Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 34 * 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 34 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 -449397.19 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 -449397.19

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 34 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 123613,6655.300,-6034.168,29,1.1,29,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6705.447,-6032.730

_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 124119,6655.300,-6034.168,18,1.1,18,18.0 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 0.0,1.024315 XPDR_PINGS -1

SM_CCo 11006,140.05,0.000,0,0,424,450.37 ALTIM_TOP_PING 19.8,19.5

SM_GC -0.00,0.00,0.00,140.05,0.000,0.000,0.000,615,1744,424,-7.60,-7.04,450.37 ALTIM_BOTTOM_PING 475.7,91.9

RAFOS_CLK 0 _24V_AH 23.7,64.833

RAFOS 4,1160666945,15.500000,15.484722,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,9.766

RAFOS_FIX 6655.265137,-6030.459473,121006,121200,3,80,0.31 DATA_FILE_SIZE 22151,615

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241680384

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,114,1143,7,0

HUMID 2251 SOUNDSPEED 1471.6

INTERNAL_PRESSURE 25.9967 CURRENT 0.049,255.8,1

TCM_TEMP 15.00 GPS 121006,154847,6656.134,-6033.995,13,1.1,13,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 52 119 147.57 SBE_CT 500 24 284.46

Roll_motor 146 60 208.00 nil 0 0 0.00

VBD_pump_during_apogee 327 1300 10095.67 nil 0 0 0.00

VBD_pump_during_surface 140 600 1991.51 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 90 223 479.88

Transponder_ping 4 420 42.30

GPS 19 50 9.42

TT8 1908 19 368.69

LPSleep 7060 2 158.20

TT8_Active 792 19 153.21

TT8_Sampling 793 39 307.23

TT8_CF8 889 45 396.33

TT8_Kalman 0 0 0.00

Analog_circuits 1492 12 173.72

GPS_charging 0 0 0.00

Compass 678 26 171.14

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

35 end surface: CONTROL_FINISHED_OK

state 35 begin dive

41 -1.49 -116.8 0.0 0.0 0 131 0.00 0.00 -76.50 0.000 6 0.000 0.000 656 2214 2743

137 -1.49 -116.8 0.8 -2.0 10 154 6.53 2.72 0.00 0.000 4 0.000 0.000 1996 3552 2745

443 -1.53 -116.8 38.5 -8.7 60 452 0.52 2.75 0.00 0.000 6 0.000 0.000 1877 1986 2745

812 -1.23 -116.8 85.9 -12.3 121 819 0.80 0.00 0.00 0.000 6 0.000 0.000 2006 1992 2748

1157 -1.27 -116.8 112.4 -7.4 158 1163 0.00 2.95 0.00 0.000 4 0.000 0.000 1983 507 2742

1193 -1.34 -116.8 115.6 -7.1 159 1202 0.00 3.20 0.00 0.000 6 0.000 0.000 1975 2174 2745

1518 -1.39 -116.8 138.3 -7.1 175 1526 0.10 3.83 0.00 0.000 4 0.000 0.000 2011 372 2744

1595 -1.47 -116.8 143.7 -6.9 178 1602 0.52 2.75 0.00 0.000 6 0.000 0.000 1884 2041 2753

1930 -1.18 -116.8 179.0 -10.5 194 1938 0.70 3.25 0.00 0.000 4 0.000 0.000 2070 337 2745

1982 -1.43 -116.8 182.7 -5.0 196 1990 0.77 3.80 0.00 0.000 6 0.000 0.000 1871 2167 2747

2317 -1.15 -116.8 214.9 -10.0 212 2325 1.33 2.03 0.00 0.000 4 0.000 0.000 2119 3542 2748

2565 -1.53 -116.8 226.9 -4.3 222 2574 1.08 3.05 0.00 0.000 6 0.000 0.000 1895 1700 2749

2890 -1.38 -116.8 256.1 -8.5 238 2893 1.05 0.00 0.00 0.000 6 0.000 0.000 1970 1693 2742

