Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 27 * 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 27 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 3 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 16 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 -449269.81 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 -449269.81

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 3 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 16 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 27 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 145755,6649.298,-6034.466,13,1.1,13,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6659.446,-6033.022

_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 150315,6649.298,-6034.466,31,1.1,31,18.0 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 -0.00,4.553,-1.675 XPDR_PINGS -1

FINISH -0.0,1.024279 ALTIM_TOP_PING 19.0,18.2

SM_CCo 10477,115.05,0.000,0,0,432,450.86 ALTIM_BOTTOM_PING 500.3,46.5

SM_GC 0.00,0.00,0.00,115.05,0.000,0.000,0.000,596,2265,432,-7.68,8.06,450.86 _24V_AH 23.7,61.989

RAFOS_CLK 0 _10V_AH 9.7,9.389

RAFOS 4,1160580558,15.500000,15.488334,40,0,0,0,0,0,0,0,0,0,0,0 DATA_FILE_SIZE 22187,621

RAFOS_FIX 6648.578613,-6030.818359,111006,161620,4,80,0.64 CFSIZE 255582208,242249728

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,100,1127,1,0

TT8_MAMPS 0.023777 SOUNDSPEED 1470.5

HUMID 2265 CURRENT 0.056,267.9,1

INTERNAL_PRESSURE 25.9674 GPS 111006,180155,6650.181,-6034.408,24,1.1,25,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 47 119 133.47 SBE_CT 506 24 287.93

Roll_motor 144 60 205.62 nil 0 0 0.00

VBD_pump_during_apogee 363 1300 11201.75 nil 0 0 0.00

VBD_pump_during_surface 115 600 1636.01 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 91 223 481.85

Transponder_ping 4 420 47.28

GPS 31 50 15.33

TT8 1906 19 368.43

LPSleep 6609 2 148.09

TT8_Active 771 19 149.02

TT8_Sampling 760 39 294.47

TT8_CF8 868 45 386.92

TT8_Kalman 0 0 0.00

Analog_circuits 1422 12 165.57

GPS_charging 0 0 0.00

Compass 630 26 159.13

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 0 128 0.00 0.00 -76.72 0.000 6 0.000 0.000 647 1943 2742

135 -1.49 -116.8 -0.0 0.0 9 152 6.30 2.92 0.00 0.000 4 0.000 0.000 1989 3608 2740

382 -1.49 -116.8 34.5 -9.5 49 391 0.00 3.80 0.00 0.000 6 0.000 0.000 1966 1764 2742

750 -1.49 -116.8 67.1 -8.5 110 758 0.00 2.97 0.00 0.000 4 0.000 0.000 1981 400 2737

780 -1.51 -116.8 69.6 -8.5 114 789 0.43 3.55 0.00 0.000 6 0.000 0.000 1861 2114 2739

1139 -1.18 -116.8 112.9 -12.1 160 1146 0.80 2.95 0.00 0.000 4 0.000 0.000 2053 3620 2746

1218 -1.41 -116.8 119.0 -5.8 163 1227 0.70 3.85 0.00 0.000 6 0.000 0.000 1925 1802 2742

1556 -1.25 -116.8 149.4 -9.3 179 1562 0.52 2.42 0.00 0.000 4 0.000 0.000 2055 315 2739

1604 -1.54 -116.8 153.6 -4.9 181 1612 0.77 3.40 0.00 0.000 6 0.000 0.000 1884 2143 2742

1935 -1.23 -116.8 188.0 -10.6 197 1937 0.93 0.00 0.00 0.000 6 0.000 0.000 2051 2119 2744

2249 -1.43 -116.8 204.6 -4.9 212 2257 0.73 3.53 0.00 0.000 4 0.000 0.000 1875 302 2743

2349 -1.19 -116.8 214.2 -10.0 216 2357 0.80 3.45 0.00 0.000 6 0.000 0.000 1997 2141 2744

