Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 70 * 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 70 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 166 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 157 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 -448120.5 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 -448120.5

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 166 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 157 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 70 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 141914,6636.516,-6006.610,26,1.1,26,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6646.740,-6005.238

_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 142323,6636.516,-6006.610,11,1.1,11,18.0 MHEAD_RNG_PITCHd_Wd 0.8,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025177 XPDR_PINGS -1

SM_CCo 8367,17.95,0.000,0,0,385,450.86 ALTIM_TOP_PING 19.2,18.2

SM_GC 0.33,0.00,0.00,17.95,0.000,0.000,0.000,611,2052,385,-7.68,1.98,450.86 ALTIM_BOTTOM_PING 501.3,75.1

RAFOS_CLK 0 _24V_AH 23.7,48.184

RAFOS 4,1160926141,15.500000,15.483611,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,7.337

RAFOS_FIX 6637.120605,-6002.827148,151006,161620,4,80,0.42 DATA_FILE_SIZE 15865,503

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239816704

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,57,792,0,0

HUMID 2388 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 26.0358 CURRENT 0.071,256.2,1

TCM_TEMP 15.00 GPS 151006,164518,6637.442,-6006.795,22,1.1,22,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 119 87.36 SBE_CT 419 24 238.63

Roll_motor 103 60 146.89 nil 0 0 0.00

VBD_pump_during_apogee 31 1300 957.42 nil 0 0 0.00

VBD_pump_during_surface 17 600 255.25 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 68 223 359.88

Transponder_ping 4 420 44.79

GPS 12 50 5.92

TT8 1685 19 325.74

LPSleep 5439 2 121.87

TT8_Active 235 19 45.47

TT8_Sampling 578 39 224.06

TT8_CF8 710 45 316.60

TT8_Kalman 0 81 0.00

Analog_circuits 739 12 86.10

GPS_charging 0 0 0.00

Compass 493 26 124.46

RAFOS 1800 1 26.19

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

42 -1.49 -116.8 0.0 0.0 0 58 0.00 0.00 -8.15 0.000 6 0.000 0.000 600 1893 2870

64 -1.49 -116.8 0.3 0.0 2 83 6.62 2.42 0.00 0.000 4 0.000 0.000 1983 533 2867

180 -1.49 -116.8 15.7 -10.1 19 189 0.52 3.08 0.00 0.000 6 0.000 0.000 1850 2051 2869

549 -1.65 -116.8 74.4 -15.6 80 557 0.00 2.75 0.00 0.000 4 0.000 0.000 1855 3251 2871

601 -1.32 -116.8 82.0 -16.2 87 609 0.77 1.92 0.00 0.000 6 0.000 0.000 2041 1884 2871

948 -1.00 -116.8 111.4 -7.8 127 953 0.00 2.75 0.00 0.000 4 0.000 0.000 2022 576 2874

1001 -1.17 -116.8 115.7 -7.5 129 1013 0.03 3.33 0.00 0.000 6 0.000 0.000 2046 2076 2868

1330 -1.45 -116.8 140.8 -7.8 145 1336 0.45 2.72 0.00 0.000 4 0.000 0.000 1925 569 2870

1378 -1.62 -116.8 146.8 -13.1 147 1383 0.03 2.45 0.00 0.000 6 0.000 0.000 1911 1952 2875

1704 -1.88 -116.8 188.5 -13.0 163 1711 0.62 2.72 0.00 0.000 4 0.000 0.000 1806 437 2869

1732 -1.74 -116.8 193.2 -16.6 164 1738 0.55 2.22 0.00 0.000 6 0.000 0.000 1908 1910 2877

2063 -1.63 -116.8 235.2 -13.1 180 2068 0.00 2.67 0.00 0.000 4 0.000 0.000 1911 567 2871

2093 -1.51 -116.8 239.6 -12.3 181 2097 0.05 1.85 0.00 0.000 6 0.000 0.000 1922 1755 2873

2419 -1.45 -116.8 281.5 -13.3 196 2426 0.38 3.25 0.00 0.000 4 0.000 0.000 2050 3444 2866

2518 -1.28 -116.8 290.6 -5.0 200 2526 0.52 2.75 0.00 0.000 6 0.000 0.000 1919 1783 2872

2853 -1.45 -116.8 329.6 -12.7 216 2858 0.05 1.98 0.00 0.000 4 0.000 0.000 2003 595 2873

