Glider dive log

PortSusan 23Jul07 * SG001 * Dive index * Mission links * Dive 44 * 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 44 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 4 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 -449665.22 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 -449665.22

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 4 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 44 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 215915,6704.650,-6034.501,16,1.1,16,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6714.798,-6033.073

_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 -69.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220421,6704.650,-6034.501,15,1.1,15,18.0 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:

FINISH 0.0,1.024158 XPDR_PINGS -1

SM_CCo 12033,97.28,0.000,1,0,434,450.62 ALTIM_TOP_PING 19.4,999.0

SM_GC -0.00,0.00,0.00,97.28,0.000,0.000,0.000,617,2201,434,-7.56,6.05,450.62 ALTIM_BOTTOM_PING 576.4,89.0

RAFOS_CLK 0 _24V_AH 23.7,68.921

RAFOS 0,1160784281,0.083333,0.078056,80,0,0,0,0,0,471,0,0,0,0,0 _10V_AH 9.7,10.328

RAFOS_FIX 6704.124023,-6030.228027,141006,000020,4,80,0.39 DATA_FILE_SIZE 22141,614

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,240840704

TT8_MAMPS 0.024544 ERRORS 0,1,0,0,0,0,0,0,0,0,0,131,1331,4,0

HUMID 2347 SOUNDSPEED 1472.7

INTERNAL_PRESSURE 26.0846 CURRENT 0.056,259.4,1

TCM_TEMP 15.00 GPS 141006,012854,6705.660,-6034.530,33,1.1,33,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 59 119 168.16 SBE_CT 497 24 283.14

Roll_motor 171 60 243.16 nil 0 0 0.00

VBD_pump_during_apogee 380 1300 11724.75 nil 0 0 0.00

VBD_pump_during_surface 97 600 1383.25 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 90 223 478.87

Transponder_ping 5 420 52.26

GPS 15 50 7.71

TT8 1948 19 376.52

LPSleep 7975 2 178.71

TT8_Active 840 19 162.37

TT8_Sampling 788 39 305.15

TT8_CF8 896 45 399.16

TT8_Kalman 0 0 0.00

Analog_circuits 1544 12 179.76

GPS_charging 0 0 0.00

Compass 674 26 170.03

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

40 -1.49 -116.8 0.0 0.0 0 128 0.00 0.00 -76.72 0.000 6 0.000 0.000 639 2231 2742

134 -1.49 -116.8 -0.0 -0.0 9 151 6.78 2.95 0.00 0.000 4 0.000 0.000 1984 540 2743

274 -1.55 -116.8 21.7 -10.0 31 283 0.50 3.25 0.00 0.000 6 0.000 0.000 1865 2223 2738

642 -1.21 -116.8 73.5 -13.2 92 651 0.77 2.72 0.00 0.000 4 0.000 0.000 1966 3560 2739

720 -1.47 -116.8 80.3 -6.7 104 729 0.47 3.72 0.00 0.000 6 0.000 0.000 1859 1697 2744

1077 -1.14 -116.8 122.1 -11.9 140 1079 0.82 0.00 0.00 0.000 6 0.000 0.000 2060 1689 2737

1386 -1.32 -116.8 140.3 -5.5 155 1392 0.52 2.72 0.00 0.000 4 0.000 0.000 1987 330 2743

1431 -1.47 -116.8 143.6 -7.1 157 1439 0.50 3.75 0.00 0.000 6 0.000 0.000 1871 2171 2739

1767 -1.16 -116.8 178.7 -10.5 173 1775 0.85 3.62 0.00 0.000 4 0.000 0.000 2034 294 2738

1825 -1.39 -116.8 182.6 -5.2 175 1837 0.75 3.88 0.00 0.000 6 0.000 0.000 1910 2165 2739

2154 -1.24 -116.8 209.0 -8.2 191 2162 0.40 3.25 0.00 0.000 4 0.000 0.000 2031 357 2738

2189 -1.44 -116.8 212.0 -5.6 192 2203 0.65 3.78 0.00 0.000 6 0.000 0.000 1913 2003 2743

2519 -1.27 -116.8 237.7 -8.2 208 2527 0.47 3.58 0.00 0.000 4 0.000 0.000 2023 480 2744

2572 -1.47 -116.8 241.4 -4.6 210 2580 0.77 3.58 0.00 0.000 6 0.000 0.000 1881 2140 2737

2907 -1.15 -116.8 271.8 -9.6 226 2916 0.90 3.22 0.00 0.000 4 0.000 0.000 2063 288 2740

