Glider dive log

PortSusan 17Jul07 * SG001 * Dive index * Mission links * Dive 49 * 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 49 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 11 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 14 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 -449831.81 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 -449831.81

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 11 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 14 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 49 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 160847,6709.745,-6034.504,21,1.1,21,18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6719.892,-6033.081

_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 161407,6709.745,-6034.504,24,1.1,24,18.0 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 -0.01,4.319,-1.739 TCM_TEMP 15.00

FINISH -0.0,1.025200 XPDR_PINGS -1

SM_CCo 13030,104.65,0.000,0,0,424,450.37 ALTIM_TOP_PING 19.3,999.0

SM_GC 0.00,0.00,0.00,104.65,0.000,0.000,0.000,644,1790,424,-7.50,-5.40,450.37 _24V_AH 23.7,71.069

RAFOS_CLK 0 _10V_AH 9.7,10.635

RAFOS 0,1160841842,16.083334,16.067223,80,0,0,0,0,0,705,0,0,0,0,0 DATA_FILE_SIZE 25324,704

RAFOS_FIX 6708.595703,-6028.499023,141006,161645,3,80,9.31 CFSIZE 255582208,240361472

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,120,1364,5,0

TT8_MAMPS 0.024544 SOUNDSPEED 1472.3

HUMID 2269 CURRENT 0.057,256.1,1

INTERNAL_PRESSURE 26.0748 GPS 141006,195458,6710.798,-6034.531,14,1.1,15,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 57 119 160.76 SBE_CT 573 24 326.06

Roll_motor 176 60 250.66 nil 0 0 0.00

VBD_pump_during_apogee 384 1300 11839.51 nil 0 0 0.00

VBD_pump_during_surface 104 600 1488.12 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 91 223 483.54

Transponder_ping 5 420 54.75

GPS 25 50 12.40

TT8 2209 19 426.93

LPSleep 8449 2 189.32

TT8_Active 849 19 164.23

TT8_Sampling 944 39 365.67

TT8_CF8 1002 45 446.75

TT8_Kalman 0 0 0.00

Analog_circuits 1675 12 195.08

GPS_charging 0 0 0.00

Compass 807 26 203.63

RAFOS 720 1 10.48

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 -76.62 0.000 6 0.000 0.000 616 1873 2733

134 -1.49 -116.8 -0.0 0.0 9 151 6.53 3.45 0.00 0.000 4 0.000 0.000 1991 3565 2735

440 -1.49 -116.8 37.3 -9.4 59 449 0.52 3.25 0.00 0.000 6 0.000 0.000 1862 1689 2735

808 -1.19 -116.8 83.3 -11.9 120 817 1.15 3.42 0.00 0.000 4 0.000 0.000 2049 3514 2739

1033 -1.39 -116.8 96.9 -5.5 156 1042 0.80 3.53 0.00 0.000 6 0.000 0.000 1877 1700 2736

1358 -1.13 -116.8 132.5 -10.9 175 1366 0.95 2.55 0.00 0.000 4 0.000 0.000 2055 338 2738

1407 -1.36 -116.8 136.1 -5.0 177 1415 0.82 2.85 0.00 0.000 6 0.000 0.000 1890 1986 2740

1743 -1.06 -116.8 169.9 -10.1 193 1750 0.90 2.80 0.00 0.000 4 0.000 0.000 2074 393 2741

1795 -1.33 -116.8 173.4 -4.5 195 1802 0.77 2.88 0.00 0.000 6 0.000 0.000 1901 2089 2737

2124 -1.10 -116.8 203.0 -9.1 211 2132 0.73 3.25 0.00 0.000 4 0.000 0.000 2094 271 2734

2188 -1.40 -116.8 206.6 -4.2 213 2197 0.77 3.55 0.00 0.000 6 0.000 0.000 1898 2286 2735

2513 -1.18 -116.8 233.1 -8.6 229 2521 1.12 3.50 0.00 0.000 4 0.000 0.000 2089 275 2734

2556 -1.49 -116.8 236.0 -4.1 230 2565 0.80 3.92 0.00 0.000 6 0.000 0.000 1907 2255 2743

2881 -1.26 -116.8 262.1 -8.4 246 2888 0.47 2.95 0.00 0.000 4 0.000 0.000 2037 440 2733

2959 -1.41 -116.8 267.0 -5.0 249 2967 0.57 2.83 0.00 0.000 6 0.000 0.000 1921 2132 2742

3294 -1.20 -116.8 293.5 -8.1 265 3302 0.62 3.33 0.00 0.000 4 0.000 0.000 2022 281 2742

