Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 80 * 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 80 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 184 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 7 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 -448403.41 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 -448403.41

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 184 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 7 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 80 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 143936,6636.663,-6008.827,31,1.1,31,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6628.113,-6006.193

_XMS_NAKs 1 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 144732,6636.663,-6008.827,33,1.1,33,18.0 MHEAD_RNG_PITCHd_Wd 124.3,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024542 XPDR_PINGS -1

SM_CCo 8378,16.50,0.000,0,0,401,450.37 ALTIM_TOP_PING 19.9,19.1

SM_GC 0.34,0.00,0.00,16.50,0.000,0.000,0.000,625,2058,401,-7.46,2.66,450.37 ALTIM_BOTTOM_PING 477.9,86.2

RAFOS_CLK 0 _24V_AH 23.7,50.880

RAFOS 4,1161012561,15.500000,15.489166,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,7.757

RAFOS_FIX 6636.688477,-6003.625000,161006,161620,4,80,0.68 DATA_FILE_SIZE 15840,511

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239149056

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,49,763,0,0

HUMID 2342 SOUNDSPEED 1459.6

INTERNAL_PRESSURE 25.9869 CURRENT 0.061, 23.1,1

TCM_TEMP 15.00 GPS 161006,170943,6636.171,-6006.867,28,1.1,28,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 119 77.70 SBE_CT 423 24 240.88

Roll_motor 98 60 139.75 nil 0 0 0.00

VBD_pump_during_apogee 32 0 0.59 nil 0 0 0.00

VBD_pump_during_surface 16 600 234.63 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 129 223 683.21

Transponder_ping 4 420 42.30

GPS 34 50 16.55

TT8 1660 19 320.87

LPSleep 5496 2 123.16

TT8_Active 250 19 48.48

TT8_Sampling 570 39 220.81

TT8_CF8 910 45 405.75

TT8_Kalman 0 81 0.00

Analog_circuits 728 12 84.75

GPS_charging 0 0 0.00

Compass 466 26 117.54

RAFOS 1800 1 26.19

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

34 end surface: CONTROL_FINISHED_OK

state 34 begin dive

41 -1.49 -116.8 0.0 0.0 0 57 0.00 0.00 -8.00 0.000 6 0.000 0.000 634 2077 2877

64 -1.49 -116.8 0.3 -0.0 2 82 6.78 2.42 0.00 0.000 4 0.000 0.000 2044 3420 2880

313 -1.49 -116.8 25.9 -8.2 42 322 0.62 2.33 0.00 0.000 6 0.000 0.000 1890 1933 2879

681 -1.72 -116.8 76.7 -14.3 103 690 0.00 3.35 0.00 0.000 4 0.000 0.000 1893 3632 2873

749 -1.51 -116.8 85.5 -12.8 113 758 0.28 3.25 0.00 0.000 6 0.000 0.000 1955 1944 2876

1104 -1.47 -116.8 125.5 -11.0 144 1109 0.03 2.75 0.00 0.000 4 0.000 0.000 1965 3590 2877

1184 -1.53 -116.8 133.5 -11.4 147 1197 0.52 3.08 0.00 0.000 6 0.000 0.000 1847 2063 2881

1509 -1.64 -116.8 189.3 -17.6 163 1516 0.85 2.72 0.00 0.000 4 0.000 0.000 1958 3560 2875

1543 -1.25 -116.8 194.6 -11.8 164 1549 0.12 2.62 0.00 0.000 6 0.000 0.000 1975 2046 2874

1868 -1.33 -116.8 230.0 -11.1 179 1872 0.00 2.45 0.00 0.000 4 0.000 0.000 1961 3552 2875

1915 -1.28 -116.8 236.0 -11.0 181 1920 0.17 2.15 0.00 0.000 6 0.000 0.000 1964 2236 2871

2245 -1.38 -116.8 272.1 -11.2 197 2246 0.00 0.00 0.00 0.000 6 0.000 0.000 1968 2223 2872

2554 -1.33 -116.8 306.5 -11.1 212 2555 0.00 0.00 0.00 0.000 6 0.000 0.000 1964 2231 2872

2865 -1.28 -116.8 339.5 -11.1 227 2871 0.05 2.95 0.00 0.000 4 0.000 0.000 1988 537 2883

2891 -1.23 -116.8 343.3 -10.9 228 2899 0.22 3.88 0.00 0.000 6 0.000 0.000 2027 2237 2886

