Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 12 * 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 12 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 19 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 -448902.94 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 -448902.94

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 11 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 19 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 12 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 181429,6637.459,-6032.189,23,1.1,24,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6647.607,-6030.733

_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 181915,6637.459,-6032.189,33,1.1,33,18.0 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 -0.00,4.950,-1.720 XPDR_PINGS -1

FINISH -0.0,1.024863 ALTIM_TOP_PING 18.3,19.1

SM_CCo 10148,98.20,0.000,0,0,430,450.37 ALTIM_BOTTOM_PING 425.4,84.1

SM_GC -0.00,0.00,0.00,98.20,0.000,0.000,0.000,633,2206,430,-7.58,6.11,450.37 _24V_AH 23.7,56.061

RAFOS_CLK 0 _10V_AH 9.7,8.585

RAFOS 0,1160424249,20.083334,20.069166,80,0,0,0,0,0,581,0,0,0,0,0 DATA_FILE_SIZE 18969,619

RAFOS_FIX 6636.657715,-6028.072266,091006,202048,4,80,0.46 CFSIZE 255582208,243433472

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,98,1086,2,0

TT8_MAMPS 0.024544 SOUNDSPEED 1469.2

HUMID 2343 CURRENT 0.039,263.3,1

INTERNAL_PRESSURE 25.9869 GPS 091006,211220,6638.147,-6032.271,30,1.1,30,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 44 119 126.42 SBE_CT 501 24 285.09

Roll_motor 139 60 198.65 nil 0 0 0.00

VBD_pump_during_apogee 383 0 6.97 nil 0 0 0.00

VBD_pump_during_surface 98 600 1396.40 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 86 223 455.09

Transponder_ping 3 420 37.33

GPS 33 50 16.45

TT8 1880 19 363.30

LPSleep 6280 2 140.72

TT8_Active 765 19 147.99

TT8_Sampling 791 39 306.55

TT8_CF8 829 45 369.52

TT8_Kalman 0 0 0.00

Analog_circuits 1444 12 168.14

GPS_charging 0 0 0.00

Compass 661 26 166.87

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 0 131 0.00 0.00 -77.15 0.000 6 0.000 0.000 629 1946 2745

137 -1.49 -116.8 0.3 -0.7 10 154 6.57 2.97 0.00 0.000 4 0.000 0.000 2003 3455 2747

218 -1.52 -116.8 16.0 -10.6 22 227 0.52 3.33 0.00 0.000 6 0.000 0.000 1874 1746 2748

586 -1.19 -116.8 69.1 -14.0 83 595 1.10 3.75 0.00 0.000 4 0.000 0.000 2052 3550 2744

723 -1.41 -116.8 78.5 -6.2 105 732 0.68 3.05 0.00 0.000 6 0.000 0.000 1927 1732 2739

1078 -1.26 -116.8 112.5 -9.7 149 1086 0.52 3.53 0.00 0.000 4 0.000 0.000 2001 3551 2744

1211 -1.31 -116.8 123.1 -7.5 154 1220 0.00 2.55 0.00 0.000 6 0.000 0.000 2001 1994 2736

1536 -1.35 -116.8 146.7 -7.3 170 1543 0.03 3.38 0.00 0.000 4 0.000 0.000 1970 3663 2750

1588 -1.40 -116.8 150.9 -7.2 172 1594 0.12 2.97 0.00 0.000 6 0.000 0.000 1985 2005 2740

1919 -1.40 -116.8 174.1 -7.1 188 1924 0.28 2.33 0.00 0.000 4 0.000 0.000 1925 3554 2745

1972 -1.36 -116.8 178.9 -8.2 190 1985 0.50 3.28 0.00 0.000 6 0.000 0.000 2046 1875 2737

2302 -1.53 -116.8 197.1 -5.4 206 2310 0.77 3.45 0.00 0.000 4 0.000 0.000 1896 3391 2740

2401 -1.36 -116.8 206.2 -9.0 210 2407 0.52 2.35 0.00 0.000 6 0.000 0.000 2036 2056 2740

2732 -1.51 -116.8 224.0 -5.4 226 2739 0.73 2.72 0.00 0.000 4 0.000 0.000 1838 3592 2739

2781 -1.18 -116.8 228.6 -10.8 228 2789 1.38 2.65 0.00 0.000 6 0.000 0.000 2092 2026 2743

3121 -1.48 -116.8 243.2 -3.9 244 3127 0.95 2.25 0.00 0.000 4 0.000 0.000 1875 3535 2742

3171 -1.18 -116.8 247.4 -10.4 246 3179 0.90 3.30 0.00 0.000 6 0.000 0.000 2039 1875 2738

3506 -1.35 -116.8 264.4 -4.8 262 3514 0.62 2.97 0.00 0.000 4 0.000 0.000 1921 3368 2738

