Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 16 * 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 16 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 10 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 19 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 1 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 -448980.06 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 -0.22280908 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 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 -0.22280908 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 -448980.06

CAPUPLOAD 0 HEADING 20 ROLL_ADJ_DBAND 0.029999999 T_MISSION 300

CF8_MAXERRORS 20 HEAD_ERRBAND 8 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 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 5

C_VBD 2257 MASS 51747 R_PORT_OVSHOOT 10 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 19 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 16 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 054724,6640.373,-6032.619,15,1.1,15,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6650.520,-6031.166

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -0.00 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 055158,6640.373,-6032.619,21,1.1,21,18.0 MHEAD_RNG_PITCHd_Wd 2.0,20000,-26.0,-13.750

SPEED_LIMITS 0.226,0.242 D_GRID 990

Post-dive calculations and measurements:

FREEZE -0.00,5.023,-1.642 XPDR_PINGS -1

FINISH -0.0,1.023768 ALTIM_TOP_PING 19.9,999.0

SM_CCo 9982,124.43,0.000,1,0,427,450.37 ALTIM_BOTTOM_PING 425.5,93.2

SM_GC -0.00,0.00,0.00,124.43,0.000,0.000,0.000,594,2026,427,-7.58,1.36,450.37 _24V_AH 23.7,57.588

RAFOS_CLK 0 _10V_AH 9.7,8.794

RAFOS 0,1160467459,8.083333,8.071944,80,0,0,0,0,0,521,0,0,0,0,0 DATA_FILE_SIZE 19007,621

RAFOS_FIX 6637.474609,-6027.046387,101006,080821,3,80,0.78 CFSIZE 255582208,243134464

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,83,1040,4,0

TT8_MAMPS 0.024544 SOUNDSPEED 1469.5

HUMID 2336 CURRENT 0.051,256.5,1

INTERNAL_PRESSURE 26.0065 GPS 101006,084238,6641.117,-6032.762,24,1.1,24,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 40 119 114.65 SBE_CT 501 24 285.45

Roll_motor 134 60 191.19 nil 0 0 0.00

VBD_pump_during_apogee 348 1300 10722.65 nil 0 0 0.00

VBD_pump_during_surface 124 600 1769.32 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 85 223 454.05

Transponder_ping 3 420 37.33

GPS 21 50 10.64

TT8 1905 19 368.20

LPSleep 6120 2 137.13

TT8_Active 774 19 149.61

TT8_Sampling 773 39 299.36

TT8_CF8 824 45 367.17

TT8_Kalman 0 0 0.00

Analog_circuits 1443 12 168.00

GPS_charging 0 0 0.00

Compass 658 26 166.03

RAFOS 1440 1 20.95

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 0 129 0.00 0.00 -76.45 0.000 6 0.000 0.000 622 1902 2736

136 -1.49 -116.8 0.6 -1.6 10 153 6.95 2.92 0.00 0.000 4 0.000 0.000 1984 3600 2742

259 -1.55 -116.8 21.5 -10.4 29 268 0.50 3.53 0.00 0.000 6 0.000 0.000 1865 1716 2743

627 -1.22 -116.8 73.2 -12.9 90 636 1.20 3.47 0.00 0.000 4 0.000 0.000 2043 3433 2735

781 -1.41 -116.8 83.8 -6.1 115 790 0.62 2.78 0.00 0.000 6 0.000 0.000 1900 1918 2731

1138 -1.24 -116.8 118.6 -10.3 151 1145 0.50 2.97 0.00 0.000 4 0.000 0.000 2038 3569 2742

1227 -1.44 -116.8 124.8 -5.6 154 1237 0.77 3.97 0.00 0.000 6 0.000 0.000 1872 1767 2739

1552 -1.09 -116.8 161.0 -11.4 170 1560 1.02 3.42 0.00 0.000 4 0.000 0.000 2094 3585 2740

