Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 46 * 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 46 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 173 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 10 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 -447563.91 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 -447563.91

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 173 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 10 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 46 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 034804,6637.979,-6007.820,20,1.1,20,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6629.298,-6010.383

_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 -69.9 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 035211,6637.979,-6007.820,15,1.1,15,18.0 MHEAD_RNG_PITCHd_Wd 198.5,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025073 XPDR_PINGS -1

SM_CCo 8618,20.40,0.000,0,0,395,451.35 ALTIM_TOP_PING 19.8,20.1

SM_GC 0.34,0.00,0.00,20.40,0.000,0.000,0.000,607,2126,395,-7.67,4.66,451.35 ALTIM_BOTTOM_PING 500.6,70.5

RAFOS_CLK 0 _24V_AH 23.7,41.681

RAFOS 0,1160712248,4.083333,4.068889,80,0,0,0,0,0,553,0,0,0,0,0 _10V_AH 9.7,6.360

RAFOS_FIX 6637.458496,-6004.191406,131006,040420,4,80,1.62 DATA_FILE_SIZE 15839,538

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241389568

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,49,825,0,0

HUMID 2316 SOUNDSPEED 1459.6

INTERNAL_PRESSURE 26.0846 CURRENT 0.068, 98.2,1

TCM_TEMP 15.00 GPS 131006,061813,6637.088,-6008.248,15,1.1,15,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 119 82.21 SBE_CT 446 24 253.89

Roll_motor 106 60 152.12 nil 0 0 0.00

VBD_pump_during_apogee 27 0 0.50 nil 0 0 0.00

VBD_pump_during_surface 20 600 290.09 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 67 223 355.15

Transponder_ping 4 420 44.79

GPS 15 50 7.70

TT8 1755 19 339.21

LPSleep 5569 2 124.79

TT8_Active 250 19 48.44

TT8_Sampling 597 39 231.53

TT8_CF8 730 45 325.60

TT8_Kalman 0 81 0.00

Analog_circuits 764 12 88.98

GPS_charging 0 0 0.00

Compass 505 26 127.39

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 -8.18 0.000 6 0.000 0.000 592 2025 2874

64 -1.49 -116.8 0.3 0.0 2 82 6.55 3.15 0.00 0.000 4 0.000 0.000 1993 3674 2880

271 -1.49 -116.8 25.3 -10.2 35 280 0.50 2.95 0.00 0.000 6 0.000 0.000 1862 1951 2877

641 -1.66 -116.8 83.4 -16.1 96 650 0.40 3.22 0.00 0.000 4 0.000 0.000 1984 3617 2877

710 -1.34 -116.8 91.6 -10.4 106 719 0.03 3.35 0.00 0.000 6 0.000 0.000 1969 1953 2872

1049 -1.49 -116.8 125.9 -10.3 131 1056 0.55 2.72 0.00 0.000 4 0.000 0.000 1926 3594 2872

1124 -1.49 -116.8 135.6 -13.3 134 1132 0.05 3.58 0.00 0.000 6 0.000 0.000 1919 1926 2873

1460 -1.49 -116.8 180.1 -13.3 150 1467 0.30 3.08 0.00 0.000 4 0.000 0.000 1976 3473 2871

1558 -1.32 -116.8 190.1 -10.2 154 1563 0.00 2.62 0.00 0.000 6 0.000 0.000 1966 1975 2879

1891 -1.43 -116.8 225.3 -10.4 170 1898 0.38 3.28 0.00 0.000 4 0.000 0.000 1862 3469 2866

1954 -1.43 -116.8 235.5 -16.8 172 1962 0.68 2.22 0.00 0.000 6 0.000 0.000 1998 2118 2877

2280 -1.24 -116.8 268.9 -10.1 188 2281 0.00 0.00 0.00 0.000 6 0.000 0.000 1991 2118 2873

2583 -1.24 -116.8 300.3 -10.1 203 2588 0.00 2.35 0.00 0.000 4 0.000 0.000 1968 3627 2871

2635 -1.24 -116.8 305.5 -9.8 205 2640 0.00 2.15 0.00 0.000 6 0.000 0.000 1967 2291 2879

2961 -1.54 -116.8 337.7 -10.1 220 2969 0.35 3.35 0.00 0.000 4 0.000 0.000 1876 744 2871

3002 -1.54 -116.8 344.1 -15.9 221 3011 0.52 2.67 0.00 0.000 6 0.000 0.000 1981 2239 2874