3605 -1.22 -116.8 272.3 -8.1 266 3611 0.55 2.47 0.00 0.000 6 0.000 0.000 2052 2055 2742

3936 -1.41 -116.8 287.9 -4.6 282 3943 0.73 2.65 0.00 0.000 4 0.000 0.000 1875 3505 2739

3988 -1.13 -116.8 292.4 -9.7 284 3996 0.77 3.25 0.00 0.000 6 0.000 0.000 2048 1795 2747

4323 -1.33 -116.8 308.0 -4.6 300 4331 0.35 3.53 0.00 0.000 4 0.000 0.000 1943 3654 2745

4423 -1.23 -116.8 315.6 -7.7 304 4431 0.50 4.03 0.00 0.000 6 0.000 0.000 2058 1789 2745

4758 -1.42 -116.8 331.1 -4.6 320 4767 0.47 3.75 0.00 0.000 4 0.000 0.000 1930 3662 2738

4859 -1.32 -116.8 338.4 -7.7 324 4867 0.52 3.08 0.00 0.000 6 0.000 0.000 2041 1968 2740

5189 -1.50 -116.8 354.0 -4.6 340 5197 0.65 3.25 0.00 0.000 4 0.000 0.000 1874 3629 2738

5246 -1.23 -116.8 359.0 -9.1 342 5259 0.80 3.78 0.00 0.000 6 0.000 0.000 2028 1793 2744

5576 -1.44 -116.8 374.4 -4.4 358 5584 0.70 3.47 0.00 0.000 4 0.000 0.000 1875 3647 2742

5676 -1.18 -116.8 383.4 -9.3 362 5685 1.02 3.25 0.00 0.000 6 0.000 0.000 2056 1811 2740

6012 -1.35 -116.8 399.0 -4.5 378 6020 0.52 3.53 0.00 0.000 4 0.000 0.000 1996 3630 2738

6118 -1.38 -116.8 405.6 -6.1 382 6123 0.00 3.05 0.00 0.000 6 0.000 0.000 1983 1914 2749

6437 -1.38 -116.8 424.7 -6.1 397 6446 0.12 2.75 0.00 0.000 4 0.000 0.000 1994 3392 2742

6527 -1.38 -116.8 430.3 -6.1 400 6535 0.00 2.95 0.00 0.000 6 0.000 0.000 1970 1871 2744

6851 -1.38 -116.8 449.3 -5.9 416 6860 0.00 3.42 0.00 0.000 4 0.000 0.000 1981 3586 2746

6941 -1.40 -116.8 454.7 -5.9 419 6950 0.00 3.38 0.00 0.000 6 0.000 0.000 1988 1900 2744

7266 -1.40 -116.8 473.8 -5.8 435 7270 0.00 2.42 0.00 0.000 4 0.000 0.000 1966 3578 2733

7335 -1.43 -116.8 478.2 -6.3 438 7342 0.30 3.08 0.00 0.000 6 0.000 0.000 1910 2051 2742

7643 end dive: BOTTOM_OBSTACLE_DETECTED

state 7643 begin apogee

7656 -0.25 0.0 499.9 7.4 453 7774 1.55 0.00 114.50 0.001 6 0.000 0.000 2227 1882 2259

7775 end apogee: CONTROL_FINISHED_OK

state 7775 begin climb

7781 1.49 116.8 501.9 0.0 456 7910 2.28 0.00 111.65 0.001 6 0.000 0.000 2649 1871 1789

8235 1.23 116.8 407.4 22.6 476 8243 0.77 2.85 0.10 0.001 4 0.000 0.000 2443 3388 1780

8383 1.57 164.0 390.3 10.0 482 8441 1.10 2.95 45.53 0.001 6 0.000 0.000 2690 1866 1593

8752 1.17 164.0 282.0 30.3 500 8761 1.35 3.25 0.00 0.000 4 0.000 0.000 2442 3386 1591

8916 1.51 202.5 261.2 10.7 507 8967 0.82 3.22 37.03 0.001 6 0.000 0.000 2630 1851 1441

9292 1.26 202.5 162.2 27.4 525 9300 0.77 3.25 0.00 0.000 4 0.000 0.000 2446 3681 1434

9426 1.18 223.9 143.0 12.1 530 9456 0.50 3.55 17.08 0.001 6 0.000 0.000 2588 1852 1343

9790 0.87 223.9 56.9 34.5 568 9799 0.65 3.78 0.00 0.000 4 0.000 0.000 2382 3677 1345

9922 1.42 295.6 44.1 8.1 589 9994 1.05 3.83 57.35 0.000 6 0.000 0.000 2573 1855 1056

