Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 73 * 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 73 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 150 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 186 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 -448192.91 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 -448192.91

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 150 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 186 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 73 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 212813,6636.421,-6008.610,7,1.1,8,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6634.647,-6004.376

_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 213225,6636.421,-6008.610,18,1.1,18,18.0 MHEAD_RNG_PITCHd_Wd 81.5,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025207 ALTIM_TOP_PING 19.6,19.2

SM_CCo 8251,16.05,0.000,0,0,420,450.62 ALTIM_BOTTOM_PING 476.0,91.1

SM_GC 0.34,0.00,0.00,16.05,0.000,0.000,0.000,611,1854,420,-7.54,-3.22,450.62 _24V_AH 23.7,48.982

RAFOS_CLK 0 _10V_AH 9.7,7.457

RAFOS_FIX 6637.359375,-6003.261230,151006,202020,4,80,0.99 DATA_FILE_SIZE 15855,500

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239628288

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,59,857,0,0

HUMID 2438 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 26.0358 CURRENT 0.063,337.6,1

TCM_TEMP 15.00 GPS 151006,235203,6636.623,-6006.333,17,1.1,17,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 88.70 SBE_CT 414 24 235.60

Roll_motor 109 60 155.28 nil 0 0 0.00

VBD_pump_during_apogee 33 1300 1040.61 nil 0 0 0.00

VBD_pump_during_surface 16 600 228.23 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 67 223 357.73

Transponder_ping 4 420 42.30

GPS 19 50 9.39

TT8 1633 19 315.72

LPSleep 5330 2 119.45

TT8_Active 253 19 48.90

TT8_Sampling 600 39 232.69

TT8_CF8 703 45 313.21

TT8_Kalman 0 81 0.00

Analog_circuits 765 12 89.10

GPS_charging 0 0 0.00

Compass 507 26 128.08

RAFOS 0 1 0.00

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 -8.02 0.000 6 0.000 0.000 626 2074 2851

64 -1.49 -116.8 0.3 0.0 2 82 6.57 2.95 0.00 0.000 4 0.000 0.000 1984 406 2866

124 -1.49 -116.8 10.4 -10.0 10 133 0.52 2.88 0.00 0.000 6 0.000 0.000 1878 1921 2855

494 -1.64 -116.8 67.2 -15.6 71 503 0.35 2.75 0.00 0.000 4 0.000 0.000 1989 3468 2853

669 -1.42 -116.8 85.2 -10.7 99 677 0.00 2.35 0.00 0.000 6 0.000 0.000 1979 2127 2854

1025 -1.43 -116.8 120.6 -10.0 133 1032 0.47 2.97 0.00 0.000 4 0.000 0.000 1861 441 2862

1073 -1.45 -116.8 127.4 -16.4 135 1081 0.57 3.35 0.00 0.000 6 0.000 0.000 1971 2107 2861

1408 -1.36 -116.8 161.8 -10.0 151 1415 0.00 3.55 0.00 0.000 4 0.000 0.000 1983 415 2861

1480 -1.38 -116.8 168.8 -10.1 154 1487 0.17 3.00 0.00 0.000 6 0.000 0.000 1929 1719 2865

1815 -1.58 -116.8 210.1 -12.3 170 1817 0.03 0.00 0.00 0.000 6 0.000 0.000 1935 1731 2860

2130 -1.44 -116.8 248.2 -11.9 185 2135 0.03 2.83 0.00 0.000 4 0.000 0.000 1917 565 2861

2183 -1.37 -116.8 255.2 -12.6 187 2196 0.47 2.92 0.00 0.000 6 0.000 0.000 2075 2036 2863

2513 -1.39 -116.8 279.1 -7.0 203 2521 0.68 2.85 0.00 0.000 4 0.000 0.000 1869 457 2859

2575 -1.62 -116.8 288.4 -16.2 205 2584 0.50 2.22 0.00 0.000 6 0.000 0.000 1991 1978 2861

2900 -1.44 -116.8 320.8 -10.2 221 2905 0.05 2.80 0.00 0.000 4 0.000 0.000 1961 491 2857

