Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 6 * 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 6 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 13 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 3 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 -448729.97 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 -448729.97

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 13 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 3 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 6 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 014452,6633.224,-6031.062,17,1.1,17,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6643.372,-6029.603

_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 -69.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 014928,6633.224,-6031.062,26,1.1,26,18.0 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 -0.00,4.887,-1.671 XPDR_PINGS -1

FINISH -0.0,1.024195 ALTIM_TOP_PING 19.4,19.9

SM_CCo 10660,130.43,0.000,2,0,423,450.37 ALTIM_BOTTOM_PING 400.6,86.8

SM_GC 0.00,0.00,0.00,130.43,0.000,0.000,0.000,598,2081,423,-7.65,2.74,450.37 _24V_AH 23.7,54.051

RAFOS_CLK 0 _10V_AH 9.7,8.285

RAFOS 4,1160364542,3.500000,3.483889,40,0,0,0,0,0,0,0,0,0,0,0 DATA_FILE_SIZE 22096,685

RAFOS_FIX 6633.094727,-6025.938965,091006,040420,4,80,0.42 CFSIZE 255582208,243859456

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,113,1180,5,0

TT8_MAMPS 0.024544 SOUNDSPEED 1468.4

HUMID 2449 CURRENT 0.047,249.3,1

INTERNAL_PRESSURE 25.9772 GPS 091006,045124,6633.932,-6031.179,5,1.1,6,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 50 119 141.51 SBE_CT 554 24 315.45

Roll_motor 153 60 218.95 nil 0 0 0.00

VBD_pump_during_apogee 336 1300 10366.02 nil 0 0 0.00

VBD_pump_during_surface 130 600 1854.64 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 85 223 449.24

Transponder_ping 3 420 34.84

GPS 26 50 12.98

TT8 2110 19 407.86

LPSleep 6474 2 145.08

TT8_Active 785 19 151.81

TT8_Sampling 842 39 326.28

TT8_CF8 881 45 392.58

TT8_Kalman 0 0 0.00

Analog_circuits 1505 12 175.25

GPS_charging 0 0 0.00

Compass 711 26 179.44

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 0 128 0.00 0.00 -77.35 0.000 6 0.000 0.000 597 1716 2748

134 -1.49 -116.8 -0.0 0.0 9 152 6.47 3.38 0.00 0.000 4 0.000 0.000 1965 3548 2744

392 -1.49 -116.8 35.4 -9.8 51 401 0.08 2.85 0.00 0.000 6 0.001 0.000 1970 1743 2746

760 -1.46 -116.8 69.1 -8.3 112 768 0.17 3.22 0.00 0.000 4 0.000 0.000 1929 3558 2742

897 -1.31 -116.8 84.2 -10.6 134 906 0.50 3.03 0.00 0.000 6 0.000 0.000 2037 1842 2737

1254 -1.44 -116.8 108.2 -6.5 178 1261 0.45 3.25 0.00 0.000 4 0.000 0.000 1918 3659 2748

1352 -1.28 -116.8 117.5 -10.6 182 1360 0.55 3.47 0.00 0.000 6 0.000 0.000 2036 1795 2745

1688 -1.43 -116.8 139.1 -6.0 198 1696 0.52 3.35 0.00 0.000 4 0.000 0.000 1901 3637 2745

1788 -1.29 -116.8 148.9 -9.9 202 1799 0.55 3.33 0.00 0.000 6 0.000 0.000 2055 1807 2743

2124 -1.44 -116.8 168.6 -5.7 218 2132 0.50 3.78 0.00 0.000 4 0.000 0.000 1916 3636 2751

2229 -1.29 -116.8 178.6 -9.6 222 2243 0.52 3.60 0.00 0.000 6 0.000 0.000 2026 1801 2740

2559 -1.49 -116.8 198.5 -6.7 238 2567 0.65 3.35 0.00 0.000 4 0.000 0.000 1906 3673 2745

2658 -1.31 -116.8 206.2 -9.7 242 2666 0.52 3.33 0.00 0.000 6 0.000 0.000 2031 1811 2746