10111 end climb: SURFACE_DEPTH_REACHED

state 10111 begin surface coast

10119 end surface coast: CONTROL_FINISHED_OK

state 10119 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	12	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	19	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	-448902.94	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	181429,6637.459,-6032.189,23,1.1,24,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6647.607,-6030.733
_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	181915,6637.459,-6032.189,33,1.1,33,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.950,-1.720	XPDR_PINGS	-1
FINISH	-0.0,1.024863	ALTIM_TOP_PING	18.3,19.1
SM_CCo	10148,98.20,0.000,0,0,430,450.37	ALTIM_BOTTOM_PING	425.4,84.1
SM_GC	-0.00,0.00,0.00,98.20,0.000,0.000,0.000,633,2206,430,-7.58,6.11,450.37	_24V_AH	23.7,56.061
RAFOS_CLK	0	_10V_AH	9.7,8.585
RAFOS	0,1160424249,20.083334,20.069166,80,0,0,0,0,0,581,0,0,0,0,0	DATA_FILE_SIZE	18969,619
RAFOS_FIX	6636.657715,-6028.072266,091006,202048,4,80,0.46	CFSIZE	255582208,243433472
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,98,1086,2,0
TT8_MAMPS	0.024544	SOUNDSPEED	1469.2
HUMID	2343	CURRENT	0.039,263.3,1
INTERNAL_PRESSURE	25.9869	GPS	091006,211220,6638.147,-6032.271,30,1.1,30,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	44	119	126.42	SBE_CT	501	24	285.09
Roll_motor	139	60	198.65	nil	0	0	0.00
VBD_pump_during_apogee	383	0	6.97	nil	0	0	0.00
VBD_pump_during_surface	98	600	1396.40	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	86	223	455.09
Transponder_ping	3	420	37.33
GPS	33	50	16.45
TT8	1880	19	363.30
LPSleep	6280	2	140.72
TT8_Active	765	19	147.99
TT8_Sampling	791	39	306.55
TT8_CF8	829	45	369.52
TT8_Kalman	0	0	0.00
Analog_circuits	1444	12	168.14
GPS_charging	0	0	0.00
Compass	661	26	166.87
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	131	0.00	0.00	-77.15	0.000	6	0.000	0.000	629	1946	2745
137	-1.49	-116.8	0.3	-0.7	10	154	6.57	2.97	0.00	0.000	4	0.000	0.000	2003	3455	2747
218	-1.52	-116.8	16.0	-10.6	22	227	0.52	3.33	0.00	0.000	6	0.000	0.000	1874	1746	2748
586	-1.19	-116.8	69.1	-14.0	83	595	1.10	3.75	0.00	0.000	4	0.000	0.000	2052	3550	2744
723	-1.41	-116.8	78.5	-6.2	105	732	0.68	3.05	0.00	0.000	6	0.000	0.000	1927	1732	2739
1078	-1.26	-116.8	112.5	-9.7	149	1086	0.52	3.53	0.00	0.000	4	0.000	0.000	2001	3551	2744
1211	-1.31	-116.8	123.1	-7.5	154	1220	0.00	2.55	0.00	0.000	6	0.000	0.000	2001	1994	2736
1536	-1.35	-116.8	146.7	-7.3	170	1543	0.03	3.38	0.00	0.000	4	0.000	0.000	1970	3663	2750
1588	-1.40	-116.8	150.9	-7.2	172	1594	0.12	2.97	0.00	0.000	6	0.000	0.000	1985	2005	2740
1919	-1.40	-116.8	174.1	-7.1	188	1924	0.28	2.33	0.00	0.000	4	0.000	0.000	1925	3554	2745
1972	-1.36	-116.8	178.9	-8.2	190	1985	0.50	3.28	0.00	0.000	6	0.000	0.000	2046	1875	2737
2302	-1.53	-116.8	197.1	-5.4	206	2310	0.77	3.45	0.00	0.000	4	0.000	0.000	1896	3391	2740
2401	-1.36	-116.8	206.2	-9.0	210	2407	0.52	2.35	0.00	0.000	6	0.000	0.000	2036	2056	2740
2732	-1.51	-116.8	224.0	-5.4	226	2739	0.73	2.72	0.00	0.000	4	0.000	0.000	1838	3592	2739
2781	-1.18	-116.8	228.6	-10.8	228	2789	1.38	2.65	0.00	0.000	6	0.000	0.000	2092	2026	2743
