Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 78 * 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 78 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 169 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 182 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 -448346.03 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 -448346.03

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 169 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 182 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 78 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 094507,6636.768,-6005.912,28,1.1,28,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6646.432,-6007.813

_XMS_NAKs 4 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 095402,6636.768,-6005.912,34,1.1,34,18.0 MHEAD_RNG_PITCHd_Wd 315.5,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025009 XPDR_PINGS -1

SM_CCo 8623,17.77,0.000,0,0,393,450.37 ALTIM_TOP_PING 19.5,19.5

SM_GC 0.34,0.00,0.00,17.77,0.000,0.000,0.000,629,2112,393,-7.50,3.68,450.37 ALTIM_BOTTOM_PING 500.9,76.7

RAFOS_CLK 0 _24V_AH 23.7,50.345

RAFOS 0,1161000249,12.083333,12.069167,80,0,0,0,0,0,552,0,0,0,0,0 _10V_AH 9.7,7.675

RAFOS_FIX 6637.067871,-6003.151367,161006,080820,4,80,0.85 DATA_FILE_SIZE 15846,535

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239271936

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,57,777,0,0

HUMID 2289 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 25.9869 CURRENT 0.071,217.1,1

TCM_TEMP 15.00 GPS 161006,121950,6637.421,-6007.523,14,1.1,14,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 88.28 SBE_CT 441 24 251.06

Roll_motor 100 60 142.48 nil 0 0 0.00

VBD_pump_during_apogee 30 1300 944.33 nil 0 0 0.00

VBD_pump_during_surface 17 600 252.76 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 143 223 756.34

Transponder_ping 4 420 44.79

GPS 35 50 17.17

TT8 1737 19 335.78

LPSleep 5580 2 125.05

TT8_Active 252 19 48.70

TT8_Sampling 614 39 237.99

TT8_CF8 991 45 441.56

TT8_Kalman 0 81 0.00

Analog_circuits 766 12 89.17

GPS_charging 0 0 0.00

Compass 507 26 127.92

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 57 0.00 0.00 -8.18 0.000 6 0.000 0.000 628 2152 2816

63 -1.49 -116.8 0.3 -0.0 2 80 7.00 2.25 0.00 0.000 4 0.000 0.000 2042 3517 2822

296 -1.49 -116.8 21.2 -7.3 39 305 0.77 3.17 0.00 0.000 6 0.000 0.000 1844 2005 2817

665 -1.75 -116.8 75.1 -14.7 100 674 0.10 2.47 0.00 0.000 4 0.000 0.000 1919 3306 2812

727 -1.40 -116.8 83.1 -12.4 109 736 0.52 2.25 0.00 0.000 6 0.000 0.000 2041 1973 2820

1092 -1.32 -116.8 110.8 -7.3 152 1098 0.50 2.50 0.00 0.000 4 0.000 0.000 1890 3451 2819

1167 -1.47 -116.8 118.8 -12.1 155 1172 0.00 2.97 0.00 0.000 6 0.000 0.000 1904 1914 2819

1498 -1.42 -116.8 159.5 -12.3 171 1504 0.47 2.72 0.00 0.000 4 0.000 0.000 1996 3409 2810

1592 -1.23 -116.8 167.8 -7.7 175 1599 0.50 2.67 0.00 0.000 6 0.000 0.000 1902 2075 2813

1925 -1.45 -116.8 209.6 -12.8 191 1931 0.38 2.47 0.00 0.000 4 0.000 0.000 2009 3267 2819

1970 -1.23 -116.8 213.7 -7.8 193 1976 0.32 2.62 0.00 0.000 6 0.000 0.000 1936 1954 2820

2301 -1.52 -116.8 247.5 -10.4 209 2307 0.00 3.12 0.00 0.000 4 0.000 0.000 1963 3487 2820

2373 -1.46 -116.8 254.4 -10.4 212 2377 0.00 1.85 0.00 0.000 6 0.000 0.000 1957 2301 2813

2710 -1.52 -116.8 288.5 -10.4 228 2717 0.30 3.20 0.00 0.000 4 0.000 0.000 1914 447 2810

2745 -1.46 -116.8 293.6 -12.9 229 2757 0.50 2.83 0.00 0.000 6 0.000 0.000 2009 2105 2814

3074 -1.52 -116.8 319.8 -7.7 245 3080 0.57 2.58 0.00 0.000 4 0.000 0.000 1912 3270 2819

