Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 25 * 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 25 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 6 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 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 -449222.47 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 -449222.47

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 6 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 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 25 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 084218,6647.539,-6034.816,7,1.1,7,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6657.687,-6033.371

_XMS_NAKs 0 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 084703,6647.539,-6034.816,29,1.1,29,18.0 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 -0.00,4.995,-1.676 XPDR_PINGS -1

FINISH 0.0,1.024409 ALTIM_TOP_PING 19.1,19.7

SM_CCo 9826,141.62,0.000,0,0,426,450.62 ALTIM_BOTTOM_PING 451.2,91.8

SM_GC -0.00,0.00,0.00,141.62,0.000,0.000,0.000,639,1828,426,-7.43,-4.52,450.62 _24V_AH 23.7,61.198

RAFOS_CLK 0 _10V_AH 9.7,9.276

RAFOS 3,1160555642,8.583333,8.567223,80,0,0,0,0,0,828,0,0,0,0,0 DATA_FILE_SIZE 18991,585

RAFOS_FIX 6646.035156,-6031.505859,111006,080820,4,80,0.00 CFSIZE 255582208,242438144

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,105,968,2,0

TT8_MAMPS 0.024544 SOUNDSPEED 1470.4

HUMID 2293 CURRENT 0.055,258.2,1

INTERNAL_PRESSURE 25.9576 GPS 111006,113529,6648.316,-6034.538,29,1.1,30,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 47 119 135.02 SBE_CT 473 24 269.42

Roll_motor 125 60 179.03 nil 0 0 0.00

VBD_pump_during_apogee 328 1300 10107.99 nil 0 0 0.00

VBD_pump_during_surface 141 600 2013.91 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 86 223 457.56

Transponder_ping 4 420 39.82

GPS 30 50 14.75

TT8 1808 19 349.38

LPSleep 6214 2 139.24

TT8_Active 758 19 146.56

TT8_Sampling 697 39 270.11

TT8_CF8 787 45 350.71

TT8_Kalman 0 0 0.00

Analog_circuits 1352 12 157.44

GPS_charging 0 0 0.00

Compass 581 26 146.64

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 0 126 0.00 0.00 -76.93 0.000 6 0.000 0.000 662 1808 2741

133 -1.49 -116.8 -0.0 0.0 9 150 6.53 2.70 0.00 0.000 4 0.000 0.000 2015 3674 2742

438 -1.59 -116.8 35.0 -8.0 59 447 1.12 3.33 0.00 0.000 6 0.000 0.000 1815 1687 2738

806 -1.16 -116.8 88.2 -14.2 120 815 1.12 3.80 0.00 0.000 4 0.000 0.000 2048 3695 2744

961 -1.39 -116.8 98.0 -5.3 145 970 0.82 3.65 0.00 0.000 6 0.000 0.000 1909 1881 2743

1301 -1.15 -116.8 133.9 -10.7 164 1309 0.77 3.00 0.00 0.000 4 0.000 0.000 2067 371 2748

1336 -1.44 -116.8 136.5 -4.9 165 1350 0.77 3.97 0.00 0.000 6 0.000 0.000 1965 2200 2743

1666 -1.38 -116.8 161.6 -8.0 181 1673 0.00 3.62 0.00 0.000 4 0.000 0.000 1956 339 2740

1724 -1.36 -116.8 166.8 -8.0 183 1735 0.00 3.47 0.00 0.000 6 0.000 0.000 1951 2176 2742

2052 -1.30 -116.8 191.8 -7.6 199 2058 0.00 2.92 0.00 0.000 4 0.000 0.000 1963 364 2743

2122 -1.28 -116.8 197.6 -8.2 202 2130 0.10 3.42 0.00 0.000 6 0.000 0.000 1978 2163 2749

2459 -1.22 -116.8 221.7 -7.4 218 2461 0.60 0.00 0.00 0.000 6 0.000 0.000 2090 2183 2735

2766 -1.49 -116.8 235.8 -4.2 233 2774 0.95 3.45 0.00 0.000 4 0.000 0.000 1895 372 2745

2846 -1.30 -116.8 242.2 -9.2 236 2854 0.55 3.72 0.00 0.000 6 0.000 0.000 2015 2189 2741

3181 -1.40 -116.8 261.2 -5.5 252 3184 0.62 0.00 0.00 0.000 6 0.000 0.000 1882 2200 2743

3491 -1.33 -116.8 287.2 -8.4 267 3493 0.57 0.00 0.00 0.000 6 0.000 0.000 2002 2179 2743

3800 -1.43 -116.8 304.5 -5.4 282 3808 0.50 3.78 0.00 0.000 4 0.000 0.000 1914 363 2746

