Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 335 * 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 335 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 -2100622.5 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 2330 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 -2100622.5

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 2330 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 19 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 335 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 035201,6452.329,-1034.959,38,1.2,38,-11.4 TGT_NAME NS

_CALLS 1 TGT_LATLONG 6412.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.31 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 035709,6452.351,-1035.031,13,1.4,13,-11.4 MHEAD_RNG_PITCHd_Wd 160.7,86903,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.015102 ALTIM_BOTTOM_PING 425.2,8.1

SM_CCo 12173,127.85,0.637,0,0,509,557.32 _24V_AH 23.5,54.167

SM_GC 1.25,0.00,0.00,127.85,0.000,0.000,0.637,73,2242,509,-10.38,0.37,557.32 _10V_AH 10.1,26.742

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28460,587

TT8_MAMPS 0.023777 CAP_FILE_SIZE 87670,0

HUMID 1940 CFSIZE 260165632,239931392

TCM_TEMP 16.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 52 GPS 090808,072338,6451.092,-1035.739,29,1.6,29,-11.4

ALTIM_TOP_PING 19.2,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 172 100.98 SBE_CT 435 24 245.71

Roll_motor 95 83 187.43 SBE_O2 398 19 178.10

VBD_pump_during_apogee 391 976 8976.73 WL_BB2F 451 105 1113.43

VBD_pump_during_surface 127 637 1914.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 80.73 nil 0 0 0.00

Iridium_during_connect 38 160 144.95 nil 0 0 0.00

Iridium_during_xfer 119 223 624.99

Transponder_ping 16 420 165.32

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.85

TT8 1074 19 214.95

LPSleep 9188 2 203.25

TT8_Active 651 19 130.32

TT8_Sampling 1274 39 512.26

TT8_CF8 425 45 196.84

TT8_Kalman 0 81 0.00

Analog_circuits 1313 12 159.20

GPS_charging 0 0 0.00

Compass 1244 8 100.55

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 20 begin dive

24 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.70 0.000 2 0.000 0.000 72 2252 2974

150 -0.85 -146.6 4.2 -3.5 6 177 11.75 2.70 -9.00 0.000 4 0.173 0.071 2142 811 3379

261 -0.85 -146.6 21.1 -10.0 11 265 0.00 2.60 0.00 0.000 6 0.000 0.048 2142 2234 3379

584 -0.74 -146.6 54.7 -9.6 27 586 0.15 0.00 0.00 0.000 6 0.097 0.000 2169 2233 3379

891 -0.74 -146.6 80.8 -8.4 42 896 0.00 2.65 0.00 0.000 4 0.000 0.057 2171 808 3380

937 -0.80 -146.6 84.6 -8.5 44 941 0.00 2.60 0.00 0.000 6 0.000 0.048 2171 2241 3380

1258 -0.80 -146.6 104.2 -5.3 60 1262 0.00 2.60 0.00 0.000 4 0.000 0.067 2171 3637 3380

1298 -0.80 -146.6 106.6 -5.7 62 1303 0.00 2.58 0.00 0.000 6 0.000 0.050 2171 2219 3380

1626 -0.80 -146.6 128.5 -7.3 78 1627 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2219 3381

1934 -0.80 -146.6 153.3 -8.2 93 1935 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2219 3381

2244 -0.80 -146.6 176.2 -6.8 108 2248 0.00 2.65 0.00 0.000 4 0.000 0.068 2171 3638 3381

2295 -0.80 -146.6 179.5 -6.5 110 2299 0.00 2.55 0.00 0.000 6 0.000 0.049 2171 2230 3381

2610 -0.80 -146.6 195.4 -5.0 125 2612 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2230 3381

2919 -0.80 -146.6 214.0 -7.0 140 2920 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2230 3381

3229 -0.80 -146.6 239.6 -8.2 155 3231 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2230 3381

3538 -0.80 -146.6 259.1 -5.6 170 3543 0.00 2.67 0.00 0.000 4 0.000 0.076 2171 3635 3381

3579 -0.80 -146.6 261.5 -5.9 172 3583 0.00 2.58 0.00 0.000 6 0.000 0.054 2171 2232 3381

3905 -0.80 -146.6 282.1 -7.1 188 3910 0.00 2.67 0.00 0.000 4 0.000 0.079 2171 3634 3382

3939 -0.80 -146.6 284.9 -8.5 189 3945 0.00 2.60 0.00 0.000 6 0.000 0.056 2171 2225 3381

4254 -0.80 -146.6 311.3 -8.6 205 4256 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2225 3380

4564 -0.80 -146.6 335.4 -7.5 220 4569 0.00 2.65 0.00 0.000 4 0.000 0.070 2171 813 3379

