Glider dive log

WA coast Jan08 * SG119 * Dive index * Mission links * Dive 76 * 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 76 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 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 19 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 -16060.409 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 -16060.409

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 28 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 76 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 184918,4810.648,-12559.056,35,2.0,46,18.9 TGT_NAME CAPE_FLATTERY

_CALLS 5 TGT_LATLONG 4809.000,-12540.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.251,-0.081

_SM_DEPTHo 1.15 KALMAN_X -12346.0,1628.9,577.3,-12948.7,-12197.3

_SM_ANGLEo -62.4 KALMAN_Y 13101.4,-454.5,-310.7,3409.2,8420.5

GPS2 185639,4810.696,-12559.080,10,1.4,10,18.9 MHEAD_RNG_PITCHd_Wd 89.0,23784,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.005660 XPDR_PINGS 79

SM_CCo 12337,138.05,0.739,0,0,425,597.31 ALTIM_BOTTOM_PING 675.2,5.8

SM_GC 1.22,0.00,0.00,138.05,0.000,0.000,0.739,1376,2227,425,-9.14,0.20,597.31 _24V_AH 23.4,13.544

IRIDIUM_FIX 0.00,0.00,010170,000000 _10V_AH 10.6,5.885

TT8_MAMPS 0.026845 DATA_FILE_SIZE 25473,525

HUMID 1870 CFSIZE 260165632,255164416

INTERNAL_PRESSURE 9.45349 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,0,0

TCM_TEMP 16.30 GPS 240108,222638,4811.155,-12557.097,36,0.9,36,18.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 163 104.94 SBE_CT 371 24 208.39

Roll_motor 124 92 268.95 SBE_O2 403 19 179.26

VBD_pump_during_apogee 368 1241 10702.60 WL_BB2F 683 105 1679.49

VBD_pump_during_surface 138 739 2388.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 116 103 280.77 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 25 420 253.07

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.42

TT8 1069 19 224.41

LPSleep 9373 2 217.60

TT8_Active 673 19 141.38

TT8_Sampling 1566 39 660.76

TT8_CF8 246 45 119.66

TT8_Kalman 33 81 28.92

Analog_circuits 1454 12 185.04

GPS_charging 0 0 0.00

Compass 1533 8 130.03

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 0 138 0.00 0.00 -117.18 0.000 2 0.000 0.000 1378 2202 2714

140 -1.00 -146.6 3.6 -4.3 12 176 12.20 2.55 -17.62 0.000 4 0.163 0.090 3140 3627 3460

209 -1.00 -146.6 19.0 -19.1 18 216 0.00 2.38 0.00 0.000 6 0.000 0.044 3140 2221 3460

544 -1.00 -146.6 84.3 -18.3 67 548 0.00 2.38 0.00 0.000 4 0.000 0.061 3140 815 3461

606 -1.00 -146.6 94.8 -15.0 72 610 0.00 2.33 0.00 0.000 6 0.000 0.048 3140 2226 3460

932 -1.00 -146.6 139.6 -12.8 102 933 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2226 3460

1241 -1.00 -146.6 179.1 -13.2 121 1246 0.00 2.38 0.00 0.000 4 0.000 0.059 3140 816 3460

1303 -1.00 -146.6 187.3 -13.1 124 1307 0.00 2.33 0.00 0.000 6 0.000 0.050 3141 2227 3460

1628 -1.00 -146.6 229.6 -13.2 140 1633 0.00 2.40 0.00 0.000 4 0.000 0.077 3141 3624 3460

1655 -1.00 -146.6 233.3 -13.6 141 1659 0.00 2.33 0.00 0.000 6 0.000 0.044 3140 2220 3460

1976 -1.00 -146.6 273.9 -12.3 157 1980 0.00 2.35 0.00 0.000 4 0.000 0.061 3140 813 3460

2031 -1.00 -146.6 280.9 -12.6 159 2038 0.00 2.35 0.00 0.000 6 0.000 0.052 3140 2219 3460

2385 -1.00 -146.6 324.2 -12.3 171 2390 0.00 2.38 0.00 0.000 4 0.000 0.061 3140 806 3460

2418 -1.00 -146.6 328.4 -12.1 171 2422 0.00 2.35 0.00 0.000 6 0.000 0.053 3140 2224 3460

2749 -1.00 -146.6 367.0 -11.6 177 2753 0.00 2.38 0.00 0.000 4 0.000 0.062 3140 814 3460

