Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 1 * 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 1 HEADING -1 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 15 ALTIM_SENSITIVITY 1

D_PITCH 1.5 SM_CC 350 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 11 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 528 N_NOSURFACE 0 ROLL_ADJ_GAIN 1 DEVICE2 -1

T_MISSION 550 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 -446538.75 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 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 1 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 350

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 528

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 -446538.75

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 550

CF8_MAXERRORS 20 HEAD_ERRBAND 15 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 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 5

C_VBD 2257 MASS 51747 R_PORT_OVSHOOT 11 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 1 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 120457,6630.000,-6030.000,21,1.1,21,18.0 TGT_NAME default

_CALLS 1 TGT_LATLONG 47.600,-122.300

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.062,-0.172

_SM_DEPTHo 0.34 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 120804,6630.000,-6030.000,28,1.1,28,18.0 MHEAD_RNG_PITCHd_Wd 120.0,9821928,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024332 XPDR_PINGS -1

SM_CCo 11789,14.90,0.001,0,0,835,350.04 ALTIM_TOP_PING 19.4,18.8

SM_GC 0.34,0.00,0.00,14.90,0.000,0.000,0.001,680,1741,835,-7.34,-6.19,350.04 ALTIM_BOTTOM_PING 400.3,77.6

RAFOS_CLK 0 _24V_AH 23.7,29.232

RAFOS 1,1160309643,12.250000,12.234167,80,0,0,0,0,0,798,0,0,0,0,0 _10V_AH 9.7,4.416

RAFOS_FIX 6629.375488,-6026.406738,081006,121257,3,80,2.70 DATA_FILE_SIZE 25221,799

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243986432

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,78,1277,0,0

HUMID 2192 SOUNDSPEED 1460.5

INTERNAL_PRESSURE 26.0748 CURRENT 0.149,322.4,1

TCM_TEMP 15.00 GPS 081006,152719,6629.818,-6028.929,18,1.1,18,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 37 119 105.69 SBE_CT 661 24 376.14

Roll_motor 165 60 235.09 nil 0 0 0.00

VBD_pump_during_apogee 27 1300 839.57 nil 0 0 0.00

VBD_pump_during_surface 14 0 0.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 48 223 253.89

Transponder_ping 3 420 34.84

GPS 29 50 14.24

TT8 2577 19 498.04

LPSleep 7255 2 162.57

TT8_Active 327 19 63.34

TT8_Sampling 952 39 368.69

TT8_CF8 913 45 406.92

TT8_Kalman 29 81 23.24

Analog_circuits 1121 12 130.56

GPS_charging 0 0 0.00

Compass 800 26 201.93

RAFOS 1080 1 15.71

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

32 end surface: CONTROL_FINISHED_OK

state 32 begin dive

39 -0.83 -116.8 0.0 0.0 0 55 0.00 0.00 -6.82 0.000 6 0.000 0.000 616 2042 2907

62 -0.83 -116.8 0.3 -0.0 2 79 7.57 2.67 0.00 0.000 4 0.000 0.000 2121 518 2906

155 0.89 -116.8 13.1 -6.1 16 164 2.00 3.28 0.00 0.000 6 0.000 0.000 2541 2178 2910

506 0.77 -116.8 43.3 -8.9 77 517 0.68 2.05 0.00 0.000 4 0.000 0.000 2341 3531 2906

745 -0.99 -116.8 61.0 -7.2 116 754 1.75 2.85 0.00 0.000 6 0.000 0.000 1957 1827 2910

1125 -1.58 -116.8 104.8 -10.7 173 1130 0.43 2.53 0.00 0.000 4 0.000 0.000 1858 296 2909

1220 -1.20 -116.8 121.6 -17.3 177 1228 1.02 3.58 0.00 0.000 6 0.000 0.000 2105 2091 2908

1550 -0.85 -116.8 143.3 -6.1 193 1554 0.00 2.55 0.00 0.000 4 0.000 0.000 2071 3438 2912

1652 -0.76 -116.8 149.5 -6.0 197 1658 0.00 2.33 0.00 0.000 6 0.000 0.000 2100 1798 2900

1983 -0.76 -116.8 170.2 -6.4 213 1990 0.00 3.53 0.00 0.000 4 0.000 0.000 2101 3656 2905

2054 -0.79 -116.8 174.9 -6.3 216 2060 0.00 3.17 0.00 0.000 6 0.000 0.000 2089 1973 2906

2393 -0.81 -116.8 195.6 -6.2 232 2401 0.00 3.53 0.00 0.000 4 0.000 0.000 2096 3691 2905