2679 -1.21 -116.8 235.9 -6.4 232 2687 0.00 3.67 0.00 0.000 4 0.000 0.000 1989 315 2740

2720 -1.29 -116.8 238.6 -6.4 233 2729 0.00 3.28 0.00 0.000 6 0.000 0.000 2000 1989 2741

3045 -1.32 -116.8 258.3 -6.1 249 3053 0.03 3.25 0.00 0.000 4 0.000 0.000 1945 333 2746

3108 -1.22 -116.8 263.4 -7.8 251 3117 0.52 3.38 0.00 0.000 6 0.000 0.000 2056 2026 2745

3433 -1.39 -116.8 279.0 -4.7 267 3440 0.35 3.03 0.00 0.000 4 0.000 0.000 1925 358 2740

3495 -1.28 -116.8 283.7 -7.7 269 3504 0.52 3.62 0.00 0.000 6 0.000 0.000 2062 2204 2742

3819 -1.46 -116.8 299.3 -4.7 285 3831 0.80 3.58 0.00 0.000 4 0.000 0.000 1929 322 2742

3912 -1.39 -116.8 305.8 -7.8 288 3921 0.43 3.35 0.00 0.000 6 0.000 0.000 2003 2174 2738

4240 -1.42 -116.8 325.2 -5.9 304 4247 0.05 3.20 0.00 0.000 4 0.000 0.000 2005 258 2743

4266 -1.47 -116.8 327.2 -5.8 305 4274 0.50 3.88 0.00 0.000 6 0.000 0.000 1857 2228 2737

4601 -1.18 -116.8 356.7 -9.0 321 4609 0.80 3.15 0.00 0.000 4 0.000 0.000 2079 541 2748

4700 -1.42 -116.8 361.3 -4.2 325 4708 0.77 2.85 0.00 0.000 6 0.000 0.000 1860 2086 2748

5035 -1.14 -116.8 389.9 -8.8 341 5043 0.68 3.53 0.00 0.000 4 0.000 0.000 2072 303 2742

5099 -1.40 -116.8 393.6 -4.3 343 5108 0.77 2.95 0.00 0.000 6 0.000 0.000 1876 2129 2743

5418 -1.12 -116.8 420.2 -8.6 359 5428 0.75 3.25 0.00 0.000 4 0.000 0.000 2082 270 2742

5494 -1.39 -116.8 423.9 -4.0 362 5502 0.77 3.60 0.00 0.000 6 0.000 0.000 1883 2204 2741

5830 -1.11 -116.8 451.7 -8.5 378 5833 1.17 0.00 0.00 0.000 6 0.000 0.000 2063 2182 2746

6144 -1.35 -116.8 465.1 -4.0 393 6152 0.98 3.12 0.00 0.000 4 0.000 0.000 1943 332 2745

6196 -1.29 -116.8 468.5 -6.9 395 6204 0.12 3.65 0.00 0.000 6 0.000 0.000 1932 1988 2742

6526 -1.20 -116.8 490.3 -6.6 411 6528 0.38 0.00 0.00 0.000 6 0.000 0.000 2060 1984 2744

6859 -1.45 -116.8 503.3 -3.8 425 6867 0.85 2.88 0.00 0.000 4 0.000 0.000 1957 529 2741

6989 -1.41 -116.8 511.2 -6.4 427 7000 0.00 3.42 0.00 0.000 6 0.000 0.000 1949 2174 2744

7329 -1.34 -116.8 533.0 -6.4 436 7334 0.00 2.78 0.00 0.000 4 0.000 0.000 1957 3509 2740

7381 end dive: BOTTOM_OBSTACLE_DETECTED

state 7381 begin apogee

7397 -0.25 0.0 536.8 6.5 437 7521 1.40 0.00 114.05 0.000 6 0.000 0.000 2268 1700 2260

7521 end apogee: CONTROL_FINISHED_OK

state 7521 begin climb

7527 1.49 116.8 537.5 0.0 440 7653 2.28 1.85 112.15 0.001 4 0.000 0.000 2677 491 1793

