Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 29 * 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 29 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 182 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 14 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 -447223.62 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 -447223.62

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 182 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 14 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 29 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 094930,6637.165,-6007.601,25,1.1,25,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6640.712,-6003.563

_XMS_NAKs 2 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 -69.9 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 095350,6637.165,-6007.601,26,1.1,27,18.0 MHEAD_RNG_PITCHd_Wd 52.8,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025092 XPDR_PINGS -1

SM_CCo 9202,17.75,0.000,0,0,398,450.62 ALTIM_TOP_PING 19.8,19.8

SM_GC 0.34,0.00,0.00,17.75,0.000,0.000,0.000,633,2027,398,-7.45,1.72,450.62 ALTIM_BOTTOM_PING 527.5,52.3

RAFOS_CLK 0 _24V_AH 23.7,37.065

RAFOS 0,1160568258,12.083333,12.071667,80,0,0,0,0,0,499,0,0,0,0,0 _10V_AH 9.7,5.667

RAFOS_FIX 6637.983398,-6003.802734,111006,121244,2,80,0.38 DATA_FILE_SIZE 19035,569

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242499584

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,58,834,0,0

HUMID 2197 SOUNDSPEED 1459.9

INTERNAL_PRESSURE 25.9576 CURRENT 0.057,317.2,1

TCM_TEMP 15.00 GPS 111006,122921,6637.729,-6005.656,9,1.1,9,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 119 83.06 SBE_CT 472 24 268.99

Roll_motor 107 60 152.37 nil 0 0 0.00

VBD_pump_during_apogee 28 1300 889.64 nil 0 0 0.00

VBD_pump_during_surface 17 600 252.41 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 67 223 355.11

Transponder_ping 5 420 49.77

GPS 28 50 13.63

TT8 1830 19 353.77

LPSleep 6023 2 134.97

TT8_Active 249 19 48.22

TT8_Sampling 646 39 250.40

TT8_CF8 741 45 330.23

TT8_Kalman 0 81 0.00

Analog_circuits 794 12 92.45

GPS_charging 0 0 0.00

Compass 534 26 134.80

RAFOS 1080 1 15.71

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 57 0.00 0.00 -8.07 0.000 6 0.000 0.000 600 2086 2824

64 -1.49 -116.8 0.3 0.1 2 81 6.78 2.42 0.00 0.000 4 0.000 0.000 2012 3406 2823

372 -1.49 -116.8 30.5 -8.2 52 380 0.52 2.58 0.00 0.000 6 0.000 0.000 1898 2075 2824

739 -1.64 -116.8 78.3 -13.9 113 748 0.00 2.85 0.00 0.000 4 0.000 0.000 1886 3562 2833

818 -1.40 -116.8 88.9 -13.5 125 827 0.50 3.33 0.00 0.000 6 0.000 0.000 2032 1882 2828

1172 -1.27 -116.8 118.6 -8.1 156 1178 0.28 2.78 0.00 0.000 4 0.000 0.000 1954 3373 2833

1286 -1.37 -116.8 130.0 -10.4 161 1292 0.00 2.62 0.00 0.000 6 0.000 0.000 1951 2021 2834

1622 -1.37 -116.8 164.7 -10.3 177 1628 0.00 2.88 0.00 0.000 4 0.000 0.000 1964 3688 2830

1675 -1.35 -116.8 171.1 -10.6 179 1680 0.00 2.97 0.00 0.000 6 0.000 0.000 1962 2179 2829

2001 -1.40 -116.8 204.5 -10.5 194 2007 0.00 3.28 0.00 0.000 4 0.000 0.000 1986 3489 2826

2029 -1.33 -116.8 208.4 -10.8 195 2034 0.00 2.35 0.00 0.000 6 0.000 0.000 1961 2160 2828

2360 -1.33 -116.8 241.4 -10.5 211 2361 0.08 0.00 0.00 0.000 6 0.000 0.000 1968 2149 2827

2669 -1.27 -116.8 274.0 -10.5 226 2675 0.35 2.72 0.00 0.000 4 0.000 0.000 2087 3658 2829

2691 -1.35 -116.8 276.0 -8.6 227 2700 0.77 3.53 0.00 0.000 6 0.000 0.000 1897 2002 2821

3032 -1.60 -116.8 319.0 -13.3 243 3040 0.10 3.53 0.00 0.000 4 0.000 0.000 1899 3643 2832

3081 -1.37 -116.8 326.1 -13.0 245 3088 0.55 2.75 0.00 0.000 6 0.000 0.000 2037 2109 2831

3416 -1.28 -116.8 354.2 -8.2 261 3422 0.52 2.45 0.00 0.000 4 0.000 0.000 1908 3466 2828