3155 -1.66 -116.8 329.6 -13.5 248 3160 0.00 2.25 0.00 0.000 6 0.000 0.000 1891 2293 2818

3480 -1.53 -116.8 372.0 -13.1 263 3488 0.52 3.50 0.00 0.000 4 0.000 0.000 1950 491 2813

3516 -1.28 -116.8 377.0 -10.4 264 3528 0.00 3.28 0.00 0.000 6 0.000 0.000 1954 1989 2816

3845 -1.47 -116.8 410.1 -10.4 280 3852 0.00 3.78 0.00 0.000 4 0.000 0.000 1958 3511 2821

3944 -1.41 -116.8 420.3 -9.9 284 3949 0.03 2.45 0.00 0.000 6 0.000 0.000 1970 2021 2819

4275 -1.52 -116.8 454.8 -10.3 300 4282 0.43 3.03 0.00 0.000 4 0.000 0.000 1833 3564 2812

4323 -1.46 -116.8 461.7 -16.0 302 4329 0.77 2.20 0.00 0.000 6 0.000 0.000 2017 2185 2819

4654 -1.24 -116.8 488.6 -7.8 318 4657 0.50 0.00 0.00 0.000 6 0.000 0.000 1918 2200 2820

4960 -1.36 -116.8 526.9 -12.8 328 4963 0.52 0.00 0.00 0.000 6 0.000 0.000 2014 2188 2818

5285 -1.13 -116.8 553.4 -8.0 336 5290 0.00 2.38 0.00 0.000 4 0.000 0.000 2014 3547 2817

5309 -1.23 -116.8 555.6 -7.9 336 5315 0.22 2.55 0.00 0.000 6 0.000 0.000 1947 2227 2812

5441 end dive: BOTTOM_OBSTACLE_DETECTED

state 5441 begin apogee

5454 -0.25 0.0 569.2 10.3 340 5472 1.40 0.00 13.90 0.000 6 0.000 0.000 2256 1902 2237

5473 end apogee: CONTROL_FINISHED_OK

state 5473 begin climb

5478 1.49 116.8 569.2 0.0 340 5494 2.00 0.00 11.18 0.000 6 0.000 0.000 2609 1893 1768

5813 1.49 116.8 506.4 20.1 349 5821 0.08 3.40 0.00 0.000 4 0.001 0.000 2629 3547 1764

5961 1.26 116.8 476.8 19.9 354 5973 0.62 2.92 0.00 0.000 6 0.000 0.000 2520 2035 1764

6290 1.18 139.6 438.1 11.9 370 6298 0.00 2.33 2.15 0.001 4 0.000 0.000 2495 3374 1673

6369 1.33 155.3 428.1 12.5 373 6378 0.50 1.98 1.60 0.000 6 0.000 0.000 2637 2202 1610

6699 1.55 155.3 356.8 22.3 389 6704 0.00 2.67 0.00 0.000 4 0.000 0.000 2627 3574 1613

6752 1.34 155.3 344.6 22.2 391 6764 0.55 3.15 0.00 0.000 6 0.000 0.000 2487 2026 1618

7081 1.27 171.4 302.7 12.5 407 7090 0.60 2.53 1.83 0.000 4 0.000 0.000 2612 3515 1539

7167 1.44 171.4 284.7 22.8 410 7172 0.17 2.47 0.00 0.000 6 0.000 0.000 2548 2321 1539

7491 1.39 171.4 227.0 17.6 425 7497 0.08 2.85 0.00 0.000 4 0.000 0.000 2571 490 1532

7527 1.37 171.4 219.4 17.8 426 7536 0.03 2.65 0.00 0.000 6 0.000 0.000 2550 2377 1534

7851 1.63 171.4 164.0 17.4 442 7853 0.50 0.00 0.00 0.000 6 0.000 0.000 2671 2374 1542

8165 1.62 171.4 76.5 28.7 466 8172 0.43 0.00 0.00 0.000 6 0.000 0.000 2543 2379 1537

8531 1.25 171.4 7.9 18.3 527 8540 0.00 3.40 0.00 0.000 4 0.000 0.000 2564 528 1537

8562 1.21 171.4 2.5 18.5 531 8571 0.03 3.75 0.00 0.000 6 0.000 0.000 2537 2270 1533

