Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 37 * 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 37 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 8 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 8 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 -449466.03 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 -449466.03

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 8 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 8 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 37 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 220019,6657.842,-6033.789,33,1.1,33,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6707.990,-6032.354

_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 220515,6657.842,-6033.789,36,1.1,36,18.0 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 -0.00,4.455,-1.686 XPDR_PINGS -1

FINISH -0.0,1.024445 ALTIM_TOP_PING 19.2,18.8

SM_CCo 11376,146.57,0.000,1,0,426,450.62 ALTIM_BOTTOM_PING 500.5,87.9

SM_GC 0.00,0.00,0.00,146.57,0.000,0.000,0.000,618,2202,426,-7.63,6.64,450.62 _24V_AH 23.7,66.023

RAFOS_CLK 0 _10V_AH 9.7,9.930

RAFOS 0,1160697855,0.083333,0.070833,80,0,0,0,0,0,571,0,0,0,0,0 DATA_FILE_SIZE 22111,618

RAFOS_FIX 6657.298340,-6030.208984,131006,000020,4,80,0.34 CFSIZE 255582208,241446912

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,101,853,5,0

TT8_MAMPS 0.024544 SOUNDSPEED 1472.1

HUMID 2332 CURRENT 0.049,266.1,1

INTERNAL_PRESSURE 26.0162 GPS 131006,011925,6658.774,-6033.944,13,1.1,13,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 47 119 133.68 SBE_CT 505 24 287.47

Roll_motor 110 60 157.24 nil 0 0 0.00

VBD_pump_during_apogee 316 1300 9751.36 nil 0 0 0.00

VBD_pump_during_surface 146 600 2084.30 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 87 223 460.25

Transponder_ping 4 420 44.79

GPS 36 50 17.73

TT8 1922 19 371.55

LPSleep 7542 2 169.00

TT8_Active 746 19 144.22

TT8_Sampling 767 39 297.14

TT8_CF8 858 45 382.48

TT8_Kalman 0 0 0.00

Analog_circuits 1395 12 162.41

GPS_charging 0 0 0.00

Compass 641 26 161.79

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 35 begin dive

41 -1.49 -116.8 0.0 0.0 0 126 0.00 0.00 -76.88 0.000 6 0.000 0.000 650 1745 2742

132 -1.49 -116.8 0.0 -0.0 9 149 6.82 2.03 0.00 0.000 4 0.000 0.000 2019 586 2746

241 -1.62 -116.8 16.3 -9.2 25 250 0.80 2.65 0.00 0.000 6 0.000 0.000 1805 2079 2742

611 -1.43 -116.8 74.1 -13.4 86 619 0.80 2.47 0.00 0.000 4 0.000 0.000 2003 3419 2742

701 -1.53 -116.8 81.7 -7.1 100 710 0.50 3.25 0.00 0.000 6 0.000 0.000 1893 1751 2752

1057 -1.28 -116.8 118.7 -11.0 138 1065 0.77 3.50 0.00 0.000 4 0.000 0.000 2014 3555 2749

1202 -1.36 -116.8 130.0 -6.7 144 1210 0.50 3.78 0.00 0.000 6 0.000 0.000 1899 1874 2749

1537 -1.12 -116.8 163.2 -10.4 160 1540 0.93 0.00 0.00 0.000 6 0.000 0.000 2045 1886 2743

1847 -1.36 -116.8 179.3 -4.7 175 1849 0.62 0.00 0.00 0.000 6 0.000 0.000 1962 1892 2746

2156 -1.27 -116.8 203.1 -7.8 190 2158 0.55 0.00 0.00 0.000 6 0.000 0.000 2012 1881 2742

2465 -1.73 -116.8 222.1 -6.4 205 2473 0.93 2.72 0.00 0.000 4 0.000 0.000 1818 381 2745

2514 -1.39 -116.8 226.9 -11.6 207 2522 0.80 3.42 0.00 0.000 6 0.000 0.000 2019 2190 2745

