Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 54 * 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 54 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 5 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 -447737.5 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 -447737.5

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 5 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 54 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 231459,6637.423,-6008.626,23,1.1,23,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6627.346,-6007.075

_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 -69.7 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 231913,6637.423,-6008.626,16,1.1,16,18.0 MHEAD_RNG_PITCHd_Wd 140.9,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025355 XPDR_PINGS -1

SM_CCo 8179,16.02,0.000,0,0,398,450.37 ALTIM_TOP_PING 19.9,20.2

SM_GC 0.34,0.00,0.00,16.02,0.000,0.000,0.000,623,1896,398,-7.63,-2.06,450.37 ALTIM_BOTTOM_PING 476.6,91.4

RAFOS_CLK 0 _24V_AH 23.7,43.832

RAFOS 0,1160784260,0.083333,0.072222,80,0,0,0,0,0,490,0,0,0,0,0 _10V_AH 9.7,6.677

RAFOS_FIX 6637.675781,-6002.483887,141006,000020,4,80,1.22 DATA_FILE_SIZE 15871,494

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,240877568

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,65,832,0,0

HUMID 2420 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 26.0846 CURRENT 0.065, 45.3,1

TCM_TEMP 15.00 GPS 141006,013811,6636.711,-6007.064,34,1.1,34,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 119 94.41 SBE_CT 407 24 231.99

Roll_motor 108 60 153.86 nil 0 0 0.00

VBD_pump_during_apogee 34 1300 1049.85 nil 0 0 0.00

VBD_pump_during_surface 16 600 227.88 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 67 223 354.15

Transponder_ping 4 420 42.30

GPS 17 50 8.33

TT8 1630 19 315.06

LPSleep 5335 2 119.55

TT8_Active 257 19 49.82

TT8_Sampling 554 39 214.54

TT8_CF8 690 45 307.43

TT8_Kalman 0 81 0.00

Analog_circuits 743 12 86.54

GPS_charging 0 0 0.00

Compass 470 26 118.64

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 57 0.00 0.00 -8.18 0.000 6 0.000 0.000 620 1845 2886

63 -1.49 -116.8 0.3 0.0 2 81 6.90 3.78 0.00 0.000 4 0.000 0.000 1983 566 2888

270 -1.49 -116.8 27.4 -10.9 35 278 0.52 3.05 0.00 0.000 6 0.000 0.000 1857 2233 2887

638 -1.69 -116.8 90.8 -17.3 96 647 0.85 2.75 0.00 0.000 4 0.000 0.000 1956 3598 2882

669 -1.30 -116.8 95.6 -15.7 100 678 0.00 3.62 0.00 0.000 6 0.000 0.000 1928 1769 2887

1000 -1.21 -116.8 132.8 -11.4 120 1008 0.40 3.53 0.00 0.000 4 0.000 0.000 2072 3604 2884

1111 -1.17 -116.8 141.2 -6.6 124 1120 0.50 2.97 0.00 0.000 6 0.000 0.000 1944 2045 2884

1431 -1.54 -116.8 178.2 -11.9 140 1436 0.17 2.47 0.00 0.000 4 0.000 0.000 1896 3370 2884

1483 -1.45 -116.8 186.2 -15.2 142 1496 0.52 3.03 0.00 0.000 6 0.000 0.000 2018 1906 2888

1812 -1.32 -116.8 216.1 -9.0 158 1821 0.38 3.55 0.00 0.000 4 0.000 0.000 1886 3609 2882

1892 -1.41 -116.8 227.3 -14.9 161 1899 0.40 3.08 0.00 0.000 6 0.000 0.000 2020 2143 2883

2221 -1.35 -116.8 258.7 -9.1 177 2223 0.52 0.00 0.00 0.000 6 0.000 0.000 1888 2153 2884

2535 -1.44 -116.8 304.3 -15.0 192 2541 0.50 2.53 0.00 0.000 4 0.000 0.000 2010 3638 2891

2572 -1.18 -116.8 309.3 -9.0 193 2581 0.00 3.62 0.00 0.000 6 0.000 0.000 2010 1966 2880

2897 -1.40 -116.8 338.5 -9.2 209 2904 0.47 3.00 0.00 0.000 4 0.000 0.000 1883 3620 2890

2959 -1.49 -116.8 348.1 -15.0 211 2967 0.50 2.38 0.00 0.000 6 0.000 0.000 2021 2263 2888