2993 -1.41 -116.8 226.9 -5.8 258 3002 0.45 3.78 0.00 0.000 4 0.000 0.000 1894 3517 2744

3093 -1.23 -116.8 235.9 -9.1 262 3101 0.77 3.08 0.00 0.000 6 0.000 0.000 2104 2003 2747

3429 -1.50 -116.8 250.5 -4.2 278 3437 1.10 3.22 0.00 0.000 4 0.000 0.000 1924 3673 2740

3481 -1.33 -116.8 254.6 -8.8 280 3488 0.52 2.85 0.00 0.000 6 0.000 0.000 2019 1855 2741

3816 -1.45 -116.8 272.8 -5.4 296 3824 0.88 3.35 0.00 0.000 4 0.000 0.000 1911 3553 2738

3915 -1.27 -116.8 281.5 -8.7 300 3921 0.52 2.45 0.00 0.000 6 0.000 0.000 2026 2053 2743

4246 -1.81 -116.8 299.6 -6.0 316 4253 1.17 2.22 0.00 0.000 4 0.000 0.000 1800 3558 2747

4286 -1.30 -116.8 303.8 -12.3 317 4296 1.12 2.55 0.00 0.000 6 0.000 0.000 2011 1894 2748

4611 -1.42 -116.8 321.5 -5.2 333 4619 0.65 3.47 0.00 0.000 4 0.000 0.000 1902 3543 2748

4696 -1.33 -116.8 328.2 -8.5 336 4702 0.50 2.70 0.00 0.000 6 0.000 0.000 2003 2068 2747

5020 -1.44 -116.8 345.5 -5.2 351 5028 0.95 2.85 0.00 0.000 4 0.000 0.000 1901 3553 2742

5061 -1.26 -116.8 348.8 -8.7 352 5070 0.60 3.17 0.00 0.000 6 0.000 0.000 2016 1884 2748

5385 -1.39 -116.8 366.1 -5.1 368 5393 0.50 3.03 0.00 0.000 4 0.000 0.000 1904 3581 2744

5464 -1.24 -116.8 372.1 -8.1 371 5472 0.40 3.08 0.00 0.000 6 0.000 0.000 2035 2072 2747

5799 -1.37 -116.8 389.2 -4.9 387 5806 0.57 3.00 0.00 0.000 4 0.000 0.000 1894 3622 2752

5828 -1.25 -116.8 391.6 -8.1 388 5836 0.65 3.42 0.00 0.000 6 0.000 0.000 2041 1792 2746

6158 -1.37 -116.8 408.8 -5.0 404 6166 0.50 3.15 0.00 0.000 4 0.000 0.000 1891 3543 2746

6269 -1.19 -116.8 417.2 -6.8 408 6278 0.77 3.17 0.00 0.000 6 0.000 0.000 2085 1855 2746

6593 -1.48 -116.8 429.6 -3.7 424 6601 0.73 3.17 0.00 0.000 4 0.000 0.000 1891 3586 2748

6692 -1.29 -116.8 436.9 -8.4 428 6700 0.45 3.15 0.00 0.000 6 0.000 0.000 2019 1953 2741

7032 -1.38 -116.8 455.0 -5.1 444 7040 0.60 3.25 0.00 0.000 4 0.000 0.000 1893 3637 2736

7108 -1.20 -116.8 460.5 -8.2 447 7116 0.77 3.17 0.00 0.000 6 0.000 0.000 2087 1959 2748

7449 -1.49 -116.8 474.1 -3.7 463 7457 0.82 3.35 0.00 0.000 4 0.000 0.000 1898 3594 2746

7492 end dive: BOTTOM_OBSTACLE_DETECTED

state 7492 begin apogee

7508 -0.25 0.0 477.5 7.6 465 7642 2.00 0.00 114.47 0.000 6 0.000 0.000 2300 1958 2259

7643 end apogee: CONTROL_FINISHED_OK

state 7643 begin climb

7648 1.49 116.8 478.2 0.0 472 7776 2.00 3.38 112.65 0.001 4 0.000 0.000 2625 3481 1779

