Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 141 * 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 141 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 14 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 -2095928.2 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 -2095928.2

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 14 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 141 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 203607,6224.655,-935.435,35,1.2,35,-9.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6224.674,-940.392

_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 -58.4 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 204039,6224.674,-935.391,14,1.7,14,-9.9 MHEAD_RNG_PITCHd_Wd 279.9,20000,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.004561 ALTIM_BOTTOM_PING 500.5,99.9

SM_CCo 12377,132.07,0.631,0,0,509,557.32 _24V_AH 23.6,25.483

SM_GC 1.24,0.00,0.00,132.07,0.000,0.000,0.631,69,2314,509,-10.26,0.40,557.32 _10V_AH 10.2,12.617

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28614,594

TT8_MAMPS 0.02301 CAP_FILE_SIZE 87427,0

HUMID 1852 CFSIZE 260165632,249970688

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 15 GPS 050708,001037,6224.916,-935.326,33,2.0,33,-9.9

ALTIM_TOP_PING 18.6,17.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 169 99.41 SBE_CT 437 24 247.75

Roll_motor 91 81 175.13 SBE_O2 402 19 180.60

VBD_pump_during_apogee 384 1038 9429.85 WL_BB2F 385 105 956.46

VBD_pump_during_surface 132 631 1967.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.91 nil 0 0 0.00

Iridium_during_connect 27 160 104.23 nil 0 0 0.00

Iridium_during_xfer 117 223 617.55

Transponder_ping 8 420 79.30

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.49

TT8 1092 19 220.66

LPSleep 9367 2 209.25

TT8_Active 678 19 136.98

TT8_Sampling 1274 39 517.51

TT8_CF8 373 45 174.31

TT8_Kalman 0 81 0.00

Analog_circuits 1324 12 162.15

GPS_charging 0 0 0.00

Compass 1248 8 101.85

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 66 2315 3009

155 -1.08 -146.6 3.9 -3.2 6 180 11.18 2.67 -8.23 0.000 4 0.170 0.077 2054 878 3381

416 -0.98 -146.6 43.3 -12.7 17 424 0.15 2.60 0.00 0.000 6 0.107 0.054 2082 2297 3381

733 -0.90 -146.6 80.6 -11.7 33 735 0.10 0.00 0.00 0.000 6 0.107 0.000 2100 2297 3382

1042 -0.90 -146.6 115.6 -11.5 48 1043 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2297 3382

1352 -0.90 -146.6 151.1 -11.4 63 1353 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2297 3381

1660 -0.90 -146.6 185.8 -10.6 78 1664 0.00 2.65 0.00 0.000 4 0.000 0.065 2100 878 3382

1715 -0.90 -146.6 191.6 -10.1 80 1721 0.00 2.62 0.00 0.000 6 0.000 0.056 2100 2303 3382

2031 -0.90 -146.6 221.4 -9.1 96 2035 0.00 2.67 0.00 0.000 4 0.000 0.067 2100 877 3382

2071 -0.90 -146.6 225.0 -8.7 98 2076 0.00 2.62 0.00 0.000 6 0.000 0.055 2100 2301 3382

2398 -0.90 -146.6 256.9 -10.1 114 2399 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2302 3382

2706 -0.90 -146.6 290.6 -11.0 129 2711 0.00 2.67 0.00 0.000 4 0.000 0.067 2100 873 3382

2778 -0.90 -146.6 298.7 -11.2 132 2783 0.00 2.62 0.00 0.000 6 0.000 0.055 2100 2301 3382

3094 -0.90 -146.6 333.9 -11.1 147 3095 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2300 3382

3403 -0.90 -146.6 364.9 -10.1 162 3407 0.00 2.67 0.00 0.000 4 0.000 0.067 2100 873 3381

3452 -0.90 -146.6 370.1 -9.8 164 3457 0.00 2.62 0.00 0.000 6 0.000 0.055 2100 2299 3381

3768 -0.90 -146.6 407.3 -13.0 179 3769 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2299 3381

4077 -0.90 -146.6 446.1 -13.1 194 4078 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2299 3381

4386 -0.90 -146.6 480.0 -9.2 209 4391 0.00 2.65 0.00 0.000 4 0.000 0.067 2100 878 3382

4442 -0.90 -146.6 485.0 -9.0 211 4448 0.00 2.62 0.00 0.000 6 0.000 0.056 2100 2303 3381

4758 -0.90 -146.6 510.2 -7.8 227 4762 0.00 2.70 0.00 0.000 4 0.000 0.068 2100 871 3381

4830 -0.90 -146.6 516.2 -8.0 230 4835 0.00 2.62 0.00 0.000 6 0.000 0.057 2100 2303 3381

