Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 23 * 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 23 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 165 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -447037.19 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 -447037.19

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 165 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 21 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 23 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 190109,6637.787,-6005.787,31,1.1,31,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6644.999,-6008.960

_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 -69.8 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 190516,6637.787,-6005.787,15,1.1,15,18.0 MHEAD_RNG_PITCHd_Wd 293.9,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025060 XPDR_PINGS -1

SM_CCo 8313,12.05,0.000,0,0,398,450.86 ALTIM_TOP_PING 19.1,17.6

SM_GC 0.34,0.00,0.00,12.05,0.000,0.000,0.000,651,2163,398,-7.40,5.09,450.86 ALTIM_BOTTOM_PING 500.8,82.1

RAFOS_CLK 0 _24V_AH 23.7,35.431

RAFOS 0,1160510652,20.083334,20.070000,80,0,0,0,0,0,528,0,0,0,0,0 _10V_AH 9.7,5.418

RAFOS_FIX 6637.921387,-6003.442383,101006,202048,4,80,0.38 DATA_FILE_SIZE 15865,485

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242921472

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,77,800,0,0

HUMID 2219 SOUNDSPEED 1460.0

INTERNAL_PRESSURE 25.9967 CURRENT 0.080,194.1,1

TCM_TEMP 15.00 GPS 101006,212558,6638.101,-6008.065,9,1.1,9,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 119 100.19 SBE_CT 403 24 229.48

Roll_motor 104 60 148.03 nil 0 0 0.00

VBD_pump_during_apogee 39 1300 1231.63 nil 0 0 0.00

VBD_pump_during_surface 12 600 171.35 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 67 223 357.23

Transponder_ping 4 420 44.79

GPS 15 50 7.62

TT8 1622 19 313.43

LPSleep 5464 2 122.44

TT8_Active 247 19 47.73

TT8_Sampling 563 39 218.19

TT8_CF8 690 45 307.79

TT8_Kalman 0 81 0.00

Analog_circuits 735 12 85.66

GPS_charging 0 0 0.00

Compass 476 26 120.05

RAFOS 1440 1 20.95

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 -8.00 0.000 6 0.000 0.000 585 1931 2856

64 -1.49 -116.8 0.3 0.0 2 82 6.93 2.45 0.00 0.000 4 0.000 0.000 1997 589 2862

248 -1.49 -116.8 23.0 -9.9 31 257 0.50 2.75 0.00 0.000 6 0.000 0.000 1852 2120 2863

619 -1.70 -116.8 81.3 -16.0 92 627 0.00 2.45 0.00 0.000 4 0.000 0.000 1857 3657 2864

691 -1.37 -116.8 92.6 -14.8 103 701 0.82 3.05 0.00 0.000 6 0.000 0.000 2035 1955 2869

1044 -1.29 -116.8 121.2 -7.7 128 1049 0.47 2.45 0.00 0.000 4 0.000 0.000 1916 3476 2857

1145 -1.45 -116.8 134.6 -13.1 132 1151 0.47 2.22 0.00 0.000 6 0.000 0.000 2016 1946 2860

1470 -1.36 -116.8 160.6 -7.8 147 1477 0.43 3.22 0.00 0.000 4 0.000 0.000 1914 3648 2862

1533 -1.51 -116.8 168.5 -13.2 149 1542 0.10 2.83 0.00 0.000 6 0.000 0.000 1914 1986 2860

1853 -1.46 -116.8 210.2 -13.0 165 1860 0.00 3.50 0.00 0.000 4 0.000 0.000 1910 3637 2868

1924 -1.29 -116.8 219.4 -12.9 168 1930 0.52 2.72 0.00 0.000 6 0.000 0.000 2022 2069 2858

2256 -1.23 -116.8 246.0 -7.7 184 2262 0.47 2.22 0.00 0.000 4 0.000 0.000 1895 3561 2859

2328 -1.39 -116.8 254.0 -13.2 187 2335 0.52 2.88 0.00 0.000 6 0.000 0.000 2036 2249 2864

2663 -1.31 -116.8 281.6 -7.9 203 2671 0.52 3.22 0.00 0.000 4 0.000 0.000 1922 553 2860

2692 -1.63 -116.8 285.1 -13.4 204 2700 0.00 3.58 0.00 0.000 6 0.000 0.000 1932 2377 2861

3028 -1.69 -116.8 328.3 -13.4 220 3029 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2379 2861

