Glider dive log

PortSusan 03Aug07 * SG001 * Dive index * Mission links * Dive 33 * 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 33 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 11 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 -449377.16 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 -449377.16

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 11 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 33 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 091629,6654.429,-6034.340,13,1.1,13,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6704.576,-6032.901

_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 092105,6654.429,-6034.340,18,1.1,18,18.0 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 0.0,1.024120 XPDR_PINGS -1

SM_CCo 11434,140.25,0.000,0,0,425,450.37 ALTIM_TOP_PING 19.4,19.9

SM_GC 0.00,0.00,0.00,140.25,0.000,0.000,0.000,655,2208,425,-7.44,6.67,450.37 ALTIM_BOTTOM_PING 475.6,87.5

RAFOS_CLK 0 _24V_AH 23.7,64.415

RAFOS 4,1160645345,9.500000,9.484722,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,9.711

RAFOS_FIX 6655.265137,-6030.459473,121006,121200,3,80,0.31 DATA_FILE_SIZE 22161,664

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241758208

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,99,1142,3,0

HUMID 2194 SOUNDSPEED 1471.0

INTERNAL_PRESSURE 25.9967 CURRENT 0.045,272.6,1

TCM_TEMP 15.00 GPS 121006,123613,6655.300,-6034.168,29,1.1,29,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 48 119 135.80 SBE_CT 535 24 304.83

Roll_motor 146 60 208.64 nil 0 0 0.00

VBD_pump_during_apogee 328 0 5.97 nil 0 0 0.00

VBD_pump_during_surface 140 600 1994.35 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 86 223 458.35

Transponder_ping 4 420 42.30

GPS 19 50 9.50

TT8 2044 19 394.95

LPSleep 7305 2 163.70

TT8_Active 814 19 157.36

TT8_Sampling 806 39 312.45

TT8_CF8 890 45 396.63

TT8_Kalman 0 0 0.00

Analog_circuits 1514 12 176.30

GPS_charging 0 0 0.00

Compass 689 26 174.00

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 34 begin dive

40 -1.49 -116.8 0.0 0.0 0 119 0.00 0.00 -76.68 0.000 6 0.000 0.000 625 2195 2743

130 -1.49 -116.8 -0.0 0.0 9 148 6.60 3.70 0.00 0.000 4 0.000 0.000 1988 377 2738

342 -1.55 -116.8 29.4 -10.4 43 351 0.52 3.38 0.00 0.000 6 0.000 0.000 1848 2042 2745

709 -1.23 -116.8 78.8 -12.9 104 718 0.77 2.97 0.00 0.000 4 0.000 0.000 2018 3557 2739

776 -1.27 -116.8 84.9 -7.7 114 784 0.00 3.05 0.00 0.000 6 0.000 0.000 2001 1742 2739

1129 -1.31 -116.8 111.0 -7.3 155 1136 0.00 3.25 0.00 0.000 4 0.000 0.000 1983 3555 2739

1406 -1.35 -116.8 131.1 -6.7 167 1413 0.10 3.50 0.00 0.000 6 0.000 0.000 2016 1707 2745

1740 -1.38 -116.8 153.8 -6.8 183 1748 0.08 3.50 0.00 0.000 4 0.000 0.000 1987 3515 2735

1862 -1.42 -116.8 162.5 -6.6 188 1870 0.52 3.28 0.00 0.000 6 0.000 0.000 1865 2010 2740

2192 -1.13 -116.8 195.9 -10.3 204 2200 0.75 2.97 0.00 0.000 4 0.000 0.000 2072 490 2742

2250 -1.37 -116.8 199.5 -4.8 206 2263 0.57 2.83 0.00 0.000 6 0.000 0.000 1911 2148 2745

2579 -1.25 -116.8 224.9 -7.9 222 2585 0.50 2.72 0.00 0.000 4 0.000 0.000 2064 280 2740

2643 -1.57 -116.8 228.8 -4.6 224 2653 0.93 2.85 0.00 0.000 6 0.000 0.000 1868 2143 2737

2967 -1.29 -116.8 258.7 -9.3 240 2970 0.77 0.00 0.00 0.000 6 0.000 0.000 2058 2145 2738

