Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 38 * 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 38 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 20 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 -449497.09 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 -449497.09

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 20 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 38 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 011925,6658.774,-6033.944,13,1.1,13,18.0 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6708.922,-6032.509

_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 012627,6658.774,-6033.944,30,1.1,30,18.0 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 0.0,1.023703 XPDR_PINGS -1

SM_CCo 11222,141.65,0.000,2,0,422,450.62 ALTIM_TOP_PING 19.0,19.4

SM_GC -0.00,0.00,0.00,141.65,0.000,0.000,0.000,610,1940,422,-7.52,-0.82,450.62 ALTIM_BOTTOM_PING 500.3,91.7

RAFOS_CLK 0 _24V_AH 23.7,66.399

RAFOS 4,1160710162,3.500000,3.489444,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,9.986

RAFOS_FIX 6659.349121,-6029.732910,131006,040400,3,80,0.32 DATA_FILE_SIZE 22179,624

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241364992

TT8_MAMPS 0.023777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,123,1053,9,0

HUMID 2356 SOUNDSPEED 1471.6

INTERNAL_PRESSURE 26.0358 CURRENT 0.056,254.3,1

TCM_TEMP 15.00 GPS 131006,043801,6659.682,-6034.113,20,1.1,20,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 54 119 152.65 SBE_CT 506 24 288.11

Roll_motor 136 60 193.96 nil 0 0 0.00

VBD_pump_during_apogee 329 0 6.00 nil 0 0 0.00

VBD_pump_during_surface 141 600 2014.26 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 86 223 458.94

Transponder_ping 4 420 44.79

GPS 30 50 14.76

TT8 1965 19 379.73

LPSleep 7314 2 163.91

TT8_Active 814 19 157.45

TT8_Sampling 786 39 304.63

TT8_CF8 918 45 409.07

TT8_Kalman 0 0 0.00

Analog_circuits 1489 12 173.35

GPS_charging 0 0 0.00

Compass 661 26 166.72

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

35 end surface: CONTROL_FINISHED_OK

state 35 begin dive

41 -1.49 -116.8 0.0 0.0 0 129 0.00 0.00 -76.75 0.000 6 0.000 0.000 621 2214 2747

136 -1.49 -116.8 0.3 -0.7 9 153 6.93 3.42 0.00 0.000 4 0.000 0.000 1990 382 2744

288 -1.53 -116.8 24.7 -10.9 33 297 0.52 3.58 0.00 0.000 6 0.000 0.000 1856 2028 2743

656 -1.19 -116.8 76.9 -13.6 94 665 0.88 3.45 0.00 0.000 4 0.000 0.000 2030 3530 2744

769 -1.36 -116.8 84.6 -6.0 111 778 0.52 3.12 0.00 0.000 6 0.000 0.000 1916 1701 2737

1121 -1.18 -116.8 119.1 -10.0 146 1129 0.77 3.47 0.00 0.000 4 0.000 0.000 2038 3539 2748

1184 -1.33 -116.8 124.2 -5.9 148 1193 0.52 2.95 0.00 0.000 6 0.000 0.000 1898 1810 2745

1504 -1.16 -116.8 153.7 -9.4 164 1512 0.68 2.72 0.00 0.000 4 0.000 0.000 2085 333 2742

1530 -1.33 -116.8 155.9 -8.4 165 1539 0.77 3.17 0.00 0.000 6 0.000 0.000 1922 2010 2749

1871 -1.16 -116.8 184.7 -8.9 181 1876 0.47 2.58 0.00 0.000 4 0.000 0.000 2047 3415 2738

1902 -1.27 -116.8 187.4 -5.9 182 1914 0.47 3.22 0.00 0.000 6 0.000 0.000 1933 1717 2745

2230 -1.11 -116.8 214.5 -8.4 198 2239 1.12 3.22 0.00 0.000 4 0.000 0.000 2117 3566 2743

2459 -1.44 -116.8 224.5 -4.1 207 2469 0.80 3.50 0.00 0.000 6 0.000 0.000 1921 1732 2745

