Glider dive log

PortSusan 08Jul07 * SG001 * Dive index * Mission links * Dive 26 * 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 26 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 162 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -447134.06 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 -447134.06

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 162 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 21 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 26 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 022038,6637.411,-6006.174,33,1.1,34,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6648.200,-6005.986

_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 -69.9 KALMAN_Y 6077.1,-400.7,-1286.6,5721.4,4434.9

GPS2 022506,6637.411,-6006.174,37,1.1,37,18.0 MHEAD_RNG_PITCHd_Wd 344.5,20000,-26.0,-13.750

SPEED_LIMITS 0.238,0.255 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025424 XPDR_PINGS -1

SM_CCo 9345,18.67,0.001,0,0,429,450.37 ALTIM_TOP_PING 19.9,19.7

SM_GC 0.35,0.00,0.00,18.67,0.000,0.000,0.001,600,2249,429,-7.64,7.52,450.37 ALTIM_BOTTOM_PING 501.9,83.0

RAFOS_CLK 0 _24V_AH 23.7,36.237

RAFOS 4,1160537355,3.500000,3.487500,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,5.544

RAFOS_FIX 6637.801758,-6002.884277,111006,040452,4,80,0.36 DATA_FILE_SIZE 18984,579

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242696192

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,66,940,0,0

HUMID 1761 SOUNDSPEED 1459.7

INTERNAL_PRESSURE 25.9674 CURRENT 0.065,250.4,1

TCM_TEMP 15.00 GPS 111006,050259,6638.360,-6006.881,8,1.1,8,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 119 96.67 SBE_CT 478 24 272.34

Roll_motor 121 60 172.24 nil 0 0 0.00

VBD_pump_during_apogee 28 1300 887.33 nil 0 0 0.00

VBD_pump_during_surface 18 0 0.34 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 67 223 357.47

Transponder_ping 4 420 44.79

GPS 37 50 18.29

TT8 1874 19 362.28

LPSleep 6055 2 135.68

TT8_Active 298 19 57.69

TT8_Sampling 646 39 250.49

TT8_CF8 766 45 341.32

TT8_Kalman 0 81 0.00

Analog_circuits 838 12 97.57

GPS_charging 0 0 0.00

Compass 525 26 132.61

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 -8.05 0.000 6 0.000 0.000 620 2104 2820

64 -1.49 -116.8 0.3 0.0 2 82 6.72 3.25 0.00 0.000 4 0.000 0.000 2052 542 2820

287 -1.49 -116.8 20.6 -7.8 37 296 0.68 3.03 0.00 0.000 6 0.000 0.000 1926 2243 2819

657 -1.82 -116.8 64.3 -12.4 98 665 0.47 2.53 0.00 0.000 4 0.000 0.000 1812 3551 2821

718 -1.68 -116.8 74.4 -17.8 107 728 0.82 3.05 0.00 0.000 6 0.000 0.000 1978 2052 2819

1085 -1.33 -116.8 110.2 -9.4 154 1089 0.00 2.15 0.00 0.000 4 0.000 0.000 1997 3581 2824

1164 -1.33 -116.8 117.8 -9.7 157 1170 0.00 3.12 0.00 0.000 6 0.000 0.000 1973 1894 2818

1489 -1.42 -116.8 148.3 -9.6 172 1500 0.47 3.75 0.00 0.000 4 0.000 0.000 1857 3539 2822

1581 -1.42 -116.8 161.2 -15.2 175 1590 0.77 2.33 0.00 0.000 6 0.000 0.000 2033 2019 2821

1905 -1.20 -116.8 185.5 -7.1 191 1911 0.50 2.75 0.00 0.000 4 0.000 0.000 1937 3408 2822

1964 -1.37 -116.8 192.8 -12.0 193 1974 0.52 2.67 0.00 0.000 6 0.000 0.000 2036 2040 2821

