Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 21 * 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 21 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 21 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 3 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 -449108.56 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 -449108.56

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 21 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 3 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 21 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 201922,6644.110,-6033.691,21,1.1,21,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6654.258,-6032.242

_XMS_NAKs 2 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 -70.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 202346,6644.110,-6033.691,9,1.1,9,18.0 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 -0.01,4.952,-1.646 XPDR_PINGS -1

FINISH -0.0,1.023827 ALTIM_TOP_PING 19.8,19.2

SM_CCo 10730,144.05,0.000,0,0,426,450.62 ALTIM_BOTTOM_PING 450.5,76.2

SM_GC -0.01,0.00,0.00,144.05,0.000,0.000,0.000,584,2068,426,-7.69,2.49,450.62 _24V_AH 23.7,59.530

RAFOS_CLK 0 _10V_AH 9.7,9.061

RAFOS 1,1160511242,20.250000,20.233889,80,0,0,0,0,0,770,0,0,0,0,0 DATA_FILE_SIZE 22134,644

RAFOS_FIX 6642.003906,-6029.743652,101006,202050,3,80,0.00 CFSIZE 255582208,242737152

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,103,1061,5,0

TT8_MAMPS 0.024544 SOUNDSPEED 1469.8

HUMID 2284 CURRENT 0.052,256.7,1

INTERNAL_PRESSURE 26.0162 GPS 101006,232720,6644.973,-6034.145,35,1.1,35,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 47 119 133.61 SBE_CT 524 24 298.22

Roll_motor 138 60 197.30 nil 0 0 0.00

VBD_pump_during_apogee 325 1300 10020.18 nil 0 0 0.00

VBD_pump_during_surface 144 600 2048.39 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 88 223 466.31

Transponder_ping 4 420 39.82

GPS 9 50 4.76

TT8 1970 19 380.74

LPSleep 6739 2 151.00

TT8_Active 811 19 156.85

TT8_Sampling 756 39 292.77

TT8_CF8 873 45 388.86

TT8_Kalman 0 0 0.00

Analog_circuits 1475 12 171.73

GPS_charging 0 0 0.00

Compass 651 26 164.27

RAFOS 720 1 10.48

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 -76.62 0.000 6 0.000 0.000 618 1883 2743

135 -1.49 -116.8 -0.0 0.0 9 152 6.78 2.70 0.00 0.000 4 0.000 0.000 2006 369 2741

211 -1.62 -116.8 14.6 -9.4 20 220 0.77 3.28 0.00 0.000 6 0.000 0.000 1835 2188 2737

579 -1.19 -116.8 72.5 -14.6 81 586 1.08 0.00 0.00 0.000 6 0.000 0.000 2088 2191 2736

945 -1.46 -116.8 93.1 -5.1 142 954 1.15 3.35 0.00 0.000 4 0.000 0.000 1874 490 2741

1007 -1.24 -116.8 99.5 -11.8 151 1016 0.77 3.33 0.00 0.000 6 0.000 0.000 2070 2174 2737

1333 -1.54 -116.8 117.8 -5.0 167 1341 0.77 3.17 0.00 0.000 4 0.000 0.000 1892 511 2736

1418 -1.30 -116.8 126.4 -11.1 170 1430 0.60 3.00 0.00 0.000 6 0.000 0.000 2022 2131 2740

1747 -1.37 -116.8 149.6 -6.7 186 1755 0.60 3.28 0.00 0.000 4 0.000 0.000 1881 440 2737

1823 -1.15 -116.8 156.8 -10.7 189 1831 0.85 2.75 0.00 0.000 6 0.000 0.000 2039 1997 2740

2164 -1.39 -116.8 174.3 -4.8 205 2171 0.77 3.12 0.00 0.000 4 0.000 0.000 1896 298 2736

2243 -1.24 -116.8 180.8 -9.8 208 2252 0.65 3.28 0.00 0.000 6 0.000 0.000 2024 1972 2737

2579 -1.35 -116.8 201.7 -5.8 224 2587 0.40 3.33 0.00 0.000 4 0.000 0.000 1894 269 2736