4592 -0.87 -146.6 337.7 -8.0 221 4598 0.15 2.60 0.00 0.000 6 0.051 0.057 2129 2225 3379

4909 -0.80 -146.6 365.2 -8.5 236 4914 0.12 2.70 0.00 0.000 4 0.098 0.082 2152 3637 3378

4972 -0.80 -146.6 370.1 -7.9 239 4976 0.00 2.62 0.00 0.000 6 0.000 0.061 2153 2229 3377

5298 -0.80 -146.6 393.5 -7.2 255 5299 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2228 3376

5608 -0.80 -146.6 416.1 -7.4 270 5609 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2228 3375

5733 end dive: BOTTOM_OBSTACLE_DETECTED

state 5733 begin apogee

5740 -0.31 0.0 425.2 7.5 276 5871 0.52 0.00 126.70 0.976 6 0.100 0.000 2257 2228 2781

5872 end apogee: CONTROL_FINISHED_OK

state 5872 begin climb

5875 0.85 146.6 430.9 0.0 283 6013 1.25 2.75 126.28 0.958 4 0.083 0.072 2513 833 2183

6155 0.79 193.7 425.2 4.7 296 6203 0.00 2.65 41.28 0.933 6 0.000 0.059 2512 2246 1991

6523 0.82 216.5 405.2 5.4 314 6549 0.00 2.80 21.20 0.910 4 0.000 0.071 2513 826 1896

6577 0.83 230.3 402.0 5.6 316 6597 0.00 2.67 13.35 0.873 6 0.000 0.058 2512 2244 1841

6914 0.84 239.9 382.3 5.7 333 6926 0.00 0.00 9.65 0.842 6 0.000 0.000 2512 2244 1803

7224 0.84 239.9 363.7 6.2 348 7228 0.00 2.72 0.00 0.000 4 0.000 0.074 2513 828 1802

7263 0.84 239.9 361.3 6.1 350 7268 0.00 2.62 0.00 0.000 6 0.000 0.060 2512 2243 1801

7590 0.84 239.9 341.2 6.6 366 7594 0.00 2.72 0.00 0.000 4 0.000 0.074 2512 828 1800

7623 0.84 239.9 338.9 6.7 367 7629 0.00 2.65 0.00 0.000 6 0.000 0.061 2512 2239 1800

7939 0.84 239.9 318.1 6.6 383 7940 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2240 1800

8248 0.84 239.9 297.4 6.7 398 8252 0.00 2.70 0.00 0.000 4 0.000 0.075 2512 828 1799

8288 0.84 239.9 294.7 7.1 400 8292 0.00 2.65 0.00 0.000 6 0.000 0.061 2512 2246 1798

8615 0.87 267.5 275.2 5.2 416 8644 0.00 2.78 23.88 0.889 4 0.000 0.084 2512 3647 1690

8673 0.95 300.1 272.3 5.1 418 8709 0.12 2.67 28.90 0.883 6 0.061 0.064 2545 2237 1557

9034 0.95 300.1 249.7 7.3 436 9035 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2236 1555

9340 0.95 300.1 219.6 10.2 451 9341 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2237 1555

9650 0.95 300.1 193.0 7.5 466 9655 0.00 2.67 0.00 0.000 4 0.000 0.070 2545 822 1555

9683 0.95 300.1 190.5 7.2 467 9689 0.00 2.62 0.00 0.000 6 0.000 0.057 2545 2240 1555

9999 0.95 300.1 170.9 6.6 483 10000 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2240 1555

10308 0.95 300.1 149.8 7.0 498 10309 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2240 1555

10620 0.95 300.1 129.4 6.4 513 10621 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2240 1555

10927 0.95 300.1 108.0 7.2 528 10931 0.00 2.65 0.00 0.000 4 0.000 0.063 2545 821 1555

10967 0.95 300.1 104.9 7.6 530 10971 0.00 2.58 0.00 0.000 6 0.000 0.048 2545 2242 1555

11294 0.95 300.1 77.5 8.9 546 11295 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2242 1555

11603 0.95 300.1 46.2 10.3 561 11607 0.00 2.65 0.00 0.000 4 0.000 0.061 2545 817 1557

11665 0.95 300.1 39.6 9.8 564 11669 0.00 2.58 0.00 0.000 6 0.000 0.048 2545 2241 1557

11992 0.95 300.1 11.7 7.3 580 11997 0.00 2.65 0.00 0.000 4 0.000 0.061 2545 817 1558

12043 0.95 300.1 7.9 7.4 582 12047 0.00 2.58 0.00 0.000 6 0.000 0.047 2545 2241 1557