2889 -1.32 -116.8 333.7 -10.1 217 2898 0.03 2.67 0.00 0.000 6 0.000 0.000 1986 1930 2879

3214 -1.51 -116.8 365.4 -9.9 233 3219 0.55 2.25 0.00 0.000 4 0.000 0.000 1863 603 2870

3239 -1.53 -116.8 369.6 -12.9 234 3244 0.50 2.03 0.00 0.000 6 0.000 0.000 1982 1942 2865

3564 -1.44 -116.8 403.5 -10.2 250 3570 0.08 2.65 0.00 0.000 4 0.000 0.000 1985 480 2867

3617 -1.44 -116.8 409.1 -10.0 252 3623 0.08 2.38 0.00 0.000 6 0.000 0.000 1972 1681 2871

3942 -1.61 -116.8 441.6 -10.3 267 3945 0.38 0.00 0.00 0.000 6 0.000 0.000 1850 1662 2874

4251 -1.62 -116.8 489.9 -15.9 282 4253 0.43 0.00 0.00 0.000 6 0.000 0.000 1993 1674 2872

4552 -1.34 -116.8 521.8 -10.1 292 4558 0.00 3.15 0.00 0.000 4 0.000 0.000 1982 3544 2871

4645 -1.35 -116.8 531.3 -10.0 294 4652 0.15 3.40 0.00 0.000 6 0.000 0.000 1978 1740 2872

4972 -1.38 -116.8 564.1 -10.0 302 4976 0.10 1.75 0.00 0.000 4 0.000 0.000 1937 565 2872

4985 end dive: BOTTOM_OBSTACLE_DETECTED

state 4985 begin apogee

5000 -0.25 0.0 566.5 10.2 302 5023 1.98 0.00 14.90 0.000 6 0.000 0.000 2266 2131 2242

5024 end apogee: CONTROL_FINISHED_OK

state 5024 begin climb

5029 1.49 116.8 569.0 0.0 303 5048 1.52 2.45 11.12 0.000 4 0.000 0.000 2679 3304 1771

5077 1.49 116.8 561.9 21.7 304 5083 0.57 2.15 0.00 0.000 6 0.000 0.000 2541 2138 1771

5406 1.22 122.8 516.3 13.3 312 5411 0.00 2.17 0.68 0.001 4 0.000 0.000 2533 3300 1745

5450 1.29 122.8 510.2 13.9 313 5455 0.03 2.12 0.00 0.000 6 0.000 0.000 2543 1960 1741

5787 1.36 123.6 464.7 13.7 327 5792 0.05 2.30 0.00 0.000 4 0.000 0.000 2531 3454 1741

5867 1.40 125.8 453.3 13.6 330 5872 0.40 2.35 0.00 0.000 6 0.000 0.000 2603 1920 1743

6191 1.45 125.8 396.5 18.0 345 6196 0.03 2.67 0.00 0.000 4 0.000 0.000 2613 637 1747

6238 1.32 125.8 386.9 19.2 347 6243 0.52 2.35 0.00 0.000 6 0.000 0.000 2478 2126 1745

6563 1.38 168.7 351.5 10.3 363 6574 0.43 2.88 4.38 0.001 4 0.000 0.000 2582 672 1563

6635 1.64 168.7 338.9 21.7 366 6640 0.00 2.58 0.00 0.000 6 0.000 0.000 2577 1977 1555

6970 1.64 168.7 266.3 20.9 382 6979 0.25 3.08 0.00 0.000 4 0.000 0.000 2643 502 1562

7032 1.52 168.7 249.1 25.8 384 7042 0.50 2.85 0.00 0.000 6 0.000 0.000 2542 2005 1554

7358 1.44 168.7 195.6 16.4 400 7364 0.47 2.75 0.00 0.000 4 0.000 0.000 2661 525 1560

7380 1.47 168.7 190.6 16.6 401 7386 0.52 2.47 0.00 0.000 6 0.000 0.000 2520 1722 1566

7712 1.47 168.7 134.1 16.7 417 7720 0.52 3.47 0.00 0.000 4 0.000 0.000 2658 3370 1554

8010 1.49 168.7 56.3 27.3 449 8019 0.52 2.78 0.00 0.000 6 0.000 0.000 2515 2050 1555