3452 -1.38 -116.8 358.7 -13.4 262 3462 0.50 2.12 0.00 0.000 6 0.000 0.000 2011 1976 2830

3777 -1.24 -116.8 384.0 -7.8 278 3784 0.45 2.97 0.00 0.000 4 0.000 0.000 1889 3627 2828

3839 -1.37 -116.8 392.1 -12.7 280 3848 0.52 2.25 0.00 0.000 6 0.000 0.000 2039 2123 2826

4164 -1.28 -116.8 417.0 -7.6 296 4166 0.43 0.00 0.00 0.000 6 0.000 0.000 1912 2134 2825

4473 -1.42 -116.8 454.7 -12.7 311 4479 0.38 2.78 0.00 0.000 4 0.000 0.000 2031 3462 2832

4504 -1.23 -116.8 458.8 -9.7 312 4509 0.03 2.12 0.00 0.000 6 0.000 0.000 2040 2111 2827

4829 -1.46 -116.8 482.8 -7.7 327 4837 0.65 3.17 0.00 0.000 4 0.000 0.000 1915 3613 2834

4869 -1.59 -116.8 487.9 -12.8 328 4878 0.00 2.90 0.00 0.000 6 0.000 0.000 1913 2035 2825

5188 -1.50 -116.8 527.5 -12.7 339 5194 0.03 2.55 0.00 0.000 4 0.000 0.000 1910 3696 2820

5247 -1.31 -116.8 535.5 -12.7 340 5253 0.55 2.67 0.00 0.000 6 0.000 0.000 2037 2343 2830

5600 -1.24 -116.8 562.9 -7.6 349 5608 0.50 3.53 0.00 0.000 4 0.000 0.000 1915 484 2822

5652 -1.37 -116.8 568.9 -13.5 350 5660 0.47 3.72 0.00 0.000 6 0.000 0.000 2051 2351 2826

5665 end dive: BOTTOM_OBSTACLE_DETECTED

state 5665 begin apogee

5677 -0.25 0.0 571.0 11.7 350 5700 1.00 0.00 13.85 0.000 6 0.000 0.000 2285 2012 2239

5700 end apogee: CONTROL_FINISHED_OK

state 5700 begin climb

5706 1.49 116.8 572.3 0.0 351 5722 2.03 0.00 11.05 0.000 6 0.000 0.000 2620 1999 1760

6033 1.49 116.8 504.5 21.7 359 6041 0.62 3.22 0.00 0.000 4 0.000 0.000 2510 3663 1764

6151 1.21 116.8 486.6 18.8 363 6158 0.00 3.53 0.00 0.000 6 0.000 0.000 2527 1993 1769

6492 1.18 124.9 442.5 13.1 379 6499 0.03 2.38 0.57 0.001 4 0.002 0.000 2521 3491 1737

6586 1.24 130.0 428.8 13.3 383 6590 0.00 2.15 0.00 0.000 6 0.000 0.000 2531 1925 1735

6915 1.36 135.1 385.8 13.3 399 6924 0.00 3.03 1.30 0.000 4 0.000 0.000 2528 3583 1687

7015 1.43 135.1 370.4 14.3 403 7021 0.50 2.47 0.00 0.000 6 0.000 0.000 2647 2202 1682

7345 1.55 135.1 298.3 22.7 419 7351 0.43 2.28 0.00 0.000 4 0.000 0.000 2516 3408 1683

7404 1.27 135.1 285.4 21.0 421 7412 0.00 2.47 0.00 0.000 6 0.000 0.000 2523 2255 1688

7728 1.20 135.1 239.5 14.3 437 7730 0.05 0.00 0.00 0.000 6 0.001 0.000 2538 2267 1682

8033 1.23 135.1 194.5 14.4 452 8038 0.00 2.55 0.00 0.000 4 0.000 0.000 2524 3618 1683

8068 1.26 135.1 189.0 14.4 453 8076 0.00 2.85 0.00 0.000 6 0.000 0.000 2517 2250 1686

8392 1.37 135.1 143.1 14.6 469 8394 0.30 0.00 0.00 0.000 6 0.000 0.000 2598 2243 1685

8705 1.40 135.1 83.5 19.1 493 8712 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 2260 1678

9071 1.24 135.1 12.8 18.8 554 9080 0.35 2.97 0.00 0.000 4 0.000 0.000 2485 3576 1683

9133 1.09 170.0 4.9 11.0 563 9143 0.08 2.97 2.10 0.000 6 0.000 0.000 2474 2018 1544

