Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 18 * 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 18 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 9 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 -449055.34 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 -449055.34

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 9 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 18 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 115353,6641.821,-6032.974,30,1.1,30,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6651.969,-6031.522

_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 115842,6641.821,-6032.974,34,1.1,34,18.0 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 0.0,1.025081 XPDR_PINGS -1

SM_CCo 10307,159.50,0.000,1,0,432,451.84 ALTIM_TOP_PING 19.8,19.1

SM_GC 0.00,0.00,0.00,159.50,0.000,0.000,0.000,658,1931,432,-7.51,-1.30,451.84 ALTIM_BOTTOM_PING 426.6,90.4

RAFOS_CLK 0 _24V_AH 23.7,58.370

RAFOS 0,1160481843,12.083333,12.067500,80,0,0,0,0,0,606,0,0,0,0,0 _10V_AH 9.7,8.907

RAFOS_FIX 6640.690430,-6030.244629,101006,121220,4,80,2.14 DATA_FILE_SIZE 18999,600

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242970624

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,115,1116,5,0

HUMID 2210 SOUNDSPEED 1470.4

INTERNAL_PRESSURE 26.0162 CURRENT 0.047,263.3,1

TCM_TEMP 15.00 GPS 101006,145528,6642.616,-6032.906,26,1.1,26,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 53 119 151.52 SBE_CT 483 24 275.12

Roll_motor 144 60 205.83 nil 0 0 0.00

VBD_pump_during_apogee 303 1300 9345.44 nil 0 0 0.00

VBD_pump_during_surface 159 600 2268.09 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 85 223 454.24

Transponder_ping 3 420 37.33

GPS 35 50 17.09

TT8 1875 19 362.44

LPSleep 6520 2 146.11

TT8_Active 801 19 154.83

TT8_Sampling 755 39 292.65

TT8_CF8 819 45 365.10

TT8_Kalman 0 0 0.00

Analog_circuits 1454 12 169.31

GPS_charging 0 0 0.00

Compass 630 26 159.04

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 0 127 0.00 0.00 -76.68 0.000 6 0.000 0.000 611 2282 2736

134 -1.49 -116.8 -0.0 0.0 9 151 7.35 2.95 0.00 0.000 4 0.000 0.000 1997 255 2741

209 -1.62 -116.8 15.8 -9.4 20 218 0.77 3.95 0.00 0.000 6 0.000 0.000 1806 2274 2733

575 -1.16 -116.8 73.9 -15.0 81 584 1.17 2.03 0.00 0.000 4 0.000 0.000 2068 3588 2739

648 -1.37 -116.8 79.5 -5.8 92 657 0.80 3.00 0.00 0.000 6 0.000 0.000 1868 1756 2736

998 -1.07 -116.8 120.0 -11.6 130 1006 1.40 2.78 0.00 0.000 4 0.000 0.000 2110 429 2743

1088 -1.50 -116.8 124.7 -4.1 133 1098 1.08 2.83 0.00 0.000 6 0.000 0.000 1882 2289 2739

1408 -1.20 -116.8 159.5 -11.0 149 1410 0.73 0.00 0.00 0.000 6 0.000 0.000 2073 2259 2740

1722 -1.40 -116.8 177.8 -5.1 164 1730 0.85 3.53 0.00 0.000 4 0.000 0.000 1865 400 2738

1807 -1.14 -116.8 186.1 -10.6 167 1820 0.85 3.38 0.00 0.000 6 0.000 0.000 2050 1937 2742

2132 -1.34 -116.8 203.8 -5.0 183 2140 0.90 3.28 0.00 0.000 4 0.000 0.000 1872 457 2743

2173 -1.07 -116.8 207.4 -10.1 184 2183 1.08 2.67 0.00 0.000 6 0.000 0.000 2092 1946 2735

2500 -1.44 -116.8 222.1 -4.4 200 2508 1.40 3.00 0.00 0.000 4 0.000 0.000 1865 282 2735

