Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 20 * 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 20 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 3 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 5 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 -449098.12 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 -449098.12

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 3 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 5 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 20 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 173421,6643.349,-6033.617,29,1.1,29,18.0 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6653.497,-6032.167

_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 174324,6643.349,-6033.617,26,1.1,26,18.0 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 -0.00,5.031,-1.660 XPDR_PINGS -1

FINISH -0.0,1.024024 ALTIM_TOP_PING 16.7,16.9

SM_CCo 9136,111.55,0.000,0,0,425,451.84 ALTIM_BOTTOM_PING 500.1,21.1

SM_GC 0.00,0.00,0.00,111.55,0.000,0.000,0.000,625,1893,425,-7.56,-3.31,451.84 _24V_AH 23.7,59.101

RAFOS_CLK 0 _10V_AH 9.7,9.007

RAFOS 0,1160510646,20.083334,20.068333,80,0,0,0,0,0,583,0,0,0,0,0 DATA_FILE_SIZE 19013,568

RAFOS_FIX 6641.252441,-6029.891113,101006,161620,4,80,0.69 CFSIZE 255582208,242839552

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,2,0,0,0,0,0,0,0,0,0,90,961,2,0

TT8_MAMPS 0.024544 SOUNDSPEED 1469.7

HUMID 2260 CURRENT 0.049,264.6,1

INTERNAL_PRESSURE 26.0065 GPS 101006,201922,6644.110,-6033.691,21,1.1,21,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 45 119 129.66 SBE_CT 458 24 260.64

Roll_motor 124 60 176.72 nil 0 0 0.00

VBD_pump_during_apogee 363 1300 11207.14 nil 0 0 0.00

VBD_pump_during_surface 111 600 1586.24 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 90 223 480.17

Transponder_ping 4 420 47.28

GPS 26 50 13.00

TT8 1708 19 330.11

LPSleep 5736 2 128.53

TT8_Active 752 19 145.47

TT8_Sampling 683 39 264.78

TT8_CF8 905 45 403.47

TT8_Kalman 0 0 0.00

Analog_circuits 1334 12 155.36

GPS_charging 0 0 0.00

Compass 570 26 143.85

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

39 end surface: CONTROL_FINISHED_OK

state 39 begin dive

45 -1.49 -116.8 0.0 0.0 0 134 0.00 0.00 -76.43 0.000 6 0.000 0.000 626 1677 2737

140 -1.49 -116.8 0.6 -1.3 10 157 6.53 3.22 0.00 0.000 4 0.000 0.000 1975 3684 2737

445 -1.52 -116.8 39.3 -9.3 60 455 0.52 3.25 0.00 0.000 6 0.000 0.000 1875 1998 2739

813 -1.18 -116.8 88.1 -13.0 121 823 1.15 3.28 0.00 0.000 4 0.000 0.000 2094 3449 2739

1010 -1.51 -116.8 98.7 -4.5 153 1019 1.05 3.22 0.00 0.000 6 0.000 0.000 1922 1785 2736

1351 -1.31 -116.8 131.9 -10.0 172 1356 0.47 2.47 0.00 0.000 4 0.000 0.000 2029 441 2735

1422 -1.47 -116.8 136.6 -6.0 175 1430 0.50 3.75 0.00 0.000 6 0.000 0.000 1920 2239 2740

1758 -1.27 -116.8 168.3 -9.6 191 1766 0.60 3.42 0.00 0.000 4 0.000 0.000 2024 412 2741

1843 -1.43 -116.8 173.9 -6.0 194 1856 0.55 3.58 0.00 0.000 6 0.000 0.000 1898 2245 2736

2168 -1.28 -116.8 203.9 -9.2 210 2176 0.38 3.50 0.00 0.000 4 0.000 0.000 2003 387 2738

2231 -1.44 -116.8 208.0 -5.6 212 2240 0.52 2.88 0.00 0.000 6 0.000 0.000 1920 2020 2740

2556 -1.23 -116.8 235.8 -8.9 228 2564 0.60 2.92 0.00 0.000 4 0.000 0.000 1952 370 2739

2585 -1.19 -116.8 238.7 -7.3 229 2593 0.08 3.42 0.00 0.000 6 0.000 0.000 1973 2166 2745

2920 -1.19 -116.8 260.7 -6.6 245 2928 0.45 3.62 0.00 0.000 4 0.000 0.000 2096 331 2737

2983 -1.53 -116.8 263.9 -3.8 247 2992 1.05 3.65 0.00 0.000 6 0.000 0.000 1923 2224 2733