3199 -1.43 -116.8 275.0 -5.9 253 3207 0.55 2.72 0.00 0.000 4 0.000 0.000 1878 3579 2742

3416 -1.39 -116.8 294.3 -7.9 262 3424 0.62 3.17 0.00 0.000 6 0.000 0.000 1995 1902 2751

3751 -1.43 -116.8 314.6 -5.9 278 3757 0.45 2.72 0.00 0.000 4 0.000 0.000 1865 405 2752

3811 -1.20 -116.8 319.9 -8.8 280 3820 0.77 3.58 0.00 0.000 6 0.000 0.000 2044 2069 2745

4136 -1.41 -116.8 334.6 -4.4 296 4144 0.88 3.25 0.00 0.000 4 0.000 0.000 1857 358 2751

4212 -1.16 -116.8 339.4 -4.5 299 4220 0.80 3.47 0.00 0.000 6 0.000 0.000 2073 2201 2745

4548 -1.70 -116.8 357.9 -5.7 315 4556 1.08 3.22 0.00 0.000 4 0.000 0.000 1815 396 2743

4625 -1.33 -116.8 364.8 -10.6 318 4633 1.08 3.25 0.00 0.000 6 0.000 0.000 2081 2234 2736

4961 -1.55 -116.8 380.8 -4.3 334 4969 0.77 3.22 0.00 0.000 4 0.000 0.000 1873 397 2744

5019 -1.32 -116.8 385.5 -8.6 336 5032 0.50 3.17 0.00 0.000 6 0.000 0.000 2008 2083 2750

5349 -1.40 -116.8 403.7 -5.4 352 5356 0.60 3.28 0.00 0.000 4 0.000 0.000 1888 542 2746

5406 -1.17 -116.8 408.5 -8.4 354 5412 0.77 2.47 0.00 0.000 6 0.000 0.000 2059 2063 2742

5731 -2.03 -116.8 424.4 -6.2 369 5738 1.67 3.00 0.00 0.000 4 0.000 0.000 1778 318 2745

5770 -1.50 -116.8 428.2 -11.6 370 5783 1.05 3.28 0.00 0.000 6 0.000 0.000 2007 1971 2739

6100 -1.58 -116.8 446.0 -5.2 386 6108 0.77 2.95 0.00 0.000 4 0.000 0.000 1890 363 2746

6179 -1.38 -116.8 452.1 -8.4 389 6187 0.52 2.75 0.00 0.000 6 0.000 0.000 2007 2070 2742

6514 -1.47 -116.8 469.9 -5.1 405 6522 0.52 2.97 0.00 0.000 4 0.000 0.000 1896 415 2743

6577 -1.27 -116.8 474.7 -7.0 407 6588 0.77 2.78 0.00 0.000 6 0.000 0.000 2023 1926 2747

6897 -1.38 -116.8 491.4 -5.0 423 6904 0.38 3.03 0.00 0.000 4 0.000 0.000 1893 404 2749

6937 -1.20 -116.8 494.4 -8.3 424 6947 0.77 3.53 0.00 0.000 6 0.000 0.000 2083 2084 2746

7255 -1.48 -116.8 506.5 -3.7 436 7263 1.08 2.75 0.00 0.000 4 0.000 0.000 1904 456 2750

7357 -1.31 -116.8 513.5 -8.1 438 7365 0.40 3.70 0.00 0.000 6 0.000 0.000 2020 2053 2745

7684 -1.51 -116.8 530.6 -5.2 446 7692 0.73 2.62 0.00 0.000 4 0.000 0.000 1916 3627 2751

7849 -1.28 -116.8 543.5 -8.1 449 7857 0.50 3.25 0.00 0.000 6 0.000 0.000 2037 1764 2748

8148 end dive: BOTTOM_OBSTACLE_DETECTED

state 8148 begin apogee

8161 -0.25 0.0 559.1 5.0 457 8295 1.08 0.00 115.55 0.000 6 0.000 0.000 2245 2073 2256

