Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 30 * 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 30 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 16 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 3 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 -449321.72 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 -449321.72

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 16 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 3 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 30 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 002428,6651.916,-6034.104,27,1.1,27,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6702.063,-6032.663

_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 002932,6651.916,-6034.104,12,1.1,12,18.0 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:

FINISH 0.1,1.024568 XPDR_PINGS -1

SM_CCo 9869,139.73,0.000,2,0,424,450.37 ALTIM_TOP_PING 18.8,19.1

SM_GC -0.00,0.00,0.00,139.73,0.000,0.000,0.000,666,2241,424,-7.25,7.52,450.37 ALTIM_BOTTOM_PING 475.6,78.6

RAFOS_CLK 0 _24V_AH 23.7,63.282

RAFOS 1,1160612045,0.250000,0.234722,80,0,0,0,0,0,747,0,0,0,0,0 _10V_AH 9.7,9.550

RAFOS_FIX 6650.877930,-6031.097168,121006,000054,3,80,0.00 DATA_FILE_SIZE 18993,574

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,242020352

TT8_MAMPS 0.023777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,102,1079,4,0

HUMID 2337 SOUNDSPEED 1470.8

INTERNAL_PRESSURE 25.9967 CURRENT 0.052,261.9,1

TCM_TEMP 15.00 GPS 121006,031844,6652.750,-6034.273,31,1.1,31,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 43 119 123.04 SBE_CT 469 24 267.00

Roll_motor 139 60 198.37 nil 0 0 0.00

VBD_pump_during_apogee 322 1300 9944.70 nil 0 0 0.00

VBD_pump_during_surface 139 600 1986.89 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 90 223 479.82

Transponder_ping 4 420 42.30

GPS 13 50 6.49

TT8 1800 19 347.90

LPSleep 6231 2 139.62

TT8_Active 768 19 148.47

TT8_Sampling 697 39 269.93

TT8_CF8 829 45 369.35

TT8_Kalman 0 0 0.00

Analog_circuits 1384 12 161.21

GPS_charging 0 0 0.00

Compass 599 26 151.16

RAFOS 360 1 5.24

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 0 131 0.00 0.00 -76.97 0.000 6 0.000 0.000 591 1982 2751

137 -1.49 -116.8 -0.0 0.0 9 155 6.82 3.22 0.00 0.000 4 0.000 0.000 1982 316 2750

278 -1.64 -116.8 21.5 -8.2 31 287 0.77 3.28 0.00 0.000 6 0.000 0.000 1815 2160 2747

646 -1.17 -116.8 80.5 -15.1 92 655 0.98 2.97 0.00 0.000 4 0.000 0.000 2071 3654 2743

844 -1.38 -116.8 93.1 -5.6 124 853 0.77 3.38 0.00 0.000 6 0.000 0.000 1887 1834 2746

1196 -1.09 -116.8 129.8 -11.2 149 1204 0.85 2.88 0.00 0.000 4 0.000 0.000 1994 302 2744

1226 -1.11 -116.8 133.3 -7.5 150 1231 0.00 3.10 0.00 0.000 6 0.000 0.000 2015 1974 2741

1557 -1.17 -116.8 155.1 -6.6 166 1558 0.00 0.00 0.00 0.000 6 0.000 0.000 2020 1961 2743

1862 -1.23 -116.8 175.3 -6.4 181 1869 0.00 3.78 0.00 0.000 4 0.000 0.000 1997 311 2745

1911 -1.34 -116.8 178.5 -6.5 183 1919 0.17 3.72 0.00 0.000 6 0.000 0.000 2008 2105 2748

2252 -1.48 -116.8 199.6 -6.3 199 2260 0.52 2.92 0.00 0.000 4 0.000 0.000 1957 308 2741

2308 -1.43 -116.8 204.3 -7.8 201 2315 0.00 3.38 0.00 0.000 6 0.000 0.000 1942 1995 2744

2642 -1.32 -116.8 230.0 -7.8 217 2648 0.32 2.42 0.00 0.000 4 0.000 0.000 2004 356 2747

2687 -1.44 -116.8 233.3 -5.6 219 2695 0.50 3.42 0.00 0.000 6 0.000 0.000 1859 2185 2741

3023 -1.17 -116.8 264.3 -9.3 235 3031 0.80 3.95 0.00 0.000 4 0.000 0.000 2028 551 2750

3064 -1.29 -116.8 267.4 -5.7 236 3073 0.00 3.17 0.00 0.000 6 0.000 0.000 2018 2239 2740

3389 -1.35 -116.8 285.8 -5.8 252 3396 0.00 3.62 0.00 0.000 4 0.000 0.000 1988 413 2743

3452 -1.44 -116.8 289.9 -5.7 254 3461 0.52 3.75 0.00 0.000 6 0.000 0.000 1888 2251 2746