3277 -1.50 -116.8 273.3 -4.4 255 3285 1.08 3.22 0.00 0.000 4 0.000 0.000 1884 288 2744

3335 -1.28 -116.8 278.3 -9.3 257 3348 0.77 3.83 0.00 0.000 6 0.000 0.000 2070 2115 2738

3664 -1.52 -116.8 292.8 -4.2 273 3673 0.73 3.45 0.00 0.000 4 0.000 0.000 1880 257 2738

3705 -1.33 -116.8 295.9 -8.6 274 3715 0.62 2.88 0.00 0.000 6 0.000 0.000 2006 1961 2739

4030 -1.41 -116.8 313.9 -5.5 290 4038 0.43 3.25 0.00 0.000 4 0.000 0.000 1887 3626 2743

4140 -1.15 -116.8 323.6 -8.6 294 4149 0.82 2.85 0.00 0.000 6 0.000 0.000 2082 1965 2743

4465 -1.40 -116.8 337.4 -4.1 310 4471 0.77 2.53 0.00 0.000 4 0.000 0.000 1955 3612 2746

4594 -1.30 -116.8 346.5 -7.0 315 4603 0.52 3.28 0.00 0.000 6 0.000 0.000 2032 1964 2743

4919 -1.54 -116.8 360.2 -4.1 331 4921 0.88 0.00 0.00 0.000 6 0.000 0.000 1883 1949 2742

5228 -1.28 -116.8 385.4 -8.5 346 5236 0.85 3.28 0.00 0.000 4 0.000 0.000 2048 3496 2745

5313 -1.52 -116.8 389.8 -3.9 349 5326 0.70 3.65 0.00 0.000 6 0.000 0.000 1891 1989 2738

5638 -1.23 -116.8 417.4 -8.8 365 5647 1.10 3.22 0.00 0.000 4 0.000 0.000 2059 347 2746

5673 -1.48 -116.8 419.7 -4.5 366 5687 0.80 3.45 0.00 0.000 6 0.000 0.000 1940 2051 2741

6003 -1.36 -116.8 441.9 -7.0 382 6005 0.43 0.00 0.00 0.000 6 0.000 0.000 2088 2031 2742

6312 -1.59 -116.8 455.0 -4.1 397 6320 0.75 3.47 0.00 0.000 4 0.000 0.000 1874 346 2741

6392 -1.37 -116.8 461.0 -8.7 400 6399 0.65 2.75 0.00 0.000 6 0.000 0.000 2026 2016 2744

6721 -1.45 -116.8 478.9 -5.3 416 6729 0.60 3.53 0.00 0.000 4 0.000 0.000 1905 339 2744

6757 -1.23 -116.8 481.4 -8.1 417 6769 0.77 3.17 0.00 0.000 6 0.000 0.000 2074 2073 2749

7086 -1.48 -116.8 495.0 -3.9 433 7095 1.12 2.97 0.00 0.000 4 0.000 0.000 1877 573 2743

7185 -1.24 -116.8 502.3 -8.1 437 7193 0.77 2.92 0.00 0.000 6 0.000 0.000 2068 2260 2746

7519 -1.47 -116.8 516.8 -4.0 445 7527 0.88 3.22 0.00 0.000 4 0.000 0.000 1878 419 2737

7599 -1.22 -116.8 523.1 -8.6 446 7612 0.77 3.47 0.00 0.000 6 0.000 0.000 2055 2098 2746

7940 -1.45 -116.8 537.5 -4.0 455 7949 0.77 3.47 0.00 0.000 4 0.000 0.000 1906 594 2740

8082 -1.21 -116.8 548.8 -8.2 458 8090 0.77 3.03 0.00 0.000 6 0.000 0.000 2073 2105 2743

8200 end dive: BOTTOM_OBSTACLE_DETECTED

state 8201 begin apogee

8213 -0.25 0.0 554.4 3.9 461 8331 0.90 0.00 114.18 0.001 6 0.000 0.000 2232 1952 2264

8332 end apogee: CONTROL_FINISHED_OK

state 8332 begin climb

8337 1.49 116.8 554.1 0.0 464 8471 2.08 0.00 113.53 0.001 6 0.000 0.000 2650 1928 1783

