Glider dive log

PortSusan 23Jul07 * SG001 * Dive index * Mission links * Dive 29 * 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 29 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 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 -449307.72 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 -449307.72

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 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 29 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 205937,6651.000,-6034.275,21,1.1,22,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6701.148,-6032.833

_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 210408,6651.000,-6034.275,11,1.1,11,18.0 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 -0.00,4.689,-1.682 XPDR_PINGS -1

FINISH -0.0,1.024360 ALTIM_TOP_PING 19.2,18.5

SM_CCo 11750,147.18,0.000,0,0,424,450.86 ALTIM_BOTTOM_PING 500.7,51.0

SM_GC 0.00,0.00,0.00,147.18,0.000,0.000,0.000,586,1975,424,-7.59,0.08,450.86 _24V_AH 23.7,62.805

RAFOS_CLK 0 _10V_AH 9.7,9.499

RAFOS 4,1160602142,21.500000,21.483889,40,0,0,0,0,0,0,0,0,0,0,0 DATA_FILE_SIZE 22120,686

RAFOS_FIX 6649.437500,-6030.718750,111006,202020,4,80,0.37 CFSIZE 255582208,242073600

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,106,1234,4,0

TT8_MAMPS 0.024544 SOUNDSPEED 1470.5

HUMID 2329 CURRENT 0.046,270.2,1

INTERNAL_PRESSURE 25.9967 GPS 121006,002428,6651.916,-6034.104,27,1.1,27,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 49 119 139.75 SBE_CT 559 24 318.07

Roll_motor 158 60 225.74 nil 0 0 0.00

VBD_pump_during_apogee 317 1300 9789.88 nil 0 0 0.00

VBD_pump_during_surface 147 600 2092.83 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 87 223 459.84

Transponder_ping 4 420 44.79

GPS 12 50 5.96

TT8 2083 19 402.51

LPSleep 7558 2 169.37

TT8_Active 808 19 156.14

TT8_Sampling 803 39 311.17

TT8_CF8 915 45 407.84

TT8_Kalman 0 0 0.00

Analog_circuits 1520 12 176.99

GPS_charging 0 0 0.00

Compass 690 26 174.16

RAFOS 1080 1 15.71

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 0 129 0.00 0.00 -76.57 0.000 6 0.000 0.000 612 1752 2740

135 -1.49 -116.8 0.6 -1.5 10 152 7.05 2.50 0.00 0.000 4 0.000 0.000 1942 430 2747

309 -1.42 -116.8 30.1 -12.9 37 318 0.00 3.65 0.00 0.000 6 0.000 0.000 1943 2262 2741

677 -1.30 -116.8 70.2 -10.3 98 684 0.55 0.00 0.00 0.000 6 0.000 0.000 2064 2263 2745

1044 -1.51 -116.8 91.9 -5.7 159 1053 0.85 3.55 0.00 0.000 4 0.000 0.000 1896 416 2745

1086 -1.39 -116.8 95.5 -11.4 164 1095 0.77 3.25 0.00 0.000 6 0.000 0.000 2052 2111 2745

1423 -1.59 -116.8 116.2 -5.5 185 1431 1.15 2.72 0.00 0.000 4 0.000 0.000 1868 3641 2739

1486 -1.28 -116.8 122.9 -11.9 187 1495 0.85 3.53 0.00 0.000 6 0.000 0.000 2043 1804 2742

1810 -1.45 -116.8 141.8 -5.5 203 1818 0.77 3.03 0.00 0.000 4 0.000 0.000 1844 287 2742

1862 -1.19 -116.8 147.2 -11.6 205 1871 0.80 3.67 0.00 0.000 6 0.000 0.000 2068 2114 2740

2199 -1.38 -116.8 165.5 -5.2 221 2207 0.57 3.17 0.00 0.000 4 0.000 0.000 1926 446 2742

2257 -1.26 -116.8 170.8 -11.8 223 2269 0.52 3.17 0.00 0.000 6 0.000 0.000 2056 2142 2742

2586 -1.43 -116.8 188.4 -5.3 239 2594 0.68 3.80 0.00 0.000 4 0.000 0.000 1845 288 2739

2622 -1.14 -116.8 191.9 -10.8 240 2635 1.08 3.17 0.00 0.000 6 0.000 0.000 2089 1961 2743