2855 -1.47 -116.8 247.7 -5.8 223 2861 0.47 2.75 0.00 0.000 4 0.000 0.000 1890 3715 2748

2950 -1.23 -116.8 255.6 -8.9 227 2958 0.75 3.65 0.00 0.000 6 0.000 0.000 2052 1708 2746

3290 -1.48 -116.8 271.4 -4.2 243 3293 0.70 0.00 0.00 0.000 6 0.000 0.000 1871 1722 2749

3600 -1.22 -116.8 298.3 -9.1 258 3603 1.15 0.00 0.00 0.000 6 0.000 0.000 2090 1712 2746

3909 -1.47 -116.8 312.9 -4.2 273 3917 0.82 3.78 0.00 0.000 4 0.000 0.000 1941 3409 2742

4020 -1.39 -116.8 320.4 -7.1 277 4029 0.00 3.35 0.00 0.000 6 0.000 0.000 1945 1755 2748

4345 -1.31 -116.8 342.6 -7.0 293 4347 0.17 0.00 0.00 0.000 6 0.000 0.000 2023 1741 2750

4654 -1.39 -116.8 359.8 -5.4 308 4662 0.47 3.78 0.00 0.000 4 0.000 0.000 1872 3435 2745

4760 -1.14 -116.8 368.7 -8.4 312 4773 0.80 3.22 0.00 0.000 6 0.000 0.000 2079 1729 2748

5090 -1.39 -116.8 382.8 -4.1 328 5092 0.70 0.00 0.00 0.000 6 0.000 0.000 1860 1738 2748

5399 -1.13 -116.8 408.3 -8.6 343 5407 0.65 3.53 0.00 0.000 4 0.000 0.000 2074 3597 2750

5463 -1.39 -116.8 412.2 -3.9 345 5472 0.77 3.53 0.00 0.000 6 0.000 0.000 1891 1780 2748

5788 -1.15 -116.8 437.9 -8.4 361 5790 0.73 0.00 0.00 0.000 6 0.000 0.000 2073 1790 2748

6097 -1.41 -116.8 450.7 -3.9 376 6106 1.12 3.50 0.00 0.000 4 0.000 0.000 1890 3634 2743

6198 -1.16 -116.8 459.0 -8.5 380 6206 0.77 3.15 0.00 0.000 6 0.000 0.000 2066 1770 2749

6533 -1.41 -116.8 473.0 -4.0 396 6536 0.95 0.00 0.00 0.000 6 0.000 0.000 1905 1794 2749

6842 -1.17 -116.8 496.5 -8.1 411 6850 0.68 3.58 0.00 0.000 4 0.000 0.000 2054 3632 2751

6883 -1.44 -116.8 499.2 -3.7 412 6893 0.80 2.90 0.00 0.000 6 0.000 0.000 1958 1796 2745

7199 -1.38 -116.8 518.6 -6.3 421 7205 0.05 3.03 0.00 0.000 4 0.000 0.000 1966 336 2745

7224 -1.35 -116.8 520.4 -6.4 421 7231 0.00 3.47 0.00 0.000 6 0.000 0.000 1942 1989 2746

7570 -1.30 -116.8 542.1 -6.3 430 7577 0.05 3.28 0.00 0.000 4 0.000 0.000 1967 3656 2745

7618 -1.24 -116.8 545.1 -6.3 431 7626 0.30 3.65 0.00 0.000 6 0.000 0.000 2024 1858 2745

7951 -1.35 -116.8 561.8 -4.9 439 7953 0.65 0.00 0.00 0.000 6 0.000 0.000 1905 1851 2747

8195 end dive: BOTTOM_OBSTACLE_DETECTED

state 8195 begin apogee

8208 -0.25 0.0 580.5 7.9 445 8333 1.75 0.00 115.62 0.000 6 0.000 0.000 2266 2202 2263

