Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 35 * 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 35 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 157 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 -447323.88 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 -447323.88

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 157 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 35 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 012338,6638.196,-6008.132,20,1.1,20,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6629.659,-6010.770

_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 012745,6638.196,-6008.132,12,1.1,12,18.0 MHEAD_RNG_PITCHd_Wd 199.8,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024881 XPDR_PINGS -1

SM_CCo 8221,16.55,0.000,0,0,425,450.62 ALTIM_TOP_PING 18.2,19.0

SM_GC 0.34,0.00,0.00,16.55,0.000,0.000,0.000,651,2057,425,-7.42,2.04,450.62 ALTIM_BOTTOM_PING 501.4,70.9

RAFOS_CLK 0 _24V_AH 23.7,38.784

RAFOS 4,1160623753,3.500000,3.486944,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,5.922

RAFOS_FIX 6638.182617,-6003.028320,121006,000020,4,80,0.36 DATA_FILE_SIZE 15879,501

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242118656

TT8_MAMPS 0.025311 ERRORS 0,0,0,0,0,0,0,0,0,0,0,48,794,0,0

HUMID 2240 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 26.0455 CURRENT 0.071,107.4,1

TCM_TEMP 15.00 GPS 121006,034649,6637.287,-6008.806,12,1.1,12,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 119 72.90 SBE_CT 415 24 236.30

Roll_motor 102 60 145.72 nil 0 0 0.00

VBD_pump_during_apogee 33 1300 1028.28 nil 0 0 0.00

VBD_pump_during_surface 16 600 235.34 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 67 223 358.01

Transponder_ping 4 420 44.79

GPS 13 50 6.51

TT8 1637 19 316.48

LPSleep 5336 2 119.56

TT8_Active 249 19 48.27

TT8_Sampling 557 39 216.07

TT8_CF8 704 45 313.99

TT8_Kalman 0 81 0.00

Analog_circuits 732 12 85.30

GPS_charging 0 0 0.00

Compass 475 26 119.82

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 36 begin dive

42 -1.49 -116.8 0.0 0.0 0 58 0.00 0.00 -7.90 0.000 6 0.000 0.000 651 1931 2880

65 -1.49 -116.8 0.3 -0.0 2 82 6.93 2.75 0.00 0.000 4 0.000 0.000 1969 590 2872

249 -1.49 -116.8 24.7 -11.1 31 258 0.08 2.88 0.00 0.000 6 0.000 0.000 1973 2105 2875

620 -1.66 -116.8 65.0 -10.6 92 629 0.45 2.75 0.00 0.000 4 0.000 0.000 1854 3599 2879

725 -1.63 -116.8 80.9 -16.5 108 735 0.52 3.58 0.00 0.000 6 0.000 0.000 1971 1900 2880

1077 -1.38 -116.8 120.8 -11.0 143 1082 0.00 3.12 0.00 0.000 4 0.000 0.000 1971 3629 2876

1157 -1.34 -116.8 130.1 -11.0 146 1163 0.00 2.97 0.00 0.000 6 0.000 0.000 1972 2128 2881

1482 -1.40 -116.8 165.5 -11.2 161 1484 0.00 0.00 0.00 0.000 6 0.000 0.000 1961 2120 2879

1787 -1.35 -116.8 199.8 -11.1 176 1792 0.00 2.95 0.00 0.000 4 0.000 0.000 1960 3604 2886

1823 -1.31 -116.8 204.1 -11.1 177 1832 0.00 3.38 0.00 0.000 6 0.000 0.000 1979 1932 2878

2148 -1.36 -116.8 239.4 -11.2 193 2153 0.00 3.03 0.00 0.000 4 0.000 0.000 1964 3602 2877

2218 -1.32 -116.8 248.4 -12.8 196 2225 0.00 3.28 0.00 0.000 6 0.000 0.000 1967 1933 2879

2553 -1.37 -116.8 284.2 -11.1 212 2560 0.03 3.22 0.00 0.000 4 0.000 0.000 1965 3618 2876

2637 -1.33 -116.8 294.0 -11.3 215 2650 0.03 3.45 0.00 0.000 6 0.000 0.000 1972 1976 2879