2451 -0.72 -116.8 199.4 -5.8 234 2456 0.00 2.97 0.00 0.000 6 0.000 0.000 2089 1847 2906

2775 -0.75 -116.8 219.6 -6.4 249 2780 0.00 3.15 0.00 0.000 4 0.000 0.000 2104 3674 2907

2856 -0.81 -116.8 225.0 -6.1 252 2865 0.00 3.33 0.00 0.000 6 0.000 0.000 2090 1844 2906

3181 -0.82 -116.8 244.4 -6.1 268 3188 0.00 3.42 0.00 0.000 4 0.000 0.000 2086 3672 2913

3260 -0.74 -116.8 249.7 -5.8 271 3266 0.00 3.03 0.00 0.000 6 0.000 0.000 2107 1858 2906

3584 -0.79 -116.8 270.1 -6.4 286 3589 0.00 2.75 0.00 0.000 4 0.000 0.000 2097 3557 2903

3670 -0.88 -116.8 275.7 -6.0 289 3679 0.15 3.25 0.00 0.000 6 0.000 0.000 2025 1829 2909

3994 -0.88 -116.8 302.6 -8.4 305 4002 0.50 3.78 0.00 0.000 4 0.000 0.000 2146 3685 2913

4092 -0.63 -116.8 309.6 -6.3 309 4099 0.00 3.25 0.00 0.000 6 0.000 0.000 2169 1835 2908

4431 -0.76 -116.8 332.3 -6.4 325 4439 0.45 3.45 0.00 0.000 4 0.000 0.000 2018 3673 2910

4494 -0.83 -116.8 338.1 -9.1 327 4504 0.52 3.12 0.00 0.000 6 0.000 0.000 2135 1830 2911

4819 -0.71 -116.8 358.4 -6.3 343 4826 0.32 3.15 0.00 0.000 4 0.000 0.000 2146 3543 2907

4917 -0.76 -116.8 365.2 -6.3 347 4925 0.52 3.70 0.00 0.000 6 0.000 0.000 2026 1799 2903

5252 -0.88 -116.8 393.9 -9.0 363 5261 0.55 3.75 0.00 0.000 4 0.000 0.000 2075 3668 2909

5350 -0.71 -116.8 401.3 -6.6 367 5357 0.52 2.88 0.00 0.000 6 0.000 0.000 2199 1841 2903

5689 -0.69 -116.8 422.7 -6.4 383 5697 0.93 2.95 0.00 0.000 4 0.000 0.000 2028 3483 2908

5790 -0.92 -116.8 431.9 -8.2 387 5797 0.50 2.92 0.00 0.000 6 0.000 0.000 2129 1831 2901

6124 -1.08 -116.8 454.1 -6.5 403 6132 0.88 3.50 0.00 0.000 4 0.000 0.000 1952 3686 2905

6198 -1.20 -116.8 462.6 -12.2 406 6206 0.50 3.22 0.00 0.000 6 0.000 0.000 2082 1842 2911

6275 end dive: BOTTOM_OBSTACLE_DETECTED

state 6275 begin apogee

6288 -0.25 0.0 468.8 7.1 410 6307 1.15 0.00 15.85 0.000 6 0.000 0.000 2250 2191 2240

6308 end apogee: CONTROL_FINISHED_OK

state 6308 begin climb

6313 0.83 116.8 470.1 0.0 411 6328 1.23 0.00 11.40 0.000 6 0.000 0.000 2503 2176 1763

6638 0.83 116.8 432.6 11.4 427 6640 0.47 0.00 0.00 0.000 6 0.000 0.000 2377 2206 1765

6942 0.56 116.8 407.2 7.9 442 6947 0.00 2.47 0.00 0.000 4 0.000 0.000 2362 3353 1768

7018 0.63 116.8 401.2 7.9 445 7024 0.03 2.88 0.00 0.000 6 0.000 0.000 2382 1696 1769

7342 0.74 116.8 376.2 7.9 460 7350 0.82 4.22 0.00 0.000 4 0.000 0.000 2473 3647 1768

7498 0.82 116.8 357.9 11.3 466 7508 0.52 3.72 0.00 0.000 6 0.000 0.000 2388 1801 1766

7822 0.68 116.8 332.5 7.1 482 7831 0.40 3.50 0.00 0.000 4 0.000 0.000 2518 3628 1769

7944 0.77 116.8 318.4 11.8 487 7952 0.50 3.75 0.00 0.000 6 0.000 0.000 2368 1789 1770

8279 0.60 116.8 292.4 7.9 503 8286 0.22 3.38 0.00 0.000 4 0.000 0.000 2426 3618 1768

