Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 77 * 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 77 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 11 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 182 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 6 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 -448310 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 0.27000001 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 3 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 0.27000001 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 -448310

CAPUPLOAD 0 HEADING 20 ROLL_ADJ_DBAND 0.029999999 T_MISSION 300

CF8_MAXERRORS 20 HEAD_ERRBAND 8 ROLL_ADJ_GAIN 6 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 11 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 182 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 3 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 77 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 070359,6636.199,-6007.742,8,1.1,8,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6639.970,-6003.733

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.221,0.063

_SM_DEPTHo 0.34 KALMAN_X -18076.3,1112.0,191.8,29372.1,-5815.5

_SM_ANGLEo -69.4 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 070817,6636.199,-6007.742,21,1.1,21,18.0 MHEAD_RNG_PITCHd_Wd 51.6,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024982 XPDR_PINGS -1

SM_CCo 9258,16.60,0.000,0,0,409,451.60 ALTIM_TOP_PING 19.2,18.9

SM_GC 0.34,0.00,0.00,16.60,0.000,0.000,0.000,627,2141,409,-7.51,4.61,451.60 ALTIM_BOTTOM_PING 525.9,46.4

RAFOS_CLK 0 _24V_AH 23.7,50.045

RAFOS 0,1160985845,8.083333,8.068055,80,0,0,0,0,0,575,0,0,0,0,0 _10V_AH 9.7,7.629

RAFOS_FIX 6637.067871,-6003.151367,161006,080820,4,80,0.85 DATA_FILE_SIZE 18996,577

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239333376

TT8_MAMPS 0.023777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,63,887,0,0

HUMID 2280 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 26.0065 CURRENT 0.054,313.5,1

TCM_TEMP 15.00 GPS 161006,094507,6636.768,-6005.912,28,1.1,28,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 119 92.29 SBE_CT 476 24 271.05

Roll_motor 116 60 165.91 nil 0 0 0.00

VBD_pump_during_apogee 31 0 0.58 nil 0 0 0.00

VBD_pump_during_surface 16 600 236.05 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 67 223 355.59

Transponder_ping 4 420 47.28

GPS 21 50 10.64

TT8 1895 19 366.19

LPSleep 5939 2 133.08

TT8_Active 261 19 50.50

TT8_Sampling 680 39 263.35

TT8_CF8 773 45 344.62

TT8_Kalman 0 81 0.00

Analog_circuits 842 12 98.07

GPS_charging 0 0 0.00

Compass 575 26 145.14

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 58 0.00 0.00 -7.97 0.000 6 0.000 0.000 630 1701 2847

64 -1.49 -116.8 0.3 -0.0 2 82 6.75 1.92 0.00 0.000 4 0.000 0.000 2000 378 2844

217 -1.49 -116.8 19.4 -9.6 26 226 0.52 3.17 0.00 0.000 6 0.000 0.000 1863 2061 2847

585 -1.79 -116.8 73.1 -14.8 87 593 0.00 1.85 0.00 0.000 4 0.000 0.000 1877 3403 2852

674 -1.48 -116.8 86.5 -14.8 101 683 0.52 3.28 0.00 0.000 6 0.000 0.000 1997 1704 2842

1019 -1.31 -116.8 119.4 -9.2 133 1024 0.03 2.95 0.00 0.000 4 0.000 0.000 2012 3223 2849

1204 -1.37 -116.8 136.9 -9.3 141 1209 0.03 2.05 0.00 0.000 6 0.000 0.000 2000 2075 2847

1529 -1.48 -116.8 166.9 -9.4 157 1534 0.43 1.95 0.00 0.000 4 0.000 0.000 1868 3242 2853

1582 -1.52 -116.8 174.0 -15.3 159 1594 0.52 2.67 0.00 0.000 6 0.000 0.000 2010 2053 2851

1905 -1.34 -116.8 203.0 -8.9 175 1911 0.45 2.75 0.00 0.000 4 0.000 0.000 1870 3357 2842

