Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 36 * 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 36 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 6 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 8 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 -449428.84 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 -449428.84

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 6 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 8 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 36 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 185015,6657.007,-6033.833,10,1.1,11,18.0 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6707.155,-6032.396

_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 185659,6657.007,-6033.833,11,1.1,11,18.0 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 -0.00,4.557,-1.723 XPDR_PINGS -1

FINISH -0.0,1.024959 ALTIM_TOP_PING 19.9,19.5

SM_CCo 10696,155.10,0.000,2,0,421,450.86 ALTIM_BOTTOM_PING 501.4,80.3

SM_GC 0.00,0.00,0.00,155.10,0.000,0.000,0.000,638,1747,421,-7.40,-6.87,450.86 _24V_AH 23.7,65.621

RAFOS_CLK 0 _10V_AH 9.7,9.875

RAFOS 0,1160683458,20.083334,20.071667,80,0,0,0,0,0,553,0,0,0,0,0 DATA_FILE_SIZE 22132,628

RAFOS_FIX 6656.480957,-6030.104980,121006,202020,4,80,0.57 CFSIZE 255582208,241524736

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,113,1153,3,0

TT8_MAMPS 0.028379 SOUNDSPEED 1470.8

HUMID 2291 CURRENT 0.046,266.6,1

INTERNAL_PRESSURE 26.0065 GPS 121006,220019,6657.842,-6033.789,33,1.1,33,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 49 119 139.25 SBE_CT 510 24 290.24

Roll_motor 149 60 212.20 nil 0 0 0.00

VBD_pump_during_apogee 310 1300 9554.95 nil 0 0 0.00

VBD_pump_during_surface 155 600 2205.52 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 86 223 458.51

Transponder_ping 4 420 44.79

GPS 12 50 5.86

TT8 1961 19 378.96

LPSleep 6853 2 153.57

TT8_Active 780 19 150.73

TT8_Sampling 766 39 296.88

TT8_CF8 913 45 406.83

TT8_Kalman 0 0 0.00

Analog_circuits 1456 12 169.54

GPS_charging 0 0 0.00

Compass 660 26 166.67

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 34 begin dive

40 -1.49 -116.8 0.0 0.0 0 129 0.00 0.00 -76.62 0.000 6 0.000 0.000 611 1932 2743

136 -1.49 -116.8 0.3 -0.7 9 153 7.07 3.67 0.00 0.000 4 0.000 0.000 2003 3429 2745

443 -1.56 -116.8 38.0 -9.2 59 452 0.55 3.28 0.00 0.000 6 0.000 0.000 1841 1942 2738

811 -1.27 -116.8 84.0 -12.1 120 820 1.12 2.95 0.00 0.000 4 0.000 0.000 2033 3624 2744

1109 -1.48 -116.8 101.8 -5.4 165 1117 0.77 3.85 0.00 0.000 6 0.000 0.000 1866 1752 2744

1439 -1.16 -116.8 138.8 -11.6 181 1444 0.80 1.95 0.00 0.000 4 0.000 0.000 2045 549 2737

1476 -1.37 -116.8 142.1 -6.2 182 1485 0.55 3.55 0.00 0.000 6 0.000 0.000 1917 2232 2741

1800 -1.25 -116.8 168.9 -8.5 198 1808 0.50 3.25 0.00 0.000 4 0.000 0.000 2028 565 2739

1829 -1.40 -116.8 171.4 -6.2 199 1838 0.77 2.97 0.00 0.000 6 0.000 0.000 1871 2056 2741

2165 -1.11 -116.8 203.7 -9.9 215 2173 0.80 3.08 0.00 0.000 4 0.000 0.000 2068 381 2746

2228 -1.36 -116.8 208.3 -4.5 217 2237 0.77 3.42 0.00 0.000 6 0.000 0.000 1895 2222 2747

2552 -1.10 -116.8 237.0 -8.9 233 2560 0.90 3.15 0.00 0.000 4 0.000 0.000 2071 386 2742

