Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 40 * 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 40 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 9 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 20 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 -449569.03 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 -449569.03

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 9 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 20 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 40 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 075322,6700.674,-6034.203,14,1.1,14,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6710.822,-6032.770

_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 075827,6700.674,-6034.203,34,1.1,34,18.0 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 -0.00,4.502,-1.691 XPDR_PINGS -1

FINISH -0.0,1.024507 ALTIM_TOP_PING 19.8,19.1

SM_CCo 12265,145.80,0.000,2,0,419,450.37 ALTIM_BOTTOM_PING 527.2,86.6

SM_GC 0.00,0.00,0.00,145.80,0.000,0.000,0.000,591,2016,419,-7.68,0.31,450.37 _24V_AH 23.7,67.216

RAFOS_CLK 0 _10V_AH 9.7,10.098

RAFOS 0,1160726646,8.083333,8.068334,80,0,0,0,0,0,637,0,0,0,0,0 DATA_FILE_SIZE 25285,698

RAFOS_FIX 6700.235352,-6029.918457,131006,080820,4,80,2.34 CFSIZE 255582208,241176576

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,84,1064,5,0

TT8_MAMPS 0.024544 SOUNDSPEED 1471.4

HUMID 2332 CURRENT 0.048,269.6,1

INTERNAL_PRESSURE 26.0944 GPS 131006,112745,6701.679,-6034.124,28,1.1,28,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 42 119 120.29 SBE_CT 572 24 325.46

Roll_motor 137 60 196.06 nil 0 0 0.00

VBD_pump_during_apogee 318 1300 9798.35 nil 0 0 0.00

VBD_pump_during_surface 145 600 2073.28 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 88 223 469.06

Transponder_ping 4 420 47.28

GPS 40 50 19.59

TT8 2114 19 408.58

LPSleep 8156 2 182.76

TT8_Active 788 19 152.34

TT8_Sampling 776 39 300.86

TT8_CF8 901 45 401.71

TT8_Kalman 0 0 0.00

Analog_circuits 1449 12 168.67

GPS_charging 0 0 0.00

Compass 641 26 161.85

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

35 end surface: CONTROL_FINISHED_OK

state 35 begin dive

41 -1.49 -116.8 0.0 0.0 0 128 0.00 0.00 -76.18 0.000 6 0.000 0.000 634 1793 2743

134 -1.49 -116.8 0.1 -0.2 9 152 7.00 2.45 0.00 0.000 4 0.000 0.000 1984 269 2745

287 -1.58 -116.8 23.1 -9.7 33 295 0.47 3.65 0.00 0.000 6 0.000 0.000 1884 2101 2741

655 -1.29 -116.8 72.2 -12.3 94 663 0.70 2.75 0.00 0.000 4 0.000 0.000 2064 3635 2742

793 -1.50 -116.8 81.0 -5.7 116 802 0.82 3.15 0.00 0.000 6 0.000 0.000 1874 1934 2742

1157 -1.22 -116.8 121.1 -11.2 153 1160 1.12 0.00 0.00 0.000 6 0.000 0.000 2049 1939 2743

1466 -1.44 -116.8 138.2 -5.0 168 1474 0.77 2.60 0.00 0.000 4 0.000 0.000 1940 375 2734

1518 -1.36 -116.8 142.1 -8.5 170 1525 0.50 2.88 0.00 0.000 6 0.000 0.000 2046 2072 2743

1853 -1.56 -116.8 160.2 -5.1 186 1861 0.77 3.22 0.00 0.000 4 0.000 0.000 1912 381 2741

1881 -1.56 -116.8 162.1 -7.4 187 1888 0.00 3.55 0.00 0.000 6 0.000 0.000 1933 2118 2738

2221 -1.41 -116.8 189.1 -8.6 203 2226 0.00 2.78 0.00 0.000 4 0.000 0.000 1935 413 2742

2280 -1.30 -116.8 194.6 -8.0 205 2289 0.52 3.20 0.00 0.000 6 0.000 0.000 2041 2251 2740

2605 -1.48 -116.8 211.0 -4.9 221 2613 0.68 3.25 0.00 0.000 4 0.000 0.000 1857 567 2739

2645 -1.20 -116.8 214.9 -10.0 222 2655 0.88 2.70 0.00 0.000 6 0.000 0.000 1991 2214 2740

2969 -1.20 -116.8 236.2 -6.5 238 2976 0.00 3.53 0.00 0.000 4 0.000 0.000 1983 348 2744

