Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 58 * 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 58 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 25 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -447841.44 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 -447841.44

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 25 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 30 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 58 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 091004,6637.458,-6008.483,10,1.1,10,18.0 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6628.674,-6005.975

_XMS_NAKs 0 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 091630,6637.458,-6008.483,21,1.1,22,18.0 MHEAD_RNG_PITCHd_Wd 126.4,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024963 XPDR_PINGS -1

SM_CCo 8911,21.40,0.000,0,0,411,450.86 ALTIM_TOP_PING 19.9,19.2

SM_GC 0.34,0.00,0.00,21.40,0.000,0.000,0.000,577,2182,411,-7.56,5.57,450.86 ALTIM_BOTTOM_PING 502.1,69.2

RAFOS_CLK 0 _24V_AH 23.7,44.943

RAFOS 4,1160818147,9.500000,9.485278,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,6.847

RAFOS_FIX 6637.786133,-6003.640625,141006,080820,4,80,0.40 DATA_FILE_SIZE 19067,549

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,240603136

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,48,893,0,0

HUMID 2323 SOUNDSPEED 1459.6

INTERNAL_PRESSURE 26.0162 CURRENT 0.056, 27.5,1

TCM_TEMP 15.00 GPS 141006,114730,6636.969,-6006.476,34,1.1,34,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 119 71.21 SBE_CT 456 24 259.68

Roll_motor 114 60 162.78 nil 0 0 0.00

VBD_pump_during_apogee 26 1300 803.37 nil 0 0 0.00

VBD_pump_during_surface 21 600 304.31 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 66 223 348.97

Transponder_ping 4 420 44.79

GPS 27 50 13.15

TT8 1772 19 342.47

LPSleep 5850 2 131.09

TT8_Active 259 19 50.05

TT8_Sampling 636 39 246.47

TT8_CF8 801 45 357.19

TT8_Kalman 0 81 0.00

Analog_circuits 795 12 92.55

GPS_charging 0 0 0.00

Compass 535 26 135.12

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 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 0.000 606 2034 2868

64 -1.49 -116.8 0.3 0.0 2 82 6.53 2.72 0.00 0.000 4 0.000 0.000 1993 357 2865

233 -1.49 -116.8 21.3 -9.5 28 243 0.52 3.15 0.00 0.000 6 0.000 0.000 1890 2168 2867

603 -1.75 -116.8 76.4 -16.0 89 612 0.05 2.45 0.00 0.000 4 0.000 0.000 1896 3510 2867

715 -1.58 -116.8 92.6 -15.5 106 724 0.52 2.88 0.00 0.000 6 0.000 0.000 1987 2002 2864

1048 -1.34 -116.8 126.1 -9.6 128 1049 0.00 0.00 0.00 0.000 6 0.000 0.000 2004 1973 2862

1360 -1.37 -116.8 155.8 -9.6 143 1366 0.10 3.05 0.00 0.000 4 0.000 0.000 1934 454 2862

1392 -1.41 -116.8 159.6 -10.5 144 1397 0.00 2.97 0.00 0.000 6 0.000 0.000 1938 1996 2866

1718 -1.67 -116.8 198.8 -12.5 159 1720 0.03 0.00 0.00 0.000 6 0.000 0.000 1941 2002 2867

2025 -1.54 -116.8 237.1 -12.4 174 2032 0.00 3.28 0.00 0.000 4 0.000 0.000 1916 3464 2864

2083 -1.42 -116.8 245.2 -12.3 176 2088 0.00 3.15 0.00 0.000 6 0.000 0.000 1928 1828 2865

2409 -1.32 -116.8 284.2 -12.1 191 2411 0.55 0.00 0.00 0.000 6 0.000 0.000 1998 1829 2869

2717 -1.18 -116.8 314.3 -9.4 206 2723 0.00 3.40 0.00 0.000 4 0.000 0.000 2015 3534 2860

2798 -1.24 -116.8 322.6 -9.2 209 2810 0.00 3.83 0.00 0.000 6 0.000 0.000 1991 1693 2858

3128 -1.32 -116.8 352.9 -9.3 225 3136 0.15 3.62 0.00 0.000 4 0.000 0.000 2008 3564 2866

