Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 28 * 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 28 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 153 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 14 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 -447194.91 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 -447194.91

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 153 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 14 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 28 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 072410,6637.913,-6008.866,5,1.1,5,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6627.285,-6008.102

_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 072823,6637.913,-6008.866,21,1.1,21,18.0 MHEAD_RNG_PITCHd_Wd 151.8,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024897 XPDR_PINGS -1

SM_CCo 8322,12.00,0.000,0,0,390,452.33 ALTIM_TOP_PING 19.3,17.1

SM_GC 0.34,0.00,0.00,12.00,0.000,0.000,0.000,611,2093,390,-7.66,3.08,452.33 ALTIM_BOTTOM_PING 500.3,69.8

RAFOS_CLK 0 _24V_AH 23.7,36.797

RAFOS 0,1160553857,8.083333,8.071389,80,0,0,0,0,0,503,0,0,0,0,0 _10V_AH 9.7,5.623

RAFOS_FIX 6637.820801,-6003.065430,111006,080820,4,80,1.34 DATA_FILE_SIZE 15859,508

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242589696

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,54,775,0,0

HUMID 2292 SOUNDSPEED 1459.9

INTERNAL_PRESSURE 25.9772 CURRENT 0.062, 50.8,1

TCM_TEMP 15.00 GPS 111006,094930,6637.165,-6007.601,25,1.1,25,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 119 84.61 SBE_CT 421 24 239.62

Roll_motor 98 60 140.03 nil 0 0 0.00

VBD_pump_during_apogee 38 1300 1183.10 nil 0 0 0.00

VBD_pump_during_surface 12 600 170.64 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 67 223 354.36

Transponder_ping 4 420 44.79

GPS 22 50 10.67

TT8 1674 19 323.57

LPSleep 5425 2 121.57

TT8_Active 243 19 47.15

TT8_Sampling 579 39 224.39

TT8_CF8 682 45 303.80

TT8_Kalman 0 81 0.00

Analog_circuits 737 12 85.79

GPS_charging 0 0 0.00

Compass 485 26 122.54

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 58 0.00 0.00 -8.10 0.000 6 0.000 0.000 658 1936 2854

64 -1.49 -116.8 0.3 -0.0 2 82 6.85 3.25 0.00 0.000 4 0.000 0.000 1966 3633 2849

299 -1.49 -116.8 29.0 -10.8 39 308 0.00 2.88 0.00 0.000 6 0.000 0.000 1929 1942 2849

667 -1.56 -116.8 68.7 -10.8 100 677 0.05 3.67 0.00 0.000 4 0.000 0.000 1969 3415 2851

763 -1.50 -116.8 79.2 -11.0 115 771 0.00 2.92 0.00 0.000 6 0.000 0.000 1979 1910 2855

1123 -1.50 -116.8 118.5 -11.0 155 1131 0.30 3.12 0.00 0.000 4 0.000 0.000 1893 3596 2852

1222 -1.45 -116.8 132.2 -13.9 159 1229 0.50 2.53 0.00 0.000 6 0.000 0.000 2023 1939 2849

1549 -1.34 -116.8 160.6 -8.5 175 1554 0.00 2.92 0.00 0.000 4 0.000 0.000 2021 3660 2858

1635 -1.44 -116.8 167.8 -8.7 178 1644 0.50 3.15 0.00 0.000 6 0.000 0.000 1889 1977 2853

1954 -1.63 -116.8 210.5 -14.1 194 1961 0.00 3.40 0.00 0.000 4 0.000 0.000 1870 3636 2855

2025 -1.40 -116.8 220.4 -13.9 197 2032 0.47 3.22 0.00 0.000 6 0.000 0.000 2021 1994 2852

2360 -1.28 -116.8 249.6 -8.4 213 2366 0.50 2.45 0.00 0.000 4 0.000 0.000 1912 3637 2859

2440 -1.39 -116.8 259.6 -13.8 216 2453 0.55 2.83 0.00 0.000 6 0.000 0.000 2009 2167 2848

2764 -1.33 -116.8 287.9 -8.4 232 2772 0.40 3.25 0.00 0.000 4 0.000 0.000 1900 488 2849