3307 -1.36 -116.8 288.2 -8.0 263 3315 0.85 3.50 0.00 0.000 4 0.000 0.000 2039 387 2734

3357 -1.56 -116.8 291.5 -4.7 265 3365 0.77 3.28 0.00 0.000 6 0.000 0.000 1868 2202 2740

3693 -1.22 -116.8 322.7 -9.5 281 3701 1.12 3.45 0.00 0.000 4 0.000 0.000 2053 507 2734

3734 -1.42 -116.8 325.5 -4.6 282 3744 0.60 2.78 0.00 0.000 6 0.000 0.000 1902 1995 2741

4059 -1.25 -116.8 349.4 -7.6 298 4066 0.62 2.65 0.00 0.000 4 0.000 0.000 2041 447 2738

4120 -1.46 -116.8 352.9 -4.5 300 4133 0.77 3.75 0.00 0.000 6 0.000 0.000 1853 2233 2741

4449 -1.13 -116.8 381.6 -9.1 316 4458 0.82 3.70 0.00 0.000 4 0.000 0.000 2031 404 2738

4492 -1.35 -116.8 384.6 -4.2 317 4501 0.65 3.30 0.00 0.000 6 0.000 0.000 1935 2081 2738

4817 -1.61 -116.8 406.8 -7.1 333 4824 0.00 3.47 0.00 0.000 4 0.000 0.000 1937 596 2735

4869 -1.49 -116.8 410.7 -7.2 335 4874 0.03 2.90 0.00 0.000 6 0.000 0.000 1938 2124 2745

5199 -1.34 -116.8 433.9 -7.1 351 5206 0.32 3.30 0.00 0.000 4 0.000 0.000 1985 403 2739

5289 -1.40 -116.8 439.6 -5.5 354 5298 0.08 3.55 0.00 0.000 6 0.001 0.000 1988 2123 2739

5614 -1.49 -116.8 457.6 -5.3 370 5622 0.50 3.25 0.00 0.000 4 0.000 0.000 1867 308 2733

5662 -1.22 -116.8 461.7 -8.7 372 5671 0.75 3.62 0.00 0.000 6 0.000 0.000 2078 2115 2739

5998 -1.44 -116.8 476.3 -4.1 388 6007 0.88 3.45 0.00 0.000 4 0.000 0.000 1878 448 2734

6084 -1.19 -116.8 482.8 -8.7 391 6090 0.77 2.38 0.00 0.000 6 0.000 0.000 2051 1926 2736

6408 -1.45 -116.8 497.5 -4.2 406 6411 0.77 0.00 0.00 0.000 6 0.000 0.000 1892 1935 2738

6606 end dive: BOTTOM_OBSTACLE_DETECTED

state 6606 begin apogee

6619 -0.25 0.0 513.7 8.3 412 6736 1.88 0.00 113.30 0.000 6 0.000 0.000 2242 2255 2263

6737 end apogee: CONTROL_FINISHED_OK

state 6737 begin climb

6743 1.49 116.8 515.0 0.0 415 6878 2.20 2.62 112.68 0.001 4 0.000 0.000 2661 3581 1788

7139 1.15 116.8 426.0 24.8 429 7147 1.08 3.17 0.00 0.000 6 0.000 0.000 2423 1924 1784

7480 1.59 185.2 393.7 8.3 445 7555 0.98 0.00 66.47 0.000 6 0.000 0.000 2663 1917 1501

7864 1.24 185.2 282.9 30.1 464 7871 0.70 2.97 0.00 0.000 4 0.000 0.000 2505 3578 1502

7942 1.40 185.2 269.7 13.9 467 7949 0.52 2.65 0.00 0.000 6 0.000 0.000 2627 1750 1506

8273 1.21 185.2 191.2 24.6 483 8281 0.70 3.25 0.00 0.000 4 0.000 0.000 2454 3635 1501

8429 1.56 224.2 171.2 10.7 489 8469 1.10 3.62 30.77 0.001 6 0.000 0.000 2672 1818 1348

8803 1.17 224.2 56.4 32.6 521 8812 0.98 3.25 0.00 0.000 4 0.000 0.000 2414 3690 1358

8988 1.58 273.0 34.1 9.9 551 9047 1.08 3.08 40.53 0.000 6 0.000 0.000 2659 2041 1151

