Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 17 * 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 17 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 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 -449019.47 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 -449019.47

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 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 17 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 084238,6641.117,-6032.762,24,1.1,24,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6651.265,-6031.310

_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 085135,6641.117,-6032.762,38,1.1,38,18.0 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:

FINISH 0.1,1.024471 XPDR_PINGS -1

SM_CCo 10674,125.38,0.000,1,0,428,450.62 ALTIM_TOP_PING 19.5,19.8

SM_GC 0.00,0.00,0.00,125.38,0.000,0.000,0.000,587,2279,428,-7.78,8.59,450.62 ALTIM_BOTTOM_PING 450.3,67.6

RAFOS_CLK 0 _24V_AH 23.7,57.964

RAFOS 3,1160469245,8.583333,8.568055,80,0,0,0,0,0,787,0,0,0,0,0 _10V_AH 9.7,8.853

RAFOS_FIX 6639.730469,-6029.842285,101006,080820,4,80,0.00 DATA_FILE_SIZE 22148,639

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243032064

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,115,1157,4,0

HUMID 2214 SOUNDSPEED 1470.3

INTERNAL_PRESSURE 26.0162 CURRENT 0.047,257.5,1

TCM_TEMP 15.00 GPS 101006,115353,6641.821,-6032.974,30,1.1,30,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 50 119 143.62 SBE_CT 515 24 293.10

Roll_motor 150 60 214.62 nil 0 0 0.00

VBD_pump_during_apogee 349 1300 10752.69 nil 0 0 0.00

VBD_pump_during_surface 125 600 1782.83 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 145 223 767.70

Transponder_ping 4 420 39.82

GPS 38 50 18.80

TT8 1974 19 381.60

LPSleep 6629 2 148.56

TT8_Active 800 19 154.77

TT8_Sampling 829 39 321.14

TT8_CF8 1067 45 475.58

TT8_Kalman 0 0 0.00

Analog_circuits 1508 12 175.59

GPS_charging 0 0 0.00

Compass 690 26 174.07

RAFOS 360 1 5.24

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

40 end surface: CONTROL_FINISHED_OK

state 40 begin dive

46 -1.49 -116.8 0.0 0.0 0 133 0.00 0.00 -76.50 0.000 6 0.000 0.000 590 2020 2735

139 -1.49 -116.8 0.1 -0.3 10 156 6.88 2.53 0.00 0.000 4 0.000 0.000 2012 3601 2739

237 -1.61 -116.8 17.5 -8.9 25 246 0.68 3.58 0.00 0.000 6 0.000 0.000 1895 1923 2742

605 -1.36 -116.8 65.4 -12.1 86 613 0.52 3.17 0.00 0.000 4 0.000 0.000 1994 3446 2739

688 -1.47 -116.8 72.5 -7.5 99 698 0.52 3.47 0.00 0.000 6 0.000 0.000 1889 1761 2739

1046 -1.22 -116.8 111.7 -11.2 145 1055 0.75 3.47 0.00 0.000 4 0.000 0.000 2059 3602 2740

1169 -1.50 -116.8 119.8 -4.9 150 1177 0.80 3.17 0.00 0.000 6 0.000 0.000 1888 1911 2743

1504 -1.24 -116.8 154.1 -10.5 166 1512 0.68 3.28 0.00 0.000 4 0.000 0.000 2064 3439 2735

1595 -1.52 -116.8 159.6 -4.8 169 1604 0.80 3.38 0.00 0.000 6 0.000 0.000 1890 1921 2732

1920 -1.26 -116.8 191.2 -10.0 185 1928 0.77 2.95 0.00 0.000 4 0.000 0.000 2077 3419 2747

2010 -1.54 -116.8 196.2 -4.6 188 2019 1.00 3.35 0.00 0.000 6 0.000 0.000 1909 1896 2731

2334 -1.69 -116.8 224.2 -8.3 204 2339 0.00 2.55 0.00 0.000 4 0.000 0.000 1910 3540 2743

2405 -1.50 -116.8 229.9 -9.1 207 2414 0.40 3.60 0.00 0.000 6 0.000 0.000 2016 1885 2739