8420 0.68 116.8 280.4 8.8 509 8427 0.00 3.53 0.00 0.000 6 0.000 0.000 2443 1807 1765

8761 0.61 116.8 251.3 8.0 525 8769 0.43 3.53 0.00 0.000 4 0.000 0.000 2297 3652 1774

8889 0.53 116.8 240.3 7.9 530 8901 0.52 3.60 0.00 0.000 6 0.000 0.000 2413 1809 1773

9218 0.80 116.8 214.5 8.1 546 9226 0.03 3.60 0.00 0.000 4 0.000 0.000 2430 3640 1776

9345 0.71 116.8 202.3 8.4 551 9358 0.00 3.88 0.00 0.000 6 0.000 0.000 2435 1788 1764

9674 0.71 116.8 176.5 8.0 567 9682 0.00 3.47 0.00 0.000 4 0.000 0.000 2433 3681 1767

9807 0.63 116.8 165.1 8.2 572 9816 0.32 3.53 0.00 0.000 6 0.000 0.000 2367 1836 1771

10131 0.63 116.8 140.3 8.0 588 10139 0.40 3.25 0.00 0.000 4 0.000 0.000 2487 3531 1772

10252 0.72 116.8 126.5 11.7 593 10258 0.57 2.47 0.00 0.000 6 0.000 0.000 2372 2004 1770

10583 0.56 116.8 100.5 7.8 609 10587 0.00 2.15 0.00 0.000 4 0.000 0.000 2366 3393 1769

10696 0.62 116.8 91.6 7.9 625 10705 0.05 2.45 0.00 0.000 6 0.000 0.000 2375 1896 1771

11065 0.70 116.8 61.7 7.8 686 11074 0.60 3.28 0.00 0.000 4 0.000 0.000 2512 3403 1771

11214 0.75 116.8 45.1 11.2 710 11223 0.52 2.67 0.00 0.000 6 0.000 0.000 2358 1909 1771

11582 0.56 116.8 13.0 7.8 771 11590 0.00 2.45 0.00 0.000 4 0.000 0.000 2370 3456 1767

11713 0.64 116.8 2.6 7.8 792 11722 0.05 2.97 0.00 0.000 6 0.000 0.000 2367 2094 1773

11727 end climb: SURFACE_DEPTH_REACHED

state 11727 begin surface coast

11760 end surface coast: CONTROL_FINISHED_OK

state 11761 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	1	HEADING	-1	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	15	ALTIM_SENSITIVITY	1
D_PITCH	1.5	SM_CC	350	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	11	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	528	N_NOSURFACE	0	ROLL_ADJ_GAIN	1	DEVICE2	-1
T_MISSION	550	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	-446538.75	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	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	1	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	120457,6630.000,-6030.000,21,1.1,21,18.0	TGT_NAME	default
_CALLS	1	TGT_LATLONG	47.600,-122.300
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.062,-0.172
_SM_DEPTHo	0.34	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	120804,6630.000,-6030.000,28,1.1,28,18.0	MHEAD_RNG_PITCHd_Wd	120.0,9821928,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,1.024332	XPDR_PINGS	-1
SM_CCo	11789,14.90,0.001,0,0,835,350.04	ALTIM_TOP_PING	19.4,18.8
SM_GC	0.34,0.00,0.00,14.90,0.000,0.000,0.001,680,1741,835,-7.34,-6.19,350.04	ALTIM_BOTTOM_PING	400.3,77.6
RAFOS_CLK	0	_24V_AH	23.7,29.232
RAFOS	1,1160309643,12.250000,12.234167,80,0,0,0,0,0,798,0,0,0,0,0	_10V_AH	9.7,4.416
RAFOS_FIX	6629.375488,-6026.406738,081006,121257,3,80,2.70	DATA_FILE_SIZE	25221,799
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243986432
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,78,1277,0,0
HUMID	2192	SOUNDSPEED	1460.5
INTERNAL_PRESSURE	26.0748	CURRENT	0.149,322.4,1
TCM_TEMP	15.00	GPS	081006,152719,6629.818,-6028.929,18,1.1,18,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	37	119	105.69	SBE_CT	661	24	376.14
Roll_motor	165	60	235.09	nil	0	0	0.00
VBD_pump_during_apogee	27	1300	839.57	nil	0	0	0.00
VBD_pump_during_surface	14	0	0.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	48	223	253.89
Transponder_ping	3	420	34.84
GPS	29	50	14.24
TT8	2577	19	498.04
LPSleep	7255	2	162.57
TT8_Active	327	19	63.34
TT8_Sampling	952	39	368.69
TT8_CF8	913	45	406.92
TT8_Kalman	29	81	23.24
Analog_circuits	1121	12	130.56
GPS_charging	0	0	0.00
Compass	800	26	201.93
RAFOS	1080	1	15.71