7867 1.27 116.8 437.7 22.2 481 7873 0.77 2.47 0.00 0.000 6 0.000 0.000 2461 2151 1781

8193 1.34 141.6 401.9 11.8 496 8225 0.77 2.75 24.25 0.000 4 0.000 0.000 2640 3466 1684

8269 1.10 141.6 384.1 24.8 499 8278 0.88 3.40 0.00 0.000 6 0.000 0.000 2455 1914 1683

8605 1.41 181.5 345.1 10.6 515 8656 0.68 2.83 38.20 0.001 4 0.000 0.000 2645 3556 1523

8769 1.19 181.5 304.0 26.1 522 8776 0.80 2.88 0.00 0.000 6 0.000 0.000 2424 2013 1518

9104 1.50 209.1 264.2 11.6 538 9137 0.85 3.12 25.65 0.000 4 0.000 0.000 2631 3703 1408

9215 1.31 209.1 236.3 27.8 543 9224 0.52 4.18 0.32 0.001 6 0.000 0.000 2509 1710 1408

9550 1.42 209.1 180.8 15.7 559 9558 0.40 3.22 0.00 0.000 4 0.000 0.000 2640 3538 1410

9716 1.23 209.1 137.3 27.5 566 9725 0.50 3.53 0.00 0.000 6 0.000 0.000 2472 1755 1409

10053 1.35 209.1 84.8 14.9 593 10062 0.35 3.80 0.00 0.000 4 0.000 0.000 2619 3619 1408

10212 1.18 209.1 45.2 25.1 618 10222 0.77 3.88 0.00 0.000 6 0.000 0.000 2440 1757 1410

10582 1.55 262.5 4.2 9.5 679 10606 0.85 0.00 20.90 0.001 2 0.000 0.000 2635 1748 1277

