Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 14 * 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 14 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 147 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 -448935.94 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 -448935.94

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 147 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 14 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 235934,6638.879,-6032.345,13,1.1,13,18.0 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6649.026,-6030.891

_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 000617,6638.879,-6032.345,14,1.1,14,18.0 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 -0.01,4.914,-1.692 XPDR_PINGS -1

FINISH -0.0,1.024476 ALTIM_TOP_PING 19.2,999.0

SM_CCo 10382,164.02,0.000,3,0,422,450.37 ALTIM_BOTTOM_PING 425.8,93.1

SM_GC -0.00,0.00,0.00,164.02,0.000,0.000,0.000,587,1984,422,-7.61,0.34,450.37 _24V_AH 23.7,56.845

RAFOS_CLK 0 _10V_AH 9.7,8.690

RAFOS 1,1160439241,0.250000,0.233611,80,0,0,0,0,0,783,0,0,0,0,0 DATA_FILE_SIZE 22139,624

RAFOS_FIX 6637.845215,-6028.242188,101006,000018,3,80,2.98 CFSIZE 255582208,243273728

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,108,1095,5,0

TT8_MAMPS 0.024544 SOUNDSPEED 1470.4

HUMID 2337 CURRENT 0.051,252.9,1

INTERNAL_PRESSURE 26.0065 GPS 101006,030412,6639.662,-6032.457,13,1.1,13,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 47 119 133.96 SBE_CT 507 24 288.53

Roll_motor 142 60 203.20 nil 0 0 0.00

VBD_pump_during_apogee 297 1300 9180.61 nil 0 0 0.00

VBD_pump_during_surface 164 600 2332.44 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 85 223 453.56

Transponder_ping 3 420 37.33

GPS 15 50 7.69

TT8 1942 19 375.32

LPSleep 6551 2 146.80

TT8_Active 816 19 157.80

TT8_Sampling 738 39 285.90

TT8_CF8 922 45 410.90

TT8_Kalman 0 0 0.00

Analog_circuits 1466 12 170.66

GPS_charging 0 0 0.00

Compass 630 26 159.02

RAFOS 1080 1 15.71

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

41 -1.49 -116.8 0.0 0.0 0 130 0.00 0.00 -77.07 0.000 6 0.000 0.000 597 1903 2741

137 -1.49 -116.8 0.1 -0.2 9 154 6.57 2.45 0.00 0.000 4 0.000 0.000 2012 3561 2743

369 -1.75 -116.8 27.8 -7.4 46 378 0.77 3.33 0.00 0.000 6 0.000 0.000 1843 1900 2741

737 -1.35 -116.8 82.2 -13.6 107 745 0.70 2.97 0.00 0.000 4 0.000 0.000 2006 3372 2743

842 -1.49 -116.8 90.0 -6.9 123 851 0.73 2.67 0.00 0.000 6 0.000 0.000 1899 2068 2744

1190 -1.26 -116.8 126.1 -10.8 150 1197 0.47 2.88 0.00 0.000 4 0.000 0.000 2008 3408 2741

1230 -1.38 -116.8 130.3 -6.9 151 1240 0.52 2.92 0.00 0.000 6 0.000 0.000 1887 1891 2743

1555 -1.28 -116.8 162.5 -9.9 167 1562 0.70 3.03 0.00 0.000 4 0.000 0.000 2084 3567 2746

1639 -1.71 -116.8 167.9 -4.7 170 1652 1.08 2.92 0.00 0.000 6 0.000 0.000 1803 1917 2741

1968 -1.29 -116.8 205.6 -11.8 186 1977 1.08 2.95 0.00 0.000 4 0.000 0.000 2004 3607 2746

2048 -1.42 -116.8 211.6 -5.7 189 2056 0.52 3.28 0.00 0.000 6 0.000 0.000 1908 2108 2743

2378 -1.37 -116.8 241.4 -9.1 205 2380 0.43 0.00 0.00 0.000 6 0.000 0.000 2016 2100 2742

