Glider dive log

PortSusan 23Jul07 * SG001 * Dive index * Mission links * Dive 46 * 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 46 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 15 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 7 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 -449734.88 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 -449734.88

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 15 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 7 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 46 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 051516,6706.727,-6034.655,30,1.1,30,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6716.874,-6033.229

_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 052045,6706.727,-6034.655,36,1.1,36,18.0 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 -0.00,4.484,-1.722 XPDR_PINGS -1

FINISH -0.0,1.024942 ALTIM_TOP_PING 19.0,18.3

SM_CCo 12590,114.85,0.000,2,0,428,450.86 ALTIM_BOTTOM_PING 600.0,86.5

SM_GC -0.00,0.00,0.00,114.85,0.000,0.000,0.000,575,1840,428,-7.74,-3.11,450.86 _24V_AH 23.7,69.813

RAFOS_CLK 0 _10V_AH 9.7,10.452

RAFOS 0,1160813045,8.083333,8.068055,80,0,0,0,0,0,680,0,0,0,0,0 DATA_FILE_SIZE 22112,680

RAFOS_FIX 6706.329590,-6029.633789,141006,080820,4,80,0.34 CFSIZE 255582208,240648192

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,111,1210,3,0

TT8_MAMPS 0.028379 SOUNDSPEED 1471.6

HUMID 2341 CURRENT 0.048,269.2,1

INTERNAL_PRESSURE 26.0846 GPS 141006,085450,6707.752,-6034.537,28,1.1,28,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 52 119 148.77 SBE_CT 553 24 314.83

Roll_motor 157 60 224.57 nil 0 0 0.00

VBD_pump_during_apogee 362 1300 11164.00 nil 0 0 0.00

VBD_pump_during_surface 114 600 1633.17 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 91 223 483.42

Transponder_ping 5 420 54.75

GPS 37 50 18.22

TT8 2125 19 410.78

LPSleep 8295 2 185.87

TT8_Active 812 19 157.08

TT8_Sampling 852 39 330.16

TT8_CF8 960 45 427.77

TT8_Kalman 0 0 0.00

Analog_circuits 1543 12 179.67

GPS_charging 0 0 0.00

Compass 706 26 178.16

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

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 -76.53 0.000 6 0.000 0.000 610 1936 2735

132 -1.49 -116.8 -0.0 0.0 9 150 7.18 2.45 0.00 0.000 4 0.000 0.000 1991 570 2738

191 -1.56 -116.8 13.8 -10.2 17 200 0.55 3.72 0.00 0.000 6 0.000 0.000 1870 2250 2743

561 -1.28 -116.8 65.4 -12.9 78 568 0.77 0.00 0.00 0.000 6 0.000 0.000 1961 2242 2735

928 -1.30 -116.8 95.1 -7.7 139 937 0.00 3.97 0.00 0.000 4 0.000 0.000 2001 414 2737

980 -1.37 -116.8 98.7 -7.5 146 989 0.00 3.92 0.00 0.000 6 0.000 0.000 2006 2240 2735

1315 -1.39 -116.8 123.3 -7.3 163 1323 0.17 3.28 0.00 0.000 4 0.000 0.000 1940 422 2738

1394 -1.28 -116.8 130.4 -9.5 166 1402 0.52 3.70 0.00 0.000 6 0.000 0.000 2043 2224 2743

1729 -1.45 -116.8 149.5 -5.4 182 1736 0.77 2.10 0.00 0.000 4 0.000 0.000 1866 3618 2734

1860 -1.13 -116.8 163.3 -10.7 187 1873 1.08 3.03 0.00 0.000 6 0.000 0.000 2104 1780 2742

2190 -1.46 -116.8 177.4 -4.4 203 2196 1.08 2.15 0.00 0.000 4 0.000 0.000 1872 456 2738

2239 -1.16 -116.8 181.3 -10.9 205 2247 1.05 3.55 0.00 0.000 6 0.000 0.000 2045 2172 2745

2575 -1.33 -116.8 199.2 -5.1 221 2577 0.55 0.00 0.00 0.000 6 0.000 0.000 1977 2176 2736

2878 -1.33 -116.8 218.9 -6.6 236 2883 0.00 2.75 0.00 0.000 4 0.000 0.000 1956 544 2733

2948 -1.36 -116.8 223.4 -6.3 239 2953 0.00 3.12 0.00 0.000 6 0.000 0.000 1982 2202 2739

3278 -1.46 -116.8 243.8 -6.1 255 3286 0.35 3.55 0.00 0.000 4 0.000 0.000 1861 425 2737

