Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 42 * 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 42 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 4 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 4 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 -449614.16 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 -449614.16

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 4 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 4 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 42 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 150401,6702.680,-6034.258,14,1.1,14,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6712.828,-6032.827

_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 150854,6702.680,-6034.258,21,1.1,21,18.0 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 0.0,1.024469 XPDR_PINGS -1

SM_CCo 11237,148.85,0.000,0,0,422,450.86 ALTIM_TOP_PING 19.2,19.7

SM_GC -0.00,0.00,0.00,148.85,0.000,0.000,0.000,598,1690,422,-7.60,-8.14,450.86 ALTIM_BOTTOM_PING 550.7,91.6

RAFOS_CLK 0 _24V_AH 23.7,68.106

RAFOS 4,1160753344,15.500000,15.484445,40,0,0,0,0,0,0,0,0,0,0,0 _10V_AH 9.7,10.214

RAFOS_FIX 6702.379883,-6030.904785,131006,161620,4,80,0.57 DATA_FILE_SIZE 22089,609

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241020928

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,113,1185,5,0

HUMID 2301 SOUNDSPEED 1471.8

INTERNAL_PRESSURE 26.1041 CURRENT 0.049,263.4,1

TCM_TEMP 15.00 GPS 131006,182056,6703.591,-6034.297,27,1.1,28,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 54 119 154.48 SBE_CT 495 24 281.84

Roll_motor 153 60 218.85 nil 0 0 0.00

VBD_pump_during_apogee 319 1300 9850.73 nil 0 0 0.00

VBD_pump_during_surface 148 600 2116.65 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 88 223 467.35

Transponder_ping 5 420 49.77

GPS 26 50 13.01

TT8 1935 19 373.98

LPSleep 7298 2 163.55

TT8_Active 803 19 155.17

TT8_Sampling 799 39 309.57

TT8_CF8 852 45 379.69

TT8_Kalman 0 0 0.00

Analog_circuits 1499 12 174.52

GPS_charging 0 0 0.00

Compass 678 26 171.09

RAFOS 1800 1 26.19

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 0 127 0.00 0.00 -77.03 0.000 6 0.000 0.000 616 2177 2744

134 -1.49 -116.8 -0.0 0.0 9 152 6.78 4.50 0.00 0.000 4 0.000 0.000 2002 289 2748

323 -1.64 -116.8 24.9 -8.9 39 331 0.75 3.12 0.00 0.000 6 0.000 0.000 1824 2138 2744

690 -1.25 -116.8 79.7 -14.2 100 700 1.02 3.22 0.00 0.000 4 0.000 0.000 2088 3624 2747

839 -1.70 -116.8 89.0 -5.5 124 849 1.40 3.17 0.00 0.000 6 0.000 0.000 1827 1913 2743

1190 -1.30 -116.8 132.1 -12.6 151 1198 0.80 3.22 0.00 0.000 4 0.000 0.000 2015 287 2740

1220 -1.34 -116.8 136.1 -8.4 152 1227 0.52 3.15 0.00 0.000 6 0.000 0.000 1889 2121 2744

1554 -1.42 -116.8 167.4 -8.6 168 1560 0.38 2.72 0.00 0.000 4 0.000 0.000 2025 3603 2740

1682 -1.52 -116.8 176.3 -6.3 173 1691 0.65 3.35 0.00 0.000 6 0.000 0.000 1883 1753 2741

2006 -1.27 -116.8 206.2 -9.5 189 2015 0.65 3.53 0.00 0.000 4 0.000 0.000 2081 3587 2744

2125 -1.52 -116.8 212.9 -4.4 194 2133 0.80 3.17 0.00 0.000 6 0.000 0.000 1886 1734 2743

2461 -1.27 -116.8 242.9 -9.1 210 2469 0.73 3.22 0.00 0.000 4 0.000 0.000 2067 3605 2740

2566 -1.51 -116.8 248.5 -4.3 214 2579 1.02 3.55 0.00 0.000 6 0.000 0.000 1887 1798 2748

