Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 55 * 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 55 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 170 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 -447762.34 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 -447762.34

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 170 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 55 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 013811,6636.711,-6007.064,34,1.1,34,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6641.224,-6003.182

_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 -69.8 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 014226,6636.711,-6007.064,23,1.1,23,18.0 MHEAD_RNG_PITCHd_Wd 47.3,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024915 XPDR_PINGS -1

SM_CCo 8799,17.00,0.000,0,0,403,450.37 ALTIM_TOP_PING 19.3,19.5

SM_GC 0.34,0.00,0.00,17.00,0.000,0.000,0.000,623,2066,403,-7.53,1.81,450.37 ALTIM_BOTTOM_PING 527.5,51.1

RAFOS_CLK 0 _24V_AH 23.7,44.100

RAFOS 4,1160796557,3.500000,3.488055,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,6.719

RAFOS_FIX 6637.675781,-6002.483887,141006,000020,4,80,1.22 DATA_FILE_SIZE 15867,538

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,240803840

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,54,761,0,0

HUMID 2336 SOUNDSPEED 1459.8

INTERNAL_PRESSURE 26.0651 CURRENT 0.059,319.5,1

TCM_TEMP 15.00 GPS 141006,041112,6637.315,-6005.253,16,1.1,16,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 119 86.79 SBE_CT 443 24 252.35

Roll_motor 98 60 140.60 nil 0 0 0.00

VBD_pump_during_apogee 31 1300 965.89 nil 0 0 0.00

VBD_pump_during_surface 17 600 241.74 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 67 223 354.28

Transponder_ping 5 420 49.77

GPS 24 50 11.75

TT8 1726 19 333.68

LPSleep 5802 2 130.02

TT8_Active 239 19 46.25

TT8_Sampling 595 39 230.52

TT8_CF8 711 45 316.76

TT8_Kalman 0 81 0.00

Analog_circuits 739 12 86.09

GPS_charging 0 0 0.00

Compass 492 26 124.29

RAFOS 720 1 10.48

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 -8.27 0.000 6 0.000 0.000 636 1901 2866

64 -1.49 -116.8 0.3 -0.1 2 82 7.12 2.72 0.00 0.000 4 0.000 0.000 2038 3563 2868

373 -1.49 -116.8 31.6 -8.1 52 381 0.47 2.92 0.00 0.000 6 0.000 0.000 1910 1921 2860

741 -1.83 -116.8 78.7 -13.3 113 750 0.90 3.22 0.00 0.000 4 0.000 0.000 1761 3573 2861

857 -1.65 -116.8 101.0 -20.2 131 869 0.75 3.03 0.00 0.000 6 0.000 0.000 1969 1922 2867

1186 -1.30 -116.8 137.1 -10.7 147 1191 0.03 2.62 0.00 0.000 4 0.000 0.000 1966 3555 2862

1266 -1.27 -116.8 145.9 -10.5 150 1271 0.08 2.22 0.00 0.000 6 0.000 0.000 1952 2049 2862

1593 -1.38 -116.8 180.3 -10.7 165 1597 0.00 2.47 0.00 0.000 4 0.000 0.000 1974 3378 2864

1628 -1.35 -116.8 184.7 -9.3 166 1637 0.00 2.47 0.00 0.000 6 0.000 0.000 1970 2238 2866

1953 -1.50 -116.8 218.6 -10.6 182 1954 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2228 2863

2258 -1.46 -116.8 251.7 -10.8 197 2260 0.08 0.00 0.00 0.000 6 0.000 0.000 1982 2227 2866

2571 -1.43 -116.8 284.7 -10.7 212 2573 0.03 0.00 0.00 0.000 6 0.000 0.000 1977 2237 2861

2881 -1.39 -116.8 317.7 -10.6 227 2886 0.00 2.65 0.00 0.000 4 0.000 0.000 1964 578 2863

2905 -1.36 -116.8 321.1 -10.8 228 2913 0.03 3.20 0.00 0.000 6 0.000 0.000 1963 2210 2872

3239 -1.44 -116.8 355.7 -10.7 244 3244 0.10 2.45 0.00 0.000 4 0.000 0.000 1980 3563 2869

3270 -1.41 -116.8 359.7 -10.6 245 3282 0.00 3.22 0.00 0.000 6 0.000 0.000 1965 1946 2861

