Glider dive log

PortSusan 23Jul07 * 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 11 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 7 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 -449237.56 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 -449237.56

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 7 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 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 113529,6648.316,-6034.538,29,1.1,30,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6658.464,-6033.093

_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 113958,6648.316,-6034.538,13,1.1,14,18.0 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 -0.01,5.109,-1.662 XPDR_PINGS -1

FINISH 0.0,1.024337 ALTIM_TOP_PING 19.3,20.5

SM_CCo 11604,141.52,0.000,2,0,432,450.37 ALTIM_BOTTOM_PING 475.2,69.8

SM_GC -0.00,0.00,0.00,141.52,0.000,0.000,0.000,657,1939,432,-7.43,-0.79,450.37 _24V_AH 23.7,61.571

RAFOS_CLK 0 _10V_AH 9.7,9.334

RAFOS 0,1160568261,12.083333,12.072500,80,0,0,0,0,0,507,0,0,0,0,0 DATA_FILE_SIZE 25324,701

RAFOS_FIX 6647.858398,-6031.366211,111006,121252,4,80,0.98 CFSIZE 255582208,242315264

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,123,1163,2,0

TT8_MAMPS 0.024544 SOUNDSPEED 1470.2

HUMID 2300 CURRENT 0.055,267.4,1

INTERNAL_PRESSURE 25.9772 GPS 111006,145755,6649.298,-6034.466,13,1.1,13,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 52 119 148.07 SBE_CT 567 24 322.77

Roll_motor 151 60 214.83 nil 0 0 0.00

VBD_pump_during_apogee 327 1300 10078.72 nil 0 0 0.00

VBD_pump_during_surface 141 600 2012.49 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 86 223 457.70

Transponder_ping 4 420 42.30

GPS 14 50 7.01

TT8 2158 19 417.16

LPSleep 7355 2 164.82

TT8_Active 792 19 153.17

TT8_Sampling 818 39 316.90

TT8_CF8 914 45 407.32

TT8_Kalman 0 0 0.00

Analog_circuits 1507 12 175.52

GPS_charging 0 0 0.00

Compass 698 26 176.20

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 0 126 0.00 0.00 -76.70 0.000 6 0.000 0.000 656 1832 2747

132 -1.49 -116.8 -0.0 0.0 9 142 7.00 0.00 0.00 0.000 6 0.000 0.000 2003 1845 2749

500 -1.61 -116.8 39.7 -7.7 70 508 0.65 0.00 0.00 0.000 6 0.000 0.000 1840 1841 2750

866 -1.20 -116.8 92.1 -14.2 131 873 0.93 0.00 0.00 0.000 6 0.000 0.000 2073 1832 2741

1203 -1.44 -116.8 111.1 -5.2 162 1211 0.75 3.03 0.00 0.000 4 0.000 0.000 1898 331 2749

1254 -1.22 -116.8 116.1 -11.3 164 1263 0.77 3.53 0.00 0.000 6 0.000 0.000 2018 2228 2739

1590 -1.28 -116.8 139.5 -6.8 180 1596 0.00 3.25 0.00 0.000 4 0.000 0.000 1990 587 2743

1652 -1.37 -116.8 144.2 -6.9 182 1661 0.50 2.92 0.00 0.000 6 0.000 0.000 1876 2254 2752

1972 -1.09 -116.8 177.1 -10.4 198 1981 1.12 3.17 0.00 0.000 4 0.000 0.000 2064 409 2742

2025 -1.35 -116.8 180.5 -4.8 200 2032 0.77 2.88 0.00 0.000 6 0.000 0.000 1960 2073 2749

2359 -1.24 -116.8 206.9 -8.1 216 2367 0.55 3.22 0.00 0.000 4 0.000 0.000 2039 381 2748

2444 -1.49 -116.8 211.7 -4.5 219 2458 0.80 3.38 0.00 0.000 6 0.000 0.000 1865 2212 2744

2773 -1.24 -116.8 242.0 -9.4 235 2776 0.77 0.00 0.00 0.000 6 0.000 0.000 2063 2197 2741

3083 -1.45 -116.8 257.3 -4.5 250 3091 1.10 3.22 0.00 0.000 4 0.000 0.000 1898 378 2743