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
32	end surface: CONTROL_FINISHED_OK
state	32	begin dive
39	-0.83	-116.8	0.0	0.0	0	55	0.00	0.00	-6.82	0.000	6	0.000	0.000	616	2042	2907
62	-0.83	-116.8	0.3	-0.0	2	79	7.57	2.67	0.00	0.000	4	0.000	0.000	2121	518	2906
155	0.89	-116.8	13.1	-6.1	16	164	2.00	3.28	0.00	0.000	6	0.000	0.000	2541	2178	2910
506	0.77	-116.8	43.3	-8.9	77	517	0.68	2.05	0.00	0.000	4	0.000	0.000	2341	3531	2906
745	-0.99	-116.8	61.0	-7.2	116	754	1.75	2.85	0.00	0.000	6	0.000	0.000	1957	1827	2910
1125	-1.58	-116.8	104.8	-10.7	173	1130	0.43	2.53	0.00	0.000	4	0.000	0.000	1858	296	2909
1220	-1.20	-116.8	121.6	-17.3	177	1228	1.02	3.58	0.00	0.000	6	0.000	0.000	2105	2091	2908
1550	-0.85	-116.8	143.3	-6.1	193	1554	0.00	2.55	0.00	0.000	4	0.000	0.000	2071	3438	2912
1652	-0.76	-116.8	149.5	-6.0	197	1658	0.00	2.33	0.00	0.000	6	0.000	0.000	2100	1798	2900
1983	-0.76	-116.8	170.2	-6.4	213	1990	0.00	3.53	0.00	0.000	4	0.000	0.000	2101	3656	2905
2054	-0.79	-116.8	174.9	-6.3	216	2060	0.00	3.17	0.00	0.000	6	0.000	0.000	2089	1973	2906
2393	-0.81	-116.8	195.6	-6.2	232	2401	0.00	3.53	0.00	0.000	4	0.000	0.000	2096	3691	2905
2451	-0.72	-116.8	199.4	-5.8	234	2456	0.00	2.97	0.00	0.000	6	0.000	0.000	2089	1847	2906
2775	-0.75	-116.8	219.6	-6.4	249	2780	0.00	3.15	0.00	0.000	4	0.000	0.000	2104	3674	2907
2856	-0.81	-116.8	225.0	-6.1	252	2865	0.00	3.33	0.00	0.000	6	0.000	0.000	2090	1844	2906
3181	-0.82	-116.8	244.4	-6.1	268	3188	0.00	3.42	0.00	0.000	4	0.000	0.000	2086	3672	2913
3260	-0.74	-116.8	249.7	-5.8	271	3266	0.00	3.03	0.00	0.000	6	0.000	0.000	2107	1858	2906
3584	-0.79	-116.8	270.1	-6.4	286	3589	0.00	2.75	0.00	0.000	4	0.000	0.000	2097	3557	2903
3670	-0.88	-116.8	275.7	-6.0	289	3679	0.15	3.25	0.00	0.000	6	0.000	0.000	2025	1829	2909
3994	-0.88	-116.8	302.6	-8.4	305	4002	0.50	3.78	0.00	0.000	4	0.000	0.000	2146	3685	2913
4092	-0.63	-116.8	309.6	-6.3	309	4099	0.00	3.25	0.00	0.000	6	0.000	0.000	2169	1835	2908
4431	-0.76	-116.8	332.3	-6.4	325	4439	0.45	3.45	0.00	0.000	4	0.000	0.000	2018	3673	2910
4494	-0.83	-116.8	338.1	-9.1	327	4504	0.52	3.12	0.00	0.000	6	0.000	0.000	2135	1830	2911
4819	-0.71	-116.8	358.4	-6.3	343	4826	0.32	3.15	0.00	0.000	4	0.000	0.000	2146	3543	2907
4917	-0.76	-116.8	365.2	-6.3	347	4925	0.52	3.70	0.00	0.000	6	0.000	0.000	2026	1799	2903
5252	-0.88	-116.8	393.9	-9.0	363	5261	0.55	3.75	0.00	0.000	4	0.000	0.000	2075	3668	2909
5350	-0.71	-116.8	401.3	-6.6	367	5357	0.52	2.88	0.00	0.000	6	0.000	0.000	2199	1841	2903
5689	-0.69	-116.8	422.7	-6.4	383	5697	0.93	2.95	0.00	0.000	4	0.000	0.000	2028	3483	2908
5790	-0.92	-116.8	431.9	-8.2	387	5797	0.50	2.92	0.00	0.000	6	0.000	0.000	2129	1831	2901