3343 -1.38 -116.8 296.7 -4.8 267 3352 0.43 3.67 0.00 0.000 6 0.000 0.000 1917 2088 2738

3685 -1.17 -116.8 322.7 -7.9 283 3693 0.77 3.35 0.00 0.000 4 0.000 0.000 2026 436 2730

3737 -1.33 -116.8 326.4 -5.1 285 3745 0.50 3.53 0.00 0.000 6 0.000 0.000 1898 2259 2736

4072 -1.12 -116.8 351.9 -8.0 301 4081 0.93 3.75 0.00 0.000 4 0.000 0.000 2078 440 2732

4136 -1.43 -116.8 355.6 -3.4 303 4145 0.90 3.08 0.00 0.000 6 0.000 0.000 1889 1929 2736

4461 -1.23 -116.8 380.1 -8.0 319 4463 0.73 0.00 0.00 0.000 6 0.000 0.000 2086 1929 2730

4770 -1.51 -116.8 392.4 -3.7 334 4778 1.38 2.88 0.00 0.000 4 0.000 0.000 1844 431 2733

4870 -1.16 -116.8 400.6 -9.6 338 4879 1.05 3.28 0.00 0.000 6 0.000 0.000 2074 1951 2738

5211 -1.43 -116.8 414.6 -3.7 354 5220 0.73 3.47 0.00 0.000 4 0.000 0.000 1884 279 2739

5260 -1.23 -116.8 418.0 -7.9 356 5268 0.77 3.22 0.00 0.000 6 0.000 0.000 2077 2138 2729

5596 -1.50 -116.8 431.5 -3.8 372 5604 0.95 3.42 0.00 0.000 4 0.000 0.000 1880 295 2735

5660 -1.32 -116.8 436.2 -8.2 374 5669 0.50 3.53 0.00 0.000 6 0.000 0.000 2011 2116 2736

5985 -1.49 -116.8 452.4 -4.9 390 5993 0.60 3.72 0.00 0.000 4 0.000 0.000 1978 264 2735

6075 -1.49 -116.8 457.9 -6.4 393 6084 0.00 3.53 0.00 0.000 6 0.000 0.000 1964 2088 2739

6400 -1.43 -116.8 478.1 -6.3 409 6406 0.00 2.90 0.00 0.000 4 0.000 0.000 1974 410 2738

6453 -1.43 -116.8 481.7 -6.0 411 6465 0.00 3.67 0.00 0.000 6 0.000 0.000 1953 2049 2739

6802 -1.37 -116.8 503.0 -6.2 427 6809 0.00 3.35 0.00 0.000 4 0.000 0.000 1949 364 2735

6876 -1.37 -116.8 507.9 -6.3 428 6883 0.00 3.67 0.00 0.000 6 0.000 0.000 1956 2028 2737

7222 -1.31 -116.8 529.2 -6.3 437 7229 0.00 3.33 0.00 0.000 4 0.000 0.000 1963 400 2737

7318 -1.29 -116.8 535.2 -5.4 439 7326 0.03 3.15 0.00 0.000 6 0.000 0.000 1959 1745 2730

7646 -1.40 -116.8 555.1 -6.0 447 7652 0.03 2.88 0.00 0.000 4 0.000 0.000 1967 3422 2736

7930 -1.34 -116.8 572.1 -6.0 453 7937 0.03 3.72 0.00 0.000 6 0.000 0.000 1965 1636 2743

8252 -1.28 -116.8 591.8 -6.0 461 8260 0.05 3.55 0.00 0.000 4 0.000 0.000 1933 3490 2728

8540 -1.21 -116.8 609.1 -6.1 467 8547 0.50 2.88 0.00 0.000 6 0.000 0.000 2081 1825 2729

8861 -1.76 -116.8 623.6 -4.3 475 8864 1.48 0.00 0.00 0.000 6 0.000 0.000 1844 1821 2734

9017 end dive: HALF_MISSION_TIME_EXCEEDED

state 9017 begin apogee

9030 -0.25 0.0 637.4 8.6 479 9158 2.05 0.00 112.93 0.000 6 0.000 0.000 2245 1833 2263

9159 end apogee: CONTROL_FINISHED_OK

state 9159 begin climb

9164 1.49 116.8 638.4 0.0 482 9300 2.03 3.42 112.32 0.001 4 0.000 0.000 2604 3456 1795

9455 1.28 116.8 584.3 22.3 488 9463 0.68 3.35 0.00 0.000 6 0.000 0.000 2494 1763 1781

9777 1.44 133.3 542.2 12.4 496 9801 0.95 2.67 16.23 0.001 4 0.000 0.000 2611 3395 1720

