Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 33 * 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 33 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 148 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 -447293.31 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 -447293.31

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 148 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 33 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 200501,6637.079,-6007.015,21,1.1,22,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6643.380,-6003.549

_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 200923,6637.079,-6007.015,26,1.1,26,18.0 MHEAD_RNG_PITCHd_Wd 36.3,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025329 XPDR_PINGS -1

SM_CCo 8854,14.27,0.000,0,0,402,451.35 ALTIM_TOP_PING 19.3,19.5

SM_GC 0.34,0.00,0.00,14.27,0.000,0.000,0.000,600,1688,402,-7.75,-8.09,451.35 ALTIM_BOTTOM_PING 502.4,78.8

RAFOS_CLK 0 _24V_AH 23.7,38.207

RAFOS 1,1160597645,20.250000,20.234722,80,0,0,0,0,0,712,0,0,0,0,0 _10V_AH 9.7,5.836

RAFOS_FIX 6636.915527,-6004.068848,111006,202040,3,80,2.11 DATA_FILE_SIZE 19008,547

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242241536

TT8_MAMPS 0.023777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,49,771,0,0

HUMID 2294 SOUNDSPEED 1459.8

INTERNAL_PRESSURE 26.0455 CURRENT 0.066,288.8,1

TCM_TEMP 15.00 GPS 111006,223908,6637.895,-6005.761,12,1.1,12,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 119 82.56 SBE_CT 454 24 258.24

Roll_motor 99 60 141.31 nil 0 0 0.00

VBD_pump_during_apogee 35 1300 1099.92 nil 0 0 0.00

VBD_pump_during_surface 14 600 202.99 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 67 223 357.79

Transponder_ping 4 420 44.79

GPS 27 50 13.11

TT8 1757 19 339.61

LPSleep 5799 2 129.95

TT8_Active 240 19 46.39

TT8_Sampling 620 39 240.46

TT8_CF8 726 45 323.41

TT8_Kalman 0 81 0.00

Analog_circuits 761 12 88.69

GPS_charging 0 0 0.00

Compass 516 26 130.34

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 -8.15 0.000 6 0.000 0.000 596 2100 2857

64 -1.49 -116.8 0.3 0.0 2 82 6.70 2.95 0.00 0.000 4 0.000 0.000 1998 3449 2857

372 -1.49 -116.8 31.7 -8.7 52 381 0.50 3.20 0.00 0.000 6 0.000 0.000 1914 1881 2862

741 -1.64 -116.8 83.5 -14.0 113 749 0.00 3.22 0.00 0.000 4 0.000 0.000 1881 3549 2856

864 -1.39 -116.8 100.7 -14.5 132 872 0.55 2.88 0.00 0.000 6 0.000 0.000 2008 2040 2854

1188 -1.24 -116.8 129.5 -8.6 148 1195 0.00 3.53 0.00 0.000 4 0.000 0.000 2030 3695 2855

1218 -1.34 -116.8 132.7 -8.9 149 1225 0.52 2.88 0.00 0.000 6 0.000 0.000 1879 2111 2858

1547 -1.49 -116.8 180.4 -14.9 165 1553 0.40 2.72 0.00 0.000 4 0.000 0.000 2017 3639 2862

1572 -1.21 -116.8 184.0 -13.4 166 1578 0.00 2.97 0.00 0.000 6 0.000 0.000 2009 1950 2861

1904 -1.18 -116.8 214.0 -9.2 182 1909 0.00 2.80 0.00 0.000 4 0.000 0.000 2012 3615 2862

1962 -1.23 -116.8 220.2 -9.3 184 1971 0.00 2.67 0.00 0.000 6 0.000 0.000 1990 2094 2870

2288 -1.48 -116.8 249.5 -9.2 200 2294 0.55 2.17 0.00 0.000 4 0.000 0.000 1886 3446 2862

2341 -1.53 -116.8 257.8 -14.8 202 2347 0.52 2.35 0.00 0.000 6 0.000 0.000 1982 2120 2863

2666 -1.33 -116.8 288.8 -9.5 217 2668 0.20 0.00 0.00 0.000 6 0.000 0.000 1942 2118 2860

2976 -1.36 -116.8 323.4 -12.1 232 2981 0.00 2.80 0.00 0.000 4 0.000 0.000 1938 3611 2857

