Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 84 * 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 84 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 152 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 -448488.31 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 -448488.31

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 152 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 84 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 004800,6636.428,-6008.681,25,1.1,25,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6631.021,-6004.956

_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 -69.8 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 005222,6636.428,-6008.681,24,1.1,24,18.0 MHEAD_RNG_PITCHd_Wd 102.0,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024989 ALTIM_TOP_PING 19.0,19.2

SM_CCo 8718,19.62,0.000,0,0,391,451.11 ALTIM_BOTTOM_PING 500.4,65.1

SM_GC 0.34,0.00,0.00,19.62,0.000,0.000,0.000,653,1864,391,-7.43,-3.08,451.11 _24V_AH 23.7,51.999

RAFOS_CLK 0 _10V_AH 9.7,7.925

RAFOS_FIX 6636.910156,-6004.534180,171006,000020,4,80,0.41 DATA_FILE_SIZE 18976,543

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,238878720

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,62,870,0,0

HUMID 2381 SOUNDSPEED 1459.5

INTERNAL_PRESSURE 26.0065 CURRENT 0.056, 2.5,1

TCM_TEMP 15.00 GPS 171006,031944,6636.246,-6006.444,12,1.1,12,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 119 85.17 SBE_CT 447 24 254.53

Roll_motor 111 60 159.23 nil 0 0 0.00

VBD_pump_during_apogee 27 1300 860.37 nil 0 0 0.00

VBD_pump_during_surface 19 600 279.07 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 67 223 356.03

Transponder_ping 4 420 44.79

GPS 25 50 12.41

TT8 1737 19 335.73

LPSleep 5659 2 126.82

TT8_Active 279 19 54.07

TT8_Sampling 598 39 231.59

TT8_CF8 726 45 323.68

TT8_Kalman 0 81 0.00

Analog_circuits 787 12 91.66

GPS_charging 0 0 0.00

Compass 500 26 126.16

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

41 -1.49 -116.8 0.0 0.0 0 58 0.00 0.00 -8.23 0.000 6 0.000 0.000 647 1924 2831

64 -1.49 -116.8 0.3 0.0 2 83 6.88 3.42 0.00 0.000 4 0.000 0.000 1999 3587 2835

303 -1.49 -116.8 25.9 -8.9 40 312 0.52 2.97 0.00 0.000 6 0.000 0.000 1867 1885 2831

672 -1.76 -116.8 79.6 -15.0 101 681 0.03 3.42 0.00 0.000 4 0.000 0.000 1861 3589 2838

762 -1.45 -116.8 93.1 -15.5 115 771 0.60 3.22 0.00 0.000 6 0.000 0.000 1982 1901 2831

1092 -1.32 -116.8 125.3 -9.4 137 1098 0.00 3.22 0.00 0.000 4 0.000 0.000 1991 3578 2833

1174 -1.34 -116.8 132.7 -9.6 140 1179 0.00 2.55 0.00 0.000 6 0.000 0.000 1979 2197 2832

1498 -1.50 -116.8 163.2 -9.5 155 1506 0.55 3.22 0.00 0.000 4 0.000 0.000 1865 498 2832

1524 -1.50 -116.8 166.6 -10.8 156 1533 0.50 3.75 0.00 0.000 6 0.000 0.000 1999 2372 2834

1860 -1.50 -116.8 197.7 -9.8 172 1862 0.45 0.00 0.00 0.000 6 0.000 0.000 1861 2368 2831

2174 -1.52 -116.8 241.2 -14.8 187 2182 0.52 3.50 0.00 0.000 4 0.000 0.000 1973 507 2836

2223 -1.21 -116.8 247.3 -9.1 189 2228 0.00 2.88 0.00 0.000 6 0.000 0.000 1997 2033 2838

2559 -1.47 -116.8 278.2 -9.3 205 2566 0.50 3.00 0.00 0.000 4 0.000 0.000 1878 3558 2838

2643 -1.49 -116.8 290.0 -14.9 208 2656 0.52 3.08 0.00 0.000 6 0.000 0.000 1984 2065 2837

2972 -1.37 -116.8 320.7 -9.1 224 2978 0.28 2.67 0.00 0.000 4 0.000 0.000 1933 3595 2841

3009 -1.41 -116.8 325.2 -11.2 225 3018 0.00 2.65 0.00 0.000 6 0.000 0.000 1937 2122 2830

3336 -1.69 -116.8 362.8 -11.9 241 3342 0.47 2.78 0.00 0.000 4 0.000 0.000 1829 3431 2837

