Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 81 * 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 81 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 179 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 7 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 -448424.5 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 -448424.5

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 179 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 7 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 81 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 170943,6636.171,-6006.867,28,1.1,28,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6644.058,-6003.953

_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 171400,6636.171,-6006.867,19,1.1,19,18.0 MHEAD_RNG_PITCHd_Wd 25.1,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024909 ALTIM_TOP_PING 18.6,19.4

SM_CCo 9168,20.48,0.000,0,0,395,450.62 ALTIM_BOTTOM_PING 501.2,74.4

SM_GC 0.34,0.00,0.00,20.48,0.000,0.000,0.000,635,2053,395,-7.47,2.46,450.62 _24V_AH 23.7,51.157

RAFOS_CLK 0 _10V_AH 9.7,7.799

RAFOS_FIX 6636.688477,-6003.625000,161006,161620,4,80,0.68 DATA_FILE_SIZE 18964,577

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239071232

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,57,717,0,0

HUMID 2349 SOUNDSPEED 1459.5

INTERNAL_PRESSURE 25.9869 CURRENT 0.061,288.5,1

TCM_TEMP 15.00 GPS 161006,194912,6637.074,-6005.926,29,1.1,30,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 119 85.74 SBE_CT 476 24 271.13

Roll_motor 93 60 132.81 nil 0 0 0.00

VBD_pump_during_apogee 26 1300 826.48 nil 0 0 0.00

VBD_pump_during_surface 20 600 291.15 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 67 223 357.16

Transponder_ping 4 420 44.79

GPS 20 50 9.93

TT8 1805 19 348.84

LPSleep 6063 2 135.86

TT8_Active 228 19 44.24

TT8_Sampling 610 39 236.51

TT8_CF8 740 45 329.86

TT8_Kalman 0 81 0.00

Analog_circuits 747 12 87.05

GPS_charging 0 0 0.00

Compass 511 26 129.11

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

42 -1.49 -116.8 0.0 0.0 0 58 0.00 0.00 -8.07 0.000 6 0.000 0.000 639 2063 2852

64 -1.49 -116.8 0.3 0.1 2 82 6.90 2.45 0.00 0.000 4 0.000 0.000 2021 3424 2860

308 -1.49 -116.8 25.6 -8.4 41 317 0.60 2.97 0.00 0.000 6 0.000 0.000 1890 2037 2861

678 -1.69 -116.8 77.2 -14.0 102 686 0.00 2.88 0.00 0.000 4 0.000 0.000 1887 3705 2859

739 -1.45 -116.8 86.0 -14.2 111 748 0.52 2.75 0.00 0.000 6 0.000 0.000 2032 1982 2865

1094 -1.41 -116.8 117.9 -8.7 145 1102 0.60 3.03 0.00 0.000 4 0.000 0.000 1889 3693 2864

1146 -1.51 -116.8 124.8 -14.8 147 1152 0.47 2.67 0.00 0.000 6 0.000 0.000 1991 2025 2863

1473 -1.46 -116.8 154.6 -8.9 163 1478 0.52 2.25 0.00 0.000 4 0.000 0.000 1897 3548 2862

1526 -1.53 -116.8 162.0 -14.7 165 1538 0.52 2.75 0.00 0.000 6 0.000 0.000 1992 2045 2862

1854 -1.45 -116.8 191.3 -8.9 181 1860 0.62 2.47 0.00 0.000 4 0.000 0.000 1897 3396 2864

1899 -1.53 -116.8 197.5 -14.4 183 1905 0.52 1.85 0.00 0.000 6 0.000 0.000 2021 2240 2852

2230 -1.40 -116.8 227.2 -8.9 199 2238 0.47 3.28 0.00 0.000 4 0.000 0.000 1905 580 2855

2257 -1.48 -116.8 230.0 -10.7 200 2263 0.45 2.58 0.00 0.000 6 0.000 0.000 2011 2237 2851

2589 -1.50 -116.8 260.8 -9.0 216 2595 0.43 2.75 0.00 0.000 4 0.000 0.000 1885 3571 2864

2620 -1.58 -116.8 264.5 -12.1 217 2625 0.30 2.15 0.00 0.000 6 0.000 0.000 1936 2070 2859

2945 -1.53 -116.8 300.7 -10.4 232 2950 0.03 2.40 0.00 0.000 4 0.000 0.000 1951 3372 2865