3321 -1.44 -116.8 378.0 -10.5 237 3323 0.28 0.00 0.00 0.000 6 0.000 0.000 1893 2252 2875

3636 -1.44 -116.8 418.7 -13.4 252 3637 0.00 0.00 0.00 0.000 6 0.000 0.000 1923 2258 2878

3940 -1.26 -116.8 460.1 -13.3 267 3942 0.40 0.00 0.00 0.000 6 0.000 0.000 2039 2242 2882

4254 -1.08 -116.8 485.1 -7.9 282 4262 0.03 3.65 0.00 0.000 4 0.000 0.000 2043 475 2868

4281 -1.35 -116.8 487.5 -7.6 283 4290 0.47 3.72 0.00 0.000 6 0.000 0.000 1926 2340 2877

4634 -1.74 -116.8 532.2 -13.0 294 4636 0.52 0.00 0.00 0.000 6 0.000 0.000 1782 2340 2872

4790 end dive: BOTTOM_OBSTACLE_DETECTED

state 4790 begin apogee

4804 -0.25 0.0 562.4 18.7 298 4824 2.30 0.00 14.98 0.001 6 0.000 0.000 2214 1830 2247

4824 end apogee: CONTROL_FINISHED_OK

state 4825 begin climb

4830 1.49 116.8 562.4 0.0 298 4850 1.77 3.20 11.30 0.001 4 0.000 0.000 2645 3546 1771

4864 1.49 116.8 562.9 17.5 298 4873 0.50 3.53 0.00 0.000 6 0.000 0.000 2521 1682 1770

5199 1.27 122.0 517.7 13.3 307 5207 0.00 3.70 0.65 0.001 4 0.000 0.000 2532 3677 1742

5365 1.35 123.0 492.4 13.7 311 5372 0.17 3.17 0.00 0.000 6 0.000 0.000 2560 2014 1749

5699 1.53 123.0 434.3 17.4 327 5704 0.00 2.35 0.00 0.000 4 0.000 0.000 2586 3534 1750

5768 1.41 123.0 420.9 17.0 330 5776 0.22 3.33 0.00 0.000 6 0.000 0.000 2535 1842 1748

6103 1.41 126.9 376.2 13.4 346 6111 0.47 3.08 0.00 0.000 4 0.000 0.000 2625 3380 1744

6276 1.47 126.9 337.7 23.0 353 6289 0.50 2.33 0.52 0.000 6 0.000 0.000 2537 2004 1716

6600 1.27 126.9 290.3 14.3 369 6605 0.03 3.05 0.00 0.000 4 0.002 0.000 2522 3712 1717

6680 1.30 126.9 279.2 14.7 372 6686 0.05 2.78 0.00 0.000 6 0.002 0.000 2530 2161 1721

7006 1.35 126.9 233.3 14.2 387 7011 0.03 2.58 0.00 0.000 4 0.000 0.000 2532 3496 1719

7036 1.38 126.9 227.7 14.5 388 7041 0.00 2.38 0.00 0.000 6 0.000 0.000 2544 2150 1714

7361 1.38 126.9 182.6 14.2 403 7366 0.20 2.50 0.00 0.000 4 0.000 0.000 2611 3536 1717

7397 1.40 126.9 175.0 19.8 404 7406 0.17 2.15 0.00 0.000 6 0.000 0.000 2530 2213 1715

7722 1.38 126.9 127.7 14.7 420 7726 0.00 2.33 0.00 0.000 4 0.000 0.000 2554 3566 1723

7746 1.38 126.9 122.9 14.6 421 7751 0.08 2.45 0.00 0.000 6 0.000 0.000 2550 2260 1722

8089 1.45 126.9 71.5 15.0 460 8098 0.50 2.08 0.00 0.000 4 0.000 0.000 2593 3412 1714

8130 1.45 126.9 65.4 18.0 465 8139 0.43 2.08 0.00 0.000 6 0.000 0.000 2548 2425 1715

8498 1.41 126.9 9.5 14.9 526 8507 0.03 4.05 0.00 0.000 4 0.002 0.000 2545 439 1716

8550 1.41 126.9 2.5 14.6 533 8559 0.00 3.92 0.00 0.000 6 0.000 0.000 2546 2467 1726