3332 -1.50 -116.8 369.3 -13.3 235 3339 0.00 3.25 0.00 0.000 4 0.000 0.000 1925 563 2869

3374 -1.31 -116.8 375.0 -13.4 236 3383 0.52 3.28 0.00 0.000 6 0.000 0.000 2045 2202 2867

3699 -1.37 -116.8 400.8 -7.8 252 3706 0.43 3.00 0.00 0.000 4 0.000 0.000 1908 3555 2863

3756 -1.52 -116.8 408.5 -13.4 254 3761 0.00 2.45 0.00 0.000 6 0.000 0.000 1923 2228 2870

4081 -1.43 -116.8 450.7 -13.1 269 4084 0.60 0.00 0.00 0.000 6 0.000 0.000 2015 2245 2860

4391 -1.24 -116.8 475.5 -8.2 284 4399 0.43 3.03 0.00 0.000 4 0.000 0.000 1905 566 2864

4420 -1.40 -116.8 479.2 -13.4 285 4426 0.47 2.65 0.00 0.000 6 0.000 0.000 2044 2254 2868

4766 -1.46 -116.8 507.1 -7.9 300 4772 0.90 1.85 0.00 0.000 4 0.000 0.000 1907 3414 2861

4810 -1.60 -116.8 511.2 -9.8 301 4815 0.00 2.25 0.00 0.000 6 0.000 0.000 1901 2238 2862

5139 -1.64 -116.8 554.0 -13.0 309 5143 0.00 2.12 0.00 0.000 4 0.000 0.000 1920 3578 2860

5174 -1.46 -116.8 559.0 -13.3 309 5182 0.00 2.25 0.00 0.000 6 0.000 0.000 1912 2046 2854

5341 end dive: BOTTOM_OBSTACLE_DETECTED

state 5341 begin apogee

5353 -0.25 0.0 576.0 9.3 314 5372 1.70 0.00 14.95 0.000 6 0.000 0.000 2282 2049 2241

5373 end apogee: CONTROL_FINISHED_OK

state 5373 begin climb

5378 1.49 116.8 576.0 0.0 314 5394 1.92 0.00 11.18 0.000 6 0.000 0.000 2649 2058 1772

5708 1.49 116.8 505.2 26.9 322 5714 0.52 2.78 0.00 0.000 4 0.000 0.000 2609 3550 1772

5775 1.01 116.8 493.0 16.5 324 5783 0.77 3.35 0.00 0.000 6 0.000 0.000 2389 1885 1770

6116 0.99 207.9 469.2 6.5 340 6131 0.50 2.97 8.75 0.000 4 0.000 0.000 2503 3500 1395

6266 1.54 207.9 445.0 16.8 345 6275 0.60 2.45 0.00 0.000 6 0.000 0.000 2618 1993 1401

6590 1.66 207.9 358.8 27.7 361 6597 0.00 3.28 0.00 0.000 4 0.000 0.000 2640 3660 1395

6671 1.39 207.9 330.7 47.6 364 6677 0.52 2.45 0.00 0.000 6 0.000 0.000 2516 2162 1390

6995 0.67 207.9 272.1 16.9 379 7001 0.70 2.25 0.00 0.000 4 0.000 0.000 2353 3507 1399

7039 0.73 258.6 266.1 9.7 381 7050 0.47 1.98 5.10 0.001 6 0.000 0.000 2445 2326 1181

7370 1.38 258.6 216.0 13.8 397 7378 0.90 3.50 0.00 0.000 4 0.000 0.000 2662 501 1180

7396 1.60 258.6 211.2 17.6 398 7404 0.52 3.42 0.00 0.000 6 0.000 0.000 2545 2321 1180

7737 1.67 258.6 140.7 20.0 414 7742 0.77 2.00 0.00 0.000 4 0.000 0.000 2699 3653 1181

7784 1.70 258.6 123.1 39.1 416 7792 0.52 3.28 0.00 0.000 6 0.000 0.000 2595 2187 1183

8142 1.35 258.6 29.2 25.6 464 8151 0.52 2.55 0.00 0.000 4 0.000 0.000 2529 3538 1184

8195 1.22 258.6 19.1 20.8 471 8204 0.03 2.17 0.00 0.000 6 0.000 0.000 2514 2153 1178