2785 -1.27 -116.8 250.4 -8.3 223 2793 0.85 3.25 0.00 0.000 4 0.000 0.000 2038 3561 2745

2958 -1.43 -116.8 260.0 -4.9 230 2970 0.77 3.45 0.00 0.000 6 0.000 0.000 1865 1732 2742

3287 -1.10 -116.8 290.3 -9.8 246 3290 0.98 0.00 0.00 0.000 6 0.000 0.000 2109 1729 2745

3597 -1.45 -116.8 305.1 -4.1 261 3599 0.82 0.00 0.00 0.000 6 0.000 0.000 1921 1750 2743

3906 -1.28 -116.8 328.5 -7.8 276 3908 0.62 0.00 0.00 0.000 6 0.000 0.000 2029 1741 2746

4215 -1.46 -116.8 343.7 -4.7 291 4223 1.10 3.92 0.00 0.000 4 0.000 0.000 1839 3560 2745

4383 -1.11 -116.8 359.6 -9.3 298 4391 1.10 3.35 0.00 0.000 6 0.000 0.000 2101 1893 2744

4718 -1.44 -116.8 373.2 -3.6 314 4721 1.08 0.00 0.00 0.000 6 0.000 0.000 1844 1887 2747

5028 -1.09 -116.8 401.5 -9.5 329 5036 1.02 3.03 0.00 0.000 4 0.000 0.000 2034 351 2749

5086 -1.28 -116.8 405.5 -4.7 331 5099 0.52 3.17 0.00 0.000 6 0.000 0.000 1933 2195 2745

5415 -1.12 -116.8 429.5 -7.6 347 5423 1.10 3.22 0.00 0.000 4 0.000 0.000 2101 409 2744

5515 -1.59 -116.8 434.4 -4.3 351 5524 1.10 3.22 0.00 0.000 6 0.000 0.000 1848 2238 2740

5850 -1.26 -116.8 463.8 -9.2 367 5853 1.20 0.00 0.00 0.000 6 0.000 0.000 2040 2226 2740

6160 -1.42 -116.8 479.3 -4.6 382 6168 0.88 3.25 0.00 0.000 4 0.000 0.000 1912 375 2752

6223 -1.27 -116.8 484.0 -7.8 384 6232 0.52 3.28 0.00 0.000 6 0.000 0.000 2022 2074 2742

6548 -1.41 -116.8 499.6 -4.7 400 6557 0.52 3.42 0.00 0.000 4 0.000 0.000 1930 358 2737

6593 -1.27 -116.8 503.0 -7.6 401 6603 0.52 3.42 0.00 0.000 6 0.000 0.000 2047 2212 2746

6929 -1.39 -116.8 519.4 -4.8 410 6937 0.60 3.25 0.00 0.000 4 0.000 0.000 1899 516 2750

7037 -1.32 -116.8 527.4 -8.0 412 7044 0.70 3.00 0.00 0.000 6 0.000 0.000 2039 2178 2747

7361 -1.42 -116.8 544.0 -5.0 420 7367 0.35 2.75 0.00 0.000 4 0.000 0.000 1911 3661 2748

7470 -1.21 -116.8 552.2 -8.5 422 7478 0.80 3.17 0.00 0.000 6 0.000 0.000 1997 1988 2744

7828 -1.46 -116.8 570.4 -4.7 431 7836 0.52 3.22 0.00 0.000 4 0.000 0.000 1903 3646 2744

7897 -1.23 -116.8 575.4 -7.6 432 7905 0.80 3.25 0.00 0.000 6 0.000 0.000 2021 1826 2745

8039 end dive: BOTTOM_OBSTACLE_DETECTED

state 8039 begin apogee

8052 -0.25 0.0 582.9 4.8 436 8190 1.00 0.00 114.78 0.001 6 0.000 0.000 2284 2139 2266

8191 end apogee: CONTROL_FINISHED_OK

state 8191 begin climb

8197 1.49 116.8 583.3 0.0 439 8339 2.03 3.10 111.78 0.001 4 0.000 0.000 2628 314 1785

