Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 22 * 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 22 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 2 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 141 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 -449132.66 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 -449132.66

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 2 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 141 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 22 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 232720,6644.973,-6034.145,35,1.1,35,18.0 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6655.120,-6032.697

_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 233414,6644.973,-6034.145,22,1.1,22,18.0 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:

FINISH 0.0,1.024108 XPDR_PINGS -1

SM_CCo 10125,139.62,0.000,1,0,419,451.84 ALTIM_TOP_PING 18.9,19.9

SM_GC -0.00,0.00,0.00,139.62,0.000,0.000,0.000,639,1722,419,-7.39,-7.32,451.84 ALTIM_BOTTOM_PING 451.5,79.2

RAFOS_CLK 0 _24V_AH 23.7,59.980

RAFOS 0,1160525056,0.083333,0.071111,80,0,0,0,0,0,534,0,0,0,0,0 _10V_AH 9.7,9.116

RAFOS_FIX 6643.416504,-6030.556152,111006,000020,4,80,1.38 DATA_FILE_SIZE 22151,626

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242663424

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,98,959,2,0

HUMID 2268 SOUNDSPEED 1469.8

INTERNAL_PRESSURE 25.9967 CURRENT 0.054,253.2,1

TCM_TEMP 15.00 GPS 111006,022717,6645.793,-6034.506,9,1.1,9,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 46 119 130.37 SBE_CT 508 24 289.04

Roll_motor 125 60 177.75 nil 0 0 0.00

VBD_pump_during_apogee 325 1300 10038.67 nil 0 0 0.00

VBD_pump_during_surface 139 600 1985.47 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 86 223 457.35

Transponder_ping 4 420 39.82

GPS 23 50 11.38

TT8 1933 19 373.52

LPSleep 6360 2 142.52

TT8_Active 769 19 148.63

TT8_Sampling 744 39 288.46

TT8_CF8 883 45 393.47

TT8_Kalman 0 0 0.00

Analog_circuits 1409 12 164.10

GPS_charging 0 0 0.00

Compass 631 26 159.18

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

34 end surface: CONTROL_FINISHED_OK

state 34 begin dive

41 -1.49 -116.8 0.0 0.0 0 127 0.00 0.00 -77.07 0.000 6 0.000 0.000 582 2050 2742

134 -1.49 -116.8 0.2 -0.6 10 151 7.28 2.17 0.00 0.000 4 0.000 0.000 2037 3267 2750

380 -1.63 -116.8 29.6 -8.4 50 389 0.77 2.72 0.00 0.000 6 0.000 0.000 1832 1730 2739

748 -1.27 -116.8 81.2 -13.3 111 757 0.77 2.67 0.00 0.000 4 0.000 0.000 2016 3251 2739

944 -1.41 -116.8 94.7 -6.3 143 953 0.52 2.60 0.00 0.000 6 0.000 0.000 1920 1708 2739

1274 -1.21 -116.8 128.2 -10.1 165 1282 1.08 3.75 0.00 0.000 4 0.000 0.000 2085 3382 2746

1365 -1.51 -116.8 133.4 -4.7 168 1374 1.10 2.95 0.00 0.000 6 0.000 0.000 1846 1906 2736

1689 -1.16 -116.8 169.9 -11.6 184 1698 0.90 3.28 0.00 0.000 4 0.000 0.000 2100 390 2740

1748 -1.51 -116.8 174.1 -4.0 186 1761 1.05 3.28 0.00 0.000 6 0.000 0.000 1867 2033 2745

2072 -1.18 -116.8 208.7 -12.0 202 2081 0.80 3.17 0.00 0.000 4 0.000 0.000 2042 358 2741

2124 -1.40 -116.8 211.2 -4.9 204 2130 0.55 2.72 0.00 0.000 6 0.000 0.000 1906 2054 2743

2451 -1.25 -116.8 236.8 -8.2 220 2458 0.60 2.97 0.00 0.000 4 0.000 0.000 2055 357 2740

2529 -1.47 -116.8 241.2 -4.8 223 2537 0.77 2.78 0.00 0.000 6 0.000 0.000 1879 1827 2739

2859 -1.15 -116.8 272.7 -9.7 239 2862 0.80 0.00 0.00 0.000 6 0.000 0.000 2034 1820 2743

3173 -1.47 -116.8 288.1 -5.0 254 3180 0.68 3.05 0.00 0.000 4 0.000 0.000 1864 476 2740

3223 -1.20 -116.8 292.2 -9.6 256 3231 0.80 3.25 0.00 0.000 6 0.000 0.000 1993 2123 2741

3559 -1.24 -116.8 312.9 -5.9 272 3560 0.00 0.00 0.00 0.000 6 0.000 0.000 2005 2118 2735