8272 end climb: SURFACE_DEPTH_REACHED

state 8272 begin surface coast

8280 end surface coast: CONTROL_FINISHED_OK

state 8285 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	23	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	165	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-447037.19	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	190109,6637.787,-6005.787,31,1.1,31,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6644.999,-6008.960
_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	-69.8	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	190516,6637.787,-6005.787,15,1.1,15,18.0	MHEAD_RNG_PITCHd_Wd	293.9,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025060	XPDR_PINGS	-1
SM_CCo	8313,12.05,0.000,0,0,398,450.86	ALTIM_TOP_PING	19.1,17.6
SM_GC	0.34,0.00,0.00,12.05,0.000,0.000,0.000,651,2163,398,-7.40,5.09,450.86	ALTIM_BOTTOM_PING	500.8,82.1
RAFOS_CLK	0	_24V_AH	23.7,35.431
RAFOS	0,1160510652,20.083334,20.070000,80,0,0,0,0,0,528,0,0,0,0,0	_10V_AH	9.7,5.418
RAFOS_FIX	6637.921387,-6003.442383,101006,202048,4,80,0.38	DATA_FILE_SIZE	15865,485
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242921472
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,77,800,0,0
HUMID	2219	SOUNDSPEED	1460.0
INTERNAL_PRESSURE	25.9967	CURRENT	0.080,194.1,1
TCM_TEMP	15.00	GPS	101006,212558,6638.101,-6008.065,9,1.1,9,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	119	100.19	SBE_CT	403	24	229.48
Roll_motor	104	60	148.03	nil	0	0	0.00
VBD_pump_during_apogee	39	1300	1231.63	nil	0	0	0.00
VBD_pump_during_surface	12	600	171.35	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	357.23
Transponder_ping	4	420	44.79
GPS	15	50	7.62
TT8	1622	19	313.43
LPSleep	5464	2	122.44
TT8_Active	247	19	47.73
TT8_Sampling	563	39	218.19
TT8_CF8	690	45	307.79
TT8_Kalman	0	81	0.00
Analog_circuits	735	12	85.66
GPS_charging	0	0	0.00
Compass	476	26	120.05
RAFOS	1440	1	20.95

