Glider dive log

PortSusan 23Jul07 * SG001 * Dive index * Mission links * Dive 43 * 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 43 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 5 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 -449648.69 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 -449648.69

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 5 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 43 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 182056,6703.591,-6034.297,27,1.1,28,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6713.739,-6032.867

_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 182550,6703.591,-6034.297,33,1.1,33,18.0 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 -0.01,4.495,-1.720 XPDR_PINGS -1

FINISH -0.0,1.024918 ALTIM_TOP_PING 19.5,20.4

SM_CCo 12517,147.40,0.000,3,0,422,450.37 ALTIM_BOTTOM_PING 578.1,76.8

SM_GC -0.00,0.00,0.00,147.40,0.000,0.000,0.000,647,2230,422,-7.47,6.84,450.37 _24V_AH 23.7,68.478

RAFOS_CLK 0 _10V_AH 9.7,10.272

RAFOS 0,1160769851,20.083334,20.069723,80,0,0,0,0,0,625,0,0,0,0,0 DATA_FILE_SIZE 22123,660

RAFOS_FIX 6703.279785,-6030.516113,131006,202020,4,80,0.40 CFSIZE 255582208,240930816

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,92,1119,6,0

TT8_MAMPS 0.024544 SOUNDSPEED 1472.4

HUMID 2337 CURRENT 0.051,265.1,1

INTERNAL_PRESSURE 26.0846 GPS 131006,215915,6704.650,-6034.501,16,1.1,16,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 43 119 122.26 SBE_CT 538 24 306.40

Roll_motor 145 60 206.47 nil 0 0 0.00

VBD_pump_during_apogee 322 0 5.85 nil 0 0 0.00

VBD_pump_during_surface 147 600 2096.03 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 86 223 459.28

Transponder_ping 5 420 52.26

GPS 33 50 16.45

TT8 2040 19 394.34

LPSleep 8493 2 190.30

TT8_Active 789 19 152.54

TT8_Sampling 802 39 310.60

TT8_CF8 861 45 383.82

TT8_Kalman 0 0 0.00

Analog_circuits 1476 12 171.81

GPS_charging 0 0 0.00

Compass 670 26 169.19

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

34 end surface: CONTROL_FINISHED_OK

state 34 begin dive

40 -1.49 -116.8 0.0 0.0 0 128 0.00 0.00 -77.15 0.000 6 0.000 0.000 586 1709 2753

135 -1.49 -116.8 0.2 -0.4 9 152 6.80 2.17 0.00 0.000 4 0.000 0.000 1995 361 2750

221 -1.60 -116.8 16.1 -10.1 22 230 0.52 3.58 0.00 0.000 6 0.000 0.000 1865 2029 2752

589 -1.29 -116.8 68.3 -13.2 83 598 0.70 2.88 0.00 0.000 4 0.000 0.000 2064 3522 2743

738 -1.49 -116.8 78.3 -5.9 107 747 0.77 3.78 0.00 0.000 6 0.000 0.000 1875 1853 2750

1094 -1.20 -116.8 119.4 -11.5 146 1102 0.77 2.72 0.00 0.000 4 0.000 0.000 2004 333 2748

1124 -1.22 -116.8 122.2 -7.6 147 1129 0.00 3.25 0.00 0.000 6 0.000 0.000 2008 2155 2757

1455 -1.27 -116.8 144.5 -6.9 163 1456 0.00 0.00 0.00 0.000 6 0.000 0.000 2013 2145 2748

1760 -1.46 -116.8 165.3 -6.6 178 1768 0.85 3.50 0.00 0.000 4 0.000 0.000 1879 294 2753

1845 -1.25 -116.8 173.2 -10.7 181 1858 0.77 3.50 0.00 0.000 6 0.000 0.000 2070 2145 2750

2175 -1.47 -116.8 190.0 -4.8 197 2183 1.10 3.45 0.00 0.000 4 0.000 0.000 1875 498 2753

2224 -1.54 -116.8 193.9 -8.5 199 2232 0.52 3.25 0.00 0.000 6 0.000 0.000 2004 2157 2746

2560 -1.59 -116.8 215.8 -6.3 215 2568 0.57 3.75 0.00 0.000 4 0.000 0.000 1887 331 2752

2624 -1.36 -116.8 221.8 -9.8 217 2633 0.82 3.42 0.00 0.000 6 0.000 0.000 2041 2192 2750

