Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 68 * 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 68 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 12 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 152 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 -448068.94 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 -448068.94

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 12 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 152 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 68 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 091906,6637.484,-6008.083,28,1.1,28,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6629.254,-6010.873

_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 092324,6637.484,-6008.083,26,1.1,26,18.0 MHEAD_RNG_PITCHd_Wd 202.4,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025152 XPDR_PINGS -1

SM_CCo 8566,18.02,0.000,0,0,397,451.35 ALTIM_TOP_PING 19.6,19.6

SM_GC 0.34,0.00,0.00,18.02,0.000,0.000,0.000,571,1924,397,-7.77,-2.09,451.35 ALTIM_BOTTOM_PING 500.6,65.7

RAFOS_CLK 0 _24V_AH 23.7,47.629

RAFOS 4,1160904544,9.500000,9.484445,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,7.252

RAFOS_FIX 6637.386230,-6003.008301,151006,080820,4,80,0.48 DATA_FILE_SIZE 18977,521

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239951872

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,61,817,0,0

HUMID 2350 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 26.0455 CURRENT 0.068, 96.7,1

TCM_TEMP 15.00 GPS 151006,114825,6636.605,-6008.729,22,1.1,22,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 87.43 SBE_CT 431 24 245.64

Roll_motor 103 60 147.78 nil 0 0 0.00

VBD_pump_during_apogee 30 1300 934.31 nil 0 0 0.00

VBD_pump_during_surface 18 600 256.32 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 67 223 356.46

Transponder_ping 4 420 44.79

GPS 26 50 12.95

TT8 1712 19 330.84

LPSleep 5521 2 123.73

TT8_Active 254 19 49.11

TT8_Sampling 642 39 248.61

TT8_CF8 716 45 319.08

TT8_Kalman 0 81 0.00

Analog_circuits 793 12 92.35

GPS_charging 0 0 0.00

Compass 537 26 135.60

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

42 -1.49 -116.8 0.0 0.0 0 58 0.00 0.00 -8.00 0.000 6 0.000 0.000 607 1825 2847

64 -1.49 -116.8 0.3 0.0 2 82 6.62 2.20 0.00 0.000 4 0.000 0.000 2025 318 2843

174 -1.49 -116.8 14.0 -8.3 18 183 0.55 2.97 0.00 0.000 6 0.000 0.000 1883 1834 2843

544 -1.81 -116.8 63.3 -13.5 79 552 0.38 3.25 0.00 0.000 4 0.000 0.000 1778 3552 2840

683 -1.59 -116.8 89.7 -20.3 101 693 0.80 3.62 0.00 0.000 6 0.000 0.000 1950 1700 2842

1036 -1.02 -116.8 129.7 -11.1 126 1039 0.82 0.00 0.00 0.000 6 0.000 0.000 2133 1697 2849

1345 -0.94 -116.8 149.5 -5.9 141 1352 0.52 2.17 0.00 0.000 4 0.000 0.000 2073 526 2839

1401 -1.35 -116.8 153.4 -6.2 143 1407 0.77 2.12 0.00 0.000 6 0.000 0.000 1907 2033 2840

1727 -1.74 -116.8 197.9 -14.0 159 1732 0.00 3.08 0.00 0.000 4 0.000 0.000 1889 3516 2844

1774 -1.49 -116.8 204.9 -14.2 161 1782 0.50 3.03 0.00 0.000 6 0.000 0.000 2012 1817 2844

2104 -1.26 -116.8 233.7 -8.5 177 2110 0.10 3.05 0.00 0.000 4 0.000 0.000 2014 332 2837

2129 -1.36 -116.8 236.0 -8.3 178 2137 0.52 2.97 0.00 0.000 6 0.000 0.000 1902 1857 2840

2458 -1.58 -116.8 280.7 -13.9 194 2464 0.10 2.33 0.00 0.000 4 0.000 0.000 1906 332 2835

2488 -1.33 -116.8 285.2 -14.4 195 2501 0.57 2.88 0.00 0.000 6 0.000 0.000 2020 1852 2839

2818 -1.33 -116.8 313.4 -8.4 211 2825 0.40 2.97 0.00 0.000 4 0.000 0.000 1924 3360 2843