9098 end climb: SURFACE_DEPTH_REACHED

state 9098 begin surface coast

9106 end surface coast: CONTROL_FINISHED_OK

state 9106 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	20	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	3	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	5	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	-449098.12	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	173421,6643.349,-6033.617,29,1.1,29,18.0	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6653.497,-6032.167
_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	174324,6643.349,-6033.617,26,1.1,26,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,5.031,-1.660	XPDR_PINGS	-1
FINISH	-0.0,1.024024	ALTIM_TOP_PING	16.7,16.9
SM_CCo	9136,111.55,0.000,0,0,425,451.84	ALTIM_BOTTOM_PING	500.1,21.1
SM_GC	0.00,0.00,0.00,111.55,0.000,0.000,0.000,625,1893,425,-7.56,-3.31,451.84	_24V_AH	23.7,59.101
RAFOS_CLK	0	_10V_AH	9.7,9.007
RAFOS	0,1160510646,20.083334,20.068333,80,0,0,0,0,0,583,0,0,0,0,0	DATA_FILE_SIZE	19013,568
RAFOS_FIX	6641.252441,-6029.891113,101006,161620,4,80,0.69	CFSIZE	255582208,242839552
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,2,0,0,0,0,0,0,0,0,0,90,961,2,0
TT8_MAMPS	0.024544	SOUNDSPEED	1469.7
HUMID	2260	CURRENT	0.049,264.6,1
INTERNAL_PRESSURE	26.0065	GPS	101006,201922,6644.110,-6033.691,21,1.1,21,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	45	119	129.66	SBE_CT	458	24	260.64
Roll_motor	124	60	176.72	nil	0	0	0.00
VBD_pump_during_apogee	363	1300	11207.14	nil	0	0	0.00
VBD_pump_during_surface	111	600	1586.24	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	90	223	480.17
Transponder_ping	4	420	47.28
GPS	26	50	13.00
TT8	1708	19	330.11
LPSleep	5736	2	128.53
TT8_Active	752	19	145.47
TT8_Sampling	683	39	264.78
TT8_CF8	905	45	403.47
TT8_Kalman	0	0	0.00
Analog_circuits	1334	12	155.36
GPS_charging	0	0	0.00
Compass	570	26	143.85
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
39	end surface: CONTROL_FINISHED_OK
state	39	begin dive
45	-1.49	-116.8	0.0	0.0	0	134	0.00	0.00	-76.43	0.000	6	0.000	0.000	626	1677	2737
140	-1.49	-116.8	0.6	-1.3	10	157	6.53	3.22	0.00	0.000	4	0.000	0.000	1975	3684	2737
445	-1.52	-116.8	39.3	-9.3	60	455	0.52	3.25	0.00	0.000	6	0.000	0.000	1875	1998	2739
813	-1.18	-116.8	88.1	-13.0	121	823	1.15	3.28	0.00	0.000	4	0.000	0.000	2094	3449	2739
1010	-1.51	-116.8	98.7	-4.5	153	1019	1.05	3.22	0.00	0.000	6	0.000	0.000	1922	1785	2736
1351	-1.31	-116.8	131.9	-10.0	172	1356	0.47	2.47	0.00	0.000	4	0.000	0.000	2029	441	2735
1422	-1.47	-116.8	136.6	-6.0	175	1430	0.50	3.75	0.00	0.000	6	0.000	0.000	1920	2239	2740
1758	-1.27	-116.8	168.3	-9.6	191	1766	0.60	3.42	0.00	0.000	4	0.000	0.000	2024	412	2741
1843	-1.43	-116.8	173.9	-6.0	194	1856	0.55	3.58	0.00	0.000	6	0.000	0.000	1898	2245	2736
2168	-1.28	-116.8	203.9	-9.2	210	2176	0.38	3.50	0.00	0.000	4	0.000	0.000	2003	387	2738
2231	-1.44	-116.8	208.0	-5.6	212	2240	0.52	2.88	0.00	0.000	6	0.000	0.000	1920	2020	2740
