Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 21 * 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 21 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 178 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -446987.53 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 -446987.53

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 178 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 28 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 21 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 135251,6637.446,-6008.769,30,1.1,30,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6628.994,-6006.087

_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 -69.7 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 135711,6637.446,-6008.769,27,1.1,27,18.0 MHEAD_RNG_PITCHd_Wd 123.5,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025142 XPDR_PINGS -1

SM_CCo 8558,13.15,0.001,0,0,403,451.35 ALTIM_TOP_PING 19.1,18.7

SM_GC 0.34,0.00,0.00,13.15,0.000,0.000,0.001,606,1978,403,-7.57,-0.14,451.35 ALTIM_BOTTOM_PING 529.9,39.2

RAFOS_CLK 0 _24V_AH 23.7,34.869

RAFOS 4,1160494169,15.500000,15.491389,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,5.335

RAFOS_FIX 6637.993652,-6003.090332,101006,121220,4,80,1.03 DATA_FILE_SIZE 15895,528

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243052544

TT8_MAMPS 0.023777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,55,767,0,0

HUMID 2214 SOUNDSPEED 1459.8

INTERNAL_PRESSURE 26.0065 CURRENT 0.061, 26.6,1

TCM_TEMP 15.00 GPS 101006,162152,6636.921,-6006.795,16,1.1,16,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 119 82.85 SBE_CT 438 24 249.60

Roll_motor 100 60 142.20 nil 0 0 0.00

VBD_pump_during_apogee 36 1300 1125.34 nil 0 0 0.00

VBD_pump_during_surface 13 0 0.24 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 67 223 356.99

Transponder_ping 5 420 49.77

GPS 28 50 13.69

TT8 1708 19 330.03

LPSleep 5557 2 124.52

TT8_Active 238 19 46.12

TT8_Sampling 604 39 234.22

TT8_CF8 725 45 323.07

TT8_Kalman 0 81 0.00

Analog_circuits 743 12 86.60

GPS_charging 0 0 0.00

Compass 498 26 125.81

RAFOS 1080 1 15.71

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 58 0.00 0.00 -8.10 0.000 6 0.000 0.000 617 1906 2850

64 -1.49 -116.8 0.3 -0.0 2 82 6.32 2.12 0.00 0.000 4 0.000 0.000 1959 568 2859

245 -1.49 -116.8 22.7 -10.6 30 254 0.10 3.38 0.00 0.000 6 0.000 0.000 1969 2087 2853

614 -1.69 -116.8 61.9 -10.4 91 623 0.45 3.03 0.00 0.000 4 0.000 0.000 1853 3567 2851

725 -1.66 -116.8 78.6 -16.1 108 734 0.52 2.90 0.00 0.000 6 0.000 0.000 1990 1929 2851

1082 -1.41 -116.8 117.3 -10.2 147 1089 0.00 3.35 0.00 0.000 4 0.000 0.000 1969 3606 2854

1182 -1.41 -116.8 126.8 -10.5 151 1186 0.00 2.42 0.00 0.000 6 0.000 0.000 1968 1915 2856

1517 -1.48 -116.8 161.7 -10.3 167 1525 0.38 3.25 0.00 0.000 4 0.000 0.000 1864 3588 2859

1602 -1.48 -116.8 174.3 -15.1 170 1609 0.75 2.33 0.00 0.000 6 0.000 0.000 1985 2083 2854

1930 -1.30 -116.8 209.8 -10.3 186 1935 0.00 2.95 0.00 0.000 4 0.000 0.000 1950 3571 2853

1966 -1.28 -116.8 213.9 -10.3 187 1974 0.00 2.90 0.00 0.000 6 0.000 0.000 1983 2062 2852

2292 -1.35 -116.8 246.0 -10.4 203 2297 0.00 2.55 0.00 0.000 4 0.000 0.000 1970 3394 2853

2363 -1.33 -116.8 253.5 -10.2 206 2368 0.00 2.33 0.00 0.000 6 0.000 0.000 1983 2038 2853

2699 -1.37 -116.8 287.2 -9.7 222 2706 0.03 3.17 0.00 0.000 4 0.000 0.000 1975 3536 2851

2747 -1.52 -116.8 292.8 -10.1 224 2752 0.52 2.25 0.00 0.000 6 0.000 0.000 1857 2191 2860