2797 -1.00 -146.6 372.9 -11.7 177 2802 0.00 2.35 0.00 0.000 6 0.000 0.054 3140 2220 3460

3112 -1.00 -146.6 409.3 -11.6 183 3114 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2220 3460

3415 -1.00 -146.6 443.2 -11.1 188 3419 0.00 2.38 0.00 0.000 4 0.000 0.064 3140 815 3460

3479 -1.00 -146.6 450.0 -10.9 189 3483 0.00 2.33 0.00 0.000 6 0.000 0.056 3140 2221 3460

3843 -1.00 -146.6 489.7 -10.6 195 3847 0.00 2.38 0.00 0.000 4 0.000 0.066 3140 817 3459

3880 -1.00 -146.6 493.6 -10.4 195 3884 0.00 2.35 0.00 0.000 6 0.000 0.058 3140 2216 3459

4207 -1.00 -146.6 526.2 -10.2 201 4211 0.00 2.38 0.00 0.000 4 0.000 0.067 3140 816 3459

4244 -1.00 -146.6 530.5 -11.2 201 4248 0.00 2.35 0.00 0.000 6 0.000 0.059 3140 2212 3459

4570 -1.00 -146.6 564.9 -10.4 207 4574 0.00 2.35 0.00 0.000 4 0.000 0.067 3140 816 3458

4613 -1.00 -146.6 569.6 -10.6 207 4617 0.00 2.35 0.00 0.000 6 0.000 0.058 3140 2216 3458

4936 -1.00 -146.6 602.6 -10.3 213 4937 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2216 3458

5236 -1.00 -146.6 634.9 -10.6 218 5240 0.00 2.38 0.00 0.000 4 0.000 0.068 3140 816 3458

5291 -1.00 -146.6 640.3 -10.1 218 5298 0.00 2.35 0.00 0.000 6 0.000 0.058 3140 2216 3458

5600 -1.00 -146.6 671.2 -10.2 224 5604 0.00 2.38 0.00 0.000 4 0.000 0.069 3140 809 3457

5641 end dive: BOTTOM_OBSTACLE_DETECTED

state 5641 begin apogee

5647 -0.23 0.0 675.2 11.1 224 5772 0.98 0.00 122.00 1.242 6 0.097 0.000 3306 2183 2860

5773 end apogee: CONTROL_FINISHED_OK

state 5773 begin climb

5775 1.00 146.6 678.6 0.0 226 5909 1.65 0.00 125.68 1.196 6 0.059 0.000 3579 2183 2262

6211 1.00 146.6 650.5 11.1 234 6215 0.00 2.50 0.00 0.000 4 0.000 0.070 3579 778 2262

6276 1.00 146.6 643.0 11.2 235 6281 0.00 2.45 0.00 0.000 6 0.000 0.055 3579 2184 2262

6642 1.03 167.0 608.5 9.1 241 6666 0.00 2.60 17.95 1.152 4 0.000 0.084 3579 3588 2179

6863 1.03 167.0 582.9 11.7 244 6867 0.00 2.42 0.00 0.000 6 0.000 0.047 3579 2179 2179

7211 1.03 167.0 540.4 12.5 250 7216 0.00 2.53 0.00 0.000 4 0.000 0.081 3579 3595 2178

7300 1.03 167.0 528.9 13.4 251 7304 0.00 2.40 0.00 0.000 6 0.000 0.048 3579 2179 2179

7643 1.03 167.0 487.5 11.9 257 7647 0.00 2.50 0.00 0.000 4 0.000 0.079 3579 3596 2178

7704 1.03 167.0 479.9 12.1 258 7708 0.00 2.38 0.00 0.000 6 0.000 0.048 3578 2172 2178

8068 1.03 167.0 437.6 11.5 264 8072 0.00 2.47 0.00 0.000 4 0.000 0.080 3579 3593 2178

8139 1.03 167.0 429.1 11.6 265 8143 0.00 2.38 0.00 0.000 6 0.000 0.048 3579 2182 2178

8498 1.03 167.0 390.3 10.6 271 8503 0.00 2.45 0.00 0.000 4 0.000 0.077 3579 3590 2178

8660 1.03 167.0 373.3 10.9 273 8664 0.00 2.35 0.00 0.000 6 0.000 0.048 3579 2186 2177

8997 1.04 177.3 341.5 9.5 279 9012 0.00 2.45 9.38 0.976 4 0.000 0.077 3579 3589 2137