2952 -1.59 -116.8 206.6 -4.8 256 2960 1.30 3.00 0.00 0.000 4 0.000 0.000 1914 316 2741

3032 -1.46 -116.8 212.8 -8.5 259 3040 0.52 3.47 0.00 0.000 6 0.000 0.000 2044 2165 2746

3367 -1.61 -116.8 231.1 -5.2 275 3375 0.77 3.65 0.00 0.000 4 0.000 0.000 1858 307 2746

3416 -1.33 -116.8 235.6 -10.4 277 3425 0.75 3.55 0.00 0.000 6 0.000 0.000 2058 2110 2744

3752 -1.50 -116.8 253.5 -4.9 293 3761 0.70 3.62 0.00 0.000 4 0.000 0.000 1848 270 2744

3811 -1.20 -116.8 258.7 -10.4 295 3823 0.90 3.33 0.00 0.000 6 0.000 0.000 2036 2090 2746

4141 -1.34 -116.8 275.9 -5.0 311 4149 0.57 2.95 0.00 0.000 4 0.000 0.000 1982 568 2736

4239 -1.34 -116.8 282.0 -6.6 315 4244 0.00 2.53 0.00 0.000 6 0.000 0.000 1976 2229 2736

4575 -1.32 -116.8 303.8 -6.5 331 4580 0.00 3.15 0.00 0.000 4 0.000 0.000 1979 528 2741

4641 -1.32 -116.8 308.6 -7.2 334 4646 0.00 2.83 0.00 0.000 6 0.000 0.000 1985 1927 2742

4976 -1.29 -116.8 329.8 -6.5 350 4981 0.00 2.42 0.00 0.000 4 0.000 0.000 1967 415 2741

5045 -1.29 -116.8 334.4 -6.5 353 5050 0.00 2.53 0.00 0.000 6 0.000 0.000 1982 2055 2739

5376 -1.27 -116.8 355.0 -6.3 369 5381 0.00 2.92 0.00 0.000 4 0.000 0.000 1964 406 2741

5428 -1.27 -116.8 358.8 -6.1 371 5433 0.00 3.12 0.00 0.000 6 0.000 0.000 1962 2089 2739

5752 -1.24 -116.8 378.7 -6.3 386 5753 0.00 0.00 0.00 0.000 6 0.000 0.000 1966 2091 2744

6057 -1.22 -116.8 398.0 -6.2 401 6062 0.00 3.12 0.00 0.000 4 0.000 0.000 1965 401 2740

6093 -1.22 -116.8 400.4 -6.3 402 6102 0.28 3.22 0.00 0.000 6 0.000 0.000 2029 2099 2743

6418 -1.36 -116.8 415.8 -4.7 418 6426 0.47 2.97 0.00 0.000 4 0.000 0.000 1924 405 2747

6476 -1.22 -116.8 420.2 -7.9 420 6489 0.62 3.38 0.00 0.000 6 0.000 0.000 2026 1905 2741

6806 -1.35 -116.8 436.1 -4.7 436 6813 0.43 3.03 0.00 0.000 4 0.000 0.000 1904 3603 2741

6962 -1.15 -116.8 447.8 -8.3 442 6971 0.77 4.00 0.00 0.000 6 0.000 0.000 2080 1612 2741

7286 -1.45 -116.8 460.4 -3.6 458 7295 0.75 3.42 0.00 0.000 4 0.000 0.000 1905 3613 2744

7366 -1.24 -116.8 466.1 -7.8 461 7375 0.57 3.45 0.00 0.000 6 0.000 0.000 2044 1609 2740

7697 -1.37 -116.8 482.7 -4.8 477 7704 0.50 3.42 0.00 0.000 4 0.000 0.000 1889 3615 2745

7887 -1.17 -116.8 497.3 -7.8 485 7895 0.50 3.67 0.00 0.000 6 0.000 0.000 2024 1765 2740

8234 -1.32 -116.8 513.7 -4.6 495 8236 0.55 0.00 0.00 0.000 6 0.000 0.000 1908 1769 2745

8559 -1.14 -116.8 537.0 -7.3 503 8561 0.65 0.00 0.00 0.000 6 0.000 0.000 2052 1762 2740

8674 end dive: BOTTOM_OBSTACLE_DETECTED

state 8674 begin apogee

8688 -0.25 0.0 542.8 5.3 506 8812 1.45 0.00 115.12 0.000 6 0.000 0.000 2287 2256 2260