2588 -1.36 -116.8 240.2 -6.7 234 2601 0.77 3.72 0.00 0.000 6 0.000 0.000 1956 2229 2737

2917 -1.26 -116.8 263.5 -7.3 250 2925 0.52 3.50 0.00 0.000 4 0.000 0.000 2076 326 2736

2997 -1.53 -116.8 267.8 -4.3 253 3005 0.85 3.58 0.00 0.000 6 0.000 0.000 1900 1994 2734

3332 -1.29 -116.8 295.5 -8.6 269 3339 0.75 3.10 0.00 0.000 4 0.000 0.000 1992 342 2744

3361 -1.36 -116.8 298.2 -6.7 270 3369 0.50 3.62 0.00 0.000 6 0.000 0.000 1892 2193 2741

3699 -1.12 -116.8 325.9 -8.5 286 3707 1.10 3.95 0.00 0.000 4 0.000 0.000 2086 336 2738

3763 -1.43 -116.8 329.7 -3.7 288 3772 0.80 3.75 0.00 0.000 6 0.000 0.000 1894 2118 2741

4087 -1.22 -116.8 354.8 -8.1 304 4095 0.82 3.40 0.00 0.000 4 0.000 0.000 2037 455 2739

4117 -1.30 -116.8 357.3 -6.1 305 4125 0.52 3.33 0.00 0.000 6 0.000 0.000 1909 2156 2746

4447 -1.12 -116.8 383.4 -8.1 321 4455 0.65 3.25 0.00 0.000 4 0.000 0.000 2092 313 2738

4499 -1.54 -116.8 386.3 -4.9 323 4508 1.05 3.47 0.00 0.000 6 0.000 0.000 1861 2167 2738

4830 -1.18 -116.8 416.5 -9.4 339 4838 0.95 3.25 0.00 0.000 4 0.000 0.000 2069 317 2742

4879 -1.63 -116.8 419.3 -3.6 341 4887 1.58 3.35 0.00 0.000 6 0.000 0.000 1840 2160 2745

5217 -1.26 -116.8 450.1 -9.5 357 5225 0.77 3.03 0.00 0.000 4 0.000 0.000 2036 437 2748

5246 -1.34 -116.8 452.4 -4.8 358 5254 0.52 2.95 0.00 0.000 6 0.000 0.000 1918 2147 2740

5583 -1.22 -116.8 476.1 -7.3 374 5591 0.52 3.47 0.00 0.000 4 0.000 0.000 2040 343 2745

5663 -1.43 -116.8 480.6 -4.6 377 5671 0.62 3.17 0.00 0.000 6 0.000 0.000 1917 2006 2740

5998 -1.26 -116.8 504.3 -7.3 392 6005 0.52 2.78 0.00 0.000 4 0.000 0.000 1991 3532 2740

6190 -1.26 -116.8 515.9 -5.8 396 6195 0.00 2.67 0.00 0.000 6 0.000 0.000 2006 1977 2747

6507 -1.28 -116.8 533.6 -5.6 404 6512 0.00 2.65 0.00 0.000 4 0.000 0.000 1996 3644 2738

6645 -1.28 -116.8 541.0 -5.6 407 6650 0.00 2.88 0.00 0.000 6 0.000 0.000 1996 1958 2743

6974 -1.38 -116.8 559.5 -5.5 415 6976 0.10 0.00 0.00 0.000 6 0.000 0.000 1985 1957 2738

7215 end dive: BOTTOM_OBSTACLE_DETECTED

state 7215 begin apogee

7228 -0.25 0.0 573.0 5.5 421 7346 1.45 0.00 114.22 0.000 6 0.000 0.000 2223 2118 2253

7347 end apogee: CONTROL_FINISHED_OK

state 7347 begin climb

7353 1.49 116.8 573.5 0.0 424 7479 2.28 2.47 112.45 0.001 4 0.000 0.000 2641 3438 1787