3004 -1.24 -116.8 238.9 -6.7 239 3016 0.03 3.42 0.00 0.000 6 0.000 0.000 1985 2235 2739

3333 -1.24 -116.8 259.4 -6.3 255 3340 0.00 3.58 0.00 0.000 4 0.000 0.000 1978 372 2738

3381 -1.28 -116.8 262.7 -6.1 257 3388 0.00 3.42 0.00 0.000 6 0.000 0.000 1973 2238 2742

3721 -1.28 -116.8 283.6 -6.2 273 3728 0.00 3.62 0.00 0.000 4 0.000 0.000 1985 397 2744

3750 -1.31 -116.8 285.8 -6.5 274 3755 0.00 2.42 0.00 0.000 6 0.000 0.000 1995 2083 2739

4081 -1.31 -116.8 305.7 -6.2 290 4086 0.00 2.67 0.00 0.000 4 0.000 0.000 1970 438 2739

4117 -1.33 -116.8 308.5 -6.4 291 4125 0.00 3.72 0.00 0.000 6 0.000 0.000 1974 2123 2740

4442 -1.55 -116.8 327.5 -5.6 307 4450 0.52 3.05 0.00 0.000 4 0.000 0.000 1839 612 2732

4476 -1.24 -116.8 330.7 -9.2 308 4489 0.77 2.97 0.00 0.000 6 0.000 0.000 2035 2085 2741

4806 -1.41 -116.8 346.6 -4.6 324 4812 0.50 2.78 0.00 0.000 4 0.000 0.000 1895 3650 2741

4855 -1.22 -116.8 350.4 -8.0 326 4863 0.55 3.30 0.00 0.000 6 0.000 0.000 2034 1969 2737

5189 -1.37 -116.8 366.3 -4.8 342 5197 0.85 3.45 0.00 0.000 4 0.000 0.000 1917 445 2739

5231 -1.22 -116.8 369.4 -7.7 343 5240 0.52 3.28 0.00 0.000 6 0.000 0.000 2026 2130 2738

5556 -1.37 -116.8 385.0 -4.7 359 5559 0.47 0.00 0.00 0.000 6 0.000 0.000 1891 2125 2742

5865 -1.19 -116.8 407.9 -7.6 374 5867 0.88 0.00 0.00 0.000 6 0.000 0.000 2108 2118 2740

6174 -1.52 -116.8 419.2 -3.4 389 6182 0.93 3.47 0.00 0.000 4 0.000 0.000 1849 302 2740

6250 -1.23 -116.8 425.2 -9.1 392 6258 0.80 3.35 0.00 0.000 6 0.000 0.000 1988 2150 2740

6591 -1.23 -116.8 445.9 -5.9 408 6592 0.00 0.00 0.00 0.000 6 0.000 0.000 1967 2177 2743

6895 -1.23 -116.8 463.9 -5.9 423 6903 0.00 3.67 0.00 0.000 4 0.000 0.000 1972 271 2732

6944 -1.29 -116.8 466.7 -5.7 425 6951 0.00 3.72 0.00 0.000 6 0.000 0.000 1960 2225 2740

7284 -1.29 -116.8 486.1 -5.8 441 7289 0.00 3.08 0.00 0.000 4 0.000 0.000 1982 536 2744

7354 -1.32 -116.8 490.5 -5.8 444 7359 0.00 2.45 0.00 0.000 6 0.000 0.000 1981 1883 2745

7696 -1.32 -116.8 509.9 -5.7 457 7701 0.00 2.92 0.00 0.000 4 0.000 0.000 1986 3563 2733

7858 -1.32 -116.8 519.3 -5.7 460 7865 0.00 3.42 0.00 0.000 6 0.000 0.000 1992 1692 2736

8203 -1.32 -116.8 538.7 -5.7 469 8204 0.00 0.00 0.00 0.000 6 0.000 0.000 1990 1701 2744

8533 -1.32 -116.8 557.1 -5.6 477 8534 0.00 0.00 0.00 0.000 6 0.000 0.000 1995 1702 2739

8858 -1.32 -116.8 575.3 -5.6 485 8863 0.03 1.95 0.00 0.000 4 0.000 0.000 1959 546 2745

8902 -1.35 -116.8 578.0 -5.7 486 8907 0.03 2.38 0.00 0.000 6 0.002 0.000 1987 2037 2744

9020 end dive: HALF_MISSION_TIME_EXCEEDED

state 9020 begin apogee

9033 -0.25 0.0 585.0 5.6 489 9161 1.77 0.00 113.62 0.000 6 0.000 0.000 2280 1871 2260