3900 -1.25 -116.8 313.0 -8.4 286 3908 0.77 3.58 0.00 0.000 6 0.000 0.000 2076 2065 2743

4235 -1.51 -116.8 326.9 -4.0 302 4243 0.77 3.00 0.00 0.000 4 0.000 0.000 1893 383 2742

4270 -1.32 -116.8 329.7 -8.4 303 4283 0.62 3.55 0.00 0.000 6 0.000 0.000 2025 2173 2739

4600 -1.44 -116.8 346.8 -5.1 319 4608 0.62 3.17 0.00 0.000 4 0.000 0.000 1968 525 2742

4629 -1.44 -116.8 349.0 -6.6 320 4634 0.00 3.00 0.00 0.000 6 0.000 0.000 1981 2257 2743

4961 -1.38 -116.8 369.9 -6.6 336 4968 0.00 3.70 0.00 0.000 4 0.000 0.000 1949 423 2741

5063 -1.60 -116.8 377.3 -6.4 340 5076 0.52 3.28 0.00 0.000 6 0.000 0.000 1835 2070 2742

5393 -1.22 -116.8 408.0 -9.7 356 5401 1.33 2.80 0.00 0.000 4 0.000 0.000 2088 579 2739

5469 -1.53 -116.8 411.9 -3.8 359 5477 1.02 2.92 0.00 0.000 6 0.000 0.000 1851 2090 2741

5804 -1.17 -116.8 442.7 -9.4 375 5813 1.33 3.25 0.00 0.000 4 0.000 0.000 2087 411 2744

5854 -1.49 -116.8 445.2 -3.7 377 5862 0.68 2.78 0.00 0.000 6 0.000 0.000 1891 1911 2744

6189 -1.31 -116.8 470.9 -8.0 393 6197 0.43 3.42 0.00 0.000 4 0.000 0.000 2044 3552 2744

6241 -1.56 -116.8 474.1 -5.0 395 6250 0.77 3.40 0.00 0.000 6 0.000 0.000 1838 1720 2748

6576 -1.19 -116.8 504.0 -9.3 410 6584 1.42 3.25 0.00 0.000 4 0.000 0.000 2091 3432 2737

6782 -1.47 -116.8 513.0 -3.6 414 6789 0.77 3.03 0.00 0.000 6 0.000 0.000 1891 1780 2734

7086 end dive: BOTTOM_OBSTACLE_DETECTED

state 7086 begin apogee

7099 -0.25 0.0 536.0 7.7 422 7217 1.67 0.00 113.60 0.000 6 0.000 0.000 2276 2118 2268

7217 end apogee: CONTROL_FINISHED_OK

state 7217 begin climb

7223 1.49 116.8 536.7 0.0 425 7355 1.55 2.88 113.35 0.000 4 0.000 0.000 2650 489 1783

7381 0.63 116.8 506.3 34.9 428 7390 1.38 3.28 0.00 0.000 6 0.000 0.000 2332 2183 1785

7704 1.33 184.9 476.8 8.3 443 7778 1.05 3.55 64.80 0.001 4 0.000 0.000 2575 295 1509

7822 1.30 184.9 454.2 21.1 448 7830 0.28 3.72 0.70 0.001 6 0.000 0.000 2526 2133 1505

8157 1.38 184.9 399.2 16.2 464 8159 0.62 0.00 0.00 0.000 6 0.000 0.000 2615 2138 1503

8467 1.14 184.9 318.8 26.6 479 8475 1.12 2.97 0.00 0.000 4 0.000 0.000 2451 504 1504

8579 1.45 209.3 303.2 11.8 483 8612 0.77 3.03 22.92 0.000 6 0.000 0.000 2625 2171 1403

8921 1.16 209.3 205.5 29.5 500 8930 0.82 3.15 0.32 0.000 4 0.000 0.000 2477 330 1411

8975 1.44 221.4 196.5 12.8 502 8994 0.80 3.25 9.93 0.000 6 0.000 0.000 2571 2149 1359

9304 1.31 221.4 119.4 23.8 518 9313 0.82 3.15 0.12 0.001 4 0.000 0.000 2477 345 1355

9372 1.56 224.7 109.7 13.5 520 9382 0.80 2.72 2.28 0.000 6 0.000 0.000 2652 2152 1344

9736 1.27 224.7 10.2 27.5 575 9744 0.77 0.00 0.05 0.000 6 0.000 0.000 2454 2140 1344