2897 -1.40 -116.8 276.3 -8.8 230 2905 0.57 3.72 0.00 0.000 4 0.000 0.000 1941 3618 2742

2976 -1.32 -116.8 283.0 -8.8 233 2981 0.00 2.88 0.00 0.000 6 0.000 0.000 1947 1924 2749

3309 -1.23 -116.8 305.7 -7.2 249 3315 0.52 2.47 0.00 0.000 4 0.000 0.000 2015 575 2748

3346 -1.35 -116.8 308.6 -5.4 250 3355 0.55 3.05 0.00 0.000 6 0.000 0.000 1943 2271 2741

3670 -1.28 -116.8 330.4 -6.9 266 3678 0.50 3.55 0.00 0.000 4 0.000 0.000 2061 590 2745

3738 -1.53 -116.8 333.8 -4.6 268 3748 0.98 3.17 0.00 0.000 6 0.000 0.000 1892 2053 2741

4063 -1.30 -116.8 360.2 -8.3 284 4071 0.52 3.22 0.00 0.000 4 0.000 0.000 2033 329 2746

4121 -1.61 -116.8 364.3 -5.6 286 4134 0.77 3.05 0.00 0.000 6 0.000 0.000 1827 2168 2748

4445 -1.23 -116.8 395.3 -9.9 302 4453 0.88 3.95 0.00 0.000 4 0.000 0.000 2057 515 2740

4481 -1.39 -116.8 397.8 -5.0 303 4494 0.52 3.35 0.00 0.000 6 0.000 0.000 1906 1999 2743

4805 -1.20 -116.8 422.6 -7.9 319 4808 0.75 0.00 0.00 0.000 6 0.000 0.000 2087 1998 2753

5121 -1.50 -116.8 434.6 -3.7 334 5129 0.93 3.33 0.00 0.000 4 0.000 0.000 1973 345 2746

5161 -1.50 -116.8 437.3 -6.6 335 5170 0.35 3.62 0.00 0.000 6 0.000 0.000 1881 2236 2745

5486 -1.25 -116.8 462.8 -8.3 351 5494 0.75 3.62 0.00 0.000 4 0.000 0.000 2003 259 2739

5538 -1.37 -116.8 466.6 -5.2 353 5546 0.52 3.28 0.00 0.000 6 0.000 0.000 1887 2142 2745

5874 -1.12 -116.8 493.3 -8.2 369 5882 0.80 3.28 0.00 0.000 4 0.000 0.000 2073 493 2744

5932 -1.39 -116.8 496.7 -3.9 371 5946 0.77 3.22 0.00 0.000 6 0.000 0.000 1873 2155 2742

6274 -1.14 -116.8 523.3 -8.1 381 6282 0.95 3.33 0.00 0.000 4 0.000 0.000 2072 247 2743

6343 -1.43 -116.8 526.8 -4.1 382 6351 0.73 3.72 0.00 0.000 6 0.000 0.000 1915 2118 2745

6694 -1.20 -116.8 553.9 -8.0 391 6702 0.75 3.10 0.00 0.000 4 0.000 0.000 2060 3626 2741

6887 -1.47 -116.8 561.9 -3.7 395 6896 0.77 3.62 0.00 0.000 6 0.000 0.000 1895 1767 2742

7209 -1.23 -116.8 586.2 -7.9 403 7212 0.75 0.00 0.00 0.000 6 0.000 0.000 2082 1782 2749

7534 -1.49 -116.8 599.9 -3.8 411 7543 0.88 3.38 0.00 0.000 4 0.000 0.000 1891 3433 2742

7745 -1.25 -116.8 616.1 -7.8 415 7752 0.77 3.03 0.00 0.000 6 0.000 0.000 2076 1779 2744

8091 -1.51 -116.8 631.0 -3.7 424 8099 1.17 2.60 0.00 0.000 4 0.000 0.000 1907 589 2743