3868 -1.28 -116.8 330.9 -5.8 287 3875 0.00 3.53 0.00 0.000 4 0.000 0.000 1986 421 2745

3931 -1.36 -116.8 334.7 -6.1 289 3939 0.00 3.05 0.00 0.000 6 0.000 0.000 2003 1883 2746

4256 -1.53 -116.8 353.4 -5.6 305 4264 0.52 2.92 0.00 0.000 4 0.000 0.000 1862 400 2742

4285 -1.32 -116.8 356.2 -9.0 306 4293 0.85 2.78 0.00 0.000 6 0.000 0.000 2047 1894 2744

4620 -1.61 -116.8 372.4 -4.4 322 4628 0.73 2.75 0.00 0.000 4 0.000 0.000 1856 357 2744

4696 -1.35 -116.8 378.4 -8.8 325 4704 0.82 2.95 0.00 0.000 6 0.000 0.000 2038 2073 2745

5036 -1.54 -116.8 394.4 -4.5 341 5045 0.77 3.47 0.00 0.000 4 0.000 0.000 1930 579 2739

5123 -1.41 -116.8 400.3 -7.4 344 5128 0.00 2.17 0.00 0.000 6 0.000 0.000 1915 1784 2749

5448 -1.26 -116.8 424.2 -7.3 359 5453 0.60 2.42 0.00 0.000 4 0.000 0.000 2041 3476 2746

5493 -1.43 -116.8 427.1 -4.5 361 5501 0.60 3.17 0.00 0.000 6 0.000 0.000 1928 1959 2742

5836 -1.27 -116.8 451.5 -7.5 377 5843 0.38 3.03 0.00 0.000 4 0.000 0.000 2047 298 2748

5915 -1.49 -116.8 455.8 -4.6 380 5923 0.77 2.75 0.00 0.000 6 0.000 0.000 1851 2126 2748

6250 -1.17 -116.8 484.1 -8.9 396 6258 0.75 3.25 0.00 0.000 4 0.000 0.000 2039 437 2747

6329 -1.39 -116.8 489.0 -4.3 399 6335 0.50 2.78 0.00 0.000 6 0.000 0.000 1923 1779 2744

6653 -1.24 -116.8 511.5 -7.1 411 6659 0.62 2.65 0.00 0.000 4 0.000 0.000 2054 421 2741

6679 -1.33 -116.8 513.2 -6.4 411 6687 0.68 3.17 0.00 0.000 6 0.000 0.000 1945 1905 2744

6815 end dive: BOTTOM_OBSTACLE_DETECTED

state 6815 begin apogee

6827 -0.25 0.0 522.2 6.6 415 6950 1.38 0.00 114.32 0.000 6 0.000 0.000 2239 1917 2261

6951 end apogee: CONTROL_FINISHED_OK

state 6951 begin climb

6957 1.49 116.8 522.5 0.0 418 7080 2.03 2.85 113.65 0.000 4 0.000 0.000 2666 356 1777

7107 1.22 116.8 492.8 26.9 422 7115 0.77 2.97 0.00 0.000 6 0.000 0.000 2475 2007 1786

7442 1.47 151.8 454.6 11.0 438 7488 1.08 2.80 34.22 0.000 4 0.000 0.000 2661 345 1639

7548 1.22 151.8 427.5 27.5 442 7560 0.82 2.78 0.00 0.000 6 0.000 0.000 2540 1818 1634

7877 0.88 151.8 364.3 23.0 458 7880 0.77 0.00 0.00 0.000 6 0.000 0.000 2505 1807 1644

8181 1.06 162.6 321.5 12.9 473 8204 0.00 3.17 10.38 0.001 4 0.000 0.000 2490 3496 1598

8288 1.04 162.6 302.9 25.6 477 8300 0.00 3.75 0.00 0.000 6 0.000 0.000 2492 1663 1602

8617 1.21 169.5 260.7 13.2 493 8631 0.22 3.78 5.93 0.001 4 0.000 0.000 2548 3468 1577

8908 1.21 169.5 207.6 17.5 505 8916 0.00 2.92 0.00 0.000 6 0.000 0.000 2540 1805 1571

9232 1.19 169.5 148.9 17.8 521 9237 0.00 2.97 0.00 0.000 4 0.000 0.000 2548 3315 1572

9496 1.17 169.5 101.5 17.6 532 9505 0.52 2.97 0.00 0.000 6 0.000 0.000 2449 1783 1574

9859 1.57 227.2 66.9 9.2 590 9924 1.10 3.05 47.33 0.000 4 0.000 0.000 2678 3214 1334