10607 end climb: SURFACE_DEPTH_REACHED

state 10607 begin surface coast

10630 end surface coast: CONTROL_FINISHED_OK

state 10630 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	6	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	13	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	3	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	-448729.97	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	014452,6633.224,-6031.062,17,1.1,17,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6643.372,-6029.603
_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	-69.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	014928,6633.224,-6031.062,26,1.1,26,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.887,-1.671	XPDR_PINGS	-1
FINISH	-0.0,1.024195	ALTIM_TOP_PING	19.4,19.9
SM_CCo	10660,130.43,0.000,2,0,423,450.37	ALTIM_BOTTOM_PING	400.6,86.8
SM_GC	0.00,0.00,0.00,130.43,0.000,0.000,0.000,598,2081,423,-7.65,2.74,450.37	_24V_AH	23.7,54.051
RAFOS_CLK	0	_10V_AH	9.7,8.285
RAFOS	4,1160364542,3.500000,3.483889,40,0,0,0,0,0,0,0,0,0,0,0	DATA_FILE_SIZE	22096,685
RAFOS_FIX	6633.094727,-6025.938965,091006,040420,4,80,0.42	CFSIZE	255582208,243859456
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,113,1180,5,0
TT8_MAMPS	0.024544	SOUNDSPEED	1468.4
HUMID	2449	CURRENT	0.047,249.3,1
INTERNAL_PRESSURE	25.9772	GPS	091006,045124,6633.932,-6031.179,5,1.1,6,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	50	119	141.51	SBE_CT	554	24	315.45
Roll_motor	153	60	218.95	nil	0	0	0.00
VBD_pump_during_apogee	336	1300	10366.02	nil	0	0	0.00
VBD_pump_during_surface	130	600	1854.64	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	85	223	449.24
Transponder_ping	3	420	34.84
GPS	26	50	12.98
TT8	2110	19	407.86
LPSleep	6474	2	145.08
TT8_Active	785	19	151.81
TT8_Sampling	842	39	326.28
TT8_CF8	881	45	392.58
TT8_Kalman	0	0	0.00
Analog_circuits	1505	12	175.25
GPS_charging	0	0	0.00
Compass	711	26	179.44
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	128	0.00	0.00	-77.35	0.000	6	0.000	0.000	597	1716	2748
134	-1.49	-116.8	-0.0	0.0	9	152	6.47	3.38	0.00	0.000	4	0.000	0.000	1965	3548	2744
392	-1.49	-116.8	35.4	-9.8	51	401	0.08	2.85	0.00	0.000	6	0.001	0.000	1970	1743	2746
760	-1.46	-116.8	69.1	-8.3	112	768	0.17	3.22	0.00	0.000	4	0.000	0.000	1929	3558	2742
897	-1.31	-116.8	84.2	-10.6	134	906	0.50	3.03	0.00	0.000	6	0.000	0.000	2037	1842	2737
1254	-1.44	-116.8	108.2	-6.5	178	1261	0.45	3.25	0.00	0.000	4	0.000	0.000	1918	3659	2748
1352	-1.28	-116.8	117.5	-10.6	182	1360	0.55	3.47	0.00	0.000	6	0.000	0.000	2036	1795	2745
1688	-1.43	-116.8	139.1	-6.0	198	1696	0.52	3.35	0.00	0.000	4	0.000	0.000	1901	3637	2745
1788	-1.29	-116.8	148.9	-9.9	202	1799	0.55	3.33	0.00	0.000	6	0.000	0.000	2055	1807	2743
2124	-1.44	-116.8	168.6	-5.7	218	2132	0.50	3.78	0.00	0.000	4	0.000	0.000	1916	3636	2751
2229	-1.29	-116.8	178.6	-9.6	222	2243	0.52	3.60	0.00	0.000	6	0.000	0.000	2026	1801	2740
2559	-1.49	-116.8	198.5	-6.7	238	2567	0.65	3.35	0.00	0.000	4	0.000	0.000	1906	3673	2745
2658	-1.31	-116.8	206.2	-9.7	242	2666	0.52	3.33	0.00	0.000	6	0.000	0.000	2031	1811	2746
2993	-1.41	-116.8	226.9	-5.8	258	3002	0.45	3.78	0.00	0.000	4	0.000	0.000	1894	3517	2744
3093	-1.23	-116.8	235.9	-9.1	262	3101	0.77	3.08	0.00	0.000	6	0.000	0.000	2104	2003	2747