2606 -1.26 -116.8 231.9 -9.0 204 2619 0.80 3.38 0.00 0.000 6 0.000 0.000 2077 2116 2735

2936 -1.45 -116.8 247.9 -4.7 220 2944 0.80 3.72 0.00 0.000 4 0.000 0.000 1923 240 2737

2994 -1.37 -116.8 252.4 -8.1 222 3006 0.28 3.85 0.00 0.000 6 0.000 0.000 2013 2048 2742

3323 -1.41 -116.8 272.1 -6.0 238 3331 0.40 3.22 0.00 0.000 4 0.000 0.000 1879 400 2731

3408 -1.15 -116.8 279.7 -9.5 241 3421 0.82 3.38 0.00 0.000 6 0.000 0.000 2040 2114 2733

3738 -1.34 -116.8 296.2 -4.6 257 3745 0.40 3.28 0.00 0.000 4 0.000 0.000 1931 424 2736

3786 -1.22 -116.8 299.5 -7.8 259 3794 0.52 3.67 0.00 0.000 6 0.000 0.000 2042 2240 2740

4125 -1.39 -116.8 316.2 -4.7 275 4134 0.45 3.45 0.00 0.000 4 0.000 0.000 1915 380 2746

4174 -1.27 -116.8 319.6 -7.7 277 4182 0.52 2.78 0.00 0.000 6 0.000 0.000 2056 1932 2737

4509 -1.44 -116.8 335.8 -4.7 293 4515 0.50 2.55 0.00 0.000 4 0.000 0.000 1894 392 2736

4554 -1.27 -116.8 339.0 -8.1 295 4561 0.52 2.88 0.00 0.000 6 0.000 0.000 2024 1915 2737

4889 -1.42 -116.8 355.7 -4.8 311 4897 1.00 3.08 0.00 0.000 4 0.000 0.000 1904 375 2739

4919 -1.33 -116.8 357.7 -7.4 312 4924 0.50 2.38 0.00 0.000 6 0.000 0.000 2037 1908 2743

5249 -1.47 -116.8 373.6 -4.8 328 5257 0.77 2.75 0.00 0.000 4 0.000 0.000 1907 355 2744

5312 -1.32 -116.8 378.4 -7.9 330 5321 0.52 2.88 0.00 0.000 6 0.000 0.000 2029 2028 2734

5637 -1.45 -116.8 394.5 -4.8 346 5645 0.45 3.22 0.00 0.000 4 0.000 0.000 1922 381 2740

5748 -1.34 -116.8 403.5 -8.1 350 5758 0.47 2.95 0.00 0.000 6 0.000 0.000 2030 2043 2739

6073 -1.48 -116.8 419.2 -4.8 366 6075 0.50 0.00 0.00 0.000 6 0.000 0.000 1884 2060 2738

6382 -1.28 -116.8 442.6 -7.8 381 6390 0.75 2.88 0.00 0.000 4 0.000 0.000 2026 552 2743

6432 -1.42 -116.8 445.9 -4.6 383 6440 0.55 3.08 0.00 0.000 6 0.000 0.000 1902 2045 2744

6772 -1.22 -116.8 471.0 -7.7 399 6780 0.47 2.97 0.00 0.000 4 0.000 0.000 2029 525 2734

6848 -1.37 -116.8 475.1 -4.8 402 6856 0.52 3.17 0.00 0.000 6 0.000 0.000 1916 2010 2744

7188 -1.17 -116.8 500.3 -7.6 418 7196 0.85 2.97 0.00 0.000 4 0.000 0.000 2088 360 2741

7241 -1.48 -116.8 503.5 -3.9 419 7249 1.02 2.92 0.00 0.000 6 0.000 0.000 1849 2027 2743

7318 end dive: BOTTOM_OBSTACLE_DETECTED

state 7318 begin apogee

7331 -0.25 0.0 510.1 9.4 421 7455 2.00 0.00 114.20 0.000 6 0.000 0.000 2279 1707 2267

