Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 24 * 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 24 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 18 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 154 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 -449191.44 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 -449191.44

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 18 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 154 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 24 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 053926,6646.689,-6034.966,34,1.1,35,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6656.837,-6033.520

_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 -70.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 054420,6646.689,-6034.966,25,1.1,25,18.0 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 -0.00,4.748,-1.674 XPDR_PINGS -1

FINISH -0.0,1.024240 ALTIM_TOP_PING 19.5,19.6

SM_CCo 10431,127.65,0.000,1,0,422,450.86 ALTIM_BOTTOM_PING 450.1,89.6

SM_GC -0.00,0.00,0.00,127.65,0.000,0.000,0.000,665,1794,422,-7.49,-5.15,450.86 _24V_AH 23.7,60.769

RAFOS_CLK 0 _10V_AH 9.7,9.226

RAFOS 0,1160553847,8.083333,8.068611,80,0,0,0,0,0,584,0,0,0,0,0 DATA_FILE_SIZE 22101,636

RAFOS_FIX 6649.350098,-6032.019043,111006,080821,3,80,0.59 CFSIZE 255582208,242491392

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,100,1041,4,0

TT8_MAMPS 0.023777 SOUNDSPEED 1470.3

HUMID 2287 CURRENT 0.050,270.1,1

INTERNAL_PRESSURE 25.9576 GPS 111006,084218,6647.539,-6034.816,7,1.1,7,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 48 119 136.08 SBE_CT 520 24 295.80

Roll_motor 134 60 190.90 nil 0 0 0.00

VBD_pump_during_apogee 352 1300 10858.21 nil 0 0 0.00

VBD_pump_during_surface 127 600 1815.18 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 88 223 468.25

Transponder_ping 4 420 39.82

GPS 30 50 14.87

TT8 1942 19 375.26

LPSleep 6526 2 146.25

TT8_Active 790 19 152.71

TT8_Sampling 745 39 288.74

TT8_CF8 862 45 384.31

TT8_Kalman 0 0 0.00

Analog_circuits 1432 12 166.70

GPS_charging 0 0 0.00

Compass 623 26 157.22

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 0 122 0.00 0.00 -76.80 0.000 6 0.000 0.000 639 1797 2745

133 -1.49 -116.8 -0.0 0.0 9 151 6.78 3.42 0.00 0.000 4 0.000 0.000 1994 3491 2737

441 -1.52 -116.8 37.4 -9.1 59 449 0.50 3.22 0.00 0.000 6 0.000 0.000 1874 1841 2743

809 -1.22 -116.8 84.9 -12.0 120 818 0.62 3.03 0.00 0.000 4 0.000 0.000 2082 3511 2743

983 -1.44 -116.8 96.1 -5.6 148 992 0.77 3.42 0.00 0.000 6 0.000 0.000 1865 1829 2742

1315 -1.14 -116.8 133.9 -11.5 168 1323 0.75 3.28 0.00 0.000 4 0.000 0.000 2049 362 2746

1356 -1.37 -116.8 137.4 -5.3 169 1365 0.57 3.35 0.00 0.000 6 0.000 0.000 1918 2055 2740

1680 -1.23 -116.8 165.4 -8.9 185 1682 0.43 0.00 0.00 0.000 6 0.000 0.000 2056 2047 2745

1989 -1.43 -116.8 183.0 -5.2 200 1995 0.68 2.65 0.00 0.000 4 0.000 0.000 1937 521 2743

2071 -1.31 -116.8 189.6 -8.8 203 2083 0.52 2.88 0.00 0.000 6 0.000 0.000 2030 1990 2747

2395 -1.48 -116.8 207.4 -5.5 219 2402 0.70 3.00 0.00 0.000 4 0.000 0.000 1872 279 2744

2430 -1.20 -116.8 210.5 -10.2 220 2443 0.77 3.65 0.00 0.000 6 0.000 0.000 2057 2098 2741

