Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 39 * 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 39 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 10 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 -449528 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 -449528

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 10 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 39 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 043801,6659.682,-6034.113,20,1.1,20,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6709.830,-6032.680

_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 044251,6659.682,-6034.113,30,1.1,30,18.0 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 -0.00,4.691,-1.663 XPDR_PINGS -1

FINISH -0.0,1.024094 ALTIM_TOP_PING 18.6,18.0

SM_CCo 11218,94.38,0.000,2,0,424,450.86 ALTIM_BOTTOM_PING 576.9,25.0

SM_GC -0.00,0.00,0.00,94.38,0.000,0.000,0.000,599,1801,424,-7.58,-5.37,450.86 _24V_AH 23.7,66.807

RAFOS_CLK 0 _10V_AH 9.7,10.041

RAFOS_FIX 6659.349121,-6029.732910,131006,040400,3,80,0.32 DATA_FILE_SIZE 22139,618

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241278976

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,118,1212,6,0

HUMID 2361 SOUNDSPEED 1471.5

INTERNAL_PRESSURE 26.0553 CURRENT 0.056,261.3,1

TCM_TEMP 15.00 GPS 131006,075322,6700.674,-6034.203,14,1.1,14,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 55 119 157.37 SBE_CT 503 24 286.17

Roll_motor 157 60 224.39 nil 0 0 0.00

VBD_pump_during_apogee 398 1300 12269.31 nil 0 0 0.00

VBD_pump_during_surface 94 600 1342.01 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 87 223 460.71

Transponder_ping 5 420 57.24

GPS 30 50 14.69

TT8 1917 19 370.52

LPSleep 7236 2 162.15

TT8_Active 835 19 161.52

TT8_Sampling 763 39 295.82

TT8_CF8 857 45 381.79

TT8_Kalman 0 0 0.00

Analog_circuits 1501 12 174.81

GPS_charging 0 0 0.00

Compass 636 26 160.59

RAFOS 0 1 0.00

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 0 126 0.00 0.00 -76.68 0.000 6 0.000 0.000 615 1950 2739

132 -1.49 -116.8 -0.0 0.0 9 150 7.03 3.67 0.00 0.000 4 0.000 0.000 2000 456 2743

225 -1.55 -116.8 16.4 -10.3 23 234 0.50 2.83 0.00 0.000 6 0.000 0.000 1866 2271 2741

594 -1.23 -116.8 67.6 -12.8 84 601 0.80 0.00 0.00 0.000 6 0.000 0.000 2045 2276 2741

961 -1.40 -116.8 91.6 -6.3 145 970 0.43 4.03 0.00 0.000 4 0.000 0.000 1922 261 2737

1009 -1.43 -116.8 95.5 -10.3 151 1017 0.52 3.25 0.00 0.000 6 0.000 0.000 2024 2095 2744

1353 -1.57 -116.8 117.8 -6.1 173 1362 1.10 3.22 0.00 0.000 4 0.000 0.000 1824 378 2735

1383 -1.32 -116.8 121.1 -12.8 174 1392 0.77 3.17 0.00 0.000 6 0.000 0.000 2016 2065 2742

1719 -1.42 -116.8 142.9 -6.2 190 1727 0.52 3.25 0.00 0.000 4 0.000 0.000 1908 414 2735

1767 -1.23 -116.8 147.4 -10.0 192 1776 0.75 3.72 0.00 0.000 6 0.000 0.000 2084 2219 2739

2103 -1.50 -116.8 163.5 -4.5 208 2112 1.00 3.25 0.00 0.000 4 0.000 0.000 1832 348 2729

2145 -1.16 -116.8 167.4 -11.7 209 2154 1.05 3.17 0.00 0.000 6 0.000 0.000 1992 2181 2734

2469 -1.23 -116.8 188.3 -6.9 225 2477 0.00 3.50 0.00 0.000 4 0.000 0.000 2005 315 2744

2521 -1.33 -116.8 191.6 -7.0 227 2528 0.00 3.50 0.00 0.000 6 0.000 0.000 1986 1946 2739

2855 -1.40 -116.8 211.3 -5.9 243 2857 0.65 0.00 0.00 0.000 6 0.000 0.000 1858 1954 2737

