Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 32 * 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 32 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 8 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 -449356.94 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 -449356.94

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 8 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 32 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 061645,6653.569,-6034.116,12,1.1,12,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6703.717,-6032.676

_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 062118,6653.569,-6034.116,15,1.1,15,18.0 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:

FINISH 0.0,1.024619 XPDR_PINGS -1

SM_CCo 10260,122.78,0.000,1,0,421,451.60 ALTIM_TOP_PING 19.7,19.2

SM_GC -0.00,0.00,0.00,122.78,0.000,0.000,0.000,618,2189,421,-7.41,6.25,451.60 ALTIM_BOTTOM_PING 476.4,83.3

RAFOS_CLK 0 _24V_AH 23.7,64.073

RAFOS 0,1160640261,8.083333,8.072500,80,0,0,0,0,0,521,0,0,0,0,0 _10V_AH 9.7,9.654

RAFOS_FIX 6653.127441,-6030.577148,121006,080820,4,80,0.37 DATA_FILE_SIZE 18999,606

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241864704

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,113,978,4,0

HUMID 2329 SOUNDSPEED 1470.8

INTERNAL_PRESSURE 26.0162 CURRENT 0.056,257.5,1

TCM_TEMP 15.00 GPS 121006,091629,6654.429,-6034.340,13,1.1,13,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 53 119 150.60 SBE_CT 495 24 281.81

Roll_motor 127 60 180.95 nil 0 0 0.00

VBD_pump_during_apogee 351 1300 10832.03 nil 0 0 0.00

VBD_pump_during_surface 122 600 1745.86 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 87 223 460.14

Transponder_ping 4 420 42.30

GPS 15 50 7.70

TT8 1896 19 366.42

LPSleep 6449 2 144.52

TT8_Active 758 19 146.54

TT8_Sampling 743 39 287.75

TT8_CF8 828 45 369.08

TT8_Kalman 0 0 0.00

Analog_circuits 1404 12 163.52

GPS_charging 0 0 0.00

Compass 636 26 160.65

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

34 end surface: CONTROL_FINISHED_OK

state 34 begin dive

41 -1.49 -116.8 0.0 0.0 0 126 0.00 0.00 -76.65 0.000 6 0.000 0.000 576 2023 2738

132 -1.49 -116.8 -0.0 0.0 9 149 6.82 2.97 0.00 0.000 4 0.000 0.000 1988 547 2740

321 -1.61 -116.8 26.5 -10.3 39 330 0.62 2.75 0.00 0.000 6 0.000 0.000 1870 2174 2743

690 -1.30 -116.8 75.9 -12.6 100 699 0.90 2.72 0.00 0.000 4 0.000 0.000 2045 3669 2737

751 -1.49 -116.8 80.8 -6.0 109 760 0.77 3.38 0.00 0.000 6 0.000 0.000 1865 1831 2737

1115 -1.17 -116.8 122.4 -11.7 146 1123 0.73 3.70 0.00 0.000 4 0.000 0.000 2070 3674 2737

1167 -1.36 -116.8 127.1 -5.5 148 1176 0.77 3.60 0.00 0.000 6 0.000 0.000 1870 1863 2739

1503 -1.07 -116.8 161.2 -10.5 164 1511 1.42 2.80 0.00 0.000 4 0.000 0.000 2106 3373 2741

1699 -1.45 -116.8 172.5 -6.4 172 1711 1.08 3.05 0.00 0.000 6 0.000 0.000 1881 1720 2737

2028 -1.15 -116.8 204.2 -10.1 188 2036 0.77 3.75 0.00 0.000 4 0.000 0.000 2057 3529 2739

2129 -1.34 -116.8 210.6 -5.2 192 2136 0.77 2.65 0.00 0.000 6 0.000 0.000 1875 1857 2738

2464 -1.05 -116.8 241.5 -9.5 208 2472 1.42 3.25 0.00 0.000 4 0.000 0.000 2128 3360 2734

2564 -1.43 -116.8 247.0 -4.2 212 2572 1.08 2.97 0.00 0.000 6 0.000 0.000 1894 1818 2739

2900 -1.20 -116.8 275.3 -8.9 228 2908 0.68 3.60 0.00 0.000 4 0.000 0.000 2087 3678 2735

3000 -1.46 -116.8 280.6 -4.1 232 3008 0.77 2.85 0.00 0.000 6 0.000 0.000 1885 1816 2743

3341 -1.22 -116.8 307.5 -8.5 248 3343 0.77 0.00 0.00 0.000 6 0.000 0.000 2070 1802 2741

3650 -1.48 -116.8 320.9 -3.9 263 3653 1.15 0.00 0.00 0.000 6 0.000 0.000 1906 1811 2735

