Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 5 * 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 5 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 4 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 3 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 1 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 -448702.59 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 -0.22280908 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 2 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 -0.22280908 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 -448702.59

CAPUPLOAD 0 HEADING 20 ROLL_ADJ_DBAND 0.029999999 T_MISSION 300

CF8_MAXERRORS 20 HEAD_ERRBAND 8 ROLL_ADJ_GAIN 1 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 4 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 3 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 2 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 5 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 231459,6632.650,-6030.779,18,1.1,18,18.0 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6642.798,-6029.319

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 232130,6632.650,-6030.779,10,1.1,10,18.0 MHEAD_RNG_PITCHd_Wd 2.0,20000,-26.0,-13.750

SPEED_LIMITS 0.226,0.242 D_GRID 990

Post-dive calculations and measurements:

FREEZE -0.00,5.108,-1.670 XPDR_PINGS -1

FINISH -0.0,1.024159 ALTIM_TOP_PING 18.4,18.5

SM_CCo 8339,130.52,0.000,1,0,421,451.35 ALTIM_BOTTOM_PING 401.5,84.4

SM_GC 0.00,0.00,0.00,130.52,0.000,0.000,0.000,610,1708,421,-7.49,-6.98,451.35 _24V_AH 23.7,53.722

RAFOS_CLK 0 _10V_AH 9.7,8.228

RAFOS 0,1160352262,0.083333,0.072778,80,0,0,0,0,0,533,0,0,0,0,0 DATA_FILE_SIZE 15867,522

RAFOS_FIX 6632.331055,-6025.778809,091006,000020,4,80,1.04 CFSIZE 255582208,243982336

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,90,912,1,0

TT8_MAMPS 0.024544 SOUNDSPEED 1468.5

HUMID 2451 CURRENT 0.049,253.3,1

INTERNAL_PRESSURE 26.026 GPS 091006,014452,6633.224,-6031.062,17,1.1,17,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 47 119 134.25 SBE_CT 424 24 241.58

Roll_motor 118 60 168.54 nil 0 0 0.00

VBD_pump_during_apogee 340 1300 10486.18 nil 0 0 0.00

VBD_pump_during_surface 130 600 1856.07 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 85 223 454.39

Transponder_ping 3 420 34.84

GPS 15 50 7.75

TT8 1621 19 313.39

LPSleep 5061 2 113.41

TT8_Active 738 19 142.63

TT8_Sampling 662 39 256.39

TT8_CF8 799 45 356.21

TT8_Kalman 0 0 0.00

Analog_circuits 1322 12 153.95

GPS_charging 0 0 0.00

Compass 572 26 144.49

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

34 end surface: CONTROL_FINISHED_OK

state 34 begin dive

41 -1.49 -116.8 0.0 0.0 0 130 0.00 0.00 -76.80 0.000 6 0.000 0.000 621 2162 2735

136 -1.49 -116.8 0.5 -1.0 10 153 7.18 2.45 0.00 0.000 4 0.000 0.000 2024 3672 2736

191 -1.60 -116.8 13.0 -9.1 17 200 0.80 2.85 0.00 0.000 6 0.000 0.000 1831 1990 2733

559 -1.18 -116.8 71.0 -14.7 78 568 1.35 3.03 0.00 0.000 4 0.000 0.000 2057 3683 2735

615 -1.44 -116.8 75.7 -5.8 86 624 0.77 3.78 0.00 0.000 6 0.000 0.000 1884 1857 2738

979 -1.17 -116.8 116.4 -11.3 129 987 0.75 3.25 0.00 0.000 4 0.000 0.000 2039 3624 2737

1078 -1.44 -116.8 122.9 -5.2 133 1086 0.77 3.70 0.00 0.000 6 0.000 0.000 1903 1748 2733

1413 -1.17 -116.8 157.5 -10.7 149 1421 0.77 3.83 0.00 0.000 4 0.000 0.000 2057 3636 2734

1532 -1.44 -116.8 164.7 -4.9 154 1540 0.77 2.95 0.00 0.000 6 0.000 0.000 1892 1823 2741

1867 -1.19 -116.8 196.1 -10.0 170 1875 0.93 3.22 0.00 0.000 4 0.000 0.000 2043 3659 2742

1958 -1.46 -116.8 201.0 -4.4 173 1967 0.82 4.03 0.00 0.000 6 0.000 0.000 1891 1824 2731

