Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 8 * 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 8 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 7 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 10 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 -448793.62 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 -448793.62

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 7 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 10 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 8 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 072551,6634.567,-6031.273,11,1.1,11,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6644.715,-6029.815

_XMS_NAKs 2 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 073034,6634.567,-6031.273,28,1.1,28,18.0 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 -0.01,4.846,-1.719 XPDR_PINGS -1

FINISH -0.0,1.024864 ALTIM_TOP_PING 18.9,19.9

SM_CCo 8672,147.12,0.000,0,0,428,450.62 ALTIM_BOTTOM_PING 401.0,92.0

SM_GC -0.00,0.00,0.00,147.12,0.000,0.000,0.000,651,2003,428,-7.48,0.82,450.62 _24V_AH 23.7,54.789

RAFOS_CLK 0 _10V_AH 9.7,8.381

RAFOS 0,1160381046,8.083333,8.068334,80,0,0,0,0,0,614,0,0,0,0,0 DATA_FILE_SIZE 19031,560

RAFOS_FIX 6633.831055,-6027.386230,091006,080820,4,80,1.04 CFSIZE 255582208,243748864

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,78,827,3,0

TT8_MAMPS 0.024544 SOUNDSPEED 1468.4

HUMID 2434 CURRENT 0.049,267.3,1

INTERNAL_PRESSURE 25.9674 GPS 091006,095954,6635.250,-6031.240,33,1.1,33,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 38 119 109.15 SBE_CT 458 24 260.59

Roll_motor 106 60 151.41 nil 0 0 0.00

VBD_pump_during_apogee 317 1300 9778.32 nil 0 0 0.00

VBD_pump_during_surface 147 600 2092.12 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 87 223 465.08

Transponder_ping 3 420 34.84

GPS 29 50 14.22

TT8 1697 19 327.96

LPSleep 5266 2 118.00

TT8_Active 715 19 138.27

TT8_Sampling 667 39 258.42

TT8_CF8 770 45 343.33

TT8_Kalman 0 0 0.00

Analog_circuits 1289 12 150.10

GPS_charging 0 0 0.00

Compass 558 26 140.86

RAFOS 1800 1 26.19

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 0 125 0.00 0.00 -77.07 0.000 6 0.000 0.000 682 2170 2742

136 -1.49 -116.8 -0.0 0.0 9 153 6.80 2.72 0.00 0.000 4 0.000 0.000 1967 3527 2740

191 -1.45 -116.8 12.8 -12.2 16 200 0.00 2.92 0.00 0.000 6 0.000 0.000 1952 1831 2746

559 -1.50 -116.8 53.4 -8.8 77 568 0.00 3.42 0.00 0.000 4 0.000 0.000 1956 3682 2741

654 -1.47 -116.8 62.4 -9.7 92 663 0.00 3.58 0.00 0.000 6 0.000 0.000 1955 1851 2741

1022 -1.39 -116.8 96.1 -8.9 153 1030 0.00 3.65 0.00 0.000 4 0.000 0.000 1957 3684 2748

1114 -1.36 -116.8 104.6 -8.4 162 1123 0.00 4.03 0.00 0.000 6 0.000 0.000 1949 1703 2745

1439 -1.42 -116.8 131.8 -9.3 178 1446 0.00 3.42 0.00 0.000 4 0.000 0.000 1950 3353 2752

1589 -1.37 -116.8 145.2 -8.6 184 1593 0.00 2.50 0.00 0.000 6 0.000 0.000 1952 1800 2745

1913 -1.30 -116.8 171.4 -8.2 199 1921 0.15 3.70 0.00 0.000 4 0.000 0.000 2004 3656 2742

2013 -1.43 -116.8 178.6 -6.1 203 2022 0.52 3.55 0.00 0.000 6 0.000 0.000 1883 1756 2746

2349 -1.23 -116.8 210.2 -9.7 219 2357 1.10 3.00 0.00 0.000 4 0.000 0.000 2074 3588 2745

2460 -1.53 -116.8 216.5 -4.4 223 2469 0.90 2.65 0.00 0.000 6 0.000 0.000 1884 1905 2746

2785 -1.28 -116.8 246.1 -9.4 239 2792 0.70 2.88 0.00 0.000 4 0.000 0.000 2033 3425 2742

