Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 31 * 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 31 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 5 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 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 -449340.44 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 -449340.44

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 5 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 31 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 031844,6652.750,-6034.273,31,1.1,31,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6702.897,-6032.833

_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 032314,6652.750,-6034.273,17,1.1,17,18.0 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 -0.01,4.683,-1.718 XPDR_PINGS -1

FINISH -0.0,1.024868 ALTIM_TOP_PING 19.5,19.8

SM_CCo 10142,141.20,0.000,1,0,435,450.62 ALTIM_BOTTOM_PING 475.4,82.5

SM_GC 0.00,0.00,0.00,141.20,0.000,0.000,0.000,577,2036,435,-7.78,1.55,450.62 _24V_AH 23.7,63.696

RAFOS_CLK 0 _10V_AH 9.7,9.602

RAFOS 4,1160623745,3.500000,3.484722,40,0,0,0,0,0,0,0,0,0,0,0 DATA_FILE_SIZE 22126,637

RAFOS_FIX 6652.602051,-6030.077637,121006,040448,4,80,0.89 CFSIZE 255582208,241934336

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,94,937,6,0

TT8_MAMPS 0.024544 SOUNDSPEED 1470.2

HUMID 2353 CURRENT 0.049,271.3,1

INTERNAL_PRESSURE 25.9967 GPS 121006,061645,6653.569,-6034.116,12,1.1,12,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 46 119 131.50 SBE_CT 517 24 294.60

Roll_motor 121 60 172.77 nil 0 0 0.00

VBD_pump_during_apogee 324 1300 9984.75 nil 0 0 0.00

VBD_pump_during_surface 141 600 2007.86 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 86 223 458.45

Transponder_ping 4 420 42.30

GPS 18 50 8.77

TT8 1932 19 373.49

LPSleep 6377 2 142.89

TT8_Active 773 19 149.46

TT8_Sampling 690 39 267.29

TT8_CF8 800 45 356.73

TT8_Kalman 0 0 0.00

Analog_circuits 1368 12 159.25

GPS_charging 0 0 0.00

Compass 580 26 146.44

RAFOS 1800 1 26.19

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

34 end surface: CONTROL_FINISHED_OK

state 35 begin dive

41 -1.49 -116.8 0.0 0.0 0 127 0.00 0.00 -76.97 0.000 6 0.000 0.000 688 2240 2741

133 -1.49 -116.8 -0.0 0.0 10 150 6.70 2.25 0.00 0.000 4 0.000 0.000 1999 3571 2740

439 -1.55 -116.8 35.7 -8.7 60 448 0.47 3.33 0.00 0.000 6 0.000 0.000 1894 1735 2740

806 -1.26 -116.8 81.8 -12.8 121 815 0.82 3.22 0.00 0.000 4 0.000 0.000 2060 3602 2740

1104 -1.60 -116.8 99.8 -5.5 170 1114 0.85 3.53 0.00 0.000 6 0.000 0.000 1870 1796 2738

1429 -1.31 -116.8 134.7 -11.0 186 1432 0.77 0.00 0.00 0.000 6 0.000 0.000 1986 1805 2743

1738 -1.36 -116.8 156.9 -6.8 201 1745 0.10 3.17 0.00 0.000 4 0.000 0.000 1994 3485 2741

1795 -1.41 -116.8 161.2 -6.8 203 1807 0.50 3.25 0.00 0.000 6 0.000 0.000 1891 1846 2738

2124 -1.41 -116.8 193.0 -9.7 219 2132 0.82 3.03 0.00 0.000 4 0.000 0.000 2007 338 2739

2176 -1.52 -116.8 197.3 -5.9 221 2185 0.52 3.78 0.00 0.000 6 0.000 0.000 1890 2014 2739

2506 -1.26 -116.8 227.9 -9.5 237 2514 0.73 3.22 0.00 0.000 4 0.000 0.000 2071 331 2740