8318 end climb: SURFACE_DEPTH_REACHED

state 8319 begin surface coast

8338 end surface coast: CONTROL_FINISHED_OK

state 8338 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	70	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	166	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	157	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	-448120.5	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	141914,6636.516,-6006.610,26,1.1,26,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6646.740,-6005.238
_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	142323,6636.516,-6006.610,11,1.1,11,18.0	MHEAD_RNG_PITCHd_Wd	0.8,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025177	XPDR_PINGS	-1
SM_CCo	8367,17.95,0.000,0,0,385,450.86	ALTIM_TOP_PING	19.2,18.2
SM_GC	0.33,0.00,0.00,17.95,0.000,0.000,0.000,611,2052,385,-7.68,1.98,450.86	ALTIM_BOTTOM_PING	501.3,75.1
RAFOS_CLK	0	_24V_AH	23.7,48.184
RAFOS	4,1160926141,15.500000,15.483611,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,7.337
RAFOS_FIX	6637.120605,-6002.827148,151006,161620,4,80,0.42	DATA_FILE_SIZE	15865,503
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239816704
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,57,792,0,0
HUMID	2388	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	26.0358	CURRENT	0.071,256.2,1
TCM_TEMP	15.00	GPS	151006,164518,6637.442,-6006.795,22,1.1,22,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	119	87.36	SBE_CT	419	24	238.63
Roll_motor	103	60	146.89	nil	0	0	0.00
VBD_pump_during_apogee	31	1300	957.42	nil	0	0	0.00
VBD_pump_during_surface	17	600	255.25	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	68	223	359.88
Transponder_ping	4	420	44.79
GPS	12	50	5.92
TT8	1685	19	325.74
LPSleep	5439	2	121.87
TT8_Active	235	19	45.47
TT8_Sampling	578	39	224.06
TT8_CF8	710	45	316.60
TT8_Kalman	0	81	0.00
Analog_circuits	739	12	86.10
GPS_charging	0	0	0.00
Compass	493	26	124.46
RAFOS	1800	1	26.19