9951 1.23 133.3 504.4 22.1 499 9960 0.80 2.90 0.00 0.000 6 0.000 0.000 2454 1676 1723

10275 1.59 169.1 470.9 10.9 514 10322 0.93 2.92 34.78 0.001 4 0.000 0.000 2674 3492 1567

10376 1.21 169.1 443.0 30.1 518 10385 1.10 3.12 0.03 0.001 6 0.000 0.000 2429 1773 1577

10706 1.57 212.3 405.9 10.3 534 10767 1.17 3.60 41.88 0.001 4 0.000 0.000 2685 3465 1389

10924 0.67 212.3 336.7 43.6 542 10937 1.50 3.33 0.00 0.000 6 0.000 0.000 2376 1775 1394

11254 1.21 256.9 297.0 10.2 558 11303 0.98 1.95 43.17 0.001 4 0.000 0.000 2616 407 1216

11329 1.02 256.9 278.5 31.2 561 11338 0.80 2.67 0.08 0.000 6 0.000 0.000 2437 1970 1218

11659 1.31 269.7 231.5 12.7 577 11683 1.10 2.72 12.32 0.001 4 0.000 0.000 2646 283 1160

11702 1.12 269.7 219.7 31.7 578 11711 0.77 3.28 0.00 0.000 6 0.000 0.000 2449 2135 1163

12026 1.39 276.4 174.8 13.2 594 12040 0.70 3.50 5.72 0.001 4 0.000 0.000 2639 297 1127

12067 1.22 276.4 164.1 30.8 595 12076 0.80 4.07 0.00 0.000 6 0.000 0.000 2427 2165 1130

12391 1.50 282.8 119.4 13.2 611 12405 1.00 3.55 4.82 0.001 4 0.000 0.000 2648 471 1104

12431 1.30 282.8 107.9 31.3 612 12441 0.55 3.17 0.00 0.000 6 0.000 0.000 2511 2126 1102

12794 1.17 282.8 35.5 30.9 670 12801 0.03 0.00 0.00 0.000 6 0.000 0.000 2527 2114 1099

12982 end climb: SURFACE_DEPTH_REACHED

state 12982 begin surface coast

13001 end surface coast: CONTROL_FINISHED_OK

state 13001 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	49	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	11	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	14	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	-449831.81	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	160847,6709.745,-6034.504,21,1.1,21,18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6719.892,-6033.081
_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	161407,6709.745,-6034.504,24,1.1,24,18.0	MHEAD_RNG_PITCHd_Wd	2.0,20000,-26.0,-13.750
SPEED_LIMITS	0.226,0.242	D_GRID	990

FREEZE	-0.01,4.319,-1.739	TCM_TEMP	15.00
FINISH	-0.0,1.025200	XPDR_PINGS	-1
SM_CCo	13030,104.65,0.000,0,0,424,450.37	ALTIM_TOP_PING	19.3,999.0
SM_GC	0.00,0.00,0.00,104.65,0.000,0.000,0.000,644,1790,424,-7.50,-5.40,450.37	_24V_AH	23.7,71.069
RAFOS_CLK	0	_10V_AH	9.7,10.635
RAFOS	0,1160841842,16.083334,16.067223,80,0,0,0,0,0,705,0,0,0,0,0	DATA_FILE_SIZE	25324,704
RAFOS_FIX	6708.595703,-6028.499023,141006,161645,3,80,9.31	CFSIZE	255582208,240361472
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,120,1364,5,0
TT8_MAMPS	0.024544	SOUNDSPEED	1472.3
HUMID	2269	CURRENT	0.057,256.1,1
INTERNAL_PRESSURE	26.0748	GPS	141006,195458,6710.798,-6034.531,14,1.1,15,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	57	119	160.76	SBE_CT	573	24	326.06
Roll_motor	176	60	250.66	nil	0	0	0.00
VBD_pump_during_apogee	384	1300	11839.51	nil	0	0	0.00
VBD_pump_during_surface	104	600	1488.12	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	91	223	483.54
Transponder_ping	5	420	54.75
GPS	25	50	12.40
TT8	2209	19	426.93
LPSleep	8449	2	189.32
TT8_Active	849	19	164.23
TT8_Sampling	944	39	365.67
TT8_CF8	1002	45	446.75
TT8_Kalman	0	0	0.00
Analog_circuits	1675	12	195.08
GPS_charging	0	0	0.00
Compass	807	26	203.63
RAFOS	720	1	10.48