2948 -1.55 -116.8 238.3 -4.9 233 2957 0.90 3.33 0.00 0.000 4 0.000 0.000 1851 280 2750

2989 -1.28 -116.8 242.0 -10.0 234 2999 0.80 3.58 0.00 0.000 6 0.000 0.000 1992 2049 2748

3313 -1.28 -116.8 262.8 -6.5 250 3321 0.00 3.53 0.00 0.000 4 0.000 0.000 1991 350 2750

3354 -1.33 -116.8 265.8 -6.3 251 3363 0.00 3.62 0.00 0.000 6 0.000 0.000 1974 2179 2748

3678 -1.33 -116.8 286.2 -6.3 267 3683 0.00 2.83 0.00 0.000 4 0.000 0.000 1996 343 2744

3744 -1.38 -116.8 290.7 -6.3 270 3750 0.05 2.75 0.00 0.000 6 0.000 0.000 1966 2005 2754

4075 -1.38 -116.8 311.4 -6.1 286 4083 0.03 3.58 0.00 0.000 4 0.000 0.000 1983 362 2754

4105 -1.42 -116.8 313.3 -6.1 287 4112 0.17 3.12 0.00 0.000 6 0.000 0.000 1927 2202 2744

4439 -1.25 -116.8 339.3 -8.1 303 4447 0.55 3.25 0.00 0.000 4 0.000 0.000 1973 296 2750

4480 -1.30 -116.8 342.6 -6.2 304 4488 0.00 3.10 0.00 0.000 6 0.000 0.000 1977 2069 2746

4804 -1.30 -116.8 362.4 -6.3 320 4805 0.00 0.00 0.00 0.000 6 0.000 0.000 1974 2079 2753

5108 -1.30 -116.8 381.4 -6.1 335 5115 0.00 3.25 0.00 0.000 4 0.000 0.000 2003 411 2747

5157 -1.33 -116.8 384.3 -6.3 337 5162 0.00 3.08 0.00 0.000 6 0.000 0.000 1983 1946 2745

5493 -1.33 -116.8 404.6 -6.1 353 5494 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 1939 2750

5797 -1.33 -116.8 423.2 -6.0 368 5798 0.00 0.00 0.00 0.000 6 0.000 0.000 1984 1953 2749

6106 -1.33 -116.8 442.0 -6.0 383 6113 0.00 3.33 0.00 0.000 4 0.000 0.000 1997 266 2753

6177 -1.39 -116.8 446.2 -6.1 386 6182 0.00 2.65 0.00 0.000 6 0.000 0.000 1981 2153 2753

6512 -1.39 -116.8 466.6 -5.9 402 6513 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2134 2756

6816 -1.39 -116.8 485.1 -6.0 417 6821 0.00 2.85 0.00 0.000 4 0.000 0.000 1971 344 2752

6848 -1.42 -116.8 487.1 -6.1 418 6861 0.38 3.50 0.00 0.000 6 0.000 0.000 1934 2246 2752

7196 -1.23 -116.8 513.1 -7.7 431 7204 0.60 3.80 0.00 0.000 4 0.000 0.000 2037 414 2749

7265 -1.39 -116.8 517.3 -5.0 432 7273 0.52 3.35 0.00 0.000 6 0.000 0.000 1925 2133 2743

7616 -1.18 -116.8 544.2 -7.9 441 7619 0.77 0.00 0.00 0.000 6 0.000 0.000 2090 2143 2749

7941 -1.47 -116.8 556.6 -3.6 449 7943 0.90 0.00 0.00 0.000 6 0.000 0.000 1919 2116 2741

8266 -1.27 -116.8 581.2 -7.7 457 8274 0.52 3.25 0.00 0.000 4 0.000 0.000 2030 248 2746

8329 -1.44 -116.8 584.9 -4.9 458 8338 0.60 3.72 0.00 0.000 6 0.000 0.000 1901 2220 2741

8687 -1.24 -116.8 611.7 -7.7 467 8694 0.57 2.80 0.00 0.000 4 0.000 0.000 2023 3538 2745

8744 -1.37 -116.8 615.2 -5.1 468 8752 0.52 3.47 0.00 0.000 6 0.000 0.000 1887 1693 2755

9019 end dive: HALF_MISSION_TIME_EXCEEDED

state 9019 begin apogee

9032 -0.25 0.0 636.5 7.9 475 9158 1.62 0.00 116.43 0.001 6 0.000 0.000 2276 2179 2263