3226 -1.32 -116.8 372.2 -8.6 244 3230 0.00 2.47 0.00 0.000 4 0.000 0.000 2043 3402 2880

3261 -1.43 -116.8 375.7 -7.3 245 3270 0.55 2.58 0.00 0.000 6 0.000 0.000 1903 2237 2877

3586 -1.75 -116.8 420.2 -14.6 261 3591 0.00 2.88 0.00 0.000 4 0.000 0.000 1900 734 2878

3616 -1.51 -116.8 425.6 -14.3 262 3629 0.52 3.20 0.00 0.000 6 0.000 0.000 2017 2396 2870

3945 -1.45 -116.8 453.9 -8.5 278 3953 0.62 3.15 0.00 0.000 4 0.000 0.000 1913 565 2873

3980 -1.57 -116.8 458.8 -14.1 279 3992 0.00 3.50 0.00 0.000 6 0.000 0.000 1907 2231 2880

4329 -1.61 -116.8 505.5 -12.9 295 4334 0.00 2.12 0.00 0.000 4 0.000 0.000 1901 3588 2876

4359 -1.40 -116.8 512.1 -14.0 295 4372 0.88 2.38 0.00 0.000 6 0.000 0.000 2039 2073 2883

4699 -1.33 -116.8 540.4 -7.7 304 4705 0.43 2.75 0.00 0.000 4 0.000 0.000 1917 3586 2884

4735 -1.52 -116.8 545.1 -14.5 304 4744 0.00 2.80 0.00 0.000 6 0.000 0.000 1916 2016 2874

4821 end dive: BOTTOM_OBSTACLE_DETECTED

state 4821 begin apogee

4833 -0.25 0.0 557.8 14.2 307 4852 1.67 0.00 15.00 0.001 6 0.000 0.000 2263 2039 2254

4853 end apogee: CONTROL_FINISHED_OK

state 4853 begin climb

4859 1.49 116.8 557.8 0.0 307 4874 1.60 0.00 11.23 0.001 6 0.000 0.000 2587 2024 1773

5197 1.49 116.8 510.9 16.1 316 5202 0.00 2.35 0.00 0.000 4 0.000 0.000 2582 3445 1779

5314 1.43 116.8 491.6 15.9 319 5318 0.00 2.38 0.00 0.000 6 0.000 0.000 2570 2101 1773

5649 1.45 116.8 438.1 16.1 335 5654 0.00 3.17 0.00 0.000 4 0.000 0.000 2576 3652 1775

5702 1.38 116.8 428.3 16.4 337 5714 0.05 3.25 0.00 0.000 6 0.001 0.000 2566 1956 1781

6031 1.45 116.8 376.2 15.9 353 6036 0.00 3.08 0.00 0.000 4 0.000 0.000 2583 3609 1772

6124 1.38 116.8 361.2 15.6 357 6129 0.00 2.38 0.00 0.000 6 0.000 0.000 2565 2272 1777

6459 1.44 116.8 304.5 16.0 373 6461 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2284 1771

6763 1.36 116.8 255.2 15.9 388 6764 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2284 1772

7073 1.28 116.8 206.1 15.7 403 7076 0.00 1.85 0.00 0.000 4 0.000 0.000 2559 3443 1777

7103 1.21 116.8 200.9 16.8 404 7108 0.52 2.22 0.00 0.000 6 0.000 0.000 2441 2038 1775

7428 1.21 146.9 168.5 11.4 419 7437 0.32 2.42 2.75 0.001 4 0.000 0.000 2571 3404 1632

7512 1.11 146.9 151.0 19.0 422 7517 0.73 2.28 0.00 0.000 6 0.000 0.000 2457 2213 1632

7836 1.11 188.3 112.6 10.5 437 7846 0.50 2.45 3.33 0.001 4 0.000 0.000 2573 3690 1467

7865 1.40 188.3 106.4 21.5 438 7870 0.00 2.90 0.00 0.000 6 0.000 0.000 2574 2031 1463

8223 1.43 188.3 26.4 25.7 492 8232 0.00 2.85 0.00 0.000 4 0.000 0.000 2584 3396 1457

8318 1.29 188.3 6.3 21.6 507 8326 0.60 2.15 0.00 0.000 6 0.000 0.000 2465 2227 1462