8296 end apogee: CONTROL_FINISHED_OK

state 8296 begin climb

8302 1.49 116.8 559.9 0.0 460 8438 1.95 2.25 112.18 0.001 4 0.000 0.000 2623 3606 1787

8463 1.27 116.8 531.7 21.8 463 8472 0.60 3.58 0.00 0.000 6 0.000 0.000 2503 1769 1787

8790 1.34 124.7 488.2 13.1 473 8805 0.55 3.38 7.53 0.001 4 0.000 0.000 2569 3484 1756

8970 1.30 124.7 457.8 16.4 480 8976 0.00 2.97 0.00 0.000 6 0.000 0.000 2560 1972 1749

9306 1.26 124.7 401.9 16.9 496 9313 0.25 3.22 0.00 0.000 4 0.000 0.000 2495 272 1752

9358 1.44 127.6 393.5 13.5 498 9369 0.47 3.95 3.05 0.000 6 0.000 0.000 2627 2260 1738

9687 1.21 127.6 323.8 22.1 513 9695 0.90 3.28 0.00 0.000 4 0.000 0.000 2453 590 1741

9750 1.49 131.0 312.5 13.5 515 9761 0.77 3.25 3.10 0.001 6 0.000 0.000 2655 2249 1730

10075 1.24 131.0 241.7 22.7 531 10084 0.77 3.75 0.60 0.001 4 0.000 0.000 2460 385 1728

10152 1.64 185.4 232.0 9.4 534 10223 1.08 3.65 52.12 0.001 6 0.000 0.000 2692 2219 1502

10554 1.25 185.4 108.1 30.8 553 10563 1.33 4.03 0.00 0.000 4 0.000 0.000 2445 576 1502

10672 1.61 226.6 92.9 10.5 566 10723 1.08 3.17 33.55 0.001 6 0.000 0.000 2683 2080 1332

