Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 138 * 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 138 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 17 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 -2095880.2 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 -2095880.2

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 17 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 138 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 100038,6226.225,-925.009,29,1.1,29,-9.8 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6226.352,-929.896

_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 -56.6 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 101132,6226.352,-924.900,15,1.7,32,-9.8 MHEAD_RNG_PITCHd_Wd 279.8,20000,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027137 ALTIM_BOTTOM_PING 551.4,35.1

SM_CCo 12085,140.85,0.628,0,0,508,557.32 _24V_AH 23.6,25.052

SM_GC 1.26,0.00,0.00,140.85,0.000,0.000,0.628,70,2305,508,-10.26,0.14,557.32 _10V_AH 10.1,12.438

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28495,581

TT8_MAMPS 0.023777 CAP_FILE_SIZE 93703,0

HUMID 1863 CFSIZE 260165632,250101760

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 24 GPS 040708,133638,6226.273,-925.444,27,1.9,27,-9.8

ALTIM_TOP_PING 19.3,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 100.72 SBE_CT 430 24 243.60

Roll_motor 101 82 198.77 SBE_O2 394 19 176.80

VBD_pump_during_apogee 363 1034 8866.97 WL_BB2F 384 105 952.13

VBD_pump_during_surface 140 628 2088.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 132.44 nil 0 0 0.00

Iridium_during_connect 180 160 682.29 nil 0 0 0.00

Iridium_during_xfer 165 223 872.88

Transponder_ping 10 420 106.55

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.45

TT8 1092 19 218.39

LPSleep 9172 2 202.89

TT8_Active 654 19 130.92

TT8_Sampling 1345 39 540.81

TT8_CF8 615 45 284.79

TT8_Kalman 0 81 0.00

Analog_circuits 1334 12 161.74

GPS_charging 0 0 0.00

Compass 1295 8 104.69

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 -120.85 0.000 2 0.000 0.000 73 2306 3028

156 -1.08 -146.6 4.3 -3.6 6 181 11.07 2.70 -7.80 0.000 4 0.167 0.081 2054 3708 3380

434 -0.93 -146.6 49.0 -15.0 18 440 0.20 2.58 0.00 0.000 6 0.098 0.054 2092 2298 3380

751 -0.89 -146.6 87.2 -11.8 33 752 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 2298 3380

1060 -0.89 -146.6 124.6 -12.2 48 1061 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 2298 3381

1369 -0.85 -146.6 160.2 -10.9 63 1374 0.12 2.62 0.00 0.000 4 0.104 0.066 2116 883 3381

1409 -0.93 -146.6 164.0 -9.1 65 1414 0.00 2.60 0.00 0.000 6 0.000 0.054 2116 2298 3381

1736 -0.93 -146.6 194.4 -9.2 81 1740 0.00 2.65 0.00 0.000 4 0.000 0.065 2116 884 3382

1780 -1.00 -146.6 198.5 -8.7 83 1785 0.15 2.62 0.00 0.000 6 0.044 0.054 2070 2307 3381

2102 -0.89 -146.6 233.3 -10.8 99 2104 0.17 0.00 0.00 0.000 6 0.091 0.000 2104 2307 3381

2411 -0.89 -146.6 260.3 -8.6 114 2415 0.00 2.67 0.00 0.000 4 0.000 0.067 2104 883 3381

2468 -0.94 -146.6 265.3 -9.1 116 2474 0.00 2.62 0.00 0.000 6 0.000 0.055 2104 2304 3381

2783 -0.94 -146.6 294.8 -9.2 132 2788 0.00 2.67 0.00 0.000 4 0.000 0.068 2104 884 3381

2816 -0.94 -146.6 297.9 -9.7 133 2822 0.00 2.62 0.00 0.000 6 0.000 0.055 2104 2307 3381

3132 -0.94 -146.6 328.1 -10.3 149 3136 0.00 2.67 0.00 0.000 4 0.000 0.068 2104 884 3381

3164 -0.94 -146.6 331.8 -10.9 150 3170 0.00 2.60 0.00 0.000 6 0.000 0.057 2104 2299 3381

3480 -0.94 -146.6 368.3 -12.0 166 3485 0.00 2.67 0.00 0.000 4 0.000 0.069 2104 876 3381

3527 -0.98 -146.6 373.8 -12.0 168 3531 0.00 2.62 0.00 0.000 6 0.000 0.056 2104 2300 3381

3847 -0.98 -146.6 411.3 -11.7 184 3848 0.00 0.00 0.00 0.000 6 0.000 0.000 2104 2299 3381

4157 -0.98 -146.6 445.7 -10.8 199 4161 0.00 2.67 0.00 0.000 4 0.000 0.069 2104 883 3381

