Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 11 * 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 11 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 171 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 6 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 -448868.41 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 -448868.41

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 171 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 6 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 11 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 152232,6636.731,-6031.684,10,1.1,11,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6646.879,-6030.228

_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 -69.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 152704,6636.731,-6031.684,18,1.1,18,18.0 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 -0.00,4.801,-1.712 XPDR_PINGS -1

FINISH -0.0,1.024768 ALTIM_TOP_PING 19.9,20.5

SM_CCo 9740,137.05,0.000,7,0,426,450.37 ALTIM_BOTTOM_PING 425.4,77.7

SM_GC 0.00,0.00,0.00,137.05,0.000,0.000,0.000,643,1950,426,-7.46,-0.90,450.37 _24V_AH 23.7,55.740

RAFOS_CLK 0 _10V_AH 9.7,8.531

RAFOS 4,1160407744,15.500000,15.484445,40,0,0,0,0,0,0,0,0,0,0,0 DATA_FILE_SIZE 18961,614

RAFOS_FIX 6635.643555,-6027.437500,091006,161620,4,80,1.14 CFSIZE 255582208,243519488

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,93,755,8,0

TT8_MAMPS 0.024544 SOUNDSPEED 1469.1

HUMID 2375 CURRENT 0.052,248.8,1

INTERNAL_PRESSURE 25.9674 GPS 091006,181429,6637.459,-6032.189,23,1.1,24,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 45 119 127.55 SBE_CT 500 24 284.96

Roll_motor 97 60 138.72 nil 0 0 0.00

VBD_pump_during_apogee 333 0 6.06 nil 0 0 0.00

VBD_pump_during_surface 137 600 1948.85 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 87 223 464.89

Transponder_ping 3 420 37.33

GPS 19 50 9.42

TT8 1852 19 357.96

LPSleep 6117 2 137.07

TT8_Active 729 19 140.94

TT8_Sampling 699 39 270.74

TT8_CF8 802 45 357.61

TT8_Kalman 0 0 0.00

Analog_circuits 1329 12 154.74

GPS_charging 0 0 0.00

Compass 591 26 149.11

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 0 126 0.00 0.00 -76.97 0.000 6 0.000 0.000 641 1890 2745

133 -1.49 -116.8 -0.0 0.0 9 150 6.62 2.70 0.00 0.000 4 0.000 0.000 1992 3582 2749

301 -1.54 -116.8 23.6 -10.1 35 310 0.52 2.65 0.00 0.000 6 0.000 0.000 1876 2043 2744

671 -1.22 -116.8 75.2 -12.7 96 680 0.68 2.72 0.00 0.000 4 0.000 0.000 2029 3575 2746

725 -1.42 -116.8 79.2 -6.5 103 733 0.50 2.95 0.00 0.000 6 0.000 0.000 1920 1919 2747

1078 -1.38 -116.8 113.9 -9.6 144 1085 0.47 3.22 0.00 0.000 4 0.000 0.000 2067 3593 2748

1154 -1.60 -116.8 118.9 -5.7 147 1162 0.85 3.25 0.00 0.000 6 0.000 0.000 1864 2124 2749

1490 -1.43 -116.8 157.2 -11.4 163 1492 0.45 0.00 0.00 0.000 6 0.000 0.000 1994 2122 2748

1803 -1.45 -116.8 179.8 -7.0 178 1811 0.45 3.03 0.00 0.000 4 0.000 0.000 1877 3611 2750

1852 -1.18 -116.8 184.7 -10.9 180 1860 0.85 2.72 0.00 0.000 6 0.000 0.000 2070 1974 2746

2193 -1.38 -116.8 203.1 -5.1 196 2201 0.73 3.47 0.00 0.000 4 0.000 0.000 1872 3456 2749

2269 -1.12 -116.8 209.6 -10.5 199 2276 0.85 2.67 0.00 0.000 6 0.000 0.000 2004 2133 2744

2604 -1.18 -116.8 232.0 -6.3 215 2605 0.00 0.00 0.00 0.000 6 0.000 0.000 1999 2146 2753

2914 -1.34 -116.8 251.1 -6.1 230 2919 0.00 2.35 0.00 0.000 4 0.000 0.000 2025 3667 2750

2950 -1.50 -116.8 253.4 -5.7 231 2959 0.50 3.08 0.00 0.000 6 0.000 0.000 1883 2000 2745