8336 end climb: SURFACE_DEPTH_REACHED

state 8337 begin surface coast

8348 end surface coast: CONTROL_FINISHED_OK

state 8349 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	80	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	184	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	7	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	-448403.41	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	143936,6636.663,-6008.827,31,1.1,31,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6628.113,-6006.193
_XMS_NAKs	1	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	144732,6636.663,-6008.827,33,1.1,33,18.0	MHEAD_RNG_PITCHd_Wd	124.3,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024542	XPDR_PINGS	-1
SM_CCo	8378,16.50,0.000,0,0,401,450.37	ALTIM_TOP_PING	19.9,19.1
SM_GC	0.34,0.00,0.00,16.50,0.000,0.000,0.000,625,2058,401,-7.46,2.66,450.37	ALTIM_BOTTOM_PING	477.9,86.2
RAFOS_CLK	0	_24V_AH	23.7,50.880
RAFOS	4,1161012561,15.500000,15.489166,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,7.757
RAFOS_FIX	6636.688477,-6003.625000,161006,161620,4,80,0.68	DATA_FILE_SIZE	15840,511
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239149056
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,49,763,0,0
HUMID	2342	SOUNDSPEED	1459.6
INTERNAL_PRESSURE	25.9869	CURRENT	0.061, 23.1,1
TCM_TEMP	15.00	GPS	161006,170943,6636.171,-6006.867,28,1.1,28,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	119	77.70	SBE_CT	423	24	240.88
Roll_motor	98	60	139.75	nil	0	0	0.00
VBD_pump_during_apogee	32	0	0.59	nil	0	0	0.00
VBD_pump_during_surface	16	600	234.63	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	129	223	683.21
Transponder_ping	4	420	42.30
GPS	34	50	16.55
TT8	1660	19	320.87
LPSleep	5496	2	123.16
TT8_Active	250	19	48.48
TT8_Sampling	570	39	220.81
TT8_CF8	910	45	405.75
TT8_Kalman	0	81	0.00
Analog_circuits	728	12	84.75
GPS_charging	0	0	0.00
Compass	466	26	117.54
RAFOS	1800	1	26.19

