Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 41 * 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 41 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 162 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 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 -447485.41 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 0.27000001 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 -447485.41

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 162 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 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 41 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 155818,6637.198,-6006.408,10,1.1,10,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6647.883,-6007.024

_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 -70.0 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 160230,6637.198,-6006.408,22,1.1,22,18.0 MHEAD_RNG_PITCHd_Wd 333.7,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025226 XPDR_PINGS -1

SM_CCo 8059,14.90,0.000,0,0,403,451.84 ALTIM_TOP_PING 20.0,19.2

SM_GC 0.34,0.00,0.00,14.90,0.000,0.000,0.000,670,1904,403,-7.44,-1.67,451.84 ALTIM_BOTTOM_PING 502.4,77.4

RAFOS_CLK 0 _24V_AH 23.7,40.388

RAFOS 0,1160669045,16.083334,16.068056,80,0,0,0,0,0,573,0,0,0,0,0 _10V_AH 9.7,6.161

RAFOS_FIX 6637.523438,-6003.421875,121006,161620,4,80,2.02 DATA_FILE_SIZE 15887,484

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241721344

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,64,903,0,0

HUMID 2348 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 26.0455 CURRENT 0.079,231.4,1

TCM_TEMP 15.00 GPS 121006,181902,6638.036,-6007.619,11,1.1,11,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 119 91.94 SBE_CT 399 24 227.39

Roll_motor 115 60 164.77 nil 0 0 0.00

VBD_pump_during_apogee 36 1300 1136.89 nil 0 0 0.00

VBD_pump_during_surface 14 600 211.88 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 66 223 353.70

Transponder_ping 4 420 44.79

GPS 23 50 11.29

TT8 1596 19 308.50

LPSleep 5214 2 116.84

TT8_Active 267 19 51.62

TT8_Sampling 569 39 220.52

TT8_CF8 697 45 310.57

TT8_Kalman 0 81 0.00

Analog_circuits 755 12 87.97

GPS_charging 0 0 0.00

Compass 472 26 119.11

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 56 0.00 0.00 -7.95 0.000 6 0.000 0.000 594 2086 2911

62 -1.49 -116.8 0.3 -0.0 2 81 7.22 2.95 0.00 0.000 4 0.000 0.000 2001 3397 2898

280 -1.49 -116.8 25.4 -9.5 37 289 0.50 2.88 0.00 0.000 6 0.000 0.000 1866 2080 2906

648 -1.66 -116.8 82.9 -15.9 98 656 0.00 2.42 0.00 0.000 4 0.000 0.000 1873 3605 2912

708 -1.38 -116.8 92.6 -15.8 107 717 0.60 3.72 0.00 0.000 6 0.000 0.000 1996 1886 2906

1047 -1.29 -116.8 126.6 -9.9 130 1053 0.17 3.05 0.00 0.000 4 0.000 0.000 2002 3578 2909

1119 -1.35 -116.8 133.3 -10.0 133 1124 0.00 3.03 0.00 0.000 6 0.000 0.000 2001 1897 2916

1455 -1.54 -116.8 166.5 -9.9 149 1461 0.62 2.45 0.00 0.000 4 0.000 0.000 1871 3579 2907

1536 -1.60 -116.8 178.3 -16.2 152 1548 0.47 3.03 0.00 0.000 6 0.000 0.000 2016 2067 2909

1860 -1.50 -116.8 211.3 -9.6 168 1865 0.62 2.40 0.00 0.000 4 0.000 0.000 1890 3579 2907

1896 -1.57 -116.8 216.0 -14.8 169 1905 0.45 2.62 0.00 0.000 6 0.000 0.000 2024 2009 2914

2220 -1.49 -116.8 247.3 -9.6 185 2226 0.52 2.55 0.00 0.000 4 0.000 0.000 1936 3705 2916

2278 -1.57 -116.8 254.1 -12.2 187 2284 0.00 3.08 0.00 0.000 6 0.000 0.000 1943 2048 2906

2603 -1.67 -116.8 294.0 -12.4 202 2609 0.50 2.75 0.00 0.000 4 0.000 0.000 1842 3565 2908

2633 -1.58 -116.8 299.6 -16.5 203 2639 0.52 2.42 0.00 0.000 6 0.000 0.000 1958 2037 2916

2958 -1.38 -116.8 340.0 -11.9 218 2963 0.00 2.47 0.00 0.000 4 0.000 0.000 1955 3487 2908