2692 -1.46 -116.8 259.6 -5.6 220 2700 0.60 3.03 0.00 0.000 4 0.000 0.000 1904 3610 2738

2733 -1.26 -116.8 263.2 -8.9 221 2742 0.77 3.45 0.00 0.000 6 0.000 0.000 2069 1991 2738

3057 -1.52 -116.8 277.1 -4.1 237 3065 0.75 2.92 0.00 0.000 4 0.000 0.000 1881 3682 2743

3115 -1.32 -116.8 282.0 -8.7 239 3127 0.52 3.17 0.00 0.000 6 0.000 0.000 2035 1977 2744

3444 -1.42 -116.8 300.7 -5.4 255 3452 0.40 3.28 0.00 0.000 4 0.000 0.000 1902 3425 2740

3502 -1.20 -116.8 305.7 -8.7 257 3515 0.77 2.67 0.00 0.000 6 0.000 0.000 2073 2115 2744

3831 -1.47 -116.8 320.3 -4.1 273 3837 0.62 2.25 0.00 0.000 4 0.000 0.000 1893 3613 2751

3862 -1.37 -116.8 322.7 -7.9 274 3874 0.52 3.17 0.00 0.000 6 0.000 0.000 2039 1919 2744

4191 -1.48 -116.8 340.2 -5.1 290 4199 0.50 3.22 0.00 0.000 4 0.000 0.000 1890 3576 2747

4270 -1.29 -116.8 346.4 -8.6 293 4278 0.77 3.03 0.00 0.000 6 0.000 0.000 2075 1892 2741

4606 -1.55 -116.8 360.7 -4.0 309 4614 0.77 2.65 0.00 0.000 4 0.000 0.000 1881 3366 2742

4706 -1.36 -116.8 368.4 -8.7 313 4712 0.60 2.50 0.00 0.000 6 0.000 0.000 2024 1865 2749

5037 -1.43 -116.8 387.8 -5.4 329 5046 0.55 3.53 0.00 0.000 4 0.000 0.000 1882 3539 2737

5122 -1.18 -116.8 394.7 -9.1 332 5134 0.77 2.65 0.00 0.000 6 0.000 0.000 2043 1909 2747

5451 -1.41 -116.8 410.0 -4.2 348 5459 0.90 3.00 0.00 0.000 4 0.000 0.000 1892 3595 2745

5527 -1.18 -116.8 415.8 -8.6 351 5535 0.77 3.00 0.00 0.000 6 0.000 0.000 2066 1918 2744

5863 -1.40 -116.8 431.0 -4.2 367 5871 1.12 3.05 0.00 0.000 4 0.000 0.000 1886 3602 2739

5939 -1.15 -116.8 436.6 -8.6 370 5947 0.82 3.12 0.00 0.000 6 0.000 0.000 2051 1937 2740

6280 -1.38 -116.8 451.5 -4.1 386 6288 1.10 2.97 0.00 0.000 4 0.000 0.000 1892 3473 2739

6356 -1.26 -116.8 456.7 -7.8 389 6364 0.57 2.92 0.00 0.000 6 0.000 0.000 2015 1964 2745

6696 -1.34 -116.8 475.2 -5.2 405 6703 0.55 2.75 0.00 0.000 4 0.000 0.000 1890 3440 2748

6771 -1.11 -116.8 480.9 -8.2 408 6779 0.82 2.72 0.00 0.000 6 0.000 0.000 2069 1933 2744

7112 -1.53 -116.8 496.4 -4.6 424 7120 0.73 3.28 0.00 0.000 4 0.000 0.000 1879 3427 2740

7188 -1.29 -116.8 501.7 -8.5 427 7194 0.77 2.17 0.00 0.000 6 0.000 0.000 2052 2253 2742

7373 end dive: BOTTOM_OBSTACLE_DETECTED

state 7373 begin apogee

7385 -0.25 0.0 510.0 3.9 432 7501 0.80 0.00 113.30 0.000 6 0.000 0.000 2191 1918 2266

7502 end apogee: CONTROL_FINISHED_OK

state 7502 begin climb

7508 1.49 116.8 510.2 0.0 435 7642 2.08 2.95 114.75 0.000 4 0.000 0.000 2627 3614 1781