2986 -1.44 -116.8 329.6 -9.3 224 2995 0.15 2.15 0.00 0.000 6 0.000 0.000 1971 1863 2867

3311 -1.62 -116.8 362.4 -10.1 240 3316 0.57 1.98 0.00 0.000 4 0.000 0.000 1829 731 2853

3364 -1.62 -116.8 371.1 -16.2 242 3369 0.50 2.03 0.00 0.000 6 0.000 0.000 1980 1890 2858

3689 -1.39 -116.8 404.8 -10.3 257 3694 0.00 2.35 0.00 0.000 4 0.000 0.000 1969 706 2861

3756 -1.39 -116.8 411.9 -10.2 260 3761 0.05 1.85 0.00 0.000 6 0.000 0.000 1962 1706 2856

4087 -1.46 -116.8 444.1 -9.7 276 4088 0.00 0.00 0.00 0.000 6 0.000 0.000 1974 1696 2861

4399 -1.65 -116.8 476.0 -10.4 291 4404 0.38 1.95 0.00 0.000 4 0.000 0.000 1859 541 2857

4430 -1.65 -116.8 480.5 -14.2 292 4435 0.52 2.17 0.00 0.000 6 0.000 0.000 1982 1728 2862

4747 -1.57 -116.8 514.3 -10.3 304 4753 0.43 2.75 0.00 0.000 4 0.000 0.000 1847 3417 2859

4891 -1.57 -116.8 538.0 -16.8 307 4898 0.50 2.67 0.00 0.000 6 0.000 0.000 1966 1945 2859

5087 end dive: BOTTOM_OBSTACLE_DETECTED

state 5087 begin apogee

5099 -0.25 0.0 559.1 10.4 312 5118 1.77 0.00 14.93 0.000 6 0.000 0.000 2274 1949 2239

5119 end apogee: CONTROL_FINISHED_OK

state 5119 begin climb

5125 1.49 116.8 559.1 0.0 312 5144 1.65 2.90 11.18 0.000 4 0.000 0.000 2612 3269 1765

5227 1.49 116.8 545.0 21.7 314 5235 0.52 3.28 0.00 0.000 6 0.000 0.000 2486 1799 1769

5555 1.23 140.6 503.6 11.9 322 5564 0.03 3.62 2.40 0.001 4 0.000 0.000 2504 3435 1671

5672 1.38 145.6 488.2 13.3 326 5679 0.52 3.03 0.00 0.000 6 0.000 0.000 2647 1774 1673

6006 1.50 145.6 416.6 22.4 342 6012 0.52 2.20 0.08 0.002 4 0.000 0.000 2571 593 1671

6037 1.25 145.6 409.2 17.7 343 6044 0.12 2.67 0.03 0.000 6 0.000 0.000 2571 1947 1665

6364 1.30 145.6 351.5 20.2 358 6371 0.12 3.47 0.00 0.000 4 0.001 0.000 2578 3435 1662

6550 1.11 145.6 317.6 17.5 366 6558 0.60 3.17 0.00 0.000 6 0.000 0.000 2464 1902 1664

6891 1.06 196.3 283.2 9.7 382 6904 0.60 2.65 5.18 0.001 4 0.000 0.000 2582 389 1443

6947 1.40 196.3 270.2 24.0 384 6959 0.00 3.38 0.00 0.000 6 0.000 0.000 2543 2269 1450

7276 1.60 196.3 203.8 20.8 400 7284 0.82 4.00 0.00 0.000 4 0.000 0.000 2674 439 1446

7335 1.54 196.3 185.6 32.8 402 7348 0.65 3.15 0.00 0.000 6 0.000 0.000 2591 2116 1448

7665 1.45 196.3 116.5 20.7 418 7670 0.00 2.85 0.00 0.000 4 0.000 0.000 2546 3679 1447

7689 1.37 196.3 109.7 21.3 419 7696 0.00 3.53 0.00 0.000 6 0.000 0.000 2568 1676 1445

8053 1.32 196.3 34.8 21.4 473 8062 0.00 3.80 0.00 0.000 4 0.000 0.000 2571 3709 1440