1663 -1.41 -116.8 167.5 -4.2 174 1672 0.80 2.75 0.00 0.000 6 0.000 0.000 1895 1745 2741

1988 -1.24 -116.8 195.5 -9.0 190 1996 0.47 3.78 0.00 0.000 4 0.000 0.000 2038 3582 2749

2111 -1.42 -116.8 203.3 -5.5 195 2119 0.57 3.53 0.00 0.000 6 0.000 0.000 1927 1707 2737

2446 -1.24 -116.8 231.2 -8.6 211 2452 0.47 2.75 0.00 0.000 4 0.000 0.000 2041 3530 2735

2570 -1.43 -116.8 238.5 -5.1 216 2582 0.57 2.97 0.00 0.000 6 0.000 0.000 1902 1997 2739

2899 -1.23 -116.8 265.1 -8.2 232 2904 0.40 2.45 0.00 0.000 4 0.000 0.000 2009 3486 2738

2970 -1.38 -116.8 269.4 -5.1 235 2978 0.50 3.42 0.00 0.000 6 0.000 0.000 1929 1827 2738

3306 -1.19 -116.8 296.5 -8.2 251 3315 0.55 3.53 0.00 0.000 4 0.000 0.000 1959 3631 2743

3405 -1.21 -116.8 302.8 -6.4 255 3412 0.03 3.28 0.00 0.000 6 0.000 0.000 1978 1922 2741

3745 -1.19 -116.8 324.7 -6.3 271 3750 0.00 2.62 0.00 0.000 4 0.000 0.000 1956 3606 2741

3797 -1.21 -116.8 328.4 -6.3 273 3809 0.00 3.78 0.00 0.000 6 0.000 0.000 1965 1783 2738

4127 -1.36 -116.8 348.7 -6.3 289 4132 0.00 2.85 0.00 0.000 4 0.000 0.000 1990 3486 2742

4230 -1.36 -116.8 355.6 -6.2 293 4238 0.00 2.97 0.00 0.000 6 0.000 0.000 1979 2033 2740

4555 -1.34 -116.8 375.2 -6.1 309 4560 0.00 2.78 0.00 0.000 4 0.000 0.000 1988 3496 2741

4608 -1.34 -116.8 378.9 -6.3 311 4613 0.00 2.95 0.00 0.000 6 0.000 0.000 1972 1817 2736

4932 -1.33 -116.8 398.4 -6.1 326 4937 0.00 2.90 0.00 0.000 4 0.000 0.000 1971 3368 2744

5049 -1.33 -116.8 406.0 -6.3 331 5054 0.00 2.72 0.00 0.000 6 0.000 0.000 1966 1883 2741

5383 -1.31 -116.8 425.5 -6.1 347 5388 0.00 2.78 0.00 0.000 4 0.000 0.000 1990 3424 2745

5479 -1.31 -116.8 431.7 -6.2 351 5485 0.00 3.00 0.00 0.000 6 0.000 0.000 1973 1929 2735

5810 -1.29 -116.8 451.3 -6.0 367 5815 0.00 2.72 0.00 0.000 4 0.000 0.000 1980 3584 2737

5889 -1.31 -116.8 456.3 -5.9 370 5894 0.00 2.62 0.00 0.000 6 0.000 0.000 1974 2078 2739

6214 -1.29 -116.8 475.4 -6.0 385 6215 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2107 2743

6519 -1.58 -116.8 494.2 -6.0 400 6526 0.38 2.97 0.00 0.000 4 0.000 0.000 1847 3609 2746

6567 -1.26 -116.8 498.3 -9.2 402 6575 0.80 2.95 0.00 0.000 6 0.000 0.000 2036 2084 2745

6795 end dive: BOTTOM_OBSTACLE_DETECTED

state 6795 begin apogee

6807 -0.25 0.0 509.9 4.6 408 6930 1.48 0.00 113.85 0.000 6 0.000 0.000 2284 2080 2263