10087 end climb: SURFACE_DEPTH_REACHED

state 10087 begin surface coast

10092 end surface coast: CONTROL_FINISHED_OK

state 10093 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	22	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	2	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	141	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	-449132.66	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	232720,6644.973,-6034.145,35,1.1,35,18.0	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6655.120,-6032.697
_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	233414,6644.973,-6034.145,22,1.1,22,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FINISH	0.0,1.024108	XPDR_PINGS	-1
SM_CCo	10125,139.62,0.000,1,0,419,451.84	ALTIM_TOP_PING	18.9,19.9
SM_GC	-0.00,0.00,0.00,139.62,0.000,0.000,0.000,639,1722,419,-7.39,-7.32,451.84	ALTIM_BOTTOM_PING	451.5,79.2
RAFOS_CLK	0	_24V_AH	23.7,59.980
RAFOS	0,1160525056,0.083333,0.071111,80,0,0,0,0,0,534,0,0,0,0,0	_10V_AH	9.7,9.116
RAFOS_FIX	6643.416504,-6030.556152,111006,000020,4,80,1.38	DATA_FILE_SIZE	22151,626
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242663424
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,98,959,2,0
HUMID	2268	SOUNDSPEED	1469.8
INTERNAL_PRESSURE	25.9967	CURRENT	0.054,253.2,1
TCM_TEMP	15.00	GPS	111006,022717,6645.793,-6034.506,9,1.1,9,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	46	119	130.37	SBE_CT	508	24	289.04
Roll_motor	125	60	177.75	nil	0	0	0.00
VBD_pump_during_apogee	325	1300	10038.67	nil	0	0	0.00
VBD_pump_during_surface	139	600	1985.47	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	86	223	457.35
Transponder_ping	4	420	39.82
GPS	23	50	11.38
TT8	1933	19	373.52
LPSleep	6360	2	142.52
TT8_Active	769	19	148.63
TT8_Sampling	744	39	288.46
TT8_CF8	883	45	393.47
TT8_Kalman	0	0	0.00
Analog_circuits	1409	12	164.10
GPS_charging	0	0	0.00
Compass	631	26	159.18
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
34	end surface: CONTROL_FINISHED_OK
state	34	begin dive
41	-1.49	-116.8	0.0	0.0	0	127	0.00	0.00	-77.07	0.000	6	0.000	0.000	582	2050	2742
134	-1.49	-116.8	0.2	-0.6	10	151	7.28	2.17	0.00	0.000	4	0.000	0.000	2037	3267	2750
380	-1.63	-116.8	29.6	-8.4	50	389	0.77	2.72	0.00	0.000	6	0.000	0.000	1832	1730	2739
748	-1.27	-116.8	81.2	-13.3	111	757	0.77	2.67	0.00	0.000	4	0.000	0.000	2016	3251	2739
944	-1.41	-116.8	94.7	-6.3	143	953	0.52	2.60	0.00	0.000	6	0.000	0.000	1920	1708	2739
1274	-1.21	-116.8	128.2	-10.1	165	1282	1.08	3.75	0.00	0.000	4	0.000	0.000	2085	3382	2746
1365	-1.51	-116.8	133.4	-4.7	168	1374	1.10	2.95	0.00	0.000	6	0.000	0.000	1846	1906	2736
1689	-1.16	-116.8	169.9	-11.6	184	1698	0.90	3.28	0.00	0.000	4	0.000	0.000	2100	390	2740
1748	-1.51	-116.8	174.1	-4.0	186	1761	1.05	3.28	0.00	0.000	6	0.000	0.000	1867	2033	2745
2072	-1.18	-116.8	208.7	-12.0	202	2081	0.80	3.17	0.00	0.000	4	0.000	0.000	2042	358	2741
2124	-1.40	-116.8	211.2	-4.9	204	2130	0.55	2.72	0.00	0.000	6	0.000	0.000	1906	2054	2743
2451	-1.25	-116.8	236.8	-8.2	220	2458	0.60	2.97	0.00	0.000	4	0.000	0.000	2055	357	2740
2529	-1.47	-116.8	241.2	-4.8	223	2537	0.77	2.78	0.00	0.000	6	0.000	0.000	1879	1827	2739
