Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 223 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING 180 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 223 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 125

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 52 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -7 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -91674.727 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2700 PRESSURE_YINT -23.610077 SEABIRD_T_G 0.0043761111

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064345129

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5632376e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7382036e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.188265

KALMAN_USE 2 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1432956

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00020702372

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00012956691

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.610077 TGT_DEFAULT_LAT 52

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -7

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 550

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -91674.727

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING 180 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 360 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2700 KALMAN_USE 2 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.188265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1432956 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00020702372 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012956691 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043761111 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064345129 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5632376e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.7382036e-06 XPDR_DEVICE 21

DIVE 223 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 041307,6020.991,-401.662,44,1.2,44,-6.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6010.213,-401.528

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 1.53 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -61.9 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 041815,6021.012,-401.528,14,1.2,14,-6.2 MHEAD_RNG_PITCHd_Wd 186.2,20000,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027351 ALTIM_BOTTOM_PING 326.2,24.1

SM_CCo 9241,0.00,0.000,0,0,1533,318.64 _24V_AH 24.0,39.739

SM_GC 1.41,11.00,0.00,0.00,0.038,0.000,0.000,425,1967,1533,-10.39,-0.93,318.64 _10V_AH 10.1,19.523

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 22247,438

TT8_MAMPS 0.028379 CAP_FILE_SIZE 71396,0

HUMID 1798 CFSIZE 254472192,238501888

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,25,0,0

XPDR_PINGS 304 GPS 241208,065338,6019.868,-357.789,26,1.9,26,-6.2

ALTIM_TOP_PING 18.0,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 137 79.33 SBE_CT 323 24 186.53

Roll_motor 81 72 140.33 SBE_O2 293 19 133.72

VBD_pump_during_apogee 382 1026 9412.93 WL_BB2F 393 105 991.13

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.35 nil 0 0 0.00

Iridium_during_connect 32 160 126.14 nil 0 0 0.00

Iridium_during_xfer 123 223 658.40

Transponder_ping 78 420 793.80

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.37

TT8 828 19 165.67

LPSleep 6875 2 152.08

TT8_Active 469 19 93.94

TT8_Sampling 988 39 397.30

TT8_CF8 390 45 180.53

TT8_Kalman 0 81 0.00

Analog_circuits 996 12 120.78

GPS_charging 0 0 0.00

Compass 968 8 78.25

RAFOS 0 0 0.00

Transponder 19 30 6.01

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.97 -146.6 0.0 0.0 0 99 0.00 0.00 -81.38 0.000 2 0.000 0.000 421 1979 3397

102 -0.97 -146.6 4.9 -5.5 4 125 10.73 2.60 -0.75 0.000 4 0.137 0.072 2482 3412 3431

242 -0.79 -146.6 31.0 -13.1 10 247 0.20 2.50 0.00 0.000 6 0.089 0.047 2523 2001 3431

569 -0.69 -146.6 67.4 -11.0 26 574 0.12 2.53 0.00 0.000 4 0.099 0.066 2550 597 3432

613 -0.69 -146.6 71.6 -8.8 28 618 0.00 2.50 0.00 0.000 6 0.000 0.050 2550 2011 3432

936 -0.64 -146.6 94.8 -7.5 44 940 0.00 2.50 0.00 0.000 4 0.000 0.061 2550 3413 3432

969 -0.64 -146.6 97.8 -9.3 45 975 0.00 2.47 0.00 0.000 6 0.000 0.048 2550 2016 3431

1287 -0.64 -146.6 121.9 -7.1 61 1288 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2016 3432

1595 -0.64 -146.6 145.4 -8.0 76 1596 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2016 3432

1903 -0.64 -146.6 170.6 -8.3 91 1904 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2016 3431

2213 -0.64 -146.6 198.4 -9.0 106 2217 0.00 2.53 0.00 0.000 4 0.000 0.060 2550 3412 3431

2246 -0.64 -146.6 201.4 -8.9 107 2252 0.00 2.47 0.00 0.000 6 0.000 0.048 2550 2013 3431

2561 -0.64 -146.6 228.5 -8.6 123 2563 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2011 3431

2871 -0.64 -146.6 254.3 -8.1 138 2875 0.00 2.53 0.00 0.000 4 0.000 0.061 2550 3408 3431

