Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 3 * 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 3 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 171 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 -448650.25 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 -448650.25

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 171 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 3 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 174255,6631.412,-6030.251,35,1.1,35,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6641.560,-6028.790

_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 174725,6631.412,-6030.251,23,1.1,23,18.0 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 -0.00,4.789,-1.654 XPDR_PINGS -1

FINISH -0.0,1.023961 ALTIM_TOP_PING 19.3,999.0

SM_CCo 9729,141.43,0.000,3,0,421,451.11 ALTIM_BOTTOM_PING 401.2,81.1

SM_GC -0.00,0.00,0.00,141.43,0.000,0.000,0.000,617,1732,421,-7.44,-6.47,451.11 _24V_AH 23.7,53.009

RAFOS_CLK 0 _10V_AH 9.7,8.129

RAFOS 0,1160337843,20.083334,20.067499,80,0,0,0,0,0,636,0,0,0,0,0 DATA_FILE_SIZE 19000,603

RAFOS_FIX 6632.199707,-6027.423828,081006,202040,2,80,0.30 CFSIZE 255582208,244109312

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,79,1029,6,0

TT8_MAMPS 0.024544 SOUNDSPEED 1468.5

HUMID 2389 CURRENT 0.050,248.5,1

INTERNAL_PRESSURE 25.9869 GPS 081006,203426,6632.059,-6030.581,33,1.1,33,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 39 119 110.70 SBE_CT 485 24 276.08

Roll_motor 133 60 189.16 nil 0 0 0.00

VBD_pump_during_apogee 324 2 17.67 nil 0 0 0.00

VBD_pump_during_surface 141 600 2011.06 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 85 223 449.34

Transponder_ping 3 420 34.84

GPS 24 50 11.84

TT8 1824 19 352.53

LPSleep 6039 2 135.34

TT8_Active 770 19 148.84

TT8_Sampling 747 39 289.47

TT8_CF8 786 45 350.16

TT8_Kalman 0 0 0.00

Analog_circuits 1417 12 165.02

GPS_charging 0 0 0.00

Compass 630 26 159.10

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

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 -76.82 0.000 6 0.000 0.000 655 2061 2737

132 -1.49 -116.8 -0.0 0.0 9 149 6.60 2.17 0.00 0.000 4 0.000 0.000 1974 3390 2742

219 -1.52 -116.8 16.5 -10.7 22 228 0.52 2.88 0.00 0.000 6 0.000 0.000 1883 1960 2739

586 -1.23 -116.8 69.3 -13.1 83 595 1.15 3.00 0.00 0.000 4 0.000 0.000 2029 3573 2741

665 -1.42 -116.8 75.2 -6.5 95 673 0.75 2.83 0.00 0.000 6 0.000 0.000 1871 1938 2737

1022 -1.11 -116.8 117.6 -12.0 137 1030 0.85 2.85 0.00 0.000 4 0.000 0.000 1964 3424 2742

1114 -1.16 -116.8 125.0 -7.3 140 1122 0.00 2.70 0.00 0.000 6 0.000 0.000 1987 1932 2739

1438 -1.18 -116.8 148.6 -7.3 156 1445 0.00 3.28 0.00 0.000 4 0.000 0.000 2001 3475 2741

1522 -1.23 -116.8 154.8 -7.0 159 1528 0.03 2.92 0.00 0.000 6 0.000 0.000 1978 1982 2744

1846 -1.26 -116.8 177.2 -6.9 174 1851 0.00 2.47 0.00 0.000 4 0.000 0.000 1988 3493 2740

1905 -1.31 -116.8 181.7 -6.8 176 1913 0.00 2.67 0.00 0.000 6 0.000 0.000 1984 2167 2739

2229 -1.33 -116.8 203.2 -6.6 192 2231 0.03 0.00 0.00 0.000 6 0.000 0.000 1983 2162 2738

2534 -1.39 -116.8 223.4 -6.6 207 2541 0.28 3.03 0.00 0.000 4 0.000 0.000 1930 3691 2737

2563 -1.31 -116.8 225.7 -7.8 208 2570 0.50 3.17 0.00 0.000 6 0.000 0.000 2047 2026 2741

2897 -1.49 -116.8 243.0 -5.0 224 2905 0.77 2.97 0.00 0.000 4 0.000 0.000 1886 3532 2733

2947 -1.22 -116.8 247.5 -9.8 226 2955 0.77 2.47 0.00 0.000 6 0.000 0.000 2063 2034 2741

3282 -1.42 -116.8 264.4 -4.6 242 3290 0.65 3.03 0.00 0.000 4 0.000 0.000 1871 3573 2743

