Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 4 * 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 4 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 4 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 1 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 -448686 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 -448686

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 4 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 1 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 4 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 203426,6632.059,-6030.581,33,1.1,33,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6642.207,-6029.120

_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 -69.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 203913,6632.059,-6030.581,34,1.1,35,18.0 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 -0.00,4.933,-1.707 XPDR_PINGS -1

FINISH -0.0,1.024697 ALTIM_TOP_PING 19.7,19.8

SM_CCo 9079,127.75,0.000,3,0,420,450.37 ALTIM_BOTTOM_PING 400.9,83.2

SM_GC -0.00,0.00,0.00,127.75,0.000,0.000,0.000,623,2161,420,-7.55,5.46,450.37 _24V_AH 23.7,53.375

RAFOS_CLK 0 _10V_AH 9.7,8.180

RAFOS 2,1160339043,20.416666,20.400833,80,0,0,0,0,0,1007,0,0,0,0,0 DATA_FILE_SIZE 18983,572

RAFOS_FIX 6631.947266,-6026.615234,081006,202000,3,80,0.00 CFSIZE 255582208,244039680

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,89,991,9,0

TT8_MAMPS 0.024544 SOUNDSPEED 1468.5

HUMID 2430 CURRENT 0.046,256.8,1

INTERNAL_PRESSURE 25.9967 GPS 081006,231459,6632.650,-6030.779,18,1.1,18,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 43 119 123.95 SBE_CT 458 24 260.65

Roll_motor 128 60 182.30 nil 0 0 0.00

VBD_pump_during_apogee 344 1300 10610.19 nil 0 0 0.00

VBD_pump_during_surface 127 600 1816.60 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 85 223 453.06

Transponder_ping 3 420 34.84

GPS 35 50 17.04

TT8 1728 19 334.04

LPSleep 5483 2 122.88

TT8_Active 783 19 151.45

TT8_Sampling 743 39 287.91

TT8_CF8 781 45 348.12

TT8_Kalman 0 0 0.00

Analog_circuits 1425 12 165.91

GPS_charging 0 0 0.00

Compass 623 26 157.17

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

34 end surface: CONTROL_FINISHED_OK

state 35 begin dive

41 -1.49 -116.8 0.0 0.0 0 129 0.00 0.00 -76.90 0.000 6 0.000 0.000 636 1741 2738

135 -1.49 -116.8 0.2 -0.5 9 152 6.75 2.17 0.00 0.000 4 0.000 0.000 1994 421 2735

311 -1.55 -116.8 27.0 -11.2 37 320 0.85 3.15 0.00 0.000 6 0.000 0.000 1850 2108 2739

679 -1.19 -116.8 78.1 -12.5 98 687 1.02 2.97 0.00 0.000 4 0.000 0.000 2090 3437 2742

763 -1.49 -116.8 83.8 -5.1 111 772 0.82 3.42 0.00 0.000 6 0.000 0.000 1901 1734 2738

1119 -1.28 -116.8 120.3 -10.5 147 1126 0.77 2.62 0.00 0.000 4 0.000 0.000 2012 3565 2733

1246 -1.42 -116.8 129.8 -6.3 152 1258 0.52 3.17 0.00 0.000 6 0.000 0.000 1890 1879 2740

1575 -1.19 -116.8 161.8 -10.0 168 1583 0.85 3.25 0.00 0.000 4 0.000 0.000 2084 3590 2739

1675 -1.54 -116.8 167.4 -4.5 172 1683 0.85 2.92 0.00 0.000 6 0.000 0.000 1898 1747 2736

2011 -1.32 -116.8 198.8 -9.5 188 2020 0.45 3.47 0.00 0.000 4 0.000 0.000 2036 3599 2734

2116 -1.46 -116.8 205.7 -5.9 192 2129 0.52 3.08 0.00 0.000 6 0.000 0.000 1899 1913 2734

2445 -1.22 -116.8 235.3 -9.3 208 2453 0.77 2.72 0.00 0.000 4 0.000 0.000 2060 3567 2739

2530 -1.49 -116.8 240.3 -4.5 211 2543 0.77 3.75 0.00 0.000 6 0.000 0.000 1882 1713 2735

2859 -1.23 -116.8 269.1 -9.1 227 2868 0.77 3.50 0.00 0.000 4 0.000 0.000 2064 3605 2735

2978 -1.49 -116.8 275.4 -4.4 232 2986 0.77 3.75 0.00 0.000 6 0.000 0.000 1886 1707 2729