8576 end climb: SURFACE_DEPTH_REACHED

state 8576 begin surface coast

8594 end surface coast: CONTROL_FINISHED_OK

state 8594 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	78	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	169	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	182	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	-448346.03	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	094507,6636.768,-6005.912,28,1.1,28,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6646.432,-6007.813
_XMS_NAKs	4	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	095402,6636.768,-6005.912,34,1.1,34,18.0	MHEAD_RNG_PITCHd_Wd	315.5,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025009	XPDR_PINGS	-1
SM_CCo	8623,17.77,0.000,0,0,393,450.37	ALTIM_TOP_PING	19.5,19.5
SM_GC	0.34,0.00,0.00,17.77,0.000,0.000,0.000,629,2112,393,-7.50,3.68,450.37	ALTIM_BOTTOM_PING	500.9,76.7
RAFOS_CLK	0	_24V_AH	23.7,50.345
RAFOS	0,1161000249,12.083333,12.069167,80,0,0,0,0,0,552,0,0,0,0,0	_10V_AH	9.7,7.675
RAFOS_FIX	6637.067871,-6003.151367,161006,080820,4,80,0.85	DATA_FILE_SIZE	15846,535
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239271936
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,57,777,0,0
HUMID	2289	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	25.9869	CURRENT	0.071,217.1,1
TCM_TEMP	15.00	GPS	161006,121950,6637.421,-6007.523,14,1.1,14,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	88.28	SBE_CT	441	24	251.06
Roll_motor	100	60	142.48	nil	0	0	0.00
VBD_pump_during_apogee	30	1300	944.33	nil	0	0	0.00
VBD_pump_during_surface	17	600	252.76	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	143	223	756.34
Transponder_ping	4	420	44.79
GPS	35	50	17.17
TT8	1737	19	335.78
LPSleep	5580	2	125.05
TT8_Active	252	19	48.70
TT8_Sampling	614	39	237.99
TT8_CF8	991	45	441.56
TT8_Kalman	0	81	0.00
Analog_circuits	766	12	89.17
GPS_charging	0	0	0.00
Compass	507	26	127.92
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	57	0.00	0.00	-8.18	0.000	6	0.000	0.000	628	2152	2816
63	-1.49	-116.8	0.3	-0.0	2	80	7.00	2.25	0.00	0.000	4	0.000	0.000	2042	3517	2822
296	-1.49	-116.8	21.2	-7.3	39	305	0.77	3.17	0.00	0.000	6	0.000	0.000	1844	2005	2817
665	-1.75	-116.8	75.1	-14.7	100	674	0.10	2.47	0.00	0.000	4	0.000	0.000	1919	3306	2812
727	-1.40	-116.8	83.1	-12.4	109	736	0.52	2.25	0.00	0.000	6	0.000	0.000	2041	1973	2820
1092	-1.32	-116.8	110.8	-7.3	152	1098	0.50	2.50	0.00	0.000	4	0.000	0.000	1890	3451	2819
1167	-1.47	-116.8	118.8	-12.1	155	1172	0.00	2.97	0.00	0.000	6	0.000	0.000	1904	1914	2819
1498	-1.42	-116.8	159.5	-12.3	171	1504	0.47	2.72	0.00	0.000	4	0.000	0.000	1996	3409	2810
1592	-1.23	-116.8	167.8	-7.7	175	1599	0.50	2.67	0.00	0.000	6	0.000	0.000	1902	2075	2813
1925	-1.45	-116.8	209.6	-12.8	191	1931	0.38	2.47	0.00	0.000	4	0.000	0.000	2009	3267	2819
1970	-1.23	-116.8	213.7	-7.8	193	1976	0.32	2.62	0.00	0.000	6	0.000	0.000	1936	1954	2820
2301	-1.52	-116.8	247.5	-10.4	209	2307	0.00	3.12	0.00	0.000	4	0.000	0.000	1963	3487	2820
