Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 83 * 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 83 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 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 -448462.09 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 -448462.09

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 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 83 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 221949,6637.352,-6008.175,17,1.1,17,18.0 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6628.335,-6010.548

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

GPS2 222608,6637.352,-6008.175,14,1.1,14,18.0 MHEAD_RNG_PITCHd_Wd 195.4,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024431 XPDR_PINGS -1

SM_CCo 8362,17.60,0.000,0,0,413,450.37 ALTIM_TOP_PING 18.3,18.1

SM_GC 0.34,0.00,0.00,17.60,0.000,0.000,0.000,647,1922,413,-7.39,-1.22,450.37 ALTIM_BOTTOM_PING 476.7,89.3

RAFOS_CLK 0 _24V_AH 23.7,51.724

RAFOS 0,1161043454,0.083333,0.070556,80,0,0,0,0,0,529,0,0,0,0,0 _10V_AH 9.7,7.883

RAFOS_FIX 6636.910156,-6004.534180,171006,000020,4,80,0.41 DATA_FILE_SIZE 15854,520

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,238952448

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,52,793,0,0

HUMID 2368 SOUNDSPEED 1459.6

INTERNAL_PRESSURE 25.9967 CURRENT 0.073,100.0,1

TCM_TEMP 15.00 GPS 171006,004800,6636.428,-6008.681,25,1.1,25,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 119 83.90 SBE_CT 432 24 245.76

Roll_motor 103 60 146.54 nil 0 0 0.00

VBD_pump_during_apogee 30 1300 951.26 nil 0 0 0.00

VBD_pump_during_surface 17 600 250.27 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 65 223 347.39

Transponder_ping 4 420 42.30

GPS 15 50 7.67

TT8 1689 19 326.42

LPSleep 5500 2 123.25

TT8_Active 246 19 47.59

TT8_Sampling 558 39 216.41

TT8_CF8 779 45 347.21

TT8_Kalman 0 81 0.00

Analog_circuits 725 12 84.46

GPS_charging 0 0 0.00

Compass 469 26 118.46

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 36 begin dive

42 -1.49 -116.8 0.0 0.0 0 58 0.00 0.00 -8.23 0.000 6 0.000 0.000 609 1964 2853

64 -1.49 -116.8 0.3 0.0 2 82 6.75 2.92 0.00 0.000 4 0.000 0.000 2024 3664 2852

308 -1.49 -116.8 25.4 -8.4 41 317 0.47 3.15 0.00 0.000 6 0.000 0.000 1906 1997 2851

677 -1.74 -116.8 75.0 -13.5 102 686 0.00 3.38 0.00 0.000 4 0.000 0.000 1905 3501 2856

738 -1.52 -116.8 83.6 -14.0 111 748 0.03 2.78 0.00 0.000 6 0.000 0.000 1874 2170 2857

1087 -1.58 -116.8 131.5 -13.7 141 1089 0.10 0.00 0.00 0.000 6 0.000 0.000 1950 2160 2857

1401 -1.35 -116.8 167.2 -11.2 156 1406 0.03 2.25 0.00 0.000 4 0.000 0.000 1963 3680 2853

1438 -1.28 -116.8 172.0 -11.0 157 1447 0.00 3.33 0.00 0.000 6 0.000 0.000 1939 1983 2855

1764 -1.63 -116.8 206.5 -10.0 173 1772 0.38 3.47 0.00 0.000 4 0.000 0.000 1844 3647 2862

1805 -1.80 -116.8 213.4 -17.0 174 1814 0.52 2.35 0.00 0.000 6 0.000 0.000 1977 2109 2853

2131 -1.60 -116.8 250.0 -11.3 190 2138 0.52 2.72 0.00 0.000 4 0.000 0.000 1912 3654 2861

2160 -1.53 -116.8 254.7 -13.5 191 2166 0.10 2.67 0.00 0.000 6 0.000 0.000 1910 2147 2859

2486 -1.46 -116.8 299.5 -14.0 207 2488 0.52 0.00 0.00 0.000 6 0.000 0.000 2016 2166 2859

2800 -1.22 -116.8 327.4 -8.7 222 2805 0.00 2.35 0.00 0.000 4 0.000 0.000 1999 3521 2857

2830 -1.30 -116.8 330.7 -8.8 223 2843 0.25 3.03 0.00 0.000 6 0.000 0.000 1941 2039 2854

