Glider dive log

PortSusan 23Jul07 * SG001 * Dive index * Mission links * Dive 45 * 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 45 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 0 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 -449696.69 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 -449696.69

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 0 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 45 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 012854,6705.660,-6034.530,33,1.1,33,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6715.808,-6033.103

_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 013352,6705.660,-6034.530,25,1.1,25,18.0 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 -0.00,4.522,-1.721 XPDR_PINGS -1

FINISH -0.0,1.024928 ALTIM_TOP_PING 19.5,19.9

SM_CCo 13002,128.10,0.000,3,0,430,451.35 ALTIM_BOTTOM_PING 600.8,74.4

SM_GC 0.00,0.00,0.00,128.10,0.000,0.000,0.000,603,1928,430,-7.65,-1.36,451.35 _24V_AH 23.7,69.355

RAFOS_CLK 0 _10V_AH 9.7,10.391

RAFOS 4,1160796543,3.500000,3.484167,40,0,0,0,0,0,0,0,0,0,0,0 DATA_FILE_SIZE 22177,671

RAFOS_FIX 6705.079590,-6029.577637,141006,040420,4,80,0.37 CFSIZE 255582208,240738304

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,125,1411,5,0

TT8_MAMPS 0.024544 SOUNDSPEED 1472.3

HUMID 2342 CURRENT 0.050,263.9,1

INTERNAL_PRESSURE 26.0748 GPS 141006,051516,6706.727,-6034.655,30,1.1,30,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 55 119 156.39 SBE_CT 548 24 312.09

Roll_motor 182 60 259.16 nil 0 0 0.00

VBD_pump_during_apogee 337 1300 10392.98 nil 0 0 0.00

VBD_pump_during_surface 128 600 1821.58 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 89 223 471.97

Transponder_ping 5 420 54.75

GPS 30 50 14.95

TT8 2160 19 417.47

LPSleep 8553 2 191.65

TT8_Active 852 19 164.64

TT8_Sampling 920 39 356.49

TT8_CF8 968 45 431.42

TT8_Kalman 0 0 0.00

Analog_circuits 1649 12 192.00

GPS_charging 0 0 0.00

Compass 783 26 197.64

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 0 126 0.00 0.00 -76.55 0.000 6 0.000 0.000 603 2197 2745

137 -1.49 -116.8 -0.0 0.0 9 154 7.53 2.45 0.00 0.000 4 0.000 0.000 2021 3675 2745

391 -1.59 -116.8 30.3 -8.8 50 400 0.77 3.33 0.00 0.000 6 0.000 0.000 1818 1815 2746

760 -1.47 -116.8 84.7 -12.6 111 769 1.10 3.47 0.00 0.000 4 0.000 0.000 2012 3656 2743

817 -1.53 -116.8 89.5 -6.2 119 826 0.55 3.88 0.00 0.000 6 0.000 0.000 1878 1973 2742

1167 -1.26 -116.8 128.1 -11.1 147 1175 1.12 2.97 0.00 0.000 4 0.000 0.000 2059 469 2748

1225 -1.51 -116.8 132.1 -5.1 149 1238 0.80 3.17 0.00 0.000 6 0.000 0.000 1891 2139 2746

1555 -1.22 -116.8 165.0 -10.5 165 1562 0.68 2.72 0.00 0.000 4 0.000 0.000 2054 3649 2746

1654 -1.43 -116.8 171.6 -5.1 169 1662 0.77 3.67 0.00 0.000 6 0.000 0.000 1866 1837 2736

1984 -1.29 -116.8 204.7 -10.0 185 1992 0.77 3.03 0.00 0.000 4 0.000 0.000 2044 335 2746

2060 -1.51 -116.8 208.8 -4.4 188 2069 0.77 3.72 0.00 0.000 6 0.000 0.000 1870 2226 2746

2397 -1.19 -116.8 241.6 -10.0 204 2405 0.77 3.70 0.00 0.000 4 0.000 0.000 2010 380 2741

2446 -1.27 -116.8 245.4 -6.1 206 2453 0.00 3.25 0.00 0.000 6 0.000 0.000 1984 2216 2745

2787 -1.31 -116.8 265.5 -6.0 222 2794 0.00 3.45 0.00 0.000 4 0.000 0.000 1968 380 2747

2822 -1.37 -116.8 268.0 -6.0 223 2828 0.03 3.12 0.00 0.000 6 0.000 0.000 1982 2202 2745

3147 -1.41 -116.8 286.9 -5.9 238 3153 0.08 2.88 0.00 0.000 4 0.000 0.000 1998 488 2748