2373	-1.46	-116.8	254.4	-10.4	212	2377	0.00	1.85	0.00	0.000	6	0.000	0.000	1957	2301	2813
2710	-1.52	-116.8	288.5	-10.4	228	2717	0.30	3.20	0.00	0.000	4	0.000	0.000	1914	447	2810
2745	-1.46	-116.8	293.6	-12.9	229	2757	0.50	2.83	0.00	0.000	6	0.000	0.000	2009	2105	2814
3074	-1.52	-116.8	319.8	-7.7	245	3080	0.57	2.58	0.00	0.000	4	0.000	0.000	1912	3270	2819
3155	-1.66	-116.8	329.6	-13.5	248	3160	0.00	2.25	0.00	0.000	6	0.000	0.000	1891	2293	2818
3480	-1.53	-116.8	372.0	-13.1	263	3488	0.52	3.50	0.00	0.000	4	0.000	0.000	1950	491	2813
3516	-1.28	-116.8	377.0	-10.4	264	3528	0.00	3.28	0.00	0.000	6	0.000	0.000	1954	1989	2816
3845	-1.47	-116.8	410.1	-10.4	280	3852	0.00	3.78	0.00	0.000	4	0.000	0.000	1958	3511	2821
3944	-1.41	-116.8	420.3	-9.9	284	3949	0.03	2.45	0.00	0.000	6	0.000	0.000	1970	2021	2819
4275	-1.52	-116.8	454.8	-10.3	300	4282	0.43	3.03	0.00	0.000	4	0.000	0.000	1833	3564	2812
4323	-1.46	-116.8	461.7	-16.0	302	4329	0.77	2.20	0.00	0.000	6	0.000	0.000	2017	2185	2819
4654	-1.24	-116.8	488.6	-7.8	318	4657	0.50	0.00	0.00	0.000	6	0.000	0.000	1918	2200	2820
4960	-1.36	-116.8	526.9	-12.8	328	4963	0.52	0.00	0.00	0.000	6	0.000	0.000	2014	2188	2818
5285	-1.13	-116.8	553.4	-8.0	336	5290	0.00	2.38	0.00	0.000	4	0.000	0.000	2014	3547	2817
5309	-1.23	-116.8	555.6	-7.9	336	5315	0.22	2.55	0.00	0.000	6	0.000	0.000	1947	2227	2812
5441	end dive: BOTTOM_OBSTACLE_DETECTED
state	5441	begin apogee
5454	-0.25	0.0	569.2	10.3	340	5472	1.40	0.00	13.90	0.000	6	0.000	0.000	2256	1902	2237
5473	end apogee: CONTROL_FINISHED_OK
state	5473	begin climb
5478	1.49	116.8	569.2	0.0	340	5494	2.00	0.00	11.18	0.000	6	0.000	0.000	2609	1893	1768
5813	1.49	116.8	506.4	20.1	349	5821	0.08	3.40	0.00	0.000	4	0.001	0.000	2629	3547	1764
5961	1.26	116.8	476.8	19.9	354	5973	0.62	2.92	0.00	0.000	6	0.000	0.000	2520	2035	1764
6290	1.18	139.6	438.1	11.9	370	6298	0.00	2.33	2.15	0.001	4	0.000	0.000	2495	3374	1673
6369	1.33	155.3	428.1	12.5	373	6378	0.50	1.98	1.60	0.000	6	0.000	0.000	2637	2202	1610
6699	1.55	155.3	356.8	22.3	389	6704	0.00	2.67	0.00	0.000	4	0.000	0.000	2627	3574	1613
6752	1.34	155.3	344.6	22.2	391	6764	0.55	3.15	0.00	0.000	6	0.000	0.000	2487	2026	1618
7081	1.27	171.4	302.7	12.5	407	7090	0.60	2.53	1.83	0.000	4	0.000	0.000	2612	3515	1539
7167	1.44	171.4	284.7	22.8	410	7172	0.17	2.47	0.00	0.000	6	0.000	0.000	2548	2321	1539
7491	1.39	171.4	227.0	17.6	425	7497	0.08	2.85	0.00	0.000	4	0.000	0.000	2571	490	1532
7527	1.37	171.4	219.4	17.8	426	7536	0.03	2.65	0.00	0.000	6	0.000	0.000	2550	2377	1534
7851	1.63	171.4	164.0	17.4	442	7853	0.50	0.00	0.00	0.000	6	0.000	0.000	2671	2374	1542
8165	1.62	171.4	76.5	28.7	466	8172	0.43	0.00	0.00	0.000	6	0.000	0.000	2543	2379	1537
8531	1.25	171.4	7.9	18.3	527	8540	0.00	3.40	0.00	0.000	4	0.000	0.000	2564	528	1537
8562	1.21	171.4	2.5	18.5	531	8571	0.03	3.75	0.00	0.000	6	0.000	0.000	2537	2270	1533
8576	end climb: SURFACE_DEPTH_REACHED
state	8576	begin surface coast
8594	end surface coast: CONTROL_FINISHED_OK
state	8594	begin surface