Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 53 * 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 53 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 12 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 -447719.72 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 -447719.72

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 12 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 53 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 205512,6638.018,-6006.805,21,1.1,21,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6635.127,-6010.940

_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 205916,6638.018,-6006.805,13,1.1,13,18.0 MHEAD_RNG_PITCHd_Wd 236.5,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025000 XPDR_PINGS -1

SM_CCo 8011,14.88,0.000,0,0,389,453.07 ALTIM_TOP_PING 19.5,20.2

SM_GC 0.34,0.00,0.00,14.88,0.000,0.000,0.000,650,1862,389,-7.48,-3.56,453.07 ALTIM_BOTTOM_PING 528.5,47.0

RAFOS_CLK 0 _24V_AH 23.7,43.570

RAFOS 4,1160774955,21.500000,21.487499,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,6.637

RAFOS_FIX 6637.971680,-6002.498535,131006,202048,4,80,0.42 DATA_FILE_SIZE 15850,477

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,240947200

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,61,877,0,0

HUMID 2420 SOUNDSPEED 1459.8

INTERNAL_PRESSURE 26.0846 CURRENT 0.080,138.9,1

TCM_TEMP 15.00 GPS 131006,231459,6637.423,-6008.626,23,1.1,23,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 119 92.29 SBE_CT 394 24 224.32

Roll_motor 114 60 163.39 nil 0 0 0.00

VBD_pump_during_apogee 36 0 0.67 nil 0 0 0.00

VBD_pump_during_surface 14 600 211.52 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 67 223 355.52

Transponder_ping 5 420 49.77

GPS 14 50 7.11

TT8 1557 19 300.88

LPSleep 5216 2 116.89

TT8_Active 271 19 52.40

TT8_Sampling 540 39 209.12

TT8_CF8 691 45 307.81

TT8_Kalman 0 81 0.00

Analog_circuits 742 12 86.41

GPS_charging 0 0 0.00

Compass 455 26 114.90

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 36 begin dive

42 -1.49 -116.8 0.0 0.0 0 58 0.00 0.00 -8.15 0.000 6 0.000 0.000 641 2102 2907

65 -1.49 -116.8 0.3 -0.0 2 82 7.03 2.95 0.00 0.000 4 0.000 0.000 2039 3581 2904

271 -1.49 -116.8 22.6 -8.8 35 280 0.77 3.17 0.00 0.000 6 0.000 0.000 1836 1923 2908

640 -1.75 -116.8 86.2 -17.4 96 650 0.50 3.28 0.00 0.000 4 0.000 0.000 1987 3621 2901

725 -1.38 -116.8 97.0 -11.5 109 733 0.00 2.67 0.00 0.000 6 0.000 0.000 1995 2092 2902

1065 -1.53 -116.8 135.3 -11.3 128 1071 0.43 2.75 0.00 0.000 4 0.000 0.000 1851 3610 2907

1096 -1.50 -116.8 140.1 -16.4 129 1109 0.62 2.83 0.00 0.000 6 0.000 0.000 1951 1970 2902

1420 -1.37 -116.8 177.4 -11.3 145 1425 0.00 2.42 0.00 0.000 4 0.000 0.000 1988 3636 2907

1486 -1.34 -116.8 184.9 -11.2 148 1492 0.00 2.62 0.00 0.000 6 0.000 0.000 1989 1954 2906

1824 -1.47 -116.8 222.5 -11.4 164 1829 0.00 2.78 0.00 0.000 4 0.000 0.000 1954 3451 2903

1910 -1.44 -116.8 232.7 -11.6 167 1918 0.12 2.15 0.00 0.000 6 0.000 0.000 1991 2249 2908

2234 -1.53 -116.8 268.5 -11.4 183 2242 0.35 3.83 0.00 0.000 4 0.000 0.000 1849 439 2902

2276 -1.50 -116.8 276.0 -17.5 184 2286 0.77 3.38 0.00 0.000 6 0.000 0.000 1997 2257 2903

2601 -1.47 -116.8 305.8 -8.9 200 2606 0.82 2.03 0.00 0.000 4 0.000 0.000 1822 3593 2909

2626 -1.59 -116.8 309.5 -10.6 201 2632 0.52 2.67 0.00 0.000 6 0.000 0.000 1965 2263 2903

2952 -1.51 -116.8 348.7 -11.6 217 2957 0.05 2.85 0.00 0.000 4 0.000 0.000 1958 541 2906