7702 1.16 116.8 500.9 25.9 443 7710 1.10 2.75 0.00 0.000 6 0.000 0.000 2418 2001 1788

8046 1.55 178.0 466.8 8.9 458 8115 1.15 3.22 58.70 0.001 4 0.000 0.000 2676 322 1540

8146 1.26 178.0 439.6 30.5 462 8155 1.02 3.83 0.12 0.001 6 0.000 0.000 2428 2196 1534

8475 1.61 216.5 399.6 10.7 478 8523 1.33 3.22 37.60 0.000 4 0.000 0.000 2676 332 1372

8610 1.31 216.5 357.9 32.6 483 8619 0.80 3.47 0.00 0.000 6 0.000 0.000 2494 2157 1377

8934 1.47 216.5 306.5 14.9 499 8943 0.98 3.60 0.00 0.000 4 0.000 0.000 2600 343 1377

8992 1.33 216.5 292.1 26.6 501 9004 0.52 2.97 0.00 0.000 6 0.000 0.000 2489 1962 1379

9320 1.49 216.5 241.7 14.9 517 9328 0.55 3.15 0.00 0.000 4 0.000 0.000 2604 3655 1378

9392 1.31 216.5 224.2 26.6 520 9400 0.52 3.38 0.00 0.000 6 0.000 0.000 2502 1933 1376

9732 1.33 216.5 164.8 15.5 536 9734 0.45 0.00 0.00 0.000 6 0.000 0.000 2620 1930 1375

10043 1.15 216.5 87.9 25.3 557 10052 0.75 3.00 0.00 0.000 4 0.000 0.000 2406 3632 1376

10217 1.56 266.9 68.2 9.7 585 10274 1.08 3.75 40.95 0.001 6 0.000 0.000 2681 1768 1169