3319 -1.21 -116.8 305.2 -9.0 248 3328 0.70 3.50 0.00 0.000 4 0.000 0.000 2051 3548 2736

3452 -1.44 -116.8 312.5 -4.1 253 3461 0.77 2.83 0.00 0.000 6 0.000 0.000 1863 1897 2732

3776 -1.14 -116.8 340.8 -9.1 269 3784 0.85 3.05 0.00 0.000 4 0.000 0.000 1996 3457 2740

3867 -1.25 -116.8 346.9 -6.0 272 3875 0.00 2.35 0.00 0.000 6 0.000 0.000 1980 1795 2738

4191 -1.27 -116.8 365.6 -5.9 288 4196 0.00 2.95 0.00 0.000 4 0.000 0.000 1999 3678 2742

4294 -1.33 -116.8 371.6 -5.5 292 4299 0.03 2.92 0.00 0.000 6 0.000 0.000 1996 1851 2741

4618 -1.36 -116.8 390.3 -5.7 307 4625 0.03 3.28 0.00 0.000 4 0.000 0.000 1997 3530 2731

4708 -1.41 -116.8 395.4 -5.7 310 4717 0.05 2.62 0.00 0.000 6 0.000 0.000 1983 1857 2735

5028 -1.43 -116.8 413.8 -5.6 326 5034 0.43 2.85 0.00 0.000 4 0.000 0.000 1862 3627 2738

5114 -1.15 -116.8 420.7 -9.0 329 5123 1.00 2.78 0.00 0.000 6 0.000 0.000 2039 2084 2733

5438 -1.33 -116.8 435.9 -4.4 345 5446 0.80 2.53 0.00 0.000 4 0.000 0.000 1932 3596 2740

5467 -1.28 -116.8 437.8 -5.9 346 5476 0.50 3.75 0.00 0.000 6 0.000 0.000 2048 1790 2738

5803 -1.62 -116.8 452.8 -4.9 362 5811 0.77 3.45 0.00 0.000 4 0.000 0.000 1865 3628 2736

5903 -1.35 -116.8 461.1 -8.7 366 5911 0.77 3.78 0.00 0.000 6 0.000 0.000 2057 1950 2733

6211 end dive: BOTTOM_OBSTACLE_DETECTED

state 6211 begin apogee

6223 -0.25 0.0 474.8 4.3 381 6355 1.02 0.00 112.95 0.000 6 0.000 0.000 2220 1952 2263

6356 end apogee: CONTROL_FINISHED_OK

state 6356 begin climb

6361 1.49 116.8 473.9 0.0 388 6502 2.33 4.07 112.35 0.001 4 0.000 0.000 2638 235 1786

6533 1.35 116.8 444.4 22.8 395 6541 0.77 3.40 0.00 0.000 6 0.000 0.000 2453 2225 1787

6868 1.67 167.3 410.2 9.7 411 6927 1.00 2.12 47.83 0.000 4 0.000 0.000 2708 3556 1582

6994 1.31 167.3 374.8 31.0 415 7004 1.00 3.58 0.05 0.003 6 0.000 0.000 2503 1700 1583

7318 1.41 167.3 324.9 14.8 431 7324 0.43 2.72 0.00 0.000 4 0.000 0.000 2643 3561 1580

7481 1.22 167.3 285.1 25.4 438 7490 0.77 3.58 0.90 0.001 6 0.000 0.000 2445 1722 1576

7811 1.56 208.3 249.0 10.5 454 7865 0.82 3.92 39.50 0.001 4 0.000 0.000 2638 3720 1409

8031 1.37 208.3 192.4 27.0 463 8044 0.45 3.83 0.00 0.000 6 0.000 0.000 2514 1819 1410

8360 1.47 208.3 138.2 15.8 479 8368 0.47 3.25 0.00 0.000 4 0.000 0.000 2630 3664 1413

8481 1.27 208.3 105.9 26.4 484 8490 0.77 3.70 0.00 0.000 6 0.000 0.000 2441 1837 1413

8848 1.61 246.0 62.8 10.7 541 8887 1.00 3.47 30.80 0.001 4 0.000 0.000 2720 3669 1257

9030 1.24 246.0 6.1 32.7 569 9039 1.12 3.33 0.00 0.000 6 0.000 0.000 2436 1832 1259