9162 end apogee: CONTROL_FINISHED_OK

state 9162 begin climb

9167 1.49 116.8 585.5 0.0 492 9294 2.00 0.00 113.05 0.001 6 0.000 0.000 2634 1879 1778

9601 1.20 116.8 491.2 23.6 503 9603 0.73 0.00 0.00 0.000 6 0.000 0.000 2462 1880 1790

9910 1.45 152.1 455.6 10.9 518 9949 0.77 0.00 33.25 0.001 6 0.000 0.000 2639 1863 1637

10265 1.15 152.1 367.4 26.0 535 10273 0.80 2.53 0.47 0.001 4 0.000 0.000 2474 375 1639

10306 1.43 177.6 358.9 11.7 536 10339 0.62 3.38 24.90 0.001 6 0.000 0.000 2615 2042 1531

10648 1.28 177.6 283.4 22.7 553 10656 0.45 3.03 0.00 0.000 4 0.000 0.000 2469 340 1532

10677 1.44 177.6 278.2 14.6 554 10686 0.77 3.38 0.00 0.000 6 0.000 0.000 2658 2004 1535

11012 1.12 177.6 188.2 28.5 570 11015 0.77 0.00 0.00 0.000 6 0.000 0.000 2471 1999 1526

11322 1.31 189.0 144.5 12.8 585 11337 0.47 3.08 8.50 0.001 4 0.000 0.000 2599 487 1489

11373 1.20 189.0 132.7 24.0 586 11386 0.55 2.65 0.17 0.000 6 0.000 0.000 2488 1999 1487

11710 1.39 198.4 87.0 13.0 614 11726 0.45 3.35 7.05 0.000 4 0.000 0.000 2583 327 1451

11753 1.32 198.4 79.7 21.8 619 11763 0.50 3.53 0.00 0.000 6 0.000 0.000 2470 2162 1455

12122 1.53 218.9 28.0 12.1 680 12145 0.70 0.00 17.00 0.000 6 0.000 0.000 2657 2154 1372