3777 -1.18 -116.8 317.6 -8.9 270 3785 0.77 3.95 0.00 0.000 4 0.000 0.000 2013 585 2748

3862 -1.28 -116.8 323.3 -5.7 273 3867 0.05 2.25 0.00 0.000 6 0.000 0.000 2031 1953 2741

4187 -1.35 -116.8 341.1 -5.5 288 4189 0.60 0.00 0.00 0.000 6 0.000 0.000 1903 1941 2740

4496 -1.09 -116.8 367.3 -8.7 303 4504 1.15 2.95 0.00 0.000 4 0.000 0.000 2075 402 2741

4549 -1.37 -116.8 370.6 -4.1 305 4557 0.77 3.53 0.00 0.000 6 0.000 0.000 1918 2234 2747

4885 -1.12 -116.8 397.7 -8.4 321 4893 0.77 3.22 0.00 0.000 4 0.000 0.000 2064 417 2738

4938 -1.40 -116.8 401.1 -3.9 323 4946 0.77 3.17 0.00 0.000 6 0.000 0.000 1881 2073 2744

5273 -1.12 -116.8 428.8 -8.7 339 5282 1.12 3.17 0.00 0.000 4 0.000 0.000 2085 366 2743

5350 -1.37 -116.8 433.2 -4.0 342 5359 0.80 3.20 0.00 0.000 6 0.000 0.000 1953 2222 2748

5686 -1.26 -116.8 456.3 -7.0 358 5694 0.40 3.28 0.00 0.000 4 0.000 0.000 2064 526 2742

5744 -1.49 -116.8 459.3 -4.2 360 5756 0.82 2.92 0.00 0.000 6 0.000 0.000 1893 2112 2744

6068 -1.20 -116.8 486.3 -8.6 376 6074 0.80 2.45 0.00 0.000 4 0.000 0.000 1986 3432 2740

6144 -1.24 -116.8 490.9 -5.5 379 6149 0.00 2.75 0.00 0.000 6 0.000 0.000 1999 1726 2748

6487 -1.29 -116.8 509.8 -5.4 392 6495 0.00 3.88 0.00 0.000 4 0.000 0.000 2017 3551 2748

6632 -1.33 -116.8 517.7 -5.3 395 6640 0.30 3.83 0.00 0.000 6 0.000 0.000 1954 1702 2743

6960 -1.27 -116.8 540.0 -6.9 403 6968 0.60 3.80 0.00 0.000 4 0.000 0.000 2061 3581 2747

7018 -1.48 -116.8 543.1 -4.1 404 7026 0.77 3.17 0.00 0.000 6 0.000 0.000 1861 1930 2739

7036 end dive: BOTTOM_OBSTACLE_DETECTED

state 7036 begin apogee

7049 -0.25 0.0 544.3 4.8 404 7182 1.73 0.00 114.60 0.000 6 0.000 0.000 2209 2257 2263

7183 end apogee: CONTROL_FINISHED_OK

state 7183 begin climb

7189 1.49 116.8 543.9 0.0 408 7315 1.88 2.72 112.38 0.000 4 0.000 0.000 2668 3623 1776

7368 1.17 116.8 507.8 25.3 411 7377 0.88 3.42 0.00 0.000 6 0.000 0.000 2484 1805 1786

7706 1.39 146.0 467.3 11.4 425 7739 0.47 0.00 27.88 0.000 6 0.000 0.000 2609 1810 1673

8054 1.22 146.0 394.0 21.8 442 8062 0.47 3.75 0.00 0.000 4 0.000 0.000 2483 3652 1665

8241 1.40 161.3 368.3 12.5 450 8266 0.52 3.42 14.30 0.001 6 0.000 0.000 2614 1810 1607

8575 1.23 161.3 293.8 23.2 466 8581 0.50 2.70 0.00 0.000 4 0.000 0.000 2482 298 1604

8606 1.23 161.3 286.4 23.1 467 8619 0.52 3.15 0.00 0.000 6 0.000 0.000 2585 2016 1604

8935 1.07 161.3 213.6 21.9 483 8943 0.68 3.55 0.47 0.001 4 0.000 0.000 2437 3513 1604

9077 1.53 226.9 198.0 8.5 489 9141 1.05 3.40 53.15 0.000 6 0.000 0.000 2663 1845 1332

9461 1.18 226.9 83.6 31.0 513 9470 1.30 3.55 0.00 0.000 4 0.000 0.000 2493 3669 1327

9573 1.35 226.9 62.7 14.5 530 9582 0.52 3.83 0.00 0.000 6 0.000 0.000 2610 1698 1334