5146 -0.90 -146.6 541.1 -8.1 245 5147 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2303 3380

5455 -0.90 -146.6 567.3 -9.1 260 5459 0.00 2.67 0.00 0.000 4 0.000 0.070 2100 880 3380

5527 -0.90 -146.6 574.2 -9.4 263 5532 0.00 2.62 0.00 0.000 6 0.000 0.058 2100 2299 3380

5716 end dive: BOTTOM_OBSTACLE_DETECTED

state 5717 begin apogee

5724 -0.31 0.0 590.9 8.7 272 5859 0.65 0.00 130.00 1.039 6 0.094 0.000 2232 2183 2781

5860 end apogee: CONTROL_FINISHED_OK

state 5860 begin climb

5863 1.08 146.6 596.9 0.0 279 6000 1.45 0.00 128.45 1.022 6 0.077 0.000 2534 2183 2184

6312 1.16 213.2 576.2 5.6 301 6377 0.00 2.75 58.80 1.006 4 0.000 0.071 2534 790 1911

6423 1.23 229.2 568.7 7.4 306 6444 0.15 2.62 15.35 0.933 6 0.052 0.057 2575 2198 1846

6768 1.25 251.3 542.4 7.2 323 6791 0.00 0.00 20.48 0.961 6 0.000 0.000 2575 2198 1756

7095 1.27 268.7 519.4 7.4 339 7117 0.00 2.85 16.42 0.946 4 0.000 0.081 2575 3613 1685

7163 1.27 268.7 513.2 10.2 342 7168 0.00 2.67 0.00 0.000 6 0.000 0.064 2575 2204 1685

7490 1.27 268.7 481.0 10.5 358 7491 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2204 1683

7799 1.27 268.7 445.1 11.5 373 7803 0.00 2.72 0.00 0.000 4 0.000 0.079 2575 3613 1683

7843 1.27 268.7 439.8 12.2 375 7847 0.00 2.65 0.00 0.000 6 0.000 0.062 2575 2199 1683

8164 1.27 268.7 402.4 12.0 391 8168 0.00 2.72 0.00 0.000 4 0.000 0.077 2576 3612 1683

8243 1.27 268.7 392.6 12.0 394 8249 0.00 2.65 0.00 0.000 6 0.000 0.063 2576 2200 1683

8559 1.27 268.7 359.8 9.3 410 8563 0.00 2.72 0.00 0.000 4 0.000 0.077 2575 3616 1683

8598 1.27 268.7 355.8 10.4 412 8602 0.00 2.67 0.00 0.000 6 0.000 0.063 2575 2197 1682

8924 1.27 268.7 327.1 8.6 428 8929 0.00 2.72 0.00 0.000 4 0.000 0.077 2575 3615 1682

8979 1.27 268.7 321.8 9.9 430 8986 0.00 2.65 0.00 0.000 6 0.000 0.064 2575 2193 1682

9295 1.27 268.7 293.2 9.2 446 9296 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2193 1682

9605 1.27 268.7 266.1 8.4 461 9609 0.00 2.70 0.00 0.000 4 0.000 0.076 2575 3618 1683

9650 1.27 268.7 262.1 8.8 463 9654 0.00 2.65 0.00 0.000 6 0.000 0.062 2575 2194 1683

9971 1.29 285.6 237.6 7.4 479 9991 0.00 2.75 15.25 0.765 4 0.000 0.076 2575 3613 1616

10015 1.29 285.6 233.8 8.7 481 10019 0.00 2.67 0.00 0.000 6 0.000 0.061 2575 2193 1616

10341 1.29 285.6 208.2 8.3 497 10343 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2193 1616

10651 1.34 285.6 180.5 9.9 512 10655 0.00 2.70 0.00 0.000 4 0.000 0.076 2575 3613 1617

10700 1.34 285.6 175.0 11.5 514 10705 0.00 2.62 0.00 0.000 6 0.000 0.061 2575 2200 1617

11017 1.38 285.6 141.0 11.1 529 11019 0.12 0.00 0.00 0.000 6 0.049 0.000 2613 2200 1617

11326 1.32 285.6 100.0 13.3 544 11328 0.15 0.00 0.00 0.000 6 0.087 0.000 2584 2200 1617

11635 1.32 285.6 66.5 10.3 559 11636 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2200 1617

11946 1.32 285.6 37.8 8.7 574 11947 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2200 1617

12253 1.32 285.6 8.4 9.8 589 12254 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2200 1617