3358 -1.17 -116.8 251.1 -9.8 258 3366 1.02 2.95 0.00 0.000 6 0.000 0.000 2032 2088 2738

3694 -1.34 -116.8 268.0 -4.8 274 3699 0.38 2.53 0.00 0.000 4 0.000 0.000 1899 376 2737

3788 -1.19 -116.8 275.0 -7.9 278 3796 0.57 3.05 0.00 0.000 6 0.000 0.000 2038 2052 2741

4124 -1.36 -116.8 292.0 -4.8 294 4130 0.43 2.67 0.00 0.000 4 0.000 0.000 1933 514 2737

4177 -1.57 -116.8 295.6 -6.4 296 4182 0.00 2.67 0.00 0.000 6 0.000 0.000 1935 2023 2740

4502 -1.41 -116.8 320.1 -7.7 311 4508 0.40 2.83 0.00 0.000 4 0.000 0.000 1999 3663 2738

4569 -1.41 -116.8 324.8 -6.1 314 4576 0.15 3.12 0.00 0.000 6 0.000 0.000 1907 1671 2735

4904 -1.51 -116.8 349.7 -7.3 330 4906 0.03 0.00 0.00 0.000 6 0.000 0.000 1942 1664 2741

5218 -1.41 -116.8 372.7 -7.6 345 5223 0.52 2.03 0.00 0.000 4 0.000 0.000 1978 310 2737

5249 -1.41 -116.8 375.3 -6.3 346 5261 0.08 3.47 0.00 0.000 6 0.001 0.000 1969 2110 2743

5577 -1.41 -116.8 394.7 -6.0 362 5585 0.03 3.22 0.00 0.000 4 0.000 0.000 1983 402 2743

5640 -1.45 -116.8 398.8 -5.8 364 5649 0.20 3.22 0.00 0.000 6 0.000 0.000 1913 2074 2740

5964 -1.41 -116.8 422.4 -7.6 380 5972 0.35 3.05 0.00 0.000 4 0.000 0.000 2046 424 2738

6016 -1.61 -116.8 425.7 -4.6 382 6024 0.82 3.55 0.00 0.000 6 0.000 0.000 1880 2121 2740

6351 -1.26 -116.8 454.7 -9.1 398 6360 0.75 3.53 0.00 0.000 4 0.000 0.000 2032 279 2738

6409 -1.48 -116.8 458.8 -4.3 400 6422 0.82 3.10 0.00 0.000 6 0.000 0.000 1856 2195 2738

6739 -1.13 -116.8 487.3 -9.0 416 6747 1.08 3.33 0.00 0.000 4 0.000 0.000 2025 368 2743

6815 -1.34 -116.8 491.6 -4.5 419 6823 0.47 4.05 0.00 0.000 6 0.000 0.000 1917 2167 2741

7148 -1.18 -116.8 515.2 -7.2 430 7150 0.43 0.00 0.00 0.000 6 0.000 0.000 2037 2173 2734

7473 -1.51 -116.8 530.5 -4.7 438 7481 0.80 3.25 0.00 0.000 4 0.000 0.000 1841 347 2743

7531 -1.24 -116.8 535.1 -8.7 439 7539 0.77 3.33 0.00 0.000 6 0.000 0.000 2051 2185 2740

7853 -1.40 -116.8 549.7 -4.4 447 7859 0.40 2.72 0.00 0.000 4 0.000 0.000 1923 378 2734

7950 -1.27 -116.8 556.1 -7.3 449 7959 0.62 3.53 0.00 0.000 6 0.000 0.000 2050 1891 2746

8278 -1.53 -116.8 571.2 -4.5 457 8286 1.15 2.47 0.00 0.000 4 0.000 0.000 1862 520 2732

8331 -1.23 -116.8 575.3 -9.0 458 8336 0.82 2.17 0.00 0.000 6 0.000 0.000 2010 1903 2737

8654 -1.39 -116.8 590.2 -4.4 466 8661 0.57 2.92 0.00 0.000 4 0.000 0.000 1924 3583 2737

8798 -1.21 -116.8 600.0 -7.4 469 8807 0.60 3.38 0.00 0.000 6 0.000 0.000 2019 1910 2736

9038 end dive: HALF_MISSION_TIME_EXCEEDED

state 9038 begin apogee

9050 -0.25 0.0 611.2 4.3 475 9168 1.02 0.00 114.10 0.000 6 0.000 0.000 2277 2068 2260