3146 -1.23 -116.8 262.7 -9.6 252 3155 0.77 3.38 0.00 0.000 6 0.000 0.000 2068 2208 2744

3472 -1.44 -116.8 277.8 -4.6 268 3480 0.88 2.97 0.00 0.000 4 0.000 0.000 1903 551 2747

3551 -1.22 -116.8 284.3 -9.0 271 3559 0.77 3.10 0.00 0.000 6 0.000 0.000 2061 2238 2744

3882 -1.44 -116.8 300.3 -4.5 287 3890 0.82 3.75 0.00 0.000 4 0.000 0.000 1866 568 2746

3967 -1.19 -116.8 307.0 -9.2 290 3980 0.93 2.70 0.00 0.000 6 0.000 0.000 2052 1925 2745

4296 -1.42 -116.8 321.9 -4.1 306 4304 0.77 2.95 0.00 0.000 4 0.000 0.000 1889 433 2749

4331 -1.22 -116.8 325.0 -9.3 307 4344 0.85 3.45 0.00 0.000 6 0.000 0.000 2083 2277 2741

4661 -1.47 -116.8 338.8 -4.1 323 4670 1.08 3.47 0.00 0.000 4 0.000 0.000 1875 455 2749

4738 -1.28 -116.8 344.2 -8.2 326 4746 0.82 3.00 0.00 0.000 6 0.000 0.000 2070 2157 2739

5073 -1.55 -116.8 359.0 -3.9 342 5081 0.93 3.33 0.00 0.000 4 0.000 0.000 1879 329 2748

5149 -1.36 -116.8 364.2 -8.5 345 5157 0.52 2.75 0.00 0.000 6 0.000 0.000 2002 2039 2740

5485 -1.44 -116.8 383.3 -5.4 361 5492 0.35 2.97 0.00 0.000 4 0.000 0.000 1906 385 2750

5574 -1.24 -116.8 390.1 -8.7 364 5583 0.77 2.97 0.00 0.000 6 0.000 0.000 2065 1915 2746

5899 -1.50 -116.8 403.9 -3.9 380 5905 0.77 2.20 0.00 0.000 4 0.000 0.000 1910 591 2744

5921 -1.58 -116.8 405.1 -4.1 381 5926 0.00 2.38 0.00 0.000 6 0.000 0.000 1902 2074 2746

6259 -1.36 -116.8 432.2 -8.1 397 6267 0.55 3.25 0.00 0.000 4 0.000 0.000 1962 393 2747

6310 -1.36 -116.8 436.5 -6.5 399 6316 0.03 3.10 0.00 0.000 6 0.000 0.000 1985 1903 2745

6641 -1.31 -116.8 456.3 -6.4 415 6646 0.00 2.65 0.00 0.000 4 0.000 0.000 1953 426 2745

6716 -1.31 -116.8 461.6 -6.4 418 6721 0.00 3.12 0.00 0.000 6 0.000 0.000 1939 2074 2744

7042 -1.26 -116.8 481.8 -6.4 433 7043 0.00 0.00 0.00 0.000 6 0.000 0.000 1968 2069 2745

7364 -1.26 -116.8 502.7 -6.4 448 7370 0.03 2.72 0.00 0.000 4 0.000 0.000 1964 402 2743

7429 -1.24 -116.8 506.9 -6.6 449 7436 0.30 3.03 0.00 0.000 6 0.000 0.000 2022 2075 2752

7780 -1.48 -116.8 524.0 -4.9 458 7786 0.57 2.67 0.00 0.000 4 0.000 0.000 1895 3612 2746

7918 end dive: BOTTOM_OBSTACLE_DETECTED

state 7919 begin apogee

7935 -0.25 0.0 535.1 7.9 461 8054 1.77 0.00 115.10 0.000 6 0.000 0.000 2266 1739 2266

8055 end apogee: CONTROL_FINISHED_OK

state 8055 begin climb

8061 1.49 116.8 535.8 0.0 464 8186 1.83 2.03 111.47 0.001 4 0.000 0.000 2662 365 1788

8211 1.19 116.8 506.2 26.9 466 8220 0.85 3.22 0.17 0.000 6 0.000 0.000 2475 2220 1783

8551 1.36 146.6 466.2 11.4 481 8588 0.43 3.22 28.00 0.001 4 0.000 0.000 2594 383 1661