1955 -1.40 -116.8 209.6 -14.2 177 1961 0.65 2.47 0.00 0.000 6 0.000 0.000 2019 2044 2845

2281 -1.26 -116.8 239.0 -8.9 193 2285 0.00 2.05 0.00 0.000 4 0.000 0.000 2001 3219 2846

2339 -1.31 -116.8 244.5 -8.8 195 2348 0.08 1.85 0.00 0.000 6 0.000 0.000 2023 1893 2845

2664 -1.44 -116.8 273.0 -9.0 211 2671 0.32 3.05 0.00 0.000 4 0.000 0.000 1888 3422 2850

2763 -1.51 -116.8 287.3 -14.9 215 2771 0.52 3.00 0.00 0.000 6 0.000 0.000 1998 1955 2849

3092 -1.36 -116.8 318.6 -9.3 231 3097 0.05 2.33 0.00 0.000 4 0.000 0.000 1978 3433 2847

3172 -1.40 -116.8 325.8 -9.2 234 3178 0.52 1.98 0.00 0.000 6 0.000 0.000 1876 2250 2849

3497 -1.55 -116.8 371.8 -14.8 249 3505 0.47 3.53 0.00 0.000 4 0.000 0.000 2003 425 2848

3523 -1.26 -116.8 376.0 -13.8 250 3529 0.00 2.92 0.00 0.000 6 0.000 0.000 1995 2271 2851

3861 -1.32 -116.8 406.0 -9.1 266 3866 0.43 2.47 0.00 0.000 4 0.000 0.000 1874 3441 2839

3883 -1.37 -116.8 408.8 -9.4 267 3889 0.57 2.55 0.00 0.000 6 0.000 0.000 1995 2077 2845

4214 -1.35 -116.8 440.2 -9.2 283 4220 0.35 2.47 0.00 0.000 4 0.000 0.000 1873 3245 2845

4273 -1.39 -116.8 448.3 -14.5 285 4282 0.57 1.35 0.00 0.000 6 0.000 0.000 2021 2244 2847

4593 -1.19 -116.8 478.2 -9.2 301 4598 0.00 2.92 0.00 0.000 4 0.000 0.000 1988 407 2852

4618 -1.23 -116.8 480.7 -9.5 302 4625 0.00 3.55 0.00 0.000 6 0.000 0.000 1990 2256 2841

4971 -1.42 -116.8 512.0 -8.8 316 4976 0.50 1.73 0.00 0.000 4 0.000 0.000 1871 3403 2843

4995 -1.46 -116.8 516.4 -13.7 316 5000 0.43 1.67 0.00 0.000 6 0.000 0.000 1987 2244 2851

5335 -1.46 -116.8 548.6 -9.3 325 5343 0.52 3.25 0.00 0.000 4 0.000 0.000 1902 536 2845

5359 -1.49 -116.8 551.7 -11.7 325 5367 0.50 2.78 0.00 0.000 6 0.000 0.000 1980 2077 2844

5503 end dive: BOTTOM_OBSTACLE_DETECTED

state 5508 begin apogee

5520 -0.25 0.0 565.6 8.8 329 5537 1.08 0.00 14.38 0.001 6 0.000 0.000 2246 2068 2252

5538 end apogee: CONTROL_FINISHED_OK

state 5538 begin climb

5544 1.49 116.8 565.6 0.0 329 5564 2.28 3.03 11.50 0.001 4 0.000 0.000 2640 496 1758

5595 1.49 116.8 559.9 22.2 330 5602 0.55 2.97 0.00 0.000 6 0.000 0.000 2564 2022 1765

5916 1.49 116.8 512.8 14.2 338 5922 0.52 2.47 0.00 0.000 4 0.000 0.000 2671 3234 1758

6056 1.49 116.8 479.6 23.9 342 6062 0.52 2.12 0.00 0.000 6 0.000 0.000 2545 1903 1760

6386 1.22 116.8 429.6 14.8 358 6391 0.10 2.90 0.00 0.000 4 0.000 0.000 2532 3378 1760