6931 end apogee: CONTROL_FINISHED_OK

state 6931 begin climb

6937 1.49 116.8 510.2 0.0 411 7070 1.77 3.22 113.03 0.001 4 0.000 0.000 2625 3594 1779

7114 1.29 116.8 478.4 21.9 417 7123 0.73 3.28 0.00 0.000 6 0.000 0.000 2448 1901 1778

7455 1.63 169.0 443.9 9.6 433 7524 1.00 3.17 49.55 0.001 4 0.000 0.000 2693 3379 1572

7672 1.23 169.0 379.2 31.8 442 7681 1.10 2.80 0.75 0.001 6 0.000 0.000 2454 1873 1571

8002 1.50 195.5 336.8 11.6 458 8034 0.73 3.08 25.23 0.001 4 0.000 0.000 2649 3383 1457

8180 1.21 195.5 288.2 32.2 466 8189 0.80 2.97 0.12 0.001 6 0.000 0.000 2481 2038 1463

8519 1.46 211.7 242.2 12.5 482 8544 1.08 2.42 15.07 0.000 4 0.000 0.000 2660 3603 1395

8616 1.21 211.7 214.5 29.7 486 8624 0.77 3.55 0.00 0.000 6 0.000 0.000 2463 1903 1402

8952 1.45 225.7 169.3 12.6 502 8976 1.12 3.53 11.27 0.000 4 0.000 0.000 2656 3605 1343

9080 1.12 225.7 132.0 30.3 507 9093 0.80 2.75 0.00 0.000 6 0.000 0.000 2458 1917 1343

9417 1.25 225.7 83.3 20.8 535 9426 0.57 2.97 0.00 0.000 4 0.000 0.000 2596 3590 1338

9526 1.17 225.7 60.3 22.9 552 9534 0.62 2.92 0.00 0.000 6 0.000 0.000 2457 1911 1343

9892 1.43 252.1 13.1 11.7 613 9923 0.77 2.55 19.15 0.000 4 0.000 0.000 2641 3382 1241

9942 end climb: SURFACE_DEPTH_REACHED

state 9942 begin surface coast

9948 end surface coast: CONTROL_FINISHED_OK

state 9948 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	16	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	10	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	19	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	1	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	-448980.06	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	-0.22280908	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	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	054724,6640.373,-6032.619,15,1.1,15,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6650.520,-6031.166
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-0.00	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	055158,6640.373,-6032.619,21,1.1,21,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,5.023,-1.642	XPDR_PINGS	-1
FINISH	-0.0,1.023768	ALTIM_TOP_PING	19.9,999.0
SM_CCo	9982,124.43,0.000,1,0,427,450.37	ALTIM_BOTTOM_PING	425.5,93.2
SM_GC	-0.00,0.00,0.00,124.43,0.000,0.000,0.000,594,2026,427,-7.58,1.36,450.37	_24V_AH	23.7,57.588
RAFOS_CLK	0	_10V_AH	9.7,8.794
RAFOS	0,1160467459,8.083333,8.071944,80,0,0,0,0,0,521,0,0,0,0,0	DATA_FILE_SIZE	19007,621
RAFOS_FIX	6637.474609,-6027.046387,101006,080821,3,80,0.78	CFSIZE	255582208,243134464
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,83,1040,4,0
TT8_MAMPS	0.024544	SOUNDSPEED	1469.5
HUMID	2336	CURRENT	0.051,256.5,1
INTERNAL_PRESSURE	26.0065	GPS	101006,084238,6641.117,-6032.762,24,1.1,24,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	40	119	114.65	SBE_CT	501	24	285.45
Roll_motor	134	60	191.19	nil	0	0	0.00
VBD_pump_during_apogee	348	1300	10722.65	nil	0	0	0.00
VBD_pump_during_surface	124	600	1769.32	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	85	223	454.05
Transponder_ping	3	420	37.33
GPS	21	50	10.64
TT8	1905	19	368.20
LPSleep	6120	2	137.13
TT8_Active	774	19	149.61
TT8_Sampling	773	39	299.36
TT8_CF8	824	45	367.17
TT8_Kalman	0	0	0.00
Analog_circuits	1443	12	168.00
GPS_charging	0	0	0.00
Compass	658	26	166.03
RAFOS	1440	1	20.95

