Glider dive log

WA coast Jan08 * SG119 * Dive index * Mission links * Dive 74 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 119 HD_B 0.0099684997 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 3 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 74 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 90 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 175 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3878 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 48.150002 C_ROLL_DIVE 2220 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -125.67 C_ROLL_CLIMB 2180 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 597.30548 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 425 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3879 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2860 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -16031.517 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 1379 AH0_24V 147 SEABIRD_T_G 0.004348367

SPEED_FACTOR 1 PITCH_MAX 3813 AH0_10V 122.2 SEABIRD_T_H 0.00063394889

RHO 1.023 C_PITCH 3363 PRESSURE_YINT -2.3287585 SEABIRD_T_I 2.4089732e-05

MASS 51528 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159777 SEABIRD_T_J 2.5198262e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.04077

FERRY_MAX 30 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1285373

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022196125

HD_A 0.0038945 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00025642588

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 22 SM_CC 597.30548

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3813 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 1379 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 90 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159777 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -2.3287585 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -125.67

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -16031.517

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 119 ROLL_MAX 3878 T_TURN_SAMPINT 5

C_PITCH 3363 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2180 INT_PRESSURE_YINT 0 ROLL_MIN 175 UNCOM_BLEED 50

C_ROLL_DIVE 2220 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2860 MASS 51528 R_PORT_OVSHOOT 25 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 35 USE_ICE 0

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.04077 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1285373 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0022196125 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00025642588 VBD_MAX 3879

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004348367 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063394889 VBD_MIN 425

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4089732e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 74 PHONE_DEVICE 48 SEABIRD_T_J 2.5198262e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 124501,4809.593,-12603.451,33,1.6,39,18.9 TGT_NAME CAPE_FLATTERY

_CALLS 5 TGT_LATLONG 4809.000,-12540.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.257,-0.058

_SM_DEPTHo 1.24 KALMAN_X -9659.5,1327.4,609.2,-20768.5,-11051.8

_SM_ANGLEo -69.7 KALMAN_Y 10420.4,-728.7,-474.2,4422.9,8057.0

GPS2 125539,4809.560,-12603.438,10,1.8,10,18.9 MHEAD_RNG_PITCHd_Wd 83.9,28978,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.025161 XPDR_PINGS 50

SM_CCo 11105,141.98,0.756,0,0,425,597.31 ALTIM_BOTTOM_PING 600.4,5.4

SM_GC 1.19,0.00,0.00,141.98,0.000,0.000,0.756,1376,2236,425,-9.14,0.45,597.31 _24V_AH 23.5,13.231

IRIDIUM_FIX 0.00,0.00,010170,000000 _10V_AH 10.6,5.752

TT8_MAMPS 0.028379 DATA_FILE_SIZE 25401,510

HUMID 1861 CFSIZE 260165632,255279104

INTERNAL_PRESSURE 9.44372 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 16.10 GPS 240108,160508,4810.151,-12601.057,35,2.0,35,18.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 167 107.47 SBE_CT 359 24 202.65

Roll_motor 110 101 263.02 SBE_O2 390 19 174.56

VBD_pump_during_apogee 356 1187 9933.09 WL_BB2F 693 105 1710.48

VBD_pump_during_surface 141 756 2523.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 153 103 371.76 nil 0 0 0.00

Iridium_during_connect 155 160 586.48 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 17 420 175.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.60

TT8 1023 19 214.78

LPSleep 8276 2 192.13

TT8_Active 647 19 135.98

TT8_Sampling 1512 39 638.06

TT8_CF8 434 45 210.89

TT8_Kalman 33 81 28.93

Analog_circuits 1401 12 178.27

GPS_charging 0 0 0.00

Compass 1480 8 125.59

RAFOS 0 0 0.00

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.00 -146.6 0.0 0.0 0 133 0.00 0.00 -112.00 0.000 2 0.000 0.000 1379 2232 2618

135 -1.00 -146.6 3.3 -4.4 11 179 12.30 2.45 -21.85 0.000 4 0.167 0.088 3137 3611 3461

205 -1.00 -146.6 16.9 -17.8 17 212 0.00 2.35 0.00 0.000 6 0.000 0.045 3137 2221 3461

549 -1.00 -146.6 82.2 -17.0 67 553 0.00 2.40 0.00 0.000 4 0.000 0.062 3138 809 3461

670 -1.00 -146.6 100.5 -13.5 77 678 0.00 2.33 0.00 0.000 6 0.000 0.048 3138 2204 3461

996 -1.00 -146.6 146.1 -14.1 108 1000 0.00 2.45 0.00 0.000 4 0.000 0.074 3137 3628 3461

