Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 35 * 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 35 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 11 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 9 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 -449416.12 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 -449416.12

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 11 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 9 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 35 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 154847,6656.134,-6033.995,13,1.1,13,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6706.282,-6032.558

_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 155326,6656.134,-6033.995,17,1.1,17,18.0 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 -0.00,4.887,-1.663 XPDR_PINGS -1

FINISH -0.0,1.024077 ALTIM_TOP_PING 19.3,999.0

SM_CCo 10377,111.15,0.000,0,0,428,450.62 ALTIM_BOTTOM_PING 501.3,73.5

SM_GC -0.00,0.00,0.00,111.15,0.000,0.000,0.000,606,1955,428,-7.60,-0.96,450.62 _24V_AH 23.7,65.233

RAFOS_CLK 0 _10V_AH 9.7,9.820

RAFOS 0,1160669043,16.083334,16.067499,80,0,0,0,0,0,628,0,0,0,0,0 DATA_FILE_SIZE 22202,621

RAFOS_FIX 6655.527344,-6029.805664,121006,161620,4,80,1.94 CFSIZE 255582208,241606656

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,105,1135,4,0

TT8_MAMPS 0.024544 SOUNDSPEED 1470.2

HUMID 2273 CURRENT 0.050,266.8,1

INTERNAL_PRESSURE 25.9967 GPS 121006,185015,6657.007,-6033.833,10,1.1,11,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 49 119 139.60 SBE_CT 506 24 287.88

Roll_motor 146 60 207.72 nil 0 0 0.00

VBD_pump_during_apogee 369 1300 11375.05 nil 0 0 0.00

VBD_pump_during_surface 111 600 1580.55 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 87 223 460.40

Transponder_ping 4 420 44.79

GPS 18 50 8.88

TT8 1918 19 370.63

LPSleep 6471 2 145.01

TT8_Active 803 19 155.24

TT8_Sampling 744 39 288.48

TT8_CF8 843 45 375.54

TT8_Kalman 0 0 0.00

Analog_circuits 1463 12 170.40

GPS_charging 0 0 0.00

Compass 637 26 160.85

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

34 end surface: CONTROL_FINISHED_OK

state 34 begin dive

41 -1.49 -116.8 0.0 0.0 0 129 0.00 0.00 -76.90 0.000 6 0.000 0.000 621 1748 2744

135 -1.49 -116.8 -0.0 0.0 9 153 6.60 3.35 0.00 0.000 4 0.000 0.000 1974 3589 2737

442 -1.45 -116.8 40.8 -10.0 59 451 0.00 3.58 0.00 0.000 6 0.000 0.000 1963 1764 2740

812 -1.40 -116.8 75.3 -9.0 120 821 0.00 3.83 0.00 0.000 4 0.000 0.000 1960 3626 2747

1110 -1.36 -116.8 101.1 -8.4 168 1115 0.00 2.92 0.00 0.000 6 0.000 0.000 1966 1820 2742

1441 -1.31 -116.8 127.7 -8.0 184 1447 0.03 2.75 0.00 0.000 4 0.000 0.000 2030 482 2747

1513 -1.47 -116.8 132.7 -6.4 187 1521 0.73 3.15 0.00 0.000 6 0.000 0.000 1895 2148 2744

1849 -1.25 -116.8 165.5 -9.7 203 1855 0.40 2.75 0.00 0.000 4 0.000 0.000 2047 3669 2743

1903 -1.38 -116.8 169.2 -5.5 205 1916 0.65 3.55 0.00 0.000 6 0.000 0.000 1918 1849 2748

2227 -1.18 -116.8 198.3 -9.1 221 2233 0.57 2.35 0.00 0.000 4 0.000 0.000 2029 353 2743

2291 -1.40 -116.8 202.2 -5.0 223 2300 0.50 2.67 0.00 0.000 6 0.000 0.000 1905 2009 2743

2611 -1.21 -116.8 229.1 -8.6 239 2618 0.93 2.35 0.00 0.000 4 0.000 0.000 2027 525 2744