3372 -1.55 -116.8 369.4 -17.4 242 3381 0.77 2.05 0.00 0.000 6 0.000 0.000 2001 2118 2837

3699 -1.24 -116.8 400.4 -9.2 258 3700 0.00 0.00 0.00 0.000 6 0.000 0.000 2001 2109 2837

4002 -1.26 -116.8 428.8 -8.9 273 4006 0.00 2.42 0.00 0.000 4 0.000 0.000 1981 3627 2834

4048 -1.41 -116.8 432.6 -9.0 275 4056 0.10 3.22 0.00 0.000 6 0.000 0.000 1984 1989 2842

4378 -1.59 -116.8 462.9 -9.3 291 4384 0.38 2.83 0.00 0.000 4 0.000 0.000 1859 3549 2839

4436 -1.62 -116.8 471.5 -15.2 293 4445 0.55 2.55 0.00 0.000 6 0.000 0.000 1985 2081 2839

4777 -1.47 -116.8 503.7 -9.0 309 4783 0.38 2.75 0.00 0.000 4 0.000 0.000 1856 3549 2841

4813 -1.52 -116.8 508.6 -15.1 309 4823 0.40 2.38 0.00 0.000 6 0.000 0.000 2000 2189 2840

5149 -1.37 -116.8 540.5 -9.3 318 5150 0.03 0.00 0.00 0.000 6 0.000 0.000 1981 2193 2842

5305 end dive: BOTTOM_OBSTACLE_DETECTED

state 5305 begin apogee

5318 -0.25 0.0 555.6 9.3 322 5335 1.33 0.00 14.00 0.000 6 0.000 0.000 2290 1853 2241

5336 end apogee: CONTROL_FINISHED_OK

state 5336 begin climb

5342 1.49 116.8 555.6 0.0 322 5358 1.73 0.00 11.77 0.000 6 0.000 0.000 2661 1853 1759

5657 1.49 116.8 493.7 21.4 331 5665 0.50 3.53 0.00 0.000 4 0.000 0.000 2517 3690 1762

5786 1.23 125.2 473.7 13.1 336 5799 0.00 3.22 0.60 0.000 6 0.000 0.000 2529 1989 1732

6115 1.44 132.3 431.1 13.2 352 6123 0.55 3.25 0.90 0.000 4 0.000 0.000 2580 3672 1692

6201 1.52 132.3 415.2 18.0 355 6210 0.00 3.17 0.00 0.000 6 0.000 0.000 2555 2154 1702

6526 1.57 132.3 358.7 17.8 371 6531 0.00 3.10 0.00 0.000 4 0.000 0.000 2573 3640 1694

6573 1.46 132.3 348.8 17.8 373 6579 0.00 3.03 0.00 0.000 6 0.000 0.000 2580 1971 1695

6903 1.51 132.3 291.3 18.0 389 6910 0.00 3.45 0.00 0.000 4 0.000 0.000 2579 3672 1694

6988 1.41 132.3 274.8 17.8 392 6996 0.00 2.33 0.00 0.000 6 0.000 0.000 2578 2140 1692

7313 1.47 132.3 218.2 17.9 408 7318 0.00 2.88 0.00 0.000 4 0.000 0.000 2598 3469 1697

7371 1.36 132.3 206.4 17.9 410 7380 0.12 2.35 0.00 0.000 6 0.000 0.000 2586 2168 1702

7695 1.36 132.3 149.9 17.9 426 7700 0.25 2.45 0.00 0.000 4 0.000 0.000 2534 3681 1697

7731 1.26 132.3 142.6 16.8 427 7739 0.00 2.55 0.00 0.000 6 0.000 0.000 2505 2160 1700

8056 1.26 133.8 97.7 13.6 443 8065 0.03 2.92 0.00 0.000 4 0.000 0.000 2514 3664 1700

8103 1.32 133.8 90.6 16.3 449 8111 0.00 3.03 0.00 0.000 6 0.000 0.000 2522 2182 1699

8472 1.47 141.3 39.3 13.2 510 8482 0.85 1.95 0.65 0.001 4 0.000 0.000 2632 3519 1670

8515 1.55 141.3 32.5 21.2 515 8524 0.40 2.47 0.00 0.000 6 0.000 0.000 2580 2375 1670