8812 end apogee: CONTROL_FINISHED_OK

state 8813 begin climb

8818 1.49 116.8 543.1 0.0 509 8953 1.75 3.95 112.00 0.001 4 0.000 0.000 2630 385 1782

9011 1.28 116.8 505.9 23.0 513 9019 0.77 3.17 0.00 0.000 6 0.000 0.000 2465 2230 1781

9342 1.56 159.6 470.6 10.3 527 9397 0.95 3.05 41.67 0.001 4 0.000 0.000 2652 396 1610

9445 1.34 159.6 445.8 26.1 531 9454 0.77 3.47 0.00 0.000 6 0.000 0.000 2456 2071 1603

9769 1.62 190.0 402.4 11.3 547 9816 1.23 3.80 28.42 0.000 4 0.000 0.000 2627 408 1486

9852 1.41 190.0 383.3 28.9 550 9858 0.50 2.70 0.00 0.000 6 0.000 0.000 2537 2264 1481

10182 1.48 190.0 323.4 16.7 566 10190 0.35 3.55 0.00 0.000 4 0.000 0.000 2628 394 1479

10217 1.27 190.0 314.4 27.1 567 10230 0.62 3.88 0.00 0.000 6 0.000 0.000 2519 2230 1482

10546 1.35 190.0 259.3 16.5 583 10554 0.50 3.78 0.00 0.000 4 0.000 0.000 2629 398 1483

10625 1.15 190.0 239.4 26.7 586 10633 0.77 3.28 0.00 0.000 6 0.000 0.000 2455 2024 1483

10960 1.43 215.0 196.8 11.8 602 10984 1.12 0.00 20.40 0.000 6 0.000 0.000 2640 2033 1376

11284 1.15 215.0 105.3 28.9 618 11292 0.68 3.25 0.00 0.000 4 0.000 0.000 2461 360 1384

11390 1.31 215.0 90.0 14.5 632 11400 0.77 3.75 0.12 0.001 6 0.000 0.000 2659 2172 1382

11706 end climb: SURFACE_DEPTH_REACHED

state 11706 begin surface coast

11720 end surface coast: CONTROL_FINISHED_OK

state 11720 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	29	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	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	-449307.72	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	205937,6651.000,-6034.275,21,1.1,22,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6701.148,-6032.833
_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	210408,6651.000,-6034.275,11,1.1,11,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.689,-1.682	XPDR_PINGS	-1
FINISH	-0.0,1.024360	ALTIM_TOP_PING	19.2,18.5
SM_CCo	11750,147.18,0.000,0,0,424,450.86	ALTIM_BOTTOM_PING	500.7,51.0
SM_GC	0.00,0.00,0.00,147.18,0.000,0.000,0.000,586,1975,424,-7.59,0.08,450.86	_24V_AH	23.7,62.805
RAFOS_CLK	0	_10V_AH	9.7,9.499
RAFOS	4,1160602142,21.500000,21.483889,40,0,0,0,0,0,0,0,0,0,0,0	DATA_FILE_SIZE	22120,686
RAFOS_FIX	6649.437500,-6030.718750,111006,202020,4,80,0.37	CFSIZE	255582208,242073600
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,106,1234,4,0
TT8_MAMPS	0.024544	SOUNDSPEED	1470.5
HUMID	2329	CURRENT	0.046,270.2,1
INTERNAL_PRESSURE	25.9967	GPS	121006,002428,6651.916,-6034.104,27,1.1,27,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	49	119	139.75	SBE_CT	559	24	318.07
Roll_motor	158	60	225.74	nil	0	0	0.00
VBD_pump_during_apogee	317	1300	9789.88	nil	0	0	0.00
VBD_pump_during_surface	147	600	2092.83	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	87	223	459.84
Transponder_ping	4	420	44.79
GPS	12	50	5.96
TT8	2083	19	402.51
LPSleep	7558	2	169.37
TT8_Active	808	19	156.14
TT8_Sampling	803	39	311.17
TT8_CF8	915	45	407.84
TT8_Kalman	0	0	0.00
Analog_circuits	1520	12	176.99
GPS_charging	0	0	0.00
Compass	690	26	174.16
RAFOS	1080	1	15.71