2289 -1.27 -116.8 215.7 -7.0 209 2297 0.80 2.72 0.00 0.000 4 0.000 0.000 1899 3569 2818

2337 -1.47 -116.8 221.0 -12.7 211 2343 0.00 2.83 0.00 0.000 6 0.000 0.000 1912 2120 2824

2673 -1.40 -116.8 261.6 -12.2 227 2675 0.43 0.00 0.00 0.000 6 0.000 0.000 2041 2118 2818

2982 -1.21 -116.8 284.9 -7.1 242 2990 0.60 2.75 0.00 0.000 4 0.000 0.000 1932 3578 2825

3022 -1.38 -116.8 289.5 -12.4 243 3032 0.52 2.97 0.00 0.000 6 0.000 0.000 2029 2117 2820

3347 -1.29 -116.8 314.2 -7.4 259 3353 0.82 2.22 0.00 0.000 4 0.000 0.000 1899 3596 2824

3383 -1.43 -116.8 318.6 -12.4 260 3393 0.52 2.58 0.00 0.000 6 0.000 0.000 2009 2241 2820

3708 -1.34 -116.8 344.0 -7.8 276 3710 0.50 0.00 0.00 0.000 6 0.000 0.000 1898 2235 2821

4017 -1.46 -116.8 379.1 -12.6 291 4025 0.22 3.28 0.00 0.000 4 0.000 0.000 1979 443 2816

4047 -1.31 -116.8 383.4 -11.9 292 4054 0.03 3.22 0.00 0.000 6 0.000 0.000 1975 2249 2823

4376 -1.43 -116.8 416.2 -10.1 308 4380 0.00 2.05 0.00 0.000 4 0.000 0.000 1959 3604 2827

4405 -1.39 -116.8 419.3 -9.5 309 4410 0.00 2.72 0.00 0.000 6 0.000 0.000 1975 2094 2816

4732 -1.68 -116.8 451.0 -10.1 324 4739 0.45 3.17 0.00 0.000 4 0.000 0.000 1863 3607 2822

4789 -1.64 -116.8 459.9 -16.1 326 4802 0.47 3.12 0.00 0.000 6 0.000 0.000 1982 2125 2827

5118 -1.39 -116.8 492.7 -9.8 342 5124 0.08 2.80 0.00 0.000 4 0.000 0.000 1965 3639 2820

5154 -1.36 -116.8 497.0 -9.6 343 5163 0.00 2.35 0.00 0.000 6 0.000 0.000 1961 2302 2828

5490 -1.44 -116.8 529.9 -9.9 353 5498 0.03 3.53 0.00 0.000 4 0.000 0.000 1964 436 2818

5514 -1.41 -116.8 532.4 -9.8 353 5521 0.00 3.78 0.00 0.000 6 0.000 0.000 1990 2272 2820

5865 -1.51 -116.8 566.8 -9.9 362 5870 0.20 2.38 0.00 0.000 4 0.000 0.000 1978 3417 2815

5901 -1.48 -116.8 570.6 -10.2 362 5910 0.12 2.03 0.00 0.000 6 0.000 0.000 1974 2097 2821

5948 end dive: BOTTOM_OBSTACLE_DETECTED

state 5948 begin apogee

5960 -0.25 0.0 575.4 10.0 364 5977 1.38 0.00 13.75 0.000 6 0.000 0.000 2276 2089 2242

5978 end apogee: CONTROL_FINISHED_OK

state 5978 begin climb

5984 1.49 116.8 575.4 0.0 364 5999 1.95 0.00 11.40 0.001 6 0.000 0.000 2622 2091 1779

6321 1.49 116.8 513.4 20.2 373 6328 0.60 2.97 0.00 0.000 4 0.000 0.000 2524 3555 1765

6406 1.25 139.2 500.4 12.0 374 6417 0.03 2.75 2.15 0.000 6 0.000 0.000 2532 2078 1685

6726 1.45 148.5 459.0 13.0 390 6734 0.52 2.53 0.93 0.001 4 0.000 0.000 2614 3597 1642