6523 1.22 116.8 408.1 14.5 364 6528 0.00 2.58 0.00 0.000 6 0.000 0.000 2542 2178 1762

6858 1.29 116.8 359.7 14.8 380 6863 0.00 2.72 0.00 0.000 4 0.000 0.000 2550 3486 1762

6905 1.27 116.8 351.7 15.1 382 6910 0.00 2.83 0.00 0.000 6 0.000 0.000 2558 1965 1771

7235 1.36 116.8 304.4 14.7 398 7240 0.00 2.47 0.00 0.000 4 0.000 0.000 2541 3490 1764

7346 1.36 116.8 287.3 14.8 403 7350 0.00 2.47 0.00 0.000 6 0.000 0.000 2558 2293 1761

7680 1.45 116.8 238.9 14.8 419 7687 0.00 3.50 0.00 0.000 4 0.000 0.000 2544 423 1765

7707 1.43 116.8 234.4 14.9 420 7711 0.00 2.58 0.00 0.000 6 0.000 0.000 2549 2099 1768

8043 1.56 116.8 185.9 14.6 436 8049 0.60 2.45 0.00 0.000 4 0.000 0.000 2674 3444 1772

8161 1.54 116.8 157.7 23.3 441 8166 0.50 1.92 0.00 0.000 6 0.000 0.000 2570 2104 1757

8491 1.31 116.8 99.8 16.3 457 8499 0.00 2.75 0.00 0.000 4 0.000 0.000 2561 3455 1763

8552 1.05 116.8 89.6 15.7 466 8561 0.55 1.85 0.00 0.000 6 0.000 0.000 2437 2149 1762

8921 1.12 187.0 58.2 8.2 527 8938 0.60 2.20 5.78 0.001 4 0.000 0.000 2562 3451 1471

8996 1.53 187.0 45.4 19.4 538 9003 0.00 1.85 0.00 0.000 6 0.000 0.000 2554 2315 1474