9214 1.04 177.3 317.9 11.3 282 9218 0.00 2.38 0.00 0.000 6 0.000 0.047 3578 2176 2137

9530 1.07 200.1 287.9 9.0 290 9554 0.00 2.42 19.40 0.999 4 0.000 0.067 3579 778 2044

9577 1.07 200.1 283.2 10.2 292 9582 0.00 2.40 0.00 0.000 6 0.000 0.054 3579 2181 2044

9904 1.07 203.3 250.1 9.9 308 9913 0.00 2.47 4.50 0.726 4 0.000 0.078 3579 3586 2031

10009 1.07 203.3 238.3 12.1 312 10016 0.00 2.38 0.00 0.000 6 0.000 0.047 3579 2180 2031

10325 1.07 203.3 205.8 10.1 328 10329 0.00 2.47 0.00 0.000 4 0.000 0.076 3579 3594 2031

10454 1.07 203.3 191.2 11.7 334 10458 0.00 2.35 0.00 0.000 6 0.000 0.046 3579 2174 2031

10779 1.07 203.3 154.3 11.5 350 10780 0.00 0.00 0.00 0.000 6 0.000 0.000 3579 2174 2031

11096 1.07 203.3 121.4 10.2 377 11100 0.00 2.42 0.00 0.000 4 0.000 0.074 3579 3586 2032

11202 1.11 230.9 110.6 8.7 386 11235 0.12 2.33 22.40 0.887 6 0.074 0.046 3604 2171 1918

11555 1.12 238.9 74.7 9.6 424 11568 0.00 2.53 7.88 0.784 4 0.000 0.071 3603 3589 1886

11821 1.15 265.1 48.8 8.8 471 11849 0.00 2.33 21.70 0.831 6 0.000 0.044 3604 2177 1778

12172 1.17 285.7 15.3 9.1 512 12195 0.00 2.55 17.45 0.801 4 0.000 0.071 3603 3593 1695

12289 1.17 285.7 2.3 11.7 522 12296 0.00 2.40 0.00 0.000 6 0.000 0.044 3603 2175 1694

