Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 134 * 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 134 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 16 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 -2095749.5 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 -2095749.5

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 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 134 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 194855,6227.118,-918.864,24,2.0,42,-9.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6227.156,-923.797

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.25 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -58.5 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 195350,6227.156,-918.803,17,2.0,34,-9.7 MHEAD_RNG_PITCHd_Wd 279.7,20000,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.002239 ALTIM_BOTTOM_PING 476.0,98.6

SM_CCo 11985,130.48,0.628,0,0,509,557.32 _24V_AH 23.6,24.479

SM_GC 1.32,0.00,0.00,130.48,0.000,0.000,0.628,70,2309,509,-10.25,0.25,557.32 _10V_AH 10.1,12.185

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28538,572

TT8_MAMPS 0.023777 CAP_FILE_SIZE 86437,0

HUMID 1865 CFSIZE 260165632,250290176

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 26 GPS 030708,231725,6227.651,-917.029,28,1.8,45,-9.7

ALTIM_TOP_PING 19.0,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 101.01 SBE_CT 424 24 240.71

Roll_motor 80 82 158.30 SBE_O2 388 19 174.07

VBD_pump_during_apogee 387 1033 9437.18 WL_BB2F 372 105 922.51

VBD_pump_during_surface 130 628 1934.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.62 nil 0 0 0.00

Iridium_during_connect 27 160 104.65 nil 0 0 0.00

Iridium_during_xfer 119 223 630.81

Transponder_ping 10 420 104.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.18

TT8 1068 19 213.59

LPSleep 9006 2 199.22

TT8_Active 647 19 129.58

TT8_Sampling 1322 39 531.59

TT8_CF8 368 45 170.35

TT8_Kalman 0 81 0.00

Analog_circuits 1317 12 159.73

GPS_charging 0 0 0.00

Compass 1275 8 103.03

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

30 -1.08 -146.6 0.0 0.0 0 152 0.00 0.00 -120.80 0.000 2 0.000 0.000 75 2310 2992

156 -1.08 -146.6 3.7 -3.0 6 183 11.12 2.65 -9.20 0.000 4 0.170 0.082 2055 3707 3380

436 -0.91 -146.6 47.2 -13.7 18 443 0.22 2.58 0.00 0.000 6 0.098 0.054 2098 2297 3380

753 -0.91 -146.6 82.5 -9.6 34 754 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2297 3380

1061 -0.91 -146.6 116.0 -11.5 49 1066 0.00 2.62 0.00 0.000 4 0.000 0.066 2098 882 3380

1101 -0.91 -146.6 120.4 -10.7 51 1106 0.00 2.62 0.00 0.000 6 0.000 0.054 2098 2302 3380

1428 -0.91 -146.6 156.9 -11.4 67 1432 0.00 2.65 0.00 0.000 4 0.000 0.064 2098 881 3381

1472 -0.91 -146.6 161.8 -10.8 69 1476 0.00 2.62 0.00 0.000 6 0.000 0.055 2098 2299 3381

1792 -0.91 -146.6 192.6 -9.1 85 1793 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2300 3381

2102 -0.91 -146.6 226.5 -11.4 100 2107 0.00 2.67 0.00 0.000 4 0.000 0.066 2098 879 3381

2175 -0.91 -146.6 234.2 -9.9 103 2180 0.00 2.62 0.00 0.000 6 0.000 0.056 2098 2298 3381

2491 -0.91 -146.6 263.0 -9.0 118 2492 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2299 3381

2800 -0.91 -146.6 294.3 -11.2 133 2804 0.00 2.67 0.00 0.000 4 0.000 0.067 2098 878 3381

2850 -0.91 -146.6 300.3 -11.6 135 2855 0.00 2.65 0.00 0.000 6 0.000 0.057 2098 2307 3381

3166 -0.91 -146.6 336.1 -10.7 150 3167 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2307 3381

3475 -0.91 -146.6 369.5 -10.7 165 3476 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2307 3380

3785 -0.91 -146.6 402.5 -10.9 180 3786 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2307 3381

4094 -0.91 -146.6 436.9 -10.6 195 4095 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2307 3380

4403 -0.91 -146.6 465.5 -8.3 210 4407 0.00 2.70 0.00 0.000 4 0.000 0.068 2098 879 3380