8676 end climb: SURFACE_DEPTH_REACHED

state 8676 begin surface coast

8687 end surface coast: CONTROL_FINISHED_OK

state 8687 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	84	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	152	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	-448488.31	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	004800,6636.428,-6008.681,25,1.1,25,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6631.021,-6004.956
_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	-69.8	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	005222,6636.428,-6008.681,24,1.1,24,18.0	MHEAD_RNG_PITCHd_Wd	102.0,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024989	ALTIM_TOP_PING	19.0,19.2
SM_CCo	8718,19.62,0.000,0,0,391,451.11	ALTIM_BOTTOM_PING	500.4,65.1
SM_GC	0.34,0.00,0.00,19.62,0.000,0.000,0.000,653,1864,391,-7.43,-3.08,451.11	_24V_AH	23.7,51.999
RAFOS_CLK	0	_10V_AH	9.7,7.925
RAFOS_FIX	6636.910156,-6004.534180,171006,000020,4,80,0.41	DATA_FILE_SIZE	18976,543
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,238878720
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,62,870,0,0
HUMID	2381	SOUNDSPEED	1459.5
INTERNAL_PRESSURE	26.0065	CURRENT	0.056, 2.5,1
TCM_TEMP	15.00	GPS	171006,031944,6636.246,-6006.444,12,1.1,12,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	119	85.17	SBE_CT	447	24	254.53
Roll_motor	111	60	159.23	nil	0	0	0.00
VBD_pump_during_apogee	27	1300	860.37	nil	0	0	0.00
VBD_pump_during_surface	19	600	279.07	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	356.03
Transponder_ping	4	420	44.79
GPS	25	50	12.41
TT8	1737	19	335.73
LPSleep	5659	2	126.82
TT8_Active	279	19	54.07
TT8_Sampling	598	39	231.59
TT8_CF8	726	45	323.68
TT8_Kalman	0	81	0.00
Analog_circuits	787	12	91.66
GPS_charging	0	0	0.00
Compass	500	26	126.16
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
41	-1.49	-116.8	0.0	0.0	0	58	0.00	0.00	-8.23	0.000	6	0.000	0.000	647	1924	2831
64	-1.49	-116.8	0.3	0.0	2	83	6.88	3.42	0.00	0.000	4	0.000	0.000	1999	3587	2835
303	-1.49	-116.8	25.9	-8.9	40	312	0.52	2.97	0.00	0.000	6	0.000	0.000	1867	1885	2831
672	-1.76	-116.8	79.6	-15.0	101	681	0.03	3.42	0.00	0.000	4	0.000	0.000	1861	3589	2838
762	-1.45	-116.8	93.1	-15.5	115	771	0.60	3.22	0.00	0.000	6	0.000	0.000	1982	1901	2831
1092	-1.32	-116.8	125.3	-9.4	137	1098	0.00	3.22	0.00	0.000	4	0.000	0.000	1991	3578	2833
1174	-1.34	-116.8	132.7	-9.6	140	1179	0.00	2.55	0.00	0.000	6	0.000	0.000	1979	2197	2832
1498	-1.50	-116.8	163.2	-9.5	155	1506	0.55	3.22	0.00	0.000	4	0.000	0.000	1865	498	2832
1524	-1.50	-116.8	166.6	-10.8	156	1533	0.50	3.75	0.00	0.000	6	0.000	0.000	1999	2372	2834
1860	-1.50	-116.8	197.7	-9.8	172	1862	0.45	0.00	0.00	0.000	6	0.000	0.000	1861	2368	2831
2174	-1.52	-116.8	241.2	-14.8	187	2182	0.52	3.50	0.00	0.000	4	0.000	0.000	1973	507	2836
2223	-1.21	-116.8	247.3	-9.1	189	2228	0.00	2.88	0.00	0.000	6	0.000	0.000	1997	2033	2838
2559	-1.47	-116.8	278.2	-9.3	205	2566	0.50	3.00	0.00	0.000	4	0.000	0.000	1878	3558	2838
