Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 30 * 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 30 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 185 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 -447235.06 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 -447235.06

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 185 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 30 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 122921,6637.729,-6005.656,9,1.1,9,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6647.683,-6007.306

_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 -69.9 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 123326,6637.729,-6005.656,9,1.1,9,18.0 MHEAD_RNG_PITCHd_Wd 319.2,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024743 XPDR_PINGS -1

SM_CCo 8652,16.12,0.000,0,0,427,450.37 ALTIM_TOP_PING 19.4,19.5

SM_GC 0.34,0.00,0.00,16.12,0.000,0.000,0.000,657,1867,427,-7.36,-2.71,450.37 ALTIM_BOTTOM_PING 527.3,60.2

RAFOS_CLK 0 _24V_AH 23.7,37.359

RAFOS 2,1160569443,12.416667,12.400833,80,0,0,0,0,0,931,0,0,0,0,0 _10V_AH 9.7,5.707

RAFOS_FIX 6637.769531,-6002.481445,111006,121252,4,80,0.00 DATA_FILE_SIZE 15842,518

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242454528

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,46,660,0,0

HUMID 2263 SOUNDSPEED 1460.0

INTERNAL_PRESSURE 25.9479 CURRENT 0.073,222.9,1

TCM_TEMP 15.00 GPS 111006,150016,6638.392,-6007.470,35,1.1,35,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 119 76.29 SBE_CT 430 24 245.05

Roll_motor 85 60 121.55 nil 0 0 0.00

VBD_pump_during_apogee 33 1300 1035.22 nil 0 0 0.00

VBD_pump_during_surface 16 600 229.30 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 67 223 357.71

Transponder_ping 5 420 49.77

GPS 10 50 5.25

TT8 1679 19 324.45

LPSleep 5762 2 129.12

TT8_Active 227 19 43.94

TT8_Sampling 567 39 219.78

TT8_CF8 692 45 308.60

TT8_Kalman 0 81 0.00

Analog_circuits 715 12 83.29

GPS_charging 0 0 0.00

Compass 481 26 121.39

RAFOS 360 1 5.24

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 59 0.00 0.00 -7.90 0.000 6 0.000 0.000 635 2023 2849

65 -1.49 -116.8 0.3 -0.0 2 82 6.72 2.65 0.00 0.000 4 0.000 0.000 1978 544 2850

271 -1.49 -116.8 24.6 -9.6 35 280 0.52 3.33 0.00 0.000 6 0.000 0.000 1868 2197 2852

640 -1.72 -116.8 78.2 -8.2 96 649 0.00 2.33 0.00 0.000 4 0.000 0.000 1879 3551 2851

707 -1.69 -116.8 88.5 -15.5 106 716 0.12 2.42 0.00 0.000 6 0.000 0.000 1869 1882 2850

1059 -1.49 -116.8 141.7 -15.3 131 1065 0.45 2.58 0.00 0.000 4 0.000 0.000 2006 3356 2849

1189 -1.17 -116.8 156.3 -10.4 136 1197 0.03 2.53 0.00 0.000 6 0.000 0.000 1983 2013 2845

1509 -1.25 -116.8 186.3 -9.5 152 1514 0.00 3.12 0.00 0.000 4 0.000 0.000 1986 3648 2849

1562 -1.28 -116.8 191.7 -9.5 154 1567 0.00 2.75 0.00 0.000 6 0.000 0.000 1982 2112 2853

1887 -1.40 -116.8 221.9 -9.4 169 1892 0.08 2.55 0.00 0.000 4 0.000 0.000 1983 3667 2851

1918 -1.42 -116.8 225.5 -9.5 170 1924 0.52 2.45 0.00 0.000 6 0.000 0.000 1893 2128 2853

2243 -1.52 -116.8 271.1 -14.7 185 2250 0.52 2.95 0.00 0.000 4 0.000 0.000 2020 3612 2849

2294 -1.24 -116.8 278.0 -9.1 187 2300 0.00 3.08 0.00 0.000 6 0.000 0.000 1996 2222 2843

2625 -1.37 -116.8 307.5 -9.1 203 2627 0.45 0.00 0.00 0.000 6 0.000 0.000 1867 2235 2850

