Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 10 * 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 10 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 173 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 10 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 1 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 -448848.34 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 -0.22280908 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 2 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 -0.22280908 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 -448848.34

CAPUPLOAD 0 HEADING 20 ROLL_ADJ_DBAND 0.029999999 T_MISSION 300

CF8_MAXERRORS 20 HEAD_ERRBAND 8 ROLL_ADJ_GAIN 1 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 173 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 10 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 2 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 10 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 124632,6636.000,-6031.475,27,1.1,27,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6646.148,-6030.019

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -0.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 125121,6636.000,-6031.475,36,1.1,36,18.0 MHEAD_RNG_PITCHd_Wd 2.0,20000,-26.0,-13.750

SPEED_LIMITS 0.226,0.242 D_GRID 990

Post-dive calculations and measurements:

FREEZE -0.01,4.900,-1.710 XPDR_PINGS -1

FINISH -0.0,1.024734 ALTIM_TOP_PING 18.9,999.0

SM_CCo 8841,120.78,0.000,1,0,429,450.86 ALTIM_BOTTOM_PING 426.3,73.5

SM_GC -0.00,0.00,0.00,120.78,0.000,0.000,0.000,638,1898,429,-7.60,-2.63,450.86 _24V_AH 23.7,55.441

RAFOS_CLK 0 _10V_AH 9.7,8.481

RAFOS_FIX 6634.697754,-6027.277344,091006,121220,4,80,0.38 DATA_FILE_SIZE 19003,558

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243597312

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,102,962,1,0

HUMID 2457 SOUNDSPEED 1468.7

INTERNAL_PRESSURE 25.9674 CURRENT 0.053,260.7,1

TCM_TEMP 15.00 GPS 091006,152232,6636.731,-6031.684,10,1.1,11,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 45 119 129.52 SBE_CT 448 24 255.11

Roll_motor 124 60 176.58 nil 0 0 0.00

VBD_pump_during_apogee 350 0 6.37 nil 0 0 0.00

VBD_pump_during_surface 120 600 1717.42 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 85 223 453.17

Transponder_ping 3 420 37.33

GPS 36 50 17.63

TT8 1687 19 325.99

LPSleep 5394 2 120.88

TT8_Active 732 19 141.52

TT8_Sampling 684 39 265.15

TT8_CF8 758 45 337.73

TT8_Kalman 0 0 0.00

Analog_circuits 1323 12 154.11

GPS_charging 0 0 0.00

Compass 570 26 143.84

RAFOS 0 1 0.00

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 0 125 0.00 0.00 -76.45 0.000 6 0.000 0.000 622 2062 2739

132 -1.49 -116.8 -0.0 0.0 10 149 7.00 2.45 0.00 0.000 4 0.000 0.000 2024 3539 2735

255 -1.60 -116.8 18.8 -9.4 29 263 0.77 3.08 0.00 0.000 6 0.000 0.000 1823 2040 2743

621 -1.17 -116.8 75.6 -14.6 90 630 1.12 2.50 0.00 0.000 4 0.000 0.000 2073 3360 2739

677 -1.43 -116.8 80.1 -5.5 98 686 0.82 3.12 0.00 0.000 6 0.000 0.000 1871 1866 2740

1032 -1.28 -116.8 118.6 -10.9 137 1040 1.05 3.05 0.00 0.000 4 0.000 0.000 2055 3570 2739

1132 -1.55 -116.8 124.8 -5.1 141 1140 1.00 2.65 0.00 0.000 6 0.000 0.000 1896 2065 2748

1467 -1.31 -116.8 158.4 -10.2 157 1474 0.70 2.75 0.00 0.000 4 0.000 0.000 2071 3387 2732

1515 -1.58 -116.8 162.1 -5.0 159 1523 1.05 2.92 0.00 0.000 6 0.000 0.000 1886 1876 2743

1856 -1.33 -116.8 194.7 -9.1 175 1863 0.40 3.03 0.00 0.000 4 0.000 0.000 2008 3564 2736

1946 -1.47 -116.8 201.1 -6.2 178 1955 0.55 3.38 0.00 0.000 6 0.000 0.000 1904 1906 2740

2270 -1.24 -116.8 228.8 -9.3 194 2278 1.08 2.53 0.00 0.000 4 0.000 0.000 2062 3561 2738

2346 -1.55 -116.8 233.0 -4.2 197 2354 1.05 3.35 0.00 0.000 6 0.000 0.000 1896 1855 2735

2687 -1.41 -116.8 261.5 -8.5 213 2695 0.55 3.25 0.00 0.000 4 0.000 0.000 1966 3562 2741