9169 end apogee: CONTROL_FINISHED_OK

state 9169 begin climb

9174 1.49 116.8 610.8 0.0 478 9309 1.67 2.72 111.70 0.001 4 0.000 0.000 2641 411 1786

9390 1.03 116.8 568.5 25.4 482 9403 1.05 3.75 0.98 0.001 6 0.000 0.000 2477 2229 1784

9730 1.33 160.1 531.8 10.3 491 9781 1.15 3.38 41.92 0.000 4 0.000 0.000 2656 548 1607

9806 1.08 160.1 513.9 28.3 492 9815 1.10 3.15 0.00 0.000 6 0.000 0.000 2476 2251 1604

10124 1.32 181.1 473.0 12.1 505 10148 0.62 0.00 20.55 0.001 6 0.000 0.000 2581 2246 1520

10458 1.20 181.1 396.2 22.5 521 10466 0.35 3.53 0.00 0.000 4 0.000 0.000 2467 284 1523

10534 1.30 181.1 384.6 14.0 524 10542 0.73 3.72 0.00 0.000 6 0.000 0.000 2568 2270 1525

10869 1.21 181.1 310.5 21.6 540 10877 0.40 3.38 0.00 0.000 4 0.000 0.000 2436 542 1522

10945 1.52 205.0 300.9 11.8 543 10978 0.77 3.17 22.52 0.001 6 0.000 0.000 2626 2066 1420

11303 1.28 205.0 204.7 27.1 560 11305 0.47 0.00 0.00 0.000 6 0.000 0.000 2482 2080 1423

11617 1.39 205.0 154.2 15.9 575 11625 0.80 2.95 0.00 0.000 4 0.000 0.000 2624 405 1431

11669 1.22 205.0 141.4 25.5 577 11678 0.77 3.17 0.00 0.000 6 0.000 0.000 2446 2034 1424

12000 1.54 239.3 102.1 11.0 593 12039 1.40 2.92 28.10 0.001 4 0.000 0.000 2689 368 1283

12087 1.20 239.3 76.9 34.2 603 12096 1.08 3.47 0.00 0.000 6 0.000 0.000 2441 2189 1282

12455 1.50 266.5 27.3 11.6 664 12485 0.65 0.00 22.48 0.001 6 0.000 0.000 2629 2190 1180