3003 -1.31 -116.8 345.9 -12.1 220 3008 0.03 2.78 0.00 0.000 6 0.000 0.000 1958 2349 2908

3334 -1.38 -116.8 385.6 -11.9 236 3341 0.00 3.83 0.00 0.000 4 0.000 0.000 1960 523 2907

3375 -1.32 -116.8 390.8 -11.9 237 3384 0.00 3.33 0.00 0.000 6 0.000 0.000 1963 2381 2907

3701 -1.51 -116.8 428.9 -12.0 253 3708 0.00 3.55 0.00 0.000 4 0.000 0.000 1963 516 2910

3727 -1.44 -116.8 432.8 -12.1 254 3733 0.00 2.85 0.00 0.000 6 0.000 0.000 1945 2204 2904

4063 -1.53 -116.8 472.5 -12.1 270 4068 0.15 2.12 0.00 0.000 4 0.000 0.000 1971 3548 2906

4098 -1.46 -116.8 477.6 -11.9 271 4107 0.00 2.78 0.00 0.000 6 0.000 0.000 1967 2206 2900

4442 -1.54 -116.8 515.5 -10.7 285 4450 0.52 3.20 0.00 0.000 4 0.000 0.000 1832 537 2911

4471 -1.72 -116.8 520.7 -16.8 285 4479 0.50 3.45 0.00 0.000 6 0.000 0.000 1956 2385 2902

4817 -1.61 -116.8 561.4 -11.7 294 4825 0.55 3.12 0.00 0.000 4 0.000 0.000 1877 433 2904

4852 -1.55 -116.8 566.6 -14.8 294 4864 0.00 3.42 0.00 0.000 6 0.000 0.000 1910 2273 2908

4902 end dive: BOTTOM_OBSTACLE_DETECTED

state 4902 begin apogee

4914 -0.25 0.0 572.9 12.1 296 4934 1.60 0.00 15.95 0.000 6 0.000 0.000 2262 1965 2255

4934 end apogee: CONTROL_FINISHED_OK

state 4935 begin climb

4941 1.49 116.8 572.9 0.0 296 4960 2.00 2.62 11.27 0.001 4 0.000 0.000 2670 440 1772

4975 1.49 116.8 571.6 20.1 297 4983 0.62 3.47 0.00 0.000 6 0.000 0.000 2538 2294 1773

5321 1.27 116.8 519.1 14.8 306 5325 0.00 2.05 0.00 0.000 4 0.000 0.000 2553 3460 1775

5367 1.24 116.8 509.0 20.2 307 5373 0.17 2.88 0.00 0.000 6 0.000 0.000 2507 2098 1770

5699 0.96 150.3 471.6 11.1 321 5709 0.45 2.67 3.35 0.000 4 0.000 0.000 2389 3439 1634

5774 1.14 215.2 464.2 8.6 324 5793 0.77 2.67 6.32 0.000 6 0.000 0.000 2561 1977 1359

6103 1.75 215.2 398.5 20.6 340 6111 0.65 3.22 0.00 0.000 4 0.000 0.000 2673 3623 1366

6194 1.71 215.2 372.0 33.6 343 6204 0.50 3.72 0.00 0.000 6 0.000 0.000 2567 1938 1359

6518 1.49 215.2 305.5 20.0 359 6526 0.45 3.03 0.00 0.000 4 0.000 0.000 2668 3590 1363

6636 1.47 215.2 268.4 32.4 364 6644 0.77 2.53 0.00 0.000 6 0.000 0.000 2502 2060 1361

6976 1.26 215.2 212.8 14.8 380 6982 0.40 2.47 0.00 0.000 4 0.000 0.000 2600 3366 1355

7035 1.40 215.2 198.6 25.5 382 7044 0.50 2.55 0.00 0.000 6 0.000 0.000 2477 2038 1361

7359 1.32 215.2 150.2 14.5 398 7365 0.45 2.25 0.00 0.000 4 0.000 0.000 2608 3547 1370

7454 1.47 215.2 126.8 25.9 402 7459 0.00 2.35 0.00 0.000 6 0.000 0.000 2625 2220 1363

7809 1.36 215.2 36.2 25.3 447 7816 0.38 0.00 0.00 0.000 6 0.000 0.000 2473 2213 1361