3078 -1.59 -116.8 345.9 -16.5 240 3081 0.62 0.00 0.00 0.000 6 0.000 0.000 1969 2208 2854

3393 -1.22 -116.8 376.9 -10.2 255 3394 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2203 2848

3697 -1.22 -116.8 408.7 -10.3 270 3702 0.12 2.40 0.00 0.000 4 0.000 0.000 1984 3540 2856

3733 -1.19 -116.8 412.7 -10.3 271 3743 0.43 3.12 0.00 0.000 6 0.000 0.000 2041 2023 2850

4058 -1.26 -116.8 437.7 -7.7 287 4066 0.82 2.75 0.00 0.000 4 0.000 0.000 1900 3388 2852

4115 -1.41 -116.8 445.1 -13.8 289 4121 0.52 2.33 0.00 0.000 6 0.000 0.000 2042 1986 2851

4440 -1.29 -116.8 469.8 -7.2 304 4448 0.43 3.03 0.00 0.000 4 0.000 0.000 1920 3659 2857

4503 -1.51 -116.8 477.6 -12.7 306 4511 0.00 2.78 0.00 0.000 6 0.000 0.000 1920 2297 2849

4820 -1.48 -116.8 514.0 -10.1 319 4826 0.00 3.08 0.00 0.000 4 0.000 0.000 1923 625 2859

4857 -1.48 -116.8 518.7 -12.2 319 4865 0.00 3.47 0.00 0.000 6 0.000 0.000 1931 2269 2851

5186 end dive: BOTTOM_OBSTACLE_DETECTED

state 5186 begin apogee

5199 -0.25 0.0 560.3 12.4 328 5217 1.52 0.00 14.70 0.000 6 0.000 0.000 2223 1953 2243

5218 end apogee: CONTROL_FINISHED_OK

state 5218 begin climb

5224 1.49 116.8 560.3 0.0 328 5244 2.17 2.97 11.32 0.001 4 0.000 0.000 2667 592 1760

5266 1.49 116.8 557.4 21.4 329 5273 0.60 2.78 0.00 0.000 6 0.000 0.000 2533 2146 1764

5598 1.32 116.8 508.5 14.3 337 5603 0.00 2.45 0.00 0.000 4 0.000 0.000 2545 3619 1757

5728 1.32 116.8 490.2 14.2 340 5736 0.00 2.65 0.00 0.000 6 0.000 0.000 2541 2100 1757

6052 1.40 116.8 444.1 14.5 356 6058 0.03 3.15 0.00 0.000 4 0.000 0.000 2561 3578 1766

6127 1.40 116.8 432.9 14.5 359 6132 0.08 2.78 0.00 0.000 6 0.000 0.000 2545 2094 1755

6458 1.47 116.8 382.8 15.0 375 6463 0.35 2.38 0.00 0.000 4 0.000 0.000 2604 3422 1762

6538 1.45 116.8 368.5 19.1 378 6542 0.00 2.05 0.00 0.000 6 0.000 0.000 2624 2061 1760

6863 1.35 116.8 309.2 18.6 393 6868 0.45 2.30 0.00 0.000 4 0.000 0.000 2478 3612 1757

6937 1.18 157.7 299.3 10.5 396 6947 0.47 2.47 3.65 0.001 6 0.000 0.000 2608 2258 1612

7268 1.49 157.7 232.8 21.0 411 7269 0.00 0.00 0.00 0.000 6 0.000 0.000 2606 2273 1611

7571 1.32 157.7 158.9 32.2 426 7573 0.43 0.00 0.00 0.000 6 0.000 0.000 2468 2276 1608

7885 0.62 179.2 120.6 12.0 441 7894 0.52 2.35 1.77 0.001 4 0.000 0.000 2360 3459 1509

7926 0.83 239.9 115.6 8.9 442 7939 0.57 2.72 5.07 0.000 6 0.000 0.000 2496 2148 1254

8286 1.39 239.9 63.2 14.8 489 8295 0.60 3.17 0.00 0.000 4 0.000 0.000 2601 3466 1260

8358 1.55 239.9 45.8 28.4 500 8367 0.03 2.58 0.00 0.000 6 0.000 0.000 2615 2304 1256