2659 -1.38 -116.8 232.1 -5.1 241 2667 0.55 3.08 0.00 0.000 6 0.000 0.000 1900 2041 2740

2995 -1.20 -116.8 259.5 -8.1 257 3002 0.50 2.95 0.00 0.000 4 0.000 0.000 2048 403 2742

3085 -1.40 -116.8 264.3 -5.1 260 3094 0.65 3.12 0.00 0.000 6 0.000 0.000 1907 2179 2741

3410 -1.23 -116.8 288.8 -7.8 276 3418 0.52 3.53 0.00 0.000 4 0.000 0.000 2038 338 2747

3460 -1.43 -116.8 292.3 -4.9 278 3467 0.77 2.88 0.00 0.000 6 0.000 0.000 1866 1981 2748

3795 -1.08 -116.8 324.0 -9.8 294 3804 1.08 3.45 0.00 0.000 4 0.000 0.000 2066 478 2744

3844 -1.41 -116.8 326.9 -3.7 296 3852 0.80 3.03 0.00 0.000 6 0.000 0.000 1925 2167 2741

4180 -1.20 -116.8 353.5 -8.1 312 4188 0.65 3.12 0.00 0.000 4 0.000 0.000 2024 313 2739

4232 -1.37 -116.8 356.6 -5.0 314 4240 0.52 3.47 0.00 0.000 6 0.000 0.000 1916 2143 2739

4562 -1.15 -116.8 382.7 -8.2 330 4571 0.68 3.75 0.00 0.000 4 0.000 0.000 2082 501 2743

4615 -1.53 -116.8 385.4 -4.4 332 4623 1.08 2.88 0.00 0.000 6 0.000 0.000 1863 2035 2747

4950 -1.15 -116.8 416.1 -9.6 348 4958 1.35 3.25 0.00 0.000 4 0.000 0.000 2119 358 2740

4980 -1.34 -116.8 418.9 -6.5 349 4988 0.80 3.12 0.00 0.000 6 0.000 0.000 1898 2201 2738

5316 -1.14 -116.8 443.8 -7.5 365 5324 0.70 3.25 0.00 0.000 4 0.000 0.000 2100 350 2747

5351 -1.48 -116.8 446.2 -4.0 366 5364 1.02 3.67 0.00 0.000 6 0.000 0.000 1917 2151 2741

5680 -1.29 -116.8 470.0 -7.6 382 5688 0.57 3.30 0.00 0.000 4 0.000 0.000 2037 289 2746

5738 -1.49 -116.8 473.5 -4.5 384 5751 0.77 3.22 0.00 0.000 6 0.000 0.000 1841 2177 2740

6071 -1.49 -116.8 501.3 -8.4 400 6079 0.43 3.17 0.00 0.000 4 0.000 0.000 1970 330 2743

6157 -1.53 -116.8 507.6 -6.1 401 6166 0.50 3.35 0.00 0.000 6 0.000 0.000 1840 2166 2750

6493 -1.50 -116.8 536.0 -8.5 410 6495 0.62 0.00 0.00 0.000 6 0.000 0.000 1966 2193 2749

6817 -1.50 -116.8 554.7 -5.7 418 6825 0.52 3.22 0.00 0.000 4 0.000 0.000 1841 321 2748

6902 -1.22 -116.8 562.1 -8.8 419 6912 0.80 3.38 0.00 0.000 6 0.000 0.000 2043 2156 2745

6988 end dive: BOTTOM_OBSTACLE_DETECTED

state 6988 begin apogee

7002 -0.25 0.0 566.6 5.2 422 7136 1.02 0.00 115.22 0.000 6 0.000 0.000 2288 1994 2259

7136 end apogee: CONTROL_FINISHED_OK

state 7136 begin climb

7142 1.49 116.8 566.8 0.0 425 7269 2.03 3.17 111.40 0.001 4 0.000 0.000 2676 354 1785

7319 1.25 116.8 531.9 24.7 428 7327 0.80 3.17 0.00 0.000 6 0.000 0.000 2504 2028 1789