2777 -1.41 -116.8 268.1 -6.7 216 2786 0.10 2.55 0.00 0.000 6 0.001 0.000 1960 2043 2746

3101 -1.54 -116.8 289.1 -6.2 232 3109 0.82 3.00 0.00 0.000 4 0.000 0.000 1840 3540 2742

3142 -1.24 -116.8 293.1 -10.6 233 3151 0.77 2.45 0.00 0.000 6 0.000 0.000 2026 2023 2752

3467 -1.56 -116.8 310.2 -4.9 249 3475 0.80 3.05 0.00 0.000 4 0.000 0.000 1909 3542 2739

3519 -1.60 -116.8 314.1 -7.7 251 3524 0.00 2.38 0.00 0.000 6 0.000 0.000 1920 2197 2738

3848 -1.60 -116.8 338.2 -7.3 267 3854 0.00 2.97 0.00 0.000 4 0.000 0.000 1884 701 2736

3879 -1.51 -116.8 341.1 -7.8 268 3884 0.00 2.65 0.00 0.000 6 0.000 0.000 1923 2176 2743

4203 -1.35 -116.8 365.7 -7.7 283 4208 0.35 2.08 0.00 0.000 4 0.000 0.000 2046 3415 2737

4247 -1.55 -116.8 368.5 -4.6 285 4254 0.80 2.53 0.00 0.000 6 0.000 0.000 1879 1895 2735

4582 -1.25 -116.8 397.5 -8.9 301 4590 0.85 2.47 0.00 0.000 4 0.000 0.000 2041 3364 2737

4681 -1.47 -116.8 402.6 -4.4 305 4686 0.77 2.03 0.00 0.000 6 0.000 0.000 1868 1984 2738

5006 -1.18 -116.8 429.8 -8.6 321 5015 0.73 3.25 0.00 0.000 4 0.000 0.000 2066 3697 2739

5058 -1.44 -116.8 432.7 -4.1 323 5066 0.77 2.75 0.00 0.000 6 0.000 0.000 1899 2023 2737

5393 -1.22 -116.8 459.3 -8.6 339 5400 0.88 2.47 0.00 0.000 4 0.000 0.000 2062 3387 2740

5450 -1.49 -116.8 462.7 -3.9 341 5456 0.77 2.03 0.00 0.000 6 0.000 0.000 1905 2023 2737

5775 -1.22 -116.8 487.9 -8.3 356 5783 0.88 3.03 0.00 0.000 4 0.000 0.000 2061 3674 2750

5795 end dive: BOTTOM_OBSTACLE_DETECTED

state 5795 begin apogee

5811 -0.25 0.0 489.9 6.5 357 5928 0.82 0.00 113.85 0.001 6 0.000 0.000 2204 1835 2261

5934 end apogee: CONTROL_FINISHED_OK

state 5934 begin climb

5940 1.49 116.8 489.9 0.0 363 6065 1.85 2.03 112.38 0.001 4 0.000 0.000 2628 491 1780

6076 1.29 116.8 467.8 22.0 369 6084 0.52 3.08 0.00 0.000 6 0.000 0.000 2496 2018 1783

6416 1.42 129.1 423.3 12.8 385 6440 0.47 3.40 11.80 0.001 4 0.000 0.000 2633 3700 1731

6538 1.11 129.1 394.8 29.8 390 6546 0.77 3.80 0.00 0.000 6 0.000 0.000 2421 1867 1735

6873 1.48 183.9 351.6 9.4 406 6932 0.85 2.65 51.80 0.001 4 0.000 0.000 2574 3394 1511

7059 1.45 183.9 316.0 18.6 414 7067 0.00 2.88 0.60 0.000 6 0.000 0.000 2577 2093 1514

7393 1.38 183.9 247.2 20.3 430 7398 0.00 2.70 0.00 0.000 4 0.000 0.000 2579 3563 1516

7462 1.35 183.9 231.6 20.8 433 7468 0.00 3.08 0.00 0.000 6 0.000 0.000 2580 2040 1511

7792 1.28 183.9 167.1 20.0 449 7797 0.03 2.55 0.00 0.000 4 0.000 0.000 2560 3553 1518

7872 1.25 183.9 150.6 18.3 452 7884 0.52 2.90 0.00 0.000 6 0.000 0.000 2434 2047 1515

8201 1.58 224.0 114.5 10.6 468 8247 1.17 2.62 32.65 0.001 4 0.000 0.000 2689 3552 1344

8317 1.20 224.0 79.4 34.3 478 8326 1.15 3.28 0.00 0.000 6 0.000 0.000 2463 1896 1347