2934 -1.42 -116.8 352.0 -15.0 218 2936 0.45 0.00 0.00 0.000 6 0.000 0.000 2007 2244 2853

3243 -1.12 -116.8 381.3 -9.4 233 3245 0.08 0.00 0.00 0.000 6 0.000 0.000 1996 2230 2847

3552 -1.16 -116.8 410.1 -9.3 248 3554 0.00 0.00 0.00 0.000 6 0.000 0.000 2002 2213 2852

3857 -1.19 -116.8 439.1 -9.3 263 3858 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2215 2846

4166 -1.22 -116.8 468.0 -9.4 278 4167 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 2210 2842

4475 -1.26 -116.8 496.9 -9.3 293 4477 0.00 0.00 0.00 0.000 6 0.000 0.000 2008 2228 2851

4804 -1.29 -116.8 527.3 -9.3 302 4808 0.03 2.17 0.00 0.000 4 0.000 0.000 1993 3403 2855

4839 -1.32 -116.8 531.1 -9.1 302 4848 0.00 2.03 0.00 0.000 6 0.000 0.000 1994 2058 2853

5175 -1.42 -116.8 562.3 -9.4 311 5181 0.40 2.85 0.00 0.000 4 0.000 0.000 1871 3627 2846

5220 -1.45 -116.8 568.3 -15.7 312 5227 0.50 3.03 0.00 0.000 6 0.000 0.000 1983 2101 2849

5303 end dive: BOTTOM_OBSTACLE_DETECTED

state 5303 begin apogee

5315 -0.25 0.0 577.9 9.4 314 5333 1.80 0.00 14.45 0.000 6 0.000 0.000 2231 2132 2253

5334 end apogee: CONTROL_FINISHED_OK

state 5334 begin climb

5340 1.49 116.8 577.9 0.0 314 5356 1.98 0.00 11.65 0.000 6 0.000 0.000 2664 2116 1768

5675 1.49 116.8 508.4 22.6 323 5680 0.45 2.25 0.00 0.000 4 0.000 0.000 2550 3455 1767

5722 1.16 116.8 500.2 13.8 324 5727 0.00 3.08 0.00 0.000 6 0.000 0.000 2527 1934 1770

6053 1.22 116.8 454.7 14.1 339 6060 0.00 3.28 0.00 0.000 4 0.000 0.000 2524 3421 1767

6193 1.22 116.8 433.3 15.6 345 6198 0.03 2.62 0.00 0.000 6 0.000 0.000 2534 1931 1770

6528 1.06 116.8 386.8 13.9 361 6536 0.45 3.25 0.00 0.000 4 0.000 0.000 2427 3560 1770

6627 1.06 194.8 377.6 7.5 365 6647 0.52 2.25 7.50 0.001 6 0.000 0.000 2552 2061 1448

6956 1.57 194.8 319.0 18.5 381 6964 0.52 2.75 0.00 0.000 4 0.000 0.000 2625 3564 1452

7032 1.57 194.8 302.9 23.7 384 7037 0.00 2.67 0.00 0.000 6 0.000 0.000 2619 2206 1443

7368 1.47 194.8 223.0 24.0 400 7373 0.03 1.85 0.00 0.000 4 0.000 0.000 2602 3558 1443

7398 1.30 194.8 213.6 24.6 401 7411 0.52 2.75 0.00 0.000 6 0.000 0.000 2490 2070 1449

7727 1.18 196.2 168.1 13.6 417 7732 0.20 2.62 0.00 0.000 4 0.000 0.000 2555 3557 1451

7821 1.34 196.2 151.9 18.4 421 7826 0.03 2.42 0.00 0.000 6 0.000 0.000 2541 2015 1453

8147 1.41 196.2 90.6 23.9 441 8156 0.00 3.03 0.00 0.000 4 0.000 0.000 2535 3681 1446

8224 1.33 196.2 76.6 18.2 453 8232 0.00 2.35 0.00 0.000 6 0.000 0.000 2546 2157 1449

8594 1.42 196.2 3.9 18.1 514 8602 0.25 2.55 0.00 0.000 4 0.000 0.000 2538 3548 1447

