Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 15 * 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 15 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 11 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 19 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 -448957.5 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 -448957.5

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 11 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 19 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 15 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 030412,6639.662,-6032.457,13,1.1,13,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6649.810,-6031.003

_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 030848,6639.662,-6032.457,20,1.1,20,18.0 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 -0.00,4.706,-1.697 XPDR_PINGS -1

FINISH -0.0,1.024576 ALTIM_TOP_PING 19.3,18.6

SM_CCo 9232,139.82,0.000,4,0,423,450.37 ALTIM_BOTTOM_PING 426.4,93.5

SM_GC 0.00,0.00,0.00,139.82,0.000,0.000,0.000,662,1883,423,-7.44,-2.69,450.37 _24V_AH 23.7,57.236

RAFOS_CLK 0 _10V_AH 9.7,8.741

RAFOS 4,1160450945,3.500000,3.484722,40,0,0,0,0,0,0,0,0,0,0,0 DATA_FILE_SIZE 19005,569

RAFOS_FIX 6638.493652,-6029.033691,101006,040420,4,80,0.76 CFSIZE 255582208,243220480

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,106,1023,10,0

TT8_MAMPS 0.024544 SOUNDSPEED 1469.3

HUMID 2341 CURRENT 0.053,258.2,1

INTERNAL_PRESSURE 26.0162 GPS 101006,054724,6640.373,-6032.619,15,1.1,15,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 45 119 127.34 SBE_CT 460 24 261.85

Roll_motor 132 60 187.85 nil 0 0 0.00

VBD_pump_during_apogee 327 1300 10074.87 nil 0 0 0.00

VBD_pump_during_surface 139 600 1988.31 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 85 223 453.92

Transponder_ping 3 420 37.33

GPS 20 50 10.16

TT8 1782 19 344.39

LPSleep 5615 2 125.83

TT8_Active 787 19 152.13

TT8_Sampling 715 39 277.10

TT8_CF8 782 45 348.51

TT8_Kalman 0 0 0.00

Analog_circuits 1408 12 163.91

GPS_charging 0 0 0.00

Compass 609 26 153.82

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

40 -1.49 -116.8 0.0 0.0 0 122 0.00 0.00 -76.68 0.000 6 0.000 0.000 583 1990 2743

128 -1.49 -116.8 -0.0 0.0 9 146 6.53 2.72 0.00 0.000 4 0.000 0.000 1981 3622 2739

302 -1.56 -116.8 22.0 -10.4 36 311 0.52 3.42 0.00 0.000 6 0.000 0.000 1873 1768 2738

669 -1.32 -116.8 72.2 -12.9 97 678 0.77 3.45 0.00 0.000 4 0.000 0.000 1999 3612 2743

784 -1.40 -116.8 82.1 -7.7 115 793 0.52 3.17 0.00 0.000 6 0.000 0.000 1894 1939 2738

1134 -1.11 -116.8 122.1 -11.6 150 1142 0.68 3.25 0.00 0.000 4 0.000 0.000 2054 3656 2746

1210 -1.35 -116.8 127.6 -5.6 153 1218 0.52 3.15 0.00 0.000 6 0.000 0.000 1929 1848 2736

1545 -1.23 -116.8 157.1 -8.9 169 1554 0.85 3.03 0.00 0.000 4 0.000 0.000 2037 3563 2745

1635 -1.52 -116.8 162.2 -4.8 172 1644 0.80 2.83 0.00 0.000 6 0.000 0.000 1886 1830 2741

1959 -1.24 -116.8 195.0 -10.5 188 1968 1.10 3.75 0.00 0.000 4 0.000 0.000 2029 3488 2744

2065 -1.47 -116.8 201.7 -5.0 192 2078 0.80 2.90 0.00 0.000 6 0.000 0.000 1944 1838 2741

2394 -1.33 -116.8 227.7 -8.2 208 2402 0.45 3.22 0.00 0.000 4 0.000 0.000 2071 3675 2739

2492 -1.56 -116.8 233.2 -5.0 212 2501 0.85 3.42 0.00 0.000 6 0.000 0.000 1879 1844 2745

2828 -1.28 -116.8 264.7 -9.5 228 2837 0.68 3.55 0.00 0.000 4 0.000 0.000 2070 3670 2735

2919 -1.53 -116.8 269.2 -4.3 231 2929 0.80 3.53 0.00 0.000 6 0.000 0.000 1882 1842 2738

