Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 244 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 244 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 566.1524 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 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 2817 DEVICE6 -1

T_NO_W 300 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 -2081560.8 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 566.1524

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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 550

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 -2081560.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 244 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 145427,6248.282,-601.154,46,2.6,65,-8.0 TGT_NAME NSEC_S

_CALLS 1 TGT_LATLONG 6240.000,-605.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.120,-0.186

_SM_DEPTHo 1.53 KALMAN_X 24088.0,-174.9,-142.1,138607.8,15807.7

_SM_ANGLEo -51.0 KALMAN_Y 53610.7,-837.1,506.5,76624.0,14506.7

GPS2 150002,6248.323,-601.088,33,1.9,44,-8.0 MHEAD_RNG_PITCHd_Wd 220.7,15768,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.027433 ALTIM_BOTTOM_PING 425.8,68.1

SM_CCo 12647,116.60,0.644,3,0,509,566.15 _24V_AH 23.6,43.159

SM_GC 1.60,0.00,0.00,116.60,0.000,0.000,0.644,68,2401,509,-10.77,0.03,566.15 _10V_AH 10.2,22.324

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31693,611

TT8_MAMPS 0.02301 CFSIZE 260165632,244215808

HUMID 2051 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,3,0

TCM_TEMP 16.90 GPS 030108,183507,6247.038,-557.929,38,1.5,38,-8.0

XPDR_PINGS 21

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 176 108.45 SBE_CT 446 24 252.99

Roll_motor 85 80 162.84 SBE_O2 418 19 187.81

VBD_pump_during_apogee 419 1015 10063.32 WL_BB2F 440 105 1091.06

VBD_pump_during_surface 116 643 1770.79 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.21 nil 0 0 0.00

Iridium_during_connect 35 160 133.27 nil 0 0 0.00

Iridium_during_xfer 137 223 721.09

Transponder_ping 8 420 84.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 46 50 23.55

TT8 1104 19 222.99

LPSleep 9636 2 215.26

TT8_Active 653 19 131.90

TT8_Sampling 1361 39 552.68

TT8_CF8 366 45 171.04

TT8_Kalman 33 81 27.85

Analog_circuits 1335 12 163.51

GPS_charging 0 0 0.00

Compass 1305 8 106.49

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.85 -146.6 0.0 0.0 0 125 0.00 0.00 -101.80 0.000 2 0.000 0.000 58 2403 3156

127 -0.85 -146.6 3.8 -2.5 5 153 12.32 2.72 -5.88 0.000 4 0.176 0.081 2220 980 3416

277 -0.85 -146.6 21.1 -7.1 11 283 0.00 2.60 0.00 0.000 6 0.000 0.054 2220 2405 3417

592 -0.85 -146.6 51.7 -8.4 27 593 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2406 3417

901 -0.85 -146.6 77.2 -6.7 42 903 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2405 3417

1211 -0.85 -146.6 101.6 -7.6 57 1215 0.00 2.67 0.00 0.000 4 0.000 0.066 2220 973 3417

1277 -0.85 -146.6 106.8 -8.2 60 1281 0.00 2.60 0.00 0.000 6 0.000 0.054 2220 2401 3417

1597 -0.85 -146.6 131.7 -8.5 76 1598 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3417

1907 -0.85 -146.6 158.9 -9.2 91 1908 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2401 3417

2216 -0.85 -146.6 187.4 -9.2 106 2220 0.00 2.65 0.00 0.000 4 0.000 0.066 2221 980 3417

2294 -0.85 -146.6 194.8 -9.4 109 2300 0.00 2.62 0.00 0.000 6 0.000 0.058 2221 2404 3417

2609 -0.85 -146.6 220.9 -7.9 125 2610 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2404 3417

2918 -0.85 -146.6 245.3 -8.1 140 2919 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2404 3417

3227 -0.85 -146.6 270.0 -8.2 155 3232 0.00 2.67 0.00 0.000 4 0.000 0.069 2221 977 3417

3296 -0.85 -146.6 275.7 -8.5 158 3300 0.00 2.62 0.00 0.000 6 0.000 0.058 2221 2399 3417

3615 -0.85 -146.6 302.1 -8.0 174 3616 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2399 3417

3925 -0.85 -146.6 324.4 -6.4 189 3929 0.00 2.67 0.00 0.000 4 0.000 0.070 2221 975 3417

3996 -0.85 -146.6 329.4 -6.7 192 4001 0.00 2.62 0.00 0.000 6 0.000 0.060 2221 2403 3417

4312 -0.85 -146.6 350.1 -7.1 207 4313 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2403 3417

4620 -0.85 -146.6 371.7 -6.3 222 4622 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2403 3417