8333 end apogee: CONTROL_FINISHED_OK

state 8334 begin climb

8339 1.49 116.8 582.1 0.0 448 8478 1.77 3.97 112.35 0.001 4 0.000 0.000 2633 350 1787

8548 1.31 116.8 542.1 22.8 452 8560 0.47 3.42 0.00 0.000 6 0.000 0.000 2511 2152 1786

8888 1.38 117.5 494.7 13.7 461 8894 0.43 2.78 0.00 0.000 4 0.000 0.000 2645 3486 1784

9051 1.13 117.5 457.7 22.6 468 9060 0.80 2.72 0.75 0.000 6 0.000 0.000 2458 1810 1781

9381 1.48 169.0 423.9 9.7 484 9440 0.77 0.00 49.75 0.000 6 0.000 0.000 2615 1811 1570

9751 1.24 169.0 333.7 25.6 502 9759 0.73 3.28 0.00 0.000 4 0.000 0.000 2425 3478 1581

9946 1.51 169.0 308.9 15.1 510 9959 0.93 3.10 0.00 0.000 6 0.000 0.000 2654 1779 1570

10276 1.25 169.0 229.0 25.9 526 10284 0.70 3.15 0.00 0.000 4 0.000 0.000 2514 3436 1577

10448 1.34 169.0 199.9 15.2 533 10454 0.52 2.42 0.00 0.000 6 0.000 0.000 2629 1723 1571

10773 1.11 169.0 125.5 24.4 548 10781 0.70 3.80 0.00 0.000 4 0.000 0.000 2468 3570 1562

10918 1.46 215.9 107.8 10.0 554 10964 0.82 3.05 38.03 0.001 6 0.000 0.000 2610 1890 1380

11328 1.22 215.9 6.4 23.8 615 11336 0.70 0.00 0.00 0.000 6 0.000 0.000 2456 1892 1383