8212 end climb: SURFACE_DEPTH_REACHED

state 8212 begin surface coast

8217 end surface coast: CONTROL_FINISHED_OK

state 8217 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	73	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	150	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	186	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	-448192.91	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	212813,6636.421,-6008.610,7,1.1,8,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6634.647,-6004.376
_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	213225,6636.421,-6008.610,18,1.1,18,18.0	MHEAD_RNG_PITCHd_Wd	81.5,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025207	ALTIM_TOP_PING	19.6,19.2
SM_CCo	8251,16.05,0.000,0,0,420,450.62	ALTIM_BOTTOM_PING	476.0,91.1
SM_GC	0.34,0.00,0.00,16.05,0.000,0.000,0.000,611,1854,420,-7.54,-3.22,450.62	_24V_AH	23.7,48.982
RAFOS_CLK	0	_10V_AH	9.7,7.457
RAFOS_FIX	6637.359375,-6003.261230,151006,202020,4,80,0.99	DATA_FILE_SIZE	15855,500
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239628288
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,59,857,0,0
HUMID	2438	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	26.0358	CURRENT	0.063,337.6,1
TCM_TEMP	15.00	GPS	151006,235203,6636.623,-6006.333,17,1.1,17,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	88.70	SBE_CT	414	24	235.60
Roll_motor	109	60	155.28	nil	0	0	0.00
VBD_pump_during_apogee	33	1300	1040.61	nil	0	0	0.00
VBD_pump_during_surface	16	600	228.23	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	357.73
Transponder_ping	4	420	42.30
GPS	19	50	9.39
TT8	1633	19	315.72
LPSleep	5330	2	119.45
TT8_Active	253	19	48.90
TT8_Sampling	600	39	232.69
TT8_CF8	703	45	313.21
TT8_Kalman	0	81	0.00
Analog_circuits	765	12	89.10
GPS_charging	0	0	0.00
Compass	507	26	128.08
RAFOS	0	1	0.00