3323 -1.27 -116.8 267.4 -9.1 243 3332 0.75 2.65 0.00 0.000 6 0.000 0.000 2074 1902 2738

3647 -1.49 -116.8 282.7 -4.3 259 3655 0.80 2.92 0.00 0.000 4 0.000 0.000 1891 3558 2734

3732 -1.23 -116.8 289.8 -9.3 262 3744 0.77 2.53 0.00 0.000 6 0.000 0.000 2070 1892 2740

4060 -1.44 -116.8 305.4 -4.4 278 4066 0.70 2.53 0.00 0.000 4 0.000 0.000 1871 3569 2732

4147 -1.18 -116.8 312.7 -9.4 281 4156 0.95 2.38 0.00 0.000 6 0.000 0.000 1989 2026 2741

4471 -1.18 -116.8 332.9 -6.1 297 4477 0.05 2.85 0.00 0.000 4 0.000 0.000 2002 3558 2743

4515 -1.22 -116.8 335.8 -6.0 299 4521 0.00 3.10 0.00 0.000 6 0.000 0.000 1977 1908 2741

4851 -1.22 -116.8 355.6 -6.0 315 4855 0.00 2.55 0.00 0.000 4 0.000 0.000 2000 3394 2732

4947 -1.25 -116.8 361.4 -5.9 319 4952 0.00 2.97 0.00 0.000 6 0.000 0.000 1991 1927 2736

5278 -1.25 -116.8 380.7 -5.9 335 5285 0.00 3.50 0.00 0.000 4 0.000 0.000 1990 3589 2737

5352 -1.30 -116.8 385.6 -6.0 338 5360 0.00 3.83 0.00 0.000 6 0.000 0.000 2000 1751 2737

5687 -1.30 -116.8 404.7 -5.8 354 5694 0.00 3.62 0.00 0.000 4 0.000 0.000 1978 3589 2737

5803 -1.35 -116.8 411.8 -6.6 359 5808 0.00 2.83 0.00 0.000 6 0.000 0.000 1978 1904 2743

6138 -1.35 -116.8 431.1 -5.7 375 6143 0.00 2.80 0.00 0.000 4 0.000 0.000 1999 3600 2743

6197 -1.39 -116.8 434.9 -5.6 377 6206 0.08 2.85 0.00 0.000 6 0.000 0.000 1979 1817 2737

6522 -1.51 -116.8 453.2 -5.8 393 6530 0.47 3.53 0.00 0.000 4 0.000 0.000 1886 3662 2739

6621 -1.23 -116.8 462.0 -9.2 397 6629 0.82 3.50 0.00 0.000 6 0.000 0.000 2038 1810 2740

6842 end dive: BOTTOM_OBSTACLE_DETECTED

state 6843 begin apogee

6855 -0.25 0.0 472.8 4.4 408 6977 1.08 0.00 112.97 0.001 6 0.000 0.000 2287 2145 2256

6983 end apogee: CONTROL_FINISHED_OK

state 6983 begin climb

6988 1.49 116.8 472.8 0.0 414 7129 1.90 3.38 113.28 0.001 4 0.000 0.000 2644 413 1779

7142 1.24 116.8 444.4 23.1 420 7155 0.77 2.78 0.00 0.000 6 0.000 0.000 2459 1957 1781

7471 1.52 156.7 408.7 10.6 436 7518 1.10 2.67 37.05 0.001 4 0.000 0.000 2669 3462 1619

7667 1.25 156.7 358.2 26.7 444 7680 0.80 2.97 0.08 0.002 6 0.000 0.000 2481 1760 1624

7992 1.48 178.2 317.2 12.0 460 8020 1.08 3.33 19.75 0.001 4 0.000 0.000 2665 3604 1542

8176 1.22 178.2 268.1 28.8 468 8184 0.82 3.28 0.00 0.000 6 0.000 0.000 2471 1962 1538

8511 1.45 196.2 224.2 12.3 484 8539 0.77 2.90 19.15 0.001 4 0.000 0.000 2652 3622 1454

8630 1.17 196.2 191.6 29.9 489 8638 0.93 3.47 0.00 0.000 6 0.000 0.000 2465 1739 1457

8971 1.37 204.4 144.5 13.1 505 8985 0.57 3.55 6.30 0.001 4 0.000 0.000 2600 3405 1424

9140 1.25 204.4 99.2 23.6 512 9153 0.52 3.58 0.00 0.000 6 0.000 0.000 2469 1755 1420

9511 1.48 223.6 50.8 12.2 573 9535 0.77 3.67 15.45 0.001 4 0.000 0.000 2645 3580 1349