3251 -1.37 -116.8 365.4 -9.3 230 3258 0.00 3.42 0.00 0.000 6 0.000 0.000 2011 1733 2861

3587 -1.46 -116.8 396.0 -9.3 246 3595 0.60 3.53 0.00 0.000 4 0.000 0.000 1885 3568 2863

3622 -1.52 -116.8 401.6 -15.3 247 3634 0.50 2.88 0.00 0.000 6 0.000 0.000 2002 1847 2866

3951 -1.26 -116.8 432.8 -9.5 263 3956 0.00 2.38 0.00 0.000 4 0.000 0.000 1994 515 2865

3976 -1.31 -116.8 435.7 -9.3 264 3983 0.05 3.28 0.00 0.000 6 0.000 0.000 1985 2029 2867

4310 -1.63 -116.8 466.5 -9.3 280 4318 0.55 2.95 0.00 0.000 4 0.000 0.000 1865 3536 2869

4351 -1.70 -116.8 472.6 -15.0 281 4360 0.03 3.47 0.00 0.000 6 0.000 0.000 1869 1735 2868

4674 -1.46 -116.8 520.6 -15.2 294 4681 0.62 3.28 0.00 0.000 4 0.000 0.000 1995 3379 2864

4726 -1.17 -116.8 527.2 -9.2 295 4731 0.00 3.03 0.00 0.000 6 0.000 0.000 1976 1738 2863

5049 -1.23 -116.8 557.5 -9.4 303 5054 0.00 3.12 0.00 0.000 4 0.000 0.000 1997 3586 2865

5087 end dive: BOTTOM_OBSTACLE_DETECTED

state 5087 begin apogee

5104 -0.25 0.0 561.7 9.6 304 5122 1.27 0.00 14.95 0.000 6 0.000 0.000 2233 1909 2240

5123 end apogee: CONTROL_FINISHED_OK

state 5123 begin climb

5129 1.49 116.8 561.7 0.0 304 5149 1.88 3.22 11.12 0.000 4 0.000 0.000 2667 282 1765

5191 1.49 116.8 553.3 23.5 305 5199 0.43 4.07 0.00 0.000 6 0.000 0.000 2519 2108 1761

5542 1.51 116.8 501.8 14.4 314 5550 0.45 2.97 0.00 0.000 4 0.000 0.000 2665 3578 1770

5628 1.51 116.8 483.2 22.5 316 5638 0.55 3.53 0.00 0.000 6 0.000 0.000 2564 1745 1766

5952 1.22 116.8 434.9 14.7 332 5960 0.00 3.35 0.00 0.000 4 0.000 0.000 2558 3392 1773

6023 1.22 116.8 423.9 14.8 335 6028 0.00 2.95 0.00 0.000 6 0.000 0.000 2545 1873 1763

6358 1.22 116.8 374.7 14.6 351 6359 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 1879 1774

6663 1.22 116.8 329.4 14.7 366 6668 0.03 2.58 0.00 0.000 4 0.000 0.000 2536 3382 1761

6769 1.22 116.8 313.4 14.4 370 6777 0.00 2.92 0.00 0.000 6 0.000 0.000 2552 1815 1758

7093 1.24 116.8 267.3 14.7 386 7100 0.03 3.42 0.00 0.000 4 0.000 0.000 2543 3642 1765

7234 1.24 116.8 245.8 15.0 392 7242 0.00 3.58 0.00 0.000 6 0.000 0.000 2545 1787 1768

7574 1.26 116.8 196.9 14.6 408 7579 0.00 3.03 0.00 0.000 4 0.000 0.000 2570 3650 1768

7791 1.26 116.8 164.2 14.6 417 7799 0.00 3.38 0.00 0.000 6 0.000 0.000 2561 1966 1768

8115 1.30 116.8 114.9 14.6 433 8116 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 1979 1761

8451 1.30 116.8 63.6 17.3 478 8459 0.00 2.97 0.00 0.000 4 0.000 0.000 2566 3477 1765

8534 1.30 116.8 51.3 14.3 491 8542 0.00 2.55 0.00 0.000 6 0.000 0.000 2534 1830 1758