3281 -1.41 -116.8 379.3 -9.6 227 3289 0.80 2.97 0.00 0.000 4 0.000 0.000 1878 596 2883

3311 -1.46 -116.8 382.7 -10.2 228 3319 0.52 3.38 0.00 0.000 6 0.000 0.000 1988 2227 2885

3646 -1.54 -116.8 415.3 -9.6 244 3652 0.60 2.35 0.00 0.000 4 0.000 0.000 1897 3514 2882

3677 -1.59 -116.8 419.8 -13.6 245 3689 0.25 3.03 0.00 0.000 6 0.000 0.000 1934 2027 2889

4001 -1.51 -116.8 460.8 -12.7 261 4006 0.00 2.35 0.00 0.000 4 0.000 0.000 1930 3539 2886

4053 -1.39 -116.8 467.8 -12.4 263 4059 0.08 2.45 0.00 0.000 6 0.000 0.000 1940 2165 2887

4399 -1.41 -116.8 510.3 -12.6 277 4400 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2162 2883

4723 -1.29 -116.8 551.3 -12.6 285 4730 0.47 3.03 0.00 0.000 4 0.000 0.000 2045 3679 2882

4752 -1.16 -116.8 555.1 -9.2 285 4756 0.05 2.15 0.00 0.000 6 0.000 0.000 2059 2145 2881

4802 end dive: BOTTOM_OBSTACLE_DETECTED

state 4802 begin apogee

4815 -0.25 0.0 559.1 7.3 287 4833 0.88 0.00 15.30 0.000 6 0.000 0.000 2239 2145 2238

4834 end apogee: CONTROL_FINISHED_OK

state 4834 begin climb

4840 1.49 116.8 559.1 0.0 287 4855 2.22 0.00 11.15 0.000 6 0.000 0.000 2653 2146 1765

5167 1.49 116.8 491.4 22.4 295 5173 0.38 2.47 0.00 0.000 4 0.000 0.000 2549 3468 1761

5247 1.17 116.8 479.4 14.0 298 5253 0.03 2.75 0.00 0.000 6 0.000 0.000 2548 1957 1753

5572 1.29 116.8 429.2 13.8 313 5577 0.00 2.97 0.00 0.000 4 0.000 0.000 2525 3662 1756

5658 1.33 119.3 417.0 13.6 316 5666 0.00 2.92 0.00 0.000 6 0.000 0.000 2535 2005 1762

5983 1.50 119.3 366.5 17.0 332 5988 0.43 2.58 0.00 0.000 4 0.000 0.000 2668 3543 1762

6041 1.08 119.3 353.1 23.4 334 6050 1.08 2.45 0.00 0.000 6 0.000 0.000 2427 2239 1763

6366 0.90 198.9 328.0 7.4 350 6380 0.38 2.83 7.62 0.000 4 0.000 0.000 2551 3603 1444

6400 1.37 198.9 322.8 17.3 350 6409 0.10 2.75 0.00 0.000 6 0.000 0.000 2542 2097 1441

6725 1.47 198.9 263.6 20.7 366 6733 0.38 3.03 0.00 0.000 4 0.000 0.000 2660 3603 1434

6776 1.37 198.9 249.0 28.5 368 6783 0.80 2.67 0.00 0.000 6 0.000 0.000 2536 2228 1437

7110 1.21 198.9 189.9 17.9 384 7115 0.00 2.58 0.00 0.000 4 0.000 0.000 2530 3587 1435

7140 1.22 198.9 183.4 17.7 385 7145 0.00 2.78 0.00 0.000 6 0.000 0.000 2542 2274 1432

7459 1.33 198.9 127.1 17.6 400 7463 0.00 2.03 0.00 0.000 4 0.000 0.000 2518 3625 1445

7484 1.33 198.9 122.3 18.1 401 7488 0.00 2.25 0.00 0.000 6 0.000 0.000 2544 2109 1449

7831 1.41 198.9 61.1 17.9 443 7840 0.45 3.03 0.00 0.000 4 0.000 0.000 2651 3622 1441

7887 1.43 198.9 46.8 28.0 451 7896 0.68 2.47 0.00 0.000 6 0.000 0.000 2521 2252 1441