2759 -1.39 -116.8 227.4 -5.0 236 2767 1.05 3.30 0.00 0.000 4 0.000 0.000 1934 411 2747

2836 -1.27 -116.8 232.9 -8.1 239 2844 0.55 3.53 0.00 0.000 6 0.000 0.000 2048 2073 2743

3177 -1.45 -116.8 250.8 -4.9 255 3186 0.68 3.58 0.00 0.000 4 0.000 0.000 1932 581 2745

3219 -1.33 -116.8 254.1 -7.9 256 3228 0.47 2.85 0.00 0.000 6 0.000 0.000 2047 1945 2740

3544 -1.52 -116.8 269.8 -4.7 272 3552 0.80 3.03 0.00 0.000 4 0.000 0.000 1923 420 2738

3596 -1.41 -116.8 273.7 -7.9 274 3602 0.00 3.15 0.00 0.000 6 0.000 0.000 1941 1933 2748

3927 -1.69 -116.8 298.7 -7.5 290 3929 0.40 0.00 0.00 0.000 6 0.000 0.000 1818 1926 2738

4236 -1.21 -116.8 331.5 -10.7 305 4244 1.42 2.78 0.00 0.000 4 0.000 0.000 2052 442 2743

4288 -1.44 -116.8 335.5 -4.5 307 4296 0.57 3.00 0.00 0.000 6 0.000 0.000 1908 1936 2746

4618 -1.29 -116.8 359.7 -7.5 323 4620 0.40 0.00 0.00 0.000 6 0.000 0.000 2044 1967 2749

4932 -1.47 -116.8 374.5 -4.6 338 4938 0.75 2.22 0.00 0.000 4 0.000 0.000 1851 414 2740

5004 -1.20 -116.8 380.0 -8.9 341 5013 0.82 3.15 0.00 0.000 6 0.000 0.000 2048 1930 2741

5345 -1.38 -116.8 396.4 -4.5 357 5352 0.40 2.97 0.00 0.000 4 0.000 0.000 1935 421 2748

5374 -1.34 -116.8 398.4 -6.5 358 5380 0.52 2.55 0.00 0.000 6 0.000 0.000 2039 2109 2743

5705 -1.53 -116.8 413.2 -4.4 374 5713 0.77 3.47 0.00 0.000 4 0.000 0.000 1861 311 2739

5782 -1.37 -116.8 418.9 -9.0 377 5790 0.77 3.53 0.00 0.000 6 0.000 0.000 2030 2143 2741

6117 -1.56 -116.8 435.0 -4.4 393 6125 0.65 3.03 0.00 0.000 4 0.000 0.000 1869 3653 2737

6175 -1.24 -116.8 439.5 -9.1 395 6188 0.75 3.45 0.00 0.000 6 0.000 0.000 2051 1836 2745

6500 -1.42 -116.8 454.6 -4.4 411 6508 0.57 3.08 0.00 0.000 4 0.000 0.000 1919 437 2750

6535 -1.30 -116.8 456.8 -7.3 412 6541 0.52 2.45 0.00 0.000 6 0.000 0.000 2036 2132 2737

6860 -1.49 -116.8 471.4 -4.3 427 6868 0.77 2.83 0.00 0.000 4 0.000 0.000 1903 439 2746

6909 -1.36 -116.8 474.7 -7.5 429 6916 0.50 3.03 0.00 0.000 6 0.000 0.000 2062 2076 2746

7249 -1.54 -116.8 490.0 -4.4 445 7251 0.77 0.00 0.00 0.000 6 0.000 0.000 1859 2079 2742

7551 -1.23 -116.8 515.7 -8.8 456 7559 0.68 3.05 0.00 0.000 4 0.000 0.000 2066 380 2736

7631 -1.46 -116.8 519.8 -4.3 457 7644 0.77 3.67 0.00 0.000 6 0.000 0.000 1877 2197 2743