7456 end apogee: CONTROL_FINISHED_OK

state 7456 begin climb

7462 1.49 116.8 511.5 0.0 424 7605 1.77 2.62 112.32 0.001 4 0.000 0.000 2648 397 1781

7657 1.28 116.8 475.2 22.9 430 7667 0.75 2.95 0.00 0.000 6 0.000 0.000 2453 1929 1786

7982 1.59 164.1 440.1 10.0 446 8037 1.25 3.03 46.17 0.000 4 0.000 0.000 2637 3606 1586

8265 1.33 164.1 365.6 26.1 458 8274 0.73 3.17 0.00 0.000 6 0.000 0.000 2534 1941 1589

8590 1.41 164.1 314.6 15.5 474 8597 0.47 2.97 0.00 0.000 4 0.000 0.000 2663 294 1591

8660 1.22 164.1 297.2 26.2 477 8668 0.80 3.40 0.00 0.000 6 0.000 0.000 2448 2150 1588

9001 1.52 196.3 256.5 11.2 493 9040 0.93 3.47 30.62 0.001 4 0.000 0.000 2641 329 1464

9123 1.32 196.3 224.2 28.8 497 9136 0.60 3.53 0.00 0.000 6 0.000 0.000 2516 2176 1457

9452 1.41 196.3 170.4 16.0 513 9460 0.43 3.50 0.00 0.000 4 0.000 0.000 2662 395 1453

9523 1.22 196.3 152.6 26.0 516 9531 0.80 3.12 0.00 0.000 6 0.000 0.000 2515 2260 1462

9863 1.32 196.3 99.0 15.3 532 9871 0.00 3.78 0.00 0.000 4 0.000 0.000 2517 554 1454

9914 1.44 196.3 91.1 15.4 539 9923 0.47 2.92 0.00 0.000 6 0.000 0.000 2650 2252 1462