2961 -1.38 -116.8 330.2 -11.1 231 2967 0.00 3.15 0.00 0.000 4 0.000 0.000 1963 3657 2885

3015 -1.34 -116.8 336.5 -11.4 233 3020 0.00 2.75 0.00 0.000 6 0.000 0.000 1939 2011 2870

3341 -1.40 -116.8 371.6 -11.1 248 3348 0.00 3.38 0.00 0.000 4 0.000 0.000 1977 3642 2879

3420 -1.35 -116.8 380.9 -11.4 251 3425 0.00 2.70 0.00 0.000 6 0.000 0.000 1965 2083 2879

3750 -1.41 -116.8 417.2 -11.0 267 3751 0.00 0.00 0.00 0.000 6 0.000 0.000 1970 2098 2877

4055 -1.37 -116.8 451.6 -11.2 282 4062 0.00 3.53 0.00 0.000 4 0.000 0.000 1974 3591 2872

4107 -1.32 -116.8 457.7 -11.3 284 4112 0.00 2.58 0.00 0.000 6 0.000 0.000 1954 2242 2879

4437 -1.37 -116.8 493.5 -11.1 300 4442 0.00 2.97 0.00 0.000 4 0.000 0.000 1980 590 2873

4468 -1.32 -116.8 497.7 -11.1 301 4480 0.00 3.50 0.00 0.000 6 0.000 0.000 1957 2446 2873

4788 -1.44 -116.8 532.9 -11.1 310 4796 0.00 4.22 0.00 0.000 4 0.000 0.000 1957 630 2878

4840 -1.39 -116.8 539.0 -10.9 311 4847 0.00 3.17 0.00 0.000 6 0.000 0.000 1977 2278 2871

5085 end dive: BOTTOM_OBSTACLE_DETECTED

state 5085 begin apogee

5098 -0.25 0.0 565.9 11.0 317 5124 1.38 0.00 15.23 0.000 6 0.000 0.000 2268 2134 2242

5124 end apogee: CONTROL_FINISHED_OK

state 5124 begin climb

5130 1.49 116.8 569.0 0.0 318 5145 1.70 0.00 11.27 0.000 6 0.000 0.000 2629 2137 1765

5450 1.49 116.8 506.6 20.3 326 5458 0.47 3.05 0.00 0.000 4 0.000 0.000 2492 3653 1768

5541 1.26 131.3 494.9 12.6 328 5550 0.00 2.67 1.45 0.001 6 0.000 0.000 2490 2120 1704

5866 1.37 137.4 451.3 13.3 344 5872 0.47 2.75 0.00 0.000 4 0.000 0.000 2640 3602 1708

5903 1.45 137.4 442.8 22.2 345 5912 0.50 2.62 0.62 0.000 6 0.000 0.000 2521 1901 1676

6227 1.26 137.4 396.8 14.4 361 6234 0.03 3.38 0.00 0.000 4 0.000 0.000 2512 3372 1686

6345 1.32 137.4 379.9 14.2 366 6351 0.50 2.28 0.00 0.000 6 0.000 0.000 2655 2184 1682

6681 1.42 137.4 305.4 23.2 382 6683 0.60 0.00 0.00 0.000 6 0.000 0.000 2513 2199 1676

6991 1.13 137.4 259.5 14.2 397 6996 0.05 2.78 0.00 0.000 4 0.000 0.000 2493 3682 1684

7045 1.18 174.3 252.5 10.8 399 7060 0.52 3.03 3.55 0.000 6 0.000 0.000 2600 1952 1525

7369 1.51 174.3 184.6 21.6 415 7374 0.00 2.65 0.00 0.000 4 0.000 0.000 2581 3455 1528

7463 1.37 174.3 164.6 22.1 419 7468 0.03 2.03 0.00 0.000 6 0.000 0.000 2588 2104 1532

7787 1.29 174.3 93.6 21.5 436 7796 0.52 2.75 0.00 0.000 4 0.000 0.000 2487 3573 1527

7835 1.14 191.0 86.7 12.4 442 7845 0.50 2.42 1.25 0.000 6 0.000 0.000 2582 2068 1468

