Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 38 * 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 38 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 155 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 -447406.66 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 -447406.66

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 155 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 38 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 083032,6637.956,-6005.963,10,1.1,10,18.0 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6643.478,-6009.630

_XMS_NAKs 0 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 -69.8 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 083703,6637.956,-6005.963,31,1.1,31,18.0 MHEAD_RNG_PITCHd_Wd 282.8,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024661 XPDR_PINGS -1

SM_CCo 8794,15.70,0.000,0,0,400,451.35 ALTIM_TOP_PING 19.5,18.9

SM_GC 0.34,0.00,0.00,15.70,0.000,0.000,0.000,585,2150,400,-7.71,4.61,451.35 ALTIM_BOTTOM_PING 552.8,28.7

RAFOS_CLK 0 _24V_AH 23.7,39.563

RAFOS 2,1160641441,8.416667,8.400278,80,0,0,0,0,0,942,0,0,0,0,0 _10V_AH 9.7,6.042

RAFOS_FIX 6637.806641,-6003.106445,121006,080821,3,80,0.00 DATA_FILE_SIZE 15855,528

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241909760

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,62,823,0,0

HUMID 2288 SOUNDSPEED 1459.8

INTERNAL_PRESSURE 26.026 CURRENT 0.077,185.9,1

TCM_TEMP 15.00 GPS 121006,110605,6638.084,-6008.434,27,1.1,27,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 119 86.09 SBE_CT 436 24 248.42

Roll_motor 106 60 150.80 nil 0 0 0.00

VBD_pump_during_apogee 33 1300 1041.38 nil 0 0 0.00

VBD_pump_during_surface 15 600 223.25 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 64 223 343.08

Transponder_ping 5 420 49.77

GPS 36 50 17.83

TT8 1724 19 333.14

LPSleep 5877 2 131.69

TT8_Active 246 19 47.63

TT8_Sampling 596 39 231.05

TT8_CF8 772 45 343.93

TT8_Kalman 0 81 0.00

Analog_circuits 746 12 86.90

GPS_charging 0 0 0.00

Compass 487 26 123.06

RAFOS 360 1 5.24

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 -8.12 0.000 6 0.000 0.000 602 2012 2855

64 -1.49 -116.8 0.3 0.0 2 82 7.12 2.92 0.00 0.000 4 0.000 0.000 1999 529 2864

277 -1.49 -116.8 24.7 -9.3 36 286 0.47 3.22 0.00 0.000 6 0.000 0.000 1865 2197 2855

645 -1.72 -116.8 80.9 -15.3 97 653 0.00 2.53 0.00 0.000 4 0.000 0.000 1871 3526 2859

728 -1.40 -116.8 93.9 -15.3 110 738 0.80 3.25 0.00 0.000 6 0.000 0.000 1998 1877 2853

1074 -1.18 -116.8 130.0 -10.1 132 1080 0.10 3.15 0.00 0.000 4 0.001 0.000 1955 3680 2857

1169 -1.18 -116.8 140.0 -10.5 136 1175 0.03 2.72 0.00 0.000 6 0.000 0.000 1987 2042 2858

1500 -1.28 -116.8 172.8 -10.2 152 1504 0.00 2.47 0.00 0.000 4 0.000 0.000 1971 3382 2854

1547 -1.28 -116.8 178.0 -9.4 154 1551 0.00 1.85 0.00 0.000 6 0.000 0.000 1973 2049 2858

1878 -1.33 -116.8 209.8 -9.7 170 1883 0.00 2.67 0.00 0.000 4 0.000 0.000 1988 3391 2863

1921 -1.43 -116.8 214.2 -10.2 172 1926 0.03 2.03 0.00 0.000 6 0.000 0.000 1985 2042 2868

2252 -1.48 -116.8 247.8 -10.1 188 2258 0.40 2.72 0.00 0.000 4 0.000 0.000 1859 3568 2857

2288 -1.48 -116.8 253.2 -15.6 189 2297 0.62 2.47 0.00 0.000 6 0.000 0.000 1964 2224 2856

2612 -1.52 -116.8 286.7 -10.2 205 2620 0.35 3.25 0.00 0.000 4 0.000 0.000 1853 546 2858

2638 -1.52 -116.8 290.4 -12.3 206 2646 0.57 3.17 0.00 0.000 6 0.000 0.000 1981 2208 2861

2975 -1.44 -116.8 326.1 -10.4 222 2979 0.00 2.25 0.00 0.000 4 0.000 0.000 1980 3415 2860