8870 end climb: SURFACE_DEPTH_REACHED

state 8870 begin surface coast

8881 end surface coast: CONTROL_FINISHED_OK

state 8881 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	58	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	25	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-447841.44	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	091004,6637.458,-6008.483,10,1.1,10,18.0	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6628.674,-6005.975
_XMS_NAKs	0	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	091630,6637.458,-6008.483,21,1.1,22,18.0	MHEAD_RNG_PITCHd_Wd	126.4,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024963	XPDR_PINGS	-1
SM_CCo	8911,21.40,0.000,0,0,411,450.86	ALTIM_TOP_PING	19.9,19.2
SM_GC	0.34,0.00,0.00,21.40,0.000,0.000,0.000,577,2182,411,-7.56,5.57,450.86	ALTIM_BOTTOM_PING	502.1,69.2
RAFOS_CLK	0	_24V_AH	23.7,44.943
RAFOS	4,1160818147,9.500000,9.485278,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,6.847
RAFOS_FIX	6637.786133,-6003.640625,141006,080820,4,80,0.40	DATA_FILE_SIZE	19067,549
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,240603136
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,48,893,0,0
HUMID	2323	SOUNDSPEED	1459.6
INTERNAL_PRESSURE	26.0162	CURRENT	0.056, 27.5,1
TCM_TEMP	15.00	GPS	141006,114730,6636.969,-6006.476,34,1.1,34,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	119	71.21	SBE_CT	456	24	259.68
Roll_motor	114	60	162.78	nil	0	0	0.00
VBD_pump_during_apogee	26	1300	803.37	nil	0	0	0.00
VBD_pump_during_surface	21	600	304.31	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	66	223	348.97
Transponder_ping	4	420	44.79
GPS	27	50	13.15
TT8	1772	19	342.47
LPSleep	5850	2	131.09
TT8_Active	259	19	50.05
TT8_Sampling	636	39	246.47
TT8_CF8	801	45	357.19
TT8_Kalman	0	81	0.00
Analog_circuits	795	12	92.55
GPS_charging	0	0	0.00
Compass	535	26	135.12
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	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	606	2034	2868
64	-1.49	-116.8	0.3	0.0	2	82	6.53	2.72	0.00	0.000	4	0.000	0.000	1993	357	2865
233	-1.49	-116.8	21.3	-9.5	28	243	0.52	3.15	0.00	0.000	6	0.000	0.000	1890	2168	2867
603	-1.75	-116.8	76.4	-16.0	89	612	0.05	2.45	0.00	0.000	4	0.000	0.000	1896	3510	2867
715	-1.58	-116.8	92.6	-15.5	106	724	0.52	2.88	0.00	0.000	6	0.000	0.000	1987	2002	2864
1048	-1.34	-116.8	126.1	-9.6	128	1049	0.00	0.00	0.00	0.000	6	0.000	0.000	2004	1973	2862
1360	-1.37	-116.8	155.8	-9.6	143	1366	0.10	3.05	0.00	0.000	4	0.000	0.000	1934	454	2862
1392	-1.41	-116.8	159.6	-10.5	144	1397	0.00	2.97	0.00	0.000	6	0.000	0.000	1938	1996	2866
1718	-1.67	-116.8	198.8	-12.5	159	1720	0.03	0.00	0.00	0.000	6	0.000	0.000	1941	2002	2867
2025	-1.54	-116.8	237.1	-12.4	174	2032	0.00	3.28	0.00	0.000	4	0.000	0.000	1916	3464	2864
2083	-1.42	-116.8	245.2	-12.3	176	2088	0.00	3.15	0.00	0.000	6	0.000	0.000	1928	1828	2865
2409	-1.32	-116.8	284.2	-12.1	191	2411	0.55	0.00	0.00	0.000	6	0.000	0.000	1998	1829	2869