3599 -1.49 -116.8 394.0 -10.7 261 3606 0.35 2.97 0.00 0.000 4 0.000 0.000 1843 3462 2870

3674 -1.46 -116.8 405.1 -16.6 264 3679 0.77 1.92 0.00 0.000 6 0.000 0.000 2017 2138 2869

4010 -1.26 -116.8 434.2 -8.1 280 4018 0.82 2.75 0.00 0.000 4 0.000 0.000 1901 3655 2865

4039 -1.39 -116.8 437.8 -10.9 281 4047 0.50 3.20 0.00 0.000 6 0.000 0.000 2040 2016 2865

4369 -1.39 -116.8 464.5 -7.7 297 4376 0.40 3.05 0.00 0.000 4 0.000 0.000 1911 3521 2865

4421 -1.54 -116.8 470.9 -13.3 299 4425 0.00 2.35 0.00 0.000 6 0.000 0.000 1910 2226 2870

4769 -1.51 -116.8 513.7 -13.4 314 4777 0.15 3.20 0.00 0.000 4 0.000 0.000 1914 511 2867

4804 -1.32 -116.8 519.3 -13.9 314 4816 0.50 2.85 0.00 0.000 6 0.000 0.000 2046 2301 2858

5144 -1.40 -116.8 546.2 -7.7 323 5146 0.75 0.00 0.00 0.000 6 0.000 0.000 1876 2294 2867

5300 end dive: BOTTOM_OBSTACLE_DETECTED

state 5300 begin apogee

5312 -0.25 0.0 571.4 15.7 327 5332 1.92 0.00 15.05 0.000 6 0.000 0.000 2274 1973 2234

5332 end apogee: CONTROL_FINISHED_OK

state 5332 begin climb

5338 1.49 116.8 571.4 0.0 327 5359 1.52 3.45 11.20 0.000 4 0.000 0.000 2678 3444 1766

5393 1.49 116.8 566.9 22.0 329 5399 0.52 2.67 0.00 0.000 6 0.000 0.000 2545 2135 1760

5722 1.31 116.8 519.2 14.2 337 5727 0.00 2.67 0.00 0.000 4 0.000 0.000 2564 3494 1758

5774 1.31 116.8 511.5 13.9 338 5779 0.00 2.78 0.00 0.000 6 0.000 0.000 2552 2134 1762

6094 1.42 116.8 466.7 14.1 351 6101 0.25 3.03 0.00 0.000 4 0.000 0.000 2536 3675 1759

6142 1.42 116.8 459.6 16.2 353 6147 0.08 2.50 0.00 0.000 6 0.000 0.000 2546 2207 1760

6477 1.51 116.8 413.0 14.1 369 6482 0.52 2.45 0.00 0.000 4 0.000 0.000 2656 3526 1767

6521 1.51 116.8 403.9 22.5 371 6529 0.52 3.20 0.00 0.000 6 0.000 0.000 2545 2038 1754

6856 1.33 116.8 347.6 14.0 387 6861 0.00 2.53 0.00 0.000 4 0.000 0.000 2542 3595 1760

6925 1.33 116.8 337.6 14.1 390 6930 0.00 2.72 0.00 0.000 6 0.000 0.000 2555 2046 1763

7254 1.46 116.8 292.2 14.1 406 7260 0.52 2.53 0.00 0.000 4 0.000 0.000 2613 3354 1762

7329 1.46 116.8 277.5 19.9 409 7335 0.03 2.78 0.00 0.000 6 0.000 0.000 2593 2037 1763

7660 1.40 116.8 213.0 18.1 425 7667 0.40 3.03 0.00 0.000 4 0.000 0.000 2498 3533 1758

7750 1.24 152.3 201.2 10.9 428 7760 0.47 2.08 2.75 0.000 6 0.000 0.000 2585 2176 1620

8075 1.56 152.3 134.3 21.2 444 8076 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2180 1625

8396 1.29 152.3 65.7 21.2 477 8405 0.50 2.35 0.00 0.000 4 0.000 0.000 2497 3535 1620

8476 1.12 179.7 54.8 11.6 489 8486 0.28 2.12 2.35 0.000 6 0.000 0.000 2530 2045 1506

