Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 79 * 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 79 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 184 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 7 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 -448368.66 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 -448368.66

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 184 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 7 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 79 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 121950,6637.421,-6007.523,14,1.1,14,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6631.557,-6011.135

_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 -70.0 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 122407,6637.421,-6007.523,20,1.1,21,18.0 MHEAD_RNG_PITCHd_Wd 219.1,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025059 XPDR_PINGS -1

SM_CCo 7975,17.55,0.000,0,0,410,450.37 ALTIM_TOP_PING 18.4,17.8

SM_GC 0.34,0.00,0.00,17.55,0.000,0.000,0.000,597,2066,410,-7.54,2.57,450.37 ALTIM_BOTTOM_PING 475.2,93.4

RAFOS_CLK 0 _24V_AH 23.7,50.626

RAFOS 1,1161000841,12.250000,12.233611,80,0,0,0,0,0,730,0,0,0,0,0 _10V_AH 9.7,7.713

RAFOS_FIX 6636.864746,-6003.086426,161006,121250,3,80,0.00 DATA_FILE_SIZE 15846,477

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239226880

TT8_MAMPS 0.025311 ERRORS 0,0,0,0,0,0,0,0,0,0,0,58,683,0,0

HUMID 2313 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 25.9869 CURRENT 0.076,122.3,1

TCM_TEMP 15.00 GPS 161006,143936,6636.663,-6008.827,31,1.1,31,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 88.13 SBE_CT 398 24 226.84

Roll_motor 87 60 124.64 nil 0 0 0.00

VBD_pump_during_apogee 30 1300 950.49 nil 0 0 0.00

VBD_pump_during_surface 17 600 249.56 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 67 223 357.06

Transponder_ping 4 420 42.30

GPS 21 50 10.67

TT8 1558 19 301.15

LPSleep 5280 2 118.31

TT8_Active 224 19 43.32

TT8_Sampling 520 39 201.59

TT8_CF8 679 45 302.62

TT8_Kalman 0 81 0.00

Analog_circuits 669 12 77.88

GPS_charging 0 0 0.00

Compass 432 26 109.06

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

41 -1.49 -116.8 0.0 0.0 0 59 0.00 0.00 -7.97 0.000 6 0.000 0.000 613 2108 2872

65 -1.49 -116.8 0.3 -0.0 2 83 6.35 2.65 0.00 0.000 4 0.000 0.000 1970 3452 2874

255 -1.49 -116.8 24.3 -10.8 32 264 0.52 3.00 0.00 0.000 6 0.000 0.000 1829 1902 2872

624 -1.58 -116.8 86.8 -17.7 93 633 0.47 3.03 0.00 0.000 4 0.000 0.000 1963 3586 2876

709 -1.21 -116.8 97.4 -11.7 106 718 0.50 2.60 0.00 0.000 6 0.000 0.000 2074 2005 2872

1044 -1.30 -116.8 120.5 -6.5 124 1052 0.62 3.47 0.00 0.000 4 0.000 0.000 1959 3502 2879

1108 -1.56 -116.8 127.1 -12.0 126 1116 0.12 2.35 0.00 0.000 6 0.000 0.000 1969 2156 2877

1433 -1.62 -116.8 164.3 -11.7 142 1435 0.45 0.00 0.00 0.000 6 0.000 0.000 1818 2175 2875

1741 -1.54 -116.8 218.4 -17.9 157 1744 1.17 0.00 0.00 0.000 6 0.000 0.000 2000 2180 2874

2051 -1.11 -116.8 248.7 -9.2 172 2056 0.00 2.58 0.00 0.000 4 0.000 0.000 2007 3517 2872

2081 -1.18 -116.8 252.2 -9.4 173 2086 0.00 2.88 0.00 0.000 6 0.000 0.000 2024 2177 2876

2407 -1.34 -116.8 281.5 -9.2 188 2409 0.30 0.00 0.00 0.000 6 0.000 0.000 1946 2192 2879

2716 -1.41 -116.8 317.9 -12.0 203 2717 0.08 0.00 0.00 0.000 6 0.000 0.000 1936 2187 2875

3025 -1.31 -116.8 354.9 -12.0 218 3030 0.12 2.05 0.00 0.000 4 0.000 0.000 1939 3537 2872