2790 -1.43 -116.8 290.8 -10.8 233 2798 0.45 3.78 0.00 0.000 6 0.000 0.000 2001 2332 2851

3126 -1.47 -116.8 320.4 -8.6 249 3128 0.50 0.00 0.00 0.000 6 0.000 0.000 1892 2341 2855

3440 -1.56 -116.8 362.5 -14.0 264 3448 0.22 3.92 0.00 0.000 4 0.000 0.000 1955 482 2851

3470 -1.32 -116.8 366.9 -11.4 265 3477 0.03 3.53 0.00 0.000 6 0.000 0.000 1967 2349 2855

3799 -1.38 -116.8 403.9 -12.0 281 3805 0.00 3.00 0.00 0.000 4 0.000 0.000 1959 532 2855

3824 -1.31 -116.8 406.8 -10.9 282 3832 0.03 3.30 0.00 0.000 6 0.000 0.000 1940 2374 2851

4153 -1.36 -116.8 443.4 -11.2 298 4154 0.00 0.00 0.00 0.000 6 0.000 0.000 1937 2380 2854

4468 -1.29 -116.8 478.0 -11.1 313 4475 0.00 3.47 0.00 0.000 4 0.000 0.000 1975 672 2848

4502 -1.21 -116.8 482.7 -11.2 314 4515 0.47 3.12 0.00 0.000 6 0.000 0.000 2083 2330 2855

4851 -1.32 -116.8 505.5 -6.4 329 4853 0.93 0.00 0.00 0.000 6 0.000 0.000 1887 2338 2850

5170 -1.57 -116.8 547.3 -14.0 337 5172 0.28 0.00 0.00 0.000 6 0.000 0.000 1950 2329 2847

5286 end dive: BOTTOM_OBSTACLE_DETECTED

state 5287 begin apogee

5299 -0.25 0.0 562.4 12.8 340 5318 1.58 0.00 14.57 0.000 6 0.000 0.000 2263 1852 2242

5318 end apogee: CONTROL_FINISHED_OK

state 5319 begin climb

5324 1.49 116.8 562.4 0.0 340 5340 2.30 0.00 11.27 0.000 6 0.000 0.000 2624 1834 1763

5659 1.49 116.8 503.3 19.4 349 5665 0.00 3.08 0.00 0.000 4 0.000 0.000 2634 3423 1759

5877 1.31 116.8 460.6 19.7 357 5887 0.52 2.97 0.00 0.000 6 0.000 0.000 2501 1934 1764

6202 1.17 146.4 423.7 11.4 373 6210 0.00 2.65 2.65 0.001 4 0.000 0.000 2483 3613 1653

6330 1.36 161.1 407.1 12.6 378 6344 0.55 3.28 1.50 0.001 6 0.000 0.000 2603 1972 1589

6654 1.58 161.1 337.1 22.1 394 6660 0.00 2.88 0.00 0.000 4 0.000 0.000 2615 3490 1586

6757 1.39 161.1 315.0 22.9 398 6762 0.47 2.35 0.00 0.000 6 0.000 0.000 2478 2158 1591

7083 1.27 161.1 257.0 22.9 413 7085 0.50 0.00 0.00 0.000 6 0.000 0.000 2618 2177 1592

7386 0.94 161.1 188.3 21.8 428 7393 0.75 2.67 0.00 0.000 4 0.000 0.000 2436 3519 1595

7437 0.75 220.4 181.5 9.0 430 7447 0.00 2.75 5.00 0.000 6 0.000 0.000 2403 2160 1331

7768 1.22 263.4 148.7 10.3 445 7778 0.65 3.15 3.40 0.001 4 0.000 0.000 2594 3678 1171

7815 1.61 263.4 136.8 28.5 447 7822 0.00 3.17 0.00 0.000 6 0.000 0.000 2623 2047 1169

8167 1.53 263.4 34.0 28.5 489 8175 0.00 2.58 0.00 0.000 4 0.000 0.000 2605 3405 1168

8274 1.35 263.4 5.2 28.3 505 8283 0.52 2.58 0.00 0.000 6 0.000 0.000 2486 2084 1172