3164 -1.13 -116.8 238.7 -9.2 258 3172 0.70 3.03 0.00 0.000 4 0.000 0.000 2046 3639 2741

3215 -1.38 -116.8 241.9 -4.3 260 3223 0.77 3.22 0.00 0.000 6 0.000 0.000 1902 1975 2737

3551 -1.13 -116.8 270.8 -8.8 276 3559 0.65 3.28 0.00 0.000 4 0.000 0.000 2063 300 2737

3580 -1.29 -116.8 272.9 -5.5 277 3588 0.57 3.67 0.00 0.000 6 0.000 0.000 1961 2106 2729

3917 -1.21 -116.8 295.5 -7.0 293 3925 0.47 3.50 0.00 0.000 4 0.000 0.000 2056 313 2736

3952 -1.48 -116.8 297.8 -4.3 294 3965 0.77 2.97 0.00 0.000 6 0.000 0.000 1876 1989 2735

4282 -1.54 -116.8 325.0 -8.7 310 4287 0.38 2.53 0.00 0.000 4 0.000 0.000 2007 287 2741

4312 -1.64 -116.8 327.7 -6.7 311 4325 0.80 3.12 0.00 0.000 6 0.000 0.000 1805 2242 2746

4642 -1.17 -116.8 361.6 -10.7 327 4651 1.35 3.53 0.00 0.000 4 0.000 0.000 2064 439 2738

4691 -1.40 -116.8 365.6 -4.4 329 4697 0.50 2.42 0.00 0.000 6 0.000 0.000 1943 2124 2737

5022 -1.28 -116.8 388.5 -7.1 345 5030 0.47 3.17 0.00 0.000 4 0.000 0.000 2068 251 2746

5057 -1.52 -116.8 390.4 -4.4 346 5070 0.70 3.17 0.00 0.000 6 0.000 0.000 1869 1914 2744

5387 -1.21 -116.8 418.1 -8.7 362 5393 1.00 2.17 0.00 0.000 4 0.000 0.000 2041 590 2745

5418 -1.32 -116.8 420.9 -6.2 363 5430 0.52 3.17 0.00 0.000 6 0.000 0.000 1931 2100 2733

5747 -1.16 -116.8 444.0 -7.3 379 5755 0.68 3.17 0.00 0.000 4 0.000 0.000 2059 431 2737

5788 -1.36 -116.8 446.6 -4.3 380 5797 0.52 2.65 0.00 0.000 6 0.000 0.000 1917 2115 2747

6112 -1.20 -116.8 469.3 -7.3 396 6118 0.43 2.47 0.00 0.000 4 0.000 0.000 2040 3458 2741

6184 -1.40 -116.8 473.0 -4.4 399 6192 0.70 3.60 0.00 0.000 6 0.000 0.000 1856 1789 2740

6520 -1.09 -116.8 501.5 -8.7 415 6526 0.82 2.33 0.00 0.000 4 0.000 0.000 2070 402 2739

6557 -1.32 -116.8 503.7 -4.2 415 6567 0.57 2.58 0.00 0.000 6 0.000 0.000 1920 1921 2736

6895 -1.20 -116.8 526.0 -6.8 424 6900 0.52 2.50 0.00 0.000 4 0.000 0.000 2058 434 2737

6939 -1.43 -116.8 528.5 -4.1 425 6948 0.80 3.25 0.00 0.000 6 0.000 0.000 1905 1964 2736

7275 -1.29 -116.8 550.9 -6.9 433 7283 0.85 3.03 0.00 0.000 4 0.000 0.000 2075 3621 2737

7361 -1.51 -116.8 554.9 -4.2 434 7370 0.80 3.25 0.00 0.000 6 0.000 0.000 1959 1755 2740

7700 -1.38 -116.8 576.9 -6.7 443 7707 0.08 3.12 0.00 0.000 4 0.000 0.000 1926 3618 2737

7774 -1.26 -116.8 582.3 -6.6 444 7782 0.50 3.62 0.00 0.000 6 0.000 0.000 2072 1687 2742

7996 end dive: BOTTOM_OBSTACLE_DETECTED

state 7996 begin apogee

8009 -0.25 0.0 592.2 4.4 450 8131 0.88 0.00 113.38 0.000 6 0.000 0.000 2239 2198 2273