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	129	0.00	0.00	-76.45	0.000	6	0.000	0.000	622	1902	2736
136	-1.49	-116.8	0.6	-1.6	10	153	6.95	2.92	0.00	0.000	4	0.000	0.000	1984	3600	2742
259	-1.55	-116.8	21.5	-10.4	29	268	0.50	3.53	0.00	0.000	6	0.000	0.000	1865	1716	2743
627	-1.22	-116.8	73.2	-12.9	90	636	1.20	3.47	0.00	0.000	4	0.000	0.000	2043	3433	2735
781	-1.41	-116.8	83.8	-6.1	115	790	0.62	2.78	0.00	0.000	6	0.000	0.000	1900	1918	2731
1138	-1.24	-116.8	118.6	-10.3	151	1145	0.50	2.97	0.00	0.000	4	0.000	0.000	2038	3569	2742
1227	-1.44	-116.8	124.8	-5.6	154	1237	0.77	3.97	0.00	0.000	6	0.000	0.000	1872	1767	2739
1552	-1.09	-116.8	161.0	-11.4	170	1560	1.02	3.42	0.00	0.000	4	0.000	0.000	2094	3585	2740
1663	-1.41	-116.8	167.5	-4.2	174	1672	0.80	2.75	0.00	0.000	6	0.000	0.000	1895	1745	2741
1988	-1.24	-116.8	195.5	-9.0	190	1996	0.47	3.78	0.00	0.000	4	0.000	0.000	2038	3582	2749
2111	-1.42	-116.8	203.3	-5.5	195	2119	0.57	3.53	0.00	0.000	6	0.000	0.000	1927	1707	2737
2446	-1.24	-116.8	231.2	-8.6	211	2452	0.47	2.75	0.00	0.000	4	0.000	0.000	2041	3530	2735
2570	-1.43	-116.8	238.5	-5.1	216	2582	0.57	2.97	0.00	0.000	6	0.000	0.000	1902	1997	2739
2899	-1.23	-116.8	265.1	-8.2	232	2904	0.40	2.45	0.00	0.000	4	0.000	0.000	2009	3486	2738
2970	-1.38	-116.8	269.4	-5.1	235	2978	0.50	3.42	0.00	0.000	6	0.000	0.000	1929	1827	2738
3306	-1.19	-116.8	296.5	-8.2	251	3315	0.55	3.53	0.00	0.000	4	0.000	0.000	1959	3631	2743
3405	-1.21	-116.8	302.8	-6.4	255	3412	0.03	3.28	0.00	0.000	6	0.000	0.000	1978	1922	2741
3745	-1.19	-116.8	324.7	-6.3	271	3750	0.00	2.62	0.00	0.000	4	0.000	0.000	1956	3606	2741
3797	-1.21	-116.8	328.4	-6.3	273	3809	0.00	3.78	0.00	0.000	6	0.000	0.000	1965	1783	2738
4127	-1.36	-116.8	348.7	-6.3	289	4132	0.00	2.85	0.00	0.000	4	0.000	0.000	1990	3486	2742
4230	-1.36	-116.8	355.6	-6.2	293	4238	0.00	2.97	0.00	0.000	6	0.000	0.000	1979	2033	2740
4555	-1.34	-116.8	375.2	-6.1	309	4560	0.00	2.78	0.00	0.000	4	0.000	0.000	1988	3496	2741
4608	-1.34	-116.8	378.9	-6.3	311	4613	0.00	2.95	0.00	0.000	6	0.000	0.000	1972	1817	2736
4932	-1.33	-116.8	398.4	-6.1	326	4937	0.00	2.90	0.00	0.000	4	0.000	0.000	1971	3368	2744