7718 1.16 116.8 489.4 25.2 431 7731 1.02 3.38 0.00 0.000 6 0.000 0.000 2471 1937 1776

8048 1.35 140.9 448.8 11.8 447 8078 0.60 3.17 21.75 0.001 4 0.000 0.000 2597 435 1690

8138 1.05 140.9 429.0 30.8 450 8148 0.77 2.65 1.15 0.000 6 0.000 0.000 2424 2239 1691

8463 1.26 163.9 391.3 11.9 466 8499 1.15 3.83 22.23 0.001 4 0.000 0.000 2629 408 1584

8565 1.10 163.9 367.3 25.2 470 8579 0.77 3.38 0.00 0.000 6 0.000 0.000 2455 2234 1596

8896 1.43 203.4 330.0 10.6 486 8944 1.17 3.72 38.22 0.001 4 0.000 0.000 2639 403 1427

8986 1.27 203.4 307.7 27.0 489 8995 0.57 3.58 0.00 0.000 6 0.000 0.000 2523 2087 1430

9310 1.12 203.4 244.5 20.3 505 9311 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2079 1433

9614 1.23 203.4 196.5 15.4 520 9622 0.28 3.40 0.00 0.000 4 0.000 0.000 2511 410 1429

9666 1.10 203.4 185.7 19.7 522 9672 0.00 3.20 0.00 0.000 6 0.000 0.000 2513 2246 1430

9998 1.18 203.4 133.0 16.4 538 10004 0.20 2.28 0.08 0.000 4 0.000 0.000 2512 3413 1428

10074 1.30 203.4 120.2 15.3 541 10086 0.47 3.12 0.00 0.000 6 0.000 0.000 2612 1788 1423

10433 1.09 203.4 33.0 23.6 590 10442 0.77 3.50 0.03 0.001 4 0.000 0.000 2504 3579 1427