8522 end climb: SURFACE_DEPTH_REACHED

state 8522 begin surface coast

8529 end surface coast: CONTROL_FINISHED_OK

state 8529 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	21	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	178	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-446987.53	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	135251,6637.446,-6008.769,30,1.1,30,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6628.994,-6006.087
_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	-69.7	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	135711,6637.446,-6008.769,27,1.1,27,18.0	MHEAD_RNG_PITCHd_Wd	123.5,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025142	XPDR_PINGS	-1
SM_CCo	8558,13.15,0.001,0,0,403,451.35	ALTIM_TOP_PING	19.1,18.7
SM_GC	0.34,0.00,0.00,13.15,0.000,0.000,0.001,606,1978,403,-7.57,-0.14,451.35	ALTIM_BOTTOM_PING	529.9,39.2
RAFOS_CLK	0	_24V_AH	23.7,34.869
RAFOS	4,1160494169,15.500000,15.491389,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,5.335
RAFOS_FIX	6637.993652,-6003.090332,101006,121220,4,80,1.03	DATA_FILE_SIZE	15895,528
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243052544
TT8_MAMPS	0.023777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,55,767,0,0
HUMID	2214	SOUNDSPEED	1459.8
INTERNAL_PRESSURE	26.0065	CURRENT	0.061, 26.6,1
TCM_TEMP	15.00	GPS	101006,162152,6636.921,-6006.795,16,1.1,16,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	119	82.85	SBE_CT	438	24	249.60
Roll_motor	100	60	142.20	nil	0	0	0.00
VBD_pump_during_apogee	36	1300	1125.34	nil	0	0	0.00
VBD_pump_during_surface	13	0	0.24	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	356.99
Transponder_ping	5	420	49.77
GPS	28	50	13.69
TT8	1708	19	330.03
LPSleep	5557	2	124.52
TT8_Active	238	19	46.12
TT8_Sampling	604	39	234.22
TT8_CF8	725	45	323.07
TT8_Kalman	0	81	0.00
Analog_circuits	743	12	86.60
GPS_charging	0	0	0.00
Compass	498	26	125.81
RAFOS	1080	1	15.71