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	129	0.00	0.00	-76.57	0.000	6	0.000	0.000	612	1752	2740
135	-1.49	-116.8	0.6	-1.5	10	152	7.05	2.50	0.00	0.000	4	0.000	0.000	1942	430	2747
309	-1.42	-116.8	30.1	-12.9	37	318	0.00	3.65	0.00	0.000	6	0.000	0.000	1943	2262	2741
677	-1.30	-116.8	70.2	-10.3	98	684	0.55	0.00	0.00	0.000	6	0.000	0.000	2064	2263	2745
1044	-1.51	-116.8	91.9	-5.7	159	1053	0.85	3.55	0.00	0.000	4	0.000	0.000	1896	416	2745
1086	-1.39	-116.8	95.5	-11.4	164	1095	0.77	3.25	0.00	0.000	6	0.000	0.000	2052	2111	2745
1423	-1.59	-116.8	116.2	-5.5	185	1431	1.15	2.72	0.00	0.000	4	0.000	0.000	1868	3641	2739
1486	-1.28	-116.8	122.9	-11.9	187	1495	0.85	3.53	0.00	0.000	6	0.000	0.000	2043	1804	2742
1810	-1.45	-116.8	141.8	-5.5	203	1818	0.77	3.03	0.00	0.000	4	0.000	0.000	1844	287	2742
1862	-1.19	-116.8	147.2	-11.6	205	1871	0.80	3.67	0.00	0.000	6	0.000	0.000	2068	2114	2740
2199	-1.38	-116.8	165.5	-5.2	221	2207	0.57	3.17	0.00	0.000	4	0.000	0.000	1926	446	2742
2257	-1.26	-116.8	170.8	-11.8	223	2269	0.52	3.17	0.00	0.000	6	0.000	0.000	2056	2142	2742
2586	-1.43	-116.8	188.4	-5.3	239	2594	0.68	3.80	0.00	0.000	4	0.000	0.000	1845	288	2739
2622	-1.14	-116.8	191.9	-10.8	240	2635	1.08	3.17	0.00	0.000	6	0.000	0.000	2089	1961	2743
2952	-1.59	-116.8	206.6	-4.8	256	2960	1.30	3.00	0.00	0.000	4	0.000	0.000	1914	316	2741
3032	-1.46	-116.8	212.8	-8.5	259	3040	0.52	3.47	0.00	0.000	6	0.000	0.000	2044	2165	2746
3367	-1.61	-116.8	231.1	-5.2	275	3375	0.77	3.65	0.00	0.000	4	0.000	0.000	1858	307	2746
3416	-1.33	-116.8	235.6	-10.4	277	3425	0.75	3.55	0.00	0.000	6	0.000	0.000	2058	2110	2744
3752	-1.50	-116.8	253.5	-4.9	293	3761	0.70	3.62	0.00	0.000	4	0.000	0.000	1848	270	2744
3811	-1.20	-116.8	258.7	-10.4	295	3823	0.90	3.33	0.00	0.000	6	0.000	0.000	2036	2090	2746
4141	-1.34	-116.8	275.9	-5.0	311	4149	0.57	2.95	0.00	0.000	4	0.000	0.000	1982	568	2736
4239	-1.34	-116.8	282.0	-6.6	315	4244	0.00	2.53	0.00	0.000	6	0.000	0.000	1976	2229	2736
4575	-1.32	-116.8	303.8	-6.5	331	4580	0.00	3.15	0.00	0.000	4	0.000	0.000	1979	528	2741
4641	-1.32	-116.8	308.6	-7.2	334	4646	0.00	2.83	0.00	0.000	6	0.000	0.000	1985	1927	2742
4976	-1.29	-116.8	329.8	-6.5	350	4981	0.00	2.42	0.00	0.000	4	0.000	0.000	1967	415	2741
5045	-1.29	-116.8	334.4	-6.5	353	5050	0.00	2.53	0.00	0.000	6	0.000	0.000	1982	2055	2739
5376	-1.27	-116.8	355.0	-6.3	369	5381	0.00	2.92	0.00	0.000	4	0.000	0.000	1964	406	2741
5428	-1.27	-116.8	358.8	-6.1	371	5433	0.00	3.12	0.00	0.000	6	0.000	0.000	1962	2089	2739
5752	-1.24	-116.8	378.7	-6.3	386	5753	0.00	0.00	0.00	0.000	6	0.000	0.000	1966	2091	2744