5049	-1.33	-116.8	406.0	-6.3	331	5054	0.00	2.72	0.00	0.000	6	0.000	0.000	1966	1883	2741
5383	-1.31	-116.8	425.5	-6.1	347	5388	0.00	2.78	0.00	0.000	4	0.000	0.000	1990	3424	2745
5479	-1.31	-116.8	431.7	-6.2	351	5485	0.00	3.00	0.00	0.000	6	0.000	0.000	1973	1929	2735
5810	-1.29	-116.8	451.3	-6.0	367	5815	0.00	2.72	0.00	0.000	4	0.000	0.000	1980	3584	2737
5889	-1.31	-116.8	456.3	-5.9	370	5894	0.00	2.62	0.00	0.000	6	0.000	0.000	1974	2078	2739
6214	-1.29	-116.8	475.4	-6.0	385	6215	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2107	2743
6519	-1.58	-116.8	494.2	-6.0	400	6526	0.38	2.97	0.00	0.000	4	0.000	0.000	1847	3609	2746
6567	-1.26	-116.8	498.3	-9.2	402	6575	0.80	2.95	0.00	0.000	6	0.000	0.000	2036	2084	2745
6795	end dive: BOTTOM_OBSTACLE_DETECTED
state	6795	begin apogee
6807	-0.25	0.0	509.9	4.6	408	6930	1.48	0.00	113.85	0.000	6	0.000	0.000	2284	2080	2263
6931	end apogee: CONTROL_FINISHED_OK
state	6931	begin climb
6937	1.49	116.8	510.2	0.0	411	7070	1.77	3.22	113.03	0.001	4	0.000	0.000	2625	3594	1779
7114	1.29	116.8	478.4	21.9	417	7123	0.73	3.28	0.00	0.000	6	0.000	0.000	2448	1901	1778
7455	1.63	169.0	443.9	9.6	433	7524	1.00	3.17	49.55	0.001	4	0.000	0.000	2693	3379	1572
7672	1.23	169.0	379.2	31.8	442	7681	1.10	2.80	0.75	0.001	6	0.000	0.000	2454	1873	1571
8002	1.50	195.5	336.8	11.6	458	8034	0.73	3.08	25.23	0.001	4	0.000	0.000	2649	3383	1457
8180	1.21	195.5	288.2	32.2	466	8189	0.80	2.97	0.12	0.001	6	0.000	0.000	2481	2038	1463
8519	1.46	211.7	242.2	12.5	482	8544	1.08	2.42	15.07	0.000	4	0.000	0.000	2660	3603	1395
8616	1.21	211.7	214.5	29.7	486	8624	0.77	3.55	0.00	0.000	6	0.000	0.000	2463	1903	1402
8952	1.45	225.7	169.3	12.6	502	8976	1.12	3.53	11.27	0.000	4	0.000	0.000	2656	3605	1343
9080	1.12	225.7	132.0	30.3	507	9093	0.80	2.75	0.00	0.000	6	0.000	0.000	2458	1917	1343
9417	1.25	225.7	83.3	20.8	535	9426	0.57	2.97	0.00	0.000	4	0.000	0.000	2596	3590	1338
9526	1.17	225.7	60.3	22.9	552	9534	0.62	2.92	0.00	0.000	6	0.000	0.000	2457	1911	1343
9892	1.43	252.1	13.1	11.7	613	9923	0.77	2.55	19.15	0.000	4	0.000	0.000	2641	3382	1241
9942	end climb: SURFACE_DEPTH_REACHED
state	9942	begin surface coast
9948	end surface coast: CONTROL_FINISHED_OK
state	9948	begin surface