Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 132 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING 270 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 132 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 18 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 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 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2095681.6 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

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 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 557.32159

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

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 -2095681.6

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 18 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 132 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 125001,6229.992,-906.312,38,2.0,38,-9.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6229.978,-911.406

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.19 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -59.1 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 125433,6229.978,-906.419,12,1.9,12,-9.6 MHEAD_RNG_PITCHd_Wd 279.6,20000,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.001293 ALTIM_BOTTOM_PING 475.9,86.6

SM_CCo 11797,145.70,0.632,0,0,508,557.32 _24V_AH 23.6,24.195

SM_GC 1.20,0.00,0.00,145.70,0.000,0.000,0.632,71,2307,508,-10.25,0.17,557.32 _10V_AH 10.1,12.063

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28517,565

TT8_MAMPS 0.02301 CAP_FILE_SIZE 92316,0

HUMID 1885 CFSIZE 260165632,250380288

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 30 GPS 030708,161508,6227.635,-914.514,36,1.4,36,-9.7

ALTIM_TOP_PING 19.5,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 102.67 SBE_CT 419 24 237.86

Roll_motor 107 84 213.90 SBE_O2 383 19 172.02

VBD_pump_during_apogee 362 1028 8796.79 WL_BB2F 384 105 952.81

VBD_pump_during_surface 145 632 2173.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.71 nil 0 0 0.00

Iridium_during_connect 26 160 98.28 nil 0 0 0.00

Iridium_during_xfer 121 223 639.34

Transponder_ping 11 420 113.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.23

TT8 1076 19 215.22

LPSleep 8822 2 195.15

TT8_Active 653 19 130.72

TT8_Sampling 1290 39 518.90

TT8_CF8 376 45 174.04

TT8_Kalman 0 81 0.00

Analog_circuits 1327 12 160.92

GPS_charging 0 0 0.00

Compass 1262 8 102.03

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

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

29 -1.08 -146.6 0.0 0.0 0 151 0.00 0.00 -120.53 0.000 2 0.000 0.000 73 2307 2992

155 -1.08 -146.6 4.0 -3.4 6 181 11.12 2.67 -8.88 0.000 4 0.168 0.075 2057 874 3381

309 -0.98 -146.6 28.9 -13.4 13 314 0.15 2.65 0.00 0.000 6 0.104 0.054 2085 2305 3380

638 -0.90 -146.6 69.3 -11.9 29 642 0.00 2.67 0.00 0.000 4 0.000 0.062 2085 878 3381

732 -0.90 -146.6 80.7 -11.3 33 736 0.00 2.62 0.00 0.000 6 0.000 0.054 2085 2300 3381

1050 -0.82 -146.6 119.2 -13.4 48 1052 0.17 0.00 0.00 0.000 6 0.100 0.000 2118 2300 3382

1357 -0.82 -146.6 157.0 -12.2 63 1361 0.00 2.67 0.00 0.000 4 0.000 0.064 2118 877 3382

1407 -0.89 -146.6 163.2 -12.0 65 1411 0.00 2.62 0.00 0.000 6 0.000 0.054 2118 2299 3381

1722 -0.89 -146.6 198.5 -10.2 80 1723 0.00 0.00 0.00 0.000 6 0.000 0.000 2118 2300 3382

2032 -0.89 -146.6 226.3 -9.1 95 2037 0.00 2.67 0.00 0.000 4 0.000 0.066 2118 879 3382

2100 -0.96 -146.6 232.8 -9.6 98 2105 0.12 2.62 0.00 0.000 6 0.047 0.057 2079 2299 3382

2421 -0.87 -146.6 272.9 -12.3 114 2426 0.15 2.67 0.00 0.000 4 0.094 0.067 2111 883 3381

2462 -0.94 -146.6 277.2 -10.2 116 2467 0.00 2.62 0.00 0.000 6 0.000 0.058 2111 2300 3382

2788 -0.94 -146.6 305.7 -8.0 132 2793 0.00 2.67 0.00 0.000 4 0.000 0.067 2112 883 3382