8684 1.52 257.8 31.6 11.1 539 8723 0.75 3.15 27.50 0.000 4 0.000 0.000 2622 3553 1213

8801 end climb: SURFACE_DEPTH_REACHED

state 8801 begin surface coast

8808 end surface coast: CONTROL_FINISHED_OK

state 8809 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	10	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	173	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	10	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	1	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	-448848.34	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	-0.22280908	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	2	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	124632,6636.000,-6031.475,27,1.1,27,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6646.148,-6030.019
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-0.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	125121,6636.000,-6031.475,36,1.1,36,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.01,4.900,-1.710	XPDR_PINGS	-1
FINISH	-0.0,1.024734	ALTIM_TOP_PING	18.9,999.0
SM_CCo	8841,120.78,0.000,1,0,429,450.86	ALTIM_BOTTOM_PING	426.3,73.5
SM_GC	-0.00,0.00,0.00,120.78,0.000,0.000,0.000,638,1898,429,-7.60,-2.63,450.86	_24V_AH	23.7,55.441
RAFOS_CLK	0	_10V_AH	9.7,8.481
RAFOS_FIX	6634.697754,-6027.277344,091006,121220,4,80,0.38	DATA_FILE_SIZE	19003,558
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243597312
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,102,962,1,0
HUMID	2457	SOUNDSPEED	1468.7
INTERNAL_PRESSURE	25.9674	CURRENT	0.053,260.7,1
TCM_TEMP	15.00	GPS	091006,152232,6636.731,-6031.684,10,1.1,11,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	45	119	129.52	SBE_CT	448	24	255.11
Roll_motor	124	60	176.58	nil	0	0	0.00
VBD_pump_during_apogee	350	0	6.37	nil	0	0	0.00
VBD_pump_during_surface	120	600	1717.42	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	85	223	453.17
Transponder_ping	3	420	37.33
GPS	36	50	17.63
TT8	1687	19	325.99
LPSleep	5394	2	120.88
TT8_Active	732	19	141.52
TT8_Sampling	684	39	265.15
TT8_CF8	758	45	337.73
TT8_Kalman	0	0	0.00
Analog_circuits	1323	12	154.11
GPS_charging	0	0	0.00
Compass	570	26	143.84
RAFOS	0	1	0.00