3960 -1.28 -116.8 345.8 -8.4 278 3962 0.82 0.00 0.00 0.000 6 0.000 0.000 2076 1843 2744

4269 -1.53 -116.8 359.2 -4.0 293 4277 0.95 3.92 0.00 0.000 4 0.000 0.000 1891 3441 2747

4318 -1.28 -116.8 362.8 -8.3 295 4324 0.77 2.38 0.00 0.000 6 0.000 0.000 2014 1942 2733

4649 -1.35 -116.8 381.1 -5.4 311 4657 0.60 3.03 0.00 0.000 4 0.000 0.000 1873 432 2737

4679 -1.17 -116.8 383.2 -7.5 312 4687 0.77 3.72 0.00 0.000 6 0.000 0.000 2014 2256 2737

5015 -1.24 -116.8 401.7 -5.3 328 5022 0.00 3.62 0.00 0.000 4 0.000 0.000 2001 387 2745

5066 -1.47 -116.8 404.9 -5.3 330 5075 0.52 3.78 0.00 0.000 6 0.000 0.000 1872 2254 2733

5402 -1.30 -116.8 431.7 -8.5 346 5411 0.90 3.25 0.00 0.000 4 0.000 0.000 2079 387 2738

5482 -1.60 -116.8 436.1 -4.1 349 5491 1.05 3.22 0.00 0.000 6 0.000 0.000 1802 2250 2739

5818 -1.15 -116.8 468.6 -10.1 365 5826 1.20 3.45 0.00 0.000 4 0.000 0.000 2073 556 2736

5870 -1.39 -116.8 472.4 -4.3 367 5879 0.77 3.22 0.00 0.000 6 0.000 0.000 1906 2236 2736

6201 -1.11 -116.8 498.6 -8.3 383 6209 0.75 3.25 0.00 0.000 4 0.000 0.000 2043 403 2743

6236 -1.37 -116.8 500.8 -4.3 384 6249 0.77 3.53 0.00 0.000 6 0.000 0.000 1889 2248 2741

6577 -1.14 -116.8 527.8 -8.2 393 6585 0.85 3.17 0.00 0.000 4 0.000 0.000 2065 559 2738

6629 -1.41 -116.8 530.6 -3.8 394 6637 0.77 3.78 0.00 0.000 6 0.000 0.000 1959 2201 2737

6951 end dive: BOTTOM_OBSTACLE_DETECTED

state 6951 begin apogee

6964 -0.25 0.0 551.4 6.5 402 7091 1.58 0.00 112.95 0.000 6 0.000 0.000 2304 1879 2269

7092 end apogee: CONTROL_FINISHED_OK

state 7092 begin climb

7098 1.49 116.8 552.2 0.0 405 7231 1.58 2.83 113.35 0.001 4 0.000 0.000 2673 3588 1781

7454 1.16 116.8 470.7 24.6 414 7463 0.88 3.33 0.00 0.000 6 0.000 0.000 2477 1708 1776

7779 1.36 143.9 431.9 11.6 430 7813 0.47 4.95 24.70 0.001 4 0.000 0.000 2593 3685 1679

7986 1.20 143.9 387.8 21.8 439 7994 0.57 3.25 0.00 0.000 6 0.000 0.000 2462 1812 1671

8328 1.26 143.9 341.2 14.4 455 8332 0.85 0.00 0.77 0.001 6 0.000 0.000 2609 1819 1674

8636 1.11 143.9 269.5 21.6 470 8639 0.82 0.00 0.00 0.000 6 0.000 0.000 2437 1811 1669

8945 1.56 210.1 241.3 8.5 485 9022 1.25 2.75 63.45 0.000 4 0.000 0.000 2662 3636 1402

9108 1.22 210.1 193.4 31.6 492 9117 0.77 3.47 0.00 0.000 6 0.000 0.000 2495 1776 1401

9443 1.38 210.1 144.0 14.0 508 9452 0.85 3.60 0.00 0.000 4 0.000 0.000 2616 3638 1404

9544 1.18 210.1 119.1 27.0 512 9552 0.73 3.42 0.00 0.000 6 0.000 0.000 2419 1822 1401

9894 1.59 255.8 78.7 10.1 553 9941 1.42 3.38 36.33 0.000 4 0.000 0.000 2666 3681 1219

10050 1.25 255.8 31.3 32.2 576 10060 0.80 3.75 0.03 0.001 6 0.000 0.000 2486 1859 1219