3269 -1.22 -116.8 282.9 -9.4 247 3277 0.75 3.25 0.00 0.000 4 0.000 0.000 2059 3679 2746

3319 -1.54 -116.8 286.1 -4.8 249 3327 0.95 2.85 0.00 0.000 6 0.000 0.000 1878 2195 2749

3654 -1.27 -116.8 315.8 -9.1 265 3657 0.77 0.00 0.00 0.000 6 0.000 0.000 2063 2182 2743

3968 -1.49 -116.8 330.1 -4.4 280 3971 0.73 0.00 0.00 0.000 6 0.000 0.000 1875 2192 2750

4278 -1.21 -116.8 357.5 -9.1 295 4281 1.17 0.00 0.00 0.000 6 0.000 0.000 2067 2199 2747

4587 -1.45 -116.8 371.3 -4.1 310 4593 0.68 2.50 0.00 0.000 4 0.000 0.000 1872 3566 2745

4613 -1.42 -116.8 373.1 -5.3 311 4620 0.52 2.83 0.00 0.000 6 0.000 0.000 2016 2029 2746

4947 -1.52 -116.8 390.7 -5.2 327 4954 0.38 2.97 0.00 0.000 4 0.000 0.000 1891 3705 2746

4998 -1.32 -116.8 394.9 -8.4 329 5006 0.62 3.00 0.00 0.000 6 0.000 0.000 1988 2033 2754

5333 -1.40 -116.8 413.0 -5.5 345 5341 0.82 2.95 0.00 0.000 4 0.000 0.000 1879 3548 2744

5382 -1.30 -116.8 416.3 -5.6 347 5388 0.77 2.47 0.00 0.000 6 0.000 0.000 2064 2213 2754

5714 -1.68 -116.8 431.7 -5.0 363 5717 1.02 0.00 0.00 0.000 6 0.000 0.000 1819 2202 2745

6028 -1.24 -116.8 462.7 -10.3 378 6031 1.05 0.00 0.00 0.000 6 0.000 0.000 2067 2202 2742

6337 -1.48 -116.8 476.4 -4.0 393 6340 0.77 0.00 0.00 0.000 6 0.000 0.000 1887 2200 2747

6553 end dive: BOTTOM_OBSTACLE_DETECTED

state 6553 begin apogee

6566 -0.25 0.0 494.4 8.3 404 6695 2.15 0.00 114.97 0.001 6 0.000 0.000 2270 1875 2262

6701 end apogee: CONTROL_FINISHED_OK

state 6701 begin climb

6706 1.49 116.8 495.1 0.0 411 6834 1.98 2.97 113.18 0.001 4 0.000 0.000 2640 3372 1790

6931 1.27 116.8 453.8 22.4 420 6940 0.70 3.28 0.00 0.000 6 0.000 0.000 2518 1714 1783

7256 1.38 123.8 406.4 13.2 436 7270 0.47 3.10 6.95 0.001 4 0.000 0.000 2642 3435 1750

7420 1.16 123.8 369.1 22.5 443 7428 0.77 3.38 0.00 0.000 6 0.000 0.000 2435 1952 1756

7755 1.47 169.0 333.8 10.2 459 7806 0.70 3.50 43.22 0.001 4 0.000 0.000 2630 3624 1572

7913 1.24 169.0 294.2 26.2 466 7921 0.80 2.85 0.00 0.000 6 0.000 0.000 2446 1939 1568

8253 1.51 193.6 252.7 11.8 482 8285 0.73 2.75 23.70 0.001 4 0.000 0.000 2639 3588 1465

8393 1.09 193.6 215.3 27.3 488 8401 0.82 3.50 0.00 0.000 6 0.000 0.000 2458 1716 1478

8734 1.33 210.8 170.2 12.4 504 8758 0.45 3.38 13.32 0.001 4 0.000 0.000 2587 3527 1406

8924 1.16 210.8 126.6 22.0 512 8932 0.55 3.30 0.00 0.000 6 0.000 0.000 2460 1817 1402

9264 1.44 232.5 84.5 12.0 542 9290 0.65 3.17 18.15 0.001 4 0.000 0.000 2658 3468 1313

9449 1.20 232.5 33.5 28.1 571 9458 0.77 3.65 0.00 0.000 6 0.000 0.000 2465 1781 1306