2536 -1.42 -116.8 230.3 -6.6 238 2544 0.77 3.42 0.00 0.000 6 0.000 0.000 1880 2138 2738

2866 -1.16 -116.8 259.7 -9.1 254 2875 0.80 3.60 0.00 0.000 4 0.000 0.000 2013 409 2742

2915 -1.28 -116.8 262.8 -5.7 256 2920 0.00 2.72 0.00 0.000 6 0.000 0.000 2012 2115 2737

3251 -1.36 -116.8 281.3 -5.5 272 3259 0.50 3.25 0.00 0.000 4 0.000 0.000 1906 397 2746

3280 -1.21 -116.8 283.8 -7.9 273 3288 0.82 3.05 0.00 0.000 6 0.000 0.000 2098 2111 2743

3610 -1.49 -116.8 297.4 -3.9 289 3620 0.77 3.50 0.00 0.000 4 0.000 0.000 1962 307 2742

3667 -1.49 -116.8 300.7 -6.3 291 3672 0.00 2.80 0.00 0.000 6 0.000 0.000 1960 2132 2743

3992 -1.44 -116.8 321.9 -6.7 306 3999 0.00 3.45 0.00 0.000 4 0.000 0.000 1980 297 2744

4043 -1.44 -116.8 325.8 -6.6 308 4050 0.00 3.75 0.00 0.000 6 0.000 0.000 1955 2117 2742

4378 -1.39 -116.8 347.4 -6.5 324 4379 0.00 0.00 0.00 0.000 6 0.000 0.000 1957 2096 2744

4682 -1.39 -116.8 367.6 -6.5 339 4690 0.00 3.67 0.00 0.000 4 0.000 0.000 1935 274 2744

4756 -1.39 -116.8 372.5 -6.5 342 4763 0.00 3.53 0.00 0.000 6 0.000 0.000 1962 2144 2741

5091 -1.72 -116.8 393.7 -6.4 358 5099 0.45 3.62 0.00 0.000 4 0.000 0.000 1849 281 2740

5154 -1.41 -116.8 399.8 -9.6 360 5164 0.77 2.97 0.00 0.000 6 0.000 0.000 2032 2133 2739

5479 -1.56 -116.8 415.6 -4.7 376 5487 0.70 3.25 0.00 0.000 4 0.000 0.000 1860 462 2733

5542 -1.36 -116.8 421.2 -9.3 378 5552 0.77 2.88 0.00 0.000 6 0.000 0.000 2035 1969 2735

5867 -1.52 -116.8 436.4 -4.5 394 5873 0.88 2.35 0.00 0.000 4 0.000 0.000 1846 423 2742

5939 -1.24 -116.8 442.0 -9.2 397 5946 0.77 2.55 0.00 0.000 6 0.000 0.000 2053 1932 2741

6274 -1.43 -116.8 458.0 -4.3 413 6276 0.75 0.00 0.00 0.000 6 0.000 0.000 1864 1920 2742

6590 -1.20 -116.8 484.3 -8.8 428 6597 1.10 2.53 0.00 0.000 4 0.000 0.000 2034 289 2733

6653 -1.43 -116.8 488.4 -4.3 430 6662 0.77 3.58 0.00 0.000 6 0.000 0.000 1882 2135 2737

6970 -1.13 -116.8 514.6 -8.6 442 6978 0.90 3.42 0.00 0.000 4 0.000 0.000 2054 287 2739

7011 -1.37 -116.8 517.3 -4.0 442 7021 0.77 2.95 0.00 0.000 6 0.000 0.000 1874 2151 2738

7347 -1.09 -116.8 544.4 -8.4 451 7355 1.23 3.55 0.00 0.000 4 0.000 0.000 2059 444 2739

7399 -1.33 -116.8 547.2 -4.0 452 7407 0.77 3.00 0.00 0.000 6 0.000 0.000 1877 2120 2747