4430 -0.91 -146.6 467.9 -9.3 211 4435 0.00 2.65 0.00 0.000 6 0.000 0.059 2098 2303 3380

4746 -0.91 -146.6 496.5 -9.1 226 4747 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2303 3380

5055 -0.91 -146.6 523.2 -8.4 241 5060 0.00 2.70 0.00 0.000 4 0.000 0.070 2098 880 3379

5106 -0.91 -146.6 527.6 -8.2 243 5110 0.00 2.65 0.00 0.000 6 0.000 0.061 2098 2300 3379

5421 -0.91 -146.6 554.6 -9.0 258 5422 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2300 3378

5542 end dive: BOTTOM_OBSTACLE_DETECTED

state 5542 begin apogee

5549 -0.31 0.0 565.3 8.6 264 5686 0.65 0.00 129.52 1.033 6 0.100 0.000 2228 2190 2781

5686 end apogee: CONTROL_FINISHED_OK

state 5686 begin climb

5690 1.08 146.6 571.0 0.0 271 5826 1.45 2.85 127.95 1.012 4 0.083 0.083 2531 3610 2183

6083 1.08 146.6 550.2 8.6 288 6087 0.00 2.65 0.00 0.000 6 0.000 0.061 2531 2203 2183

6404 1.12 180.5 528.3 6.8 304 6439 0.00 2.83 30.27 0.974 4 0.000 0.083 2531 3609 2045

6592 1.12 180.5 512.9 8.2 311 6598 0.00 2.67 0.00 0.000 6 0.000 0.063 2531 2199 2045

6908 1.14 200.0 489.6 7.3 327 6928 0.00 0.00 18.23 0.937 6 0.000 0.000 2531 2199 1965

7238 1.25 234.6 465.5 6.7 343 7279 0.15 2.83 31.12 0.963 4 0.053 0.082 2576 3610 1824

7332 1.18 234.6 456.1 10.7 347 7336 0.00 2.67 0.00 0.000 6 0.000 0.063 2576 2202 1824

7652 1.18 234.6 423.8 10.3 363 7657 0.00 2.78 0.00 0.000 4 0.000 0.081 2576 3618 1823

7737 1.11 234.6 414.3 11.3 367 7742 0.17 2.67 0.00 0.000 6 0.100 0.064 2543 2198 1823

8064 1.19 234.6 384.6 8.5 383 8065 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2199 1822

8374 1.30 265.6 361.2 6.9 398 8409 0.15 2.80 27.33 0.897 4 0.051 0.079 2587 3606 1697

8461 1.24 265.6 353.5 9.5 402 8465 0.00 2.67 0.00 0.000 6 0.000 0.064 2586 2195 1698

8787 1.24 265.6 326.0 8.1 418 8791 0.00 2.72 0.00 0.000 4 0.000 0.077 2587 3616 1698

8843 1.19 265.6 321.1 9.9 420 8849 0.15 2.65 0.00 0.000 6 0.104 0.064 2559 2201 1697

9159 1.26 274.7 297.8 7.7 436 9170 0.00 0.00 9.20 0.762 6 0.000 0.000 2559 2201 1661

9469 1.33 288.5 274.0 7.5 451 9491 0.15 2.75 13.43 0.785 4 0.048 0.075 2607 3607 1604

9537 1.26 288.5 266.6 11.7 454 9542 0.17 2.65 0.00 0.000 6 0.095 0.061 2574 2200 1604

9863 1.26 288.5 232.0 10.5 470 9864 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2200 1604

10173 1.26 288.5 202.5 9.5 485 10174 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2200 1604

10482 1.26 288.5 172.1 9.9 500 10486 0.00 2.67 0.00 0.000 4 0.000 0.074 2574 3612 1605

10514 1.26 288.5 168.5 10.9 501 10520 0.00 2.62 0.00 0.000 6 0.000 0.061 2574 2199 1605

10831 1.26 288.5 132.2 12.3 517 10832 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2198 1605

11141 1.26 288.5 93.5 12.6 532 11142 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2199 1606

11449 1.26 288.5 56.3 12.1 547 11450 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2199 1606

11758 1.26 288.5 21.3 11.1 562 11760 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2199 1606