2981 -1.57 -116.8 305.4 -11.6 233 2990 0.35 2.47 0.00 0.000 6 0.000 0.000 1895 2226 2864

3306 -1.59 -116.8 350.5 -14.3 249 3307 0.00 0.00 0.00 0.000 6 0.000 0.000 1876 2231 2864

3610 -1.34 -116.8 394.9 -14.3 264 3612 0.57 0.00 0.00 0.000 6 0.000 0.000 2008 2247 2863

3925 -1.09 -116.8 422.9 -8.6 279 3926 0.00 0.00 0.00 0.000 6 0.000 0.000 2019 2236 2864

4229 -1.18 -116.8 449.6 -8.7 294 4230 0.00 0.00 0.00 0.000 6 0.000 0.000 2017 2223 2860

4539 -1.27 -116.8 475.8 -8.7 309 4545 0.00 3.17 0.00 0.000 4 0.000 0.000 2037 532 2860

4564 -1.39 -116.8 478.3 -8.8 310 4572 0.52 3.30 0.00 0.000 6 0.000 0.000 1888 2405 2861

4891 -1.61 -116.8 524.1 -14.3 322 4896 0.00 2.95 0.00 0.000 4 0.000 0.000 1895 754 2862

4927 -1.39 -116.8 529.7 -14.9 322 4936 0.52 3.00 0.00 0.000 6 0.000 0.000 2003 2268 2866

5262 -1.34 -116.8 561.2 -9.2 331 5263 0.10 0.00 0.00 0.000 6 0.000 0.000 1994 2261 2863

5337 end dive: BOTTOM_OBSTACLE_DETECTED

state 5337 begin apogee

5350 -0.25 0.0 568.7 9.3 333 5368 1.05 0.00 14.88 0.000 6 0.000 0.000 2228 1920 2245

5369 end apogee: CONTROL_FINISHED_OK

state 5369 begin climb

5375 1.49 116.8 568.7 0.0 333 5391 2.05 0.00 11.27 0.000 6 0.000 0.000 2590 1925 1763

5710 1.49 116.8 512.6 18.5 342 5715 0.20 2.50 0.00 0.000 4 0.000 0.000 2547 3593 1771

5829 1.34 116.8 494.3 14.8 345 5835 0.00 3.20 0.00 0.000 6 0.000 0.000 2548 1921 1768

6158 1.45 116.8 447.0 14.6 361 6164 0.25 2.88 0.00 0.000 4 0.000 0.000 2584 3422 1772

6273 1.45 116.8 426.3 17.8 366 6278 0.17 2.28 0.00 0.000 6 0.001 0.000 2560 2288 1762

6609 1.40 116.8 379.5 13.8 382 6610 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2281 1761

6913 1.40 116.8 336.7 13.9 397 6915 0.08 0.00 0.00 0.000 6 0.000 0.000 2533 2281 1772

7222 1.40 116.8 293.9 14.0 412 7227 0.00 2.55 0.00 0.000 4 0.000 0.000 2553 3623 1760

7257 1.40 116.8 288.7 13.8 413 7266 0.28 3.03 0.00 0.000 6 0.000 0.000 2603 1982 1767

7581 1.53 116.8 232.5 17.9 429 7587 0.03 3.12 0.00 0.000 4 0.000 0.000 2592 3658 1770

7675 1.38 116.8 215.6 17.8 433 7682 0.22 3.15 0.00 0.000 6 0.000 0.000 2554 2188 1773

8015 1.38 116.8 167.8 13.8 449 8021 0.22 2.88 0.00 0.000 4 0.000 0.000 2609 3385 1773

8046 1.40 116.8 161.6 17.5 450 8051 0.28 2.12 0.00 0.000 6 0.000 0.000 2534 2043 1769

8370 1.36 116.8 117.2 13.9 465 8375 0.08 2.78 0.00 0.000 4 0.000 0.000 2540 3357 1764

8464 1.38 116.8 102.9 13.8 469 8468 0.00 2.15 0.00 0.000 6 0.000 0.000 2535 2223 1763

8828 1.48 123.7 50.0 13.2 528 8838 0.47 2.67 0.68 0.001 4 0.000 0.000 2667 3427 1734

8872 1.51 123.7 42.7 21.8 533 8881 0.52 2.67 0.00 0.000 6 0.000 0.000 2540 2234 1735