4930 -0.85 -146.6 395.2 -7.9 237 4935 0.00 2.67 0.00 0.000 4 0.000 0.071 2221 980 3418

4974 -0.85 -146.6 399.1 -8.7 239 4978 0.00 2.60 0.00 0.000 6 0.000 0.060 2221 2400 3418

5305 -0.85 -146.6 425.8 -8.0 255 5306 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2400 3418

5611 -0.85 -146.6 442.9 -4.9 270 5612 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2403 3418

5919 -0.85 -146.6 468.1 -8.0 285 5923 0.00 2.65 0.00 0.000 4 0.000 0.068 2221 980 3418

6025 -0.85 -146.6 476.5 -7.1 290 6029 0.00 2.62 0.00 0.000 6 0.000 0.060 2221 2406 3418

6123 end dive: BOTTOM_OBSTACLE_DETECTED

state 6123 begin apogee

6129 -0.31 0.0 484.0 7.7 295 6252 0.60 0.00 119.40 1.016 6 0.107 0.000 2340 2190 2817

6253 end apogee: CONTROL_FINISHED_OK

state 6253 begin climb

6255 0.85 146.6 489.0 0.0 301 6381 1.17 2.75 117.65 0.988 4 0.077 0.069 2587 788 2218

6476 0.88 179.3 479.5 5.1 311 6508 0.00 2.60 27.35 0.935 6 0.000 0.054 2588 2200 2084

6817 0.90 193.2 462.7 5.6 328 6831 0.00 0.00 12.32 0.880 6 0.000 0.000 2587 2200 2029

7126 0.90 193.2 445.4 6.5 343 7130 0.00 2.67 0.00 0.000 4 0.000 0.072 2587 787 2027

7180 0.90 193.2 442.0 6.2 345 7187 0.00 2.65 0.00 0.000 6 0.000 0.056 2588 2200 2027

7497 0.94 232.1 424.2 4.9 361 7535 0.12 0.00 32.00 0.952 6 0.073 0.000 2618 2200 1870

7845 0.94 232.1 397.5 8.2 378 7846 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2200 1867

8153 0.94 232.1 374.8 7.1 393 8158 0.00 2.70 0.00 0.000 4 0.000 0.080 2618 3621 1867

8198 0.94 232.1 371.5 8.1 395 8203 0.00 2.65 0.00 0.000 6 0.000 0.064 2618 2208 1867

8519 0.94 232.1 348.1 7.6 411 8524 0.00 2.70 0.00 0.000 4 0.000 0.073 2618 781 1867

8558 0.94 232.1 344.9 7.9 413 8562 0.00 2.62 0.00 0.000 6 0.000 0.053 2618 2204 1866

8883 0.94 232.1 320.3 7.5 429 8887 0.00 2.70 0.00 0.000 4 0.000 0.070 2618 778 1866

8922 0.94 232.1 317.2 8.0 431 8927 0.00 2.62 0.00 0.000 6 0.000 0.051 2618 2207 1866

9248 0.94 232.1 292.8 7.4 447 9250 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2207 1866

9558 0.94 232.1 269.7 7.3 462 9559 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2206 1866

9867 0.94 232.1 246.8 7.2 477 9872 0.00 2.67 0.00 0.000 4 0.000 0.070 2618 781 1866

9912 0.94 232.1 243.4 7.8 479 9916 0.00 2.60 0.00 0.000 6 0.000 0.051 2618 2206 1866

10232 0.94 232.1 215.8 9.3 495 10233 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2206 1866

10542 0.94 232.1 189.1 8.8 510 10546 0.00 2.67 0.00 0.000 4 0.000 0.068 2618 781 1866

10580 0.94 232.1 184.7 11.5 512 10584 0.00 2.60 0.00 0.000 6 0.000 0.050 2618 2204 1867

10905 0.94 232.1 151.8 9.6 528 10907 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2204 1866

11217 0.94 232.1 125.0 8.6 543 11218 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2204 1867

11525 0.94 232.1 99.4 8.1 558 11529 0.00 2.67 0.00 0.000 4 0.000 0.067 2618 777 1867

11564 0.94 232.1 95.6 10.6 560 11568 0.00 2.60 0.00 0.000 6 0.000 0.048 2617 2206 1867

11890 0.94 232.1 67.5 9.3 576 11891 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2206 1867

12199 1.10 380.3 54.2 1.9 591 12317 0.15 2.75 111.18 0.714 4 0.050 0.069 2668 782 1266

12364 1.10 380.3 33.8 14.7 598 12368 0.00 2.62 0.00 0.000 6 0.000 0.051 2668 2203 1266