3032 -1.43 -116.8 332.5 -10.1 224 3041 0.08 2.80 0.00 0.000 6 0.000 0.000 1973 2251 2862

3357 -1.47 -116.8 365.3 -10.3 240 3363 0.15 2.95 0.00 0.000 4 0.000 0.000 1925 562 2854

3382 -1.45 -116.8 369.0 -11.5 241 3387 0.10 2.70 0.00 0.000 6 0.000 0.000 1930 2215 2863

3708 -1.45 -116.8 411.3 -13.2 257 3709 0.00 0.00 0.00 0.000 6 0.000 0.000 1916 2210 2863

4018 -1.27 -116.8 451.8 -13.0 272 4020 0.62 0.00 0.00 0.000 6 0.000 0.000 2048 2213 2859

4331 -1.09 -116.8 477.5 -7.8 287 4332 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 2222 2861

4655 -1.40 -116.8 503.4 -7.9 302 4658 0.45 0.00 0.00 0.000 6 0.000 0.000 1903 2222 2857

4980 -1.54 -116.8 544.1 -13.1 310 4986 0.03 2.67 0.00 0.000 4 0.000 0.000 1915 562 2860

5005 -1.36 -116.8 547.7 -13.0 310 5013 0.50 2.97 0.00 0.000 6 0.000 0.000 2056 2054 2857

5345 end dive: BOTTOM_OBSTACLE_DETECTED

state 5345 begin apogee

5357 -0.25 0.0 573.9 7.5 319 5375 1.02 0.00 14.70 0.000 6 0.000 0.000 2292 2049 2243

5376 end apogee: CONTROL_FINISHED_OK

state 5376 begin climb

5381 1.49 116.8 573.9 0.0 319 5401 1.52 3.25 11.15 0.000 4 0.000 0.000 2645 558 1765

5455 1.49 116.8 562.4 24.4 320 5461 0.52 2.65 0.00 0.000 6 0.000 0.000 2524 2237 1768

5790 1.40 118.1 515.7 13.6 328 5795 0.12 2.62 0.00 0.000 4 0.000 0.000 2547 3641 1768

5866 1.43 120.7 504.7 13.5 329 5872 0.50 2.53 0.00 0.000 6 0.000 0.000 2663 1969 1766

6190 1.53 120.7 436.5 21.9 343 6198 0.50 3.25 0.00 0.000 4 0.000 0.000 2547 3665 1767

6268 1.23 120.7 423.2 14.6 346 6274 0.05 3.05 0.00 0.000 6 0.000 0.000 2520 2161 1767

6599 1.31 120.7 376.5 14.3 362 6603 0.00 2.25 0.00 0.000 4 0.000 0.000 2553 3476 1761

6629 1.31 120.7 369.9 21.3 363 6640 0.00 3.28 0.00 0.000 6 0.000 0.000 2547 2089 1763

6957 0.98 120.7 323.2 14.2 379 6965 0.82 3.03 0.00 0.000 4 0.000 0.000 2420 3550 1761

7033 0.98 199.4 316.2 7.5 382 7048 0.52 2.78 7.95 0.001 6 0.000 0.000 2535 2069 1421

7369 1.49 199.4 254.3 20.2 397 7376 0.82 2.78 0.00 0.000 4 0.000 0.000 2665 3429 1423

7417 1.39 199.4 240.3 29.8 399 7425 0.77 3.17 0.00 0.000 6 0.000 0.000 2496 1940 1431

7758 1.11 199.4 191.3 13.8 415 7763 0.00 2.97 0.00 0.000 4 0.000 0.000 2503 3479 1432

7855 1.28 199.4 177.5 14.2 419 7863 0.52 3.08 0.00 0.000 6 0.000 0.000 2592 1995 1425

8189 1.48 199.4 97.3 24.1 435 8198 0.05 2.42 0.00 0.000 4 0.001 0.000 2614 3666 1432

8250 1.31 199.4 81.3 24.2 444 8259 0.47 2.92 0.00 0.000 6 0.000 0.000 2473 2144 1431

8619 1.23 199.4 28.9 14.0 505 8628 0.38 3.00 0.00 0.000 4 0.000 0.000 2614 3649 1426

8698 1.39 199.4 11.9 24.5 517 8707 0.50 2.22 0.00 0.000 6 0.000 0.000 2493 2148 1433