2283 -1.21 -116.8 230.5 -9.5 189 2291 0.88 3.75 0.00 0.000 4 0.000 0.000 2059 3476 2739

2383 -1.52 -116.8 236.6 -5.9 193 2391 0.90 3.17 0.00 0.000 6 0.000 0.000 1868 1821 2735

2713 -1.26 -116.8 265.5 -9.0 209 2721 0.70 3.75 0.00 0.000 4 0.000 0.000 2052 3442 2740

2832 -1.51 -116.8 271.4 -4.3 214 2838 0.80 2.35 0.00 0.000 6 0.000 0.000 1889 1799 2734

3164 -1.26 -116.8 299.7 -8.8 230 3171 0.85 2.72 0.00 0.000 4 0.000 0.000 2046 3582 2738

3268 -1.55 -116.8 304.8 -3.9 234 3281 0.80 3.15 0.00 0.000 6 0.000 0.000 1878 1766 2734

3593 -1.28 -116.8 331.3 -8.8 250 3601 0.73 3.22 0.00 0.000 4 0.000 0.000 2065 3596 2740

3692 -1.53 -116.8 336.5 -4.2 254 3700 0.77 3.38 0.00 0.000 6 0.000 0.000 1877 2059 2732

4022 -1.25 -116.8 364.6 -8.8 270 4029 1.08 2.25 0.00 0.000 4 0.000 0.000 2074 3561 2737

4062 -1.50 -116.8 367.2 -4.6 271 4072 0.80 3.20 0.00 0.000 6 0.000 0.000 1937 1883 2743

4382 -1.38 -116.8 389.1 -7.0 287 4389 0.25 3.45 0.00 0.000 4 0.000 0.000 2009 3555 2734

4472 -1.46 -116.8 394.1 -5.3 290 4481 0.47 3.03 0.00 0.000 6 0.000 0.000 1878 1905 2739

4792 -1.19 -116.8 420.7 -8.4 306 4800 0.68 2.97 0.00 0.000 4 0.000 0.000 2063 3562 2739

4871 -1.43 -116.8 424.5 -4.1 309 4878 0.77 2.88 0.00 0.000 6 0.000 0.000 1892 2073 2738

5205 -1.14 -116.8 451.8 -8.4 325 5213 0.88 2.65 0.00 0.000 4 0.000 0.000 2049 3570 2744

5240 -1.42 -116.8 454.3 -4.4 326 5253 0.80 2.65 0.00 0.000 6 0.000 0.000 1870 2010 2736

5516 end dive: BOTTOM_OBSTACLE_DETECTED

state 5516 begin apogee

5529 -0.25 0.0 477.4 8.4 340 5646 1.73 0.00 112.55 0.000 6 0.000 0.000 2266 1692 2259

5651 end apogee: CONTROL_FINISHED_OK

state 5651 begin climb

5657 1.49 116.8 477.9 0.0 346 5783 1.55 2.33 112.85 0.001 4 0.000 0.000 2611 364 1782

5808 1.36 116.8 452.6 21.4 352 5817 0.52 3.38 0.00 0.000 6 0.000 0.000 2504 2063 1788

6132 1.52 134.9 411.8 12.3 368 6157 0.88 2.53 17.02 0.001 4 0.000 0.000 2679 3581 1709

6255 1.20 134.9 379.5 27.0 373 6263 0.85 2.62 0.00 0.000 6 0.000 0.000 2491 1729 1708

6589 1.35 145.4 335.0 12.9 389 6613 0.47 3.38 10.05 0.001 4 0.000 0.000 2622 3583 1667

6767 1.17 145.4 294.7 23.1 396 6776 0.77 2.85 0.00 0.000 6 0.000 0.000 2438 1768 1665

7092 1.56 199.5 262.7 9.5 412 7153 0.98 3.47 52.58 0.001 4 0.000 0.000 2671 3421 1443

7344 1.22 199.5 187.3 31.1 422 7352 1.08 2.35 0.03 0.001 6 0.000 0.000 2429 1926 1448

7679 1.60 243.2 148.8 10.3 438 7726 1.42 3.38 35.28 0.001 4 0.000 0.000 2686 3585 1272

7835 1.26 243.2 98.5 34.3 444 7845 0.82 3.05 0.00 0.000 6 0.000 0.000 2537 1757 1268