10649 end climb: SURFACE_DEPTH_REACHED

state 10650 begin surface coast

10663 end surface coast: CONTROL_FINISHED_OK

state 10663 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	36	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	6	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	8	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	-449428.84	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	185015,6657.007,-6033.833,10,1.1,11,18.0	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6707.155,-6032.396
_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	185659,6657.007,-6033.833,11,1.1,11,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.557,-1.723	XPDR_PINGS	-1
FINISH	-0.0,1.024959	ALTIM_TOP_PING	19.9,19.5
SM_CCo	10696,155.10,0.000,2,0,421,450.86	ALTIM_BOTTOM_PING	501.4,80.3
SM_GC	0.00,0.00,0.00,155.10,0.000,0.000,0.000,638,1747,421,-7.40,-6.87,450.86	_24V_AH	23.7,65.621
RAFOS_CLK	0	_10V_AH	9.7,9.875
RAFOS	0,1160683458,20.083334,20.071667,80,0,0,0,0,0,553,0,0,0,0,0	DATA_FILE_SIZE	22132,628
RAFOS_FIX	6656.480957,-6030.104980,121006,202020,4,80,0.57	CFSIZE	255582208,241524736
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,113,1153,3,0
TT8_MAMPS	0.028379	SOUNDSPEED	1470.8
HUMID	2291	CURRENT	0.046,266.6,1
INTERNAL_PRESSURE	26.0065	GPS	121006,220019,6657.842,-6033.789,33,1.1,33,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	49	119	139.25	SBE_CT	510	24	290.24
Roll_motor	149	60	212.20	nil	0	0	0.00
VBD_pump_during_apogee	310	1300	9554.95	nil	0	0	0.00
VBD_pump_during_surface	155	600	2205.52	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	458.51
Transponder_ping	4	420	44.79
GPS	12	50	5.86
TT8	1961	19	378.96
LPSleep	6853	2	153.57
TT8_Active	780	19	150.73
TT8_Sampling	766	39	296.88
TT8_CF8	913	45	406.83
TT8_Kalman	0	0	0.00
Analog_circuits	1456	12	169.54
GPS_charging	0	0	0.00
Compass	660	26	166.67
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	34	begin dive
40	-1.49	-116.8	0.0	0.0	0	129	0.00	0.00	-76.62	0.000	6	0.000	0.000	611	1932	2743
136	-1.49	-116.8	0.3	-0.7	9	153	7.07	3.67	0.00	0.000	4	0.000	0.000	2003	3429	2745
443	-1.56	-116.8	38.0	-9.2	59	452	0.55	3.28	0.00	0.000	6	0.000	0.000	1841	1942	2738
811	-1.27	-116.8	84.0	-12.1	120	820	1.12	2.95	0.00	0.000	4	0.000	0.000	2033	3624	2744
1109	-1.48	-116.8	101.8	-5.4	165	1117	0.77	3.85	0.00	0.000	6	0.000	0.000	1866	1752	2744
1439	-1.16	-116.8	138.8	-11.6	181	1444	0.80	1.95	0.00	0.000	4	0.000	0.000	2045	549	2737
1476	-1.37	-116.8	142.1	-6.2	182	1485	0.55	3.55	0.00	0.000	6	0.000	0.000	1917	2232	2741
1800	-1.25	-116.8	168.9	-8.5	198	1808	0.50	3.25	0.00	0.000	4	0.000	0.000	2028	565	2739
1829	-1.40	-116.8	171.4	-6.2	199	1838	0.77	2.97	0.00	0.000	6	0.000	0.000	1871	2056	2741
2165	-1.11	-116.8	203.7	-9.9	215	2173	0.80	3.08	0.00	0.000	4	0.000	0.000	2068	381	2746
2228	-1.36	-116.8	208.3	-4.5	217	2237	0.77	3.42	0.00	0.000	6	0.000	0.000	1895	2222	2747
2552	-1.10	-116.8	237.0	-8.9	233	2560	0.90	3.15	0.00	0.000	4	0.000	0.000	2071	386	2742
2588	-1.36	-116.8	240.2	-6.7	234	2601	0.77	3.72	0.00	0.000	6	0.000	0.000	1956	2229	2737
2917	-1.26	-116.8	263.5	-7.3	250	2925	0.52	3.50	0.00	0.000	4	0.000	0.000	2076	326	2736
2997	-1.53	-116.8	267.8	-4.3	253	3005	0.85	3.58	0.00	0.000	6	0.000	0.000	1900	1994	2734