7683 1.30 116.8 479.7 21.6 441 7691 0.57 3.47 0.00 0.000 6 0.000 0.000 2517 1925 1778

8018 1.43 130.7 436.5 12.6 457 8043 0.40 3.08 13.12 0.001 4 0.000 0.000 2611 3436 1731

8152 1.04 130.7 402.3 27.9 462 8161 0.77 2.92 0.00 0.000 6 0.000 0.000 2452 1929 1736

8477 1.43 189.6 369.7 9.1 478 8546 0.77 3.30 56.80 0.000 4 0.000 0.000 2570 3591 1484

8663 1.43 189.6 334.2 20.3 486 8670 0.00 3.47 0.00 0.000 6 0.000 0.000 2553 2082 1486

9003 1.39 189.6 267.7 20.0 502 9007 0.00 2.35 0.00 0.000 4 0.000 0.000 2553 3618 1485

9061 1.36 189.6 252.0 20.0 504 9069 0.00 3.08 0.00 0.000 6 0.000 0.000 2557 2154 1480

9385 1.32 189.6 189.8 19.5 520 9389 0.00 2.42 0.00 0.000 4 0.000 0.000 2561 3531 1489

9431 1.32 189.6 178.0 20.0 522 9436 0.00 2.92 0.00 0.000 6 0.000 0.000 2562 2020 1484

9761 1.06 189.6 116.4 18.9 538 9769 0.82 3.03 0.00 0.000 4 0.000 0.000 2457 3554 1488

9845 1.33 189.6 101.4 14.3 541 9858 0.77 3.22 0.00 0.000 6 0.000 0.000 2621 1893 1484

10217 1.11 189.6 15.6 22.8 602 10226 0.90 2.95 0.00 0.000 4 0.000 0.000 2443 3547 1489

10331 end climb: SURFACE_DEPTH_REACHED

state 10332 begin surface coast

10350 end surface coast: CONTROL_FINISHED_OK

state 10350 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	14	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	147	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	-448935.94	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	235934,6638.879,-6032.345,13,1.1,13,18.0	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6649.026,-6030.891
_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	000617,6638.879,-6032.345,14,1.1,14,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.01,4.914,-1.692	XPDR_PINGS	-1
FINISH	-0.0,1.024476	ALTIM_TOP_PING	19.2,999.0
SM_CCo	10382,164.02,0.000,3,0,422,450.37	ALTIM_BOTTOM_PING	425.8,93.1
SM_GC	-0.00,0.00,0.00,164.02,0.000,0.000,0.000,587,1984,422,-7.61,0.34,450.37	_24V_AH	23.7,56.845
RAFOS_CLK	0	_10V_AH	9.7,8.690
RAFOS	1,1160439241,0.250000,0.233611,80,0,0,0,0,0,783,0,0,0,0,0	DATA_FILE_SIZE	22139,624
RAFOS_FIX	6637.845215,-6028.242188,101006,000018,3,80,2.98	CFSIZE	255582208,243273728
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,108,1095,5,0
TT8_MAMPS	0.024544	SOUNDSPEED	1470.4
HUMID	2337	CURRENT	0.051,252.9,1
INTERNAL_PRESSURE	26.0065	GPS	101006,030412,6639.662,-6032.457,13,1.1,13,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	47	119	133.96	SBE_CT	507	24	288.53
Roll_motor	142	60	203.20	nil	0	0	0.00
VBD_pump_during_apogee	297	1300	9180.61	nil	0	0	0.00
VBD_pump_during_surface	164	600	2332.44	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	453.56
Transponder_ping	3	420	37.33
GPS	15	50	7.69
TT8	1942	19	375.32
LPSleep	6551	2	146.80
TT8_Active	816	19	157.80
TT8_Sampling	738	39	285.90
TT8_CF8	922	45	410.90
TT8_Kalman	0	0	0.00
Analog_circuits	1466	12	170.66
GPS_charging	0	0	0.00
Compass	630	26	159.02
RAFOS	1080	1	15.71

