Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 139 * 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 139 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 -2095896.2 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 -2095896.2

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 139 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 133638,6226.273,-925.444,27,1.9,27,-9.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6226.270,-930.452

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.27 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -58.2 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 134115,6226.270,-925.455,15,2.0,15,-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 0.6,1.011045 ALTIM_BOTTOM_PING 500.3,91.9

SM_CCo 11791,128.45,0.631,0,0,508,557.32 _24V_AH 23.6,25.197

SM_GC 1.35,0.00,0.00,128.45,0.000,0.000,0.631,70,2306,508,-10.26,0.14,557.32 _10V_AH 10.1,12.495

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28529,567

TT8_MAMPS 0.023777 CAP_FILE_SIZE 88949,0

HUMID 1871 CFSIZE 260165632,250060800

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 23 GPS 040708,170132,6224.421,-931.203,41,1.6,41,-9.8

ALTIM_TOP_PING 19.9,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 168 102.74 SBE_CT 417 24 236.65

Roll_motor 91 82 176.40 SBE_O2 384 19 172.45

VBD_pump_during_apogee 388 1043 9561.49 WL_BB2F 363 105 900.89

VBD_pump_during_surface 128 631 1913.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.64 nil 0 0 0.00

Iridium_during_connect 27 160 104.24 nil 0 0 0.00

Iridium_during_xfer 119 223 626.68

Transponder_ping 10 420 99.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.79

TT8 1056 19 211.29

LPSleep 8867 2 196.14

TT8_Active 640 19 128.00

TT8_Sampling 1268 39 509.73

TT8_CF8 369 45 171.02

TT8_Kalman 0 81 0.00

Analog_circuits 1307 12 158.46

GPS_charging 0 0 0.00

Compass 1238 8 100.04

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 -120.50 0.000 2 0.000 0.000 70 2306 3003

155 -1.08 -146.6 4.2 -3.6 6 180 11.15 2.67 -8.38 0.000 4 0.169 0.076 2057 872 3381

383 -1.00 -146.6 40.6 -14.2 16 388 0.12 2.62 0.00 0.000 6 0.107 0.054 2080 2303 3381

705 -0.91 -146.6 87.9 -15.3 32 710 0.10 2.67 0.00 0.000 4 0.107 0.063 2098 879 3381

772 -0.91 -146.6 98.0 -13.9 35 776 0.00 2.62 0.00 0.000 6 0.000 0.054 2097 2299 3381

1093 -0.91 -146.6 142.1 -12.8 51 1094 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2299 3382

1403 -0.87 -146.6 174.7 -9.7 66 1407 0.00 2.67 0.00 0.000 4 0.000 0.065 2097 867 3382

1475 -0.87 -146.6 181.7 -9.1 69 1480 0.00 2.65 0.00 0.000 6 0.000 0.054 2097 2301 3382

1797 -0.82 -146.6 211.8 -9.5 85 1802 0.12 2.67 0.00 0.000 4 0.108 0.066 2120 880 3382

1837 -0.91 -146.6 215.4 -8.3 87 1841 0.00 2.60 0.00 0.000 6 0.000 0.056 2120 2299 3383

2163 -0.91 -146.6 243.2 -8.9 103 2164 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2299 3382

2472 -0.91 -146.6 270.9 -9.1 118 2477 0.00 2.67 0.00 0.000 4 0.000 0.067 2121 872 3382

2536 -0.99 -146.6 276.7 -9.0 121 2541 0.17 2.62 0.00 0.000 6 0.043 0.055 2069 2302 3382

2863 -0.88 -146.6 317.7 -13.1 137 2865 0.20 0.00 0.00 0.000 6 0.091 0.000 2108 2302 3383

3173 -0.88 -146.6 351.8 -10.4 152 3177 0.00 2.67 0.00 0.000 4 0.000 0.068 2108 881 3383

3235 -0.94 -146.6 358.1 -9.8 155 3240 0.00 2.62 0.00 0.000 6 0.000 0.057 2108 2302 3382

3562 -0.94 -146.6 392.1 -10.6 171 3563 0.00 0.00 0.00 0.000 6 0.000 0.000 2108 2302 3382

3872 -0.94 -146.6 421.0 -9.0 186 3876 0.00 2.67 0.00 0.000 4 0.000 0.068 2108 881 3382

3921 -1.02 -146.6 426.6 -10.9 188 3926 0.15 2.62 0.00 0.000 6 0.047 0.056 2062 2304 3382

4237 -0.90 -146.6 464.9 -11.1 203 4242 0.15 2.70 0.00 0.000 4 0.096 0.067 2097 875 3382