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	-8.02	0.000	6	0.000	0.000	626	2074	2851
64	-1.49	-116.8	0.3	0.0	2	82	6.57	2.95	0.00	0.000	4	0.000	0.000	1984	406	2866
124	-1.49	-116.8	10.4	-10.0	10	133	0.52	2.88	0.00	0.000	6	0.000	0.000	1878	1921	2855
494	-1.64	-116.8	67.2	-15.6	71	503	0.35	2.75	0.00	0.000	4	0.000	0.000	1989	3468	2853
669	-1.42	-116.8	85.2	-10.7	99	677	0.00	2.35	0.00	0.000	6	0.000	0.000	1979	2127	2854
1025	-1.43	-116.8	120.6	-10.0	133	1032	0.47	2.97	0.00	0.000	4	0.000	0.000	1861	441	2862
1073	-1.45	-116.8	127.4	-16.4	135	1081	0.57	3.35	0.00	0.000	6	0.000	0.000	1971	2107	2861
1408	-1.36	-116.8	161.8	-10.0	151	1415	0.00	3.55	0.00	0.000	4	0.000	0.000	1983	415	2861
1480	-1.38	-116.8	168.8	-10.1	154	1487	0.17	3.00	0.00	0.000	6	0.000	0.000	1929	1719	2865
1815	-1.58	-116.8	210.1	-12.3	170	1817	0.03	0.00	0.00	0.000	6	0.000	0.000	1935	1731	2860
2130	-1.44	-116.8	248.2	-11.9	185	2135	0.03	2.83	0.00	0.000	4	0.000	0.000	1917	565	2861
2183	-1.37	-116.8	255.2	-12.6	187	2196	0.47	2.92	0.00	0.000	6	0.000	0.000	2075	2036	2863
2513	-1.39	-116.8	279.1	-7.0	203	2521	0.68	2.85	0.00	0.000	4	0.000	0.000	1869	457	2859
2575	-1.62	-116.8	288.4	-16.2	205	2584	0.50	2.22	0.00	0.000	6	0.000	0.000	1991	1978	2861
2900	-1.44	-116.8	320.8	-10.2	221	2905	0.05	2.80	0.00	0.000	4	0.000	0.000	1961	491	2857
2986	-1.44	-116.8	329.6	-9.3	224	2995	0.15	2.15	0.00	0.000	6	0.000	0.000	1971	1863	2867
3311	-1.62	-116.8	362.4	-10.1	240	3316	0.57	1.98	0.00	0.000	4	0.000	0.000	1829	731	2853
3364	-1.62	-116.8	371.1	-16.2	242	3369	0.50	2.03	0.00	0.000	6	0.000	0.000	1980	1890	2858
3689	-1.39	-116.8	404.8	-10.3	257	3694	0.00	2.35	0.00	0.000	4	0.000	0.000	1969	706	2861
3756	-1.39	-116.8	411.9	-10.2	260	3761	0.05	1.85	0.00	0.000	6	0.000	0.000	1962	1706	2856
4087	-1.46	-116.8	444.1	-9.7	276	4088	0.00	0.00	0.00	0.000	6	0.000	0.000	1974	1696	2861
4399	-1.65	-116.8	476.0	-10.4	291	4404	0.38	1.95	0.00	0.000	4	0.000	0.000	1859	541	2857
4430	-1.65	-116.8	480.5	-14.2	292	4435	0.52	2.17	0.00	0.000	6	0.000	0.000	1982	1728	2862
4747	-1.57	-116.8	514.3	-10.3	304	4753	0.43	2.75	0.00	0.000	4	0.000	0.000	1847	3417	2859
4891	-1.57	-116.8	538.0	-16.8	307	4898	0.50	2.67	0.00	0.000	6	0.000	0.000	1966	1945	2859
5087	end dive: BOTTOM_OBSTACLE_DETECTED
state	5087	begin apogee
5099	-0.25	0.0	559.1	10.4	312	5118	1.77	0.00	14.93	0.000	6	0.000	0.000	2274	1949	2239
5119	end apogee: CONTROL_FINISHED_OK
state	5119	begin climb
5125	1.49	116.8	559.1	0.0	312	5144	1.65	2.90	11.18	0.000	4	0.000	0.000	2612	3269	1765
5227	1.49	116.8	545.0	21.7	314	5235	0.52	3.28	0.00	0.000	6	0.000	0.000	2486	1799	1769
5555	1.23	140.6	503.6	11.9	322	5564	0.03	3.62	2.40	0.001	4	0.000	0.000	2504	3435	1671
5672	1.38	145.6	488.2	13.3	326	5679	0.52	3.03	0.00	0.000	6	0.000	0.000	2647	1774	1673
6006	1.50	145.6	416.6	22.4	342	6012	0.52	2.20	0.08	0.002	4	0.000	0.000	2571	593	1671
6037	1.25	145.6	409.2	17.7	343	6044	0.12	2.67	0.03	0.000	6	0.000	0.000	2571	1947	1665
6364	1.30	145.6	351.5	20.2	358	6371	0.12	3.47	0.00	0.000	4	0.001	0.000	2578	3435	1662
6550	1.11	145.6	317.6	17.5	366	6558	0.60	3.17	0.00	0.000	6	0.000	0.000	2464	1902	1664
6891	1.06	196.3	283.2	9.7	382	6904	0.60	2.65	5.18	0.001	4	0.000	0.000	2582	389	1443
6947	1.40	196.3	270.2	24.0	384	6959	0.00	3.38	0.00	0.000	6	0.000	0.000	2543	2269	1450
7276	1.60	196.3	203.8	20.8	400	7284	0.82	4.00	0.00	0.000	4	0.000	0.000	2674	439	1446
7335	1.54	196.3	185.6	32.8	402	7348	0.65	3.15	0.00	0.000	6	0.000	0.000	2591	2116	1448
7665	1.45	196.3	116.5	20.7	418	7670	0.00	2.85	0.00	0.000	4	0.000	0.000	2546	3679	1447
7689	1.37	196.3	109.7	21.3	419	7696	0.00	3.53	0.00	0.000	6	0.000	0.000	2568	1676	1445
8053	1.32	196.3	34.8	21.4	473	8062	0.00	3.80	0.00	0.000	4	0.000	0.000	2571	3709	1440
8212	end climb: SURFACE_DEPTH_REACHED
state	8212	begin surface coast
8217	end surface coast: CONTROL_FINISHED_OK
state	8217	begin surface