Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 57 * 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 57 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 9 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 3 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 -447813.69 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 -447813.69

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 9 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 3 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 57 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 063819,6638.040,-6006.782,11,1.1,11,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6634.284,-6010.808

_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 064230,6638.040,-6006.782,16,1.1,16,18.0 MHEAD_RNG_PITCHd_Wd 231.6,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024117 XPDR_PINGS -1

SM_CCo 8719,16.90,0.000,0,0,391,453.07 ALTIM_TOP_PING 19.7,18.6

SM_GC 0.34,0.00,0.00,16.90,0.000,0.000,0.000,612,2041,391,-7.66,1.64,453.07 ALTIM_BOTTOM_PING 501.5,76.1

RAFOS_CLK 0 _24V_AH 23.7,44.662

RAFOS 0,1160813042,8.083333,8.067223,80,0,0,0,0,0,583,0,0,0,0,0 _10V_AH 9.7,6.803

RAFOS_FIX 6637.786133,-6003.640625,141006,080820,4,80,0.40 DATA_FILE_SIZE 15843,523

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,240676864

TT8_MAMPS 0.029146 ERRORS 0,0,0,0,0,0,0,0,0,0,0,62,841,0,0

HUMID 2329 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 26.0358 CURRENT 0.076,124.4,1

TCM_TEMP 15.00 GPS 141006,091004,6637.458,-6008.483,10,1.1,10,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 119 82.42 SBE_CT 436 24 248.50

Roll_motor 109 60 155.14 nil 0 0 0.00

VBD_pump_during_apogee 31 1300 981.30 nil 0 0 0.00

VBD_pump_during_surface 16 600 240.32 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 67 223 356.51

Transponder_ping 4 420 44.79

GPS 17 50 8.26

TT8 1733 19 335.00

LPSleep 5710 2 127.96

TT8_Active 246 19 47.61

TT8_Sampling 584 39 226.25

TT8_CF8 728 45 324.64

TT8_Kalman 0 81 0.00

Analog_circuits 747 12 87.00

GPS_charging 0 0 0.00

Compass 490 26 123.82

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 -8.15 0.000 6 0.000 0.000 596 2152 2830

64 -1.49 -116.8 0.3 -0.0 2 81 6.57 2.20 0.00 0.000 4 0.000 0.000 1981 3654 2830

372 -1.49 -116.8 32.9 -9.1 52 382 0.52 3.75 0.00 0.000 6 0.000 0.000 1871 1793 2830

742 -1.58 -116.8 84.7 -14.2 113 751 0.40 3.42 0.00 0.000 4 0.000 0.000 1944 3646 2832

945 -1.31 -116.8 108.6 -11.9 136 954 0.52 3.38 0.00 0.000 6 0.000 0.000 2071 1966 2837

1281 -1.23 -116.8 133.1 -7.1 152 1283 0.52 0.00 0.00 0.000 6 0.000 0.000 1913 1964 2825

1590 -1.77 -116.8 168.2 -11.7 167 1592 0.62 0.00 0.00 0.000 6 0.000 0.000 1822 1975 2829

1899 -1.65 -116.8 216.0 -17.2 182 1905 0.57 2.67 0.00 0.000 4 0.000 0.000 1940 3453 2828

1948 -1.19 -116.8 223.3 -9.1 184 1955 0.52 2.78 0.00 0.000 6 0.000 0.000 2051 1898 2830

2283 -1.24 -116.8 246.5 -6.8 200 2289 0.50 2.75 0.00 0.000 4 0.000 0.000 1923 416 2835

2314 -1.44 -116.8 250.0 -10.5 201 2319 0.00 3.03 0.00 0.000 6 0.000 0.000 1927 2258 2828

2639 -1.57 -116.8 286.6 -11.7 216 2646 0.00 3.50 0.00 0.000 4 0.000 0.000 1930 358 2830

2674 -1.44 -116.8 291.7 -12.0 217 2679 0.00 3.05 0.00 0.000 6 0.000 0.000 1922 2219 2834

3001 -1.55 -116.8 328.7 -11.7 232 3008 0.00 3.80 0.00 0.000 4 0.000 0.000 1925 377 2833

3030 -1.41 -116.8 333.3 -12.2 233 3038 0.00 3.85 0.00 0.000 6 0.000 0.000 1935 2212 2828