8753 end climb: SURFACE_DEPTH_REACHED

state 8753 begin surface coast

8766 end surface coast: CONTROL_FINISHED_OK

state 8766 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	38	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	155	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	-447406.66	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	083032,6637.956,-6005.963,10,1.1,10,18.0	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6643.478,-6009.630
_XMS_NAKs	0	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	-69.8	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	083703,6637.956,-6005.963,31,1.1,31,18.0	MHEAD_RNG_PITCHd_Wd	282.8,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024661	XPDR_PINGS	-1
SM_CCo	8794,15.70,0.000,0,0,400,451.35	ALTIM_TOP_PING	19.5,18.9
SM_GC	0.34,0.00,0.00,15.70,0.000,0.000,0.000,585,2150,400,-7.71,4.61,451.35	ALTIM_BOTTOM_PING	552.8,28.7
RAFOS_CLK	0	_24V_AH	23.7,39.563
RAFOS	2,1160641441,8.416667,8.400278,80,0,0,0,0,0,942,0,0,0,0,0	_10V_AH	9.7,6.042
RAFOS_FIX	6637.806641,-6003.106445,121006,080821,3,80,0.00	DATA_FILE_SIZE	15855,528
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241909760
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,62,823,0,0
HUMID	2288	SOUNDSPEED	1459.8
INTERNAL_PRESSURE	26.026	CURRENT	0.077,185.9,1
TCM_TEMP	15.00	GPS	121006,110605,6638.084,-6008.434,27,1.1,27,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	119	86.09	SBE_CT	436	24	248.42
Roll_motor	106	60	150.80	nil	0	0	0.00
VBD_pump_during_apogee	33	1300	1041.38	nil	0	0	0.00
VBD_pump_during_surface	15	600	223.25	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	64	223	343.08
Transponder_ping	5	420	49.77
GPS	36	50	17.83
TT8	1724	19	333.14
LPSleep	5877	2	131.69
TT8_Active	246	19	47.63
TT8_Sampling	596	39	231.05
TT8_CF8	772	45	343.93
TT8_Kalman	0	81	0.00
Analog_circuits	746	12	86.90
GPS_charging	0	0	0.00
Compass	487	26	123.06
RAFOS	360	1	5.24