3054 -1.21 -116.8 359.4 -12.0 219 3060 0.50 2.12 0.00 0.000 6 0.000 0.000 2083 2044 2883

3374 -1.21 -116.8 381.8 -6.8 234 3382 0.52 3.03 0.00 0.000 4 0.000 0.000 1999 3697 2875

3425 -1.47 -116.8 386.0 -9.2 236 3433 0.57 3.42 0.00 0.000 6 0.000 0.000 1900 2048 2875

3760 -1.69 -116.8 435.0 -15.0 252 3766 0.00 3.03 0.00 0.000 4 0.000 0.000 1891 3549 2879

3804 -1.43 -116.8 441.6 -15.0 254 3810 0.50 2.65 0.00 0.000 6 0.000 0.000 2024 2038 2872

4136 -1.34 -116.8 472.2 -8.7 270 4142 0.08 2.88 0.00 0.000 4 0.000 0.000 2006 3385 2876

4186 -1.41 -116.8 476.2 -9.5 272 4191 0.50 2.12 0.00 0.000 6 0.000 0.000 1888 2067 2881

4514 -1.78 -116.8 524.7 -15.0 284 4519 0.00 2.25 0.00 0.000 4 0.000 0.000 1878 3554 2875

4558 -1.52 -116.8 531.3 -15.0 285 4566 0.50 2.95 0.00 0.000 6 0.000 0.000 2023 2067 2877

4844 end dive: BOTTOM_OBSTACLE_DETECTED

state 4844 begin apogee

4856 -0.25 0.0 559.5 9.2 292 4875 1.27 0.00 15.05 0.000 6 0.000 0.000 2249 2070 2235

4876 end apogee: CONTROL_FINISHED_OK

state 4876 begin climb

4881 1.49 116.8 559.5 0.0 292 4901 2.08 2.45 11.05 0.001 4 0.000 0.000 2625 543 1762

4922 1.49 116.8 556.8 18.2 292 4931 0.50 2.72 0.00 0.000 6 0.000 0.000 2502 2172 1767

5257 1.38 146.1 516.2 11.4 301 5267 0.55 2.65 2.75 0.000 4 0.000 0.000 2547 3662 1644

5326 1.55 146.1 505.2 17.0 302 5333 0.52 3.08 0.00 0.000 6 0.000 0.000 2665 2170 1648

5660 1.66 146.1 420.5 26.3 317 5667 0.35 3.03 0.00 0.000 4 0.000 0.000 2564 3645 1649

5708 1.28 146.1 407.9 17.6 319 5714 0.00 3.17 0.00 0.000 6 0.000 0.000 2559 2142 1651

6045 1.37 146.1 349.5 17.1 335 6050 0.00 2.75 0.00 0.000 4 0.000 0.000 2566 3659 1649

6092 1.32 146.1 340.1 17.3 337 6097 0.00 2.65 0.00 0.000 6 0.000 0.000 2565 1984 1652

6423 1.42 146.1 285.1 17.0 353 6429 0.00 3.22 0.00 0.000 4 0.000 0.000 2556 3637 1646

6508 1.37 146.1 269.1 17.6 356 6516 0.00 2.47 0.00 0.000 6 0.000 0.000 2583 2293 1645

6833 1.47 146.1 215.0 17.1 372 6835 0.05 0.00 0.00 0.000 6 0.000 0.000 2616 2294 1643

7137 1.42 146.1 149.4 21.4 387 7139 0.60 0.00 0.00 0.000 6 0.000 0.000 2502 2297 1645

7451 1.21 156.5 108.2 12.9 402 7459 0.15 2.67 0.88 0.001 4 0.000 0.000 2516 3618 1603

7469 1.34 169.1 104.9 12.8 402 7479 0.47 3.03 1.12 0.000 6 0.000 0.000 2613 2120 1546

7832 1.51 169.1 20.7 23.9 460 7841 0.57 2.45 0.00 0.000 4 0.000 0.000 2502 3613 1541

7900 1.29 169.1 9.5 14.4 470 7909 0.52 2.25 0.00 0.000 6 0.000 0.000 2603 2080 1538