2614 -1.16 -116.8 204.6 -9.4 225 2627 0.77 3.50 0.00 0.000 6 0.000 0.000 2018 2157 2739

2944 -1.28 -116.8 223.5 -5.6 241 2952 0.47 3.25 0.00 0.000 4 0.000 0.000 1878 335 2735

3043 -1.09 -116.8 232.6 -9.0 245 3051 0.77 2.88 0.00 0.000 6 0.000 0.000 2021 1957 2737

3379 -1.21 -116.8 251.1 -5.5 261 3383 0.00 2.62 0.00 0.000 4 0.000 0.000 2029 300 2748

3409 -1.35 -116.8 253.1 -5.4 262 3421 0.50 3.25 0.00 0.000 6 0.000 0.000 1894 2158 2745

3738 -1.12 -116.8 280.4 -8.7 278 3747 0.65 3.75 0.00 0.000 4 0.000 0.000 2095 478 2739

3823 -1.43 -116.8 284.6 -3.9 281 3836 0.80 2.72 0.00 0.000 6 0.000 0.000 1917 2166 2743

4152 -1.21 -116.8 310.3 -8.4 297 4160 0.68 3.25 0.00 0.000 4 0.000 0.000 2027 264 2746

4228 -1.38 -116.8 314.6 -5.0 300 4236 0.52 3.17 0.00 0.000 6 0.000 0.000 1906 1918 2739

4564 -1.18 -116.8 341.5 -8.0 316 4566 0.47 0.00 0.00 0.000 6 0.000 0.000 2046 1944 2742

4878 -1.32 -116.8 356.7 -4.1 331 4884 0.45 2.78 0.00 0.000 4 0.000 0.000 1917 449 2737

4965 -1.17 -116.8 363.0 -7.4 334 4973 0.77 2.97 0.00 0.000 6 0.000 0.000 2084 1904 2741

5290 -1.45 -116.8 376.2 -3.7 350 5298 0.93 2.58 0.00 0.000 4 0.000 0.000 1902 540 2740

5381 -1.28 -116.8 382.4 -8.0 353 5390 0.52 2.38 0.00 0.000 6 0.000 0.000 2030 1890 2740

5706 -1.63 -116.8 399.3 -5.1 369 5712 0.90 2.22 0.00 0.000 4 0.000 0.000 1855 333 2741

5751 -1.33 -116.8 403.1 -9.2 371 5759 0.80 3.58 0.00 0.000 6 0.000 0.000 2029 2162 2748

6092 -1.47 -116.8 419.7 -4.6 387 6100 0.77 3.28 0.00 0.000 4 0.000 0.000 1863 470 2739

6127 -1.18 -116.8 422.7 -9.2 388 6141 0.85 3.38 0.00 0.000 6 0.000 0.000 1979 1981 2740

6457 -1.18 -116.8 442.2 -5.9 404 6464 0.00 3.53 0.00 0.000 4 0.000 0.000 2004 311 2742

6528 -1.23 -116.8 446.6 -5.7 407 6535 0.00 3.53 0.00 0.000 6 0.000 0.000 1969 2158 2736

6868 -1.23 -116.8 466.1 -5.9 423 6875 0.00 3.42 0.00 0.000 4 0.000 0.000 1979 297 2739

6931 -1.27 -116.8 470.2 -6.3 425 6940 0.00 3.40 0.00 0.000 6 0.000 0.000 1998 2188 2735

7256 -1.27 -116.8 488.5 -5.8 441 7261 0.00 3.12 0.00 0.000 4 0.000 0.000 1983 345 2739

7322 -1.31 -116.8 492.8 -6.3 444 7330 0.00 3.62 0.00 0.000 6 0.000 0.000 1984 2183 2742

7654 -1.31 -116.8 511.8 -5.9 455 7662 0.00 3.83 0.00 0.000 4 0.000 0.000 1968 384 2739

7690 -1.35 -116.8 513.9 -5.8 455 7695 0.00 3.15 0.00 0.000 6 0.000 0.000 1980 2013 2744