8564 end climb: SURFACE_DEPTH_REACHED

state 8564 begin surface coast

8588 end surface coast: CONTROL_FINISHED_OK

state 8588 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	46	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	173	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	10	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	-447563.91	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	034804,6637.979,-6007.820,20,1.1,20,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6629.298,-6010.383
_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	-69.9	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	035211,6637.979,-6007.820,15,1.1,15,18.0	MHEAD_RNG_PITCHd_Wd	198.5,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025073	XPDR_PINGS	-1
SM_CCo	8618,20.40,0.000,0,0,395,451.35	ALTIM_TOP_PING	19.8,20.1
SM_GC	0.34,0.00,0.00,20.40,0.000,0.000,0.000,607,2126,395,-7.67,4.66,451.35	ALTIM_BOTTOM_PING	500.6,70.5
RAFOS_CLK	0	_24V_AH	23.7,41.681
RAFOS	0,1160712248,4.083333,4.068889,80,0,0,0,0,0,553,0,0,0,0,0	_10V_AH	9.7,6.360
RAFOS_FIX	6637.458496,-6004.191406,131006,040420,4,80,1.62	DATA_FILE_SIZE	15839,538
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241389568
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,49,825,0,0
HUMID	2316	SOUNDSPEED	1459.6
INTERNAL_PRESSURE	26.0846	CURRENT	0.068, 98.2,1
TCM_TEMP	15.00	GPS	131006,061813,6637.088,-6008.248,15,1.1,15,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	119	82.21	SBE_CT	446	24	253.89
Roll_motor	106	60	152.12	nil	0	0	0.00
VBD_pump_during_apogee	27	0	0.50	nil	0	0	0.00
VBD_pump_during_surface	20	600	290.09	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	355.15
Transponder_ping	4	420	44.79
GPS	15	50	7.70
TT8	1755	19	339.21
LPSleep	5569	2	124.79
TT8_Active	250	19	48.44
TT8_Sampling	597	39	231.53
TT8_CF8	730	45	325.60
TT8_Kalman	0	81	0.00
Analog_circuits	764	12	88.98
GPS_charging	0	0	0.00
Compass	505	26	127.39
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	-8.18	0.000	6	0.000	0.000	592	2025	2874
64	-1.49	-116.8	0.3	0.0	2	82	6.55	3.15	0.00	0.000	4	0.000	0.000	1993	3674	2880
271	-1.49	-116.8	25.3	-10.2	35	280	0.50	2.95	0.00	0.000	6	0.000	0.000	1862	1951	2877
641	-1.66	-116.8	83.4	-16.1	96	650	0.40	3.22	0.00	0.000	4	0.000	0.000	1984	3617	2877
710	-1.34	-116.8	91.6	-10.4	106	719	0.03	3.35	0.00	0.000	6	0.000	0.000	1969	1953	2872
1049	-1.49	-116.8	125.9	-10.3	131	1056	0.55	2.72	0.00	0.000	4	0.000	0.000	1926	3594	2872
1124	-1.49	-116.8	135.6	-13.3	134	1132	0.05	3.58	0.00	0.000	6	0.000	0.000	1919	1926	2873
1460	-1.49	-116.8	180.1	-13.3	150	1467	0.30	3.08	0.00	0.000	4	0.000	0.000	1976	3473	2871
1558	-1.32	-116.8	190.1	-10.2	154	1563	0.00	2.62	0.00	0.000	6	0.000	0.000	1966	1975	2879
1891	-1.43	-116.8	225.3	-10.4	170	1898	0.38	3.28	0.00	0.000	4	0.000	0.000	1862	3469	2866
1954	-1.43	-116.8	235.5	-16.8	172	1962	0.68	2.22	0.00	0.000	6	0.000	0.000	1998	2118	2877
2280	-1.24	-116.8	268.9	-10.1	188	2281	0.00	0.00	0.00	0.000	6	0.000	0.000	1991	2118	2873