3121	-1.48	-116.8	243.2	-3.9	244	3127	0.95	2.25	0.00	0.000	4	0.000	0.000	1875	3535	2742
3171	-1.18	-116.8	247.4	-10.4	246	3179	0.90	3.30	0.00	0.000	6	0.000	0.000	2039	1875	2738
3506	-1.35	-116.8	264.4	-4.8	262	3514	0.62	2.97	0.00	0.000	4	0.000	0.000	1921	3368	2738
3605	-1.22	-116.8	272.3	-8.1	266	3611	0.55	2.47	0.00	0.000	6	0.000	0.000	2052	2055	2742
3936	-1.41	-116.8	287.9	-4.6	282	3943	0.73	2.65	0.00	0.000	4	0.000	0.000	1875	3505	2739
3988	-1.13	-116.8	292.4	-9.7	284	3996	0.77	3.25	0.00	0.000	6	0.000	0.000	2048	1795	2747
4323	-1.33	-116.8	308.0	-4.6	300	4331	0.35	3.53	0.00	0.000	4	0.000	0.000	1943	3654	2745
4423	-1.23	-116.8	315.6	-7.7	304	4431	0.50	4.03	0.00	0.000	6	0.000	0.000	2058	1789	2745
4758	-1.42	-116.8	331.1	-4.6	320	4767	0.47	3.75	0.00	0.000	4	0.000	0.000	1930	3662	2738
4859	-1.32	-116.8	338.4	-7.7	324	4867	0.52	3.08	0.00	0.000	6	0.000	0.000	2041	1968	2740
5189	-1.50	-116.8	354.0	-4.6	340	5197	0.65	3.25	0.00	0.000	4	0.000	0.000	1874	3629	2738
5246	-1.23	-116.8	359.0	-9.1	342	5259	0.80	3.78	0.00	0.000	6	0.000	0.000	2028	1793	2744
5576	-1.44	-116.8	374.4	-4.4	358	5584	0.70	3.47	0.00	0.000	4	0.000	0.000	1875	3647	2742
5676	-1.18	-116.8	383.4	-9.3	362	5685	1.02	3.25	0.00	0.000	6	0.000	0.000	2056	1811	2740
6012	-1.35	-116.8	399.0	-4.5	378	6020	0.52	3.53	0.00	0.000	4	0.000	0.000	1996	3630	2738
6118	-1.38	-116.8	405.6	-6.1	382	6123	0.00	3.05	0.00	0.000	6	0.000	0.000	1983	1914	2749
6437	-1.38	-116.8	424.7	-6.1	397	6446	0.12	2.75	0.00	0.000	4	0.000	0.000	1994	3392	2742
6527	-1.38	-116.8	430.3	-6.1	400	6535	0.00	2.95	0.00	0.000	6	0.000	0.000	1970	1871	2744
6851	-1.38	-116.8	449.3	-5.9	416	6860	0.00	3.42	0.00	0.000	4	0.000	0.000	1981	3586	2746
6941	-1.40	-116.8	454.7	-5.9	419	6950	0.00	3.38	0.00	0.000	6	0.000	0.000	1988	1900	2744
7266	-1.40	-116.8	473.8	-5.8	435	7270	0.00	2.42	0.00	0.000	4	0.000	0.000	1966	3578	2733
7335	-1.43	-116.8	478.2	-6.3	438	7342	0.30	3.08	0.00	0.000	6	0.000	0.000	1910	2051	2742
7643	end dive: BOTTOM_OBSTACLE_DETECTED
state	7643	begin apogee
7656	-0.25	0.0	499.9	7.4	453	7774	1.55	0.00	114.50	0.001	6	0.000	0.000	2227	1882	2259
7775	end apogee: CONTROL_FINISHED_OK
state	7775	begin climb
7781	1.49	116.8	501.9	0.0	456	7910	2.28	0.00	111.65	0.001	6	0.000	0.000	2649	1871	1789
8235	1.23	116.8	407.4	22.6	476	8243	0.77	2.85	0.10	0.001	4	0.000	0.000	2443	3388	1780
8383	1.57	164.0	390.3	10.0	482	8441	1.10	2.95	45.53	0.001	6	0.000	0.000	2690	1866	1593
8752	1.17	164.0	282.0	30.3	500	8761	1.35	3.25	0.00	0.000	4	0.000	0.000	2442	3386	1591
8916	1.51	202.5	261.2	10.7	507	8967	0.82	3.22	37.03	0.001	6	0.000	0.000	2630	1851	1441
9292	1.26	202.5	162.2	27.4	525	9300	0.77	3.25	0.00	0.000	4	0.000	0.000	2446	3681	1434
9426	1.18	223.9	143.0	12.1	530	9456	0.50	3.55	17.08	0.001	6	0.000	0.000	2588	1852	1343
9790	0.87	223.9	56.9	34.5	568	9799	0.65	3.78	0.00	0.000	4	0.000	0.000	2382	3677	1345
9922	1.42	295.6	44.1	8.1	589	9994	1.05	3.83	57.35	0.000	6	0.000	0.000	2573	1855	1056
10111	end climb: SURFACE_DEPTH_REACHED
state	10111	begin surface coast
10119	end surface coast: CONTROL_FINISHED_OK
state	10119	begin surface