8607 end climb: SURFACE_DEPTH_REACHED

state 8607 begin surface coast

8619 end surface coast: CONTROL_FINISHED_OK

state 8619 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	30	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	185	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	-447235.06	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	122921,6637.729,-6005.656,9,1.1,9,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6647.683,-6007.306
_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	-69.9	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	123326,6637.729,-6005.656,9,1.1,9,18.0	MHEAD_RNG_PITCHd_Wd	319.2,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024743	XPDR_PINGS	-1
SM_CCo	8652,16.12,0.000,0,0,427,450.37	ALTIM_TOP_PING	19.4,19.5
SM_GC	0.34,0.00,0.00,16.12,0.000,0.000,0.000,657,1867,427,-7.36,-2.71,450.37	ALTIM_BOTTOM_PING	527.3,60.2
RAFOS_CLK	0	_24V_AH	23.7,37.359
RAFOS	2,1160569443,12.416667,12.400833,80,0,0,0,0,0,931,0,0,0,0,0	_10V_AH	9.7,5.707
RAFOS_FIX	6637.769531,-6002.481445,111006,121252,4,80,0.00	DATA_FILE_SIZE	15842,518
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242454528
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,46,660,0,0
HUMID	2263	SOUNDSPEED	1460.0
INTERNAL_PRESSURE	25.9479	CURRENT	0.073,222.9,1
TCM_TEMP	15.00	GPS	111006,150016,6638.392,-6007.470,35,1.1,35,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	119	76.29	SBE_CT	430	24	245.05
Roll_motor	85	60	121.55	nil	0	0	0.00
VBD_pump_during_apogee	33	1300	1035.22	nil	0	0	0.00
VBD_pump_during_surface	16	600	229.30	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	357.71
Transponder_ping	5	420	49.77
GPS	10	50	5.25
TT8	1679	19	324.45
LPSleep	5762	2	129.12
TT8_Active	227	19	43.94
TT8_Sampling	567	39	219.78
TT8_CF8	692	45	308.60
TT8_Kalman	0	81	0.00
Analog_circuits	715	12	83.29
GPS_charging	0	0	0.00
Compass	481	26	121.39
RAFOS	360	1	5.24