9158 end apogee: CONTROL_FINISHED_OK

state 9159 begin climb

9164 1.49 116.8 637.3 0.0 478 9303 1.58 4.07 112.57 0.001 4 0.000 0.000 2644 527 1786

9358 1.30 116.8 601.8 22.6 483 9366 0.80 3.40 0.00 0.000 6 0.000 0.000 2523 2261 1792

9691 1.41 124.4 554.4 13.1 491 9705 0.50 2.38 7.22 0.001 4 0.000 0.000 2640 3609 1749

9807 1.17 124.4 530.0 22.0 493 9815 0.73 3.53 0.00 0.000 6 0.000 0.000 2449 1781 1758

10138 1.50 171.9 495.2 10.0 502 10192 0.90 3.35 45.53 0.001 4 0.000 0.000 2628 3488 1563

10406 1.26 171.9 427.6 25.7 513 10415 0.60 3.30 0.00 0.000 6 0.000 0.000 2529 1810 1562

10731 1.33 171.9 376.1 15.7 529 10733 0.43 0.00 0.00 0.000 6 0.000 0.000 2650 1814 1567

11040 1.08 171.9 297.2 26.3 544 11048 0.98 3.55 0.00 0.000 4 0.000 0.000 2471 3429 1561

11227 1.36 202.2 271.2 11.3 552 11264 0.80 3.05 29.52 0.001 6 0.000 0.000 2591 1716 1438

11579 1.22 202.2 191.8 23.4 568 11581 0.43 0.00 0.00 0.000 6 0.000 0.000 2467 1728 1441

11893 1.45 215.5 150.3 12.7 583 11907 0.90 0.00 10.68 0.001 6 0.000 0.000 2667 1706 1388

12238 1.14 215.5 50.9 27.7 620 12248 0.77 3.25 0.10 0.000 4 0.000 0.000 2481 3612 1380

12323 1.27 215.5 37.0 15.4 633 12332 0.55 3.17 0.00 0.000 6 0.000 0.000 2594 1894 1382

