Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 32 * 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 32 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 169 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 -447265.66 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 0.27000001 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 -447265.66

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 169 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 32 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 172705,6637.649,-6008.930,29,1.1,29,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6628.714,-6006.509

_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 173110,6637.649,-6008.930,8,1.1,8,18.0 MHEAD_RNG_PITCHd_Wd 127.8,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025090 ALTIM_TOP_PING 19.3,18.8

SM_CCo 9095,21.40,0.000,0,0,407,451.60 ALTIM_BOTTOM_PING 476.4,92.8

SM_GC 0.34,0.00,0.00,21.40,0.000,0.000,0.000,622,2079,407,-7.56,3.22,451.60 _24V_AH 23.7,37.916

RAFOS_CLK 0 _10V_AH 9.7,5.794

RAFOS_FIX 6638.080566,-6003.482422,111006,161620,4,80,0.68 DATA_FILE_SIZE 19007,572

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242302976

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,50,809,0,0

HUMID 2269 SOUNDSPEED 1459.6

INTERNAL_PRESSURE 26.0065 CURRENT 0.057, 34.3,1

TCM_TEMP 15.00 GPS 111006,200501,6637.079,-6007.015,21,1.1,22,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 119 75.94 SBE_CT 475 24 270.45

Roll_motor 105 60 150.45 nil 0 0 0.00

VBD_pump_during_apogee 25 1300 785.65 nil 0 0 0.00

VBD_pump_during_surface 21 600 304.31 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 67 223 356.53

Transponder_ping 4 420 42.30

GPS 9 50 4.75

TT8 1820 19 351.78

LPSleep 5945 2 133.22

TT8_Active 248 19 48.11

TT8_Sampling 624 39 241.76

TT8_CF8 724 45 322.74

TT8_Kalman 0 81 0.00

Analog_circuits 788 12 91.78

GPS_charging 0 0 0.00

Compass 536 26 135.36

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 58 0.00 0.00 -7.97 0.000 6 0.000 0.000 649 2026 2853

64 -1.49 -116.8 0.3 0.0 2 82 6.55 3.22 0.00 0.000 4 0.000 0.000 1987 3708 2854

329 -1.49 -116.8 30.4 -9.7 45 339 0.50 3.72 0.00 0.000 6 0.000 0.000 1883 1875 2846

698 -1.62 -116.8 85.7 -15.2 106 708 0.60 3.78 0.00 0.000 4 0.000 0.000 2006 3647 2852

814 -1.30 -116.8 98.0 -9.6 124 822 0.00 2.78 0.00 0.000 6 0.000 0.000 1981 2134 2850

1147 -1.41 -116.8 130.1 -9.8 142 1148 0.00 0.00 0.00 0.000 6 0.000 0.000 1970 2120 2852

1456 -1.41 -116.8 160.3 -9.7 157 1462 0.52 2.67 0.00 0.000 4 0.000 0.000 1861 3452 2848

1487 -1.41 -116.8 164.7 -14.9 158 1500 0.65 2.97 0.00 0.000 6 0.000 0.000 1977 1942 2845

1816 -1.23 -116.8 196.5 -9.6 174 1822 0.00 3.03 0.00 0.000 4 0.000 0.000 1981 3589 2849

1896 -1.25 -116.8 204.4 -9.5 177 1902 0.00 3.08 0.00 0.000 6 0.000 0.000 1985 2088 2847

2221 -1.37 -116.8 235.2 -9.5 192 2223 0.22 0.00 0.00 0.000 6 0.000 0.000 1930 2099 2851

2530 -1.39 -116.8 272.1 -12.4 207 2538 0.38 3.25 0.00 0.000 4 0.000 0.000 2055 3580 2851

2582 -1.24 -116.8 277.4 -7.3 209 2588 0.52 2.45 0.00 0.000 6 0.000 0.000 1933 2078 2848

2908 -1.50 -116.8 314.1 -10.2 225 2909 0.00 0.00 0.00 0.000 6 0.000 0.000 1942 2080 2853

3222 -1.73 -116.8 351.3 -12.1 240 3228 0.35 2.50 0.00 0.000 4 0.000 0.000 1831 3539 2855

3281 -1.59 -116.8 362.0 -18.6 242 3290 0.77 2.35 0.00 0.000 6 0.000 0.000 2007 2035 2847

3605 -1.23 -116.8 392.4 -9.1 258 3610 0.00 2.15 0.00 0.000 4 0.000 0.000 2023 3387 2857