11941 end climb: SURFACE_DEPTH_REACHED

state 11941 begin surface coast

11963 end surface coast: CONTROL_FINISHED_OK

state 11963 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	134	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	16	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	-2095749.5	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	194855,6227.118,-918.864,24,2.0,42,-9.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6227.156,-923.797
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.25	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-58.5	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	195350,6227.156,-918.803,17,2.0,34,-9.7	MHEAD_RNG_PITCHd_Wd	279.7,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.002239	ALTIM_BOTTOM_PING	476.0,98.6
SM_CCo	11985,130.48,0.628,0,0,509,557.32	_24V_AH	23.6,24.479
SM_GC	1.32,0.00,0.00,130.48,0.000,0.000,0.628,70,2309,509,-10.25,0.25,557.32	_10V_AH	10.1,12.185
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28538,572
TT8_MAMPS	0.023777	CAP_FILE_SIZE	86437,0
HUMID	1865	CFSIZE	260165632,250290176
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	26	GPS	030708,231725,6227.651,-917.029,28,1.8,45,-9.7
ALTIM_TOP_PING	19.0,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	101.01	SBE_CT	424	24	240.71
Roll_motor	80	82	158.30	SBE_O2	388	19	174.07
VBD_pump_during_apogee	387	1033	9437.18	WL_BB2F	372	105	922.51
VBD_pump_during_surface	130	628	1934.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.62	nil	0	0	0.00
Iridium_during_connect	27	160	104.65	nil	0	0	0.00
Iridium_during_xfer	119	223	630.81
Transponder_ping	10	420	104.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.18
TT8	1068	19	213.59
LPSleep	9006	2	199.22
TT8_Active	647	19	129.58
TT8_Sampling	1322	39	531.59
TT8_CF8	368	45	170.35
TT8_Kalman	0	81	0.00
Analog_circuits	1317	12	159.73
GPS_charging	0	0	0.00
Compass	1275	8	103.03
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
30	-1.08	-146.6	0.0	0.0	0	152	0.00	0.00	-120.80	0.000	2	0.000	0.000	75	2310	2992
156	-1.08	-146.6	3.7	-3.0	6	183	11.12	2.65	-9.20	0.000	4	0.170	0.082	2055	3707	3380
436	-0.91	-146.6	47.2	-13.7	18	443	0.22	2.58	0.00	0.000	6	0.098	0.054	2098	2297	3380
753	-0.91	-146.6	82.5	-9.6	34	754	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2297	3380
1061	-0.91	-146.6	116.0	-11.5	49	1066	0.00	2.62	0.00	0.000	4	0.000	0.066	2098	882	3380
1101	-0.91	-146.6	120.4	-10.7	51	1106	0.00	2.62	0.00	0.000	6	0.000	0.054	2098	2302	3380
1428	-0.91	-146.6	156.9	-11.4	67	1432	0.00	2.65	0.00	0.000	4	0.000	0.064	2098	881	3381
1472	-0.91	-146.6	161.8	-10.8	69	1476	0.00	2.62	0.00	0.000	6	0.000	0.055	2098	2299	3381
1792	-0.91	-146.6	192.6	-9.1	85	1793	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2300	3381
2102	-0.91	-146.6	226.5	-11.4	100	2107	0.00	2.67	0.00	0.000	4	0.000	0.066	2098	879	3381
2175	-0.91	-146.6	234.2	-9.9	103	2180	0.00	2.62	0.00	0.000	6	0.000	0.056	2098	2298	3381
2491	-0.91	-146.6	263.0	-9.0	118	2492	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2299	3381
2800	-0.91	-146.6	294.3	-11.2	133	2804	0.00	2.67	0.00	0.000	4	0.000	0.067	2098	878	3381
2850	-0.91	-146.6	300.3	-11.6	135	2855	0.00	2.65	0.00	0.000	6	0.000	0.057	2098	2307	3381
3166	-0.91	-146.6	336.1	-10.7	150	3167	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2307	3381
3475	-0.91	-146.6	369.5	-10.7	165	3476	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2307	3380
