 -116.8 202.6 -12.3 171 1867 0.52 2.75 0.00 0.000 6 0.000 0.000 2044 2045 2850

2178 -1.24 -116.8 226.5 -7.3 187 2185 0.85 2.47 0.00 0.000 4 0.000 0.000 1938 3389 2857

2226 -1.55 -116.8 231.8 -12.8 189 2231 0.00 2.33 0.00 0.000 6 0.000 0.000 1941 2004 2852

2562 -1.46 -116.8 272.2 -12.4 205 2568 0.00 2.95 0.00 0.000 4 0.000 0.000 1922 3525 2852

2615 -1.34 -116.8 279.5 -12.2 207 2628 0.52 2.78 0.00 0.000 6 0.000 0.000 2062 2198 2851

2944 -1.29 -116.8 303.9 -7.4 223 2946 0.45 0.00 0.00 0.000 6 0.000 0.000 1917 2190 2851

3253 -1.46 -116.8 341.7 -12.7 238 3255 0.03 0.00 0.00 0.000 6 0.000 0.000 1941 2204 2859

3563 -1.30 -116.8 380.6 -12.5 253 3565 0.45 0.00 0.00 0.000 6 0.000 0.000 2050 2196 2852

3872 -1.14 -116.8 403.7 -7.0 268 3878 0.43 2.50 0.00 0.000 4 0.000 0.000 1913 3672 2857

3903 -1.42 -116.8 407.3 -10.1 269 3915 0.00 3.22 0.00 0.000 6 0.000 0.000 1950 2003 2849

4232 -1.44 -116.8 447.0 -12.4 285 4237 0.00 2.75 0.00 0.000 4 0.000 0.000 1947 3546 2848

4306 -1.30 -116.8 456.5 -12.5 288 4312 0.50 2.38 0.00 0.000 6 0.000 0.000 2058 2247 2848

4631 -1.39 -116.8 480.5 -7.0 304 4640 1.12 2.97 0.00 0.000 4 0.000 0.000 1874 575 2852

4658 -1.59 -116.8 483.4 -11.1 305 4667 0.52 3.72 0.00 0.000 6 0.000 0.000 1996 2365 2850

5018 -1.64 -116.8 516.3 -8.9 318 5020 0.77 0.00 0.00 0.000 6 0.000 0.000 1800 2370 2852

5295 end dive: BOTTOM_OBSTACLE_DETECTED

state 5295 begin apogee

5309 -0.25 0.0 564.5 17.7 325 5334 2.00 0.00 14.30 0.000 6 0.000 0.000 2260 1835 2244

5335 end apogee: CONTROL_FINISHED_OK

state 5335 begin climb

5341 1.49 116.8 569.7 0.0 326 5356 1.92 0.00 11.60 0.000 6 0.000 0.000 2676 1836 1763

5660 1.49 116.8 498.6 23.3 334 5669 0.65 3.55 0.00 0.000 4 0.000 0.000 2547 3694 1764

5824 1.16 116.8 472.6 14.6 341 5831 0.10 3.33 0.00 0.000 6 0.000 0.000 2550 1894 1759

6163 1.16 116.8 423.1 14.9 357 6170 0.00 3.35 0.00 0.000 4 0.000 0.000 2566 3576 1759

6304 1.16 116.8 401.6 15.0 363 6311 0.00 3.33 0.00 0.000 6 0.000 0.000 2539 1914 1762

6644 1.21 116.8 344.8 17.6 379 6649 0.10 2.45 0.00 0.000 4 0.000 0.000 2556 3592 1758

6758 1.11 116.8 327.2 15.1 384 6766 0.52 3.12 0.00 0.000 6 0.000 0.000 2433 1938 1768

7098 1.17 201.0 299.8 7.1 400 7113 0.90 2.45 8.05 0.000 4 0.000 0.000 2555 3615 1409

7219 1.64 201.0 277.9 19.6 404 7225 0.50 2.75 0.00 0.000 6 0.000 0.000 2680 2109 1412

7544 1.70 201.0 180.4 31.2 419 7551 0.60 3.03 0.00 0.000 4 0.000 0.000 2563 3625 1414

7601 1.32 201.0 165.2 19.9 421 7606 0.00 2.55 0.00 0.000 6 0.000 0.000 2557 2262 1419

7925 1.36 201.0 102.5 19.8 436 7926 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2255 1411