2741 -1.61 -116.8 249.7 -5.5 223 2750 0.82 3.15 0.00 0.000 4 0.000 0.000 1824 3556 2737

2832 -1.28 -116.8 258.2 -10.2 226 2841 0.80 3.10 0.00 0.000 6 0.000 0.000 2024 2044 2740

3157 -1.39 -116.8 276.4 -5.2 242 3163 0.40 2.53 0.00 0.000 4 0.000 0.000 1891 3544 2733

3194 -1.24 -116.8 279.3 -8.1 243 3203 0.52 3.35 0.00 0.000 6 0.000 0.000 2016 1896 2736

3518 -1.36 -116.8 296.4 -5.1 259 3526 0.45 3.28 0.00 0.000 4 0.000 0.000 1904 3406 2734

3618 -1.17 -116.8 304.9 -8.5 263 3624 0.77 2.42 0.00 0.000 6 0.000 0.000 2097 1844 2740

3949 -1.45 -116.8 319.1 -3.9 279 3956 0.73 3.00 0.00 0.000 4 0.000 0.000 1913 3577 2744

4039 -1.27 -116.8 326.0 -8.1 282 4048 0.62 2.80 0.00 0.000 6 0.000 0.000 2007 1879 2746

4364 -1.65 -116.8 343.5 -5.4 298 4372 0.80 2.67 0.00 0.000 4 0.000 0.000 1897 3401 2742

4455 -1.45 -116.8 350.3 -8.5 301 4464 0.52 2.65 0.00 0.000 6 0.000 0.000 2023 1905 2739

4780 -1.55 -116.8 367.6 -5.1 317 4788 0.77 3.33 0.00 0.000 4 0.000 0.000 1888 3554 2732

4859 -1.35 -116.8 373.8 -8.3 320 4870 0.50 3.25 0.00 0.000 6 0.000 0.000 2017 1901 2742

5195 -1.45 -116.8 391.5 -5.1 336 5203 0.55 3.03 0.00 0.000 4 0.000 0.000 1896 3520 2738

5286 -1.27 -116.8 398.4 -8.2 339 5295 0.55 3.38 0.00 0.000 6 0.000 0.000 2036 2022 2739

5610 -1.38 -116.8 415.1 -4.9 355 5616 0.50 2.67 0.00 0.000 4 0.000 0.000 1918 3529 2738

5664 -1.21 -116.8 419.2 -8.0 357 5677 0.77 3.03 0.00 0.000 6 0.000 0.000 2080 1880 2733

5994 -1.49 -116.8 431.7 -3.7 373 6002 0.95 3.47 0.00 0.000 4 0.000 0.000 1850 3722 2744

6073 -1.17 -116.8 437.8 -9.4 376 6081 1.08 2.97 0.00 0.000 6 0.000 0.000 2093 2017 2734

6403 -1.47 -116.8 451.0 -3.6 392 6411 0.77 3.03 0.00 0.000 4 0.000 0.000 1916 3522 2737

6452 -1.29 -116.8 454.1 -7.9 394 6460 0.52 3.25 0.00 0.000 6 0.000 0.000 2038 2018 2740

6793 -1.40 -116.8 470.8 -4.7 410 6801 0.88 2.97 0.00 0.000 4 0.000 0.000 1908 3536 2736

6850 -1.22 -116.8 475.5 -7.7 412 6863 0.77 3.20 0.00 0.000 6 0.000 0.000 2084 1897 2740

7180 -1.51 -116.8 487.7 -3.6 428 7188 1.05 3.33 0.00 0.000 4 0.000 0.000 1906 3602 2739

7260 -1.34 -116.8 493.0 -7.6 431 7267 0.52 2.95 0.00 0.000 6 0.000 0.000 2057 1779 2737

7601 end dive: BOTTOM_OBSTACLE_DETECTED

state 7601 begin apogee

7613 -0.25 0.0 509.6 4.5 443 7735 1.25 0.00 113.12 0.000 6 0.000 0.000 2262 2094 2270