12228 end climb: SURFACE_DEPTH_REACHED

state 12229 begin surface coast

12235 end surface coast: CONTROL_FINISHED_OK

state 12235 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	40	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	9	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	20	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	-449569.03	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	075322,6700.674,-6034.203,14,1.1,14,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6710.822,-6032.770
_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	075827,6700.674,-6034.203,34,1.1,34,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.502,-1.691	XPDR_PINGS	-1
FINISH	-0.0,1.024507	ALTIM_TOP_PING	19.8,19.1
SM_CCo	12265,145.80,0.000,2,0,419,450.37	ALTIM_BOTTOM_PING	527.2,86.6
SM_GC	0.00,0.00,0.00,145.80,0.000,0.000,0.000,591,2016,419,-7.68,0.31,450.37	_24V_AH	23.7,67.216
RAFOS_CLK	0	_10V_AH	9.7,10.098
RAFOS	0,1160726646,8.083333,8.068334,80,0,0,0,0,0,637,0,0,0,0,0	DATA_FILE_SIZE	25285,698
RAFOS_FIX	6700.235352,-6029.918457,131006,080820,4,80,2.34	CFSIZE	255582208,241176576
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,84,1064,5,0
TT8_MAMPS	0.024544	SOUNDSPEED	1471.4
HUMID	2332	CURRENT	0.048,269.6,1
INTERNAL_PRESSURE	26.0944	GPS	131006,112745,6701.679,-6034.124,28,1.1,28,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	42	119	120.29	SBE_CT	572	24	325.46
Roll_motor	137	60	196.06	nil	0	0	0.00
VBD_pump_during_apogee	318	1300	9798.35	nil	0	0	0.00
VBD_pump_during_surface	145	600	2073.28	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	469.06
Transponder_ping	4	420	47.28
GPS	40	50	19.59
TT8	2114	19	408.58
LPSleep	8156	2	182.76
TT8_Active	788	19	152.34
TT8_Sampling	776	39	300.86
TT8_CF8	901	45	401.71
TT8_Kalman	0	0	0.00
Analog_circuits	1449	12	168.67
GPS_charging	0	0	0.00
Compass	641	26	161.85
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
35	end surface: CONTROL_FINISHED_OK
state	35	begin dive
41	-1.49	-116.8	0.0	0.0	0	128	0.00	0.00	-76.18	0.000	6	0.000	0.000	634	1793	2743
134	-1.49	-116.8	0.1	-0.2	9	152	7.00	2.45	0.00	0.000	4	0.000	0.000	1984	269	2745
287	-1.58	-116.8	23.1	-9.7	33	295	0.47	3.65	0.00	0.000	6	0.000	0.000	1884	2101	2741
655	-1.29	-116.8	72.2	-12.3	94	663	0.70	2.75	0.00	0.000	4	0.000	0.000	2064	3635	2742
793	-1.50	-116.8	81.0	-5.7	116	802	0.82	3.15	0.00	0.000	6	0.000	0.000	1874	1934	2742
1157	-1.22	-116.8	121.1	-11.2	153	1160	1.12	0.00	0.00	0.000	6	0.000	0.000	2049	1939	2743
1466	-1.44	-116.8	138.2	-5.0	168	1474	0.77	2.60	0.00	0.000	4	0.000	0.000	1940	375	2734
1518	-1.36	-116.8	142.1	-8.5	170	1525	0.50	2.88	0.00	0.000	6	0.000	0.000	2046	2072	2743
1853	-1.56	-116.8	160.2	-5.1	186	1861	0.77	3.22	0.00	0.000	4	0.000	0.000	1912	381	2741
1881	-1.56	-116.8	162.1	-7.4	187	1888	0.00	3.55	0.00	0.000	6	0.000	0.000	1933	2118	2738
2221	-1.41	-116.8	189.1	-8.6	203	2226	0.00	2.78	0.00	0.000	4	0.000	0.000	1935	413	2742
2280	-1.30	-116.8	194.6	-8.0	205	2289	0.52	3.20	0.00	0.000	6	0.000	0.000	2041	2251	2740
2605	-1.48	-116.8	211.0	-4.9	221	2613	0.68	3.25	0.00	0.000	4	0.000	0.000	1857	567	2739
2645	-1.20	-116.8	214.9	-10.0	222	2655	0.88	2.70	0.00	0.000	6	0.000	0.000	1991	2214	2740
2969	-1.20	-116.8	236.2	-6.5	238	2976	0.00	3.53	0.00	0.000	4	0.000	0.000	1983	348	2744
3004	-1.24	-116.8	238.9	-6.7	239	3016	0.03	3.42	0.00	0.000	6	0.000	0.000	1985	2235	2739
3333	-1.24	-116.8	259.4	-6.3	255	3340	0.00	3.58	0.00	0.000	4	0.000	0.000	1978	372	2738
3381	-1.28	-116.8	262.7	-6.1	257	3388	0.00	3.42	0.00	0.000	6	0.000	0.000	1973	2238	2742
3721	-1.28	-116.8	283.6	-6.2	273	3728	0.00	3.62	0.00	0.000	4	0.000	0.000	1985	397	2744