11340 end climb: SURFACE_DEPTH_REACHED

state 11340 begin surface coast

11348 end surface coast: CONTROL_FINISHED_OK

state 11348 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	37	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	8	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	8	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	-449466.03	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	220019,6657.842,-6033.789,33,1.1,33,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6707.990,-6032.354
_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	220515,6657.842,-6033.789,36,1.1,36,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.455,-1.686	XPDR_PINGS	-1
FINISH	-0.0,1.024445	ALTIM_TOP_PING	19.2,18.8
SM_CCo	11376,146.57,0.000,1,0,426,450.62	ALTIM_BOTTOM_PING	500.5,87.9
SM_GC	0.00,0.00,0.00,146.57,0.000,0.000,0.000,618,2202,426,-7.63,6.64,450.62	_24V_AH	23.7,66.023
RAFOS_CLK	0	_10V_AH	9.7,9.930
RAFOS	0,1160697855,0.083333,0.070833,80,0,0,0,0,0,571,0,0,0,0,0	DATA_FILE_SIZE	22111,618
RAFOS_FIX	6657.298340,-6030.208984,131006,000020,4,80,0.34	CFSIZE	255582208,241446912
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,101,853,5,0
TT8_MAMPS	0.024544	SOUNDSPEED	1472.1
HUMID	2332	CURRENT	0.049,266.1,1
INTERNAL_PRESSURE	26.0162	GPS	131006,011925,6658.774,-6033.944,13,1.1,13,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	47	119	133.68	SBE_CT	505	24	287.47
Roll_motor	110	60	157.24	nil	0	0	0.00
VBD_pump_during_apogee	316	1300	9751.36	nil	0	0	0.00
VBD_pump_during_surface	146	600	2084.30	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	460.25
Transponder_ping	4	420	44.79
GPS	36	50	17.73
TT8	1922	19	371.55
LPSleep	7542	2	169.00
TT8_Active	746	19	144.22
TT8_Sampling	767	39	297.14
TT8_CF8	858	45	382.48
TT8_Kalman	0	0	0.00
Analog_circuits	1395	12	162.41
GPS_charging	0	0	0.00
Compass	641	26	161.79
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	35	begin dive
41	-1.49	-116.8	0.0	0.0	0	126	0.00	0.00	-76.88	0.000	6	0.000	0.000	650	1745	2742
132	-1.49	-116.8	0.0	-0.0	9	149	6.82	2.03	0.00	0.000	4	0.000	0.000	2019	586	2746
241	-1.62	-116.8	16.3	-9.2	25	250	0.80	2.65	0.00	0.000	6	0.000	0.000	1805	2079	2742
611	-1.43	-116.8	74.1	-13.4	86	619	0.80	2.47	0.00	0.000	4	0.000	0.000	2003	3419	2742
701	-1.53	-116.8	81.7	-7.1	100	710	0.50	3.25	0.00	0.000	6	0.000	0.000	1893	1751	2752
1057	-1.28	-116.8	118.7	-11.0	138	1065	0.77	3.50	0.00	0.000	4	0.000	0.000	2014	3555	2749
1202	-1.36	-116.8	130.0	-6.7	144	1210	0.50	3.78	0.00	0.000	6	0.000	0.000	1899	1874	2749
1537	-1.12	-116.8	163.2	-10.4	160	1540	0.93	0.00	0.00	0.000	6	0.000	0.000	2045	1886	2743
1847	-1.36	-116.8	179.3	-4.7	175	1849	0.62	0.00	0.00	0.000	6	0.000	0.000	1962	1892	2746
2156	-1.27	-116.8	203.1	-7.8	190	2158	0.55	0.00	0.00	0.000	6	0.000	0.000	2012	1881	2742
2465	-1.73	-116.8	222.1	-6.4	205	2473	0.93	2.72	0.00	0.000	4	0.000	0.000	1818	381	2745
2514	-1.39	-116.8	226.9	-11.6	207	2522	0.80	3.42	0.00	0.000	6	0.000	0.000	2019	2190	2745
2855	-1.47	-116.8	247.7	-5.8	223	2861	0.47	2.75	0.00	0.000	4	0.000	0.000	1890	3715	2748
2950	-1.23	-116.8	255.6	-8.9	227	2958	0.75	3.65	0.00	0.000	6	0.000	0.000	2052	1708	2746
3290	-1.48	-116.8	271.4	-4.2	243	3293	0.70	0.00	0.00	0.000	6	0.000	0.000	1871	1722	2749