9153 end climb: SURFACE_DEPTH_REACHED

state 9153 begin surface coast

9174 end surface coast: CONTROL_FINISHED_OK

state 9174 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	29	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	182	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	14	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	-447223.62	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	094930,6637.165,-6007.601,25,1.1,25,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6640.712,-6003.563
_XMS_NAKs	2	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	-69.9	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	095350,6637.165,-6007.601,26,1.1,27,18.0	MHEAD_RNG_PITCHd_Wd	52.8,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025092	XPDR_PINGS	-1
SM_CCo	9202,17.75,0.000,0,0,398,450.62	ALTIM_TOP_PING	19.8,19.8
SM_GC	0.34,0.00,0.00,17.75,0.000,0.000,0.000,633,2027,398,-7.45,1.72,450.62	ALTIM_BOTTOM_PING	527.5,52.3
RAFOS_CLK	0	_24V_AH	23.7,37.065
RAFOS	0,1160568258,12.083333,12.071667,80,0,0,0,0,0,499,0,0,0,0,0	_10V_AH	9.7,5.667
RAFOS_FIX	6637.983398,-6003.802734,111006,121244,2,80,0.38	DATA_FILE_SIZE	19035,569
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242499584
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,58,834,0,0
HUMID	2197	SOUNDSPEED	1459.9
INTERNAL_PRESSURE	25.9576	CURRENT	0.057,317.2,1
TCM_TEMP	15.00	GPS	111006,122921,6637.729,-6005.656,9,1.1,9,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	119	83.06	SBE_CT	472	24	268.99
Roll_motor	107	60	152.37	nil	0	0	0.00
VBD_pump_during_apogee	28	1300	889.64	nil	0	0	0.00
VBD_pump_during_surface	17	600	252.41	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	67	223	355.11
Transponder_ping	5	420	49.77
GPS	28	50	13.63
TT8	1830	19	353.77
LPSleep	6023	2	134.97
TT8_Active	249	19	48.22
TT8_Sampling	646	39	250.40
TT8_CF8	741	45	330.23
TT8_Kalman	0	81	0.00
Analog_circuits	794	12	92.45
GPS_charging	0	0	0.00
Compass	534	26	134.80
RAFOS	1080	1	15.71