9121 end climb: SURFACE_DEPTH_REACHED

state 9121 begin surface coast

9140 end surface coast: CONTROL_FINISHED_OK

state 9140 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	81	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	179	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	7	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	-448424.5	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	170943,6636.171,-6006.867,28,1.1,28,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6644.058,-6003.953
_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	171400,6636.171,-6006.867,19,1.1,19,18.0	MHEAD_RNG_PITCHd_Wd	25.1,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024909	ALTIM_TOP_PING	18.6,19.4
SM_CCo	9168,20.48,0.000,0,0,395,450.62	ALTIM_BOTTOM_PING	501.2,74.4
SM_GC	0.34,0.00,0.00,20.48,0.000,0.000,0.000,635,2053,395,-7.47,2.46,450.62	_24V_AH	23.7,51.157
RAFOS_CLK	0	_10V_AH	9.7,7.799
RAFOS_FIX	6636.688477,-6003.625000,161006,161620,4,80,0.68	DATA_FILE_SIZE	18964,577
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239071232
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,57,717,0,0
HUMID	2349	SOUNDSPEED	1459.5
INTERNAL_PRESSURE	25.9869	CURRENT	0.061,288.5,1
TCM_TEMP	15.00	GPS	161006,194912,6637.074,-6005.926,29,1.1,30,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	119	85.74	SBE_CT	476	24	271.13
Roll_motor	93	60	132.81	nil	0	0	0.00
VBD_pump_during_apogee	26	1300	826.48	nil	0	0	0.00
VBD_pump_during_surface	20	600	291.15	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	357.16
Transponder_ping	4	420	44.79
GPS	20	50	9.93
TT8	1805	19	348.84
LPSleep	6063	2	135.86
TT8_Active	228	19	44.24
TT8_Sampling	610	39	236.51
TT8_CF8	740	45	329.86
TT8_Kalman	0	81	0.00
Analog_circuits	747	12	87.05
GPS_charging	0	0	0.00
Compass	511	26	129.11
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
42	-1.49	-116.8	0.0	0.0	0	58	0.00	0.00	-8.07	0.000	6	0.000	0.000	639	2063	2852
64	-1.49	-116.8	0.3	0.1	2	82	6.90	2.45	0.00	0.000	4	0.000	0.000	2021	3424	2860
308	-1.49	-116.8	25.6	-8.4	41	317	0.60	2.97	0.00	0.000	6	0.000	0.000	1890	2037	2861
678	-1.69	-116.8	77.2	-14.0	102	686	0.00	2.88	0.00	0.000	4	0.000	0.000	1887	3705	2859
739	-1.45	-116.8	86.0	-14.2	111	748	0.52	2.75	0.00	0.000	6	0.000	0.000	2032	1982	2865
1094	-1.41	-116.8	117.9	-8.7	145	1102	0.60	3.03	0.00	0.000	4	0.000	0.000	1889	3693	2864
1146	-1.51	-116.8	124.8	-14.8	147	1152	0.47	2.67	0.00	0.000	6	0.000	0.000	1991	2025	2863
1473	-1.46	-116.8	154.6	-8.9	163	1478	0.52	2.25	0.00	0.000	4	0.000	0.000	1897	3548	2862
1526	-1.53	-116.8	162.0	-14.7	165	1538	0.52	2.75	0.00	0.000	6	0.000	0.000	1992	2045	2862
1854	-1.45	-116.8	191.3	-8.9	181	1860	0.62	2.47	0.00	0.000	4	0.000	0.000	1897	3396	2864
1899	-1.53	-116.8	197.5	-14.4	183	1905	0.52	1.85	0.00	0.000	6	0.000	0.000	2021	2240	2852
2230	-1.40	-116.8	227.2	-8.9	199	2238	0.47	3.28	0.00	0.000	4	0.000	0.000	1905	580	2855
2257	-1.48	-116.8	230.0	-10.7	200	2263	0.45	2.58	0.00	0.000	6	0.000	0.000	2011	2237	2851