12129 end climb: SURFACE_DEPTH_REACHED

state 12129 begin surface coast

12151 end surface coast: CONTROL_FINISHED_OK

state 12151 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	335	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	-2100622.5	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	2330	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	035201,6452.329,-1034.959,38,1.2,38,-11.4	TGT_NAME	NS
_CALLS	1	TGT_LATLONG	6412.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.31	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	035709,6452.351,-1035.031,13,1.4,13,-11.4	MHEAD_RNG_PITCHd_Wd	160.7,86903,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.015102	ALTIM_BOTTOM_PING	425.2,8.1
SM_CCo	12173,127.85,0.637,0,0,509,557.32	_24V_AH	23.5,54.167
SM_GC	1.25,0.00,0.00,127.85,0.000,0.000,0.637,73,2242,509,-10.38,0.37,557.32	_10V_AH	10.1,26.742
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28460,587
TT8_MAMPS	0.023777	CAP_FILE_SIZE	87670,0
HUMID	1940	CFSIZE	260165632,239931392
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	52	GPS	090808,072338,6451.092,-1035.739,29,1.6,29,-11.4
ALTIM_TOP_PING	19.2,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	172	100.98	SBE_CT	435	24	245.71
Roll_motor	95	83	187.43	SBE_O2	398	19	178.10
VBD_pump_during_apogee	391	976	8976.73	WL_BB2F	451	105	1113.43
VBD_pump_during_surface	127	637	1914.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	80.73	nil	0	0	0.00
Iridium_during_connect	38	160	144.95	nil	0	0	0.00
Iridium_during_xfer	119	223	624.99
Transponder_ping	16	420	165.32
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.85
TT8	1074	19	214.95
LPSleep	9188	2	203.25
TT8_Active	651	19	130.32
TT8_Sampling	1274	39	512.26
TT8_CF8	425	45	196.84
TT8_Kalman	0	81	0.00
Analog_circuits	1313	12	159.20
GPS_charging	0	0	0.00
Compass	1244	8	100.55
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	20	begin dive
24	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.70	0.000	2	0.000	0.000	72	2252	2974
150	-0.85	-146.6	4.2	-3.5	6	177	11.75	2.70	-9.00	0.000	4	0.173	0.071	2142	811	3379
261	-0.85	-146.6	21.1	-10.0	11	265	0.00	2.60	0.00	0.000	6	0.000	0.048	2142	2234	3379
584	-0.74	-146.6	54.7	-9.6	27	586	0.15	0.00	0.00	0.000	6	0.097	0.000	2169	2233	3379
891	-0.74	-146.6	80.8	-8.4	42	896	0.00	2.65	0.00	0.000	4	0.000	0.057	2171	808	3380
937	-0.80	-146.6	84.6	-8.5	44	941	0.00	2.60	0.00	0.000	6	0.000	0.048	2171	2241	3380
1258	-0.80	-146.6	104.2	-5.3	60	1262	0.00	2.60	0.00	0.000	4	0.000	0.067	2171	3637	3380
1298	-0.80	-146.6	106.6	-5.7	62	1303	0.00	2.58	0.00	0.000	6	0.000	0.050	2171	2219	3380
1626	-0.80	-146.6	128.5	-7.3	78	1627	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2219	3381
1934	-0.80	-146.6	153.3	-8.2	93	1935	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2219	3381
2244	-0.80	-146.6	176.2	-6.8	108	2248	0.00	2.65	0.00	0.000	4	0.000	0.068	2171	3638	3381
2295	-0.80	-146.6	179.5	-6.5	110	2299	0.00	2.55	0.00	0.000	6	0.000	0.049	2171	2230	3381
2610	-0.80	-146.6	195.4	-5.0	125	2612	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2230	3381
2919	-0.80	-146.6	214.0	-7.0	140	2920	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2230	3381
3229	-0.80	-146.6	239.6	-8.2	155	3231	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2230	3381
3538	-0.80	-146.6	259.1	-5.6	170	3543	0.00	2.67	0.00	0.000	4	0.000	0.076	2171	3635	3381
3579	-0.80	-146.6	261.5	-5.9	172	3583	0.00	2.58	0.00	0.000	6	0.000	0.054	2171	2232	3381
3905	-0.80	-146.6	282.1	-7.1	188	3910	0.00	2.67	0.00	0.000	4	0.000	0.079	2171	3634	3382