2875 -1.38 -116.8 252.2 -5.6 242 2884 0.52 3.08 0.00 0.000 6 0.000 0.000 1886 1762 2741

3198 -1.28 -116.8 280.2 -8.4 258 3206 0.65 3.53 0.00 0.000 4 0.000 0.000 2069 3603 2740

3309 -1.55 -116.8 285.9 -4.3 262 3319 0.75 3.20 0.00 0.000 6 0.000 0.000 1882 1930 2747

3629 -1.28 -116.8 313.9 -9.1 278 3637 1.08 3.03 0.00 0.000 4 0.000 0.000 2068 3578 2750

3709 -1.53 -116.8 317.9 -4.5 281 3716 0.77 2.83 0.00 0.000 6 0.000 0.000 1885 1886 2747

4039 -1.24 -116.8 346.9 -9.0 297 4047 0.75 3.22 0.00 0.000 4 0.000 0.000 2061 3545 2749

4124 -1.50 -116.8 351.1 -4.3 300 4130 0.77 2.12 0.00 0.000 6 0.000 0.000 1897 2027 2746

4449 -1.23 -116.8 378.7 -8.8 315 4457 0.77 3.25 0.00 0.000 4 0.000 0.000 1972 3688 2743

4498 -1.32 -116.8 382.5 -5.5 317 4504 0.03 2.62 0.00 0.000 6 0.000 0.000 1979 2020 2749

4838 -1.37 -116.8 401.0 -5.5 333 4846 0.35 3.03 0.00 0.000 4 0.000 0.000 1866 3690 2743

4887 -1.12 -116.8 405.2 -8.9 335 4894 1.00 2.65 0.00 0.000 6 0.000 0.000 2049 2200 2745

5227 -1.34 -116.8 420.4 -4.2 351 5229 0.45 0.00 0.00 0.000 6 0.000 0.000 1939 2182 2748

5536 -1.30 -116.8 441.3 -7.0 366 5537 0.00 0.00 0.00 0.000 6 0.000 0.000 1948 2190 2749

5840 -1.18 -116.8 462.9 -6.9 381 5843 0.47 0.00 0.00 0.000 6 0.000 0.000 2061 2185 2752

6155 -1.39 -116.8 476.4 -4.1 396 6162 0.77 2.85 0.00 0.000 4 0.000 0.000 1965 3363 2744

6190 -1.30 -116.8 478.7 -6.5 397 6196 0.52 2.65 0.00 0.000 6 0.000 0.000 2055 2008 2750

6302 end dive: BOTTOM_OBSTACLE_DETECTED

state 6302 begin apogee

6314 -0.25 0.0 483.6 4.1 402 6447 0.73 0.00 115.22 0.000 6 0.000 0.000 2222 2007 2263

6448 end apogee: CONTROL_FINISHED_OK

state 6448 begin climb

6454 1.49 116.8 482.9 0.0 409 6591 2.45 0.00 112.28 0.001 6 0.000 0.000 2658 1996 1785

6897 1.12 116.8 382.4 25.8 430 6905 0.88 3.53 0.00 0.000 4 0.000 0.000 2481 3677 1782

6996 1.37 146.5 370.3 11.4 434 7032 0.57 2.88 28.20 0.001 6 0.000 0.000 2616 2003 1668

7353 1.22 146.5 293.8 20.9 451 7361 0.40 3.25 0.00 0.000 4 0.000 0.000 2465 3651 1661

7438 1.51 179.0 282.9 11.2 454 7479 0.77 3.70 31.52 0.001 6 0.000 0.000 2644 1941 1535

7811 1.22 179.0 184.0 26.9 472 7819 0.90 3.20 0.00 0.000 4 0.000 0.000 2457 3614 1530

7922 1.47 198.6 168.1 12.2 476 7946 0.77 3.53 16.00 0.001 6 0.000 0.000 2644 1972 1455

8270 1.18 198.6 74.5 27.2 501 8279 0.70 3.03 0.00 0.000 4 0.000 0.000 2461 3650 1449

8370 1.43 216.4 60.1 12.3 516 8394 0.50 3.30 14.15 0.001 6 0.000 0.000 2597 1999 1379