3006 -1.24 -116.8 328.0 -12.2 233 3018 0.52 2.75 0.00 0.000 6 0.000 0.000 2076 1943 2864

3335 -1.19 -116.8 351.1 -6.9 249 3343 0.50 3.25 0.00 0.000 4 0.000 0.000 1940 3664 2856

3384 -1.41 -116.8 356.7 -11.9 251 3390 0.08 2.95 0.00 0.000 6 0.000 0.000 1955 2164 2857

3720 -1.41 -116.8 395.4 -11.0 267 3721 0.00 0.00 0.00 0.000 6 0.000 0.000 1958 2168 2858

4025 -1.43 -116.8 432.3 -11.9 282 4026 0.00 0.00 0.00 0.000 6 0.000 0.000 1942 2179 2858

4334 -1.32 -116.8 469.2 -11.9 297 4340 0.45 2.78 0.00 0.000 4 0.000 0.000 2074 3663 2863

4360 -1.20 -116.8 472.0 -10.3 298 4367 0.47 2.92 0.00 0.000 6 0.000 0.000 1947 2169 2859

4713 -1.33 -116.8 512.0 -11.9 313 4715 0.32 0.00 0.00 0.000 6 0.000 0.000 2022 2165 2857

5034 -1.22 -116.8 542.4 -9.2 321 5038 0.00 2.12 0.00 0.000 4 0.000 0.000 1990 3682 2862

5070 -1.27 -116.8 545.9 -9.1 321 5079 0.00 3.17 0.00 0.000 6 0.000 0.000 2000 2194 2864

5359 end dive: BOTTOM_OBSTACLE_DETECTED

state 5359 begin apogee

5372 -0.25 0.0 573.0 9.2 329 5390 1.52 0.00 14.52 0.000 6 0.000 0.000 2257 2012 2246

5391 end apogee: CONTROL_FINISHED_OK

state 5391 begin climb

5397 1.49 116.8 573.0 0.0 329 5412 1.88 0.00 11.50 0.000 6 0.000 0.000 2611 2025 1758

5732 1.49 116.8 514.7 19.0 338 5737 0.03 2.42 0.00 0.000 4 0.000 0.000 2609 3363 1764

5894 1.31 116.8 482.0 19.0 343 5900 0.52 2.47 0.00 0.000 6 0.000 0.000 2493 2025 1760

6225 1.17 148.4 444.6 11.2 359 6235 0.00 3.40 2.88 0.001 4 0.000 0.000 2499 3555 1644

6326 1.36 167.8 431.5 12.2 363 6340 0.52 3.53 2.10 0.000 6 0.000 0.000 2618 1865 1556

6656 1.59 167.8 361.4 22.4 379 6662 0.00 3.17 0.00 0.000 4 0.000 0.000 2612 3558 1552

6782 1.43 167.8 330.2 22.0 384 6792 0.45 3.30 0.00 0.000 6 0.000 0.000 2533 1863 1553

7107 1.33 167.8 275.3 17.0 400 7114 0.00 3.28 0.00 0.000 4 0.000 0.000 2544 3546 1550

7234 1.33 167.8 251.5 17.7 405 7239 0.00 3.12 0.00 0.000 6 0.000 0.000 2551 1904 1550

7558 1.38 167.8 192.6 23.0 420 7563 0.00 2.88 0.00 0.000 4 0.000 0.000 2547 3417 1552

7695 1.03 167.8 167.1 17.2 426 7701 0.47 2.03 0.00 0.000 6 0.000 0.000 2446 2039 1554

8026 1.08 167.8 130.6 16.6 442 8034 0.57 3.03 0.00 0.000 4 0.000 0.000 2565 3562 1548

8105 1.00 167.8 115.1 17.4 445 8112 0.52 2.78 0.00 0.000 6 0.000 0.000 2440 2195 1552

8455 1.05 227.3 79.7 9.0 487 8472 0.40 3.03 4.70 0.000 4 0.000 0.000 2522 3555 1322

8536 1.37 227.3 65.3 20.5 499 8544 0.00 2.58 0.00 0.000 6 0.000 0.000 2555 2213 1317