8288 end climb: SURFACE_DEPTH_REACHED

state 8288 begin surface coast

8294 end surface coast: CONTROL_FINISHED_OK

state 8294 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	28	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	153	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	14	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	-447194.91	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	072410,6637.913,-6008.866,5,1.1,5,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6627.285,-6008.102
_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	072823,6637.913,-6008.866,21,1.1,21,18.0	MHEAD_RNG_PITCHd_Wd	151.8,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024897	XPDR_PINGS	-1
SM_CCo	8322,12.00,0.000,0,0,390,452.33	ALTIM_TOP_PING	19.3,17.1
SM_GC	0.34,0.00,0.00,12.00,0.000,0.000,0.000,611,2093,390,-7.66,3.08,452.33	ALTIM_BOTTOM_PING	500.3,69.8
RAFOS_CLK	0	_24V_AH	23.7,36.797
RAFOS	0,1160553857,8.083333,8.071389,80,0,0,0,0,0,503,0,0,0,0,0	_10V_AH	9.7,5.623
RAFOS_FIX	6637.820801,-6003.065430,111006,080820,4,80,1.34	DATA_FILE_SIZE	15859,508
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242589696
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,54,775,0,0
HUMID	2292	SOUNDSPEED	1459.9
INTERNAL_PRESSURE	25.9772	CURRENT	0.062, 50.8,1
TCM_TEMP	15.00	GPS	111006,094930,6637.165,-6007.601,25,1.1,25,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	119	84.61	SBE_CT	421	24	239.62
Roll_motor	98	60	140.03	nil	0	0	0.00
VBD_pump_during_apogee	38	1300	1183.10	nil	0	0	0.00
VBD_pump_during_surface	12	600	170.64	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	354.36
Transponder_ping	4	420	44.79
GPS	22	50	10.67
TT8	1674	19	323.57
LPSleep	5425	2	121.57
TT8_Active	243	19	47.15
TT8_Sampling	579	39	224.39
TT8_CF8	682	45	303.80
TT8_Kalman	0	81	0.00
Analog_circuits	737	12	85.79
GPS_charging	0	0	0.00
Compass	485	26	122.54
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	58	0.00	0.00	-8.10	0.000	6	0.000	0.000	658	1936	2854
64	-1.49	-116.8	0.3	-0.0	2	82	6.85	3.25	0.00	0.000	4	0.000	0.000	1966	3633	2849
299	-1.49	-116.8	29.0	-10.8	39	308	0.00	2.88	0.00	0.000	6	0.000	0.000	1929	1942	2849
667	-1.56	-116.8	68.7	-10.8	100	677	0.05	3.67	0.00	0.000	4	0.000	0.000	1969	3415	2851
763	-1.50	-116.8	79.2	-11.0	115	771	0.00	2.92	0.00	0.000	6	0.000	0.000	1979	1910	2855
1123	-1.50	-116.8	118.5	-11.0	155	1131	0.30	3.12	0.00	0.000	4	0.000	0.000	1893	3596	2852
1222	-1.45	-116.8	132.2	-13.9	159	1229	0.50	2.53	0.00	0.000	6	0.000	0.000	2023	1939	2849
1549	-1.34	-116.8	160.6	-8.5	175	1554	0.00	2.92	0.00	0.000	4	0.000	0.000	2021	3660	2858
1635	-1.44	-116.8	167.8	-8.7	178	1644	0.50	3.15	0.00	0.000	6	0.000	0.000	1889	1977	2853
1954	-1.63	-116.8	210.5	-14.1	194	1961	0.00	3.40	0.00	0.000	4	0.000	0.000	1870	3636	2855
2025	-1.40	-116.8	220.4	-13.9	197	2032	0.47	3.22	0.00	0.000	6	0.000	0.000	2021	1994	2852