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
41	-1.49	-116.8	0.0	0.0	0	130	0.00	0.00	-77.07	0.000	6	0.000	0.000	597	1903	2741
137	-1.49	-116.8	0.1	-0.2	9	154	6.57	2.45	0.00	0.000	4	0.000	0.000	2012	3561	2743
369	-1.75	-116.8	27.8	-7.4	46	378	0.77	3.33	0.00	0.000	6	0.000	0.000	1843	1900	2741
737	-1.35	-116.8	82.2	-13.6	107	745	0.70	2.97	0.00	0.000	4	0.000	0.000	2006	3372	2743
842	-1.49	-116.8	90.0	-6.9	123	851	0.73	2.67	0.00	0.000	6	0.000	0.000	1899	2068	2744
1190	-1.26	-116.8	126.1	-10.8	150	1197	0.47	2.88	0.00	0.000	4	0.000	0.000	2008	3408	2741
1230	-1.38	-116.8	130.3	-6.9	151	1240	0.52	2.92	0.00	0.000	6	0.000	0.000	1887	1891	2743
1555	-1.28	-116.8	162.5	-9.9	167	1562	0.70	3.03	0.00	0.000	4	0.000	0.000	2084	3567	2746
1639	-1.71	-116.8	167.9	-4.7	170	1652	1.08	2.92	0.00	0.000	6	0.000	0.000	1803	1917	2741
1968	-1.29	-116.8	205.6	-11.8	186	1977	1.08	2.95	0.00	0.000	4	0.000	0.000	2004	3607	2746
2048	-1.42	-116.8	211.6	-5.7	189	2056	0.52	3.28	0.00	0.000	6	0.000	0.000	1908	2108	2743
2378	-1.37	-116.8	241.4	-9.1	205	2380	0.43	0.00	0.00	0.000	6	0.000	0.000	2016	2100	2742
2692	-1.46	-116.8	259.6	-5.6	220	2700	0.60	3.03	0.00	0.000	4	0.000	0.000	1904	3610	2738
2733	-1.26	-116.8	263.2	-8.9	221	2742	0.77	3.45	0.00	0.000	6	0.000	0.000	2069	1991	2738
3057	-1.52	-116.8	277.1	-4.1	237	3065	0.75	2.92	0.00	0.000	4	0.000	0.000	1881	3682	2743
3115	-1.32	-116.8	282.0	-8.7	239	3127	0.52	3.17	0.00	0.000	6	0.000	0.000	2035	1977	2744
3444	-1.42	-116.8	300.7	-5.4	255	3452	0.40	3.28	0.00	0.000	4	0.000	0.000	1902	3425	2740
3502	-1.20	-116.8	305.7	-8.7	257	3515	0.77	2.67	0.00	0.000	6	0.000	0.000	2073	2115	2744
3831	-1.47	-116.8	320.3	-4.1	273	3837	0.62	2.25	0.00	0.000	4	0.000	0.000	1893	3613	2751
3862	-1.37	-116.8	322.7	-7.9	274	3874	0.52	3.17	0.00	0.000	6	0.000	0.000	2039	1919	2744
4191	-1.48	-116.8	340.2	-5.1	290	4199	0.50	3.22	0.00	0.000	4	0.000	0.000	1890	3576	2747
4270	-1.29	-116.8	346.4	-8.6	293	4278	0.77	3.03	0.00	0.000	6	0.000	0.000	2075	1892	2741
4606	-1.55	-116.8	360.7	-4.0	309	4614	0.77	2.65	0.00	0.000	4	0.000	0.000	1881	3366	2742
4706	-1.36	-116.8	368.4	-8.7	313	4712	0.60	2.50	0.00	0.000	6	0.000	0.000	2024	1865	2749
5037	-1.43	-116.8	387.8	-5.4	329	5046	0.55	3.53	0.00	0.000	4	0.000	0.000	1882	3539	2737
5122	-1.18	-116.8	394.7	-9.1	332	5134	0.77	2.65	0.00	0.000	6	0.000	0.000	2043	1909	2747
