Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 82 * 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 82 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 162 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 -448445.66 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 -448445.66

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 162 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 82 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 194912,6637.074,-6005.926,29,1.1,30,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6643.791,-6009.267

_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 195326,6637.074,-6005.926,19,1.1,19,18.0 MHEAD_RNG_PITCHd_Wd 290.5,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024867 XPDR_PINGS -1

SM_CCo 8640,18.77,0.000,0,0,401,451.60 ALTIM_TOP_PING 19.7,18.9

SM_GC 0.34,0.00,0.00,18.77,0.000,0.000,0.000,612,1957,401,-7.59,-0.71,451.60 ALTIM_BOTTOM_PING 502.0,75.7

RAFOS_CLK 0 _24V_AH 23.7,51.450

RAFOS 0,1161029042,20.083334,20.067223,80,0,0,0,0,0,590,0,0,0,0,0 _10V_AH 9.7,7.842

RAFOS_FIX 6636.880859,-6003.365234,161006,202020,4,80,1.15 DATA_FILE_SIZE 15846,534

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239017984

TT8_MAMPS 0.02301 ERRORS 0,0,0,0,0,0,0,0,0,0,0,48,766,0,0

HUMID 2348 SOUNDSPEED 1459.6

INTERNAL_PRESSURE 25.9869 CURRENT 0.075,193.4,1

TCM_TEMP 15.00 GPS 161006,221949,6637.352,-6008.175,17,1.1,17,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 119 78.55 SBE_CT 442 24 251.94

Roll_motor 98 60 140.07 nil 0 0 0.00

VBD_pump_during_apogee 29 1300 900.42 nil 0 0 0.00

VBD_pump_during_surface 18 600 266.98 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 67 223 357.17

Transponder_ping 4 420 44.79

GPS 20 50 9.96

TT8 1721 19 332.58

LPSleep 5651 2 126.63

TT8_Active 238 19 46.13

TT8_Sampling 590 39 228.60

TT8_CF8 725 45 323.19

TT8_Kalman 0 81 0.00

Analog_circuits 741 12 86.28

GPS_charging 0 0 0.00

Compass 493 26 124.36

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 36 begin dive

42 -1.49 -116.8 0.0 0.0 0 57 0.00 0.00 -7.97 0.000 6 0.000 0.000 637 2057 2833

63 -1.49 -116.8 0.3 -0.0 2 80 6.47 2.50 0.00 0.000 4 0.000 0.000 1991 3557 2838

281 -1.49 -116.8 25.2 -9.8 37 290 0.47 3.33 0.00 0.000 6 0.000 0.000 1857 1885 2841

650 -1.62 -116.8 81.5 -13.8 98 660 0.40 3.50 0.00 0.000 4 0.000 0.000 1968 3586 2835

741 -1.37 -116.8 91.5 -10.0 112 750 0.00 2.83 0.00 0.000 6 0.000 0.000 1994 1922 2836

1084 -1.49 -116.8 124.4 -10.2 138 1092 0.08 3.88 0.00 0.000 4 0.000 0.000 1949 3557 2841

1160 -1.47 -116.8 132.3 -10.4 141 1166 0.10 2.97 0.00 0.000 6 0.000 0.000 1963 2223 2839

1492 -1.58 -116.8 166.5 -10.2 157 1500 0.50 3.00 0.00 0.000 4 0.000 0.000 1857 511 2843

1518 -1.55 -116.8 169.8 -12.6 158 1526 0.52 2.88 0.00 0.000 6 0.000 0.000 1956 2047 2837

1854 -1.48 -116.8 205.3 -10.2 174 1858 0.00 2.58 0.00 0.000 4 0.000 0.000 1968 3391 2840

1939 -1.45 -116.8 213.6 -8.4 177 1949 0.12 2.78 0.00 0.000 6 0.001 0.000 1971 2205 2841

2265 -1.64 -116.8 246.8 -10.4 193 2272 0.50 3.03 0.00 0.000 4 0.000 0.000 1835 550 2835

2291 -1.60 -116.8 250.5 -11.7 194 2299 0.52 3.17 0.00 0.000 6 0.000 0.000 1957 2215 2843

2627 -1.53 -116.8 287.9 -10.8 210 2631 0.00 2.12 0.00 0.000 4 0.000 0.000 1968 3565 2835