2360	-1.28	-116.8	249.6	-8.4	213	2366	0.50	2.45	0.00	0.000	4	0.000	0.000	1912	3637	2859
2440	-1.39	-116.8	259.6	-13.8	216	2453	0.55	2.83	0.00	0.000	6	0.000	0.000	2009	2167	2848
2764	-1.33	-116.8	287.9	-8.4	232	2772	0.40	3.25	0.00	0.000	4	0.000	0.000	1900	488	2849
2790	-1.43	-116.8	290.8	-10.8	233	2798	0.45	3.78	0.00	0.000	6	0.000	0.000	2001	2332	2851
3126	-1.47	-116.8	320.4	-8.6	249	3128	0.50	0.00	0.00	0.000	6	0.000	0.000	1892	2341	2855
3440	-1.56	-116.8	362.5	-14.0	264	3448	0.22	3.92	0.00	0.000	4	0.000	0.000	1955	482	2851
3470	-1.32	-116.8	366.9	-11.4	265	3477	0.03	3.53	0.00	0.000	6	0.000	0.000	1967	2349	2855
3799	-1.38	-116.8	403.9	-12.0	281	3805	0.00	3.00	0.00	0.000	4	0.000	0.000	1959	532	2855
3824	-1.31	-116.8	406.8	-10.9	282	3832	0.03	3.30	0.00	0.000	6	0.000	0.000	1940	2374	2851
4153	-1.36	-116.8	443.4	-11.2	298	4154	0.00	0.00	0.00	0.000	6	0.000	0.000	1937	2380	2854
4468	-1.29	-116.8	478.0	-11.1	313	4475	0.00	3.47	0.00	0.000	4	0.000	0.000	1975	672	2848
4502	-1.21	-116.8	482.7	-11.2	314	4515	0.47	3.12	0.00	0.000	6	0.000	0.000	2083	2330	2855
4851	-1.32	-116.8	505.5	-6.4	329	4853	0.93	0.00	0.00	0.000	6	0.000	0.000	1887	2338	2850
5170	-1.57	-116.8	547.3	-14.0	337	5172	0.28	0.00	0.00	0.000	6	0.000	0.000	1950	2329	2847
5286	end dive: BOTTOM_OBSTACLE_DETECTED
state	5287	begin apogee
5299	-0.25	0.0	562.4	12.8	340	5318	1.58	0.00	14.57	0.000	6	0.000	0.000	2263	1852	2242
5318	end apogee: CONTROL_FINISHED_OK
state	5319	begin climb
5324	1.49	116.8	562.4	0.0	340	5340	2.30	0.00	11.27	0.000	6	0.000	0.000	2624	1834	1763
5659	1.49	116.8	503.3	19.4	349	5665	0.00	3.08	0.00	0.000	4	0.000	0.000	2634	3423	1759
5877	1.31	116.8	460.6	19.7	357	5887	0.52	2.97	0.00	0.000	6	0.000	0.000	2501	1934	1764
6202	1.17	146.4	423.7	11.4	373	6210	0.00	2.65	2.65	0.001	4	0.000	0.000	2483	3613	1653
6330	1.36	161.1	407.1	12.6	378	6344	0.55	3.28	1.50	0.001	6	0.000	0.000	2603	1972	1589
6654	1.58	161.1	337.1	22.1	394	6660	0.00	2.88	0.00	0.000	4	0.000	0.000	2615	3490	1586
6757	1.39	161.1	315.0	22.9	398	6762	0.47	2.35	0.00	0.000	6	0.000	0.000	2478	2158	1591
7083	1.27	161.1	257.0	22.9	413	7085	0.50	0.00	0.00	0.000	6	0.000	0.000	2618	2177	1592
7386	0.94	161.1	188.3	21.8	428	7393	0.75	2.67	0.00	0.000	4	0.000	0.000	2436	3519	1595
7437	0.75	220.4	181.5	9.0	430	7447	0.00	2.75	5.00	0.000	6	0.000	0.000	2403	2160	1331
7768	1.22	263.4	148.7	10.3	445	7778	0.65	3.15	3.40	0.001	4	0.000	0.000	2594	3678	1171
7815	1.61	263.4	136.8	28.5	447	7822	0.00	3.17	0.00	0.000	6	0.000	0.000	2623	2047	1169
8167	1.53	263.4	34.0	28.5	489	8175	0.00	2.58	0.00	0.000	4	0.000	0.000	2605	3405	1168
8274	1.35	263.4	5.2	28.3	505	8283	0.52	2.58	0.00	0.000	6	0.000	0.000	2486	2084	1172
8288	end climb: SURFACE_DEPTH_REACHED
state	8288	begin surface coast
8294	end surface coast: CONTROL_FINISHED_OK
state	8294	begin surface