3600	-1.22	-116.8	298.3	-9.1	258	3603	1.15	0.00	0.00	0.000	6	0.000	0.000	2090	1712	2746
3909	-1.47	-116.8	312.9	-4.2	273	3917	0.82	3.78	0.00	0.000	4	0.000	0.000	1941	3409	2742
4020	-1.39	-116.8	320.4	-7.1	277	4029	0.00	3.35	0.00	0.000	6	0.000	0.000	1945	1755	2748
4345	-1.31	-116.8	342.6	-7.0	293	4347	0.17	0.00	0.00	0.000	6	0.000	0.000	2023	1741	2750
4654	-1.39	-116.8	359.8	-5.4	308	4662	0.47	3.78	0.00	0.000	4	0.000	0.000	1872	3435	2745
4760	-1.14	-116.8	368.7	-8.4	312	4773	0.80	3.22	0.00	0.000	6	0.000	0.000	2079	1729	2748
5090	-1.39	-116.8	382.8	-4.1	328	5092	0.70	0.00	0.00	0.000	6	0.000	0.000	1860	1738	2748
5399	-1.13	-116.8	408.3	-8.6	343	5407	0.65	3.53	0.00	0.000	4	0.000	0.000	2074	3597	2750
5463	-1.39	-116.8	412.2	-3.9	345	5472	0.77	3.53	0.00	0.000	6	0.000	0.000	1891	1780	2748
5788	-1.15	-116.8	437.9	-8.4	361	5790	0.73	0.00	0.00	0.000	6	0.000	0.000	2073	1790	2748
6097	-1.41	-116.8	450.7	-3.9	376	6106	1.12	3.50	0.00	0.000	4	0.000	0.000	1890	3634	2743
6198	-1.16	-116.8	459.0	-8.5	380	6206	0.77	3.15	0.00	0.000	6	0.000	0.000	2066	1770	2749
6533	-1.41	-116.8	473.0	-4.0	396	6536	0.95	0.00	0.00	0.000	6	0.000	0.000	1905	1794	2749
6842	-1.17	-116.8	496.5	-8.1	411	6850	0.68	3.58	0.00	0.000	4	0.000	0.000	2054	3632	2751
6883	-1.44	-116.8	499.2	-3.7	412	6893	0.80	2.90	0.00	0.000	6	0.000	0.000	1958	1796	2745
7199	-1.38	-116.8	518.6	-6.3	421	7205	0.05	3.03	0.00	0.000	4	0.000	0.000	1966	336	2745
7224	-1.35	-116.8	520.4	-6.4	421	7231	0.00	3.47	0.00	0.000	6	0.000	0.000	1942	1989	2746
7570	-1.30	-116.8	542.1	-6.3	430	7577	0.05	3.28	0.00	0.000	4	0.000	0.000	1967	3656	2745
7618	-1.24	-116.8	545.1	-6.3	431	7626	0.30	3.65	0.00	0.000	6	0.000	0.000	2024	1858	2745
7951	-1.35	-116.8	561.8	-4.9	439	7953	0.65	0.00	0.00	0.000	6	0.000	0.000	1905	1851	2747
8195	end dive: BOTTOM_OBSTACLE_DETECTED
state	8195	begin apogee
8208	-0.25	0.0	580.5	7.9	445	8333	1.75	0.00	115.62	0.000	6	0.000	0.000	2266	2202	2263
8333	end apogee: CONTROL_FINISHED_OK
state	8334	begin climb
8339	1.49	116.8	582.1	0.0	448	8478	1.77	3.97	112.35	0.001	4	0.000	0.000	2633	350	1787
8548	1.31	116.8	542.1	22.8	452	8560	0.47	3.42	0.00	0.000	6	0.000	0.000	2511	2152	1786
8888	1.38	117.5	494.7	13.7	461	8894	0.43	2.78	0.00	0.000	4	0.000	0.000	2645	3486	1784
9051	1.13	117.5	457.7	22.6	468	9060	0.80	2.72	0.75	0.000	6	0.000	0.000	2458	1810	1781
9381	1.48	169.0	423.9	9.7	484	9440	0.77	0.00	49.75	0.000	6	0.000	0.000	2615	1811	1570
9751	1.24	169.0	333.7	25.6	502	9759	0.73	3.28	0.00	0.000	4	0.000	0.000	2425	3478	1581
9946	1.51	169.0	308.9	15.1	510	9959	0.93	3.10	0.00	0.000	6	0.000	0.000	2654	1779	1570
10276	1.25	169.0	229.0	25.9	526	10284	0.70	3.15	0.00	0.000	4	0.000	0.000	2514	3436	1577
10448	1.34	169.0	199.9	15.2	533	10454	0.52	2.42	0.00	0.000	6	0.000	0.000	2629	1723	1571
10773	1.11	169.0	125.5	24.4	548	10781	0.70	3.80	0.00	0.000	4	0.000	0.000	2468	3570	1562
10918	1.46	215.9	107.8	10.0	554	10964	0.82	3.05	38.03	0.001	6	0.000	0.000	2610	1890	1380
11328	1.22	215.9	6.4	23.8	615	11336	0.70	0.00	0.00	0.000	6	0.000	0.000	2456	1892	1383
11340	end climb: SURFACE_DEPTH_REACHED
state	11340	begin surface coast
11348	end surface coast: CONTROL_FINISHED_OK
state	11348	begin surface