6783 1.56 148.5 447.0 22.0 392 6795 0.10 3.28 0.00 0.000 6 0.000 0.000 2640 2144 1636

7111 1.38 148.5 375.3 22.2 408 7119 0.45 2.95 0.00 0.000 4 0.000 0.000 2505 651 1643

7174 1.16 152.5 364.5 13.4 410 7183 0.00 2.72 0.57 0.001 6 0.000 0.000 2532 2199 1612

7501 1.38 153.9 321.2 13.6 426 7507 0.38 2.53 0.00 0.000 4 0.000 0.000 2629 546 1621

7531 1.48 153.9 313.9 22.0 427 7544 0.55 3.25 0.00 0.000 6 0.000 0.000 2526 2243 1616

7861 1.48 153.9 267.0 14.0 443 7863 0.40 0.00 0.00 0.000 6 0.000 0.000 2631 2216 1617

8169 1.57 153.9 194.9 22.9 458 8177 0.05 3.83 0.00 0.000 4 0.000 0.000 2647 520 1617

8195 1.33 153.9 187.8 23.6 459 8203 0.57 2.72 0.00 0.000 6 0.000 0.000 2509 2171 1612

8535 1.21 155.7 140.2 13.6 475 8540 0.00 2.60 0.00 0.000 4 0.000 0.000 2490 3690 1614

8565 1.32 155.7 135.1 14.2 476 8578 0.47 3.53 0.00 0.000 6 0.000 0.000 2631 1856 1612

8911 1.46 155.7 57.3 23.2 513 8920 0.62 3.28 0.00 0.000 4 0.000 0.000 2517 3552 1621

9076 1.24 155.7 34.5 14.3 539 9085 0.15 2.65 0.00 0.000 6 0.000 0.000 2494 1905 1610

9303 end climb: SURFACE_DEPTH_REACHED

state 9303 begin surface coast

9316 end surface coast: CONTROL_FINISHED_OK

state 9316 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	26	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	162	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-447134.06	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	022038,6637.411,-6006.174,33,1.1,34,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6648.200,-6005.986
_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	-69.9	KALMAN_Y	6077.1,-400.7,-1286.6,5721.4,4434.9
GPS2	022506,6637.411,-6006.174,37,1.1,37,18.0	MHEAD_RNG_PITCHd_Wd	344.5,20000,-26.0,-13.750
SPEED_LIMITS	0.238,0.255	D_GRID	990