7735 end dive: BOTTOM_OBSTACLE_DETECTED

state 7735 begin apogee

7748 -0.25 0.0 516.8 5.8 456 7876 1.75 0.00 114.12 0.000 6 0.000 0.000 2291 2022 2260

7877 end apogee: CONTROL_FINISHED_OK

state 7877 begin climb

7883 1.49 116.8 517.3 0.0 459 8019 1.77 0.00 113.75 0.000 6 0.000 0.000 2641 2032 1785

8330 1.21 116.8 420.8 23.2 478 8333 0.98 0.00 0.00 0.000 6 0.000 0.000 2438 2027 1778

8640 1.53 165.3 387.9 9.9 493 8694 0.77 2.55 46.80 0.000 4 0.000 0.000 2637 3508 1581

8753 1.28 165.3 361.5 25.4 498 8761 0.70 3.00 0.00 0.000 6 0.000 0.000 2454 1843 1587

9088 1.59 200.9 322.4 10.9 514 9134 1.38 3.22 33.12 0.000 4 0.000 0.000 2702 3526 1442

9328 1.19 200.9 245.5 34.4 524 9342 1.08 3.33 0.75 0.001 6 0.000 0.000 2446 1715 1442

9653 1.28 200.9 196.5 14.2 540 9660 0.55 2.97 0.00 0.000 4 0.000 0.000 2582 3396 1437

9911 1.18 200.9 138.1 21.8 551 9919 0.52 3.20 0.00 0.000 6 0.000 0.000 2464 1749 1440

10240 1.41 222.1 97.4 12.1 569 10265 0.90 3.15 16.67 0.001 4 0.000 0.000 2632 3373 1364

10483 1.14 222.1 31.9 27.2 608 10492 0.80 3.08 0.00 0.000 6 0.000 0.000 2479 1727 1357

10689 end climb: SURFACE_DEPTH_REACHED

state 10689 begin surface coast

10701 end surface coast: CONTROL_FINISHED_OK

state 10701 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	21	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	21	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	3	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	-449108.56	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	201922,6644.110,-6033.691,21,1.1,21,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6654.258,-6032.242
_XMS_NAKs	2	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	-70.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	202346,6644.110,-6033.691,9,1.1,9,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.01,4.952,-1.646	XPDR_PINGS	-1
FINISH	-0.0,1.023827	ALTIM_TOP_PING	19.8,19.2
SM_CCo	10730,144.05,0.000,0,0,426,450.62	ALTIM_BOTTOM_PING	450.5,76.2
SM_GC	-0.01,0.00,0.00,144.05,0.000,0.000,0.000,584,2068,426,-7.69,2.49,450.62	_24V_AH	23.7,59.530
RAFOS_CLK	0	_10V_AH	9.7,9.061
RAFOS	1,1160511242,20.250000,20.233889,80,0,0,0,0,0,770,0,0,0,0,0	DATA_FILE_SIZE	22134,644
RAFOS_FIX	6642.003906,-6029.743652,101006,202050,3,80,0.00	CFSIZE	255582208,242737152
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,103,1061,5,0
TT8_MAMPS	0.024544	SOUNDSPEED	1469.8
HUMID	2284	CURRENT	0.052,256.7,1
INTERNAL_PRESSURE	26.0162	GPS	101006,232720,6644.973,-6034.145,35,1.1,35,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	47	119	133.61	SBE_CT	524	24	298.22
Roll_motor	138	60	197.30	nil	0	0	0.00
VBD_pump_during_apogee	325	1300	10020.18	nil	0	0	0.00
VBD_pump_during_surface	144	600	2048.39	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	88	223	466.31
Transponder_ping	4	420	39.82
GPS	9	50	4.76
TT8	1970	19	380.74
LPSleep	6739	2	151.00
TT8_Active	811	19	156.85
TT8_Sampling	756	39	292.77
TT8_CF8	873	45	388.86
TT8_Kalman	0	0	0.00
Analog_circuits	1475	12	171.73
GPS_charging	0	0	0.00
Compass	651	26	164.27
RAFOS	720	1	10.48