9221 end climb: SURFACE_DEPTH_REACHED

state 9221 begin surface coast

9228 end surface coast: CONTROL_FINISHED_OK

state 9228 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	77	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	11	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	182	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	6	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	-448310	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	0.27000001	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	3	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	070359,6636.199,-6007.742,8,1.1,8,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6639.970,-6003.733
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.221,0.063
_SM_DEPTHo	0.34	KALMAN_X	-18076.3,1112.0,191.8,29372.1,-5815.5
_SM_ANGLEo	-69.4	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	070817,6636.199,-6007.742,21,1.1,21,18.0	MHEAD_RNG_PITCHd_Wd	51.6,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.024982	XPDR_PINGS	-1
SM_CCo	9258,16.60,0.000,0,0,409,451.60	ALTIM_TOP_PING	19.2,18.9
SM_GC	0.34,0.00,0.00,16.60,0.000,0.000,0.000,627,2141,409,-7.51,4.61,451.60	ALTIM_BOTTOM_PING	525.9,46.4
RAFOS_CLK	0	_24V_AH	23.7,50.045
RAFOS	0,1160985845,8.083333,8.068055,80,0,0,0,0,0,575,0,0,0,0,0	_10V_AH	9.7,7.629
RAFOS_FIX	6637.067871,-6003.151367,161006,080820,4,80,0.85	DATA_FILE_SIZE	18996,577
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239333376
TT8_MAMPS	0.023777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,63,887,0,0
HUMID	2280	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	26.0065	CURRENT	0.054,313.5,1
TCM_TEMP	15.00	GPS	161006,094507,6636.768,-6005.912,28,1.1,28,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	119	92.29	SBE_CT	476	24	271.05
Roll_motor	116	60	165.91	nil	0	0	0.00
VBD_pump_during_apogee	31	0	0.58	nil	0	0	0.00
VBD_pump_during_surface	16	600	236.05	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	67	223	355.59
Transponder_ping	4	420	47.28
GPS	21	50	10.64
TT8	1895	19	366.19
LPSleep	5939	2	133.08
TT8_Active	261	19	50.50
TT8_Sampling	680	39	263.35
TT8_CF8	773	45	344.62
TT8_Kalman	0	81	0.00
Analog_circuits	842	12	98.07
GPS_charging	0	0	0.00
Compass	575	26	145.14
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	58	0.00	0.00	-7.97	0.000	6	0.000	0.000	630	1701	2847
64	-1.49	-116.8	0.3	-0.0	2	82	6.75	1.92	0.00	0.000	4	0.000	0.000	2000	378	2844
217	-1.49	-116.8	19.4	-9.6	26	226	0.52	3.17	0.00	0.000	6	0.000	0.000	1863	2061	2847
585	-1.79	-116.8	73.1	-14.8	87	593	0.00	1.85	0.00	0.000	4	0.000	0.000	1877	3403	2852
674	-1.48	-116.8	86.5	-14.8	101	683	0.52	3.28	0.00	0.000	6	0.000	0.000	1997	1704	2842
1019	-1.31	-116.8	119.4	-9.2	133	1024	0.03	2.95	0.00	0.000	4	0.000	0.000	2012	3223	2849
1204	-1.37	-116.8	136.9	-9.3	141	1209	0.03	2.05	0.00	0.000	6	0.000	0.000	2000	2075	2847
1529	-1.48	-116.8	166.9	-9.4	157	1534	0.43	1.95	0.00	0.000	4	0.000	0.000	1868	3242	2853
1582	-1.52	-116.8	174.0	-15.3	159	1594	0.52	2.67	0.00	0.000	6	0.000	0.000	2010	2053	2851
1905	-1.34	-116.8	203.0	-8.9	175	1911	0.45	2.75	0.00	0.000	4	0.000	0.000	1870	3357	2842
1955	-1.40	-116.8	209.6	-14.2	177	1961	0.65	2.47	0.00	0.000	6	0.000	0.000	2019	2044	2845
2281	-1.26	-116.8	239.0	-8.9	193	2285	0.00	2.05	0.00	0.000	4	0.000	0.000	2001	3219	2846
2339	-1.31	-116.8	244.5	-8.8	195	2348	0.08	1.85	0.00	0.000	6	0.000	0.000	2023	1893	2845