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	-8.12	0.000	6	0.000	0.000	602	2012	2855
64	-1.49	-116.8	0.3	0.0	2	82	7.12	2.92	0.00	0.000	4	0.000	0.000	1999	529	2864
277	-1.49	-116.8	24.7	-9.3	36	286	0.47	3.22	0.00	0.000	6	0.000	0.000	1865	2197	2855
645	-1.72	-116.8	80.9	-15.3	97	653	0.00	2.53	0.00	0.000	4	0.000	0.000	1871	3526	2859
728	-1.40	-116.8	93.9	-15.3	110	738	0.80	3.25	0.00	0.000	6	0.000	0.000	1998	1877	2853
1074	-1.18	-116.8	130.0	-10.1	132	1080	0.10	3.15	0.00	0.000	4	0.001	0.000	1955	3680	2857
1169	-1.18	-116.8	140.0	-10.5	136	1175	0.03	2.72	0.00	0.000	6	0.000	0.000	1987	2042	2858
1500	-1.28	-116.8	172.8	-10.2	152	1504	0.00	2.47	0.00	0.000	4	0.000	0.000	1971	3382	2854
1547	-1.28	-116.8	178.0	-9.4	154	1551	0.00	1.85	0.00	0.000	6	0.000	0.000	1973	2049	2858
1878	-1.33	-116.8	209.8	-9.7	170	1883	0.00	2.67	0.00	0.000	4	0.000	0.000	1988	3391	2863
1921	-1.43	-116.8	214.2	-10.2	172	1926	0.03	2.03	0.00	0.000	6	0.000	0.000	1985	2042	2868
2252	-1.48	-116.8	247.8	-10.1	188	2258	0.40	2.72	0.00	0.000	4	0.000	0.000	1859	3568	2857
2288	-1.48	-116.8	253.2	-15.6	189	2297	0.62	2.47	0.00	0.000	6	0.000	0.000	1964	2224	2856
2612	-1.52	-116.8	286.7	-10.2	205	2620	0.35	3.25	0.00	0.000	4	0.000	0.000	1853	546	2858
2638	-1.52	-116.8	290.4	-12.3	206	2646	0.57	3.17	0.00	0.000	6	0.000	0.000	1981	2208	2861
2975	-1.44	-116.8	326.1	-10.4	222	2979	0.00	2.25	0.00	0.000	4	0.000	0.000	1980	3415	2860
3032	-1.43	-116.8	332.5	-10.1	224	3041	0.08	2.80	0.00	0.000	6	0.000	0.000	1973	2251	2862
3357	-1.47	-116.8	365.3	-10.3	240	3363	0.15	2.95	0.00	0.000	4	0.000	0.000	1925	562	2854
3382	-1.45	-116.8	369.0	-11.5	241	3387	0.10	2.70	0.00	0.000	6	0.000	0.000	1930	2215	2863
3708	-1.45	-116.8	411.3	-13.2	257	3709	0.00	0.00	0.00	0.000	6	0.000	0.000	1916	2210	2863
4018	-1.27	-116.8	451.8	-13.0	272	4020	0.62	0.00	0.00	0.000	6	0.000	0.000	2048	2213	2859
4331	-1.09	-116.8	477.5	-7.8	287	4332	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	2222	2861
4655	-1.40	-116.8	503.4	-7.9	302	4658	0.45	0.00	0.00	0.000	6	0.000	0.000	1903	2222	2857
4980	-1.54	-116.8	544.1	-13.1	310	4986	0.03	2.67	0.00	0.000	4	0.000	0.000	1915	562	2860
5005	-1.36	-116.8	547.7	-13.0	310	5013	0.50	2.97	0.00	0.000	6	0.000	0.000	2056	2054	2857
5345	end dive: BOTTOM_OBSTACLE_DETECTED
state	5345	begin apogee
5357	-0.25	0.0	573.9	7.5	319	5375	1.02	0.00	14.70	0.000	6	0.000	0.000	2292	2049	2243
5376	end apogee: CONTROL_FINISHED_OK
state	5376	begin climb
5381	1.49	116.8	573.9	0.0	319	5401	1.52	3.25	11.15	0.000	4	0.000	0.000	2645	558	1765
5455	1.49	116.8	562.4	24.4	320	5461	0.52	2.65	0.00	0.000	6	0.000	0.000	2524	2237	1768
5790	1.40	118.1	515.7	13.6	328	5795	0.12	2.62	0.00	0.000	4	0.000	0.000	2547	3641	1768
5866	1.43	120.7	504.7	13.5	329	5872	0.50	2.53	0.00	0.000	6	0.000	0.000	2663	1969	1766
6190	1.53	120.7	436.5	21.9	343	6198	0.50	3.25	0.00	0.000	4	0.000	0.000	2547	3665	1767
6268	1.23	120.7	423.2	14.6	346	6274	0.05	3.05	0.00	0.000	6	0.000	0.000	2520	2161	1767
6599	1.31	120.7	376.5	14.3	362	6603	0.00	2.25	0.00	0.000	4	0.000	0.000	2553	3476	1761
6629	1.31	120.7	369.9	21.3	363	6640	0.00	3.28	0.00	0.000	6	0.000	0.000	2547	2089	1763
6957	0.98	120.7	323.2	14.2	379	6965	0.82	3.03	0.00	0.000	4	0.000	0.000	2420	3550	1761
7033	0.98	199.4	316.2	7.5	382	7048	0.52	2.78	7.95	0.001	6	0.000	0.000	2535	2069	1421
7369	1.49	199.4	254.3	20.2	397	7376	0.82	2.78	0.00	0.000	4	0.000	0.000	2665	3429	1423
7417	1.39	199.4	240.3	29.8	399	7425	0.77	3.17	0.00	0.000	6	0.000	0.000	2496	1940	1431
7758	1.11	199.4	191.3	13.8	415	7763	0.00	2.97	0.00	0.000	4	0.000	0.000	2503	3479	1432
7855	1.28	199.4	177.5	14.2	419	7863	0.52	3.08	0.00	0.000	6	0.000	0.000	2592	1995	1425
8189	1.48	199.4	97.3	24.1	435	8198	0.05	2.42	0.00	0.000	4	0.001	0.000	2614	3666	1432
8250	1.31	199.4	81.3	24.2	444	8259	0.47	2.92	0.00	0.000	6	0.000	0.000	2473	2144	1431
8619	1.23	199.4	28.9	14.0	505	8628	0.38	3.00	0.00	0.000	4	0.000	0.000	2614	3649	1426
8698	1.39	199.4	11.9	24.5	517	8707	0.50	2.22	0.00	0.000	6	0.000	0.000	2493	2148	1433
8753	end climb: SURFACE_DEPTH_REACHED
state	8753	begin surface coast
8766	end surface coast: CONTROL_FINISHED_OK
state	8766	begin surface