3243 -1.25 -116.8 297.8 -9.1 247 3252 0.80 3.42 0.00 0.000 4 0.000 0.000 2076 3658 2743

3334 -1.47 -116.8 303.1 -4.8 250 3343 0.80 3.25 0.00 0.000 6 0.000 0.000 1933 1789 2742

3659 -1.33 -116.8 326.8 -7.5 266 3667 0.47 3.22 0.00 0.000 4 0.000 0.000 2057 3673 2745

3757 -1.57 -116.8 331.9 -4.5 270 3766 0.82 3.47 0.00 0.000 6 0.000 0.000 1852 1994 2741

4093 -1.26 -116.8 361.8 -9.1 286 4102 0.80 3.47 0.00 0.000 4 0.000 0.000 2035 3656 2739

4142 -1.49 -116.8 364.6 -4.4 288 4151 0.82 3.47 0.00 0.000 6 0.000 0.000 1878 1754 2744

4479 -1.35 -116.8 392.0 -8.9 304 4489 0.77 3.75 0.00 0.000 4 0.000 0.000 2034 3389 2734

4589 -1.56 -116.8 398.0 -4.5 308 4598 0.77 2.55 0.00 0.000 6 0.000 0.000 1858 2080 2736

4912 -1.22 -116.8 426.4 -9.2 324 4920 0.77 2.67 0.00 0.000 4 0.000 0.000 2045 3421 2738

4961 -1.40 -116.8 429.8 -4.4 326 4967 0.52 2.65 0.00 0.000 6 0.000 0.000 1908 1902 2747

5298 -1.22 -116.8 454.1 -7.4 342 5305 0.65 2.97 0.00 0.000 4 0.000 0.000 2031 3601 2747

5383 -1.41 -116.8 458.7 -4.7 345 5388 0.55 2.42 0.00 0.000 6 0.000 0.000 1910 1900 2741

5709 -1.50 -116.8 482.0 -7.4 360 5717 0.08 3.55 0.00 0.000 4 0.000 0.000 1924 3579 2744

5784 -1.51 -116.8 487.4 -6.1 363 5789 0.00 2.90 0.00 0.000 6 0.000 0.000 1917 1908 2741

6107 end dive: BOTTOM_OBSTACLE_DETECTED

state 6107 begin apogee

6119 -0.25 0.0 512.2 7.4 375 6253 1.52 0.00 114.35 0.000 6 0.000 0.000 2282 2232 2268

6253 end apogee: CONTROL_FINISHED_OK

state 6253 begin climb

6259 1.49 116.8 513.6 0.0 378 6396 1.77 3.05 112.45 0.001 4 0.000 0.000 2649 361 1788

6427 1.31 116.8 482.8 23.5 382 6436 0.77 3.28 0.00 0.000 6 0.000 0.000 2485 2236 1788

6751 1.61 161.3 448.1 10.2 398 6805 0.80 1.90 41.58 0.000 4 0.000 0.000 2577 3579 1604

6869 1.52 161.3 425.3 21.5 403 6877 0.00 3.55 1.40 0.001 6 0.000 0.000 2598 1760 1606

7209 1.40 161.3 353.5 21.1 419 7215 0.03 3.08 0.00 0.000 4 0.000 0.000 2591 3474 1601

7369 1.30 161.3 316.4 22.4 426 7377 0.52 3.47 0.00 0.000 6 0.000 0.000 2446 1965 1598

7709 1.55 184.9 272.6 11.9 442 7741 0.77 3.35 22.98 0.001 4 0.000 0.000 2643 3620 1504

7835 1.31 184.9 239.2 27.4 447 7848 0.77 2.97 0.00 0.000 6 0.000 0.000 2449 1979 1502

8164 1.56 206.2 196.9 12.1 463 8189 0.77 2.90 16.98 0.001 4 0.000 0.000 2636 3512 1418

8285 1.32 206.2 164.3 28.6 468 8293 0.73 3.22 0.00 0.000 6 0.000 0.000 2459 1848 1420

8626 1.59 227.7 119.9 12.0 484 8651 0.73 2.95 16.90 0.000 4 0.000 0.000 2652 3525 1335

8790 1.33 227.7 70.6 30.1 502 8799 0.52 3.03 0.00 0.000 6 0.000 0.000 2529 1867 1342

9158 1.38 227.7 7.0 16.0 563 9167 0.52 2.97 0.38 0.001 4 0.000 0.000 2583 3431 1334