3652 -1.28 -116.8 397.4 -9.0 260 3656 0.00 1.92 0.00 0.000 6 0.000 0.000 1989 2037 2845

3984 -1.40 -116.8 426.7 -9.0 276 3990 0.12 3.05 0.00 0.000 4 0.000 0.000 2000 3586 2854

4044 -1.46 -116.8 433.0 -9.0 278 4053 0.52 2.58 0.00 0.000 6 0.000 0.000 1882 2235 2855

4370 -1.59 -116.8 476.4 -14.7 294 4376 0.20 2.42 0.00 0.000 4 0.000 0.000 1945 532 2849

4401 -1.31 -116.8 481.7 -12.5 295 4414 0.52 3.28 0.00 0.000 6 0.000 0.000 2059 2210 2845

4750 -1.35 -116.8 505.9 -6.9 310 4755 0.60 1.85 0.00 0.000 4 0.000 0.000 1929 3591 2850

4788 -1.57 -116.8 509.9 -11.9 310 4796 0.00 2.25 0.00 0.000 6 0.000 0.000 1916 2080 2852

5123 -1.54 -116.8 549.8 -11.9 319 5127 0.00 2.35 0.00 0.000 4 0.000 0.000 1943 3600 2852

5167 -1.42 -116.8 554.6 -11.5 320 5172 0.00 2.67 0.00 0.000 6 0.000 0.000 1940 2285 2854

5196 end dive: BOTTOM_OBSTACLE_DETECTED

state 5197 begin apogee

5209 -0.25 0.0 559.2 11.7 320 5227 1.60 0.00 14.30 0.000 6 0.000 0.000 2281 2119 2248

5228 end apogee: CONTROL_FINISHED_OK

state 5228 begin climb

5233 1.49 116.8 560.8 0.0 321 5254 1.92 3.67 11.20 0.000 4 0.000 0.000 2666 3441 1771

5279 1.49 116.8 554.8 22.0 322 5287 0.60 3.12 0.00 0.000 6 0.000 0.000 2553 1923 1769

5606 1.21 116.8 506.6 14.3 330 5611 0.00 3.20 0.00 0.000 4 0.000 0.000 2552 3620 1774

5698 1.21 116.8 492.9 14.2 332 5704 0.10 3.00 0.00 0.000 6 0.000 0.000 2548 1876 1770

6028 1.28 116.8 446.7 14.2 348 6035 0.00 3.45 0.00 0.000 4 0.000 0.000 2547 3577 1766

6172 1.28 116.8 425.1 14.2 354 6179 0.00 3.28 0.00 0.000 6 0.000 0.000 2552 1887 1765

6507 1.35 116.8 376.5 15.0 370 6512 0.00 2.62 0.00 0.000 4 0.000 0.000 2546 3585 1772

6619 1.26 116.8 359.3 14.5 375 6623 0.00 2.30 0.00 0.000 6 0.000 0.000 2541 2119 1766

6955 1.33 116.8 312.1 14.3 391 6960 0.00 3.05 0.00 0.000 4 0.000 0.000 2554 3584 1761

7013 1.33 116.8 302.5 14.3 393 7021 0.00 2.58 0.00 0.000 6 0.000 0.000 2556 2238 1770

7332 1.40 116.8 251.1 14.2 409 7333 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2239 1767

7641 1.40 116.8 205.8 14.3 424 7642 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2246 1766

7951 1.40 116.8 161.5 14.4 439 7955 0.00 2.25 0.00 0.000 4 0.000 0.000 2540 3568 1776

7994 1.40 116.8 155.4 14.3 441 7999 0.00 2.58 0.00 0.000 6 0.000 0.000 2533 2209 1771

8328 1.36 116.8 107.4 14.4 457 8332 0.05 1.85 0.00 0.000 4 0.000 0.000 2539 3399 1772

8371 1.36 116.8 99.3 18.4 459 8380 0.00 2.72 0.00 0.000 6 0.000 0.000 2546 2089 1770

8739 1.29 116.8 46.4 14.6 520 8748 0.00 2.67 0.00 0.000 4 0.000 0.000 2544 3409 1766

8851 1.29 116.8 31.3 14.1 537 8859 0.00 2.67 0.00 0.000 6 0.000 0.000 2552 2085 1770