9827 end climb: SURFACE_DEPTH_REACHED

state 9827 begin surface coast

9839 end surface coast: CONTROL_FINISHED_OK

state 9839 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	30	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	16	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	3	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	-449321.72	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	002428,6651.916,-6034.104,27,1.1,27,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6702.063,-6032.663
_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	002932,6651.916,-6034.104,12,1.1,12,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FINISH	0.1,1.024568	XPDR_PINGS	-1
SM_CCo	9869,139.73,0.000,2,0,424,450.37	ALTIM_TOP_PING	18.8,19.1
SM_GC	-0.00,0.00,0.00,139.73,0.000,0.000,0.000,666,2241,424,-7.25,7.52,450.37	ALTIM_BOTTOM_PING	475.6,78.6
RAFOS_CLK	0	_24V_AH	23.7,63.282
RAFOS	1,1160612045,0.250000,0.234722,80,0,0,0,0,0,747,0,0,0,0,0	_10V_AH	9.7,9.550
RAFOS_FIX	6650.877930,-6031.097168,121006,000054,3,80,0.00	DATA_FILE_SIZE	18993,574
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,242020352
TT8_MAMPS	0.023777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,102,1079,4,0
HUMID	2337	SOUNDSPEED	1470.8
INTERNAL_PRESSURE	25.9967	CURRENT	0.052,261.9,1
TCM_TEMP	15.00	GPS	121006,031844,6652.750,-6034.273,31,1.1,31,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	43	119	123.04	SBE_CT	469	24	267.00
Roll_motor	139	60	198.37	nil	0	0	0.00
VBD_pump_during_apogee	322	1300	9944.70	nil	0	0	0.00
VBD_pump_during_surface	139	600	1986.89	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	90	223	479.82
Transponder_ping	4	420	42.30
GPS	13	50	6.49
TT8	1800	19	347.90
LPSleep	6231	2	139.62
TT8_Active	768	19	148.47
TT8_Sampling	697	39	269.93
TT8_CF8	829	45	369.35
TT8_Kalman	0	0	0.00
Analog_circuits	1384	12	161.21
GPS_charging	0	0	0.00
Compass	599	26	151.16
RAFOS	360	1	5.24