8636 1.25 146.6 448.8 22.1 484 8649 0.52 3.55 0.00 0.000 6 0.000 0.000 2476 2267 1671

8966 1.46 165.0 405.7 12.3 500 8993 0.75 4.05 17.62 0.001 4 0.000 0.000 2631 440 1594

9046 1.20 165.0 386.0 28.2 503 9055 0.77 3.22 0.73 0.000 6 0.000 0.000 2478 2128 1582

9376 1.43 184.9 342.4 12.2 519 9403 1.60 3.72 18.30 0.001 4 0.000 0.000 2659 275 1504

9468 1.20 184.9 318.6 28.6 523 9477 0.82 3.15 0.93 0.001 6 0.000 0.000 2482 2004 1506

9798 1.44 201.6 275.5 12.4 539 9823 0.70 3.45 16.02 0.001 4 0.000 0.000 2649 3677 1438

9878 1.14 201.6 256.4 29.3 542 9886 0.85 2.97 0.00 0.000 6 0.000 0.000 2468 1969 1436

10218 1.33 201.6 207.5 13.8 558 10226 0.57 3.17 0.00 0.000 4 0.000 0.000 2594 305 1441

10252 1.26 201.6 199.8 23.1 559 10267 0.50 3.88 0.17 0.001 6 0.000 0.000 2476 2009 1435

10577 1.33 201.6 151.7 15.4 575 10580 0.55 0.00 0.00 0.000 6 0.000 0.000 2546 2007 1443

10886 1.38 201.6 99.4 17.0 590 10895 0.35 3.25 0.00 0.000 4 0.000 0.000 2633 336 1436

10936 1.16 201.6 87.2 28.2 597 10945 0.77 3.28 0.00 0.000 6 0.000 0.000 2466 1982 1434

11304 1.41 224.0 40.4 12.0 658 11335 0.77 3.50 18.60 0.001 4 0.000 0.000 2633 286 1340

11359 1.18 224.0 28.5 28.5 665 11368 0.77 3.28 0.00 0.000 6 0.000 0.000 2469 1936 1351