8759 end climb: SURFACE_DEPTH_REACHED

state 8759 begin surface coast

8771 end surface coast: CONTROL_FINISHED_OK

state 8771 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	55	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	170	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	-447762.34	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	013811,6636.711,-6007.064,34,1.1,34,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6641.224,-6003.182
_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	-69.8	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	014226,6636.711,-6007.064,23,1.1,23,18.0	MHEAD_RNG_PITCHd_Wd	47.3,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024915	XPDR_PINGS	-1
SM_CCo	8799,17.00,0.000,0,0,403,450.37	ALTIM_TOP_PING	19.3,19.5
SM_GC	0.34,0.00,0.00,17.00,0.000,0.000,0.000,623,2066,403,-7.53,1.81,450.37	ALTIM_BOTTOM_PING	527.5,51.1
RAFOS_CLK	0	_24V_AH	23.7,44.100
RAFOS	4,1160796557,3.500000,3.488055,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,6.719
RAFOS_FIX	6637.675781,-6002.483887,141006,000020,4,80,1.22	DATA_FILE_SIZE	15867,538
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,240803840
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,54,761,0,0
HUMID	2336	SOUNDSPEED	1459.8
INTERNAL_PRESSURE	26.0651	CURRENT	0.059,319.5,1
TCM_TEMP	15.00	GPS	141006,041112,6637.315,-6005.253,16,1.1,16,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	119	86.79	SBE_CT	443	24	252.35
Roll_motor	98	60	140.60	nil	0	0	0.00
VBD_pump_during_apogee	31	1300	965.89	nil	0	0	0.00
VBD_pump_during_surface	17	600	241.74	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	354.28
Transponder_ping	5	420	49.77
GPS	24	50	11.75
TT8	1726	19	333.68
LPSleep	5802	2	130.02
TT8_Active	239	19	46.25
TT8_Sampling	595	39	230.52
TT8_CF8	711	45	316.76
TT8_Kalman	0	81	0.00
Analog_circuits	739	12	86.09
GPS_charging	0	0	0.00
Compass	492	26	124.29
RAFOS	720	1	10.48