7941 end climb: SURFACE_DEPTH_REACHED

state 7941 begin surface coast

7947 end surface coast: CONTROL_FINISHED_OK

state 7947 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	79	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	184	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	7	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	-448368.66	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	121950,6637.421,-6007.523,14,1.1,14,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6631.557,-6011.135
_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	-70.0	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	122407,6637.421,-6007.523,20,1.1,21,18.0	MHEAD_RNG_PITCHd_Wd	219.1,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025059	XPDR_PINGS	-1
SM_CCo	7975,17.55,0.000,0,0,410,450.37	ALTIM_TOP_PING	18.4,17.8
SM_GC	0.34,0.00,0.00,17.55,0.000,0.000,0.000,597,2066,410,-7.54,2.57,450.37	ALTIM_BOTTOM_PING	475.2,93.4
RAFOS_CLK	0	_24V_AH	23.7,50.626
RAFOS	1,1161000841,12.250000,12.233611,80,0,0,0,0,0,730,0,0,0,0,0	_10V_AH	9.7,7.713
RAFOS_FIX	6636.864746,-6003.086426,161006,121250,3,80,0.00	DATA_FILE_SIZE	15846,477
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239226880
TT8_MAMPS	0.025311	ERRORS	0,0,0,0,0,0,0,0,0,0,0,58,683,0,0
HUMID	2313	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	25.9869	CURRENT	0.076,122.3,1
TCM_TEMP	15.00	GPS	161006,143936,6636.663,-6008.827,31,1.1,31,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	88.13	SBE_CT	398	24	226.84
Roll_motor	87	60	124.64	nil	0	0	0.00
VBD_pump_during_apogee	30	1300	950.49	nil	0	0	0.00
VBD_pump_during_surface	17	600	249.56	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	357.06
Transponder_ping	4	420	42.30
GPS	21	50	10.67
TT8	1558	19	301.15
LPSleep	5280	2	118.31
TT8_Active	224	19	43.32
TT8_Sampling	520	39	201.59
TT8_CF8	679	45	302.62
TT8_Kalman	0	81	0.00
Analog_circuits	669	12	77.88
GPS_charging	0	0	0.00
Compass	432	26	109.06
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
41	-1.49	-116.8	0.0	0.0	0	59	0.00	0.00	-7.97	0.000	6	0.000	0.000	613	2108	2872
65	-1.49	-116.8	0.3	-0.0	2	83	6.35	2.65	0.00	0.000	4	0.000	0.000	1970	3452	2874
255	-1.49	-116.8	24.3	-10.8	32	264	0.52	3.00	0.00	0.000	6	0.000	0.000	1829	1902	2872
624	-1.58	-116.8	86.8	-17.7	93	633	0.47	3.03	0.00	0.000	4	0.000	0.000	1963	3586	2876
709	-1.21	-116.8	97.4	-11.7	106	718	0.50	2.60	0.00	0.000	6	0.000	0.000	2074	2005	2872
1044	-1.30	-116.8	120.5	-6.5	124	1052	0.62	3.47	0.00	0.000	4	0.000	0.000	1959	3502	2879
1108	-1.56	-116.8	127.1	-12.0	126	1116	0.12	2.35	0.00	0.000	6	0.000	0.000	1969	2156	2877
1433	-1.62	-116.8	164.3	-11.7	142	1435	0.45	0.00	0.00	0.000	6	0.000	0.000	1818	2175	2875
1741	-1.54	-116.8	218.4	-17.9	157	1744	1.17	0.00	0.00	0.000	6	0.000	0.000	2000	2180	2874
2051	-1.11	-116.8	248.7	-9.2	172	2056	0.00	2.58	0.00	0.000	4	0.000	0.000	2007	3517	2872