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	-76.62	0.000	6	0.000	0.000	616	1873	2733
134	-1.49	-116.8	-0.0	0.0	9	151	6.53	3.45	0.00	0.000	4	0.000	0.000	1991	3565	2735
440	-1.49	-116.8	37.3	-9.4	59	449	0.52	3.25	0.00	0.000	6	0.000	0.000	1862	1689	2735
808	-1.19	-116.8	83.3	-11.9	120	817	1.15	3.42	0.00	0.000	4	0.000	0.000	2049	3514	2739
1033	-1.39	-116.8	96.9	-5.5	156	1042	0.80	3.53	0.00	0.000	6	0.000	0.000	1877	1700	2736
1358	-1.13	-116.8	132.5	-10.9	175	1366	0.95	2.55	0.00	0.000	4	0.000	0.000	2055	338	2738
1407	-1.36	-116.8	136.1	-5.0	177	1415	0.82	2.85	0.00	0.000	6	0.000	0.000	1890	1986	2740
1743	-1.06	-116.8	169.9	-10.1	193	1750	0.90	2.80	0.00	0.000	4	0.000	0.000	2074	393	2741
1795	-1.33	-116.8	173.4	-4.5	195	1802	0.77	2.88	0.00	0.000	6	0.000	0.000	1901	2089	2737
2124	-1.10	-116.8	203.0	-9.1	211	2132	0.73	3.25	0.00	0.000	4	0.000	0.000	2094	271	2734
2188	-1.40	-116.8	206.6	-4.2	213	2197	0.77	3.55	0.00	0.000	6	0.000	0.000	1898	2286	2735
2513	-1.18	-116.8	233.1	-8.6	229	2521	1.12	3.50	0.00	0.000	4	0.000	0.000	2089	275	2734
2556	-1.49	-116.8	236.0	-4.1	230	2565	0.80	3.92	0.00	0.000	6	0.000	0.000	1907	2255	2743
2881	-1.26	-116.8	262.1	-8.4	246	2888	0.47	2.95	0.00	0.000	4	0.000	0.000	2037	440	2733
2959	-1.41	-116.8	267.0	-5.0	249	2967	0.57	2.83	0.00	0.000	6	0.000	0.000	1921	2132	2742
3294	-1.20	-116.8	293.5	-8.1	265	3302	0.62	3.33	0.00	0.000	4	0.000	0.000	2022	281	2742
3343	-1.38	-116.8	296.7	-4.8	267	3352	0.43	3.67	0.00	0.000	6	0.000	0.000	1917	2088	2738
3685	-1.17	-116.8	322.7	-7.9	283	3693	0.77	3.35	0.00	0.000	4	0.000	0.000	2026	436	2730
3737	-1.33	-116.8	326.4	-5.1	285	3745	0.50	3.53	0.00	0.000	6	0.000	0.000	1898	2259	2736
4072	-1.12	-116.8	351.9	-8.0	301	4081	0.93	3.75	0.00	0.000	4	0.000	0.000	2078	440	2732
4136	-1.43	-116.8	355.6	-3.4	303	4145	0.90	3.08	0.00	0.000	6	0.000	0.000	1889	1929	2736
4461	-1.23	-116.8	380.1	-8.0	319	4463	0.73	0.00	0.00	0.000	6	0.000	0.000	2086	1929	2730
4770	-1.51	-116.8	392.4	-3.7	334	4778	1.38	2.88	0.00	0.000	4	0.000	0.000	1844	431	2733
4870	-1.16	-116.8	400.6	-9.6	338	4879	1.05	3.28	0.00	0.000	6	0.000	0.000	2074	1951	2738
5211	-1.43	-116.8	414.6	-3.7	354	5220	0.73	3.47	0.00	0.000	4	0.000	0.000	1884	279	2739
5260	-1.23	-116.8	418.0	-7.9	356	5268	0.77	3.22	0.00	0.000	6	0.000	0.000	2077	2138	2729
5596	-1.50	-116.8	431.5	-3.8	372	5604	0.95	3.42	0.00	0.000	4	0.000	0.000	1880	295	2735
5660	-1.32	-116.8	436.2	-8.2	374	5669	0.50	3.53	0.00	0.000	6	0.000	0.000	2011	2116	2736
5985	-1.49	-116.8	452.4	-4.9	390	5993	0.60	3.72	0.00	0.000	4	0.000	0.000	1978	264	2735
6075	-1.49	-116.8	457.9	-6.4	393	6084	0.00	3.53	0.00	0.000	6	0.000	0.000	1964	2088	2739
6400	-1.43	-116.8	478.1	-6.3	409	6406	0.00	2.90	0.00	0.000	4	0.000	0.000	1974	410	2738