2583	-1.24	-116.8	300.3	-10.1	203	2588	0.00	2.35	0.00	0.000	4	0.000	0.000	1968	3627	2871
2635	-1.24	-116.8	305.5	-9.8	205	2640	0.00	2.15	0.00	0.000	6	0.000	0.000	1967	2291	2879
2961	-1.54	-116.8	337.7	-10.1	220	2969	0.35	3.35	0.00	0.000	4	0.000	0.000	1876	744	2871
3002	-1.54	-116.8	344.1	-15.9	221	3011	0.52	2.67	0.00	0.000	6	0.000	0.000	1981	2239	2874
3321	-1.44	-116.8	378.0	-10.5	237	3323	0.28	0.00	0.00	0.000	6	0.000	0.000	1893	2252	2875
3636	-1.44	-116.8	418.7	-13.4	252	3637	0.00	0.00	0.00	0.000	6	0.000	0.000	1923	2258	2878
3940	-1.26	-116.8	460.1	-13.3	267	3942	0.40	0.00	0.00	0.000	6	0.000	0.000	2039	2242	2882
4254	-1.08	-116.8	485.1	-7.9	282	4262	0.03	3.65	0.00	0.000	4	0.000	0.000	2043	475	2868
4281	-1.35	-116.8	487.5	-7.6	283	4290	0.47	3.72	0.00	0.000	6	0.000	0.000	1926	2340	2877
4634	-1.74	-116.8	532.2	-13.0	294	4636	0.52	0.00	0.00	0.000	6	0.000	0.000	1782	2340	2872
4790	end dive: BOTTOM_OBSTACLE_DETECTED
state	4790	begin apogee
4804	-0.25	0.0	562.4	18.7	298	4824	2.30	0.00	14.98	0.001	6	0.000	0.000	2214	1830	2247
4824	end apogee: CONTROL_FINISHED_OK
state	4825	begin climb
4830	1.49	116.8	562.4	0.0	298	4850	1.77	3.20	11.30	0.001	4	0.000	0.000	2645	3546	1771
4864	1.49	116.8	562.9	17.5	298	4873	0.50	3.53	0.00	0.000	6	0.000	0.000	2521	1682	1770
5199	1.27	122.0	517.7	13.3	307	5207	0.00	3.70	0.65	0.001	4	0.000	0.000	2532	3677	1742
5365	1.35	123.0	492.4	13.7	311	5372	0.17	3.17	0.00	0.000	6	0.000	0.000	2560	2014	1749
5699	1.53	123.0	434.3	17.4	327	5704	0.00	2.35	0.00	0.000	4	0.000	0.000	2586	3534	1750
5768	1.41	123.0	420.9	17.0	330	5776	0.22	3.33	0.00	0.000	6	0.000	0.000	2535	1842	1748
6103	1.41	126.9	376.2	13.4	346	6111	0.47	3.08	0.00	0.000	4	0.000	0.000	2625	3380	1744
6276	1.47	126.9	337.7	23.0	353	6289	0.50	2.33	0.52	0.000	6	0.000	0.000	2537	2004	1716
6600	1.27	126.9	290.3	14.3	369	6605	0.03	3.05	0.00	0.000	4	0.002	0.000	2522	3712	1717
6680	1.30	126.9	279.2	14.7	372	6686	0.05	2.78	0.00	0.000	6	0.002	0.000	2530	2161	1721
7006	1.35	126.9	233.3	14.2	387	7011	0.03	2.58	0.00	0.000	4	0.000	0.000	2532	3496	1719
7036	1.38	126.9	227.7	14.5	388	7041	0.00	2.38	0.00	0.000	6	0.000	0.000	2544	2150	1714
7361	1.38	126.9	182.6	14.2	403	7366	0.20	2.50	0.00	0.000	4	0.000	0.000	2611	3536	1717
7397	1.40	126.9	175.0	19.8	404	7406	0.17	2.15	0.00	0.000	6	0.000	0.000	2530	2213	1715
7722	1.38	126.9	127.7	14.7	420	7726	0.00	2.33	0.00	0.000	4	0.000	0.000	2554	3566	1723
7746	1.38	126.9	122.9	14.6	421	7751	0.08	2.45	0.00	0.000	6	0.000	0.000	2550	2260	1722
8089	1.45	126.9	71.5	15.0	460	8098	0.50	2.08	0.00	0.000	4	0.000	0.000	2593	3412	1714
8130	1.45	126.9	65.4	18.0	465	8139	0.43	2.08	0.00	0.000	6	0.000	0.000	2548	2425	1715
8498	1.41	126.9	9.5	14.9	526	8507	0.03	4.05	0.00	0.000	4	0.002	0.000	2545	439	1716
8550	1.41	126.9	2.5	14.6	533	8559	0.00	3.92	0.00	0.000	6	0.000	0.000	2546	2467	1726
8564	end climb: SURFACE_DEPTH_REACHED
state	8564	begin surface coast
8588	end surface coast: CONTROL_FINISHED_OK
state	8588	begin surface