2829 -1.00 -146.6 309.1 -8.6 134 2834 0.15 2.62 0.00 0.000 6 0.044 0.058 2066 2302 3382

3156 -0.90 -146.6 345.8 -11.4 150 3158 0.17 0.00 0.00 0.000 6 0.091 0.000 2100 2302 3382

3464 -0.90 -146.6 374.0 -8.4 165 3469 0.00 2.70 0.00 0.000 4 0.000 0.069 2100 874 3382

3520 -0.95 -146.6 378.6 -8.5 167 3526 0.00 2.65 0.00 0.000 6 0.000 0.059 2100 2300 3382

3836 -0.95 -146.6 407.3 -10.1 183 3837 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2300 3381

4145 -0.95 -146.6 438.4 -9.4 198 4146 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2300 3381

4454 -0.95 -146.6 466.2 -9.6 213 4459 0.00 2.70 0.00 0.000 4 0.000 0.071 2100 885 3381

4518 -1.00 -146.6 472.3 -9.9 216 4523 0.00 2.67 0.00 0.000 6 0.000 0.063 2099 2305 3381

4844 -1.00 -146.6 503.6 -9.5 232 4845 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2304 3380

5154 -1.00 -146.6 531.9 -8.6 247 5155 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2304 3379

5378 end dive: BOTTOM_OBSTACLE_DETECTED

state 5378 begin apogee

5385 -0.31 0.0 553.2 10.6 258 5520 0.68 0.00 129.75 1.029 6 0.117 0.000 2230 2192 2781

5521 end apogee: CONTROL_FINISHED_OK

state 5521 begin climb

5524 1.08 146.6 559.6 0.0 265 5661 1.45 2.85 128.38 1.012 4 0.086 0.084 2532 3611 2183

5687 1.16 219.2 556.0 5.4 272 5757 0.00 2.67 63.95 0.992 6 0.000 0.061 2532 2206 1885

6080 1.24 219.2 527.3 8.2 291 6082 0.17 0.00 0.00 0.000 6 0.049 0.000 2578 2207 1885

6389 1.18 219.2 497.3 9.3 306 6394 0.00 2.75 0.00 0.000 4 0.000 0.084 2578 3610 1883

6474 1.09 219.2 488.7 10.3 310 6479 0.22 2.67 0.00 0.000 6 0.098 0.065 2536 2200 1883

6802 1.17 238.5 463.6 7.3 326 6822 0.00 0.00 17.62 0.932 6 0.000 0.000 2536 2200 1808

7131 1.27 249.8 438.4 7.6 342 7152 0.15 2.83 11.05 0.877 4 0.053 0.083 2580 3615 1761

7186 1.19 249.8 432.8 10.7 344 7191 0.00 2.70 0.00 0.000 6 0.000 0.065 2580 2203 1761

7501 1.19 249.8 399.1 11.5 359 7503 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2203 1761

7811 1.15 249.8 365.4 10.7 374 7816 0.15 2.75 0.00 0.000 4 0.096 0.084 2547 3612 1760

7923 1.15 249.8 354.2 9.7 379 7928 0.00 2.67 0.00 0.000 6 0.000 0.068 2547 2200 1760

8244 1.15 249.8 327.1 8.3 395 8248 0.00 2.70 0.00 0.000 4 0.000 0.074 2546 782 1760

8287 1.15 249.8 323.1 8.5 397 8292 0.00 2.65 0.00 0.000 6 0.000 0.058 2546 2200 1760

8609 1.15 249.8 294.4 9.4 413 8613 0.00 2.72 0.00 0.000 4 0.000 0.080 2545 3613 1760

8658 1.15 249.8 289.2 10.0 415 8663 0.00 2.70 0.00 0.000 6 0.000 0.064 2546 2190 1759

8974 1.15 249.8 260.2 8.5 430 8978 0.00 2.72 0.00 0.000 4 0.000 0.077 2546 3613 1760