3222 -1.48 -116.8 291.5 -5.9 241 3230 0.47 3.22 0.00 0.000 6 0.000 0.000 1874 2149 2741

3557 -1.19 -116.8 321.3 -9.2 257 3560 0.82 0.00 0.00 0.000 6 0.000 0.000 2046 2150 2746

3867 -1.39 -116.8 336.0 -4.4 272 3875 0.95 3.03 0.00 0.000 4 0.000 0.000 1928 423 2749

3893 -1.42 -116.8 337.7 -5.0 273 3900 0.00 3.35 0.00 0.000 6 0.000 0.000 1911 2250 2754

4234 -1.29 -116.8 362.4 -7.4 289 4242 0.60 3.28 0.00 0.000 4 0.000 0.000 2054 575 2745

4269 -1.51 -116.8 364.8 -4.6 290 4282 0.75 3.28 0.00 0.000 6 0.000 0.000 1850 2097 2740

4599 -1.20 -116.8 393.4 -9.0 306 4607 0.90 3.25 0.00 0.000 4 0.000 0.000 2032 409 2736

4648 -1.41 -116.8 396.9 -4.5 308 4656 0.52 3.22 0.00 0.000 6 0.000 0.000 1926 2232 2741

4984 -1.25 -116.8 421.8 -7.6 324 4993 0.40 3.83 0.00 0.000 4 0.000 0.000 2047 404 2746

5049 -1.51 -116.8 425.2 -4.4 326 5059 0.77 3.33 0.00 0.000 6 0.000 0.000 1855 2208 2741

5374 -1.29 -116.8 453.0 -8.9 342 5383 0.90 3.50 0.00 0.000 4 0.000 0.000 2039 370 2747

5432 -1.52 -116.8 457.0 -4.4 344 5445 0.77 3.65 0.00 0.000 6 0.000 0.000 1877 2197 2750

5762 -1.20 -116.8 485.0 -8.9 360 5770 0.77 3.25 0.00 0.000 4 0.000 0.000 1988 498 2743

5814 -1.25 -116.8 489.0 -5.7 362 5820 0.00 3.12 0.00 0.000 6 0.000 0.000 1985 2193 2740

6139 -1.55 -116.8 506.4 -5.1 375 6147 0.47 3.45 0.00 0.000 4 0.000 0.000 1876 349 2744

6241 -1.27 -116.8 514.5 -8.7 377 6249 0.80 3.38 0.00 0.000 6 0.000 0.000 2005 2067 2748

6569 -1.45 -116.8 532.1 -5.0 385 6575 0.50 2.80 0.00 0.000 4 0.000 0.000 1867 3538 2742

6853 -1.18 -116.8 554.8 -8.4 391 6861 0.68 3.65 0.00 0.000 6 0.000 0.000 2063 1714 2746

7175 -1.38 -116.8 569.2 -4.1 399 7181 0.68 2.47 0.00 0.000 4 0.000 0.000 1847 347 2743

7212 -1.11 -116.8 571.7 -8.6 399 7221 1.08 3.65 0.00 0.000 6 0.000 0.000 2116 2200 2743

7547 -1.48 -116.8 585.3 -3.8 408 7556 1.33 3.72 0.00 0.000 4 0.000 0.000 1867 385 2746

7650 -1.24 -116.8 592.9 -8.2 410 7658 0.77 3.38 0.00 0.000 6 0.000 0.000 2059 2041 2746

7978 -1.46 -116.8 607.4 -4.1 418 7986 0.68 3.22 0.00 0.000 4 0.000 0.000 1860 3701 2742

8233 -1.18 -116.8 627.4 -8.4 423 8241 0.77 4.07 0.00 0.000 6 0.000 0.000 2003 1737 2743

8579 -1.23 -116.8 646.4 -5.3 432 8583 0.00 2.05 0.00 0.000 4 0.000 0.000 1993 576 2744

8644 -1.30 -116.8 649.9 -5.2 433 8651 0.00 3.28 0.00 0.000 6 0.000 0.000 2008 1920 2749

8948 end dive: BOTTOM_OBSTACLE_DETECTED

state 8948 begin apogee

8961 -0.25 0.0 666.2 5.3 441 9084 1.52 0.00 114.32 0.000 6 0.000 0.000 2288 2255 2259

9085 end apogee: CONTROL_FINISHED_OK

state 9085 begin climb

9091 1.49 116.8 666.2 0.0 444 9225 2.00 3.53 112.53 0.001 4 0.000 0.000 2653 393 1783