8108 end dive: BOTTOM_OBSTACLE_DETECTED

state 8109 begin apogee

8124 -0.25 0.0 632.4 4.9 424 8253 2.05 0.00 114.35 0.000 6 0.000 0.000 2241 2110 2259

8254 end apogee: CONTROL_FINISHED_OK

state 8254 begin climb

8260 1.49 116.8 634.0 0.0 427 8394 2.20 0.00 112.68 0.001 6 0.000 0.000 2656 2124 1782

8721 1.16 116.8 529.5 24.9 438 8729 1.10 3.33 0.00 0.000 4 0.000 0.000 2492 274 1785

8779 1.41 143.6 518.7 11.6 439 8814 0.68 3.45 25.35 0.001 6 0.000 0.000 2622 1995 1673

9127 1.23 143.6 444.5 22.6 453 9136 0.50 3.45 0.28 0.001 4 0.000 0.000 2487 3698 1670

9208 1.39 151.4 432.1 13.1 456 9227 0.47 3.53 7.93 0.001 6 0.000 0.000 2624 1700 1637

9537 1.21 151.4 353.1 22.2 472 9545 0.70 3.50 0.00 0.000 4 0.000 0.000 2485 3552 1641

9755 1.37 156.1 323.8 13.4 481 9765 0.45 3.00 3.90 0.000 6 0.000 0.000 2631 1835 1626

10084 1.18 156.1 251.7 22.8 496 10093 0.93 3.22 0.00 0.000 4 0.000 0.000 2399 3675 1618

10271 1.62 214.5 232.1 9.1 504 10341 1.33 3.72 55.25 0.001 6 0.000 0.000 2653 1833 1386

10673 1.30 214.5 102.6 29.7 523 10676 0.70 0.00 0.00 0.000 6 0.000 0.000 2485 1828 1389

11028 1.47 214.5 51.1 13.8 580 11037 0.77 3.72 0.00 0.000 4 0.000 0.000 2678 3685 1387

11196 end climb: SURFACE_DEPTH_REACHED

state 11197 begin surface coast

11203 end surface coast: CONTROL_FINISHED_OK

state 11203 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	42	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	4	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	4	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	-449614.16	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	150401,6702.680,-6034.258,14,1.1,14,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6712.828,-6032.827
_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	150854,6702.680,-6034.258,21,1.1,21,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FINISH	0.0,1.024469	XPDR_PINGS	-1
SM_CCo	11237,148.85,0.000,0,0,422,450.86	ALTIM_TOP_PING	19.2,19.7
SM_GC	-0.00,0.00,0.00,148.85,0.000,0.000,0.000,598,1690,422,-7.60,-8.14,450.86	ALTIM_BOTTOM_PING	550.7,91.6
RAFOS_CLK	0	_24V_AH	23.7,68.106
RAFOS	4,1160753344,15.500000,15.484445,40,0,0,0,0,0,0,0,0,0,0,0	_10V_AH	9.7,10.214
RAFOS_FIX	6702.379883,-6030.904785,131006,161620,4,80,0.57	DATA_FILE_SIZE	22089,609
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241020928
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,113,1185,5,0
HUMID	2301	SOUNDSPEED	1471.8
INTERNAL_PRESSURE	26.1041	CURRENT	0.049,263.4,1
TCM_TEMP	15.00	GPS	131006,182056,6703.591,-6034.297,27,1.1,28,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	54	119	154.48	SBE_CT	495	24	281.84
Roll_motor	153	60	218.85	nil	0	0	0.00
VBD_pump_during_apogee	319	1300	9850.73	nil	0	0	0.00
VBD_pump_during_surface	148	600	2116.65	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	88	223	467.35
Transponder_ping	5	420	49.77
GPS	26	50	13.01
TT8	1935	19	373.98
LPSleep	7298	2	163.55
TT8_Active	803	19	155.17
TT8_Sampling	799	39	309.57
TT8_CF8	852	45	379.69
TT8_Kalman	0	0	0.00
Analog_circuits	1499	12	174.52
GPS_charging	0	0	0.00
Compass	678	26	171.09
RAFOS	1800	1	26.19