12605 end climb: SURFACE_DEPTH_REACHED

state 12605 begin surface coast

12627 end surface coast: CONTROL_FINISHED_OK

state 12627 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	244	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	566.1524	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	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	2817	DEVICE6	-1
T_NO_W	300	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	-2081560.8	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	145427,6248.282,-601.154,46,2.6,65,-8.0	TGT_NAME	NSEC_S
_CALLS	1	TGT_LATLONG	6240.000,-605.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.120,-0.186
_SM_DEPTHo	1.53	KALMAN_X	24088.0,-174.9,-142.1,138607.8,15807.7
_SM_ANGLEo	-51.0	KALMAN_Y	53610.7,-837.1,506.5,76624.0,14506.7
GPS2	150002,6248.323,-601.088,33,1.9,44,-8.0	MHEAD_RNG_PITCHd_Wd	220.7,15768,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.9,1.027433	ALTIM_BOTTOM_PING	425.8,68.1
SM_CCo	12647,116.60,0.644,3,0,509,566.15	_24V_AH	23.6,43.159
SM_GC	1.60,0.00,0.00,116.60,0.000,0.000,0.644,68,2401,509,-10.77,0.03,566.15	_10V_AH	10.2,22.324
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31693,611
TT8_MAMPS	0.02301	CFSIZE	260165632,244215808
HUMID	2051	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,3,0
TCM_TEMP	16.90	GPS	030108,183507,6247.038,-557.929,38,1.5,38,-8.0
XPDR_PINGS	21