3750	-1.31	-116.8	285.8	-6.5	274	3755	0.00	2.42	0.00	0.000	6	0.000	0.000	1995	2083	2739
4081	-1.31	-116.8	305.7	-6.2	290	4086	0.00	2.67	0.00	0.000	4	0.000	0.000	1970	438	2739
4117	-1.33	-116.8	308.5	-6.4	291	4125	0.00	3.72	0.00	0.000	6	0.000	0.000	1974	2123	2740
4442	-1.55	-116.8	327.5	-5.6	307	4450	0.52	3.05	0.00	0.000	4	0.000	0.000	1839	612	2732
4476	-1.24	-116.8	330.7	-9.2	308	4489	0.77	2.97	0.00	0.000	6	0.000	0.000	2035	2085	2741
4806	-1.41	-116.8	346.6	-4.6	324	4812	0.50	2.78	0.00	0.000	4	0.000	0.000	1895	3650	2741
4855	-1.22	-116.8	350.4	-8.0	326	4863	0.55	3.30	0.00	0.000	6	0.000	0.000	2034	1969	2737
5189	-1.37	-116.8	366.3	-4.8	342	5197	0.85	3.45	0.00	0.000	4	0.000	0.000	1917	445	2739
5231	-1.22	-116.8	369.4	-7.7	343	5240	0.52	3.28	0.00	0.000	6	0.000	0.000	2026	2130	2738
5556	-1.37	-116.8	385.0	-4.7	359	5559	0.47	0.00	0.00	0.000	6	0.000	0.000	1891	2125	2742
5865	-1.19	-116.8	407.9	-7.6	374	5867	0.88	0.00	0.00	0.000	6	0.000	0.000	2108	2118	2740
6174	-1.52	-116.8	419.2	-3.4	389	6182	0.93	3.47	0.00	0.000	4	0.000	0.000	1849	302	2740
6250	-1.23	-116.8	425.2	-9.1	392	6258	0.80	3.35	0.00	0.000	6	0.000	0.000	1988	2150	2740
6591	-1.23	-116.8	445.9	-5.9	408	6592	0.00	0.00	0.00	0.000	6	0.000	0.000	1967	2177	2743
6895	-1.23	-116.8	463.9	-5.9	423	6903	0.00	3.67	0.00	0.000	4	0.000	0.000	1972	271	2732
6944	-1.29	-116.8	466.7	-5.7	425	6951	0.00	3.72	0.00	0.000	6	0.000	0.000	1960	2225	2740
7284	-1.29	-116.8	486.1	-5.8	441	7289	0.00	3.08	0.00	0.000	4	0.000	0.000	1982	536	2744
7354	-1.32	-116.8	490.5	-5.8	444	7359	0.00	2.45	0.00	0.000	6	0.000	0.000	1981	1883	2745
7696	-1.32	-116.8	509.9	-5.7	457	7701	0.00	2.92	0.00	0.000	4	0.000	0.000	1986	3563	2733
7858	-1.32	-116.8	519.3	-5.7	460	7865	0.00	3.42	0.00	0.000	6	0.000	0.000	1992	1692	2736
8203	-1.32	-116.8	538.7	-5.7	469	8204	0.00	0.00	0.00	0.000	6	0.000	0.000	1990	1701	2744
8533	-1.32	-116.8	557.1	-5.6	477	8534	0.00	0.00	0.00	0.000	6	0.000	0.000	1995	1702	2739
8858	-1.32	-116.8	575.3	-5.6	485	8863	0.03	1.95	0.00	0.000	4	0.000	0.000	1959	546	2745
8902	-1.35	-116.8	578.0	-5.7	486	8907	0.03	2.38	0.00	0.000	6	0.002	0.000	1987	2037	2744
9020	end dive: HALF_MISSION_TIME_EXCEEDED
state	9020	begin apogee
9033	-0.25	0.0	585.0	5.6	489	9161	1.77	0.00	113.62	0.000	6	0.000	0.000	2280	1871	2260
9162	end apogee: CONTROL_FINISHED_OK
state	9162	begin climb
9167	1.49	116.8	585.5	0.0	492	9294	2.00	0.00	113.05	0.001	6	0.000	0.000	2634	1879	1778
9601	1.20	116.8	491.2	23.6	503	9603	0.73	0.00	0.00	0.000	6	0.000	0.000	2462	1880	1790
9910	1.45	152.1	455.6	10.9	518	9949	0.77	0.00	33.25	0.001	6	0.000	0.000	2639	1863	1637
10265	1.15	152.1	367.4	26.0	535	10273	0.80	2.53	0.47	0.001	4	0.000	0.000	2474	375	1639
10306	1.43	177.6	358.9	11.7	536	10339	0.62	3.38	24.90	0.001	6	0.000	0.000	2615	2042	1531
10648	1.28	177.6	283.4	22.7	553	10656	0.45	3.03	0.00	0.000	4	0.000	0.000	2469	340	1532
10677	1.44	177.6	278.2	14.6	554	10686	0.77	3.38	0.00	0.000	6	0.000	0.000	2658	2004	1535
11012	1.12	177.6	188.2	28.5	570	11015	0.77	0.00	0.00	0.000	6	0.000	0.000	2471	1999	1526
11322	1.31	189.0	144.5	12.8	585	11337	0.47	3.08	8.50	0.001	4	0.000	0.000	2599	487	1489
11373	1.20	189.0	132.7	24.0	586	11386	0.55	2.65	0.17	0.000	6	0.000	0.000	2488	1999	1487
11710	1.39	198.4	87.0	13.0	614	11726	0.45	3.35	7.05	0.000	4	0.000	0.000	2583	327	1451
11753	1.32	198.4	79.7	21.8	619	11763	0.50	3.53	0.00	0.000	6	0.000	0.000	2470	2162	1455
12122	1.53	218.9	28.0	12.1	680	12145	0.70	0.00	17.00	0.000	6	0.000	0.000	2657	2154	1372
12228	end climb: SURFACE_DEPTH_REACHED
state	12229	begin surface coast
12235	end surface coast: CONTROL_FINISHED_OK
state	12235	begin surface