9313 1.24 116.8 620.6 24.1 448 9322 0.77 3.05 0.00 0.000 6 0.000 0.000 2476 2189 1786

9649 1.51 154.5 582.2 10.8 457 9694 0.77 3.45 36.10 0.001 4 0.000 0.000 2589 328 1629

9781 1.43 154.5 555.4 21.8 459 9789 0.00 3.17 0.00 0.000 6 0.000 0.000 2598 1994 1628

10096 1.30 154.5 488.7 21.3 468 10104 0.55 3.22 0.00 0.000 4 0.000 0.000 2454 3651 1631

10270 1.42 154.5 465.2 15.4 475 10283 0.85 3.17 0.00 0.000 6 0.000 0.000 2646 1937 1628

10594 1.11 154.5 381.0 26.7 491 10598 1.10 0.00 0.15 0.001 6 0.000 0.000 2471 1933 1632

10911 1.33 176.7 341.5 12.0 506 10941 0.57 3.28 21.58 0.000 4 0.000 0.000 2593 3400 1542

11004 1.17 176.7 320.8 23.7 510 11012 0.70 3.03 0.00 0.000 6 0.000 0.000 2461 1757 1539

11339 1.39 190.1 276.2 12.7 526 11364 0.55 3.47 13.02 0.001 4 0.000 0.000 2589 3410 1482

11583 1.23 190.1 219.0 24.5 536 11596 0.55 3.10 0.00 0.000 6 0.000 0.000 2483 1705 1484

11912 1.42 196.1 174.1 13.3 552 11926 0.43 3.42 4.82 0.001 4 0.000 0.000 2585 3550 1465

12087 1.27 196.1 133.4 22.8 559 12096 0.52 3.58 0.00 0.000 6 0.000 0.000 2467 1891 1462

12421 1.50 212.2 90.7 12.5 584 12445 0.70 2.85 13.12 0.001 4 0.000 0.000 2655 3574 1394

12551 1.19 212.2 56.0 27.9 604 12560 0.82 3.15 0.00 0.000 6 0.000 0.000 2456 1940 1391

12921 1.47 247.2 8.2 11.0 665 12953 1.10 2.38 21.67 0.001 4 0.000 0.000 2634 3444 1249