3159 -1.51 -116.8 366.8 -11.4 239 3165 0.08 2.92 0.00 0.000 4 0.000 0.000 1958 3548 2856

3207 -1.42 -116.8 373.1 -11.5 241 3212 0.00 2.58 0.00 0.000 6 0.000 0.000 1929 2220 2859

3538 -1.48 -116.8 410.0 -11.6 257 3539 0.00 0.00 0.00 0.000 6 0.000 0.000 1966 2238 2853

3841 -1.39 -116.8 444.3 -11.4 272 3847 0.00 3.20 0.00 0.000 4 0.000 0.000 1947 534 2852

3866 -1.30 -116.8 447.4 -11.4 273 3874 0.17 3.42 0.00 0.000 6 0.000 0.000 2019 2377 2854

4205 -1.37 -116.8 476.7 -8.8 289 4213 0.38 3.22 0.00 0.000 4 0.000 0.000 1893 537 2853

4232 -1.44 -116.8 480.5 -10.7 290 4240 0.50 3.47 0.00 0.000 6 0.000 0.000 1993 2229 2858

4566 -1.48 -116.8 510.8 -8.8 303 4572 0.52 2.50 0.00 0.000 4 0.000 0.000 1869 3532 2856

4598 -1.55 -116.8 514.4 -11.6 303 4603 0.52 2.35 0.00 0.000 6 0.000 0.000 2034 2046 2856

4933 -1.62 -116.8 549.6 -9.0 311 4941 0.70 3.10 0.00 0.000 4 0.000 0.000 1827 3634 2852

4976 end dive: BOTTOM_OBSTACLE_DETECTED

state 4976 begin apogee

4993 -0.25 0.0 556.6 17.5 312 5012 1.98 0.00 14.90 0.000 6 0.000 0.000 2258 1989 2245

5012 end apogee: CONTROL_FINISHED_OK

state 5013 begin climb

5018 1.49 116.8 556.6 0.0 312 5038 1.60 3.42 11.12 0.001 4 0.000 0.000 2621 3535 1763

5058 1.49 116.8 556.5 18.7 313 5071 0.45 3.12 0.00 0.000 6 0.000 0.000 2500 2164 1764

5398 1.38 143.4 515.4 11.6 322 5407 0.50 2.90 2.47 0.001 4 0.000 0.000 2626 3683 1656

5445 1.54 143.4 506.5 21.4 323 5451 0.12 2.70 0.00 0.000 6 0.000 0.000 2557 2164 1675

5777 1.40 143.4 450.9 16.7 338 5782 0.00 2.62 0.00 0.000 4 0.000 0.000 2551 3672 1663

5813 1.35 143.4 443.7 16.8 339 5822 0.00 3.28 0.00 0.000 6 0.000 0.000 2562 2008 1663

6137 1.46 143.4 388.8 16.7 355 6142 0.00 2.62 0.00 0.000 4 0.000 0.000 2552 3679 1661

6218 1.42 143.4 373.9 17.7 358 6227 0.00 3.28 0.00 0.000 6 0.000 0.000 2556 1992 1665

6542 1.48 143.4 320.4 16.8 374 6547 0.10 2.42 0.00 0.000 4 0.000 0.000 2565 3675 1664

6622 1.44 143.4 306.6 16.6 377 6627 0.00 3.15 0.00 0.000 6 0.000 0.000 2576 2017 1663

6946 1.54 143.4 252.7 17.0 392 6951 0.28 2.58 0.00 0.000 4 0.000 0.000 2617 3376 1661

7040 1.49 143.4 233.4 21.8 396 7045 0.52 2.25 0.00 0.000 6 0.000 0.000 2485 2239 1665

7376 1.37 157.7 188.5 12.6 412 7380 0.52 0.00 1.23 0.000 6 0.000 0.000 2612 2259 1603

7686 1.51 157.7 118.2 26.5 427 7691 0.43 1.95 0.00 0.000 4 0.000 0.000 2502 3414 1601

7730 1.14 169.2 109.3 12.8 429 7736 0.00 2.05 1.15 0.001 6 0.000 0.000 2509 2278 1542

8087 1.37 169.2 60.6 14.0 479 8095 0.60 0.00 0.00 0.000 6 0.000 0.000 2615 2272 1541