10439 end climb: SURFACE_DEPTH_REACHED

state 10439 begin surface coast

10446 end surface coast: CONTROL_FINISHED_OK

state 10447 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	27	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	3	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	16	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	-449269.81	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	145755,6649.298,-6034.466,13,1.1,13,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6659.446,-6033.022
_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	150315,6649.298,-6034.466,31,1.1,31,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.553,-1.675	XPDR_PINGS	-1
FINISH	-0.0,1.024279	ALTIM_TOP_PING	19.0,18.2
SM_CCo	10477,115.05,0.000,0,0,432,450.86	ALTIM_BOTTOM_PING	500.3,46.5
SM_GC	0.00,0.00,0.00,115.05,0.000,0.000,0.000,596,2265,432,-7.68,8.06,450.86	_24V_AH	23.7,61.989
RAFOS_CLK	0	_10V_AH	9.7,9.389
RAFOS	4,1160580558,15.500000,15.488334,40,0,0,0,0,0,0,0,0,0,0,0	DATA_FILE_SIZE	22187,621
RAFOS_FIX	6648.578613,-6030.818359,111006,161620,4,80,0.64	CFSIZE	255582208,242249728
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,100,1127,1,0
TT8_MAMPS	0.023777	SOUNDSPEED	1470.5
HUMID	2265	CURRENT	0.056,267.9,1
INTERNAL_PRESSURE	25.9674	GPS	111006,180155,6650.181,-6034.408,24,1.1,25,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	47	119	133.47	SBE_CT	506	24	287.93
Roll_motor	144	60	205.62	nil	0	0	0.00
VBD_pump_during_apogee	363	1300	11201.75	nil	0	0	0.00
VBD_pump_during_surface	115	600	1636.01	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	91	223	481.85
Transponder_ping	4	420	47.28
GPS	31	50	15.33
TT8	1906	19	368.43
LPSleep	6609	2	148.09
TT8_Active	771	19	149.02
TT8_Sampling	760	39	294.47
TT8_CF8	868	45	386.92
TT8_Kalman	0	0	0.00
Analog_circuits	1422	12	165.57
GPS_charging	0	0	0.00
Compass	630	26	159.13
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	128	0.00	0.00	-76.72	0.000	6	0.000	0.000	647	1943	2742
135	-1.49	-116.8	-0.0	0.0	9	152	6.30	2.92	0.00	0.000	4	0.000	0.000	1989	3608	2740
382	-1.49	-116.8	34.5	-9.5	49	391	0.00	3.80	0.00	0.000	6	0.000	0.000	1966	1764	2742
750	-1.49	-116.8	67.1	-8.5	110	758	0.00	2.97	0.00	0.000	4	0.000	0.000	1981	400	2737
780	-1.51	-116.8	69.6	-8.5	114	789	0.43	3.55	0.00	0.000	6	0.000	0.000	1861	2114	2739
1139	-1.18	-116.8	112.9	-12.1	160	1146	0.80	2.95	0.00	0.000	4	0.000	0.000	2053	3620	2746
1218	-1.41	-116.8	119.0	-5.8	163	1227	0.70	3.85	0.00	0.000	6	0.000	0.000	1925	1802	2742
1556	-1.25	-116.8	149.4	-9.3	179	1562	0.52	2.42	0.00	0.000	4	0.000	0.000	2055	315	2739
1604	-1.54	-116.8	153.6	-4.9	181	1612	0.77	3.40	0.00	0.000	6	0.000	0.000	1884	2143	2742
1935	-1.23	-116.8	188.0	-10.6	197	1937	0.93	0.00	0.00	0.000	6	0.000	0.000	2051	2119	2744
2249	-1.43	-116.8	204.6	-4.9	212	2257	0.73	3.53	0.00	0.000	4	0.000	0.000	1875	302	2743
2349	-1.19	-116.8	214.2	-10.0	216	2357	0.80	3.45	0.00	0.000	6	0.000	0.000	1997	2141	2744
2679	-1.21	-116.8	235.9	-6.4	232	2687	0.00	3.67	0.00	0.000	4	0.000	0.000	1989	315	2740
2720	-1.29	-116.8	238.6	-6.4	233	2729	0.00	3.28	0.00	0.000	6	0.000	0.000	2000	1989	2741
3045	-1.32	-116.8	258.3	-6.1	249	3053	0.03	3.25	0.00	0.000	4	0.000	0.000	1945	333	2746