8819 end climb: SURFACE_DEPTH_REACHED

state 8819 begin surface coast

8824 end surface coast: CONTROL_FINISHED_OK

state 8824 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	33	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	148	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	-447293.31	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	200501,6637.079,-6007.015,21,1.1,22,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6643.380,-6003.549
_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	200923,6637.079,-6007.015,26,1.1,26,18.0	MHEAD_RNG_PITCHd_Wd	36.3,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025329	XPDR_PINGS	-1
SM_CCo	8854,14.27,0.000,0,0,402,451.35	ALTIM_TOP_PING	19.3,19.5
SM_GC	0.34,0.00,0.00,14.27,0.000,0.000,0.000,600,1688,402,-7.75,-8.09,451.35	ALTIM_BOTTOM_PING	502.4,78.8
RAFOS_CLK	0	_24V_AH	23.7,38.207
RAFOS	1,1160597645,20.250000,20.234722,80,0,0,0,0,0,712,0,0,0,0,0	_10V_AH	9.7,5.836
RAFOS_FIX	6636.915527,-6004.068848,111006,202040,3,80,2.11	DATA_FILE_SIZE	19008,547
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242241536
TT8_MAMPS	0.023777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,49,771,0,0
HUMID	2294	SOUNDSPEED	1459.8
INTERNAL_PRESSURE	26.0455	CURRENT	0.066,288.8,1
TCM_TEMP	15.00	GPS	111006,223908,6637.895,-6005.761,12,1.1,12,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	119	82.56	SBE_CT	454	24	258.24
Roll_motor	99	60	141.31	nil	0	0	0.00
VBD_pump_during_apogee	35	1300	1099.92	nil	0	0	0.00
VBD_pump_during_surface	14	600	202.99	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	357.79
Transponder_ping	4	420	44.79
GPS	27	50	13.11
TT8	1757	19	339.61
LPSleep	5799	2	129.95
TT8_Active	240	19	46.39
TT8_Sampling	620	39	240.46
TT8_CF8	726	45	323.41
TT8_Kalman	0	81	0.00
Analog_circuits	761	12	88.69
GPS_charging	0	0	0.00
Compass	516	26	130.34
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	-8.15	0.000	6	0.000	0.000	596	2100	2857
64	-1.49	-116.8	0.3	0.0	2	82	6.70	2.95	0.00	0.000	4	0.000	0.000	1998	3449	2857
372	-1.49	-116.8	31.7	-8.7	52	381	0.50	3.20	0.00	0.000	6	0.000	0.000	1914	1881	2862
741	-1.64	-116.8	83.5	-14.0	113	749	0.00	3.22	0.00	0.000	4	0.000	0.000	1881	3549	2856
864	-1.39	-116.8	100.7	-14.5	132	872	0.55	2.88	0.00	0.000	6	0.000	0.000	2008	2040	2854
1188	-1.24	-116.8	129.5	-8.6	148	1195	0.00	3.53	0.00	0.000	4	0.000	0.000	2030	3695	2855
1218	-1.34	-116.8	132.7	-8.9	149	1225	0.52	2.88	0.00	0.000	6	0.000	0.000	1879	2111	2858
1547	-1.49	-116.8	180.4	-14.9	165	1553	0.40	2.72	0.00	0.000	4	0.000	0.000	2017	3639	2862
1572	-1.21	-116.8	184.0	-13.4	166	1578	0.00	2.97	0.00	0.000	6	0.000	0.000	2009	1950	2861
1904	-1.18	-116.8	214.0	-9.2	182	1909	0.00	2.80	0.00	0.000	4	0.000	0.000	2012	3615	2862
1962	-1.23	-116.8	220.2	-9.3	184	1971	0.00	2.67	0.00	0.000	6	0.000	0.000	1990	2094	2870