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	-76.62	0.000	6	0.000	0.000	618	1883	2743
135	-1.49	-116.8	-0.0	0.0	9	152	6.78	2.70	0.00	0.000	4	0.000	0.000	2006	369	2741
211	-1.62	-116.8	14.6	-9.4	20	220	0.77	3.28	0.00	0.000	6	0.000	0.000	1835	2188	2737
579	-1.19	-116.8	72.5	-14.6	81	586	1.08	0.00	0.00	0.000	6	0.000	0.000	2088	2191	2736
945	-1.46	-116.8	93.1	-5.1	142	954	1.15	3.35	0.00	0.000	4	0.000	0.000	1874	490	2741
1007	-1.24	-116.8	99.5	-11.8	151	1016	0.77	3.33	0.00	0.000	6	0.000	0.000	2070	2174	2737
1333	-1.54	-116.8	117.8	-5.0	167	1341	0.77	3.17	0.00	0.000	4	0.000	0.000	1892	511	2736
1418	-1.30	-116.8	126.4	-11.1	170	1430	0.60	3.00	0.00	0.000	6	0.000	0.000	2022	2131	2740
1747	-1.37	-116.8	149.6	-6.7	186	1755	0.60	3.28	0.00	0.000	4	0.000	0.000	1881	440	2737
1823	-1.15	-116.8	156.8	-10.7	189	1831	0.85	2.75	0.00	0.000	6	0.000	0.000	2039	1997	2740
2164	-1.39	-116.8	174.3	-4.8	205	2171	0.77	3.12	0.00	0.000	4	0.000	0.000	1896	298	2736
2243	-1.24	-116.8	180.8	-9.8	208	2252	0.65	3.28	0.00	0.000	6	0.000	0.000	2024	1972	2737
2579	-1.35	-116.8	201.7	-5.8	224	2587	0.40	3.33	0.00	0.000	4	0.000	0.000	1894	269	2736
2614	-1.16	-116.8	204.6	-9.4	225	2627	0.77	3.50	0.00	0.000	6	0.000	0.000	2018	2157	2739
2944	-1.28	-116.8	223.5	-5.6	241	2952	0.47	3.25	0.00	0.000	4	0.000	0.000	1878	335	2735
3043	-1.09	-116.8	232.6	-9.0	245	3051	0.77	2.88	0.00	0.000	6	0.000	0.000	2021	1957	2737
3379	-1.21	-116.8	251.1	-5.5	261	3383	0.00	2.62	0.00	0.000	4	0.000	0.000	2029	300	2748
3409	-1.35	-116.8	253.1	-5.4	262	3421	0.50	3.25	0.00	0.000	6	0.000	0.000	1894	2158	2745
3738	-1.12	-116.8	280.4	-8.7	278	3747	0.65	3.75	0.00	0.000	4	0.000	0.000	2095	478	2739
3823	-1.43	-116.8	284.6	-3.9	281	3836	0.80	2.72	0.00	0.000	6	0.000	0.000	1917	2166	2743
4152	-1.21	-116.8	310.3	-8.4	297	4160	0.68	3.25	0.00	0.000	4	0.000	0.000	2027	264	2746
4228	-1.38	-116.8	314.6	-5.0	300	4236	0.52	3.17	0.00	0.000	6	0.000	0.000	1906	1918	2739
4564	-1.18	-116.8	341.5	-8.0	316	4566	0.47	0.00	0.00	0.000	6	0.000	0.000	2046	1944	2742
4878	-1.32	-116.8	356.7	-4.1	331	4884	0.45	2.78	0.00	0.000	4	0.000	0.000	1917	449	2737
4965	-1.17	-116.8	363.0	-7.4	334	4973	0.77	2.97	0.00	0.000	6	0.000	0.000	2084	1904	2741
5290	-1.45	-116.8	376.2	-3.7	350	5298	0.93	2.58	0.00	0.000	4	0.000	0.000	1902	540	2740