3108	-1.22	-116.8	263.4	-7.8	251	3117	0.52	3.38	0.00	0.000	6	0.000	0.000	2056	2026	2745
3433	-1.39	-116.8	279.0	-4.7	267	3440	0.35	3.03	0.00	0.000	4	0.000	0.000	1925	358	2740
3495	-1.28	-116.8	283.7	-7.7	269	3504	0.52	3.62	0.00	0.000	6	0.000	0.000	2062	2204	2742
3819	-1.46	-116.8	299.3	-4.7	285	3831	0.80	3.58	0.00	0.000	4	0.000	0.000	1929	322	2742
3912	-1.39	-116.8	305.8	-7.8	288	3921	0.43	3.35	0.00	0.000	6	0.000	0.000	2003	2174	2738
4240	-1.42	-116.8	325.2	-5.9	304	4247	0.05	3.20	0.00	0.000	4	0.000	0.000	2005	258	2743
4266	-1.47	-116.8	327.2	-5.8	305	4274	0.50	3.88	0.00	0.000	6	0.000	0.000	1857	2228	2737
4601	-1.18	-116.8	356.7	-9.0	321	4609	0.80	3.15	0.00	0.000	4	0.000	0.000	2079	541	2748
4700	-1.42	-116.8	361.3	-4.2	325	4708	0.77	2.85	0.00	0.000	6	0.000	0.000	1860	2086	2748
5035	-1.14	-116.8	389.9	-8.8	341	5043	0.68	3.53	0.00	0.000	4	0.000	0.000	2072	303	2742
5099	-1.40	-116.8	393.6	-4.3	343	5108	0.77	2.95	0.00	0.000	6	0.000	0.000	1876	2129	2743
5418	-1.12	-116.8	420.2	-8.6	359	5428	0.75	3.25	0.00	0.000	4	0.000	0.000	2082	270	2742
5494	-1.39	-116.8	423.9	-4.0	362	5502	0.77	3.60	0.00	0.000	6	0.000	0.000	1883	2204	2741
5830	-1.11	-116.8	451.7	-8.5	378	5833	1.17	0.00	0.00	0.000	6	0.000	0.000	2063	2182	2746
6144	-1.35	-116.8	465.1	-4.0	393	6152	0.98	3.12	0.00	0.000	4	0.000	0.000	1943	332	2745
6196	-1.29	-116.8	468.5	-6.9	395	6204	0.12	3.65	0.00	0.000	6	0.000	0.000	1932	1988	2742
6526	-1.20	-116.8	490.3	-6.6	411	6528	0.38	0.00	0.00	0.000	6	0.000	0.000	2060	1984	2744
6859	-1.45	-116.8	503.3	-3.8	425	6867	0.85	2.88	0.00	0.000	4	0.000	0.000	1957	529	2741
6989	-1.41	-116.8	511.2	-6.4	427	7000	0.00	3.42	0.00	0.000	6	0.000	0.000	1949	2174	2744
7329	-1.34	-116.8	533.0	-6.4	436	7334	0.00	2.78	0.00	0.000	4	0.000	0.000	1957	3509	2740
7381	end dive: BOTTOM_OBSTACLE_DETECTED
state	7381	begin apogee
7397	-0.25	0.0	536.8	6.5	437	7521	1.40	0.00	114.05	0.000	6	0.000	0.000	2268	1700	2260
7521	end apogee: CONTROL_FINISHED_OK
state	7521	begin climb
7527	1.49	116.8	537.5	0.0	440	7653	2.28	1.85	112.15	0.001	4	0.000	0.000	2677	491	1793
7702	1.16	116.8	500.9	25.9	443	7710	1.10	2.75	0.00	0.000	6	0.000	0.000	2418	2001	1788
8046	1.55	178.0	466.8	8.9	458	8115	1.15	3.22	58.70	0.001	4	0.000	0.000	2676	322	1540
8146	1.26	178.0	439.6	30.5	462	8155	1.02	3.83	0.12	0.001	6	0.000	0.000	2428	2196	1534
8475	1.61	216.5	399.6	10.7	478	8523	1.33	3.22	37.60	0.000	4	0.000	0.000	2676	332	1372
8610	1.31	216.5	357.9	32.6	483	8619	0.80	3.47	0.00	0.000	6	0.000	0.000	2494	2157	1377
8934	1.47	216.5	306.5	14.9	499	8943	0.98	3.60	0.00	0.000	4	0.000	0.000	2600	343	1377
8992	1.33	216.5	292.1	26.6	501	9004	0.52	2.97	0.00	0.000	6	0.000	0.000	2489	1962	1379
9320	1.49	216.5	241.7	14.9	517	9328	0.55	3.15	0.00	0.000	4	0.000	0.000	2604	3655	1378
9392	1.31	216.5	224.2	26.6	520	9400	0.52	3.38	0.00	0.000	6	0.000	0.000	2502	1933	1376
9732	1.33	216.5	164.8	15.5	536	9734	0.45	0.00	0.00	0.000	6	0.000	0.000	2620	1930	1375
10043	1.15	216.5	87.9	25.3	557	10052	0.75	3.00	0.00	0.000	4	0.000	0.000	2406	3632	1376
10217	1.56	266.9	68.2	9.7	585	10274	1.08	3.75	40.95	0.001	6	0.000	0.000	2681	1768	1169
10439	end climb: SURFACE_DEPTH_REACHED
state	10439	begin surface coast
10446	end surface coast: CONTROL_FINISHED_OK
state	10447	begin surface