2643	-1.49	-116.8	290.0	-14.9	208	2656	0.52	3.08	0.00	0.000	6	0.000	0.000	1984	2065	2837
2972	-1.37	-116.8	320.7	-9.1	224	2978	0.28	2.67	0.00	0.000	4	0.000	0.000	1933	3595	2841
3009	-1.41	-116.8	325.2	-11.2	225	3018	0.00	2.65	0.00	0.000	6	0.000	0.000	1937	2122	2830
3336	-1.69	-116.8	362.8	-11.9	241	3342	0.47	2.78	0.00	0.000	4	0.000	0.000	1829	3431	2837
3372	-1.55	-116.8	369.4	-17.4	242	3381	0.77	2.05	0.00	0.000	6	0.000	0.000	2001	2118	2837
3699	-1.24	-116.8	400.4	-9.2	258	3700	0.00	0.00	0.00	0.000	6	0.000	0.000	2001	2109	2837
4002	-1.26	-116.8	428.8	-8.9	273	4006	0.00	2.42	0.00	0.000	4	0.000	0.000	1981	3627	2834
4048	-1.41	-116.8	432.6	-9.0	275	4056	0.10	3.22	0.00	0.000	6	0.000	0.000	1984	1989	2842
4378	-1.59	-116.8	462.9	-9.3	291	4384	0.38	2.83	0.00	0.000	4	0.000	0.000	1859	3549	2839
4436	-1.62	-116.8	471.5	-15.2	293	4445	0.55	2.55	0.00	0.000	6	0.000	0.000	1985	2081	2839
4777	-1.47	-116.8	503.7	-9.0	309	4783	0.38	2.75	0.00	0.000	4	0.000	0.000	1856	3549	2841
4813	-1.52	-116.8	508.6	-15.1	309	4823	0.40	2.38	0.00	0.000	6	0.000	0.000	2000	2189	2840
5149	-1.37	-116.8	540.5	-9.3	318	5150	0.03	0.00	0.00	0.000	6	0.000	0.000	1981	2193	2842
5305	end dive: BOTTOM_OBSTACLE_DETECTED
state	5305	begin apogee
5318	-0.25	0.0	555.6	9.3	322	5335	1.33	0.00	14.00	0.000	6	0.000	0.000	2290	1853	2241
5336	end apogee: CONTROL_FINISHED_OK
state	5336	begin climb
5342	1.49	116.8	555.6	0.0	322	5358	1.73	0.00	11.77	0.000	6	0.000	0.000	2661	1853	1759
5657	1.49	116.8	493.7	21.4	331	5665	0.50	3.53	0.00	0.000	4	0.000	0.000	2517	3690	1762
5786	1.23	125.2	473.7	13.1	336	5799	0.00	3.22	0.60	0.000	6	0.000	0.000	2529	1989	1732
6115	1.44	132.3	431.1	13.2	352	6123	0.55	3.25	0.90	0.000	4	0.000	0.000	2580	3672	1692
6201	1.52	132.3	415.2	18.0	355	6210	0.00	3.17	0.00	0.000	6	0.000	0.000	2555	2154	1702
6526	1.57	132.3	358.7	17.8	371	6531	0.00	3.10	0.00	0.000	4	0.000	0.000	2573	3640	1694
6573	1.46	132.3	348.8	17.8	373	6579	0.00	3.03	0.00	0.000	6	0.000	0.000	2580	1971	1695
6903	1.51	132.3	291.3	18.0	389	6910	0.00	3.45	0.00	0.000	4	0.000	0.000	2579	3672	1694
6988	1.41	132.3	274.8	17.8	392	6996	0.00	2.33	0.00	0.000	6	0.000	0.000	2578	2140	1692
7313	1.47	132.3	218.2	17.9	408	7318	0.00	2.88	0.00	0.000	4	0.000	0.000	2598	3469	1697
7371	1.36	132.3	206.4	17.9	410	7380	0.12	2.35	0.00	0.000	6	0.000	0.000	2586	2168	1702
7695	1.36	132.3	149.9	17.9	426	7700	0.25	2.45	0.00	0.000	4	0.000	0.000	2534	3681	1697
7731	1.26	132.3	142.6	16.8	427	7739	0.00	2.55	0.00	0.000	6	0.000	0.000	2505	2160	1700
8056	1.26	133.8	97.7	13.6	443	8065	0.03	2.92	0.00	0.000	4	0.000	0.000	2514	3664	1700
8103	1.32	133.8	90.6	16.3	449	8111	0.00	3.03	0.00	0.000	6	0.000	0.000	2522	2182	1699
8472	1.47	141.3	39.3	13.2	510	8482	0.85	1.95	0.65	0.001	4	0.000	0.000	2632	3519	1670
8515	1.55	141.3	32.5	21.2	515	8524	0.40	2.47	0.00	0.000	6	0.000	0.000	2580	2375	1670
8676	end climb: SURFACE_DEPTH_REACHED
state	8676	begin surface coast
8687	end surface coast: CONTROL_FINISHED_OK
state	8687	begin surface