FINISH	0.3,1.025424	XPDR_PINGS	-1
SM_CCo	9345,18.67,0.001,0,0,429,450.37	ALTIM_TOP_PING	19.9,19.7
SM_GC	0.35,0.00,0.00,18.67,0.000,0.000,0.001,600,2249,429,-7.64,7.52,450.37	ALTIM_BOTTOM_PING	501.9,83.0
RAFOS_CLK	0	_24V_AH	23.7,36.237
RAFOS	4,1160537355,3.500000,3.487500,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,5.544
RAFOS_FIX	6637.801758,-6002.884277,111006,040452,4,80,0.36	DATA_FILE_SIZE	18984,579
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242696192
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,66,940,0,0
HUMID	1761	SOUNDSPEED	1459.7
INTERNAL_PRESSURE	25.9674	CURRENT	0.065,250.4,1
TCM_TEMP	15.00	GPS	111006,050259,6638.360,-6006.881,8,1.1,8,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	119	96.67	SBE_CT	478	24	272.34
Roll_motor	121	60	172.24	nil	0	0	0.00
VBD_pump_during_apogee	28	1300	887.33	nil	0	0	0.00
VBD_pump_during_surface	18	0	0.34	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	357.47
Transponder_ping	4	420	44.79
GPS	37	50	18.29
TT8	1874	19	362.28
LPSleep	6055	2	135.68
TT8_Active	298	19	57.69
TT8_Sampling	646	39	250.49
TT8_CF8	766	45	341.32
TT8_Kalman	0	81	0.00
Analog_circuits	838	12	97.57
GPS_charging	0	0	0.00
Compass	525	26	132.61
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	-8.05	0.000	6	0.000	0.000	620	2104	2820
64	-1.49	-116.8	0.3	0.0	2	82	6.72	3.25	0.00	0.000	4	0.000	0.000	2052	542	2820
287	-1.49	-116.8	20.6	-7.8	37	296	0.68	3.03	0.00	0.000	6	0.000	0.000	1926	2243	2819
657	-1.82	-116.8	64.3	-12.4	98	665	0.47	2.53	0.00	0.000	4	0.000	0.000	1812	3551	2821
718	-1.68	-116.8	74.4	-17.8	107	728	0.82	3.05	0.00	0.000	6	0.000	0.000	1978	2052	2819
1085	-1.33	-116.8	110.2	-9.4	154	1089	0.00	2.15	0.00	0.000	4	0.000	0.000	1997	3581	2824
1164	-1.33	-116.8	117.8	-9.7	157	1170	0.00	3.12	0.00	0.000	6	0.000	0.000	1973	1894	2818
1489	-1.42	-116.8	148.3	-9.6	172	1500	0.47	3.75	0.00	0.000	4	0.000	0.000	1857	3539	2822
1581	-1.42	-116.8	161.2	-15.2	175	1590	0.77	2.33	0.00	0.000	6	0.000	0.000	2033	2019	2821
1905	-1.20	-116.8	185.5	-7.1	191	1911	0.50	2.75	0.00	0.000	4	0.000	0.000	1937	3408	2822
1964	-1.37	-116.8	192.8	-12.0	193	1974	0.52	2.67	0.00	0.000	6	0.000	0.000	2036	2040	2821
2289	-1.27	-116.8	215.7	-7.0	209	2297	0.80	2.72	0.00	0.000	4	0.000	0.000	1899	3569	2818
2337	-1.47	-116.8	221.0	-12.7	211	2343	0.00	2.83	0.00	0.000	6	0.000	0.000	1912	2120	2824
2673	-1.40	-116.8	261.6	-12.2	227	2675	0.43	0.00	0.00	0.000	6	0.000	0.000	2041	2118	2818
2982	-1.21	-116.8	284.9	-7.1	242	2990	0.60	2.75	0.00	0.000	4	0.000	0.000	1932	3578	2825
3022	-1.38	-116.8	289.5	-12.4	243	3032	0.52	2.97	0.00	0.000	6	0.000	0.000	2029	2117	2820
3347	-1.29	-116.8	314.2	-7.4	259	3353	0.82	2.22	0.00	0.000	4	0.000	0.000	1899	3596	2824
3383	-1.43	-116.8	318.6	-12.4	260	3393	0.52	2.58	0.00	0.000	6	0.000	0.000	2009	2241	2820