6057	-1.22	-116.8	398.0	-6.2	401	6062	0.00	3.12	0.00	0.000	4	0.000	0.000	1965	401	2740
6093	-1.22	-116.8	400.4	-6.3	402	6102	0.28	3.22	0.00	0.000	6	0.000	0.000	2029	2099	2743
6418	-1.36	-116.8	415.8	-4.7	418	6426	0.47	2.97	0.00	0.000	4	0.000	0.000	1924	405	2747
6476	-1.22	-116.8	420.2	-7.9	420	6489	0.62	3.38	0.00	0.000	6	0.000	0.000	2026	1905	2741
6806	-1.35	-116.8	436.1	-4.7	436	6813	0.43	3.03	0.00	0.000	4	0.000	0.000	1904	3603	2741
6962	-1.15	-116.8	447.8	-8.3	442	6971	0.77	4.00	0.00	0.000	6	0.000	0.000	2080	1612	2741
7286	-1.45	-116.8	460.4	-3.6	458	7295	0.75	3.42	0.00	0.000	4	0.000	0.000	1905	3613	2744
7366	-1.24	-116.8	466.1	-7.8	461	7375	0.57	3.45	0.00	0.000	6	0.000	0.000	2044	1609	2740
7697	-1.37	-116.8	482.7	-4.8	477	7704	0.50	3.42	0.00	0.000	4	0.000	0.000	1889	3615	2745
7887	-1.17	-116.8	497.3	-7.8	485	7895	0.50	3.67	0.00	0.000	6	0.000	0.000	2024	1765	2740
8234	-1.32	-116.8	513.7	-4.6	495	8236	0.55	0.00	0.00	0.000	6	0.000	0.000	1908	1769	2745
8559	-1.14	-116.8	537.0	-7.3	503	8561	0.65	0.00	0.00	0.000	6	0.000	0.000	2052	1762	2740
8674	end dive: BOTTOM_OBSTACLE_DETECTED
state	8674	begin apogee
8688	-0.25	0.0	542.8	5.3	506	8812	1.45	0.00	115.12	0.000	6	0.000	0.000	2287	2256	2260
8812	end apogee: CONTROL_FINISHED_OK
state	8813	begin climb
8818	1.49	116.8	543.1	0.0	509	8953	1.75	3.95	112.00	0.001	4	0.000	0.000	2630	385	1782
9011	1.28	116.8	505.9	23.0	513	9019	0.77	3.17	0.00	0.000	6	0.000	0.000	2465	2230	1781
9342	1.56	159.6	470.6	10.3	527	9397	0.95	3.05	41.67	0.001	4	0.000	0.000	2652	396	1610
9445	1.34	159.6	445.8	26.1	531	9454	0.77	3.47	0.00	0.000	6	0.000	0.000	2456	2071	1603
9769	1.62	190.0	402.4	11.3	547	9816	1.23	3.80	28.42	0.000	4	0.000	0.000	2627	408	1486
9852	1.41	190.0	383.3	28.9	550	9858	0.50	2.70	0.00	0.000	6	0.000	0.000	2537	2264	1481
10182	1.48	190.0	323.4	16.7	566	10190	0.35	3.55	0.00	0.000	4	0.000	0.000	2628	394	1479
10217	1.27	190.0	314.4	27.1	567	10230	0.62	3.88	0.00	0.000	6	0.000	0.000	2519	2230	1482
10546	1.35	190.0	259.3	16.5	583	10554	0.50	3.78	0.00	0.000	4	0.000	0.000	2629	398	1483
10625	1.15	190.0	239.4	26.7	586	10633	0.77	3.28	0.00	0.000	6	0.000	0.000	2455	2024	1483
10960	1.43	215.0	196.8	11.8	602	10984	1.12	0.00	20.40	0.000	6	0.000	0.000	2640	2033	1376
11284	1.15	215.0	105.3	28.9	618	11292	0.68	3.25	0.00	0.000	4	0.000	0.000	2461	360	1384
11390	1.31	215.0	90.0	14.5	632	11400	0.77	3.75	0.12	0.001	6	0.000	0.000	2659	2172	1382
11706	end climb: SURFACE_DEPTH_REACHED
state	11706	begin surface coast
11720	end surface coast: CONTROL_FINISHED_OK
state	11720	begin surface