7411 end dive: BOTTOM_OBSTACLE_DETECTED

state 7411 begin apogee

7424 -0.25 0.0 547.9 4.1 452 7547 1.90 0.00 113.68 0.000 6 0.000 0.000 2303 1952 2260

7548 end apogee: CONTROL_FINISHED_OK

state 7548 begin climb

7554 1.49 116.8 548.9 0.0 455 7687 1.60 0.00 113.22 0.000 6 0.000 0.000 2679 1943 1788

8001 1.15 116.8 447.8 24.8 471 8010 0.93 3.25 0.00 0.000 4 0.000 0.000 2404 3630 1779

8100 1.58 181.9 436.7 8.6 475 8181 1.08 2.97 61.50 0.001 6 0.000 0.000 2687 1938 1521

8505 1.20 181.9 317.7 30.8 494 8512 0.75 2.38 0.15 0.002 4 0.000 0.000 2503 549 1515

8543 1.36 181.9 309.2 16.2 495 8552 0.52 3.28 0.00 0.000 6 0.000 0.000 2631 2052 1522

8867 1.15 181.9 232.0 25.0 511 8871 0.77 0.00 0.32 0.000 6 0.000 0.000 2433 2053 1520

9177 1.52 224.4 197.8 10.4 526 9214 0.93 0.00 34.15 0.000 6 0.000 0.000 2632 2044 1352

9525 1.29 224.4 105.2 26.8 543 9527 0.45 0.00 0.00 0.000 6 0.000 0.000 2508 2066 1350

9875 1.40 224.4 48.5 15.6 600 9884 0.43 2.85 1.05 0.000 4 0.000 0.000 2632 3552 1346

9977 1.13 224.4 23.4 26.2 615 9987 0.80 3.15 0.00 0.000 6 0.000 0.000 2511 1712 1344

10098 end climb: SURFACE_DEPTH_REACHED

state 10098 begin surface coast

10112 end surface coast: CONTROL_FINISHED_OK

state 10112 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	31	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	5	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	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	-449340.44	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	031844,6652.750,-6034.273,31,1.1,31,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6702.897,-6032.833
_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	032314,6652.750,-6034.273,17,1.1,17,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.01,4.683,-1.718	XPDR_PINGS	-1
FINISH	-0.0,1.024868	ALTIM_TOP_PING	19.5,19.8
SM_CCo	10142,141.20,0.000,1,0,435,450.62	ALTIM_BOTTOM_PING	475.4,82.5
SM_GC	0.00,0.00,0.00,141.20,0.000,0.000,0.000,577,2036,435,-7.78,1.55,450.62	_24V_AH	23.7,63.696
RAFOS_CLK	0	_10V_AH	9.7,9.602
RAFOS	4,1160623745,3.500000,3.484722,40,0,0,0,0,0,0,0,0,0,0,0	DATA_FILE_SIZE	22126,637
RAFOS_FIX	6652.602051,-6030.077637,121006,040448,4,80,0.89	CFSIZE	255582208,241934336
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,94,937,6,0
TT8_MAMPS	0.024544	SOUNDSPEED	1470.2
HUMID	2353	CURRENT	0.049,271.3,1
INTERNAL_PRESSURE	25.9967	GPS	121006,061645,6653.569,-6034.116,12,1.1,12,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	46	119	131.50	SBE_CT	517	24	294.60
Roll_motor	121	60	172.77	nil	0	0	0.00
VBD_pump_during_apogee	324	1300	9984.75	nil	0	0	0.00
VBD_pump_during_surface	141	600	2007.86	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	86	223	458.45
Transponder_ping	4	420	42.30
GPS	18	50	8.77
TT8	1932	19	373.49
LPSleep	6377	2	142.89
TT8_Active	773	19	149.46
TT8_Sampling	690	39	267.29
TT8_CF8	800	45	356.73
TT8_Kalman	0	0	0.00
Analog_circuits	1368	12	159.25
GPS_charging	0	0	0.00
Compass	580	26	146.44
RAFOS	1800	1	26.19