1028 -1.00 -146.6 150.8 -14.6 110 1035 0.00 2.30 0.00 0.000 6 0.000 0.045 3138 2216 3461

1344 -1.00 -146.6 191.7 -13.1 126 1348 0.00 2.35 0.00 0.000 4 0.000 0.061 3138 812 3461

1406 -1.00 -146.6 199.8 -12.7 129 1411 0.00 2.33 0.00 0.000 6 0.000 0.051 3138 2219 3461

1737 -1.00 -146.6 241.8 -12.6 145 1741 0.00 2.38 0.00 0.000 4 0.000 0.061 3137 809 3461

1799 -1.00 -146.6 249.9 -12.4 148 1804 0.00 2.33 0.00 0.000 6 0.000 0.052 3138 2222 3461

2130 -1.00 -146.6 291.4 -12.7 164 2135 0.00 2.38 0.00 0.000 4 0.000 0.061 3138 810 3461

2162 -1.00 -146.6 295.7 -13.0 165 2170 0.00 2.35 0.00 0.000 6 0.000 0.054 3137 2216 3461

2513 -1.00 -146.6 337.5 -11.7 173 2514 0.00 0.00 0.00 0.000 6 0.000 0.000 3138 2216 3461

2816 -1.00 -146.6 372.1 -11.4 178 2820 0.00 2.35 0.00 0.000 4 0.000 0.061 3137 818 3461

2847 -1.00 -146.6 375.9 -11.7 178 2852 0.00 2.35 0.00 0.000 6 0.000 0.055 3137 2220 3461

3179 -1.00 -146.6 414.2 -11.5 184 3183 0.00 2.38 0.00 0.000 4 0.000 0.064 3138 812 3461

3245 -1.00 -146.6 422.0 -10.8 185 3250 0.00 2.35 0.00 0.000 6 0.000 0.056 3137 2214 3461

3611 -1.00 -146.6 462.8 -11.3 191 3612 0.00 0.00 0.00 0.000 6 0.000 0.000 3138 2215 3461

3915 -1.00 -146.6 496.5 -11.2 196 3919 0.00 2.38 0.00 0.000 4 0.000 0.067 3137 812 3460

3998 -1.00 -146.6 506.1 -11.2 197 4003 0.00 2.38 0.00 0.000 6 0.000 0.059 3137 2223 3460

4346 -1.00 -146.6 543.3 -10.6 203 4350 0.00 2.38 0.00 0.000 4 0.000 0.068 3137 817 3458

4378 -1.00 -146.6 547.0 -11.3 203 4383 0.00 2.35 0.00 0.000 6 0.000 0.060 3137 2216 3459

4710 -1.00 -146.6 581.4 -10.4 209 4715 0.00 2.38 0.00 0.000 4 0.000 0.066 3138 812 3459

4772 -1.00 -146.6 587.9 -10.5 210 4776 0.00 2.35 0.00 0.000 6 0.000 0.059 3138 2226 3458

4895 end dive: BOTTOM_OBSTACLE_DETECTED

state 4895 begin apogee

4900 -0.23 0.0 600.4 10.2 212 5024 1.02 0.00 121.18 1.187 6 0.097 0.000 3309 2177 2860

5025 end apogee: CONTROL_FINISHED_OK

state 5025 begin climb

5027 1.00 146.6 604.7 0.0 214 5159 1.58 2.60 123.85 1.144 4 0.057 0.064 3575 782 2262

5203 1.02 163.5 603.7 9.2 216 5224 0.00 2.50 15.88 1.065 6 0.000 0.054 3575 2189 2193

5572 1.02 163.5 562.1 11.2 223 5576 0.00 2.53 0.00 0.000 4 0.000 0.084 3576 3587 2192

5660 1.02 163.5 551.6 11.6 224 5665 0.00 2.40 0.00 0.000 6 0.000 0.047 3575 2192 2192

6003 1.02 163.5 514.7 10.7 230 6008 0.00 2.50 0.00 0.000 4 0.000 0.080 3575 3594 2192

6097 1.02 163.5 504.1 11.1 231 6102 0.00 2.40 0.00 0.000 6 0.000 0.048 3575 2183 2191

6435 1.02 163.5 469.5 10.1 237 6439 0.00 2.45 0.00 0.000 4 0.000 0.078 3575 3589 2191

6540 1.02 163.5 458.3 10.3 238 6544 0.00 2.38 0.00 0.000 6 0.000 0.048 3575 2181 2191

6866 1.04 175.5 427.5 9.5 244 6882 0.00 2.50 10.88 1.024 4 0.000 0.077 3575 3590 2143