10270 end climb: SURFACE_DEPTH_REACHED

state 10270 begin surface coast

10277 end surface coast: CONTROL_FINISHED_OK

state 10277 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	18	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	9	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	-449055.34	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	115353,6641.821,-6032.974,30,1.1,30,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6651.969,-6031.522
_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	115842,6641.821,-6032.974,34,1.1,34,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FINISH	0.0,1.025081	XPDR_PINGS	-1
SM_CCo	10307,159.50,0.000,1,0,432,451.84	ALTIM_TOP_PING	19.8,19.1
SM_GC	0.00,0.00,0.00,159.50,0.000,0.000,0.000,658,1931,432,-7.51,-1.30,451.84	ALTIM_BOTTOM_PING	426.6,90.4
RAFOS_CLK	0	_24V_AH	23.7,58.370
RAFOS	0,1160481843,12.083333,12.067500,80,0,0,0,0,0,606,0,0,0,0,0	_10V_AH	9.7,8.907
RAFOS_FIX	6640.690430,-6030.244629,101006,121220,4,80,2.14	DATA_FILE_SIZE	18999,600
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242970624
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,115,1116,5,0
HUMID	2210	SOUNDSPEED	1470.4
INTERNAL_PRESSURE	26.0162	CURRENT	0.047,263.3,1
TCM_TEMP	15.00	GPS	101006,145528,6642.616,-6032.906,26,1.1,26,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	53	119	151.52	SBE_CT	483	24	275.12
Roll_motor	144	60	205.83	nil	0	0	0.00
VBD_pump_during_apogee	303	1300	9345.44	nil	0	0	0.00
VBD_pump_during_surface	159	600	2268.09	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	454.24
Transponder_ping	3	420	37.33
GPS	35	50	17.09
TT8	1875	19	362.44
LPSleep	6520	2	146.11
TT8_Active	801	19	154.83
TT8_Sampling	755	39	292.65
TT8_CF8	819	45	365.10
TT8_Kalman	0	0	0.00
Analog_circuits	1454	12	169.31
GPS_charging	0	0	0.00
Compass	630	26	159.04
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	127	0.00	0.00	-76.68	0.000	6	0.000	0.000	611	2282	2736
134	-1.49	-116.8	-0.0	0.0	9	151	7.35	2.95	0.00	0.000	4	0.000	0.000	1997	255	2741
209	-1.62	-116.8	15.8	-9.4	20	218	0.77	3.95	0.00	0.000	6	0.000	0.000	1806	2274	2733
575	-1.16	-116.8	73.9	-15.0	81	584	1.17	2.03	0.00	0.000	4	0.000	0.000	2068	3588	2739
648	-1.37	-116.8	79.5	-5.8	92	657	0.80	3.00	0.00	0.000	6	0.000	0.000	1868	1756	2736
998	-1.07	-116.8	120.0	-11.6	130	1006	1.40	2.78	0.00	0.000	4	0.000	0.000	2110	429	2743
1088	-1.50	-116.8	124.7	-4.1	133	1098	1.08	2.83	0.00	0.000	6	0.000	0.000	1882	2289	2739
1408	-1.20	-116.8	159.5	-11.0	149	1410	0.73	0.00	0.00	0.000	6	0.000	0.000	2073	2259	2740
1722	-1.40	-116.8	177.8	-5.1	164	1730	0.85	3.53	0.00	0.000	4	0.000	0.000	1865	400	2738
1807	-1.14	-116.8	186.1	-10.6	167	1820	0.85	3.38	0.00	0.000	6	0.000	0.000	2050	1937	2742
2132	-1.34	-116.8	203.8	-5.0	183	2140	0.90	3.28	0.00	0.000	4	0.000	0.000	1872	457	2743
2173	-1.07	-116.8	207.4	-10.1	184	2183	1.08	2.67	0.00	0.000	6	0.000	0.000	2092	1946	2735
2500	-1.44	-116.8	222.1	-4.4	200	2508	1.40	3.00	0.00	0.000	4	0.000	0.000	1865	282	2735
2606	-1.26	-116.8	231.9	-9.0	204	2619	0.80	3.38	0.00	0.000	6	0.000	0.000	2077	2116	2735
2936	-1.45	-116.8	247.9	-4.7	220	2944	0.80	3.72	0.00	0.000	4	0.000	0.000	1923	240	2737
2994	-1.37	-116.8	252.4	-8.1	222	3006	0.28	3.85	0.00	0.000	6	0.000	0.000	2013	2048	2742
