Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 28 * 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 28 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 6 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 4 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 -449294.81 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 -449294.81

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 6 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 4 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 28 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 180155,6650.181,-6034.408,24,1.1,25,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6700.329,-6032.965

_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 180635,6650.181,-6034.408,23,1.1,23,18.0 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 -0.00,4.540,-1.671 XPDR_PINGS -1

FINISH 0.0,1.024825 ALTIM_TOP_PING 19.8,19.6

SM_CCo 10084,158.70,0.000,2,0,428,450.62 ALTIM_BOTTOM_PING 476.2,71.4

SM_GC 0.00,0.00,0.00,158.70,0.000,0.000,0.000,607,1748,428,-7.58,-6.67,450.62 _24V_AH 23.7,62.424

RAFOS_CLK 0 _10V_AH 9.7,9.441

RAFOS 0,1160597044,20.083334,20.067778,80,0,0,0,0,0,603,0,0,0,0,0 DATA_FILE_SIZE 22153,621

RAFOS_FIX 6649.437500,-6030.718750,111006,202020,4,80,0.37 CFSIZE 255582208,242171904

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,103,1154,3,0

TT8_MAMPS 0.024544 SOUNDSPEED 1470.3

HUMID 2298 CURRENT 0.050,265.5,1

INTERNAL_PRESSURE 25.9674 GPS 111006,205937,6651.000,-6034.275,21,1.1,22,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 45 119 128.61 SBE_CT 501 24 285.44

Roll_motor 149 60 213.16 nil 0 0 0.00

VBD_pump_during_apogee 301 1300 9273.81 nil 0 0 0.00

VBD_pump_during_surface 158 600 2256.71 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 86 223 457.89

Transponder_ping 4 420 42.30

GPS 24 50 11.83

TT8 1912 19 369.59

LPSleep 6306 2 141.30

TT8_Active 792 19 153.21

TT8_Sampling 718 39 278.22

TT8_CF8 815 45 363.11

TT8_Kalman 0 0 0.00

Analog_circuits 1414 12 164.68

GPS_charging 0 0 0.00

Compass 603 26 152.19

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

34 end surface: CONTROL_FINISHED_OK

state 35 begin dive

41 -1.49 -116.8 0.0 0.0 0 127 0.00 0.00 -76.82 0.000 6 0.000 0.000 602 2259 2747

133 -1.49 -116.8 -0.0 -0.0 10 150 6.57 2.70 0.00 0.000 4 0.000 0.000 2000 3583 2747

439 -1.56 -116.8 36.0 -8.9 60 448 0.47 3.62 0.00 0.000 6 0.000 0.000 1864 1738 2746

806 -1.28 -116.8 81.5 -12.3 121 815 0.70 3.78 0.00 0.000 4 0.000 0.000 2059 3571 2740

1030 -1.49 -116.8 95.3 -5.5 157 1040 0.82 3.45 0.00 0.000 6 0.000 0.000 1880 1877 2752

1367 -1.19 -116.8 134.2 -11.6 178 1373 0.77 2.22 0.00 0.000 4 0.000 0.000 2058 381 2754

1412 -1.43 -116.8 137.8 -5.2 180 1420 0.77 3.25 0.00 0.000 6 0.000 0.000 1868 2218 2744

1748 -1.13 -116.8 172.8 -10.8 196 1756 0.93 3.40 0.00 0.000 4 0.000 0.000 2075 357 2743

1779 -1.27 -116.8 175.1 -5.5 197 1787 0.52 3.22 0.00 0.000 6 0.000 0.000 1951 2189 2751

2114 -1.14 -116.8 202.5 -8.4 213 2122 0.47 3.22 0.00 0.000 4 0.000 0.000 2054 366 2746

2177 -1.35 -116.8 206.8 -5.2 215 2186 0.77 3.28 0.00 0.000 6 0.000 0.000 1855 2184 2749