2662 -1.45 -116.8 292.0 -10.6 211 2671 0.00 2.78 0.00 0.000 6 0.000 0.000 1940 2233 2838

2989 -1.54 -116.8 324.9 -9.2 227 2997 0.47 3.05 0.00 0.000 4 0.000 0.000 1890 565 2840

3015 -1.77 -116.8 328.7 -11.4 228 3021 0.00 3.08 0.00 0.000 6 0.000 0.000 1897 2236 2835

3351 -1.85 -116.8 372.2 -13.2 244 3357 0.47 2.72 0.00 0.000 4 0.000 0.000 1793 3544 2835

3377 -1.68 -116.8 377.4 -15.5 245 3385 0.82 2.70 0.00 0.000 6 0.000 0.000 1981 2007 2833

3707 -1.36 -116.8 413.0 -10.3 261 3711 0.00 2.45 0.00 0.000 4 0.000 0.000 1955 3539 2835

3765 -1.31 -116.8 419.4 -10.4 263 3774 0.00 2.88 0.00 0.000 6 0.000 0.000 1963 2169 2833

4089 -1.41 -116.8 452.3 -10.4 279 4091 0.00 0.00 0.00 0.000 6 0.000 0.000 1970 2163 2840

4394 -1.36 -116.8 484.4 -10.4 294 4399 0.00 2.35 0.00 0.000 4 0.000 0.000 1962 3680 2831

4424 -1.31 -116.8 487.8 -10.6 295 4437 0.00 3.65 0.00 0.000 6 0.000 0.000 1975 2011 2831

4767 -1.40 -116.8 523.1 -10.3 307 4771 0.00 2.50 0.00 0.000 4 0.000 0.000 1969 3514 2837

4825 -1.36 -116.8 529.4 -10.6 308 4830 0.00 2.67 0.00 0.000 6 0.000 0.000 1952 2219 2839

5177 -1.45 -116.8 565.7 -10.4 317 5178 0.00 0.00 0.00 0.000 6 0.000 0.000 1975 2222 2837

5211 end dive: BOTTOM_OBSTACLE_DETECTED

state 5211 begin apogee

5224 -0.25 0.0 569.9 10.4 318 5242 1.27 0.00 14.32 0.000 6 0.000 0.000 2294 2052 2246

5243 end apogee: CONTROL_FINISHED_OK

state 5243 begin climb

5249 1.49 116.8 569.9 0.0 318 5264 1.73 0.00 11.20 0.000 6 0.000 0.000 2645 2023 1772

5584 1.49 116.8 508.7 20.0 327 5591 0.00 3.38 0.00 0.000 4 0.000 0.000 2613 3473 1768

5706 1.27 116.8 485.6 20.6 331 5713 0.68 2.53 0.00 0.000 6 0.000 0.000 2500 2161 1771

6047 1.16 139.4 442.3 11.9 347 6055 0.00 2.70 2.22 0.001 4 0.000 0.000 2506 3645 1680

6084 1.29 140.1 436.8 13.7 348 6097 0.45 3.33 0.00 0.000 6 0.000 0.000 2632 1969 1676

6414 1.50 140.1 366.6 23.3 364 6420 0.40 2.78 0.00 0.000 4 0.000 0.000 2508 3467 1674

6522 1.20 152.2 349.7 12.8 368 6531 0.00 2.45 1.48 0.001 6 0.000 0.000 2522 1964 1619

6846 1.40 154.1 306.5 13.6 384 6854 0.43 3.03 0.00 0.000 4 0.000 0.000 2623 3644 1617

6945 1.51 154.1 286.2 22.6 388 6952 0.52 3.12 0.00 0.000 6 0.000 0.000 2478 2131 1621

7285 1.43 157.2 236.4 13.5 404 7291 0.60 2.45 0.00 0.000 4 0.000 0.000 2637 3644 1611

7330 1.54 157.2 226.7 22.6 406 7335 0.22 2.28 0.00 0.000 6 0.000 0.000 2542 2311 1622

7666 1.47 157.2 167.3 17.6 422 7668 0.15 0.00 0.00 0.000 6 0.000 0.000 2541 2296 1619

7970 1.41 157.2 112.6 17.8 437 7971 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2302 1624

8317 1.35 157.2 52.1 17.4 485 8324 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2293 1621