2943 -1.40 -116.8 275.0 -5.5 227 2956 0.80 3.80 0.00 0.000 6 0.000 0.000 1912 2137 2737

3273 -1.29 -116.8 298.5 -7.3 243 3281 0.40 3.25 0.00 0.000 4 0.000 0.000 2049 279 2742

3349 -1.52 -116.8 302.5 -4.4 246 3357 0.82 3.25 0.00 0.000 6 0.000 0.000 1882 2203 2737

3684 -1.22 -116.8 332.5 -9.1 262 3693 1.08 3.75 0.00 0.000 4 0.000 0.000 2068 510 2737

3742 -1.44 -116.8 336.0 -4.4 264 3755 0.77 2.67 0.00 0.000 6 0.000 0.000 1884 2012 2740

4071 -1.15 -116.8 364.0 -9.0 280 4079 0.73 2.95 0.00 0.000 4 0.000 0.000 2057 349 2738

4106 -1.40 -116.8 366.6 -4.3 281 4119 0.77 4.03 0.00 0.000 6 0.000 0.000 1882 2232 2741

4435 -1.11 -116.8 394.3 -8.8 297 4443 0.85 2.97 0.00 0.000 4 0.000 0.000 2053 533 2736

4512 -1.35 -116.8 398.6 -4.1 300 4520 0.77 3.20 0.00 0.000 6 0.000 0.000 1886 2176 2738

4847 -1.08 -116.8 426.9 -8.4 316 4855 0.68 3.28 0.00 0.000 4 0.000 0.000 2071 484 2740

4896 -1.35 -116.8 429.4 -3.9 318 4904 0.77 3.05 0.00 0.000 6 0.000 0.000 1885 2132 2746

5232 -1.10 -116.8 456.0 -8.1 334 5240 0.77 2.78 0.00 0.000 4 0.000 0.000 2088 3487 2736

5387 -1.37 -116.8 462.9 -3.8 340 5397 0.77 3.78 0.00 0.000 6 0.000 0.000 1896 1827 2743

5712 -1.11 -116.8 488.3 -8.4 356 5718 0.73 2.25 0.00 0.000 4 0.000 0.000 2078 490 2742

5771 -1.39 -116.8 492.0 -3.8 358 5780 0.82 2.92 0.00 0.000 6 0.000 0.000 1883 2135 2746

6088 -1.14 -116.8 516.4 -8.0 369 6096 1.10 3.47 0.00 0.000 4 0.000 0.000 2080 419 2743

6137 -1.42 -116.8 519.0 -3.9 370 6145 0.77 3.25 0.00 0.000 6 0.000 0.000 1897 2101 2740

6471 -1.14 -116.8 545.7 -8.2 378 6479 0.73 3.28 0.00 0.000 4 0.000 0.000 2066 440 2745

6546 -1.40 -116.8 549.4 -3.9 379 6554 0.77 3.17 0.00 0.000 6 0.000 0.000 1895 2071 2740

6894 -1.13 -116.8 576.4 -8.1 388 6902 1.15 2.97 0.00 0.000 4 0.000 0.000 2056 421 2743

6996 -1.39 -116.8 581.2 -4.0 390 7004 0.77 3.38 0.00 0.000 6 0.000 0.000 1873 1881 2739

7324 -1.12 -116.8 607.0 -8.1 398 7333 0.90 3.25 0.00 0.000 4 0.000 0.000 2072 3574 2740

7394 -1.35 -116.8 610.5 -3.9 399 7401 0.77 3.03 0.00 0.000 6 0.000 0.000 1869 1733 2743

7745 -1.07 -116.8 638.4 -8.2 408 7753 0.73 3.53 0.00 0.000 4 0.000 0.000 2070 3583 2740

8005 -1.30 -116.8 649.5 -4.0 413 8018 0.57 3.42 0.00 0.000 6 0.000 0.000 1939 1729 2736

8138 end dive: BOTTOM_OBSTACLE_DETECTED

state 8139 begin apogee

8152 -0.25 0.0 657.9 6.5 417 8270 1.77 0.00 114.05 0.000 6 0.000 0.000 2226 2208 2260

8271 end apogee: CONTROL_FINISHED_OK

state 8271 begin climb

8277 1.49 116.8 658.4 0.0 420 8394 1.88 0.00 111.85 0.001 6 0.000 0.000 2647 2204 1785

8741 1.19 116.8 556.4 24.1 431 8744 0.93 0.00 0.00 0.000 6 0.000 0.000 2498 2210 1781