11555 end climb: SURFACE_DEPTH_REACHED

state 11555 begin surface coast

11575 end surface coast: CONTROL_FINISHED_OK

state 11575 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	11	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	7	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	-449237.56	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	113529,6648.316,-6034.538,29,1.1,30,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6658.464,-6033.093
_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	113958,6648.316,-6034.538,13,1.1,14,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.01,5.109,-1.662	XPDR_PINGS	-1
FINISH	0.0,1.024337	ALTIM_TOP_PING	19.3,20.5
SM_CCo	11604,141.52,0.000,2,0,432,450.37	ALTIM_BOTTOM_PING	475.2,69.8
SM_GC	-0.00,0.00,0.00,141.52,0.000,0.000,0.000,657,1939,432,-7.43,-0.79,450.37	_24V_AH	23.7,61.571
RAFOS_CLK	0	_10V_AH	9.7,9.334
RAFOS	0,1160568261,12.083333,12.072500,80,0,0,0,0,0,507,0,0,0,0,0	DATA_FILE_SIZE	25324,701
RAFOS_FIX	6647.858398,-6031.366211,111006,121252,4,80,0.98	CFSIZE	255582208,242315264
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,123,1163,2,0
TT8_MAMPS	0.024544	SOUNDSPEED	1470.2
HUMID	2300	CURRENT	0.055,267.4,1
INTERNAL_PRESSURE	25.9772	GPS	111006,145755,6649.298,-6034.466,13,1.1,13,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	52	119	148.07	SBE_CT	567	24	322.77
Roll_motor	151	60	214.83	nil	0	0	0.00
VBD_pump_during_apogee	327	1300	10078.72	nil	0	0	0.00
VBD_pump_during_surface	141	600	2012.49	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	457.70
Transponder_ping	4	420	42.30
GPS	14	50	7.01
TT8	2158	19	417.16
LPSleep	7355	2	164.82
TT8_Active	792	19	153.17
TT8_Sampling	818	39	316.90
TT8_CF8	914	45	407.32
TT8_Kalman	0	0	0.00
Analog_circuits	1507	12	175.52
GPS_charging	0	0	0.00
Compass	698	26	176.20
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	126	0.00	0.00	-76.70	0.000	6	0.000	0.000	656	1832	2747
132	-1.49	-116.8	-0.0	0.0	9	142	7.00	0.00	0.00	0.000	6	0.000	0.000	2003	1845	2749
500	-1.61	-116.8	39.7	-7.7	70	508	0.65	0.00	0.00	0.000	6	0.000	0.000	1840	1841	2750
866	-1.20	-116.8	92.1	-14.2	131	873	0.93	0.00	0.00	0.000	6	0.000	0.000	2073	1832	2741
1203	-1.44	-116.8	111.1	-5.2	162	1211	0.75	3.03	0.00	0.000	4	0.000	0.000	1898	331	2749
1254	-1.22	-116.8	116.1	-11.3	164	1263	0.77	3.53	0.00	0.000	6	0.000	0.000	2018	2228	2739
1590	-1.28	-116.8	139.5	-6.8	180	1596	0.00	3.25	0.00	0.000	4	0.000	0.000	1990	587	2743
1652	-1.37	-116.8	144.2	-6.9	182	1661	0.50	2.92	0.00	0.000	6	0.000	0.000	1876	2254	2752
1972	-1.09	-116.8	177.1	-10.4	198	1981	1.12	3.17	0.00	0.000	4	0.000	0.000	2064	409	2742
2025	-1.35	-116.8	180.5	-4.8	200	2032	0.77	2.88	0.00	0.000	6	0.000	0.000	1960	2073	2749
2359	-1.24	-116.8	206.9	-8.1	216	2367	0.55	3.22	0.00	0.000	4	0.000	0.000	2039	381	2748
2444	-1.49	-116.8	211.7	-4.5	219	2458	0.80	3.38	0.00	0.000	6	0.000	0.000	1865	2212	2744
2773	-1.24	-116.8	242.0	-9.4	235	2776	0.77	0.00	0.00	0.000	6	0.000	0.000	2063	2197	2741
3083	-1.45	-116.8	257.3	-4.5	250	3091	1.10	3.22	0.00	0.000	4	0.000	0.000	1898	378	2743
3146	-1.23	-116.8	262.7	-9.6	252	3155	0.77	3.38	0.00	0.000	6	0.000	0.000	2068	2208	2744
3472	-1.44	-116.8	277.8	-4.6	268	3480	0.88	2.97	0.00	0.000	4	0.000	0.000	1903	551	2747
3551	-1.22	-116.8	284.3	-9.0	271	3559	0.77	3.10	0.00	0.000	6	0.000	0.000	2061	2238	2744
3882	-1.44	-116.8	300.3	-4.5	287	3890	0.82	3.75	0.00	0.000	4	0.000	0.000	1866	568	2746