9023 1.15 249.8 255.3 10.4 432 9028 0.00 2.62 0.00 0.000 6 0.000 0.063 2547 2201 1760

9339 1.15 249.8 226.7 9.3 447 9343 0.00 2.70 0.00 0.000 4 0.000 0.076 2546 3619 1760

9401 1.15 249.8 220.7 9.3 450 9405 0.00 2.62 0.00 0.000 6 0.000 0.062 2546 2200 1761

9728 1.16 261.9 193.1 7.6 466 9745 0.00 0.00 11.65 0.734 6 0.000 0.000 2546 2200 1713

10055 1.16 261.9 160.8 10.0 482 10059 0.00 2.67 0.00 0.000 4 0.000 0.076 2546 3613 1713

10110 1.16 261.9 155.6 9.0 484 10116 0.00 2.62 0.00 0.000 6 0.000 0.060 2547 2201 1713

10427 1.20 261.9 130.2 9.2 500 10431 0.00 2.67 0.00 0.000 4 0.000 0.074 2546 3613 1714

10493 1.20 261.9 122.9 10.8 503 10497 0.00 2.62 0.00 0.000 6 0.000 0.061 2546 2202 1713

10815 1.25 261.9 92.5 9.8 519 10820 0.12 2.65 0.00 0.000 4 0.050 0.067 2584 780 1714

10859 1.19 261.9 86.5 14.1 521 10865 0.12 2.60 0.00 0.000 6 0.097 0.051 2561 2206 1713

11181 1.19 261.9 53.9 8.6 537 11186 0.00 2.65 0.00 0.000 4 0.000 0.074 2561 3616 1714

11254 1.19 261.9 46.7 10.4 540 11258 0.00 2.62 0.00 0.000 6 0.000 0.059 2561 2197 1715

11570 1.19 261.9 17.6 9.3 555 11571 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2196 1715