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	176	108.45	SBE_CT	446	24	252.99
Roll_motor	85	80	162.84	SBE_O2	418	19	187.81
VBD_pump_during_apogee	419	1015	10063.32	WL_BB2F	440	105	1091.06
VBD_pump_during_surface	116	643	1770.79	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.21	nil	0	0	0.00
Iridium_during_connect	35	160	133.27	nil	0	0	0.00
Iridium_during_xfer	137	223	721.09
Transponder_ping	8	420	84.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	46	50	23.55
TT8	1104	19	222.99
LPSleep	9636	2	215.26
TT8_Active	653	19	131.90
TT8_Sampling	1361	39	552.68
TT8_CF8	366	45	171.04
TT8_Kalman	33	81	27.85
Analog_circuits	1335	12	163.51
GPS_charging	0	0	0.00
Compass	1305	8	106.49
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.85	-146.6	0.0	0.0	0	125	0.00	0.00	-101.80	0.000	2	0.000	0.000	58	2403	3156
127	-0.85	-146.6	3.8	-2.5	5	153	12.32	2.72	-5.88	0.000	4	0.176	0.081	2220	980	3416
277	-0.85	-146.6	21.1	-7.1	11	283	0.00	2.60	0.00	0.000	6	0.000	0.054	2220	2405	3417
592	-0.85	-146.6	51.7	-8.4	27	593	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2406	3417
901	-0.85	-146.6	77.2	-6.7	42	903	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2405	3417
1211	-0.85	-146.6	101.6	-7.6	57	1215	0.00	2.67	0.00	0.000	4	0.000	0.066	2220	973	3417
1277	-0.85	-146.6	106.8	-8.2	60	1281	0.00	2.60	0.00	0.000	6	0.000	0.054	2220	2401	3417
1597	-0.85	-146.6	131.7	-8.5	76	1598	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3417
1907	-0.85	-146.6	158.9	-9.2	91	1908	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2401	3417
2216	-0.85	-146.6	187.4	-9.2	106	2220	0.00	2.65	0.00	0.000	4	0.000	0.066	2221	980	3417
2294	-0.85	-146.6	194.8	-9.4	109	2300	0.00	2.62	0.00	0.000	6	0.000	0.058	2221	2404	3417
2609	-0.85	-146.6	220.9	-7.9	125	2610	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2404	3417
2918	-0.85	-146.6	245.3	-8.1	140	2919	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2404	3417
3227	-0.85	-146.6	270.0	-8.2	155	3232	0.00	2.67	0.00	0.000	4	0.000	0.069	2221	977	3417
3296	-0.85	-146.6	275.7	-8.5	158	3300	0.00	2.62	0.00	0.000	6	0.000	0.058	2221	2399	3417
3615	-0.85	-146.6	302.1	-8.0	174	3616	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2399	3417
3925	-0.85	-146.6	324.4	-6.4	189	3929	0.00	2.67	0.00	0.000	4	0.000	0.070	2221	975	3417
3996	-0.85	-146.6	329.4	-6.7	192	4001	0.00	2.62	0.00	0.000	6	0.000	0.060	2221	2403	3417
4312	-0.85	-146.6	350.1	-7.1	207	4313	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2403	3417
4620	-0.85	-146.6	371.7	-6.3	222	4622	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2403	3417
4930	-0.85	-146.6	395.2	-7.9	237	4935	0.00	2.67	0.00	0.000	4	0.000	0.071	2221	980	3418
4974	-0.85	-146.6	399.1	-8.7	239	4978	0.00	2.60	0.00	0.000	6	0.000	0.060	2221	2400	3418
5305	-0.85	-146.6	425.8	-8.0	255	5306	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2400	3418
5611	-0.85	-146.6	442.9	-4.9	270	5612	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2403	3418
5919	-0.85	-146.6	468.1	-8.0	285	5923	0.00	2.65	0.00	0.000	4	0.000	0.068	2221	980	3418
6025	-0.85	-146.6	476.5	-7.1	290	6029	0.00	2.62	0.00	0.000	6	0.000	0.060	2221	2406	3418
6123	end dive: BOTTOM_OBSTACLE_DETECTED
state	6123	begin apogee
6129	-0.31	0.0	484.0	7.7	295	6252	0.60	0.00	119.40	1.016	6	0.107	0.000	2340	2190	2817
6253	end apogee: CONTROL_FINISHED_OK
state	6253	begin climb
6255	0.85	146.6	489.0	0.0	301	6381	1.17	2.75	117.65	0.988	4	0.077	0.069	2587	788	2218
6476	0.88	179.3	479.5	5.1	311	6508	0.00	2.60	27.35	0.935	6	0.000	0.054	2588	2200	2084
6817	0.90	193.2	462.7	5.6	328	6831	0.00	0.00	12.32	0.880	6	0.000	0.000	2587	2200	2029
7126	0.90	193.2	445.4	6.5	343	7130	0.00	2.67	0.00	0.000	4	0.000	0.072	2587	787	2027
7180	0.90	193.2	442.0	6.2	345	7187	0.00	2.65	0.00	0.000	6	0.000	0.056	2588	2200	2027
7497	0.94	232.1	424.2	4.9	361	7535	0.12	0.00	32.00	0.952	6	0.073	0.000	2618	2200	1870
7845	0.94	232.1	397.5	8.2	378	7846	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2200	1867
8153	0.94	232.1	374.8	7.1	393	8158	0.00	2.70	0.00	0.000	4	0.000	0.080	2618	3621	1867
8198	0.94	232.1	371.5	8.1	395	8203	0.00	2.65	0.00	0.000	6	0.000	0.064	2618	2208	1867
8519	0.94	232.1	348.1	7.6	411	8524	0.00	2.70	0.00	0.000	4	0.000	0.073	2618	781	1867
8558	0.94	232.1	344.9	7.9	413	8562	0.00	2.62	0.00	0.000	6	0.000	0.053	2618	2204	1866
8883	0.94	232.1	320.3	7.5	429	8887	0.00	2.70	0.00	0.000	4	0.000	0.070	2618	778	1866
8922	0.94	232.1	317.2	8.0	431	8927	0.00	2.62	0.00	0.000	6	0.000	0.051	2618	2207	1866
9248	0.94	232.1	292.8	7.4	447	9250	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2207	1866
9558	0.94	232.1	269.7	7.3	462	9559	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2206	1866
9867	0.94	232.1	246.8	7.2	477	9872	0.00	2.67	0.00	0.000	4	0.000	0.070	2618	781	1866
9912	0.94	232.1	243.4	7.8	479	9916	0.00	2.60	0.00	0.000	6	0.000	0.051	2618	2206	1866
10232	0.94	232.1	215.8	9.3	495	10233	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2206	1866
10542	0.94	232.1	189.1	8.8	510	10546	0.00	2.67	0.00	0.000	4	0.000	0.068	2618	781	1866
10580	0.94	232.1	184.7	11.5	512	10584	0.00	2.60	0.00	0.000	6	0.000	0.050	2618	2204	1867
10905	0.94	232.1	151.8	9.6	528	10907	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2204	1866
11217	0.94	232.1	125.0	8.6	543	11218	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2204	1867
11525	0.94	232.1	99.4	8.1	558	11529	0.00	2.67	0.00	0.000	4	0.000	0.067	2618	777	1867
11564	0.94	232.1	95.6	10.6	560	11568	0.00	2.60	0.00	0.000	6	0.000	0.048	2617	2206	1867
11890	0.94	232.1	67.5	9.3	576	11891	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2206	1867
12199	1.10	380.3	54.2	1.9	591	12317	0.15	2.75	111.18	0.714	4	0.050	0.069	2668	782	1266
12364	1.10	380.3	33.8	14.7	598	12368	0.00	2.62	0.00	0.000	6	0.000	0.051	2668	2203	1266
12605	end climb: SURFACE_DEPTH_REACHED
state	12605	begin surface coast
12627	end surface coast: CONTROL_FINISHED_OK
state	12627	begin surface