8599 end climb: SURFACE_DEPTH_REACHED

state 8599 begin surface coast

8611 end surface coast: CONTROL_FINISHED_OK

state 8611 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	82	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	162	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	-448445.66	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	194912,6637.074,-6005.926,29,1.1,30,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6643.791,-6009.267
_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	195326,6637.074,-6005.926,19,1.1,19,18.0	MHEAD_RNG_PITCHd_Wd	290.5,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024867	XPDR_PINGS	-1
SM_CCo	8640,18.77,0.000,0,0,401,451.60	ALTIM_TOP_PING	19.7,18.9
SM_GC	0.34,0.00,0.00,18.77,0.000,0.000,0.000,612,1957,401,-7.59,-0.71,451.60	ALTIM_BOTTOM_PING	502.0,75.7
RAFOS_CLK	0	_24V_AH	23.7,51.450
RAFOS	0,1161029042,20.083334,20.067223,80,0,0,0,0,0,590,0,0,0,0,0	_10V_AH	9.7,7.842
RAFOS_FIX	6636.880859,-6003.365234,161006,202020,4,80,1.15	DATA_FILE_SIZE	15846,534
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239017984
TT8_MAMPS	0.02301	ERRORS	0,0,0,0,0,0,0,0,0,0,0,48,766,0,0
HUMID	2348	SOUNDSPEED	1459.6
INTERNAL_PRESSURE	25.9869	CURRENT	0.075,193.4,1
TCM_TEMP	15.00	GPS	161006,221949,6637.352,-6008.175,17,1.1,17,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	119	78.55	SBE_CT	442	24	251.94
Roll_motor	98	60	140.07	nil	0	0	0.00
VBD_pump_during_apogee	29	1300	900.42	nil	0	0	0.00
VBD_pump_during_surface	18	600	266.98	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	357.17
Transponder_ping	4	420	44.79
GPS	20	50	9.96
TT8	1721	19	332.58
LPSleep	5651	2	126.63
TT8_Active	238	19	46.13
TT8_Sampling	590	39	228.60
TT8_CF8	725	45	323.19
TT8_Kalman	0	81	0.00
Analog_circuits	741	12	86.28
GPS_charging	0	0	0.00
Compass	493	26	124.36
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	36	begin dive
42	-1.49	-116.8	0.0	0.0	0	57	0.00	0.00	-7.97	0.000	6	0.000	0.000	637	2057	2833
63	-1.49	-116.8	0.3	-0.0	2	80	6.47	2.50	0.00	0.000	4	0.000	0.000	1991	3557	2838
281	-1.49	-116.8	25.2	-9.8	37	290	0.47	3.33	0.00	0.000	6	0.000	0.000	1857	1885	2841
650	-1.62	-116.8	81.5	-13.8	98	660	0.40	3.50	0.00	0.000	4	0.000	0.000	1968	3586	2835
741	-1.37	-116.8	91.5	-10.0	112	750	0.00	2.83	0.00	0.000	6	0.000	0.000	1994	1922	2836
1084	-1.49	-116.8	124.4	-10.2	138	1092	0.08	3.88	0.00	0.000	4	0.000	0.000	1949	3557	2841
1160	-1.47	-116.8	132.3	-10.4	141	1166	0.10	2.97	0.00	0.000	6	0.000	0.000	1963	2223	2839
1492	-1.58	-116.8	166.5	-10.2	157	1500	0.50	3.00	0.00	0.000	4	0.000	0.000	1857	511	2843
1518	-1.55	-116.8	169.8	-12.6	158	1526	0.52	2.88	0.00	0.000	6	0.000	0.000	1956	2047	2837
1854	-1.48	-116.8	205.3	-10.2	174	1858	0.00	2.58	0.00	0.000	4	0.000	0.000	1968	3391	2840
1939	-1.45	-116.8	213.6	-8.4	177	1949	0.12	2.78	0.00	0.000	6	0.001	0.000	1971	2205	2841
2265	-1.64	-116.8	246.8	-10.4	193	2272	0.50	3.03	0.00	0.000	4	0.000	0.000	1835	550	2835