6453	-1.43	-116.8	481.7	-6.0	411	6465	0.00	3.67	0.00	0.000	6	0.000	0.000	1953	2049	2739
6802	-1.37	-116.8	503.0	-6.2	427	6809	0.00	3.35	0.00	0.000	4	0.000	0.000	1949	364	2735
6876	-1.37	-116.8	507.9	-6.3	428	6883	0.00	3.67	0.00	0.000	6	0.000	0.000	1956	2028	2737
7222	-1.31	-116.8	529.2	-6.3	437	7229	0.00	3.33	0.00	0.000	4	0.000	0.000	1963	400	2737
7318	-1.29	-116.8	535.2	-5.4	439	7326	0.03	3.15	0.00	0.000	6	0.000	0.000	1959	1745	2730
7646	-1.40	-116.8	555.1	-6.0	447	7652	0.03	2.88	0.00	0.000	4	0.000	0.000	1967	3422	2736
7930	-1.34	-116.8	572.1	-6.0	453	7937	0.03	3.72	0.00	0.000	6	0.000	0.000	1965	1636	2743
8252	-1.28	-116.8	591.8	-6.0	461	8260	0.05	3.55	0.00	0.000	4	0.000	0.000	1933	3490	2728
8540	-1.21	-116.8	609.1	-6.1	467	8547	0.50	2.88	0.00	0.000	6	0.000	0.000	2081	1825	2729
8861	-1.76	-116.8	623.6	-4.3	475	8864	1.48	0.00	0.00	0.000	6	0.000	0.000	1844	1821	2734
9017	end dive: HALF_MISSION_TIME_EXCEEDED
state	9017	begin apogee
9030	-0.25	0.0	637.4	8.6	479	9158	2.05	0.00	112.93	0.000	6	0.000	0.000	2245	1833	2263
9159	end apogee: CONTROL_FINISHED_OK
state	9159	begin climb
9164	1.49	116.8	638.4	0.0	482	9300	2.03	3.42	112.32	0.001	4	0.000	0.000	2604	3456	1795
9455	1.28	116.8	584.3	22.3	488	9463	0.68	3.35	0.00	0.000	6	0.000	0.000	2494	1763	1781
9777	1.44	133.3	542.2	12.4	496	9801	0.95	2.67	16.23	0.001	4	0.000	0.000	2611	3395	1720
9951	1.23	133.3	504.4	22.1	499	9960	0.80	2.90	0.00	0.000	6	0.000	0.000	2454	1676	1723
10275	1.59	169.1	470.9	10.9	514	10322	0.93	2.92	34.78	0.001	4	0.000	0.000	2674	3492	1567
10376	1.21	169.1	443.0	30.1	518	10385	1.10	3.12	0.03	0.001	6	0.000	0.000	2429	1773	1577
10706	1.57	212.3	405.9	10.3	534	10767	1.17	3.60	41.88	0.001	4	0.000	0.000	2685	3465	1389
10924	0.67	212.3	336.7	43.6	542	10937	1.50	3.33	0.00	0.000	6	0.000	0.000	2376	1775	1394
11254	1.21	256.9	297.0	10.2	558	11303	0.98	1.95	43.17	0.001	4	0.000	0.000	2616	407	1216
11329	1.02	256.9	278.5	31.2	561	11338	0.80	2.67	0.08	0.000	6	0.000	0.000	2437	1970	1218
11659	1.31	269.7	231.5	12.7	577	11683	1.10	2.72	12.32	0.001	4	0.000	0.000	2646	283	1160
11702	1.12	269.7	219.7	31.7	578	11711	0.77	3.28	0.00	0.000	6	0.000	0.000	2449	2135	1163
12026	1.39	276.4	174.8	13.2	594	12040	0.70	3.50	5.72	0.001	4	0.000	0.000	2639	297	1127
12067	1.22	276.4	164.1	30.8	595	12076	0.80	4.07	0.00	0.000	6	0.000	0.000	2427	2165	1130
12391	1.50	282.8	119.4	13.2	611	12405	1.00	3.55	4.82	0.001	4	0.000	0.000	2648	471	1104
12431	1.30	282.8	107.9	31.3	612	12441	0.55	3.17	0.00	0.000	6	0.000	0.000	2511	2126	1102
12794	1.17	282.8	35.5	30.9	670	12801	0.03	0.00	0.00	0.000	6	0.000	0.000	2527	2114	1099
12982	end climb: SURFACE_DEPTH_REACHED
state	12982	begin surface coast
13001	end surface coast: CONTROL_FINISHED_OK
state	13001	begin surface