7022 1.04 175.5 410.5 11.1 246 7026 0.00 2.35 0.00 0.000 6 0.000 0.048 3576 2180 2143

7364 1.05 188.7 377.8 9.4 252 7378 0.00 0.00 12.30 1.016 6 0.000 0.000 3575 2180 2090

7667 1.06 189.8 347.7 9.9 257 7671 0.00 2.50 0.00 0.000 4 0.000 0.077 3575 3596 2090

7796 1.06 189.8 333.2 11.6 259 7800 0.00 2.35 0.00 0.000 6 0.000 0.047 3575 2179 2090

8160 1.06 189.8 294.7 10.5 265 8164 0.00 2.47 0.00 0.000 4 0.000 0.077 3575 3590 2090

8350 1.06 189.8 273.5 11.2 273 8357 0.00 2.35 0.00 0.000 6 0.000 0.048 3576 2165 2090

8666 1.06 189.8 241.9 10.4 289 8670 0.00 2.47 0.00 0.000 4 0.000 0.077 3575 3588 2090

8809 1.06 189.8 225.5 11.2 295 8817 0.00 2.35 0.00 0.000 6 0.000 0.047 3576 2182 2090

9125 1.06 189.8 193.8 10.1 311 9126 0.00 0.00 0.00 0.000 6 0.000 0.000 3576 2181 2090

9435 1.08 207.4 164.5 9.2 326 9457 0.00 2.47 15.75 0.914 4 0.000 0.075 3575 3595 2014

9502 1.08 207.4 158.0 10.3 329 9506 0.00 2.35 0.00 0.000 6 0.000 0.045 3576 2177 2014

9825 1.10 224.8 126.6 9.2 355 9848 0.12 2.47 14.70 0.880 4 0.071 0.074 3600 3594 1943

9870 1.10 224.8 121.7 11.5 359 9875 0.00 2.38 0.00 0.000 6 0.000 0.045 3600 2174 1943

10197 1.10 224.8 86.0 11.1 389 10201 0.00 2.47 0.00 0.000 4 0.000 0.074 3600 3591 1943

10455 1.16 277.3 63.5 7.6 430 10505 0.00 2.33 41.47 0.840 6 0.000 0.044 3600 2175 1728

10835 1.16 277.4 27.8 10.0 488 10840 0.00 2.47 0.00 0.000 4 0.000 0.071 3600 3589 1728

11042 1.16 277.4 5.0 11.3 506 11046 0.00 2.33 0.00 0.000 6 0.000 0.044 3600 2181 1728

11073 end climb: SURFACE_DEPTH_REACHED

state 11073 begin surface coast

11085 end surface coast: CONTROL_FINISHED_OK

state 11085 begin surface

ID	119	HD_B	0.0099684997	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	3	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	74	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	90	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	175	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3878	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	48.150002	C_ROLL_DIVE	2220	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-125.67	C_ROLL_CLIMB	2180	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	597.30548	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	425	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3879	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2860	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-16031.517	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	1379	AH0_24V	147	SEABIRD_T_G	0.004348367
SPEED_FACTOR	1	PITCH_MAX	3813	AH0_10V	122.2	SEABIRD_T_H	0.00063394889
RHO	1.023	C_PITCH	3363	PRESSURE_YINT	-2.3287585	SEABIRD_T_I	2.4089732e-05
MASS	51528	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159777	SEABIRD_T_J	2.5198262e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.04077
FERRY_MAX	30	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1285373
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022196125
HD_A	0.0038945	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00025642588

GPS1	124501,4809.593,-12603.451,33,1.6,39,18.9	TGT_NAME	CAPE_FLATTERY
_CALLS	5	TGT_LATLONG	4809.000,-12540.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.257,-0.058
_SM_DEPTHo	1.24	KALMAN_X	-9659.5,1327.4,609.2,-20768.5,-11051.8
_SM_ANGLEo	-69.7	KALMAN_Y	10420.4,-728.7,-474.2,4422.9,8057.0
GPS2	125539,4809.560,-12603.438,10,1.8,10,18.9	MHEAD_RNG_PITCHd_Wd	83.9,28978,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.6,1.025161	XPDR_PINGS	50
SM_CCo	11105,141.98,0.756,0,0,425,597.31	ALTIM_BOTTOM_PING	600.4,5.4
SM_GC	1.19,0.00,0.00,141.98,0.000,0.000,0.756,1376,2236,425,-9.14,0.45,597.31	_24V_AH	23.5,13.231
IRIDIUM_FIX	0.00,0.00,010170,000000	_10V_AH	10.6,5.752
TT8_MAMPS	0.028379	DATA_FILE_SIZE	25401,510
HUMID	1861	CFSIZE	260165632,255279104
INTERNAL_PRESSURE	9.44372	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	16.10	GPS	240108,160508,4810.151,-12601.057,35,2.0,35,18.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	167	107.47	SBE_CT	359	24	202.65
Roll_motor	110	101	263.02	SBE_O2	390	19	174.56
VBD_pump_during_apogee	356	1187	9933.09	WL_BB2F	693	105	1710.48
VBD_pump_during_surface	141	756	2523.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	153	103	371.76	nil	0	0	0.00
Iridium_during_connect	155	160	586.48	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	17	420	175.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.60
TT8	1023	19	214.78
LPSleep	8276	2	192.13
TT8_Active	647	19	135.98
TT8_Sampling	1512	39	638.06
TT8_CF8	434	45	210.89
TT8_Kalman	33	81	28.93
Analog_circuits	1401	12	178.27
GPS_charging	0	0	0.00
Compass	1480	8	125.59
RAFOS	0	0	0.00