5381	-1.28	-116.8	382.4	-8.0	353	5390	0.52	2.38	0.00	0.000	6	0.000	0.000	2030	1890	2740
5706	-1.63	-116.8	399.3	-5.1	369	5712	0.90	2.22	0.00	0.000	4	0.000	0.000	1855	333	2741
5751	-1.33	-116.8	403.1	-9.2	371	5759	0.80	3.58	0.00	0.000	6	0.000	0.000	2029	2162	2748
6092	-1.47	-116.8	419.7	-4.6	387	6100	0.77	3.28	0.00	0.000	4	0.000	0.000	1863	470	2739
6127	-1.18	-116.8	422.7	-9.2	388	6141	0.85	3.38	0.00	0.000	6	0.000	0.000	1979	1981	2740
6457	-1.18	-116.8	442.2	-5.9	404	6464	0.00	3.53	0.00	0.000	4	0.000	0.000	2004	311	2742
6528	-1.23	-116.8	446.6	-5.7	407	6535	0.00	3.53	0.00	0.000	6	0.000	0.000	1969	2158	2736
6868	-1.23	-116.8	466.1	-5.9	423	6875	0.00	3.42	0.00	0.000	4	0.000	0.000	1979	297	2739
6931	-1.27	-116.8	470.2	-6.3	425	6940	0.00	3.40	0.00	0.000	6	0.000	0.000	1998	2188	2735
7256	-1.27	-116.8	488.5	-5.8	441	7261	0.00	3.12	0.00	0.000	4	0.000	0.000	1983	345	2739
7322	-1.31	-116.8	492.8	-6.3	444	7330	0.00	3.62	0.00	0.000	6	0.000	0.000	1984	2183	2742
7654	-1.31	-116.8	511.8	-5.9	455	7662	0.00	3.83	0.00	0.000	4	0.000	0.000	1968	384	2739
7690	-1.35	-116.8	513.9	-5.8	455	7695	0.00	3.15	0.00	0.000	6	0.000	0.000	1980	2013	2744
7735	end dive: BOTTOM_OBSTACLE_DETECTED
state	7735	begin apogee
7748	-0.25	0.0	516.8	5.8	456	7876	1.75	0.00	114.12	0.000	6	0.000	0.000	2291	2022	2260
7877	end apogee: CONTROL_FINISHED_OK
state	7877	begin climb
7883	1.49	116.8	517.3	0.0	459	8019	1.77	0.00	113.75	0.000	6	0.000	0.000	2641	2032	1785
8330	1.21	116.8	420.8	23.2	478	8333	0.98	0.00	0.00	0.000	6	0.000	0.000	2438	2027	1778
8640	1.53	165.3	387.9	9.9	493	8694	0.77	2.55	46.80	0.000	4	0.000	0.000	2637	3508	1581
8753	1.28	165.3	361.5	25.4	498	8761	0.70	3.00	0.00	0.000	6	0.000	0.000	2454	1843	1587
9088	1.59	200.9	322.4	10.9	514	9134	1.38	3.22	33.12	0.000	4	0.000	0.000	2702	3526	1442
9328	1.19	200.9	245.5	34.4	524	9342	1.08	3.33	0.75	0.001	6	0.000	0.000	2446	1715	1442
9653	1.28	200.9	196.5	14.2	540	9660	0.55	2.97	0.00	0.000	4	0.000	0.000	2582	3396	1437
9911	1.18	200.9	138.1	21.8	551	9919	0.52	3.20	0.00	0.000	6	0.000	0.000	2464	1749	1440
10240	1.41	222.1	97.4	12.1	569	10265	0.90	3.15	16.67	0.001	4	0.000	0.000	2632	3373	1364
10483	1.14	222.1	31.9	27.2	608	10492	0.80	3.08	0.00	0.000	6	0.000	0.000	2479	1727	1357
10689	end climb: SURFACE_DEPTH_REACHED
state	10689	begin surface coast
10701	end surface coast: CONTROL_FINISHED_OK
state	10701	begin surface