4202 -1.04 -146.6 450.4 -10.1 201 4207 0.15 2.62 0.00 0.000 6 0.046 0.057 2059 2302 3381

4523 -0.91 -146.6 485.1 -9.6 217 4528 0.17 2.67 0.00 0.000 4 0.094 0.070 2099 886 3380

4586 -0.91 -146.6 489.8 -7.3 220 4590 0.00 2.62 0.00 0.000 6 0.000 0.058 2097 2300 3380

4912 -0.91 -146.6 515.1 -9.1 236 4914 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 2300 3379

5222 -0.91 -146.6 546.9 -9.9 251 5223 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 2301 3378

5529 end dive: BOTTOM_OBSTACLE_DETECTED

state 5529 begin apogee

5536 -0.31 0.0 577.0 10.0 266 5671 0.65 0.00 129.48 1.035 6 0.098 0.000 2228 2197 2781

5672 end apogee: CONTROL_FINISHED_OK

state 5672 begin climb

5675 1.08 146.6 581.8 0.0 273 5811 1.40 2.78 128.15 1.016 4 0.066 0.071 2531 785 2183

5953 1.08 146.6 570.0 8.9 286 5957 0.00 2.65 0.00 0.000 6 0.000 0.058 2531 2198 2183

6279 1.08 146.6 544.6 8.1 302 6284 0.00 2.78 0.00 0.000 4 0.000 0.083 2531 3618 2181

6525 1.08 146.6 524.8 8.1 313 6530 0.00 2.65 0.00 0.000 6 0.000 0.067 2531 2205 2181

6846 1.14 196.6 504.1 6.2 329 6892 0.00 0.00 43.88 0.990 6 0.000 0.000 2531 2205 1979

7196 1.28 267.3 483.2 5.4 346 7266 0.20 2.83 61.62 0.985 4 0.049 0.081 2585 3613 1691

7321 1.24 267.3 472.6 10.0 351 7327 0.00 2.67 0.00 0.000 6 0.000 0.066 2585 2201 1691

7636 1.24 267.3 440.4 10.5 367 7641 0.00 2.72 0.00 0.000 4 0.000 0.079 2586 3613 1690

7664 1.20 267.3 437.2 11.8 368 7669 0.12 2.67 0.00 0.000 6 0.105 0.065 2563 2194 1690

7980 1.20 267.3 410.2 8.4 383 7981 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2194 1689

8289 1.24 267.3 381.2 10.2 398 8294 0.00 2.72 0.00 0.000 4 0.000 0.079 2563 3614 1689

8352 1.24 267.3 374.0 11.5 401 8357 0.00 2.65 0.00 0.000 6 0.000 0.064 2563 2201 1689

8679 1.29 267.3 338.1 10.9 417 8683 0.00 2.70 0.00 0.000 4 0.000 0.077 2563 3613 1689

8728 1.29 267.3 332.2 12.0 419 8733 0.00 2.65 0.00 0.000 6 0.000 0.064 2563 2199 1689

9044 1.34 267.3 301.7 9.0 434 9046 0.12 0.00 0.00 0.000 6 0.051 0.000 2601 2199 1689

9354 1.28 267.3 269.3 10.5 449 9359 0.12 2.67 0.00 0.000 4 0.097 0.074 2578 3615 1689

9387 1.28 267.3 265.8 10.6 450 9393 0.00 2.62 0.00 0.000 6 0.000 0.062 2578 2198 1689

9703 1.28 267.3 237.7 9.0 466 9704 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2198 1690

10012 1.28 267.3 207.7 10.3 481 10017 0.00 2.70 0.00 0.000 4 0.000 0.074 2578 3621 1690

10068 1.28 267.3 201.2 12.1 483 10074 0.00 2.65 0.00 0.000 6 0.000 0.061 2578 2193 1690

10383 1.28 267.3 166.1 11.2 499 10388 0.00 2.70 0.00 0.000 4 0.000 0.074 2578 3618 1691

10428 1.28 267.3 160.8 11.7 501 10432 0.00 2.62 0.00 0.000 6 0.000 0.061 2578 2200 1691

10748 1.28 267.3 129.6 9.0 517 10750 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2200 1691

11058 1.28 267.3 104.1 8.2 532 11062 0.00 2.67 0.00 0.000 4 0.000 0.074 2578 3614 1690

11098 1.28 267.3 100.4 10.1 534 11102 0.00 2.62 0.00 0.000 6 0.000 0.060 2578 2194 1691

11424 1.28 267.3 66.4 11.2 550 11426 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2194 1691

11734 1.28 267.3 32.2 11.0 565 11735 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2194 1692