2968 -1.43 -116.8 333.9 -14.0 217 2980 0.52 2.75 0.00 0.000 6 0.000 0.000 2018 1871 2840

3297 -1.19 -116.8 361.5 -8.4 233 3302 0.00 2.45 0.00 0.000 4 0.000 0.000 2019 360 2842

3327 -1.29 -116.8 364.7 -8.6 234 3340 0.40 3.28 0.00 0.000 6 0.000 0.000 1979 1876 2848

3656 -1.56 -116.8 399.2 -10.9 250 3662 0.15 2.80 0.00 0.000 4 0.000 0.000 1957 3552 2841

3743 -1.51 -116.8 409.0 -10.6 253 3752 0.12 3.40 0.00 0.000 6 0.000 0.000 1952 1689 2842

4068 -1.45 -116.8 444.3 -11.0 269 4069 0.00 0.00 0.00 0.000 6 0.000 0.000 1943 1690 2846

4372 -1.40 -116.8 478.1 -10.8 284 4377 0.00 2.35 0.00 0.000 4 0.000 0.000 1962 383 2844

4402 -1.34 -116.8 481.7 -11.0 285 4408 0.00 3.03 0.00 0.000 6 0.000 0.000 1942 2016 2839

4740 -1.45 -116.8 518.4 -11.0 297 4746 0.00 3.08 0.00 0.000 4 0.000 0.000 1967 486 2839

4800 -1.40 -116.8 525.1 -11.3 298 4805 0.00 2.33 0.00 0.000 6 0.000 0.000 1969 2028 2843

5105 end dive: BOTTOM_OBSTACLE_DETECTED

state 5105 begin apogee

5117 -0.25 0.0 558.6 10.9 306 5135 1.52 0.00 14.30 0.000 6 0.000 0.000 2253 1683 2243

5136 end apogee: CONTROL_FINISHED_OK

state 5136 begin climb

5142 1.49 116.8 558.6 0.0 306 5162 2.08 2.62 11.15 0.000 4 0.000 0.000 2608 346 1765

5193 1.49 116.8 553.8 18.5 307 5199 0.10 2.85 0.00 0.000 6 0.000 0.000 2617 1822 1767

5511 1.57 116.8 493.0 18.9 315 5518 0.05 3.33 0.00 0.000 4 0.000 0.000 2607 3358 1766

5790 1.39 116.8 439.9 18.7 327 5795 0.50 2.22 0.00 0.000 6 0.000 0.000 2491 1860 1775

6126 1.22 137.1 399.2 12.1 343 6135 0.38 2.35 1.92 0.000 4 0.000 0.000 2612 3358 1693

6257 1.32 137.1 372.3 19.8 348 6267 0.50 2.72 0.00 0.000 6 0.000 0.000 2492 1857 1691

6582 1.16 165.6 334.6 11.5 364 6592 0.03 3.28 2.95 0.001 4 0.000 0.000 2542 3227 1564

6809 1.38 165.6 295.8 16.9 374 6814 0.15 2.33 0.00 0.000 6 0.000 0.000 2568 1885 1560

7138 1.38 165.6 241.3 17.1 390 7143 0.00 2.75 0.00 0.000 4 0.000 0.000 2539 3210 1563

7340 1.38 165.6 206.3 17.4 399 7345 0.00 2.62 0.00 0.000 6 0.000 0.000 2556 1987 1566

7676 1.38 165.6 150.4 17.0 415 7681 0.00 2.47 0.00 0.000 4 0.000 0.000 2525 673 1561

7713 1.38 165.6 141.7 23.0 416 7722 0.00 2.88 0.00 0.000 6 0.000 0.000 2545 2159 1559

8040 1.45 165.6 86.3 17.5 441 8049 0.45 1.85 0.00 0.000 4 0.000 0.000 2519 3346 1561

8124 1.45 165.6 71.9 16.8 454 8133 0.12 2.53 0.00 0.000 6 0.000 0.000 2560 2006 1560

8492 1.45 165.6 9.6 16.6 515 8501 0.52 2.47 0.00 0.000 4 0.000 0.000 2662 3229 1570