6124	-1.08	-116.8	454.1	-6.5	403	6132	0.88	3.50	0.00	0.000	4	0.000	0.000	1952	3686	2905
6198	-1.20	-116.8	462.6	-12.2	406	6206	0.50	3.22	0.00	0.000	6	0.000	0.000	2082	1842	2911
6275	end dive: BOTTOM_OBSTACLE_DETECTED
state	6275	begin apogee
6288	-0.25	0.0	468.8	7.1	410	6307	1.15	0.00	15.85	0.000	6	0.000	0.000	2250	2191	2240
6308	end apogee: CONTROL_FINISHED_OK
state	6308	begin climb
6313	0.83	116.8	470.1	0.0	411	6328	1.23	0.00	11.40	0.000	6	0.000	0.000	2503	2176	1763
6638	0.83	116.8	432.6	11.4	427	6640	0.47	0.00	0.00	0.000	6	0.000	0.000	2377	2206	1765
6942	0.56	116.8	407.2	7.9	442	6947	0.00	2.47	0.00	0.000	4	0.000	0.000	2362	3353	1768
7018	0.63	116.8	401.2	7.9	445	7024	0.03	2.88	0.00	0.000	6	0.000	0.000	2382	1696	1769
7342	0.74	116.8	376.2	7.9	460	7350	0.82	4.22	0.00	0.000	4	0.000	0.000	2473	3647	1768
7498	0.82	116.8	357.9	11.3	466	7508	0.52	3.72	0.00	0.000	6	0.000	0.000	2388	1801	1766
7822	0.68	116.8	332.5	7.1	482	7831	0.40	3.50	0.00	0.000	4	0.000	0.000	2518	3628	1769
7944	0.77	116.8	318.4	11.8	487	7952	0.50	3.75	0.00	0.000	6	0.000	0.000	2368	1789	1770
8279	0.60	116.8	292.4	7.9	503	8286	0.22	3.38	0.00	0.000	4	0.000	0.000	2426	3618	1768
8420	0.68	116.8	280.4	8.8	509	8427	0.00	3.53	0.00	0.000	6	0.000	0.000	2443	1807	1765
8761	0.61	116.8	251.3	8.0	525	8769	0.43	3.53	0.00	0.000	4	0.000	0.000	2297	3652	1774
8889	0.53	116.8	240.3	7.9	530	8901	0.52	3.60	0.00	0.000	6	0.000	0.000	2413	1809	1773
9218	0.80	116.8	214.5	8.1	546	9226	0.03	3.60	0.00	0.000	4	0.000	0.000	2430	3640	1776
9345	0.71	116.8	202.3	8.4	551	9358	0.00	3.88	0.00	0.000	6	0.000	0.000	2435	1788	1764
9674	0.71	116.8	176.5	8.0	567	9682	0.00	3.47	0.00	0.000	4	0.000	0.000	2433	3681	1767
9807	0.63	116.8	165.1	8.2	572	9816	0.32	3.53	0.00	0.000	6	0.000	0.000	2367	1836	1771
10131	0.63	116.8	140.3	8.0	588	10139	0.40	3.25	0.00	0.000	4	0.000	0.000	2487	3531	1772
10252	0.72	116.8	126.5	11.7	593	10258	0.57	2.47	0.00	0.000	6	0.000	0.000	2372	2004	1770
10583	0.56	116.8	100.5	7.8	609	10587	0.00	2.15	0.00	0.000	4	0.000	0.000	2366	3393	1769
10696	0.62	116.8	91.6	7.9	625	10705	0.05	2.45	0.00	0.000	6	0.000	0.000	2375	1896	1771
11065	0.70	116.8	61.7	7.8	686	11074	0.60	3.28	0.00	0.000	4	0.000	0.000	2512	3403	1771
11214	0.75	116.8	45.1	11.2	710	11223	0.52	2.67	0.00	0.000	6	0.000	0.000	2358	1909	1771
11582	0.56	116.8	13.0	7.8	771	11590	0.00	2.45	0.00	0.000	4	0.000	0.000	2370	3456	1767
11713	0.64	116.8	2.6	7.8	792	11722	0.05	2.97	0.00	0.000	6	0.000	0.000	2367	2094	1773
11727	end climb: SURFACE_DEPTH_REACHED
state	11727	begin surface coast
11760	end surface coast: CONTROL_FINISHED_OK
state	11761	begin surface