8754 1.17 116.8 461.3 24.5 478 8761 0.80 2.67 0.00 0.000 4 0.000 0.000 2527 446 1786

8852 1.23 116.8 445.5 15.8 482 8859 0.00 3.30 0.00 0.000 6 0.000 0.000 2542 2120 1783

9193 1.23 116.8 392.8 15.2 498 9200 0.00 3.55 0.00 0.000 4 0.000 0.000 2536 286 1784

9294 1.28 116.8 376.7 16.3 502 9301 0.00 3.47 0.00 0.000 6 0.000 0.000 2535 2095 1784

9627 1.28 116.8 326.8 15.1 518 9634 0.00 3.22 0.00 0.000 4 0.000 0.000 2543 415 1786

9662 1.16 116.8 320.6 15.3 519 9667 0.00 2.88 0.00 0.000 6 0.000 0.000 2544 1923 1777

9986 1.12 116.8 267.8 15.4 534 9994 0.43 3.28 0.00 0.000 4 0.000 0.000 2437 3432 1788

10091 1.60 195.3 257.5 7.5 538 10179 1.10 3.17 74.03 0.001 6 0.000 0.000 2649 1783 1471

10515 1.26 195.3 140.6 30.2 558 10518 0.77 0.00 0.00 0.000 6 0.000 0.000 2468 1777 1470

10824 1.48 211.8 98.7 12.4 573 10849 0.85 2.67 14.57 0.001 4 0.000 0.000 2665 442 1395

10907 1.17 211.8 76.2 30.0 585 10916 0.77 3.22 0.00 0.000 6 0.000 0.000 2488 2065 1398

11277 1.39 227.2 25.4 12.5 646 11301 0.40 2.75 11.98 0.001 4 0.000 0.000 2582 3393 1328

11379 1.26 227.2 4.9 21.5 661 11388 0.50 2.33 0.08 0.000 6 0.000 0.000 2466 1712 1336