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	131	0.00	0.00	-76.97	0.000	6	0.000	0.000	591	1982	2751
137	-1.49	-116.8	-0.0	0.0	9	155	6.82	3.22	0.00	0.000	4	0.000	0.000	1982	316	2750
278	-1.64	-116.8	21.5	-8.2	31	287	0.77	3.28	0.00	0.000	6	0.000	0.000	1815	2160	2747
646	-1.17	-116.8	80.5	-15.1	92	655	0.98	2.97	0.00	0.000	4	0.000	0.000	2071	3654	2743
844	-1.38	-116.8	93.1	-5.6	124	853	0.77	3.38	0.00	0.000	6	0.000	0.000	1887	1834	2746
1196	-1.09	-116.8	129.8	-11.2	149	1204	0.85	2.88	0.00	0.000	4	0.000	0.000	1994	302	2744
1226	-1.11	-116.8	133.3	-7.5	150	1231	0.00	3.10	0.00	0.000	6	0.000	0.000	2015	1974	2741
1557	-1.17	-116.8	155.1	-6.6	166	1558	0.00	0.00	0.00	0.000	6	0.000	0.000	2020	1961	2743
1862	-1.23	-116.8	175.3	-6.4	181	1869	0.00	3.78	0.00	0.000	4	0.000	0.000	1997	311	2745
1911	-1.34	-116.8	178.5	-6.5	183	1919	0.17	3.72	0.00	0.000	6	0.000	0.000	2008	2105	2748
2252	-1.48	-116.8	199.6	-6.3	199	2260	0.52	2.92	0.00	0.000	4	0.000	0.000	1957	308	2741
2308	-1.43	-116.8	204.3	-7.8	201	2315	0.00	3.38	0.00	0.000	6	0.000	0.000	1942	1995	2744
2642	-1.32	-116.8	230.0	-7.8	217	2648	0.32	2.42	0.00	0.000	4	0.000	0.000	2004	356	2747
2687	-1.44	-116.8	233.3	-5.6	219	2695	0.50	3.42	0.00	0.000	6	0.000	0.000	1859	2185	2741
3023	-1.17	-116.8	264.3	-9.3	235	3031	0.80	3.95	0.00	0.000	4	0.000	0.000	2028	551	2750
3064	-1.29	-116.8	267.4	-5.7	236	3073	0.00	3.17	0.00	0.000	6	0.000	0.000	2018	2239	2740
3389	-1.35	-116.8	285.8	-5.8	252	3396	0.00	3.62	0.00	0.000	4	0.000	0.000	1988	413	2743
3452	-1.44	-116.8	289.9	-5.7	254	3461	0.52	3.75	0.00	0.000	6	0.000	0.000	1888	2251	2746
3777	-1.18	-116.8	317.6	-8.9	270	3785	0.77	3.95	0.00	0.000	4	0.000	0.000	2013	585	2748
3862	-1.28	-116.8	323.3	-5.7	273	3867	0.05	2.25	0.00	0.000	6	0.000	0.000	2031	1953	2741
4187	-1.35	-116.8	341.1	-5.5	288	4189	0.60	0.00	0.00	0.000	6	0.000	0.000	1903	1941	2740
4496	-1.09	-116.8	367.3	-8.7	303	4504	1.15	2.95	0.00	0.000	4	0.000	0.000	2075	402	2741
4549	-1.37	-116.8	370.6	-4.1	305	4557	0.77	3.53	0.00	0.000	6	0.000	0.000	1918	2234	2747
4885	-1.12	-116.8	397.7	-8.4	321	4893	0.77	3.22	0.00	0.000	4	0.000	0.000	2064	417	2738
4938	-1.40	-116.8	401.1	-3.9	323	4946	0.77	3.17	0.00	0.000	6	0.000	0.000	1881	2073	2744
5273	-1.12	-116.8	428.8	-8.7	339	5282	1.12	3.17	0.00	0.000	4	0.000	0.000	2085	366	2743
5350	-1.37	-116.8	433.2	-4.0	342	5359	0.80	3.20	0.00	0.000	6	0.000	0.000	1953	2222	2748
5686	-1.26	-116.8	456.3	-7.0	358	5694	0.40	3.28	0.00	0.000	4	0.000	0.000	2064	526	2742
5744	-1.49	-116.8	459.3	-4.2	360	5756	0.82	2.92	0.00	0.000	6	0.000	0.000	1893	2112	2744
6068	-1.20	-116.8	486.3	-8.6	376	6074	0.80	2.45	0.00	0.000	4	0.000	0.000	1986	3432	2740
6144	-1.24	-116.8	490.9	-5.5	379	6149	0.00	2.75	0.00	0.000	6	0.000	0.000	1999	1726	2748
6487	-1.29	-116.8	509.8	-5.4	392	6495	0.00	3.88	0.00	0.000	4	0.000	0.000	2017	3551	2748
6632	-1.33	-116.8	517.7	-5.3	395	6640	0.30	3.83	0.00	0.000	6	0.000	0.000	1954	1702	2743
6960	-1.27	-116.8	540.0	-6.9	403	6968	0.60	3.80	0.00	0.000	4	0.000	0.000	2061	3581	2747
7018	-1.48	-116.8	543.1	-4.1	404	7026	0.77	3.17	0.00	0.000	6	0.000	0.000	1861	1930	2739
7036	end dive: BOTTOM_OBSTACLE_DETECTED
state	7036	begin apogee
7049	-0.25	0.0	544.3	4.8	404	7182	1.73	0.00	114.60	0.000	6	0.000	0.000	2209	2257	2263
7183	end apogee: CONTROL_FINISHED_OK
state	7183	begin climb
7189	1.49	116.8	543.9	0.0	408	7315	1.88	2.72	112.38	0.000	4	0.000	0.000	2668	3623	1776
7368	1.17	116.8	507.8	25.3	411	7377	0.88	3.42	0.00	0.000	6	0.000	0.000	2484	1805	1786
7706	1.39	146.0	467.3	11.4	425	7739	0.47	0.00	27.88	0.000	6	0.000	0.000	2609	1810	1673
8054	1.22	146.0	394.0	21.8	442	8062	0.47	3.75	0.00	0.000	4	0.000	0.000	2483	3652	1665
8241	1.40	161.3	368.3	12.5	450	8266	0.52	3.42	14.30	0.001	6	0.000	0.000	2614	1810	1607
8575	1.23	161.3	293.8	23.2	466	8581	0.50	2.70	0.00	0.000	4	0.000	0.000	2482	298	1604
8606	1.23	161.3	286.4	23.1	467	8619	0.52	3.15	0.00	0.000	6	0.000	0.000	2585	2016	1604
8935	1.07	161.3	213.6	21.9	483	8943	0.68	3.55	0.47	0.001	4	0.000	0.000	2437	3513	1604
9077	1.53	226.9	198.0	8.5	489	9141	1.05	3.40	53.15	0.000	6	0.000	0.000	2663	1845	1332
9461	1.18	226.9	83.6	31.0	513	9470	1.30	3.55	0.00	0.000	4	0.000	0.000	2493	3669	1327
9573	1.35	226.9	62.7	14.5	530	9582	0.52	3.83	0.00	0.000	6	0.000	0.000	2610	1698	1334
9827	end climb: SURFACE_DEPTH_REACHED
state	9827	begin surface coast
9839	end surface coast: CONTROL_FINISHED_OK
state	9839	begin surface