9043 end climb: SURFACE_DEPTH_REACHED

state 9043 begin surface coast

9051 end surface coast: CONTROL_FINISHED_OK

state 9051 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	4	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	4	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	1	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	-448686	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	203426,6632.059,-6030.581,33,1.1,33,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6642.207,-6029.120
_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	-69.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	203913,6632.059,-6030.581,34,1.1,35,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.933,-1.707	XPDR_PINGS	-1
FINISH	-0.0,1.024697	ALTIM_TOP_PING	19.7,19.8
SM_CCo	9079,127.75,0.000,3,0,420,450.37	ALTIM_BOTTOM_PING	400.9,83.2
SM_GC	-0.00,0.00,0.00,127.75,0.000,0.000,0.000,623,2161,420,-7.55,5.46,450.37	_24V_AH	23.7,53.375
RAFOS_CLK	0	_10V_AH	9.7,8.180
RAFOS	2,1160339043,20.416666,20.400833,80,0,0,0,0,0,1007,0,0,0,0,0	DATA_FILE_SIZE	18983,572
RAFOS_FIX	6631.947266,-6026.615234,081006,202000,3,80,0.00	CFSIZE	255582208,244039680
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,89,991,9,0
TT8_MAMPS	0.024544	SOUNDSPEED	1468.5
HUMID	2430	CURRENT	0.046,256.8,1
INTERNAL_PRESSURE	25.9967	GPS	081006,231459,6632.650,-6030.779,18,1.1,18,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	43	119	123.95	SBE_CT	458	24	260.65
Roll_motor	128	60	182.30	nil	0	0	0.00
VBD_pump_during_apogee	344	1300	10610.19	nil	0	0	0.00
VBD_pump_during_surface	127	600	1816.60	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	85	223	453.06
Transponder_ping	3	420	34.84
GPS	35	50	17.04
TT8	1728	19	334.04
LPSleep	5483	2	122.88
TT8_Active	783	19	151.45
TT8_Sampling	743	39	287.91
TT8_CF8	781	45	348.12
TT8_Kalman	0	0	0.00
Analog_circuits	1425	12	165.91
GPS_charging	0	0	0.00
Compass	623	26	157.17
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
34	end surface: CONTROL_FINISHED_OK
state	35	begin dive
41	-1.49	-116.8	0.0	0.0	0	129	0.00	0.00	-76.90	0.000	6	0.000	0.000	636	1741	2738
135	-1.49	-116.8	0.2	-0.5	9	152	6.75	2.17	0.00	0.000	4	0.000	0.000	1994	421	2735
311	-1.55	-116.8	27.0	-11.2	37	320	0.85	3.15	0.00	0.000	6	0.000	0.000	1850	2108	2739
679	-1.19	-116.8	78.1	-12.5	98	687	1.02	2.97	0.00	0.000	4	0.000	0.000	2090	3437	2742
763	-1.49	-116.8	83.8	-5.1	111	772	0.82	3.42	0.00	0.000	6	0.000	0.000	1901	1734	2738
1119	-1.28	-116.8	120.3	-10.5	147	1126	0.77	2.62	0.00	0.000	4	0.000	0.000	2012	3565	2733
1246	-1.42	-116.8	129.8	-6.3	152	1258	0.52	3.17	0.00	0.000	6	0.000	0.000	1890	1879	2740
1575	-1.19	-116.8	161.8	-10.0	168	1583	0.85	3.25	0.00	0.000	4	0.000	0.000	2084	3590	2739
1675	-1.54	-116.8	167.4	-4.5	172	1683	0.85	2.92	0.00	0.000	6	0.000	0.000	1898	1747	2736
2011	-1.32	-116.8	198.8	-9.5	188	2020	0.45	3.47	0.00	0.000	4	0.000	0.000	2036	3599	2734
2116	-1.46	-116.8	205.7	-5.9	192	2129	0.52	3.08	0.00	0.000	6	0.000	0.000	1899	1913	2734