9687 end climb: SURFACE_DEPTH_REACHED

state 9687 begin surface coast

9710 end surface coast: CONTROL_FINISHED_OK

state 9711 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	11	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	171	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	6	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	-448868.41	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	152232,6636.731,-6031.684,10,1.1,11,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6646.879,-6030.228
_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	-69.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	152704,6636.731,-6031.684,18,1.1,18,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.801,-1.712	XPDR_PINGS	-1
FINISH	-0.0,1.024768	ALTIM_TOP_PING	19.9,20.5
SM_CCo	9740,137.05,0.000,7,0,426,450.37	ALTIM_BOTTOM_PING	425.4,77.7
SM_GC	0.00,0.00,0.00,137.05,0.000,0.000,0.000,643,1950,426,-7.46,-0.90,450.37	_24V_AH	23.7,55.740
RAFOS_CLK	0	_10V_AH	9.7,8.531
RAFOS	4,1160407744,15.500000,15.484445,40,0,0,0,0,0,0,0,0,0,0,0	DATA_FILE_SIZE	18961,614
RAFOS_FIX	6635.643555,-6027.437500,091006,161620,4,80,1.14	CFSIZE	255582208,243519488
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,93,755,8,0
TT8_MAMPS	0.024544	SOUNDSPEED	1469.1
HUMID	2375	CURRENT	0.052,248.8,1
INTERNAL_PRESSURE	25.9674	GPS	091006,181429,6637.459,-6032.189,23,1.1,24,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	45	119	127.55	SBE_CT	500	24	284.96
Roll_motor	97	60	138.72	nil	0	0	0.00
VBD_pump_during_apogee	333	0	6.06	nil	0	0	0.00
VBD_pump_during_surface	137	600	1948.85	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	464.89
Transponder_ping	3	420	37.33
GPS	19	50	9.42
TT8	1852	19	357.96
LPSleep	6117	2	137.07
TT8_Active	729	19	140.94
TT8_Sampling	699	39	270.74
TT8_CF8	802	45	357.61
TT8_Kalman	0	0	0.00
Analog_circuits	1329	12	154.74
GPS_charging	0	0	0.00
Compass	591	26	149.11
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	126	0.00	0.00	-76.97	0.000	6	0.000	0.000	641	1890	2745
133	-1.49	-116.8	-0.0	0.0	9	150	6.62	2.70	0.00	0.000	4	0.000	0.000	1992	3582	2749
301	-1.54	-116.8	23.6	-10.1	35	310	0.52	2.65	0.00	0.000	6	0.000	0.000	1876	2043	2744
671	-1.22	-116.8	75.2	-12.7	96	680	0.68	2.72	0.00	0.000	4	0.000	0.000	2029	3575	2746
725	-1.42	-116.8	79.2	-6.5	103	733	0.50	2.95	0.00	0.000	6	0.000	0.000	1920	1919	2747
1078	-1.38	-116.8	113.9	-9.6	144	1085	0.47	3.22	0.00	0.000	4	0.000	0.000	2067	3593	2748
1154	-1.60	-116.8	118.9	-5.7	147	1162	0.85	3.25	0.00	0.000	6	0.000	0.000	1864	2124	2749
1490	-1.43	-116.8	157.2	-11.4	163	1492	0.45	0.00	0.00	0.000	6	0.000	0.000	1994	2122	2748
1803	-1.45	-116.8	179.8	-7.0	178	1811	0.45	3.03	0.00	0.000	4	0.000	0.000	1877	3611	2750
1852	-1.18	-116.8	184.7	-10.9	180	1860	0.85	2.72	0.00	0.000	6	0.000	0.000	2070	1974	2746
2193	-1.38	-116.8	203.1	-5.1	196	2201	0.73	3.47	0.00	0.000	4	0.000	0.000	1872	3456	2749