9060 1.41 147.5 516.4 11.3 439 9104 0.43 2.40 29.85 0.001 4 0.000 0.000 2599 3379 1656

9162 1.25 147.5 494.8 22.9 441 9170 0.52 3.50 0.00 0.000 6 0.000 0.000 2492 1666 1662

9497 1.44 163.0 450.9 12.5 457 9523 0.60 2.60 14.52 0.001 4 0.000 0.000 2622 343 1596

9550 1.31 163.0 439.2 23.3 459 9558 0.50 3.78 0.00 0.000 6 0.000 0.000 2491 2192 1593

9885 1.48 167.9 393.4 13.4 475 9899 0.73 3.80 4.85 0.001 4 0.000 0.000 2667 310 1572

9934 1.21 167.9 381.6 28.3 477 9942 0.90 3.78 0.00 0.000 6 0.000 0.000 2553 2147 1584

10275 1.19 167.9 318.0 17.8 493 10282 0.00 3.17 0.15 0.000 4 0.000 0.000 2548 513 1579

10303 1.19 167.9 310.8 19.7 494 10308 0.15 2.53 0.00 0.000 6 0.000 0.000 2498 2201 1582

10634 1.33 167.9 265.2 13.9 510 10642 0.35 3.35 1.08 0.001 4 0.000 0.000 2607 543 1574

10692 0.72 167.9 251.5 23.2 512 10704 1.08 2.88 0.00 0.000 6 0.000 0.000 2366 2059 1574

11021 1.29 223.5 219.3 9.3 528 11090 1.05 3.33 53.17 0.001 4 0.000 0.000 2587 373 1345

11141 1.15 223.5 190.8 26.0 533 11149 0.77 3.08 0.00 0.000 6 0.000 0.000 2429 2022 1350

11476 1.52 258.8 149.5 10.9 549 11508 0.98 0.00 28.67 0.001 6 0.000 0.000 2687 2036 1211

11835 1.14 258.8 27.6 33.9 589 11844 1.42 3.03 0.00 0.000 4 0.000 0.000 2435 3716 1206

11956 1.48 294.8 10.1 10.9 608 11988 0.90 3.35 22.35 0.000 6 0.000 0.000 2616 1709 1063