3366 -1.46 -116.8 371.7 -11.7 249 3373 0.03 3.38 0.00 0.000 4 0.004 0.000 1945 514 2829

3395 -1.34 -116.8 376.1 -11.9 250 3403 0.52 3.10 0.00 0.000 6 0.000 0.000 2050 2207 2829

3731 -1.36 -116.8 399.1 -6.7 266 3738 0.65 2.45 0.00 0.000 4 0.000 0.000 1938 3566 2830

3769 -1.57 -116.8 403.4 -11.0 267 3782 0.00 3.80 0.00 0.000 6 0.000 0.000 1946 1754 2829

4099 -1.49 -116.8 439.0 -11.1 283 4100 0.00 0.00 0.00 0.000 6 0.000 0.000 1919 1746 2832

4403 -1.48 -116.8 474.3 -11.7 298 4405 0.03 0.00 0.00 0.000 6 0.000 0.000 1929 1755 2834

4737 -1.34 -116.8 511.0 -11.6 312 4744 0.35 2.97 0.00 0.000 4 0.000 0.000 1982 3476 2835

4777 -1.21 -116.8 515.9 -9.1 312 4786 0.00 2.88 0.00 0.000 6 0.000 0.000 1986 1982 2831

5113 -1.27 -116.8 546.1 -9.0 321 5118 0.03 2.67 0.00 0.000 4 0.003 0.000 2001 525 2826

5161 -1.30 -116.8 550.5 -8.5 322 5166 0.00 2.78 0.00 0.000 6 0.000 0.000 1992 2054 2833

5360 end dive: BOTTOM_OBSTACLE_DETECTED

state 5361 begin apogee

5373 -0.25 0.0 568.6 9.1 327 5391 1.25 0.00 14.15 0.000 6 0.000 0.000 2302 1877 2251

5391 end apogee: CONTROL_FINISHED_OK

state 5391 begin climb

5397 1.49 116.8 568.6 0.0 327 5417 1.65 2.85 11.57 0.000 4 0.000 0.000 2635 409 1770

5439 1.49 116.8 565.6 21.3 328 5447 0.52 3.67 0.00 0.000 6 0.000 0.000 2506 2261 1773

5773 1.34 117.4 518.5 13.7 336 5781 0.00 3.80 0.00 0.000 4 0.000 0.000 2538 406 1763

5808 1.37 117.4 513.1 14.9 336 5813 0.00 3.03 0.00 0.000 6 0.000 0.000 2543 2235 1767

6125 1.61 117.7 470.3 13.7 348 6128 0.60 0.00 0.00 0.000 6 0.000 0.000 2663 2243 1767

6440 1.64 117.7 402.4 22.4 363 6448 0.52 3.22 0.00 0.000 4 0.000 0.000 2522 284 1769

6488 1.32 117.7 393.1 14.5 365 6494 0.00 3.15 0.00 0.000 6 0.000 0.000 2561 2154 1766

6825 1.57 117.7 342.9 14.9 381 6832 0.55 3.03 0.00 0.000 4 0.000 0.000 2584 3696 1765

6900 1.50 117.7 330.0 17.9 384 6907 0.00 3.28 0.00 0.000 6 0.000 0.000 2595 1815 1764

7240 1.40 117.7 260.7 18.3 400 7248 0.47 3.33 0.00 0.000 4 0.000 0.000 2499 3658 1764

7385 1.26 161.2 243.1 10.3 406 7403 0.47 3.45 4.25 0.000 6 0.000 0.000 2604 1782 1585

7714 1.53 161.2 176.2 21.3 422 7719 0.00 3.15 0.00 0.000 4 0.000 0.000 2586 3608 1593

7808 1.38 161.2 157.2 22.1 426 7816 0.52 3.45 0.00 0.000 6 0.000 0.000 2482 1994 1588

8149 1.26 183.0 110.0 12.0 442 8154 0.45 0.00 1.88 0.000 6 0.000 0.000 2610 1965 1504

8491 1.46 183.0 32.4 23.3 493 8499 0.00 2.47 0.00 0.000 4 0.000 0.000 2609 3552 1490

8537 1.27 183.0 22.9 22.9 499 8547 0.52 3.67 0.00 0.000 6 0.000 0.000 2499 1731 1495