2977 -1.46 -116.8 352.0 -11.9 218 2984 0.00 3.30 0.00 0.000 6 0.000 0.000 1954 2414 2910

3312 -1.55 -116.8 390.2 -11.6 234 3320 0.35 3.30 0.00 0.000 4 0.000 0.000 1841 725 2907

3352 -1.49 -116.8 397.4 -17.4 235 3362 0.77 3.12 0.00 0.000 6 0.000 0.000 2039 2249 2903

3672 -1.39 -116.8 427.2 -8.9 251 3678 0.43 2.53 0.00 0.000 4 0.000 0.000 1899 3589 2901

3697 -1.50 -116.8 430.6 -12.3 252 3703 0.52 2.55 0.00 0.000 6 0.000 0.000 2034 2058 2904

4023 -1.50 -116.8 461.4 -9.2 268 4030 0.47 2.92 0.00 0.000 4 0.000 0.000 1892 3588 2904

4063 -1.66 -116.8 466.7 -14.8 269 4072 0.00 3.10 0.00 0.000 6 0.000 0.000 1889 2062 2904

4381 -1.61 -116.8 513.0 -14.8 283 4387 0.00 2.95 0.00 0.000 4 0.000 0.000 1896 3558 2909

4426 -1.39 -116.8 519.5 -14.7 284 4432 0.52 2.58 0.00 0.000 6 0.000 0.000 2038 2227 2903

4755 -1.32 -116.8 550.3 -8.9 292 4763 0.50 3.03 0.00 0.000 4 0.000 0.000 1916 565 2903

4784 -1.43 -116.8 554.0 -13.9 292 4792 0.52 3.58 0.00 0.000 6 0.000 0.000 2011 2399 2904

4921 end dive: BOTTOM_OBSTACLE_DETECTED

state 4921 begin apogee

4934 -0.25 0.0 567.5 9.1 296 4953 1.02 0.00 15.88 0.001 6 0.000 0.000 2200 1873 2247

4954 end apogee: CONTROL_FINISHED_OK

state 4954 begin climb

4960 1.49 116.8 567.5 0.0 296 4975 1.95 0.00 11.25 0.000 6 0.000 0.000 2599 1881 1773

5295 1.49 116.8 508.2 19.3 305 5301 0.15 2.92 0.00 0.000 4 0.000 0.000 2557 3550 1775

5418 1.30 116.8 488.3 15.4 308 5423 0.00 2.55 0.00 0.000 6 0.000 0.000 2566 2072 1774

5743 1.37 116.8 433.1 20.0 323 5748 0.00 2.55 0.00 0.000 4 0.000 0.000 2556 3605 1779

5795 1.01 116.8 422.1 15.0 325 5808 0.55 2.92 0.00 0.000 6 0.000 0.000 2425 2060 1769

6125 1.10 186.4 394.5 8.2 341 6139 0.82 2.38 7.05 0.000 4 0.000 0.000 2575 3430 1487

6218 1.51 186.4 377.9 20.1 345 6224 0.05 2.67 0.00 0.000 6 0.000 0.000 2575 2120 1485

6554 1.56 186.4 312.7 19.2 361 6562 0.60 3.03 0.00 0.000 4 0.000 0.000 2655 3650 1481

6612 1.51 186.4 295.7 29.8 363 6624 0.50 3.05 0.00 0.000 6 0.000 0.000 2559 2171 1488

6941 1.30 186.4 231.1 19.4 379 6946 0.00 2.67 0.00 0.000 4 0.000 0.000 2554 3479 1480

6984 1.24 186.4 221.4 19.5 381 6989 0.00 2.58 0.00 0.000 6 0.000 0.000 2549 2172 1478

7320 1.24 186.4 145.2 21.6 397 7328 0.45 3.03 0.00 0.000 4 0.000 0.000 2438 3647 1489

7355 1.13 218.3 138.8 11.2 398 7370 0.52 2.72 2.70 0.001 6 0.000 0.000 2587 2143 1355

7702 1.55 218.3 64.5 21.8 432 7710 0.12 2.60 0.00 0.000 4 0.000 0.000 2557 3678 1354

7754 1.46 218.3 53.0 22.0 439 7762 0.00 2.83 0.00 0.000 6 0.000 0.000 2577 2189 1344