2717	-1.18	-116.8	314.3	-9.4	206	2723	0.00	3.40	0.00	0.000	4	0.000	0.000	2015	3534	2860
2798	-1.24	-116.8	322.6	-9.2	209	2810	0.00	3.83	0.00	0.000	6	0.000	0.000	1991	1693	2858
3128	-1.32	-116.8	352.9	-9.3	225	3136	0.15	3.62	0.00	0.000	4	0.000	0.000	2008	3564	2866
3251	-1.37	-116.8	365.4	-9.3	230	3258	0.00	3.42	0.00	0.000	6	0.000	0.000	2011	1733	2861
3587	-1.46	-116.8	396.0	-9.3	246	3595	0.60	3.53	0.00	0.000	4	0.000	0.000	1885	3568	2863
3622	-1.52	-116.8	401.6	-15.3	247	3634	0.50	2.88	0.00	0.000	6	0.000	0.000	2002	1847	2866
3951	-1.26	-116.8	432.8	-9.5	263	3956	0.00	2.38	0.00	0.000	4	0.000	0.000	1994	515	2865
3976	-1.31	-116.8	435.7	-9.3	264	3983	0.05	3.28	0.00	0.000	6	0.000	0.000	1985	2029	2867
4310	-1.63	-116.8	466.5	-9.3	280	4318	0.55	2.95	0.00	0.000	4	0.000	0.000	1865	3536	2869
4351	-1.70	-116.8	472.6	-15.0	281	4360	0.03	3.47	0.00	0.000	6	0.000	0.000	1869	1735	2868
4674	-1.46	-116.8	520.6	-15.2	294	4681	0.62	3.28	0.00	0.000	4	0.000	0.000	1995	3379	2864
4726	-1.17	-116.8	527.2	-9.2	295	4731	0.00	3.03	0.00	0.000	6	0.000	0.000	1976	1738	2863
5049	-1.23	-116.8	557.5	-9.4	303	5054	0.00	3.12	0.00	0.000	4	0.000	0.000	1997	3586	2865
5087	end dive: BOTTOM_OBSTACLE_DETECTED
state	5087	begin apogee
5104	-0.25	0.0	561.7	9.6	304	5122	1.27	0.00	14.95	0.000	6	0.000	0.000	2233	1909	2240
5123	end apogee: CONTROL_FINISHED_OK
state	5123	begin climb
5129	1.49	116.8	561.7	0.0	304	5149	1.88	3.22	11.12	0.000	4	0.000	0.000	2667	282	1765
5191	1.49	116.8	553.3	23.5	305	5199	0.43	4.07	0.00	0.000	6	0.000	0.000	2519	2108	1761
5542	1.51	116.8	501.8	14.4	314	5550	0.45	2.97	0.00	0.000	4	0.000	0.000	2665	3578	1770
5628	1.51	116.8	483.2	22.5	316	5638	0.55	3.53	0.00	0.000	6	0.000	0.000	2564	1745	1766
5952	1.22	116.8	434.9	14.7	332	5960	0.00	3.35	0.00	0.000	4	0.000	0.000	2558	3392	1773
6023	1.22	116.8	423.9	14.8	335	6028	0.00	2.95	0.00	0.000	6	0.000	0.000	2545	1873	1763
6358	1.22	116.8	374.7	14.6	351	6359	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	1879	1774
6663	1.22	116.8	329.4	14.7	366	6668	0.03	2.58	0.00	0.000	4	0.000	0.000	2536	3382	1761
6769	1.22	116.8	313.4	14.4	370	6777	0.00	2.92	0.00	0.000	6	0.000	0.000	2552	1815	1758
7093	1.24	116.8	267.3	14.7	386	7100	0.03	3.42	0.00	0.000	4	0.000	0.000	2543	3642	1765
7234	1.24	116.8	245.8	15.0	392	7242	0.00	3.58	0.00	0.000	6	0.000	0.000	2545	1787	1768
7574	1.26	116.8	196.9	14.6	408	7579	0.00	3.03	0.00	0.000	4	0.000	0.000	2570	3650	1768
7791	1.26	116.8	164.2	14.6	417	7799	0.00	3.38	0.00	0.000	6	0.000	0.000	2561	1966	1768
8115	1.30	116.8	114.9	14.6	433	8116	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	1979	1761
8451	1.30	116.8	63.6	17.3	478	8459	0.00	2.97	0.00	0.000	4	0.000	0.000	2566	3477	1765
8534	1.30	116.8	51.3	14.3	491	8542	0.00	2.55	0.00	0.000	6	0.000	0.000	2534	1830	1758
8870	end climb: SURFACE_DEPTH_REACHED
state	8870	begin surface coast
8881	end surface coast: CONTROL_FINISHED_OK
state	8881	begin surface