8324 end climb: SURFACE_DEPTH_REACHED

state 8325 begin surface coast

8332 end surface coast: CONTROL_FINISHED_OK

state 8332 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	83	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	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	-448462.09	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	221949,6637.352,-6008.175,17,1.1,17,18.0	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6628.335,-6010.548
_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	-69.8	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	222608,6637.352,-6008.175,14,1.1,14,18.0	MHEAD_RNG_PITCHd_Wd	195.4,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024431	XPDR_PINGS	-1
SM_CCo	8362,17.60,0.000,0,0,413,450.37	ALTIM_TOP_PING	18.3,18.1
SM_GC	0.34,0.00,0.00,17.60,0.000,0.000,0.000,647,1922,413,-7.39,-1.22,450.37	ALTIM_BOTTOM_PING	476.7,89.3
RAFOS_CLK	0	_24V_AH	23.7,51.724
RAFOS	0,1161043454,0.083333,0.070556,80,0,0,0,0,0,529,0,0,0,0,0	_10V_AH	9.7,7.883
RAFOS_FIX	6636.910156,-6004.534180,171006,000020,4,80,0.41	DATA_FILE_SIZE	15854,520
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,238952448
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,52,793,0,0
HUMID	2368	SOUNDSPEED	1459.6
INTERNAL_PRESSURE	25.9967	CURRENT	0.073,100.0,1
TCM_TEMP	15.00	GPS	171006,004800,6636.428,-6008.681,25,1.1,25,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	119	83.90	SBE_CT	432	24	245.76
Roll_motor	103	60	146.54	nil	0	0	0.00
VBD_pump_during_apogee	30	1300	951.26	nil	0	0	0.00
VBD_pump_during_surface	17	600	250.27	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	65	223	347.39
Transponder_ping	4	420	42.30
GPS	15	50	7.67
TT8	1689	19	326.42
LPSleep	5500	2	123.25
TT8_Active	246	19	47.59
TT8_Sampling	558	39	216.41
TT8_CF8	779	45	347.21
TT8_Kalman	0	81	0.00
Analog_circuits	725	12	84.46
GPS_charging	0	0	0.00
Compass	469	26	118.46
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	36	begin dive
42	-1.49	-116.8	0.0	0.0	0	58	0.00	0.00	-8.23	0.000	6	0.000	0.000	609	1964	2853
64	-1.49	-116.8	0.3	0.0	2	82	6.75	2.92	0.00	0.000	4	0.000	0.000	2024	3664	2852
308	-1.49	-116.8	25.4	-8.4	41	317	0.47	3.15	0.00	0.000	6	0.000	0.000	1906	1997	2851
677	-1.74	-116.8	75.0	-13.5	102	686	0.00	3.38	0.00	0.000	4	0.000	0.000	1905	3501	2856
738	-1.52	-116.8	83.6	-14.0	111	748	0.03	2.78	0.00	0.000	6	0.000	0.000	1874	2170	2857
1087	-1.58	-116.8	131.5	-13.7	141	1089	0.10	0.00	0.00	0.000	6	0.000	0.000	1950	2160	2857
1401	-1.35	-116.8	167.2	-11.2	156	1406	0.03	2.25	0.00	0.000	4	0.000	0.000	1963	3680	2853
1438	-1.28	-116.8	172.0	-11.0	157	1447	0.00	3.33	0.00	0.000	6	0.000	0.000	1939	1983	2855
1764	-1.63	-116.8	206.5	-10.0	173	1772	0.38	3.47	0.00	0.000	4	0.000	0.000	1844	3647	2862
1805	-1.80	-116.8	213.4	-17.0	174	1814	0.52	2.35	0.00	0.000	6	0.000	0.000	1977	2109	2853
2131	-1.60	-116.8	250.0	-11.3	190	2138	0.52	2.72	0.00	0.000	4	0.000	0.000	1912	3654	2861