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	57	0.00	0.00	-8.07	0.000	6	0.000	0.000	600	2086	2824
64	-1.49	-116.8	0.3	0.1	2	81	6.78	2.42	0.00	0.000	4	0.000	0.000	2012	3406	2823
372	-1.49	-116.8	30.5	-8.2	52	380	0.52	2.58	0.00	0.000	6	0.000	0.000	1898	2075	2824
739	-1.64	-116.8	78.3	-13.9	113	748	0.00	2.85	0.00	0.000	4	0.000	0.000	1886	3562	2833
818	-1.40	-116.8	88.9	-13.5	125	827	0.50	3.33	0.00	0.000	6	0.000	0.000	2032	1882	2828
1172	-1.27	-116.8	118.6	-8.1	156	1178	0.28	2.78	0.00	0.000	4	0.000	0.000	1954	3373	2833
1286	-1.37	-116.8	130.0	-10.4	161	1292	0.00	2.62	0.00	0.000	6	0.000	0.000	1951	2021	2834
1622	-1.37	-116.8	164.7	-10.3	177	1628	0.00	2.88	0.00	0.000	4	0.000	0.000	1964	3688	2830
1675	-1.35	-116.8	171.1	-10.6	179	1680	0.00	2.97	0.00	0.000	6	0.000	0.000	1962	2179	2829
2001	-1.40	-116.8	204.5	-10.5	194	2007	0.00	3.28	0.00	0.000	4	0.000	0.000	1986	3489	2826
2029	-1.33	-116.8	208.4	-10.8	195	2034	0.00	2.35	0.00	0.000	6	0.000	0.000	1961	2160	2828
2360	-1.33	-116.8	241.4	-10.5	211	2361	0.08	0.00	0.00	0.000	6	0.000	0.000	1968	2149	2827
2669	-1.27	-116.8	274.0	-10.5	226	2675	0.35	2.72	0.00	0.000	4	0.000	0.000	2087	3658	2829
2691	-1.35	-116.8	276.0	-8.6	227	2700	0.77	3.53	0.00	0.000	6	0.000	0.000	1897	2002	2821
3032	-1.60	-116.8	319.0	-13.3	243	3040	0.10	3.53	0.00	0.000	4	0.000	0.000	1899	3643	2832
3081	-1.37	-116.8	326.1	-13.0	245	3088	0.55	2.75	0.00	0.000	6	0.000	0.000	2037	2109	2831
3416	-1.28	-116.8	354.2	-8.2	261	3422	0.52	2.45	0.00	0.000	4	0.000	0.000	1908	3466	2828
3452	-1.38	-116.8	358.7	-13.4	262	3462	0.50	2.12	0.00	0.000	6	0.000	0.000	2011	1976	2830
3777	-1.24	-116.8	384.0	-7.8	278	3784	0.45	2.97	0.00	0.000	4	0.000	0.000	1889	3627	2828
3839	-1.37	-116.8	392.1	-12.7	280	3848	0.52	2.25	0.00	0.000	6	0.000	0.000	2039	2123	2826
4164	-1.28	-116.8	417.0	-7.6	296	4166	0.43	0.00	0.00	0.000	6	0.000	0.000	1912	2134	2825
4473	-1.42	-116.8	454.7	-12.7	311	4479	0.38	2.78	0.00	0.000	4	0.000	0.000	2031	3462	2832
4504	-1.23	-116.8	458.8	-9.7	312	4509	0.03	2.12	0.00	0.000	6	0.000	0.000	2040	2111	2827
4829	-1.46	-116.8	482.8	-7.7	327	4837	0.65	3.17	0.00	0.000	4	0.000	0.000	1915	3613	2834
4869	-1.59	-116.8	487.9	-12.8	328	4878	0.00	2.90	0.00	0.000	6	0.000	0.000	1913	2035	2825
5188	-1.50	-116.8	527.5	-12.7	339	5194	0.03	2.55	0.00	0.000	4	0.000	0.000	1910	3696	2820
5247	-1.31	-116.8	535.5	-12.7	340	5253	0.55	2.67	0.00	0.000	6	0.000	0.000	2037	2343	2830
5600	-1.24	-116.8	562.9	-7.6	349	5608	0.50	3.53	0.00	0.000	4	0.000	0.000	1915	484	2822
5652	-1.37	-116.8	568.9	-13.5	350	5660	0.47	3.72	0.00	0.000	6	0.000	0.000	2051	2351	2826
5665	end dive: BOTTOM_OBSTACLE_DETECTED
state	5665	begin apogee
5677	-0.25	0.0	571.0	11.7	350	5700	1.00	0.00	13.85	0.000	6	0.000	0.000	2285	2012	2239
5700	end apogee: CONTROL_FINISHED_OK
state	5700	begin climb
5706	1.49	116.8	572.3	0.0	351	5722	2.03	0.00	11.05	0.000	6	0.000	0.000	2620	1999	1760
6033	1.49	116.8	504.5	21.7	359	6041	0.62	3.22	0.00	0.000	4	0.000	0.000	2510	3663	1764
6151	1.21	116.8	486.6	18.8	363	6158	0.00	3.53	0.00	0.000	6	0.000	0.000	2527	1993	1769
6492	1.18	124.9	442.5	13.1	379	6499	0.03	2.38	0.57	0.001	4	0.002	0.000	2521	3491	1737
6586	1.24	130.0	428.8	13.3	383	6590	0.00	2.15	0.00	0.000	6	0.000	0.000	2531	1925	1735
6915	1.36	135.1	385.8	13.3	399	6924	0.00	3.03	1.30	0.000	4	0.000	0.000	2528	3583	1687
7015	1.43	135.1	370.4	14.3	403	7021	0.50	2.47	0.00	0.000	6	0.000	0.000	2647	2202	1682
7345	1.55	135.1	298.3	22.7	419	7351	0.43	2.28	0.00	0.000	4	0.000	0.000	2516	3408	1683
7404	1.27	135.1	285.4	21.0	421	7412	0.00	2.47	0.00	0.000	6	0.000	0.000	2523	2255	1688
7728	1.20	135.1	239.5	14.3	437	7730	0.05	0.00	0.00	0.000	6	0.001	0.000	2538	2267	1682
8033	1.23	135.1	194.5	14.4	452	8038	0.00	2.55	0.00	0.000	4	0.000	0.000	2524	3618	1683
8068	1.26	135.1	189.0	14.4	453	8076	0.00	2.85	0.00	0.000	6	0.000	0.000	2517	2250	1686
8392	1.37	135.1	143.1	14.6	469	8394	0.30	0.00	0.00	0.000	6	0.000	0.000	2598	2243	1685
8705	1.40	135.1	83.5	19.1	493	8712	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	2260	1678
9071	1.24	135.1	12.8	18.8	554	9080	0.35	2.97	0.00	0.000	4	0.000	0.000	2485	3576	1683
9133	1.09	170.0	4.9	11.0	563	9143	0.08	2.97	2.10	0.000	6	0.000	0.000	2474	2018	1544
9153	end climb: SURFACE_DEPTH_REACHED
state	9153	begin surface coast
9174	end surface coast: CONTROL_FINISHED_OK
state	9174	begin surface