9688 end climb: SURFACE_DEPTH_REACHED

state 9688 begin surface coast

9696 end surface coast: CONTROL_FINISHED_OK

state 9696 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	3	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	171	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	-448650.25	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	174255,6631.412,-6030.251,35,1.1,35,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6641.560,-6028.790
_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	174725,6631.412,-6030.251,23,1.1,23,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.789,-1.654	XPDR_PINGS	-1
FINISH	-0.0,1.023961	ALTIM_TOP_PING	19.3,999.0
SM_CCo	9729,141.43,0.000,3,0,421,451.11	ALTIM_BOTTOM_PING	401.2,81.1
SM_GC	-0.00,0.00,0.00,141.43,0.000,0.000,0.000,617,1732,421,-7.44,-6.47,451.11	_24V_AH	23.7,53.009
RAFOS_CLK	0	_10V_AH	9.7,8.129
RAFOS	0,1160337843,20.083334,20.067499,80,0,0,0,0,0,636,0,0,0,0,0	DATA_FILE_SIZE	19000,603
RAFOS_FIX	6632.199707,-6027.423828,081006,202040,2,80,0.30	CFSIZE	255582208,244109312
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,79,1029,6,0
TT8_MAMPS	0.024544	SOUNDSPEED	1468.5
HUMID	2389	CURRENT	0.050,248.5,1
INTERNAL_PRESSURE	25.9869	GPS	081006,203426,6632.059,-6030.581,33,1.1,33,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	39	119	110.70	SBE_CT	485	24	276.08
Roll_motor	133	60	189.16	nil	0	0	0.00
VBD_pump_during_apogee	324	2	17.67	nil	0	0	0.00
VBD_pump_during_surface	141	600	2011.06	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	85	223	449.34
Transponder_ping	3	420	34.84
GPS	24	50	11.84
TT8	1824	19	352.53
LPSleep	6039	2	135.34
TT8_Active	770	19	148.84
TT8_Sampling	747	39	289.47
TT8_CF8	786	45	350.16
TT8_Kalman	0	0	0.00
Analog_circuits	1417	12	165.02
GPS_charging	0	0	0.00
Compass	630	26	159.10
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
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	-76.82	0.000	6	0.000	0.000	655	2061	2737
132	-1.49	-116.8	-0.0	0.0	9	149	6.60	2.17	0.00	0.000	4	0.000	0.000	1974	3390	2742
219	-1.52	-116.8	16.5	-10.7	22	228	0.52	2.88	0.00	0.000	6	0.000	0.000	1883	1960	2739
586	-1.23	-116.8	69.3	-13.1	83	595	1.15	3.00	0.00	0.000	4	0.000	0.000	2029	3573	2741
665	-1.42	-116.8	75.2	-6.5	95	673	0.75	2.83	0.00	0.000	6	0.000	0.000	1871	1938	2737
1022	-1.11	-116.8	117.6	-12.0	137	1030	0.85	2.85	0.00	0.000	4	0.000	0.000	1964	3424	2742
1114	-1.16	-116.8	125.0	-7.3	140	1122	0.00	2.70	0.00	0.000	6	0.000	0.000	1987	1932	2739
1438	-1.18	-116.8	148.6	-7.3	156	1445	0.00	3.28	0.00	0.000	4	0.000	0.000	2001	3475	2741
1522	-1.23	-116.8	154.8	-7.0	159	1528	0.03	2.92	0.00	0.000	6	0.000	0.000	1978	1982	2744
1846	-1.26	-116.8	177.2	-6.9	174	1851	0.00	2.47	0.00	0.000	4	0.000	0.000	1988	3493	2740
1905	-1.31	-116.8	181.7	-6.8	176	1913	0.00	2.67	0.00	0.000	6	0.000	0.000	1984	2167	2739
2229	-1.33	-116.8	203.2	-6.6	192	2231	0.03	0.00	0.00	0.000	6	0.000	0.000	1983	2162	2738
2534	-1.39	-116.8	223.4	-6.6	207	2541	0.28	3.03	0.00	0.000	4	0.000	0.000	1930	3691	2737
2563	-1.31	-116.8	225.7	-7.8	208	2570	0.50	3.17	0.00	0.000	6	0.000	0.000	2047	2026	2741