8670 end climb: SURFACE_DEPTH_REACHED

state 8670 begin surface coast

8690 end surface coast: CONTROL_FINISHED_OK

state 8690 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	57	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	9	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	3	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	-447813.69	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	063819,6638.040,-6006.782,11,1.1,11,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6634.284,-6010.808
_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	064230,6638.040,-6006.782,16,1.1,16,18.0	MHEAD_RNG_PITCHd_Wd	231.6,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024117	XPDR_PINGS	-1
SM_CCo	8719,16.90,0.000,0,0,391,453.07	ALTIM_TOP_PING	19.7,18.6
SM_GC	0.34,0.00,0.00,16.90,0.000,0.000,0.000,612,2041,391,-7.66,1.64,453.07	ALTIM_BOTTOM_PING	501.5,76.1
RAFOS_CLK	0	_24V_AH	23.7,44.662
RAFOS	0,1160813042,8.083333,8.067223,80,0,0,0,0,0,583,0,0,0,0,0	_10V_AH	9.7,6.803
RAFOS_FIX	6637.786133,-6003.640625,141006,080820,4,80,0.40	DATA_FILE_SIZE	15843,523
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,240676864
TT8_MAMPS	0.029146	ERRORS	0,0,0,0,0,0,0,0,0,0,0,62,841,0,0
HUMID	2329	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	26.0358	CURRENT	0.076,124.4,1
TCM_TEMP	15.00	GPS	141006,091004,6637.458,-6008.483,10,1.1,10,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	119	82.42	SBE_CT	436	24	248.50
Roll_motor	109	60	155.14	nil	0	0	0.00
VBD_pump_during_apogee	31	1300	981.30	nil	0	0	0.00
VBD_pump_during_surface	16	600	240.32	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	356.51
Transponder_ping	4	420	44.79
GPS	17	50	8.26
TT8	1733	19	335.00
LPSleep	5710	2	127.96
TT8_Active	246	19	47.61
TT8_Sampling	584	39	226.25
TT8_CF8	728	45	324.64
TT8_Kalman	0	81	0.00
Analog_circuits	747	12	87.00
GPS_charging	0	0	0.00
Compass	490	26	123.82
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	-8.15	0.000	6	0.000	0.000	596	2152	2830
64	-1.49	-116.8	0.3	-0.0	2	81	6.57	2.20	0.00	0.000	4	0.000	0.000	1981	3654	2830
372	-1.49	-116.8	32.9	-9.1	52	382	0.52	3.75	0.00	0.000	6	0.000	0.000	1871	1793	2830
742	-1.58	-116.8	84.7	-14.2	113	751	0.40	3.42	0.00	0.000	4	0.000	0.000	1944	3646	2832
945	-1.31	-116.8	108.6	-11.9	136	954	0.52	3.38	0.00	0.000	6	0.000	0.000	2071	1966	2837
1281	-1.23	-116.8	133.1	-7.1	152	1283	0.52	0.00	0.00	0.000	6	0.000	0.000	1913	1964	2825
1590	-1.77	-116.8	168.2	-11.7	167	1592	0.62	0.00	0.00	0.000	6	0.000	0.000	1822	1975	2829
1899	-1.65	-116.8	216.0	-17.2	182	1905	0.57	2.67	0.00	0.000	4	0.000	0.000	1940	3453	2828
1948	-1.19	-116.8	223.3	-9.1	184	1955	0.52	2.78	0.00	0.000	6	0.000	0.000	2051	1898	2830
2283	-1.24	-116.8	246.5	-6.8	200	2289	0.50	2.75	0.00	0.000	4	0.000	0.000	1923	416	2835
2314	-1.44	-116.8	250.0	-10.5	201	2319	0.00	3.03	0.00	0.000	6	0.000	0.000	1927	2258	2828
2639	-1.57	-116.8	286.6	-11.7	216	2646	0.00	3.50	0.00	0.000	4	0.000	0.000	1930	358	2830