2502 -1.05 -116.8 238.1 -10.1 231 2510 1.02 3.50 0.00 0.000 4 0.000 0.000 2057 324 2747

2544 -1.28 -116.8 242.5 -8.3 232 2554 0.52 3.58 0.00 0.000 6 0.000 0.000 1923 2181 2751

2869 -1.12 -116.8 266.8 -8.2 248 2877 0.77 3.45 0.00 0.000 4 0.000 0.000 2096 356 2748

2910 -1.52 -116.8 269.5 -3.7 249 2919 1.05 3.53 0.00 0.000 6 0.000 0.000 1919 2186 2751

3235 -1.37 -116.8 294.0 -7.9 265 3243 0.82 3.25 0.00 0.000 4 0.000 0.000 2033 401 2744

3285 -1.58 -116.8 297.2 -4.6 267 3293 0.82 3.42 0.00 0.000 6 0.000 0.000 1853 2204 2752

3621 -1.27 -116.8 328.3 -9.6 283 3629 0.65 3.58 0.00 0.000 4 0.000 0.000 2063 539 2745

3712 -1.48 -116.8 333.3 -4.8 286 3721 0.80 3.53 0.00 0.000 6 0.000 0.000 1853 2251 2745

4036 -1.18 -116.8 362.4 -9.3 302 4044 0.77 3.22 0.00 0.000 4 0.000 0.000 2021 392 2749

4094 -1.26 -116.8 366.9 -5.9 304 4106 0.00 3.35 0.00 0.000 6 0.000 0.000 2000 2085 2742

4423 -1.30 -116.8 385.5 -5.8 320 4431 0.05 3.78 0.00 0.000 4 0.000 0.000 1932 432 2747

4458 -1.23 -116.8 388.3 -7.1 321 4471 0.52 3.30 0.00 0.000 6 0.000 0.000 2085 2098 2748

4787 -1.45 -116.8 403.1 -4.4 337 4796 0.80 3.28 0.00 0.000 4 0.000 0.000 1893 408 2747

4841 -1.18 -116.8 407.5 -8.6 339 4847 0.80 2.45 0.00 0.000 6 0.000 0.000 2057 1943 2755

5172 -1.69 -116.8 423.2 -4.9 355 5181 1.02 3.45 0.00 0.000 4 0.000 0.000 1833 287 2749

5202 -1.40 -116.8 426.0 -9.8 356 5210 0.88 2.95 0.00 0.000 6 0.000 0.000 2011 2131 2757

5537 -1.45 -116.8 445.4 -5.7 372 5545 0.60 3.53 0.00 0.000 4 0.000 0.000 1885 300 2753

5617 -1.25 -116.8 452.3 -9.3 375 5625 0.77 3.83 0.00 0.000 6 0.000 0.000 2003 2140 2750

5952 -1.29 -116.8 472.0 -5.7 391 5957 0.08 2.85 0.00 0.000 4 0.000 0.000 2012 317 2748

5988 -1.38 -116.8 474.4 -5.6 392 5998 0.35 3.33 0.00 0.000 6 0.000 0.000 1935 2123 2748

6308 -1.25 -116.8 496.9 -7.2 408 6315 0.43 3.17 0.00 0.000 4 0.000 0.000 2075 236 2745

6360 -1.52 -116.8 499.6 -4.1 410 6368 0.85 2.92 0.00 0.000 6 0.000 0.000 1896 2055 2752

6705 -1.37 -116.8 527.8 -8.5 419 6712 0.60 2.72 0.00 0.000 4 0.000 0.000 2004 3593 2748

6869 end dive: BOTTOM_OBSTACLE_DETECTED

state 6869 begin apogee

6885 -0.25 0.0 537.7 5.5 422 7010 1.15 0.00 116.50 0.000 6 0.000 0.000 2227 1924 2259

7011 end apogee: CONTROL_FINISHED_OK

state 7011 begin climb

7016 1.49 116.8 538.8 0.0 425 7134 2.05 0.00 113.18 0.000 6 0.000 0.000 2599 1908 1788