9183 end climb: SURFACE_DEPTH_REACHED

state 9183 begin surface coast

9199 end surface coast: CONTROL_FINISHED_OK

state 9199 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	15	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	11	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	19	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	-448957.5	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	030412,6639.662,-6032.457,13,1.1,13,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6649.810,-6031.003
_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	030848,6639.662,-6032.457,20,1.1,20,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.706,-1.697	XPDR_PINGS	-1
FINISH	-0.0,1.024576	ALTIM_TOP_PING	19.3,18.6
SM_CCo	9232,139.82,0.000,4,0,423,450.37	ALTIM_BOTTOM_PING	426.4,93.5
SM_GC	0.00,0.00,0.00,139.82,0.000,0.000,0.000,662,1883,423,-7.44,-2.69,450.37	_24V_AH	23.7,57.236
RAFOS_CLK	0	_10V_AH	9.7,8.741
RAFOS	4,1160450945,3.500000,3.484722,40,0,0,0,0,0,0,0,0,0,0,0	DATA_FILE_SIZE	19005,569
RAFOS_FIX	6638.493652,-6029.033691,101006,040420,4,80,0.76	CFSIZE	255582208,243220480
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,106,1023,10,0
TT8_MAMPS	0.024544	SOUNDSPEED	1469.3
HUMID	2341	CURRENT	0.053,258.2,1
INTERNAL_PRESSURE	26.0162	GPS	101006,054724,6640.373,-6032.619,15,1.1,15,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	45	119	127.34	SBE_CT	460	24	261.85
Roll_motor	132	60	187.85	nil	0	0	0.00
VBD_pump_during_apogee	327	1300	10074.87	nil	0	0	0.00
VBD_pump_during_surface	139	600	1988.31	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	85	223	453.92
Transponder_ping	3	420	37.33
GPS	20	50	10.16
TT8	1782	19	344.39
LPSleep	5615	2	125.83
TT8_Active	787	19	152.13
TT8_Sampling	715	39	277.10
TT8_CF8	782	45	348.51
TT8_Kalman	0	0	0.00
Analog_circuits	1408	12	163.91
GPS_charging	0	0	0.00
Compass	609	26	153.82
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
40	-1.49	-116.8	0.0	0.0	0	122	0.00	0.00	-76.68	0.000	6	0.000	0.000	583	1990	2743
128	-1.49	-116.8	-0.0	0.0	9	146	6.53	2.72	0.00	0.000	4	0.000	0.000	1981	3622	2739
302	-1.56	-116.8	22.0	-10.4	36	311	0.52	3.42	0.00	0.000	6	0.000	0.000	1873	1768	2738
669	-1.32	-116.8	72.2	-12.9	97	678	0.77	3.45	0.00	0.000	4	0.000	0.000	1999	3612	2743
784	-1.40	-116.8	82.1	-7.7	115	793	0.52	3.17	0.00	0.000	6	0.000	0.000	1894	1939	2738
1134	-1.11	-116.8	122.1	-11.6	150	1142	0.68	3.25	0.00	0.000	4	0.000	0.000	2054	3656	2746
1210	-1.35	-116.8	127.6	-5.6	153	1218	0.52	3.15	0.00	0.000	6	0.000	0.000	1929	1848	2736
1545	-1.23	-116.8	157.1	-8.9	169	1554	0.85	3.03	0.00	0.000	4	0.000	0.000	2037	3563	2745
1635	-1.52	-116.8	162.2	-4.8	172	1644	0.80	2.83	0.00	0.000	6	0.000	0.000	1886	1830	2741
1959	-1.24	-116.8	195.0	-10.5	188	1968	1.10	3.75	0.00	0.000	4	0.000	0.000	2029	3488	2744
2065	-1.47	-116.8	201.7	-5.0	192	2078	0.80	2.90	0.00	0.000	6	0.000	0.000	1944	1838	2741
2394	-1.33	-116.8	227.7	-8.2	208	2402	0.45	3.22	0.00	0.000	4	0.000	0.000	2071	3675	2739