8202 1.25 243.2 21.9 18.5 505 8211 0.00 3.33 0.00 0.000 4 0.000 0.000 2565 3555 1266

8290 end climb: SURFACE_DEPTH_REACHED

state 8290 begin surface coast

8307 end surface coast: CONTROL_FINISHED_OK

state 8307 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	5	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	4	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	3	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	1	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	-448702.59	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	-0.22280908	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	2	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	231459,6632.650,-6030.779,18,1.1,18,18.0	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6642.798,-6029.319
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	232130,6632.650,-6030.779,10,1.1,10,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,5.108,-1.670	XPDR_PINGS	-1
FINISH	-0.0,1.024159	ALTIM_TOP_PING	18.4,18.5
SM_CCo	8339,130.52,0.000,1,0,421,451.35	ALTIM_BOTTOM_PING	401.5,84.4
SM_GC	0.00,0.00,0.00,130.52,0.000,0.000,0.000,610,1708,421,-7.49,-6.98,451.35	_24V_AH	23.7,53.722
RAFOS_CLK	0	_10V_AH	9.7,8.228
RAFOS	0,1160352262,0.083333,0.072778,80,0,0,0,0,0,533,0,0,0,0,0	DATA_FILE_SIZE	15867,522
RAFOS_FIX	6632.331055,-6025.778809,091006,000020,4,80,1.04	CFSIZE	255582208,243982336
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,90,912,1,0
TT8_MAMPS	0.024544	SOUNDSPEED	1468.5
HUMID	2451	CURRENT	0.049,253.3,1
INTERNAL_PRESSURE	26.026	GPS	091006,014452,6633.224,-6031.062,17,1.1,17,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	47	119	134.25	SBE_CT	424	24	241.58
Roll_motor	118	60	168.54	nil	0	0	0.00
VBD_pump_during_apogee	340	1300	10486.18	nil	0	0	0.00
VBD_pump_during_surface	130	600	1856.07	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	85	223	454.39
Transponder_ping	3	420	34.84
GPS	15	50	7.75
TT8	1621	19	313.39
LPSleep	5061	2	113.41
TT8_Active	738	19	142.63
TT8_Sampling	662	39	256.39
TT8_CF8	799	45	356.21
TT8_Kalman	0	0	0.00
Analog_circuits	1322	12	153.95
GPS_charging	0	0	0.00
Compass	572	26	144.49
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
34	end surface: CONTROL_FINISHED_OK
state	34	begin dive
41	-1.49	-116.8	0.0	0.0	0	130	0.00	0.00	-76.80	0.000	6	0.000	0.000	621	2162	2735
136	-1.49	-116.8	0.5	-1.0	10	153	7.18	2.45	0.00	0.000	4	0.000	0.000	2024	3672	2736
191	-1.60	-116.8	13.0	-9.1	17	200	0.80	2.85	0.00	0.000	6	0.000	0.000	1831	1990	2733
559	-1.18	-116.8	71.0	-14.7	78	568	1.35	3.03	0.00	0.000	4	0.000	0.000	2057	3683	2735
615	-1.44	-116.8	75.7	-5.8	86	624	0.77	3.78	0.00	0.000	6	0.000	0.000	1884	1857	2738
979	-1.17	-116.8	116.4	-11.3	129	987	0.75	3.25	0.00	0.000	4	0.000	0.000	2039	3624	2737
1078	-1.44	-116.8	122.9	-5.2	133	1086	0.77	3.70	0.00	0.000	6	0.000	0.000	1903	1748	2733
1413	-1.17	-116.8	157.5	-10.7	149	1421	0.77	3.83	0.00	0.000	4	0.000	0.000	2057	3636	2734