7653 1.48 149.2 491.6 11.2 437 7698 0.88 3.15 32.03 0.001 4 0.000 0.000 2666 3679 1653

7780 1.13 149.2 459.6 28.2 442 7793 1.02 3.53 0.00 0.000 6 0.000 0.000 2419 1836 1653

8110 1.57 211.5 427.2 8.8 458 8183 1.00 3.17 59.67 0.001 4 0.000 0.000 2664 3500 1397

8229 1.24 211.5 392.6 32.3 463 8238 0.80 3.30 0.00 0.000 6 0.000 0.000 2481 1704 1402

8564 1.41 211.5 342.4 14.5 479 8570 0.60 2.58 0.00 0.000 4 0.000 0.000 2589 504 1399

8589 1.41 211.5 336.1 19.5 480 8595 0.00 3.22 0.00 0.000 6 0.000 0.000 2589 2170 1397

8919 1.25 211.5 255.2 25.2 496 8927 0.38 3.25 0.00 0.000 4 0.000 0.000 2489 331 1406

8978 1.06 215.4 243.6 13.4 498 8991 0.00 2.97 4.03 0.000 6 0.000 0.000 2472 2033 1378

9307 1.24 215.4 191.0 14.0 514 9315 0.50 3.22 0.00 0.000 4 0.000 0.000 2617 361 1383

9386 1.05 215.4 172.6 26.6 517 9393 0.80 2.62 0.00 0.000 6 0.000 0.000 2414 2236 1384

9720 1.52 274.1 139.3 9.1 533 9775 1.20 3.05 46.85 0.001 4 0.000 0.000 2659 406 1136

9859 1.27 274.1 96.3 33.8 540 9868 0.70 3.17 0.00 0.000 6 0.000 0.000 2471 2091 1144

10226 1.44 274.1 35.3 16.6 601 10234 0.90 0.00 0.00 0.000 6 0.000 0.000 2647 2098 1144