7414 1.29 116.8 461.6 21.0 439 7420 0.52 2.75 0.00 0.000 4 0.000 0.000 2515 433 1782

7510 1.48 132.3 449.3 12.5 443 7534 0.52 3.20 14.62 0.001 6 0.000 0.000 2620 1955 1723

7844 1.27 132.3 376.6 22.1 459 7847 0.43 0.00 0.22 0.001 6 0.000 0.000 2515 1953 1727

8158 1.41 142.8 335.0 12.9 474 8182 0.47 3.03 10.48 0.001 4 0.000 0.000 2591 328 1677

8209 1.26 142.8 324.3 22.9 476 8219 0.68 3.53 0.00 0.000 6 0.000 0.000 2501 2158 1677

8550 1.20 142.8 273.3 18.2 492 8556 0.03 2.97 0.00 0.000 4 0.000 0.000 2501 479 1682

8636 1.09 142.8 259.8 21.0 495 8645 0.03 2.95 0.00 0.000 6 0.000 0.000 2498 2155 1680

8961 1.22 149.1 217.0 13.2 511 8974 0.00 2.95 5.75 0.001 4 0.000 0.000 2517 291 1658

9013 1.37 153.6 209.1 13.4 513 9031 0.52 3.58 4.38 0.001 6 0.000 0.000 2616 2091 1633

9341 1.13 153.6 134.6 23.1 529 9349 1.12 2.75 0.00 0.000 4 0.000 0.000 2463 3603 1633

9441 1.47 199.9 122.6 10.1 533 9485 0.77 3.53 35.88 0.001 6 0.000 0.000 2619 1791 1451

9840 1.25 199.9 28.1 24.0 587 9849 0.65 3.53 0.00 0.000 4 0.000 0.000 2449 3583 1455