8275 1.32 201.0 32.0 19.2 493 8283 0.00 2.38 0.00 0.000 4 0.000 0.000 2551 3426 1417

8352 1.29 201.0 15.7 19.5 505 8360 0.00 2.38 0.00 0.000 6 0.000 0.000 2557 2110 1412

8418 end climb: SURFACE_DEPTH_REACHED

state 8418 begin surface coast

8425 end surface coast: CONTROL_FINISHED_OK

state 8425 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	25	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	180	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-447095.72	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	235251,6637.238,-6008.412,8,1.1,8,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6634.935,-6004.219
_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	235706,6637.238,-6008.412,20,1.1,20,18.0	MHEAD_RNG_PITCHd_Wd	84.3,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024780	XPDR_PINGS	-1
SM_CCo	8454,15.75,0.000,0,0,393,452.58	ALTIM_TOP_PING	19.1,18.0
SM_GC	0.34,0.00,0.00,15.75,0.000,0.000,0.000,606,2119,393,-7.59,3.90,452.58	ALTIM_BOTTOM_PING	501.8,71.5
RAFOS_CLK	0	_24V_AH	23.7,35.971
RAFOS	0,1160525045,0.083333,0.068056,80,0,0,0,0,0,568,0,0,0,0,0	_10V_AH	9.7,5.498
RAFOS_FIX	6637.742188,-6003.388184,111006,000020,4,80,2.62	DATA_FILE_SIZE	15900,517
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242790400
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,61,713,0,0
HUMID	2222	SOUNDSPEED	1459.8
INTERNAL_PRESSURE	26.0162	CURRENT	0.056,342.5,1
TCM_TEMP	15.00	GPS	111006,022038,6637.411,-6006.174,33,1.1,34,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	119	94.41	SBE_CT	432	24	245.82
Roll_motor	92	60	130.82	nil	0	0	0.00
VBD_pump_during_apogee	33	1300	1046.00	nil	0	0	0.00
VBD_pump_during_surface	15	600	223.97	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	67	223	354.84
Transponder_ping	4	420	44.79
GPS	20	50	10.03
TT8	1692	19	327.03
LPSleep	5514	2	123.57
TT8_Active	248	19	48.08
TT8_Sampling	587	39	227.39
TT8_CF8	699	45	311.63
TT8_Kalman	0	81	0.00
Analog_circuits	749	12	87.19
GPS_charging	0	0	0.00
Compass	495	26	125.00
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	58	0.00	0.00	-8.05	0.000	6	0.000	0.000	605	1990	2850
64	-1.49	-116.8	0.3	-0.0	2	82	6.85	3.00	0.00	0.000	4	0.000	0.000	1986	492	2853
248	-1.49	-116.8	23.1	-10.0	31	257	0.50	2.62	0.00	0.000	6	0.000	0.000	1868	2171	2854
617	-1.71	-116.8	79.1	-15.8	92	626	0.17	2.85	0.00	0.000	4	0.000	0.000	1853	3678	2847
678	-1.36	-116.8	88.9	-15.7	101	687	0.77	2.78	0.00	0.000	6	0.000	0.000	2064	2189	2852
1023	-1.15	-116.8	115.5	-7.4	133	1028	0.82	1.95	0.00	0.000	4	0.000	0.000	1909	3531	2857
1053	-1.33	-116.8	119.0	-11.8	134	1066	0.52	3.28	0.00	0.000	6	0.000	0.000	2041	2050	2858
1384	-1.33	-116.8	143.8	-7.3	150	1391	0.60	3.05	0.00	0.000	4	0.000	0.000	1926	3552	2854
1447	-1.50	-116.8	151.7	-12.9	152	1456	0.05	3.03	0.00	0.000	6	0.000	0.000	1914	1899	2855
1772	-1.45	-116.8	191.5	-12.5	168	1777	0.00	2.88	0.00	0.000	4	0.000	0.000	1918	3563	2853