10969 end climb: SURFACE_DEPTH_REACHED

state 10969 begin surface coast

10976 end surface coast: CONTROL_FINISHED_OK

state 10976 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	34	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	-449397.19	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	123613,6655.300,-6034.168,29,1.1,29,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6705.447,-6032.730
_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	124119,6655.300,-6034.168,18,1.1,18,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FINISH	0.0,1.024315	XPDR_PINGS	-1
SM_CCo	11006,140.05,0.000,0,0,424,450.37	ALTIM_TOP_PING	19.8,19.5
SM_GC	-0.00,0.00,0.00,140.05,0.000,0.000,0.000,615,1744,424,-7.60,-7.04,450.37	ALTIM_BOTTOM_PING	475.7,91.9
RAFOS_CLK	0	_24V_AH	23.7,64.833
RAFOS	4,1160666945,15.500000,15.484722,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,9.766
RAFOS_FIX	6655.265137,-6030.459473,121006,121200,3,80,0.31	DATA_FILE_SIZE	22151,615
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241680384
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,114,1143,7,0
HUMID	2251	SOUNDSPEED	1471.6
INTERNAL_PRESSURE	25.9967	CURRENT	0.049,255.8,1
TCM_TEMP	15.00	GPS	121006,154847,6656.134,-6033.995,13,1.1,13,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	52	119	147.57	SBE_CT	500	24	284.46
Roll_motor	146	60	208.00	nil	0	0	0.00
VBD_pump_during_apogee	327	1300	10095.67	nil	0	0	0.00
VBD_pump_during_surface	140	600	1991.51	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	479.88
Transponder_ping	4	420	42.30
GPS	19	50	9.42
TT8	1908	19	368.69
LPSleep	7060	2	158.20
TT8_Active	792	19	153.21
TT8_Sampling	793	39	307.23
TT8_CF8	889	45	396.33
TT8_Kalman	0	0	0.00
Analog_circuits	1492	12	173.72
GPS_charging	0	0	0.00
Compass	678	26	171.14
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
35	end surface: CONTROL_FINISHED_OK
state	35	begin dive
41	-1.49	-116.8	0.0	0.0	0	131	0.00	0.00	-76.50	0.000	6	0.000	0.000	656	2214	2743
137	-1.49	-116.8	0.8	-2.0	10	154	6.53	2.72	0.00	0.000	4	0.000	0.000	1996	3552	2745
443	-1.53	-116.8	38.5	-8.7	60	452	0.52	2.75	0.00	0.000	6	0.000	0.000	1877	1986	2745
812	-1.23	-116.8	85.9	-12.3	121	819	0.80	0.00	0.00	0.000	6	0.000	0.000	2006	1992	2748
1157	-1.27	-116.8	112.4	-7.4	158	1163	0.00	2.95	0.00	0.000	4	0.000	0.000	1983	507	2742
1193	-1.34	-116.8	115.6	-7.1	159	1202	0.00	3.20	0.00	0.000	6	0.000	0.000	1975	2174	2745
1518	-1.39	-116.8	138.3	-7.1	175	1526	0.10	3.83	0.00	0.000	4	0.000	0.000	2011	372	2744
1595	-1.47	-116.8	143.7	-6.9	178	1602	0.52	2.75	0.00	0.000	6	0.000	0.000	1884	2041	2753
1930	-1.18	-116.8	179.0	-10.5	194	1938	0.70	3.25	0.00	0.000	4	0.000	0.000	2070	337	2745
1982	-1.43	-116.8	182.7	-5.0	196	1990	0.77	3.80	0.00	0.000	6	0.000	0.000	1871	2167	2747
2317	-1.15	-116.8	214.9	-10.0	212	2325	1.33	2.03	0.00	0.000	4	0.000	0.000	2119	3542	2748
2565	-1.53	-116.8	226.9	-4.3	222	2574	1.08	3.05	0.00	0.000	6	0.000	0.000	1895	1700	2749
2890	-1.38	-116.8	256.1	-8.5	238	2893	1.05	0.00	0.00	0.000	6	0.000	0.000	1970	1693	2742
3199	-1.43	-116.8	275.0	-5.9	253	3207	0.55	2.72	0.00	0.000	4	0.000	0.000	1878	3579	2742
3416	-1.39	-116.8	294.3	-7.9	262	3424	0.62	3.17	0.00	0.000	6	0.000	0.000	1995	1902	2751
3751	-1.43	-116.8	314.6	-5.9	278	3757	0.45	2.72	0.00	0.000	4	0.000	0.000	1865	405	2752