12305 end climb: SURFACE_DEPTH_REACHED

state 12305 begin surface coast

12317 end surface coast: CONTROL_FINISHED_OK

state 12317 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	76	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	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	19	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	-16060.409	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	184918,4810.648,-12559.056,35,2.0,46,18.9	TGT_NAME	CAPE_FLATTERY
_CALLS	5	TGT_LATLONG	4809.000,-12540.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.251,-0.081
_SM_DEPTHo	1.15	KALMAN_X	-12346.0,1628.9,577.3,-12948.7,-12197.3
_SM_ANGLEo	-62.4	KALMAN_Y	13101.4,-454.5,-310.7,3409.2,8420.5
GPS2	185639,4810.696,-12559.080,10,1.4,10,18.9	MHEAD_RNG_PITCHd_Wd	89.0,23784,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.6,1.005660	XPDR_PINGS	79
SM_CCo	12337,138.05,0.739,0,0,425,597.31	ALTIM_BOTTOM_PING	675.2,5.8
SM_GC	1.22,0.00,0.00,138.05,0.000,0.000,0.739,1376,2227,425,-9.14,0.20,597.31	_24V_AH	23.4,13.544
IRIDIUM_FIX	0.00,0.00,010170,000000	_10V_AH	10.6,5.885
TT8_MAMPS	0.026845	DATA_FILE_SIZE	25473,525
HUMID	1870	CFSIZE	260165632,255164416
INTERNAL_PRESSURE	9.45349	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
TCM_TEMP	16.30	GPS	240108,222638,4811.155,-12557.097,36,0.9,36,18.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	163	104.94	SBE_CT	371	24	208.39
Roll_motor	124	92	268.95	SBE_O2	403	19	179.26
VBD_pump_during_apogee	368	1241	10702.60	WL_BB2F	683	105	1679.49
VBD_pump_during_surface	138	739	2388.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	116	103	280.77	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	25	420	253.07
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.42
TT8	1069	19	224.41
LPSleep	9373	2	217.60
TT8_Active	673	19	141.38
TT8_Sampling	1566	39	660.76
TT8_CF8	246	45	119.66
TT8_Kalman	33	81	28.92
Analog_circuits	1454	12	185.04
GPS_charging	0	0	0.00
Compass	1533	8	130.03
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	138	0.00	0.00	-117.18	0.000	2	0.000	0.000	1378	2202	2714
140	-1.00	-146.6	3.6	-4.3	12	176	12.20	2.55	-17.62	0.000	4	0.163	0.090	3140	3627	3460
209	-1.00	-146.6	19.0	-19.1	18	216	0.00	2.38	0.00	0.000	6	0.000	0.044	3140	2221	3460
544	-1.00	-146.6	84.3	-18.3	67	548	0.00	2.38	0.00	0.000	4	0.000	0.061	3140	815	3461
606	-1.00	-146.6	94.8	-15.0	72	610	0.00	2.33	0.00	0.000	6	0.000	0.048	3140	2226	3460
932	-1.00	-146.6	139.6	-12.8	102	933	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2226	3460
1241	-1.00	-146.6	179.1	-13.2	121	1246	0.00	2.38	0.00	0.000	4	0.000	0.059	3140	816	3460
1303	-1.00	-146.6	187.3	-13.1	124	1307	0.00	2.33	0.00	0.000	6	0.000	0.050	3141	2227	3460
1628	-1.00	-146.6	229.6	-13.2	140	1633	0.00	2.40	0.00	0.000	4	0.000	0.077	3141	3624	3460
1655	-1.00	-146.6	233.3	-13.6	141	1659	0.00	2.33	0.00	0.000	6	0.000	0.044	3140	2220	3460
1976	-1.00	-146.6	273.9	-12.3	157	1980	0.00	2.35	0.00	0.000	4	0.000	0.061	3140	813	3460
2031	-1.00	-146.6	280.9	-12.6	159	2038	0.00	2.35	0.00	0.000	6	0.000	0.052	3140	2219	3460
2385	-1.00	-146.6	324.2	-12.3	171	2390	0.00	2.38	0.00	0.000	4	0.000	0.061	3140	806	3460
2418	-1.00	-146.6	328.4	-12.1	171	2422	0.00	2.35	0.00	0.000	6	0.000	0.053	3140	2224	3460
2749	-1.00	-146.6	367.0	-11.6	177	2753	0.00	2.38	0.00	0.000	4	0.000	0.062	3140	814	3460
2797	-1.00	-146.6	372.9	-11.7	177	2802	0.00	2.35	0.00	0.000	6	0.000	0.054	3140	2220	3460
3112	-1.00	-146.6	409.3	-11.6	183	3114	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2220	3460
3415	-1.00	-146.6	443.2	-11.1	188	3419	0.00	2.38	0.00	0.000	4	0.000	0.064	3140	815	3460
3479	-1.00	-146.6	450.0	-10.9	189	3483	0.00	2.33	0.00	0.000	6	0.000	0.056	3140	2221	3460