2664	-1.44	-116.8	273.0	-9.0	211	2671	0.32	3.05	0.00	0.000	4	0.000	0.000	1888	3422	2850
2763	-1.51	-116.8	287.3	-14.9	215	2771	0.52	3.00	0.00	0.000	6	0.000	0.000	1998	1955	2849
3092	-1.36	-116.8	318.6	-9.3	231	3097	0.05	2.33	0.00	0.000	4	0.000	0.000	1978	3433	2847
3172	-1.40	-116.8	325.8	-9.2	234	3178	0.52	1.98	0.00	0.000	6	0.000	0.000	1876	2250	2849
3497	-1.55	-116.8	371.8	-14.8	249	3505	0.47	3.53	0.00	0.000	4	0.000	0.000	2003	425	2848
3523	-1.26	-116.8	376.0	-13.8	250	3529	0.00	2.92	0.00	0.000	6	0.000	0.000	1995	2271	2851
3861	-1.32	-116.8	406.0	-9.1	266	3866	0.43	2.47	0.00	0.000	4	0.000	0.000	1874	3441	2839
3883	-1.37	-116.8	408.8	-9.4	267	3889	0.57	2.55	0.00	0.000	6	0.000	0.000	1995	2077	2845
4214	-1.35	-116.8	440.2	-9.2	283	4220	0.35	2.47	0.00	0.000	4	0.000	0.000	1873	3245	2845
4273	-1.39	-116.8	448.3	-14.5	285	4282	0.57	1.35	0.00	0.000	6	0.000	0.000	2021	2244	2847
4593	-1.19	-116.8	478.2	-9.2	301	4598	0.00	2.92	0.00	0.000	4	0.000	0.000	1988	407	2852
4618	-1.23	-116.8	480.7	-9.5	302	4625	0.00	3.55	0.00	0.000	6	0.000	0.000	1990	2256	2841
4971	-1.42	-116.8	512.0	-8.8	316	4976	0.50	1.73	0.00	0.000	4	0.000	0.000	1871	3403	2843
4995	-1.46	-116.8	516.4	-13.7	316	5000	0.43	1.67	0.00	0.000	6	0.000	0.000	1987	2244	2851
5335	-1.46	-116.8	548.6	-9.3	325	5343	0.52	3.25	0.00	0.000	4	0.000	0.000	1902	536	2845
5359	-1.49	-116.8	551.7	-11.7	325	5367	0.50	2.78	0.00	0.000	6	0.000	0.000	1980	2077	2844
5503	end dive: BOTTOM_OBSTACLE_DETECTED
state	5508	begin apogee
5520	-0.25	0.0	565.6	8.8	329	5537	1.08	0.00	14.38	0.001	6	0.000	0.000	2246	2068	2252
5538	end apogee: CONTROL_FINISHED_OK
state	5538	begin climb
5544	1.49	116.8	565.6	0.0	329	5564	2.28	3.03	11.50	0.001	4	0.000	0.000	2640	496	1758
5595	1.49	116.8	559.9	22.2	330	5602	0.55	2.97	0.00	0.000	6	0.000	0.000	2564	2022	1765
5916	1.49	116.8	512.8	14.2	338	5922	0.52	2.47	0.00	0.000	4	0.000	0.000	2671	3234	1758
6056	1.49	116.8	479.6	23.9	342	6062	0.52	2.12	0.00	0.000	6	0.000	0.000	2545	1903	1760
6386	1.22	116.8	429.6	14.8	358	6391	0.10	2.90	0.00	0.000	4	0.000	0.000	2532	3378	1760
6523	1.22	116.8	408.1	14.5	364	6528	0.00	2.58	0.00	0.000	6	0.000	0.000	2542	2178	1762
6858	1.29	116.8	359.7	14.8	380	6863	0.00	2.72	0.00	0.000	4	0.000	0.000	2550	3486	1762
6905	1.27	116.8	351.7	15.1	382	6910	0.00	2.83	0.00	0.000	6	0.000	0.000	2558	1965	1771
7235	1.36	116.8	304.4	14.7	398	7240	0.00	2.47	0.00	0.000	4	0.000	0.000	2541	3490	1764
7346	1.36	116.8	287.3	14.8	403	7350	0.00	2.47	0.00	0.000	6	0.000	0.000	2558	2293	1761
7680	1.45	116.8	238.9	14.8	419	7687	0.00	3.50	0.00	0.000	4	0.000	0.000	2544	423	1765
7707	1.43	116.8	234.4	14.9	420	7711	0.00	2.58	0.00	0.000	6	0.000	0.000	2549	2099	1768
8043	1.56	116.8	185.9	14.6	436	8049	0.60	2.45	0.00	0.000	4	0.000	0.000	2674	3444	1772
8161	1.54	116.8	157.7	23.3	441	8166	0.50	1.92	0.00	0.000	6	0.000	0.000	2570	2104	1757
8491	1.31	116.8	99.8	16.3	457	8499	0.00	2.75	0.00	0.000	4	0.000	0.000	2561	3455	1763
8552	1.05	116.8	89.6	15.7	466	8561	0.55	1.85	0.00	0.000	6	0.000	0.000	2437	2149	1762
8921	1.12	187.0	58.2	8.2	527	8938	0.60	2.20	5.78	0.001	4	0.000	0.000	2562	3451	1471
8996	1.53	187.0	45.4	19.4	538	9003	0.00	1.85	0.00	0.000	6	0.000	0.000	2554	2315	1474
9221	end climb: SURFACE_DEPTH_REACHED
state	9221	begin surface coast
9228	end surface coast: CONTROL_FINISHED_OK
state	9228	begin surface