8397 1.17 116.8 544.4 29.4 443 8406 0.77 3.67 0.75 0.000 6 0.000 0.000 2449 2157 1782

8743 1.52 169.0 509.2 9.6 452 8800 0.68 2.72 48.97 0.000 4 0.000 0.000 2662 3615 1576

8938 1.16 169.0 457.6 30.7 458 8948 0.77 3.85 0.68 0.000 6 0.000 0.000 2457 1764 1569

9263 1.45 198.7 418.0 11.4 474 9299 0.73 3.25 28.80 0.001 4 0.000 0.000 2642 3468 1455

9371 1.19 198.7 388.5 27.9 478 9381 0.77 3.15 0.15 0.000 6 0.000 0.000 2474 1781 1454

9696 1.46 218.0 346.4 12.2 494 9717 0.77 0.00 17.70 0.000 6 0.000 0.000 2621 1779 1379

10025 1.11 218.0 249.0 33.4 510 10034 0.93 2.88 0.00 0.000 4 0.000 0.000 2461 437 1375

10053 1.26 218.0 241.3 15.6 511 10062 0.38 3.10 1.05 0.000 6 0.000 0.000 2585 1971 1371

10383 1.14 218.0 165.5 23.7 527 10389 0.60 2.35 0.00 0.000 4 0.000 0.000 2470 3499 1375

10436 1.34 218.0 156.5 13.8 529 10449 0.73 3.00 0.00 0.000 6 0.000 0.000 2602 1816 1370

10774 1.19 218.0 72.5 24.6 557 10783 0.55 3.45 0.00 0.000 4 0.000 0.000 2488 3632 1373

11046 1.37 223.9 34.1 13.3 601 11062 0.52 3.83 5.15 0.000 6 0.000 0.000 2608 1780 1348