2492	-1.56	-116.8	233.2	-5.0	212	2501	0.85	3.42	0.00	0.000	6	0.000	0.000	1879	1844	2745
2828	-1.28	-116.8	264.7	-9.5	228	2837	0.68	3.55	0.00	0.000	4	0.000	0.000	2070	3670	2735
2919	-1.53	-116.8	269.2	-4.3	231	2929	0.80	3.53	0.00	0.000	6	0.000	0.000	1882	1842	2738
3243	-1.25	-116.8	297.8	-9.1	247	3252	0.80	3.42	0.00	0.000	4	0.000	0.000	2076	3658	2743
3334	-1.47	-116.8	303.1	-4.8	250	3343	0.80	3.25	0.00	0.000	6	0.000	0.000	1933	1789	2742
3659	-1.33	-116.8	326.8	-7.5	266	3667	0.47	3.22	0.00	0.000	4	0.000	0.000	2057	3673	2745
3757	-1.57	-116.8	331.9	-4.5	270	3766	0.82	3.47	0.00	0.000	6	0.000	0.000	1852	1994	2741
4093	-1.26	-116.8	361.8	-9.1	286	4102	0.80	3.47	0.00	0.000	4	0.000	0.000	2035	3656	2739
4142	-1.49	-116.8	364.6	-4.4	288	4151	0.82	3.47	0.00	0.000	6	0.000	0.000	1878	1754	2744
4479	-1.35	-116.8	392.0	-8.9	304	4489	0.77	3.75	0.00	0.000	4	0.000	0.000	2034	3389	2734
4589	-1.56	-116.8	398.0	-4.5	308	4598	0.77	2.55	0.00	0.000	6	0.000	0.000	1858	2080	2736
4912	-1.22	-116.8	426.4	-9.2	324	4920	0.77	2.67	0.00	0.000	4	0.000	0.000	2045	3421	2738
4961	-1.40	-116.8	429.8	-4.4	326	4967	0.52	2.65	0.00	0.000	6	0.000	0.000	1908	1902	2747
5298	-1.22	-116.8	454.1	-7.4	342	5305	0.65	2.97	0.00	0.000	4	0.000	0.000	2031	3601	2747
5383	-1.41	-116.8	458.7	-4.7	345	5388	0.55	2.42	0.00	0.000	6	0.000	0.000	1910	1900	2741
5709	-1.50	-116.8	482.0	-7.4	360	5717	0.08	3.55	0.00	0.000	4	0.000	0.000	1924	3579	2744
5784	-1.51	-116.8	487.4	-6.1	363	5789	0.00	2.90	0.00	0.000	6	0.000	0.000	1917	1908	2741
6107	end dive: BOTTOM_OBSTACLE_DETECTED
state	6107	begin apogee
6119	-0.25	0.0	512.2	7.4	375	6253	1.52	0.00	114.35	0.000	6	0.000	0.000	2282	2232	2268
6253	end apogee: CONTROL_FINISHED_OK
state	6253	begin climb
6259	1.49	116.8	513.6	0.0	378	6396	1.77	3.05	112.45	0.001	4	0.000	0.000	2649	361	1788
6427	1.31	116.8	482.8	23.5	382	6436	0.77	3.28	0.00	0.000	6	0.000	0.000	2485	2236	1788
6751	1.61	161.3	448.1	10.2	398	6805	0.80	1.90	41.58	0.000	4	0.000	0.000	2577	3579	1604
6869	1.52	161.3	425.3	21.5	403	6877	0.00	3.55	1.40	0.001	6	0.000	0.000	2598	1760	1606
7209	1.40	161.3	353.5	21.1	419	7215	0.03	3.08	0.00	0.000	4	0.000	0.000	2591	3474	1601
7369	1.30	161.3	316.4	22.4	426	7377	0.52	3.47	0.00	0.000	6	0.000	0.000	2446	1965	1598
7709	1.55	184.9	272.6	11.9	442	7741	0.77	3.35	22.98	0.001	4	0.000	0.000	2643	3620	1504
7835	1.31	184.9	239.2	27.4	447	7848	0.77	2.97	0.00	0.000	6	0.000	0.000	2449	1979	1502
8164	1.56	206.2	196.9	12.1	463	8189	0.77	2.90	16.98	0.001	4	0.000	0.000	2636	3512	1418
8285	1.32	206.2	164.3	28.6	468	8293	0.73	3.22	0.00	0.000	6	0.000	0.000	2459	1848	1420
8626	1.59	227.7	119.9	12.0	484	8651	0.73	2.95	16.90	0.000	4	0.000	0.000	2652	3525	1335
8790	1.33	227.7	70.6	30.1	502	8799	0.52	3.03	0.00	0.000	6	0.000	0.000	2529	1867	1342
9158	1.38	227.7	7.0	16.0	563	9167	0.52	2.97	0.38	0.001	4	0.000	0.000	2583	3431	1334
9183	end climb: SURFACE_DEPTH_REACHED
state	9183	begin surface coast
9199	end surface coast: CONTROL_FINISHED_OK
state	9199	begin surface