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.00	-146.6	0.0	0.0	0	133	0.00	0.00	-112.00	0.000	2	0.000	0.000	1379	2232	2618
135	-1.00	-146.6	3.3	-4.4	11	179	12.30	2.45	-21.85	0.000	4	0.167	0.088	3137	3611	3461
205	-1.00	-146.6	16.9	-17.8	17	212	0.00	2.35	0.00	0.000	6	0.000	0.045	3137	2221	3461
549	-1.00	-146.6	82.2	-17.0	67	553	0.00	2.40	0.00	0.000	4	0.000	0.062	3138	809	3461
670	-1.00	-146.6	100.5	-13.5	77	678	0.00	2.33	0.00	0.000	6	0.000	0.048	3138	2204	3461
996	-1.00	-146.6	146.1	-14.1	108	1000	0.00	2.45	0.00	0.000	4	0.000	0.074	3137	3628	3461
1028	-1.00	-146.6	150.8	-14.6	110	1035	0.00	2.30	0.00	0.000	6	0.000	0.045	3138	2216	3461
1344	-1.00	-146.6	191.7	-13.1	126	1348	0.00	2.35	0.00	0.000	4	0.000	0.061	3138	812	3461
1406	-1.00	-146.6	199.8	-12.7	129	1411	0.00	2.33	0.00	0.000	6	0.000	0.051	3138	2219	3461
1737	-1.00	-146.6	241.8	-12.6	145	1741	0.00	2.38	0.00	0.000	4	0.000	0.061	3137	809	3461
1799	-1.00	-146.6	249.9	-12.4	148	1804	0.00	2.33	0.00	0.000	6	0.000	0.052	3138	2222	3461
2130	-1.00	-146.6	291.4	-12.7	164	2135	0.00	2.38	0.00	0.000	4	0.000	0.061	3138	810	3461
2162	-1.00	-146.6	295.7	-13.0	165	2170	0.00	2.35	0.00	0.000	6	0.000	0.054	3137	2216	3461
2513	-1.00	-146.6	337.5	-11.7	173	2514	0.00	0.00	0.00	0.000	6	0.000	0.000	3138	2216	3461
2816	-1.00	-146.6	372.1	-11.4	178	2820	0.00	2.35	0.00	0.000	4	0.000	0.061	3137	818	3461
2847	-1.00	-146.6	375.9	-11.7	178	2852	0.00	2.35	0.00	0.000	6	0.000	0.055	3137	2220	3461
3179	-1.00	-146.6	414.2	-11.5	184	3183	0.00	2.38	0.00	0.000	4	0.000	0.064	3138	812	3461
3245	-1.00	-146.6	422.0	-10.8	185	3250	0.00	2.35	0.00	0.000	6	0.000	0.056	3137	2214	3461
3611	-1.00	-146.6	462.8	-11.3	191	3612	0.00	0.00	0.00	0.000	6	0.000	0.000	3138	2215	3461
3915	-1.00	-146.6	496.5	-11.2	196	3919	0.00	2.38	0.00	0.000	4	0.000	0.067	3137	812	3460
3998	-1.00	-146.6	506.1	-11.2	197	4003	0.00	2.38	0.00	0.000	6	0.000	0.059	3137	2223	3460
4346	-1.00	-146.6	543.3	-10.6	203	4350	0.00	2.38	0.00	0.000	4	0.000	0.068	3137	817	3458
4378	-1.00	-146.6	547.0	-11.3	203	4383	0.00	2.35	0.00	0.000	6	0.000	0.060	3137	2216	3459
4710	-1.00	-146.6	581.4	-10.4	209	4715	0.00	2.38	0.00	0.000	4	0.000	0.066	3138	812	3459
4772	-1.00	-146.6	587.9	-10.5	210	4776	0.00	2.35	0.00	0.000	6	0.000	0.059	3138	2226	3458
4895	end dive: BOTTOM_OBSTACLE_DETECTED
state	4895	begin apogee
4900	-0.23	0.0	600.4	10.2	212	5024	1.02	0.00	121.18	1.187	6	0.097	0.000	3309	2177	2860
5025	end apogee: CONTROL_FINISHED_OK