7762 end dive: BOTTOM_OBSTACLE_DETECTED

state 7762 begin apogee

7776 -0.25 0.0 530.2 8.0 461 7900 1.88 0.00 114.50 0.000 6 0.000 0.000 2261 1708 2263

7900 end apogee: CONTROL_FINISHED_OK

state 7900 begin climb

7906 1.49 116.8 531.4 0.0 464 8041 2.20 2.88 112.30 0.001 4 0.000 0.000 2669 3390 1785

8128 1.16 116.8 484.3 24.6 469 8137 1.08 3.58 0.00 0.000 6 0.000 0.000 2424 1721 1784

8453 1.63 190.7 456.4 7.9 485 8549 1.05 3.28 71.22 0.000 4 0.000 0.000 2583 3627 1489

8646 1.48 190.7 412.0 24.8 493 8654 0.00 3.17 0.05 0.000 6 0.000 0.000 2606 1945 1485

8983 1.33 190.7 334.5 23.6 509 8991 0.52 2.97 0.00 0.000 4 0.000 0.000 2522 273 1486

9018 1.40 190.7 325.0 19.3 510 9031 0.20 3.53 0.00 0.000 6 0.000 0.000 2604 2275 1485

9347 1.06 190.7 247.7 26.3 526 9356 0.68 3.22 0.00 0.000 4 0.000 0.000 2427 435 1484

9438 1.55 247.2 233.4 9.3 529 9501 1.10 3.42 54.35 0.000 6 0.000 0.000 2642 2120 1255

9821 1.25 247.2 114.4 31.4 548 9829 0.77 3.70 0.00 0.000 4 0.000 0.000 2522 319 1252

9870 1.33 247.2 101.9 19.5 550 9877 0.00 3.65 0.00 0.000 6 0.000 0.000 2540 2137 1257

10239 1.35 247.2 28.4 19.2 609 10246 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2131 1246