11997 end climb: SURFACE_DEPTH_REACHED

state 11997 begin surface coast

12003 end surface coast: CONTROL_FINISHED_OK

state 12003 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	44	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	4	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	-449665.22	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	215915,6704.650,-6034.501,16,1.1,16,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6714.798,-6033.073
_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	-69.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220421,6704.650,-6034.501,15,1.1,15,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FINISH	0.0,1.024158	XPDR_PINGS	-1
SM_CCo	12033,97.28,0.000,1,0,434,450.62	ALTIM_TOP_PING	19.4,999.0
SM_GC	-0.00,0.00,0.00,97.28,0.000,0.000,0.000,617,2201,434,-7.56,6.05,450.62	ALTIM_BOTTOM_PING	576.4,89.0
RAFOS_CLK	0	_24V_AH	23.7,68.921
RAFOS	0,1160784281,0.083333,0.078056,80,0,0,0,0,0,471,0,0,0,0,0	_10V_AH	9.7,10.328
RAFOS_FIX	6704.124023,-6030.228027,141006,000020,4,80,0.39	DATA_FILE_SIZE	22141,614
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,240840704
TT8_MAMPS	0.024544	ERRORS	0,1,0,0,0,0,0,0,0,0,0,131,1331,4,0
HUMID	2347	SOUNDSPEED	1472.7
INTERNAL_PRESSURE	26.0846	CURRENT	0.056,259.4,1
TCM_TEMP	15.00	GPS	141006,012854,6705.660,-6034.530,33,1.1,33,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	59	119	168.16	SBE_CT	497	24	283.14
Roll_motor	171	60	243.16	nil	0	0	0.00
VBD_pump_during_apogee	380	1300	11724.75	nil	0	0	0.00
VBD_pump_during_surface	97	600	1383.25	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	90	223	478.87
Transponder_ping	5	420	52.26
GPS	15	50	7.71
TT8	1948	19	376.52
LPSleep	7975	2	178.71
TT8_Active	840	19	162.37
TT8_Sampling	788	39	305.15
TT8_CF8	896	45	399.16
TT8_Kalman	0	0	0.00
Analog_circuits	1544	12	179.76
GPS_charging	0	0	0.00
Compass	674	26	170.03
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
40	-1.49	-116.8	0.0	0.0	0	128	0.00	0.00	-76.72	0.000	6	0.000	0.000	639	2231	2742
134	-1.49	-116.8	-0.0	-0.0	9	151	6.78	2.95	0.00	0.000	4	0.000	0.000	1984	540	2743
274	-1.55	-116.8	21.7	-10.0	31	283	0.50	3.25	0.00	0.000	6	0.000	0.000	1865	2223	2738
642	-1.21	-116.8	73.5	-13.2	92	651	0.77	2.72	0.00	0.000	4	0.000	0.000	1966	3560	2739
720	-1.47	-116.8	80.3	-6.7	104	729	0.47	3.72	0.00	0.000	6	0.000	0.000	1859	1697	2744
1077	-1.14	-116.8	122.1	-11.9	140	1079	0.82	0.00	0.00	0.000	6	0.000	0.000	2060	1689	2737
1386	-1.32	-116.8	140.3	-5.5	155	1392	0.52	2.72	0.00	0.000	4	0.000	0.000	1987	330	2743
1431	-1.47	-116.8	143.6	-7.1	157	1439	0.50	3.75	0.00	0.000	6	0.000	0.000	1871	2171	2739
1767	-1.16	-116.8	178.7	-10.5	173	1775	0.85	3.62	0.00	0.000	4	0.000	0.000	2034	294	2738
1825	-1.39	-116.8	182.6	-5.2	175	1837	0.75	3.88	0.00	0.000	6	0.000	0.000	1910	2165	2739
2154	-1.24	-116.8	209.0	-8.2	191	2162	0.40	3.25	0.00	0.000	4	0.000	0.000	2031	357	2738
2189	-1.44	-116.8	212.0	-5.6	192	2203	0.65	3.78	0.00	0.000	6	0.000	0.000	1913	2003	2743
2519	-1.27	-116.8	237.7	-8.2	208	2527	0.47	3.58	0.00	0.000	4	0.000	0.000	2023	480	2744
2572	-1.47	-116.8	241.4	-4.6	210	2580	0.77	3.58	0.00	0.000	6	0.000	0.000	1881	2140	2737
2907	-1.15	-116.8	271.8	-9.6	226	2916	0.90	3.22	0.00	0.000	4	0.000	0.000	2063	288	2740
2943	-1.40	-116.8	275.0	-5.5	227	2956	0.80	3.80	0.00	0.000	6	0.000	0.000	1912	2137	2737
3273	-1.29	-116.8	298.5	-7.3	243	3281	0.40	3.25	0.00	0.000	4	0.000	0.000	2049	279	2742
3349	-1.52	-116.8	302.5	-4.4	246	3357	0.82	3.25	0.00	0.000	6	0.000	0.000	1882	2203	2737
3684	-1.22	-116.8	332.5	-9.1	262	3693	1.08	3.75	0.00	0.000	4	0.000	0.000	2068	510	2737
