Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 268 * 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 -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 268 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 2230 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2240 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 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 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 -2098974.8 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 0 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 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 -2098974.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 0 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 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 268 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 072107,6417.322,-1128.207,14,0.9,30,-11.7 TGT_NAME WV

_CALLS 1 TGT_LATLONG 6427.000,-1150.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_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 -54.2 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 072521,6417.345,-1127.999,12,1.8,12,-11.7 MHEAD_RNG_PITCHd_Wd 327.2,25072,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.026983 ALTIM_BOTTOM_PING 326.0,41.7

SM_CCo 11368,142.20,0.606,0,0,509,557.32 _24V_AH 23.7,45.195

SM_GC 1.24,0.00,0.00,142.20,0.000,0.000,0.606,70,2237,509,-10.26,0.20,557.32 _10V_AH 10.2,22.862

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28580,545

TT8_MAMPS 0.023777 CAP_FILE_SIZE 73310,0

HUMID 1887 CFSIZE 260165632,242638848

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 5 GPS 310708,103855,6417.058,-1121.197,25,1.7,43,-11.6

ALTIM_TOP_PING 19.9,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 167 97.33 SBE_CT 402 24 229.04

Roll_motor 46 75 84.27 SBE_O2 372 19 167.71

VBD_pump_during_apogee 353 865 7263.04 WL_BB2F 487 105 1212.38

VBD_pump_during_surface 142 605 2042.07 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.88 nil 0 0 0.00

Iridium_during_connect 31 160 118.51 nil 0 0 0.00

Iridium_during_xfer 104 223 551.81

Transponder_ping 3 420 37.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.24

TT8 981 19 198.32

LPSleep 8700 2 194.35

TT8_Active 625 19 126.34

TT8_Sampling 1118 39 454.08

TT8_CF8 348 45 162.94

TT8_Kalman 0 81 0.00

Analog_circuits 1168 12 143.00

GPS_charging 0 0 0.00

Compass 1107 8 90.35

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

20 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 142 0.00 0.00 -115.90 0.000 2 0.000 0.000 71 2235 2957

145 -0.85 -146.6 4.4 -3.6 6 172 11.43 2.62 -9.35 0.000 4 0.168 0.076 2106 3642 3379

388 -0.65 -146.6 37.7 -11.2 17 393 0.25 2.55 0.00 0.000 6 0.091 0.047 2155 2227 3380

715 -0.60 -146.6 60.8 -6.1 33 717 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2227 3381

1025 -0.54 -146.6 81.1 -6.7 48 1026 0.12 0.00 0.00 0.000 6 0.097 0.000 2180 2227 3380

1334 -0.54 -146.6 100.2 -6.3 63 1335 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2227 3381

1643 -0.54 -146.6 119.0 -6.1 78 1644 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2227 3381

1953 -0.54 -146.6 138.0 -6.1 93 1955 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2227 3381

2262 -0.54 -146.6 156.9 -6.0 108 2263 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2227 3381

2573 -0.54 -146.6 175.0 -5.7 123 2574 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2227 3381

2880 -0.54 -146.6 192.3 -5.8 138 2881 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2226 3381

3190 -0.54 -146.6 210.4 -6.0 153 3191 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2227 3381

3498 -0.54 -146.6 230.6 -6.6 168 3499 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2227 3381

3807 -0.54 -146.6 249.7 -5.9 183 3809 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2226 3380

4118 -0.59 -146.6 267.2 -5.6 198 4122 0.00 2.65 0.00 0.000 4 0.000 0.071 2180 3642 3380

4158 -0.64 -146.6 269.2 -4.9 200 4162 0.00 2.55 0.00 0.000 6 0.000 0.048 2180 2224 3379

4486 -0.69 -146.6 282.9 -4.3 216 4491 0.15 2.58 0.00 0.000 4 0.044 0.059 2127 816 3380

4549 -0.64 -146.6 287.4 -7.7 219 4554 0.15 2.58 0.00 0.000 6 0.093 0.050 2156 2233 3380

4876 -0.64 -146.6 307.6 -6.4 235 4877 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2233 3380

5185 -0.64 -146.6 330.5 -7.6 250 5186 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2234 3380

5495 -0.58 -146.6 352.7 -5.9 265 5496 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2234 3379

5574 end dive: BOTTOM_OBSTACLE_DETECTED

state 5574 begin apogee

5581 -0.31 0.0 359.2 8.0 269 5710 0.38 0.00 125.78 0.866 6 0.093 0.000 2231 2234 2781

5710 end apogee: CONTROL_FINISHED_OK

state 5710 begin climb

5713 0.85 146.6 364.6 0.0 275 5842 1.15 0.00 125.35 0.850 6 0.072 0.000 2478 2234 2183

6151 0.94 233.6 347.6 3.6 297 6230 0.12 0.00 74.72 0.836 6 0.051 0.000 2517 2234 1828

6540 0.94 233.6 319.3 8.2 316 6544 0.00 2.67 0.00 0.000 4 0.000 0.074 2516 3654 1828