2445	-1.22	-116.8	235.3	-9.3	208	2453	0.77	2.72	0.00	0.000	4	0.000	0.000	2060	3567	2739
2530	-1.49	-116.8	240.3	-4.5	211	2543	0.77	3.75	0.00	0.000	6	0.000	0.000	1882	1713	2735
2859	-1.23	-116.8	269.1	-9.1	227	2868	0.77	3.50	0.00	0.000	4	0.000	0.000	2064	3605	2735
2978	-1.49	-116.8	275.4	-4.4	232	2986	0.77	3.75	0.00	0.000	6	0.000	0.000	1886	1707	2729
3319	-1.21	-116.8	305.2	-9.0	248	3328	0.70	3.50	0.00	0.000	4	0.000	0.000	2051	3548	2736
3452	-1.44	-116.8	312.5	-4.1	253	3461	0.77	2.83	0.00	0.000	6	0.000	0.000	1863	1897	2732
3776	-1.14	-116.8	340.8	-9.1	269	3784	0.85	3.05	0.00	0.000	4	0.000	0.000	1996	3457	2740
3867	-1.25	-116.8	346.9	-6.0	272	3875	0.00	2.35	0.00	0.000	6	0.000	0.000	1980	1795	2738
4191	-1.27	-116.8	365.6	-5.9	288	4196	0.00	2.95	0.00	0.000	4	0.000	0.000	1999	3678	2742
4294	-1.33	-116.8	371.6	-5.5	292	4299	0.03	2.92	0.00	0.000	6	0.000	0.000	1996	1851	2741
4618	-1.36	-116.8	390.3	-5.7	307	4625	0.03	3.28	0.00	0.000	4	0.000	0.000	1997	3530	2731
4708	-1.41	-116.8	395.4	-5.7	310	4717	0.05	2.62	0.00	0.000	6	0.000	0.000	1983	1857	2735
5028	-1.43	-116.8	413.8	-5.6	326	5034	0.43	2.85	0.00	0.000	4	0.000	0.000	1862	3627	2738
5114	-1.15	-116.8	420.7	-9.0	329	5123	1.00	2.78	0.00	0.000	6	0.000	0.000	2039	2084	2733
5438	-1.33	-116.8	435.9	-4.4	345	5446	0.80	2.53	0.00	0.000	4	0.000	0.000	1932	3596	2740
5467	-1.28	-116.8	437.8	-5.9	346	5476	0.50	3.75	0.00	0.000	6	0.000	0.000	2048	1790	2738
5803	-1.62	-116.8	452.8	-4.9	362	5811	0.77	3.45	0.00	0.000	4	0.000	0.000	1865	3628	2736
5903	-1.35	-116.8	461.1	-8.7	366	5911	0.77	3.78	0.00	0.000	6	0.000	0.000	2057	1950	2733
6211	end dive: BOTTOM_OBSTACLE_DETECTED
state	6211	begin apogee
6223	-0.25	0.0	474.8	4.3	381	6355	1.02	0.00	112.95	0.000	6	0.000	0.000	2220	1952	2263
6356	end apogee: CONTROL_FINISHED_OK
state	6356	begin climb
6361	1.49	116.8	473.9	0.0	388	6502	2.33	4.07	112.35	0.001	4	0.000	0.000	2638	235	1786
6533	1.35	116.8	444.4	22.8	395	6541	0.77	3.40	0.00	0.000	6	0.000	0.000	2453	2225	1787
6868	1.67	167.3	410.2	9.7	411	6927	1.00	2.12	47.83	0.000	4	0.000	0.000	2708	3556	1582
6994	1.31	167.3	374.8	31.0	415	7004	1.00	3.58	0.05	0.003	6	0.000	0.000	2503	1700	1583
7318	1.41	167.3	324.9	14.8	431	7324	0.43	2.72	0.00	0.000	4	0.000	0.000	2643	3561	1580
7481	1.22	167.3	285.1	25.4	438	7490	0.77	3.58	0.90	0.001	6	0.000	0.000	2445	1722	1576
7811	1.56	208.3	249.0	10.5	454	7865	0.82	3.92	39.50	0.001	4	0.000	0.000	2638	3720	1409
8031	1.37	208.3	192.4	27.0	463	8044	0.45	3.83	0.00	0.000	6	0.000	0.000	2514	1819	1410
8360	1.47	208.3	138.2	15.8	479	8368	0.47	3.25	0.00	0.000	4	0.000	0.000	2630	3664	1413
8481	1.27	208.3	105.9	26.4	484	8490	0.77	3.70	0.00	0.000	6	0.000	0.000	2441	1837	1413
8848	1.61	246.0	62.8	10.7	541	8887	1.00	3.47	30.80	0.001	4	0.000	0.000	2720	3669	1257
9030	1.24	246.0	6.1	32.7	569	9039	1.12	3.33	0.00	0.000	6	0.000	0.000	2436	1832	1259
9043	end climb: SURFACE_DEPTH_REACHED
state	9043	begin surface coast
9051	end surface coast: CONTROL_FINISHED_OK
state	9051	begin surface