8132 end apogee: CONTROL_FINISHED_OK

state 8132 begin climb

8138 1.49 116.8 592.3 0.0 453 8275 1.98 2.62 113.12 0.001 4 0.000 0.000 2628 3535 1787

8328 1.30 116.8 559.2 20.9 457 8336 0.55 2.85 0.00 0.000 6 0.000 0.000 2496 1972 1782

8684 1.48 138.0 515.6 12.1 466 8713 0.73 3.42 20.15 0.001 4 0.000 0.000 2676 291 1697

8734 0.97 138.0 504.5 28.7 467 8743 1.17 3.42 0.00 0.000 6 0.000 0.000 2428 2121 1709

9072 1.36 193.7 470.5 9.3 482 9141 0.75 2.25 54.25 0.001 4 0.000 0.000 2643 3461 1468

9183 1.14 193.7 443.8 27.7 486 9192 0.80 3.00 0.00 0.000 6 0.000 0.000 2420 1766 1471

9508 1.52 235.0 407.0 10.5 502 9555 0.98 3.75 39.22 0.001 4 0.000 0.000 2685 3621 1299

9605 1.13 235.0 375.5 36.8 506 9614 1.10 2.85 0.00 0.000 6 0.000 0.000 2426 1774 1302

9946 1.41 249.4 328.3 12.6 522 9971 0.70 3.72 14.20 0.001 4 0.000 0.000 2642 3635 1232

10111 1.18 249.4 280.0 30.9 529 10119 0.80 2.75 0.00 0.000 6 0.000 0.000 2448 1953 1244

10451 1.47 263.8 234.1 12.6 545 10468 0.73 0.00 13.90 0.000 6 0.000 0.000 2635 1935 1183

10780 0.67 263.8 118.2 49.6 561 10788 1.30 3.25 0.00 0.000 4 0.000 0.000 2295 465 1183

10829 1.37 301.1 107.7 10.8 563 10868 1.40 3.55 30.00 0.001 6 0.000 0.000 2625 2146 1036

11182 end climb: SURFACE_DEPTH_REACHED

state 11182 begin surface coast

11188 end surface coast: CONTROL_FINISHED_OK

state 11189 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	39	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	10	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	-449528	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	043801,6659.682,-6034.113,20,1.1,20,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6709.830,-6032.680
_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	044251,6659.682,-6034.113,30,1.1,30,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.691,-1.663	XPDR_PINGS	-1
FINISH	-0.0,1.024094	ALTIM_TOP_PING	18.6,18.0
SM_CCo	11218,94.38,0.000,2,0,424,450.86	ALTIM_BOTTOM_PING	576.9,25.0
SM_GC	-0.00,0.00,0.00,94.38,0.000,0.000,0.000,599,1801,424,-7.58,-5.37,450.86	_24V_AH	23.7,66.807
RAFOS_CLK	0	_10V_AH	9.7,10.041
RAFOS_FIX	6659.349121,-6029.732910,131006,040400,3,80,0.32	DATA_FILE_SIZE	22139,618
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241278976
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,118,1212,6,0
HUMID	2361	SOUNDSPEED	1471.5
INTERNAL_PRESSURE	26.0553	CURRENT	0.056,261.3,1
TCM_TEMP	15.00	GPS	131006,075322,6700.674,-6034.203,14,1.1,14,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	55	119	157.37	SBE_CT	503	24	286.17
Roll_motor	157	60	224.39	nil	0	0	0.00
VBD_pump_during_apogee	398	1300	12269.31	nil	0	0	0.00
VBD_pump_during_surface	94	600	1342.01	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	460.71
Transponder_ping	5	420	57.24
GPS	30	50	14.69
TT8	1917	19	370.52
LPSleep	7236	2	162.15
TT8_Active	835	19	161.52
TT8_Sampling	763	39	295.82
TT8_CF8	857	45	381.79
TT8_Kalman	0	0	0.00
Analog_circuits	1501	12	174.81
GPS_charging	0	0	0.00
Compass	636	26	160.59
RAFOS	0	1	0.00