2556	-1.23	-116.8	235.8	-8.9	228	2564	0.60	2.92	0.00	0.000	4	0.000	0.000	1952	370	2739
2585	-1.19	-116.8	238.7	-7.3	229	2593	0.08	3.42	0.00	0.000	6	0.000	0.000	1973	2166	2745
2920	-1.19	-116.8	260.7	-6.6	245	2928	0.45	3.62	0.00	0.000	4	0.000	0.000	2096	331	2737
2983	-1.53	-116.8	263.9	-3.8	247	2992	1.05	3.65	0.00	0.000	6	0.000	0.000	1923	2224	2733
3307	-1.36	-116.8	288.2	-8.0	263	3315	0.85	3.50	0.00	0.000	4	0.000	0.000	2039	387	2734
3357	-1.56	-116.8	291.5	-4.7	265	3365	0.77	3.28	0.00	0.000	6	0.000	0.000	1868	2202	2740
3693	-1.22	-116.8	322.7	-9.5	281	3701	1.12	3.45	0.00	0.000	4	0.000	0.000	2053	507	2734
3734	-1.42	-116.8	325.5	-4.6	282	3744	0.60	2.78	0.00	0.000	6	0.000	0.000	1902	1995	2741
4059	-1.25	-116.8	349.4	-7.6	298	4066	0.62	2.65	0.00	0.000	4	0.000	0.000	2041	447	2738
4120	-1.46	-116.8	352.9	-4.5	300	4133	0.77	3.75	0.00	0.000	6	0.000	0.000	1853	2233	2741
4449	-1.13	-116.8	381.6	-9.1	316	4458	0.82	3.70	0.00	0.000	4	0.000	0.000	2031	404	2738
4492	-1.35	-116.8	384.6	-4.2	317	4501	0.65	3.30	0.00	0.000	6	0.000	0.000	1935	2081	2738
4817	-1.61	-116.8	406.8	-7.1	333	4824	0.00	3.47	0.00	0.000	4	0.000	0.000	1937	596	2735
4869	-1.49	-116.8	410.7	-7.2	335	4874	0.03	2.90	0.00	0.000	6	0.000	0.000	1938	2124	2745
5199	-1.34	-116.8	433.9	-7.1	351	5206	0.32	3.30	0.00	0.000	4	0.000	0.000	1985	403	2739
5289	-1.40	-116.8	439.6	-5.5	354	5298	0.08	3.55	0.00	0.000	6	0.001	0.000	1988	2123	2739
5614	-1.49	-116.8	457.6	-5.3	370	5622	0.50	3.25	0.00	0.000	4	0.000	0.000	1867	308	2733
5662	-1.22	-116.8	461.7	-8.7	372	5671	0.75	3.62	0.00	0.000	6	0.000	0.000	2078	2115	2739
5998	-1.44	-116.8	476.3	-4.1	388	6007	0.88	3.45	0.00	0.000	4	0.000	0.000	1878	448	2734
6084	-1.19	-116.8	482.8	-8.7	391	6090	0.77	2.38	0.00	0.000	6	0.000	0.000	2051	1926	2736
6408	-1.45	-116.8	497.5	-4.2	406	6411	0.77	0.00	0.00	0.000	6	0.000	0.000	1892	1935	2738
6606	end dive: BOTTOM_OBSTACLE_DETECTED
state	6606	begin apogee
6619	-0.25	0.0	513.7	8.3	412	6736	1.88	0.00	113.30	0.000	6	0.000	0.000	2242	2255	2263
6737	end apogee: CONTROL_FINISHED_OK
state	6737	begin climb
6743	1.49	116.8	515.0	0.0	415	6878	2.20	2.62	112.68	0.001	4	0.000	0.000	2661	3581	1788
7139	1.15	116.8	426.0	24.8	429	7147	1.08	3.17	0.00	0.000	6	0.000	0.000	2423	1924	1784
7480	1.59	185.2	393.7	8.3	445	7555	0.98	0.00	66.47	0.000	6	0.000	0.000	2663	1917	1501
7864	1.24	185.2	282.9	30.1	464	7871	0.70	2.97	0.00	0.000	4	0.000	0.000	2505	3578	1502
7942	1.40	185.2	269.7	13.9	467	7949	0.52	2.65	0.00	0.000	6	0.000	0.000	2627	1750	1506
8273	1.21	185.2	191.2	24.6	483	8281	0.70	3.25	0.00	0.000	4	0.000	0.000	2454	3635	1501
8429	1.56	224.2	171.2	10.7	489	8469	1.10	3.62	30.77	0.001	6	0.000	0.000	2672	1818	1348
8803	1.17	224.2	56.4	32.6	521	8812	0.98	3.25	0.00	0.000	4	0.000	0.000	2414	3690	1358
8988	1.58	273.0	34.1	9.9	551	9047	1.08	3.08	40.53	0.000	6	0.000	0.000	2659	2041	1151
9098	end climb: SURFACE_DEPTH_REACHED
state	9098	begin surface coast
9106	end surface coast: CONTROL_FINISHED_OK
state	9106	begin surface