8522 end climb: SURFACE_DEPTH_REACHED

state 8523 begin surface coast

8533 end surface coast: CONTROL_FINISHED_OK

state 8534 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	68	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	12	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	152	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	-448068.94	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	091906,6637.484,-6008.083,28,1.1,28,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6629.254,-6010.873
_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	092324,6637.484,-6008.083,26,1.1,26,18.0	MHEAD_RNG_PITCHd_Wd	202.4,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025152	XPDR_PINGS	-1
SM_CCo	8566,18.02,0.000,0,0,397,451.35	ALTIM_TOP_PING	19.6,19.6
SM_GC	0.34,0.00,0.00,18.02,0.000,0.000,0.000,571,1924,397,-7.77,-2.09,451.35	ALTIM_BOTTOM_PING	500.6,65.7
RAFOS_CLK	0	_24V_AH	23.7,47.629
RAFOS	4,1160904544,9.500000,9.484445,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,7.252
RAFOS_FIX	6637.386230,-6003.008301,151006,080820,4,80,0.48	DATA_FILE_SIZE	18977,521
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239951872
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,61,817,0,0
HUMID	2350	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	26.0455	CURRENT	0.068, 96.7,1
TCM_TEMP	15.00	GPS	151006,114825,6636.605,-6008.729,22,1.1,22,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	87.43	SBE_CT	431	24	245.64
Roll_motor	103	60	147.78	nil	0	0	0.00
VBD_pump_during_apogee	30	1300	934.31	nil	0	0	0.00
VBD_pump_during_surface	18	600	256.32	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	356.46
Transponder_ping	4	420	44.79
GPS	26	50	12.95
TT8	1712	19	330.84
LPSleep	5521	2	123.73
TT8_Active	254	19	49.11
TT8_Sampling	642	39	248.61
TT8_CF8	716	45	319.08
TT8_Kalman	0	81	0.00
Analog_circuits	793	12	92.35
GPS_charging	0	0	0.00
Compass	537	26	135.60
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
42	-1.49	-116.8	0.0	0.0	0	58	0.00	0.00	-8.00	0.000	6	0.000	0.000	607	1825	2847
64	-1.49	-116.8	0.3	0.0	2	82	6.62	2.20	0.00	0.000	4	0.000	0.000	2025	318	2843
174	-1.49	-116.8	14.0	-8.3	18	183	0.55	2.97	0.00	0.000	6	0.000	0.000	1883	1834	2843
544	-1.81	-116.8	63.3	-13.5	79	552	0.38	3.25	0.00	0.000	4	0.000	0.000	1778	3552	2840
683	-1.59	-116.8	89.7	-20.3	101	693	0.80	3.62	0.00	0.000	6	0.000	0.000	1950	1700	2842
1036	-1.02	-116.8	129.7	-11.1	126	1039	0.82	0.00	0.00	0.000	6	0.000	0.000	2133	1697	2849
1345	-0.94	-116.8	149.5	-5.9	141	1352	0.52	2.17	0.00	0.000	4	0.000	0.000	2073	526	2839
1401	-1.35	-116.8	153.4	-6.2	143	1407	0.77	2.12	0.00	0.000	6	0.000	0.000	1907	2033	2840
1727	-1.74	-116.8	197.9	-14.0	159	1732	0.00	3.08	0.00	0.000	4	0.000	0.000	1889	3516	2844
1774	-1.49	-116.8	204.9	-14.2	161	1782	0.50	3.03	0.00	0.000	6	0.000	0.000	2012	1817	2844
2104	-1.26	-116.8	233.7	-8.5	177	2110	0.10	3.05	0.00	0.000	4	0.000	0.000	2014	332	2837