12334 end climb: SURFACE_DEPTH_REACHED

state 12334 begin surface coast

12355 end surface coast: CONTROL_FINISHED_OK

state 12355 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	141	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	14	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	-2095928.2	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	203607,6224.655,-935.435,35,1.2,35,-9.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6224.674,-940.392
_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	-58.4	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	204039,6224.674,-935.391,14,1.7,14,-9.9	MHEAD_RNG_PITCHd_Wd	279.9,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.004561	ALTIM_BOTTOM_PING	500.5,99.9
SM_CCo	12377,132.07,0.631,0,0,509,557.32	_24V_AH	23.6,25.483
SM_GC	1.24,0.00,0.00,132.07,0.000,0.000,0.631,69,2314,509,-10.26,0.40,557.32	_10V_AH	10.2,12.617
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28614,594
TT8_MAMPS	0.02301	CAP_FILE_SIZE	87427,0
HUMID	1852	CFSIZE	260165632,249970688
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	15	GPS	050708,001037,6224.916,-935.326,33,2.0,33,-9.9
ALTIM_TOP_PING	18.6,17.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	169	99.41	SBE_CT	437	24	247.75
Roll_motor	91	81	175.13	SBE_O2	402	19	180.60
VBD_pump_during_apogee	384	1038	9429.85	WL_BB2F	385	105	956.46
VBD_pump_during_surface	132	631	1967.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.91	nil	0	0	0.00
Iridium_during_connect	27	160	104.23	nil	0	0	0.00
Iridium_during_xfer	117	223	617.55
Transponder_ping	8	420	79.30
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.49
TT8	1092	19	220.66
LPSleep	9367	2	209.25
TT8_Active	678	19	136.98
TT8_Sampling	1274	39	517.51
TT8_CF8	373	45	174.31
TT8_Kalman	0	81	0.00
Analog_circuits	1324	12	162.15
GPS_charging	0	0	0.00
Compass	1248	8	101.85
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	66	2315	3009
155	-1.08	-146.6	3.9	-3.2	6	180	11.18	2.67	-8.23	0.000	4	0.170	0.077	2054	878	3381
416	-0.98	-146.6	43.3	-12.7	17	424	0.15	2.60	0.00	0.000	6	0.107	0.054	2082	2297	3381
733	-0.90	-146.6	80.6	-11.7	33	735	0.10	0.00	0.00	0.000	6	0.107	0.000	2100	2297	3382
1042	-0.90	-146.6	115.6	-11.5	48	1043	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2297	3382
1352	-0.90	-146.6	151.1	-11.4	63	1353	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2297	3381
1660	-0.90	-146.6	185.8	-10.6	78	1664	0.00	2.65	0.00	0.000	4	0.000	0.065	2100	878	3382
1715	-0.90	-146.6	191.6	-10.1	80	1721	0.00	2.62	0.00	0.000	6	0.000	0.056	2100	2303	3382
2031	-0.90	-146.6	221.4	-9.1	96	2035	0.00	2.67	0.00	0.000	4	0.000	0.067	2100	877	3382
2071	-0.90	-146.6	225.0	-8.7	98	2076	0.00	2.62	0.00	0.000	6	0.000	0.055	2100	2301	3382
2398	-0.90	-146.6	256.9	-10.1	114	2399	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2302	3382
2706	-0.90	-146.6	290.6	-11.0	129	2711	0.00	2.67	0.00	0.000	4	0.000	0.067	2100	873	3382
2778	-0.90	-146.6	298.7	-11.2	132	2783	0.00	2.62	0.00	0.000	6	0.000	0.055	2100	2301	3382
3094	-0.90	-146.6	333.9	-11.1	147	3095	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2300	3382
3403	-0.90	-146.6	364.9	-10.1	162	3407	0.00	2.67	0.00	0.000	4	0.000	0.067	2100	873	3381
3452	-0.90	-146.6	370.1	-9.8	164	3457	0.00	2.62	0.00	0.000	6	0.000	0.055	2100	2299	3381
3768	-0.90	-146.6	407.3	-13.0	179	3769	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2299	3381
4077	-0.90	-146.6	446.1	-13.1	194	4078	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2299	3381