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	126	0.00	0.00	-76.68	0.000	6	0.000	0.000	615	1950	2739
132	-1.49	-116.8	-0.0	0.0	9	150	7.03	3.67	0.00	0.000	4	0.000	0.000	2000	456	2743
225	-1.55	-116.8	16.4	-10.3	23	234	0.50	2.83	0.00	0.000	6	0.000	0.000	1866	2271	2741
594	-1.23	-116.8	67.6	-12.8	84	601	0.80	0.00	0.00	0.000	6	0.000	0.000	2045	2276	2741
961	-1.40	-116.8	91.6	-6.3	145	970	0.43	4.03	0.00	0.000	4	0.000	0.000	1922	261	2737
1009	-1.43	-116.8	95.5	-10.3	151	1017	0.52	3.25	0.00	0.000	6	0.000	0.000	2024	2095	2744
1353	-1.57	-116.8	117.8	-6.1	173	1362	1.10	3.22	0.00	0.000	4	0.000	0.000	1824	378	2735
1383	-1.32	-116.8	121.1	-12.8	174	1392	0.77	3.17	0.00	0.000	6	0.000	0.000	2016	2065	2742
1719	-1.42	-116.8	142.9	-6.2	190	1727	0.52	3.25	0.00	0.000	4	0.000	0.000	1908	414	2735
1767	-1.23	-116.8	147.4	-10.0	192	1776	0.75	3.72	0.00	0.000	6	0.000	0.000	2084	2219	2739
2103	-1.50	-116.8	163.5	-4.5	208	2112	1.00	3.25	0.00	0.000	4	0.000	0.000	1832	348	2729
2145	-1.16	-116.8	167.4	-11.7	209	2154	1.05	3.17	0.00	0.000	6	0.000	0.000	1992	2181	2734
2469	-1.23	-116.8	188.3	-6.9	225	2477	0.00	3.50	0.00	0.000	4	0.000	0.000	2005	315	2744
2521	-1.33	-116.8	191.6	-7.0	227	2528	0.00	3.50	0.00	0.000	6	0.000	0.000	1986	1946	2739
2855	-1.40	-116.8	211.3	-5.9	243	2857	0.65	0.00	0.00	0.000	6	0.000	0.000	1858	1954	2737
3164	-1.13	-116.8	238.7	-9.2	258	3172	0.70	3.03	0.00	0.000	4	0.000	0.000	2046	3639	2741
3215	-1.38	-116.8	241.9	-4.3	260	3223	0.77	3.22	0.00	0.000	6	0.000	0.000	1902	1975	2737
3551	-1.13	-116.8	270.8	-8.8	276	3559	0.65	3.28	0.00	0.000	4	0.000	0.000	2063	300	2737
3580	-1.29	-116.8	272.9	-5.5	277	3588	0.57	3.67	0.00	0.000	6	0.000	0.000	1961	2106	2729
3917	-1.21	-116.8	295.5	-7.0	293	3925	0.47	3.50	0.00	0.000	4	0.000	0.000	2056	313	2736
3952	-1.48	-116.8	297.8	-4.3	294	3965	0.77	2.97	0.00	0.000	6	0.000	0.000	1876	1989	2735
4282	-1.54	-116.8	325.0	-8.7	310	4287	0.38	2.53	0.00	0.000	4	0.000	0.000	2007	287	2741
4312	-1.64	-116.8	327.7	-6.7	311	4325	0.80	3.12	0.00	0.000	6	0.000	0.000	1805	2242	2746
4642	-1.17	-116.8	361.6	-10.7	327	4651	1.35	3.53	0.00	0.000	4	0.000	0.000	2064	439	2738
4691	-1.40	-116.8	365.6	-4.4	329	4697	0.50	2.42	0.00	0.000	6	0.000	0.000	1943	2124	2737
5022	-1.28	-116.8	388.5	-7.1	345	5030	0.47	3.17	0.00	0.000	4	0.000	0.000	2068	251	2746
5057	-1.52	-116.8	390.4	-4.4	346	5070	0.70	3.17	0.00	0.000	6	0.000	0.000	1869	1914	2744
5387	-1.21	-116.8	418.1	-8.7	362	5393	1.00	2.17	0.00	0.000	4	0.000	0.000	2041	590	2745
5418	-1.32	-116.8	420.9	-6.2	363	5430	0.52	3.17	0.00	0.000	6	0.000	0.000	1931	2100	2733