9781 end climb: SURFACE_DEPTH_REACHED

state 9782 begin surface coast

9797 end surface coast: CONTROL_FINISHED_OK

state 9798 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	25	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	6	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	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	-449222.47	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	084218,6647.539,-6034.816,7,1.1,7,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6657.687,-6033.371
_XMS_NAKs	0	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	084703,6647.539,-6034.816,29,1.1,29,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.995,-1.676	XPDR_PINGS	-1
FINISH	0.0,1.024409	ALTIM_TOP_PING	19.1,19.7
SM_CCo	9826,141.62,0.000,0,0,426,450.62	ALTIM_BOTTOM_PING	451.2,91.8
SM_GC	-0.00,0.00,0.00,141.62,0.000,0.000,0.000,639,1828,426,-7.43,-4.52,450.62	_24V_AH	23.7,61.198
RAFOS_CLK	0	_10V_AH	9.7,9.276
RAFOS	3,1160555642,8.583333,8.567223,80,0,0,0,0,0,828,0,0,0,0,0	DATA_FILE_SIZE	18991,585
RAFOS_FIX	6646.035156,-6031.505859,111006,080820,4,80,0.00	CFSIZE	255582208,242438144
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,105,968,2,0
TT8_MAMPS	0.024544	SOUNDSPEED	1470.4
HUMID	2293	CURRENT	0.055,258.2,1
INTERNAL_PRESSURE	25.9576	GPS	111006,113529,6648.316,-6034.538,29,1.1,30,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	47	119	135.02	SBE_CT	473	24	269.42
Roll_motor	125	60	179.03	nil	0	0	0.00
VBD_pump_during_apogee	328	1300	10107.99	nil	0	0	0.00
VBD_pump_during_surface	141	600	2013.91	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	86	223	457.56
Transponder_ping	4	420	39.82
GPS	30	50	14.75
TT8	1808	19	349.38
LPSleep	6214	2	139.24
TT8_Active	758	19	146.56
TT8_Sampling	697	39	270.11
TT8_CF8	787	45	350.71
TT8_Kalman	0	0	0.00
Analog_circuits	1352	12	157.44
GPS_charging	0	0	0.00
Compass	581	26	146.64
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	126	0.00	0.00	-76.93	0.000	6	0.000	0.000	662	1808	2741
133	-1.49	-116.8	-0.0	0.0	9	150	6.53	2.70	0.00	0.000	4	0.000	0.000	2015	3674	2742
438	-1.59	-116.8	35.0	-8.0	59	447	1.12	3.33	0.00	0.000	6	0.000	0.000	1815	1687	2738
806	-1.16	-116.8	88.2	-14.2	120	815	1.12	3.80	0.00	0.000	4	0.000	0.000	2048	3695	2744
961	-1.39	-116.8	98.0	-5.3	145	970	0.82	3.65	0.00	0.000	6	0.000	0.000	1909	1881	2743
1301	-1.15	-116.8	133.9	-10.7	164	1309	0.77	3.00	0.00	0.000	4	0.000	0.000	2067	371	2748
1336	-1.44	-116.8	136.5	-4.9	165	1350	0.77	3.97	0.00	0.000	6	0.000	0.000	1965	2200	2743
1666	-1.38	-116.8	161.6	-8.0	181	1673	0.00	3.62	0.00	0.000	4	0.000	0.000	1956	339	2740
1724	-1.36	-116.8	166.8	-8.0	183	1735	0.00	3.47	0.00	0.000	6	0.000	0.000	1951	2176	2742
2052	-1.30	-116.8	191.8	-7.6	199	2058	0.00	2.92	0.00	0.000	4	0.000	0.000	1963	364	2743
2122	-1.28	-116.8	197.6	-8.2	202	2130	0.10	3.42	0.00	0.000	6	0.000	0.000	1978	2163	2749
2459	-1.22	-116.8	221.7	-7.4	218	2461	0.60	0.00	0.00	0.000	6	0.000	0.000	2090	2183	2735
2766	-1.49	-116.8	235.8	-4.2	233	2774	0.95	3.45	0.00	0.000	4	0.000	0.000	1895	372	2745