9047 end climb: SURFACE_DEPTH_REACHED

state 9047 begin surface coast

9066 end surface coast: CONTROL_FINISHED_OK

state 9066 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	32	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	169	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	-447265.66	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	0.27000001	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	172705,6637.649,-6008.930,29,1.1,29,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6628.714,-6006.509
_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	173110,6637.649,-6008.930,8,1.1,8,18.0	MHEAD_RNG_PITCHd_Wd	127.8,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025090	ALTIM_TOP_PING	19.3,18.8
SM_CCo	9095,21.40,0.000,0,0,407,451.60	ALTIM_BOTTOM_PING	476.4,92.8
SM_GC	0.34,0.00,0.00,21.40,0.000,0.000,0.000,622,2079,407,-7.56,3.22,451.60	_24V_AH	23.7,37.916
RAFOS_CLK	0	_10V_AH	9.7,5.794
RAFOS_FIX	6638.080566,-6003.482422,111006,161620,4,80,0.68	DATA_FILE_SIZE	19007,572
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242302976
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,50,809,0,0
HUMID	2269	SOUNDSPEED	1459.6
INTERNAL_PRESSURE	26.0065	CURRENT	0.057, 34.3,1
TCM_TEMP	15.00	GPS	111006,200501,6637.079,-6007.015,21,1.1,22,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	119	75.94	SBE_CT	475	24	270.45
Roll_motor	105	60	150.45	nil	0	0	0.00
VBD_pump_during_apogee	25	1300	785.65	nil	0	0	0.00
VBD_pump_during_surface	21	600	304.31	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	67	223	356.53
Transponder_ping	4	420	42.30
GPS	9	50	4.75
TT8	1820	19	351.78
LPSleep	5945	2	133.22
TT8_Active	248	19	48.11
TT8_Sampling	624	39	241.76
TT8_CF8	724	45	322.74
TT8_Kalman	0	81	0.00
Analog_circuits	788	12	91.78
GPS_charging	0	0	0.00
Compass	536	26	135.36
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	58	0.00	0.00	-7.97	0.000	6	0.000	0.000	649	2026	2853
64	-1.49	-116.8	0.3	0.0	2	82	6.55	3.22	0.00	0.000	4	0.000	0.000	1987	3708	2854
329	-1.49	-116.8	30.4	-9.7	45	339	0.50	3.72	0.00	0.000	6	0.000	0.000	1883	1875	2846
698	-1.62	-116.8	85.7	-15.2	106	708	0.60	3.78	0.00	0.000	4	0.000	0.000	2006	3647	2852
814	-1.30	-116.8	98.0	-9.6	124	822	0.00	2.78	0.00	0.000	6	0.000	0.000	1981	2134	2850
1147	-1.41	-116.8	130.1	-9.8	142	1148	0.00	0.00	0.00	0.000	6	0.000	0.000	1970	2120	2852
1456	-1.41	-116.8	160.3	-9.7	157	1462	0.52	2.67	0.00	0.000	4	0.000	0.000	1861	3452	2848
1487	-1.41	-116.8	164.7	-14.9	158	1500	0.65	2.97	0.00	0.000	6	0.000	0.000	1977	1942	2845
1816	-1.23	-116.8	196.5	-9.6	174	1822	0.00	3.03	0.00	0.000	4	0.000	0.000	1981	3589	2849
1896	-1.25	-116.8	204.4	-9.5	177	1902	0.00	3.08	0.00	0.000	6	0.000	0.000	1985	2088	2847
2221	-1.37	-116.8	235.2	-9.5	192	2223	0.22	0.00	0.00	0.000	6	0.000	0.000	1930	2099	2851
2530	-1.39	-116.8	272.1	-12.4	207	2538	0.38	3.25	0.00	0.000	4	0.000	0.000	2055	3580	2851
2582	-1.24	-116.8	277.4	-7.3	209	2588	0.52	2.45	0.00	0.000	6	0.000	0.000	1933	2078	2848
2908	-1.50	-116.8	314.1	-10.2	225	2909	0.00	0.00	0.00	0.000	6	0.000	0.000	1942	2080	2853