11754 end climb: SURFACE_DEPTH_REACHED

state 11754 begin surface coast

11775 end surface coast: CONTROL_FINISHED_OK

state 11775 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	270	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	132	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	18	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	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	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2095681.6	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
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	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	2	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	125001,6229.992,-906.312,38,2.0,38,-9.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6229.978,-911.406
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.19	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-59.1	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	125433,6229.978,-906.419,12,1.9,12,-9.6	MHEAD_RNG_PITCHd_Wd	279.6,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.001293	ALTIM_BOTTOM_PING	475.9,86.6
SM_CCo	11797,145.70,0.632,0,0,508,557.32	_24V_AH	23.6,24.195
SM_GC	1.20,0.00,0.00,145.70,0.000,0.000,0.632,71,2307,508,-10.25,0.17,557.32	_10V_AH	10.1,12.063
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28517,565
TT8_MAMPS	0.02301	CAP_FILE_SIZE	92316,0
HUMID	1885	CFSIZE	260165632,250380288
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	30	GPS	030708,161508,6227.635,-914.514,36,1.4,36,-9.7
ALTIM_TOP_PING	19.5,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	102.67	SBE_CT	419	24	237.86
Roll_motor	107	84	213.90	SBE_O2	383	19	172.02
VBD_pump_during_apogee	362	1028	8796.79	WL_BB2F	384	105	952.81
VBD_pump_during_surface	145	632	2173.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.71	nil	0	0	0.00
Iridium_during_connect	26	160	98.28	nil	0	0	0.00
Iridium_during_xfer	121	223	639.34
Transponder_ping	11	420	113.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.23
TT8	1076	19	215.22
LPSleep	8822	2	195.15
TT8_Active	653	19	130.72
TT8_Sampling	1290	39	518.90
TT8_CF8	376	45	174.04
TT8_Kalman	0	81	0.00
Analog_circuits	1327	12	160.92
GPS_charging	0	0	0.00
Compass	1262	8	102.03
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
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
29	-1.08	-146.6	0.0	0.0	0	151	0.00	0.00	-120.53	0.000	2	0.000	0.000	73	2307	2992
155	-1.08	-146.6	4.0	-3.4	6	181	11.12	2.67	-8.88	0.000	4	0.168	0.075	2057	874	3381
309	-0.98	-146.6	28.9	-13.4	13	314	0.15	2.65	0.00	0.000	6	0.104	0.054	2085	2305	3380
638	-0.90	-146.6	69.3	-11.9	29	642	0.00	2.67	0.00	0.000	4	0.000	0.062	2085	878	3381
732	-0.90	-146.6	80.7	-11.3	33	736	0.00	2.62	0.00	0.000	6	0.000	0.054	2085	2300	3381
1050	-0.82	-146.6	119.2	-13.4	48	1052	0.17	0.00	0.00	0.000	6	0.100	0.000	2118	2300	3382
1357	-0.82	-146.6	157.0	-12.2	63	1361	0.00	2.67	0.00	0.000	4	0.000	0.064	2118	877	3382
1407	-0.89	-146.6	163.2	-12.0	65	1411	0.00	2.62	0.00	0.000	6	0.000	0.054	2118	2299	3381
1722	-0.89	-146.6	198.5	-10.2	80	1723	0.00	0.00	0.00	0.000	6	0.000	0.000	2118	2300	3382
2032	-0.89	-146.6	226.3	-9.1	95	2037	0.00	2.67	0.00	0.000	4	0.000	0.066	2118	879	3382
2100	-0.96	-146.6	232.8	-9.6	98	2105	0.12	2.62	0.00	0.000	6	0.047	0.057	2079	2299	3382
2421	-0.87	-146.6	272.9	-12.3	114	2426	0.15	2.67	0.00	0.000	4	0.094	0.067	2111	883	3381
2462	-0.94	-146.6	277.2	-10.2	116	2467	0.00	2.62	0.00	0.000	6	0.000	0.058	2111	2300	3382
2788	-0.94	-146.6	305.7	-8.0	132	2793	0.00	2.67	0.00	0.000	4	0.000	0.067	2112	883	3382
2829	-1.00	-146.6	309.1	-8.6	134	2834	0.15	2.62	0.00	0.000	6	0.044	0.058	2066	2302	3382