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	125	0.00	0.00	-76.45	0.000	6	0.000	0.000	622	2062	2739
132	-1.49	-116.8	-0.0	0.0	10	149	7.00	2.45	0.00	0.000	4	0.000	0.000	2024	3539	2735
255	-1.60	-116.8	18.8	-9.4	29	263	0.77	3.08	0.00	0.000	6	0.000	0.000	1823	2040	2743
621	-1.17	-116.8	75.6	-14.6	90	630	1.12	2.50	0.00	0.000	4	0.000	0.000	2073	3360	2739
677	-1.43	-116.8	80.1	-5.5	98	686	0.82	3.12	0.00	0.000	6	0.000	0.000	1871	1866	2740
1032	-1.28	-116.8	118.6	-10.9	137	1040	1.05	3.05	0.00	0.000	4	0.000	0.000	2055	3570	2739
1132	-1.55	-116.8	124.8	-5.1	141	1140	1.00	2.65	0.00	0.000	6	0.000	0.000	1896	2065	2748
1467	-1.31	-116.8	158.4	-10.2	157	1474	0.70	2.75	0.00	0.000	4	0.000	0.000	2071	3387	2732
1515	-1.58	-116.8	162.1	-5.0	159	1523	1.05	2.92	0.00	0.000	6	0.000	0.000	1886	1876	2743
1856	-1.33	-116.8	194.7	-9.1	175	1863	0.40	3.03	0.00	0.000	4	0.000	0.000	2008	3564	2736
1946	-1.47	-116.8	201.1	-6.2	178	1955	0.55	3.38	0.00	0.000	6	0.000	0.000	1904	1906	2740
2270	-1.24	-116.8	228.8	-9.3	194	2278	1.08	2.53	0.00	0.000	4	0.000	0.000	2062	3561	2738
2346	-1.55	-116.8	233.0	-4.2	197	2354	1.05	3.35	0.00	0.000	6	0.000	0.000	1896	1855	2735
2687	-1.41	-116.8	261.5	-8.5	213	2695	0.55	3.25	0.00	0.000	4	0.000	0.000	1966	3562	2741
2777	-1.41	-116.8	268.1	-6.7	216	2786	0.10	2.55	0.00	0.000	6	0.001	0.000	1960	2043	2746
3101	-1.54	-116.8	289.1	-6.2	232	3109	0.82	3.00	0.00	0.000	4	0.000	0.000	1840	3540	2742
3142	-1.24	-116.8	293.1	-10.6	233	3151	0.77	2.45	0.00	0.000	6	0.000	0.000	2026	2023	2752
3467	-1.56	-116.8	310.2	-4.9	249	3475	0.80	3.05	0.00	0.000	4	0.000	0.000	1909	3542	2739
3519	-1.60	-116.8	314.1	-7.7	251	3524	0.00	2.38	0.00	0.000	6	0.000	0.000	1920	2197	2738
3848	-1.60	-116.8	338.2	-7.3	267	3854	0.00	2.97	0.00	0.000	4	0.000	0.000	1884	701	2736
3879	-1.51	-116.8	341.1	-7.8	268	3884	0.00	2.65	0.00	0.000	6	0.000	0.000	1923	2176	2743
4203	-1.35	-116.8	365.7	-7.7	283	4208	0.35	2.08	0.00	0.000	4	0.000	0.000	2046	3415	2737
4247	-1.55	-116.8	368.5	-4.6	285	4254	0.80	2.53	0.00	0.000	6	0.000	0.000	1879	1895	2735
4582	-1.25	-116.8	397.5	-8.9	301	4590	0.85	2.47	0.00	0.000	4	0.000	0.000	2041	3364	2737
4681	-1.47	-116.8	402.6	-4.4	305	4686	0.77	2.03	0.00	0.000	6	0.000	0.000	1868	1984	2738
5006	-1.18	-116.8	429.8	-8.6	321	5015	0.73	3.25	0.00	0.000	4	0.000	0.000	2066	3697	2739
5058	-1.44	-116.8	432.7	-4.1	323	5066	0.77	2.75	0.00	0.000	6	0.000	0.000	1899	2023	2737
5393	-1.22	-116.8	459.3	-8.6	339	5400	0.88	2.47	0.00	0.000	4	0.000	0.000	2062	3387	2740
5450	-1.49	-116.8	462.7	-3.9	341	5456	0.77	2.03	0.00	0.000	6	0.000	0.000	1905	2023	2737
5775	-1.22	-116.8	487.9	-8.3	356	5783	0.88	3.03	0.00	0.000	4	0.000	0.000	2061	3674	2750
5795	end dive: BOTTOM_OBSTACLE_DETECTED
state	5795	begin apogee
5811	-0.25	0.0	489.9	6.5	357	5928	0.82	0.00	113.85	0.001	6	0.000	0.000	2204	1835	2261
5934	end apogee: CONTROL_FINISHED_OK
state	5934	begin climb
5940	1.49	116.8	489.9	0.0	363	6065	1.85	2.03	112.38	0.001	4	0.000	0.000	2628	491	1780
6076	1.29	116.8	467.8	22.0	369	6084	0.52	3.08	0.00	0.000	6	0.000	0.000	2496	2018	1783
6416	1.42	129.1	423.3	12.8	385	6440	0.47	3.40	11.80	0.001	4	0.000	0.000	2633	3700	1731
6538	1.11	129.1	394.8	29.8	390	6546	0.77	3.80	0.00	0.000	6	0.000	0.000	2421	1867	1735
6873	1.48	183.9	351.6	9.4	406	6932	0.85	2.65	51.80	0.001	4	0.000	0.000	2574	3394	1511
7059	1.45	183.9	316.0	18.6	414	7067	0.00	2.88	0.60	0.000	6	0.000	0.000	2577	2093	1514
7393	1.38	183.9	247.2	20.3	430	7398	0.00	2.70	0.00	0.000	4	0.000	0.000	2579	3563	1516
7462	1.35	183.9	231.6	20.8	433	7468	0.00	3.08	0.00	0.000	6	0.000	0.000	2580	2040	1511
7792	1.28	183.9	167.1	20.0	449	7797	0.03	2.55	0.00	0.000	4	0.000	0.000	2560	3553	1518
7872	1.25	183.9	150.6	18.3	452	7884	0.52	2.90	0.00	0.000	6	0.000	0.000	2434	2047	1515
8201	1.58	224.0	114.5	10.6	468	8247	1.17	2.62	32.65	0.001	4	0.000	0.000	2689	3552	1344
8317	1.20	224.0	79.4	34.3	478	8326	1.15	3.28	0.00	0.000	6	0.000	0.000	2463	1896	1347
8684	1.52	257.8	31.6	11.1	539	8723	0.75	3.15	27.50	0.000	4	0.000	0.000	2622	3553	1213
8801	end climb: SURFACE_DEPTH_REACHED
state	8801	begin surface coast
8808	end surface coast: CONTROL_FINISHED_OK
state	8809	begin surface