2904 -0.64 -146.6 257.2 -7.9 139 2910 0.00 2.45 0.00 0.000 6 0.000 0.048 2550 2020 3431

3220 -0.64 -146.6 283.2 -8.4 155 3221 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2020 3431

3529 -0.64 -146.6 306.8 -7.7 170 3530 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2021 3431

3839 -0.64 -146.6 331.1 -8.0 185 3843 0.00 2.53 0.00 0.000 4 0.000 0.063 2550 3412 3431

3901 -0.64 -146.6 336.4 -8.4 188 3905 0.00 2.45 0.00 0.000 6 0.000 0.052 2550 2034 3431

3957 end dive: BOTTOM_OBSTACLE_DETECTED

state 3957 begin apogee

3965 -0.33 0.0 340.9 7.6 191 4088 0.35 0.00 120.28 1.026 6 0.072 0.000 2625 2211 2832

4089 end apogee: CONTROL_FINISHED_OK

state 4089 begin climb

4092 0.97 146.6 346.2 0.0 197 4220 1.27 2.60 118.82 1.000 4 0.060 0.063 2906 3594 2234

4284 1.07 208.4 341.2 4.3 206 4341 0.10 2.50 51.12 0.966 6 0.061 0.051 2939 2199 1982

4652 1.07 208.4 317.5 6.9 223 4656 0.00 2.55 0.00 0.000 4 0.000 0.064 2939 788 1982

4673 1.07 208.4 315.3 8.7 224 4678 0.00 2.50 0.00 0.000 6 0.000 0.049 2939 2193 1981

4994 1.07 208.4 294.0 6.8 240 4995 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2194 1982

5303 1.07 208.4 273.3 6.5 255 5307 0.00 2.58 0.00 0.000 4 0.000 0.064 2939 787 1981

5330 1.07 208.4 271.4 7.0 256 5334 0.00 2.53 0.00 0.000 6 0.000 0.050 2939 2202 1981

5647 1.07 208.4 250.6 6.2 271 5648 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2202 1981

5955 1.07 208.4 230.0 6.7 286 5960 0.00 2.58 0.00 0.000 4 0.000 0.064 2939 790 1981

5989 1.07 208.4 227.6 7.2 287 5995 0.00 2.50 0.00 0.000 6 0.000 0.051 2939 2197 1981

6305 1.07 208.4 207.0 7.3 303 6309 0.00 2.53 0.00 0.000 4 0.000 0.063 2939 3612 1981

6339 1.02 208.4 203.9 9.4 304 6343 0.00 2.53 0.00 0.000 6 0.000 0.050 2939 2191 1981

6654 1.05 229.8 182.1 5.4 319 6674 0.00 0.00 18.42 0.884 6 0.000 0.000 2939 2191 1895

6984 1.07 240.0 161.2 5.7 335 6999 0.00 2.55 9.73 0.813 4 0.000 0.064 2939 791 1853

7033 1.07 240.0 157.8 7.3 336 7037 0.00 2.53 0.00 0.000 6 0.000 0.050 2939 2203 1853

7349 1.07 240.0 132.9 8.9 351 7353 0.00 2.55 0.00 0.000 4 0.000 0.062 2939 792 1853

7405 1.07 240.0 127.2 10.0 353 7411 0.00 2.47 0.00 0.000 6 0.000 0.050 2939 2184 1852

7721 1.07 240.0 100.6 8.7 369 7725 0.00 2.53 0.00 0.000 4 0.000 0.064 2939 793 1853

7753 1.07 240.0 97.9 7.3 370 7760 0.00 2.45 0.00 0.000 6 0.000 0.050 2939 2172 1853

8072 1.15 291.7 77.3 4.6 386 8115 0.00 0.00 41.70 0.847 6 0.000 0.000 2939 2174 1643

8421 1.25 317.5 60.4 5.3 403 8451 0.15 2.60 22.10 0.815 4 0.048 0.064 2983 791 1536

8509 1.18 317.5 53.4 9.8 407 8514 0.15 2.45 0.00 0.000 6 0.075 0.050 2952 2162 1535

8836 1.18 317.5 29.1 8.5 423 8841 0.00 2.53 0.00 0.000 4 0.000 0.064 2952 790 1535

8864 1.18 317.5 26.5 9.1 424 8868 0.00 2.42 0.00 0.000 6 0.000 0.050 2952 2152 1535