3708	-1.34	-116.8	344.0	-7.8	276	3710	0.50	0.00	0.00	0.000	6	0.000	0.000	1898	2235	2821
4017	-1.46	-116.8	379.1	-12.6	291	4025	0.22	3.28	0.00	0.000	4	0.000	0.000	1979	443	2816
4047	-1.31	-116.8	383.4	-11.9	292	4054	0.03	3.22	0.00	0.000	6	0.000	0.000	1975	2249	2823
4376	-1.43	-116.8	416.2	-10.1	308	4380	0.00	2.05	0.00	0.000	4	0.000	0.000	1959	3604	2827
4405	-1.39	-116.8	419.3	-9.5	309	4410	0.00	2.72	0.00	0.000	6	0.000	0.000	1975	2094	2816
4732	-1.68	-116.8	451.0	-10.1	324	4739	0.45	3.17	0.00	0.000	4	0.000	0.000	1863	3607	2822
4789	-1.64	-116.8	459.9	-16.1	326	4802	0.47	3.12	0.00	0.000	6	0.000	0.000	1982	2125	2827
5118	-1.39	-116.8	492.7	-9.8	342	5124	0.08	2.80	0.00	0.000	4	0.000	0.000	1965	3639	2820
5154	-1.36	-116.8	497.0	-9.6	343	5163	0.00	2.35	0.00	0.000	6	0.000	0.000	1961	2302	2828
5490	-1.44	-116.8	529.9	-9.9	353	5498	0.03	3.53	0.00	0.000	4	0.000	0.000	1964	436	2818
5514	-1.41	-116.8	532.4	-9.8	353	5521	0.00	3.78	0.00	0.000	6	0.000	0.000	1990	2272	2820
5865	-1.51	-116.8	566.8	-9.9	362	5870	0.20	2.38	0.00	0.000	4	0.000	0.000	1978	3417	2815
5901	-1.48	-116.8	570.6	-10.2	362	5910	0.12	2.03	0.00	0.000	6	0.000	0.000	1974	2097	2821
5948	end dive: BOTTOM_OBSTACLE_DETECTED
state	5948	begin apogee
5960	-0.25	0.0	575.4	10.0	364	5977	1.38	0.00	13.75	0.000	6	0.000	0.000	2276	2089	2242
5978	end apogee: CONTROL_FINISHED_OK
state	5978	begin climb
5984	1.49	116.8	575.4	0.0	364	5999	1.95	0.00	11.40	0.001	6	0.000	0.000	2622	2091	1779
6321	1.49	116.8	513.4	20.2	373	6328	0.60	2.97	0.00	0.000	4	0.000	0.000	2524	3555	1765
6406	1.25	139.2	500.4	12.0	374	6417	0.03	2.75	2.15	0.000	6	0.000	0.000	2532	2078	1685
6726	1.45	148.5	459.0	13.0	390	6734	0.52	2.53	0.93	0.001	4	0.000	0.000	2614	3597	1642
6783	1.56	148.5	447.0	22.0	392	6795	0.10	3.28	0.00	0.000	6	0.000	0.000	2640	2144	1636
7111	1.38	148.5	375.3	22.2	408	7119	0.45	2.95	0.00	0.000	4	0.000	0.000	2505	651	1643
7174	1.16	152.5	364.5	13.4	410	7183	0.00	2.72	0.57	0.001	6	0.000	0.000	2532	2199	1612
7501	1.38	153.9	321.2	13.6	426	7507	0.38	2.53	0.00	0.000	4	0.000	0.000	2629	546	1621
7531	1.48	153.9	313.9	22.0	427	7544	0.55	3.25	0.00	0.000	6	0.000	0.000	2526	2243	1616
7861	1.48	153.9	267.0	14.0	443	7863	0.40	0.00	0.00	0.000	6	0.000	0.000	2631	2216	1617
8169	1.57	153.9	194.9	22.9	458	8177	0.05	3.83	0.00	0.000	4	0.000	0.000	2647	520	1617
8195	1.33	153.9	187.8	23.6	459	8203	0.57	2.72	0.00	0.000	6	0.000	0.000	2509	2171	1612
8535	1.21	155.7	140.2	13.6	475	8540	0.00	2.60	0.00	0.000	4	0.000	0.000	2490	3690	1614
8565	1.32	155.7	135.1	14.2	476	8578	0.47	3.53	0.00	0.000	6	0.000	0.000	2631	1856	1612
8911	1.46	155.7	57.3	23.2	513	8920	0.62	3.28	0.00	0.000	4	0.000	0.000	2517	3552	1621
9076	1.24	155.7	34.5	14.3	539	9085	0.15	2.65	0.00	0.000	6	0.000	0.000	2494	1905	1610
9303	end climb: SURFACE_DEPTH_REACHED
state	9303	begin surface coast
9316	end surface coast: CONTROL_FINISHED_OK
state	9316	begin surface