7736 end apogee: CONTROL_FINISHED_OK

state 7736 begin climb

7742 1.49 116.8 509.6 0.0 446 7880 1.98 3.28 112.75 0.001 4 0.000 0.000 2629 573 1790

7927 1.32 116.8 476.5 22.4 452 7933 0.52 2.53 0.00 0.000 6 0.000 0.000 2505 2248 1788

8258 1.43 126.0 433.4 13.0 468 8274 0.38 2.38 9.15 0.000 4 0.000 0.000 2632 3426 1747

8331 1.24 126.0 418.6 22.0 470 8339 0.77 2.65 0.00 0.000 6 0.000 0.000 2436 1763 1748

8666 1.51 174.9 384.1 9.9 486 8722 0.93 3.80 47.53 0.001 4 0.000 0.000 2671 3603 1551

8891 1.15 174.9 315.8 31.7 496 8899 1.05 3.30 0.00 0.000 6 0.000 0.000 2446 1737 1545

9232 1.46 208.2 273.2 11.1 512 9278 0.65 4.05 32.38 0.001 4 0.000 0.000 2654 3435 1410

9464 1.21 208.2 209.5 27.6 522 9472 0.77 3.25 0.00 0.000 6 0.000 0.000 2433 1790 1407

9804 1.50 232.2 165.8 11.8 538 9831 0.73 3.60 19.08 0.000 4 0.001 0.000 2628 3462 1314

9975 1.29 232.2 118.0 28.4 545 9987 0.77 2.75 0.00 0.000 6 0.000 0.000 2453 1801 1312

10324 1.57 250.6 72.6 12.3 588 10349 0.93 3.42 15.00 0.001 4 0.000 0.000 2592 3611 1235

10498 1.49 250.6 33.2 22.6 615 10506 0.00 3.55 0.00 0.000 6 0.000 0.000 2579 1769 1240

10632 end climb: SURFACE_DEPTH_REACHED

state 10632 begin surface coast

10644 end surface coast: CONTROL_FINISHED_OK

state 10645 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	17	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	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	-449019.47	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	084238,6641.117,-6032.762,24,1.1,24,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6651.265,-6031.310
_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	085135,6641.117,-6032.762,38,1.1,38,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FINISH	0.1,1.024471	XPDR_PINGS	-1
SM_CCo	10674,125.38,0.000,1,0,428,450.62	ALTIM_TOP_PING	19.5,19.8
SM_GC	0.00,0.00,0.00,125.38,0.000,0.000,0.000,587,2279,428,-7.78,8.59,450.62	ALTIM_BOTTOM_PING	450.3,67.6
RAFOS_CLK	0	_24V_AH	23.7,57.964
RAFOS	3,1160469245,8.583333,8.568055,80,0,0,0,0,0,787,0,0,0,0,0	_10V_AH	9.7,8.853
RAFOS_FIX	6639.730469,-6029.842285,101006,080820,4,80,0.00	DATA_FILE_SIZE	22148,639
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243032064
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,115,1157,4,0
HUMID	2214	SOUNDSPEED	1470.3
INTERNAL_PRESSURE	26.0162	CURRENT	0.047,257.5,1
TCM_TEMP	15.00	GPS	101006,115353,6641.821,-6032.974,30,1.1,30,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	50	119	143.62	SBE_CT	515	24	293.10
Roll_motor	150	60	214.62	nil	0	0	0.00
VBD_pump_during_apogee	349	1300	10752.69	nil	0	0	0.00
VBD_pump_during_surface	125	600	1782.83	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	145	223	767.70
Transponder_ping	4	420	39.82
GPS	38	50	18.80
TT8	1974	19	381.60
LPSleep	6629	2	148.56
TT8_Active	800	19	154.77
TT8_Sampling	829	39	321.14
TT8_CF8	1067	45	475.58
TT8_Kalman	0	0	0.00
Analog_circuits	1508	12	175.59
GPS_charging	0	0	0.00
Compass	690	26	174.07
RAFOS	360	1	5.24