4277 -0.90 -146.6 468.7 -8.5 205 4282 0.00 2.62 0.00 0.000 6 0.000 0.055 2097 2299 3382

4605 -0.90 -146.6 492.6 -6.4 221 4606 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 2299 3382

4914 -0.90 -146.6 518.0 -9.1 236 4915 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 2299 3381

5224 -0.90 -146.6 544.8 -7.6 251 5225 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 2300 3381

5532 -0.90 -146.6 572.9 -9.3 266 5537 0.00 2.70 0.00 0.000 4 0.000 0.082 2097 3708 3380

5582 -0.90 -146.6 578.1 -10.2 268 5587 0.00 2.62 0.00 0.000 6 0.000 0.060 2097 2294 3380

5627 end dive: BOTTOM_OBSTACLE_DETECTED

state 5627 begin apogee

5634 -0.31 0.0 582.8 10.4 270 5770 0.65 0.00 130.55 1.043 6 0.100 0.000 2228 2199 2781

5771 end apogee: CONTROL_FINISHED_OK

state 5771 begin climb

5774 1.08 146.6 589.7 0.0 277 5913 1.45 2.80 128.27 1.026 4 0.078 0.080 2533 3610 2184

5947 1.09 217.7 584.8 5.4 284 6019 0.00 2.67 62.75 1.005 6 0.000 0.061 2533 2205 1893

6332 1.15 218.2 555.8 8.0 303 6337 0.00 2.75 0.00 0.000 4 0.000 0.081 2533 3614 1892

6399 1.20 218.2 549.4 9.1 306 6404 0.12 2.65 0.00 0.000 6 0.054 0.062 2568 2200 1892

6721 1.20 221.3 519.7 7.9 322 6727 0.00 0.00 4.45 0.680 6 0.000 0.000 2568 2200 1878

7030 1.28 292.8 500.6 5.4 337 7100 0.00 2.83 62.38 0.995 4 0.000 0.080 2568 3608 1586

7219 1.28 292.8 483.5 10.6 345 7225 0.00 2.65 0.00 0.000 6 0.000 0.064 2568 2199 1587

7535 1.34 292.8 446.1 12.7 361 7537 0.10 0.00 0.00 0.000 6 0.058 0.000 2598 2199 1585

7844 1.34 292.8 400.6 14.8 376 7848 0.00 2.70 0.00 0.000 4 0.000 0.078 2598 3610 1585

7877 1.29 292.8 395.4 15.4 377 7883 0.00 2.65 0.00 0.000 6 0.000 0.064 2598 2197 1585

8192 1.29 292.8 353.1 12.2 393 8197 0.00 2.67 0.00 0.000 4 0.000 0.072 2598 782 1585

8226 1.25 292.8 348.9 12.5 394 8233 0.15 2.62 0.00 0.000 6 0.094 0.054 2570 2204 1583

8542 1.31 292.8 319.4 8.6 410 8543 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2204 1584

8852 1.36 292.8 293.9 8.1 425 8853 0.12 0.00 0.00 0.000 6 0.052 0.000 2605 2204 1584

9160 1.36 292.8 264.5 9.7 440 9164 0.00 2.65 0.00 0.000 4 0.000 0.075 2605 3616 1585

9193 1.31 292.8 261.0 10.3 441 9199 0.00 2.65 0.00 0.000 6 0.000 0.064 2605 2195 1585

9509 1.31 292.8 231.1 9.1 457 9513 0.00 2.70 0.00 0.000 4 0.000 0.074 2605 3620 1585

9553 1.26 292.8 226.5 10.5 459 9558 0.17 2.65 0.00 0.000 6 0.087 0.062 2570 2199 1585

9874 1.26 292.8 199.6 8.8 475 9875 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2199 1585

10183 1.26 292.8 170.0 10.0 490 10185 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2199 1585

10493 1.26 292.8 136.6 11.2 505 10494 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2199 1586

10802 1.26 292.8 102.7 10.9 520 10803 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2199 1586

11113 1.26 292.8 69.4 11.3 535 11114 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2198 1586

11421 1.26 292.8 35.6 10.7 550 11425 0.00 2.67 0.00 0.000 4 0.000 0.071 2570 3619 1587

11505 1.26 292.8 26.1 11.4 554 11510 0.00 2.62 0.00 0.000 6 0.000 0.058 2570 2194 1588