7975 end climb: SURFACE_DEPTH_REACHED

state 7975 begin surface coast

7982 end surface coast: CONTROL_FINISHED_OK

state 7982 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	53	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	12	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	-447719.72	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	205512,6638.018,-6006.805,21,1.1,21,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6635.127,-6010.940
_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	205916,6638.018,-6006.805,13,1.1,13,18.0	MHEAD_RNG_PITCHd_Wd	236.5,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025000	XPDR_PINGS	-1
SM_CCo	8011,14.88,0.000,0,0,389,453.07	ALTIM_TOP_PING	19.5,20.2
SM_GC	0.34,0.00,0.00,14.88,0.000,0.000,0.000,650,1862,389,-7.48,-3.56,453.07	ALTIM_BOTTOM_PING	528.5,47.0
RAFOS_CLK	0	_24V_AH	23.7,43.570
RAFOS	4,1160774955,21.500000,21.487499,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,6.637
RAFOS_FIX	6637.971680,-6002.498535,131006,202048,4,80,0.42	DATA_FILE_SIZE	15850,477
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,240947200
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,61,877,0,0
HUMID	2420	SOUNDSPEED	1459.8
INTERNAL_PRESSURE	26.0846	CURRENT	0.080,138.9,1
TCM_TEMP	15.00	GPS	131006,231459,6637.423,-6008.626,23,1.1,23,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	119	92.29	SBE_CT	394	24	224.32
Roll_motor	114	60	163.39	nil	0	0	0.00
VBD_pump_during_apogee	36	0	0.67	nil	0	0	0.00
VBD_pump_during_surface	14	600	211.52	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	355.52
Transponder_ping	5	420	49.77
GPS	14	50	7.11
TT8	1557	19	300.88
LPSleep	5216	2	116.89
TT8_Active	271	19	52.40
TT8_Sampling	540	39	209.12
TT8_CF8	691	45	307.81
TT8_Kalman	0	81	0.00
Analog_circuits	742	12	86.41
GPS_charging	0	0	0.00
Compass	455	26	114.90
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	36	begin dive
42	-1.49	-116.8	0.0	0.0	0	58	0.00	0.00	-8.15	0.000	6	0.000	0.000	641	2102	2907
65	-1.49	-116.8	0.3	-0.0	2	82	7.03	2.95	0.00	0.000	4	0.000	0.000	2039	3581	2904
271	-1.49	-116.8	22.6	-8.8	35	280	0.77	3.17	0.00	0.000	6	0.000	0.000	1836	1923	2908
640	-1.75	-116.8	86.2	-17.4	96	650	0.50	3.28	0.00	0.000	4	0.000	0.000	1987	3621	2901
725	-1.38	-116.8	97.0	-11.5	109	733	0.00	2.67	0.00	0.000	6	0.000	0.000	1995	2092	2902
1065	-1.53	-116.8	135.3	-11.3	128	1071	0.43	2.75	0.00	0.000	4	0.000	0.000	1851	3610	2907
1096	-1.50	-116.8	140.1	-16.4	129	1109	0.62	2.83	0.00	0.000	6	0.000	0.000	1951	1970	2902
1420	-1.37	-116.8	177.4	-11.3	145	1425	0.00	2.42	0.00	0.000	4	0.000	0.000	1988	3636	2907
1486	-1.34	-116.8	184.9	-11.2	148	1492	0.00	2.62	0.00	0.000	6	0.000	0.000	1989	1954	2906
1824	-1.47	-116.8	222.5	-11.4	164	1829	0.00	2.78	0.00	0.000	4	0.000	0.000	1954	3451	2903
1910	-1.44	-116.8	232.7	-11.6	167	1918	0.12	2.15	0.00	0.000	6	0.000	0.000	1991	2249	2908
2234	-1.53	-116.8	268.5	-11.4	183	2242	0.35	3.83	0.00	0.000	4	0.000	0.000	1849	439	2902