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
40	end surface: CONTROL_FINISHED_OK
state	40	begin dive
46	-1.49	-116.8	0.0	0.0	0	133	0.00	0.00	-76.50	0.000	6	0.000	0.000	590	2020	2735
139	-1.49	-116.8	0.1	-0.3	10	156	6.88	2.53	0.00	0.000	4	0.000	0.000	2012	3601	2739
237	-1.61	-116.8	17.5	-8.9	25	246	0.68	3.58	0.00	0.000	6	0.000	0.000	1895	1923	2742
605	-1.36	-116.8	65.4	-12.1	86	613	0.52	3.17	0.00	0.000	4	0.000	0.000	1994	3446	2739
688	-1.47	-116.8	72.5	-7.5	99	698	0.52	3.47	0.00	0.000	6	0.000	0.000	1889	1761	2739
1046	-1.22	-116.8	111.7	-11.2	145	1055	0.75	3.47	0.00	0.000	4	0.000	0.000	2059	3602	2740
1169	-1.50	-116.8	119.8	-4.9	150	1177	0.80	3.17	0.00	0.000	6	0.000	0.000	1888	1911	2743
1504	-1.24	-116.8	154.1	-10.5	166	1512	0.68	3.28	0.00	0.000	4	0.000	0.000	2064	3439	2735
1595	-1.52	-116.8	159.6	-4.8	169	1604	0.80	3.38	0.00	0.000	6	0.000	0.000	1890	1921	2732
1920	-1.26	-116.8	191.2	-10.0	185	1928	0.77	2.95	0.00	0.000	4	0.000	0.000	2077	3419	2747
2010	-1.54	-116.8	196.2	-4.6	188	2019	1.00	3.35	0.00	0.000	6	0.000	0.000	1909	1896	2731
2334	-1.69	-116.8	224.2	-8.3	204	2339	0.00	2.55	0.00	0.000	4	0.000	0.000	1910	3540	2743
2405	-1.50	-116.8	229.9	-9.1	207	2414	0.40	3.60	0.00	0.000	6	0.000	0.000	2016	1885	2739
2741	-1.61	-116.8	249.7	-5.5	223	2750	0.82	3.15	0.00	0.000	4	0.000	0.000	1824	3556	2737
2832	-1.28	-116.8	258.2	-10.2	226	2841	0.80	3.10	0.00	0.000	6	0.000	0.000	2024	2044	2740
3157	-1.39	-116.8	276.4	-5.2	242	3163	0.40	2.53	0.00	0.000	4	0.000	0.000	1891	3544	2733
3194	-1.24	-116.8	279.3	-8.1	243	3203	0.52	3.35	0.00	0.000	6	0.000	0.000	2016	1896	2736
3518	-1.36	-116.8	296.4	-5.1	259	3526	0.45	3.28	0.00	0.000	4	0.000	0.000	1904	3406	2734
3618	-1.17	-116.8	304.9	-8.5	263	3624	0.77	2.42	0.00	0.000	6	0.000	0.000	2097	1844	2740
3949	-1.45	-116.8	319.1	-3.9	279	3956	0.73	3.00	0.00	0.000	4	0.000	0.000	1913	3577	2744
4039	-1.27	-116.8	326.0	-8.1	282	4048	0.62	2.80	0.00	0.000	6	0.000	0.000	2007	1879	2746
4364	-1.65	-116.8	343.5	-5.4	298	4372	0.80	2.67	0.00	0.000	4	0.000	0.000	1897	3401	2742
4455	-1.45	-116.8	350.3	-8.5	301	4464	0.52	2.65	0.00	0.000	6	0.000	0.000	2023	1905	2739
4780	-1.55	-116.8	367.6	-5.1	317	4788	0.77	3.33	0.00	0.000	4	0.000	0.000	1888	3554	2732
4859	-1.35	-116.8	373.8	-8.3	320	4870	0.50	3.25	0.00	0.000	6	0.000	0.000	2017	1901	2742
5195	-1.45	-116.8	391.5	-5.1	336	5203	0.55	3.03	0.00	0.000	4	0.000	0.000	1896	3520	2738