6567 0.94 233.6 317.0 8.3 317 6571 0.00 2.60 0.00 0.000 6 0.000 0.058 2516 2244 1828

6882 0.94 233.6 293.0 7.7 332 6883 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2244 1828

7192 0.94 233.6 272.4 6.1 347 7196 0.00 2.62 0.00 0.000 4 0.000 0.066 2516 828 1827

7288 0.94 233.6 266.2 6.2 351 7292 0.00 2.58 0.00 0.000 6 0.000 0.051 2517 2242 1826

7604 0.94 233.6 246.1 6.3 366 7609 0.00 2.65 0.00 0.000 4 0.000 0.072 2516 3653 1826

7699 0.94 233.6 239.7 6.7 370 7704 0.00 2.58 0.00 0.000 6 0.000 0.054 2516 2237 1826

8015 0.94 235.4 221.8 5.9 385 8016 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2237 1826

8325 0.94 235.4 201.1 7.4 400 8326 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2237 1825

8633 0.94 235.4 176.7 8.1 415 8638 0.00 2.62 0.00 0.000 4 0.000 0.070 2517 3649 1825

8683 0.94 235.4 172.2 8.6 417 8688 0.00 2.55 0.00 0.000 6 0.000 0.051 2517 2238 1825

9000 0.94 235.4 147.4 7.6 432 9001 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2238 1825

9310 0.94 235.4 125.9 6.6 447 9311 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2238 1825

9618 0.94 235.4 106.3 6.3 462 9619 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2238 1825

9928 0.94 236.0 87.4 6.0 477 9932 0.00 2.62 0.00 0.000 4 0.000 0.067 2517 3648 1825

9978 0.94 236.0 83.8 7.4 479 9982 0.00 2.55 0.00 0.000 6 0.000 0.051 2517 2234 1826

10294 0.94 236.0 63.9 6.2 494 10295 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2234 1826

10603 0.94 236.0 45.3 6.3 509 10604 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2234 1825

10913 0.94 236.0 25.7 6.1 524 10914 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2234 1826

11222 1.02 267.3 8.6 5.1 539 11257 0.00 2.70 28.05 0.611 4 0.000 0.067 2517 3642 1691

11289 1.06 267.3 4.9 6.6 542 11294 0.00 2.55 0.00 0.000 6 0.000 0.051 2517 2242 1691