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
42	-1.49	-116.8	0.0	0.0	0	58	0.00	0.00	-8.15	0.000	6	0.000	0.000	600	1893	2870
64	-1.49	-116.8	0.3	0.0	2	83	6.62	2.42	0.00	0.000	4	0.000	0.000	1983	533	2867
180	-1.49	-116.8	15.7	-10.1	19	189	0.52	3.08	0.00	0.000	6	0.000	0.000	1850	2051	2869
549	-1.65	-116.8	74.4	-15.6	80	557	0.00	2.75	0.00	0.000	4	0.000	0.000	1855	3251	2871
601	-1.32	-116.8	82.0	-16.2	87	609	0.77	1.92	0.00	0.000	6	0.000	0.000	2041	1884	2871
948	-1.00	-116.8	111.4	-7.8	127	953	0.00	2.75	0.00	0.000	4	0.000	0.000	2022	576	2874
1001	-1.17	-116.8	115.7	-7.5	129	1013	0.03	3.33	0.00	0.000	6	0.000	0.000	2046	2076	2868
1330	-1.45	-116.8	140.8	-7.8	145	1336	0.45	2.72	0.00	0.000	4	0.000	0.000	1925	569	2870
1378	-1.62	-116.8	146.8	-13.1	147	1383	0.03	2.45	0.00	0.000	6	0.000	0.000	1911	1952	2875
1704	-1.88	-116.8	188.5	-13.0	163	1711	0.62	2.72	0.00	0.000	4	0.000	0.000	1806	437	2869
1732	-1.74	-116.8	193.2	-16.6	164	1738	0.55	2.22	0.00	0.000	6	0.000	0.000	1908	1910	2877
2063	-1.63	-116.8	235.2	-13.1	180	2068	0.00	2.67	0.00	0.000	4	0.000	0.000	1911	567	2871
2093	-1.51	-116.8	239.6	-12.3	181	2097	0.05	1.85	0.00	0.000	6	0.000	0.000	1922	1755	2873
2419	-1.45	-116.8	281.5	-13.3	196	2426	0.38	3.25	0.00	0.000	4	0.000	0.000	2050	3444	2866
2518	-1.28	-116.8	290.6	-5.0	200	2526	0.52	2.75	0.00	0.000	6	0.000	0.000	1919	1783	2872
2853	-1.45	-116.8	329.6	-12.7	216	2858	0.05	1.98	0.00	0.000	4	0.000	0.000	2003	595	2873
2889	-1.32	-116.8	333.7	-10.1	217	2898	0.03	2.67	0.00	0.000	6	0.000	0.000	1986	1930	2879
3214	-1.51	-116.8	365.4	-9.9	233	3219	0.55	2.25	0.00	0.000	4	0.000	0.000	1863	603	2870
3239	-1.53	-116.8	369.6	-12.9	234	3244	0.50	2.03	0.00	0.000	6	0.000	0.000	1982	1942	2865
3564	-1.44	-116.8	403.5	-10.2	250	3570	0.08	2.65	0.00	0.000	4	0.000	0.000	1985	480	2867
3617	-1.44	-116.8	409.1	-10.0	252	3623	0.08	2.38	0.00	0.000	6	0.000	0.000	1972	1681	2871
3942	-1.61	-116.8	441.6	-10.3	267	3945	0.38	0.00	0.00	0.000	6	0.000	0.000	1850	1662	2874
4251	-1.62	-116.8	489.9	-15.9	282	4253	0.43	0.00	0.00	0.000	6	0.000	0.000	1993	1674	2872
4552	-1.34	-116.8	521.8	-10.1	292	4558	0.00	3.15	0.00	0.000	4	0.000	0.000	1982	3544	2871
4645	-1.35	-116.8	531.3	-10.0	294	4652	0.15	3.40	0.00	0.000	6	0.000	0.000	1978	1740	2872
4972	-1.38	-116.8	564.1	-10.0	302	4976	0.10	1.75	0.00	0.000	4	0.000	0.000	1937	565	2872
4985	end dive: BOTTOM_OBSTACLE_DETECTED
state	4985	begin apogee
5000	-0.25	0.0	566.5	10.2	302	5023	1.98	0.00	14.90	0.000	6	0.000	0.000	2266	2131	2242
5024	end apogee: CONTROL_FINISHED_OK
state	5024	begin climb
5029	1.49	116.8	569.0	0.0	303	5048	1.52	2.45	11.12	0.000	4	0.000	0.000	2679	3304	1771
5077	1.49	116.8	561.9	21.7	304	5083	0.57	2.15	0.00	0.000	6	0.000	0.000	2541	2138	1771
5406	1.22	122.8	516.3	13.3	312	5411	0.00	2.17	0.68	0.001	4	0.000	0.000	2533	3300	1745
5450	1.29	122.8	510.2	13.9	313	5455	0.03	2.12	0.00	0.000	6	0.000	0.000	2543	1960	1741
5787	1.36	123.6	464.7	13.7	327	5792	0.05	2.30	0.00	0.000	4	0.000	0.000	2531	3454	1741
5867	1.40	125.8	453.3	13.6	330	5872	0.40	2.35	0.00	0.000	6	0.000	0.000	2603	1920	1743
6191	1.45	125.8	396.5	18.0	345	6196	0.03	2.67	0.00	0.000	4	0.000	0.000	2613	637	1747
6238	1.32	125.8	386.9	19.2	347	6243	0.52	2.35	0.00	0.000	6	0.000	0.000	2478	2126	1745
6563	1.38	168.7	351.5	10.3	363	6574	0.43	2.88	4.38	0.001	4	0.000	0.000	2582	672	1563
6635	1.64	168.7	338.9	21.7	366	6640	0.00	2.58	0.00	0.000	6	0.000	0.000	2577	1977	1555
6970	1.64	168.7	266.3	20.9	382	6979	0.25	3.08	0.00	0.000	4	0.000	0.000	2643	502	1562
7032	1.52	168.7	249.1	25.8	384	7042	0.50	2.85	0.00	0.000	6	0.000	0.000	2542	2005	1554
7358	1.44	168.7	195.6	16.4	400	7364	0.47	2.75	0.00	0.000	4	0.000	0.000	2661	525	1560
7380	1.47	168.7	190.6	16.6	401	7386	0.52	2.47	0.00	0.000	6	0.000	0.000	2520	1722	1566
7712	1.47	168.7	134.1	16.7	417	7720	0.52	3.47	0.00	0.000	4	0.000	0.000	2658	3370	1554
8010	1.49	168.7	56.3	27.3	449	8019	0.52	2.78	0.00	0.000	6	0.000	0.000	2515	2050	1555
8318	end climb: SURFACE_DEPTH_REACHED
state	8319	begin surface coast
8338	end surface coast: CONTROL_FINISHED_OK
state	8338	begin surface