2129	-1.36	-116.8	236.0	-8.3	178	2137	0.52	2.97	0.00	0.000	6	0.000	0.000	1902	1857	2840
2458	-1.58	-116.8	280.7	-13.9	194	2464	0.10	2.33	0.00	0.000	4	0.000	0.000	1906	332	2835
2488	-1.33	-116.8	285.2	-14.4	195	2501	0.57	2.88	0.00	0.000	6	0.000	0.000	2020	1852	2839
2818	-1.33	-116.8	313.4	-8.4	211	2825	0.40	2.97	0.00	0.000	4	0.000	0.000	1924	3360	2843
2968	-1.43	-116.8	333.9	-14.0	217	2980	0.52	2.75	0.00	0.000	6	0.000	0.000	2018	1871	2840
3297	-1.19	-116.8	361.5	-8.4	233	3302	0.00	2.45	0.00	0.000	4	0.000	0.000	2019	360	2842
3327	-1.29	-116.8	364.7	-8.6	234	3340	0.40	3.28	0.00	0.000	6	0.000	0.000	1979	1876	2848
3656	-1.56	-116.8	399.2	-10.9	250	3662	0.15	2.80	0.00	0.000	4	0.000	0.000	1957	3552	2841
3743	-1.51	-116.8	409.0	-10.6	253	3752	0.12	3.40	0.00	0.000	6	0.000	0.000	1952	1689	2842
4068	-1.45	-116.8	444.3	-11.0	269	4069	0.00	0.00	0.00	0.000	6	0.000	0.000	1943	1690	2846
4372	-1.40	-116.8	478.1	-10.8	284	4377	0.00	2.35	0.00	0.000	4	0.000	0.000	1962	383	2844
4402	-1.34	-116.8	481.7	-11.0	285	4408	0.00	3.03	0.00	0.000	6	0.000	0.000	1942	2016	2839
4740	-1.45	-116.8	518.4	-11.0	297	4746	0.00	3.08	0.00	0.000	4	0.000	0.000	1967	486	2839
4800	-1.40	-116.8	525.1	-11.3	298	4805	0.00	2.33	0.00	0.000	6	0.000	0.000	1969	2028	2843
5105	end dive: BOTTOM_OBSTACLE_DETECTED
state	5105	begin apogee
5117	-0.25	0.0	558.6	10.9	306	5135	1.52	0.00	14.30	0.000	6	0.000	0.000	2253	1683	2243
5136	end apogee: CONTROL_FINISHED_OK
state	5136	begin climb
5142	1.49	116.8	558.6	0.0	306	5162	2.08	2.62	11.15	0.000	4	0.000	0.000	2608	346	1765
5193	1.49	116.8	553.8	18.5	307	5199	0.10	2.85	0.00	0.000	6	0.000	0.000	2617	1822	1767
5511	1.57	116.8	493.0	18.9	315	5518	0.05	3.33	0.00	0.000	4	0.000	0.000	2607	3358	1766
5790	1.39	116.8	439.9	18.7	327	5795	0.50	2.22	0.00	0.000	6	0.000	0.000	2491	1860	1775
6126	1.22	137.1	399.2	12.1	343	6135	0.38	2.35	1.92	0.000	4	0.000	0.000	2612	3358	1693
6257	1.32	137.1	372.3	19.8	348	6267	0.50	2.72	0.00	0.000	6	0.000	0.000	2492	1857	1691
6582	1.16	165.6	334.6	11.5	364	6592	0.03	3.28	2.95	0.001	4	0.000	0.000	2542	3227	1564
6809	1.38	165.6	295.8	16.9	374	6814	0.15	2.33	0.00	0.000	6	0.000	0.000	2568	1885	1560
7138	1.38	165.6	241.3	17.1	390	7143	0.00	2.75	0.00	0.000	4	0.000	0.000	2539	3210	1563
7340	1.38	165.6	206.3	17.4	399	7345	0.00	2.62	0.00	0.000	6	0.000	0.000	2556	1987	1566
7676	1.38	165.6	150.4	17.0	415	7681	0.00	2.47	0.00	0.000	4	0.000	0.000	2525	673	1561
7713	1.38	165.6	141.7	23.0	416	7722	0.00	2.88	0.00	0.000	6	0.000	0.000	2545	2159	1559
8040	1.45	165.6	86.3	17.5	441	8049	0.45	1.85	0.00	0.000	4	0.000	0.000	2519	3346	1561
8124	1.45	165.6	71.9	16.8	454	8133	0.12	2.53	0.00	0.000	6	0.000	0.000	2560	2006	1560
8492	1.45	165.6	9.6	16.6	515	8501	0.52	2.47	0.00	0.000	4	0.000	0.000	2662	3229	1570
8522	end climb: SURFACE_DEPTH_REACHED
state	8523	begin surface coast
8533	end surface coast: CONTROL_FINISHED_OK
state	8534	begin surface