9117 end climb: SURFACE_DEPTH_REACHED

state 9117 begin surface coast

9158 end surface coast: CONTROL_FINISHED_OK

state 9158 begin surface

ID	5	HEADING	180	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	223	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	125
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	52	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-7	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-91674.727	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2700	PRESSURE_YINT	-23.610077	SEABIRD_T_G	0.0043761111
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064345129
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5632376e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7382036e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.188265
KALMAN_USE	2	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1432956
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00020702372
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00012956691
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	041307,6020.991,-401.662,44,1.2,44,-6.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6010.213,-401.528
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	1.53	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-61.9	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	041815,6021.012,-401.528,14,1.2,14,-6.2	MHEAD_RNG_PITCHd_Wd	186.2,20000,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027351	ALTIM_BOTTOM_PING	326.2,24.1
SM_CCo	9241,0.00,0.000,0,0,1533,318.64	_24V_AH	24.0,39.739
SM_GC	1.41,11.00,0.00,0.00,0.038,0.000,0.000,425,1967,1533,-10.39,-0.93,318.64	_10V_AH	10.1,19.523
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	22247,438
TT8_MAMPS	0.028379	CAP_FILE_SIZE	71396,0
HUMID	1798	CFSIZE	254472192,238501888
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
XPDR_PINGS	304	GPS	241208,065338,6019.868,-357.789,26,1.9,26,-6.2
ALTIM_TOP_PING	18.0,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	137	79.33	SBE_CT	323	24	186.53
Roll_motor	81	72	140.33	SBE_O2	293	19	133.72
VBD_pump_during_apogee	382	1026	9412.93	WL_BB2F	393	105	991.13
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.35	nil	0	0	0.00
Iridium_during_connect	32	160	126.14	nil	0	0	0.00
Iridium_during_xfer	123	223	658.40
Transponder_ping	78	420	793.80
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.37
TT8	828	19	165.67
LPSleep	6875	2	152.08
TT8_Active	469	19	93.94
TT8_Sampling	988	39	397.30
TT8_CF8	390	45	180.53
TT8_Kalman	0	81	0.00
Analog_circuits	996	12	120.78
GPS_charging	0	0	0.00
Compass	968	8	78.25
RAFOS	0	0	0.00
Transponder	19	30	6.01