10219 end climb: SURFACE_DEPTH_REACHED

state 10219 begin surface coast

10232 end surface coast: CONTROL_FINISHED_OK

state 10232 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	32	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	8	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	-449356.94	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	061645,6653.569,-6034.116,12,1.1,12,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6703.717,-6032.676
_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	062118,6653.569,-6034.116,15,1.1,15,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FINISH	0.0,1.024619	XPDR_PINGS	-1
SM_CCo	10260,122.78,0.000,1,0,421,451.60	ALTIM_TOP_PING	19.7,19.2
SM_GC	-0.00,0.00,0.00,122.78,0.000,0.000,0.000,618,2189,421,-7.41,6.25,451.60	ALTIM_BOTTOM_PING	476.4,83.3
RAFOS_CLK	0	_24V_AH	23.7,64.073
RAFOS	0,1160640261,8.083333,8.072500,80,0,0,0,0,0,521,0,0,0,0,0	_10V_AH	9.7,9.654
RAFOS_FIX	6653.127441,-6030.577148,121006,080820,4,80,0.37	DATA_FILE_SIZE	18999,606
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241864704
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,113,978,4,0
HUMID	2329	SOUNDSPEED	1470.8
INTERNAL_PRESSURE	26.0162	CURRENT	0.056,257.5,1
TCM_TEMP	15.00	GPS	121006,091629,6654.429,-6034.340,13,1.1,13,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	53	119	150.60	SBE_CT	495	24	281.81
Roll_motor	127	60	180.95	nil	0	0	0.00
VBD_pump_during_apogee	351	1300	10832.03	nil	0	0	0.00
VBD_pump_during_surface	122	600	1745.86	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	460.14
Transponder_ping	4	420	42.30
GPS	15	50	7.70
TT8	1896	19	366.42
LPSleep	6449	2	144.52
TT8_Active	758	19	146.54
TT8_Sampling	743	39	287.75
TT8_CF8	828	45	369.08
TT8_Kalman	0	0	0.00
Analog_circuits	1404	12	163.52
GPS_charging	0	0	0.00
Compass	636	26	160.65
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
34	end surface: CONTROL_FINISHED_OK
state	34	begin dive
41	-1.49	-116.8	0.0	0.0	0	126	0.00	0.00	-76.65	0.000	6	0.000	0.000	576	2023	2738
132	-1.49	-116.8	-0.0	0.0	9	149	6.82	2.97	0.00	0.000	4	0.000	0.000	1988	547	2740
321	-1.61	-116.8	26.5	-10.3	39	330	0.62	2.75	0.00	0.000	6	0.000	0.000	1870	2174	2743
690	-1.30	-116.8	75.9	-12.6	100	699	0.90	2.72	0.00	0.000	4	0.000	0.000	2045	3669	2737
751	-1.49	-116.8	80.8	-6.0	109	760	0.77	3.38	0.00	0.000	6	0.000	0.000	1865	1831	2737
1115	-1.17	-116.8	122.4	-11.7	146	1123	0.73	3.70	0.00	0.000	4	0.000	0.000	2070	3674	2737
1167	-1.36	-116.8	127.1	-5.5	148	1176	0.77	3.60	0.00	0.000	6	0.000	0.000	1870	1863	2739
1503	-1.07	-116.8	161.2	-10.5	164	1511	1.42	2.80	0.00	0.000	4	0.000	0.000	2106	3373	2741
1699	-1.45	-116.8	172.5	-6.4	172	1711	1.08	3.05	0.00	0.000	6	0.000	0.000	1881	1720	2737
2028	-1.15	-116.8	204.2	-10.1	188	2036	0.77	3.75	0.00	0.000	4	0.000	0.000	2057	3529	2739
2129	-1.34	-116.8	210.6	-5.2	192	2136	0.77	2.65	0.00	0.000	6	0.000	0.000	1875	1857	2738
2464	-1.05	-116.8	241.5	-9.5	208	2472	1.42	3.25	0.00	0.000	4	0.000	0.000	2128	3360	2734
2564	-1.43	-116.8	247.0	-4.2	212	2572	1.08	2.97	0.00	0.000	6	0.000	0.000	1894	1818	2739