2081	-1.18	-116.8	252.2	-9.4	173	2086	0.00	2.88	0.00	0.000	6	0.000	0.000	2024	2177	2876
2407	-1.34	-116.8	281.5	-9.2	188	2409	0.30	0.00	0.00	0.000	6	0.000	0.000	1946	2192	2879
2716	-1.41	-116.8	317.9	-12.0	203	2717	0.08	0.00	0.00	0.000	6	0.000	0.000	1936	2187	2875
3025	-1.31	-116.8	354.9	-12.0	218	3030	0.12	2.05	0.00	0.000	4	0.000	0.000	1939	3537	2872
3054	-1.21	-116.8	359.4	-12.0	219	3060	0.50	2.12	0.00	0.000	6	0.000	0.000	2083	2044	2883
3374	-1.21	-116.8	381.8	-6.8	234	3382	0.52	3.03	0.00	0.000	4	0.000	0.000	1999	3697	2875
3425	-1.47	-116.8	386.0	-9.2	236	3433	0.57	3.42	0.00	0.000	6	0.000	0.000	1900	2048	2875
3760	-1.69	-116.8	435.0	-15.0	252	3766	0.00	3.03	0.00	0.000	4	0.000	0.000	1891	3549	2879
3804	-1.43	-116.8	441.6	-15.0	254	3810	0.50	2.65	0.00	0.000	6	0.000	0.000	2024	2038	2872
4136	-1.34	-116.8	472.2	-8.7	270	4142	0.08	2.88	0.00	0.000	4	0.000	0.000	2006	3385	2876
4186	-1.41	-116.8	476.2	-9.5	272	4191	0.50	2.12	0.00	0.000	6	0.000	0.000	1888	2067	2881
4514	-1.78	-116.8	524.7	-15.0	284	4519	0.00	2.25	0.00	0.000	4	0.000	0.000	1878	3554	2875
4558	-1.52	-116.8	531.3	-15.0	285	4566	0.50	2.95	0.00	0.000	6	0.000	0.000	2023	2067	2877
4844	end dive: BOTTOM_OBSTACLE_DETECTED
state	4844	begin apogee
4856	-0.25	0.0	559.5	9.2	292	4875	1.27	0.00	15.05	0.000	6	0.000	0.000	2249	2070	2235
4876	end apogee: CONTROL_FINISHED_OK
state	4876	begin climb
4881	1.49	116.8	559.5	0.0	292	4901	2.08	2.45	11.05	0.001	4	0.000	0.000	2625	543	1762
4922	1.49	116.8	556.8	18.2	292	4931	0.50	2.72	0.00	0.000	6	0.000	0.000	2502	2172	1767
5257	1.38	146.1	516.2	11.4	301	5267	0.55	2.65	2.75	0.000	4	0.000	0.000	2547	3662	1644
5326	1.55	146.1	505.2	17.0	302	5333	0.52	3.08	0.00	0.000	6	0.000	0.000	2665	2170	1648
5660	1.66	146.1	420.5	26.3	317	5667	0.35	3.03	0.00	0.000	4	0.000	0.000	2564	3645	1649
5708	1.28	146.1	407.9	17.6	319	5714	0.00	3.17	0.00	0.000	6	0.000	0.000	2559	2142	1651
6045	1.37	146.1	349.5	17.1	335	6050	0.00	2.75	0.00	0.000	4	0.000	0.000	2566	3659	1649
6092	1.32	146.1	340.1	17.3	337	6097	0.00	2.65	0.00	0.000	6	0.000	0.000	2565	1984	1652
6423	1.42	146.1	285.1	17.0	353	6429	0.00	3.22	0.00	0.000	4	0.000	0.000	2556	3637	1646
6508	1.37	146.1	269.1	17.6	356	6516	0.00	2.47	0.00	0.000	6	0.000	0.000	2583	2293	1645
6833	1.47	146.1	215.0	17.1	372	6835	0.05	0.00	0.00	0.000	6	0.000	0.000	2616	2294	1643
7137	1.42	146.1	149.4	21.4	387	7139	0.60	0.00	0.00	0.000	6	0.000	0.000	2502	2297	1645
7451	1.21	156.5	108.2	12.9	402	7459	0.15	2.67	0.88	0.001	4	0.000	0.000	2516	3618	1603
7469	1.34	169.1	104.9	12.8	402	7479	0.47	3.03	1.12	0.000	6	0.000	0.000	2613	2120	1546
7832	1.51	169.1	20.7	23.9	460	7841	0.57	2.45	0.00	0.000	4	0.000	0.000	2502	3613	1541
7900	1.29	169.1	9.5	14.4	470	7909	0.52	2.25	0.00	0.000	6	0.000	0.000	2603	2080	1538
7941	end climb: SURFACE_DEPTH_REACHED
state	7941	begin surface coast
7947	end surface coast: CONTROL_FINISHED_OK
state	7947	begin surface