5747	-1.16	-116.8	444.0	-7.3	379	5755	0.68	3.17	0.00	0.000	4	0.000	0.000	2059	431	2737
5788	-1.36	-116.8	446.6	-4.3	380	5797	0.52	2.65	0.00	0.000	6	0.000	0.000	1917	2115	2747
6112	-1.20	-116.8	469.3	-7.3	396	6118	0.43	2.47	0.00	0.000	4	0.000	0.000	2040	3458	2741
6184	-1.40	-116.8	473.0	-4.4	399	6192	0.70	3.60	0.00	0.000	6	0.000	0.000	1856	1789	2740
6520	-1.09	-116.8	501.5	-8.7	415	6526	0.82	2.33	0.00	0.000	4	0.000	0.000	2070	402	2739
6557	-1.32	-116.8	503.7	-4.2	415	6567	0.57	2.58	0.00	0.000	6	0.000	0.000	1920	1921	2736
6895	-1.20	-116.8	526.0	-6.8	424	6900	0.52	2.50	0.00	0.000	4	0.000	0.000	2058	434	2737
6939	-1.43	-116.8	528.5	-4.1	425	6948	0.80	3.25	0.00	0.000	6	0.000	0.000	1905	1964	2736
7275	-1.29	-116.8	550.9	-6.9	433	7283	0.85	3.03	0.00	0.000	4	0.000	0.000	2075	3621	2737
7361	-1.51	-116.8	554.9	-4.2	434	7370	0.80	3.25	0.00	0.000	6	0.000	0.000	1959	1755	2740
7700	-1.38	-116.8	576.9	-6.7	443	7707	0.08	3.12	0.00	0.000	4	0.000	0.000	1926	3618	2737
7774	-1.26	-116.8	582.3	-6.6	444	7782	0.50	3.62	0.00	0.000	6	0.000	0.000	2072	1687	2742
7996	end dive: BOTTOM_OBSTACLE_DETECTED
state	7996	begin apogee
8009	-0.25	0.0	592.2	4.4	450	8131	0.88	0.00	113.38	0.000	6	0.000	0.000	2239	2198	2273
8132	end apogee: CONTROL_FINISHED_OK
state	8132	begin climb
8138	1.49	116.8	592.3	0.0	453	8275	1.98	2.62	113.12	0.001	4	0.000	0.000	2628	3535	1787
8328	1.30	116.8	559.2	20.9	457	8336	0.55	2.85	0.00	0.000	6	0.000	0.000	2496	1972	1782
8684	1.48	138.0	515.6	12.1	466	8713	0.73	3.42	20.15	0.001	4	0.000	0.000	2676	291	1697
8734	0.97	138.0	504.5	28.7	467	8743	1.17	3.42	0.00	0.000	6	0.000	0.000	2428	2121	1709
9072	1.36	193.7	470.5	9.3	482	9141	0.75	2.25	54.25	0.001	4	0.000	0.000	2643	3461	1468
9183	1.14	193.7	443.8	27.7	486	9192	0.80	3.00	0.00	0.000	6	0.000	0.000	2420	1766	1471
9508	1.52	235.0	407.0	10.5	502	9555	0.98	3.75	39.22	0.001	4	0.000	0.000	2685	3621	1299
9605	1.13	235.0	375.5	36.8	506	9614	1.10	2.85	0.00	0.000	6	0.000	0.000	2426	1774	1302
9946	1.41	249.4	328.3	12.6	522	9971	0.70	3.72	14.20	0.001	4	0.000	0.000	2642	3635	1232
10111	1.18	249.4	280.0	30.9	529	10119	0.80	2.75	0.00	0.000	6	0.000	0.000	2448	1953	1244
10451	1.47	263.8	234.1	12.6	545	10468	0.73	0.00	13.90	0.000	6	0.000	0.000	2635	1935	1183
10780	0.67	263.8	118.2	49.6	561	10788	1.30	3.25	0.00	0.000	4	0.000	0.000	2295	465	1183
10829	1.37	301.1	107.7	10.8	563	10868	1.40	3.55	30.00	0.001	6	0.000	0.000	2625	2146	1036
11182	end climb: SURFACE_DEPTH_REACHED
state	11182	begin surface coast
11188	end surface coast: CONTROL_FINISHED_OK
state	11189	begin surface