3843	-1.00	-146.6	489.7	-10.6	195	3847	0.00	2.38	0.00	0.000	4	0.000	0.066	3140	817	3459
3880	-1.00	-146.6	493.6	-10.4	195	3884	0.00	2.35	0.00	0.000	6	0.000	0.058	3140	2216	3459
4207	-1.00	-146.6	526.2	-10.2	201	4211	0.00	2.38	0.00	0.000	4	0.000	0.067	3140	816	3459
4244	-1.00	-146.6	530.5	-11.2	201	4248	0.00	2.35	0.00	0.000	6	0.000	0.059	3140	2212	3459
4570	-1.00	-146.6	564.9	-10.4	207	4574	0.00	2.35	0.00	0.000	4	0.000	0.067	3140	816	3458
4613	-1.00	-146.6	569.6	-10.6	207	4617	0.00	2.35	0.00	0.000	6	0.000	0.058	3140	2216	3458
4936	-1.00	-146.6	602.6	-10.3	213	4937	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2216	3458
5236	-1.00	-146.6	634.9	-10.6	218	5240	0.00	2.38	0.00	0.000	4	0.000	0.068	3140	816	3458
5291	-1.00	-146.6	640.3	-10.1	218	5298	0.00	2.35	0.00	0.000	6	0.000	0.058	3140	2216	3458
5600	-1.00	-146.6	671.2	-10.2	224	5604	0.00	2.38	0.00	0.000	4	0.000	0.069	3140	809	3457
5641	end dive: BOTTOM_OBSTACLE_DETECTED
state	5641	begin apogee
5647	-0.23	0.0	675.2	11.1	224	5772	0.98	0.00	122.00	1.242	6	0.097	0.000	3306	2183	2860
5773	end apogee: CONTROL_FINISHED_OK
state	5773	begin climb
5775	1.00	146.6	678.6	0.0	226	5909	1.65	0.00	125.68	1.196	6	0.059	0.000	3579	2183	2262
6211	1.00	146.6	650.5	11.1	234	6215	0.00	2.50	0.00	0.000	4	0.000	0.070	3579	778	2262
6276	1.00	146.6	643.0	11.2	235	6281	0.00	2.45	0.00	0.000	6	0.000	0.055	3579	2184	2262
6642	1.03	167.0	608.5	9.1	241	6666	0.00	2.60	17.95	1.152	4	0.000	0.084	3579	3588	2179
6863	1.03	167.0	582.9	11.7	244	6867	0.00	2.42	0.00	0.000	6	0.000	0.047	3579	2179	2179
7211	1.03	167.0	540.4	12.5	250	7216	0.00	2.53	0.00	0.000	4	0.000	0.081	3579	3595	2178
7300	1.03	167.0	528.9	13.4	251	7304	0.00	2.40	0.00	0.000	6	0.000	0.048	3579	2179	2179
7643	1.03	167.0	487.5	11.9	257	7647	0.00	2.50	0.00	0.000	4	0.000	0.079	3579	3596	2178
7704	1.03	167.0	479.9	12.1	258	7708	0.00	2.38	0.00	0.000	6	0.000	0.048	3578	2172	2178
8068	1.03	167.0	437.6	11.5	264	8072	0.00	2.47	0.00	0.000	4	0.000	0.080	3579	3593	2178
8139	1.03	167.0	429.1	11.6	265	8143	0.00	2.38	0.00	0.000	6	0.000	0.048	3579	2182	2178
8498	1.03	167.0	390.3	10.6	271	8503	0.00	2.45	0.00	0.000	4	0.000	0.077	3579	3590	2178
8660	1.03	167.0	373.3	10.9	273	8664	0.00	2.35	0.00	0.000	6	0.000	0.048	3579	2186	2177
8997	1.04	177.3	341.5	9.5	279	9012	0.00	2.45	9.38	0.976	4	0.000	0.077	3579	3589	2137
9214	1.04	177.3	317.9	11.3	282	9218	0.00	2.38	0.00	0.000	6	0.000	0.047	3578	2176	2137
9530	1.07	200.1	287.9	9.0	290	9554	0.00	2.42	19.40	0.999	4	0.000	0.067	3579	778	2044
9577	1.07	200.1	283.2	10.2	292	9582	0.00	2.40	0.00	0.000	6	0.000	0.054	3579	2181	2044
9904	1.07	203.3	250.1	9.9	308	9913	0.00	2.47	4.50	0.726	4	0.000	0.078	3579	3586	2031
10009	1.07	203.3	238.3	12.1	312	10016	0.00	2.38	0.00	0.000	6	0.000	0.047	3579	2180	2031
10325	1.07	203.3	205.8	10.1	328	10329	0.00	2.47	0.00	0.000	4	0.000	0.076	3579	3594	2031
10454	1.07	203.3	191.2	11.7	334	10458	0.00	2.35	0.00	0.000	6	0.000	0.046	3579	2174	2031
10779	1.07	203.3	154.3	11.5	350	10780	0.00	0.00	0.00	0.000	6	0.000	0.000	3579	2174	2031
11096	1.07	203.3	121.4	10.2	377	11100	0.00	2.42	0.00	0.000	4	0.000	0.074	3579	3586	2032
11202	1.11	230.9	110.6	8.7	386	11235	0.12	2.33	22.40	0.887	6	0.074	0.046	3604	2171	1918
11555	1.12	238.9	74.7	9.6	424	11568	0.00	2.53	7.88	0.784	4	0.000	0.071	3603	3589	1886
11821	1.15	265.1	48.8	8.8	471	11849	0.00	2.33	21.70	0.831	6	0.000	0.044	3604	2177	1778
12172	1.17	285.7	15.3	9.1	512	12195	0.00	2.55	17.45	0.801	4	0.000	0.071	3603	3593	1695
12289	1.17	285.7	2.3	11.7	522	12296	0.00	2.40	0.00	0.000	6	0.000	0.044	3603	2175	1694
12305	end climb: SURFACE_DEPTH_REACHED
state	12305	begin surface coast
12317	end surface coast: CONTROL_FINISHED_OK
state	12317	begin surface