11392 end climb: SURFACE_DEPTH_REACHED

state 11393 begin surface coast

11405 end surface coast: CONTROL_FINISHED_OK

state 11405 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	33	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	11	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	-449377.16	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	091629,6654.429,-6034.340,13,1.1,13,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6704.576,-6032.901
_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	092105,6654.429,-6034.340,18,1.1,18,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FINISH	0.0,1.024120	XPDR_PINGS	-1
SM_CCo	11434,140.25,0.000,0,0,425,450.37	ALTIM_TOP_PING	19.4,19.9
SM_GC	0.00,0.00,0.00,140.25,0.000,0.000,0.000,655,2208,425,-7.44,6.67,450.37	ALTIM_BOTTOM_PING	475.6,87.5
RAFOS_CLK	0	_24V_AH	23.7,64.415
RAFOS	4,1160645345,9.500000,9.484722,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,9.711
RAFOS_FIX	6655.265137,-6030.459473,121006,121200,3,80,0.31	DATA_FILE_SIZE	22161,664
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241758208
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,99,1142,3,0
HUMID	2194	SOUNDSPEED	1471.0
INTERNAL_PRESSURE	25.9967	CURRENT	0.045,272.6,1
TCM_TEMP	15.00	GPS	121006,123613,6655.300,-6034.168,29,1.1,29,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	48	119	135.80	SBE_CT	535	24	304.83
Roll_motor	146	60	208.64	nil	0	0	0.00
VBD_pump_during_apogee	328	0	5.97	nil	0	0	0.00
VBD_pump_during_surface	140	600	1994.35	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	458.35
Transponder_ping	4	420	42.30
GPS	19	50	9.50
TT8	2044	19	394.95
LPSleep	7305	2	163.70
TT8_Active	814	19	157.36
TT8_Sampling	806	39	312.45
TT8_CF8	890	45	396.63
TT8_Kalman	0	0	0.00
Analog_circuits	1514	12	176.30
GPS_charging	0	0	0.00
Compass	689	26	174.00
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	34	begin dive
40	-1.49	-116.8	0.0	0.0	0	119	0.00	0.00	-76.68	0.000	6	0.000	0.000	625	2195	2743
130	-1.49	-116.8	-0.0	0.0	9	148	6.60	3.70	0.00	0.000	4	0.000	0.000	1988	377	2738
342	-1.55	-116.8	29.4	-10.4	43	351	0.52	3.38	0.00	0.000	6	0.000	0.000	1848	2042	2745
709	-1.23	-116.8	78.8	-12.9	104	718	0.77	2.97	0.00	0.000	4	0.000	0.000	2018	3557	2739
776	-1.27	-116.8	84.9	-7.7	114	784	0.00	3.05	0.00	0.000	6	0.000	0.000	2001	1742	2739
1129	-1.31	-116.8	111.0	-7.3	155	1136	0.00	3.25	0.00	0.000	4	0.000	0.000	1983	3555	2739
1406	-1.35	-116.8	131.1	-6.7	167	1413	0.10	3.50	0.00	0.000	6	0.000	0.000	2016	1707	2745
1740	-1.38	-116.8	153.8	-6.8	183	1748	0.08	3.50	0.00	0.000	4	0.000	0.000	1987	3515	2735
1862	-1.42	-116.8	162.5	-6.6	188	1870	0.52	3.28	0.00	0.000	6	0.000	0.000	1865	2010	2740
2192	-1.13	-116.8	195.9	-10.3	204	2200	0.75	2.97	0.00	0.000	4	0.000	0.000	2072	490	2742
2250	-1.37	-116.8	199.5	-4.8	206	2263	0.57	2.83	0.00	0.000	6	0.000	0.000	1911	2148	2745
2579	-1.25	-116.8	224.9	-7.9	222	2585	0.50	2.72	0.00	0.000	4	0.000	0.000	2064	280	2740
2643	-1.57	-116.8	228.8	-4.6	224	2653	0.93	2.85	0.00	0.000	6	0.000	0.000	1868	2143	2737
2967	-1.29	-116.8	258.7	-9.3	240	2970	0.77	0.00	0.00	0.000	6	0.000	0.000	2058	2145	2738
3277	-1.50	-116.8	273.3	-4.4	255	3285	1.08	3.22	0.00	0.000	4	0.000	0.000	1884	288	2744
3335	-1.28	-116.8	278.3	-9.3	257	3348	0.77	3.83	0.00	0.000	6	0.000	0.000	2070	2115	2738
3664	-1.52	-116.8	292.8	-4.2	273	3673	0.73	3.45	0.00	0.000	4	0.000	0.000	1880	257	2738