12480 end climb: SURFACE_DEPTH_REACHED

state 12480 begin surface coast

12488 end surface coast: CONTROL_FINISHED_OK

state 12488 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	43	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	5	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	-449648.69	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	182056,6703.591,-6034.297,27,1.1,28,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6713.739,-6032.867
_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	182550,6703.591,-6034.297,33,1.1,33,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.01,4.495,-1.720	XPDR_PINGS	-1
FINISH	-0.0,1.024918	ALTIM_TOP_PING	19.5,20.4
SM_CCo	12517,147.40,0.000,3,0,422,450.37	ALTIM_BOTTOM_PING	578.1,76.8
SM_GC	-0.00,0.00,0.00,147.40,0.000,0.000,0.000,647,2230,422,-7.47,6.84,450.37	_24V_AH	23.7,68.478
RAFOS_CLK	0	_10V_AH	9.7,10.272
RAFOS	0,1160769851,20.083334,20.069723,80,0,0,0,0,0,625,0,0,0,0,0	DATA_FILE_SIZE	22123,660
RAFOS_FIX	6703.279785,-6030.516113,131006,202020,4,80,0.40	CFSIZE	255582208,240930816
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,92,1119,6,0
TT8_MAMPS	0.024544	SOUNDSPEED	1472.4
HUMID	2337	CURRENT	0.051,265.1,1
INTERNAL_PRESSURE	26.0846	GPS	131006,215915,6704.650,-6034.501,16,1.1,16,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	43	119	122.26	SBE_CT	538	24	306.40
Roll_motor	145	60	206.47	nil	0	0	0.00
VBD_pump_during_apogee	322	0	5.85	nil	0	0	0.00
VBD_pump_during_surface	147	600	2096.03	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	459.28
Transponder_ping	5	420	52.26
GPS	33	50	16.45
TT8	2040	19	394.34
LPSleep	8493	2	190.30
TT8_Active	789	19	152.54
TT8_Sampling	802	39	310.60
TT8_CF8	861	45	383.82
TT8_Kalman	0	0	0.00
Analog_circuits	1476	12	171.81
GPS_charging	0	0	0.00
Compass	670	26	169.19
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
34	end surface: CONTROL_FINISHED_OK
state	34	begin dive
40	-1.49	-116.8	0.0	0.0	0	128	0.00	0.00	-77.15	0.000	6	0.000	0.000	586	1709	2753
135	-1.49	-116.8	0.2	-0.4	9	152	6.80	2.17	0.00	0.000	4	0.000	0.000	1995	361	2750
221	-1.60	-116.8	16.1	-10.1	22	230	0.52	3.58	0.00	0.000	6	0.000	0.000	1865	2029	2752
589	-1.29	-116.8	68.3	-13.2	83	598	0.70	2.88	0.00	0.000	4	0.000	0.000	2064	3522	2743
738	-1.49	-116.8	78.3	-5.9	107	747	0.77	3.78	0.00	0.000	6	0.000	0.000	1875	1853	2750
1094	-1.20	-116.8	119.4	-11.5	146	1102	0.77	2.72	0.00	0.000	4	0.000	0.000	2004	333	2748
1124	-1.22	-116.8	122.2	-7.6	147	1129	0.00	3.25	0.00	0.000	6	0.000	0.000	2008	2155	2757
1455	-1.27	-116.8	144.5	-6.9	163	1456	0.00	0.00	0.00	0.000	6	0.000	0.000	2013	2145	2748
1760	-1.46	-116.8	165.3	-6.6	178	1768	0.85	3.50	0.00	0.000	4	0.000	0.000	1879	294	2753
1845	-1.25	-116.8	173.2	-10.7	181	1858	0.77	3.50	0.00	0.000	6	0.000	0.000	2070	2145	2750
2175	-1.47	-116.8	190.0	-4.8	197	2183	1.10	3.45	0.00	0.000	4	0.000	0.000	1875	498	2753
2224	-1.54	-116.8	193.9	-8.5	199	2232	0.52	3.25	0.00	0.000	6	0.000	0.000	2004	2157	2746
2560	-1.59	-116.8	215.8	-6.3	215	2568	0.57	3.75	0.00	0.000	4	0.000	0.000	1887	331	2752
2624	-1.36	-116.8	221.8	-9.8	217	2633	0.82	3.42	0.00	0.000	6	0.000	0.000	2041	2192	2750
2948	-1.55	-116.8	238.3	-4.9	233	2957	0.90	3.33	0.00	0.000	4	0.000	0.000	1851	280	2750
2989	-1.28	-116.8	242.0	-10.0	234	2999	0.80	3.58	0.00	0.000	6	0.000	0.000	1992	2049	2748
3313	-1.28	-116.8	262.8	-6.5	250	3321	0.00	3.53	0.00	0.000	4	0.000	0.000	1991	350	2750
3354	-1.33	-116.8	265.8	-6.3	251	3363	0.00	3.62	0.00	0.000	6	0.000	0.000	1974	2179	2748
3678	-1.33	-116.8	286.2	-6.3	267	3683	0.00	2.83	0.00	0.000	4	0.000	0.000	1996	343	2744