2160	-1.53	-116.8	254.7	-13.5	191	2166	0.10	2.67	0.00	0.000	6	0.000	0.000	1910	2147	2859
2486	-1.46	-116.8	299.5	-14.0	207	2488	0.52	0.00	0.00	0.000	6	0.000	0.000	2016	2166	2859
2800	-1.22	-116.8	327.4	-8.7	222	2805	0.00	2.35	0.00	0.000	4	0.000	0.000	1999	3521	2857
2830	-1.30	-116.8	330.7	-8.8	223	2843	0.25	3.03	0.00	0.000	6	0.000	0.000	1941	2039	2854
3159	-1.51	-116.8	366.8	-11.4	239	3165	0.08	2.92	0.00	0.000	4	0.000	0.000	1958	3548	2856
3207	-1.42	-116.8	373.1	-11.5	241	3212	0.00	2.58	0.00	0.000	6	0.000	0.000	1929	2220	2859
3538	-1.48	-116.8	410.0	-11.6	257	3539	0.00	0.00	0.00	0.000	6	0.000	0.000	1966	2238	2853
3841	-1.39	-116.8	444.3	-11.4	272	3847	0.00	3.20	0.00	0.000	4	0.000	0.000	1947	534	2852
3866	-1.30	-116.8	447.4	-11.4	273	3874	0.17	3.42	0.00	0.000	6	0.000	0.000	2019	2377	2854
4205	-1.37	-116.8	476.7	-8.8	289	4213	0.38	3.22	0.00	0.000	4	0.000	0.000	1893	537	2853
4232	-1.44	-116.8	480.5	-10.7	290	4240	0.50	3.47	0.00	0.000	6	0.000	0.000	1993	2229	2858
4566	-1.48	-116.8	510.8	-8.8	303	4572	0.52	2.50	0.00	0.000	4	0.000	0.000	1869	3532	2856
4598	-1.55	-116.8	514.4	-11.6	303	4603	0.52	2.35	0.00	0.000	6	0.000	0.000	2034	2046	2856
4933	-1.62	-116.8	549.6	-9.0	311	4941	0.70	3.10	0.00	0.000	4	0.000	0.000	1827	3634	2852
4976	end dive: BOTTOM_OBSTACLE_DETECTED
state	4976	begin apogee
4993	-0.25	0.0	556.6	17.5	312	5012	1.98	0.00	14.90	0.000	6	0.000	0.000	2258	1989	2245
5012	end apogee: CONTROL_FINISHED_OK
state	5013	begin climb
5018	1.49	116.8	556.6	0.0	312	5038	1.60	3.42	11.12	0.001	4	0.000	0.000	2621	3535	1763
5058	1.49	116.8	556.5	18.7	313	5071	0.45	3.12	0.00	0.000	6	0.000	0.000	2500	2164	1764
5398	1.38	143.4	515.4	11.6	322	5407	0.50	2.90	2.47	0.001	4	0.000	0.000	2626	3683	1656
5445	1.54	143.4	506.5	21.4	323	5451	0.12	2.70	0.00	0.000	6	0.000	0.000	2557	2164	1675
5777	1.40	143.4	450.9	16.7	338	5782	0.00	2.62	0.00	0.000	4	0.000	0.000	2551	3672	1663
5813	1.35	143.4	443.7	16.8	339	5822	0.00	3.28	0.00	0.000	6	0.000	0.000	2562	2008	1663
6137	1.46	143.4	388.8	16.7	355	6142	0.00	2.62	0.00	0.000	4	0.000	0.000	2552	3679	1661
6218	1.42	143.4	373.9	17.7	358	6227	0.00	3.28	0.00	0.000	6	0.000	0.000	2556	1992	1665
6542	1.48	143.4	320.4	16.8	374	6547	0.10	2.42	0.00	0.000	4	0.000	0.000	2565	3675	1664
6622	1.44	143.4	306.6	16.6	377	6627	0.00	3.15	0.00	0.000	6	0.000	0.000	2576	2017	1663
6946	1.54	143.4	252.7	17.0	392	6951	0.28	2.58	0.00	0.000	4	0.000	0.000	2617	3376	1661
7040	1.49	143.4	233.4	21.8	396	7045	0.52	2.25	0.00	0.000	6	0.000	0.000	2485	2239	1665
7376	1.37	157.7	188.5	12.6	412	7380	0.52	0.00	1.23	0.000	6	0.000	0.000	2612	2259	1603
7686	1.51	157.7	118.2	26.5	427	7691	0.43	1.95	0.00	0.000	4	0.000	0.000	2502	3414	1601
7730	1.14	169.2	109.3	12.8	429	7736	0.00	2.05	1.15	0.001	6	0.000	0.000	2509	2278	1542
8087	1.37	169.2	60.6	14.0	479	8095	0.60	0.00	0.00	0.000	6	0.000	0.000	2615	2272	1541
8324	end climb: SURFACE_DEPTH_REACHED
state	8325	begin surface coast
8332	end surface coast: CONTROL_FINISHED_OK
state	8332	begin surface