10021 end climb: SURFACE_DEPTH_REACHED

state 10021 begin surface coast

10051 end surface coast: CONTROL_FINISHED_OK

state 10051 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	28	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	6	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	4	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	-449294.81	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	180155,6650.181,-6034.408,24,1.1,25,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6700.329,-6032.965
_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	180635,6650.181,-6034.408,23,1.1,23,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.540,-1.671	XPDR_PINGS	-1
FINISH	0.0,1.024825	ALTIM_TOP_PING	19.8,19.6
SM_CCo	10084,158.70,0.000,2,0,428,450.62	ALTIM_BOTTOM_PING	476.2,71.4
SM_GC	0.00,0.00,0.00,158.70,0.000,0.000,0.000,607,1748,428,-7.58,-6.67,450.62	_24V_AH	23.7,62.424
RAFOS_CLK	0	_10V_AH	9.7,9.441
RAFOS	0,1160597044,20.083334,20.067778,80,0,0,0,0,0,603,0,0,0,0,0	DATA_FILE_SIZE	22153,621
RAFOS_FIX	6649.437500,-6030.718750,111006,202020,4,80,0.37	CFSIZE	255582208,242171904
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,103,1154,3,0
TT8_MAMPS	0.024544	SOUNDSPEED	1470.3
HUMID	2298	CURRENT	0.050,265.5,1
INTERNAL_PRESSURE	25.9674	GPS	111006,205937,6651.000,-6034.275,21,1.1,22,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	45	119	128.61	SBE_CT	501	24	285.44
Roll_motor	149	60	213.16	nil	0	0	0.00
VBD_pump_during_apogee	301	1300	9273.81	nil	0	0	0.00
VBD_pump_during_surface	158	600	2256.71	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	457.89
Transponder_ping	4	420	42.30
GPS	24	50	11.83
TT8	1912	19	369.59
LPSleep	6306	2	141.30
TT8_Active	792	19	153.21
TT8_Sampling	718	39	278.22
TT8_CF8	815	45	363.11
TT8_Kalman	0	0	0.00
Analog_circuits	1414	12	164.68
GPS_charging	0	0	0.00
Compass	603	26	152.19
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
34	end surface: CONTROL_FINISHED_OK
state	35	begin dive
41	-1.49	-116.8	0.0	0.0	0	127	0.00	0.00	-76.82	0.000	6	0.000	0.000	602	2259	2747
133	-1.49	-116.8	-0.0	-0.0	10	150	6.57	2.70	0.00	0.000	4	0.000	0.000	2000	3583	2747
439	-1.56	-116.8	36.0	-8.9	60	448	0.47	3.62	0.00	0.000	6	0.000	0.000	1864	1738	2746
806	-1.28	-116.8	81.5	-12.3	121	815	0.70	3.78	0.00	0.000	4	0.000	0.000	2059	3571	2740
1030	-1.49	-116.8	95.3	-5.5	157	1040	0.82	3.45	0.00	0.000	6	0.000	0.000	1880	1877	2752
1367	-1.19	-116.8	134.2	-11.6	178	1373	0.77	2.22	0.00	0.000	4	0.000	0.000	2058	381	2754
1412	-1.43	-116.8	137.8	-5.2	180	1420	0.77	3.25	0.00	0.000	6	0.000	0.000	1868	2218	2744
1748	-1.13	-116.8	172.8	-10.8	196	1756	0.93	3.40	0.00	0.000	4	0.000	0.000	2075	357	2743
1779	-1.27	-116.8	175.1	-5.5	197	1787	0.52	3.22	0.00	0.000	6	0.000	0.000	1951	2189	2751
2114	-1.14	-116.8	202.5	-8.4	213	2122	0.47	3.22	0.00	0.000	4	0.000	0.000	2054	366	2746
2177	-1.35	-116.8	206.8	-5.2	215	2186	0.77	3.28	0.00	0.000	6	0.000	0.000	1855	2184	2749
2502	-1.05	-116.8	238.1	-10.1	231	2510	1.02	3.50	0.00	0.000	4	0.000	0.000	2057	324	2747
2544	-1.28	-116.8	242.5	-8.3	232	2554	0.52	3.58	0.00	0.000	6	0.000	0.000	1923	2181	2751
2869	-1.12	-116.8	266.8	-8.2	248	2877	0.77	3.45	0.00	0.000	4	0.000	0.000	2096	356	2748