12553 end climb: SURFACE_DEPTH_REACHED

state 12553 begin surface coast

12559 end surface coast: CONTROL_FINISHED_OK

state 12559 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	46	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	15	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	7	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	-449734.88	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	051516,6706.727,-6034.655,30,1.1,30,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6716.874,-6033.229
_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	052045,6706.727,-6034.655,36,1.1,36,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.484,-1.722	XPDR_PINGS	-1
FINISH	-0.0,1.024942	ALTIM_TOP_PING	19.0,18.3
SM_CCo	12590,114.85,0.000,2,0,428,450.86	ALTIM_BOTTOM_PING	600.0,86.5
SM_GC	-0.00,0.00,0.00,114.85,0.000,0.000,0.000,575,1840,428,-7.74,-3.11,450.86	_24V_AH	23.7,69.813
RAFOS_CLK	0	_10V_AH	9.7,10.452
RAFOS	0,1160813045,8.083333,8.068055,80,0,0,0,0,0,680,0,0,0,0,0	DATA_FILE_SIZE	22112,680
RAFOS_FIX	6706.329590,-6029.633789,141006,080820,4,80,0.34	CFSIZE	255582208,240648192
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,111,1210,3,0
TT8_MAMPS	0.028379	SOUNDSPEED	1471.6
HUMID	2341	CURRENT	0.048,269.2,1
INTERNAL_PRESSURE	26.0846	GPS	141006,085450,6707.752,-6034.537,28,1.1,28,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	52	119	148.77	SBE_CT	553	24	314.83
Roll_motor	157	60	224.57	nil	0	0	0.00
VBD_pump_during_apogee	362	1300	11164.00	nil	0	0	0.00
VBD_pump_during_surface	114	600	1633.17	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	91	223	483.42
Transponder_ping	5	420	54.75
GPS	37	50	18.22
TT8	2125	19	410.78
LPSleep	8295	2	185.87
TT8_Active	812	19	157.08
TT8_Sampling	852	39	330.16
TT8_CF8	960	45	427.77
TT8_Kalman	0	0	0.00
Analog_circuits	1543	12	179.67
GPS_charging	0	0	0.00
Compass	706	26	178.16
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
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	-76.53	0.000	6	0.000	0.000	610	1936	2735
132	-1.49	-116.8	-0.0	0.0	9	150	7.18	2.45	0.00	0.000	4	0.000	0.000	1991	570	2738
191	-1.56	-116.8	13.8	-10.2	17	200	0.55	3.72	0.00	0.000	6	0.000	0.000	1870	2250	2743
561	-1.28	-116.8	65.4	-12.9	78	568	0.77	0.00	0.00	0.000	6	0.000	0.000	1961	2242	2735
928	-1.30	-116.8	95.1	-7.7	139	937	0.00	3.97	0.00	0.000	4	0.000	0.000	2001	414	2737
980	-1.37	-116.8	98.7	-7.5	146	989	0.00	3.92	0.00	0.000	6	0.000	0.000	2006	2240	2735
1315	-1.39	-116.8	123.3	-7.3	163	1323	0.17	3.28	0.00	0.000	4	0.000	0.000	1940	422	2738
1394	-1.28	-116.8	130.4	-9.5	166	1402	0.52	3.70	0.00	0.000	6	0.000	0.000	2043	2224	2743
1729	-1.45	-116.8	149.5	-5.4	182	1736	0.77	2.10	0.00	0.000	4	0.000	0.000	1866	3618	2734
1860	-1.13	-116.8	163.3	-10.7	187	1873	1.08	3.03	0.00	0.000	6	0.000	0.000	2104	1780	2742
2190	-1.46	-116.8	177.4	-4.4	203	2196	1.08	2.15	0.00	0.000	4	0.000	0.000	1872	456	2738
2239	-1.16	-116.8	181.3	-10.9	205	2247	1.05	3.55	0.00	0.000	6	0.000	0.000	2045	2172	2745
2575	-1.33	-116.8	199.2	-5.1	221	2577	0.55	0.00	0.00	0.000	6	0.000	0.000	1977	2176	2736
2878	-1.33	-116.8	218.9	-6.6	236	2883	0.00	2.75	0.00	0.000	4	0.000	0.000	1956	544	2733
2948	-1.36	-116.8	223.4	-6.3	239	2953	0.00	3.12	0.00	0.000	6	0.000	0.000	1982	2202	2739
3278	-1.46	-116.8	243.8	-6.1	255	3286	0.35	3.55	0.00	0.000	4	0.000	0.000	1861	425	2737
3358	-1.17	-116.8	251.1	-9.8	258	3366	1.02	2.95	0.00	0.000	6	0.000	0.000	2032	2088	2738
3694	-1.34	-116.8	268.0	-4.8	274	3699	0.38	2.53	0.00	0.000	4	0.000	0.000	1899	376	2737
3788	-1.19	-116.8	275.0	-7.9	278	3796	0.57	3.05	0.00	0.000	6	0.000	0.000	2038	2052	2741
4124	-1.36	-116.8	292.0	-4.8	294	4130	0.43	2.67	0.00	0.000	4	0.000	0.000	1933	514	2737