state	5025	begin climb
5027	1.00	146.6	604.7	0.0	214	5159	1.58	2.60	123.85	1.144	4	0.057	0.064	3575	782	2262
5203	1.02	163.5	603.7	9.2	216	5224	0.00	2.50	15.88	1.065	6	0.000	0.054	3575	2189	2193
5572	1.02	163.5	562.1	11.2	223	5576	0.00	2.53	0.00	0.000	4	0.000	0.084	3576	3587	2192
5660	1.02	163.5	551.6	11.6	224	5665	0.00	2.40	0.00	0.000	6	0.000	0.047	3575	2192	2192
6003	1.02	163.5	514.7	10.7	230	6008	0.00	2.50	0.00	0.000	4	0.000	0.080	3575	3594	2192
6097	1.02	163.5	504.1	11.1	231	6102	0.00	2.40	0.00	0.000	6	0.000	0.048	3575	2183	2191
6435	1.02	163.5	469.5	10.1	237	6439	0.00	2.45	0.00	0.000	4	0.000	0.078	3575	3589	2191
6540	1.02	163.5	458.3	10.3	238	6544	0.00	2.38	0.00	0.000	6	0.000	0.048	3575	2181	2191
6866	1.04	175.5	427.5	9.5	244	6882	0.00	2.50	10.88	1.024	4	0.000	0.077	3575	3590	2143
7022	1.04	175.5	410.5	11.1	246	7026	0.00	2.35	0.00	0.000	6	0.000	0.048	3576	2180	2143
7364	1.05	188.7	377.8	9.4	252	7378	0.00	0.00	12.30	1.016	6	0.000	0.000	3575	2180	2090
7667	1.06	189.8	347.7	9.9	257	7671	0.00	2.50	0.00	0.000	4	0.000	0.077	3575	3596	2090
7796	1.06	189.8	333.2	11.6	259	7800	0.00	2.35	0.00	0.000	6	0.000	0.047	3575	2179	2090
8160	1.06	189.8	294.7	10.5	265	8164	0.00	2.47	0.00	0.000	4	0.000	0.077	3575	3590	2090
8350	1.06	189.8	273.5	11.2	273	8357	0.00	2.35	0.00	0.000	6	0.000	0.048	3576	2165	2090
8666	1.06	189.8	241.9	10.4	289	8670	0.00	2.47	0.00	0.000	4	0.000	0.077	3575	3588	2090
8809	1.06	189.8	225.5	11.2	295	8817	0.00	2.35	0.00	0.000	6	0.000	0.047	3576	2182	2090
9125	1.06	189.8	193.8	10.1	311	9126	0.00	0.00	0.00	0.000	6	0.000	0.000	3576	2181	2090
9435	1.08	207.4	164.5	9.2	326	9457	0.00	2.47	15.75	0.914	4	0.000	0.075	3575	3595	2014
9502	1.08	207.4	158.0	10.3	329	9506	0.00	2.35	0.00	0.000	6	0.000	0.045	3576	2177	2014
9825	1.10	224.8	126.6	9.2	355	9848	0.12	2.47	14.70	0.880	4	0.071	0.074	3600	3594	1943
9870	1.10	224.8	121.7	11.5	359	9875	0.00	2.38	0.00	0.000	6	0.000	0.045	3600	2174	1943
10197	1.10	224.8	86.0	11.1	389	10201	0.00	2.47	0.00	0.000	4	0.000	0.074	3600	3591	1943
10455	1.16	277.3	63.5	7.6	430	10505	0.00	2.33	41.47	0.840	6	0.000	0.044	3600	2175	1728
10835	1.16	277.4	27.8	10.0	488	10840	0.00	2.47	0.00	0.000	4	0.000	0.071	3600	3589	1728
11042	1.16	277.4	5.0	11.3	506	11046	0.00	2.33	0.00	0.000	6	0.000	0.044	3600	2181	1728
11073	end climb: SURFACE_DEPTH_REACHED
state	11073	begin surface coast
11085	end surface coast: CONTROL_FINISHED_OK
state	11085	begin surface