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
34	end surface: CONTROL_FINISHED_OK
state	34	begin dive
41	-1.49	-116.8	0.0	0.0	0	57	0.00	0.00	-8.00	0.000	6	0.000	0.000	634	2077	2877
64	-1.49	-116.8	0.3	-0.0	2	82	6.78	2.42	0.00	0.000	4	0.000	0.000	2044	3420	2880
313	-1.49	-116.8	25.9	-8.2	42	322	0.62	2.33	0.00	0.000	6	0.000	0.000	1890	1933	2879
681	-1.72	-116.8	76.7	-14.3	103	690	0.00	3.35	0.00	0.000	4	0.000	0.000	1893	3632	2873
749	-1.51	-116.8	85.5	-12.8	113	758	0.28	3.25	0.00	0.000	6	0.000	0.000	1955	1944	2876
1104	-1.47	-116.8	125.5	-11.0	144	1109	0.03	2.75	0.00	0.000	4	0.000	0.000	1965	3590	2877
1184	-1.53	-116.8	133.5	-11.4	147	1197	0.52	3.08	0.00	0.000	6	0.000	0.000	1847	2063	2881
1509	-1.64	-116.8	189.3	-17.6	163	1516	0.85	2.72	0.00	0.000	4	0.000	0.000	1958	3560	2875
1543	-1.25	-116.8	194.6	-11.8	164	1549	0.12	2.62	0.00	0.000	6	0.000	0.000	1975	2046	2874
1868	-1.33	-116.8	230.0	-11.1	179	1872	0.00	2.45	0.00	0.000	4	0.000	0.000	1961	3552	2875
1915	-1.28	-116.8	236.0	-11.0	181	1920	0.17	2.15	0.00	0.000	6	0.000	0.000	1964	2236	2871
2245	-1.38	-116.8	272.1	-11.2	197	2246	0.00	0.00	0.00	0.000	6	0.000	0.000	1968	2223	2872
2554	-1.33	-116.8	306.5	-11.1	212	2555	0.00	0.00	0.00	0.000	6	0.000	0.000	1964	2231	2872
2865	-1.28	-116.8	339.5	-11.1	227	2871	0.05	2.95	0.00	0.000	4	0.000	0.000	1988	537	2883
2891	-1.23	-116.8	343.3	-10.9	228	2899	0.22	3.88	0.00	0.000	6	0.000	0.000	2027	2237	2886
3226	-1.32	-116.8	372.2	-8.6	244	3230	0.00	2.47	0.00	0.000	4	0.000	0.000	2043	3402	2880
3261	-1.43	-116.8	375.7	-7.3	245	3270	0.55	2.58	0.00	0.000	6	0.000	0.000	1903	2237	2877
3586	-1.75	-116.8	420.2	-14.6	261	3591	0.00	2.88	0.00	0.000	4	0.000	0.000	1900	734	2878
3616	-1.51	-116.8	425.6	-14.3	262	3629	0.52	3.20	0.00	0.000	6	0.000	0.000	2017	2396	2870
3945	-1.45	-116.8	453.9	-8.5	278	3953	0.62	3.15	0.00	0.000	4	0.000	0.000	1913	565	2873
3980	-1.57	-116.8	458.8	-14.1	279	3992	0.00	3.50	0.00	0.000	6	0.000	0.000	1907	2231	2880
4329	-1.61	-116.8	505.5	-12.9	295	4334	0.00	2.12	0.00	0.000	4	0.000	0.000	1901	3588	2876
4359	-1.40	-116.8	512.1	-14.0	295	4372	0.88	2.38	0.00	0.000	6	0.000	0.000	2039	2073	2883
4699	-1.33	-116.8	540.4	-7.7	304	4705	0.43	2.75	0.00	0.000	4	0.000	0.000	1917	3586	2884
4735	-1.52	-116.8	545.1	-14.5	304	4744	0.00	2.80	0.00	0.000	6	0.000	0.000	1916	2016	2874
4821	end dive: BOTTOM_OBSTACLE_DETECTED
state	4821	begin apogee
4833	-0.25	0.0	557.8	14.2	307	4852	1.67	0.00	15.00	0.001	6	0.000	0.000	2263	2039	2254
4853	end apogee: CONTROL_FINISHED_OK
state	4853	begin climb
4859	1.49	116.8	557.8	0.0	307	4874	1.60	0.00	11.23	0.001	6	0.000	0.000	2587	2024	1773
5197	1.49	116.8	510.9	16.1	316	5202	0.00	2.35	0.00	0.000	4	0.000	0.000	2582	3445	1779
5314	1.43	116.8	491.6	15.9	319	5318	0.00	2.38	0.00	0.000	6	0.000	0.000	2570	2101	1773
5649	1.45	116.8	438.1	16.1	335	5654	0.00	3.17	0.00	0.000	4	0.000	0.000	2576	3652	1775
5702	1.38	116.8	428.3	16.4	337	5714	0.05	3.25	0.00	0.000	6	0.001	0.000	2566	1956	1781
6031	1.45	116.8	376.2	15.9	353	6036	0.00	3.08	0.00	0.000	4	0.000	0.000	2583	3609	1772
6124	1.38	116.8	361.2	15.6	357	6129	0.00	2.38	0.00	0.000	6	0.000	0.000	2565	2272	1777
6459	1.44	116.8	304.5	16.0	373	6461	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2284	1771
6763	1.36	116.8	255.2	15.9	388	6764	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2284	1772
7073	1.28	116.8	206.1	15.7	403	7076	0.00	1.85	0.00	0.000	4	0.000	0.000	2559	3443	1777
7103	1.21	116.8	200.9	16.8	404	7108	0.52	2.22	0.00	0.000	6	0.000	0.000	2441	2038	1775
7428	1.21	146.9	168.5	11.4	419	7437	0.32	2.42	2.75	0.001	4	0.000	0.000	2571	3404	1632
7512	1.11	146.9	151.0	19.0	422	7517	0.73	2.28	0.00	0.000	6	0.000	0.000	2457	2213	1632
7836	1.11	188.3	112.6	10.5	437	7846	0.50	2.45	3.33	0.001	4	0.000	0.000	2573	3690	1467
7865	1.40	188.3	106.4	21.5	438	7870	0.00	2.90	0.00	0.000	6	0.000	0.000	2574	2031	1463
8223	1.43	188.3	26.4	25.7	492	8232	0.00	2.85	0.00	0.000	4	0.000	0.000	2584	3396	1457
8318	1.29	188.3	6.3	21.6	507	8326	0.60	2.15	0.00	0.000	6	0.000	0.000	2465	2227	1462
8336	end climb: SURFACE_DEPTH_REACHED
state	8337	begin surface coast
8348	end surface coast: CONTROL_FINISHED_OK
state	8349	begin surface