4177	-1.57	-116.8	295.6	-6.4	296	4182	0.00	2.67	0.00	0.000	6	0.000	0.000	1935	2023	2740
4502	-1.41	-116.8	320.1	-7.7	311	4508	0.40	2.83	0.00	0.000	4	0.000	0.000	1999	3663	2738
4569	-1.41	-116.8	324.8	-6.1	314	4576	0.15	3.12	0.00	0.000	6	0.000	0.000	1907	1671	2735
4904	-1.51	-116.8	349.7	-7.3	330	4906	0.03	0.00	0.00	0.000	6	0.000	0.000	1942	1664	2741
5218	-1.41	-116.8	372.7	-7.6	345	5223	0.52	2.03	0.00	0.000	4	0.000	0.000	1978	310	2737
5249	-1.41	-116.8	375.3	-6.3	346	5261	0.08	3.47	0.00	0.000	6	0.001	0.000	1969	2110	2743
5577	-1.41	-116.8	394.7	-6.0	362	5585	0.03	3.22	0.00	0.000	4	0.000	0.000	1983	402	2743
5640	-1.45	-116.8	398.8	-5.8	364	5649	0.20	3.22	0.00	0.000	6	0.000	0.000	1913	2074	2740
5964	-1.41	-116.8	422.4	-7.6	380	5972	0.35	3.05	0.00	0.000	4	0.000	0.000	2046	424	2738
6016	-1.61	-116.8	425.7	-4.6	382	6024	0.82	3.55	0.00	0.000	6	0.000	0.000	1880	2121	2740
6351	-1.26	-116.8	454.7	-9.1	398	6360	0.75	3.53	0.00	0.000	4	0.000	0.000	2032	279	2738
6409	-1.48	-116.8	458.8	-4.3	400	6422	0.82	3.10	0.00	0.000	6	0.000	0.000	1856	2195	2738
6739	-1.13	-116.8	487.3	-9.0	416	6747	1.08	3.33	0.00	0.000	4	0.000	0.000	2025	368	2743
6815	-1.34	-116.8	491.6	-4.5	419	6823	0.47	4.05	0.00	0.000	6	0.000	0.000	1917	2167	2741
7148	-1.18	-116.8	515.2	-7.2	430	7150	0.43	0.00	0.00	0.000	6	0.000	0.000	2037	2173	2734
7473	-1.51	-116.8	530.5	-4.7	438	7481	0.80	3.25	0.00	0.000	4	0.000	0.000	1841	347	2743
7531	-1.24	-116.8	535.1	-8.7	439	7539	0.77	3.33	0.00	0.000	6	0.000	0.000	2051	2185	2740
7853	-1.40	-116.8	549.7	-4.4	447	7859	0.40	2.72	0.00	0.000	4	0.000	0.000	1923	378	2734
7950	-1.27	-116.8	556.1	-7.3	449	7959	0.62	3.53	0.00	0.000	6	0.000	0.000	2050	1891	2746
8278	-1.53	-116.8	571.2	-4.5	457	8286	1.15	2.47	0.00	0.000	4	0.000	0.000	1862	520	2732
8331	-1.23	-116.8	575.3	-9.0	458	8336	0.82	2.17	0.00	0.000	6	0.000	0.000	2010	1903	2737
8654	-1.39	-116.8	590.2	-4.4	466	8661	0.57	2.92	0.00	0.000	4	0.000	0.000	1924	3583	2737
8798	-1.21	-116.8	600.0	-7.4	469	8807	0.60	3.38	0.00	0.000	6	0.000	0.000	2019	1910	2736
9038	end dive: HALF_MISSION_TIME_EXCEEDED
state	9038	begin apogee
9050	-0.25	0.0	611.2	4.3	475	9168	1.02	0.00	114.10	0.000	6	0.000	0.000	2277	2068	2260
9169	end apogee: CONTROL_FINISHED_OK
state	9169	begin climb
9174	1.49	116.8	610.8	0.0	478	9309	1.67	2.72	111.70	0.001	4	0.000	0.000	2641	411	1786
9390	1.03	116.8	568.5	25.4	482	9403	1.05	3.75	0.98	0.001	6	0.000	0.000	2477	2229	1784
9730	1.33	160.1	531.8	10.3	491	9781	1.15	3.38	41.92	0.000	4	0.000	0.000	2656	548	1607
9806	1.08	160.1	513.9	28.3	492	9815	1.10	3.15	0.00	0.000	6	0.000	0.000	2476	2251	1604
10124	1.32	181.1	473.0	12.1	505	10148	0.62	0.00	20.55	0.001	6	0.000	0.000	2581	2246	1520
10458	1.20	181.1	396.2	22.5	521	10466	0.35	3.53	0.00	0.000	4	0.000	0.000	2467	284	1523
10534	1.30	181.1	384.6	14.0	524	10542	0.73	3.72	0.00	0.000	6	0.000	0.000	2568	2270	1525
10869	1.21	181.1	310.5	21.6	540	10877	0.40	3.38	0.00	0.000	4	0.000	0.000	2436	542	1522
10945	1.52	205.0	300.9	11.8	543	10978	0.77	3.17	22.52	0.001	6	0.000	0.000	2626	2066	1420
11303	1.28	205.0	204.7	27.1	560	11305	0.47	0.00	0.00	0.000	6	0.000	0.000	2482	2080	1423
11617	1.39	205.0	154.2	15.9	575	11625	0.80	2.95	0.00	0.000	4	0.000	0.000	2624	405	1431
11669	1.22	205.0	141.4	25.5	577	11678	0.77	3.17	0.00	0.000	6	0.000	0.000	2446	2034	1424
12000	1.54	239.3	102.1	11.0	593	12039	1.40	2.92	28.10	0.001	4	0.000	0.000	2689	368	1283
12087	1.20	239.3	76.9	34.2	603	12096	1.08	3.47	0.00	0.000	6	0.000	0.000	2441	2189	1282
12455	1.50	266.5	27.3	11.6	664	12485	0.65	0.00	22.48	0.001	6	0.000	0.000	2629	2190	1180
12553	end climb: SURFACE_DEPTH_REACHED
state	12553	begin surface coast
12559	end surface coast: CONTROL_FINISHED_OK
state	12559	begin surface