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
34	end surface: CONTROL_FINISHED_OK
state	35	begin dive
41	-1.49	-116.8	0.0	0.0	0	127	0.00	0.00	-76.97	0.000	6	0.000	0.000	688	2240	2741
133	-1.49	-116.8	-0.0	0.0	10	150	6.70	2.25	0.00	0.000	4	0.000	0.000	1999	3571	2740
439	-1.55	-116.8	35.7	-8.7	60	448	0.47	3.33	0.00	0.000	6	0.000	0.000	1894	1735	2740
806	-1.26	-116.8	81.8	-12.8	121	815	0.82	3.22	0.00	0.000	4	0.000	0.000	2060	3602	2740
1104	-1.60	-116.8	99.8	-5.5	170	1114	0.85	3.53	0.00	0.000	6	0.000	0.000	1870	1796	2738
1429	-1.31	-116.8	134.7	-11.0	186	1432	0.77	0.00	0.00	0.000	6	0.000	0.000	1986	1805	2743
1738	-1.36	-116.8	156.9	-6.8	201	1745	0.10	3.17	0.00	0.000	4	0.000	0.000	1994	3485	2741
1795	-1.41	-116.8	161.2	-6.8	203	1807	0.50	3.25	0.00	0.000	6	0.000	0.000	1891	1846	2738
2124	-1.41	-116.8	193.0	-9.7	219	2132	0.82	3.03	0.00	0.000	4	0.000	0.000	2007	338	2739
2176	-1.52	-116.8	197.3	-5.9	221	2185	0.52	3.78	0.00	0.000	6	0.000	0.000	1890	2014	2739
2506	-1.26	-116.8	227.9	-9.5	237	2514	0.73	3.22	0.00	0.000	4	0.000	0.000	2071	331	2740
2536	-1.42	-116.8	230.3	-6.6	238	2544	0.77	3.42	0.00	0.000	6	0.000	0.000	1880	2138	2738
2866	-1.16	-116.8	259.7	-9.1	254	2875	0.80	3.60	0.00	0.000	4	0.000	0.000	2013	409	2742
2915	-1.28	-116.8	262.8	-5.7	256	2920	0.00	2.72	0.00	0.000	6	0.000	0.000	2012	2115	2737
3251	-1.36	-116.8	281.3	-5.5	272	3259	0.50	3.25	0.00	0.000	4	0.000	0.000	1906	397	2746
3280	-1.21	-116.8	283.8	-7.9	273	3288	0.82	3.05	0.00	0.000	6	0.000	0.000	2098	2111	2743
3610	-1.49	-116.8	297.4	-3.9	289	3620	0.77	3.50	0.00	0.000	4	0.000	0.000	1962	307	2742
3667	-1.49	-116.8	300.7	-6.3	291	3672	0.00	2.80	0.00	0.000	6	0.000	0.000	1960	2132	2743
3992	-1.44	-116.8	321.9	-6.7	306	3999	0.00	3.45	0.00	0.000	4	0.000	0.000	1980	297	2744
4043	-1.44	-116.8	325.8	-6.6	308	4050	0.00	3.75	0.00	0.000	6	0.000	0.000	1955	2117	2742
4378	-1.39	-116.8	347.4	-6.5	324	4379	0.00	0.00	0.00	0.000	6	0.000	0.000	1957	2096	2744
4682	-1.39	-116.8	367.6	-6.5	339	4690	0.00	3.67	0.00	0.000	4	0.000	0.000	1935	274	2744
4756	-1.39	-116.8	372.5	-6.5	342	4763	0.00	3.53	0.00	0.000	6	0.000	0.000	1962	2144	2741
5091	-1.72	-116.8	393.7	-6.4	358	5099	0.45	3.62	0.00	0.000	4	0.000	0.000	1849	281	2740