10339 end climb: SURFACE_DEPTH_REACHED

state 10339 begin surface coast

10347 end surface coast: CONTROL_FINISHED_OK

state 10347 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	35	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	11	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	9	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	-449416.12	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	154847,6656.134,-6033.995,13,1.1,13,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6706.282,-6032.558
_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	155326,6656.134,-6033.995,17,1.1,17,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.887,-1.663	XPDR_PINGS	-1
FINISH	-0.0,1.024077	ALTIM_TOP_PING	19.3,999.0
SM_CCo	10377,111.15,0.000,0,0,428,450.62	ALTIM_BOTTOM_PING	501.3,73.5
SM_GC	-0.00,0.00,0.00,111.15,0.000,0.000,0.000,606,1955,428,-7.60,-0.96,450.62	_24V_AH	23.7,65.233
RAFOS_CLK	0	_10V_AH	9.7,9.820
RAFOS	0,1160669043,16.083334,16.067499,80,0,0,0,0,0,628,0,0,0,0,0	DATA_FILE_SIZE	22202,621
RAFOS_FIX	6655.527344,-6029.805664,121006,161620,4,80,1.94	CFSIZE	255582208,241606656
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,105,1135,4,0
TT8_MAMPS	0.024544	SOUNDSPEED	1470.2
HUMID	2273	CURRENT	0.050,266.8,1
INTERNAL_PRESSURE	25.9967	GPS	121006,185015,6657.007,-6033.833,10,1.1,11,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	49	119	139.60	SBE_CT	506	24	287.88
Roll_motor	146	60	207.72	nil	0	0	0.00
VBD_pump_during_apogee	369	1300	11375.05	nil	0	0	0.00
VBD_pump_during_surface	111	600	1580.55	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	87	223	460.40
Transponder_ping	4	420	44.79
GPS	18	50	8.88
TT8	1918	19	370.63
LPSleep	6471	2	145.01
TT8_Active	803	19	155.24
TT8_Sampling	744	39	288.48
TT8_CF8	843	45	375.54
TT8_Kalman	0	0	0.00
Analog_circuits	1463	12	170.40
GPS_charging	0	0	0.00
Compass	637	26	160.85
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
34	end surface: CONTROL_FINISHED_OK
state	34	begin dive
41	-1.49	-116.8	0.0	0.0	0	129	0.00	0.00	-76.90	0.000	6	0.000	0.000	621	1748	2744
135	-1.49	-116.8	-0.0	0.0	9	153	6.60	3.35	0.00	0.000	4	0.000	0.000	1974	3589	2737
442	-1.45	-116.8	40.8	-10.0	59	451	0.00	3.58	0.00	0.000	6	0.000	0.000	1963	1764	2740
812	-1.40	-116.8	75.3	-9.0	120	821	0.00	3.83	0.00	0.000	4	0.000	0.000	1960	3626	2747
1110	-1.36	-116.8	101.1	-8.4	168	1115	0.00	2.92	0.00	0.000	6	0.000	0.000	1966	1820	2742
1441	-1.31	-116.8	127.7	-8.0	184	1447	0.03	2.75	0.00	0.000	4	0.000	0.000	2030	482	2747
1513	-1.47	-116.8	132.7	-6.4	187	1521	0.73	3.15	0.00	0.000	6	0.000	0.000	1895	2148	2744
1849	-1.25	-116.8	165.5	-9.7	203	1855	0.40	2.75	0.00	0.000	4	0.000	0.000	2047	3669	2743
1903	-1.38	-116.8	169.2	-5.5	205	1916	0.65	3.55	0.00	0.000	6	0.000	0.000	1918	1849	2748
2227	-1.18	-116.8	198.3	-9.1	221	2233	0.57	2.35	0.00	0.000	4	0.000	0.000	2029	353	2743
2291	-1.40	-116.8	202.2	-5.0	223	2300	0.50	2.67	0.00	0.000	6	0.000	0.000	1905	2009	2743
2611	-1.21	-116.8	229.1	-8.6	239	2618	0.93	2.35	0.00	0.000	4	0.000	0.000	2027	525	2744
2659	-1.38	-116.8	232.1	-5.1	241	2667	0.55	3.08	0.00	0.000	6	0.000	0.000	1900	2041	2740
2995	-1.20	-116.8	259.5	-8.1	257	3002	0.50	2.95	0.00	0.000	4	0.000	0.000	2048	403	2742
3085	-1.40	-116.8	264.3	-5.1	260	3094	0.65	3.12	0.00	0.000	6	0.000	0.000	1907	2179	2741