3156	-0.90	-146.6	345.8	-11.4	150	3158	0.17	0.00	0.00	0.000	6	0.091	0.000	2100	2302	3382
3464	-0.90	-146.6	374.0	-8.4	165	3469	0.00	2.70	0.00	0.000	4	0.000	0.069	2100	874	3382
3520	-0.95	-146.6	378.6	-8.5	167	3526	0.00	2.65	0.00	0.000	6	0.000	0.059	2100	2300	3382
3836	-0.95	-146.6	407.3	-10.1	183	3837	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2300	3381
4145	-0.95	-146.6	438.4	-9.4	198	4146	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2300	3381
4454	-0.95	-146.6	466.2	-9.6	213	4459	0.00	2.70	0.00	0.000	4	0.000	0.071	2100	885	3381
4518	-1.00	-146.6	472.3	-9.9	216	4523	0.00	2.67	0.00	0.000	6	0.000	0.063	2099	2305	3381
4844	-1.00	-146.6	503.6	-9.5	232	4845	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2304	3380
5154	-1.00	-146.6	531.9	-8.6	247	5155	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2304	3379
5378	end dive: BOTTOM_OBSTACLE_DETECTED
state	5378	begin apogee
5385	-0.31	0.0	553.2	10.6	258	5520	0.68	0.00	129.75	1.029	6	0.117	0.000	2230	2192	2781
5521	end apogee: CONTROL_FINISHED_OK
state	5521	begin climb
5524	1.08	146.6	559.6	0.0	265	5661	1.45	2.85	128.38	1.012	4	0.086	0.084	2532	3611	2183
5687	1.16	219.2	556.0	5.4	272	5757	0.00	2.67	63.95	0.992	6	0.000	0.061	2532	2206	1885
6080	1.24	219.2	527.3	8.2	291	6082	0.17	0.00	0.00	0.000	6	0.049	0.000	2578	2207	1885
6389	1.18	219.2	497.3	9.3	306	6394	0.00	2.75	0.00	0.000	4	0.000	0.084	2578	3610	1883
6474	1.09	219.2	488.7	10.3	310	6479	0.22	2.67	0.00	0.000	6	0.098	0.065	2536	2200	1883
6802	1.17	238.5	463.6	7.3	326	6822	0.00	0.00	17.62	0.932	6	0.000	0.000	2536	2200	1808
7131	1.27	249.8	438.4	7.6	342	7152	0.15	2.83	11.05	0.877	4	0.053	0.083	2580	3615	1761
7186	1.19	249.8	432.8	10.7	344	7191	0.00	2.70	0.00	0.000	6	0.000	0.065	2580	2203	1761
7501	1.19	249.8	399.1	11.5	359	7503	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2203	1761
7811	1.15	249.8	365.4	10.7	374	7816	0.15	2.75	0.00	0.000	4	0.096	0.084	2547	3612	1760
7923	1.15	249.8	354.2	9.7	379	7928	0.00	2.67	0.00	0.000	6	0.000	0.068	2547	2200	1760
8244	1.15	249.8	327.1	8.3	395	8248	0.00	2.70	0.00	0.000	4	0.000	0.074	2546	782	1760
8287	1.15	249.8	323.1	8.5	397	8292	0.00	2.65	0.00	0.000	6	0.000	0.058	2546	2200	1760
8609	1.15	249.8	294.4	9.4	413	8613	0.00	2.72	0.00	0.000	4	0.000	0.080	2545	3613	1760
8658	1.15	249.8	289.2	10.0	415	8663	0.00	2.70	0.00	0.000	6	0.000	0.064	2546	2190	1759
8974	1.15	249.8	260.2	8.5	430	8978	0.00	2.72	0.00	0.000	4	0.000	0.077	2546	3613	1760
9023	1.15	249.8	255.3	10.4	432	9028	0.00	2.62	0.00	0.000	6	0.000	0.063	2547	2201	1760
9339	1.15	249.8	226.7	9.3	447	9343	0.00	2.70	0.00	0.000	4	0.000	0.076	2546	3619	1760
9401	1.15	249.8	220.7	9.3	450	9405	0.00	2.62	0.00	0.000	6	0.000	0.062	2546	2200	1761
9728	1.16	261.9	193.1	7.6	466	9745	0.00	0.00	11.65	0.734	6	0.000	0.000	2546	2200	1713
10055	1.16	261.9	160.8	10.0	482	10059	0.00	2.67	0.00	0.000	4	0.000	0.076	2546	3613	1713
10110	1.16	261.9	155.6	9.0	484	10116	0.00	2.62	0.00	0.000	6	0.000	0.060	2547	2201	1713
10427	1.20	261.9	130.2	9.2	500	10431	0.00	2.67	0.00	0.000	4	0.000	0.074	2546	3613	1714
10493	1.20	261.9	122.9	10.8	503	10497	0.00	2.62	0.00	0.000	6	0.000	0.061	2546	2202	1713
10815	1.25	261.9	92.5	9.8	519	10820	0.12	2.65	0.00	0.000	4	0.050	0.067	2584	780	1714
10859	1.19	261.9	86.5	14.1	521	10865	0.12	2.60	0.00	0.000	6	0.097	0.051	2561	2206	1713
11181	1.19	261.9	53.9	8.6	537	11186	0.00	2.65	0.00	0.000	4	0.000	0.074	2561	3616	1714
11254	1.19	261.9	46.7	10.4	540	11258	0.00	2.62	0.00	0.000	6	0.000	0.059	2561	2197	1715
11570	1.19	261.9	17.6	9.3	555	11571	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2196	1715
11754	end climb: SURFACE_DEPTH_REACHED
state	11754	begin surface coast
11775	end surface coast: CONTROL_FINISHED_OK
state	11775	begin surface