2288	-1.48	-116.8	249.5	-9.2	200	2294	0.55	2.17	0.00	0.000	4	0.000	0.000	1886	3446	2862
2341	-1.53	-116.8	257.8	-14.8	202	2347	0.52	2.35	0.00	0.000	6	0.000	0.000	1982	2120	2863
2666	-1.33	-116.8	288.8	-9.5	217	2668	0.20	0.00	0.00	0.000	6	0.000	0.000	1942	2118	2860
2976	-1.36	-116.8	323.4	-12.1	232	2981	0.00	2.80	0.00	0.000	4	0.000	0.000	1938	3611	2857
3006	-1.24	-116.8	328.0	-12.2	233	3018	0.52	2.75	0.00	0.000	6	0.000	0.000	2076	1943	2864
3335	-1.19	-116.8	351.1	-6.9	249	3343	0.50	3.25	0.00	0.000	4	0.000	0.000	1940	3664	2856
3384	-1.41	-116.8	356.7	-11.9	251	3390	0.08	2.95	0.00	0.000	6	0.000	0.000	1955	2164	2857
3720	-1.41	-116.8	395.4	-11.0	267	3721	0.00	0.00	0.00	0.000	6	0.000	0.000	1958	2168	2858
4025	-1.43	-116.8	432.3	-11.9	282	4026	0.00	0.00	0.00	0.000	6	0.000	0.000	1942	2179	2858
4334	-1.32	-116.8	469.2	-11.9	297	4340	0.45	2.78	0.00	0.000	4	0.000	0.000	2074	3663	2863
4360	-1.20	-116.8	472.0	-10.3	298	4367	0.47	2.92	0.00	0.000	6	0.000	0.000	1947	2169	2859
4713	-1.33	-116.8	512.0	-11.9	313	4715	0.32	0.00	0.00	0.000	6	0.000	0.000	2022	2165	2857
5034	-1.22	-116.8	542.4	-9.2	321	5038	0.00	2.12	0.00	0.000	4	0.000	0.000	1990	3682	2862
5070	-1.27	-116.8	545.9	-9.1	321	5079	0.00	3.17	0.00	0.000	6	0.000	0.000	2000	2194	2864
5359	end dive: BOTTOM_OBSTACLE_DETECTED
state	5359	begin apogee
5372	-0.25	0.0	573.0	9.2	329	5390	1.52	0.00	14.52	0.000	6	0.000	0.000	2257	2012	2246
5391	end apogee: CONTROL_FINISHED_OK
state	5391	begin climb
5397	1.49	116.8	573.0	0.0	329	5412	1.88	0.00	11.50	0.000	6	0.000	0.000	2611	2025	1758
5732	1.49	116.8	514.7	19.0	338	5737	0.03	2.42	0.00	0.000	4	0.000	0.000	2609	3363	1764
5894	1.31	116.8	482.0	19.0	343	5900	0.52	2.47	0.00	0.000	6	0.000	0.000	2493	2025	1760
6225	1.17	148.4	444.6	11.2	359	6235	0.00	3.40	2.88	0.001	4	0.000	0.000	2499	3555	1644
6326	1.36	167.8	431.5	12.2	363	6340	0.52	3.53	2.10	0.000	6	0.000	0.000	2618	1865	1556
6656	1.59	167.8	361.4	22.4	379	6662	0.00	3.17	0.00	0.000	4	0.000	0.000	2612	3558	1552
6782	1.43	167.8	330.2	22.0	384	6792	0.45	3.30	0.00	0.000	6	0.000	0.000	2533	1863	1553
7107	1.33	167.8	275.3	17.0	400	7114	0.00	3.28	0.00	0.000	4	0.000	0.000	2544	3546	1550
7234	1.33	167.8	251.5	17.7	405	7239	0.00	3.12	0.00	0.000	6	0.000	0.000	2551	1904	1550
7558	1.38	167.8	192.6	23.0	420	7563	0.00	2.88	0.00	0.000	4	0.000	0.000	2547	3417	1552
7695	1.03	167.8	167.1	17.2	426	7701	0.47	2.03	0.00	0.000	6	0.000	0.000	2446	2039	1554
8026	1.08	167.8	130.6	16.6	442	8034	0.57	3.03	0.00	0.000	4	0.000	0.000	2565	3562	1548
8105	1.00	167.8	115.1	17.4	445	8112	0.52	2.78	0.00	0.000	6	0.000	0.000	2440	2195	1552
8455	1.05	227.3	79.7	9.0	487	8472	0.40	3.03	4.70	0.000	4	0.000	0.000	2522	3555	1322
8536	1.37	227.3	65.3	20.5	499	8544	0.00	2.58	0.00	0.000	6	0.000	0.000	2555	2213	1317
8819	end climb: SURFACE_DEPTH_REACHED
state	8819	begin surface coast
8824	end surface coast: CONTROL_FINISHED_OK
state	8824	begin surface