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	-8.00	0.000	6	0.000	0.000	585	1931	2856
64	-1.49	-116.8	0.3	0.0	2	82	6.93	2.45	0.00	0.000	4	0.000	0.000	1997	589	2862
248	-1.49	-116.8	23.0	-9.9	31	257	0.50	2.75	0.00	0.000	6	0.000	0.000	1852	2120	2863
619	-1.70	-116.8	81.3	-16.0	92	627	0.00	2.45	0.00	0.000	4	0.000	0.000	1857	3657	2864
691	-1.37	-116.8	92.6	-14.8	103	701	0.82	3.05	0.00	0.000	6	0.000	0.000	2035	1955	2869
1044	-1.29	-116.8	121.2	-7.7	128	1049	0.47	2.45	0.00	0.000	4	0.000	0.000	1916	3476	2857
1145	-1.45	-116.8	134.6	-13.1	132	1151	0.47	2.22	0.00	0.000	6	0.000	0.000	2016	1946	2860
1470	-1.36	-116.8	160.6	-7.8	147	1477	0.43	3.22	0.00	0.000	4	0.000	0.000	1914	3648	2862
1533	-1.51	-116.8	168.5	-13.2	149	1542	0.10	2.83	0.00	0.000	6	0.000	0.000	1914	1986	2860
1853	-1.46	-116.8	210.2	-13.0	165	1860	0.00	3.50	0.00	0.000	4	0.000	0.000	1910	3637	2868
1924	-1.29	-116.8	219.4	-12.9	168	1930	0.52	2.72	0.00	0.000	6	0.000	0.000	2022	2069	2858
2256	-1.23	-116.8	246.0	-7.7	184	2262	0.47	2.22	0.00	0.000	4	0.000	0.000	1895	3561	2859
2328	-1.39	-116.8	254.0	-13.2	187	2335	0.52	2.88	0.00	0.000	6	0.000	0.000	2036	2249	2864
2663	-1.31	-116.8	281.6	-7.9	203	2671	0.52	3.22	0.00	0.000	4	0.000	0.000	1922	553	2860
2692	-1.63	-116.8	285.1	-13.4	204	2700	0.00	3.58	0.00	0.000	6	0.000	0.000	1932	2377	2861
3028	-1.69	-116.8	328.3	-13.4	220	3029	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2379	2861
3332	-1.50	-116.8	369.3	-13.3	235	3339	0.00	3.25	0.00	0.000	4	0.000	0.000	1925	563	2869
3374	-1.31	-116.8	375.0	-13.4	236	3383	0.52	3.28	0.00	0.000	6	0.000	0.000	2045	2202	2867
3699	-1.37	-116.8	400.8	-7.8	252	3706	0.43	3.00	0.00	0.000	4	0.000	0.000	1908	3555	2863
3756	-1.52	-116.8	408.5	-13.4	254	3761	0.00	2.45	0.00	0.000	6	0.000	0.000	1923	2228	2870
4081	-1.43	-116.8	450.7	-13.1	269	4084	0.60	0.00	0.00	0.000	6	0.000	0.000	2015	2245	2860
4391	-1.24	-116.8	475.5	-8.2	284	4399	0.43	3.03	0.00	0.000	4	0.000	0.000	1905	566	2864
4420	-1.40	-116.8	479.2	-13.4	285	4426	0.47	2.65	0.00	0.000	6	0.000	0.000	2044	2254	2868
4766	-1.46	-116.8	507.1	-7.9	300	4772	0.90	1.85	0.00	0.000	4	0.000	0.000	1907	3414	2861
4810	-1.60	-116.8	511.2	-9.8	301	4815	0.00	2.25	0.00	0.000	6	0.000	0.000	1901	2238	2862
5139	-1.64	-116.8	554.0	-13.0	309	5143	0.00	2.12	0.00	0.000	4	0.000	0.000	1920	3578	2860
5174	-1.46	-116.8	559.0	-13.3	309	5182	0.00	2.25	0.00	0.000	6	0.000	0.000	1912	2046	2854
5341	end dive: BOTTOM_OBSTACLE_DETECTED
state	5341	begin apogee
5353	-0.25	0.0	576.0	9.3	314	5372	1.70	0.00	14.95	0.000	6	0.000	0.000	2282	2049	2241
5373	end apogee: CONTROL_FINISHED_OK
state	5373	begin climb
5378	1.49	116.8	576.0	0.0	314	5394	1.92	0.00	11.18	0.000	6	0.000	0.000	2649	2058	1772
5708	1.49	116.8	505.2	26.9	322	5714	0.52	2.78	0.00	0.000	4	0.000	0.000	2609	3550	1772
5775	1.01	116.8	493.0	16.5	324	5783	0.77	3.35	0.00	0.000	6	0.000	0.000	2389	1885	1770
6116	0.99	207.9	469.2	6.5	340	6131	0.50	2.97	8.75	0.000	4	0.000	0.000	2503	3500	1395
6266	1.54	207.9	445.0	16.8	345	6275	0.60	2.45	0.00	0.000	6	0.000	0.000	2618	1993	1401
6590	1.66	207.9	358.8	27.7	361	6597	0.00	3.28	0.00	0.000	4	0.000	0.000	2640	3660	1395
6671	1.39	207.9	330.7	47.6	364	6677	0.52	2.45	0.00	0.000	6	0.000	0.000	2516	2162	1390
6995	0.67	207.9	272.1	16.9	379	7001	0.70	2.25	0.00	0.000	4	0.000	0.000	2353	3507	1399
7039	0.73	258.6	266.1	9.7	381	7050	0.47	1.98	5.10	0.001	6	0.000	0.000	2445	2326	1181
7370	1.38	258.6	216.0	13.8	397	7378	0.90	3.50	0.00	0.000	4	0.000	0.000	2662	501	1180
7396	1.60	258.6	211.2	17.6	398	7404	0.52	3.42	0.00	0.000	6	0.000	0.000	2545	2321	1180
7737	1.67	258.6	140.7	20.0	414	7742	0.77	2.00	0.00	0.000	4	0.000	0.000	2699	3653	1181
7784	1.70	258.6	123.1	39.1	416	7792	0.52	3.28	0.00	0.000	6	0.000	0.000	2595	2187	1183
8142	1.35	258.6	29.2	25.6	464	8151	0.52	2.55	0.00	0.000	4	0.000	0.000	2529	3538	1184
8195	1.22	258.6	19.1	20.8	471	8204	0.03	2.17	0.00	0.000	6	0.000	0.000	2514	2153	1178
8272	end climb: SURFACE_DEPTH_REACHED
state	8272	begin surface coast
8280	end surface coast: CONTROL_FINISHED_OK
state	8285	begin surface