2897	-1.49	-116.8	243.0	-5.0	224	2905	0.77	2.97	0.00	0.000	4	0.000	0.000	1886	3532	2733
2947	-1.22	-116.8	247.5	-9.8	226	2955	0.77	2.47	0.00	0.000	6	0.000	0.000	2063	2034	2741
3282	-1.42	-116.8	264.4	-4.6	242	3290	0.65	3.03	0.00	0.000	4	0.000	0.000	1871	3573	2743
3323	-1.27	-116.8	267.4	-9.1	243	3332	0.75	2.65	0.00	0.000	6	0.000	0.000	2074	1902	2738
3647	-1.49	-116.8	282.7	-4.3	259	3655	0.80	2.92	0.00	0.000	4	0.000	0.000	1891	3558	2734
3732	-1.23	-116.8	289.8	-9.3	262	3744	0.77	2.53	0.00	0.000	6	0.000	0.000	2070	1892	2740
4060	-1.44	-116.8	305.4	-4.4	278	4066	0.70	2.53	0.00	0.000	4	0.000	0.000	1871	3569	2732
4147	-1.18	-116.8	312.7	-9.4	281	4156	0.95	2.38	0.00	0.000	6	0.000	0.000	1989	2026	2741
4471	-1.18	-116.8	332.9	-6.1	297	4477	0.05	2.85	0.00	0.000	4	0.000	0.000	2002	3558	2743
4515	-1.22	-116.8	335.8	-6.0	299	4521	0.00	3.10	0.00	0.000	6	0.000	0.000	1977	1908	2741
4851	-1.22	-116.8	355.6	-6.0	315	4855	0.00	2.55	0.00	0.000	4	0.000	0.000	2000	3394	2732
4947	-1.25	-116.8	361.4	-5.9	319	4952	0.00	2.97	0.00	0.000	6	0.000	0.000	1991	1927	2736
5278	-1.25	-116.8	380.7	-5.9	335	5285	0.00	3.50	0.00	0.000	4	0.000	0.000	1990	3589	2737
5352	-1.30	-116.8	385.6	-6.0	338	5360	0.00	3.83	0.00	0.000	6	0.000	0.000	2000	1751	2737
5687	-1.30	-116.8	404.7	-5.8	354	5694	0.00	3.62	0.00	0.000	4	0.000	0.000	1978	3589	2737
5803	-1.35	-116.8	411.8	-6.6	359	5808	0.00	2.83	0.00	0.000	6	0.000	0.000	1978	1904	2743
6138	-1.35	-116.8	431.1	-5.7	375	6143	0.00	2.80	0.00	0.000	4	0.000	0.000	1999	3600	2743
6197	-1.39	-116.8	434.9	-5.6	377	6206	0.08	2.85	0.00	0.000	6	0.000	0.000	1979	1817	2737
6522	-1.51	-116.8	453.2	-5.8	393	6530	0.47	3.53	0.00	0.000	4	0.000	0.000	1886	3662	2739
6621	-1.23	-116.8	462.0	-9.2	397	6629	0.82	3.50	0.00	0.000	6	0.000	0.000	2038	1810	2740
6842	end dive: BOTTOM_OBSTACLE_DETECTED
state	6843	begin apogee
6855	-0.25	0.0	472.8	4.4	408	6977	1.08	0.00	112.97	0.001	6	0.000	0.000	2287	2145	2256
6983	end apogee: CONTROL_FINISHED_OK
state	6983	begin climb
6988	1.49	116.8	472.8	0.0	414	7129	1.90	3.38	113.28	0.001	4	0.000	0.000	2644	413	1779
7142	1.24	116.8	444.4	23.1	420	7155	0.77	2.78	0.00	0.000	6	0.000	0.000	2459	1957	1781
7471	1.52	156.7	408.7	10.6	436	7518	1.10	2.67	37.05	0.001	4	0.000	0.000	2669	3462	1619
7667	1.25	156.7	358.2	26.7	444	7680	0.80	2.97	0.08	0.002	6	0.000	0.000	2481	1760	1624
7992	1.48	178.2	317.2	12.0	460	8020	1.08	3.33	19.75	0.001	4	0.000	0.000	2665	3604	1542
8176	1.22	178.2	268.1	28.8	468	8184	0.82	3.28	0.00	0.000	6	0.000	0.000	2471	1962	1538
8511	1.45	196.2	224.2	12.3	484	8539	0.77	2.90	19.15	0.001	4	0.000	0.000	2652	3622	1454
8630	1.17	196.2	191.6	29.9	489	8638	0.93	3.47	0.00	0.000	6	0.000	0.000	2465	1739	1457
8971	1.37	204.4	144.5	13.1	505	8985	0.57	3.55	6.30	0.001	4	0.000	0.000	2600	3405	1424
9140	1.25	204.4	99.2	23.6	512	9153	0.52	3.58	0.00	0.000	6	0.000	0.000	2469	1755	1420
9511	1.48	223.6	50.8	12.2	573	9535	0.77	3.67	15.45	0.001	4	0.000	0.000	2645	3580	1349
9688	end climb: SURFACE_DEPTH_REACHED
state	9688	begin surface coast
9696	end surface coast: CONTROL_FINISHED_OK
state	9696	begin surface