8015 end climb: SURFACE_DEPTH_REACHED

state 8015 begin surface coast

8030 end surface coast: CONTROL_FINISHED_OK

state 8030 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	41	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	162	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	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	-447485.41	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	0.27000001	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	155818,6637.198,-6006.408,10,1.1,10,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6647.883,-6007.024
_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	-70.0	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	160230,6637.198,-6006.408,22,1.1,22,18.0	MHEAD_RNG_PITCHd_Wd	333.7,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025226	XPDR_PINGS	-1
SM_CCo	8059,14.90,0.000,0,0,403,451.84	ALTIM_TOP_PING	20.0,19.2
SM_GC	0.34,0.00,0.00,14.90,0.000,0.000,0.000,670,1904,403,-7.44,-1.67,451.84	ALTIM_BOTTOM_PING	502.4,77.4
RAFOS_CLK	0	_24V_AH	23.7,40.388
RAFOS	0,1160669045,16.083334,16.068056,80,0,0,0,0,0,573,0,0,0,0,0	_10V_AH	9.7,6.161
RAFOS_FIX	6637.523438,-6003.421875,121006,161620,4,80,2.02	DATA_FILE_SIZE	15887,484
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241721344
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,64,903,0,0
HUMID	2348	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	26.0455	CURRENT	0.079,231.4,1
TCM_TEMP	15.00	GPS	121006,181902,6638.036,-6007.619,11,1.1,11,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	119	91.94	SBE_CT	399	24	227.39
Roll_motor	115	60	164.77	nil	0	0	0.00
VBD_pump_during_apogee	36	1300	1136.89	nil	0	0	0.00
VBD_pump_during_surface	14	600	211.88	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	66	223	353.70
Transponder_ping	4	420	44.79
GPS	23	50	11.29
TT8	1596	19	308.50
LPSleep	5214	2	116.84
TT8_Active	267	19	51.62
TT8_Sampling	569	39	220.52
TT8_CF8	697	45	310.57
TT8_Kalman	0	81	0.00
Analog_circuits	755	12	87.97
GPS_charging	0	0	0.00
Compass	472	26	119.11
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	56	0.00	0.00	-7.95	0.000	6	0.000	0.000	594	2086	2911
62	-1.49	-116.8	0.3	-0.0	2	81	7.22	2.95	0.00	0.000	4	0.000	0.000	2001	3397	2898
280	-1.49	-116.8	25.4	-9.5	37	289	0.50	2.88	0.00	0.000	6	0.000	0.000	1866	2080	2906
648	-1.66	-116.8	82.9	-15.9	98	656	0.00	2.42	0.00	0.000	4	0.000	0.000	1873	3605	2912
708	-1.38	-116.8	92.6	-15.8	107	717	0.60	3.72	0.00	0.000	6	0.000	0.000	1996	1886	2906
1047	-1.29	-116.8	126.6	-9.9	130	1053	0.17	3.05	0.00	0.000	4	0.000	0.000	2002	3578	2909
1119	-1.35	-116.8	133.3	-10.0	133	1124	0.00	3.03	0.00	0.000	6	0.000	0.000	2001	1897	2916
1455	-1.54	-116.8	166.5	-9.9	149	1461	0.62	2.45	0.00	0.000	4	0.000	0.000	1871	3579	2907
1536	-1.60	-116.8	178.3	-16.2	152	1548	0.47	3.03	0.00	0.000	6	0.000	0.000	2016	2067	2909
1860	-1.50	-116.8	211.3	-9.6	168	1865	0.62	2.40	0.00	0.000	4	0.000	0.000	1890	3579	2907
1896	-1.57	-116.8	216.0	-14.8	169	1905	0.45	2.62	0.00	0.000	6	0.000	0.000	2024	2009	2914