3410	-1.23	-116.8	288.8	-7.8	276	3418	0.52	3.53	0.00	0.000	4	0.000	0.000	2038	338	2747
3460	-1.43	-116.8	292.3	-4.9	278	3467	0.77	2.88	0.00	0.000	6	0.000	0.000	1866	1981	2748
3795	-1.08	-116.8	324.0	-9.8	294	3804	1.08	3.45	0.00	0.000	4	0.000	0.000	2066	478	2744
3844	-1.41	-116.8	326.9	-3.7	296	3852	0.80	3.03	0.00	0.000	6	0.000	0.000	1925	2167	2741
4180	-1.20	-116.8	353.5	-8.1	312	4188	0.65	3.12	0.00	0.000	4	0.000	0.000	2024	313	2739
4232	-1.37	-116.8	356.6	-5.0	314	4240	0.52	3.47	0.00	0.000	6	0.000	0.000	1916	2143	2739
4562	-1.15	-116.8	382.7	-8.2	330	4571	0.68	3.75	0.00	0.000	4	0.000	0.000	2082	501	2743
4615	-1.53	-116.8	385.4	-4.4	332	4623	1.08	2.88	0.00	0.000	6	0.000	0.000	1863	2035	2747
4950	-1.15	-116.8	416.1	-9.6	348	4958	1.35	3.25	0.00	0.000	4	0.000	0.000	2119	358	2740
4980	-1.34	-116.8	418.9	-6.5	349	4988	0.80	3.12	0.00	0.000	6	0.000	0.000	1898	2201	2738
5316	-1.14	-116.8	443.8	-7.5	365	5324	0.70	3.25	0.00	0.000	4	0.000	0.000	2100	350	2747
5351	-1.48	-116.8	446.2	-4.0	366	5364	1.02	3.67	0.00	0.000	6	0.000	0.000	1917	2151	2741
5680	-1.29	-116.8	470.0	-7.6	382	5688	0.57	3.30	0.00	0.000	4	0.000	0.000	2037	289	2746
5738	-1.49	-116.8	473.5	-4.5	384	5751	0.77	3.22	0.00	0.000	6	0.000	0.000	1841	2177	2740
6071	-1.49	-116.8	501.3	-8.4	400	6079	0.43	3.17	0.00	0.000	4	0.000	0.000	1970	330	2743
6157	-1.53	-116.8	507.6	-6.1	401	6166	0.50	3.35	0.00	0.000	6	0.000	0.000	1840	2166	2750
6493	-1.50	-116.8	536.0	-8.5	410	6495	0.62	0.00	0.00	0.000	6	0.000	0.000	1966	2193	2749
6817	-1.50	-116.8	554.7	-5.7	418	6825	0.52	3.22	0.00	0.000	4	0.000	0.000	1841	321	2748
6902	-1.22	-116.8	562.1	-8.8	419	6912	0.80	3.38	0.00	0.000	6	0.000	0.000	2043	2156	2745
6988	end dive: BOTTOM_OBSTACLE_DETECTED
state	6988	begin apogee
7002	-0.25	0.0	566.6	5.2	422	7136	1.02	0.00	115.22	0.000	6	0.000	0.000	2288	1994	2259
7136	end apogee: CONTROL_FINISHED_OK
state	7136	begin climb
7142	1.49	116.8	566.8	0.0	425	7269	2.03	3.17	111.40	0.001	4	0.000	0.000	2676	354	1785
7319	1.25	116.8	531.9	24.7	428	7327	0.80	3.17	0.00	0.000	6	0.000	0.000	2504	2028	1789
7653	1.48	149.2	491.6	11.2	437	7698	0.88	3.15	32.03	0.001	4	0.000	0.000	2666	3679	1653
7780	1.13	149.2	459.6	28.2	442	7793	1.02	3.53	0.00	0.000	6	0.000	0.000	2419	1836	1653
8110	1.57	211.5	427.2	8.8	458	8183	1.00	3.17	59.67	0.001	4	0.000	0.000	2664	3500	1397
8229	1.24	211.5	392.6	32.3	463	8238	0.80	3.30	0.00	0.000	6	0.000	0.000	2481	1704	1402
8564	1.41	211.5	342.4	14.5	479	8570	0.60	2.58	0.00	0.000	4	0.000	0.000	2589	504	1399
8589	1.41	211.5	336.1	19.5	480	8595	0.00	3.22	0.00	0.000	6	0.000	0.000	2589	2170	1397
8919	1.25	211.5	255.2	25.2	496	8927	0.38	3.25	0.00	0.000	4	0.000	0.000	2489	331	1406
8978	1.06	215.4	243.6	13.4	498	8991	0.00	2.97	4.03	0.000	6	0.000	0.000	2472	2033	1378
9307	1.24	215.4	191.0	14.0	514	9315	0.50	3.22	0.00	0.000	4	0.000	0.000	2617	361	1383
9386	1.05	215.4	172.6	26.6	517	9393	0.80	2.62	0.00	0.000	6	0.000	0.000	2414	2236	1384
9720	1.52	274.1	139.3	9.1	533	9775	1.20	3.05	46.85	0.001	4	0.000	0.000	2659	406	1136
9859	1.27	274.1	96.3	33.8	540	9868	0.70	3.17	0.00	0.000	6	0.000	0.000	2471	2091	1144
10226	1.44	274.1	35.3	16.6	601	10234	0.90	0.00	0.00	0.000	6	0.000	0.000	2647	2098	1144
10339	end climb: SURFACE_DEPTH_REACHED
state	10339	begin surface coast
10347	end surface coast: CONTROL_FINISHED_OK
state	10347	begin surface