11179 end climb: SURFACE_DEPTH_REACHED

state 11179 begin surface coast

11193 end surface coast: CONTROL_FINISHED_OK

state 11193 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	38	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	20	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	-449497.09	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	011925,6658.774,-6033.944,13,1.1,13,18.0	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6708.922,-6032.509
_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	012627,6658.774,-6033.944,30,1.1,30,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FINISH	0.0,1.023703	XPDR_PINGS	-1
SM_CCo	11222,141.65,0.000,2,0,422,450.62	ALTIM_TOP_PING	19.0,19.4
SM_GC	-0.00,0.00,0.00,141.65,0.000,0.000,0.000,610,1940,422,-7.52,-0.82,450.62	ALTIM_BOTTOM_PING	500.3,91.7
RAFOS_CLK	0	_24V_AH	23.7,66.399
RAFOS	4,1160710162,3.500000,3.489444,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,9.986
RAFOS_FIX	6659.349121,-6029.732910,131006,040400,3,80,0.32	DATA_FILE_SIZE	22179,624
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241364992
TT8_MAMPS	0.023777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,123,1053,9,0
HUMID	2356	SOUNDSPEED	1471.6
INTERNAL_PRESSURE	26.0358	CURRENT	0.056,254.3,1
TCM_TEMP	15.00	GPS	131006,043801,6659.682,-6034.113,20,1.1,20,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	54	119	152.65	SBE_CT	506	24	288.11
Roll_motor	136	60	193.96	nil	0	0	0.00
VBD_pump_during_apogee	329	0	6.00	nil	0	0	0.00
VBD_pump_during_surface	141	600	2014.26	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	458.94
Transponder_ping	4	420	44.79
GPS	30	50	14.76
TT8	1965	19	379.73
LPSleep	7314	2	163.91
TT8_Active	814	19	157.45
TT8_Sampling	786	39	304.63
TT8_CF8	918	45	409.07
TT8_Kalman	0	0	0.00
Analog_circuits	1489	12	173.35
GPS_charging	0	0	0.00
Compass	661	26	166.72
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
35	end surface: CONTROL_FINISHED_OK
state	35	begin dive
41	-1.49	-116.8	0.0	0.0	0	129	0.00	0.00	-76.75	0.000	6	0.000	0.000	621	2214	2747
136	-1.49	-116.8	0.3	-0.7	9	153	6.93	3.42	0.00	0.000	4	0.000	0.000	1990	382	2744
288	-1.53	-116.8	24.7	-10.9	33	297	0.52	3.58	0.00	0.000	6	0.000	0.000	1856	2028	2743
656	-1.19	-116.8	76.9	-13.6	94	665	0.88	3.45	0.00	0.000	4	0.000	0.000	2030	3530	2744
769	-1.36	-116.8	84.6	-6.0	111	778	0.52	3.12	0.00	0.000	6	0.000	0.000	1916	1701	2737
1121	-1.18	-116.8	119.1	-10.0	146	1129	0.77	3.47	0.00	0.000	4	0.000	0.000	2038	3539	2748
1184	-1.33	-116.8	124.2	-5.9	148	1193	0.52	2.95	0.00	0.000	6	0.000	0.000	1898	1810	2745
1504	-1.16	-116.8	153.7	-9.4	164	1512	0.68	2.72	0.00	0.000	4	0.000	0.000	2085	333	2742
1530	-1.33	-116.8	155.9	-8.4	165	1539	0.77	3.17	0.00	0.000	6	0.000	0.000	1922	2010	2749
1871	-1.16	-116.8	184.7	-8.9	181	1876	0.47	2.58	0.00	0.000	4	0.000	0.000	2047	3415	2738
1902	-1.27	-116.8	187.4	-5.9	182	1914	0.47	3.22	0.00	0.000	6	0.000	0.000	1933	1717	2745
2230	-1.11	-116.8	214.5	-8.4	198	2239	1.12	3.22	0.00	0.000	4	0.000	0.000	2117	3566	2743
2459	-1.44	-116.8	224.5	-4.1	207	2469	0.80	3.50	0.00	0.000	6	0.000	0.000	1921	1732	2745
2785	-1.27	-116.8	250.4	-8.3	223	2793	0.85	3.25	0.00	0.000	4	0.000	0.000	2038	3561	2745
2958	-1.43	-116.8	260.0	-4.9	230	2970	0.77	3.45	0.00	0.000	6	0.000	0.000	1865	1732	2742