3332	-1.29	-116.8	295.5	-8.6	269	3339	0.75	3.10	0.00	0.000	4	0.000	0.000	1992	342	2744
3361	-1.36	-116.8	298.2	-6.7	270	3369	0.50	3.62	0.00	0.000	6	0.000	0.000	1892	2193	2741
3699	-1.12	-116.8	325.9	-8.5	286	3707	1.10	3.95	0.00	0.000	4	0.000	0.000	2086	336	2738
3763	-1.43	-116.8	329.7	-3.7	288	3772	0.80	3.75	0.00	0.000	6	0.000	0.000	1894	2118	2741
4087	-1.22	-116.8	354.8	-8.1	304	4095	0.82	3.40	0.00	0.000	4	0.000	0.000	2037	455	2739
4117	-1.30	-116.8	357.3	-6.1	305	4125	0.52	3.33	0.00	0.000	6	0.000	0.000	1909	2156	2746
4447	-1.12	-116.8	383.4	-8.1	321	4455	0.65	3.25	0.00	0.000	4	0.000	0.000	2092	313	2738
4499	-1.54	-116.8	386.3	-4.9	323	4508	1.05	3.47	0.00	0.000	6	0.000	0.000	1861	2167	2738
4830	-1.18	-116.8	416.5	-9.4	339	4838	0.95	3.25	0.00	0.000	4	0.000	0.000	2069	317	2742
4879	-1.63	-116.8	419.3	-3.6	341	4887	1.58	3.35	0.00	0.000	6	0.000	0.000	1840	2160	2745
5217	-1.26	-116.8	450.1	-9.5	357	5225	0.77	3.03	0.00	0.000	4	0.000	0.000	2036	437	2748
5246	-1.34	-116.8	452.4	-4.8	358	5254	0.52	2.95	0.00	0.000	6	0.000	0.000	1918	2147	2740
5583	-1.22	-116.8	476.1	-7.3	374	5591	0.52	3.47	0.00	0.000	4	0.000	0.000	2040	343	2745
5663	-1.43	-116.8	480.6	-4.6	377	5671	0.62	3.17	0.00	0.000	6	0.000	0.000	1917	2006	2740
5998	-1.26	-116.8	504.3	-7.3	392	6005	0.52	2.78	0.00	0.000	4	0.000	0.000	1991	3532	2740
6190	-1.26	-116.8	515.9	-5.8	396	6195	0.00	2.67	0.00	0.000	6	0.000	0.000	2006	1977	2747
6507	-1.28	-116.8	533.6	-5.6	404	6512	0.00	2.65	0.00	0.000	4	0.000	0.000	1996	3644	2738
6645	-1.28	-116.8	541.0	-5.6	407	6650	0.00	2.88	0.00	0.000	6	0.000	0.000	1996	1958	2743
6974	-1.38	-116.8	559.5	-5.5	415	6976	0.10	0.00	0.00	0.000	6	0.000	0.000	1985	1957	2738
7215	end dive: BOTTOM_OBSTACLE_DETECTED
state	7215	begin apogee
7228	-0.25	0.0	573.0	5.5	421	7346	1.45	0.00	114.22	0.000	6	0.000	0.000	2223	2118	2253
7347	end apogee: CONTROL_FINISHED_OK
state	7347	begin climb
7353	1.49	116.8	573.5	0.0	424	7479	2.28	2.47	112.45	0.001	4	0.000	0.000	2641	3438	1787
7718	1.16	116.8	489.4	25.2	431	7731	1.02	3.38	0.00	0.000	6	0.000	0.000	2471	1937	1776
8048	1.35	140.9	448.8	11.8	447	8078	0.60	3.17	21.75	0.001	4	0.000	0.000	2597	435	1690
8138	1.05	140.9	429.0	30.8	450	8148	0.77	2.65	1.15	0.000	6	0.000	0.000	2424	2239	1691
8463	1.26	163.9	391.3	11.9	466	8499	1.15	3.83	22.23	0.001	4	0.000	0.000	2629	408	1584
8565	1.10	163.9	367.3	25.2	470	8579	0.77	3.38	0.00	0.000	6	0.000	0.000	2455	2234	1596
8896	1.43	203.4	330.0	10.6	486	8944	1.17	3.72	38.22	0.001	4	0.000	0.000	2639	403	1427
8986	1.27	203.4	307.7	27.0	489	8995	0.57	3.58	0.00	0.000	6	0.000	0.000	2523	2087	1430
9310	1.12	203.4	244.5	20.3	505	9311	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2079	1433
9614	1.23	203.4	196.5	15.4	520	9622	0.28	3.40	0.00	0.000	4	0.000	0.000	2511	410	1429
9666	1.10	203.4	185.7	19.7	522	9672	0.00	3.20	0.00	0.000	6	0.000	0.000	2513	2246	1430
9998	1.18	203.4	133.0	16.4	538	10004	0.20	2.28	0.08	0.000	4	0.000	0.000	2512	3413	1428
10074	1.30	203.4	120.2	15.3	541	10086	0.47	3.12	0.00	0.000	6	0.000	0.000	2612	1788	1423
10433	1.09	203.4	33.0	23.6	590	10442	0.77	3.50	0.03	0.001	4	0.000	0.000	2504	3579	1427
10649	end climb: SURFACE_DEPTH_REACHED
state	10650	begin surface coast
10663	end surface coast: CONTROL_FINISHED_OK
state	10663	begin surface