8131 end climb: SURFACE_DEPTH_REACHED

state 8132 begin surface coast

8144 end surface coast: CONTROL_FINISHED_OK

state 8150 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	54	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	5	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	-447737.5	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	231459,6637.423,-6008.626,23,1.1,23,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6627.346,-6007.075
_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	-69.7	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	231913,6637.423,-6008.626,16,1.1,16,18.0	MHEAD_RNG_PITCHd_Wd	140.9,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025355	XPDR_PINGS	-1
SM_CCo	8179,16.02,0.000,0,0,398,450.37	ALTIM_TOP_PING	19.9,20.2
SM_GC	0.34,0.00,0.00,16.02,0.000,0.000,0.000,623,1896,398,-7.63,-2.06,450.37	ALTIM_BOTTOM_PING	476.6,91.4
RAFOS_CLK	0	_24V_AH	23.7,43.832
RAFOS	0,1160784260,0.083333,0.072222,80,0,0,0,0,0,490,0,0,0,0,0	_10V_AH	9.7,6.677
RAFOS_FIX	6637.675781,-6002.483887,141006,000020,4,80,1.22	DATA_FILE_SIZE	15871,494
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,240877568
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,65,832,0,0
HUMID	2420	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	26.0846	CURRENT	0.065, 45.3,1
TCM_TEMP	15.00	GPS	141006,013811,6636.711,-6007.064,34,1.1,34,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	119	94.41	SBE_CT	407	24	231.99
Roll_motor	108	60	153.86	nil	0	0	0.00
VBD_pump_during_apogee	34	1300	1049.85	nil	0	0	0.00
VBD_pump_during_surface	16	600	227.88	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	67	223	354.15
Transponder_ping	4	420	42.30
GPS	17	50	8.33
TT8	1630	19	315.06
LPSleep	5335	2	119.55
TT8_Active	257	19	49.82
TT8_Sampling	554	39	214.54
TT8_CF8	690	45	307.43
TT8_Kalman	0	81	0.00
Analog_circuits	743	12	86.54
GPS_charging	0	0	0.00
Compass	470	26	118.64
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	57	0.00	0.00	-8.18	0.000	6	0.000	0.000	620	1845	2886
63	-1.49	-116.8	0.3	0.0	2	81	6.90	3.78	0.00	0.000	4	0.000	0.000	1983	566	2888
270	-1.49	-116.8	27.4	-10.9	35	278	0.52	3.05	0.00	0.000	6	0.000	0.000	1857	2233	2887
638	-1.69	-116.8	90.8	-17.3	96	647	0.85	2.75	0.00	0.000	4	0.000	0.000	1956	3598	2882
669	-1.30	-116.8	95.6	-15.7	100	678	0.00	3.62	0.00	0.000	6	0.000	0.000	1928	1769	2887
1000	-1.21	-116.8	132.8	-11.4	120	1008	0.40	3.53	0.00	0.000	4	0.000	0.000	2072	3604	2884
1111	-1.17	-116.8	141.2	-6.6	124	1120	0.50	2.97	0.00	0.000	6	0.000	0.000	1944	2045	2884
1431	-1.54	-116.8	178.2	-11.9	140	1436	0.17	2.47	0.00	0.000	4	0.000	0.000	1896	3370	2884
1483	-1.45	-116.8	186.2	-15.2	142	1496	0.52	3.03	0.00	0.000	6	0.000	0.000	2018	1906	2888
1812	-1.32	-116.8	216.1	-9.0	158	1821	0.38	3.55	0.00	0.000	4	0.000	0.000	1886	3609	2882
1892	-1.41	-116.8	227.3	-14.9	161	1899	0.40	3.08	0.00	0.000	6	0.000	0.000	2020	2143	2883
2221	-1.35	-116.8	258.7	-9.1	177	2223	0.52	0.00	0.00	0.000	6	0.000	0.000	1888	2153	2884