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	59	0.00	0.00	-7.90	0.000	6	0.000	0.000	635	2023	2849
65	-1.49	-116.8	0.3	-0.0	2	82	6.72	2.65	0.00	0.000	4	0.000	0.000	1978	544	2850
271	-1.49	-116.8	24.6	-9.6	35	280	0.52	3.33	0.00	0.000	6	0.000	0.000	1868	2197	2852
640	-1.72	-116.8	78.2	-8.2	96	649	0.00	2.33	0.00	0.000	4	0.000	0.000	1879	3551	2851
707	-1.69	-116.8	88.5	-15.5	106	716	0.12	2.42	0.00	0.000	6	0.000	0.000	1869	1882	2850
1059	-1.49	-116.8	141.7	-15.3	131	1065	0.45	2.58	0.00	0.000	4	0.000	0.000	2006	3356	2849
1189	-1.17	-116.8	156.3	-10.4	136	1197	0.03	2.53	0.00	0.000	6	0.000	0.000	1983	2013	2845
1509	-1.25	-116.8	186.3	-9.5	152	1514	0.00	3.12	0.00	0.000	4	0.000	0.000	1986	3648	2849
1562	-1.28	-116.8	191.7	-9.5	154	1567	0.00	2.75	0.00	0.000	6	0.000	0.000	1982	2112	2853
1887	-1.40	-116.8	221.9	-9.4	169	1892	0.08	2.55	0.00	0.000	4	0.000	0.000	1983	3667	2851
1918	-1.42	-116.8	225.5	-9.5	170	1924	0.52	2.45	0.00	0.000	6	0.000	0.000	1893	2128	2853
2243	-1.52	-116.8	271.1	-14.7	185	2250	0.52	2.95	0.00	0.000	4	0.000	0.000	2020	3612	2849
2294	-1.24	-116.8	278.0	-9.1	187	2300	0.00	3.08	0.00	0.000	6	0.000	0.000	1996	2222	2843
2625	-1.37	-116.8	307.5	-9.1	203	2627	0.45	0.00	0.00	0.000	6	0.000	0.000	1867	2235	2850
2934	-1.42	-116.8	352.0	-15.0	218	2936	0.45	0.00	0.00	0.000	6	0.000	0.000	2007	2244	2853
3243	-1.12	-116.8	381.3	-9.4	233	3245	0.08	0.00	0.00	0.000	6	0.000	0.000	1996	2230	2847
3552	-1.16	-116.8	410.1	-9.3	248	3554	0.00	0.00	0.00	0.000	6	0.000	0.000	2002	2213	2852
3857	-1.19	-116.8	439.1	-9.3	263	3858	0.00	0.00	0.00	0.000	6	0.000	0.000	1986	2215	2846
4166	-1.22	-116.8	468.0	-9.4	278	4167	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	2210	2842
4475	-1.26	-116.8	496.9	-9.3	293	4477	0.00	0.00	0.00	0.000	6	0.000	0.000	2008	2228	2851
4804	-1.29	-116.8	527.3	-9.3	302	4808	0.03	2.17	0.00	0.000	4	0.000	0.000	1993	3403	2855
4839	-1.32	-116.8	531.1	-9.1	302	4848	0.00	2.03	0.00	0.000	6	0.000	0.000	1994	2058	2853
5175	-1.42	-116.8	562.3	-9.4	311	5181	0.40	2.85	0.00	0.000	4	0.000	0.000	1871	3627	2846
5220	-1.45	-116.8	568.3	-15.7	312	5227	0.50	3.03	0.00	0.000	6	0.000	0.000	1983	2101	2849
5303	end dive: BOTTOM_OBSTACLE_DETECTED
state	5303	begin apogee
5315	-0.25	0.0	577.9	9.4	314	5333	1.80	0.00	14.45	0.000	6	0.000	0.000	2231	2132	2253
5334	end apogee: CONTROL_FINISHED_OK
state	5334	begin climb
5340	1.49	116.8	577.9	0.0	314	5356	1.98	0.00	11.65	0.000	6	0.000	0.000	2664	2116	1768
5675	1.49	116.8	508.4	22.6	323	5680	0.45	2.25	0.00	0.000	4	0.000	0.000	2550	3455	1767
5722	1.16	116.8	500.2	13.8	324	5727	0.00	3.08	0.00	0.000	6	0.000	0.000	2527	1934	1770
6053	1.22	116.8	454.7	14.1	339	6060	0.00	3.28	0.00	0.000	4	0.000	0.000	2524	3421	1767
6193	1.22	116.8	433.3	15.6	345	6198	0.03	2.62	0.00	0.000	6	0.000	0.000	2534	1931	1770
6528	1.06	116.8	386.8	13.9	361	6536	0.45	3.25	0.00	0.000	4	0.000	0.000	2427	3560	1770
6627	1.06	194.8	377.6	7.5	365	6647	0.52	2.25	7.50	0.001	6	0.000	0.000	2552	2061	1448
6956	1.57	194.8	319.0	18.5	381	6964	0.52	2.75	0.00	0.000	4	0.000	0.000	2625	3564	1452
7032	1.57	194.8	302.9	23.7	384	7037	0.00	2.67	0.00	0.000	6	0.000	0.000	2619	2206	1443
7368	1.47	194.8	223.0	24.0	400	7373	0.03	1.85	0.00	0.000	4	0.000	0.000	2602	3558	1443
7398	1.30	194.8	213.6	24.6	401	7411	0.52	2.75	0.00	0.000	6	0.000	0.000	2490	2070	1449
7727	1.18	196.2	168.1	13.6	417	7732	0.20	2.62	0.00	0.000	4	0.000	0.000	2555	3557	1451
7821	1.34	196.2	151.9	18.4	421	7826	0.03	2.42	0.00	0.000	6	0.000	0.000	2541	2015	1453
8147	1.41	196.2	90.6	23.9	441	8156	0.00	3.03	0.00	0.000	4	0.000	0.000	2535	3681	1446
8224	1.33	196.2	76.6	18.2	453	8232	0.00	2.35	0.00	0.000	6	0.000	0.000	2546	2157	1449
8594	1.42	196.2	3.9	18.1	514	8602	0.25	2.55	0.00	0.000	4	0.000	0.000	2538	3548	1447
8607	end climb: SURFACE_DEPTH_REACHED
state	8607	begin surface coast
8619	end surface coast: CONTROL_FINISHED_OK
state	8619	begin surface