8183 end climb: SURFACE_DEPTH_REACHED

state 8184 begin surface coast

8191 end surface coast: CONTROL_FINISHED_OK

state 8191 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	35	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	157	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	-447323.88	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	012338,6638.196,-6008.132,20,1.1,20,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6629.659,-6010.770
_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	012745,6638.196,-6008.132,12,1.1,12,18.0	MHEAD_RNG_PITCHd_Wd	199.8,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024881	XPDR_PINGS	-1
SM_CCo	8221,16.55,0.000,0,0,425,450.62	ALTIM_TOP_PING	18.2,19.0
SM_GC	0.34,0.00,0.00,16.55,0.000,0.000,0.000,651,2057,425,-7.42,2.04,450.62	ALTIM_BOTTOM_PING	501.4,70.9
RAFOS_CLK	0	_24V_AH	23.7,38.784
RAFOS	4,1160623753,3.500000,3.486944,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,5.922
RAFOS_FIX	6638.182617,-6003.028320,121006,000020,4,80,0.36	DATA_FILE_SIZE	15879,501
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242118656
TT8_MAMPS	0.025311	ERRORS	0,0,0,0,0,0,0,0,0,0,0,48,794,0,0
HUMID	2240	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	26.0455	CURRENT	0.071,107.4,1
TCM_TEMP	15.00	GPS	121006,034649,6637.287,-6008.806,12,1.1,12,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	119	72.90	SBE_CT	415	24	236.30
Roll_motor	102	60	145.72	nil	0	0	0.00
VBD_pump_during_apogee	33	1300	1028.28	nil	0	0	0.00
VBD_pump_during_surface	16	600	235.34	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	358.01
Transponder_ping	4	420	44.79
GPS	13	50	6.51
TT8	1637	19	316.48
LPSleep	5336	2	119.56
TT8_Active	249	19	48.27
TT8_Sampling	557	39	216.07
TT8_CF8	704	45	313.99
TT8_Kalman	0	81	0.00
Analog_circuits	732	12	85.30
GPS_charging	0	0	0.00
Compass	475	26	119.82
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	36	begin dive
42	-1.49	-116.8	0.0	0.0	0	58	0.00	0.00	-7.90	0.000	6	0.000	0.000	651	1931	2880
65	-1.49	-116.8	0.3	-0.0	2	82	6.93	2.75	0.00	0.000	4	0.000	0.000	1969	590	2872
249	-1.49	-116.8	24.7	-11.1	31	258	0.08	2.88	0.00	0.000	6	0.000	0.000	1973	2105	2875
620	-1.66	-116.8	65.0	-10.6	92	629	0.45	2.75	0.00	0.000	4	0.000	0.000	1854	3599	2879
725	-1.63	-116.8	80.9	-16.5	108	735	0.52	3.58	0.00	0.000	6	0.000	0.000	1971	1900	2880
1077	-1.38	-116.8	120.8	-11.0	143	1082	0.00	3.12	0.00	0.000	4	0.000	0.000	1971	3629	2876
1157	-1.34	-116.8	130.1	-11.0	146	1163	0.00	2.97	0.00	0.000	6	0.000	0.000	1972	2128	2881
1482	-1.40	-116.8	165.5	-11.2	161	1484	0.00	0.00	0.00	0.000	6	0.000	0.000	1961	2120	2879
1787	-1.35	-116.8	199.8	-11.1	176	1792	0.00	2.95	0.00	0.000	4	0.000	0.000	1960	3604	2886
1823	-1.31	-116.8	204.1	-11.1	177	1832	0.00	3.38	0.00	0.000	6	0.000	0.000	1979	1932	2878
2148	-1.36	-116.8	239.4	-11.2	193	2153	0.00	3.03	0.00	0.000	4	0.000	0.000	1964	3602	2877