8628 end climb: SURFACE_DEPTH_REACHED

state 8629 begin surface coast

8642 end surface coast: CONTROL_FINISHED_OK

state 8642 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	8	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	7	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	10	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	-448793.62	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	072551,6634.567,-6031.273,11,1.1,11,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6644.715,-6029.815
_XMS_NAKs	2	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	073034,6634.567,-6031.273,28,1.1,28,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.01,4.846,-1.719	XPDR_PINGS	-1
FINISH	-0.0,1.024864	ALTIM_TOP_PING	18.9,19.9
SM_CCo	8672,147.12,0.000,0,0,428,450.62	ALTIM_BOTTOM_PING	401.0,92.0
SM_GC	-0.00,0.00,0.00,147.12,0.000,0.000,0.000,651,2003,428,-7.48,0.82,450.62	_24V_AH	23.7,54.789
RAFOS_CLK	0	_10V_AH	9.7,8.381
RAFOS	0,1160381046,8.083333,8.068334,80,0,0,0,0,0,614,0,0,0,0,0	DATA_FILE_SIZE	19031,560
RAFOS_FIX	6633.831055,-6027.386230,091006,080820,4,80,1.04	CFSIZE	255582208,243748864
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,78,827,3,0
TT8_MAMPS	0.024544	SOUNDSPEED	1468.4
HUMID	2434	CURRENT	0.049,267.3,1
INTERNAL_PRESSURE	25.9674	GPS	091006,095954,6635.250,-6031.240,33,1.1,33,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	38	119	109.15	SBE_CT	458	24	260.59
Roll_motor	106	60	151.41	nil	0	0	0.00
VBD_pump_during_apogee	317	1300	9778.32	nil	0	0	0.00
VBD_pump_during_surface	147	600	2092.12	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	87	223	465.08
Transponder_ping	3	420	34.84
GPS	29	50	14.22
TT8	1697	19	327.96
LPSleep	5266	2	118.00
TT8_Active	715	19	138.27
TT8_Sampling	667	39	258.42
TT8_CF8	770	45	343.33
TT8_Kalman	0	0	0.00
Analog_circuits	1289	12	150.10
GPS_charging	0	0	0.00
Compass	558	26	140.86
RAFOS	1800	1	26.19