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	127	0.00	0.00	-77.03	0.000	6	0.000	0.000	616	2177	2744
134	-1.49	-116.8	-0.0	0.0	9	152	6.78	4.50	0.00	0.000	4	0.000	0.000	2002	289	2748
323	-1.64	-116.8	24.9	-8.9	39	331	0.75	3.12	0.00	0.000	6	0.000	0.000	1824	2138	2744
690	-1.25	-116.8	79.7	-14.2	100	700	1.02	3.22	0.00	0.000	4	0.000	0.000	2088	3624	2747
839	-1.70	-116.8	89.0	-5.5	124	849	1.40	3.17	0.00	0.000	6	0.000	0.000	1827	1913	2743
1190	-1.30	-116.8	132.1	-12.6	151	1198	0.80	3.22	0.00	0.000	4	0.000	0.000	2015	287	2740
1220	-1.34	-116.8	136.1	-8.4	152	1227	0.52	3.15	0.00	0.000	6	0.000	0.000	1889	2121	2744
1554	-1.42	-116.8	167.4	-8.6	168	1560	0.38	2.72	0.00	0.000	4	0.000	0.000	2025	3603	2740
1682	-1.52	-116.8	176.3	-6.3	173	1691	0.65	3.35	0.00	0.000	6	0.000	0.000	1883	1753	2741
2006	-1.27	-116.8	206.2	-9.5	189	2015	0.65	3.53	0.00	0.000	4	0.000	0.000	2081	3587	2744
2125	-1.52	-116.8	212.9	-4.4	194	2133	0.80	3.17	0.00	0.000	6	0.000	0.000	1886	1734	2743
2461	-1.27	-116.8	242.9	-9.1	210	2469	0.73	3.22	0.00	0.000	4	0.000	0.000	2067	3605	2740
2566	-1.51	-116.8	248.5	-4.3	214	2579	1.02	3.55	0.00	0.000	6	0.000	0.000	1887	1798	2748
2897	-1.40	-116.8	276.3	-8.8	230	2905	0.57	3.72	0.00	0.000	4	0.000	0.000	1941	3618	2742
2976	-1.32	-116.8	283.0	-8.8	233	2981	0.00	2.88	0.00	0.000	6	0.000	0.000	1947	1924	2749
3309	-1.23	-116.8	305.7	-7.2	249	3315	0.52	2.47	0.00	0.000	4	0.000	0.000	2015	575	2748
3346	-1.35	-116.8	308.6	-5.4	250	3355	0.55	3.05	0.00	0.000	6	0.000	0.000	1943	2271	2741
3670	-1.28	-116.8	330.4	-6.9	266	3678	0.50	3.55	0.00	0.000	4	0.000	0.000	2061	590	2745
3738	-1.53	-116.8	333.8	-4.6	268	3748	0.98	3.17	0.00	0.000	6	0.000	0.000	1892	2053	2741
4063	-1.30	-116.8	360.2	-8.3	284	4071	0.52	3.22	0.00	0.000	4	0.000	0.000	2033	329	2746
4121	-1.61	-116.8	364.3	-5.6	286	4134	0.77	3.05	0.00	0.000	6	0.000	0.000	1827	2168	2748
4445	-1.23	-116.8	395.3	-9.9	302	4453	0.88	3.95	0.00	0.000	4	0.000	0.000	2057	515	2740
4481	-1.39	-116.8	397.8	-5.0	303	4494	0.52	3.35	0.00	0.000	6	0.000	0.000	1906	1999	2743
4805	-1.20	-116.8	422.6	-7.9	319	4808	0.75	0.00	0.00	0.000	6	0.000	0.000	2087	1998	2753
5121	-1.50	-116.8	434.6	-3.7	334	5129	0.93	3.33	0.00	0.000	4	0.000	0.000	1973	345	2746
5161	-1.50	-116.8	437.3	-6.6	335	5170	0.35	3.62	0.00	0.000	6	0.000	0.000	1881	2236	2745