1532	-1.44	-116.8	164.7	-4.9	154	1540	0.77	2.95	0.00	0.000	6	0.000	0.000	1892	1823	2741
1867	-1.19	-116.8	196.1	-10.0	170	1875	0.93	3.22	0.00	0.000	4	0.000	0.000	2043	3659	2742
1958	-1.46	-116.8	201.0	-4.4	173	1967	0.82	4.03	0.00	0.000	6	0.000	0.000	1891	1824	2731
2283	-1.21	-116.8	230.5	-9.5	189	2291	0.88	3.75	0.00	0.000	4	0.000	0.000	2059	3476	2739
2383	-1.52	-116.8	236.6	-5.9	193	2391	0.90	3.17	0.00	0.000	6	0.000	0.000	1868	1821	2735
2713	-1.26	-116.8	265.5	-9.0	209	2721	0.70	3.75	0.00	0.000	4	0.000	0.000	2052	3442	2740
2832	-1.51	-116.8	271.4	-4.3	214	2838	0.80	2.35	0.00	0.000	6	0.000	0.000	1889	1799	2734
3164	-1.26	-116.8	299.7	-8.8	230	3171	0.85	2.72	0.00	0.000	4	0.000	0.000	2046	3582	2738
3268	-1.55	-116.8	304.8	-3.9	234	3281	0.80	3.15	0.00	0.000	6	0.000	0.000	1878	1766	2734
3593	-1.28	-116.8	331.3	-8.8	250	3601	0.73	3.22	0.00	0.000	4	0.000	0.000	2065	3596	2740
3692	-1.53	-116.8	336.5	-4.2	254	3700	0.77	3.38	0.00	0.000	6	0.000	0.000	1877	2059	2732
4022	-1.25	-116.8	364.6	-8.8	270	4029	1.08	2.25	0.00	0.000	4	0.000	0.000	2074	3561	2737
4062	-1.50	-116.8	367.2	-4.6	271	4072	0.80	3.20	0.00	0.000	6	0.000	0.000	1937	1883	2743
4382	-1.38	-116.8	389.1	-7.0	287	4389	0.25	3.45	0.00	0.000	4	0.000	0.000	2009	3555	2734
4472	-1.46	-116.8	394.1	-5.3	290	4481	0.47	3.03	0.00	0.000	6	0.000	0.000	1878	1905	2739
4792	-1.19	-116.8	420.7	-8.4	306	4800	0.68	2.97	0.00	0.000	4	0.000	0.000	2063	3562	2739
4871	-1.43	-116.8	424.5	-4.1	309	4878	0.77	2.88	0.00	0.000	6	0.000	0.000	1892	2073	2738
5205	-1.14	-116.8	451.8	-8.4	325	5213	0.88	2.65	0.00	0.000	4	0.000	0.000	2049	3570	2744
5240	-1.42	-116.8	454.3	-4.4	326	5253	0.80	2.65	0.00	0.000	6	0.000	0.000	1870	2010	2736
5516	end dive: BOTTOM_OBSTACLE_DETECTED
state	5516	begin apogee
5529	-0.25	0.0	477.4	8.4	340	5646	1.73	0.00	112.55	0.000	6	0.000	0.000	2266	1692	2259
5651	end apogee: CONTROL_FINISHED_OK
state	5651	begin climb
5657	1.49	116.8	477.9	0.0	346	5783	1.55	2.33	112.85	0.001	4	0.000	0.000	2611	364	1782
5808	1.36	116.8	452.6	21.4	352	5817	0.52	3.38	0.00	0.000	6	0.000	0.000	2504	2063	1788
6132	1.52	134.9	411.8	12.3	368	6157	0.88	2.53	17.02	0.001	4	0.000	0.000	2679	3581	1709
6255	1.20	134.9	379.5	27.0	373	6263	0.85	2.62	0.00	0.000	6	0.000	0.000	2491	1729	1708
6589	1.35	145.4	335.0	12.9	389	6613	0.47	3.38	10.05	0.001	4	0.000	0.000	2622	3583	1667
6767	1.17	145.4	294.7	23.1	396	6776	0.77	2.85	0.00	0.000	6	0.000	0.000	2438	1768	1665
7092	1.56	199.5	262.7	9.5	412	7153	0.98	3.47	52.58	0.001	4	0.000	0.000	2671	3421	1443
7344	1.22	199.5	187.3	31.1	422	7352	1.08	2.35	0.03	0.001	6	0.000	0.000	2429	1926	1448
7679	1.60	243.2	148.8	10.3	438	7726	1.42	3.38	35.28	0.001	4	0.000	0.000	2686	3585	1272
7835	1.26	243.2	98.5	34.3	444	7845	0.82	3.05	0.00	0.000	6	0.000	0.000	2537	1757	1268
8202	1.25	243.2	21.9	18.5	505	8211	0.00	3.33	0.00	0.000	4	0.000	0.000	2565	3555	1266
8290	end climb: SURFACE_DEPTH_REACHED
state	8290	begin surface coast
8307	end surface coast: CONTROL_FINISHED_OK
state	8307	begin surface