11747 end climb: SURFACE_DEPTH_REACHED

state 11747 begin surface coast

11769 end surface coast: CONTROL_FINISHED_OK

state 11769 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	139	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	-2095896.2	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	133638,6226.273,-925.444,27,1.9,27,-9.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6226.270,-930.452
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.27	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-58.2	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	134115,6226.270,-925.455,15,2.0,15,-9.8	MHEAD_RNG_PITCHd_Wd	279.8,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.011045	ALTIM_BOTTOM_PING	500.3,91.9
SM_CCo	11791,128.45,0.631,0,0,508,557.32	_24V_AH	23.6,25.197
SM_GC	1.35,0.00,0.00,128.45,0.000,0.000,0.631,70,2306,508,-10.26,0.14,557.32	_10V_AH	10.1,12.495
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28529,567
TT8_MAMPS	0.023777	CAP_FILE_SIZE	88949,0
HUMID	1871	CFSIZE	260165632,250060800
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	23	GPS	040708,170132,6224.421,-931.203,41,1.6,41,-9.8
ALTIM_TOP_PING	19.9,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	168	102.74	SBE_CT	417	24	236.65
Roll_motor	91	82	176.40	SBE_O2	384	19	172.45
VBD_pump_during_apogee	388	1043	9561.49	WL_BB2F	363	105	900.89
VBD_pump_during_surface	128	631	1913.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.64	nil	0	0	0.00
Iridium_during_connect	27	160	104.24	nil	0	0	0.00
Iridium_during_xfer	119	223	626.68
Transponder_ping	10	420	99.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.79
TT8	1056	19	211.29
LPSleep	8867	2	196.14
TT8_Active	640	19	128.00
TT8_Sampling	1268	39	509.73
TT8_CF8	369	45	171.02
TT8_Kalman	0	81	0.00
Analog_circuits	1307	12	158.46
GPS_charging	0	0	0.00
Compass	1238	8	100.04
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	-120.50	0.000	2	0.000	0.000	70	2306	3003
155	-1.08	-146.6	4.2	-3.6	6	180	11.15	2.67	-8.38	0.000	4	0.169	0.076	2057	872	3381
383	-1.00	-146.6	40.6	-14.2	16	388	0.12	2.62	0.00	0.000	6	0.107	0.054	2080	2303	3381
705	-0.91	-146.6	87.9	-15.3	32	710	0.10	2.67	0.00	0.000	4	0.107	0.063	2098	879	3381
772	-0.91	-146.6	98.0	-13.9	35	776	0.00	2.62	0.00	0.000	6	0.000	0.054	2097	2299	3381
1093	-0.91	-146.6	142.1	-12.8	51	1094	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2299	3382
1403	-0.87	-146.6	174.7	-9.7	66	1407	0.00	2.67	0.00	0.000	4	0.000	0.065	2097	867	3382
1475	-0.87	-146.6	181.7	-9.1	69	1480	0.00	2.65	0.00	0.000	6	0.000	0.054	2097	2301	3382
1797	-0.82	-146.6	211.8	-9.5	85	1802	0.12	2.67	0.00	0.000	4	0.108	0.066	2120	880	3382
1837	-0.91	-146.6	215.4	-8.3	87	1841	0.00	2.60	0.00	0.000	6	0.000	0.056	2120	2299	3383
2163	-0.91	-146.6	243.2	-8.9	103	2164	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	2299	3382
2472	-0.91	-146.6	270.9	-9.1	118	2477	0.00	2.67	0.00	0.000	4	0.000	0.067	2121	872	3382
2536	-0.99	-146.6	276.7	-9.0	121	2541	0.17	2.62	0.00	0.000	6	0.043	0.055	2069	2302	3382
2863	-0.88	-146.6	317.7	-13.1	137	2865	0.20	0.00	0.00	0.000	6	0.091	0.000	2108	2302	3383
3173	-0.88	-146.6	351.8	-10.4	152	3177	0.00	2.67	0.00	0.000	4	0.000	0.068	2108	881	3383
3235	-0.94	-146.6	358.1	-9.8	155	3240	0.00	2.62	0.00	0.000	6	0.000	0.057	2108	2302	3382
3562	-0.94	-146.6	392.1	-10.6	171	3563	0.00	0.00	0.00	0.000	6	0.000	0.000	2108	2302	3382