5486	-1.25	-116.8	462.8	-8.3	351	5494	0.75	3.62	0.00	0.000	4	0.000	0.000	2003	259	2739
5538	-1.37	-116.8	466.6	-5.2	353	5546	0.52	3.28	0.00	0.000	6	0.000	0.000	1887	2142	2745
5874	-1.12	-116.8	493.3	-8.2	369	5882	0.80	3.28	0.00	0.000	4	0.000	0.000	2073	493	2744
5932	-1.39	-116.8	496.7	-3.9	371	5946	0.77	3.22	0.00	0.000	6	0.000	0.000	1873	2155	2742
6274	-1.14	-116.8	523.3	-8.1	381	6282	0.95	3.33	0.00	0.000	4	0.000	0.000	2072	247	2743
6343	-1.43	-116.8	526.8	-4.1	382	6351	0.73	3.72	0.00	0.000	6	0.000	0.000	1915	2118	2745
6694	-1.20	-116.8	553.9	-8.0	391	6702	0.75	3.10	0.00	0.000	4	0.000	0.000	2060	3626	2741
6887	-1.47	-116.8	561.9	-3.7	395	6896	0.77	3.62	0.00	0.000	6	0.000	0.000	1895	1767	2742
7209	-1.23	-116.8	586.2	-7.9	403	7212	0.75	0.00	0.00	0.000	6	0.000	0.000	2082	1782	2749
7534	-1.49	-116.8	599.9	-3.8	411	7543	0.88	3.38	0.00	0.000	4	0.000	0.000	1891	3433	2742
7745	-1.25	-116.8	616.1	-7.8	415	7752	0.77	3.03	0.00	0.000	6	0.000	0.000	2076	1779	2744
8091	-1.51	-116.8	631.0	-3.7	424	8099	1.17	2.60	0.00	0.000	4	0.000	0.000	1907	589	2743
8108	end dive: BOTTOM_OBSTACLE_DETECTED
state	8109	begin apogee
8124	-0.25	0.0	632.4	4.9	424	8253	2.05	0.00	114.35	0.000	6	0.000	0.000	2241	2110	2259
8254	end apogee: CONTROL_FINISHED_OK
state	8254	begin climb
8260	1.49	116.8	634.0	0.0	427	8394	2.20	0.00	112.68	0.001	6	0.000	0.000	2656	2124	1782
8721	1.16	116.8	529.5	24.9	438	8729	1.10	3.33	0.00	0.000	4	0.000	0.000	2492	274	1785
8779	1.41	143.6	518.7	11.6	439	8814	0.68	3.45	25.35	0.001	6	0.000	0.000	2622	1995	1673
9127	1.23	143.6	444.5	22.6	453	9136	0.50	3.45	0.28	0.001	4	0.000	0.000	2487	3698	1670
9208	1.39	151.4	432.1	13.1	456	9227	0.47	3.53	7.93	0.001	6	0.000	0.000	2624	1700	1637
9537	1.21	151.4	353.1	22.2	472	9545	0.70	3.50	0.00	0.000	4	0.000	0.000	2485	3552	1641
9755	1.37	156.1	323.8	13.4	481	9765	0.45	3.00	3.90	0.000	6	0.000	0.000	2631	1835	1626
10084	1.18	156.1	251.7	22.8	496	10093	0.93	3.22	0.00	0.000	4	0.000	0.000	2399	3675	1618
10271	1.62	214.5	232.1	9.1	504	10341	1.33	3.72	55.25	0.001	6	0.000	0.000	2653	1833	1386
10673	1.30	214.5	102.6	29.7	523	10676	0.70	0.00	0.00	0.000	6	0.000	0.000	2485	1828	1389
11028	1.47	214.5	51.1	13.8	580	11037	0.77	3.72	0.00	0.000	4	0.000	0.000	2678	3685	1387
11196	end climb: SURFACE_DEPTH_REACHED
state	11197	begin surface coast
11203	end surface coast: CONTROL_FINISHED_OK
state	11203	begin surface