2535	-1.44	-116.8	304.3	-15.0	192	2541	0.50	2.53	0.00	0.000	4	0.000	0.000	2010	3638	2891
2572	-1.18	-116.8	309.3	-9.0	193	2581	0.00	3.62	0.00	0.000	6	0.000	0.000	2010	1966	2880
2897	-1.40	-116.8	338.5	-9.2	209	2904	0.47	3.00	0.00	0.000	4	0.000	0.000	1883	3620	2890
2959	-1.49	-116.8	348.1	-15.0	211	2967	0.50	2.38	0.00	0.000	6	0.000	0.000	2021	2263	2888
3281	-1.41	-116.8	379.3	-9.6	227	3289	0.80	2.97	0.00	0.000	4	0.000	0.000	1878	596	2883
3311	-1.46	-116.8	382.7	-10.2	228	3319	0.52	3.38	0.00	0.000	6	0.000	0.000	1988	2227	2885
3646	-1.54	-116.8	415.3	-9.6	244	3652	0.60	2.35	0.00	0.000	4	0.000	0.000	1897	3514	2882
3677	-1.59	-116.8	419.8	-13.6	245	3689	0.25	3.03	0.00	0.000	6	0.000	0.000	1934	2027	2889
4001	-1.51	-116.8	460.8	-12.7	261	4006	0.00	2.35	0.00	0.000	4	0.000	0.000	1930	3539	2886
4053	-1.39	-116.8	467.8	-12.4	263	4059	0.08	2.45	0.00	0.000	6	0.000	0.000	1940	2165	2887
4399	-1.41	-116.8	510.3	-12.6	277	4400	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2162	2883
4723	-1.29	-116.8	551.3	-12.6	285	4730	0.47	3.03	0.00	0.000	4	0.000	0.000	2045	3679	2882
4752	-1.16	-116.8	555.1	-9.2	285	4756	0.05	2.15	0.00	0.000	6	0.000	0.000	2059	2145	2881
4802	end dive: BOTTOM_OBSTACLE_DETECTED
state	4802	begin apogee
4815	-0.25	0.0	559.1	7.3	287	4833	0.88	0.00	15.30	0.000	6	0.000	0.000	2239	2145	2238
4834	end apogee: CONTROL_FINISHED_OK
state	4834	begin climb
4840	1.49	116.8	559.1	0.0	287	4855	2.22	0.00	11.15	0.000	6	0.000	0.000	2653	2146	1765
5167	1.49	116.8	491.4	22.4	295	5173	0.38	2.47	0.00	0.000	4	0.000	0.000	2549	3468	1761
5247	1.17	116.8	479.4	14.0	298	5253	0.03	2.75	0.00	0.000	6	0.000	0.000	2548	1957	1753
5572	1.29	116.8	429.2	13.8	313	5577	0.00	2.97	0.00	0.000	4	0.000	0.000	2525	3662	1756
5658	1.33	119.3	417.0	13.6	316	5666	0.00	2.92	0.00	0.000	6	0.000	0.000	2535	2005	1762
5983	1.50	119.3	366.5	17.0	332	5988	0.43	2.58	0.00	0.000	4	0.000	0.000	2668	3543	1762
6041	1.08	119.3	353.1	23.4	334	6050	1.08	2.45	0.00	0.000	6	0.000	0.000	2427	2239	1763
6366	0.90	198.9	328.0	7.4	350	6380	0.38	2.83	7.62	0.000	4	0.000	0.000	2551	3603	1444
6400	1.37	198.9	322.8	17.3	350	6409	0.10	2.75	0.00	0.000	6	0.000	0.000	2542	2097	1441
6725	1.47	198.9	263.6	20.7	366	6733	0.38	3.03	0.00	0.000	4	0.000	0.000	2660	3603	1434
6776	1.37	198.9	249.0	28.5	368	6783	0.80	2.67	0.00	0.000	6	0.000	0.000	2536	2228	1437
7110	1.21	198.9	189.9	17.9	384	7115	0.00	2.58	0.00	0.000	4	0.000	0.000	2530	3587	1435
7140	1.22	198.9	183.4	17.7	385	7145	0.00	2.78	0.00	0.000	6	0.000	0.000	2542	2274	1432
7459	1.33	198.9	127.1	17.6	400	7463	0.00	2.03	0.00	0.000	4	0.000	0.000	2518	3625	1445
7484	1.33	198.9	122.3	18.1	401	7488	0.00	2.25	0.00	0.000	6	0.000	0.000	2544	2109	1449
7831	1.41	198.9	61.1	17.9	443	7840	0.45	3.03	0.00	0.000	4	0.000	0.000	2651	3622	1441
7887	1.43	198.9	46.8	28.0	451	7896	0.68	2.47	0.00	0.000	6	0.000	0.000	2521	2252	1441
8131	end climb: SURFACE_DEPTH_REACHED
state	8132	begin surface coast
8144	end surface coast: CONTROL_FINISHED_OK
state	8150	begin surface