5451	-1.41	-116.8	410.0	-4.2	348	5459	0.90	3.00	0.00	0.000	4	0.000	0.000	1892	3595	2745
5527	-1.18	-116.8	415.8	-8.6	351	5535	0.77	3.00	0.00	0.000	6	0.000	0.000	2066	1918	2744
5863	-1.40	-116.8	431.0	-4.2	367	5871	1.12	3.05	0.00	0.000	4	0.000	0.000	1886	3602	2739
5939	-1.15	-116.8	436.6	-8.6	370	5947	0.82	3.12	0.00	0.000	6	0.000	0.000	2051	1937	2740
6280	-1.38	-116.8	451.5	-4.1	386	6288	1.10	2.97	0.00	0.000	4	0.000	0.000	1892	3473	2739
6356	-1.26	-116.8	456.7	-7.8	389	6364	0.57	2.92	0.00	0.000	6	0.000	0.000	2015	1964	2745
6696	-1.34	-116.8	475.2	-5.2	405	6703	0.55	2.75	0.00	0.000	4	0.000	0.000	1890	3440	2748
6771	-1.11	-116.8	480.9	-8.2	408	6779	0.82	2.72	0.00	0.000	6	0.000	0.000	2069	1933	2744
7112	-1.53	-116.8	496.4	-4.6	424	7120	0.73	3.28	0.00	0.000	4	0.000	0.000	1879	3427	2740
7188	-1.29	-116.8	501.7	-8.5	427	7194	0.77	2.17	0.00	0.000	6	0.000	0.000	2052	2253	2742
7373	end dive: BOTTOM_OBSTACLE_DETECTED
state	7373	begin apogee
7385	-0.25	0.0	510.0	3.9	432	7501	0.80	0.00	113.30	0.000	6	0.000	0.000	2191	1918	2266
7502	end apogee: CONTROL_FINISHED_OK
state	7502	begin climb
7508	1.49	116.8	510.2	0.0	435	7642	2.08	2.95	114.75	0.000	4	0.000	0.000	2627	3614	1781
7683	1.30	116.8	479.7	21.6	441	7691	0.57	3.47	0.00	0.000	6	0.000	0.000	2517	1925	1778
8018	1.43	130.7	436.5	12.6	457	8043	0.40	3.08	13.12	0.001	4	0.000	0.000	2611	3436	1731
8152	1.04	130.7	402.3	27.9	462	8161	0.77	2.92	0.00	0.000	6	0.000	0.000	2452	1929	1736
8477	1.43	189.6	369.7	9.1	478	8546	0.77	3.30	56.80	0.000	4	0.000	0.000	2570	3591	1484
8663	1.43	189.6	334.2	20.3	486	8670	0.00	3.47	0.00	0.000	6	0.000	0.000	2553	2082	1486
9003	1.39	189.6	267.7	20.0	502	9007	0.00	2.35	0.00	0.000	4	0.000	0.000	2553	3618	1485
9061	1.36	189.6	252.0	20.0	504	9069	0.00	3.08	0.00	0.000	6	0.000	0.000	2557	2154	1480
9385	1.32	189.6	189.8	19.5	520	9389	0.00	2.42	0.00	0.000	4	0.000	0.000	2561	3531	1489
9431	1.32	189.6	178.0	20.0	522	9436	0.00	2.92	0.00	0.000	6	0.000	0.000	2562	2020	1484
9761	1.06	189.6	116.4	18.9	538	9769	0.82	3.03	0.00	0.000	4	0.000	0.000	2457	3554	1488
9845	1.33	189.6	101.4	14.3	541	9858	0.77	3.22	0.00	0.000	6	0.000	0.000	2621	1893	1484
10217	1.11	189.6	15.6	22.8	602	10226	0.90	2.95	0.00	0.000	4	0.000	0.000	2443	3547	1489
10331	end climb: SURFACE_DEPTH_REACHED
state	10332	begin surface coast
10350	end surface coast: CONTROL_FINISHED_OK
state	10350	begin surface