3744	-1.38	-116.8	290.7	-6.3	270	3750	0.05	2.75	0.00	0.000	6	0.000	0.000	1966	2005	2754
4075	-1.38	-116.8	311.4	-6.1	286	4083	0.03	3.58	0.00	0.000	4	0.000	0.000	1983	362	2754
4105	-1.42	-116.8	313.3	-6.1	287	4112	0.17	3.12	0.00	0.000	6	0.000	0.000	1927	2202	2744
4439	-1.25	-116.8	339.3	-8.1	303	4447	0.55	3.25	0.00	0.000	4	0.000	0.000	1973	296	2750
4480	-1.30	-116.8	342.6	-6.2	304	4488	0.00	3.10	0.00	0.000	6	0.000	0.000	1977	2069	2746
4804	-1.30	-116.8	362.4	-6.3	320	4805	0.00	0.00	0.00	0.000	6	0.000	0.000	1974	2079	2753
5108	-1.30	-116.8	381.4	-6.1	335	5115	0.00	3.25	0.00	0.000	4	0.000	0.000	2003	411	2747
5157	-1.33	-116.8	384.3	-6.3	337	5162	0.00	3.08	0.00	0.000	6	0.000	0.000	1983	1946	2745
5493	-1.33	-116.8	404.6	-6.1	353	5494	0.00	0.00	0.00	0.000	6	0.000	0.000	2003	1939	2750
5797	-1.33	-116.8	423.2	-6.0	368	5798	0.00	0.00	0.00	0.000	6	0.000	0.000	1984	1953	2749
6106	-1.33	-116.8	442.0	-6.0	383	6113	0.00	3.33	0.00	0.000	4	0.000	0.000	1997	266	2753
6177	-1.39	-116.8	446.2	-6.1	386	6182	0.00	2.65	0.00	0.000	6	0.000	0.000	1981	2153	2753
6512	-1.39	-116.8	466.6	-5.9	402	6513	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2134	2756
6816	-1.39	-116.8	485.1	-6.0	417	6821	0.00	2.85	0.00	0.000	4	0.000	0.000	1971	344	2752
6848	-1.42	-116.8	487.1	-6.1	418	6861	0.38	3.50	0.00	0.000	6	0.000	0.000	1934	2246	2752
7196	-1.23	-116.8	513.1	-7.7	431	7204	0.60	3.80	0.00	0.000	4	0.000	0.000	2037	414	2749
7265	-1.39	-116.8	517.3	-5.0	432	7273	0.52	3.35	0.00	0.000	6	0.000	0.000	1925	2133	2743
7616	-1.18	-116.8	544.2	-7.9	441	7619	0.77	0.00	0.00	0.000	6	0.000	0.000	2090	2143	2749
7941	-1.47	-116.8	556.6	-3.6	449	7943	0.90	0.00	0.00	0.000	6	0.000	0.000	1919	2116	2741
8266	-1.27	-116.8	581.2	-7.7	457	8274	0.52	3.25	0.00	0.000	4	0.000	0.000	2030	248	2746
8329	-1.44	-116.8	584.9	-4.9	458	8338	0.60	3.72	0.00	0.000	6	0.000	0.000	1901	2220	2741
8687	-1.24	-116.8	611.7	-7.7	467	8694	0.57	2.80	0.00	0.000	4	0.000	0.000	2023	3538	2745
8744	-1.37	-116.8	615.2	-5.1	468	8752	0.52	3.47	0.00	0.000	6	0.000	0.000	1887	1693	2755
9019	end dive: HALF_MISSION_TIME_EXCEEDED
state	9019	begin apogee
9032	-0.25	0.0	636.5	7.9	475	9158	1.62	0.00	116.43	0.001	6	0.000	0.000	2276	2179	2263
9158	end apogee: CONTROL_FINISHED_OK
state	9159	begin climb
9164	1.49	116.8	637.3	0.0	478	9303	1.58	4.07	112.57	0.001	4	0.000	0.000	2644	527	1786
9358	1.30	116.8	601.8	22.6	483	9366	0.80	3.40	0.00	0.000	6	0.000	0.000	2523	2261	1792
9691	1.41	124.4	554.4	13.1	491	9705	0.50	2.38	7.22	0.001	4	0.000	0.000	2640	3609	1749
9807	1.17	124.4	530.0	22.0	493	9815	0.73	3.53	0.00	0.000	6	0.000	0.000	2449	1781	1758
10138	1.50	171.9	495.2	10.0	502	10192	0.90	3.35	45.53	0.001	4	0.000	0.000	2628	3488	1563
10406	1.26	171.9	427.6	25.7	513	10415	0.60	3.30	0.00	0.000	6	0.000	0.000	2529	1810	1562
10731	1.33	171.9	376.1	15.7	529	10733	0.43	0.00	0.00	0.000	6	0.000	0.000	2650	1814	1567
11040	1.08	171.9	297.2	26.3	544	11048	0.98	3.55	0.00	0.000	4	0.000	0.000	2471	3429	1561
11227	1.36	202.2	271.2	11.3	552	11264	0.80	3.05	29.52	0.001	6	0.000	0.000	2591	1716	1438
11579	1.22	202.2	191.8	23.4	568	11581	0.43	0.00	0.00	0.000	6	0.000	0.000	2467	1728	1441
11893	1.45	215.5	150.3	12.7	583	11907	0.90	0.00	10.68	0.001	6	0.000	0.000	2667	1706	1388
12238	1.14	215.5	50.9	27.7	620	12248	0.77	3.25	0.10	0.000	4	0.000	0.000	2481	3612	1380
12323	1.27	215.5	37.0	15.4	633	12332	0.55	3.17	0.00	0.000	6	0.000	0.000	2594	1894	1382
12480	end climb: SURFACE_DEPTH_REACHED
state	12480	begin surface coast
12488	end surface coast: CONTROL_FINISHED_OK
state	12488	begin surface