3287	-1.10	-116.8	290.3	-9.8	246	3290	0.98	0.00	0.00	0.000	6	0.000	0.000	2109	1729	2745
3597	-1.45	-116.8	305.1	-4.1	261	3599	0.82	0.00	0.00	0.000	6	0.000	0.000	1921	1750	2743
3906	-1.28	-116.8	328.5	-7.8	276	3908	0.62	0.00	0.00	0.000	6	0.000	0.000	2029	1741	2746
4215	-1.46	-116.8	343.7	-4.7	291	4223	1.10	3.92	0.00	0.000	4	0.000	0.000	1839	3560	2745
4383	-1.11	-116.8	359.6	-9.3	298	4391	1.10	3.35	0.00	0.000	6	0.000	0.000	2101	1893	2744
4718	-1.44	-116.8	373.2	-3.6	314	4721	1.08	0.00	0.00	0.000	6	0.000	0.000	1844	1887	2747
5028	-1.09	-116.8	401.5	-9.5	329	5036	1.02	3.03	0.00	0.000	4	0.000	0.000	2034	351	2749
5086	-1.28	-116.8	405.5	-4.7	331	5099	0.52	3.17	0.00	0.000	6	0.000	0.000	1933	2195	2745
5415	-1.12	-116.8	429.5	-7.6	347	5423	1.10	3.22	0.00	0.000	4	0.000	0.000	2101	409	2744
5515	-1.59	-116.8	434.4	-4.3	351	5524	1.10	3.22	0.00	0.000	6	0.000	0.000	1848	2238	2740
5850	-1.26	-116.8	463.8	-9.2	367	5853	1.20	0.00	0.00	0.000	6	0.000	0.000	2040	2226	2740
6160	-1.42	-116.8	479.3	-4.6	382	6168	0.88	3.25	0.00	0.000	4	0.000	0.000	1912	375	2752
6223	-1.27	-116.8	484.0	-7.8	384	6232	0.52	3.28	0.00	0.000	6	0.000	0.000	2022	2074	2742
6548	-1.41	-116.8	499.6	-4.7	400	6557	0.52	3.42	0.00	0.000	4	0.000	0.000	1930	358	2737
6593	-1.27	-116.8	503.0	-7.6	401	6603	0.52	3.42	0.00	0.000	6	0.000	0.000	2047	2212	2746
6929	-1.39	-116.8	519.4	-4.8	410	6937	0.60	3.25	0.00	0.000	4	0.000	0.000	1899	516	2750
7037	-1.32	-116.8	527.4	-8.0	412	7044	0.70	3.00	0.00	0.000	6	0.000	0.000	2039	2178	2747
7361	-1.42	-116.8	544.0	-5.0	420	7367	0.35	2.75	0.00	0.000	4	0.000	0.000	1911	3661	2748
7470	-1.21	-116.8	552.2	-8.5	422	7478	0.80	3.17	0.00	0.000	6	0.000	0.000	1997	1988	2744
7828	-1.46	-116.8	570.4	-4.7	431	7836	0.52	3.22	0.00	0.000	4	0.000	0.000	1903	3646	2744
7897	-1.23	-116.8	575.4	-7.6	432	7905	0.80	3.25	0.00	0.000	6	0.000	0.000	2021	1826	2745
8039	end dive: BOTTOM_OBSTACLE_DETECTED
state	8039	begin apogee
8052	-0.25	0.0	582.9	4.8	436	8190	1.00	0.00	114.78	0.001	6	0.000	0.000	2284	2139	2266
8191	end apogee: CONTROL_FINISHED_OK
state	8191	begin climb
8197	1.49	116.8	583.3	0.0	439	8339	2.03	3.10	111.78	0.001	4	0.000	0.000	2628	314	1785
8397	1.17	116.8	544.4	29.4	443	8406	0.77	3.67	0.75	0.000	6	0.000	0.000	2449	2157	1782
8743	1.52	169.0	509.2	9.6	452	8800	0.68	2.72	48.97	0.000	4	0.000	0.000	2662	3615	1576
8938	1.16	169.0	457.6	30.7	458	8948	0.77	3.85	0.68	0.000	6	0.000	0.000	2457	1764	1569
9263	1.45	198.7	418.0	11.4	474	9299	0.73	3.25	28.80	0.001	4	0.000	0.000	2642	3468	1455
9371	1.19	198.7	388.5	27.9	478	9381	0.77	3.15	0.15	0.000	6	0.000	0.000	2474	1781	1454
9696	1.46	218.0	346.4	12.2	494	9717	0.77	0.00	17.70	0.000	6	0.000	0.000	2621	1779	1379
10025	1.11	218.0	249.0	33.4	510	10034	0.93	2.88	0.00	0.000	4	0.000	0.000	2461	437	1375
10053	1.26	218.0	241.3	15.6	511	10062	0.38	3.10	1.05	0.000	6	0.000	0.000	2585	1971	1371
10383	1.14	218.0	165.5	23.7	527	10389	0.60	2.35	0.00	0.000	4	0.000	0.000	2470	3499	1375
10436	1.34	218.0	156.5	13.8	529	10449	0.73	3.00	0.00	0.000	6	0.000	0.000	2602	1816	1370
10774	1.19	218.0	72.5	24.6	557	10783	0.55	3.45	0.00	0.000	4	0.000	0.000	2488	3632	1373
11046	1.37	223.9	34.1	13.3	601	11062	0.52	3.83	5.15	0.000	6	0.000	0.000	2608	1780	1348
11179	end climb: SURFACE_DEPTH_REACHED
state	11179	begin surface coast
11193	end surface coast: CONTROL_FINISHED_OK
state	11193	begin surface