2589	-1.50	-116.8	260.8	-9.0	216	2595	0.43	2.75	0.00	0.000	4	0.000	0.000	1885	3571	2864
2620	-1.58	-116.8	264.5	-12.1	217	2625	0.30	2.15	0.00	0.000	6	0.000	0.000	1936	2070	2859
2945	-1.53	-116.8	300.7	-10.4	232	2950	0.03	2.40	0.00	0.000	4	0.000	0.000	1951	3372	2865
2981	-1.57	-116.8	305.4	-11.6	233	2990	0.35	2.47	0.00	0.000	6	0.000	0.000	1895	2226	2864
3306	-1.59	-116.8	350.5	-14.3	249	3307	0.00	0.00	0.00	0.000	6	0.000	0.000	1876	2231	2864
3610	-1.34	-116.8	394.9	-14.3	264	3612	0.57	0.00	0.00	0.000	6	0.000	0.000	2008	2247	2863
3925	-1.09	-116.8	422.9	-8.6	279	3926	0.00	0.00	0.00	0.000	6	0.000	0.000	2019	2236	2864
4229	-1.18	-116.8	449.6	-8.7	294	4230	0.00	0.00	0.00	0.000	6	0.000	0.000	2017	2223	2860
4539	-1.27	-116.8	475.8	-8.7	309	4545	0.00	3.17	0.00	0.000	4	0.000	0.000	2037	532	2860
4564	-1.39	-116.8	478.3	-8.8	310	4572	0.52	3.30	0.00	0.000	6	0.000	0.000	1888	2405	2861
4891	-1.61	-116.8	524.1	-14.3	322	4896	0.00	2.95	0.00	0.000	4	0.000	0.000	1895	754	2862
4927	-1.39	-116.8	529.7	-14.9	322	4936	0.52	3.00	0.00	0.000	6	0.000	0.000	2003	2268	2866
5262	-1.34	-116.8	561.2	-9.2	331	5263	0.10	0.00	0.00	0.000	6	0.000	0.000	1994	2261	2863
5337	end dive: BOTTOM_OBSTACLE_DETECTED
state	5337	begin apogee
5350	-0.25	0.0	568.7	9.3	333	5368	1.05	0.00	14.88	0.000	6	0.000	0.000	2228	1920	2245
5369	end apogee: CONTROL_FINISHED_OK
state	5369	begin climb
5375	1.49	116.8	568.7	0.0	333	5391	2.05	0.00	11.27	0.000	6	0.000	0.000	2590	1925	1763
5710	1.49	116.8	512.6	18.5	342	5715	0.20	2.50	0.00	0.000	4	0.000	0.000	2547	3593	1771
5829	1.34	116.8	494.3	14.8	345	5835	0.00	3.20	0.00	0.000	6	0.000	0.000	2548	1921	1768
6158	1.45	116.8	447.0	14.6	361	6164	0.25	2.88	0.00	0.000	4	0.000	0.000	2584	3422	1772
6273	1.45	116.8	426.3	17.8	366	6278	0.17	2.28	0.00	0.000	6	0.001	0.000	2560	2288	1762
6609	1.40	116.8	379.5	13.8	382	6610	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2281	1761
6913	1.40	116.8	336.7	13.9	397	6915	0.08	0.00	0.00	0.000	6	0.000	0.000	2533	2281	1772
7222	1.40	116.8	293.9	14.0	412	7227	0.00	2.55	0.00	0.000	4	0.000	0.000	2553	3623	1760
7257	1.40	116.8	288.7	13.8	413	7266	0.28	3.03	0.00	0.000	6	0.000	0.000	2603	1982	1767
7581	1.53	116.8	232.5	17.9	429	7587	0.03	3.12	0.00	0.000	4	0.000	0.000	2592	3658	1770
7675	1.38	116.8	215.6	17.8	433	7682	0.22	3.15	0.00	0.000	6	0.000	0.000	2554	2188	1773
8015	1.38	116.8	167.8	13.8	449	8021	0.22	2.88	0.00	0.000	4	0.000	0.000	2609	3385	1773
8046	1.40	116.8	161.6	17.5	450	8051	0.28	2.12	0.00	0.000	6	0.000	0.000	2534	2043	1769
8370	1.36	116.8	117.2	13.9	465	8375	0.08	2.78	0.00	0.000	4	0.000	0.000	2540	3357	1764
8464	1.38	116.8	102.9	13.8	469	8468	0.00	2.15	0.00	0.000	6	0.000	0.000	2535	2223	1763
8828	1.48	123.7	50.0	13.2	528	8838	0.47	2.67	0.68	0.001	4	0.000	0.000	2667	3427	1734
8872	1.51	123.7	42.7	21.8	533	8881	0.52	2.67	0.00	0.000	6	0.000	0.000	2540	2234	1735
9121	end climb: SURFACE_DEPTH_REACHED
state	9121	begin surface coast
9140	end surface coast: CONTROL_FINISHED_OK
state	9140	begin surface