3222	-1.73	-116.8	351.3	-12.1	240	3228	0.35	2.50	0.00	0.000	4	0.000	0.000	1831	3539	2855
3281	-1.59	-116.8	362.0	-18.6	242	3290	0.77	2.35	0.00	0.000	6	0.000	0.000	2007	2035	2847
3605	-1.23	-116.8	392.4	-9.1	258	3610	0.00	2.15	0.00	0.000	4	0.000	0.000	2023	3387	2857
3652	-1.28	-116.8	397.4	-9.0	260	3656	0.00	1.92	0.00	0.000	6	0.000	0.000	1989	2037	2845
3984	-1.40	-116.8	426.7	-9.0	276	3990	0.12	3.05	0.00	0.000	4	0.000	0.000	2000	3586	2854
4044	-1.46	-116.8	433.0	-9.0	278	4053	0.52	2.58	0.00	0.000	6	0.000	0.000	1882	2235	2855
4370	-1.59	-116.8	476.4	-14.7	294	4376	0.20	2.42	0.00	0.000	4	0.000	0.000	1945	532	2849
4401	-1.31	-116.8	481.7	-12.5	295	4414	0.52	3.28	0.00	0.000	6	0.000	0.000	2059	2210	2845
4750	-1.35	-116.8	505.9	-6.9	310	4755	0.60	1.85	0.00	0.000	4	0.000	0.000	1929	3591	2850
4788	-1.57	-116.8	509.9	-11.9	310	4796	0.00	2.25	0.00	0.000	6	0.000	0.000	1916	2080	2852
5123	-1.54	-116.8	549.8	-11.9	319	5127	0.00	2.35	0.00	0.000	4	0.000	0.000	1943	3600	2852
5167	-1.42	-116.8	554.6	-11.5	320	5172	0.00	2.67	0.00	0.000	6	0.000	0.000	1940	2285	2854
5196	end dive: BOTTOM_OBSTACLE_DETECTED
state	5197	begin apogee
5209	-0.25	0.0	559.2	11.7	320	5227	1.60	0.00	14.30	0.000	6	0.000	0.000	2281	2119	2248
5228	end apogee: CONTROL_FINISHED_OK
state	5228	begin climb
5233	1.49	116.8	560.8	0.0	321	5254	1.92	3.67	11.20	0.000	4	0.000	0.000	2666	3441	1771
5279	1.49	116.8	554.8	22.0	322	5287	0.60	3.12	0.00	0.000	6	0.000	0.000	2553	1923	1769
5606	1.21	116.8	506.6	14.3	330	5611	0.00	3.20	0.00	0.000	4	0.000	0.000	2552	3620	1774
5698	1.21	116.8	492.9	14.2	332	5704	0.10	3.00	0.00	0.000	6	0.000	0.000	2548	1876	1770
6028	1.28	116.8	446.7	14.2	348	6035	0.00	3.45	0.00	0.000	4	0.000	0.000	2547	3577	1766
6172	1.28	116.8	425.1	14.2	354	6179	0.00	3.28	0.00	0.000	6	0.000	0.000	2552	1887	1765
6507	1.35	116.8	376.5	15.0	370	6512	0.00	2.62	0.00	0.000	4	0.000	0.000	2546	3585	1772
6619	1.26	116.8	359.3	14.5	375	6623	0.00	2.30	0.00	0.000	6	0.000	0.000	2541	2119	1766
6955	1.33	116.8	312.1	14.3	391	6960	0.00	3.05	0.00	0.000	4	0.000	0.000	2554	3584	1761
7013	1.33	116.8	302.5	14.3	393	7021	0.00	2.58	0.00	0.000	6	0.000	0.000	2556	2238	1770
7332	1.40	116.8	251.1	14.2	409	7333	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2239	1767
7641	1.40	116.8	205.8	14.3	424	7642	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2246	1766
7951	1.40	116.8	161.5	14.4	439	7955	0.00	2.25	0.00	0.000	4	0.000	0.000	2540	3568	1776
7994	1.40	116.8	155.4	14.3	441	7999	0.00	2.58	0.00	0.000	6	0.000	0.000	2533	2209	1771
8328	1.36	116.8	107.4	14.4	457	8332	0.05	1.85	0.00	0.000	4	0.000	0.000	2539	3399	1772
8371	1.36	116.8	99.3	18.4	459	8380	0.00	2.72	0.00	0.000	6	0.000	0.000	2546	2089	1770
8739	1.29	116.8	46.4	14.6	520	8748	0.00	2.67	0.00	0.000	4	0.000	0.000	2544	3409	1766
8851	1.29	116.8	31.3	14.1	537	8859	0.00	2.67	0.00	0.000	6	0.000	0.000	2552	2085	1770
9047	end climb: SURFACE_DEPTH_REACHED
state	9047	begin surface coast
9066	end surface coast: CONTROL_FINISHED_OK
state	9066	begin surface