2846	-1.30	-116.8	242.2	-9.2	236	2854	0.55	3.72	0.00	0.000	6	0.000	0.000	2015	2189	2741
3181	-1.40	-116.8	261.2	-5.5	252	3184	0.62	0.00	0.00	0.000	6	0.000	0.000	1882	2200	2743
3491	-1.33	-116.8	287.2	-8.4	267	3493	0.57	0.00	0.00	0.000	6	0.000	0.000	2002	2179	2743
3800	-1.43	-116.8	304.5	-5.4	282	3808	0.50	3.78	0.00	0.000	4	0.000	0.000	1914	363	2746
3900	-1.25	-116.8	313.0	-8.4	286	3908	0.77	3.58	0.00	0.000	6	0.000	0.000	2076	2065	2743
4235	-1.51	-116.8	326.9	-4.0	302	4243	0.77	3.00	0.00	0.000	4	0.000	0.000	1893	383	2742
4270	-1.32	-116.8	329.7	-8.4	303	4283	0.62	3.55	0.00	0.000	6	0.000	0.000	2025	2173	2739
4600	-1.44	-116.8	346.8	-5.1	319	4608	0.62	3.17	0.00	0.000	4	0.000	0.000	1968	525	2742
4629	-1.44	-116.8	349.0	-6.6	320	4634	0.00	3.00	0.00	0.000	6	0.000	0.000	1981	2257	2743
4961	-1.38	-116.8	369.9	-6.6	336	4968	0.00	3.70	0.00	0.000	4	0.000	0.000	1949	423	2741
5063	-1.60	-116.8	377.3	-6.4	340	5076	0.52	3.28	0.00	0.000	6	0.000	0.000	1835	2070	2742
5393	-1.22	-116.8	408.0	-9.7	356	5401	1.33	2.80	0.00	0.000	4	0.000	0.000	2088	579	2739
5469	-1.53	-116.8	411.9	-3.8	359	5477	1.02	2.92	0.00	0.000	6	0.000	0.000	1851	2090	2741
5804	-1.17	-116.8	442.7	-9.4	375	5813	1.33	3.25	0.00	0.000	4	0.000	0.000	2087	411	2744
5854	-1.49	-116.8	445.2	-3.7	377	5862	0.68	2.78	0.00	0.000	6	0.000	0.000	1891	1911	2744
6189	-1.31	-116.8	470.9	-8.0	393	6197	0.43	3.42	0.00	0.000	4	0.000	0.000	2044	3552	2744
6241	-1.56	-116.8	474.1	-5.0	395	6250	0.77	3.40	0.00	0.000	6	0.000	0.000	1838	1720	2748
6576	-1.19	-116.8	504.0	-9.3	410	6584	1.42	3.25	0.00	0.000	4	0.000	0.000	2091	3432	2737
6782	-1.47	-116.8	513.0	-3.6	414	6789	0.77	3.03	0.00	0.000	6	0.000	0.000	1891	1780	2734
7086	end dive: BOTTOM_OBSTACLE_DETECTED
state	7086	begin apogee
7099	-0.25	0.0	536.0	7.7	422	7217	1.67	0.00	113.60	0.000	6	0.000	0.000	2276	2118	2268
7217	end apogee: CONTROL_FINISHED_OK
state	7217	begin climb
7223	1.49	116.8	536.7	0.0	425	7355	1.55	2.88	113.35	0.000	4	0.000	0.000	2650	489	1783
7381	0.63	116.8	506.3	34.9	428	7390	1.38	3.28	0.00	0.000	6	0.000	0.000	2332	2183	1785
7704	1.33	184.9	476.8	8.3	443	7778	1.05	3.55	64.80	0.001	4	0.000	0.000	2575	295	1509
7822	1.30	184.9	454.2	21.1	448	7830	0.28	3.72	0.70	0.001	6	0.000	0.000	2526	2133	1505
8157	1.38	184.9	399.2	16.2	464	8159	0.62	0.00	0.00	0.000	6	0.000	0.000	2615	2138	1503
8467	1.14	184.9	318.8	26.6	479	8475	1.12	2.97	0.00	0.000	4	0.000	0.000	2451	504	1504
8579	1.45	209.3	303.2	11.8	483	8612	0.77	3.03	22.92	0.000	6	0.000	0.000	2625	2171	1403
8921	1.16	209.3	205.5	29.5	500	8930	0.82	3.15	0.32	0.000	4	0.000	0.000	2477	330	1411
8975	1.44	221.4	196.5	12.8	502	8994	0.80	3.25	9.93	0.000	6	0.000	0.000	2571	2149	1359
9304	1.31	221.4	119.4	23.8	518	9313	0.82	3.15	0.12	0.001	4	0.000	0.000	2477	345	1355
9372	1.56	224.7	109.7	13.5	520	9382	0.80	2.72	2.28	0.000	6	0.000	0.000	2652	2152	1344
9736	1.27	224.7	10.2	27.5	575	9744	0.77	0.00	0.05	0.000	6	0.000	0.000	2454	2140	1344
9781	end climb: SURFACE_DEPTH_REACHED
state	9782	begin surface coast
9797	end surface coast: CONTROL_FINISHED_OK
state	9798	begin surface