1858	-1.30	-116.8	202.6	-12.3	171	1867	0.52	2.75	0.00	0.000	6	0.000	0.000	2044	2045	2850
2178	-1.24	-116.8	226.5	-7.3	187	2185	0.85	2.47	0.00	0.000	4	0.000	0.000	1938	3389	2857
2226	-1.55	-116.8	231.8	-12.8	189	2231	0.00	2.33	0.00	0.000	6	0.000	0.000	1941	2004	2852
2562	-1.46	-116.8	272.2	-12.4	205	2568	0.00	2.95	0.00	0.000	4	0.000	0.000	1922	3525	2852
2615	-1.34	-116.8	279.5	-12.2	207	2628	0.52	2.78	0.00	0.000	6	0.000	0.000	2062	2198	2851
2944	-1.29	-116.8	303.9	-7.4	223	2946	0.45	0.00	0.00	0.000	6	0.000	0.000	1917	2190	2851
3253	-1.46	-116.8	341.7	-12.7	238	3255	0.03	0.00	0.00	0.000	6	0.000	0.000	1941	2204	2859
3563	-1.30	-116.8	380.6	-12.5	253	3565	0.45	0.00	0.00	0.000	6	0.000	0.000	2050	2196	2852
3872	-1.14	-116.8	403.7	-7.0	268	3878	0.43	2.50	0.00	0.000	4	0.000	0.000	1913	3672	2857
3903	-1.42	-116.8	407.3	-10.1	269	3915	0.00	3.22	0.00	0.000	6	0.000	0.000	1950	2003	2849
4232	-1.44	-116.8	447.0	-12.4	285	4237	0.00	2.75	0.00	0.000	4	0.000	0.000	1947	3546	2848
4306	-1.30	-116.8	456.5	-12.5	288	4312	0.50	2.38	0.00	0.000	6	0.000	0.000	2058	2247	2848
4631	-1.39	-116.8	480.5	-7.0	304	4640	1.12	2.97	0.00	0.000	4	0.000	0.000	1874	575	2852
4658	-1.59	-116.8	483.4	-11.1	305	4667	0.52	3.72	0.00	0.000	6	0.000	0.000	1996	2365	2850
5018	-1.64	-116.8	516.3	-8.9	318	5020	0.77	0.00	0.00	0.000	6	0.000	0.000	1800	2370	2852
5295	end dive: BOTTOM_OBSTACLE_DETECTED
state	5295	begin apogee
5309	-0.25	0.0	564.5	17.7	325	5334	2.00	0.00	14.30	0.000	6	0.000	0.000	2260	1835	2244
5335	end apogee: CONTROL_FINISHED_OK
state	5335	begin climb
5341	1.49	116.8	569.7	0.0	326	5356	1.92	0.00	11.60	0.000	6	0.000	0.000	2676	1836	1763
5660	1.49	116.8	498.6	23.3	334	5669	0.65	3.55	0.00	0.000	4	0.000	0.000	2547	3694	1764
5824	1.16	116.8	472.6	14.6	341	5831	0.10	3.33	0.00	0.000	6	0.000	0.000	2550	1894	1759
6163	1.16	116.8	423.1	14.9	357	6170	0.00	3.35	0.00	0.000	4	0.000	0.000	2566	3576	1759
6304	1.16	116.8	401.6	15.0	363	6311	0.00	3.33	0.00	0.000	6	0.000	0.000	2539	1914	1762
6644	1.21	116.8	344.8	17.6	379	6649	0.10	2.45	0.00	0.000	4	0.000	0.000	2556	3592	1758
6758	1.11	116.8	327.2	15.1	384	6766	0.52	3.12	0.00	0.000	6	0.000	0.000	2433	1938	1768
7098	1.17	201.0	299.8	7.1	400	7113	0.90	2.45	8.05	0.000	4	0.000	0.000	2555	3615	1409
7219	1.64	201.0	277.9	19.6	404	7225	0.50	2.75	0.00	0.000	6	0.000	0.000	2680	2109	1412
7544	1.70	201.0	180.4	31.2	419	7551	0.60	3.03	0.00	0.000	4	0.000	0.000	2563	3625	1414
7601	1.32	201.0	165.2	19.9	421	7606	0.00	2.55	0.00	0.000	6	0.000	0.000	2557	2262	1419
7925	1.36	201.0	102.5	19.8	436	7926	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2255	1411
8275	1.32	201.0	32.0	19.2	493	8283	0.00	2.38	0.00	0.000	4	0.000	0.000	2551	3426	1417
8352	1.29	201.0	15.7	19.5	505	8360	0.00	2.38	0.00	0.000	6	0.000	0.000	2557	2110	1412
8418	end climb: SURFACE_DEPTH_REACHED
state	8418	begin surface coast
8425	end surface coast: CONTROL_FINISHED_OK
state	8425	begin surface