2910	-1.52	-116.8	269.5	-3.7	249	2919	1.05	3.53	0.00	0.000	6	0.000	0.000	1919	2186	2751
3235	-1.37	-116.8	294.0	-7.9	265	3243	0.82	3.25	0.00	0.000	4	0.000	0.000	2033	401	2744
3285	-1.58	-116.8	297.2	-4.6	267	3293	0.82	3.42	0.00	0.000	6	0.000	0.000	1853	2204	2752
3621	-1.27	-116.8	328.3	-9.6	283	3629	0.65	3.58	0.00	0.000	4	0.000	0.000	2063	539	2745
3712	-1.48	-116.8	333.3	-4.8	286	3721	0.80	3.53	0.00	0.000	6	0.000	0.000	1853	2251	2745
4036	-1.18	-116.8	362.4	-9.3	302	4044	0.77	3.22	0.00	0.000	4	0.000	0.000	2021	392	2749
4094	-1.26	-116.8	366.9	-5.9	304	4106	0.00	3.35	0.00	0.000	6	0.000	0.000	2000	2085	2742
4423	-1.30	-116.8	385.5	-5.8	320	4431	0.05	3.78	0.00	0.000	4	0.000	0.000	1932	432	2747
4458	-1.23	-116.8	388.3	-7.1	321	4471	0.52	3.30	0.00	0.000	6	0.000	0.000	2085	2098	2748
4787	-1.45	-116.8	403.1	-4.4	337	4796	0.80	3.28	0.00	0.000	4	0.000	0.000	1893	408	2747
4841	-1.18	-116.8	407.5	-8.6	339	4847	0.80	2.45	0.00	0.000	6	0.000	0.000	2057	1943	2755
5172	-1.69	-116.8	423.2	-4.9	355	5181	1.02	3.45	0.00	0.000	4	0.000	0.000	1833	287	2749
5202	-1.40	-116.8	426.0	-9.8	356	5210	0.88	2.95	0.00	0.000	6	0.000	0.000	2011	2131	2757
5537	-1.45	-116.8	445.4	-5.7	372	5545	0.60	3.53	0.00	0.000	4	0.000	0.000	1885	300	2753
5617	-1.25	-116.8	452.3	-9.3	375	5625	0.77	3.83	0.00	0.000	6	0.000	0.000	2003	2140	2750
5952	-1.29	-116.8	472.0	-5.7	391	5957	0.08	2.85	0.00	0.000	4	0.000	0.000	2012	317	2748
5988	-1.38	-116.8	474.4	-5.6	392	5998	0.35	3.33	0.00	0.000	6	0.000	0.000	1935	2123	2748
6308	-1.25	-116.8	496.9	-7.2	408	6315	0.43	3.17	0.00	0.000	4	0.000	0.000	2075	236	2745
6360	-1.52	-116.8	499.6	-4.1	410	6368	0.85	2.92	0.00	0.000	6	0.000	0.000	1896	2055	2752
6705	-1.37	-116.8	527.8	-8.5	419	6712	0.60	2.72	0.00	0.000	4	0.000	0.000	2004	3593	2748
6869	end dive: BOTTOM_OBSTACLE_DETECTED
state	6869	begin apogee
6885	-0.25	0.0	537.7	5.5	422	7010	1.15	0.00	116.50	0.000	6	0.000	0.000	2227	1924	2259
7011	end apogee: CONTROL_FINISHED_OK
state	7011	begin climb
7016	1.49	116.8	538.8	0.0	425	7134	2.05	0.00	113.18	0.000	6	0.000	0.000	2599	1908	1788
7414	1.29	116.8	461.6	21.0	439	7420	0.52	2.75	0.00	0.000	4	0.000	0.000	2515	433	1782
7510	1.48	132.3	449.3	12.5	443	7534	0.52	3.20	14.62	0.001	6	0.000	0.000	2620	1955	1723
7844	1.27	132.3	376.6	22.1	459	7847	0.43	0.00	0.22	0.001	6	0.000	0.000	2515	1953	1727
8158	1.41	142.8	335.0	12.9	474	8182	0.47	3.03	10.48	0.001	4	0.000	0.000	2591	328	1677
8209	1.26	142.8	324.3	22.9	476	8219	0.68	3.53	0.00	0.000	6	0.000	0.000	2501	2158	1677
8550	1.20	142.8	273.3	18.2	492	8556	0.03	2.97	0.00	0.000	4	0.000	0.000	2501	479	1682
8636	1.09	142.8	259.8	21.0	495	8645	0.03	2.95	0.00	0.000	6	0.000	0.000	2498	2155	1680
8961	1.22	149.1	217.0	13.2	511	8974	0.00	2.95	5.75	0.001	4	0.000	0.000	2517	291	1658
9013	1.37	153.6	209.1	13.4	513	9031	0.52	3.58	4.38	0.001	6	0.000	0.000	2616	2091	1633
9341	1.13	153.6	134.6	23.1	529	9349	1.12	2.75	0.00	0.000	4	0.000	0.000	2463	3603	1633
9441	1.47	199.9	122.6	10.1	533	9485	0.77	3.53	35.88	0.001	6	0.000	0.000	2619	1791	1451
9840	1.25	199.9	28.1	24.0	587	9849	0.65	3.53	0.00	0.000	4	0.000	0.000	2449	3583	1455
10021	end climb: SURFACE_DEPTH_REACHED
state	10021	begin surface coast
10051	end surface coast: CONTROL_FINISHED_OK
state	10051	begin surface