12041 end climb: SURFACE_DEPTH_REACHED

state 12041 begin surface coast

12062 end surface coast: CONTROL_FINISHED_OK

state 12062 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	138	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	17	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	-2095880.2	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	100038,6226.225,-925.009,29,1.1,29,-9.8	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6226.352,-929.896
_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	-56.6	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	101132,6226.352,-924.900,15,1.7,32,-9.8	MHEAD_RNG_PITCHd_Wd	279.8,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.5,1.027137	ALTIM_BOTTOM_PING	551.4,35.1
SM_CCo	12085,140.85,0.628,0,0,508,557.32	_24V_AH	23.6,25.052
SM_GC	1.26,0.00,0.00,140.85,0.000,0.000,0.628,70,2305,508,-10.26,0.14,557.32	_10V_AH	10.1,12.438
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28495,581
TT8_MAMPS	0.023777	CAP_FILE_SIZE	93703,0
HUMID	1863	CFSIZE	260165632,250101760
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	24	GPS	040708,133638,6226.273,-925.444,27,1.9,27,-9.8
ALTIM_TOP_PING	19.3,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	100.72	SBE_CT	430	24	243.60
Roll_motor	101	82	198.77	SBE_O2	394	19	176.80
VBD_pump_during_apogee	363	1034	8866.97	WL_BB2F	384	105	952.13
VBD_pump_during_surface	140	628	2088.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	132.44	nil	0	0	0.00
Iridium_during_connect	180	160	682.29	nil	0	0	0.00
Iridium_during_xfer	165	223	872.88
Transponder_ping	10	420	106.55
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.45
TT8	1092	19	218.39
LPSleep	9172	2	202.89
TT8_Active	654	19	130.92
TT8_Sampling	1345	39	540.81
TT8_CF8	615	45	284.79
TT8_Kalman	0	81	0.00
Analog_circuits	1334	12	161.74
GPS_charging	0	0	0.00
Compass	1295	8	104.69
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	-120.85	0.000	2	0.000	0.000	73	2306	3028
156	-1.08	-146.6	4.3	-3.6	6	181	11.07	2.70	-7.80	0.000	4	0.167	0.081	2054	3708	3380
434	-0.93	-146.6	49.0	-15.0	18	440	0.20	2.58	0.00	0.000	6	0.098	0.054	2092	2298	3380
751	-0.89	-146.6	87.2	-11.8	33	752	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	2298	3380
1060	-0.89	-146.6	124.6	-12.2	48	1061	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	2298	3381
1369	-0.85	-146.6	160.2	-10.9	63	1374	0.12	2.62	0.00	0.000	4	0.104	0.066	2116	883	3381
1409	-0.93	-146.6	164.0	-9.1	65	1414	0.00	2.60	0.00	0.000	6	0.000	0.054	2116	2298	3381
1736	-0.93	-146.6	194.4	-9.2	81	1740	0.00	2.65	0.00	0.000	4	0.000	0.065	2116	884	3382
1780	-1.00	-146.6	198.5	-8.7	83	1785	0.15	2.62	0.00	0.000	6	0.044	0.054	2070	2307	3381
2102	-0.89	-146.6	233.3	-10.8	99	2104	0.17	0.00	0.00	0.000	6	0.091	0.000	2104	2307	3381
2411	-0.89	-146.6	260.3	-8.6	114	2415	0.00	2.67	0.00	0.000	4	0.000	0.067	2104	883	3381
2468	-0.94	-146.6	265.3	-9.1	116	2474	0.00	2.62	0.00	0.000	6	0.000	0.055	2104	2304	3381
2783	-0.94	-146.6	294.8	-9.2	132	2788	0.00	2.67	0.00	0.000	4	0.000	0.068	2104	884	3381
2816	-0.94	-146.6	297.9	-9.7	133	2822	0.00	2.62	0.00	0.000	6	0.000	0.055	2104	2307	3381
3132	-0.94	-146.6	328.1	-10.3	149	3136	0.00	2.67	0.00	0.000	4	0.000	0.068	2104	884	3381
3164	-0.94	-146.6	331.8	-10.9	150	3170	0.00	2.60	0.00	0.000	6	0.000	0.057	2104	2299	3381
3480	-0.94	-146.6	368.3	-12.0	166	3485	0.00	2.67	0.00	0.000	4	0.000	0.069	2104	876	3381
3527	-0.98	-146.6	373.8	-12.0	168	3531	0.00	2.62	0.00	0.000	6	0.000	0.056	2104	2300	3381