4386	-0.90	-146.6	480.0	-9.2	209	4391	0.00	2.65	0.00	0.000	4	0.000	0.067	2100	878	3382
4442	-0.90	-146.6	485.0	-9.0	211	4448	0.00	2.62	0.00	0.000	6	0.000	0.056	2100	2303	3381
4758	-0.90	-146.6	510.2	-7.8	227	4762	0.00	2.70	0.00	0.000	4	0.000	0.068	2100	871	3381
4830	-0.90	-146.6	516.2	-8.0	230	4835	0.00	2.62	0.00	0.000	6	0.000	0.057	2100	2303	3381
5146	-0.90	-146.6	541.1	-8.1	245	5147	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2303	3380
5455	-0.90	-146.6	567.3	-9.1	260	5459	0.00	2.67	0.00	0.000	4	0.000	0.070	2100	880	3380
5527	-0.90	-146.6	574.2	-9.4	263	5532	0.00	2.62	0.00	0.000	6	0.000	0.058	2100	2299	3380
5716	end dive: BOTTOM_OBSTACLE_DETECTED
state	5717	begin apogee
5724	-0.31	0.0	590.9	8.7	272	5859	0.65	0.00	130.00	1.039	6	0.094	0.000	2232	2183	2781
5860	end apogee: CONTROL_FINISHED_OK
state	5860	begin climb
5863	1.08	146.6	596.9	0.0	279	6000	1.45	0.00	128.45	1.022	6	0.077	0.000	2534	2183	2184
6312	1.16	213.2	576.2	5.6	301	6377	0.00	2.75	58.80	1.006	4	0.000	0.071	2534	790	1911
6423	1.23	229.2	568.7	7.4	306	6444	0.15	2.62	15.35	0.933	6	0.052	0.057	2575	2198	1846
6768	1.25	251.3	542.4	7.2	323	6791	0.00	0.00	20.48	0.961	6	0.000	0.000	2575	2198	1756
7095	1.27	268.7	519.4	7.4	339	7117	0.00	2.85	16.42	0.946	4	0.000	0.081	2575	3613	1685
7163	1.27	268.7	513.2	10.2	342	7168	0.00	2.67	0.00	0.000	6	0.000	0.064	2575	2204	1685
7490	1.27	268.7	481.0	10.5	358	7491	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2204	1683
7799	1.27	268.7	445.1	11.5	373	7803	0.00	2.72	0.00	0.000	4	0.000	0.079	2575	3613	1683
7843	1.27	268.7	439.8	12.2	375	7847	0.00	2.65	0.00	0.000	6	0.000	0.062	2575	2199	1683
8164	1.27	268.7	402.4	12.0	391	8168	0.00	2.72	0.00	0.000	4	0.000	0.077	2576	3612	1683
8243	1.27	268.7	392.6	12.0	394	8249	0.00	2.65	0.00	0.000	6	0.000	0.063	2576	2200	1683
8559	1.27	268.7	359.8	9.3	410	8563	0.00	2.72	0.00	0.000	4	0.000	0.077	2575	3616	1683
8598	1.27	268.7	355.8	10.4	412	8602	0.00	2.67	0.00	0.000	6	0.000	0.063	2575	2197	1682
8924	1.27	268.7	327.1	8.6	428	8929	0.00	2.72	0.00	0.000	4	0.000	0.077	2575	3615	1682
8979	1.27	268.7	321.8	9.9	430	8986	0.00	2.65	0.00	0.000	6	0.000	0.064	2575	2193	1682
9295	1.27	268.7	293.2	9.2	446	9296	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2193	1682
9605	1.27	268.7	266.1	8.4	461	9609	0.00	2.70	0.00	0.000	4	0.000	0.076	2575	3618	1683
9650	1.27	268.7	262.1	8.8	463	9654	0.00	2.65	0.00	0.000	6	0.000	0.062	2575	2194	1683
9971	1.29	285.6	237.6	7.4	479	9991	0.00	2.75	15.25	0.765	4	0.000	0.076	2575	3613	1616
10015	1.29	285.6	233.8	8.7	481	10019	0.00	2.67	0.00	0.000	6	0.000	0.061	2575	2193	1616
10341	1.29	285.6	208.2	8.3	497	10343	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2193	1616
10651	1.34	285.6	180.5	9.9	512	10655	0.00	2.70	0.00	0.000	4	0.000	0.076	2575	3613	1617
10700	1.34	285.6	175.0	11.5	514	10705	0.00	2.62	0.00	0.000	6	0.000	0.061	2575	2200	1617
11017	1.38	285.6	141.0	11.1	529	11019	0.12	0.00	0.00	0.000	6	0.049	0.000	2613	2200	1617
11326	1.32	285.6	100.0	13.3	544	11328	0.15	0.00	0.00	0.000	6	0.087	0.000	2584	2200	1617
11635	1.32	285.6	66.5	10.3	559	11636	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2200	1617
11946	1.32	285.6	37.8	8.7	574	11947	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2200	1617
12253	1.32	285.6	8.4	9.8	589	12254	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2200	1617
12334	end climb: SURFACE_DEPTH_REACHED
state	12334	begin surface coast
12355	end surface coast: CONTROL_FINISHED_OK
state	12355	begin surface