11326 end climb: SURFACE_DEPTH_REACHED

state 11326 begin surface coast

11346 end surface coast: CONTROL_FINISHED_OK

state 11346 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	268	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	2230	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2240	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	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	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	-2098974.8	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	0	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	072107,6417.322,-1128.207,14,0.9,30,-11.7	TGT_NAME	WV
_CALLS	1	TGT_LATLONG	6427.000,-1150.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_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	-54.2	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	072521,6417.345,-1127.999,12,1.8,12,-11.7	MHEAD_RNG_PITCHd_Wd	327.2,25072,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.9,1.026983	ALTIM_BOTTOM_PING	326.0,41.7
SM_CCo	11368,142.20,0.606,0,0,509,557.32	_24V_AH	23.7,45.195
SM_GC	1.24,0.00,0.00,142.20,0.000,0.000,0.606,70,2237,509,-10.26,0.20,557.32	_10V_AH	10.2,22.862
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28580,545
TT8_MAMPS	0.023777	CAP_FILE_SIZE	73310,0
HUMID	1887	CFSIZE	260165632,242638848
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	5	GPS	310708,103855,6417.058,-1121.197,25,1.7,43,-11.6
ALTIM_TOP_PING	19.9,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	167	97.33	SBE_CT	402	24	229.04
Roll_motor	46	75	84.27	SBE_O2	372	19	167.71
VBD_pump_during_apogee	353	865	7263.04	WL_BB2F	487	105	1212.38
VBD_pump_during_surface	142	605	2042.07	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.88	nil	0	0	0.00
Iridium_during_connect	31	160	118.51	nil	0	0	0.00
Iridium_during_xfer	104	223	551.81
Transponder_ping	3	420	37.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.24
TT8	981	19	198.32
LPSleep	8700	2	194.35
TT8_Active	625	19	126.34
TT8_Sampling	1118	39	454.08
TT8_CF8	348	45	162.94
TT8_Kalman	0	81	0.00
Analog_circuits	1168	12	143.00
GPS_charging	0	0	0.00
Compass	1107	8	90.35
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
20	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	142	0.00	0.00	-115.90	0.000	2	0.000	0.000	71	2235	2957
145	-0.85	-146.6	4.4	-3.6	6	172	11.43	2.62	-9.35	0.000	4	0.168	0.076	2106	3642	3379
388	-0.65	-146.6	37.7	-11.2	17	393	0.25	2.55	0.00	0.000	6	0.091	0.047	2155	2227	3380
715	-0.60	-146.6	60.8	-6.1	33	717	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2227	3381
1025	-0.54	-146.6	81.1	-6.7	48	1026	0.12	0.00	0.00	0.000	6	0.097	0.000	2180	2227	3380
1334	-0.54	-146.6	100.2	-6.3	63	1335	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2227	3381
1643	-0.54	-146.6	119.0	-6.1	78	1644	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2227	3381
1953	-0.54	-146.6	138.0	-6.1	93	1955	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2227	3381
2262	-0.54	-146.6	156.9	-6.0	108	2263	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2227	3381
2573	-0.54	-146.6	175.0	-5.7	123	2574	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2227	3381
2880	-0.54	-146.6	192.3	-5.8	138	2881	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2226	3381
3190	-0.54	-146.6	210.4	-6.0	153	3191	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2227	3381
3498	-0.54	-146.6	230.6	-6.6	168	3499	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2227	3381
3807	-0.54	-146.6	249.7	-5.9	183	3809	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2226	3380
4118	-0.59	-146.6	267.2	-5.6	198	4122	0.00	2.65	0.00	0.000	4	0.000	0.071	2180	3642	3380
4158	-0.64	-146.6	269.2	-4.9	200	4162	0.00	2.55	0.00	0.000	6	0.000	0.048	2180	2224	3379
4486	-0.69	-146.6	282.9	-4.3	216	4491	0.15	2.58	0.00	0.000	4	0.044	0.059	2127	816	3380
4549	-0.64	-146.6	287.4	-7.7	219	4554	0.15	2.58	0.00	0.000	6	0.093	0.050	2156	2233	3380
4876	-0.64	-146.6	307.6	-6.4	235	4877	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2233	3380
5185	-0.64	-146.6	330.5	-7.6	250	5186	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2234	3380
5495	-0.58	-146.6	352.7	-5.9	265	5496	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2234	3379
5574	end dive: BOTTOM_OBSTACLE_DETECTED
state	5574	begin apogee
5581	-0.31	0.0	359.2	8.0	269	5710	0.38	0.00	125.78	0.866	6	0.093	0.000	2231	2234	2781
5710	end apogee: CONTROL_FINISHED_OK
state	5710	begin climb
5713	0.85	146.6	364.6	0.0	275	5842	1.15	0.00	125.35	0.850	6	0.072	0.000	2478	2234	2183
6151	0.94	233.6	347.6	3.6	297	6230	0.12	0.00	74.72	0.836	6	0.051	0.000	2517	2234	1828
6540	0.94	233.6	319.3	8.2	316	6544	0.00	2.67	0.00	0.000	4	0.000	0.074	2516	3654	1828
6567	0.94	233.6	317.0	8.3	317	6571	0.00	2.60	0.00	0.000	6	0.000	0.058	2516	2244	1828
6882	0.94	233.6	293.0	7.7	332	6883	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2244	1828
7192	0.94	233.6	272.4	6.1	347	7196	0.00	2.62	0.00	0.000	4	0.000	0.066	2516	828	1827
7288	0.94	233.6	266.2	6.2	351	7292	0.00	2.58	0.00	0.000	6	0.000	0.051	2517	2242	1826
7604	0.94	233.6	246.1	6.3	366	7609	0.00	2.65	0.00	0.000	4	0.000	0.072	2516	3653	1826
7699	0.94	233.6	239.7	6.7	370	7704	0.00	2.58	0.00	0.000	6	0.000	0.054	2516	2237	1826
8015	0.94	235.4	221.8	5.9	385	8016	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2237	1826
8325	0.94	235.4	201.1	7.4	400	8326	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2237	1825
8633	0.94	235.4	176.7	8.1	415	8638	0.00	2.62	0.00	0.000	4	0.000	0.070	2517	3649	1825
8683	0.94	235.4	172.2	8.6	417	8688	0.00	2.55	0.00	0.000	6	0.000	0.051	2517	2238	1825
9000	0.94	235.4	147.4	7.6	432	9001	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2238	1825
9310	0.94	235.4	125.9	6.6	447	9311	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2238	1825
9618	0.94	235.4	106.3	6.3	462	9619	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2238	1825
9928	0.94	236.0	87.4	6.0	477	9932	0.00	2.62	0.00	0.000	4	0.000	0.067	2517	3648	1825
9978	0.94	236.0	83.8	7.4	479	9982	0.00	2.55	0.00	0.000	6	0.000	0.051	2517	2234	1826
10294	0.94	236.0	63.9	6.2	494	10295	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2234	1826
10603	0.94	236.0	45.3	6.3	509	10604	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2234	1825
10913	0.94	236.0	25.7	6.1	524	10914	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2234	1826
11222	1.02	267.3	8.6	5.1	539	11257	0.00	2.70	28.05	0.611	4	0.000	0.067	2517	3642	1691
11289	1.06	267.3	4.9	6.6	542	11294	0.00	2.55	0.00	0.000	6	0.000	0.051	2517	2242	1691
11326	end climb: SURFACE_DEPTH_REACHED
state	11326	begin surface coast
11346	end surface coast: CONTROL_FINISHED_OK
state	11346	begin surface