3323	-1.41	-116.8	272.1	-6.0	238	3331	0.40	3.22	0.00	0.000	4	0.000	0.000	1879	400	2731
3408	-1.15	-116.8	279.7	-9.5	241	3421	0.82	3.38	0.00	0.000	6	0.000	0.000	2040	2114	2733
3738	-1.34	-116.8	296.2	-4.6	257	3745	0.40	3.28	0.00	0.000	4	0.000	0.000	1931	424	2736
3786	-1.22	-116.8	299.5	-7.8	259	3794	0.52	3.67	0.00	0.000	6	0.000	0.000	2042	2240	2740
4125	-1.39	-116.8	316.2	-4.7	275	4134	0.45	3.45	0.00	0.000	4	0.000	0.000	1915	380	2746
4174	-1.27	-116.8	319.6	-7.7	277	4182	0.52	2.78	0.00	0.000	6	0.000	0.000	2056	1932	2737
4509	-1.44	-116.8	335.8	-4.7	293	4515	0.50	2.55	0.00	0.000	4	0.000	0.000	1894	392	2736
4554	-1.27	-116.8	339.0	-8.1	295	4561	0.52	2.88	0.00	0.000	6	0.000	0.000	2024	1915	2737
4889	-1.42	-116.8	355.7	-4.8	311	4897	1.00	3.08	0.00	0.000	4	0.000	0.000	1904	375	2739
4919	-1.33	-116.8	357.7	-7.4	312	4924	0.50	2.38	0.00	0.000	6	0.000	0.000	2037	1908	2743
5249	-1.47	-116.8	373.6	-4.8	328	5257	0.77	2.75	0.00	0.000	4	0.000	0.000	1907	355	2744
5312	-1.32	-116.8	378.4	-7.9	330	5321	0.52	2.88	0.00	0.000	6	0.000	0.000	2029	2028	2734
5637	-1.45	-116.8	394.5	-4.8	346	5645	0.45	3.22	0.00	0.000	4	0.000	0.000	1922	381	2740
5748	-1.34	-116.8	403.5	-8.1	350	5758	0.47	2.95	0.00	0.000	6	0.000	0.000	2030	2043	2739
6073	-1.48	-116.8	419.2	-4.8	366	6075	0.50	0.00	0.00	0.000	6	0.000	0.000	1884	2060	2738
6382	-1.28	-116.8	442.6	-7.8	381	6390	0.75	2.88	0.00	0.000	4	0.000	0.000	2026	552	2743
6432	-1.42	-116.8	445.9	-4.6	383	6440	0.55	3.08	0.00	0.000	6	0.000	0.000	1902	2045	2744
6772	-1.22	-116.8	471.0	-7.7	399	6780	0.47	2.97	0.00	0.000	4	0.000	0.000	2029	525	2734
6848	-1.37	-116.8	475.1	-4.8	402	6856	0.52	3.17	0.00	0.000	6	0.000	0.000	1916	2010	2744
7188	-1.17	-116.8	500.3	-7.6	418	7196	0.85	2.97	0.00	0.000	4	0.000	0.000	2088	360	2741
7241	-1.48	-116.8	503.5	-3.9	419	7249	1.02	2.92	0.00	0.000	6	0.000	0.000	1849	2027	2743
7318	end dive: BOTTOM_OBSTACLE_DETECTED
state	7318	begin apogee
7331	-0.25	0.0	510.1	9.4	421	7455	2.00	0.00	114.20	0.000	6	0.000	0.000	2279	1707	2267
7456	end apogee: CONTROL_FINISHED_OK
state	7456	begin climb
7462	1.49	116.8	511.5	0.0	424	7605	1.77	2.62	112.32	0.001	4	0.000	0.000	2648	397	1781
7657	1.28	116.8	475.2	22.9	430	7667	0.75	2.95	0.00	0.000	6	0.000	0.000	2453	1929	1786
7982	1.59	164.1	440.1	10.0	446	8037	1.25	3.03	46.17	0.000	4	0.000	0.000	2637	3606	1586
8265	1.33	164.1	365.6	26.1	458	8274	0.73	3.17	0.00	0.000	6	0.000	0.000	2534	1941	1589
8590	1.41	164.1	314.6	15.5	474	8597	0.47	2.97	0.00	0.000	4	0.000	0.000	2663	294	1591
8660	1.22	164.1	297.2	26.2	477	8668	0.80	3.40	0.00	0.000	6	0.000	0.000	2448	2150	1588
9001	1.52	196.3	256.5	11.2	493	9040	0.93	3.47	30.62	0.001	4	0.000	0.000	2641	329	1464
9123	1.32	196.3	224.2	28.8	497	9136	0.60	3.53	0.00	0.000	6	0.000	0.000	2516	2176	1457
9452	1.41	196.3	170.4	16.0	513	9460	0.43	3.50	0.00	0.000	4	0.000	0.000	2662	395	1453
9523	1.22	196.3	152.6	26.0	516	9531	0.80	3.12	0.00	0.000	6	0.000	0.000	2515	2260	1462
9863	1.32	196.3	99.0	15.3	532	9871	0.00	3.78	0.00	0.000	4	0.000	0.000	2517	554	1454
9914	1.44	196.3	91.1	15.4	539	9923	0.47	2.92	0.00	0.000	6	0.000	0.000	2650	2252	1462
10270	end climb: SURFACE_DEPTH_REACHED
state	10270	begin surface coast
10277	end surface coast: CONTROL_FINISHED_OK
state	10277	begin surface