2291	-1.60	-116.8	250.5	-11.7	194	2299	0.52	3.17	0.00	0.000	6	0.000	0.000	1957	2215	2843
2627	-1.53	-116.8	287.9	-10.8	210	2631	0.00	2.12	0.00	0.000	4	0.000	0.000	1968	3565	2835
2662	-1.45	-116.8	292.0	-10.6	211	2671	0.00	2.78	0.00	0.000	6	0.000	0.000	1940	2233	2838
2989	-1.54	-116.8	324.9	-9.2	227	2997	0.47	3.05	0.00	0.000	4	0.000	0.000	1890	565	2840
3015	-1.77	-116.8	328.7	-11.4	228	3021	0.00	3.08	0.00	0.000	6	0.000	0.000	1897	2236	2835
3351	-1.85	-116.8	372.2	-13.2	244	3357	0.47	2.72	0.00	0.000	4	0.000	0.000	1793	3544	2835
3377	-1.68	-116.8	377.4	-15.5	245	3385	0.82	2.70	0.00	0.000	6	0.000	0.000	1981	2007	2833
3707	-1.36	-116.8	413.0	-10.3	261	3711	0.00	2.45	0.00	0.000	4	0.000	0.000	1955	3539	2835
3765	-1.31	-116.8	419.4	-10.4	263	3774	0.00	2.88	0.00	0.000	6	0.000	0.000	1963	2169	2833
4089	-1.41	-116.8	452.3	-10.4	279	4091	0.00	0.00	0.00	0.000	6	0.000	0.000	1970	2163	2840
4394	-1.36	-116.8	484.4	-10.4	294	4399	0.00	2.35	0.00	0.000	4	0.000	0.000	1962	3680	2831
4424	-1.31	-116.8	487.8	-10.6	295	4437	0.00	3.65	0.00	0.000	6	0.000	0.000	1975	2011	2831
4767	-1.40	-116.8	523.1	-10.3	307	4771	0.00	2.50	0.00	0.000	4	0.000	0.000	1969	3514	2837
4825	-1.36	-116.8	529.4	-10.6	308	4830	0.00	2.67	0.00	0.000	6	0.000	0.000	1952	2219	2839
5177	-1.45	-116.8	565.7	-10.4	317	5178	0.00	0.00	0.00	0.000	6	0.000	0.000	1975	2222	2837
5211	end dive: BOTTOM_OBSTACLE_DETECTED
state	5211	begin apogee
5224	-0.25	0.0	569.9	10.4	318	5242	1.27	0.00	14.32	0.000	6	0.000	0.000	2294	2052	2246
5243	end apogee: CONTROL_FINISHED_OK
state	5243	begin climb
5249	1.49	116.8	569.9	0.0	318	5264	1.73	0.00	11.20	0.000	6	0.000	0.000	2645	2023	1772
5584	1.49	116.8	508.7	20.0	327	5591	0.00	3.38	0.00	0.000	4	0.000	0.000	2613	3473	1768
5706	1.27	116.8	485.6	20.6	331	5713	0.68	2.53	0.00	0.000	6	0.000	0.000	2500	2161	1771
6047	1.16	139.4	442.3	11.9	347	6055	0.00	2.70	2.22	0.001	4	0.000	0.000	2506	3645	1680
6084	1.29	140.1	436.8	13.7	348	6097	0.45	3.33	0.00	0.000	6	0.000	0.000	2632	1969	1676
6414	1.50	140.1	366.6	23.3	364	6420	0.40	2.78	0.00	0.000	4	0.000	0.000	2508	3467	1674
6522	1.20	152.2	349.7	12.8	368	6531	0.00	2.45	1.48	0.001	6	0.000	0.000	2522	1964	1619
6846	1.40	154.1	306.5	13.6	384	6854	0.43	3.03	0.00	0.000	4	0.000	0.000	2623	3644	1617
6945	1.51	154.1	286.2	22.6	388	6952	0.52	3.12	0.00	0.000	6	0.000	0.000	2478	2131	1621
7285	1.43	157.2	236.4	13.5	404	7291	0.60	2.45	0.00	0.000	4	0.000	0.000	2637	3644	1611
7330	1.54	157.2	226.7	22.6	406	7335	0.22	2.28	0.00	0.000	6	0.000	0.000	2542	2311	1622
7666	1.47	157.2	167.3	17.6	422	7668	0.15	0.00	0.00	0.000	6	0.000	0.000	2541	2296	1619
7970	1.41	157.2	112.6	17.8	437	7971	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2302	1624
8317	1.35	157.2	52.1	17.4	485	8324	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2293	1621
8599	end climb: SURFACE_DEPTH_REACHED
state	8599	begin surface coast
8611	end surface coast: CONTROL_FINISHED_OK
state	8611	begin surface