3705	-1.33	-116.8	295.9	-8.6	274	3715	0.62	2.88	0.00	0.000	6	0.000	0.000	2006	1961	2739
4030	-1.41	-116.8	313.9	-5.5	290	4038	0.43	3.25	0.00	0.000	4	0.000	0.000	1887	3626	2743
4140	-1.15	-116.8	323.6	-8.6	294	4149	0.82	2.85	0.00	0.000	6	0.000	0.000	2082	1965	2743
4465	-1.40	-116.8	337.4	-4.1	310	4471	0.77	2.53	0.00	0.000	4	0.000	0.000	1955	3612	2746
4594	-1.30	-116.8	346.5	-7.0	315	4603	0.52	3.28	0.00	0.000	6	0.000	0.000	2032	1964	2743
4919	-1.54	-116.8	360.2	-4.1	331	4921	0.88	0.00	0.00	0.000	6	0.000	0.000	1883	1949	2742
5228	-1.28	-116.8	385.4	-8.5	346	5236	0.85	3.28	0.00	0.000	4	0.000	0.000	2048	3496	2745
5313	-1.52	-116.8	389.8	-3.9	349	5326	0.70	3.65	0.00	0.000	6	0.000	0.000	1891	1989	2738
5638	-1.23	-116.8	417.4	-8.8	365	5647	1.10	3.22	0.00	0.000	4	0.000	0.000	2059	347	2746
5673	-1.48	-116.8	419.7	-4.5	366	5687	0.80	3.45	0.00	0.000	6	0.000	0.000	1940	2051	2741
6003	-1.36	-116.8	441.9	-7.0	382	6005	0.43	0.00	0.00	0.000	6	0.000	0.000	2088	2031	2742
6312	-1.59	-116.8	455.0	-4.1	397	6320	0.75	3.47	0.00	0.000	4	0.000	0.000	1874	346	2741
6392	-1.37	-116.8	461.0	-8.7	400	6399	0.65	2.75	0.00	0.000	6	0.000	0.000	2026	2016	2744
6721	-1.45	-116.8	478.9	-5.3	416	6729	0.60	3.53	0.00	0.000	4	0.000	0.000	1905	339	2744
6757	-1.23	-116.8	481.4	-8.1	417	6769	0.77	3.17	0.00	0.000	6	0.000	0.000	2074	2073	2749
7086	-1.48	-116.8	495.0	-3.9	433	7095	1.12	2.97	0.00	0.000	4	0.000	0.000	1877	573	2743
7185	-1.24	-116.8	502.3	-8.1	437	7193	0.77	2.92	0.00	0.000	6	0.000	0.000	2068	2260	2746
7519	-1.47	-116.8	516.8	-4.0	445	7527	0.88	3.22	0.00	0.000	4	0.000	0.000	1878	419	2737
7599	-1.22	-116.8	523.1	-8.6	446	7612	0.77	3.47	0.00	0.000	6	0.000	0.000	2055	2098	2746
7940	-1.45	-116.8	537.5	-4.0	455	7949	0.77	3.47	0.00	0.000	4	0.000	0.000	1906	594	2740
8082	-1.21	-116.8	548.8	-8.2	458	8090	0.77	3.03	0.00	0.000	6	0.000	0.000	2073	2105	2743
8200	end dive: BOTTOM_OBSTACLE_DETECTED
state	8201	begin apogee
8213	-0.25	0.0	554.4	3.9	461	8331	0.90	0.00	114.18	0.001	6	0.000	0.000	2232	1952	2264
8332	end apogee: CONTROL_FINISHED_OK
state	8332	begin climb
8337	1.49	116.8	554.1	0.0	464	8471	2.08	0.00	113.53	0.001	6	0.000	0.000	2650	1928	1783
8754	1.17	116.8	461.3	24.5	478	8761	0.80	2.67	0.00	0.000	4	0.000	0.000	2527	446	1786
8852	1.23	116.8	445.5	15.8	482	8859	0.00	3.30	0.00	0.000	6	0.000	0.000	2542	2120	1783
9193	1.23	116.8	392.8	15.2	498	9200	0.00	3.55	0.00	0.000	4	0.000	0.000	2536	286	1784
9294	1.28	116.8	376.7	16.3	502	9301	0.00	3.47	0.00	0.000	6	0.000	0.000	2535	2095	1784
9627	1.28	116.8	326.8	15.1	518	9634	0.00	3.22	0.00	0.000	4	0.000	0.000	2543	415	1786
9662	1.16	116.8	320.6	15.3	519	9667	0.00	2.88	0.00	0.000	6	0.000	0.000	2544	1923	1777
9986	1.12	116.8	267.8	15.4	534	9994	0.43	3.28	0.00	0.000	4	0.000	0.000	2437	3432	1788
10091	1.60	195.3	257.5	7.5	538	10179	1.10	3.17	74.03	0.001	6	0.000	0.000	2649	1783	1471
10515	1.26	195.3	140.6	30.2	558	10518	0.77	0.00	0.00	0.000	6	0.000	0.000	2468	1777	1470
10824	1.48	211.8	98.7	12.4	573	10849	0.85	2.67	14.57	0.001	4	0.000	0.000	2665	442	1395
10907	1.17	211.8	76.2	30.0	585	10916	0.77	3.22	0.00	0.000	6	0.000	0.000	2488	2065	1398
11277	1.39	227.2	25.4	12.5	646	11301	0.40	2.75	11.98	0.001	4	0.000	0.000	2582	3393	1328
11379	1.26	227.2	4.9	21.5	661	11388	0.50	2.33	0.08	0.000	6	0.000	0.000	2466	1712	1336
11392	end climb: SURFACE_DEPTH_REACHED
state	11393	begin surface coast
11405	end surface coast: CONTROL_FINISHED_OK
state	11405	begin surface