2220	-1.49	-116.8	247.3	-9.6	185	2226	0.52	2.55	0.00	0.000	4	0.000	0.000	1936	3705	2916
2278	-1.57	-116.8	254.1	-12.2	187	2284	0.00	3.08	0.00	0.000	6	0.000	0.000	1943	2048	2906
2603	-1.67	-116.8	294.0	-12.4	202	2609	0.50	2.75	0.00	0.000	4	0.000	0.000	1842	3565	2908
2633	-1.58	-116.8	299.6	-16.5	203	2639	0.52	2.42	0.00	0.000	6	0.000	0.000	1958	2037	2916
2958	-1.38	-116.8	340.0	-11.9	218	2963	0.00	2.47	0.00	0.000	4	0.000	0.000	1955	3487	2908
3003	-1.31	-116.8	345.9	-12.1	220	3008	0.03	2.78	0.00	0.000	6	0.000	0.000	1958	2349	2908
3334	-1.38	-116.8	385.6	-11.9	236	3341	0.00	3.83	0.00	0.000	4	0.000	0.000	1960	523	2907
3375	-1.32	-116.8	390.8	-11.9	237	3384	0.00	3.33	0.00	0.000	6	0.000	0.000	1963	2381	2907
3701	-1.51	-116.8	428.9	-12.0	253	3708	0.00	3.55	0.00	0.000	4	0.000	0.000	1963	516	2910
3727	-1.44	-116.8	432.8	-12.1	254	3733	0.00	2.85	0.00	0.000	6	0.000	0.000	1945	2204	2904
4063	-1.53	-116.8	472.5	-12.1	270	4068	0.15	2.12	0.00	0.000	4	0.000	0.000	1971	3548	2906
4098	-1.46	-116.8	477.6	-11.9	271	4107	0.00	2.78	0.00	0.000	6	0.000	0.000	1967	2206	2900
4442	-1.54	-116.8	515.5	-10.7	285	4450	0.52	3.20	0.00	0.000	4	0.000	0.000	1832	537	2911
4471	-1.72	-116.8	520.7	-16.8	285	4479	0.50	3.45	0.00	0.000	6	0.000	0.000	1956	2385	2902
4817	-1.61	-116.8	561.4	-11.7	294	4825	0.55	3.12	0.00	0.000	4	0.000	0.000	1877	433	2904
4852	-1.55	-116.8	566.6	-14.8	294	4864	0.00	3.42	0.00	0.000	6	0.000	0.000	1910	2273	2908
4902	end dive: BOTTOM_OBSTACLE_DETECTED
state	4902	begin apogee
4914	-0.25	0.0	572.9	12.1	296	4934	1.60	0.00	15.95	0.000	6	0.000	0.000	2262	1965	2255
4934	end apogee: CONTROL_FINISHED_OK
state	4935	begin climb
4941	1.49	116.8	572.9	0.0	296	4960	2.00	2.62	11.27	0.001	4	0.000	0.000	2670	440	1772
4975	1.49	116.8	571.6	20.1	297	4983	0.62	3.47	0.00	0.000	6	0.000	0.000	2538	2294	1773
5321	1.27	116.8	519.1	14.8	306	5325	0.00	2.05	0.00	0.000	4	0.000	0.000	2553	3460	1775
5367	1.24	116.8	509.0	20.2	307	5373	0.17	2.88	0.00	0.000	6	0.000	0.000	2507	2098	1770
5699	0.96	150.3	471.6	11.1	321	5709	0.45	2.67	3.35	0.000	4	0.000	0.000	2389	3439	1634
5774	1.14	215.2	464.2	8.6	324	5793	0.77	2.67	6.32	0.000	6	0.000	0.000	2561	1977	1359
6103	1.75	215.2	398.5	20.6	340	6111	0.65	3.22	0.00	0.000	4	0.000	0.000	2673	3623	1366
6194	1.71	215.2	372.0	33.6	343	6204	0.50	3.72	0.00	0.000	6	0.000	0.000	2567	1938	1359
6518	1.49	215.2	305.5	20.0	359	6526	0.45	3.03	0.00	0.000	4	0.000	0.000	2668	3590	1363
6636	1.47	215.2	268.4	32.4	364	6644	0.77	2.53	0.00	0.000	6	0.000	0.000	2502	2060	1361
6976	1.26	215.2	212.8	14.8	380	6982	0.40	2.47	0.00	0.000	4	0.000	0.000	2600	3366	1355
7035	1.40	215.2	198.6	25.5	382	7044	0.50	2.55	0.00	0.000	6	0.000	0.000	2477	2038	1361
7359	1.32	215.2	150.2	14.5	398	7365	0.45	2.25	0.00	0.000	4	0.000	0.000	2608	3547	1370
7454	1.47	215.2	126.8	25.9	402	7459	0.00	2.35	0.00	0.000	6	0.000	0.000	2625	2220	1363
7809	1.36	215.2	36.2	25.3	447	7816	0.38	0.00	0.00	0.000	6	0.000	0.000	2473	2213	1361
8015	end climb: SURFACE_DEPTH_REACHED
state	8015	begin surface coast
8030	end surface coast: CONTROL_FINISHED_OK
state	8030	begin surface