3939	-0.80	-146.6	284.9	-8.5	189	3945	0.00	2.60	0.00	0.000	6	0.000	0.056	2171	2225	3381
4254	-0.80	-146.6	311.3	-8.6	205	4256	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2225	3380
4564	-0.80	-146.6	335.4	-7.5	220	4569	0.00	2.65	0.00	0.000	4	0.000	0.070	2171	813	3379
4592	-0.87	-146.6	337.7	-8.0	221	4598	0.15	2.60	0.00	0.000	6	0.051	0.057	2129	2225	3379
4909	-0.80	-146.6	365.2	-8.5	236	4914	0.12	2.70	0.00	0.000	4	0.098	0.082	2152	3637	3378
4972	-0.80	-146.6	370.1	-7.9	239	4976	0.00	2.62	0.00	0.000	6	0.000	0.061	2153	2229	3377
5298	-0.80	-146.6	393.5	-7.2	255	5299	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2228	3376
5608	-0.80	-146.6	416.1	-7.4	270	5609	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2228	3375
5733	end dive: BOTTOM_OBSTACLE_DETECTED
state	5733	begin apogee
5740	-0.31	0.0	425.2	7.5	276	5871	0.52	0.00	126.70	0.976	6	0.100	0.000	2257	2228	2781
5872	end apogee: CONTROL_FINISHED_OK
state	5872	begin climb
5875	0.85	146.6	430.9	0.0	283	6013	1.25	2.75	126.28	0.958	4	0.083	0.072	2513	833	2183
6155	0.79	193.7	425.2	4.7	296	6203	0.00	2.65	41.28	0.933	6	0.000	0.059	2512	2246	1991
6523	0.82	216.5	405.2	5.4	314	6549	0.00	2.80	21.20	0.910	4	0.000	0.071	2513	826	1896
6577	0.83	230.3	402.0	5.6	316	6597	0.00	2.67	13.35	0.873	6	0.000	0.058	2512	2244	1841
6914	0.84	239.9	382.3	5.7	333	6926	0.00	0.00	9.65	0.842	6	0.000	0.000	2512	2244	1803
7224	0.84	239.9	363.7	6.2	348	7228	0.00	2.72	0.00	0.000	4	0.000	0.074	2513	828	1802
7263	0.84	239.9	361.3	6.1	350	7268	0.00	2.62	0.00	0.000	6	0.000	0.060	2512	2243	1801
7590	0.84	239.9	341.2	6.6	366	7594	0.00	2.72	0.00	0.000	4	0.000	0.074	2512	828	1800
7623	0.84	239.9	338.9	6.7	367	7629	0.00	2.65	0.00	0.000	6	0.000	0.061	2512	2239	1800
7939	0.84	239.9	318.1	6.6	383	7940	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2240	1800
8248	0.84	239.9	297.4	6.7	398	8252	0.00	2.70	0.00	0.000	4	0.000	0.075	2512	828	1799
8288	0.84	239.9	294.7	7.1	400	8292	0.00	2.65	0.00	0.000	6	0.000	0.061	2512	2246	1798
8615	0.87	267.5	275.2	5.2	416	8644	0.00	2.78	23.88	0.889	4	0.000	0.084	2512	3647	1690
8673	0.95	300.1	272.3	5.1	418	8709	0.12	2.67	28.90	0.883	6	0.061	0.064	2545	2237	1557
9034	0.95	300.1	249.7	7.3	436	9035	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2236	1555
9340	0.95	300.1	219.6	10.2	451	9341	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2237	1555
9650	0.95	300.1	193.0	7.5	466	9655	0.00	2.67	0.00	0.000	4	0.000	0.070	2545	822	1555
9683	0.95	300.1	190.5	7.2	467	9689	0.00	2.62	0.00	0.000	6	0.000	0.057	2545	2240	1555
9999	0.95	300.1	170.9	6.6	483	10000	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2240	1555
10308	0.95	300.1	149.8	7.0	498	10309	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2240	1555
10620	0.95	300.1	129.4	6.4	513	10621	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2240	1555
10927	0.95	300.1	108.0	7.2	528	10931	0.00	2.65	0.00	0.000	4	0.000	0.063	2545	821	1555
10967	0.95	300.1	104.9	7.6	530	10971	0.00	2.58	0.00	0.000	6	0.000	0.048	2545	2242	1555
11294	0.95	300.1	77.5	8.9	546	11295	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2242	1555
11603	0.95	300.1	46.2	10.3	561	11607	0.00	2.65	0.00	0.000	4	0.000	0.061	2545	817	1557
11665	0.95	300.1	39.6	9.8	564	11669	0.00	2.58	0.00	0.000	6	0.000	0.048	2545	2241	1557
11992	0.95	300.1	11.7	7.3	580	11997	0.00	2.65	0.00	0.000	4	0.000	0.061	2545	817	1558
12043	0.95	300.1	7.9	7.4	582	12047	0.00	2.58	0.00	0.000	6	0.000	0.047	2545	2241	1557
12129	end climb: SURFACE_DEPTH_REACHED
state	12129	begin surface coast
12151	end surface coast: CONTROL_FINISHED_OK
state	12151	begin surface