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	125	0.00	0.00	-77.07	0.000	6	0.000	0.000	682	2170	2742
136	-1.49	-116.8	-0.0	0.0	9	153	6.80	2.72	0.00	0.000	4	0.000	0.000	1967	3527	2740
191	-1.45	-116.8	12.8	-12.2	16	200	0.00	2.92	0.00	0.000	6	0.000	0.000	1952	1831	2746
559	-1.50	-116.8	53.4	-8.8	77	568	0.00	3.42	0.00	0.000	4	0.000	0.000	1956	3682	2741
654	-1.47	-116.8	62.4	-9.7	92	663	0.00	3.58	0.00	0.000	6	0.000	0.000	1955	1851	2741
1022	-1.39	-116.8	96.1	-8.9	153	1030	0.00	3.65	0.00	0.000	4	0.000	0.000	1957	3684	2748
1114	-1.36	-116.8	104.6	-8.4	162	1123	0.00	4.03	0.00	0.000	6	0.000	0.000	1949	1703	2745
1439	-1.42	-116.8	131.8	-9.3	178	1446	0.00	3.42	0.00	0.000	4	0.000	0.000	1950	3353	2752
1589	-1.37	-116.8	145.2	-8.6	184	1593	0.00	2.50	0.00	0.000	6	0.000	0.000	1952	1800	2745
1913	-1.30	-116.8	171.4	-8.2	199	1921	0.15	3.70	0.00	0.000	4	0.000	0.000	2004	3656	2742
2013	-1.43	-116.8	178.6	-6.1	203	2022	0.52	3.55	0.00	0.000	6	0.000	0.000	1883	1756	2746
2349	-1.23	-116.8	210.2	-9.7	219	2357	1.10	3.00	0.00	0.000	4	0.000	0.000	2074	3588	2745
2460	-1.53	-116.8	216.5	-4.4	223	2469	0.90	2.65	0.00	0.000	6	0.000	0.000	1884	1905	2746
2785	-1.28	-116.8	246.1	-9.4	239	2792	0.70	2.88	0.00	0.000	4	0.000	0.000	2033	3425	2742
2875	-1.38	-116.8	252.2	-5.6	242	2884	0.52	3.08	0.00	0.000	6	0.000	0.000	1886	1762	2741
3198	-1.28	-116.8	280.2	-8.4	258	3206	0.65	3.53	0.00	0.000	4	0.000	0.000	2069	3603	2740
3309	-1.55	-116.8	285.9	-4.3	262	3319	0.75	3.20	0.00	0.000	6	0.000	0.000	1882	1930	2747
3629	-1.28	-116.8	313.9	-9.1	278	3637	1.08	3.03	0.00	0.000	4	0.000	0.000	2068	3578	2750
3709	-1.53	-116.8	317.9	-4.5	281	3716	0.77	2.83	0.00	0.000	6	0.000	0.000	1885	1886	2747
4039	-1.24	-116.8	346.9	-9.0	297	4047	0.75	3.22	0.00	0.000	4	0.000	0.000	2061	3545	2749
4124	-1.50	-116.8	351.1	-4.3	300	4130	0.77	2.12	0.00	0.000	6	0.000	0.000	1897	2027	2746
4449	-1.23	-116.8	378.7	-8.8	315	4457	0.77	3.25	0.00	0.000	4	0.000	0.000	1972	3688	2743
4498	-1.32	-116.8	382.5	-5.5	317	4504	0.03	2.62	0.00	0.000	6	0.000	0.000	1979	2020	2749
4838	-1.37	-116.8	401.0	-5.5	333	4846	0.35	3.03	0.00	0.000	4	0.000	0.000	1866	3690	2743
4887	-1.12	-116.8	405.2	-8.9	335	4894	1.00	2.65	0.00	0.000	6	0.000	0.000	2049	2200	2745
5227	-1.34	-116.8	420.4	-4.2	351	5229	0.45	0.00	0.00	0.000	6	0.000	0.000	1939	2182	2748
5536	-1.30	-116.8	441.3	-7.0	366	5537	0.00	0.00	0.00	0.000	6	0.000	0.000	1948	2190	2749
5840	-1.18	-116.8	462.9	-6.9	381	5843	0.47	0.00	0.00	0.000	6	0.000	0.000	2061	2185	2752
6155	-1.39	-116.8	476.4	-4.1	396	6162	0.77	2.85	0.00	0.000	4	0.000	0.000	1965	3363	2744
6190	-1.30	-116.8	478.7	-6.5	397	6196	0.52	2.65	0.00	0.000	6	0.000	0.000	2055	2008	2750
6302	end dive: BOTTOM_OBSTACLE_DETECTED
state	6302	begin apogee
6314	-0.25	0.0	483.6	4.1	402	6447	0.73	0.00	115.22	0.000	6	0.000	0.000	2222	2007	2263
6448	end apogee: CONTROL_FINISHED_OK
state	6448	begin climb
6454	1.49	116.8	482.9	0.0	409	6591	2.45	0.00	112.28	0.001	6	0.000	0.000	2658	1996	1785
6897	1.12	116.8	382.4	25.8	430	6905	0.88	3.53	0.00	0.000	4	0.000	0.000	2481	3677	1782
6996	1.37	146.5	370.3	11.4	434	7032	0.57	2.88	28.20	0.001	6	0.000	0.000	2616	2003	1668
7353	1.22	146.5	293.8	20.9	451	7361	0.40	3.25	0.00	0.000	4	0.000	0.000	2465	3651	1661
7438	1.51	179.0	282.9	11.2	454	7479	0.77	3.70	31.52	0.001	6	0.000	0.000	2644	1941	1535
7811	1.22	179.0	184.0	26.9	472	7819	0.90	3.20	0.00	0.000	4	0.000	0.000	2457	3614	1530
7922	1.47	198.6	168.1	12.2	476	7946	0.77	3.53	16.00	0.001	6	0.000	0.000	2644	1972	1455
8270	1.18	198.6	74.5	27.2	501	8279	0.70	3.03	0.00	0.000	4	0.000	0.000	2461	3650	1449
8370	1.43	216.4	60.1	12.3	516	8394	0.50	3.30	14.15	0.001	6	0.000	0.000	2597	1999	1379
8628	end climb: SURFACE_DEPTH_REACHED
state	8629	begin surface coast
8642	end surface coast: CONTROL_FINISHED_OK
state	8642	begin surface