2859	-1.15	-116.8	272.7	-9.7	239	2862	0.80	0.00	0.00	0.000	6	0.000	0.000	2034	1820	2743
3173	-1.47	-116.8	288.1	-5.0	254	3180	0.68	3.05	0.00	0.000	4	0.000	0.000	1864	476	2740
3223	-1.20	-116.8	292.2	-9.6	256	3231	0.80	3.25	0.00	0.000	6	0.000	0.000	1993	2123	2741
3559	-1.24	-116.8	312.9	-5.9	272	3560	0.00	0.00	0.00	0.000	6	0.000	0.000	2005	2118	2735
3868	-1.28	-116.8	330.9	-5.8	287	3875	0.00	3.53	0.00	0.000	4	0.000	0.000	1986	421	2745
3931	-1.36	-116.8	334.7	-6.1	289	3939	0.00	3.05	0.00	0.000	6	0.000	0.000	2003	1883	2746
4256	-1.53	-116.8	353.4	-5.6	305	4264	0.52	2.92	0.00	0.000	4	0.000	0.000	1862	400	2742
4285	-1.32	-116.8	356.2	-9.0	306	4293	0.85	2.78	0.00	0.000	6	0.000	0.000	2047	1894	2744
4620	-1.61	-116.8	372.4	-4.4	322	4628	0.73	2.75	0.00	0.000	4	0.000	0.000	1856	357	2744
4696	-1.35	-116.8	378.4	-8.8	325	4704	0.82	2.95	0.00	0.000	6	0.000	0.000	2038	2073	2745
5036	-1.54	-116.8	394.4	-4.5	341	5045	0.77	3.47	0.00	0.000	4	0.000	0.000	1930	579	2739
5123	-1.41	-116.8	400.3	-7.4	344	5128	0.00	2.17	0.00	0.000	6	0.000	0.000	1915	1784	2749
5448	-1.26	-116.8	424.2	-7.3	359	5453	0.60	2.42	0.00	0.000	4	0.000	0.000	2041	3476	2746
5493	-1.43	-116.8	427.1	-4.5	361	5501	0.60	3.17	0.00	0.000	6	0.000	0.000	1928	1959	2742
5836	-1.27	-116.8	451.5	-7.5	377	5843	0.38	3.03	0.00	0.000	4	0.000	0.000	2047	298	2748
5915	-1.49	-116.8	455.8	-4.6	380	5923	0.77	2.75	0.00	0.000	6	0.000	0.000	1851	2126	2748
6250	-1.17	-116.8	484.1	-8.9	396	6258	0.75	3.25	0.00	0.000	4	0.000	0.000	2039	437	2747
6329	-1.39	-116.8	489.0	-4.3	399	6335	0.50	2.78	0.00	0.000	6	0.000	0.000	1923	1779	2744
6653	-1.24	-116.8	511.5	-7.1	411	6659	0.62	2.65	0.00	0.000	4	0.000	0.000	2054	421	2741
6679	-1.33	-116.8	513.2	-6.4	411	6687	0.68	3.17	0.00	0.000	6	0.000	0.000	1945	1905	2744
6815	end dive: BOTTOM_OBSTACLE_DETECTED
state	6815	begin apogee
6827	-0.25	0.0	522.2	6.6	415	6950	1.38	0.00	114.32	0.000	6	0.000	0.000	2239	1917	2261
6951	end apogee: CONTROL_FINISHED_OK
state	6951	begin climb
6957	1.49	116.8	522.5	0.0	418	7080	2.03	2.85	113.65	0.000	4	0.000	0.000	2666	356	1777
7107	1.22	116.8	492.8	26.9	422	7115	0.77	2.97	0.00	0.000	6	0.000	0.000	2475	2007	1786
7442	1.47	151.8	454.6	11.0	438	7488	1.08	2.80	34.22	0.000	4	0.000	0.000	2661	345	1639
7548	1.22	151.8	427.5	27.5	442	7560	0.82	2.78	0.00	0.000	6	0.000	0.000	2540	1818	1634
7877	0.88	151.8	364.3	23.0	458	7880	0.77	0.00	0.00	0.000	6	0.000	0.000	2505	1807	1644
8181	1.06	162.6	321.5	12.9	473	8204	0.00	3.17	10.38	0.001	4	0.000	0.000	2490	3496	1598
8288	1.04	162.6	302.9	25.6	477	8300	0.00	3.75	0.00	0.000	6	0.000	0.000	2492	1663	1602
8617	1.21	169.5	260.7	13.2	493	8631	0.22	3.78	5.93	0.001	4	0.000	0.000	2548	3468	1577
8908	1.21	169.5	207.6	17.5	505	8916	0.00	2.92	0.00	0.000	6	0.000	0.000	2540	1805	1571
9232	1.19	169.5	148.9	17.8	521	9237	0.00	2.97	0.00	0.000	4	0.000	0.000	2548	3315	1572
9496	1.17	169.5	101.5	17.6	532	9505	0.52	2.97	0.00	0.000	6	0.000	0.000	2449	1783	1574
9859	1.57	227.2	66.9	9.2	590	9924	1.10	3.05	47.33	0.000	4	0.000	0.000	2678	3214	1334
10087	end climb: SURFACE_DEPTH_REACHED
state	10087	begin surface coast
10092	end surface coast: CONTROL_FINISHED_OK
state	10093	begin surface