3742	-1.44	-116.8	336.0	-4.4	264	3755	0.77	2.67	0.00	0.000	6	0.000	0.000	1884	2012	2740
4071	-1.15	-116.8	364.0	-9.0	280	4079	0.73	2.95	0.00	0.000	4	0.000	0.000	2057	349	2738
4106	-1.40	-116.8	366.6	-4.3	281	4119	0.77	4.03	0.00	0.000	6	0.000	0.000	1882	2232	2741
4435	-1.11	-116.8	394.3	-8.8	297	4443	0.85	2.97	0.00	0.000	4	0.000	0.000	2053	533	2736
4512	-1.35	-116.8	398.6	-4.1	300	4520	0.77	3.20	0.00	0.000	6	0.000	0.000	1886	2176	2738
4847	-1.08	-116.8	426.9	-8.4	316	4855	0.68	3.28	0.00	0.000	4	0.000	0.000	2071	484	2740
4896	-1.35	-116.8	429.4	-3.9	318	4904	0.77	3.05	0.00	0.000	6	0.000	0.000	1885	2132	2746
5232	-1.10	-116.8	456.0	-8.1	334	5240	0.77	2.78	0.00	0.000	4	0.000	0.000	2088	3487	2736
5387	-1.37	-116.8	462.9	-3.8	340	5397	0.77	3.78	0.00	0.000	6	0.000	0.000	1896	1827	2743
5712	-1.11	-116.8	488.3	-8.4	356	5718	0.73	2.25	0.00	0.000	4	0.000	0.000	2078	490	2742
5771	-1.39	-116.8	492.0	-3.8	358	5780	0.82	2.92	0.00	0.000	6	0.000	0.000	1883	2135	2746
6088	-1.14	-116.8	516.4	-8.0	369	6096	1.10	3.47	0.00	0.000	4	0.000	0.000	2080	419	2743
6137	-1.42	-116.8	519.0	-3.9	370	6145	0.77	3.25	0.00	0.000	6	0.000	0.000	1897	2101	2740
6471	-1.14	-116.8	545.7	-8.2	378	6479	0.73	3.28	0.00	0.000	4	0.000	0.000	2066	440	2745
6546	-1.40	-116.8	549.4	-3.9	379	6554	0.77	3.17	0.00	0.000	6	0.000	0.000	1895	2071	2740
6894	-1.13	-116.8	576.4	-8.1	388	6902	1.15	2.97	0.00	0.000	4	0.000	0.000	2056	421	2743
6996	-1.39	-116.8	581.2	-4.0	390	7004	0.77	3.38	0.00	0.000	6	0.000	0.000	1873	1881	2739
7324	-1.12	-116.8	607.0	-8.1	398	7333	0.90	3.25	0.00	0.000	4	0.000	0.000	2072	3574	2740
7394	-1.35	-116.8	610.5	-3.9	399	7401	0.77	3.03	0.00	0.000	6	0.000	0.000	1869	1733	2743
7745	-1.07	-116.8	638.4	-8.2	408	7753	0.73	3.53	0.00	0.000	4	0.000	0.000	2070	3583	2740
8005	-1.30	-116.8	649.5	-4.0	413	8018	0.57	3.42	0.00	0.000	6	0.000	0.000	1939	1729	2736
8138	end dive: BOTTOM_OBSTACLE_DETECTED
state	8139	begin apogee
8152	-0.25	0.0	657.9	6.5	417	8270	1.77	0.00	114.05	0.000	6	0.000	0.000	2226	2208	2260
8271	end apogee: CONTROL_FINISHED_OK
state	8271	begin climb
8277	1.49	116.8	658.4	0.0	420	8394	1.88	0.00	111.85	0.001	6	0.000	0.000	2647	2204	1785
8741	1.19	116.8	556.4	24.1	431	8744	0.93	0.00	0.00	0.000	6	0.000	0.000	2498	2210	1781
9060	1.41	147.5	516.4	11.3	439	9104	0.43	2.40	29.85	0.001	4	0.000	0.000	2599	3379	1656
9162	1.25	147.5	494.8	22.9	441	9170	0.52	3.50	0.00	0.000	6	0.000	0.000	2492	1666	1662
9497	1.44	163.0	450.9	12.5	457	9523	0.60	2.60	14.52	0.001	4	0.000	0.000	2622	343	1596
9550	1.31	163.0	439.2	23.3	459	9558	0.50	3.78	0.00	0.000	6	0.000	0.000	2491	2192	1593
9885	1.48	167.9	393.4	13.4	475	9899	0.73	3.80	4.85	0.001	4	0.000	0.000	2667	310	1572
9934	1.21	167.9	381.6	28.3	477	9942	0.90	3.78	0.00	0.000	6	0.000	0.000	2553	2147	1584
10275	1.19	167.9	318.0	17.8	493	10282	0.00	3.17	0.15	0.000	4	0.000	0.000	2548	513	1579
10303	1.19	167.9	310.8	19.7	494	10308	0.15	2.53	0.00	0.000	6	0.000	0.000	2498	2201	1582
10634	1.33	167.9	265.2	13.9	510	10642	0.35	3.35	1.08	0.001	4	0.000	0.000	2607	543	1574
10692	0.72	167.9	251.5	23.2	512	10704	1.08	2.88	0.00	0.000	6	0.000	0.000	2366	2059	1574
11021	1.29	223.5	219.3	9.3	528	11090	1.05	3.33	53.17	0.001	4	0.000	0.000	2587	373	1345
11141	1.15	223.5	190.8	26.0	533	11149	0.77	3.08	0.00	0.000	6	0.000	0.000	2429	2022	1350
11476	1.52	258.8	149.5	10.9	549	11508	0.98	0.00	28.67	0.001	6	0.000	0.000	2687	2036	1211
11835	1.14	258.8	27.6	33.9	589	11844	1.42	3.03	0.00	0.000	4	0.000	0.000	2435	3716	1206
11956	1.48	294.8	10.1	10.9	608	11988	0.90	3.35	22.35	0.000	6	0.000	0.000	2616	1709	1063
11997	end climb: SURFACE_DEPTH_REACHED
state	11997	begin surface coast
12003	end surface coast: CONTROL_FINISHED_OK
state	12003	begin surface