3811	-1.20	-116.8	319.9	-8.8	280	3820	0.77	3.58	0.00	0.000	6	0.000	0.000	2044	2069	2745
4136	-1.41	-116.8	334.6	-4.4	296	4144	0.88	3.25	0.00	0.000	4	0.000	0.000	1857	358	2751
4212	-1.16	-116.8	339.4	-4.5	299	4220	0.80	3.47	0.00	0.000	6	0.000	0.000	2073	2201	2745
4548	-1.70	-116.8	357.9	-5.7	315	4556	1.08	3.22	0.00	0.000	4	0.000	0.000	1815	396	2743
4625	-1.33	-116.8	364.8	-10.6	318	4633	1.08	3.25	0.00	0.000	6	0.000	0.000	2081	2234	2736
4961	-1.55	-116.8	380.8	-4.3	334	4969	0.77	3.22	0.00	0.000	4	0.000	0.000	1873	397	2744
5019	-1.32	-116.8	385.5	-8.6	336	5032	0.50	3.17	0.00	0.000	6	0.000	0.000	2008	2083	2750
5349	-1.40	-116.8	403.7	-5.4	352	5356	0.60	3.28	0.00	0.000	4	0.000	0.000	1888	542	2746
5406	-1.17	-116.8	408.5	-8.4	354	5412	0.77	2.47	0.00	0.000	6	0.000	0.000	2059	2063	2742
5731	-2.03	-116.8	424.4	-6.2	369	5738	1.67	3.00	0.00	0.000	4	0.000	0.000	1778	318	2745
5770	-1.50	-116.8	428.2	-11.6	370	5783	1.05	3.28	0.00	0.000	6	0.000	0.000	2007	1971	2739
6100	-1.58	-116.8	446.0	-5.2	386	6108	0.77	2.95	0.00	0.000	4	0.000	0.000	1890	363	2746
6179	-1.38	-116.8	452.1	-8.4	389	6187	0.52	2.75	0.00	0.000	6	0.000	0.000	2007	2070	2742
6514	-1.47	-116.8	469.9	-5.1	405	6522	0.52	2.97	0.00	0.000	4	0.000	0.000	1896	415	2743
6577	-1.27	-116.8	474.7	-7.0	407	6588	0.77	2.78	0.00	0.000	6	0.000	0.000	2023	1926	2747
6897	-1.38	-116.8	491.4	-5.0	423	6904	0.38	3.03	0.00	0.000	4	0.000	0.000	1893	404	2749
6937	-1.20	-116.8	494.4	-8.3	424	6947	0.77	3.53	0.00	0.000	6	0.000	0.000	2083	2084	2746
7255	-1.48	-116.8	506.5	-3.7	436	7263	1.08	2.75	0.00	0.000	4	0.000	0.000	1904	456	2750
7357	-1.31	-116.8	513.5	-8.1	438	7365	0.40	3.70	0.00	0.000	6	0.000	0.000	2020	2053	2745
7684	-1.51	-116.8	530.6	-5.2	446	7692	0.73	2.62	0.00	0.000	4	0.000	0.000	1916	3627	2751
7849	-1.28	-116.8	543.5	-8.1	449	7857	0.50	3.25	0.00	0.000	6	0.000	0.000	2037	1764	2748
8148	end dive: BOTTOM_OBSTACLE_DETECTED
state	8148	begin apogee
8161	-0.25	0.0	559.1	5.0	457	8295	1.08	0.00	115.55	0.000	6	0.000	0.000	2245	2073	2256
8296	end apogee: CONTROL_FINISHED_OK
state	8296	begin climb
8302	1.49	116.8	559.9	0.0	460	8438	1.95	2.25	112.18	0.001	4	0.000	0.000	2623	3606	1787
8463	1.27	116.8	531.7	21.8	463	8472	0.60	3.58	0.00	0.000	6	0.000	0.000	2503	1769	1787
8790	1.34	124.7	488.2	13.1	473	8805	0.55	3.38	7.53	0.001	4	0.000	0.000	2569	3484	1756
8970	1.30	124.7	457.8	16.4	480	8976	0.00	2.97	0.00	0.000	6	0.000	0.000	2560	1972	1749
9306	1.26	124.7	401.9	16.9	496	9313	0.25	3.22	0.00	0.000	4	0.000	0.000	2495	272	1752
9358	1.44	127.6	393.5	13.5	498	9369	0.47	3.95	3.05	0.000	6	0.000	0.000	2627	2260	1738
9687	1.21	127.6	323.8	22.1	513	9695	0.90	3.28	0.00	0.000	4	0.000	0.000	2453	590	1741
9750	1.49	131.0	312.5	13.5	515	9761	0.77	3.25	3.10	0.001	6	0.000	0.000	2655	2249	1730
10075	1.24	131.0	241.7	22.7	531	10084	0.77	3.75	0.60	0.001	4	0.000	0.000	2460	385	1728
10152	1.64	185.4	232.0	9.4	534	10223	1.08	3.65	52.12	0.001	6	0.000	0.000	2692	2219	1502
10554	1.25	185.4	108.1	30.8	553	10563	1.33	4.03	0.00	0.000	4	0.000	0.000	2445	576	1502
10672	1.61	226.6	92.9	10.5	566	10723	1.08	3.17	33.55	0.001	6	0.000	0.000	2683	2080	1332
10969	end climb: SURFACE_DEPTH_REACHED
state	10969	begin surface coast
10976	end surface coast: CONTROL_FINISHED_OK
state	10976	begin surface