2276	-1.50	-116.8	276.0	-17.5	184	2286	0.77	3.38	0.00	0.000	6	0.000	0.000	1997	2257	2903
2601	-1.47	-116.8	305.8	-8.9	200	2606	0.82	2.03	0.00	0.000	4	0.000	0.000	1822	3593	2909
2626	-1.59	-116.8	309.5	-10.6	201	2632	0.52	2.67	0.00	0.000	6	0.000	0.000	1965	2263	2903
2952	-1.51	-116.8	348.7	-11.6	217	2957	0.05	2.85	0.00	0.000	4	0.000	0.000	1958	541	2906
2977	-1.46	-116.8	352.0	-11.9	218	2984	0.00	3.30	0.00	0.000	6	0.000	0.000	1954	2414	2910
3312	-1.55	-116.8	390.2	-11.6	234	3320	0.35	3.30	0.00	0.000	4	0.000	0.000	1841	725	2907
3352	-1.49	-116.8	397.4	-17.4	235	3362	0.77	3.12	0.00	0.000	6	0.000	0.000	2039	2249	2903
3672	-1.39	-116.8	427.2	-8.9	251	3678	0.43	2.53	0.00	0.000	4	0.000	0.000	1899	3589	2901
3697	-1.50	-116.8	430.6	-12.3	252	3703	0.52	2.55	0.00	0.000	6	0.000	0.000	2034	2058	2904
4023	-1.50	-116.8	461.4	-9.2	268	4030	0.47	2.92	0.00	0.000	4	0.000	0.000	1892	3588	2904
4063	-1.66	-116.8	466.7	-14.8	269	4072	0.00	3.10	0.00	0.000	6	0.000	0.000	1889	2062	2904
4381	-1.61	-116.8	513.0	-14.8	283	4387	0.00	2.95	0.00	0.000	4	0.000	0.000	1896	3558	2909
4426	-1.39	-116.8	519.5	-14.7	284	4432	0.52	2.58	0.00	0.000	6	0.000	0.000	2038	2227	2903
4755	-1.32	-116.8	550.3	-8.9	292	4763	0.50	3.03	0.00	0.000	4	0.000	0.000	1916	565	2903
4784	-1.43	-116.8	554.0	-13.9	292	4792	0.52	3.58	0.00	0.000	6	0.000	0.000	2011	2399	2904
4921	end dive: BOTTOM_OBSTACLE_DETECTED
state	4921	begin apogee
4934	-0.25	0.0	567.5	9.1	296	4953	1.02	0.00	15.88	0.001	6	0.000	0.000	2200	1873	2247
4954	end apogee: CONTROL_FINISHED_OK
state	4954	begin climb
4960	1.49	116.8	567.5	0.0	296	4975	1.95	0.00	11.25	0.000	6	0.000	0.000	2599	1881	1773
5295	1.49	116.8	508.2	19.3	305	5301	0.15	2.92	0.00	0.000	4	0.000	0.000	2557	3550	1775
5418	1.30	116.8	488.3	15.4	308	5423	0.00	2.55	0.00	0.000	6	0.000	0.000	2566	2072	1774
5743	1.37	116.8	433.1	20.0	323	5748	0.00	2.55	0.00	0.000	4	0.000	0.000	2556	3605	1779
5795	1.01	116.8	422.1	15.0	325	5808	0.55	2.92	0.00	0.000	6	0.000	0.000	2425	2060	1769
6125	1.10	186.4	394.5	8.2	341	6139	0.82	2.38	7.05	0.000	4	0.000	0.000	2575	3430	1487
6218	1.51	186.4	377.9	20.1	345	6224	0.05	2.67	0.00	0.000	6	0.000	0.000	2575	2120	1485
6554	1.56	186.4	312.7	19.2	361	6562	0.60	3.03	0.00	0.000	4	0.000	0.000	2655	3650	1481
6612	1.51	186.4	295.7	29.8	363	6624	0.50	3.05	0.00	0.000	6	0.000	0.000	2559	2171	1488
6941	1.30	186.4	231.1	19.4	379	6946	0.00	2.67	0.00	0.000	4	0.000	0.000	2554	3479	1480
6984	1.24	186.4	221.4	19.5	381	6989	0.00	2.58	0.00	0.000	6	0.000	0.000	2549	2172	1478
7320	1.24	186.4	145.2	21.6	397	7328	0.45	3.03	0.00	0.000	4	0.000	0.000	2438	3647	1489
7355	1.13	218.3	138.8	11.2	398	7370	0.52	2.72	2.70	0.001	6	0.000	0.000	2587	2143	1355
7702	1.55	218.3	64.5	21.8	432	7710	0.12	2.60	0.00	0.000	4	0.000	0.000	2557	3678	1354
7754	1.46	218.3	53.0	22.0	439	7762	0.00	2.83	0.00	0.000	6	0.000	0.000	2577	2189	1344
7975	end climb: SURFACE_DEPTH_REACHED
state	7975	begin surface coast
7982	end surface coast: CONTROL_FINISHED_OK
state	7982	begin surface