3785	-0.91	-146.6	402.5	-10.9	180	3786	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2307	3381
4094	-0.91	-146.6	436.9	-10.6	195	4095	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2307	3380
4403	-0.91	-146.6	465.5	-8.3	210	4407	0.00	2.70	0.00	0.000	4	0.000	0.068	2098	879	3380
4430	-0.91	-146.6	467.9	-9.3	211	4435	0.00	2.65	0.00	0.000	6	0.000	0.059	2098	2303	3380
4746	-0.91	-146.6	496.5	-9.1	226	4747	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2303	3380
5055	-0.91	-146.6	523.2	-8.4	241	5060	0.00	2.70	0.00	0.000	4	0.000	0.070	2098	880	3379
5106	-0.91	-146.6	527.6	-8.2	243	5110	0.00	2.65	0.00	0.000	6	0.000	0.061	2098	2300	3379
5421	-0.91	-146.6	554.6	-9.0	258	5422	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2300	3378
5542	end dive: BOTTOM_OBSTACLE_DETECTED
state	5542	begin apogee
5549	-0.31	0.0	565.3	8.6	264	5686	0.65	0.00	129.52	1.033	6	0.100	0.000	2228	2190	2781
5686	end apogee: CONTROL_FINISHED_OK
state	5686	begin climb
5690	1.08	146.6	571.0	0.0	271	5826	1.45	2.85	127.95	1.012	4	0.083	0.083	2531	3610	2183
6083	1.08	146.6	550.2	8.6	288	6087	0.00	2.65	0.00	0.000	6	0.000	0.061	2531	2203	2183
6404	1.12	180.5	528.3	6.8	304	6439	0.00	2.83	30.27	0.974	4	0.000	0.083	2531	3609	2045
6592	1.12	180.5	512.9	8.2	311	6598	0.00	2.67	0.00	0.000	6	0.000	0.063	2531	2199	2045
6908	1.14	200.0	489.6	7.3	327	6928	0.00	0.00	18.23	0.937	6	0.000	0.000	2531	2199	1965
7238	1.25	234.6	465.5	6.7	343	7279	0.15	2.83	31.12	0.963	4	0.053	0.082	2576	3610	1824
7332	1.18	234.6	456.1	10.7	347	7336	0.00	2.67	0.00	0.000	6	0.000	0.063	2576	2202	1824
7652	1.18	234.6	423.8	10.3	363	7657	0.00	2.78	0.00	0.000	4	0.000	0.081	2576	3618	1823
7737	1.11	234.6	414.3	11.3	367	7742	0.17	2.67	0.00	0.000	6	0.100	0.064	2543	2198	1823
8064	1.19	234.6	384.6	8.5	383	8065	0.00	0.00	0.00	0.000	6	0.000	0.000	2543	2199	1822
8374	1.30	265.6	361.2	6.9	398	8409	0.15	2.80	27.33	0.897	4	0.051	0.079	2587	3606	1697
8461	1.24	265.6	353.5	9.5	402	8465	0.00	2.67	0.00	0.000	6	0.000	0.064	2586	2195	1698
8787	1.24	265.6	326.0	8.1	418	8791	0.00	2.72	0.00	0.000	4	0.000	0.077	2587	3616	1698
8843	1.19	265.6	321.1	9.9	420	8849	0.15	2.65	0.00	0.000	6	0.104	0.064	2559	2201	1697
9159	1.26	274.7	297.8	7.7	436	9170	0.00	0.00	9.20	0.762	6	0.000	0.000	2559	2201	1661
9469	1.33	288.5	274.0	7.5	451	9491	0.15	2.75	13.43	0.785	4	0.048	0.075	2607	3607	1604
9537	1.26	288.5	266.6	11.7	454	9542	0.17	2.65	0.00	0.000	6	0.095	0.061	2574	2200	1604
9863	1.26	288.5	232.0	10.5	470	9864	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2200	1604
10173	1.26	288.5	202.5	9.5	485	10174	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2200	1604
10482	1.26	288.5	172.1	9.9	500	10486	0.00	2.67	0.00	0.000	4	0.000	0.074	2574	3612	1605
10514	1.26	288.5	168.5	10.9	501	10520	0.00	2.62	0.00	0.000	6	0.000	0.061	2574	2199	1605
10831	1.26	288.5	132.2	12.3	517	10832	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2198	1605
11141	1.26	288.5	93.5	12.6	532	11142	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2199	1606
11449	1.26	288.5	56.3	12.1	547	11450	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2199	1606
11758	1.26	288.5	21.3	11.1	562	11760	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2199	1606
11941	end climb: SURFACE_DEPTH_REACHED
state	11941	begin surface coast
11963	end surface coast: CONTROL_FINISHED_OK
state	11963	begin surface