3872	-0.94	-146.6	421.0	-9.0	186	3876	0.00	2.67	0.00	0.000	4	0.000	0.068	2108	881	3382
3921	-1.02	-146.6	426.6	-10.9	188	3926	0.15	2.62	0.00	0.000	6	0.047	0.056	2062	2304	3382
4237	-0.90	-146.6	464.9	-11.1	203	4242	0.15	2.70	0.00	0.000	4	0.096	0.067	2097	875	3382
4277	-0.90	-146.6	468.7	-8.5	205	4282	0.00	2.62	0.00	0.000	6	0.000	0.055	2097	2299	3382
4605	-0.90	-146.6	492.6	-6.4	221	4606	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	2299	3382
4914	-0.90	-146.6	518.0	-9.1	236	4915	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	2299	3381
5224	-0.90	-146.6	544.8	-7.6	251	5225	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	2300	3381
5532	-0.90	-146.6	572.9	-9.3	266	5537	0.00	2.70	0.00	0.000	4	0.000	0.082	2097	3708	3380
5582	-0.90	-146.6	578.1	-10.2	268	5587	0.00	2.62	0.00	0.000	6	0.000	0.060	2097	2294	3380
5627	end dive: BOTTOM_OBSTACLE_DETECTED
state	5627	begin apogee
5634	-0.31	0.0	582.8	10.4	270	5770	0.65	0.00	130.55	1.043	6	0.100	0.000	2228	2199	2781
5771	end apogee: CONTROL_FINISHED_OK
state	5771	begin climb
5774	1.08	146.6	589.7	0.0	277	5913	1.45	2.80	128.27	1.026	4	0.078	0.080	2533	3610	2184
5947	1.09	217.7	584.8	5.4	284	6019	0.00	2.67	62.75	1.005	6	0.000	0.061	2533	2205	1893
6332	1.15	218.2	555.8	8.0	303	6337	0.00	2.75	0.00	0.000	4	0.000	0.081	2533	3614	1892
6399	1.20	218.2	549.4	9.1	306	6404	0.12	2.65	0.00	0.000	6	0.054	0.062	2568	2200	1892
6721	1.20	221.3	519.7	7.9	322	6727	0.00	0.00	4.45	0.680	6	0.000	0.000	2568	2200	1878
7030	1.28	292.8	500.6	5.4	337	7100	0.00	2.83	62.38	0.995	4	0.000	0.080	2568	3608	1586
7219	1.28	292.8	483.5	10.6	345	7225	0.00	2.65	0.00	0.000	6	0.000	0.064	2568	2199	1587
7535	1.34	292.8	446.1	12.7	361	7537	0.10	0.00	0.00	0.000	6	0.058	0.000	2598	2199	1585
7844	1.34	292.8	400.6	14.8	376	7848	0.00	2.70	0.00	0.000	4	0.000	0.078	2598	3610	1585
7877	1.29	292.8	395.4	15.4	377	7883	0.00	2.65	0.00	0.000	6	0.000	0.064	2598	2197	1585
8192	1.29	292.8	353.1	12.2	393	8197	0.00	2.67	0.00	0.000	4	0.000	0.072	2598	782	1585
8226	1.25	292.8	348.9	12.5	394	8233	0.15	2.62	0.00	0.000	6	0.094	0.054	2570	2204	1583
8542	1.31	292.8	319.4	8.6	410	8543	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2204	1584
8852	1.36	292.8	293.9	8.1	425	8853	0.12	0.00	0.00	0.000	6	0.052	0.000	2605	2204	1584
9160	1.36	292.8	264.5	9.7	440	9164	0.00	2.65	0.00	0.000	4	0.000	0.075	2605	3616	1585
9193	1.31	292.8	261.0	10.3	441	9199	0.00	2.65	0.00	0.000	6	0.000	0.064	2605	2195	1585
9509	1.31	292.8	231.1	9.1	457	9513	0.00	2.70	0.00	0.000	4	0.000	0.074	2605	3620	1585
9553	1.26	292.8	226.5	10.5	459	9558	0.17	2.65	0.00	0.000	6	0.087	0.062	2570	2199	1585
9874	1.26	292.8	199.6	8.8	475	9875	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2199	1585
10183	1.26	292.8	170.0	10.0	490	10185	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2199	1585
10493	1.26	292.8	136.6	11.2	505	10494	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2199	1586
10802	1.26	292.8	102.7	10.9	520	10803	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2199	1586
11113	1.26	292.8	69.4	11.3	535	11114	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2198	1586
11421	1.26	292.8	35.6	10.7	550	11425	0.00	2.67	0.00	0.000	4	0.000	0.071	2570	3619	1587
11505	1.26	292.8	26.1	11.4	554	11510	0.00	2.62	0.00	0.000	6	0.000	0.058	2570	2194	1588
11747	end climb: SURFACE_DEPTH_REACHED
state	11747	begin surface coast
11769	end surface coast: CONTROL_FINISHED_OK
state	11769	begin surface