2900	-1.20	-116.8	275.3	-8.9	228	2908	0.68	3.60	0.00	0.000	4	0.000	0.000	2087	3678	2735
3000	-1.46	-116.8	280.6	-4.1	232	3008	0.77	2.85	0.00	0.000	6	0.000	0.000	1885	1816	2743
3341	-1.22	-116.8	307.5	-8.5	248	3343	0.77	0.00	0.00	0.000	6	0.000	0.000	2070	1802	2741
3650	-1.48	-116.8	320.9	-3.9	263	3653	1.15	0.00	0.00	0.000	6	0.000	0.000	1906	1811	2735
3960	-1.28	-116.8	345.8	-8.4	278	3962	0.82	0.00	0.00	0.000	6	0.000	0.000	2076	1843	2744
4269	-1.53	-116.8	359.2	-4.0	293	4277	0.95	3.92	0.00	0.000	4	0.000	0.000	1891	3441	2747
4318	-1.28	-116.8	362.8	-8.3	295	4324	0.77	2.38	0.00	0.000	6	0.000	0.000	2014	1942	2733
4649	-1.35	-116.8	381.1	-5.4	311	4657	0.60	3.03	0.00	0.000	4	0.000	0.000	1873	432	2737
4679	-1.17	-116.8	383.2	-7.5	312	4687	0.77	3.72	0.00	0.000	6	0.000	0.000	2014	2256	2737
5015	-1.24	-116.8	401.7	-5.3	328	5022	0.00	3.62	0.00	0.000	4	0.000	0.000	2001	387	2745
5066	-1.47	-116.8	404.9	-5.3	330	5075	0.52	3.78	0.00	0.000	6	0.000	0.000	1872	2254	2733
5402	-1.30	-116.8	431.7	-8.5	346	5411	0.90	3.25	0.00	0.000	4	0.000	0.000	2079	387	2738
5482	-1.60	-116.8	436.1	-4.1	349	5491	1.05	3.22	0.00	0.000	6	0.000	0.000	1802	2250	2739
5818	-1.15	-116.8	468.6	-10.1	365	5826	1.20	3.45	0.00	0.000	4	0.000	0.000	2073	556	2736
5870	-1.39	-116.8	472.4	-4.3	367	5879	0.77	3.22	0.00	0.000	6	0.000	0.000	1906	2236	2736
6201	-1.11	-116.8	498.6	-8.3	383	6209	0.75	3.25	0.00	0.000	4	0.000	0.000	2043	403	2743
6236	-1.37	-116.8	500.8	-4.3	384	6249	0.77	3.53	0.00	0.000	6	0.000	0.000	1889	2248	2741
6577	-1.14	-116.8	527.8	-8.2	393	6585	0.85	3.17	0.00	0.000	4	0.000	0.000	2065	559	2738
6629	-1.41	-116.8	530.6	-3.8	394	6637	0.77	3.78	0.00	0.000	6	0.000	0.000	1959	2201	2737
6951	end dive: BOTTOM_OBSTACLE_DETECTED
state	6951	begin apogee
6964	-0.25	0.0	551.4	6.5	402	7091	1.58	0.00	112.95	0.000	6	0.000	0.000	2304	1879	2269
7092	end apogee: CONTROL_FINISHED_OK
state	7092	begin climb
7098	1.49	116.8	552.2	0.0	405	7231	1.58	2.83	113.35	0.001	4	0.000	0.000	2673	3588	1781
7454	1.16	116.8	470.7	24.6	414	7463	0.88	3.33	0.00	0.000	6	0.000	0.000	2477	1708	1776
7779	1.36	143.9	431.9	11.6	430	7813	0.47	4.95	24.70	0.001	4	0.000	0.000	2593	3685	1679
7986	1.20	143.9	387.8	21.8	439	7994	0.57	3.25	0.00	0.000	6	0.000	0.000	2462	1812	1671
8328	1.26	143.9	341.2	14.4	455	8332	0.85	0.00	0.77	0.001	6	0.000	0.000	2609	1819	1674
8636	1.11	143.9	269.5	21.6	470	8639	0.82	0.00	0.00	0.000	6	0.000	0.000	2437	1811	1669
8945	1.56	210.1	241.3	8.5	485	9022	1.25	2.75	63.45	0.000	4	0.000	0.000	2662	3636	1402
9108	1.22	210.1	193.4	31.6	492	9117	0.77	3.47	0.00	0.000	6	0.000	0.000	2495	1776	1401
9443	1.38	210.1	144.0	14.0	508	9452	0.85	3.60	0.00	0.000	4	0.000	0.000	2616	3638	1404
9544	1.18	210.1	119.1	27.0	512	9552	0.73	3.42	0.00	0.000	6	0.000	0.000	2419	1822	1401
9894	1.59	255.8	78.7	10.1	553	9941	1.42	3.38	36.33	0.000	4	0.000	0.000	2666	3681	1219
10050	1.25	255.8	31.3	32.2	576	10060	0.80	3.75	0.03	0.001	6	0.000	0.000	2486	1859	1219
10219	end climb: SURFACE_DEPTH_REACHED
state	10219	begin surface coast
10232	end surface coast: CONTROL_FINISHED_OK
state	10232	begin surface