3967	-1.19	-116.8	307.0	-9.2	290	3980	0.93	2.70	0.00	0.000	6	0.000	0.000	2052	1925	2745
4296	-1.42	-116.8	321.9	-4.1	306	4304	0.77	2.95	0.00	0.000	4	0.000	0.000	1889	433	2749
4331	-1.22	-116.8	325.0	-9.3	307	4344	0.85	3.45	0.00	0.000	6	0.000	0.000	2083	2277	2741
4661	-1.47	-116.8	338.8	-4.1	323	4670	1.08	3.47	0.00	0.000	4	0.000	0.000	1875	455	2749
4738	-1.28	-116.8	344.2	-8.2	326	4746	0.82	3.00	0.00	0.000	6	0.000	0.000	2070	2157	2739
5073	-1.55	-116.8	359.0	-3.9	342	5081	0.93	3.33	0.00	0.000	4	0.000	0.000	1879	329	2748
5149	-1.36	-116.8	364.2	-8.5	345	5157	0.52	2.75	0.00	0.000	6	0.000	0.000	2002	2039	2740
5485	-1.44	-116.8	383.3	-5.4	361	5492	0.35	2.97	0.00	0.000	4	0.000	0.000	1906	385	2750
5574	-1.24	-116.8	390.1	-8.7	364	5583	0.77	2.97	0.00	0.000	6	0.000	0.000	2065	1915	2746
5899	-1.50	-116.8	403.9	-3.9	380	5905	0.77	2.20	0.00	0.000	4	0.000	0.000	1910	591	2744
5921	-1.58	-116.8	405.1	-4.1	381	5926	0.00	2.38	0.00	0.000	6	0.000	0.000	1902	2074	2746
6259	-1.36	-116.8	432.2	-8.1	397	6267	0.55	3.25	0.00	0.000	4	0.000	0.000	1962	393	2747
6310	-1.36	-116.8	436.5	-6.5	399	6316	0.03	3.10	0.00	0.000	6	0.000	0.000	1985	1903	2745
6641	-1.31	-116.8	456.3	-6.4	415	6646	0.00	2.65	0.00	0.000	4	0.000	0.000	1953	426	2745
6716	-1.31	-116.8	461.6	-6.4	418	6721	0.00	3.12	0.00	0.000	6	0.000	0.000	1939	2074	2744
7042	-1.26	-116.8	481.8	-6.4	433	7043	0.00	0.00	0.00	0.000	6	0.000	0.000	1968	2069	2745
7364	-1.26	-116.8	502.7	-6.4	448	7370	0.03	2.72	0.00	0.000	4	0.000	0.000	1964	402	2743
7429	-1.24	-116.8	506.9	-6.6	449	7436	0.30	3.03	0.00	0.000	6	0.000	0.000	2022	2075	2752
7780	-1.48	-116.8	524.0	-4.9	458	7786	0.57	2.67	0.00	0.000	4	0.000	0.000	1895	3612	2746
7918	end dive: BOTTOM_OBSTACLE_DETECTED
state	7919	begin apogee
7935	-0.25	0.0	535.1	7.9	461	8054	1.77	0.00	115.10	0.000	6	0.000	0.000	2266	1739	2266
8055	end apogee: CONTROL_FINISHED_OK
state	8055	begin climb
8061	1.49	116.8	535.8	0.0	464	8186	1.83	2.03	111.47	0.001	4	0.000	0.000	2662	365	1788
8211	1.19	116.8	506.2	26.9	466	8220	0.85	3.22	0.17	0.000	6	0.000	0.000	2475	2220	1783
8551	1.36	146.6	466.2	11.4	481	8588	0.43	3.22	28.00	0.001	4	0.000	0.000	2594	383	1661
8636	1.25	146.6	448.8	22.1	484	8649	0.52	3.55	0.00	0.000	6	0.000	0.000	2476	2267	1671
8966	1.46	165.0	405.7	12.3	500	8993	0.75	4.05	17.62	0.001	4	0.000	0.000	2631	440	1594
9046	1.20	165.0	386.0	28.2	503	9055	0.77	3.22	0.73	0.000	6	0.000	0.000	2478	2128	1582
9376	1.43	184.9	342.4	12.2	519	9403	1.60	3.72	18.30	0.001	4	0.000	0.000	2659	275	1504
9468	1.20	184.9	318.6	28.6	523	9477	0.82	3.15	0.93	0.001	6	0.000	0.000	2482	2004	1506
9798	1.44	201.6	275.5	12.4	539	9823	0.70	3.45	16.02	0.001	4	0.000	0.000	2649	3677	1438
9878	1.14	201.6	256.4	29.3	542	9886	0.85	2.97	0.00	0.000	6	0.000	0.000	2468	1969	1436
10218	1.33	201.6	207.5	13.8	558	10226	0.57	3.17	0.00	0.000	4	0.000	0.000	2594	305	1441
10252	1.26	201.6	199.8	23.1	559	10267	0.50	3.88	0.17	0.001	6	0.000	0.000	2476	2009	1435
10577	1.33	201.6	151.7	15.4	575	10580	0.55	0.00	0.00	0.000	6	0.000	0.000	2546	2007	1443
10886	1.38	201.6	99.4	17.0	590	10895	0.35	3.25	0.00	0.000	4	0.000	0.000	2633	336	1436
10936	1.16	201.6	87.2	28.2	597	10945	0.77	3.28	0.00	0.000	6	0.000	0.000	2466	1982	1434
11304	1.41	224.0	40.4	12.0	658	11335	0.77	3.50	18.60	0.001	4	0.000	0.000	2633	286	1340
11359	1.18	224.0	28.5	28.5	665	11368	0.77	3.28	0.00	0.000	6	0.000	0.000	2469	1936	1351
11555	end climb: SURFACE_DEPTH_REACHED
state	11555	begin surface coast
11575	end surface coast: CONTROL_FINISHED_OK
state	11575	begin surface