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	-8.27	0.000	6	0.000	0.000	636	1901	2866
64	-1.49	-116.8	0.3	-0.1	2	82	7.12	2.72	0.00	0.000	4	0.000	0.000	2038	3563	2868
373	-1.49	-116.8	31.6	-8.1	52	381	0.47	2.92	0.00	0.000	6	0.000	0.000	1910	1921	2860
741	-1.83	-116.8	78.7	-13.3	113	750	0.90	3.22	0.00	0.000	4	0.000	0.000	1761	3573	2861
857	-1.65	-116.8	101.0	-20.2	131	869	0.75	3.03	0.00	0.000	6	0.000	0.000	1969	1922	2867
1186	-1.30	-116.8	137.1	-10.7	147	1191	0.03	2.62	0.00	0.000	4	0.000	0.000	1966	3555	2862
1266	-1.27	-116.8	145.9	-10.5	150	1271	0.08	2.22	0.00	0.000	6	0.000	0.000	1952	2049	2862
1593	-1.38	-116.8	180.3	-10.7	165	1597	0.00	2.47	0.00	0.000	4	0.000	0.000	1974	3378	2864
1628	-1.35	-116.8	184.7	-9.3	166	1637	0.00	2.47	0.00	0.000	6	0.000	0.000	1970	2238	2866
1953	-1.50	-116.8	218.6	-10.6	182	1954	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2228	2863
2258	-1.46	-116.8	251.7	-10.8	197	2260	0.08	0.00	0.00	0.000	6	0.000	0.000	1982	2227	2866
2571	-1.43	-116.8	284.7	-10.7	212	2573	0.03	0.00	0.00	0.000	6	0.000	0.000	1977	2237	2861
2881	-1.39	-116.8	317.7	-10.6	227	2886	0.00	2.65	0.00	0.000	4	0.000	0.000	1964	578	2863
2905	-1.36	-116.8	321.1	-10.8	228	2913	0.03	3.20	0.00	0.000	6	0.000	0.000	1963	2210	2872
3239	-1.44	-116.8	355.7	-10.7	244	3244	0.10	2.45	0.00	0.000	4	0.000	0.000	1980	3563	2869
3270	-1.41	-116.8	359.7	-10.6	245	3282	0.00	3.22	0.00	0.000	6	0.000	0.000	1965	1946	2861
3599	-1.49	-116.8	394.0	-10.7	261	3606	0.35	2.97	0.00	0.000	4	0.000	0.000	1843	3462	2870
3674	-1.46	-116.8	405.1	-16.6	264	3679	0.77	1.92	0.00	0.000	6	0.000	0.000	2017	2138	2869
4010	-1.26	-116.8	434.2	-8.1	280	4018	0.82	2.75	0.00	0.000	4	0.000	0.000	1901	3655	2865
4039	-1.39	-116.8	437.8	-10.9	281	4047	0.50	3.20	0.00	0.000	6	0.000	0.000	2040	2016	2865
4369	-1.39	-116.8	464.5	-7.7	297	4376	0.40	3.05	0.00	0.000	4	0.000	0.000	1911	3521	2865
4421	-1.54	-116.8	470.9	-13.3	299	4425	0.00	2.35	0.00	0.000	6	0.000	0.000	1910	2226	2870
4769	-1.51	-116.8	513.7	-13.4	314	4777	0.15	3.20	0.00	0.000	4	0.000	0.000	1914	511	2867
4804	-1.32	-116.8	519.3	-13.9	314	4816	0.50	2.85	0.00	0.000	6	0.000	0.000	2046	2301	2858
5144	-1.40	-116.8	546.2	-7.7	323	5146	0.75	0.00	0.00	0.000	6	0.000	0.000	1876	2294	2867
5300	end dive: BOTTOM_OBSTACLE_DETECTED
state	5300	begin apogee
5312	-0.25	0.0	571.4	15.7	327	5332	1.92	0.00	15.05	0.000	6	0.000	0.000	2274	1973	2234
5332	end apogee: CONTROL_FINISHED_OK
state	5332	begin climb
5338	1.49	116.8	571.4	0.0	327	5359	1.52	3.45	11.20	0.000	4	0.000	0.000	2678	3444	1766
5393	1.49	116.8	566.9	22.0	329	5399	0.52	2.67	0.00	0.000	6	0.000	0.000	2545	2135	1760
5722	1.31	116.8	519.2	14.2	337	5727	0.00	2.67	0.00	0.000	4	0.000	0.000	2564	3494	1758
5774	1.31	116.8	511.5	13.9	338	5779	0.00	2.78	0.00	0.000	6	0.000	0.000	2552	2134	1762
6094	1.42	116.8	466.7	14.1	351	6101	0.25	3.03	0.00	0.000	4	0.000	0.000	2536	3675	1759
6142	1.42	116.8	459.6	16.2	353	6147	0.08	2.50	0.00	0.000	6	0.000	0.000	2546	2207	1760
6477	1.51	116.8	413.0	14.1	369	6482	0.52	2.45	0.00	0.000	4	0.000	0.000	2656	3526	1767
6521	1.51	116.8	403.9	22.5	371	6529	0.52	3.20	0.00	0.000	6	0.000	0.000	2545	2038	1754
6856	1.33	116.8	347.6	14.0	387	6861	0.00	2.53	0.00	0.000	4	0.000	0.000	2542	3595	1760
6925	1.33	116.8	337.6	14.1	390	6930	0.00	2.72	0.00	0.000	6	0.000	0.000	2555	2046	1763
7254	1.46	116.8	292.2	14.1	406	7260	0.52	2.53	0.00	0.000	4	0.000	0.000	2613	3354	1762
7329	1.46	116.8	277.5	19.9	409	7335	0.03	2.78	0.00	0.000	6	0.000	0.000	2593	2037	1763
7660	1.40	116.8	213.0	18.1	425	7667	0.40	3.03	0.00	0.000	4	0.000	0.000	2498	3533	1758
7750	1.24	152.3	201.2	10.9	428	7760	0.47	2.08	2.75	0.000	6	0.000	0.000	2585	2176	1620
8075	1.56	152.3	134.3	21.2	444	8076	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2180	1625
8396	1.29	152.3	65.7	21.2	477	8405	0.50	2.35	0.00	0.000	4	0.000	0.000	2497	3535	1620
8476	1.12	179.7	54.8	11.6	489	8486	0.28	2.12	2.35	0.000	6	0.000	0.000	2530	2045	1506
8759	end climb: SURFACE_DEPTH_REACHED
state	8759	begin surface coast
8771	end surface coast: CONTROL_FINISHED_OK
state	8771	begin surface