5154	-1.41	-116.8	399.8	-9.6	360	5164	0.77	2.97	0.00	0.000	6	0.000	0.000	2032	2133	2739
5479	-1.56	-116.8	415.6	-4.7	376	5487	0.70	3.25	0.00	0.000	4	0.000	0.000	1860	462	2733
5542	-1.36	-116.8	421.2	-9.3	378	5552	0.77	2.88	0.00	0.000	6	0.000	0.000	2035	1969	2735
5867	-1.52	-116.8	436.4	-4.5	394	5873	0.88	2.35	0.00	0.000	4	0.000	0.000	1846	423	2742
5939	-1.24	-116.8	442.0	-9.2	397	5946	0.77	2.55	0.00	0.000	6	0.000	0.000	2053	1932	2741
6274	-1.43	-116.8	458.0	-4.3	413	6276	0.75	0.00	0.00	0.000	6	0.000	0.000	1864	1920	2742
6590	-1.20	-116.8	484.3	-8.8	428	6597	1.10	2.53	0.00	0.000	4	0.000	0.000	2034	289	2733
6653	-1.43	-116.8	488.4	-4.3	430	6662	0.77	3.58	0.00	0.000	6	0.000	0.000	1882	2135	2737
6970	-1.13	-116.8	514.6	-8.6	442	6978	0.90	3.42	0.00	0.000	4	0.000	0.000	2054	287	2739
7011	-1.37	-116.8	517.3	-4.0	442	7021	0.77	2.95	0.00	0.000	6	0.000	0.000	1874	2151	2738
7347	-1.09	-116.8	544.4	-8.4	451	7355	1.23	3.55	0.00	0.000	4	0.000	0.000	2059	444	2739
7399	-1.33	-116.8	547.2	-4.0	452	7407	0.77	3.00	0.00	0.000	6	0.000	0.000	1877	2120	2747
7411	end dive: BOTTOM_OBSTACLE_DETECTED
state	7411	begin apogee
7424	-0.25	0.0	547.9	4.1	452	7547	1.90	0.00	113.68	0.000	6	0.000	0.000	2303	1952	2260
7548	end apogee: CONTROL_FINISHED_OK
state	7548	begin climb
7554	1.49	116.8	548.9	0.0	455	7687	1.60	0.00	113.22	0.000	6	0.000	0.000	2679	1943	1788
8001	1.15	116.8	447.8	24.8	471	8010	0.93	3.25	0.00	0.000	4	0.000	0.000	2404	3630	1779
8100	1.58	181.9	436.7	8.6	475	8181	1.08	2.97	61.50	0.001	6	0.000	0.000	2687	1938	1521
8505	1.20	181.9	317.7	30.8	494	8512	0.75	2.38	0.15	0.002	4	0.000	0.000	2503	549	1515
8543	1.36	181.9	309.2	16.2	495	8552	0.52	3.28	0.00	0.000	6	0.000	0.000	2631	2052	1522
8867	1.15	181.9	232.0	25.0	511	8871	0.77	0.00	0.32	0.000	6	0.000	0.000	2433	2053	1520
9177	1.52	224.4	197.8	10.4	526	9214	0.93	0.00	34.15	0.000	6	0.000	0.000	2632	2044	1352
9525	1.29	224.4	105.2	26.8	543	9527	0.45	0.00	0.00	0.000	6	0.000	0.000	2508	2066	1350
9875	1.40	224.4	48.5	15.6	600	9884	0.43	2.85	1.05	0.000	4	0.000	0.000	2632	3552	1346
9977	1.13	224.4	23.4	26.2	615	9987	0.80	3.15	0.00	0.000	6	0.000	0.000	2511	1712	1344
10098	end climb: SURFACE_DEPTH_REACHED
state	10098	begin surface coast
10112	end surface coast: CONTROL_FINISHED_OK
state	10112	begin surface