2218	-1.32	-116.8	248.4	-12.8	196	2225	0.00	3.28	0.00	0.000	6	0.000	0.000	1967	1933	2879
2553	-1.37	-116.8	284.2	-11.1	212	2560	0.03	3.22	0.00	0.000	4	0.000	0.000	1965	3618	2876
2637	-1.33	-116.8	294.0	-11.3	215	2650	0.03	3.45	0.00	0.000	6	0.000	0.000	1972	1976	2879
2961	-1.38	-116.8	330.2	-11.1	231	2967	0.00	3.15	0.00	0.000	4	0.000	0.000	1963	3657	2885
3015	-1.34	-116.8	336.5	-11.4	233	3020	0.00	2.75	0.00	0.000	6	0.000	0.000	1939	2011	2870
3341	-1.40	-116.8	371.6	-11.1	248	3348	0.00	3.38	0.00	0.000	4	0.000	0.000	1977	3642	2879
3420	-1.35	-116.8	380.9	-11.4	251	3425	0.00	2.70	0.00	0.000	6	0.000	0.000	1965	2083	2879
3750	-1.41	-116.8	417.2	-11.0	267	3751	0.00	0.00	0.00	0.000	6	0.000	0.000	1970	2098	2877
4055	-1.37	-116.8	451.6	-11.2	282	4062	0.00	3.53	0.00	0.000	4	0.000	0.000	1974	3591	2872
4107	-1.32	-116.8	457.7	-11.3	284	4112	0.00	2.58	0.00	0.000	6	0.000	0.000	1954	2242	2879
4437	-1.37	-116.8	493.5	-11.1	300	4442	0.00	2.97	0.00	0.000	4	0.000	0.000	1980	590	2873
4468	-1.32	-116.8	497.7	-11.1	301	4480	0.00	3.50	0.00	0.000	6	0.000	0.000	1957	2446	2873
4788	-1.44	-116.8	532.9	-11.1	310	4796	0.00	4.22	0.00	0.000	4	0.000	0.000	1957	630	2878
4840	-1.39	-116.8	539.0	-10.9	311	4847	0.00	3.17	0.00	0.000	6	0.000	0.000	1977	2278	2871
5085	end dive: BOTTOM_OBSTACLE_DETECTED
state	5085	begin apogee
5098	-0.25	0.0	565.9	11.0	317	5124	1.38	0.00	15.23	0.000	6	0.000	0.000	2268	2134	2242
5124	end apogee: CONTROL_FINISHED_OK
state	5124	begin climb
5130	1.49	116.8	569.0	0.0	318	5145	1.70	0.00	11.27	0.000	6	0.000	0.000	2629	2137	1765
5450	1.49	116.8	506.6	20.3	326	5458	0.47	3.05	0.00	0.000	4	0.000	0.000	2492	3653	1768
5541	1.26	131.3	494.9	12.6	328	5550	0.00	2.67	1.45	0.001	6	0.000	0.000	2490	2120	1704
5866	1.37	137.4	451.3	13.3	344	5872	0.47	2.75	0.00	0.000	4	0.000	0.000	2640	3602	1708
5903	1.45	137.4	442.8	22.2	345	5912	0.50	2.62	0.62	0.000	6	0.000	0.000	2521	1901	1676
6227	1.26	137.4	396.8	14.4	361	6234	0.03	3.38	0.00	0.000	4	0.000	0.000	2512	3372	1686
6345	1.32	137.4	379.9	14.2	366	6351	0.50	2.28	0.00	0.000	6	0.000	0.000	2655	2184	1682
6681	1.42	137.4	305.4	23.2	382	6683	0.60	0.00	0.00	0.000	6	0.000	0.000	2513	2199	1676
6991	1.13	137.4	259.5	14.2	397	6996	0.05	2.78	0.00	0.000	4	0.000	0.000	2493	3682	1684
7045	1.18	174.3	252.5	10.8	399	7060	0.52	3.03	3.55	0.000	6	0.000	0.000	2600	1952	1525
7369	1.51	174.3	184.6	21.6	415	7374	0.00	2.65	0.00	0.000	4	0.000	0.000	2581	3455	1528
7463	1.37	174.3	164.6	22.1	419	7468	0.03	2.03	0.00	0.000	6	0.000	0.000	2588	2104	1532
7787	1.29	174.3	93.6	21.5	436	7796	0.52	2.75	0.00	0.000	4	0.000	0.000	2487	3573	1527
7835	1.14	191.0	86.7	12.4	442	7845	0.50	2.42	1.25	0.000	6	0.000	0.000	2582	2068	1468
8183	end climb: SURFACE_DEPTH_REACHED
state	8184	begin surface coast
8191	end surface coast: CONTROL_FINISHED_OK
state	8191	begin surface