2674	-1.44	-116.8	291.7	-12.0	217	2679	0.00	3.05	0.00	0.000	6	0.000	0.000	1922	2219	2834
3001	-1.55	-116.8	328.7	-11.7	232	3008	0.00	3.80	0.00	0.000	4	0.000	0.000	1925	377	2833
3030	-1.41	-116.8	333.3	-12.2	233	3038	0.00	3.85	0.00	0.000	6	0.000	0.000	1935	2212	2828
3366	-1.46	-116.8	371.7	-11.7	249	3373	0.03	3.38	0.00	0.000	4	0.004	0.000	1945	514	2829
3395	-1.34	-116.8	376.1	-11.9	250	3403	0.52	3.10	0.00	0.000	6	0.000	0.000	2050	2207	2829
3731	-1.36	-116.8	399.1	-6.7	266	3738	0.65	2.45	0.00	0.000	4	0.000	0.000	1938	3566	2830
3769	-1.57	-116.8	403.4	-11.0	267	3782	0.00	3.80	0.00	0.000	6	0.000	0.000	1946	1754	2829
4099	-1.49	-116.8	439.0	-11.1	283	4100	0.00	0.00	0.00	0.000	6	0.000	0.000	1919	1746	2832
4403	-1.48	-116.8	474.3	-11.7	298	4405	0.03	0.00	0.00	0.000	6	0.000	0.000	1929	1755	2834
4737	-1.34	-116.8	511.0	-11.6	312	4744	0.35	2.97	0.00	0.000	4	0.000	0.000	1982	3476	2835
4777	-1.21	-116.8	515.9	-9.1	312	4786	0.00	2.88	0.00	0.000	6	0.000	0.000	1986	1982	2831
5113	-1.27	-116.8	546.1	-9.0	321	5118	0.03	2.67	0.00	0.000	4	0.003	0.000	2001	525	2826
5161	-1.30	-116.8	550.5	-8.5	322	5166	0.00	2.78	0.00	0.000	6	0.000	0.000	1992	2054	2833
5360	end dive: BOTTOM_OBSTACLE_DETECTED
state	5361	begin apogee
5373	-0.25	0.0	568.6	9.1	327	5391	1.25	0.00	14.15	0.000	6	0.000	0.000	2302	1877	2251
5391	end apogee: CONTROL_FINISHED_OK
state	5391	begin climb
5397	1.49	116.8	568.6	0.0	327	5417	1.65	2.85	11.57	0.000	4	0.000	0.000	2635	409	1770
5439	1.49	116.8	565.6	21.3	328	5447	0.52	3.67	0.00	0.000	6	0.000	0.000	2506	2261	1773
5773	1.34	117.4	518.5	13.7	336	5781	0.00	3.80	0.00	0.000	4	0.000	0.000	2538	406	1763
5808	1.37	117.4	513.1	14.9	336	5813	0.00	3.03	0.00	0.000	6	0.000	0.000	2543	2235	1767
6125	1.61	117.7	470.3	13.7	348	6128	0.60	0.00	0.00	0.000	6	0.000	0.000	2663	2243	1767
6440	1.64	117.7	402.4	22.4	363	6448	0.52	3.22	0.00	0.000	4	0.000	0.000	2522	284	1769
6488	1.32	117.7	393.1	14.5	365	6494	0.00	3.15	0.00	0.000	6	0.000	0.000	2561	2154	1766
6825	1.57	117.7	342.9	14.9	381	6832	0.55	3.03	0.00	0.000	4	0.000	0.000	2584	3696	1765
6900	1.50	117.7	330.0	17.9	384	6907	0.00	3.28	0.00	0.000	6	0.000	0.000	2595	1815	1764
7240	1.40	117.7	260.7	18.3	400	7248	0.47	3.33	0.00	0.000	4	0.000	0.000	2499	3658	1764
7385	1.26	161.2	243.1	10.3	406	7403	0.47	3.45	4.25	0.000	6	0.000	0.000	2604	1782	1585
7714	1.53	161.2	176.2	21.3	422	7719	0.00	3.15	0.00	0.000	4	0.000	0.000	2586	3608	1593
7808	1.38	161.2	157.2	22.1	426	7816	0.52	3.45	0.00	0.000	6	0.000	0.000	2482	1994	1588
8149	1.26	183.0	110.0	12.0	442	8154	0.45	0.00	1.88	0.000	6	0.000	0.000	2610	1965	1504
8491	1.46	183.0	32.4	23.3	493	8499	0.00	2.47	0.00	0.000	4	0.000	0.000	2609	3552	1490
8537	1.27	183.0	22.9	22.9	499	8547	0.52	3.67	0.00	0.000	6	0.000	0.000	2499	1731	1495
8670	end climb: SURFACE_DEPTH_REACHED
state	8670	begin surface coast
8690	end surface coast: CONTROL_FINISHED_OK
state	8690	begin surface