3847	-0.98	-146.6	411.3	-11.7	184	3848	0.00	0.00	0.00	0.000	6	0.000	0.000	2104	2299	3381
4157	-0.98	-146.6	445.7	-10.8	199	4161	0.00	2.67	0.00	0.000	4	0.000	0.069	2104	883	3381
4202	-1.04	-146.6	450.4	-10.1	201	4207	0.15	2.62	0.00	0.000	6	0.046	0.057	2059	2302	3381
4523	-0.91	-146.6	485.1	-9.6	217	4528	0.17	2.67	0.00	0.000	4	0.094	0.070	2099	886	3380
4586	-0.91	-146.6	489.8	-7.3	220	4590	0.00	2.62	0.00	0.000	6	0.000	0.058	2097	2300	3380
4912	-0.91	-146.6	515.1	-9.1	236	4914	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	2300	3379
5222	-0.91	-146.6	546.9	-9.9	251	5223	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	2301	3378
5529	end dive: BOTTOM_OBSTACLE_DETECTED
state	5529	begin apogee
5536	-0.31	0.0	577.0	10.0	266	5671	0.65	0.00	129.48	1.035	6	0.098	0.000	2228	2197	2781
5672	end apogee: CONTROL_FINISHED_OK
state	5672	begin climb
5675	1.08	146.6	581.8	0.0	273	5811	1.40	2.78	128.15	1.016	4	0.066	0.071	2531	785	2183
5953	1.08	146.6	570.0	8.9	286	5957	0.00	2.65	0.00	0.000	6	0.000	0.058	2531	2198	2183
6279	1.08	146.6	544.6	8.1	302	6284	0.00	2.78	0.00	0.000	4	0.000	0.083	2531	3618	2181
6525	1.08	146.6	524.8	8.1	313	6530	0.00	2.65	0.00	0.000	6	0.000	0.067	2531	2205	2181
6846	1.14	196.6	504.1	6.2	329	6892	0.00	0.00	43.88	0.990	6	0.000	0.000	2531	2205	1979
7196	1.28	267.3	483.2	5.4	346	7266	0.20	2.83	61.62	0.985	4	0.049	0.081	2585	3613	1691
7321	1.24	267.3	472.6	10.0	351	7327	0.00	2.67	0.00	0.000	6	0.000	0.066	2585	2201	1691
7636	1.24	267.3	440.4	10.5	367	7641	0.00	2.72	0.00	0.000	4	0.000	0.079	2586	3613	1690
7664	1.20	267.3	437.2	11.8	368	7669	0.12	2.67	0.00	0.000	6	0.105	0.065	2563	2194	1690
7980	1.20	267.3	410.2	8.4	383	7981	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2194	1689
8289	1.24	267.3	381.2	10.2	398	8294	0.00	2.72	0.00	0.000	4	0.000	0.079	2563	3614	1689
8352	1.24	267.3	374.0	11.5	401	8357	0.00	2.65	0.00	0.000	6	0.000	0.064	2563	2201	1689
8679	1.29	267.3	338.1	10.9	417	8683	0.00	2.70	0.00	0.000	4	0.000	0.077	2563	3613	1689
8728	1.29	267.3	332.2	12.0	419	8733	0.00	2.65	0.00	0.000	6	0.000	0.064	2563	2199	1689
9044	1.34	267.3	301.7	9.0	434	9046	0.12	0.00	0.00	0.000	6	0.051	0.000	2601	2199	1689
9354	1.28	267.3	269.3	10.5	449	9359	0.12	2.67	0.00	0.000	4	0.097	0.074	2578	3615	1689
9387	1.28	267.3	265.8	10.6	450	9393	0.00	2.62	0.00	0.000	6	0.000	0.062	2578	2198	1689
9703	1.28	267.3	237.7	9.0	466	9704	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2198	1690
10012	1.28	267.3	207.7	10.3	481	10017	0.00	2.70	0.00	0.000	4	0.000	0.074	2578	3621	1690
10068	1.28	267.3	201.2	12.1	483	10074	0.00	2.65	0.00	0.000	6	0.000	0.061	2578	2193	1690
10383	1.28	267.3	166.1	11.2	499	10388	0.00	2.70	0.00	0.000	4	0.000	0.074	2578	3618	1691
10428	1.28	267.3	160.8	11.7	501	10432	0.00	2.62	0.00	0.000	6	0.000	0.061	2578	2200	1691
10748	1.28	267.3	129.6	9.0	517	10750	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2200	1691
11058	1.28	267.3	104.1	8.2	532	11062	0.00	2.67	0.00	0.000	4	0.000	0.074	2578	3614	1690
11098	1.28	267.3	100.4	10.1	534	11102	0.00	2.62	0.00	0.000	6	0.000	0.060	2578	2194	1691
11424	1.28	267.3	66.4	11.2	550	11426	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2194	1691
11734	1.28	267.3	32.2	11.0	565	11735	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2194	1692
12041	end climb: SURFACE_DEPTH_REACHED
state	12041	begin surface coast
12062	end surface coast: CONTROL_FINISHED_OK
state	12062	begin surface