12963 end climb: SURFACE_DEPTH_REACHED

state 12963 begin surface coast

12970 end surface coast: CONTROL_FINISHED_OK

state 12970 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	45	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	0	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	-449696.69	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	012854,6705.660,-6034.530,33,1.1,33,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6715.808,-6033.103
_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	013352,6705.660,-6034.530,25,1.1,25,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.00,4.522,-1.721	XPDR_PINGS	-1
FINISH	-0.0,1.024928	ALTIM_TOP_PING	19.5,19.9
SM_CCo	13002,128.10,0.000,3,0,430,451.35	ALTIM_BOTTOM_PING	600.8,74.4
SM_GC	0.00,0.00,0.00,128.10,0.000,0.000,0.000,603,1928,430,-7.65,-1.36,451.35	_24V_AH	23.7,69.355
RAFOS_CLK	0	_10V_AH	9.7,10.391
RAFOS	4,1160796543,3.500000,3.484167,40,0,0,0,0,0,0,0,0,0,0,0	DATA_FILE_SIZE	22177,671
RAFOS_FIX	6705.079590,-6029.577637,141006,040420,4,80,0.37	CFSIZE	255582208,240738304
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,125,1411,5,0
TT8_MAMPS	0.024544	SOUNDSPEED	1472.3
HUMID	2342	CURRENT	0.050,263.9,1
INTERNAL_PRESSURE	26.0748	GPS	141006,051516,6706.727,-6034.655,30,1.1,30,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	55	119	156.39	SBE_CT	548	24	312.09
Roll_motor	182	60	259.16	nil	0	0	0.00
VBD_pump_during_apogee	337	1300	10392.98	nil	0	0	0.00
VBD_pump_during_surface	128	600	1821.58	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	89	223	471.97
Transponder_ping	5	420	54.75
GPS	30	50	14.95
TT8	2160	19	417.47
LPSleep	8553	2	191.65
TT8_Active	852	19	164.64
TT8_Sampling	920	39	356.49
TT8_CF8	968	45	431.42
TT8_Kalman	0	0	0.00
Analog_circuits	1649	12	192.00
GPS_charging	0	0	0.00
Compass	783	26	197.64
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	126	0.00	0.00	-76.55	0.000	6	0.000	0.000	603	2197	2745
137	-1.49	-116.8	-0.0	0.0	9	154	7.53	2.45	0.00	0.000	4	0.000	0.000	2021	3675	2745
391	-1.59	-116.8	30.3	-8.8	50	400	0.77	3.33	0.00	0.000	6	0.000	0.000	1818	1815	2746
760	-1.47	-116.8	84.7	-12.6	111	769	1.10	3.47	0.00	0.000	4	0.000	0.000	2012	3656	2743
817	-1.53	-116.8	89.5	-6.2	119	826	0.55	3.88	0.00	0.000	6	0.000	0.000	1878	1973	2742
1167	-1.26	-116.8	128.1	-11.1	147	1175	1.12	2.97	0.00	0.000	4	0.000	0.000	2059	469	2748
1225	-1.51	-116.8	132.1	-5.1	149	1238	0.80	3.17	0.00	0.000	6	0.000	0.000	1891	2139	2746
1555	-1.22	-116.8	165.0	-10.5	165	1562	0.68	2.72	0.00	0.000	4	0.000	0.000	2054	3649	2746
1654	-1.43	-116.8	171.6	-5.1	169	1662	0.77	3.67	0.00	0.000	6	0.000	0.000	1866	1837	2736
1984	-1.29	-116.8	204.7	-10.0	185	1992	0.77	3.03	0.00	0.000	4	0.000	0.000	2044	335	2746
2060	-1.51	-116.8	208.8	-4.4	188	2069	0.77	3.72	0.00	0.000	6	0.000	0.000	1870	2226	2746
2397	-1.19	-116.8	241.6	-10.0	204	2405	0.77	3.70	0.00	0.000	4	0.000	0.000	2010	380	2741
2446	-1.27	-116.8	245.4	-6.1	206	2453	0.00	3.25	0.00	0.000	6	0.000	0.000	1984	2216	2745
2787	-1.31	-116.8	265.5	-6.0	222	2794	0.00	3.45	0.00	0.000	4	0.000	0.000	1968	380	2747
2822	-1.37	-116.8	268.0	-6.0	223	2828	0.03	3.12	0.00	0.000	6	0.000	0.000	1982	2202	2745
3147	-1.41	-116.8	286.9	-5.9	238	3153	0.08	2.88	0.00	0.000	4	0.000	0.000	1998	488	2748
3222	-1.48	-116.8	291.5	-5.9	241	3230	0.47	3.22	0.00	0.000	6	0.000	0.000	1874	2149	2741
3557	-1.19	-116.8	321.3	-9.2	257	3560	0.82	0.00	0.00	0.000	6	0.000	0.000	2046	2150	2746
3867	-1.39	-116.8	336.0	-4.4	272	3875	0.95	3.03	0.00	0.000	4	0.000	0.000	1928	423	2749
3893	-1.42	-116.8	337.7	-5.0	273	3900	0.00	3.35	0.00	0.000	6	0.000	0.000	1911	2250	2754
4234	-1.29	-116.8	362.4	-7.4	289	4242	0.60	3.28	0.00	0.000	4	0.000	0.000	2054	575	2745