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.97	-146.6	0.0	0.0	0	99	0.00	0.00	-81.38	0.000	2	0.000	0.000	421	1979	3397
102	-0.97	-146.6	4.9	-5.5	4	125	10.73	2.60	-0.75	0.000	4	0.137	0.072	2482	3412	3431
242	-0.79	-146.6	31.0	-13.1	10	247	0.20	2.50	0.00	0.000	6	0.089	0.047	2523	2001	3431
569	-0.69	-146.6	67.4	-11.0	26	574	0.12	2.53	0.00	0.000	4	0.099	0.066	2550	597	3432
613	-0.69	-146.6	71.6	-8.8	28	618	0.00	2.50	0.00	0.000	6	0.000	0.050	2550	2011	3432
936	-0.64	-146.6	94.8	-7.5	44	940	0.00	2.50	0.00	0.000	4	0.000	0.061	2550	3413	3432
969	-0.64	-146.6	97.8	-9.3	45	975	0.00	2.47	0.00	0.000	6	0.000	0.048	2550	2016	3431
1287	-0.64	-146.6	121.9	-7.1	61	1288	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2016	3432
1595	-0.64	-146.6	145.4	-8.0	76	1596	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2016	3432
1903	-0.64	-146.6	170.6	-8.3	91	1904	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2016	3431
2213	-0.64	-146.6	198.4	-9.0	106	2217	0.00	2.53	0.00	0.000	4	0.000	0.060	2550	3412	3431
2246	-0.64	-146.6	201.4	-8.9	107	2252	0.00	2.47	0.00	0.000	6	0.000	0.048	2550	2013	3431
2561	-0.64	-146.6	228.5	-8.6	123	2563	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2011	3431
2871	-0.64	-146.6	254.3	-8.1	138	2875	0.00	2.53	0.00	0.000	4	0.000	0.061	2550	3408	3431
2904	-0.64	-146.6	257.2	-7.9	139	2910	0.00	2.45	0.00	0.000	6	0.000	0.048	2550	2020	3431
3220	-0.64	-146.6	283.2	-8.4	155	3221	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2020	3431
3529	-0.64	-146.6	306.8	-7.7	170	3530	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2021	3431
3839	-0.64	-146.6	331.1	-8.0	185	3843	0.00	2.53	0.00	0.000	4	0.000	0.063	2550	3412	3431
3901	-0.64	-146.6	336.4	-8.4	188	3905	0.00	2.45	0.00	0.000	6	0.000	0.052	2550	2034	3431
3957	end dive: BOTTOM_OBSTACLE_DETECTED
state	3957	begin apogee
3965	-0.33	0.0	340.9	7.6	191	4088	0.35	0.00	120.28	1.026	6	0.072	0.000	2625	2211	2832
4089	end apogee: CONTROL_FINISHED_OK
state	4089	begin climb
4092	0.97	146.6	346.2	0.0	197	4220	1.27	2.60	118.82	1.000	4	0.060	0.063	2906	3594	2234
4284	1.07	208.4	341.2	4.3	206	4341	0.10	2.50	51.12	0.966	6	0.061	0.051	2939	2199	1982
4652	1.07	208.4	317.5	6.9	223	4656	0.00	2.55	0.00	0.000	4	0.000	0.064	2939	788	1982
4673	1.07	208.4	315.3	8.7	224	4678	0.00	2.50	0.00	0.000	6	0.000	0.049	2939	2193	1981
4994	1.07	208.4	294.0	6.8	240	4995	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	2194	1982
5303	1.07	208.4	273.3	6.5	255	5307	0.00	2.58	0.00	0.000	4	0.000	0.064	2939	787	1981
5330	1.07	208.4	271.4	7.0	256	5334	0.00	2.53	0.00	0.000	6	0.000	0.050	2939	2202	1981
5647	1.07	208.4	250.6	6.2	271	5648	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	2202	1981
5955	1.07	208.4	230.0	6.7	286	5960	0.00	2.58	0.00	0.000	4	0.000	0.064	2939	790	1981
5989	1.07	208.4	227.6	7.2	287	5995	0.00	2.50	0.00	0.000	6	0.000	0.051	2939	2197	1981
6305	1.07	208.4	207.0	7.3	303	6309	0.00	2.53	0.00	0.000	4	0.000	0.063	2939	3612	1981
6339	1.02	208.4	203.9	9.4	304	6343	0.00	2.53	0.00	0.000	6	0.000	0.050	2939	2191	1981
6654	1.05	229.8	182.1	5.4	319	6674	0.00	0.00	18.42	0.884	6	0.000	0.000	2939	2191	1895
6984	1.07	240.0	161.2	5.7	335	6999	0.00	2.55	9.73	0.813	4	0.000	0.064	2939	791	1853
7033	1.07	240.0	157.8	7.3	336	7037	0.00	2.53	0.00	0.000	6	0.000	0.050	2939	2203	1853
7349	1.07	240.0	132.9	8.9	351	7353	0.00	2.55	0.00	0.000	4	0.000	0.062	2939	792	1853
7405	1.07	240.0	127.2	10.0	353	7411	0.00	2.47	0.00	0.000	6	0.000	0.050	2939	2184	1852
7721	1.07	240.0	100.6	8.7	369	7725	0.00	2.53	0.00	0.000	4	0.000	0.064	2939	793	1853
7753	1.07	240.0	97.9	7.3	370	7760	0.00	2.45	0.00	0.000	6	0.000	0.050	2939	2172	1853
8072	1.15	291.7	77.3	4.6	386	8115	0.00	0.00	41.70	0.847	6	0.000	0.000	2939	2174	1643
8421	1.25	317.5	60.4	5.3	403	8451	0.15	2.60	22.10	0.815	4	0.048	0.064	2983	791	1536
8509	1.18	317.5	53.4	9.8	407	8514	0.15	2.45	0.00	0.000	6	0.075	0.050	2952	2162	1535
8836	1.18	317.5	29.1	8.5	423	8841	0.00	2.53	0.00	0.000	4	0.000	0.064	2952	790	1535
8864	1.18	317.5	26.5	9.1	424	8868	0.00	2.42	0.00	0.000	6	0.000	0.050	2952	2152	1535
9117	end climb: SURFACE_DEPTH_REACHED
state	9117	begin surface coast
9158	end surface coast: CONTROL_FINISHED_OK
state	9158	begin surface