2269	-1.12	-116.8	209.6	-10.5	199	2276	0.85	2.67	0.00	0.000	6	0.000	0.000	2004	2133	2744
2604	-1.18	-116.8	232.0	-6.3	215	2605	0.00	0.00	0.00	0.000	6	0.000	0.000	1999	2146	2753
2914	-1.34	-116.8	251.1	-6.1	230	2919	0.00	2.35	0.00	0.000	4	0.000	0.000	2025	3667	2750
2950	-1.50	-116.8	253.4	-5.7	231	2959	0.50	3.08	0.00	0.000	6	0.000	0.000	1883	2000	2745
3269	-1.22	-116.8	282.9	-9.4	247	3277	0.75	3.25	0.00	0.000	4	0.000	0.000	2059	3679	2746
3319	-1.54	-116.8	286.1	-4.8	249	3327	0.95	2.85	0.00	0.000	6	0.000	0.000	1878	2195	2749
3654	-1.27	-116.8	315.8	-9.1	265	3657	0.77	0.00	0.00	0.000	6	0.000	0.000	2063	2182	2743
3968	-1.49	-116.8	330.1	-4.4	280	3971	0.73	0.00	0.00	0.000	6	0.000	0.000	1875	2192	2750
4278	-1.21	-116.8	357.5	-9.1	295	4281	1.17	0.00	0.00	0.000	6	0.000	0.000	2067	2199	2747
4587	-1.45	-116.8	371.3	-4.1	310	4593	0.68	2.50	0.00	0.000	4	0.000	0.000	1872	3566	2745
4613	-1.42	-116.8	373.1	-5.3	311	4620	0.52	2.83	0.00	0.000	6	0.000	0.000	2016	2029	2746
4947	-1.52	-116.8	390.7	-5.2	327	4954	0.38	2.97	0.00	0.000	4	0.000	0.000	1891	3705	2746
4998	-1.32	-116.8	394.9	-8.4	329	5006	0.62	3.00	0.00	0.000	6	0.000	0.000	1988	2033	2754
5333	-1.40	-116.8	413.0	-5.5	345	5341	0.82	2.95	0.00	0.000	4	0.000	0.000	1879	3548	2744
5382	-1.30	-116.8	416.3	-5.6	347	5388	0.77	2.47	0.00	0.000	6	0.000	0.000	2064	2213	2754
5714	-1.68	-116.8	431.7	-5.0	363	5717	1.02	0.00	0.00	0.000	6	0.000	0.000	1819	2202	2745
6028	-1.24	-116.8	462.7	-10.3	378	6031	1.05	0.00	0.00	0.000	6	0.000	0.000	2067	2202	2742
6337	-1.48	-116.8	476.4	-4.0	393	6340	0.77	0.00	0.00	0.000	6	0.000	0.000	1887	2200	2747
6553	end dive: BOTTOM_OBSTACLE_DETECTED
state	6553	begin apogee
6566	-0.25	0.0	494.4	8.3	404	6695	2.15	0.00	114.97	0.001	6	0.000	0.000	2270	1875	2262
6701	end apogee: CONTROL_FINISHED_OK
state	6701	begin climb
6706	1.49	116.8	495.1	0.0	411	6834	1.98	2.97	113.18	0.001	4	0.000	0.000	2640	3372	1790
6931	1.27	116.8	453.8	22.4	420	6940	0.70	3.28	0.00	0.000	6	0.000	0.000	2518	1714	1783
7256	1.38	123.8	406.4	13.2	436	7270	0.47	3.10	6.95	0.001	4	0.000	0.000	2642	3435	1750
7420	1.16	123.8	369.1	22.5	443	7428	0.77	3.38	0.00	0.000	6	0.000	0.000	2435	1952	1756
7755	1.47	169.0	333.8	10.2	459	7806	0.70	3.50	43.22	0.001	4	0.000	0.000	2630	3624	1572
7913	1.24	169.0	294.2	26.2	466	7921	0.80	2.85	0.00	0.000	6	0.000	0.000	2446	1939	1568
8253	1.51	193.6	252.7	11.8	482	8285	0.73	2.75	23.70	0.001	4	0.000	0.000	2639	3588	1465
8393	1.09	193.6	215.3	27.3	488	8401	0.82	3.50	0.00	0.000	6	0.000	0.000	2458	1716	1478
8734	1.33	210.8	170.2	12.4	504	8758	0.45	3.38	13.32	0.001	4	0.000	0.000	2587	3527	1406
8924	1.16	210.8	126.6	22.0	512	8932	0.55	3.30	0.00	0.000	6	0.000	0.000	2460	1817	1402
9264	1.44	232.5	84.5	12.0	542	9290	0.65	3.17	18.15	0.001	4	0.000	0.000	2658	3468	1313
9449	1.20	232.5	33.5	28.1	571	9458	0.77	3.65	0.00	0.000	6	0.000	0.000	2465	1781	1306
9687	end climb: SURFACE_DEPTH_REACHED
state	9687	begin surface coast
9710	end surface coast: CONTROL_FINISHED_OK
state	9711	begin surface