10386 end climb: SURFACE_DEPTH_REACHED

state 10386 begin surface coast

10403 end surface coast: CONTROL_FINISHED_OK

state 10403 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	24	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	18	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	154	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	-449191.44	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	053926,6646.689,-6034.966,34,1.1,35,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6656.837,-6033.520
_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	-70.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	054420,6646.689,-6034.966,25,1.1,25,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.748,-1.674	XPDR_PINGS	-1
FINISH	-0.0,1.024240	ALTIM_TOP_PING	19.5,19.6
SM_CCo	10431,127.65,0.000,1,0,422,450.86	ALTIM_BOTTOM_PING	450.1,89.6
SM_GC	-0.00,0.00,0.00,127.65,0.000,0.000,0.000,665,1794,422,-7.49,-5.15,450.86	_24V_AH	23.7,60.769
RAFOS_CLK	0	_10V_AH	9.7,9.226
RAFOS	0,1160553847,8.083333,8.068611,80,0,0,0,0,0,584,0,0,0,0,0	DATA_FILE_SIZE	22101,636
RAFOS_FIX	6649.350098,-6032.019043,111006,080821,3,80,0.59	CFSIZE	255582208,242491392
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,100,1041,4,0
TT8_MAMPS	0.023777	SOUNDSPEED	1470.3
HUMID	2287	CURRENT	0.050,270.1,1
INTERNAL_PRESSURE	25.9576	GPS	111006,084218,6647.539,-6034.816,7,1.1,7,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	48	119	136.08	SBE_CT	520	24	295.80
Roll_motor	134	60	190.90	nil	0	0	0.00
VBD_pump_during_apogee	352	1300	10858.21	nil	0	0	0.00
VBD_pump_during_surface	127	600	1815.18	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	468.25
Transponder_ping	4	420	39.82
GPS	30	50	14.87
TT8	1942	19	375.26
LPSleep	6526	2	146.25
TT8_Active	790	19	152.71
TT8_Sampling	745	39	288.74
TT8_CF8	862	45	384.31
TT8_Kalman	0	0	0.00
Analog_circuits	1432	12	166.70
GPS_charging	0	0	0.00
Compass	623	26	157.22
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	122	0.00	0.00	-76.80	0.000	6	0.000	0.000	639	1797	2745
133	-1.49	-116.8	-0.0	0.0	9	151	6.78	3.42	0.00	0.000	4	0.000	0.000	1994	3491	2737
441	-1.52	-116.8	37.4	-9.1	59	449	0.50	3.22	0.00	0.000	6	0.000	0.000	1874	1841	2743
809	-1.22	-116.8	84.9	-12.0	120	818	0.62	3.03	0.00	0.000	4	0.000	0.000	2082	3511	2743
983	-1.44	-116.8	96.1	-5.6	148	992	0.77	3.42	0.00	0.000	6	0.000	0.000	1865	1829	2742
1315	-1.14	-116.8	133.9	-11.5	168	1323	0.75	3.28	0.00	0.000	4	0.000	0.000	2049	362	2746
1356	-1.37	-116.8	137.4	-5.3	169	1365	0.57	3.35	0.00	0.000	6	0.000	0.000	1918	2055	2740
1680	-1.23	-116.8	165.4	-8.9	185	1682	0.43	0.00	0.00	0.000	6	0.000	0.000	2056	2047	2745
1989	-1.43	-116.8	183.0	-5.2	200	1995	0.68	2.65	0.00	0.000	4	0.000	0.000	1937	521	2743
2071	-1.31	-116.8	189.6	-8.8	203	2083	0.52	2.88	0.00	0.000	6	0.000	0.000	2030	1990	2747
2395	-1.48	-116.8	207.4	-5.5	219	2402	0.70	3.00	0.00	0.000	4	0.000	0.000	1872	279	2744
2430	-1.20	-116.8	210.5	-10.2	220	2443	0.77	3.65	0.00	0.000	6	0.000	0.000	2057	2098	2741
2759	-1.39	-116.8	227.4	-5.0	236	2767	1.05	3.30	0.00	0.000	4	0.000	0.000	1934	411	2747
2836	-1.27	-116.8	232.9	-8.1	239	2844	0.55	3.53	0.00	0.000	6	0.000	0.000	2048	2073	2743
3177	-1.45	-116.8	250.8	-4.9	255	3186	0.68	3.58	0.00	0.000	4	0.000	0.000	1932	581	2745