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	58	0.00	0.00	-8.10	0.000	6	0.000	0.000	617	1906	2850
64	-1.49	-116.8	0.3	-0.0	2	82	6.32	2.12	0.00	0.000	4	0.000	0.000	1959	568	2859
245	-1.49	-116.8	22.7	-10.6	30	254	0.10	3.38	0.00	0.000	6	0.000	0.000	1969	2087	2853
614	-1.69	-116.8	61.9	-10.4	91	623	0.45	3.03	0.00	0.000	4	0.000	0.000	1853	3567	2851
725	-1.66	-116.8	78.6	-16.1	108	734	0.52	2.90	0.00	0.000	6	0.000	0.000	1990	1929	2851
1082	-1.41	-116.8	117.3	-10.2	147	1089	0.00	3.35	0.00	0.000	4	0.000	0.000	1969	3606	2854
1182	-1.41	-116.8	126.8	-10.5	151	1186	0.00	2.42	0.00	0.000	6	0.000	0.000	1968	1915	2856
1517	-1.48	-116.8	161.7	-10.3	167	1525	0.38	3.25	0.00	0.000	4	0.000	0.000	1864	3588	2859
1602	-1.48	-116.8	174.3	-15.1	170	1609	0.75	2.33	0.00	0.000	6	0.000	0.000	1985	2083	2854
1930	-1.30	-116.8	209.8	-10.3	186	1935	0.00	2.95	0.00	0.000	4	0.000	0.000	1950	3571	2853
1966	-1.28	-116.8	213.9	-10.3	187	1974	0.00	2.90	0.00	0.000	6	0.000	0.000	1983	2062	2852
2292	-1.35	-116.8	246.0	-10.4	203	2297	0.00	2.55	0.00	0.000	4	0.000	0.000	1970	3394	2853
2363	-1.33	-116.8	253.5	-10.2	206	2368	0.00	2.33	0.00	0.000	6	0.000	0.000	1983	2038	2853
2699	-1.37	-116.8	287.2	-9.7	222	2706	0.03	3.17	0.00	0.000	4	0.000	0.000	1975	3536	2851
2747	-1.52	-116.8	292.8	-10.1	224	2752	0.52	2.25	0.00	0.000	6	0.000	0.000	1857	2191	2860
3078	-1.59	-116.8	345.9	-16.5	240	3081	0.62	0.00	0.00	0.000	6	0.000	0.000	1969	2208	2854
3393	-1.22	-116.8	376.9	-10.2	255	3394	0.00	0.00	0.00	0.000	6	0.000	0.000	1993	2203	2848
3697	-1.22	-116.8	408.7	-10.3	270	3702	0.12	2.40	0.00	0.000	4	0.000	0.000	1984	3540	2856
3733	-1.19	-116.8	412.7	-10.3	271	3743	0.43	3.12	0.00	0.000	6	0.000	0.000	2041	2023	2850
4058	-1.26	-116.8	437.7	-7.7	287	4066	0.82	2.75	0.00	0.000	4	0.000	0.000	1900	3388	2852
4115	-1.41	-116.8	445.1	-13.8	289	4121	0.52	2.33	0.00	0.000	6	0.000	0.000	2042	1986	2851
4440	-1.29	-116.8	469.8	-7.2	304	4448	0.43	3.03	0.00	0.000	4	0.000	0.000	1920	3659	2857
4503	-1.51	-116.8	477.6	-12.7	306	4511	0.00	2.78	0.00	0.000	6	0.000	0.000	1920	2297	2849
4820	-1.48	-116.8	514.0	-10.1	319	4826	0.00	3.08	0.00	0.000	4	0.000	0.000	1923	625	2859
4857	-1.48	-116.8	518.7	-12.2	319	4865	0.00	3.47	0.00	0.000	6	0.000	0.000	1931	2269	2851
5186	end dive: BOTTOM_OBSTACLE_DETECTED
state	5186	begin apogee
5199	-0.25	0.0	560.3	12.4	328	5217	1.52	0.00	14.70	0.000	6	0.000	0.000	2223	1953	2243
5218	end apogee: CONTROL_FINISHED_OK
state	5218	begin climb
5224	1.49	116.8	560.3	0.0	328	5244	2.17	2.97	11.32	0.001	4	0.000	0.000	2667	592	1760
5266	1.49	116.8	557.4	21.4	329	5273	0.60	2.78	0.00	0.000	6	0.000	0.000	2533	2146	1764
5598	1.32	116.8	508.5	14.3	337	5603	0.00	2.45	0.00	0.000	4	0.000	0.000	2545	3619	1757
5728	1.32	116.8	490.2	14.2	340	5736	0.00	2.65	0.00	0.000	6	0.000	0.000	2541	2100	1757
6052	1.40	116.8	444.1	14.5	356	6058	0.03	3.15	0.00	0.000	4	0.000	0.000	2561	3578	1766
6127	1.40	116.8	432.9	14.5	359	6132	0.08	2.78	0.00	0.000	6	0.000	0.000	2545	2094	1755
6458	1.47	116.8	382.8	15.0	375	6463	0.35	2.38	0.00	0.000	4	0.000	0.000	2604	3422	1762
6538	1.45	116.8	368.5	19.1	378	6542	0.00	2.05	0.00	0.000	6	0.000	0.000	2624	2061	1760
6863	1.35	116.8	309.2	18.6	393	6868	0.45	2.30	0.00	0.000	4	0.000	0.000	2478	3612	1757
6937	1.18	157.7	299.3	10.5	396	6947	0.47	2.47	3.65	0.001	6	0.000	0.000	2608	2258	1612
7268	1.49	157.7	232.8	21.0	411	7269	0.00	0.00	0.00	0.000	6	0.000	0.000	2606	2273	1611
7571	1.32	157.7	158.9	32.2	426	7573	0.43	0.00	0.00	0.000	6	0.000	0.000	2468	2276	1608
7885	0.62	179.2	120.6	12.0	441	7894	0.52	2.35	1.77	0.001	4	0.000	0.000	2360	3459	1509
7926	0.83	239.9	115.6	8.9	442	7939	0.57	2.72	5.07	0.000	6	0.000	0.000	2496	2148	1254
8286	1.39	239.9	63.2	14.8	489	8295	0.60	3.17	0.00	0.000	4	0.000	0.000	2601	3466	1260
8358	1.55	239.9	45.8	28.4	500	8367	0.03	2.58	0.00	0.000	6	0.000	0.000	2615	2304	1256
8522	end climb: SURFACE_DEPTH_REACHED
state	8522	begin surface coast
8529	end surface coast: CONTROL_FINISHED_OK
state	8529	begin surface