3429	-1.50	-116.8	250.5	-4.2	278	3437	1.10	3.22	0.00	0.000	4	0.000	0.000	1924	3673	2740
3481	-1.33	-116.8	254.6	-8.8	280	3488	0.52	2.85	0.00	0.000	6	0.000	0.000	2019	1855	2741
3816	-1.45	-116.8	272.8	-5.4	296	3824	0.88	3.35	0.00	0.000	4	0.000	0.000	1911	3553	2738
3915	-1.27	-116.8	281.5	-8.7	300	3921	0.52	2.45	0.00	0.000	6	0.000	0.000	2026	2053	2743
4246	-1.81	-116.8	299.6	-6.0	316	4253	1.17	2.22	0.00	0.000	4	0.000	0.000	1800	3558	2747
4286	-1.30	-116.8	303.8	-12.3	317	4296	1.12	2.55	0.00	0.000	6	0.000	0.000	2011	1894	2748
4611	-1.42	-116.8	321.5	-5.2	333	4619	0.65	3.47	0.00	0.000	4	0.000	0.000	1902	3543	2748
4696	-1.33	-116.8	328.2	-8.5	336	4702	0.50	2.70	0.00	0.000	6	0.000	0.000	2003	2068	2747
5020	-1.44	-116.8	345.5	-5.2	351	5028	0.95	2.85	0.00	0.000	4	0.000	0.000	1901	3553	2742
5061	-1.26	-116.8	348.8	-8.7	352	5070	0.60	3.17	0.00	0.000	6	0.000	0.000	2016	1884	2748
5385	-1.39	-116.8	366.1	-5.1	368	5393	0.50	3.03	0.00	0.000	4	0.000	0.000	1904	3581	2744
5464	-1.24	-116.8	372.1	-8.1	371	5472	0.40	3.08	0.00	0.000	6	0.000	0.000	2035	2072	2747
5799	-1.37	-116.8	389.2	-4.9	387	5806	0.57	3.00	0.00	0.000	4	0.000	0.000	1894	3622	2752
5828	-1.25	-116.8	391.6	-8.1	388	5836	0.65	3.42	0.00	0.000	6	0.000	0.000	2041	1792	2746
6158	-1.37	-116.8	408.8	-5.0	404	6166	0.50	3.15	0.00	0.000	4	0.000	0.000	1891	3543	2746
6269	-1.19	-116.8	417.2	-6.8	408	6278	0.77	3.17	0.00	0.000	6	0.000	0.000	2085	1855	2746
6593	-1.48	-116.8	429.6	-3.7	424	6601	0.73	3.17	0.00	0.000	4	0.000	0.000	1891	3586	2748
6692	-1.29	-116.8	436.9	-8.4	428	6700	0.45	3.15	0.00	0.000	6	0.000	0.000	2019	1953	2741
7032	-1.38	-116.8	455.0	-5.1	444	7040	0.60	3.25	0.00	0.000	4	0.000	0.000	1893	3637	2736
7108	-1.20	-116.8	460.5	-8.2	447	7116	0.77	3.17	0.00	0.000	6	0.000	0.000	2087	1959	2748
7449	-1.49	-116.8	474.1	-3.7	463	7457	0.82	3.35	0.00	0.000	4	0.000	0.000	1898	3594	2746
7492	end dive: BOTTOM_OBSTACLE_DETECTED
state	7492	begin apogee
7508	-0.25	0.0	477.5	7.6	465	7642	2.00	0.00	114.47	0.000	6	0.000	0.000	2300	1958	2259
7643	end apogee: CONTROL_FINISHED_OK
state	7643	begin climb
7648	1.49	116.8	478.2	0.0	472	7776	2.00	3.38	112.65	0.001	4	0.000	0.000	2625	3481	1779
7867	1.27	116.8	437.7	22.2	481	7873	0.77	2.47	0.00	0.000	6	0.000	0.000	2461	2151	1781
8193	1.34	141.6	401.9	11.8	496	8225	0.77	2.75	24.25	0.000	4	0.000	0.000	2640	3466	1684
8269	1.10	141.6	384.1	24.8	499	8278	0.88	3.40	0.00	0.000	6	0.000	0.000	2455	1914	1683
8605	1.41	181.5	345.1	10.6	515	8656	0.68	2.83	38.20	0.001	4	0.000	0.000	2645	3556	1523
8769	1.19	181.5	304.0	26.1	522	8776	0.80	2.88	0.00	0.000	6	0.000	0.000	2424	2013	1518
9104	1.50	209.1	264.2	11.6	538	9137	0.85	3.12	25.65	0.000	4	0.000	0.000	2631	3703	1408
9215	1.31	209.1	236.3	27.8	543	9224	0.52	4.18	0.32	0.001	6	0.000	0.000	2509	1710	1408
9550	1.42	209.1	180.8	15.7	559	9558	0.40	3.22	0.00	0.000	4	0.000	0.000	2640	3538	1410
9716	1.23	209.1	137.3	27.5	566	9725	0.50	3.53	0.00	0.000	6	0.000	0.000	2472	1755	1409
10053	1.35	209.1	84.8	14.9	593	10062	0.35	3.80	0.00	0.000	4	0.000	0.000	2619	3619	1408
10212	1.18	209.1	45.2	25.1	618	10222	0.77	3.88	0.00	0.000	6	0.000	0.000	2440	1757	1410
10582	1.55	262.5	4.2	9.5	679	10606	0.85	0.00	20.90	0.001	2	0.000	0.000	2635	1748	1277
10607	end climb: SURFACE_DEPTH_REACHED
state	10607	begin surface coast
10630	end surface coast: CONTROL_FINISHED_OK
state	10630	begin surface