5286	-1.27	-116.8	398.4	-8.2	339	5295	0.55	3.38	0.00	0.000	6	0.000	0.000	2036	2022	2739
5610	-1.38	-116.8	415.1	-4.9	355	5616	0.50	2.67	0.00	0.000	4	0.000	0.000	1918	3529	2738
5664	-1.21	-116.8	419.2	-8.0	357	5677	0.77	3.03	0.00	0.000	6	0.000	0.000	2080	1880	2733
5994	-1.49	-116.8	431.7	-3.7	373	6002	0.95	3.47	0.00	0.000	4	0.000	0.000	1850	3722	2744
6073	-1.17	-116.8	437.8	-9.4	376	6081	1.08	2.97	0.00	0.000	6	0.000	0.000	2093	2017	2734
6403	-1.47	-116.8	451.0	-3.6	392	6411	0.77	3.03	0.00	0.000	4	0.000	0.000	1916	3522	2737
6452	-1.29	-116.8	454.1	-7.9	394	6460	0.52	3.25	0.00	0.000	6	0.000	0.000	2038	2018	2740
6793	-1.40	-116.8	470.8	-4.7	410	6801	0.88	2.97	0.00	0.000	4	0.000	0.000	1908	3536	2736
6850	-1.22	-116.8	475.5	-7.7	412	6863	0.77	3.20	0.00	0.000	6	0.000	0.000	2084	1897	2740
7180	-1.51	-116.8	487.7	-3.6	428	7188	1.05	3.33	0.00	0.000	4	0.000	0.000	1906	3602	2739
7260	-1.34	-116.8	493.0	-7.6	431	7267	0.52	2.95	0.00	0.000	6	0.000	0.000	2057	1779	2737
7601	end dive: BOTTOM_OBSTACLE_DETECTED
state	7601	begin apogee
7613	-0.25	0.0	509.6	4.5	443	7735	1.25	0.00	113.12	0.000	6	0.000	0.000	2262	2094	2270
7736	end apogee: CONTROL_FINISHED_OK
state	7736	begin climb
7742	1.49	116.8	509.6	0.0	446	7880	1.98	3.28	112.75	0.001	4	0.000	0.000	2629	573	1790
7927	1.32	116.8	476.5	22.4	452	7933	0.52	2.53	0.00	0.000	6	0.000	0.000	2505	2248	1788
8258	1.43	126.0	433.4	13.0	468	8274	0.38	2.38	9.15	0.000	4	0.000	0.000	2632	3426	1747
8331	1.24	126.0	418.6	22.0	470	8339	0.77	2.65	0.00	0.000	6	0.000	0.000	2436	1763	1748
8666	1.51	174.9	384.1	9.9	486	8722	0.93	3.80	47.53	0.001	4	0.000	0.000	2671	3603	1551
8891	1.15	174.9	315.8	31.7	496	8899	1.05	3.30	0.00	0.000	6	0.000	0.000	2446	1737	1545
9232	1.46	208.2	273.2	11.1	512	9278	0.65	4.05	32.38	0.001	4	0.000	0.000	2654	3435	1410
9464	1.21	208.2	209.5	27.6	522	9472	0.77	3.25	0.00	0.000	6	0.000	0.000	2433	1790	1407
9804	1.50	232.2	165.8	11.8	538	9831	0.73	3.60	19.08	0.000	4	0.001	0.000	2628	3462	1314
9975	1.29	232.2	118.0	28.4	545	9987	0.77	2.75	0.00	0.000	6	0.000	0.000	2453	1801	1312
10324	1.57	250.6	72.6	12.3	588	10349	0.93	3.42	15.00	0.001	4	0.000	0.000	2592	3611	1235
10498	1.49	250.6	33.2	22.6	615	10506	0.00	3.55	0.00	0.000	6	0.000	0.000	2579	1769	1240
10632	end climb: SURFACE_DEPTH_REACHED
state	10632	begin surface coast
10644	end surface coast: CONTROL_FINISHED_OK
state	10645	begin surface