4269	-1.51	-116.8	364.8	-4.6	290	4282	0.75	3.28	0.00	0.000	6	0.000	0.000	1850	2097	2740
4599	-1.20	-116.8	393.4	-9.0	306	4607	0.90	3.25	0.00	0.000	4	0.000	0.000	2032	409	2736
4648	-1.41	-116.8	396.9	-4.5	308	4656	0.52	3.22	0.00	0.000	6	0.000	0.000	1926	2232	2741
4984	-1.25	-116.8	421.8	-7.6	324	4993	0.40	3.83	0.00	0.000	4	0.000	0.000	2047	404	2746
5049	-1.51	-116.8	425.2	-4.4	326	5059	0.77	3.33	0.00	0.000	6	0.000	0.000	1855	2208	2741
5374	-1.29	-116.8	453.0	-8.9	342	5383	0.90	3.50	0.00	0.000	4	0.000	0.000	2039	370	2747
5432	-1.52	-116.8	457.0	-4.4	344	5445	0.77	3.65	0.00	0.000	6	0.000	0.000	1877	2197	2750
5762	-1.20	-116.8	485.0	-8.9	360	5770	0.77	3.25	0.00	0.000	4	0.000	0.000	1988	498	2743
5814	-1.25	-116.8	489.0	-5.7	362	5820	0.00	3.12	0.00	0.000	6	0.000	0.000	1985	2193	2740
6139	-1.55	-116.8	506.4	-5.1	375	6147	0.47	3.45	0.00	0.000	4	0.000	0.000	1876	349	2744
6241	-1.27	-116.8	514.5	-8.7	377	6249	0.80	3.38	0.00	0.000	6	0.000	0.000	2005	2067	2748
6569	-1.45	-116.8	532.1	-5.0	385	6575	0.50	2.80	0.00	0.000	4	0.000	0.000	1867	3538	2742
6853	-1.18	-116.8	554.8	-8.4	391	6861	0.68	3.65	0.00	0.000	6	0.000	0.000	2063	1714	2746
7175	-1.38	-116.8	569.2	-4.1	399	7181	0.68	2.47	0.00	0.000	4	0.000	0.000	1847	347	2743
7212	-1.11	-116.8	571.7	-8.6	399	7221	1.08	3.65	0.00	0.000	6	0.000	0.000	2116	2200	2743
7547	-1.48	-116.8	585.3	-3.8	408	7556	1.33	3.72	0.00	0.000	4	0.000	0.000	1867	385	2746
7650	-1.24	-116.8	592.9	-8.2	410	7658	0.77	3.38	0.00	0.000	6	0.000	0.000	2059	2041	2746
7978	-1.46	-116.8	607.4	-4.1	418	7986	0.68	3.22	0.00	0.000	4	0.000	0.000	1860	3701	2742
8233	-1.18	-116.8	627.4	-8.4	423	8241	0.77	4.07	0.00	0.000	6	0.000	0.000	2003	1737	2743
8579	-1.23	-116.8	646.4	-5.3	432	8583	0.00	2.05	0.00	0.000	4	0.000	0.000	1993	576	2744
8644	-1.30	-116.8	649.9	-5.2	433	8651	0.00	3.28	0.00	0.000	6	0.000	0.000	2008	1920	2749
8948	end dive: BOTTOM_OBSTACLE_DETECTED
state	8948	begin apogee
8961	-0.25	0.0	666.2	5.3	441	9084	1.52	0.00	114.32	0.000	6	0.000	0.000	2288	2255	2259
9085	end apogee: CONTROL_FINISHED_OK
state	9085	begin climb
9091	1.49	116.8	666.2	0.0	444	9225	2.00	3.53	112.53	0.001	4	0.000	0.000	2653	393	1783
9313	1.24	116.8	620.6	24.1	448	9322	0.77	3.05	0.00	0.000	6	0.000	0.000	2476	2189	1786
9649	1.51	154.5	582.2	10.8	457	9694	0.77	3.45	36.10	0.001	4	0.000	0.000	2589	328	1629
9781	1.43	154.5	555.4	21.8	459	9789	0.00	3.17	0.00	0.000	6	0.000	0.000	2598	1994	1628
10096	1.30	154.5	488.7	21.3	468	10104	0.55	3.22	0.00	0.000	4	0.000	0.000	2454	3651	1631
10270	1.42	154.5	465.2	15.4	475	10283	0.85	3.17	0.00	0.000	6	0.000	0.000	2646	1937	1628
10594	1.11	154.5	381.0	26.7	491	10598	1.10	0.00	0.15	0.001	6	0.000	0.000	2471	1933	1632
10911	1.33	176.7	341.5	12.0	506	10941	0.57	3.28	21.58	0.000	4	0.000	0.000	2593	3400	1542
11004	1.17	176.7	320.8	23.7	510	11012	0.70	3.03	0.00	0.000	6	0.000	0.000	2461	1757	1539
11339	1.39	190.1	276.2	12.7	526	11364	0.55	3.47	13.02	0.001	4	0.000	0.000	2589	3410	1482
11583	1.23	190.1	219.0	24.5	536	11596	0.55	3.10	0.00	0.000	6	0.000	0.000	2483	1705	1484
11912	1.42	196.1	174.1	13.3	552	11926	0.43	3.42	4.82	0.001	4	0.000	0.000	2585	3550	1465
12087	1.27	196.1	133.4	22.8	559	12096	0.52	3.58	0.00	0.000	6	0.000	0.000	2467	1891	1462
12421	1.50	212.2	90.7	12.5	584	12445	0.70	2.85	13.12	0.001	4	0.000	0.000	2655	3574	1394
12551	1.19	212.2	56.0	27.9	604	12560	0.82	3.15	0.00	0.000	6	0.000	0.000	2456	1940	1391
12921	1.47	247.2	8.2	11.0	665	12953	1.10	2.38	21.67	0.001	4	0.000	0.000	2634	3444	1249
12963	end climb: SURFACE_DEPTH_REACHED
state	12963	begin surface coast
12970	end surface coast: CONTROL_FINISHED_OK
state	12970	begin surface