3219	-1.33	-116.8	254.1	-7.9	256	3228	0.47	2.85	0.00	0.000	6	0.000	0.000	2047	1945	2740
3544	-1.52	-116.8	269.8	-4.7	272	3552	0.80	3.03	0.00	0.000	4	0.000	0.000	1923	420	2738
3596	-1.41	-116.8	273.7	-7.9	274	3602	0.00	3.15	0.00	0.000	6	0.000	0.000	1941	1933	2748
3927	-1.69	-116.8	298.7	-7.5	290	3929	0.40	0.00	0.00	0.000	6	0.000	0.000	1818	1926	2738
4236	-1.21	-116.8	331.5	-10.7	305	4244	1.42	2.78	0.00	0.000	4	0.000	0.000	2052	442	2743
4288	-1.44	-116.8	335.5	-4.5	307	4296	0.57	3.00	0.00	0.000	6	0.000	0.000	1908	1936	2746
4618	-1.29	-116.8	359.7	-7.5	323	4620	0.40	0.00	0.00	0.000	6	0.000	0.000	2044	1967	2749
4932	-1.47	-116.8	374.5	-4.6	338	4938	0.75	2.22	0.00	0.000	4	0.000	0.000	1851	414	2740
5004	-1.20	-116.8	380.0	-8.9	341	5013	0.82	3.15	0.00	0.000	6	0.000	0.000	2048	1930	2741
5345	-1.38	-116.8	396.4	-4.5	357	5352	0.40	2.97	0.00	0.000	4	0.000	0.000	1935	421	2748
5374	-1.34	-116.8	398.4	-6.5	358	5380	0.52	2.55	0.00	0.000	6	0.000	0.000	2039	2109	2743
5705	-1.53	-116.8	413.2	-4.4	374	5713	0.77	3.47	0.00	0.000	4	0.000	0.000	1861	311	2739
5782	-1.37	-116.8	418.9	-9.0	377	5790	0.77	3.53	0.00	0.000	6	0.000	0.000	2030	2143	2741
6117	-1.56	-116.8	435.0	-4.4	393	6125	0.65	3.03	0.00	0.000	4	0.000	0.000	1869	3653	2737
6175	-1.24	-116.8	439.5	-9.1	395	6188	0.75	3.45	0.00	0.000	6	0.000	0.000	2051	1836	2745
6500	-1.42	-116.8	454.6	-4.4	411	6508	0.57	3.08	0.00	0.000	4	0.000	0.000	1919	437	2750
6535	-1.30	-116.8	456.8	-7.3	412	6541	0.52	2.45	0.00	0.000	6	0.000	0.000	2036	2132	2737
6860	-1.49	-116.8	471.4	-4.3	427	6868	0.77	2.83	0.00	0.000	4	0.000	0.000	1903	439	2746
6909	-1.36	-116.8	474.7	-7.5	429	6916	0.50	3.03	0.00	0.000	6	0.000	0.000	2062	2076	2746
7249	-1.54	-116.8	490.0	-4.4	445	7251	0.77	0.00	0.00	0.000	6	0.000	0.000	1859	2079	2742
7551	-1.23	-116.8	515.7	-8.8	456	7559	0.68	3.05	0.00	0.000	4	0.000	0.000	2066	380	2736
7631	-1.46	-116.8	519.8	-4.3	457	7644	0.77	3.67	0.00	0.000	6	0.000	0.000	1877	2197	2743
7762	end dive: BOTTOM_OBSTACLE_DETECTED
state	7762	begin apogee
7776	-0.25	0.0	530.2	8.0	461	7900	1.88	0.00	114.50	0.000	6	0.000	0.000	2261	1708	2263
7900	end apogee: CONTROL_FINISHED_OK
state	7900	begin climb
7906	1.49	116.8	531.4	0.0	464	8041	2.20	2.88	112.30	0.001	4	0.000	0.000	2669	3390	1785
8128	1.16	116.8	484.3	24.6	469	8137	1.08	3.58	0.00	0.000	6	0.000	0.000	2424	1721	1784
8453	1.63	190.7	456.4	7.9	485	8549	1.05	3.28	71.22	0.000	4	0.000	0.000	2583	3627	1489
8646	1.48	190.7	412.0	24.8	493	8654	0.00	3.17	0.05	0.000	6	0.000	0.000	2606	1945	1485
8983	1.33	190.7	334.5	23.6	509	8991	0.52	2.97	0.00	0.000	4	0.000	0.000	2522	273	1486
9018	1.40	190.7	325.0	19.3	510	9031	0.20	3.53	0.00	0.000	6	0.000	0.000	2604	2275	1485
9347	1.06	190.7	247.7	26.3	526	9356	0.68	3.22	0.00	0.000	4	0.000	0.000	2427	435	1484
9438	1.55	247.2	233.4	9.3	529	9501	1.10	3.42	54.35	0.000	6	0.000	0.000	2642	2120	1255
9821	1.25	247.2	114.4	31.4	548	9829	0.77	3.70	0.00	0.000	4	0.000	0.000	2522	319	1252
9870	1.33	247.2	101.9	19.5	550	9877	0.00	3.65	0.00	0.000	6	0.000	0.000	2540	2137	1257
10239	1.35	247.2	28.4	19.2	609	10246	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2131	1246
10386	end climb: SURFACE_DEPTH_REACHED
state	10386	begin surface coast
10403	end surface coast: CONTROL_FINISHED_OK
state	10403	begin surface